diff --git a/TEST_FILE/AerialVLN-Fine-V3-Scene-10.json b/TEST_FILE/AerialVLN-Fine-V3-Scene-10.json
new file mode 100644
index 0000000000000000000000000000000000000000..ecec99d222723ae6b690c3a767108438497cb85b
--- /dev/null
+++ b/TEST_FILE/AerialVLN-Fine-V3-Scene-10.json
@@ -0,0 +1,12 @@
+{"episodes":[
+{"episode_id":"3FE2ERCCZ668PZFNWI1Y0ULCSBHOP3","trajectory_id":"3IKDQS3DRMYCD4YN3FXL7EVVUSTCIO","scene_id":10,"start_position":[-54.55794143676758,-5.832708835601807,-22.575557708740234],"start_rotation":[0.9996602112038262,0.0,0.0,-0.026066494507731644],"instruction":{"instruction_text":"Fly down to the height of street lights, then turn right to face the street, and fly forward along the road until the road turns. Turn back to face the road where you came from, then fly straight forward to the intersection beside the bridge. Turn right to face the bridge, and fly straight across it, then fly straight to the T-junction at the end of the road. Turn right to face the road, then fly forward to the T-junction near the water. Turn right to face the road, and fly forward along the sidewalk until passing a red crossroad sign and a street light. Turn left facing the river and fly across it to a road, turn right facing the road, fly forward pass a tree then land in front a red building on the 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+{"episode_id":"3UOUJI6MTMC8BD1BEVNOTDZ4FNBXUV","trajectory_id":"3T8DUCXY1V40OK7VL7MYJVWW04OT9K","scene_id":10,"start_position":[-41.07310104370117,94.76337432861328,-0.9125828146934509],"start_rotation":[0.9997142730699937,0.0,0.0,0.023903393485738462],"instruction":{"instruction_text":"Take off to the height of street lights, turn left to face the road, fly forward to the tree in front of the bridge, then turn right to face the river directly and fly across it, then turn back to face the river directly again, and fly across the river, fly forward into the street. Fly to the end of the street, turn back to the road where you came, fly forward across the river to the road, turn left to face the road. Turn left slightly to face the bridge, fly diagonally across the river over the bridge, turn right slightly to face the road, fly to its end and land there."},"goals":[{"position":[-48.71567197624781,-55.92359986520506,-4.912582814693451]}],"reference_path":[[-41.07310104370117,94.76337432861328,-0.9125828146934509,0,0,0.047811340720757635],[-41.07310104370117,94.76337432861328,-0.9125828146934509,0,0,-0.2139880470783918],[-41.07310104370117,94.76337432861328,-0.9125828146934509,0,0,-0.4757874348775412],[-41.07310104370117,94.76337432861328,-0.9125828146934509,0,0,-0.7375868226766906],[-41.07310104370117,94.76337432861328,-0.9125828146934509,0,0,-0.9993862104758402],[-41.07310104370117,94.76337432861328,-0.9125828146934509,0,0,-1.2611855982749895],[-39.54966155849418,90.00111308683829,-0.9125828146934509,0,0,-1.2611855982749895],[-38.02622207328719,85.2388518450633,-0.9125828146934509,0,0,-1.2611855982749895],[-38.02622207328719,85.2388518450633,-0.9125828146934509,0,0,-1.522984986074139],[-37.78725643686217,80.24456556726463,-0.9125828146934509,0,0,-1.522984986074139],[-37.54829080043716,75.25027928946596,-0.9125828146934509,0,0,-1.522984986074139],[-37.54829080043716,75.25027928946596,-2.912582814693451,0,0,-1.522984986074139],[-37.309325164012144,70.2559930116673,-2.912582814693451,0,0,-1.522984986074139],[-37.07035952758713,65.26170673386864,-2.912582814693451,0,0,-1.522984986074139],[-36.831393891162115,60.26742045606998,-2.912582814693451,0,0,-1.522984986074139],[-36.5924282547371,55.27313417827132,-2.912582814693451,0,0,-1.522984986074139],[-36.353462618312086,50.27884790047266,-2.912582814693451,0,0,-1.522984986074139],[-36.11449698188707,45.284561622674005,-2.912582814693451,0,0,-1.522984986074139],[-35.87553134546206,40.29027534487535,-2.912582814693451,0,0,-1.522984986074139],[-35.87553134546206,40.29027534487535,-2.912582814693451,0,0,-1.2611855982749895],[-35.87553134546206,40.29027534487535,-2.912582814693451,0,0,-0.9993862104758401],[-35.87553134546206,40.29027534487535,-2.912582814693451,0,0,-0.7375868226766906],[-35.87553134546206,40.29027534487535,-2.912582814693451,0,0,-0.4757874348775413],[-35.87553134546206,40.29027534487535,-2.912582814693451,0,0,-0.21398804707839195],[-35.87553134546206,40.29027534487535,-2.912582814693451,0,0,0.04781134072075747],[-30.8812450676634,40.529240981300354,-2.912582814693451,0,0,0.04781134072075747],[-25.886958789864742,40.76820661772536,-2.912582814693451,0,0,0.04781134072075747],[-20.892672512066085,41.00717225415037,-2.912582814693451,0,0,0.04781134072075747],[-15.898386234267425,41.246137890575376,-2.912582814693451,0,0,0.04781134072075747],[-10.904099956468766,41.48510352700038,-2.912582814693451,0,0,0.04781134072075747],[-10.904099956468766,41.48510352700038,-2.912582814693451,0,0,-0.21398804707839197],[-10.904099956468766,41.48510352700038,-2.912582814693451,0,0,-0.47578743487754144],[-10.904099956468766,41.48510352700038,-2.912582814693451,0,0,-0.7375868226766908],[-10.904099956468766,41.48510352700038,-2.912582814693451,0,0,-0.9993862104758403],[-10.904099956468766,41.48510352700038,-2.912582814693451,0,0,-1.2611855982749898],[-10.904099956468766,41.48510352700038,-2.912582814693451,0,0,-1.5229849860741391],[-10.904099956468766,41.48510352700038,-2.912582814693451,0,0,-1.7847843738732887],[-10.904099956468766,41.48510352700038,-2.912582814693451,0,0,-2.046583761672438],[-10.904099956468766,41.48510352700038,-2.912582814693451,0,0,-2.3083831494715876],[-10.904099956468766,41.48510352700038,-2.912582814693451,0,0,-2.570182537270737],[-10.904099956468766,41.48510352700038,-2.912582814693451,0,0,-2.8319819250698868],[-10.904099956468766,41.48510352700038,-2.912582814693451,0,0,-3.0937813128690363],[-15.898386234267425,41.246137890575376,-2.912582814693451,0,0,-3.0937813128690363],[-20.892672512066085,41.00717225415037,-2.912582814693451,0,0,-3.0937813128690363],[-20.892672512066085,41.00717225415037,-4.912582814693451,0,0,-3.0937813128690363],[-25.886958789864742,40.76820661772536,-4.912582814693451,0,0,-3.0937813128690363],[-30.8812450676634,40.529240981300354,-4.912582814693451,0,0,-3.0937813128690363],[-35.87553134546206,40.29027534487535,-4.912582814693451,0,0,-3.0937813128690363],[-35.87553134546206,40.29027534487535,-6.912582814693451,0,0,-3.0937813128690363],[-40.869817623260715,40.05130970845034,-6.912582814693451,0,0,-3.0937813128690363],[-45.86410390105937,39.81234407202533,-6.912582814693451,0,0,-3.0937813128690363],[-50.85839017885803,39.573378435600326,-6.912582814693451,0,0,-3.0937813128690363],[-55.85267645665669,39.33441279917532,-6.912582814693451,0,0,-3.0937813128690363],[-60.846962734455346,39.09544716275031,-6.912582814693451,0,0,-3.0937813128690363],[-65.84124901225401,38.856481526325304,-6.912582814693451,0,0,-3.0937813128690363],[-70.83553529005268,38.6175158899003,-6.912582814693451,0,0,-3.0937813128690363],[-70.83553529005268,38.6175158899003,-6.912582814693451,0,0,2.9276046065114008],[-70.83553529005268,38.6175158899003,-6.912582814693451,0,0,2.665805218712251],[-70.83553529005268,38.6175158899003,-6.912582814693451,0,0,2.4040058309131016],[-70.83553529005268,38.6175158899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+{"episode_id":"3TXMY6UCANMSGMJZ6Q7W5ZH58Z5CQI","trajectory_id":"37VHPF5VZK1JOYMAUTLUUP1HRW9C81","scene_id":10,"start_position":[-42.73658752441406,29.77715492248535,-0.8412867784500122],"start_rotation":[0.9999965900513803,0.0,0.0,-0.0026114910705511665],"instruction":{"instruction_text":"Take off to the height of street light, then fly forward across the river to the road. Turn left to face the intersection beside the bridge and then fly forward to it. Turn right to face the road, then fly forward to the T-junction. Turn left to face the road. Fly straight until there are no buildings on your left, then turn left to face the tree and sidewalk, fly forward to the nearest road. Turn left to face the road, then fly forward to the intersection near a bridge. Turn left facing the road, fly forward to an T-junction, then turn left to the road, then fly forward until you can't see any building, then land on the right side of the road."},"goals":[{"position":[61.12741702545652,-57.269204337397326,-4.841286778450012]}],"reference_path":[[-42.73658752441406,29.77715492248535,-0.8412867784500122,0,0,-0.0052229880778106785],[-42.73658752441406,29.77715492248535,-2.841286778450012,0,0,-0.0052229880778106785],[-42.73658752441406,29.77715492248535,-4.841286778450012,0,0,-0.0052229880778106785],[-37.736655723270175,29.751040100830345,-4.841286778450012,0,0,-0.0052229880778106785],[-32.73672392212629,29.724925279175338,-4.841286778450012,0,0,-0.0052229880778106785],[-27.736792120982404,29.69881045752033,-4.841286778450012,0,0,-0.0052229880778106785],[-22.73686031983852,29.672695635865324,-4.841286778450012,0,0,-0.0052229880778106785],[-17.736928518694636,29.646580814210317,-4.841286778450012,0,0,-0.0052229880778106785],[-12.736996717550753,29.62046599255531,-4.841286778450012,0,0,-0.0052229880778106785],[-12.736996717550753,29.62046599255531,-4.841286778450012,0,0,-0.26702237587696015],[-12.736996717550753,29.62046599255531,-4.841286778450012,0,0,-0.5288217636761097],[-12.736996717550753,29.62046599255531,-4.841286778450012,0,0,-0.7906211514752591],[-12.736996717550753,29.62046599255531,-4.841286778450012,0,0,-1.0524205392744086],[-12.736996717550753,29.62046599255531,-4.841286778450012,0,0,-1.314219927073558],[-11.468144123886471,24.78414372294264,-4.841286778450012,0,0,-1.314219927073558],[-10.19929153022219,19.947821453329972,-4.841286778450012,0,0,-1.314219927073558],[-8.930438936557909,15.111499183717303,-4.841286778450012,0,0,-1.314219927073558],[-7.661586342893628,10.275176914104634,-4.841286778450012,0,0,-1.314219927073558],[-6.392733749229347,5.438854644491966,-4.841286778450012,0,0,-1.314219927073558],[-6.392733749229347,5.438854644491966,-4.841286778450012,0,0,-1.0524205392744086],[-6.392733749229347,5.438854644491966,-4.841286778450012,0,0,-0.7906211514752591],[-6.392733749229347,5.438854644491966,-4.841286778450012,0,0,-0.5288217636761097],[-8.915315748769826,1.1218440983391824,-4.841286778450012,0,0,-0.5288217636761097],[-8.915315748769826,1.1218440983391824,-4.841286778450012,0,0,-0.26702237587696026],[-8.915315748769826,1.1218440983391824,-4.841286778450012,0,0,-0.005222988077810849],[-3.9153839476259424,1.0957292766841735,-4.841286778450012,0,0,-0.005222988077810849],[1.0845478535179414,1.0696144550291646,-4.841286778450012,0,0,-0.005222988077810849],[6.084479654661825,1.0434996333741557,-4.841286778450012,0,0,-0.005222988077810849],[11.084411455805709,1.0173848117191469,-4.841286778450012,0,0,-0.005222988077810849],[16.084343256949595,0.9912699900641381,-4.841286778450012,0,0,-0.005222988077810849],[21.08427505809348,0.9651551684091293,-4.841286778450012,0,0,-0.005222988077810849],[26.084206859237362,0.9390403467541205,-4.841286778450012,0,0,-0.005222988077810849],[31.084138660381246,0.9129255250991117,-4.841286778450012,0,0,-0.005222988077810849],[31.084138660381246,0.9129255250991117,-6.841286778450012,0,0,-0.005222988077810849],[36.08407046152513,0.886810703444103,-6.841286778450012,0,0,-0.005222988077810849],[41.08400226266902,0.8606958817890942,-6.841286778450012,0,0,-0.005222988077810849],[46.083934063812904,0.8345810601340854,-6.841286778450012,0,0,-0.005222988077810849],[51.08386586495679,0.8084662384790766,-6.841286778450012,0,0,-0.005222988077810849],[56.08379766610068,0.7823514168240678,-6.841286778450012,0,0,-0.005222988077810849],[56.08379766610068,0.7823514168240678,-6.841286778450012,0,0,-0.26702237587696026],[56.08379766610068,0.7823514168240678,-6.841286778450012,0,0,-0.5288217636761098],[56.08379766610068,0.7823514168240678,-6.841286778450012,0,0,-0.7906211514752591],[56.08379766610068,0.7823514168240678,-6.841286778450012,0,0,-1.0524205392744086],[56.08379766610068,0.7823514168240678,-6.841286778450012,0,0,-1.314219927073558],[56.08379766610068,0.7823514168240678,-6.841286778450012,0,0,-1.5760193148727075],[56.05768284444567,-4.217580384319816,-6.841286778450012,0,0,-1.5760193148727075],[56.031568022790665,-9.2175121854637,-6.841286778450012,0,0,-1.5760193148727075],[56.00545320113566,-14.217443986607584,-6.841286778450012,0,0,-1.5760193148727075],[55.97933837948065,-19.217375787751468,-6.841286778450012,0,0,-1.5760193148727075],[55.953223557825645,-24.217307588895352,-6.841286778450012,0,0,-1.5760193148727075],[55.92710873617064,-29.217239390039236,-6.841286778450012,0,0,-1.5760193148727075],[55.90099391451563,-34.21717119118312,-6.841286778450012,0,0,-1.5760193148727075],[55.874879092860624,-39.217102992327,-6.841286778450012,0,0,-1.5760193148727075],[55.84876427120562,-44.21703479347089,-6.841286778450012,0,0,-1.5760193148727075],[55.82264944955061,-49.216966594614775,-6.841286778450012,0,0,-1.5760193148727075],[55.7965346278956,-54.21689839575866,-6.841286778450012,0,0,-1.5760193148727075],[55.7704198062406,-59.21683019690255,-6.841286778450012,0,0,-1.5760193148727075],[55.74430498458559,-64.21676199804644,-6.841286778450012,0,0,-1.5760193148727075],[55.71819016293058,-69.21669379919032,-6.84128677845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+{"episode_id":"39OWYR0EPTP8S0UVO2ERQR5A55DYFM","trajectory_id":"33CLA8O0NQ9W9FLGK4HVTCHPE3BFRH","scene_id":10,"start_position":[113.02549743652344,80.8114013671875,-3.2232658863067627],"start_rotation":[0.9999969363656127,0.0,0.0,0.002475330157512729],"instruction":{"instruction_text":"Turn left to face the trees between the buildings on the other side of the river and fly forwards that trees until reaching a T-junction. Turn right at the T-junction to face the road and fly forward to another T-junction. Turn right at the T-junction to face the road and fly forward to an intersection near the bridge. Turn right at the intersection and fly forward along the road until you can't see buildings on the right. Turn right to face a brown building. Fly up above the building ahead and fly forward over its roof. Fly down until above the trees. Turn right to face the white building. Fly up above the white building and fly forward over the roof, fly forward over the river, turn right slightly to face a white building, fly down close to the road, turn right to face the road, fly forward until you can't see the buildings on the left, land there."},"goals":[{"position":[-50.385653081513325,-57.85806041737555,-5.223265886306763]}],"reference_path":[[113.02549743652344,80.8114013671875,-3.2232658863067627,0,0,0.004950665370702714],[113.02549743652344,80.8114013671875,-3.2232658863067627,0,0,-0.2568487224284467],[113.02549743652344,80.8114013671875,-3.2232658863067627,0,0,-0.5186481102275962],[113.02549743652344,80.8114013671875,-3.2232658863067627,0,0,-0.7804474980267455],[113.02549743652344,80.8114013671875,-3.2232658863067627,0,0,-1.042246885825895],[113.02549743652344,80.8114013671875,-3.2232658863067627,0,0,-1.3040462736250444],[113.02549743652344,80.8114013671875,-3.2232658863067627,0,0,-1.5658456614241938],[113.02549743652344,80.8114013671875,-3.2232658863067627,0,0,-1.8276450492233434],[113.02549743652344,80.8114013671875,-3.2232658863067627,0,0,-2.0894444370224927],[113.02549743652344,80.8114013671875,-3.2232658863067627,0,0,-2.3512438248216427],[113.02549743652344,80.8114013671875,-3.2232658863067627,0,0,-2.613043212620792],[108.70780009409414,78.28999508116794,-3.2232658863067627,0,0,-2.613043212620792],[104.39010275166484,75.76858879514839,-3.2232658863067627,0,0,-2.613043212620792],[100.07240540923554,73.24718250912883,-3.2232658863067627,0,0,-2.613043212620792],[100.07240540923554,73.24718250912883,-5.223265886306763,0,0,-2.613043212620792],[95.75470806680624,70.72577622310928,-5.223265886306763,0,0,-2.613043212620792],[91.43701072437695,68.20436993708972,-5.223265886306763,0,0,-2.613043212620792],[87.11931338194765,65.68296365107017,-5.223265886306763,0,0,-2.613043212620792],[82.80161603951835,63.161557365050605,-5.223265886306763,0,0,-2.613043212620792],[80.2802097534988,67.47925470747991,-5.223265886306763,0,0,-2.613043212620792],[75.9625124110695,64.95784842146035,-5.223265886306763,0,0,-2.613043212620792],[71.6448150686402,62.43644213544079,-5.223265886306763,0,0,-2.613043212620792],[67.3271177262109,59.91503584942123,-5.223265886306763,0,0,-2.613043212620792],[63.0094203837816,57.39362956340167,-5.223265886306763,0,0,-2.613043212620792],[63.0094203837816,57.39362956340167,-5.223265886306763,0,0,-2.3512438248216427],[59.45642663033846,60.911616969290726,-5.223265886306763,0,0,-2.3512438248216427],[59.45642663033846,60.911616969290726,-5.223265886306763,0,0,-2.089444437022493],[59.45642663033846,60.911616969290726,-5.223265886306763,0,0,-1.8276450492233438],[58.18625704336639,56.07564041637701,-5.223265886306763,0,0,-1.8276450492233438],[56.916087456394315,51.2396638634633,-5.223265886306763,0,0,-1.8276450492233438],[56.916087456394315,51.2396638634633,-5.223265886306763,0,0,-1.5658456614241942],[56.94084068213437,46.23972513605719,-5.223265886306763,0,0,-1.5658456614241942],[56.96559390787443,41.23978640865108,-5.223265886306763,0,0,-1.5658456614241942],[56.990347133614485,36.23984768124497,-5.223265886306763,0,0,-1.5658456614241942],[57.01510035935454,31.239908953838853,-5.223265886306763,0,0,-1.5658456614241942],[57.0398535850946,26.23997022643274,-5.223265886306763,0,0,-1.5658456614241942],[57.064606810834654,21.240031499026625,-5.223265886306763,0,0,-1.5658456614241942],[57.08936003657471,16.24009277162051,-5.223265886306763,0,0,-1.5658456614241942],[57.11411326231477,11.240154044214396,-5.223265886306763,0,0,-1.5658456614241942],[57.11411326231477,11.240154044214396,-7.223265886306763,0,0,-1.5658456614241942],[57.13886648805482,6.240215316808283,-7.223265886306763,0,0,-1.5658456614241942],[57.13886648805482,6.240215316808283,-7.223265886306763,0,0,-1.8276450492233438],[57.13886648805482,6.240215316808283,-7.223265886306763,0,0,-2.089444437022493],[57.13886648805482,6.240215316808283,-7.223265886306763,0,0,-2.3512438248216427],[57.13886648805482,6.240215316808283,-7.223265886306763,0,0,-2.613043212620792],[57.13886648805482,6.240215316808283,-7.223265886306763,0,0,-2.8748426004199414],[52.31570314763961,4.922226169783633,-7.223265886306763,0,0,-2.8748426004199414],[47.4925398072244,3.6042370227589826,-7.223265886306763,0,0,-2.8748426004199414],[42.66937646680918,2.2862478757343325,-7.223265886306763,0,0,-2.8748426004199414],[37.84621312639397,0.9682587287096827,-7.223265886306763,0,0,-2.8748426004199414],[33.023049785978756,-0.3497304183149672,-7.223265886306763,0,0,-2.8748426004199414],[33.023049785978756,-0.3497304183149672,-7.223265886306763,0,0,-3.136641988219091],[28.023111058572642,-0.37448364405502615,-7.223265886306763,0,0,-3.136641988219091],[23.023172331166528,-0.3992368697950851,-7.223265886306763,0,0,-3.136641988219091],[18.023233603760414,-0.42399009553514405,-7.223265886306763,0,0,-3.136641988219091],[13.0232948763543,-0.448743321275203,-7.223265886306763,0,0,-3.136641988219091],[8.023356148948185,-0.47349654701526195,-7.223265886306763,0,0,-3.136641988219091],[3.0234174215420717,-0.4982497727553209,-7.223265886306763,0,0,-3.136641988219091],[-1.9765213058640416,-0.5230029984953798,-7.223265886306763,0,0,-3.136641988219091],[-6.976460033270155,-0.5477562242354387,-7.223265886306763,0,0,-3.136641988219091],[-6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+{"episode_id":"3E47SOBEYZUFZOVGTI2NWXQJHJ7CIM","trajectory_id":"3U18MJKL22K4R59E0VADCMRCGRNCN4","scene_id":10,"start_position":[0.9694768786430359,-52.45402526855469,-23.476224899291992],"start_rotation":[0.9997302471795483,0.0,0.0,-0.02322569426991027],"instruction":{"instruction_text":"Turn right to face the bridge on the river, fly to its top, fly down to street lamp height and fly to the the bicycle on the bridge. Make a sharp left turn to face the red building illuminated by yellow neon light across the river, fly forward to that building, then fly along the road right to that building to an T-junction. Turn right to face the road, then fly straight ahead to the T-junction. Turn right to face the road, fly forward to the red building with dog pattern on wall. Turn left to directly face the river, fly across it to the road, turn left to face the road, fly forward along the road until you can't see any building, and land."},"goals":[{"position":[99.21628723696897,99.6891481842345,-5.476224899291992]}],"reference_path":[[0.9694768786430359,-52.45402526855469,-23.476224899291992,0,0,-0.04645556578824467],[0.9694768786430359,-52.45402526855469,-23.476224899291992,0,0,0.21534382201090477],[0.9694768786430359,-52.45402526855469,-23.476224899291992,0,0,0.4771432098100542],[0.9694768786430359,-52.45402526855469,-23.476224899291992,0,0,0.7389425976092037],[0.9694768786430359,-52.45402526855469,-23.476224899291992,0,0,1.0007419854083532],[0.9694768786430359,-52.45402526855469,-23.476224899291992,0,0,1.2625413732075026],[0.9694768786430359,-52.45402526855469,-23.476224899291992,0,0,1.524340761006652],[0.9694768786430359,-52.45402526855469,-23.476224899291992,0,0,1.7861401488058013],[0.9694768786430359,-52.45402526855469,-23.476224899291992,0,0,2.0479395366049506],[-1.3267398025962382,-48.01247272999359,-23.476224899291992,0,0,2.0479395366049506],[-3.6229564838355124,-43.57092019143249,-23.476224899291992,0,0,2.0479395366049506],[-5.9191731650747865,-39.129367652871395,-23.476224899291992,0,0,2.0479395366049506],[-8.21538984631406,-34.6878151143103,-23.476224899291992,0,0,2.0479395366049506],[-10.511606527553335,-30.246262575749203,-23.476224899291992,0,0,2.0479395366049506],[-10.511606527553335,-30.246262575749203,-21.476224899291992,0,0,2.0479395366049506],[-12.807823208792609,-25.80471003718811,-21.476224899291992,0,0,2.0479395366049506],[-15.104039890031883,-21.363157498627015,-21.476224899291992,0,0,2.0479395366049506],[-17.400256571271157,-16.92160496006592,-21.476224899291992,0,0,2.0479395366049506],[-19.69647325251043,-12.480052421504826,-21.476224899291992,0,0,2.0479395366049506],[-21.992689933749702,-8.038499882943732,-21.476224899291992,0,0,2.0479395366049506],[-21.992689933749702,-8.038499882943732,-19.476224899291992,0,0,2.0479395366049506],[-24.288906614988974,-3.596947344382638,-19.476224899291992,0,0,2.0479395366049506],[-24.288906614988974,-3.596947344382638,-17.476224899291992,0,0,2.0479395366049506],[-24.288906614988974,-3.596947344382638,-15.476224899291992,0,0,2.0479395366049506],[-24.288906614988974,-3.596947344382638,-13.476224899291992,0,0,2.0479395366049506],[-24.288906614988974,-3.596947344382638,-11.476224899291992,0,0,2.0479395366049506],[-24.288906614988974,-3.596947344382638,-9.476224899291992,0,0,2.0479395366049506],[-24.288906614988974,-3.596947344382638,-7.476224899291992,0,0,2.0479395366049506],[-24.288906614988974,-3.596947344382638,-5.476224899291992,0,0,2.0479395366049506],[-26.585123296228247,0.844605194178456,-5.476224899291992,0,0,2.0479395366049506],[-28.88133997746752,5.28615773273955,-5.476224899291992,0,0,2.0479395366049506],[-31.17755665870679,9.727710271300644,-5.476224899291992,0,0,2.0479395366049506],[-33.473773339946064,14.169262809861738,-5.476224899291992,0,0,2.0479395366049506],[-33.473773339946064,14.169262809861738,-3.476224899291992,0,0,2.0479395366049506],[-35.769990021185336,18.610815348422832,-3.476224899291992,0,0,2.0479395366049506],[-35.769990021185336,18.610815348422832,-3.476224899291992,0,0,1.7861401488058013],[-35.769990021185336,18.610815348422832,-3.476224899291992,0,0,1.5243407610066517],[-35.769990021185336,18.610815348422832,-3.476224899291992,0,0,1.2625413732075021],[-35.769990021185336,18.610815348422832,-3.476224899291992,0,0,1.0007419854083528],[-35.769990021185336,18.610815348422832,-3.476224899291992,0,0,0.7389425976092032],[-35.769990021185336,18.610815348422832,-3.476224899291992,0,0,0.4771432098100538],[-35.769990021185336,18.610815348422832,-3.476224899291992,0,0,0.2153438220109044],[-35.769990021185336,18.610815348422832,-3.476224899291992,0,0,-0.04645556578824503],[-35.769990021185336,18.610815348422832,-3.476224899291992,0,0,-0.30825495358739446],[-31.0056677157945,17.093833815787917,-3.476224899291992,0,0,-0.30825495358739446],[-26.241345410403667,15.576852283153002,-3.476224899291992,0,0,-0.30825495358739446],[-21.477023105012833,14.059870750518087,-3.476224899291992,0,0,-0.30825495358739446],[-16.712700799622,12.542889217883172,-3.476224899291992,0,0,-0.30825495358739446],[-11.948378494231164,11.025907685248256,-3.476224899291992,0,0,-0.30825495358739446],[-7.184056188840331,9.508926152613341,-3.476224899291992,0,0,-0.30825495358739446],[-2.4197338834494975,7.991944619978426,-3.476224899291992,0,0,-0.30825495358739446],[-2.4197338834494975,7.991944619978426,-3.476224899291992,0,0,-0.04645556578824503],[2.574871787807309,7.759750329244684,-3.476224899291992,0,0,-0.04645556578824503],[2.574871787807309,7.759750329244684,-5.476224899291992,0,0,-0.04645556578824503],[7.569477459064116,7.527556038510943,-5.476224899291992,0,0,-0.04645556578824503],[12.564083130320922,7.295361747777201,-5.476224899291992,0,0,-0.04645556578824503],[17.55868880157773,7.063167457043459,-5.476224899291992,0,0,-0.04645556578824503],[22.553294472834537,6.830973166309717,-5.476224899291992,0,0,-0.04645556578824503],[27.547900144091344,6.5987788755759755,-5.476224899291992,0,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+{"episode_id":"37ZHEEHM65KUX4I1HYNPC5WGYC537F","trajectory_id":"3X52SWXE153UEZISSW10854396FCWP","scene_id":10,"start_position":[9.232672691345215,7.131016254425049,-1.2442539930343628],"start_rotation":[0.999720772439168,0.0,0.0,0.02363000536676425],"instruction":{"instruction_text":"Fly forward along the sidewalk until you reach an T-junction. Turn right to face the road, then fly straight ahead to another T-junction. Turn left to face the road, fly forward until passing all street lamps. Turn right slightly to face the end of the canal. Fly forward to the end of the canal then descend to hover above the water."},"goals":[{"position":[113.3671987780863,73.41916368450262,-3.244253993034363]}],"reference_path":[[9.232672691345215,7.131016254425049,-1.2442539930343628,0,0,0.04726440999073064],[9.232672691345215,7.131016254425049,-3.244253993034363,0,0,0.04726440999073064],[9.232672691345215,7.131016254425049,-5.244253993034363,0,0,0.04726440999073064],[14.227088919808882,7.367250326605081,-5.244253993034363,0,0,0.04726440999073064],[19.22150514827255,7.603484398785113,-5.244253993034363,0,0,0.04726440999073064],[24.215921376736215,7.8397184709651455,-5.244253993034363,0,0,0.04726440999073064],[29.210337605199882,8.075952543145178,-5.244253993034363,0,0,0.04726440999073064],[34.204753833663545,8.31218661532521,-5.244253993034363,0,0,0.04726440999073064],[39.19917006212721,8.548420687505242,-5.244253993034363,0,0,0.04726440999073064],[44.19358629059087,8.784654759685274,-5.244253993034363,0,0,0.04726440999073064],[49.188002519054535,9.020888831865307,-5.244253993034363,0,0,0.04726440999073064],[49.42423659123457,4.02647260340164,-5.244253993034363,0,0,0.04726440999073064],[54.41865281969824,4.262706675581672,-5.244253993034363,0,0,0.04726440999073064],[54.41865281969824,4.262706675581672,-5.244253993034363,0,0,0.3090637977898801],[54.41865281969824,4.262706675581672,-5.244253993034363,0,0,0.5708631855890295],[54.41865281969824,4.262706675581672,-5.244253993034363,0,0,0.832662573388179],[54.41865281969824,4.262706675581672,-5.244253993034363,0,0,1.0944619611873285],[54.41865281969824,4.262706675581672,-5.244253993034363,0,0,1.3562613489864779],[54.41865281969824,4.262706675581672,-5.244253993034363,0,0,1.6180607367856275],[54.182418747518206,9.257122904045339,-5.244253993034363,0,0,1.6180607367856275],[53.94618467533817,14.251539132509006,-5.244253993034363,0,0,1.6180607367856275],[53.70995060315814,19.245955360972673,-5.244253993034363,0,0,1.6180607367856275],[53.47371653097811,24.24037158943634,-5.244253993034363,0,0,1.6180607367856275],[53.23748245879808,29.234787817900006,-5.244253993034363,0,0,1.6180607367856275],[53.001248386618045,34.22920404636368,-5.244253993034363,0,0,1.6180607367856275],[52.76501431443801,39.22362027482734,-5.244253993034363,0,0,1.6180607367856275],[52.76501431443801,39.22362027482734,-3.244253993034363,0,0,1.6180607367856275],[52.52878024225798,44.218036503291,-3.244253993034363,0,0,1.6180607367856275],[52.29254617007795,49.21245273175467,-3.244253993034363,0,0,1.6180607367856275],[52.056312097897916,54.20686896021833,-3.244253993034363,0,0,1.6180607367856275],[51.82007802571788,59.20128518868199,-3.244253993034363,0,0,1.6180607367856275],[51.82007802571788,59.20128518868199,-3.244253993034363,0,0,1.3562613489864779],[51.82007802571788,59.20128518868199,-3.244253993034363,0,0,1.0944619611873285],[51.82007802571788,59.20128518868199,-3.244253993034363,0,0,0.8326625733881791],[51.82007802571788,59.20128518868199,-3.244253993034363,0,0,0.5708631855890296],[51.82007802571788,59.20128518868199,-3.244253993034363,0,0,0.3090637977898802],[51.82007802571788,59.20128518868199,-3.244253993034363,0,0,0.04726440999073078],[56.814494254181554,59.437519260862025,-3.244253993034363,0,0,0.04726440999073078],[61.80891048264522,59.67375333304206,-3.244253993034363,0,0,0.04726440999073078],[61.80891048264522,59.67375333304206,-5.244253993034363,0,0,0.04726440999073078],[66.80332671110888,59.90998740522209,-5.244253993034363,0,0,0.04726440999073078],[71.79774293957254,60.14622147740212,-5.244253993034363,0,0,0.04726440999073078],[76.7921591680362,60.382455549582154,-5.244253993034363,0,0,0.04726440999073078],[81.78657539649987,60.61868962176219,-5.244253993034363,0,0,0.04726440999073078],[86.78099162496353,60.85492369394222,-5.244253993034363,0,0,0.04726440999073078],[91.7754078534272,61.09115776612225,-5.244253993034363,0,0,0.04726440999073078],[91.7754078534272,61.09115776612225,-5.244253993034363,0,0,0.3090637977898802],[96.53850159875518,62.61199239658588,-5.244253993034363,0,0,0.3090637977898802],[96.53850159875518,62.61199239658588,-5.244253993034363,0,0,0.5708631855890296],[100.74567589358796,65.31378521856507,-5.244253993034363,0,0,0.5708631855890296],[104.95285018842074,68.01557804054426,-5.244253993034363,0,0,0.5708631855890296],[109.16002448325352,70.71737086252344,-5.244253993034363,0,0,0.5708631855890296],[113.3671987780863,73.41916368450262,-5.244253993034363,0,0,0.5708631855890296],[113.3671987780863,73.41916368450262,-3.244253993034363,0,0,0.5708631855890296]],"actions":[4,4,1,1,1,1,1,1,1,1,6,1,3,3,3,3,3,3,1,1,1,1,1,1,1,5,1,1,1,1,2,2,2,2,2,2,1,1,4,1,1,1,1,1,1,3,1,3,1,1,1,1,5,0]},
+{"episode_id":"3634BBTX0XSM20FQKKSO43BMEW8FI9","trajectory_id":"3XEDXEGFYBMJP7TVR2PDPT87D7LK0E","scene_id":10,"start_position":[-45.242820739746094,-21.02818489074707,-1.2410321235656738],"start_rotation":[0.9999755052054552,0.0,0.0,0.006999213462577179],"instruction":{"instruction_text":"Turn right to face the street lamps right to the road, move forward to the nearest lamp, fly up to the height of street lights, then fly forward to the bridge on the left, then turn left to face the bridge, then fly over it. Fly straight along the road to the T-junction at the end of the road. Turn right to face the road, then fly straight ahead to the T-junction. Turn right slightly to face the red building between the white building and orange building across the river, then fly forward to that red building. Turn left to face the road, then fly straight along the sidewalk, fly past a tree, then land in front of  a red building on the right of the road."},"goals":[{"position":[56.98998969887836,97.52316811228496,-7.241032123565674]}],"reference_path":[[-45.242820739746094,-21.02818489074707,-1.2410321235656738,0,0,0.013998541222471395],[-45.242820739746094,-21.02818489074707,-1.2410321235656738,0,0,0.2757979290216208],[-45.242820739746094,-21.02818489074707,-1.2410321235656738,0,0,0.5375973168207703],[-45.242820739746094,-21.02818489074707,-1.2410321235656738,0,0,0.7993967046199197],[-45.242820739746094,-21.02818489074707,-1.2410321235656738,0,0,1.061196092419069],[-45.242820739746094,-21.02818489074707,-1.2410321235656738,0,0,1.3229954802182187],[-44.016457861514674,-16.180914102881392,-1.2410321235656738,0,0,1.3229954802182187],[-42.790094983283254,-11.333643315015713,-1.2410321235656738,0,0,1.3229954802182187],[-41.563732105051834,-6.486372527150036,-1.2410321235656738,0,0,1.3229954802182187],[-41.563732105051834,-6.486372527150036,-3.241032123565674,0,0,1.3229954802182187],[-40.337369226820414,-1.6391017392843583,-3.241032123565674,0,0,1.3229954802182187],[-39.111006348588994,3.2081690485813192,-3.241032123565674,0,0,1.3229954802182187],[-39.111006348588994,3.2081690485813192,-3.241032123565674,0,0,1.0611960924190693],[-39.111006348588994,3.2081690485813192,-3.241032123565674,0,0,0.7993967046199199],[-39.111006348588994,3.2081690485813192,-3.241032123565674,0,0,0.5375973168207705],[-39.111006348588994,3.2081690485813192,-3.241032123565674,0,0,0.2757979290216211],[-39.111006348588994,3.2081690485813192,-3.241032123565674,0,0,0.013998541222471664],[-34.111496238479944,3.278159468764135,-3.241032123565674,0,0,0.013998541222471664],[-29.11198612837089,3.348149888946951,-3.241032123565674,0,0,0.013998541222471664],[-24.112476018261837,3.418140309129767,-3.241032123565674,0,0,0.013998541222471664],[-19.112965908152784,3.4881307293125827,-3.241032123565674,0,0,0.013998541222471664],[-14.11345579804373,3.5581211494953986,-3.241032123565674,0,0,0.013998541222471664],[-14.11345579804373,3.5581211494953986,-5.241032123565674,0,0,0.013998541222471664],[-9.113945687934677,3.6281115696782145,-5.241032123565674,0,0,0.013998541222471664],[-4.114435577825625,3.6981019898610303,-5.241032123565674,0,0,0.013998541222471664],[0.8850745322834275,3.768092410043846,-5.241032123565674,0,0,0.013998541222471664],[5.88458464239248,3.838082830226662,-5.241032123565674,0,0,0.013998541222471664],[10.884094752501532,3.908073250409478,-5.241032123565674,0,0,0.013998541222471664],[15.883604862610586,3.978063670592294,-5.241032123565674,0,0,0.013998541222471664],[20.88311497271964,4.04805409077511,-5.241032123565674,0,0,0.013998541222471664],[25.882625082828692,4.118044510957925,-5.241032123565674,0,0,0.013998541222471664],[30.882135192937746,4.1880349311407405,-5.241032123565674,0,0,0.013998541222471664],[35.881645303046795,4.258025351323556,-5.241032123565674,0,0,0.013998541222471664],[40.881155413155845,4.328015771506371,-5.241032123565674,0,0,0.013998541222471664],[45.880665523264895,4.398006191689187,-5.241032123565674,0,0,0.013998541222471664],[50.880175633373945,4.467996611872002,-5.241032123565674,0,0,0.013998541222471664],[55.879685743482995,4.537987032054818,-5.241032123565674,0,0,0.013998541222471664],[55.879685743482995,4.537987032054818,-5.241032123565674,0,0,0.2757979290216211],[55.879685743482995,4.537987032054818,-5.241032123565674,0,0,0.5375973168207705],[55.879685743482995,4.537987032054818,-5.241032123565674,0,0,0.79939670461992],[55.879685743482995,4.537987032054818,-5.241032123565674,0,0,1.0611960924190693],[55.879685743482995,4.537987032054818,-5.241032123565674,0,0,1.3229954802182187],[55.879685743482995,4.537987032054818,-5.241032123565674,0,0,1.5847948680173682],[55.809695323300176,9.53749714216387,-5.241032123565674,0,0,1.5847948680173682],[55.73970490311736,14.537007252272922,-5.241032123565674,0,0,1.5847948680173682],[55.66971448293454,19.536517362381975,-5.241032123565674,0,0,1.5847948680173682],[55.59972406275172,24.53602747249103,-5.241032123565674,0,0,1.5847948680173682],[55.5297336425689,29.53553758260008,-5.241032123565674,0,0,1.5847948680173682],[55.45974322238608,34.535047692709135,-5.241032123565674,0,0,1.5847948680173682],[55.45974322238608,34.535047692709135,-7.241032123565674,0,0,1.5847948680173682],[55.38975280220326,39.534557802818185,-7.241032123565674,0,0,1.5847948680173682],[55.31976238202044,44.534067912927235,-7.241032123565674,0,0,1.5847948680173682],[55.31976238202044,44.534067912927235,-7.241032123565674,0,0,1.846594255816518],[53.958188394894215,49.34510899335683,-7.241032123565674,0,0,1.846594255816518],[53.958188394894215,49.34510899335683,-9.241032123565674,0,0,1.846594255816518],[52.59661440776799,54.15615007378643,-9.241032123565674,0,0,1.846594255816518],[52.59661440776799,54.15615007378643,-9.241032123565674,0,0,2.108393643615668],[50.036245870813595,58.450857625526595,-9.241032123565674,0,0,2.108393643615668],[47.4758773338592,62.74556517726676,-9.241032123565674,0,0,2.108393643615668],[44.91550879690481,67.04027272900693,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+{"episode_id":"3OWEPKL08IA118BBZH74LJUM4SMN74","trajectory_id":"3MYASTQBHF9ZZUSKGJX50M4Z7G2DQ1","scene_id":10,"start_position":[-23.985822677612305,2.37967586517334,-2.549964427947998],"start_rotation":[0.9998945198061312,0.0,0.0,-0.014524092455855753],"instruction":{"instruction_text":"Take off to the height of street lights then fly straight along the road, passing an intersection, to reach the white building at the end of the road. Turn right to face the road, fly forward to the T-junction. Turn right to face the nearest white building across the river, then fly forward across the river and land in front of that white building."},"goals":[{"position":[42.466132182297386,95.95870116244801,-6.549964427947998]}],"reference_path":[[-23.985822677612305,2.37967586517334,-2.549964427947998,0,0,-0.02904920629086442],[-23.985822677612305,2.37967586517334,-4.549964427947998,0,0,-0.02904920629086442],[-23.985822677612305,2.37967586517334,-6.549964427947998,0,0,-0.02904920629086442],[-18.987932170228966,2.234450260655662,-6.549964427947998,0,0,-0.02904920629086442],[-13.990041662845629,2.0892246561379846,-6.549964427947998,0,0,-0.02904920629086442],[-8.992151155462292,1.9439990516203072,-6.549964427947998,0,0,-0.02904920629086442],[-3.9942606480789546,1.7987734471026298,-6.549964427947998,0,0,-0.02904920629086442],[1.0036298593043824,1.6535478425849524,-6.549964427947998,0,0,-0.02904920629086442],[6.0015203666877195,1.508322238067275,-6.549964427947998,0,0,-0.02904920629086442],[10.999410874071057,1.3630966335495975,-6.549964427947998,0,0,-0.02904920629086442],[15.997301381454394,1.2178710290319201,-6.549964427947998,0,0,-0.02904920629086442],[20.99519188883773,1.0726454245142427,-6.549964427947998,0,0,-0.02904920629086442],[25.99308239622107,0.9274198199965653,-6.549964427947998,0,0,-0.02904920629086442],[30.99097290360441,0.7821942154788879,-6.549964427947998,0,0,-0.02904920629086442],[35.98886341098775,0.6369686109612105,-6.549964427947998,0,0,-0.02904920629086442],[40.986753918371086,0.4917430064435331,-6.549964427947998,0,0,-0.02904920629086442],[45.984644425754425,0.3465174019258557,-6.549964427947998,0,0,-0.02904920629086442],[50.982534933137764,0.20129179740817826,-6.549964427947998,0,0,-0.02904920629086442],[55.9804254405211,0.056066192890500854,-6.549964427947998,0,0,-0.02904920629086442],[55.9804254405211,0.056066192890500854,-6.549964427947998,0,0,0.23275018150828503],[55.9804254405211,0.056066192890500854,-6.549964427947998,0,0,0.49454956930743454],[55.9804254405211,0.056066192890500854,-6.549964427947998,0,0,0.756348957106584],[55.9804254405211,0.056066192890500854,-6.549964427947998,0,0,1.0181483449057334],[55.9804254405211,0.056066192890500854,-6.549964427947998,0,0,1.279947732704883],[57.41425185121108,4.846070558651341,-6.549964427947998,0,0,1.279947732704883],[57.41425185121108,4.846070558651341,-6.549964427947998,0,0,1.5417471205040323],[57.559477455728754,9.843961066034678,-6.549964427947998,0,0,1.5417471205040323],[57.70470306024643,14.841851573418015,-6.549964427947998,0,0,1.5417471205040323],[57.70470306024643,14.841851573418015,-4.549964427947998,0,0,1.5417471205040323],[57.84992866476411,19.83974208080135,-4.549964427947998,0,0,1.5417471205040323],[57.995154269281784,24.83763258818469,-4.549964427947998,0,0,1.5417471205040323],[57.995154269281784,24.83763258818469,-2.549964427947998,0,0,1.5417471205040323],[58.14037987379946,29.83552309556803,-2.549964427947998,0,0,1.5417471205040323],[58.28560547831714,34.83341360295137,-2.549964427947998,0,0,1.5417471205040323],[58.430831082834814,39.831304110334706,-2.549964427947998,0,0,1.5417471205040323],[58.57605668735249,44.829194617718045,-2.549964427947998,0,0,1.5417471205040323],[58.72128229187017,49.827085125101384,-2.549964427947998,0,0,1.5417471205040323],[58.866507896387844,54.82497563248472,-2.549964427947998,0,0,1.5417471205040323],[59.01173350090552,59.82286613986806,-2.549964427947998,0,0,1.5417471205040323],[59.01173350090552,59.82286613986806,-2.549964427947998,0,0,1.8035465083031819],[59.01173350090552,59.82286613986806,-2.549964427947998,0,0,2.065345896102331],[56.638557310006114,64.22377908685397,-2.549964427947998,0,0,2.065345896102331],[56.638557310006114,64.22377908685397,-4.549964427947998,0,0,2.065345896102331],[54.265381119106706,68.62469203383988,-4.549964427947998,0,0,2.065345896102331],[51.8922049282073,73.02560498082579,-4.549964427947998,0,0,2.065345896102331],[51.8922049282073,73.02560498082579,-6.549964427947998,0,0,2.065345896102331],[49.51902873730789,77.4265179278117,-6.549964427947998,0,0,2.065345896102331],[47.145852546408484,81.82743087479761,-6.549964427947998,0,0,2.065345896102331],[44.77267635550908,86.22834382178353,-6.549964427947998,0,0,2.065345896102331],[44.77267635550908,86.22834382178353,-8.549964427947998,0,0,2.065345896102331],[44.77267635550908,86.22834382178353,-8.549964427947998,0,0,1.8035465083031819],[43.61940426890323,91.09352249211577,-8.549964427947998,0,0,1.8035465083031819],[42.466132182297386,95.95870116244801,-8.549964427947998,0,0,1.8035465083031819],[42.466132182297386,95.95870116244801,-6.549964427947998,0,0,1.8035465083031819]],"actions":[4,4,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,3,3,3,3,3,1,3,1,1,5,1,1,5,1,1,1,1,1,1,1,3,3,1,4,1,1,4,1,1,1,4,2,1,1,5,0]},
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Turn left to face the road, fly forward to the end of the road, then land there."},"goals":[{"position":[111.38125263884892,61.072125329912005,-2.549964427947998]}],"reference_path":[[-23.985822677612305,2.37967586517334,-2.549964427947998,0,0,0.01706059343270496],[-23.985822677612305,2.37967586517334,-4.549964427947998,0,0,0.01706059343270496],[-23.985822677612305,2.37967586517334,-6.549964427947998,0,0,0.01706059343270496],[-23.985822677612305,2.37967586517334,-6.549964427947998,0,0,-0.24473879436644447],[-19.134819432837535,1.1681613092621628,-6.549964427947998,0,0,-0.24473879436644447],[-14.283816188062765,-0.0433532466490143,-6.549964427947998,0,0,-0.24473879436644447],[-9.432812943287995,-1.2548678025601914,-6.549964427947998,0,0,-0.24473879436644447],[-9.432812943287995,-1.2548678025601914,-6.549964427947998,0,0,0.017060593432704954],[-9.432812943287995,-1.2548678025601914,-6.549964427947998,0,0,0.2788599812318544],[-9.432812943287995,-1.2548678025601914,-6.549964427947998,0,0,0.5406593690310039],[-5.1459654953588085,1.3186393293869918,-6.549964427947998,0,0,0.5406593690310039],[-0.8591180474296216,3.8921464613341747,-6.549964427947998,0,0,0.5406593690310039],[-0.8591180474296216,3.8921464613341747,-6.549964427947998,0,0,0.27885998123185446],[3.947731274341659,5.268445701247858,-6.549964427947998,0,0,0.27885998123185446],[3.947731274341659,5.268445701247858,-6.549964427947998,0,0,0.017060593432705017],[8.947003632370414,5.353744530369957,-6.549964427947998,0,0,0.017060593432705017],[13.94627599039917,5.4390433594920555,-6.549964427947998,0,0,0.017060593432705017],[18.945548348427927,5.524342188614154,-6.549964427947998,0,0,0.017060593432705017],[23.94482070645668,5.609641017736253,-6.549964427947998,0,0,0.017060593432705017],[28.944093064485436,5.694939846858352,-6.549964427947998,0,0,0.017060593432705017],[33.94336542251419,5.780238675980451,-6.549964427947998,0,0,0.017060593432705017],[38.942637780542945,5.86553750510255,-6.549964427947998,0,0,0.017060593432705017],[43.9419101385717,5.950836334224649,-6.549964427947998,0,0,0.017060593432705017],[48.941182496600454,6.0361351633467475,-6.549964427947998,0,0,0.017060593432705017],[53.94045485462921,6.121433992468846,-6.549964427947998,0,0,0.017060593432705017],[53.94045485462921,6.121433992468846,-6.549964427947998,0,0,0.27885998123185446],[53.94045485462921,6.121433992468846,-6.549964427947998,0,0,0.5406593690310039],[53.94045485462921,6.121433992468846,-6.549964427947998,0,0,0.8024587568301533],[53.94045485462921,6.121433992468846,-6.549964427947998,0,0,1.0642581446293027],[53.94045485462921,6.121433992468846,-6.549964427947998,0,0,1.3260575324284523],[53.94045485462921,6.121433992468846,-6.549964427947998,0,0,1.5878569202276018],[53.85515602550711,11.120706350497603,-6.549964427947998,0,0,1.5878569202276018],[53.769857196385004,16.11997870852636,-6.549964427947998,0,0,1.5878569202276018],[53.6845583672629,21.119251066555115,-6.549964427947998,0,0,1.5878569202276018],[53.5992595381408,26.11852342458387,-6.549964427947998,0,0,1.5878569202276018],[53.5139607090187,31.117795782612625,-6.549964427947998,0,0,1.5878569202276018],[53.428661879896595,36.11706814064138,-6.549964427947998,0,0,1.5878569202276018],[53.34336305077449,41.116340498670134,-6.549964427947998,0,0,1.5878569202276018],[53.25806422165239,46.11561285669889,-6.549964427947998,0,0,1.5878569202276018],[53.17276539253029,51.11488521472764,-6.549964427947998,0,0,1.5878569202276018],[53.087466563408185,56.1141575727564,-6.549964427947998,0,0,1.5878569202276018],[53.087466563408185,56.1141575727564,-6.549964427947998,0,0,1.8496563080267516],[53.087466563408185,56.1141575727564,-6.549964427947998,0,0,2.111455695825901],[53.087466563408185,56.1141575727564,-6.549964427947998,0,0,2.3732550836250508],[53.087466563408185,56.1141575727564,-6.549964427947998,0,0,2.6350544714242004],[55.51323178948975,60.48630384980768,-6.549964427947998,0,0,2.6350544714242004],[55.51323178948975,60.48630384980768,-6.549964427947998,0,0,2.89685385922335],[55.51323178948975,60.48630384980768,-6.549964427947998,0,0,-3.124532060157087],[55.51323178948975,60.48630384980768,-6.549964427947998,0,0,-2.8627326723579376],[55.51323178948975,60.48630384980768,-6.549964427947998,0,0,-2.6009332845587885],[55.51323178948975,60.48630384980768,-6.549964427947998,0,0,-2.3391338967596393],[52.03852778462867,56.89096908394758,-6.549964427947998,0,0,-2.3391338967596393],[48.56382377976759,53.29563431808748,-6.549964427947998,0,0,-2.3391338967596393],[48.56382377976759,53.29563431808748,-6.549964427947998,0,0,-2.0773345089604898],[48.56382377976759,53.29563431808748,-6.549964427947998,0,0,-1.8155351211613404],[48.56382377976759,53.29563431808748,-6.549964427947998,0,0,-1.553735733362191],[48.56382377976759,53.29563431808748,-6.549964427947998,0,0,-1.2919363455630417],[49.94012301968127,48.4887849963162,-6.549964427947998,0,0,-1.2919363455630417],[51.31642225959496,43.68193567454492,-6.549964427947998,0,0,-1.2919363455630417],[52.69272149950864,38.875086352773636,-6.549964427947998,0,0,-1.2919363455630417],[54.06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+{"episode_id":"3WLEIWSYHXF25BSUQ7VWK8GI5FG2HB","trajectory_id":"3XEDXEGFYBMJP7TVR2PDPT87D7LK0E","scene_id":10,"start_position":[-45.242820739746094,-21.02818489074707,-1.2410321235656738],"start_rotation":[0.9999755052054552,0.0,0.0,0.006999213462577179],"instruction":{"instruction_text":"Turn right to face the street lamps at right side of the road, fly up to the height of the lamps, then fly forward along the road to the bridge on the left, then turn left to face the bridge, then fly over it. Flying straight along the road to the T-junction, then turn right to face the road, then fly forward to another T-junction, then turn right to face the light orange building on the opposite side between a red building and a gray building, then make a sharp left turn to face the road. Fly forward to the second streetlight, then land in front of a red house."},"goals":[{"position":[56.98998969887836,97.52316811228496,-7.241032123565674]}],"reference_path":[[-45.242820739746094,-21.02818489074707,-1.2410321235656738,0,0,0.013998541222471395],[-45.242820739746094,-21.02818489074707,-1.2410321235656738,0,0,0.2757979290216208],[-45.242820739746094,-21.02818489074707,-1.2410321235656738,0,0,0.5375973168207703],[-45.242820739746094,-21.02818489074707,-1.2410321235656738,0,0,0.7993967046199197],[-45.242820739746094,-21.02818489074707,-1.2410321235656738,0,0,1.061196092419069],[-45.242820739746094,-21.02818489074707,-1.2410321235656738,0,0,1.3229954802182187],[-44.016457861514674,-16.180914102881392,-1.2410321235656738,0,0,1.3229954802182187],[-42.790094983283254,-11.333643315015713,-1.2410321235656738,0,0,1.3229954802182187],[-41.563732105051834,-6.486372527150036,-1.2410321235656738,0,0,1.3229954802182187],[-41.563732105051834,-6.486372527150036,-3.241032123565674,0,0,1.3229954802182187],[-40.337369226820414,-1.6391017392843583,-3.241032123565674,0,0,1.3229954802182187],[-39.111006348588994,3.2081690485813192,-3.241032123565674,0,0,1.3229954802182187],[-39.111006348588994,3.2081690485813192,-3.241032123565674,0,0,1.0611960924190693],[-39.111006348588994,3.2081690485813192,-3.241032123565674,0,0,0.7993967046199199],[-39.111006348588994,3.2081690485813192,-3.241032123565674,0,0,0.5375973168207705],[-39.111006348588994,3.2081690485813192,-3.241032123565674,0,0,0.2757979290216211],[-39.111006348588994,3.2081690485813192,-3.241032123565674,0,0,0.013998541222471664],[-34.111496238479944,3.278159468764135,-3.241032123565674,0,0,0.013998541222471664],[-29.11198612837089,3.348149888946951,-3.241032123565674,0,0,0.013998541222471664],[-24.112476018261837,3.418140309129767,-3.241032123565674,0,0,0.013998541222471664],[-19.112965908152784,3.4881307293125827,-3.241032123565674,0,0,0.013998541222471664],[-14.11345579804373,3.5581211494953986,-3.241032123565674,0,0,0.013998541222471664],[-14.11345579804373,3.5581211494953986,-5.241032123565674,0,0,0.013998541222471664],[-9.113945687934677,3.6281115696782145,-5.241032123565674,0,0,0.013998541222471664],[-4.114435577825625,3.6981019898610303,-5.241032123565674,0,0,0.013998541222471664],[0.8850745322834275,3.768092410043846,-5.241032123565674,0,0,0.013998541222471664],[5.88458464239248,3.838082830226662,-5.241032123565674,0,0,0.013998541222471664],[10.884094752501532,3.908073250409478,-5.241032123565674,0,0,0.013998541222471664],[15.883604862610586,3.978063670592294,-5.241032123565674,0,0,0.013998541222471664],[20.88311497271964,4.04805409077511,-5.241032123565674,0,0,0.013998541222471664],[25.882625082828692,4.118044510957925,-5.241032123565674,0,0,0.013998541222471664],[30.882135192937746,4.1880349311407405,-5.241032123565674,0,0,0.013998541222471664],[35.881645303046795,4.258025351323556,-5.241032123565674,0,0,0.013998541222471664],[40.881155413155845,4.328015771506371,-5.241032123565674,0,0,0.013998541222471664],[45.880665523264895,4.398006191689187,-5.241032123565674,0,0,0.013998541222471664],[50.880175633373945,4.467996611872002,-5.241032123565674,0,0,0.013998541222471664],[55.879685743482995,4.537987032054818,-5.241032123565674,0,0,0.013998541222471664],[55.879685743482995,4.537987032054818,-5.241032123565674,0,0,0.2757979290216211],[55.879685743482995,4.537987032054818,-5.241032123565674,0,0,0.5375973168207705],[55.879685743482995,4.537987032054818,-5.241032123565674,0,0,0.79939670461992],[55.879685743482995,4.537987032054818,-5.241032123565674,0,0,1.0611960924190693],[55.879685743482995,4.537987032054818,-5.241032123565674,0,0,1.3229954802182187],[55.879685743482995,4.537987032054818,-5.241032123565674,0,0,1.5847948680173682],[55.809695323300176,9.53749714216387,-5.241032123565674,0,0,1.5847948680173682],[55.73970490311736,14.537007252272922,-5.241032123565674,0,0,1.5847948680173682],[55.66971448293454,19.536517362381975,-5.241032123565674,0,0,1.5847948680173682],[55.59972406275172,24.53602747249103,-5.241032123565674,0,0,1.5847948680173682],[55.5297336425689,29.53553758260008,-5.241032123565674,0,0,1.5847948680173682],[55.45974322238608,34.535047692709135,-5.241032123565674,0,0,1.5847948680173682],[55.45974322238608,34.535047692709135,-7.241032123565674,0,0,1.5847948680173682],[55.38975280220326,39.534557802818185,-7.241032123565674,0,0,1.5847948680173682],[55.31976238202044,44.534067912927235,-7.241032123565674,0,0,1.5847948680173682],[55.31976238202044,44.534067912927235,-7.241032123565674,0,0,1.846594255816518],[53.958188394894215,49.34510899335683,-7.241032123565674,0,0,1.846594255816518],[53.958188394894215,49.34510899335683,-9.241032123565674,0,0,1.846594255816518],[52.59661440776799,54.15615007378643,-9.241032123565674,0,0,1.846594255816518],[52.59661440776799,54.15615007378643,-9.241032123565674,0,0,2.108393643615668],[50.036245870813595,58.450857625526595,-9.241032123565674,0,0,2.108393643615668],[47.4758773338592,62.74556517726676,-9.241032123565674,0,0,2.108393643615668],[44.91550879690481,67.04027272900693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+]}
diff --git a/TEST_FILE/AerialVLN-Fine-V3-Scene-11.json b/TEST_FILE/AerialVLN-Fine-V3-Scene-11.json
new file mode 100644
index 0000000000000000000000000000000000000000..51e19fe5e75985b08da3d6d1016c424a69edf7cd
--- /dev/null
+++ b/TEST_FILE/AerialVLN-Fine-V3-Scene-11.json
@@ -0,0 +1,22 @@
+{"episodes":[
+{"episode_id":"39GXDJN2O2CI9RP3BDL190KVTB48VP","trajectory_id":"3PGQRAZX1AIEAL2O4J9O87T1CJOYS1","scene_id":11,"start_position":[22.05168914794922,-13.471610069274902,-13.465291023254395],"start_rotation":[0.999647961842568,0.0,0.0,-0.026532101009905617],"instruction":{"instruction_text":"Turn right to face the \"LEON\" sign, then take off to the sign's height, and fly along the road to the red high building behind the sign. Turn right to face the intersection right to red building, then fly forward along the road right to the red building to an intersection, then turn right to face the road, fly forward along the road until you pass the \"HOTEL\" sign. Turn left to face the dark red building with yellow light windows, then fly over the building, then fly to the \"D\"-shaped flat roof building at the front right side, and land on its roof."},"goals":[{"position":[-182.40340553357257,-140.58551673017584,-21.465291023254395]}],"reference_path":[[22.05168914794922,-13.471610069274902,-13.465291023254395,0,0,-0.05307042977141742],[22.05168914794922,-13.471610069274902,-13.465291023254395,0,0,0.208728958027732],[22.05168914794922,-13.471610069274902,-13.465291023254395,0,0,0.4705283458268814],[22.05168914794922,-13.471610069274902,-13.465291023254395,0,0,0.7323277336260309],[22.05168914794922,-13.471610069274902,-13.465291023254395,0,0,0.9941271214251802],[22.05168914794922,-13.471610069274902,-13.465291023254395,0,0,1.2559265092243297],[22.05168914794922,-13.471610069274902,-13.465291023254395,0,0,1.517725897023479],[22.05168914794922,-13.471610069274902,-13.465291023254395,0,0,1.7795252848226286],[22.05168914794922,-13.471610069274902,-13.465291023254395,0,0,2.041324672621778],[22.05168914794922,-13.471610069274902,-13.465291023254395,0,0,2.3031240604209278],[22.05168914794922,-13.471610069274902,-13.465291023254395,0,0,2.564923448220077],[22.05168914794922,-13.471610069274902,-15.465291023254395,0,0,2.564923448220077],[17.86027233899278,-10.74543598576567,-15.465291023254395,0,0,2.564923448220077],[13.668855530036337,-8.019261902256439,-15.465291023254395,0,0,2.564923448220077],[13.668855530036337,-8.019261902256439,-15.465291023254395,0,0,2.3031240604209273],[10.325843558600296,-4.301161451914179,-15.465291023254395,0,0,2.3031240604209273],[6.982831587164254,-0.5830610015719202,-15.465291023254395,0,0,2.3031240604209273],[3.6398196157282126,3.135039448770339,-15.465291023254395,0,0,2.3031240604209273],[0.296807644292171,6.853139899112598,-15.465291023254395,0,0,2.3031240604209273],[0.296807644292171,6.853139899112598,-15.465291023254395,0,0,2.5649234482200765],[0.296807644292171,6.853139899112598,-17.465291023254395,0,0,2.5649234482200765],[-3.8946091646642698,9.57931398262183,-17.465291023254395,0,0,2.5649234482200765],[-8.08602597362071,12.305488066131062,-17.465291023254395,0,0,2.5649234482200765],[-12.27744278257715,15.031662149640294,-17.465291023254395,0,0,2.5649234482200765],[-16.46885959153359,17.757836233149526,-17.465291023254395,0,0,2.5649234482200765],[-19.195033675042822,13.566419424193086,-17.465291023254395,0,0,2.5649234482200765],[-23.386450483999262,16.292593507702318,-17.465291023254395,0,0,2.5649234482200765],[-27.577867292955702,19.01876759121155,-17.465291023254395,0,0,2.5649234482200765],[-31.76928410191214,21.74494167472078,-17.465291023254395,0,0,2.5649234482200765],[-35.96070091086858,24.471115758230013,-17.465291023254395,0,0,2.5649234482200765],[-40.15211771982502,27.197289841739245,-17.465291023254395,0,0,2.5649234482200765],[-44.34353452878146,29.923463925248477,-17.465291023254395,0,0,2.5649234482200765],[-47.0697086122907,25.732047116292037,-17.465291023254395,0,0,2.5649234482200765],[-51.26112542124714,28.45822119980127,-17.465291023254395,0,0,2.5649234482200765],[-51.26112542124714,28.45822119980127,-17.465291023254395,0,0,2.826722836019226],[-51.26112542124714,28.45822119980127,-17.465291023254395,0,0,3.0885222238183756],[-51.26112542124714,28.45822119980127,-17.465291023254395,0,0,-2.932863695562061],[-51.26112542124714,28.45822119980127,-17.465291023254395,0,0,-2.6710643077629115],[-51.26112542124714,28.45822119980127,-17.465291023254395,0,0,-2.409264919963762],[-54.97922587158939,25.115209228365224,-17.465291023254395,0,0,-2.409264919963762],[-58.69732632193165,21.77219725692918,-17.465291023254395,0,0,-2.409264919963762],[-62.415426772273904,18.429185285493134,-17.465291023254395,0,0,-2.409264919963762],[-62.415426772273904,18.429185285493134,-17.465291023254395,0,0,-2.6710643077629115],[-66.87207118820987,16.16239889284236,-17.465291023254395,0,0,-2.6710643077629115],[-71.32871560414584,13.89561250019159,-17.465291023254395,0,0,-2.6710643077629115],[-71.32871560414584,13.89561250019159,-19.465291023254395,0,0,-2.6710643077629115],[-75.78536002008181,11.628826107540817,-19.465291023254395,0,0,-2.6710643077629115],[-80.24200443601778,9.362039714890045,-19.465291023254395,0,0,-2.6710643077629115],[-80.24200443601778,9.362039714890045,-19.465291023254395,0,0,-2.409264919963762],[-83.96010488636004,6.019027743454001,-19.465291023254395,0,0,-2.409264919963762],[-83.96010488636004,6.019027743454001,-19.465291023254395,0,0,-2.147465532164613],[-86.68627896986928,1.8276109344975584,-19.465291023254395,0,0,-2.147465532164613],[-89.41245305337851,-2.363805874458884,-19.465291023254395,0,0,-2.147465532164613],[-89.41245305337851,-2.363805874458884,-21.465291023254395,0,0,-2.147465532164613],[-89.41245305337851,-2.363805874458884,-21.465291023254395,0,0,-1.8856661443654632],[-90.96091651147925,-7.117989392049124,-21.465291023254395,0,0,-1.8856661443654632],[-92.50937996958,-11.872172909639364,-21.465291023254395,0,0,-1.8856661443654632],[-92.50937996958,-11.872172909639364,-21.465291023254395,0,0,-1.6238667565663139],[-92.77460757655953,-16.865133385799364,-21.465291023254395,0,0,-1.6238667565663139],[-93.039835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+{"episode_id":"37C0GNLMHO19BW6TRDO9J0IXN8T6DJ","trajectory_id":"3MQKOF1EFAM4JRO6SSWBSBML08FDWO","scene_id":11,"start_position":[8.597949028015137,-22.390138626098633,-1.1332043409347534],"start_rotation":[0.9999939311314654,0.0,0.0,0.0034839202399222723],"instruction":{"instruction_text":"Take off to the third floor height, then turn left to face the row of street lamps on the right side of the road. Fly straight ahead until you reach the hotel sign hanging on wall, then fly up to the height of the roof on your right and fly to the roof of the glass building on the left side of the road. Turn right slightly to face the nearest tall building, then fly diagonally upwards to the left side of the terrace halfway up that building. Fly forward out of the terrace and then fly forward onto the road in front of a building with protruding ends and a concave middle. Turn left to face the road between the red high-rise building and the deep building with two different roofs on the right, then fly forward along the road to the lower roof of the building on the right with two different roofs. Turn right to face the last building on the right front, then fly forward until you fly past the lower roof platform and stop. Turn right to face the roof of the lower restaurant, then fly forward above the roof of the restaurant, and after descending to the height of roof ahead, stop."},"goals":[{"position":[-89.9784937277774,-267.9080647201659,-21.133204340934753]}],"reference_path":[[8.597949028015137,-22.390138626098633,-1.1332043409347534,0,0,0.00696785457551471],[8.597949028015137,-22.390138626098633,-3.1332043409347534,0,0,0.00696785457551471],[8.597949028015137,-22.390138626098633,-5.133204340934753,0,0,0.00696785457551471],[8.597949028015137,-22.390138626098633,-5.133204340934753,0,0,-0.2548315332236347],[8.597949028015137,-22.390138626098633,-5.133204340934753,0,0,-0.5166309210227842],[8.597949028015137,-22.390138626098633,-5.133204340934753,0,0,-0.7784303088219336],[8.597949028015137,-22.390138626098633,-5.133204340934753,0,0,-1.040229696621083],[8.597949028015137,-22.390138626098633,-5.133204340934753,0,0,-1.3020290844202325],[8.597949028015137,-22.390138626098633,-7.133204340934753,0,0,-1.3020290844202325],[8.597949028015137,-22.390138626098633,-9.133204340934753,0,0,-1.3020290844202325],[8.597949028015137,-22.390138626098633,-9.133204340934753,0,0,-1.563828472219382],[8.63278801897982,-27.390017249096253,-9.133204340934753,0,0,-1.563828472219382],[8.667627009944503,-32.389895872093874,-9.133204340934753,0,0,-1.563828472219382],[8.702466000909187,-37.389774495091494,-9.133204340934753,0,0,-1.563828472219382],[8.73730499187387,-42.389653118089115,-9.133204340934753,0,0,-1.563828472219382],[8.772143982838553,-47.389531741086735,-9.133204340934753,0,0,-1.563828472219382],[8.806982973803237,-52.389410364084355,-9.133204340934753,0,0,-1.563828472219382],[8.84182196476792,-57.389288987081976,-9.133204340934753,0,0,-1.563828472219382],[8.84182196476792,-57.389288987081976,-11.133204340934753,0,0,-1.563828472219382],[8.876660955732603,-62.389167610079596,-11.133204340934753,0,0,-1.563828472219382],[8.911499946697287,-67.38904623307721,-11.133204340934753,0,0,-1.563828472219382],[8.94633893766197,-72.38892485607482,-11.133204340934753,0,0,-1.563828472219382],[8.981177928626654,-77.38880347907244,-11.133204340934753,0,0,-1.563828472219382],[9.016016919591337,-82.38868210207005,-11.133204340934753,0,0,-1.563828472219382],[9.016016919591337,-82.38868210207005,-13.133204340934753,0,0,-1.563828472219382],[9.05085591055602,-87.38856072506766,-13.133204340934753,0,0,-1.563828472219382],[9.085694901520704,-92.38843934806528,-13.133204340934753,0,0,-1.563828472219382],[9.120533892485387,-97.38831797106289,-13.133204340934753,0,0,-1.563828472219382],[9.15537288345007,-102.3881965940605,-13.133204340934753,0,0,-1.563828472219382],[9.190211874414754,-107.38807521705812,-13.133204340934753,0,0,-1.563828472219382],[9.225050865379437,-112.38795384005573,-13.133204340934753,0,0,-1.563828472219382],[9.225050865379437,-112.38795384005573,-15.133204340934753,0,0,-1.563828472219382],[9.25988985634412,-117.38783246305334,-15.133204340934753,0,0,-1.563828472219382],[4.260011233346502,-117.42267145401803,-15.133204340934753,0,0,-1.563828472219382],[4.294850224311184,-122.42255007701564,-15.133204340934753,0,0,-1.563828472219382],[4.294850224311184,-122.42255007701564,-15.133204340934753,0,0,-1.8256278600185314],[3.0344382946130732,-127.26107896165348,-15.133204340934753,0,0,-1.8256278600185314],[3.0344382946130732,-127.26107896165348,-17.133204340934753,0,0,-1.8256278600185314],[3.0344382946130732,-127.26107896165348,-17.133204340934753,0,0,-2.087427247817681],[3.0344382946130732,-127.26107896165348,-19.133204340934753,0,0,-2.087427247817681],[0.5646704343318958,-131.60852036049053,-19.133204340934753,0,0,-2.087427247817681],[-1.9050974259492817,-135.95596175932758,-19.133204340934753,0,0,-2.087427247817681],[-1.9050974259492817,-135.95596175932758,-21.133204340934753,0,0,-2.087427247817681],[-4.37486528623046,-140.30340315816463,-21.133204340934753,0,0,-2.087427247817681],[-4.37486528623046,-140.30340315816463,-23.133204340934753,0,0,-2.087427247817681],[-4.37486528623046,-140.30340315816463,-25.133204340934753,0,0,-2.087427247817681],[-6.844633146511637,-144.65084455700168,-25.133204340934753,0,0,-2.087427247817681],[-6.844633146511637,-144.65084455700168,-27.133204340934753,0,0,-2.087427247817681],[-9.314401006792814,-148.99828595583872,-27.133204340934753,0,0,-2.087427247817681],[-9.314401006792814,-148.99828595583872,-29.133204340934753,0,0,-2.087427247817681],[-11.78416886707399,-153.34572735467577,-29.133204340934753,0,0,-2.087427247817681],[-11.78416886707399,-153.34572735467577,-31.133204340934753,0,0,-2.087427247817681],[-14.253936727355168,-157.69316875351282,-31.133204340934753,0,0,-2.087427247817681],[-14.253936727355168,-157.69316875351282,-31.133204340934753,0,0,-1.8256278600185316],[-15.51434865705328,-162.53169763815066,-31.133204340934753,0,0,-1.8256278600185316],[-15.51434865705328,-162.53169763815066,-31.133204340934753,0,0,-1.5638284722193825],[-15.4795096660886,-167.53157626114827,-31.133204340934753,0,0,-1.5638284722193825],[-15.44467067512392,-172.5314548841459,-31.133204340934753,0,0,-1.5638284722193825],[-15.44467067512392,-172.5314548841459,-31.133204340934753,0,0,-1.3020290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+{"episode_id":"3NL0RFNU0OL3AF8P06HHQFT9BSX4KQ","trajectory_id":"32K26U12EVMR42O12IRF6937TZDDVE","scene_id":11,"start_position":[22.05168914794922,-13.471610069274902,-13.465291023254395],"start_rotation":[0.9999860890449014,0.0,0.0,-0.005274629530366826],"instruction":{"instruction_text":"Turn left to face the white cylindrical building with the word \"HOTEL\" on it, then fly forward out of the roof to the road on the left side of the white cylindrical building, then fly over the white cylindrical building by its left side along the road. Turn right to face a small, black-and-white building between the tall cylindrical structure and the building with the large \"HOTEL\" sign, then fly to the left side of this small building, then turn right to face the tall building behind the green shrubs. Fly forward to the front of the that tall building, then descend to fourth floor height and turn left to face the road on the left side of the red building and fly forward to its top, then turn right to face the road, and fly forward along the road to a \"restaurant\" sign and descend in height to face the sign and stop."},"goals":[{"position":[-92.1876531482663,-263.74342929834415,-13.465291023254395]}],"reference_path":[[22.05168914794922,-13.471610069274902,-13.465291023254395,0,0,-0.010549307977762218],[22.05168914794922,-13.471610069274902,-13.465291023254395,0,0,-0.2723486957769116],[22.05168914794922,-13.471610069274902,-13.465291023254395,0,0,-0.534148083576061],[22.05168914794922,-13.471610069274902,-13.465291023254395,0,0,-0.7959474713752105],[22.05168914794922,-13.471610069274902,-13.465291023254395,0,0,-1.05774685917436],[22.05168914794922,-13.471610069274902,-13.465291023254395,0,0,-1.3195462469735095],[22.05168914794922,-13.471610069274902,-13.465291023254395,0,0,-1.581345634772659],[22.05168914794922,-13.471610069274902,-13.465291023254395,0,0,-1.8431450225718085],[22.05168914794922,-13.471610069274902,-13.465291023254395,0,0,-2.104944410370958],[22.05168914794922,-13.471610069274902,-13.465291023254395,0,0,-2.3667437981701074],[22.05168914794922,-13.471610069274902,-13.465291023254395,0,0,-2.628543185969257],[22.05168914794922,-13.471610069274902,-15.465291023254395,0,0,-2.628543185969257],[17.695430291385104,-15.925791964450301,-15.465291023254395,0,0,-2.628543185969257],[13.33917143482099,-18.3799738596257,-15.465291023254395,0,0,-2.628543185969257],[8.982912578256876,-20.8341557548011,-15.465291023254395,0,0,-2.628543185969257],[4.626653721692761,-23.288337649976498,-15.465291023254395,0,0,-2.628543185969257],[0.27039486512864563,-25.742519545151897,-15.465291023254395,0,0,-2.628543185969257],[-4.0858639914354695,-28.196701440327296,-15.465291023254395,0,0,-2.628543185969257],[-4.0858639914354695,-28.196701440327296,-17.465291023254395,0,0,-2.628543185969257],[-4.0858639914354695,-28.196701440327296,-17.465291023254395,0,0,-2.8903425737684065],[-8.928875941608425,-29.43977635781294,-17.465291023254395,0,0,-2.8903425737684065],[-13.77188789178138,-30.68285127529858,-17.465291023254395,0,0,-2.8903425737684065],[-13.77188789178138,-30.68285127529858,-17.465291023254395,0,0,3.13104334561203],[-18.771609674614552,-30.630105713746254,-17.465291023254395,0,0,3.13104334561203],[-23.771331457447726,-30.577360152193926,-17.465291023254395,0,0,3.13104334561203],[-28.7710532402809,-30.524614590641598,-17.465291023254395,0,0,3.13104334561203],[-28.7710532402809,-30.524614590641598,-19.465291023254395,0,0,3.13104334561203],[-33.77077502311407,-30.47186902908927,-19.465291023254395,0,0,3.13104334561203],[-33.77077502311407,-30.47186902908927,-19.465291023254395,0,0,-2.8903425737684065],[-38.61378697328703,-31.714943946574913,-19.465291023254395,0,0,-2.8903425737684065],[-43.456798923459985,-32.958018864060556,-19.465291023254395,0,0,-2.8903425737684065],[-43.456798923459985,-32.958018864060556,-19.465291023254395,0,0,-2.6285431859692574],[-47.8130577800241,-35.41220075923595,-19.465291023254395,0,0,-2.6285431859692574],[-52.16931663658822,-37.866382654411346,-19.465291023254395,0,0,-2.6285431859692574],[-56.52557549315234,-40.32056454958674,-19.465291023254395,0,0,-2.6285431859692574],[-60.881834349716456,-42.77474644476214,-19.465291023254395,0,0,-2.6285431859692574],[-60.881834349716456,-42.77474644476214,-19.465291023254395,0,0,-2.3667437981701083],[-64.45446827065503,-46.27278687719843,-19.465291023254395,0,0,-2.3667437981701083],[-68.0271021915936,-49.77082730963472,-19.465291023254395,0,0,-2.3667437981701083],[-71.59973611253217,-53.26886774207101,-19.465291023254395,0,0,-2.3667437981701083],[-71.59973611253217,-53.26886774207101,-21.465291023254395,0,0,-2.3667437981701083],[-75.17237003347074,-56.7669081745073,-21.465291023254395,0,0,-2.3667437981701083],[-78.74500395440931,-60.26494860694359,-21.465291023254395,0,0,-2.3667437981701083],[-82.31763787534788,-63.76298903937988,-21.465291023254395,0,0,-2.3667437981701083],[-85.89027179628646,-67.26102947181617,-21.465291023254395,0,0,-2.3667437981701083],[-89.46290571722503,-70.75906990425246,-21.465291023254395,0,0,-2.3667437981701083],[-89.46290571722503,-70.75906990425246,-23.465291023254395,0,0,-2.3667437981701083],[-93.0355396381636,-74.25711033668874,-23.465291023254395,0,0,-2.3667437981701083],[-96.60817355910217,-77.75515076912502,-23.465291023254395,0,0,-2.3667437981701083],[-96.60817355910217,-77.75515076912502,-25.465291023254395,0,0,-2.3667437981701083],[-100.18080748004074,-81.25319120156131,-25.465291023254395,0,0,-2.3667437981701083],[-103.75344140097931,-84.75123163399759,-25.465291023254395,0,0,-2.3667437981701083],[-103.75344140097931,-84.75123163399759,-25.465291023254395,0,0,-2.1049444103709587],[-103.75344140097931,-84.75123163399759,-25.465291023254395,0,0,-1.8431450225718093],[-103.75344140097931,-84.75123163399759,-25.465291023254395,0,0,-1.5813456347726602],[-103.75344140097931,-84.75123163399759,-25.465291023254395,0,0,-1.3195462469735109],[-102.51036648349367,-89.59424358417056,-25.465291023254395,0,0,-1.3195462469735109],[-101.26729156600803,-94.4372555343435,-25.465291023254395,0,0,-1.3195462469735109],[-100.02421664852238,-99.2802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+{"episode_id":"39JEC75373ZKLUFGSP16BMGEJ1CVC3","trajectory_id":"3PGQRAZX1AIEAL2O4J9O87T1CJOYS1","scene_id":11,"start_position":[22.05168914794922,-13.471610069274902,-13.465291023254395],"start_rotation":[0.999647961842568,0.0,0.0,-0.026532101009905617],"instruction":{"instruction_text":"Turn right to face the \"LEON\" sign and then take off to its height. Fly forward to the red building behind the sign, then turn right to face the terrace of the building right to the red building. Fly forward to the left corner of the terrace wall, then turn right to face the road, then fly towards the \"LEON\" sign, then turn right to face the \"HOTEL\" sign, then fly along the road to the edge of the hotel building roof on the left side of the road, then turn left to face the dark building with yellow lights shining on the middle window. Fly over the dark building with yellow lights shining on the middle window. Fly forward to the \"D\"-shaped flat roof building at front right side, and land on the D-shaped roof."},"goals":[{"position":[-182.40340553357257,-140.58551673017584,-21.465291023254395]}],"reference_path":[[22.05168914794922,-13.471610069274902,-13.465291023254395,0,0,-0.05307042977141742],[22.05168914794922,-13.471610069274902,-13.465291023254395,0,0,0.208728958027732],[22.05168914794922,-13.471610069274902,-13.465291023254395,0,0,0.4705283458268814],[22.05168914794922,-13.471610069274902,-13.465291023254395,0,0,0.7323277336260309],[22.05168914794922,-13.471610069274902,-13.465291023254395,0,0,0.9941271214251802],[22.05168914794922,-13.471610069274902,-13.465291023254395,0,0,1.2559265092243297],[22.05168914794922,-13.471610069274902,-13.465291023254395,0,0,1.517725897023479],[22.05168914794922,-13.471610069274902,-13.465291023254395,0,0,1.7795252848226286],[22.05168914794922,-13.471610069274902,-13.465291023254395,0,0,2.041324672621778],[22.05168914794922,-13.471610069274902,-13.465291023254395,0,0,2.3031240604209278],[22.05168914794922,-13.471610069274902,-13.465291023254395,0,0,2.564923448220077],[22.05168914794922,-13.471610069274902,-15.465291023254395,0,0,2.564923448220077],[17.86027233899278,-10.74543598576567,-15.465291023254395,0,0,2.564923448220077],[13.668855530036337,-8.019261902256439,-15.465291023254395,0,0,2.564923448220077],[13.668855530036337,-8.019261902256439,-15.465291023254395,0,0,2.3031240604209273],[10.325843558600296,-4.301161451914179,-15.465291023254395,0,0,2.3031240604209273],[6.982831587164254,-0.5830610015719202,-15.465291023254395,0,0,2.3031240604209273],[3.6398196157282126,3.135039448770339,-15.465291023254395,0,0,2.3031240604209273],[0.296807644292171,6.853139899112598,-15.465291023254395,0,0,2.3031240604209273],[0.296807644292171,6.853139899112598,-15.465291023254395,0,0,2.5649234482200765],[0.296807644292171,6.853139899112598,-17.465291023254395,0,0,2.5649234482200765],[-3.8946091646642698,9.57931398262183,-17.465291023254395,0,0,2.5649234482200765],[-8.08602597362071,12.305488066131062,-17.465291023254395,0,0,2.5649234482200765],[-12.27744278257715,15.031662149640294,-17.465291023254395,0,0,2.5649234482200765],[-16.46885959153359,17.757836233149526,-17.465291023254395,0,0,2.5649234482200765],[-19.195033675042822,13.566419424193086,-17.465291023254395,0,0,2.5649234482200765],[-23.386450483999262,16.292593507702318,-17.465291023254395,0,0,2.5649234482200765],[-27.577867292955702,19.01876759121155,-17.465291023254395,0,0,2.5649234482200765],[-31.76928410191214,21.74494167472078,-17.465291023254395,0,0,2.5649234482200765],[-35.96070091086858,24.471115758230013,-17.465291023254395,0,0,2.5649234482200765],[-40.15211771982502,27.197289841739245,-17.465291023254395,0,0,2.5649234482200765],[-44.34353452878146,29.923463925248477,-17.465291023254395,0,0,2.5649234482200765],[-47.0697086122907,25.732047116292037,-17.465291023254395,0,0,2.5649234482200765],[-51.26112542124714,28.45822119980127,-17.465291023254395,0,0,2.5649234482200765],[-51.26112542124714,28.45822119980127,-17.465291023254395,0,0,2.826722836019226],[-51.26112542124714,28.45822119980127,-17.465291023254395,0,0,3.0885222238183756],[-51.26112542124714,28.45822119980127,-17.465291023254395,0,0,-2.932863695562061],[-51.26112542124714,28.45822119980127,-17.465291023254395,0,0,-2.6710643077629115],[-51.26112542124714,28.45822119980127,-17.465291023254395,0,0,-2.409264919963762],[-54.97922587158939,25.115209228365224,-17.465291023254395,0,0,-2.409264919963762],[-58.69732632193165,21.77219725692918,-17.465291023254395,0,0,-2.409264919963762],[-62.415426772273904,18.429185285493134,-17.465291023254395,0,0,-2.409264919963762],[-62.415426772273904,18.429185285493134,-17.465291023254395,0,0,-2.6710643077629115],[-66.87207118820987,16.16239889284236,-17.465291023254395,0,0,-2.6710643077629115],[-71.32871560414584,13.89561250019159,-17.465291023254395,0,0,-2.6710643077629115],[-71.32871560414584,13.89561250019159,-19.465291023254395,0,0,-2.6710643077629115],[-75.78536002008181,11.628826107540817,-19.465291023254395,0,0,-2.6710643077629115],[-80.24200443601778,9.362039714890045,-19.465291023254395,0,0,-2.6710643077629115],[-80.24200443601778,9.362039714890045,-19.465291023254395,0,0,-2.409264919963762],[-83.96010488636004,6.019027743454001,-19.465291023254395,0,0,-2.409264919963762],[-83.96010488636004,6.019027743454001,-19.465291023254395,0,0,-2.147465532164613],[-86.68627896986928,1.8276109344975584,-19.465291023254395,0,0,-2.147465532164613],[-89.41245305337851,-2.363805874458884,-19.465291023254395,0,0,-2.147465532164613],[-89.41245305337851,-2.363805874458884,-21.465291023254395,0,0,-2.147465532164613],[-89.41245305337851,-2.363805874458884,-21.465291023254395,0,0,-1.8856661443654632],[-90.96091651147925,-7.117989392049124,-21.465291023254395,0,0,-1.8856661443654632],[-92.50937996958,-11.872172909639364,-21.465291023254395,0,0,-1.8856661443654632],[-92.50937996958,-11.872172909639364,-21.465291023254395,0,0,-1.6238667565663139],[-92.77460757655953,-16.865133385799364,-21.465291023254395,0,0,-1.6238667565663139],[-93.039835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+{"episode_id":"39GHHAVOMOP8ZV27ILH5P0TVAJSJ49","trajectory_id":"3OZ4VAIBF5D47OOTCEDQ97YKU3TJVH","scene_id":11,"start_position":[124.5847396850586,-266.15496826171875,-26.911251068115234],"start_rotation":[0.999971415103458,0.0,0.0,0.007561016862022396],"instruction":{"instruction_text":"Turn left to face the gap between the two cylindrical glass-walled buildings, then fly forward over the gap to the white cylindrical building on the left that has the word \"HOTEL\" written on it. Fly forward over the white cylindrical building, turn left to face a dark red building, then fly forward to the  front of the red building, then turn left to face a park and fly forward to its top. Turn left to face the short dark blue building in front of two connected glass curtain wall cylindrical buildings, then fly forward to the roof of the red short building with the \"HOTEL\" sign on the the street left to this dark blue building, then turn right to face the mentioned dark blue building, and fly forward over its roof to the park area. Fly forward through the park and land on the sidewalk in front of the park."},"goals":[{"position":[-84.19859911838958,-169.57550219160655,-2.9112510681152344]}],"reference_path":[[124.5847396850586,-266.15496826171875,-26.911251068115234,0,0,0.0151221778129488],[124.5847396850586,-266.15496826171875,-28.911251068115234,0,0,0.0151221778129488],[124.5847396850586,-266.15496826171875,-30.911251068115234,0,0,0.0151221778129488],[124.5847396850586,-266.15496826171875,-30.911251068115234,0,0,-0.24667720998620063],[124.5847396850586,-266.15496826171875,-30.911251068115234,0,0,-0.50847659778535],[124.5847396850586,-266.15496826171875,-30.911251068115234,0,0,-0.7702759855844995],[124.5847396850586,-266.15496826171875,-30.911251068115234,0,0,-1.032075373383649],[124.5847396850586,-266.15496826171875,-30.911251068115234,0,0,-1.2938747611827983],[124.5847396850586,-266.15496826171875,-30.911251068115234,0,0,-1.555674148981948],[124.5847396850586,-266.15496826171875,-30.911251068115234,0,0,-1.8174735367810975],[124.5847396850586,-266.15496826171875,-30.911251068115234,0,0,-2.079272924580247],[124.5847396850586,-266.15496826171875,-30.911251068115234,0,0,-2.341072312379396],[124.5847396850586,-266.15496826171875,-30.911251068115234,0,0,-2.6028717001785457],[124.5847396850586,-266.15496826171875,-30.911251068115234,0,0,-2.8646710879776953],[124.5847396850586,-266.15496826171875,-30.911251068115234,0,0,-3.1264704757768444],[119.58531137481847,-266.2305762690301,-30.911251068115234,0,0,-3.1264704757768444],[114.58588306457835,-266.30618427634147,-30.911251068115234,0,0,-3.1264704757768444],[109.58645475433823,-266.3817922836528,-30.911251068115234,0,0,-3.1264704757768444],[104.58702644409811,-266.4574002909642,-30.911251068115234,0,0,-3.1264704757768444],[104.58702644409811,-266.4574002909642,-32.911251068115234,0,0,-3.1264704757768444],[99.587598133858,-266.53300829827555,-32.911251068115234,0,0,-3.1264704757768444],[94.58816982361787,-266.6086163055869,-32.911251068115234,0,0,-3.1264704757768444],[89.58874151337776,-266.68422431289827,-32.911251068115234,0,0,-3.1264704757768444],[84.58931320313764,-266.7598323202096,-32.911251068115234,0,0,-3.1264704757768444],[79.58988489289752,-266.835440327521,-32.911251068115234,0,0,-3.1264704757768444],[79.58988489289752,-266.835440327521,-30.911251068115234,0,0,-3.1264704757768444],[74.5904565826574,-266.91104833483234,-30.911251068115234,0,0,-3.1264704757768444],[69.59102827241728,-266.9866563421437,-30.911251068115234,0,0,-3.1264704757768444],[64.59159996217716,-267.06226434945506,-30.911251068115234,0,0,-3.1264704757768444],[59.592171651937036,-267.1378723567664,-30.911251068115234,0,0,-3.1264704757768444],[54.59274334169692,-267.2134803640778,-30.911251068115234,0,0,-3.1264704757768444],[49.5933150314568,-267.28908837138914,-30.911251068115234,0,0,-3.1264704757768444],[49.5933150314568,-267.28908837138914,-30.911251068115234,0,0,2.894915443603592],[44.74466931766071,-266.0681728370106,-30.911251068115234,0,0,2.894915443603592],[39.89602360386462,-264.84725730263204,-30.911251068115234,0,0,2.894915443603592],[35.04737789006853,-263.6263417682535,-30.911251068115234,0,0,2.894915443603592],[30.198732176272447,-262.40542623387495,-30.911251068115234,0,0,2.894915443603592],[30.198732176272447,-262.40542623387495,-30.911251068115234,0,0,2.633116055804443],[30.198732176272447,-262.40542623387495,-32.911251068115234,0,0,2.633116055804443],[25.831296251549702,-259.97119053381607,-32.911251068115234,0,0,2.633116055804443],[21.46386032682696,-257.5369548337572,-32.911251068115234,0,0,2.633116055804443],[17.09642440210422,-255.10271913369832,-32.911251068115234,0,0,2.633116055804443],[12.728988477381476,-252.66848343363944,-32.911251068115234,0,0,2.633116055804443],[15.163224177440366,-248.3010475089167,-32.911251068115234,0,0,2.633116055804443],[10.795788252717623,-245.86681180885782,-32.911251068115234,0,0,2.633116055804443],[6.4283523279948795,-243.43257610879894,-32.911251068115234,0,0,2.633116055804443],[2.0609164032721363,-240.99834040874006,-32.911251068115234,0,0,2.633116055804443],[-2.306519521450607,-238.56410470868119,-32.911251068115234,0,0,2.633116055804443],[-6.67395544617335,-236.1298690086223,-32.911251068115234,0,0,2.633116055804443],[-6.67395544617335,-236.1298690086223,-32.911251068115234,0,0,2.3713166680052935],[-10.262548041082018,-232.64820228307738,-32.911251068115234,0,0,2.3713166680052935],[-13.851140635990687,-229.16653555753246,-32.911251068115234,0,0,2.3713166680052935],[-10.36947391044577,-225.57794296262378,-32.911251068115234,0,0,2.3713166680052935],[-13.958066505354438,-222.09627623707885,-32.911251068115234,0,0,2.3713166680052935],[-13.958066505354438,-222.09627623707885,-30.911251068115234,0,0,2.3713166680052935],[-17.546659100263106,-218.61460951153393,-30.911251068115234,0,0,2.3713166680052935],[-17.546659100263106,-218.61460951153393,-30.911251068115234,0,0,2.109517280206144],[-20.111851710444338,-214.32278159412255,-30.911251068115234,0,0,2.109517280206144],[-22.67704432062557,-210.0309536767112,-30.911251068115234,0,0,2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+{"episode_id":"3Z4GS9HPN48CYNJOJAQFPM8XW8977P","trajectory_id":"32K26U12EVMR42O12IRF6937TZDDVE","scene_id":11,"start_position":[22.05168914794922,-13.471610069274902,-13.465291023254395],"start_rotation":[0.9999860890449014,0.0,0.0,-0.005274629530366826],"instruction":{"instruction_text":"Turn left to face the white cylindrical building with the word \"HOTEL\" on it. Fly forward out of the roof to the road on the left side of the white cylindrical building, then fly over the white cylindrical building along the road, and turn right to face the small black-and-white building between the tall cylindrical structure and the building with the large \"HOTEL\" sign, then fly to the left side of this small building. Turn right to face the tall building behind the green shrubs, then fly forward to the front of that tall building. Descend to fourth floor height and turn left to face the road on the left side of the tall building, then fly forward to the road, then turn right to face the road. Fly forward to the \"restaurant\" sign then turn right to face the sign and stop."},"goals":[{"position":[-92.1876531482663,-263.74342929834415,-13.465291023254395]}],"reference_path":[[22.05168914794922,-13.471610069274902,-13.465291023254395,0,0,-0.010549307977762218],[22.05168914794922,-13.471610069274902,-13.465291023254395,0,0,-0.2723486957769116],[22.05168914794922,-13.471610069274902,-13.465291023254395,0,0,-0.534148083576061],[22.05168914794922,-13.471610069274902,-13.465291023254395,0,0,-0.7959474713752105],[22.05168914794922,-13.471610069274902,-13.465291023254395,0,0,-1.05774685917436],[22.05168914794922,-13.471610069274902,-13.465291023254395,0,0,-1.3195462469735095],[22.05168914794922,-13.471610069274902,-13.465291023254395,0,0,-1.581345634772659],[22.05168914794922,-13.471610069274902,-13.465291023254395,0,0,-1.8431450225718085],[22.05168914794922,-13.471610069274902,-13.465291023254395,0,0,-2.104944410370958],[22.05168914794922,-13.471610069274902,-13.465291023254395,0,0,-2.3667437981701074],[22.05168914794922,-13.471610069274902,-13.465291023254395,0,0,-2.628543185969257],[22.05168914794922,-13.471610069274902,-15.465291023254395,0,0,-2.628543185969257],[17.695430291385104,-15.925791964450301,-15.465291023254395,0,0,-2.628543185969257],[13.33917143482099,-18.3799738596257,-15.465291023254395,0,0,-2.628543185969257],[8.982912578256876,-20.8341557548011,-15.465291023254395,0,0,-2.628543185969257],[4.626653721692761,-23.288337649976498,-15.465291023254395,0,0,-2.628543185969257],[0.27039486512864563,-25.742519545151897,-15.465291023254395,0,0,-2.628543185969257],[-4.0858639914354695,-28.196701440327296,-15.465291023254395,0,0,-2.628543185969257],[-4.0858639914354695,-28.196701440327296,-17.465291023254395,0,0,-2.628543185969257],[-4.0858639914354695,-28.196701440327296,-17.465291023254395,0,0,-2.8903425737684065],[-8.928875941608425,-29.43977635781294,-17.465291023254395,0,0,-2.8903425737684065],[-13.77188789178138,-30.68285127529858,-17.465291023254395,0,0,-2.8903425737684065],[-13.77188789178138,-30.68285127529858,-17.465291023254395,0,0,3.13104334561203],[-18.771609674614552,-30.630105713746254,-17.465291023254395,0,0,3.13104334561203],[-23.771331457447726,-30.577360152193926,-17.465291023254395,0,0,3.13104334561203],[-28.7710532402809,-30.524614590641598,-17.465291023254395,0,0,3.13104334561203],[-28.7710532402809,-30.524614590641598,-19.465291023254395,0,0,3.13104334561203],[-33.77077502311407,-30.47186902908927,-19.465291023254395,0,0,3.13104334561203],[-33.77077502311407,-30.47186902908927,-19.465291023254395,0,0,-2.8903425737684065],[-38.61378697328703,-31.714943946574913,-19.465291023254395,0,0,-2.8903425737684065],[-43.456798923459985,-32.958018864060556,-19.465291023254395,0,0,-2.8903425737684065],[-43.456798923459985,-32.958018864060556,-19.465291023254395,0,0,-2.6285431859692574],[-47.8130577800241,-35.41220075923595,-19.465291023254395,0,0,-2.6285431859692574],[-52.16931663658822,-37.866382654411346,-19.465291023254395,0,0,-2.6285431859692574],[-56.52557549315234,-40.32056454958674,-19.465291023254395,0,0,-2.6285431859692574],[-60.881834349716456,-42.77474644476214,-19.465291023254395,0,0,-2.6285431859692574],[-60.881834349716456,-42.77474644476214,-19.465291023254395,0,0,-2.3667437981701083],[-64.45446827065503,-46.27278687719843,-19.465291023254395,0,0,-2.3667437981701083],[-68.0271021915936,-49.77082730963472,-19.465291023254395,0,0,-2.3667437981701083],[-71.59973611253217,-53.26886774207101,-19.465291023254395,0,0,-2.3667437981701083],[-71.59973611253217,-53.26886774207101,-21.465291023254395,0,0,-2.3667437981701083],[-75.17237003347074,-56.7669081745073,-21.465291023254395,0,0,-2.3667437981701083],[-78.74500395440931,-60.26494860694359,-21.465291023254395,0,0,-2.3667437981701083],[-82.31763787534788,-63.76298903937988,-21.465291023254395,0,0,-2.3667437981701083],[-85.89027179628646,-67.26102947181617,-21.465291023254395,0,0,-2.3667437981701083],[-89.46290571722503,-70.75906990425246,-21.465291023254395,0,0,-2.3667437981701083],[-89.46290571722503,-70.75906990425246,-23.465291023254395,0,0,-2.3667437981701083],[-93.0355396381636,-74.25711033668874,-23.465291023254395,0,0,-2.3667437981701083],[-96.60817355910217,-77.75515076912502,-23.465291023254395,0,0,-2.3667437981701083],[-96.60817355910217,-77.75515076912502,-25.465291023254395,0,0,-2.3667437981701083],[-100.18080748004074,-81.25319120156131,-25.465291023254395,0,0,-2.3667437981701083],[-103.75344140097931,-84.75123163399759,-25.465291023254395,0,0,-2.3667437981701083],[-103.75344140097931,-84.75123163399759,-25.465291023254395,0,0,-2.1049444103709587],[-103.75344140097931,-84.75123163399759,-25.465291023254395,0,0,-1.8431450225718093],[-103.75344140097931,-84.75123163399759,-25.465291023254395,0,0,-1.5813456347726602],[-103.75344140097931,-84.75123163399759,-25.465291023254395,0,0,-1.3195462469735109],[-102.51036648349367,-89.59424358417056,-25.465291023254395,0,0,-1.3195462469735109],[-101.26729156600803,-94.4372555343435,-25.465291023254395,0,0,-1.3195462469735109],[-100.02421664852238,-99.2802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+{"episode_id":"3H7Z272LXG50JECQJQL68DHI53DLPM","trajectory_id":"3OZ4VAIBF5D47OOTCEDQ97YKU3TJVH","scene_id":11,"start_position":[124.5847396850586,-266.15496826171875,-26.911251068115234],"start_rotation":[0.999971415103458,0.0,0.0,0.007561016862022396],"instruction":{"instruction_text":"Turn left to face the gap between the two cylindrical glass-walled buildings, then fly forward across the gap to the white cylindrical building on the left that has the word \"HOTEL\" written on it. Move forward passing the hotel, and turn left towards a red building, then fly forward to the front of the red building. Fly forward to the park left to the red building, then turn left towards the short dark blue building in front of two connected glass curtain wall cylindrical buildings. Fly forward to the roof of the red short building with the \"HOTEL\" sign on the street on the left side of the dark blue building. Turn right to face the mentioned dark blue building, and fly forward over the building to the park. Fly forward through the park and land on the sidewalk in front of the park."},"goals":[{"position":[-84.19859911838958,-169.57550219160655,-2.9112510681152344]}],"reference_path":[[124.5847396850586,-266.15496826171875,-26.911251068115234,0,0,0.0151221778129488],[124.5847396850586,-266.15496826171875,-28.911251068115234,0,0,0.0151221778129488],[124.5847396850586,-266.15496826171875,-30.911251068115234,0,0,0.0151221778129488],[124.5847396850586,-266.15496826171875,-30.911251068115234,0,0,-0.24667720998620063],[124.5847396850586,-266.15496826171875,-30.911251068115234,0,0,-0.50847659778535],[124.5847396850586,-266.15496826171875,-30.911251068115234,0,0,-0.7702759855844995],[124.5847396850586,-266.15496826171875,-30.911251068115234,0,0,-1.032075373383649],[124.5847396850586,-266.15496826171875,-30.911251068115234,0,0,-1.2938747611827983],[124.5847396850586,-266.15496826171875,-30.911251068115234,0,0,-1.555674148981948],[124.5847396850586,-266.15496826171875,-30.911251068115234,0,0,-1.8174735367810975],[124.5847396850586,-266.15496826171875,-30.911251068115234,0,0,-2.079272924580247],[124.5847396850586,-266.15496826171875,-30.911251068115234,0,0,-2.341072312379396],[124.5847396850586,-266.15496826171875,-30.911251068115234,0,0,-2.6028717001785457],[124.5847396850586,-266.15496826171875,-30.911251068115234,0,0,-2.8646710879776953],[124.5847396850586,-266.15496826171875,-30.911251068115234,0,0,-3.1264704757768444],[119.58531137481847,-266.2305762690301,-30.911251068115234,0,0,-3.1264704757768444],[114.58588306457835,-266.30618427634147,-30.911251068115234,0,0,-3.1264704757768444],[109.58645475433823,-266.3817922836528,-30.911251068115234,0,0,-3.1264704757768444],[104.58702644409811,-266.4574002909642,-30.911251068115234,0,0,-3.1264704757768444],[104.58702644409811,-266.4574002909642,-32.911251068115234,0,0,-3.1264704757768444],[99.587598133858,-266.53300829827555,-32.911251068115234,0,0,-3.1264704757768444],[94.58816982361787,-266.6086163055869,-32.911251068115234,0,0,-3.1264704757768444],[89.58874151337776,-266.68422431289827,-32.911251068115234,0,0,-3.1264704757768444],[84.58931320313764,-266.7598323202096,-32.911251068115234,0,0,-3.1264704757768444],[79.58988489289752,-266.835440327521,-32.911251068115234,0,0,-3.1264704757768444],[79.58988489289752,-266.835440327521,-30.911251068115234,0,0,-3.1264704757768444],[74.5904565826574,-266.91104833483234,-30.911251068115234,0,0,-3.1264704757768444],[69.59102827241728,-266.9866563421437,-30.911251068115234,0,0,-3.1264704757768444],[64.59159996217716,-267.06226434945506,-30.911251068115234,0,0,-3.1264704757768444],[59.592171651937036,-267.1378723567664,-30.911251068115234,0,0,-3.1264704757768444],[54.59274334169692,-267.2134803640778,-30.911251068115234,0,0,-3.1264704757768444],[49.5933150314568,-267.28908837138914,-30.911251068115234,0,0,-3.1264704757768444],[49.5933150314568,-267.28908837138914,-30.911251068115234,0,0,2.894915443603592],[44.74466931766071,-266.0681728370106,-30.911251068115234,0,0,2.894915443603592],[39.89602360386462,-264.84725730263204,-30.911251068115234,0,0,2.894915443603592],[35.04737789006853,-263.6263417682535,-30.911251068115234,0,0,2.894915443603592],[30.198732176272447,-262.40542623387495,-30.911251068115234,0,0,2.894915443603592],[30.198732176272447,-262.40542623387495,-30.911251068115234,0,0,2.633116055804443],[30.198732176272447,-262.40542623387495,-32.911251068115234,0,0,2.633116055804443],[25.831296251549702,-259.97119053381607,-32.911251068115234,0,0,2.633116055804443],[21.46386032682696,-257.5369548337572,-32.911251068115234,0,0,2.633116055804443],[17.09642440210422,-255.10271913369832,-32.911251068115234,0,0,2.633116055804443],[12.728988477381476,-252.66848343363944,-32.911251068115234,0,0,2.633116055804443],[15.163224177440366,-248.3010475089167,-32.911251068115234,0,0,2.633116055804443],[10.795788252717623,-245.86681180885782,-32.911251068115234,0,0,2.633116055804443],[6.4283523279948795,-243.43257610879894,-32.911251068115234,0,0,2.633116055804443],[2.0609164032721363,-240.99834040874006,-32.911251068115234,0,0,2.633116055804443],[-2.306519521450607,-238.56410470868119,-32.911251068115234,0,0,2.633116055804443],[-6.67395544617335,-236.1298690086223,-32.911251068115234,0,0,2.633116055804443],[-6.67395544617335,-236.1298690086223,-32.911251068115234,0,0,2.3713166680052935],[-10.262548041082018,-232.64820228307738,-32.911251068115234,0,0,2.3713166680052935],[-13.851140635990687,-229.16653555753246,-32.911251068115234,0,0,2.3713166680052935],[-10.36947391044577,-225.57794296262378,-32.911251068115234,0,0,2.3713166680052935],[-13.958066505354438,-222.09627623707885,-32.911251068115234,0,0,2.3713166680052935],[-13.958066505354438,-222.09627623707885,-30.911251068115234,0,0,2.3713166680052935],[-17.546659100263106,-218.61460951153393,-30.911251068115234,0,0,2.3713166680052935],[-17.546659100263106,-218.61460951153393,-30.911251068115234,0,0,2.109517280206144],[-20.111851710444338,-214.32278159412255,-30.911251068115234,0,0,2.109517280206144],[-22.67704432062557,-210.0309536767112,-30.911251068115234,0,0,2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+{"episode_id":"3N2BF7Y2VZSSCFWN0PEGZHUH3R8HM0","trajectory_id":"38LRF35D6TUT9VX443BYXEFCO32U37","scene_id":11,"start_position":[-77.23320770263672,-150.96470642089844,-1.1921597719192505],"start_rotation":[0.9999981940489452,0.0,0.0,0.0019004996312146417],"instruction":{"instruction_text":"Fly to the height of the building on the right front. Turn right to face the farthest white building on the right side of the road ahead, then fly forward to that building while ascending to its height, passing the cylindrical building on the right, then fly to the front of the target building. Fly forward to the T-junction on the right, then descend to the restaurant sign height while turning right to face it. Fly over the roof of the restaurant, then fly towards the farthest white building on the left front, then turn left slightly to face the white building and stop."},"goals":[{"position":[83.67877687426713,13.781063561254172,-29.19215977191925]}],"reference_path":[[-77.23320770263672,-150.96470642089844,-1.1921597719192505,0,0,0.003801001550570479],[-77.23320770263672,-150.96470642089844,-3.1921597719192505,0,0,0.003801001550570479],[-77.23320770263672,-150.96470642089844,-5.1921597719192505,0,0,0.003801001550570479],[-77.23320770263672,-150.96470642089844,-7.1921597719192505,0,0,0.003801001550570479],[-77.23320770263672,-150.96470642089844,-9.19215977191925,0,0,0.003801001550570479],[-77.23320770263672,-150.96470642089844,-11.19215977191925,0,0,0.003801001550570479],[-77.23320770263672,-150.96470642089844,-13.19215977191925,0,0,0.003801001550570479],[-77.23320770263672,-150.96470642089844,-15.19215977191925,0,0,0.003801001550570479],[-77.23320770263672,-150.96470642089844,-15.19215977191925,0,0,0.2656003893497199],[-77.23320770263672,-150.96470642089844,-17.19215977191925,0,0,0.2656003893497199],[-72.40853230556965,-149.6522631600541,-17.19215977191925,0,0,0.2656003893497199],[-67.58385690850258,-148.33981989920977,-17.19215977191925,0,0,0.2656003893497199],[-67.58385690850258,-148.33981989920977,-19.19215977191925,0,0,0.2656003893497199],[-62.759181511435514,-147.02737663836544,-19.19215977191925,0,0,0.2656003893497199],[-62.759181511435514,-147.02737663836544,-21.19215977191925,0,0,0.2656003893497199],[-57.934506114368446,-145.7149333775211,-21.19215977191925,0,0,0.2656003893497199],[-57.934506114368446,-145.7149333775211,-23.19215977191925,0,0,0.2656003893497199],[-53.10983071730138,-144.40249011667677,-23.19215977191925,0,0,0.2656003893497199],[-53.10983071730138,-144.40249011667677,-25.19215977191925,0,0,0.2656003893497199],[-48.28515532023431,-143.09004685583244,-25.19215977191925,0,0,0.2656003893497199],[-43.46047992316724,-141.7776035949881,-25.19215977191925,0,0,0.2656003893497199],[-43.46047992316724,-141.7776035949881,-27.19215977191925,0,0,0.2656003893497199],[-38.63580452610017,-140.46516033414377,-27.19215977191925,0,0,0.2656003893497199],[-38.63580452610017,-140.46516033414377,-29.19215977191925,0,0,0.2656003893497199],[-33.811129129033105,-139.15271707329944,-29.19215977191925,0,0,0.2656003893497199],[-35.12357238987743,-134.32804167623237,-29.19215977191925,0,0,0.2656003893497199],[-30.29889699281036,-133.01559841538804,-29.19215977191925,0,0,0.2656003893497199],[-30.29889699281036,-133.01559841538804,-31.19215977191925,0,0,0.2656003893497199],[-25.474221595743288,-131.7031551545437,-31.19215977191925,0,0,0.2656003893497199],[-25.474221595743288,-131.7031551545437,-33.19215977191925,0,0,0.2656003893497199],[-20.649546198676216,-130.39071189369938,-33.19215977191925,0,0,0.2656003893497199],[-20.649546198676216,-130.39071189369938,-35.19215977191925,0,0,0.2656003893497199],[-15.824870801609144,-129.07826863285504,-35.19215977191925,0,0,0.2656003893497199],[-11.000195404542072,-127.76582537201071,-35.19215977191925,0,0,0.2656003893497199],[-6.175520007475001,-126.45338211116638,-35.19215977191925,0,0,0.2656003893497199],[-1.350844610407929,-125.14093885032204,-35.19215977191925,0,0,0.2656003893497199],[3.4738307866591427,-123.82849558947771,-35.19215977191925,0,0,0.2656003893497199],[2.161387525814814,-119.00382019241064,-35.19215977191925,0,0,0.2656003893497199],[6.986062922881885,-117.69137693156631,-35.19215977191925,0,0,0.2656003893497199],[11.810738319948957,-116.37893367072198,-35.19215977191925,0,0,0.2656003893497199],[16.63541371701603,-115.06649040987764,-35.19215977191925,0,0,0.2656003893497199],[21.4600891140831,-113.75404714903331,-35.19215977191925,0,0,0.2656003893497199],[20.14764585323877,-108.92937175196624,-35.19215977191925,0,0,0.2656003893497199],[24.972321250305843,-107.61692849112191,-35.19215977191925,0,0,0.2656003893497199],[24.972321250305843,-107.61692849112191,-33.19215977191925,0,0,0.2656003893497199],[29.796996647372914,-106.30448523027758,-33.19215977191925,0,0,0.2656003893497199],[34.62167204443999,-104.99204196943325,-33.19215977191925,0,0,0.2656003893497199],[34.62167204443999,-104.99204196943325,-31.19215977191925,0,0,0.2656003893497199],[39.44634744150706,-103.67959870858891,-31.19215977191925,0,0,0.2656003893497199],[39.44634744150706,-103.67959870858891,-29.19215977191925,0,0,0.2656003893497199],[44.271022838574126,-102.36715544774458,-29.19215977191925,0,0,0.2656003893497199],[42.9585795777298,-97.54248005067751,-29.19215977191925,0,0,0.2656003893497199],[42.9585795777298,-97.54248005067751,-27.19215977191925,0,0,0.2656003893497199],[47.783254974796876,-96.23003678983318,-27.19215977191925,0,0,0.2656003893497199],[47.783254974796876,-96.23003678983318,-25.19215977191925,0,0,0.2656003893497199],[52.607930371863944,-94.91759352898885,-25.19215977191925,0,0,0.2656003893497199],[52.607930371863944,-94.91759352898885,-23.19215977191925,0,0,0.2656003893497199],[57.43260576893101,-93.60515026814451,-23.19215977191925,0,0,0.2656003893497199],[62.25728116599808,-92.29270700730018,-23.19215977191925,0,0,0.265600389349719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+{"episode_id":"3OJSZ2ATD1UXBJ55VHBIR2U0L1275A","trajectory_id":"3SA4EMRVK30K0YQB4UULLAU69RMP01","scene_id":11,"start_position":[-77.23320770263672,-150.96470642089844,-1.1921597719192505],"start_rotation":[0.9999981940489452,0.0,0.0,0.0019004996312146417],"instruction":{"instruction_text":"Fly up to the height of the building on the right front of the intersection, and turn right slightly to face the farthest white building on the right side of the road, then fly forward towards that building while ascending to the height of it, pass the cylindrical building on the right, finally to the rooftop of the building on the opposite side of the road in front of the target building. Fly forward to the road intersection, then turn right to face the restaurant sign, and turn rightto face the direction directly behind the restaurant. Fly over the roof of the restaurant, then fly forward over the white building ahead, then turn right slightly to face the white building ahead horizontally, fly forward over that building, then turn left slightly to face the flat dark roof on the left front."},"goals":[{"position":[83.67877687426713,13.781063561254172,-29.19215977191925]}],"reference_path":[[-77.23320770263672,-150.96470642089844,-1.1921597719192505,0,0,0.003801001550570479],[-77.23320770263672,-150.96470642089844,-3.1921597719192505,0,0,0.003801001550570479],[-77.23320770263672,-150.96470642089844,-5.1921597719192505,0,0,0.003801001550570479],[-77.23320770263672,-150.96470642089844,-7.1921597719192505,0,0,0.003801001550570479],[-77.23320770263672,-150.96470642089844,-9.19215977191925,0,0,0.003801001550570479],[-77.23320770263672,-150.96470642089844,-11.19215977191925,0,0,0.003801001550570479],[-77.23320770263672,-150.96470642089844,-13.19215977191925,0,0,0.003801001550570479],[-77.23320770263672,-150.96470642089844,-15.19215977191925,0,0,0.003801001550570479],[-77.23320770263672,-150.96470642089844,-15.19215977191925,0,0,0.2656003893497199],[-77.23320770263672,-150.96470642089844,-17.19215977191925,0,0,0.2656003893497199],[-72.40853230556965,-149.6522631600541,-17.19215977191925,0,0,0.2656003893497199],[-67.58385690850258,-148.33981989920977,-17.19215977191925,0,0,0.2656003893497199],[-67.58385690850258,-148.33981989920977,-19.19215977191925,0,0,0.2656003893497199],[-62.759181511435514,-147.02737663836544,-19.19215977191925,0,0,0.2656003893497199],[-62.759181511435514,-147.02737663836544,-21.19215977191925,0,0,0.2656003893497199],[-57.934506114368446,-145.7149333775211,-21.19215977191925,0,0,0.2656003893497199],[-57.934506114368446,-145.7149333775211,-23.19215977191925,0,0,0.2656003893497199],[-53.10983071730138,-144.40249011667677,-23.19215977191925,0,0,0.2656003893497199],[-53.10983071730138,-144.40249011667677,-25.19215977191925,0,0,0.2656003893497199],[-48.28515532023431,-143.09004685583244,-25.19215977191925,0,0,0.2656003893497199],[-43.46047992316724,-141.7776035949881,-25.19215977191925,0,0,0.2656003893497199],[-43.46047992316724,-141.7776035949881,-27.19215977191925,0,0,0.2656003893497199],[-38.63580452610017,-140.46516033414377,-27.19215977191925,0,0,0.2656003893497199],[-38.63580452610017,-140.46516033414377,-29.19215977191925,0,0,0.2656003893497199],[-33.811129129033105,-139.15271707329944,-29.19215977191925,0,0,0.2656003893497199],[-35.12357238987743,-134.32804167623237,-29.19215977191925,0,0,0.2656003893497199],[-30.29889699281036,-133.01559841538804,-29.19215977191925,0,0,0.2656003893497199],[-30.29889699281036,-133.01559841538804,-31.19215977191925,0,0,0.2656003893497199],[-25.474221595743288,-131.7031551545437,-31.19215977191925,0,0,0.2656003893497199],[-25.474221595743288,-131.7031551545437,-33.19215977191925,0,0,0.2656003893497199],[-20.649546198676216,-130.39071189369938,-33.19215977191925,0,0,0.2656003893497199],[-20.649546198676216,-130.39071189369938,-35.19215977191925,0,0,0.2656003893497199],[-15.824870801609144,-129.07826863285504,-35.19215977191925,0,0,0.2656003893497199],[-11.000195404542072,-127.76582537201071,-35.19215977191925,0,0,0.2656003893497199],[-6.175520007475001,-126.45338211116638,-35.19215977191925,0,0,0.2656003893497199],[-1.350844610407929,-125.14093885032204,-35.19215977191925,0,0,0.2656003893497199],[3.4738307866591427,-123.82849558947771,-35.19215977191925,0,0,0.2656003893497199],[2.161387525814814,-119.00382019241064,-35.19215977191925,0,0,0.2656003893497199],[6.986062922881885,-117.69137693156631,-35.19215977191925,0,0,0.2656003893497199],[11.810738319948957,-116.37893367072198,-35.19215977191925,0,0,0.2656003893497199],[16.63541371701603,-115.06649040987764,-35.19215977191925,0,0,0.2656003893497199],[21.4600891140831,-113.75404714903331,-35.19215977191925,0,0,0.2656003893497199],[20.14764585323877,-108.92937175196624,-35.19215977191925,0,0,0.2656003893497199],[24.972321250305843,-107.61692849112191,-35.19215977191925,0,0,0.2656003893497199],[24.972321250305843,-107.61692849112191,-33.19215977191925,0,0,0.2656003893497199],[29.796996647372914,-106.30448523027758,-33.19215977191925,0,0,0.2656003893497199],[34.62167204443999,-104.99204196943325,-33.19215977191925,0,0,0.2656003893497199],[34.62167204443999,-104.99204196943325,-31.19215977191925,0,0,0.2656003893497199],[39.44634744150706,-103.67959870858891,-31.19215977191925,0,0,0.2656003893497199],[39.44634744150706,-103.67959870858891,-29.19215977191925,0,0,0.2656003893497199],[44.271022838574126,-102.36715544774458,-29.19215977191925,0,0,0.2656003893497199],[42.9585795777298,-97.54248005067751,-29.19215977191925,0,0,0.2656003893497199],[42.9585795777298,-97.54248005067751,-27.19215977191925,0,0,0.2656003893497199],[47.783254974796876,-96.23003678983318,-27.19215977191925,0,0,0.2656003893497199],[47.783254974796876,-96.23003678983318,-25.19215977191925,0,0,0.2656003893497199],[52.607930371863944,-94.91759352898885,-25.19215977191925,0,0,0.2656003893497199],[52.607930371863944,-94.91759352898885,-23.19215977191925,0,0,0.2656003893497199],[57.43260576893101,-93.60515026814451,-23.19215977191925,0,0,0.2656003893497199],[62.25728116599808,-92.29270700730018,-23.19215977191925,0,0,0.26560038934971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+{"episode_id":"3AQF3RZ55HG69GKPIJJZ70LIZLDF67","trajectory_id":"3MQKOF1EFAM4JRO6SSWBSBML08FDWO","scene_id":11,"start_position":[8.597949028015137,-22.390138626098633,-1.1332043409347534],"start_rotation":[0.9999939311314654,0.0,0.0,0.0034839202399222723],"instruction":{"instruction_text":"Take off to the third floor height, then turn left to face the row of street lamps on the right side of the road. Fly straight ahead until you reach the hotel sign, then fly up to the height of the roof on your right, then fly to the roof of the building on the left side of the road, turn slightly to the right and face the tall building with curved windows ahead, rising to the height of the terrace at half its height. Fly forward to that terrace, then fly forward out of the terrace first and then face a building with protruding ends and a concave middle. Fly forward to the pedestrian walkway in front of the mentioned building. Turn left to face the road between the red high-rise building and the deep building with two different roofs on the right. Fly forward along the road to the lower roof of the building on the right with two different roofs, then turn right to face the farthest building on the right front. Fly forward over the roof beneath, then turn right to face the roof ahead, then fly forward to land on the roof."},"goals":[{"position":[-89.9784937277774,-267.9080647201659,-21.133204340934753]}],"reference_path":[[8.597949028015137,-22.390138626098633,-1.1332043409347534,0,0,0.00696785457551471],[8.597949028015137,-22.390138626098633,-3.1332043409347534,0,0,0.00696785457551471],[8.597949028015137,-22.390138626098633,-5.133204340934753,0,0,0.00696785457551471],[8.597949028015137,-22.390138626098633,-5.133204340934753,0,0,-0.2548315332236347],[8.597949028015137,-22.390138626098633,-5.133204340934753,0,0,-0.5166309210227842],[8.597949028015137,-22.390138626098633,-5.133204340934753,0,0,-0.7784303088219336],[8.597949028015137,-22.390138626098633,-5.133204340934753,0,0,-1.040229696621083],[8.597949028015137,-22.390138626098633,-5.133204340934753,0,0,-1.3020290844202325],[8.597949028015137,-22.390138626098633,-7.133204340934753,0,0,-1.3020290844202325],[8.597949028015137,-22.390138626098633,-9.133204340934753,0,0,-1.3020290844202325],[8.597949028015137,-22.390138626098633,-9.133204340934753,0,0,-1.563828472219382],[8.63278801897982,-27.390017249096253,-9.133204340934753,0,0,-1.563828472219382],[8.667627009944503,-32.389895872093874,-9.133204340934753,0,0,-1.563828472219382],[8.702466000909187,-37.389774495091494,-9.133204340934753,0,0,-1.563828472219382],[8.73730499187387,-42.389653118089115,-9.133204340934753,0,0,-1.563828472219382],[8.772143982838553,-47.389531741086735,-9.133204340934753,0,0,-1.563828472219382],[8.806982973803237,-52.389410364084355,-9.133204340934753,0,0,-1.563828472219382],[8.84182196476792,-57.389288987081976,-9.133204340934753,0,0,-1.563828472219382],[8.84182196476792,-57.389288987081976,-11.133204340934753,0,0,-1.563828472219382],[8.876660955732603,-62.389167610079596,-11.133204340934753,0,0,-1.563828472219382],[8.911499946697287,-67.38904623307721,-11.133204340934753,0,0,-1.563828472219382],[8.94633893766197,-72.38892485607482,-11.133204340934753,0,0,-1.563828472219382],[8.981177928626654,-77.38880347907244,-11.133204340934753,0,0,-1.563828472219382],[9.016016919591337,-82.38868210207005,-11.133204340934753,0,0,-1.563828472219382],[9.016016919591337,-82.38868210207005,-13.133204340934753,0,0,-1.563828472219382],[9.05085591055602,-87.38856072506766,-13.133204340934753,0,0,-1.563828472219382],[9.085694901520704,-92.38843934806528,-13.133204340934753,0,0,-1.563828472219382],[9.120533892485387,-97.38831797106289,-13.133204340934753,0,0,-1.563828472219382],[9.15537288345007,-102.3881965940605,-13.133204340934753,0,0,-1.563828472219382],[9.190211874414754,-107.38807521705812,-13.133204340934753,0,0,-1.563828472219382],[9.225050865379437,-112.38795384005573,-13.133204340934753,0,0,-1.563828472219382],[9.225050865379437,-112.38795384005573,-15.133204340934753,0,0,-1.563828472219382],[9.25988985634412,-117.38783246305334,-15.133204340934753,0,0,-1.563828472219382],[4.260011233346502,-117.42267145401803,-15.133204340934753,0,0,-1.563828472219382],[4.294850224311184,-122.42255007701564,-15.133204340934753,0,0,-1.563828472219382],[4.294850224311184,-122.42255007701564,-15.133204340934753,0,0,-1.8256278600185314],[3.0344382946130732,-127.26107896165348,-15.133204340934753,0,0,-1.8256278600185314],[3.0344382946130732,-127.26107896165348,-17.133204340934753,0,0,-1.8256278600185314],[3.0344382946130732,-127.26107896165348,-17.133204340934753,0,0,-2.087427247817681],[3.0344382946130732,-127.26107896165348,-19.133204340934753,0,0,-2.087427247817681],[0.5646704343318958,-131.60852036049053,-19.133204340934753,0,0,-2.087427247817681],[-1.9050974259492817,-135.95596175932758,-19.133204340934753,0,0,-2.087427247817681],[-1.9050974259492817,-135.95596175932758,-21.133204340934753,0,0,-2.087427247817681],[-4.37486528623046,-140.30340315816463,-21.133204340934753,0,0,-2.087427247817681],[-4.37486528623046,-140.30340315816463,-23.133204340934753,0,0,-2.087427247817681],[-4.37486528623046,-140.30340315816463,-25.133204340934753,0,0,-2.087427247817681],[-6.844633146511637,-144.65084455700168,-25.133204340934753,0,0,-2.087427247817681],[-6.844633146511637,-144.65084455700168,-27.133204340934753,0,0,-2.087427247817681],[-9.314401006792814,-148.99828595583872,-27.133204340934753,0,0,-2.087427247817681],[-9.314401006792814,-148.99828595583872,-29.133204340934753,0,0,-2.087427247817681],[-11.78416886707399,-153.34572735467577,-29.133204340934753,0,0,-2.087427247817681],[-11.78416886707399,-153.34572735467577,-31.133204340934753,0,0,-2.087427247817681],[-14.253936727355168,-157.69316875351282,-31.133204340934753,0,0,-2.087427247817681],[-14.253936727355168,-157.69316875351282,-31.133204340934753,0,0,-1.8256278600185316],[-15.51434865705328,-162.53169763815066,-31.133204340934753,0,0,-1.8256278600185316],[-15.51434865705328,-162.53169763815066,-31.133204340934753,0,0,-1.5638284722193825],[-15.4795096660886,-167.53157626114827,-31.133204340934753,0,0,-1.5638284722193825],[-15.44467067512392,-172.5314548841459,-31.133204340934753,0,0,-1.5638284722193825],[-15.44467067512392,-172.5314548841459,-31.133204340934753,0,0,-1.3020290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+{"episode_id":"3N2BF7Y2VZSSCFWN0PEGZHUH51AHMO","trajectory_id":"32K26U12EVMR42O12IRF6937TZDDVE","scene_id":11,"start_position":[22.05168914794922,-13.471610069274902,-13.465291023254395],"start_rotation":[0.9999860890449014,0.0,0.0,-0.005274629530366826],"instruction":{"instruction_text":"Turn left to face the white cylindrical building with the word \"HOTEL\" on it. Fly forward out of the roof to the road on the left side of the white cylindrical building, then fly over that building along the road, then turn right to face the small black-and-white building between the tall cylindrical structure and the building with the large \"HOTEL\" sign, then fly to the left side of this small building, then turn right to face the tall building behind the green shrubs, then fly forward to the front of this tall building. Descend to fourth floor height and turn left to face the road on the left side of the tall building, then fly forward to the road, then turn right to face the road, and fly forward to the \"restaurant\" sign and then turn right to face the sign and stop."},"goals":[{"position":[-92.1876531482663,-263.74342929834415,-13.465291023254395]}],"reference_path":[[22.05168914794922,-13.471610069274902,-13.465291023254395,0,0,-0.010549307977762218],[22.05168914794922,-13.471610069274902,-13.465291023254395,0,0,-0.2723486957769116],[22.05168914794922,-13.471610069274902,-13.465291023254395,0,0,-0.534148083576061],[22.05168914794922,-13.471610069274902,-13.465291023254395,0,0,-0.7959474713752105],[22.05168914794922,-13.471610069274902,-13.465291023254395,0,0,-1.05774685917436],[22.05168914794922,-13.471610069274902,-13.465291023254395,0,0,-1.3195462469735095],[22.05168914794922,-13.471610069274902,-13.465291023254395,0,0,-1.581345634772659],[22.05168914794922,-13.471610069274902,-13.465291023254395,0,0,-1.8431450225718085],[22.05168914794922,-13.471610069274902,-13.465291023254395,0,0,-2.104944410370958],[22.05168914794922,-13.471610069274902,-13.465291023254395,0,0,-2.3667437981701074],[22.05168914794922,-13.471610069274902,-13.465291023254395,0,0,-2.628543185969257],[22.05168914794922,-13.471610069274902,-15.465291023254395,0,0,-2.628543185969257],[17.695430291385104,-15.925791964450301,-15.465291023254395,0,0,-2.628543185969257],[13.33917143482099,-18.3799738596257,-15.465291023254395,0,0,-2.628543185969257],[8.982912578256876,-20.8341557548011,-15.465291023254395,0,0,-2.628543185969257],[4.626653721692761,-23.288337649976498,-15.465291023254395,0,0,-2.628543185969257],[0.27039486512864563,-25.742519545151897,-15.465291023254395,0,0,-2.628543185969257],[-4.0858639914354695,-28.196701440327296,-15.465291023254395,0,0,-2.628543185969257],[-4.0858639914354695,-28.196701440327296,-17.465291023254395,0,0,-2.628543185969257],[-4.0858639914354695,-28.196701440327296,-17.465291023254395,0,0,-2.8903425737684065],[-8.928875941608425,-29.43977635781294,-17.465291023254395,0,0,-2.8903425737684065],[-13.77188789178138,-30.68285127529858,-17.465291023254395,0,0,-2.8903425737684065],[-13.77188789178138,-30.68285127529858,-17.465291023254395,0,0,3.13104334561203],[-18.771609674614552,-30.630105713746254,-17.465291023254395,0,0,3.13104334561203],[-23.771331457447726,-30.577360152193926,-17.465291023254395,0,0,3.13104334561203],[-28.7710532402809,-30.524614590641598,-17.465291023254395,0,0,3.13104334561203],[-28.7710532402809,-30.524614590641598,-19.465291023254395,0,0,3.13104334561203],[-33.77077502311407,-30.47186902908927,-19.465291023254395,0,0,3.13104334561203],[-33.77077502311407,-30.47186902908927,-19.465291023254395,0,0,-2.8903425737684065],[-38.61378697328703,-31.714943946574913,-19.465291023254395,0,0,-2.8903425737684065],[-43.456798923459985,-32.958018864060556,-19.465291023254395,0,0,-2.8903425737684065],[-43.456798923459985,-32.958018864060556,-19.465291023254395,0,0,-2.6285431859692574],[-47.8130577800241,-35.41220075923595,-19.465291023254395,0,0,-2.6285431859692574],[-52.16931663658822,-37.866382654411346,-19.465291023254395,0,0,-2.6285431859692574],[-56.52557549315234,-40.32056454958674,-19.465291023254395,0,0,-2.6285431859692574],[-60.881834349716456,-42.77474644476214,-19.465291023254395,0,0,-2.6285431859692574],[-60.881834349716456,-42.77474644476214,-19.465291023254395,0,0,-2.3667437981701083],[-64.45446827065503,-46.27278687719843,-19.465291023254395,0,0,-2.3667437981701083],[-68.0271021915936,-49.77082730963472,-19.465291023254395,0,0,-2.3667437981701083],[-71.59973611253217,-53.26886774207101,-19.465291023254395,0,0,-2.3667437981701083],[-71.59973611253217,-53.26886774207101,-21.465291023254395,0,0,-2.3667437981701083],[-75.17237003347074,-56.7669081745073,-21.465291023254395,0,0,-2.3667437981701083],[-78.74500395440931,-60.26494860694359,-21.465291023254395,0,0,-2.3667437981701083],[-82.31763787534788,-63.76298903937988,-21.465291023254395,0,0,-2.3667437981701083],[-85.89027179628646,-67.26102947181617,-21.465291023254395,0,0,-2.3667437981701083],[-89.46290571722503,-70.75906990425246,-21.465291023254395,0,0,-2.3667437981701083],[-89.46290571722503,-70.75906990425246,-23.465291023254395,0,0,-2.3667437981701083],[-93.0355396381636,-74.25711033668874,-23.465291023254395,0,0,-2.3667437981701083],[-96.60817355910217,-77.75515076912502,-23.465291023254395,0,0,-2.3667437981701083],[-96.60817355910217,-77.75515076912502,-25.465291023254395,0,0,-2.3667437981701083],[-100.18080748004074,-81.25319120156131,-25.465291023254395,0,0,-2.3667437981701083],[-103.75344140097931,-84.75123163399759,-25.465291023254395,0,0,-2.3667437981701083],[-103.75344140097931,-84.75123163399759,-25.465291023254395,0,0,-2.1049444103709587],[-103.75344140097931,-84.75123163399759,-25.465291023254395,0,0,-1.8431450225718093],[-103.75344140097931,-84.75123163399759,-25.465291023254395,0,0,-1.5813456347726602],[-103.75344140097931,-84.75123163399759,-25.465291023254395,0,0,-1.3195462469735109],[-102.51036648349367,-89.59424358417056,-25.465291023254395,0,0,-1.3195462469735109],[-101.26729156600803,-94.4372555343435,-25.465291023254395,0,0,-1.3195462469735109],[-100.02421664852238,-99.2802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+{"episode_id":"3HQUKB7LNOC6K1VC9SY37CMLO6VHHH","trajectory_id":"33QQ60S6B0GXS3Y7LGTFVGH5L2KU00","scene_id":11,"start_position":[-134.07041931152344,-70.3873291015625,-61.81205749511719],"start_rotation":[0.9999976568594227,0.0,0.0,0.002164780742811675],"instruction":{"instruction_text":"Fly forward by the left side of the glass building ahead to the white cylindrical building with windows lighting on. Descend to the middle height of the cylindrical building, then turn left to face the gap between the two cylindrical glass wall buildings, then fly forward to the front of cylindrical glass walls. Turn right and face the short flat roofed building ahead, fly over it to reach the building with black stairs. Fly forward to the top of the building, then turn left to face the four highest cylindrical buildings in the distance. Fly forward to the space in the middle of the four cylindrical glass-walled buildings, then ascend to the same height as the right-side skywalk."},"goals":[{"position":[108.1306412620546,-256.634592478841,-43.81205749511719]}],"reference_path":[[-134.07041931152344,-70.3873291015625,-61.81205749511719,0,0,0.004329564867216919],[-134.04877155481918,-75.38728223880585,-61.81205749511719,0,0,0.004329564867216919],[-129.04881841757583,-75.3656344821016,-61.81205749511719,0,0,0.004329564867216919],[-129.02717066087158,-80.36558761934495,-61.81205749511719,0,0,0.004329564867216919],[-124.02721752362822,-80.3439398626407,-61.81205749511719,0,0,0.004329564867216919],[-119.02726438638487,-80.32229210593644,-61.81205749511719,0,0,0.004329564867216919],[-114.02731124914152,-80.30064434923219,-61.81205749511719,0,0,0.004329564867216919],[-109.02735811189817,-80.27899659252793,-61.81205749511719,0,0,0.004329564867216919],[-104.02740497465481,-80.25734883582368,-61.81205749511719,0,0,0.004329564867216919],[-104.04905273135907,-75.25739569858032,-61.81205749511719,0,0,0.004329564867216919],[-99.04909959411572,-75.23574794187607,-61.81205749511719,0,0,0.004329564867216919],[-99.07074735081997,-70.23579480463272,-61.81205749511719,0,0,0.004329564867216919],[-94.07079421357662,-70.21414704792846,-61.81205749511719,0,0,0.004329564867216919],[-89.07084107633327,-70.19249929122421,-61.81205749511719,0,0,0.004329564867216919],[-84.07088793908991,-70.17085153451995,-61.81205749511719,0,0,0.004329564867216919],[-79.07093480184656,-70.1492037778157,-61.81205749511719,0,0,0.004329564867216919],[-74.07098166460321,-70.12755602111145,-61.81205749511719,0,0,0.004329564867216919],[-69.07102852735986,-70.10590826440719,-61.81205749511719,0,0,0.004329564867216919],[-64.0710753901165,-70.08426050770294,-61.81205749511719,0,0,0.004329564867216919],[-64.09272314682076,-65.08430737045958,-61.81205749511719,0,0,0.004329564867216919],[-64.09272314682076,-65.08430737045958,-59.81205749511719,0,0,0.004329564867216919],[-64.09272314682076,-65.08430737045958,-57.81205749511719,0,0,0.004329564867216919],[-64.09272314682076,-65.08430737045958,-55.81205749511719,0,0,0.004329564867216919],[-59.09277000957741,-65.06265961375533,-55.81205749511719,0,0,0.004329564867216919],[-59.09277000957741,-65.06265961375533,-53.81205749511719,0,0,0.004329564867216919],[-59.09277000957741,-65.06265961375533,-51.81205749511719,0,0,0.004329564867216919],[-59.09277000957741,-65.06265961375533,-49.81205749511719,0,0,0.004329564867216919],[-59.09277000957741,-65.06265961375533,-47.81205749511719,0,0,0.004329564867216919],[-59.09277000957741,-65.06265961375533,-45.81205749511719,0,0,0.004329564867216919],[-59.09277000957741,-65.06265961375533,-43.81205749511719,0,0,0.004329564867216919],[-59.09277000957741,-65.06265961375533,-41.81205749511719,0,0,0.004329564867216919],[-59.09277000957741,-65.06265961375533,-39.81205749511719,0,0,0.004329564867216919],[-54.092816872334055,-65.04101185705107,-39.81205749511719,0,0,0.004329564867216919],[-54.092816872334055,-65.04101185705107,-39.81205749511719,0,0,-0.2574698229319325],[-54.092816872334055,-65.04101185705107,-39.81205749511719,0,0,-0.5192692107310819],[-54.092816872334055,-65.04101185705107,-39.81205749511719,0,0,-0.7810685985302313],[-54.092816872334055,-65.04101185705107,-39.81205749511719,0,0,-1.0428679863293806],[-51.57409279647154,-69.36027441328339,-39.81205749511719,0,0,-1.0428679863293806],[-51.57409279647154,-69.36027441328339,-37.81205749511719,0,0,-1.0428679863293806],[-49.055368720609025,-73.67953696951571,-37.81205749511719,0,0,-1.0428679863293806],[-44.73610616437671,-71.1608128936532,-37.81205749511719,0,0,-1.0428679863293806],[-42.21738208851419,-75.48007544988552,-37.81205749511719,0,0,-1.0428679863293806],[-39.69865801265168,-79.79933800611784,-37.81205749511719,0,0,-1.0428679863293806],[-39.69865801265168,-79.79933800611784,-37.81205749511719,0,0,-0.7810685985302311],[-39.69865801265168,-79.79933800611784,-37.81205749511719,0,0,-0.5192692107310817],[-39.69865801265168,-79.79933800611784,-37.81205749511719,0,0,-0.25746982293193227],[-39.69865801265168,-79.79933800611784,-37.81205749511719,0,0,0.004329564867217177],[-39.69865801265168,-79.79933800611784,-37.81205749511719,0,0,0.2661289526663666],[-34.874676998872076,-78.48434478229728,-37.81205749511719,0,0,0.2661289526663666],[-30.050695985092478,-77.16935155847673,-37.81205749511719,0,0,0.2661289526663666],[-25.22671497131288,-75.85435833465618,-37.81205749511719,0,0,0.2661289526663666],[-20.402733957533282,-74.53936511083563,-37.81205749511719,0,0,0.2661289526663666],[-15.578752943753685,-73.22437188701508,-37.81205749511719,0,0,0.2661289526663666],[-10.754771929974087,-71.90937866319453,-37.81205749511719,0,0,0.2661289526663666],[-5.930790916194488,-70.59438543937398,-37.81205749511719,0,0,0.2661289526663666],[-1.1068099024148896,-69.27939221555343,-37.81205749511719,0,0,0.2661289526663666],[3.717171111364709,-67.96439899173288,-37.81205749511719,0,0,0.2661289526663666],[8.541152125144308,-66.64940576791233,-37.81205749511719,0,0,0.2661289526663666],[13.365133138923905,-65.33441254409178,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+{"episode_id":"3O6CYIULEMZTMDWL4QR2RULXBRBWUO","trajectory_id":"33QQ60S6B0GXS3Y7LGTFVGH5HNEU0W","scene_id":11,"start_position":[48.763954162597656,-241.5447540283203,-0.7997226715087891],"start_rotation":[0.9999997183536623,0.0,0.0,0.0007505282113830458],"instruction":{"instruction_text":"Take off to the height of street lights then turn right to face the purple building with staircase, then fly forward to the right corner of the purple building, then fly to the park area. Turn left to face the dark blue and black interlaced low buildings, then fly over the top of this building, then fly forward over the roof of a white building right to a red building, then turn right to face the sky between the white cylindrical building with \"HOTEL\" sign and the glass-walled cylindrical building, and then fly forward to the left side of the glass-walled cylindrical building. Ascend to a height of the right-side aerial corridor, then turn left to face a red building, and fly forward  to the red building."},"goals":[{"position":[-61.0301849283152,-35.041063831801594,-30.79972267150879]}],"reference_path":[[48.763954162597656,-241.5447540283203,-0.7997226715087891,0,0,0.0015010565636884555],[48.763954162597656,-241.5447540283203,-2.799722671508789,0,0,0.0015010565636884555],[48.763954162597656,-241.5447540283203,-4.799722671508789,0,0,0.0015010565636884555],[48.763954162597656,-241.5447540283203,-4.799722671508789,0,0,0.2633004443628379],[48.763954162597656,-241.5447540283203,-4.799722671508789,0,0,0.5250998321619873],[48.763954162597656,-241.5447540283203,-4.799722671508789,0,0,0.7868992199611368],[48.763954162597656,-241.5447540283203,-4.799722671508789,0,0,1.0486986077602862],[48.763954162597656,-241.5447540283203,-4.799722671508789,0,0,1.3104979955594358],[48.763954162597656,-241.5447540283203,-4.799722671508789,0,0,1.5722973833585854],[48.763954162597656,-241.5447540283203,-4.799722671508789,0,0,1.834096771157735],[48.763954162597656,-241.5447540283203,-4.799722671508789,0,0,2.0958961589568843],[48.763954162597656,-241.5447540283203,-4.799722671508789,0,0,2.3576955467560334],[48.763954162597656,-241.5447540283203,-6.799722671508789,0,0,2.3576955467560334],[48.763954162597656,-241.5447540283203,-8.799722671508789,0,0,2.3576955467560334],[45.223117205362364,-238.01453113985042,-8.799722671508789,0,0,2.3576955467560334],[41.68228024812707,-234.48430825138053,-8.799722671508789,0,0,2.3576955467560334],[38.14144329089178,-230.95408536291063,-8.799722671508789,0,0,2.3576955467560334],[38.14144329089178,-230.95408536291063,-10.799722671508789,0,0,2.3576955467560334],[34.600606333656486,-227.42386247444074,-10.799722671508789,0,0,2.3576955467560334],[31.059769376421194,-223.89363958597085,-10.799722671508789,0,0,2.3576955467560334],[27.5189324191859,-220.36341669750095,-10.799722671508789,0,0,2.3576955467560334],[23.97809546195061,-216.83319380903106,-10.799722671508789,0,0,2.3576955467560334],[20.437258504715317,-213.30297092056117,-10.799722671508789,0,0,2.3576955467560334],[16.896421547480024,-209.77274803209127,-10.799722671508789,0,0,2.3576955467560334],[13.355584590244732,-206.24252514362138,-10.799722671508789,0,0,2.3576955467560334],[9.825361701774838,-209.78336210085666,-10.799722671508789,0,0,2.3576955467560334],[6.284524744539545,-206.25313921238677,-10.799722671508789,0,0,2.3576955467560334],[2.7436877873042516,-202.72291632391688,-10.799722671508789,0,0,2.3576955467560334],[-0.7971491699310418,-199.19269343544698,-10.799722671508789,0,0,2.3576955467560334],[-0.7971491699310418,-199.19269343544698,-12.799722671508789,0,0,2.3576955467560334],[-4.337986127166335,-195.6624705469771,-12.799722671508789,0,0,2.3576955467560334],[-7.868209015636228,-199.20330750421238,-12.799722671508789,0,0,2.3576955467560334],[-11.409045972871521,-195.67308461574248,-12.799722671508789,0,0,2.3576955467560334],[-14.949882930106813,-192.1428617272726,-12.799722671508789,0,0,2.3576955467560334],[-18.490719887342106,-188.6126388388027,-12.799722671508789,0,0,2.3576955467560334],[-22.0315568445774,-185.0824159503328,-12.799722671508789,0,0,2.3576955467560334],[-25.561779733047292,-188.6232529075681,-12.799722671508789,0,0,2.3576955467560334],[-29.102616690282584,-185.0930300190982,-12.799722671508789,0,0,2.3576955467560334],[-32.64345364751788,-181.5628071306283,-12.799722671508789,0,0,2.3576955467560334],[-36.18429060475317,-178.0325842421584,-12.799722671508789,0,0,2.3576955467560334],[-39.725127561988465,-174.5023613536885,-12.799722671508789,0,0,2.3576955467560334],[-39.725127561988465,-174.5023613536885,-12.799722671508789,0,0,2.0958961589568843],[-39.725127561988465,-174.5023613536885,-12.799722671508789,0,0,1.834096771157735],[-44.55280874304232,-175.80370466507813,-12.799722671508789,0,0,1.834096771157735],[-44.55280874304232,-175.80370466507813,-12.799722671508789,0,0,1.5722973833585856],[-44.55280874304232,-175.80370466507813,-12.799722671508789,0,0,1.3104979955594365],[-44.55280874304232,-175.80370466507813,-12.799722671508789,0,0,1.048698607760287],[-42.059311322647815,-171.46982988441292,-12.799722671508789,0,0,1.048698607760287],[-39.56581390225331,-167.1359551037477,-12.799722671508789,0,0,1.048698607760287],[-37.072316481858806,-162.8020803230825,-12.799722671508789,0,0,1.048698607760287],[-37.072316481858806,-162.8020803230825,-14.799722671508789,0,0,1.048698607760287],[-34.5788190614643,-158.46820554241728,-14.799722671508789,0,0,1.048698607760287],[-30.24494428079909,-160.96170296281178,-14.799722671508789,0,0,1.048698607760287],[-27.751446860404585,-156.62782818214657,-14.799722671508789,0,0,1.048698607760287],[-27.751446860404585,-156.62782818214657,-16.79972267150879,0,0,1.048698607760287],[-25.25794944001008,-152.29395340148136,-16.79972267150879,0,0,1.048698607760287],[-25.25794944001008,-152.29395340148136,-18.79972267150879,0,0,1.048698607760287],[-22.764452019615575,-147.96007862081615,-18.79972267150879,0,0,1.048698607760287],[-20.27095459922107,-143.62620384015094,-18.79972267150879,0,0,1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+{"episode_id":"3Z3ZLGNNSRS43MNGDXWVCWDCWWF3QE","trajectory_id":"3MVY4USGCELSKLNJ01NLMJZDM0RISG","scene_id":11,"start_position":[-114.83100128173828,-9.29707145690918,-0.9942290782928467],"start_rotation":[0.9997023637559044,0.0,0.0,-0.02439639114413196],"instruction":{"instruction_text":"Take off to a height higher than the outdoor unit of the air conditioner on the left terrace, then turn left slightly to face two glass cylindrical buildings, then fly forward to the front of the cylindrical buildings, then fly over the cylindrical buildings by their left side to see the tops of three cylindrical buildings behind, then move forward to the high lavender building ahead. Ascend to the height of roof of the building, then turn left to face it directly and fly forward over the building. Descend to the height of the building ahead and fly forward to the protruding part of the roof on the left side of the building, then move to the left side of the building, and then fly along the road to the roof of the farthest building on the left side of the road."},"goals":[{"position":[-35.7563657453605,-269.37402543535796,-16.994229078292847]}],"reference_path":[[-114.83100128173828,-9.29707145690918,-0.9942290782928467,0,0,-0.04879762369814686],[-114.83100128173828,-9.29707145690918,-2.9942290782928467,0,0,-0.04879762369814686],[-114.83100128173828,-9.29707145690918,-4.994229078292847,0,0,-0.04879762369814686],[-114.83100128173828,-9.29707145690918,-6.994229078292847,0,0,-0.04879762369814686],[-114.83100128173828,-9.29707145690918,-8.994229078292847,0,0,-0.04879762369814686],[-114.83100128173828,-9.29707145690918,-10.994229078292847,0,0,-0.04879762369814686],[-114.83100128173828,-9.29707145690918,-12.994229078292847,0,0,-0.04879762369814686],[-114.83100128173828,-9.29707145690918,-14.994229078292847,0,0,-0.04879762369814686],[-114.83100128173828,-9.29707145690918,-16.994229078292847,0,0,-0.04879762369814686],[-114.83100128173828,-9.29707145690918,-16.994229078292847,0,0,-0.3105970114972963],[-114.83100128173828,-9.29707145690918,-18.994229078292847,0,0,-0.3105970114972963],[-114.83100128173828,-9.29707145690918,-18.994229078292847,0,0,-0.5723963992964457],[-114.83100128173828,-9.29707145690918,-18.994229078292847,0,0,-0.8341957870955952],[-114.83100128173828,-9.29707145690918,-20.994229078292847,0,0,-0.8341957870955952],[-114.83100128173828,-9.29707145690918,-22.994229078292847,0,0,-0.8341957870955952],[-111.47213315288121,-13.000853968470603,-22.994229078292847,0,0,-0.8341957870955952],[-108.11326502402414,-16.704636480032026,-22.994229078292847,0,0,-0.8341957870955952],[-104.75439689516708,-20.408418991593447,-22.994229078292847,0,0,-0.8341957870955952],[-101.39552876631001,-24.112201503154868,-22.994229078292847,0,0,-0.8341957870955952],[-98.03666063745294,-27.81598401471629,-22.994229078292847,0,0,-0.8341957870955952],[-94.67779250859587,-31.51976652627771,-22.994229078292847,0,0,-0.8341957870955952],[-91.3189243797388,-35.223549037839135,-22.994229078292847,0,0,-0.8341957870955952],[-87.96005625088173,-38.927331549400556,-22.994229078292847,0,0,-0.8341957870955952],[-91.66383876244316,-42.28619967825762,-22.994229078292847,0,0,-0.8341957870955952],[-88.3049706335861,-45.98998218981904,-22.994229078292847,0,0,-0.8341957870955952],[-84.94610250472903,-49.69376470138046,-22.994229078292847,0,0,-0.8341957870955952],[-81.58723437587196,-53.39754721294188,-22.994229078292847,0,0,-0.8341957870955952],[-78.22836624701489,-57.1013297245033,-22.994229078292847,0,0,-0.8341957870955952],[-78.22836624701489,-57.1013297245033,-20.994229078292847,0,0,-0.8341957870955952],[-74.86949811815782,-60.80511223606472,-20.994229078292847,0,0,-0.8341957870955952],[-71.51062998930075,-64.50889474762614,-20.994229078292847,0,0,-0.8341957870955952],[-68.15176186044368,-68.21267725918757,-20.994229078292847,0,0,-0.8341957870955952],[-71.85554437200511,-71.57154538804464,-20.994229078292847,0,0,-0.8341957870955952],[-68.49667624314804,-75.27532789960607,-20.994229078292847,0,0,-0.8341957870955952],[-65.13780811429098,-78.9791104111675,-20.994229078292847,0,0,-0.8341957870955952],[-68.8415906258524,-82.33797854002457,-20.994229078292847,0,0,-0.8341957870955952],[-65.48272249699534,-86.041761051586,-20.994229078292847,0,0,-0.8341957870955952],[-62.12385436813827,-89.74554356314742,-20.994229078292847,0,0,-0.8341957870955952],[-58.7649862392812,-93.44932607470885,-20.994229078292847,0,0,-0.8341957870955952],[-62.46876875084262,-96.80819420356592,-20.994229078292847,0,0,-0.8341957870955952],[-59.10990062198556,-100.51197671512735,-20.994229078292847,0,0,-0.8341957870955952],[-55.75103249312849,-104.21575922668877,-20.994229078292847,0,0,-0.8341957870955952],[-52.39216436427142,-107.9195417382502,-20.994229078292847,0,0,-0.8341957870955952],[-49.033296235414355,-111.62332424981163,-20.994229078292847,0,0,-0.8341957870955952],[-45.32951372385293,-108.26445612095456,-20.994229078292847,0,0,-0.8341957870955952],[-41.97064559499587,-111.96823863251599,-20.994229078292847,0,0,-0.8341957870955952],[-38.611777466138804,-115.67202114407742,-20.994229078292847,0,0,-0.8341957870955952],[-35.252909337281736,-119.37580365563885,-20.994229078292847,0,0,-0.8341957870955952],[-31.89404120842467,-123.07958616720028,-20.994229078292847,0,0,-0.8341957870955952],[-28.535173079567606,-126.7833686787617,-20.994229078292847,0,0,-0.8341957870955952],[-25.17630495071054,-130.48715119032312,-20.994229078292847,0,0,-0.8341957870955952],[-21.817436821853477,-134.19093370188455,-20.994229078292847,0,0,-0.8341957870955952],[-18.458568692996412,-137.89471621344597,-20.994229078292847,0,0,-0.8341957870955952],[-15.099700564139347,-141.5984987250074,-20.994229078292847,0,0,-0.8341957870955952],[-11.740832435282282,-145.30228123656883,-20.994229078292847,0,0,-0.8341957870955952],[-8.381964306425218,-149.00606374813026,-20.994229078292847,0,0,-0.8341957870955952],[-5.023096177568153,-152.7098462596917,-20.994229078292847,0,0,-0.8341957870955952],[-5.023096177568153,-152.7098462596917,-22.994229078292847,0,0,-0.834195787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+{"episode_id":"3CPLWGV3MXX5FRZ4EE5OZFLTPBU9N0","trajectory_id":"39WICJI5B1QAVUREAQA6E6URQLS3ZG","scene_id":11,"start_position":[-156.1870574951172,-117.18740844726562,-0.6545783877372742],"start_rotation":[0.9998205234217199,0.0,0.0,0.018945209017535967],"instruction":{"instruction_text":"Take off to a height higher than the grayish-white wall of the building in front, then fly forward to the red-brown framed roof ahead, then turn right to face a cylindrical building with white walls, then fly forward to the left platform of this white cylindrical building. Move to the right of the white cylindrical building, then turn left to face a white building that has stairs on the left and only the top windows are illuminated, then fly to this building, and turn left to face the short flat roof building ahead, fly forward over the flat roof, turn right to face the for air conditioning units on the roof of a red building. Turn right slightly to face the white building with stairs at the end of the road, fly forward to it, then turn left to face the open space at the end of the road, then descend close to the ground and fly forward to land in front of the \"HOTEL\" sign."},"goals":[{"position":[86.89997881460387,52.544636008269435,-2.654578387737274]}],"reference_path":[[-156.1870574951172,-117.18740844726562,-0.6545783877372742,0,0,0.03789268501201332],[-156.1870574951172,-117.18740844726562,-2.654578387737274,0,0,0.03789268501201332],[-156.1870574951172,-117.18740844726562,-4.654578387737274,0,0,0.03789268501201332],[-156.1870574951172,-117.18740844726562,-6.654578387737274,0,0,0.03789268501201332],[-156.1870574951172,-117.18740844726562,-8.654578387737274,0,0,0.03789268501201332],[-156.1870574951172,-117.18740844726562,-10.654578387737274,0,0,0.03789268501201332],[-156.1870574951172,-117.18740844726562,-12.654578387737274,0,0,0.03789268501201332],[-156.1870574951172,-117.18740844726562,-14.654578387737274,0,0,0.03789268501201332],[-156.1870574951172,-117.18740844726562,-16.654578387737274,0,0,0.03789268501201332],[-156.1870574951172,-117.18740844726562,-18.654578387737274,0,0,0.03789268501201332],[-156.1870574951172,-117.18740844726562,-20.654578387737274,0,0,0.03789268501201332],[-156.1870574951172,-117.18740844726562,-22.654578387737274,0,0,0.03789268501201332],[-156.1870574951172,-117.18740844726562,-24.654578387737274,0,0,0.03789268501201332],[-156.1870574951172,-117.18740844726562,-26.654578387737274,0,0,0.03789268501201332],[-156.1870574951172,-117.18740844726562,-28.654578387737274,0,0,0.03789268501201332],[-151.19064670456436,-116.99799035930316,-28.654578387737274,0,0,0.03789268501201332],[-146.19423591401153,-116.8085722713407,-28.654578387737274,0,0,0.03789268501201332],[-141.1978251234587,-116.61915418337823,-28.654578387737274,0,0,0.03789268501201332],[-136.20141433290587,-116.42973609541576,-28.654578387737274,0,0,0.03789268501201332],[-131.20500354235304,-116.2403180074533,-28.654578387737274,0,0,0.03789268501201332],[-126.20859275180023,-116.05089991949083,-28.654578387737274,0,0,0.03789268501201332],[-126.20859275180023,-116.05089991949083,-28.654578387737274,0,0,0.2996920728111627],[-126.20859275180023,-116.05089991949083,-26.654578387737274,0,0,0.2996920728111627],[-121.43145553910747,-114.57476982661078,-26.654578387737274,0,0,0.2996920728111627],[-116.65431832641471,-113.09863973373072,-26.654578387737274,0,0,0.2996920728111627],[-111.87718111372195,-111.62250964085067,-26.654578387737274,0,0,0.2996920728111627],[-113.353311206602,-106.8453724281579,-26.654578387737274,0,0,0.2996920728111627],[-108.57617399390924,-105.36924233527785,-26.654578387737274,0,0,0.2996920728111627],[-103.79903678121647,-103.89311224239779,-26.654578387737274,0,0,0.2996920728111627],[-99.02189956852371,-102.41698214951774,-26.654578387737274,0,0,0.2996920728111627],[-99.02189956852371,-102.41698214951774,-26.654578387737274,0,0,0.5614914606103121],[-94.78958994014351,-99.75473587812955,-26.654578387737274,0,0,0.5614914606103121],[-90.55728031176332,-97.09248960674137,-26.654578387737274,0,0,0.5614914606103121],[-86.32497068338313,-94.43024333535318,-26.654578387737274,0,0,0.5614914606103121],[-82.09266105500294,-91.767997063965,-26.654578387737274,0,0,0.5614914606103121],[-77.86035142662274,-89.10575079257681,-26.654578387737274,0,0,0.5614914606103121],[-73.62804179824255,-86.44350452118863,-26.654578387737274,0,0,0.5614914606103121],[-69.39573216986236,-83.78125824980044,-26.654578387737274,0,0,0.5614914606103121],[-65.16342254148216,-81.11901197841226,-26.654578387737274,0,0,0.5614914606103121],[-67.82566881287035,-76.88670235003207,-26.654578387737274,0,0,0.5614914606103121],[-63.59335918449015,-74.22445607864388,-26.654578387737274,0,0,0.5614914606103121],[-59.36104955610995,-71.5622098072557,-26.654578387737274,0,0,0.5614914606103121],[-55.12873992772975,-68.89996353586751,-26.654578387737274,0,0,0.5614914606103121],[-50.89643029934955,-66.23771726447933,-26.654578387737274,0,0,0.5614914606103121],[-53.55867657073773,-62.00540763609913,-26.654578387737274,0,0,0.5614914606103121],[-56.220922842125916,-57.77309800771893,-26.654578387737274,0,0,0.5614914606103121],[-58.8831691135141,-53.54078837933873,-26.654578387737274,0,0,0.5614914606103121],[-54.6508594851339,-50.87854210795055,-26.654578387737274,0,0,0.5614914606103121],[-57.31310575652208,-46.64623247957035,-26.654578387737274,0,0,0.5614914606103121],[-53.08079612814188,-43.98398620818217,-26.654578387737274,0,0,0.5614914606103121],[-48.84848649976168,-41.321739936793996,-26.654578387737274,0,0,0.5614914606103121],[-44.61617687138148,-38.65949366540582,-26.654578387737274,0,0,0.5614914606103121],[-40.383867243001276,-35.99724739401764,-26.654578387737274,0,0,0.5614914606103121],[-43.04611351438946,-31.764937765637445,-26.654578387737274,0,0,0.5614914606103121],[-38.81380388600926,-29.102691494249264,-26.654578387737274,0,0,0.5614914606103121],[-36.15155761462108,-33.335001122629464,-26.654578387737274,0,0,0.5614914606103121],[-36.15155761462108,-33.335001122629464,-26.654578387737274,0,0,0.29969207281116267],[-36.15155761462108,-33.335001122629464,-26.654578387737274,0,0,0.03789268501201324],[-36.1515576146210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+{"episode_id":"3HVVDCPGTNQIB5CWJMJG7VKCN0DYTN","trajectory_id":"3OYHVNTV61W4SOLETNROFU4PH3AOK9","scene_id":11,"start_position":[-164.62677001953125,-109.69386291503906,-27.072492599487305],"start_rotation":[0.999993332270135,0.0,0.0,0.003651768786682521],"instruction":{"instruction_text":"Fly forward to the black and white horizontal stripes skyscraper. Turn left to face the dark red building with many lights shining behind the park, then fly forward over the wall of building on right. Fly forward through the park to the right corner of the red building. Turn right and face the short building with blue and black stripes, then fly forward to the corner at the top of this building. Turn left to face the building with the \"LEON\" sign on its right side, then fly forward to building. Move to the left side of the \"LEON\" sign, then fly forward to the park. Reduce the altitude to a level slightly higher than the street lamp. Ascend to the same height as the top window of the building on the right, then turn right to face a nearest white apartment. Land on the sidewalk."},"goals":[{"position":[77.58844220574098,-202.77333580228844,-1.0724925994873047]}],"reference_path":[[-164.62677001953125,-109.69386291503906,-27.072492599487305,0,0,0.007303553806080202],[-164.62677001953125,-109.69386291503906,-29.072492599487305,0,0,0.007303553806080202],[-164.62677001953125,-109.69386291503906,-31.072492599487305,0,0,0.007303553806080202],[-164.62677001953125,-109.69386291503906,-33.072492599487305,0,0,0.007303553806080202],[-159.62690337368397,-109.65734547066232,-33.072492599487305,0,0,0.007303553806080202],[-154.6270367278367,-109.62082802628558,-33.072492599487305,0,0,0.007303553806080202],[-149.62717008198942,-109.58431058190884,-33.072492599487305,0,0,0.007303553806080202],[-144.62730343614214,-109.5477931375321,-33.072492599487305,0,0,0.007303553806080202],[-139.62743679029487,-109.51127569315535,-33.072492599487305,0,0,0.007303553806080202],[-134.6275701444476,-109.47475824877861,-33.072492599487305,0,0,0.007303553806080202],[-129.6277034986003,-109.43824080440187,-33.072492599487305,0,0,0.007303553806080202],[-124.62783685275302,-109.40172336002513,-33.072492599487305,0,0,0.007303553806080202],[-119.62797020690573,-109.36520591564839,-33.072492599487305,0,0,0.007303553806080202],[-114.62810356105844,-109.32868847127165,-33.072492599487305,0,0,0.007303553806080202],[-109.62823691521115,-109.2921710268949,-33.072492599487305,0,0,0.007303553806080202],[-104.62837026936386,-109.25565358251816,-33.072492599487305,0,0,0.007303553806080202],[-99.62850362351656,-109.21913613814142,-33.072492599487305,0,0,0.007303553806080202],[-99.62850362351656,-109.21913613814142,-31.072492599487305,0,0,0.007303553806080202],[-99.62850362351656,-109.21913613814142,-29.072492599487305,0,0,0.007303553806080202],[-99.62850362351656,-109.21913613814142,-27.072492599487305,0,0,0.007303553806080202],[-99.62850362351656,-109.21913613814142,-27.072492599487305,0,0,-0.25449583399306924],[-99.62850362351656,-109.21913613814142,-27.072492599487305,0,0,-0.5162952217922187],[-99.62850362351656,-109.21913613814142,-27.072492599487305,0,0,-0.778094609591368],[-99.62850362351656,-109.21913613814142,-27.072492599487305,0,0,-1.0398939973905175],[-97.09694526608138,-113.5308889467913,-27.072492599487305,0,0,-1.0398939973905175],[-94.56538690864619,-117.84264175544116,-27.072492599487305,0,0,-1.0398939973905175],[-92.033828551211,-122.15439456409104,-27.072492599487305,0,0,-1.0398939973905175],[-89.50227019377581,-126.4661473727409,-27.072492599487305,0,0,-1.0398939973905175],[-93.81402300242569,-128.9977057301761,-27.072492599487305,0,0,-1.0398939973905175],[-91.2824646449905,-133.30945853882596,-27.072492599487305,0,0,-1.0398939973905175],[-88.75090628755531,-137.62121134747582,-27.072492599487305,0,0,-1.0398939973905175],[-86.21934793012012,-141.93296415612568,-27.072492599487305,0,0,-1.0398939973905175],[-83.68778957268493,-146.24471696477553,-27.072492599487305,0,0,-1.0398939973905175],[-79.37603676403506,-143.71315860734035,-27.072492599487305,0,0,-1.0398939973905175],[-76.84447840659988,-148.0249114159902,-27.072492599487305,0,0,-1.0398939973905175],[-74.31292004916469,-152.33666422464006,-27.072492599487305,0,0,-1.0398939973905175],[-71.7813616917295,-156.64841703328992,-27.072492599487305,0,0,-1.0398939973905175],[-69.24980333429431,-160.96016984193977,-27.072492599487305,0,0,-1.0398939973905175],[-66.71824497685913,-165.27192265058963,-27.072492599487305,0,0,-1.0398939973905175],[-64.18668661942394,-169.5836754592395,-27.072492599487305,0,0,-1.0398939973905175],[-61.65512826198874,-173.89542826788934,-27.072492599487305,0,0,-1.0398939973905175],[-59.12356990455355,-178.2071810765392,-27.072492599487305,0,0,-1.0398939973905175],[-63.43532271320342,-180.7387394339744,-27.072492599487305,0,0,-1.0398939973905175],[-60.903764355768224,-185.05049224262424,-27.072492599487305,0,0,-1.0398939973905175],[-58.37220599833303,-189.3622450512741,-27.072492599487305,0,0,-1.0398939973905175],[-58.37220599833303,-189.3622450512741,-25.072492599487305,0,0,-1.0398939973905175],[-58.37220599833303,-189.3622450512741,-23.072492599487305,0,0,-1.0398939973905175],[-58.37220599833303,-189.3622450512741,-21.072492599487305,0,0,-1.0398939973905175],[-58.37220599833303,-189.3622450512741,-19.072492599487305,0,0,-1.0398939973905175],[-58.37220599833303,-189.3622450512741,-19.072492599487305,0,0,-0.7780946095913681],[-58.37220599833303,-189.3622450512741,-19.072492599487305,0,0,-0.5162952217922188],[-58.37220599833303,-189.3622450512741,-19.072492599487305,0,0,-0.25449583399306935],[-58.37220599833303,-189.3622450512741,-19.072492599487305,0,0,0.007303553806080095],[-58.37220599833303,-189.3622450512741,-19.072492599487305,0,0,0.2691029416052295],[-58.37220599833303,-189.3622450512741,-19.072492599487305,0,0,0.530902329404379],[-58.37220599833303,-189.3622450512741,-19.072492599487305,0,0,0.7927017172035283],[-54.862588120576376,-185.80098370841665,-19.072492599487305,0,0,0.7927017172035283],[-51.35297024281972,-182.2397223655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+{"episode_id":"3BEFOD78WFRY038SLIUX5SLDYT84M1","trajectory_id":"30QQTY5GNSIBAEYR6FEOAVRST5YU7M","scene_id":11,"start_position":[-14.103984832763672,-279.9921569824219,-2.2943878173828125],"start_rotation":[0.9996736116590653,0.0,0.0,0.02554740989846488],"instruction":{"instruction_text":"Take off to the same height as the \"LEON\" sign on the right front, then turn right to face the red building, fly over the roof ahead to its right, then fly to the top of the road intersection in front of the red building. Turn left to face two cylindrical buildings, then fly forward over the red building by its left side. Turn right to face the opposite corner of the park, fly through the park to the intersection, then turn left to face the road, then fly forward along the road until reaching the intersection between the red building and the building with the \"LEON\" sign, ascending to the \"LEON\" sign's height, lower the height to below the sign and turn right to face the \"LEON\" sign and stop."},"goals":[{"position":[-93.82289858521307,-29.061569050447886,-14.294387817382812]}],"reference_path":[[-14.103984832763672,-279.9921569824219,-2.2943878173828125,0,0,0.05110037944059897],[-14.103984832763672,-279.9921569824219,-4.2943878173828125,0,0,0.05110037944059897],[-14.103984832763672,-279.9921569824219,-6.2943878173828125,0,0,0.05110037944059897],[-14.103984832763672,-279.9921569824219,-8.294387817382812,0,0,0.05110037944059897],[-14.103984832763672,-279.9921569824219,-10.294387817382812,0,0,0.05110037944059897],[-14.103984832763672,-279.9921569824219,-12.294387817382812,0,0,0.05110037944059897],[-14.103984832763672,-279.9921569824219,-14.294387817382812,0,0,0.05110037944059897],[-14.103984832763672,-279.9921569824219,-16.294387817382812,0,0,0.05110037944059897],[-14.103984832763672,-279.9921569824219,-18.294387817382812,0,0,0.05110037944059897],[-14.103984832763672,-279.9921569824219,-20.294387817382812,0,0,0.05110037944059897],[-14.103984832763672,-279.9921569824219,-20.294387817382812,0,0,0.3128997672397484],[-14.103984832763672,-279.9921569824219,-20.294387817382812,0,0,0.5746991550388978],[-14.103984832763672,-279.9921569824219,-20.294387817382812,0,0,0.8364985428380473],[-14.103984832763672,-279.9921569824219,-20.294387817382812,0,0,1.0982979306371967],[-14.103984832763672,-279.9921569824219,-20.294387817382812,0,0,1.360097318436346],[-14.103984832763672,-279.9921569824219,-20.294387817382812,0,0,1.6218967062354954],[-14.103984832763672,-279.9921569824219,-20.294387817382812,0,0,1.8836960940346448],[-15.643079311242708,-275.2349321415808,-20.294387817382812,0,0,1.8836960940346448],[-17.182173789721745,-270.4777073007398,-20.294387817382812,0,0,1.8836960940346448],[-17.182173789721745,-270.4777073007398,-20.294387817382812,0,0,2.145495481833794],[-19.900085286228027,-266.28092792875,-20.294387817382812,0,0,2.145495481833794],[-22.61799678273431,-262.08414855676017,-20.294387817382812,0,0,2.145495481833794],[-25.33590827924059,-257.88736918477036,-20.294387817382812,0,0,2.145495481833794],[-28.053819775746874,-253.6905898127806,-20.294387817382812,0,0,2.145495481833794],[-28.053819775746874,-253.6905898127806,-20.294387817382812,0,0,1.8836960940346448],[-29.59291425422591,-248.9333649719395,-20.294387817382812,0,0,1.8836960940346448],[-29.59291425422591,-248.9333649719395,-18.294387817382812,0,0,1.8836960940346448],[-31.132008732704946,-244.17614013109844,-18.294387817382812,0,0,1.8836960940346448],[-32.67110321118398,-239.41891529025736,-18.294387817382812,0,0,1.8836960940346448],[-32.67110321118398,-239.41891529025736,-18.294387817382812,0,0,1.6218967062354952],[-32.926493926401314,-234.42544199178255,-18.294387817382812,0,0,1.6218967062354952],[-32.926493926401314,-234.42544199178255,-16.294387817382812,0,0,1.6218967062354952],[-33.181884641618645,-229.43196869330774,-16.294387817382812,0,0,1.6218967062354952],[-33.437275356835976,-224.43849539483293,-16.294387817382812,0,0,1.6218967062354952],[-33.437275356835976,-224.43849539483293,-14.294387817382812,0,0,1.6218967062354952],[-33.692666072053306,-219.44502209635812,-14.294387817382812,0,0,1.6218967062354952],[-33.94805678727064,-214.4515487978833,-14.294387817382812,0,0,1.6218967062354952],[-33.94805678727064,-214.4515487978833,-12.294387817382812,0,0,1.6218967062354952],[-34.20344750248797,-209.4580754994085,-12.294387817382812,0,0,1.6218967062354952],[-34.4588382177053,-204.46460220093368,-12.294387817382812,0,0,1.6218967062354952],[-34.4588382177053,-204.46460220093368,-12.294387817382812,0,0,1.8836960940346446],[-35.997932696184336,-199.7073773600926,-12.294387817382812,0,0,1.8836960940346446],[-37.53702717466337,-194.95015251925153,-12.294387817382812,0,0,1.8836960940346446],[-37.53702717466337,-194.95015251925153,-12.294387817382812,0,0,2.145495481833794],[-37.53702717466337,-194.95015251925153,-10.294387817382812,0,0,2.145495481833794],[-40.254938671169654,-190.75337314726175,-10.294387817382812,0,0,2.145495481833794],[-40.254938671169654,-190.75337314726175,-10.294387817382812,0,0,2.4072948696329437],[-43.966446008777396,-187.40304282281852,-10.294387817382812,0,0,2.4072948696329437],[-47.67795334638514,-184.05271249837529,-10.294387817382812,0,0,2.4072948696329437],[-51.38946068399288,-180.70238217393205,-10.294387817382812,0,0,2.4072948696329437],[-55.10096802160062,-177.35205184948882,-10.294387817382812,0,0,2.4072948696329437],[-58.812475359208364,-174.00172152504558,-10.294387817382812,0,0,2.4072948696329437],[-62.523982696816105,-170.65139120060235,-10.294387817382812,0,0,2.4072948696329437],[-66.23549003442385,-167.3010608761591,-10.294387817382812,0,0,2.4072948696329437],[-66.23549003442385,-167.3010608761591,-10.294387817382812,0,0,2.6690942574320933],[-70.68766012163096,-165.0254990741906,-10.294387817382812,0,0,2.6690942574320933],[-75.13983020883808,-162.7499372722221,-10.294387817382812,0,0,2.6690942574320933],[-79.5920002960452,-160.4743754702536,-10.294387817382812,0,0,2.6690942574320933],[-79.5920002960452,-1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+{"episode_id":"3C8HJ7UOPGSE30WH6BKNZOYM2OJMZ6","trajectory_id":"39WICJI5B1QAVUREAQA6E6URQ263ZS","scene_id":11,"start_position":[-35.603515625,-284.2222595214844,-1.6651777029037476],"start_rotation":[0.999999021399063,0.0,0.0,0.0013989999700629156],"instruction":{"instruction_text":"Take off to the street light height and fly straight until you reach above the trees on the left side of the white building with two layers of lighted windows on the top. Continue flying straight to the front of the glass-walled high building, then turn right to face the gray-white building at the end of the road. Fly straight along the road across the park area to the mentioned white building, and turn right to face the dark purple building on the left side of the road. Fly forward to the intersection behind the road between the dark purple buildings and the park, then turn left to face the gap between the cylindrical glass-walled building and the tall building with the \"HOTEL\" sign. Fly forwardto the building with \"HOTEL\" sign, then pass through the gap between the tall building with the cylindrical glass facade and the hotel, then fly over the park in the center of the street, then fly forward to a red building. Fly forward to the road left to the red building then land facing the streetlight on the road."},"goals":[{"position":[-43.86405881440484,-23.763641172747263,-1.6651777029037476]}],"reference_path":[[-35.603515625,-284.2222595214844,-1.6651777029037476,0,0,0.002798000852834643],[-35.603515625,-284.2222595214844,-3.6651777029037476,0,0,0.002798000852834643],[-35.603515625,-284.2222595214844,-5.665177702903748,0,0,0.002798000852834643],[-35.603515625,-284.2222595214844,-7.665177702903748,0,0,0.002798000852834643],[-30.603535197009162,-284.20826953547436,-7.665177702903748,0,0,0.002798000852834643],[-25.603554769018324,-284.19427954946434,-7.665177702903748,0,0,0.002798000852834643],[-20.603574341027485,-284.1802895634543,-7.665177702903748,0,0,0.002798000852834643],[-15.603593913036647,-284.1662995774443,-7.665177702903748,0,0,0.002798000852834643],[-10.603613485045809,-284.1523095914343,-7.665177702903748,0,0,0.002798000852834643],[-5.603633057054971,-284.1383196054243,-7.665177702903748,0,0,0.002798000852834643],[-0.6036526290641326,-284.12432961941425,-7.665177702903748,0,0,0.002798000852834643],[4.3963277989267056,-284.11033963340424,-7.665177702903748,0,0,0.002798000852834643],[9.396308226917544,-284.0963496473942,-7.665177702903748,0,0,0.002798000852834643],[14.396288654908382,-284.0823596613842,-7.665177702903748,0,0,0.002798000852834643],[19.39626908289922,-284.0683696753742,-7.665177702903748,0,0,0.002798000852834643],[24.39624951089006,-284.05437968936417,-7.665177702903748,0,0,0.002798000852834643],[29.396229938880897,-284.04038970335415,-7.665177702903748,0,0,0.002798000852834643],[34.396210366871735,-284.02639971734413,-7.665177702903748,0,0,0.002798000852834643],[39.39619079486258,-284.0124097313341,-7.665177702903748,0,0,0.002798000852834643],[44.39617122285341,-283.9984197453241,-7.665177702903748,0,0,0.002798000852834643],[49.396151650844246,-283.9844297593141,-7.665177702903748,0,0,0.002798000852834643],[54.39613207883508,-283.97043977330407,-7.665177702903748,0,0,0.002798000852834643],[59.396112506825915,-283.95644978729405,-7.665177702903748,0,0,0.002798000852834643],[64.39609293481675,-283.94245980128403,-7.665177702903748,0,0,0.002798000852834643],[69.39607336280758,-283.928469815274,-7.665177702903748,0,0,0.002798000852834643],[69.39607336280758,-283.928469815274,-7.665177702903748,0,0,0.26459738865198407],[69.39607336280758,-283.928469815274,-7.665177702903748,0,0,0.5263967764511335],[69.39607336280758,-283.928469815274,-7.665177702903748,0,0,0.7881961642502829],[69.39607336280758,-283.928469815274,-7.665177702903748,0,0,1.0499955520494324],[69.39607336280758,-283.928469815274,-7.665177702903748,0,0,1.3117949398485818],[69.39607336280758,-283.928469815274,-7.665177702903748,0,0,1.5735943276477313],[69.38208337679758,-278.92848938728315,-7.665177702903748,0,0,1.5735943276477313],[69.36809339078758,-273.9285089592923,-7.665177702903748,0,0,1.5735943276477313],[69.35410340477758,-268.9285285313014,-7.665177702903748,0,0,1.5735943276477313],[69.34011341876757,-263.92854810331056,-7.665177702903748,0,0,1.5735943276477313],[69.32612343275757,-258.9285676753197,-7.665177702903748,0,0,1.5735943276477313],[69.31213344674757,-253.92858724732886,-7.665177702903748,0,0,1.5735943276477313],[69.29814346073756,-248.92860681933803,-7.665177702903748,0,0,1.5735943276477313],[69.29814346073756,-248.92860681933803,-7.665177702903748,0,0,1.835393715446881],[67.9905400120372,-244.10261746782191,-7.665177702903748,0,0,1.835393715446881],[66.68293656333684,-239.2766281163058,-7.665177702903748,0,0,1.835393715446881],[65.37533311463648,-234.4506387647897,-7.665177702903748,0,0,1.835393715446881],[64.06772966593611,-229.62464941327357,-7.665177702903748,0,0,1.835393715446881],[64.06772966593611,-229.62464941327357,-7.665177702903748,0,0,2.0971931032460303],[61.55562376865744,-225.30153433721352,-7.665177702903748,0,0,2.0971931032460303],[59.04351787137877,-220.97841926115348,-7.665177702903748,0,0,2.0971931032460303],[59.04351787137877,-220.97841926115348,-7.665177702903748,0,0,1.8353937154468807],[57.735914422678405,-216.15242990963736,-7.665177702903748,0,0,1.8353937154468807],[57.735914422678405,-216.15242990963736,-7.665177702903748,0,0,1.5735943276477313],[57.735914422678405,-216.15242990963736,-7.665177702903748,0,0,1.3117949398485822],[59.016491293785805,-211.31919880848105,-7.665177702903748,0,0,1.3117949398485822],[60.297068164893204,-206.48596770732473,-7.665177702903748,0,0,1.3117949398485822],[61.577645036000604,-201.65273660616842,-7.665177702903748,0,0,1.3117949398485822],[61.577645036000604,-201.65273660616842,-7.665177702903748,0,0,1.5735943276477316],[61.5636550499906,-196.65275617817758,-7.665177702903748,0,0,1.5735943276477316],[61.5636550499906,-196.65275617817758,-7.665177702903748,0,0,1.835393715446881],[61.5636550499906,-196.65275617817758,-7.665177702903748,0,0,2.0971931032460303],[61.5636550499906,-196.65275617817758,-7.665177702903748,0,0,2.3589924910451794],[61.5636550499906,-196.65275617817758,-7.665177702903748,0,0,2.620791878844329],[61.5636550499906,-196.652756178177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+{"episode_id":"3Z7ISHFUH9TZIBUDCAA4U6XQV0T8ZC","trajectory_id":"33QQ60S6B0GXS3Y7LGTFVGH5HNEU0W","scene_id":11,"start_position":[48.763954162597656,-241.5447540283203,-0.7997226715087891],"start_rotation":[0.9999997183536623,0.0,0.0,0.0007505282113830458],"instruction":{"instruction_text":"Take off to the height of street lights then turn right to face the purple building with staircase, then fly forward to the right corner of the purple building, then fly to the park area. Turn left to face the dark blue and black interlaced low buildings, then fly over the top of this building. Fly forward over the roof of a white building right to a red building. Turn right to face the edge of the brown building's roof towards the sky between the white cylindrical building and the glass-walled cylindrical building. Raise to a height higher than the roof of the black building ahead, and then fly forward to the side of the glass-walled cylindrical building. Turn right to face another tall cylindrical building with glass walls, then ascend to a height of the right-side aerial corridor. Turn left to face a red building. Fly forward to the front of the red building."},"goals":[{"position":[-61.0301849283152,-35.041063831801594,-30.79972267150879]}],"reference_path":[[48.763954162597656,-241.5447540283203,-0.7997226715087891,0,0,0.0015010565636884555],[48.763954162597656,-241.5447540283203,-2.799722671508789,0,0,0.0015010565636884555],[48.763954162597656,-241.5447540283203,-4.799722671508789,0,0,0.0015010565636884555],[48.763954162597656,-241.5447540283203,-4.799722671508789,0,0,0.2633004443628379],[48.763954162597656,-241.5447540283203,-4.799722671508789,0,0,0.5250998321619873],[48.763954162597656,-241.5447540283203,-4.799722671508789,0,0,0.7868992199611368],[48.763954162597656,-241.5447540283203,-4.799722671508789,0,0,1.0486986077602862],[48.763954162597656,-241.5447540283203,-4.799722671508789,0,0,1.3104979955594358],[48.763954162597656,-241.5447540283203,-4.799722671508789,0,0,1.5722973833585854],[48.763954162597656,-241.5447540283203,-4.799722671508789,0,0,1.834096771157735],[48.763954162597656,-241.5447540283203,-4.799722671508789,0,0,2.0958961589568843],[48.763954162597656,-241.5447540283203,-4.799722671508789,0,0,2.3576955467560334],[48.763954162597656,-241.5447540283203,-6.799722671508789,0,0,2.3576955467560334],[48.763954162597656,-241.5447540283203,-8.799722671508789,0,0,2.3576955467560334],[45.223117205362364,-238.01453113985042,-8.799722671508789,0,0,2.3576955467560334],[41.68228024812707,-234.48430825138053,-8.799722671508789,0,0,2.3576955467560334],[38.14144329089178,-230.95408536291063,-8.799722671508789,0,0,2.3576955467560334],[38.14144329089178,-230.95408536291063,-10.799722671508789,0,0,2.3576955467560334],[34.600606333656486,-227.42386247444074,-10.799722671508789,0,0,2.3576955467560334],[31.059769376421194,-223.89363958597085,-10.799722671508789,0,0,2.3576955467560334],[27.5189324191859,-220.36341669750095,-10.799722671508789,0,0,2.3576955467560334],[23.97809546195061,-216.83319380903106,-10.799722671508789,0,0,2.3576955467560334],[20.437258504715317,-213.30297092056117,-10.799722671508789,0,0,2.3576955467560334],[16.896421547480024,-209.77274803209127,-10.799722671508789,0,0,2.3576955467560334],[13.355584590244732,-206.24252514362138,-10.799722671508789,0,0,2.3576955467560334],[9.825361701774838,-209.78336210085666,-10.799722671508789,0,0,2.3576955467560334],[6.284524744539545,-206.25313921238677,-10.799722671508789,0,0,2.3576955467560334],[2.7436877873042516,-202.72291632391688,-10.799722671508789,0,0,2.3576955467560334],[-0.7971491699310418,-199.19269343544698,-10.799722671508789,0,0,2.3576955467560334],[-0.7971491699310418,-199.19269343544698,-12.799722671508789,0,0,2.3576955467560334],[-4.337986127166335,-195.6624705469771,-12.799722671508789,0,0,2.3576955467560334],[-7.868209015636228,-199.20330750421238,-12.799722671508789,0,0,2.3576955467560334],[-11.409045972871521,-195.67308461574248,-12.799722671508789,0,0,2.3576955467560334],[-14.949882930106813,-192.1428617272726,-12.799722671508789,0,0,2.3576955467560334],[-18.490719887342106,-188.6126388388027,-12.799722671508789,0,0,2.3576955467560334],[-22.0315568445774,-185.0824159503328,-12.799722671508789,0,0,2.3576955467560334],[-25.561779733047292,-188.6232529075681,-12.799722671508789,0,0,2.3576955467560334],[-29.102616690282584,-185.0930300190982,-12.799722671508789,0,0,2.3576955467560334],[-32.64345364751788,-181.5628071306283,-12.799722671508789,0,0,2.3576955467560334],[-36.18429060475317,-178.0325842421584,-12.799722671508789,0,0,2.3576955467560334],[-39.725127561988465,-174.5023613536885,-12.799722671508789,0,0,2.3576955467560334],[-39.725127561988465,-174.5023613536885,-12.799722671508789,0,0,2.0958961589568843],[-39.725127561988465,-174.5023613536885,-12.799722671508789,0,0,1.834096771157735],[-44.55280874304232,-175.80370466507813,-12.799722671508789,0,0,1.834096771157735],[-44.55280874304232,-175.80370466507813,-12.799722671508789,0,0,1.5722973833585856],[-44.55280874304232,-175.80370466507813,-12.799722671508789,0,0,1.3104979955594365],[-44.55280874304232,-175.80370466507813,-12.799722671508789,0,0,1.048698607760287],[-42.059311322647815,-171.46982988441292,-12.799722671508789,0,0,1.048698607760287],[-39.56581390225331,-167.1359551037477,-12.799722671508789,0,0,1.048698607760287],[-37.072316481858806,-162.8020803230825,-12.799722671508789,0,0,1.048698607760287],[-37.072316481858806,-162.8020803230825,-14.799722671508789,0,0,1.048698607760287],[-34.5788190614643,-158.46820554241728,-14.799722671508789,0,0,1.048698607760287],[-30.24494428079909,-160.96170296281178,-14.799722671508789,0,0,1.048698607760287],[-27.751446860404585,-156.62782818214657,-14.799722671508789,0,0,1.048698607760287],[-27.751446860404585,-156.62782818214657,-16.79972267150879,0,0,1.048698607760287],[-25.25794944001008,-152.29395340148136,-16.79972267150879,0,0,1.048698607760287],[-25.25794944001008,-152.29395340148136,-18.79972267150879,0,0,1.048698607760287],[-22.764452019615575,-147.96007862081615,-18.79972267150879,0,0,1.048698607760287],[-20.27095459922107,-143.62620384015094,-18.79972267150879,0,0,1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+{"episode_id":"3180JW2OTDAQVE67WQ0FUSZAWP85JT","trajectory_id":"33QQ60S6B0GXS3Y7LGTFVGH5L2KU00","scene_id":11,"start_position":[-134.07041931152344,-70.3873291015625,-61.81205749511719],"start_rotation":[0.9999976568594227,0.0,0.0,0.002164780742811675],"instruction":{"instruction_text":"Fly forward by the left side of the glass building ahead to the white cylindrical building with windows lighting on, fly down to above the left flatform of this building. Turn left to face the gap between the two cylindrical glass wall buildings, then fly forward to the  front of the cylindrical glass walls, then , then turn right and face the short flat roofed building ahead, fly over it to reach the roof of the building with black stairs, turn left to face the four highest cylindrical buildings in the distance. Fly forward to the space in the middle of the four cylindrical glass-walled buildings, then ascend to the same height as the right-side skywalk."},"goals":[{"position":[108.1306412620546,-256.634592478841,-43.81205749511719]}],"reference_path":[[-134.07041931152344,-70.3873291015625,-61.81205749511719,0,0,0.004329564867216919],[-134.04877155481918,-75.38728223880585,-61.81205749511719,0,0,0.004329564867216919],[-129.04881841757583,-75.3656344821016,-61.81205749511719,0,0,0.004329564867216919],[-129.02717066087158,-80.36558761934495,-61.81205749511719,0,0,0.004329564867216919],[-124.02721752362822,-80.3439398626407,-61.81205749511719,0,0,0.004329564867216919],[-119.02726438638487,-80.32229210593644,-61.81205749511719,0,0,0.004329564867216919],[-114.02731124914152,-80.30064434923219,-61.81205749511719,0,0,0.004329564867216919],[-109.02735811189817,-80.27899659252793,-61.81205749511719,0,0,0.004329564867216919],[-104.02740497465481,-80.25734883582368,-61.81205749511719,0,0,0.004329564867216919],[-104.04905273135907,-75.25739569858032,-61.81205749511719,0,0,0.004329564867216919],[-99.04909959411572,-75.23574794187607,-61.81205749511719,0,0,0.004329564867216919],[-99.07074735081997,-70.23579480463272,-61.81205749511719,0,0,0.004329564867216919],[-94.07079421357662,-70.21414704792846,-61.81205749511719,0,0,0.004329564867216919],[-89.07084107633327,-70.19249929122421,-61.81205749511719,0,0,0.004329564867216919],[-84.07088793908991,-70.17085153451995,-61.81205749511719,0,0,0.004329564867216919],[-79.07093480184656,-70.1492037778157,-61.81205749511719,0,0,0.004329564867216919],[-74.07098166460321,-70.12755602111145,-61.81205749511719,0,0,0.004329564867216919],[-69.07102852735986,-70.10590826440719,-61.81205749511719,0,0,0.004329564867216919],[-64.0710753901165,-70.08426050770294,-61.81205749511719,0,0,0.004329564867216919],[-64.09272314682076,-65.08430737045958,-61.81205749511719,0,0,0.004329564867216919],[-64.09272314682076,-65.08430737045958,-59.81205749511719,0,0,0.004329564867216919],[-64.09272314682076,-65.08430737045958,-57.81205749511719,0,0,0.004329564867216919],[-64.09272314682076,-65.08430737045958,-55.81205749511719,0,0,0.004329564867216919],[-59.09277000957741,-65.06265961375533,-55.81205749511719,0,0,0.004329564867216919],[-59.09277000957741,-65.06265961375533,-53.81205749511719,0,0,0.004329564867216919],[-59.09277000957741,-65.06265961375533,-51.81205749511719,0,0,0.004329564867216919],[-59.09277000957741,-65.06265961375533,-49.81205749511719,0,0,0.004329564867216919],[-59.09277000957741,-65.06265961375533,-47.81205749511719,0,0,0.004329564867216919],[-59.09277000957741,-65.06265961375533,-45.81205749511719,0,0,0.004329564867216919],[-59.09277000957741,-65.06265961375533,-43.81205749511719,0,0,0.004329564867216919],[-59.09277000957741,-65.06265961375533,-41.81205749511719,0,0,0.004329564867216919],[-59.09277000957741,-65.06265961375533,-39.81205749511719,0,0,0.004329564867216919],[-54.092816872334055,-65.04101185705107,-39.81205749511719,0,0,0.004329564867216919],[-54.092816872334055,-65.04101185705107,-39.81205749511719,0,0,-0.2574698229319325],[-54.092816872334055,-65.04101185705107,-39.81205749511719,0,0,-0.5192692107310819],[-54.092816872334055,-65.04101185705107,-39.81205749511719,0,0,-0.7810685985302313],[-54.092816872334055,-65.04101185705107,-39.81205749511719,0,0,-1.0428679863293806],[-51.57409279647154,-69.36027441328339,-39.81205749511719,0,0,-1.0428679863293806],[-51.57409279647154,-69.36027441328339,-37.81205749511719,0,0,-1.0428679863293806],[-49.055368720609025,-73.67953696951571,-37.81205749511719,0,0,-1.0428679863293806],[-44.73610616437671,-71.1608128936532,-37.81205749511719,0,0,-1.0428679863293806],[-42.21738208851419,-75.48007544988552,-37.81205749511719,0,0,-1.0428679863293806],[-39.69865801265168,-79.79933800611784,-37.81205749511719,0,0,-1.0428679863293806],[-39.69865801265168,-79.79933800611784,-37.81205749511719,0,0,-0.7810685985302311],[-39.69865801265168,-79.79933800611784,-37.81205749511719,0,0,-0.5192692107310817],[-39.69865801265168,-79.79933800611784,-37.81205749511719,0,0,-0.25746982293193227],[-39.69865801265168,-79.79933800611784,-37.81205749511719,0,0,0.004329564867217177],[-39.69865801265168,-79.79933800611784,-37.81205749511719,0,0,0.2661289526663666],[-34.874676998872076,-78.48434478229728,-37.81205749511719,0,0,0.2661289526663666],[-30.050695985092478,-77.16935155847673,-37.81205749511719,0,0,0.2661289526663666],[-25.22671497131288,-75.85435833465618,-37.81205749511719,0,0,0.2661289526663666],[-20.402733957533282,-74.53936511083563,-37.81205749511719,0,0,0.2661289526663666],[-15.578752943753685,-73.22437188701508,-37.81205749511719,0,0,0.2661289526663666],[-10.754771929974087,-71.90937866319453,-37.81205749511719,0,0,0.2661289526663666],[-5.930790916194488,-70.59438543937398,-37.81205749511719,0,0,0.2661289526663666],[-1.1068099024148896,-69.27939221555343,-37.81205749511719,0,0,0.2661289526663666],[3.717171111364709,-67.96439899173288,-37.81205749511719,0,0,0.2661289526663666],[8.541152125144308,-66.64940576791233,-37.81205749511719,0,0,0.2661289526663666],[13.365133138923905,-65.33441254409178,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+]}
diff --git a/TEST_FILE/AerialVLN-Fine-V3-Scene-12.json b/TEST_FILE/AerialVLN-Fine-V3-Scene-12.json
new file mode 100644
index 0000000000000000000000000000000000000000..da934b89a391e13faeb8c5f8eed012dc24f7768b
--- /dev/null
+++ b/TEST_FILE/AerialVLN-Fine-V3-Scene-12.json
@@ -0,0 +1,22 @@
+{"episodes":[
+{"episode_id":"3F1567XTN53QIOCWU6X539GYWG19QX","trajectory_id":"34OWYT6U44FAF6RKRVNU5OUNUBRI9S","scene_id":12,"start_position":[27.8535099029541,125.96004486083984,-1.6855583190917969],"start_rotation":[0.9997966675969914,0.0,0.0,-0.020164906693341082],"instruction":{"instruction_text":"Take off, rise to the same height as the white bungalow on the left, then turn back until facing the dilapidated building with a light brown roof. Fly forward until reaching the middle of the intersection, and then turn right to face the warehouse with grey roof and brown wall. Fly forward across the road to reach the edge of the white roof. Turn left to face the lights on the wall, then fly forward along the reddish-brown roof and land at the edge of the roof."},"goals":[{"position":[-55.842260297085694,67.69025366071979,-11.685558319091797]}],"reference_path":[[27.8535099029541,125.96004486083984,-1.6855583190917969,0,0,-0.04033254706164427],[27.8535099029541,125.96004486083984,-3.685558319091797,0,0,-0.04033254706164427],[27.8535099029541,125.96004486083984,-5.685558319091797,0,0,-0.04033254706164427],[27.8535099029541,125.96004486083984,-5.685558319091797,0,0,0.22146684073750517],[27.8535099029541,125.96004486083984,-5.685558319091797,0,0,0.48326622853665463],[27.8535099029541,125.96004486083984,-5.685558319091797,0,0,0.7450656163358039],[27.8535099029541,125.96004486083984,-5.685558319091797,0,0,1.0068650041349534],[27.8535099029541,125.96004486083984,-5.685558319091797,0,0,1.2686643919341027],[27.8535099029541,125.96004486083984,-5.685558319091797,0,0,1.5304637797332523],[27.8535099029541,125.96004486083984,-5.685558319091797,0,0,1.7922631675324017],[27.8535099029541,125.96004486083984,-5.685558319091797,0,0,2.054062555331551],[27.8535099029541,125.96004486083984,-5.685558319091797,0,0,2.3158619431307],[27.8535099029541,125.96004486083984,-5.685558319091797,0,0,2.5776613309298497],[27.8535099029541,125.96004486083984,-7.685558319091797,0,0,2.5776613309298497],[27.8535099029541,125.96004486083984,-7.685558319091797,0,0,2.8394607187289993],[23.07998845944905,127.44782610430188,-7.685558319091797,0,0,2.8394607187289993],[23.07998845944905,127.44782610430188,-9.685558319091797,0,0,2.8394607187289993],[18.306467015944,128.93560734776392,-9.685558319091797,0,0,2.8394607187289993],[18.306467015944,128.93560734776392,-11.685558319091797,0,0,2.8394607187289993],[13.532945572438951,130.42338859122597,-11.685558319091797,0,0,2.8394607187289993],[8.759424128933901,131.91116983468802,-11.685558319091797,0,0,2.8394607187289993],[3.985902685428851,133.39895107815008,-11.685558319091797,0,0,2.8394607187289993],[-0.7876187580761993,134.88673232161213,-11.685558319091797,0,0,2.8394607187289993],[-5.561140201581249,136.37451356507418,-11.685558319091797,0,0,2.8394607187289993],[-5.561140201581249,136.37451356507418,-9.685558319091797,0,0,2.8394607187289993],[-5.561140201581249,136.37451356507418,-9.685558319091797,0,0,3.101260106528149],[-5.561140201581249,136.37451356507418,-9.685558319091797,0,0,-2.9201258128522882],[-5.561140201581249,136.37451356507418,-9.685558319091797,0,0,-2.658326425053139],[-5.561140201581249,136.37451356507418,-9.685558319091797,0,0,-2.3965270372539895],[-5.561140201581249,136.37451356507418,-9.685558319091797,0,0,-2.13472764945484],[-8.233704790294084,132.14871204120226,-9.685558319091797,0,0,-2.13472764945484],[-10.906269379006918,127.92291051733034,-9.685558319091797,0,0,-2.13472764945484],[-13.578833967719753,123.69710899345841,-9.685558319091797,0,0,-2.13472764945484],[-16.251398556432587,119.47130746958649,-9.685558319091797,0,0,-2.13472764945484],[-18.92396314514542,115.24550594571457,-9.685558319091797,0,0,-2.13472764945484],[-21.596527733858256,111.01970442184265,-9.685558319091797,0,0,-2.13472764945484],[-17.37072620998634,108.34713983312982,-9.685558319091797,0,0,-2.13472764945484],[-20.043290798699175,104.12133830925791,-9.685558319091797,0,0,-2.13472764945484],[-20.043290798699175,104.12133830925791,-11.685558319091797,0,0,-2.13472764945484],[-22.71585538741201,99.89553678538599,-11.685558319091797,0,0,-2.13472764945484],[-25.388419976124844,95.66973526151406,-11.685558319091797,0,0,-2.13472764945484],[-28.06098456483768,91.44393373764214,-11.685558319091797,0,0,-2.13472764945484],[-23.835183040965763,88.77136914892931,-11.685558319091797,0,0,-2.13472764945484],[-26.507747629678597,84.5455676250574,-11.685558319091797,0,0,-2.13472764945484],[-26.507747629678597,84.5455676250574,-11.685558319091797,0,0,-2.3965270372539895],[-30.182964703543252,81.15546741120329,-11.685558319091797,0,0,-2.3965270372539895],[-33.85818177740791,77.76536719734918,-11.685558319091797,0,0,-2.3965270372539895],[-37.533398851272565,74.37526698349507,-11.685558319091797,0,0,-2.3965270372539895],[-41.208615925137224,70.98516676964095,-11.685558319091797,0,0,-2.3965270372539895],[-41.208615925137224,70.98516676964095,-11.685558319091797,0,0,-2.6583264250531387],[-41.208615925137224,70.98516676964095,-11.685558319091797,0,0,-2.9201258128522882],[-46.08649738245338,69.88686240000057,-11.685558319091797,0,0,-2.9201258128522882],[-50.96437883976954,68.78855803036018,-11.685558319091797,0,0,-2.9201258128522882],[-55.842260297085694,67.69025366071979,-11.685558319091797,0,0,-2.9201258128522882]],"actions":[4,4,3,3,3,3,3,3,3,3,3,3,4,3,1,4,1,4,1,1,1,1,1,5,3,3,3,3,3,1,1,1,1,1,1,7,1,4,1,1,1,7,1,2,1,1,1,1,2,2,1,1,1,0]},
+{"episode_id":"3AMW0RGHOM0Q7EFBV31LL5L8WIUPN1","trajectory_id":"329E6HTMT40F6ZSSAP7WRR6EMOH3KK","scene_id":12,"start_position":[19.452272415161133,136.501220703125,-1.6318681240081787],"start_rotation":[0.9998994926763564,0.0,0.0,0.014177607187573412],"instruction":{"instruction_text":"Take off and ascend to the height higher than the top of the utility pole. Turn left until facing the light brown roof beside the white bungalow. Fly forward over the white wall which is near the intersection. Fly forward to the brown building with a grey roof, then keep flying forward over the black roof. Turn left to face the lights of the building, then fly forward until reach the top of the power lines. Land at the edge of the road after flying over the crosswalk."},"goals":[{"position":[-97.3684727666621,129.99518930177283,-5.631868124008179]}],"reference_path":[[19.452272415161133,136.501220703125,-1.6318681240081787,0,0,0.02835616438224273],[19.452272415161133,136.501220703125,-3.6318681240081787,0,0,0.02835616438224273],[19.452272415161133,136.501220703125,-5.631868124008179,0,0,0.02835616438224273],[19.452272415161133,136.501220703125,-7.631868124008179,0,0,0.02835616438224273],[19.452272415161133,136.501220703125,-9.631868124008179,0,0,0.02835616438224273],[19.452272415161133,136.501220703125,-9.631868124008179,0,0,-0.2334432234169067],[19.452272415161133,136.501220703125,-9.631868124008179,0,0,-0.49524261121605617],[19.452272415161133,136.501220703125,-9.631868124008179,0,0,-0.7570419990152056],[19.452272415161133,136.501220703125,-9.631868124008179,0,0,-1.018841386814355],[19.452272415161133,136.501220703125,-9.631868124008179,0,0,-1.2806407746135047],[19.452272415161133,136.501220703125,-9.631868124008179,0,0,-1.542440162412654],[19.452272415161133,136.501220703125,-9.631868124008179,0,0,-1.8042395502118034],[19.452272415161133,136.501220703125,-9.631868124008179,0,0,-2.0660389380109527],[17.076046777324073,132.10195352345906,-9.631868124008179,0,0,-2.0660389380109527],[14.699821139487014,127.70268634379312,-9.631868124008179,0,0,-2.0660389380109527],[12.323595501649955,123.30341916412718,-9.631868124008179,0,0,-2.0660389380109527],[9.947369863812895,118.90415198446124,-9.631868124008179,0,0,-2.0660389380109527],[7.571144225975837,114.5048848047953,-9.631868124008179,0,0,-2.0660389380109527],[7.571144225975837,114.5048848047953,-9.631868124008179,0,0,-2.327838325810102],[4.137272382706811,110.87053146974321,-9.631868124008179,0,0,-2.327838325810102],[4.137272382706811,110.87053146974321,-9.631868124008179,0,0,-2.5896377136092514],[-0.12023297461692906,108.24876715303593,-9.631868124008179,0,0,-2.5896377136092514],[-0.12023297461692906,108.24876715303593,-9.631868124008179,0,0,-2.851437101408401],[-4.911229891754042,106.81826076018665,-9.631868124008179,0,0,-2.851437101408401],[-9.702226808891155,105.38775436733737,-9.631868124008179,0,0,-2.851437101408401],[-14.493223726028267,103.95724797448808,-9.631868124008179,0,0,-2.851437101408401],[-15.923730118877556,108.74824489162519,-9.631868124008179,0,0,-2.851437101408401],[-20.71472703601467,107.31773849877591,-9.631868124008179,0,0,-2.851437101408401],[-20.71472703601467,107.31773849877591,-11.631868124008179,0,0,-2.851437101408401],[-25.50572395315178,105.88723210592663,-11.631868124008179,0,0,-2.851437101408401],[-30.296720870288894,104.45672571307735,-11.631868124008179,0,0,-2.851437101408401],[-35.08771778742601,103.02621932022807,-11.631868124008179,0,0,-2.851437101408401],[-36.5182241802753,107.81721623736517,-11.631868124008179,0,0,-2.851437101408401],[-41.30922109741241,106.38670984451589,-11.631868124008179,0,0,-2.851437101408401],[-41.30922109741241,106.38670984451589,-11.631868124008179,0,0,-3.11323648920755],[-41.30922109741241,106.38670984451589,-11.631868124008179,0,0,2.908149430172887],[-46.173599333530724,107.54335342660092,-11.631868124008179,0,0,2.908149430172887],[-51.03797756964904,108.69999700868594,-11.631868124008179,0,0,2.908149430172887],[-55.90235580576735,109.85664059077097,-11.631868124008179,0,0,2.908149430172887],[-60.76673404188566,111.01328417285599,-11.631868124008179,0,0,2.908149430172887],[-59.61009045980063,115.8776624089743,-11.631868124008179,0,0,2.908149430172887],[-64.47446869591894,117.03430599105933,-11.631868124008179,0,0,2.908149430172887],[-69.33884693203726,118.19094957314435,-11.631868124008179,0,0,2.908149430172887],[-74.20322516815557,119.34759315522938,-11.631868124008179,0,0,2.908149430172887],[-79.06760340427388,120.5042367373144,-11.631868124008179,0,0,2.908149430172887],[-77.91095982218884,125.36861497343271,-11.631868124008179,0,0,2.908149430172887],[-82.77533805830716,126.52525855551774,-11.631868124008179,0,0,2.908149430172887],[-87.63971629442547,127.68190213760276,-11.631868124008179,0,0,2.908149430172887],[-92.50409453054378,128.8385457196878,-11.631868124008179,0,0,2.908149430172887],[-92.50409453054378,128.8385457196878,-9.631868124008179,0,0,2.908149430172887],[-97.3684727666621,129.99518930177283,-9.631868124008179,0,0,2.908149430172887],[-97.3684727666621,129.99518930177283,-7.631868124008179,0,0,2.908149430172887],[-97.3684727666621,129.99518930177283,-5.631868124008179,0,0,2.908149430172887]],"actions":[4,4,4,4,2,2,2,2,2,2,2,2,1,1,1,1,1,2,1,2,1,2,1,1,1,6,1,4,1,1,1,6,1,2,2,1,1,1,1,6,1,1,1,1,6,1,1,1,5,1,5,5,0]},
+{"episode_id":"386PBUZZXOV4X39SODGMBHV7GLYLJX","trajectory_id":"3LN3BXKGD8T7VBYXUIXJYWPIDOSWGQ","scene_id":12,"start_position":[-26.5946044921875,54.15918731689453,-2.3711745738983154],"start_rotation":[0.9997885836661864,0.0,0.0,0.020561808547914784],"instruction":{"instruction_text":"Take off, and go straight to the double yellow lines on the road, and then turn right to face the utility pole, and fly forward until reaching the right edge of the shed. Fly to the same height as the roof of the brown building opposite, and then fly ahead to the edge of the shipping container's roof. Fly straight to the edge of the brown building roof, then turn right to face the utility pole ,and then fly forward until reaching the middle of the crosswalk. Fly forward until reaching the left side of the road, and then land on the ground."},"goals":[{"position":[45.45298951210587,113.3018296175349,-4.371174573898315]}],"reference_path":[[-26.5946044921875,54.15918731689453,-2.3711745738983154,0,0,0.041126515409051205],[-26.5946044921875,54.15918731689453,-4.371174573898315,0,0,0.041126515409051205],[-21.59883237189511,54.36476193135188,-4.371174573898315,0,0,0.041126515409051205],[-16.60306025160272,54.570336545809226,-4.371174573898315,0,0,0.041126515409051205],[-11.60728813131033,54.775911160266574,-4.371174573898315,0,0,0.041126515409051205],[-11.60728813131033,54.775911160266574,-4.371174573898315,0,0,0.3029259032082006],[-11.60728813131033,54.775911160266574,-4.371174573898315,0,0,0.56472529100735],[-7.383609870847748,57.451830058906026,-4.371174573898315,0,0,0.56472529100735],[-3.159931610385165,60.12774895754548,-4.371174573898315,0,0,0.56472529100735],[-3.159931610385165,60.12774895754548,-4.371174573898315,0,0,0.30292590320820056],[-3.159931610385165,60.12774895754548,-4.371174573898315,0,0,0.04112651540905114],[-3.159931610385165,60.12774895754548,-6.371174573898315,0,0,0.04112651540905114],[1.8358405099072241,60.333323572002826,-6.371174573898315,0,0,0.04112651540905114],[6.831612630199613,60.53889818646017,-6.371174573898315,0,0,0.04112651540905114],[11.827384750492001,60.74447280091752,-6.371174573898315,0,0,0.04112651540905114],[16.82315687078439,60.95004741537487,-6.371174573898315,0,0,0.04112651540905114],[16.82315687078439,60.95004741537487,-8.371174573898315,0,0,0.04112651540905114],[21.81892899107678,61.155622029832216,-8.371174573898315,0,0,0.04112651540905114],[26.81470111136917,61.36119664428956,-8.371174573898315,0,0,0.04112651540905114],[26.81470111136917,61.36119664428956,-8.371174573898315,0,0,0.30292590320820056],[26.81470111136917,61.36119664428956,-8.371174573898315,0,0,0.56472529100735],[26.81470111136917,61.36119664428956,-8.371174573898315,0,0,0.8265246788064995],[26.81470111136917,61.36119664428956,-8.371174573898315,0,0,1.0883240666056488],[29.13455433302211,65.79044951920949,-8.371174573898315,0,0,1.0883240666056488],[31.454407554675047,70.21970239412943,-8.371174573898315,0,0,1.0883240666056488],[33.774260776327985,74.64895526904937,-8.371174573898315,0,0,1.0883240666056488],[36.09411399798093,79.0782081439693,-8.371174573898315,0,0,1.0883240666056488],[38.41396721963386,83.50746101888924,-8.371174573898315,0,0,1.0883240666056488],[40.733820441286795,87.93671389380918,-8.371174573898315,0,0,1.0883240666056488],[36.30456756636686,90.25656711546212,-8.371174573898315,0,0,1.0883240666056488],[38.624420788019805,94.68581999038204,-8.371174573898315,0,0,1.0883240666056488],[40.94427400967274,99.11507286530198,-8.371174573898315,0,0,1.0883240666056488],[43.26412723132567,103.54432574022192,-8.371174573898315,0,0,1.0883240666056488],[43.26412723132567,103.54432574022192,-8.371174573898315,0,0,1.3501234544047982],[44.35855837171577,108.42307767887841,-8.371174573898315,0,0,1.3501234544047982],[45.45298951210587,113.3018296175349,-8.371174573898315,0,0,1.3501234544047982],[45.45298951210587,113.3018296175349,-6.371174573898315,0,0,1.3501234544047982],[45.45298951210587,113.3018296175349,-4.371174573898315,0,0,1.3501234544047982]],"actions":[4,1,1,1,3,3,1,1,2,2,4,1,1,1,1,4,1,1,3,3,3,3,1,1,1,1,1,1,7,1,1,1,3,1,1,5,5,0]},
+{"episode_id":"3HMIGG0U4U4ZDLK8GO8LGZOP9O38YL","trajectory_id":"3ZZAYRN1JEP3V7B1NW5GGLRL0G1OTF","scene_id":12,"start_position":[27.8535099029541,125.96004486083984,-1.6855583190917969],"start_rotation":[0.9998862888925316,0.0,0.0,0.015080095646937804],"instruction":{"instruction_text":"Take off, acsend to the same height as the electronic poles on the right, and turn left until seeing a light brown building with a high grey brick fence around it. Fly over the mentioned building to the opposite side of the road, then fly forward to the top of the pedestrian crossing, and then turn left to face the building with a white roof. Fly ahead over the crosswalk, and turn left until aligned with the corner of the grey warehouse across the street, and then fly towards the edge of the warehouse roof. Turn right until facing a brown building with two bright down lights on its side, and then fly over this building and across the crosswalk. Turn left to face some artwork graffiti on the side of a tall red building, and fly onto the deep grey roof."},"goals":[{"position":[-103.17169440372626,141.27589360378244,-9.685558319091797]}],"reference_path":[[27.8535099029541,125.96004486083984,-1.6855583190917969,0,0,0.030161334528793007],[27.8535099029541,125.96004486083984,-3.685558319091797,0,0,0.030161334528793007],[27.8535099029541,125.96004486083984,-5.685558319091797,0,0,0.030161334528793007],[27.8535099029541,125.96004486083984,-7.685558319091797,0,0,0.030161334528793007],[27.8535099029541,125.96004486083984,-7.685558319091797,0,0,-0.23163805327035644],[27.8535099029541,125.96004486083984,-7.685558319091797,0,0,-0.4934374410695059],[27.8535099029541,125.96004486083984,-7.685558319091797,0,0,-0.7552368288686553],[27.8535099029541,125.96004486083984,-7.685558319091797,0,0,-1.0170362166678049],[27.8535099029541,125.96004486083984,-7.685558319091797,0,0,-1.2788356044669542],[27.8535099029541,125.96004486083984,-7.685558319091797,0,0,-1.5406349922661036],[27.8535099029541,125.96004486083984,-7.685558319091797,0,0,-1.8024343800652531],[27.8535099029541,125.96004486083984,-7.685558319091797,0,0,-2.0642337678644025],[25.485229558213458,121.55649535973109,-7.685558319091797,0,0,-2.0642337678644025],[25.485229558213458,121.55649535973109,-9.685558319091797,0,0,-2.0642337678644025],[23.116949213472815,117.15294585862233,-9.685558319091797,0,0,-2.0642337678644025],[20.74866886873217,112.74939635751358,-9.685558319091797,0,0,-2.0642337678644025],[18.380388523991527,108.34584685640482,-9.685558319091797,0,0,-2.0642337678644025],[13.976839022882777,110.71412720114546,-9.685558319091797,0,0,-2.0642337678644025],[11.608558678142133,106.3105777000367,-9.685558319091797,0,0,-2.0642337678644025],[9.24027833340149,101.90702819892795,-9.685558319091797,0,0,-2.0642337678644025],[6.871997988660846,97.50347869781919,-9.685558319091797,0,0,-2.0642337678644025],[6.871997988660846,97.50347869781919,-11.685558319091797,0,0,-2.0642337678644025],[4.5037176439202025,93.09992919671043,-11.685558319091797,0,0,-2.0642337678644025],[0.10016814281145159,95.46820954145107,-11.685558319091797,0,0,-2.0642337678644025],[-2.268112201929192,91.06466004034232,-11.685558319091797,0,0,-2.0642337678644025],[-2.268112201929192,91.06466004034232,-11.685558319091797,0,0,-2.326033155663552],[-2.268112201929192,91.06466004034232,-11.685558319091797,0,0,-2.5878325434627016],[-6.520877894312334,88.43521447793017,-11.685558319091797,0,0,-2.5878325434627016],[-6.520877894312334,88.43521447793017,-9.685558319091797,0,0,-2.5878325434627016],[-10.773643586695476,85.80576891551803,-9.685558319091797,0,0,-2.5878325434627016],[-10.773643586695476,85.80576891551803,-9.685558319091797,0,0,-2.849631931261851],[-10.773643586695476,85.80576891551803,-9.685558319091797,0,0,-3.111431319061001],[-10.773643586695476,85.80576891551803,-9.685558319091797,0,0,2.9099546003194363],[-10.773643586695476,85.80576891551803,-9.685558319091797,0,0,2.6481552125202867],[-10.773643586695476,85.80576891551803,-9.685558319091797,0,0,2.3863558247211376],[-10.773643586695476,85.80576891551803,-9.685558319091797,0,0,2.124556436921988],[-13.403089149107622,90.05853460790118,-9.685558319091797,0,0,2.124556436921988],[-16.03253471151977,94.31130030028433,-9.685558319091797,0,0,2.124556436921988],[-16.03253471151977,94.31130030028433,-11.685558319091797,0,0,2.124556436921988],[-18.661980273931917,98.56406599266748,-11.685558319091797,0,0,2.124556436921988],[-18.661980273931917,98.56406599266748,-11.685558319091797,0,0,2.3863558247211376],[-18.661980273931917,98.56406599266748,-11.685558319091797,0,0,2.648155212520287],[-23.06552977504067,100.93234633740812,-11.685558319091797,0,0,2.648155212520287],[-27.469079276149422,103.30062668214876,-11.685558319091797,0,0,2.648155212520287],[-31.872628777258175,105.6689070268894,-11.685558319091797,0,0,2.648155212520287],[-36.27617827836693,108.03718737163004,-11.685558319091797,0,0,2.648155212520287],[-38.644458623107575,103.63363787052128,-11.685558319091797,0,0,2.648155212520287],[-43.048008124216324,106.00191821526192,-11.685558319091797,0,0,2.648155212520287],[-47.45155762532507,108.37019856000256,-11.685558319091797,0,0,2.648155212520287],[-51.85510712643382,110.7384789047432,-11.685558319091797,0,0,2.648155212520287],[-56.25865662754257,113.10675924948384,-11.685558319091797,0,0,2.648155212520287],[-60.66220612865132,115.47503959422448,-11.685558319091797,0,0,2.648155212520287],[-65.06575562976008,117.84331993896512,-11.685558319091797,0,0,2.648155212520287],[-69.46930513086883,120.21160028370576,-11.685558319091797,0,0,2.648155212520287],[-73.87285463197759,122.5798806284464,-11.685558319091797,0,0,2.648155212520287],[-78.27640413308634,124.94816097318704,-11.685558319091797,0,0,2.648155212520287],[-82.6799536341951,127.31644131792768,-11.685558319091797,0,0,2.648155212520287],[-87.08350313530386,129.68472166266832,-11.685558319091797,0,0,2.648155212520287],[-91.48705263641261,132.05300200740896,-11.685558319091797,0,0,2.648155212520287],[-95.89060213752137,134.4212823521496,-11.68555831909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+{"episode_id":"3OVHNO1VEFZBZ6Q4TILKGYBSQ9HDZ0","trajectory_id":"3T5ZXGO9EMM22VXG81M2REN20D5ZQE","scene_id":12,"start_position":[-94.98247528076172,53.53457260131836,-1.7954952716827393],"start_rotation":[0.9999994908589652,0.0,0.0,0.0010090995046759834],"instruction":{"instruction_text":"Take off, rise to the same height as the utility pole, then turn right until facing the two-story grey building and fly forward to the top of its roof. Turn left to face the orange forklift, and then keep flying forward until reaching the edge of the black roof. Turn right to face the illuminated exterior wall of the building, then fly forward over the building and then cross the first crosswalk, and land on the ground in the second crosswalk."},"goals":[{"position":[-84.46947191009308,139.6955757026574,-3.7954952716827393]}],"reference_path":[[-94.98247528076172,53.53457260131836,-1.7954952716827393,0,0,0.002018199351868014],[-94.98247528076172,53.53457260131836,-3.7954952716827393,0,0,0.002018199351868014],[-94.98247528076172,53.53457260131836,-5.795495271682739,0,0,0.002018199351868014],[-94.98247528076172,53.53457260131836,-5.795495271682739,0,0,0.26381758715101744],[-94.98247528076172,53.53457260131836,-5.795495271682739,0,0,0.5256169749501669],[-94.98247528076172,53.53457260131836,-5.795495271682739,0,0,0.7874163627493163],[-94.98247528076172,53.53457260131836,-5.795495271682739,0,0,1.0492157505484658],[-94.98247528076172,53.53457260131836,-5.795495271682739,0,0,1.3110151383476154],[-94.98247528076172,53.53457260131836,-5.795495271682739,0,0,1.5728145261467648],[-94.98247528076172,53.53457260131836,-5.795495271682739,0,0,1.8346139139459143],[-94.98247528076172,53.53457260131836,-5.795495271682739,0,0,2.0964133017450637],[-94.98247528076172,53.53457260131836,-5.795495271682739,0,0,2.3582126895442133],[-94.98247528076172,53.53457260131836,-7.795495271682739,0,0,2.3582126895442133],[-98.52513739374828,57.06296389951781,-7.795495271682739,0,0,2.3582126895442133],[-98.52513739374828,57.06296389951781,-9.79549527168274,0,0,2.3582126895442133],[-102.06779950673484,60.59135519771726,-9.79549527168274,0,0,2.3582126895442133],[-102.06779950673484,60.59135519771726,-11.79549527168274,0,0,2.3582126895442133],[-105.6104616197214,64.11974649591671,-11.79549527168274,0,0,2.3582126895442133],[-105.6104616197214,64.11974649591671,-11.79549527168274,0,0,2.0964133017450637],[-105.6104616197214,64.11974649591671,-11.79549527168274,0,0,1.8346139139459143],[-105.6104616197214,64.11974649591671,-11.79549527168274,0,0,1.5728145261467648],[-105.6104616197214,64.11974649591671,-11.79549527168274,0,0,1.3110151383476154],[-105.6104616197214,64.11974649591671,-11.79549527168274,0,0,1.049215750548466],[-105.6104616197214,64.11974649591671,-11.79549527168274,0,0,0.7874163627493167],[-105.6104616197214,64.11974649591671,-11.79549527168274,0,0,0.5256169749501672],[-101.28538891433288,66.6284804581182,-11.79549527168274,0,0,0.5256169749501672],[-96.96031620894436,69.1372144203197,-11.79549527168274,0,0,0.5256169749501672],[-92.63524350355584,71.64594838252118,-11.79549527168274,0,0,0.5256169749501672],[-88.31017079816732,74.15468234472267,-11.79549527168274,0,0,0.5256169749501672],[-83.9850980927788,76.66341630692416,-11.79549527168274,0,0,0.5256169749501672],[-79.66002538739028,79.17215026912565,-11.79549527168274,0,0,0.5256169749501672],[-79.66002538739028,79.17215026912565,-9.79549527168274,0,0,0.5256169749501672],[-75.33495268200176,81.68088423132714,-9.79549527168274,0,0,0.5256169749501672],[-71.00987997661323,84.18961819352863,-9.79549527168274,0,0,0.5256169749501672],[-66.68480727122471,86.69835215573012,-9.79549527168274,0,0,0.5256169749501672],[-66.68480727122471,86.69835215573012,-7.795495271682739,0,0,0.5256169749501672],[-66.68480727122471,86.69835215573012,-7.795495271682739,0,0,0.7874163627493167],[-63.15641597302526,90.24101426871668,-7.795495271682739,0,0,0.7874163627493167],[-59.62802467482581,93.78367638170324,-7.795495271682739,0,0,0.7874163627493167],[-56.09963337662636,97.32633849468981,-7.795495271682739,0,0,0.7874163627493167],[-52.571242078426906,100.86900060767637,-7.795495271682739,0,0,0.7874163627493167],[-49.042850780227454,104.41166272066293,-7.795495271682739,0,0,0.7874163627493167],[-49.042850780227454,104.41166272066293,-7.795495271682739,0,0,1.049215750548466],[-49.042850780227454,104.41166272066293,-7.795495271682739,0,0,1.3110151383476154],[-49.042850780227454,104.41166272066293,-7.795495271682739,0,0,1.5728145261467648],[-49.042850780227454,104.41166272066293,-7.795495271682739,0,0,1.8346139139459143],[-49.042850780227454,104.41166272066293,-7.795495271682739,0,0,2.0964133017450637],[-49.042850780227454,104.41166272066293,-7.795495271682739,0,0,2.3582126895442133],[-52.585512893214016,107.94005401886238,-7.795495271682739,0,0,2.3582126895442133],[-52.585512893214016,107.94005401886238,-9.79549527168274,0,0,2.3582126895442133],[-56.12817500620058,111.46844531706184,-9.79549527168274,0,0,2.3582126895442133],[-59.67083711918714,114.99683661526129,-9.79549527168274,0,0,2.3582126895442133],[-63.2134992321737,118.52522791346074,-9.79549527168274,0,0,2.3582126895442133],[-66.75616134516027,122.05361921166019,-9.79549527168274,0,0,2.3582126895442133],[-70.29882345814683,125.58201050985964,-9.79549527168274,0,0,2.3582126895442133],[-73.84148557113339,129.1104018080591,-9.79549527168274,0,0,2.3582126895442133],[-77.38414768411995,132.63879310625853,-9.79549527168274,0,0,2.3582126895442133],[-80.92680979710651,136.16718440445797,-9.79549527168274,0,0,2.3582126895442133],[-84.46947191009308,139.6955757026574,-9.79549527168274,0,0,2.3582126895442133],[-84.46947191009308,139.6955757026574,-7.795495271682739,0,0,2.3582126895442133],[-84.46947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+{"episode_id":"3LRLIPTPEZ7IC4O697R83IF93CIKAQ","trajectory_id":"3H5TOKO3EHHTPGQ78ZIERDT2ZPN64P","scene_id":12,"start_position":[7.931318759918213,74.53087615966797,-4.944058418273926],"start_rotation":[0.9999815492483354,0.0,0.0,-0.006074632737795967],"instruction":{"instruction_text":"Take off, acsend to the same height as the orange building in front, then turn right to face the light brown roof building and fly towards it,  and then turn right in front of the power lines until facing the warehouse with the white roof. Fly forward over the white roof, and then keep flying forward to the edge of the red roof. Turn left until facing the tall brown building in the distance, then keep flying forward to land in front of the wall painted with green human-shaped graffiti."},"goals":[{"position":[-99.86447381245826,142.72263624847827,-8.944058418273926]}],"reference_path":[[7.931318759918213,74.53087615966797,-4.944058418273926,0,0,-0.012149340197170134],[7.931318759918213,74.53087615966797,-6.944058418273926,0,0,-0.012149340197170134],[7.931318759918213,74.53087615966797,-8.944058418273926,0,0,-0.012149340197170134],[7.931318759918213,74.53087615966797,-8.944058418273926,0,0,0.2496500476019793],[7.931318759918213,74.53087615966797,-8.944058418273926,0,0,0.5114494354011287],[7.931318759918213,74.53087615966797,-8.944058418273926,0,0,0.7732488232002781],[7.931318759918213,74.53087615966797,-8.944058418273926,0,0,1.0350482109994275],[7.931318759918213,74.53087615966797,-8.944058418273926,0,0,1.296847598798577],[7.931318759918213,74.53087615966797,-8.944058418273926,0,0,1.5586469865977266],[7.992063966480771,79.53050714803898,-8.944058418273926,0,0,1.5586469865977266],[8.052809173043329,84.53013813640999,-8.944058418273926,0,0,1.5586469865977266],[8.113554379605887,89.529769124781,-8.944058418273926,0,0,1.5586469865977266],[8.113554379605887,89.529769124781,-8.944058418273926,0,0,1.8204463743968762],[8.113554379605887,89.529769124781,-8.944058418273926,0,0,2.0822457621960253],[8.113554379605887,89.529769124781,-8.944058418273926,0,0,2.3440451499951744],[8.113554379605887,89.529769124781,-8.944058418273926,0,0,2.605844537794324],[8.113554379605887,89.529769124781,-8.944058418273926,0,0,2.867643925593473],[8.113554379605887,89.529769124781,-8.944058418273926,0,0,3.1294433133926227],[8.113554379605887,89.529769124781,-8.944058418273926,0,0,-2.8919426059878144],[3.2685596696661117,88.29444477034788,-8.944058418273926,0,0,-2.8919426059878144],[-1.5764350402736635,87.05912041591476,-8.944058418273926,0,0,-2.8919426059878144],[-6.421429750213439,85.82379606148164,-8.944058418273926,0,0,-2.8919426059878144],[-11.266424460153214,84.58847170704853,-8.944058418273926,0,0,-2.8919426059878144],[-16.11141917009299,83.35314735261541,-8.944058418273926,0,0,-2.8919426059878144],[-20.956413880032766,82.11782299818229,-8.944058418273926,0,0,-2.8919426059878144],[-25.801408589972542,80.88249864374917,-8.944058418273926,0,0,-2.8919426059878144],[-25.801408589972542,80.88249864374917,-10.944058418273926,0,0,-2.8919426059878144],[-30.64640329991232,79.64717428931606,-10.944058418273926,0,0,-2.8919426059878144],[-35.49139800985209,78.41184993488294,-10.944058418273926,0,0,-2.8919426059878144],[-40.33639271979187,77.17652558044982,-10.944058418273926,0,0,-2.8919426059878144],[-45.18138742973164,75.9412012260167,-10.944058418273926,0,0,-2.8919426059878144],[-45.18138742973164,75.9412012260167,-10.944058418273926,0,0,-2.630143218188665],[-49.541567478490116,73.49399262387251,-10.944058418273926,0,0,-2.630143218188665],[-53.90174752724859,71.04678402172831,-10.944058418273926,0,0,-2.630143218188665],[-58.26192757600706,68.59957541958411,-10.944058418273926,0,0,-2.630143218188665],[-58.26192757600706,68.59957541958411,-10.944058418273926,0,0,-2.8919426059878144],[-58.26192757600706,68.59957541958411,-10.944058418273926,0,0,3.1294433133926227],[-58.26192757600706,68.59957541958411,-10.944058418273926,0,0,2.867643925593473],[-58.26192757600706,68.59957541958411,-10.944058418273926,0,0,2.605844537794324],[-58.26192757600706,68.59957541958411,-10.944058418273926,0,0,2.3440451499951744],[-58.26192757600706,68.59957541958411,-10.944058418273926,0,0,2.082245762196025],[-60.709136178151255,72.95975546834259,-10.944058418273926,0,0,2.082245762196025],[-63.15634478029545,77.31993551710107,-10.944058418273926,0,0,2.082245762196025],[-65.60355338243964,81.68011556585955,-10.944058418273926,0,0,2.082245762196025],[-68.05076198458383,86.04029561461803,-10.944058418273926,0,0,2.082245762196025],[-70.49797058672802,90.40047566337651,-10.944058418273926,0,0,2.082245762196025],[-72.9451791888722,94.76065571213499,-10.944058418273926,0,0,2.082245762196025],[-75.39238779101639,99.12083576089347,-10.944058418273926,0,0,2.082245762196025],[-77.83959639316058,103.48101580965195,-10.944058418273926,0,0,2.082245762196025],[-80.28680499530476,107.84119585841043,-10.944058418273926,0,0,2.082245762196025],[-82.73401359744895,112.20137590716891,-10.944058418273926,0,0,2.082245762196025],[-85.18122219959314,116.56155595592739,-10.944058418273926,0,0,2.082245762196025],[-87.62843080173732,120.92173600468587,-10.944058418273926,0,0,2.082245762196025],[-90.07563940388151,125.28191605344435,-10.944058418273926,0,0,2.082245762196025],[-92.5228480060257,129.64209610220283,-10.944058418273926,0,0,2.082245762196025],[-94.97005660816988,134.0022761509613,-10.944058418273926,0,0,2.082245762196025],[-97.41726521031407,138.3624561997198,-10.944058418273926,0,0,2.082245762196025],[-99.86447381245826,142.72263624847827,-10.944058418273926,0,0,2.082245762196025],[-99.86447381245826,142.72263624847827,-8.944058418273926,0,0,2.082245762196025]],"actions":[4,4,3,3,3,3,3,3,1,1,1,3,3,3,3,3,3,3,1,1,1,1,1,1,1,4,1,1,1,1,3,1,1,1,2,2,2,2,2,2,1,1,1,1,1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+{"episode_id":"30OG32W0S39MANQLMPLARTM4G5PENO","trajectory_id":"3BDORL6HLSBP6316T2RUL6WMNHLRC8","scene_id":12,"start_position":[-8.495497703552246,135.70936584472656,-2.581834554672241],"start_rotation":[0.9999595707563599,0.0,0.0,-0.00899204385868383],"instruction":{"instruction_text":"Take off, rise up to the same height as the building on the left, then turn back to facing the crosswalk. Fly forward along the current road until seeing the stop sign at the end of the road, and then turn right to face the iron gate in the middle of the fence and keep flying forward until flying over the fence. Turn right to the T-junction and fly to the middle of it. Turn back to face the road, and fly ahead to the front of the first crosswalk. Fly to the middle of the intersection, turn right until facing the two-story dark grey building, fly forward to it, and land on the ground when reach the corner of the white-roofed building."},"goals":[{"position":[-100.47619794965611,118.51677406992098,-4.581834554672241]}],"reference_path":[[-8.495497703552246,135.70936584472656,-2.581834554672241,0,0,-0.01798433008230844],[-8.495497703552246,135.70936584472656,-4.581834554672241,0,0,-0.01798433008230844],[-8.495497703552246,135.70936584472656,-4.581834554672241,0,0,0.243815057716841],[-8.495497703552246,135.70936584472656,-4.581834554672241,0,0,0.5056144455159904],[-8.495497703552246,135.70936584472656,-4.581834554672241,0,0,0.7674138333151399],[-8.495497703552246,135.70936584472656,-4.581834554672241,0,0,1.0292132211142895],[-8.495497703552246,135.70936584472656,-4.581834554672241,0,0,1.291012608913439],[-8.495497703552246,135.70936584472656,-4.581834554672241,0,0,1.5528119967125884],[-8.495497703552246,135.70936584472656,-4.581834554672241,0,0,1.8146113845117375],[-8.495497703552246,135.70936584472656,-4.581834554672241,0,0,2.076410772310887],[-8.495497703552246,135.70936584472656,-4.581834554672241,0,0,2.338210160110037],[-8.495497703552246,135.70936584472656,-4.581834554672241,0,0,2.6000095479091865],[-8.495497703552246,135.70936584472656,-4.581834554672241,0,0,2.861808935708336],[-8.495497703552246,135.70936584472656,-4.581834554672241,0,0,3.123608323507486],[-13.494689135024682,135.79928264789808,-4.581834554672241,0,0,3.123608323507486],[-18.49388056649712,135.8891994510696,-4.581834554672241,0,0,3.123608323507486],[-23.493071997969555,135.97911625424112,-4.581834554672241,0,0,3.123608323507486],[-28.49226342944199,136.06903305741264,-4.581834554672241,0,0,3.123608323507486],[-33.49145486091442,136.15894986058416,-4.581834554672241,0,0,3.123608323507486],[-38.490646292386856,136.24886666375568,-4.581834554672241,0,0,3.123608323507486],[-43.48983772385929,136.3387834669272,-4.581834554672241,0,0,3.123608323507486],[-48.48902915533172,136.42870027009872,-4.581834554672241,0,0,3.123608323507486],[-53.488220586804154,136.51861707327024,-4.581834554672241,0,0,3.123608323507486],[-58.487412018276586,136.60853387644175,-4.581834554672241,0,0,3.123608323507486],[-58.487412018276586,136.60853387644175,-4.581834554672241,0,0,-2.897777595872951],[-58.487412018276586,136.60853387644175,-4.581834554672241,0,0,-2.635978208073802],[-62.861797197898966,134.18680839647917,-4.581834554672241,0,0,-2.635978208073802],[-67.23618237752135,131.76508291651658,-4.581834554672241,0,0,-2.635978208073802],[-71.61056755714372,129.343357436554,-4.581834554672241,0,0,-2.635978208073802],[-75.9849527367661,126.92163195659138,-4.581834554672241,0,0,-2.635978208073802],[-80.35933791638848,124.49990647662878,-4.581834554672241,0,0,-2.635978208073802],[-80.35933791638848,124.49990647662878,-4.581834554672241,0,0,-2.3741788202746523],[-80.35933791638848,124.49990647662878,-6.581834554672241,0,0,-2.3741788202746523],[-83.95788085929752,121.02852509625014,-6.581834554672241,0,0,-2.3741788202746523],[-83.95788085929752,121.02852509625014,-6.581834554672241,0,0,-2.112379432475503],[-86.53534681080735,116.74405671979927,-6.581834554672241,0,0,-2.112379432475503],[-86.53534681080735,116.74405671979927,-6.581834554672241,0,0,-1.8505800446763538],[-87.91608572578647,111.93848078671256,-6.581834554672241,0,0,-1.8505800446763538],[-89.29682464076559,107.13290485362585,-6.581834554672241,0,0,-1.8505800446763538],[-90.67756355574471,102.32732892053913,-6.581834554672241,0,0,-1.8505800446763538],[-90.67756355574471,102.32732892053913,-6.581834554672241,0,0,-1.5887806568772045],[-90.76748035891623,97.32813748906669,-6.581834554672241,0,0,-1.5887806568772045],[-90.85739716208775,92.32894605759425,-6.581834554672241,0,0,-1.5887806568772045],[-85.85820573061531,92.23902925442273,-6.581834554672241,0,0,-1.5887806568772045],[-85.85820573061531,92.23902925442273,-6.581834554672241,0,0,-1.3269812690780554],[-85.85820573061531,92.23902925442273,-6.581834554672241,0,0,-1.0651818812789058],[-85.85820573061531,92.23902925442273,-6.581834554672241,0,0,-0.8033824934797564],[-85.85820573061531,92.23902925442273,-6.581834554672241,0,0,-0.541583105680607],[-85.85820573061531,92.23902925442273,-6.581834554672241,0,0,-0.27978371788145756],[-85.85820573061531,92.23902925442273,-6.581834554672241,0,0,-0.01798433008230809],[-85.85820573061531,92.23902925442273,-6.581834554672241,0,0,0.24381505771684134],[-85.85820573061531,92.23902925442273,-6.581834554672241,0,0,0.5056144455159908],[-85.85820573061531,92.23902925442273,-6.581834554672241,0,0,0.7674138333151401],[-85.85820573061531,92.23902925442273,-6.581834554672241,0,0,1.0292132211142895],[-85.85820573061531,92.23902925442273,-6.581834554672241,0,0,1.291012608913439],[-85.85820573061531,92.23902925442273,-6.581834554672241,0,0,1.5528119967125884],[-85.76828892744379,97.23822068589517,-6.581834554672241,0,0,1.5528119967125884],[-85.67837212427227,102.23741211736761,-6.581834554672241,0,0,1.5528119967125884],[-85.58845532110075,107.23660354884005,-6.581834554672241,0,0,1.5528119967125884],[-85.49853851792923,112.23579498031249,-6.58183455467224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+{"episode_id":"3B1NLC6UG8UKXMYP8ZOQVLCBVWZGPR","trajectory_id":"32CAVSKPDMNXZSJPHZXF9L0FQUQU13","scene_id":12,"start_position":[43.0097541809082,113.529052734375,-2.0874736309051514],"start_rotation":[0.9999999999897514,0.0,0.0,-4.5273700000464e-06],"instruction":{"instruction_text":"Take off, ascend to a height higher than the dark grey fence, then turn left until facing the roof of the white bungalow, and then fly over the white roof to directly face the fence. Turn left to face the light brown roof, then keep flying straight ahead to cross the power line and fly under the gantry crane. Turn right to face the gray roof building, and fly over the gray roof and the black roof next to it until the road appears. Fly towards the leftmost light of the building ahead, when reaching the opposite side of the road turn left to face the red truck and then land on the ground."},"goals":[{"position":[-66.38560277562209,89.78342118569401,-4.087473630905151]}],"reference_path":[[43.0097541809082,113.529052734375,-2.0874736309051514,0,0,-9.054740000123732e-06],[43.0097541809082,113.529052734375,-4.087473630905151,0,0,-9.054740000123732e-06],[43.0097541809082,113.529052734375,-6.087473630905151,0,0,-9.054740000123732e-06],[43.0097541809082,113.529052734375,-6.087473630905151,0,0,-0.26180844253914953],[43.0097541809082,113.529052734375,-6.087473630905151,0,0,-0.5236078303382989],[43.0097541809082,113.529052734375,-6.087473630905151,0,0,-0.7854072181374484],[43.0097541809082,113.529052734375,-6.087473630905151,0,0,-1.0472066059365979],[43.0097541809082,113.529052734375,-6.087473630905151,0,0,-1.3090059937357472],[43.0097541809082,113.529052734375,-6.087473630905151,0,0,-1.5708053815348968],[43.0097541809082,113.529052734375,-6.087473630905151,0,0,-1.8326047693340461],[43.0097541809082,113.529052734375,-6.087473630905151,0,0,-2.0944041571331957],[43.0097541809082,113.529052734375,-6.087473630905151,0,0,-2.3562035449323453],[43.0097541809082,113.529052734375,-6.087473630905151,0,0,-2.618002932731495],[38.67960452531352,111.0290919426518,-6.087473630905151,0,0,-2.618002932731495],[34.34945486971884,108.5291311509286,-6.087473630905151,0,0,-2.618002932731495],[30.019305214124156,106.02917035920541,-6.087473630905151,0,0,-2.618002932731495],[25.68915555852947,103.52920956748221,-6.087473630905151,0,0,-2.618002932731495],[25.68915555852947,103.52920956748221,-6.087473630905151,0,0,-2.8798023205306444],[25.68915555852947,103.52920956748221,-6.087473630905151,0,0,3.1415835988497927],[20.68915555873444,103.52925484118221,-6.087473630905151,0,0,3.1415835988497927],[20.68915555873444,103.52925484118221,-6.087473630905151,0,0,2.879784211050643],[20.68915555873444,103.52925484118221,-6.087473630905151,0,0,2.6179848232514935],[16.35905117683976,106.02929404925405,-6.087473630905151,0,0,2.6179848232514935],[16.35905117683976,106.02929404925405,-8.087473630905151,0,0,2.6179848232514935],[12.028946794945078,108.52933325732589,-8.087473630905151,0,0,2.6179848232514935],[14.52898600301692,112.85943763922057,-8.087473630905151,0,0,2.6179848232514935],[10.198881621122238,115.35947684729241,-8.087473630905151,0,0,2.6179848232514935],[5.868777239227557,117.85951605536425,-8.087473630905151,0,0,2.6179848232514935],[5.868777239227557,117.85951605536425,-10.087473630905151,0,0,2.6179848232514935],[1.538672857332875,120.35955526343609,-10.087473630905151,0,0,2.6179848232514935],[-2.7914315245618067,122.85959447150793,-10.087473630905151,0,0,2.6179848232514935],[-7.121535906456488,125.35963367957977,-10.087473630905151,0,0,2.6179848232514935],[-4.621496698384647,129.68973806147446,-10.087473630905151,0,0,2.6179848232514935],[-8.951601080279328,132.1897772695463,-10.087473630905151,0,0,2.6179848232514935],[-13.28170546217401,134.68981647761817,-10.087473630905151,0,0,2.6179848232514935],[-17.61180984406869,137.18985568569002,-10.087473630905151,0,0,2.6179848232514935],[-21.941914225963373,139.68989489376187,-10.087473630905151,0,0,2.6179848232514935],[-19.441875017891533,144.01999927565655,-10.087473630905151,0,0,2.6179848232514935],[-19.441875017891533,144.01999927565655,-10.087473630905151,0,0,2.879784211050643],[-19.441875017891533,144.01999927565655,-10.087473630905151,0,0,3.1415835988497927],[-19.441875017891533,144.01999927565655,-10.087473630905151,0,0,-2.8798023205306444],[-19.441875017891533,144.01999927565655,-10.087473630905151,0,0,-2.618002932731495],[-19.441875017891533,144.01999927565655,-10.087473630905151,0,0,-2.3562035449323453],[-19.441875017891533,144.01999927565655,-10.087473630905151,0,0,-2.094404157133196],[-19.441875017891533,144.01999927565655,-10.087473630905151,0,0,-1.8326047693340466],[-20.73601397438717,139.190381862105,-10.087473630905151,0,0,-1.8326047693340466],[-22.030152930882807,134.36076444855345,-10.087473630905151,0,0,-1.8326047693340466],[-23.324291887378443,129.5311470350019,-10.087473630905151,0,0,-1.8326047693340466],[-23.324291887378443,129.5311470350019,-10.087473630905151,0,0,-2.094404157133196],[-25.824331095450283,125.20104265310722,-10.087473630905151,0,0,-2.094404157133196],[-28.324370303522123,120.87093827121254,-10.087473630905151,0,0,-2.094404157133196],[-30.824409511593963,116.54083388931785,-10.087473630905151,0,0,-2.094404157133196],[-33.3244487196658,112.21072950742317,-10.087473630905151,0,0,-2.094404157133196],[-37.65455310156049,114.710768715495,-10.087473630905151,0,0,-2.094404157133196],[-40.15459230963233,110.38066433360032,-10.087473630905151,0,0,-2.094404157133196],[-42.65463151770417,106.05055995170564,-10.087473630905151,0,0,-2.094404157133196],[-45.15467072577601,101.72045556981095,-10.087473630905151,0,0,-2.094404157133196],[-47.65470993384785,97.39035118791627,-10.087473630905151,0,0,-2.094404157133196],[-51.98481431574253,99.8903903959881,-10.087473630905151,0,0,-2.094404157133196],[-54.48485352381437,95.56028601409342,-10.087473630905151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+{"episode_id":"3D4CH1LGEJRZ5ZIIRAST9VCWQD6G9R","trajectory_id":"3K1H3NEY8TX8M5Y6DNST680X6GJDGB","scene_id":12,"start_position":[-48.552059173583984,136.729736328125,-1.648533582687378],"start_rotation":[0.999993180854716,0.0,0.0,-0.003692999332135414],"instruction":{"instruction_text":"Take off, ascend to the height higher than that of the electronic poles on the left, then turn left to face the two white vertical cylinders outside the brown building and fly over them. Fly forward passing over the yellow forklift on the road, and then turn left to face the tall ash building. Turn right to face the dark brown warehouse and approach the edge of the warehouse roof. Fly forward over the roof until seeing a row of grey metal pipes tied together, then turn left to face the black utility pole. Fly forward across the pole and turn left to face the road, and fly cross the double yellow line and land on the road."},"goals":[{"position":[-92.97754976740796,56.016559172844154,-3.648533582687378]}],"reference_path":[[-48.552059173583984,136.729736328125,-1.648533582687378,0,0,-0.007386015453049275],[-48.552059173583984,136.729736328125,-3.648533582687378,0,0,-0.007386015453049275],[-48.552059173583984,136.729736328125,-5.648533582687378,0,0,-0.007386015453049275],[-48.552059173583984,136.729736328125,-7.648533582687378,0,0,-0.007386015453049275],[-48.552059173583984,136.729736328125,-9.648533582687378,0,0,-0.007386015453049275],[-48.552059173583984,136.729736328125,-9.648533582687378,0,0,-0.2691854032521987],[-48.552059173583984,136.729736328125,-9.648533582687378,0,0,-0.5309847910513481],[-48.552059173583984,136.729736328125,-9.648533582687378,0,0,-0.7927841788504976],[-48.552059173583984,136.729736328125,-9.648533582687378,0,0,-1.054583566649647],[-48.552059173583984,136.729736328125,-9.648533582687378,0,0,-1.3163829544487966],[-48.552059173583984,136.729736328125,-9.648533582687378,0,0,-1.5781823422479462],[-48.552059173583984,136.729736328125,-9.648533582687378,0,0,-1.8399817300470955],[-48.552059173583984,136.729736328125,-9.648533582687378,0,0,-2.101781117846245],[-51.0839730766495,132.41819229060624,-9.648533582687378,0,0,-2.101781117846245],[-53.615886979715015,128.10664825308749,-9.648533582687378,0,0,-2.101781117846245],[-56.14780088278053,123.79510421556873,-9.648533582687378,0,0,-2.101781117846245],[-58.679714785846045,119.48356017804997,-9.648533582687378,0,0,-2.101781117846245],[-61.21162868891156,115.17201614053121,-9.648533582687378,0,0,-2.101781117846245],[-63.743542591977075,110.86047210301246,-9.648533582687378,0,0,-2.101781117846245],[-66.27545649504259,106.5489280654937,-9.648533582687378,0,0,-2.101781117846245],[-68.8073703981081,102.23738402797494,-9.648533582687378,0,0,-2.101781117846245],[-71.33928430117362,97.92583999045618,-9.648533582687378,0,0,-2.101781117846245],[-73.87119820423914,93.61429595293743,-9.648533582687378,0,0,-2.101781117846245],[-76.40311210730465,89.30275191541867,-9.648533582687378,0,0,-2.101781117846245],[-80.71465614482341,91.83466581848418,-9.648533582687378,0,0,-2.101781117846245],[-80.71465614482341,91.83466581848418,-9.648533582687378,0,0,-2.3635805056453942],[-84.27620688444281,88.32534162013538,-9.648533582687378,0,0,-2.3635805056453942],[-84.27620688444281,88.32534162013538,-9.648533582687378,0,0,-2.625379893444544],[-88.62468066345194,85.85739190564156,-9.648533582687378,0,0,-2.625379893444544],[-88.62468066345194,85.85739190564156,-9.648533582687378,0,0,-2.3635805056453942],[-88.62468066345194,85.85739190564156,-9.648533582687378,0,0,-2.101781117846245],[-88.62468066345194,85.85739190564156,-9.648533582687378,0,0,-1.8399817300470955],[-88.62468066345194,85.85739190564156,-9.648533582687378,0,0,-1.5781823422479462],[-88.62468066345194,85.85739190564156,-9.648533582687378,0,0,-1.3163829544487966],[-88.62468066345194,85.85739190564156,-9.648533582687378,0,0,-1.0545835666496473],[-88.62468066345194,85.85739190564156,-9.648533582687378,0,0,-0.7927841788504978],[-88.62468066345194,85.85739190564156,-9.648533582687378,0,0,-0.5309847910513483],[-84.31313662593318,83.32547800257605,-9.648533582687378,0,0,-0.5309847910513483],[-80.00159258841443,80.79356409951053,-9.648533582687378,0,0,-0.5309847910513483],[-75.69004855089567,78.26165019644502,-9.648533582687378,0,0,-0.5309847910513483],[-71.37850451337691,75.7297362933795,-9.648533582687378,0,0,-0.5309847910513483],[-71.37850451337691,75.7297362933795,-11.648533582687378,0,0,-0.5309847910513483],[-67.06696047585815,73.19782239031399,-11.648533582687378,0,0,-0.5309847910513483],[-67.06696047585815,73.19782239031399,-11.648533582687378,0,0,-0.7927841788504978],[-63.55763627750935,69.63627165069458,-11.648533582687378,0,0,-0.7927841788504978],[-63.55763627750935,69.63627165069458,-11.648533582687378,0,0,-1.0545835666496473],[-61.08968656301554,65.28779787168546,-11.648533582687378,0,0,-1.0545835666496473],[-58.62173684852173,60.93932409267633,-11.648533582687378,0,0,-1.0545835666496473],[-58.62173684852173,60.93932409267633,-11.648533582687378,0,0,-1.3163829544487966],[-58.62173684852173,60.93932409267633,-11.648533582687378,0,0,-1.5781823422479462],[-58.62173684852173,60.93932409267633,-11.648533582687378,0,0,-1.8399817300470955],[-58.62173684852173,60.93932409267633,-11.648533582687378,0,0,-2.101781117846245],[-58.62173684852173,60.93932409267633,-11.648533582687378,0,0,-2.3635805056453942],[-58.62173684852173,60.93932409267633,-11.648533582687378,0,0,-2.625379893444544],[-58.62173684852173,60.93932409267633,-11.648533582687378,0,0,-2.8871792812436934],[-58.62173684852173,60.93932409267633,-9.648533582687378,0,0,-2.8871792812436934],[-63.46079236507379,59.68093555660051,-9.648533582687378,0,0,-2.8871792812436934],[-68.29984788162585,58.42254702052469,-9.648533582687378,0,0,-2.8871792812436934],[-73.13890339817792,57.16415848444887,-9.648533582687378,0,0,-2.8871792812436934],[-77.97795891472998,55.90576994837305,-9.64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+{"episode_id":"39KFRKBFIWT2YD7ON5XHDLEPQOSYOR","trajectory_id":"3L55D8AUGIVY34DS7XJOT2PJQFSCY9","scene_id":12,"start_position":[-110.3045654296875,79.2200698852539,-11.200273513793945],"start_rotation":[0.9998510282080176,0.0,0.0,0.01726039951362574],"instruction":{"instruction_text":"Take off from the roof and fly forward to the edge of the red-brown building's roof. Turn right until facing the red truck, then keep flying forward until reaching the black roof, and then turn left until facing the warehouse with the white roof opposite the road. Fly forward until reaching the edge of the white roof of the warehouse. Fly forward until reaching the front of the power line opposite the road. Turn right to face the orange building. Fly forward until reaching the front of the brown wall. Land on the ground."},"goals":[{"position":[23.046173706074157,57.15416605033086,-3.2002735137939453]}],"reference_path":[[-110.3045654296875,79.2200698852539,-11.200273513793945,0,0,0.03452251333783606],[-110.3045654296875,79.2200698852539,-13.200273513793945,0,0,0.03452251333783606],[-105.3075446436012,79.3926481672637,-13.200273513793945,0,0,0.03452251333783606],[-100.31052385751491,79.5652264492735,-13.200273513793945,0,0,0.03452251333783606],[-95.31350307142861,79.73780473128329,-13.200273513793945,0,0,0.03452251333783606],[-90.31648228534232,79.91038301329309,-13.200273513793945,0,0,0.03452251333783606],[-85.31946149925602,80.08296129530288,-13.200273513793945,0,0,0.03452251333783606],[-80.32244071316973,80.25553957731267,-13.200273513793945,0,0,0.03452251333783606],[-80.32244071316973,80.25553957731267,-13.200273513793945,0,0,0.29632190113698553],[-80.32244071316973,80.25553957731267,-13.200273513793945,0,0,0.558121288936135],[-76.081182910185,82.90350714671779,-13.200273513793945,0,0,0.558121288936135],[-71.83992510720029,85.5514747161229,-13.200273513793945,0,0,0.558121288936135],[-67.59866730421557,88.19944228552801,-13.200273513793945,0,0,0.558121288936135],[-67.59866730421557,88.19944228552801,-11.200273513793945,0,0,0.558121288936135],[-63.35740950123085,90.84740985493312,-11.200273513793945,0,0,0.558121288936135],[-59.11615169824613,93.49537742433823,-11.200273513793945,0,0,0.558121288936135],[-54.87489389526141,96.14334499374334,-11.200273513793945,0,0,0.558121288936135],[-50.63363609227669,98.79131256314845,-11.200273513793945,0,0,0.558121288936135],[-46.39237828929197,101.43928013255356,-11.200273513793945,0,0,0.558121288936135],[-46.39237828929197,101.43928013255356,-11.200273513793945,0,0,0.2963219011369856],[-46.39237828929197,101.43928013255356,-11.200273513793945,0,0,0.0345225133378362],[-46.39237828929197,101.43928013255356,-11.200273513793945,0,0,-0.22727687446131323],[-46.39237828929197,101.43928013255356,-11.200273513793945,0,0,-0.48907626226046264],[-46.39237828929197,101.43928013255356,-11.200273513793945,0,0,-0.7508756500596121],[-42.73691973222556,98.02788412247646,-11.200273513793945,0,0,-0.7508756500596121],[-39.08146117515915,94.61648811239937,-11.200273513793945,0,0,-0.7508756500596121],[-35.42600261809274,91.20509210232227,-11.200273513793945,0,0,-0.7508756500596121],[-31.770544061026328,87.79369609224517,-11.200273513793945,0,0,-0.7508756500596121],[-28.115085503959918,84.38230008216807,-11.200273513793945,0,0,-0.7508756500596121],[-24.459626946893508,80.97090407209097,-11.200273513793945,0,0,-0.7508756500596121],[-24.459626946893508,80.97090407209097,-9.200273513793945,0,0,-0.7508756500596121],[-20.804168389827097,77.55950806201388,-9.200273513793945,0,0,-0.7508756500596121],[-17.148709832760687,74.14811205193678,-9.200273513793945,0,0,-0.7508756500596121],[-13.493251275694279,70.73671604185968,-9.200273513793945,0,0,-0.7508756500596121],[-9.83779271862787,67.32532003178258,-9.200273513793945,0,0,-0.7508756500596121],[-9.83779271862787,67.32532003178258,-7.200273513793945,0,0,-0.7508756500596121],[-6.182334161561462,63.91392402170548,-7.200273513793945,0,0,-0.7508756500596121],[-6.182334161561462,63.91392402170548,-7.200273513793945,0,0,-0.48907626226046264],[-6.182334161561462,63.91392402170548,-7.200273513793945,0,0,-0.22727687446131317],[-1.3109161836221928,62.787297693143046,-7.200273513793945,0,0,-0.22727687446131317],[3.5605017943170765,61.66067136458061,-7.200273513793945,0,0,-0.22727687446131317],[8.431919772256347,60.53404503601817,-7.200273513793945,0,0,-0.22727687446131317],[13.303337750195617,59.40741870745573,-7.200273513793945,0,0,-0.22727687446131317],[18.174755728134887,58.280792378893295,-7.200273513793945,0,0,-0.22727687446131317],[23.046173706074157,57.15416605033086,-7.200273513793945,0,0,-0.22727687446131317],[23.046173706074157,57.15416605033086,-5.200273513793945,0,0,-0.22727687446131317],[23.046173706074157,57.15416605033086,-3.2002735137939453,0,0,-0.22727687446131317]],"actions":[4,1,1,1,1,1,1,3,3,1,1,1,5,1,1,1,1,1,2,2,2,2,2,1,1,1,1,1,1,5,1,1,1,1,5,1,3,3,1,1,1,1,1,1,5,5,0]},
+{"episode_id":"3RANCT1ZVOF1YAYA9ZV64G8CWN1UB3","trajectory_id":"3IQ9O0AYXEXTZL0YP1SBWOVZJVOTII","scene_id":12,"start_position":[-75.86724090576172,82.67501068115234,-1.996213674545288],"start_rotation":[0.9998434827008875,0.0,0.0,-0.01769209146935816],"instruction":{"instruction_text":"Take off, ascend to the height of the roof of red buildind, and turn left to face the red roof and fly accross it, and then turn left to face a row of grey pipes tied together on the gound. Turn right to face the red roof in the distance, and then fly forward until flying across the red container on the ground. Turn right until facing the light brown roof building behind the intersection, and fly forward to the middle of the intersection and then turn left towards the vertical grey cylinder. Fly towards the vertical grey cylinder, turn left to face the light brown shed in front of the cylinder, then turn right to face the cylinder and fly forward from the right side of the cylinder to the top of the horizontal cylinder. Turn right to face the white-roofed building and fly forward until reaching the top of the double yellow lines. Turn left to face the crosswalk in the distance, and fly across it and land on the ground."},"goals":[{"position":[38.382678542840694,92.76632527502159,-5.996213674545288]}],"reference_path":[[-75.86724090576172,82.67501068115234,-1.996213674545288,0,0,-0.03538602913321635],[-75.86724090576172,82.67501068115234,-3.996213674545288,0,0,-0.03538602913321635],[-75.86724090576172,82.67501068115234,-5.996213674545288,0,0,-0.03538602913321635],[-75.86724090576172,82.67501068115234,-7.996213674545288,0,0,-0.03538602913321635],[-75.86724090576172,82.67501068115234,-9.996213674545288,0,0,-0.03538602913321635],[-75.86724090576172,82.67501068115234,-9.996213674545288,0,0,-0.2971854169323658],[-75.86724090576172,82.67501068115234,-9.996213674545288,0,0,-0.5589848047315151],[-71.62827124558171,80.02338170633828,-9.996213674545288,0,0,-0.5589848047315151],[-67.38930158540171,77.37175273152423,-9.996213674545288,0,0,-0.5589848047315151],[-67.38930158540171,77.37175273152423,-11.996213674545288,0,0,-0.5589848047315151],[-63.15033192522171,74.72012375671017,-11.996213674545288,0,0,-0.5589848047315151],[-63.15033192522171,74.72012375671017,-11.996213674545288,0,0,-0.8207841925306646],[-59.742093732825595,71.06172076853451,-11.996213674545288,0,0,-0.8207841925306646],[-56.33385554042948,67.40331778035886,-11.996213674545288,0,0,-0.8207841925306646],[-56.33385554042948,67.40331778035886,-11.996213674545288,0,0,-1.082583580329814],[-56.33385554042948,67.40331778035886,-11.996213674545288,0,0,-1.3443829681289634],[-56.33385554042948,67.40331778035886,-9.996213674545288,0,0,-1.3443829681289634],[-56.33385554042948,67.40331778035886,-9.996213674545288,0,0,-1.082583580329814],[-56.33385554042948,67.40331778035886,-9.996213674545288,0,0,-0.8207841925306646],[-56.33385554042948,67.40331778035886,-9.996213674545288,0,0,-0.5589848047315152],[-56.33385554042948,67.40331778035886,-9.996213674545288,0,0,-0.29718541693236583],[-51.55303318957827,65.9391669515159,-9.996213674545288,0,0,-0.29718541693236583],[-46.77221083872706,64.47501612267294,-9.996213674545288,0,0,-0.29718541693236583],[-41.99138848787585,63.01086529382999,-9.996213674545288,0,0,-0.29718541693236583],[-37.21056613702464,61.54671446498703,-9.996213674545288,0,0,-0.29718541693236583],[-32.42974378617343,60.08256363614408,-9.996213674545288,0,0,-0.29718541693236583],[-27.648921435322222,58.61841280730113,-9.996213674545288,0,0,-0.29718541693236583],[-27.648921435322222,58.61841280730113,-9.996213674545288,0,0,-0.03538602913321642],[-27.648921435322222,58.61841280730113,-9.996213674545288,0,0,0.226413358665933],[-27.648921435322222,58.61841280730113,-9.996213674545288,0,0,0.48821274646508245],[-23.23305855163236,60.96365373148147,-9.996213674545288,0,0,0.48821274646508245],[-23.23305855163236,60.96365373148147,-9.996213674545288,0,0,0.750012134264232],[-23.23305855163236,60.96365373148147,-9.996213674545288,0,0,1.0118115220633814],[-20.58142957681831,65.20262339166148,-9.996213674545288,0,0,1.0118115220633814],[-17.929800602004256,69.44159305184148,-9.996213674545288,0,0,1.0118115220633814],[-15.278171627190202,73.68056271202148,-9.996213674545288,0,0,1.0118115220633814],[-12.626542652376148,77.91953237220149,-9.996213674545288,0,0,1.0118115220633814],[-12.626542652376148,77.91953237220149,-9.996213674545288,0,0,0.750012134264232],[-12.626542652376148,77.91953237220149,-9.996213674545288,0,0,0.48821274646508256],[-12.626542652376148,77.91953237220149,-9.996213674545288,0,0,0.22641335866593312],[-12.626542652376148,77.91953237220149,-9.996213674545288,0,0,-0.0353860291332163],[-12.626542652376148,77.91953237220149,-9.996213674545288,0,0,-0.2971854169323657],[-12.626542652376148,77.91953237220149,-9.996213674545288,0,0,-0.5589848047315151],[-8.387572992196144,75.26790339738743,-9.996213674545288,0,0,-0.5589848047315151],[-8.387572992196144,75.26790339738743,-11.996213674545288,0,0,-0.5589848047315151],[-4.148603332016141,72.61627442257337,-11.996213674545288,0,0,-0.5589848047315151],[-4.148603332016141,72.61627442257337,-11.996213674545288,0,0,-0.8207841925306646],[-4.148603332016141,72.61627442257337,-11.996213674545288,0,0,-1.082583580329814],[-4.148603332016141,72.61627442257337,-11.996213674545288,0,0,-1.3443829681289634],[-3.0261839693405768,67.7438854013343,-11.996213674545288,0,0,-1.3443829681289634],[-3.0261839693405768,67.7438854013343,-9.996213674545288,0,0,-1.3443829681289634],[-3.0261839693405768,67.7438854013343,-9.996213674545288,0,0,-1.082583580329814],[-3.0261839693405768,67.7438854013343,-9.996213674545288,0,0,-0.8207841925306646],[-3.0261839693405768,67.7438854013343,-9.996213674545288,0,0,-0.5589848047315152],[-3.0261839693405768,67.7438854013343,-9.996213674545288,0,0,-0.29718541693236583],[-3.0261839693405768,67.7438854013343,-9.996213674545288,0,0,-0.03538602913321642],[1.9706859296538224,67.56699217782443,-9.996213674545288,0,0,-0.03538602913321642],[1.9706859296538224,67.56699217782443,-9.996213674545288,0,0,0.226413358665933],[1.9706859296538224,67.56699217782443,-7.996213674545288,0,0,0.226413358665933],[6.843074950892888,68.68941154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+{"episode_id":"3ON104KXQTUU5F26PK0KEQN37BRW4U","trajectory_id":"3ACRLU861VCHNU4VTWBZBFRLLVHEB4","scene_id":12,"start_position":[18.772573471069336,88.35712432861328,-1.6391370296478271],"start_rotation":[0.9999888170305974,0.0,0.0,0.0047292508652403125],"instruction":{"instruction_text":"Take off, ascend to the same height as the deep brown building on the left, then turn left to the white elevated platform with stairs, then turn left to face a gray building behind a fence. Fly forward over the wires and fly ahead until reaching the double yellow lines, and then turn left to face a large gantry crane in the distance. Fly forward until reaching the front of the utility pole, then turn right to face the grey metal pipes tied together on the ground, and keep flying forward until reaching the edge of the road. Turn right to face the yellow tractor and land next to it."},"goals":[{"position":[-87.82548974672599,91.1103444041585,-3.639137029647827]}],"reference_path":[[18.772573471069336,88.35712432861328,-1.6391370296478271,0,0,0.009458536988683491],[18.772573471069336,88.35712432861328,-3.639137029647827,0,0,0.009458536988683491],[18.772573471069336,88.35712432861328,-5.639137029647827,0,0,0.009458536988683491],[18.772573471069336,88.35712432861328,-5.639137029647827,0,0,-0.252340850810466],[18.772573471069336,88.35712432861328,-5.639137029647827,0,0,-0.5141402386096154],[18.772573471069336,88.35712432861328,-5.639137029647827,0,0,-0.7759396264087649],[18.772573471069336,88.35712432861328,-5.639137029647827,0,0,-1.0377390142079144],[18.772573471069336,88.35712432861328,-5.639137029647827,0,0,-1.299538402007064],[18.772573471069336,88.35712432861328,-5.639137029647827,0,0,-1.5613377898062133],[18.772573471069336,88.35712432861328,-5.639137029647827,0,0,-1.8231371776053626],[18.772573471069336,88.35712432861328,-5.639137029647827,0,0,-2.084936565404512],[18.772573471069336,88.35712432861328,-7.639137029647827,0,0,-2.084936565404512],[16.313641356024302,84.00354501342903,-7.639137029647827,0,0,-2.084936565404512],[16.313641356024302,84.00354501342903,-7.639137029647827,0,0,-2.346735953203662],[16.313641356024302,84.00354501342903,-7.639137029647827,0,0,-2.6085353410028116],[16.313641356024302,84.00354501342903,-7.639137029647827,0,0,-2.870334728801961],[16.313641356024302,84.00354501342903,-7.639137029647827,0,0,-3.1321341166011107],[16.313641356024302,84.00354501342903,-7.639137029647827,0,0,2.889251802779326],[16.313641356024302,84.00354501342903,-7.639137029647827,0,0,2.6274524149801763],[16.313641356024302,84.00354501342903,-7.639137029647827,0,0,2.3656530271810268],[12.744825120677843,87.50548028957671,-7.639137029647827,0,0,2.3656530271810268],[9.176008885331385,91.00741556572439,-7.639137029647827,0,0,2.3656530271810268],[9.176008885331385,91.00741556572439,-9.639137029647827,0,0,2.3656530271810268],[5.607192649984926,94.50935084187206,-9.639137029647827,0,0,2.3656530271810268],[2.0383764146384666,98.01128611801974,-9.639137029647827,0,0,2.3656530271810268],[-1.5304398207079926,101.51322139416742,-9.639137029647827,0,0,2.3656530271810268],[-5.099256056054452,105.0151566703151,-9.639137029647827,0,0,2.3656530271810268],[-5.099256056054452,105.0151566703151,-9.639137029647827,0,0,2.1038536393818776],[-7.640100282871949,109.32144400571762,-9.639137029647827,0,0,2.1038536393818776],[-10.180944509689446,113.62773134112015,-9.639137029647827,0,0,2.1038536393818776],[-12.721788736506944,117.93401867652268,-9.639137029647827,0,0,2.1038536393818776],[-15.262632963324442,122.24030601192521,-9.639137029647827,0,0,2.1038536393818776],[-15.262632963324442,122.24030601192521,-9.639137029647827,0,0,1.842054251582728],[-15.262632963324442,122.24030601192521,-9.639137029647827,0,0,2.1038536393818776],[-15.262632963324442,122.24030601192521,-9.639137029647827,0,0,2.3656530271810268],[-15.262632963324442,122.24030601192521,-9.639137029647827,0,0,2.6274524149801763],[-15.262632963324442,122.24030601192521,-9.639137029647827,0,0,2.889251802779326],[-20.10428612264666,123.48866280580475,-9.639137029647827,0,0,2.889251802779326],[-20.10428612264666,123.48866280580475,-9.639137029647827,0,0,-3.132134116601111],[-25.104062464509195,123.44137082602303,-9.639137029647827,0,0,-3.132134116601111],[-30.10383880637173,123.39407884624131,-9.639137029647827,0,0,-3.132134116601111],[-35.10361514823427,123.3467868664596,-9.639137029647827,0,0,-3.132134116601111],[-40.103391490096804,123.29949488667788,-9.639137029647827,0,0,-3.132134116601111],[-45.10316783195934,123.25220290689616,-9.639137029647827,0,0,-3.132134116601111],[-50.102944173821875,123.20491092711444,-9.639137029647827,0,0,-3.132134116601111],[-55.10272051568441,123.15761894733272,-9.639137029647827,0,0,-3.132134116601111],[-60.102496857546946,123.110326967551,-9.639137029647827,0,0,-3.132134116601111],[-65.10227319940948,123.06303498776929,-9.639137029647827,0,0,-3.132134116601111],[-70.10204954127202,123.01574300798757,-9.639137029647827,0,0,-3.132134116601111],[-70.10204954127202,123.01574300798757,-9.639137029647827,0,0,-2.8703347288019616],[-74.91922257049802,121.67602512481302,-9.639137029647827,0,0,-2.8703347288019616],[-79.73639559972402,120.33630724163848,-9.639137029647827,0,0,-2.8703347288019616],[-84.55356862895002,118.99658935846394,-9.639137029647827,0,0,-2.8703347288019616],[-84.55356862895002,118.99658935846394,-9.639137029647827,0,0,-2.6085353410028125],[-84.55356862895002,118.99658935846394,-9.639137029647827,0,0,-2.3467359532036633],[-88.0555039050977,115.42777312311748,-9.639137029647827,0,0,-2.3467359532036633],[-88.0555039050977,115.42777312311748,-9.639137029647827,0,0,-2.0849365654045138],[-88.0555039050977,115.42777312311748,-9.639137029647827,0,0,-1.8231371776053644],[-89.30386069897723,110.58611996379526,-9.639137029647827,0,0,-1.8231371776053644],[-90.55221749285677,105.74446680447303,-9.639137029647827,0,0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+{"episode_id":"369J354OFM8CNGGKT3PHPLLT9DS6G9","trajectory_id":"3H1C3QRA19H0XZW17W7UMZX33GHECB","scene_id":12,"start_position":[-9.71326732635498,116.57666015625,-2.192678213119507],"start_rotation":[0.9998175246942356,0.0,0.0,-0.019102809068082014],"instruction":{"instruction_text":"Take off, fly to the height higher than the light brown building in front. Turn right to face a very tall blue crane and fly straight to the front of it. Turn right to face the gray roof warehouse where metal pipes are tied together in front, and fly forward to it, fly over the wires to the black roof. Turn left to face the leftmost light on the dark brown wall and fly forward until reaching the edge of the grey roof. Turn right to face the two-story grey building. Turn left until facing the two-story brown building with graffiti on the wall, then turn left to face the dark grey one-story building and fly forward to the main entrance of it. Turn right to face the brown building with graffiti on its exterior walls, fly forward across the crossing, and land on the ground at the edge of the road."},"goals":[{"position":[-92.26348866584007,146.52402225247135,-4.192678213119507]}],"reference_path":[[-9.71326732635498,116.57666015625,-2.192678213119507,0,0,-0.03820794216641327],[-9.71326732635498,116.57666015625,-4.192678213119507,0,0,-0.03820794216641327],[-9.71326732635498,116.57666015625,-6.192678213119507,0,0,-0.03820794216641327],[-9.71326732635498,116.57666015625,-8.192678213119507,0,0,-0.03820794216641327],[-9.71326732635498,116.57666015625,-8.192678213119507,0,0,0.22359144563273617],[-9.71326732635498,116.57666015625,-8.192678213119507,0,0,0.4853908334318856],[-9.71326732635498,116.57666015625,-8.192678213119507,0,0,0.7471902212310351],[-9.71326732635498,116.57666015625,-8.192678213119507,0,0,1.0089896090301846],[-9.71326732635498,116.57666015625,-8.192678213119507,0,0,1.270788996829334],[-9.71326732635498,116.57666015625,-8.192678213119507,0,0,1.5325883846284833],[-9.71326732635498,116.57666015625,-8.192678213119507,0,0,1.7943877724276327],[-10.821932780178827,121.45219714323898,-8.192678213119507,0,0,1.7943877724276327],[-11.930598234002673,126.32773413022795,-8.192678213119507,0,0,1.7943877724276327],[-13.03926368782652,131.20327111721693,-8.192678213119507,0,0,1.7943877724276327],[-14.147929141650366,136.0788081042059,-8.192678213119507,0,0,1.7943877724276327],[-15.256594595474212,140.95434509119488,-8.192678213119507,0,0,1.7943877724276327],[-15.256594595474212,140.95434509119488,-8.192678213119507,0,0,2.056187160226782],[-15.256594595474212,140.95434509119488,-8.192678213119507,0,0,2.3179865480259316],[-15.256594595474212,140.95434509119488,-8.192678213119507,0,0,2.579785935825081],[-15.256594595474212,140.95434509119488,-8.192678213119507,0,0,2.841585323624231],[-15.256594595474212,140.95434509119488,-8.192678213119507,0,0,3.1033847114233803],[-15.256594595474212,140.95434509119488,-8.192678213119507,0,0,-2.9180012079570563],[-15.256594595474212,140.95434509119488,-8.192678213119507,0,0,-2.656201820157907],[-15.256594595474212,140.95434509119488,-8.192678213119507,0,0,-2.3944024323587576],[-15.256594595474212,140.95434509119488,-8.192678213119507,0,0,-2.132603044559608],[-17.92017500043384,136.72287496530305,-8.192678213119507,0,0,-2.132603044559608],[-17.92017500043384,136.72287496530305,-10.192678213119507,0,0,-2.132603044559608],[-20.583755405393468,132.49140483941122,-10.192678213119507,0,0,-2.132603044559608],[-23.247335810353096,128.25993471351939,-10.192678213119507,0,0,-2.132603044559608],[-25.910916215312724,124.02846458762754,-10.192678213119507,0,0,-2.132603044559608],[-28.574496620272352,119.7969944617357,-10.192678213119507,0,0,-2.132603044559608],[-31.23807702523198,115.56552433584385,-10.192678213119507,0,0,-2.132603044559608],[-33.901657430191605,111.334054209952,-10.192678213119507,0,0,-2.132603044559608],[-33.901657430191605,111.334054209952,-10.192678213119507,0,0,-2.3944024323587576],[-37.569663591102774,107.93615326914785,-10.192678213119507,0,0,-2.3944024323587576],[-37.569663591102774,107.93615326914785,-10.192678213119507,0,0,-2.656201820157907],[-37.569663591102774,107.93615326914785,-10.192678213119507,0,0,-2.9180012079570563],[-37.569663591102774,107.93615326914785,-10.192678213119507,0,0,3.1033847114233803],[-37.569663591102774,107.93615326914785,-10.192678213119507,0,0,2.841585323624231],[-42.346335205837796,109.41378931533268,-10.192678213119507,0,0,2.841585323624231],[-47.12300682057282,110.8914253615175,-10.192678213119507,0,0,2.841585323624231],[-51.89967843530784,112.36906140770233,-10.192678213119507,0,0,2.841585323624231],[-56.67635005004286,113.84669745388716,-10.192678213119507,0,0,2.841585323624231],[-56.67635005004286,113.84669745388716,-12.192678213119507,0,0,2.841585323624231],[-61.453021664777886,115.32433350007199,-12.192678213119507,0,0,2.841585323624231],[-61.453021664777886,115.32433350007199,-12.192678213119507,0,0,3.1033847114233803],[-66.44937249163497,115.51532673284355,-12.192678213119507,0,0,3.1033847114233803],[-66.44937249163497,115.51532673284355,-12.192678213119507,0,0,-2.9180012079570563],[-71.32490947862395,114.4066612790197,-12.192678213119507,0,0,-2.9180012079570563],[-71.32490947862395,114.4066612790197,-12.192678213119507,0,0,-2.656201820157907],[-71.32490947862395,114.4066612790197,-12.192678213119507,0,0,-2.9180012079570563],[-71.32490947862395,114.4066612790197,-12.192678213119507,0,0,3.1033847114233803],[-71.32490947862395,114.4066612790197,-12.192678213119507,0,0,2.841585323624231],[-71.32490947862395,114.4066612790197,-12.192678213119507,0,0,2.5797859358250816],[-71.32490947862395,114.4066612790197,-12.192678213119507,0,0,2.317986548025932],[-71.32490947862395,114.4066612790197,-12.192678213119507,0,0,2.0561871602267825],[-71.32490947862395,114.4066612790197,-12.192678213119507,0,0,1.7943877724276331],[-71.32490947862395,114.4066612790197,-12.192678213119507,0,0,1.5325883846284838],[-71.13391624585239,119.40301210587678,-12.192678213119507,0,0,1.5325883846284838],[-70.94292301308083,124.39936293273387,-12.19267821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+{"episode_id":"3SB5N7Y3OC2H95U5RE90GKB2VLFG0C","trajectory_id":"3IVEC1GSMXXOLC8V50T12JR44OPJ18","scene_id":12,"start_position":[49.33578872680664,60.913509368896484,-1.7884762287139893],"start_rotation":[0.999681178139549,0.0,0.0,0.025249595512072724],"instruction":{"instruction_text":"Take off. Turn right to face the zebra crossing, and fly across it, and then turn right to face the white-roofed building and fly over the roof. Turn right to face the right building with wooden roof, then fly forward over the roof to reach the middle of the intersection. Fly forward over a white-roofed building and reach the edge of a rusty red roof with lights on the wall. Turn left until facing the small grey building with graffiti on its wall. Fly forward to the front of the building and land on the road."},"goals":[{"position":[-59.48935420049838,90.10583887348608,-3.7884762287139893]}],"reference_path":[[49.33578872680664,60.913509368896484,-1.7884762287139893,0,0,0.05050455845733156],[49.33578872680664,60.913509368896484,-3.7884762287139893,0,0,0.05050455845733156],[49.33578872680664,60.913509368896484,-5.788476228713989,0,0,0.05050455845733156],[49.33578872680664,60.913509368896484,-7.788476228713989,0,0,0.05050455845733156],[49.33578872680664,60.913509368896484,-7.788476228713989,0,0,0.31230394625648095],[49.33578872680664,60.913509368896484,-7.788476228713989,0,0,0.5741033340556304],[49.33578872680664,60.913509368896484,-7.788476228713989,0,0,0.8359027218547799],[49.33578872680664,60.913509368896484,-7.788476228713989,0,0,1.0977021096539294],[49.33578872680664,60.913509368896484,-7.788476228713989,0,0,1.359501497453079],[49.33578872680664,60.913509368896484,-7.788476228713989,0,0,1.6213008852522286],[49.08337327291608,65.90713394816125,-7.788476228713989,0,0,1.6213008852522286],[48.830957819025514,70.900758527426,-7.788476228713989,0,0,1.6213008852522286],[48.57854236513495,75.89438310669077,-7.788476228713989,0,0,1.6213008852522286],[48.32612691124439,80.88800768595553,-7.788476228713989,0,0,1.6213008852522286],[48.073711457353824,85.88163226522029,-7.788476228713989,0,0,1.6213008852522286],[47.82129600346326,90.87525684448505,-7.788476228713989,0,0,1.6213008852522286],[47.82129600346326,90.87525684448505,-7.788476228713989,0,0,1.883100273051378],[46.28503625239011,95.6333978656437,-7.788476228713989,0,0,1.883100273051378],[41.526895231231464,94.09713811457054,-7.788476228713989,0,0,1.883100273051378],[39.99063548015831,98.85527913572919,-7.788476228713989,0,0,1.883100273051378],[39.99063548015831,98.85527913572919,-7.788476228713989,0,0,2.1448996608505273],[39.99063548015831,98.85527913572919,-7.788476228713989,0,0,2.406699048649677],[36.28112499833808,102.20782025930484,-7.788476228713989,0,0,2.406699048649677],[32.57161451651785,105.56036138288047,-7.788476228713989,0,0,2.406699048649677],[28.862104034697616,108.9129025064561,-7.788476228713989,0,0,2.406699048649677],[25.152593552877384,112.26544363003174,-7.788476228713989,0,0,2.406699048649677],[25.152593552877384,112.26544363003174,-7.788476228713989,0,0,2.6684984364488264],[20.701780083326437,114.54365772428712,-7.788476228713989,0,0,2.6684984364488264],[20.701780083326437,114.54365772428712,-7.788476228713989,0,0,2.930297824247976],[20.701780083326437,114.54365772428712,-7.788476228713989,0,0,-3.091088095132461],[20.701780083326437,114.54365772428712,-7.788476228713989,0,0,-2.829288707333312],[20.701780083326437,114.54365772428712,-7.788476228713989,0,0,-2.5674893195341624],[16.50338206766605,111.82824723927773,-7.788476228713989,0,0,-2.5674893195341624],[12.304984052005661,109.11283675426834,-7.788476228713989,0,0,-2.5674893195341624],[8.106586036345274,106.39742626925896,-7.788476228713989,0,0,-2.5674893195341624],[8.106586036345274,106.39742626925896,-9.78847622871399,0,0,-2.5674893195341624],[3.9081880206848867,103.68201578424957,-9.78847622871399,0,0,-2.5674893195341624],[-0.29020999497550015,100.96660529924019,-9.78847622871399,0,0,-2.5674893195341624],[2.4252004900338884,96.7682072835798,-9.78847622871399,0,0,-2.5674893195341624],[-1.7731975256264985,94.05279679857041,-9.78847622871399,0,0,-2.5674893195341624],[-5.971595541286885,91.33738631356103,-9.78847622871399,0,0,-2.5674893195341624],[-10.169993556947272,88.62197582855164,-9.78847622871399,0,0,-2.5674893195341624],[-10.169993556947272,88.62197582855164,-11.78847622871399,0,0,-2.5674893195341624],[-14.36839157260766,85.90656534354225,-11.78847622871399,0,0,-2.5674893195341624],[-18.566789588268048,83.19115485853287,-11.78847622871399,0,0,-2.5674893195341624],[-22.765187603928435,80.47574437352348,-11.78847622871399,0,0,-2.5674893195341624],[-26.963585619588823,77.7603338885141,-11.78847622871399,0,0,-2.5674893195341624],[-26.963585619588823,77.7603338885141,-13.78847622871399,0,0,-2.5674893195341624],[-31.16198363524921,75.04492340350471,-13.78847622871399,0,0,-2.5674893195341624],[-35.360381650909595,72.32951291849533,-13.78847622871399,0,0,-2.5674893195341624],[-35.360381650909595,72.32951291849533,-13.78847622871399,0,0,-2.829288707333312],[-40.11852267206824,70.79325316742217,-13.78847622871399,0,0,-2.829288707333312],[-44.87666369322689,69.256993416349,-13.78847622871399,0,0,-2.829288707333312],[-49.63480471438554,67.72073366527584,-13.78847622871399,0,0,-2.829288707333312],[-49.63480471438554,67.72073366527584,-13.78847622871399,0,0,-3.0910880951324615],[-49.63480471438554,67.72073366527584,-13.78847622871399,0,0,2.9302978242479756],[-49.63480471438554,67.72073366527584,-13.78847622871399,0,0,2.668498436448826],[-49.63480471438554,67.72073366527584,-13.78847622871399,0,0,2.406699048649677],[-53.34431519620577,71.07327478885148,-13.78847622871399,0,0,2.406699048649677],[-53.34431519620577,71.07327478885148,-13.78847622871399,0,0,2.1448996608505277],[-53.34431519620577,71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+{"episode_id":"3VP0C6EFSPUCFQC646NC2Q5Q54YM61","trajectory_id":"3OB6JN3AAYN2FPDX6RL8O21YCJBRMJ","scene_id":12,"start_position":[18.10561180114746,156.1925506591797,-7.904179573059082],"start_rotation":[0.9996361571641299,0.0,0.0,-0.026973195771561112],"instruction":{"instruction_text":"Take off, ascend to a higher altitude than the grey dilapidated warehouse ahead, turn left to face the intersection, and fly straight to the intersection. At the intersection turn left to face the tan roofs left to a white flat roof building and fly straight over the roofs, a road and another roof to the road with two old tractors. Turn right to face the intersection, fly to the intersection, then turn right slightly to face a flat white roof and fly ahead to it. Turn left to face the shipping containers left to a red warehouse, fly over them, and then land on the ground."},"goals":[{"position":[16.246909596251736,63.55648996635144,-7.904179573059082]}],"reference_path":[[18.10561180114746,156.1925506591797,-7.904179573059082,0,0,-0.05395293516483341],[18.10561180114746,156.1925506591797,-9.904179573059082,0,0,-0.05395293516483341],[18.10561180114746,156.1925506591797,-11.904179573059082,0,0,-0.05395293516483341],[18.10561180114746,156.1925506591797,-13.904179573059082,0,0,-0.05395293516483341],[18.10561180114746,156.1925506591797,-13.904179573059082,0,0,-0.31575232296398287],[18.10561180114746,156.1925506591797,-13.904179573059082,0,0,-0.5775517107631323],[22.294621114913454,153.46267868980425,-13.904179573059082,0,0,-0.5775517107631323],[26.483630428679447,150.7328067204288,-13.904179573059082,0,0,-0.5775517107631323],[30.67263974244544,148.00293475105337,-13.904179573059082,0,0,-0.5775517107631323],[34.861649056211434,145.27306278167794,-13.904179573059082,0,0,-0.5775517107631323],[39.05065836997743,142.5431908123025,-13.904179573059082,0,0,-0.5775517107631323],[39.05065836997743,142.5431908123025,-11.904179573059082,0,0,-0.5775517107631323],[39.05065836997743,142.5431908123025,-9.904179573059082,0,0,-0.5775517107631323],[39.05065836997743,142.5431908123025,-9.904179573059082,0,0,-0.8393510985622817],[39.05065836997743,142.5431908123025,-9.904179573059082,0,0,-1.1011504863614312],[39.05065836997743,142.5431908123025,-9.904179573059082,0,0,-1.3629498741605806],[39.05065836997743,142.5431908123025,-9.904179573059082,0,0,-1.6247492619597301],[38.781024552302235,137.5504663452038,-9.904179573059082,0,0,-1.6247492619597301],[38.781024552302235,137.5504663452038,-9.904179573059082,0,0,-1.8865486497588797],[38.781024552302235,137.5504663452038,-9.904179573059082,0,0,-2.148348037558029],[38.781024552302235,137.5504663452038,-9.904179573059082,0,0,-2.410147425357178],[38.781024552302235,137.5504663452038,-9.904179573059082,0,0,-2.6719468131563278],[34.32238142086105,135.28761384748054,-9.904179573059082,0,0,-2.6719468131563278],[29.863738289419864,133.02476134975728,-9.904179573059082,0,0,-2.6719468131563278],[25.40509515797868,130.76190885203403,-9.904179573059082,0,0,-2.6719468131563278],[25.40509515797868,130.76190885203403,-11.904179573059082,0,0,-2.6719468131563278],[20.946452026537493,128.49905635431077,-11.904179573059082,0,0,-2.6719468131563278],[16.487808895096308,126.23620385658752,-11.904179573059082,0,0,-2.6719468131563278],[12.029165763655122,123.97335135886428,-11.904179573059082,0,0,-2.6719468131563278],[7.570522632213937,121.71049886114103,-11.904179573059082,0,0,-2.6719468131563278],[3.1118795007727513,119.44764636341779,-11.904179573059082,0,0,-2.6719468131563278],[-1.346763630668434,117.18479386569454,-11.904179573059082,0,0,-2.6719468131563278],[-5.8054067621096195,114.9219413679713,-11.904179573059082,0,0,-2.6719468131563278],[-10.264049893550805,112.65908887024806,-11.904179573059082,0,0,-2.6719468131563278],[-10.264049893550805,112.65908887024806,-13.904179573059082,0,0,-2.6719468131563278],[-14.72269302499199,110.39623637252481,-13.904179573059082,0,0,-2.6719468131563278],[-19.181336156433176,108.13338387480157,-13.904179573059082,0,0,-2.6719468131563278],[-23.63997928787436,105.87053137707832,-13.904179573059082,0,0,-2.6719468131563278],[-28.098622419315546,103.60767887935508,-13.904179573059082,0,0,-2.6719468131563278],[-32.55726555075673,101.34482638163183,-13.904179573059082,0,0,-2.6719468131563278],[-32.55726555075673,101.34482638163183,-11.904179573059082,0,0,-2.6719468131563278],[-32.55726555075673,101.34482638163183,-11.904179573059082,0,0,-2.410147425357178],[-32.55726555075673,101.34482638163183,-11.904179573059082,0,0,-2.148348037558029],[-32.55726555075673,101.34482638163183,-11.904179573059082,0,0,-1.8865486497588797],[-32.55726555075673,101.34482638163183,-11.904179573059082,0,0,-1.6247492619597304],[-32.55726555075673,101.34482638163183,-11.904179573059082,0,0,-1.362949874160581],[-32.55726555075673,101.34482638163183,-11.904179573059082,0,0,-1.1011504863614316],[-32.55726555075673,101.34482638163183,-11.904179573059082,0,0,-0.8393510985622822],[-32.55726555075673,101.34482638163183,-11.904179573059082,0,0,-0.5775517107631328],[-32.55726555075673,101.34482638163183,-11.904179573059082,0,0,-0.31575232296398337],[-27.804450411658824,99.79216793446398,-11.904179573059082,0,0,-0.31575232296398337],[-23.051635272560915,98.23950948729612,-11.904179573059082,0,0,-0.31575232296398337],[-21.498976825393054,102.99232462639402,-11.904179573059082,0,0,-0.31575232296398337],[-21.498976825393054,102.99232462639402,-11.904179573059082,0,0,-0.05395293516483393],[-16.506252358294365,102.72269080871882,-11.904179573059082,0,0,-0.05395293516483393],[-11.513527891195675,102.45305699104362,-11.904179573059082,0,0,-0.05395293516483393],[-6.520803424096985,102.18342317336842,-11.904179573059082,0,0,-0.05395293516483393],[-1.5280789569982947,101.91378935569323,-11.904179573059082,0,0,-0.05395293516483393],[3.4646455101003957,101.64415553801803,-11.9041795730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+{"episode_id":"3J88R45B2PWVJ8TFX9OUJ7C55S1PXF","trajectory_id":"3VEI3XUC0ZV80SAAY7D056VTGGKPRU","scene_id":12,"start_position":[-65.41268920898438,111.80338287353516,-9.146767616271973],"start_rotation":[0.9998292561816652,0.0,0.0,-0.018478595271775446],"instruction":{"instruction_text":"Take off, turn left to face the grey roof, and then fly forward to the edge of the current roof. Turn right to face the grey roof, and  then fly forward until flying over it. Turn left to face the light brown roof, then fly forward over the roof. Turn left to face the brown warehouse with lights on the wall, and then fly forward until reaching the double yellow lines. Turn right to face the crosswalk and land on the ground."},"goals":[{"position":[26.983553880702093,93.90327976282835,-5.146767616271973]}],"reference_path":[[-65.41268920898438,111.80338287353516,-9.146767616271973,0,0,-0.03695929409116147],[-65.41268920898438,111.80338287353516,-9.146767616271973,0,0,-0.2987586818903109],[-65.41268920898438,111.80338287353516,-9.146767616271973,0,0,-0.5605580696894603],[-65.41268920898438,111.80338287353516,-9.146767616271973,0,0,-0.8223574574886098],[-65.41268920898438,111.80338287353516,-9.146767616271973,0,0,-1.0841568452877592],[-65.41268920898438,111.80338287353516,-9.146767616271973,0,0,-1.3459562330869088],[-65.41268920898438,111.80338287353516,-9.146767616271973,0,0,-1.6077556208860584],[-65.59744361064298,106.80679745836734,-9.146767616271973,0,0,-1.6077556208860584],[-65.78219801230159,101.81021204319953,-9.146767616271973,0,0,-1.6077556208860584],[-65.78219801230159,101.81021204319953,-9.146767616271973,0,0,-1.3459562330869093],[-65.78219801230159,101.81021204319953,-9.146767616271973,0,0,-1.08415684528776],[-65.78219801230159,101.81021204319953,-9.146767616271973,0,0,-0.8223574574886104],[-65.78219801230159,101.81021204319953,-9.146767616271973,0,0,-0.560558069689461],[-65.78219801230159,101.81021204319953,-9.146767616271973,0,0,-0.2987586818903115],[-65.78219801230159,101.81021204319953,-9.146767616271973,0,0,-0.036959294091162075],[-65.78219801230159,101.81021204319953,-9.146767616271973,0,0,0.22484009370798735],[-60.90804915871594,102.9249644610438,-9.146767616271973,0,0,0.22484009370798735],[-56.03390030513029,104.03971687888807,-9.146767616271973,0,0,0.22484009370798735],[-56.03390030513029,104.03971687888807,-11.146767616271973,0,0,0.22484009370798735],[-56.03390030513029,104.03971687888807,-11.146767616271973,0,0,0.4866394815071368],[-51.614353202586834,106.37800758117463,-11.146767616271973,0,0,0.4866394815071368],[-47.19480610004338,108.71629828346119,-11.146767616271973,0,0,0.4866394815071368],[-42.775258997499925,111.05458898574774,-11.146767616271973,0,0,0.4866394815071368],[-38.35571189495647,113.3928796880343,-11.146767616271973,0,0,0.4866394815071368],[-33.93616479241302,115.73117039032086,-11.146767616271973,0,0,0.4866394815071368],[-29.516617689869562,118.06946109260741,-11.146767616271973,0,0,0.4866394815071368],[-29.516617689869562,118.06946109260741,-11.146767616271973,0,0,0.22484009370798735],[-24.64246883628391,119.18421351045168,-11.146767616271973,0,0,0.22484009370798735],[-24.64246883628391,119.18421351045168,-11.146767616271973,0,0,-0.036959294091162075],[-19.645883421116093,118.99945910879306,-11.146767616271973,0,0,-0.036959294091162075],[-14.649298005948275,118.81470470713444,-11.146767616271973,0,0,-0.036959294091162075],[-9.652712590780457,118.62995030547582,-11.146767616271973,0,0,-0.036959294091162075],[-4.656127175612638,118.4451959038172,-11.146767616271973,0,0,-0.036959294091162075],[-4.656127175612638,118.4451959038172,-11.146767616271973,0,0,0.22484009370798735],[0.21802167797301575,119.55994832166147,-11.146767616271973,0,0,0.22484009370798735],[0.21802167797301575,119.55994832166147,-11.146767616271973,0,0,-0.036959294091162075],[5.214607093140835,119.37519392000284,-11.146767616271973,0,0,-0.036959294091162075],[5.214607093140835,119.37519392000284,-11.146767616271973,0,0,-0.2987586818903115],[9.993120031094946,117.90352340599328,-11.146767616271973,0,0,-0.2987586818903115],[9.993120031094946,117.90352340599328,-11.146767616271973,0,0,-0.560558069689461],[14.227912731979785,115.24522869311203,-11.146767616271973,0,0,-0.560558069689461],[14.227912731979785,115.24522869311203,-9.146767616271973,0,0,-0.560558069689461],[14.227912731979785,115.24522869311203,-9.146767616271973,0,0,-0.8223574574886103],[17.63039107155588,111.5814681730022,-9.146767616271973,0,0,-0.8223574574886103],[17.63039107155588,111.5814681730022,-9.146767616271973,0,0,-1.08415684528776],[19.968681773842434,107.16192107045873,-9.146767616271973,0,0,-1.08415684528776],[22.306972476128987,102.74237396791527,-9.146767616271973,0,0,-1.08415684528776],[22.306972476128987,102.74237396791527,-7.146767616271973,0,0,-1.08415684528776],[24.64526317841554,98.32282686537181,-7.146767616271973,0,0,-1.08415684528776],[26.983553880702093,93.90327976282835,-7.146767616271973,0,0,-1.08415684528776],[26.983553880702093,93.90327976282835,-7.146767616271973,0,0,-0.8223574574886104],[26.983553880702093,93.90327976282835,-7.146767616271973,0,0,-0.560558069689461],[26.983553880702093,93.90327976282835,-5.146767616271973,0,0,-0.560558069689461],[26.983553880702093,93.90327976282835,-5.146767616271973,0,0,-0.8223574574886103]],"actions":[2,2,2,2,2,2,1,1,3,3,3,3,3,3,3,1,1,4,3,1,1,1,1,1,1,2,1,2,1,1,1,1,3,1,2,1,2,1,2,1,5,2,1,2,1,1,5,1,1,3,3,5,2,0]},
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+{"episode_id":"3TY7ZAOG5OIMBRQOH5UFEC3V1IMK04","trajectory_id":"3E9VAUV7C4CAAPGUNJNXN7ZVKHMYAC","scene_id":12,"start_position":[-107.13088989257812,137.08840942382812,-6.79252815246582],"start_rotation":[0.9996504579512817,0.0,0.0,-0.026437887922310985],"instruction":{"instruction_text":"Take off, then ascend to the height higher than the dark grey building on the right, and turn left to face the dark brown building behind the fence, fly to the front of the building, and then turn right to face the orange building, fly to the front of the building. Turn left to face the tall warehouse with a grey roof and some pipes in front of it, and fly forward until reaching the roof. Turn around to face the blue gantry crane. Fly forward to the front of the gantry crane, and turn left until facing the yellow box across the road, then fly towards the yellow box and land in front of it."},"goals":[{"position":[-5.0447579391796555,157.56858501740936,-4.79252815246582]}],"reference_path":[[-107.13088989257812,137.08840942382812,-6.79252815246582,0,0,-0.05288193747513559],[-107.13088989257812,137.08840942382812,-8.79252815246582,0,0,-0.05288193747513559],[-107.13088989257812,137.08840942382812,-8.79252815246582,0,0,-0.31468132527428505],[-107.13088989257812,137.08840942382812,-8.79252815246582,0,0,-0.5764807130734345],[-102.9389592952708,134.3630254385228,-8.79252815246582,0,0,-0.5764807130734345],[-98.74702869796349,131.6376414532175,-8.79252815246582,0,0,-0.5764807130734345],[-98.74702869796349,131.6376414532175,-10.79252815246582,0,0,-0.5764807130734345],[-94.55509810065617,128.91225746791218,-10.79252815246582,0,0,-0.5764807130734345],[-90.36316750334885,126.18687348260686,-10.79252815246582,0,0,-0.5764807130734345],[-86.17123690604153,123.46148949730153,-10.79252815246582,0,0,-0.5764807130734345],[-81.97930630873421,120.7361055119962,-10.79252815246582,0,0,-0.5764807130734345],[-81.97930630873421,120.7361055119962,-10.79252815246582,0,0,-0.3146813252742851],[-81.97930630873421,120.7361055119962,-10.79252815246582,0,0,-0.052881937475135664],[-81.97930630873421,120.7361055119962,-10.79252815246582,0,0,0.20891745032401376],[-81.97930630873421,120.7361055119962,-10.79252815246582,0,0,0.4707168381231632],[-81.97930630873421,120.7361055119962,-10.79252815246582,0,0,0.7325162259223125],[-78.26183605644205,124.07981825733226,-10.79252815246582,0,0,0.7325162259223125],[-74.54436580414989,127.42353100266833,-10.79252815246582,0,0,0.7325162259223125],[-70.82689555185773,130.7672437480044,-10.79252815246582,0,0,0.7325162259223125],[-67.10942529956557,134.11095649334047,-10.79252815246582,0,0,0.7325162259223125],[-63.39195504727341,137.45466923867653,-10.79252815246582,0,0,0.7325162259223125],[-59.674484794981254,140.7983819840126,-10.79252815246582,0,0,0.7325162259223125],[-59.674484794981254,140.7983819840126,-10.79252815246582,0,0,0.47071683812316306],[-59.674484794981254,140.7983819840126,-10.79252815246582,0,0,0.20891745032401365],[-59.674484794981254,140.7983819840126,-10.79252815246582,0,0,-0.05288193747513576],[-59.674484794981254,140.7983819840126,-10.79252815246582,0,0,-0.3146813252742852],[-59.674484794981254,140.7983819840126,-10.79252815246582,0,0,-0.5764807130734346],[-55.48255419767394,138.07299799870728,-10.79252815246582,0,0,-0.5764807130734346],[-51.29062360036663,135.34761401340197,-10.79252815246582,0,0,-0.5764807130734346],[-47.09869300305932,132.62223002809665,-10.79252815246582,0,0,-0.5764807130734346],[-42.906762405752005,129.89684604279134,-10.79252815246582,0,0,-0.5764807130734346],[-38.71483180844469,127.17146205748601,-10.79252815246582,0,0,-0.5764807130734346],[-38.71483180844469,127.17146205748601,-10.79252815246582,0,0,-0.8382801008725841],[-35.37111906310862,123.45399180519385,-10.79252815246582,0,0,-0.8382801008725841],[-35.37111906310862,123.45399180519385,-10.79252815246582,0,0,-1.1000794886717336],[-33.10349266759187,118.99777474019851,-10.79252815246582,0,0,-1.1000794886717336],[-33.10349266759187,118.99777474019851,-10.79252815246582,0,0,-1.3618788764708831],[-33.10349266759187,118.99777474019851,-10.79252815246582,0,0,-1.1000794886717338],[-33.10349266759187,118.99777474019851,-10.79252815246582,0,0,-0.8382801008725843],[-33.10349266759187,118.99777474019851,-10.79252815246582,0,0,-0.5764807130734348],[-33.10349266759187,118.99777474019851,-10.79252815246582,0,0,-0.3146813252742855],[-33.10349266759187,118.99777474019851,-10.79252815246582,0,0,-0.0528819374751361],[-33.10349266759187,118.99777474019851,-10.79252815246582,0,0,0.20891745032401332],[-33.10349266759187,118.99777474019851,-10.79252815246582,0,0,0.47071683812316273],[-33.10349266759187,118.99777474019851,-10.79252815246582,0,0,0.7325162259223122],[-33.10349266759187,118.99777474019851,-10.79252815246582,0,0,0.9943156137214618],[-33.10349266759187,118.99777474019851,-10.79252815246582,0,0,1.256115001520611],[-33.10349266759187,118.99777474019851,-10.79252815246582,0,0,1.5179143893197606],[-33.10349266759187,118.99777474019851,-10.79252815246582,0,0,1.77971377711891],[-33.10349266759187,118.99777474019851,-10.79252815246582,0,0,2.04151316491806],[-33.10349266759187,118.99777474019851,-10.79252815246582,0,0,2.3033125527172094],[-33.10349266759187,118.99777474019851,-10.79252815246582,0,0,2.565111940516359],[-33.10349266759187,118.99777474019851,-10.79252815246582,0,0,2.826911328315508],[-33.10349266759187,118.99777474019851,-10.79252815246582,0,0,3.0887107161146576],[-33.10349266759187,118.99777474019851,-10.79252815246582,0,0,-2.932675203265779],[-33.10349266759187,118.99777474019851,-10.79252815246582,0,0,-2.6708758154666294],[-33.10349266759187,118.99777474019851,-10.79252815246582,0,0,-2.4090764276674803],[-33.10349266759187,118.99777474019851,-10.79252815246582,0,0,-2.147277039868331],[-33.10349266759187,118.99777474019851,-10.79252815246582,0,0,-1.8854776520691818],[-33.10349266759187,118.99777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+{"episode_id":"3NQL1CS1506XOXGLOHJV8D8WUF1YV7","trajectory_id":"3Q7TKIAPP18O8XC7OEP9J055XAXDLU","scene_id":12,"start_position":[7.931318759918213,74.53087615966797,-4.944058418273926],"start_rotation":[0.9998813113685705,0.0,0.0,0.015406595206852577],"instruction":{"instruction_text":"Take off and rise to the same height as the red building in front, then turn right to the building with a brown roof and grey walls. Fly forward until reaching the edge of the light brown roof of the mentioned building. Turn right until facing the brown warehouse with the grey roof. Fly forward to the edge of the grey roof, then turn left to face the orange building with an iron gate. Fly forward until reaching the entrance of the orange building, and then land on the ground."},"goals":[{"position":[-35.381584633832205,136.28959430625451,-6.944058418273926]}],"reference_path":[[7.931318759918213,74.53087615966797,-4.944058418273926,0,0,0.03081440953005018],[7.931318759918213,74.53087615966797,-6.944058418273926,0,0,0.03081440953005018],[7.931318759918213,74.53087615966797,-8.944058418273926,0,0,0.03081440953005018],[7.931318759918213,74.53087615966797,-8.944058418273926,0,0,0.29261379732919957],[7.931318759918213,74.53087615966797,-8.944058418273926,0,0,0.554413185128349],[7.931318759918213,74.53087615966797,-8.944058418273926,0,0,0.8162125729274985],[7.931318759918213,74.53087615966797,-8.944058418273926,0,0,1.078011960726648],[7.931318759918213,74.53087615966797,-8.944058418273926,0,0,1.3398113485257976],[9.076001025071658,79.39808300875947,-8.944058418273926,0,0,1.3398113485257976],[10.220683290225104,84.26528985785097,-8.944058418273926,0,0,1.3398113485257976],[10.220683290225104,84.26528985785097,-10.944058418273926,0,0,1.3398113485257976],[11.365365555378549,89.13249670694248,-10.944058418273926,0,0,1.3398113485257976],[12.510047820531994,93.99970355603398,-10.944058418273926,0,0,1.3398113485257976],[12.510047820531994,93.99970355603398,-10.944058418273926,0,0,1.6016107363249472],[12.356000154340467,98.9973299242753,-10.944058418273926,0,0,1.6016107363249472],[12.20195248814894,103.99495629251663,-10.944058418273926,0,0,1.6016107363249472],[12.20195248814894,103.99495629251663,-10.944058418273926,0,0,1.8634101241240966],[10.75967298448759,108.78242220188021,-10.944058418273926,0,0,1.8634101241240966],[10.75967298448759,108.78242220188021,-10.944058418273926,0,0,2.125209511923246],[10.75967298448759,108.78242220188021,-10.944058418273926,0,0,2.3870088997223955],[10.75967298448759,108.78242220188021,-10.944058418273926,0,0,2.6488082875215446],[10.75967298448759,108.78242220188021,-10.944058418273926,0,0,2.910607675320694],[5.892466135396093,109.92710446703366,-10.944058418273926,0,0,2.910607675320694],[1.0252592863045962,111.0717867321871,-10.944058418273926,0,0,2.910607675320694],[-3.841947562786901,112.21646899734056,-10.944058418273926,0,0,2.910607675320694],[-8.709154411878398,113.361151262494,-10.944058418273926,0,0,2.910607675320694],[-9.853836677031843,108.4939444134025,-10.944058418273926,0,0,2.910607675320694],[-14.72104352612334,109.63862667855595,-10.944058418273926,0,0,2.910607675320694],[-19.588250375214837,110.7833089437094,-10.944058418273926,0,0,2.910607675320694],[-19.588250375214837,110.7833089437094,-10.944058418273926,0,0,2.6488082875215446],[-19.588250375214837,110.7833089437094,-10.944058418273926,0,0,2.3870088997223955],[-19.588250375214837,110.7833089437094,-10.944058418273926,0,0,2.125209511923246],[-22.220472751651066,115.03435650413358,-10.944058418273926,0,0,2.125209511923246],[-24.852695128087294,119.28540406455777,-10.944058418273926,0,0,2.125209511923246],[-27.484917504523523,123.53645162498195,-10.944058418273926,0,0,2.125209511923246],[-30.11713988095975,127.78749918540613,-10.944058418273926,0,0,2.125209511923246],[-32.74936225739598,132.03854674583033,-10.944058418273926,0,0,2.125209511923246],[-35.381584633832205,136.28959430625451,-10.944058418273926,0,0,2.125209511923246],[-35.381584633832205,136.28959430625451,-8.944058418273926,0,0,2.125209511923246],[-35.381584633832205,136.28959430625451,-6.944058418273926,0,0,2.125209511923246]],"actions":[4,4,3,3,3,3,3,1,1,4,1,1,3,1,1,3,1,3,3,3,3,1,1,1,1,7,1,1,2,2,2,1,1,1,1,1,1,5,5,0]},
+{"episode_id":"3PJ71Z61RD021KSF9R7Q288PXUC19K","trajectory_id":"3YD0MU1NDAZRV5KT0AXXAUFYHQ17AP","scene_id":12,"start_position":[-9.30901050567627,161.94236755371094,-2.0604546070098877],"start_rotation":[0.9998717467936259,0.0,0.0,-0.01601530405153735],"instruction":{"instruction_text":"Lift off, rise up to the height higher than the brown building with white roof in front and fly straight ahead until reaching the edge of dark grey warehouse's roof. Turn left until facing the intersection, and then fly forward to the middle of the intersection. Turn right to face a grey building with corrugated metal roof, surrounded by power lines and utility poles, and fly to the middle top of its roof. Turn left to face the intersection and then fly forward to the center of the intersection. Turn right to face a grey high platform with industrial equipment and stairs, and fly ahead to the cylinder on the platform. Fly forward over the platform to land in front of the grey wall."},"goals":[{"position":[17.75224490488617,56.50352020421299,-4.060454607009888]}],"reference_path":[[-9.30901050567627,161.94236755371094,-2.0604546070098877,0,0,-0.03203197751605804],[-9.30901050567627,161.94236755371094,-4.060454607009888,0,0,-0.03203197751605804],[-9.30901050567627,161.94236755371094,-6.060454607009888,0,0,-0.03203197751605804],[-9.30901050567627,161.94236755371094,-8.060454607009888,0,0,-0.03203197751605804],[-9.30901050567627,161.94236755371094,-10.060454607009888,0,0,-0.03203197751605804],[-4.311575405314901,161.7822350533365,-10.060454607009888,0,0,-0.03203197751605804],[0.6858596950464673,161.62210255296208,-10.060454607009888,0,0,-0.03203197751605804],[5.683294795407836,161.46197005258765,-10.060454607009888,0,0,-0.03203197751605804],[10.680729895769204,161.30183755221321,-10.060454607009888,0,0,-0.03203197751605804],[15.678164996130572,161.14170505183878,-10.060454607009888,0,0,-0.03203197751605804],[20.67560009649194,160.98157255146435,-10.060454607009888,0,0,-0.03203197751605804],[25.67303519685331,160.82144005108992,-10.060454607009888,0,0,-0.03203197751605804],[25.67303519685331,160.82144005108992,-10.060454607009888,0,0,-0.2938313653152075],[25.67303519685331,160.82144005108992,-10.060454607009888,0,0,-0.555630753114357],[25.67303519685331,160.82144005108992,-10.060454607009888,0,0,-0.8174301409135063],[25.67303519685331,160.82144005108992,-10.060454607009888,0,0,-1.0792295287126557],[25.67303519685331,160.82144005108992,-10.060454607009888,0,0,-1.341028916511805],[25.67303519685331,160.82144005108992,-10.060454607009888,0,0,-1.6028283043109546],[25.67303519685331,160.82144005108992,-10.060454607009888,0,0,-1.8646276921101042],[25.67303519685331,160.82144005108992,-10.060454607009888,0,0,-2.1264270799092535],[25.67303519685331,160.82144005108992,-10.060454607009888,0,0,-2.3882264677084026],[22.026084171945005,157.40095057998784,-10.060454607009888,0,0,-2.3882264677084026],[18.3791331470367,153.98046110888575,-10.060454607009888,0,0,-2.3882264677084026],[14.732182122128396,150.55997163778366,-10.060454607009888,0,0,-2.3882264677084026],[11.085231097220092,147.13948216668157,-10.060454607009888,0,0,-2.3882264677084026],[7.4382800723117874,143.7189926955795,-10.060454607009888,0,0,-2.3882264677084026],[3.791329047403483,140.2985032244774,-10.060454607009888,0,0,-2.3882264677084026],[0.3708395763013921,143.9454542493857,-10.060454607009888,0,0,-2.3882264677084026],[-3.2761114486069123,140.52496477828362,-10.060454607009888,0,0,-2.3882264677084026],[-6.923062473515216,137.10447530718153,-10.060454607009888,0,0,-2.3882264677084026],[-6.923062473515216,137.10447530718153,-10.060454607009888,0,0,-2.1264270799092535],[-6.923062473515216,137.10447530718153,-10.060454607009888,0,0,-1.864627692110104],[-6.923062473515216,137.10447530718153,-10.060454607009888,0,0,-1.6028283043109546],[-6.923062473515216,137.10447530718153,-10.060454607009888,0,0,-1.3410289165118052],[-6.923062473515216,137.10447530718153,-10.060454607009888,0,0,-1.0792295287126559],[-6.923062473515216,137.10447530718153,-10.060454607009888,0,0,-0.8174301409135064],[-3.5025730024131256,133.45752428227323,-10.060454607009888,0,0,-0.8174301409135064],[-0.08208353131103507,129.81057325736492,-10.060454607009888,0,0,-0.8174301409135064],[3.3384059397910555,126.16362223245662,-10.060454607009888,0,0,-0.8174301409135064],[3.3384059397910555,126.16362223245662,-10.060454607009888,0,0,-1.0792295287126559],[3.3384059397910555,126.16362223245662,-10.060454607009888,0,0,-1.3410289165118052],[3.3384059397910555,126.16362223245662,-10.060454607009888,0,0,-1.6028283043109548],[3.3384059397910555,126.16362223245662,-10.060454607009888,0,0,-1.8646276921101042],[1.8902984414138129,121.37791594465085,-10.060454607009888,0,0,-1.8646276921101042],[0.44219094303657025,116.59220965684509,-10.060454607009888,0,0,-1.8646276921101042],[-1.0059165553406724,111.80650336903932,-10.060454607009888,0,0,-1.8646276921101042],[-2.454024053717915,107.02079708123355,-10.060454607009888,0,0,-1.8646276921101042],[-3.902131552095158,102.23509079342779,-10.060454607009888,0,0,-1.8646276921101042],[-8.687837839900919,103.68319829180503,-10.060454607009888,0,0,-1.8646276921101042],[-10.13594533827816,98.89749200399926,-10.060454607009888,0,0,-1.8646276921101042],[-11.584052836655403,94.1117857161935,-10.060454607009888,0,0,-1.8646276921101042],[-13.032160335032644,89.32607942838773,-10.060454607009888,0,0,-1.8646276921101042],[-13.032160335032644,89.32607942838773,-10.060454607009888,0,0,-1.6028283043109548],[-13.032160335032644,89.32607942838773,-10.060454607009888,0,0,-1.3410289165118052],[-13.032160335032644,89.32607942838773,-10.060454607009888,0,0,-1.0792295287126559],[-13.032160335032644,89.32607942838773,-10.060454607009888,0,0,-0.8174301409135064],[-9.611670863930554,85.67912840347942,-10.060454607009888,0,0,-0.8174301409135064],[-6.191181392828463,82.03217737857112,-10.060454607009888,0,0,-0.8174301409135064],[-2.770691921726373,78.38522635366282,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+]}
diff --git a/TEST_FILE/AerialVLN-Fine-V3-Scene-13.json b/TEST_FILE/AerialVLN-Fine-V3-Scene-13.json
new file mode 100644
index 0000000000000000000000000000000000000000..72b298db3b01a25d410f6228a6532477cb6eeb8a
--- /dev/null
+++ b/TEST_FILE/AerialVLN-Fine-V3-Scene-13.json
@@ -0,0 +1,34 @@
+{"episodes":[
+{"episode_id":"3TXMY6UCANMSGMJZ6Q7W5ZH5CGKQCD","trajectory_id":"3INZSNUD98OT7VBYZHMJEREAXPGD9F","scene_id":13,"start_position":[54.06113815307617,-40.53596115112305,-1.2073620557785034],"start_rotation":[0.9998675144846023,0.0,0.0,0.01627739163329055],"instruction":{"instruction_text":"Lift off and turn right to face the black umbrellas and move forward to the area above the front black fence. Turn left to face the navy blue building on the opposite side of the road, then move forward the navy blue building. Fly to the center of the road and then turn right to face the traffic light above the road. After passing the traffic lights, land in the middle of the road."},"goals":[{"position":[12.853437444690996,-28.158817643818374,-1.2073620557785034]}],"reference_path":[[54.06113815307617,-40.53596115112305,-1.2073620557785034,0,0,0.032556221021854],[54.06113815307617,-40.53596115112305,-3.2073620557785034,0,0,0.032556221021854],[54.06113815307617,-40.53596115112305,-3.2073620557785034,0,0,0.2943556088210034],[54.06113815307617,-40.53596115112305,-3.2073620557785034,0,0,0.5561549966201529],[54.06113815307617,-40.53596115112305,-3.2073620557785034,0,0,0.8179543844193022],[54.06113815307617,-40.53596115112305,-3.2073620557785034,0,0,1.0797537722184516],[54.06113815307617,-40.53596115112305,-3.2073620557785034,0,0,1.3415531600176012],[54.06113815307617,-40.53596115112305,-3.2073620557785034,0,0,1.6033525478167507],[54.06113815307617,-40.53596115112305,-3.2073620557785034,0,0,1.8651519356159],[54.06113815307617,-40.53596115112305,-3.2073620557785034,0,0,2.1269513234150494],[54.06113815307617,-40.53596115112305,-3.2073620557785034,0,0,2.388750711214199],[54.06113815307617,-40.53596115112305,-3.2073620557785034,0,0,2.6505500990133486],[54.06113815307617,-40.53596115112305,-3.2073620557785034,0,0,2.9123494868124977],[49.19194486759421,-39.39975837493503,-3.2073620557785034,0,0,2.9123494868124977],[49.19194486759421,-39.39975837493503,-3.2073620557785034,0,0,2.6505500990133486],[49.19194486759421,-39.39975837493503,-3.2073620557785034,0,0,2.388750711214199],[49.19194486759421,-39.39975837493503,-3.2073620557785034,0,0,2.1269513234150494],[49.19194486759421,-39.39975837493503,-3.2073620557785034,0,0,1.8651519356159],[47.741328692882455,-34.61481190567703,-3.2073620557785034,0,0,1.8651519356159],[47.741328692882455,-34.61481190567703,-3.2073620557785034,0,0,1.6033525478167507],[47.57857634173575,-29.617461440460865,-3.2073620557785034,0,0,1.6033525478167507],[47.57857634173575,-29.617461440460865,-3.2073620557785034,0,0,1.8651519356159],[47.57857634173575,-29.617461440460865,-3.2073620557785034,0,0,2.1269513234150494],[47.57857634173575,-29.617461440460865,-3.2073620557785034,0,0,2.388750711214199],[47.57857634173575,-29.617461440460865,-3.2073620557785034,0,0,2.6505500990133486],[47.57857634173575,-29.617461440460865,-3.2073620557785034,0,0,2.9123494868124977],[42.709383056253785,-28.48125866427285,-3.2073620557785034,0,0,2.9123494868124977],[37.84018977077182,-27.345055888084836,-3.2073620557785034,0,0,2.9123494868124977],[37.84018977077182,-27.345055888084836,-3.2073620557785034,0,0,-3.109036432567939],[32.84283930555566,-27.507808239231544,-3.2073620557785034,0,0,-3.109036432567939],[27.845488840339492,-27.67056059037825,-3.2073620557785034,0,0,-3.109036432567939],[22.848138375123327,-27.83331294152496,-3.2073620557785034,0,0,-3.109036432567939],[17.85078790990716,-27.996065292671666,-3.2073620557785034,0,0,-3.109036432567939],[12.853437444690996,-28.158817643818374,-3.2073620557785034,0,0,-3.109036432567939],[12.853437444690996,-28.158817643818374,-1.2073620557785034,0,0,-3.109036432567939]],"actions":[4,3,3,3,3,3,3,3,3,3,3,3,1,2,2,2,2,1,2,1,3,3,3,3,3,1,1,3,1,1,1,1,1,5,0]},
+{"episode_id":"32N49TQG3PGWSFII8B5F5RQPT7XVAX","trajectory_id":"3INZSNUD98OT7VBYZHMJEREAXPGD9F","scene_id":13,"start_position":[54.06113815307617,-40.53596115112305,-1.2073620557785034],"start_rotation":[0.9998675144846023,0.0,0.0,0.01627739163329055],"instruction":{"instruction_text":"Lift off and turn right to face the black umbrellas and move forward to the area above the front black fence, then turn left to face the navy blue building on the opposite side of the road, then move forward. Fly to the center of the road and then turn right to face the traffic light above the road, and go forward to the traffic light, land after passing the traffic light."},"goals":[{"position":[12.853437444690996,-28.158817643818374,-1.2073620557785034]}],"reference_path":[[54.06113815307617,-40.53596115112305,-1.2073620557785034,0,0,0.032556221021854],[54.06113815307617,-40.53596115112305,-3.2073620557785034,0,0,0.032556221021854],[54.06113815307617,-40.53596115112305,-3.2073620557785034,0,0,0.2943556088210034],[54.06113815307617,-40.53596115112305,-3.2073620557785034,0,0,0.5561549966201529],[54.06113815307617,-40.53596115112305,-3.2073620557785034,0,0,0.8179543844193022],[54.06113815307617,-40.53596115112305,-3.2073620557785034,0,0,1.0797537722184516],[54.06113815307617,-40.53596115112305,-3.2073620557785034,0,0,1.3415531600176012],[54.06113815307617,-40.53596115112305,-3.2073620557785034,0,0,1.6033525478167507],[54.06113815307617,-40.53596115112305,-3.2073620557785034,0,0,1.8651519356159],[54.06113815307617,-40.53596115112305,-3.2073620557785034,0,0,2.1269513234150494],[54.06113815307617,-40.53596115112305,-3.2073620557785034,0,0,2.388750711214199],[54.06113815307617,-40.53596115112305,-3.2073620557785034,0,0,2.6505500990133486],[54.06113815307617,-40.53596115112305,-3.2073620557785034,0,0,2.9123494868124977],[49.19194486759421,-39.39975837493503,-3.2073620557785034,0,0,2.9123494868124977],[49.19194486759421,-39.39975837493503,-3.2073620557785034,0,0,2.6505500990133486],[49.19194486759421,-39.39975837493503,-3.2073620557785034,0,0,2.388750711214199],[49.19194486759421,-39.39975837493503,-3.2073620557785034,0,0,2.1269513234150494],[49.19194486759421,-39.39975837493503,-3.2073620557785034,0,0,1.8651519356159],[47.741328692882455,-34.61481190567703,-3.2073620557785034,0,0,1.8651519356159],[47.741328692882455,-34.61481190567703,-3.2073620557785034,0,0,1.6033525478167507],[47.57857634173575,-29.617461440460865,-3.2073620557785034,0,0,1.6033525478167507],[47.57857634173575,-29.617461440460865,-3.2073620557785034,0,0,1.8651519356159],[47.57857634173575,-29.617461440460865,-3.2073620557785034,0,0,2.1269513234150494],[47.57857634173575,-29.617461440460865,-3.2073620557785034,0,0,2.388750711214199],[47.57857634173575,-29.617461440460865,-3.2073620557785034,0,0,2.6505500990133486],[47.57857634173575,-29.617461440460865,-3.2073620557785034,0,0,2.9123494868124977],[42.709383056253785,-28.48125866427285,-3.2073620557785034,0,0,2.9123494868124977],[37.84018977077182,-27.345055888084836,-3.2073620557785034,0,0,2.9123494868124977],[37.84018977077182,-27.345055888084836,-3.2073620557785034,0,0,-3.109036432567939],[32.84283930555566,-27.507808239231544,-3.2073620557785034,0,0,-3.109036432567939],[27.845488840339492,-27.67056059037825,-3.2073620557785034,0,0,-3.109036432567939],[22.848138375123327,-27.83331294152496,-3.2073620557785034,0,0,-3.109036432567939],[17.85078790990716,-27.996065292671666,-3.2073620557785034,0,0,-3.109036432567939],[12.853437444690996,-28.158817643818374,-3.2073620557785034,0,0,-3.109036432567939],[12.853437444690996,-28.158817643818374,-1.2073620557785034,0,0,-3.109036432567939]],"actions":[4,3,3,3,3,3,3,3,3,3,3,3,1,2,2,2,2,1,2,1,3,3,3,3,3,1,1,3,1,1,1,1,1,5,0]},
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+{"episode_id":"3SPJ03342A1OX2GR7S5C5PX21BUYJQ","trajectory_id":"3UUSLRKAVT1PTCN5KKOZ0VN42ZSD73","scene_id":13,"start_position":[2.0097713470458984,-14.36480712890625,-15.442648887634277],"start_rotation":[0.9998364368768862,0.0,0.0,-0.018085892107728745],"instruction":{"instruction_text":"Turn left to face the brown building and then descend from the roof to the sidewalk, and turn right to face the traffic signal, then fly forward and stop in front of the traffic signal. Turn left to face the flower bed in the middle of the road and then proceed to the first flower bed. Turn right to face the blue umbrella area and go to it，then land under the umbrella on the far right."},"goals":[{"position":[41.624214688577624,-38.98036328227636,-1.4426488876342773]}],"reference_path":[[2.0097713470458984,-14.36480712890625,-15.442648887634277,0,0,-0.03617375646782482],[2.0097713470458984,-14.36480712890625,-15.442648887634277,0,0,-0.29797314426697424],[2.0097713470458984,-14.36480712890625,-15.442648887634277,0,0,-0.5597725320661237],[2.0097713470458984,-14.36480712890625,-15.442648887634277,0,0,-0.8215719198652731],[2.0097713470458984,-14.36480712890625,-15.442648887634277,0,0,-1.0833713076644225],[4.35153304805883,-18.78251605273419,-15.442648887634277,0,0,-1.0833713076644225],[6.693294749071761,-23.200224976562133,-15.442648887634277,0,0,-1.0833713076644225],[6.693294749071761,-23.200224976562133,-13.442648887634277,0,0,-1.0833713076644225],[6.693294749071761,-23.200224976562133,-11.442648887634277,0,0,-1.0833713076644225],[6.693294749071761,-23.200224976562133,-9.442648887634277,0,0,-1.0833713076644225],[6.693294749071761,-23.200224976562133,-7.442648887634277,0,0,-1.0833713076644225],[6.693294749071761,-23.200224976562133,-5.442648887634277,0,0,-1.0833713076644225],[6.693294749071761,-23.200224976562133,-3.4426488876342773,0,0,-1.0833713076644225],[6.693294749071761,-23.200224976562133,-3.4426488876342773,0,0,-0.8215719198652731],[6.693294749071761,-23.200224976562133,-3.4426488876342773,0,0,-0.5597725320661235],[6.693294749071761,-23.200224976562133,-3.4426488876342773,0,0,-0.29797314426697413],[11.472962265128011,-24.668141335200005,-3.4426488876342773,0,0,-0.29797314426697413],[16.25262978118426,-26.136057693837877,-3.4426488876342773,0,0,-0.29797314426697413],[21.03229729724051,-27.60397405247575,-3.4426488876342773,0,0,-0.29797314426697413],[25.81196481329676,-29.07189041111362,-3.4426488876342773,0,0,-0.29797314426697413],[25.81196481329676,-29.07189041111362,-3.4426488876342773,0,0,-0.5597725320661235],[25.81196481329676,-29.07189041111362,-3.4426488876342773,0,0,-0.821571919865273],[25.81196481329676,-29.07189041111362,-3.4426488876342773,0,0,-1.0833713076644225],[25.81196481329676,-29.07189041111362,-3.4426488876342773,0,0,-1.345170695463572],[25.81196481329676,-29.07189041111362,-3.4426488876342773,0,0,-1.6069700832627214],[25.63113547406945,-34.0686194161803,-3.4426488876342773,0,0,-1.6069700832627214],[25.63113547406945,-34.0686194161803,-3.4426488876342773,0,0,-1.345170695463572],[25.63113547406945,-34.0686194161803,-3.4426488876342773,0,0,-1.0833713076644225],[27.97289717508238,-38.486328340008235,-3.4426488876342773,0,0,-1.0833713076644225],[27.97289717508238,-38.486328340008235,-3.4426488876342773,0,0,-0.8215719198652731],[27.97289717508238,-38.486328340008235,-3.4426488876342773,0,0,-0.5597725320661235],[32.20977675968301,-41.14129564406198,-3.4426488876342773,0,0,-0.5597725320661235],[32.20977675968301,-41.14129564406198,-3.4426488876342773,0,0,-0.29797314426697413],[32.20977675968301,-41.14129564406198,-3.4426488876342773,0,0,-0.036173756467824704],[37.206505764749686,-41.32212498328929,-3.4426488876342773,0,0,-0.036173756467824704],[37.206505764749686,-41.32212498328929,-3.4426488876342773,0,0,0.22562563133132474],[37.206505764749686,-41.32212498328929,-3.4426488876342773,0,0,0.48742501913047415],[41.624214688577624,-38.98036328227636,-3.4426488876342773,0,0,0.48742501913047415],[41.624214688577624,-38.98036328227636,-1.4426488876342773,0,0,0.48742501913047415]],"actions":[2,2,2,2,1,1,5,5,5,5,5,5,3,3,3,1,1,1,1,2,2,2,2,2,1,3,3,1,3,3,1,3,3,1,3,3,1,5,0]},
+{"episode_id":"3OONKJ5DKLH6L5EDDDJX5AGO5GWOBQ","trajectory_id":"3E22YV8GH94NLUII50WJWMQJLE3NP8","scene_id":13,"start_position":[-7.445139408111572,-78.3685302734375,-0.815013587474823],"start_rotation":[0.9999947442800323,0.0,0.0,0.003242130829046878],"instruction":{"instruction_text":"Fly to face the street lamp on the right side of the street corner, then turn left to face a green shed and fly towards it. Turn right to face the blue awning and proceed towards the flower bed in the middle of the road, go to the left side of the orange awning, and then turn left to face the orange awning. Turn left to face the left of the orange awning and land in front of the building with the green facade."},"goals":[{"position":[31.449047572039802,-65.3514865054685,-2.815013587474823]}],"reference_path":[[-7.445139408111572,-78.3685302734375,-0.815013587474823,0,0,0.006484273017938795],[-7.445139408111572,-78.3685302734375,-2.815013587474823,0,0,0.006484273017938795],[-7.445139408111572,-78.3685302734375,-4.815013587474823,0,0,0.006484273017938795],[-7.445139408111572,-78.3685302734375,-6.815013587474823,0,0,0.006484273017938795],[-2.445244522234699,-78.33610913554435,-6.815013587474823,0,0,0.006484273017938795],[2.5546503636421747,-78.3036879976512,-6.815013587474823,0,0,0.006484273017938795],[2.5546503636421747,-78.3036879976512,-6.815013587474823,0,0,0.26828366081708827],[7.375786754690638,-76.97830356326689,-6.815013587474823,0,0,0.26828366081708827],[12.1969231457391,-75.65291912888259,-6.815013587474823,0,0,0.26828366081708827],[17.018059536787565,-74.32753469449828,-6.815013587474823,0,0,0.26828366081708827],[17.018059536787565,-74.32753469449828,-6.815013587474823,0,0,0.006484273017938841],[17.018059536787565,-74.32753469449828,-6.815013587474823,0,0,-0.2553151147812106],[17.018059536787565,-74.32753469449828,-6.815013587474823,0,0,-0.5171145025803601],[17.018059536787565,-74.32753469449828,-4.815013587474823,0,0,-0.5171145025803601],[17.018059536787565,-74.32753469449828,-4.815013587474823,0,0,-0.7789138903795095],[20.576444322269072,-77.84006906706372,-4.815013587474823,0,0,-0.7789138903795095],[20.576444322269072,-77.84006906706372,-2.815013587474823,0,0,-0.7789138903795095],[24.13482910775058,-81.35260343962916,-2.815013587474823,0,0,-0.7789138903795095],[24.13482910775058,-81.35260343962916,-2.815013587474823,0,0,-0.5171145025803601],[24.13482910775058,-81.35260343962916,-2.815013587474823,0,0,-0.2553151147812106],[24.13482910775058,-81.35260343962916,-2.815013587474823,0,0,0.006484273017938811],[24.13482910775058,-81.35260343962916,-2.815013587474823,0,0,0.26828366081708827],[24.13482910775058,-81.35260343962916,-2.815013587474823,0,0,0.5300830486162377],[24.13482910775058,-81.35260343962916,-2.815013587474823,0,0,0.7918824364153871],[24.13482910775058,-81.35260343962916,-2.815013587474823,0,0,1.0536818242145365],[24.13482910775058,-81.35260343962916,-2.815013587474823,0,0,1.315481212013686],[25.397580713317534,-76.51468463267942,-2.815013587474823,0,0,1.315481212013686],[26.66033231888449,-71.67676582572967,-2.815013587474823,0,0,1.315481212013686],[27.923083924451443,-66.83884701877993,-2.815013587474823,0,0,1.315481212013686],[27.923083924451443,-66.83884701877993,-2.815013587474823,0,0,1.5772805998128356],[27.89066278655829,-61.83895213290306,-2.815013587474823,0,0,1.5772805998128356],[27.89066278655829,-61.83895213290306,-2.815013587474823,0,0,1.3154812120136863],[27.89066278655829,-61.83895213290306,-2.815013587474823,0,0,1.053681824214537],[27.89066278655829,-61.83895213290306,-2.815013587474823,0,0,0.7918824364153875],[27.89066278655829,-61.83895213290306,-2.815013587474823,0,0,0.530083048616238],[27.89066278655829,-61.83895213290306,-2.815013587474823,0,0,0.2682836608170886],[27.89066278655829,-61.83895213290306,-2.815013587474823,0,0,0.0064842730179391515],[27.89066278655829,-61.83895213290306,-2.815013587474823,0,0,-0.2553151147812103],[27.89066278655829,-61.83895213290306,-2.815013587474823,0,0,-0.5171145025803597],[27.89066278655829,-61.83895213290306,-2.815013587474823,0,0,-0.7789138903795091],[31.449047572039802,-65.3514865054685,-2.815013587474823,0,0,-0.7789138903795091]],"actions":[4,4,4,1,1,3,1,1,1,2,2,2,5,2,1,5,1,3,3,3,3,3,3,3,3,1,1,1,3,1,2,2,2,2,2,2,2,2,2,1,0]},
+{"episode_id":"33C7UALJVUW2NF954Z1C2CDED9381H","trajectory_id":"3MZ3TAMYUTLGJ6N6LCNGW9UHVGUIR9","scene_id":13,"start_position":[28.115341186523438,-29.557783126831055,-0.813248336315155],"start_rotation":[0.9998973332447374,0.0,0.0,0.014329095228333085],"instruction":{"instruction_text":"Turn around to align with the road. Go forward to the road corner, turn right to face the small alley between the two light pink buildings at the right side of the road. Fly forward to the entrance of the alley, turn left slightly to face the corner and land in front of the grey-white building with many windows."},"goals":[{"position":[-14.653822346082361,-55.112354530510444,-2.813248336315155]}],"reference_path":[[28.115341186523438,-29.557783126831055,-0.813248336315155,0,0,0.02865917124475265],[28.115341186523438,-29.557783126831055,-0.813248336315155,0,0,0.2904585590439021],[28.115341186523438,-29.557783126831055,-0.813248336315155,0,0,0.5522579468430515],[28.115341186523438,-29.557783126831055,-0.813248336315155,0,0,0.814057334642201],[28.115341186523438,-29.557783126831055,-0.813248336315155,0,0,1.0758567224413504],[28.115341186523438,-29.557783126831055,-0.813248336315155,0,0,1.3376561102404998],[28.115341186523438,-29.557783126831055,-0.813248336315155,0,0,1.5994554980396494],[28.115341186523438,-29.557783126831055,-0.813248336315155,0,0,1.8612548858387987],[28.115341186523438,-29.557783126831055,-0.813248336315155,0,0,2.123054273637948],[28.115341186523438,-29.557783126831055,-0.813248336315155,0,0,2.3848536614370976],[28.115341186523438,-29.557783126831055,-0.813248336315155,0,0,2.646653049236247],[28.115341186523438,-29.557783126831055,-0.813248336315155,0,0,2.9084524370353964],[28.115341186523438,-29.557783126831055,-0.813248336315155,0,0,-3.112933482345041],[23.117394416224066,-29.701059367897255,-0.813248336315155,0,0,-3.112933482345041],[18.119447645924694,-29.844335608963455,-0.813248336315155,0,0,-3.112933482345041],[13.12150087562532,-29.987611850029655,-0.813248336315155,0,0,-3.112933482345041],[8.123554105325947,-30.130888091095855,-0.813248336315155,0,0,-3.112933482345041],[3.125607335026574,-30.274164332162055,-0.813248336315155,0,0,-3.112933482345041],[3.125607335026574,-30.274164332162055,-2.813248336315155,0,0,-3.112933482345041],[-1.8723394352727993,-30.417440573228255,-2.813248336315155,0,0,-3.112933482345041],[-6.870286205572173,-30.560716814294455,-2.813248336315155,0,0,-3.112933482345041],[-11.868232975871546,-30.703993055360655,-2.813248336315155,0,0,-3.112933482345041],[-11.868232975871546,-30.703993055360655,-2.813248336315155,0,0,-2.8511340945458916],[-11.868232975871546,-30.703993055360655,-2.813248336315155,0,0,-2.589334706746742],[-11.868232975871546,-30.703993055360655,-2.813248336315155,0,0,-2.327535318947593],[-11.868232975871546,-30.703993055360655,-2.813248336315155,0,0,-2.065735931148444],[-11.868232975871546,-30.703993055360655,-2.813248336315155,0,0,-1.8039365433492944],[-11.868232975871546,-30.703993055360655,-2.813248336315155,0,0,-1.5421371555501449],[-11.868232975871546,-30.703993055360655,-2.813248336315155,0,0,-1.2803377677509955],[-10.436274943769977,-35.49455629931222,-2.813248336315155,0,0,-1.2803377677509955],[-9.004316911668408,-40.28511954326379,-2.813248336315155,0,0,-1.2803377677509955],[-7.572358879566838,-45.07568278721536,-2.813248336315155,0,0,-1.2803377677509955],[-6.140400847465269,-49.866246031166924,-2.813248336315155,0,0,-1.2803377677509955],[-6.140400847465269,-49.866246031166924,-2.813248336315155,0,0,-1.5421371555501449],[-6.140400847465269,-49.866246031166924,-2.813248336315155,0,0,-1.8039365433492944],[-6.140400847465269,-49.866246031166924,-2.813248336315155,0,0,-2.065735931148444],[-6.140400847465269,-49.866246031166924,-2.813248336315155,0,0,-2.3275353189475934],[-6.140400847465269,-49.866246031166924,-2.813248336315155,0,0,-2.5893347067467425],[-10.397111596773815,-52.489300280838684,-2.813248336315155,0,0,-2.5893347067467425],[-14.653822346082361,-55.112354530510444,-2.813248336315155,0,0,-2.5893347067467425]],"actions":[3,3,3,3,3,3,3,3,3,3,3,3,1,1,1,1,1,4,1,1,1,3,3,3,3,3,3,3,1,1,1,1,2,2,2,2,2,1,1,0]},
+{"episode_id":"3IQ1VMJRY2IYV85F5A0JD91S1809A2","trajectory_id":"3MZ3TAMYUTLGJ6N6LCNGW9UHVGUIR9","scene_id":13,"start_position":[28.115341186523438,-29.557783126831055,-0.813248336315155],"start_rotation":[0.9998973332447374,0.0,0.0,0.014329095228333085],"instruction":{"instruction_text":"Turn around to align with the road. Fly forward to reach the road corner, turn right to face the small alley between the two light pink buildings at the right side of the road. Fly forward to the entrance of the alley, turn left to face between a gray, ornate, multi-story building and a smaller reddish-brown brick building nearby, and then land in front of the grey-white building with many windows."},"goals":[{"position":[-14.653822346082361,-55.112354530510444,-2.813248336315155]}],"reference_path":[[28.115341186523438,-29.557783126831055,-0.813248336315155,0,0,0.02865917124475265],[28.115341186523438,-29.557783126831055,-0.813248336315155,0,0,0.2904585590439021],[28.115341186523438,-29.557783126831055,-0.813248336315155,0,0,0.5522579468430515],[28.115341186523438,-29.557783126831055,-0.813248336315155,0,0,0.814057334642201],[28.115341186523438,-29.557783126831055,-0.813248336315155,0,0,1.0758567224413504],[28.115341186523438,-29.557783126831055,-0.813248336315155,0,0,1.3376561102404998],[28.115341186523438,-29.557783126831055,-0.813248336315155,0,0,1.5994554980396494],[28.115341186523438,-29.557783126831055,-0.813248336315155,0,0,1.8612548858387987],[28.115341186523438,-29.557783126831055,-0.813248336315155,0,0,2.123054273637948],[28.115341186523438,-29.557783126831055,-0.813248336315155,0,0,2.3848536614370976],[28.115341186523438,-29.557783126831055,-0.813248336315155,0,0,2.646653049236247],[28.115341186523438,-29.557783126831055,-0.813248336315155,0,0,2.9084524370353964],[28.115341186523438,-29.557783126831055,-0.813248336315155,0,0,-3.112933482345041],[23.117394416224066,-29.701059367897255,-0.813248336315155,0,0,-3.112933482345041],[18.119447645924694,-29.844335608963455,-0.813248336315155,0,0,-3.112933482345041],[13.12150087562532,-29.987611850029655,-0.813248336315155,0,0,-3.112933482345041],[8.123554105325947,-30.130888091095855,-0.813248336315155,0,0,-3.112933482345041],[3.125607335026574,-30.274164332162055,-0.813248336315155,0,0,-3.112933482345041],[3.125607335026574,-30.274164332162055,-2.813248336315155,0,0,-3.112933482345041],[-1.8723394352727993,-30.417440573228255,-2.813248336315155,0,0,-3.112933482345041],[-6.870286205572173,-30.560716814294455,-2.813248336315155,0,0,-3.112933482345041],[-11.868232975871546,-30.703993055360655,-2.813248336315155,0,0,-3.112933482345041],[-11.868232975871546,-30.703993055360655,-2.813248336315155,0,0,-2.8511340945458916],[-11.868232975871546,-30.703993055360655,-2.813248336315155,0,0,-2.589334706746742],[-11.868232975871546,-30.703993055360655,-2.813248336315155,0,0,-2.327535318947593],[-11.868232975871546,-30.703993055360655,-2.813248336315155,0,0,-2.065735931148444],[-11.868232975871546,-30.703993055360655,-2.813248336315155,0,0,-1.8039365433492944],[-11.868232975871546,-30.703993055360655,-2.813248336315155,0,0,-1.5421371555501449],[-11.868232975871546,-30.703993055360655,-2.813248336315155,0,0,-1.2803377677509955],[-10.436274943769977,-35.49455629931222,-2.813248336315155,0,0,-1.2803377677509955],[-9.004316911668408,-40.28511954326379,-2.813248336315155,0,0,-1.2803377677509955],[-7.572358879566838,-45.07568278721536,-2.813248336315155,0,0,-1.2803377677509955],[-6.140400847465269,-49.866246031166924,-2.813248336315155,0,0,-1.2803377677509955],[-6.140400847465269,-49.866246031166924,-2.813248336315155,0,0,-1.5421371555501449],[-6.140400847465269,-49.866246031166924,-2.813248336315155,0,0,-1.8039365433492944],[-6.140400847465269,-49.866246031166924,-2.813248336315155,0,0,-2.065735931148444],[-6.140400847465269,-49.866246031166924,-2.813248336315155,0,0,-2.3275353189475934],[-6.140400847465269,-49.866246031166924,-2.813248336315155,0,0,-2.5893347067467425],[-10.397111596773815,-52.489300280838684,-2.813248336315155,0,0,-2.5893347067467425],[-14.653822346082361,-55.112354530510444,-2.813248336315155,0,0,-2.5893347067467425]],"actions":[3,3,3,3,3,3,3,3,3,3,3,3,1,1,1,1,1,4,1,1,1,3,3,3,3,3,3,3,1,1,1,1,2,2,2,2,2,1,1,0]},
+{"episode_id":"3URFVVM16EGXG81QFDB9QYFFT96ZU5","trajectory_id":"3UQ1LLR27I6QAQ9V44Y7TZXZDU8AL8","scene_id":13,"start_position":[41.42513656616211,-56.09119415283203,-15.274781227111816],"start_rotation":[0.9996365586658285,0.0,0.0,-0.0269583118673959],"instruction":{"instruction_text":"Take off from the roof and turn right to face the brownish building with black edge roof. Move forward out of the roof and descend in height to the sidewalk. Then turn left to face the blue awning on the opposite side of the road. Fly forward to the blue awning on the opposite side of the road, then turn back to face the green awning at the distant road corner. Fly forward to the corner and turn back to align with the road. Now move forward on the road to the T-junction and turn right to align with the road, fly foward to the road corner and turn right to align with the road. Fly towards the small alley between the two warm white buildings on the right side of the road and then fly down close to the entrance of the alley."},"goals":[{"position":[-3.1272802232378663,-48.957052278885506,-3.2747812271118164]}],"reference_path":[[41.42513656616211,-56.09119415283203,-15.274781227111816,0,0,-0.05392315652773786],[41.42513656616211,-56.09119415283203,-15.274781227111816,0,0,0.20787623127141155],[41.42513656616211,-56.09119415283203,-15.274781227111816,0,0,0.469675619070561],[41.42513656616211,-56.09119415283203,-15.274781227111816,0,0,0.7314750068697105],[41.42513656616211,-56.09119415283203,-15.274781227111816,0,0,0.9932743946688599],[41.42513656616211,-56.09119415283203,-15.274781227111816,0,0,1.2550737824680094],[41.42513656616211,-56.09119415283203,-15.274781227111816,0,0,1.516873170267159],[41.42513656616211,-56.09119415283203,-15.274781227111816,0,0,1.7786725580663083],[41.42513656616211,-56.09119415283203,-15.274781227111816,0,0,2.0404719458654577],[41.42513656616211,-56.09119415283203,-15.274781227111816,0,0,2.3022713336646077],[41.42513656616211,-56.09119415283203,-15.274781227111816,0,0,2.5640707214637573],[41.42513656616211,-56.09119415283203,-15.274781227111816,0,0,2.825870109262907],[36.67227519311909,-54.53867723870979,-15.274781227111816,0,0,2.825870109262907],[31.919413820076073,-52.986160324587544,-15.274781227111816,0,0,2.825870109262907],[31.919413820076073,-52.986160324587544,-13.274781227111816,0,0,2.825870109262907],[31.919413820076073,-52.986160324587544,-11.274781227111816,0,0,2.825870109262907],[31.919413820076073,-52.986160324587544,-9.274781227111816,0,0,2.825870109262907],[31.919413820076073,-52.986160324587544,-7.274781227111816,0,0,2.825870109262907],[31.919413820076073,-52.986160324587544,-7.274781227111816,0,0,3.0876694970620564],[31.919413820076073,-52.986160324587544,-5.274781227111816,0,0,3.0876694970620564],[31.919413820076073,-52.986160324587544,-3.2747812271118164,0,0,3.0876694970620564],[26.92668132586347,-52.71667518356191,-3.2747812271118164,0,0,3.0876694970620564],[26.92668132586347,-52.71667518356191,-3.2747812271118164,0,0,2.825870109262907],[26.92668132586347,-52.71667518356191,-3.2747812271118164,0,0,2.5640707214637577],[26.92668132586347,-52.71667518356191,-3.2747812271118164,0,0,2.302271333664608],[26.92668132586347,-52.71667518356191,-3.2747812271118164,0,0,2.0404719458654585],[26.92668132586347,-52.71667518356191,-3.2747812271118164,0,0,1.778672558066309],[26.92668132586347,-52.71667518356191,-3.2747812271118164,0,0,1.5168731702671596],[26.92668132586347,-52.71667518356191,-3.2747812271118164,0,0,1.2550737824680103],[26.92668132586347,-52.71667518356191,-3.2747812271118164,0,0,0.993274394668861],[26.92668132586347,-52.71667518356191,-3.2747812271118164,0,0,0.7314750068697116],[26.92668132586347,-52.71667518356191,-3.2747812271118164,0,0,0.4696756190705622],[26.92668132586347,-52.71667518356191,-3.2747812271118164,0,0,0.2078762312714128],[26.92668132586347,-52.71667518356191,-3.2747812271118164,0,0,-0.053923156527736625],[26.92668132586347,-52.71667518356191,-3.2747812271118164,0,0,-0.31572254432688607],[26.92668132586347,-52.71667518356191,-3.2747812271118164,0,0,-0.5775219321260355],[26.92668132586347,-52.71667518356191,-3.2747812271118164,0,0,-0.839321319925185],[26.92668132586347,-52.71667518356191,-3.2747812271118164,0,0,-1.1011207077243343],[26.92668132586347,-52.71667518356191,-3.2747812271118164,0,0,-1.362920095523484],[27.958592924950093,-57.60903233034407,-3.2747812271118164,0,0,-1.362920095523484],[27.958592924950093,-57.60903233034407,-3.2747812271118164,0,0,-1.6247194833226333],[27.68910778392446,-62.601764824556675,-3.2747812271118164,0,0,-1.6247194833226333],[27.68910778392446,-62.601764824556675,-3.2747812271118164,0,0,-1.8865188711217828],[27.68910778392446,-62.601764824556675,-3.2747812271118164,0,0,-2.1483182589209324],[27.68910778392446,-62.601764824556675,-3.2747812271118164,0,0,-2.410117646720082],[27.68910778392446,-62.601764824556675,-3.2747812271118164,0,0,-2.6719170345192316],[27.68910778392446,-62.601764824556675,-3.2747812271118164,0,0,-2.933716422318381],[27.68910778392446,-62.601764824556675,-3.2747812271118164,0,0,3.087669497062056],[27.68910778392446,-62.601764824556675,-3.2747812271118164,0,0,2.8258701092629064],[27.68910778392446,-62.601764824556675,-3.2747812271118164,0,0,2.5640707214637573],[27.68910778392446,-62.601764824556675,-3.2747812271118164,0,0,2.302271333664608],[27.68910778392446,-62.601764824556675,-3.2747812271118164,0,0,2.0404719458654585],[27.68910778392446,-62.601764824556675,-3.2747812271118164,0,0,1.778672558066309],[26.65719618483784,-57.709407677774514,-3.2747812271118164,0,0,1.778672558066309],[25.62528458575122,-52.817050530992354,-3.2747812271118164,0,0,1.778672558066309],[24.5933729866646,-47.924693384210194,-3.2747812271118164,0,0,1.778672558066309],[24.5933729866646,-47.924693384210194,-3.2747812271118164,0,0,1.5168731702671596],[24.862858127690235,-42.93196088999759,-3.2747812271118164,0,0,1.5168731702671596],[25.132343268715868,-37.93922839578499,-3.2747812271118164,0,0,1.5168731702671596],[25.4018284097415,-32.94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+{"episode_id":"3CFJTT4SX2O9N70K21UCGBY6AGW7IG","trajectory_id":"30QQTY5GNSIBAEYR6FEOAVRSTGQU70","scene_id":13,"start_position":[9.102559089660645,-81.3253402709961,-0.8774731755256653],"start_rotation":[0.9999860299567197,0.0,0.0,-0.005285819841669658],"instruction":{"instruction_text":"Take off, then turn right to face the brown building at the inner corner, and then fly up to the top of the mentioned building. Fly forward over the rooftop platform and then turn left to face the white buildings across the street. Fly toward to the white building, then turn right to face the sidewalk with trees. Descend to a ground height and then land beside the trees in front."},"goals":[{"position":[35.26957476882983,-51.121506320529235,-2.8774731755256653]}],"reference_path":[[9.102559089660645,-81.3253402709961,-0.8774731755256653,0,0,-0.01057168891236905],[9.102559089660645,-81.3253402709961,-2.8774731755256653,0,0,-0.01057168891236905],[9.102559089660645,-81.3253402709961,-2.8774731755256653,0,0,0.25122769888678037],[9.102559089660645,-81.3253402709961,-2.8774731755256653,0,0,0.5130270866859298],[9.102559089660645,-81.3253402709961,-2.8774731755256653,0,0,0.7748264744850792],[9.102559089660645,-81.3253402709961,-2.8774731755256653,0,0,1.0366258622842288],[11.648195293330508,-77.0218839486239,-2.8774731755256653,0,0,1.0366258622842288],[11.648195293330508,-77.0218839486239,-2.8774731755256653,0,0,1.2984252500833782],[11.648195293330508,-77.0218839486239,-4.877473175525665,0,0,1.2984252500833782],[12.993274590794908,-72.20620521312537,-4.877473175525665,0,0,1.2984252500833782],[12.993274590794908,-72.20620521312537,-6.877473175525665,0,0,1.2984252500833782],[12.993274590794908,-72.20620521312537,-8.877473175525665,0,0,1.2984252500833782],[12.993274590794908,-72.20620521312537,-10.877473175525665,0,0,1.2984252500833782],[14.338353888259308,-67.39052647762685,-10.877473175525665,0,0,1.2984252500833782],[15.683433185723707,-62.57484774212833,-10.877473175525665,0,0,1.2984252500833782],[17.028512483188106,-57.759169006629804,-10.877473175525665,0,0,1.2984252500833782],[17.028512483188106,-57.759169006629804,-10.877473175525665,0,0,1.0366258622842288],[12.725056160815903,-55.21353280295994,-10.877473175525665,0,0,1.0366258622842288],[12.725056160815903,-55.21353280295994,-10.877473175525665,0,0,0.7748264744850794],[12.725056160815903,-55.21353280295994,-10.877473175525665,0,0,0.51302708668593],[12.725056160815903,-55.21353280295994,-10.877473175525665,0,0,0.2512276988867806],[12.725056160815903,-55.21353280295994,-10.877473175525665,0,0,-0.010571688912368822],[17.724776761901918,-55.266390262945315,-10.877473175525665,0,0,-0.010571688912368822],[22.724497362987933,-55.31924772293069,-10.877473175525665,0,0,-0.010571688912368822],[22.724497362987933,-55.31924772293069,-8.877473175525665,0,0,-0.010571688912368822],[27.724217964073947,-55.372105182916066,-8.877473175525665,0,0,-0.010571688912368822],[32.72393856515996,-55.42496264290144,-8.877473175525665,0,0,-0.010571688912368822],[32.72393856515996,-55.42496264290144,-8.877473175525665,0,0,0.2512276988867806],[32.72393856515996,-55.42496264290144,-8.877473175525665,0,0,0.51302708668593],[32.72393856515996,-55.42496264290144,-8.877473175525665,0,0,0.7748264744850795],[32.72393856515996,-55.42496264290144,-8.877473175525665,0,0,1.0366258622842288],[32.72393856515996,-55.42496264290144,-6.877473175525665,0,0,1.0366258622842288],[32.72393856515996,-55.42496264290144,-4.877473175525665,0,0,1.0366258622842288],[35.26957476882983,-51.121506320529235,-4.877473175525665,0,0,1.0366258622842288],[35.26957476882983,-51.121506320529235,-2.8774731755256653,0,0,1.0366258622842288],[35.26957476882983,-51.121506320529235,-2.8774731755256653,0,0,1.2984252500833782],[35.26957476882983,-51.121506320529235,-2.8774731755256653,0,0,1.5602246378825275],[35.26957476882983,-51.121506320529235,-2.8774731755256653,0,0,1.298425250083378]],"actions":[4,3,3,3,3,1,3,4,1,4,4,4,1,1,1,2,7,2,2,2,2,1,1,5,1,1,3,3,3,3,5,5,1,5,3,3,2,0]},
+{"episode_id":"3QILPRALQET51MGU9MZAZJQI5YG8N0","trajectory_id":"3XH7ZM9YYASN85U3HIH3JGVEHW89RZ","scene_id":13,"start_position":[9.102559089660645,-81.3253402709961,-0.8774731755256653],"start_rotation":[0.9997465072603733,0.0,0.0,-0.02251491107431837],"instruction":{"instruction_text":"Take off and fly forward to the green awning. Turn right to face the orange awning, and then fly forward to the front of the orange awning, and ascend to the height above the roof of the gray-white building on the left. Turn left to face the rooftop platform, and then land on the rooftop."},"goals":[{"position":[38.81421749327134,-59.787024924076235,-14.877473175525665]}],"reference_path":[[9.102559089660645,-81.3253402709961,-0.8774731755256653,0,0,-0.04503362744547937],[14.0974898774538,-81.55043230807438,-0.8774731755256653,0,0,-0.04503362744547937],[19.092420665246955,-81.77552434515266,-0.8774731755256653,0,0,-0.04503362744547937],[24.08735145304011,-82.00061638223094,-0.8774731755256653,0,0,-0.04503362744547937],[29.082282240833266,-82.22570841930923,-0.8774731755256653,0,0,-0.04503362744547937],[29.082282240833266,-82.22570841930923,-0.8774731755256653,0,0,0.21676576035367004],[29.082282240833266,-82.22570841930923,-0.8774731755256653,0,0,0.4785651481528195],[29.082282240833266,-82.22570841930923,-0.8774731755256653,0,0,0.7403645359519688],[29.082282240833266,-82.22570841930923,-0.8774731755256653,0,0,1.0021639237511182],[29.082282240833266,-82.22570841930923,-0.8774731755256653,0,0,1.2639633115502678],[30.592487669588998,-77.4592338769502,-0.8774731755256653,0,0,1.2639633115502678],[32.10269309834473,-72.69275933459116,-0.8774731755256653,0,0,1.2639633115502678],[32.10269309834473,-72.69275933459116,-2.8774731755256653,0,0,1.2639633115502678],[33.61289852710046,-67.92628479223212,-2.8774731755256653,0,0,1.2639633115502678],[33.61289852710046,-67.92628479223212,-4.877473175525665,0,0,1.2639633115502678],[33.61289852710046,-67.92628479223212,-6.877473175525665,0,0,1.2639633115502678],[33.61289852710046,-67.92628479223212,-8.877473175525665,0,0,1.2639633115502678],[33.61289852710046,-67.92628479223212,-10.877473175525665,0,0,1.2639633115502678],[33.61289852710046,-67.92628479223212,-12.877473175525665,0,0,1.2639633115502678],[35.123103955856195,-63.1598102498731,-12.877473175525665,0,0,1.2639633115502678],[35.123103955856195,-63.1598102498731,-12.877473175525665,0,0,1.0021639237511182],[35.123103955856195,-63.1598102498731,-14.877473175525665,0,0,1.0021639237511182],[35.123103955856195,-63.1598102498731,-14.877473175525665,0,0,0.7403645359519688],[38.81421749327134,-59.787024924076235,-14.877473175525665,0,0,0.7403645359519688]],"actions":[1,1,1,1,3,3,3,3,3,1,1,4,1,4,4,4,4,4,1,2,4,2,1,0]},
+{"episode_id":"3ZOTGHDK5R952RVFOZ5SVZQNJLBSOU","trajectory_id":"3Y7LTZE0Z1KUUO4XPA671FKRYS0UZM","scene_id":13,"start_position":[-16.377094268798828,-52.42120361328125,-0.7463926672935486],"start_rotation":[0.9996913031046908,0.0,0.0,-0.02484549248546475],"instruction":{"instruction_text":"Lift off and head straight to the white wall in the alley in front. Turn left to face the brown brick wall, then ascend to a higher altitude above the roof, and then fly straight over the gray-white rooftop platform, and then descend to close to the street. Turn right to face the street lights at the inner corner and proceed to the front of the orange awning. Land in the left front area of the orange awning."},"goals":[{"position":[31.34936792622637,-65.19109355033396,-0.7463926672935486]}],"reference_path":[[-16.377094268798828,-52.42120361328125,-0.7463926672935486,0,0,-0.04969609875330702],[-16.377094268798828,-52.42120361328125,-2.7463926672935486,0,0,-0.04969609875330702],[-16.377094268798828,-52.42120361328125,-4.746392667293549,0,0,-0.04969609875330702],[-16.377094268798828,-52.42120361328125,-6.746392667293549,0,0,-0.04969609875330702],[-11.383267253767281,-52.66958184087197,-6.746392667293549,0,0,-0.04969609875330702],[-6.389440238735734,-52.91796006846269,-6.746392667293549,0,0,-0.04969609875330702],[-6.389440238735734,-52.91796006846269,-8.746392667293549,0,0,-0.04969609875330702],[-1.3956132237041867,-53.16633829605341,-8.746392667293549,0,0,-0.04969609875330702],[3.5982137913273604,-53.41471652364413,-8.746392667293549,0,0,-0.04969609875330702],[3.5982137913273604,-53.41471652364413,-8.746392667293549,0,0,-0.31149548655245646],[3.5982137913273604,-53.41471652364413,-8.746392667293549,0,0,-0.5732948743516059],[3.5982137913273604,-53.41471652364413,-8.746392667293549,0,0,-0.8350942621507553],[3.5982137913273604,-53.41471652364413,-8.746392667293549,0,0,-1.0968936499499047],[3.5982137913273604,-53.41471652364413,-10.746392667293549,0,0,-1.0968936499499047],[5.880025444002618,-57.86368669456182,-10.746392667293549,0,0,-1.0968936499499047],[8.161837096677875,-62.31265686547951,-10.746392667293549,0,0,-1.0968936499499047],[8.161837096677875,-62.31265686547951,-10.746392667293549,0,0,-1.3586930377490543],[8.161837096677875,-62.31265686547951,-10.746392667293549,0,0,-1.6204924255482038],[7.913458869087154,-67.30648388051105,-10.746392667293549,0,0,-1.6204924255482038],[7.6650806414964325,-72.3003108955426,-10.746392667293549,0,0,-1.6204924255482038],[7.6650806414964325,-72.3003108955426,-10.746392667293549,0,0,-1.3586930377490545],[7.6650806414964325,-72.3003108955426,-8.746392667293549,0,0,-1.3586930377490545],[8.717663236216287,-77.1882623970709,-8.746392667293549,0,0,-1.3586930377490545],[8.717663236216287,-77.1882623970709,-8.746392667293549,0,0,-1.096893649949905],[8.717663236216287,-77.1882623970709,-8.746392667293549,0,0,-0.8350942621507556],[8.717663236216287,-77.1882623970709,-8.746392667293549,0,0,-0.5732948743516061],[8.717663236216287,-77.1882623970709,-8.746392667293549,0,0,-0.3114954865524567],[8.717663236216287,-77.1882623970709,-8.746392667293549,0,0,-0.04969609875330723],[8.717663236216287,-77.1882623970709,-8.746392667293549,0,0,0.2121032890458422],[8.717663236216287,-77.1882623970709,-8.746392667293549,0,0,0.47390267684499165],[8.717663236216287,-77.1882623970709,-8.746392667293549,0,0,0.7357020646441411],[12.073202253589177,-80.89506127250078,-8.746392667293549,0,0,0.7357020646441411],[12.073202253589177,-80.89506127250078,-6.746392667293549,0,0,0.7357020646441411],[15.780001129019052,-77.53952225512789,-6.746392667293549,0,0,0.7357020646441411],[15.780001129019052,-77.53952225512789,-6.746392667293549,0,0,0.47390267684499177],[15.780001129019052,-77.53952225512789,-4.746392667293549,0,0,0.47390267684499177],[20.228971299936745,-75.25771060245263,-4.746392667293549,0,0,0.47390267684499177],[20.228971299936745,-75.25771060245263,-4.746392667293549,0,0,0.7357020646441413],[23.93577017536662,-71.90217158507974,-4.746392667293549,0,0,0.7357020646441413],[27.642569050796496,-68.54663256770685,-4.746392667293549,0,0,0.7357020646441413],[31.34936792622637,-65.19109355033396,-4.746392667293549,0,0,0.7357020646441413],[31.34936792622637,-65.19109355033396,-4.746392667293549,0,0,0.4739026768449919],[31.34936792622637,-65.19109355033396,-2.7463926672935486,0,0,0.4739026768449919],[31.34936792622637,-65.19109355033396,-2.7463926672935486,0,0,0.21210328904584244],[31.34936792622637,-65.19109355033396,-2.7463926672935486,0,0,-0.04969609875330695],[31.34936792622637,-65.19109355033396,-0.7463926672935486,0,0,-0.04969609875330695],[31.34936792622637,-65.19109355033396,-0.7463926672935486,0,0,0.21210328904584247],[31.34936792622637,-65.19109355033396,-0.7463926672935486,0,0,0.4739026768449919],[31.34936792622637,-65.19109355033396,-0.7463926672935486,0,0,0.7357020646441413],[31.34936792622637,-65.19109355033396,-0.7463926672935486,0,0,0.9975014524432907],[31.34936792622637,-65.19109355033396,-0.7463926672935486,0,0,1.2593008402424402],[31.34936792622637,-65.19109355033396,-0.7463926672935486,0,0,1.5211002280415895],[31.34936792622637,-65.19109355033396,-0.7463926672935486,0,0,1.7828996158407389],[31.34936792622637,-65.19109355033396,-0.7463926672935486,0,0,1.5211002280415895],[31.34936792622637,-65.19109355033396,-0.7463926672935486,0,0,1.25930084024244],[31.34936792622637,-65.19109355033396,-0.7463926672935486,0,0,0.9975014524432905],[31.34936792622637,-65.19109355033396,-0.7463926672935486,0,0,0.7357020646441411]],"actions":[4,4,4,1,1,4,1,1,2,2,2,2,4,1,1,2,2,1,1,3,5,1,3,3,3,3,3,3,3,3,6,5,1,2,5,1,3,1,1,1,2,5,2,2,5,3,3,3,3,3,3,3,2,2,2,2,0]},
+{"episode_id":"3AAPLD8UCLFWPAM79MFSLVP89HHTH0","trajectory_id":"3Y7LTZE0Z1KUUO4XPA671FKRYS0UZM","scene_id":13,"start_position":[-16.377094268798828,-52.42120361328125,-0.7463926672935486],"start_rotation":[0.9996913031046908,0.0,0.0,-0.02484549248546475],"instruction":{"instruction_text":"Lift off and head straight to the white wall in the alley in front, and turn left to face the brown wall, then ascend to a higher altitude to fly over the gray-white rooftop platform, and then descend to reach the street. Turn right to face the orange awning and proceed to stop in front of the orange awning. Land in the left front area of the orange awning."},"goals":[{"position":[31.34936792622637,-65.19109355033396,-0.7463926672935486]}],"reference_path":[[-16.377094268798828,-52.42120361328125,-0.7463926672935486,0,0,-0.04969609875330702],[-16.377094268798828,-52.42120361328125,-2.7463926672935486,0,0,-0.04969609875330702],[-16.377094268798828,-52.42120361328125,-4.746392667293549,0,0,-0.04969609875330702],[-16.377094268798828,-52.42120361328125,-6.746392667293549,0,0,-0.04969609875330702],[-11.383267253767281,-52.66958184087197,-6.746392667293549,0,0,-0.04969609875330702],[-6.389440238735734,-52.91796006846269,-6.746392667293549,0,0,-0.04969609875330702],[-6.389440238735734,-52.91796006846269,-8.746392667293549,0,0,-0.04969609875330702],[-1.3956132237041867,-53.16633829605341,-8.746392667293549,0,0,-0.04969609875330702],[3.5982137913273604,-53.41471652364413,-8.746392667293549,0,0,-0.04969609875330702],[3.5982137913273604,-53.41471652364413,-8.746392667293549,0,0,-0.31149548655245646],[3.5982137913273604,-53.41471652364413,-8.746392667293549,0,0,-0.5732948743516059],[3.5982137913273604,-53.41471652364413,-8.746392667293549,0,0,-0.8350942621507553],[3.5982137913273604,-53.41471652364413,-8.746392667293549,0,0,-1.0968936499499047],[3.5982137913273604,-53.41471652364413,-10.746392667293549,0,0,-1.0968936499499047],[5.880025444002618,-57.86368669456182,-10.746392667293549,0,0,-1.0968936499499047],[8.161837096677875,-62.31265686547951,-10.746392667293549,0,0,-1.0968936499499047],[8.161837096677875,-62.31265686547951,-10.746392667293549,0,0,-1.3586930377490543],[8.161837096677875,-62.31265686547951,-10.746392667293549,0,0,-1.6204924255482038],[7.913458869087154,-67.30648388051105,-10.746392667293549,0,0,-1.6204924255482038],[7.6650806414964325,-72.3003108955426,-10.746392667293549,0,0,-1.6204924255482038],[7.6650806414964325,-72.3003108955426,-10.746392667293549,0,0,-1.3586930377490545],[7.6650806414964325,-72.3003108955426,-8.746392667293549,0,0,-1.3586930377490545],[8.717663236216287,-77.1882623970709,-8.746392667293549,0,0,-1.3586930377490545],[8.717663236216287,-77.1882623970709,-8.746392667293549,0,0,-1.096893649949905],[8.717663236216287,-77.1882623970709,-8.746392667293549,0,0,-0.8350942621507556],[8.717663236216287,-77.1882623970709,-8.746392667293549,0,0,-0.5732948743516061],[8.717663236216287,-77.1882623970709,-8.746392667293549,0,0,-0.3114954865524567],[8.717663236216287,-77.1882623970709,-8.746392667293549,0,0,-0.04969609875330723],[8.717663236216287,-77.1882623970709,-8.746392667293549,0,0,0.2121032890458422],[8.717663236216287,-77.1882623970709,-8.746392667293549,0,0,0.47390267684499165],[8.717663236216287,-77.1882623970709,-8.746392667293549,0,0,0.7357020646441411],[12.073202253589177,-80.89506127250078,-8.746392667293549,0,0,0.7357020646441411],[12.073202253589177,-80.89506127250078,-6.746392667293549,0,0,0.7357020646441411],[15.780001129019052,-77.53952225512789,-6.746392667293549,0,0,0.7357020646441411],[15.780001129019052,-77.53952225512789,-6.746392667293549,0,0,0.47390267684499177],[15.780001129019052,-77.53952225512789,-4.746392667293549,0,0,0.47390267684499177],[20.228971299936745,-75.25771060245263,-4.746392667293549,0,0,0.47390267684499177],[20.228971299936745,-75.25771060245263,-4.746392667293549,0,0,0.7357020646441413],[23.93577017536662,-71.90217158507974,-4.746392667293549,0,0,0.7357020646441413],[27.642569050796496,-68.54663256770685,-4.746392667293549,0,0,0.7357020646441413],[31.34936792622637,-65.19109355033396,-4.746392667293549,0,0,0.7357020646441413],[31.34936792622637,-65.19109355033396,-4.746392667293549,0,0,0.4739026768449919],[31.34936792622637,-65.19109355033396,-2.7463926672935486,0,0,0.4739026768449919],[31.34936792622637,-65.19109355033396,-2.7463926672935486,0,0,0.21210328904584244],[31.34936792622637,-65.19109355033396,-2.7463926672935486,0,0,-0.04969609875330695],[31.34936792622637,-65.19109355033396,-0.7463926672935486,0,0,-0.04969609875330695],[31.34936792622637,-65.19109355033396,-0.7463926672935486,0,0,0.21210328904584247],[31.34936792622637,-65.19109355033396,-0.7463926672935486,0,0,0.4739026768449919],[31.34936792622637,-65.19109355033396,-0.7463926672935486,0,0,0.7357020646441413],[31.34936792622637,-65.19109355033396,-0.7463926672935486,0,0,0.9975014524432907],[31.34936792622637,-65.19109355033396,-0.7463926672935486,0,0,1.2593008402424402],[31.34936792622637,-65.19109355033396,-0.7463926672935486,0,0,1.5211002280415895],[31.34936792622637,-65.19109355033396,-0.7463926672935486,0,0,1.7828996158407389],[31.34936792622637,-65.19109355033396,-0.7463926672935486,0,0,1.5211002280415895],[31.34936792622637,-65.19109355033396,-0.7463926672935486,0,0,1.25930084024244],[31.34936792622637,-65.19109355033396,-0.7463926672935486,0,0,0.9975014524432905],[31.34936792622637,-65.19109355033396,-0.7463926672935486,0,0,0.7357020646441411]],"actions":[4,4,4,1,1,4,1,1,2,2,2,2,4,1,1,2,2,1,1,3,5,1,3,3,3,3,3,3,3,3,6,5,1,2,5,1,3,1,1,1,2,5,2,2,5,3,3,3,3,3,3,3,2,2,2,2,0]},
+{"episode_id":"3E7TUJ2EGLKWTF8RPKRL3A9YME3D9K","trajectory_id":"3Y7LTZE0Z1KUUO4XPA671FKRYS0UZM","scene_id":13,"start_position":[-16.377094268798828,-52.42120361328125,-0.7463926672935486],"start_rotation":[0.9996913031046908,0.0,0.0,-0.02484549248546475],"instruction":{"instruction_text":"Take off and fly straight towards the white wall in front. Turn left to face the brown brick wall, then ascend to a higher altitude to the roof, and then fly over the gray-white rooftop platform to the steet on the other side of the roof. Descend to reach the street. Turn right to face the street lights at the inner corner. Proceed to the front of the orange awning. Descend to close to the street. Turn right slightly then turn left to face the orange awning. Land in the left front area of the orange awning."},"goals":[{"position":[31.34936792622637,-65.19109355033396,-0.7463926672935486]}],"reference_path":[[-16.377094268798828,-52.42120361328125,-0.7463926672935486,0,0,-0.04969609875330702],[-16.377094268798828,-52.42120361328125,-2.7463926672935486,0,0,-0.04969609875330702],[-16.377094268798828,-52.42120361328125,-4.746392667293549,0,0,-0.04969609875330702],[-16.377094268798828,-52.42120361328125,-6.746392667293549,0,0,-0.04969609875330702],[-11.383267253767281,-52.66958184087197,-6.746392667293549,0,0,-0.04969609875330702],[-6.389440238735734,-52.91796006846269,-6.746392667293549,0,0,-0.04969609875330702],[-6.389440238735734,-52.91796006846269,-8.746392667293549,0,0,-0.04969609875330702],[-1.3956132237041867,-53.16633829605341,-8.746392667293549,0,0,-0.04969609875330702],[3.5982137913273604,-53.41471652364413,-8.746392667293549,0,0,-0.04969609875330702],[3.5982137913273604,-53.41471652364413,-8.746392667293549,0,0,-0.31149548655245646],[3.5982137913273604,-53.41471652364413,-8.746392667293549,0,0,-0.5732948743516059],[3.5982137913273604,-53.41471652364413,-8.746392667293549,0,0,-0.8350942621507553],[3.5982137913273604,-53.41471652364413,-8.746392667293549,0,0,-1.0968936499499047],[3.5982137913273604,-53.41471652364413,-10.746392667293549,0,0,-1.0968936499499047],[5.880025444002618,-57.86368669456182,-10.746392667293549,0,0,-1.0968936499499047],[8.161837096677875,-62.31265686547951,-10.746392667293549,0,0,-1.0968936499499047],[8.161837096677875,-62.31265686547951,-10.746392667293549,0,0,-1.3586930377490543],[8.161837096677875,-62.31265686547951,-10.746392667293549,0,0,-1.6204924255482038],[7.913458869087154,-67.30648388051105,-10.746392667293549,0,0,-1.6204924255482038],[7.6650806414964325,-72.3003108955426,-10.746392667293549,0,0,-1.6204924255482038],[7.6650806414964325,-72.3003108955426,-10.746392667293549,0,0,-1.3586930377490545],[7.6650806414964325,-72.3003108955426,-8.746392667293549,0,0,-1.3586930377490545],[8.717663236216287,-77.1882623970709,-8.746392667293549,0,0,-1.3586930377490545],[8.717663236216287,-77.1882623970709,-8.746392667293549,0,0,-1.096893649949905],[8.717663236216287,-77.1882623970709,-8.746392667293549,0,0,-0.8350942621507556],[8.717663236216287,-77.1882623970709,-8.746392667293549,0,0,-0.5732948743516061],[8.717663236216287,-77.1882623970709,-8.746392667293549,0,0,-0.3114954865524567],[8.717663236216287,-77.1882623970709,-8.746392667293549,0,0,-0.04969609875330723],[8.717663236216287,-77.1882623970709,-8.746392667293549,0,0,0.2121032890458422],[8.717663236216287,-77.1882623970709,-8.746392667293549,0,0,0.47390267684499165],[8.717663236216287,-77.1882623970709,-8.746392667293549,0,0,0.7357020646441411],[12.073202253589177,-80.89506127250078,-8.746392667293549,0,0,0.7357020646441411],[12.073202253589177,-80.89506127250078,-6.746392667293549,0,0,0.7357020646441411],[15.780001129019052,-77.53952225512789,-6.746392667293549,0,0,0.7357020646441411],[15.780001129019052,-77.53952225512789,-6.746392667293549,0,0,0.47390267684499177],[15.780001129019052,-77.53952225512789,-4.746392667293549,0,0,0.47390267684499177],[20.228971299936745,-75.25771060245263,-4.746392667293549,0,0,0.47390267684499177],[20.228971299936745,-75.25771060245263,-4.746392667293549,0,0,0.7357020646441413],[23.93577017536662,-71.90217158507974,-4.746392667293549,0,0,0.7357020646441413],[27.642569050796496,-68.54663256770685,-4.746392667293549,0,0,0.7357020646441413],[31.34936792622637,-65.19109355033396,-4.746392667293549,0,0,0.7357020646441413],[31.34936792622637,-65.19109355033396,-4.746392667293549,0,0,0.4739026768449919],[31.34936792622637,-65.19109355033396,-2.7463926672935486,0,0,0.4739026768449919],[31.34936792622637,-65.19109355033396,-2.7463926672935486,0,0,0.21210328904584244],[31.34936792622637,-65.19109355033396,-2.7463926672935486,0,0,-0.04969609875330695],[31.34936792622637,-65.19109355033396,-0.7463926672935486,0,0,-0.04969609875330695],[31.34936792622637,-65.19109355033396,-0.7463926672935486,0,0,0.21210328904584247],[31.34936792622637,-65.19109355033396,-0.7463926672935486,0,0,0.4739026768449919],[31.34936792622637,-65.19109355033396,-0.7463926672935486,0,0,0.7357020646441413],[31.34936792622637,-65.19109355033396,-0.7463926672935486,0,0,0.9975014524432907],[31.34936792622637,-65.19109355033396,-0.7463926672935486,0,0,1.2593008402424402],[31.34936792622637,-65.19109355033396,-0.7463926672935486,0,0,1.5211002280415895],[31.34936792622637,-65.19109355033396,-0.7463926672935486,0,0,1.7828996158407389],[31.34936792622637,-65.19109355033396,-0.7463926672935486,0,0,1.5211002280415895],[31.34936792622637,-65.19109355033396,-0.7463926672935486,0,0,1.25930084024244],[31.34936792622637,-65.19109355033396,-0.7463926672935486,0,0,0.9975014524432905],[31.34936792622637,-65.19109355033396,-0.7463926672935486,0,0,0.7357020646441411]],"actions":[4,4,4,1,1,4,1,1,2,2,2,2,4,1,1,2,2,1,1,3,5,1,3,3,3,3,3,3,3,3,6,5,1,2,5,1,3,1,1,1,2,5,2,2,5,3,3,3,3,3,3,3,2,2,2,2,0]},
+{"episode_id":"38F71OA9G2U8YJ5H5ZQGWWI3YNLFML","trajectory_id":"3R15W654WLRIX6GCT0VTJZC4GYMQLU","scene_id":13,"start_position":[2.0097713470458984,-14.36480712890625,-15.442648887634277],"start_rotation":[0.9999887944599317,0.0,0.0,-0.004734020972954475],"instruction":{"instruction_text":"Turn left to face the distant reddish-brown buildings, then descend onto the street, and start turning left until you face the trees on the right side of the road. Fly straight ahead to the right side of the traffic signal at the intersection. Turn left and fly over the distant green awning, then turn left to face the warm taupe-colored building at the end of the road, and stop at the third tree on the right side of the road. Stop at the door."},"goals":[{"position":[7.010192077387723,-86.32208303090042,-1.4426488876342773]}],"reference_path":[[2.0097713470458984,-14.36480712890625,-15.442648887634277,0,0,-0.009468077310908594],[2.0097713470458984,-14.36480712890625,-15.442648887634277,0,0,-0.271267465110058],[2.0097713470458984,-14.36480712890625,-15.442648887634277,0,0,-0.5330668529092074],[2.0097713470458984,-14.36480712890625,-15.442648887634277,0,0,-0.7948662407083569],[2.0097713470458984,-14.36480712890625,-15.442648887634277,0,0,-1.0566656285075062],[2.0097713470458984,-14.36480712890625,-15.442648887634277,0,0,-1.3184650163066558],[2.0097713470458984,-14.36480712890625,-15.442648887634277,0,0,-1.5802644041058052],[2.0097713470458984,-14.36480712890625,-15.442648887634277,0,0,-1.8420637919049547],[0.6700075065494095,-19.18196737657272,-15.442648887634277,0,0,-1.8420637919049547],[-0.6697563339470793,-23.999127624239193,-15.442648887634277,0,0,-1.8420637919049547],[-2.0095201744435682,-28.816287871905665,-15.442648887634277,0,0,-1.8420637919049547],[-2.0095201744435682,-28.816287871905665,-13.442648887634277,0,0,-1.8420637919049547],[-2.0095201744435682,-28.816287871905665,-11.442648887634277,0,0,-1.8420637919049547],[-2.0095201744435682,-28.816287871905665,-9.442648887634277,0,0,-1.8420637919049547],[-2.0095201744435682,-28.816287871905665,-7.442648887634277,0,0,-1.8420637919049547],[-2.0095201744435682,-28.816287871905665,-5.442648887634277,0,0,-1.8420637919049547],[-2.0095201744435682,-28.816287871905665,-3.4426488876342773,0,0,-1.8420637919049547],[-2.0095201744435682,-28.816287871905665,-3.4426488876342773,0,0,-2.103863179704104],[-2.0095201744435682,-28.816287871905665,-3.4426488876342773,0,0,-2.3656625675032537],[-2.0095201744435682,-28.816287871905665,-3.4426488876342773,0,0,-2.627461955302403],[-2.0095201744435682,-28.816287871905665,-3.4426488876342773,0,0,-2.8892613431015524],[-2.0095201744435682,-28.816287871905665,-3.4426488876342773,0,0,3.1321245762788847],[-2.0095201744435682,-28.816287871905665,-3.4426488876342773,0,0,2.8703251884797356],[-2.0095201744435682,-28.816287871905665,-3.4426488876342773,0,0,2.608525800680586],[-2.0095201744435682,-28.816287871905665,-3.4426488876342773,0,0,2.346726412881437],[-5.511421402775028,-25.24743822713067,-3.4426488876342773,0,0,2.346726412881437],[-5.511421402775028,-25.24743822713067,-3.4426488876342773,0,0,2.0849270250822873],[-5.511421402775028,-25.24743822713067,-3.4426488876342773,0,0,1.823127637283138],[-5.511421402775028,-25.24743822713067,-3.4426488876342773,0,0,1.5613282494839884],[-5.511421402775028,-25.24743822713067,-3.4426488876342773,0,0,1.299528861684839],[-5.511421402775028,-25.24743822713067,-3.4426488876342773,0,0,1.0377294738856897],[-5.511421402775028,-25.24743822713067,-3.4426488876342773,0,0,0.7759300860865403],[-5.511421402775028,-25.24743822713067,-3.4426488876342773,0,0,0.514130698287391],[-5.511421402775028,-25.24743822713067,-3.4426488876342773,0,0,0.2523313104882416],[-5.511421402775028,-25.24743822713067,-3.4426488876342773,0,0,-0.009468077310907817],[-0.5116455123207517,-25.294777906387594,-3.4426488876342773,0,0,-0.009468077310907817],[4.4881303781335244,-25.34211758564452,-3.4426488876342773,0,0,-0.009468077310907817],[9.4879062685878,-25.389457264901445,-3.4426488876342773,0,0,-0.009468077310907817],[14.487682159042077,-25.43679694415837,-3.4426488876342773,0,0,-0.009468077310907817],[19.487458049496354,-25.484136623415296,-3.4426488876342773,0,0,-0.009468077310907817],[24.48723393995063,-25.53147630267222,-3.4426488876342773,0,0,-0.009468077310907817],[29.487009830404908,-25.578815981929147,-3.4426488876342773,0,0,-0.009468077310907817],[29.487009830404908,-25.578815981929147,-3.4426488876342773,0,0,-0.2712674651100572],[29.487009830404908,-25.578815981929147,-3.4426488876342773,0,0,-0.5330668529092066],[29.487009830404908,-25.578815981929147,-3.4426488876342773,0,0,-0.7948662407083561],[29.487009830404908,-25.578815981929147,-3.4426488876342773,0,0,-1.0566656285075056],[29.487009830404908,-25.578815981929147,-3.4426488876342773,0,0,-1.318465016306655],[30.735320433296387,-30.420481050757093,-3.4426488876342773,0,0,-1.318465016306655],[30.735320433296387,-30.420481050757093,-3.4426488876342773,0,0,-1.5802644041058043],[30.687980754039465,-35.42025694121137,-3.4426488876342773,0,0,-1.5802644041058043],[30.640641074782543,-40.420032831665644,-3.4426488876342773,0,0,-1.5802644041058043],[30.59330139552562,-45.41980872211992,-3.4426488876342773,0,0,-1.5802644041058043],[30.5459617162687,-50.41958461257419,-3.4426488876342773,0,0,-1.5802644041058043],[30.498622037011778,-55.419360503028464,-3.4426488876342773,0,0,-1.5802644041058043],[30.451282357754856,-60.41913639348274,-3.4426488876342773,0,0,-1.5802644041058043],[30.403942678497934,-65.41891228393702,-3.4426488876342773,0,0,-1.5802644041058043],[30.356602999241012,-70.41868817439129,-3.4426488876342773,0,0,-1.5802644041058043],[30.30926331998409,-75.41846406484557,-3.4426488876342773,0,0,-1.580264404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+{"episode_id":"3Z7ISHFUH9TZIBUDCAA4U6XQVWI8ZT","trajectory_id":"3AFT28WXMN0DMTVQTK6C2EPCLTZOIW","scene_id":13,"start_position":[33.992637634277344,-16.65180206298828,-14.979244232177734],"start_rotation":[0.9999068439366727,0.0,0.0,-0.013649302128766649],"instruction":{"instruction_text":"Fly forward over the roof above and then descend onto the sidewalkd. Turn left to face three black sunshades, then fly across the road. Turn left to face the intersection and then head towards the building with the door open on the right front across the road. Turn left to face the trash can beside the orange awning, and then land beside the street lamp in front of a white building."},"goals":[{"position":[33.23147057409763,-53.999489525443714,-0.9792442321777344]}],"reference_path":[[33.992637634277344,-16.65180206298828,-14.979244232177734,0,0,-0.027299451965956706],[33.992637634277344,-16.65180206298828,-14.979244232177734,0,0,-0.28909883976510614],[33.992637634277344,-16.65180206298828,-14.979244232177734,0,0,-0.5508982275642555],[38.25291106493895,-19.26906595797457,-14.979244232177734,0,0,-0.5508982275642555],[42.513184495600555,-21.886329852960856,-14.979244232177734,0,0,-0.5508982275642555],[42.513184495600555,-21.886329852960856,-12.979244232177734,0,0,-0.5508982275642555],[42.513184495600555,-21.886329852960856,-10.979244232177734,0,0,-0.5508982275642555],[42.513184495600555,-21.886329852960856,-8.979244232177734,0,0,-0.5508982275642555],[42.513184495600555,-21.886329852960856,-6.979244232177734,0,0,-0.5508982275642555],[42.513184495600555,-21.886329852960856,-4.979244232177734,0,0,-0.5508982275642555],[42.513184495600555,-21.886329852960856,-2.9792442321777344,0,0,-0.5508982275642555],[42.513184495600555,-21.886329852960856,-2.9792442321777344,0,0,-0.812697615363405],[42.513184495600555,-21.886329852960856,-2.9792442321777344,0,0,-1.0744970031625545],[42.513184495600555,-21.886329852960856,-2.9792442321777344,0,0,-1.3362963909617038],[43.67496767983073,-26.749483133790072,-2.9792442321777344,0,0,-1.3362963909617038],[44.8367508640609,-31.61263641461929,-2.9792442321777344,0,0,-1.3362963909617038],[44.8367508640609,-31.61263641461929,-2.9792442321777344,0,0,-1.5980957787608532],[44.8367508640609,-31.61263641461929,-2.9792442321777344,0,0,-1.8598951665600028],[44.8367508640609,-31.61263641461929,-2.9792442321777344,0,0,-2.121694554359152],[44.8367508640609,-31.61263641461929,-2.9792442321777344,0,0,-2.3834939421583017],[44.8367508640609,-31.61263641461929,-2.9792442321777344,0,0,-2.645293329957451],[40.439997127264164,-33.99350948514697,-2.9792442321777344,0,0,-2.645293329957451],[36.043243390467424,-36.37438255567466,-2.9792442321777344,0,0,-2.645293329957451],[36.043243390467424,-36.37438255567466,-2.9792442321777344,0,0,-2.9070927177566004],[31.180090109638208,-37.53616573990483,-2.9792442321777344,0,0,-2.9070927177566004],[31.180090109638208,-37.53616573990483,-2.9792442321777344,0,0,-2.645293329957451],[31.180090109638208,-37.53616573990483,-2.9792442321777344,0,0,-2.3834939421583017],[27.549367418057553,-40.97387613155235,-2.9792442321777344,0,0,-2.3834939421583017],[27.549367418057553,-40.97387613155235,-2.9792442321777344,0,0,-2.121694554359152],[27.549367418057553,-40.97387613155235,-2.9792442321777344,0,0,-1.8598951665600028],[27.549367418057553,-40.97387613155235,-2.9792442321777344,0,0,-1.5980957787608532],[27.412887111922423,-45.97201309706633,-2.9792442321777344,0,0,-1.5980957787608532],[27.412887111922423,-45.97201309706633,-2.9792442321777344,0,0,-1.3362963909617038],[27.412887111922423,-45.97201309706633,-2.9792442321777344,0,0,-1.0744970031625545],[29.79376018245011,-50.36876683386306,-2.9792442321777344,0,0,-1.0744970031625545],[29.79376018245011,-50.36876683386306,-2.9792442321777344,0,0,-0.8126976153634051],[33.23147057409763,-53.999489525443714,-2.9792442321777344,0,0,-0.8126976153634051],[33.23147057409763,-53.999489525443714,-0.9792442321777344,0,0,-0.8126976153634051]],"actions":[2,2,1,1,5,5,5,5,5,5,2,2,2,1,1,2,2,2,2,2,1,1,2,1,3,3,1,3,3,3,1,3,3,1,3,1,5,0]},
+{"episode_id":"3GU1KF0O4RZO65QESDWCUALDT24PBU","trajectory_id":"3AFT28WXMN0DMTVQTK6C2EPCLTZOIW","scene_id":13,"start_position":[33.992637634277344,-16.65180206298828,-14.979244232177734],"start_rotation":[0.9999068439366727,0.0,0.0,-0.013649302128766649],"instruction":{"instruction_text":"Fly forward over the roof above and then descend onto the sidewalk. Turn left to face three sunshades, then cross the road to the sidewalk. Turn left to face the street light and then head towards the building with the door open on the opposite side of the road. Turn right to face the trash can beside the orange awning. Turn right to face the trash can beside the orange awning, then land beside the street lamp in front of a white building."},"goals":[{"position":[33.23147057409763,-53.999489525443714,-0.9792442321777344]}],"reference_path":[[33.992637634277344,-16.65180206298828,-14.979244232177734,0,0,-0.027299451965956706],[33.992637634277344,-16.65180206298828,-14.979244232177734,0,0,-0.28909883976510614],[33.992637634277344,-16.65180206298828,-14.979244232177734,0,0,-0.5508982275642555],[38.25291106493895,-19.26906595797457,-14.979244232177734,0,0,-0.5508982275642555],[42.513184495600555,-21.886329852960856,-14.979244232177734,0,0,-0.5508982275642555],[42.513184495600555,-21.886329852960856,-12.979244232177734,0,0,-0.5508982275642555],[42.513184495600555,-21.886329852960856,-10.979244232177734,0,0,-0.5508982275642555],[42.513184495600555,-21.886329852960856,-8.979244232177734,0,0,-0.5508982275642555],[42.513184495600555,-21.886329852960856,-6.979244232177734,0,0,-0.5508982275642555],[42.513184495600555,-21.886329852960856,-4.979244232177734,0,0,-0.5508982275642555],[42.513184495600555,-21.886329852960856,-2.9792442321777344,0,0,-0.5508982275642555],[42.513184495600555,-21.886329852960856,-2.9792442321777344,0,0,-0.812697615363405],[42.513184495600555,-21.886329852960856,-2.9792442321777344,0,0,-1.0744970031625545],[42.513184495600555,-21.886329852960856,-2.9792442321777344,0,0,-1.3362963909617038],[43.67496767983073,-26.749483133790072,-2.9792442321777344,0,0,-1.3362963909617038],[44.8367508640609,-31.61263641461929,-2.9792442321777344,0,0,-1.3362963909617038],[44.8367508640609,-31.61263641461929,-2.9792442321777344,0,0,-1.5980957787608532],[44.8367508640609,-31.61263641461929,-2.9792442321777344,0,0,-1.8598951665600028],[44.8367508640609,-31.61263641461929,-2.9792442321777344,0,0,-2.121694554359152],[44.8367508640609,-31.61263641461929,-2.9792442321777344,0,0,-2.3834939421583017],[44.8367508640609,-31.61263641461929,-2.9792442321777344,0,0,-2.645293329957451],[40.439997127264164,-33.99350948514697,-2.9792442321777344,0,0,-2.645293329957451],[36.043243390467424,-36.37438255567466,-2.9792442321777344,0,0,-2.645293329957451],[36.043243390467424,-36.37438255567466,-2.9792442321777344,0,0,-2.9070927177566004],[31.180090109638208,-37.53616573990483,-2.9792442321777344,0,0,-2.9070927177566004],[31.180090109638208,-37.53616573990483,-2.9792442321777344,0,0,-2.645293329957451],[31.180090109638208,-37.53616573990483,-2.9792442321777344,0,0,-2.3834939421583017],[27.549367418057553,-40.97387613155235,-2.9792442321777344,0,0,-2.3834939421583017],[27.549367418057553,-40.97387613155235,-2.9792442321777344,0,0,-2.121694554359152],[27.549367418057553,-40.97387613155235,-2.9792442321777344,0,0,-1.8598951665600028],[27.549367418057553,-40.97387613155235,-2.9792442321777344,0,0,-1.5980957787608532],[27.412887111922423,-45.97201309706633,-2.9792442321777344,0,0,-1.5980957787608532],[27.412887111922423,-45.97201309706633,-2.9792442321777344,0,0,-1.3362963909617038],[27.412887111922423,-45.97201309706633,-2.9792442321777344,0,0,-1.0744970031625545],[29.79376018245011,-50.36876683386306,-2.9792442321777344,0,0,-1.0744970031625545],[29.79376018245011,-50.36876683386306,-2.9792442321777344,0,0,-0.8126976153634051],[33.23147057409763,-53.999489525443714,-2.9792442321777344,0,0,-0.8126976153634051],[33.23147057409763,-53.999489525443714,-0.9792442321777344,0,0,-0.8126976153634051]],"actions":[2,2,1,1,5,5,5,5,5,5,2,2,2,1,1,2,2,2,2,2,1,1,2,1,3,3,1,3,3,3,1,3,3,1,3,1,5,0]},
+{"episode_id":"3WETL7AQW26FA04IT58SELIKEAM35R","trajectory_id":"34O39PNDLE66WY90F2VZAMQ41QZBRJ","scene_id":13,"start_position":[61.09746551513672,-32.04927062988281,-10.125717163085938],"start_rotation":[0.9999725836995899,0.0,0.0,-0.007404853082050557],"instruction":{"instruction_text":"Turn back to align with the road and move forward over the trees above to above the street. Facing the traffic signal lights  descend to close the road. Turn right to face the street lamp beside the sign behind a green square signboard on your right. Then proceed to the center of the road with flowerpots. Turn right to face the road corner and fly to the orange awning, then turn left to face the street lamp. Land there."},"goals":[{"position":[36.31913013847116,-64.10494437822041,-2.1257171630859375]}],"reference_path":[[61.09746551513672,-32.04927062988281,-10.125717163085938,0,0,-0.014809841508036428],[61.09746551513672,-32.04927062988281,-12.125717163085938,0,0,-0.014809841508036428],[61.09746551513672,-32.04927062988281,-12.125717163085938,0,0,0.246989546291113],[61.09746551513672,-32.04927062988281,-12.125717163085938,0,0,0.5087889340902624],[61.09746551513672,-32.04927062988281,-12.125717163085938,0,0,0.7705883218894117],[61.09746551513672,-32.04927062988281,-12.125717163085938,0,0,1.0323877096885612],[61.09746551513672,-32.04927062988281,-12.125717163085938,0,0,1.2941870974877105],[61.09746551513672,-32.04927062988281,-12.125717163085938,0,0,1.5559864852868601],[61.09746551513672,-32.04927062988281,-12.125717163085938,0,0,1.8177858730860095],[61.09746551513672,-32.04927062988281,-12.125717163085938,0,0,2.079585260885159],[61.09746551513672,-32.04927062988281,-12.125717163085938,0,0,2.341384648684308],[61.09746551513672,-32.04927062988281,-12.125717163085938,0,0,2.6031840364834578],[61.09746551513672,-32.04927062988281,-12.125717163085938,0,0,2.8649834242826073],[56.28753066328366,-30.68379389228188,-12.125717163085938,0,0,2.8649834242826073],[51.477595811430604,-29.318317154680948,-12.125717163085938,0,0,2.8649834242826073],[46.667660959577546,-27.952840417080015,-12.125717163085938,0,0,2.8649834242826073],[46.667660959577546,-27.952840417080015,-10.125717163085938,0,0,2.8649834242826073],[46.667660959577546,-27.952840417080015,-8.125717163085938,0,0,2.8649834242826073],[46.667660959577546,-27.952840417080015,-6.1257171630859375,0,0,2.8649834242826073],[46.667660959577546,-27.952840417080015,-4.1257171630859375,0,0,2.8649834242826073],[46.667660959577546,-27.952840417080015,-2.1257171630859375,0,0,2.8649834242826073],[46.667660959577546,-27.952840417080015,-2.1257171630859375,0,0,3.1267828120817565],[46.667660959577546,-27.952840417080015,-2.1257171630859375,0,0,-2.8946031072986806],[46.667660959577546,-27.952840417080015,-2.1257171630859375,0,0,-2.6328037194995315],[46.667660959577546,-27.952840417080015,-2.1257171630859375,0,0,-2.371004331700382],[43.08015599061191,-31.435627820532435,-2.1257171630859375,0,0,-2.371004331700382],[39.49265102164627,-34.91841522398486,-2.1257171630859375,0,0,-2.371004331700382],[35.90514605268063,-38.40120262743728,-2.1257171630859375,0,0,-2.371004331700382],[32.31764108371499,-41.8839900308897,-2.1257171630859375,0,0,-2.371004331700382],[32.31764108371499,-41.8839900308897,-2.1257171630859375,0,0,-2.1092049439012324],[32.31764108371499,-41.8839900308897,-2.1257171630859375,0,0,-1.847405556102083],[30.952164346114053,-46.693924882742756,-2.1257171630859375,0,0,-1.847405556102083],[30.952164346114053,-46.693924882742756,-2.1257171630859375,0,0,-1.5856061683029337],[30.87811784543031,-51.69337656425109,-2.1257171630859375,0,0,-1.5856061683029337],[30.804071344746568,-56.69282824575942,-2.1257171630859375,0,0,-1.5856061683029337],[30.804071344746568,-56.69282824575942,-2.1257171630859375,0,0,-1.3238067805037843],[32.026501227633986,-61.54109238681278,-2.1257171630859375,0,0,-1.3238067805037843],[32.026501227633986,-61.54109238681278,-2.1257171630859375,0,0,-1.062007392704635],[32.026501227633986,-61.54109238681278,-2.1257171630859375,0,0,-0.8002080049054856],[32.026501227633986,-61.54109238681278,-2.1257171630859375,0,0,-0.5384086171063361],[36.31913013847116,-64.10494437822041,-2.1257171630859375,0,0,-0.5384086171063361],[36.31913013847116,-64.10494437822041,-2.1257171630859375,0,0,-0.2766092293071867],[36.31913013847116,-64.10494437822041,-2.1257171630859375,0,0,-0.01480984150803726],[36.31913013847116,-64.10494437822041,-2.1257171630859375,0,0,0.24698954629111217],[36.31913013847116,-64.10494437822041,-2.1257171630859375,0,0,0.5087889340902616],[36.31913013847116,-64.10494437822041,-2.1257171630859375,0,0,0.24698954629111217],[36.31913013847116,-64.10494437822041,-2.1257171630859375,0,0,-0.01480984150803726],[36.31913013847116,-64.10494437822041,-4.1257171630859375,0,0,-0.01480984150803726],[36.31913013847116,-64.10494437822041,-4.1257171630859375,0,0,-0.2766092293071867],[36.31913013847116,-64.10494437822041,-4.1257171630859375,0,0,-0.5384086171063361],[36.31913013847116,-64.10494437822041,-4.1257171630859375,0,0,-0.8002080049054856],[36.31913013847116,-64.10494437822041,-4.1257171630859375,0,0,-1.062007392704635],[36.31913013847116,-64.10494437822041,-4.1257171630859375,0,0,-1.3238067805037845],[36.31913013847116,-64.10494437822041,-4.1257171630859375,0,0,-1.5856061683029339],[36.31913013847116,-64.10494437822041,-2.1257171630859375,0,0,-1.5856061683029339]],"actions":[4,3,3,3,3,3,3,3,3,3,3,3,1,1,1,5,5,5,5,5,3,3,3,3,1,1,1,1,3,3,1,3,1,1,3,1,3,3,3,1,3,3,3,3,2,2,4,2,2,2,2,2,2,5,0]},
+{"episode_id":"37QW5D2ZRPK2HZ8ZHIGWYD0NABVS8B","trajectory_id":"32ZCLEW0C7IR24RXQ24R3F928ZZPJD","scene_id":13,"start_position":[41.42513656616211,-56.09119415283203,-15.274781227111816],"start_rotation":[0.9999477120422782,0.0,0.0,-0.010226102943606893],"instruction":{"instruction_text":"Take off from the roof, turn right to face the top part of a green tree. Move forward over the roof and descend to the height above the road. Turn right to face the corner of the street and move foward to it. Turn left and lower your altitude to face the street lamp in front of the brown awning. Turn right to face the green awning at the inner corner. Proceed forward to the street light and when you reach the corner of the road, start to turn right to face the red-brown building. Move forward until passing the first building on the left at the inner corner. Then turn left to face the rubbish bin and land facing the reddish-brown wall."},"goals":[{"position":[16.512851041583524,-76.53933974514247,-3.2747812271118164]}],"reference_path":[[41.42513656616211,-56.09119415283203,-15.274781227111816,0,0,-0.02045256236269513],[41.42513656616211,-56.09119415283203,-15.274781227111816,0,0,0.2413468254364543],[41.42513656616211,-56.09119415283203,-15.274781227111816,0,0,0.5031462132356037],[41.42513656616211,-56.09119415283203,-15.274781227111816,0,0,0.7649456010347532],[41.42513656616211,-56.09119415283203,-15.274781227111816,0,0,1.0267449888339026],[41.42513656616211,-56.09119415283203,-15.274781227111816,0,0,1.2885443766330522],[41.42513656616211,-56.09119415283203,-15.274781227111816,0,0,1.5503437644322016],[41.42513656616211,-56.09119415283203,-15.274781227111816,0,0,1.8121431522313511],[41.42513656616211,-56.09119415283203,-15.274781227111816,0,0,2.0739425400305005],[41.42513656616211,-56.09119415283203,-15.274781227111816,0,0,2.33574192782965],[41.42513656616211,-56.09119415283203,-15.274781227111816,0,0,2.5975413156287996],[41.42513656616211,-56.09119415283203,-15.274781227111816,0,0,2.859340703427949],[36.62298325216254,-54.69859817809888,-15.274781227111816,0,0,2.859340703427949],[36.62298325216254,-54.69859817809888,-13.274781227111816,0,0,2.859340703427949],[36.62298325216254,-54.69859817809888,-11.274781227111816,0,0,2.859340703427949],[36.62298325216254,-54.69859817809888,-11.274781227111816,0,0,3.121140091227099],[31.62402898397667,-54.596342495683196,-11.274781227111816,0,0,3.121140091227099],[31.62402898397667,-54.596342495683196,-11.274781227111816,0,0,-2.9002458281533383],[31.62402898397667,-54.596342495683196,-11.274781227111816,0,0,-2.6384464403541887],[31.62402898397667,-54.596342495683196,-11.274781227111816,0,0,-2.3766470525550396],[31.62402898397667,-54.596342495683196,-11.274781227111816,0,0,-2.1148476647558905],[31.62402898397667,-54.596342495683196,-11.274781227111816,0,0,-1.8530482769567411],[31.62402898397667,-54.596342495683196,-11.274781227111816,0,0,-1.5912488891575916],[31.62402898397667,-54.596342495683196,-9.274781227111816,0,0,-1.5912488891575916],[31.62402898397667,-54.596342495683196,-9.274781227111816,0,0,-1.8530482769567411],[31.62402898397667,-54.596342495683196,-9.274781227111816,0,0,-2.1148476647558905],[31.62402898397667,-54.596342495683196,-9.274781227111816,0,0,-2.37664705255504],[31.62402898397667,-54.596342495683196,-9.274781227111816,0,0,-2.638446440354189],[31.62402898397667,-54.596342495683196,-7.274781227111816,0,0,-2.638446440354189],[31.62402898397667,-54.596342495683196,-5.274781227111816,0,0,-2.638446440354189],[31.62402898397667,-54.596342495683196,-5.274781227111816,0,0,-2.37664705255504],[31.62402898397667,-54.596342495683196,-5.274781227111816,0,0,-2.1148476647558905],[31.62402898397667,-54.596342495683196,-5.274781227111816,0,0,-1.8530482769567411],[30.231433009243514,-59.39849580968276,-5.274781227111816,0,0,-1.8530482769567411],[30.231433009243514,-59.39849580968276,-5.274781227111816,0,0,-1.5912488891575916],[30.12917732682783,-64.39745007786863,-5.274781227111816,0,0,-1.5912488891575916],[30.12917732682783,-64.39745007786863,-5.274781227111816,0,0,-1.3294495013584422],[31.324230492500742,-69.25253482802646,-5.274781227111816,0,0,-1.3294495013584422],[31.324230492500742,-69.25253482802646,-3.2747812271118164,0,0,-1.3294495013584422],[31.324230492500742,-69.25253482802646,-3.2747812271118164,0,0,-1.0676501135592928],[31.324230492500742,-69.25253482802646,-3.2747812271118164,0,0,-0.8058507257601435],[31.324230492500742,-69.25253482802646,-3.2747812271118164,0,0,-0.5440513379609941],[31.324230492500742,-69.25253482802646,-3.2747812271118164,0,0,-0.28225195016184473],[31.324230492500742,-69.25253482802646,-3.2747812271118164,0,0,-0.02045256236269535],[31.221974810085058,-74.25148909621232,-3.2747812271118164,0,0,-0.02045256236269535],[31.221974810085058,-74.25148909621232,-3.2747812271118164,0,0,0.24134682543645408],[31.221974810085058,-74.25148909621232,-3.2747812271118164,0,0,0.5031462132356035],[31.221974810085058,-74.25148909621232,-3.2747812271118164,0,0,0.7649456010347528],[31.221974810085058,-74.25148909621232,-3.2747812271118164,0,0,1.0267449888339024],[31.221974810085058,-74.25148909621232,-3.2747812271118164,0,0,1.2885443766330518],[31.221974810085058,-74.25148909621232,-3.2747812271118164,0,0,1.5503437644322013],[31.221974810085058,-74.25148909621232,-3.2747812271118164,0,0,1.8121431522313507],[31.221974810085058,-74.25148909621232,-3.2747812271118164,0,0,2.0739425400305],[31.221974810085058,-74.25148909621232,-3.2747812271118164,0,0,2.335741927829649],[31.221974810085058,-74.25148909621232,-3.2747812271118164,0,0,2.5975413156287988],[31.221974810085058,-74.25148909621232,-3.2747812271118164,0,0,2.8593407034279483],[31.221974810085058,-74.25148909621232,-3.2747812271118164,0,0,3.1211400912270975],[31.221974810085058,-74.25148909621232,-3.2747812271118164,0,0,-2.9002458281533396],[26.366890059927226,-75.44654226188524,-3.2747812271118164,0,0,-2.9002458281533396],[21.511805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+{"episode_id":"3WR9XG3T6C9FF015HCS8MAOML71470","trajectory_id":"32ZCLEW0C7IR24RXQ24R3F928ZZPJD","scene_id":13,"start_position":[41.42513656616211,-56.09119415283203,-15.274781227111816],"start_rotation":[0.9999477120422782,0.0,0.0,-0.010226102943606893],"instruction":{"instruction_text":"Take off from the rooftop of the building, then turn right to face the top part of a green tree, and move forward over the roof and descend to the level above the road, then turn right facing the white building at the corner of the street. Turn left slightly and lower altitude to face the street lamp in front of the green awning, then turn right to face the green awning. Proceed forward and when you reach the corner of the road, turn right to face the street light at the inner corner. Keep going until facing the red-brown building. Move forward until passing the first building on the left. Then turn left and land facing the reddish-brown wall."},"goals":[{"position":[16.512851041583524,-76.53933974514247,-3.2747812271118164]}],"reference_path":[[41.42513656616211,-56.09119415283203,-15.274781227111816,0,0,-0.02045256236269513],[41.42513656616211,-56.09119415283203,-15.274781227111816,0,0,0.2413468254364543],[41.42513656616211,-56.09119415283203,-15.274781227111816,0,0,0.5031462132356037],[41.42513656616211,-56.09119415283203,-15.274781227111816,0,0,0.7649456010347532],[41.42513656616211,-56.09119415283203,-15.274781227111816,0,0,1.0267449888339026],[41.42513656616211,-56.09119415283203,-15.274781227111816,0,0,1.2885443766330522],[41.42513656616211,-56.09119415283203,-15.274781227111816,0,0,1.5503437644322016],[41.42513656616211,-56.09119415283203,-15.274781227111816,0,0,1.8121431522313511],[41.42513656616211,-56.09119415283203,-15.274781227111816,0,0,2.0739425400305005],[41.42513656616211,-56.09119415283203,-15.274781227111816,0,0,2.33574192782965],[41.42513656616211,-56.09119415283203,-15.274781227111816,0,0,2.5975413156287996],[41.42513656616211,-56.09119415283203,-15.274781227111816,0,0,2.859340703427949],[36.62298325216254,-54.69859817809888,-15.274781227111816,0,0,2.859340703427949],[36.62298325216254,-54.69859817809888,-13.274781227111816,0,0,2.859340703427949],[36.62298325216254,-54.69859817809888,-11.274781227111816,0,0,2.859340703427949],[36.62298325216254,-54.69859817809888,-11.274781227111816,0,0,3.121140091227099],[31.62402898397667,-54.596342495683196,-11.274781227111816,0,0,3.121140091227099],[31.62402898397667,-54.596342495683196,-11.274781227111816,0,0,-2.9002458281533383],[31.62402898397667,-54.596342495683196,-11.274781227111816,0,0,-2.6384464403541887],[31.62402898397667,-54.596342495683196,-11.274781227111816,0,0,-2.3766470525550396],[31.62402898397667,-54.596342495683196,-11.274781227111816,0,0,-2.1148476647558905],[31.62402898397667,-54.596342495683196,-11.274781227111816,0,0,-1.8530482769567411],[31.62402898397667,-54.596342495683196,-11.274781227111816,0,0,-1.5912488891575916],[31.62402898397667,-54.596342495683196,-9.274781227111816,0,0,-1.5912488891575916],[31.62402898397667,-54.596342495683196,-9.274781227111816,0,0,-1.8530482769567411],[31.62402898397667,-54.596342495683196,-9.274781227111816,0,0,-2.1148476647558905],[31.62402898397667,-54.596342495683196,-9.274781227111816,0,0,-2.37664705255504],[31.62402898397667,-54.596342495683196,-9.274781227111816,0,0,-2.638446440354189],[31.62402898397667,-54.596342495683196,-7.274781227111816,0,0,-2.638446440354189],[31.62402898397667,-54.596342495683196,-5.274781227111816,0,0,-2.638446440354189],[31.62402898397667,-54.596342495683196,-5.274781227111816,0,0,-2.37664705255504],[31.62402898397667,-54.596342495683196,-5.274781227111816,0,0,-2.1148476647558905],[31.62402898397667,-54.596342495683196,-5.274781227111816,0,0,-1.8530482769567411],[30.231433009243514,-59.39849580968276,-5.274781227111816,0,0,-1.8530482769567411],[30.231433009243514,-59.39849580968276,-5.274781227111816,0,0,-1.5912488891575916],[30.12917732682783,-64.39745007786863,-5.274781227111816,0,0,-1.5912488891575916],[30.12917732682783,-64.39745007786863,-5.274781227111816,0,0,-1.3294495013584422],[31.324230492500742,-69.25253482802646,-5.274781227111816,0,0,-1.3294495013584422],[31.324230492500742,-69.25253482802646,-3.2747812271118164,0,0,-1.3294495013584422],[31.324230492500742,-69.25253482802646,-3.2747812271118164,0,0,-1.0676501135592928],[31.324230492500742,-69.25253482802646,-3.2747812271118164,0,0,-0.8058507257601435],[31.324230492500742,-69.25253482802646,-3.2747812271118164,0,0,-0.5440513379609941],[31.324230492500742,-69.25253482802646,-3.2747812271118164,0,0,-0.28225195016184473],[31.324230492500742,-69.25253482802646,-3.2747812271118164,0,0,-0.02045256236269535],[31.221974810085058,-74.25148909621232,-3.2747812271118164,0,0,-0.02045256236269535],[31.221974810085058,-74.25148909621232,-3.2747812271118164,0,0,0.24134682543645408],[31.221974810085058,-74.25148909621232,-3.2747812271118164,0,0,0.5031462132356035],[31.221974810085058,-74.25148909621232,-3.2747812271118164,0,0,0.7649456010347528],[31.221974810085058,-74.25148909621232,-3.2747812271118164,0,0,1.0267449888339024],[31.221974810085058,-74.25148909621232,-3.2747812271118164,0,0,1.2885443766330518],[31.221974810085058,-74.25148909621232,-3.2747812271118164,0,0,1.5503437644322013],[31.221974810085058,-74.25148909621232,-3.2747812271118164,0,0,1.8121431522313507],[31.221974810085058,-74.25148909621232,-3.2747812271118164,0,0,2.0739425400305],[31.221974810085058,-74.25148909621232,-3.2747812271118164,0,0,2.335741927829649],[31.221974810085058,-74.25148909621232,-3.2747812271118164,0,0,2.5975413156287988],[31.221974810085058,-74.25148909621232,-3.2747812271118164,0,0,2.8593407034279483],[31.221974810085058,-74.25148909621232,-3.2747812271118164,0,0,3.1211400912270975],[31.221974810085058,-74.25148909621232,-3.2747812271118164,0,0,-2.9002458281533396],[26.366890059927226,-75.44654226188524,-3.2747812271118164,0,0,-2.9002458281533396],[21.511805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+{"episode_id":"3MRNMEIQWE4RUH90EHUB8J0TS85LDG","trajectory_id":"30UZJB2PPPACOG7P323QP2NWLUG53J","scene_id":13,"start_position":[49.02505111694336,-36.80860137939453,-0.5600948333740234],"start_rotation":[0.9999886394034981,0.0,0.0,0.004766661718704239],"instruction":{"instruction_text":"Take off, then turn right to face the intersection and a red sign, and then fly forward until you reach the center of the intersection facing the sign that says \"ALDER\". Turn right to align with the road, then fly forward to reach the warm white building at the corner of the road."},"goals":[{"position":[32.67188406776154,-76.44917835199134,-2.5600948333740234]}],"reference_path":[[49.02505111694336,-36.80860137939453,-0.5600948333740234,0,0,0.009533359538986163],[49.02505111694336,-36.80860137939453,-2.5600948333740234,0,0,0.009533359538986163],[49.02505111694336,-36.80860137939453,-2.5600948333740234,0,0,0.2713327473381356],[49.02505111694336,-36.80860137939453,-2.5600948333740234,0,0,0.5331321351372851],[49.02505111694336,-36.80860137939453,-2.5600948333740234,0,0,0.7949315229364345],[49.02505111694336,-36.80860137939453,-2.5600948333740234,0,0,1.056730910735584],[49.02505111694336,-36.80860137939453,-2.5600948333740234,0,0,1.3185302985347336],[49.02505111694336,-36.80860137939453,-2.5600948333740234,0,0,1.580329686333883],[49.02505111694336,-36.80860137939453,-2.5600948333740234,0,0,1.8421290741330325],[49.02505111694336,-36.80860137939453,-2.5600948333740234,0,0,2.103928461932182],[49.02505111694336,-36.80860137939453,-2.5600948333740234,0,0,2.365727849731331],[49.02505111694336,-36.80860137939453,-2.5600948333740234,0,0,2.627527237530481],[49.02505111694336,-36.80860137939453,-2.5600948333740234,0,0,2.8893266253296304],[44.18330456593501,-35.56060685384614,-2.5600948333740234,0,0,2.8893266253296304],[39.34155801492666,-34.312612328297746,-2.5600948333740234,0,0,2.8893266253296304],[34.49981146391831,-33.06461780274935,-2.5600948333740234,0,0,2.8893266253296304],[29.658064912909964,-31.81662327720096,-2.5600948333740234,0,0,2.8893266253296304],[29.658064912909964,-31.81662327720096,-2.5600948333740234,0,0,-3.1320592940508067],[29.658064912909964,-31.81662327720096,-2.5600948333740234,0,0,-2.870259906251657],[29.658064912909964,-31.81662327720096,-2.5600948333740234,0,0,-2.608460518452508],[29.658064912909964,-31.81662327720096,-2.5600948333740234,0,0,-2.3466611306533585],[29.658064912909964,-31.81662327720096,-2.5600948333740234,0,0,-2.084861742854209],[29.658064912909964,-31.81662327720096,-2.5600948333740234,0,0,-1.8230623550550595],[29.658064912909964,-31.81662327720096,-2.5600948333740234,0,0,-1.5612629672559102],[29.7057309885758,-36.81639606656155,-2.5600948333740234,0,0,-1.5612629672559102],[29.75339706424164,-41.81616885592214,-2.5600948333740234,0,0,-1.5612629672559102],[29.801063139907477,-46.815941645282734,-2.5600948333740234,0,0,-1.5612629672559102],[29.848729215573314,-51.815714434643326,-2.5600948333740234,0,0,-1.5612629672559102],[29.896395291239152,-56.81548722400392,-2.5600948333740234,0,0,-1.5612629672559102],[29.94406136690499,-61.81526001336451,-2.5600948333740234,0,0,-1.5612629672559102],[29.991727442570827,-66.8150328027251,-2.5600948333740234,0,0,-1.5612629672559102],[29.991727442570827,-66.8150328027251,-2.5600948333740234,0,0,-1.299463579456761],[31.331805755166183,-71.63210557735822,-2.5600948333740234,0,0,-1.299463579456761],[32.67188406776154,-76.44917835199134,-2.5600948333740234,0,0,-1.299463579456761]],"actions":[4,3,3,3,3,3,3,3,3,3,3,3,1,1,1,1,3,3,3,3,3,3,3,1,1,1,1,1,1,1,3,1,1,0]},
+{"episode_id":"3PS7W85Z8803A44OBAR08ERKU639TS","trajectory_id":"3TKXBROM618ZLI4TD7E7UI8QMZPJI8","scene_id":13,"start_position":[11.7904634475708,-62.09373092651367,-10.231950759887695],"start_rotation":[0.9997869270585067,0.0,0.0,0.020642201503429145],"instruction":{"instruction_text":"Lift off and turn right to face the alley and head straight to the brick edge. Turn left to face the a white building across the street and then go farward until seeing the sidewalk and descend close to the sidewalk facing the orange awning. Turn right to face the \"STOP\" sign at the T-junction and proceed until you reach the sign. Turn left to face the end of the road and proceed towards the end of the road. Go to three trees in tree pot and stop there."},"goals":[{"position":[46.02471465198089,-28.13844602660565,-2.2319507598876953]}],"reference_path":[[11.7904634475708,-62.09373092651367,-10.231950759887695,0,0,0.04128733545318528],[11.7904634475708,-62.09373092651367,-10.231950759887695,0,0,0.3030867232523347],[11.7904634475708,-62.09373092651367,-10.231950759887695,0,0,0.5648861110514842],[11.7904634475708,-62.09373092651367,-10.231950759887695,0,0,0.8266854988506336],[11.7904634475708,-62.09373092651367,-10.231950759887695,0,0,1.088484886649783],[11.7904634475708,-62.09373092651367,-10.231950759887695,0,0,1.3502842744489323],[12.884109972709505,-57.21480304448344,-10.231950759887695,0,0,1.3502842744489323],[12.884109972709505,-57.21480304448344,-10.231950759887695,0,0,1.0884848866497832],[12.884109972709505,-57.21480304448344,-10.231950759887695,0,0,0.8266854988506337],[12.884109972709505,-57.21480304448344,-10.231950759887695,0,0,0.5648861110514843],[12.884109972709505,-57.21480304448344,-10.231950759887695,0,0,0.3030867232523349],[12.884109972709505,-57.21480304448344,-10.231950759887695,0,0,0.04128733545318545],[17.879848967880424,-57.00842501239508,-10.231950759887695,0,0,0.04128733545318545],[22.87558796305134,-56.80204698030672,-10.231950759887695,0,0,0.04128733545318545],[22.87558796305134,-56.80204698030672,-10.231950759887695,0,0,-0.220512052345964],[27.754515845081578,-57.89569350544542,-10.231950759887695,0,0,-0.220512052345964],[27.754515845081578,-57.89569350544542,-8.231950759887695,0,0,-0.220512052345964],[27.754515845081578,-57.89569350544542,-6.231950759887695,0,0,-0.220512052345964],[27.754515845081578,-57.89569350544542,-4.231950759887695,0,0,-0.220512052345964],[27.754515845081578,-57.89569350544542,-2.2319507598876953,0,0,-0.220512052345964],[27.754515845081578,-57.89569350544542,-2.2319507598876953,0,0,0.04128733545318545],[27.754515845081578,-57.89569350544542,-2.2319507598876953,0,0,0.3030867232523349],[27.754515845081578,-57.89569350544542,-2.2319507598876953,0,0,0.5648861110514843],[27.754515845081578,-57.89569350544542,-2.2319507598876953,0,0,0.8266854988506337],[31.14110545962739,-54.217241278944385,-2.2319507598876953,0,0,0.8266854988506337],[31.14110545962739,-54.217241278944385,-2.2319507598876953,0,0,1.0884848866497832],[31.14110545962739,-54.217241278944385,-2.2319507598876953,0,0,1.3502842744489327],[31.14110545962739,-54.217241278944385,-2.2319507598876953,0,0,1.612083662248082],[31.14110545962739,-54.217241278944385,-2.2319507598876953,0,0,1.8738830500472314],[29.648767192142966,-49.44514252730464,-2.2319507598876953,0,0,1.8738830500472314],[28.15642892465854,-44.673043775664894,-2.2319507598876953,0,0,1.8738830500472314],[26.664090657174118,-39.90094502402515,-2.2319507598876953,0,0,1.8738830500472314],[25.171752389689694,-35.1288462723854,-2.2319507598876953,0,0,1.8738830500472314],[25.171752389689694,-35.1288462723854,-2.2319507598876953,0,0,2.135682437846381],[25.171752389689694,-35.1288462723854,-2.2319507598876953,0,0,2.3974818256455306],[21.493300163188653,-31.742256657839594,-2.2319507598876953,0,0,2.3974818256455306],[21.493300163188653,-31.742256657839594,-2.2319507598876953,0,0,2.6592812134446797],[21.493300163188653,-31.742256657839594,-2.2319507598876953,0,0,2.3974818256455306],[21.493300163188653,-31.742256657839594,-2.2319507598876953,0,0,2.135682437846381],[21.493300163188653,-31.742256657839594,-2.2319507598876953,0,0,1.8738830500472317],[21.493300163188653,-31.742256657839594,-2.2319507598876953,0,0,1.6120836622480823],[21.493300163188653,-31.742256657839594,-2.2319507598876953,0,0,1.350284274448933],[21.493300163188653,-31.742256657839594,-2.2319507598876953,0,0,1.0884848866497836],[21.493300163188653,-31.742256657839594,-2.2319507598876953,0,0,0.8266854988506342],[21.493300163188653,-31.742256657839594,-2.2319507598876953,0,0,0.5648861110514849],[21.493300163188653,-31.742256657839594,-2.2319507598876953,0,0,0.3030867232523355],[21.493300163188653,-31.742256657839594,-2.2319507598876953,0,0,0.04128733545318607],[26.48903915835957,-31.53587862575123,-2.2319507598876953,0,0,0.04128733545318607],[31.48477815353049,-31.329500593662868,-2.2319507598876953,0,0,0.04128733545318607],[36.48051714870141,-31.123122561574505,-2.2319507598876953,0,0,0.04128733545318607],[36.48051714870141,-31.123122561574505,-2.2319507598876953,0,0,0.3030867232523355],[41.25261590034115,-29.630784294090077,-2.2319507598876953,0,0,0.3030867232523355],[46.02471465198089,-28.13844602660565,-2.2319507598876953,0,0,0.3030867232523355]],"actions":[3,3,3,3,3,1,2,2,2,2,2,1,1,2,1,5,5,5,5,3,3,3,3,1,3,3,3,3,1,1,1,1,3,3,1,3,2,2,2,2,2,2,2,2,2,2,1,1,1,3,1,1,0]},
+{"episode_id":"3HWRJOOETE0JQ0IQUL2WQNW9JKGEST","trajectory_id":"3TKXBROM618ZLI4TD7E7UI8QMZPJI8","scene_id":13,"start_position":[11.7904634475708,-62.09373092651367,-10.231950759887695],"start_rotation":[0.9997869270585067,0.0,0.0,0.020642201503429145],"instruction":{"instruction_text":"Lift off and turn right to face the alley and head straight to the brick edge. Turn left to face the trees and the white buildings. fly forward until seeing the street below, and then descend onto the sidewalk, turn left  facing the orange awning. Turn right to face the \"STOP\" sign at the T-junction and proceed until you reach theW sign. Turn left to face the road end and go to the end of the road. Land to the left of the last street lamp on the right."},"goals":[{"position":[46.02471465198089,-28.13844602660565,-2.2319507598876953]}],"reference_path":[[11.7904634475708,-62.09373092651367,-10.231950759887695,0,0,0.04128733545318528],[11.7904634475708,-62.09373092651367,-10.231950759887695,0,0,0.3030867232523347],[11.7904634475708,-62.09373092651367,-10.231950759887695,0,0,0.5648861110514842],[11.7904634475708,-62.09373092651367,-10.231950759887695,0,0,0.8266854988506336],[11.7904634475708,-62.09373092651367,-10.231950759887695,0,0,1.088484886649783],[11.7904634475708,-62.09373092651367,-10.231950759887695,0,0,1.3502842744489323],[12.884109972709505,-57.21480304448344,-10.231950759887695,0,0,1.3502842744489323],[12.884109972709505,-57.21480304448344,-10.231950759887695,0,0,1.0884848866497832],[12.884109972709505,-57.21480304448344,-10.231950759887695,0,0,0.8266854988506337],[12.884109972709505,-57.21480304448344,-10.231950759887695,0,0,0.5648861110514843],[12.884109972709505,-57.21480304448344,-10.231950759887695,0,0,0.3030867232523349],[12.884109972709505,-57.21480304448344,-10.231950759887695,0,0,0.04128733545318545],[17.879848967880424,-57.00842501239508,-10.231950759887695,0,0,0.04128733545318545],[22.87558796305134,-56.80204698030672,-10.231950759887695,0,0,0.04128733545318545],[22.87558796305134,-56.80204698030672,-10.231950759887695,0,0,-0.220512052345964],[27.754515845081578,-57.89569350544542,-10.231950759887695,0,0,-0.220512052345964],[27.754515845081578,-57.89569350544542,-8.231950759887695,0,0,-0.220512052345964],[27.754515845081578,-57.89569350544542,-6.231950759887695,0,0,-0.220512052345964],[27.754515845081578,-57.89569350544542,-4.231950759887695,0,0,-0.220512052345964],[27.754515845081578,-57.89569350544542,-2.2319507598876953,0,0,-0.220512052345964],[27.754515845081578,-57.89569350544542,-2.2319507598876953,0,0,0.04128733545318545],[27.754515845081578,-57.89569350544542,-2.2319507598876953,0,0,0.3030867232523349],[27.754515845081578,-57.89569350544542,-2.2319507598876953,0,0,0.5648861110514843],[27.754515845081578,-57.89569350544542,-2.2319507598876953,0,0,0.8266854988506337],[31.14110545962739,-54.217241278944385,-2.2319507598876953,0,0,0.8266854988506337],[31.14110545962739,-54.217241278944385,-2.2319507598876953,0,0,1.0884848866497832],[31.14110545962739,-54.217241278944385,-2.2319507598876953,0,0,1.3502842744489327],[31.14110545962739,-54.217241278944385,-2.2319507598876953,0,0,1.612083662248082],[31.14110545962739,-54.217241278944385,-2.2319507598876953,0,0,1.8738830500472314],[29.648767192142966,-49.44514252730464,-2.2319507598876953,0,0,1.8738830500472314],[28.15642892465854,-44.673043775664894,-2.2319507598876953,0,0,1.8738830500472314],[26.664090657174118,-39.90094502402515,-2.2319507598876953,0,0,1.8738830500472314],[25.171752389689694,-35.1288462723854,-2.2319507598876953,0,0,1.8738830500472314],[25.171752389689694,-35.1288462723854,-2.2319507598876953,0,0,2.135682437846381],[25.171752389689694,-35.1288462723854,-2.2319507598876953,0,0,2.3974818256455306],[21.493300163188653,-31.742256657839594,-2.2319507598876953,0,0,2.3974818256455306],[21.493300163188653,-31.742256657839594,-2.2319507598876953,0,0,2.6592812134446797],[21.493300163188653,-31.742256657839594,-2.2319507598876953,0,0,2.3974818256455306],[21.493300163188653,-31.742256657839594,-2.2319507598876953,0,0,2.135682437846381],[21.493300163188653,-31.742256657839594,-2.2319507598876953,0,0,1.8738830500472317],[21.493300163188653,-31.742256657839594,-2.2319507598876953,0,0,1.6120836622480823],[21.493300163188653,-31.742256657839594,-2.2319507598876953,0,0,1.350284274448933],[21.493300163188653,-31.742256657839594,-2.2319507598876953,0,0,1.0884848866497836],[21.493300163188653,-31.742256657839594,-2.2319507598876953,0,0,0.8266854988506342],[21.493300163188653,-31.742256657839594,-2.2319507598876953,0,0,0.5648861110514849],[21.493300163188653,-31.742256657839594,-2.2319507598876953,0,0,0.3030867232523355],[21.493300163188653,-31.742256657839594,-2.2319507598876953,0,0,0.04128733545318607],[26.48903915835957,-31.53587862575123,-2.2319507598876953,0,0,0.04128733545318607],[31.48477815353049,-31.329500593662868,-2.2319507598876953,0,0,0.04128733545318607],[36.48051714870141,-31.123122561574505,-2.2319507598876953,0,0,0.04128733545318607],[36.48051714870141,-31.123122561574505,-2.2319507598876953,0,0,0.3030867232523355],[41.25261590034115,-29.630784294090077,-2.2319507598876953,0,0,0.3030867232523355],[46.02471465198089,-28.13844602660565,-2.2319507598876953,0,0,0.3030867232523355]],"actions":[3,3,3,3,3,1,2,2,2,2,2,1,1,2,1,5,5,5,5,3,3,3,3,1,3,3,3,3,1,1,1,1,3,3,1,3,2,2,2,2,2,2,2,2,2,2,1,1,1,3,1,1,0]},
+{"episode_id":"35GMH2SV3NF4S8QXN4LN6IM8MW2EON","trajectory_id":"36MUZ9VAFE0A2R2F7S2565FLPMLEDG","scene_id":13,"start_position":[34.21627426147461,-83.59256744384766,-0.5034931898117065],"start_rotation":[0.9999329090010697,0.0,0.0,0.011583501053591207],"instruction":{"instruction_text":"Turn right to face the street which only has tree on one side and go to end of the street and then turn left to face a building with brick wall and black lines. Ascend to the roof height and go over the buildings diagonally and then back to the ground on other side. Turn right to face a blue awning and go forward to the cafe with the white sign in front under the blue awning. Go by cafe and then turn right to the corner and land in middle of street."},"goals":[{"position":[5.608790031786924,-29.15558476185387,-2.5034931898117065]}],"reference_path":[[34.21627426147461,-83.59256744384766,-0.5034931898117065,0,0,0.02316752022019126],[34.21627426147461,-83.59256744384766,-0.5034931898117065,0,0,0.28496690801934066],[34.21627426147461,-83.59256744384766,-0.5034931898117065,0,0,0.5467662958184901],[34.21627426147461,-83.59256744384766,-0.5034931898117065,0,0,0.8085656836176396],[34.21627426147461,-83.59256744384766,-0.5034931898117065,0,0,1.070365071416789],[34.21627426147461,-83.59256744384766,-0.5034931898117065,0,0,1.3321644592159383],[34.21627426147461,-83.59256744384766,-0.5034931898117065,0,0,1.5939638470150876],[34.21627426147461,-83.59256744384766,-0.5034931898117065,0,0,1.8557632348142374],[34.21627426147461,-83.59256744384766,-0.5034931898117065,0,0,2.117562622613387],[34.21627426147461,-83.59256744384766,-0.5034931898117065,0,0,2.3793620104125366],[34.21627426147461,-83.59256744384766,-0.5034931898117065,0,0,2.6411613982116857],[34.21627426147461,-83.59256744384766,-0.5034931898117065,0,0,2.9029607860108353],[29.357962889714948,-82.41070001683617,-0.5034931898117065,0,0,2.9029607860108353],[29.357962889714948,-82.41070001683617,-0.5034931898117065,0,0,-3.118425133369602],[29.357962889714948,-82.41070001683617,-0.5034931898117065,0,0,2.9029607860108353],[29.357962889714948,-82.41070001683617,-0.5034931898117065,0,0,-3.118425133369602],[24.35930466468153,-82.52652725588551,-0.5034931898117065,0,0,-3.118425133369602],[19.360646439648114,-82.64235449493485,-0.5034931898117065,0,0,-3.118425133369602],[14.3619882146147,-82.75818173398419,-0.5034931898117065,0,0,-3.118425133369602],[9.363329989581285,-82.87400897303353,-0.5034931898117065,0,0,-3.118425133369602],[4.36467176454787,-82.98983621208286,-0.5034931898117065,0,0,-3.118425133369602],[-0.633986460485545,-83.1056634511322,-0.5034931898117065,0,0,-3.118425133369602],[-5.63264468551896,-83.22149069018154,-0.5034931898117065,0,0,-3.118425133369602],[-5.63264468551896,-83.22149069018154,-0.5034931898117065,0,0,2.9029607860108353],[-5.63264468551896,-83.22149069018154,-0.5034931898117065,0,0,2.6411613982116857],[-5.63264468551896,-83.22149069018154,-0.5034931898117065,0,0,2.3793620104125366],[-5.63264468551896,-83.22149069018154,-0.5034931898117065,0,0,2.117562622613387],[-5.63264468551896,-83.22149069018154,-0.5034931898117065,0,0,1.8557632348142377],[-5.63264468551896,-83.22149069018154,-0.5034931898117065,0,0,1.593963847015088],[-5.63264468551896,-83.22149069018154,-0.5034931898117065,0,0,1.3321644592159387],[-5.63264468551896,-83.22149069018154,-0.5034931898117065,0,0,1.0703650714167894],[-5.63264468551896,-83.22149069018154,-0.5034931898117065,0,0,0.80856568361764],[-5.63264468551896,-83.22149069018154,-0.5034931898117065,0,0,0.5467662958184907],[-5.63264468551896,-83.22149069018154,-2.5034931898117065,0,0,0.5467662958184907],[-5.63264468551896,-83.22149069018154,-4.5034931898117065,0,0,0.5467662958184907],[-1.3615932973286657,-80.62185224619789,-4.5034931898117065,0,0,0.5467662958184907],[-1.3615932973286657,-80.62185224619789,-6.5034931898117065,0,0,0.5467662958184907],[2.9094580908616283,-78.02221380221424,-6.5034931898117065,0,0,0.5467662958184907],[2.9094580908616283,-78.02221380221424,-8.503493189811707,0,0,0.5467662958184907],[7.180509479051922,-75.42257535823059,-8.503493189811707,0,0,0.5467662958184907],[7.180509479051922,-75.42257535823059,-10.503493189811707,0,0,0.5467662958184907],[11.451560867242216,-72.82293691424694,-10.503493189811707,0,0,0.5467662958184907],[11.451560867242216,-72.82293691424694,-10.503493189811707,0,0,0.2849669080193412],[16.24991564818665,-71.4173084440644,-10.503493189811707,0,0,0.2849669080193412],[16.24991564818665,-71.4173084440644,-12.503493189811707,0,0,0.2849669080193412],[21.048270429131087,-70.01167997388187,-12.503493189811707,0,0,0.2849669080193412],[21.048270429131087,-70.01167997388187,-12.503493189811707,0,0,0.023167520220191806],[26.046928654164503,-69.89585273483252,-12.503493189811707,0,0,0.023167520220191806],[26.046928654164503,-69.89585273483252,-10.503493189811707,0,0,0.023167520220191806],[26.046928654164503,-69.89585273483252,-8.503493189811707,0,0,0.023167520220191806],[31.04558687919792,-69.78002549578316,-8.503493189811707,0,0,0.023167520220191806],[31.04558687919792,-69.78002549578316,-6.5034931898117065,0,0,0.023167520220191806],[31.04558687919792,-69.78002549578316,-4.5034931898117065,0,0,0.023167520220191806],[31.04558687919792,-69.78002549578316,-2.5034931898117065,0,0,0.023167520220191806],[31.04558687919792,-69.78002549578316,-2.5034931898117065,0,0,0.2849669080193412],[31.04558687919792,-69.78002549578316,-2.5034931898117065,0,0,0.5467662958184907],[31.04558687919792,-69.78002549578316,-2.5034931898117065,0,0,0.8085656836176401],[31.04558687919792,-69.78002549578316,-2.5034931898117065,0,0,1.0703650714167896],[31.04558687919792,-69.78002549578316,-2.5034931898117065,0,0,1.332164459215939],[31.04558687919792,-69.78002549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+{"episode_id":"37QW5D2ZRPK2HZ8ZHIGWYD0N8IF8SN","trajectory_id":"36MUZ9VAFE0A2R2F7S2565FLPMLEDG","scene_id":13,"start_position":[34.21627426147461,-83.59256744384766,-0.5034931898117065],"start_rotation":[0.9999329090010697,0.0,0.0,0.011583501053591207],"instruction":{"instruction_text":"Take off and turn right to face the street which only has tree on one side and fly towards the big building with black door at the corner. Now turn back to face a building with brick wall and black lines and fly up towards the top of building and trees and turn slightly left and fly down in front of buildings with orange shed. Now turn right to face a blue awning fly towards the entrance of hotel under the blue awning and turn left fly towards the crossline. Now turn right to face the street corner and land here."},"goals":[{"position":[5.608790031786924,-29.15558476185387,-2.5034931898117065]}],"reference_path":[[34.21627426147461,-83.59256744384766,-0.5034931898117065,0,0,0.02316752022019126],[34.21627426147461,-83.59256744384766,-0.5034931898117065,0,0,0.28496690801934066],[34.21627426147461,-83.59256744384766,-0.5034931898117065,0,0,0.5467662958184901],[34.21627426147461,-83.59256744384766,-0.5034931898117065,0,0,0.8085656836176396],[34.21627426147461,-83.59256744384766,-0.5034931898117065,0,0,1.070365071416789],[34.21627426147461,-83.59256744384766,-0.5034931898117065,0,0,1.3321644592159383],[34.21627426147461,-83.59256744384766,-0.5034931898117065,0,0,1.5939638470150876],[34.21627426147461,-83.59256744384766,-0.5034931898117065,0,0,1.8557632348142374],[34.21627426147461,-83.59256744384766,-0.5034931898117065,0,0,2.117562622613387],[34.21627426147461,-83.59256744384766,-0.5034931898117065,0,0,2.3793620104125366],[34.21627426147461,-83.59256744384766,-0.5034931898117065,0,0,2.6411613982116857],[34.21627426147461,-83.59256744384766,-0.5034931898117065,0,0,2.9029607860108353],[29.357962889714948,-82.41070001683617,-0.5034931898117065,0,0,2.9029607860108353],[29.357962889714948,-82.41070001683617,-0.5034931898117065,0,0,-3.118425133369602],[29.357962889714948,-82.41070001683617,-0.5034931898117065,0,0,2.9029607860108353],[29.357962889714948,-82.41070001683617,-0.5034931898117065,0,0,-3.118425133369602],[24.35930466468153,-82.52652725588551,-0.5034931898117065,0,0,-3.118425133369602],[19.360646439648114,-82.64235449493485,-0.5034931898117065,0,0,-3.118425133369602],[14.3619882146147,-82.75818173398419,-0.5034931898117065,0,0,-3.118425133369602],[9.363329989581285,-82.87400897303353,-0.5034931898117065,0,0,-3.118425133369602],[4.36467176454787,-82.98983621208286,-0.5034931898117065,0,0,-3.118425133369602],[-0.633986460485545,-83.1056634511322,-0.5034931898117065,0,0,-3.118425133369602],[-5.63264468551896,-83.22149069018154,-0.5034931898117065,0,0,-3.118425133369602],[-5.63264468551896,-83.22149069018154,-0.5034931898117065,0,0,2.9029607860108353],[-5.63264468551896,-83.22149069018154,-0.5034931898117065,0,0,2.6411613982116857],[-5.63264468551896,-83.22149069018154,-0.5034931898117065,0,0,2.3793620104125366],[-5.63264468551896,-83.22149069018154,-0.5034931898117065,0,0,2.117562622613387],[-5.63264468551896,-83.22149069018154,-0.5034931898117065,0,0,1.8557632348142377],[-5.63264468551896,-83.22149069018154,-0.5034931898117065,0,0,1.593963847015088],[-5.63264468551896,-83.22149069018154,-0.5034931898117065,0,0,1.3321644592159387],[-5.63264468551896,-83.22149069018154,-0.5034931898117065,0,0,1.0703650714167894],[-5.63264468551896,-83.22149069018154,-0.5034931898117065,0,0,0.80856568361764],[-5.63264468551896,-83.22149069018154,-0.5034931898117065,0,0,0.5467662958184907],[-5.63264468551896,-83.22149069018154,-2.5034931898117065,0,0,0.5467662958184907],[-5.63264468551896,-83.22149069018154,-4.5034931898117065,0,0,0.5467662958184907],[-1.3615932973286657,-80.62185224619789,-4.5034931898117065,0,0,0.5467662958184907],[-1.3615932973286657,-80.62185224619789,-6.5034931898117065,0,0,0.5467662958184907],[2.9094580908616283,-78.02221380221424,-6.5034931898117065,0,0,0.5467662958184907],[2.9094580908616283,-78.02221380221424,-8.503493189811707,0,0,0.5467662958184907],[7.180509479051922,-75.42257535823059,-8.503493189811707,0,0,0.5467662958184907],[7.180509479051922,-75.42257535823059,-10.503493189811707,0,0,0.5467662958184907],[11.451560867242216,-72.82293691424694,-10.503493189811707,0,0,0.5467662958184907],[11.451560867242216,-72.82293691424694,-10.503493189811707,0,0,0.2849669080193412],[16.24991564818665,-71.4173084440644,-10.503493189811707,0,0,0.2849669080193412],[16.24991564818665,-71.4173084440644,-12.503493189811707,0,0,0.2849669080193412],[21.048270429131087,-70.01167997388187,-12.503493189811707,0,0,0.2849669080193412],[21.048270429131087,-70.01167997388187,-12.503493189811707,0,0,0.023167520220191806],[26.046928654164503,-69.89585273483252,-12.503493189811707,0,0,0.023167520220191806],[26.046928654164503,-69.89585273483252,-10.503493189811707,0,0,0.023167520220191806],[26.046928654164503,-69.89585273483252,-8.503493189811707,0,0,0.023167520220191806],[31.04558687919792,-69.78002549578316,-8.503493189811707,0,0,0.023167520220191806],[31.04558687919792,-69.78002549578316,-6.5034931898117065,0,0,0.023167520220191806],[31.04558687919792,-69.78002549578316,-4.5034931898117065,0,0,0.023167520220191806],[31.04558687919792,-69.78002549578316,-2.5034931898117065,0,0,0.023167520220191806],[31.04558687919792,-69.78002549578316,-2.5034931898117065,0,0,0.2849669080193412],[31.04558687919792,-69.78002549578316,-2.5034931898117065,0,0,0.5467662958184907],[31.04558687919792,-69.78002549578316,-2.5034931898117065,0,0,0.8085656836176401],[31.04558687919792,-69.78002549578316,-2.5034931898117065,0,0,1.0703650714167896],[31.04558687919792,-69.78002549578316,-2.5034931898117065,0,0,1.332164459215939],[31.04558687919792,-69.7800254957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+{"episode_id":"35BLDD71IFVXTNQQK3LEMKHY6VJVZN","trajectory_id":"36MUZ9VAFE0A2R2F7S2565FLPMLEDG","scene_id":13,"start_position":[34.21627426147461,-83.59256744384766,-0.5034931898117065],"start_rotation":[0.9999329090010697,0.0,0.0,0.011583501053591207],"instruction":{"instruction_text":"Turn right to face the street which only has tree on one side and go to the end of the road to the building with shadow. Turn back and fly over the building on the right after the first one. Land back down on the other side at the door of the white building. Turn right to face a blue awning  and go across the road to the blue awning. Go to the end of the sidewalk on your left. Turn right to face the corner and go to the building with many glass windows on the left and land."},"goals":[{"position":[5.608790031786924,-29.15558476185387,-2.5034931898117065]}],"reference_path":[[34.21627426147461,-83.59256744384766,-0.5034931898117065,0,0,0.02316752022019126],[34.21627426147461,-83.59256744384766,-0.5034931898117065,0,0,0.28496690801934066],[34.21627426147461,-83.59256744384766,-0.5034931898117065,0,0,0.5467662958184901],[34.21627426147461,-83.59256744384766,-0.5034931898117065,0,0,0.8085656836176396],[34.21627426147461,-83.59256744384766,-0.5034931898117065,0,0,1.070365071416789],[34.21627426147461,-83.59256744384766,-0.5034931898117065,0,0,1.3321644592159383],[34.21627426147461,-83.59256744384766,-0.5034931898117065,0,0,1.5939638470150876],[34.21627426147461,-83.59256744384766,-0.5034931898117065,0,0,1.8557632348142374],[34.21627426147461,-83.59256744384766,-0.5034931898117065,0,0,2.117562622613387],[34.21627426147461,-83.59256744384766,-0.5034931898117065,0,0,2.3793620104125366],[34.21627426147461,-83.59256744384766,-0.5034931898117065,0,0,2.6411613982116857],[34.21627426147461,-83.59256744384766,-0.5034931898117065,0,0,2.9029607860108353],[29.357962889714948,-82.41070001683617,-0.5034931898117065,0,0,2.9029607860108353],[29.357962889714948,-82.41070001683617,-0.5034931898117065,0,0,-3.118425133369602],[29.357962889714948,-82.41070001683617,-0.5034931898117065,0,0,2.9029607860108353],[29.357962889714948,-82.41070001683617,-0.5034931898117065,0,0,-3.118425133369602],[24.35930466468153,-82.52652725588551,-0.5034931898117065,0,0,-3.118425133369602],[19.360646439648114,-82.64235449493485,-0.5034931898117065,0,0,-3.118425133369602],[14.3619882146147,-82.75818173398419,-0.5034931898117065,0,0,-3.118425133369602],[9.363329989581285,-82.87400897303353,-0.5034931898117065,0,0,-3.118425133369602],[4.36467176454787,-82.98983621208286,-0.5034931898117065,0,0,-3.118425133369602],[-0.633986460485545,-83.1056634511322,-0.5034931898117065,0,0,-3.118425133369602],[-5.63264468551896,-83.22149069018154,-0.5034931898117065,0,0,-3.118425133369602],[-5.63264468551896,-83.22149069018154,-0.5034931898117065,0,0,2.9029607860108353],[-5.63264468551896,-83.22149069018154,-0.5034931898117065,0,0,2.6411613982116857],[-5.63264468551896,-83.22149069018154,-0.5034931898117065,0,0,2.3793620104125366],[-5.63264468551896,-83.22149069018154,-0.5034931898117065,0,0,2.117562622613387],[-5.63264468551896,-83.22149069018154,-0.5034931898117065,0,0,1.8557632348142377],[-5.63264468551896,-83.22149069018154,-0.5034931898117065,0,0,1.593963847015088],[-5.63264468551896,-83.22149069018154,-0.5034931898117065,0,0,1.3321644592159387],[-5.63264468551896,-83.22149069018154,-0.5034931898117065,0,0,1.0703650714167894],[-5.63264468551896,-83.22149069018154,-0.5034931898117065,0,0,0.80856568361764],[-5.63264468551896,-83.22149069018154,-0.5034931898117065,0,0,0.5467662958184907],[-5.63264468551896,-83.22149069018154,-2.5034931898117065,0,0,0.5467662958184907],[-5.63264468551896,-83.22149069018154,-4.5034931898117065,0,0,0.5467662958184907],[-1.3615932973286657,-80.62185224619789,-4.5034931898117065,0,0,0.5467662958184907],[-1.3615932973286657,-80.62185224619789,-6.5034931898117065,0,0,0.5467662958184907],[2.9094580908616283,-78.02221380221424,-6.5034931898117065,0,0,0.5467662958184907],[2.9094580908616283,-78.02221380221424,-8.503493189811707,0,0,0.5467662958184907],[7.180509479051922,-75.42257535823059,-8.503493189811707,0,0,0.5467662958184907],[7.180509479051922,-75.42257535823059,-10.503493189811707,0,0,0.5467662958184907],[11.451560867242216,-72.82293691424694,-10.503493189811707,0,0,0.5467662958184907],[11.451560867242216,-72.82293691424694,-10.503493189811707,0,0,0.2849669080193412],[16.24991564818665,-71.4173084440644,-10.503493189811707,0,0,0.2849669080193412],[16.24991564818665,-71.4173084440644,-12.503493189811707,0,0,0.2849669080193412],[21.048270429131087,-70.01167997388187,-12.503493189811707,0,0,0.2849669080193412],[21.048270429131087,-70.01167997388187,-12.503493189811707,0,0,0.023167520220191806],[26.046928654164503,-69.89585273483252,-12.503493189811707,0,0,0.023167520220191806],[26.046928654164503,-69.89585273483252,-10.503493189811707,0,0,0.023167520220191806],[26.046928654164503,-69.89585273483252,-8.503493189811707,0,0,0.023167520220191806],[31.04558687919792,-69.78002549578316,-8.503493189811707,0,0,0.023167520220191806],[31.04558687919792,-69.78002549578316,-6.5034931898117065,0,0,0.023167520220191806],[31.04558687919792,-69.78002549578316,-4.5034931898117065,0,0,0.023167520220191806],[31.04558687919792,-69.78002549578316,-2.5034931898117065,0,0,0.023167520220191806],[31.04558687919792,-69.78002549578316,-2.5034931898117065,0,0,0.2849669080193412],[31.04558687919792,-69.78002549578316,-2.5034931898117065,0,0,0.5467662958184907],[31.04558687919792,-69.78002549578316,-2.5034931898117065,0,0,0.8085656836176401],[31.04558687919792,-69.78002549578316,-2.5034931898117065,0,0,1.0703650714167896],[31.04558687919792,-69.78002549578316,-2.5034931898117065,0,0,1.332164459215939],[31.04558687919792,-69.7800254957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+{"episode_id":"392CY0QWGAPC4KI103W5DZEWJE34IQ","trajectory_id":"34KYK9TV3Z6IXD9DURV40WV0R9WSB4","scene_id":13,"start_position":[33.992637634277344,-16.65180206298828,-14.979244232177734],"start_rotation":[0.9997710665793966,0.0,0.0,-0.021396598577708047],"instruction":{"instruction_text":"Take off and turn left to face a brown brick building with black edge roof and go forward until the grey building with mirror glass arrives and get down. Now turn right to face the gap between two light pink buildings and get up to the roof and go forward over the buildings under and get down close to the street when seeing the street and turn left to the orange awning. Now go forward over the road and turn right to face the orange door and get up and move forward and land at the top of the grey building."},"goals":[{"position":[39.50572289273455,-67.54688335345935,-12.979244232177734]}],"reference_path":[[33.992637634277344,-16.65180206298828,-14.979244232177734,0,0,-0.042796463052154995],[33.992637634277344,-16.65180206298828,-14.979244232177734,0,0,-0.3045958508513044],[33.992637634277344,-16.65180206298828,-14.979244232177734,0,0,-0.5663952386504538],[33.992637634277344,-16.65180206298828,-14.979244232177734,0,0,-0.8281946264496033],[33.992637634277344,-16.65180206298828,-14.979244232177734,0,0,-1.0899940142487528],[33.992637634277344,-16.65180206298828,-14.979244232177734,0,0,-1.3517934020479023],[33.992637634277344,-16.65180206298828,-14.979244232177734,0,0,-1.6135927898470517],[33.992637634277344,-16.65180206298828,-14.979244232177734,0,0,-1.875392177646201],[33.992637634277344,-16.65180206298828,-14.979244232177734,0,0,-2.13719156544535],[33.992637634277344,-16.65180206298828,-14.979244232177734,0,0,-2.3989909532444993],[33.992637634277344,-16.65180206298828,-14.979244232177734,0,0,-2.660790341043649],[29.559516903721136,-18.96425543296416,-14.979244232177734,0,0,-2.660790341043649],[25.126396173164927,-21.276708802940036,-14.979244232177734,0,0,-2.660790341043649],[20.69327544260872,-23.589162172915913,-14.979244232177734,0,0,-2.660790341043649],[16.26015471205251,-25.90161554289179,-14.979244232177734,0,0,-2.660790341043649],[11.827033981496303,-28.214068912867667,-14.979244232177734,0,0,-2.660790341043649],[7.393913250940094,-30.526522282843544,-14.979244232177734,0,0,-2.660790341043649],[2.960792520383885,-32.83897565281942,-14.979244232177734,0,0,-2.660790341043649],[-1.472328210172324,-35.1514290227953,-14.979244232177734,0,0,-2.660790341043649],[-1.472328210172324,-35.1514290227953,-12.979244232177734,0,0,-2.660790341043649],[-5.905448940728533,-37.463882392771175,-12.979244232177734,0,0,-2.660790341043649],[-5.905448940728533,-37.463882392771175,-10.979244232177734,0,0,-2.660790341043649],[-5.905448940728533,-37.463882392771175,-8.979244232177734,0,0,-2.660790341043649],[-10.338569671284741,-39.77633576274705,-8.979244232177734,0,0,-2.660790341043649],[-10.338569671284741,-39.77633576274705,-6.979244232177734,0,0,-2.660790341043649],[-10.338569671284741,-39.77633576274705,-4.979244232177734,0,0,-2.660790341043649],[-10.338569671284741,-39.77633576274705,-2.9792442321777344,0,0,-2.660790341043649],[-10.338569671284741,-39.77633576274705,-2.9792442321777344,0,0,-2.3989909532444993],[-10.338569671284741,-39.77633576274705,-2.9792442321777344,0,0,-2.13719156544535],[-14.55777340002889,-37.093367277029884,-2.9792442321777344,0,0,-2.13719156544535],[-14.55777340002889,-37.093367277029884,-2.9792442321777344,0,0,-1.8753921776462006],[-14.55777340002889,-37.093367277029884,-2.9792442321777344,0,0,-1.6135927898470512],[-14.55777340002889,-37.093367277029884,-2.9792442321777344,0,0,-1.3517934020479017],[-14.55777340002889,-37.093367277029884,-2.9792442321777344,0,0,-1.0899940142487523],[-14.55777340002889,-37.093367277029884,-2.9792442321777344,0,0,-0.8281946264496028],[-14.55777340002889,-37.093367277029884,-2.9792442321777344,0,0,-0.5663952386504535],[-14.55777340002889,-37.093367277029884,-4.979244232177734,0,0,-0.5663952386504535],[-10.338569671284741,-39.77633576274705,-4.979244232177734,0,0,-0.5663952386504535],[-10.338569671284741,-39.77633576274705,-6.979244232177734,0,0,-0.5663952386504535],[-10.338569671284741,-39.77633576274705,-8.979244232177734,0,0,-0.5663952386504535],[-10.338569671284741,-39.77633576274705,-10.979244232177734,0,0,-0.5663952386504535],[-6.119365942540593,-42.45930424846422,-10.979244232177734,0,0,-0.5663952386504535],[-6.119365942540593,-42.45930424846422,-12.979244232177734,0,0,-0.5663952386504535],[-1.9001622137964453,-45.14227273418139,-12.979244232177734,0,0,-0.5663952386504535],[-1.9001622137964453,-45.14227273418139,-14.979244232177734,0,0,-0.5663952386504535],[2.3190415149477026,-47.82524121989856,-14.979244232177734,0,0,-0.5663952386504535],[5.002010000664872,-43.60603749115441,-14.979244232177734,0,0,-0.5663952386504535],[5.002010000664872,-43.60603749115441,-14.979244232177734,0,0,-0.30459585085130403],[9.771851190147455,-45.10557576246174,-14.979244232177734,0,0,-0.30459585085130403],[9.771851190147455,-45.10557576246174,-14.979244232177734,0,0,-0.04279646305215459],[14.767273045840499,-45.319492764273804,-14.979244232177734,0,0,-0.04279646305215459],[19.762694901533543,-45.53340976608587,-14.979244232177734,0,0,-0.04279646305215459],[19.762694901533543,-45.53340976608587,-12.979244232177734,0,0,-0.04279646305215459],[19.762694901533543,-45.53340976608587,-12.979244232177734,0,0,0.21900292474699484],[19.762694901533543,-45.53340976608587,-12.979244232177734,0,0,0.48080231254614425],[24.19581563208975,-43.22095639610999,-12.979244232177734,0,0,0.48080231254614425],[24.19581563208975,-43.22095639610999,-10.979244232177734,0,0,0.48080231254614425],[24.19581563208975,-43.22095639610999,-8.979244232177734,0,0,0.48080231254614425],[24.19581563208975,-43.220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+{"episode_id":"31LVTDXBLG8LVRS5WIPVD8HYSWWLRJ","trajectory_id":"34KYK9TV3Z6IXD9DURV40WV0R9WSB4","scene_id":13,"start_position":[33.992637634277344,-16.65180206298828,-14.979244232177734],"start_rotation":[0.9997710665793966,0.0,0.0,-0.021396598577708047],"instruction":{"instruction_text":"Take off from the roof, turn left to face a brown brick building with black edge roof and go farward to the street corner, and then go down close to ground and turn right to the orange building and go over this building. Go to other side of street and then go to the ground and turn left to face the orange awning and go to it. Go up onto roof and go left onto the roof and stop at the roof."},"goals":[{"position":[39.50572289273455,-67.54688335345935,-12.979244232177734]}],"reference_path":[[33.992637634277344,-16.65180206298828,-14.979244232177734,0,0,-0.042796463052154995],[33.992637634277344,-16.65180206298828,-14.979244232177734,0,0,-0.3045958508513044],[33.992637634277344,-16.65180206298828,-14.979244232177734,0,0,-0.5663952386504538],[33.992637634277344,-16.65180206298828,-14.979244232177734,0,0,-0.8281946264496033],[33.992637634277344,-16.65180206298828,-14.979244232177734,0,0,-1.0899940142487528],[33.992637634277344,-16.65180206298828,-14.979244232177734,0,0,-1.3517934020479023],[33.992637634277344,-16.65180206298828,-14.979244232177734,0,0,-1.6135927898470517],[33.992637634277344,-16.65180206298828,-14.979244232177734,0,0,-1.875392177646201],[33.992637634277344,-16.65180206298828,-14.979244232177734,0,0,-2.13719156544535],[33.992637634277344,-16.65180206298828,-14.979244232177734,0,0,-2.3989909532444993],[33.992637634277344,-16.65180206298828,-14.979244232177734,0,0,-2.660790341043649],[29.559516903721136,-18.96425543296416,-14.979244232177734,0,0,-2.660790341043649],[25.126396173164927,-21.276708802940036,-14.979244232177734,0,0,-2.660790341043649],[20.69327544260872,-23.589162172915913,-14.979244232177734,0,0,-2.660790341043649],[16.26015471205251,-25.90161554289179,-14.979244232177734,0,0,-2.660790341043649],[11.827033981496303,-28.214068912867667,-14.979244232177734,0,0,-2.660790341043649],[7.393913250940094,-30.526522282843544,-14.979244232177734,0,0,-2.660790341043649],[2.960792520383885,-32.83897565281942,-14.979244232177734,0,0,-2.660790341043649],[-1.472328210172324,-35.1514290227953,-14.979244232177734,0,0,-2.660790341043649],[-1.472328210172324,-35.1514290227953,-12.979244232177734,0,0,-2.660790341043649],[-5.905448940728533,-37.463882392771175,-12.979244232177734,0,0,-2.660790341043649],[-5.905448940728533,-37.463882392771175,-10.979244232177734,0,0,-2.660790341043649],[-5.905448940728533,-37.463882392771175,-8.979244232177734,0,0,-2.660790341043649],[-10.338569671284741,-39.77633576274705,-8.979244232177734,0,0,-2.660790341043649],[-10.338569671284741,-39.77633576274705,-6.979244232177734,0,0,-2.660790341043649],[-10.338569671284741,-39.77633576274705,-4.979244232177734,0,0,-2.660790341043649],[-10.338569671284741,-39.77633576274705,-2.9792442321777344,0,0,-2.660790341043649],[-10.338569671284741,-39.77633576274705,-2.9792442321777344,0,0,-2.3989909532444993],[-10.338569671284741,-39.77633576274705,-2.9792442321777344,0,0,-2.13719156544535],[-14.55777340002889,-37.093367277029884,-2.9792442321777344,0,0,-2.13719156544535],[-14.55777340002889,-37.093367277029884,-2.9792442321777344,0,0,-1.8753921776462006],[-14.55777340002889,-37.093367277029884,-2.9792442321777344,0,0,-1.6135927898470512],[-14.55777340002889,-37.093367277029884,-2.9792442321777344,0,0,-1.3517934020479017],[-14.55777340002889,-37.093367277029884,-2.9792442321777344,0,0,-1.0899940142487523],[-14.55777340002889,-37.093367277029884,-2.9792442321777344,0,0,-0.8281946264496028],[-14.55777340002889,-37.093367277029884,-2.9792442321777344,0,0,-0.5663952386504535],[-14.55777340002889,-37.093367277029884,-4.979244232177734,0,0,-0.5663952386504535],[-10.338569671284741,-39.77633576274705,-4.979244232177734,0,0,-0.5663952386504535],[-10.338569671284741,-39.77633576274705,-6.979244232177734,0,0,-0.5663952386504535],[-10.338569671284741,-39.77633576274705,-8.979244232177734,0,0,-0.5663952386504535],[-10.338569671284741,-39.77633576274705,-10.979244232177734,0,0,-0.5663952386504535],[-6.119365942540593,-42.45930424846422,-10.979244232177734,0,0,-0.5663952386504535],[-6.119365942540593,-42.45930424846422,-12.979244232177734,0,0,-0.5663952386504535],[-1.9001622137964453,-45.14227273418139,-12.979244232177734,0,0,-0.5663952386504535],[-1.9001622137964453,-45.14227273418139,-14.979244232177734,0,0,-0.5663952386504535],[2.3190415149477026,-47.82524121989856,-14.979244232177734,0,0,-0.5663952386504535],[5.002010000664872,-43.60603749115441,-14.979244232177734,0,0,-0.5663952386504535],[5.002010000664872,-43.60603749115441,-14.979244232177734,0,0,-0.30459585085130403],[9.771851190147455,-45.10557576246174,-14.979244232177734,0,0,-0.30459585085130403],[9.771851190147455,-45.10557576246174,-14.979244232177734,0,0,-0.04279646305215459],[14.767273045840499,-45.319492764273804,-14.979244232177734,0,0,-0.04279646305215459],[19.762694901533543,-45.53340976608587,-14.979244232177734,0,0,-0.04279646305215459],[19.762694901533543,-45.53340976608587,-12.979244232177734,0,0,-0.04279646305215459],[19.762694901533543,-45.53340976608587,-12.979244232177734,0,0,0.21900292474699484],[19.762694901533543,-45.53340976608587,-12.979244232177734,0,0,0.48080231254614425],[24.19581563208975,-43.22095639610999,-12.979244232177734,0,0,0.48080231254614425],[24.19581563208975,-43.22095639610999,-10.979244232177734,0,0,0.48080231254614425],[24.19581563208975,-43.22095639610999,-8.979244232177734,0,0,0.48080231254614425],[24.19581563208975,-43.2209563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+{"episode_id":"3FK0YFF9P8EGK3LGJ6WB1E42EDUVVM","trajectory_id":"3KG2UQJ0NRM8L6JX5DB8WRGTLTMNQT","scene_id":13,"start_position":[46.02077865600586,-24.329687118530273,-0.6907194256782532],"start_rotation":[0.9996860466722859,0.0,0.0,-0.025056098833141208],"instruction":{"instruction_text":"Ascend to the roof height and turn left to face the intersection. Go above the trees ahead to the street. Descend down close to the street. Turn left to face the red \"STOP\" sign and approach it. Turn left to face the T-junction. Turn right to face the road, fly forward to the building at the corner of the road and stop on the sidewalk."},"goals":[{"position":[-12.342811984485486,-23.97849595633069,-2.690719425678253]}],"reference_path":[[46.02077865600586,-24.329687118530273,-0.6907194256782532,0,0,-0.05011744262202898],[46.02077865600586,-24.329687118530273,-2.690719425678253,0,0,-0.05011744262202898],[46.02077865600586,-24.329687118530273,-4.690719425678253,0,0,-0.05011744262202898],[46.02077865600586,-24.329687118530273,-6.690719425678253,0,0,-0.05011744262202898],[46.02077865600586,-24.329687118530273,-8.690719425678253,0,0,-0.05011744262202898],[46.02077865600586,-24.329687118530273,-10.690719425678253,0,0,-0.05011744262202898],[46.02077865600586,-24.329687118530273,-12.690719425678253,0,0,-0.05011744262202898],[46.02077865600586,-24.329687118530273,-14.690719425678253,0,0,-0.05011744262202898],[46.02077865600586,-24.329687118530273,-14.690719425678253,0,0,-0.31191683042117846],[46.02077865600586,-24.329687118530273,-14.690719425678253,0,0,-0.5737162182203279],[46.02077865600586,-24.329687118530273,-14.690719425678253,0,0,-0.8355156060194774],[46.02077865600586,-24.329687118530273,-14.690719425678253,0,0,-1.0973149938186268],[46.02077865600586,-24.329687118530273,-14.690719425678253,0,0,-1.3591143816177766],[46.02077865600586,-24.329687118530273,-14.690719425678253,0,0,-1.6209137694169262],[46.02077865600586,-24.329687118530273,-14.690719425678253,0,0,-1.8827131572160756],[46.02077865600586,-24.329687118530273,-14.690719425678253,0,0,-2.144512545015225],[43.30699364077454,-28.52913599797933,-14.690719425678253,0,0,-2.144512545015225],[40.59320862554323,-32.72858487742839,-14.690719425678253,0,0,-2.144512545015225],[37.87942361031191,-36.92803375687745,-14.690719425678253,0,0,-2.144512545015225],[33.67997473086285,-34.214248741646124,-14.690719425678253,0,0,-2.144512545015225],[30.966189715631533,-38.41369762109518,-14.690719425678253,0,0,-2.144512545015225],[30.966189715631533,-38.41369762109518,-12.690719425678253,0,0,-2.144512545015225],[30.966189715631533,-38.41369762109518,-10.690719425678253,0,0,-2.144512545015225],[30.966189715631533,-38.41369762109518,-8.690719425678253,0,0,-2.144512545015225],[30.966189715631533,-38.41369762109518,-6.690719425678253,0,0,-2.144512545015225],[30.966189715631533,-38.41369762109518,-4.690719425678253,0,0,-2.144512545015225],[30.966189715631533,-38.41369762109518,-2.690719425678253,0,0,-2.144512545015225],[30.966189715631533,-38.41369762109518,-2.690719425678253,0,0,-2.4063119328143747],[30.966189715631533,-38.41369762109518,-2.690719425678253,0,0,-2.6681113206135243],[30.966189715631533,-38.41369762109518,-2.690719425678253,0,0,-2.9299107084126734],[26.077795148774353,-39.464220614047356,-2.690719425678253,0,0,-2.9299107084126734],[26.077795148774353,-39.464220614047356,-2.690719425678253,0,0,3.0914752109677632],[26.077795148774353,-39.464220614047356,-2.690719425678253,0,0,2.829675823168613],[26.077795148774353,-39.464220614047356,-2.690719425678253,0,0,2.567876435369464],[26.077795148774353,-39.464220614047356,-2.690719425678253,0,0,2.3060770475703145],[26.077795148774353,-39.464220614047356,-2.690719425678253,0,0,2.044277659771165],[26.077795148774353,-39.464220614047356,-2.690719425678253,0,0,1.7824782719720156],[25.027272155822185,-34.575826047190176,-2.690719425678253,0,0,1.7824782719720156],[25.027272155822185,-34.575826047190176,-2.690719425678253,0,0,2.044277659771165],[25.027272155822185,-34.575826047190176,-2.690719425678253,0,0,2.3060770475703145],[21.673295273237354,-30.867613665046115,-2.690719425678253,0,0,2.3060770475703145],[21.673295273237354,-30.867613665046115,-2.690719425678253,0,0,2.567876435369464],[21.673295273237354,-30.867613665046115,-2.690719425678253,0,0,2.829675823168613],[16.91455989814112,-29.333195980773763,-2.690719425678253,0,0,2.829675823168613],[12.15582452304489,-27.79877829650141,-2.690719425678253,0,0,2.829675823168613],[7.397089147948659,-26.26436061222906,-2.690719425678253,0,0,2.829675823168613],[7.397089147948659,-26.26436061222906,-2.690719425678253,0,0,3.091475210967763],[2.4033672288360206,-26.01387828835372,-2.690719425678253,0,0,3.091475210967763],[-2.5903546902766177,-25.76339596447838,-2.690719425678253,0,0,3.091475210967763],[-7.584076609389256,-25.512913640603042,-2.690719425678253,0,0,3.091475210967763],[-7.584076609389256,-25.512913640603042,-2.690719425678253,0,0,2.829675823168613],[-7.584076609389256,-25.512913640603042,-2.690719425678253,0,0,3.091475210967763],[-7.584076609389256,-25.512913640603042,-2.690719425678253,0,0,-2.9299107084126743],[-7.584076609389256,-25.512913640603042,-2.690719425678253,0,0,-2.6681113206135247],[-7.584076609389256,-25.512913640603042,-2.690719425678253,0,0,-2.406311932814375],[-7.584076609389256,-25.512913640603042,-2.690719425678253,0,0,-2.144512545015226],[-7.584076609389256,-25.512913640603042,-2.690719425678253,0,0,-1.8827131572160767],[-7.584076609389256,-25.512913640603042,-2.690719425678253,0,0,-1.620913769416927],[-7.584076609389256,-25.512913640603042,-2.690719425678253,0,0,-1.3591143816177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+{"episode_id":"3M81GAB8A9H96HRTSQB1UFBNUV8BQF","trajectory_id":"3KG2UQJ0NRM8L6JX5DB8WRGTLTMNQT","scene_id":13,"start_position":[46.02077865600586,-24.329687118530273,-0.6907194256782532],"start_rotation":[0.9996860466722859,0.0,0.0,-0.025056098833141208],"instruction":{"instruction_text":"Take off and fly up until above the buildings and turn left towards the intersection. Fly forward to the next road ahead and fly down until above the street. Turn slightly left towards the green door and fly forward to the intersection. Turn left towards the intersection. Fly forward to the intersection and turn right at the intersection to face the distant corner. Fly forward to the corner and spin twice and land in front of a blue building."},"goals":[{"position":[-12.342811984485486,-23.97849595633069,-2.690719425678253]}],"reference_path":[[46.02077865600586,-24.329687118530273,-0.6907194256782532,0,0,-0.05011744262202898],[46.02077865600586,-24.329687118530273,-2.690719425678253,0,0,-0.05011744262202898],[46.02077865600586,-24.329687118530273,-4.690719425678253,0,0,-0.05011744262202898],[46.02077865600586,-24.329687118530273,-6.690719425678253,0,0,-0.05011744262202898],[46.02077865600586,-24.329687118530273,-8.690719425678253,0,0,-0.05011744262202898],[46.02077865600586,-24.329687118530273,-10.690719425678253,0,0,-0.05011744262202898],[46.02077865600586,-24.329687118530273,-12.690719425678253,0,0,-0.05011744262202898],[46.02077865600586,-24.329687118530273,-14.690719425678253,0,0,-0.05011744262202898],[46.02077865600586,-24.329687118530273,-14.690719425678253,0,0,-0.31191683042117846],[46.02077865600586,-24.329687118530273,-14.690719425678253,0,0,-0.5737162182203279],[46.02077865600586,-24.329687118530273,-14.690719425678253,0,0,-0.8355156060194774],[46.02077865600586,-24.329687118530273,-14.690719425678253,0,0,-1.0973149938186268],[46.02077865600586,-24.329687118530273,-14.690719425678253,0,0,-1.3591143816177766],[46.02077865600586,-24.329687118530273,-14.690719425678253,0,0,-1.6209137694169262],[46.02077865600586,-24.329687118530273,-14.690719425678253,0,0,-1.8827131572160756],[46.02077865600586,-24.329687118530273,-14.690719425678253,0,0,-2.144512545015225],[43.30699364077454,-28.52913599797933,-14.690719425678253,0,0,-2.144512545015225],[40.59320862554323,-32.72858487742839,-14.690719425678253,0,0,-2.144512545015225],[37.87942361031191,-36.92803375687745,-14.690719425678253,0,0,-2.144512545015225],[33.67997473086285,-34.214248741646124,-14.690719425678253,0,0,-2.144512545015225],[30.966189715631533,-38.41369762109518,-14.690719425678253,0,0,-2.144512545015225],[30.966189715631533,-38.41369762109518,-12.690719425678253,0,0,-2.144512545015225],[30.966189715631533,-38.41369762109518,-10.690719425678253,0,0,-2.144512545015225],[30.966189715631533,-38.41369762109518,-8.690719425678253,0,0,-2.144512545015225],[30.966189715631533,-38.41369762109518,-6.690719425678253,0,0,-2.144512545015225],[30.966189715631533,-38.41369762109518,-4.690719425678253,0,0,-2.144512545015225],[30.966189715631533,-38.41369762109518,-2.690719425678253,0,0,-2.144512545015225],[30.966189715631533,-38.41369762109518,-2.690719425678253,0,0,-2.4063119328143747],[30.966189715631533,-38.41369762109518,-2.690719425678253,0,0,-2.6681113206135243],[30.966189715631533,-38.41369762109518,-2.690719425678253,0,0,-2.9299107084126734],[26.077795148774353,-39.464220614047356,-2.690719425678253,0,0,-2.9299107084126734],[26.077795148774353,-39.464220614047356,-2.690719425678253,0,0,3.0914752109677632],[26.077795148774353,-39.464220614047356,-2.690719425678253,0,0,2.829675823168613],[26.077795148774353,-39.464220614047356,-2.690719425678253,0,0,2.567876435369464],[26.077795148774353,-39.464220614047356,-2.690719425678253,0,0,2.3060770475703145],[26.077795148774353,-39.464220614047356,-2.690719425678253,0,0,2.044277659771165],[26.077795148774353,-39.464220614047356,-2.690719425678253,0,0,1.7824782719720156],[25.027272155822185,-34.575826047190176,-2.690719425678253,0,0,1.7824782719720156],[25.027272155822185,-34.575826047190176,-2.690719425678253,0,0,2.044277659771165],[25.027272155822185,-34.575826047190176,-2.690719425678253,0,0,2.3060770475703145],[21.673295273237354,-30.867613665046115,-2.690719425678253,0,0,2.3060770475703145],[21.673295273237354,-30.867613665046115,-2.690719425678253,0,0,2.567876435369464],[21.673295273237354,-30.867613665046115,-2.690719425678253,0,0,2.829675823168613],[16.91455989814112,-29.333195980773763,-2.690719425678253,0,0,2.829675823168613],[12.15582452304489,-27.79877829650141,-2.690719425678253,0,0,2.829675823168613],[7.397089147948659,-26.26436061222906,-2.690719425678253,0,0,2.829675823168613],[7.397089147948659,-26.26436061222906,-2.690719425678253,0,0,3.091475210967763],[2.4033672288360206,-26.01387828835372,-2.690719425678253,0,0,3.091475210967763],[-2.5903546902766177,-25.76339596447838,-2.690719425678253,0,0,3.091475210967763],[-7.584076609389256,-25.512913640603042,-2.690719425678253,0,0,3.091475210967763],[-7.584076609389256,-25.512913640603042,-2.690719425678253,0,0,2.829675823168613],[-7.584076609389256,-25.512913640603042,-2.690719425678253,0,0,3.091475210967763],[-7.584076609389256,-25.512913640603042,-2.690719425678253,0,0,-2.9299107084126743],[-7.584076609389256,-25.512913640603042,-2.690719425678253,0,0,-2.6681113206135247],[-7.584076609389256,-25.512913640603042,-2.690719425678253,0,0,-2.406311932814375],[-7.584076609389256,-25.512913640603042,-2.690719425678253,0,0,-2.144512545015226],[-7.584076609389256,-25.512913640603042,-2.690719425678253,0,0,-1.8827131572160767],[-7.584076609389256,-25.512913640603042,-2.690719425678253,0,0,-1.620913769416927],[-7.584076609389256,-25.512913640603042,-2.690719425678253,0,0,-1.3591143816177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+{"episode_id":"3WYGZ5XF35DMC0A0Q7DZOI9EY8EKSY","trajectory_id":"3KG2UQJ0NRM8L6JX5DB8WRGTLTMNQT","scene_id":13,"start_position":[46.02077865600586,-24.329687118530273,-0.6907194256782532],"start_rotation":[0.9996860466722859,0.0,0.0,-0.025056098833141208],"instruction":{"instruction_text":"Take off and turn left to face the trees beside the umbrella area and go over trees to the street. Go down close to ground and turn left to face the intersection and go passed stop sign to the road. Turn right to face the corner and go to the end of the street and stop at the corner."},"goals":[{"position":[-12.342811984485486,-23.97849595633069,-2.690719425678253]}],"reference_path":[[46.02077865600586,-24.329687118530273,-0.6907194256782532,0,0,-0.05011744262202898],[46.02077865600586,-24.329687118530273,-2.690719425678253,0,0,-0.05011744262202898],[46.02077865600586,-24.329687118530273,-4.690719425678253,0,0,-0.05011744262202898],[46.02077865600586,-24.329687118530273,-6.690719425678253,0,0,-0.05011744262202898],[46.02077865600586,-24.329687118530273,-8.690719425678253,0,0,-0.05011744262202898],[46.02077865600586,-24.329687118530273,-10.690719425678253,0,0,-0.05011744262202898],[46.02077865600586,-24.329687118530273,-12.690719425678253,0,0,-0.05011744262202898],[46.02077865600586,-24.329687118530273,-14.690719425678253,0,0,-0.05011744262202898],[46.02077865600586,-24.329687118530273,-14.690719425678253,0,0,-0.31191683042117846],[46.02077865600586,-24.329687118530273,-14.690719425678253,0,0,-0.5737162182203279],[46.02077865600586,-24.329687118530273,-14.690719425678253,0,0,-0.8355156060194774],[46.02077865600586,-24.329687118530273,-14.690719425678253,0,0,-1.0973149938186268],[46.02077865600586,-24.329687118530273,-14.690719425678253,0,0,-1.3591143816177766],[46.02077865600586,-24.329687118530273,-14.690719425678253,0,0,-1.6209137694169262],[46.02077865600586,-24.329687118530273,-14.690719425678253,0,0,-1.8827131572160756],[46.02077865600586,-24.329687118530273,-14.690719425678253,0,0,-2.144512545015225],[43.30699364077454,-28.52913599797933,-14.690719425678253,0,0,-2.144512545015225],[40.59320862554323,-32.72858487742839,-14.690719425678253,0,0,-2.144512545015225],[37.87942361031191,-36.92803375687745,-14.690719425678253,0,0,-2.144512545015225],[33.67997473086285,-34.214248741646124,-14.690719425678253,0,0,-2.144512545015225],[30.966189715631533,-38.41369762109518,-14.690719425678253,0,0,-2.144512545015225],[30.966189715631533,-38.41369762109518,-12.690719425678253,0,0,-2.144512545015225],[30.966189715631533,-38.41369762109518,-10.690719425678253,0,0,-2.144512545015225],[30.966189715631533,-38.41369762109518,-8.690719425678253,0,0,-2.144512545015225],[30.966189715631533,-38.41369762109518,-6.690719425678253,0,0,-2.144512545015225],[30.966189715631533,-38.41369762109518,-4.690719425678253,0,0,-2.144512545015225],[30.966189715631533,-38.41369762109518,-2.690719425678253,0,0,-2.144512545015225],[30.966189715631533,-38.41369762109518,-2.690719425678253,0,0,-2.4063119328143747],[30.966189715631533,-38.41369762109518,-2.690719425678253,0,0,-2.6681113206135243],[30.966189715631533,-38.41369762109518,-2.690719425678253,0,0,-2.9299107084126734],[26.077795148774353,-39.464220614047356,-2.690719425678253,0,0,-2.9299107084126734],[26.077795148774353,-39.464220614047356,-2.690719425678253,0,0,3.0914752109677632],[26.077795148774353,-39.464220614047356,-2.690719425678253,0,0,2.829675823168613],[26.077795148774353,-39.464220614047356,-2.690719425678253,0,0,2.567876435369464],[26.077795148774353,-39.464220614047356,-2.690719425678253,0,0,2.3060770475703145],[26.077795148774353,-39.464220614047356,-2.690719425678253,0,0,2.044277659771165],[26.077795148774353,-39.464220614047356,-2.690719425678253,0,0,1.7824782719720156],[25.027272155822185,-34.575826047190176,-2.690719425678253,0,0,1.7824782719720156],[25.027272155822185,-34.575826047190176,-2.690719425678253,0,0,2.044277659771165],[25.027272155822185,-34.575826047190176,-2.690719425678253,0,0,2.3060770475703145],[21.673295273237354,-30.867613665046115,-2.690719425678253,0,0,2.3060770475703145],[21.673295273237354,-30.867613665046115,-2.690719425678253,0,0,2.567876435369464],[21.673295273237354,-30.867613665046115,-2.690719425678253,0,0,2.829675823168613],[16.91455989814112,-29.333195980773763,-2.690719425678253,0,0,2.829675823168613],[12.15582452304489,-27.79877829650141,-2.690719425678253,0,0,2.829675823168613],[7.397089147948659,-26.26436061222906,-2.690719425678253,0,0,2.829675823168613],[7.397089147948659,-26.26436061222906,-2.690719425678253,0,0,3.091475210967763],[2.4033672288360206,-26.01387828835372,-2.690719425678253,0,0,3.091475210967763],[-2.5903546902766177,-25.76339596447838,-2.690719425678253,0,0,3.091475210967763],[-7.584076609389256,-25.512913640603042,-2.690719425678253,0,0,3.091475210967763],[-7.584076609389256,-25.512913640603042,-2.690719425678253,0,0,2.829675823168613],[-7.584076609389256,-25.512913640603042,-2.690719425678253,0,0,3.091475210967763],[-7.584076609389256,-25.512913640603042,-2.690719425678253,0,0,-2.9299107084126743],[-7.584076609389256,-25.512913640603042,-2.690719425678253,0,0,-2.6681113206135247],[-7.584076609389256,-25.512913640603042,-2.690719425678253,0,0,-2.406311932814375],[-7.584076609389256,-25.512913640603042,-2.690719425678253,0,0,-2.144512545015226],[-7.584076609389256,-25.512913640603042,-2.690719425678253,0,0,-1.8827131572160767],[-7.584076609389256,-25.512913640603042,-2.690719425678253,0,0,-1.620913769416927],[-7.584076609389256,-25.512913640603042,-2.690719425678253,0,0,-1.359114381617777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+{"episode_id":"354GIDR5ZK4KY1JKDCKXVSONG8M00R","trajectory_id":"32PT7WK7EUD7STMII8L9NEBO2E9D34","scene_id":13,"start_position":[33.992637634277344,-16.65180206298828,-14.979244232177734],"start_rotation":[0.9999434510935267,0.0,0.0,-0.010634595204699272],"instruction":{"instruction_text":"Turn left to face the a building with black roof edge and brick wall and then go farword to it and go down close to the corner of street. Turn right to face the gap between two light pink buildings and go over the buildings to other side street and go down close to the street. Turn left to face a hydrant and go to hydrant and stop there."},"goals":[{"position":[20.04446367803496,-67.40216556300032,-0.9792442321777344]}],"reference_path":[[33.992637634277344,-16.65180206298828,-14.979244232177734,0,0,-0.021269591334953725],[33.992637634277344,-16.65180206298828,-14.979244232177734,0,0,-0.28306897913410317],[33.992637634277344,-16.65180206298828,-14.979244232177734,0,0,-0.5448683669332526],[33.992637634277344,-16.65180206298828,-14.979244232177734,0,0,-0.8066677547324019],[33.992637634277344,-16.65180206298828,-14.979244232177734,0,0,-1.0684671425315515],[33.992637634277344,-16.65180206298828,-14.979244232177734,0,0,-1.330266530330701],[33.992637634277344,-16.65180206298828,-14.979244232177734,0,0,-1.5920659181298504],[33.992637634277344,-16.65180206298828,-14.979244232177734,0,0,-1.853865305929],[33.992637634277344,-16.65180206298828,-14.979244232177734,0,0,-2.1156646937281494],[33.992637634277344,-16.65180206298828,-14.979244232177734,0,0,-2.377464081527299],[33.992637634277344,-16.65180206298828,-14.979244232177734,0,0,-2.639263469326448],[29.61032007430297,-19.059143501908036,-14.979244232177734,0,0,-2.639263469326448],[25.228002514328594,-21.46648494082779,-14.979244232177734,0,0,-2.639263469326448],[20.84568495435422,-23.873826379747545,-14.979244232177734,0,0,-2.639263469326448],[16.463367394379844,-26.2811678186673,-14.979244232177734,0,0,-2.639263469326448],[12.08104983440547,-28.688509257587054,-14.979244232177734,0,0,-2.639263469326448],[7.6987322744310935,-31.095850696506808,-14.979244232177734,0,0,-2.639263469326448],[3.3164147144567178,-33.50319213542656,-14.979244232177734,0,0,-2.639263469326448],[-1.065902845517658,-35.91053357434631,-14.979244232177734,0,0,-2.639263469326448],[-3.4732442844374107,-31.528216014371935,-14.979244232177734,0,0,-2.639263469326448],[-7.8555618444117865,-33.935557453291686,-14.979244232177734,0,0,-2.639263469326448],[-12.237879404386163,-36.34289889221144,-14.979244232177734,0,0,-2.639263469326448],[-12.237879404386163,-36.34289889221144,-12.979244232177734,0,0,-2.639263469326448],[-12.237879404386163,-36.34289889221144,-10.979244232177734,0,0,-2.639263469326448],[-12.237879404386163,-36.34289889221144,-8.979244232177734,0,0,-2.639263469326448],[-12.237879404386163,-36.34289889221144,-6.979244232177734,0,0,-2.639263469326448],[-12.237879404386163,-36.34289889221144,-4.979244232177734,0,0,-2.639263469326448],[-12.237879404386163,-36.34289889221144,-2.9792442321777344,0,0,-2.639263469326448],[-12.237879404386163,-36.34289889221144,-2.9792442321777344,0,0,-2.377464081527299],[-12.237879404386163,-36.34289889221144,-2.9792442321777344,0,0,-2.1156646937281494],[-12.237879404386163,-36.34289889221144,-2.9792442321777344,0,0,-1.853865305929],[-12.237879404386163,-36.34289889221144,-2.9792442321777344,0,0,-1.5920659181298504],[-12.237879404386163,-36.34289889221144,-2.9792442321777344,0,0,-1.330266530330701],[-12.237879404386163,-36.34289889221144,-2.9792442321777344,0,0,-1.0684671425315517],[-12.237879404386163,-36.34289889221144,-2.9792442321777344,0,0,-0.8066677547324024],[-12.237879404386163,-36.34289889221144,-2.9792442321777344,0,0,-0.544868366933253],[-12.237879404386163,-36.34289889221144,-4.979244232177734,0,0,-0.544868366933253],[-12.237879404386163,-36.34289889221144,-6.979244232177734,0,0,-0.544868366933253],[-7.961901782711485,-38.93442650714001,-6.979244232177734,0,0,-0.544868366933253],[-7.961901782711485,-38.93442650714001,-8.979244232177734,0,0,-0.544868366933253],[-7.961901782711485,-38.93442650714001,-10.979244232177734,0,0,-0.544868366933253],[-7.961901782711485,-38.93442650714001,-12.979244232177734,0,0,-0.544868366933253],[-3.685924161036807,-41.52595412206858,-12.979244232177734,0,0,-0.544868366933253],[0.5900534606378711,-44.117481736997156,-12.979244232177734,0,0,-0.544868366933253],[0.5900534606378711,-44.117481736997156,-14.979244232177734,0,0,-0.544868366933253],[4.866031082312549,-46.70900935192573,-14.979244232177734,0,0,-0.544868366933253],[4.866031082312549,-46.70900935192573,-16.979244232177734,0,0,-0.544868366933253],[9.142008703987226,-49.3005369668543,-16.979244232177734,0,0,-0.544868366933253],[11.733536318915796,-45.024559345179625,-16.979244232177734,0,0,-0.544868366933253],[16.009513940590473,-47.6160869601082,-16.979244232177734,0,0,-0.544868366933253],[20.28549156226515,-50.20761457503677,-16.979244232177734,0,0,-0.544868366933253],[24.561469183939828,-52.799142189965345,-16.979244232177734,0,0,-0.544868366933253],[24.561469183939828,-52.799142189965345,-14.979244232177734,0,0,-0.544868366933253],[24.561469183939828,-52.799142189965345,-12.979244232177734,0,0,-0.544868366933253],[28.837446805614505,-55.39066980489392,-12.979244232177734,0,0,-0.544868366933253],[28.837446805614505,-55.39066980489392,-12.979244232177734,0,0,-0.28306897913410356],[28.837446805614505,-55.39066980489392,-12.979244232177734,0,0,-0.544868366933253],[28.837446805614505,-55.39066980489392,-12.979244232177734,0,0,-0.8066677547324025],[28.837446805614505,-55.39066980489392,-12.979244232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+{"episode_id":"3EKVH9QME72LTVNS4BC6TN1L7VED2G","trajectory_id":"32PT7WK7EUD7STMII8L9NEBO2E9D34","scene_id":13,"start_position":[33.992637634277344,-16.65180206298828,-14.979244232177734],"start_rotation":[0.9999434510935267,0.0,0.0,-0.010634595204699272],"instruction":{"instruction_text":"Take off and turn left to face a building with black roof edge and brick wall and go forward towards the grey building with many glass windows and get down close to the street. Now turn right to face the gap between two light pink buildings and fly over the buildings in front and go forward until the grey building arrives and descend to the street and turn left to face a green awning. Now get down and turn left and go forward to a hydrant and land in front of the street lamp."},"goals":[{"position":[20.04446367803496,-67.40216556300032,-0.9792442321777344]}],"reference_path":[[33.992637634277344,-16.65180206298828,-14.979244232177734,0,0,-0.021269591334953725],[33.992637634277344,-16.65180206298828,-14.979244232177734,0,0,-0.28306897913410317],[33.992637634277344,-16.65180206298828,-14.979244232177734,0,0,-0.5448683669332526],[33.992637634277344,-16.65180206298828,-14.979244232177734,0,0,-0.8066677547324019],[33.992637634277344,-16.65180206298828,-14.979244232177734,0,0,-1.0684671425315515],[33.992637634277344,-16.65180206298828,-14.979244232177734,0,0,-1.330266530330701],[33.992637634277344,-16.65180206298828,-14.979244232177734,0,0,-1.5920659181298504],[33.992637634277344,-16.65180206298828,-14.979244232177734,0,0,-1.853865305929],[33.992637634277344,-16.65180206298828,-14.979244232177734,0,0,-2.1156646937281494],[33.992637634277344,-16.65180206298828,-14.979244232177734,0,0,-2.377464081527299],[33.992637634277344,-16.65180206298828,-14.979244232177734,0,0,-2.639263469326448],[29.61032007430297,-19.059143501908036,-14.979244232177734,0,0,-2.639263469326448],[25.228002514328594,-21.46648494082779,-14.979244232177734,0,0,-2.639263469326448],[20.84568495435422,-23.873826379747545,-14.979244232177734,0,0,-2.639263469326448],[16.463367394379844,-26.2811678186673,-14.979244232177734,0,0,-2.639263469326448],[12.08104983440547,-28.688509257587054,-14.979244232177734,0,0,-2.639263469326448],[7.6987322744310935,-31.095850696506808,-14.979244232177734,0,0,-2.639263469326448],[3.3164147144567178,-33.50319213542656,-14.979244232177734,0,0,-2.639263469326448],[-1.065902845517658,-35.91053357434631,-14.979244232177734,0,0,-2.639263469326448],[-3.4732442844374107,-31.528216014371935,-14.979244232177734,0,0,-2.639263469326448],[-7.8555618444117865,-33.935557453291686,-14.979244232177734,0,0,-2.639263469326448],[-12.237879404386163,-36.34289889221144,-14.979244232177734,0,0,-2.639263469326448],[-12.237879404386163,-36.34289889221144,-12.979244232177734,0,0,-2.639263469326448],[-12.237879404386163,-36.34289889221144,-10.979244232177734,0,0,-2.639263469326448],[-12.237879404386163,-36.34289889221144,-8.979244232177734,0,0,-2.639263469326448],[-12.237879404386163,-36.34289889221144,-6.979244232177734,0,0,-2.639263469326448],[-12.237879404386163,-36.34289889221144,-4.979244232177734,0,0,-2.639263469326448],[-12.237879404386163,-36.34289889221144,-2.9792442321777344,0,0,-2.639263469326448],[-12.237879404386163,-36.34289889221144,-2.9792442321777344,0,0,-2.377464081527299],[-12.237879404386163,-36.34289889221144,-2.9792442321777344,0,0,-2.1156646937281494],[-12.237879404386163,-36.34289889221144,-2.9792442321777344,0,0,-1.853865305929],[-12.237879404386163,-36.34289889221144,-2.9792442321777344,0,0,-1.5920659181298504],[-12.237879404386163,-36.34289889221144,-2.9792442321777344,0,0,-1.330266530330701],[-12.237879404386163,-36.34289889221144,-2.9792442321777344,0,0,-1.0684671425315517],[-12.237879404386163,-36.34289889221144,-2.9792442321777344,0,0,-0.8066677547324024],[-12.237879404386163,-36.34289889221144,-2.9792442321777344,0,0,-0.544868366933253],[-12.237879404386163,-36.34289889221144,-4.979244232177734,0,0,-0.544868366933253],[-12.237879404386163,-36.34289889221144,-6.979244232177734,0,0,-0.544868366933253],[-7.961901782711485,-38.93442650714001,-6.979244232177734,0,0,-0.544868366933253],[-7.961901782711485,-38.93442650714001,-8.979244232177734,0,0,-0.544868366933253],[-7.961901782711485,-38.93442650714001,-10.979244232177734,0,0,-0.544868366933253],[-7.961901782711485,-38.93442650714001,-12.979244232177734,0,0,-0.544868366933253],[-3.685924161036807,-41.52595412206858,-12.979244232177734,0,0,-0.544868366933253],[0.5900534606378711,-44.117481736997156,-12.979244232177734,0,0,-0.544868366933253],[0.5900534606378711,-44.117481736997156,-14.979244232177734,0,0,-0.544868366933253],[4.866031082312549,-46.70900935192573,-14.979244232177734,0,0,-0.544868366933253],[4.866031082312549,-46.70900935192573,-16.979244232177734,0,0,-0.544868366933253],[9.142008703987226,-49.3005369668543,-16.979244232177734,0,0,-0.544868366933253],[11.733536318915796,-45.024559345179625,-16.979244232177734,0,0,-0.544868366933253],[16.009513940590473,-47.6160869601082,-16.979244232177734,0,0,-0.544868366933253],[20.28549156226515,-50.20761457503677,-16.979244232177734,0,0,-0.544868366933253],[24.561469183939828,-52.799142189965345,-16.979244232177734,0,0,-0.544868366933253],[24.561469183939828,-52.799142189965345,-14.979244232177734,0,0,-0.544868366933253],[24.561469183939828,-52.799142189965345,-12.979244232177734,0,0,-0.544868366933253],[28.837446805614505,-55.39066980489392,-12.979244232177734,0,0,-0.544868366933253],[28.837446805614505,-55.39066980489392,-12.979244232177734,0,0,-0.28306897913410356],[28.837446805614505,-55.39066980489392,-12.979244232177734,0,0,-0.544868366933253],[28.837446805614505,-55.39066980489392,-12.979244232177734,0,0,-0.8066677547324025],[28.837446805614505,-55.39066980489392,-12.9792442321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+]}
diff --git a/TEST_FILE/AerialVLN-Fine-V3-Scene-14.json b/TEST_FILE/AerialVLN-Fine-V3-Scene-14.json
new file mode 100644
index 0000000000000000000000000000000000000000..838327492eade2a611f4c0baffd70a544134ff1a
--- /dev/null
+++ b/TEST_FILE/AerialVLN-Fine-V3-Scene-14.json
@@ -0,0 +1,19 @@
+{"episodes":[
+{"episode_id":"32Q90QCQ11JL2H5IPCTUZ150MBAEKB","trajectory_id":"3YKP7CX6HADWEFPL6OXT55Z44KH7B8","scene_id":14,"start_position":[49.77042007446289,42.636375427246094,-20.400249481201172],"start_rotation":[0.9999498385977307,0.0,0.0,-0.010016001616037612],"instruction":{"instruction_text":"Turn around to face two distant houses with a white first floor and a dark red upper floor, and then fly forward out of the edge of the roof to the top of the park. Fly down to the height above the trees, fly forward close to the park monument tower and then turn left to face the shorter white building with black glass. Fly forward to the right side of the black metro entrance and land on the left side of the blue barrel next to a red barrel."},"goals":[{"position":[6.245544879961246,57.47695447659113,-2.400249481201172]}],"reference_path":[[49.77042007446289,42.636375427246094,-20.400249481201172,0,0,-0.020032338183253343],[49.77042007446289,42.636375427246094,-22.400249481201172,0,0,-0.020032338183253343],[49.77042007446289,42.636375427246094,-22.400249481201172,0,0,-0.28183172598240275],[49.77042007446289,42.636375427246094,-22.400249481201172,0,0,-0.5436311137815522],[49.77042007446289,42.636375427246094,-22.400249481201172,0,0,-0.8054305015807016],[49.77042007446289,42.636375427246094,-22.400249481201172,0,0,-1.067229889379851],[49.77042007446289,42.636375427246094,-22.400249481201172,0,0,-1.3290292771790004],[49.77042007446289,42.636375427246094,-22.400249481201172,0,0,-1.59082866497815],[49.77042007446289,42.636375427246094,-22.400249481201172,0,0,-1.8526280527772994],[49.77042007446289,42.636375427246094,-22.400249481201172,0,0,-2.1144274405764487],[49.77042007446289,42.636375427246094,-22.400249481201172,0,0,-2.3762268283755983],[49.77042007446289,42.636375427246094,-22.400249481201172,0,0,-2.638026216174748],[49.77042007446289,42.636375427246094,-22.400249481201172,0,0,-2.8998256039738974],[44.915837943201936,41.43928214314421,-22.400249481201172,0,0,-2.8998256039738974],[40.06125581194098,40.24218885904233,-22.400249481201172,0,0,-2.8998256039738974],[35.20667368068003,39.04509557494045,-22.400249481201172,0,0,-2.8998256039738974],[30.35209154941907,37.848002290838565,-22.400249481201172,0,0,-2.8998256039738974],[30.35209154941907,37.848002290838565,-20.400249481201172,0,0,-2.8998256039738974],[30.35209154941907,37.848002290838565,-18.400249481201172,0,0,-2.8998256039738974],[30.35209154941907,37.848002290838565,-16.400249481201172,0,0,-2.8998256039738974],[30.35209154941907,37.848002290838565,-14.400249481201172,0,0,-2.8998256039738974],[30.35209154941907,37.848002290838565,-12.400249481201172,0,0,-2.8998256039738974],[25.497509418158117,36.65090900673668,-12.400249481201172,0,0,-2.8998256039738974],[20.642927286897162,35.4538157226348,-12.400249481201172,0,0,-2.8998256039738974],[15.788345155636206,34.25672243853292,-12.400249481201172,0,0,-2.8998256039738974],[15.788345155636206,34.25672243853292,-10.400249481201172,0,0,-2.8998256039738974],[10.93376302437525,33.059629154431036,-10.400249481201172,0,0,-2.8998256039738974],[10.93376302437525,33.059629154431036,-10.400249481201172,0,0,3.121560315406539],[10.93376302437525,33.059629154431036,-10.400249481201172,0,0,2.8597609276073896],[10.93376302437525,33.059629154431036,-10.400249481201172,0,0,2.59796153980824],[10.93376302437525,33.059629154431036,-10.400249481201172,0,0,2.336162152009091],[10.93376302437525,33.059629154431036,-10.400249481201172,0,0,2.0743627642099414],[10.93376302437525,33.059629154431036,-10.400249481201172,0,0,1.812563376410792],[9.736669740273369,37.91421128569199,-10.400249481201172,0,0,1.812563376410792],[8.539576456171488,42.768793416952946,-10.400249481201172,0,0,1.812563376410792],[8.539576456171488,42.768793416952946,-8.400249481201172,0,0,1.812563376410792],[7.342483172069608,47.6233755482139,-8.400249481201172,0,0,1.812563376410792],[7.342483172069608,47.6233755482139,-6.400249481201172,0,0,1.812563376410792],[6.145389887967728,52.477957679474855,-6.400249481201172,0,0,1.812563376410792],[6.145389887967728,52.477957679474855,-6.400249481201172,0,0,1.5507639886116424],[6.245544879961246,57.47695447659113,-6.400249481201172,0,0,1.5507639886116424],[6.245544879961246,57.47695447659113,-4.400249481201172,0,0,1.5507639886116424],[6.245544879961246,57.47695447659113,-2.400249481201172,0,0,1.5507639886116424]],"actions":[4,2,2,2,2,2,2,2,2,2,2,2,1,1,1,1,5,5,5,5,5,1,1,1,5,1,2,2,2,2,2,2,1,1,5,1,5,1,2,1,5,5,0]},
+{"episode_id":"30LSNF2393T2163EWPDHKKHXBH3I2C","trajectory_id":"37VE3DA4Z2FT74VXJXJ5WIOYDZFHB5","scene_id":14,"start_position":[-14.850597381591797,9.766430854797363,-0.9813388586044312],"start_rotation":[0.999694502818176,0.0,0.0,-0.024716412262299245],"instruction":{"instruction_text":"Turn left to face a white building with big windows, fly forward to the pillars in front of the building. Turn right to face the tallest white building behind the park, fly to the road right to the park, fly forward along the road until passing the park wall on your left. Turn left to face the black subway entrance on the square, then fly to the top of the entrance. Turn left to face a building with a black roof and light beige wall building left to an light orange building, then fly forward to the front of that building. Turn right to face the orange brick building beside the road, then ascend to above its roof and proceed forward to its roof, then land on the roof."},"goals":[{"position":[49.269080175297354,43.29290079564833,-22.98133885860443]}],"reference_path":[[-14.850597381591797,9.766430854797363,-0.9813388586044312,0,0,-0.04943785900267203],[-14.850597381591797,9.766430854797363,-2.981338858604431,0,0,-0.04943785900267203],[-14.850597381591797,9.766430854797363,-2.981338858604431,0,0,-0.31123724680182147],[-14.850597381591797,9.766430854797363,-2.981338858604431,0,0,-0.573036634600971],[-10.649305228165765,7.055500342674106,-2.981338858604431,0,0,-0.573036634600971],[-6.448013074739735,4.344569830550849,-2.981338858604431,0,0,-0.573036634600971],[-6.448013074739735,4.344569830550849,-4.981338858604431,0,0,-0.573036634600971],[-2.2467209213137043,1.633639318427592,-4.981338858604431,0,0,-0.573036634600971],[-2.2467209213137043,1.633639318427592,-4.981338858604431,0,0,-0.3112372468018216],[-2.2467209213137043,1.633639318427592,-4.981338858604431,0,0,-0.04943785900267212],[-2.2467209213137043,1.633639318427592,-4.981338858604431,0,0,0.21236152879647732],[-2.2467209213137043,1.633639318427592,-4.981338858604431,0,0,0.47416091659562676],[-2.2467209213137043,1.633639318427592,-4.981338858604431,0,0,0.7359603043947762],[-2.2467209213137043,1.633639318427592,-4.981338858604431,0,0,0.9977596921939256],[-2.2467209213137043,1.633639318427592,-4.981338858604431,0,0,1.2595590799930751],[-2.2467209213137043,1.633639318427592,-4.981338858604431,0,0,1.5213584677922247],[-2.2467209213137043,1.633639318427592,-4.981338858604431,0,0,1.783157855591374],[-3.300565744299209,6.521318838308847,-4.981338858604431,0,0,1.783157855591374],[-4.354410567284714,11.408998358190102,-4.981338858604431,0,0,1.783157855591374],[-5.408255390270218,16.296677878071357,-4.981338858604431,0,0,1.783157855591374],[-6.462100213255724,21.18435739795261,-4.981338858604431,0,0,1.783157855591374],[-7.515945036241229,26.072036917833863,-4.981338858604431,0,0,1.783157855591374],[-8.569789859226734,30.959716437715116,-4.981338858604431,0,0,1.783157855591374],[-8.569789859226734,30.959716437715116,-6.981338858604431,0,0,1.783157855591374],[-9.62363468221224,35.84739595759637,-6.981338858604431,0,0,1.783157855591374],[-10.677479505197745,40.73507547747762,-6.981338858604431,0,0,1.783157855591374],[-11.73132432818325,45.622754997358875,-6.981338858604431,0,0,1.783157855591374],[-11.73132432818325,45.622754997358875,-6.981338858604431,0,0,1.5213584677922247],[-11.73132432818325,45.622754997358875,-6.981338858604431,0,0,1.2595590799930754],[-11.73132432818325,45.622754997358875,-6.981338858604431,0,0,0.9977596921939259],[-11.73132432818325,45.622754997358875,-6.981338858604431,0,0,0.7359603043947764],[-11.73132432818325,45.622754997358875,-6.981338858604431,0,0,0.4741609165956271],[-11.73132432818325,45.622754997358875,-8.981338858604431,0,0,0.4741609165956271],[-7.282943560077137,47.90571547488442,-8.981338858604431,0,0,0.4741609165956271],[-2.834562791971024,50.18867595240996,-8.981338858604431,0,0,0.4741609165956271],[-2.834562791971024,50.18867595240996,-10.981338858604431,0,0,0.4741609165956271],[1.6138179761350893,52.4716364299355,-10.981338858604431,0,0,0.4741609165956271],[6.062198744241202,54.75459690746104,-10.981338858604431,0,0,0.4741609165956271],[6.062198744241202,54.75459690746104,-10.981338858604431,0,0,0.21236152879647768],[10.949878264122457,55.808441730446546,-10.981338858604431,0,0,0.21236152879647768],[10.949878264122457,55.808441730446546,-8.981338858604431,0,0,0.21236152879647768],[10.949878264122457,55.808441730446546,-8.981338858604431,0,0,-0.04943785900267175],[10.949878264122457,55.808441730446546,-8.981338858604431,0,0,-0.3112372468018212],[10.949878264122457,55.808441730446546,-8.981338858604431,0,0,-0.5730366346009707],[10.949878264122457,55.808441730446546,-8.981338858604431,0,0,-0.8348360224001202],[14.306374412415247,52.102509512165206,-8.981338858604431,0,0,-0.8348360224001202],[17.662870560708036,48.396577293883865,-8.981338858604431,0,0,-0.8348360224001202],[17.662870560708036,48.396577293883865,-10.981338858604431,0,0,-0.8348360224001202],[21.019366709000828,44.690645075602525,-10.981338858604431,0,0,-0.8348360224001202],[24.37586285729362,40.984712857321185,-10.981338858604431,0,0,-0.8348360224001202],[27.73235900558641,37.278780639039844,-10.981338858604431,0,0,-0.8348360224001202],[31.0888551538792,33.572848420758504,-10.981338858604431,0,0,-0.8348360224001202],[34.44535130217199,29.866916202477164,-10.981338858604431,0,0,-0.8348360224001202],[34.44535130217199,29.866916202477164,-10.981338858604431,0,0,-0.5730366346009709],[34.44535130217199,29.866916202477164,-10.981338858604431,0,0,-0.3112372468018214],[34.44535130217199,29.866916202477164,-10.981338858604431,0,0,-0.049437859002672],[34.44535130217199,29.866916202477164,-10.981338858604431,0,0,0.21236152879647743],[34.44535130217199,29.866916202477164,-10.981338858604431,0,0,0.47416091659562687],[34.44535130217199,29.866916202477164,-10.981338858604431,0,0,0.7359603043947763],[34.44535130217199,29.866916202477164,-12.9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+{"episode_id":"3AZHRG4CUDIGFTIHWZ2GXQMTZK103V","trajectory_id":"391FPZIE5KK83343JO0018GM3MAUHS","scene_id":14,"start_position":[-45.48887634277344,-41.59473419189453,-48.2464485168457],"start_rotation":[0.9997829090319184,0.0,0.0,-0.020835901892524118],"instruction":{"instruction_text":"Turn right to face the white wall in the shadow with many windows, and then move left until see a white tall building with grid windows behind a glass building. Fly forward through the gap between the two buildings ahead and then turn right to face the dark beige building on the right and fly forward to it. Descend to the second floor height and then make a left turn to face a T-junction. Turn right to face a yellow truck. turn right to face a park, then turn right to face the yellow truck, then turn back to face the road, and turn back to face the truck, finally land on the left side of the yellow truck."},"goals":[{"position":[-16.80411610845805,14.96005073086798,-4.246448516845703]}],"reference_path":[[-45.48887634277344,-41.59473419189453,-48.2464485168457,0,0,-0.041674819571004953],[-45.48887634277344,-41.59473419189453,-50.2464485168457,0,0,-0.041674819571004953],[-45.48887634277344,-41.59473419189453,-50.2464485168457,0,0,0.2201245682281445],[-45.48887634277344,-41.59473419189453,-50.2464485168457,0,0,0.48192395602729393],[-45.48887634277344,-41.59473419189453,-50.2464485168457,0,0,0.7437233438264433],[-45.48887634277344,-41.59473419189453,-50.2464485168457,0,0,1.0055227316255928],[-45.48887634277344,-41.59473419189453,-50.2464485168457,0,0,1.2673221194247422],[-40.71735620674714,-43.08892145977484,-50.2464485168457,0,0,1.2673221194247422],[-35.945836070720844,-44.583108727655144,-50.2464485168457,0,0,1.2673221194247422],[-31.17431593469455,-46.07729599553545,-50.2464485168457,0,0,1.2673221194247422],[-29.680128666814245,-41.305775859509154,-50.2464485168457,0,0,1.2673221194247422],[-24.90860853078795,-42.79996312738946,-50.2464485168457,0,0,1.2673221194247422],[-20.13708839476166,-44.29415039526977,-50.2464485168457,0,0,1.2673221194247422],[-15.365568258735365,-45.788337663150074,-50.2464485168457,0,0,1.2673221194247422],[-13.871380990855059,-41.01681752712378,-50.2464485168457,0,0,1.2673221194247422],[-12.377193722974752,-36.24529739109748,-50.2464485168457,0,0,1.2673221194247422],[-10.883006455094446,-31.473777255071187,-50.2464485168457,0,0,1.2673221194247422],[-9.388819187214139,-26.702257119044894,-50.2464485168457,0,0,1.2673221194247422],[-7.894631919333833,-21.9307369830186,-50.2464485168457,0,0,1.2673221194247422],[-6.400444651453526,-17.159216846992308,-50.2464485168457,0,0,1.2673221194247422],[-4.9062573835732195,-12.387696710966015,-50.2464485168457,0,0,1.2673221194247422],[-3.4120701156929134,-7.616176574939721,-50.2464485168457,0,0,1.2673221194247422],[-1.9178828478126073,-2.844656438913427,-50.2464485168457,0,0,1.2673221194247422],[-1.9178828478126073,-2.844656438913427,-50.2464485168457,0,0,1.5291215072238915],[-1.9178828478126073,-2.844656438913427,-50.2464485168457,0,0,1.790920895023041],[-1.9178828478126073,-2.844656438913427,-50.2464485168457,0,0,2.0527202828221904],[-1.9178828478126073,-2.844656438913427,-50.2464485168457,0,0,2.31451967062134],[-1.9178828478126073,-2.844656438913427,-50.2464485168457,0,0,2.576319058420489],[0.7603515088390576,1.3775539692555743,-50.2464485168457,0,0,2.576319058420489],[-3.461858899329942,4.0557883259072405,-50.2464485168457,0,0,2.576319058420489],[-0.7836245426782771,8.277998734076242,-50.2464485168457,0,0,2.576319058420489],[-0.7836245426782771,8.277998734076242,-50.2464485168457,0,0,2.8381184462196387],[-0.7836245426782771,8.277998734076242,-50.2464485168457,0,0,3.0999178340187883],[-0.7836245426782771,8.277998734076242,-50.2464485168457,0,0,-2.921468085361649],[-1.8753804786958126,13.157350020484147,-50.2464485168457,0,0,-2.921468085361649],[-2.967136414713348,18.036701306892052,-50.2464485168457,0,0,-2.921468085361649],[-2.967136414713348,18.036701306892052,-50.2464485168457,0,0,-2.6596686975624997],[-7.397660608946464,15.719277011620468,-50.2464485168457,0,0,-2.6596686975624997],[-11.82818480317958,13.401852716348884,-50.2464485168457,0,0,-2.6596686975624997],[-14.145609098451164,17.832376910582,-50.2464485168457,0,0,-2.6596686975624997],[-18.57613329268428,15.514952615310415,-50.2464485168457,0,0,-2.6596686975624997],[-23.006657486917394,13.197528320038831,-50.2464485168457,0,0,-2.6596686975624997],[-25.324081782188976,17.628052514271946,-50.2464485168457,0,0,-2.6596686975624997],[-25.324081782188976,17.628052514271946,-50.2464485168457,0,0,-2.3978693097633506],[-25.324081782188976,17.628052514271946,-50.2464485168457,0,0,-2.1360699219642014],[-25.324081782188976,17.628052514271946,-50.2464485168457,0,0,-1.874270534165052],[-25.324081782188976,17.628052514271946,-50.2464485168457,0,0,-1.6124711463659025],[-25.532395568253094,12.632393862348696,-50.2464485168457,0,0,-1.6124711463659025],[-25.532395568253094,12.632393862348696,-50.2464485168457,0,0,-1.874270534165052],[-25.532395568253094,12.632393862348696,-50.2464485168457,0,0,-2.1360699219642014],[-28.21062992490476,8.410183454179698,-50.2464485168457,0,0,-2.1360699219642014],[-28.21062992490476,8.410183454179698,-50.2464485168457,0,0,-1.874270534165052],[-28.21062992490476,8.410183454179698,-50.2464485168457,0,0,-1.6124711463659025],[-28.21062992490476,8.410183454179698,-50.2464485168457,0,0,-1.3506717585667531],[-28.21062992490476,8.410183454179698,-50.2464485168457,0,0,-1.0888723707676038],[-28.21062992490476,8.410183454179698,-50.2464485168457,0,0,-1.3506717585667531],[-28.21062992490476,8.410183454179698,-50.2464485168457,0,0,-1.6124711463659025],[-28.21062992490476,8.410183454179698,-50.2464485168457,0,0,-1.874270534165052],[-29.70481719278507,3.638663318153405,-50.2464485168457,0,0,-1.874270534165052],[-29.70481719278507,3.638663318153405,-50.2464485168457,0,0,-2.1360699219642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+{"episode_id":"39KFRKBFIWT2YD7ON5XHDLEPOQ1OYS","trajectory_id":"33NOQL7TAWXWWRXKM7525N22678Z8S","scene_id":14,"start_position":[-49.177703857421875,0.7505121231079102,-8.352989196777344],"start_rotation":[0.9998579292054454,0.0,0.0,-0.016855901192119896],"instruction":{"instruction_text":"Take off above the fences ahead and fly forward over the fences to the left side road of the park. Turn right to face the white skyscraper with black windows. Fly forward along the road right to the park until you reach the top of the last tree on the left side of the road."},"goals":[{"position":[-8.052149135936261,43.201829127975216,-10.352989196777344]}],"reference_path":[[-49.177703857421875,0.7505121231079102,-8.352989196777344,0,0,-0.03371339896248788],[-49.177703857421875,0.7505121231079102,-8.352989196777344,0,0,0.22808598883666156],[-44.30719904351718,1.8810796167725703,-8.352989196777344,0,0,0.22808598883666156],[-44.30719904351718,1.8810796167725703,-10.352989196777344,0,0,0.22808598883666156],[-39.436694229612485,3.0116471104372304,-10.352989196777344,0,0,0.22808598883666156],[-34.56618941570779,4.14221460410189,-10.352989196777344,0,0,0.22808598883666156],[-29.695684601803094,5.272782097766551,-10.352989196777344,0,0,0.22808598883666156],[-29.695684601803094,5.272782097766551,-10.352989196777344,0,0,-0.03371339896248787],[-24.69852581585308,5.104247033158105,-10.352989196777344,0,0,-0.03371339896248787],[-19.701367029903068,4.935711968549659,-10.352989196777344,0,0,-0.03371339896248787],[-19.701367029903068,4.935711968549659,-10.352989196777344,0,0,0.22808598883666156],[-19.701367029903068,4.935711968549659,-10.352989196777344,0,0,0.48988537663581094],[-19.701367029903068,4.935711968549659,-10.352989196777344,0,0,0.7516847644349604],[-19.701367029903068,4.935711968549659,-10.352989196777344,0,0,1.0134841522341098],[-19.701367029903068,4.935711968549659,-10.352989196777344,0,0,1.2752835400332592],[-18.245214793157217,9.718976613477853,-10.352989196777344,0,0,1.2752835400332592],[-18.245214793157217,9.718976613477853,-12.352989196777344,0,0,1.2752835400332592],[-16.789062556411366,14.502241258406048,-12.352989196777344,0,0,1.2752835400332592],[-15.332910319665515,19.285505903334244,-12.352989196777344,0,0,1.2752835400332592],[-13.876758082919665,24.06877054826244,-12.352989196777344,0,0,1.2752835400332592],[-12.420605846173814,28.852035193190634,-12.352989196777344,0,0,1.2752835400332592],[-10.964453609427963,33.635299838118826,-12.352989196777344,0,0,1.2752835400332592],[-9.508301372682112,38.41856448304702,-12.352989196777344,0,0,1.2752835400332592],[-8.052149135936261,43.201829127975216,-12.352989196777344,0,0,1.2752835400332592],[-8.052149135936261,43.201829127975216,-10.352989196777344,0,0,1.2752835400332592]],"actions":[3,1,4,1,1,1,2,1,1,3,3,3,3,3,1,4,1,1,1,1,1,1,1,5,0]},
+{"episode_id":"31QTRG6Q22BKJDJP25AW2LJEBT4YPX","trajectory_id":"3TL87MO8DUNL6HQ3FKKZ708Q9EGFLS","scene_id":14,"start_position":[-8.204543113708496,85.9005126953125,-16.543987274169922],"start_rotation":[0.9999069190136789,0.0,0.0,0.013643801104241488],"instruction":{"instruction_text":"Turn left to face a dark beige or tan stone building with vertical columns and a light beige building with bigger windows, then fly forward out of the roof and descend until you can seethe blue trash can area behind the black subway entrance. Turn left to face the tall brownish buildings, then fly forward over the blue fences to the sidewalk. Turn right to face the white monument tower inside the park ,and then go forward to the tower. Turn left to face the tall brownish building left to the tall glass building, then fly forward over the park wall onto the road, and then turn right to face a yellow truck and land on the road."},"goals":[{"position":[-13.564882495469002,31.959520609074197,-0.5439872741699219]}],"reference_path":[[-8.204543113708496,85.9005126953125,-16.543987274169922,0,0,0.027288448892316425],[-8.204543113708496,85.9005126953125,-18.543987274169922,0,0,0.027288448892316425],[-8.204543113708496,85.9005126953125,-18.543987274169922,0,0,-0.234510938906833],[-8.204543113708496,85.9005126953125,-18.543987274169922,0,0,-0.49631032670598246],[-8.204543113708496,85.9005126953125,-18.543987274169922,0,0,-0.758109714505132],[-4.573858247728217,82.46276235476394,-18.543987274169922,0,0,-0.758109714505132],[-0.943173381747938,79.02501201421538,-18.543987274169922,0,0,-0.758109714505132],[2.687511484232341,75.58726167366682,-18.543987274169922,0,0,-0.758109714505132],[2.687511484232341,75.58726167366682,-16.543987274169922,0,0,-0.758109714505132],[2.687511484232341,75.58726167366682,-14.543987274169922,0,0,-0.758109714505132],[2.687511484232341,75.58726167366682,-12.543987274169922,0,0,-0.758109714505132],[2.687511484232341,75.58726167366682,-10.543987274169922,0,0,-0.758109714505132],[2.687511484232341,75.58726167366682,-8.543987274169922,0,0,-0.758109714505132],[6.31819635021262,72.14951133311826,-8.543987274169922,0,0,-0.758109714505132],[6.31819635021262,72.14951133311826,-6.543987274169922,0,0,-0.758109714505132],[6.31819635021262,72.14951133311826,-6.543987274169922,0,0,-1.0199091023042814],[8.935413368938192,67.88920910476718,-6.543987274169922,0,0,-1.0199091023042814],[8.935413368938192,67.88920910476718,-6.543987274169922,0,0,-1.2817084901034308],[8.935413368938192,67.88920910476718,-6.543987274169922,0,0,-1.5435078779025804],[8.935413368938192,67.88920910476718,-6.543987274169922,0,0,-1.8053072657017297],[8.935413368938192,67.88920910476718,-6.543987274169922,0,0,-2.067106653500879],[6.554491920749486,63.492481565158315,-6.543987274169922,0,0,-2.067106653500879],[6.554491920749486,63.492481565158315,-6.543987274169922,0,0,-2.328906041300028],[3.1167415802009244,59.861796699178036,-6.543987274169922,0,0,-2.328906041300028],[-0.32100876034763726,56.23111183319776,-6.543987274169922,0,0,-2.328906041300028],[-0.32100876034763726,56.23111183319776,-4.543987274169922,0,0,-2.328906041300028],[-3.758759100896199,52.60042696721748,-4.543987274169922,0,0,-2.328906041300028],[-7.196509441444761,48.9697421012372,-4.543987274169922,0,0,-2.328906041300028],[-7.196509441444761,48.9697421012372,-4.543987274169922,0,0,-2.067106653500879],[-7.196509441444761,48.9697421012372,-4.543987274169922,0,0,-1.8053072657017295],[-7.196509441444761,48.9697421012372,-4.543987274169922,0,0,-1.5435078779025801],[-7.196509441444761,48.9697421012372,-4.543987274169922,0,0,-1.2817084901034308],[-7.196509441444761,48.9697421012372,-4.543987274169922,0,0,-1.0199091023042814],[-7.196509441444761,48.9697421012372,-4.543987274169922,0,0,-0.758109714505132],[-7.196509441444761,48.9697421012372,-4.543987274169922,0,0,-0.4963103267059826],[-2.7997819018358996,46.588820653048494,-4.543987274169922,0,0,-0.4963103267059826],[1.5969456377729614,44.207899204859785,-4.543987274169922,0,0,-0.4963103267059826],[1.5969456377729614,44.207899204859785,-4.543987274169922,0,0,-0.758109714505132],[1.5969456377729614,44.207899204859785,-4.543987274169922,0,0,-1.0199091023042814],[1.5969456377729614,44.207899204859785,-4.543987274169922,0,0,-1.2817084901034308],[1.5969456377729614,44.207899204859785,-4.543987274169922,0,0,-1.5435078779025804],[1.5969456377729614,44.207899204859785,-4.543987274169922,0,0,-1.8053072657017297],[1.5969456377729614,44.207899204859785,-4.543987274169922,0,0,-2.067106653500879],[1.5969456377729614,44.207899204859785,-4.543987274169922,0,0,-2.328906041300028],[1.5969456377729614,44.207899204859785,-4.543987274169922,0,0,-2.590705429099178],[-2.6633565905781245,41.59068218613421,-4.543987274169922,0,0,-2.590705429099178],[-6.92365881892921,38.973465167408634,-4.543987274169922,0,0,-2.590705429099178],[-11.183961047280295,36.35624814868306,-4.543987274169922,0,0,-2.590705429099178],[-11.183961047280295,36.35624814868306,-4.543987274169922,0,0,-2.328906041300028],[-11.183961047280295,36.35624814868306,-4.543987274169922,0,0,-2.067106653500879],[-13.564882495469002,31.959520609074197,-4.543987274169922,0,0,-2.067106653500879],[-13.564882495469002,31.959520609074197,-2.543987274169922,0,0,-2.067106653500879],[-13.564882495469002,31.959520609074197,-0.5439872741699219,0,0,-2.067106653500879]],"actions":[4,2,2,2,1,1,1,5,5,5,5,5,1,5,2,1,2,2,2,2,1,2,1,1,5,1,1,3,3,3,3,3,3,3,1,1,2,2,2,2,2,2,2,2,1,1,1,3,3,1,5,5,0]},
+{"episode_id":"3E47SOBEYZUFZOVGTI2NWXQK8KNIC3","trajectory_id":"3QO7EE373WL6KXU02N6Z5WGZ942QB6","scene_id":14,"start_position":[-60.25965118408203,22.47199821472168,-1.0448955297470093],"start_rotation":[0.999861959687313,0.0,0.0,0.01661510066915248],"instruction":{"instruction_text":"Take off to above the roof in front, then turn left to face a glass building, then proceed forward over the roof, then fly down to second floor height. Turn right to face the road, fly forward over a yellow truck, then turn right to face white tall buildings behind the park, and then fly forward to the shorter white building on the right. Turn right to face the gap between the white shorter building and the building on the right, then fly to the entrance of the gap. Turn back to face a glass building and then fly forward to the nearest corner of the park wall, and then turn right to face the black metro entrance, and then fly forward passing the entrance to the front of a orange brick building."},"goals":[{"position":[21.54591698246553,44.76429331265187,-11.04489552974701]}],"reference_path":[[-60.25965118408203,22.47199821472168,-1.0448955297470093,0,0,0.03323173045853185],[-60.25965118408203,22.47199821472168,-3.0448955297470093,0,0,0.03323173045853185],[-60.25965118408203,22.47199821472168,-5.044895529747009,0,0,0.03323173045853185],[-60.25965118408203,22.47199821472168,-7.044895529747009,0,0,0.03323173045853185],[-60.25965118408203,22.47199821472168,-9.04489552974701,0,0,0.03323173045853185],[-60.25965118408203,22.47199821472168,-11.04489552974701,0,0,0.03323173045853185],[-60.25965118408203,22.47199821472168,-13.04489552974701,0,0,0.03323173045853185],[-60.25965118408203,22.47199821472168,-15.04489552974701,0,0,0.03323173045853185],[-60.25965118408203,22.47199821472168,-17.04489552974701,0,0,0.03323173045853185],[-60.25965118408203,22.47199821472168,-19.04489552974701,0,0,0.03323173045853185],[-60.25965118408203,22.47199821472168,-21.04489552974701,0,0,0.03323173045853185],[-60.25965118408203,22.47199821472168,-23.04489552974701,0,0,0.03323173045853185],[-60.25965118408203,22.47199821472168,-23.04489552974701,0,0,-0.22856765734061757],[-60.25965118408203,22.47199821472168,-23.04489552974701,0,0,-0.49036704513976703],[-55.84885089291095,20.11724965247451,-23.04489552974701,0,0,-0.49036704513976703],[-55.84885089291095,20.11724965247451,-25.04489552974701,0,0,-0.49036704513976703],[-51.438050601739874,17.76250109022734,-25.04489552974701,0,0,-0.49036704513976703],[-47.027250310568796,15.407752527980168,-25.04489552974701,0,0,-0.49036704513976703],[-42.61645001939772,13.053003965732998,-25.04489552974701,0,0,-0.49036704513976703],[-38.20564972822664,10.698255403485827,-25.04489552974701,0,0,-0.49036704513976703],[-38.20564972822664,10.698255403485827,-23.04489552974701,0,0,-0.49036704513976703],[-38.20564972822664,10.698255403485827,-21.04489552974701,0,0,-0.49036704513976703],[-38.20564972822664,10.698255403485827,-19.04489552974701,0,0,-0.49036704513976703],[-38.20564972822664,10.698255403485827,-17.04489552974701,0,0,-0.49036704513976703],[-38.20564972822664,10.698255403485827,-15.04489552974701,0,0,-0.49036704513976703],[-38.20564972822664,10.698255403485827,-13.04489552974701,0,0,-0.49036704513976703],[-38.20564972822664,10.698255403485827,-11.04489552974701,0,0,-0.49036704513976703],[-38.20564972822664,10.698255403485827,-11.04489552974701,0,0,-0.22856765734061765],[-38.20564972822664,10.698255403485827,-11.04489552974701,0,0,0.03323173045853177],[-38.20564972822664,10.698255403485827,-11.04489552974701,0,0,0.2950311182576812],[-38.20564972822664,10.698255403485827,-11.04489552974701,0,0,0.5568305060568306],[-38.20564972822664,10.698255403485827,-11.04489552974701,0,0,0.81862989385598],[-38.20564972822664,10.698255403485827,-11.04489552974701,0,0,1.0804292816551295],[-33.79484943705556,8.343506841238657,-11.04489552974701,0,0,1.0804292816551295],[-29.384049145884482,5.988758278991487,-11.04489552974701,0,0,1.0804292816551295],[-29.384049145884482,5.988758278991487,-13.04489552974701,0,0,1.0804292816551295],[-27.029300583637312,10.399558570162567,-13.04489552974701,0,0,1.0804292816551295],[-24.67455202139014,14.810358861333647,-13.04489552974701,0,0,1.0804292816551295],[-22.31980345914297,19.221159152504725,-13.04489552974701,0,0,1.0804292816551295],[-22.31980345914297,19.221159152504725,-15.04489552974701,0,0,1.0804292816551295],[-19.9650548968958,23.631959443675804,-15.04489552974701,0,0,1.0804292816551295],[-19.9650548968958,23.631959443675804,-15.04489552974701,0,0,1.3422286694542787],[-18.832141565703026,28.50191913385864,-15.04489552974701,0,0,1.3422286694542787],[-17.69922823451025,33.371878824041474,-15.04489552974701,0,0,1.3422286694542787],[-16.566314903317476,38.241838514224305,-15.04489552974701,0,0,1.3422286694542787],[-16.566314903317476,38.241838514224305,-15.04489552974701,0,0,1.6040280572534282],[-16.732442974472082,43.23907789852184,-15.04489552974701,0,0,1.6040280572534282],[-16.89857104562669,48.23631728281938,-15.04489552974701,0,0,1.6040280572534282],[-17.064699116781295,53.233556667116915,-15.04489552974701,0,0,1.6040280572534282],[-17.2308271879359,58.23079605141445,-15.04489552974701,0,0,1.6040280572534282],[-17.396955259090507,63.22803543571199,-15.04489552974701,0,0,1.6040280572534282],[-17.396955259090507,63.22803543571199,-15.04489552974701,0,0,1.8658274450525776],[-18.850803379082926,68.0120009084129,-15.04489552974701,0,0,1.8658274450525776],[-20.304651499075344,72.79596638111381,-15.04489552974701,0,0,1.8658274450525776],[-20.304651499075344,72.79596638111381,-15.04489552974701,0,0,2.127626832851727],[-20.304651499075344,72.79596638111381,-13.04489552974701,0,0,2.127626832851727],[-20.304651499075344,72.79596638111381,-11.04489552974701,0,0,2.127626832851727],[-20.304651499075344,72.79596638111381,-9.04489552974701,0,0,2.127626832851727],[-20.304651499075344,72.79596638111381,-9.04489552974701,0,0,2.3894262206508765],[-20.304651499075344,72.79596638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+{"episode_id":"34MAJL3QPDLXEH0IF0PI9TC712X43U","trajectory_id":"33N1S8XHIUJELRDZNMWNQDFUSIRZ1V","scene_id":14,"start_position":[-60.25965118408203,22.47199821472168,-1.0448955297470093],"start_rotation":[0.999861959687313,0.0,0.0,0.01661510066915248],"instruction":{"instruction_text":"Take off to above the roof in front, then turn left to face a glass building, then proceed forward over the roof, then fly down to second floor height. Turn right to face the dark red brick building, then move left until you see the white skyscraper. Fly forward to the right shorter one of the tall white buildings, then turn right to face the gap between this building and a building on its right, then fly into the entrance of the gap. Turn back to face a glass building. Fly forward to the nearest street light left to the park wall, turn right to face the black metro entrance and then fly forward passing the entrance to the front of a orange brick building."},"goals":[{"position":[21.54591698246553,44.76429331265187,-11.04489552974701]}],"reference_path":[[-60.25965118408203,22.47199821472168,-1.0448955297470093,0,0,0.03323173045853185],[-60.25965118408203,22.47199821472168,-3.0448955297470093,0,0,0.03323173045853185],[-60.25965118408203,22.47199821472168,-5.044895529747009,0,0,0.03323173045853185],[-60.25965118408203,22.47199821472168,-7.044895529747009,0,0,0.03323173045853185],[-60.25965118408203,22.47199821472168,-9.04489552974701,0,0,0.03323173045853185],[-60.25965118408203,22.47199821472168,-11.04489552974701,0,0,0.03323173045853185],[-60.25965118408203,22.47199821472168,-13.04489552974701,0,0,0.03323173045853185],[-60.25965118408203,22.47199821472168,-15.04489552974701,0,0,0.03323173045853185],[-60.25965118408203,22.47199821472168,-17.04489552974701,0,0,0.03323173045853185],[-60.25965118408203,22.47199821472168,-19.04489552974701,0,0,0.03323173045853185],[-60.25965118408203,22.47199821472168,-21.04489552974701,0,0,0.03323173045853185],[-60.25965118408203,22.47199821472168,-23.04489552974701,0,0,0.03323173045853185],[-60.25965118408203,22.47199821472168,-23.04489552974701,0,0,-0.22856765734061757],[-60.25965118408203,22.47199821472168,-23.04489552974701,0,0,-0.49036704513976703],[-55.84885089291095,20.11724965247451,-23.04489552974701,0,0,-0.49036704513976703],[-55.84885089291095,20.11724965247451,-25.04489552974701,0,0,-0.49036704513976703],[-51.438050601739874,17.76250109022734,-25.04489552974701,0,0,-0.49036704513976703],[-47.027250310568796,15.407752527980168,-25.04489552974701,0,0,-0.49036704513976703],[-42.61645001939772,13.053003965732998,-25.04489552974701,0,0,-0.49036704513976703],[-38.20564972822664,10.698255403485827,-25.04489552974701,0,0,-0.49036704513976703],[-38.20564972822664,10.698255403485827,-23.04489552974701,0,0,-0.49036704513976703],[-38.20564972822664,10.698255403485827,-21.04489552974701,0,0,-0.49036704513976703],[-38.20564972822664,10.698255403485827,-19.04489552974701,0,0,-0.49036704513976703],[-38.20564972822664,10.698255403485827,-17.04489552974701,0,0,-0.49036704513976703],[-38.20564972822664,10.698255403485827,-15.04489552974701,0,0,-0.49036704513976703],[-38.20564972822664,10.698255403485827,-13.04489552974701,0,0,-0.49036704513976703],[-38.20564972822664,10.698255403485827,-11.04489552974701,0,0,-0.49036704513976703],[-38.20564972822664,10.698255403485827,-11.04489552974701,0,0,-0.22856765734061765],[-38.20564972822664,10.698255403485827,-11.04489552974701,0,0,0.03323173045853177],[-38.20564972822664,10.698255403485827,-11.04489552974701,0,0,0.2950311182576812],[-38.20564972822664,10.698255403485827,-11.04489552974701,0,0,0.5568305060568306],[-38.20564972822664,10.698255403485827,-11.04489552974701,0,0,0.81862989385598],[-38.20564972822664,10.698255403485827,-11.04489552974701,0,0,1.0804292816551295],[-33.79484943705556,8.343506841238657,-11.04489552974701,0,0,1.0804292816551295],[-29.384049145884482,5.988758278991487,-11.04489552974701,0,0,1.0804292816551295],[-29.384049145884482,5.988758278991487,-13.04489552974701,0,0,1.0804292816551295],[-27.029300583637312,10.399558570162567,-13.04489552974701,0,0,1.0804292816551295],[-24.67455202139014,14.810358861333647,-13.04489552974701,0,0,1.0804292816551295],[-22.31980345914297,19.221159152504725,-13.04489552974701,0,0,1.0804292816551295],[-22.31980345914297,19.221159152504725,-15.04489552974701,0,0,1.0804292816551295],[-19.9650548968958,23.631959443675804,-15.04489552974701,0,0,1.0804292816551295],[-19.9650548968958,23.631959443675804,-15.04489552974701,0,0,1.3422286694542787],[-18.832141565703026,28.50191913385864,-15.04489552974701,0,0,1.3422286694542787],[-17.69922823451025,33.371878824041474,-15.04489552974701,0,0,1.3422286694542787],[-16.566314903317476,38.241838514224305,-15.04489552974701,0,0,1.3422286694542787],[-16.566314903317476,38.241838514224305,-15.04489552974701,0,0,1.6040280572534282],[-16.732442974472082,43.23907789852184,-15.04489552974701,0,0,1.6040280572534282],[-16.89857104562669,48.23631728281938,-15.04489552974701,0,0,1.6040280572534282],[-17.064699116781295,53.233556667116915,-15.04489552974701,0,0,1.6040280572534282],[-17.2308271879359,58.23079605141445,-15.04489552974701,0,0,1.6040280572534282],[-17.396955259090507,63.22803543571199,-15.04489552974701,0,0,1.6040280572534282],[-17.396955259090507,63.22803543571199,-15.04489552974701,0,0,1.8658274450525776],[-18.850803379082926,68.0120009084129,-15.04489552974701,0,0,1.8658274450525776],[-20.304651499075344,72.79596638111381,-15.04489552974701,0,0,1.8658274450525776],[-20.304651499075344,72.79596638111381,-15.04489552974701,0,0,2.127626832851727],[-20.304651499075344,72.79596638111381,-13.04489552974701,0,0,2.127626832851727],[-20.304651499075344,72.79596638111381,-11.04489552974701,0,0,2.127626832851727],[-20.304651499075344,72.79596638111381,-9.04489552974701,0,0,2.127626832851727],[-20.304651499075344,72.79596638111381,-9.04489552974701,0,0,2.3894262206508765],[-20.304651499075344,72.79596638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+{"episode_id":"358UUM7WR81MG633SOOLU3ZW8NAR7U","trajectory_id":"3VJ4PFXFKB5TTGWPDIQ8KMTIPPWAU4","scene_id":14,"start_position":[2.7827796936035156,69.91053771972656,-0.53975510597229],"start_rotation":[0.9999895143910748,0.0,0.0,0.004579422223644006],"instruction":{"instruction_text":"Turn left to face the red and blue buckets, then take off to the height above the fences and fly forward to the bench in front of the white monument tower in the park. Turn left to face a building with white lower floors and red upper floors, and then fly forward to the road in front of the building. Turn right to face a yellow truck and then fly forward to the top of the truck. Ascend to a certain height of ten floors, and then turn slightly left to face the road."},"goals":[{"position":[-30.325515593424562,3.440077577791536,-38.53975510597229]}],"reference_path":[[2.7827796936035156,69.91053771972656,-0.53975510597229,0,0,0.009158876459442638],[2.7827796936035156,69.91053771972656,-2.53975510597229,0,0,0.009158876459442638],[2.7827796936035156,69.91053771972656,-2.53975510597229,0,0,-0.2526405113397068],[2.7827796936035156,69.91053771972656,-2.53975510597229,0,0,-0.5144398991388562],[2.7827796936035156,69.91053771972656,-2.53975510597229,0,0,-0.7762392869380057],[2.7827796936035156,69.91053771972656,-2.53975510597229,0,0,-1.038038674737155],[2.7827796936035156,69.91053771972656,-2.53975510597229,0,0,-1.2998380625363046],[4.121054000029339,65.09296344621914,-2.53975510597229,0,0,-1.2998380625363046],[4.121054000029339,65.09296344621914,-4.53975510597229,0,0,-1.2998380625363046],[5.459328306455163,60.27538917271173,-4.53975510597229,0,0,-1.2998380625363046],[6.797602612880986,55.45781489920432,-4.53975510597229,0,0,-1.2998380625363046],[8.13587691930681,50.64024062569691,-4.53975510597229,0,0,-1.2998380625363046],[9.474151225732633,45.8226663521895,-4.53975510597229,0,0,-1.2998380625363046],[9.474151225732633,45.8226663521895,-4.53975510597229,0,0,-1.5616374503354542],[9.474151225732633,45.8226663521895,-4.53975510597229,0,0,-1.8234368381346038],[9.474151225732633,45.8226663521895,-4.53975510597229,0,0,-2.085236225933753],[9.474151225732633,45.8226663521895,-4.53975510597229,0,0,-2.3470356137329023],[9.474151225732633,45.8226663521895,-4.53975510597229,0,0,-2.608835001532052],[5.167102692960397,43.28311266377405,-4.53975510597229,0,0,-2.608835001532052],[0.8600541601881613,40.743558975358596,-4.53975510597229,0,0,-2.608835001532052],[-3.446994372584075,38.20400528694314,-4.53975510597229,0,0,-2.608835001532052],[-7.754042905356311,35.66445159852769,-4.53975510597229,0,0,-2.608835001532052],[-12.061091438128546,33.12489791011224,-4.53975510597229,0,0,-2.608835001532052],[-12.061091438128546,33.12489791011224,-4.53975510597229,0,0,-2.3470356137329023],[-15.564095990391415,29.55713122676177,-4.53975510597229,0,0,-2.3470356137329023],[-15.564095990391415,29.55713122676177,-4.53975510597229,0,0,-2.0852362259337527],[-18.02433259089694,25.204288951933396,-4.53975510597229,0,0,-2.0852362259337527],[-18.02433259089694,25.204288951933396,-6.53975510597229,0,0,-2.0852362259337527],[-20.484569191402464,20.851446677105024,-6.53975510597229,0,0,-2.0852362259337527],[-22.94480579190799,16.49860440227665,-6.53975510597229,0,0,-2.0852362259337527],[-25.405042392413513,12.145762127448279,-6.53975510597229,0,0,-2.0852362259337527],[-27.865278992919038,7.7929198526199075,-6.53975510597229,0,0,-2.0852362259337527],[-27.865278992919038,7.7929198526199075,-8.53975510597229,0,0,-2.0852362259337527],[-27.865278992919038,7.7929198526199075,-10.53975510597229,0,0,-2.0852362259337527],[-27.865278992919038,7.7929198526199075,-12.53975510597229,0,0,-2.0852362259337527],[-27.865278992919038,7.7929198526199075,-14.53975510597229,0,0,-2.0852362259337527],[-27.865278992919038,7.7929198526199075,-16.53975510597229,0,0,-2.0852362259337527],[-27.865278992919038,7.7929198526199075,-18.53975510597229,0,0,-2.0852362259337527],[-27.865278992919038,7.7929198526199075,-20.53975510597229,0,0,-2.0852362259337527],[-27.865278992919038,7.7929198526199075,-22.53975510597229,0,0,-2.0852362259337527],[-27.865278992919038,7.7929198526199075,-24.53975510597229,0,0,-2.0852362259337527],[-27.865278992919038,7.7929198526199075,-26.53975510597229,0,0,-2.0852362259337527],[-30.325515593424562,3.440077577791536,-26.53975510597229,0,0,-2.0852362259337527],[-30.325515593424562,3.440077577791536,-28.53975510597229,0,0,-2.0852362259337527],[-30.325515593424562,3.440077577791536,-30.53975510597229,0,0,-2.0852362259337527],[-30.325515593424562,3.440077577791536,-32.53975510597229,0,0,-2.0852362259337527],[-30.325515593424562,3.440077577791536,-34.53975510597229,0,0,-2.0852362259337527],[-30.325515593424562,3.440077577791536,-36.53975510597229,0,0,-2.0852362259337527],[-30.325515593424562,3.440077577791536,-38.53975510597229,0,0,-2.0852362259337527],[-30.325515593424562,3.440077577791536,-38.53975510597229,0,0,-2.3470356137329023],[-30.325515593424562,3.440077577791536,-38.53975510597229,0,0,-2.608835001532052],[-30.325515593424562,3.440077577791536,-38.53975510597229,0,0,-2.870634389331201],[-30.325515593424562,3.440077577791536,-38.53975510597229,0,0,-3.1324337771303505],[-30.325515593424562,3.440077577791536,-38.53975510597229,0,0,2.8889521422500857],[-30.325515593424562,3.440077577791536,-38.53975510597229,0,0,2.6271527544509365],[-30.325515593424562,3.440077577791536,-38.53975510597229,0,0,2.8889521422500866],[-30.325515593424562,3.440077577791536,-38.53975510597229,0,0,-3.1324337771303505],[-30.325515593424562,3.440077577791536,-38.53975510597229,0,0,-2.870634389331202],[-30.325515593424562,3.440077577791536,-38.53975510597229,0,0,-2.6088350015320523]],"actions":[4,2,2,2,2,2,1,4,1,1,1,1,2,2,2,2,2,1,1,1,1,1,3,1,3,1,4,1,1,1,1,4,4,4,4,4,4,4,4,4,4,1,4,4,4,4,4,4,2,2,2,2,2,2,3,3,3,3,0]},
+{"episode_id":"3KIBXJ1WDES7E8I7JQWQ4DZD38MOKW","trajectory_id":"3EN4YVUOVKQWBDTOCTE8XSV59U7JXL","scene_id":14,"start_position":[49.77042007446289,42.636375427246094,-20.400249481201172],"start_rotation":[0.999937850179366,0.0,0.0,-0.011148801669593802],"instruction":{"instruction_text":"Turn left to face the glass-walled building, then fly forward to the front of this building. Descend to a height of second floor. Turn left to face the tallest white building behind the park, then go forward through the park to a black metro entrance. Turn right to face the white monument tower in the park, and then fly forward to the monument. Turn left to face the black subway entrance, and then fly forward to the front of the entrance. Turn right to face a reddish-brown building beside the white building, and then fly forward to the entrance of the reddish-brown building. Ascend to the roof of the reddish-brown building. Fly up to the roof of the mentioned building, fly forward over the roof  to a grey building, and then descend close to the road. Turn right to face the red brick wall, then turn left to face two yellow machine in front of the grey building."},"goals":[{"position":[-62.49815068065172,75.05683164995868,-2.400249481201172]}],"reference_path":[[49.77042007446289,42.636375427246094,-20.400249481201172,0,0,-0.022298065281354175],[49.77042007446289,42.636375427246094,-22.400249481201172,0,0,-0.022298065281354175],[49.77042007446289,42.636375427246094,-24.400249481201172,0,0,-0.022298065281354175],[49.77042007446289,42.636375427246094,-24.400249481201172,0,0,-0.2840974530805036],[49.77042007446289,42.636375427246094,-24.400249481201172,0,0,-0.5458968408796531],[49.77042007446289,42.636375427246094,-24.400249481201172,0,0,-0.8076962286788025],[49.77042007446289,42.636375427246094,-24.400249481201172,0,0,-1.0694956164779519],[49.77042007446289,42.636375427246094,-24.400249481201172,0,0,-1.3312950042771012],[49.77042007446289,42.636375427246094,-24.400249481201172,0,0,-1.5930943920762506],[49.77042007446289,42.636375427246094,-24.400249481201172,0,0,-1.8548937798754],[49.77042007446289,42.636375427246094,-24.400249481201172,0,0,-2.1166931676745495],[49.77042007446289,42.636375427246094,-24.400249481201172,0,0,-2.3784925554736986],[46.15693603929788,39.18054945830501,-24.400249481201172,0,0,-2.3784925554736986],[42.543452004132874,35.724723489363925,-24.400249481201172,0,0,-2.3784925554736986],[38.929967968967865,32.26889752042284,-24.400249481201172,0,0,-2.3784925554736986],[35.31648393380286,28.813071551481755,-24.400249481201172,0,0,-2.3784925554736986],[31.702999898637845,25.35724558254067,-24.400249481201172,0,0,-2.3784925554736986],[28.089515863472833,21.901419613599586,-24.400249481201172,0,0,-2.3784925554736986],[24.63368989453175,25.514903648764598,-24.400249481201172,0,0,-2.3784925554736986],[21.020205859366737,22.059077679823513,-24.400249481201172,0,0,-2.3784925554736986],[17.406721824201725,18.60325171088243,-24.400249481201172,0,0,-2.3784925554736986],[17.406721824201725,18.60325171088243,-22.400249481201172,0,0,-2.3784925554736986],[17.406721824201725,18.60325171088243,-20.400249481201172,0,0,-2.3784925554736986],[17.406721824201725,18.60325171088243,-18.400249481201172,0,0,-2.3784925554736986],[17.406721824201725,18.60325171088243,-16.400249481201172,0,0,-2.3784925554736986],[17.406721824201725,18.60325171088243,-14.400249481201172,0,0,-2.3784925554736986],[17.406721824201725,18.60325171088243,-12.400249481201172,0,0,-2.3784925554736986],[17.406721824201725,18.60325171088243,-10.400249481201172,0,0,-2.3784925554736986],[17.406721824201725,18.60325171088243,-10.400249481201172,0,0,-2.640291943272848],[17.406721824201725,18.60325171088243,-10.400249481201172,0,0,-2.902091331071998],[17.406721824201725,18.60325171088243,-10.400249481201172,0,0,3.119294588308439],[17.406721824201725,18.60325171088243,-10.400249481201172,0,0,2.8574952005092893],[17.406721824201725,18.60325171088243,-10.400249481201172,0,0,2.59569581271014],[17.406721824201725,18.60325171088243,-10.400249481201172,0,0,2.333896424910991],[17.406721824201725,18.60325171088243,-10.400249481201172,0,0,2.0720970371118415],[17.406721824201725,18.60325171088243,-10.400249481201172,0,0,1.8102976493126919],[17.406721824201725,18.60325171088243,-10.400249481201172,0,0,1.5484982615135425],[17.518202911937422,23.60200875309575,-10.400249481201172,0,0,1.5484982615135425],[17.62968399967312,28.60076579530907,-10.400249481201172,0,0,1.5484982615135425],[17.741165087408817,33.599522837522386,-10.400249481201172,0,0,1.5484982615135425],[17.852646175144514,38.598279879735706,-10.400249481201172,0,0,1.5484982615135425],[17.96412726288021,43.59703692194903,-10.400249481201172,0,0,1.5484982615135425],[17.96412726288021,43.59703692194903,-10.400249481201172,0,0,1.8102976493126919],[17.96412726288021,43.59703692194903,-10.400249481201172,0,0,2.0720970371118415],[17.96412726288021,43.59703692194903,-10.400249481201172,0,0,2.333896424910991],[17.96412726288021,43.59703692194903,-10.400249481201172,0,0,2.5956958127101406],[17.96412726288021,43.59703692194903,-10.400249481201172,0,0,2.8574952005092897],[17.96412726288021,43.59703692194903,-10.400249481201172,0,0,3.119294588308439],[17.96412726288021,43.59703692194903,-10.400249481201172,0,0,-2.9020913310719982],[17.96412726288021,43.59703692194903,-10.400249481201172,0,0,-2.6402919432728487],[17.96412726288021,43.59703692194903,-10.400249481201172,0,0,-2.378492555473699],[14.3506432277152,40.14121095300794,-10.400249481201172,0,0,-2.378492555473699],[10.737159192550187,36.68538498406686,-10.400249481201172,0,0,-2.378492555473699],[10.737159192550187,36.68538498406686,-10.400249481201172,0,0,-2.6402919432728487],[10.737159192550187,36.68538498406686,-10.400249481201172,0,0,-2.9020913310719982],[10.737159192550187,36.68538498406686,-10.400249481201172,0,0,3.119294588308439],[10.737159192550187,36.68538498406686,-10.400249481201172,0,0,2.8574952005092893],[10.737159192550187,36.68538498406686,-10.400249481201172,0,0,2.59569581271014],[10.737159192550187,36.68538498406686,-10.400249481201172,0,0,2.333896424910991],[10.737159192550187,36.685384984066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+{"episode_id":"3OLF68YTNIZ7WIWS8W0BN5N37AFAFQ","trajectory_id":"3OND0WXMI4DRE77HTOLVXQUJGWSHE5","scene_id":14,"start_position":[9.870762825012207,47.66728591918945,-1.0741862058639526],"start_rotation":[0.999998694512739,0.0,0.0,0.0016158504936170798],"instruction":{"instruction_text":"Turn left to face the white monument tower, and fly forward to the top of the park bench. Turn left to face the trees at the front left corner of the park, and then fly forward to the front of trees. Turn right to face the bright brownish building left to a light orange building, then fly forward to the sidewalk near a glass building on the left. Turn left to face the store at the first floor of the white building with windows, and then fly forward to the front of the pillars outside the store, turn right to face the road, and turn left to face the store."},"goals":[{"position":[8.905749447358088,6.26586728409133,-3.0741862058639526]}],"reference_path":[[9.870762825012207,47.66728591918945,-1.0741862058639526,0,0,0.0032317023935497175],[9.870762825012207,47.66728591918945,-3.0741862058639526,0,0,0.0032317023935497175],[9.870762825012207,47.66728591918945,-3.0741862058639526,0,0,-0.2585676854055997],[9.870762825012207,47.66728591918945,-3.0741862058639526,0,0,-0.5203670732047492],[9.870762825012207,47.66728591918945,-3.0741862058639526,0,0,-0.7821664610038986],[9.870762825012207,47.66728591918945,-3.0741862058639526,0,0,-1.043965848803048],[9.870762825012207,47.66728591918945,-3.0741862058639526,0,0,-1.3057652366021977],[9.870762825012207,47.66728591918945,-3.0741862058639526,0,0,-1.5675646244013473],[9.870762825012207,47.66728591918945,-5.074186205863953,0,0,-1.5675646244013473],[9.870762825012207,47.66728591918945,-5.074186205863953,0,0,-1.8293640122004968],[8.592282254050644,42.83349988444673,-5.074186205863953,0,0,-1.8293640122004968],[8.592282254050644,42.83349988444673,-5.074186205863953,0,0,-2.091163399999646],[6.106288966408066,38.4953162352917,-5.074186205863953,0,0,-2.091163399999646],[3.6202956787654874,34.157132586136676,-5.074186205863953,0,0,-2.091163399999646],[3.6202956787654874,34.157132586136676,-7.074186205863953,0,0,-2.091163399999646],[1.134302391122909,29.81894893698165,-7.074186205863953,0,0,-2.091163399999646],[1.134302391122909,29.81894893698165,-7.074186205863953,0,0,-2.3529627877987958],[1.134302391122909,29.81894893698165,-7.074186205863953,0,0,-2.6147621755979453],[-3.187722774190674,27.304968334352406,-7.074186205863953,0,0,-2.6147621755979453],[-3.187722774190674,27.304968334352406,-7.074186205863953,0,0,-2.352962787798796],[-3.187722774190674,27.304968334352406,-7.074186205863953,0,0,-2.091163399999647],[-3.187722774190674,27.304968334352406,-7.074186205863953,0,0,-1.8293640122004977],[-3.187722774190674,27.304968334352406,-7.074186205863953,0,0,-1.5675646244013484],[-3.187722774190674,27.304968334352406,-7.074186205863953,0,0,-1.305765236602199],[-3.187722774190674,27.304968334352406,-7.074186205863953,0,0,-1.0439658488030497],[-3.187722774190674,27.304968334352406,-7.074186205863953,0,0,-0.7821664610039002],[-3.187722774190674,27.304968334352406,-7.074186205863953,0,0,-0.5203670732047508],[-3.187722774190674,27.304968334352406,-7.074186205863953,0,0,-0.25856768540560143],[-3.187722774190674,27.304968334352406,-9.074186205863953,0,0,-0.25856768540560143],[1.646063260552049,26.02648776339084,-9.074186205863953,0,0,-0.25856768540560143],[6.479849295294772,24.748007192429274,-9.074186205863953,0,0,-0.25856768540560143],[6.479849295294772,24.748007192429274,-9.074186205863953,0,0,-0.5203670732047508],[10.818032944449797,22.26201390478669,-9.074186205863953,0,0,-0.5203670732047508],[10.818032944449797,22.26201390478669,-7.074186205863953,0,0,-0.5203670732047508],[8.332039656807213,17.923830255631664,-7.074186205863953,0,0,-0.5203670732047508],[12.670223305962239,15.43783696798908,-7.074186205863953,0,0,-0.5203670732047508],[12.670223305962239,15.43783696798908,-7.074186205863953,0,0,-0.7821664610039002],[12.670223305962239,15.43783696798908,-7.074186205863953,0,0,-1.0439658488030497],[12.670223305962239,15.43783696798908,-7.074186205863953,0,0,-1.305765236602199],[12.670223305962239,15.43783696798908,-7.074186205863953,0,0,-1.5675646244013486],[12.670223305962239,15.43783696798908,-7.074186205863953,0,0,-1.829364012200498],[12.670223305962239,15.43783696798908,-5.074186205863953,0,0,-1.829364012200498],[11.391742735000673,10.604050933246356,-5.074186205863953,0,0,-1.829364012200498],[11.391742735000673,10.604050933246356,-5.074186205863953,0,0,-2.0911633999996475],[8.905749447358088,6.26586728409133,-5.074186205863953,0,0,-2.0911633999996475],[8.905749447358088,6.26586728409133,-3.0741862058639526,0,0,-2.0911633999996475],[8.905749447358088,6.26586728409133,-3.0741862058639526,0,0,-1.829364012200498],[8.905749447358088,6.26586728409133,-3.0741862058639526,0,0,-1.5675646244013486],[8.905749447358088,6.26586728409133,-3.0741862058639526,0,0,-1.305765236602199],[8.905749447358088,6.26586728409133,-3.0741862058639526,0,0,-1.0439658488030497],[8.905749447358088,6.26586728409133,-3.0741862058639526,0,0,-0.7821664610039002],[8.905749447358088,6.26586728409133,-3.0741862058639526,0,0,-0.5203670732047508],[8.905749447358088,6.26586728409133,-3.0741862058639526,0,0,-0.25856768540560143],[8.905749447358088,6.26586728409133,-3.0741862058639526,0,0,0.0032317023935480053],[8.905749447358088,6.26586728409133,-3.0741862058639526,0,0,-0.25856768540560143],[8.905749447358088,6.26586728409133,-3.0741862058639526,0,0,-0.5203670732047508],[8.905749447358088,6.26586728409133,-3.0741862058639526,0,0,-0.7821664610039002],[8.905749447358088,6.26586728409133,-3.0741862058639526,0,0,-1.0439658488030497],[8.905749447358088,6.26586728409133,-3.0741862058639526,0,0,-1.305765236602199]],"actions":[4,2,2,2,2,2,2,4,2,1,2,1,1,4,1,2,2,1,3,3,3,3,3,3,3,3,3,4,1,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+{"episode_id":"33FOTY3KEVJ4ZIZILBHH4Y9X5PAC1T","trajectory_id":"3MNJFORX9J274SNINX4SQBCTNOG5FU","scene_id":14,"start_position":[-59.66133499145508,58.74848937988281,-0.7071565985679626],"start_rotation":[0.999860354903661,0.0,0.0,0.016711394074857194],"instruction":{"instruction_text":"Take off to the height above the wall ahead. Fly forward over the roof ahead. Descend to the the height of third floor of the white building ahead. Turn left to face a tall dark beige building on the left side of a glass building, then fly forward to the front of this building. Turn right to face the red barrier on the left side of the road. Fly straight along the road to reach the dark brown building at the end of the road, then stop."},"goals":[{"position":[36.04034817777838,6.084423735384454,-10.707156598567963]}],"reference_path":[[-59.66133499145508,58.74848937988281,-0.7071565985679626,0,0,0.033424344012779224],[-59.66133499145508,58.74848937988281,-2.7071565985679626,0,0,0.033424344012779224],[-59.66133499145508,58.74848937988281,-4.707156598567963,0,0,0.033424344012779224],[-59.66133499145508,58.74848937988281,-6.707156598567963,0,0,0.033424344012779224],[-59.66133499145508,58.74848937988281,-8.707156598567963,0,0,0.033424344012779224],[-59.66133499145508,58.74848937988281,-10.707156598567963,0,0,0.033424344012779224],[-59.66133499145508,58.74848937988281,-12.707156598567963,0,0,0.033424344012779224],[-59.66133499145508,58.74848937988281,-14.707156598567963,0,0,0.033424344012779224],[-59.66133499145508,58.74848937988281,-16.707156598567963,0,0,0.033424344012779224],[-59.66133499145508,58.74848937988281,-18.707156598567963,0,0,0.033424344012779224],[-59.66133499145508,58.74848937988281,-20.707156598567963,0,0,0.033424344012779224],[-59.66133499145508,58.74848937988281,-22.707156598567963,0,0,0.033424344012779224],[-59.66133499145508,58.74848937988281,-24.707156598567963,0,0,0.033424344012779224],[-54.66412769837433,58.915579983989026,-24.707156598567963,0,0,0.033424344012779224],[-54.66412769837433,58.915579983989026,-26.707156598567963,0,0,0.033424344012779224],[-49.66692040529358,59.08267058809524,-26.707156598567963,0,0,0.033424344012779224],[-44.66971311221283,59.249761192201454,-26.707156598567963,0,0,0.033424344012779224],[-39.672505819132084,59.41685179630767,-26.707156598567963,0,0,0.033424344012779224],[-39.8395964232383,64.41405908938842,-26.707156598567963,0,0,0.033424344012779224],[-39.8395964232383,64.41405908938842,-28.707156598567963,0,0,0.033424344012779224],[-34.84238913015755,64.58114969349464,-28.707156598567963,0,0,0.033424344012779224],[-29.8451818370768,64.74824029760086,-28.707156598567963,0,0,0.033424344012779224],[-29.8451818370768,64.74824029760086,-28.707156598567963,0,0,0.2952237318119287],[-25.061496483970394,66.2030098472118,-28.707156598567963,0,0,0.2952237318119287],[-25.061496483970394,66.2030098472118,-30.707156598567963,0,0,0.2952237318119287],[-25.061496483970394,66.2030098472118,-28.707156598567963,0,0,0.2952237318119287],[-25.061496483970394,66.2030098472118,-26.707156598567963,0,0,0.2952237318119287],[-25.061496483970394,66.2030098472118,-24.707156598567963,0,0,0.2952237318119287],[-25.061496483970394,66.2030098472118,-22.707156598567963,0,0,0.2952237318119287],[-25.061496483970394,66.2030098472118,-20.707156598567963,0,0,0.2952237318119287],[-25.061496483970394,66.2030098472118,-18.707156598567963,0,0,0.2952237318119287],[-20.277811130863988,67.65777939682275,-18.707156598567963,0,0,0.2952237318119287],[-20.277811130863988,67.65777939682275,-16.707156598567963,0,0,0.2952237318119287],[-20.277811130863988,67.65777939682275,-14.707156598567963,0,0,0.2952237318119287],[-20.277811130863988,67.65777939682275,-12.707156598567963,0,0,0.2952237318119287],[-20.277811130863988,67.65777939682275,-10.707156598567963,0,0,0.2952237318119287],[-20.277811130863988,67.65777939682275,-10.707156598567963,0,0,0.033424344012779224],[-20.277811130863988,67.65777939682275,-10.707156598567963,0,0,-0.22837504378637022],[-20.277811130863988,67.65777939682275,-10.707156598567963,0,0,-0.49017443158551965],[-20.277811130863988,67.65777939682275,-10.707156598567963,0,0,-0.751973819384669],[-20.277811130863988,67.65777939682275,-10.707156598567963,0,0,-1.0137732071838184],[-20.277811130863988,67.65777939682275,-10.707156598567963,0,0,-1.275572594982968],[-18.82304158125304,62.87409404371634,-10.707156598567963,0,0,-1.275572594982968],[-17.368272031642093,58.090408690609934,-10.707156598567963,0,0,-1.275572594982968],[-17.368272031642093,58.090408690609934,-12.707156598567963,0,0,-1.275572594982968],[-15.913502482031143,53.30672333750353,-12.707156598567963,0,0,-1.275572594982968],[-14.458732932420194,48.52303798439712,-12.707156598567963,0,0,-1.275572594982968],[-14.458732932420194,48.52303798439712,-14.707156598567963,0,0,-1.275572594982968],[-19.2424182855266,47.06826843478617,-14.707156598567963,0,0,-1.275572594982968],[-17.787648735915653,42.28458308167976,-14.707156598567963,0,0,-1.275572594982968],[-16.332879186304705,37.50089772857336,-14.707156598567963,0,0,-1.275572594982968],[-14.878109636693756,32.71721237546695,-14.707156598567963,0,0,-1.275572594982968],[-13.423340087082806,27.933527022360543,-14.707156598567963,0,0,-1.275572594982968],[-13.423340087082806,27.933527022360543,-16.707156598567963,0,0,-1.275572594982968],[-13.423340087082806,27.933527022360543,-16.707156598567963,0,0,-1.5373719827821175],[-13.25624948297659,22.936319729279795,-16.707156598567963,0,0,-1.5373719827821175],[-13.089158878870375,17.939112436199046,-16.707156598567963,0,0,-1.5373719827821175],[-13.089158878870375,17.939112436199046,-16.707156598567963,0,0,-1.799171370581267],[-14.221134168808451,13.068934621891891,-16.70715659856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+{"episode_id":"3LUY3GC638Y14TNOFWKWP8ZH7TW7P4","trajectory_id":"38DCH97KIP0C2GSCQFJG3KZCCRKJQO","scene_id":14,"start_position":[28.536537170410156,46.85232162475586,-0.9495826363563538],"start_rotation":[0.9999907231906028,0.0,0.0,-0.004307381192245838],"instruction":{"instruction_text":"Take off to second floor height then turn right to face the black subway entrance behind a tree, fly straight to the entrance, and then stop at its top. Turn right to face the white monument tower in the park, and then fly over the tower from its right side , fly forward over the park wall to the road in front of a glass building, and fly to the top of a black car. Turn left to face a T-junction behind a red car and fly straight along the street, and then land when you reach the right side of the yellow truck."},"goals":[{"position":[-19.62440050213131,6.7869555383287,-2.9495826363563538]}],"reference_path":[[28.536537170410156,46.85232162475586,-0.9495826363563538,0,0,-0.008614789023760075],[28.536537170410156,46.85232162475586,-2.9495826363563538,0,0,-0.008614789023760075],[28.536537170410156,46.85232162475586,-4.949582636356354,0,0,-0.008614789023760075],[28.536537170410156,46.85232162475586,-6.949582636356354,0,0,-0.008614789023760075],[28.536537170410156,46.85232162475586,-6.949582636356354,0,0,0.25318459877538935],[28.536537170410156,46.85232162475586,-6.949582636356354,0,0,0.5149839865745388],[28.536537170410156,46.85232162475586,-6.949582636356354,0,0,0.7767833743736883],[28.536537170410156,46.85232162475586,-6.949582636356354,0,0,1.0385827621728376],[28.536537170410156,46.85232162475586,-6.949582636356354,0,0,1.3003821499719872],[28.536537170410156,46.85232162475586,-6.949582636356354,0,0,1.5621815377711366],[28.536537170410156,46.85232162475586,-6.949582636356354,0,0,1.8239809255702861],[28.536537170410156,46.85232162475586,-6.949582636356354,0,0,2.0857803133694355],[28.536537170410156,46.85232162475586,-6.949582636356354,0,0,2.347579701168585],[28.536537170410156,46.85232162475586,-6.949582636356354,0,0,2.6093790889677346],[24.228107535962206,49.389531526401896,-6.949582636356354,0,0,2.6093790889677346],[19.919677901514255,51.92674142804793,-6.949582636356354,0,0,2.6093790889677346],[15.611248267066305,54.46395132969397,-6.949582636356354,0,0,2.6093790889677346],[15.611248267066305,54.46395132969397,-6.949582636356354,0,0,2.871178476766884],[15.611248267066305,54.46395132969397,-6.949582636356354,0,0,3.1329778645660338],[10.611433802393659,54.50702474202888,-6.949582636356354,0,0,3.1329778645660338],[5.611619337721012,54.550098154363795,-6.949582636356354,0,0,3.1329778645660338],[5.611619337721012,54.550098154363795,-6.949582636356354,0,0,-2.888408054814403],[5.611619337721012,54.550098154363795,-6.949582636356354,0,0,-2.6266086670152533],[5.611619337721012,54.550098154363795,-6.949582636356354,0,0,-2.3648092792161037],[5.611619337721012,54.550098154363795,-6.949582636356354,0,0,-2.1030098914169546],[5.611619337721012,54.550098154363795,-6.949582636356354,0,0,-1.841210503617805],[5.611619337721012,54.550098154363795,-6.949582636356354,0,0,-1.5794111158186557],[5.568545925386102,49.55028368969115,-6.949582636356354,0,0,-1.5794111158186557],[5.525472513051192,44.5504692250185,-6.949582636356354,0,0,-1.5794111158186557],[5.525472513051192,44.5504692250185,-6.949582636356354,0,0,-1.3176117280195063],[5.525472513051192,44.5504692250185,-6.949582636356354,0,0,-1.0558123402203567],[7.988077076077802,40.198966178235644,-6.949582636356354,0,0,-1.0558123402203567],[10.450681639104412,35.847463131452784,-6.949582636356354,0,0,-1.0558123402203567],[10.450681639104412,35.847463131452784,-6.949582636356354,0,0,-1.3176117280195063],[11.703123123140069,31.006864993921994,-6.949582636356354,0,0,-1.3176117280195063],[12.955564607175726,26.166266856391204,-6.949582636356354,0,0,-1.3176117280195063],[14.208006091211383,21.325668718860413,-6.949582636356354,0,0,-1.3176117280195063],[15.46044757524704,16.485070581329623,-6.949582636356354,0,0,-1.3176117280195063],[15.46044757524704,16.485070581329623,-6.949582636356354,0,0,-1.5794111158186557],[15.417374162912129,11.485256116656977,-6.949582636356354,0,0,-1.5794111158186557],[15.417374162912129,11.485256116656977,-4.949582636356354,0,0,-1.5794111158186557],[15.374300750577218,6.48544165198433,-4.949582636356354,0,0,-1.5794111158186557],[15.374300750577218,6.48544165198433,-4.949582636356354,0,0,-1.841210503617805],[15.374300750577218,6.48544165198433,-4.949582636356354,0,0,-2.1030098914169546],[15.374300750577218,6.48544165198433,-4.949582636356354,0,0,-2.3648092792161037],[15.374300750577218,6.48544165198433,-4.949582636356354,0,0,-2.6266086670152533],[15.374300750577218,6.48544165198433,-4.949582636356354,0,0,-2.888408054814403],[15.374300750577218,6.48544165198433,-4.949582636356354,0,0,3.132977864566034],[10.37448628590457,6.52851506431924,-4.949582636356354,0,0,3.132977864566034],[5.3746718212319236,6.57158847665415,-4.949582636356354,0,0,3.132977864566034],[0.37485735655927677,6.61466188898906,-4.949582636356354,0,0,3.132977864566034],[-4.62495710811337,6.65773530132397,-4.949582636356354,0,0,3.132977864566034],[-9.624771572786017,6.70080871365888,-4.949582636356354,0,0,3.132977864566034],[-14.624586037458663,6.74388212599379,-4.949582636356354,0,0,3.132977864566034],[-19.62440050213131,6.7869555383287,-4.949582636356354,0,0,3.132977864566034],[-19.62440050213131,6.7869555383287,-2.9495826363563538,0,0,3.132977864566034]],"actions":[4,4,4,3,3,3,3,3,3,3,3,3,3,1,1,1,3,3,1,1,3,3,3,3,3,3,1,1,3,3,1,1,2,1,1,1,1,2,1,5,1,2,2,2,2,2,2,1,1,1,1,1,1,1,5,0]},
+{"episode_id":"34PGFRQONX9K8XLRSRNOKSCMRL2JWL","trajectory_id":"3EHIMLB7GFXA56XQGLZV5GYX5TUH86","scene_id":14,"start_position":[-14.850597381591797,9.766430854797363,-0.9813388586044312],"start_rotation":[0.9998742556622113,0.0,0.0,-0.015857895949300968],"instruction":{"instruction_text":"Turn right to face the tallest white building with black windows, fly up to the height above the red car ahead, and then fly forward along the road to the blue fence at the left side of the road behind the park. Turn left to face the white monument tower in the middle of the park, and then fly forward the park bench in front of the tower. Turn right to face a large building featuring a dark beige or tan stone facade, and then fly forward to land in front of the trees in the park."},"goals":[{"position":[15.949331160464622,46.497873081885295,-0.9813388586044312]}],"reference_path":[[-14.850597381591797,9.766430854797363,-0.9813388586044312,0,0,-0.03171712132588594],[-14.850597381591797,9.766430854797363,-0.9813388586044312,0,0,0.2300822664732635],[-14.850597381591797,9.766430854797363,-0.9813388586044312,0,0,0.49188165427241287],[-14.850597381591797,9.766430854797363,-0.9813388586044312,0,0,0.7536810420715623],[-14.850597381591797,9.766430854797363,-0.9813388586044312,0,0,1.0154804298707119],[-14.850597381591797,9.766430854797363,-0.9813388586044312,0,0,1.2772798176698612],[-13.403996764217368,14.552592850991383,-0.9813388586044312,0,0,1.2772798176698612],[-13.403996764217368,14.552592850991383,-2.981338858604431,0,0,1.2772798176698612],[-11.957396146842939,19.338754847185402,-2.981338858604431,0,0,1.2772798176698612],[-10.51079552946851,24.124916843379424,-2.981338858604431,0,0,1.2772798176698612],[-9.06419491209408,28.91107883957344,-2.981338858604431,0,0,1.2772798176698612],[-7.617594294719652,33.69724083576746,-2.981338858604431,0,0,1.2772798176698612],[-6.170993677345223,38.48340283196148,-2.981338858604431,0,0,1.2772798176698612],[-10.957155673539242,39.930003449335906,-2.981338858604431,0,0,1.2772798176698612],[-9.510555056164813,44.716165445529924,-2.981338858604431,0,0,1.2772798176698612],[-8.063954438790384,49.50232744172394,-2.981338858604431,0,0,1.2772798176698612],[-6.617353821415955,54.28848943791796,-2.981338858604431,0,0,1.2772798176698612],[-6.617353821415955,54.28848943791796,-2.981338858604431,0,0,1.0154804298707119],[-6.617353821415955,54.28848943791796,-2.981338858604431,0,0,0.7536810420715625],[-6.617353821415955,54.28848943791796,-2.981338858604431,0,0,0.49188165427241315],[-6.617353821415955,54.28848943791796,-2.981338858604431,0,0,0.23008226647326377],[-6.617353821415955,54.28848943791796,-2.981338858604431,0,0,-0.03171712132588567],[-6.617353821415955,54.28848943791796,-2.981338858604431,0,0,-0.2935165091250351],[-6.617353821415955,54.28848943791796,-2.981338858604431,0,0,-0.5553158969241845],[-6.617353821415955,54.28848943791796,-2.981338858604431,0,0,-0.817115284723334],[-3.1957162547715083,50.64261555604444,-2.981338858604431,0,0,-0.817115284723334],[-3.1957162547715083,50.64261555604444,-2.981338858604431,0,0,-1.0789146725224834],[-3.1957162547715083,50.64261555604444,-2.981338858604431,0,0,-0.8171152847233341],[0.22592131187293818,46.99674167417092,-2.981338858604431,0,0,-0.8171152847233341],[3.6475588785173847,43.3508677922974,-2.981338858604431,0,0,-0.8171152847233341],[3.6475588785173847,43.3508677922974,-2.981338858604431,0,0,-0.5553158969241847],[7.896228569010864,40.714809018088815,-2.981338858604431,0,0,-0.5553158969241847],[7.896228569010864,40.714809018088815,-2.981338858604431,0,0,-0.2935165091250353],[7.896228569010864,40.714809018088815,-2.981338858604431,0,0,-0.03171712132588585],[7.896228569010864,40.714809018088815,-2.981338858604431,0,0,0.23008226647326357],[7.896228569010864,40.714809018088815,-2.981338858604431,0,0,0.49188165427241304],[7.896228569010864,40.714809018088815,-4.981338858604431,0,0,0.49188165427241304],[12.303457278591104,43.076235515240846,-4.981338858604431,0,0,0.49188165427241304],[12.303457278591104,43.076235515240846,-4.981338858604431,0,0,0.7536810420715625],[12.303457278591104,43.076235515240846,-2.981338858604431,0,0,0.7536810420715625],[15.949331160464622,46.497873081885295,-2.981338858604431,0,0,0.7536810420715625],[15.949331160464622,46.497873081885295,-2.981338858604431,0,0,0.49188165427241315],[15.949331160464622,46.497873081885295,-0.9813388586044312,0,0,0.49188165427241315]],"actions":[3,3,3,3,3,1,4,1,1,1,1,1,7,1,1,1,2,2,2,2,2,2,2,2,1,2,3,1,1,3,1,3,3,3,3,4,1,3,5,1,2,5,0]},
+{"episode_id":"3OJSZ2ATD1UXBJ55VHBIR2U0G7B75Q","trajectory_id":"3R5OYNIC3K7LG7N22WIV5LWB5XPPT8","scene_id":14,"start_position":[-29.751256942749023,62.35833740234375,-20.2233943939209],"start_rotation":[0.9999956823911141,0.0,0.0,0.0029385709332877367],"instruction":{"instruction_text":"Turn right to face a white low-rise building with black windows, and then fly forward out of the roof. Descend to the height of the third-floor windows and then turn left to face the white monument tower in the middle of the park. Fly forward to the nearest corner of park wall, then turn right and face the taller white building, and then fly forward to the umbrella area in front of the white building. Ascend above the roof of the white building. Fly forward to the roof of that building."},"goals":[{"position":[19.942314585523935,82.34652545883328,-72.2233943939209]}],"reference_path":[[-29.751256942749023,62.35833740234375,-20.2233943939209,0,0,0.005877150324990064],[-29.751256942749023,62.35833740234375,-22.2233943939209,0,0,0.005877150324990064],[-29.751256942749023,62.35833740234375,-22.2233943939209,0,0,0.2676765381241395],[-29.751256942749023,62.35833740234375,-22.2233943939209,0,0,0.5294759259232888],[-29.751256942749023,62.35833740234375,-22.2233943939209,0,0,0.7912753137224383],[-29.751256942749023,62.35833740234375,-22.2233943939209,0,0,1.0530747015215878],[-27.276748779657332,66.70308242947625,-22.2233943939209,0,0,1.0530747015215878],[-24.80224061656564,71.04782745660876,-22.2233943939209,0,0,1.0530747015215878],[-24.80224061656564,71.04782745660876,-20.2233943939209,0,0,1.0530747015215878],[-24.80224061656564,71.04782745660876,-18.2233943939209,0,0,1.0530747015215878],[-22.32773245347395,75.39257248374126,-18.2233943939209,0,0,1.0530747015215878],[-22.32773245347395,75.39257248374126,-16.2233943939209,0,0,1.0530747015215878],[-22.32773245347395,75.39257248374126,-14.223394393920898,0,0,1.0530747015215878],[-22.32773245347395,75.39257248374126,-12.223394393920898,0,0,1.0530747015215878],[-22.32773245347395,75.39257248374126,-10.223394393920898,0,0,1.0530747015215878],[-22.32773245347395,75.39257248374126,-10.223394393920898,0,0,0.7912753137224384],[-22.32773245347395,75.39257248374126,-10.223394393920898,0,0,0.5294759259232888],[-22.32773245347395,75.39257248374126,-10.223394393920898,0,0,0.26767653812413944],[-22.32773245347395,75.39257248374126,-10.223394393920898,0,0,0.005877150324989998],[-22.32773245347395,75.39257248374126,-10.223394393920898,0,0,-0.25592223747415943],[-22.32773245347395,75.39257248374126,-10.223394393920898,0,0,-0.5177216252733088],[-22.32773245347395,75.39257248374126,-10.223394393920898,0,0,-0.7795210130724581],[-18.771480862995453,71.87787838251151,-10.223394393920898,0,0,-0.7795210130724581],[-15.215229272516957,68.36318428128176,-10.223394393920898,0,0,-0.7795210130724581],[-11.658977682038461,64.84849018005201,-10.223394393920898,0,0,-0.7795210130724581],[-8.102726091559965,61.33379607882227,-10.223394393920898,0,0,-0.7795210130724581],[-8.102726091559965,61.33379607882227,-10.223394393920898,0,0,-0.5177216252733087],[-10.577234254651657,56.98905105168977,-10.223394393920898,0,0,-0.5177216252733087],[-10.577234254651657,56.98905105168977,-10.223394393920898,0,0,-0.25592223747415926],[-10.577234254651657,56.98905105168977,-10.223394393920898,0,0,0.005877150324990153],[-10.577234254651657,56.98905105168977,-10.223394393920898,0,0,0.2676765381241396],[-10.577234254651657,56.98905105168977,-10.223394393920898,0,0,0.5294759259232891],[-6.261874809976036,59.51445653660678,-10.223394393920898,0,0,0.5294759259232891],[-1.9465153653004155,62.03986202152379,-10.223394393920898,0,0,0.5294759259232891],[2.3688440793752052,64.5652675064408,-10.223394393920898,0,0,0.5294759259232891],[2.3688440793752052,64.5652675064408,-12.223394393920898,0,0,0.5294759259232891],[2.3688440793752052,64.5652675064408,-14.223394393920898,0,0,0.5294759259232891],[2.3688440793752052,64.5652675064408,-16.2233943939209,0,0,0.5294759259232891],[2.3688440793752052,64.5652675064408,-18.2233943939209,0,0,0.5294759259232891],[2.3688440793752052,64.5652675064408,-20.2233943939209,0,0,0.5294759259232891],[2.3688440793752052,64.5652675064408,-22.2233943939209,0,0,0.5294759259232891],[2.3688440793752052,64.5652675064408,-24.2233943939209,0,0,0.5294759259232891],[2.3688440793752052,64.5652675064408,-26.2233943939209,0,0,0.5294759259232891],[2.3688440793752052,64.5652675064408,-28.2233943939209,0,0,0.5294759259232891],[2.3688440793752052,64.5652675064408,-30.2233943939209,0,0,0.5294759259232891],[2.3688440793752052,64.5652675064408,-32.2233943939209,0,0,0.5294759259232891],[2.3688440793752052,64.5652675064408,-34.2233943939209,0,0,0.5294759259232891],[2.3688440793752052,64.5652675064408,-36.2233943939209,0,0,0.5294759259232891],[2.3688440793752052,64.5652675064408,-38.2233943939209,0,0,0.5294759259232891],[2.3688440793752052,64.5652675064408,-40.2233943939209,0,0,0.5294759259232891],[2.3688440793752052,64.5652675064408,-42.2233943939209,0,0,0.5294759259232891],[2.3688440793752052,64.5652675064408,-44.2233943939209,0,0,0.5294759259232891],[2.3688440793752052,64.5652675064408,-46.2233943939209,0,0,0.5294759259232891],[2.3688440793752052,64.5652675064408,-48.2233943939209,0,0,0.5294759259232891],[2.3688440793752052,64.5652675064408,-50.2233943939209,0,0,0.5294759259232891],[2.3688440793752052,64.5652675064408,-52.2233943939209,0,0,0.5294759259232891],[2.3688440793752052,64.5652675064408,-54.2233943939209,0,0,0.5294759259232891],[2.3688440793752052,64.5652675064408,-56.2233943939209,0,0,0.5294759259232891],[2.3688440793752052,64.5652675064408,-58.2233943939209,0,0,0.5294759259232891],[2.3688440793752052,64.5652675064408,-60.2233943939209,0,0,0.5294759259232891],[2.3688440793752052,64.565267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+{"episode_id":"3570Y55XZYHE60QQZMK98C5MBKWYG9","trajectory_id":"3ATYLI1PS109H4FWB2RCEF4CXQ2JOG","scene_id":14,"start_position":[-9.048398971557617,37.05221939086914,-1.1274549961090088],"start_rotation":[0.9999202320904199,0.0,0.0,0.012630497070218245],"instruction":{"instruction_text":"Turn left to face the yellow truck at the road T-junction, and then fly forward to the top of the truck. Turn left to face the road behind the truck, then fly forward to a road T-junction, and then turn left to face a new yellow truck. Land on the sidewalk."},"goals":[{"position":[-57.82568255438789,15.008740623292073,-1.1274549961090088]}],"reference_path":[[-9.048398971557617,37.05221939086914,-1.1274549961090088,0,0,0.025261665834100545],[-9.048398971557617,37.05221939086914,-3.127454996109009,0,0,0.025261665834100545],[-9.048398971557617,37.05221939086914,-3.127454996109009,0,0,-0.23653772196504888],[-9.048398971557617,37.05221939086914,-3.127454996109009,0,0,-0.4983371097641983],[-9.048398971557617,37.05221939086914,-3.127454996109009,0,0,-0.7601364975633477],[-9.048398971557617,37.05221939086914,-3.127454996109009,0,0,-1.0219358853624971],[-9.048398971557617,37.05221939086914,-3.127454996109009,0,0,-1.2837352731616465],[-9.048398971557617,37.05221939086914,-3.127454996109009,0,0,-1.545534660960796],[-9.048398971557617,37.05221939086914,-3.127454996109009,0,0,-1.8073340487599454],[-9.048398971557617,37.05221939086914,-3.127454996109009,0,0,-2.069133436559095],[-11.438226736302315,32.660326489755164,-3.127454996109009,0,0,-2.069133436559095],[-13.828054501047014,28.268433588641187,-3.127454996109009,0,0,-2.069133436559095],[-13.828054501047014,28.268433588641187,-5.127454996109009,0,0,-2.069133436559095],[-16.21788226579171,23.87654068752721,-5.127454996109009,0,0,-2.069133436559095],[-18.60771003053641,19.484647786413234,-5.127454996109009,0,0,-2.069133436559095],[-20.997537795281108,15.092754885299255,-5.127454996109009,0,0,-2.069133436559095],[-23.387365560025806,10.700861984185277,-5.127454996109009,0,0,-2.069133436559095],[-23.387365560025806,10.700861984185277,-5.127454996109009,0,0,-2.3309328243582446],[-23.387365560025806,10.700861984185277,-5.127454996109009,0,0,-2.592732212157394],[-23.387365560025806,10.700861984185277,-5.127454996109009,0,0,-2.8545315999565437],[-23.387365560025806,10.700861984185277,-5.127454996109009,0,0,-3.1163309877556933],[-28.3857702654634,10.57456708856658,-5.127454996109009,0,0,-3.1163309877556933],[-33.38417497090099,10.448272192947883,-5.127454996109009,0,0,-3.1163309877556933],[-38.38257967633859,10.321977297329186,-5.127454996109009,0,0,-3.1163309877556933],[-38.38257967633859,10.321977297329186,-5.127454996109009,0,0,2.905054931624744],[-43.24335539585091,11.493668128819909,-5.127454996109009,0,0,2.905054931624744],[-48.10413111536324,12.66535896031063,-5.127454996109009,0,0,2.905054931624744],[-52.96490683487556,13.837049791801352,-5.127454996109009,0,0,2.905054931624744],[-57.82568255438789,15.008740623292073,-5.127454996109009,0,0,2.905054931624744],[-57.82568255438789,15.008740623292073,-5.127454996109009,0,0,2.6432555438255947],[-57.82568255438789,15.008740623292073,-5.127454996109009,0,0,2.381456156026445],[-57.82568255438789,15.008740623292073,-3.127454996109009,0,0,2.381456156026445],[-57.82568255438789,15.008740623292073,-1.1274549961090088,0,0,2.381456156026445]],"actions":[4,2,2,2,2,2,2,2,2,1,1,4,1,1,1,1,2,2,2,2,1,1,1,2,1,1,1,1,2,2,5,5,0]},
+{"episode_id":"3CP1TO84P2ZQPI8ZP5UNVBDS3N252B","trajectory_id":"3AFT28WXMN0DMTVQTK6C2EPCKSKIO8","scene_id":14,"start_position":[53.316219329833984,67.84723663330078,-29.064741134643555],"start_rotation":[0.999812871800086,0.0,0.0,-0.01934480247675566],"instruction":{"instruction_text":"Take off 2 meters and then turn left to face dark brownish high-rise building left to the tall glass building. Fly forward to the front of the white monument tower in the park, then fly down to the same height as the tower. Turn left to face to face the end of the road nearby a white building, fly forward to the iron fences near the road. Turn right to face the brown building on the right side of the building with white lower floors and red upper floors. Fly forward towardsthe mentioned brown building until you can see a dark red car on the road, land in front of the car."},"goals":[{"position":[-9.891078564006465,35.46512069399087,-3.0647411346435547]}],"reference_path":[[53.316219329833984,67.84723663330078,-29.064741134643555,0,0,-0.038692018439541585],[53.316219329833984,67.84723663330078,-31.064741134643555,0,0,-0.038692018439541585],[53.316219329833984,67.84723663330078,-33.064741134643555,0,0,-0.038692018439541585],[53.316219329833984,67.84723663330078,-33.064741134643555,0,0,-0.30049140623869103],[53.316219329833984,67.84723663330078,-33.064741134643555,0,0,-0.5622907940378404],[53.316219329833984,67.84723663330078,-33.064741134643555,0,0,-0.8240901818369898],[53.316219329833984,67.84723663330078,-33.064741134643555,0,0,-1.0858895696361393],[53.316219329833984,67.84723663330078,-33.064741134643555,0,0,-1.347688957435289],[53.316219329833984,67.84723663330078,-33.064741134643555,0,0,-1.6094883452344386],[53.316219329833984,67.84723663330078,-33.064741134643555,0,0,-1.8712877330335882],[53.316219329833984,67.84723663330078,-33.064741134643555,0,0,-2.1330871208327378],[53.316219329833984,67.84723663330078,-33.064741134643555,0,0,-2.3948865086318873],[53.316219329833984,67.84723663330078,-33.064741134643555,0,0,-2.6566858964310365],[48.89262725056034,65.51660729421928,-33.064741134643555,0,0,-2.6566858964310365],[44.46903517128669,63.18597795513779,-33.064741134643555,0,0,-2.6566858964310365],[40.045443092013045,60.85534861605629,-33.064741134643555,0,0,-2.6566858964310365],[35.6218510127394,58.52471927697479,-33.064741134643555,0,0,-2.6566858964310365],[31.198258933465752,56.194089937893295,-33.064741134643555,0,0,-2.6566858964310365],[26.774666854192105,53.8634605988118,-33.064741134643555,0,0,-2.6566858964310365],[22.35107477491846,51.5328312597303,-33.064741134643555,0,0,-2.6566858964310365],[22.35107477491846,51.5328312597303,-31.064741134643555,0,0,-2.6566858964310365],[22.35107477491846,51.5328312597303,-29.064741134643555,0,0,-2.6566858964310365],[22.35107477491846,51.5328312597303,-27.064741134643555,0,0,-2.6566858964310365],[22.35107477491846,51.5328312597303,-25.064741134643555,0,0,-2.6566858964310365],[22.35107477491846,51.5328312597303,-23.064741134643555,0,0,-2.6566858964310365],[22.35107477491846,51.5328312597303,-21.064741134643555,0,0,-2.6566858964310365],[22.35107477491846,51.5328312597303,-19.064741134643555,0,0,-2.6566858964310365],[22.35107477491846,51.5328312597303,-17.064741134643555,0,0,-2.6566858964310365],[22.35107477491846,51.5328312597303,-15.064741134643555,0,0,-2.6566858964310365],[22.35107477491846,51.5328312597303,-13.064741134643555,0,0,-2.6566858964310365],[22.35107477491846,51.5328312597303,-13.064741134643555,0,0,-2.918485284230186],[22.35107477491846,51.5328312597303,-13.064741134643555,0,0,3.102900635150251],[22.35107477491846,51.5328312597303,-13.064741134643555,0,0,2.8411012473511015],[17.575119008364116,53.01277940609095,-13.064741134643555,0,0,2.8411012473511015],[17.575119008364116,53.01277940609095,-13.064741134643555,0,0,2.579301859551952],[13.34493875427738,55.6784078531808,-13.064741134643555,0,0,2.579301859551952],[13.34493875427738,55.6784078531808,-11.064741134643555,0,0,2.579301859551952],[9.114758500190643,58.34403630027066,-11.064741134643555,0,0,2.579301859551952],[9.114758500190643,58.34403630027066,-11.064741134643555,0,0,2.8411012473511015],[9.114758500190643,58.34403630027066,-11.064741134643555,0,0,3.102900635150251],[9.114758500190643,58.34403630027066,-11.064741134643555,0,0,-2.918485284230186],[9.114758500190643,58.34403630027066,-11.064741134643555,0,0,-2.6566858964310365],[9.114758500190643,58.34403630027066,-11.064741134643555,0,0,-2.3948865086318873],[5.4451079258814605,54.947911352264136,-11.064741134643555,0,0,-2.3948865086318873],[1.7754573515722787,51.55178640425761,-11.064741134643555,0,0,-2.3948865086318873],[-1.8941932227369032,48.15566145625109,-11.064741134643555,0,0,-2.3948865086318873],[-1.8941932227369032,48.15566145625109,-11.064741134643555,0,0,-2.1330871208327378],[-4.559821669826757,43.92548120216435,-11.064741134643555,0,0,-2.1330871208327378],[-4.559821669826757,43.92548120216435,-9.064741134643555,0,0,-2.1330871208327378],[-7.225450116916611,39.69530094807761,-9.064741134643555,0,0,-2.1330871208327378],[-9.891078564006465,35.46512069399087,-9.064741134643555,0,0,-2.1330871208327378],[-9.891078564006465,35.46512069399087,-7.064741134643555,0,0,-2.1330871208327378],[-9.891078564006465,35.46512069399087,-5.064741134643555,0,0,-2.1330871208327378],[-9.891078564006465,35.46512069399087,-3.0647411346435547,0,0,-2.1330871208327378]],"actions":[4,4,2,2,2,2,2,2,2,2,2,2,1,1,1,1,1,1,1,5,5,5,5,5,5,5,5,5,5,2,2,2,1,2,1,5,1,3,3,3,3,3,1,1,1,3,1,5,1,1,5,5,5,0]}
+]}
diff --git a/TEST_FILE/AerialVLN-Fine-V3-Scene-17.json b/TEST_FILE/AerialVLN-Fine-V3-Scene-17.json
new file mode 100644
index 0000000000000000000000000000000000000000..3f15a1578cafc5176790c1f55fc6605b806c70d6
--- /dev/null
+++ b/TEST_FILE/AerialVLN-Fine-V3-Scene-17.json
@@ -0,0 +1,32 @@
+{"episodes":[
+{"episode_id":"3I02618YA94324ZKS4D7Z0D1JBCPUP","trajectory_id":"311HQEI8S0ESWDS1C2DWRN67RW07ZP","scene_id":17,"start_position":[37.14646530151367,18.471906661987305,-0.3462750315666199],"start_rotation":[0.9999580138870832,0.0,0.0,-0.009163539872782553],"instruction":{"instruction_text":"Turn right to face the orange building, fly towards it over the train station to above the street, turn right to face the street, fly forward along the street to the middle of a white building and an utility pole, descend beneath the electrical lines, fly forward to the tunnel, then turn right down into the tunnel, fly to the end of it, then turn right to face the road at the intersection, fly forward along the road, stop near the payphones on the right side of the road in front of the bicycle, turn left to face the green shop. Turn left to face the road, fly forward to the red and white road sign, then fly forward to the front of the tunnel and land there."},"goals":[{"position":[-10.79186223006058,-6.7715144011638735,7.65372496843338]}],"reference_path":[[37.14646530151367,18.471906661987305,-0.3462750315666199,0,0,-0.01832733624415274],[37.14646530151367,18.471906661987305,-0.3462750315666199,0,0,0.24347205155499668],[37.14646530151367,18.471906661987305,-0.3462750315666199,0,0,0.5052714393541461],[37.14646530151367,18.471906661987305,-0.3462750315666199,0,0,0.7670708271532956],[37.14646530151367,18.471906661987305,-0.3462750315666199,0,0,1.028870214952445],[37.14646530151367,18.471906661987305,-0.3462750315666199,0,0,1.2906696027515945],[37.14646530151367,18.471906661987305,-0.3462750315666199,0,0,1.5524689905507438],[37.14646530151367,18.471906661987305,-0.3462750315666199,0,0,1.8142683783498932],[37.14646530151367,18.471906661987305,-0.3462750315666199,0,0,2.0760677661490425],[37.14646530151367,18.471906661987305,-0.3462750315666199,0,0,2.337867153948192],[33.67631844772351,22.071640098386485,-0.3462750315666199,0,0,2.337867153948192],[33.67631844772351,22.071640098386485,-0.3462750315666199,0,0,2.5996665417473417],[29.392734409999385,24.65057549729726,-0.3462750315666199,0,0,2.5996665417473417],[29.392734409999385,24.65057549729726,-0.3462750315666199,0,0,2.8614659295464913],[24.58763236155487,26.032962673176122,-0.3462750315666199,0,0,2.8614659295464913],[19.782530313110357,27.415349849054984,-0.3462750315666199,0,0,2.8614659295464913],[14.977428264665843,28.797737024933845,-0.3462750315666199,0,0,2.8614659295464913],[10.172326216221329,30.180124200812706,-0.3462750315666199,0,0,2.8614659295464913],[5.367224167776815,31.562511376691567,-0.3462750315666199,0,0,2.8614659295464913],[5.367224167776815,31.562511376691567,1.6537249684333801,0,0,2.8614659295464913],[5.367224167776815,31.562511376691567,1.6537249684333801,0,0,3.1232653173456413],[5.367224167776815,31.562511376691567,3.65372496843338,0,0,3.1232653173456413],[0.3680638724068155,31.65414292800519,3.65372496843338,0,0,3.1232653173456413],[0.27643232109318727,26.65498263263519,3.65372496843338,0,0,3.1232653173456413],[-4.722727974276812,26.74661418394881,3.65372496843338,0,0,3.1232653173456413],[-4.722727974276812,26.74661418394881,5.65372496843338,0,0,3.1232653173456413],[-4.722727974276812,26.74661418394881,5.65372496843338,0,0,-2.898120602034796],[-4.722727974276812,26.74661418394881,5.65372496843338,0,0,-2.6363212142356467],[-9.097943563314562,24.32638928748959,5.65372496843338,0,0,-2.6363212142356467],[-9.097943563314562,24.32638928748959,5.65372496843338,0,0,-2.3745218264364976],[-9.097943563314562,24.32638928748959,5.65372496843338,0,0,-2.1127224386373484],[-9.097943563314562,24.32638928748959,5.65372496843338,0,0,-1.850923050838199],[-10.480330739193427,19.521287239045076,5.65372496843338,0,0,-1.850923050838199],[-10.480330739193427,19.521287239045076,7.65372496843338,0,0,-1.850923050838199],[-11.862717915072292,14.716185190600562,7.65372496843338,0,0,-1.850923050838199],[-11.862717915072292,14.716185190600562,7.65372496843338,0,0,-1.5891236630390495],[-11.954349466385919,9.717024895230562,7.65372496843338,0,0,-1.5891236630390495],[-12.045981017699546,4.717864599860563,7.65372496843338,0,0,-1.5891236630390495],[-12.137612569013173,-0.2812956955094368,7.65372496843338,0,0,-1.5891236630390495],[-12.2292441203268,-5.280455990879436,7.65372496843338,0,0,-1.5891236630390495],[-12.320875671640428,-10.279616286249436,7.65372496843338,0,0,-1.5891236630390495],[-12.320875671640428,-10.279616286249436,7.65372496843338,0,0,-1.3273242752399002],[-12.320875671640428,-10.279616286249436,7.65372496843338,0,0,-1.0655248874407508],[-12.320875671640428,-10.279616286249436,7.65372496843338,0,0,-0.8037254996416014],[-12.320875671640428,-10.279616286249436,7.65372496843338,0,0,-0.5419261118424521],[-8.037291633916304,-12.858551685160215,7.65372496843338,0,0,-0.5419261118424521],[-8.037291633916304,-12.858551685160215,7.65372496843338,0,0,-0.2801267240433027],[-3.232189585471791,-14.24093886103908,7.65372496843338,0,0,-0.2801267240433027],[-3.232189585471791,-14.24093886103908,7.65372496843338,0,0,-0.018327336244153305],[1.7669707098982084,-14.33257041235271,7.65372496843338,0,0,-0.018327336244153305],[1.7669707098982084,-14.33257041235271,7.65372496843338,0,0,-0.28012672404330274],[1.7669707098982084,-14.33257041235271,7.65372496843338,0,0,-0.5419261118424522],[1.7669707098982084,-14.33257041235271,7.65372496843338,0,0,-0.8037254996416017],[1.7669707098982084,-14.33257041235271,7.65372496843338,0,0,-1.065524887440751],[1.7669707098982084,-14.33257041235271,7.65372496843338,0,0,-1.3273242752399004],[1.7669707098982084,-14.33257041235271,7.65372496843338,0,0,-1.5891236630390497],[1.7669707098982084,-14.33257041235271,7.65372496843338,0,0,-1.8509230508381993],[1.7669707098982084,-14.33257041235271,7.65372496843338,0,0,-2.112722438637349],[1.7669707098982084,-14.33257041235271,7.65372496843338,0,0,-2.3745218264364985],[1.7669707098982084,-14.33257041235271,7.65372496843338,0,0,-2.636321214235648],[1.76697070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+{"episode_id":"3634BBTX0XSM20FQKKSO43BMNCFIFO","trajectory_id":"3P4ZBJFX3311HB22JYR1GBP68IFFWB","scene_id":17,"start_position":[48.26966857910156,-7.014821529388428,9.454816818237305],"start_rotation":[0.9999912645606498,0.0,0.0,0.004179808894254366],"instruction":{"instruction_text":"Turn left to face a blue \"P\" sign and fly straight to it. Riss until you can see railway tracks on left and turn left to face the tracks and follow them until reaching the nearest pillar on the left then turn right to face a white building with a shop sign. Fly down to the road and turn left to face the road. Land on the road."},"goals":[{"position":[9.460718262086285,-12.750758771140934,7.454816818237305]}],"reference_path":[[48.26966857910156,-7.014821529388428,9.454816818237305,0,0,0.008359642130238513],[48.26966857910156,-7.014821529388428,9.454816818237305,0,0,-0.2534397456689109],[48.26966857910156,-7.014821529388428,9.454816818237305,0,0,-0.5152391334680604],[48.26966857910156,-7.014821529388428,9.454816818237305,0,0,-0.7770385212672097],[48.26966857910156,-7.014821529388428,9.454816818237305,0,0,-1.038837909066359],[48.26966857910156,-7.014821529388428,9.454816818237305,0,0,-1.3006372968655087],[48.26966857910156,-7.014821529388428,9.454816818237305,0,0,-1.5624366846646582],[48.26966857910156,-7.014821529388428,9.454816818237305,0,0,-1.824236072463808],[48.26966857910156,-7.014821529388428,9.454816818237305,0,0,-2.086035460262958],[48.26966857910156,-7.014821529388428,9.454816818237305,0,0,-2.3478348480621074],[48.26966857910156,-7.014821529388428,9.454816818237305,0,0,-2.609634235861257],[43.960591723675265,-9.550932066023105,9.454816818237305,0,0,-2.609634235861257],[43.960591723675265,-9.550932066023105,9.454816818237305,0,0,-2.8714336236604066],[43.960591723675265,-9.550932066023105,9.454816818237305,0,0,-3.1332330114595557],[43.960591723675265,-9.550932066023105,7.454816818237305,0,0,-3.1332330114595557],[43.960591723675265,-9.550932066023105,5.454816818237305,0,0,-3.1332330114595557],[43.960591723675265,-9.550932066023105,3.4548168182373047,0,0,-3.1332330114595557],[43.960591723675265,-9.550932066023105,1.4548168182373047,0,0,-3.1332330114595557],[43.960591723675265,-9.550932066023105,-0.5451831817626953,0,0,-3.1332330114595557],[43.960591723675265,-9.550932066023105,-2.5451831817626953,0,0,-3.1332330114595557],[38.96076643169919,-9.592729789840973,-2.5451831817626953,0,0,-3.1332330114595557],[33.96094113972312,-9.634527513658842,-2.5451831817626953,0,0,-3.1332330114595557],[28.961115847747045,-9.67632523747671,-2.5451831817626953,0,0,-3.1332330114595557],[28.961115847747045,-9.67632523747671,-2.5451831817626953,0,0,2.888152907920881],[24.120837424328073,-8.422648730643806,-2.5451831817626953,0,0,2.888152907920881],[24.120837424328073,-8.422648730643806,-2.5451831817626953,0,0,2.626353520121732],[24.120837424328073,-8.422648730643806,-2.5451831817626953,0,0,2.888152907920881],[19.2805590009091,-7.168972223810901,-2.5451831817626953,0,0,2.888152907920881],[19.2805590009091,-7.168972223810901,-2.5451831817626953,0,0,-3.1332330114595557],[19.2805590009091,-7.168972223810901,-2.5451831817626953,0,0,-2.8714336236604066],[19.2805590009091,-7.168972223810901,-2.5451831817626953,0,0,-2.609634235861257],[16.744448464274424,-2.8598953683846045,-2.5451831817626953,0,0,-2.609634235861257],[12.435371608848127,-5.3960059050192815,-2.5451831817626953,0,0,-2.609634235861257],[8.126294753421831,-7.9321164416539585,-2.5451831817626953,0,0,-2.609634235861257],[8.126294753421831,-7.9321164416539585,-2.5451831817626953,0,0,-2.3478348480621074],[8.126294753421831,-7.9321164416539585,-2.5451831817626953,0,0,-2.0860354602629583],[8.126294753421831,-7.9321164416539585,-2.5451831817626953,0,0,-1.824236072463809],[8.126294753421831,-7.9321164416539585,-0.5451831817626953,0,0,-1.824236072463809],[8.126294753421831,-7.9321164416539585,1.4548168182373047,0,0,-1.824236072463809],[8.126294753421831,-7.9321164416539585,1.4548168182373047,0,0,-1.5624366846646596],[8.126294753421831,-7.9321164416539585,1.4548168182373047,0,0,-1.3006372968655102],[8.126294753421831,-7.9321164416539585,3.4548168182373047,0,0,-1.3006372968655102],[9.460718262086285,-12.750758771140934,3.4548168182373047,0,0,-1.3006372968655102],[9.460718262086285,-12.750758771140934,5.454816818237305,0,0,-1.3006372968655102],[9.460718262086285,-12.750758771140934,5.454816818237305,0,0,-1.5624366846646596],[9.460718262086285,-12.750758771140934,5.454816818237305,0,0,-1.8242360724638091],[9.460718262086285,-12.750758771140934,5.454816818237305,0,0,-2.0860354602629587],[9.460718262086285,-12.750758771140934,5.454816818237305,0,0,-2.347834848062108],[9.460718262086285,-12.750758771140934,5.454816818237305,0,0,-2.6096342358612574],[9.460718262086285,-12.750758771140934,5.454816818237305,0,0,-2.871433623660407],[9.460718262086285,-12.750758771140934,5.454816818237305,0,0,-3.133233011459556],[9.460718262086285,-12.750758771140934,5.454816818237305,0,0,2.8881529079208805],[9.460718262086285,-12.750758771140934,5.454816818237305,0,0,2.626353520121731],[9.460718262086285,-12.750758771140934,7.454816818237305,0,0,2.626353520121731]],"actions":[2,2,2,2,2,2,2,2,2,2,1,2,2,4,4,4,4,4,4,1,1,1,2,1,2,3,1,3,3,3,6,1,1,3,3,3,5,5,3,3,5,1,5,2,2,2,2,2,2,2,2,2,5,0]},
+{"episode_id":"3M0NZ3JDPAWGVTBBEC31IMNZUVBZ5R","trajectory_id":"3VMHWJRYI3EG6B7ST3NNIU3DHJVFXC","scene_id":17,"start_position":[-2.220662832260132,-15.431182861328125,9.454816818237305],"start_rotation":[0.9997808576546259,0.0,0.0,0.020934102975305326],"instruction":{"instruction_text":"Lift up until you can see railway tracks and down to the road's height, then turn back to face the T-junction and fly to the tunnel. Turn right to face a T-junction and head straight to the it. Turn left to face the road, fly forward follow the road to ramen restaurant. Rise up to second floor height and stop before the ramen restaurant."},"goals":[{"position":[-41.01115445973688,-18.888072137389184,5.454816818237305]}],"reference_path":[[-2.220662832260132,-15.431182861328125,9.454816818237305,0,0,0.041871264584339006],[-2.220662832260132,-15.431182861328125,7.454816818237305,0,0,0.041871264584339006],[-2.220662832260132,-15.431182861328125,5.454816818237305,0,0,0.041871264584339006],[-2.220662832260132,-15.431182861328125,3.4548168182373047,0,0,0.041871264584339006],[-2.220662832260132,-15.431182861328125,1.4548168182373047,0,0,0.041871264584339006],[-2.220662832260132,-15.431182861328125,-0.5451831817626953,0,0,0.041871264584339006],[-2.220662832260132,-15.431182861328125,-2.5451831817626953,0,0,0.041871264584339006],[-2.220662832260132,-15.431182861328125,-2.5451831817626953,0,0,-0.21992812321481042],[-2.220662832260132,-15.431182861328125,-2.5451831817626953,0,0,-0.48172751101395983],[-2.220662832260132,-15.431182861328125,-2.5451831817626953,0,0,-0.7435268988131092],[-2.220662832260132,-15.431182861328125,-2.5451831817626953,0,0,-1.0053262866122585],[-2.220662832260132,-15.431182861328125,-2.5451831817626953,0,0,-1.2671256744114079],[-2.220662832260132,-15.431182861328125,-2.5451831817626953,0,0,-1.5289250622105575],[-2.220662832260132,-15.431182861328125,-2.5451831817626953,0,0,-1.7907244500097068],[-2.220662832260132,-15.431182861328125,-2.5451831817626953,0,0,-2.0525238378088564],[-2.220662832260132,-15.431182861328125,-2.5451831817626953,0,0,-2.314323225608006],[-2.220662832260132,-15.431182861328125,-2.5451831817626953,0,0,-2.5761226134071555],[-2.220662832260132,-15.431182861328125,-2.5451831817626953,0,0,-2.8379220012063047],[-2.220662832260132,-15.431182861328125,-2.5451831817626953,0,0,-3.0997213890054542],[-2.220662832260132,-15.431182861328125,-2.5451831817626953,0,0,2.921664530374983],[-2.220662832260132,-15.431182861328125,-2.5451831817626953,0,0,2.6598651425758333],[-2.220662832260132,-15.431182861328125,-2.5451831817626953,0,0,2.3980657547766837],[-2.220662832260132,-15.431182861328125,-0.5451831817626953,0,0,2.3980657547766837],[-2.220662832260132,-15.431182861328125,1.4548168182373047,0,0,2.3980657547766837],[-2.220662832260132,-15.431182861328125,3.4548168182373047,0,0,2.3980657547766837],[-2.220662832260132,-15.431182861328125,3.4548168182373047,0,0,2.1362663669775346],[-2.220662832260132,-15.431182861328125,5.454816818237305,0,0,2.1362663669775346],[-2.220662832260132,-15.431182861328125,5.454816818237305,0,0,2.398065754776684],[-2.220662832260132,-15.431182861328125,7.454816818237305,0,0,2.398065754776684],[-5.901091959853135,-12.046741779441042,7.454816818237305,0,0,2.398065754776684],[-5.901091959853135,-12.046741779441042,7.454816818237305,0,0,2.136266366977535],[-8.580155697002006,-7.825057578521471,7.454816818237305,0,0,2.136266366977535],[-8.580155697002006,-7.825057578521471,7.454816818237305,0,0,1.8744669791783857],[-8.580155697002006,-7.825057578521471,7.454816818237305,0,0,2.136266366977535],[-8.580155697002006,-7.825057578521471,7.454816818237305,0,0,2.398065754776684],[-8.580155697002006,-7.825057578521471,7.454816818237305,0,0,2.6598651425758337],[-13.01113505219039,-5.5085036823441484,7.454816818237305,0,0,2.6598651425758337],[-13.01113505219039,-5.5085036823441484,7.454816818237305,0,0,2.9216645303749833],[-13.01113505219039,-5.5085036823441484,7.454816818237305,0,0,-3.0997213890054534],[-13.01113505219039,-5.5085036823441484,7.454816818237305,0,0,-2.837922001206304],[-13.01113505219039,-5.5085036823441484,7.454816818237305,0,0,-2.576122613407154],[-13.01113505219039,-5.5085036823441484,7.454816818237305,0,0,-2.314323225608005],[-13.01113505219039,-5.5085036823441484,7.454816818237305,0,0,-2.0525238378088555],[-15.32768894836771,-9.939483037532533,7.454816818237305,0,0,-2.0525238378088555],[-17.64424284454503,-14.370462392720917,7.454816818237305,0,0,-2.0525238378088555],[-17.64424284454503,-14.370462392720917,7.454816818237305,0,0,-2.314323225608005],[-21.02868392643211,-18.05089152031392,7.454816818237305,0,0,-2.314323225608005],[-21.02868392643211,-18.05089152031392,7.454816818237305,0,0,-2.576122613407154],[-21.02868392643211,-18.05089152031392,7.454816818237305,0,0,-2.837922001206304],[-21.02868392643211,-18.05089152031392,7.454816818237305,0,0,-3.0997213890054534],[-26.024301559758303,-18.260186674582737,7.454816818237305,0,0,-3.0997213890054534],[-31.019919193084498,-18.469481828851553,7.454816818237305,0,0,-3.0997213890054534],[-36.01553682641069,-18.67877698312037,7.454816818237305,0,0,-3.0997213890054534],[-41.01115445973688,-18.888072137389184,7.454816818237305,0,0,-3.0997213890054534],[-41.01115445973688,-18.888072137389184,7.454816818237305,0,0,2.9216645303749837],[-41.01115445973688,-18.888072137389184,5.454816818237305,0,0,2.9216645303749837]],"actions":[4,4,4,4,4,4,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,5,5,5,2,5,3,5,1,2,1,2,3,3,3,1,3,3,3,3,3,3,1,1,2,1,2,2,2,1,1,1,1,2,4,0]},
+{"episode_id":"3EJJQNKU903J9V9F5XAXLGOR89HRHX","trajectory_id":"3Y7LTZE0Z1KUUO4XPA671FKR3SHUZ8","scene_id":17,"start_position":[37.14646530151367,18.471906661987305,-0.3462750315666199],"start_rotation":[0.9999580138870832,0.0,0.0,-0.009163539872782553],"instruction":{"instruction_text":"Turn right to make the orange building in the center of vision, fly forward over the short wall to above the street. Fly forward to the red sign left to an utility pole. Fly down beneath electrical lines, then fly forward to the tunnel on the right. Turn right facing the tunnel, then go through the tunnel. Turn right to face the road, fly forward to a bicycle and a no U-turn sign. Turn back to face the road. Fly forward to red and white road signs, then fly to the tunnel and land there."},"goals":[{"position":[-10.79186223006058,-6.7715144011638735,7.65372496843338]}],"reference_path":[[37.14646530151367,18.471906661987305,-0.3462750315666199,0,0,-0.01832733624415274],[37.14646530151367,18.471906661987305,-0.3462750315666199,0,0,0.24347205155499668],[37.14646530151367,18.471906661987305,-0.3462750315666199,0,0,0.5052714393541461],[37.14646530151367,18.471906661987305,-0.3462750315666199,0,0,0.7670708271532956],[37.14646530151367,18.471906661987305,-0.3462750315666199,0,0,1.028870214952445],[37.14646530151367,18.471906661987305,-0.3462750315666199,0,0,1.2906696027515945],[37.14646530151367,18.471906661987305,-0.3462750315666199,0,0,1.5524689905507438],[37.14646530151367,18.471906661987305,-0.3462750315666199,0,0,1.8142683783498932],[37.14646530151367,18.471906661987305,-0.3462750315666199,0,0,2.0760677661490425],[37.14646530151367,18.471906661987305,-0.3462750315666199,0,0,2.337867153948192],[33.67631844772351,22.071640098386485,-0.3462750315666199,0,0,2.337867153948192],[33.67631844772351,22.071640098386485,-0.3462750315666199,0,0,2.5996665417473417],[29.392734409999385,24.65057549729726,-0.3462750315666199,0,0,2.5996665417473417],[29.392734409999385,24.65057549729726,-0.3462750315666199,0,0,2.8614659295464913],[24.58763236155487,26.032962673176122,-0.3462750315666199,0,0,2.8614659295464913],[19.782530313110357,27.415349849054984,-0.3462750315666199,0,0,2.8614659295464913],[14.977428264665843,28.797737024933845,-0.3462750315666199,0,0,2.8614659295464913],[10.172326216221329,30.180124200812706,-0.3462750315666199,0,0,2.8614659295464913],[5.367224167776815,31.562511376691567,-0.3462750315666199,0,0,2.8614659295464913],[5.367224167776815,31.562511376691567,1.6537249684333801,0,0,2.8614659295464913],[5.367224167776815,31.562511376691567,1.6537249684333801,0,0,3.1232653173456413],[5.367224167776815,31.562511376691567,3.65372496843338,0,0,3.1232653173456413],[0.3680638724068155,31.65414292800519,3.65372496843338,0,0,3.1232653173456413],[0.27643232109318727,26.65498263263519,3.65372496843338,0,0,3.1232653173456413],[-4.722727974276812,26.74661418394881,3.65372496843338,0,0,3.1232653173456413],[-4.722727974276812,26.74661418394881,5.65372496843338,0,0,3.1232653173456413],[-4.722727974276812,26.74661418394881,5.65372496843338,0,0,-2.898120602034796],[-4.722727974276812,26.74661418394881,5.65372496843338,0,0,-2.6363212142356467],[-9.097943563314562,24.32638928748959,5.65372496843338,0,0,-2.6363212142356467],[-9.097943563314562,24.32638928748959,5.65372496843338,0,0,-2.3745218264364976],[-9.097943563314562,24.32638928748959,5.65372496843338,0,0,-2.1127224386373484],[-9.097943563314562,24.32638928748959,5.65372496843338,0,0,-1.850923050838199],[-10.480330739193427,19.521287239045076,5.65372496843338,0,0,-1.850923050838199],[-10.480330739193427,19.521287239045076,7.65372496843338,0,0,-1.850923050838199],[-11.862717915072292,14.716185190600562,7.65372496843338,0,0,-1.850923050838199],[-11.862717915072292,14.716185190600562,7.65372496843338,0,0,-1.5891236630390495],[-11.954349466385919,9.717024895230562,7.65372496843338,0,0,-1.5891236630390495],[-12.045981017699546,4.717864599860563,7.65372496843338,0,0,-1.5891236630390495],[-12.137612569013173,-0.2812956955094368,7.65372496843338,0,0,-1.5891236630390495],[-12.2292441203268,-5.280455990879436,7.65372496843338,0,0,-1.5891236630390495],[-12.320875671640428,-10.279616286249436,7.65372496843338,0,0,-1.5891236630390495],[-12.320875671640428,-10.279616286249436,7.65372496843338,0,0,-1.3273242752399002],[-12.320875671640428,-10.279616286249436,7.65372496843338,0,0,-1.0655248874407508],[-12.320875671640428,-10.279616286249436,7.65372496843338,0,0,-0.8037254996416014],[-12.320875671640428,-10.279616286249436,7.65372496843338,0,0,-0.5419261118424521],[-8.037291633916304,-12.858551685160215,7.65372496843338,0,0,-0.5419261118424521],[-8.037291633916304,-12.858551685160215,7.65372496843338,0,0,-0.2801267240433027],[-3.232189585471791,-14.24093886103908,7.65372496843338,0,0,-0.2801267240433027],[-3.232189585471791,-14.24093886103908,7.65372496843338,0,0,-0.018327336244153305],[1.7669707098982084,-14.33257041235271,7.65372496843338,0,0,-0.018327336244153305],[1.7669707098982084,-14.33257041235271,7.65372496843338,0,0,-0.28012672404330274],[1.7669707098982084,-14.33257041235271,7.65372496843338,0,0,-0.5419261118424522],[1.7669707098982084,-14.33257041235271,7.65372496843338,0,0,-0.8037254996416017],[1.7669707098982084,-14.33257041235271,7.65372496843338,0,0,-1.065524887440751],[1.7669707098982084,-14.33257041235271,7.65372496843338,0,0,-1.3273242752399004],[1.7669707098982084,-14.33257041235271,7.65372496843338,0,0,-1.5891236630390497],[1.7669707098982084,-14.33257041235271,7.65372496843338,0,0,-1.8509230508381993],[1.7669707098982084,-14.33257041235271,7.65372496843338,0,0,-2.112722438637349],[1.7669707098982084,-14.33257041235271,7.65372496843338,0,0,-2.3745218264364985],[1.7669707098982084,-14.33257041235271,7.65372496843338,0,0,-2.636321214235648],[1.76697070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+{"episode_id":"3UWN2HHPU73NK6V3NK5FGAQIYZKSNA","trajectory_id":"3M47JKRKD5ZU8HD9K28R8P97XC986M","scene_id":17,"start_position":[13.808820724487305,-16.274473190307617,9.454816818237305],"start_rotation":[0.9998483143882005,0.0,0.0,0.017416894530142557],"instruction":{"instruction_text":"Take off until you can see railway tracks and station platform ,turn right to face the platform, fly forward to the shed upon the station. Turn right to face a white building and fly over the wall to above the street, fly down to a green rippling platform. Fly down to the green store on the ground. Turn left to face the green bench, then turn right to face the road, fly forward pass the green store, then fly up until you are higher than a red and yellow \"W\" sign. Fly forward to the roof of the building with the red and yellow sign, turn left to see the green roof, then fly forward to the railway tracks, fly over one track and land in front of the middle traffic light."},"goals":[{"position":[-38.9871462650425,0.1620562718236398,-0.5451831817626953]}],"reference_path":[[13.808820724487305,-16.274473190307617,9.454816818237305,0,0,0.03483555042869024],[13.808820724487305,-16.274473190307617,7.454816818237305,0,0,0.03483555042869024],[13.808820724487305,-16.274473190307617,5.454816818237305,0,0,0.03483555042869024],[13.808820724487305,-16.274473190307617,3.4548168182373047,0,0,0.03483555042869024],[13.808820724487305,-16.274473190307617,1.4548168182373047,0,0,0.03483555042869024],[13.808820724487305,-16.274473190307617,-0.5451831817626953,0,0,0.03483555042869024],[13.808820724487305,-16.274473190307617,-0.5451831817626953,0,0,0.29663493822783965],[13.808820724487305,-16.274473190307617,-0.5451831817626953,0,0,0.5584343260269891],[13.808820724487305,-16.274473190307617,-0.5451831817626953,0,0,0.8202337138261385],[13.808820724487305,-16.274473190307617,-0.5451831817626953,0,0,1.082033101625288],[13.808820724487305,-16.274473190307617,-0.5451831817626953,0,0,1.3438324894244373],[14.933922063362196,-11.402702775226265,-0.5451831817626953,0,0,1.3438324894244373],[16.059023402237088,-6.530932360144913,-0.5451831817626953,0,0,1.3438324894244373],[16.059023402237088,-6.530932360144913,-0.5451831817626953,0,0,1.605631877223587],[16.059023402237088,-6.530932360144913,-0.5451831817626953,0,0,1.8674312650227365],[16.059023402237088,-6.530932360144913,-0.5451831817626953,0,0,2.129230652821886],[16.059023402237088,-6.530932360144913,-0.5451831817626953,0,0,2.391030040621035],[16.059023402237088,-6.530932360144913,-0.5451831817626953,0,0,2.6528294284201848],[16.059023402237088,-6.530932360144913,-0.5451831817626953,0,0,2.9146288162193343],[16.059023402237088,-6.530932360144913,-0.5451831817626953,0,0,-3.1067571031611028],[16.059023402237088,-6.530932360144913,-0.5451831817626953,0,0,-2.844957715361953],[16.059023402237088,-6.530932360144913,-0.5451831817626953,0,0,-2.583158327562804],[11.818594719108564,-9.18022747079244,-0.5451831817626953,0,0,-2.583158327562804],[11.818594719108564,-9.18022747079244,1.4548168182373047,0,0,-2.583158327562804],[11.818594719108564,-9.18022747079244,1.4548168182373047,0,0,-2.3213589397636545],[11.818594719108564,-9.18022747079244,1.4548168182373047,0,0,-2.583158327562804],[11.818594719108564,-9.18022747079244,1.4548168182373047,0,0,-2.844957715361953],[7.036967108805209,-10.641746337035578,1.4548168182373047,0,0,-2.844957715361953],[7.036967108805209,-10.641746337035578,3.4548168182373047,0,0,-2.844957715361953],[7.036967108805209,-10.641746337035578,3.4548168182373047,0,0,-2.583158327562804],[7.036967108805209,-10.641746337035578,3.4548168182373047,0,0,-2.3213589397636545],[7.036967108805209,-10.641746337035578,3.4548168182373047,0,0,-2.059559551964505],[4.689295701603478,-15.056317546542504,3.4548168182373047,0,0,-2.059559551964505],[4.689295701603478,-15.056317546542504,5.454816818237305,0,0,-2.059559551964505],[4.689295701603478,-15.056317546542504,7.454816818237305,0,0,-2.059559551964505],[4.689295701603478,-15.056317546542504,7.454816818237305,0,0,-2.3213589397636545],[4.689295701603478,-15.056317546542504,7.454816818237305,0,0,-2.583158327562804],[4.689295701603478,-15.056317546542504,7.454816818237305,0,0,-2.844957715361953],[4.689295701603478,-15.056317546542504,7.454816818237305,0,0,-3.1067571031611028],[4.689295701603478,-15.056317546542504,7.454816818237305,0,0,2.9146288162193343],[4.689295701603478,-15.056317546542504,7.454816818237305,0,0,2.6528294284201848],[4.689295701603478,-15.056317546542504,7.454816818237305,0,0,2.391030040621035],[4.689295701603478,-15.056317546542504,7.454816818237305,0,0,2.129230652821886],[4.689295701603478,-15.056317546542504,7.454816818237305,0,0,1.8674312650227367],[4.689295701603478,-15.056317546542504,7.454816818237305,0,0,2.129230652821886],[4.689295701603478,-15.056317546542504,7.454816818237305,0,0,2.391030040621035],[4.689295701603478,-15.056317546542504,7.454816818237305,0,0,2.6528294284201848],[4.689295701603478,-15.056317546542504,7.454816818237305,0,0,2.9146288162193343],[4.689295701603478,-15.056317546542504,7.454816818237305,0,0,-3.1067571031611028],[4.689295701603478,-15.056317546542504,7.454816818237305,0,0,-2.844957715361953],[-0.09233190869987684,-16.51783641278564,7.454816818237305,0,0,-2.844957715361953],[-4.873959519003232,-17.97935527902878,7.454816818237305,0,0,-2.844957715361953],[-4.873959519003232,-17.97935527902878,5.454816818237305,0,0,-2.844957715361953],[-4.873959519003232,-17.97935527902878,3.4548168182373047,0,0,-2.844957715361953],[-4.873959519003232,-17.97935527902878,3.4548168182373047,0,0,-3.1067571031611028],[-4.873959519003232,-17.97935527902878,3.4548168182373047,0,0,2.9146288162193343],[-4.873959519003232,-17.97935527902878,1.4548168182373047,0,0,2.9146288162193343],[-9.745729934084583,-16.854253940153892,1.4548168182373047,0,0,2.9146288162193343],[-9.745729934084583,-16.854253940153892,-0.5451831817626953,0,0,2.9146288162193343],[-14.617500349165935,-15.729152601279003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+{"episode_id":"3PJ71Z61RD021KSF9R7Q288P3CI19W","trajectory_id":"311HQEI8S0ESWDS1C2DWRN67RW07ZP","scene_id":17,"start_position":[37.14646530151367,18.471906661987305,-0.3462750315666199],"start_rotation":[0.9999580138870832,0.0,0.0,-0.009163539872782553],"instruction":{"instruction_text":"Turn right back to face an orange building, fly over the wall to above the street, then turn right to face the road and fly forward to a red sign and an utility pole, fly down beneath electrical lines, then fly forward until you see a green store on the left, then turn right to face the tunnel and fly through it  until you see smoke in the road, then turn right to face the road and fly forward to the front of a not U-turn sign. Fly down the street to two red and white road signs, then fly forward to the front of the tunnel and land there."},"goals":[{"position":[-10.79186223006058,-6.7715144011638735,7.65372496843338]}],"reference_path":[[37.14646530151367,18.471906661987305,-0.3462750315666199,0,0,-0.01832733624415274],[37.14646530151367,18.471906661987305,-0.3462750315666199,0,0,0.24347205155499668],[37.14646530151367,18.471906661987305,-0.3462750315666199,0,0,0.5052714393541461],[37.14646530151367,18.471906661987305,-0.3462750315666199,0,0,0.7670708271532956],[37.14646530151367,18.471906661987305,-0.3462750315666199,0,0,1.028870214952445],[37.14646530151367,18.471906661987305,-0.3462750315666199,0,0,1.2906696027515945],[37.14646530151367,18.471906661987305,-0.3462750315666199,0,0,1.5524689905507438],[37.14646530151367,18.471906661987305,-0.3462750315666199,0,0,1.8142683783498932],[37.14646530151367,18.471906661987305,-0.3462750315666199,0,0,2.0760677661490425],[37.14646530151367,18.471906661987305,-0.3462750315666199,0,0,2.337867153948192],[33.67631844772351,22.071640098386485,-0.3462750315666199,0,0,2.337867153948192],[33.67631844772351,22.071640098386485,-0.3462750315666199,0,0,2.5996665417473417],[29.392734409999385,24.65057549729726,-0.3462750315666199,0,0,2.5996665417473417],[29.392734409999385,24.65057549729726,-0.3462750315666199,0,0,2.8614659295464913],[24.58763236155487,26.032962673176122,-0.3462750315666199,0,0,2.8614659295464913],[19.782530313110357,27.415349849054984,-0.3462750315666199,0,0,2.8614659295464913],[14.977428264665843,28.797737024933845,-0.3462750315666199,0,0,2.8614659295464913],[10.172326216221329,30.180124200812706,-0.3462750315666199,0,0,2.8614659295464913],[5.367224167776815,31.562511376691567,-0.3462750315666199,0,0,2.8614659295464913],[5.367224167776815,31.562511376691567,1.6537249684333801,0,0,2.8614659295464913],[5.367224167776815,31.562511376691567,1.6537249684333801,0,0,3.1232653173456413],[5.367224167776815,31.562511376691567,3.65372496843338,0,0,3.1232653173456413],[0.3680638724068155,31.65414292800519,3.65372496843338,0,0,3.1232653173456413],[0.27643232109318727,26.65498263263519,3.65372496843338,0,0,3.1232653173456413],[-4.722727974276812,26.74661418394881,3.65372496843338,0,0,3.1232653173456413],[-4.722727974276812,26.74661418394881,5.65372496843338,0,0,3.1232653173456413],[-4.722727974276812,26.74661418394881,5.65372496843338,0,0,-2.898120602034796],[-4.722727974276812,26.74661418394881,5.65372496843338,0,0,-2.6363212142356467],[-9.097943563314562,24.32638928748959,5.65372496843338,0,0,-2.6363212142356467],[-9.097943563314562,24.32638928748959,5.65372496843338,0,0,-2.3745218264364976],[-9.097943563314562,24.32638928748959,5.65372496843338,0,0,-2.1127224386373484],[-9.097943563314562,24.32638928748959,5.65372496843338,0,0,-1.850923050838199],[-10.480330739193427,19.521287239045076,5.65372496843338,0,0,-1.850923050838199],[-10.480330739193427,19.521287239045076,7.65372496843338,0,0,-1.850923050838199],[-11.862717915072292,14.716185190600562,7.65372496843338,0,0,-1.850923050838199],[-11.862717915072292,14.716185190600562,7.65372496843338,0,0,-1.5891236630390495],[-11.954349466385919,9.717024895230562,7.65372496843338,0,0,-1.5891236630390495],[-12.045981017699546,4.717864599860563,7.65372496843338,0,0,-1.5891236630390495],[-12.137612569013173,-0.2812956955094368,7.65372496843338,0,0,-1.5891236630390495],[-12.2292441203268,-5.280455990879436,7.65372496843338,0,0,-1.5891236630390495],[-12.320875671640428,-10.279616286249436,7.65372496843338,0,0,-1.5891236630390495],[-12.320875671640428,-10.279616286249436,7.65372496843338,0,0,-1.3273242752399002],[-12.320875671640428,-10.279616286249436,7.65372496843338,0,0,-1.0655248874407508],[-12.320875671640428,-10.279616286249436,7.65372496843338,0,0,-0.8037254996416014],[-12.320875671640428,-10.279616286249436,7.65372496843338,0,0,-0.5419261118424521],[-8.037291633916304,-12.858551685160215,7.65372496843338,0,0,-0.5419261118424521],[-8.037291633916304,-12.858551685160215,7.65372496843338,0,0,-0.2801267240433027],[-3.232189585471791,-14.24093886103908,7.65372496843338,0,0,-0.2801267240433027],[-3.232189585471791,-14.24093886103908,7.65372496843338,0,0,-0.018327336244153305],[1.7669707098982084,-14.33257041235271,7.65372496843338,0,0,-0.018327336244153305],[1.7669707098982084,-14.33257041235271,7.65372496843338,0,0,-0.28012672404330274],[1.7669707098982084,-14.33257041235271,7.65372496843338,0,0,-0.5419261118424522],[1.7669707098982084,-14.33257041235271,7.65372496843338,0,0,-0.8037254996416017],[1.7669707098982084,-14.33257041235271,7.65372496843338,0,0,-1.065524887440751],[1.7669707098982084,-14.33257041235271,7.65372496843338,0,0,-1.3273242752399004],[1.7669707098982084,-14.33257041235271,7.65372496843338,0,0,-1.5891236630390497],[1.7669707098982084,-14.33257041235271,7.65372496843338,0,0,-1.8509230508381993],[1.7669707098982084,-14.33257041235271,7.65372496843338,0,0,-2.112722438637349],[1.7669707098982084,-14.33257041235271,7.65372496843338,0,0,-2.3745218264364985],[1.7669707098982084,-14.33257041235271,7.65372496843338,0,0,-2.636321214235648],[1.76697070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+{"episode_id":"34J10VATJOWJTP5ZY03IG2F0UI9IQB","trajectory_id":"3OEWW2KGRR9WEIF41651BH9ZT30DOM","scene_id":17,"start_position":[-21.153654098510742,24.07201385498047,8.570941925048828],"start_rotation":[0.9997542930967005,0.0,0.0,0.022166493514235008],"instruction":{"instruction_text":"Turn left to face the tunnel, and fly towards it. Turn right to face the road where you came from, fly forwards out of the tunnel, then turn left to face the stairs, and fly forward to it. Lift above until you can see the tracks and the roof of the railway station, fly over the roof towards the high buildings to the second green roof. Turn right to face the railway tracks, move forward to the green roof on your right, turn right to face the corner of the roof, then fly straight over it. Land on the road before the buildings."},"goals":[{"position":[40.097688723488254,25.32356545003132,8.570941925048828]}],"reference_path":[[-21.153654098510742,24.07201385498047,8.570941925048828,0,0,0.04433661835902197],[-21.153654098510742,24.07201385498047,8.570941925048828,0,0,-0.21746276944012743],[-21.153654098510742,24.07201385498047,8.570941925048828,0,0,-0.4792621572392769],[-16.71697708988678,21.766390919384207,8.570941925048828,0,0,-0.4792621572392769],[-12.280300081262816,19.460767983787946,8.570941925048828,0,0,-0.4792621572392769],[-12.280300081262816,19.460767983787946,8.570941925048828,0,0,-0.21746276944012752],[-12.280300081262816,19.460767983787946,8.570941925048828,0,0,0.044336618359021925],[-12.280300081262816,19.460767983787946,8.570941925048828,0,0,0.3061360061581714],[-12.280300081262816,19.460767983787946,8.570941925048828,0,0,0.5679353939573208],[-12.280300081262816,19.460767983787946,8.570941925048828,0,0,0.8297347817564703],[-12.280300081262816,19.460767983787946,8.570941925048828,0,0,1.0915341695556198],[-12.280300081262816,19.460767983787946,8.570941925048828,0,0,1.3533335573547693],[-12.280300081262816,19.460767983787946,8.570941925048828,0,0,1.09153416955562],[-12.280300081262816,19.460767983787946,8.570941925048828,0,0,0.8297347817564706],[-8.904942835285608,23.149529762763265,8.570941925048828,0,0,0.8297347817564706],[-5.5295855893084,26.838291541738585,8.570941925048828,0,0,0.8297347817564706],[-5.5295855893084,26.838291541738585,8.570941925048828,0,0,0.5679353939573213],[-5.5295855893084,26.838291541738585,8.570941925048828,0,0,0.3061360061581719],[-5.5295855893084,26.838291541738585,8.570941925048828,0,0,0.044336618359022424],[-5.5295855893084,26.838291541738585,8.570941925048828,0,0,-0.21746276944012702],[-5.5295855893084,26.838291541738585,8.570941925048828,0,0,-0.47926215723927645],[-5.5295855893084,26.838291541738585,6.570941925048828,0,0,-0.47926215723927645],[-5.5295855893084,26.838291541738585,4.570941925048828,0,0,-0.47926215723927645],[-5.5295855893084,26.838291541738585,2.570941925048828,0,0,-0.47926215723927645],[-5.5295855893084,26.838291541738585,0.5709419250488281,0,0,-0.47926215723927645],[-5.5295855893084,26.838291541738585,-1.4290580749511719,0,0,-0.47926215723927645],[-5.5295855893084,26.838291541738585,-3.429058074951172,0,0,-0.47926215723927645],[-5.5295855893084,26.838291541738585,-5.429058074951172,0,0,-0.47926215723927645],[-1.092908580684436,24.532668606142323,-5.429058074951172,0,0,-0.47926215723927645],[3.343768427939528,22.22704567054606,-5.429058074951172,0,0,-0.47926215723927645],[3.343768427939528,22.22704567054606,-5.429058074951172,0,0,-0.7410615450384259],[7.032530206914847,18.851688424568856,-5.429058074951172,0,0,-0.7410615450384259],[7.032530206914847,18.851688424568856,-5.429058074951172,0,0,-1.0028609328375755],[9.72199373697142,14.636621886482459,-5.429058074951172,0,0,-1.0028609328375755],[12.411457267027993,10.421555348396062,-5.429058074951172,0,0,-1.0028609328375755],[15.100920797084566,6.206488810309666,-5.429058074951172,0,0,-1.0028609328375755],[15.100920797084566,6.206488810309666,-5.429058074951172,0,0,-0.7410615450384261],[15.100920797084566,6.206488810309666,-5.429058074951172,0,0,-0.4792621572392767],[15.100920797084566,6.206488810309666,-5.429058074951172,0,0,-0.21746276944012727],[15.100920797084566,6.206488810309666,-5.429058074951172,0,0,0.044336618359022174],[15.100920797084566,6.206488810309666,-5.429058074951172,0,0,0.3061360061581716],[19.868446808436367,7.713371596422767,-5.429058074951172,0,0,0.3061360061581716],[19.868446808436367,7.713371596422767,-5.429058074951172,0,0,0.5679353939573211],[24.083513346522764,10.402835126479339,-5.429058074951172,0,0,0.5679353939573211],[28.29857988460916,13.092298656535911,-5.429058074951172,0,0,0.5679353939573211],[28.29857988460916,13.092298656535911,-5.429058074951172,0,0,0.8297347817564704],[28.29857988460916,13.092298656535911,-5.429058074951172,0,0,1.0915341695556198],[30.604202820205423,17.528975665159876,-5.429058074951172,0,0,1.0915341695556198],[32.909825755801684,21.96565267378384,-5.429058074951172,0,0,1.0915341695556198],[35.215448691397945,26.402329682407803,-5.429058074951172,0,0,1.0915341695556198],[35.215448691397945,26.402329682407803,-3.429058074951172,0,0,1.0915341695556198],[35.215448691397945,26.402329682407803,-1.4290580749511719,0,0,1.0915341695556198],[35.215448691397945,26.402329682407803,0.5709419250488281,0,0,1.0915341695556198],[35.215448691397945,26.402329682407803,2.570941925048828,0,0,1.0915341695556198],[35.215448691397945,26.402329682407803,4.570941925048828,0,0,1.0915341695556198],[35.215448691397945,26.402329682407803,4.570941925048828,0,0,0.8297347817564704],[35.215448691397945,26.402329682407803,4.570941925048828,0,0,0.567935393957321],[35.215448691397945,26.402329682407803,4.570941925048828,0,0,0.8297347817564703],[35.215448691397945,26.402329682407803,4.570941925048828,0,0,1.0915341695556198],[35.215448691397945,26.402329682407803,4.570941925048828,0,0,1.3533335573547693],[40.097688723488254,25.32356545003132,4.570941925048828,0,0,1.3533335573547693],[40.097688723488254,25.32356545003132,6.570941925048828,0,0,1.3533335573547693],[40.097688723488254,25.32356545003132,8.570941925048828,0,0,1.3533335573547693]],"actions":[2,2,1,1,3,3,3,3,3,3,3,2,2,1,1,2,2,2,2,2,4,4,4,4,4,4,4,1,1,2,1,2,1,1,1,3,3,3,3,3,1,3,1,1,3,3,1,1,1,5,5,5,5,5,2,2,3,3,3,6,5,5,0]},
+{"episode_id":"3NPI0JQDAX3O2RKVSZNXU4RZ02DPTG","trajectory_id":"3OEWW2KGRR9WEIF41651BH9ZT30DOM","scene_id":17,"start_position":[-21.153654098510742,24.07201385498047,8.570941925048828],"start_rotation":[0.9997542930967005,0.0,0.0,0.022166493514235008],"instruction":{"instruction_text":"Fly straight to two air conditioners in the tunnel on the left. Turn right to face the road, fly forward to the right side of the stairs, then turn left to face the stairs. Flying up until the railway tracks are below you, fly forward to the green roof then fly over it to another green roof. Turn right to face the railway line, fly forward to the right green roof, turn right facing the corner of the roof, then fly over it in front of the white building. Land by the white and black building."},"goals":[{"position":[40.097688723488254,25.32356545003132,8.570941925048828]}],"reference_path":[[-21.153654098510742,24.07201385498047,8.570941925048828,0,0,0.04433661835902197],[-21.153654098510742,24.07201385498047,8.570941925048828,0,0,-0.21746276944012743],[-21.153654098510742,24.07201385498047,8.570941925048828,0,0,-0.4792621572392769],[-16.71697708988678,21.766390919384207,8.570941925048828,0,0,-0.4792621572392769],[-12.280300081262816,19.460767983787946,8.570941925048828,0,0,-0.4792621572392769],[-12.280300081262816,19.460767983787946,8.570941925048828,0,0,-0.21746276944012752],[-12.280300081262816,19.460767983787946,8.570941925048828,0,0,0.044336618359021925],[-12.280300081262816,19.460767983787946,8.570941925048828,0,0,0.3061360061581714],[-12.280300081262816,19.460767983787946,8.570941925048828,0,0,0.5679353939573208],[-12.280300081262816,19.460767983787946,8.570941925048828,0,0,0.8297347817564703],[-12.280300081262816,19.460767983787946,8.570941925048828,0,0,1.0915341695556198],[-12.280300081262816,19.460767983787946,8.570941925048828,0,0,1.3533335573547693],[-12.280300081262816,19.460767983787946,8.570941925048828,0,0,1.09153416955562],[-12.280300081262816,19.460767983787946,8.570941925048828,0,0,0.8297347817564706],[-8.904942835285608,23.149529762763265,8.570941925048828,0,0,0.8297347817564706],[-5.5295855893084,26.838291541738585,8.570941925048828,0,0,0.8297347817564706],[-5.5295855893084,26.838291541738585,8.570941925048828,0,0,0.5679353939573213],[-5.5295855893084,26.838291541738585,8.570941925048828,0,0,0.3061360061581719],[-5.5295855893084,26.838291541738585,8.570941925048828,0,0,0.044336618359022424],[-5.5295855893084,26.838291541738585,8.570941925048828,0,0,-0.21746276944012702],[-5.5295855893084,26.838291541738585,8.570941925048828,0,0,-0.47926215723927645],[-5.5295855893084,26.838291541738585,6.570941925048828,0,0,-0.47926215723927645],[-5.5295855893084,26.838291541738585,4.570941925048828,0,0,-0.47926215723927645],[-5.5295855893084,26.838291541738585,2.570941925048828,0,0,-0.47926215723927645],[-5.5295855893084,26.838291541738585,0.5709419250488281,0,0,-0.47926215723927645],[-5.5295855893084,26.838291541738585,-1.4290580749511719,0,0,-0.47926215723927645],[-5.5295855893084,26.838291541738585,-3.429058074951172,0,0,-0.47926215723927645],[-5.5295855893084,26.838291541738585,-5.429058074951172,0,0,-0.47926215723927645],[-1.092908580684436,24.532668606142323,-5.429058074951172,0,0,-0.47926215723927645],[3.343768427939528,22.22704567054606,-5.429058074951172,0,0,-0.47926215723927645],[3.343768427939528,22.22704567054606,-5.429058074951172,0,0,-0.7410615450384259],[7.032530206914847,18.851688424568856,-5.429058074951172,0,0,-0.7410615450384259],[7.032530206914847,18.851688424568856,-5.429058074951172,0,0,-1.0028609328375755],[9.72199373697142,14.636621886482459,-5.429058074951172,0,0,-1.0028609328375755],[12.411457267027993,10.421555348396062,-5.429058074951172,0,0,-1.0028609328375755],[15.100920797084566,6.206488810309666,-5.429058074951172,0,0,-1.0028609328375755],[15.100920797084566,6.206488810309666,-5.429058074951172,0,0,-0.7410615450384261],[15.100920797084566,6.206488810309666,-5.429058074951172,0,0,-0.4792621572392767],[15.100920797084566,6.206488810309666,-5.429058074951172,0,0,-0.21746276944012727],[15.100920797084566,6.206488810309666,-5.429058074951172,0,0,0.044336618359022174],[15.100920797084566,6.206488810309666,-5.429058074951172,0,0,0.3061360061581716],[19.868446808436367,7.713371596422767,-5.429058074951172,0,0,0.3061360061581716],[19.868446808436367,7.713371596422767,-5.429058074951172,0,0,0.5679353939573211],[24.083513346522764,10.402835126479339,-5.429058074951172,0,0,0.5679353939573211],[28.29857988460916,13.092298656535911,-5.429058074951172,0,0,0.5679353939573211],[28.29857988460916,13.092298656535911,-5.429058074951172,0,0,0.8297347817564704],[28.29857988460916,13.092298656535911,-5.429058074951172,0,0,1.0915341695556198],[30.604202820205423,17.528975665159876,-5.429058074951172,0,0,1.0915341695556198],[32.909825755801684,21.96565267378384,-5.429058074951172,0,0,1.0915341695556198],[35.215448691397945,26.402329682407803,-5.429058074951172,0,0,1.0915341695556198],[35.215448691397945,26.402329682407803,-3.429058074951172,0,0,1.0915341695556198],[35.215448691397945,26.402329682407803,-1.4290580749511719,0,0,1.0915341695556198],[35.215448691397945,26.402329682407803,0.5709419250488281,0,0,1.0915341695556198],[35.215448691397945,26.402329682407803,2.570941925048828,0,0,1.0915341695556198],[35.215448691397945,26.402329682407803,4.570941925048828,0,0,1.0915341695556198],[35.215448691397945,26.402329682407803,4.570941925048828,0,0,0.8297347817564704],[35.215448691397945,26.402329682407803,4.570941925048828,0,0,0.567935393957321],[35.215448691397945,26.402329682407803,4.570941925048828,0,0,0.8297347817564703],[35.215448691397945,26.402329682407803,4.570941925048828,0,0,1.0915341695556198],[35.215448691397945,26.402329682407803,4.570941925048828,0,0,1.3533335573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+{"episode_id":"3EICBYG64DUBUZFMB0NN8Y5KM6CJCV","trajectory_id":"3WUVMVA7PJ1AFFQZJ5PG1E8XWV8ZAW","scene_id":17,"start_position":[13.808820724487305,-16.274473190307617,9.454816818237305],"start_rotation":[0.9998483143882005,0.0,0.0,0.017416894530142557],"instruction":{"instruction_text":"Take off till the railway tracks is in the sight, turn right to face the station and fly straight towards the platform. Turn right to face a brown and black building, fly over the wall, fly downwards to a dark blue platform. Fly straight to the green bookstore, fly forward to it, fly down to near the road, and turn left to face a green bench. Turn right to face the road, and fly straight passing the green store and fly upwards to the train station height. Fly forward to the roof of the white building with a red and yellow sign, turn left until you see the green roof of the station, fly forward to the railway tracks and land in front of the middle traffic light."},"goals":[{"position":[-38.9871462650425,0.1620562718236398,-0.5451831817626953]}],"reference_path":[[13.808820724487305,-16.274473190307617,9.454816818237305,0,0,0.03483555042869024],[13.808820724487305,-16.274473190307617,7.454816818237305,0,0,0.03483555042869024],[13.808820724487305,-16.274473190307617,5.454816818237305,0,0,0.03483555042869024],[13.808820724487305,-16.274473190307617,3.4548168182373047,0,0,0.03483555042869024],[13.808820724487305,-16.274473190307617,1.4548168182373047,0,0,0.03483555042869024],[13.808820724487305,-16.274473190307617,-0.5451831817626953,0,0,0.03483555042869024],[13.808820724487305,-16.274473190307617,-0.5451831817626953,0,0,0.29663493822783965],[13.808820724487305,-16.274473190307617,-0.5451831817626953,0,0,0.5584343260269891],[13.808820724487305,-16.274473190307617,-0.5451831817626953,0,0,0.8202337138261385],[13.808820724487305,-16.274473190307617,-0.5451831817626953,0,0,1.082033101625288],[13.808820724487305,-16.274473190307617,-0.5451831817626953,0,0,1.3438324894244373],[14.933922063362196,-11.402702775226265,-0.5451831817626953,0,0,1.3438324894244373],[16.059023402237088,-6.530932360144913,-0.5451831817626953,0,0,1.3438324894244373],[16.059023402237088,-6.530932360144913,-0.5451831817626953,0,0,1.605631877223587],[16.059023402237088,-6.530932360144913,-0.5451831817626953,0,0,1.8674312650227365],[16.059023402237088,-6.530932360144913,-0.5451831817626953,0,0,2.129230652821886],[16.059023402237088,-6.530932360144913,-0.5451831817626953,0,0,2.391030040621035],[16.059023402237088,-6.530932360144913,-0.5451831817626953,0,0,2.6528294284201848],[16.059023402237088,-6.530932360144913,-0.5451831817626953,0,0,2.9146288162193343],[16.059023402237088,-6.530932360144913,-0.5451831817626953,0,0,-3.1067571031611028],[16.059023402237088,-6.530932360144913,-0.5451831817626953,0,0,-2.844957715361953],[16.059023402237088,-6.530932360144913,-0.5451831817626953,0,0,-2.583158327562804],[11.818594719108564,-9.18022747079244,-0.5451831817626953,0,0,-2.583158327562804],[11.818594719108564,-9.18022747079244,1.4548168182373047,0,0,-2.583158327562804],[11.818594719108564,-9.18022747079244,1.4548168182373047,0,0,-2.3213589397636545],[11.818594719108564,-9.18022747079244,1.4548168182373047,0,0,-2.583158327562804],[11.818594719108564,-9.18022747079244,1.4548168182373047,0,0,-2.844957715361953],[7.036967108805209,-10.641746337035578,1.4548168182373047,0,0,-2.844957715361953],[7.036967108805209,-10.641746337035578,3.4548168182373047,0,0,-2.844957715361953],[7.036967108805209,-10.641746337035578,3.4548168182373047,0,0,-2.583158327562804],[7.036967108805209,-10.641746337035578,3.4548168182373047,0,0,-2.3213589397636545],[7.036967108805209,-10.641746337035578,3.4548168182373047,0,0,-2.059559551964505],[4.689295701603478,-15.056317546542504,3.4548168182373047,0,0,-2.059559551964505],[4.689295701603478,-15.056317546542504,5.454816818237305,0,0,-2.059559551964505],[4.689295701603478,-15.056317546542504,7.454816818237305,0,0,-2.059559551964505],[4.689295701603478,-15.056317546542504,7.454816818237305,0,0,-2.3213589397636545],[4.689295701603478,-15.056317546542504,7.454816818237305,0,0,-2.583158327562804],[4.689295701603478,-15.056317546542504,7.454816818237305,0,0,-2.844957715361953],[4.689295701603478,-15.056317546542504,7.454816818237305,0,0,-3.1067571031611028],[4.689295701603478,-15.056317546542504,7.454816818237305,0,0,2.9146288162193343],[4.689295701603478,-15.056317546542504,7.454816818237305,0,0,2.6528294284201848],[4.689295701603478,-15.056317546542504,7.454816818237305,0,0,2.391030040621035],[4.689295701603478,-15.056317546542504,7.454816818237305,0,0,2.129230652821886],[4.689295701603478,-15.056317546542504,7.454816818237305,0,0,1.8674312650227367],[4.689295701603478,-15.056317546542504,7.454816818237305,0,0,2.129230652821886],[4.689295701603478,-15.056317546542504,7.454816818237305,0,0,2.391030040621035],[4.689295701603478,-15.056317546542504,7.454816818237305,0,0,2.6528294284201848],[4.689295701603478,-15.056317546542504,7.454816818237305,0,0,2.9146288162193343],[4.689295701603478,-15.056317546542504,7.454816818237305,0,0,-3.1067571031611028],[4.689295701603478,-15.056317546542504,7.454816818237305,0,0,-2.844957715361953],[-0.09233190869987684,-16.51783641278564,7.454816818237305,0,0,-2.844957715361953],[-4.873959519003232,-17.97935527902878,7.454816818237305,0,0,-2.844957715361953],[-4.873959519003232,-17.97935527902878,5.454816818237305,0,0,-2.844957715361953],[-4.873959519003232,-17.97935527902878,3.4548168182373047,0,0,-2.844957715361953],[-4.873959519003232,-17.97935527902878,3.4548168182373047,0,0,-3.1067571031611028],[-4.873959519003232,-17.97935527902878,3.4548168182373047,0,0,2.9146288162193343],[-4.873959519003232,-17.97935527902878,1.4548168182373047,0,0,2.9146288162193343],[-9.745729934084583,-16.854253940153892,1.4548168182373047,0,0,2.9146288162193343],[-9.745729934084583,-16.854253940153892,-0.5451831817626953,0,0,2.9146288162193343],[-14.617500349165935,-15.729152601279003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+{"episode_id":"3S96KQ6I9V2FDUH5NQW2UAAB5CKTDN","trajectory_id":"3P7RGTLO7MBFQKRDJ4M6EZKKSMWKAW","scene_id":17,"start_position":[-21.153654098510742,24.07201385498047,8.570941925048828],"start_rotation":[0.9997542930967005,0.0,0.0,0.022166493514235008],"instruction":{"instruction_text":"Fly forward to the 'new & old' sign in the tunnel. Turn right until facing the corner of the black wall, then fly forward to the stairs, and fly to the utility pole. Turn left until facing to the right of the stairs. Fly upwards until above the height of the green roof of the train station. Fly forward to the green roof, fly over it to the left green roof. Turn right until facing the white insulator on the right, then fly forward to the green roof on the right, turn right facing the corner of the roof, then fly over it in front of the white building. Descend to land on the street in front of the white and black building."},"goals":[{"position":[40.097688723488254,25.32356545003132,8.570941925048828]}],"reference_path":[[-21.153654098510742,24.07201385498047,8.570941925048828,0,0,0.04433661835902197],[-21.153654098510742,24.07201385498047,8.570941925048828,0,0,-0.21746276944012743],[-21.153654098510742,24.07201385498047,8.570941925048828,0,0,-0.4792621572392769],[-16.71697708988678,21.766390919384207,8.570941925048828,0,0,-0.4792621572392769],[-12.280300081262816,19.460767983787946,8.570941925048828,0,0,-0.4792621572392769],[-12.280300081262816,19.460767983787946,8.570941925048828,0,0,-0.21746276944012752],[-12.280300081262816,19.460767983787946,8.570941925048828,0,0,0.044336618359021925],[-12.280300081262816,19.460767983787946,8.570941925048828,0,0,0.3061360061581714],[-12.280300081262816,19.460767983787946,8.570941925048828,0,0,0.5679353939573208],[-12.280300081262816,19.460767983787946,8.570941925048828,0,0,0.8297347817564703],[-12.280300081262816,19.460767983787946,8.570941925048828,0,0,1.0915341695556198],[-12.280300081262816,19.460767983787946,8.570941925048828,0,0,1.3533335573547693],[-12.280300081262816,19.460767983787946,8.570941925048828,0,0,1.09153416955562],[-12.280300081262816,19.460767983787946,8.570941925048828,0,0,0.8297347817564706],[-8.904942835285608,23.149529762763265,8.570941925048828,0,0,0.8297347817564706],[-5.5295855893084,26.838291541738585,8.570941925048828,0,0,0.8297347817564706],[-5.5295855893084,26.838291541738585,8.570941925048828,0,0,0.5679353939573213],[-5.5295855893084,26.838291541738585,8.570941925048828,0,0,0.3061360061581719],[-5.5295855893084,26.838291541738585,8.570941925048828,0,0,0.044336618359022424],[-5.5295855893084,26.838291541738585,8.570941925048828,0,0,-0.21746276944012702],[-5.5295855893084,26.838291541738585,8.570941925048828,0,0,-0.47926215723927645],[-5.5295855893084,26.838291541738585,6.570941925048828,0,0,-0.47926215723927645],[-5.5295855893084,26.838291541738585,4.570941925048828,0,0,-0.47926215723927645],[-5.5295855893084,26.838291541738585,2.570941925048828,0,0,-0.47926215723927645],[-5.5295855893084,26.838291541738585,0.5709419250488281,0,0,-0.47926215723927645],[-5.5295855893084,26.838291541738585,-1.4290580749511719,0,0,-0.47926215723927645],[-5.5295855893084,26.838291541738585,-3.429058074951172,0,0,-0.47926215723927645],[-5.5295855893084,26.838291541738585,-5.429058074951172,0,0,-0.47926215723927645],[-1.092908580684436,24.532668606142323,-5.429058074951172,0,0,-0.47926215723927645],[3.343768427939528,22.22704567054606,-5.429058074951172,0,0,-0.47926215723927645],[3.343768427939528,22.22704567054606,-5.429058074951172,0,0,-0.7410615450384259],[7.032530206914847,18.851688424568856,-5.429058074951172,0,0,-0.7410615450384259],[7.032530206914847,18.851688424568856,-5.429058074951172,0,0,-1.0028609328375755],[9.72199373697142,14.636621886482459,-5.429058074951172,0,0,-1.0028609328375755],[12.411457267027993,10.421555348396062,-5.429058074951172,0,0,-1.0028609328375755],[15.100920797084566,6.206488810309666,-5.429058074951172,0,0,-1.0028609328375755],[15.100920797084566,6.206488810309666,-5.429058074951172,0,0,-0.7410615450384261],[15.100920797084566,6.206488810309666,-5.429058074951172,0,0,-0.4792621572392767],[15.100920797084566,6.206488810309666,-5.429058074951172,0,0,-0.21746276944012727],[15.100920797084566,6.206488810309666,-5.429058074951172,0,0,0.044336618359022174],[15.100920797084566,6.206488810309666,-5.429058074951172,0,0,0.3061360061581716],[19.868446808436367,7.713371596422767,-5.429058074951172,0,0,0.3061360061581716],[19.868446808436367,7.713371596422767,-5.429058074951172,0,0,0.5679353939573211],[24.083513346522764,10.402835126479339,-5.429058074951172,0,0,0.5679353939573211],[28.29857988460916,13.092298656535911,-5.429058074951172,0,0,0.5679353939573211],[28.29857988460916,13.092298656535911,-5.429058074951172,0,0,0.8297347817564704],[28.29857988460916,13.092298656535911,-5.429058074951172,0,0,1.0915341695556198],[30.604202820205423,17.528975665159876,-5.429058074951172,0,0,1.0915341695556198],[32.909825755801684,21.96565267378384,-5.429058074951172,0,0,1.0915341695556198],[35.215448691397945,26.402329682407803,-5.429058074951172,0,0,1.0915341695556198],[35.215448691397945,26.402329682407803,-3.429058074951172,0,0,1.0915341695556198],[35.215448691397945,26.402329682407803,-1.4290580749511719,0,0,1.0915341695556198],[35.215448691397945,26.402329682407803,0.5709419250488281,0,0,1.0915341695556198],[35.215448691397945,26.402329682407803,2.570941925048828,0,0,1.0915341695556198],[35.215448691397945,26.402329682407803,4.570941925048828,0,0,1.0915341695556198],[35.215448691397945,26.402329682407803,4.570941925048828,0,0,0.8297347817564704],[35.215448691397945,26.402329682407803,4.570941925048828,0,0,0.567935393957321],[35.215448691397945,26.402329682407803,4.570941925048828,0,0,0.8297347817564703],[35.215448691397945,26.402329682407803,4.570941925048828,0,0,1.0915341695556198],[35.215448691397945,26.402329682407803,4.570941925048828,0,0,1.3533335573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+{"episode_id":"320DUZ38GGKOBBVRDMJ6YPQY17UJGS","trajectory_id":"3VMHWJRYI3EG6B7ST3NNIU3DHJVFXC","scene_id":17,"start_position":[-2.220662832260132,-15.431182861328125,9.454816818237305],"start_rotation":[0.9997808576546259,0.0,0.0,0.020934102975305326],"instruction":{"instruction_text":"Take off until seeing the track upon the station, turn back to face the tunnel, fly down to near the road, fly forward to \"the best soup in town\" in the tunnel. Now turn right to face the road where is a red door store, and go forward to the bicycles near the road and little turn left to face the road. Now go forward along the road until reaching the ravens hotel and land there."},"goals":[{"position":[-41.01115445973688,-18.888072137389184,5.454816818237305]}],"reference_path":[[-2.220662832260132,-15.431182861328125,9.454816818237305,0,0,0.041871264584339006],[-2.220662832260132,-15.431182861328125,7.454816818237305,0,0,0.041871264584339006],[-2.220662832260132,-15.431182861328125,5.454816818237305,0,0,0.041871264584339006],[-2.220662832260132,-15.431182861328125,3.4548168182373047,0,0,0.041871264584339006],[-2.220662832260132,-15.431182861328125,1.4548168182373047,0,0,0.041871264584339006],[-2.220662832260132,-15.431182861328125,-0.5451831817626953,0,0,0.041871264584339006],[-2.220662832260132,-15.431182861328125,-2.5451831817626953,0,0,0.041871264584339006],[-2.220662832260132,-15.431182861328125,-2.5451831817626953,0,0,-0.21992812321481042],[-2.220662832260132,-15.431182861328125,-2.5451831817626953,0,0,-0.48172751101395983],[-2.220662832260132,-15.431182861328125,-2.5451831817626953,0,0,-0.7435268988131092],[-2.220662832260132,-15.431182861328125,-2.5451831817626953,0,0,-1.0053262866122585],[-2.220662832260132,-15.431182861328125,-2.5451831817626953,0,0,-1.2671256744114079],[-2.220662832260132,-15.431182861328125,-2.5451831817626953,0,0,-1.5289250622105575],[-2.220662832260132,-15.431182861328125,-2.5451831817626953,0,0,-1.7907244500097068],[-2.220662832260132,-15.431182861328125,-2.5451831817626953,0,0,-2.0525238378088564],[-2.220662832260132,-15.431182861328125,-2.5451831817626953,0,0,-2.314323225608006],[-2.220662832260132,-15.431182861328125,-2.5451831817626953,0,0,-2.5761226134071555],[-2.220662832260132,-15.431182861328125,-2.5451831817626953,0,0,-2.8379220012063047],[-2.220662832260132,-15.431182861328125,-2.5451831817626953,0,0,-3.0997213890054542],[-2.220662832260132,-15.431182861328125,-2.5451831817626953,0,0,2.921664530374983],[-2.220662832260132,-15.431182861328125,-2.5451831817626953,0,0,2.6598651425758333],[-2.220662832260132,-15.431182861328125,-2.5451831817626953,0,0,2.3980657547766837],[-2.220662832260132,-15.431182861328125,-0.5451831817626953,0,0,2.3980657547766837],[-2.220662832260132,-15.431182861328125,1.4548168182373047,0,0,2.3980657547766837],[-2.220662832260132,-15.431182861328125,3.4548168182373047,0,0,2.3980657547766837],[-2.220662832260132,-15.431182861328125,3.4548168182373047,0,0,2.1362663669775346],[-2.220662832260132,-15.431182861328125,5.454816818237305,0,0,2.1362663669775346],[-2.220662832260132,-15.431182861328125,5.454816818237305,0,0,2.398065754776684],[-2.220662832260132,-15.431182861328125,7.454816818237305,0,0,2.398065754776684],[-5.901091959853135,-12.046741779441042,7.454816818237305,0,0,2.398065754776684],[-5.901091959853135,-12.046741779441042,7.454816818237305,0,0,2.136266366977535],[-8.580155697002006,-7.825057578521471,7.454816818237305,0,0,2.136266366977535],[-8.580155697002006,-7.825057578521471,7.454816818237305,0,0,1.8744669791783857],[-8.580155697002006,-7.825057578521471,7.454816818237305,0,0,2.136266366977535],[-8.580155697002006,-7.825057578521471,7.454816818237305,0,0,2.398065754776684],[-8.580155697002006,-7.825057578521471,7.454816818237305,0,0,2.6598651425758337],[-13.01113505219039,-5.5085036823441484,7.454816818237305,0,0,2.6598651425758337],[-13.01113505219039,-5.5085036823441484,7.454816818237305,0,0,2.9216645303749833],[-13.01113505219039,-5.5085036823441484,7.454816818237305,0,0,-3.0997213890054534],[-13.01113505219039,-5.5085036823441484,7.454816818237305,0,0,-2.837922001206304],[-13.01113505219039,-5.5085036823441484,7.454816818237305,0,0,-2.576122613407154],[-13.01113505219039,-5.5085036823441484,7.454816818237305,0,0,-2.314323225608005],[-13.01113505219039,-5.5085036823441484,7.454816818237305,0,0,-2.0525238378088555],[-15.32768894836771,-9.939483037532533,7.454816818237305,0,0,-2.0525238378088555],[-17.64424284454503,-14.370462392720917,7.454816818237305,0,0,-2.0525238378088555],[-17.64424284454503,-14.370462392720917,7.454816818237305,0,0,-2.314323225608005],[-21.02868392643211,-18.05089152031392,7.454816818237305,0,0,-2.314323225608005],[-21.02868392643211,-18.05089152031392,7.454816818237305,0,0,-2.576122613407154],[-21.02868392643211,-18.05089152031392,7.454816818237305,0,0,-2.837922001206304],[-21.02868392643211,-18.05089152031392,7.454816818237305,0,0,-3.0997213890054534],[-26.024301559758303,-18.260186674582737,7.454816818237305,0,0,-3.0997213890054534],[-31.019919193084498,-18.469481828851553,7.454816818237305,0,0,-3.0997213890054534],[-36.01553682641069,-18.67877698312037,7.454816818237305,0,0,-3.0997213890054534],[-41.01115445973688,-18.888072137389184,7.454816818237305,0,0,-3.0997213890054534],[-41.01115445973688,-18.888072137389184,7.454816818237305,0,0,2.9216645303749837],[-41.01115445973688,-18.888072137389184,5.454816818237305,0,0,2.9216645303749837]],"actions":[4,4,4,4,4,4,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,5,5,5,2,5,3,5,1,2,1,2,3,3,3,1,3,3,3,3,3,3,1,1,2,1,2,2,2,1,1,1,1,2,4,0]},
+{"episode_id":"3NGMS9VZTUG2S9D0JCM316YVTOTFFW","trajectory_id":"3G57RS03IP3N3YB6Z2PL6SI4JPY259","scene_id":17,"start_position":[-21.153654098510742,24.07201385498047,8.570941925048828],"start_rotation":[0.9999600667258152,0.0,0.0,0.008936719403856734],"instruction":{"instruction_text":"Ascend beside the railway until seeing the railway tracks and turn left 30 degrees, and fly forward over the track to the station platform. Move forward across the tracks to another platform, turn right slightly to face the tracks, fly along the station platform crossing the elevators and the direction maps to its end. Turn left slightly to face the high white building, then fly over the track wall and fly down to second floor height. Go near the yellow hotel and land in front of it."},"goals":[{"position":[40.348317594740806,-11.76011790827227,8.570941925048828]}],"reference_path":[[-21.153654098510742,24.07201385498047,8.570941925048828,0,0,0.017873676726491334],[-21.153654098510742,24.07201385498047,6.570941925048828,0,0,0.017873676726491334],[-21.153654098510742,24.07201385498047,4.570941925048828,0,0,0.017873676726491334],[-21.153654098510742,24.07201385498047,2.570941925048828,0,0,0.017873676726491334],[-21.153654098510742,24.07201385498047,0.5709419250488281,0,0,0.017873676726491334],[-21.153654098510742,24.07201385498047,-1.4290580749511719,0,0,0.017873676726491334],[-21.153654098510742,24.07201385498047,-1.4290580749511719,0,0,-0.24392571107265812],[-21.153654098510742,24.07201385498047,-1.4290580749511719,0,0,-0.5057250988718075],[-16.779536917719387,21.649804349445102,-1.4290580749511719,0,0,-0.5057250988718075],[-12.405419736928032,19.227594843909735,-1.4290580749511719,0,0,-0.5057250988718075],[-12.405419736928032,19.227594843909735,-1.4290580749511719,0,0,-0.7675244866709571],[-8.807260936047847,15.755815293931299,-1.4290580749511719,0,0,-0.7675244866709571],[-5.209102135167661,12.284035743952863,-1.4290580749511719,0,0,-0.7675244866709571],[-1.6109433342874748,8.812256193974427,-1.4290580749511719,0,0,-0.7675244866709571],[1.987215466592711,5.340476643995992,-1.4290580749511719,0,0,-0.7675244866709571],[1.987215466592711,5.340476643995992,-1.4290580749511719,0,0,-0.5057250988718076],[1.987215466592711,5.340476643995992,-1.4290580749511719,0,0,-0.24392571107265817],[6.839202169994723,4.132906757815455,-1.4290580749511719,0,0,-0.24392571107265817],[6.839202169994723,4.132906757815455,-1.4290580749511719,0,0,0.017873676726491233],[6.839202169994723,4.132906757815455,-1.4290580749511719,0,0,0.27967306452564067],[11.644930857055446,5.513113911239032,-1.4290580749511719,0,0,0.27967306452564067],[11.644930857055446,5.513113911239032,-1.4290580749511719,0,0,0.017873676726491265],[11.644930857055446,5.513113911239032,-1.4290580749511719,0,0,-0.24392571107265817],[16.496917560457458,4.305544025058495,-1.4290580749511719,0,0,-0.24392571107265817],[21.34890426385947,3.0979741388779574,-1.4290580749511719,0,0,-0.24392571107265817],[26.200890967261483,1.8904042526974196,-1.4290580749511719,0,0,-0.24392571107265817],[26.200890967261483,1.8904042526974196,-1.4290580749511719,0,0,-0.5057250988718076],[30.575008148052838,-0.5318052528379487,-1.4290580749511719,0,0,-0.5057250988718076],[30.575008148052838,-0.5318052528379487,-1.4290580749511719,0,0,-0.7675244866709571],[34.17316694893302,-4.003584802816384,-1.4290580749511719,0,0,-0.7675244866709571],[34.17316694893302,-4.003584802816384,-1.4290580749511719,0,0,-1.0293238744701065],[36.75015879386062,-8.288338358293835,-1.4290580749511719,0,0,-1.0293238744701065],[36.75015879386062,-8.288338358293835,-1.4290580749511719,0,0,-0.7675244866709571],[36.75015879386062,-8.288338358293835,0.5709419250488281,0,0,-0.7675244866709571],[36.75015879386062,-8.288338358293835,2.570941925048828,0,0,-0.7675244866709571],[36.75015879386062,-8.288338358293835,4.570941925048828,0,0,-0.7675244866709571],[40.348317594740806,-11.76011790827227,4.570941925048828,0,0,-0.7675244866709571],[40.348317594740806,-11.76011790827227,6.570941925048828,0,0,-0.7675244866709571],[40.348317594740806,-11.76011790827227,8.570941925048828,0,0,-0.7675244866709571],[40.348317594740806,-11.76011790827227,8.570941925048828,0,0,-1.0293238744701065],[40.348317594740806,-11.76011790827227,8.570941925048828,0,0,-1.291123262269256],[40.348317594740806,-11.76011790827227,8.570941925048828,0,0,-1.5529226500684052],[40.348317594740806,-11.76011790827227,8.570941925048828,0,0,-1.291123262269256],[40.348317594740806,-11.76011790827227,8.570941925048828,0,0,-1.0293238744701065],[40.348317594740806,-11.76011790827227,8.570941925048828,0,0,-0.7675244866709571]],"actions":[4,4,4,4,4,2,2,1,1,2,1,1,1,1,3,3,1,3,3,1,2,2,1,1,1,2,1,2,1,2,1,3,5,5,5,1,5,5,2,2,2,3,3,3,0]},
+{"episode_id":"32N49TQG3PGWSFII8B5F5RQQKZMAVE","trajectory_id":"3X878VYTJMGMRW11BQJPOVQPJZYF7L","scene_id":17,"start_position":[-11.240157127380371,18.384098052978516,9.454816818237305],"start_rotation":[0.9999987280338487,0.0,0.0,-0.00159497043377399],"instruction":{"instruction_text":"Turn left to face the road. Go to the end of the tunnel, at the intersection turn left to face the road, fly forward along the road to the blue \"big kitchen\" sign. Go forward to the street light behind the sign and fly up to the light's height. Fly up to the train station's height, turn left slightly to face the traffic signal light, fly forward to the railway tracks, turn left slightly to face the tracks and fly over a track to the middle signal light. Turn right to face the traffic light on the right, fly forward to the right track until over the black and white building on the right. Fly over the right side wall, turn left facing the green \"sushi noddle bar\" building, fly towards it, then land in front of it."},"goals":[{"position":[-87.17540651929585,-11.720578238830393,5.454816818237305]}],"reference_path":[[-11.240157127380371,18.384098052978516,9.454816818237305,0,0,-0.003189942220047604],[-11.240157127380371,18.384098052978516,9.454816818237305,0,0,-0.26498933001919706],[-11.240157127380371,18.384098052978516,9.454816818237305,0,0,-0.5267887178183465],[-11.240157127380371,18.384098052978516,9.454816818237305,0,0,-0.7885881056174959],[-11.240157127380371,18.384098052978516,9.454816818237305,0,0,-1.0503874934166453],[-11.240157127380371,18.384098052978516,9.454816818237305,0,0,-1.3121868812157949],[-11.240157127380371,18.384098052978516,9.454816818237305,0,0,-1.5739862690149442],[-11.256106811430627,13.384123492285362,9.454816818237305,0,0,-1.5739862690149442],[-11.272056495480882,8.384148931592208,9.454816818237305,0,0,-1.5739862690149442],[-11.288006179531138,3.3841743708990535,9.454816818237305,0,0,-1.5739862690149442],[-11.303955863581393,-1.6158001897941006,9.454816818237305,0,0,-1.5739862690149442],[-11.319905547631649,-6.615774750487255,9.454816818237305,0,0,-1.5739862690149442],[-11.319905547631649,-6.615774750487255,9.454816818237305,0,0,-1.8357856568140936],[-12.62940040071244,-11.441251227453536,9.454816818237305,0,0,-1.8357856568140936],[-12.62940040071244,-11.441251227453536,9.454816818237305,0,0,-2.097585044613243],[-15.143200512628873,-15.763381373264618,9.454816818237305,0,0,-2.097585044613243],[-15.143200512628873,-15.763381373264618,9.454816818237305,0,0,-2.3593844324123925],[-18.689994560004948,-19.287619161141258,9.454816818237305,0,0,-2.3593844324123925],[-18.689994560004948,-19.287619161141258,9.454816818237305,0,0,-2.6211838202115416],[-18.689994560004948,-19.287619161141258,9.454816818237305,0,0,-2.882983208010691],[-18.689994560004948,-19.287619161141258,9.454816818237305,0,0,3.1384027113697455],[-18.689994560004948,-19.287619161141258,9.454816818237305,0,0,2.876603323570596],[-23.515471036971228,-17.978124308060465,9.454816818237305,0,0,2.876603323570596],[-28.340947513937508,-16.668629454979673,9.454816818237305,0,0,2.876603323570596],[-28.340947513937508,-16.668629454979673,9.454816818237305,0,0,3.1384027113697455],[-28.340947513937508,-16.668629454979673,9.454816818237305,0,0,-2.8829832080106916],[-28.340947513937508,-16.668629454979673,9.454816818237305,0,0,3.1384027113697455],[-33.34092207463066,-16.652679770929417,9.454816818237305,0,0,3.1384027113697455],[-38.340896635323816,-16.63673008687916,9.454816818237305,0,0,3.1384027113697455],[-38.340896635323816,-16.63673008687916,9.454816818237305,0,0,2.876603323570596],[-38.340896635323816,-16.63673008687916,7.454816818237305,0,0,2.876603323570596],[-38.340896635323816,-16.63673008687916,5.454816818237305,0,0,2.876603323570596],[-38.340896635323816,-16.63673008687916,5.454816818237305,0,0,3.1384027113697455],[-38.340896635323816,-16.63673008687916,5.454816818237305,0,0,-2.8829832080106916],[-38.340896635323816,-16.63673008687916,5.454816818237305,0,0,-2.621183820211542],[-38.340896635323816,-16.63673008687916,5.454816818237305,0,0,-2.359384432412393],[-38.340896635323816,-16.63673008687916,5.454816818237305,0,0,-2.097585044613244],[-38.340896635323816,-16.63673008687916,5.454816818237305,0,0,-1.8357856568140944],[-38.340896635323816,-16.63673008687916,5.454816818237305,0,0,-1.5739862690149449],[-38.340896635323816,-16.63673008687916,5.454816818237305,0,0,-1.3121868812157955],[-38.340896635323816,-16.63673008687916,5.454816818237305,0,0,-1.0503874934166462],[-38.340896635323816,-16.63673008687916,5.454816818237305,0,0,-0.7885881056174967],[-38.340896635323816,-16.63673008687916,5.454816818237305,0,0,-0.5267887178183472],[-38.340896635323816,-16.63673008687916,5.454816818237305,0,0,-0.26498933001919783],[-38.340896635323816,-16.63673008687916,5.454816818237305,0,0,-0.003189942220048386],[-38.340896635323816,-16.63673008687916,5.454816818237305,0,0,0.25860944557910104],[-38.340896635323816,-16.63673008687916,5.454816818237305,0,0,0.5204088333782505],[-38.340896635323816,-16.63673008687916,5.454816818237305,0,0,0.7822082211774],[-38.340896635323816,-16.63673008687916,5.454816818237305,0,0,1.0440076089765495],[-38.340896635323816,-16.63673008687916,5.454816818237305,0,0,1.3058069967756991],[-38.340896635323816,-16.63673008687916,5.454816818237305,0,0,1.5676063845748485],[-38.340896635323816,-16.63673008687916,5.454816818237305,0,0,1.829405772373998],[-38.340896635323816,-16.63673008687916,5.454816818237305,0,0,2.0912051601731476],[-38.340896635323816,-16.63673008687916,5.454816818237305,0,0,2.353004547972297],[-38.340896635323816,-16.63673008687916,3.4548168182373047,0,0,2.353004547972297],[-38.340896635323816,-16.63673008687916,3.4548168182373047,0,0,2.6148039357714463],[-38.340896635323816,-16.63673008687916,3.4548168182373047,0,0,2.876603323570596],[-38.340896635323816,-16.63673008687916,1.4548168182373047,0,0,2.876603323570596],[-38.340896635323816,-16.63673008687916,-0.5451831817626953,0,0,2.876603323570596],[-38.34089663532381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+{"episode_id":"3180JW2OTDAQVE67WQ0FUSZ9B2VJ5X","trajectory_id":"3A520CCNXVYC4KZ3NIB3G47F4YXEAH","scene_id":17,"start_position":[-11.240157127380371,18.384098052978516,9.454816818237305],"start_rotation":[0.9999987280338487,0.0,0.0,-0.00159497043377399],"instruction":{"instruction_text":"Turn left to face the road, make sure that the road is in the center of vision, go forward to the intersection, turn left to face the street light, fly forward to the street light. Fly up to the light's height, furn left slightly to see the signal light. Fly to the railway tracks, turn left slightly to face the tracks, then fly over a track to the middle signal light. Turn right to face the right signal light, go straight along the right railway track until over the black and white building on the right, turn right facing the wall and fly over it, turn left facing a green \"sushi noodle\" bar, fly down to it and land in front of it."},"goals":[{"position":[-87.17540651929585,-11.720578238830393,5.454816818237305]}],"reference_path":[[-11.240157127380371,18.384098052978516,9.454816818237305,0,0,-0.003189942220047604],[-11.240157127380371,18.384098052978516,9.454816818237305,0,0,-0.26498933001919706],[-11.240157127380371,18.384098052978516,9.454816818237305,0,0,-0.5267887178183465],[-11.240157127380371,18.384098052978516,9.454816818237305,0,0,-0.7885881056174959],[-11.240157127380371,18.384098052978516,9.454816818237305,0,0,-1.0503874934166453],[-11.240157127380371,18.384098052978516,9.454816818237305,0,0,-1.3121868812157949],[-11.240157127380371,18.384098052978516,9.454816818237305,0,0,-1.5739862690149442],[-11.256106811430627,13.384123492285362,9.454816818237305,0,0,-1.5739862690149442],[-11.272056495480882,8.384148931592208,9.454816818237305,0,0,-1.5739862690149442],[-11.288006179531138,3.3841743708990535,9.454816818237305,0,0,-1.5739862690149442],[-11.303955863581393,-1.6158001897941006,9.454816818237305,0,0,-1.5739862690149442],[-11.319905547631649,-6.615774750487255,9.454816818237305,0,0,-1.5739862690149442],[-11.319905547631649,-6.615774750487255,9.454816818237305,0,0,-1.8357856568140936],[-12.62940040071244,-11.441251227453536,9.454816818237305,0,0,-1.8357856568140936],[-12.62940040071244,-11.441251227453536,9.454816818237305,0,0,-2.097585044613243],[-15.143200512628873,-15.763381373264618,9.454816818237305,0,0,-2.097585044613243],[-15.143200512628873,-15.763381373264618,9.454816818237305,0,0,-2.3593844324123925],[-18.689994560004948,-19.287619161141258,9.454816818237305,0,0,-2.3593844324123925],[-18.689994560004948,-19.287619161141258,9.454816818237305,0,0,-2.6211838202115416],[-18.689994560004948,-19.287619161141258,9.454816818237305,0,0,-2.882983208010691],[-18.689994560004948,-19.287619161141258,9.454816818237305,0,0,3.1384027113697455],[-18.689994560004948,-19.287619161141258,9.454816818237305,0,0,2.876603323570596],[-23.515471036971228,-17.978124308060465,9.454816818237305,0,0,2.876603323570596],[-28.340947513937508,-16.668629454979673,9.454816818237305,0,0,2.876603323570596],[-28.340947513937508,-16.668629454979673,9.454816818237305,0,0,3.1384027113697455],[-28.340947513937508,-16.668629454979673,9.454816818237305,0,0,-2.8829832080106916],[-28.340947513937508,-16.668629454979673,9.454816818237305,0,0,3.1384027113697455],[-33.34092207463066,-16.652679770929417,9.454816818237305,0,0,3.1384027113697455],[-38.340896635323816,-16.63673008687916,9.454816818237305,0,0,3.1384027113697455],[-38.340896635323816,-16.63673008687916,9.454816818237305,0,0,2.876603323570596],[-38.340896635323816,-16.63673008687916,7.454816818237305,0,0,2.876603323570596],[-38.340896635323816,-16.63673008687916,5.454816818237305,0,0,2.876603323570596],[-38.340896635323816,-16.63673008687916,5.454816818237305,0,0,3.1384027113697455],[-38.340896635323816,-16.63673008687916,5.454816818237305,0,0,-2.8829832080106916],[-38.340896635323816,-16.63673008687916,5.454816818237305,0,0,-2.621183820211542],[-38.340896635323816,-16.63673008687916,5.454816818237305,0,0,-2.359384432412393],[-38.340896635323816,-16.63673008687916,5.454816818237305,0,0,-2.097585044613244],[-38.340896635323816,-16.63673008687916,5.454816818237305,0,0,-1.8357856568140944],[-38.340896635323816,-16.63673008687916,5.454816818237305,0,0,-1.5739862690149449],[-38.340896635323816,-16.63673008687916,5.454816818237305,0,0,-1.3121868812157955],[-38.340896635323816,-16.63673008687916,5.454816818237305,0,0,-1.0503874934166462],[-38.340896635323816,-16.63673008687916,5.454816818237305,0,0,-0.7885881056174967],[-38.340896635323816,-16.63673008687916,5.454816818237305,0,0,-0.5267887178183472],[-38.340896635323816,-16.63673008687916,5.454816818237305,0,0,-0.26498933001919783],[-38.340896635323816,-16.63673008687916,5.454816818237305,0,0,-0.003189942220048386],[-38.340896635323816,-16.63673008687916,5.454816818237305,0,0,0.25860944557910104],[-38.340896635323816,-16.63673008687916,5.454816818237305,0,0,0.5204088333782505],[-38.340896635323816,-16.63673008687916,5.454816818237305,0,0,0.7822082211774],[-38.340896635323816,-16.63673008687916,5.454816818237305,0,0,1.0440076089765495],[-38.340896635323816,-16.63673008687916,5.454816818237305,0,0,1.3058069967756991],[-38.340896635323816,-16.63673008687916,5.454816818237305,0,0,1.5676063845748485],[-38.340896635323816,-16.63673008687916,5.454816818237305,0,0,1.829405772373998],[-38.340896635323816,-16.63673008687916,5.454816818237305,0,0,2.0912051601731476],[-38.340896635323816,-16.63673008687916,5.454816818237305,0,0,2.353004547972297],[-38.340896635323816,-16.63673008687916,3.4548168182373047,0,0,2.353004547972297],[-38.340896635323816,-16.63673008687916,3.4548168182373047,0,0,2.6148039357714463],[-38.340896635323816,-16.63673008687916,3.4548168182373047,0,0,2.876603323570596],[-38.340896635323816,-16.63673008687916,1.4548168182373047,0,0,2.876603323570596],[-38.340896635323816,-16.63673008687916,-0.5451831817626953,0,0,2.876603323570596],[-38.34089663532381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+{"episode_id":"3YMU66OBIW6SK501PMGLMCAJOHJHGI","trajectory_id":"3MIVREZQWPW7D0YU80JS4ZZPSDFKQE","scene_id":17,"start_position":[-2.5512595176696777,19.902307510375977,-0.3462750315666199],"start_rotation":[0.9996246424398999,0.0,0.0,0.027396609770232172],"instruction":{"instruction_text":"Turn left to face the platform, and go through the train station to the other side to the white building outside the station. Fly down by the new and old shop to near the ground. Turn right to face a red \"not U-turn\" sign. Fly up to the train station height, then turn right facing the platform, and fly to the front of it. Turn right to face the white building, fly forward to it. Fly down to second floor height. Turn right to face an utility pole, fly forward passing it to the bike parking lot. Turn left facing a yellow and white house, fly forward to it and land in front of it."},"goals":[{"position":[39.50990826843584,-11.779173881578659,7.65372496843338]}],"reference_path":[[-2.5512595176696777,19.902307510375977,-0.3462750315666199,0,0,0.054800076253028525],[-2.5512595176696777,19.902307510375977,-0.3462750315666199,0,0,-0.2069993115461209],[-2.5512595176696777,19.902307510375977,-0.3462750315666199,0,0,-0.46879869934527035],[-2.5512595176696777,19.902307510375977,-0.3462750315666199,0,0,-0.7305980871444199],[-2.5512595176696777,19.902307510375977,-0.3462750315666199,0,0,-0.9923974749435693],[-2.5512595176696777,19.902307510375977,-0.3462750315666199,0,0,-0.73059808714442],[-2.5512595176696777,19.902307510375977,-0.3462750315666199,0,0,-0.9923974749435693],[0.1821601536462838,15.715612286161186,-0.3462750315666199,0,0,-0.9923974749435693],[0.1821601536462838,15.715612286161186,-0.3462750315666199,0,0,-1.254196862742719],[1.7388443481903904,10.964114173096574,-0.3462750315666199,0,0,-1.254196862742719],[3.295528542734497,6.212616060031962,-0.3462750315666199,0,0,-1.254196862742719],[3.295528542734497,6.212616060031962,-0.3462750315666199,0,0,-1.5159962505418685],[3.569391805190833,1.2201218023009863,-0.3462750315666199,0,0,-1.5159962505418685],[3.8432550676471693,-3.7723724554299896,-0.3462750315666199,0,0,-1.5159962505418685],[4.117118330103505,-8.764866713160966,-0.3462750315666199,0,0,-1.5159962505418685],[4.390981592559841,-13.757360970891941,-0.3462750315666199,0,0,-1.5159962505418685],[4.390981592559841,-13.757360970891941,-0.3462750315666199,0,0,-1.7777956383410178],[4.390981592559841,-13.757360970891941,1.6537249684333801,0,0,-1.7777956383410178],[4.390981592559841,-13.757360970891941,3.65372496843338,0,0,-1.7777956383410178],[4.390981592559841,-13.757360970891941,3.65372496843338,0,0,-2.039595026140167],[4.390981592559841,-13.757360970891941,3.65372496843338,0,0,-1.7777956383410176],[4.390981592559841,-13.757360970891941,5.65372496843338,0,0,-1.7777956383410176],[4.390981592559841,-13.757360970891941,7.65372496843338,0,0,-1.7777956383410176],[4.390981592559841,-13.757360970891941,7.65372496843338,0,0,-1.5159962505418683],[4.390981592559841,-13.757360970891941,7.65372496843338,0,0,-1.254196862742719],[4.390981592559841,-13.757360970891941,7.65372496843338,0,0,-0.9923974749435696],[4.390981592559841,-13.757360970891941,7.65372496843338,0,0,-0.7305980871444201],[4.390981592559841,-13.757360970891941,7.65372496843338,0,0,-0.4687986993452707],[4.390981592559841,-13.757360970891941,7.65372496843338,0,0,-0.20699931154612128],[4.390981592559841,-13.757360970891941,7.65372496843338,0,0,0.054800076253028164],[4.390981592559841,-13.757360970891941,7.65372496843338,0,0,0.3165994640521776],[4.390981592559841,-13.757360970891941,7.65372496843338,0,0,0.578398851851327],[4.390981592559841,-13.757360970891941,5.65372496843338,0,0,0.578398851851327],[4.390981592559841,-13.757360970891941,3.65372496843338,0,0,0.578398851851327],[4.390981592559841,-13.757360970891941,1.6537249684333801,0,0,0.578398851851327],[4.390981592559841,-13.757360970891941,-0.3462750315666199,0,0,0.578398851851327],[8.577676816774634,-11.02394129957598,-0.3462750315666199,0,0,0.578398851851327],[12.764372040989425,-8.29052162826002,-0.3462750315666199,0,0,0.578398851851327],[12.764372040989425,-8.29052162826002,-0.3462750315666199,0,0,0.8401982396504765],[16.10094801566515,-4.566644513582801,-0.3462750315666199,0,0,0.8401982396504765],[16.10094801566515,-4.566644513582801,-0.3462750315666199,0,0,1.101997627449626],[16.10094801566515,-4.566644513582801,-0.3462750315666199,0,0,1.3637970152487753],[16.10094801566515,-4.566644513582801,-0.3462750315666199,0,0,1.6255964030479249],[16.10094801566515,-4.566644513582801,-0.3462750315666199,0,0,1.8873957908470742],[16.10094801566515,-4.566644513582801,-0.3462750315666199,0,0,2.149195178646224],[16.10094801566515,-4.566644513582801,-0.3462750315666199,0,0,2.410994566445373],[16.10094801566515,-4.566644513582801,-0.3462750315666199,0,0,2.6727939542445225],[16.10094801566515,-4.566644513582801,-0.3462750315666199,0,0,2.934593342043672],[16.10094801566515,-4.566644513582801,-0.3462750315666199,0,0,-3.0867925773367646],[16.10094801566515,-4.566644513582801,-0.3462750315666199,0,0,-2.824993189537615],[16.10094801566515,-4.566644513582801,-0.3462750315666199,0,0,-2.5631938017384654],[16.10094801566515,-4.566644513582801,-0.3462750315666199,0,0,-2.3013944139393163],[16.10094801566515,-4.566644513582801,-0.3462750315666199,0,0,-2.0395950261401667],[13.841873429250136,-9.02720300025393,-0.3462750315666199,0,0,-2.0395950261401667],[11.582798842835121,-13.48776148692506,-0.3462750315666199,0,0,-2.0395950261401667],[11.582798842835121,-13.48776148692506,1.6537249684333801,0,0,-2.0395950261401667],[11.582798842835121,-13.48776148692506,3.65372496843338,0,0,-2.0395950261401667],[11.582798842835121,-13.48776148692506,5.65372496843338,0,0,-2.0395950261401667],[11.582798842835121,-13.48776148692506,7.65372496843338,0,0,-2.0395950261401667],[11.582798842835121,-13.48776148692506,7.65372496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+{"episode_id":"3CFJTT4SX2O9N70K21UCGBY68M17IV","trajectory_id":"3FO95NVK6KY5DKQ2QOHU0B049K7RS2","scene_id":17,"start_position":[-21.153654098510742,24.07201385498047,8.570941925048828],"start_rotation":[0.9999600667258152,0.0,0.0,0.008936719403856734],"instruction":{"instruction_text":"Ascend beside the railway until seeing the railway tracks and turn left 30 degrees, and fly forward over the track to the station platform, move forward across the tracks to another platform, turn right slightly to face the tracks, fly along the station platform crossing the elevators and the direction maps to its end. Turn left to face high white building, fly over the track wall. Fly down to the road height, and land near the yellow hotel."},"goals":[{"position":[40.348317594740806,-11.76011790827227,8.570941925048828]}],"reference_path":[[-21.153654098510742,24.07201385498047,8.570941925048828,0,0,0.017873676726491334],[-21.153654098510742,24.07201385498047,6.570941925048828,0,0,0.017873676726491334],[-21.153654098510742,24.07201385498047,4.570941925048828,0,0,0.017873676726491334],[-21.153654098510742,24.07201385498047,2.570941925048828,0,0,0.017873676726491334],[-21.153654098510742,24.07201385498047,0.5709419250488281,0,0,0.017873676726491334],[-21.153654098510742,24.07201385498047,-1.4290580749511719,0,0,0.017873676726491334],[-21.153654098510742,24.07201385498047,-1.4290580749511719,0,0,-0.24392571107265812],[-21.153654098510742,24.07201385498047,-1.4290580749511719,0,0,-0.5057250988718075],[-16.779536917719387,21.649804349445102,-1.4290580749511719,0,0,-0.5057250988718075],[-12.405419736928032,19.227594843909735,-1.4290580749511719,0,0,-0.5057250988718075],[-12.405419736928032,19.227594843909735,-1.4290580749511719,0,0,-0.7675244866709571],[-8.807260936047847,15.755815293931299,-1.4290580749511719,0,0,-0.7675244866709571],[-5.209102135167661,12.284035743952863,-1.4290580749511719,0,0,-0.7675244866709571],[-1.6109433342874748,8.812256193974427,-1.4290580749511719,0,0,-0.7675244866709571],[1.987215466592711,5.340476643995992,-1.4290580749511719,0,0,-0.7675244866709571],[1.987215466592711,5.340476643995992,-1.4290580749511719,0,0,-0.5057250988718076],[1.987215466592711,5.340476643995992,-1.4290580749511719,0,0,-0.24392571107265817],[6.839202169994723,4.132906757815455,-1.4290580749511719,0,0,-0.24392571107265817],[6.839202169994723,4.132906757815455,-1.4290580749511719,0,0,0.017873676726491233],[6.839202169994723,4.132906757815455,-1.4290580749511719,0,0,0.27967306452564067],[11.644930857055446,5.513113911239032,-1.4290580749511719,0,0,0.27967306452564067],[11.644930857055446,5.513113911239032,-1.4290580749511719,0,0,0.017873676726491265],[11.644930857055446,5.513113911239032,-1.4290580749511719,0,0,-0.24392571107265817],[16.496917560457458,4.305544025058495,-1.4290580749511719,0,0,-0.24392571107265817],[21.34890426385947,3.0979741388779574,-1.4290580749511719,0,0,-0.24392571107265817],[26.200890967261483,1.8904042526974196,-1.4290580749511719,0,0,-0.24392571107265817],[26.200890967261483,1.8904042526974196,-1.4290580749511719,0,0,-0.5057250988718076],[30.575008148052838,-0.5318052528379487,-1.4290580749511719,0,0,-0.5057250988718076],[30.575008148052838,-0.5318052528379487,-1.4290580749511719,0,0,-0.7675244866709571],[34.17316694893302,-4.003584802816384,-1.4290580749511719,0,0,-0.7675244866709571],[34.17316694893302,-4.003584802816384,-1.4290580749511719,0,0,-1.0293238744701065],[36.75015879386062,-8.288338358293835,-1.4290580749511719,0,0,-1.0293238744701065],[36.75015879386062,-8.288338358293835,-1.4290580749511719,0,0,-0.7675244866709571],[36.75015879386062,-8.288338358293835,0.5709419250488281,0,0,-0.7675244866709571],[36.75015879386062,-8.288338358293835,2.570941925048828,0,0,-0.7675244866709571],[36.75015879386062,-8.288338358293835,4.570941925048828,0,0,-0.7675244866709571],[40.348317594740806,-11.76011790827227,4.570941925048828,0,0,-0.7675244866709571],[40.348317594740806,-11.76011790827227,6.570941925048828,0,0,-0.7675244866709571],[40.348317594740806,-11.76011790827227,8.570941925048828,0,0,-0.7675244866709571],[40.348317594740806,-11.76011790827227,8.570941925048828,0,0,-1.0293238744701065],[40.348317594740806,-11.76011790827227,8.570941925048828,0,0,-1.291123262269256],[40.348317594740806,-11.76011790827227,8.570941925048828,0,0,-1.5529226500684052],[40.348317594740806,-11.76011790827227,8.570941925048828,0,0,-1.291123262269256],[40.348317594740806,-11.76011790827227,8.570941925048828,0,0,-1.0293238744701065],[40.348317594740806,-11.76011790827227,8.570941925048828,0,0,-0.7675244866709571]],"actions":[4,4,4,4,4,2,2,1,1,2,1,1,1,1,3,3,1,3,3,1,2,2,1,1,1,2,1,2,1,2,1,3,5,5,5,1,5,5,2,2,2,3,3,3,0]},
+{"episode_id":"3WJEQKOXAH0G632K1XLQY3JARLMA18","trajectory_id":"3B9J25CZ3DB17I1J8RRZBG1I9DASCR","scene_id":17,"start_position":[-36.43798828125,-18.10928726196289,9.454816818237305],"start_rotation":[0.9998933179954895,0.0,0.0,0.014606595358634195],"instruction":{"instruction_text":"Move forward along the road until reaching the bikes on left, slightly move left to the bikes. Move forward to the T-junction, then turn right to face the tunnel, and go through it. At the end of the tunnel land on the left side on the sidewalk."},"goals":[{"position":[-10.045871707051472,14.371774092198741,9.454816818237305]}],"reference_path":[[-36.43798828125,-18.10928726196289,9.454816818237305,0,0,0.029214229602181944],[-31.44012180752971,-17.963236890985268,9.454816818237305,0,0,0.029214229602181944],[-26.44225533380942,-17.817186520007645,9.454816818237305,0,0,0.029214229602181944],[-21.44438886008913,-17.671136149030023,9.454816818237305,0,0,0.029214229602181944],[-21.44438886008913,-17.671136149030023,9.454816818237305,0,0,-0.23258515819696748],[-16.579019939225127,-18.823605352041827,9.454816818237305,0,0,-0.23258515819696748],[-16.579019939225127,-18.823605352041827,9.454816818237305,0,0,-0.4943845459961169],[-16.579019939225127,-18.823605352041827,9.454816818237305,0,0,-0.2325851581969675],[-16.579019939225127,-18.823605352041827,9.454816818237305,0,0,0.029214229602181924],[-16.579019939225127,-18.823605352041827,9.454816818237305,0,0,0.29101361740133136],[-16.579019939225127,-18.823605352041827,9.454816818237305,0,0,0.5528130052004808],[-16.579019939225127,-18.823605352041827,9.454816818237305,0,0,0.8146123929996302],[-16.579019939225127,-18.823605352041827,9.454816818237305,0,0,1.0764117807987796],[-16.579019939225127,-18.823605352041827,9.454816818237305,0,0,1.3382111685979292],[-16.579019939225127,-18.823605352041827,9.454816818237305,0,0,1.6000105563970786],[-16.72507031020275,-13.825738878321538,9.454816818237305,0,0,1.6000105563970786],[-16.871120681180372,-8.827872404601248,9.454816818237305,0,0,1.6000105563970786],[-17.017171052157995,-3.830005930880957,9.454816818237305,0,0,1.6000105563970786],[-17.163221423135617,1.1678605428393336,9.454816818237305,0,0,1.6000105563970786],[-17.163221423135617,1.1678605428393336,9.454816818237305,0,0,1.3382111685979292],[-17.163221423135617,1.1678605428393336,9.454816818237305,0,0,1.0764117807987799],[-14.790771517774235,5.5691650592924695,9.454816818237305,0,0,1.0764117807987799],[-12.418321612412853,9.970469575745605,9.454816818237305,0,0,1.0764117807987799],[-10.045871707051472,14.371774092198741,9.454816818237305,0,0,1.0764117807987799],[-10.045871707051472,14.371774092198741,9.454816818237305,0,0,1.3382111685979292],[-10.045871707051472,14.371774092198741,9.454816818237305,0,0,1.0764117807987799],[-10.045871707051472,14.371774092198741,9.454816818237305,0,0,1.3382111685979292]],"actions":[1,1,1,2,1,2,3,3,3,3,3,3,3,3,1,1,1,1,2,2,1,1,1,3,2,3,0]},
+{"episode_id":"3DEL4X4ELFJPSMLGOWKDWY5I33FYX1","trajectory_id":"3TC2K6WKAO06QGU8X0WOICSVLFZ28B","scene_id":17,"start_position":[-36.43798828125,-18.10928726196289,9.454816818237305],"start_rotation":[0.9998933179954895,0.0,0.0,0.014606595358634195],"instruction":{"instruction_text":"Fly forward along the road until reaching two bikes on the left and move to the bikes slightly, move forward to the T-junction and turn right to see the tunnel. Fly into the tunnel, fly through it and land at the end of it."},"goals":[{"position":[-10.045871707051472,14.371774092198741,9.454816818237305]}],"reference_path":[[-36.43798828125,-18.10928726196289,9.454816818237305,0,0,0.029214229602181944],[-31.44012180752971,-17.963236890985268,9.454816818237305,0,0,0.029214229602181944],[-26.44225533380942,-17.817186520007645,9.454816818237305,0,0,0.029214229602181944],[-21.44438886008913,-17.671136149030023,9.454816818237305,0,0,0.029214229602181944],[-21.44438886008913,-17.671136149030023,9.454816818237305,0,0,-0.23258515819696748],[-16.579019939225127,-18.823605352041827,9.454816818237305,0,0,-0.23258515819696748],[-16.579019939225127,-18.823605352041827,9.454816818237305,0,0,-0.4943845459961169],[-16.579019939225127,-18.823605352041827,9.454816818237305,0,0,-0.2325851581969675],[-16.579019939225127,-18.823605352041827,9.454816818237305,0,0,0.029214229602181924],[-16.579019939225127,-18.823605352041827,9.454816818237305,0,0,0.29101361740133136],[-16.579019939225127,-18.823605352041827,9.454816818237305,0,0,0.5528130052004808],[-16.579019939225127,-18.823605352041827,9.454816818237305,0,0,0.8146123929996302],[-16.579019939225127,-18.823605352041827,9.454816818237305,0,0,1.0764117807987796],[-16.579019939225127,-18.823605352041827,9.454816818237305,0,0,1.3382111685979292],[-16.579019939225127,-18.823605352041827,9.454816818237305,0,0,1.6000105563970786],[-16.72507031020275,-13.825738878321538,9.454816818237305,0,0,1.6000105563970786],[-16.871120681180372,-8.827872404601248,9.454816818237305,0,0,1.6000105563970786],[-17.017171052157995,-3.830005930880957,9.454816818237305,0,0,1.6000105563970786],[-17.163221423135617,1.1678605428393336,9.454816818237305,0,0,1.6000105563970786],[-17.163221423135617,1.1678605428393336,9.454816818237305,0,0,1.3382111685979292],[-17.163221423135617,1.1678605428393336,9.454816818237305,0,0,1.0764117807987799],[-14.790771517774235,5.5691650592924695,9.454816818237305,0,0,1.0764117807987799],[-12.418321612412853,9.970469575745605,9.454816818237305,0,0,1.0764117807987799],[-10.045871707051472,14.371774092198741,9.454816818237305,0,0,1.0764117807987799],[-10.045871707051472,14.371774092198741,9.454816818237305,0,0,1.3382111685979292],[-10.045871707051472,14.371774092198741,9.454816818237305,0,0,1.0764117807987799],[-10.045871707051472,14.371774092198741,9.454816818237305,0,0,1.3382111685979292]],"actions":[1,1,1,2,1,2,3,3,3,3,3,3,3,3,1,1,1,1,2,2,1,1,1,3,2,3,0]},
+{"episode_id":"3TS1AR6UQZCPDGYU1TORDELD90NF7H","trajectory_id":"3NI0WFPPJHECQS86PYVCFA3PED706Z","scene_id":17,"start_position":[-36.43798828125,-18.10928726196289,9.454816818237305],"start_rotation":[0.9998933179954895,0.0,0.0,0.014606595358634195],"instruction":{"instruction_text":"Head straight to the T-junction. At the T-junction turn right to face the tunnel. Fly into the tunnel, land at the fence before the end of the tunnel on the left."},"goals":[{"position":[-10.045871707051472,14.371774092198741,9.454816818237305]}],"reference_path":[[-36.43798828125,-18.10928726196289,9.454816818237305,0,0,0.029214229602181944],[-31.44012180752971,-17.963236890985268,9.454816818237305,0,0,0.029214229602181944],[-26.44225533380942,-17.817186520007645,9.454816818237305,0,0,0.029214229602181944],[-21.44438886008913,-17.671136149030023,9.454816818237305,0,0,0.029214229602181944],[-21.44438886008913,-17.671136149030023,9.454816818237305,0,0,-0.23258515819696748],[-16.579019939225127,-18.823605352041827,9.454816818237305,0,0,-0.23258515819696748],[-16.579019939225127,-18.823605352041827,9.454816818237305,0,0,-0.4943845459961169],[-16.579019939225127,-18.823605352041827,9.454816818237305,0,0,-0.2325851581969675],[-16.579019939225127,-18.823605352041827,9.454816818237305,0,0,0.029214229602181924],[-16.579019939225127,-18.823605352041827,9.454816818237305,0,0,0.29101361740133136],[-16.579019939225127,-18.823605352041827,9.454816818237305,0,0,0.5528130052004808],[-16.579019939225127,-18.823605352041827,9.454816818237305,0,0,0.8146123929996302],[-16.579019939225127,-18.823605352041827,9.454816818237305,0,0,1.0764117807987796],[-16.579019939225127,-18.823605352041827,9.454816818237305,0,0,1.3382111685979292],[-16.579019939225127,-18.823605352041827,9.454816818237305,0,0,1.6000105563970786],[-16.72507031020275,-13.825738878321538,9.454816818237305,0,0,1.6000105563970786],[-16.871120681180372,-8.827872404601248,9.454816818237305,0,0,1.6000105563970786],[-17.017171052157995,-3.830005930880957,9.454816818237305,0,0,1.6000105563970786],[-17.163221423135617,1.1678605428393336,9.454816818237305,0,0,1.6000105563970786],[-17.163221423135617,1.1678605428393336,9.454816818237305,0,0,1.3382111685979292],[-17.163221423135617,1.1678605428393336,9.454816818237305,0,0,1.0764117807987799],[-14.790771517774235,5.5691650592924695,9.454816818237305,0,0,1.0764117807987799],[-12.418321612412853,9.970469575745605,9.454816818237305,0,0,1.0764117807987799],[-10.045871707051472,14.371774092198741,9.454816818237305,0,0,1.0764117807987799],[-10.045871707051472,14.371774092198741,9.454816818237305,0,0,1.3382111685979292],[-10.045871707051472,14.371774092198741,9.454816818237305,0,0,1.0764117807987799],[-10.045871707051472,14.371774092198741,9.454816818237305,0,0,1.3382111685979292]],"actions":[1,1,1,2,1,2,3,3,3,3,3,3,3,3,1,1,1,1,2,2,1,1,1,3,2,3,0]},
+{"episode_id":"3S96KQ6I9V2FDUH5NQW2UAAB8J8TDS","trajectory_id":"3NOEP8XAVC0SXOWM76JSUOHHNYZXP0","scene_id":17,"start_position":[-2.5512595176696777,19.902307510375977,-0.3462750315666199],"start_rotation":[0.9996246424398999,0.0,0.0,0.027396609770232172],"instruction":{"instruction_text":"Take off from the railway trace and turn left to the platform, fly over the train station passing a platform, two railway tracks and a platform, to a white building. Fly lower to near the ground, turn right to face a red \"no U-turn\" sign, fly up to the train station height, move forward to the railway track, turn right facing the platform, then turn right facing a white building, fly forward to the building. Fly lower to near the ground, turn right to face an utility pole, fly forward to the bike parking lot, turn left facing a yellow and white building \"hotel 8\", and land in front of it."},"goals":[{"position":[39.50990826843584,-11.779173881578659,7.65372496843338]}],"reference_path":[[-2.5512595176696777,19.902307510375977,-0.3462750315666199,0,0,0.054800076253028525],[-2.5512595176696777,19.902307510375977,-0.3462750315666199,0,0,-0.2069993115461209],[-2.5512595176696777,19.902307510375977,-0.3462750315666199,0,0,-0.46879869934527035],[-2.5512595176696777,19.902307510375977,-0.3462750315666199,0,0,-0.7305980871444199],[-2.5512595176696777,19.902307510375977,-0.3462750315666199,0,0,-0.9923974749435693],[-2.5512595176696777,19.902307510375977,-0.3462750315666199,0,0,-0.73059808714442],[-2.5512595176696777,19.902307510375977,-0.3462750315666199,0,0,-0.9923974749435693],[0.1821601536462838,15.715612286161186,-0.3462750315666199,0,0,-0.9923974749435693],[0.1821601536462838,15.715612286161186,-0.3462750315666199,0,0,-1.254196862742719],[1.7388443481903904,10.964114173096574,-0.3462750315666199,0,0,-1.254196862742719],[3.295528542734497,6.212616060031962,-0.3462750315666199,0,0,-1.254196862742719],[3.295528542734497,6.212616060031962,-0.3462750315666199,0,0,-1.5159962505418685],[3.569391805190833,1.2201218023009863,-0.3462750315666199,0,0,-1.5159962505418685],[3.8432550676471693,-3.7723724554299896,-0.3462750315666199,0,0,-1.5159962505418685],[4.117118330103505,-8.764866713160966,-0.3462750315666199,0,0,-1.5159962505418685],[4.390981592559841,-13.757360970891941,-0.3462750315666199,0,0,-1.5159962505418685],[4.390981592559841,-13.757360970891941,-0.3462750315666199,0,0,-1.7777956383410178],[4.390981592559841,-13.757360970891941,1.6537249684333801,0,0,-1.7777956383410178],[4.390981592559841,-13.757360970891941,3.65372496843338,0,0,-1.7777956383410178],[4.390981592559841,-13.757360970891941,3.65372496843338,0,0,-2.039595026140167],[4.390981592559841,-13.757360970891941,3.65372496843338,0,0,-1.7777956383410176],[4.390981592559841,-13.757360970891941,5.65372496843338,0,0,-1.7777956383410176],[4.390981592559841,-13.757360970891941,7.65372496843338,0,0,-1.7777956383410176],[4.390981592559841,-13.757360970891941,7.65372496843338,0,0,-1.5159962505418683],[4.390981592559841,-13.757360970891941,7.65372496843338,0,0,-1.254196862742719],[4.390981592559841,-13.757360970891941,7.65372496843338,0,0,-0.9923974749435696],[4.390981592559841,-13.757360970891941,7.65372496843338,0,0,-0.7305980871444201],[4.390981592559841,-13.757360970891941,7.65372496843338,0,0,-0.4687986993452707],[4.390981592559841,-13.757360970891941,7.65372496843338,0,0,-0.20699931154612128],[4.390981592559841,-13.757360970891941,7.65372496843338,0,0,0.054800076253028164],[4.390981592559841,-13.757360970891941,7.65372496843338,0,0,0.3165994640521776],[4.390981592559841,-13.757360970891941,7.65372496843338,0,0,0.578398851851327],[4.390981592559841,-13.757360970891941,5.65372496843338,0,0,0.578398851851327],[4.390981592559841,-13.757360970891941,3.65372496843338,0,0,0.578398851851327],[4.390981592559841,-13.757360970891941,1.6537249684333801,0,0,0.578398851851327],[4.390981592559841,-13.757360970891941,-0.3462750315666199,0,0,0.578398851851327],[8.577676816774634,-11.02394129957598,-0.3462750315666199,0,0,0.578398851851327],[12.764372040989425,-8.29052162826002,-0.3462750315666199,0,0,0.578398851851327],[12.764372040989425,-8.29052162826002,-0.3462750315666199,0,0,0.8401982396504765],[16.10094801566515,-4.566644513582801,-0.3462750315666199,0,0,0.8401982396504765],[16.10094801566515,-4.566644513582801,-0.3462750315666199,0,0,1.101997627449626],[16.10094801566515,-4.566644513582801,-0.3462750315666199,0,0,1.3637970152487753],[16.10094801566515,-4.566644513582801,-0.3462750315666199,0,0,1.6255964030479249],[16.10094801566515,-4.566644513582801,-0.3462750315666199,0,0,1.8873957908470742],[16.10094801566515,-4.566644513582801,-0.3462750315666199,0,0,2.149195178646224],[16.10094801566515,-4.566644513582801,-0.3462750315666199,0,0,2.410994566445373],[16.10094801566515,-4.566644513582801,-0.3462750315666199,0,0,2.6727939542445225],[16.10094801566515,-4.566644513582801,-0.3462750315666199,0,0,2.934593342043672],[16.10094801566515,-4.566644513582801,-0.3462750315666199,0,0,-3.0867925773367646],[16.10094801566515,-4.566644513582801,-0.3462750315666199,0,0,-2.824993189537615],[16.10094801566515,-4.566644513582801,-0.3462750315666199,0,0,-2.5631938017384654],[16.10094801566515,-4.566644513582801,-0.3462750315666199,0,0,-2.3013944139393163],[16.10094801566515,-4.566644513582801,-0.3462750315666199,0,0,-2.0395950261401667],[13.841873429250136,-9.02720300025393,-0.3462750315666199,0,0,-2.0395950261401667],[11.582798842835121,-13.48776148692506,-0.3462750315666199,0,0,-2.0395950261401667],[11.582798842835121,-13.48776148692506,1.6537249684333801,0,0,-2.0395950261401667],[11.582798842835121,-13.48776148692506,3.65372496843338,0,0,-2.0395950261401667],[11.582798842835121,-13.48776148692506,5.65372496843338,0,0,-2.0395950261401667],[11.582798842835121,-13.48776148692506,7.65372496843338,0,0,-2.0395950261401667],[11.582798842835121,-13.48776148692506,7.65372496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+{"episode_id":"3GLB5JMZF6TB8PVZ3QXVVRVLWOBDGO","trajectory_id":"306W7JMRZ6W0ETU4GTPZJ5VZBDKB8A","scene_id":17,"start_position":[-36.43798828125,-18.10928726196289,9.454816818237305],"start_rotation":[0.99991747525342,0.0,0.0,0.012846893897992638],"instruction":{"instruction_text":"Go along the road until reaching a small red lifter ahead and a \"no turning back\" red and white sign. Turn right to face yellow bicycle parking racks and a green bench, then fly up to the height of train station. Go forward to the station platform, turn left slightly to face another platform, fly to another platform until you see the highest builing, fly towards it to above the street. Fly down to ground, fly towards the green store. Turn left to face the stairs in front of green store, and fly up to the height of railway station. Go ahead through a platform in the train station and reach two railway tracks. Turn right to face the end of the platform on the right, fly through the platform and over the wall, and going toward the nearest white and black building. Land by the white and black building."},"goals":[{"position":[41.02446371355654,29.534109619551504,7.454816818237305]}],"reference_path":[[-36.43798828125,-18.10928726196289,9.454816818237305,0,0,0.02569449461042605],[-31.439638708078263,-17.980828924849597,9.454816818237305,0,0,0.02569449461042605],[-26.441289134906526,-17.852370587736303,9.454816818237305,0,0,0.02569449461042605],[-21.44293956173479,-17.72391225062301,9.454816818237305,0,0,0.02569449461042605],[-16.444589988563052,-17.595453913509715,9.454816818237305,0,0,0.02569449461042605],[-11.446240415391316,-17.46699557639642,9.454816818237305,0,0,0.02569449461042605],[-6.447890842219579,-17.338537239283127,9.454816818237305,0,0,0.02569449461042605],[-1.4495412690478418,-17.210078902169833,9.454816818237305,0,0,0.02569449461042605],[3.548808304123895,-17.08162056505654,9.454816818237305,0,0,0.02569449461042605],[3.548808304123895,-17.08162056505654,9.454816818237305,0,0,0.2874938824095755],[3.548808304123895,-17.08162056505654,9.454816818237305,0,0,0.549293270208725],[3.548808304123895,-17.08162056505654,9.454816818237305,0,0,0.8110926580078743],[3.548808304123895,-17.08162056505654,9.454816818237305,0,0,1.0728920458070237],[3.548808304123895,-17.08162056505654,9.454816818237305,0,0,1.3346914336061733],[3.548808304123895,-17.08162056505654,9.454816818237305,0,0,1.5964908214053226],[3.548808304123895,-17.08162056505654,9.454816818237305,0,0,1.8582902092044722],[3.548808304123895,-17.08162056505654,9.454816818237305,0,0,2.1200895970036218],[3.548808304123895,-17.08162056505654,7.454816818237305,0,0,2.1200895970036218],[3.548808304123895,-17.08162056505654,5.454816818237305,0,0,2.1200895970036218],[3.548808304123895,-17.08162056505654,3.4548168182373047,0,0,2.1200895970036218],[3.548808304123895,-17.08162056505654,3.4548168182373047,0,0,2.381888984802771],[3.548808304123895,-17.08162056505654,1.4548168182373047,0,0,2.381888984802771],[3.548808304123895,-17.08162056505654,-0.5451831817626953,0,0,2.381888984802771],[-0.07639233507948306,-13.638087448398675,-0.5451831817626953,0,0,2.381888984802771],[-3.7015929742828613,-10.194554331740811,-0.5451831817626953,0,0,2.381888984802771],[-7.32679361348624,-6.751021215082947,-0.5451831817626953,0,0,2.381888984802771],[-10.951994252689618,-3.307488098425083,-0.5451831817626953,0,0,2.381888984802771],[-10.951994252689618,-3.307488098425083,-0.5451831817626953,0,0,2.1200895970036213],[-10.951994252689618,-3.307488098425083,-0.5451831817626953,0,0,1.8582902092044722],[-12.369743541726397,1.4872993789753184,-0.5451831817626953,0,0,1.8582902092044722],[-13.787492830763176,6.28208685637572,-0.5451831817626953,0,0,1.8582902092044722],[-15.205242119799955,11.076874333776122,-0.5451831817626953,0,0,1.8582902092044722],[-16.622991408836736,15.871661811176523,-0.5451831817626953,0,0,1.8582902092044722],[-18.040740697873517,20.666449288576924,-0.5451831817626953,0,0,1.8582902092044722],[-19.458489986910298,25.461236765977326,-0.5451831817626953,0,0,1.8582902092044722],[-14.663702509509896,26.878986055014106,-0.5451831817626953,0,0,1.8582902092044722],[-14.663702509509896,26.878986055014106,1.4548168182373047,0,0,1.8582902092044722],[-14.663702509509896,26.878986055014106,3.4548168182373047,0,0,1.8582902092044722],[-14.663702509509896,26.878986055014106,5.454816818237305,0,0,1.8582902092044722],[-14.663702509509896,26.878986055014106,7.454816818237305,0,0,1.8582902092044722],[-14.663702509509896,26.878986055014106,7.454816818237305,0,0,1.5964908214053228],[-14.663702509509896,26.878986055014106,7.454816818237305,0,0,1.3346914336061733],[-14.663702509509896,26.878986055014106,7.454816818237305,0,0,1.072892045807024],[-14.663702509509896,26.878986055014106,7.454816818237305,0,0,0.8110926580078746],[-14.663702509509896,26.878986055014106,7.454816818237305,0,0,0.5492932702087252],[-14.663702509509896,26.878986055014106,7.454816818237305,0,0,0.28749388240957574],[-14.663702509509896,26.878986055014106,7.454816818237305,0,0,0.02569449461042633],[-14.663702509509896,26.878986055014106,7.454816818237305,0,0,-0.2361048931887231],[-14.663702509509896,26.878986055014106,7.454816818237305,0,0,-0.49790428098787254],[-14.663702509509896,26.878986055014106,5.454816818237305,0,0,-0.49790428098787254],[-14.663702509509896,26.878986055014106,3.4548168182373047,0,0,-0.49790428098787254],[-14.663702509509896,26.878986055014106,1.4548168182373047,0,0,-0.49790428098787254],[-14.663702509509896,26.878986055014106,-0.5451831817626953,0,0,-0.49790428098787254],[-10.27077563359142,24.491059451696255,-0.5451831817626953,0,0,-0.49790428098787254],[-5.877848757672942,22.103132848378404,-0.5451831817626953,0,0,-0.49790428098787254],[-1.484921881754465,19.715206245060553,-0.5451831817626953,0,0,-0.49790428098787254],[2.9080049941640125,17.327279641742702,-0.5451831817626953,0,0,-0.49790428098787254],[2.9080049941640125,17.327279641742702,-0.5451831817626953,0,0,-0.759703668787022],[6.533205633367391,13.88374652508484,-0.5451831817626953,0,0,-0.759703668787022],[10.15840627257077,10.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+{"episode_id":"3G0WWMR1U4IB7QGQVGGALABHGGXNQO","trajectory_id":"3VDI8GSXBNRW5A2FWFHDKGMWRQC8GO","scene_id":17,"start_position":[-76.38756561279297,5.395530700683594,0.2654390335083008],"start_rotation":[0.9999963011217795,0.0,0.0,-0.0027198791810060996],"instruction":{"instruction_text":"Fly forward along the track on the left to a block-shape building in black and white color, and move left  over the short wall near the track. Move left to face the street, turn slightly right to face the street, descend to second floor height and fly to the left side of the street with a gray house and a red shed. Fly forward along the road until reaching a green \"bookstore\" sign on left, and land by the bookstore building."},"goals":[{"position":[-13.722525107587401,-19.45222627212799,8.2654390335083]}],"reference_path":[[-76.38756561279297,5.395530700683594,0.2654390335083008,0,0,-0.005439765069023366],[-76.38756561279297,5.395530700683594,0.2654390335083008,0,0,-0.2672391528681728],[-71.56504747734122,4.075182703661947,0.2654390335083008,0,0,-0.2672391528681728],[-66.74252934188948,2.7548347066403007,0.2654390335083008,0,0,-0.2672391528681728],[-61.92001120643774,1.434486709618654,0.2654390335083008,0,0,-0.2672391528681728],[-61.92001120643774,1.434486709618654,0.2654390335083008,0,0,-0.5290385406673223],[-57.60354759944967,-1.0890310592008048,0.2654390335083008,0,0,-0.5290385406673223],[-53.287083992461596,-3.6125488280202633,0.2654390335083008,0,0,-0.5290385406673223],[-48.970620385473524,-6.136066596839722,0.2654390335083008,0,0,-0.5290385406673223],[-44.65415677848545,-8.659584365659182,0.2654390335083008,0,0,-0.5290385406673223],[-47.17767454730491,-12.976047972647251,0.2654390335083008,0,0,-0.5290385406673223],[-42.86121094031684,-15.49956574146671,0.2654390335083008,0,0,-0.5290385406673223],[-38.544747333328765,-18.02308351028617,0.2654390335083008,0,0,-0.5290385406673223],[-38.544747333328765,-18.02308351028617,0.2654390335083008,0,0,-0.26723915286817285],[-33.72222919787703,-19.343431507307816,0.2654390335083008,0,0,-0.26723915286817285],[-33.72222919787703,-19.343431507307816,2.265439033508301,0,0,-0.26723915286817285],[-33.72222919787703,-19.343431507307816,4.265439033508301,0,0,-0.26723915286817285],[-33.72222919787703,-19.343431507307816,4.265439033508301,0,0,-0.0054397650690234155],[-28.72230317530462,-19.37063019851286,4.265439033508301,0,0,-0.0054397650690234155],[-28.72230317530462,-19.37063019851286,6.265439033508301,0,0,-0.0054397650690234155],[-23.722377152732214,-19.397828889717903,6.265439033508301,0,0,-0.0054397650690234155],[-18.722451130159808,-19.425027580922947,6.265439033508301,0,0,-0.0054397650690234155],[-13.722525107587401,-19.45222627212799,6.265439033508301,0,0,-0.0054397650690234155],[-13.722525107587401,-19.45222627212799,8.2654390335083,0,0,-0.0054397650690234155]],"actions":[2,1,1,1,2,1,1,1,1,6,1,1,3,1,5,5,3,1,5,1,1,1,5,0]},
+{"episode_id":"3FTYUGLFS3JDSS6FMUE4RU4W6HED5R","trajectory_id":"3NCN4N1H2OFLH0H8MVEI12LU08JNBA","scene_id":17,"start_position":[37.31625747680664,-14.892377853393555,9.454816818237305],"start_rotation":[0.9999440376440739,0.0,0.0,0.010579299601908024],"instruction":{"instruction_text":"Lift off until you can see railway tracks, turn right to face the railway platform, and head towards the platform. Turn right to face the tan and black building and head straight until reaching the building. Fly down to the road, turn left to face the T-junction, and head straight until reaching it. Land at the T-junction."},"goals":[{"position":[-11.209039367928485,-10.19268389193639,7.454816818237305]}],"reference_path":[[37.31625747680664,-14.892377853393555,9.454816818237305,0,0,0.02115899390767133],[37.31625747680664,-14.892377853393555,7.454816818237305,0,0,0.02115899390767133],[37.31625747680664,-14.892377853393555,5.454816818237305,0,0,0.02115899390767133],[37.31625747680664,-14.892377853393555,3.4548168182373047,0,0,0.02115899390767133],[37.31625747680664,-14.892377853393555,1.4548168182373047,0,0,0.02115899390767133],[37.31625747680664,-14.892377853393555,-0.5451831817626953,0,0,0.02115899390767133],[37.31625747680664,-14.892377853393555,-0.5451831817626953,0,0,0.28295838170682075],[37.31625747680664,-14.892377853393555,-0.5451831817626953,0,0,0.5447577695059702],[37.31625747680664,-14.892377853393555,-0.5451831817626953,0,0,0.8065571573051196],[37.31625747680664,-14.892377853393555,-0.5451831817626953,0,0,1.068356545104269],[37.31625747680664,-14.892377853393555,-0.5451831817626953,0,0,1.3301559329034185],[37.31625747680664,-14.892377853393555,-0.5451831817626953,0,0,1.5919553207025678],[37.31625747680664,-14.892377853393555,-0.5451831817626953,0,0,1.8537547085017174],[37.31625747680664,-14.892377853393555,-0.5451831817626953,0,0,2.1155540963008668],[34.7252027898507,-10.616113641583949,-0.5451831817626953,0,0,2.1155540963008668],[32.134148102894756,-6.339849429774343,-0.5451831817626953,0,0,2.1155540963008668],[32.134148102894756,-6.339849429774343,-0.5451831817626953,0,0,2.3773534841000163],[28.524602843530026,-2.879909687438128,-0.5451831817626953,0,0,2.3773534841000163],[28.524602843530026,-2.879909687438128,-0.5451831817626953,0,0,2.6391528718991655],[24.14255155612664,-0.472083590194742,-0.5451831817626953,0,0,2.6391528718991655],[24.14255155612664,-0.472083590194742,-0.5451831817626953,0,0,2.900952259698315],[24.14255155612664,-0.472083590194742,-0.5451831817626953,0,0,-3.120433659682122],[24.14255155612664,-0.472083590194742,-0.5451831817626953,0,0,-2.858634271882973],[19.341383214017725,-1.8680716097461794,-0.5451831817626953,0,0,-2.858634271882973],[14.54021487190881,-3.2640596292976167,-0.5451831817626953,0,0,-2.858634271882973],[9.739046529799896,-4.660047648849054,-0.5451831817626953,0,0,-2.858634271882973],[9.739046529799896,-4.660047648849054,-0.5451831817626953,0,0,-2.5968348840838233],[5.462782317990291,-7.251102335804998,-0.5451831817626953,0,0,-2.5968348840838233],[5.462782317990291,-7.251102335804998,1.4548168182373047,0,0,-2.5968348840838233],[5.462782317990291,-7.251102335804998,1.4548168182373047,0,0,-2.858634271882973],[5.462782317990291,-7.251102335804998,1.4548168182373047,0,0,-3.1204336596821225],[5.462782317990291,-7.251102335804998,3.4548168182373047,0,0,-3.1204336596821225],[5.462782317990291,-7.251102335804998,3.4548168182373047,0,0,-2.858634271882973],[0.6616139758813766,-8.647090355356436,3.4548168182373047,0,0,-2.858634271882973],[0.6616139758813766,-8.647090355356436,3.4548168182373047,0,0,-2.5968348840838233],[0.6616139758813766,-8.647090355356436,3.4548168182373047,0,0,-2.335035496284674],[0.6616139758813766,-8.647090355356436,1.4548168182373047,0,0,-2.335035496284674],[0.6616139758813766,-8.647090355356436,-0.5451831817626953,0,0,-2.335035496284674],[0.6616139758813766,-8.647090355356436,-2.5451831817626953,0,0,-2.335035496284674],[-2.798325766454841,-12.256635614721166,-2.5451831817626953,0,0,-2.335035496284674],[-2.798325766454841,-12.256635614721166,-2.5451831817626953,0,0,-2.5968348840838233],[-2.798325766454841,-12.256635614721166,-2.5451831817626953,0,0,-2.858634271882973],[-2.798325766454841,-12.256635614721166,-0.5451831817626953,0,0,-2.858634271882973],[-2.798325766454841,-12.256635614721166,1.4548168182373047,0,0,-2.858634271882973],[-2.798325766454841,-12.256635614721166,3.4548168182373047,0,0,-2.858634271882973],[-2.798325766454841,-12.256635614721166,3.4548168182373047,0,0,-3.1204336596821225],[-2.798325766454841,-12.256635614721166,5.454816818237305,0,0,-3.1204336596821225],[-2.798325766454841,-12.256635614721166,5.454816818237305,0,0,2.9009522596983146],[-3.9899488491990223,-17.112563376608822,5.454816818237305,0,0,2.9009522596983146],[-3.9899488491990223,-17.112563376608822,5.454816818237305,0,0,2.6391528718991655],[-3.9899488491990223,-17.112563376608822,5.454816818237305,0,0,2.3773534841000163],[-7.5994941085637535,-13.652623634272606,5.454816818237305,0,0,2.3773534841000163],[-11.209039367928485,-10.19268389193639,5.454816818237305,0,0,2.3773534841000163],[-11.209039367928485,-10.19268389193639,7.454816818237305,0,0,2.3773534841000163]],"actions":[4,4,4,4,4,3,3,3,3,3,3,3,3,1,1,3,1,3,1,3,3,3,1,1,1,3,1,5,2,2,5,3,1,3,3,4,4,4,1,2,2,5,5,5,2,5,2,7,2,2,1,1,5,0]},
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Go forward to the stair's right and stop there."},"goals":[{"position":[34.039861786044256,29.656721909075834,5.454816818237305]}],"reference_path":[[-11.240157127380371,18.384098052978516,9.454816818237305,0,0,0.006656409216750475],[-11.240157127380371,18.384098052978516,9.454816818237305,0,0,0.2684557970158999],[-11.240157127380371,18.384098052978516,9.454816818237305,0,0,0.5302551848150493],[-11.240157127380371,18.384098052978516,9.454816818237305,0,0,0.7920545726141988],[-11.240157127380371,18.384098052978516,9.454816818237305,0,0,1.0538539604133483],[-8.769035396456449,22.73077004324366,9.454816818237305,0,0,1.0538539604133483],[-8.769035396456449,22.73077004324366,9.454816818237305,0,0,0.7920545726141989],[-5.257113602758587,26.28975941031825,9.454816818237305,0,0,0.7920545726141989],[-5.257113602758587,26.28975941031825,9.454816818237305,0,0,0.5302551848150495],[-5.257113602758587,26.28975941031825,9.454816818237305,0,0,0.2684557970159001],[-5.257113602758587,26.28975941031825,9.454816818237305,0,0,0.006656409216750681],[-5.257113602758587,26.28975941031825,9.454816818237305,0,0,-0.25514297858239876],[-5.257113602758587,26.28975941031825,9.454816818237305,0,0,-0.5169423663815482],[-5.257113602758587,26.28975941031825,7.454816818237305,0,0,-0.5169423663815482],[-5.257113602758587,26.28975941031825,7.454816818237305,0,0,-0.7787417541806977],[-5.257113602758587,26.28975941031825,5.454816818237305,0,0,-0.7787417541806977],[-5.257113602758587,26.28975941031825,3.4548168182373047,0,0,-0.7787417541806977],[-5.257113602758587,26.28975941031825,1.4548168182373047,0,0,-0.7787417541806977],[-5.257113602758587,26.28975941031825,-0.5451831817626953,0,0,-0.7787417541806977],[-1.6981242356839967,22.77783761662039,-0.5451831817626953,0,0,-0.7787417541806977],[1.860865131390594,19.265915822922526,-0.5451831817626953,0,0,-0.7787417541806977],[5.419854498465185,15.753994029224666,-0.5451831817626953,0,0,-0.7787417541806977],[1.9079327047673234,12.195004662150076,-0.5451831817626953,0,0,-0.7787417541806977],[5.466922071841914,8.683082868452216,-0.5451831817626953,0,0,-0.7787417541806977],[9.025911438916506,5.171161074754355,-0.5451831817626953,0,0,-0.7787417541806977],[9.025911438916506,5.171161074754355,-0.5451831817626953,0,0,-1.0405411419798472],[9.025911438916506,5.171161074754355,-0.5451831817626953,0,0,-0.7787417541806978],[9.025911438916506,5.171161074754355,-0.5451831817626953,0,0,-0.5169423663815484],[9.025911438916506,5.171161074754355,-0.5451831817626953,0,0,-0.25514297858239904],[9.025911438916506,5.171161074754355,-0.5451831817626953,0,0,0.006656409216750402],[9.025911438916506,5.171161074754355,-0.5451831817626953,0,0,0.26845579701589983],[9.025911438916506,5.171161074754355,-0.5451831817626953,0,0,0.5302551848150492],[9.025911438916506,5.171161074754355,-0.5451831817626953,0,0,0.7920545726141986],[9.025911438916506,5.171161074754355,-0.5451831817626953,0,0,1.0538539604133483],[9.025911438916506,5.171161074754355,-0.5451831817626953,0,0,1.3156533482124977],[10.28783024482577,10.009297175288582,-0.5451831817626953,0,0,1.3156533482124977],[10.28783024482577,10.009297175288582,-0.5451831817626953,0,0,1.5774527360116473],[10.254548444517088,15.009186406238426,-0.5451831817626953,0,0,1.5774527360116473],[10.254548444517088,15.009186406238426,-0.5451831817626953,0,0,1.3156533482124981],[11.51646725042635,19.847322506772652,-0.5451831817626953,0,0,1.3156533482124981],[12.778386056335613,24.685458607306877,-0.5451831817626953,0,0,1.3156533482124981],[14.040304862244875,29.523594707841106,-0.5451831817626953,0,0,1.3156533482124981],[14.040304862244875,29.523594707841106,-0.5451831817626953,0,0,1.0538539604133488],[14.040304862244875,29.523594707841106,-0.5451831817626953,0,0,0.7920545726141994],[14.040304862244875,29.523594707841106,-0.5451831817626953,0,0,0.53025518481505],[14.040304862244875,29.523594707841106,-0.5451831817626953,0,0,0.26845579701590055],[14.040304862244875,29.523594707841106,-0.5451831817626953,0,0,0.006656409216751115],[19.04019409319472,29.556876508149788,-0.5451831817626953,0,0,0.006656409216751115],[24.040083324144565,29.59015830845847,-0.5451831817626953,0,0,0.006656409216751115],[29.03997255509441,29.623440108767152,-0.5451831817626953,0,0,0.006656409216751115],[34.039861786044256,29.656721909075834,-0.5451831817626953,0,0,0.006656409216751115],[34.039861786044256,29.656721909075834,1.4548168182373047,0,0,0.006656409216751115],[34.039861786044256,29.656721909075834,3.4548168182373047,0,0,0.006656409216751115],[34.039861786044256,29.656721909075834,5.454816818237305,0,0,0.006656409216751115]],"actions":[3,3,3,3,1,2,1,2,2,2,2,2,4,2,4,4,4,4,1,1,1,6,1,1,2,3,3,3,3,3,3,3,3,3,1,3,1,2,1,1,1,2,2,2,2,2,1,1,1,1,5,5,5,0]},
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+{"episode_id":"32SVAV9L3O7CG6GZO1Z9MWY67D53AU","trajectory_id":"3WRBLBQ2HZ6ENLXC1B4YR1GE8S0G09","scene_id":17,"start_position":[10.812918663024902,38.59276580810547,0.9422487616539001],"start_rotation":[0.9998007133548931,0.0,0.0,-0.019963305714406084],"instruction":{"instruction_text":"Lift up to the top floor height of the orange building ahead, and turn left to face the railway station. Fly over the railway station. Fly down close to the sidewalk and turn right to face the road. Go to a T-junction, then turn left to face a yellow house and land near it."},"goals":[{"position":[40.29347177424175,-14.969688907797874,6.9422487616539]}],"reference_path":[[10.812918663024902,38.59276580810547,0.9422487616539001,0,0,-0.03992926392040321],[10.812918663024902,38.59276580810547,-1.0577512383460999,0,0,-0.03992926392040321],[10.812918663024902,38.59276580810547,-3.0577512383461,0,0,-0.03992926392040321],[10.812918663024902,38.59276580810547,-3.0577512383461,0,0,-0.30172865171955265],[10.812918663024902,38.59276580810547,-3.0577512383461,0,0,-0.5635280395187021],[10.812918663024902,38.59276580810547,-3.0577512383461,0,0,-0.8253274273178516],[10.812918663024902,38.59276580810547,-3.0577512383461,0,0,-1.087126815117001],[10.812918663024902,38.59276580810547,-3.0577512383461,0,0,-1.3489262029161504],[11.91319011065606,33.71532767507624,-3.0577512383461,0,0,-1.3489262029161504],[11.91319011065606,33.71532767507624,-5.0577512383461,0,0,-1.3489262029161504],[13.013461558287219,28.837889542047012,-5.0577512383461,0,0,-1.3489262029161504],[14.113733005918377,23.960451409017786,-5.0577512383461,0,0,-1.3489262029161504],[15.214004453549535,19.08301327598856,-5.0577512383461,0,0,-1.3489262029161504],[16.314275901180693,14.205575142959333,-5.0577512383461,0,0,-1.3489262029161504],[17.41454734881185,9.328137009930106,-5.0577512383461,0,0,-1.3489262029161504],[17.41454734881185,9.328137009930106,-5.0577512383461,0,0,-1.087126815117001],[17.41454734881185,9.328137009930106,-5.0577512383461,0,0,-1.3489262029161504],[18.51481879644301,4.450698876900879,-5.0577512383461,0,0,-1.3489262029161504],[18.51481879644301,4.450698876900879,-5.0577512383461,0,0,-1.6107255907153],[18.31522552350116,-0.5453157873486525,-5.0577512383461,0,0,-1.6107255907153],[18.115632250559308,-5.541330451598184,-5.0577512383461,0,0,-1.6107255907153],[18.115632250559308,-5.541330451598184,-5.0577512383461,0,0,-1.8725249785144493],[16.629776208751956,-10.315451504004018,-5.0577512383461,0,0,-1.8725249785144493],[16.629776208751956,-10.315451504004018,-5.0577512383461,0,0,-2.134324366313599],[16.629776208751956,-10.315451504004018,-5.0577512383461,0,0,-2.396123754112748],[16.629776208751956,-10.315451504004018,-3.0577512383461,0,0,-2.396123754112748],[16.629776208751956,-10.315451504004018,-1.0577512383460999,0,0,-2.396123754112748],[16.629776208751956,-10.315451504004018,0.9422487616539001,0,0,-2.396123754112748],[16.629776208751956,-10.315451504004018,0.9422487616539001,0,0,-2.134324366313599],[16.629776208751956,-10.315451504004018,0.9422487616539001,0,0,-1.8725249785144495],[11.855655156346122,-8.829595462196664,0.9422487616539001,0,0,-1.8725249785144495],[11.855655156346122,-8.829595462196664,0.9422487616539001,0,0,-1.6107255907153004],[11.855655156346122,-8.829595462196664,0.9422487616539001,0,0,-1.3489262029161513],[11.855655156346122,-8.829595462196664,0.9422487616539001,0,0,-1.087126815117002],[11.855655156346122,-8.829595462196664,0.9422487616539001,0,0,-0.8253274273178525],[11.855655156346122,-8.829595462196664,0.9422487616539001,0,0,-0.5635280395187031],[11.855655156346122,-8.829595462196664,0.9422487616539001,0,0,-0.3017286517195537],[11.855655156346122,-8.829595462196664,0.9422487616539001,0,0,-0.03992926392040427],[11.855655156346122,-8.829595462196664,2.9422487616539,0,0,-0.03992926392040427],[16.851669820595653,-9.02918873513852,2.9422487616539,0,0,-0.03992926392040427],[21.847684484845185,-9.228782008080376,2.9422487616539,0,0,-0.03992926392040427],[21.847684484845185,-9.228782008080376,4.9422487616539,0,0,-0.03992926392040427],[26.843699149094718,-9.428375281022232,4.9422487616539,0,0,-0.03992926392040427],[31.83971381334425,-9.627968553964088,4.9422487616539,0,0,-0.03992926392040427],[31.83971381334425,-9.627968553964088,4.9422487616539,0,0,-0.3017286517195537],[31.83971381334425,-9.627968553964088,4.9422487616539,0,0,-0.5635280395187031],[36.066592793793,-12.298828730880981,4.9422487616539,0,0,-0.5635280395187031],[40.29347177424175,-14.969688907797874,4.9422487616539,0,0,-0.5635280395187031],[40.29347177424175,-14.969688907797874,6.9422487616539,0,0,-0.5635280395187031]],"actions":[4,4,2,2,2,2,2,1,4,1,1,1,1,1,3,2,1,2,1,1,2,1,2,2,5,5,5,3,3,6,3,3,3,3,3,3,3,5,1,1,5,1,1,2,2,1,1,5,0]},
+{"episode_id":"3X31TUMD76KX2MTOYOAG7HZK38SL1A","trajectory_id":"3JMQI2OLG73EWXFS0R5OWS9U3TVDN7","scene_id":17,"start_position":[-21.153654098510742,24.07201385498047,8.570941925048828],"start_rotation":[0.9996625742901354,0.0,0.0,-0.02597571103202915],"instruction":{"instruction_text":"Turn left to face the tunnel's end and go through the tunnel to a intersection. Turn right to face the road and fly forward to the bus station on the right side. Turn left at the bus station to face the green \"new&old\" store."},"goals":[{"position":[4.2889898562090565,-12.923468404027702,8.570941925048828]}],"reference_path":[[-21.153654098510742,24.07201385498047,8.570941925048828,0,0,-0.051957266101326754],[-21.153654098510742,24.07201385498047,8.570941925048828,0,0,-0.3137566539004762],[-16.39774983354385,22.528843539535767,8.570941925048828,0,0,-0.3137566539004762],[-16.39774983354385,22.528843539535767,8.570941925048828,0,0,-0.5755560416996257],[-16.39774983354385,22.528843539535767,8.570941925048828,0,0,-0.8373554294987752],[-16.39774983354385,22.528843539535767,8.570941925048828,0,0,-1.0991548172979246],[-14.126003871688468,18.07472518852692,8.570941925048828,0,0,-1.0991548172979246],[-14.126003871688468,18.07472518852692,8.570941925048828,0,0,-1.360954205097074],[-14.126003871688468,18.07472518852692,8.570941925048828,0,0,-1.6227535928962233],[-14.385673333281417,13.081472564163114,8.570941925048828,0,0,-1.6227535928962233],[-14.645342794874367,8.088219939799309,8.570941925048828,0,0,-1.6227535928962233],[-14.905012256467316,3.094967315435504,8.570941925048828,0,0,-1.6227535928962233],[-15.164681718060265,-1.8982853089283012,8.570941925048828,0,0,-1.6227535928962233],[-15.424351179653215,-6.891537933292106,8.570941925048828,0,0,-1.6227535928962233],[-15.684020641246164,-11.884790557655911,8.570941925048828,0,0,-1.6227535928962233],[-15.684020641246164,-11.884790557655911,8.570941925048828,0,0,-1.3609542050970738],[-15.684020641246164,-11.884790557655911,8.570941925048828,0,0,-1.0991548172979242],[-15.684020641246164,-11.884790557655911,8.570941925048828,0,0,-0.8373554294987748],[-15.684020641246164,-11.884790557655911,8.570941925048828,0,0,-0.5755560416996253],[-15.684020641246164,-11.884790557655911,8.570941925048828,0,0,-0.31375665390047586],[-15.684020641246164,-11.884790557655911,8.570941925048828,0,0,-0.05195726610132643],[-10.690768016882359,-12.144460019248859,8.570941925048828,0,0,-0.05195726610132643],[-5.697515392518554,-12.404129480841807,8.570941925048828,0,0,-0.05195726610132643],[-0.7042627681547486,-12.663798942434754,8.570941925048828,0,0,-0.05195726610132643],[-0.7042627681547486,-12.663798942434754,8.570941925048828,0,0,0.20984212169782301],[-0.7042627681547486,-12.663798942434754,8.570941925048828,0,0,0.4716415094969724],[-0.7042627681547486,-12.663798942434754,8.570941925048828,0,0,0.20984212169782301],[-0.7042627681547486,-12.663798942434754,8.570941925048828,0,0,-0.0519572661013264],[4.2889898562090565,-12.923468404027702,8.570941925048828,0,0,-0.0519572661013264],[4.2889898562090565,-12.923468404027702,8.570941925048828,0,0,-0.31375665390047586],[4.2889898562090565,-12.923468404027702,8.570941925048828,0,0,-0.5755560416996253],[4.2889898562090565,-12.923468404027702,8.570941925048828,0,0,-0.8373554294987747],[4.2889898562090565,-12.923468404027702,8.570941925048828,0,0,-1.0991548172979242],[4.2889898562090565,-12.923468404027702,8.570941925048828,0,0,-1.3609542050970738],[4.2889898562090565,-12.923468404027702,8.570941925048828,0,0,-1.6227535928962231],[4.2889898562090565,-12.923468404027702,8.570941925048828,0,0,-1.8845529806953725],[4.2889898562090565,-12.923468404027702,8.570941925048828,0,0,-2.146352368494522],[4.2889898562090565,-12.923468404027702,8.570941925048828,0,0,-2.4081517562936714]],"actions":[2,1,2,2,2,1,2,2,1,1,1,1,1,1,3,3,3,3,3,3,1,1,1,3,3,2,2,1,2,2,2,2,2,2,2,2,2,0]},
+{"episode_id":"39LNWE0K43UBLICGF9NNQ3CPXZFUIK","trajectory_id":"35O6H0UNM0EN9U9E6NVD594LHSS5JN","scene_id":17,"start_position":[38.353118896484375,-4.5567545890808105,-0.3462750315666199],"start_rotation":[0.9999512390469685,0.0,0.0,0.00987519764016896],"instruction":{"instruction_text":"Turn back to face the nearby train platform, then fly onto the platform and turn left face the orange building, fly pass through the train station to the building. Go ahead in front of the orange building and turn right facing the road, go ahead until reaching a red board and turn around. Turn back to face the road and land there."},"goals":[{"position":[-1.693344947115822,31.906911039969135,5.65372496843338]}],"reference_path":[[38.353118896484375,-4.5567545890808105,-0.3462750315666199,0,0,0.019750716302631477],[38.353118896484375,-4.5567545890808105,-2.34627503156662,0,0,0.019750716302631477],[38.353118896484375,-4.5567545890808105,-2.34627503156662,0,0,0.28155010410178094],[38.353118896484375,-4.5567545890808105,-2.34627503156662,0,0,0.5433494919009304],[38.353118896484375,-4.5567545890808105,-2.34627503156662,0,0,0.8051488797000799],[38.353118896484375,-4.5567545890808105,-2.34627503156662,0,0,1.0669482674992294],[38.353118896484375,-4.5567545890808105,-2.34627503156662,0,0,1.3287476552983788],[38.353118896484375,-4.5567545890808105,-2.34627503156662,0,0,1.5905470430975281],[38.353118896484375,-4.5567545890808105,-2.34627503156662,0,0,1.8523464308966773],[38.353118896484375,-4.5567545890808105,-2.34627503156662,0,0,2.1141458186958264],[38.353118896484375,-4.5567545890808105,-2.34627503156662,0,0,2.3759452064949755],[38.353118896484375,-4.5567545890808105,-2.34627503156662,0,0,2.637744594294125],[38.353118896484375,-4.5567545890808105,-2.34627503156662,0,0,2.8995439820932747],[33.498874085391506,-3.3582941959188193,-2.34627503156662,0,0,2.8995439820932747],[28.64462927429864,-2.159833802756828,-2.34627503156662,0,0,2.8995439820932747],[23.790384463205775,-0.9613734095948367,-2.34627503156662,0,0,2.8995439820932747],[23.790384463205775,-0.9613734095948367,-2.34627503156662,0,0,2.637744594294125],[23.790384463205775,-0.9613734095948367,-2.34627503156662,0,0,2.3759452064949755],[23.790384463205775,-0.9613734095948367,-2.34627503156662,0,0,2.1141458186958264],[23.790384463205775,-0.9613734095948367,-2.34627503156662,0,0,1.8523464308966768],[23.790384463205775,-0.9613734095948367,-2.34627503156662,0,0,1.5905470430975275],[23.691637302044573,4.0376513951208395,-2.34627503156662,0,0,1.5905470430975275],[23.59289014088337,9.036676199836515,-2.34627503156662,0,0,1.5905470430975275],[23.494142979722167,14.035701004552191,-2.34627503156662,0,0,1.5905470430975275],[23.395395818560964,19.03472580926787,-2.34627503156662,0,0,1.5905470430975275],[23.29664865739976,24.033750613983543,-2.34627503156662,0,0,1.5905470430975275],[23.29664865739976,24.033750613983543,-2.34627503156662,0,0,1.8523464308966768],[21.9074233977611,28.836880133159752,-2.34627503156662,0,0,1.8523464308966768],[21.9074233977611,28.836880133159752,-0.3462750315666199,0,0,1.8523464308966768],[21.9074233977611,28.836880133159752,1.6537249684333801,0,0,1.8523464308966768],[21.9074233977611,28.836880133159752,3.65372496843338,0,0,1.8523464308966768],[21.9074233977611,28.836880133159752,1.6537249684333801,0,0,1.8523464308966768],[21.9074233977611,28.836880133159752,1.6537249684333801,0,0,2.1141458186958264],[21.9074233977611,28.836880133159752,1.6537249684333801,0,0,2.3759452064949755],[18.30275427174688,32.30189968461396,1.6537249684333801,0,0,2.3759452064949755],[18.30275427174688,32.30189968461396,1.6537249684333801,0,0,2.637744594294125],[18.30275427174688,32.30189968461396,1.6537249684333801,0,0,2.8995439820932747],[18.30275427174688,32.30189968461396,1.6537249684333801,0,0,-3.1218419372871624],[13.303729467031205,32.20315252345275,1.6537249684333801,0,0,-3.1218419372871624],[8.30470466231553,32.104405362291544,1.6537249684333801,0,0,-3.1218419372871624],[3.305679857599854,32.00565820113034,1.6537249684333801,0,0,-3.1218419372871624],[3.305679857599854,32.00565820113034,3.65372496843338,0,0,-3.1218419372871624],[3.305679857599854,32.00565820113034,5.65372496843338,0,0,-3.1218419372871624],[-1.693344947115822,31.906911039969135,5.65372496843338,0,0,-3.1218419372871624],[-1.693344947115822,31.906911039969135,5.65372496843338,0,0,2.8995439820932742],[-1.693344947115822,31.906911039969135,5.65372496843338,0,0,2.637744594294125],[-1.693344947115822,31.906911039969135,5.65372496843338,0,0,2.3759452064949755],[-1.693344947115822,31.906911039969135,5.65372496843338,0,0,2.1141458186958264],[-1.693344947115822,31.906911039969135,5.65372496843338,0,0,1.8523464308966768],[-1.693344947115822,31.906911039969135,5.65372496843338,0,0,1.5905470430975275],[-1.693344947115822,31.906911039969135,5.65372496843338,0,0,1.3287476552983781],[-1.693344947115822,31.906911039969135,5.65372496843338,0,0,1.0669482674992286],[-1.693344947115822,31.906911039969135,5.65372496843338,0,0,0.8051488797000792],[-1.693344947115822,31.906911039969135,5.65372496843338,0,0,1.0669482674992288],[-1.693344947115822,31.906911039969135,5.65372496843338,0,0,1.3287476552983781],[-1.693344947115822,31.906911039969135,5.65372496843338,0,0,1.5905470430975275],[-1.693344947115822,31.906911039969135,5.65372496843338,0,0,1.8523464308966768],[-1.693344947115822,31.906911039969135,5.65372496843338,0,0,2.1141458186958264],[-1.693344947115822,31.906911039969135,5.65372496843338,0,0,2.3759452064949755],[-1.693344947115822,31.906911039969135,5.65372496843338,0,0,2.637744594294125],[-1.693344947115822,31.906911039969135,5.6537249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+{"episode_id":"3ZPPDN2SL4U1LLMRLF259SRJSLME9S","trajectory_id":"3MDWE879VP00SYDELLVDJ1QAVJ2B9Z","scene_id":17,"start_position":[-78.37213134765625,-17.36115264892578,9.454816818237305],"start_rotation":[0.9997673384845348,0.0,0.0,0.021570092710734158],"instruction":{"instruction_text":"Fly up to the height of the roof of the building on your right. Turn right to face the tracks, fly towards to the tracks. Turn left to face the left platform, fly forward to the left side of the platform, move left out of the short wall, fly down to the street until reaching the green store. Turn to the tunnel and go through it to the green \"used clothes\" store."},"goals":[{"position":[-12.685491637590802,25.27795703852525,9.454816818237305]}],"reference_path":[[-78.37213134765625,-17.36115264892578,9.454816818237305,0,0,0.04314353141983694],[-78.37213134765625,-17.36115264892578,7.454816818237305,0,0,0.04314353141983694],[-78.37213134765625,-17.36115264892578,5.454816818237305,0,0,0.04314353141983694],[-78.37213134765625,-17.36115264892578,3.4548168182373047,0,0,0.04314353141983694],[-78.37213134765625,-17.36115264892578,1.4548168182373047,0,0,0.04314353141983694],[-78.37213134765625,-17.36115264892578,-0.5451831817626953,0,0,0.04314353141983694],[-78.37213134765625,-17.36115264892578,-0.5451831817626953,0,0,0.30494291921898636],[-78.37213134765625,-17.36115264892578,-0.5451831817626953,0,0,0.5667423070181358],[-78.37213134765625,-17.36115264892578,-0.5451831817626953,0,0,0.8285416948172852],[-74.99237549155961,-13.676420589035875,-0.5451831817626953,0,0,0.8285416948172852],[-74.99237549155961,-13.676420589035875,-0.5451831817626953,0,0,1.0903410826164346],[-72.68146085680351,-9.242497546078313,-0.5451831817626953,0,0,1.0903410826164346],[-72.68146085680351,-9.242497546078313,-0.5451831817626953,0,0,0.8285416948172851],[-72.68146085680351,-9.242497546078313,-0.5451831817626953,0,0,0.5667423070181358],[-68.4631885556487,-6.558064869829918,-0.5451831817626953,0,0,0.5667423070181358],[-64.24491625449389,-3.873632193581523,-0.5451831817626953,0,0,0.5667423070181358],[-60.02664395333908,-1.1891995173331278,-0.5451831817626953,0,0,0.5667423070181358],[-55.80837165218428,1.4952331589152674,-0.5451831817626953,0,0,0.5667423070181358],[-51.59009935102947,4.179665835163663,-0.5451831817626953,0,0,0.5667423070181358],[-51.59009935102947,4.179665835163663,-0.5451831817626953,0,0,0.30494291921898636],[-51.59009935102947,4.179665835163663,-0.5451831817626953,0,0,0.04314353141983695],[-51.59009935102947,4.179665835163663,-0.5451831817626953,0,0,-0.21865585637931248],[-46.70914985297753,3.0950774351397077,-0.5451831817626953,0,0,-0.21865585637931248],[-41.82820035492559,2.0104890351157527,-0.5451831817626953,0,0,-0.21865585637931248],[-36.94725085687365,0.9259006350917978,-0.5451831817626953,0,0,-0.21865585637931248],[-32.06630135882171,-0.1586877649321572,-0.5451831817626953,0,0,-0.21865585637931248],[-27.18535186076977,-1.2432761649561122,-0.5451831817626953,0,0,-0.21865585637931248],[-22.30440236271783,-2.327864564980067,-0.5451831817626953,0,0,-0.21865585637931248],[-22.30440236271783,-2.327864564980067,-0.5451831817626953,0,0,-0.4804552441784619],[-17.87047931976027,-4.638779199736176,-0.5451831817626953,0,0,-0.4804552441784619],[-17.87047931976027,-4.638779199736176,-0.5451831817626953,0,0,-0.7422546319776113],[-14.185747259870364,-8.018535055832809,-0.5451831817626953,0,0,-0.7422546319776113],[-14.185747259870364,-8.018535055832809,1.4548168182373047,0,0,-0.7422546319776113],[-14.185747259870364,-8.018535055832809,3.4548168182373047,0,0,-0.7422546319776113],[-14.185747259870364,-8.018535055832809,5.454816818237305,0,0,-0.7422546319776113],[-14.185747259870364,-8.018535055832809,7.454816818237305,0,0,-0.7422546319776113],[-10.501015199980458,-11.398290911929442,7.454816818237305,0,0,-0.7422546319776113],[-13.88077105607709,-15.083022971819348,7.454816818237305,0,0,-0.7422546319776113],[-13.88077105607709,-15.083022971819348,7.454816818237305,0,0,-0.4804552441784618],[-13.88077105607709,-15.083022971819348,7.454816818237305,0,0,-0.21865585637931242],[-13.88077105607709,-15.083022971819348,7.454816818237305,0,0,0.04314353141983698],[-13.88077105607709,-15.083022971819348,7.454816818237305,0,0,0.30494291921898636],[-13.88077105607709,-15.083022971819348,7.454816818237305,0,0,0.5667423070181358],[-13.88077105607709,-15.083022971819348,7.454816818237305,0,0,0.8285416948172852],[-13.88077105607709,-15.083022971819348,7.454816818237305,0,0,1.0903410826164346],[-13.88077105607709,-15.083022971819348,7.454816818237305,0,0,1.352140470415584],[-13.88077105607709,-15.083022971819348,7.454816818237305,0,0,1.6139398582147335],[-14.096421797879843,-10.087675660814845,7.454816818237305,0,0,1.6139398582147335],[-14.312072539682596,-5.092328349810343,7.454816818237305,0,0,1.6139398582147335],[-14.312072539682596,-5.092328349810343,7.454816818237305,0,0,1.352140470415584],[-14.312072539682596,-5.092328349810343,7.454816818237305,0,0,1.0903410826164346],[-14.312072539682596,-5.092328349810343,7.454816818237305,0,0,0.8285416948172851],[-14.312072539682596,-5.092328349810343,7.454816818237305,0,0,0.5667423070181358],[-14.312072539682596,-5.092328349810343,7.454816818237305,0,0,0.8285416948172852],[-14.312072539682596,-5.092328349810343,7.454816818237305,0,0,1.0903410826164346],[-14.312072539682596,-5.092328349810343,7.454816818237305,0,0,1.352140470415584],[-13.22748413965864,-0.2113788517584032,7.454816818237305,0,0,1.352140470415584],[-12.142895739634685,4.669570646293536,7.454816818237305,0,0,1.352140470415584],[-11.05830733961073,9.550520144345477,7.454816818237305,0,0,1.3521404704155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+]}
diff --git a/TEST_FILE/AerialVLN-Fine-V3-Scene-2.json b/TEST_FILE/AerialVLN-Fine-V3-Scene-2.json
new file mode 100644
index 0000000000000000000000000000000000000000..6ddd5c19aae524d000131c17aa1bb0e865dcbb64
--- /dev/null
+++ b/TEST_FILE/AerialVLN-Fine-V3-Scene-2.json
@@ -0,0 +1,18 @@
+{"episodes":[
+{"episode_id":"3IGI0VL64GI8ME3AG3O6W5GIJ4VONV","trajectory_id":"31MCUE39CSKA4DW9KYMHTZELFPGG3A","scene_id":2,"start_position":[47.53717803955078,11.859173774719238,0.5165914297103882],"start_rotation":[0.9998877290135713,0.0,0.0,0.014984304057352262],"instruction":{"instruction_text":"Take off, turn right to face the deep brown brick bungalow. Turn right to face a green door, and rise up to the higher altitude than the front bungalow, then fly forward over the roofs and electric wires until reaching the exterior wall made of black bricks. Turn left to face a utility pole and fly forward over the buildings and a pipeline to the house behind it. Fly forward close to the metal roof of the building. Turn right until the pipeline is in the right half screen, fly forward across the pipeline, a black roof, a brick wall and a billboard, and then fly to the pipeline. Fly forward over the electric wires. Fly over the wires, turn left to face the building with two billboards, then fly to its roof. Turn left to face the end of the flat building, then fly over two flat roofs and fly to the wires above stony terrain. Fly straight across the rock along the wires to the closest buildings on the stony terrain. Land on the black roof ahead."},"goals":[{"position":[163.7170648473335,162.15460308781664,-3.483408570289612]}],"reference_path":[[47.53717803955078,11.859173774719238,0.5165914297103882,0,0,0.029969729700138267],[47.53717803955078,11.859173774719238,-1.4834085702896118,0,0,0.029969729700138267],[47.53717803955078,11.859173774719238,0.5165914297103882,0,0,0.029969729700138267],[47.53717803955078,11.859173774719238,-1.4834085702896118,0,0,0.029969729700138267],[47.53717803955078,11.859173774719238,-3.483408570289612,0,0,0.029969729700138267],[47.53717803955078,11.859173774719238,-3.483408570289612,0,0,0.2917691174992877],[47.53717803955078,11.859173774719238,-3.483408570289612,0,0,0.5535685052984372],[47.53717803955078,11.859173774719238,-3.483408570289612,0,0,0.8153678930975865],[47.53717803955078,11.859173774719238,-3.483408570289612,0,0,1.077167280896736],[47.53717803955078,11.859173774719238,-3.483408570289612,0,0,1.3389666686958854],[48.685971127312555,16.72541199756764,-3.483408570289612,0,0,1.3389666686958854],[49.83476421507433,21.591650220416042,-3.483408570289612,0,0,1.3389666686958854],[50.983557302836104,26.457888443264444,-3.483408570289612,0,0,1.3389666686958854],[52.13235039059788,31.324126666112846,-3.483408570289612,0,0,1.3389666686958854],[53.28114347835965,36.19036488896125,-3.483408570289612,0,0,1.3389666686958854],[54.42993656612143,41.05660311180965,-3.483408570289612,0,0,1.3389666686958854],[49.563698343273025,42.205396199571425,-3.483408570289612,0,0,1.3389666686958854],[50.7124914310348,47.07163442241983,-3.483408570289612,0,0,1.3389666686958854],[50.7124914310348,47.07163442241983,-3.483408570289612,0,0,1.077167280896736],[50.7124914310348,47.07163442241983,-3.483408570289612,0,0,0.8153678930975867],[50.7124914310348,47.07163442241983,-3.483408570289612,0,0,0.5535685052984373],[50.7124914310348,47.07163442241983,-3.483408570289612,0,0,0.29176911749928786],[50.7124914310348,47.07163442241983,-3.483408570289612,0,0,0.029969729700138437],[50.7124914310348,47.07163442241983,-3.483408570289612,0,0,-0.231829658099011],[50.7124914310348,47.07163442241983,-3.483408570289612,0,0,-0.49362904589816037],[55.11558707736421,44.702510379809354,-3.483408570289612,0,0,-0.49362904589816037],[59.51868272369362,42.33338633719888,-3.483408570289612,0,0,-0.49362904589816037],[63.921778370023034,39.96426229458841,-3.483408570289612,0,0,-0.49362904589816037],[68.32487401635244,37.595138251977936,-3.483408570289612,0,0,-0.49362904589816037],[72.72796966268184,35.22601420936746,-3.483408570289612,0,0,-0.49362904589816037],[72.72796966268184,35.22601420936746,-5.483408570289612,0,0,-0.49362904589816037],[77.13106530901125,32.85689016675699,-5.483408570289612,0,0,-0.49362904589816037],[81.53416095534065,30.487766124146518,-5.483408570289612,0,0,-0.49362904589816037],[81.53416095534065,30.487766124146518,-7.483408570289612,0,0,-0.49362904589816037],[85.93725660167006,28.118642081536045,-7.483408570289612,0,0,-0.49362904589816037],[90.34035224799946,25.749518038925572,-7.483408570289612,0,0,-0.49362904589816037],[94.74344789432887,23.3803939963151,-7.483408570289612,0,0,-0.49362904589816037],[99.14654354065827,21.011269953704627,-7.483408570289612,0,0,-0.49362904589816037],[103.54963918698768,18.642145911094154,-7.483408570289612,0,0,-0.49362904589816037],[107.95273483331708,16.27302186848368,-7.483408570289612,0,0,-0.49362904589816037],[107.95273483331708,16.27302186848368,-7.483408570289612,0,0,-0.23182965809901093],[107.95273483331708,16.27302186848368,-7.483408570289612,0,0,0.0299697297001385],[107.95273483331708,16.27302186848368,-7.483408570289612,0,0,-0.23182965809901093],[107.95273483331708,16.27302186848368,-7.483408570289612,0,0,0.0299697297001385],[107.95273483331708,16.27302186848368,-7.483408570289612,0,0,0.2917691174992879],[107.95273483331708,16.27302186848368,-7.483408570289612,0,0,0.5535685052984374],[107.95273483331708,16.27302186848368,-7.483408570289612,0,0,0.8153678930975868],[107.95273483331708,16.27302186848368,-7.483408570289612,0,0,1.0771672808967363],[107.95273483331708,16.27302186848368,-7.483408570289612,0,0,1.3389666686958859],[107.95273483331708,16.27302186848368,-7.483408570289612,0,0,1.6007660564950352],[107.95273483331708,16.27302186848368,-7.483408570289612,0,0,1.8625654442941848],[107.95273483331708,16.27302186848368,-7.483408570289612,0,0,2.124364832093334],[105.32410416960839,20.526291297265544,-7.483408570289612,0,0,2.124364832093334],[102.6954735058997,24.779560726047407,-7.483408570289612,0,0,2.124364832093334],[102.6954735058997,24.779560726047407,-9.483408570289612,0,0,2.124364832093334],[100.06684284219101,29.03283015482927,-9.483408570289612,0,0,2.124364832093334],[97.43821217848232,33.28609958361113,-9.483408570289612,0,0,2.124364832093334],[94.80958151477363,37.539369012392996,-9.483408570289612,0,0,2.124364832093334],[94.80958151477363,37.539369012392996,-7.483408570289612,0,0,2.124364832093334],[92.18095085106494,41.79263844117486,-7.483408570289612,0,0,2.124364832093334],[89.5523201873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+{"episode_id":"3XC1O3LBO1KYB65X07UQDNIFU1JLT2","trajectory_id":"3X2YVV51Q22ARW8UCZCGR9LC7T7W18","scene_id":2,"start_position":[9.722139358520508,115.83221435546875,0.7544180750846863],"start_rotation":[0.9999657890553649,0.0,0.0,-0.008271681744448723],"instruction":{"instruction_text":"Take off, ascend to the higher altitude than the two-storey small building ahead, and turn left to face iron fances and a utility pole and fly forward to a building with four unfinished pillars and a graffiti. Fly over the above-mentioned building, go to the wooden roof, turn left to face the bungalow with the light brown door open, then fly over the bungalow, turn left towards the blue van outside the green wall, and fly to the front of the van. Flying over the blue van, and turn right until facing the grass on the bungalow, then fly forward over the power line, and then fly towards the pipeline and land in front of it."},"goals":[{"position":[87.55296681486791,-56.916652603989085,-5.245581924915314]}],"reference_path":[[9.722139358520508,115.83221435546875,0.7544180750846863,0,0,-0.01654355214617657],[9.722139358520508,115.83221435546875,-1.2455819249153137,0,0,-0.01654355214617657],[9.722139358520508,115.83221435546875,-3.2455819249153137,0,0,-0.01654355214617657],[9.722139358520508,115.83221435546875,-5.245581924915314,0,0,-0.01654355214617657],[9.722139358520508,115.83221435546875,-7.245581924915314,0,0,-0.01654355214617657],[9.722139358520508,115.83221435546875,-7.245581924915314,0,0,-0.278342939945326],[9.722139358520508,115.83221435546875,-7.245581924915314,0,0,-0.5401423277444755],[9.722139358520508,115.83221435546875,-7.245581924915314,0,0,-0.8019417155436248],[13.198701835362371,112.23867663553104,-7.245581924915314,0,0,-0.8019417155436248],[16.675264312204234,108.64513891559332,-7.245581924915314,0,0,-0.8019417155436248],[16.675264312204234,108.64513891559332,-9.245581924915314,0,0,-0.8019417155436248],[20.151826789046098,105.0516011956556,-9.245581924915314,0,0,-0.8019417155436248],[23.62838926588796,101.45806347571789,-9.245581924915314,0,0,-0.8019417155436248],[27.104951742729824,97.86452575578018,-9.245581924915314,0,0,-0.8019417155436248],[30.581514219571687,94.27098803584246,-9.245581924915314,0,0,-0.8019417155436248],[34.05807669641355,90.67745031590475,-9.245581924915314,0,0,-0.8019417155436248],[37.534639173255414,87.08391259596704,-9.245581924915314,0,0,-0.8019417155436248],[33.94110145331769,83.60735011912517,-9.245581924915314,0,0,-0.8019417155436248],[37.417663930159556,80.01381239918746,-9.245581924915314,0,0,-0.8019417155436248],[40.89422640700142,76.42027467924974,-9.245581924915314,0,0,-0.8019417155436248],[44.37078888384328,72.82673695931203,-9.245581924915314,0,0,-0.8019417155436248],[47.847351360685145,69.23319923937431,-9.245581924915314,0,0,-0.8019417155436248],[51.32391383752701,65.6396615194366,-9.245581924915314,0,0,-0.8019417155436248],[51.32391383752701,65.6396615194366,-9.245581924915314,0,0,-0.5401423277444756],[55.61209132183022,63.06837120850029,-9.245581924915314,0,0,-0.5401423277444756],[59.90026880613344,60.497080897563976,-9.245581924915314,0,0,-0.5401423277444756],[64.18844629043666,57.92579058662766,-9.245581924915314,0,0,-0.5401423277444756],[64.18844629043666,57.92579058662766,-9.245581924915314,0,0,-0.8019417155436251],[64.18844629043666,57.92579058662766,-9.245581924915314,0,0,-1.0637411033427746],[66.61647177231153,53.55489911470042,-9.245581924915314,0,0,-1.0637411033427746],[66.61647177231153,53.55489911470042,-9.245581924915314,0,0,-1.3255404911419242],[66.61647177231153,53.55489911470042,-9.245581924915314,0,0,-1.5873398789410735],[66.5337577846875,48.55558332188923,-9.245581924915314,0,0,-1.5873398789410735],[66.45104379706346,43.55626752907804,-9.245581924915314,0,0,-1.5873398789410735],[66.36832980943943,38.55695173626685,-9.245581924915314,0,0,-1.5873398789410735],[66.2856158218154,33.557635943455665,-9.245581924915314,0,0,-1.5873398789410735],[66.20290183419137,28.55832015064448,-9.245581924915314,0,0,-1.5873398789410735],[66.12018784656733,23.559004357833295,-9.245581924915314,0,0,-1.5873398789410735],[66.12018784656733,23.559004357833295,-7.245581924915314,0,0,-1.5873398789410735],[66.0374738589433,18.55968856502211,-7.245581924915314,0,0,-1.5873398789410735],[65.95475987131927,13.560372772210926,-7.245581924915314,0,0,-1.5873398789410735],[65.95475987131927,13.560372772210926,-7.245581924915314,0,0,-1.849139266740223],[64.58094615481653,8.752812489453266,-7.245581924915314,0,0,-1.849139266740223],[63.207132438313785,3.9452522066956055,-7.245581924915314,0,0,-1.849139266740223],[61.83331872181104,-0.862308076062055,-7.245581924915314,0,0,-1.849139266740223],[57.02575843905338,0.5115056404406904,-7.245581924915314,0,0,-1.849139266740223],[55.65194472255063,-4.29605464231697,-7.245581924915314,0,0,-1.849139266740223],[54.278131006047886,-9.10361492507463,-7.245581924915314,0,0,-1.849139266740223],[52.90431728954514,-13.91117520783229,-7.245581924915314,0,0,-1.849139266740223],[52.90431728954514,-13.91117520783229,-7.245581924915314,0,0,-1.5873398789410735],[52.90431728954514,-13.91117520783229,-7.245581924915314,0,0,-1.3255404911419242],[52.90431728954514,-13.91117520783229,-7.245581924915314,0,0,-1.0637411033427748],[52.90431728954514,-13.91117520783229,-7.245581924915314,0,0,-0.8019417155436255],[49.31077956960742,-17.38773768467415,-7.245581924915314,0,0,-0.8019417155436255],[52.78734204644928,-20.98127540461187,-7.245581924915314,0,0,-0.8019417155436255],[56.263904523291146,-24.574813124549593,-7.245581924915314,0,0,-0.8019417155436255],[56.263904523291146,-24.574813124549593,-9.245581924915314,0,0,-0.8019417155436255],[59.74046700013301,-28.168350844487314,-9.245581924915314,0,0,-0.8019417155436255],[63.21702947697487,-31.761888564425035,-9.245581924915314,0,0,-0.8019417155436255],[66.69359195381674,-35.35542628436276,-9.245581924915314,0,0,-0.801941715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+{"episode_id":"3180JW2OTDAQVE67WQ0FUSZ9DV45JG","trajectory_id":"39I4RL8QHRF9M5AO4I9IO4IS5JAH41","scene_id":2,"start_position":[6.791354179382324,-62.446014404296875,1.5117865800857544],"start_rotation":[0.9999999672499149,0.0,0.0,-0.00025593000838172736],"instruction":{"instruction_text":"Take off, rise to a higher altitude than the front bungalow, and fly to the center of the square roof of it. Fly forward to the middle of the next black roof, turn right to face the door behind the utility pole and wires, and then fly forward until reaching the wall painted with the word \"OP\" above the green iron gate. Fly across the roof and move forward above the road across two electric wires. Move forward towards the pipe line area to the front of black roof building with 2 billboards on its wall. Fly to the edge of the roof of the aforementioned building, then turn left to face the two-story shabby building with \"PO\" sprayed on the exterior wall and four pillars behind it, then fly forward to the front of the \"PO\" exterior wall. Move slightly to the right in front of the pillar until facing the graffiti, and then fly forward onto the metal plate. Lower down height and land in front of the graffiti."},"goals":[{"position":[51.76609170724542,62.999839531950364,-0.4882134199142456]}],"reference_path":[[6.791354179382324,-62.446014404296875,1.5117865800857544,0,0,-0.0005118600223512745],[6.791354179382324,-62.446014404296875,-0.4882134199142456,0,0,-0.0005118600223512745],[6.791354179382324,-62.446014404296875,-2.4882134199142456,0,0,-0.0005118600223512745],[6.791354179382324,-62.446014404296875,-4.488213419914246,0,0,-0.0005118600223512745],[6.791354179382324,-62.446014404296875,-6.488213419914246,0,0,-0.0005118600223512745],[11.791353524380632,-62.44857370429688,-6.488213419914246,0,0,-0.0005118600223512745],[16.79135286937894,-62.45113300429688,-6.488213419914246,0,0,-0.0005118600223512745],[21.79135221437725,-62.45369230429688,-6.488213419914246,0,0,-0.0005118600223512745],[26.791351559375556,-62.45625160429688,-6.488213419914246,0,0,-0.0005118600223512745],[26.791351559375556,-62.45625160429688,-6.488213419914246,0,0,0.26128752777679815],[26.791351559375556,-62.45625160429688,-6.488213419914246,0,0,0.5230869155759477],[26.791351559375556,-62.45625160429688,-6.488213419914246,0,0,0.7848863033750971],[26.791351559375556,-62.45625160429688,-6.488213419914246,0,0,1.0466856911742466],[26.791351559375556,-62.45625160429688,-6.488213419914246,0,0,1.3084850789733964],[28.087918709328466,-57.62728550111672,-6.488213419914246,0,0,1.3084850789733964],[29.384485859281376,-52.79831939793655,-6.488213419914246,0,0,1.3084850789733964],[30.681053009234287,-47.96935329475639,-6.488213419914246,0,0,1.3084850789733964],[31.977620159187197,-43.140387191576224,-6.488213419914246,0,0,1.3084850789733964],[33.27418730914011,-38.31142108839606,-6.488213419914246,0,0,1.3084850789733964],[34.570754459093024,-33.482454985215895,-6.488213419914246,0,0,1.3084850789733964],[29.741788355912863,-32.18588783526298,-6.488213419914246,0,0,1.3084850789733964],[31.038355505865773,-27.35692173208282,-6.488213419914246,0,0,1.3084850789733964],[26.209389402685613,-26.06035458212991,-6.488213419914246,0,0,1.3084850789733964],[27.505956552638523,-21.23138847894975,-6.488213419914246,0,0,1.3084850789733964],[28.802523702591433,-16.40242237576959,-6.488213419914246,0,0,1.3084850789733964],[30.099090852544343,-11.573456272589429,-6.488213419914246,0,0,1.3084850789733964],[31.395658002497253,-6.744490169409268,-6.488213419914246,0,0,1.3084850789733964],[31.395658002497253,-6.744490169409268,-6.488213419914246,0,0,1.570284466772546],[31.39821730249725,-1.7444908244109598,-6.488213419914246,0,0,1.570284466772546],[31.40077660249725,3.255508520587348,-6.488213419914246,0,0,1.570284466772546],[31.403335902497247,8.255507865585656,-6.488213419914246,0,0,1.570284466772546],[31.405895202497245,13.255507210583964,-6.488213419914246,0,0,1.570284466772546],[31.408454502497243,18.255506555582272,-6.488213419914246,0,0,1.570284466772546],[31.41101380249724,23.25550590058058,-6.488213419914246,0,0,1.570284466772546],[31.41101380249724,23.25550590058058,-6.488213419914246,0,0,1.8320838545716955],[30.11939084047877,28.085796794925002,-6.488213419914246,0,0,1.8320838545716955],[28.827767878460296,32.916087689269425,-6.488213419914246,0,0,1.8320838545716955],[23.997476984115874,31.624464727250952,-6.488213419914246,0,0,1.8320838545716955],[22.7058540220974,36.454755621595375,-6.488213419914246,0,0,1.8320838545716955],[21.41423106007893,41.2850465159398,-6.488213419914246,0,0,1.8320838545716955],[20.122608098060457,46.11533741028422,-6.488213419914246,0,0,1.8320838545716955],[18.830985136041985,50.94562830462864,-6.488213419914246,0,0,1.8320838545716955],[18.830985136041985,50.94562830462864,-6.488213419914246,0,0,2.093883242370845],[18.830985136041985,50.94562830462864,-6.488213419914246,0,0,2.3556826301699947],[15.297261391650473,54.48297144579033,-6.488213419914246,0,0,2.3556826301699947],[11.76353764725896,58.02031458695201,-6.488213419914246,0,0,2.3556826301699947],[11.76353764725896,58.02031458695201,-6.488213419914246,0,0,2.093883242370845],[11.76353764725896,58.02031458695201,-6.488213419914246,0,0,1.8320838545716955],[11.76353764725896,58.02031458695201,-6.488213419914246,0,0,1.5702844667725462],[11.76353764725896,58.02031458695201,-6.488213419914246,0,0,1.3084850789733968],[11.76353764725896,58.02031458695201,-6.488213419914246,0,0,1.0466856911742473],[11.76353764725896,58.02031458695201,-6.488213419914246,0,0,0.7848863033750979],[11.76353764725896,58.02031458695201,-6.488213419914246,0,0,0.5230869155759484],[11.76353764725896,58.02031458695201,-6.488213419914246,0,0,0.26128752777679903],[11.76353764725896,58.02031458695201,-6.488213419914246,0,0,-0.0005118600223504127],[16.76353699225727,58.01775528695202,-6.488213419914246,0,0,-0.0005118600223504127],[21.763536337255577,58.01519598695202,-6.488213419914246,0,0,-0.0005118600223504127],[26.763535682253885,58.01263668695203,-6.488213419914246,0,0,-0.0005118600223504127],[31.763535027252193,58.010077386952034,-6.488213419914246,0,0,-0.0005118600223504127],[36.763534372250504,58.00751808695204,-6.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+{"episode_id":"3PJUZCGDJFEKCKC08CG5HIVXKUH988","trajectory_id":"3IVEC1GSMXXOLC8V50T12JR46R4J1V","scene_id":2,"start_position":[6.791354179382324,-62.446014404296875,1.5117865800857544],"start_rotation":[0.9999216229214379,0.0,0.0,0.012519904718396611],"instruction":{"instruction_text":"Take off, ascend to a higher altitude than the shabby bungalows in front, and then turn right to face a row of bungalows with iron railings in front . Turn right to face the bungalow closest to the iron fence on the right, fly forward and pass through two rooftops, then fly to the power lines. Turn left to face the blue cuboid surrounded by a wall on the ground, and fly forward until flying past the above-mentioned cuboid. Fly to the billboard on the right side of the roof of the building ahead, then turn right to face the gate at the end of the road below, and fly straight ahead until reaching the front of an unfinished building with four pillars. Fly over the left side of the pillars, fly to the front of damaged orch with green iron gates, then land on the ground."},"goals":[{"position":[65.28169052271744,61.40067598491162,-2.4882134199142456]}],"reference_path":[[6.791354179382324,-62.446014404296875,1.5117865800857544,0,0,0.025040463639673542],[6.791354179382324,-62.446014404296875,-0.4882134199142456,0,0,0.025040463639673542],[6.791354179382324,-62.446014404296875,-2.4882134199142456,0,0,0.025040463639673542],[6.791354179382324,-62.446014404296875,-4.488213419914246,0,0,0.025040463639673542],[6.791354179382324,-62.446014404296875,-6.488213419914246,0,0,0.025040463639673542],[6.791354179382324,-62.446014404296875,-8.488213419914246,0,0,0.025040463639673542],[6.791354179382324,-62.446014404296875,-8.488213419914246,0,0,0.28683985143882296],[6.791354179382324,-62.446014404296875,-8.488213419914246,0,0,0.5486392392379724],[6.791354179382324,-62.446014404296875,-8.488213419914246,0,0,0.8104386270371219],[6.791354179382324,-62.446014404296875,-8.488213419914246,0,0,1.0722380148362713],[6.791354179382324,-62.446014404296875,-8.488213419914246,0,0,1.334037402635421],[6.791354179382324,-62.446014404296875,-8.488213419914246,0,0,1.5958367904345705],[6.791354179382324,-62.446014404296875,-8.488213419914246,0,0,1.85763617823372],[5.376741132856103,-57.65030070051953,-8.488213419914246,0,0,1.85763617823372],[3.962128086329882,-52.854586996742185,-8.488213419914246,0,0,1.85763617823372],[2.5475150398036606,-48.05887329296484,-8.488213419914246,0,0,1.85763617823372],[1.1329019932774393,-43.263159589187495,-8.488213419914246,0,0,1.85763617823372],[-0.2817110532487819,-38.46744588541015,-8.488213419914246,0,0,1.85763617823372],[-1.696324099775003,-33.671732181632805,-8.488213419914246,0,0,1.85763617823372],[-3.1109371463012243,-28.87601847785546,-8.488213419914246,0,0,1.85763617823372],[-4.5255501928274455,-24.080304774078115,-8.488213419914246,0,0,1.85763617823372],[-5.940163239353667,-19.28459107030077,-8.488213419914246,0,0,1.85763617823372],[-10.73587694313101,-20.69920411682699,-8.488213419914246,0,0,1.85763617823372],[-12.150489989657231,-15.903490413049648,-8.488213419914246,0,0,1.85763617823372],[-12.150489989657231,-15.903490413049648,-8.488213419914246,0,0,1.5958367904345707],[-12.150489989657231,-15.903490413049648,-8.488213419914246,0,0,1.3340374026354216],[-12.150489989657231,-15.903490413049648,-8.488213419914246,0,0,1.0722380148362722],[-12.150489989657231,-15.903490413049648,-8.488213419914246,0,0,0.8104386270371228],[-12.150489989657231,-15.903490413049648,-8.488213419914246,0,0,0.5486392392379734],[-12.150489989657231,-15.903490413049648,-8.488213419914246,0,0,0.286839851438824],[-7.354776285879889,-14.488877366523424,-8.488213419914246,0,0,0.286839851438824],[-2.5590625821025466,-13.0742643199972,-8.488213419914246,0,0,0.286839851438824],[2.2366511216747957,-11.659651273470976,-8.488213419914246,0,0,0.286839851438824],[7.032364825452138,-10.245038226944752,-8.488213419914246,0,0,0.286839851438824],[11.82807852922948,-8.830425180418528,-8.488213419914246,0,0,0.286839851438824],[16.62379223300682,-7.415812133892304,-8.488213419914246,0,0,0.286839851438824],[16.62379223300682,-7.415812133892304,-8.488213419914246,0,0,0.5486392392379734],[16.62379223300682,-7.415812133892304,-8.488213419914246,0,0,0.8104386270371229],[20.246739919712102,-10.86171550737753,-8.488213419914246,0,0,0.8104386270371229],[20.246739919712102,-10.86171550737753,-8.488213419914246,0,0,1.0722380148362722],[22.63753912232866,-6.470351348853664,-8.488213419914246,0,0,1.0722380148362722],[25.02833832494522,-2.078987190329798,-8.488213419914246,0,0,1.0722380148362722],[27.41913752756178,2.3123769681940685,-8.488213419914246,0,0,1.0722380148362722],[29.80993673017834,6.703741126717935,-8.488213419914246,0,0,1.0722380148362722],[32.2007359327949,11.0951052852418,-8.488213419914246,0,0,1.0722380148362722],[34.591535135411455,15.486469443765667,-8.488213419914246,0,0,1.0722380148362722],[36.98233433802801,19.877833602289535,-8.488213419914246,0,0,1.0722380148362722],[39.37313354064457,24.2691977608134,-8.488213419914246,0,0,1.0722380148362722],[41.76393274326112,28.66056191933727,-8.488213419914246,0,0,1.0722380148362722],[44.15473194587768,33.05192607786113,-8.488213419914246,0,0,1.0722380148362722],[46.545531148494234,37.443290236384996,-8.488213419914246,0,0,1.0722380148362722],[48.93633035111079,41.83465439490886,-8.488213419914246,0,0,1.0722380148362722],[51.327129553727346,46.22601855343272,-8.488213419914246,0,0,1.0722380148362722],[46.93576539520348,48.61681775604929,-8.488213419914246,0,0,1.0722380148362722],[51.327129553727346,46.22601855343272,-8.488213419914246,0,0,1.0722380148362722],[53.7179287563439,50.61738271195659,-8.488213419914246,0,0,1.0722380148362722],[58.109292914867765,48.22658350934003,-8.488213419914246,0,0,1.0722380148362722],[60.50009211748432,52.617947667863895,-8.488213419914246,0,0,1.0722380148362722],[62.89089132010088,57.00931182638776,-8.488213419914246,0,0,1.0722380148362722],[65.28169052271744,61.40067598491162,-8.488213419914246,0,0,1.0722380148362722],[65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+{"episode_id":"3IFS6Q0HJRHV65KCQ4SNB2U1C2QISO","trajectory_id":"31YWE12TF8A3RISMBKPBU2QWJRQX7W","scene_id":2,"start_position":[32.093849182128906,-50.701873779296875,0.7656828761100769],"start_rotation":[0.9998033941388395,0.0,0.0,-0.019828592195525484],"instruction":{"instruction_text":"Take off, ascend to a higher altitude than the electric lines on the pole, then turn right to face the ruined hut that behind the electric lines and beside the wooden frame, and fly ahead until reaching the power lines behind the front wooden roof. Fly forward across the wooden roof under, make a slight left turn and go forward to the billboard \"works for scan factory\" on the wall of the building and fly over its roof, fly ahead to the broken wooden roof until crossing the wires and make a right turn to view the buildings below with orange gates. Fly over the building with orange gate, descend on the roof of the building with orange doors."},"goals":[{"position":[-18.609596397644594,59.122142369896565,-3.234317123889923]}],"reference_path":[[32.093849182128906,-50.701873779296875,0.7656828761100769,0,0,-0.03965978354041812],[32.093849182128906,-50.701873779296875,-1.234317123889923,0,0,-0.03965978354041812],[32.093849182128906,-50.701873779296875,-3.234317123889923,0,0,-0.03965978354041812],[32.093849182128906,-50.701873779296875,-5.234317123889923,0,0,-0.03965978354041812],[32.093849182128906,-50.701873779296875,-7.234317123889923,0,0,-0.03965978354041812],[32.093849182128906,-50.701873779296875,-7.234317123889923,0,0,0.2221396042587313],[32.093849182128906,-50.701873779296875,-7.234317123889923,0,0,0.4839389920578807],[32.093849182128906,-50.701873779296875,-7.234317123889923,0,0,0.7457383798570302],[32.093849182128906,-50.701873779296875,-7.234317123889923,0,0,1.0075377676561796],[32.093849182128906,-50.701873779296875,-7.234317123889923,0,0,1.269337155455329],[32.093849182128906,-50.701873779296875,-7.234317123889923,0,0,1.5311365432544783],[32.093849182128906,-50.701873779296875,-7.234317123889923,0,0,1.792935931053628],[32.093849182128906,-50.701873779296875,-7.234317123889923,0,0,2.0547353188527775],[29.767501931811843,-46.27602827013795,-7.234317123889923,0,0,2.0547353188527775],[27.44115468149478,-41.850182760979024,-7.234317123889923,0,0,2.0547353188527775],[25.114807431177717,-37.4243372518201,-7.234317123889923,0,0,2.0547353188527775],[22.788460180860653,-32.99849174266117,-7.234317123889923,0,0,2.0547353188527775],[20.46211293054359,-28.572646233502248,-7.234317123889923,0,0,2.0547353188527775],[18.135765680226527,-24.146800724343322,-7.234317123889923,0,0,2.0547353188527775],[15.809418429909465,-19.720955215184397,-7.234317123889923,0,0,2.0547353188527775],[13.483071179592404,-15.29510970602547,-7.234317123889923,0,0,2.0547353188527775],[9.057225670433477,-17.62145695634253,-7.234317123889923,0,0,2.0547353188527775],[6.730878420116415,-13.195611447183603,-7.234317123889923,0,0,2.0547353188527775],[4.404531169799354,-8.769765938024676,-7.234317123889923,0,0,2.0547353188527775],[4.404531169799354,-8.769765938024676,-7.234317123889923,0,0,1.7929359310536281],[3.3029453882533373,-3.8926244836586408,-7.234317123889923,0,0,1.7929359310536281],[2.201359606707321,0.9845169707073946,-7.234317123889923,0,0,1.7929359310536281],[1.0997738251613045,5.86165842507343,-7.234317123889923,0,0,1.7929359310536281],[-0.001811956384711877,10.738799879439465,-7.234317123889923,0,0,1.7929359310536281],[-1.1033977379307283,15.615941333805502,-7.234317123889923,0,0,1.7929359310536281],[-2.2049835194767446,20.493082788171538,-7.234317123889923,0,0,1.7929359310536281],[-3.306569301022761,25.370224242537574,-7.234317123889923,0,0,1.7929359310536281],[-4.408155082568777,30.24736569690361,-7.234317123889923,0,0,1.7929359310536281],[0.4689863717972589,31.348951478449624,-7.234317123889923,0,0,1.7929359310536281],[-0.6325994097487575,36.22609293281566,-7.234317123889923,0,0,1.7929359310536281],[-1.7341851912947739,41.10323438718169,-7.234317123889923,0,0,1.7929359310536281],[-2.8357709728407903,45.980375841547726,-7.234317123889923,0,0,1.7929359310536281],[-3.9373567543868067,50.85751729591376,-7.234317123889923,0,0,1.7929359310536281],[-3.9373567543868067,50.85751729591376,-7.234317123889923,0,0,2.0547353188527775],[0.4884887547721206,53.18386454623082,-7.234317123889923,0,0,2.0547353188527775],[0.4884887547721206,53.18386454623082,-7.234317123889923,0,0,2.3165347066519266],[0.4884887547721206,53.18386454623082,-7.234317123889923,0,0,2.578334094451076],[0.4884887547721206,53.18386454623082,-7.234317123889923,0,0,2.8401334822502258],[-4.286032533332058,54.66843400214726,-7.234317123889923,0,0,2.8401334822502258],[-9.060553821436237,56.153003458063694,-7.234317123889923,0,0,2.8401334822502258],[-13.835075109540416,57.63757291398013,-7.234317123889923,0,0,2.8401334822502258],[-18.609596397644594,59.122142369896565,-7.234317123889923,0,0,2.8401334822502258],[-18.609596397644594,59.122142369896565,-5.234317123889923,0,0,2.8401334822502258],[-18.609596397644594,59.122142369896565,-3.234317123889923,0,0,2.8401334822502258]],"actions":[4,4,4,4,3,3,3,3,3,3,3,3,1,1,1,1,1,1,1,1,7,1,1,2,1,1,1,1,1,1,1,1,6,1,1,1,1,3,6,3,3,3,1,1,1,1,5,5,0]},
+{"episode_id":"38YMOXR4M3X8K26K88TZBO7HBNBW67","trajectory_id":"37VUR2VJ7IN1DY2PV8CFFFE9G7VC1A","scene_id":2,"start_position":[-32.85132598876953,-60.895652770996094,1.4970121383666992],"start_rotation":[0.9999622337807396,0.0,0.0,0.008690857968781359],"instruction":{"instruction_text":"Lift off, ascend to the higher altitude than the left bungalows, and turn right to face the rusty metal fence, then fly ahead to the top of it. While facing a row of wooden frames, turn right to face the green iron fences, and fly straight to the utility poles behind the fences. Fly to the front of the power line, turn left until facing the billboard on the roof of the bungalow, and then fly directly towards it. After reaching the billboard, turn back to face a one-storey bungalow behind two rows of walls, then fly straight ahead, passing the unfinished building with four pillars, and then fly to the front of the bungalow with a wooden roof. Turn left to face the bungalows behind the big gate, then fly forward to the nearest bungalow, across its roof. Land in front of the open garage."},"goals":[{"position":[-21.944961584551123,61.16909515366657,-0.5029878616333008]}],"reference_path":[[-32.85132598876953,-60.895652770996094,1.4970121383666992,0,0,0.01738193475476669],[-32.85132598876953,-60.895652770996094,-0.5029878616333008,0,0,0.01738193475476669],[-32.85132598876953,-60.895652770996094,-2.502987861633301,0,0,0.01738193475476669],[-32.85132598876953,-60.895652770996094,-4.502987861633301,0,0,0.01738193475476669],[-32.85132598876953,-60.895652770996094,-6.502987861633301,0,0,0.01738193475476669],[-32.85132598876953,-60.895652770996094,-8.5029878616333,0,0,0.01738193475476669],[-32.85132598876953,-60.895652770996094,-8.5029878616333,0,0,0.27918132255391614],[-28.044919176986163,-59.51780896285148,-8.5029878616333,0,0,0.27918132255391614],[-23.238512365202794,-58.13996515470687,-8.5029878616333,0,0,0.27918132255391614],[-18.432105553419426,-56.76212134656226,-8.5029878616333,0,0,0.27918132255391614],[-13.625698741636057,-55.38427753841765,-8.5029878616333,0,0,0.27918132255391614],[-8.819291929852689,-54.00643373027304,-8.5029878616333,0,0,0.27918132255391614],[-4.012885118069321,-52.62858992212843,-8.5029878616333,0,0,0.27918132255391614],[-4.012885118069321,-52.62858992212843,-8.5029878616333,0,0,0.5409807103530656],[-4.012885118069321,-52.62858992212843,-8.5029878616333,0,0,0.8027800981522151],[-4.012885118069321,-52.62858992212843,-8.5029878616333,0,0,1.0645794859513644],[-1.588524968471039,-48.255664372220245,-8.5029878616333,0,0,1.0645794859513644],[-1.588524968471039,-48.255664372220245,-8.5029878616333,0,0,1.3263788737505138],[-1.588524968471039,-48.255664372220245,-8.5029878616333,0,0,1.5881782615496634],[-1.588524968471039,-48.255664372220245,-8.5029878616333,0,0,1.8499776493488127],[-2.96636877661565,-43.44925756043688,-8.5029878616333,0,0,1.8499776493488127],[-4.344212584760261,-38.64285074865351,-8.5029878616333,0,0,1.8499776493488127],[-5.7220563929048724,-33.83644393687014,-8.5029878616333,0,0,1.8499776493488127],[-7.099900201049484,-29.03003712508677,-8.5029878616333,0,0,1.8499776493488127],[-8.477744009194094,-24.223630313303403,-8.5029878616333,0,0,1.8499776493488127],[-9.855587817338705,-19.417223501520034,-8.5029878616333,0,0,1.8499776493488127],[-9.855587817338705,-19.417223501520034,-8.5029878616333,0,0,1.5881782615496634],[-9.855587817338705,-19.417223501520034,-8.5029878616333,0,0,1.3263788737505138],[-9.855587817338705,-19.417223501520034,-8.5029878616333,0,0,1.0645794859513644],[-9.855587817338705,-19.417223501520034,-8.5029878616333,0,0,0.8027800981522151],[-9.855587817338705,-19.417223501520034,-8.5029878616333,0,0,0.5409807103530656],[-5.569567564909859,-16.842338961240653,-8.5029878616333,0,0,0.5409807103530656],[-1.2835473124810122,-14.26745442096127,-8.5029878616333,0,0,0.5409807103530656],[3.0024729399478343,-11.692569880681887,-8.5029878616333,0,0,0.5409807103530656],[7.288493192376681,-9.117685340402504,-8.5029878616333,0,0,0.5409807103530656],[11.574513444805527,-6.542800800123121,-8.5029878616333,0,0,0.5409807103530656],[15.860533697234374,-3.9679162598437387,-8.5029878616333,0,0,0.5409807103530656],[15.860533697234374,-3.9679162598437387,-8.5029878616333,0,0,0.8027800981522151],[15.860533697234374,-3.9679162598437387,-8.5029878616333,0,0,1.0645794859513644],[15.860533697234374,-3.9679162598437387,-8.5029878616333,0,0,1.3263788737505138],[15.860533697234374,-3.9679162598437387,-8.5029878616333,0,0,1.5881782615496634],[15.860533697234374,-3.9679162598437387,-8.5029878616333,0,0,1.8499776493488127],[15.860533697234374,-3.9679162598437387,-8.5029878616333,0,0,2.111777037147962],[15.860533697234374,-3.9679162598437387,-8.5029878616333,0,0,2.3735764249471116],[15.860533697234374,-3.9679162598437387,-8.5029878616333,0,0,2.635375812746261],[11.487608147326188,-1.543556110245457,-8.5029878616333,0,0,2.635375812746261],[7.114682597418004,0.8808040393528249,-8.5029878616333,0,0,2.635375812746261],[2.74175704750982,3.3051641889511068,-8.5029878616333,0,0,2.635375812746261],[-1.6311685023983644,5.729524338549389,-8.5029878616333,0,0,2.635375812746261],[-6.004094052306549,8.153884488147671,-8.5029878616333,0,0,2.635375812746261],[-10.377019602214734,10.578244637745954,-8.5029878616333,0,0,2.635375812746261],[-14.749945152122919,13.002604787344236,-8.5029878616333,0,0,2.635375812746261],[-19.122870702031104,15.426964936942518,-8.5029878616333,0,0,2.635375812746261],[-23.49579625193929,17.8513250865408,-8.5029878616333,0,0,2.635375812746261],[-27.868721801847474,20.275685236139083,-8.5029878616333,0,0,2.635375812746261],[-32.24164735175566,22.700045385737365,-8.5029878616333,0,0,2.635375812746261],[-36.61457290166384,25.124405535335647,-8.5029878616333,0,0,2.635375812746261],[-40.98749845157202,27.54876568493393,-8.5029878616333,0,0,2.635375812746261],[-45.360424001480204,29.973125834532212,-8.5029878616333,0,0,2.635375812746261],[-49.733349551388386,32.39748598413049,-8.5029878616333,0,0,2.635375812746261],[-49.733349551388386,32.39748598413049,-8.502987861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+{"episode_id":"32UTUBMZ7PU1BPNAEP5B02AVKSBVB0","trajectory_id":"329E6HTMT40F6ZSSAP7WRR6EJA8K3X","scene_id":2,"start_position":[185.4297637939453,-39.16817092895508,-6.489437103271484],"start_rotation":[0.9997731357177281,0.0,0.0,-0.02129969711383945],"instruction":{"instruction_text":"Take off, turn right until facing a wide, open road, and fly forward across a building with \"PO\" painting, turn right slightly until a pipeline is horizontal in the screen, then fly over all of the buildings to a broken building with four pillars at the edge. Turn left to face a concrete door and wall with a billboard behind, then fly towards the billboard. Turn left to face the brick wall, then fly over all the buildings to a building with \"PO\" painting, then turn left to face the nearest building's roof, fly over the mentioned building and stop."},"goals":[{"position":[119.35091865506168,10.516918584109764,-8.489437103271484]}],"reference_path":[[185.4297637939453,-39.16817092895508,-6.489437103271484,0,0,-0.04260261594703691],[185.4297637939453,-39.16817092895508,-6.489437103271484,0,0,0.21919677185211253],[185.4297637939453,-39.16817092895508,-6.489437103271484,0,0,0.48099615965126197],[185.4297637939453,-39.16817092895508,-6.489437103271484,0,0,0.7427955474504113],[185.4297637939453,-39.16817092895508,-6.489437103271484,0,0,1.004594935249561],[185.4297637939453,-39.16817092895508,-6.489437103271484,0,0,1.2663943230487102],[185.4297637939453,-39.16817092895508,-6.489437103271484,0,0,1.5281937108478596],[185.4297637939453,-39.16817092895508,-6.489437103271484,0,0,1.7899930986470092],[185.4297637939453,-39.16817092895508,-6.489437103271484,0,0,2.0517924864461583],[185.4297637939453,-39.16817092895508,-6.489437103271484,0,0,2.3135918742453074],[185.4297637939453,-39.16817092895508,-8.489437103271484,0,0,2.3135918742453074],[182.04801530380217,-35.4852675702699,-8.489437103271484,0,0,2.3135918742453074],[178.66626681365904,-31.80236421158472,-8.489437103271484,0,0,2.3135918742453074],[175.2845183235159,-28.119460852899543,-8.489437103271484,0,0,2.3135918742453074],[171.90276983337276,-24.436557494214366,-8.489437103271484,0,0,2.3135918742453074],[168.52102134322962,-20.75365413552919,-8.489437103271484,0,0,2.3135918742453074],[164.83811798454445,-24.135402625672334,-8.489437103271484,0,0,2.3135918742453074],[161.45636949440132,-20.452499266987157,-8.489437103271484,0,0,2.3135918742453074],[158.07462100425818,-16.76959590830198,-8.489437103271484,0,0,2.3135918742453074],[154.69287251411504,-13.086692549616803,-8.489437103271484,0,0,2.3135918742453074],[151.3111240239719,-9.403789190931626,-8.489437103271484,0,0,2.3135918742453074],[151.3111240239719,-9.403789190931626,-8.489437103271484,0,0,2.575391262044457],[147.09140028882882,-6.7216386360466025,-8.489437103271484,0,0,2.575391262044457],[142.87167655368575,-4.039488081161579,-8.489437103271484,0,0,2.575391262044457],[138.65195281854267,-1.3573375262765555,-8.489437103271484,0,0,2.575391262044457],[134.4322290833996,1.3248130286084683,-8.489437103271484,0,0,2.575391262044457],[130.2125053482565,4.0069635834934925,-8.489437103271484,0,0,2.575391262044457],[125.99278161311342,6.689114138378516,-8.489437103271484,0,0,2.575391262044457],[123.3106310582284,2.4693904032354244,-8.489437103271484,0,0,2.575391262044457],[119.0909073230853,5.151540958120448,-8.489437103271484,0,0,2.575391262044457],[114.87118358794221,7.833691513005471,-8.489437103271484,0,0,2.575391262044457],[110.65145985279912,10.515842067890494,-8.489437103271484,0,0,2.575391262044457],[106.43173611765603,13.197992622775518,-8.489437103271484,0,0,2.575391262044457],[102.21201238251294,15.88014317766054,-8.489437103271484,0,0,2.575391262044457],[97.99228864736985,18.562293732545566,-8.489437103271484,0,0,2.575391262044457],[93.77256491222676,21.24444428743059,-8.489437103271484,0,0,2.575391262044457],[89.55284117708366,23.926594842315613,-8.489437103271484,0,0,2.575391262044457],[85.33311744194057,26.608745397200636,-8.489437103271484,0,0,2.575391262044457],[81.11339370679748,29.29089595208566,-8.489437103271484,0,0,2.575391262044457],[76.89366997165439,31.973046506970682,-8.489437103271484,0,0,2.575391262044457],[76.89366997165439,31.973046506970682,-8.489437103271484,0,0,2.837190649843606],[72.12353819063817,33.4716601302035,-8.489437103271484,0,0,2.837190649843606],[67.35340640962195,34.970273753436324,-8.489437103271484,0,0,2.837190649843606],[65.85479278638913,30.200141972420102,-8.489437103271484,0,0,2.837190649843606],[61.08466100537291,31.698755595652926,-8.489437103271484,0,0,2.837190649843606],[56.31452922435669,33.19736921888575,-8.489437103271484,0,0,2.837190649843606],[51.54439744334047,34.69598284211857,-8.489437103271484,0,0,2.837190649843606],[46.774265662324254,36.19459646535139,-8.489437103271484,0,0,2.837190649843606],[42.004133881308036,37.69321008858421,-8.489437103271484,0,0,2.837190649843606],[40.50552025807521,32.92307830756799,-8.489437103271484,0,0,2.837190649843606],[35.73538847705899,34.42169193080081,-8.489437103271484,0,0,2.837190649843606],[30.96525669604277,35.92030555403363,-8.489437103271484,0,0,2.837190649843606],[26.195124915026547,37.41891917726645,-8.489437103271484,0,0,2.837190649843606],[21.424993134010325,38.91753280049927,-8.489437103271484,0,0,2.837190649843606],[16.654861352994104,40.416146423732094,-8.489437103271484,0,0,2.837190649843606],[15.15624772976128,35.64601464271587,-8.489437103271484,0,0,2.837190649843606],[10.386115948745058,37.14462826594869,-8.489437103271484,0,0,2.837190649843606],[10.386115948745058,37.14462826594869,-8.489437103271484,0,0,3.0989900376427557],[10.386115948745058,37.14462826594869,-8.489437103271484,0,0,-2.9223958817376814],[5.50575383536909,36.057399843617645,-8.489437103271484,0,0,-2.9223958817376814],[5.50575383536909,36.057399843617645,-8.489437103271484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+{"episode_id":"3HSYG7LRBSWOOHXSLY4XXWI4MJ9KK4","trajectory_id":"3P888QFVYBSQ3RJ96SBLBGGYC30OQJ","scene_id":2,"start_position":[12.361554145812988,21.787151336669922,-0.8927345275878906],"start_rotation":[0.999936860657204,0.0,0.0,0.011237201565130993],"instruction":{"instruction_text":"Lift off, rise up to the higher height than the front bungalow, and turn right to face the two chimneys on the roof, fly straight to a unfinished building with four pillars, passing by it on its left. Fly above the green iron gate, turn right until facing the blue iron sheet on the roof, fly forward, passing the blue roof, and fly to the front of the extended iron pipelines. At the pipeline turn left to face the end of the pipeline and fly straight to the house in the end of pipelines. Turn right towards the building group on the far right of the land, fly forward until reaching the front of the first building on the opposite side of the road, then turn right towards the chimney at the edge of the roof, fly to the chimney and land on it."},"goals":[{"position":[169.72637862967974,157.97779011580485,-4.892734527587891]}],"reference_path":[[12.361554145812988,21.787151336669922,-0.8927345275878906,0,0,0.022474876148556224],[12.361554145812988,21.787151336669922,-2.8927345275878906,0,0,0.022474876148556224],[12.361554145812988,21.787151336669922,-4.892734527587891,0,0,0.022474876148556224],[12.361554145812988,21.787151336669922,-6.892734527587891,0,0,0.022474876148556224],[12.361554145812988,21.787151336669922,-6.892734527587891,0,0,0.28427426394770566],[12.361554145812988,21.787151336669922,-6.892734527587891,0,0,0.5460736517468551],[16.63440513348511,24.383830838870644,-6.892734527587891,0,0,0.5460736517468551],[20.907256121157232,26.980510341071366,-6.892734527587891,0,0,0.5460736517468551],[25.180107108829354,29.577189843272087,-6.892734527587891,0,0,0.5460736517468551],[29.452958096501476,32.17386934547281,-6.892734527587891,0,0,0.5460736517468551],[33.7258090841736,34.77054884767353,-6.892734527587891,0,0,0.5460736517468551],[37.99866007184572,37.36722834987425,-6.892734527587891,0,0,0.5460736517468551],[42.27151105951784,39.963907852074975,-6.892734527587891,0,0,0.5460736517468551],[46.54436204718996,42.5605873542757,-6.892734527587891,0,0,0.5460736517468551],[50.817213034862085,45.15726685647642,-6.892734527587891,0,0,0.5460736517468551],[55.09006402253421,47.75394635867714,-6.892734527587891,0,0,0.5460736517468551],[59.36291501020633,50.35062586087786,-6.892734527587891,0,0,0.5460736517468551],[63.63576599787845,52.947305363078584,-6.892734527587891,0,0,0.5460736517468551],[67.90861698555057,55.543984865279306,-6.892734527587891,0,0,0.5460736517468551],[67.90861698555057,55.543984865279306,-6.892734527587891,0,0,0.8078730395460045],[67.90861698555057,55.543984865279306,-6.892734527587891,0,0,1.0696724273451539],[67.90861698555057,55.543984865279306,-6.892734527587891,0,0,1.3314718151443032],[67.90861698555057,55.543984865279306,-6.892734527587891,0,0,1.5932712029434526],[67.90861698555057,55.543984865279306,-6.892734527587891,0,0,1.8550705907426022],[67.90861698555057,55.543984865279306,-6.892734527587891,0,0,2.1168699785417515],[65.31193748334985,59.81683585295143,-6.892734527587891,0,0,2.1168699785417515],[62.71525798114913,64.08968684062356,-6.892734527587891,0,0,2.1168699785417515],[60.11857847894841,68.36253782829567,-6.892734527587891,0,0,2.1168699785417515],[57.521898976747686,72.63538881596779,-6.892734527587891,0,0,2.1168699785417515],[54.925219474546964,76.9082398036399,-6.892734527587891,0,0,2.1168699785417515],[52.32853997234624,81.18109079131202,-6.892734527587891,0,0,2.1168699785417515],[49.73186047014552,85.45394177898413,-6.892734527587891,0,0,2.1168699785417515],[47.1351809679448,89.72679276665625,-6.892734527587891,0,0,2.1168699785417515],[47.1351809679448,89.72679276665625,-6.892734527587891,0,0,1.8550705907426022],[47.1351809679448,89.72679276665625,-6.892734527587891,0,0,1.5932712029434526],[47.1351809679448,89.72679276665625,-6.892734527587891,0,0,1.3314718151443032],[47.1351809679448,89.72679276665625,-6.892734527587891,0,0,1.0696724273451539],[47.1351809679448,89.72679276665625,-6.892734527587891,0,0,0.8078730395460044],[47.1351809679448,89.72679276665625,-6.892734527587891,0,0,0.5460736517468551],[47.1351809679448,89.72679276665625,-6.892734527587891,0,0,0.28427426394770566],[47.1351809679448,89.72679276665625,-6.892734527587891,0,0,0.022474876148556228],[52.13391822095464,89.83915768721234,-6.892734527587891,0,0,0.022474876148556228],[57.13265547396449,89.95152260776842,-6.892734527587891,0,0,0.022474876148556228],[62.13139272697434,90.06388752832451,-6.892734527587891,0,0,0.022474876148556228],[67.13012997998419,90.1762524488806,-6.892734527587891,0,0,0.022474876148556228],[72.12886723299404,90.2886173694367,-6.892734527587891,0,0,0.022474876148556228],[77.12760448600389,90.40098228999278,-6.892734527587891,0,0,0.022474876148556228],[82.12634173901374,90.51334721054887,-6.892734527587891,0,0,0.022474876148556228],[87.12507899202359,90.62571213110496,-6.892734527587891,0,0,0.022474876148556228],[92.12381624503344,90.73807705166105,-6.892734527587891,0,0,0.022474876148556228],[97.12255349804329,90.85044197221714,-6.892734527587891,0,0,0.022474876148556228],[97.12255349804329,90.85044197221714,-6.892734527587891,0,0,0.28427426394770566],[101.92188072811743,92.2527465534936,-6.892734527587891,0,0,0.28427426394770566],[106.72120795819157,93.65505113477005,-6.892734527587891,0,0,0.28427426394770566],[106.72120795819157,93.65505113477005,-6.892734527587891,0,0,0.5460736517468551],[110.99405894586369,96.25173063697076,-6.892734527587891,0,0,0.5460736517468551],[115.2669099335358,98.84841013917148,-6.892734527587891,0,0,0.5460736517468551],[119.53976092120791,101.44508964137219,-6.892734527587891,0,0,0.5460736517468551],[123.81261190888003,104.0417691435729,-6.892734527587891,0,0,0.5460736517468551],[128.08546289655214,106.63844864577362,-6.892734527587891,0,0,0.5460736517468551],[132.35831388422426,109.235128147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+{"episode_id":"3JPSL1DZ51XJKA996KJOVAWCEUBNAB","trajectory_id":"31SIZS5W6HDT04BPYKSP5BL3OKQQRP","scene_id":2,"start_position":[6.791354179382324,-62.446014404296875,1.5117865800857544],"start_rotation":[0.9999999290278224,0.0,0.0,0.00037675502673910956],"instruction":{"instruction_text":"Lift off, rise up to the same height as the grey building ahead, turn left to face a column of buildings with black roof. Fly forward over a higher roof to a lower flat roof. Turn left to face fences and fly over them, and fly over two roofs and wires to iron fences and a utility pole. Fly forward to the utility pole. As the white van is at your lower right hand of the screen, turn right to face a garage with green and brown doors. Fly forward to a tall scaffolding ladder. In front of scaffold turn left until it is now in the right corner of the screen. Fly forward passing a unfinished building with four pillars to a wooden roof, then fly towards a bunch of rocks. Land in the farthest corner of the concrete fence, then turn back to face the brick fences."},"goals":[{"position":[-49.70572799879883,39.857004061118786,-0.4882134199142456]}],"reference_path":[[6.791354179382324,-62.446014404296875,1.5117865800857544,0,0,0.0007535100713043027],[6.791354179382324,-62.446014404296875,-0.4882134199142456,0,0,0.0007535100713043027],[6.791354179382324,-62.446014404296875,-2.4882134199142456,0,0,0.0007535100713043027],[6.791354179382324,-62.446014404296875,-4.488213419914246,0,0,0.0007535100713043027],[6.791354179382324,-62.446014404296875,-6.488213419914246,0,0,0.0007535100713043027],[6.791354179382324,-62.446014404296875,-6.488213419914246,0,0,-0.2610458777278451],[6.791354179382324,-62.446014404296875,-6.488213419914246,0,0,-0.5228452655269945],[6.791354179382324,-62.446014404296875,-6.488213419914246,0,0,-0.784644653326144],[6.791354179382324,-62.446014404296875,-6.488213419914246,0,0,-1.0464440411252933],[6.791354179382324,-62.446014404296875,-6.488213419914246,0,0,-1.308243428924443],[6.791354179382324,-62.446014404296875,-6.488213419914246,0,0,-1.5700428167235922],[6.791354179382324,-62.446014404296875,-6.488213419914246,0,0,-1.8318422045227418],[6.791354179382324,-62.446014404296875,-6.488213419914246,0,0,-2.093641592321891],[6.791354179382324,-62.446014404296875,-6.488213419914246,0,0,-2.3554409801210405],[6.791354179382324,-62.446014404296875,-6.488213419914246,0,0,-2.61724036792019],[6.791354179382324,-62.446014404296875,-6.488213419914246,0,0,-2.8790397557193392],[1.962701532707496,-63.7437484362773,-6.488213419914246,0,0,-2.8790397557193392],[-2.8659511139673324,-65.04148246825773,-6.488213419914246,0,0,-2.8790397557193392],[-7.694603760642161,-66.33921650023815,-6.488213419914246,0,0,-2.8790397557193392],[-12.523256407316989,-67.63695053221858,-6.488213419914246,0,0,-2.8790397557193392],[-17.351909053991818,-68.934684564199,-6.488213419914246,0,0,-2.8790397557193392],[-22.180561700666647,-70.23241859617943,-6.488213419914246,0,0,-2.8790397557193392],[-27.009214347341477,-71.53015262815985,-6.488213419914246,0,0,-2.8790397557193392],[-27.009214347341477,-71.53015262815985,-6.488213419914246,0,0,-3.140839143518489],[-27.009214347341477,-71.53015262815985,-6.488213419914246,0,0,2.8805467758619487],[-27.009214347341477,-71.53015262815985,-6.488213419914246,0,0,2.618747388062799],[-27.009214347341477,-71.53015262815985,-6.488213419914246,0,0,2.3569480002636496],[-27.009214347341477,-71.53015262815985,-6.488213419914246,0,0,2.0951486124645005],[-27.009214347341477,-71.53015262815985,-6.488213419914246,0,0,1.833349224665351],[-27.009214347341477,-71.53015262815985,-6.488213419914246,0,0,1.5715498368662015],[-27.009214347341477,-71.53015262815985,-6.488213419914246,0,0,1.3097504490670522],[-27.009214347341477,-71.53015262815985,-6.488213419914246,0,0,1.0479510612679028],[-24.512477851073257,-67.1981430635118,-6.488213419914246,0,0,1.0479510612679028],[-22.015741354805037,-62.86613349886373,-6.488213419914246,0,0,1.0479510612679028],[-22.015741354805037,-62.86613349886373,-8.488213419914246,0,0,1.0479510612679028],[-19.519004858536817,-58.53412393421567,-8.488213419914246,0,0,1.0479510612679028],[-17.022268362268598,-54.20211436956761,-8.488213419914246,0,0,1.0479510612679028],[-14.52553186600038,-49.87010480491955,-8.488213419914246,0,0,1.0479510612679028],[-12.028795369732162,-45.53809524027149,-8.488213419914246,0,0,1.0479510612679028],[-9.532058873463944,-41.20608567562343,-8.488213419914246,0,0,1.0479510612679028],[-7.035322377195726,-36.874076110975366,-8.488213419914246,0,0,1.0479510612679028],[-4.538585880927508,-32.542066546327305,-8.488213419914246,0,0,1.0479510612679028],[-2.0418493846592902,-28.21005698167924,-8.488213419914246,0,0,1.0479510612679028],[0.4548871116089277,-23.878047417031176,-8.488213419914246,0,0,1.0479510612679028],[2.9516236078771456,-19.54603785238311,-8.488213419914246,0,0,1.0479510612679028],[5.4483601041453635,-15.214028287735047,-8.488213419914246,0,0,1.0479510612679028],[7.9450966004135815,-10.882018723086983,-8.488213419914246,0,0,1.0479510612679028],[10.4418330966818,-6.550009158438919,-8.488213419914246,0,0,1.0479510612679028],[12.938569592950017,-2.2179995937908554,-8.488213419914246,0,0,1.0479510612679028],[15.435306089218235,2.114009970857208,-8.488213419914246,0,0,1.0479510612679028],[17.932042585486453,6.446019535505272,-8.488213419914246,0,0,1.0479510612679028],[17.932042585486453,6.446019535505272,-8.488213419914246,0,0,1.3097504490670522],[17.932042585486453,6.446019535505272,-8.488213419914246,0,0,1.5715498368662015],[17.932042585486453,6.446019535505272,-8.488213419914246,0,0,1.833349224665351],[17.932042585486453,6.446019535505272,-8.488213419914246,0,0,2.0951486124645005],[17.932042585486453,6.446019535505272,-8.488213419914246,0,0,2.35694800026365],[17.932042585486453,6.446019535505272,-8.488213419914246,0,0,2.6187473880627996],[17.932042585486453,6.446019535505272,-8.488213419914246,0,0,2.880546775861949],[17.932042585486453,6.446019535505272,-8.488213419914246,0,0,-3.1408391435184875],[17.932042585486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+{"episode_id":"32RIADZIS121YYLX5FQJH1KI6UNS40","trajectory_id":"375VMB7D5RHMIW413BSWRKDDHFCDI8","scene_id":2,"start_position":[-16.993558883666992,64.20699310302734,2.484872817993164],"start_rotation":[0.99998821218962,0.0,0.0,-0.004855458969806796],"instruction":{"instruction_text":"Take off, rise up to the higher altitude than the front building, turn left until facing a gate where a billboard with three legs is on the left. Fly forward, passing the gate, and fly to the wooden top of a box on the right side. Turn right to face the utility pole, and fly forward across the electric pole and wires, then fly to the next wire pole beside the brown walls. Fly over the wire to the black roof, turn left to face a open garage and fly to its roof, then turn left to a broken orange roof and fly over it, and then fly over the iron fences, land in front of the the second brick house on the left."},"goals":[{"position":[-21.390201408053812,-63.17401349198842,-1.515127182006836]}],"reference_path":[[-16.993558883666992,64.20699310302734,2.484872817993164,0,0,-0.00971095609661327],[-16.993558883666992,64.20699310302734,0.48487281799316406,0,0,-0.00971095609661327],[-16.993558883666992,64.20699310302734,-1.515127182006836,0,0,-0.00971095609661327],[-16.993558883666992,64.20699310302734,-3.515127182006836,0,0,-0.00971095609661327],[-16.993558883666992,64.20699310302734,-5.515127182006836,0,0,-0.00971095609661327],[-16.993558883666992,64.20699310302734,-7.515127182006836,0,0,-0.00971095609661327],[-16.993558883666992,64.20699310302734,-7.515127182006836,0,0,-0.27151034389576273],[-16.993558883666992,64.20699310302734,-7.515127182006836,0,0,-0.5333097316949121],[-16.993558883666992,64.20699310302734,-7.515127182006836,0,0,-0.7951091194940616],[-16.993558883666992,64.20699310302734,-7.515127182006836,0,0,-1.0569085072932112],[-16.993558883666992,64.20699310302734,-7.515127182006836,0,0,-1.3187078950923605],[-16.993558883666992,64.20699310302734,-7.515127182006836,0,0,-1.5805072828915099],[-16.993558883666992,64.20699310302734,-7.515127182006836,0,0,-1.8423066706906592],[-16.993558883666992,64.20699310302734,-7.515127182006836,0,0,-2.1041060584898084],[-16.993558883666992,64.20699310302734,-7.515127182006836,0,0,-2.3659054462889575],[-16.993558883666992,64.20699310302734,-7.515127182006836,0,0,-2.627704834088107],[-21.34775874160055,61.749159992913604,-7.515127182006836,0,0,-2.627704834088107],[-25.70195859953411,59.291326882799865,-7.515127182006836,0,0,-2.627704834088107],[-30.056158457467667,56.833493772686126,-7.515127182006836,0,0,-2.627704834088107],[-34.410358315401226,54.375660662572386,-7.515127182006836,0,0,-2.627704834088107],[-38.764558173334784,51.91782755245865,-7.515127182006836,0,0,-2.627704834088107],[-41.22239128344852,56.272027410392205,-7.515127182006836,0,0,-2.627704834088107],[-45.57659114138208,53.814194300278466,-7.515127182006836,0,0,-2.627704834088107],[-45.57659114138208,53.814194300278466,-7.515127182006836,0,0,-2.3659054462889575],[-45.57659114138208,53.814194300278466,-7.515127182006836,0,0,-2.1041060584898084],[-48.11852227645027,49.50854845969067,-7.515127182006836,0,0,-2.1041060584898084],[-50.66045341151846,45.20290261910288,-7.515127182006836,0,0,-2.1041060584898084],[-53.20238454658665,40.897256778515086,-7.515127182006836,0,0,-2.1041060584898084],[-53.20238454658665,40.897256778515086,-7.515127182006836,0,0,-1.8423066706906588],[-53.20238454658665,40.897256778515086,-7.515127182006836,0,0,-1.5805072828915094],[-53.20238454658665,40.897256778515086,-7.515127182006836,0,0,-1.3187078950923599],[-53.20238454658665,40.897256778515086,-7.515127182006836,0,0,-1.0569085072932105],[-53.20238454658665,40.897256778515086,-7.515127182006836,0,0,-0.795109119494061],[-53.20238454658665,40.897256778515086,-7.515127182006836,0,0,-0.5333097316949117],[-48.89673870599886,38.355325643446896,-7.515127182006836,0,0,-0.5333097316949117],[-44.59109286541106,35.81339450837871,-7.515127182006836,0,0,-0.5333097316949117],[-40.28544702482327,33.27146337331052,-7.515127182006836,0,0,-0.5333097316949117],[-35.97980118423548,30.729532238242328,-7.515127182006836,0,0,-0.5333097316949117],[-31.674155343647683,28.18760110317414,-7.515127182006836,0,0,-0.5333097316949117],[-27.36850950305989,25.64566996810595,-7.515127182006836,0,0,-0.5333097316949117],[-27.36850950305989,25.64566996810595,-7.515127182006836,0,0,-0.2715103438957623],[-22.551674797687323,24.30473618110587,-7.515127182006836,0,0,-0.2715103438957623],[-17.734840092314755,22.96380239410579,-7.515127182006836,0,0,-0.2715103438957623],[-12.918005386942188,21.622868607105712,-7.515127182006836,0,0,-0.2715103438957623],[-8.10117068156962,20.281934820105633,-7.515127182006836,0,0,-0.2715103438957623],[-8.10117068156962,20.281934820105633,-7.515127182006836,0,0,-0.00971095609661285],[-3.1014064363876948,20.233380802759864,-7.515127182006836,0,0,-0.00971095609661285],[-3.1014064363876948,20.233380802759864,-7.515127182006836,0,0,-0.2715103438957623],[1.7154282689848728,18.892447015759785,-7.515127182006836,0,0,-0.2715103438957623],[1.7154282689848728,18.892447015759785,-7.515127182006836,0,0,-0.5333097316949117],[1.7154282689848728,18.892447015759785,-7.515127182006836,0,0,-0.795109119494061],[5.21646259616801,15.322746938738565,-7.515127182006836,0,0,-0.795109119494061],[8.717496923351147,11.753046861717344,-7.515127182006836,0,0,-0.795109119494061],[12.218531250534284,8.183346784696123,-7.515127182006836,0,0,-0.795109119494061],[15.719565577717422,4.613646707674902,-7.515127182006836,0,0,-0.795109119494061],[19.22059990490056,1.0439466306536804,-7.515127182006836,0,0,-0.795109119494061],[19.22059990490056,1.0439466306536804,-7.515127182006836,0,0,-1.0569085072932105],[19.22059990490056,1.0439466306536804,-7.515127182006836,0,0,-1.3187078950923599],[19.22059990490056,1.0439466306536804,-7.515127182006836,0,0,-1.5805072828915094],[19.22059990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+{"episode_id":"3A7Y0R2P2XMZXXQH2WJAMBQT4DOJXE","trajectory_id":"3909MD9T37F70BGBYYXVU5I619YFE9","scene_id":2,"start_position":[53.076473236083984,56.11555480957031,-7.863255977630615],"start_rotation":[0.9999820951765523,0.0,0.0,-0.005984089430526321],"instruction":{"instruction_text":"Take off, turn left towards the pillar, fly over the left side of the pillar, and reach the top of the bungalow with two chimneys on the roof. Fly straight ahead to the telegraph pole set up on the roof, then fly to the edge of the roof and turn left until reaching the orange gate of the bungalow. Fly forward over the power lines, keep flying ahead until reaching a house with a green door and turn right to face the house with a broken roof and go forward to it. Turn right to face the front house with a patchy roof, then fly forward to the house' roof. Land on the broken roof."},"goals":[{"position":[30.775689500177855,-43.81257412069094,-1.8632559776306152]}],"reference_path":[[53.076473236083984,56.11555480957031,-7.863255977630615,0,0,-0.011968250290940717],[53.076473236083984,56.11555480957031,-7.863255977630615,0,0,-0.27376763809009014],[53.076473236083984,56.11555480957031,-7.863255977630615,0,0,-0.5355670258892395],[53.076473236083984,56.11555480957031,-7.863255977630615,0,0,-0.797366413688389],[53.076473236083984,56.11555480957031,-7.863255977630615,0,0,-1.0591658014875385],[55.524471382693704,51.7558179970786,-7.863255977630615,0,0,-1.0591658014875385],[57.972469529303424,47.39608118458689,-7.863255977630615,0,0,-1.0591658014875385],[60.420467675913144,43.03634437209518,-7.863255977630615,0,0,-1.0591658014875385],[62.868465822522865,38.67660755960347,-7.863255977630615,0,0,-1.0591658014875385],[65.31646396913258,34.31687074711176,-7.863255977630615,0,0,-1.0591658014875385],[67.7644621157423,29.957133934620046,-7.863255977630615,0,0,-1.0591658014875385],[67.7644621157423,29.957133934620046,-7.863255977630615,0,0,-1.320965189286688],[69.00066382955299,25.112363008892853,-7.863255977630615,0,0,-1.320965189286688],[70.23686554336368,20.26759208316566,-7.863255977630615,0,0,-1.320965189286688],[70.23686554336368,20.26759208316566,-7.863255977630615,0,0,-1.5827645770858374],[70.23686554336368,20.26759208316566,-7.863255977630615,0,0,-1.8445639648849868],[70.23686554336368,20.26759208316566,-7.863255977630615,0,0,-2.106363352684136],[70.23686554336368,20.26759208316566,-7.863255977630615,0,0,-2.3681627404832857],[70.23686554336368,20.26759208316566,-7.863255977630615,0,0,-2.6299621282824353],[65.87712873087196,17.81959393655594,-7.863255977630615,0,0,-2.6299621282824353],[61.51739191838025,15.371595789946221,-7.863255977630615,0,0,-2.6299621282824353],[57.15765510588854,12.923597643336503,-7.863255977630615,0,0,-2.6299621282824353],[52.797918293396826,10.475599496726785,-7.863255977630615,0,0,-2.6299621282824353],[48.438181480905115,8.027601350117067,-7.863255977630615,0,0,-2.6299621282824353],[45.9901833342954,12.387338162608778,-7.863255977630615,0,0,-2.6299621282824353],[41.63044652180369,9.93934001599906,-7.863255977630615,0,0,-2.6299621282824353],[37.27070970931198,7.491341869389341,-7.863255977630615,0,0,-2.6299621282824353],[32.91097289682027,5.043343722779623,-7.863255977630615,0,0,-2.6299621282824353],[28.551236084328558,2.5953455761699047,-7.863255977630615,0,0,-2.6299621282824353],[26.10323793771884,6.955082388661617,-7.863255977630615,0,0,-2.6299621282824353],[21.74350112522713,4.507084242051898,-7.863255977630615,0,0,-2.6299621282824353],[17.38376431273542,2.05908609544218,-7.863255977630615,0,0,-2.6299621282824353],[13.024027500243708,-0.38891205116753813,-7.863255977630615,0,0,-2.6299621282824353],[13.024027500243708,-0.38891205116753813,-7.863255977630615,0,0,-2.368162740483286],[13.024027500243708,-0.38891205116753813,-7.863255977630615,0,0,-2.106363352684137],[8.724130510616614,2.1627317089596207,-7.863255977630615,0,0,-2.106363352684137],[8.724130510616614,2.1627317089596207,-7.863255977630615,0,0,-1.8445639648849876],[8.724130510616614,2.1627317089596207,-7.863255977630615,0,0,-1.582764577085838],[8.724130510616614,2.1627317089596207,-7.863255977630615,0,0,-1.3209651892866887],[9.9603322244273,-2.6820392167675724,-7.863255977630615,0,0,-1.3209651892866887],[11.196533938237984,-7.5268101424947655,-7.863255977630615,0,0,-1.3209651892866887],[11.196533938237984,-7.5268101424947655,-5.863255977630615,0,0,-1.3209651892866887],[12.432735652048668,-12.371581068221959,-5.863255977630615,0,0,-1.3209651892866887],[13.668937365859353,-17.216351993949154,-5.863255977630615,0,0,-1.3209651892866887],[14.905139079670038,-22.061122919676347,-5.863255977630615,0,0,-1.3209651892866887],[19.749910005397233,-20.824921205865664,-5.863255977630615,0,0,-1.3209651892866887],[20.98611171920792,-25.669692131592857,-5.863255977630615,0,0,-1.3209651892866887],[22.222313433018606,-30.51446305732005,-5.863255977630615,0,0,-1.3209651892866887],[23.458515146829292,-35.35923398304725,-5.863255977630615,0,0,-1.3209651892866887],[24.69471686063998,-40.204004908774436,-5.863255977630615,0,0,-1.3209651892866887],[29.53948778636717,-38.96780319496375,-5.863255977630615,0,0,-1.3209651892866887],[30.775689500177855,-43.81257412069094,-5.863255977630615,0,0,-1.3209651892866887],[30.775689500177855,-43.81257412069094,-3.8632559776306152,0,0,-1.3209651892866887],[30.775689500177855,-43.81257412069094,-1.8632559776306152,0,0,-1.3209651892866887]],"actions":[2,2,2,2,1,1,1,1,1,1,2,1,1,2,2,2,2,2,1,1,1,1,1,6,1,1,1,1,6,1,1,1,3,3,6,3,3,3,1,1,5,1,1,1,7,1,1,1,1,7,1,5,5,0]},
+{"episode_id":"3T111IHZ5NOQUPRW7LM58ZQ2BUP9RL","trajectory_id":"3EQVJH0T58JT3QPEJJAQWCUKLSHHT7","scene_id":2,"start_position":[174.98248291015625,-52.36124801635742,-4.982565402984619],"start_rotation":[0.9996845130595547,0.0,0.0,0.025117212203605698],"instruction":{"instruction_text":"Liff off, turn right until facing the right side of the road and face the nearest utility pole at the right side of the road, then fly straight across a brick building to the pipeline. Fly across the pipeline and fly straight across all the buildings to a black billboard, then turn right to face the opened garage, and fly straight to the second power line. Turn left to face a unfinished building with four pillars and a graffiti, fly towards it, then turn right to the pipeline and head straight over it. Turn left to face the end of iron pipeline, fly forward along the pipeline, at the end of the pipeline fly over a brick building, and fly across stony terrain and a road to a building with \"PO\" painting, then stop in front of it."},"goals":[{"position":[185.08306503855098,65.62315963713935,-6.982565402984619]}],"reference_path":[[174.98248291015625,-52.36124801635742,-4.982565402984619,0,0,0.05023970784224639],[174.98248291015625,-52.36124801635742,-4.982565402984619,0,0,0.3120390956413958],[174.98248291015625,-52.36124801635742,-4.982565402984619,0,0,0.5738384834405452],[174.98248291015625,-52.36124801635742,-4.982565402984619,0,0,0.8356378712396947],[174.98248291015625,-52.36124801635742,-4.982565402984619,0,0,1.0974372590388441],[174.98248291015625,-52.36124801635742,-4.982565402984619,0,0,1.3592366468379937],[174.98248291015625,-52.36124801635742,-4.982565402984619,0,0,1.621036034637143],[174.98248291015625,-52.36124801635742,-4.982565402984619,0,0,1.8828354224362926],[174.98248291015625,-52.36124801635742,-4.982565402984619,0,0,2.144634810235442],[174.98248291015625,-52.36124801635742,-4.982565402984619,0,0,2.406434198034591],[174.98248291015625,-52.36124801635742,-6.982565402984619,0,0,2.406434198034591],[174.98248291015625,-52.36124801635742,-8.98256540298462,0,0,2.406434198034591],[171.2738604810077,-49.00772454424391,-8.98256540298462,0,0,2.406434198034591],[167.56523805185913,-45.65420107213039,-8.98256540298462,0,0,2.406434198034591],[163.85661562271056,-42.300677600016876,-8.98256540298462,0,0,2.406434198034591],[160.147993193562,-38.94715412790336,-8.98256540298462,0,0,2.406434198034591],[156.43937076441344,-35.593630655789845,-8.98256540298462,0,0,2.406434198034591],[152.73074833526488,-32.24010718367633,-8.98256540298462,0,0,2.406434198034591],[149.02212590611632,-28.886583711562817,-8.98256540298462,0,0,2.406434198034591],[145.31350347696775,-25.533060239449306,-8.98256540298462,0,0,2.406434198034591],[141.6048810478192,-22.179536767335794,-8.98256540298462,0,0,2.406434198034591],[137.89625861867063,-18.826013295222282,-8.98256540298462,0,0,2.406434198034591],[134.18763618952207,-15.472489823108768,-8.98256540298462,0,0,2.406434198034591],[130.4790137603735,-12.118966350995255,-8.98256540298462,0,0,2.406434198034591],[126.77039133122494,-8.765442878881741,-8.98256540298462,0,0,2.406434198034591],[123.06176890207638,-5.411919406768227,-8.98256540298462,0,0,2.406434198034591],[119.35314647292782,-2.058395934654714,-8.98256540298462,0,0,2.406434198034591],[115.64452404377926,1.2951275374587992,-8.98256540298462,0,0,2.406434198034591],[111.9359016146307,4.648651009572312,-8.98256540298462,0,0,2.406434198034591],[108.22727918548213,8.002174481685826,-8.98256540298462,0,0,2.406434198034591],[104.51865675633357,11.35569795379934,-8.98256540298462,0,0,2.406434198034591],[101.16513328422006,7.647075524650784,-8.98256540298462,0,0,2.406434198034591],[97.45651085507151,11.000598996764298,-8.98256540298462,0,0,2.406434198034591],[97.45651085507151,11.000598996764298,-8.98256540298462,0,0,2.6682335858337405],[93.00630092802072,13.279991811787308,-8.98256540298462,0,0,2.6682335858337405],[88.55609100096993,15.559384626810317,-8.98256540298462,0,0,2.6682335858337405],[84.10588107391914,17.838777441833326,-8.98256540298462,0,0,2.6682335858337405],[79.65567114686834,20.118170256856335,-8.98256540298462,0,0,2.6682335858337405],[75.20546121981755,22.397563071879343,-8.98256540298462,0,0,2.6682335858337405],[70.75525129276676,24.676955886902352,-8.98256540298462,0,0,2.6682335858337405],[66.30504136571597,26.95634870192536,-8.98256540298462,0,0,2.6682335858337405],[64.02564855069295,22.50613877487456,-8.98256540298462,0,0,2.6682335858337405],[59.57543862364215,24.78553158989757,-8.98256540298462,0,0,2.6682335858337405],[55.12522869659135,27.06492440492058,-8.98256540298462,0,0,2.6682335858337405],[50.67501876954055,29.344317219943587,-8.98256540298462,0,0,2.6682335858337405],[50.67501876954055,29.344317219943587,-8.98256540298462,0,0,2.9300329736328896],[45.78649579679639,30.39424252440701,-8.98256540298462,0,0,2.9300329736328896],[40.89797282405223,31.44416782887043,-8.98256540298462,0,0,2.9300329736328896],[36.00944985130808,32.49409313333385,-8.98256540298462,0,0,2.9300329736328896],[31.120926878563917,33.54401843779727,-8.98256540298462,0,0,2.9300329736328896],[26.23240390581976,34.59394374226069,-8.98256540298462,0,0,2.9300329736328896],[25.182478601356337,29.705420769516532,-8.98256540298462,0,0,2.9300329736328896],[20.293955628612178,30.755346073979954,-8.98256540298462,0,0,2.9300329736328896],[15.405432655868019,31.805271378443376,-8.98256540298462,0,0,2.9300329736328896],[10.51690968312386,32.855196682906794,-8.98256540298462,0,0,2.9300329736328896],[5.628386710379701,33.905121987370215,-8.98256540298462,0,0,2.9300329736328896],[0.7398637376355417,34.95504729183364,-8.98256540298462,0,0,2.9300329736328896],[-4.148659235108617,36.00497259629706,-8.98256540298462,0,0,2.9300329736328896],[-3.0987339306451958,40.89349556904122,-8.98256540298462,0,0,2.9300329736328896],[-7.987256903389355,41.94342087350464,-8.98256540298462,0,0,2.9300329736328896],[-12.875779876133514,42.993346177968064,-8.98256540298462,0,0,2.9300329736328896],[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+{"episode_id":"3TOK3KHVJ2GJJTBN0W7H08UR09K7OG","trajectory_id":"36818Z1KWBB9UMJ6YYU7XD3IDUJ3AX","scene_id":2,"start_position":[23.61909294128418,35.452056884765625,2.1412832736968994],"start_rotation":[0.9999928620459777,0.0,0.0,0.0037783405212111574],"instruction":{"instruction_text":"Take off, ascend to the higher altitude than the front electric wires, and fly over them, then turn left to face a dark billboard painted with\"COME INTO THE FACTORIES\". Fly straight over the wires to the hut with green and brown doors. Turn right to face a garage and fly over it, then pass the house with graffiti on the right, fly to the roof of a red brick house with a chimney. Fly straight to the chimney. Turn left to face a white building and fly straight over it, then fly straight towards the pipeline. Fly forward and land in front of the brown pole nearby stones."},"goals":[{"position":[85.74235027022424,-59.65365353733876,-1.8587167263031006]}],"reference_path":[[23.61909294128418,35.452056884765625,2.1412832736968994,0,0,0.007556699022220931],[23.61909294128418,35.452056884765625,0.14128327369689941,0,0,0.007556699022220931],[23.61909294128418,35.452056884765625,-1.8587167263031006,0,0,0.007556699022220931],[23.61909294128418,35.452056884765625,-3.8587167263031006,0,0,0.007556699022220931],[23.61909294128418,35.452056884765625,-5.858716726303101,0,0,0.007556699022220931],[28.618950182713238,35.48984002028153,-5.858716726303101,0,0,0.007556699022220931],[33.6188074241423,35.52762315579743,-5.858716726303101,0,0,0.007556699022220931],[38.61866466557135,35.56540629131333,-5.858716726303101,0,0,0.007556699022220931],[38.61866466557135,35.56540629131333,-5.858716726303101,0,0,-0.2542426887769285],[38.61866466557135,35.56540629131333,-5.858716726303101,0,0,-0.5160420765760779],[38.61866466557135,35.56540629131333,-5.858716726303101,0,0,-0.7778414643752274],[38.61866466557135,35.56540629131333,-5.858716726303101,0,0,-1.0396408521743767],[38.61866466557135,35.56540629131333,-5.858716726303101,0,0,-1.301440239973526],[38.61866466557135,35.56540629131333,-5.858716726303101,0,0,-1.5632396277726754],[38.61866466557135,35.56540629131333,-5.858716726303101,0,0,-1.8250390155718248],[38.61866466557135,35.56540629131333,-5.858716726303101,0,0,-2.086838403370974],[38.61866466557135,35.56540629131333,-5.858716726303101,0,0,-2.3486377911701237],[35.10994841652999,32.00325661959639,-5.858716726303101,0,0,-2.3486377911701237],[31.60123216748862,28.441106947879454,-5.858716726303101,0,0,-2.3486377911701237],[28.092515918447255,24.878957276162517,-5.858716726303101,0,0,-2.3486377911701237],[24.583799669405888,21.31680760444558,-5.858716726303101,0,0,-2.3486377911701237],[21.07508342036452,17.75465793272864,-5.858716726303101,0,0,-2.3486377911701237],[17.566367171323154,14.192508261011703,-5.858716726303101,0,0,-2.3486377911701237],[14.057650922281788,10.630358589294765,-5.858716726303101,0,0,-2.3486377911701237],[10.54893467324042,7.068208917577827,-5.858716726303101,0,0,-2.3486377911701237],[7.040218424199055,3.5060592458608895,-5.858716726303101,0,0,-2.3486377911701237],[7.040218424199055,3.5060592458608895,-5.858716726303101,0,0,-2.086838403370974],[7.040218424199055,3.5060592458608895,-5.858716726303101,0,0,-1.8250390155718246],[7.040218424199055,3.5060592458608895,-5.858716726303101,0,0,-1.5632396277726752],[7.040218424199055,3.5060592458608895,-5.858716726303101,0,0,-1.301440239973526],[7.040218424199055,3.5060592458608895,-5.858716726303101,0,0,-1.0396408521743765],[7.040218424199055,3.5060592458608895,-5.858716726303101,0,0,-0.7778414643752272],[7.040218424199055,3.5060592458608895,-5.858716726303101,0,0,-0.5160420765760778],[11.389113378330155,1.0388517803377626,-5.858716726303101,0,0,-0.5160420765760778],[15.738008332461256,-1.4283556851853643,-5.858716726303101,0,0,-0.5160420765760778],[20.086903286592356,-3.895563150708491,-5.858716726303101,0,0,-0.5160420765760778],[24.435798240723457,-6.362770616231618,-5.858716726303101,0,0,-0.5160420765760778],[24.435798240723457,-6.362770616231618,-5.858716726303101,0,0,-0.2542426887769284],[29.275068473033407,-7.62033318671422,-5.858716726303101,0,0,-0.2542426887769284],[34.11433870534336,-8.877895757196821,-5.858716726303101,0,0,-0.2542426887769284],[34.11433870534336,-8.877895757196821,-5.858716726303101,0,0,0.0075566990222209985],[34.11433870534336,-8.877895757196821,-5.858716726303101,0,0,0.2693560868213704],[38.9340509475429,-7.547341773928239,-5.858716726303101,0,0,0.2693560868213704],[43.75376318974244,-6.216787790659657,-5.858716726303101,0,0,0.2693560868213704],[48.573475431941986,-4.886233807391075,-5.858716726303101,0,0,0.2693560868213704],[53.39318767414153,-3.5556798241224925,-5.858716726303101,0,0,0.2693560868213704],[53.39318767414153,-3.5556798241224925,-5.858716726303101,0,0,0.5311554746205198],[57.704299492756725,-1.0230300482165622,-5.858716726303101,0,0,0.5311554746205198],[62.01541131137192,1.5096197276893681,-5.858716726303101,0,0,0.5311554746205198],[62.01541131137192,1.5096197276893681,-5.858716726303101,0,0,0.7929548624196692],[65.52412756041329,5.071769399406305,-5.858716726303101,0,0,0.7929548624196692],[69.03284380945466,8.633919071123241,-5.858716726303101,0,0,0.7929548624196692],[69.03284380945466,8.633919071123241,-5.858716726303101,0,0,0.5311554746205198],[69.03284380945466,8.633919071123241,-5.858716726303101,0,0,0.2693560868213704],[69.03284380945466,8.633919071123241,-5.858716726303101,0,0,0.007556699022220967],[69.03284380945466,8.633919071123241,-5.858716726303101,0,0,-0.25424268877692846],[69.03284380945466,8.633919071123241,-5.858716726303101,0,0,-0.5160420765760779],[69.03284380945466,8.633919071123241,-5.858716726303101,0,0,-0.7778414643752274],[69.03284380945466,8.633919071123241,-5.858716726303101,0,0,-1.0396408521743767],[69.03284380945466,8.633919071123241,-5.858716726303101,0,0,-1.30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+{"episode_id":"35GMH2SV3NF4S8QXN4LN6IM8R1UOE4","trajectory_id":"3XD2A6FGGVSZ9KUGW7H89Q0A0WVS93","scene_id":2,"start_position":[106.87444305419922,-4.6568803787231445,-18.31999397277832],"start_rotation":[0.9999637527580478,0.0,0.0,-0.008514292104555636],"instruction":{"instruction_text":"Take off, descend to the altitude just slightly higher than the front electric wires, then turn right until seeing a pipeline going horizontal across your view, and fly over green fences, fly forward to a building with green and brown doors. Turn right to face the orange and brown crumble roof. Fly forward across the broken roof to the white van, then turn left to face the small isolated buildings on the rocky terrain, then go towards the buildings and the utility pole. Fly forward to the middle of the black roof of the building. Turn back to the backside to face a cluster of buildings, fences and a billboard. Fly forward, passing the billboard, then go along the fences towards the white van, then fly forward and stop in front of a white house with several stacked crates and red barrels."},"goals":[{"position":[24.091026726345675,-54.05069984339731,-8.31999397277832]}],"reference_path":[[106.87444305419922,-4.6568803787231445,-18.31999397277832,0,0,-0.01702878995849839],[106.87444305419922,-4.6568803787231445,-16.31999397277832,0,0,-0.01702878995849839],[106.87444305419922,-4.6568803787231445,-14.31999397277832,0,0,-0.01702878995849839],[106.87444305419922,-4.6568803787231445,-12.31999397277832,0,0,-0.01702878995849839],[106.87444305419922,-4.6568803787231445,-10.31999397277832,0,0,-0.01702878995849839],[106.87444305419922,-4.6568803787231445,-10.31999397277832,0,0,0.24477059784065103],[106.87444305419922,-4.6568803787231445,-10.31999397277832,0,0,0.5065699856398005],[106.87444305419922,-4.6568803787231445,-10.31999397277832,0,0,0.76836937343895],[106.87444305419922,-4.6568803787231445,-10.31999397277832,0,0,1.0301687612380994],[106.87444305419922,-4.6568803787231445,-10.31999397277832,0,0,1.2919681490372488],[106.87444305419922,-4.6568803787231445,-10.31999397277832,0,0,1.5537675368363981],[106.87444305419922,-4.6568803787231445,-10.31999397277832,0,0,1.8155669246355477],[106.87444305419922,-4.6568803787231445,-10.31999397277832,0,0,2.0773663124346973],[106.87444305419922,-4.6568803787231445,-10.31999397277832,0,0,2.3391657002338464],[106.87444305419922,-4.6568803787231445,-10.31999397277832,0,0,2.600965088032996],[106.87444305419922,-4.6568803787231445,-10.31999397277832,0,0,2.8627644758321455],[102.06754996376154,-3.280734014013893,-10.31999397277832,0,0,2.8627644758321455],[97.26065687332385,-1.9045876493046412,-10.31999397277832,0,0,2.8627644758321455],[92.45376378288617,-0.5284412845953894,-10.31999397277832,0,0,2.8627644758321455],[87.64687069244849,0.8477050801138624,-10.31999397277832,0,0,2.8627644758321455],[86.27072432773923,-3.9591880103238175,-10.31999397277832,0,0,2.8627644758321455],[81.46383123730155,-2.583041645614566,-10.31999397277832,0,0,2.8627644758321455],[76.65693814686387,-1.2068952809053142,-10.31999397277832,0,0,2.8627644758321455],[71.85004505642618,0.1692510838039376,-10.31999397277832,0,0,2.8627644758321455],[67.0431519659885,1.5453974485131894,-10.31999397277832,0,0,2.8627644758321455],[65.66700560127924,-3.2614956419244905,-10.31999397277832,0,0,2.8627644758321455],[60.86011251084156,-1.8853492772152387,-10.31999397277832,0,0,2.8627644758321455],[56.05321942040388,-0.5092029125059869,-10.31999397277832,0,0,2.8627644758321455],[51.246326329966195,0.8669434522032649,-10.31999397277832,0,0,2.8627644758321455],[46.43943323952851,2.2430898169125166,-10.31999397277832,0,0,2.8627644758321455],[41.63254014909083,3.619236181621768,-10.31999397277832,0,0,2.8627644758321455],[40.25639378438158,-1.187656908815912,-10.31999397277832,0,0,2.8627644758321455],[40.25639378438158,-1.187656908815912,-10.31999397277832,0,0,3.1245638636312947],[35.257118716082,-1.1025170739664143,-10.31999397277832,0,0,3.1245638636312947],[30.257843647782416,-1.0173772391169167,-10.31999397277832,0,0,3.1245638636312947],[25.258568579482834,-0.9322374042674191,-10.31999397277832,0,0,3.1245638636312947],[25.258568579482834,-0.9322374042674191,-10.31999397277832,0,0,-2.896822055749142],[20.40760386753329,-2.1439062383224425,-10.31999397277832,0,0,-2.896822055749142],[20.40760386753329,-2.1439062383224425,-10.31999397277832,0,0,-2.635022667949993],[16.035534740454917,-4.569810512618558,-10.31999397277832,0,0,-2.635022667949993],[16.035534740454917,-4.569810512618558,-10.31999397277832,0,0,-2.3732232801508433],[16.035534740454917,-4.569810512618558,-10.31999397277832,0,0,-2.1114238923516937],[16.035534740454917,-4.569810512618558,-10.31999397277832,0,0,-1.8496245045525443],[14.659388375745666,-9.376703603056239,-10.31999397277832,0,0,-1.8496245045525443],[13.283242011036414,-14.183596693493918,-10.31999397277832,0,0,-1.8496245045525443],[11.907095646327162,-18.990489783931597,-10.31999397277832,0,0,-1.8496245045525443],[10.53094928161791,-23.797382874369276,-10.31999397277832,0,0,-1.8496245045525443],[9.15480291690866,-28.604275964806956,-10.31999397277832,0,0,-1.8496245045525443],[7.778656552199408,-33.411169055244635,-10.31999397277832,0,0,-1.8496245045525443],[6.402510187490156,-38.21806214568232,-10.31999397277832,0,0,-1.8496245045525443],[6.402510187490156,-38.21806214568232,-8.31999397277832,0,0,-1.8496245045525443],[6.402510187490156,-38.21806214568232,-6.31999397277832,0,0,-1.8496245045525443],[6.402510187490156,-38.21806214568232,-4.31999397277832,0,0,-1.8496245045525443],[5.026363822780905,-43.02495523612,-4.31999397277832,0,0,-1.8496245045525443],[5.026363822780905,-43.02495523612,-4.31999397277832,0,0,-2.1114238923516937],[5.026363822780905,-43.02495523612,-4.31999397277832,0,0,-2.3732232801508433],[5.026363822780905,-43.02495523612,-4.31999397277832,0,0,-2.635022667949993],[5.026363822780905,-43.02495523612,-6.31999397277832,0,0,-2.635022667949993],[5.026363822780905,-43.02495523612,-8.31999397277832,0,0,-2.635022667949993],[5.026363822780905,-43.02495523612,-8.31999397277832,0,0,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+{"episode_id":"3NS0A6KXCD6EBQ0VV8MSMJEOM2ZZGH","trajectory_id":"3S8A4GJREB1SJT9MSVJ103TF9PR6V1","scene_id":2,"start_position":[80.40995788574219,-61.768592834472656,2.310379981994629],"start_rotation":[0.9999994732724077,0.0,0.0,-0.0010263795142444574],"instruction":{"instruction_text":"Lift off, rise up to the higher altitude than the front electric wires, and turn right until facing the brwon brick wall which is the middle, fly across it, then fly to the edge of the front brown brick bungalow. Fly over the roof of the aforementioned building, turn left to face a row of two-story buildings behind pipelines, and then fly forward until reaching the graffiti on the exterior wall that reads \"PO\". Turn left towards the buildings on the far left of the ground and fly straight towards them until reaching the edge of the building's roof, then turn right towards the two bungalows that are right next to each other, then fly straight ahead, stop at the signpost and land in front of it."},"goals":[{"position":[199.61958733093186,33.03984780188187,-3.689620018005371]}],"reference_path":[[80.40995788574219,-61.768592834472656,2.310379981994629,0,0,-0.0020527593889039307],[80.40995788574219,-61.768592834472656,0.3103799819946289,0,0,-0.0020527593889039307],[80.40995788574219,-61.768592834472656,-1.689620018005371,0,0,-0.0020527593889039307],[80.40995788574219,-61.768592834472656,-3.689620018005371,0,0,-0.0020527593889039307],[80.40995788574219,-61.768592834472656,-5.689620018005371,0,0,-0.0020527593889039307],[80.40995788574219,-61.768592834472656,-7.689620018005371,0,0,-0.0020527593889039307],[80.40995788574219,-61.768592834472656,-7.689620018005371,0,0,0.2597466284102455],[80.40995788574219,-61.768592834472656,-7.689620018005371,0,0,0.5215460162093949],[80.40995788574219,-61.768592834472656,-7.689620018005371,0,0,0.7833454040085444],[80.40995788574219,-61.768592834472656,-7.689620018005371,0,0,1.045144791807694],[80.40995788574219,-61.768592834472656,-7.689620018005371,0,0,1.3069441796068435],[80.40995788574219,-61.768592834472656,-7.689620018005371,0,0,1.5687435674059929],[80.4202216754784,-56.768603369021726,-7.689620018005371,0,0,1.5687435674059929],[80.43048546521462,-51.768613903570795,-7.689620018005371,0,0,1.5687435674059929],[80.44074925495083,-46.768624438119865,-7.689620018005371,0,0,1.5687435674059929],[80.45101304468704,-41.768634972668934,-7.689620018005371,0,0,1.5687435674059929],[80.46127683442326,-36.768645507218004,-7.689620018005371,0,0,1.5687435674059929],[80.47154062415947,-31.768656041767077,-7.689620018005371,0,0,1.5687435674059929],[80.48180441389569,-26.76866657631615,-7.689620018005371,0,0,1.5687435674059929],[80.4920682036319,-21.768677110865223,-7.689620018005371,0,0,1.5687435674059929],[80.50233199336812,-16.768687645414296,-7.689620018005371,0,0,1.5687435674059929],[75.5023425279172,-16.758423855678075,-7.689620018005371,0,0,1.5687435674059929],[75.51260631765341,-11.758434390227148,-7.689620018005371,0,0,1.5687435674059929],[75.52287010738962,-6.75844492477622,-7.689620018005371,0,0,1.5687435674059929],[75.53313389712584,-1.7584554593252921,-7.689620018005371,0,0,1.5687435674059929],[75.54339768686205,3.2415340061256357,-7.689620018005371,0,0,1.5687435674059929],[75.54339768686205,3.2415340061256357,-7.689620018005371,0,0,1.3069441796068435],[75.54339768686205,3.2415340061256357,-7.689620018005371,0,0,1.045144791807694],[75.54339768686205,3.2415340061256357,-7.689620018005371,0,0,0.7833454040085445],[75.54339768686205,3.2415340061256357,-7.689620018005371,0,0,0.5215460162093951],[79.87864747746524,5.732640036200431,-7.689620018005371,0,0,0.5215460162093951],[84.21389726806842,8.223746066275226,-7.689620018005371,0,0,0.5215460162093951],[88.54914705867161,10.714852096350022,-7.689620018005371,0,0,0.5215460162093951],[92.8843968492748,13.205958126424818,-7.689620018005371,0,0,0.5215460162093951],[97.21964663987798,15.697064156499614,-7.689620018005371,0,0,0.5215460162093951],[101.55489643048116,18.18817018657441,-7.689620018005371,0,0,0.5215460162093951],[105.89014622108435,20.679276216649207,-7.689620018005371,0,0,0.5215460162093951],[105.89014622108435,20.679276216649207,-7.689620018005371,0,0,0.2597466284102457],[105.89014622108435,20.679276216649207,-7.689620018005371,0,0,-0.0020527593889037147],[110.89013568653527,20.66901242691299,-7.689620018005371,0,0,-0.0020527593889037147],[115.8901251519862,20.65874863717677,-7.689620018005371,0,0,-0.0020527593889037147],[115.8901251519862,20.65874863717677,-7.689620018005371,0,0,-0.26385214718805317],[120.71708764357986,19.354742078624284,-7.689620018005371,0,0,-0.26385214718805317],[125.54405013517352,18.050735520071797,-7.689620018005371,0,0,-0.26385214718805317],[130.3710126267672,16.74672896151931,-7.689620018005371,0,0,-0.26385214718805317],[135.19797511836086,15.442722402966822,-7.689620018005371,0,0,-0.26385214718805317],[133.89396855980837,10.61575991137316,-7.689620018005371,0,0,-0.26385214718805317],[138.72093105140203,9.311753352820674,-7.689620018005371,0,0,-0.26385214718805317],[143.5478935429957,8.007746794268186,-7.689620018005371,0,0,-0.26385214718805317],[143.5478935429957,8.007746794268186,-7.689620018005371,0,0,-0.5256515349872026],[147.87287954386267,5.498863358892054,-7.689620018005371,0,0,-0.5256515349872026],[152.19786554472964,2.989979923515922,-7.689620018005371,0,0,-0.5256515349872026],[156.5228515455966,0.4810964881397899,-7.689620018005371,0,0,-0.5256515349872026],[160.84783754646358,-2.027786947236342,-7.689620018005371,0,0,-0.5256515349872026],[165.17282354733055,-4.536670382612474,-7.689620018005371,0,0,-0.5256515349872026],[162.66394011195442,-8.861656383479442,-7.689620018005371,0,0,-0.5256515349872026],[166.9889261128214,-11.370539818855574,-7.689620018005371,0,0,-0.5256515349872026],[171.31391211368836,-13.879423254231707,-7.689620018005371,0,0,-0.5256515349872026],[175.63889811455533,-16.388306689607838,-7.689620018005371,0,0,-0.5256515349872026],[179.9638841154223,-18.897190124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+{"episode_id":"36TFCYNS4D836RVREWGPAYAEQF5XHV","trajectory_id":"39N6W9XWSLLBKGTX9JF7JTAYKQQYG9","scene_id":2,"start_position":[-50.566253662109375,91.09275817871094,0.4920169413089752],"start_rotation":[0.9999606074164316,0.0,0.0,0.00887601348361497],"instruction":{"instruction_text":"Take off and rise to a height higher than the power line. Fly forward over a flat roof and a broken roof, and fly forward until encountering a house with an extended shed, turn left to face a building with brown ground floor and white second floor. Fly forward over the grooves and a warehouse, turn slightly left to face a green gate behind some electric wires in the distance, and fly to it until reaching the fence beside it. Fly to the top of the green gate, turn right to face a dilapidated tow-storey building with overgrown walls, fly forward until seeing a blue van. Land to the right of the van."},"goals":[{"position":[42.992919816797496,-14.232804362696259,-5.507983058691025]}],"reference_path":[[-50.566253662109375,91.09275817871094,0.4920169413089752,0,0,0.017752260070304896],[-50.566253662109375,91.09275817871094,-1.5079830586910248,0,0,0.017752260070304896],[-50.566253662109375,91.09275817871094,-3.507983058691025,0,0,0.017752260070304896],[-50.566253662109375,91.09275817871094,-5.507983058691025,0,0,0.017752260070304896],[-50.566253662109375,91.09275817871094,-7.507983058691025,0,0,0.017752260070304896],[-50.566253662109375,91.09275817871094,-9.507983058691025,0,0,0.017752260070304896],[-50.566253662109375,91.09275817871094,-9.507983058691025,0,0,-0.24404712772884454],[-45.7144136135687,89.88459918943146,-9.507983058691025,0,0,-0.24404712772884454],[-40.86257356502803,88.67644020015197,-9.507983058691025,0,0,-0.24404712772884454],[-36.010733516487356,87.46828121087249,-9.507983058691025,0,0,-0.24404712772884454],[-31.15889346794668,86.26012222159301,-9.507983058691025,0,0,-0.24404712772884454],[-26.307053419406003,85.05196323231353,-9.507983058691025,0,0,-0.24404712772884454],[-21.455213370865327,83.84380424303404,-9.507983058691025,0,0,-0.24404712772884454],[-16.60337332232465,82.63564525375456,-9.507983058691025,0,0,-0.24404712772884454],[-17.81153231160413,77.78380520521388,-9.507983058691025,0,0,-0.24404712772884454],[-12.959692263063452,76.5756462159344,-9.507983058691025,0,0,-0.24404712772884454],[-8.107852214522776,75.36748722665492,-9.507983058691025,0,0,-0.24404712772884454],[-3.2560121659821,74.15932823737543,-9.507983058691025,0,0,-0.24404712772884454],[1.5958278825585754,72.95116924809595,-9.507983058691025,0,0,-0.24404712772884454],[6.447667931099251,71.74301025881647,-9.507983058691025,0,0,-0.24404712772884454],[11.299507979639927,70.53485126953699,-9.507983058691025,0,0,-0.24404712772884454],[16.151348028180603,69.3266922802575,-9.507983058691025,0,0,-0.24404712772884454],[14.943189038901124,64.47485223171682,-9.507983058691025,0,0,-0.24404712772884454],[14.943189038901124,64.47485223171682,-9.507983058691025,0,0,-0.505846515527994],[14.943189038901124,64.47485223171682,-9.507983058691025,0,0,-0.7676459033271434],[14.943189038901124,64.47485223171682,-9.507983058691025,0,0,-1.0294452911262928],[14.943189038901124,64.47485223171682,-9.507983058691025,0,0,-1.2912446789254421],[14.943189038901124,64.47485223171682,-9.507983058691025,0,0,-1.5530440667245915],[15.031945677246247,59.47564006787044,-9.507983058691025,0,0,-1.5530440667245915],[15.12070231559137,54.47642790402405,-9.507983058691025,0,0,-1.5530440667245915],[15.209458953936492,49.47721574017766,-9.507983058691025,0,0,-1.5530440667245915],[15.298215592281615,44.478003576331275,-9.507983058691025,0,0,-1.5530440667245915],[15.386972230626737,39.47879141248489,-9.507983058691025,0,0,-1.5530440667245915],[15.47572886897186,34.4795792486385,-9.507983058691025,0,0,-1.5530440667245915],[15.564485507316983,29.480367084792114,-9.507983058691025,0,0,-1.5530440667245915],[15.653242145662105,24.481154920945727,-9.507983058691025,0,0,-1.5530440667245915],[10.654029981815718,24.392398282600606,-9.507983058691025,0,0,-1.5530440667245915],[10.74278662016084,19.39318611875422,-9.507983058691025,0,0,-1.5530440667245915],[10.74278662016084,19.39318611875422,-9.507983058691025,0,0,-1.8148434545237409],[10.74278662016084,19.39318611875422,-9.507983058691025,0,0,-2.0766428423228906],[8.32004604179903,15.019363066782514,-9.507983058691025,0,0,-2.0766428423228906],[5.897305463437219,10.645540014810809,-9.507983058691025,0,0,-2.0766428423228906],[3.4745648850754076,6.271716962839104,-9.507983058691025,0,0,-2.0766428423228906],[1.0518243067135966,1.8978939108673991,-9.507983058691025,0,0,-2.0766428423228906],[-1.3709162716482144,-2.475929141104306,-9.507983058691025,0,0,-2.0766428423228906],[-3.7936568500100254,-6.849752193076011,-9.507983058691025,0,0,-2.0766428423228906],[-6.216397428371836,-11.223575245047716,-9.507983058691025,0,0,-2.0766428423228906],[-6.216397428371836,-11.223575245047716,-9.507983058691025,0,0,-1.8148434545237413],[-6.216397428371836,-11.223575245047716,-9.507983058691025,0,0,-1.553044066724592],[-6.216397428371836,-11.223575245047716,-9.507983058691025,0,0,-1.2912446789254426],[-6.216397428371836,-11.223575245047716,-9.507983058691025,0,0,-1.0294452911262932],[-6.216397428371836,-11.223575245047716,-9.507983058691025,0,0,-0.7676459033271438],[-6.216397428371836,-11.223575245047716,-9.507983058691025,0,0,-0.5058465155279942],[-6.216397428371836,-11.223575245047716,-9.507983058691025,0,0,-0.24404712772884482],[-1.3645573798311608,-12.431734234327195,-9.507983058691025,0,0,-0.24404712772884482],[3.487282668709515,-13.639893223606673,-9.507983058691025,0,0,-0.24404712772884482],[8.339122717250191,-14.848052212886152,-9.507983058691025,0,0,-0.24404712772884482],[13.190962765790868,-16.05621120216563,-9.507983058691025,0,0,-0.24404712772884482],[13.190962765790868,-16.05621120216563,-9.507983058691025,0,0,0.0177522600703045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+]}
diff --git a/TEST_FILE/AerialVLN-Fine-V3-Scene-20.json b/TEST_FILE/AerialVLN-Fine-V3-Scene-20.json
new file mode 100644
index 0000000000000000000000000000000000000000..6202a0feb00e3576d7efe368ad2c9579af9213f4
--- /dev/null
+++ b/TEST_FILE/AerialVLN-Fine-V3-Scene-20.json
@@ -0,0 +1,4 @@
+{"episodes":[
+{"episode_id":"31HQ4X3T318XW6SIB7P03IMTTB3LSY","trajectory_id":"302U8RURK7Z0QEFERC5I2EF130ZNVG","scene_id":20,"start_position":[97.34031677246094,-69.1380386352539,-23.895029067993164],"start_rotation":[0.9998632876209248,0.0,0.0,0.01653499524873668],"instruction":{"instruction_text":"Take off to above the roof ahead, turn right to face the ship under construction, then fly forward above the ship with the black deck ahead. Fly down to reach the black mast. Fly torwards the cement ground on the left side of the wooden frame until reaching the railway track. Turn left towards the campfire, fly over it to reach the chimneys on the factory. Turn right to face the tall chimneys in the distance, then fly up above the roof and fly over the glass roof ahead reaching the broken roof of the warehouse on the right. Fly into an empty warehouse with windows and land beside the windows on the left."},"goals":[{"position":[90.10924726610611,185.265334032028,-7.895029067993164]}],"reference_path":[[97.34031677246094,-69.1380386352539,-23.895029067993164,0,0,0.03307149760558212],[97.34031677246094,-69.1380386352539,-25.895029067993164,0,0,0.03307149760558212],[97.34031677246094,-69.1380386352539,-27.895029067993164,0,0,0.03307149760558212],[97.34031677246094,-69.1380386352539,-29.895029067993164,0,0,0.03307149760558212],[97.34031677246094,-69.1380386352539,-31.895029067993164,0,0,0.03307149760558212],[97.34031677246094,-69.1380386352539,-31.895029067993164,0,0,0.2948708854047315],[97.34031677246094,-69.1380386352539,-31.895029067993164,0,0,0.556670273203881],[97.34031677246094,-69.1380386352539,-31.895029067993164,0,0,0.8184696610030305],[97.34031677246094,-69.1380386352539,-31.895029067993164,0,0,1.08026904880218],[97.34031677246094,-69.1380386352539,-31.895029067993164,0,0,1.3420684366013296],[97.34031677246094,-69.1380386352539,-31.895029067993164,0,0,1.6038678244004791],[97.17498942535896,-64.14077269593267,-31.895029067993164,0,0,1.6038678244004791],[97.00966207825698,-59.14350675661142,-31.895029067993164,0,0,1.6038678244004791],[96.844334731155,-54.14624081729018,-31.895029067993164,0,0,1.6038678244004791],[96.67900738405302,-49.14897487796893,-31.895029067993164,0,0,1.6038678244004791],[96.51368003695104,-44.15170893864769,-31.895029067993164,0,0,1.6038678244004791],[96.34835268984907,-39.15444299932644,-31.895029067993164,0,0,1.6038678244004791],[96.18302534274709,-34.157177060005196,-31.895029067993164,0,0,1.6038678244004791],[96.01769799564511,-29.159911120683955,-31.895029067993164,0,0,1.6038678244004791],[91.02043205632387,-29.325238467785937,-31.895029067993164,0,0,1.6038678244004791],[90.85510470922189,-24.327972528464695,-31.895029067993164,0,0,1.6038678244004791],[90.85510470922189,-24.327972528464695,-31.895029067993164,0,0,1.8656672121996287],[89.40202315632575,-19.543774162945876,-31.895029067993164,0,0,1.8656672121996287],[87.94894160342962,-14.759575797427058,-31.895029067993164,0,0,1.8656672121996287],[86.49586005053348,-9.975377431908239,-31.895029067993164,0,0,1.8656672121996287],[86.49586005053348,-9.975377431908239,-29.895029067993164,0,0,1.8656672121996287],[86.49586005053348,-9.975377431908239,-27.895029067993164,0,0,1.8656672121996287],[86.49586005053348,-9.975377431908239,-25.895029067993164,0,0,1.8656672121996287],[86.49586005053348,-9.975377431908239,-23.895029067993164,0,0,1.8656672121996287],[85.04277849763734,-5.19117906638942,-23.895029067993164,0,0,1.8656672121996287],[85.04277849763734,-5.19117906638942,-21.895029067993164,0,0,1.8656672121996287],[85.04277849763734,-5.19117906638942,-19.895029067993164,0,0,1.8656672121996287],[85.04277849763734,-5.19117906638942,-17.895029067993164,0,0,1.8656672121996287],[85.04277849763734,-5.19117906638942,-15.895029067993164,0,0,1.8656672121996287],[85.04277849763734,-5.19117906638942,-13.895029067993164,0,0,1.8656672121996287],[85.04277849763734,-5.19117906638942,-13.895029067993164,0,0,2.1274665999987783],[85.04277849763734,-5.19117906638942,-13.895029067993164,0,0,2.389265987797928],[81.39227377629933,-1.7744825215542042,-13.895029067993164,0,0,2.389265987797928],[77.74176905496132,1.6422140232810118,-13.895029067993164,0,0,2.389265987797928],[74.09126433362331,5.058910568116228,-13.895029067993164,0,0,2.389265987797928],[74.09126433362331,5.058910568116228,-13.895029067993164,0,0,2.1274665999987783],[71.44945368143209,9.304006147484136,-13.895029067993164,0,0,2.1274665999987783],[68.80764302924086,13.549101726852044,-13.895029067993164,0,0,2.1274665999987783],[68.80764302924086,13.549101726852044,-13.895029067993164,0,0,1.865667212199629],[67.35456147634473,18.333300092370862,-13.895029067993164,0,0,1.865667212199629],[65.90147992344859,23.11749845788968,-13.895029067993164,0,0,1.865667212199629],[64.44839837055245,27.9016968234085,-13.895029067993164,0,0,1.865667212199629],[62.99531681765631,32.68589518892732,-13.895029067993164,0,0,1.865667212199629],[61.542235264760166,37.47009355444614,-13.895029067993164,0,0,1.865667212199629],[60.08915371186402,42.254291919964956,-13.895029067993164,0,0,1.865667212199629],[58.63607215896788,47.038490285483775,-13.895029067993164,0,0,1.865667212199629],[57.18299060607173,51.82268865100259,-13.895029067993164,0,0,1.865667212199629],[55.72990905317559,56.60688701652141,-13.895029067993164,0,0,1.865667212199629],[54.276827500279445,61.39108538204023,-13.895029067993164,0,0,1.865667212199629],[52.8237459473833,66.17528374755905,-13.895029067993164,0,0,1.865667212199629],[52.8237459473833,66.17528374755905,-11.895029067993164,0,0,1.865667212199629],[52.8237459473833,66.17528374755905,-9.895029067993164,0,0,1.865667212199629],[52.8237459473833,66.17528374755905,-7.895029067993164,0,0,1.865667212199629],[52.8237459473833,66.17528374755905,-7.895029067993164,0,0,1.6038678244004796],[52.8237459473833,66.17528374755905,-7.895029067993164,0,0,1.34206843660133],[52.8237459473833,66.17528374755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+{"episode_id":"3VP0C6EFSPUCFQC646NC2Q5RYSY6MS","trajectory_id":"3FULMHZ7P2VVEJBZVFPVG9QOPYI4MV","scene_id":20,"start_position":[-51.78790283203125,-31.057374954223633,-0.5276330709457397],"start_rotation":[0.9999998820457774,0.0,0.0,0.00048570405729079044],"instruction":{"instruction_text":"Turn right to face the door, fly forward by the door to the grassy area. Turn left to face the mine car, then ascend to a height higher than the chimney of the building in front. Fly forward over the beige building with the glass roof. Fly forward and then fly down close to on the nearest wooden platform near the mine pit. Turn left to face the white high crane left to the white and red ship. Turn right to face the roof of nearby ship, fly over the water, and fly down close to on the deck of another ship. Ascend higher than the ladder, then fly forward over a chimney and a broken ware house to the front of a ship and crane. Fly down to the height of the wall ahead. Fly up higher than the warehouse, then go over it and fly forward to the ship, and land on the ship."},"goals":[{"position":[187.95571091227308,-43.639757278073006,-14.52763307094574]}],"reference_path":[[-51.78790283203125,-31.057374954223633,-0.5276330709457397,0,0,0.000971408152775479],[-51.78790283203125,-31.057374954223633,-0.5276330709457397,0,0,0.26277079595192493],[-51.78790283203125,-31.057374954223633,-0.5276330709457397,0,0,0.5245701837510743],[-51.78790283203125,-31.057374954223633,-0.5276330709457397,0,0,0.7863695715502237],[-51.78790283203125,-31.057374954223633,-0.5276330709457397,0,0,1.048168959349373],[-51.78790283203125,-31.057374954223633,-0.5276330709457397,0,0,1.3099683471485226],[-51.78790283203125,-31.057374954223633,-0.5276330709457397,0,0,1.571767734947672],[-51.78790283203125,-31.057374954223633,-0.5276330709457397,0,0,1.8335671227468218],[-53.08668898734322,-26.22900519593358,-0.5276330709457397,0,0,1.8335671227468218],[-54.385475142655196,-21.40063543764353,-0.5276330709457397,0,0,1.8335671227468218],[-54.385475142655196,-21.40063543764353,-0.5276330709457397,0,0,1.5717677349476724],[-54.385475142655196,-21.40063543764353,-0.5276330709457397,0,0,1.309968347148523],[-54.385475142655196,-21.40063543764353,-0.5276330709457397,0,0,1.0481689593493737],[-54.385475142655196,-21.40063543764353,-0.5276330709457397,0,0,0.7863695715502244],[-54.385475142655196,-21.40063543764353,-2.5276330709457397,0,0,0.7863695715502244],[-54.385475142655196,-21.40063543764353,-4.52763307094574,0,0,0.7863695715502244],[-54.385475142655196,-21.40063543764353,-6.52763307094574,0,0,0.7863695715502244],[-54.385475142655196,-21.40063543764353,-8.52763307094574,0,0,0.7863695715502244],[-54.385475142655196,-21.40063543764353,-10.52763307094574,0,0,0.7863695715502244],[-54.385475142655196,-21.40063543764353,-12.52763307094574,0,0,0.7863695715502244],[-54.385475142655196,-21.40063543764353,-14.52763307094574,0,0,0.7863695715502244],[-54.385475142655196,-21.40063543764353,-16.52763307094574,0,0,0.7863695715502244],[-54.385475142655196,-21.40063543764353,-18.52763307094574,0,0,0.7863695715502244],[-54.385475142655196,-21.40063543764353,-20.52763307094574,0,0,0.7863695715502244],[-54.385475142655196,-21.40063543764353,-22.52763307094574,0,0,0.7863695715502244],[-54.385475142655196,-21.40063543764353,-24.52763307094574,0,0,0.7863695715502244],[-54.385475142655196,-21.40063543764353,-26.52763307094574,0,0,0.7863695715502244],[-54.385475142655196,-21.40063543764353,-28.52763307094574,0,0,0.7863695715502244],[-54.385475142655196,-21.40063543764353,-30.52763307094574,0,0,0.7863695715502244],[-50.85337735076747,-17.86166875391481,-30.52763307094574,0,0,0.7863695715502244],[-47.32127955887974,-14.322702070186091,-30.52763307094574,0,0,0.7863695715502244],[-47.32127955887974,-14.322702070186091,-32.52763307094574,0,0,0.7863695715502244],[-43.78918176699201,-10.783735386457373,-32.52763307094574,0,0,0.7863695715502244],[-40.25708397510428,-7.2447687027286545,-32.52763307094574,0,0,0.7863695715502244],[-36.72498618321655,-3.7058020189999357,-32.52763307094574,0,0,0.7863695715502244],[-33.19288839132882,-0.16683533527121686,-32.52763307094574,0,0,0.7863695715502244],[-29.660790599441096,3.372131348457502,-32.52763307094574,0,0,0.7863695715502244],[-26.12869280755337,6.911098032186221,-32.52763307094574,0,0,0.7863695715502244],[-22.596595015665645,10.45006471591494,-32.52763307094574,0,0,0.7863695715502244],[-19.06449722377792,13.989031399643657,-32.52763307094574,0,0,0.7863695715502244],[-15.532399431890193,17.527998083372378,-32.52763307094574,0,0,0.7863695715502244],[-12.000301640002466,21.066964767101098,-32.52763307094574,0,0,0.7863695715502244],[-8.468203848114738,24.605931450829818,-32.52763307094574,0,0,0.7863695715502244],[-4.936106056227011,28.144898134558538,-32.52763307094574,0,0,0.7863695715502244],[-1.4040082643392844,31.683864818287258,-32.52763307094574,0,0,0.7863695715502244],[2.1280895275484424,35.22283150201598,-32.52763307094574,0,0,0.7863695715502244],[5.660187319436169,38.761798185744695,-32.52763307094574,0,0,0.7863695715502244],[2.1212206357074512,42.293895977632424,-32.52763307094574,0,0,0.7863695715502244],[5.6533184275951776,45.83286266136114,-32.52763307094574,0,0,0.7863695715502244],[9.185416219482905,49.37182934508986,-32.52763307094574,0,0,0.7863695715502244],[9.185416219482905,49.37182934508986,-30.52763307094574,0,0,0.7863695715502244],[9.185416219482905,49.37182934508986,-28.52763307094574,0,0,0.7863695715502244],[9.185416219482905,49.37182934508986,-26.52763307094574,0,0,0.7863695715502244],[9.185416219482905,49.37182934508986,-24.52763307094574,0,0,0.7863695715502244],[9.185416219482905,49.37182934508986,-22.52763307094574,0,0,0.7863695715502244],[9.185416219482905,49.37182934508986,-20.52763307094574,0,0,0.7863695715502244],[9.185416219482905,49.37182934508986,-18.52763307094574,0,0,0.7863695715502244],[9.185416219482905,49.37182934508986,-16.52763307094574,0,0,0.7863695715502244],[9.185416219482905,49.37182934508986,-14.52763307094574,0,0,0.7863695715502244],[9.185416219482905,49.37182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+]}
diff --git a/TEST_FILE/AerialVLN-Fine-V3-Scene-21.json b/TEST_FILE/AerialVLN-Fine-V3-Scene-21.json
new file mode 100644
index 0000000000000000000000000000000000000000..ce894adf3f87fb688016812ec312c157a78876ac
--- /dev/null
+++ b/TEST_FILE/AerialVLN-Fine-V3-Scene-21.json
@@ -0,0 +1,6 @@
+{"episodes":[
+{"episode_id":"3FK0YFF9P8EGK3LGJ6WB1E43156VV7","trajectory_id":"3KTZHH2OOQDWXKY17IF8XL6TRZL8M7","scene_id":21,"start_position":[58.4410400390625,-257.8375244140625,-9.17194652557373],"start_rotation":[0.9996464423732382,0.0,0.0,-0.026589288266673488],"instruction":{"instruction_text":"Take off, fly higher than the silos in front, then turn right to face the red lift racks and white containers on the wharf. Fly towards the container group at the mentioned location, and fly ahead to reach the street lamp, then turn right to face the blue cargo ship, and fly towards the cargo ship and lower the altitude below the street lamp. Turn left to face the third row of red and white containers, then fly forward and stop in front of the red, blue and white containers."},"goals":[{"position":[7.206858806728389,-76.59984528545549,-13.17194652557373]}],"reference_path":[[58.4410400390625,-257.8375244140625,-9.17194652557373,0,0,-0.05318484465025005],[58.4410400390625,-257.8375244140625,-11.17194652557373,0,0,-0.05318484465025005],[58.4410400390625,-257.8375244140625,-13.17194652557373,0,0,-0.05318484465025005],[58.4410400390625,-257.8375244140625,-15.17194652557373,0,0,-0.05318484465025005],[58.4410400390625,-257.8375244140625,-17.17194652557373,0,0,-0.05318484465025005],[58.4410400390625,-257.8375244140625,-19.17194652557373,0,0,-0.05318484465025005],[58.4410400390625,-257.8375244140625,-21.17194652557373,0,0,-0.05318484465025005],[58.4410400390625,-257.8375244140625,-23.17194652557373,0,0,-0.05318484465025005],[58.4410400390625,-257.8375244140625,-25.17194652557373,0,0,-0.05318484465025005],[58.4410400390625,-257.8375244140625,-25.17194652557373,0,0,0.20861454314889938],[58.4410400390625,-257.8375244140625,-25.17194652557373,0,0,0.4704139309480488],[58.4410400390625,-257.8375244140625,-25.17194652557373,0,0,0.7322133187471983],[58.4410400390625,-257.8375244140625,-25.17194652557373,0,0,0.9940127065463478],[58.4410400390625,-257.8375244140625,-25.17194652557373,0,0,1.2558120943454971],[58.4410400390625,-257.8375244140625,-25.17194652557373,0,0,1.5176114821446467],[58.4410400390625,-257.8375244140625,-25.17194652557373,0,0,1.779410869943796],[57.40551663616344,-252.94593047322397,-25.17194652557373,0,0,1.779410869943796],[56.36999323326438,-248.05433653238543,-25.17194652557373,0,0,1.779410869943796],[56.36999323326438,-248.05433653238543,-27.17194652557373,0,0,1.779410869943796],[55.33446983036532,-243.1627425915469,-27.17194652557373,0,0,1.779410869943796],[54.29894642746626,-238.27114865070837,-27.17194652557373,0,0,1.779410869943796],[53.2634230245672,-233.37955470986984,-27.17194652557373,0,0,1.779410869943796],[53.2634230245672,-233.37955470986984,-29.17194652557373,0,0,1.779410869943796],[52.22789962166814,-228.4879607690313,-29.17194652557373,0,0,1.779410869943796],[51.192376218769084,-223.59636682819277,-29.17194652557373,0,0,1.779410869943796],[50.156852815870025,-218.70477288735424,-29.17194652557373,0,0,1.779410869943796],[49.121329412970965,-213.8131789465157,-29.17194652557373,0,0,1.779410869943796],[48.085806010071906,-208.92158500567717,-29.17194652557373,0,0,1.779410869943796],[43.194212069233366,-209.95710840857623,-29.17194652557373,0,0,1.779410869943796],[42.15868866633431,-205.0655144677377,-29.17194652557373,0,0,1.779410869943796],[41.12316526343525,-200.17392052689917,-29.17194652557373,0,0,1.779410869943796],[40.08764186053619,-195.28232658606063,-29.17194652557373,0,0,1.779410869943796],[39.05211845763713,-190.3907326452221,-29.17194652557373,0,0,1.779410869943796],[38.01659505473807,-185.49913870438357,-29.17194652557373,0,0,1.779410869943796],[36.98107165183901,-180.60754476354504,-29.17194652557373,0,0,1.779410869943796],[32.08947771100047,-181.6430681664441,-29.17194652557373,0,0,1.779410869943796],[31.05395430810141,-176.75147422560556,-29.17194652557373,0,0,1.779410869943796],[31.05395430810141,-176.75147422560556,-29.17194652557373,0,0,2.0412102577429456],[28.787677836717357,-172.29457048475015,-29.17194652557373,0,0,2.0412102577429456],[26.521401365333304,-167.83766674389474,-29.17194652557373,0,0,2.0412102577429456],[26.521401365333304,-167.83766674389474,-27.17194652557373,0,0,2.0412102577429456],[24.25512489394925,-163.38076300303933,-27.17194652557373,0,0,2.0412102577429456],[21.988848422565198,-158.92385926218392,-27.17194652557373,0,0,2.0412102577429456],[21.988848422565198,-158.92385926218392,-25.17194652557373,0,0,2.0412102577429456],[19.722571951181145,-154.46695552132852,-25.17194652557373,0,0,2.0412102577429456],[19.722571951181145,-154.46695552132852,-23.17194652557373,0,0,2.0412102577429456],[19.722571951181145,-154.46695552132852,-23.17194652557373,0,0,2.303009645542095],[16.379985407637978,-150.74847260501383,-23.17194652557373,0,0,2.303009645542095],[13.037398864094811,-147.02998968869915,-23.17194652557373,0,0,2.303009645542095],[13.037398864094811,-147.02998968869915,-21.17194652557373,0,0,2.303009645542095],[9.318915947780129,-150.37257623224232,-21.17194652557373,0,0,2.303009645542095],[5.976329404236962,-146.65409331592764,-21.17194652557373,0,0,2.303009645542095],[5.976329404236962,-146.65409331592764,-19.17194652557373,0,0,2.303009645542095],[2.633742860693795,-142.93561039961295,-19.17194652557373,0,0,2.303009645542095],[-0.7088436828493716,-139.21712748329827,-19.17194652557373,0,0,2.303009645542095],[-0.7088436828493716,-139.21712748329827,-17.17194652557373,0,0,2.303009645542095],[-4.051430226392538,-135.4986445669836,-17.17194652557373,0,0,2.303009645542095],[-4.051430226392538,-135.4986445669836,-15.17194652557373,0,0,2.303009645542095],[-7.394016769935705,-131.7801616506689,-15.17194652557373,0,0,2.303009645542095],[-7.394016769935705,-131.7801616506689,-13.17194652557373,0,0,2.303009645542095],[-7.3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+{"episode_id":"3LJ7UR74RQB4ILTSXJ9XI7AD2Q4N4J","trajectory_id":"3KTZHH2OOQDWXKY17IF8XL6TRZL8M7","scene_id":21,"start_position":[58.4410400390625,-257.8375244140625,-9.17194652557373],"start_rotation":[0.9996464423732382,0.0,0.0,-0.026589288266673488],"instruction":{"instruction_text":"Take off, fly up to the height higher than the silos in front. Turn right to face the white containers on the wharf where the blue cargo ship is moored in the distance, and then fly towards the white container area besides the blue cargo ship until flying over the fence wall. Fly forward to the lamp, and turn right to face the blue cargo ship. Fly towards the cargo ship and lower the altitude until reaching the front of the lamp. Turn left to face left column of containers, fly over two piles of white containers, and stop in front of the piles of red, blue, and white containers."},"goals":[{"position":[7.206858806728389,-76.59984528545549,-13.17194652557373]}],"reference_path":[[58.4410400390625,-257.8375244140625,-9.17194652557373,0,0,-0.05318484465025005],[58.4410400390625,-257.8375244140625,-11.17194652557373,0,0,-0.05318484465025005],[58.4410400390625,-257.8375244140625,-13.17194652557373,0,0,-0.05318484465025005],[58.4410400390625,-257.8375244140625,-15.17194652557373,0,0,-0.05318484465025005],[58.4410400390625,-257.8375244140625,-17.17194652557373,0,0,-0.05318484465025005],[58.4410400390625,-257.8375244140625,-19.17194652557373,0,0,-0.05318484465025005],[58.4410400390625,-257.8375244140625,-21.17194652557373,0,0,-0.05318484465025005],[58.4410400390625,-257.8375244140625,-23.17194652557373,0,0,-0.05318484465025005],[58.4410400390625,-257.8375244140625,-25.17194652557373,0,0,-0.05318484465025005],[58.4410400390625,-257.8375244140625,-25.17194652557373,0,0,0.20861454314889938],[58.4410400390625,-257.8375244140625,-25.17194652557373,0,0,0.4704139309480488],[58.4410400390625,-257.8375244140625,-25.17194652557373,0,0,0.7322133187471983],[58.4410400390625,-257.8375244140625,-25.17194652557373,0,0,0.9940127065463478],[58.4410400390625,-257.8375244140625,-25.17194652557373,0,0,1.2558120943454971],[58.4410400390625,-257.8375244140625,-25.17194652557373,0,0,1.5176114821446467],[58.4410400390625,-257.8375244140625,-25.17194652557373,0,0,1.779410869943796],[57.40551663616344,-252.94593047322397,-25.17194652557373,0,0,1.779410869943796],[56.36999323326438,-248.05433653238543,-25.17194652557373,0,0,1.779410869943796],[56.36999323326438,-248.05433653238543,-27.17194652557373,0,0,1.779410869943796],[55.33446983036532,-243.1627425915469,-27.17194652557373,0,0,1.779410869943796],[54.29894642746626,-238.27114865070837,-27.17194652557373,0,0,1.779410869943796],[53.2634230245672,-233.37955470986984,-27.17194652557373,0,0,1.779410869943796],[53.2634230245672,-233.37955470986984,-29.17194652557373,0,0,1.779410869943796],[52.22789962166814,-228.4879607690313,-29.17194652557373,0,0,1.779410869943796],[51.192376218769084,-223.59636682819277,-29.17194652557373,0,0,1.779410869943796],[50.156852815870025,-218.70477288735424,-29.17194652557373,0,0,1.779410869943796],[49.121329412970965,-213.8131789465157,-29.17194652557373,0,0,1.779410869943796],[48.085806010071906,-208.92158500567717,-29.17194652557373,0,0,1.779410869943796],[43.194212069233366,-209.95710840857623,-29.17194652557373,0,0,1.779410869943796],[42.15868866633431,-205.0655144677377,-29.17194652557373,0,0,1.779410869943796],[41.12316526343525,-200.17392052689917,-29.17194652557373,0,0,1.779410869943796],[40.08764186053619,-195.28232658606063,-29.17194652557373,0,0,1.779410869943796],[39.05211845763713,-190.3907326452221,-29.17194652557373,0,0,1.779410869943796],[38.01659505473807,-185.49913870438357,-29.17194652557373,0,0,1.779410869943796],[36.98107165183901,-180.60754476354504,-29.17194652557373,0,0,1.779410869943796],[32.08947771100047,-181.6430681664441,-29.17194652557373,0,0,1.779410869943796],[31.05395430810141,-176.75147422560556,-29.17194652557373,0,0,1.779410869943796],[31.05395430810141,-176.75147422560556,-29.17194652557373,0,0,2.0412102577429456],[28.787677836717357,-172.29457048475015,-29.17194652557373,0,0,2.0412102577429456],[26.521401365333304,-167.83766674389474,-29.17194652557373,0,0,2.0412102577429456],[26.521401365333304,-167.83766674389474,-27.17194652557373,0,0,2.0412102577429456],[24.25512489394925,-163.38076300303933,-27.17194652557373,0,0,2.0412102577429456],[21.988848422565198,-158.92385926218392,-27.17194652557373,0,0,2.0412102577429456],[21.988848422565198,-158.92385926218392,-25.17194652557373,0,0,2.0412102577429456],[19.722571951181145,-154.46695552132852,-25.17194652557373,0,0,2.0412102577429456],[19.722571951181145,-154.46695552132852,-23.17194652557373,0,0,2.0412102577429456],[19.722571951181145,-154.46695552132852,-23.17194652557373,0,0,2.303009645542095],[16.379985407637978,-150.74847260501383,-23.17194652557373,0,0,2.303009645542095],[13.037398864094811,-147.02998968869915,-23.17194652557373,0,0,2.303009645542095],[13.037398864094811,-147.02998968869915,-21.17194652557373,0,0,2.303009645542095],[9.318915947780129,-150.37257623224232,-21.17194652557373,0,0,2.303009645542095],[5.976329404236962,-146.65409331592764,-21.17194652557373,0,0,2.303009645542095],[5.976329404236962,-146.65409331592764,-19.17194652557373,0,0,2.303009645542095],[2.633742860693795,-142.93561039961295,-19.17194652557373,0,0,2.303009645542095],[-0.7088436828493716,-139.21712748329827,-19.17194652557373,0,0,2.303009645542095],[-0.7088436828493716,-139.21712748329827,-17.17194652557373,0,0,2.303009645542095],[-4.051430226392538,-135.4986445669836,-17.17194652557373,0,0,2.303009645542095],[-4.051430226392538,-135.4986445669836,-15.17194652557373,0,0,2.303009645542095],[-7.394016769935705,-131.7801616506689,-15.17194652557373,0,0,2.303009645542095],[-7.394016769935705,-131.7801616506689,-13.17194652557373,0,0,2.303009645542095],[-7.3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+{"episode_id":"3C8HJ7UOPGSE30WH6BKNZOYLHF2ZMX","trajectory_id":"3L4YG5VWAVQ5ALOFBXRL0NX0PT1DD5","scene_id":21,"start_position":[58.4410400390625,-257.8375244140625,-9.17194652557373],"start_rotation":[0.9997273307403295,0.0,0.0,-0.023350892291639946],"instruction":{"instruction_text":"Take off, rise to a height slightly higher than the storage tank in front, and turn right to face the wharf where a blue cargo ship is moored. Fly towards the mentioned wharf until fly cross the walls which is in front of the white shipping containers, then flying ahead until reaching the front of the group of white containers. Fly towards the containers passing through two rows of containers, fly towards the third row of red, blue and white containers, then turn right to face the yellow container and fly in front of them."},"goals":[{"position":[-6.746545220572271,-43.51605976194725,-13.17194652557373]}],"reference_path":[[58.4410400390625,-257.8375244140625,-9.17194652557373,0,0,-0.04670602975997105],[58.4410400390625,-257.8375244140625,-11.17194652557373,0,0,-0.04670602975997105],[58.4410400390625,-257.8375244140625,-13.17194652557373,0,0,-0.04670602975997105],[58.4410400390625,-257.8375244140625,-15.17194652557373,0,0,-0.04670602975997105],[58.4410400390625,-257.8375244140625,-17.17194652557373,0,0,-0.04670602975997105],[58.4410400390625,-257.8375244140625,-19.17194652557373,0,0,-0.04670602975997105],[58.4410400390625,-257.8375244140625,-21.17194652557373,0,0,-0.04670602975997105],[58.4410400390625,-257.8375244140625,-23.17194652557373,0,0,-0.04670602975997105],[58.4410400390625,-257.8375244140625,-25.17194652557373,0,0,-0.04670602975997105],[58.4410400390625,-257.8375244140625,-25.17194652557373,0,0,0.21509335803917837],[58.4410400390625,-257.8375244140625,-25.17194652557373,0,0,0.4768927458383278],[58.4410400390625,-257.8375244140625,-25.17194652557373,0,0,0.7386921336374773],[58.4410400390625,-257.8375244140625,-25.17194652557373,0,0,1.0004915214366268],[58.4410400390625,-257.8375244140625,-25.17194652557373,0,0,1.2622909092357764],[58.4410400390625,-257.8375244140625,-25.17194652557373,0,0,1.524090297034926],[58.4410400390625,-257.8375244140625,-25.17194652557373,0,0,1.7858896848340755],[58.4410400390625,-257.8375244140625,-27.17194652557373,0,0,1.7858896848340755],[57.37384685920551,-252.95274205280353,-27.17194652557373,0,0,1.7858896848340755],[56.306653679348514,-248.06795969154456,-27.17194652557373,0,0,1.7858896848340755],[56.306653679348514,-248.06795969154456,-29.17194652557373,0,0,1.7858896848340755],[55.23946049949152,-243.1831773302856,-29.17194652557373,0,0,1.7858896848340755],[54.17226731963453,-238.29839496902662,-29.17194652557373,0,0,1.7858896848340755],[53.105074139777535,-233.41361260776765,-29.17194652557373,0,0,1.7858896848340755],[52.03788095992054,-228.52883024650868,-29.17194652557373,0,0,1.7858896848340755],[50.97068778006355,-223.6440478852497,-29.17194652557373,0,0,1.7858896848340755],[49.90349460020656,-218.75926552399073,-29.17194652557373,0,0,1.7858896848340755],[48.836301420349564,-213.87448316273176,-29.17194652557373,0,0,1.7858896848340755],[47.76910824049257,-208.9897008014728,-29.17194652557373,0,0,1.7858896848340755],[46.70191506063558,-204.10491844021382,-29.17194652557373,0,0,1.7858896848340755],[45.634721880778585,-199.22013607895485,-29.17194652557373,0,0,1.7858896848340755],[44.56752870092159,-194.33535371769588,-29.17194652557373,0,0,1.7858896848340755],[43.5003355210646,-189.4505713564369,-29.17194652557373,0,0,1.7858896848340755],[43.5003355210646,-189.4505713564369,-27.17194652557373,0,0,1.7858896848340755],[42.433142341207606,-184.56578899517794,-27.17194652557373,0,0,1.7858896848340755],[41.36594916135061,-179.68100663391897,-27.17194652557373,0,0,1.7858896848340755],[40.29875598149362,-174.79622427266,-27.17194652557373,0,0,1.7858896848340755],[39.23156280163663,-169.91144191140103,-27.17194652557373,0,0,1.7858896848340755],[39.23156280163663,-169.91144191140103,-25.17194652557373,0,0,1.7858896848340755],[38.164369621779635,-165.02665955014206,-25.17194652557373,0,0,1.7858896848340755],[37.09717644192264,-160.1418771888831,-25.17194652557373,0,0,1.7858896848340755],[32.21239408066368,-161.20907036874007,-25.17194652557373,0,0,1.7858896848340755],[31.145200900806685,-156.3242880074811,-25.17194652557373,0,0,1.7858896848340755],[31.145200900806685,-156.3242880074811,-23.17194652557373,0,0,1.7858896848340755],[30.078007720949692,-151.43950564622213,-23.17194652557373,0,0,1.7858896848340755],[29.0108145410927,-146.55472328496316,-23.17194652557373,0,0,1.7858896848340755],[27.943621361235707,-141.6699409237042,-23.17194652557373,0,0,1.7858896848340755],[26.876428181378714,-136.78515856244522,-23.17194652557373,0,0,1.7858896848340755],[26.876428181378714,-136.78515856244522,-21.17194652557373,0,0,1.7858896848340755],[25.80923500152172,-131.90037620118625,-21.17194652557373,0,0,1.7858896848340755],[24.742041821664728,-127.01559383992728,-21.17194652557373,0,0,1.7858896848340755],[23.674848641807735,-122.1308114786683,-21.17194652557373,0,0,1.7858896848340755],[23.674848641807735,-122.1308114786683,-21.17194652557373,0,0,2.047689072633225],[21.37974448146963,-117.68868395987748,-21.17194652557373,0,0,2.047689072633225],[21.37974448146963,-117.68868395987748,-19.17194652557373,0,0,2.047689072633225],[19.084640321131523,-113.24655644108665,-19.17194652557373,0,0,2.047689072633225],[19.084640321131523,-113.24655644108665,-17.17194652557373,0,0,2.047689072633225],[16.789536160793418,-108.80442892229583,-17.17194652557373,0,0,2.047689072633225],[16.789536160793418,-108.80442892229583,-17.17194652557373,0,0,1.7858896848340755],[15.722342980936425,-103.91964656103686,-17.17194652557373,0,0,1.7858896848340755],[14.655149801079432,-99.03486419977789,-17.17194652557373,0,0,1.785889684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+{"episode_id":"3ERMJ6L4D7QVJQQBNGS4845M7HXM7Q","trajectory_id":"3L4YG5VWAVQ5ALOFBXRL0NX0PT1DD5","scene_id":21,"start_position":[58.4410400390625,-257.8375244140625,-9.17194652557373],"start_rotation":[0.9997273307403295,0.0,0.0,-0.023350892291639946],"instruction":{"instruction_text":"Take off, ascend to a height higher than the two containers which is in front. Turn right to face the white container area of the wharf where a blue cargo ship is moored, and fly ahead to the shipping container area which is on the wharf, and fly forward until flying over two rows of white containers. Turn right to face a stack of containers five stories high, with yellow, green, white, and blue colors, and then stop in front of it."},"goals":[{"position":[-6.746545220572271,-43.51605976194725,-13.17194652557373]}],"reference_path":[[58.4410400390625,-257.8375244140625,-9.17194652557373,0,0,-0.04670602975997105],[58.4410400390625,-257.8375244140625,-11.17194652557373,0,0,-0.04670602975997105],[58.4410400390625,-257.8375244140625,-13.17194652557373,0,0,-0.04670602975997105],[58.4410400390625,-257.8375244140625,-15.17194652557373,0,0,-0.04670602975997105],[58.4410400390625,-257.8375244140625,-17.17194652557373,0,0,-0.04670602975997105],[58.4410400390625,-257.8375244140625,-19.17194652557373,0,0,-0.04670602975997105],[58.4410400390625,-257.8375244140625,-21.17194652557373,0,0,-0.04670602975997105],[58.4410400390625,-257.8375244140625,-23.17194652557373,0,0,-0.04670602975997105],[58.4410400390625,-257.8375244140625,-25.17194652557373,0,0,-0.04670602975997105],[58.4410400390625,-257.8375244140625,-25.17194652557373,0,0,0.21509335803917837],[58.4410400390625,-257.8375244140625,-25.17194652557373,0,0,0.4768927458383278],[58.4410400390625,-257.8375244140625,-25.17194652557373,0,0,0.7386921336374773],[58.4410400390625,-257.8375244140625,-25.17194652557373,0,0,1.0004915214366268],[58.4410400390625,-257.8375244140625,-25.17194652557373,0,0,1.2622909092357764],[58.4410400390625,-257.8375244140625,-25.17194652557373,0,0,1.524090297034926],[58.4410400390625,-257.8375244140625,-25.17194652557373,0,0,1.7858896848340755],[58.4410400390625,-257.8375244140625,-27.17194652557373,0,0,1.7858896848340755],[57.37384685920551,-252.95274205280353,-27.17194652557373,0,0,1.7858896848340755],[56.306653679348514,-248.06795969154456,-27.17194652557373,0,0,1.7858896848340755],[56.306653679348514,-248.06795969154456,-29.17194652557373,0,0,1.7858896848340755],[55.23946049949152,-243.1831773302856,-29.17194652557373,0,0,1.7858896848340755],[54.17226731963453,-238.29839496902662,-29.17194652557373,0,0,1.7858896848340755],[53.105074139777535,-233.41361260776765,-29.17194652557373,0,0,1.7858896848340755],[52.03788095992054,-228.52883024650868,-29.17194652557373,0,0,1.7858896848340755],[50.97068778006355,-223.6440478852497,-29.17194652557373,0,0,1.7858896848340755],[49.90349460020656,-218.75926552399073,-29.17194652557373,0,0,1.7858896848340755],[48.836301420349564,-213.87448316273176,-29.17194652557373,0,0,1.7858896848340755],[47.76910824049257,-208.9897008014728,-29.17194652557373,0,0,1.7858896848340755],[46.70191506063558,-204.10491844021382,-29.17194652557373,0,0,1.7858896848340755],[45.634721880778585,-199.22013607895485,-29.17194652557373,0,0,1.7858896848340755],[44.56752870092159,-194.33535371769588,-29.17194652557373,0,0,1.7858896848340755],[43.5003355210646,-189.4505713564369,-29.17194652557373,0,0,1.7858896848340755],[43.5003355210646,-189.4505713564369,-27.17194652557373,0,0,1.7858896848340755],[42.433142341207606,-184.56578899517794,-27.17194652557373,0,0,1.7858896848340755],[41.36594916135061,-179.68100663391897,-27.17194652557373,0,0,1.7858896848340755],[40.29875598149362,-174.79622427266,-27.17194652557373,0,0,1.7858896848340755],[39.23156280163663,-169.91144191140103,-27.17194652557373,0,0,1.7858896848340755],[39.23156280163663,-169.91144191140103,-25.17194652557373,0,0,1.7858896848340755],[38.164369621779635,-165.02665955014206,-25.17194652557373,0,0,1.7858896848340755],[37.09717644192264,-160.1418771888831,-25.17194652557373,0,0,1.7858896848340755],[32.21239408066368,-161.20907036874007,-25.17194652557373,0,0,1.7858896848340755],[31.145200900806685,-156.3242880074811,-25.17194652557373,0,0,1.7858896848340755],[31.145200900806685,-156.3242880074811,-23.17194652557373,0,0,1.7858896848340755],[30.078007720949692,-151.43950564622213,-23.17194652557373,0,0,1.7858896848340755],[29.0108145410927,-146.55472328496316,-23.17194652557373,0,0,1.7858896848340755],[27.943621361235707,-141.6699409237042,-23.17194652557373,0,0,1.7858896848340755],[26.876428181378714,-136.78515856244522,-23.17194652557373,0,0,1.7858896848340755],[26.876428181378714,-136.78515856244522,-21.17194652557373,0,0,1.7858896848340755],[25.80923500152172,-131.90037620118625,-21.17194652557373,0,0,1.7858896848340755],[24.742041821664728,-127.01559383992728,-21.17194652557373,0,0,1.7858896848340755],[23.674848641807735,-122.1308114786683,-21.17194652557373,0,0,1.7858896848340755],[23.674848641807735,-122.1308114786683,-21.17194652557373,0,0,2.047689072633225],[21.37974448146963,-117.68868395987748,-21.17194652557373,0,0,2.047689072633225],[21.37974448146963,-117.68868395987748,-19.17194652557373,0,0,2.047689072633225],[19.084640321131523,-113.24655644108665,-19.17194652557373,0,0,2.047689072633225],[19.084640321131523,-113.24655644108665,-17.17194652557373,0,0,2.047689072633225],[16.789536160793418,-108.80442892229583,-17.17194652557373,0,0,2.047689072633225],[16.789536160793418,-108.80442892229583,-17.17194652557373,0,0,1.7858896848340755],[15.722342980936425,-103.91964656103686,-17.17194652557373,0,0,1.7858896848340755],[14.655149801079432,-99.03486419977789,-17.17194652557373,0,0,1.78588968483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+]}
diff --git a/TEST_FILE/AerialVLN-Fine-V3-Scene-24.json b/TEST_FILE/AerialVLN-Fine-V3-Scene-24.json
new file mode 100644
index 0000000000000000000000000000000000000000..b32bd7ba8a6128418c5bab037343a1f4487e31ce
--- /dev/null
+++ b/TEST_FILE/AerialVLN-Fine-V3-Scene-24.json
@@ -0,0 +1,14 @@
+{"episodes":[
+{"episode_id":"3WRFBPLXRJMJ0PAOX54E82I66JXN3P","trajectory_id":"36MUZ9VAFE0A2R2F7S2565FLP04DEQ","scene_id":24,"start_position":[226.87049865722656,-7.888835906982422,-24.542165756225586],"start_rotation":[0.9999317537297064,0.0,0.0,-0.011682802875752503],"instruction":{"instruction_text":"Take off, turn left towards a light pink building, and fly forward over this light pink building until facing the white railing on the pink building. Move left until you are off the small room on the roof, fly down near the roof. Turn left towards a green narrow building and fly to the front of it, then fly down until above the first floor. Turn right towards a construction site fenced off on the road and next fly forward to it. Fly up until you are as high as the building on the left."},"goals":[{"position":[190.46384131286771,-51.76179268911553,-22.542165756225586]}],"reference_path":[[226.87049865722656,-7.888835906982422,-24.542165756225586,0,0,-0.023366137304497533],[226.87049865722656,-7.888835906982422,-26.542165756225586,0,0,-0.023366137304497533],[226.87049865722656,-7.888835906982422,-26.542165756225586,0,0,-0.285165525103647],[226.87049865722656,-7.888835906982422,-26.542165756225586,0,0,-0.5469649129027965],[226.87049865722656,-7.888835906982422,-26.542165756225586,0,0,-0.8087643007019459],[226.87049865722656,-7.888835906982422,-26.542165756225586,0,0,-1.0705636885010954],[226.87049865722656,-7.888835906982422,-26.542165756225586,0,0,-1.332363076300245],[226.87049865722656,-7.888835906982422,-26.542165756225586,0,0,-1.5941624640993943],[226.87049865722656,-7.888835906982422,-26.542165756225586,0,0,-1.8559618518985437],[226.87049865722656,-7.888835906982422,-26.542165756225586,0,0,-2.117761239697693],[224.27001196075108,-12.159370878324307,-26.542165756225586,0,0,-2.117761239697693],[221.6695252642756,-16.42990584966619,-26.542165756225586,0,0,-2.117761239697693],[219.0690385678001,-20.700440821008076,-26.542165756225586,0,0,-2.117761239697693],[216.46855187132462,-24.97097579234996,-26.542165756225586,0,0,-2.117761239697693],[212.19801689998275,-22.37048909587448,-26.542165756225586,0,0,-2.117761239697693],[209.59753020350726,-26.641024067216364,-26.542165756225586,0,0,-2.117761239697693],[206.99704350703178,-30.91155903855825,-26.542165756225586,0,0,-2.117761239697693],[204.3965568105563,-35.18209400990013,-26.542165756225586,0,0,-2.117761239697693],[204.3965568105563,-35.18209400990013,-26.542165756225586,0,0,-1.8559618518985437],[199.59848130608293,-33.77551253221295,-26.542165756225586,0,0,-1.8559618518985437],[199.59848130608293,-33.77551253221295,-26.542165756225586,0,0,-1.594162464099394],[199.59848130608293,-33.77551253221295,-26.542165756225586,0,0,-1.3323630763002448],[199.59848130608293,-33.77551253221295,-24.542165756225586,0,0,-1.3323630763002448],[199.59848130608293,-33.77551253221295,-24.542165756225586,0,0,-1.5941624640993943],[199.59848130608293,-33.77551253221295,-24.542165756225586,0,0,-1.8559618518985437],[199.59848130608293,-33.77551253221295,-24.542165756225586,0,0,-2.117761239697693],[199.59848130608293,-33.77551253221295,-24.542165756225586,0,0,-2.379560627496842],[199.59848130608293,-33.77551253221295,-24.542165756225586,0,0,-2.6413600152959917],[199.59848130608293,-33.77551253221295,-24.542165756225586,0,0,-2.9031594030951413],[199.59848130608293,-33.77551253221295,-24.542165756225586,0,0,3.1182265162852953],[199.59848130608293,-33.77551253221295,-24.542165756225586,0,0,2.8564271284861458],[194.80040580160957,-32.36893105452577,-24.542165756225586,0,0,2.8564271284861458],[194.80040580160957,-32.36893105452577,-22.542165756225586,0,0,2.8564271284861458],[194.80040580160957,-32.36893105452577,-20.542165756225586,0,0,2.8564271284861458],[194.80040580160957,-32.36893105452577,-18.542165756225586,0,0,2.8564271284861458],[194.80040580160957,-32.36893105452577,-16.542165756225586,0,0,2.8564271284861458],[194.80040580160957,-32.36893105452577,-14.542165756225586,0,0,2.8564271284861458],[194.80040580160957,-32.36893105452577,-12.542165756225586,0,0,2.8564271284861458],[194.80040580160957,-32.36893105452577,-10.542165756225586,0,0,2.8564271284861458],[194.80040580160957,-32.36893105452577,-8.542165756225586,0,0,2.8564271284861458],[194.80040580160957,-32.36893105452577,-8.542165756225586,0,0,3.1182265162852953],[194.80040580160957,-32.36893105452577,-8.542165756225586,0,0,-2.9031594030951418],[194.80040580160957,-32.36893105452577,-8.542165756225586,0,0,-2.641360015295992],[194.80040580160957,-32.36893105452577,-8.542165756225586,0,0,-2.379560627496843],[194.80040580160957,-32.36893105452577,-8.542165756225586,0,0,-2.117761239697694],[194.80040580160957,-32.36893105452577,-8.542165756225586,0,0,-1.8559618518985446],[193.3938243239224,-37.167006558999134,-8.542165756225586,0,0,-1.8559618518985446],[191.9872428462352,-41.9650820634725,-8.542165756225586,0,0,-1.8559618518985446],[190.58066136854802,-46.76315756794587,-8.542165756225586,0,0,-1.8559618518985446],[190.58066136854802,-46.76315756794587,-8.542165756225586,0,0,-1.594162464099395],[190.58066136854802,-46.76315756794587,-10.542165756225586,0,0,-1.594162464099395],[190.58066136854802,-46.76315756794587,-12.542165756225586,0,0,-1.594162464099395],[190.58066136854802,-46.76315756794587,-14.542165756225586,0,0,-1.594162464099395],[190.58066136854802,-46.76315756794587,-16.542165756225586,0,0,-1.594162464099395],[190.58066136854802,-46.76315756794587,-18.542165756225586,0,0,-1.594162464099395],[190.58066136854802,-46.76315756794587,-20.542165756225586,0,0,-1.594162464099395],[190.58066136854802,-46.76315756794587,-22.542165756225586,0,0,-1.594162464099395],[190.46384131286771,-51.76179268911553,-22.542165756225586,0,0,-1.594162464099395]],"actions":[4,2,2,2,2,2,2,2,2,1,1,1,1,6,1,1,1,3,6,3,3,5,2,2,2,2,2,2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+{"episode_id":"3CFVK00FWUJS98UL4UMX2DQ1BLR6LG","trajectory_id":"37PGLWGSK14UW2ABVSEJVX83128IKH","scene_id":24,"start_position":[203.7742919921875,-68.91136932373047,-22.60723876953125],"start_rotation":[0.9999501734231566,0.0,0.0,0.009982518269403565],"instruction":{"instruction_text":"Take off, ascend to higher altitude than the right railing, and turn right to directly face an intersection, then fly straight to the intersection. Fly down to the road and fly over the intersection. At the intersection turn left to the closest pink building on your left and fly to the clothes hanging outside the building. Turn right to face the green building. Approach the green building and rise to the height of its roof."},"goals":[{"position":[212.3827358426654,-11.126494242521494,-18.60723876953125]}],"reference_path":[[203.7742919921875,-68.91136932373047,-22.60723876953125,0,0,0.019965368141891957],[203.7742919921875,-68.91136932373047,-24.60723876953125,0,0,0.019965368141891957],[203.7742919921875,-68.91136932373047,-26.60723876953125,0,0,0.019965368141891957],[203.7742919921875,-68.91136932373047,-26.60723876953125,0,0,0.2817647559410414],[203.7742919921875,-68.91136932373047,-26.60723876953125,0,0,0.5435641437401908],[203.7742919921875,-68.91136932373047,-26.60723876953125,0,0,0.8053635315393401],[203.7742919921875,-68.91136932373047,-26.60723876953125,0,0,1.0671629193384895],[203.7742919921875,-68.91136932373047,-26.60723876953125,0,0,1.328962307137639],[203.7742919921875,-68.91136932373047,-26.60723876953125,0,0,1.5907616949367884],[203.7742919921875,-68.91136932373047,-26.60723876953125,0,0,1.8525610827359378],[202.38403576397582,-64.10853811496219,-26.60723876953125,0,0,1.8525610827359378],[200.99377953576413,-59.305706906193905,-26.60723876953125,0,0,1.8525610827359378],[199.60352330755245,-54.50287569742562,-26.60723876953125,0,0,1.8525610827359378],[198.21326707934077,-49.70004448865734,-26.60723876953125,0,0,1.8525610827359378],[196.82301085112908,-44.89721327988906,-26.60723876953125,0,0,1.8525610827359378],[195.4327546229174,-40.094382071120776,-26.60723876953125,0,0,1.8525610827359378],[194.04249839470572,-35.291550862352494,-26.60723876953125,0,0,1.8525610827359378],[194.04249839470572,-35.291550862352494,-24.60723876953125,0,0,1.8525610827359378],[194.04249839470572,-35.291550862352494,-22.60723876953125,0,0,1.8525610827359378],[194.04249839470572,-35.291550862352494,-20.60723876953125,0,0,1.8525610827359378],[194.04249839470572,-35.291550862352494,-18.60723876953125,0,0,1.8525610827359378],[194.04249839470572,-35.291550862352494,-16.60723876953125,0,0,1.8525610827359378],[194.04249839470572,-35.291550862352494,-14.60723876953125,0,0,1.8525610827359378],[194.04249839470572,-35.291550862352494,-12.60723876953125,0,0,1.8525610827359378],[194.04249839470572,-35.291550862352494,-10.60723876953125,0,0,1.8525610827359378],[194.04249839470572,-35.291550862352494,-8.60723876953125,0,0,1.8525610827359378],[194.04249839470572,-35.291550862352494,-6.60723876953125,0,0,1.8525610827359378],[194.04249839470572,-35.291550862352494,-4.60723876953125,0,0,1.8525610827359378],[194.04249839470572,-35.291550862352494,-4.60723876953125,0,0,1.5907616949367884],[193.9426781859588,-30.292547369062483,-4.60723876953125,0,0,1.5907616949367884],[193.8428579772119,-25.29354387577247,-4.60723876953125,0,0,1.5907616949367884],[193.743037768465,-20.29454038248246,-4.60723876953125,0,0,1.5907616949367884],[193.6432175597181,-15.29553688919245,-4.60723876953125,0,0,1.5907616949367884],[193.5433973509712,-10.29653339590244,-4.60723876953125,0,0,1.5907616949367884],[193.5433973509712,-10.29653339590244,-4.60723876953125,0,0,1.328962307137639],[193.5433973509712,-10.29653339590244,-4.60723876953125,0,0,1.0671629193384895],[193.5433973509712,-10.29653339590244,-4.60723876953125,0,0,0.80536353153934],[193.5433973509712,-10.29653339590244,-4.60723876953125,0,0,0.5435641437401907],[193.5433973509712,-10.29653339590244,-4.60723876953125,0,0,0.2817647559410413],[193.5433973509712,-10.29653339590244,-4.60723876953125,0,0,0.01996536814189186],[193.5433973509712,-10.29653339590244,-4.60723876953125,0,0,-0.24183401965725757],[193.5433973509712,-10.29653339590244,-6.60723876953125,0,0,-0.24183401965725757],[193.5433973509712,-10.29653339590244,-8.60723876953125,0,0,-0.24183401965725757],[193.5433973509712,-10.29653339590244,-10.60723876953125,0,0,-0.24183401965725757],[193.5433973509712,-10.29653339590244,-12.60723876953125,0,0,-0.24183401965725757],[193.5433973509712,-10.29653339590244,-14.60723876953125,0,0,-0.24183401965725757],[193.5433973509712,-10.29653339590244,-16.60723876953125,0,0,-0.24183401965725757],[193.5433973509712,-10.29653339590244,-18.60723876953125,0,0,-0.24183401965725757],[198.3978993019591,-11.493951788885731,-18.60723876953125,0,0,-0.24183401965725757],[198.3978993019591,-11.493951788885731,-18.60723876953125,0,0,-0.5036334074564071],[202.77707342512883,-13.907006698944857,-18.60723876953125,0,0,-0.5036334074564071],[202.77707342512883,-13.907006698944857,-16.60723876953125,0,0,-0.5036334074564071],[202.77707342512883,-13.907006698944857,-14.60723876953125,0,0,-0.5036334074564071],[202.77707342512883,-13.907006698944857,-14.60723876953125,0,0,-0.24183401965725757],[202.77707342512883,-13.907006698944857,-14.60723876953125,0,0,0.01996536814189186],[202.77707342512883,-13.907006698944857,-14.60723876953125,0,0,0.2817647559410413],[207.57990463389712,-12.516750470733175,-14.60723876953125,0,0,0.2817647559410413],[212.3827358426654,-11.126494242521494,-14.60723876953125,0,0,0.2817647559410413],[212.3827358426654,-11.126494242521494,-16.60723876953125,0,0,0.2817647559410413],[212.3827358426654,-11.126494242521494,-18.607238769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+{"episode_id":"3VNL7UK1XOHCBEV1EWRSIADVYT9TFU","trajectory_id":"389A2A305WG169H7ZP8F1AVZAZI0CR","scene_id":24,"start_position":[216.11651611328125,-8.89354419708252,-0.9952113032341003],"start_rotation":[0.9999481172937787,0.0,0.0,-0.010186398805632487],"instruction":{"instruction_text":"Fly up, ascend to the same altitude as the front red shed, and turn back towards the red billboard. Fly down to the road in front of the billboard. Go to the sidewalk on the left side of the road nearby the intersection. Turn right towards the white phone booth and fly to the middle of the road behind it. Turn left to face the no stopping sign and fly up to the same height as the rooftops. Fly along the roofs to the intersection, then turn right towards the end of the road. fly to the end of the road. Stop in front of the satellite which is on the light brown building roof."},"goals":[{"position":[162.37028579826907,-11.343181672960789,-20.9952113032341]}],"reference_path":[[216.11651611328125,-8.89354419708252,-0.9952113032341003,0,0,-0.0203731499505349],[216.11651611328125,-8.89354419708252,-2.9952113032341003,0,0,-0.0203731499505349],[216.11651611328125,-8.89354419708252,-4.9952113032341,0,0,-0.0203731499505349],[216.11651611328125,-8.89354419708252,-6.9952113032341,0,0,-0.0203731499505349],[216.11651611328125,-8.89354419708252,-6.9952113032341,0,0,-0.2821725377496843],[216.11651611328125,-8.89354419708252,-6.9952113032341,0,0,-0.5439719255488338],[216.11651611328125,-8.89354419708252,-6.9952113032341,0,0,-0.8057713133479832],[216.11651611328125,-8.89354419708252,-6.9952113032341,0,0,-1.0675707011471327],[216.11651611328125,-8.89354419708252,-6.9952113032341,0,0,-1.329370088946282],[216.11651611328125,-8.89354419708252,-6.9952113032341,0,0,-1.5911694767454314],[216.11651611328125,-8.89354419708252,-6.9952113032341,0,0,-1.8529688645445808],[216.11651611328125,-8.89354419708252,-6.9952113032341,0,0,-2.11476825234373],[216.11651611328125,-8.89354419708252,-6.9952113032341,0,0,-2.3765676401428797],[216.11651611328125,-8.89354419708252,-6.9952113032341,0,0,-2.6383670279420293],[216.11651611328125,-8.89354419708252,-6.9952113032341,0,0,-2.9001664157411784],[211.26152628048675,-10.08898291297808,-6.9952113032341,0,0,-2.9001664157411784],[211.26152628048675,-10.08898291297808,-8.9952113032341,0,0,-2.9001664157411784],[211.26152628048675,-10.08898291297808,-10.9952113032341,0,0,-2.9001664157411784],[211.26152628048675,-10.08898291297808,-12.9952113032341,0,0,-2.9001664157411784],[211.26152628048675,-10.08898291297808,-14.9952113032341,0,0,-2.9001664157411784],[211.26152628048675,-10.08898291297808,-16.9952113032341,0,0,-2.9001664157411784],[211.26152628048675,-10.08898291297808,-14.9952113032341,0,0,-2.9001664157411784],[211.26152628048675,-10.08898291297808,-12.9952113032341,0,0,-2.9001664157411784],[211.26152628048675,-10.08898291297808,-10.9952113032341,0,0,-2.9001664157411784],[211.26152628048675,-10.08898291297808,-8.9952113032341,0,0,-2.9001664157411784],[211.26152628048675,-10.08898291297808,-6.9952113032341,0,0,-2.9001664157411784],[211.26152628048675,-10.08898291297808,-4.9952113032341,0,0,-2.9001664157411784],[211.26152628048675,-10.08898291297808,-2.9952113032341003,0,0,-2.9001664157411784],[211.26152628048675,-10.08898291297808,-2.9952113032341003,0,0,3.1212195036392583],[211.26152628048675,-10.08898291297808,-2.9952113032341003,0,0,2.8594201158401082],[211.26152628048675,-10.08898291297808,-2.9952113032341003,0,0,2.597620728040959],[206.98322722462333,-7.501289502120034,-2.9952113032341003,0,0,2.597620728040959],[202.70492816875992,-4.913596091261988,-2.9952113032341003,0,0,2.597620728040959],[202.70492816875992,-4.913596091261988,-2.9952113032341003,0,0,2.3358213402418095],[202.70492816875992,-4.913596091261988,-2.9952113032341003,0,0,2.597620728040959],[202.70492816875992,-4.913596091261988,-2.9952113032341003,0,0,2.8594201158401082],[202.70492816875992,-4.913596091261988,-2.9952113032341003,0,0,3.121219503639258],[202.70492816875992,-4.913596091261988,-2.9952113032341003,0,0,-2.9001664157411793],[202.70492816875992,-4.913596091261988,-2.9952113032341003,0,0,-2.6383670279420297],[202.70492816875992,-4.913596091261988,-2.9952113032341003,0,0,-2.37656764014288],[202.70492816875992,-4.913596091261988,-2.9952113032341003,0,0,-2.114768252343731],[200.11723475790188,-9.19189514712541,-2.9952113032341003,0,0,-2.114768252343731],[197.52954134704385,-13.47019420298883,-2.9952113032341003,0,0,-2.114768252343731],[194.9418479361858,-17.74849325885225,-2.9952113032341003,0,0,-2.114768252343731],[192.35415452532777,-22.02679231471567,-2.9952113032341003,0,0,-2.114768252343731],[189.76646111446973,-26.305091370579092,-2.9952113032341003,0,0,-2.114768252343731],[189.76646111446973,-26.305091370579092,-2.9952113032341003,0,0,-2.3765676401428806],[189.76646111446973,-26.305091370579092,-2.9952113032341003,0,0,-2.63836702794203],[189.76646111446973,-26.305091370579092,-2.9952113032341003,0,0,-2.9001664157411797],[189.76646111446973,-26.305091370579092,-2.9952113032341003,0,0,3.121219503639257],[189.76646111446973,-26.305091370579092,-2.9952113032341003,0,0,2.8594201158401074],[189.76646111446973,-26.305091370579092,-2.9952113032341003,0,0,2.597620728040958],[189.76646111446973,-26.305091370579092,-2.9952113032341003,0,0,2.3358213402418087],[189.76646111446973,-26.305091370579092,-4.9952113032341,0,0,2.3358213402418087],[189.76646111446973,-26.305091370579092,-6.9952113032341,0,0,2.3358213402418087],[189.76646111446973,-26.305091370579092,-8.9952113032341,0,0,2.3358213402418087],[189.76646111446973,-26.305091370579092,-10.9952113032341,0,0,2.3358213402418087],[189.76646111446973,-26.305091370579092,-12.9952113032341,0,0,2.3358213402418087],[189.76646111446973,-26.305091370579092,-14.9952113032341,0,0,2.3358213402418087],[189.76646111446973,-26.305091370579092,-16.9952113032341,0,0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+{"episode_id":"3OCHAWUVGXIU8HWZKHJMNQQ6JPWXK9","trajectory_id":"37MQ8Z1JRMUL5MLQA4UIHPGXALK2YL","scene_id":24,"start_position":[192.59751892089844,-5.168997287750244,-0.2656462788581848],"start_rotation":[0.9999602599053105,0.0,0.0,-0.008915077683567828],"instruction":{"instruction_text":"Take off, and turn left to face the road with a no-entry sign on each side, fly acoss the intesection, and then rise up above the blue sign ahead. Fly up to the height above a four-storey building, then fly forward until an orange building appears on the left side of the road, and then turn left to face the green building. Descend to the height of the red shop sign, then turn back towards the light purple building across the road, and fly to the height of its rooftop. Fly forward to the railing on the roof and then turn left to face the road and go past the pink and white buildings on the left side of the road. Turn left to face the two satellites on the roof. Turn right to face the left side of the white building. Fly down to below the shop sign that reads \"FAT SEAFOOD\" and land there."},"goals":[{"position":[191.45759438202606,-64.14743339390257,-4.265646278858185]}],"reference_path":[[192.59751892089844,-5.168997287750244,-0.2656462788581848,0,0,-0.017830391561577754],[192.59751892089844,-5.168997287750244,-0.2656462788581848,0,0,-0.2796297793607272],[192.59751892089844,-5.168997287750244,-0.2656462788581848,0,0,-0.5414291671598767],[192.59751892089844,-5.168997287750244,-0.2656462788581848,0,0,-0.8032285549590261],[192.59751892089844,-5.168997287750244,-0.2656462788581848,0,0,-1.0650279427581755],[192.59751892089844,-5.168997287750244,-0.2656462788581848,0,0,-1.326827330557325],[192.59751892089844,-5.168997287750244,-0.2656462788581848,0,0,-1.5886267183564746],[192.59751892089844,-5.168997287750244,-2.265646278858185,0,0,-1.5886267183564746],[192.59751892089844,-5.168997287750244,-4.265646278858185,0,0,-1.5886267183564746],[192.50837168692308,-10.168202501649205,-4.265646278858185,0,0,-1.5886267183564746],[192.50837168692308,-10.168202501649205,-6.265646278858185,0,0,-1.5886267183564746],[192.50837168692308,-10.168202501649205,-8.265646278858185,0,0,-1.5886267183564746],[192.41922445294773,-15.167407715548165,-8.265646278858185,0,0,-1.5886267183564746],[192.33007721897238,-20.166612929447126,-8.265646278858185,0,0,-1.5886267183564746],[192.33007721897238,-20.166612929447126,-10.265646278858185,0,0,-1.5886267183564746],[192.33007721897238,-20.166612929447126,-12.265646278858185,0,0,-1.5886267183564746],[192.33007721897238,-20.166612929447126,-14.265646278858185,0,0,-1.5886267183564746],[192.24092998499702,-25.165818143346087,-14.265646278858185,0,0,-1.5886267183564746],[192.15178275102167,-30.165023357245047,-14.265646278858185,0,0,-1.5886267183564746],[192.06263551704632,-35.16422857114401,-14.265646278858185,0,0,-1.5886267183564746],[192.06263551704632,-35.16422857114401,-14.265646278858185,0,0,-1.3268273305573253],[192.06263551704632,-35.16422857114401,-14.265646278858185,0,0,-1.5886267183564746],[192.06263551704632,-35.16422857114401,-14.265646278858185,0,0,-1.8504261061556242],[192.06263551704632,-35.16422857114401,-14.265646278858185,0,0,-2.1122254939547735],[192.06263551704632,-35.16422857114401,-14.265646278858185,0,0,-2.374024881753923],[192.06263551704632,-35.16422857114401,-14.265646278858185,0,0,-2.6358242695530727],[192.06263551704632,-35.16422857114401,-14.265646278858185,0,0,-2.8976236573522223],[192.06263551704632,-35.16422857114401,-14.265646278858185,0,0,3.123762262028215],[192.06263551704632,-35.16422857114401,-14.265646278858185,0,0,2.8619628742290657],[192.06263551704632,-35.16422857114401,-14.265646278858185,0,0,2.6001634864299166],[192.06263551704632,-35.16422857114401,-12.265646278858185,0,0,2.6001634864299166],[192.06263551704632,-35.16422857114401,-10.265646278858185,0,0,2.6001634864299166],[192.06263551704632,-35.16422857114401,-8.265646278858185,0,0,2.6001634864299166],[192.06263551704632,-35.16422857114401,-6.265646278858185,0,0,2.6001634864299166],[192.06263551704632,-35.16422857114401,-6.265646278858185,0,0,2.8619628742290657],[192.06263551704632,-35.16422857114401,-6.265646278858185,0,0,3.1237622620282153],[192.06263551704632,-35.16422857114401,-6.265646278858185,0,0,-2.897623657352222],[192.06263551704632,-35.16422857114401,-6.265646278858185,0,0,-2.6358242695530727],[192.06263551704632,-35.16422857114401,-6.265646278858185,0,0,-2.374024881753923],[192.06263551704632,-35.16422857114401,-6.265646278858185,0,0,-2.112225493954774],[192.06263551704632,-35.16422857114401,-6.265646278858185,0,0,-1.8504261061556244],[192.06263551704632,-35.16422857114401,-6.265646278858185,0,0,-1.588626718356475],[192.06263551704632,-35.16422857114401,-6.265646278858185,0,0,-1.3268273305573257],[192.06263551704632,-35.16422857114401,-6.265646278858185,0,0,-1.0650279427581761],[192.06263551704632,-35.16422857114401,-6.265646278858185,0,0,-0.8032285549590268],[192.06263551704632,-35.16422857114401,-6.265646278858185,0,0,-0.5414291671598774],[192.06263551704632,-35.16422857114401,-8.265646278858185,0,0,-0.5414291671598774],[192.06263551704632,-35.16422857114401,-10.265646278858185,0,0,-0.5414291671598774],[192.06263551704632,-35.16422857114401,-12.265646278858185,0,0,-0.5414291671598774],[192.06263551704632,-35.16422857114401,-14.265646278858185,0,0,-0.5414291671598774],[192.06263551704632,-35.16422857114401,-16.265646278858185,0,0,-0.5414291671598774],[192.06263551704632,-35.16422857114401,-18.265646278858185,0,0,-0.5414291671598774],[192.06263551704632,-35.16422857114401,-20.265646278858185,0,0,-0.5414291671598774],[192.06263551704632,-35.16422857114401,-22.265646278858185,0,0,-0.5414291671598774],[196.34750061402676,-37.741034947393274,-22.265646278858185,0,0,-0.5414291671598774],[196.34750061402676,-37.741034947393274,-22.265646278858185,0,0,-0.8032285549590269],[196.34750061402676,-37.741034947393274,-22.265646278858185,0,0,-1.0650279427581764],[196.34750061402676,-37.741034947393274,-22.265646278858185,0,0,-1.3268273305573257],[196.34750061402676,-37.741034947393274,-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+{"episode_id":"3CCZ6YKWRGH1P2TYAE925YL6FSZ59U","trajectory_id":"3APP19WN89C91WJR30KF02Q5LUWG6I","scene_id":24,"start_position":[204.5789337158203,5.2364959716796875,-19.965858459472656],"start_rotation":[0.9999282001083029,0.0,0.0,0.011983097603287033],"instruction":{"instruction_text":"Take off, rise up to the higher altitude than the front blue house, and turn left to face the gap between two pink buildings on the left, then fly in front of them. Descend to the height close to the ground. Turn left towards the intersection, then fly towards the sidewalk on the right side of the road. Fly to the middle of the road, move right to face a black patch on the road with a P sign on the right. Turn right towards the pork barbecue and the staircase next to the it, and then rise to the roof of the pink building. Turn back to face the orange building and land on the road in front of it."},"goals":[{"position":[190.48643051867683,-44.379217294109836,-7.965858459472656]}],"reference_path":[[204.5789337158203,5.2364959716796875,-19.965858459472656,0,0,0.023966768813121462],[204.5789337158203,5.2364959716796875,-21.965858459472656,0,0,0.023966768813121462],[204.5789337158203,5.2364959716796875,-23.965858459472656,0,0,0.023966768813121462],[204.5789337158203,5.2364959716796875,-25.965858459472656,0,0,0.023966768813121462],[204.5789337158203,5.2364959716796875,-25.965858459472656,0,0,-0.23783261898602795],[204.5789337158203,5.2364959716796875,-25.965858459472656,0,0,-0.49963200678517744],[204.5789337158203,5.2364959716796875,-25.965858459472656,0,0,-0.7614313945843268],[204.5789337158203,5.2364959716796875,-25.965858459472656,0,0,-1.0232307823834763],[204.5789337158203,5.2364959716796875,-25.965858459472656,0,0,-1.2850301701826257],[205.98839681494505,0.43926616978300714,-25.965858459472656,0,0,-1.2850301701826257],[207.39785991406978,-4.357963632113673,-25.965858459472656,0,0,-1.2850301701826257],[208.80732301319452,-9.155193434010354,-25.965858459472656,0,0,-1.2850301701826257],[208.80732301319452,-9.155193434010354,-23.965858459472656,0,0,-1.2850301701826257],[208.80732301319452,-9.155193434010354,-21.965858459472656,0,0,-1.2850301701826257],[208.80732301319452,-9.155193434010354,-19.965858459472656,0,0,-1.2850301701826257],[208.80732301319452,-9.155193434010354,-17.965858459472656,0,0,-1.2850301701826257],[208.80732301319452,-9.155193434010354,-15.965858459472656,0,0,-1.2850301701826257],[208.80732301319452,-9.155193434010354,-13.965858459472656,0,0,-1.2850301701826257],[208.80732301319452,-9.155193434010354,-11.965858459472656,0,0,-1.2850301701826257],[208.80732301319452,-9.155193434010354,-9.965858459472656,0,0,-1.2850301701826257],[208.80732301319452,-9.155193434010354,-7.965858459472656,0,0,-1.2850301701826257],[208.80732301319452,-9.155193434010354,-5.965858459472656,0,0,-1.2850301701826257],[208.80732301319452,-9.155193434010354,-3.9658584594726562,0,0,-1.2850301701826257],[208.80732301319452,-9.155193434010354,-1.9658584594726562,0,0,-1.2850301701826257],[208.80732301319452,-9.155193434010354,-1.9658584594726562,0,0,-1.5468295579817752],[208.80732301319452,-9.155193434010354,-1.9658584594726562,0,0,-1.8086289457809246],[208.80732301319452,-9.155193434010354,-1.9658584594726562,0,0,-2.070428333580074],[208.80732301319452,-9.155193434010354,-1.9658584594726562,0,0,-2.3322277213792235],[208.80732301319452,-9.155193434010354,-1.9658584594726562,0,0,-2.594027109178373],[208.80732301319452,-9.155193434010354,-1.9658584594726562,0,0,-2.8558264969775227],[204.01009321129783,-10.5646565331351,-1.9658584594726562,0,0,-2.8558264969775227],[204.01009321129783,-10.5646565331351,-1.9658584594726562,0,0,-3.1176258847766722],[204.01009321129783,-10.5646565331351,-1.9658584594726562,0,0,-2.8558264969775227],[204.01009321129783,-10.5646565331351,-1.9658584594726562,0,0,-2.5940271091783735],[204.01009321129783,-10.5646565331351,-1.9658584594726562,0,0,-2.332227721379224],[204.01009321129783,-10.5646565331351,-1.9658584594726562,0,0,-2.0704283335800744],[201.6145804026898,-14.953451172189755,-1.9658584594726562,0,0,-2.0704283335800744],[199.21906759408176,-19.34224581124441,-1.9658584594726562,0,0,-2.0704283335800744],[196.82355478547373,-23.731040450299066,-1.9658584594726562,0,0,-2.0704283335800744],[194.4280419768657,-28.11983508935372,-1.9658584594726562,0,0,-2.0704283335800744],[192.03252916825767,-32.50862972840838,-1.9658584594726562,0,0,-2.0704283335800744],[196.42132380731232,-34.904142537016405,-1.9658584594726562,0,0,-2.0704283335800744],[196.42132380731232,-34.904142537016405,-1.9658584594726562,0,0,-1.808628945780925],[196.42132380731232,-34.904142537016405,-1.9658584594726562,0,0,-1.5468295579817757],[196.42132380731232,-34.904142537016405,-1.9658584594726562,0,0,-1.2850301701826266],[196.42132380731232,-34.904142537016405,-1.9658584594726562,0,0,-1.023230782383477],[196.42132380731232,-34.904142537016405,-1.9658584594726562,0,0,-0.7614313945843276],[196.42132380731232,-34.904142537016405,-1.9658584594726562,0,0,-0.49963200678517833],[196.42132380731232,-34.904142537016405,-1.9658584594726562,0,0,-0.23783261898602895],[196.42132380731232,-34.904142537016405,-3.9658584594726562,0,0,-0.23783261898602895],[196.42132380731232,-34.904142537016405,-5.965858459472656,0,0,-0.23783261898602895],[196.42132380731232,-34.904142537016405,-7.965858459472656,0,0,-0.23783261898602895],[196.42132380731232,-34.904142537016405,-9.965858459472656,0,0,-0.23783261898602895],[196.42132380731232,-34.904142537016405,-11.965858459472656,0,0,-0.23783261898602895],[196.42132380731232,-34.904142537016405,-13.965858459472656,0,0,-0.23783261898602895],[196.42132380731232,-34.904142537016405,-15.965858459472656,0,0,-0.23783261898602895],[196.42132380731232,-34.904142537016405,-17.965858459472656,0,0,-0.23783261898602895],[196.42132380731232,-34.904142537016405,-19.965858459472656,0,0,-0.23783261898602895],[196.4213238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+{"episode_id":"36U2A8VAGAXJ8MM9PD5O64XFLP2KY2","trajectory_id":"3OREP8RUUA9F780MZR1NBICXZV7BGY","scene_id":24,"start_position":[203.7742919921875,-68.91136932373047,-22.60723876953125],"start_rotation":[0.999641180140603,0.0,0.0,0.02678639518678371],"instruction":{"instruction_text":"Take off, rise up to the higher altitude than the right railing, then turn right to face a pink sloped rooftop structure on the roof across the street. Fly to the front of mentioned structure, then turn left to face the street and descend to the second floor height. Turn right to face the orange building. Fly to the front of mentioned building, then turn left towards the pink building opposite the road, and fly up to the same height as its rooftop. Turn right towards the white building next to the intersection, and fly down to the height of the third floor, then turn left towards the phone booth on the left side of the intersection. Fly above the phone booth on the left side of the intersection, and land on the left of the phone booth."},"goals":[{"position":[196.92318835083498,-18.727484825676274,-2.60723876953125]}],"reference_path":[[203.7742919921875,-68.91136932373047,-22.60723876953125,0,0,0.05357919895375697],[203.7742919921875,-68.91136932373047,-24.60723876953125,0,0,0.05357919895375697],[203.7742919921875,-68.91136932373047,-26.60723876953125,0,0,0.05357919895375697],[203.7742919921875,-68.91136932373047,-26.60723876953125,0,0,0.31537858675290636],[203.7742919921875,-68.91136932373047,-26.60723876953125,0,0,0.5771779745520558],[203.7742919921875,-68.91136932373047,-26.60723876953125,0,0,0.8389773623512052],[203.7742919921875,-68.91136932373047,-26.60723876953125,0,0,1.1007767501503547],[203.7742919921875,-68.91136932373047,-26.60723876953125,0,0,1.362576137949504],[203.7742919921875,-68.91136932373047,-26.60723876953125,0,0,1.6243755257486536],[203.7742919921875,-68.91136932373047,-26.60723876953125,0,0,1.886174913547803],[203.7742919921875,-68.91136932373047,-26.60723876953125,0,0,2.1479743013469523],[203.7742919921875,-68.91136932373047,-26.60723876953125,0,0,2.409773689146102],[203.7742919921875,-68.91136932373047,-26.60723876953125,0,0,2.6715730769452515],[199.31649488203422,-66.64685062769173,-26.60723876953125,0,0,2.6715730769452515],[194.85869777188094,-64.382331931653,-26.60723876953125,0,0,2.6715730769452515],[194.85869777188094,-64.382331931653,-26.60723876953125,0,0,2.4097736891461023],[194.85869777188094,-64.382331931653,-26.60723876953125,0,0,2.1479743013469528],[194.85869777188094,-64.382331931653,-26.60723876953125,0,0,1.8861749135478036],[194.85869777188094,-64.382331931653,-26.60723876953125,0,0,1.6243755257486543],[194.59092993491865,-59.38950704132402,-26.60723876953125,0,0,1.6243755257486543],[194.32316209795636,-54.39668215099505,-26.60723876953125,0,0,1.6243755257486543],[194.32316209795636,-54.39668215099505,-24.60723876953125,0,0,1.6243755257486543],[194.32316209795636,-54.39668215099505,-22.60723876953125,0,0,1.6243755257486543],[194.32316209795636,-54.39668215099505,-20.60723876953125,0,0,1.6243755257486543],[194.32316209795636,-54.39668215099505,-18.60723876953125,0,0,1.6243755257486543],[194.32316209795636,-54.39668215099505,-16.60723876953125,0,0,1.6243755257486543],[194.32316209795636,-54.39668215099505,-14.60723876953125,0,0,1.6243755257486543],[194.32316209795636,-54.39668215099505,-12.60723876953125,0,0,1.6243755257486543],[194.32316209795636,-54.39668215099505,-10.60723876953125,0,0,1.6243755257486543],[194.32316209795636,-54.39668215099505,-8.60723876953125,0,0,1.6243755257486543],[194.32316209795636,-54.39668215099505,-6.60723876953125,0,0,1.6243755257486543],[194.32316209795636,-54.39668215099505,-6.60723876953125,0,0,1.8861749135478036],[194.32316209795636,-54.39668215099505,-6.60723876953125,0,0,2.147974301346953],[194.32316209795636,-54.39668215099505,-6.60723876953125,0,0,2.409773689146103],[194.32316209795636,-54.39668215099505,-6.60723876953125,0,0,2.671573076945252],[189.86536498780308,-52.13216345495631,-6.60723876953125,0,0,2.671573076945252],[189.86536498780308,-52.13216345495631,-6.60723876953125,0,0,2.409773689146103],[189.86536498780308,-52.13216345495631,-6.60723876953125,0,0,2.147974301346953],[189.86536498780308,-52.13216345495631,-6.60723876953125,0,0,1.8861749135478039],[189.86536498780308,-52.13216345495631,-6.60723876953125,0,0,1.6243755257486543],[189.86536498780308,-52.13216345495631,-6.60723876953125,0,0,1.3625761379495047],[189.86536498780308,-52.13216345495631,-6.60723876953125,0,0,1.1007767501503554],[189.86536498780308,-52.13216345495631,-6.60723876953125,0,0,0.838977362351206],[189.86536498780308,-52.13216345495631,-6.60723876953125,0,0,0.5771779745520567],[189.86536498780308,-52.13216345495631,-8.60723876953125,0,0,0.5771779745520567],[189.86536498780308,-52.13216345495631,-10.60723876953125,0,0,0.5771779745520567],[189.86536498780308,-52.13216345495631,-12.60723876953125,0,0,0.5771779745520567],[189.86536498780308,-52.13216345495631,-14.60723876953125,0,0,0.5771779745520567],[189.86536498780308,-52.13216345495631,-16.60723876953125,0,0,0.5771779745520567],[189.86536498780308,-52.13216345495631,-18.60723876953125,0,0,0.5771779745520567],[189.86536498780308,-52.13216345495631,-20.60723876953125,0,0,0.5771779745520567],[189.86536498780308,-52.13216345495631,-22.60723876953125,0,0,0.5771779745520567],[189.86536498780308,-52.13216345495631,-24.60723876953125,0,0,0.5771779745520567],[194.05539426099406,-49.40385726066607,-24.60723876953125,0,0,0.5771779745520567],[198.24542353418505,-46.67555106637583,-24.60723876953125,0,0,0.5771779745520567],[198.24542353418505,-46.67555106637583,-24.60723876953125,0,0,0.8389773623512061],[198.24542353418505,-46.67555106637583,-24.60723876953125,0,0,1.1007767501503556],[198.24542353418505,-46.67555106637583,-24.60723876953125,0,0,1.362576137949505],[198.24542353418505,-46.67555106637583,-24.60723876953125,0,0,1.6243755257486543],[198.24542353418505,-46.67555106637583,-24.60723876953125,0,0,1.8861749135478036],[198.245423534185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+{"episode_id":"3AZHRG4CUDIGFTIHWZ2GXQMTYQ0308","trajectory_id":"3OREP8RUUA9F780MZR1NBICXZV7BGY","scene_id":24,"start_position":[203.7742919921875,-68.91136932373047,-22.60723876953125],"start_rotation":[0.999641180140603,0.0,0.0,0.02678639518678371],"instruction":{"instruction_text":"Take off, ascend to the higher altitude than the right white railing, then turn right to face the half pink and half white building. Fly forward away from the roof, turn left towards the road, and descend to near the ground. Fly to the second level platform on the right side of the road. Turn left to face the pink house across the street, and fly to its roof. Turn slightly right away from the roof and reach above the road. Descend to the second floor and turn left to face the road. Fly forward to the phone booth, and descend to the height of it. Land there."},"goals":[{"position":[196.92318835083498,-18.727484825676274,-2.60723876953125]}],"reference_path":[[203.7742919921875,-68.91136932373047,-22.60723876953125,0,0,0.05357919895375697],[203.7742919921875,-68.91136932373047,-24.60723876953125,0,0,0.05357919895375697],[203.7742919921875,-68.91136932373047,-26.60723876953125,0,0,0.05357919895375697],[203.7742919921875,-68.91136932373047,-26.60723876953125,0,0,0.31537858675290636],[203.7742919921875,-68.91136932373047,-26.60723876953125,0,0,0.5771779745520558],[203.7742919921875,-68.91136932373047,-26.60723876953125,0,0,0.8389773623512052],[203.7742919921875,-68.91136932373047,-26.60723876953125,0,0,1.1007767501503547],[203.7742919921875,-68.91136932373047,-26.60723876953125,0,0,1.362576137949504],[203.7742919921875,-68.91136932373047,-26.60723876953125,0,0,1.6243755257486536],[203.7742919921875,-68.91136932373047,-26.60723876953125,0,0,1.886174913547803],[203.7742919921875,-68.91136932373047,-26.60723876953125,0,0,2.1479743013469523],[203.7742919921875,-68.91136932373047,-26.60723876953125,0,0,2.409773689146102],[203.7742919921875,-68.91136932373047,-26.60723876953125,0,0,2.6715730769452515],[199.31649488203422,-66.64685062769173,-26.60723876953125,0,0,2.6715730769452515],[194.85869777188094,-64.382331931653,-26.60723876953125,0,0,2.6715730769452515],[194.85869777188094,-64.382331931653,-26.60723876953125,0,0,2.4097736891461023],[194.85869777188094,-64.382331931653,-26.60723876953125,0,0,2.1479743013469528],[194.85869777188094,-64.382331931653,-26.60723876953125,0,0,1.8861749135478036],[194.85869777188094,-64.382331931653,-26.60723876953125,0,0,1.6243755257486543],[194.59092993491865,-59.38950704132402,-26.60723876953125,0,0,1.6243755257486543],[194.32316209795636,-54.39668215099505,-26.60723876953125,0,0,1.6243755257486543],[194.32316209795636,-54.39668215099505,-24.60723876953125,0,0,1.6243755257486543],[194.32316209795636,-54.39668215099505,-22.60723876953125,0,0,1.6243755257486543],[194.32316209795636,-54.39668215099505,-20.60723876953125,0,0,1.6243755257486543],[194.32316209795636,-54.39668215099505,-18.60723876953125,0,0,1.6243755257486543],[194.32316209795636,-54.39668215099505,-16.60723876953125,0,0,1.6243755257486543],[194.32316209795636,-54.39668215099505,-14.60723876953125,0,0,1.6243755257486543],[194.32316209795636,-54.39668215099505,-12.60723876953125,0,0,1.6243755257486543],[194.32316209795636,-54.39668215099505,-10.60723876953125,0,0,1.6243755257486543],[194.32316209795636,-54.39668215099505,-8.60723876953125,0,0,1.6243755257486543],[194.32316209795636,-54.39668215099505,-6.60723876953125,0,0,1.6243755257486543],[194.32316209795636,-54.39668215099505,-6.60723876953125,0,0,1.8861749135478036],[194.32316209795636,-54.39668215099505,-6.60723876953125,0,0,2.147974301346953],[194.32316209795636,-54.39668215099505,-6.60723876953125,0,0,2.409773689146103],[194.32316209795636,-54.39668215099505,-6.60723876953125,0,0,2.671573076945252],[189.86536498780308,-52.13216345495631,-6.60723876953125,0,0,2.671573076945252],[189.86536498780308,-52.13216345495631,-6.60723876953125,0,0,2.409773689146103],[189.86536498780308,-52.13216345495631,-6.60723876953125,0,0,2.147974301346953],[189.86536498780308,-52.13216345495631,-6.60723876953125,0,0,1.8861749135478039],[189.86536498780308,-52.13216345495631,-6.60723876953125,0,0,1.6243755257486543],[189.86536498780308,-52.13216345495631,-6.60723876953125,0,0,1.3625761379495047],[189.86536498780308,-52.13216345495631,-6.60723876953125,0,0,1.1007767501503554],[189.86536498780308,-52.13216345495631,-6.60723876953125,0,0,0.838977362351206],[189.86536498780308,-52.13216345495631,-6.60723876953125,0,0,0.5771779745520567],[189.86536498780308,-52.13216345495631,-8.60723876953125,0,0,0.5771779745520567],[189.86536498780308,-52.13216345495631,-10.60723876953125,0,0,0.5771779745520567],[189.86536498780308,-52.13216345495631,-12.60723876953125,0,0,0.5771779745520567],[189.86536498780308,-52.13216345495631,-14.60723876953125,0,0,0.5771779745520567],[189.86536498780308,-52.13216345495631,-16.60723876953125,0,0,0.5771779745520567],[189.86536498780308,-52.13216345495631,-18.60723876953125,0,0,0.5771779745520567],[189.86536498780308,-52.13216345495631,-20.60723876953125,0,0,0.5771779745520567],[189.86536498780308,-52.13216345495631,-22.60723876953125,0,0,0.5771779745520567],[189.86536498780308,-52.13216345495631,-24.60723876953125,0,0,0.5771779745520567],[194.05539426099406,-49.40385726066607,-24.60723876953125,0,0,0.5771779745520567],[198.24542353418505,-46.67555106637583,-24.60723876953125,0,0,0.5771779745520567],[198.24542353418505,-46.67555106637583,-24.60723876953125,0,0,0.8389773623512061],[198.24542353418505,-46.67555106637583,-24.60723876953125,0,0,1.1007767501503556],[198.24542353418505,-46.67555106637583,-24.60723876953125,0,0,1.362576137949505],[198.24542353418505,-46.67555106637583,-24.60723876953125,0,0,1.6243755257486543],[198.24542353418505,-46.67555106637583,-24.60723876953125,0,0,1.8861749135478036],[198.245423534185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+{"episode_id":"36AHBNMV10ABUGGZXWJ12R2P1GMYDK","trajectory_id":"36FQTHX30BPEDWOY4CU3SONOVQ2B3Q","scene_id":24,"start_position":[184.28927612304688,-80.71380615234375,-20.54572868347168],"start_rotation":[0.9998777111109978,0.0,0.0,-0.01563850451392529],"instruction":{"instruction_text":"Take off by the rooftop, fly up to the same height as the left bungalow's rooftop, then turn right towards white building and fly to the front of it. Descend until facing the store named \"FAT SEAFOOD\" at the first floor, then turn right towards the green building. Fly up to the rooftop of the mentioned green building. Fly over the rooftop, then turn right towards the pink building, fly over its rooftop platform, and fly forward to the the middle of the intersection, then fly straight ahead to the green building in the end of the road, turn left towards the pink building whose rooftop is white, and then descend to the ground, turn right towards the end of the road, and fly to the left side of the end of the road."},"goals":[{"position":[197.9722644418015,13.839847766656213,-2.5457286834716797]}],"reference_path":[[184.28927612304688,-80.71380615234375,-20.54572868347168,0,0,-0.0312782840337802],[184.28927612304688,-80.71380615234375,-22.54572868347168,0,0,-0.0312782840337802],[184.28927612304688,-80.71380615234375,-24.54572868347168,0,0,-0.0312782840337802],[184.28927612304688,-80.71380615234375,-26.54572868347168,0,0,-0.0312782840337802],[184.28927612304688,-80.71380615234375,-26.54572868347168,0,0,0.23052110376536925],[184.28927612304688,-80.71380615234375,-26.54572868347168,0,0,0.4923204915645186],[188.69546812628283,-78.3504458263208,-26.54572868347168,0,0,0.4923204915645186],[193.1016601295188,-75.98708550029784,-26.54572868347168,0,0,0.4923204915645186],[193.1016601295188,-75.98708550029784,-26.54572868347168,0,0,0.23052110376536922],[191.95923576060216,-71.1193481859694,-26.54572868347168,0,0,0.23052110376536922],[191.95923576060216,-71.1193481859694,-26.54572868347168,0,0,-0.031278284033780225],[191.95923576060216,-71.1193481859694,-24.54572868347168,0,0,-0.031278284033780225],[191.95923576060216,-71.1193481859694,-22.54572868347168,0,0,-0.031278284033780225],[191.95923576060216,-71.1193481859694,-20.54572868347168,0,0,-0.031278284033780225],[191.95923576060216,-71.1193481859694,-18.54572868347168,0,0,-0.031278284033780225],[191.95923576060216,-71.1193481859694,-16.54572868347168,0,0,-0.031278284033780225],[191.95923576060216,-71.1193481859694,-14.54572868347168,0,0,-0.031278284033780225],[191.95923576060216,-71.1193481859694,-12.54572868347168,0,0,-0.031278284033780225],[191.95923576060216,-71.1193481859694,-10.54572868347168,0,0,-0.031278284033780225],[191.95923576060216,-71.1193481859694,-8.54572868347168,0,0,-0.031278284033780225],[191.95923576060216,-71.1193481859694,-6.54572868347168,0,0,-0.031278284033780225],[191.95923576060216,-71.1193481859694,-4.54572868347168,0,0,-0.031278284033780225],[191.95923576060216,-71.1193481859694,-2.5457286834716797,0,0,-0.031278284033780225],[191.95923576060216,-71.1193481859694,-2.5457286834716797,0,0,0.23052110376536922],[191.95923576060216,-71.1193481859694,-2.5457286834716797,0,0,0.4923204915645186],[191.95923576060216,-71.1193481859694,-2.5457286834716797,0,0,0.7541198793636681],[191.95923576060216,-71.1193481859694,-2.5457286834716797,0,0,1.0159192671628177],[191.95923576060216,-71.1193481859694,-4.54572868347168,0,0,1.0159192671628177],[191.95923576060216,-71.1193481859694,-6.54572868347168,0,0,1.0159192671628177],[191.95923576060216,-71.1193481859694,-8.54572868347168,0,0,1.0159192671628177],[191.95923576060216,-71.1193481859694,-10.54572868347168,0,0,1.0159192671628177],[191.95923576060216,-71.1193481859694,-12.54572868347168,0,0,1.0159192671628177],[191.95923576060216,-71.1193481859694,-14.54572868347168,0,0,1.0159192671628177],[191.95923576060216,-71.1193481859694,-16.54572868347168,0,0,1.0159192671628177],[191.95923576060216,-71.1193481859694,-18.54572868347168,0,0,1.0159192671628177],[191.95923576060216,-71.1193481859694,-20.54572868347168,0,0,1.0159192671628177],[191.95923576060216,-71.1193481859694,-22.54572868347168,0,0,1.0159192671628177],[194.59342980634486,-66.86952210371925,-22.54572868347168,0,0,1.0159192671628177],[197.22762385208756,-62.6196960214691,-22.54572868347168,0,0,1.0159192671628177],[199.86181789783026,-58.36986993921896,-22.54572868347168,0,0,1.0159192671628177],[202.49601194357297,-54.12004385696881,-22.54572868347168,0,0,1.0159192671628177],[202.49601194357297,-54.12004385696881,-22.54572868347168,0,0,1.2777186549619672],[202.49601194357297,-54.12004385696881,-22.54572868347168,0,0,1.5395180427611166],[202.6523778645588,-49.12248948520313,-22.54572868347168,0,0,1.5395180427611166],[202.6523778645588,-49.12248948520313,-22.54572868347168,0,0,1.801317430560266],[201.50995349564215,-44.254752170874696,-22.54572868347168,0,0,1.801317430560266],[200.36752912672551,-39.38701485654626,-22.54572868347168,0,0,1.801317430560266],[199.22510475780888,-34.51927754221782,-22.54572868347168,0,0,1.801317430560266],[198.08268038889224,-29.651540227889384,-22.54572868347168,0,0,1.801317430560266],[196.9402560199756,-24.783802913560947,-22.54572868347168,0,0,1.801317430560266],[195.79783165105897,-19.91606559923251,-22.54572868347168,0,0,1.801317430560266],[194.65540728214233,-15.048328284904073,-22.54572868347168,0,0,1.801317430560266],[193.5129829132257,-10.180590970575636,-22.54572868347168,0,0,1.801317430560266],[192.37055854430906,-5.312853656247199,-22.54572868347168,0,0,1.801317430560266],[191.22813417539243,-0.44511634191876226,-22.54572868347168,0,0,1.801317430560266],[190.0857098064758,4.422620972409675,-22.54572868347168,0,0,1.801317430560266],[190.0857098064758,4.422620972409675,-22.54572868347168,0,0,1.5395180427611166],[190.0857098064758,4.422620972409675,-22.54572868347168,0,0,1.2777186549619672],[190.0857098064758,4.422620972409675,-22.54572868347168,0,0,1.0159192671628177],[190.0857098064758,4.422620972409675,-22.54572868347168,0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+{"episode_id":"3QJOXOW4XSPGS55LAO6AEEX3SKUME0","trajectory_id":"3IHWR4LC8LBA118AM3HG5SZC62E8IO","scene_id":24,"start_position":[192.99388122558594,17.54991340637207,-0.3953145444393158],"start_rotation":[0.9998212165185696,0.0,0.0,-0.018908595911056834],"instruction":{"instruction_text":"Take off, rise up to the same height as the front shop with red door, then turn left towards the intersection, fly to the middle of the intersection, and turn right to face the end of the road, and ascend to the same height as the front green building, then fly forward to the building. Turn left to face the second pink building, then descend to the height close to the road surface. Fly forward to the fence at the crossroad, move left to the front of the phone booth, then fly straight ahead, cross the yellow crosswalk to the other side of the road, turn right in front of the green mailbox until facing the large green trash can, and then ascend to the top floor of the pink building behind the trash can and stop there."},"goals":[{"position":[194.95527566251766,-35.15680428192962,-22.395314544439316]}],"reference_path":[[192.99388122558594,17.54991340637207,-0.3953145444393158,0,0,-0.03781944567969946],[192.99388122558594,17.54991340637207,-0.3953145444393158,0,0,-0.2996188334788489],[192.99388122558594,17.54991340637207,-2.395314544439316,0,0,-0.2996188334788489],[192.99388122558594,17.54991340637207,-2.395314544439316,0,0,-0.5614182212779982],[192.99388122558594,17.54991340637207,-2.395314544439316,0,0,-0.8232176090771477],[192.99388122558594,17.54991340637207,-2.395314544439316,0,0,-1.085016996876297],[192.99388122558594,17.54991340637207,-2.395314544439316,0,0,-1.3468163846754466],[194.10444072468727,12.674807499937234,-2.395314544439316,0,0,-1.3468163846754466],[194.10444072468727,12.674807499937234,-2.395314544439316,0,0,-1.608615772474596],[193.91538857102276,7.67838284993051,-2.395314544439316,0,0,-1.608615772474596],[193.72633641735825,2.681958199923786,-2.395314544439316,0,0,-1.608615772474596],[193.53728426369375,-2.3144664500829384,-2.395314544439316,0,0,-1.608615772474596],[193.53728426369375,-2.3144664500829384,-2.395314544439316,0,0,-1.3468163846754466],[193.53728426369375,-2.3144664500829384,-2.395314544439316,0,0,-1.085016996876297],[195.87177262098348,-6.736023201915788,-2.395314544439316,0,0,-1.085016996876297],[195.87177262098348,-6.736023201915788,-2.395314544439316,0,0,-0.8232176090771477],[195.87177262098348,-6.736023201915788,-2.395314544439316,0,0,-0.5614182212779982],[195.87177262098348,-6.736023201915788,-2.395314544439316,0,0,-0.2996188334788488],[195.87177262098348,-6.736023201915788,-4.395314544439316,0,0,-0.2996188334788488],[195.87177262098348,-6.736023201915788,-6.395314544439316,0,0,-0.2996188334788488],[195.87177262098348,-6.736023201915788,-8.395314544439316,0,0,-0.2996188334788488],[195.87177262098348,-6.736023201915788,-10.395314544439316,0,0,-0.2996188334788488],[195.87177262098348,-6.736023201915788,-12.395314544439316,0,0,-0.2996188334788488],[195.87177262098348,-6.736023201915788,-14.395314544439316,0,0,-0.2996188334788488],[195.87177262098348,-6.736023201915788,-16.395314544439316,0,0,-0.2996188334788488],[195.87177262098348,-6.736023201915788,-18.395314544439316,0,0,-0.2996188334788488],[200.64901793164626,-8.211803416497343,-18.395314544439316,0,0,-0.2996188334788488],[200.64901793164626,-8.211803416497343,-20.395314544439316,0,0,-0.2996188334788488],[200.64901793164626,-8.211803416497343,-22.395314544439316,0,0,-0.2996188334788488],[200.64901793164626,-8.211803416497343,-24.395314544439316,0,0,-0.2996188334788488],[200.64901793164626,-8.211803416497343,-26.395314544439316,0,0,-0.2996188334788488],[205.42626324230903,-9.687583631078898,-26.395314544439316,0,0,-0.2996188334788488],[205.42626324230903,-9.687583631078898,-24.395314544439316,0,0,-0.2996188334788488],[205.42626324230903,-9.687583631078898,-22.395314544439316,0,0,-0.2996188334788488],[205.42626324230903,-9.687583631078898,-22.395314544439316,0,0,-0.03781944567969939],[205.42626324230903,-9.687583631078898,-22.395314544439316,0,0,0.22397994211945005],[210.30136914874387,-8.577024131977579,-22.395314544439316,0,0,0.22397994211945005],[210.30136914874387,-8.577024131977579,-22.395314544439316,0,0,0.48577932991859946],[214.7229259005767,-6.242535774687841,-22.395314544439316,0,0,0.48577932991859946],[214.7229259005767,-6.242535774687841,-22.395314544439316,0,0,0.22397994211945005],[214.7229259005767,-6.242535774687841,-22.395314544439316,0,0,-0.03781944567969939],[214.7229259005767,-6.242535774687841,-22.395314544439316,0,0,-0.2996188334788488],[214.7229259005767,-6.242535774687841,-22.395314544439316,0,0,-0.5614182212779982],[214.7229259005767,-6.242535774687841,-22.395314544439316,0,0,-0.8232176090771477],[214.7229259005767,-6.242535774687841,-22.395314544439316,0,0,-1.085016996876297],[214.7229259005767,-6.242535774687841,-22.395314544439316,0,0,-1.3468163846754466],[214.7229259005767,-6.242535774687841,-22.395314544439316,0,0,-1.608615772474596],[214.7229259005767,-6.242535774687841,-22.395314544439316,0,0,-1.8704151602737453],[214.7229259005767,-6.242535774687841,-22.395314544439316,0,0,-2.132214548072895],[214.7229259005767,-6.242535774687841,-20.395314544439316,0,0,-2.132214548072895],[214.7229259005767,-6.242535774687841,-18.395314544439316,0,0,-2.132214548072895],[214.7229259005767,-6.242535774687841,-16.395314544439316,0,0,-2.132214548072895],[214.7229259005767,-6.242535774687841,-14.395314544439316,0,0,-2.132214548072895],[214.7229259005767,-6.242535774687841,-12.395314544439316,0,0,-2.132214548072895],[214.7229259005767,-6.242535774687841,-10.395314544439316,0,0,-2.132214548072895],[214.7229259005767,-6.242535774687841,-8.395314544439316,0,0,-2.132214548072895],[214.7229259005767,-6.242535774687841,-6.395314544439316,0,0,-2.132214548072895],[214.7229259005767,-6.242535774687841,-4.395314544439316,0,0,-2.132214548072895],[214.7229259005767,-6.242535774687841,-2.395314544439316,0,0,-2.132214548072895],[2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+{"episode_id":"32SCWG5HIQ2I0T9JWMF4JUZLGVE6P0","trajectory_id":"3IHWR4LC8LBA118AM3HG5SZC62E8IO","scene_id":24,"start_position":[192.99388122558594,17.54991340637207,-0.3953145444393158],"start_rotation":[0.9998212165185696,0.0,0.0,-0.018908595911056834],"instruction":{"instruction_text":"Lift off, and rise up to the same height as the front shop with blue billboard,  then turn left to face the intersection and fly straight to the yellow crosswalk. At the intersection turn right to face the left side of the green building, and fly straight to the front of the rooftop of above-mentioned building at the end of the road. Turn left towards the second pink building and descend to the ground. Turn left slightly towards the road, fly to the intersection and turn right to face the end of the road, then ascend to the roof of the second pink building on the right side of the road."},"goals":[{"position":[194.95527566251766,-35.15680428192962,-22.395314544439316]}],"reference_path":[[192.99388122558594,17.54991340637207,-0.3953145444393158,0,0,-0.03781944567969946],[192.99388122558594,17.54991340637207,-0.3953145444393158,0,0,-0.2996188334788489],[192.99388122558594,17.54991340637207,-2.395314544439316,0,0,-0.2996188334788489],[192.99388122558594,17.54991340637207,-2.395314544439316,0,0,-0.5614182212779982],[192.99388122558594,17.54991340637207,-2.395314544439316,0,0,-0.8232176090771477],[192.99388122558594,17.54991340637207,-2.395314544439316,0,0,-1.085016996876297],[192.99388122558594,17.54991340637207,-2.395314544439316,0,0,-1.3468163846754466],[194.10444072468727,12.674807499937234,-2.395314544439316,0,0,-1.3468163846754466],[194.10444072468727,12.674807499937234,-2.395314544439316,0,0,-1.608615772474596],[193.91538857102276,7.67838284993051,-2.395314544439316,0,0,-1.608615772474596],[193.72633641735825,2.681958199923786,-2.395314544439316,0,0,-1.608615772474596],[193.53728426369375,-2.3144664500829384,-2.395314544439316,0,0,-1.608615772474596],[193.53728426369375,-2.3144664500829384,-2.395314544439316,0,0,-1.3468163846754466],[193.53728426369375,-2.3144664500829384,-2.395314544439316,0,0,-1.085016996876297],[195.87177262098348,-6.736023201915788,-2.395314544439316,0,0,-1.085016996876297],[195.87177262098348,-6.736023201915788,-2.395314544439316,0,0,-0.8232176090771477],[195.87177262098348,-6.736023201915788,-2.395314544439316,0,0,-0.5614182212779982],[195.87177262098348,-6.736023201915788,-2.395314544439316,0,0,-0.2996188334788488],[195.87177262098348,-6.736023201915788,-4.395314544439316,0,0,-0.2996188334788488],[195.87177262098348,-6.736023201915788,-6.395314544439316,0,0,-0.2996188334788488],[195.87177262098348,-6.736023201915788,-8.395314544439316,0,0,-0.2996188334788488],[195.87177262098348,-6.736023201915788,-10.395314544439316,0,0,-0.2996188334788488],[195.87177262098348,-6.736023201915788,-12.395314544439316,0,0,-0.2996188334788488],[195.87177262098348,-6.736023201915788,-14.395314544439316,0,0,-0.2996188334788488],[195.87177262098348,-6.736023201915788,-16.395314544439316,0,0,-0.2996188334788488],[195.87177262098348,-6.736023201915788,-18.395314544439316,0,0,-0.2996188334788488],[200.64901793164626,-8.211803416497343,-18.395314544439316,0,0,-0.2996188334788488],[200.64901793164626,-8.211803416497343,-20.395314544439316,0,0,-0.2996188334788488],[200.64901793164626,-8.211803416497343,-22.395314544439316,0,0,-0.2996188334788488],[200.64901793164626,-8.211803416497343,-24.395314544439316,0,0,-0.2996188334788488],[200.64901793164626,-8.211803416497343,-26.395314544439316,0,0,-0.2996188334788488],[205.42626324230903,-9.687583631078898,-26.395314544439316,0,0,-0.2996188334788488],[205.42626324230903,-9.687583631078898,-24.395314544439316,0,0,-0.2996188334788488],[205.42626324230903,-9.687583631078898,-22.395314544439316,0,0,-0.2996188334788488],[205.42626324230903,-9.687583631078898,-22.395314544439316,0,0,-0.03781944567969939],[205.42626324230903,-9.687583631078898,-22.395314544439316,0,0,0.22397994211945005],[210.30136914874387,-8.577024131977579,-22.395314544439316,0,0,0.22397994211945005],[210.30136914874387,-8.577024131977579,-22.395314544439316,0,0,0.48577932991859946],[214.7229259005767,-6.242535774687841,-22.395314544439316,0,0,0.48577932991859946],[214.7229259005767,-6.242535774687841,-22.395314544439316,0,0,0.22397994211945005],[214.7229259005767,-6.242535774687841,-22.395314544439316,0,0,-0.03781944567969939],[214.7229259005767,-6.242535774687841,-22.395314544439316,0,0,-0.2996188334788488],[214.7229259005767,-6.242535774687841,-22.395314544439316,0,0,-0.5614182212779982],[214.7229259005767,-6.242535774687841,-22.395314544439316,0,0,-0.8232176090771477],[214.7229259005767,-6.242535774687841,-22.395314544439316,0,0,-1.085016996876297],[214.7229259005767,-6.242535774687841,-22.395314544439316,0,0,-1.3468163846754466],[214.7229259005767,-6.242535774687841,-22.395314544439316,0,0,-1.608615772474596],[214.7229259005767,-6.242535774687841,-22.395314544439316,0,0,-1.8704151602737453],[214.7229259005767,-6.242535774687841,-22.395314544439316,0,0,-2.132214548072895],[214.7229259005767,-6.242535774687841,-20.395314544439316,0,0,-2.132214548072895],[214.7229259005767,-6.242535774687841,-18.395314544439316,0,0,-2.132214548072895],[214.7229259005767,-6.242535774687841,-16.395314544439316,0,0,-2.132214548072895],[214.7229259005767,-6.242535774687841,-14.395314544439316,0,0,-2.132214548072895],[214.7229259005767,-6.242535774687841,-12.395314544439316,0,0,-2.132214548072895],[214.7229259005767,-6.242535774687841,-10.395314544439316,0,0,-2.132214548072895],[214.7229259005767,-6.242535774687841,-8.395314544439316,0,0,-2.132214548072895],[214.7229259005767,-6.242535774687841,-6.395314544439316,0,0,-2.132214548072895],[214.7229259005767,-6.242535774687841,-4.395314544439316,0,0,-2.132214548072895],[214.7229259005767,-6.242535774687841,-2.395314544439316,0,0,-2.132214548072895],[21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+{"episode_id":"3B1NLC6UG8UKXMYP8ZOQVLCAA3SPGK","trajectory_id":"3W0KKJIASZ717WYYM62SI8EPY638KZ","scene_id":24,"start_position":[162.96963500976562,-8.06179428100586,-0.376708060503006],"start_rotation":[0.9999998602735268,0.0,0.0,0.0005286330738639524],"instruction":{"instruction_text":"Take off, fly straight to the intersection and turn left after passing the sidewalk, fly to the yellow crosswalk and rise to the height of blue billboard, then turn back towards the telephone booth, and turn left to face the pink building with a dark shop at the first floor, fly up to its rooftop. Turn left slightly to face the buildings at the end of the road, then fly out of the roof and reach the pink building at the end of the road, then turn left towards the triangular structure on the roof. Turn right to face the white building. Descend in front of the building and land in front of the red \"stop\" sign."},"goals":[{"position":[196.73591929203056,-65.15304246617316,-4.376708060503006]}],"reference_path":[[162.96963500976562,-8.06179428100586,-0.376708060503006,0,0,0.0010572661969705977],[167.96963221523635,-8.05650795100586,-0.376708060503006,0,0,0.0010572661969705977],[172.96962942070707,-8.051221621005862,-0.376708060503006,0,0,0.0010572661969705977],[177.96962662617779,-8.045935291005863,-0.376708060503006,0,0,0.0010572661969705977],[182.9696238316485,-8.040648961005864,-0.376708060503006,0,0,0.0010572661969705977],[187.96962103711923,-8.035362631005865,-0.376708060503006,0,0,0.0010572661969705977],[187.96962103711923,-8.035362631005865,-0.376708060503006,0,0,-0.26074212160217886],[187.96962103711923,-8.035362631005865,-0.376708060503006,0,0,-0.5225415094013284],[187.96962103711923,-8.035362631005865,-0.376708060503006,0,0,-0.7843408972004778],[187.96962103711923,-8.035362631005865,-0.376708060503006,0,0,-1.0461402849996273],[187.96962103711923,-8.035362631005865,-0.376708060503006,0,0,-1.3079396727987767],[189.2688217420277,-12.863620860260518,-0.376708060503006,0,0,-1.3079396727987767],[190.5680224469362,-17.69187908951517,-0.376708060503006,0,0,-1.3079396727987767],[190.5680224469362,-17.69187908951517,-2.376708060503006,0,0,-1.3079396727987767],[190.5680224469362,-17.69187908951517,-4.376708060503006,0,0,-1.3079396727987767],[190.5680224469362,-17.69187908951517,-6.376708060503006,0,0,-1.3079396727987767],[191.86722315184468,-22.52013731876982,-6.376708060503006,0,0,-1.3079396727987767],[191.86722315184468,-22.52013731876982,-8.376708060503006,0,0,-1.3079396727987767],[191.86722315184468,-22.52013731876982,-8.376708060503006,0,0,-1.046140284999627],[191.86722315184468,-22.52013731876982,-8.376708060503006,0,0,-0.7843408972004776],[191.86722315184468,-22.52013731876982,-8.376708060503006,0,0,-0.5225415094013283],[191.86722315184468,-22.52013731876982,-8.376708060503006,0,0,-0.26074212160217886],[191.86722315184468,-22.52013731876982,-8.376708060503006,0,0,0.0010572661969705595],[191.86722315184468,-22.52013731876982,-8.376708060503006,0,0,0.26285665399612],[191.86722315184468,-22.52013731876982,-8.376708060503006,0,0,0.5246560417952695],[191.86722315184468,-22.52013731876982,-8.376708060503006,0,0,0.7864554295944189],[191.86722315184468,-22.52013731876982,-8.376708060503006,0,0,1.0482548173935684],[194.36264365850727,-18.187369554980965,-8.376708060503006,0,0,1.0482548173935684],[194.36264365850727,-18.187369554980965,-8.376708060503006,0,0,0.786455429594419],[194.36264365850727,-18.187369554980965,-8.376708060503006,0,0,0.5246560417952695],[194.36264365850727,-18.187369554980965,-8.376708060503006,0,0,0.26285665399612007],[194.36264365850727,-18.187369554980965,-8.376708060503006,0,0,0.0010572661969706215],[194.36264365850727,-18.187369554980965,-8.376708060503006,0,0,-0.2607421216021788],[194.36264365850727,-18.187369554980965,-8.376708060503006,0,0,-0.5225415094013283],[194.36264365850727,-18.187369554980965,-8.376708060503006,0,0,-0.7843408972004776],[194.36264365850727,-18.187369554980965,-8.376708060503006,0,0,-1.046140284999627],[194.36264365850727,-18.187369554980965,-10.376708060503006,0,0,-1.046140284999627],[194.36264365850727,-18.187369554980965,-12.376708060503006,0,0,-1.046140284999627],[194.36264365850727,-18.187369554980965,-14.376708060503006,0,0,-1.046140284999627],[194.36264365850727,-18.187369554980965,-16.376708060503006,0,0,-1.046140284999627],[194.36264365850727,-18.187369554980965,-18.376708060503006,0,0,-1.046140284999627],[194.36264365850727,-18.187369554980965,-20.376708060503006,0,0,-1.046140284999627],[194.36264365850727,-18.187369554980965,-22.376708060503006,0,0,-1.046140284999627],[194.36264365850727,-18.187369554980965,-24.376708060503006,0,0,-1.046140284999627],[196.86722035731543,-22.514850988769822,-24.376708060503006,0,0,-1.046140284999627],[199.3717970561236,-26.842332422558677,-24.376708060503006,0,0,-1.046140284999627],[201.87637375493176,-31.16981385634753,-24.376708060503006,0,0,-1.046140284999627],[201.87637375493176,-31.16981385634753,-24.376708060503006,0,0,-1.3079396727987764],[201.87637375493176,-31.16981385634753,-24.376708060503006,0,0,-1.569739060597926],[201.87637375493176,-31.16981385634753,-24.376708060503006,0,0,-1.8315384483970756],[200.58738545536983,-36.00080849136758,-24.376708060503006,0,0,-1.8315384483970756],[199.2983971558079,-40.831803126387626,-24.376708060503006,0,0,-1.8315384483970756],[198.00940885624595,-45.662797761407674,-24.376708060503006,0,0,-1.8315384483970756],[198.00940885624595,-45.662797761407674,-24.376708060503006,0,0,-1.5697390605979262],[198.01469518624594,-50.66279496687841,-24.376708060503006,0,0,-1.5697390605979262],[198.01469518624594,-50.66279496687841,-24.376708060503006,0,0,-1.8315384483970758],[196.725706886684,-55.493789601898456,-24.376708060503006,0,0,-1.8315384483970758],[195.43671858712207,-60.324784236918504,-24.376708060503006,0,0,-1.8315384483970758],[195.43671858712207,-60.324784236918504,-24.37670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+{"episode_id":"34Q075JO16BK5Q429VOX9X7W07W10Q","trajectory_id":"3W0KKJIASZ717WYYM62SI8EPY638KZ","scene_id":24,"start_position":[162.96963500976562,-8.06179428100586,-0.376708060503006],"start_rotation":[0.9999998602735268,0.0,0.0,0.0005286330738639524],"instruction":{"instruction_text":"Take off, fly forward to the intersection and turn left towards the road sign and stop sign. Fly across the yellow crosswalk, and fly up to the higher height than the blue billboard. Turn right to face the pink building with green scaffolding on the wall, then turn left to face the pink building with clothes hanging on the wall. Turn left to face the pink and white building with a black door on the first floor, then ascend to the height of its roof. Turn left to face the grey building, then leave the rooftop platform, and fly to the pink and white houses on the left side of the road. Turn right towards the white building in the end of the road and descend to the ground. Land near the stop sign."},"goals":[{"position":[196.73591929203056,-65.15304246617316,-4.376708060503006]}],"reference_path":[[162.96963500976562,-8.06179428100586,-0.376708060503006,0,0,0.0010572661969705977],[167.96963221523635,-8.05650795100586,-0.376708060503006,0,0,0.0010572661969705977],[172.96962942070707,-8.051221621005862,-0.376708060503006,0,0,0.0010572661969705977],[177.96962662617779,-8.045935291005863,-0.376708060503006,0,0,0.0010572661969705977],[182.9696238316485,-8.040648961005864,-0.376708060503006,0,0,0.0010572661969705977],[187.96962103711923,-8.035362631005865,-0.376708060503006,0,0,0.0010572661969705977],[187.96962103711923,-8.035362631005865,-0.376708060503006,0,0,-0.26074212160217886],[187.96962103711923,-8.035362631005865,-0.376708060503006,0,0,-0.5225415094013284],[187.96962103711923,-8.035362631005865,-0.376708060503006,0,0,-0.7843408972004778],[187.96962103711923,-8.035362631005865,-0.376708060503006,0,0,-1.0461402849996273],[187.96962103711923,-8.035362631005865,-0.376708060503006,0,0,-1.3079396727987767],[189.2688217420277,-12.863620860260518,-0.376708060503006,0,0,-1.3079396727987767],[190.5680224469362,-17.69187908951517,-0.376708060503006,0,0,-1.3079396727987767],[190.5680224469362,-17.69187908951517,-2.376708060503006,0,0,-1.3079396727987767],[190.5680224469362,-17.69187908951517,-4.376708060503006,0,0,-1.3079396727987767],[190.5680224469362,-17.69187908951517,-6.376708060503006,0,0,-1.3079396727987767],[191.86722315184468,-22.52013731876982,-6.376708060503006,0,0,-1.3079396727987767],[191.86722315184468,-22.52013731876982,-8.376708060503006,0,0,-1.3079396727987767],[191.86722315184468,-22.52013731876982,-8.376708060503006,0,0,-1.046140284999627],[191.86722315184468,-22.52013731876982,-8.376708060503006,0,0,-0.7843408972004776],[191.86722315184468,-22.52013731876982,-8.376708060503006,0,0,-0.5225415094013283],[191.86722315184468,-22.52013731876982,-8.376708060503006,0,0,-0.26074212160217886],[191.86722315184468,-22.52013731876982,-8.376708060503006,0,0,0.0010572661969705595],[191.86722315184468,-22.52013731876982,-8.376708060503006,0,0,0.26285665399612],[191.86722315184468,-22.52013731876982,-8.376708060503006,0,0,0.5246560417952695],[191.86722315184468,-22.52013731876982,-8.376708060503006,0,0,0.7864554295944189],[191.86722315184468,-22.52013731876982,-8.376708060503006,0,0,1.0482548173935684],[194.36264365850727,-18.187369554980965,-8.376708060503006,0,0,1.0482548173935684],[194.36264365850727,-18.187369554980965,-8.376708060503006,0,0,0.786455429594419],[194.36264365850727,-18.187369554980965,-8.376708060503006,0,0,0.5246560417952695],[194.36264365850727,-18.187369554980965,-8.376708060503006,0,0,0.26285665399612007],[194.36264365850727,-18.187369554980965,-8.376708060503006,0,0,0.0010572661969706215],[194.36264365850727,-18.187369554980965,-8.376708060503006,0,0,-0.2607421216021788],[194.36264365850727,-18.187369554980965,-8.376708060503006,0,0,-0.5225415094013283],[194.36264365850727,-18.187369554980965,-8.376708060503006,0,0,-0.7843408972004776],[194.36264365850727,-18.187369554980965,-8.376708060503006,0,0,-1.046140284999627],[194.36264365850727,-18.187369554980965,-10.376708060503006,0,0,-1.046140284999627],[194.36264365850727,-18.187369554980965,-12.376708060503006,0,0,-1.046140284999627],[194.36264365850727,-18.187369554980965,-14.376708060503006,0,0,-1.046140284999627],[194.36264365850727,-18.187369554980965,-16.376708060503006,0,0,-1.046140284999627],[194.36264365850727,-18.187369554980965,-18.376708060503006,0,0,-1.046140284999627],[194.36264365850727,-18.187369554980965,-20.376708060503006,0,0,-1.046140284999627],[194.36264365850727,-18.187369554980965,-22.376708060503006,0,0,-1.046140284999627],[194.36264365850727,-18.187369554980965,-24.376708060503006,0,0,-1.046140284999627],[196.86722035731543,-22.514850988769822,-24.376708060503006,0,0,-1.046140284999627],[199.3717970561236,-26.842332422558677,-24.376708060503006,0,0,-1.046140284999627],[201.87637375493176,-31.16981385634753,-24.376708060503006,0,0,-1.046140284999627],[201.87637375493176,-31.16981385634753,-24.376708060503006,0,0,-1.3079396727987764],[201.87637375493176,-31.16981385634753,-24.376708060503006,0,0,-1.569739060597926],[201.87637375493176,-31.16981385634753,-24.376708060503006,0,0,-1.8315384483970756],[200.58738545536983,-36.00080849136758,-24.376708060503006,0,0,-1.8315384483970756],[199.2983971558079,-40.831803126387626,-24.376708060503006,0,0,-1.8315384483970756],[198.00940885624595,-45.662797761407674,-24.376708060503006,0,0,-1.8315384483970756],[198.00940885624595,-45.662797761407674,-24.376708060503006,0,0,-1.5697390605979262],[198.01469518624594,-50.66279496687841,-24.376708060503006,0,0,-1.5697390605979262],[198.01469518624594,-50.66279496687841,-24.376708060503006,0,0,-1.8315384483970758],[196.725706886684,-55.493789601898456,-24.376708060503006,0,0,-1.8315384483970758],[195.43671858712207,-60.324784236918504,-24.376708060503006,0,0,-1.8315384483970758],[195.43671858712207,-60.324784236918504,-24.37670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+]}
diff --git a/TEST_FILE/AerialVLN-Fine-V3-Scene-3.json b/TEST_FILE/AerialVLN-Fine-V3-Scene-3.json
new file mode 100644
index 0000000000000000000000000000000000000000..d73aecbd44af7d87c198a2914d0b65654a9c0f55
--- /dev/null
+++ b/TEST_FILE/AerialVLN-Fine-V3-Scene-3.json
@@ -0,0 +1,34 @@
+{"episodes":[
+{"episode_id":"3DH6GAKTY7NEXHLVPE8YTJLSOWYYZG","trajectory_id":"3SBNLSTU7238DMTB3FGIRFG3DXGZD3","scene_id":3,"start_position":[27.056156158447266,7.5123138427734375,-0.34915873408317566],"start_rotation":[0.9998728958940537,0.0,0.0,0.01594340165832675],"instruction":{"instruction_text":"Turn back to face an intersection. Fly forward to the intersection, then fly up above the trees ahead. Fly to the nearest tree, then turn right to face a brown building with windows, fly up to the height of its roof. Turn left to face the white building with a sleek grid-patterned facade of light blue panels and dark rectangular windows then fly to it, then fly down to the height of trees. Turn right to face the road right to the white building, and fly over an intersection. Turn right to the scaffolding then land."},"goals":[{"position":[-30.582174142313736,10.989124428244224,-2.3491587340831757]}],"reference_path":[[27.056156158447266,7.5123138427734375,-0.34915873408317566,0,0,0.03188815436655236],[27.056156158447266,7.5123138427734375,-2.3491587340831757,0,0,0.03188815436655236],[27.056156158447266,7.5123138427734375,-2.3491587340831757,0,0,0.2936875421657018],[27.056156158447266,7.5123138427734375,-2.3491587340831757,0,0,0.5554869299648513],[27.056156158447266,7.5123138427734375,-2.3491587340831757,0,0,0.8172863177640008],[27.056156158447266,7.5123138427734375,-2.3491587340831757,0,0,1.0790857055631504],[27.056156158447266,7.5123138427734375,-2.3491587340831757,0,0,1.3408850933623],[27.056156158447266,7.5123138427734375,-2.3491587340831757,0,0,1.6026844811614496],[27.056156158447266,7.5123138427734375,-2.3491587340831757,0,0,1.864483868960599],[27.056156158447266,7.5123138427734375,-2.3491587340831757,0,0,2.1262832567597485],[27.056156158447266,7.5123138427734375,-2.3491587340831757,0,0,2.388082644558898],[27.056156158447266,7.5123138427734375,-2.3491587340831757,0,0,2.649882032358047],[22.648523631375667,9.872986523663448,-2.3491587340831757,0,0,2.649882032358047],[18.24089110430407,12.233659204553458,-2.3491587340831757,0,0,2.649882032358047],[18.24089110430407,12.233659204553458,-4.349158734083176,0,0,2.649882032358047],[18.24089110430407,12.233659204553458,-6.349158734083176,0,0,2.649882032358047],[18.24089110430407,12.233659204553458,-8.349158734083176,0,0,2.649882032358047],[13.83325857723247,14.594331885443468,-8.349158734083176,0,0,2.649882032358047],[13.83325857723247,14.594331885443468,-8.349158734083176,0,0,2.9116814201571968],[13.83325857723247,14.594331885443468,-8.349158734083176,0,0,-3.10970449922324],[13.83325857723247,14.594331885443468,-8.349158734083176,0,0,-2.8479051114240903],[13.83325857723247,14.594331885443468,-8.349158734083176,0,0,-2.586105723624941],[13.83325857723247,14.594331885443468,-8.349158734083176,0,0,-2.324306335825792],[10.412244625526275,10.94787284382082,-8.349158734083176,0,0,-2.324306335825792],[6.9912306738200805,7.301413802198171,-8.349158734083176,0,0,-2.324306335825792],[6.9912306738200805,7.301413802198171,-10.349158734083176,0,0,-2.324306335825792],[6.9912306738200805,7.301413802198171,-12.349158734083176,0,0,-2.324306335825792],[6.9912306738200805,7.301413802198171,-14.349158734083176,0,0,-2.324306335825792],[6.9912306738200805,7.301413802198171,-16.349158734083176,0,0,-2.324306335825792],[6.9912306738200805,7.301413802198171,-18.349158734083176,0,0,-2.324306335825792],[6.9912306738200805,7.301413802198171,-20.349158734083176,0,0,-2.324306335825792],[6.9912306738200805,7.301413802198171,-22.349158734083176,0,0,-2.324306335825792],[6.9912306738200805,7.301413802198171,-24.349158734083176,0,0,-2.324306335825792],[6.9912306738200805,7.301413802198171,-26.349158734083176,0,0,-2.324306335825792],[6.9912306738200805,7.301413802198171,-28.349158734083176,0,0,-2.324306335825792],[6.9912306738200805,7.301413802198171,-30.349158734083176,0,0,-2.324306335825792],[6.9912306738200805,7.301413802198171,-32.349158734083176,0,0,-2.324306335825792],[6.9912306738200805,7.301413802198171,-34.349158734083176,0,0,-2.324306335825792],[6.9912306738200805,7.301413802198171,-36.349158734083176,0,0,-2.324306335825792],[6.9912306738200805,7.301413802198171,-38.349158734083176,0,0,-2.324306335825792],[6.9912306738200805,7.301413802198171,-40.349158734083176,0,0,-2.324306335825792],[3.5702167221138854,3.6549547605755226,-40.349158734083176,0,0,-2.324306335825792],[0.14920277040769037,0.008495718952874043,-40.349158734083176,0,0,-2.324306335825792],[-3.2718111812985047,-3.6379633226697745,-40.349158734083176,0,0,-2.324306335825792],[-3.2718111812985047,-3.6379633226697745,-40.349158734083176,0,0,-2.5861057236249416],[-3.2718111812985047,-3.6379633226697745,-40.349158734083176,0,0,-2.847905111424091],[-3.2718111812985047,-3.6379633226697745,-40.349158734083176,0,0,-3.1097044992232408],[-3.2718111812985047,-3.6379633226697745,-40.349158734083176,0,0,2.911681420157196],[-3.2718111812985047,-3.6379633226697745,-40.349158734083176,0,0,2.6498820323580463],[-7.679443708370102,-1.2772906417797598,-40.349158734083176,0,0,2.6498820323580463],[-7.679443708370102,-1.2772906417797598,-40.349158734083176,0,0,2.3880826445588967],[-7.679443708370102,-1.2772906417797598,-40.349158734083176,0,0,2.1262832567597476],[-10.316229106915701,2.970928133426706,-40.349158734083176,0,0,2.1262832567597476],[-12.953014505461299,7.219146908633172,-40.349158734083176,0,0,2.1262832567597476],[-15.589799904006897,11.467365683839638,-40.349158734083176,0,0,2.1262832567597476],[-15.589799904006897,11.467365683839638,-40.349158734083176,0,0,1.8644838689605983],[-15.589799904006897,11.467365683839638,-38.349158734083176,0,0,1.8644838689605983],[-15.589799904006897,11.467365683839638,-36.349158734083176,0,0,1.8644838689605983],[-15.589799904006897,11.467365683839638,-34.349158734083176,0,0,1.8644838689605983],[-15.5897999040068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+{"episode_id":"39GHHAVOMOP8ZV27ILH5P0TVAZK4JI","trajectory_id":"3SMIWMMK793Q0TZSENM02BQ9IV7UWI","scene_id":3,"start_position":[-1.0821374654769897,73.20098114013672,-43.913047790527344],"start_rotation":[0.999972516565019,0.0,0.0,-0.007413913583453987],"instruction":{"instruction_text":"Turn left to face the white edge of the roof on your left until it is horizontal, go over the roof, then fly down to  above the trees. Turn left to face an intersection on your left and move on above it. Turn right to face the dark blue glass building with vertical white stripes near an intersection and fly forward to it. Turn back to face the white building and dark glass building behind the trees, go over the trees to the white building, turn back to face the football ground in the park, land in the ground. Land in the football 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+{"episode_id":"30BUDKLTXMTIKYKFIPPOXCMH5J35EF","trajectory_id":"3RHLQY6EE12SAP5MIMQSXJ3UC2E4DX","scene_id":3,"start_position":[17.27764892578125,37.23603439331055,-0.1567239612340927],"start_rotation":[0.9996977898049354,0.0,0.0,0.024583105156328798],"instruction":{"instruction_text":"Fly up until you can see the black platform at the narrowing point of the white building on the right, and turn right to face a tall black glass building featuring a grid-like facade, then fly forward to it. Turn right to face a brown building with windows, and fly down to the height of trees. Fly down close to the road and fly forward passing the trees and onto a green grass field. Turn left to face a tall black building right to a white building, fly forward passing trees to the street, then turn left to face a white building with green sheds, fly forward to it, then turn right to face a black building being constructed and land."},"goals":[{"position":[-29.453943309842987,9.969428722952998,-2.1567239612340927]}],"reference_path":[[17.27764892578125,37.23603439331055,-0.1567239612340927,0,0,0.04917116375479144],[17.27764892578125,37.23603439331055,-2.1567239612340927,0,0,0.04917116375479144],[17.27764892578125,37.23603439331055,-4.156723961234093,0,0,0.04917116375479144],[17.27764892578125,37.23603439331055,-6.156723961234093,0,0,0.04917116375479144],[17.27764892578125,37.23603439331055,-8.156723961234093,0,0,0.04917116375479144],[17.27764892578125,37.23603439331055,-10.156723961234093,0,0,0.04917116375479144],[17.27764892578125,37.23603439331055,-12.156723961234093,0,0,0.04917116375479144],[17.27764892578125,37.23603439331055,-14.156723961234093,0,0,0.04917116375479144],[17.27764892578125,37.23603439331055,-16.156723961234093,0,0,0.04917116375479144],[17.27764892578125,37.23603439331055,-18.156723961234093,0,0,0.04917116375479144],[17.27764892578125,37.23603439331055,-20.156723961234093,0,0,0.04917116375479144],[17.27764892578125,37.23603439331055,-22.156723961234093,0,0,0.04917116375479144],[17.27764892578125,37.23603439331055,-24.156723961234093,0,0,0.04917116375479144],[17.27764892578125,37.23603439331055,-26.156723961234093,0,0,0.04917116375479144],[17.27764892578125,37.23603439331055,-26.156723961234093,0,0,0.3109705515539409],[17.27764892578125,37.23603439331055,-26.156723961234093,0,0,0.5727699393530903],[17.27764892578125,37.23603439331055,-26.156723961234093,0,0,0.8345693271522397],[17.27764892578125,37.23603439331055,-26.156723961234093,0,0,1.0963687149513892],[17.27764892578125,37.23603439331055,-26.156723961234093,0,0,1.3581681027505388],[17.27764892578125,37.23603439331055,-26.156723961234093,0,0,1.6199674905496884],[17.27764892578125,37.23603439331055,-26.156723961234093,0,0,1.8817668783488377],[17.27764892578125,37.23603439331055,-26.156723961234093,0,0,2.143566266147987],[17.27764892578125,37.23603439331055,-26.156723961234093,0,0,2.4053656539471366],[17.27764892578125,37.23603439331055,-26.156723961234093,0,0,2.667165041746286],[12.829877170576928,39.520181151644316,-26.156723961234093,0,0,2.667165041746286],[8.382105415372607,41.804327909978085,-26.156723961234093,0,0,2.667165041746286],[3.934333660168284,44.088474668311854,-26.156723961234093,0,0,2.667165041746286],[-0.5134380950360384,46.37262142664562,-26.156723961234093,0,0,2.667165041746286],[-0.5134380950360384,46.37262142664562,-26.156723961234093,0,0,2.9289644295454353],[-0.5134380950360384,46.37262142664562,-26.156723961234093,0,0,-3.0924214898350013],[-0.5134380950360384,46.37262142664562,-26.156723961234093,0,0,-2.830622102035852],[-0.5134380950360384,46.37262142664562,-26.156723961234093,0,0,-2.5688227142367026],[-0.5134380950360384,46.37262142664562,-26.156723961234093,0,0,-2.307023326437553],[-0.5134380950360384,46.37262142664562,-26.156723961234093,0,0,-2.045223938638404],[-0.5134380950360384,46.37262142664562,-26.156723961234093,0,0,-1.7834245508392546],[-0.5134380950360384,46.37262142664562,-26.156723961234093,0,0,-1.5216251630401052],[-0.26768133612279643,41.378664717236894,-26.156723961234093,0,0,-1.5216251630401052],[-0.26768133612279643,41.378664717236894,-24.156723961234093,0,0,-1.5216251630401052],[-0.26768133612279643,41.378664717236894,-22.156723961234093,0,0,-1.5216251630401052],[-0.26768133612279643,41.378664717236894,-20.156723961234093,0,0,-1.5216251630401052],[-0.26768133612279643,41.378664717236894,-18.156723961234093,0,0,-1.5216251630401052],[-0.26768133612279643,41.378664717236894,-16.156723961234093,0,0,-1.5216251630401052],[-0.26768133612279643,41.378664717236894,-14.156723961234093,0,0,-1.5216251630401052],[-0.26768133612279643,41.378664717236894,-12.156723961234093,0,0,-1.5216251630401052],[-0.26768133612279643,41.378664717236894,-10.156723961234093,0,0,-1.5216251630401052],[-0.26768133612279643,41.378664717236894,-8.156723961234093,0,0,-1.5216251630401052],[-0.26768133612279643,41.378664717236894,-6.156723961234093,0,0,-1.5216251630401052],[-0.26768133612279643,41.378664717236894,-4.156723961234093,0,0,-1.5216251630401052],[-0.26768133612279643,41.378664717236894,-2.1567239612340927,0,0,-1.5216251630401052],[-0.26768133612279643,41.378664717236894,-2.1567239612340927,0,0,-1.259825775240956],[-0.26768133612279643,41.378664717236894,-2.1567239612340927,0,0,-1.5216251630401056],[-0.02192457720955665,36.384708007828166,-2.1567239612340927,0,0,-1.5216251630401056],[0.22383218170368313,31.39075129841944,-2.1567239612340927,0,0,-1.5216251630401056],[0.4695889406169229,26.39679458901071,-2.1567239612340927,0,0,-1.5216251630401056],[0.4695889406169229,26.39679458901071,-2.1567239612340927,0,0,-1.783424550839255],[0.4695889406169229,26.39679458901071,-2.1567239612340927,0,0,-2.0452239386384043],[-1.8145578177168473,21.94902283380639,-2.1567239612340927,0,0,-2.0452239386384043],[-1.8145578177168473,21.94902283380639,-2.1567239612340927,0,0,-2.307023326437554],[-5.172042201141837,18.24398590888144,-2.1567239612340927,0,0,-2.30702332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+{"episode_id":"3Y5140Z9D6EYTD4KYNOTGXPQODUIP8","trajectory_id":"3R868ACW50ABP63255HQX0J0QPWZGD","scene_id":3,"start_position":[-15.284477233886719,38.68547058105469,-0.24036730825901031],"start_rotation":[0.9999813692724276,0.0,0.0,-0.006104187746184888],"instruction":{"instruction_text":"Turn left to face the crosswalk, fly forward to the sidewalk, then fly forward along the sidewalk until you can see metal fences on your right, turn right to face that fences. Turn right to face the pedestrian entrance between stone fences, fly up slightly above the fences, fly forward over the fences, then turn right slightly to face another fences on the right side beside the road, then fly forward over that fences to the nearest yellow car on the road. Make a sharp left turn to face the white and red bollards on the road and a building with white longitudinal Flat noodles on the glass facade. Fly forward across that bollards to the building with flags hanging on its wall, turn left to face the sidewalk, then fly forward to the corner of the sidewalk and land there."},"goals":[{"position":[20.448396327858212,10.9382730054651,-0.24036730825901031]}],"reference_path":[[-15.284477233886719,38.68547058105469,-0.24036730825901031,0,0,-0.012208451309907423],[-15.284477233886719,38.68547058105469,-0.24036730825901031,0,0,-0.27400783910905685],[-15.284477233886719,38.68547058105469,-0.24036730825901031,0,0,-0.5358072269082063],[-15.284477233886719,38.68547058105469,-0.24036730825901031,0,0,-0.7976066147073557],[-15.284477233886719,38.68547058105469,-0.24036730825901031,0,0,-1.0594060025065053],[-15.284477233886719,38.68547058105469,-0.24036730825901031,0,0,-1.3212053903056546],[-14.049439274640134,33.84040285818228,-0.24036730825901031,0,0,-1.3212053903056546],[-14.049439274640134,33.84040285818228,-0.24036730825901031,0,0,-1.5830047781048042],[-14.110480014847395,28.840775469262688,-0.24036730825901031,0,0,-1.5830047781048042],[-14.110480014847395,28.840775469262688,-0.24036730825901031,0,0,-1.8448041659039536],[-15.463439628937968,24.027304758575866,-0.24036730825901031,0,0,-1.8448041659039536],[-15.463439628937968,24.027304758575866,-0.24036730825901031,0,0,-1.5830047781048042],[-15.463439628937968,24.027304758575866,-0.24036730825901031,0,0,-1.3212053903056549],[-15.463439628937968,24.027304758575866,-0.24036730825901031,0,0,-1.0594060025065053],[-15.463439628937968,24.027304758575866,-0.24036730825901031,0,0,-0.7976066147073558],[-15.463439628937968,24.027304758575866,-0.24036730825901031,0,0,-0.5358072269082065],[-15.463439628937968,24.027304758575866,-0.24036730825901031,0,0,-0.27400783910905707],[-15.463439628937968,24.027304758575866,-0.24036730825901031,0,0,-0.012208451309907624],[-15.463439628937968,24.027304758575866,-0.24036730825901031,0,0,0.2495909364892418],[-15.463439628937968,24.027304758575866,-0.24036730825901031,0,0,0.5113903242883913],[-11.103114930573508,26.47425562135037,-0.24036730825901031,0,0,0.5113903242883913],[-6.742790232209048,28.921206484124873,-0.24036730825901031,0,0,0.5113903242883913],[-2.382465533844588,31.368157346899377,-0.24036730825901031,0,0,0.5113903242883913],[1.977859164519872,33.81510820967388,-0.24036730825901031,0,0,0.5113903242883913],[6.338183862884332,36.26205907244838,-0.24036730825901031,0,0,0.5113903242883913],[6.338183862884332,36.26205907244838,-0.24036730825901031,0,0,0.24959093648924188],[6.338183862884332,36.26205907244838,-0.24036730825901031,0,0,-0.012208451309907564],[6.338183862884332,36.26205907244838,-0.24036730825901031,0,0,-0.274007839109057],[6.338183862884332,36.26205907244838,-0.24036730825901031,0,0,-0.5358072269082065],[6.338183862884332,36.26205907244838,-0.24036730825901031,0,0,-0.7976066147073559],[6.338183862884332,36.26205907244838,-0.24036730825901031,0,0,-1.0594060025065053],[8.785134725658835,31.901734374083922,-0.24036730825901031,0,0,-1.0594060025065053],[11.232085588433339,27.541409675719464,-0.24036730825901031,0,0,-1.0594060025065053],[13.679036451207843,23.181084977355006,-0.24036730825901031,0,0,-1.0594060025065053],[13.679036451207843,23.181084977355006,-0.24036730825901031,0,0,-1.3212053903056546],[14.914074410454427,18.3360172544826,-0.24036730825901031,0,0,-1.3212053903056546],[16.14911236970101,13.49094953161019,-0.24036730825901031,0,0,-1.3212053903056546],[16.14911236970101,13.49094953161019,-0.24036730825901031,0,0,-1.0594060025065053],[16.14911236970101,13.49094953161019,-0.24036730825901031,0,0,-0.7976066147073558],[16.14911236970101,13.49094953161019,-0.24036730825901031,0,0,-0.5358072269082065],[20.448396327858212,10.9382730054651,-0.24036730825901031,0,0,-0.5358072269082065]],"actions":[2,2,2,2,2,1,2,1,2,1,3,3,3,3,3,3,3,3,3,1,1,1,1,1,2,2,2,2,2,2,1,1,1,2,1,1,3,3,3,1,0]},
+{"episode_id":"308XBLVESR29II6T5501Z5LSXADRBS","trajectory_id":"3IV1AEQ4EZB6WCSG4L2GHTECKXAJ8F","scene_id":3,"start_position":[-25.075441360473633,6.72488260269165,-0.27789610624313354],"start_rotation":[0.999985422443952,0.0,0.0,0.005399527719233953],"instruction":{"instruction_text":"Fly up to the height of trees, turn left to face the tree in front of a brown building, fly forward to that tree, then turn right to face the park across the road, fly forward to the trees ahead. Fly up above the trees, fly forward over the park to the shortest dark glass building across the road, turn left to face an intersection. Fly forward to the intersection, turn left to face a building with white longitudinal Flat noodles on the glass facade, fly forward to its short entrance hall roof, land on it."},"goals":[{"position":[20.952020136959277,21.577840744949157,-2.2778961062431335]}],"reference_path":[[-25.075441360473633,6.72488260269165,-0.27789610624313354,0,0,0.010799107913385862],[-25.075441360473633,6.72488260269165,-2.2778961062431335,0,0,0.010799107913385862],[-25.075441360473633,6.72488260269165,-4.2778961062431335,0,0,0.010799107913385862],[-25.075441360473633,6.72488260269165,-4.2778961062431335,0,0,-0.25100027988576357],[-25.075441360473633,6.72488260269165,-4.2778961062431335,0,0,-0.512799667684913],[-20.718569585351762,4.271788977257348,-4.2778961062431335,0,0,-0.512799667684913],[-20.718569585351762,4.271788977257348,-4.2778961062431335,0,0,-0.2510002798857636],[-20.718569585351762,4.271788977257348,-4.2778961062431335,0,0,0.010799107913385793],[-20.718569585351762,4.271788977257348,-4.2778961062431335,0,0,0.27259849571253525],[-20.718569585351762,4.271788977257348,-4.2778961062431335,0,0,0.5343978835116847],[-20.718569585351762,4.271788977257348,-4.2778961062431335,0,0,0.7961972713108342],[-20.718569585351762,4.271788977257348,-6.2778961062431335,0,0,0.7961972713108342],[-17.22142170576852,7.845296596995472,-6.2778961062431335,0,0,0.7961972713108342],[-13.724273826185279,11.418804216733596,-6.2778961062431335,0,0,0.7961972713108342],[-13.724273826185279,11.418804216733596,-6.2778961062431335,0,0,1.0579966591099836],[-13.724273826185279,11.418804216733596,-6.2778961062431335,0,0,1.319796046909133],[-12.48240873154437,16.262126535835694,-6.2778961062431335,0,0,1.319796046909133],[-12.48240873154437,16.262126535835694,-6.2778961062431335,0,0,1.0579966591099836],[-10.029315106110067,20.618998310957565,-6.2778961062431335,0,0,1.0579966591099836],[-10.029315106110067,20.618998310957565,-8.277896106243134,0,0,1.0579966591099836],[-7.576221480675764,24.975870086079436,-8.277896106243134,0,0,1.0579966591099836],[-5.123127855241462,29.332741861201306,-8.277896106243134,0,0,1.0579966591099836],[-2.6700342298071593,33.68961363632317,-8.277896106243134,0,0,1.0579966591099836],[-0.21694060437285678,38.04648541144504,-8.277896106243134,0,0,1.0579966591099836],[-0.21694060437285678,38.04648541144504,-6.2778961062431335,0,0,1.0579966591099836],[-0.21694060437285678,38.04648541144504,-4.2778961062431335,0,0,1.0579966591099836],[-0.21694060437285678,38.04648541144504,-2.2778961062431335,0,0,1.0579966591099836],[-0.21694060437285678,38.04648541144504,-2.2778961062431335,0,0,0.7961972713108342],[-0.21694060437285678,38.04648541144504,-2.2778961062431335,0,0,0.5343978835116847],[-0.21694060437285678,38.04648541144504,-2.2778961062431335,0,0,0.27259849571253525],[4.598432110006176,39.392659850963895,-2.2778961062431335,0,0,0.27259849571253525],[4.598432110006176,39.392659850963895,-2.2778961062431335,0,0,0.010799107913385824],[4.598432110006176,39.392659850963895,-2.2778961062431335,0,0,-0.2510002798857636],[4.598432110006176,39.392659850963895,-2.2778961062431335,0,0,-0.5127996676849131],[8.955303885128044,36.93956622552959,-2.2778961062431335,0,0,-0.5127996676849131],[13.312175660249913,34.48647260009528,-2.2778961062431335,0,0,-0.5127996676849131],[13.312175660249913,34.48647260009528,-2.2778961062431335,0,0,-0.7745990554840626],[13.312175660249913,34.48647260009528,-2.2778961062431335,0,0,-1.036398443283212],[15.858790485819702,30.183595315046574,-2.2778961062431335,0,0,-1.036398443283212],[18.40540531138949,25.880718029997865,-2.2778961062431335,0,0,-1.036398443283212],[18.40540531138949,25.880718029997865,-4.2778961062431335,0,0,-1.036398443283212],[20.952020136959277,21.577840744949157,-4.2778961062431335,0,0,-1.036398443283212],[20.952020136959277,21.577840744949157,-4.2778961062431335,0,0,-0.7745990554840626],[20.952020136959277,21.577840744949157,-4.2778961062431335,0,0,-0.5127996676849133],[20.952020136959277,21.577840744949157,-4.2778961062431335,0,0,-0.2510002798857638],[20.952020136959277,21.577840744949157,-4.2778961062431335,0,0,0.010799107913385638],[20.952020136959277,21.577840744949157,-4.2778961062431335,0,0,0.2725984957125351],[20.952020136959277,21.577840744949157,-4.2778961062431335,0,0,0.5343978835116845],[20.952020136959277,21.577840744949157,-4.2778961062431335,0,0,0.796197271310834],[20.952020136959277,21.577840744949157,-4.2778961062431335,0,0,1.0579966591099834],[20.952020136959277,21.577840744949157,-4.2778961062431335,0,0,0.7961972713108341],[20.952020136959277,21.577840744949157,-4.2778961062431335,0,0,0.5343978835116847],[20.952020136959277,21.577840744949157,-4.2778961062431335,0,0,0.27259849571253525],[20.952020136959277,21.577840744949157,-4.2778961062431335,0,0,0.010799107913385824],[20.952020136959277,21.577840744949157,-4.2778961062431335,0,0,-0.2510002798857636],[20.952020136959277,21.577840744949157,-4.2778961062431335,0,0,-0.5127996676849131],[20.952020136959277,21.577840744949157,-4.2778961062431335,0,0,-0.7745990554840626],[20.952020136959277,21.577840744949157,-4.2778961062431335,0,0,-1.036398443283212],[20.952020136959277,21.577840744949157,-2.2778961062431335,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+{"episode_id":"3HL8HNGX4EZTRZMNGQMBRACKQKF9F3","trajectory_id":"3QX22DUVPWFU8WUEFBQIPZQ12IFMVP","scene_id":3,"start_position":[-32.92213821411133,6.22611665725708,-0.18973933160305023],"start_rotation":[0.9998814407946651,0.0,0.0,0.015398193218185821],"instruction":{"instruction_text":"Take up to the height of trees, turn right to face a dark blue glass building with grids on the right side of the trees then fly forward to it. Turn left to face a dark black building right to a brown building, fly forward over the trees to an intersection near that building. Turn left to face a white building, move towards it, then turn back to face the park. Move forward to a black building with vertical white lines, fly down to the height of street lights, and turn right facing a white building near an intersection, move forward to that building, land on sidewalk corner on the left in front of the intersection."},"goals":[{"position":[19.72846637574076,29.8263104737095,-2.1897393316030502]}],"reference_path":[[-32.92213821411133,6.22611665725708,-0.18973933160305023,0,0,0.03079760355912664],[-32.92213821411133,6.22611665725708,-2.1897393316030502,0,0,0.03079760355912664],[-32.92213821411133,6.22611665725708,-4.18973933160305,0,0,0.03079760355912664],[-32.92213821411133,6.22611665725708,-6.18973933160305,0,0,0.03079760355912664],[-32.92213821411133,6.22611665725708,-6.18973933160305,0,0,0.29259699135827605],[-32.92213821411133,6.22611665725708,-6.18973933160305,0,0,0.5543963791574255],[-32.92213821411133,6.22611665725708,-6.18973933160305,0,0,0.8161957669565749],[-29.497149648648847,9.868842741723391,-6.18973933160305,0,0,0.8161957669565749],[-26.072161083186366,13.511568826189702,-6.18973933160305,0,0,0.8161957669565749],[-22.647172517723885,17.154294910656013,-6.18973933160305,0,0,0.8161957669565749],[-19.222183952261403,20.797020995122324,-6.18973933160305,0,0,0.8161957669565749],[-22.864910036727714,24.222009560584805,-6.18973933160305,0,0,0.8161957669565749],[-19.439921471265233,27.864735645051116,-6.18973933160305,0,0,0.8161957669565749],[-16.014932905802752,31.507461729517427,-6.18973933160305,0,0,0.8161957669565749],[-12.58994434034027,35.150187813983734,-6.18973933160305,0,0,0.8161957669565749],[-12.58994434034027,35.150187813983734,-6.18973933160305,0,0,0.5543963791574256],[-12.58994434034027,35.150187813983734,-6.18973933160305,0,0,0.29259699135827616],[-12.58994434034027,35.150187813983734,-6.18973933160305,0,0,0.030797603559126734],[-12.58994434034027,35.150187813983734,-6.18973933160305,0,0,-0.2310017842400227],[-12.58994434034027,35.150187813983734,-6.18973933160305,0,0,-0.4928011720391721],[-12.58994434034027,35.150187813983734,-6.18973933160305,0,0,-0.7546005598383215],[-12.58994434034027,35.150187813983734,-8.18973933160305,0,0,-0.7546005598383215],[-8.94721825587396,31.725199248521253,-8.18973933160305,0,0,-0.7546005598383215],[-5.304492171407649,28.300210683058772,-8.18973933160305,0,0,-0.7546005598383215],[-1.6617660869413378,24.87522211759629,-8.18973933160305,0,0,-0.7546005598383215],[-5.086754652403818,21.23249603312998,-8.18973933160305,0,0,-0.7546005598383215],[-5.086754652403818,21.23249603312998,-10.18973933160305,0,0,-0.7546005598383215],[-1.4440285679375071,17.8075074676675,-10.18973933160305,0,0,-0.7546005598383215],[2.198697516528804,14.382518902205017,-10.18973933160305,0,0,-0.7546005598383215],[2.198697516528804,14.382518902205017,-10.18973933160305,0,0,-1.0163999476374708],[2.198697516528804,14.382518902205017,-10.18973933160305,0,0,-1.2781993354366203],[3.6408965619736082,9.595028754610134,-10.18973933160305,0,0,-1.2781993354366203],[3.6408965619736082,9.595028754610134,-10.18973933160305,0,0,-1.5399987232357697],[3.6408965619736082,9.595028754610134,-10.18973933160305,0,0,-1.8017981110349193],[3.6408965619736082,9.595028754610134,-10.18973933160305,0,0,-2.0635974988340684],[3.6408965619736082,9.595028754610134,-10.18973933160305,0,0,-2.3253968866332175],[3.6408965619736082,9.595028754610134,-10.18973933160305,0,0,-2.587196274432367],[3.6408965619736082,9.595028754610134,-10.18973933160305,0,0,-2.8489956622315162],[3.6408965619736082,9.595028754610134,-10.18973933160305,0,0,-3.110795050030666],[3.6408965619736082,9.595028754610134,-10.18973933160305,0,0,2.9105908693497704],[3.6408965619736082,9.595028754610134,-10.18973933160305,0,0,2.6487914815506213],[-0.7641589111093077,11.960506777983476,-10.18973933160305,0,0,2.6487914815506213],[-5.169214384192223,14.325984801356817,-10.18973933160305,0,0,2.6487914815506213],[-9.574269857275139,16.69146282473016,-10.18973933160305,0,0,2.6487914815506213],[-13.979325330358055,19.0569408481035,-10.18973933160305,0,0,2.6487914815506213],[-18.38438080344097,21.422418871476843,-10.18973933160305,0,0,2.6487914815506213],[-22.789436276523887,23.787896894850185,-10.18973933160305,0,0,2.6487914815506213],[-20.42395825315055,28.192952367933103,-10.18973933160305,0,0,2.6487914815506213],[-20.42395825315055,28.192952367933103,-10.18973933160305,0,0,2.386992093751472],[-20.42395825315055,28.192952367933103,-10.18973933160305,0,0,2.125192705952323],[-20.42395825315055,28.192952367933103,-10.18973933160305,0,0,1.8633933181531737],[-20.42395825315055,28.192952367933103,-10.18973933160305,0,0,1.601593930354024],[-20.42395825315055,28.192952367933103,-10.18973933160305,0,0,1.3397945425548747],[-20.42395825315055,28.192952367933103,-10.18973933160305,0,0,1.0779951547557254],[-20.42395825315055,28.192952367933103,-10.18973933160305,0,0,0.816195766956576],[-20.42395825315055,28.192952367933103,-10.18973933160305,0,0,0.5543963791574267],[-20.42395825315055,28.192952367933103,-10.18973933160305,0,0,0.29259699135827727],[-20.42395825315055,28.192952367933103,-10.18973933160305,0,0,0.030797603559127848],[-20.42395825315055,28.192952367933103,-10.18973933160305,0,0,-0.23100178424002157],[-15.556770642243263,27.048188304804533,-10.18973933160305,0,0,-0.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+{"episode_id":"34MAJL3QPDLXEH0IF0PI9TC6IHT34Y","trajectory_id":"3TKXBROM618ZLI4TD7E7UI8QNTFJIN","scene_id":3,"start_position":[-32.92213821411133,6.22611665725708,-0.18973933160305023],"start_rotation":[0.9998814407946651,0.0,0.0,0.015398193218185821],"instruction":{"instruction_text":"Take up to the height of trees, turn right to face a black building with grids on the right side of the park, fly forward to it, then turn left to face a dark black building right to a brown building, go forward pass trees to an intersection near that building. Turn left to face a white building and go forward to it. Turn back to face the park and go forward over it to a dark blue glass building with vertical white lines. Fly down to near the street, and turn right to face a white building with black windows near an intersection and land next to the yellow taxi left to the intersection."},"goals":[{"position":[19.72846637574076,29.8263104737095,-2.1897393316030502]}],"reference_path":[[-32.92213821411133,6.22611665725708,-0.18973933160305023,0,0,0.03079760355912664],[-32.92213821411133,6.22611665725708,-2.1897393316030502,0,0,0.03079760355912664],[-32.92213821411133,6.22611665725708,-4.18973933160305,0,0,0.03079760355912664],[-32.92213821411133,6.22611665725708,-6.18973933160305,0,0,0.03079760355912664],[-32.92213821411133,6.22611665725708,-6.18973933160305,0,0,0.29259699135827605],[-32.92213821411133,6.22611665725708,-6.18973933160305,0,0,0.5543963791574255],[-32.92213821411133,6.22611665725708,-6.18973933160305,0,0,0.8161957669565749],[-29.497149648648847,9.868842741723391,-6.18973933160305,0,0,0.8161957669565749],[-26.072161083186366,13.511568826189702,-6.18973933160305,0,0,0.8161957669565749],[-22.647172517723885,17.154294910656013,-6.18973933160305,0,0,0.8161957669565749],[-19.222183952261403,20.797020995122324,-6.18973933160305,0,0,0.8161957669565749],[-22.864910036727714,24.222009560584805,-6.18973933160305,0,0,0.8161957669565749],[-19.439921471265233,27.864735645051116,-6.18973933160305,0,0,0.8161957669565749],[-16.014932905802752,31.507461729517427,-6.18973933160305,0,0,0.8161957669565749],[-12.58994434034027,35.150187813983734,-6.18973933160305,0,0,0.8161957669565749],[-12.58994434034027,35.150187813983734,-6.18973933160305,0,0,0.5543963791574256],[-12.58994434034027,35.150187813983734,-6.18973933160305,0,0,0.29259699135827616],[-12.58994434034027,35.150187813983734,-6.18973933160305,0,0,0.030797603559126734],[-12.58994434034027,35.150187813983734,-6.18973933160305,0,0,-0.2310017842400227],[-12.58994434034027,35.150187813983734,-6.18973933160305,0,0,-0.4928011720391721],[-12.58994434034027,35.150187813983734,-6.18973933160305,0,0,-0.7546005598383215],[-12.58994434034027,35.150187813983734,-8.18973933160305,0,0,-0.7546005598383215],[-8.94721825587396,31.725199248521253,-8.18973933160305,0,0,-0.7546005598383215],[-5.304492171407649,28.300210683058772,-8.18973933160305,0,0,-0.7546005598383215],[-1.6617660869413378,24.87522211759629,-8.18973933160305,0,0,-0.7546005598383215],[-5.086754652403818,21.23249603312998,-8.18973933160305,0,0,-0.7546005598383215],[-5.086754652403818,21.23249603312998,-10.18973933160305,0,0,-0.7546005598383215],[-1.4440285679375071,17.8075074676675,-10.18973933160305,0,0,-0.7546005598383215],[2.198697516528804,14.382518902205017,-10.18973933160305,0,0,-0.7546005598383215],[2.198697516528804,14.382518902205017,-10.18973933160305,0,0,-1.0163999476374708],[2.198697516528804,14.382518902205017,-10.18973933160305,0,0,-1.2781993354366203],[3.6408965619736082,9.595028754610134,-10.18973933160305,0,0,-1.2781993354366203],[3.6408965619736082,9.595028754610134,-10.18973933160305,0,0,-1.5399987232357697],[3.6408965619736082,9.595028754610134,-10.18973933160305,0,0,-1.8017981110349193],[3.6408965619736082,9.595028754610134,-10.18973933160305,0,0,-2.0635974988340684],[3.6408965619736082,9.595028754610134,-10.18973933160305,0,0,-2.3253968866332175],[3.6408965619736082,9.595028754610134,-10.18973933160305,0,0,-2.587196274432367],[3.6408965619736082,9.595028754610134,-10.18973933160305,0,0,-2.8489956622315162],[3.6408965619736082,9.595028754610134,-10.18973933160305,0,0,-3.110795050030666],[3.6408965619736082,9.595028754610134,-10.18973933160305,0,0,2.9105908693497704],[3.6408965619736082,9.595028754610134,-10.18973933160305,0,0,2.6487914815506213],[-0.7641589111093077,11.960506777983476,-10.18973933160305,0,0,2.6487914815506213],[-5.169214384192223,14.325984801356817,-10.18973933160305,0,0,2.6487914815506213],[-9.574269857275139,16.69146282473016,-10.18973933160305,0,0,2.6487914815506213],[-13.979325330358055,19.0569408481035,-10.18973933160305,0,0,2.6487914815506213],[-18.38438080344097,21.422418871476843,-10.18973933160305,0,0,2.6487914815506213],[-22.789436276523887,23.787896894850185,-10.18973933160305,0,0,2.6487914815506213],[-20.42395825315055,28.192952367933103,-10.18973933160305,0,0,2.6487914815506213],[-20.42395825315055,28.192952367933103,-10.18973933160305,0,0,2.386992093751472],[-20.42395825315055,28.192952367933103,-10.18973933160305,0,0,2.125192705952323],[-20.42395825315055,28.192952367933103,-10.18973933160305,0,0,1.8633933181531737],[-20.42395825315055,28.192952367933103,-10.18973933160305,0,0,1.601593930354024],[-20.42395825315055,28.192952367933103,-10.18973933160305,0,0,1.3397945425548747],[-20.42395825315055,28.192952367933103,-10.18973933160305,0,0,1.0779951547557254],[-20.42395825315055,28.192952367933103,-10.18973933160305,0,0,0.816195766956576],[-20.42395825315055,28.192952367933103,-10.18973933160305,0,0,0.5543963791574267],[-20.42395825315055,28.192952367933103,-10.18973933160305,0,0,0.29259699135827727],[-20.42395825315055,28.192952367933103,-10.18973933160305,0,0,0.030797603559127848],[-20.42395825315055,28.192952367933103,-10.18973933160305,0,0,-0.23100178424002157],[-15.556770642243263,27.048188304804533,-10.18973933160305,0,0,-0.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+{"episode_id":"3NPI0JQDAX3O2RKVSZNXU4RZZW4PTU","trajectory_id":"3E22YV8GH94NLUII50WJWMQJH2BPNQ","scene_id":3,"start_position":[-17.52571678161621,-2.2486233711242676,-0.4963338375091553],"start_rotation":[0.9999006858628811,0.0,0.0,-0.014093204424120728],"instruction":{"instruction_text":"Fly up to the height of the roof of the brown building on your left. Turn right to face a white building with a grid-like facade of light gray panels and dark windows, and fly toward to the middle of the park ahead. Turn right to face the dark black building left to a white building, fly towards the dark building until you reach an intersection. Fly to the middle of dark black building and the white building, turn left to face the road beside the trees. Fly forward to nearest sleek dark blue glass building with a grid-patterned facade near the intersection. Fly up to above the roof of the building. Fly forward to the roof, turn right to face a high dark black building and fly toward to the building. Fly down to the street light level and stop."},"goals":[{"position":[-19.009293056052147,45.51475125186311,-2.4963338375091553]}],"reference_path":[[-17.52571678161621,-2.2486233711242676,-0.4963338375091553,0,0,-0.02818734198826891],[-17.52571678161621,-2.2486233711242676,-2.4963338375091553,0,0,-0.02818734198826891],[-17.52571678161621,-2.2486233711242676,-4.496333837509155,0,0,-0.02818734198826891],[-17.52571678161621,-2.2486233711242676,-6.496333837509155,0,0,-0.02818734198826891],[-17.52571678161621,-2.2486233711242676,-8.496333837509155,0,0,-0.02818734198826891],[-17.52571678161621,-2.2486233711242676,-8.496333837509155,0,0,0.23361204581088052],[-17.52571678161621,-2.2486233711242676,-8.496333837509155,0,0,0.49541143361003004],[-17.52571678161621,-2.2486233711242676,-8.496333837509155,0,0,0.7572108214091796],[-13.89194321281791,1.185861983438023,-8.496333837509155,0,0,0.7572108214091796],[-10.25816964401961,4.620347338000314,-8.496333837509155,0,0,0.7572108214091796],[-6.624396075221309,8.054832692562604,-8.496333837509155,0,0,0.7572108214091796],[-2.990622506423009,11.489318047124895,-8.496333837509155,0,0,0.7572108214091796],[-2.990622506423009,11.489318047124895,-8.496333837509155,0,0,1.019010209208329],[-0.3695769893205383,15.747265956303334,-8.496333837509155,0,0,1.019010209208329],[-0.3695769893205383,15.747265956303334,-8.496333837509155,0,0,1.2808095970074784],[-0.3695769893205383,15.747265956303334,-8.496333837509155,0,0,1.5426089848066278],[-0.3695769893205383,15.747265956303334,-8.496333837509155,0,0,1.8044083726057771],[-0.3695769893205383,15.747265956303334,-8.496333837509155,0,0,2.066207760404927],[-0.3695769893205383,15.747265956303334,-8.496333837509155,0,0,2.3280071482040765],[-3.80406234388283,19.381039525101635,-8.496333837509155,0,0,2.3280071482040765],[-7.238547698445121,23.014813093899935,-8.496333837509155,0,0,2.3280071482040765],[-10.673033053007412,26.648586662698236,-8.496333837509155,0,0,2.3280071482040765],[-14.107518407569703,30.282360231496536,-8.496333837509155,0,0,2.3280071482040765],[-14.107518407569703,30.282360231496536,-8.496333837509155,0,0,2.5898065360032256],[-14.107518407569703,30.282360231496536,-8.496333837509155,0,0,2.851605923802375],[-18.898756757945403,31.71205777639516,-8.496333837509155,0,0,2.851605923802375],[-23.689995108321103,33.14175532129378,-8.496333837509155,0,0,2.851605923802375],[-23.689995108321103,33.14175532129378,-8.496333837509155,0,0,2.5898065360032256],[-23.689995108321103,33.14175532129378,-8.496333837509155,0,0,2.3280071482040765],[-23.689995108321103,33.14175532129378,-8.496333837509155,0,0,2.066207760404927],[-23.689995108321103,33.14175532129378,-8.496333837509155,0,0,1.8044083726057776],[-23.689995108321103,33.14175532129378,-8.496333837509155,0,0,1.542608984806628],[-23.689995108321103,33.14175532129378,-8.496333837509155,0,0,1.2808095970074787],[-23.689995108321103,33.14175532129378,-8.496333837509155,0,0,1.0190102092083293],[-23.689995108321103,33.14175532129378,-8.496333837509155,0,0,0.75721082140918],[-23.689995108321103,33.14175532129378,-8.496333837509155,0,0,0.49541143361003065],[-19.291129151445823,35.51872362008191,-8.496333837509155,0,0,0.49541143361003065],[-14.892263194570544,37.895691918870035,-8.496333837509155,0,0,0.49541143361003065],[-14.892263194570544,37.895691918870035,-10.496333837509155,0,0,0.49541143361003065],[-14.892263194570544,37.895691918870035,-12.496333837509155,0,0,0.49541143361003065],[-14.892263194570544,37.895691918870035,-14.496333837509155,0,0,0.49541143361003065],[-14.892263194570544,37.895691918870035,-16.496333837509155,0,0,0.49541143361003065],[-14.892263194570544,37.895691918870035,-18.496333837509155,0,0,0.49541143361003065],[-14.892263194570544,37.895691918870035,-20.496333837509155,0,0,0.49541143361003065],[-14.892263194570544,37.895691918870035,-22.496333837509155,0,0,0.49541143361003065],[-14.892263194570544,37.895691918870035,-24.496333837509155,0,0,0.49541143361003065],[-14.892263194570544,37.895691918870035,-26.496333837509155,0,0,0.49541143361003065],[-14.892263194570544,37.895691918870035,-28.496333837509155,0,0,0.49541143361003065],[-10.493397237695266,40.272660217658164,-28.496333837509155,0,0,0.49541143361003065],[-10.493397237695266,40.272660217658164,-28.496333837509155,0,0,0.7572108214091801],[-10.493397237695266,40.272660217658164,-28.496333837509155,0,0,1.0190102092083295],[-10.493397237695266,40.272660217658164,-28.496333837509155,0,0,1.2808095970074789],[-10.493397237695266,40.272660217658164,-28.496333837509155,0,0,1.5426089848066284],[-10.493397237695266,40.272660217658164,-28.496333837509155,0,0,1.8044083726057778],[-10.493397237695266,40.272660217658164,-28.496333837509155,0,0,2.0662077604049274],[-10.493397237695266,40.272660217658164,-28.496333837509155,0,0,2.3280071482040765],[-10.493397237695266,40.272660217658164,-28.496333837509155,0,0,2.5898065360032256],[-14.751345146873707,42.89370573476064,-28.496333837509155,0,0,2.5898065360032256],[-19.009293056052147,45.51475125186311,-28.496333837509155,0,0,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+{"episode_id":"33LK57MYL23H1V9MQ8G9BXXSTRWSZA","trajectory_id":"3N2YPY1GJEWWW821YD2ZCRLST77VEA","scene_id":3,"start_position":[23.38324737548828,24.798795700073242,-0.3869688808917999],"start_rotation":[0.999870019217569,0.0,0.0,0.01612279969044074],"instruction":{"instruction_text":"Turn left to face a brown building with windows, fly up to the height of trees, fly forward over a roof to that building, turn left to face an intersection, then fly forward to it. Turn left to face a sleek dark blue glass skyscraper left to an intersection, move forward to this building. Turn right to face a white building near an intersection, move forward to this building, then turn right to face a brown building with windows, fly forward to the building, land in front of it."},"goals":[{"position":[-30.660018786981095,10.70900075314368,-2.3869688808918]}],"reference_path":[[23.38324737548828,24.798795700073242,-0.3869688808917999,0,0,0.032246996556269954],[23.38324737548828,24.798795700073242,-2.3869688808918,0,0,0.032246996556269954],[23.38324737548828,24.798795700073242,-2.3869688808918,0,0,-0.22955239124287946],[23.38324737548828,24.798795700073242,-2.3869688808918,0,0,-0.4913517790420289],[23.38324737548828,24.798795700073242,-2.3869688808918,0,0,-0.7531511668411783],[23.38324737548828,24.798795700073242,-2.3869688808918,0,0,-1.0149505546403277],[23.38324737548828,24.798795700073242,-2.3869688808918,0,0,-1.276749942439477],[23.38324737548828,24.798795700073242,-2.3869688808918,0,0,-1.5385493302386266],[23.38324737548828,24.798795700073242,-4.3869688808918,0,0,-1.5385493302386266],[23.38324737548828,24.798795700073242,-4.3869688808918,0,0,-1.800348718037776],[23.38324737548828,24.798795700073242,-4.3869688808918,0,0,-2.0621481058369255],[23.38324737548828,24.798795700073242,-4.3869688808918,0,0,-2.323947493636075],[23.38324737548828,24.798795700073242,-6.3869688808918,0,0,-2.323947493636075],[19.963542147359288,21.151109289112558,-6.3869688808918,0,0,-2.323947493636075],[16.543836919230294,17.503422878151873,-6.3869688808918,0,0,-2.323947493636075],[13.1241316911013,13.85573646719119,-6.3869688808918,0,0,-2.323947493636075],[9.476445280140616,17.27544169532018,-6.3869688808918,0,0,-2.323947493636075],[6.056740052011624,13.627755284359495,-6.3869688808918,0,0,-2.323947493636075],[2.6370348238826313,9.98006887339881,-6.3869688808918,0,0,-2.323947493636075],[-0.7826704042463613,6.332382462438126,-6.3869688808918,0,0,-2.323947493636075],[-0.7826704042463613,6.332382462438126,-6.3869688808918,0,0,-2.5857468814352242],[-5.02994271611019,3.694072793563964,-6.3869688808918,0,0,-2.5857468814352242],[-5.02994271611019,3.694072793563964,-6.3869688808918,0,0,-2.847546269234374],[-5.02994271611019,3.694072793563964,-8.3869688808918,0,0,-2.847546269234374],[-5.02994271611019,3.694072793563964,-8.3869688808918,0,0,-3.109345657033524],[-10.02734326941161,3.532865753200747,-8.3869688808918,0,0,-3.109345657033524],[-15.02474382271303,3.3716587128375295,-8.3869688808918,0,0,-3.109345657033524],[-15.02474382271303,3.3716587128375295,-8.3869688808918,0,0,2.9120402623469133],[-19.893585533708762,4.509367108371356,-8.3869688808918,0,0,2.9120402623469133],[-24.762427244704494,5.647075503905182,-8.3869688808918,0,0,2.9120402623469133],[-24.762427244704494,5.647075503905182,-8.3869688808918,0,0,2.6502408745477637],[-24.762427244704494,5.647075503905182,-8.3869688808918,0,0,2.3884414867486146],[-24.762427244704494,5.647075503905182,-8.3869688808918,0,0,2.126642098949465],[-24.762427244704494,5.647075503905182,-8.3869688808918,0,0,1.8648427111503156],[-24.762427244704494,5.647075503905182,-8.3869688808918,0,0,1.603043323351166],[-24.762427244704494,5.647075503905182,-8.3869688808918,0,0,1.3412439355520167],[-24.762427244704494,5.647075503905182,-8.3869688808918,0,0,1.0794445477528674],[-22.403336360277233,10.055554856132229,-8.3869688808918,0,0,1.0794445477528674],[-20.044245475849973,14.464034208359276,-8.3869688808918,0,0,1.0794445477528674],[-17.685154591422712,18.872513560586324,-8.3869688808918,0,0,1.0794445477528674],[-15.326063706995454,23.28099291281337,-8.3869688808918,0,0,1.0794445477528674],[-12.966972822568195,27.68947226504042,-8.3869688808918,0,0,1.0794445477528674],[-10.607881938140936,32.09795161726747,-8.3869688808918,0,0,1.0794445477528674],[-8.248791053713678,36.50643096949452,-8.3869688808918,0,0,1.0794445477528674],[-8.248791053713678,36.50643096949452,-8.3869688808918,0,0,1.3412439355520167],[-8.248791053713678,36.50643096949452,-8.3869688808918,0,0,1.603043323351166],[-8.248791053713678,36.50643096949452,-8.3869688808918,0,0,1.8648427111503156],[-8.248791053713678,36.50643096949452,-8.3869688808918,0,0,2.126642098949465],[-8.248791053713678,36.50643096949452,-8.3869688808918,0,0,2.3884414867486146],[-8.248791053713678,36.50643096949452,-8.3869688808918,0,0,2.6502408745477637],[-8.248791053713678,36.50643096949452,-8.3869688808918,0,0,2.9120402623469133],[-8.248791053713678,36.50643096949452,-8.3869688808918,0,0,-3.109345657033524],[-8.248791053713678,36.50643096949452,-8.3869688808918,0,0,-2.8475462692343743],[-8.248791053713678,36.50643096949452,-8.3869688808918,0,0,-2.5857468814352247],[-12.496063365577507,33.86812130062036,-8.3869688808918,0,0,-2.5857468814352247],[-16.743335677441337,31.2298116317462,-8.3869688808918,0,0,-2.5857468814352247],[-16.743335677441337,31.2298116317462,-8.3869688808918,0,0,-2.323947493636075],[-20.16304090557033,27.582125220785514,-8.3869688808918,0,0,-2.323947493636075],[-23.582746133699324,23.93443880982483,-8.3869688808918,0,0,-2.323947493636075],[-23.582746133699324,23.93443880982483,-8.3869688808918,0,0,-2.0621481058369255],[-25.94183701812658,19.52595945759778,-8.3869688808918,0,0,-2.0621481058369255],[-28.300927902553838,15.11748010537073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+{"episode_id":"3NS0A6KXCD6EBQ0VV8MSMJEP5GBZG6","trajectory_id":"3JVP4ZJHEXQSJC37RZ41CDTUR420IX","scene_id":3,"start_position":[-35.9530143737793,10.711148262023926,-0.5805371999740601],"start_rotation":[0.9999963202994109,0.0,0.0,0.002712819131107733],"instruction":{"instruction_text":"Take off to the height of trees and move forward to the trees on the right side of the road. Turn left to face the black glass building near an intersection, then fly forward to it. Turn back to face a dark glass skyscraper with a stacked box-like design and white vertical ribbing, fly forward to it, and turn right to face an intersection, fly forward to the shortest dark glass building near the intersection. Turn back to face a dark black building behind the trees and fly forward to it, land on the road right to it."},"goals":[{"position":[21.84160924407412,11.840470687402112,-2.58053719997406]}],"reference_path":[[-35.9530143737793,10.711148262023926,-0.5805371999740601,0,0,0.005425644917133365],[-35.9530143737793,10.711148262023926,-2.58053719997406,0,0,0.005425644917133365],[-35.9530143737793,10.711148262023926,-4.58053719997406,0,0,0.005425644917133365],[-35.9530143737793,10.711148262023926,-6.58053719997406,0,0,0.005425644917133365],[-30.953087967655676,10.738276353511381,-6.58053719997406,0,0,0.005425644917133365],[-25.953161561532056,10.765404444998836,-6.58053719997406,0,0,0.005425644917133365],[-20.953235155408436,10.792532536486291,-6.58053719997406,0,0,0.005425644917133365],[-15.953308749284817,10.819660627973747,-6.58053719997406,0,0,0.005425644917133365],[-10.953382343161199,10.846788719461202,-6.58053719997406,0,0,0.005425644917133365],[-10.953382343161199,10.846788719461202,-6.58053719997406,0,0,-0.2563737428820161],[-10.953382343161199,10.846788719461202,-6.58053719997406,0,0,-0.5181731306811654],[-10.953382343161199,10.846788719461202,-6.58053719997406,0,0,-0.7799725184803149],[-10.953382343161199,10.846788719461202,-6.58053719997406,0,0,-1.0417719062794644],[-10.953382343161199,10.846788719461202,-6.58053719997406,0,0,-1.3035712940786137],[-10.953382343161199,10.846788719461202,-6.58053719997406,0,0,-1.5653706818777633],[-10.953382343161199,10.846788719461202,-6.58053719997406,0,0,-1.8271700696769126],[-10.953382343161199,10.846788719461202,-6.58053719997406,0,0,-2.088969457476062],[-10.953382343161199,10.846788719461202,-6.58053719997406,0,0,-2.350768845275211],[-10.953382343161199,10.846788719461202,-6.58053719997406,0,0,-2.6125682330743603],[-15.269881582173152,8.323331900015065,-6.58053719997406,0,0,-2.6125682330743603],[-19.586380821185106,5.799875080568928,-6.58053719997406,0,0,-2.6125682330743603],[-23.90288006019706,3.27641826112279,-6.58053719997406,0,0,-2.6125682330743603],[-23.90288006019706,3.27641826112279,-6.58053719997406,0,0,-2.350768845275211],[-23.90288006019706,3.27641826112279,-6.58053719997406,0,0,-2.0889694574760616],[-23.90288006019706,3.27641826112279,-6.58053719997406,0,0,-1.8271700696769122],[-23.90288006019706,3.27641826112279,-6.58053719997406,0,0,-1.5653706818777626],[-23.90288006019706,3.27641826112279,-6.58053719997406,0,0,-1.3035712940786133],[-23.90288006019706,3.27641826112279,-6.58053719997406,0,0,-1.041771906279464],[-23.90288006019706,3.27641826112279,-6.58053719997406,0,0,-0.7799725184803146],[-23.90288006019706,3.27641826112279,-6.58053719997406,0,0,-0.5181731306811652],[-23.90288006019706,3.27641826112279,-6.58053719997406,0,0,-0.2563737428820158],[-23.90288006019706,3.27641826112279,-6.58053719997406,0,0,0.005425644917133618],[-23.90288006019706,3.27641826112279,-6.58053719997406,0,0,0.26722503271628306],[-19.08034328171181,4.596698163324251,-6.58053719997406,0,0,0.26722503271628306],[-14.257806503226558,5.916978065525711,-6.58053719997406,0,0,0.26722503271628306],[-9.435269724741307,7.237257967727173,-6.58053719997406,0,0,0.26722503271628306],[-4.612732946256056,8.557537869928634,-6.58053719997406,0,0,0.26722503271628306],[0.20980383222919485,9.877817772130095,-6.58053719997406,0,0,0.26722503271628306],[5.032340610714446,11.198097674331557,-6.58053719997406,0,0,0.26722503271628306],[9.854877389199697,12.518377576533018,-6.58053719997406,0,0,0.26722503271628306],[9.854877389199697,12.518377576533018,-6.58053719997406,0,0,0.005425644917133649],[9.854877389199697,12.518377576533018,-6.58053719997406,0,0,0.26722503271628306],[14.677414167684947,13.83865747873448,-6.58053719997406,0,0,0.26722503271628306],[14.677414167684947,13.83865747873448,-6.58053719997406,0,0,0.5290244205154325],[14.677414167684947,13.83865747873448,-6.58053719997406,0,0,0.7908238083145819],[14.677414167684947,13.83865747873448,-6.58053719997406,0,0,1.0526231961137311],[14.677414167684947,13.83865747873448,-6.58053719997406,0,0,1.3144225839128805],[14.677414167684947,13.83865747873448,-6.58053719997406,0,0,1.57622197171203],[14.677414167684947,13.83865747873448,-6.58053719997406,0,0,1.8380213595111794],[13.357134265483488,18.66119425721973,-6.58053719997406,0,0,1.8380213595111794],[12.036854363282028,23.48373103570498,-6.58053719997406,0,0,1.8380213595111794],[10.716574461080569,28.30626781419023,-6.58053719997406,0,0,1.8380213595111794],[10.716574461080569,28.30626781419023,-6.58053719997406,0,0,2.099820747310329],[8.193117641634434,32.62276705320219,-6.58053719997406,0,0,2.099820747310329],[5.669660822188298,36.93926629221414,-6.58053719997406,0,0,2.099820747310329],[5.669660822188298,36.93926629221414,-6.58053719997406,0,0,1.8380213595111796],[5.669660822188298,36.93926629221414,-6.58053719997406,0,0,1.5762219717120305],[5.669660822188298,36.93926629221414,-6.58053719997406,0,0,1.3144225839128814],[5.669660822188298,36.93926629221414,-6.58053719997406,0,0,1.052623196113732],[5.669660822188298,36.93926629221414,-6.58053719997406,0,0,0.7908238083145825],[5.669660822188298,36.9392662922141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+{"episode_id":"3BXQMRHWK8WXH1270OLFIWJ70B1UMW","trajectory_id":"39KMGHJ4S78HCHMRN9FV69TY5J1000","scene_id":3,"start_position":[-21.44491958618164,51.62356948852539,-0.12390492856502533],"start_rotation":[0.9999321213168585,0.0,0.0,0.011651298587172324],"instruction":{"instruction_text":"Turn left to face the road, fly towards the trees on the right side of the road, fly up above the trees, fly over the trees towards a dark blue building with white vertical stripes. Turn left to face a brown building with windows, fly up to the height of its roof, fly forward to its roof. Turn right to face a black high building, and fly down to the ground and land on the road."},"goals":[{"position":[14.182675885467836,-6.101665624458641,-0.12390492856502533]}],"reference_path":[[-21.44491958618164,51.62356948852539,-0.12390492856502533,0,0,0.023303124438530665],[-21.44491958618164,51.62356948852539,-0.12390492856502533,0,0,-0.23849626336061874],[-21.44491958618164,51.62356948852539,-0.12390492856502533,0,0,-0.5002956511597683],[-21.44491958618164,51.62356948852539,-0.12390492856502533,0,0,-0.7620950389589177],[-21.44491958618164,51.62356948852539,-0.12390492856502533,0,0,-1.0238944267580672],[-21.44491958618164,51.62356948852539,-0.12390492856502533,0,0,-1.2856938145572165],[-20.03864045177542,46.825405360847626,-0.12390492856502533,0,0,-1.2856938145572165],[-18.632361317369202,42.02724123316986,-0.12390492856502533,0,0,-1.2856938145572165],[-17.226082182962983,37.229077105492095,-0.12390492856502533,0,0,-1.2856938145572165],[-17.226082182962983,37.229077105492095,-2.1239049285650253,0,0,-1.2856938145572165],[-17.226082182962983,37.229077105492095,-4.123904928565025,0,0,-1.2856938145572165],[-17.226082182962983,37.229077105492095,-6.123904928565025,0,0,-1.2856938145572165],[-17.226082182962983,37.229077105492095,-8.123904928565025,0,0,-1.2856938145572165],[-15.819803048556766,32.43091297781433,-8.123904928565025,0,0,-1.2856938145572165],[-15.819803048556766,32.43091297781433,-8.123904928565025,0,0,-1.0238944267580672],[-13.219585455891638,28.160214150831237,-8.123904928565025,0,0,-1.0238944267580672],[-13.219585455891638,28.160214150831237,-8.123904928565025,0,0,-0.7620950389589177],[-9.602629936844982,24.708021691938203,-8.123904928565025,0,0,-0.7620950389589177],[-9.602629936844982,24.708021691938203,-8.123904928565025,0,0,-0.5002956511597683],[-5.2154260327382165,22.309596812191007,-8.123904928565025,0,0,-0.5002956511597683],[-0.8282221286314506,19.91117193244381,-8.123904928565025,0,0,-0.5002956511597683],[-0.8282221286314506,19.91117193244381,-8.123904928565025,0,0,-0.23849626336061885],[-0.8282221286314506,19.91117193244381,-8.123904928565025,0,0,-0.5002956511597683],[-0.8282221286314506,19.91117193244381,-8.123904928565025,0,0,-0.7620950389589177],[-0.8282221286314506,19.91117193244381,-8.123904928565025,0,0,-1.0238944267580672],[-0.8282221286314506,19.91117193244381,-8.123904928565025,0,0,-1.2856938145572165],[-0.8282221286314506,19.91117193244381,-8.123904928565025,0,0,-1.5474932023563661],[-0.7117170515077781,14.912529460031486,-8.123904928565025,0,0,-1.5474932023563661],[-0.7117170515077781,14.912529460031486,-8.123904928565025,0,0,-1.2856938145572165],[-0.7117170515077781,14.912529460031486,-8.123904928565025,0,0,-1.0238944267580672],[-0.7117170515077781,14.912529460031486,-8.123904928565025,0,0,-0.7620950389589177],[-0.7117170515077781,14.912529460031486,-8.123904928565025,0,0,-0.5002956511597683],[-0.7117170515077781,14.912529460031486,-8.123904928565025,0,0,-0.23849626336061885],[4.1467545417914735,13.73132085140038,-8.123904928565025,0,0,-0.23849626336061885],[4.1467545417914735,13.73132085140038,-8.123904928565025,0,0,0.023303124438530585],[9.145397014203798,13.847825928524053,-8.123904928565025,0,0,0.023303124438530585],[14.144039486616123,13.964331005647725,-8.123904928565025,0,0,0.023303124438530585],[14.144039486616123,13.964331005647725,-8.123904928565025,0,0,-0.23849626336061885],[14.144039486616123,13.964331005647725,-8.123904928565025,0,0,-0.5002956511597683],[14.144039486616123,13.964331005647725,-8.123904928565025,0,0,-0.7620950389589177],[14.144039486616123,13.964331005647725,-8.123904928565025,0,0,-1.0238944267580672],[14.144039486616123,13.964331005647725,-8.123904928565025,0,0,-1.2856938145572165],[14.144039486616123,13.964331005647725,-8.123904928565025,0,0,-1.5474932023563661],[14.144039486616123,13.964331005647725,-8.123904928565025,0,0,-1.8092925901555155],[14.144039486616123,13.964331005647725,-8.123904928565025,0,0,-2.0710919779546653],[14.144039486616123,13.964331005647725,-10.123904928565025,0,0,-2.0710919779546653],[14.144039486616123,13.964331005647725,-12.123904928565025,0,0,-2.0710919779546653],[14.144039486616123,13.964331005647725,-14.123904928565025,0,0,-2.0710919779546653],[14.144039486616123,13.964331005647725,-16.123904928565025,0,0,-2.0710919779546653],[14.144039486616123,13.964331005647725,-18.123904928565025,0,0,-2.0710919779546653],[14.144039486616123,13.964331005647725,-20.123904928565025,0,0,-2.0710919779546653],[14.144039486616123,13.964331005647725,-22.123904928565025,0,0,-2.0710919779546653],[14.144039486616123,13.964331005647725,-24.123904928565025,0,0,-2.0710919779546653],[14.144039486616123,13.964331005647725,-26.123904928565025,0,0,-2.0710919779546653],[14.144039486616123,13.964331005647725,-28.123904928565025,0,0,-2.0710919779546653],[14.144039486616123,13.964331005647725,-30.123904928565025,0,0,-2.0710919779546653],[14.144039486616123,13.964331005647725,-32.123904928565025,0,0,-2.0710919779546653],[14.144039486616123,13.964331005647725,-34.123904928565025,0,0,-2.0710919779546653],[14.144039486616123,13.9643310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+{"episode_id":"3L4PIM1GQ2E5VQZ4FXEL7GJTFI0YRE","trajectory_id":"3E22YV8GH94NLUII50WJWMQJH2BPNQ","scene_id":3,"start_position":[-17.52571678161621,-2.2486233711242676,-0.4963338375091553],"start_rotation":[0.9999006858628811,0.0,0.0,-0.014093204424120728],"instruction":{"instruction_text":"Fly up to the height of the roof of the brown building on left, turn right to face the trees, fly forward over trees to the middle of the park, turn right to face a dark black building left to a white building, fly forwards the dark building to an intersection. Turn left to face nearest dark blue glass building with a grid-patterned facade, then fly up to its roof. Turn right to face a dark black building left to a white building and fly forward to it, then land on the ground."},"goals":[{"position":[-19.009293056052147,45.51475125186311,-2.4963338375091553]}],"reference_path":[[-17.52571678161621,-2.2486233711242676,-0.4963338375091553,0,0,-0.02818734198826891],[-17.52571678161621,-2.2486233711242676,-2.4963338375091553,0,0,-0.02818734198826891],[-17.52571678161621,-2.2486233711242676,-4.496333837509155,0,0,-0.02818734198826891],[-17.52571678161621,-2.2486233711242676,-6.496333837509155,0,0,-0.02818734198826891],[-17.52571678161621,-2.2486233711242676,-8.496333837509155,0,0,-0.02818734198826891],[-17.52571678161621,-2.2486233711242676,-8.496333837509155,0,0,0.23361204581088052],[-17.52571678161621,-2.2486233711242676,-8.496333837509155,0,0,0.49541143361003004],[-17.52571678161621,-2.2486233711242676,-8.496333837509155,0,0,0.7572108214091796],[-13.89194321281791,1.185861983438023,-8.496333837509155,0,0,0.7572108214091796],[-10.25816964401961,4.620347338000314,-8.496333837509155,0,0,0.7572108214091796],[-6.624396075221309,8.054832692562604,-8.496333837509155,0,0,0.7572108214091796],[-2.990622506423009,11.489318047124895,-8.496333837509155,0,0,0.7572108214091796],[-2.990622506423009,11.489318047124895,-8.496333837509155,0,0,1.019010209208329],[-0.3695769893205383,15.747265956303334,-8.496333837509155,0,0,1.019010209208329],[-0.3695769893205383,15.747265956303334,-8.496333837509155,0,0,1.2808095970074784],[-0.3695769893205383,15.747265956303334,-8.496333837509155,0,0,1.5426089848066278],[-0.3695769893205383,15.747265956303334,-8.496333837509155,0,0,1.8044083726057771],[-0.3695769893205383,15.747265956303334,-8.496333837509155,0,0,2.066207760404927],[-0.3695769893205383,15.747265956303334,-8.496333837509155,0,0,2.3280071482040765],[-3.80406234388283,19.381039525101635,-8.496333837509155,0,0,2.3280071482040765],[-7.238547698445121,23.014813093899935,-8.496333837509155,0,0,2.3280071482040765],[-10.673033053007412,26.648586662698236,-8.496333837509155,0,0,2.3280071482040765],[-14.107518407569703,30.282360231496536,-8.496333837509155,0,0,2.3280071482040765],[-14.107518407569703,30.282360231496536,-8.496333837509155,0,0,2.5898065360032256],[-14.107518407569703,30.282360231496536,-8.496333837509155,0,0,2.851605923802375],[-18.898756757945403,31.71205777639516,-8.496333837509155,0,0,2.851605923802375],[-23.689995108321103,33.14175532129378,-8.496333837509155,0,0,2.851605923802375],[-23.689995108321103,33.14175532129378,-8.496333837509155,0,0,2.5898065360032256],[-23.689995108321103,33.14175532129378,-8.496333837509155,0,0,2.3280071482040765],[-23.689995108321103,33.14175532129378,-8.496333837509155,0,0,2.066207760404927],[-23.689995108321103,33.14175532129378,-8.496333837509155,0,0,1.8044083726057776],[-23.689995108321103,33.14175532129378,-8.496333837509155,0,0,1.542608984806628],[-23.689995108321103,33.14175532129378,-8.496333837509155,0,0,1.2808095970074787],[-23.689995108321103,33.14175532129378,-8.496333837509155,0,0,1.0190102092083293],[-23.689995108321103,33.14175532129378,-8.496333837509155,0,0,0.75721082140918],[-23.689995108321103,33.14175532129378,-8.496333837509155,0,0,0.49541143361003065],[-19.291129151445823,35.51872362008191,-8.496333837509155,0,0,0.49541143361003065],[-14.892263194570544,37.895691918870035,-8.496333837509155,0,0,0.49541143361003065],[-14.892263194570544,37.895691918870035,-10.496333837509155,0,0,0.49541143361003065],[-14.892263194570544,37.895691918870035,-12.496333837509155,0,0,0.49541143361003065],[-14.892263194570544,37.895691918870035,-14.496333837509155,0,0,0.49541143361003065],[-14.892263194570544,37.895691918870035,-16.496333837509155,0,0,0.49541143361003065],[-14.892263194570544,37.895691918870035,-18.496333837509155,0,0,0.49541143361003065],[-14.892263194570544,37.895691918870035,-20.496333837509155,0,0,0.49541143361003065],[-14.892263194570544,37.895691918870035,-22.496333837509155,0,0,0.49541143361003065],[-14.892263194570544,37.895691918870035,-24.496333837509155,0,0,0.49541143361003065],[-14.892263194570544,37.895691918870035,-26.496333837509155,0,0,0.49541143361003065],[-14.892263194570544,37.895691918870035,-28.496333837509155,0,0,0.49541143361003065],[-10.493397237695266,40.272660217658164,-28.496333837509155,0,0,0.49541143361003065],[-10.493397237695266,40.272660217658164,-28.496333837509155,0,0,0.7572108214091801],[-10.493397237695266,40.272660217658164,-28.496333837509155,0,0,1.0190102092083295],[-10.493397237695266,40.272660217658164,-28.496333837509155,0,0,1.2808095970074789],[-10.493397237695266,40.272660217658164,-28.496333837509155,0,0,1.5426089848066284],[-10.493397237695266,40.272660217658164,-28.496333837509155,0,0,1.8044083726057778],[-10.493397237695266,40.272660217658164,-28.496333837509155,0,0,2.0662077604049274],[-10.493397237695266,40.272660217658164,-28.496333837509155,0,0,2.3280071482040765],[-10.493397237695266,40.272660217658164,-28.496333837509155,0,0,2.5898065360032256],[-14.751345146873707,42.89370573476064,-28.496333837509155,0,0,2.5898065360032256],[-19.009293056052147,45.51475125186311,-28.496333837509155,0,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+{"episode_id":"3Y5140Z9D6EYTD4KYNOTGXPRBGVPIB","trajectory_id":"3OYHVNTV61W4SOLETNROFU4PHKNKOG","scene_id":3,"start_position":[17.27764892578125,37.23603439331055,-0.1567239612340927],"start_rotation":[0.9996977898049354,0.0,0.0,0.024583105156328798],"instruction":{"instruction_text":"Fly up until you can see the black platform at the narrowing point of the white building on the right, and turn right to face a tall black glass building featuring a grid-like facade, then fly forward to it, then turn right to face a brown building with windows. Fly down to ground level height in front of cars. Fly straight across the trees ahead to reach a grass land for football field. Turn left slightly to face a dark black building right to a white building, fly forward to the road, turn left to the white building near an intersection, fly forward to it, then turn right to face the black building being constructed and land in front of it."},"goals":[{"position":[-29.453943309842987,9.969428722952998,-2.1567239612340927]}],"reference_path":[[17.27764892578125,37.23603439331055,-0.1567239612340927,0,0,0.04917116375479144],[17.27764892578125,37.23603439331055,-2.1567239612340927,0,0,0.04917116375479144],[17.27764892578125,37.23603439331055,-4.156723961234093,0,0,0.04917116375479144],[17.27764892578125,37.23603439331055,-6.156723961234093,0,0,0.04917116375479144],[17.27764892578125,37.23603439331055,-8.156723961234093,0,0,0.04917116375479144],[17.27764892578125,37.23603439331055,-10.156723961234093,0,0,0.04917116375479144],[17.27764892578125,37.23603439331055,-12.156723961234093,0,0,0.04917116375479144],[17.27764892578125,37.23603439331055,-14.156723961234093,0,0,0.04917116375479144],[17.27764892578125,37.23603439331055,-16.156723961234093,0,0,0.04917116375479144],[17.27764892578125,37.23603439331055,-18.156723961234093,0,0,0.04917116375479144],[17.27764892578125,37.23603439331055,-20.156723961234093,0,0,0.04917116375479144],[17.27764892578125,37.23603439331055,-22.156723961234093,0,0,0.04917116375479144],[17.27764892578125,37.23603439331055,-24.156723961234093,0,0,0.04917116375479144],[17.27764892578125,37.23603439331055,-26.156723961234093,0,0,0.04917116375479144],[17.27764892578125,37.23603439331055,-26.156723961234093,0,0,0.3109705515539409],[17.27764892578125,37.23603439331055,-26.156723961234093,0,0,0.5727699393530903],[17.27764892578125,37.23603439331055,-26.156723961234093,0,0,0.8345693271522397],[17.27764892578125,37.23603439331055,-26.156723961234093,0,0,1.0963687149513892],[17.27764892578125,37.23603439331055,-26.156723961234093,0,0,1.3581681027505388],[17.27764892578125,37.23603439331055,-26.156723961234093,0,0,1.6199674905496884],[17.27764892578125,37.23603439331055,-26.156723961234093,0,0,1.8817668783488377],[17.27764892578125,37.23603439331055,-26.156723961234093,0,0,2.143566266147987],[17.27764892578125,37.23603439331055,-26.156723961234093,0,0,2.4053656539471366],[17.27764892578125,37.23603439331055,-26.156723961234093,0,0,2.667165041746286],[12.829877170576928,39.520181151644316,-26.156723961234093,0,0,2.667165041746286],[8.382105415372607,41.804327909978085,-26.156723961234093,0,0,2.667165041746286],[3.934333660168284,44.088474668311854,-26.156723961234093,0,0,2.667165041746286],[-0.5134380950360384,46.37262142664562,-26.156723961234093,0,0,2.667165041746286],[-0.5134380950360384,46.37262142664562,-26.156723961234093,0,0,2.9289644295454353],[-0.5134380950360384,46.37262142664562,-26.156723961234093,0,0,-3.0924214898350013],[-0.5134380950360384,46.37262142664562,-26.156723961234093,0,0,-2.830622102035852],[-0.5134380950360384,46.37262142664562,-26.156723961234093,0,0,-2.5688227142367026],[-0.5134380950360384,46.37262142664562,-26.156723961234093,0,0,-2.307023326437553],[-0.5134380950360384,46.37262142664562,-26.156723961234093,0,0,-2.045223938638404],[-0.5134380950360384,46.37262142664562,-26.156723961234093,0,0,-1.7834245508392546],[-0.5134380950360384,46.37262142664562,-26.156723961234093,0,0,-1.5216251630401052],[-0.26768133612279643,41.378664717236894,-26.156723961234093,0,0,-1.5216251630401052],[-0.26768133612279643,41.378664717236894,-24.156723961234093,0,0,-1.5216251630401052],[-0.26768133612279643,41.378664717236894,-22.156723961234093,0,0,-1.5216251630401052],[-0.26768133612279643,41.378664717236894,-20.156723961234093,0,0,-1.5216251630401052],[-0.26768133612279643,41.378664717236894,-18.156723961234093,0,0,-1.5216251630401052],[-0.26768133612279643,41.378664717236894,-16.156723961234093,0,0,-1.5216251630401052],[-0.26768133612279643,41.378664717236894,-14.156723961234093,0,0,-1.5216251630401052],[-0.26768133612279643,41.378664717236894,-12.156723961234093,0,0,-1.5216251630401052],[-0.26768133612279643,41.378664717236894,-10.156723961234093,0,0,-1.5216251630401052],[-0.26768133612279643,41.378664717236894,-8.156723961234093,0,0,-1.5216251630401052],[-0.26768133612279643,41.378664717236894,-6.156723961234093,0,0,-1.5216251630401052],[-0.26768133612279643,41.378664717236894,-4.156723961234093,0,0,-1.5216251630401052],[-0.26768133612279643,41.378664717236894,-2.1567239612340927,0,0,-1.5216251630401052],[-0.26768133612279643,41.378664717236894,-2.1567239612340927,0,0,-1.259825775240956],[-0.26768133612279643,41.378664717236894,-2.1567239612340927,0,0,-1.5216251630401056],[-0.02192457720955665,36.384708007828166,-2.1567239612340927,0,0,-1.5216251630401056],[0.22383218170368313,31.39075129841944,-2.1567239612340927,0,0,-1.5216251630401056],[0.4695889406169229,26.39679458901071,-2.1567239612340927,0,0,-1.5216251630401056],[0.4695889406169229,26.39679458901071,-2.1567239612340927,0,0,-1.783424550839255],[0.4695889406169229,26.39679458901071,-2.1567239612340927,0,0,-2.0452239386384043],[-1.8145578177168473,21.94902283380639,-2.1567239612340927,0,0,-2.0452239386384043],[-1.8145578177168473,21.94902283380639,-2.1567239612340927,0,0,-2.307023326437554],[-5.172042201141837,18.24398590888144,-2.1567239612340927,0,0,-2.3070233264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+{"episode_id":"39PAAFCODVY17BHREBWW0WGHLG3VTB","trajectory_id":"33NKDW9FG5G93ZNI21XMAOIAKX6XC4","scene_id":3,"start_position":[-12.530282020568848,30.128902435302734,-0.1728508323431015],"start_rotation":[0.9997085222608264,0.0,0.0,0.024142711510408782],"instruction":{"instruction_text":"Fly up above the trees. Go forward over the trees until you can see an intersection. Turn left to face a brown building with windows, go forward over the trees in the park to another trees in front of that building. Turn right to face the road, go forward along the road to a dark blue glass skyscraper with vertical white lines. Turn left to face the middle of dark black building and brown building. Fly to the end of the short road and fly down to the height of a street light. Turn right to face the road, then turn left to face an intersection and land."},"goals":[{"position":[15.65683790999217,-6.428532790027216,-2.1728508323431015]}],"reference_path":[[-12.530282020568848,30.128902435302734,-0.1728508323431015,0,0,0.04829011494317087],[-12.530282020568848,30.128902435302734,-2.1728508323431015,0,0,0.04829011494317087],[-12.530282020568848,30.128902435302734,-4.1728508323431015,0,0,0.04829011494317087],[-12.530282020568848,30.128902435302734,-6.1728508323431015,0,0,0.04829011494317087],[-12.530282020568848,30.128902435302734,-8.172850832343102,0,0,0.04829011494317087],[-7.536110725759596,30.370259179777136,-8.172850832343102,0,0,0.04829011494317087],[-2.541939430950345,30.611615924251538,-8.172850832343102,0,0,0.04829011494317087],[-2.541939430950345,30.611615924251538,-8.172850832343102,0,0,0.31008950274232033],[2.2195918814835096,32.137335282689364,-8.172850832343102,0,0,0.31008950274232033],[2.2195918814835096,32.137335282689364,-8.172850832343102,0,0,0.04829011494317088],[2.2195918814835096,32.137335282689364,-8.172850832343102,0,0,-0.21350927285597857],[2.2195918814835096,32.137335282689364,-8.172850832343102,0,0,-0.47530866065512806],[2.2195918814835096,32.137335282689364,-8.172850832343102,0,0,-0.7371080484542775],[2.2195918814835096,32.137335282689364,-8.172850832343102,0,0,-0.9989074362534269],[2.2195918814835096,32.137335282689364,-8.172850832343102,0,0,-1.2607068240525765],[2.2195918814835096,32.137335282689364,-8.172850832343102,0,0,-1.5225062118517259],[2.2195918814835096,32.137335282689364,-8.172850832343102,0,0,-1.7843055996508754],[2.2195918814835096,32.137335282689364,-8.172850832343102,0,0,-2.046104987450025],[-0.0684726938315765,27.691577698296328,-8.172850832343102,0,0,-2.046104987450025],[-2.3565372691466626,23.245820113903292,-8.172850832343102,0,0,-2.046104987450025],[-4.644601844461748,18.800062529510257,-8.172850832343102,0,0,-2.046104987450025],[-6.932666419776835,14.35430494511722,-8.172850832343102,0,0,-2.046104987450025],[-9.220730995091921,9.908547360724185,-8.172850832343102,0,0,-2.046104987450025],[-11.508795570407008,5.4627897763311495,-8.172850832343102,0,0,-2.046104987450025],[-11.508795570407008,5.4627897763311495,-8.172850832343102,0,0,-1.7843055996508757],[-11.508795570407008,5.4627897763311495,-8.172850832343102,0,0,-1.522506211851726],[-11.508795570407008,5.4627897763311495,-8.172850832343102,0,0,-1.2607068240525767],[-11.508795570407008,5.4627897763311495,-8.172850832343102,0,0,-0.9989074362534273],[-11.508795570407008,5.4627897763311495,-8.172850832343102,0,0,-0.7371080484542778],[-11.508795570407008,5.4627897763311495,-8.172850832343102,0,0,-0.47530866065512845],[-11.508795570407008,5.4627897763311495,-8.172850832343102,0,0,-0.21350927285597904],[-11.508795570407008,5.4627897763311495,-8.172850832343102,0,0,0.048290114943170384],[-11.508795570407008,5.4627897763311495,-8.172850832343102,0,0,0.31008950274231983],[-6.7472642579731525,6.988509134768973,-8.172850832343102,0,0,0.31008950274231983],[-1.9857329455392971,8.514228493206797,-8.172850832343102,0,0,0.31008950274231983],[2.7757983668945583,10.039947851644621,-8.172850832343102,0,0,0.31008950274231983],[7.537329679328414,11.565667210082445,-8.172850832343102,0,0,0.31008950274231983],[12.298860991762268,13.091386568520269,-8.172850832343102,0,0,0.31008950274231983],[12.298860991762268,13.091386568520269,-8.172850832343102,0,0,0.04829011494317045],[17.29303228657152,13.332743312994669,-8.172850832343102,0,0,0.04829011494317045],[17.29303228657152,13.332743312994669,-8.172850832343102,0,0,-0.21350927285597898],[17.29303228657152,13.332743312994669,-8.172850832343102,0,0,-0.47530866065512845],[17.29303228657152,13.332743312994669,-8.172850832343102,0,0,-0.7371080484542778],[17.29303228657152,13.332743312994669,-8.172850832343102,0,0,-0.9989074362534273],[17.29303228657152,13.332743312994669,-8.172850832343102,0,0,-1.2607068240525767],[17.29303228657152,13.332743312994669,-8.172850832343102,0,0,-1.522506211851726],[17.29303228657152,13.332743312994669,-8.172850832343102,0,0,-1.7843055996508757],[16.233578353807445,8.446276556292979,-8.172850832343102,0,0,-1.7843055996508757],[15.17412442104337,3.5598097995912887,-8.172850832343102,0,0,-1.7843055996508757],[15.17412442104337,3.5598097995912887,-8.172850832343102,0,0,-1.522506211851726],[15.17412442104337,3.5598097995912887,-10.172850832343102,0,0,-1.522506211851726],[15.41548116551777,-1.4343614952179635,-10.172850832343102,0,0,-1.522506211851726],[15.65683790999217,-6.428532790027216,-10.172850832343102,0,0,-1.522506211851726],[15.65683790999217,-6.428532790027216,-8.172850832343102,0,0,-1.522506211851726],[15.65683790999217,-6.428532790027216,-6.1728508323431015,0,0,-1.522506211851726],[15.65683790999217,-6.428532790027216,-4.1728508323431015,0,0,-1.522506211851726],[15.65683790999217,-6.428532790027216,-2.1728508323431015,0,0,-1.522506211851726],[15.65683790999217,-6.428532790027216,-2.1728508323431015,0,0,-1.2607068240525767],[15.65683790999217,-6.428532790027216,-2.1728508323431015,0,0,-0.9989074362534273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+{"episode_id":"3IKZ72A5BDEEG1QHH05G9B7385JNF6","trajectory_id":"3BFNCI9LZSORBKL8RVINNM1SCRF73M","scene_id":3,"start_position":[27.056156158447266,7.5123138427734375,-0.34915873408317566],"start_rotation":[0.9996812842803418,0.0,0.0,-0.0252453928392194],"instruction":{"instruction_text":"Make a sharp right turn to face a flat low-profile roof, fly up slightly above that roof, fly forward to roof's top. Fly forward over the roof, then fly forward to an intersection, then turn right to face a white tall building behind the trees, then fly forward over the trees towards that white building until you are above the football field in the park. Land in that football field and face the white stone fence."},"goals":[{"position":[-10.688030871822622,18.610251512182344,-2.3491587340831757]}],"reference_path":[[27.056156158447266,7.5123138427734375,-0.34915873408317566,0,0,-0.050496150431408676],[27.056156158447266,7.5123138427734375,-2.3491587340831757,0,0,-0.050496150431408676],[27.056156158447266,7.5123138427734375,-2.3491587340831757,0,0,0.21130323736774076],[27.056156158447266,7.5123138427734375,-2.3491587340831757,0,0,0.47310262516689017],[27.056156158447266,7.5123138427734375,-2.3491587340831757,0,0,0.7349020129660396],[27.056156158447266,7.5123138427734375,-2.3491587340831757,0,0,0.9967014007651891],[27.056156158447266,7.5123138427734375,-2.3491587340831757,0,0,1.2585007885643387],[27.056156158447266,7.5123138427734375,-2.3491587340831757,0,0,1.520300176363488],[27.056156158447266,7.5123138427734375,-2.3491587340831757,0,0,1.7820995641626374],[27.056156158447266,7.5123138427734375,-2.3491587340831757,0,0,2.0438989519617867],[27.056156158447266,7.5123138427734375,-2.3491587340831757,0,0,2.3056983397609363],[27.056156158447266,7.5123138427734375,-4.349158734083176,0,0,2.3056983397609363],[23.703583845329835,11.221796136209873,-4.349158734083176,0,0,2.3056983397609363],[20.351011532212404,14.931278429646309,-4.349158734083176,0,0,2.3056983397609363],[16.998439219094973,18.640760723082742,-4.349158734083176,0,0,2.3056983397609363],[16.998439219094973,18.640760723082742,-4.349158734083176,0,0,2.0438989519617867],[14.720187702365093,23.091555037193203,-4.349158734083176,0,0,2.0438989519617867],[12.441936185635214,27.542349351303663,-4.349158734083176,0,0,2.0438989519617867],[12.441936185635214,27.542349351303663,-4.349158734083176,0,0,1.7820995641626374],[12.441936185635214,27.542349351303663,-4.349158734083176,0,0,2.0438989519617867],[12.441936185635214,27.542349351303663,-4.349158734083176,0,0,2.3056983397609363],[12.441936185635214,27.542349351303663,-4.349158734083176,0,0,2.5674977275600854],[12.441936185635214,27.542349351303663,-4.349158734083176,0,0,2.829297115359235],[12.441936185635214,27.542349351303663,-4.349158734083176,0,0,3.0910965031583846],[12.441936185635214,27.542349351303663,-4.349158734083176,0,0,-2.930289416222052],[12.441936185635214,27.542349351303663,-6.349158734083176,0,0,-2.930289416222052],[12.441936185635214,27.542349351303663,-8.349158734083176,0,0,-2.930289416222052],[7.553144128071984,26.493677706837826,-8.349158734083176,0,0,-2.930289416222052],[2.6643520705087536,25.445006062371988,-8.349158734083176,0,0,-2.930289416222052],[2.6643520705087536,25.445006062371988,-8.349158734083176,0,0,-2.6684900284229025],[-1.7864422436017051,23.166754545642107,-8.349158734083176,0,0,-2.6684900284229025],[-6.237236557712164,20.888503028912226,-8.349158734083176,0,0,-2.6684900284229025],[-10.688030871822622,18.610251512182344,-8.349158734083176,0,0,-2.6684900284229025],[-10.688030871822622,18.610251512182344,-8.349158734083176,0,0,-2.930289416222052],[-10.688030871822622,18.610251512182344,-6.349158734083176,0,0,-2.930289416222052],[-10.688030871822622,18.610251512182344,-4.349158734083176,0,0,-2.930289416222052],[-10.688030871822622,18.610251512182344,-2.3491587340831757,0,0,-2.930289416222052]],"actions":[4,3,3,3,3,3,3,3,3,3,4,1,1,1,2,1,1,2,3,3,3,3,3,3,4,4,1,1,3,1,1,1,2,5,5,5,0]},
+{"episode_id":"39O5D9O872Q09LDX8FV0SROVTFB3C3","trajectory_id":"3DQYSJDTZT9O0X7WYS3H0CID9RVXED","scene_id":3,"start_position":[27.056156158447266,7.5123138427734375,-0.34915873408317566],"start_rotation":[0.9996812842803418,0.0,0.0,-0.0252453928392194],"instruction":{"instruction_text":"Make a sharp right turn until you can fully see the trees in the park, fly up slightly above the flat low-profile roof ahead, then move forward to the leftmost tree in that row. Turn right to face the white building behind the trees, and go over tree area to other side of the park where there is a football field. Land in the football field in front of white stone benches."},"goals":[{"position":[-10.688030871822622,18.610251512182344,-2.3491587340831757]}],"reference_path":[[27.056156158447266,7.5123138427734375,-0.34915873408317566,0,0,-0.050496150431408676],[27.056156158447266,7.5123138427734375,-2.3491587340831757,0,0,-0.050496150431408676],[27.056156158447266,7.5123138427734375,-2.3491587340831757,0,0,0.21130323736774076],[27.056156158447266,7.5123138427734375,-2.3491587340831757,0,0,0.47310262516689017],[27.056156158447266,7.5123138427734375,-2.3491587340831757,0,0,0.7349020129660396],[27.056156158447266,7.5123138427734375,-2.3491587340831757,0,0,0.9967014007651891],[27.056156158447266,7.5123138427734375,-2.3491587340831757,0,0,1.2585007885643387],[27.056156158447266,7.5123138427734375,-2.3491587340831757,0,0,1.520300176363488],[27.056156158447266,7.5123138427734375,-2.3491587340831757,0,0,1.7820995641626374],[27.056156158447266,7.5123138427734375,-2.3491587340831757,0,0,2.0438989519617867],[27.056156158447266,7.5123138427734375,-2.3491587340831757,0,0,2.3056983397609363],[27.056156158447266,7.5123138427734375,-4.349158734083176,0,0,2.3056983397609363],[23.703583845329835,11.221796136209873,-4.349158734083176,0,0,2.3056983397609363],[20.351011532212404,14.931278429646309,-4.349158734083176,0,0,2.3056983397609363],[16.998439219094973,18.640760723082742,-4.349158734083176,0,0,2.3056983397609363],[16.998439219094973,18.640760723082742,-4.349158734083176,0,0,2.0438989519617867],[14.720187702365093,23.091555037193203,-4.349158734083176,0,0,2.0438989519617867],[12.441936185635214,27.542349351303663,-4.349158734083176,0,0,2.0438989519617867],[12.441936185635214,27.542349351303663,-4.349158734083176,0,0,1.7820995641626374],[12.441936185635214,27.542349351303663,-4.349158734083176,0,0,2.0438989519617867],[12.441936185635214,27.542349351303663,-4.349158734083176,0,0,2.3056983397609363],[12.441936185635214,27.542349351303663,-4.349158734083176,0,0,2.5674977275600854],[12.441936185635214,27.542349351303663,-4.349158734083176,0,0,2.829297115359235],[12.441936185635214,27.542349351303663,-4.349158734083176,0,0,3.0910965031583846],[12.441936185635214,27.542349351303663,-4.349158734083176,0,0,-2.930289416222052],[12.441936185635214,27.542349351303663,-6.349158734083176,0,0,-2.930289416222052],[12.441936185635214,27.542349351303663,-8.349158734083176,0,0,-2.930289416222052],[7.553144128071984,26.493677706837826,-8.349158734083176,0,0,-2.930289416222052],[2.6643520705087536,25.445006062371988,-8.349158734083176,0,0,-2.930289416222052],[2.6643520705087536,25.445006062371988,-8.349158734083176,0,0,-2.6684900284229025],[-1.7864422436017051,23.166754545642107,-8.349158734083176,0,0,-2.6684900284229025],[-6.237236557712164,20.888503028912226,-8.349158734083176,0,0,-2.6684900284229025],[-10.688030871822622,18.610251512182344,-8.349158734083176,0,0,-2.6684900284229025],[-10.688030871822622,18.610251512182344,-8.349158734083176,0,0,-2.930289416222052],[-10.688030871822622,18.610251512182344,-6.349158734083176,0,0,-2.930289416222052],[-10.688030871822622,18.610251512182344,-4.349158734083176,0,0,-2.930289416222052],[-10.688030871822622,18.610251512182344,-2.3491587340831757,0,0,-2.930289416222052]],"actions":[4,3,3,3,3,3,3,3,3,3,4,1,1,1,2,1,1,2,3,3,3,3,3,3,4,4,1,1,3,1,1,1,2,5,5,5,0]},
+{"episode_id":"32AT8R96GU70FWFCKLH1U5IDOHNSU4","trajectory_id":"3JHB4BPSGS7NW4F343S3EQL9L1G9QQ","scene_id":3,"start_position":[-12.530282020568848,30.128902435302734,-0.1728508323431015],"start_rotation":[0.9997085222608264,0.0,0.0,0.024142711510408782],"instruction":{"instruction_text":"Take off above the trees, fly forward to the white building with glass windows near an intersection. Turn left to face a brown building with windows, fly forward over the park to the trees on the left side of that building, then turn right to face the road, fly forward to the cars parked in front of the black glass business office with white vertical lines. Turn left to face the road left to a dark black building, fly to the end of the road, turn back to face the road, then land in front of two yellow cars."},"goals":[{"position":[15.65683790999217,-6.428532790027216,-2.1728508323431015]}],"reference_path":[[-12.530282020568848,30.128902435302734,-0.1728508323431015,0,0,0.04829011494317087],[-12.530282020568848,30.128902435302734,-2.1728508323431015,0,0,0.04829011494317087],[-12.530282020568848,30.128902435302734,-4.1728508323431015,0,0,0.04829011494317087],[-12.530282020568848,30.128902435302734,-6.1728508323431015,0,0,0.04829011494317087],[-12.530282020568848,30.128902435302734,-8.172850832343102,0,0,0.04829011494317087],[-7.536110725759596,30.370259179777136,-8.172850832343102,0,0,0.04829011494317087],[-2.541939430950345,30.611615924251538,-8.172850832343102,0,0,0.04829011494317087],[-2.541939430950345,30.611615924251538,-8.172850832343102,0,0,0.31008950274232033],[2.2195918814835096,32.137335282689364,-8.172850832343102,0,0,0.31008950274232033],[2.2195918814835096,32.137335282689364,-8.172850832343102,0,0,0.04829011494317088],[2.2195918814835096,32.137335282689364,-8.172850832343102,0,0,-0.21350927285597857],[2.2195918814835096,32.137335282689364,-8.172850832343102,0,0,-0.47530866065512806],[2.2195918814835096,32.137335282689364,-8.172850832343102,0,0,-0.7371080484542775],[2.2195918814835096,32.137335282689364,-8.172850832343102,0,0,-0.9989074362534269],[2.2195918814835096,32.137335282689364,-8.172850832343102,0,0,-1.2607068240525765],[2.2195918814835096,32.137335282689364,-8.172850832343102,0,0,-1.5225062118517259],[2.2195918814835096,32.137335282689364,-8.172850832343102,0,0,-1.7843055996508754],[2.2195918814835096,32.137335282689364,-8.172850832343102,0,0,-2.046104987450025],[-0.0684726938315765,27.691577698296328,-8.172850832343102,0,0,-2.046104987450025],[-2.3565372691466626,23.245820113903292,-8.172850832343102,0,0,-2.046104987450025],[-4.644601844461748,18.800062529510257,-8.172850832343102,0,0,-2.046104987450025],[-6.932666419776835,14.35430494511722,-8.172850832343102,0,0,-2.046104987450025],[-9.220730995091921,9.908547360724185,-8.172850832343102,0,0,-2.046104987450025],[-11.508795570407008,5.4627897763311495,-8.172850832343102,0,0,-2.046104987450025],[-11.508795570407008,5.4627897763311495,-8.172850832343102,0,0,-1.7843055996508757],[-11.508795570407008,5.4627897763311495,-8.172850832343102,0,0,-1.522506211851726],[-11.508795570407008,5.4627897763311495,-8.172850832343102,0,0,-1.2607068240525767],[-11.508795570407008,5.4627897763311495,-8.172850832343102,0,0,-0.9989074362534273],[-11.508795570407008,5.4627897763311495,-8.172850832343102,0,0,-0.7371080484542778],[-11.508795570407008,5.4627897763311495,-8.172850832343102,0,0,-0.47530866065512845],[-11.508795570407008,5.4627897763311495,-8.172850832343102,0,0,-0.21350927285597904],[-11.508795570407008,5.4627897763311495,-8.172850832343102,0,0,0.048290114943170384],[-11.508795570407008,5.4627897763311495,-8.172850832343102,0,0,0.31008950274231983],[-6.7472642579731525,6.988509134768973,-8.172850832343102,0,0,0.31008950274231983],[-1.9857329455392971,8.514228493206797,-8.172850832343102,0,0,0.31008950274231983],[2.7757983668945583,10.039947851644621,-8.172850832343102,0,0,0.31008950274231983],[7.537329679328414,11.565667210082445,-8.172850832343102,0,0,0.31008950274231983],[12.298860991762268,13.091386568520269,-8.172850832343102,0,0,0.31008950274231983],[12.298860991762268,13.091386568520269,-8.172850832343102,0,0,0.04829011494317045],[17.29303228657152,13.332743312994669,-8.172850832343102,0,0,0.04829011494317045],[17.29303228657152,13.332743312994669,-8.172850832343102,0,0,-0.21350927285597898],[17.29303228657152,13.332743312994669,-8.172850832343102,0,0,-0.47530866065512845],[17.29303228657152,13.332743312994669,-8.172850832343102,0,0,-0.7371080484542778],[17.29303228657152,13.332743312994669,-8.172850832343102,0,0,-0.9989074362534273],[17.29303228657152,13.332743312994669,-8.172850832343102,0,0,-1.2607068240525767],[17.29303228657152,13.332743312994669,-8.172850832343102,0,0,-1.522506211851726],[17.29303228657152,13.332743312994669,-8.172850832343102,0,0,-1.7843055996508757],[16.233578353807445,8.446276556292979,-8.172850832343102,0,0,-1.7843055996508757],[15.17412442104337,3.5598097995912887,-8.172850832343102,0,0,-1.7843055996508757],[15.17412442104337,3.5598097995912887,-8.172850832343102,0,0,-1.522506211851726],[15.17412442104337,3.5598097995912887,-10.172850832343102,0,0,-1.522506211851726],[15.41548116551777,-1.4343614952179635,-10.172850832343102,0,0,-1.522506211851726],[15.65683790999217,-6.428532790027216,-10.172850832343102,0,0,-1.522506211851726],[15.65683790999217,-6.428532790027216,-8.172850832343102,0,0,-1.522506211851726],[15.65683790999217,-6.428532790027216,-6.1728508323431015,0,0,-1.522506211851726],[15.65683790999217,-6.428532790027216,-4.1728508323431015,0,0,-1.522506211851726],[15.65683790999217,-6.428532790027216,-2.1728508323431015,0,0,-1.522506211851726],[15.65683790999217,-6.428532790027216,-2.1728508323431015,0,0,-1.2607068240525767],[15.65683790999217,-6.428532790027216,-2.1728508323431015,0,0,-0.9989074362534273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+{"episode_id":"32UTUBMZ7PU1BPNAEP5B02AVFG1BVD","trajectory_id":"3R868ACW50ABP63255HQX0J0QPWZGD","scene_id":3,"start_position":[-15.284477233886719,38.68547058105469,-0.24036730825901031],"start_rotation":[0.9999813692724276,0.0,0.0,-0.006104187746184888],"instruction":{"instruction_text":"Turn left to face the sidewalk. Follow the sidewalk to the footpath, go forward until you can see iron fences on the right. Turn right facing a paved pathway with stone barriers on both sides. Fly up slightly above the fences, fly forward to the right side of the park to the nearest yellow car on the road. Turn left to face white and white bollards, fly across the bollards to a building with white longitudinal Flat noodles on the glass facade, at the front of the building turn left to face the road, then fly forward to an intersection. Turn right to face the sidewalk, fly onto the sidewalk and land."},"goals":[{"position":[20.448396327858212,10.9382730054651,-0.24036730825901031]}],"reference_path":[[-15.284477233886719,38.68547058105469,-0.24036730825901031,0,0,-0.012208451309907423],[-15.284477233886719,38.68547058105469,-0.24036730825901031,0,0,-0.27400783910905685],[-15.284477233886719,38.68547058105469,-0.24036730825901031,0,0,-0.5358072269082063],[-15.284477233886719,38.68547058105469,-0.24036730825901031,0,0,-0.7976066147073557],[-15.284477233886719,38.68547058105469,-0.24036730825901031,0,0,-1.0594060025065053],[-15.284477233886719,38.68547058105469,-0.24036730825901031,0,0,-1.3212053903056546],[-14.049439274640134,33.84040285818228,-0.24036730825901031,0,0,-1.3212053903056546],[-14.049439274640134,33.84040285818228,-0.24036730825901031,0,0,-1.5830047781048042],[-14.110480014847395,28.840775469262688,-0.24036730825901031,0,0,-1.5830047781048042],[-14.110480014847395,28.840775469262688,-0.24036730825901031,0,0,-1.8448041659039536],[-15.463439628937968,24.027304758575866,-0.24036730825901031,0,0,-1.8448041659039536],[-15.463439628937968,24.027304758575866,-0.24036730825901031,0,0,-1.5830047781048042],[-15.463439628937968,24.027304758575866,-0.24036730825901031,0,0,-1.3212053903056549],[-15.463439628937968,24.027304758575866,-0.24036730825901031,0,0,-1.0594060025065053],[-15.463439628937968,24.027304758575866,-0.24036730825901031,0,0,-0.7976066147073558],[-15.463439628937968,24.027304758575866,-0.24036730825901031,0,0,-0.5358072269082065],[-15.463439628937968,24.027304758575866,-0.24036730825901031,0,0,-0.27400783910905707],[-15.463439628937968,24.027304758575866,-0.24036730825901031,0,0,-0.012208451309907624],[-15.463439628937968,24.027304758575866,-0.24036730825901031,0,0,0.2495909364892418],[-15.463439628937968,24.027304758575866,-0.24036730825901031,0,0,0.5113903242883913],[-11.103114930573508,26.47425562135037,-0.24036730825901031,0,0,0.5113903242883913],[-6.742790232209048,28.921206484124873,-0.24036730825901031,0,0,0.5113903242883913],[-2.382465533844588,31.368157346899377,-0.24036730825901031,0,0,0.5113903242883913],[1.977859164519872,33.81510820967388,-0.24036730825901031,0,0,0.5113903242883913],[6.338183862884332,36.26205907244838,-0.24036730825901031,0,0,0.5113903242883913],[6.338183862884332,36.26205907244838,-0.24036730825901031,0,0,0.24959093648924188],[6.338183862884332,36.26205907244838,-0.24036730825901031,0,0,-0.012208451309907564],[6.338183862884332,36.26205907244838,-0.24036730825901031,0,0,-0.274007839109057],[6.338183862884332,36.26205907244838,-0.24036730825901031,0,0,-0.5358072269082065],[6.338183862884332,36.26205907244838,-0.24036730825901031,0,0,-0.7976066147073559],[6.338183862884332,36.26205907244838,-0.24036730825901031,0,0,-1.0594060025065053],[8.785134725658835,31.901734374083922,-0.24036730825901031,0,0,-1.0594060025065053],[11.232085588433339,27.541409675719464,-0.24036730825901031,0,0,-1.0594060025065053],[13.679036451207843,23.181084977355006,-0.24036730825901031,0,0,-1.0594060025065053],[13.679036451207843,23.181084977355006,-0.24036730825901031,0,0,-1.3212053903056546],[14.914074410454427,18.3360172544826,-0.24036730825901031,0,0,-1.3212053903056546],[16.14911236970101,13.49094953161019,-0.24036730825901031,0,0,-1.3212053903056546],[16.14911236970101,13.49094953161019,-0.24036730825901031,0,0,-1.0594060025065053],[16.14911236970101,13.49094953161019,-0.24036730825901031,0,0,-0.7976066147073558],[16.14911236970101,13.49094953161019,-0.24036730825901031,0,0,-0.5358072269082065],[20.448396327858212,10.9382730054651,-0.24036730825901031,0,0,-0.5358072269082065]],"actions":[2,2,2,2,2,1,2,1,2,1,3,3,3,3,3,3,3,3,3,1,1,1,1,1,2,2,2,2,2,2,1,1,1,2,1,1,3,3,3,1,0]},
+{"episode_id":"3OONKJ5DKLH6L5EDDDJX5AGO27YOB7","trajectory_id":"385MDVINGKDHMDOY2OIMV9HY578WJB","scene_id":3,"start_position":[27.056156158447266,7.5123138427734375,-0.34915873408317566],"start_rotation":[0.9996812842803418,0.0,0.0,-0.0252453928392194],"instruction":{"instruction_text":"Turn right to face a flat low-profile roof on the left of the road, fly up slightly above that roof, fly over that roof, fly along the road to the intersection on the left. Turn right to face the white building behind the trees, fly over the row of trees to the middle of the park. Turn left to face that white building. Land on the football field in front of the benches."},"goals":[{"position":[-10.688030871822622,18.610251512182344,-2.3491587340831757]}],"reference_path":[[27.056156158447266,7.5123138427734375,-0.34915873408317566,0,0,-0.050496150431408676],[27.056156158447266,7.5123138427734375,-2.3491587340831757,0,0,-0.050496150431408676],[27.056156158447266,7.5123138427734375,-2.3491587340831757,0,0,0.21130323736774076],[27.056156158447266,7.5123138427734375,-2.3491587340831757,0,0,0.47310262516689017],[27.056156158447266,7.5123138427734375,-2.3491587340831757,0,0,0.7349020129660396],[27.056156158447266,7.5123138427734375,-2.3491587340831757,0,0,0.9967014007651891],[27.056156158447266,7.5123138427734375,-2.3491587340831757,0,0,1.2585007885643387],[27.056156158447266,7.5123138427734375,-2.3491587340831757,0,0,1.520300176363488],[27.056156158447266,7.5123138427734375,-2.3491587340831757,0,0,1.7820995641626374],[27.056156158447266,7.5123138427734375,-2.3491587340831757,0,0,2.0438989519617867],[27.056156158447266,7.5123138427734375,-2.3491587340831757,0,0,2.3056983397609363],[27.056156158447266,7.5123138427734375,-4.349158734083176,0,0,2.3056983397609363],[23.703583845329835,11.221796136209873,-4.349158734083176,0,0,2.3056983397609363],[20.351011532212404,14.931278429646309,-4.349158734083176,0,0,2.3056983397609363],[16.998439219094973,18.640760723082742,-4.349158734083176,0,0,2.3056983397609363],[16.998439219094973,18.640760723082742,-4.349158734083176,0,0,2.0438989519617867],[14.720187702365093,23.091555037193203,-4.349158734083176,0,0,2.0438989519617867],[12.441936185635214,27.542349351303663,-4.349158734083176,0,0,2.0438989519617867],[12.441936185635214,27.542349351303663,-4.349158734083176,0,0,1.7820995641626374],[12.441936185635214,27.542349351303663,-4.349158734083176,0,0,2.0438989519617867],[12.441936185635214,27.542349351303663,-4.349158734083176,0,0,2.3056983397609363],[12.441936185635214,27.542349351303663,-4.349158734083176,0,0,2.5674977275600854],[12.441936185635214,27.542349351303663,-4.349158734083176,0,0,2.829297115359235],[12.441936185635214,27.542349351303663,-4.349158734083176,0,0,3.0910965031583846],[12.441936185635214,27.542349351303663,-4.349158734083176,0,0,-2.930289416222052],[12.441936185635214,27.542349351303663,-6.349158734083176,0,0,-2.930289416222052],[12.441936185635214,27.542349351303663,-8.349158734083176,0,0,-2.930289416222052],[7.553144128071984,26.493677706837826,-8.349158734083176,0,0,-2.930289416222052],[2.6643520705087536,25.445006062371988,-8.349158734083176,0,0,-2.930289416222052],[2.6643520705087536,25.445006062371988,-8.349158734083176,0,0,-2.6684900284229025],[-1.7864422436017051,23.166754545642107,-8.349158734083176,0,0,-2.6684900284229025],[-6.237236557712164,20.888503028912226,-8.349158734083176,0,0,-2.6684900284229025],[-10.688030871822622,18.610251512182344,-8.349158734083176,0,0,-2.6684900284229025],[-10.688030871822622,18.610251512182344,-8.349158734083176,0,0,-2.930289416222052],[-10.688030871822622,18.610251512182344,-6.349158734083176,0,0,-2.930289416222052],[-10.688030871822622,18.610251512182344,-4.349158734083176,0,0,-2.930289416222052],[-10.688030871822622,18.610251512182344,-2.3491587340831757,0,0,-2.930289416222052]],"actions":[4,3,3,3,3,3,3,3,3,3,4,1,1,1,2,1,1,2,3,3,3,3,3,3,4,4,1,1,3,1,1,1,2,5,5,5,0]},
+{"episode_id":"3A7Y0R2P2XMZXXQH2WJAMBQUQWAXJ4","trajectory_id":"3OND0WXMI4DRE77HTOLVXQUJL1DHE5","scene_id":3,"start_position":[-21.44491958618164,51.62356948852539,-0.12390492856502533],"start_rotation":[0.9997208764885469,0.0,0.0,-0.023625602912337326],"instruction":{"instruction_text":"Turn left to face the road, fly forward along the road passing some yellow cars to a blue car. Turn right to face the park. Fly higher to see the whole park. Go past the park with the trees until reaching a football field. Turn left to face a brown building with black windows, then fly towards the building until passing the trees. Land on the road."},"goals":[{"position":[-3.0039084848162507,14.050752572278215,-2.1239049285650253]}],"reference_path":[[-21.44491958618164,51.62356948852539,-0.12390492856502533,0,0,-0.04725560262307522],[-21.44491958618164,51.62356948852539,-2.1239049285650253,0,0,-0.04725560262307522],[-21.44491958618164,51.62356948852539,-2.1239049285650253,0,0,-0.3090549904222247],[-21.44491958618164,51.62356948852539,-2.1239049285650253,0,0,-0.5708543782213741],[-21.44491958618164,51.62356948852539,-2.1239049285650253,0,0,-0.8326537660205235],[-21.44491958618164,51.62356948852539,-2.1239049285650253,0,0,-1.0944531538196731],[-21.44491958618164,51.62356948852539,-2.1239049285650253,0,0,-1.3562525416188225],[-21.44491958618164,51.62356948852539,-2.1239049285650253,0,0,-1.6180519294179718],[-21.681109670692564,46.6291511796551,-2.1239049285650253,0,0,-1.6180519294179718],[-21.917299755203487,41.634732870784816,-2.1239049285650253,0,0,-1.6180519294179718],[-22.15348983971441,36.64031456191453,-2.1239049285650253,0,0,-1.6180519294179718],[-22.389679924225334,31.645896253044242,-2.1239049285650253,0,0,-1.6180519294179718],[-22.389679924225334,31.645896253044242,-2.1239049285650253,0,0,-1.8798513172171214],[-22.389679924225334,31.645896253044242,-2.1239049285650253,0,0,-2.141650705016271],[-25.09143569196893,27.43869816269192,-2.1239049285650253,0,0,-2.141650705016271],[-25.09143569196893,27.43869816269192,-2.1239049285650253,0,0,-1.8798513172171214],[-25.09143569196893,27.43869816269192,-2.1239049285650253,0,0,-1.618051929417972],[-25.327625776479852,22.444279853821634,-2.1239049285650253,0,0,-1.618051929417972],[-25.327625776479852,22.444279853821634,-2.1239049285650253,0,0,-1.3562525416188225],[-25.327625776479852,22.444279853821634,-2.1239049285650253,0,0,-1.094453153819673],[-25.327625776479852,22.444279853821634,-2.1239049285650253,0,0,-0.8326537660205234],[-25.327625776479852,22.444279853821634,-2.1239049285650253,0,0,-0.5708543782213741],[-25.327625776479852,22.444279853821634,-2.1239049285650253,0,0,-0.30905499042222473],[-25.327625776479852,22.444279853821634,-4.123904928565025,0,0,-0.30905499042222473],[-25.327625776479852,22.444279853821634,-6.123904928565025,0,0,-0.30905499042222473],[-25.327625776479852,22.444279853821634,-8.123904928565025,0,0,-0.30905499042222473],[-25.327625776479852,22.444279853821634,-10.123904928565025,0,0,-0.30905499042222473],[-25.327625776479852,22.444279853821634,-10.123904928565025,0,0,-0.04725560262307529],[-20.33320746760957,22.20808976931071,-10.123904928565025,0,0,-0.04725560262307529],[-15.338789158739283,21.971899684799787,-10.123904928565025,0,0,-0.04725560262307529],[-15.338789158739283,21.971899684799787,-10.123904928565025,0,0,-0.30905499042222473],[-10.575682019046303,20.451107004712934,-10.123904928565025,0,0,-0.30905499042222473],[-10.575682019046303,20.451107004712934,-10.123904928565025,0,0,-0.5708543782213742],[-6.368483928693982,17.74935123696934,-10.123904928565025,0,0,-0.5708543782213742],[-6.368483928693982,17.74935123696934,-10.123904928565025,0,0,-0.8326537660205235],[-3.0039084848162507,14.050752572278215,-10.123904928565025,0,0,-0.8326537660205235],[-3.0039084848162507,14.050752572278215,-10.123904928565025,0,0,-1.0944531538196731],[-3.0039084848162507,14.050752572278215,-8.123904928565025,0,0,-1.0944531538196731],[-3.0039084848162507,14.050752572278215,-6.123904928565025,0,0,-1.0944531538196731],[-3.0039084848162507,14.050752572278215,-4.123904928565025,0,0,-1.0944531538196731],[-3.0039084848162507,14.050752572278215,-2.1239049285650253,0,0,-1.0944531538196731]],"actions":[4,2,2,2,2,2,2,1,1,1,1,2,2,1,3,3,1,3,3,3,3,3,4,4,4,4,3,1,1,2,1,2,1,2,1,2,5,5,5,5,0]},
+{"episode_id":"39GXDJN2O2CI9RP3BDL190KUA9V8VR","trajectory_id":"3IV1AEQ4EZB6WCSG4L2GHTECKXAJ8F","scene_id":3,"start_position":[-25.075441360473633,6.72488260269165,-0.27789610624313354],"start_rotation":[0.999985422443952,0.0,0.0,0.005399527719233953],"instruction":{"instruction_text":"Fly up to the height of trees, turn left to face the tree in front of a brown building, fly forward to that tree, then turn right to face the park across the road, fly forward over the park to the shortest dark glass building across the road. Fly down close to the ground in front of that building, and turn left to face an intersection, fly forward to it. Turn left to face a short entrance hall roof with flags on the wall, fly forward to the roof. Land on the roof."},"goals":[{"position":[20.952020136959277,21.577840744949157,-2.2778961062431335]}],"reference_path":[[-25.075441360473633,6.72488260269165,-0.27789610624313354,0,0,0.010799107913385862],[-25.075441360473633,6.72488260269165,-2.2778961062431335,0,0,0.010799107913385862],[-25.075441360473633,6.72488260269165,-4.2778961062431335,0,0,0.010799107913385862],[-25.075441360473633,6.72488260269165,-4.2778961062431335,0,0,-0.25100027988576357],[-25.075441360473633,6.72488260269165,-4.2778961062431335,0,0,-0.512799667684913],[-20.718569585351762,4.271788977257348,-4.2778961062431335,0,0,-0.512799667684913],[-20.718569585351762,4.271788977257348,-4.2778961062431335,0,0,-0.2510002798857636],[-20.718569585351762,4.271788977257348,-4.2778961062431335,0,0,0.010799107913385793],[-20.718569585351762,4.271788977257348,-4.2778961062431335,0,0,0.27259849571253525],[-20.718569585351762,4.271788977257348,-4.2778961062431335,0,0,0.5343978835116847],[-20.718569585351762,4.271788977257348,-4.2778961062431335,0,0,0.7961972713108342],[-20.718569585351762,4.271788977257348,-6.2778961062431335,0,0,0.7961972713108342],[-17.22142170576852,7.845296596995472,-6.2778961062431335,0,0,0.7961972713108342],[-13.724273826185279,11.418804216733596,-6.2778961062431335,0,0,0.7961972713108342],[-13.724273826185279,11.418804216733596,-6.2778961062431335,0,0,1.0579966591099836],[-13.724273826185279,11.418804216733596,-6.2778961062431335,0,0,1.319796046909133],[-12.48240873154437,16.262126535835694,-6.2778961062431335,0,0,1.319796046909133],[-12.48240873154437,16.262126535835694,-6.2778961062431335,0,0,1.0579966591099836],[-10.029315106110067,20.618998310957565,-6.2778961062431335,0,0,1.0579966591099836],[-10.029315106110067,20.618998310957565,-8.277896106243134,0,0,1.0579966591099836],[-7.576221480675764,24.975870086079436,-8.277896106243134,0,0,1.0579966591099836],[-5.123127855241462,29.332741861201306,-8.277896106243134,0,0,1.0579966591099836],[-2.6700342298071593,33.68961363632317,-8.277896106243134,0,0,1.0579966591099836],[-0.21694060437285678,38.04648541144504,-8.277896106243134,0,0,1.0579966591099836],[-0.21694060437285678,38.04648541144504,-6.2778961062431335,0,0,1.0579966591099836],[-0.21694060437285678,38.04648541144504,-4.2778961062431335,0,0,1.0579966591099836],[-0.21694060437285678,38.04648541144504,-2.2778961062431335,0,0,1.0579966591099836],[-0.21694060437285678,38.04648541144504,-2.2778961062431335,0,0,0.7961972713108342],[-0.21694060437285678,38.04648541144504,-2.2778961062431335,0,0,0.5343978835116847],[-0.21694060437285678,38.04648541144504,-2.2778961062431335,0,0,0.27259849571253525],[4.598432110006176,39.392659850963895,-2.2778961062431335,0,0,0.27259849571253525],[4.598432110006176,39.392659850963895,-2.2778961062431335,0,0,0.010799107913385824],[4.598432110006176,39.392659850963895,-2.2778961062431335,0,0,-0.2510002798857636],[4.598432110006176,39.392659850963895,-2.2778961062431335,0,0,-0.5127996676849131],[8.955303885128044,36.93956622552959,-2.2778961062431335,0,0,-0.5127996676849131],[13.312175660249913,34.48647260009528,-2.2778961062431335,0,0,-0.5127996676849131],[13.312175660249913,34.48647260009528,-2.2778961062431335,0,0,-0.7745990554840626],[13.312175660249913,34.48647260009528,-2.2778961062431335,0,0,-1.036398443283212],[15.858790485819702,30.183595315046574,-2.2778961062431335,0,0,-1.036398443283212],[18.40540531138949,25.880718029997865,-2.2778961062431335,0,0,-1.036398443283212],[18.40540531138949,25.880718029997865,-4.2778961062431335,0,0,-1.036398443283212],[20.952020136959277,21.577840744949157,-4.2778961062431335,0,0,-1.036398443283212],[20.952020136959277,21.577840744949157,-4.2778961062431335,0,0,-0.7745990554840626],[20.952020136959277,21.577840744949157,-4.2778961062431335,0,0,-0.5127996676849133],[20.952020136959277,21.577840744949157,-4.2778961062431335,0,0,-0.2510002798857638],[20.952020136959277,21.577840744949157,-4.2778961062431335,0,0,0.010799107913385638],[20.952020136959277,21.577840744949157,-4.2778961062431335,0,0,0.2725984957125351],[20.952020136959277,21.577840744949157,-4.2778961062431335,0,0,0.5343978835116845],[20.952020136959277,21.577840744949157,-4.2778961062431335,0,0,0.796197271310834],[20.952020136959277,21.577840744949157,-4.2778961062431335,0,0,1.0579966591099834],[20.952020136959277,21.577840744949157,-4.2778961062431335,0,0,0.7961972713108341],[20.952020136959277,21.577840744949157,-4.2778961062431335,0,0,0.5343978835116847],[20.952020136959277,21.577840744949157,-4.2778961062431335,0,0,0.27259849571253525],[20.952020136959277,21.577840744949157,-4.2778961062431335,0,0,0.010799107913385824],[20.952020136959277,21.577840744949157,-4.2778961062431335,0,0,-0.2510002798857636],[20.952020136959277,21.577840744949157,-4.2778961062431335,0,0,-0.5127996676849131],[20.952020136959277,21.577840744949157,-4.2778961062431335,0,0,-0.7745990554840626],[20.952020136959277,21.577840744949157,-4.2778961062431335,0,0,-1.036398443283212],[20.952020136959277,21.577840744949157,-2.277896106243133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+{"episode_id":"3DL65MZB8MD3JJTUXZCWBISSMYYCEQ","trajectory_id":"3MDWE879VP00SYDELLVDJ1QA009B99","scene_id":3,"start_position":[-17.52571678161621,-2.2486233711242676,-0.4963338375091553],"start_rotation":[0.9999006858628811,0.0,0.0,-0.014093204424120728],"instruction":{"instruction_text":"Take off to the height of the roof of the brown building on left, turn right to face a white skyscraper with a grid-patterned facade of light blue panels and dark windows, fly forward to the trees ahead. Turn right to face a dark black building left to a white building, and fly forward over the trees to an intersection. Turn right to face between dark black building and white building, and move across the road to the middle of the buildings. Turn left to face nearest sleek dark glass skyscraper next to the intersection, and fly up to the top of the building. Turn right to face a dark black building left to a white building, fly forward to the dark building, land on the road."},"goals":[{"position":[-19.009293056052147,45.51475125186311,-2.4963338375091553]}],"reference_path":[[-17.52571678161621,-2.2486233711242676,-0.4963338375091553,0,0,-0.02818734198826891],[-17.52571678161621,-2.2486233711242676,-2.4963338375091553,0,0,-0.02818734198826891],[-17.52571678161621,-2.2486233711242676,-4.496333837509155,0,0,-0.02818734198826891],[-17.52571678161621,-2.2486233711242676,-6.496333837509155,0,0,-0.02818734198826891],[-17.52571678161621,-2.2486233711242676,-8.496333837509155,0,0,-0.02818734198826891],[-17.52571678161621,-2.2486233711242676,-8.496333837509155,0,0,0.23361204581088052],[-17.52571678161621,-2.2486233711242676,-8.496333837509155,0,0,0.49541143361003004],[-17.52571678161621,-2.2486233711242676,-8.496333837509155,0,0,0.7572108214091796],[-13.89194321281791,1.185861983438023,-8.496333837509155,0,0,0.7572108214091796],[-10.25816964401961,4.620347338000314,-8.496333837509155,0,0,0.7572108214091796],[-6.624396075221309,8.054832692562604,-8.496333837509155,0,0,0.7572108214091796],[-2.990622506423009,11.489318047124895,-8.496333837509155,0,0,0.7572108214091796],[-2.990622506423009,11.489318047124895,-8.496333837509155,0,0,1.019010209208329],[-0.3695769893205383,15.747265956303334,-8.496333837509155,0,0,1.019010209208329],[-0.3695769893205383,15.747265956303334,-8.496333837509155,0,0,1.2808095970074784],[-0.3695769893205383,15.747265956303334,-8.496333837509155,0,0,1.5426089848066278],[-0.3695769893205383,15.747265956303334,-8.496333837509155,0,0,1.8044083726057771],[-0.3695769893205383,15.747265956303334,-8.496333837509155,0,0,2.066207760404927],[-0.3695769893205383,15.747265956303334,-8.496333837509155,0,0,2.3280071482040765],[-3.80406234388283,19.381039525101635,-8.496333837509155,0,0,2.3280071482040765],[-7.238547698445121,23.014813093899935,-8.496333837509155,0,0,2.3280071482040765],[-10.673033053007412,26.648586662698236,-8.496333837509155,0,0,2.3280071482040765],[-14.107518407569703,30.282360231496536,-8.496333837509155,0,0,2.3280071482040765],[-14.107518407569703,30.282360231496536,-8.496333837509155,0,0,2.5898065360032256],[-14.107518407569703,30.282360231496536,-8.496333837509155,0,0,2.851605923802375],[-18.898756757945403,31.71205777639516,-8.496333837509155,0,0,2.851605923802375],[-23.689995108321103,33.14175532129378,-8.496333837509155,0,0,2.851605923802375],[-23.689995108321103,33.14175532129378,-8.496333837509155,0,0,2.5898065360032256],[-23.689995108321103,33.14175532129378,-8.496333837509155,0,0,2.3280071482040765],[-23.689995108321103,33.14175532129378,-8.496333837509155,0,0,2.066207760404927],[-23.689995108321103,33.14175532129378,-8.496333837509155,0,0,1.8044083726057776],[-23.689995108321103,33.14175532129378,-8.496333837509155,0,0,1.542608984806628],[-23.689995108321103,33.14175532129378,-8.496333837509155,0,0,1.2808095970074787],[-23.689995108321103,33.14175532129378,-8.496333837509155,0,0,1.0190102092083293],[-23.689995108321103,33.14175532129378,-8.496333837509155,0,0,0.75721082140918],[-23.689995108321103,33.14175532129378,-8.496333837509155,0,0,0.49541143361003065],[-19.291129151445823,35.51872362008191,-8.496333837509155,0,0,0.49541143361003065],[-14.892263194570544,37.895691918870035,-8.496333837509155,0,0,0.49541143361003065],[-14.892263194570544,37.895691918870035,-10.496333837509155,0,0,0.49541143361003065],[-14.892263194570544,37.895691918870035,-12.496333837509155,0,0,0.49541143361003065],[-14.892263194570544,37.895691918870035,-14.496333837509155,0,0,0.49541143361003065],[-14.892263194570544,37.895691918870035,-16.496333837509155,0,0,0.49541143361003065],[-14.892263194570544,37.895691918870035,-18.496333837509155,0,0,0.49541143361003065],[-14.892263194570544,37.895691918870035,-20.496333837509155,0,0,0.49541143361003065],[-14.892263194570544,37.895691918870035,-22.496333837509155,0,0,0.49541143361003065],[-14.892263194570544,37.895691918870035,-24.496333837509155,0,0,0.49541143361003065],[-14.892263194570544,37.895691918870035,-26.496333837509155,0,0,0.49541143361003065],[-14.892263194570544,37.895691918870035,-28.496333837509155,0,0,0.49541143361003065],[-10.493397237695266,40.272660217658164,-28.496333837509155,0,0,0.49541143361003065],[-10.493397237695266,40.272660217658164,-28.496333837509155,0,0,0.7572108214091801],[-10.493397237695266,40.272660217658164,-28.496333837509155,0,0,1.0190102092083295],[-10.493397237695266,40.272660217658164,-28.496333837509155,0,0,1.2808095970074789],[-10.493397237695266,40.272660217658164,-28.496333837509155,0,0,1.5426089848066284],[-10.493397237695266,40.272660217658164,-28.496333837509155,0,0,1.8044083726057778],[-10.493397237695266,40.272660217658164,-28.496333837509155,0,0,2.0662077604049274],[-10.493397237695266,40.272660217658164,-28.496333837509155,0,0,2.3280071482040765],[-10.493397237695266,40.272660217658164,-28.496333837509155,0,0,2.5898065360032256],[-14.751345146873707,42.89370573476064,-28.496333837509155,0,0,2.5898065360032256],[-19.009293056052147,45.51475125186311,-28.496333837509155,0,0,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+{"episode_id":"3WYGZ5XF35DMC0A0Q7DZOI9E8QCKS6","trajectory_id":"3NC6WP7WKPI3SXOX9N11KZB64ACWWC","scene_id":3,"start_position":[27.056156158447266,7.5123138427734375,-0.34915873408317566],"start_rotation":[0.9998780566042165,0.0,0.0,0.015616399116800078],"instruction":{"instruction_text":"Turn right to face a short roof hanging some flags, fly up above the roof, and fly to its top. Turn right to face the brown building with windows and fly forward to its left side. Turn left to face the park, fly forward across the park to the shortest dark glass building across the road. Turn right to face a white building behind the trees. Land on the sidewalk."},"goals":[{"position":[-7.3362685272152515,33.01066503994002,-4.349158734083176]}],"reference_path":[[27.056156158447266,7.5123138427734375,-0.34915873408317566,0,0,0.03123406784002056],[27.056156158447266,7.5123138427734375,-0.34915873408317566,0,0,0.29303345563917005],[27.056156158447266,7.5123138427734375,-0.34915873408317566,0,0,0.5548328434383195],[27.056156158447266,7.5123138427734375,-0.34915873408317566,0,0,0.8166322312374689],[27.056156158447266,7.5123138427734375,-0.34915873408317566,0,0,1.0784316190366183],[27.056156158447266,7.5123138427734375,-0.34915873408317566,0,0,1.340231006835768],[27.056156158447266,7.5123138427734375,-0.34915873408317566,0,0,1.6020303946349175],[27.056156158447266,7.5123138427734375,-0.34915873408317566,0,0,1.8638297824340668],[27.056156158447266,7.5123138427734375,-0.34915873408317566,0,0,2.1256291702332164],[27.056156158447266,7.5123138427734375,-0.34915873408317566,0,0,2.3874285580323655],[27.056156158447266,7.5123138427734375,-2.3491587340831757,0,0,2.3874285580323655],[27.056156158447266,7.5123138427734375,-4.349158734083176,0,0,2.3874285580323655],[23.411935535828725,10.935712162233463,-4.349158734083176,0,0,2.3874285580323655],[23.411935535828725,10.935712162233463,-4.349158734083176,0,0,2.1256291702332164],[23.411935535828725,10.935712162233463,-4.349158734083176,0,0,1.8638297824340668],[23.411935535828725,10.935712162233463,-4.349158734083176,0,0,1.6020303946349175],[23.411935535828725,10.935712162233463,-6.349158734083176,0,0,1.6020303946349175],[23.255790587828105,15.933273443019711,-6.349158734083176,0,0,1.6020303946349175],[23.255790587828105,15.933273443019711,-6.349158734083176,0,0,1.8638297824340668],[23.255790587828105,15.933273443019711,-6.349158734083176,0,0,2.1256291702332164],[23.255790587828105,15.933273443019711,-6.349158734083176,0,0,2.3874285580323655],[23.255790587828105,15.933273443019711,-6.349158734083176,0,0,2.649227945831515],[23.255790587828105,15.933273443019711,-6.349158734083176,0,0,2.9110273336306647],[23.255790587828105,15.933273443019711,-6.349158734083176,0,0,-3.1103585857497724],[23.255790587828105,15.933273443019711,-6.349158734083176,0,0,-2.848559197950623],[18.468930364593497,14.488984966566921,-6.349158734083176,0,0,-2.848559197950623],[18.468930364593497,14.488984966566921,-8.349158734083176,0,0,-2.848559197950623],[13.682070141358889,13.04469649011413,-8.349158734083176,0,0,-2.848559197950623],[13.682070141358889,13.04469649011413,-8.349158734083176,0,0,-2.5867598101514733],[13.682070141358889,13.04469649011413,-10.349158734083176,0,0,-2.5867598101514733],[9.432127589228813,10.410690358079869,-10.349158734083176,0,0,-2.5867598101514733],[5.182185037098737,7.776684226045607,-10.349158734083176,0,0,-2.5867598101514733],[5.182185037098737,7.776684226045607,-10.349158734083176,0,0,-2.8485591979506224],[5.182185037098737,7.776684226045607,-10.349158734083176,0,0,-3.1103585857497724],[5.182185037098737,7.776684226045607,-10.349158734083176,0,0,2.9110273336306647],[5.182185037098737,7.776684226045607,-10.349158734083176,0,0,2.649227945831515],[5.182185037098737,7.776684226045607,-10.349158734083176,0,0,2.3874285580323655],[5.182185037098737,7.776684226045607,-10.349158734083176,0,0,2.1256291702332164],[5.182185037098737,7.776684226045607,-10.349158734083176,0,0,1.8638297824340668],[5.182185037098737,7.776684226045607,-10.349158734083176,0,0,1.6020303946349175],[5.182185037098737,7.776684226045607,-10.349158734083176,0,0,1.340231006835768],[6.324824637714802,12.64437102195842,-10.349158734083176,0,0,1.340231006835768],[7.467464238330868,17.512057817871234,-10.349158734083176,0,0,1.340231006835768],[8.610103838946934,22.379744613784048,-10.349158734083176,0,0,1.340231006835768],[9.752743439562998,27.247431409696862,-10.349158734083176,0,0,1.340231006835768],[9.752743439562998,27.247431409696862,-10.349158734083176,0,0,1.6020303946349175],[9.596598491562379,32.24499269048311,-10.349158734083176,0,0,1.6020303946349175],[9.596598491562379,32.24499269048311,-8.349158734083176,0,0,1.6020303946349175],[9.596598491562379,32.24499269048311,-8.349158734083176,0,0,1.8638297824340668],[9.596598491562379,32.24499269048311,-8.349158734083176,0,0,2.1256291702332164],[9.596598491562379,32.24499269048311,-8.349158734083176,0,0,2.3874285580323655],[9.596598491562379,32.24499269048311,-8.349158734083176,0,0,2.649227945831515],[9.596598491562379,32.24499269048311,-8.349158734083176,0,0,2.9110273336306647],[9.596598491562379,32.24499269048311,-8.349158734083176,0,0,-3.1103585857497724],[9.596598491562379,32.24499269048311,-6.349158734083176,0,0,-3.1103585857497724],[4.599037210776131,32.088847742482486,-6.349158734083176,0,0,-3.1103585857497724],[4.599037210776131,32.088847742482486,-6.349158734083176,0,0,2.9110273336306647],[4.599037210776131,32.088847742482486,-4.349158734083176,0,0,2.9110273336306647],[-0.2686495851366839,33.23148734309855,-4.349158734083176,0,0,2.9110273336306647],[-0.2686495851366839,33.23148734309855,-4.349158734083176,0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+{"episode_id":"3VELCLL3GTHB2UJSCD7IC4U05DK1F0","trajectory_id":"3PMR2DOWPWZX6CQT3G89Z7F2ZLG45P","scene_id":3,"start_position":[-25.075441360473633,6.72488260269165,-0.27789610624313354],"start_rotation":[0.999667893177733,0.0,0.0,0.025770202746440336],"instruction":{"instruction_text":"Fly forward along the roaduntil you encountering a construction site and a black car. Turn right to directly face the nearest white fence and tree, fly above the tree, then fly forward across the park to the shortest dark glass building ahead. Turn right in front of the glass building to face the road, fly forward along the road to an intersection. Turn back to face the road where you came from, fly forward to another intersection, and land in front of the street lamp on the left side of the road."},"goals":[{"position":[5.571557068396246,33.78458794866822,-2.2778961062431335]}],"reference_path":[[-25.075441360473633,6.72488260269165,-0.27789610624313354,0,0,0.0515461118910369],[-25.075441360473633,6.72488260269165,-2.2778961062431335,0,0,0.0515461118910369],[-20.082082393969557,6.98249904555462,-2.2778961062431335,0,0,0.0515461118910369],[-15.088723427465483,7.24011548841759,-2.2778961062431335,0,0,0.0515461118910369],[-10.09536446096141,7.49773193128056,-2.2778961062431335,0,0,0.0515461118910369],[-5.102005494457336,7.75534837414353,-2.2778961062431335,0,0,0.0515461118910369],[-5.102005494457336,7.75534837414353,-2.2778961062431335,0,0,0.3133454996901863],[-5.102005494457336,7.75534837414353,-2.2778961062431335,0,0,0.5751448874893358],[-5.102005494457336,7.75534837414353,-2.2778961062431335,0,0,0.8369442752884854],[-5.102005494457336,7.75534837414353,-2.2778961062431335,0,0,1.0987436630876348],[-5.102005494457336,7.75534837414353,-4.2778961062431335,0,0,1.0987436630876348],[-5.102005494457336,7.75534837414353,-6.2778961062431335,0,0,1.0987436630876348],[-5.102005494457336,7.75534837414353,-8.277896106243134,0,0,1.0987436630876348],[-2.8284283951572142,12.208532310782353,-8.277896106243134,0,0,1.0987436630876348],[-0.5548512958570928,16.661716247421175,-8.277896106243134,0,0,1.0987436630876348],[1.7187258034430286,21.114900184059998,-8.277896106243134,0,0,1.0987436630876348],[3.99230290274315,25.56808412069882,-8.277896106243134,0,0,1.0987436630876348],[8.445486839381974,23.294507021398697,-8.277896106243134,0,0,1.0987436630876348],[10.719063938682096,27.74769095803752,-8.277896106243134,0,0,1.0987436630876348],[10.719063938682096,27.74769095803752,-8.277896106243134,0,0,1.3605430508867844],[10.719063938682096,27.74769095803752,-8.277896106243134,0,0,1.6223424386859338],[10.461447495819124,32.74104992454159,-8.277896106243134,0,0,1.6223424386859338],[10.461447495819124,32.74104992454159,-8.277896106243134,0,0,1.8841418264850833],[10.461447495819124,32.74104992454159,-8.277896106243134,0,0,2.1459412142842327],[10.461447495819124,32.74104992454159,-8.277896106243134,0,0,2.4077406020833823],[10.461447495819124,32.74104992454159,-8.277896106243134,0,0,2.669539989882532],[10.461447495819124,32.74104992454159,-8.277896106243134,0,0,2.931339377681681],[5.571557068396246,33.78458794866822,-8.277896106243134,0,0,2.931339377681681],[0.6816666409733685,34.828125972794844,-8.277896106243134,0,0,2.931339377681681],[0.6816666409733685,34.828125972794844,-6.2778961062431335,0,0,2.931339377681681],[-4.208223786449509,35.87166399692147,-6.2778961062431335,0,0,2.931339377681681],[-9.098114213872387,36.915202021048096,-6.2778961062431335,0,0,2.931339377681681],[-9.098114213872387,36.915202021048096,-6.2778961062431335,0,0,-3.0900465416987557],[-9.098114213872387,36.915202021048096,-6.2778961062431335,0,0,-2.8282471538996066],[-9.098114213872387,36.915202021048096,-6.2778961062431335,0,0,-2.566447766100457],[-9.098114213872387,36.915202021048096,-6.2778961062431335,0,0,-2.3046483783013074],[-9.098114213872387,36.915202021048096,-6.2778961062431335,0,0,-2.042848990502158],[-9.098114213872387,36.915202021048096,-6.2778961062431335,0,0,-1.7810496027030087],[-9.098114213872387,36.915202021048096,-6.2778961062431335,0,0,-1.5192502149038594],[-9.098114213872387,36.915202021048096,-6.2778961062431335,0,0,-1.25745082710471],[-9.098114213872387,36.915202021048096,-6.2778961062431335,0,0,-0.9956514393055605],[-9.098114213872387,36.915202021048096,-6.2778961062431335,0,0,-0.7338520515064112],[-9.098114213872387,36.915202021048096,-6.2778961062431335,0,0,-0.47205266370726184],[-9.098114213872387,36.915202021048096,-6.2778961062431335,0,0,-0.21025327590811246],[-4.208223786449509,35.87166399692147,-6.2778961062431335,0,0,-0.21025327590811246],[-4.208223786449509,35.87166399692147,-4.2778961062431335,0,0,-0.21025327590811246],[0.6816666409733685,34.828125972794844,-4.2778961062431335,0,0,-0.21025327590811246],[5.571557068396246,33.78458794866822,-4.2778961062431335,0,0,-0.21025327590811246],[5.571557068396246,33.78458794866822,-2.2778961062431335,0,0,-0.21025327590811246]],"actions":[4,1,1,1,1,3,3,3,3,4,4,4,1,1,1,1,6,1,3,3,1,3,3,3,3,3,1,1,5,1,1,3,3,3,3,3,3,3,3,3,3,3,3,1,5,1,1,5,0]},
+{"episode_id":"3TPWUS5F8IZX0JFLIZ62XOZR4DGCWE","trajectory_id":"3SMIWMMK793Q0TZSENM02BQ9IV7UWI","scene_id":3,"start_position":[-1.0821374654769897,73.20098114013672,-43.913047790527344],"start_rotation":[0.999972516565019,0.0,0.0,-0.007413913583453987],"instruction":{"instruction_text":"Turn left to face another edge of the rooftop, fly forward over the edge, and turn slightly right to face a dark black building right to a brown building. Fly down to above the park, turn left to face a white building left to a dark black glass building, fly to the intersection in front of that building, and turn right to face a dark glass building with white vertical lines. Fly over the park to the mentioned dark glass building. Turn back to face a white building , fly towards it until you reach a football field in the park , landing on the field."},"goals":[{"position":[-8.098255264411538,18.610111910566637,-1.9130477905273438]}],"reference_path":[[-1.0821374654769897,73.20098114013672,-43.913047790527344,0,0,-0.014827963008275947],[-1.0821374654769897,73.20098114013672,-43.913047790527344,0,0,-0.2766273508074254],[-1.0821374654769897,73.20098114013672,-43.913047790527344,0,0,-0.5384267386065749],[-1.0821374654769897,73.20098114013672,-43.913047790527344,0,0,-0.8002261264057243],[-1.0821374654769897,73.20098114013672,-43.913047790527344,0,0,-1.0620255142048738],[-1.0821374654769897,73.20098114013672,-43.913047790527344,0,0,-1.3238249020040231],[-1.0821374654769897,73.20098114013672,-43.913047790527344,0,0,-1.5856242898031727],[-1.156274563713411,68.20153080128294,-43.913047790527344,0,0,-1.5856242898031727],[-1.2304116619498324,63.20208046242917,-43.913047790527344,0,0,-1.5856242898031727],[-1.3045487601862538,58.2026301235754,-43.913047790527344,0,0,-1.5856242898031727],[-1.378685858422675,53.203179784721634,-43.913047790527344,0,0,-1.5856242898031727],[-1.4528229566590964,48.203729445867864,-43.913047790527344,0,0,-1.5856242898031727],[-1.5269600548955178,43.204279107014095,-43.913047790527344,0,0,-1.5856242898031727],[-1.5269600548955178,43.204279107014095,-43.913047790527344,0,0,-1.3238249020040231],[-0.30461803002859944,38.35599281449338,-43.913047790527344,0,0,-1.3238249020040231],[-0.30461803002859944,38.35599281449338,-43.913047790527344,0,0,-1.0620255142048738],[-0.30461803002859944,38.35599281449338,-41.913047790527344,0,0,-1.0620255142048738],[-0.30461803002859944,38.35599281449338,-39.913047790527344,0,0,-1.0620255142048738],[-0.30461803002859944,38.35599281449338,-37.913047790527344,0,0,-1.0620255142048738],[-0.30461803002859944,38.35599281449338,-35.913047790527344,0,0,-1.0620255142048738],[-0.30461803002859944,38.35599281449338,-33.913047790527344,0,0,-1.0620255142048738],[-0.30461803002859944,38.35599281449338,-31.913047790527344,0,0,-1.0620255142048738],[-0.30461803002859944,38.35599281449338,-29.913047790527344,0,0,-1.0620255142048738],[-0.30461803002859944,38.35599281449338,-27.913047790527344,0,0,-1.0620255142048738],[-0.30461803002859944,38.35599281449338,-25.913047790527344,0,0,-1.0620255142048738],[-0.30461803002859944,38.35599281449338,-23.913047790527344,0,0,-1.0620255142048738],[-0.30461803002859944,38.35599281449338,-21.913047790527344,0,0,-1.0620255142048738],[-0.30461803002859944,38.35599281449338,-19.913047790527344,0,0,-1.0620255142048738],[-0.30461803002859944,38.35599281449338,-17.913047790527344,0,0,-1.0620255142048738],[-0.30461803002859944,38.35599281449338,-15.913047790527344,0,0,-1.0620255142048738],[-0.30461803002859944,38.35599281449338,-13.913047790527344,0,0,-1.0620255142048738],[-0.30461803002859944,38.35599281449338,-11.913047790527344,0,0,-1.0620255142048738],[-0.30461803002859944,38.35599281449338,-9.913047790527344,0,0,-1.0620255142048738],[-0.30461803002859944,38.35599281449338,-9.913047790527344,0,0,-0.8002261264057244],[-0.30461803002859944,38.35599281449338,-9.913047790527344,0,0,-1.0620255142048738],[-0.30461803002859944,38.35599281449338,-9.913047790527344,0,0,-1.3238249020040231],[-0.30461803002859944,38.35599281449338,-9.913047790527344,0,0,-1.5856242898031727],[-0.30461803002859944,38.35599281449338,-9.913047790527344,0,0,-1.847423677602322],[-0.30461803002859944,38.35599281449338,-9.913047790527344,0,0,-2.109223065401472],[-0.30461803002859944,38.35599281449338,-9.913047790527344,0,0,-2.3710224532006214],[-0.30461803002859944,38.35599281449338,-9.913047790527344,0,0,-2.632821840999771],[-0.30461803002859944,38.35599281449338,-9.913047790527344,0,0,-2.89462122879892],[-0.30461803002859944,38.35599281449338,-9.913047790527344,0,0,3.1267646905815165],[-0.30461803002859944,38.35599281449338,-9.913047790527344,0,0,2.8649653027823674],[-5.114528136604868,39.72155671510568,-9.913047790527344,0,0,2.8649653027823674],[-5.114528136604868,39.72155671510568,-9.913047790527344,0,0,3.1267646905815165],[-10.113978475458639,39.795693813342105,-9.913047790527344,0,0,3.1267646905815165],[-10.113978475458639,39.795693813342105,-7.913047790527344,0,0,3.1267646905815165],[-15.11342881431241,39.86983091157853,-7.913047790527344,0,0,3.1267646905815165],[-15.11342881431241,39.86983091157853,-7.913047790527344,0,0,-2.89462122879892],[-15.11342881431241,39.86983091157853,-7.913047790527344,0,0,-2.632821840999771],[-15.11342881431241,39.86983091157853,-7.913047790527344,0,0,-2.3710224532006214],[-15.11342881431241,39.86983091157853,-7.913047790527344,0,0,-2.109223065401472],[-15.11342881431241,39.86983091157853,-7.913047790527344,0,0,-1.8474236776023225],[-15.11342881431241,39.86983091157853,-7.913047790527344,0,0,-1.5856242898031732],[-15.11342881431241,39.86983091157853,-7.913047790527344,0,0,-1.323824902004024],[-15.11342881431241,39.86983091157853,-7.913047790527344,0,0,-1.0620255142048745],[-15.11342881431241,39.86983091157853,-7.913047790527344,0,0,-0.8002261264057251],[-15.11342881431241,39.86983091157853,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+{"episode_id":"3IX2EGZR7KHF0145TXDIXT455GGRJ9","trajectory_id":"3OEWW2KGRR9WEIF41651BH9ZUIHOD9","scene_id":3,"start_position":[20.917078018188477,15.523042678833008,-3.2698440551757812],"start_rotation":[0.9998304443951364,0.0,0.0,-0.018414191826524793],"instruction":{"instruction_text":"Take off to the height of the top of the building in front of you, turn right to face the shortest black glass building, fly forward to it. Fly down to above the trees, make a sharp left turn to face the white building behind the trees in the park, then fly forward to the front of it. Turn right to face the road, fly forward to the green sheds on left, turn left and face the flag on the first floor of the building before landing."},"goals":[{"position":[-27.649365868189687,22.79817836348887,-1.2698440551757812]}],"reference_path":[[20.917078018188477,15.523042678833008,-3.2698440551757812,0,0,-0.036830465280519725],[20.917078018188477,15.523042678833008,-5.269844055175781,0,0,-0.036830465280519725],[20.917078018188477,15.523042678833008,-7.269844055175781,0,0,-0.036830465280519725],[20.917078018188477,15.523042678833008,-9.269844055175781,0,0,-0.036830465280519725],[20.917078018188477,15.523042678833008,-11.269844055175781,0,0,-0.036830465280519725],[20.917078018188477,15.523042678833008,-13.269844055175781,0,0,-0.036830465280519725],[20.917078018188477,15.523042678833008,-15.269844055175781,0,0,-0.036830465280519725],[20.917078018188477,15.523042678833008,-17.26984405517578,0,0,-0.036830465280519725],[20.917078018188477,15.523042678833008,-19.26984405517578,0,0,-0.036830465280519725],[20.917078018188477,15.523042678833008,-21.26984405517578,0,0,-0.036830465280519725],[20.917078018188477,15.523042678833008,-23.26984405517578,0,0,-0.036830465280519725],[20.917078018188477,15.523042678833008,-25.26984405517578,0,0,-0.036830465280519725],[20.917078018188477,15.523042678833008,-27.26984405517578,0,0,-0.036830465280519725],[20.917078018188477,15.523042678833008,-29.26984405517578,0,0,-0.036830465280519725],[20.917078018188477,15.523042678833008,-31.26984405517578,0,0,-0.036830465280519725],[20.917078018188477,15.523042678833008,-33.26984405517578,0,0,-0.036830465280519725],[20.917078018188477,15.523042678833008,-33.26984405517578,0,0,0.2249689225186297],[20.917078018188477,15.523042678833008,-33.26984405517578,0,0,0.4867683103177791],[20.917078018188477,15.523042678833008,-33.26984405517578,0,0,0.7485676981169286],[20.917078018188477,15.523042678833008,-33.26984405517578,0,0,1.010367085916078],[20.917078018188477,15.523042678833008,-33.26984405517578,0,0,1.2721664737152274],[20.917078018188477,15.523042678833008,-33.26984405517578,0,0,1.5339658615143767],[20.917078018188477,15.523042678833008,-33.26984405517578,0,0,1.795765249313526],[20.917078018188477,15.523042678833008,-33.26984405517578,0,0,2.0575646371126757],[20.917078018188477,15.523042678833008,-33.26984405517578,0,0,2.3193640249118253],[17.514127708938634,19.186364831302868,-33.26984405517578,0,0,2.3193640249118253],[14.111177399688792,22.849686983772727,-33.26984405517578,0,0,2.3193640249118253],[10.70822709043895,26.513009136242587,-33.26984405517578,0,0,2.3193640249118253],[7.305276781189108,30.176331288712447,-33.26984405517578,0,0,2.3193640249118253],[7.305276781189108,30.176331288712447,-33.26984405517578,0,0,2.057564637112676],[7.305276781189108,30.176331288712447,-31.26984405517578,0,0,2.057564637112676],[7.305276781189108,30.176331288712447,-29.26984405517578,0,0,2.057564637112676],[7.305276781189108,30.176331288712447,-27.26984405517578,0,0,2.057564637112676],[7.305276781189108,30.176331288712447,-25.26984405517578,0,0,2.057564637112676],[7.305276781189108,30.176331288712447,-23.26984405517578,0,0,2.057564637112676],[7.305276781189108,30.176331288712447,-21.26984405517578,0,0,2.057564637112676],[7.305276781189108,30.176331288712447,-19.26984405517578,0,0,2.057564637112676],[7.305276781189108,30.176331288712447,-17.26984405517578,0,0,2.057564637112676],[7.305276781189108,30.176331288712447,-15.269844055175781,0,0,2.057564637112676],[7.305276781189108,30.176331288712447,-13.269844055175781,0,0,2.057564637112676],[7.305276781189108,30.176331288712447,-11.269844055175781,0,0,2.057564637112676],[7.305276781189108,30.176331288712447,-9.269844055175781,0,0,2.057564637112676],[7.305276781189108,30.176331288712447,-9.269844055175781,0,0,1.7957652493135268],[7.305276781189108,30.176331288712447,-9.269844055175781,0,0,1.5339658615143774],[7.305276781189108,30.176331288712447,-9.269844055175781,0,0,1.2721664737152278],[7.305276781189108,30.176331288712447,-9.269844055175781,0,0,1.0103670859160785],[7.305276781189108,30.176331288712447,-9.269844055175781,0,0,0.748567698116929],[7.305276781189108,30.176331288712447,-9.269844055175781,0,0,0.4867683103177796],[7.305276781189108,30.176331288712447,-9.269844055175781,0,0,0.22496892251863024],[7.305276781189108,30.176331288712447,-9.269844055175781,0,0,-0.03683046528051919],[7.305276781189108,30.176331288712447,-9.269844055175781,0,0,-0.2986298530796686],[7.305276781189108,30.176331288712447,-9.269844055175781,0,0,-0.5604292408788181],[7.305276781189108,30.176331288712447,-9.269844055175781,0,0,-0.8222286286779675],[7.305276781189108,30.176331288712447,-9.269844055175781,0,0,-1.0840280164771168],[9.644136829066746,25.75708546205358,-9.269844055175781,0,0,-1.0840280164771168],[9.644136829066746,25.75708546205358,-9.269844055175781,0,0,-1.3458274042762661],[9.644136829066746,25.75708546205358,-9.269844055175781,0,0,-1.6076267920754157],[9.644136829066746,25.75708546205358,-9.269844055175781,0,0,-1.869426179874565],[9.644136829066746,25.75708546205358,-9.269844055175781,0,0,-2.1312255676737144],[9.644136829066746,25.75708546205358,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+{"episode_id":"3WS1NTTKE7ABV5YAGU3IYZBQ3M90FW","trajectory_id":"3QMELQS6ZD90QMS5JBERZ64COJER6T","scene_id":3,"start_position":[23.38324737548828,24.798795700073242,-0.3869688808917999],"start_rotation":[0.9999983689109619,0.0,0.0,-0.0018061493336990737],"instruction":{"instruction_text":"Fly up above the horizontal brick line. Turn left to face a brown building with windows. Fly forward over the roof to an intersection. Turn left to face the park and a dark black building behind it. Fly forward towards the dark black building left to a white building to an intersection. Turn right to face a brown building with windows. Fly forward to the brown building. Turn left to face an intersection. Fly towards the intersection, land when reach some trees on your right side."},"goals":[{"position":[-16.098867131319828,2.687813649848616,-0.3869688808917999]}],"reference_path":[[23.38324737548828,24.798795700073242,-0.3869688808917999,0,0,-0.003612300631393015],[23.38324737548828,24.798795700073242,-2.3869688808918,0,0,-0.003612300631393015],[23.38324737548828,24.798795700073242,-4.3869688808918,0,0,-0.003612300631393015],[23.38324737548828,24.798795700073242,-6.3869688808918,0,0,-0.003612300631393015],[23.38324737548828,24.798795700073242,-6.3869688808918,0,0,-0.26541168843054247],[23.38324737548828,24.798795700073242,-6.3869688808918,0,0,-0.5272110762296919],[23.38324737548828,24.798795700073242,-6.3869688808918,0,0,-0.7890104640288413],[23.38324737548828,24.798795700073242,-6.3869688808918,0,0,-1.0508098518279907],[23.38324737548828,24.798795700073242,-6.3869688808918,0,0,-1.31260923962714],[23.38324737548828,24.798795700073242,-6.3869688808918,0,0,-1.5744086274262894],[23.38324737548828,24.798795700073242,-6.3869688808918,0,0,-1.8362080152254387],[23.38324737548828,24.798795700073242,-8.3869688808918,0,0,-1.8362080152254387],[22.071714558687475,19.97387272965656,-8.3869688808918,0,0,-1.8362080152254387],[20.76018174188667,15.148949759239876,-8.3869688808918,0,0,-1.8362080152254387],[19.448648925085863,10.324026788823193,-8.3869688808918,0,0,-1.8362080152254387],[19.448648925085863,10.324026788823193,-8.3869688808918,0,0,-2.0980074030245883],[19.448648925085863,10.324026788823193,-8.3869688808918,0,0,-2.359806790823738],[19.448648925085863,10.324026788823193,-8.3869688808918,0,0,-2.6216061786228875],[19.448648925085863,10.324026788823193,-8.3869688808918,0,0,-2.883405566422037],[19.448648925085863,10.324026788823193,-8.3869688808918,0,0,3.1379803529584],[19.448648925085863,10.324026788823193,-8.3869688808918,0,0,2.8761809651592505],[19.448648925085863,10.324026788823193,-8.3869688808918,0,0,2.6143815773601013],[19.448648925085863,10.324026788823193,-8.3869688808918,0,0,2.352582189560952],[15.925909469802345,13.872309011277995,-8.3869688808918,0,0,2.352582189560952],[12.403170014518828,17.420591233732797,-8.3869688808918,0,0,2.352582189560952],[8.880430559235311,20.9688734561876,-8.3869688808918,0,0,2.352582189560952],[5.357691103951794,24.5171556786424,-8.3869688808918,0,0,2.352582189560952],[1.834951648668277,28.0654379010972,-8.3869688808918,0,0,2.352582189560952],[-1.6877878066152396,31.613720123552003,-8.3869688808918,0,0,2.352582189560952],[-5.210527261898756,35.16200234600681,-8.3869688808918,0,0,2.352582189560952],[-5.210527261898756,35.16200234600681,-8.3869688808918,0,0,2.614381577360102],[-5.210527261898756,35.16200234600681,-8.3869688808918,0,0,2.876180965159251],[-5.210527261898756,35.16200234600681,-8.3869688808918,0,0,3.1379803529584],[-5.210527261898756,35.16200234600681,-8.3869688808918,0,0,-2.883405566422037],[-5.210527261898756,35.16200234600681,-8.3869688808918,0,0,-2.6216061786228875],[-5.210527261898756,35.16200234600681,-8.3869688808918,0,0,-2.359806790823738],[-5.210527261898756,35.16200234600681,-8.3869688808918,0,0,-2.0980074030245888],[-5.210527261898756,35.16200234600681,-8.3869688808918,0,0,-1.8362080152254392],[-5.210527261898756,35.16200234600681,-8.3869688808918,0,0,-1.5744086274262898],[-5.210527261898756,35.16200234600681,-8.3869688808918,0,0,-1.3126092396271405],[-3.933886513936879,30.327730073922485,-8.3869688808918,0,0,-1.3126092396271405],[-2.657245765975002,25.49345780183816,-8.3869688808918,0,0,-1.3126092396271405],[-1.3806050180131253,20.659185529753838,-8.3869688808918,0,0,-1.3126092396271405],[-0.10396427005124842,15.824913257669515,-8.3869688808918,0,0,-1.3126092396271405],[1.1726764779106285,10.990640985585191,-8.3869688808918,0,0,-1.3126092396271405],[2.4493172258725053,6.156368713500867,-8.3869688808918,0,0,-1.3126092396271405],[2.4493172258725053,6.156368713500867,-8.3869688808918,0,0,-1.57440862742629],[2.4493172258725053,6.156368713500867,-8.3869688808918,0,0,-1.8362080152254394],[2.4493172258725053,6.156368713500867,-8.3869688808918,0,0,-2.0980074030245888],[2.4493172258725053,6.156368713500867,-8.3869688808918,0,0,-2.359806790823738],[2.4493172258725053,6.156368713500867,-8.3869688808918,0,0,-2.6216061786228875],[2.4493172258725053,6.156368713500867,-8.3869688808918,0,0,-2.883405566422037],[2.4493172258725053,6.156368713500867,-8.3869688808918,0,0,3.1379803529584],[-2.550650152373338,6.174430177377955,-8.3869688808918,0,0,3.1379803529584],[-7.550617530619181,6.192491641255043,-8.3869688808918,0,0,3.1379803529584],[-12.550584908865025,6.210553105132131,-8.3869688808918,0,0,3.1379803529584],[-12.550584908865025,6.210553105132131,-8.3869688808918,0,0,-2.883405566422037],[-12.550584908865025,6.210553105132131,-8.3869688808918,0,0,-2.6216061786228875],[-12.550584908865025,6.210553105132131,-8.3869688808918,0,0,-2.359806790823738],[-16.098867131319828,2.687813649848616,-8.3869688808918,0,0,-2.359806790823738],[-16.098867131319828,2.687813649848616,-6.3869688808918,0,0,-2.359806790823738],[-16.098867131319828,2.687813649848616,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+{"episode_id":"34Z02EIMI1BLEAGBBE87F3QRUS50TM","trajectory_id":"3CMV9YRYQBZ1BJCZYABKMY0I4X9JL1","scene_id":3,"start_position":[23.38324737548828,24.798795700073242,-0.3869688808917999],"start_rotation":[0.999870019217569,0.0,0.0,0.01612279969044074],"instruction":{"instruction_text":"Turn left to face a brown building with windows, fly up to the height of the roof ahead. Fly forward over the roof to the intersection ahead. Fly forward to the mentioned brown building. Turn left to face an intersection and fly forward to it. Turn left to face the row of buildings behind the park, fly forward to the sleek dark glass skyscraper left to an intersection, turn right to face the building with a grid-like facade of light gray panels and dark window, fly to the intersection ahead and land."},"goals":[{"position":[-30.660018786981095,10.70900075314368,-2.3869688808918]}],"reference_path":[[23.38324737548828,24.798795700073242,-0.3869688808917999,0,0,0.032246996556269954],[23.38324737548828,24.798795700073242,-2.3869688808918,0,0,0.032246996556269954],[23.38324737548828,24.798795700073242,-2.3869688808918,0,0,-0.22955239124287946],[23.38324737548828,24.798795700073242,-2.3869688808918,0,0,-0.4913517790420289],[23.38324737548828,24.798795700073242,-2.3869688808918,0,0,-0.7531511668411783],[23.38324737548828,24.798795700073242,-2.3869688808918,0,0,-1.0149505546403277],[23.38324737548828,24.798795700073242,-2.3869688808918,0,0,-1.276749942439477],[23.38324737548828,24.798795700073242,-2.3869688808918,0,0,-1.5385493302386266],[23.38324737548828,24.798795700073242,-4.3869688808918,0,0,-1.5385493302386266],[23.38324737548828,24.798795700073242,-4.3869688808918,0,0,-1.800348718037776],[23.38324737548828,24.798795700073242,-4.3869688808918,0,0,-2.0621481058369255],[23.38324737548828,24.798795700073242,-4.3869688808918,0,0,-2.323947493636075],[23.38324737548828,24.798795700073242,-6.3869688808918,0,0,-2.323947493636075],[19.963542147359288,21.151109289112558,-6.3869688808918,0,0,-2.323947493636075],[16.543836919230294,17.503422878151873,-6.3869688808918,0,0,-2.323947493636075],[13.1241316911013,13.85573646719119,-6.3869688808918,0,0,-2.323947493636075],[9.476445280140616,17.27544169532018,-6.3869688808918,0,0,-2.323947493636075],[6.056740052011624,13.627755284359495,-6.3869688808918,0,0,-2.323947493636075],[2.6370348238826313,9.98006887339881,-6.3869688808918,0,0,-2.323947493636075],[-0.7826704042463613,6.332382462438126,-6.3869688808918,0,0,-2.323947493636075],[-0.7826704042463613,6.332382462438126,-6.3869688808918,0,0,-2.5857468814352242],[-5.02994271611019,3.694072793563964,-6.3869688808918,0,0,-2.5857468814352242],[-5.02994271611019,3.694072793563964,-6.3869688808918,0,0,-2.847546269234374],[-5.02994271611019,3.694072793563964,-8.3869688808918,0,0,-2.847546269234374],[-5.02994271611019,3.694072793563964,-8.3869688808918,0,0,-3.109345657033524],[-10.02734326941161,3.532865753200747,-8.3869688808918,0,0,-3.109345657033524],[-15.02474382271303,3.3716587128375295,-8.3869688808918,0,0,-3.109345657033524],[-15.02474382271303,3.3716587128375295,-8.3869688808918,0,0,2.9120402623469133],[-19.893585533708762,4.509367108371356,-8.3869688808918,0,0,2.9120402623469133],[-24.762427244704494,5.647075503905182,-8.3869688808918,0,0,2.9120402623469133],[-24.762427244704494,5.647075503905182,-8.3869688808918,0,0,2.6502408745477637],[-24.762427244704494,5.647075503905182,-8.3869688808918,0,0,2.3884414867486146],[-24.762427244704494,5.647075503905182,-8.3869688808918,0,0,2.126642098949465],[-24.762427244704494,5.647075503905182,-8.3869688808918,0,0,1.8648427111503156],[-24.762427244704494,5.647075503905182,-8.3869688808918,0,0,1.603043323351166],[-24.762427244704494,5.647075503905182,-8.3869688808918,0,0,1.3412439355520167],[-24.762427244704494,5.647075503905182,-8.3869688808918,0,0,1.0794445477528674],[-22.403336360277233,10.055554856132229,-8.3869688808918,0,0,1.0794445477528674],[-20.044245475849973,14.464034208359276,-8.3869688808918,0,0,1.0794445477528674],[-17.685154591422712,18.872513560586324,-8.3869688808918,0,0,1.0794445477528674],[-15.326063706995454,23.28099291281337,-8.3869688808918,0,0,1.0794445477528674],[-12.966972822568195,27.68947226504042,-8.3869688808918,0,0,1.0794445477528674],[-10.607881938140936,32.09795161726747,-8.3869688808918,0,0,1.0794445477528674],[-8.248791053713678,36.50643096949452,-8.3869688808918,0,0,1.0794445477528674],[-8.248791053713678,36.50643096949452,-8.3869688808918,0,0,1.3412439355520167],[-8.248791053713678,36.50643096949452,-8.3869688808918,0,0,1.603043323351166],[-8.248791053713678,36.50643096949452,-8.3869688808918,0,0,1.8648427111503156],[-8.248791053713678,36.50643096949452,-8.3869688808918,0,0,2.126642098949465],[-8.248791053713678,36.50643096949452,-8.3869688808918,0,0,2.3884414867486146],[-8.248791053713678,36.50643096949452,-8.3869688808918,0,0,2.6502408745477637],[-8.248791053713678,36.50643096949452,-8.3869688808918,0,0,2.9120402623469133],[-8.248791053713678,36.50643096949452,-8.3869688808918,0,0,-3.109345657033524],[-8.248791053713678,36.50643096949452,-8.3869688808918,0,0,-2.8475462692343743],[-8.248791053713678,36.50643096949452,-8.3869688808918,0,0,-2.5857468814352247],[-12.496063365577507,33.86812130062036,-8.3869688808918,0,0,-2.5857468814352247],[-16.743335677441337,31.2298116317462,-8.3869688808918,0,0,-2.5857468814352247],[-16.743335677441337,31.2298116317462,-8.3869688808918,0,0,-2.323947493636075],[-20.16304090557033,27.582125220785514,-8.3869688808918,0,0,-2.323947493636075],[-23.582746133699324,23.93443880982483,-8.3869688808918,0,0,-2.323947493636075],[-23.582746133699324,23.93443880982483,-8.3869688808918,0,0,-2.0621481058369255],[-25.94183701812658,19.52595945759778,-8.3869688808918,0,0,-2.0621481058369255],[-28.300927902553838,15.117480105370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+{"episode_id":"3IRIK4HM3JIZ640FRHTYZU0EJ9Y6CH","trajectory_id":"3BFNCI9LZSORBKL8RVINNM1SDGI734","scene_id":3,"start_position":[-35.9530143737793,10.711148262023926,-0.5805371999740601],"start_rotation":[0.9999077535467336,0.0,0.0,0.013582503345290787],"instruction":{"instruction_text":"Fly up above the trees, and fly forward along the road until over a construction site. Turn left to face the brown building with windows, turn left to face the trees at the right side of the intersection, fly forward until you cross the trees. Turn left to face the park, then fly forward to the center of the park. Turn left to face the dark black building on the right side of a brown building, fly forward to that building, and land on the road."},"goals":[{"position":[17.363384597174946,-2.6752132885974684,-2.58053719997406]}],"reference_path":[[-35.9530143737793,10.711148262023926,-0.5805371999740601,0,0,0.02716584201324393],[-35.9530143737793,10.711148262023926,-2.58053719997406,0,0,0.02716584201324393],[-35.9530143737793,10.711148262023926,-4.58053719997406,0,0,0.02716584201324393],[-35.9530143737793,10.711148262023926,-6.58053719997406,0,0,0.02716584201324393],[-35.9530143737793,10.711148262023926,-8.58053719997406,0,0,0.02716584201324393],[-30.954859217750545,10.846960766099233,-8.58053719997406,0,0,0.02716584201324393],[-25.956704061721794,10.98277327017454,-8.58053719997406,0,0,0.02716584201324393],[-20.958548905693043,11.118585774249848,-8.58053719997406,0,0,0.02716584201324393],[-20.958548905693043,11.118585774249848,-8.58053719997406,0,0,-0.2346335457859055],[-16.09555089406725,9.956152834711574,-8.58053719997406,0,0,-0.2346335457859055],[-11.23255288244146,8.7937198951733,-8.58053719997406,0,0,-0.2346335457859055],[-6.369554870815668,7.6312869556350265,-8.58053719997406,0,0,-0.2346335457859055],[-6.369554870815668,7.6312869556350265,-8.58053719997406,0,0,-0.49643293358505497],[-6.369554870815668,7.6312869556350265,-8.58053719997406,0,0,-0.7582323213842044],[-6.369554870815668,7.6312869556350265,-8.58053719997406,0,0,-1.0200317091833537],[-6.369554870815668,7.6312869556350265,-8.58053719997406,0,0,-1.2818310969825033],[-6.369554870815668,7.6312869556350265,-8.58053719997406,0,0,-1.5436304847816527],[-6.369554870815668,7.6312869556350265,-8.58053719997406,0,0,-1.805429872580802],[-6.369554870815668,7.6312869556350265,-8.58053719997406,0,0,-2.0672292603799516],[-6.369554870815668,7.6312869556350265,-8.58053719997406,0,0,-2.329028648179101],[-6.369554870815668,7.6312869556350265,-8.58053719997406,0,0,-2.5908280359782503],[-6.369554870815668,7.6312869556350265,-8.58053719997406,0,0,-2.8526274237774],[-6.369554870815668,7.6312869556350265,-8.58053719997406,0,0,-3.11442681157655],[-11.36771002684442,7.495474451559723,-8.58053719997406,0,0,-3.11442681157655],[-11.36771002684442,7.495474451559723,-8.58053719997406,0,0,-2.8526274237774003],[-11.36771002684442,7.495474451559723,-8.58053719997406,0,0,-2.5908280359782507],[-11.36771002684442,7.495474451559723,-8.58053719997406,0,0,-2.329028648179101],[-14.805905488493282,3.8652111047077113,-8.58053719997406,0,0,-2.329028648179101],[-14.805905488493282,3.8652111047077113,-8.58053719997406,0,0,-2.0672292603799516],[-14.805905488493282,3.8652111047077113,-8.58053719997406,0,0,-2.329028648179101],[-14.805905488493282,3.8652111047077113,-8.58053719997406,0,0,-2.5908280359782503],[-14.805905488493282,3.8652111047077113,-8.58053719997406,0,0,-2.8526274237774],[-14.805905488493282,3.8652111047077113,-8.58053719997406,0,0,-3.11442681157655],[-14.805905488493282,3.8652111047077113,-8.58053719997406,0,0,2.906959107803887],[-14.805905488493282,3.8652111047077113,-8.58053719997406,0,0,2.6451597200047376],[-14.805905488493282,3.8652111047077113,-8.58053719997406,0,0,2.3833603322055885],[-14.805905488493282,3.8652111047077113,-8.58053719997406,0,0,2.121560944406439],[-14.805905488493282,3.8652111047077113,-8.58053719997406,0,0,1.8597615566072894],[-14.805905488493282,3.8652111047077113,-8.58053719997406,0,0,1.59796216880814],[-14.805905488493282,3.8652111047077113,-8.58053719997406,0,0,1.3361627810089907],[-13.643472548955007,8.728209116333502,-8.58053719997406,0,0,1.3361627810089907],[-12.481039609416731,13.591207127959294,-8.58053719997406,0,0,1.3361627810089907],[-12.481039609416731,13.591207127959294,-8.58053719997406,0,0,1.0743633932098413],[-10.099579110083148,17.98764271717402,-8.58053719997406,0,0,1.0743633932098413],[-10.099579110083148,17.98764271717402,-8.58053719997406,0,0,0.8125640054106918],[-10.099579110083148,17.98764271717402,-8.58053719997406,0,0,0.5507646176115424],[-10.099579110083148,17.98764271717402,-8.58053719997406,0,0,0.2889652298123929],[-10.099579110083148,17.98764271717402,-8.58053719997406,0,0,0.027165842013243485],[-10.099579110083148,17.98764271717402,-8.58053719997406,0,0,-0.23463354578590595],[-10.099579110083148,17.98764271717402,-8.58053719997406,0,0,-0.49643293358505536],[-5.703143520868422,15.606182217840434,-8.58053719997406,0,0,-0.49643293358505536],[-1.3067079316536958,13.22472171850685,-8.58053719997406,0,0,-0.49643293358505536],[3.0897276575610304,10.843261219173264,-8.58053719997406,0,0,-0.49643293358505536],[7.486163246775757,8.46180071983968,-8.58053719997406,0,0,-0.49643293358505536],[7.486163246775757,8.46180071983968,-8.58053719997406,0,0,-0.7582323213842048],[11.116426593627768,5.023605258190816,-8.58053719997406,0,0,-0.7582323213842048],[14.74668994047978,1.5854097965419531,-8.58053719997406,0,0,-0.7582323213842048],[14.74668994047978,1.5854097965419531,-6.58053719997406,0,0,-0.7582323213842048],[14.74668994047978,1.5854097965419531,-4.58053719997406,0,0,-0.7582323213842048],[14.74668994047978,1.5854097965419531,-4.58053719997406,0,0,-1.0200317091833544],[17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+{"episode_id":"3WYGZ5XF35DMC0A0Q7DZOI9E65QSKK","trajectory_id":"3126F2F5GG1JRO55C1T06ZWA4ZEEP9","scene_id":3,"start_position":[-18.28629493713379,31.673057556152344,-0.23775610327720642],"start_rotation":[0.9996385407955082,0.0,0.0,0.026884712314384766],"instruction":{"instruction_text":"Take off to the height of trees, turn left to face the brown building with windows, fly up  above the trees, then fly forward across the park until you reach the front of that brown building. Turn back to horizontally face a row of trees. Fly forward across the park to the road, and turn left to face the white building with a grid-patterned facade of light blue panels and dark windows at the intersection. Fly down to the height of street lights in front of the building, turn left to face the pedestrian crossing, and fly forward along the road until you see flags of different styles. Fly forward to the intersection, turn right to face the road, fly forward passing two flags on your right, then land."},"goals":[{"position":[25.388524694395947,10.604849952178451,-2.2377561032772064]}],"reference_path":[[-18.28629493713379,31.673057556152344,-0.23775610327720642,0,0,0.053775904050081896],[-18.28629493713379,31.673057556152344,-2.2377561032772064,0,0,0.053775904050081896],[-18.28629493713379,31.673057556152344,-4.237756103277206,0,0,0.053775904050081896],[-18.28629493713379,31.673057556152344,-6.237756103277206,0,0,0.053775904050081896],[-18.28629493713379,31.673057556152344,-6.237756103277206,0,0,-0.20802348374906754],[-18.28629493713379,31.673057556152344,-6.237756103277206,0,0,-0.469822871548217],[-18.28629493713379,31.673057556152344,-6.237756103277206,0,0,-0.7316222593473665],[-18.28629493713379,31.673057556152344,-6.237756103277206,0,0,-0.993421647146516],[-15.55716459552011,27.483565035752815,-6.237756103277206,0,0,-0.993421647146516],[-12.82803425390643,23.294072515353285,-6.237756103277206,0,0,-0.993421647146516],[-10.098903912292752,19.104579994953756,-6.237756103277206,0,0,-0.993421647146516],[-7.369773570679072,14.915087474554227,-6.237756103277206,0,0,-0.993421647146516],[-4.640643229065393,10.725594954154698,-6.237756103277206,0,0,-0.993421647146516],[-1.9115128874517135,6.536102433755168,-6.237756103277206,0,0,-0.993421647146516],[-1.9115128874517135,6.536102433755168,-6.237756103277206,0,0,-0.7316222593473666],[-1.9115128874517135,6.536102433755168,-6.237756103277206,0,0,-0.4698228715482171],[-1.9115128874517135,6.536102433755168,-6.237756103277206,0,0,-0.2080234837490677],[-1.9115128874517135,6.536102433755168,-6.237756103277206,0,0,0.05377590405008174],[-1.9115128874517135,6.536102433755168,-6.237756103277206,0,0,0.31557529184923117],[-1.9115128874517135,6.536102433755168,-6.237756103277206,0,0,0.5773746796483806],[-1.9115128874517135,6.536102433755168,-6.237756103277206,0,0,0.83917406744753],[-1.9115128874517135,6.536102433755168,-6.237756103277206,0,0,1.1009734552466794],[-1.9115128874517135,6.536102433755168,-6.237756103277206,0,0,1.3627728430458288],[-0.8788808878438774,11.428307575956987,-6.237756103277206,0,0,1.3627728430458288],[0.15375111176395873,16.320512718158806,-6.237756103277206,0,0,1.3627728430458288],[1.1863831113717949,21.212717860360627,-6.237756103277206,0,0,1.3627728430458288],[1.1863831113717949,21.212717860360627,-6.237756103277206,0,0,1.1009734552466794],[3.4500248921958425,25.67096032663674,-6.237756103277206,0,0,1.1009734552466794],[3.4500248921958425,25.67096032663674,-6.237756103277206,0,0,0.83917406744753],[6.79041300771786,29.391418260504462,-6.237756103277206,0,0,0.83917406744753],[10.130801123239877,33.11187619437218,-6.237756103277206,0,0,0.83917406744753],[13.471189238761895,36.8323341282399,-6.237756103277206,0,0,0.83917406744753],[13.471189238761895,36.8323341282399,-4.237756103277206,0,0,0.83917406744753],[13.471189238761895,36.8323341282399,-2.2377561032772064,0,0,0.83917406744753],[13.471189238761895,36.8323341282399,-2.2377561032772064,0,0,0.5773746796483805],[17.660681759161424,39.561464469853576,-2.2377561032772064,0,0,0.5773746796483805],[17.660681759161424,39.561464469853576,-2.2377561032772064,0,0,0.31557529184923117],[17.660681759161424,39.561464469853576,-2.2377561032772064,0,0,0.05377590405008174],[17.660681759161424,39.561464469853576,-2.2377561032772064,0,0,-0.2080234837490677],[17.660681759161424,39.561464469853576,-2.2377561032772064,0,0,-0.4698228715482171],[17.660681759161424,39.561464469853576,-2.2377561032772064,0,0,-0.7316222593473666],[17.660681759161424,39.561464469853576,-2.2377561032772064,0,0,-0.993421647146516],[17.660681759161424,39.561464469853576,-2.2377561032772064,0,0,-1.2552210349456654],[17.660681759161424,39.561464469853576,-2.2377561032772064,0,0,-1.517020422744815],[17.92943170503801,34.56869234741585,-2.2377561032772064,0,0,-1.517020422744815],[18.198181650914595,29.57592022497812,-2.2377561032772064,0,0,-1.517020422744815],[18.46693159679118,24.58314810254039,-2.2377561032772064,0,0,-1.517020422744815],[18.735681542667766,19.590375980102664,-2.2377561032772064,0,0,-1.517020422744815],[18.735681542667766,19.590375980102664,-2.2377561032772064,0,0,-1.7788198105439645],[18.735681542667766,19.590375980102664,-2.2377561032772064,0,0,-2.040619198343114],[16.472039761843718,15.132133513826549,-2.2377561032772064,0,0,-2.040619198343114],[16.472039761843718,15.132133513826549,-2.2377561032772064,0,0,-1.7788198105439645],[16.472039761843718,15.132133513826549,-2.2377561032772064,0,0,-1.5170204227448152],[16.472039761843718,15.132133513826549,-2.2377561032772064,0,0,-1.2552210349456658],[16.472039761843718,15.132133513826549,-2.2377561032772064,0,0,-0.9934216471465165],[16.472039761843718,15.132133513826549,-2.2377561032772064,0,0,-0.731622259347367],[16.472039761843718,15.132133513826549,-2.2377561032772064,0,0,-0.4698228715482175],[20.930282228119832,12.8684917330025,-2.2377561032772064,0,0,-0.4698228715482175],[25.388524694395947,10.604849952178451,-2.2377561032772064,0,0,-0.4698228715482175]],"actions":[4,4,4,2,2,2,2,1,1,1,1,1,1,3,3,3,3,3,3,3,3,3,1,1,1,2,1,2,1,1,1,5,5,2,1,2,2,2,2,2,2,2,2,1,1,1,1,2,2,1,3,3,3,3,3,3,1,1,0]},
+{"episode_id":"3XXU1SWE8VTGZEH25EHQKY0Z3XJA0V","trajectory_id":"3A9LA2FRX0C0K7YYOTBNLFFQXPBXHD","scene_id":3,"start_position":[-0.3521323800086975,-6.106232166290283,-38.577369689941406],"start_rotation":[0.9999342839371796,0.0,0.0,0.011464196746384369],"instruction":{"instruction_text":"Turn right until you can see the skyscrapers and the white edge of the roof is horizontal in your screen. Fly forward over the roof and fly down to the height of the trees ahead. Turn right to face an intersection. Fly to the intersection, turn left to face the road and another intersection. Turn left to face the park and the dark blue building with white vertical lines behind it, fly over the park to reach the intersection in front of that building. Turn right to face the shortest black glass building. Fly up to the height of a black glass skyscraper with white vertical lines behind the black building and fly to its rooftop. Land on the rooftop."},"goals":[{"position":[1.170034332836043,66.60383755454775,-44.577369689941406]}],"reference_path":[[-0.3521323800086975,-6.106232166290283,-38.577369689941406,0,0,0.022928895760553968],[-0.3521323800086975,-6.106232166290283,-38.577369689941406,0,0,0.28472828355970337],[-0.3521323800086975,-6.106232166290283,-38.577369689941406,0,0,0.5465276713588528],[-0.3521323800086975,-6.106232166290283,-38.577369689941406,0,0,0.8083270591580023],[-0.3521323800086975,-6.106232166290283,-38.577369689941406,0,0,1.0701264469571516],[-0.3521323800086975,-6.106232166290283,-38.577369689941406,0,0,1.3319258347563012],[0.8308943252688961,-1.2482029553241691,-38.577369689941406,0,0,1.3319258347563012],[0.8308943252688961,-1.2482029553241691,-38.577369689941406,0,0,1.5937252225554506],[0.7162598916237881,3.7504827666054332,-38.577369689941406,0,0,1.5937252225554506],[0.7162598916237881,3.7504827666054332,-36.577369689941406,0,0,1.5937252225554506],[0.7162598916237881,3.7504827666054332,-34.577369689941406,0,0,1.5937252225554506],[0.7162598916237881,3.7504827666054332,-32.577369689941406,0,0,1.5937252225554506],[0.7162598916237881,3.7504827666054332,-30.577369689941406,0,0,1.5937252225554506],[0.7162598916237881,3.7504827666054332,-28.577369689941406,0,0,1.5937252225554506],[0.7162598916237881,3.7504827666054332,-26.577369689941406,0,0,1.5937252225554506],[0.7162598916237881,3.7504827666054332,-24.577369689941406,0,0,1.5937252225554506],[0.7162598916237881,3.7504827666054332,-22.577369689941406,0,0,1.5937252225554506],[0.7162598916237881,3.7504827666054332,-20.577369689941406,0,0,1.5937252225554506],[0.7162598916237881,3.7504827666054332,-18.577369689941406,0,0,1.5937252225554506],[0.7162598916237881,3.7504827666054332,-16.577369689941406,0,0,1.5937252225554506],[0.7162598916237881,3.7504827666054332,-14.577369689941406,0,0,1.5937252225554506],[0.7162598916237881,3.7504827666054332,-12.577369689941406,0,0,1.5937252225554506],[0.7162598916237881,3.7504827666054332,-10.577369689941406,0,0,1.5937252225554506],[0.7162598916237881,3.7504827666054332,-8.577369689941406,0,0,1.5937252225554506],[0.7162598916237881,3.7504827666054332,-8.577369689941406,0,0,1.3319258347563012],[0.7162598916237881,3.7504827666054332,-8.577369689941406,0,0,1.0701264469571516],[3.116326420903484,8.136788804153579,-8.577369689941406,0,0,1.0701264469571516],[3.116326420903484,8.136788804153579,-8.577369689941406,0,0,1.3319258347563012],[3.116326420903484,8.136788804153579,-8.577369689941406,0,0,1.5937252225554506],[3.116326420903484,8.136788804153579,-8.577369689941406,0,0,1.8555246103546001],[3.116326420903484,8.136788804153579,-8.577369689941406,0,0,2.1173239981537497],[3.116326420903484,8.136788804153579,-8.577369689941406,0,0,2.3791233859528993],[3.116326420903484,8.136788804153579,-8.577369689941406,0,0,2.6409227737520484],[3.116326420903484,8.136788804153579,-8.577369689941406,0,0,2.902722161551198],[-1.74170279006263,9.319815509431171,-8.577369689941406,0,0,2.902722161551198],[-6.599732001028745,10.502842214708764,-8.577369689941406,0,0,2.902722161551198],[-11.457761211994859,11.685868919986357,-8.577369689941406,0,0,2.902722161551198],[-10.27473450671727,16.54389813095247,-8.577369689941406,0,0,2.902722161551198],[-15.132763717683384,17.72692483623006,-8.577369689941406,0,0,2.902722161551198],[-19.990792928649498,18.909951541507652,-8.577369689941406,0,0,2.902722161551198],[-19.990792928649498,18.909951541507652,-8.577369689941406,0,0,2.6409227737520484],[-19.990792928649498,18.909951541507652,-8.577369689941406,0,0,2.3791233859528993],[-19.990792928649498,18.909951541507652,-8.577369689941406,0,0,2.1173239981537497],[-22.589412121299404,23.18162314541069,-8.577369689941406,0,0,2.1173239981537497],[-22.589412121299404,23.18162314541069,-8.577369689941406,0,0,1.8555246103546004],[-22.589412121299404,23.18162314541069,-8.577369689941406,0,0,1.593725222555451],[-22.589412121299404,23.18162314541069,-8.577369689941406,0,0,1.3319258347563017],[-22.589412121299404,23.18162314541069,-8.577369689941406,0,0,1.0701264469571523],[-22.589412121299404,23.18162314541069,-8.577369689941406,0,0,0.808327059158003],[-22.589412121299404,23.18162314541069,-8.577369689941406,0,0,0.5465276713588536],[-22.589412121299404,23.18162314541069,-8.577369689941406,0,0,0.2847282835597042],[-17.790722059637083,24.58610657076795,-8.577369689941406,0,0,0.2847282835597042],[-12.992031997974761,25.99058999612521,-8.577369689941406,0,0,0.2847282835597042],[-8.19334193631244,27.39507342148247,-8.577369689941406,0,0,0.2847282835597042],[-3.3946518746501173,28.799556846839728,-8.577369689941406,0,0,0.2847282835597042],[1.4040381870122047,30.204040272196988,-8.577369689941406,0,0,0.2847282835597042],[6.202728248674527,31.608523697554247,-8.577369689941406,0,0,0.2847282835597042],[11.001418310336849,33.0130071229115,-8.577369689941406,0,0,0.2847282835597042],[11.001418310336849,33.0130071229115,-8.577369689941406,0,0,0.5465276713588536],[11.001418310336849,33.0130071229115,-8.5773696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+{"episode_id":"3Y9N9SS8L79AEDJB8BQBCX6DBRW3DX","trajectory_id":"3VW0145YM6ALH1UKYMCZMBF77AAJMX","scene_id":3,"start_position":[-15.867196083068848,-7.994211196899414,-9.655716896057129],"start_rotation":[0.999999930238778,0.0,0.0,0.0003735270260576873],"instruction":{"instruction_text":"Take up to the rooftop of the dark brick building ahead. Turn right to face the white building with a grid-like facade of light gray panels and dark windows, and descend to the height of trees. Fly toward to the mentioned white building until you reach the intersection, turn right to face the trees."},"goals":[{"position":[10.838871928798152,24.487396666325466,-3.655716896057129]}],"reference_path":[[-15.867196083068848,-7.994211196899414,-9.655716896057129,0,0,0.0007470540694871762],[-15.867196083068848,-7.994211196899414,-11.655716896057129,0,0,0.0007470540694871762],[-15.867196083068848,-7.994211196899414,-13.655716896057129,0,0,0.0007470540694871762],[-15.867196083068848,-7.994211196899414,-15.655716896057129,0,0,0.0007470540694871762],[-15.867196083068848,-7.994211196899414,-17.65571689605713,0,0,0.0007470540694871762],[-15.867196083068848,-7.994211196899414,-19.65571689605713,0,0,0.0007470540694871762],[-15.867196083068848,-7.994211196899414,-21.65571689605713,0,0,0.0007470540694871762],[-15.867196083068848,-7.994211196899414,-19.65571689605713,0,0,0.0007470540694871762],[-15.867196083068848,-7.994211196899414,-21.65571689605713,0,0,0.0007470540694871762],[-15.867196083068848,-7.994211196899414,-23.65571689605713,0,0,0.0007470540694871762],[-15.867196083068848,-7.994211196899414,-25.65571689605713,0,0,0.0007470540694871762],[-15.867196083068848,-7.994211196899414,-27.65571689605713,0,0,0.0007470540694871762],[-15.867196083068848,-7.994211196899414,-29.65571689605713,0,0,0.0007470540694871762],[-15.867196083068848,-7.994211196899414,-31.65571689605713,0,0,0.0007470540694871762],[-15.867196083068848,-7.994211196899414,-33.65571689605713,0,0,0.0007470540694871762],[-15.867196083068848,-7.994211196899414,-35.65571689605713,0,0,0.0007470540694871762],[-15.867196083068848,-7.994211196899414,-37.65571689605713,0,0,0.0007470540694871762],[-10.867197478293239,-7.990475926899414,-37.65571689605713,0,0,0.0007470540694871762],[-10.867197478293239,-7.990475926899414,-37.65571689605713,0,0,0.2625464418686366],[-10.867197478293239,-7.990475926899414,-37.65571689605713,0,0,0.524345829667786],[-10.867197478293239,-7.990475926899414,-37.65571689605713,0,0,0.7861452174669354],[-10.867197478293239,-7.990475926899414,-37.65571689605713,0,0,1.0479446052660848],[-10.867197478293239,-7.990475926899414,-39.65571689605713,0,0,1.0479446052660848],[-10.867197478293239,-7.990475926899414,-39.65571689605713,0,0,1.3097439930652344],[-10.867197478293239,-7.990475926899414,-41.65571689605713,0,0,1.3097439930652344],[-9.576710607652442,-3.1598813841227464,-41.65571689605713,0,0,1.3097439930652344],[-9.576710607652442,-3.1598813841227464,-39.65571689605713,0,0,1.3097439930652344],[-9.576710607652442,-3.1598813841227464,-37.65571689605713,0,0,1.3097439930652344],[-8.286223737011646,1.6707131586539212,-37.65571689605713,0,0,1.3097439930652344],[-8.286223737011646,1.6707131586539212,-35.65571689605713,0,0,1.3097439930652344],[-8.286223737011646,1.6707131586539212,-35.65571689605713,0,0,1.047944605266085],[-8.286223737011646,1.6707131586539212,-33.65571689605713,0,0,1.047944605266085],[-8.286223737011646,1.6707131586539212,-33.65571689605713,0,0,0.7861452174669357],[-4.7533320523981,5.208887312760593,-33.65571689605713,0,0,0.7861452174669357],[-4.7533320523981,5.208887312760593,-31.65571689605713,0,0,0.7861452174669357],[-4.7533320523981,5.208887312760593,-29.65571689605713,0,0,0.7861452174669357],[-4.7533320523981,5.208887312760593,-27.65571689605713,0,0,0.7861452174669357],[-4.7533320523981,5.208887312760593,-25.65571689605713,0,0,0.7861452174669357],[-4.7533320523981,5.208887312760593,-23.65571689605713,0,0,0.7861452174669357],[-4.7533320523981,5.208887312760593,-21.65571689605713,0,0,0.7861452174669357],[-4.7533320523981,5.208887312760593,-19.65571689605713,0,0,0.7861452174669357],[-4.7533320523981,5.208887312760593,-17.65571689605713,0,0,0.7861452174669357],[-4.7533320523981,5.208887312760593,-15.655716896057129,0,0,0.7861452174669357],[-1.2204403677845548,8.747061466867265,-15.655716896057129,0,0,0.7861452174669357],[-1.2204403677845548,8.747061466867265,-15.655716896057129,0,0,0.5243458296677863],[-1.2204403677845548,8.747061466867265,-15.655716896057129,0,0,0.2625464418686369],[-1.2204403677845548,8.747061466867265,-13.655716896057129,0,0,0.2625464418686369],[-1.2204403677845548,8.747061466867265,-13.655716896057129,0,0,0.5243458296677863],[-1.2204403677845548,8.747061466867265,-11.655716896057129,0,0,0.5243458296677863],[-1.2204403677845548,8.747061466867265,-11.655716896057129,0,0,0.7861452174669358],[2.31245131682899,12.285235620973937,-11.655716896057129,0,0,0.7861452174669358],[2.31245131682899,12.285235620973937,-11.655716896057129,0,0,1.0479446052660852],[2.31245131682899,12.285235620973937,-9.655716896057129,0,0,1.0479446052660852],[4.809215780506799,16.617229066596366,-9.655716896057129,0,0,1.0479446052660852],[7.305980244184608,20.949222512218793,-9.655716896057129,0,0,1.0479446052660852],[7.305980244184608,20.949222512218793,-9.655716896057129,0,0,1.3097439930652348],[7.305980244184608,20.949222512218793,-9.655716896057129,0,0,1.5715433808643844],[7.305980244184608,20.949222512218793,-9.655716896057129,0,0,1.309743993065235],[7.305980244184608,20.949222512218793,-9.655716896057129,0,0,1.0479446052660857],[7.3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+]}
diff --git a/TEST_FILE/AerialVLN-Fine-V3-Scene-5.json b/TEST_FILE/AerialVLN-Fine-V3-Scene-5.json
new file mode 100644
index 0000000000000000000000000000000000000000..fabdebb723d6b2799f4b9d1568834cc120bbbd47
--- /dev/null
+++ b/TEST_FILE/AerialVLN-Fine-V3-Scene-5.json
@@ -0,0 +1,12 @@
+{"episodes":[
+{"episode_id":"3AMW0RGHOM0Q7EFBV31LL5L7BZXNPD","trajectory_id":"3BS6ERDLAB56PC901AJ7UHN88YUD6B","scene_id":5,"start_position":[-122.1462631225586,-138.91073608398438,-20.78898811340332],"start_rotation":[0.9998909707654634,0.0,0.0,0.014766400431359544],"instruction":{"instruction_text":"Take off to the height of the terrace ahead, turn right to face the gap between the two tall buildings, and fly forward to the next building of the same height. Fly ahead out of the roof and fly down to a terrace. Turn left to face the black building, fly forward past two buildings to reach the next building in distance that has satellites on top. Fly forward passing a building. Fly towards the billboard on the roof ahead and fly down to the roof. Move left and fly down to the alley on the left. Land by the fence."},"goals":[{"position":[64.71584883840262,-59.91565950747238,-0.7889881134033203]}],"reference_path":[[-122.1462631225586,-138.91073608398438,-20.78898811340332,0,0,0.029533874222420865],[-122.1462631225586,-138.91073608398438,-22.78898811340332,0,0,0.029533874222420865],[-122.1462631225586,-138.91073608398438,-24.78898811340332,0,0,0.029533874222420865],[-122.1462631225586,-138.91073608398438,-26.78898811340332,0,0,0.029533874222420865],[-122.1462631225586,-138.91073608398438,-28.78898811340332,0,0,0.029533874222420865],[-122.1462631225586,-138.91073608398438,-30.78898811340332,0,0,0.029533874222420865],[-122.1462631225586,-138.91073608398438,-32.78898811340332,0,0,0.029533874222420865],[-122.1462631225586,-138.91073608398438,-34.78898811340332,0,0,0.029533874222420865],[-122.1462631225586,-138.91073608398438,-34.78898811340332,0,0,0.29133326202157034],[-122.1462631225586,-138.91073608398438,-34.78898811340332,0,0,0.5531326498207199],[-122.1462631225586,-138.91073608398438,-34.78898811340332,0,0,0.8149320376198692],[-122.1462631225586,-138.91073608398438,-34.78898811340332,0,0,1.0767314254190188],[-119.77522019168376,-134.50867345154165,-34.78898811340332,0,0,1.0767314254190188],[-117.40417726080892,-130.10661081909893,-34.78898811340332,0,0,1.0767314254190188],[-115.03313432993409,-125.70454818665623,-34.78898811340332,0,0,1.0767314254190188],[-112.66209139905925,-121.30248555421352,-34.78898811340332,0,0,1.0767314254190188],[-117.06415403150196,-118.93144262333868,-34.78898811340332,0,0,1.0767314254190188],[-114.69311110062712,-114.52937999089598,-34.78898811340332,0,0,1.0767314254190188],[-112.32206816975228,-110.12731735845327,-34.78898811340332,0,0,1.0767314254190188],[-109.95102523887745,-105.72525472601056,-34.78898811340332,0,0,1.0767314254190188],[-107.57998230800261,-101.32319209356785,-34.78898811340332,0,0,1.0767314254190188],[-105.20893937712778,-96.92112946112515,-34.78898811340332,0,0,1.0767314254190188],[-102.83789644625294,-92.51906682868244,-34.78898811340332,0,0,1.0767314254190188],[-107.23995907869565,-90.1480238978076,-34.78898811340332,0,0,1.0767314254190188],[-104.86891614782081,-85.7459612653649,-34.78898811340332,0,0,1.0767314254190188],[-102.49787321694598,-81.34389863292219,-34.78898811340332,0,0,1.0767314254190188],[-100.12683028607114,-76.94183600047948,-34.78898811340332,0,0,1.0767314254190188],[-97.7557873551963,-72.53977336803678,-34.78898811340332,0,0,1.0767314254190188],[-95.38474442432147,-68.13771073559407,-34.78898811340332,0,0,1.0767314254190188],[-99.78680705676418,-65.76666780471923,-34.78898811340332,0,0,1.0767314254190188],[-97.41576412588934,-61.36460517227652,-34.78898811340332,0,0,1.0767314254190188],[-95.0447211950145,-56.962542539833805,-34.78898811340332,0,0,1.0767314254190188],[-92.67367826413967,-52.56047990739109,-34.78898811340332,0,0,1.0767314254190188],[-92.67367826413967,-52.56047990739109,-34.78898811340332,0,0,1.3385308132181681],[-91.52276430897786,-47.69474285450653,-34.78898811340332,0,0,1.3385308132181681],[-90.37185035381603,-42.82900580162196,-34.78898811340332,0,0,1.3385308132181681],[-90.37185035381603,-42.82900580162196,-34.78898811340332,0,0,1.6003302010173177],[-90.37185035381603,-42.82900580162196,-34.78898811340332,0,0,1.8621295888164673],[-91.80799815751816,-38.03969692810779,-34.78898811340332,0,0,1.8621295888164673],[-91.80799815751816,-38.03969692810779,-34.78898811340332,0,0,1.600330201017318],[-91.80799815751816,-38.03969692810779,-32.78898811340332,0,0,1.600330201017318],[-91.80799815751816,-38.03969692810779,-30.78898811340332,0,0,1.600330201017318],[-91.80799815751816,-38.03969692810779,-28.78898811340332,0,0,1.600330201017318],[-91.80799815751816,-38.03969692810779,-26.78898811340332,0,0,1.600330201017318],[-91.80799815751816,-38.03969692810779,-24.78898811340332,0,0,1.600330201017318],[-91.80799815751816,-38.03969692810779,-22.78898811340332,0,0,1.600330201017318],[-91.80799815751816,-38.03969692810779,-24.78898811340332,0,0,1.600330201017318],[-91.80799815751816,-38.03969692810779,-24.78898811340332,0,0,1.3385308132181684],[-91.80799815751816,-38.03969692810779,-24.78898811340332,0,0,1.076731425419019],[-91.80799815751816,-38.03969692810779,-24.78898811340332,0,0,0.8149320376198697],[-91.80799815751816,-38.03969692810779,-24.78898811340332,0,0,0.5531326498207203],[-91.80799815751816,-38.03969692810779,-24.78898811340332,0,0,0.2913332620215709],[-91.80799815751816,-38.03969692810779,-24.78898811340332,0,0,0.029533874222421503],[-86.81017862333515,-37.892049023487544,-24.78898811340332,0,0,0.029533874222421503],[-86.95782652795539,-32.894229489304536,-24.78898811340332,0,0,0.029533874222421503],[-86.95782652795539,-32.894229489304536,-26.78898811340332,0,0,0.029533874222421503],[-86.95782652795539,-32.894229489304536,-28.78898811340332,0,0,0.029533874222421503],[-86.95782652795539,-32.894229489304536,-30.78898811340332,0,0,0.029533874222421503],[-81.96000699377238,-32.74658158468429,-30.78898811340332,0,0,0.0295338742224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+{"episode_id":"3LUY3GC638Y14TNOFWKWP8ZHBJVP75","trajectory_id":"39KV3A5D2G5VV16NHAJOVU944CO7SY","scene_id":5,"start_position":[23.671276092529297,-12.88538932800293,-20.480939865112305],"start_rotation":[0.9997912306892135,0.0,0.0,0.02043269529327895],"instruction":{"instruction_text":"Take off above the billboard ahead, turn around to face the black and billboard on the yellow building. Fly forward to the billboard, then fly down to the height of the white pipe. Turn right to face the river, and fly forward to the bridge. Fly forward to the building near to the bridge and turn left to face it. Fly up to the height of the signal tower. Fly forward across the terrace. Fly down to the ground. Land in front of the intersection."},"goals":[{"position":[-71.70512132456943,-66.31384659440351,-2.4809398651123047]}],"reference_path":[[23.671276092529297,-12.88538932800293,-20.480939865112305,0,0,0.04086823463720211],[23.671276092529297,-12.88538932800293,-22.480939865112305,0,0,0.04086823463720211],[23.671276092529297,-12.88538932800293,-24.480939865112305,0,0,0.04086823463720211],[23.671276092529297,-12.88538932800293,-26.480939865112305,0,0,0.04086823463720211],[23.671276092529297,-12.88538932800293,-28.480939865112305,0,0,0.04086823463720211],[23.671276092529297,-12.88538932800293,-28.480939865112305,0,0,0.30266762243635154],[23.671276092529297,-12.88538932800293,-28.480939865112305,0,0,0.5644670102355009],[23.671276092529297,-12.88538932800293,-28.480939865112305,0,0,0.8262663980346504],[23.671276092529297,-12.88538932800293,-28.480939865112305,0,0,1.0880657858337999],[23.671276092529297,-12.88538932800293,-28.480939865112305,0,0,1.3498651736329494],[23.671276092529297,-12.88538932800293,-28.480939865112305,0,0,1.6116645614320988],[23.671276092529297,-12.88538932800293,-28.480939865112305,0,0,1.8734639492312481],[23.671276092529297,-12.88538932800293,-28.480939865112305,0,0,2.1352633370303975],[23.671276092529297,-12.88538932800293,-28.480939865112305,0,0,2.3970627248295466],[23.671276092529297,-12.88538932800293,-28.480939865112305,0,0,2.658862112628696],[23.671276092529297,-12.88538932800293,-28.480939865112305,0,0,2.920661500427846],[18.79280698711757,-11.789698136314643,-28.480939865112305,0,0,2.920661500427846],[13.91433788170584,-10.694006944626356,-28.480939865112305,0,0,2.920661500427846],[9.035868776294112,-9.598315752938069,-28.480939865112305,0,0,2.920661500427846],[4.157399670882385,-8.502624561249782,-28.480939865112305,0,0,2.920661500427846],[4.157399670882385,-8.502624561249782,-28.480939865112305,0,0,-3.100724418952591],[-0.838425378748135,-8.706908856985434,-28.480939865112305,0,0,-3.100724418952591],[-0.838425378748135,-8.706908856985434,-26.480939865112305,0,0,-3.100724418952591],[-0.838425378748135,-8.706908856985434,-24.480939865112305,0,0,-3.100724418952591],[-0.838425378748135,-8.706908856985434,-22.480939865112305,0,0,-3.100724418952591],[-0.838425378748135,-8.706908856985434,-20.480939865112305,0,0,-3.100724418952591],[-0.838425378748135,-8.706908856985434,-18.480939865112305,0,0,-3.100724418952591],[-0.838425378748135,-8.706908856985434,-16.480939865112305,0,0,-3.100724418952591],[-0.838425378748135,-8.706908856985434,-14.480939865112305,0,0,-3.100724418952591],[-0.838425378748135,-8.706908856985434,-12.480939865112305,0,0,-3.100724418952591],[-0.838425378748135,-8.706908856985434,-10.480939865112305,0,0,-3.100724418952591],[-0.838425378748135,-8.706908856985434,-8.480939865112305,0,0,-3.100724418952591],[-0.838425378748135,-8.706908856985434,-6.480939865112305,0,0,-3.100724418952591],[-0.838425378748135,-8.706908856985434,-6.480939865112305,0,0,-2.8389250311534413],[-0.838425378748135,-8.706908856985434,-6.480939865112305,0,0,-2.5771256433542917],[-5.062794636722993,-11.381736771501982,-6.480939865112305,0,0,-2.5771256433542917],[-5.062794636722993,-11.381736771501982,-6.480939865112305,0,0,-2.3153262555551426],[-5.062794636722993,-11.381736771501982,-6.480939865112305,0,0,-2.053526867755993],[-7.383791771836965,-15.810390325212492,-6.480939865112305,0,0,-2.053526867755993],[-7.383791771836965,-15.810390325212492,-4.480939865112305,0,0,-2.053526867755993],[-9.704788906950936,-20.239043878923002,-4.480939865112305,0,0,-2.053526867755993],[-5.276135353240426,-22.560041014036976,-4.480939865112305,0,0,-2.053526867755993],[-7.597132488354398,-26.988694567747487,-4.480939865112305,0,0,-2.053526867755993],[-9.91812962346837,-31.417348121457998,-4.480939865112305,0,0,-2.053526867755993],[-9.91812962346837,-31.417348121457998,-4.480939865112305,0,0,-1.7917274799568437],[-11.013820815156656,-36.29581722686973,-4.480939865112305,0,0,-1.7917274799568437],[-12.109512006844941,-41.174286332281454,-4.480939865112305,0,0,-1.7917274799568437],[-13.205203198533226,-46.05275543769318,-4.480939865112305,0,0,-1.7917274799568437],[-14.300894390221512,-50.9312245431049,-4.480939865112305,0,0,-1.7917274799568437],[-15.396585581909797,-55.80969364851663,-4.480939865112305,0,0,-1.7917274799568437],[-16.492276773598082,-60.68816275392835,-4.480939865112305,0,0,-1.7917274799568437],[-17.587967965286367,-65.56663185934008,-4.480939865112305,0,0,-1.7917274799568437],[-18.683659156974652,-70.4451009647518,-4.480939865112305,0,0,-1.7917274799568437],[-18.683659156974652,-70.4451009647518,-4.480939865112305,0,0,-2.053526867755993],[-18.683659156974652,-70.4451009647518,-4.480939865112305,0,0,-2.3153262555551426],[-18.683659156974652,-70.4451009647518,-4.480939865112305,0,0,-2.5771256433542917],[-18.683659156974652,-70.4451009647518,-4.480939865112305,0,0,-2.8389250311534413],[-23.456382929682896,-71.93543911075277,-4.480939865112305,0,0,-2.8389250311534413],[-23.456382929682896,-71.93543911075277,-6.480939865112305,0,0,-2.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+{"episode_id":"3IGI0VL64GI8ME3AG3O6W5GH3R7NOY","trajectory_id":"3WGZLY9VDPKTTQSOUPG5EVJZE76D8B","scene_id":5,"start_position":[23.815502166748047,15.108762741088867,-8.151684761047363],"start_rotation":[0.9998554267657092,0.0,0.0,-0.017003692750743284],"instruction":{"instruction_text":"Take off and fly up to the height of the black building on the left, then fly to its terrace. Turn left to face a terrace with radars, fly to it, then turn left to face the black and red bulletin board on the yellow building, then fly forward until you can see the bulletin board. Fly down to the height of trees. Fly down to the height of black fence and you can see white pipe. Turn right to face a black building with a red and white billboard on its wall. Fly up to the top of the building above the satellite disks. Fly forward pass a billboard, then pass a terrace with a shed, then turn left to face a roof with curved wall and a chimney, and fly to it. Fly forward over the roof, make a slight left turn to face a beige building, and fly up to the height of satellite disks. Fly forward over the tarrace with satellite disks, then fly forward to above the white pipe, and fly down to the height close to the pipe."},"goals":[{"position":[-11.69540763389082,-104.74284195372113,-2.1516847610473633]}],"reference_path":[[23.815502166748047,15.108762741088867,-8.151684761047363,0,0,-0.0340090244488367],[23.815502166748047,15.108762741088867,-10.151684761047363,0,0,-0.0340090244488367],[23.815502166748047,15.108762741088867,-12.151684761047363,0,0,-0.0340090244488367],[23.815502166748047,15.108762741088867,-14.151684761047363,0,0,-0.0340090244488367],[23.815502166748047,15.108762741088867,-16.151684761047363,0,0,-0.0340090244488367],[23.815502166748047,15.108762741088867,-18.151684761047363,0,0,-0.0340090244488367],[23.815502166748047,15.108762741088867,-20.151684761047363,0,0,-0.0340090244488367],[23.815502166748047,15.108762741088867,-22.151684761047363,0,0,-0.0340090244488367],[23.815502166748047,15.108762741088867,-24.151684761047363,0,0,-0.0340090244488367],[23.815502166748047,15.108762741088867,-26.151684761047363,0,0,-0.0340090244488367],[23.815502166748047,15.108762741088867,-28.151684761047363,0,0,-0.0340090244488367],[23.815502166748047,15.108762741088867,-30.151684761047363,0,0,-0.0340090244488367],[23.815502166748047,15.108762741088867,-32.15168476104736,0,0,-0.0340090244488367],[23.815502166748047,15.108762741088867,-34.15168476104736,0,0,-0.0340090244488367],[23.815502166748047,15.108762741088867,-36.15168476104736,0,0,-0.0340090244488367],[23.815502166748047,15.108762741088867,-38.15168476104736,0,0,-0.0340090244488367],[23.815502166748047,15.108762741088867,-38.15168476104736,0,0,-0.29580841224798615],[23.815502166748047,15.108762741088867,-38.15168476104736,0,0,-0.5576078000471356],[23.815502166748047,15.108762741088867,-38.15168476104736,0,0,-0.8194071878462851],[23.815502166748047,15.108762741088867,-38.15168476104736,0,0,-1.0812065756454345],[19.402872876326875,12.757443378408178,-38.15168476104736,0,0,-1.0812065756454345],[21.754192239007562,8.344814087987004,-38.15168476104736,0,0,-1.0812065756454345],[21.754192239007562,8.344814087987004,-38.15168476104736,0,0,-1.343005963444584],[22.88331983793617,3.4739752623495024,-38.15168476104736,0,0,-1.343005963444584],[24.01244743686478,-1.396863563287999,-38.15168476104736,0,0,-1.343005963444584],[24.01244743686478,-1.396863563287999,-38.15168476104736,0,0,-1.6048053512437332],[24.01244743686478,-1.396863563287999,-38.15168476104736,0,0,-1.8666047390428826],[24.01244743686478,-1.396863563287999,-38.15168476104736,0,0,-2.1284041268420317],[24.01244743686478,-1.396863563287999,-38.15168476104736,0,0,-2.390203514641181],[24.01244743686478,-1.396863563287999,-38.15168476104736,0,0,-2.6520029024403304],[24.01244743686478,-1.396863563287999,-38.15168476104736,0,0,-2.91380229023948],[19.141608611227277,-2.52599116221661,-38.15168476104736,0,0,-2.91380229023948],[14.270769785589774,-3.6551187611452205,-38.15168476104736,0,0,-2.91380229023948],[9.399930959952272,-4.784246360073832,-38.15168476104736,0,0,-2.91380229023948],[4.52909213431477,-5.913373959002442,-38.15168476104736,0,0,-2.91380229023948],[4.52909213431477,-5.913373959002442,-36.15168476104736,0,0,-2.91380229023948],[4.52909213431477,-5.913373959002442,-34.15168476104736,0,0,-2.91380229023948],[4.52909213431477,-5.913373959002442,-32.15168476104736,0,0,-2.91380229023948],[4.52909213431477,-5.913373959002442,-30.151684761047363,0,0,-2.91380229023948],[4.52909213431477,-5.913373959002442,-28.151684761047363,0,0,-2.91380229023948],[4.52909213431477,-5.913373959002442,-26.151684761047363,0,0,-2.91380229023948],[4.52909213431477,-5.913373959002442,-24.151684761047363,0,0,-2.91380229023948],[4.52909213431477,-5.913373959002442,-22.151684761047363,0,0,-2.91380229023948],[4.52909213431477,-5.913373959002442,-20.151684761047363,0,0,-2.91380229023948],[4.52909213431477,-5.913373959002442,-18.151684761047363,0,0,-2.91380229023948],[4.52909213431477,-5.913373959002442,-16.151684761047363,0,0,-2.91380229023948],[4.52909213431477,-5.913373959002442,-14.151684761047363,0,0,-2.91380229023948],[4.52909213431477,-5.913373959002442,-12.151684761047363,0,0,-2.91380229023948],[4.52909213431477,-5.913373959002442,-10.151684761047363,0,0,-2.91380229023948],[4.52909213431477,-5.913373959002442,-8.151684761047363,0,0,-2.91380229023948],[4.52909213431477,-5.913373959002442,-6.151684761047363,0,0,-2.91380229023948],[4.52909213431477,-5.913373959002442,-4.151684761047363,0,0,-2.91380229023948],[4.52909213431477,-5.913373959002442,-4.151684761047363,0,0,-2.6520029024403304],[4.52909213431477,-5.913373959002442,-4.151684761047363,0,0,-2.390203514641181],[4.52909213431477,-5.913373959002442,-4.151684761047363,0,0,-2.1284041268420317],[4.52909213431477,-5.913373959002442,-4.151684761047363,0,0,-1.8666047390428822],[4.52909213431477,-5.913373959002442,-4.151684761047363,0,0,-1.6048053512437328],[4.52909213431477,-5.913373959002442,-4.151684761047363,0,0,-1.3430059634445832],[4.52909213431477,-5.913373959002442,-4.151684761047363,0,0,-1.0812065756454339],[4.52909213431477,-5.913373959002442,-4.151684761047363,0,0,-0.8194071878462844]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+{"episode_id":"3FFJ6VRILAMV5W00H2931WOIJQRI0J","trajectory_id":"38Z7YZ2SCB0G75868XYGRJKC0I0IQT","scene_id":5,"start_position":[-101.682861328125,-53.82831954956055,-32.89664077758789],"start_rotation":[0.9996321961519783,0.0,0.0,-0.02711959469411187],"instruction":{"instruction_text":"Turn right slightly until a tall black and white building is on the left, fly over the roof of the building ahead, and fly down to the height of the building ahead. Turn left to face the broken black and white high building, fly up to the height of the building, and fly forward towards the satellite disks on the roof. Turn right slightly to face electric lines below, fly forward to the river and white pipes, and fly down to the height of pipes. Fly up above the electric lines ahead, fly towards the satellite antenna between two buildings, then turn left slightly to face a billboard's back. Fly forward to the front of the highest building and turn left to face a black and red billboard. Fly towards the billboard. Land on the ground."},"goals":[{"position":[61.54857339949075,-55.604138171388676,-2.8966407775878906]}],"reference_path":[[-101.682861328125,-53.82831954956055,-32.89664077758789,0,0,-0.054245840160896126],[-101.682861328125,-53.82831954956055,-34.89664077758789,0,0,-0.054245840160896126],[-101.682861328125,-53.82831954956055,-36.89664077758789,0,0,-0.054245840160896126],[-101.682861328125,-53.82831954956055,-36.89664077758789,0,0,0.20755354763825332],[-101.682861328125,-53.82831954956055,-36.89664077758789,0,0,0.46935293543740275],[-101.682861328125,-53.82831954956055,-36.89664077758789,0,0,0.7311523232365522],[-97.9608340361283,-50.48968018035163,-36.89664077758789,0,0,0.7311523232365522],[-94.23880674413161,-47.15104081114271,-36.89664077758789,0,0,0.7311523232365522],[-90.51677945213491,-43.81240144193379,-36.89664077758789,0,0,0.7311523232365522],[-90.51677945213491,-43.81240144193379,-34.89664077758789,0,0,0.7311523232365522],[-86.79475216013822,-40.47376207272487,-34.89664077758789,0,0,0.7311523232365522],[-90.13339152934714,-36.75173478072817,-34.89664077758789,0,0,0.7311523232365522],[-90.13339152934714,-36.75173478072817,-32.89664077758789,0,0,0.7311523232365522],[-86.41136423735044,-33.41309541151925,-32.89664077758789,0,0,0.7311523232365522],[-86.41136423735044,-33.41309541151925,-30.89664077758789,0,0,0.7311523232365522],[-86.41136423735044,-33.41309541151925,-28.89664077758789,0,0,0.7311523232365522],[-86.41136423735044,-33.41309541151925,-28.89664077758789,0,0,0.4693529354374028],[-86.41136423735044,-33.41309541151925,-28.89664077758789,0,0,0.20755354763825337],[-86.41136423735044,-33.41309541151925,-30.89664077758789,0,0,0.20755354763825337],[-86.41136423735044,-33.41309541151925,-32.89664077758789,0,0,0.20755354763825337],[-86.41136423735044,-33.41309541151925,-34.89664077758789,0,0,0.20755354763825337],[-86.41136423735044,-33.41309541151925,-36.89664077758789,0,0,0.20755354763825337],[-86.41136423735044,-33.41309541151925,-38.89664077758789,0,0,0.20755354763825337],[-86.41136423735044,-33.41309541151925,-40.89664077758789,0,0,0.20755354763825337],[-86.41136423735044,-33.41309541151925,-42.89664077758789,0,0,0.20755354763825337],[-86.41136423735044,-33.41309541151925,-44.89664077758789,0,0,0.20755354763825337],[-86.41136423735044,-33.41309541151925,-46.89664077758789,0,0,0.20755354763825337],[-86.41136423735044,-33.41309541151925,-48.89664077758789,0,0,0.20755354763825337],[-86.41136423735044,-33.41309541151925,-50.89664077758789,0,0,0.20755354763825337],[-86.41136423735044,-33.41309541151925,-52.89664077758789,0,0,0.20755354763825337],[-86.41136423735044,-33.41309541151925,-54.89664077758789,0,0,0.20755354763825337],[-86.41136423735044,-33.41309541151925,-56.89664077758789,0,0,0.20755354763825337],[-86.41136423735044,-33.41309541151925,-58.89664077758789,0,0,0.20755354763825337],[-86.41136423735044,-33.41309541151925,-60.89664077758789,0,0,0.20755354763825337],[-86.41136423735044,-33.41309541151925,-62.89664077758789,0,0,0.20755354763825337],[-86.41136423735044,-33.41309541151925,-64.89664077758789,0,0,0.20755354763825337],[-81.51867436429784,-32.38276254970783,-64.89664077758789,0,0,0.20755354763825337],[-81.51867436429784,-32.38276254970783,-64.89664077758789,0,0,-0.054245840160896036],[-76.52602908846157,-32.653858749736095,-64.89664077758789,0,0,-0.054245840160896036],[-71.5333838126253,-32.92495494976436,-64.89664077758789,0,0,-0.054245840160896036],[-66.54073853678904,-33.19605114979263,-64.89664077758789,0,0,-0.054245840160896036],[-61.54809326095277,-33.4671473498209,-64.89664077758789,0,0,-0.054245840160896036],[-56.5554479851165,-33.738243549849166,-64.89664077758789,0,0,-0.054245840160896036],[-51.562802709280234,-34.009339749877434,-64.89664077758789,0,0,-0.054245840160896036],[-51.562802709280234,-34.009339749877434,-64.89664077758789,0,0,0.2075535476382534],[-51.562802709280234,-34.009339749877434,-64.89664077758789,0,0,0.46935293543740286],[-47.103496968307525,-31.747793308053204,-64.89664077758789,0,0,0.46935293543740286],[-47.103496968307525,-31.747793308053204,-62.89664077758789,0,0,0.46935293543740286],[-42.644191227334815,-29.486246866228974,-62.89664077758789,0,0,0.46935293543740286],[-42.644191227334815,-29.486246866228974,-60.89664077758789,0,0,0.46935293543740286],[-42.644191227334815,-29.486246866228974,-58.89664077758789,0,0,0.46935293543740286],[-38.184885486362106,-27.224700424404745,-58.89664077758789,0,0,0.46935293543740286],[-38.184885486362106,-27.224700424404745,-56.89664077758789,0,0,0.46935293543740286],[-33.725579745389396,-24.963153982580515,-56.89664077758789,0,0,0.46935293543740286],[-33.725579745389396,-24.963153982580515,-54.89664077758789,0,0,0.46935293543740286],[-33.725579745389396,-24.963153982580515,-52.89664077758789,0,0,0.46935293543740286],[-29.266274004416687,-22.701607540756285,-52.89664077758789,0,0,0.46935293543740286],[-29.266274004416687,-22.701607540756285,-50.89664077758789,0,0,0.46935293543740286],[-29.266274004416687,-22.701607540756285,-48.8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+{"episode_id":"3PS7W85Z8803A44OBAR08ERKXHJT9H","trajectory_id":"3APP19WN89C91WJR30KF02Q5L4WG62","scene_id":5,"start_position":[-56.38572692871094,-11.67587661743164,-20.61461639404297],"start_rotation":[0.9999998361967969,0.0,0.0,0.0005723690937557679],"instruction":{"instruction_text":"Turn left to face the tallest building. Fly up to the height of the building. Fly forward to the rooftop of the building. Turn left to face buildings and wires in the mist, fly forward to above the river and then fly down to the height of eletric lines. Turn right slightly to face a few scattered high-rise buildings, then fly up to a the height of the buildings, and fly towards the buildings. Turn left to face two tallest buildings in the distance. Fly forward and fly down to the billboard on the rooftop ahead. Turn right to face the tallest building, then fly up to its height. Fly forward to the building."},"goals":[{"position":[64.18752138645068,-37.34448183668047,-64.61461639404297]}],"reference_path":[[-56.38572692871094,-11.67587661743164,-20.61461639404297,0,0,0.0011447382500154673],[-56.38572692871094,-11.67587661743164,-22.61461639404297,0,0,0.0011447382500154673],[-56.38572692871094,-11.67587661743164,-24.61461639404297,0,0,0.0011447382500154673],[-51.38573020477473,-11.670152927431642,-24.61461639404297,0,0,0.0011447382500154673],[-51.38573020477473,-11.670152927431642,-24.61461639404297,0,0,-0.260654649549134],[-51.38573020477473,-11.670152927431642,-24.61461639404297,0,0,-0.5224540373482834],[-51.38573020477473,-11.670152927431642,-24.61461639404297,0,0,-0.7842534251474329],[-51.38573020477473,-11.670152927431642,-24.61461639404297,0,0,-1.0460528129465823],[-51.38573020477473,-11.670152927431642,-24.61461639404297,0,0,-1.3078522007457318],[-51.38573020477473,-11.670152927431642,-26.61461639404297,0,0,-1.3078522007457318],[-51.38573020477473,-11.670152927431642,-28.61461639404297,0,0,-1.3078522007457318],[-51.38573020477473,-11.670152927431642,-30.61461639404297,0,0,-1.3078522007457318],[-51.38573020477473,-11.670152927431642,-32.61461639404297,0,0,-1.3078522007457318],[-51.38573020477473,-11.670152927431642,-34.61461639404297,0,0,-1.3078522007457318],[-51.38573020477473,-11.670152927431642,-36.61461639404297,0,0,-1.3078522007457318],[-51.38573020477473,-11.670152927431642,-38.61461639404297,0,0,-1.3078522007457318],[-51.38573020477473,-11.670152927431642,-40.61461639404297,0,0,-1.3078522007457318],[-51.38573020477473,-11.670152927431642,-42.61461639404297,0,0,-1.3078522007457318],[-51.38573020477473,-11.670152927431642,-44.61461639404297,0,0,-1.3078522007457318],[-51.38573020477473,-11.670152927431642,-46.61461639404297,0,0,-1.3078522007457318],[-51.38573020477473,-11.670152927431642,-48.61461639404297,0,0,-1.3078522007457318],[-51.38573020477473,-11.670152927431642,-50.61461639404297,0,0,-1.3078522007457318],[-51.38573020477473,-11.670152927431642,-52.61461639404297,0,0,-1.3078522007457318],[-51.38573020477473,-11.670152927431642,-54.61461639404297,0,0,-1.3078522007457318],[-51.38573020477473,-11.670152927431642,-56.61461639404297,0,0,-1.3078522007457318],[-51.38573020477473,-11.670152927431642,-58.61461639404297,0,0,-1.3078522007457318],[-51.38573020477473,-11.670152927431642,-60.61461639404297,0,0,-1.3078522007457318],[-51.38573020477473,-11.670152927431642,-62.61461639404297,0,0,-1.3078522007457318],[-50.08610716717716,-16.498297494462093,-62.61461639404297,0,0,-1.3078522007457318],[-48.78648412957959,-21.326442061492543,-62.61461639404297,0,0,-1.3078522007457318],[-47.48686109198202,-26.154586628522992,-62.61461639404297,0,0,-1.3078522007457318],[-47.48686109198202,-26.154586628522992,-62.61461639404297,0,0,-1.0460528129465823],[-47.48686109198202,-26.154586628522992,-62.61461639404297,0,0,-0.7842534251474328],[-47.48686109198202,-26.154586628522992,-62.61461639404297,0,0,-0.5224540373482833],[-47.48686109198202,-26.154586628522992,-62.61461639404297,0,0,-0.2606546495491339],[-47.48686109198202,-26.154586628522992,-62.61461639404297,0,0,0.0011447382500155293],[-47.48686109198202,-26.154586628522992,-62.61461639404297,0,0,0.26294412604916495],[-47.48686109198202,-26.154586628522992,-62.61461639404297,0,0,0.5247435138483144],[-43.1595987552143,-23.649631405611505,-62.61461639404297,0,0,0.5247435138483144],[-43.1595987552143,-23.649631405611505,-60.61461639404297,0,0,0.5247435138483144],[-38.83233641844657,-21.144676182700017,-60.61461639404297,0,0,0.5247435138483144],[-38.83233641844657,-21.144676182700017,-58.61461639404297,0,0,0.5247435138483144],[-34.50507408167885,-18.63972095978853,-58.61461639404297,0,0,0.5247435138483144],[-34.50507408167885,-18.63972095978853,-56.61461639404297,0,0,0.5247435138483144],[-34.50507408167885,-18.63972095978853,-54.61461639404297,0,0,0.5247435138483144],[-30.177811744911125,-16.134765736877043,-54.61461639404297,0,0,0.5247435138483144],[-30.177811744911125,-16.134765736877043,-52.61461639404297,0,0,0.5247435138483144],[-30.177811744911125,-16.134765736877043,-50.61461639404297,0,0,0.5247435138483144],[-25.8505494081434,-13.629810513965554,-50.61461639404297,0,0,0.5247435138483144],[-25.8505494081434,-13.629810513965554,-48.61461639404297,0,0,0.5247435138483144],[-25.8505494081434,-13.629810513965554,-46.61461639404297,0,0,0.5247435138483144],[-25.8505494081434,-13.629810513965554,-44.61461639404297,0,0,0.5247435138483144],[-25.8505494081434,-13.629810513965554,-42.61461639404297,0,0,0.5247435138483144],[-21.523287071375677,-11.124855291054065,-42.61461639404297,0,0,0.5247435138483144],[-21.523287071375677,-11.124855291054065,-40.61461639404297,0,0,0.5247435138483144],[-21.523287071375677,-11.124855291054065,-38.61461639404297,0,0,0.5247435138483144],[-21.523287071375677,-11.124855291054065,-36.61461639404297,0,0,0.5247435138483144],[-21.523287071375677,-11.124855291054065,-34.61461639404297,0,0,0.5247435138483144],[-21.523287071375677,-11.124855291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+{"episode_id":"3QY7M81QHGK0T2Q824FOTRDIMR2K7H","trajectory_id":"386659BNUTFHJ679JSJVKEC873K10Y","scene_id":5,"start_position":[30.809431076049805,36.02878189086914,-33.083560943603516],"start_rotation":[0.999998095178374,0.0,0.0,-0.0019518298142304717],"instruction":{"instruction_text":"Turn left to face the grayish-black building and fly forward to reach the edge of the river, fly down to the top wire. Turn right to face the white and red sign and fly up to the roof of the building, then fly up to the height of the roof ahead  and fly forward towards the roof. Go forward towards the billboard on the left, turn left to face the billboard and fly over it, then turn right to face the roof and land on it."},"goals":[{"position":[58.828034841164474,-66.2089552346125,-23.083560943603516]}],"reference_path":[[30.809431076049805,36.02878189086914,-33.083560943603516,0,0,-0.003903662107054592],[30.809431076049805,36.02878189086914,-35.083560943603516,0,0,-0.003903662107054592],[30.809431076049805,36.02878189086914,-35.083560943603516,0,0,-0.265703049906204],[30.809431076049805,36.02878189086914,-35.083560943603516,0,0,-0.5275024377053534],[30.809431076049805,36.02878189086914,-35.083560943603516,0,0,-0.7893018255045029],[30.809431076049805,36.02878189086914,-35.083560943603516,0,0,-1.0511012133036524],[30.809431076049805,36.02878189086914,-35.083560943603516,0,0,-1.312900601102802],[30.809431076049805,36.02878189086914,-35.083560943603516,0,0,-1.5746999889019515],[30.809431076049805,36.02878189086914,-35.083560943603516,0,0,-1.8364993767011009],[29.49649251826127,31.20424125538143,-35.083560943603516,0,0,-1.8364993767011009],[28.183553960472736,26.37970061989372,-35.083560943603516,0,0,-1.8364993767011009],[28.183553960472736,26.37970061989372,-35.083560943603516,0,0,-2.0982987645002504],[25.66666969883883,22.059365723900175,-35.083560943603516,0,0,-2.0982987645002504],[23.149785437204926,17.73903082790663,-35.083560943603516,0,0,-2.0982987645002504],[20.63290117557102,13.418695931913089,-35.083560943603516,0,0,-2.0982987645002504],[18.116016913937116,9.098361035919545,-35.083560943603516,0,0,-2.0982987645002504],[15.599132652303211,4.778026139926001,-35.083560943603516,0,0,-2.0982987645002504],[13.082248390669307,0.45769124393245697,-35.083560943603516,0,0,-2.0982987645002504],[10.565364129035402,-3.862643652061087,-35.083560943603516,0,0,-2.0982987645002504],[8.048479867401497,-8.182978548054631,-35.083560943603516,0,0,-2.0982987645002504],[5.531595605767591,-12.503313444048175,-35.083560943603516,0,0,-2.0982987645002504],[3.0147113441336852,-16.823648340041718,-35.083560943603516,0,0,-2.0982987645002504],[3.0147113441336852,-16.823648340041718,-33.083560943603516,0,0,-2.0982987645002504],[3.0147113441336852,-16.823648340041718,-31.083560943603516,0,0,-2.0982987645002504],[3.0147113441336852,-16.823648340041718,-29.083560943603516,0,0,-2.0982987645002504],[3.0147113441336852,-16.823648340041718,-27.083560943603516,0,0,-2.0982987645002504],[3.0147113441336852,-16.823648340041718,-25.083560943603516,0,0,-2.0982987645002504],[3.0147113441336852,-16.823648340041718,-23.083560943603516,0,0,-2.0982987645002504],[3.0147113441336852,-16.823648340041718,-21.083560943603516,0,0,-2.0982987645002504],[3.0147113441336852,-16.823648340041718,-19.083560943603516,0,0,-2.0982987645002504],[3.0147113441336852,-16.823648340041718,-17.083560943603516,0,0,-2.0982987645002504],[3.0147113441336852,-16.823648340041718,-15.083560943603516,0,0,-2.0982987645002504],[3.0147113441336852,-16.823648340041718,-13.083560943603516,0,0,-2.0982987645002504],[3.0147113441336852,-16.823648340041718,-11.083560943603516,0,0,-2.0982987645002504],[3.0147113441336852,-16.823648340041718,-11.083560943603516,0,0,-1.8364993767011009],[-1.809829291354026,-15.510709782253183,-11.083560943603516,0,0,-1.8364993767011009],[-1.809829291354026,-15.510709782253183,-11.083560943603516,0,0,-1.5746999889019515],[-1.809829291354026,-15.510709782253183,-11.083560943603516,0,0,-1.312900601102802],[-1.809829291354026,-15.510709782253183,-11.083560943603516,0,0,-1.0511012133036526],[-1.809829291354026,-15.510709782253183,-11.083560943603516,0,0,-0.7893018255045031],[-1.809829291354026,-15.510709782253183,-11.083560943603516,0,0,-0.5275024377053537],[-1.809829291354026,-15.510709782253183,-11.083560943603516,0,0,-0.26570304990620425],[-1.809829291354026,-15.510709782253183,-11.083560943603516,0,0,-0.0039036621070548177],[3.1901326122497373,-15.530228043216614,-11.083560943603516,0,0,-0.0039036621070548177],[3.1901326122497373,-15.530228043216614,-13.083560943603516,0,0,-0.0039036621070548177],[3.1901326122497373,-15.530228043216614,-15.083560943603516,0,0,-0.0039036621070548177],[8.1900945158535,-15.549746304180044,-15.083560943603516,0,0,-0.0039036621070548177],[8.1900945158535,-15.549746304180044,-17.083560943603516,0,0,-0.0039036621070548177],[8.1900945158535,-15.549746304180044,-19.083560943603516,0,0,-0.0039036621070548177],[13.190056419457264,-15.569264565143474,-19.083560943603516,0,0,-0.0039036621070548177],[13.190056419457264,-15.569264565143474,-21.083560943603516,0,0,-0.0039036621070548177],[13.190056419457264,-15.569264565143474,-21.083560943603516,0,0,-0.26570304990620425],[13.190056419457264,-15.569264565143474,-21.083560943603516,0,0,-0.5275024377053537],[13.190056419457264,-15.569264565143474,-23.083560943603516,0,0,-0.5275024377053537],[17.510391315450807,-18.08614882677738,-23.083560943603516,0,0,-0.5275024377053537],[17.510391315450807,-18.08614882677738,-25.083560943603516,0,0,-0.5275024377053537],[17.510391315450807,-18.08614882677738,-27.083560943603516,0,0,-0.5275024377053537],[21.83072621144435,-20.603033088411284,-27.083560943603516,0,0,-0.5275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+{"episode_id":"3DUZQ9U6SVM0SB4CPBR6QRKVP34SVG","trajectory_id":"3UAU495MJQQIVKQQN1VQLHDNG3XUOG","scene_id":5,"start_position":[30.809431076049805,36.02878189086914,-33.083560943603516],"start_rotation":[0.999905149142725,0.0,0.0,-0.013772897947235477],"instruction":{"instruction_text":"Turn left to face the black tall building, fly over the edge wall, fly towards the tall building on the left, fly down to the white pipe, then turn right to face the dark green building with a white and red sign. Fly up to the height of the roof, then fly over the shed on the top of the building ahead, fly towards the left side of the tallest building, then reach a black and red billboard. Fly down to the white pipes and land in front of the fence facing the right tree."},"goals":[{"position":[57.728775321481464,-51.58502582212796,-3.0835609436035156]}],"reference_path":[[30.809431076049805,36.02878189086914,-33.083560943603516,0,0,-0.027546666841633382],[30.809431076049805,36.02878189086914,-35.083560943603516,0,0,-0.027546666841633382],[30.809431076049805,36.02878189086914,-35.083560943603516,0,0,-0.2893460546407828],[30.809431076049805,36.02878189086914,-35.083560943603516,0,0,-0.5511454424399322],[30.809431076049805,36.02878189086914,-35.083560943603516,0,0,-0.8129448302390817],[30.809431076049805,36.02878189086914,-35.083560943603516,0,0,-1.0747442180382312],[30.809431076049805,36.02878189086914,-35.083560943603516,0,0,-1.3365436058373807],[30.809431076049805,36.02878189086914,-35.083560943603516,0,0,-1.59834299363653],[30.809431076049805,36.02878189086914,-35.083560943603516,0,0,-1.8601423814356797],[29.382803451694013,31.23662855218882,-35.083560943603516,0,0,-1.8601423814356797],[24.59065011301369,32.66325617654461,-35.083560943603516,0,0,-1.8601423814356797],[23.1640224886579,27.871102837864285,-35.083560943603516,0,0,-1.8601423814356797],[21.737394864302107,23.078949499183963,-35.083560943603516,0,0,-1.8601423814356797],[20.310767239946315,18.28679616050364,-35.083560943603516,0,0,-1.8601423814356797],[18.884139615590524,13.49464282182332,-35.083560943603516,0,0,-1.8601423814356797],[14.091986276910202,14.921270446179111,-35.083560943603516,0,0,-1.8601423814356797],[12.66535865255441,10.12911710749879,-35.083560943603516,0,0,-1.8601423814356797],[11.238731028198618,5.336963768818468,-35.083560943603516,0,0,-1.8601423814356797],[9.812103403842826,0.5448104301381473,-35.083560943603516,0,0,-1.8601423814356797],[9.812103403842826,0.5448104301381473,-35.083560943603516,0,0,-2.121941769234829],[9.812103403842826,0.5448104301381473,-35.083560943603516,0,0,-2.3837411570339784],[6.180530970069907,-2.892002287811528,-35.083560943603516,0,0,-2.3837411570339784],[2.548958536296988,-6.328815005761204,-35.083560943603516,0,0,-2.3837411570339784],[2.548958536296988,-6.328815005761204,-33.083560943603516,0,0,-2.3837411570339784],[2.548958536296988,-6.328815005761204,-31.083560943603516,0,0,-2.3837411570339784],[2.548958536296988,-6.328815005761204,-29.083560943603516,0,0,-2.3837411570339784],[2.548958536296988,-6.328815005761204,-27.083560943603516,0,0,-2.3837411570339784],[2.548958536296988,-6.328815005761204,-25.083560943603516,0,0,-2.3837411570339784],[2.548958536296988,-6.328815005761204,-23.083560943603516,0,0,-2.3837411570339784],[2.548958536296988,-6.328815005761204,-21.083560943603516,0,0,-2.3837411570339784],[2.548958536296988,-6.328815005761204,-19.083560943603516,0,0,-2.3837411570339784],[2.548958536296988,-6.328815005761204,-17.083560943603516,0,0,-2.3837411570339784],[-1.0826138974759312,-9.765627723710878,-17.083560943603516,0,0,-2.3837411570339784],[-1.0826138974759312,-9.765627723710878,-15.083560943603516,0,0,-2.3837411570339784],[-1.0826138974759312,-9.765627723710878,-13.083560943603516,0,0,-2.3837411570339784],[-1.0826138974759312,-9.765627723710878,-11.083560943603516,0,0,-2.3837411570339784],[-1.0826138974759312,-9.765627723710878,-9.083560943603516,0,0,-2.3837411570339784],[-1.0826138974759312,-9.765627723710878,-9.083560943603516,0,0,-2.121941769234829],[-1.0826138974759312,-9.765627723710878,-9.083560943603516,0,0,-1.8601423814356792],[-1.0826138974759312,-9.765627723710878,-9.083560943603516,0,0,-1.5983429936365299],[-1.0826138974759312,-9.765627723710878,-9.083560943603516,0,0,-1.3365436058373803],[-1.0826138974759312,-9.765627723710878,-9.083560943603516,0,0,-1.0747442180382307],[-1.0826138974759312,-9.765627723710878,-9.083560943603516,0,0,-0.8129448302390814],[-1.0826138974759312,-9.765627723710878,-9.083560943603516,0,0,-0.551145442439932],[-1.0826138974759312,-9.765627723710878,-9.083560943603516,0,0,-0.2893460546407826],[-1.0826138974759312,-9.765627723710878,-11.083560943603516,0,0,-0.2893460546407826],[3.7095394412043907,-11.192255348066668,-11.083560943603516,0,0,-0.2893460546407826],[3.7095394412043907,-11.192255348066668,-13.083560943603516,0,0,-0.2893460546407826],[3.7095394412043907,-11.192255348066668,-15.083560943603516,0,0,-0.2893460546407826],[3.7095394412043907,-11.192255348066668,-17.083560943603516,0,0,-0.2893460546407826],[3.7095394412043907,-11.192255348066668,-19.083560943603516,0,0,-0.2893460546407826],[3.7095394412043907,-11.192255348066668,-21.083560943603516,0,0,-0.2893460546407826],[8.501692779884714,-12.618882972422458,-21.083560943603516,0,0,-0.2893460546407826],[8.501692779884714,-12.618882972422458,-23.083560943603516,0,0,-0.2893460546407826],[8.501692779884714,-12.618882972422458,-25.083560943603516,0,0,-0.2893460546407826],[8.501692779884714,-12.618882972422458,-27.083560943603516,0,0,-0.2893460546407826],[8.501692779884714,-12.618882972422458,-29.083560943603516,0,0,-0.2893460546407826],[8.501692779884714,-12.618882972422458,-31.083560943603516,0,0,-0.2893460546407826],[8.501692779884714,-12.618882972422458,-33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+{"episode_id":"354P56DE9T1YHL3G7DOQKD4SY537S8","trajectory_id":"3BS6ERDLAB56PC901AJ7UHN88YUD6B","scene_id":5,"start_position":[-122.1462631225586,-138.91073608398438,-20.78898811340332],"start_rotation":[0.9998909707654634,0.0,0.0,0.014766400431359544],"instruction":{"instruction_text":"Take off to the height of the terrace ahead, turn right to face between the two buildings. Fly forward to pass between two buildings. Fly over the roof ahead and the two slightly higher roofs. Fly forward and fly down to the roof ahead, then turn left to face the black and white building. Fly over the building ahead, cross the street, and then fly over the building with radar on the roof ahead, fly over a building to reach the tallest building and its lower roof. Fly down to the lower roof ahead in front of a billboard. Move left out of the roof and fly down to the ground. Fly forward and land next to the pipes."},"goals":[{"position":[64.71584883840262,-59.91565950747238,-0.7889881134033203]}],"reference_path":[[-122.1462631225586,-138.91073608398438,-20.78898811340332,0,0,0.029533874222420865],[-122.1462631225586,-138.91073608398438,-22.78898811340332,0,0,0.029533874222420865],[-122.1462631225586,-138.91073608398438,-24.78898811340332,0,0,0.029533874222420865],[-122.1462631225586,-138.91073608398438,-26.78898811340332,0,0,0.029533874222420865],[-122.1462631225586,-138.91073608398438,-28.78898811340332,0,0,0.029533874222420865],[-122.1462631225586,-138.91073608398438,-30.78898811340332,0,0,0.029533874222420865],[-122.1462631225586,-138.91073608398438,-32.78898811340332,0,0,0.029533874222420865],[-122.1462631225586,-138.91073608398438,-34.78898811340332,0,0,0.029533874222420865],[-122.1462631225586,-138.91073608398438,-34.78898811340332,0,0,0.29133326202157034],[-122.1462631225586,-138.91073608398438,-34.78898811340332,0,0,0.5531326498207199],[-122.1462631225586,-138.91073608398438,-34.78898811340332,0,0,0.8149320376198692],[-122.1462631225586,-138.91073608398438,-34.78898811340332,0,0,1.0767314254190188],[-119.77522019168376,-134.50867345154165,-34.78898811340332,0,0,1.0767314254190188],[-117.40417726080892,-130.10661081909893,-34.78898811340332,0,0,1.0767314254190188],[-115.03313432993409,-125.70454818665623,-34.78898811340332,0,0,1.0767314254190188],[-112.66209139905925,-121.30248555421352,-34.78898811340332,0,0,1.0767314254190188],[-117.06415403150196,-118.93144262333868,-34.78898811340332,0,0,1.0767314254190188],[-114.69311110062712,-114.52937999089598,-34.78898811340332,0,0,1.0767314254190188],[-112.32206816975228,-110.12731735845327,-34.78898811340332,0,0,1.0767314254190188],[-109.95102523887745,-105.72525472601056,-34.78898811340332,0,0,1.0767314254190188],[-107.57998230800261,-101.32319209356785,-34.78898811340332,0,0,1.0767314254190188],[-105.20893937712778,-96.92112946112515,-34.78898811340332,0,0,1.0767314254190188],[-102.83789644625294,-92.51906682868244,-34.78898811340332,0,0,1.0767314254190188],[-107.23995907869565,-90.1480238978076,-34.78898811340332,0,0,1.0767314254190188],[-104.86891614782081,-85.7459612653649,-34.78898811340332,0,0,1.0767314254190188],[-102.49787321694598,-81.34389863292219,-34.78898811340332,0,0,1.0767314254190188],[-100.12683028607114,-76.94183600047948,-34.78898811340332,0,0,1.0767314254190188],[-97.7557873551963,-72.53977336803678,-34.78898811340332,0,0,1.0767314254190188],[-95.38474442432147,-68.13771073559407,-34.78898811340332,0,0,1.0767314254190188],[-99.78680705676418,-65.76666780471923,-34.78898811340332,0,0,1.0767314254190188],[-97.41576412588934,-61.36460517227652,-34.78898811340332,0,0,1.0767314254190188],[-95.0447211950145,-56.962542539833805,-34.78898811340332,0,0,1.0767314254190188],[-92.67367826413967,-52.56047990739109,-34.78898811340332,0,0,1.0767314254190188],[-92.67367826413967,-52.56047990739109,-34.78898811340332,0,0,1.3385308132181681],[-91.52276430897786,-47.69474285450653,-34.78898811340332,0,0,1.3385308132181681],[-90.37185035381603,-42.82900580162196,-34.78898811340332,0,0,1.3385308132181681],[-90.37185035381603,-42.82900580162196,-34.78898811340332,0,0,1.6003302010173177],[-90.37185035381603,-42.82900580162196,-34.78898811340332,0,0,1.8621295888164673],[-91.80799815751816,-38.03969692810779,-34.78898811340332,0,0,1.8621295888164673],[-91.80799815751816,-38.03969692810779,-34.78898811340332,0,0,1.600330201017318],[-91.80799815751816,-38.03969692810779,-32.78898811340332,0,0,1.600330201017318],[-91.80799815751816,-38.03969692810779,-30.78898811340332,0,0,1.600330201017318],[-91.80799815751816,-38.03969692810779,-28.78898811340332,0,0,1.600330201017318],[-91.80799815751816,-38.03969692810779,-26.78898811340332,0,0,1.600330201017318],[-91.80799815751816,-38.03969692810779,-24.78898811340332,0,0,1.600330201017318],[-91.80799815751816,-38.03969692810779,-22.78898811340332,0,0,1.600330201017318],[-91.80799815751816,-38.03969692810779,-24.78898811340332,0,0,1.600330201017318],[-91.80799815751816,-38.03969692810779,-24.78898811340332,0,0,1.3385308132181684],[-91.80799815751816,-38.03969692810779,-24.78898811340332,0,0,1.076731425419019],[-91.80799815751816,-38.03969692810779,-24.78898811340332,0,0,0.8149320376198697],[-91.80799815751816,-38.03969692810779,-24.78898811340332,0,0,0.5531326498207203],[-91.80799815751816,-38.03969692810779,-24.78898811340332,0,0,0.2913332620215709],[-91.80799815751816,-38.03969692810779,-24.78898811340332,0,0,0.029533874222421503],[-86.81017862333515,-37.892049023487544,-24.78898811340332,0,0,0.029533874222421503],[-86.95782652795539,-32.894229489304536,-24.78898811340332,0,0,0.029533874222421503],[-86.95782652795539,-32.894229489304536,-26.78898811340332,0,0,0.029533874222421503],[-86.95782652795539,-32.894229489304536,-28.78898811340332,0,0,0.029533874222421503],[-86.95782652795539,-32.894229489304536,-30.78898811340332,0,0,0.029533874222421503],[-81.96000699377238,-32.74658158468429,-30.78898811340332,0,0,0.0295338742224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+{"episode_id":"3NL0RFNU0OL3AF8P06HHQFT8S5K4KI","trajectory_id":"3WGZLY9VDPKTTQSOUPG5EVJZE76D8B","scene_id":5,"start_position":[23.815502166748047,15.108762741088867,-8.151684761047363],"start_rotation":[0.9998554267657092,0.0,0.0,-0.017003692750743284],"instruction":{"instruction_text":"Take off and fly up to the top of the black building on the left. Turn left to face the bulletin board on the yellow building, then fly forward to above the river, then fly down to the ground. Turn right to face the building with the red and white billboard, and fly up to its top height. Fly pass a billboard, turn left to face a round corner roof, fly forward to it, pass between the wall and chimney, fly cross the roof,turn left slightly to face a lower building, and fly towards a building with an antenna at top of same height. Fly forward to above the river and fly down to above the river."},"goals":[{"position":[-11.69540763389082,-104.74284195372113,-2.1516847610473633]}],"reference_path":[[23.815502166748047,15.108762741088867,-8.151684761047363,0,0,-0.0340090244488367],[23.815502166748047,15.108762741088867,-10.151684761047363,0,0,-0.0340090244488367],[23.815502166748047,15.108762741088867,-12.151684761047363,0,0,-0.0340090244488367],[23.815502166748047,15.108762741088867,-14.151684761047363,0,0,-0.0340090244488367],[23.815502166748047,15.108762741088867,-16.151684761047363,0,0,-0.0340090244488367],[23.815502166748047,15.108762741088867,-18.151684761047363,0,0,-0.0340090244488367],[23.815502166748047,15.108762741088867,-20.151684761047363,0,0,-0.0340090244488367],[23.815502166748047,15.108762741088867,-22.151684761047363,0,0,-0.0340090244488367],[23.815502166748047,15.108762741088867,-24.151684761047363,0,0,-0.0340090244488367],[23.815502166748047,15.108762741088867,-26.151684761047363,0,0,-0.0340090244488367],[23.815502166748047,15.108762741088867,-28.151684761047363,0,0,-0.0340090244488367],[23.815502166748047,15.108762741088867,-30.151684761047363,0,0,-0.0340090244488367],[23.815502166748047,15.108762741088867,-32.15168476104736,0,0,-0.0340090244488367],[23.815502166748047,15.108762741088867,-34.15168476104736,0,0,-0.0340090244488367],[23.815502166748047,15.108762741088867,-36.15168476104736,0,0,-0.0340090244488367],[23.815502166748047,15.108762741088867,-38.15168476104736,0,0,-0.0340090244488367],[23.815502166748047,15.108762741088867,-38.15168476104736,0,0,-0.29580841224798615],[23.815502166748047,15.108762741088867,-38.15168476104736,0,0,-0.5576078000471356],[23.815502166748047,15.108762741088867,-38.15168476104736,0,0,-0.8194071878462851],[23.815502166748047,15.108762741088867,-38.15168476104736,0,0,-1.0812065756454345],[19.402872876326875,12.757443378408178,-38.15168476104736,0,0,-1.0812065756454345],[21.754192239007562,8.344814087987004,-38.15168476104736,0,0,-1.0812065756454345],[21.754192239007562,8.344814087987004,-38.15168476104736,0,0,-1.343005963444584],[22.88331983793617,3.4739752623495024,-38.15168476104736,0,0,-1.343005963444584],[24.01244743686478,-1.396863563287999,-38.15168476104736,0,0,-1.343005963444584],[24.01244743686478,-1.396863563287999,-38.15168476104736,0,0,-1.6048053512437332],[24.01244743686478,-1.396863563287999,-38.15168476104736,0,0,-1.8666047390428826],[24.01244743686478,-1.396863563287999,-38.15168476104736,0,0,-2.1284041268420317],[24.01244743686478,-1.396863563287999,-38.15168476104736,0,0,-2.390203514641181],[24.01244743686478,-1.396863563287999,-38.15168476104736,0,0,-2.6520029024403304],[24.01244743686478,-1.396863563287999,-38.15168476104736,0,0,-2.91380229023948],[19.141608611227277,-2.52599116221661,-38.15168476104736,0,0,-2.91380229023948],[14.270769785589774,-3.6551187611452205,-38.15168476104736,0,0,-2.91380229023948],[9.399930959952272,-4.784246360073832,-38.15168476104736,0,0,-2.91380229023948],[4.52909213431477,-5.913373959002442,-38.15168476104736,0,0,-2.91380229023948],[4.52909213431477,-5.913373959002442,-36.15168476104736,0,0,-2.91380229023948],[4.52909213431477,-5.913373959002442,-34.15168476104736,0,0,-2.91380229023948],[4.52909213431477,-5.913373959002442,-32.15168476104736,0,0,-2.91380229023948],[4.52909213431477,-5.913373959002442,-30.151684761047363,0,0,-2.91380229023948],[4.52909213431477,-5.913373959002442,-28.151684761047363,0,0,-2.91380229023948],[4.52909213431477,-5.913373959002442,-26.151684761047363,0,0,-2.91380229023948],[4.52909213431477,-5.913373959002442,-24.151684761047363,0,0,-2.91380229023948],[4.52909213431477,-5.913373959002442,-22.151684761047363,0,0,-2.91380229023948],[4.52909213431477,-5.913373959002442,-20.151684761047363,0,0,-2.91380229023948],[4.52909213431477,-5.913373959002442,-18.151684761047363,0,0,-2.91380229023948],[4.52909213431477,-5.913373959002442,-16.151684761047363,0,0,-2.91380229023948],[4.52909213431477,-5.913373959002442,-14.151684761047363,0,0,-2.91380229023948],[4.52909213431477,-5.913373959002442,-12.151684761047363,0,0,-2.91380229023948],[4.52909213431477,-5.913373959002442,-10.151684761047363,0,0,-2.91380229023948],[4.52909213431477,-5.913373959002442,-8.151684761047363,0,0,-2.91380229023948],[4.52909213431477,-5.913373959002442,-6.151684761047363,0,0,-2.91380229023948],[4.52909213431477,-5.913373959002442,-4.151684761047363,0,0,-2.91380229023948],[4.52909213431477,-5.913373959002442,-4.151684761047363,0,0,-2.6520029024403304],[4.52909213431477,-5.913373959002442,-4.151684761047363,0,0,-2.390203514641181],[4.52909213431477,-5.913373959002442,-4.151684761047363,0,0,-2.1284041268420317],[4.52909213431477,-5.913373959002442,-4.151684761047363,0,0,-1.8666047390428822],[4.52909213431477,-5.913373959002442,-4.151684761047363,0,0,-1.6048053512437328],[4.52909213431477,-5.913373959002442,-4.151684761047363,0,0,-1.3430059634445832],[4.52909213431477,-5.913373959002442,-4.151684761047363,0,0,-1.0812065756454339],[4.52909213431477,-5.913373959002442,-4.151684761047363,0,0,-0.8194071878462844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+{"episode_id":"3SUWZRL0M7BE32KTN8ZTPI0H2286E3","trajectory_id":"3XUY87HIWXCBI9051JPR237O7C1MMC","scene_id":5,"start_position":[-73.3027114868164,0.21759970486164093,-0.8519984483718872],"start_rotation":[0.99990032484042,0.0,0.0,-0.014118795416841782],"instruction":{"instruction_text":"Take off, fly up to the top floor of the building, fly forward passing through the gaps between the billboards and the top floor buildings, fly to the trees on the street and fly down to the ground. Turn left to face the white pipes and turn back, and fly forward to the bridge. Turn left to face the white high building, fly forward to the trees near it, fly up to the height of the building, fly forward to the terrace and land there."},"goals":[{"position":[26.940678356153832,30.264890224090223,-34.85199844837189]}],"reference_path":[[-73.3027114868164,0.21759970486164093,-0.8519984483718872,0,0,-0.028238529066548574],[-73.3027114868164,0.21759970486164093,-2.851998448371887,0,0,-0.028238529066548574],[-73.3027114868164,0.21759970486164093,-4.851998448371887,0,0,-0.028238529066548574],[-73.3027114868164,0.21759970486164093,-6.851998448371887,0,0,-0.028238529066548574],[-73.3027114868164,0.21759970486164093,-8.851998448371887,0,0,-0.028238529066548574],[-73.3027114868164,0.21759970486164093,-10.851998448371887,0,0,-0.028238529066548574],[-73.3027114868164,0.21759970486164093,-12.851998448371887,0,0,-0.028238529066548574],[-73.3027114868164,0.21759970486164093,-14.851998448371887,0,0,-0.028238529066548574],[-73.3027114868164,0.21759970486164093,-16.851998448371887,0,0,-0.028238529066548574],[-73.3027114868164,0.21759970486164093,-18.851998448371887,0,0,-0.028238529066548574],[-73.3027114868164,0.21759970486164093,-20.851998448371887,0,0,-0.028238529066548574],[-73.3027114868164,0.21759970486164093,-22.851998448371887,0,0,-0.028238529066548574],[-73.3027114868164,0.21759970486164093,-24.851998448371887,0,0,-0.028238529066548574],[-73.3027114868164,0.21759970486164093,-26.851998448371887,0,0,-0.028238529066548574],[-73.3027114868164,0.21759970486164093,-28.851998448371887,0,0,-0.028238529066548574],[-68.30470489065664,0.07642582362508563,-28.851998448371887,0,0,-0.028238529066548574],[-63.30669829449686,-0.06474805761146968,-28.851998448371887,0,0,-0.028238529066548574],[-58.308691698337086,-0.20592193884802498,-28.851998448371887,0,0,-0.028238529066548574],[-53.31068510217731,-0.3470958200845803,-28.851998448371887,0,0,-0.028238529066548574],[-48.312678506017534,-0.48826970132113556,-28.851998448371887,0,0,-0.028238529066548574],[-43.31467190985776,-0.6294435825576908,-28.851998448371887,0,0,-0.028238529066548574],[-43.31467190985776,-0.6294435825576908,-30.851998448371887,0,0,-0.028238529066548574],[-38.31666531369798,-0.7706174637942461,-30.851998448371887,0,0,-0.028238529066548574],[-33.318658717538206,-0.9117913450308014,-30.851998448371887,0,0,-0.028238529066548574],[-33.45983259877476,-5.9097979411905746,-30.851998448371887,0,0,-0.028238529066548574],[-28.461826002614988,-6.05097182242713,-30.851998448371887,0,0,-0.028238529066548574],[-23.463819406455215,-6.192145703663685,-30.851998448371887,0,0,-0.028238529066548574],[-18.465812810295443,-6.33331958490024,-30.851998448371887,0,0,-0.028238529066548574],[-13.46780621413567,-6.474493466136795,-30.851998448371887,0,0,-0.028238529066548574],[-8.469799617975898,-6.61566734737335,-30.851998448371887,0,0,-0.028238529066548574],[-8.469799617975898,-6.61566734737335,-32.85199844837189,0,0,-0.028238529066548574],[-3.471793021816125,-6.756841228609905,-32.85199844837189,0,0,-0.028238529066548574],[-3.471793021816125,-6.756841228609905,-30.851998448371887,0,0,-0.028238529066548574],[-3.471793021816125,-6.756841228609905,-28.851998448371887,0,0,-0.028238529066548574],[-3.471793021816125,-6.756841228609905,-26.851998448371887,0,0,-0.028238529066548574],[-3.471793021816125,-6.756841228609905,-24.851998448371887,0,0,-0.028238529066548574],[-3.471793021816125,-6.756841228609905,-22.851998448371887,0,0,-0.028238529066548574],[-3.471793021816125,-6.756841228609905,-20.851998448371887,0,0,-0.028238529066548574],[-3.471793021816125,-6.756841228609905,-18.851998448371887,0,0,-0.028238529066548574],[-3.471793021816125,-6.756841228609905,-16.851998448371887,0,0,-0.028238529066548574],[-3.471793021816125,-6.756841228609905,-14.851998448371887,0,0,-0.028238529066548574],[-3.471793021816125,-6.756841228609905,-12.851998448371887,0,0,-0.028238529066548574],[-3.471793021816125,-6.756841228609905,-10.851998448371887,0,0,-0.028238529066548574],[-3.471793021816125,-6.756841228609905,-8.851998448371887,0,0,-0.028238529066548574],[-3.471793021816125,-6.756841228609905,-6.851998448371887,0,0,-0.028238529066548574],[-3.471793021816125,-6.756841228609905,-4.851998448371887,0,0,-0.028238529066548574],[-3.471793021816125,-6.756841228609905,-4.851998448371887,0,0,-0.290037916865698],[-3.471793021816125,-6.756841228609905,-4.851998448371887,0,0,-0.5518373046648475],[-3.471793021816125,-6.756841228609905,-4.851998448371887,0,0,-0.813636692463997],[-3.471793021816125,-6.756841228609905,-4.851998448371887,0,0,-1.0754360802631464],[-3.471793021816125,-6.756841228609905,-4.851998448371887,0,0,-0.813636692463997],[-3.471793021816125,-6.756841228609905,-4.851998448371887,0,0,-0.5518373046648476],[-3.471793021816125,-6.756841228609905,-4.851998448371887,0,0,-0.2900379168656982],[-3.471793021816125,-6.756841228609905,-4.851998448371887,0,0,-0.028238529066548747],[-3.471793021816125,-6.756841228609905,-4.851998448371887,0,0,0.23356085873260068],[-3.471793021816125,-6.756841228609905,-4.851998448371887,0,0,0.4953602465317501],[-3.471793021816125,-6.756841228609905,-4.851998448371887,0,0,0.7571596343308996],[-3.471793021816125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+]}
diff --git a/TEST_FILE/AerialVLN-Fine-V3-Scene-7.json b/TEST_FILE/AerialVLN-Fine-V3-Scene-7.json
new file mode 100644
index 0000000000000000000000000000000000000000..e823510eedade9d7cc323e30a3ee079f29fa1237
--- /dev/null
+++ b/TEST_FILE/AerialVLN-Fine-V3-Scene-7.json
@@ -0,0 +1,32 @@
+{"episodes":[
+{"episode_id":"369J354OFM8CNGGKT3PHPLLT5O0G69","trajectory_id":"36GJS3V793OLPRYYNJE496VA5SWJGP","scene_id":7,"start_position":[0.3112126886844635,-8.156624794006348,-0.6337697505950928],"start_rotation":[0.9998122173813901,0.0,0.0,-0.019378595792985988],"instruction":{"instruction_text":"Take off, then turn left to face the road, and fly forward to the trash can on the left side of the road. Turn left to face the trash can on the opposite side of the river, then fly to the riverbank in front of the trash can, then turn right to face the riverbank, and then fly forward. Fly forward to the left side of the bridge and then turn right to face the bridge. Fly straight ahead until reach the crossroads in front of the next bridge, then turn back to face the cone-shaped barriers, then fly forward again until you reach the crossroads again. Turn right to face the red building at the end of the road, and then walk forward to the intersection at the end of the road. Turn left to face the trash can on the right at the next intersection. Fly straight ahead to the next intersection and land in front of the zebra crossing facing the trash can."},"goals":[{"position":[-18.033654545855594,-155.67389023974044,-0.6337697505950928]}],"reference_path":[[0.3112126886844635,-8.156624794006348,-0.6337697505950928,0,0,-0.03875961774385106],[0.3112126886844635,-8.156624794006348,-2.6337697505950928,0,0,-0.03875961774385106],[0.3112126886844635,-8.156624794006348,-2.6337697505950928,0,0,-0.30055900554300047],[0.3112126886844635,-8.156624794006348,-2.6337697505950928,0,0,-0.5623583933421499],[0.3112126886844635,-8.156624794006348,-2.6337697505950928,0,0,-0.8241577811412993],[0.3112126886844635,-8.156624794006348,-2.6337697505950928,0,0,-1.0859571689404488],[0.3112126886844635,-8.156624794006348,-2.6337697505950928,0,0,-1.3477565567395984],[1.417188259253216,-13.032772662693795,-2.6337697505950928,0,0,-1.3477565567395984],[2.5231638298219683,-17.90892053138124,-2.6337697505950928,0,0,-1.3477565567395984],[2.5231638298219683,-17.90892053138124,-2.6337697505950928,0,0,-1.6095559445387477],[2.329414261526738,-22.90516523163216,-2.6337697505950928,0,0,-1.6095559445387477],[2.329414261526738,-22.90516523163216,-2.6337697505950928,0,0,-1.8713553323378973],[2.329414261526738,-22.90516523163216,-2.6337697505950928,0,0,-2.1331547201370467],[2.329414261526738,-22.90516523163216,-2.6337697505950928,0,0,-2.3949541079361962],[2.329414261526738,-22.90516523163216,-2.6337697505950928,0,0,-2.656753495735346],[2.329414261526738,-22.90516523163216,-2.6337697505950928,0,0,-2.9185528835344954],[-2.546733607160709,-24.011140802200913,-2.6337697505950928,0,0,-2.9185528835344954],[-2.546733607160709,-24.011140802200913,-2.6337697505950928,0,0,3.1028330358459417],[-7.54297830741163,-23.81739123390568,-2.6337697505950928,0,0,3.1028330358459417],[-12.539223007662551,-23.62364166561045,-2.6337697505950928,0,0,3.1028330358459417],[-17.535467707913472,-23.429892097315218,-2.6337697505950928,0,0,3.1028330358459417],[-22.531712408164395,-23.236142529019986,-2.6337697505950928,0,0,3.1028330358459417],[-22.531712408164395,-23.236142529019986,-2.6337697505950928,0,0,-2.9185528835344945],[-22.531712408164395,-23.236142529019986,-2.6337697505950928,0,0,-2.6567534957353454],[-22.531712408164395,-23.236142529019986,-2.6337697505950928,0,0,-2.394954107936196],[-22.531712408164395,-23.236142529019986,-2.6337697505950928,0,0,-2.133154720137046],[-22.531712408164395,-23.236142529019986,-2.6337697505950928,0,0,-1.8713553323378966],[-22.531712408164395,-23.236142529019986,-2.6337697505950928,0,0,-1.6095559445387473],[-22.725461976459624,-28.232387229270905,-2.6337697505950928,0,0,-1.6095559445387473],[-22.91921154475485,-33.228631929521825,-2.6337697505950928,0,0,-1.6095559445387473],[-23.11296111305008,-38.224876629772744,-2.6337697505950928,0,0,-1.6095559445387473],[-23.306710681345308,-43.221121330023664,-2.6337697505950928,0,0,-1.6095559445387473],[-23.500460249640536,-48.21736603027458,-2.6337697505950928,0,0,-1.6095559445387473],[-23.694209817935764,-53.2136107305255,-2.6337697505950928,0,0,-1.6095559445387473],[-23.887959386230992,-58.20985543077642,-2.6337697505950928,0,0,-1.6095559445387473],[-24.08170895452622,-63.20610013102734,-2.6337697505950928,0,0,-1.6095559445387473],[-24.27545852282145,-68.20234483127827,-2.6337697505950928,0,0,-1.6095559445387473],[-24.469208091116677,-73.1985895315292,-2.6337697505950928,0,0,-1.6095559445387473],[-24.662957659411905,-78.19483423178012,-2.6337697505950928,0,0,-1.6095559445387473],[-24.662957659411905,-78.19483423178012,-2.6337697505950928,0,0,-1.347756556739598],[-24.662957659411905,-78.19483423178012,-2.6337697505950928,0,0,-1.0859571689404486],[-24.662957659411905,-78.19483423178012,-2.6337697505950928,0,0,-0.8241577811412991],[-24.662957659411905,-78.19483423178012,-2.6337697505950928,0,0,-0.5623583933421498],[-24.662957659411905,-78.19483423178012,-2.6337697505950928,0,0,-0.30055900554300036],[-24.662957659411905,-78.19483423178012,-2.6337697505950928,0,0,-0.03875961774385093],[-19.666712959160982,-78.38858380007535,-2.6337697505950928,0,0,-0.03875961774385093],[-14.670468258910061,-78.58233336837058,-2.6337697505950928,0,0,-0.03875961774385093],[-9.67422355865914,-78.77608293666582,-2.6337697505950928,0,0,-0.03875961774385093],[-4.677978858408219,-78.96983250496105,-2.6337697505950928,0,0,-0.03875961774385093],[0.31826584184270246,-79.16358207325628,-2.6337697505950928,0,0,-0.03875961774385093],[5.314510542093624,-79.35733164155151,-2.6337697505950928,0,0,-0.03875961774385093],[10.310755242344545,-79.55108120984674,-2.6337697505950928,0,0,-0.03875961774385093],[15.306999942595466,-79.74483077814197,-2.6337697505950928,0,0,-0.03875961774385093],[20.303244642846387,-79.9385803464372,-2.6337697505950928,0,0,-0.03875961774385093],[25.299489343097306,-80.13232991473244,-2.6337697505950928,0,0,-0.03875961774385093],[30.295734043348226,-80.32607948302767,-2.6337697505950928,0,0,-0.03875961774385093],[35.291978743599145,-80.5198290513229,-2.6337697505950928,0,0,-0.03875961774385093],[40.288223443850065,-80.71357861961813,-2.6337697505950928,0,0,-0.03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+{"episode_id":"37ZHEEHM65KUX4I1HYNPC5WHTDB37K","trajectory_id":"3X2LT8FDI4GS2WSFBKLV6J8KPMRW8K","scene_id":7,"start_position":[70.05207824707031,-79.87269592285156,-0.8246278762817383],"start_rotation":[0.9997243328143095,0.0,0.0,-0.023478892200947572],"instruction":{"instruction_text":"Turn right to face the zebra crossing, and then walk forward to the crossroads. Fly along the road to the next intersection and then stop. A sign indicating to turn right to face the sidewalk on the right side of the road. Fly towards the road and land in front of the red building at the end of the road. Turn right to face the speed limit sign on the right side of the road, which reads \"50\". Fly forward along the road until reach the cone-shaped barrier, then turn around and head backward. Fly forward through the first road intersection and then reach the second one. Turn slightly to the left to face the trash can on the left side of the road, and then fly forward to the trash can. Face the situation where the trash can landed on the sidewalk."},"goals":[{"position":[-25.50523289161639,-144.50467762556355,-0.8246278762817383]}],"reference_path":[[70.05207824707031,-79.87269592285156,-0.8246278762817383,0,0,-0.04696209978450009],[70.05207824707031,-79.87269592285156,-0.8246278762817383,0,0,0.21483728801464932],[70.05207824707031,-79.87269592285156,-0.8246278762817383,0,0,0.47663667581379876],[70.05207824707031,-79.87269592285156,-0.8246278762817383,0,0,0.7384360636129482],[70.05207824707031,-79.87269592285156,-0.8246278762817383,0,0,1.0002354514120977],[70.05207824707031,-79.87269592285156,-0.8246278762817383,0,0,1.262034839211247],[70.05207824707031,-79.87269592285156,-0.8246278762817383,0,0,1.5238342270103964],[70.05207824707031,-79.87269592285156,-0.8246278762817383,0,0,1.785633614809546],[70.05207824707031,-79.87269592285156,-0.8246278762817383,0,0,2.0474330026086953],[70.05207824707031,-79.87269592285156,-0.8246278762817383,0,0,2.309232390407845],[70.05207824707031,-79.87269592285156,-0.8246278762817383,0,0,2.571031778206994],[70.05207824707031,-79.87269592285156,-0.8246278762817383,0,0,2.8328311660061436],[65.2885249555716,-78.3533012937141,-0.8246278762817383,0,0,2.8328311660061436],[65.2885249555716,-78.3533012937141,-0.8246278762817383,0,0,3.094630553805293],[60.29403753936144,-78.11857709530598,-0.8246278762817383,0,0,3.094630553805293],[55.29955012315128,-77.88385289689786,-0.8246278762817383,0,0,3.094630553805293],[50.305062706941115,-77.64912869848975,-0.8246278762817383,0,0,3.094630553805293],[45.31057529073095,-77.41440450008163,-0.8246278762817383,0,0,3.094630553805293],[40.31608787452079,-77.17968030167351,-0.8246278762817383,0,0,3.094630553805293],[35.32160045831063,-76.9449561032654,-0.8246278762817383,0,0,3.094630553805293],[30.327113042100464,-76.71023190485728,-0.8246278762817383,0,0,3.094630553805293],[25.3326256258903,-76.47550770644916,-0.8246278762817383,0,0,3.094630553805293],[20.33813820968014,-76.24078350804105,-0.8246278762817383,0,0,3.094630553805293],[15.343650793469976,-76.00605930963293,-0.8246278762817383,0,0,3.094630553805293],[15.343650793469976,-76.00605930963293,-2.8246278762817383,0,0,3.094630553805293],[10.349163377259814,-75.77133511122481,-2.8246278762817383,0,0,3.094630553805293],[5.354675961049651,-75.5366109128167,-2.8246278762817383,0,0,3.094630553805293],[5.354675961049651,-75.5366109128167,-2.8246278762817383,0,0,-2.926755365575144],[5.354675961049651,-75.5366109128167,-2.8246278762817383,0,0,-2.664955977775995],[5.354675961049651,-75.5366109128167,-2.8246278762817383,0,0,-2.4031565899768457],[5.354675961049651,-75.5366109128167,-2.8246278762817383,0,0,-2.141357202177696],[5.354675961049651,-75.5366109128167,-2.8246278762817383,0,0,-1.8795578143785467],[5.354675961049651,-75.5366109128167,-2.8246278762817383,0,0,-1.6177584265793974],[5.119951762641533,-80.53109832902686,-2.8246278762817383,0,0,-1.6177584265793974],[4.885227564233416,-85.52558574523702,-2.8246278762817383,0,0,-1.6177584265793974],[4.6505033658252986,-90.52007316144719,-2.8246278762817383,0,0,-1.6177584265793974],[4.415779167417181,-95.51456057765735,-2.8246278762817383,0,0,-1.6177584265793974],[4.181054969009064,-100.50904799386751,-2.8246278762817383,0,0,-1.6177584265793974],[3.9463307706009463,-105.50353541007767,-2.8246278762817383,0,0,-1.6177584265793974],[3.711606572192829,-110.49802282628784,-2.8246278762817383,0,0,-1.6177584265793974],[3.4768823737847114,-115.492510242498,-2.8246278762817383,0,0,-1.6177584265793974],[3.242158175376594,-120.48699765870816,-2.8246278762817383,0,0,-1.6177584265793974],[3.0074339769684766,-125.48148507491833,-2.8246278762817383,0,0,-1.6177584265793974],[2.772709778560359,-130.4759724911285,-2.8246278762817383,0,0,-1.6177584265793974],[2.5379855801522417,-135.47045990733864,-2.8246278762817383,0,0,-1.6177584265793974],[2.3032613817441243,-140.4649473235488,-2.8246278762817383,0,0,-1.6177584265793974],[2.068537183336007,-145.459434739759,-2.8246278762817383,0,0,-1.6177584265793974],[1.8338129849278895,-150.45392215596917,-2.8246278762817383,0,0,-1.6177584265793974],[1.8338129849278895,-150.45392215596917,-2.8246278762817383,0,0,-1.355959038780248],[1.8338129849278895,-150.45392215596917,-2.8246278762817383,0,0,-1.0941596509810987],[1.8338129849278895,-150.45392215596917,-2.8246278762817383,0,0,-0.8323602631819493],[1.8338129849278895,-150.45392215596917,-2.8246278762817383,0,0,-0.5705608753827999],[1.8338129849278895,-150.45392215596917,-2.8246278762817383,0,0,-0.3087614875836504],[1.8338129849278895,-150.45392215596917,-2.8246278762817383,0,0,-0.04696209978450099],[6.828300401138052,-150.68864635437728,-2.8246278762817383,0,0,-0.04696209978450099],[11.822787817348214,-150.9233705527854,-2.8246278762817383,0,0,-0.04696209978450099],[16.817275233558377,-151.15809475119352,-2.8246278762817383,0,0,-0.04696209978450099],[21.81176264976854,-151.39281894960163,-2.8246278762817383,0,0,-0.04696209978450099],[21.81176264976854,-151.39281894960163,-2.8246278762817383,0,0,0.21483728801464844],[21.811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+{"episode_id":"32AT8R96GU70FWFCKLH1U5IC2FEUS5","trajectory_id":"3I6NF2WGJOUDISJDYHAA8WC5OZM5GR","scene_id":7,"start_position":[1.2124496698379517,-44.93172073364258,-0.7715672254562378],"start_rotation":[0.999919072094999,0.0,0.0,0.012721999083326834],"instruction":{"instruction_text":"take off. Turn left to face the road. Then, proceed straight along the road and fly past the first crossroads. Continue flying forward until reach the crosswalk in front of the next T-junction, then land at there."},"goals":[{"position":[3.6294338783707114,-139.90096937411408,-0.7715672254562378]}],"reference_path":[[1.2124496698379517,-44.93172073364258,-0.7715672254562378,0,0,0.02544468456536207],[1.2124496698379517,-44.93172073364258,-0.7715672254562378,0,0,-0.23635470323378738],[1.2124496698379517,-44.93172073364258,-0.7715672254562378,0,0,-0.49815409103293684],[1.2124496698379517,-44.93172073364258,-0.7715672254562378,0,0,-0.7599534788320863],[1.2124496698379517,-44.93172073364258,-0.7715672254562378,0,0,-1.0217528666312359],[1.2124496698379517,-44.93172073364258,-0.7715672254562378,0,0,-1.2835522544303855],[1.2124496698379517,-44.93172073364258,-0.7715672254562378,0,0,-1.5453516422295348],[1.3396593650238864,-49.93010224103582,-0.7715672254562378,0,0,-1.5453516422295348],[1.466869060209821,-54.92848374842906,-0.7715672254562378,0,0,-1.5453516422295348],[1.5940787553957558,-59.9268652558223,-0.7715672254562378,0,0,-1.5453516422295348],[1.7212884505816906,-64.92524676321554,-0.7715672254562378,0,0,-1.5453516422295348],[1.8484981457676253,-69.92362827060877,-0.7715672254562378,0,0,-1.5453516422295348],[1.97570784095356,-74.922009778002,-0.7715672254562378,0,0,-1.5453516422295348],[2.1029175361394947,-79.92039128539524,-0.7715672254562378,0,0,-1.5453516422295348],[2.2301272313254294,-84.91877279278847,-0.7715672254562378,0,0,-1.5453516422295348],[2.357336926511364,-89.9171543001817,-0.7715672254562378,0,0,-1.5453516422295348],[2.484546621697299,-94.91553580757494,-0.7715672254562378,0,0,-1.5453516422295348],[2.6117563168832336,-99.91391731496817,-0.7715672254562378,0,0,-1.5453516422295348],[2.7389660120691683,-104.91229882236141,-0.7715672254562378,0,0,-1.5453516422295348],[2.866175707255103,-109.91068032975464,-0.7715672254562378,0,0,-1.5453516422295348],[2.993385402441038,-114.90906183714787,-0.7715672254562378,0,0,-1.5453516422295348],[3.1205950976269725,-119.90744334454111,-0.7715672254562378,0,0,-1.5453516422295348],[3.2478047928129072,-124.90582485193434,-0.7715672254562378,0,0,-1.5453516422295348],[3.375014487998842,-129.9042063593276,-0.7715672254562378,0,0,-1.5453516422295348],[3.5022241831847767,-134.90258786672084,-0.7715672254562378,0,0,-1.5453516422295348],[3.6294338783707114,-139.90096937411408,-0.7715672254562378,0,0,-1.5453516422295348],[3.6294338783707114,-139.90096937411408,-0.7715672254562378,0,0,-1.2835522544303857],[3.6294338783707114,-139.90096937411408,-0.7715672254562378,0,0,-1.021752866631236]],"actions":[2,2,2,2,2,2,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,3,3,0]},
+{"episode_id":"3K4J6M3CXNRDAISNJG6T5QNFEPPGAB","trajectory_id":"3JYPJ2TAZQ6BX2517CD6OHHAG0TPF2","scene_id":7,"start_position":[40.25446319580078,-155.70828247070312,-0.7135906219482422],"start_rotation":[0.9996551599826081,0.0,0.0,0.026259495809063102],"instruction":{"instruction_text":"Take off, then turn right to face the gray-white building on the left side of the street, and then fly forward to the sidewalk in front of the gray building. Turn slightly right to face the traffic lights on the sidewalk, then fly forward onto the sidewalk at the road intersection, and then turn left to face the road beside the river. Fly straight ahead past the first road intersection, then continue flying until reach the third road sign on the right side of the road that has the letter \"P\" on it, and stop there."},"goals":[{"position":[-0.5467499072099218,-45.19195654668712,-2.713590621948242]}],"reference_path":[[40.25446319580078,-155.70828247070312,-0.7135906219482422,0,0,0.052525029334280535],[40.25446319580078,-155.70828247070312,-0.7135906219482422,0,0,0.31432441713342996],[40.25446319580078,-155.70828247070312,-0.7135906219482422,0,0,0.5761238049325793],[40.25446319580078,-155.70828247070312,-0.7135906219482422,0,0,0.8379231927317288],[40.25446319580078,-155.70828247070312,-0.7135906219482422,0,0,1.0997225805308781],[40.25446319580078,-155.70828247070312,-0.7135906219482422,0,0,1.3615219683300277],[40.25446319580078,-155.70828247070312,-0.7135906219482422,0,0,1.623321356129177],[40.25446319580078,-155.70828247070312,-0.7135906219482422,0,0,1.8851207439283268],[40.25446319580078,-155.70828247070312,-0.7135906219482422,0,0,2.146920131727476],[40.25446319580078,-155.70828247070312,-0.7135906219482422,0,0,2.4087195195266253],[40.25446319580078,-155.70828247070312,-0.7135906219482422,0,0,2.670518907325775],[40.25446319580078,-155.70828247070312,-2.713590621948242,0,0,2.670518907325775],[35.79905574893331,-153.43906575950123,-2.713590621948242,0,0,2.670518907325775],[35.79905574893331,-153.43906575950123,-2.713590621948242,0,0,2.932318295124924],[30.908146127039434,-152.40031503364548,-2.713590621948242,0,0,2.932318295124924],[26.017236505145554,-151.36156430778973,-2.713590621948242,0,0,2.932318295124924],[21.126326883251675,-150.32281358193399,-2.713590621948242,0,0,2.932318295124924],[16.235417261357796,-149.28406285607824,-2.713590621948242,0,0,2.932318295124924],[16.235417261357796,-149.28406285607824,-2.713590621948242,0,0,-3.0890676242555126],[11.242312872559257,-149.54656726091895,-2.713590621948242,0,0,-3.0890676242555126],[6.249208483760719,-149.80907166575966,-2.713590621948242,0,0,-3.0890676242555126],[6.249208483760719,-149.80907166575966,-2.713590621948242,0,0,2.9323182951249236],[6.249208483760719,-149.80907166575966,-2.713590621948242,0,0,2.6705189073257745],[6.249208483760719,-149.80907166575966,-2.713590621948242,0,0,2.4087195195266253],[6.249208483760719,-149.80907166575966,-2.713590621948242,0,0,2.1469201317274758],[6.249208483760719,-149.80907166575966,-2.713590621948242,0,0,1.8851207439283264],[4.703338189604388,-145.05404432265794,-2.713590621948242,0,0,1.8851207439283264],[4.703338189604388,-145.05404432265794,-2.713590621948242,0,0,1.623321356129177],[4.440833784763672,-140.0609399338594,-2.713590621948242,0,0,1.623321356129177],[4.178329379922957,-135.06783554506086,-2.713590621948242,0,0,1.623321356129177],[3.9158249750822414,-130.07473115626232,-2.713590621948242,0,0,1.623321356129177],[3.653320570241526,-125.08162676746377,-2.713590621948242,0,0,1.623321356129177],[3.3908161654008104,-120.08852237866523,-2.713590621948242,0,0,1.623321356129177],[3.128311760560095,-115.09541798986669,-2.713590621948242,0,0,1.623321356129177],[2.8658073557193795,-110.10231360106815,-2.713590621948242,0,0,1.623321356129177],[2.603302950878664,-105.1092092122696,-2.713590621948242,0,0,1.623321356129177],[2.3407985460379486,-100.11610482347106,-2.713590621948242,0,0,1.623321356129177],[2.078294141197233,-95.12300043467252,-2.713590621948242,0,0,1.623321356129177],[1.8157897363565176,-90.12989604587398,-2.713590621948242,0,0,1.623321356129177],[1.5532853315158022,-85.13679165707543,-2.713590621948242,0,0,1.623321356129177],[1.2907809266750867,-80.14368726827689,-2.713590621948242,0,0,1.623321356129177],[1.0282765218343712,-75.15058287947835,-2.713590621948242,0,0,1.623321356129177],[0.7657721169936558,-70.15747849067981,-2.713590621948242,0,0,1.623321356129177],[0.5032677121529403,-65.16437410188126,-2.713590621948242,0,0,1.623321356129177],[0.24076330731222478,-60.17126971308273,-2.713590621948242,0,0,1.623321356129177],[-0.021741097528490738,-55.178165324284194,-2.713590621948242,0,0,1.623321356129177],[-0.28424550236920626,-50.18506093548566,-2.713590621948242,0,0,1.623321356129177],[-0.5467499072099218,-45.19195654668712,-2.713590621948242,0,0,1.623321356129177]],"actions":[3,3,3,3,3,3,3,3,3,3,4,1,3,1,1,1,1,3,1,1,2,2,2,2,2,1,2,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,0]},
+{"episode_id":"3VHHR074HCFBD88QN4RP8RQXWLL7LU","trajectory_id":"351S7I5UHHURZJFKANRZZQ4764IJNX","scene_id":7,"start_position":[70.05207824707031,-79.87269592285156,-0.8246278762817383],"start_rotation":[0.9999953460580042,0.0,0.0,0.0030508789442529505],"instruction":{"instruction_text":"Turn around to face the bridge, and then fly forward to the crossroads behind the bridge, then turn right and face the water surface. Fly straight ahead to the crossroads on the left side of the distant bridge, then turn left to face the cone barriers on the road. Fly forward to the conical barrier, then turn back to face the bridge, and then walk forward to the crossroads. Turn left to face the tree on the far side of the river, then fly across the river and land beside the tree."},"goals":[{"position":[82.42673334960323,-183.4627679698998,-0.8246278762817383]}],"reference_path":[[70.05207824707031,-79.87269592285156,-0.8246278762817383,0,0,0.006101767354265951],[75.05198516844699,-79.84218727539518,-0.8246278762817383,0,0,0.006101767354265951],[80.05189208982367,-79.81167862793879,-0.8246278762817383,0,0,0.006101767354265951],[80.05189208982367,-79.81167862793879,-0.8246278762817383,0,0,0.2679011551534154],[80.05189208982367,-79.81167862793879,-0.8246278762817383,0,0,0.5297005429525647],[80.05189208982367,-79.81167862793879,-0.8246278762817383,0,0,0.7914999307517142],[80.05189208982367,-79.81167862793879,-0.8246278762817383,0,0,1.0532993185508637],[80.05189208982367,-79.81167862793879,-0.8246278762817383,0,0,1.315098706350013],[80.05189208982367,-79.81167862793879,-0.8246278762817383,0,0,1.5768980941491626],[80.05189208982367,-79.81167862793879,-0.8246278762817383,0,0,1.838697481948312],[80.05189208982367,-79.81167862793879,-0.8246278762817383,0,0,2.1004968697474613],[80.05189208982367,-79.81167862793879,-0.8246278762817383,0,0,2.362296257546611],[80.05189208982367,-79.81167862793879,-0.8246278762817383,0,0,2.6240956453457605],[80.05189208982367,-79.81167862793879,-0.8246278762817383,0,0,2.8858950331449096],[80.05189208982367,-79.81167862793879,-0.8246278762817383,0,0,-3.1354908862355266],[75.05198516844699,-79.84218727539519,-0.8246278762817383,0,0,-3.1354908862355266],[70.05207824707031,-79.87269592285159,-0.8246278762817383,0,0,-3.1354908862355266],[65.05217132569364,-79.90320457030799,-0.8246278762817383,0,0,-3.1354908862355266],[60.05226440431696,-79.93371321776439,-0.8246278762817383,0,0,-3.1354908862355266],[55.05235748294028,-79.9642218652208,-0.8246278762817383,0,0,-3.1354908862355266],[50.0524505615636,-79.9947305126772,-0.8246278762817383,0,0,-3.1354908862355266],[50.0524505615636,-79.9947305126772,-0.8246278762817383,0,0,-2.8736914984363775],[50.0524505615636,-79.9947305126772,-0.8246278762817383,0,0,-2.6118921106372284],[50.0524505615636,-79.9947305126772,-0.8246278762817383,0,0,-2.350092722838079],[50.0524505615636,-79.9947305126772,-0.8246278762817383,0,0,-2.0882933350389297],[50.0524505615636,-79.9947305126772,-0.8246278762817383,0,0,-1.8264939472397803],[50.0524505615636,-79.9947305126772,-0.8246278762817383,0,0,-1.564694559440631],[50.0524505615636,-79.9947305126772,-0.8246278762817383,0,0,-1.3028951716414818],[51.375990787059074,-84.81637351807436,-0.8246278762817383,0,0,-1.3028951716414818],[52.699531012554544,-89.63801652347152,-0.8246278762817383,0,0,-1.3028951716414818],[54.023071238050015,-94.45965952886868,-0.8246278762817383,0,0,-1.3028951716414818],[55.346611463545486,-99.28130253426585,-0.8246278762817383,0,0,-1.3028951716414818],[50.52496845814832,-100.60484275976131,-0.8246278762817383,0,0,-1.3028951716414818],[51.84850868364379,-105.42648576515847,-0.8246278762817383,0,0,-1.3028951716414818],[53.172048909139264,-110.24812877055564,-0.8246278762817383,0,0,-1.3028951716414818],[54.495589134634734,-115.0697717759528,-0.8246278762817383,0,0,-1.3028951716414818],[55.819129360130205,-119.89141478134997,-0.8246278762817383,0,0,-1.3028951716414818],[57.142669585625676,-124.71305778674713,-0.8246278762817383,0,0,-1.3028951716414818],[58.466209811121146,-129.5347007921443,-0.8246278762817383,0,0,-1.3028951716414818],[59.78975003661662,-134.35634379754146,-0.8246278762817383,0,0,-1.3028951716414818],[54.96810703121945,-135.67988402303692,-0.8246278762817383,0,0,-1.3028951716414818],[56.291647256714924,-140.50152702843408,-0.8246278762817383,0,0,-1.3028951716414818],[57.615187482210395,-145.32317003383125,-0.8246278762817383,0,0,-1.3028951716414818],[58.938727707705866,-150.1448130392284,-0.8246278762817383,0,0,-1.3028951716414818],[58.938727707705866,-150.1448130392284,-0.8246278762817383,0,0,-1.5646945594406314],[58.938727707705866,-150.1448130392284,-0.8246278762817383,0,0,-1.8264939472397808],[58.938727707705866,-150.1448130392284,-0.8246278762817383,0,0,-2.08829333503893],[58.938727707705866,-150.1448130392284,-0.8246278762817383,0,0,-2.3500927228380797],[58.938727707705866,-150.1448130392284,-0.8246278762817383,0,0,-2.6118921106372293],[58.938727707705866,-150.1448130392284,-0.8246278762817383,0,0,-2.873691498436379],[54.1170847023087,-151.46835326472387,-0.8246278762817383,0,0,-2.873691498436379],[49.29544169691154,-152.79189349021934,-0.8246278762817383,0,0,-2.873691498436379],[49.29544169691154,-152.79189349021934,-0.8246278762817383,0,0,-3.1354908862355284],[49.29544169691154,-152.79189349021934,-2.8246278762817383,0,0,-3.1354908862355284],[44.29553477553486,-152.82240213767574,-2.8246278762817383,0,0,-3.1354908862355284],[39.295627854158184,-152.85291078513214,-2.8246278762817383,0,0,-3.1354908862355284],[34.29572093278151,-152.88341943258854,-2.8246278762817383,0,0,-3.1354908862355284],[34.29572093278151,-152.88341943258854,-2.8246278762817383,0,0,-2.8736914984363793],[34.29572093278151,-152.88341943258854,-2.8246278762817383,0,0,-2.611892110637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+{"episode_id":"32N49TQG3PGWSFII8B5F5RQPOT3AVL","trajectory_id":"3CMV9YRYQBZ1BJCZYABKMY0I19IJLV","scene_id":7,"start_position":[2.3452343940734863,46.66836166381836,-0.5468800067901611],"start_rotation":[0.999997628305882,0.0,0.0,-0.002177930809510331],"instruction":{"instruction_text":"Turn left to face the road and fly straight ahead through two road intersections, and stop in the middle of the third road intersection. Turn right to face the black roof and red walls of the building on the right side of the white building at the end of the road. Fly straight along the road until reach the front of the red building and then land."},"goals":[{"position":[81.79999404182453,-78.67892059358886,-2.546880006790161]}],"reference_path":[[2.3452343940734863,46.66836166381836,-0.5468800067901611,0,0,-0.004355865062614389],[2.3452343940734863,46.66836166381836,-0.5468800067901611,0,0,-0.26615525286176384],[2.3452343940734863,46.66836166381836,-0.5468800067901611,0,0,-0.5279546406609132],[2.3452343940734863,46.66836166381836,-0.5468800067901611,0,0,-0.7897540284600626],[2.3452343940734863,46.66836166381836,-0.5468800067901611,0,0,-1.0515534162592122],[2.3452343940734863,46.66836166381836,-0.5468800067901611,0,0,-1.3133528040583617],[2.3452343940734863,46.66836166381836,-0.5468800067901611,0,0,-1.575152191857511],[2.3234551376322394,41.66840909764447,-0.5468800067901611,0,0,-1.575152191857511],[2.3016758811909925,36.66845653147058,-0.5468800067901611,0,0,-1.575152191857511],[2.2798966247497456,31.668503965296694,-0.5468800067901611,0,0,-1.575152191857511],[2.2581173683084987,26.668551399122805,-0.5468800067901611,0,0,-1.575152191857511],[2.236338111867252,21.668598832948916,-0.5468800067901611,0,0,-1.575152191857511],[2.214558855426005,16.668646266775028,-0.5468800067901611,0,0,-1.575152191857511],[2.192779598984758,11.668693700601139,-0.5468800067901611,0,0,-1.575152191857511],[2.171000342543511,6.66874113442725,-0.5468800067901611,0,0,-1.575152191857511],[2.1492210861022643,1.66878856825336,-0.5468800067901611,0,0,-1.575152191857511],[2.1274418296610174,-3.3311639979205294,-0.5468800067901611,0,0,-1.575152191857511],[2.1056625732197705,-8.331116564094419,-0.5468800067901611,0,0,-1.575152191857511],[2.0838833167785236,-13.331069130268308,-0.5468800067901611,0,0,-1.575152191857511],[2.0621040603372767,-18.331021696442196,-0.5468800067901611,0,0,-1.575152191857511],[2.0403248038960298,-23.330974262616085,-0.5468800067901611,0,0,-1.575152191857511],[2.018545547454783,-28.330926828789973,-0.5468800067901611,0,0,-1.575152191857511],[1.996766291013536,-33.330879394963866,-0.5468800067901611,0,0,-1.575152191857511],[1.974987034572289,-38.330831961137754,-0.5468800067901611,0,0,-1.575152191857511],[1.9532077781310422,-43.33078452731164,-0.5468800067901611,0,0,-1.575152191857511],[1.9314285216897953,-48.33073709348553,-0.5468800067901611,0,0,-1.575152191857511],[1.9096492652485484,-53.33068965965942,-0.5468800067901611,0,0,-1.575152191857511],[1.8878700088073015,-58.33064222583331,-0.5468800067901611,0,0,-1.575152191857511],[1.8660907523660546,-63.3305947920072,-0.5468800067901611,0,0,-1.575152191857511],[1.8443114959248077,-68.3305473581811,-0.5468800067901611,0,0,-1.575152191857511],[1.8225322394835608,-73.33049992435498,-0.5468800067901611,0,0,-1.575152191857511],[1.800752983042314,-78.33045249052887,-0.5468800067901611,0,0,-1.575152191857511],[1.800752983042314,-78.33045249052887,-0.5468800067901611,0,0,-1.3133528040583615],[1.800752983042314,-78.33045249052887,-0.5468800067901611,0,0,-1.0515534162592122],[1.800752983042314,-78.33045249052887,-0.5468800067901611,0,0,-0.7897540284600627],[1.800752983042314,-78.33045249052887,-0.5468800067901611,0,0,-0.5279546406609132],[1.800752983042314,-78.33045249052887,-0.5468800067901611,0,0,-0.26615525286176384],[1.800752983042314,-78.33045249052887,-0.5468800067901611,0,0,-0.0043558650626143985],[6.800705549216204,-78.35223174697012,-0.5468800067901611,0,0,-0.0043558650626143985],[11.800658115390092,-78.37401100341137,-0.5468800067901611,0,0,-0.0043558650626143985],[16.80061068156398,-78.39579025985262,-0.5468800067901611,0,0,-0.0043558650626143985],[21.80056324773787,-78.41756951629387,-0.5468800067901611,0,0,-0.0043558650626143985],[26.80051581391176,-78.43934877273512,-0.5468800067901611,0,0,-0.0043558650626143985],[31.800468380085647,-78.46112802917636,-0.5468800067901611,0,0,-0.0043558650626143985],[36.800420946259536,-78.48290728561761,-0.5468800067901611,0,0,-0.0043558650626143985],[36.800420946259536,-78.48290728561761,-2.546880006790161,0,0,-0.0043558650626143985],[41.800373512433424,-78.50468654205886,-2.546880006790161,0,0,-0.0043558650626143985],[46.80032607860731,-78.52646579850011,-2.546880006790161,0,0,-0.0043558650626143985],[51.8002786447812,-78.54824505494136,-2.546880006790161,0,0,-0.0043558650626143985],[56.80023121095509,-78.57002431138261,-2.546880006790161,0,0,-0.0043558650626143985],[61.80018377712898,-78.59180356782386,-2.546880006790161,0,0,-0.0043558650626143985],[66.80013634330287,-78.61358282426511,-2.546880006790161,0,0,-0.0043558650626143985],[71.80008890947676,-78.63536208070636,-2.546880006790161,0,0,-0.0043558650626143985],[76.80004147565064,-78.6571413371476,-2.546880006790161,0,0,-0.0043558650626143985],[81.79999404182453,-78.67892059358886,-2.546880006790161,0,0,-0.0043558650626143985]],"actions":[2,2,2,2,2,2,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,3,3,3,3,3,3,1,1,1,1,1,1,1,4,1,1,1,1,1,1,1,1,1,0]},
+{"episode_id":"37Q970SNZN6K6ZOEIX7HJ3DFRJGS15","trajectory_id":"3DWGDA5PPN2XC78PMP7K572YZY4V1N","scene_id":7,"start_position":[1.2124496698379517,-44.93172073364258,-0.7715672254562378],"start_rotation":[0.9999232311264162,0.0,0.0,-0.012390797137697291],"instruction":{"instruction_text":"Turn left to face the road. Then fly forward to the crossroads and then turn left again to face the bridge. Fly forward over the bridge, then fly forward to the turning point at the end of the road and onto the zebra crossing, then turn backward to face the bridge. Fly forward to the crossroads, then turn left to face the tree on the far side of the river, then fly forward again, crossing the river and reaching the red house. Turn left to face the road intersection, then fly forward to the road intersection, then turn left and fly towards the trash can on the right side of the next road intersection. Then, fly along the road until reach the zebra crossing in front of the next road intersection."},"goals":[{"position":[-62.028298779714916,-155.24132067994995,-0.7715672254562378]}],"reference_path":[[1.2124496698379517,-44.93172073364258,-0.7715672254562378,0,0,-0.024782228446561177],[1.2124496698379517,-44.93172073364258,-0.7715672254562378,0,0,-0.2865816162457106],[1.2124496698379517,-44.93172073364258,-0.7715672254562378,0,0,-0.54838100404486],[1.2124496698379517,-44.93172073364258,-0.7715672254562378,0,0,-0.8101803918440095],[1.2124496698379517,-44.93172073364258,-0.7715672254562378,0,0,-1.071979779643159],[1.2124496698379517,-44.93172073364258,-0.7715672254562378,0,0,-1.3337791674423083],[1.2124496698379517,-44.93172073364258,-0.7715672254562378,0,0,-1.5955785552414576],[1.0885512107363702,-49.9301854151055,-0.7715672254562378,0,0,-1.5955785552414576],[0.9646527516347887,-54.92865009656842,-0.7715672254562378,0,0,-1.5955785552414576],[0.8407542925332072,-59.92711477803134,-0.7715672254562378,0,0,-1.5955785552414576],[0.7168558334316257,-64.92557945949426,-0.7715672254562378,0,0,-1.5955785552414576],[0.5929573743300443,-69.92404414095718,-0.7715672254562378,0,0,-1.5955785552414576],[0.46905891522846277,-74.9225088224201,-0.7715672254562378,0,0,-1.5955785552414576],[0.46905891522846277,-74.9225088224201,-0.7715672254562378,0,0,-1.8573779430406072],[0.46905891522846277,-74.9225088224201,-0.7715672254562378,0,0,-2.1191773308397566],[0.46905891522846277,-74.9225088224201,-0.7715672254562378,0,0,-2.380976718638906],[0.46905891522846277,-74.9225088224201,-0.7715672254562378,0,0,-2.6427761064380553],[0.46905891522846277,-74.9225088224201,-0.7715672254562378,0,0,-2.904575494237205],[0.46905891522846277,-74.9225088224201,-0.7715672254562378,0,0,3.1168104251432327],[-4.529405766234461,-74.79861036331852,-0.7715672254562378,0,0,3.1168104251432327],[-9.527870447697385,-74.67471190421693,-0.7715672254562378,0,0,3.1168104251432327],[-9.651768906798964,-79.67317658567985,-0.7715672254562378,0,0,3.1168104251432327],[-9.651768906798964,-79.67317658567985,-2.771567225456238,0,0,3.1168104251432327],[-14.650233588261887,-79.54927812657827,-2.771567225456238,0,0,3.1168104251432327],[-19.64869826972481,-79.42537966747669,-2.771567225456238,0,0,3.1168104251432327],[-24.647162951187735,-79.30148120837511,-2.771567225456238,0,0,3.1168104251432327],[-29.64562763265066,-79.17758274927353,-2.771567225456238,0,0,3.1168104251432327],[-34.644092314113585,-79.05368429017194,-2.771567225456238,0,0,3.1168104251432327],[-39.64255699557651,-78.92978583107036,-2.771567225456238,0,0,3.1168104251432327],[-44.64102167703944,-78.80588737196878,-2.771567225456238,0,0,3.1168104251432327],[-49.63948635850237,-78.6819889128672,-2.771567225456238,0,0,3.1168104251432327],[-54.637951039965294,-78.55809045376562,-2.771567225456238,0,0,3.1168104251432327],[-59.63641572142822,-78.43419199466403,-2.771567225456238,0,0,3.1168104251432327],[-59.63641572142822,-78.43419199466403,-2.771567225456238,0,0,-2.9045754942372044],[-59.63641572142822,-78.43419199466403,-2.771567225456238,0,0,-2.642776106438055],[-59.63641572142822,-78.43419199466403,-2.771567225456238,0,0,-2.3809767186389057],[-59.63641572142822,-78.43419199466403,-2.771567225456238,0,0,-2.119177330839756],[-59.63641572142822,-78.43419199466403,-2.771567225456238,0,0,-1.8573779430406068],[-59.63641572142822,-78.43419199466403,-2.771567225456238,0,0,-1.5955785552414574],[-59.63641572142822,-78.43419199466403,-2.771567225456238,0,0,-1.333779167442308],[-59.63641572142822,-78.43419199466403,-2.771567225456238,0,0,-1.0719797796431587],[-59.63641572142822,-78.43419199466403,-2.771567225456238,0,0,-0.8101803918440094],[-59.63641572142822,-78.43419199466403,-2.771567225456238,0,0,-0.5483810040448599],[-59.63641572142822,-78.43419199466403,-2.771567225456238,0,0,-0.28658161624571044],[-59.63641572142822,-78.43419199466403,-2.771567225456238,0,0,-0.024782228446561024],[-54.6379510399653,-78.55809045376562,-2.771567225456238,0,0,-0.024782228446561024],[-49.63948635850238,-78.6819889128672,-2.771567225456238,0,0,-0.024782228446561024],[-44.64102167703946,-78.80588737196878,-2.771567225456238,0,0,-0.024782228446561024],[-39.64255699557654,-78.92978583107036,-2.771567225456238,0,0,-0.024782228446561024],[-34.64409231411362,-79.05368429017194,-2.771567225456238,0,0,-0.024782228446561024],[-34.64409231411362,-79.05368429017194,-2.771567225456238,0,0,-0.28658161624571044],[-34.64409231411362,-79.05368429017194,-2.771567225456238,0,0,-0.5483810040448599],[-34.64409231411362,-79.05368429017194,-2.771567225456238,0,0,-0.8101803918440094],[-31.197253482939026,-82.67574200256513,-2.771567225456238,0,0,-0.8101803918440094],[-31.197253482939026,-82.67574200256513,-2.771567225456238,0,0,-1.0719797796431587],[-28.805320355279278,-87.0664886261821,-2.771567225456238,0,0,-1.0719797796431587],[-26.41338722761953,-91.45723524979908,-2.771567225456238,0,0,-1.0719797796431587],[-24.021454099959783,-95.84798187341606,-2.771567225456238,0,0,-1.0719797796431587],[-21.629520972300035,-100.23872849703304,-2.77156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+{"episode_id":"3D8YOU6S9NIVSYHFD8EYT0MKEZO6UE","trajectory_id":"3L2OEKSTXH8WR1NFQL3JRGT0U7R8YF","scene_id":7,"start_position":[1.8617212772369385,-3.587571382522583,-0.5758452415466309],"start_rotation":[0.9999920008079973,0.0,0.0,-0.0039997899967683615],"instruction":{"instruction_text":"Turn left to face the road, then keep going straight along the road until reach the center of the road intersection, then turn right to face the road with a row of barriers set up. Fly forward above the bridge. Landed right in the middle of the bridge."},"goals":[{"position":[67.37437694595988,-80.23781782726931,-0.5758452415466309]}],"reference_path":[[1.8617212772369385,-3.587571382522583,-0.5758452415466309,0,0,-0.007999601323663742],[1.8617212772369385,-3.587571382522583,-0.5758452415466309,0,0,-0.2697989891228132],[1.8617212772369385,-3.587571382522583,-0.5758452415466309,0,0,-0.5315983769219627],[1.8617212772369385,-3.587571382522583,-0.5758452415466309,0,0,-0.793397764721112],[1.8617212772369385,-3.587571382522583,-0.5758452415466309,0,0,-1.0551971525202613],[1.8617212772369385,-3.587571382522583,-0.5758452415466309,0,0,-1.3169965403194106],[3.1171404005231476,-8.427398117529457,-0.5758452415466309,0,0,-1.3169965403194106],[3.1171404005231476,-8.427398117529457,-0.5758452415466309,0,0,-1.5787959281185602],[3.0771428205063462,-13.427238134329274,-0.5758452415466309,0,0,-1.5787959281185602],[3.037145240489545,-18.42707815112909,-0.5758452415466309,0,0,-1.5787959281185602],[2.9971476604727436,-23.42691816792891,-0.5758452415466309,0,0,-1.5787959281185602],[2.9571500804559423,-28.426758184728726,-0.5758452415466309,0,0,-1.5787959281185602],[2.917152500439141,-33.42659820152854,-0.5758452415466309,0,0,-1.5787959281185602],[2.8771549204223397,-38.42643821832836,-0.5758452415466309,0,0,-1.5787959281185602],[2.8371573404055384,-43.42627823512817,-0.5758452415466309,0,0,-1.5787959281185602],[2.797159760388737,-48.42611825192799,-0.5758452415466309,0,0,-1.5787959281185602],[2.7571621803719357,-53.425958268727804,-0.5758452415466309,0,0,-1.5787959281185602],[2.7171646003551344,-58.42579828552762,-0.5758452415466309,0,0,-1.5787959281185602],[2.677167020338333,-63.425638302327435,-0.5758452415466309,0,0,-1.5787959281185602],[2.6371694403215318,-68.42547831912725,-0.5758452415466309,0,0,-1.5787959281185602],[2.5971718603047305,-73.42531833592707,-0.5758452415466309,0,0,-1.5787959281185602],[2.557174280287929,-78.4251583527269,-0.5758452415466309,0,0,-1.5787959281185602],[2.557174280287929,-78.4251583527269,-0.5758452415466309,0,0,-1.3169965403194106],[2.557174280287929,-78.4251583527269,-0.5758452415466309,0,0,-1.0551971525202613],[2.557174280287929,-78.4251583527269,-0.5758452415466309,0,0,-0.7933977647211118],[2.557174280287929,-78.4251583527269,-0.5758452415466309,0,0,-0.5315983769219623],[2.557174280287929,-78.4251583527269,-0.5758452415466309,0,0,-0.26979898912281286],[7.376296744362083,-79.75784686706768,-0.5758452415466309,0,0,-0.26979898912281286],[7.376296744362083,-79.75784686706768,-0.5758452415466309,0,0,-0.007999601323663414],[12.3761367611619,-79.79784444708449,-0.5758452415466309,0,0,-0.007999601323663414],[17.375976777961718,-79.83784202710129,-0.5758452415466309,0,0,-0.007999601323663414],[22.375816794761533,-79.87783960711809,-0.5758452415466309,0,0,-0.007999601323663414],[27.37565681156135,-79.9178371871349,-0.5758452415466309,0,0,-0.007999601323663414],[32.375496828361165,-79.9578347671517,-0.5758452415466309,0,0,-0.007999601323663414],[37.37533684516098,-79.9978323471685,-0.5758452415466309,0,0,-0.007999601323663414],[42.375176861960796,-80.0378299271853,-0.5758452415466309,0,0,-0.007999601323663414],[47.37501687876061,-80.0778275072021,-0.5758452415466309,0,0,-0.007999601323663414],[52.37485689556043,-80.1178250872189,-0.5758452415466309,0,0,-0.007999601323663414],[57.37469691236024,-80.1578226672357,-0.5758452415466309,0,0,-0.007999601323663414],[62.37453692916006,-80.19782024725251,-0.5758452415466309,0,0,-0.007999601323663414],[67.37437694595988,-80.23781782726931,-0.5758452415466309,0,0,-0.007999601323663414]],"actions":[2,2,2,2,2,1,2,1,1,1,1,1,1,1,1,1,1,1,1,1,1,3,3,3,3,3,1,3,1,1,1,1,1,1,1,1,1,1,1,1,0]},
+{"episode_id":"3HL8HNGX4EZTRZMNGQMBRACJ0W49FO","trajectory_id":"3VP28W7DVVI5B677ULB8FFJOOIUFZ7","scene_id":7,"start_position":[-63.18816375732422,-155.08963012695312,-1.009127140045166],"start_rotation":[0.9998869664881381,0.0,0.0,-0.015035100503455714],"instruction":{"instruction_text":"Take off, then fly over the first road T-junction, and then stop at the second road T-junction. Turn right to face the road between the two \"No Entry\" signs, and then fly forward to the next intersection. Go to the building with a red wall and a brown roof, face the end of the road and turn to the left to face the left road. Fly forward to the center of the bridge and then land."},"goals":[{"position":[68.28228463531985,-80.21457920432161,-1.009127140045166]}],"reference_path":[[-63.18816375732422,-155.08963012695312,-1.009127140045166,0,0,-0.030071334038280533],[-58.19042429979571,-155.23996413728557,-1.009127140045166,0,0,-0.030071334038280533],[-53.1926848422672,-155.390298147618,-1.009127140045166,0,0,-0.030071334038280533],[-48.19494538473869,-155.54063215795045,-1.009127140045166,0,0,-0.030071334038280533],[-43.19720592721018,-155.6909661682829,-1.009127140045166,0,0,-0.030071334038280533],[-38.19946646968167,-155.84130017861534,-1.009127140045166,0,0,-0.030071334038280533],[-33.20172701215316,-155.99163418894778,-1.009127140045166,0,0,-0.030071334038280533],[-28.203987554624646,-156.14196819928023,-1.009127140045166,0,0,-0.030071334038280533],[-23.206248097096136,-156.29230220961267,-1.009127140045166,0,0,-0.030071334038280533],[-18.208508639567626,-156.44263621994511,-1.009127140045166,0,0,-0.030071334038280533],[-13.210769182039115,-156.59297023027756,-1.009127140045166,0,0,-0.030071334038280533],[-8.213029724510605,-156.74330424061,-1.009127140045166,0,0,-0.030071334038280533],[-3.2152902669820946,-156.89363825094244,-1.009127140045166,0,0,-0.030071334038280533],[-3.2152902669820946,-156.89363825094244,-1.009127140045166,0,0,0.2317280537608689],[-3.2152902669820946,-156.89363825094244,-1.009127140045166,0,0,0.49352744156001843],[1.188046069899677,-154.52496159417888,-1.009127140045166,0,0,0.49352744156001843],[1.188046069899677,-154.52496159417888,-1.009127140045166,0,0,0.7553268293591678],[1.188046069899677,-154.52496159417888,-1.009127140045166,0,0,1.0171262171583173],[1.188046069899677,-154.52496159417888,-1.009127140045166,0,0,1.2789256049574669],[1.188046069899677,-154.52496159417888,-1.009127140045166,0,0,1.5407249927566162],[1.3383800802321224,-149.52722213665038,-1.009127140045166,0,0,1.5407249927566162],[1.4887140905645677,-144.52948267912188,-1.009127140045166,0,0,1.5407249927566162],[1.639048100897013,-139.5317432215934,-1.009127140045166,0,0,1.5407249927566162],[1.7893821112294583,-134.5340037640649,-1.009127140045166,0,0,1.5407249927566162],[1.9397161215619037,-129.5362643065364,-1.009127140045166,0,0,1.5407249927566162],[2.090050131894349,-124.53852484900789,-1.009127140045166,0,0,1.5407249927566162],[2.2403841422267945,-119.54078539147937,-1.009127140045166,0,0,1.5407249927566162],[2.39071815255924,-114.54304593395086,-1.009127140045166,0,0,1.5407249927566162],[2.5410521628916856,-109.54530647642235,-1.009127140045166,0,0,1.5407249927566162],[2.691386173224131,-104.54756701889384,-1.009127140045166,0,0,1.5407249927566162],[2.8417201835565766,-99.54982756136533,-1.009127140045166,0,0,1.5407249927566162],[2.992054193889022,-94.55208810383682,-1.009127140045166,0,0,1.5407249927566162],[3.1423882042214677,-89.55434864630831,-1.009127140045166,0,0,1.5407249927566162],[3.2927222145539132,-84.5566091887798,-1.009127140045166,0,0,1.5407249927566162],[3.2927222145539132,-84.5566091887798,-1.009127140045166,0,0,1.278925604957467],[3.2927222145539132,-84.5566091887798,-1.009127140045166,0,0,1.0171262171583177],[3.2927222145539132,-84.5566091887798,-1.009127140045166,0,0,0.7553268293591683],[3.2927222145539132,-84.5566091887798,-1.009127140045166,0,0,0.49352744156001876],[3.2927222145539132,-84.5566091887798,-1.009127140045166,0,0,0.23172805376086927],[8.159077134645294,-83.4083105378608,-1.009127140045166,0,0,0.23172805376086927],[8.159077134645294,-83.4083105378608,-1.009127140045166,0,0,-0.030071334038280148],[13.156816592173804,-83.55864454819324,-1.009127140045166,0,0,-0.030071334038280148],[18.154556049702315,-83.70897855852569,-1.009127140045166,0,0,-0.030071334038280148],[23.152295507230825,-83.85931256885813,-1.009127140045166,0,0,-0.030071334038280148],[28.150034964759335,-84.00964657919057,-1.009127140045166,0,0,-0.030071334038280148],[33.147774422287846,-84.15998058952302,-1.009127140045166,0,0,-0.030071334038280148],[38.145513879816356,-84.31031459985546,-1.009127140045166,0,0,-0.030071334038280148],[43.143253337344866,-84.4606486101879,-1.009127140045166,0,0,-0.030071334038280148],[48.14099279487338,-84.61098262052035,-1.009127140045166,0,0,-0.030071334038280148],[53.13873225240189,-84.76131663085279,-1.009127140045166,0,0,-0.030071334038280148],[58.1364717099304,-84.91165064118523,-1.009127140045166,0,0,-0.030071334038280148],[58.28680572026284,-79.91391118365672,-1.009127140045166,0,0,-0.030071334038280148],[63.28454517779135,-80.06424519398917,-1.009127140045166,0,0,-0.030071334038280148],[68.28228463531985,-80.21457920432161,-1.009127140045166,0,0,-0.030071334038280148]],"actions":[1,1,1,1,1,1,1,1,1,1,1,1,3,3,1,3,3,3,3,1,1,1,1,1,1,1,1,1,1,1,1,1,1,2,2,2,2,2,1,2,1,1,1,1,1,1,1,1,1,1,7,1,1,0]},
+{"episode_id":"31Z0PCVWUTDZWLGVWDTGUI0EWGIT70","trajectory_id":"3VP28W7DVVI5B677ULB8FFJOOIUFZ7","scene_id":7,"start_position":[-63.18816375732422,-155.08963012695312,-1.009127140045166],"start_rotation":[0.9998869664881381,0.0,0.0,-0.015035100503455714],"instruction":{"instruction_text":"Take off and fly straight ahead past the traffic lights, then go to the middle of the road T-junction, and then turn right to face the street where the buildings are on the right and the trees are on the left. Fly straight along the street, reach the next intersection and then turn left to face the cone barriers. Fly forward to the center of the bridge and then land."},"goals":[{"position":[68.28228463531985,-80.21457920432161,-1.009127140045166]}],"reference_path":[[-63.18816375732422,-155.08963012695312,-1.009127140045166,0,0,-0.030071334038280533],[-58.19042429979571,-155.23996413728557,-1.009127140045166,0,0,-0.030071334038280533],[-53.1926848422672,-155.390298147618,-1.009127140045166,0,0,-0.030071334038280533],[-48.19494538473869,-155.54063215795045,-1.009127140045166,0,0,-0.030071334038280533],[-43.19720592721018,-155.6909661682829,-1.009127140045166,0,0,-0.030071334038280533],[-38.19946646968167,-155.84130017861534,-1.009127140045166,0,0,-0.030071334038280533],[-33.20172701215316,-155.99163418894778,-1.009127140045166,0,0,-0.030071334038280533],[-28.203987554624646,-156.14196819928023,-1.009127140045166,0,0,-0.030071334038280533],[-23.206248097096136,-156.29230220961267,-1.009127140045166,0,0,-0.030071334038280533],[-18.208508639567626,-156.44263621994511,-1.009127140045166,0,0,-0.030071334038280533],[-13.210769182039115,-156.59297023027756,-1.009127140045166,0,0,-0.030071334038280533],[-8.213029724510605,-156.74330424061,-1.009127140045166,0,0,-0.030071334038280533],[-3.2152902669820946,-156.89363825094244,-1.009127140045166,0,0,-0.030071334038280533],[-3.2152902669820946,-156.89363825094244,-1.009127140045166,0,0,0.2317280537608689],[-3.2152902669820946,-156.89363825094244,-1.009127140045166,0,0,0.49352744156001843],[1.188046069899677,-154.52496159417888,-1.009127140045166,0,0,0.49352744156001843],[1.188046069899677,-154.52496159417888,-1.009127140045166,0,0,0.7553268293591678],[1.188046069899677,-154.52496159417888,-1.009127140045166,0,0,1.0171262171583173],[1.188046069899677,-154.52496159417888,-1.009127140045166,0,0,1.2789256049574669],[1.188046069899677,-154.52496159417888,-1.009127140045166,0,0,1.5407249927566162],[1.3383800802321224,-149.52722213665038,-1.009127140045166,0,0,1.5407249927566162],[1.4887140905645677,-144.52948267912188,-1.009127140045166,0,0,1.5407249927566162],[1.639048100897013,-139.5317432215934,-1.009127140045166,0,0,1.5407249927566162],[1.7893821112294583,-134.5340037640649,-1.009127140045166,0,0,1.5407249927566162],[1.9397161215619037,-129.5362643065364,-1.009127140045166,0,0,1.5407249927566162],[2.090050131894349,-124.53852484900789,-1.009127140045166,0,0,1.5407249927566162],[2.2403841422267945,-119.54078539147937,-1.009127140045166,0,0,1.5407249927566162],[2.39071815255924,-114.54304593395086,-1.009127140045166,0,0,1.5407249927566162],[2.5410521628916856,-109.54530647642235,-1.009127140045166,0,0,1.5407249927566162],[2.691386173224131,-104.54756701889384,-1.009127140045166,0,0,1.5407249927566162],[2.8417201835565766,-99.54982756136533,-1.009127140045166,0,0,1.5407249927566162],[2.992054193889022,-94.55208810383682,-1.009127140045166,0,0,1.5407249927566162],[3.1423882042214677,-89.55434864630831,-1.009127140045166,0,0,1.5407249927566162],[3.2927222145539132,-84.5566091887798,-1.009127140045166,0,0,1.5407249927566162],[3.2927222145539132,-84.5566091887798,-1.009127140045166,0,0,1.278925604957467],[3.2927222145539132,-84.5566091887798,-1.009127140045166,0,0,1.0171262171583177],[3.2927222145539132,-84.5566091887798,-1.009127140045166,0,0,0.7553268293591683],[3.2927222145539132,-84.5566091887798,-1.009127140045166,0,0,0.49352744156001876],[3.2927222145539132,-84.5566091887798,-1.009127140045166,0,0,0.23172805376086927],[8.159077134645294,-83.4083105378608,-1.009127140045166,0,0,0.23172805376086927],[8.159077134645294,-83.4083105378608,-1.009127140045166,0,0,-0.030071334038280148],[13.156816592173804,-83.55864454819324,-1.009127140045166,0,0,-0.030071334038280148],[18.154556049702315,-83.70897855852569,-1.009127140045166,0,0,-0.030071334038280148],[23.152295507230825,-83.85931256885813,-1.009127140045166,0,0,-0.030071334038280148],[28.150034964759335,-84.00964657919057,-1.009127140045166,0,0,-0.030071334038280148],[33.147774422287846,-84.15998058952302,-1.009127140045166,0,0,-0.030071334038280148],[38.145513879816356,-84.31031459985546,-1.009127140045166,0,0,-0.030071334038280148],[43.143253337344866,-84.4606486101879,-1.009127140045166,0,0,-0.030071334038280148],[48.14099279487338,-84.61098262052035,-1.009127140045166,0,0,-0.030071334038280148],[53.13873225240189,-84.76131663085279,-1.009127140045166,0,0,-0.030071334038280148],[58.1364717099304,-84.91165064118523,-1.009127140045166,0,0,-0.030071334038280148],[58.28680572026284,-79.91391118365672,-1.009127140045166,0,0,-0.030071334038280148],[63.28454517779135,-80.06424519398917,-1.009127140045166,0,0,-0.030071334038280148],[68.28228463531985,-80.21457920432161,-1.009127140045166,0,0,-0.030071334038280148]],"actions":[1,1,1,1,1,1,1,1,1,1,1,1,3,3,1,3,3,3,3,1,1,1,1,1,1,1,1,1,1,1,1,1,1,2,2,2,2,2,1,2,1,1,1,1,1,1,1,1,1,1,7,1,1,0]},
+{"episode_id":"3HPZF4IVNVR1POALX0OQILK7CTRYCN","trajectory_id":"3VP28W7DVVI5B677ULB8FFJOOIUFZ7","scene_id":7,"start_position":[-63.18816375732422,-155.08963012695312,-1.009127140045166],"start_rotation":[0.9998869664881381,0.0,0.0,-0.015035100503455714],"instruction":{"instruction_text":"Fly forward over the first intersection and then fly to the middle of the second intersection. Turn right to face the road. Then, keep going straight along this road until reach the next intersection. Turn left to face the street with a row of cone barriers. Fly straight ahead and land in the middle of the bridge."},"goals":[{"position":[68.28228463531985,-80.21457920432161,-1.009127140045166]}],"reference_path":[[-63.18816375732422,-155.08963012695312,-1.009127140045166,0,0,-0.030071334038280533],[-58.19042429979571,-155.23996413728557,-1.009127140045166,0,0,-0.030071334038280533],[-53.1926848422672,-155.390298147618,-1.009127140045166,0,0,-0.030071334038280533],[-48.19494538473869,-155.54063215795045,-1.009127140045166,0,0,-0.030071334038280533],[-43.19720592721018,-155.6909661682829,-1.009127140045166,0,0,-0.030071334038280533],[-38.19946646968167,-155.84130017861534,-1.009127140045166,0,0,-0.030071334038280533],[-33.20172701215316,-155.99163418894778,-1.009127140045166,0,0,-0.030071334038280533],[-28.203987554624646,-156.14196819928023,-1.009127140045166,0,0,-0.030071334038280533],[-23.206248097096136,-156.29230220961267,-1.009127140045166,0,0,-0.030071334038280533],[-18.208508639567626,-156.44263621994511,-1.009127140045166,0,0,-0.030071334038280533],[-13.210769182039115,-156.59297023027756,-1.009127140045166,0,0,-0.030071334038280533],[-8.213029724510605,-156.74330424061,-1.009127140045166,0,0,-0.030071334038280533],[-3.2152902669820946,-156.89363825094244,-1.009127140045166,0,0,-0.030071334038280533],[-3.2152902669820946,-156.89363825094244,-1.009127140045166,0,0,0.2317280537608689],[-3.2152902669820946,-156.89363825094244,-1.009127140045166,0,0,0.49352744156001843],[1.188046069899677,-154.52496159417888,-1.009127140045166,0,0,0.49352744156001843],[1.188046069899677,-154.52496159417888,-1.009127140045166,0,0,0.7553268293591678],[1.188046069899677,-154.52496159417888,-1.009127140045166,0,0,1.0171262171583173],[1.188046069899677,-154.52496159417888,-1.009127140045166,0,0,1.2789256049574669],[1.188046069899677,-154.52496159417888,-1.009127140045166,0,0,1.5407249927566162],[1.3383800802321224,-149.52722213665038,-1.009127140045166,0,0,1.5407249927566162],[1.4887140905645677,-144.52948267912188,-1.009127140045166,0,0,1.5407249927566162],[1.639048100897013,-139.5317432215934,-1.009127140045166,0,0,1.5407249927566162],[1.7893821112294583,-134.5340037640649,-1.009127140045166,0,0,1.5407249927566162],[1.9397161215619037,-129.5362643065364,-1.009127140045166,0,0,1.5407249927566162],[2.090050131894349,-124.53852484900789,-1.009127140045166,0,0,1.5407249927566162],[2.2403841422267945,-119.54078539147937,-1.009127140045166,0,0,1.5407249927566162],[2.39071815255924,-114.54304593395086,-1.009127140045166,0,0,1.5407249927566162],[2.5410521628916856,-109.54530647642235,-1.009127140045166,0,0,1.5407249927566162],[2.691386173224131,-104.54756701889384,-1.009127140045166,0,0,1.5407249927566162],[2.8417201835565766,-99.54982756136533,-1.009127140045166,0,0,1.5407249927566162],[2.992054193889022,-94.55208810383682,-1.009127140045166,0,0,1.5407249927566162],[3.1423882042214677,-89.55434864630831,-1.009127140045166,0,0,1.5407249927566162],[3.2927222145539132,-84.5566091887798,-1.009127140045166,0,0,1.5407249927566162],[3.2927222145539132,-84.5566091887798,-1.009127140045166,0,0,1.278925604957467],[3.2927222145539132,-84.5566091887798,-1.009127140045166,0,0,1.0171262171583177],[3.2927222145539132,-84.5566091887798,-1.009127140045166,0,0,0.7553268293591683],[3.2927222145539132,-84.5566091887798,-1.009127140045166,0,0,0.49352744156001876],[3.2927222145539132,-84.5566091887798,-1.009127140045166,0,0,0.23172805376086927],[8.159077134645294,-83.4083105378608,-1.009127140045166,0,0,0.23172805376086927],[8.159077134645294,-83.4083105378608,-1.009127140045166,0,0,-0.030071334038280148],[13.156816592173804,-83.55864454819324,-1.009127140045166,0,0,-0.030071334038280148],[18.154556049702315,-83.70897855852569,-1.009127140045166,0,0,-0.030071334038280148],[23.152295507230825,-83.85931256885813,-1.009127140045166,0,0,-0.030071334038280148],[28.150034964759335,-84.00964657919057,-1.009127140045166,0,0,-0.030071334038280148],[33.147774422287846,-84.15998058952302,-1.009127140045166,0,0,-0.030071334038280148],[38.145513879816356,-84.31031459985546,-1.009127140045166,0,0,-0.030071334038280148],[43.143253337344866,-84.4606486101879,-1.009127140045166,0,0,-0.030071334038280148],[48.14099279487338,-84.61098262052035,-1.009127140045166,0,0,-0.030071334038280148],[53.13873225240189,-84.76131663085279,-1.009127140045166,0,0,-0.030071334038280148],[58.1364717099304,-84.91165064118523,-1.009127140045166,0,0,-0.030071334038280148],[58.28680572026284,-79.91391118365672,-1.009127140045166,0,0,-0.030071334038280148],[63.28454517779135,-80.06424519398917,-1.009127140045166,0,0,-0.030071334038280148],[68.28228463531985,-80.21457920432161,-1.009127140045166,0,0,-0.030071334038280148]],"actions":[1,1,1,1,1,1,1,1,1,1,1,1,3,3,1,3,3,3,3,1,1,1,1,1,1,1,1,1,1,1,1,1,1,2,2,2,2,2,1,2,1,1,1,1,1,1,1,1,1,1,7,1,1,0]},
+{"episode_id":"3PDJHANYKEEQNCBVD97ZALXUKYH6HM","trajectory_id":"3ZC62PVYEP8X6XYDTXT9O13KJIGXXW","scene_id":7,"start_position":[-26.809755325317383,-154.07713317871094,-0.2606585919857025],"start_rotation":[0.9998596200011068,0.0,0.0,-0.016755306360742503],"instruction":{"instruction_text":"Take off and fly to the intersection of the road ahead. Turn right to face the red warning sign on the right side of the road, then, drive straight ahead to the next intersection. Turn around to face the trash can on the left side of the road, then fly forward to the next intersection. Turn around to face the trash can on the left side of the road, then fly forward to the next intersection. Turn to the right side of the road and build a red brick house there, then fly forward to the front of the red brick house. Turn left towards the blue \"P\" sign on the left side of the road, and then fly forward to the sidewalk on the other side of the river. Turn left towards the road intersection, then fly forward to the road intersection, and then turn right to face the road with the cone barriers set up. Fly forward to the end of the road, then turn left to face the red building, and then land in front of the red building."},"goals":[{"position":[82.86241299093255,-165.69927667852699,-2.2606585919857025]}],"reference_path":[[-26.809755325317383,-154.07713317871094,-0.2606585919857025,0,0,-0.03351218088279967],[-26.809755325317383,-154.07713317871094,-2.2606585919857025,0,0,-0.03351218088279967],[-21.812562728229807,-154.24466272121947,-2.2606585919857025,0,0,-0.03351218088279967],[-16.81537013114223,-154.412192263728,-2.2606585919857025,0,0,-0.03351218088279967],[-11.818177534054655,-154.57972180623653,-2.2606585919857025,0,0,-0.03351218088279967],[-6.820984936967079,-154.74725134874507,-2.2606585919857025,0,0,-0.03351218088279967],[-1.8237923398795033,-154.9147808912536,-2.2606585919857025,0,0,-0.03351218088279967],[-1.8237923398795033,-154.9147808912536,-2.2606585919857025,0,0,0.22828720691634977],[-1.8237923398795033,-154.9147808912536,-2.2606585919857025,0,0,0.4900865947154992],[-1.8237923398795033,-154.9147808912536,-2.2606585919857025,0,0,0.7518859825146487],[-1.8237923398795033,-154.9147808912536,-2.2606585919857025,0,0,1.013685370313798],[-1.8237923398795033,-154.9147808912536,-2.2606585919857025,0,0,1.2754847581129474],[-1.8237923398795033,-154.9147808912536,-2.2606585919857025,0,0,1.537284145912097],[-1.656262797370962,-149.91758829416602,-2.2606585919857025,0,0,1.537284145912097],[-1.4887332548624208,-144.92039569707845,-2.2606585919857025,0,0,1.537284145912097],[-1.3212037123538796,-139.92320309999087,-2.2606585919857025,0,0,1.537284145912097],[-1.1536741698453383,-134.9260105029033,-2.2606585919857025,0,0,1.537284145912097],[-0.9861446273367971,-129.92881790581572,-2.2606585919857025,0,0,1.537284145912097],[-0.8186150848282558,-124.93162530872814,-2.2606585919857025,0,0,1.537284145912097],[-0.6510855423197146,-119.93443271164057,-2.2606585919857025,0,0,1.537284145912097],[-0.4835559998111733,-114.93724011455299,-2.2606585919857025,0,0,1.537284145912097],[-0.316026457302632,-109.94004751746542,-2.2606585919857025,0,0,1.537284145912097],[-0.14849691479409072,-104.94285492037784,-2.2606585919857025,0,0,1.537284145912097],[0.01903262771445058,-99.94566232329026,-2.2606585919857025,0,0,1.537284145912097],[0.18656217022299187,-94.94846972620269,-2.2606585919857025,0,0,1.537284145912097],[0.35409171273153317,-89.95127712911511,-2.2606585919857025,0,0,1.537284145912097],[0.5216212552400745,-84.95408453202754,-2.2606585919857025,0,0,1.537284145912097],[0.5216212552400745,-84.95408453202754,-2.2606585919857025,0,0,1.7990835337112463],[0.5216212552400745,-84.95408453202754,-2.2606585919857025,0,0,2.060882921510396],[0.5216212552400745,-84.95408453202754,-2.2606585919857025,0,0,2.322682309309545],[0.5216212552400745,-84.95408453202754,-2.2606585919857025,0,0,2.5844816971086946],[0.5216212552400745,-84.95408453202754,-2.2606585919857025,0,0,2.8462810849078437],[0.5216212552400745,-84.95408453202754,-2.2606585919857025,0,0,3.1080804727069933],[0.5216212552400745,-84.95408453202754,-2.2606585919857025,0,0,-2.913305446673443],[0.5216212552400745,-84.95408453202754,-2.2606585919857025,0,0,-2.651506058874294],[0.5216212552400745,-84.95408453202754,-2.2606585919857025,0,0,-2.3897066710751447],[0.5216212552400745,-84.95408453202754,-2.2606585919857025,0,0,-2.1279072832759955],[0.5216212552400745,-84.95408453202754,-2.2606585919857025,0,0,-1.8661078954768462],[0.5216212552400745,-84.95408453202754,-2.2606585919857025,0,0,-1.6043085076776968],[0.3540917127315305,-89.95127712911511,-2.2606585919857025,0,0,-1.6043085076776968],[0.1865621702229865,-94.94846972620269,-2.2606585919857025,0,0,-1.6043085076776968],[0.019032627714442474,-99.94566232329026,-2.2606585919857025,0,0,-1.6043085076776968],[-0.14849691479410154,-104.94285492037784,-2.2606585919857025,0,0,-1.6043085076776968],[-0.31602645730264556,-109.94004751746542,-2.2606585919857025,0,0,-1.6043085076776968],[-0.4835559998111896,-114.93724011455299,-2.2606585919857025,0,0,-1.6043085076776968],[-0.6510855423197336,-119.93443271164057,-2.2606585919857025,0,0,-1.6043085076776968],[-0.8186150848282776,-124.93162530872814,-2.2606585919857025,0,0,-1.6043085076776968],[-0.9861446273368216,-129.92881790581572,-2.2606585919857025,0,0,-1.6043085076776968],[-1.1536741698453656,-134.9260105029033,-2.2606585919857025,0,0,-1.6043085076776968],[-1.3212037123539098,-139.92320309999087,-2.2606585919857025,0,0,-1.6043085076776968],[-1.4887332548624537,-144.92039569707845,-2.2606585919857025,0,0,-1.6043085076776968],[-1.6562627973709976,-149.91758829416602,-2.2606585919857025,0,0,-1.6043085076776968],[-1.6562627973709976,-149.91758829416602,-2.2606585919857025,0,0,-1.8661078954768464],[-1.6562627973709976,-149.91758829416602,-2.2606585919857025,0,0,-2.127907283275996],[-1.6562627973709976,-149.91758829416602,-2.2606585919857025,0,0,-2.389706671075145],[-1.6562627973709976,-149.91758829416602,-2.2606585919857025,0,0,-2.6515060588742947],[-1.6562627973709976,-149.91758829416602,-2.2606585919857025,0,0,-2.9133054466734443],[-6.526540022056953,-151.04913579856222,-2.2606585919857025,0,0,-2.913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+{"episode_id":"3I3WADAZ9Z24WPX4C3SK2OGV0GWO56","trajectory_id":"3JU8CV4BSTA53FIU6FWWBBQO5DTOPH","scene_id":7,"start_position":[1.8772368431091309,-32.51529312133789,-0.30986443161964417],"start_rotation":[0.9999987092881054,0.0,0.0,-0.001606680467076767],"instruction":{"instruction_text":"Take off, then turn left to face the red building at the end of the road, and then fly forward onto the road in front of the red building. Turn left to face the zebra crossing, and then fly forward onto the zebra crossing at the next road intersection. Turn back to face the cone barrier on the road, then fly forward to the front of the barrier. Landing in front of the conical barrier."},"goals":[{"position":[22.33865555216644,-154.05214656341832,-2.309864431619644]}],"reference_path":[[1.8772368431091309,-32.51529312133789,-0.30986443161964417,0,0,-0.0032133623166619744],[1.8772368431091309,-32.51529312133789,-2.309864431619644,0,0,-0.0032133623166619744],[1.8772368431091309,-32.51529312133789,-2.309864431619644,0,0,-0.2650127501158114],[1.8772368431091309,-32.51529312133789,-2.309864431619644,0,0,-0.5268121379149608],[1.8772368431091309,-32.51529312133789,-2.309864431619644,0,0,-0.7886115257141103],[1.8772368431091309,-32.51529312133789,-2.309864431619644,0,0,-1.0504109135132598],[1.8772368431091309,-32.51529312133789,-2.309864431619644,0,0,-1.3122103013124093],[3.1558060658632066,-37.3490557078357,-2.309864431619644,0,0,-1.3122103013124093],[3.1558060658632066,-37.3490557078357,-2.309864431619644,0,0,-1.574009689111559],[3.139739281930053,-42.34902989361447,-2.309864431619644,0,0,-1.574009689111559],[3.1236724979968997,-47.34900407939324,-2.309864431619644,0,0,-1.574009689111559],[3.1076057140637463,-52.34897826517201,-2.309864431619644,0,0,-1.574009689111559],[3.091538930130593,-57.348952450950776,-2.309864431619644,0,0,-1.574009689111559],[3.0754721461974395,-62.348926636729544,-2.309864431619644,0,0,-1.574009689111559],[3.059405362264286,-67.34890082250831,-2.309864431619644,0,0,-1.574009689111559],[3.0433385783311326,-72.34887500828708,-2.309864431619644,0,0,-1.574009689111559],[3.027271794397979,-77.34884919406585,-2.309864431619644,0,0,-1.574009689111559],[3.011205010464826,-82.34882337984462,-2.309864431619644,0,0,-1.574009689111559],[2.9951382265316724,-87.34879756562339,-2.309864431619644,0,0,-1.574009689111559],[2.979071442598519,-92.34877175140215,-2.309864431619644,0,0,-1.574009689111559],[2.9630046586653656,-97.34874593718092,-2.309864431619644,0,0,-1.574009689111559],[2.946937874732212,-102.34872012295969,-2.309864431619644,0,0,-1.574009689111559],[2.9308710907990587,-107.34869430873846,-2.309864431619644,0,0,-1.574009689111559],[2.9148043068659053,-112.34866849451723,-2.309864431619644,0,0,-1.574009689111559],[2.898737522932752,-117.348642680296,-2.309864431619644,0,0,-1.574009689111559],[2.8826707389995985,-122.34861686607476,-2.309864431619644,0,0,-1.574009689111559],[2.866603955066445,-127.34859105185353,-2.309864431619644,0,0,-1.574009689111559],[2.8505371711332916,-132.3485652376323,-2.309864431619644,0,0,-1.574009689111559],[2.834470387200138,-137.34853942341107,-2.309864431619644,0,0,-1.574009689111559],[2.818403603266985,-142.34851360918984,-2.309864431619644,0,0,-1.574009689111559],[2.8023368193338314,-147.3484877949686,-2.309864431619644,0,0,-1.574009689111559],[2.786270035400678,-152.34846198074737,-2.309864431619644,0,0,-1.574009689111559],[2.786270035400678,-152.34846198074737,-2.309864431619644,0,0,-1.8358090769107083],[2.786270035400678,-152.34846198074737,-2.309864431619644,0,0,-2.097608464709858],[2.786270035400678,-152.34846198074737,-2.309864431619644,0,0,-2.359407852509008],[2.786270035400678,-152.34846198074737,-2.309864431619644,0,0,-2.6212072403081574],[2.786270035400678,-152.34846198074737,-2.309864431619644,0,0,-2.883006628107307],[-2.047492551097138,-153.62703120350145,-2.309864431619644,0,0,-2.883006628107307],[-6.8812551375949536,-154.90560042625552,-2.309864431619644,0,0,-2.883006628107307],[-11.71501772409277,-156.1841696490096,-2.309864431619644,0,0,-2.883006628107307],[-16.548780310590587,-157.46273887176366,-2.309864431619644,0,0,-2.883006628107307],[-17.827349533344655,-152.62897628526585,-2.309864431619644,0,0,-2.883006628107307],[-22.66111211984247,-153.90754550801992,-2.309864431619644,0,0,-2.883006628107307],[-22.66111211984247,-153.90754550801992,-2.309864431619644,0,0,3.138379291273129],[-22.66111211984247,-153.90754550801992,-2.309864431619644,0,0,2.87657990347398],[-22.66111211984247,-153.90754550801992,-2.309864431619644,0,0,2.614780515674831],[-22.66111211984247,-153.90754550801992,-2.309864431619644,0,0,2.3529811278756814],[-22.66111211984247,-153.90754550801992,-2.309864431619644,0,0,2.0911817400765322],[-22.66111211984247,-153.90754550801992,-2.309864431619644,0,0,1.8293823522773829],[-22.66111211984247,-153.90754550801992,-2.309864431619644,0,0,1.5675829644782335],[-22.66111211984247,-153.90754550801992,-2.309864431619644,0,0,1.3057835766790844],[-22.66111211984247,-153.90754550801992,-2.309864431619644,0,0,1.0439841888799348],[-22.66111211984247,-153.90754550801992,-2.309864431619644,0,0,0.7821848010807855],[-22.66111211984247,-153.90754550801992,-2.309864431619644,0,0,0.5203854132816361],[-22.66111211984247,-153.90754550801992,-2.309864431619644,0,0,0.25858602548248666],[-22.66111211984247,-153.90754550801992,-2.309864431619644,0,0,-0.0032133623166627667],[-17.661137934063703,-153.92361229195308,-2.309864431619644,0,0,-0.0032133623166627667],[-12.661163748284935,-153.93967907588623,-2.309864431619644,0,0,-0.0032133623166627667],[-7.661189562506167,-153.9557458598194,-2.309864431619644,0,0,-0.0032133623166627667],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+{"episode_id":"3ITXP059P5HR1G4I8MDNN391EF5SJL","trajectory_id":"3IWA71V4UQEKNIEHSAKJOOQ0M66X6B","scene_id":7,"start_position":[-26.809755325317383,-154.07713317871094,-0.2606585919857025],"start_rotation":[0.9999956127318017,0.0,0.0,0.0029621811471228824],"instruction":{"instruction_text":"Take off and then fly forward to the center of the road intersection. Turn right to face the road beside the river, then, drive straight ahead to the No Entry sign at the next intersection. Turn left to face the row of cone barriers on the road. Fly straight ahead to the middle of the bridge and then stop."},"goals":[{"position":[68.86129960941724,-77.38527544986506,-2.2606585919857025]}],"reference_path":[[-26.809755325317383,-154.07713317871094,-0.2606585919857025,0,0,0.005924370958183065],[-26.809755325317383,-154.07713317871094,-2.2606585919857025,0,0,0.005924370958183065],[-26.809755325317383,-154.07713317871094,-2.2606585919857025,0,0,0.2677237587573325],[-21.98787760452268,-152.7544483161289,-2.2606585919857025,0,0,0.2677237587573325],[-21.98787760452268,-152.7544483161289,-2.2606585919857025,0,0,0.005924370958183078],[-16.987965349694164,-152.7248266346165,-2.2606585919857025,0,0,0.005924370958183078],[-11.988053094865649,-152.6952049531041,-2.2606585919857025,0,0,0.005924370958183078],[-6.988140840037132,-152.66558327159171,-2.2606585919857025,0,0,0.005924370958183078],[-1.9882285852086152,-152.63596159007932,-2.2606585919857025,0,0,0.005924370958183078],[-1.9882285852086152,-152.63596159007932,-2.2606585919857025,0,0,0.2677237587573325],[-1.9882285852086152,-152.63596159007932,-2.2606585919857025,0,0,0.5295231465564819],[-1.9882285852086152,-152.63596159007932,-2.2606585919857025,0,0,0.7913225343556313],[-1.9882285852086152,-152.63596159007932,-2.2606585919857025,0,0,1.0531219221547807],[-1.9882285852086152,-152.63596159007932,-2.2606585919857025,0,0,1.31492130995393],[-0.7227684170084405,-147.79875055863786,-2.2606585919857025,0,0,1.31492130995393],[-0.7227684170084405,-147.79875055863786,-2.2606585919857025,0,0,1.5767206977530794],[-0.7523900985208367,-142.79883830380933,-2.2606585919857025,0,0,1.5767206977530794],[-0.7820117800332329,-137.7989260489808,-2.2606585919857025,0,0,1.5767206977530794],[-0.8116334615456291,-132.79901379415227,-2.2606585919857025,0,0,1.5767206977530794],[-0.8412551430580253,-127.79910153932376,-2.2606585919857025,0,0,1.5767206977530794],[-0.8708768245704215,-122.79918928449524,-2.2606585919857025,0,0,1.5767206977530794],[-0.9004985060828177,-117.79927702966673,-2.2606585919857025,0,0,1.5767206977530794],[-0.9301201875952139,-112.79936477483821,-2.2606585919857025,0,0,1.5767206977530794],[-0.9597418691076101,-107.7994525200097,-2.2606585919857025,0,0,1.5767206977530794],[-0.9893635506200062,-102.79954026518118,-2.2606585919857025,0,0,1.5767206977530794],[-1.0189852321324024,-97.79962801035266,-2.2606585919857025,0,0,1.5767206977530794],[-1.0486069136447986,-92.79971575552415,-2.2606585919857025,0,0,1.5767206977530794],[-1.0782285951571948,-87.79980350069563,-2.2606585919857025,0,0,1.5767206977530794],[-1.107850276669591,-82.79989124586712,-2.2606585919857025,0,0,1.5767206977530794],[-1.1374719581819872,-77.7999789910386,-2.2606585919857025,0,0,1.5767206977530794],[-1.1374719581819872,-77.7999789910386,-2.2606585919857025,0,0,1.31492130995393],[-1.1374719581819872,-77.7999789910386,-2.2606585919857025,0,0,1.0531219221547807],[-1.1374719581819872,-77.7999789910386,-2.2606585919857025,0,0,0.7913225343556313],[-1.1374719581819872,-77.7999789910386,-2.2606585919857025,0,0,0.5295231465564818],[-1.1374719581819872,-77.7999789910386,-2.2606585919857025,0,0,0.2677237587573324],[-1.1374719581819872,-77.7999789910386,-2.2606585919857025,0,0,0.005924370958182984],[3.8624402966465294,-77.7703573095262,-2.2606585919857025,0,0,0.005924370958182984],[8.862352551475047,-77.74073562801381,-2.2606585919857025,0,0,0.005924370958182984],[13.862264806303564,-77.71111394650141,-2.2606585919857025,0,0,0.005924370958182984],[18.86217706113208,-77.68149226498902,-2.2606585919857025,0,0,0.005924370958182984],[23.862089315960596,-77.65187058347662,-2.2606585919857025,0,0,0.005924370958182984],[28.86200157078911,-77.62224890196423,-2.2606585919857025,0,0,0.005924370958182984],[33.86191382561763,-77.59262722045183,-2.2606585919857025,0,0,0.005924370958182984],[38.86182608044614,-77.56300553893944,-2.2606585919857025,0,0,0.005924370958182984],[43.86173833527466,-77.53338385742704,-2.2606585919857025,0,0,0.005924370958182984],[48.861650590103174,-77.50376217591464,-2.2606585919857025,0,0,0.005924370958182984],[53.86156284493169,-77.47414049440225,-2.2606585919857025,0,0,0.005924370958182984],[58.861475099760206,-77.44451881288985,-2.2606585919857025,0,0,0.005924370958182984],[63.86138735458872,-77.41489713137746,-2.2606585919857025,0,0,0.005924370958182984],[68.86129960941724,-77.38527544986506,-2.2606585919857025,0,0,0.005924370958182984]],"actions":[4,3,1,2,1,1,1,1,3,3,3,3,3,1,3,1,1,1,1,1,1,1,1,1,1,1,1,1,1,2,2,2,2,2,2,1,1,1,1,1,1,1,1,1,1,1,1,1,1,0]},
+{"episode_id":"3EJPLAJKEVECEXBPJVD6AS1ZGL06Z8","trajectory_id":"3IWA71V4UQEKNIEHSAKJOOQ0M66X6B","scene_id":7,"start_position":[-26.809755325317383,-154.07713317871094,-0.2606585919857025],"start_rotation":[0.9999956127318017,0.0,0.0,0.0029621811471228824],"instruction":{"instruction_text":"Fly forward along the road to the road intersection and then turn right to face the trash can on the right side of the road. Fly forward along the road to the next road intersection and then turn left to face the road with the cone barriers set up. Fly forward to the middle above the railing on the right side of the bridge and then land."},"goals":[{"position":[68.86129960941724,-77.38527544986506,-2.2606585919857025]}],"reference_path":[[-26.809755325317383,-154.07713317871094,-0.2606585919857025,0,0,0.005924370958183065],[-26.809755325317383,-154.07713317871094,-2.2606585919857025,0,0,0.005924370958183065],[-26.809755325317383,-154.07713317871094,-2.2606585919857025,0,0,0.2677237587573325],[-21.98787760452268,-152.7544483161289,-2.2606585919857025,0,0,0.2677237587573325],[-21.98787760452268,-152.7544483161289,-2.2606585919857025,0,0,0.005924370958183078],[-16.987965349694164,-152.7248266346165,-2.2606585919857025,0,0,0.005924370958183078],[-11.988053094865649,-152.6952049531041,-2.2606585919857025,0,0,0.005924370958183078],[-6.988140840037132,-152.66558327159171,-2.2606585919857025,0,0,0.005924370958183078],[-1.9882285852086152,-152.63596159007932,-2.2606585919857025,0,0,0.005924370958183078],[-1.9882285852086152,-152.63596159007932,-2.2606585919857025,0,0,0.2677237587573325],[-1.9882285852086152,-152.63596159007932,-2.2606585919857025,0,0,0.5295231465564819],[-1.9882285852086152,-152.63596159007932,-2.2606585919857025,0,0,0.7913225343556313],[-1.9882285852086152,-152.63596159007932,-2.2606585919857025,0,0,1.0531219221547807],[-1.9882285852086152,-152.63596159007932,-2.2606585919857025,0,0,1.31492130995393],[-0.7227684170084405,-147.79875055863786,-2.2606585919857025,0,0,1.31492130995393],[-0.7227684170084405,-147.79875055863786,-2.2606585919857025,0,0,1.5767206977530794],[-0.7523900985208367,-142.79883830380933,-2.2606585919857025,0,0,1.5767206977530794],[-0.7820117800332329,-137.7989260489808,-2.2606585919857025,0,0,1.5767206977530794],[-0.8116334615456291,-132.79901379415227,-2.2606585919857025,0,0,1.5767206977530794],[-0.8412551430580253,-127.79910153932376,-2.2606585919857025,0,0,1.5767206977530794],[-0.8708768245704215,-122.79918928449524,-2.2606585919857025,0,0,1.5767206977530794],[-0.9004985060828177,-117.79927702966673,-2.2606585919857025,0,0,1.5767206977530794],[-0.9301201875952139,-112.79936477483821,-2.2606585919857025,0,0,1.5767206977530794],[-0.9597418691076101,-107.7994525200097,-2.2606585919857025,0,0,1.5767206977530794],[-0.9893635506200062,-102.79954026518118,-2.2606585919857025,0,0,1.5767206977530794],[-1.0189852321324024,-97.79962801035266,-2.2606585919857025,0,0,1.5767206977530794],[-1.0486069136447986,-92.79971575552415,-2.2606585919857025,0,0,1.5767206977530794],[-1.0782285951571948,-87.79980350069563,-2.2606585919857025,0,0,1.5767206977530794],[-1.107850276669591,-82.79989124586712,-2.2606585919857025,0,0,1.5767206977530794],[-1.1374719581819872,-77.7999789910386,-2.2606585919857025,0,0,1.5767206977530794],[-1.1374719581819872,-77.7999789910386,-2.2606585919857025,0,0,1.31492130995393],[-1.1374719581819872,-77.7999789910386,-2.2606585919857025,0,0,1.0531219221547807],[-1.1374719581819872,-77.7999789910386,-2.2606585919857025,0,0,0.7913225343556313],[-1.1374719581819872,-77.7999789910386,-2.2606585919857025,0,0,0.5295231465564818],[-1.1374719581819872,-77.7999789910386,-2.2606585919857025,0,0,0.2677237587573324],[-1.1374719581819872,-77.7999789910386,-2.2606585919857025,0,0,0.005924370958182984],[3.8624402966465294,-77.7703573095262,-2.2606585919857025,0,0,0.005924370958182984],[8.862352551475047,-77.74073562801381,-2.2606585919857025,0,0,0.005924370958182984],[13.862264806303564,-77.71111394650141,-2.2606585919857025,0,0,0.005924370958182984],[18.86217706113208,-77.68149226498902,-2.2606585919857025,0,0,0.005924370958182984],[23.862089315960596,-77.65187058347662,-2.2606585919857025,0,0,0.005924370958182984],[28.86200157078911,-77.62224890196423,-2.2606585919857025,0,0,0.005924370958182984],[33.86191382561763,-77.59262722045183,-2.2606585919857025,0,0,0.005924370958182984],[38.86182608044614,-77.56300553893944,-2.2606585919857025,0,0,0.005924370958182984],[43.86173833527466,-77.53338385742704,-2.2606585919857025,0,0,0.005924370958182984],[48.861650590103174,-77.50376217591464,-2.2606585919857025,0,0,0.005924370958182984],[53.86156284493169,-77.47414049440225,-2.2606585919857025,0,0,0.005924370958182984],[58.861475099760206,-77.44451881288985,-2.2606585919857025,0,0,0.005924370958182984],[63.86138735458872,-77.41489713137746,-2.2606585919857025,0,0,0.005924370958182984],[68.86129960941724,-77.38527544986506,-2.2606585919857025,0,0,0.005924370958182984]],"actions":[4,3,1,2,1,1,1,1,3,3,3,3,3,1,3,1,1,1,1,1,1,1,1,1,1,1,1,1,1,2,2,2,2,2,2,1,1,1,1,1,1,1,1,1,1,1,1,1,1,0]},
+{"episode_id":"3MH9DQ7575AXPR6LPLNK5RZ97K8UGY","trajectory_id":"3BS6ERDLAB56PC901AJ7UHN86OV6DJ","scene_id":7,"start_position":[-67.22526550292969,-81.81722259521484,-0.7372815012931824],"start_rotation":[0.9999007436538337,0.0,0.0,0.014089103609178422],"instruction":{"instruction_text":"Take off, then fly along the road over the bridge and stop in the middle of the crossroads. Turn left to face the red building at the end of the road. Fly straight ahead until reach the road in front of the red building, then turn left to face the zebra crossing behind the underground water accumulation. Walk forward to the crosswalk, then turn around to face the row of cone barriers on the road, and then fly forward to land right in front of the farthest cone barrier."},"goals":[{"position":[25.041228641002782,-151.31022315530942,-0.7372815012931824]}],"reference_path":[[-67.22526550292969,-81.81722259521484,-0.7372815012931824,0,0,0.028179139544002647],[-62.22725053133479,-81.67634554345251,-0.7372815012931824,0,0,0.028179139544002647],[-57.22923555973989,-81.53546849169018,-0.7372815012931824,0,0,0.028179139544002647],[-52.23122058814499,-81.39459143992785,-0.7372815012931824,0,0,0.028179139544002647],[-47.233205616550094,-81.25371438816552,-0.7372815012931824,0,0,0.028179139544002647],[-42.235190644955196,-81.11283733640319,-0.7372815012931824,0,0,0.028179139544002647],[-37.2371756733603,-80.97196028464086,-0.7372815012931824,0,0,0.028179139544002647],[-32.2391607017654,-80.83108323287853,-0.7372815012931824,0,0,0.028179139544002647],[-27.2411457301705,-80.6902061811162,-0.7372815012931824,0,0,0.028179139544002647],[-22.243130758575603,-80.54932912935386,-0.7372815012931824,0,0,0.028179139544002647],[-17.245115786980705,-80.40845207759153,-0.7372815012931824,0,0,0.028179139544002647],[-12.247100815385807,-80.2675750258292,-0.7372815012931824,0,0,0.028179139544002647],[-7.249085843790908,-80.12669797406687,-0.7372815012931824,0,0,0.028179139544002647],[-2.25107087219601,-79.98582092230454,-0.7372815012931824,0,0,0.028179139544002647],[2.7469440993988883,-79.84494387054221,-0.7372815012931824,0,0,0.028179139544002647],[2.7469440993988883,-79.84494387054221,-0.7372815012931824,0,0,-0.23362024825514677],[2.7469440993988883,-79.84494387054221,-0.7372815012931824,0,0,-0.4954196360542962],[2.7469440993988883,-79.84494387054221,-0.7372815012931824,0,0,-0.7572190238534456],[2.7469440993988883,-79.84494387054221,-0.7372815012931824,0,0,-1.019018411652595],[2.7469440993988883,-79.84494387054221,-0.7372815012931824,0,0,-1.2808177994517447],[2.7469440993988883,-79.84494387054221,-0.7372815012931824,0,0,-1.5426171872508943],[2.887821151161221,-84.84295884213711,-0.7372815012931824,0,0,-1.5426171872508943],[3.028698202923554,-89.840973813732,-0.7372815012931824,0,0,-1.5426171872508943],[3.1695752546858866,-94.8389887853269,-0.7372815012931824,0,0,-1.5426171872508943],[3.3104523064482194,-99.8370037569218,-0.7372815012931824,0,0,-1.5426171872508943],[3.451329358210552,-104.8350187285167,-0.7372815012931824,0,0,-1.5426171872508943],[3.592206409972885,-109.8330337001116,-0.7372815012931824,0,0,-1.5426171872508943],[3.7330834617352178,-114.8310486717065,-0.7372815012931824,0,0,-1.5426171872508943],[3.8739605134975506,-119.8290636433014,-0.7372815012931824,0,0,-1.5426171872508943],[4.014837565259883,-124.8270786148963,-0.7372815012931824,0,0,-1.5426171872508943],[4.155714617022216,-129.8250935864912,-0.7372815012931824,0,0,-1.5426171872508943],[4.296591668784549,-134.8231085580861,-0.7372815012931824,0,0,-1.5426171872508943],[4.437468720546882,-139.821123529681,-0.7372815012931824,0,0,-1.5426171872508943],[4.5783457723092145,-144.8191385012759,-0.7372815012931824,0,0,-1.5426171872508943],[4.719222824071547,-149.81715347287079,-0.7372815012931824,0,0,-1.5426171872508943],[4.86009987583388,-154.81516844446568,-0.7372815012931824,0,0,-1.5426171872508943],[4.86009987583388,-154.81516844446568,-0.7372815012931824,0,0,-1.8044165750500436],[4.86009987583388,-154.81516844446568,-0.7372815012931824,0,0,-2.066215962849193],[4.86009987583388,-154.81516844446568,-0.7372815012931824,0,0,-2.3280153506483425],[4.86009987583388,-154.81516844446568,-0.7372815012931824,0,0,-2.589814738447492],[4.86009987583388,-154.81516844446568,-0.7372815012931824,0,0,-2.8516141262466417],[4.86009987583388,-154.81516844446568,-0.7372815012931824,0,0,-3.1134135140457917],[-0.13791509576101824,-154.956045496228,-0.7372815012931824,0,0,-3.1134135140457917],[-5.1359300673559165,-155.09692254799032,-0.7372815012931824,0,0,-3.1134135140457917],[-5.1359300673559165,-155.09692254799032,-0.7372815012931824,0,0,2.9079724053346454],[-5.1359300673559165,-155.09692254799032,-0.7372815012931824,0,0,2.646173017535496],[-5.1359300673559165,-155.09692254799032,-0.7372815012931824,0,0,2.3843736297363463],[-5.1359300673559165,-155.09692254799032,-0.7372815012931824,0,0,2.122574241937197],[-5.1359300673559165,-155.09692254799032,-0.7372815012931824,0,0,1.8607748541380476],[-5.1359300673559165,-155.09692254799032,-0.7372815012931824,0,0,1.5989754663388982],[-5.1359300673559165,-155.09692254799032,-0.7372815012931824,0,0,1.3371760785397486],[-5.1359300673559165,-155.09692254799032,-0.7372815012931824,0,0,1.075376690740599],[-5.1359300673559165,-155.09692254799032,-0.7372815012931824,0,0,0.8135773029414496],[-5.1359300673559165,-155.09692254799032,-0.7372815012931824,0,0,0.5517779151423002],[-5.1359300673559165,-155.09692254799032,-0.7372815012931824,0,0,0.2899785273431508],[-0.3446799901269646,-153.66726430300534,-0.7372815012931824,0,0,0.2899785273431508],[4.446570087101987,-152.23760605802036,-0.7372815012931824,0,0,0.2899785273431508],[9.23782016433094,-150.80794781303538,-0.7372815012931824,0,0,0.2899785273431508],[14.0290702415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+{"episode_id":"35USIKEBN0EIX8X6G72CF5UQ69P6NS","trajectory_id":"3BS6ERDLAB56PC901AJ7UHN86OV6DJ","scene_id":7,"start_position":[-67.22526550292969,-81.81722259521484,-0.7372815012931824],"start_rotation":[0.9999007436538337,0.0,0.0,0.014089103609178422],"instruction":{"instruction_text":"Take off and fly straight ahead, pass over the bridge, then turn left at the crossroads to face the road. Fly straight ahead to the red building at the end of the road, then turn left to face the road crosswalk. Fly forward onto the pedestrian crossing. Turn back to face a row of barriers on the road, then fly forward and land right in front of the last barrier."},"goals":[{"position":[25.041228641002782,-151.31022315530942,-0.7372815012931824]}],"reference_path":[[-67.22526550292969,-81.81722259521484,-0.7372815012931824,0,0,0.028179139544002647],[-62.22725053133479,-81.67634554345251,-0.7372815012931824,0,0,0.028179139544002647],[-57.22923555973989,-81.53546849169018,-0.7372815012931824,0,0,0.028179139544002647],[-52.23122058814499,-81.39459143992785,-0.7372815012931824,0,0,0.028179139544002647],[-47.233205616550094,-81.25371438816552,-0.7372815012931824,0,0,0.028179139544002647],[-42.235190644955196,-81.11283733640319,-0.7372815012931824,0,0,0.028179139544002647],[-37.2371756733603,-80.97196028464086,-0.7372815012931824,0,0,0.028179139544002647],[-32.2391607017654,-80.83108323287853,-0.7372815012931824,0,0,0.028179139544002647],[-27.2411457301705,-80.6902061811162,-0.7372815012931824,0,0,0.028179139544002647],[-22.243130758575603,-80.54932912935386,-0.7372815012931824,0,0,0.028179139544002647],[-17.245115786980705,-80.40845207759153,-0.7372815012931824,0,0,0.028179139544002647],[-12.247100815385807,-80.2675750258292,-0.7372815012931824,0,0,0.028179139544002647],[-7.249085843790908,-80.12669797406687,-0.7372815012931824,0,0,0.028179139544002647],[-2.25107087219601,-79.98582092230454,-0.7372815012931824,0,0,0.028179139544002647],[2.7469440993988883,-79.84494387054221,-0.7372815012931824,0,0,0.028179139544002647],[2.7469440993988883,-79.84494387054221,-0.7372815012931824,0,0,-0.23362024825514677],[2.7469440993988883,-79.84494387054221,-0.7372815012931824,0,0,-0.4954196360542962],[2.7469440993988883,-79.84494387054221,-0.7372815012931824,0,0,-0.7572190238534456],[2.7469440993988883,-79.84494387054221,-0.7372815012931824,0,0,-1.019018411652595],[2.7469440993988883,-79.84494387054221,-0.7372815012931824,0,0,-1.2808177994517447],[2.7469440993988883,-79.84494387054221,-0.7372815012931824,0,0,-1.5426171872508943],[2.887821151161221,-84.84295884213711,-0.7372815012931824,0,0,-1.5426171872508943],[3.028698202923554,-89.840973813732,-0.7372815012931824,0,0,-1.5426171872508943],[3.1695752546858866,-94.8389887853269,-0.7372815012931824,0,0,-1.5426171872508943],[3.3104523064482194,-99.8370037569218,-0.7372815012931824,0,0,-1.5426171872508943],[3.451329358210552,-104.8350187285167,-0.7372815012931824,0,0,-1.5426171872508943],[3.592206409972885,-109.8330337001116,-0.7372815012931824,0,0,-1.5426171872508943],[3.7330834617352178,-114.8310486717065,-0.7372815012931824,0,0,-1.5426171872508943],[3.8739605134975506,-119.8290636433014,-0.7372815012931824,0,0,-1.5426171872508943],[4.014837565259883,-124.8270786148963,-0.7372815012931824,0,0,-1.5426171872508943],[4.155714617022216,-129.8250935864912,-0.7372815012931824,0,0,-1.5426171872508943],[4.296591668784549,-134.8231085580861,-0.7372815012931824,0,0,-1.5426171872508943],[4.437468720546882,-139.821123529681,-0.7372815012931824,0,0,-1.5426171872508943],[4.5783457723092145,-144.8191385012759,-0.7372815012931824,0,0,-1.5426171872508943],[4.719222824071547,-149.81715347287079,-0.7372815012931824,0,0,-1.5426171872508943],[4.86009987583388,-154.81516844446568,-0.7372815012931824,0,0,-1.5426171872508943],[4.86009987583388,-154.81516844446568,-0.7372815012931824,0,0,-1.8044165750500436],[4.86009987583388,-154.81516844446568,-0.7372815012931824,0,0,-2.066215962849193],[4.86009987583388,-154.81516844446568,-0.7372815012931824,0,0,-2.3280153506483425],[4.86009987583388,-154.81516844446568,-0.7372815012931824,0,0,-2.589814738447492],[4.86009987583388,-154.81516844446568,-0.7372815012931824,0,0,-2.8516141262466417],[4.86009987583388,-154.81516844446568,-0.7372815012931824,0,0,-3.1134135140457917],[-0.13791509576101824,-154.956045496228,-0.7372815012931824,0,0,-3.1134135140457917],[-5.1359300673559165,-155.09692254799032,-0.7372815012931824,0,0,-3.1134135140457917],[-5.1359300673559165,-155.09692254799032,-0.7372815012931824,0,0,2.9079724053346454],[-5.1359300673559165,-155.09692254799032,-0.7372815012931824,0,0,2.646173017535496],[-5.1359300673559165,-155.09692254799032,-0.7372815012931824,0,0,2.3843736297363463],[-5.1359300673559165,-155.09692254799032,-0.7372815012931824,0,0,2.122574241937197],[-5.1359300673559165,-155.09692254799032,-0.7372815012931824,0,0,1.8607748541380476],[-5.1359300673559165,-155.09692254799032,-0.7372815012931824,0,0,1.5989754663388982],[-5.1359300673559165,-155.09692254799032,-0.7372815012931824,0,0,1.3371760785397486],[-5.1359300673559165,-155.09692254799032,-0.7372815012931824,0,0,1.075376690740599],[-5.1359300673559165,-155.09692254799032,-0.7372815012931824,0,0,0.8135773029414496],[-5.1359300673559165,-155.09692254799032,-0.7372815012931824,0,0,0.5517779151423002],[-5.1359300673559165,-155.09692254799032,-0.7372815012931824,0,0,0.2899785273431508],[-0.3446799901269646,-153.66726430300534,-0.7372815012931824,0,0,0.2899785273431508],[4.446570087101987,-152.23760605802036,-0.7372815012931824,0,0,0.2899785273431508],[9.23782016433094,-150.80794781303538,-0.7372815012931824,0,0,0.2899785273431508],[14.0290702415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+{"episode_id":"3EWIJTFFVX5JPRYELJJCGHQQF82E0Y","trajectory_id":"3CZH926SJKCX2VJMEH1C31LFA9QE4Z","scene_id":7,"start_position":[-67.22526550292969,-81.81722259521484,-0.7372815012931824],"start_rotation":[0.9998600755668966,0.0,0.0,-0.01672809873714682],"instruction":{"instruction_text":"Fly straight ahead to the crossroads and then turn right to face the trash can on the right side of the street. Fly forward to the trash can and then turn left to face the gray building located at the street corner on the opposite side of the bridge. Move forward across the river, then fly to the crossroads on the other side of the bridge, then turn right to face the cone-shaped barriers on the road. Fly forward along the road to the middle of the bridge."},"goals":[{"position":[63.97845474522914,-82.93112540656588,-2.7372815012931824]}],"reference_path":[[-67.22526550292969,-81.81722259521484,-0.7372815012931824,0,0,-0.03345775800812517],[-62.22806379580329,-81.98448017588899,-0.7372815012931824,0,0,-0.03345775800812517],[-57.230862088676886,-82.15173775656314,-0.7372815012931824,0,0,-0.03345775800812517],[-52.233660381550486,-82.31899533723728,-0.7372815012931824,0,0,-0.03345775800812517],[-47.236458674424085,-82.48625291791143,-0.7372815012931824,0,0,-0.03345775800812517],[-42.239256967297685,-82.65351049858558,-0.7372815012931824,0,0,-0.03345775800812517],[-37.242055260171284,-82.82076807925972,-0.7372815012931824,0,0,-0.03345775800812517],[-32.244853553044884,-82.98802565993387,-0.7372815012931824,0,0,-0.03345775800812517],[-32.244853553044884,-82.98802565993387,-0.7372815012931824,0,0,0.22834162979102426],[-32.244853553044884,-82.98802565993387,-0.7372815012931824,0,0,0.4901410175901737],[-32.244853553044884,-82.98802565993387,-0.7372815012931824,0,0,0.7519404053893232],[-32.244853553044884,-82.98802565993387,-0.7372815012931824,0,0,1.0137397931884726],[-32.244853553044884,-82.98802565993387,-0.7372815012931824,0,0,1.275539180987622],[-30.78992416220596,-78.20438891916089,-0.7372815012931824,0,0,1.275539180987622],[-29.334994771367036,-73.42075217838791,-0.7372815012931824,0,0,1.275539180987622],[-29.334994771367036,-73.42075217838791,-0.7372815012931824,0,0,1.5373385687867713],[-29.167737190692893,-68.4235504712615,-0.7372815012931824,0,0,1.5373385687867713],[-29.00047961001875,-63.426348764135106,-0.7372815012931824,0,0,1.5373385687867713],[-28.833222029344608,-58.429147057008706,-0.7372815012931824,0,0,1.5373385687867713],[-28.833222029344608,-58.429147057008706,-0.7372815012931824,0,0,1.275539180987622],[-28.833222029344608,-58.429147057008706,-0.7372815012931824,0,0,1.0137397931884726],[-28.833222029344608,-58.429147057008706,-0.7372815012931824,0,0,0.7519404053893233],[-28.833222029344608,-58.429147057008706,-0.7372815012931824,0,0,0.4901410175901738],[-28.833222029344608,-58.429147057008706,-0.7372815012931824,0,0,0.2283416297910244],[-29.965034586551972,-53.558931421603255,-0.7372815012931824,0,0,0.2283416297910244],[-29.965034586551972,-53.558931421603255,-0.7372815012931824,0,0,-0.03345775800812501],[-29.965034586551972,-53.558931421603255,-0.7372815012931824,0,0,-0.29525714580727447],[-29.965034586551972,-53.558931421603255,-0.7372815012931824,0,0,-0.5570565336064239],[-29.965034586551972,-53.558931421603255,-0.7372815012931824,0,0,-0.8188559214055733],[-26.549748341985442,-57.21075560516887,-0.7372815012931824,0,0,-0.8188559214055733],[-23.13446209741891,-60.86257978873448,-0.7372815012931824,0,0,-0.8188559214055733],[-23.13446209741891,-60.86257978873448,-2.7372815012931824,0,0,-0.8188559214055733],[-19.71917585285238,-64.51440397230009,-2.7372815012931824,0,0,-0.8188559214055733],[-16.30388960828585,-68.1662281558657,-2.7372815012931824,0,0,-0.8188559214055733],[-12.88860336371932,-71.8180523394313,-2.7372815012931824,0,0,-0.8188559214055733],[-9.473317119152789,-75.46987652299691,-2.7372815012931824,0,0,-0.8188559214055733],[-9.473317119152789,-75.46987652299691,-2.7372815012931824,0,0,-0.5570565336064238],[-5.22924228328343,-78.11332669039945,-2.7372815012931824,0,0,-0.5570565336064238],[-0.9851674474140708,-80.75677685780198,-2.7372815012931824,0,0,-0.5570565336064238],[-0.9851674474140708,-80.75677685780198,-2.7372815012931824,0,0,-0.2952571458072744],[-0.9851674474140708,-80.75677685780198,-2.7372815012931824,0,0,-0.03345775800812498],[4.0120342597123315,-80.92403443847613,-2.7372815012931824,0,0,-0.03345775800812498],[9.009235966838734,-81.09129201915027,-2.7372815012931824,0,0,-0.03345775800812498],[14.006437673965136,-81.25854959982442,-2.7372815012931824,0,0,-0.03345775800812498],[19.00363938109154,-81.42580718049857,-2.7372815012931824,0,0,-0.03345775800812498],[24.00084108821794,-81.59306476117271,-2.7372815012931824,0,0,-0.03345775800812498],[28.99804279534434,-81.76032234184686,-2.7372815012931824,0,0,-0.03345775800812498],[33.99524450247074,-81.927579922521,-2.7372815012931824,0,0,-0.03345775800812498],[38.99244620959714,-82.09483750319515,-2.7372815012931824,0,0,-0.03345775800812498],[43.98964791672354,-82.2620950838693,-2.7372815012931824,0,0,-0.03345775800812498],[48.98684962384994,-82.42935266454344,-2.7372815012931824,0,0,-0.03345775800812498],[53.98405133097634,-82.59661024521759,-2.7372815012931824,0,0,-0.03345775800812498],[58.98125303810274,-82.76386782589174,-2.7372815012931824,0,0,-0.03345775800812498],[63.97845474522914,-82.93112540656588,-2.7372815012931824,0,0,-0.03345775800812498]],"actions":[1,1,1,1,1,1,1,3,3,3,3,3,1,1,3,1,1,1,2,2,2,2,2,7,2,2,2,2,1,1,4,1,1,1,1,3,1,1,3,3,1,1,1,1,1,1,1,1,1,1,1,1,1,0]},
+{"episode_id":"3JC6VJ2SAKHFUL332KN21TWQA835AG","trajectory_id":"3CZH926SJKCX2VJMEH1C31LFA9QE4Z","scene_id":7,"start_position":[-67.22526550292969,-81.81722259521484,-0.7372815012931824],"start_rotation":[0.9998600755668966,0.0,0.0,-0.01672809873714682],"instruction":{"instruction_text":"Take off and fly straight ahead to the crossroads. Turn right to face the trash can on the left side of the road. Fly forward to the side of the trash can, then turn left to face the bridge, and then fly forward across the river and stop in the middle of the road intersection. Turn right to face the road with the cone-shaped barriers, then fly towards the front of the road and land in the middle of the bridge."},"goals":[{"position":[63.97845474522914,-82.93112540656588,-2.7372815012931824]}],"reference_path":[[-67.22526550292969,-81.81722259521484,-0.7372815012931824,0,0,-0.03345775800812517],[-62.22806379580329,-81.98448017588899,-0.7372815012931824,0,0,-0.03345775800812517],[-57.230862088676886,-82.15173775656314,-0.7372815012931824,0,0,-0.03345775800812517],[-52.233660381550486,-82.31899533723728,-0.7372815012931824,0,0,-0.03345775800812517],[-47.236458674424085,-82.48625291791143,-0.7372815012931824,0,0,-0.03345775800812517],[-42.239256967297685,-82.65351049858558,-0.7372815012931824,0,0,-0.03345775800812517],[-37.242055260171284,-82.82076807925972,-0.7372815012931824,0,0,-0.03345775800812517],[-32.244853553044884,-82.98802565993387,-0.7372815012931824,0,0,-0.03345775800812517],[-32.244853553044884,-82.98802565993387,-0.7372815012931824,0,0,0.22834162979102426],[-32.244853553044884,-82.98802565993387,-0.7372815012931824,0,0,0.4901410175901737],[-32.244853553044884,-82.98802565993387,-0.7372815012931824,0,0,0.7519404053893232],[-32.244853553044884,-82.98802565993387,-0.7372815012931824,0,0,1.0137397931884726],[-32.244853553044884,-82.98802565993387,-0.7372815012931824,0,0,1.275539180987622],[-30.78992416220596,-78.20438891916089,-0.7372815012931824,0,0,1.275539180987622],[-29.334994771367036,-73.42075217838791,-0.7372815012931824,0,0,1.275539180987622],[-29.334994771367036,-73.42075217838791,-0.7372815012931824,0,0,1.5373385687867713],[-29.167737190692893,-68.4235504712615,-0.7372815012931824,0,0,1.5373385687867713],[-29.00047961001875,-63.426348764135106,-0.7372815012931824,0,0,1.5373385687867713],[-28.833222029344608,-58.429147057008706,-0.7372815012931824,0,0,1.5373385687867713],[-28.833222029344608,-58.429147057008706,-0.7372815012931824,0,0,1.275539180987622],[-28.833222029344608,-58.429147057008706,-0.7372815012931824,0,0,1.0137397931884726],[-28.833222029344608,-58.429147057008706,-0.7372815012931824,0,0,0.7519404053893233],[-28.833222029344608,-58.429147057008706,-0.7372815012931824,0,0,0.4901410175901738],[-28.833222029344608,-58.429147057008706,-0.7372815012931824,0,0,0.2283416297910244],[-29.965034586551972,-53.558931421603255,-0.7372815012931824,0,0,0.2283416297910244],[-29.965034586551972,-53.558931421603255,-0.7372815012931824,0,0,-0.03345775800812501],[-29.965034586551972,-53.558931421603255,-0.7372815012931824,0,0,-0.29525714580727447],[-29.965034586551972,-53.558931421603255,-0.7372815012931824,0,0,-0.5570565336064239],[-29.965034586551972,-53.558931421603255,-0.7372815012931824,0,0,-0.8188559214055733],[-26.549748341985442,-57.21075560516887,-0.7372815012931824,0,0,-0.8188559214055733],[-23.13446209741891,-60.86257978873448,-0.7372815012931824,0,0,-0.8188559214055733],[-23.13446209741891,-60.86257978873448,-2.7372815012931824,0,0,-0.8188559214055733],[-19.71917585285238,-64.51440397230009,-2.7372815012931824,0,0,-0.8188559214055733],[-16.30388960828585,-68.1662281558657,-2.7372815012931824,0,0,-0.8188559214055733],[-12.88860336371932,-71.8180523394313,-2.7372815012931824,0,0,-0.8188559214055733],[-9.473317119152789,-75.46987652299691,-2.7372815012931824,0,0,-0.8188559214055733],[-9.473317119152789,-75.46987652299691,-2.7372815012931824,0,0,-0.5570565336064238],[-5.22924228328343,-78.11332669039945,-2.7372815012931824,0,0,-0.5570565336064238],[-0.9851674474140708,-80.75677685780198,-2.7372815012931824,0,0,-0.5570565336064238],[-0.9851674474140708,-80.75677685780198,-2.7372815012931824,0,0,-0.2952571458072744],[-0.9851674474140708,-80.75677685780198,-2.7372815012931824,0,0,-0.03345775800812498],[4.0120342597123315,-80.92403443847613,-2.7372815012931824,0,0,-0.03345775800812498],[9.009235966838734,-81.09129201915027,-2.7372815012931824,0,0,-0.03345775800812498],[14.006437673965136,-81.25854959982442,-2.7372815012931824,0,0,-0.03345775800812498],[19.00363938109154,-81.42580718049857,-2.7372815012931824,0,0,-0.03345775800812498],[24.00084108821794,-81.59306476117271,-2.7372815012931824,0,0,-0.03345775800812498],[28.99804279534434,-81.76032234184686,-2.7372815012931824,0,0,-0.03345775800812498],[33.99524450247074,-81.927579922521,-2.7372815012931824,0,0,-0.03345775800812498],[38.99244620959714,-82.09483750319515,-2.7372815012931824,0,0,-0.03345775800812498],[43.98964791672354,-82.2620950838693,-2.7372815012931824,0,0,-0.03345775800812498],[48.98684962384994,-82.42935266454344,-2.7372815012931824,0,0,-0.03345775800812498],[53.98405133097634,-82.59661024521759,-2.7372815012931824,0,0,-0.03345775800812498],[58.98125303810274,-82.76386782589174,-2.7372815012931824,0,0,-0.03345775800812498],[63.97845474522914,-82.93112540656588,-2.7372815012931824,0,0,-0.03345775800812498]],"actions":[1,1,1,1,1,1,1,3,3,3,3,3,1,1,3,1,1,1,2,2,2,2,2,7,2,2,2,2,1,1,4,1,1,1,1,3,1,1,3,3,1,1,1,1,1,1,1,1,1,1,1,1,1,0]},
+{"episode_id":"3NPFYT4IZL2P6V0GUQY7PYYD2TDXG0","trajectory_id":"3LXX8KJXQ47KBS2NPQ0ZPLQ909B9O7","scene_id":7,"start_position":[0.3112126886844635,-8.156624794006348,-0.6337697505950928],"start_rotation":[0.9999614646629215,0.0,0.0,0.008778905921866219],"instruction":{"instruction_text":"Lift off and turn left until facing the road then head straight until reaching the second bridge. At the next bridge on left turn left and head across the bridge. Once across the bridge turn left to face the road. At the first garbage cans on left turn left 90 degrees and head straight. Once back on the road turn left until parallel with the road and head straight until reaching second garbage bins. Just after the intersection land in front of the traffic cones."},"goals":[{"position":[1.5960219447576514,-110.85119648867465,-2.6337697505950928]}],"reference_path":[[0.3112126886844635,-8.156624794006348,-0.6337697505950928,0,0,0.017558037379274798],[0.3112126886844635,-8.156624794006348,-2.6337697505950928,0,0,0.017558037379274798],[0.3112126886844635,-8.156624794006348,-2.6337697505950928,0,0,-0.24424135041987463],[0.3112126886844635,-8.156624794006348,-2.6337697505950928,0,0,-0.5060407382190241],[0.3112126886844635,-8.156624794006348,-2.6337697505950928,0,0,-0.7678401260181735],[0.3112126886844635,-8.156624794006348,-2.6337697505950928,0,0,-1.029639513817323],[0.3112126886844635,-8.156624794006348,-2.6337697505950928,0,0,-1.2914389016164722],[1.6899028963137706,-12.962788889351726,-2.6337697505950928,0,0,-1.2914389016164722],[3.0685931039430776,-17.768952984697105,-2.6337697505950928,0,0,-1.2914389016164722],[4.447283311572384,-22.57511708004248,-2.6337697505950928,0,0,-1.2914389016164722],[4.447283311572384,-22.57511708004248,-2.6337697505950928,0,0,-1.5532382894156218],[4.535068987810058,-27.57434638815063,-2.6337697505950928,0,0,-1.5532382894156218],[4.622854664047731,-32.57357569625878,-2.6337697505950928,0,0,-1.5532382894156218],[4.710640340285404,-37.57280500436693,-2.6337697505950928,0,0,-1.5532382894156218],[4.798426016523077,-42.572034312475076,-2.6337697505950928,0,0,-1.5532382894156218],[4.88621169276075,-47.571263620583224,-2.6337697505950928,0,0,-1.5532382894156218],[4.973997368998424,-52.57049292869137,-2.6337697505950928,0,0,-1.5532382894156218],[5.061783045236097,-57.56972223679952,-2.6337697505950928,0,0,-1.5532382894156218],[5.14956872147377,-62.56895154490767,-2.6337697505950928,0,0,-1.5532382894156218],[5.237354397711443,-67.56818085301582,-2.6337697505950928,0,0,-1.5532382894156218],[5.325140073949116,-72.56741016112397,-2.6337697505950928,0,0,-1.5532382894156218],[5.325140073949116,-72.56741016112397,-2.6337697505950928,0,0,-1.8150376772147714],[5.325140073949116,-72.56741016112397,-2.6337697505950928,0,0,-2.0768370650139207],[2.901550045605262,-76.94076257940817,-2.6337697505950928,0,0,-2.0768370650139207],[2.901550045605262,-76.94076257940817,-2.6337697505950928,0,0,-2.33863645281307],[2.901550045605262,-76.94076257940817,-2.6337697505950928,0,0,-2.600435840612219],[2.901550045605262,-76.94076257940817,-2.6337697505950928,0,0,-2.8622352284113686],[-1.9046140497401156,-78.31945278703748,-2.6337697505950928,0,0,-2.8622352284113686],[-6.710778145085493,-79.69814299466678,-2.6337697505950928,0,0,-2.8622352284113686],[-11.516942240430872,-81.07683320229609,-2.6337697505950928,0,0,-2.8622352284113686],[-16.32310633577625,-82.45552340992539,-2.6337697505950928,0,0,-2.8622352284113686],[-16.32310633577625,-82.45552340992539,-2.6337697505950928,0,0,-3.124034616210518],[-21.3223356438844,-82.54330908616306,-2.6337697505950928,0,0,-3.124034616210518],[-26.32156495199255,-82.63109476240074,-2.6337697505950928,0,0,-3.124034616210518],[-26.32156495199255,-82.63109476240074,-2.6337697505950928,0,0,2.897351303169919],[-26.32156495199255,-82.63109476240074,-2.6337697505950928,0,0,2.635551915370769],[-26.32156495199255,-82.63109476240074,-2.6337697505950928,0,0,2.37375252757162],[-29.918627743421062,-79.15817966488963,-2.6337697505950928,0,0,2.37375252757162],[-29.918627743421062,-79.15817966488963,-2.6337697505950928,0,0,2.1119531397724702],[-29.918627743421062,-79.15817966488963,-2.6337697505950928,0,0,1.8501537519733209],[-29.918627743421062,-79.15817966488963,-2.6337697505950928,0,0,1.5883543641741713],[-30.006413419658735,-74.15895035678147,-2.6337697505950928,0,0,1.5883543641741713],[-30.094199095896407,-69.15972104867332,-2.6337697505950928,0,0,1.5883543641741713],[-30.18198477213408,-64.16049174056516,-2.6337697505950928,0,0,1.5883543641741713],[-30.26977044837175,-59.161262432457015,-2.6337697505950928,0,0,1.5883543641741713],[-30.26977044837175,-59.161262432457015,-2.6337697505950928,0,0,1.326554976375022],[-30.26977044837175,-59.161262432457015,-2.6337697505950928,0,0,1.0647555885758726],[-30.26977044837175,-59.161262432457015,-2.6337697505950928,0,0,0.8029562007767233],[-30.26977044837175,-59.161262432457015,-2.6337697505950928,0,0,0.5411568129775738],[-30.26977044837175,-59.161262432457015,-2.6337697505950928,0,0,0.2793574251784243],[-25.46360635302637,-57.78257222482771,-2.6337697505950928,0,0,0.2793574251784243],[-20.65744225768099,-56.403882017198406,-2.6337697505950928,0,0,0.2793574251784243],[-20.65744225768099,-56.403882017198406,-2.6337697505950928,0,0,0.017558037379274884],[-15.65821294957284,-56.31609634096073,-2.6337697505950928,0,0,0.017558037379274884],[-10.65898364146469,-56.22831066472306,-2.6337697505950928,0,0,0.017558037379274884],[-5.65975433335654,-56.14052498848539,-2.6337697505950928,0,0,0.017558037379274884],[-0.6605250252483899,-56.052739312247716,-2.6337697505950928,0,0,0.017558037379274884],[-0.6605250252483899,-56.052739312247716,-2.6337697505950928,0,0,-0.24424135041987455],[-0.6605250252483899,-56.0527393122477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+{"episode_id":"3W8CV64QJBXD5VDTBGABUVOW9YJH9Z","trajectory_id":"32CAVSKPDMNXZSJPHZXF9L0FKDA1UQ","scene_id":7,"start_position":[1.8617212772369385,-3.587571382522583,-0.5758452415466309],"start_rotation":[0.9997296843694308,0.0,0.0,0.02324990732450895],"instruction":{"instruction_text":"Go up and turn left so brown door is on right and tree is on left. Go passed two trash cans on left and then at the sign with the a on it turn around completely. Go straight pass the river with a bridge on right and right after bridge turn to the right to face the road. Head on and then turn right to face the road at first street. Go passed blue signs and lake should be on right and at the first left turn left to face the road. Go down street and passed cones and stop on white lines for the crosswalk."},"goals":[{"position":[-57.294056178636716,-77.18809378689147,-2.575845241546631]}],"reference_path":[[1.8617212772369385,-3.587571382522583,-0.5758452415466309,0,0,0.04650400497767867],[1.8617212772369385,-3.587571382522583,-0.5758452415466309,0,0,-0.2152953828214708],[1.8617212772369385,-3.587571382522583,-0.5758452415466309,0,0,-0.4770947706206202],[1.8617212772369385,-3.587571382522583,-0.5758452415466309,0,0,-0.7388941584197697],[1.8617212772369385,-3.587571382522583,-0.5758452415466309,0,0,-1.000693546218919],[1.8617212772369385,-3.587571382522583,-0.5758452415466309,0,0,-1.2624929340180684],[3.378933588002749,-8.351820200968223,-0.5758452415466309,0,0,-1.2624929340180684],[3.378933588002749,-8.351820200968223,-0.5758452415466309,0,0,-1.5242923218172177],[3.6113698131142487,-13.34641461906224,-0.5758452415466309,0,0,-1.5242923218172177],[3.843806038225748,-18.341009037156258,-0.5758452415466309,0,0,-1.5242923218172177],[4.076242263337248,-23.335603455250276,-0.5758452415466309,0,0,-1.5242923218172177],[4.308678488448747,-28.330197873344293,-0.5758452415466309,0,0,-1.5242923218172177],[4.541114713560246,-33.324792291438314,-0.5758452415466309,0,0,-1.5242923218172177],[4.541114713560246,-33.324792291438314,-0.5758452415466309,0,0,-1.7860917096163675],[4.541114713560246,-33.324792291438314,-0.5758452415466309,0,0,-2.047891097415517],[4.541114713560246,-33.324792291438314,-0.5758452415466309,0,0,-2.3096904852146665],[4.541114713560246,-33.324792291438314,-0.5758452415466309,0,0,-2.571489873013816],[4.541114713560246,-33.324792291438314,-0.5758452415466309,0,0,-2.8332892608129656],[4.541114713560246,-33.324792291438314,-0.5758452415466309,0,0,-3.095088648612115],[4.541114713560246,-33.324792291438314,-0.5758452415466309,0,0,2.9262972707683215],[4.541114713560246,-33.324792291438314,-0.5758452415466309,0,0,2.664497882969172],[4.541114713560246,-33.324792291438314,-0.5758452415466309,0,0,2.4026984951700228],[4.541114713560246,-33.324792291438314,-0.5758452415466309,0,0,2.140899107370873],[4.541114713560246,-33.324792291438314,-0.5758452415466309,0,0,1.8790997195717236],[4.541114713560246,-33.324792291438314,-0.5758452415466309,0,0,1.6173003317725743],[4.308678488448752,-28.330197873344297,-0.5758452415466309,0,0,1.6173003317725743],[4.076242263337258,-23.33560345525028,-0.5758452415466309,0,0,1.6173003317725743],[3.843806038225765,-18.34100903715626,-0.5758452415466309,0,0,1.6173003317725743],[3.6113698131142717,-13.346414619062244,-0.5758452415466309,0,0,1.6173003317725743],[3.3789335880027784,-8.351820200968227,-0.5758452415466309,0,0,1.6173003317725743],[3.146497362891285,-3.3572257828742096,-0.5758452415466309,0,0,1.6173003317725743],[3.146497362891285,-3.3572257828742096,-0.5758452415466309,0,0,1.8790997195717238],[3.146497362891285,-3.3572257828742096,-0.5758452415466309,0,0,2.140899107370873],[3.146497362891285,-3.3572257828742096,-0.5758452415466309,0,0,2.4026984951700223],[3.146497362891285,-3.3572257828742096,-0.5758452415466309,0,0,2.664497882969172],[3.146497362891285,-3.3572257828742096,-0.5758452415466309,0,0,2.9262972707683215],[-1.738069299215538,-2.2890457777090667,-0.5758452415466309,0,0,2.9262972707683215],[-6.622635961322361,-1.220865772543924,-0.5758452415466309,0,0,2.9262972707683215],[-11.507202623429183,-0.15268576737878137,-0.5758452415466309,0,0,2.9262972707683215],[-16.391769285536007,0.9154942377863613,-0.5758452415466309,0,0,2.9262972707683215],[-21.27633594764283,1.983674242951504,-0.5758452415466309,0,0,2.9262972707683215],[-26.160902609749655,3.051854248116647,-0.5758452415466309,0,0,2.9262972707683215],[-31.04546927185648,4.12003425328179,-0.5758452415466309,0,0,2.9262972707683215],[-31.04546927185648,4.12003425328179,-0.5758452415466309,0,0,-3.0950886486121156],[-31.04546927185648,4.12003425328179,-0.5758452415466309,0,0,-2.833289260812966],[-31.04546927185648,4.12003425328179,-0.5758452415466309,0,0,-2.5714898730138165],[-31.04546927185648,4.12003425328179,-0.5758452415466309,0,0,-2.309690485214667],[-31.04546927185648,4.12003425328179,-0.5758452415466309,0,0,-2.047891097415518],[-31.04546927185648,4.12003425328179,-0.5758452415466309,0,0,-1.7860917096163684],[-31.04546927185648,4.12003425328179,-0.5758452415466309,0,0,-1.524292321817219],[-30.813033046744987,-0.8745601648122276,-0.5758452415466309,0,0,-1.524292321817219],[-30.580596821633495,-5.869154582906245,-0.5758452415466309,0,0,-1.524292321817219],[-30.348160596522003,-10.863749001000262,-0.5758452415466309,0,0,-1.524292321817219],[-30.11572437141051,-15.858343419094279,-0.5758452415466309,0,0,-1.524292321817219],[-29.88328814629902,-20.852937837188296,-0.5758452415466309,0,0,-1.524292321817219],[-29.650851921187527,-25.847532255282314,-0.5758452415466309,0,0,-1.524292321817219],[-29.418415696076035,-30.84212667337633,-0.5758452415466309,0,0,-1.524292321817219],[-29.185979470964543,-35.83672109147035,-0.5758452415466309,0,0,-1.524292321817219],[-28.95354324585305,-40.83131550956437,-0.5758452415466309,0,0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+{"episode_id":"3A4NIXBJ7FXUYBFDRATER9NN2RGMLT","trajectory_id":"3126F2F5GG1JRO55C1T06ZWA3LIEPK","scene_id":7,"start_position":[85.25076293945312,-168.8494873046875,-0.4288705289363861],"start_rotation":[0.9999999419896807,0.0,0.0,-0.000340618019759351],"instruction":{"instruction_text":"Turn right towards the road and fly forward until encounter a waterway. Fly forward across the waterway. Fly forward until reaching a waterway. Fly forward and turn right 45 degrees after passing the tree on the right. Fly forward, turn right in front of the bridge to face the gray house, then fly onto the road in front of the house. Fly to the intersection ahead, turn right towards the road, and fly forward to the next intersection. Turn left for 45 degrees and go straight to the surface of the water, turn left to face the dock, fly forward to the dock. Turn left to face the stairs and land on the sidewalk near the stair tops."},"goals":[{"position":[-7.397251021506511,38.85838195729809,-2.428870528936386]}],"reference_path":[[85.25076293945312,-168.8494873046875,-0.4288705289363861,0,0,-0.000681236052691609],[85.25076293945312,-168.8494873046875,-0.4288705289363861,0,0,0.2611181517464578],[85.25076293945312,-168.8494873046875,-0.4288705289363861,0,0,0.5229175395456073],[85.25076293945312,-168.8494873046875,-0.4288705289363861,0,0,0.7847169273447566],[85.25076293945312,-168.8494873046875,-0.4288705289363861,0,0,1.046516315143906],[85.25076293945312,-168.8494873046875,-0.4288705289363861,0,0,1.3083157029430554],[85.25076293945312,-168.8494873046875,-0.4288705289363861,0,0,1.5701150907422048],[85.25416911945312,-163.84948846489385,-0.4288705289363861,0,0,1.5701150907422048],[85.25757529945312,-158.8494896251002,-0.4288705289363861,0,0,1.5701150907422048],[85.26098147945312,-153.84949078530656,-0.4288705289363861,0,0,1.5701150907422048],[85.26438765945312,-148.8494919455129,-0.4288705289363861,0,0,1.5701150907422048],[85.26779383945312,-143.84949310571926,-0.4288705289363861,0,0,1.5701150907422048],[85.27120001945312,-138.8494942659256,-0.4288705289363861,0,0,1.5701150907422048],[85.27460619945312,-133.84949542613197,-0.4288705289363861,0,0,1.5701150907422048],[85.27460619945312,-133.84949542613197,-2.428870528936386,0,0,1.5701150907422048],[85.27801237945312,-128.84949658633832,-2.428870528936386,0,0,1.5701150907422048],[85.28141855945312,-123.84949774654467,-2.428870528936386,0,0,1.5701150907422048],[85.28482473945311,-118.84949890675102,-2.428870528936386,0,0,1.5701150907422048],[85.28823091945311,-113.84950006695738,-2.428870528936386,0,0,1.5701150907422048],[85.29163709945311,-108.84950122716373,-2.428870528936386,0,0,1.5701150907422048],[85.29504327945311,-103.84950238737008,-2.428870528936386,0,0,1.5701150907422048],[85.29844945945311,-98.84950354757643,-2.428870528936386,0,0,1.5701150907422048],[85.30185563945311,-93.84950470778278,-2.428870528936386,0,0,1.5701150907422048],[85.30526181945311,-88.84950586798914,-2.428870528936386,0,0,1.5701150907422048],[85.3086679994531,-83.84950702819549,-2.428870528936386,0,0,1.5701150907422048],[85.3120741794531,-78.84950818840184,-2.428870528936386,0,0,1.5701150907422048],[85.3154803594531,-73.8495093486082,-2.428870528936386,0,0,1.5701150907422048],[85.3188865394531,-68.84951050881455,-2.428870528936386,0,0,1.5701150907422048],[85.3222927194531,-63.8495116690209,-2.428870528936386,0,0,1.5701150907422048],[85.3256988994531,-58.84951282922725,-2.428870528936386,0,0,1.5701150907422048],[85.3291050794531,-53.8495139894336,-2.428870528936386,0,0,1.5701150907422048],[85.3325112594531,-48.849515149639956,-2.428870528936386,0,0,1.5701150907422048],[85.3325112594531,-48.849515149639956,-2.428870528936386,0,0,1.8319144785413544],[84.04170645145498,-44.019005554612846,-2.428870528936386,0,0,1.8319144785413544],[82.75090164345687,-39.18849595958574,-2.428870528936386,0,0,1.8319144785413544],[81.46009683545876,-34.35798636455863,-2.428870528936386,0,0,1.8319144785413544],[80.16929202746064,-29.527476769531518,-2.428870528936386,0,0,1.8319144785413544],[75.33878243243353,-30.818281577529632,-2.428870528936386,0,0,1.8319144785413544],[74.04797762443542,-25.987771982502522,-2.428870528936386,0,0,1.8319144785413544],[72.7571728164373,-21.157262387475413,-2.428870528936386,0,0,1.8319144785413544],[72.7571728164373,-21.157262387475413,-2.428870528936386,0,0,2.093713866340504],[70.26012323495034,-16.825433283321395,-2.428870528936386,0,0,2.093713866340504],[67.76307365346338,-12.493604179167377,-2.428870528936386,0,0,2.093713866340504],[65.26602407197642,-8.16177507501336,-2.428870528936386,0,0,2.093713866340504],[62.768974490489455,-3.8299459708593426,-2.428870528936386,0,0,2.093713866340504],[60.27192490900249,0.5018831332946743,-2.428870528936386,0,0,2.093713866340504],[57.77487532751553,4.833712237448691,-2.428870528936386,0,0,2.093713866340504],[55.27782574602857,9.165541341602708,-2.428870528936386,0,0,2.093713866340504],[55.27782574602857,9.165541341602708,-2.428870528936386,0,0,2.3555132541396535],[55.27782574602857,9.165541341602708,-2.428870528936386,0,0,2.617312641938803],[55.27782574602857,9.165541341602708,-2.428870528936386,0,0,2.8791120297379527],[50.449079319511554,10.462926384062799,-2.428870528936386,0,0,2.8791120297379527],[50.449079319511554,10.462926384062799,-2.428870528936386,0,0,3.140911417537102],[45.44908047971791,10.466332564062798,-2.428870528936386,0,0,3.140911417537102],[40.44908163992426,10.469738744062797,-2.428870528936386,0,0,3.140911417537102],[35.44908280013061,10.473144924062796,-2.428870528936386,0,0,3.140911417537102],[30.449083960336964,10.476551104062795,-2.428870528936386,0,0,3.140911417537102],[25.449085120543316,10.479957284062793,-2.428870528936386,0,0,3.140911417537102],[20.44908628074967,10.483363464062792,-2.428870528936386,0,0,3.140911417537102],[15.449087440956022,10.486769644062791,-2.428870528936386,0,0,3.140911417537102],[10.449088601162376,10.490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+{"episode_id":"31LVTDXBLG8LVRS5WIPVD8HX8E7RLE","trajectory_id":"3126F2F5GG1JRO55C1T06ZWA3LIEPK","scene_id":7,"start_position":[85.25076293945312,-168.8494873046875,-0.4288705289363861],"start_rotation":[0.9999999419896807,0.0,0.0,-0.000340618019759351],"instruction":{"instruction_text":"Turn right to face the road, fly forward, pass a bridge and hover when reach a waterway. Turn right for 45 degrees and fly straight to gray house at the right side of the bridge. Go to the intersection and turn right to face the road. Go straight to the end of the road and reach a intersection. Turn left 45 degrees. Fly forward to the surface of water, turn left and go to the small dock. Land on the stairs."},"goals":[{"position":[-7.397251021506511,38.85838195729809,-2.428870528936386]}],"reference_path":[[85.25076293945312,-168.8494873046875,-0.4288705289363861,0,0,-0.000681236052691609],[85.25076293945312,-168.8494873046875,-0.4288705289363861,0,0,0.2611181517464578],[85.25076293945312,-168.8494873046875,-0.4288705289363861,0,0,0.5229175395456073],[85.25076293945312,-168.8494873046875,-0.4288705289363861,0,0,0.7847169273447566],[85.25076293945312,-168.8494873046875,-0.4288705289363861,0,0,1.046516315143906],[85.25076293945312,-168.8494873046875,-0.4288705289363861,0,0,1.3083157029430554],[85.25076293945312,-168.8494873046875,-0.4288705289363861,0,0,1.5701150907422048],[85.25416911945312,-163.84948846489385,-0.4288705289363861,0,0,1.5701150907422048],[85.25757529945312,-158.8494896251002,-0.4288705289363861,0,0,1.5701150907422048],[85.26098147945312,-153.84949078530656,-0.4288705289363861,0,0,1.5701150907422048],[85.26438765945312,-148.8494919455129,-0.4288705289363861,0,0,1.5701150907422048],[85.26779383945312,-143.84949310571926,-0.4288705289363861,0,0,1.5701150907422048],[85.27120001945312,-138.8494942659256,-0.4288705289363861,0,0,1.5701150907422048],[85.27460619945312,-133.84949542613197,-0.4288705289363861,0,0,1.5701150907422048],[85.27460619945312,-133.84949542613197,-2.428870528936386,0,0,1.5701150907422048],[85.27801237945312,-128.84949658633832,-2.428870528936386,0,0,1.5701150907422048],[85.28141855945312,-123.84949774654467,-2.428870528936386,0,0,1.5701150907422048],[85.28482473945311,-118.84949890675102,-2.428870528936386,0,0,1.5701150907422048],[85.28823091945311,-113.84950006695738,-2.428870528936386,0,0,1.5701150907422048],[85.29163709945311,-108.84950122716373,-2.428870528936386,0,0,1.5701150907422048],[85.29504327945311,-103.84950238737008,-2.428870528936386,0,0,1.5701150907422048],[85.29844945945311,-98.84950354757643,-2.428870528936386,0,0,1.5701150907422048],[85.30185563945311,-93.84950470778278,-2.428870528936386,0,0,1.5701150907422048],[85.30526181945311,-88.84950586798914,-2.428870528936386,0,0,1.5701150907422048],[85.3086679994531,-83.84950702819549,-2.428870528936386,0,0,1.5701150907422048],[85.3120741794531,-78.84950818840184,-2.428870528936386,0,0,1.5701150907422048],[85.3154803594531,-73.8495093486082,-2.428870528936386,0,0,1.5701150907422048],[85.3188865394531,-68.84951050881455,-2.428870528936386,0,0,1.5701150907422048],[85.3222927194531,-63.8495116690209,-2.428870528936386,0,0,1.5701150907422048],[85.3256988994531,-58.84951282922725,-2.428870528936386,0,0,1.5701150907422048],[85.3291050794531,-53.8495139894336,-2.428870528936386,0,0,1.5701150907422048],[85.3325112594531,-48.849515149639956,-2.428870528936386,0,0,1.5701150907422048],[85.3325112594531,-48.849515149639956,-2.428870528936386,0,0,1.8319144785413544],[84.04170645145498,-44.019005554612846,-2.428870528936386,0,0,1.8319144785413544],[82.75090164345687,-39.18849595958574,-2.428870528936386,0,0,1.8319144785413544],[81.46009683545876,-34.35798636455863,-2.428870528936386,0,0,1.8319144785413544],[80.16929202746064,-29.527476769531518,-2.428870528936386,0,0,1.8319144785413544],[75.33878243243353,-30.818281577529632,-2.428870528936386,0,0,1.8319144785413544],[74.04797762443542,-25.987771982502522,-2.428870528936386,0,0,1.8319144785413544],[72.7571728164373,-21.157262387475413,-2.428870528936386,0,0,1.8319144785413544],[72.7571728164373,-21.157262387475413,-2.428870528936386,0,0,2.093713866340504],[70.26012323495034,-16.825433283321395,-2.428870528936386,0,0,2.093713866340504],[67.76307365346338,-12.493604179167377,-2.428870528936386,0,0,2.093713866340504],[65.26602407197642,-8.16177507501336,-2.428870528936386,0,0,2.093713866340504],[62.768974490489455,-3.8299459708593426,-2.428870528936386,0,0,2.093713866340504],[60.27192490900249,0.5018831332946743,-2.428870528936386,0,0,2.093713866340504],[57.77487532751553,4.833712237448691,-2.428870528936386,0,0,2.093713866340504],[55.27782574602857,9.165541341602708,-2.428870528936386,0,0,2.093713866340504],[55.27782574602857,9.165541341602708,-2.428870528936386,0,0,2.3555132541396535],[55.27782574602857,9.165541341602708,-2.428870528936386,0,0,2.617312641938803],[55.27782574602857,9.165541341602708,-2.428870528936386,0,0,2.8791120297379527],[50.449079319511554,10.462926384062799,-2.428870528936386,0,0,2.8791120297379527],[50.449079319511554,10.462926384062799,-2.428870528936386,0,0,3.140911417537102],[45.44908047971791,10.466332564062798,-2.428870528936386,0,0,3.140911417537102],[40.44908163992426,10.469738744062797,-2.428870528936386,0,0,3.140911417537102],[35.44908280013061,10.473144924062796,-2.428870528936386,0,0,3.140911417537102],[30.449083960336964,10.476551104062795,-2.428870528936386,0,0,3.140911417537102],[25.449085120543316,10.479957284062793,-2.428870528936386,0,0,3.140911417537102],[20.44908628074967,10.483363464062792,-2.428870528936386,0,0,3.140911417537102],[15.449087440956022,10.486769644062791,-2.428870528936386,0,0,3.140911417537102],[10.449088601162376,10.4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+{"episode_id":"34S6N1K2Z4H86XE20DD1Z4FRG6SHLN","trajectory_id":"37J05LC5B5HID7O7LTDW3LSDT71DJ9","scene_id":7,"start_position":[31.063432693481445,-77.68340301513672,-1.0446548461914062],"start_rotation":[0.999999480014542,0.0,0.0,0.001019789510487752],"instruction":{"instruction_text":"Go across the bridge ahead. Turn left to face the road, go ahead until reaching a bridge on the left. Turn left and cross the bridge. Fly forward to the roadblock and turn back to the bridge. Cross the bridge and take a slight left to face a blue house and land in front of it and stop."},"goals":[{"position":[86.51402094214221,-159.55936490898245,-1.0446548461914062]}],"reference_path":[[31.063432693481445,-77.68340301513672,-1.0446548461914062,0,0,0.0020395793744927213],[31.063432693481445,-77.68340301513672,-3.0446548461914062,0,0,0.0020395793744927213],[36.06342229377499,-77.6732051253346,-3.0446548461914062,0,0,0.0020395793744927213],[41.06341189406854,-77.66300723553249,-3.0446548461914062,0,0,0.0020395793744927213],[46.06340149436208,-77.65280934573038,-3.0446548461914062,0,0,0.0020395793744927213],[51.06339109465563,-77.64261145592826,-3.0446548461914062,0,0,0.0020395793744927213],[56.063380694949174,-77.63241356612615,-3.0446548461914062,0,0,0.0020395793744927213],[61.06337029524272,-77.62221567632403,-3.0446548461914062,0,0,0.0020395793744927213],[66.06335989553627,-77.61201778652192,-3.0446548461914062,0,0,0.0020395793744927213],[71.06334949582981,-77.6018198967198,-3.0446548461914062,0,0,0.0020395793744927213],[76.06333909612336,-77.59162200691769,-3.0446548461914062,0,0,0.0020395793744927213],[81.0633286964169,-77.58142411711557,-3.0446548461914062,0,0,0.0020395793744927213],[81.0633286964169,-77.58142411711557,-3.0446548461914062,0,0,-0.25975980842465674],[81.0633286964169,-77.58142411711557,-3.0446548461914062,0,0,-0.5215591962238062],[81.0633286964169,-77.58142411711557,-3.0446548461914062,0,0,-0.7833585840229557],[81.0633286964169,-77.58142411711557,-3.0446548461914062,0,0,-1.0451579718221051],[81.0633286964169,-77.58142411711557,-3.0446548461914062,0,0,-1.3069573596212547],[82.36727163542093,-82.40840379511522,-3.0446548461914062,0,0,-1.3069573596212547],[83.67121457442497,-87.23538347311487,-3.0446548461914062,0,0,-1.3069573596212547],[83.67121457442497,-87.23538347311487,-3.0446548461914062,0,0,-1.568756747420404],[83.68141246422708,-92.23537307340841,-3.0446548461914062,0,0,-1.568756747420404],[83.6916103540292,-97.23536267370196,-3.0446548461914062,0,0,-1.568756747420404],[83.70180824383131,-102.2353522739955,-3.0446548461914062,0,0,-1.568756747420404],[83.71200613363342,-107.23534187428905,-3.0446548461914062,0,0,-1.568756747420404],[83.72220402343554,-112.2353314745826,-3.0446548461914062,0,0,-1.568756747420404],[83.73240191323765,-117.23532107487614,-3.0446548461914062,0,0,-1.568756747420404],[83.74259980303977,-122.23531067516969,-3.0446548461914062,0,0,-1.568756747420404],[83.75279769284188,-127.23530027546323,-3.0446548461914062,0,0,-1.568756747420404],[83.762995582644,-132.23528987575676,-3.0446548461914062,0,0,-1.568756747420404],[83.77319347244611,-137.2352794760503,-3.0446548461914062,0,0,-1.568756747420404],[83.78339136224822,-142.23526907634383,-3.0446548461914062,0,0,-1.568756747420404],[83.79358925205034,-147.23525867663736,-3.0446548461914062,0,0,-1.568756747420404],[83.80378714185245,-152.2352482769309,-3.0446548461914062,0,0,-1.568756747420404],[83.80378714185245,-152.2352482769309,-3.0446548461914062,0,0,-1.8305561352195534],[83.80378714185245,-152.2352482769309,-3.0446548461914062,0,0,-2.092355523018703],[83.80378714185245,-152.2352482769309,-3.0446548461914062,0,0,-2.3541549108178526],[83.80378714185245,-152.2352482769309,-3.0446548461914062,0,0,-2.6159542986170017],[83.80378714185245,-152.2352482769309,-3.0446548461914062,0,0,-2.8777536864161513],[83.80378714185245,-152.2352482769309,-3.0446548461914062,0,0,-3.139553074215301],[78.80379754155891,-152.24544616673302,-3.0446548461914062,0,0,-3.139553074215301],[73.80380794126536,-152.25564405653515,-3.0446548461914062,0,0,-3.139553074215301],[68.80381834097182,-152.26584194633728,-3.0446548461914062,0,0,-3.139553074215301],[63.80382874067827,-152.2760398361394,-3.0446548461914062,0,0,-3.139553074215301],[58.803839140384724,-152.28623772594153,-3.0446548461914062,0,0,-3.139553074215301],[53.80384954009118,-152.29643561574366,-3.0446548461914062,0,0,-3.139553074215301],[48.80385993979763,-152.3066335055458,-3.0446548461914062,0,0,-3.139553074215301],[43.80387033950409,-152.31683139534792,-3.0446548461914062,0,0,-3.139553074215301],[38.80388073921054,-152.32702928515005,-3.0446548461914062,0,0,-3.139553074215301],[33.803891138916995,-152.33722717495218,-3.0446548461914062,0,0,-3.139553074215301],[28.803901538623453,-152.3474250647543,-3.0446548461914062,0,0,-3.139553074215301],[28.803901538623453,-152.3474250647543,-3.0446548461914062,0,0,-2.8777536864161517],[28.803901538623453,-152.3474250647543,-3.0446548461914062,0,0,-2.615954298617002],[28.803901538623453,-152.3474250647543,-3.0446548461914062,0,0,-2.354154910817853],[28.803901538623453,-152.3474250647543,-3.0446548461914062,0,0,-2.092355523018704],[28.803901538623453,-152.3474250647543,-3.0446548461914062,0,0,-1.8305561352195545],[28.803901538623453,-152.3474250647543,-3.0446548461914062,0,0,-1.5687567474204052],[28.803901538623453,-152.3474250647543,-3.0446548461914062,0,0,-1.3069573596212558],[28.803901538623453,-152.3474250647543,-3.0446548461914062,0,0,-1.0451579718221065],[28.803901538623453,-152.3474250647543,-3.0446548461914062,0,0,-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+{"episode_id":"3WJ1OXY92JEYH3M50IU5DD6HJAGA8U","trajectory_id":"37J05LC5B5HID7O7LTDW3LSDT71DJ9","scene_id":7,"start_position":[31.063432693481445,-77.68340301513672,-1.0446548461914062],"start_rotation":[0.999999480014542,0.0,0.0,0.001019789510487752],"instruction":{"instruction_text":"Take off 2 meters. Fly forward by crossing the bridge and turn left to face the road at the intersection. Fly forward by crossing a water way and reach a bridge on the left. Turn left to face the bridge and fly forward by crossing the bridge. Fly forward and turn around when passing by the second blue house on the right side of the road. Fly forward by crossing the bridge then slightly turn left to face a blue house. Fly forward and land on the ground by facing a staircase of the blue building."},"goals":[{"position":[86.51402094214221,-159.55936490898245,-1.0446548461914062]}],"reference_path":[[31.063432693481445,-77.68340301513672,-1.0446548461914062,0,0,0.0020395793744927213],[31.063432693481445,-77.68340301513672,-3.0446548461914062,0,0,0.0020395793744927213],[36.06342229377499,-77.6732051253346,-3.0446548461914062,0,0,0.0020395793744927213],[41.06341189406854,-77.66300723553249,-3.0446548461914062,0,0,0.0020395793744927213],[46.06340149436208,-77.65280934573038,-3.0446548461914062,0,0,0.0020395793744927213],[51.06339109465563,-77.64261145592826,-3.0446548461914062,0,0,0.0020395793744927213],[56.063380694949174,-77.63241356612615,-3.0446548461914062,0,0,0.0020395793744927213],[61.06337029524272,-77.62221567632403,-3.0446548461914062,0,0,0.0020395793744927213],[66.06335989553627,-77.61201778652192,-3.0446548461914062,0,0,0.0020395793744927213],[71.06334949582981,-77.6018198967198,-3.0446548461914062,0,0,0.0020395793744927213],[76.06333909612336,-77.59162200691769,-3.0446548461914062,0,0,0.0020395793744927213],[81.0633286964169,-77.58142411711557,-3.0446548461914062,0,0,0.0020395793744927213],[81.0633286964169,-77.58142411711557,-3.0446548461914062,0,0,-0.25975980842465674],[81.0633286964169,-77.58142411711557,-3.0446548461914062,0,0,-0.5215591962238062],[81.0633286964169,-77.58142411711557,-3.0446548461914062,0,0,-0.7833585840229557],[81.0633286964169,-77.58142411711557,-3.0446548461914062,0,0,-1.0451579718221051],[81.0633286964169,-77.58142411711557,-3.0446548461914062,0,0,-1.3069573596212547],[82.36727163542093,-82.40840379511522,-3.0446548461914062,0,0,-1.3069573596212547],[83.67121457442497,-87.23538347311487,-3.0446548461914062,0,0,-1.3069573596212547],[83.67121457442497,-87.23538347311487,-3.0446548461914062,0,0,-1.568756747420404],[83.68141246422708,-92.23537307340841,-3.0446548461914062,0,0,-1.568756747420404],[83.6916103540292,-97.23536267370196,-3.0446548461914062,0,0,-1.568756747420404],[83.70180824383131,-102.2353522739955,-3.0446548461914062,0,0,-1.568756747420404],[83.71200613363342,-107.23534187428905,-3.0446548461914062,0,0,-1.568756747420404],[83.72220402343554,-112.2353314745826,-3.0446548461914062,0,0,-1.568756747420404],[83.73240191323765,-117.23532107487614,-3.0446548461914062,0,0,-1.568756747420404],[83.74259980303977,-122.23531067516969,-3.0446548461914062,0,0,-1.568756747420404],[83.75279769284188,-127.23530027546323,-3.0446548461914062,0,0,-1.568756747420404],[83.762995582644,-132.23528987575676,-3.0446548461914062,0,0,-1.568756747420404],[83.77319347244611,-137.2352794760503,-3.0446548461914062,0,0,-1.568756747420404],[83.78339136224822,-142.23526907634383,-3.0446548461914062,0,0,-1.568756747420404],[83.79358925205034,-147.23525867663736,-3.0446548461914062,0,0,-1.568756747420404],[83.80378714185245,-152.2352482769309,-3.0446548461914062,0,0,-1.568756747420404],[83.80378714185245,-152.2352482769309,-3.0446548461914062,0,0,-1.8305561352195534],[83.80378714185245,-152.2352482769309,-3.0446548461914062,0,0,-2.092355523018703],[83.80378714185245,-152.2352482769309,-3.0446548461914062,0,0,-2.3541549108178526],[83.80378714185245,-152.2352482769309,-3.0446548461914062,0,0,-2.6159542986170017],[83.80378714185245,-152.2352482769309,-3.0446548461914062,0,0,-2.8777536864161513],[83.80378714185245,-152.2352482769309,-3.0446548461914062,0,0,-3.139553074215301],[78.80379754155891,-152.24544616673302,-3.0446548461914062,0,0,-3.139553074215301],[73.80380794126536,-152.25564405653515,-3.0446548461914062,0,0,-3.139553074215301],[68.80381834097182,-152.26584194633728,-3.0446548461914062,0,0,-3.139553074215301],[63.80382874067827,-152.2760398361394,-3.0446548461914062,0,0,-3.139553074215301],[58.803839140384724,-152.28623772594153,-3.0446548461914062,0,0,-3.139553074215301],[53.80384954009118,-152.29643561574366,-3.0446548461914062,0,0,-3.139553074215301],[48.80385993979763,-152.3066335055458,-3.0446548461914062,0,0,-3.139553074215301],[43.80387033950409,-152.31683139534792,-3.0446548461914062,0,0,-3.139553074215301],[38.80388073921054,-152.32702928515005,-3.0446548461914062,0,0,-3.139553074215301],[33.803891138916995,-152.33722717495218,-3.0446548461914062,0,0,-3.139553074215301],[28.803901538623453,-152.3474250647543,-3.0446548461914062,0,0,-3.139553074215301],[28.803901538623453,-152.3474250647543,-3.0446548461914062,0,0,-2.8777536864161517],[28.803901538623453,-152.3474250647543,-3.0446548461914062,0,0,-2.615954298617002],[28.803901538623453,-152.3474250647543,-3.0446548461914062,0,0,-2.354154910817853],[28.803901538623453,-152.3474250647543,-3.0446548461914062,0,0,-2.092355523018704],[28.803901538623453,-152.3474250647543,-3.0446548461914062,0,0,-1.8305561352195545],[28.803901538623453,-152.3474250647543,-3.0446548461914062,0,0,-1.5687567474204052],[28.803901538623453,-152.3474250647543,-3.0446548461914062,0,0,-1.3069573596212558],[28.803901538623453,-152.3474250647543,-3.0446548461914062,0,0,-1.0451579718221065],[28.803901538623453,-152.3474250647543,-3.0446548461914062,0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+{"episode_id":"3F6KKYWMNKZHIHCLQUAQLB4IT8FND0","trajectory_id":"37J05LC5B5HID7O7LTDW3LSDT71DJ9","scene_id":7,"start_position":[31.063432693481445,-77.68340301513672,-1.0446548461914062],"start_rotation":[0.999999480014542,0.0,0.0,0.001019789510487752],"instruction":{"instruction_text":"Lift off and head straight towards the bridge. Go ahead across the bridge and turn left to face the road. Go straight along the road, pass a waterway, until reach a bridge, turn left and go across the bridge. Move forward, turn around when passing the second pedestrian crossing, and fly forward to the bridge. Go across the bridge and land to the left of it before the red building on the road."},"goals":[{"position":[86.51402094214221,-159.55936490898245,-1.0446548461914062]}],"reference_path":[[31.063432693481445,-77.68340301513672,-1.0446548461914062,0,0,0.0020395793744927213],[31.063432693481445,-77.68340301513672,-3.0446548461914062,0,0,0.0020395793744927213],[36.06342229377499,-77.6732051253346,-3.0446548461914062,0,0,0.0020395793744927213],[41.06341189406854,-77.66300723553249,-3.0446548461914062,0,0,0.0020395793744927213],[46.06340149436208,-77.65280934573038,-3.0446548461914062,0,0,0.0020395793744927213],[51.06339109465563,-77.64261145592826,-3.0446548461914062,0,0,0.0020395793744927213],[56.063380694949174,-77.63241356612615,-3.0446548461914062,0,0,0.0020395793744927213],[61.06337029524272,-77.62221567632403,-3.0446548461914062,0,0,0.0020395793744927213],[66.06335989553627,-77.61201778652192,-3.0446548461914062,0,0,0.0020395793744927213],[71.06334949582981,-77.6018198967198,-3.0446548461914062,0,0,0.0020395793744927213],[76.06333909612336,-77.59162200691769,-3.0446548461914062,0,0,0.0020395793744927213],[81.0633286964169,-77.58142411711557,-3.0446548461914062,0,0,0.0020395793744927213],[81.0633286964169,-77.58142411711557,-3.0446548461914062,0,0,-0.25975980842465674],[81.0633286964169,-77.58142411711557,-3.0446548461914062,0,0,-0.5215591962238062],[81.0633286964169,-77.58142411711557,-3.0446548461914062,0,0,-0.7833585840229557],[81.0633286964169,-77.58142411711557,-3.0446548461914062,0,0,-1.0451579718221051],[81.0633286964169,-77.58142411711557,-3.0446548461914062,0,0,-1.3069573596212547],[82.36727163542093,-82.40840379511522,-3.0446548461914062,0,0,-1.3069573596212547],[83.67121457442497,-87.23538347311487,-3.0446548461914062,0,0,-1.3069573596212547],[83.67121457442497,-87.23538347311487,-3.0446548461914062,0,0,-1.568756747420404],[83.68141246422708,-92.23537307340841,-3.0446548461914062,0,0,-1.568756747420404],[83.6916103540292,-97.23536267370196,-3.0446548461914062,0,0,-1.568756747420404],[83.70180824383131,-102.2353522739955,-3.0446548461914062,0,0,-1.568756747420404],[83.71200613363342,-107.23534187428905,-3.0446548461914062,0,0,-1.568756747420404],[83.72220402343554,-112.2353314745826,-3.0446548461914062,0,0,-1.568756747420404],[83.73240191323765,-117.23532107487614,-3.0446548461914062,0,0,-1.568756747420404],[83.74259980303977,-122.23531067516969,-3.0446548461914062,0,0,-1.568756747420404],[83.75279769284188,-127.23530027546323,-3.0446548461914062,0,0,-1.568756747420404],[83.762995582644,-132.23528987575676,-3.0446548461914062,0,0,-1.568756747420404],[83.77319347244611,-137.2352794760503,-3.0446548461914062,0,0,-1.568756747420404],[83.78339136224822,-142.23526907634383,-3.0446548461914062,0,0,-1.568756747420404],[83.79358925205034,-147.23525867663736,-3.0446548461914062,0,0,-1.568756747420404],[83.80378714185245,-152.2352482769309,-3.0446548461914062,0,0,-1.568756747420404],[83.80378714185245,-152.2352482769309,-3.0446548461914062,0,0,-1.8305561352195534],[83.80378714185245,-152.2352482769309,-3.0446548461914062,0,0,-2.092355523018703],[83.80378714185245,-152.2352482769309,-3.0446548461914062,0,0,-2.3541549108178526],[83.80378714185245,-152.2352482769309,-3.0446548461914062,0,0,-2.6159542986170017],[83.80378714185245,-152.2352482769309,-3.0446548461914062,0,0,-2.8777536864161513],[83.80378714185245,-152.2352482769309,-3.0446548461914062,0,0,-3.139553074215301],[78.80379754155891,-152.24544616673302,-3.0446548461914062,0,0,-3.139553074215301],[73.80380794126536,-152.25564405653515,-3.0446548461914062,0,0,-3.139553074215301],[68.80381834097182,-152.26584194633728,-3.0446548461914062,0,0,-3.139553074215301],[63.80382874067827,-152.2760398361394,-3.0446548461914062,0,0,-3.139553074215301],[58.803839140384724,-152.28623772594153,-3.0446548461914062,0,0,-3.139553074215301],[53.80384954009118,-152.29643561574366,-3.0446548461914062,0,0,-3.139553074215301],[48.80385993979763,-152.3066335055458,-3.0446548461914062,0,0,-3.139553074215301],[43.80387033950409,-152.31683139534792,-3.0446548461914062,0,0,-3.139553074215301],[38.80388073921054,-152.32702928515005,-3.0446548461914062,0,0,-3.139553074215301],[33.803891138916995,-152.33722717495218,-3.0446548461914062,0,0,-3.139553074215301],[28.803901538623453,-152.3474250647543,-3.0446548461914062,0,0,-3.139553074215301],[28.803901538623453,-152.3474250647543,-3.0446548461914062,0,0,-2.8777536864161517],[28.803901538623453,-152.3474250647543,-3.0446548461914062,0,0,-2.615954298617002],[28.803901538623453,-152.3474250647543,-3.0446548461914062,0,0,-2.354154910817853],[28.803901538623453,-152.3474250647543,-3.0446548461914062,0,0,-2.092355523018704],[28.803901538623453,-152.3474250647543,-3.0446548461914062,0,0,-1.8305561352195545],[28.803901538623453,-152.3474250647543,-3.0446548461914062,0,0,-1.5687567474204052],[28.803901538623453,-152.3474250647543,-3.0446548461914062,0,0,-1.3069573596212558],[28.803901538623453,-152.3474250647543,-3.0446548461914062,0,0,-1.0451579718221065],[28.803901538623453,-152.3474250647543,-3.0446548461914062,0,0,-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+{"episode_id":"3YZ8UPK3V2KK8FQGNZR1F0EUGDSUCD","trajectory_id":"36JW4WBR1EIJKL7DOZ51F8FJSTDFHJ","scene_id":7,"start_position":[0.7080643773078918,-99.8019790649414,-0.9790452122688293],"start_rotation":[0.9997814981897089,0.0,0.0,-0.020903489602005224],"instruction":{"instruction_text":"Turn right to face the road and go to the second bridge. Turn right and go across the bridge. Turn left to face the road, go ahead and turn left 90 degrees in front of garbage bins, then go to the other side of the river. Turn left to face the road, go ahead and pass garbage bins, then go ahead and park in front of another garbage bins."},"goals":[{"position":[-48.105305769781374,6.042728322371693,-0.9790452122688293]}],"reference_path":[[0.7080643773078918,-99.8019790649414,-0.9790452122688293,0,0,-0.04181002443704731],[0.7080643773078918,-99.8019790649414,-0.9790452122688293,0,0,0.21998936336210212],[0.7080643773078918,-99.8019790649414,-0.9790452122688293,0,0,0.4817887511612515],[0.7080643773078918,-99.8019790649414,-0.9790452122688293,0,0,0.7435881389604009],[0.7080643773078918,-99.8019790649414,-0.9790452122688293,0,0,1.0053875267595502],[0.7080643773078918,-99.8019790649414,-0.9790452122688293,0,0,1.2671869145586996],[2.202896764269906,-95.03066099391644,-0.9790452122688293,0,0,1.2671869145586996],[2.202896764269906,-95.03066099391644,-0.9790452122688293,0,0,1.528986302357849],[2.411885985786766,-90.03503055269185,-0.9790452122688293,0,0,1.528986302357849],[2.6208752073036257,-85.03940011146726,-0.9790452122688293,0,0,1.528986302357849],[2.8298644288204855,-80.04376967024267,-0.9790452122688293,0,0,1.528986302357849],[3.0388536503373453,-75.04813922901808,-0.9790452122688293,0,0,1.528986302357849],[3.247842871854205,-70.05250878779349,-0.9790452122688293,0,0,1.528986302357849],[3.456832093371065,-65.0568783465689,-0.9790452122688293,0,0,1.528986302357849],[3.665821314887925,-60.0612479053443,-0.9790452122688293,0,0,1.528986302357849],[3.8748105364047847,-55.06561746411971,-0.9790452122688293,0,0,1.528986302357849],[4.0837997579216445,-50.06998702289512,-0.9790452122688293,0,0,1.528986302357849],[4.292788979438504,-45.07435658167053,-0.9790452122688293,0,0,1.528986302357849],[4.501778200955364,-40.07872614044594,-0.9790452122688293,0,0,1.528986302357849],[4.710767422472224,-35.083095699221346,-0.9790452122688293,0,0,1.528986302357849],[4.919756643989084,-30.087465257996758,-0.9790452122688293,0,0,1.528986302357849],[5.128745865505944,-25.09183481677217,-0.9790452122688293,0,0,1.528986302357849],[5.3377350870228035,-20.096204375547583,-0.9790452122688293,0,0,1.528986302357849],[5.546724308539663,-15.100573934322995,-0.9790452122688293,0,0,1.528986302357849],[0.5510938673150747,-14.891584712806136,-0.9790452122688293,0,0,1.528986302357849],[0.7600830888319344,-9.895954271581548,-0.9790452122688293,0,0,1.528986302357849],[0.7600830888319344,-9.895954271581548,-0.9790452122688293,0,0,1.7907856901569983],[0.7600830888319344,-9.895954271581548,-0.9790452122688293,0,0,2.052585077956148],[0.7600830888319344,-9.895954271581548,-0.9790452122688293,0,0,2.3143844657552974],[0.7600830888319344,-9.895954271581548,-0.9790452122688293,0,0,2.5761838535544466],[0.7600830888319344,-9.895954271581548,-0.9790452122688293,0,0,2.837983241353596],[-4.011234982193036,-8.401121884619535,-0.9790452122688293,0,0,2.837983241353596],[-8.782553053218006,-6.906289497657521,-0.9790452122688293,0,0,2.837983241353596],[-8.782553053218006,-6.906289497657521,-0.9790452122688293,0,0,3.0997826291527457],[-13.778183494442594,-6.697300276140662,-0.9790452122688293,0,0,3.0997826291527457],[-18.77381393566718,-6.488311054623803,-0.9790452122688293,0,0,3.0997826291527457],[-23.76944437689177,-6.279321833106944,-0.9790452122688293,0,0,3.0997826291527457],[-28.765074818116357,-6.070332611590085,-0.9790452122688293,0,0,3.0997826291527457],[-28.765074818116357,-6.070332611590085,-0.9790452122688293,0,0,-2.9216032902276914],[-28.765074818116357,-6.070332611590085,-0.9790452122688293,0,0,-2.659803902428542],[-28.765074818116357,-6.070332611590085,-0.9790452122688293,0,0,-2.3980045146293927],[-28.765074818116357,-6.070332611590085,-0.9790452122688293,0,0,-2.1362051268302436],[-28.765074818116357,-6.070332611590085,-0.9790452122688293,0,0,-1.8744057390310942],[-28.765074818116357,-6.070332611590085,-0.9790452122688293,0,0,-1.6126063512319446],[-28.97406403963322,-11.065963052814674,-0.9790452122688293,0,0,-1.6126063512319446],[-28.97406403963322,-11.065963052814674,-0.9790452122688293,0,0,-1.3508069634327953],[-28.97406403963322,-11.065963052814674,-0.9790452122688293,0,0,-1.089007575633646],[-28.97406403963322,-11.065963052814674,-0.9790452122688293,0,0,-0.8272081878344966],[-28.97406403963322,-11.065963052814674,-0.9790452122688293,0,0,-0.5654088000353472],[-28.97406403963322,-11.065963052814674,-0.9790452122688293,0,0,-0.3036094122361978],[-28.97406403963322,-11.065963052814674,-0.9790452122688293,0,0,-0.04181002443704838],[-28.97406403963322,-11.065963052814674,-0.9790452122688293,0,0,0.21998936336210106],[-28.97406403963322,-11.065963052814674,-0.9790452122688293,0,0,0.4817887511612505],[-28.97406403963322,-11.065963052814674,-0.9790452122688293,0,0,0.7435881389603999],[-28.97406403963322,-11.065963052814674,-0.9790452122688293,0,0,1.0053875267595491],[-28.97406403963322,-11.065963052814674,-0.9790452122688293,0,0,1.2671869145586985],[-28.97406403963322,-11.065963052814674,-0.9790452122688293,0,0,1.528986302357848],[-28.765074818116357,-6.070332611590085,-0.9790452122688293,0,0,1.528986302357848],[-28.556085596599495,-1.0747021703654962,-0.9790452122688293,0,0,1.528986302357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+{"episode_id":"33CUSNVVNWAKYFTQ3KARHM0MTN388D","trajectory_id":"3VIVIU06GSAPMQAEG4RZAA07P64IMK","scene_id":7,"start_position":[-17.457117080688477,-137.80479431152344,1.0983123779296875],"start_rotation":[0.999989989777269,0.0,0.0,0.004474410045737484],"instruction":{"instruction_text":"Turn right to face the river and follow the water way until reaching a bridge. Fly forward along the river, pass two bridges, and then turn left towards the road at the first intersection on the left side of the riverbank. Go forward to the end of the road and stop in front of the red building."},"goals":[{"position":[84.74372690454733,13.527839578552387,-0.9016876220703125]}],"reference_path":[[-17.457117080688477,-137.80479431152344,1.0983123779296875,0,0,0.00894884995148863],[-17.457117080688477,-137.80479431152344,-0.9016876220703125,0,0,0.00894884995148863],[-17.457117080688477,-137.80479431152344,-0.9016876220703125,0,0,0.27074823775063805],[-17.457117080688477,-137.80479431152344,-0.9016876220703125,0,0,0.5325476255497875],[-17.457117080688477,-137.80479431152344,-0.9016876220703125,0,0,0.794347013348937],[-17.457117080688477,-137.80479431152344,-0.9016876220703125,0,0,1.0561464011480863],[-17.457117080688477,-137.80479431152344,-0.9016876220703125,0,0,1.3179457889472357],[-16.2062927212115,-132.96377805233374,-0.9016876220703125,0,0,1.3179457889472357],[-14.955468361734525,-128.12276179314404,-0.9016876220703125,0,0,1.3179457889472357],[-13.704644002257549,-123.28174553395434,-0.9016876220703125,0,0,1.3179457889472357],[-12.453819642780573,-118.44072927476464,-0.9016876220703125,0,0,1.3179457889472357],[-11.202995283303597,-113.59971301557493,-0.9016876220703125,0,0,1.3179457889472357],[-16.044011542493294,-112.34888865609796,-0.9016876220703125,0,0,1.3179457889472357],[-14.793187183016318,-107.50787239690825,-0.9016876220703125,0,0,1.3179457889472357],[-13.542362823539342,-102.66685613771855,-0.9016876220703125,0,0,1.3179457889472357],[-12.291538464062366,-97.82583987852885,-0.9016876220703125,0,0,1.3179457889472357],[-11.04071410458539,-92.98482361933915,-0.9016876220703125,0,0,1.3179457889472357],[-15.881730363775088,-91.73399925986217,-0.9016876220703125,0,0,1.3179457889472357],[-15.881730363775088,-91.73399925986217,-2.9016876220703125,0,0,1.3179457889472357],[-14.630906004298112,-86.89298300067247,-2.9016876220703125,0,0,1.3179457889472357],[-13.380081644821136,-82.05196674148277,-2.9016876220703125,0,0,1.3179457889472357],[-12.12925728534416,-77.21095048229307,-2.9016876220703125,0,0,1.3179457889472357],[-10.878432925867184,-72.36993422310337,-2.9016876220703125,0,0,1.3179457889472357],[-15.719449185056881,-71.11910986362639,-2.9016876220703125,0,0,1.3179457889472357],[-14.468624825579905,-66.27809360443669,-2.9016876220703125,0,0,1.3179457889472357],[-13.21780046610293,-61.43707734524699,-2.9016876220703125,0,0,1.3179457889472357],[-11.966976106625953,-56.59606108605729,-2.9016876220703125,0,0,1.3179457889472357],[-10.716151747148977,-51.75504482686759,-2.9016876220703125,0,0,1.3179457889472357],[-15.557168006338674,-50.50422046739062,-2.9016876220703125,0,0,1.3179457889472357],[-14.306343646861698,-45.663204208200916,-2.9016876220703125,0,0,1.3179457889472357],[-13.055519287384723,-40.822187949011216,-2.9016876220703125,0,0,1.3179457889472357],[-11.804694927907747,-35.981171689821515,-2.9016876220703125,0,0,1.3179457889472357],[-16.645711187097444,-34.73034733034454,-2.9016876220703125,0,0,1.3179457889472357],[-15.394886827620468,-29.889331071154846,-2.9016876220703125,0,0,1.3179457889472357],[-14.144062468143492,-25.04831481196515,-2.9016876220703125,0,0,1.3179457889472357],[-12.893238108666516,-20.207298552775452,-2.9016876220703125,0,0,1.3179457889472357],[-11.64241374918954,-15.366282293585755,-2.9016876220703125,0,0,1.3179457889472357],[-16.483430008379237,-14.11545793410878,-2.9016876220703125,0,0,1.3179457889472357],[-15.232605648902261,-9.274441674919082,-2.9016876220703125,0,0,1.3179457889472357],[-13.981781289425285,-4.433425415729384,-2.9016876220703125,0,0,1.3179457889472357],[-12.73095692994831,0.40759084346031393,-2.9016876220703125,0,0,1.3179457889472357],[-11.480132570471334,5.248607102650012,-2.9016876220703125,0,0,1.3179457889472357],[-16.32114882966103,6.499431462126987,-2.9016876220703125,0,0,1.3179457889472357],[-15.070324470184055,11.340447721316686,-2.9016876220703125,0,0,1.3179457889472357],[-13.819500110707079,16.181463980506383,-2.9016876220703125,0,0,1.3179457889472357],[-13.819500110707079,16.181463980506383,-2.9016876220703125,0,0,1.0561464011480863],[-13.819500110707079,16.181463980506383,-2.9016876220703125,0,0,0.794347013348937],[-13.819500110707079,16.181463980506383,-2.9016876220703125,0,0,0.5325476255497875],[-13.819500110707079,16.181463980506383,-2.9016876220703125,0,0,0.2707482377506381],[-13.819500110707079,16.181463980506383,-2.9016876220703125,0,0,0.008948849951488667],[-8.819700314159652,16.226207633065346,-2.9016876220703125,0,0,0.008948849951488667],[-3.8199005176122256,16.27095128562431,-2.9016876220703125,0,0,0.008948849951488667],[1.179899278935201,16.315694938183274,-2.9016876220703125,0,0,0.008948849951488667],[6.1796990754826275,16.360438590742238,-2.9016876220703125,0,0,0.008948849951488667],[11.179498872030054,16.4051822433012,-2.9016876220703125,0,0,0.008948849951488667],[16.17929866857748,16.449925895860165,-2.9016876220703125,0,0,0.008948849951488667],[21.17909846512491,16.49466954841913,-2.9016876220703125,0,0,0.008948849951488667],[26.178898261672337,16.539413200978093,-2.9016876220703125,0,0,0.008948849951488667],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+{"episode_id":"3TK8OJTYMAJ3FJOKXUNCVMFKN9OVPV","trajectory_id":"34O39PNDLE66WY90F2VZAMQ4ZWYRB8","scene_id":7,"start_position":[1.8772368431091309,-32.51529312133789,-0.30986443161964417],"start_rotation":[0.9999978947274198,0.0,0.0,-0.00205196021601194],"instruction":{"instruction_text":"Turn around to face the river, fly vertically to the street across the river. Turn right 135 degrees, fly forward across the river, and reach the red house on the street across the river. Turn left to face the road, fly straight along the road until reaching the intersection in front of white and red houses. Turn left to face the road, go straight passing a blue house and land in front of a white house."},"goals":[{"position":[-16.794899806300016,-156.93460949258736,-2.309864431619644]}],"reference_path":[[1.8772368431091309,-32.51529312133789,-0.30986443161964417,0,0,-0.004103923311983357],[1.8772368431091309,-32.51529312133789,-2.309864431619644,0,0,-0.004103923311983357],[1.8772368431091309,-32.51529312133789,-2.309864431619644,0,0,-0.2659033111111328],[1.8772368431091309,-32.51529312133789,-2.309864431619644,0,0,-0.5277026989102822],[1.8772368431091309,-32.51529312133789,-2.309864431619644,0,0,-0.7895020867094317],[1.8772368431091309,-32.51529312133789,-2.309864431619644,0,0,-1.0513014745085811],[1.8772368431091309,-32.51529312133789,-2.309864431619644,0,0,-1.3131008623077305],[1.8772368431091309,-32.51529312133789,-2.309864431619644,0,0,-1.57490025010688],[1.8772368431091309,-32.51529312133789,-2.309864431619644,0,0,-1.8366996379060294],[1.8772368431091309,-32.51529312133789,-2.309864431619644,0,0,-2.098499025705179],[1.8772368431091309,-32.51529312133789,-2.309864431619644,0,0,-2.360298413504329],[1.8772368431091309,-32.51529312133789,-2.309864431619644,0,0,-2.6220978013034784],[1.8772368431091309,-32.51529312133789,-2.309864431619644,0,0,-2.8838971891026275],[1.8772368431091309,-32.51529312133789,-2.309864431619644,0,0,3.137488730277809],[-3.1227210514835884,-32.49477356237713,-2.309864431619644,0,0,3.137488730277809],[-8.122678946076308,-32.47425400341636,-2.309864431619644,0,0,3.137488730277809],[-13.122636840669028,-32.4537344444556,-2.309864431619644,0,0,3.137488730277809],[-18.122594735261746,-32.433214885494834,-2.309864431619644,0,0,3.137488730277809],[-23.122552629854464,-32.41269532653407,-2.309864431619644,0,0,3.137488730277809],[-28.122510524447183,-32.392175767573306,-2.309864431619644,0,0,3.137488730277809],[-28.122510524447183,-32.392175767573306,-2.309864431619644,0,0,-2.8838971891026275],[-28.122510524447183,-32.392175767573306,-2.309864431619644,0,0,-2.6220978013034784],[-28.122510524447183,-32.392175767573306,-2.309864431619644,0,0,-2.360298413504329],[-28.122510524447183,-32.392175767573306,-2.309864431619644,0,0,-2.098499025705179],[-28.122510524447183,-32.392175767573306,-2.309864431619644,0,0,-1.8366996379060299],[-28.122510524447183,-32.392175767573306,-2.309864431619644,0,0,-1.5749002501068805],[-28.122510524447183,-32.392175767573306,-2.309864431619644,0,0,-1.3131008623077314],[-28.122510524447183,-32.392175767573306,-2.309864431619644,0,0,-1.051301474508582],[-28.122510524447183,-32.392175767573306,-2.309864431619644,0,0,-0.7895020867094326],[-28.122510524447183,-32.392175767573306,-2.309864431619644,0,0,-0.5277026989102831],[-23.802679749357715,-34.90992517420414,-2.309864431619644,0,0,-0.5277026989102831],[-19.482848974268247,-37.427674580834974,-2.309864431619644,0,0,-0.5277026989102831],[-15.16301819917878,-39.94542398746581,-2.309864431619644,0,0,-0.5277026989102831],[-10.843187424089312,-42.46317339409664,-2.309864431619644,0,0,-0.5277026989102831],[-6.523356648999845,-44.98092280072748,-2.309864431619644,0,0,-0.5277026989102831],[-2.203525873910378,-47.49867220735831,-2.309864431619644,0,0,-0.5277026989102831],[-2.203525873910378,-47.49867220735831,-2.309864431619644,0,0,-0.7895020867094326],[-2.203525873910378,-47.49867220735831,-2.309864431619644,0,0,-1.051301474508582],[-2.203525873910378,-47.49867220735831,-2.309864431619644,0,0,-1.3131008623077316],[-0.9292619180233481,-52.333571520759484,-2.309864431619644,0,0,-1.3131008623077316],[0.34500203786368155,-57.16847083416066,-2.309864431619644,0,0,-1.3131008623077316],[1.6192659937507112,-62.00337014756183,-2.309864431619644,0,0,-1.3131008623077316],[2.893529949637741,-66.838269460963,-2.309864431619644,0,0,-1.3131008623077316],[2.893529949637741,-66.838269460963,-2.309864431619644,0,0,-1.574900250106881],[2.8730103906769724,-71.83822735555573,-2.309864431619644,0,0,-1.574900250106881],[2.852490831716204,-76.83818525014846,-2.309864431619644,0,0,-1.574900250106881],[2.8319712727554354,-81.83814314474118,-2.309864431619644,0,0,-1.574900250106881],[2.811451713794667,-86.8381010393339,-2.309864431619644,0,0,-1.574900250106881],[2.7909321548338983,-91.83805893392663,-2.309864431619644,0,0,-1.574900250106881],[2.77041259587313,-96.83801682851936,-2.309864431619644,0,0,-1.574900250106881],[2.7498930369123613,-101.83797472311208,-2.309864431619644,0,0,-1.574900250106881],[2.729373477951593,-106.83793261770481,-2.309864431619644,0,0,-1.574900250106881],[2.7088539189908243,-111.83789051229753,-2.309864431619644,0,0,-1.574900250106881],[2.6883343600300558,-116.83784840689026,-2.309864431619644,0,0,-1.574900250106881],[2.6678148010692873,-121.83780630148298,-2.309864431619644,0,0,-1.574900250106881],[2.6472952421085187,-126.83776419607571,-2.309864431619644,0,0,-1.574900250106881],[2.6267756831477502,-131.83772209066842,-2.309864431619644,0,0,-1.574900250106881],[2.6062561241869817,-136.83767998526113,-2.309864431619644,0,0,-1.574900250106881],[2.585736565226213,-141.83763787985384,-2.309864431619644,0,0,-1.574900250106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+]}
diff --git a/TEST_FILE/AerialVLN-Fine-V3-Scene-8.json b/TEST_FILE/AerialVLN-Fine-V3-Scene-8.json
new file mode 100644
index 0000000000000000000000000000000000000000..b9f9406ed6e716deeba4e1fb8cd73c871c32dfbb
--- /dev/null
+++ b/TEST_FILE/AerialVLN-Fine-V3-Scene-8.json
@@ -0,0 +1,37 @@
+{"episodes":[
+{"episode_id":"3N8OEVH1F0OQ4Z3MHIOJBUGNAHUOOB","trajectory_id":"344M16OZLQDJO3TSWMG82ARF7WZENQ","scene_id":8,"start_position":[-38.391319274902344,8.043131828308105,-0.34734949469566345],"start_rotation":[0.9997039281498585,0.0,0.0,0.024332201744653153],"instruction":{"instruction_text":"Fly up to the height above the building with the blue tarp ahead. Turn right to face the dirt path, fly forward along the path to the top of the building with a flat roof covered in blue tarps. Fly across the building and the trees behind it, and fly forward to the brown wooden house in the open area. Fly to the left side of the first brown wooden house, fly straight to the front of another brown wooden house behind it, land on the ground."},"goals":[{"position":[-7.735876541485929,59.17280712855297,-2.3473494946956635]}],"reference_path":[[-38.391319274902344,8.043131828308105,-0.34734949469566345,0,0,0.04866920677815093],[-38.391319274902344,8.043131828308105,-2.3473494946956635,0,0,0.04866920677815093],[-38.391319274902344,8.043131828308105,-4.3473494946956635,0,0,0.04866920677815093],[-38.391319274902344,8.043131828308105,-6.3473494946956635,0,0,0.04866920677815093],[-38.391319274902344,8.043131828308105,-8.347349494695663,0,0,0.04866920677815093],[-38.391319274902344,8.043131828308105,-8.347349494695663,0,0,0.31046859457730036],[-38.391319274902344,8.043131828308105,-8.347349494695663,0,0,0.5722679823764498],[-38.391319274902344,8.043131828308105,-8.347349494695663,0,0,0.8340673701755993],[-38.391319274902344,8.043131828308105,-8.347349494695663,0,0,1.0958667579747488],[-36.10494021435702,12.489756479827491,-8.347349494695663,0,0,1.0958667579747488],[-33.8185611538117,16.936381131346877,-8.347349494695663,0,0,1.0958667579747488],[-31.53218209326638,21.383005782866263,-8.347349494695663,0,0,1.0958667579747488],[-29.245803032721057,25.82963043438565,-8.347349494695663,0,0,1.0958667579747488],[-26.959423972175735,30.276255085905035,-8.347349494695663,0,0,1.0958667579747488],[-24.673044911630413,34.72287973742442,-8.347349494695663,0,0,1.0958667579747488],[-22.38666585108509,39.16950438894381,-8.347349494695663,0,0,1.0958667579747488],[-20.10028679053977,43.61612904046319,-8.347349494695663,0,0,1.0958667579747488],[-17.813907729994447,48.06275369198258,-8.347349494695663,0,0,1.0958667579747488],[-17.813907729994447,48.06275369198258,-8.347349494695663,0,0,0.8340673701755993],[-14.454564000491608,51.76610483750604,-8.347349494695663,0,0,0.8340673701755993],[-11.095220270988769,55.469455983029505,-8.347349494695663,0,0,0.8340673701755993],[-7.735876541485929,59.17280712855297,-8.347349494695663,0,0,0.8340673701755993],[-7.735876541485929,59.17280712855297,-6.3473494946956635,0,0,0.8340673701755993],[-7.735876541485929,59.17280712855297,-4.3473494946956635,0,0,0.8340673701755993],[-7.735876541485929,59.17280712855297,-2.3473494946956635,0,0,0.8340673701755993]],"actions":[4,4,4,4,3,3,3,3,1,1,1,1,1,1,1,1,1,2,1,1,1,5,5,5,0]},
+{"episode_id":"3TMSXRD2XFYDDG5N22HIGSG02JCW13","trajectory_id":"36KM3FWE4ZAVUSMB8804LO3L9Q270K","scene_id":8,"start_position":[-38.391319274902344,8.043131828308105,-0.34734949469566345],"start_rotation":[0.9997039281498585,0.0,0.0,0.024332201744653153],"instruction":{"instruction_text":"Fly up to the height above the building with the blue awning ahead, turn right to face the dirt path. Fly straight until across the wooden building with blue tarps on the roof, then fly across the trees behind the building. Fly straight to the brown wooden house in the open area ahead. Fly over the brown wooden building from the left side of it. Land in front of a brown wooden building ahead."},"goals":[{"position":[-7.735876541485929,59.17280712855297,-2.3473494946956635]}],"reference_path":[[-38.391319274902344,8.043131828308105,-0.34734949469566345,0,0,0.04866920677815093],[-38.391319274902344,8.043131828308105,-2.3473494946956635,0,0,0.04866920677815093],[-38.391319274902344,8.043131828308105,-4.3473494946956635,0,0,0.04866920677815093],[-38.391319274902344,8.043131828308105,-6.3473494946956635,0,0,0.04866920677815093],[-38.391319274902344,8.043131828308105,-8.347349494695663,0,0,0.04866920677815093],[-38.391319274902344,8.043131828308105,-8.347349494695663,0,0,0.31046859457730036],[-38.391319274902344,8.043131828308105,-8.347349494695663,0,0,0.5722679823764498],[-38.391319274902344,8.043131828308105,-8.347349494695663,0,0,0.8340673701755993],[-38.391319274902344,8.043131828308105,-8.347349494695663,0,0,1.0958667579747488],[-36.10494021435702,12.489756479827491,-8.347349494695663,0,0,1.0958667579747488],[-33.8185611538117,16.936381131346877,-8.347349494695663,0,0,1.0958667579747488],[-31.53218209326638,21.383005782866263,-8.347349494695663,0,0,1.0958667579747488],[-29.245803032721057,25.82963043438565,-8.347349494695663,0,0,1.0958667579747488],[-26.959423972175735,30.276255085905035,-8.347349494695663,0,0,1.0958667579747488],[-24.673044911630413,34.72287973742442,-8.347349494695663,0,0,1.0958667579747488],[-22.38666585108509,39.16950438894381,-8.347349494695663,0,0,1.0958667579747488],[-20.10028679053977,43.61612904046319,-8.347349494695663,0,0,1.0958667579747488],[-17.813907729994447,48.06275369198258,-8.347349494695663,0,0,1.0958667579747488],[-17.813907729994447,48.06275369198258,-8.347349494695663,0,0,0.8340673701755993],[-14.454564000491608,51.76610483750604,-8.347349494695663,0,0,0.8340673701755993],[-11.095220270988769,55.469455983029505,-8.347349494695663,0,0,0.8340673701755993],[-7.735876541485929,59.17280712855297,-8.347349494695663,0,0,0.8340673701755993],[-7.735876541485929,59.17280712855297,-6.3473494946956635,0,0,0.8340673701755993],[-7.735876541485929,59.17280712855297,-4.3473494946956635,0,0,0.8340673701755993],[-7.735876541485929,59.17280712855297,-2.3473494946956635,0,0,0.8340673701755993]],"actions":[4,4,4,4,3,3,3,3,1,1,1,1,1,1,1,1,1,2,1,1,1,5,5,5,0]},
+{"episode_id":"33FBRBDW6XXMAIJ3KWQWJ8W66VH8CZ","trajectory_id":"3V0TR1NRWI0UCI2AYCZQ7IVOV06A4W","scene_id":8,"start_position":[-38.391319274902344,8.043131828308105,-0.34734949469566345],"start_rotation":[0.9998210689219862,0.0,0.0,0.018916398697875907],"instruction":{"instruction_text":"Turn right to face the dirt road, fly forward out of the shadowed area, then slightly turn right to face the dirt road paved with wooden boards. Fly up to the height above the roof of the building ahead, then fly forward over the roof covered with a blue tarp. Slightly turn left to face the wooden house ahead, fly forward to the house, and land in front of the house."},"goals":[{"position":[-18.718933649179377,53.61965386977557,-6.3473494946956635]}],"reference_path":[[-38.391319274902344,8.043131828308105,-0.34734949469566345,0,0,0.03783505404500728],[-38.391319274902344,8.043131828308105,-0.34734949469566345,0,0,0.2996344418441567],[-38.391319274902344,8.043131828308105,-0.34734949469566345,0,0,0.5614338296433062],[-38.391319274902344,8.043131828308105,-0.34734949469566345,0,0,0.8232332174424556],[-38.391319274902344,8.043131828308105,-0.34734949469566345,0,0,1.085032605241605],[-36.05689993116998,12.464725017149448,-0.34734949469566345,0,0,1.085032605241605],[-36.05689993116998,12.464725017149448,-0.34734949469566345,0,0,1.3468319930407546],[-36.05689993116998,12.464725017149448,-2.3473494946956635,0,0,1.3468319930407546],[-36.05689993116998,12.464725017149448,-4.3473494946956635,0,0,1.3468319930407546],[-36.05689993116998,12.464725017149448,-6.3473494946956635,0,0,1.3468319930407546],[-36.05689993116998,12.464725017149448,-8.347349494695663,0,0,1.3468319930407546],[-36.05689993116998,12.464725017149448,-10.347349494695663,0,0,1.3468319930407546],[-36.05689993116998,12.464725017149448,-12.347349494695663,0,0,1.3468319930407546],[-34.94641652463784,17.339848257008804,-12.347349494695663,0,0,1.3468319930407546],[-33.8359331181057,22.21497149686816,-12.347349494695663,0,0,1.3468319930407546],[-32.72544971157356,27.090094736727515,-12.347349494695663,0,0,1.3468319930407546],[-32.72544971157356,27.090094736727515,-12.347349494695663,0,0,1.0850326052416053],[-30.391030367841196,31.511687925568857,-12.347349494695663,0,0,1.0850326052416053],[-28.056611024108832,35.9332811144102,-12.347349494695663,0,0,1.0850326052416053],[-25.72219168037647,40.35487430325154,-12.347349494695663,0,0,1.0850326052416053],[-23.387772336644105,44.776467492092884,-12.347349494695663,0,0,1.0850326052416053],[-23.387772336644105,44.776467492092884,-10.347349494695663,0,0,1.0850326052416053],[-21.05335299291174,49.198060680934226,-10.347349494695663,0,0,1.0850326052416053],[-21.05335299291174,49.198060680934226,-8.347349494695663,0,0,1.0850326052416053],[-18.718933649179377,53.61965386977557,-8.347349494695663,0,0,1.0850326052416053],[-18.718933649179377,53.61965386977557,-6.3473494946956635,0,0,1.0850326052416053]],"actions":[3,3,3,3,1,3,4,4,4,4,4,4,1,1,1,2,1,1,1,1,5,1,5,1,5,0]},
+{"episode_id":"3EICBYG64DUBUZFMB0NN8Y5KMCFCJ3","trajectory_id":"3SBNLSTU7238DMTB3FGIRFG3HYGZD9","scene_id":8,"start_position":[14.69371223449707,-0.8330792784690857,-3.019906759262085],"start_rotation":[0.9996417905508646,0.0,0.0,0.026763605591577828],"instruction":{"instruction_text":"Take off to the height above the roof ahead, turn left slightly to face the utility pole in the front-left, and fly forward to the front of the pole. Turn left slightly to face the dirt road, fly forward to the wire with clothes hanging on it, turn left to face another dirt road, fly up slightly above the wire and fly forward along the dirt road between the buildings until in front of a tree on the road. Turn right to face another narrow dirt road and fly forward along the dirt road between the buildings until  there is a building with the green and gray rusted roof on the right side of road, land on the road."},"goals":[{"position":[-21.881835420823336,-54.69915779421946,-1.019906759262085]}],"reference_path":[[14.69371223449707,-0.8330792784690857,-3.019906759262085,0,0,0.05353360341667897],[14.69371223449707,-0.8330792784690857,-5.019906759262085,0,0,0.05353360341667897],[14.69371223449707,-0.8330792784690857,-7.019906759262085,0,0,0.05353360341667897],[14.69371223449707,-0.8330792784690857,-9.019906759262085,0,0,0.05353360341667897],[14.69371223449707,-0.8330792784690857,-9.019906759262085,0,0,-0.20826578438247048],[14.69371223449707,-0.8330792784690857,-9.019906759262085,0,0,-0.4700651721816199],[14.69371223449707,-0.8330792784690857,-9.019906759262085,0,0,-0.7318645599807694],[18.413360681003216,-4.174368765239787,-9.019906759262085,0,0,-0.7318645599807694],[18.413360681003216,-4.174368765239787,-9.019906759262085,0,0,-0.9936639477799188],[18.413360681003216,-4.174368765239787,-9.019906759262085,0,0,-1.2554633355790683],[18.413360681003216,-4.174368765239787,-9.019906759262085,0,0,-1.5172627233782177],[18.413360681003216,-4.174368765239787,-9.019906759262085,0,0,-1.779062111177367],[17.37954332731499,-9.066323556446783,-9.019906759262085,0,0,-1.779062111177367],[17.37954332731499,-9.066323556446783,-9.019906759262085,0,0,-2.0408614989765166],[17.37954332731499,-9.066323556446783,-9.019906759262085,0,0,-2.302660886775666],[17.37954332731499,-9.066323556446783,-9.019906759262085,0,0,-2.5644602745748153],[17.37954332731499,-9.066323556446783,-9.019906759262085,0,0,-2.826259662373965],[17.37954332731499,-9.066323556446783,-9.019906759262085,0,0,-3.0880590501731144],[17.37954332731499,-9.066323556446783,-11.019906759262085,0,0,-3.0880590501731144],[12.386706233157607,-9.333863742598401,-11.019906759262085,0,0,-3.0880590501731144],[7.3938691390002225,-9.60140392875002,-11.019906759262085,0,0,-3.0880590501731144],[2.4010320448428377,-9.86894411490164,-11.019906759262085,0,0,-3.0880590501731144],[-2.591805049314547,-10.136484301053258,-11.019906759262085,0,0,-3.0880590501731144],[-7.584642143471932,-10.404024487204877,-11.019906759262085,0,0,-3.0880590501731144],[-12.577479237629316,-10.671564673356496,-11.019906759262085,0,0,-3.0880590501731144],[-12.577479237629316,-10.671564673356496,-11.019906759262085,0,0,-2.826259662373965],[-12.577479237629316,-10.671564673356496,-11.019906759262085,0,0,-2.5644602745748153],[-12.577479237629316,-10.671564673356496,-11.019906759262085,0,0,-2.302660886775666],[-12.577479237629316,-10.671564673356496,-11.019906759262085,0,0,-2.0408614989765166],[-12.577479237629316,-10.671564673356496,-11.019906759262085,0,0,-1.779062111177367],[-13.61129659131754,-15.563519464563491,-11.019906759262085,0,0,-1.779062111177367],[-14.645113945005765,-20.455474255770486,-11.019906759262085,0,0,-1.779062111177367],[-15.678931298693989,-25.34742904697748,-11.019906759262085,0,0,-1.779062111177367],[-16.712748652382214,-30.239383838184477,-11.019906759262085,0,0,-1.779062111177367],[-17.746566006070438,-35.13133862939147,-11.019906759262085,0,0,-1.779062111177367],[-18.780383359758662,-40.02329342059846,-11.019906759262085,0,0,-1.779062111177367],[-19.814200713446887,-44.91524821180546,-11.019906759262085,0,0,-1.779062111177367],[-20.84801806713511,-49.80720300301246,-11.019906759262085,0,0,-1.779062111177367],[-20.84801806713511,-49.80720300301246,-9.019906759262085,0,0,-1.779062111177367],[-20.84801806713511,-49.80720300301246,-7.019906759262085,0,0,-1.779062111177367],[-21.881835420823336,-54.69915779421946,-7.019906759262085,0,0,-1.779062111177367],[-21.881835420823336,-54.69915779421946,-5.019906759262085,0,0,-1.779062111177367],[-21.881835420823336,-54.69915779421946,-3.019906759262085,0,0,-1.779062111177367],[-21.881835420823336,-54.69915779421946,-1.019906759262085,0,0,-1.779062111177367]],"actions":[4,4,4,2,2,2,1,2,2,2,2,1,2,2,2,2,2,4,1,1,1,1,1,1,3,3,3,3,3,1,1,1,1,1,1,1,1,5,5,1,5,5,5,0]},
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+{"episode_id":"37M28K1J0ZBN1KIORMRW23FWM8HJAT","trajectory_id":"3X4Q1O9UCPKGX9EUAT2FBPZ3BJAO73","scene_id":8,"start_position":[17.16092872619629,-21.32415199279785,-3.96555233001709],"start_rotation":[0.999868364496909,0.0,0.0,0.016225094091447678],"instruction":{"instruction_text":"Take off to the height above the roof of the building ahead, then turn right to face the dirt road, and fly forward over the wire with clothes hanging on it. Turn right to face the middle of a tree and a rusty house, fly forward along the buildings on the right until you reach a dirt T-junction, fly down to the height of the tree. Turn left to face the dirt road and fly forward to the front of the three-story building with clothes hanging on it, then land in front of the building."},"goals":[{"position":[-37.63872583317732,6.060386804783861,-1.9655523300170898]}],"reference_path":[[17.16092872619629,-21.32415199279785,-3.96555233001709,0,0,0.03245161212348771],[17.16092872619629,-21.32415199279785,-5.96555233001709,0,0,0.03245161212348771],[17.16092872619629,-21.32415199279785,-7.96555233001709,0,0,0.03245161212348771],[17.16092872619629,-21.32415199279785,-9.96555233001709,0,0,0.03245161212348771],[17.16092872619629,-21.32415199279785,-9.96555233001709,0,0,0.29425099992263715],[17.16092872619629,-21.32415199279785,-9.96555233001709,0,0,0.5560503877217866],[17.16092872619629,-21.32415199279785,-9.96555233001709,0,0,0.8178497755209361],[17.16092872619629,-21.32415199279785,-9.96555233001709,0,0,1.0796491633200855],[17.16092872619629,-21.32415199279785,-9.96555233001709,0,0,1.341448551119235],[18.297640857112153,-16.45507759087825,-9.96555233001709,0,0,1.341448551119235],[18.297640857112153,-16.45507759087825,-9.96555233001709,0,0,1.6032479389183845],[18.297640857112153,-16.45507759087825,-9.96555233001709,0,0,1.8650473267175338],[18.297640857112153,-16.45507759087825,-9.96555233001709,0,0,2.126846714516683],[18.297640857112153,-16.45507759087825,-9.96555233001709,0,0,2.3886461023158327],[18.297640857112153,-16.45507759087825,-9.96555233001709,0,0,2.6504454901149823],[18.297640857112153,-16.45507759087825,-9.96555233001709,0,0,2.912244877914132],[18.297640857112153,-16.45507759087825,-9.96555233001709,0,0,-3.109141041466305],[13.300273393894916,-16.617307173808495,-9.96555233001709,0,0,-3.109141041466305],[13.300273393894916,-16.617307173808495,-11.96555233001709,0,0,-3.109141041466305],[8.302905930677678,-16.77953675673874,-11.96555233001709,0,0,-3.109141041466305],[3.3055384674604413,-16.941766339668984,-11.96555233001709,0,0,-3.109141041466305],[-1.6918289957567954,-17.10399592259923,-11.96555233001709,0,0,-3.109141041466305],[-6.689196458974032,-17.266225505529473,-11.96555233001709,0,0,-3.109141041466305],[-11.686563922191269,-17.428455088459717,-11.96555233001709,0,0,-3.109141041466305],[-16.683931385408506,-17.590684671389962,-11.96555233001709,0,0,-3.109141041466305],[-21.681298848625744,-17.752914254320206,-11.96555233001709,0,0,-3.109141041466305],[-21.843528431555985,-12.755546791102969,-11.96555233001709,0,0,-3.109141041466305],[-26.840895894773222,-12.917776374033213,-11.96555233001709,0,0,-3.109141041466305],[-31.83826335799046,-13.080005956963458,-11.96555233001709,0,0,-3.109141041466305],[-31.83826335799046,-13.080005956963458,-9.96555233001709,0,0,-3.109141041466305],[-31.83826335799046,-13.080005956963458,-9.96555233001709,0,0,2.9122448779141314],[-31.83826335799046,-13.080005956963458,-9.96555233001709,0,0,2.650445490114982],[-31.83826335799046,-13.080005956963458,-9.96555233001709,0,0,2.3886461023158323],[-31.83826335799046,-13.080005956963458,-9.96555233001709,0,0,2.1268467145166827],[-31.83826335799046,-13.080005956963458,-9.96555233001709,0,0,1.8650473267175331],[-33.28837897678717,-8.294907766526627,-9.96555233001709,0,0,1.8650473267175331],[-34.73849459558389,-3.509809576089798,-9.96555233001709,0,0,1.8650473267175331],[-36.1886102143806,1.2752886143470317,-9.96555233001709,0,0,1.8650473267175331],[-37.63872583317732,6.060386804783861,-9.96555233001709,0,0,1.8650473267175331],[-37.63872583317732,6.060386804783861,-7.96555233001709,0,0,1.8650473267175331],[-37.63872583317732,6.060386804783861,-7.96555233001709,0,0,1.6032479389183838],[-37.63872583317732,6.060386804783861,-5.96555233001709,0,0,1.6032479389183838],[-37.63872583317732,6.060386804783861,-3.96555233001709,0,0,1.6032479389183838],[-37.63872583317732,6.060386804783861,-1.9655523300170898,0,0,1.6032479389183838]],"actions":[4,4,4,3,3,3,3,3,1,3,3,3,3,3,3,3,1,4,1,1,1,1,1,1,1,6,1,1,5,2,2,2,2,2,1,1,1,1,5,2,5,5,5,0]},
+{"episode_id":"3H7Z272LXG50JECQJQL68DHJPHMLP9","trajectory_id":"3PUOXASB6F1WAWGURZBG5JXDQD1Z9S","scene_id":8,"start_position":[17.16092872619629,-21.32415199279785,-3.96555233001709],"start_rotation":[0.9999120823497138,0.0,0.0,-0.013259998908714566],"instruction":{"instruction_text":"Take off to the height above the blue tarp roof in front, then turn right to face the middle of a tree and a rusty house. Fly forward across the roof ahead, then fly forward along the dirt road untiil you reach the second dirt T-junction. Turn left slightly to face the roof with the blue tarp on the front-left, fly forward to the top of the roof, then turn right to face the tree on the roof. Fly up slightly above the tree ahead, fly forward past it to a building with rusty roof, and land in front of the building."},"goals":[{"position":[-57.378395150142495,-11.522263613064776,-1.9655523300170898]}],"reference_path":[[17.16092872619629,-21.32415199279785,-3.96555233001709,0,0,-0.026520775036726285],[17.16092872619629,-21.32415199279785,-5.96555233001709,0,0,-0.026520775036726285],[17.16092872619629,-21.32415199279785,-7.96555233001709,0,0,-0.026520775036726285],[17.16092872619629,-21.32415199279785,-9.96555233001709,0,0,-0.026520775036726285],[17.16092872619629,-21.32415199279785,-9.96555233001709,0,0,0.23527861276242315],[17.16092872619629,-21.32415199279785,-9.96555233001709,0,0,0.49707800056157264],[17.16092872619629,-21.32415199279785,-9.96555233001709,0,0,0.758877388360722],[17.16092872619629,-21.32415199279785,-9.96555233001709,0,0,1.0206767761598714],[17.16092872619629,-21.32415199279785,-9.96555233001709,0,0,1.282476163959021],[17.16092872619629,-21.32415199279785,-9.96555233001709,0,0,1.5442755517581703],[17.16092872619629,-21.32415199279785,-9.96555233001709,0,0,1.8060749395573195],[17.16092872619629,-21.32415199279785,-9.96555233001709,0,0,2.067874327356469],[17.16092872619629,-21.32415199279785,-9.96555233001709,0,0,2.329673715155619],[17.16092872619629,-21.32415199279785,-9.96555233001709,0,0,2.5914731029547684],[12.898618584310164,-18.710206267581917,-9.96555233001709,0,0,2.5914731029547684],[8.636308442424038,-16.096260542365982,-9.96555233001709,0,0,2.5914731029547684],[4.373998300537912,-13.482314817150046,-9.96555233001709,0,0,2.5914731029547684],[0.11168815865178594,-10.86836909193411,-9.96555233001709,0,0,2.5914731029547684],[-4.15062198323434,-8.254423366718173,-9.96555233001709,0,0,2.5914731029547684],[-8.412932125120467,-5.640477641502237,-9.96555233001709,0,0,2.5914731029547684],[-11.026877850336401,-9.902787783388364,-9.96555233001709,0,0,2.5914731029547684],[-15.289187992222526,-7.288842058172428,-9.96555233001709,0,0,2.5914731029547684],[-19.551498134108652,-4.674896332956491,-9.96555233001709,0,0,2.5914731029547684],[-19.551498134108652,-4.674896332956491,-9.96555233001709,0,0,2.853272490753918],[-24.345112516360487,-3.2531856893062674,-9.96555233001709,0,0,2.853272490753918],[-24.345112516360487,-3.2531856893062674,-9.96555233001709,0,0,3.1150718785530676],[-29.343354240649894,-3.120597358098593,-9.96555233001709,0,0,3.1150718785530676],[-34.3415959649393,-2.9880090268909187,-9.96555233001709,0,0,3.1150718785530676],[-34.3415959649393,-2.9880090268909187,-9.96555233001709,0,0,2.8532724907539184],[-34.3415959649393,-2.9880090268909187,-9.96555233001709,0,0,2.5914731029547693],[-38.603906106825434,-0.3740633016749859,-9.96555233001709,0,0,2.5914731029547693],[-42.86621624871157,2.239882423540947,-9.96555233001709,0,0,2.5914731029547693],[-42.86621624871157,2.239882423540947,-9.96555233001709,0,0,2.853272490753919],[-42.86621624871157,2.239882423540947,-9.96555233001709,0,0,3.115071878553068],[-42.86621624871157,2.239882423540947,-9.96555233001709,0,0,-2.906314040827369],[-42.86621624871157,2.239882423540947,-9.96555233001709,0,0,-2.6445146530282195],[-42.86621624871157,2.239882423540947,-9.96555233001709,0,0,-2.38271526522907],[-42.86621624871157,2.239882423540947,-11.96555233001709,0,0,-2.38271526522907],[-46.4942609740693,-1.2006540856104841,-11.96555233001709,0,0,-2.38271526522907],[-46.4942609740693,-1.2006540856104841,-13.96555233001709,0,0,-2.38271526522907],[-50.12230569942703,-4.641190594761915,-13.96555233001709,0,0,-2.38271526522907],[-53.75035042478476,-8.081727103913346,-13.96555233001709,0,0,-2.38271526522907],[-57.378395150142495,-11.522263613064776,-13.96555233001709,0,0,-2.38271526522907],[-57.378395150142495,-11.522263613064776,-11.96555233001709,0,0,-2.38271526522907],[-57.378395150142495,-11.522263613064776,-9.96555233001709,0,0,-2.38271526522907],[-57.378395150142495,-11.522263613064776,-7.96555233001709,0,0,-2.38271526522907],[-57.378395150142495,-11.522263613064776,-5.96555233001709,0,0,-2.38271526522907],[-57.378395150142495,-11.522263613064776,-3.96555233001709,0,0,-2.38271526522907],[-57.378395150142495,-11.522263613064776,-1.9655523300170898,0,0,-2.38271526522907]],"actions":[4,4,4,3,3,3,3,3,3,3,3,3,3,1,1,1,1,1,1,7,1,1,3,1,3,1,1,2,2,1,1,3,3,3,3,3,4,1,4,1,1,1,5,5,5,5,5,5,0]},
+{"episode_id":"3PQMUDRV7046CRHGLSY970OFM0LII6","trajectory_id":"39TX062QY9MLQZRZ98MLHLEGILU3XJ","scene_id":8,"start_position":[-35.61866760253906,-11.689401626586914,-0.15166786313056946],"start_rotation":[0.9998327751008734,0.0,0.0,0.018287204107964333],"instruction":{"instruction_text":"Take off and fly up to the height of the third floor level. Fly forward to the middle of two tall buildings on both sides of the dirt road. Fly forward to the nearest tree ahead, then to the roof covered with blue cloth behind the tree. Fly forward over the roof and land on the ground."},"goals":[{"position":[36.691923530845244,2.6112951494164554,-2.1516678631305695]}],"reference_path":[[-35.61866760253906,-11.689401626586914,-0.15166786313056946,0,0,0.03657644706954966],[-35.61866760253906,-11.689401626586914,-2.1516678631305695,0,0,0.03657644706954966],[-35.61866760253906,-11.689401626586914,-4.1516678631305695,0,0,0.03657644706954966],[-35.61866760253906,-11.689401626586914,-6.1516678631305695,0,0,0.03657644706954966],[-35.61866760253906,-11.689401626586914,-8.15166786313057,0,0,0.03657644706954966],[-35.61866760253906,-11.689401626586914,-10.15166786313057,0,0,0.03657644706954966],[-30.622011820879926,-11.506560166265894,-10.15166786313057,0,0,0.03657644706954966],[-25.62535603922079,-11.323718705944874,-10.15166786313057,0,0,0.03657644706954966],[-25.62535603922079,-11.323718705944874,-10.15166786313057,0,0,-0.22522294072959975],[-20.751634322474203,-12.440337095419398,-10.15166786313057,0,0,-0.22522294072959975],[-15.877912605727614,-13.556955484893923,-10.15166786313057,0,0,-0.22522294072959975],[-15.877912605727614,-13.556955484893923,-10.15166786313057,0,0,0.03657644706954967],[-15.877912605727614,-13.556955484893923,-10.15166786313057,0,0,0.29837583486869906],[-11.0988365933119,-12.087114518138433,-10.15166786313057,0,0,0.29837583486869906],[-6.319760580896185,-10.617273551382944,-10.15166786313057,0,0,0.29837583486869906],[-1.5406845684804704,-9.147432584627454,-10.15166786313057,0,0,0.29837583486869906],[3.238391443935244,-7.677591617871966,-10.15166786313057,0,0,0.29837583486869906],[8.017467456350959,-6.207750651116477,-10.15166786313057,0,0,0.29837583486869906],[12.796543468766673,-4.7379096843609885,-10.15166786313057,0,0,0.29837583486869906],[17.575619481182386,-3.2680687176055,-10.15166786313057,0,0,0.29837583486869906],[17.575619481182386,-3.2680687176055,-12.15166786313057,0,0,0.29837583486869906],[22.3546954935981,-1.798227750850011,-12.15166786313057,0,0,0.29837583486869906],[27.133771506013815,-0.32838678409452227,-12.15166786313057,0,0,0.29837583486869906],[31.91284751842953,1.1414541826609665,-12.15166786313057,0,0,0.29837583486869906],[31.91284751842953,1.1414541826609665,-10.15166786313057,0,0,0.29837583486869906],[36.691923530845244,2.6112951494164554,-10.15166786313057,0,0,0.29837583486869906],[36.691923530845244,2.6112951494164554,-8.15166786313057,0,0,0.29837583486869906],[36.691923530845244,2.6112951494164554,-6.1516678631305695,0,0,0.29837583486869906],[36.691923530845244,2.6112951494164554,-4.1516678631305695,0,0,0.29837583486869906],[36.691923530845244,2.6112951494164554,-2.1516678631305695,0,0,0.29837583486869906]],"actions":[4,4,4,4,4,1,1,2,1,1,3,3,1,1,1,1,1,1,1,4,1,1,1,5,1,5,5,5,5,0]},
+{"episode_id":"33NF62TLXS0TDXRA3D4LWHISRJEJK9","trajectory_id":"3MD8CKRQ07LCEH7C3U8G8A9HD1UJRE","scene_id":8,"start_position":[34.013954162597656,-0.27672913670539856,-2.6408400535583496],"start_rotation":[0.9999815686224058,0.0,0.0,-0.006071442618745295],"instruction":{"instruction_text":"Take off to the height above the trees ahead, then turn back to face the dirt road. Fly forward across the tree to the three-story brown building beside the dirt road. Move right slightly to face the dirt road ahead and fly forward along the dirt road to the second dirt T-junction. Turn left to face the tall building on the right side of the dirt road. Land on the ground."},"goals":[{"position":[-41.62150433807625,-0.6030038506467434,-0.6408400535583496]}],"reference_path":[[34.013954162597656,-0.27672913670539856,-2.6408400535583496,0,0,-0.012142959841408243],[34.013954162597656,-0.27672913670539856,-4.64084005355835,0,0,-0.012142959841408243],[34.013954162597656,-0.27672913670539856,-6.64084005355835,0,0,-0.012142959841408243],[34.013954162597656,-0.27672913670539856,-8.64084005355835,0,0,-0.012142959841408243],[34.013954162597656,-0.27672913670539856,-10.64084005355835,0,0,-0.012142959841408243],[34.013954162597656,-0.27672913670539856,-12.64084005355835,0,0,-0.012142959841408243],[34.013954162597656,-0.27672913670539856,-12.64084005355835,0,0,0.24965642795774118],[34.013954162597656,-0.27672913670539856,-12.64084005355835,0,0,0.5114558157568907],[34.013954162597656,-0.27672913670539856,-12.64084005355835,0,0,0.77325520355604],[34.013954162597656,-0.27672913670539856,-12.64084005355835,0,0,1.0350545913551894],[34.013954162597656,-0.27672913670539856,-12.64084005355835,0,0,1.296853979154339],[34.013954162597656,-0.27672913670539856,-12.64084005355835,0,0,1.5586533669534883],[34.013954162597656,-0.27672913670539856,-12.64084005355835,0,0,1.820452754752638],[34.013954162597656,-0.27672913670539856,-12.64084005355835,0,0,2.0822521425517877],[34.013954162597656,-0.27672913670539856,-12.64084005355835,0,0,2.3440515303509373],[34.013954162597656,-0.27672913670539856,-12.64084005355835,0,0,2.605850918150087],[34.013954162597656,-0.27672913670539856,-12.64084005355835,0,0,2.8676503059492364],[34.013954162597656,-0.27672913670539856,-12.64084005355835,0,0,3.129449693748386],[29.014322786752384,-0.2160158295684651,-12.64084005355835,0,0,3.129449693748386],[24.014691410907112,-0.15530252243153164,-12.64084005355835,0,0,3.129449693748386],[19.01506003506184,-0.09458921529459818,-12.64084005355835,0,0,3.129449693748386],[19.01506003506184,-0.09458921529459818,-12.64084005355835,0,0,-2.891936225632051],[14.170073207029546,-1.329944482492489,-12.64084005355835,0,0,-2.891936225632051],[15.405428474227438,-6.174931310524782,-12.64084005355835,0,0,-2.891936225632051],[10.560441646195144,-7.4102865777226725,-12.64084005355835,0,0,-2.891936225632051],[5.715454818162851,-8.645641844920563,-12.64084005355835,0,0,-2.891936225632051],[0.8704679901305568,-9.880997112118454,-12.64084005355835,0,0,-2.891936225632051],[-3.974518837901737,-11.116352379316345,-12.64084005355835,0,0,-2.891936225632051],[-8.819505665934031,-12.351707646514235,-12.64084005355835,0,0,-2.891936225632051],[-13.664492493966325,-13.587062913712126,-12.64084005355835,0,0,-2.891936225632051],[-18.50947932199862,-14.822418180910017,-12.64084005355835,0,0,-2.891936225632051],[-19.74483458919651,-9.977431352877723,-12.64084005355835,0,0,-2.891936225632051],[-24.589821417228805,-11.212786620075613,-12.64084005355835,0,0,-2.891936225632051],[-29.4348082452611,-12.448141887273504,-12.64084005355835,0,0,-2.891936225632051],[-29.4348082452611,-12.448141887273504,-10.64084005355835,0,0,-2.891936225632051],[-34.27979507329339,-13.683497154471395,-10.64084005355835,0,0,-2.891936225632051],[-34.27979507329339,-13.683497154471395,-10.64084005355835,0,0,3.129449693748386],[-34.27979507329339,-13.683497154471395,-10.64084005355835,0,0,2.8676503059492364],[-34.27979507329339,-13.683497154471395,-10.64084005355835,0,0,2.6058509181500873],[-34.27979507329339,-13.683497154471395,-10.64084005355835,0,0,2.3440515303509377],[-34.27979507329339,-13.683497154471395,-10.64084005355835,0,0,2.0822521425517886],[-36.72703149488768,-9.323332719863178,-10.64084005355835,0,0,2.0822521425517886],[-39.174267916481966,-4.963168285254961,-10.64084005355835,0,0,2.0822521425517886],[-39.174267916481966,-4.963168285254961,-8.64084005355835,0,0,2.0822521425517886],[-39.174267916481966,-4.963168285254961,-6.64084005355835,0,0,2.0822521425517886],[-39.174267916481966,-4.963168285254961,-4.64084005355835,0,0,2.0822521425517886],[-41.62150433807625,-0.6030038506467434,-4.64084005355835,0,0,2.0822521425517886],[-41.62150433807625,-0.6030038506467434,-2.6408400535583496,0,0,2.0822521425517886],[-41.62150433807625,-0.6030038506467434,-0.6408400535583496,0,0,2.0822521425517886]],"actions":[4,4,4,4,4,3,3,3,3,3,3,3,3,3,3,3,3,1,1,1,3,1,7,1,1,1,1,1,1,1,6,1,1,5,1,2,2,2,2,2,1,1,5,5,5,1,5,5,0]},
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+{"episode_id":"3QY7M81QHGK0T2Q824FOTRDIH9GK7Q","trajectory_id":"3UL5XDRDOKHYPDDVFJYMGJV71CM85K","scene_id":8,"start_position":[-37.49095153808594,-60.46055221557617,-1.2272210121154785],"start_rotation":[0.9999714541838816,0.0,0.0,0.007555846568940373],"instruction":{"instruction_text":"Take off to the height of the wooden houses ahead, turn right to face the wooden house on the right side of the road, fly forward across the building to the large tree on the roof ahead. Fly across the tree by the right side, fly over the roof with the blue tarps to above the dirt road. Land on the dirt path."},"goals":[{"position":[-13.772149450458542,-16.322439122406536,-1.2272210121154785]}],"reference_path":[[-37.49095153808594,-60.46055221557617,-1.2272210121154785,0,0,0.015111836931393813],[-37.49095153808594,-60.46055221557617,-3.2272210121154785,0,0,0.015111836931393813],[-37.49095153808594,-60.46055221557617,-3.2272210121154785,0,0,0.27691122473054325],[-37.49095153808594,-60.46055221557617,-3.2272210121154785,0,0,0.5387106125296928],[-37.49095153808594,-60.46055221557617,-5.2272210121154785,0,0,0.5387106125296928],[-37.49095153808594,-60.46055221557617,-5.2272210121154785,0,0,0.8005100003288421],[-34.0092477035162,-56.8719956243626,-5.2272210121154785,0,0,0.8005100003288421],[-30.527543868946466,-53.28343903314902,-5.2272210121154785,0,0,0.8005100003288421],[-30.527543868946466,-53.28343903314902,-7.2272210121154785,0,0,0.8005100003288421],[-27.04584003437673,-49.69488244193545,-7.2272210121154785,0,0,0.8005100003288421],[-23.564136199806995,-46.10632585072187,-7.2272210121154785,0,0,0.8005100003288421],[-23.564136199806995,-46.10632585072187,-9.227221012115479,0,0,0.8005100003288421],[-20.08243236523726,-42.5177692595083,-9.227221012115479,0,0,0.8005100003288421],[-16.600728530667524,-38.929212668294724,-9.227221012115479,0,0,0.8005100003288421],[-20.189285121881102,-35.44750883372499,-9.227221012115479,0,0,0.8005100003288421],[-16.707581287311367,-31.858952242511414,-9.227221012115479,0,0,0.8005100003288421],[-16.707581287311367,-31.858952242511414,-9.227221012115479,0,0,1.0623093881279915],[-14.273300424245033,-27.491541490165233,-9.227221012115479,0,0,1.0623093881279915],[-11.839019561178699,-23.12413073781905,-9.227221012115479,0,0,1.0623093881279915],[-16.206430313524876,-20.689849874752717,-9.227221012115479,0,0,1.0623093881279915],[-13.772149450458542,-16.322439122406536,-9.227221012115479,0,0,1.0623093881279915],[-13.772149450458542,-16.322439122406536,-7.2272210121154785,0,0,1.0623093881279915],[-13.772149450458542,-16.322439122406536,-5.2272210121154785,0,0,1.0623093881279915],[-13.772149450458542,-16.322439122406536,-3.2272210121154785,0,0,1.0623093881279915],[-13.772149450458542,-16.322439122406536,-1.2272210121154785,0,0,1.0623093881279915]],"actions":[4,3,3,4,3,1,1,4,1,1,4,1,1,7,1,3,1,1,7,1,5,5,5,5,0]},
+{"episode_id":"3RANCT1ZVOF1YAYA9ZV64G8DNLVBU3","trajectory_id":"3JYPJ2TAZQ6BX2517CD6OHHAJKMFPS","scene_id":8,"start_position":[-17.348716735839844,-41.651817321777344,-1.1202901601791382],"start_rotation":[0.9996843829432123,0.0,0.0,-0.025122390400774346],"instruction":{"instruction_text":"Take off to the height above the roof of the building ahead. Turn right to face the dirt road between the buildings. Fly forward to the large tree on the right of the dirt road. Turn right 90 degrees , then fly forward across the roof ahead until you are in front of a building complex with a tree on its roof. Turn left slightly to face the tall building on the right side of the road and fly forward to the front of the roof with the blue tarp on the right side of the dirt road. Fly down to ground level, make a sharp turn to right to face the road, then make a sharp turn to left to face the tall building with clothes hanging on it."},"goals":[{"position":[-39.28504936829399,6.325987433255915,-1.1202901601791382]}],"reference_path":[[-17.348716735839844,-41.651817321777344,-1.1202901601791382,0,0,-0.050250067505596144],[-17.348716735839844,-41.651817321777344,-3.120290160179138,0,0,-0.050250067505596144],[-17.348716735839844,-41.651817321777344,-5.120290160179138,0,0,-0.050250067505596144],[-17.348716735839844,-41.651817321777344,-7.120290160179138,0,0,-0.050250067505596144],[-17.348716735839844,-41.651817321777344,-7.120290160179138,0,0,0.21154932029355328],[-17.348716735839844,-41.651817321777344,-7.120290160179138,0,0,0.47334870809270263],[-17.348716735839844,-41.651817321777344,-7.120290160179138,0,0,0.735148095891852],[-17.348716735839844,-41.651817321777344,-7.120290160179138,0,0,0.9969474836910015],[-17.348716735839844,-41.651817321777344,-7.120290160179138,0,0,1.2587468714901509],[-15.813667938339012,-36.89328549049878,-7.120290160179138,0,0,1.2587468714901509],[-14.278619140838181,-32.13475365922022,-7.120290160179138,0,0,1.2587468714901509],[-14.278619140838181,-32.13475365922022,-7.120290160179138,0,0,1.5205462592893004],[-14.027474527379615,-27.141065004214713,-7.120290160179138,0,0,1.5205462592893004],[-14.027474527379615,-27.141065004214713,-7.120290160179138,0,0,1.7823456470884498],[-15.077349188334418,-22.25253115486018,-7.120290160179138,0,0,1.7823456470884498],[-16.127223849289223,-17.36399730550565,-7.120290160179138,0,0,1.7823456470884498],[-16.127223849289223,-17.36399730550565,-7.120290160179138,0,0,2.0441450348875994],[-16.127223849289223,-17.36399730550565,-7.120290160179138,0,0,2.305944422686749],[-16.127223849289223,-17.36399730550565,-7.120290160179138,0,0,2.5677438104858985],[-16.127223849289223,-17.36399730550565,-7.120290160179138,0,0,2.8295431982850476],[-20.88575568056778,-15.828948508004817,-7.120290160179138,0,0,2.8295431982850476],[-25.644287511846336,-14.293899710503986,-7.120290160179138,0,0,2.8295431982850476],[-30.402819343124893,-12.758850913003155,-7.120290160179138,0,0,2.8295431982850476],[-35.16135117440345,-11.223802115502323,-7.120290160179138,0,0,2.8295431982850476],[-35.16135117440345,-11.223802115502323,-7.120290160179138,0,0,2.5677438104858985],[-35.16135117440345,-11.223802115502323,-7.120290160179138,0,0,2.305944422686749],[-35.16135117440345,-11.223802115502323,-7.120290160179138,0,0,2.0441450348875994],[-37.44069788662746,-6.773568574948122,-7.120290160179138,0,0,2.0441450348875994],[-39.72004459885147,-2.3233350343939208,-7.120290160179138,0,0,2.0441450348875994],[-41.999391311075485,2.1268985061602805,-7.120290160179138,0,0,2.0441450348875994],[-41.999391311075485,2.1268985061602805,-5.120290160179138,0,0,2.0441450348875994],[-41.999391311075485,2.1268985061602805,-3.120290160179138,0,0,2.0441450348875994],[-41.999391311075485,2.1268985061602805,-1.1202901601791382,0,0,2.0441450348875994],[-41.999391311075485,2.1268985061602805,-1.1202901601791382,0,0,2.305944422686749],[-41.999391311075485,2.1268985061602805,-1.1202901601791382,0,0,2.5677438104858985],[-39.28504936829399,6.325987433255915,-1.1202901601791382,0,0,2.5677438104858985],[-39.28504936829399,6.325987433255915,-1.1202901601791382,0,0,2.8295431982850476],[-39.28504936829399,6.325987433255915,-1.1202901601791382,0,0,3.091342586084197],[-39.28504936829399,6.325987433255915,-1.1202901601791382,0,0,-2.93004333329624],[-39.28504936829399,6.325987433255915,-1.1202901601791382,0,0,-2.6682439454970903],[-39.28504936829399,6.325987433255915,-1.1202901601791382,0,0,-2.4064445576979407],[-39.28504936829399,6.325987433255915,-1.1202901601791382,0,0,-2.1446451698987916],[-39.28504936829399,6.325987433255915,-1.1202901601791382,0,0,-2.406444557697941],[-39.28504936829399,6.325987433255915,-1.1202901601791382,0,0,-2.6682439454970908],[-39.28504936829399,6.325987433255915,-1.1202901601791382,0,0,-2.9300433332962403],[-39.28504936829399,6.325987433255915,-1.1202901601791382,0,0,3.0913425860841968],[-39.28504936829399,6.325987433255915,-1.1202901601791382,0,0,2.8295431982850476],[-39.28504936829399,6.325987433255915,-1.1202901601791382,0,0,2.5677438104858985],[-39.28504936829399,6.325987433255915,-1.1202901601791382,0,0,2.305944422686749]],"actions":[4,4,4,3,3,3,3,3,1,1,3,1,3,1,1,3,3,3,3,1,1,1,1,2,2,2,1,1,1,5,5,5,3,3,6,3,3,3,3,3,3,2,2,2,2,2,2,2,0]},
+{"episode_id":"384PI804X1ZKZA3WME3H5YU696S0SB","trajectory_id":"33J5JKFMLEW1H2QNNURTNDINLI73QM","scene_id":8,"start_position":[34.013954162597656,-0.27672913670539856,-2.6408400535583496],"start_rotation":[0.9999856986418684,0.0,0.0,-0.0053481316115411275],"instruction":{"instruction_text":"Take off to the height above the roofs on both sides, turn back to face the tree and fly forward until above the dirt road. Fly forward across the building with the blue tarp roof to the front of a building with rusty roof, then move right to face the dirt road. Fly forward to the left of the nearest tree ahead, then turn right to face the short blue tarf roof, fly forward by the right side of a tall building ahead, then fly forward to the nearest tree of the woods ahead, and land there."},"goals":[{"position":[-34.90303887719605,-52.58528656281334,-2.6408400535583496]}],"reference_path":[[34.013954162597656,-0.27672913670539856,-2.6408400535583496,0,0,-0.010696314213737623],[34.013954162597656,-0.27672913670539856,-4.64084005355835,0,0,-0.010696314213737623],[34.013954162597656,-0.27672913670539856,-6.64084005355835,0,0,-0.010696314213737623],[34.013954162597656,-0.27672913670539856,-8.64084005355835,0,0,-0.010696314213737623],[34.013954162597656,-0.27672913670539856,-10.64084005355835,0,0,-0.010696314213737623],[34.013954162597656,-0.27672913670539856,-10.64084005355835,0,0,0.2511030735854118],[34.013954162597656,-0.27672913670539856,-10.64084005355835,0,0,0.5129024613845612],[34.013954162597656,-0.27672913670539856,-10.64084005355835,0,0,0.7747018491837107],[34.013954162597656,-0.27672913670539856,-10.64084005355835,0,0,1.0365012369828601],[34.013954162597656,-0.27672913670539856,-10.64084005355835,0,0,1.2983006247820095],[34.013954162597656,-0.27672913670539856,-10.64084005355835,0,0,1.5601000125811588],[34.013954162597656,-0.27672913670539856,-10.64084005355835,0,0,1.8218994003803084],[34.013954162597656,-0.27672913670539856,-10.64084005355835,0,0,2.0836987881794578],[34.013954162597656,-0.27672913670539856,-10.64084005355835,0,0,2.3454981759786073],[34.013954162597656,-0.27672913670539856,-10.64084005355835,0,0,2.607297563777757],[34.013954162597656,-0.27672913670539856,-10.64084005355835,0,0,2.8690969515769065],[29.198443095408784,1.0689503057256258,-10.64084005355835,0,0,2.8690969515769065],[24.382932028219912,2.41462974815665,-10.64084005355835,0,0,2.8690969515769065],[24.382932028219912,2.41462974815665,-12.64084005355835,0,0,2.8690969515769065],[19.56742096103104,3.7603091905876744,-12.64084005355835,0,0,2.8690969515769065],[19.56742096103104,3.7603091905876744,-14.64084005355835,0,0,2.8690969515769065],[14.751909893842166,5.105988633018699,-14.64084005355835,0,0,2.8690969515769065],[14.751909893842166,5.105988633018699,-14.64084005355835,0,0,3.130896339376056],[9.75219591895951,5.159469184278652,-14.64084005355835,0,0,3.130896339376056],[4.7524819440768535,5.212949735538606,-14.64084005355835,0,0,3.130896339376056],[-0.2472320308058027,5.26643028679856,-14.64084005355835,0,0,3.130896339376056],[-0.300712582065757,0.2667163119159035,-14.64084005355835,0,0,3.130896339376056],[-5.3004265569484135,0.3201968631758575,-14.64084005355835,0,0,3.130896339376056],[-5.3004265569484135,0.3201968631758575,-14.64084005355835,0,0,-2.890489580004381],[-10.143621194554603,-0.9221660879228338,-14.64084005355835,0,0,-2.890489580004381],[-8.90125824345591,-5.765360725529023,-14.64084005355835,0,0,-2.890489580004381],[-8.90125824345591,-5.765360725529023,-12.64084005355835,0,0,-2.890489580004381],[-13.744452881062099,-7.007723676627714,-12.64084005355835,0,0,-2.890489580004381],[-13.744452881062099,-7.007723676627714,-12.64084005355835,0,0,-2.6286901922052315],[-13.744452881062099,-7.007723676627714,-12.64084005355835,0,0,-2.366890804406082],[-13.744452881062099,-7.007723676627714,-12.64084005355835,0,0,-2.1050914166069323],[-16.290625384502942,-11.310862714902191,-12.64084005355835,0,0,-2.1050914166069323],[-18.836797887943785,-15.614001753176668,-12.64084005355835,0,0,-2.1050914166069323],[-21.382970391384628,-19.917140791451146,-12.64084005355835,0,0,-2.1050914166069323],[-23.92914289482547,-24.220279829725623,-12.64084005355835,0,0,-2.1050914166069323],[-26.475315398266314,-28.5234188680001,-12.64084005355835,0,0,-2.1050914166069323],[-29.021487901707157,-32.82655790627457,-12.64084005355835,0,0,-2.1050914166069323],[-31.567660405148,-37.12969694454905,-12.64084005355835,0,0,-2.1050914166069323],[-34.11383290858884,-41.43283598282353,-12.64084005355835,0,0,-2.1050914166069323],[-34.11383290858884,-41.43283598282353,-10.64084005355835,0,0,-2.1050914166069323],[-34.11383290858884,-41.43283598282353,-8.64084005355835,0,0,-2.1050914166069323],[-36.66000541202968,-45.735975021098014,-8.64084005355835,0,0,-2.1050914166069323],[-36.66000541202968,-45.735975021098014,-6.64084005355835,0,0,-2.1050914166069323],[-36.66000541202968,-45.735975021098014,-4.64084005355835,0,0,-2.1050914166069323],[-39.206177915470526,-50.039114059372494,-4.64084005355835,0,0,-2.1050914166069323],[-34.90303887719605,-52.58528656281334,-4.64084005355835,0,0,-2.1050914166069323],[-34.90303887719605,-52.58528656281334,-2.6408400535583496,0,0,-2.1050914166069323]],"actions":[4,4,4,4,3,3,3,3,3,3,3,3,3,3,3,1,1,4,1,4,1,3,1,1,1,7,1,3,1,7,5,1,3,3,3,1,1,1,1,1,1,1,1,5,5,1,5,5,1,7,5,0]},
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+{"episode_id":"3SUWZRL0M7BE32KTN8ZTPI0IK5KE6D","trajectory_id":"3XUSYT70J1ZBB1NLZL3QLGDHZLH0DQ","scene_id":8,"start_position":[-37.49095153808594,-60.46055221557617,-1.2272210121154785],"start_rotation":[0.9999714541838816,0.0,0.0,0.007555846568940373],"instruction":{"instruction_text":"Take off to the height of the wooden houses ahead, turn right to face the wooden house on the right side of the road, fly forward across the building to the large tree on the roof ahead. Fly across the tree and the building ahead with blue tarps on the roof to the top of the dirt path. Land on the dirt ground."},"goals":[{"position":[-13.772149450458542,-16.322439122406536,-1.2272210121154785]}],"reference_path":[[-37.49095153808594,-60.46055221557617,-1.2272210121154785,0,0,0.015111836931393813],[-37.49095153808594,-60.46055221557617,-3.2272210121154785,0,0,0.015111836931393813],[-37.49095153808594,-60.46055221557617,-3.2272210121154785,0,0,0.27691122473054325],[-37.49095153808594,-60.46055221557617,-3.2272210121154785,0,0,0.5387106125296928],[-37.49095153808594,-60.46055221557617,-5.2272210121154785,0,0,0.5387106125296928],[-37.49095153808594,-60.46055221557617,-5.2272210121154785,0,0,0.8005100003288421],[-34.0092477035162,-56.8719956243626,-5.2272210121154785,0,0,0.8005100003288421],[-30.527543868946466,-53.28343903314902,-5.2272210121154785,0,0,0.8005100003288421],[-30.527543868946466,-53.28343903314902,-7.2272210121154785,0,0,0.8005100003288421],[-27.04584003437673,-49.69488244193545,-7.2272210121154785,0,0,0.8005100003288421],[-23.564136199806995,-46.10632585072187,-7.2272210121154785,0,0,0.8005100003288421],[-23.564136199806995,-46.10632585072187,-9.227221012115479,0,0,0.8005100003288421],[-20.08243236523726,-42.5177692595083,-9.227221012115479,0,0,0.8005100003288421],[-16.600728530667524,-38.929212668294724,-9.227221012115479,0,0,0.8005100003288421],[-20.189285121881102,-35.44750883372499,-9.227221012115479,0,0,0.8005100003288421],[-16.707581287311367,-31.858952242511414,-9.227221012115479,0,0,0.8005100003288421],[-16.707581287311367,-31.858952242511414,-9.227221012115479,0,0,1.0623093881279915],[-14.273300424245033,-27.491541490165233,-9.227221012115479,0,0,1.0623093881279915],[-11.839019561178699,-23.12413073781905,-9.227221012115479,0,0,1.0623093881279915],[-16.206430313524876,-20.689849874752717,-9.227221012115479,0,0,1.0623093881279915],[-13.772149450458542,-16.322439122406536,-9.227221012115479,0,0,1.0623093881279915],[-13.772149450458542,-16.322439122406536,-7.2272210121154785,0,0,1.0623093881279915],[-13.772149450458542,-16.322439122406536,-5.2272210121154785,0,0,1.0623093881279915],[-13.772149450458542,-16.322439122406536,-3.2272210121154785,0,0,1.0623093881279915],[-13.772149450458542,-16.322439122406536,-1.2272210121154785,0,0,1.0623093881279915]],"actions":[4,3,3,4,3,1,1,4,1,1,4,1,1,7,1,3,1,1,7,1,5,5,5,5,0]},
+{"episode_id":"3CCZ6YKWRGH1P2TYAE925YL7YNB59H","trajectory_id":"3YGE63DIOGVAK7NCGG8GD422673W0N","scene_id":8,"start_position":[34.013954162597656,-0.27672913670539856,-2.6408400535583496],"start_rotation":[0.999957874651751,0.0,0.0,-0.009178721150197272],"instruction":{"instruction_text":"Take off to the height above the roofs of the buildings on both sides. Turn back to face the utility pole and fly forward to the dirt road. Slightly turn right to face the dirt road and fly forward along the road until reach the second dirt T-junction. Turn left to face the tall building with clothes hanging on it and fly to the left side of that building. Land on the ground."},"goals":[{"position":[-36.30079160872258,13.17081811603194,-2.6408400535583496]}],"reference_path":[[34.013954162597656,-0.27672913670539856,-2.6408400535583496,0,0,-0.018357700075954726],[34.013954162597656,-0.27672913670539856,-4.64084005355835,0,0,-0.018357700075954726],[34.013954162597656,-0.27672913670539856,-6.64084005355835,0,0,-0.018357700075954726],[34.013954162597656,-0.27672913670539856,-8.64084005355835,0,0,-0.018357700075954726],[34.013954162597656,-0.27672913670539856,-10.64084005355835,0,0,-0.018357700075954726],[34.013954162597656,-0.27672913670539856,-12.64084005355835,0,0,-0.018357700075954726],[34.013954162597656,-0.27672913670539856,-12.64084005355835,0,0,-0.2801570878751042],[34.013954162597656,-0.27672913670539856,-12.64084005355835,0,0,-0.5419564756742536],[34.013954162597656,-0.27672913670539856,-12.64084005355835,0,0,-0.8037558634734031],[34.013954162597656,-0.27672913670539856,-12.64084005355835,0,0,-1.0655552512725526],[34.013954162597656,-0.27672913670539856,-12.64084005355835,0,0,-1.327354639071702],[34.013954162597656,-0.27672913670539856,-12.64084005355835,0,0,-1.5891540268708513],[34.013954162597656,-0.27672913670539856,-12.64084005355835,0,0,-1.8509534146700009],[34.013954162597656,-0.27672913670539856,-12.64084005355835,0,0,-2.11275280246915],[34.013954162597656,-0.27672913670539856,-12.64084005355835,0,0,-2.3745521902683],[34.013954162597656,-0.27672913670539856,-12.64084005355835,0,0,-2.636351578067449],[34.013954162597656,-0.27672913670539856,-12.64084005355835,0,0,-2.8981509658665985],[29.161383535555768,-1.4819504066680131,-12.64084005355835,0,0,-2.8981509658665985],[24.30881290851388,-2.6871716766306277,-12.64084005355835,0,0,-2.8981509658665985],[19.45624228147199,-3.892392946593242,-12.64084005355835,0,0,-2.8981509658665985],[14.603671654430102,-5.097614216555857,-12.64084005355835,0,0,-2.8981509658665985],[9.751101027388213,-6.302835486518472,-12.64084005355835,0,0,-2.8981509658665985],[4.898530400346325,-7.5080567564810865,-12.64084005355835,0,0,-2.8981509658665985],[0.045959773304437235,-8.713278026443701,-12.64084005355835,0,0,-2.8981509658665985],[-4.806610853737451,-9.918499296406315,-12.64084005355835,0,0,-2.8981509658665985],[-9.659181480779338,-11.12372056636893,-12.64084005355835,0,0,-2.8981509658665985],[-14.511752107821227,-12.328941836331543,-12.64084005355835,0,0,-2.8981509658665985],[-19.364322734863116,-13.534163106294157,-12.64084005355835,0,0,-2.8981509658665985],[-24.216893361905004,-14.739384376256771,-12.64084005355835,0,0,-2.8981509658665985],[-25.42211463186762,-9.886813749214882,-12.64084005355835,0,0,-2.8981509658665985],[-30.274685258909507,-11.092035019177496,-12.64084005355835,0,0,-2.8981509658665985],[-30.274685258909507,-11.092035019177496,-10.64084005355835,0,0,-2.8981509658665985],[-35.12725588595139,-12.29725628914011,-10.64084005355835,0,0,-2.8981509658665985],[-35.12725588595139,-12.29725628914011,-10.64084005355835,0,0,3.1232349535138386],[-35.12725588595139,-12.29725628914011,-10.64084005355835,0,0,2.8614355657146895],[-35.12725588595139,-12.29725628914011,-10.64084005355835,0,0,2.5996361779155404],[-35.12725588595139,-12.29725628914011,-10.64084005355835,0,0,2.337836790116391],[-35.12725588595139,-12.29725628914011,-10.64084005355835,0,0,2.076037402317241],[-35.12725588595139,-12.29725628914011,-10.64084005355835,0,0,1.8142380145180919],[-36.332477155914006,-7.444685662098223,-10.64084005355835,0,0,1.8142380145180919],[-37.53769842587662,-2.5921150350563362,-10.64084005355835,0,0,1.8142380145180919],[-38.742919695839234,2.2604555919855507,-10.64084005355835,0,0,1.8142380145180919],[-39.94814096580185,7.113026219027438,-10.64084005355835,0,0,1.8142380145180919],[-35.09557033875996,8.318247488990053,-10.64084005355835,0,0,1.8142380145180919],[-36.30079160872258,13.17081811603194,-10.64084005355835,0,0,1.8142380145180919],[-36.30079160872258,13.17081811603194,-8.64084005355835,0,0,1.8142380145180919],[-36.30079160872258,13.17081811603194,-6.64084005355835,0,0,1.8142380145180919],[-36.30079160872258,13.17081811603194,-4.64084005355835,0,0,1.8142380145180919],[-36.30079160872258,13.17081811603194,-2.6408400535583496,0,0,1.8142380145180919]],"actions":[4,4,4,4,4,2,2,2,2,2,2,2,2,2,2,2,1,1,1,1,1,1,1,1,1,1,1,1,6,1,5,1,2,2,2,2,2,2,1,1,1,1,6,1,5,5,5,5,0]},
+{"episode_id":"3DL65MZB8MD3JJTUXZCWBISSK6MCES","trajectory_id":"3M4KL7H8L3LCXHTOLHZCTFMZNEV167","scene_id":8,"start_position":[-37.49095153808594,-60.46055221557617,-1.2272210121154785],"start_rotation":[0.9999714541838816,0.0,0.0,0.007555846568940373],"instruction":{"instruction_text":"Take off to the height of the wooden house ahead, turn right to face the wooden house on the right side of the road, fly forward to that house. Fly across the broken roof of the house. Fly to the big tree ahead, then fly across the shortest house with the ladder towards the power lines behind the utility pole. Land on the ground."},"goals":[{"position":[-13.772149450458542,-16.322439122406536,-1.2272210121154785]}],"reference_path":[[-37.49095153808594,-60.46055221557617,-1.2272210121154785,0,0,0.015111836931393813],[-37.49095153808594,-60.46055221557617,-3.2272210121154785,0,0,0.015111836931393813],[-37.49095153808594,-60.46055221557617,-3.2272210121154785,0,0,0.27691122473054325],[-37.49095153808594,-60.46055221557617,-3.2272210121154785,0,0,0.5387106125296928],[-37.49095153808594,-60.46055221557617,-5.2272210121154785,0,0,0.5387106125296928],[-37.49095153808594,-60.46055221557617,-5.2272210121154785,0,0,0.8005100003288421],[-34.0092477035162,-56.8719956243626,-5.2272210121154785,0,0,0.8005100003288421],[-30.527543868946466,-53.28343903314902,-5.2272210121154785,0,0,0.8005100003288421],[-30.527543868946466,-53.28343903314902,-7.2272210121154785,0,0,0.8005100003288421],[-27.04584003437673,-49.69488244193545,-7.2272210121154785,0,0,0.8005100003288421],[-23.564136199806995,-46.10632585072187,-7.2272210121154785,0,0,0.8005100003288421],[-23.564136199806995,-46.10632585072187,-9.227221012115479,0,0,0.8005100003288421],[-20.08243236523726,-42.5177692595083,-9.227221012115479,0,0,0.8005100003288421],[-16.600728530667524,-38.929212668294724,-9.227221012115479,0,0,0.8005100003288421],[-20.189285121881102,-35.44750883372499,-9.227221012115479,0,0,0.8005100003288421],[-16.707581287311367,-31.858952242511414,-9.227221012115479,0,0,0.8005100003288421],[-16.707581287311367,-31.858952242511414,-9.227221012115479,0,0,1.0623093881279915],[-14.273300424245033,-27.491541490165233,-9.227221012115479,0,0,1.0623093881279915],[-11.839019561178699,-23.12413073781905,-9.227221012115479,0,0,1.0623093881279915],[-16.206430313524876,-20.689849874752717,-9.227221012115479,0,0,1.0623093881279915],[-13.772149450458542,-16.322439122406536,-9.227221012115479,0,0,1.0623093881279915],[-13.772149450458542,-16.322439122406536,-7.2272210121154785,0,0,1.0623093881279915],[-13.772149450458542,-16.322439122406536,-5.2272210121154785,0,0,1.0623093881279915],[-13.772149450458542,-16.322439122406536,-3.2272210121154785,0,0,1.0623093881279915],[-13.772149450458542,-16.322439122406536,-1.2272210121154785,0,0,1.0623093881279915]],"actions":[4,3,3,4,3,1,1,4,1,1,4,1,1,7,1,3,1,1,7,1,5,5,5,5,0]},
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+{"episode_id":"3F6KKYWMNKZHIHCLQUAQLB4JGW3DNF","trajectory_id":"37VUR2VJ7IN1DY2PV8CFFFE9JJS1CN","scene_id":8,"start_position":[-17.348716735839844,-41.651817321777344,-1.1202901601791382],"start_rotation":[0.9998490137542805,0.0,0.0,0.01737669976124843],"instruction":{"instruction_text":"Take off to the height above the blue tarp roof in front. Turn right to face the dirt road and the rusted roof building. Fly forward across the roofs to the dirt road. Fly down to the height above the blue tarp roof. Turn right to directly face the short roof building while tall tusty roof building on the right. Turn left to face the short building behind the dirt road and fly forward towards the building. Turn right to face the dirt road and fly forward to the end of the road. Fly down to the ground."},"goals":[{"position":[-32.42658472072895,16.67418024160023,-3.120290160179138]}],"reference_path":[[-17.348716735839844,-41.651817321777344,-1.1202901601791382,0,0,0.03475514872324605],[-17.348716735839844,-41.651817321777344,-3.120290160179138,0,0,0.03475514872324605],[-17.348716735839844,-41.651817321777344,-5.120290160179138,0,0,0.03475514872324605],[-17.348716735839844,-41.651817321777344,-7.120290160179138,0,0,0.03475514872324605],[-17.348716735839844,-41.651817321777344,-7.120290160179138,0,0,0.2965545365223955],[-17.348716735839844,-41.651817321777344,-7.120290160179138,0,0,0.558353924321545],[-17.348716735839844,-41.651817321777344,-7.120290160179138,0,0,0.8201533121206944],[-17.348716735839844,-41.651817321777344,-7.120290160179138,0,0,1.0819526999198439],[-17.348716735839844,-41.651817321777344,-7.120290160179138,0,0,1.3437520877189932],[-17.348716735839844,-41.651817321777344,-7.120290160179138,0,0,1.6055514755181426],[-17.348716735839844,-41.651817321777344,-7.120290160179138,0,0,1.867350863317292],[-17.348716735839844,-41.651817321777344,-9.120290160179138,0,0,1.867350863317292],[-18.80985114634478,-36.87007221831999,-9.120290160179138,0,0,1.867350863317292],[-18.80985114634478,-36.87007221831999,-11.120290160179138,0,0,1.867350863317292],[-20.270985556849716,-32.088327114862636,-11.120290160179138,0,0,1.867350863317292],[-20.270985556849716,-32.088327114862636,-13.120290160179138,0,0,1.867350863317292],[-21.732119967354652,-27.306582011405283,-13.120290160179138,0,0,1.867350863317292],[-23.19325437785959,-22.52483690794793,-13.120290160179138,0,0,1.867350863317292],[-24.654388788364525,-17.743091804490575,-13.120290160179138,0,0,1.867350863317292],[-24.654388788364525,-17.743091804490575,-11.120290160179138,0,0,1.867350863317292],[-24.654388788364525,-17.743091804490575,-11.120290160179138,0,0,2.1291502511164415],[-28.895030465631955,-20.392045968877433,-11.120290160179138,0,0,2.1291502511164415],[-28.895030465631955,-20.392045968877433,-11.120290160179138,0,0,2.3909496389155906],[-28.895030465631955,-20.392045968877433,-11.120290160179138,0,0,2.65274902671474],[-28.895030465631955,-20.392045968877433,-11.120290160179138,0,0,2.91454841451389],[-28.895030465631955,-20.392045968877433,-11.120290160179138,0,0,-3.106837504866547],[-28.895030465631955,-20.392045968877433,-11.120290160179138,0,0,-2.8450381170673973],[-33.67677556908931,-21.853180379382373,-11.120290160179138,0,0,-2.8450381170673973],[-35.13790997959425,-17.07143527592502,-11.120290160179138,0,0,-2.8450381170673973],[-39.9196550830516,-18.53256968642996,-11.120290160179138,0,0,-2.8450381170673973],[-44.701400186508955,-19.9937040969349,-11.120290160179138,0,0,-2.8450381170673973],[-44.701400186508955,-19.9937040969349,-11.120290160179138,0,0,-3.106837504866547],[-44.701400186508955,-19.9937040969349,-11.120290160179138,0,0,2.9145484145138902],[-44.701400186508955,-19.9937040969349,-11.120290160179138,0,0,2.652749026714741],[-44.701400186508955,-19.9937040969349,-11.120290160179138,0,0,2.3909496389155915],[-44.701400186508955,-19.9937040969349,-11.120290160179138,0,0,2.1291502511164424],[-44.701400186508955,-19.9937040969349,-11.120290160179138,0,0,1.867350863317293],[-44.701400186508955,-19.9937040969349,-11.120290160179138,0,0,1.6055514755181435],[-44.701400186508955,-19.9937040969349,-11.120290160179138,0,0,1.343752087718994],[-44.701400186508955,-19.9937040969349,-11.120290160179138,0,0,1.0819526999198446],[-44.701400186508955,-19.9937040969349,-11.120290160179138,0,0,0.8201533121206952],[-41.290854657745506,-16.33745202736534,-11.120290160179138,0,0,0.8201533121206952],[-37.880309128982056,-12.681199957795785,-11.120290160179138,0,0,0.8201533121206952],[-37.880309128982056,-12.681199957795785,-11.120290160179138,0,0,1.0819526999198446],[-37.880309128982056,-12.681199957795785,-11.120290160179138,0,0,1.343752087718994],[-36.754816095094256,-7.809520018527397,-11.120290160179138,0,0,1.343752087718994],[-35.629323061206456,-2.9378400792590096,-11.120290160179138,0,0,1.343752087718994],[-34.50383002731866,1.9338398600093782,-11.120290160179138,0,0,1.343752087718994],[-33.37833699343086,6.805519799277766,-11.120290160179138,0,0,1.343752087718994],[-32.25284395954306,11.677199738546154,-11.120290160179138,0,0,1.343752087718994],[-32.25284395954306,11.677199738546154,-11.120290160179138,0,0,1.6055514755181435],[-32.42658472072895,16.67418024160023,-11.120290160179138,0,0,1.6055514755181435],[-32.42658472072895,16.67418024160023,-9.120290160179138,0,0,1.6055514755181435],[-32.42658472072895,16.67418024160023,-7.120290160179138,0,0,1.6055514755181435],[-32.42658472072895,16.67418024160023,-5.120290160179138,0,0,1.6055514755181435],[-32.42658472072895,16.67418024160023,-3.120290160179138,0,0,1.6055514755181435]],"actions":[4,4,4,3,3,3,3,3,3,3,4,1,4,1,4,1,1,1,5,3,7,3,3,3,3,3,1,6,1,1,2,2,2,2,2,2,2,2,2,2,1,1,3,3,1,1,1,1,1,3,1,5,5,5,5,0]},
+{"episode_id":"3J4Q2Z4UT711UKP4NH7XHTO9SMCWQ8","trajectory_id":"3I4E7AFQ3SXPUWK47JDB8PAZ1MRJTR","scene_id":8,"start_position":[17.70567512512207,-11.971580505371094,-3.6551432609558105],"start_rotation":[0.9998650332375444,0.0,0.0,0.01642909945445267],"instruction":{"instruction_text":"Take off to the height above the roof, turn back to face the dirt road, and fly forward to the second utility pole. Turn left to face the building on the left with the blue tarp and a rusty roof, then fly forward across the building with the blue tarp roof and the building with the rusted roof, fly over the roof by its right side, and fly forward to the electric pole. Land in front of the two floor rusty building."},"goals":[{"position":[-30.85598541602421,8.193106897424173,-1.6551432609558105]}],"reference_path":[[17.70567512512207,-11.971580505371094,-3.6551432609558105,0,0,0.03285967724362502],[17.70567512512207,-11.971580505371094,-5.6551432609558105,0,0,0.03285967724362502],[17.70567512512207,-11.971580505371094,-7.6551432609558105,0,0,0.03285967724362502],[17.70567512512207,-11.971580505371094,-9.65514326095581,0,0,0.03285967724362502],[17.70567512512207,-11.971580505371094,-9.65514326095581,0,0,0.29465906504277445],[17.70567512512207,-11.971580505371094,-9.65514326095581,0,0,0.5564584528419239],[17.70567512512207,-11.971580505371094,-9.65514326095581,0,0,0.8182578406410733],[17.70567512512207,-11.971580505371094,-9.65514326095581,0,0,1.0800572284402228],[17.70567512512207,-11.971580505371094,-9.65514326095581,0,0,1.3418566162393721],[17.70567512512207,-11.971580505371094,-9.65514326095581,0,0,1.6036560040385215],[17.70567512512207,-11.971580505371094,-9.65514326095581,0,0,1.865455391837671],[17.70567512512207,-11.971580505371094,-9.65514326095581,0,0,2.1272547796368206],[17.70567512512207,-11.971580505371094,-9.65514326095581,0,0,2.38905416743597],[17.70567512512207,-11.971580505371094,-9.65514326095581,0,0,2.65085355523512],[17.70567512512207,-11.971580505371094,-9.65514326095581,0,0,2.9126529430342694],[17.70567512512207,-11.971580505371094,-9.65514326095581,0,0,-3.1087329763461673],[12.708374278210913,-12.135849326091991,-9.65514326095581,0,0,-3.1087329763461673],[7.711073431299756,-12.300118146812888,-9.65514326095581,0,0,-3.1087329763461673],[2.7137725843885985,-12.464386967533786,-9.65514326095581,0,0,-3.1087329763461673],[2.7137725843885985,-12.464386967533786,-9.65514326095581,0,0,-2.8469335885470177],[-2.0707334660600214,-13.916455097209713,-9.65514326095581,0,0,-2.8469335885470177],[-2.0707334660600214,-13.916455097209713,-9.65514326095581,0,0,-2.585134200747868],[-6.316388539478124,-16.557366492459302,-9.65514326095581,0,0,-2.585134200747868],[-6.316388539478124,-16.557366492459302,-9.65514326095581,0,0,-2.8469335885470177],[-6.316388539478124,-16.557366492459302,-9.65514326095581,0,0,-3.1087329763461673],[-6.316388539478124,-16.557366492459302,-9.65514326095581,0,0,2.91265294303427],[-6.316388539478124,-16.557366492459302,-9.65514326095581,0,0,2.6508535552351202],[-6.316388539478124,-16.557366492459302,-9.65514326095581,0,0,2.3890541674359707],[-6.316388539478124,-16.557366492459302,-9.65514326095581,0,0,2.127254779636821],[-8.95729993472771,-12.311711419041197,-9.65514326095581,0,0,2.127254779636821],[-8.95729993472771,-12.311711419041197,-9.65514326095581,0,0,2.38905416743597],[-12.607080848277127,-8.894241699630303,-9.65514326095581,0,0,2.38905416743597],[-16.256861761826542,-5.476771980219408,-9.65514326095581,0,0,2.38905416743597],[-19.90664267537596,-2.059302260808513,-9.65514326095581,0,0,2.38905416743597],[-23.556423588925377,1.3581674586023817,-9.65514326095581,0,0,2.38905416743597],[-27.206204502474794,4.775637178013277,-9.65514326095581,0,0,2.38905416743597],[-30.85598541602421,8.193106897424173,-9.65514326095581,0,0,2.38905416743597],[-30.85598541602421,8.193106897424173,-7.6551432609558105,0,0,2.38905416743597],[-30.85598541602421,8.193106897424173,-5.6551432609558105,0,0,2.38905416743597],[-30.85598541602421,8.193106897424173,-3.6551432609558105,0,0,2.38905416743597],[-30.85598541602421,8.193106897424173,-1.6551432609558105,0,0,2.38905416743597]],"actions":[4,4,4,3,3,3,3,3,3,3,3,3,3,3,3,1,1,1,3,1,3,1,2,2,2,2,2,2,1,3,1,1,1,1,1,1,5,5,5,5,0]},
+{"episode_id":"374TNBHA8KT5JPK42IPL2Q9P3VQQYH","trajectory_id":"39RRBHZ0B2ZU73TXU0GCX1MAH5KVZ4","scene_id":8,"start_position":[34.013954162597656,-0.27672913670539856,-2.6408400535583496],"start_rotation":[0.9998314870625155,0.0,0.0,-0.018357491069289526],"instruction":{"instruction_text":"Take off above the trees ahead, make a sharp left turn to face an utility pole near the dirt road, then fly to the pole. Fly forward along the dirt road until you reach a tree on the road. Fly forward to the dirt T-junction, then turn left to face the dirt road. Fly forward to the front of the three-story wooden building with many clothes hanging on it, then land in front of it."},"goals":[{"position":[-39.1565702094124,5.967924581640221,-2.6408400535583496]}],"reference_path":[[34.013954162597656,-0.27672913670539856,-2.6408400535583496,0,0,-0.03671704459409652],[34.013954162597656,-0.27672913670539856,-4.64084005355835,0,0,-0.03671704459409652],[34.013954162597656,-0.27672913670539856,-6.64084005355835,0,0,-0.03671704459409652],[34.013954162597656,-0.27672913670539856,-8.64084005355835,0,0,-0.03671704459409652],[34.013954162597656,-0.27672913670539856,-10.64084005355835,0,0,-0.03671704459409652],[34.013954162597656,-0.27672913670539856,-12.64084005355835,0,0,-0.03671704459409652],[34.013954162597656,-0.27672913670539856,-12.64084005355835,0,0,-0.29851643239324593],[34.013954162597656,-0.27672913670539856,-12.64084005355835,0,0,-0.5603158201923953],[34.013954162597656,-0.27672913670539856,-12.64084005355835,0,0,-0.8221152079915448],[34.013954162597656,-0.27672913670539856,-12.64084005355835,0,0,-1.0839145957906942],[34.013954162597656,-0.27672913670539856,-12.64084005355835,0,0,-1.3457139835898435],[34.013954162597656,-0.27672913670539856,-12.64084005355835,0,0,-1.6075133713889929],[34.013954162597656,-0.27672913670539856,-12.64084005355835,0,0,-1.8693127591881424],[34.013954162597656,-0.27672913670539856,-12.64084005355835,0,0,-2.131112146987292],[34.013954162597656,-0.27672913670539856,-12.64084005355835,0,0,-2.3929115347864416],[34.013954162597656,-0.27672913670539856,-12.64084005355835,0,0,-2.654710922585591],[29.59497363947544,-2.6160904034332457,-12.64084005355835,0,0,-2.654710922585591],[25.175993116353226,-4.955451670161093,-12.64084005355835,0,0,-2.654710922585591],[20.75701259323101,-7.29481293688894,-12.64084005355835,0,0,-2.654710922585591],[18.417651326503165,-2.875832413766725,-12.64084005355835,0,0,-2.654710922585591],[18.417651326503165,-2.875832413766725,-12.64084005355835,0,0,-2.9165103103847407],[18.417651326503165,-2.875832413766725,-14.64084005355835,0,0,-2.9165103103847407],[13.543772664146715,-3.9917655589983325,-14.64084005355835,0,0,-2.9165103103847407],[8.669894001790265,-5.10769870422994,-14.64084005355835,0,0,-2.9165103103847407],[3.796015339433816,-6.2236318494615475,-14.64084005355835,0,0,-2.9165103103847407],[-1.0778633229226333,-7.339564994693156,-14.64084005355835,0,0,-2.9165103103847407],[-5.9517419852790825,-8.455498139924764,-14.64084005355835,0,0,-2.9165103103847407],[-5.9517419852790825,-8.455498139924764,-12.64084005355835,0,0,-2.9165103103847407],[-10.825620647635532,-9.571431285156372,-12.64084005355835,0,0,-2.9165103103847407],[-10.825620647635532,-9.571431285156372,-10.64084005355835,0,0,-2.9165103103847407],[-10.825620647635532,-9.571431285156372,-10.64084005355835,0,0,3.104875608995696],[-15.82225067285194,-9.387887309210923,-10.64084005355835,0,0,3.104875608995696],[-20.818880698068348,-9.204343333265474,-10.64084005355835,0,0,3.104875608995696],[-25.815510723284756,-9.020799357320024,-10.64084005355835,0,0,3.104875608995696],[-30.812140748501164,-8.837255381374575,-10.64084005355835,0,0,3.104875608995696],[-35.808770773717576,-8.653711405429126,-10.64084005355835,0,0,3.104875608995696],[-35.808770773717576,-8.653711405429126,-10.64084005355835,0,0,2.843076221196547],[-35.808770773717576,-8.653711405429126,-10.64084005355835,0,0,2.581276833397397],[-35.808770773717576,-8.653711405429126,-10.64084005355835,0,0,2.3194774455982476],[-35.808770773717576,-8.653711405429126,-10.64084005355835,0,0,2.0576780577990985],[-35.808770773717576,-8.653711405429126,-10.64084005355835,0,0,1.7958786699999492],[-35.808770773717576,-8.653711405429126,-8.64084005355835,0,0,1.7958786699999492],[-36.924703918949184,-3.779832743072677,-8.64084005355835,0,0,1.7958786699999492],[-38.04063706418079,1.0940459192837722,-8.64084005355835,0,0,1.7958786699999492],[-38.04063706418079,1.0940459192837722,-6.64084005355835,0,0,1.7958786699999492],[-39.1565702094124,5.967924581640221,-6.64084005355835,0,0,1.7958786699999492],[-39.1565702094124,5.967924581640221,-4.64084005355835,0,0,1.7958786699999492],[-39.1565702094124,5.967924581640221,-2.6408400535583496,0,0,1.7958786699999492]],"actions":[4,4,4,4,4,2,2,2,2,2,2,2,2,2,2,1,1,1,6,2,4,1,1,1,1,1,5,1,5,2,1,1,1,1,1,2,2,2,2,2,5,1,1,5,1,5,5,0]},
+{"episode_id":"30BUDKLTXMTIKYKFIPPOXCMIPLOE5Z","trajectory_id":"37SOB9Z0T0VQQ5AAVPJX6RJTBCK3LX","scene_id":8,"start_position":[-20.612924575805664,59.93636703491211,-1.133882761001587],"start_rotation":[0.9999439571990019,0.0,0.0,-0.010586900452952165],"instruction":{"instruction_text":"Take off to the height of the roof of the building ahead. Turn left to face the leftmost tree in a row. Fly forward over the tall tree to the roof behind it. Turn left to face blue tarp roofs with wooden boards and fly forward over them. Fly forward along the roofs to the nearest tree. Turn right to face the blue tarp roof building left to the building with tusty roof. Fly forward to the blue tarps on the roofs. Turn left to face the hut with the flat roof in the woods, and fly forward to it. Land in front of the house."},"goals":[{"position":[-60.84730448693367,9.403332112550038,2.866117238998413]}],"reference_path":[[-20.612924575805664,59.93636703491211,-1.133882761001587,0,0,-0.021174196461141735],[-20.612924575805664,59.93636703491211,-3.133882761001587,0,0,-0.021174196461141735],[-20.612924575805664,59.93636703491211,-5.133882761001587,0,0,-0.021174196461141735],[-20.612924575805664,59.93636703491211,-7.133882761001587,0,0,-0.021174196461141735],[-20.612924575805664,59.93636703491211,-9.133882761001587,0,0,-0.021174196461141735],[-20.612924575805664,59.93636703491211,-11.133882761001587,0,0,-0.021174196461141735],[-20.612924575805664,59.93636703491211,-11.133882761001587,0,0,-0.2829735842602912],[-20.612924575805664,59.93636703491211,-11.133882761001587,0,0,-0.5447729720594406],[-20.612924575805664,59.93636703491211,-11.133882761001587,0,0,-0.8065723598585902],[-20.612924575805664,59.93636703491211,-11.133882761001587,0,0,-1.0683717476577397],[-20.612924575805664,59.93636703491211,-11.133882761001587,0,0,-1.330171135456889],[-19.42137531570063,55.08042115787197,-11.133882761001587,0,0,-1.330171135456889],[-18.229826055595595,50.224475280831825,-11.133882761001587,0,0,-1.330171135456889],[-18.229826055595595,50.224475280831825,-13.133882761001587,0,0,-1.330171135456889],[-17.03827679549056,45.36852940379168,-13.133882761001587,0,0,-1.330171135456889],[-17.03827679549056,45.36852940379168,-15.133882761001587,0,0,-1.330171135456889],[-15.846727535385526,40.51258352675154,-15.133882761001587,0,0,-1.330171135456889],[-20.702673412425668,39.32103426664651,-15.133882761001587,0,0,-1.330171135456889],[-19.511124152320633,34.465088389606365,-15.133882761001587,0,0,-1.330171135456889],[-19.511124152320633,34.465088389606365,-13.133882761001587,0,0,-1.330171135456889],[-19.511124152320633,34.465088389606365,-13.133882761001587,0,0,-1.5919705232560384],[-19.511124152320633,34.465088389606365,-13.133882761001587,0,0,-1.853769911055188],[-19.511124152320633,34.465088389606365,-13.133882761001587,0,0,-2.1155692988543375],[-19.511124152320633,34.465088389606365,-13.133882761001587,0,0,-2.3773686866534867],[-19.511124152320633,34.465088389606365,-13.133882761001587,0,0,-2.6391680744526362],[-19.511124152320633,34.465088389606365,-13.133882761001587,0,0,-2.900967462251786],[-24.367070029360775,33.27353912950133,-13.133882761001587,0,0,-2.900967462251786],[-29.223015906400917,32.081989869396295,-13.133882761001587,0,0,-2.900967462251786],[-34.07896178344106,30.89044060929126,-13.133882761001587,0,0,-2.900967462251786],[-38.9349076604812,29.698891349186226,-13.133882761001587,0,0,-2.900967462251786],[-43.79085353752134,28.50734208908119,-13.133882761001587,0,0,-2.900967462251786],[-43.79085353752134,28.50734208908119,-11.133882761001587,0,0,-2.900967462251786],[-48.646799414561485,27.315792828976157,-11.133882761001587,0,0,-2.900967462251786],[-53.50274529160163,26.124243568871123,-11.133882761001587,0,0,-2.900967462251786],[-58.35869116864177,24.932694308766088,-11.133882761001587,0,0,-2.900967462251786],[-58.35869116864177,24.932694308766088,-11.133882761001587,0,0,-2.6391680744526367],[-58.35869116864177,24.932694308766088,-11.133882761001587,0,0,-2.377368686653487],[-58.35869116864177,24.932694308766088,-11.133882761001587,0,0,-2.115569298854338],[-58.35869116864177,24.932694308766088,-11.133882761001587,0,0,-1.8537699110551886],[-58.35869116864177,24.932694308766088,-11.133882761001587,0,0,-1.5919705232560393],[-58.35869116864177,24.932694308766088,-11.133882761001587,0,0,-1.3301711354568901],[-58.35869116864177,24.932694308766088,-11.133882761001587,0,0,-1.0683717476577408],[-55.95093169004564,20.55060641676409,-11.133882761001587,0,0,-1.0683717476577408],[-53.543172211449516,16.168518524762092,-11.133882761001587,0,0,-1.0683717476577408],[-51.13541273285339,11.786430632760096,-11.133882761001587,0,0,-1.0683717476577408],[-51.13541273285339,11.786430632760096,-9.133882761001587,0,0,-1.0683717476577408],[-51.13541273285339,11.786430632760096,-9.133882761001587,0,0,-1.3301711354568901],[-51.13541273285339,11.786430632760096,-9.133882761001587,0,0,-1.5919705232560397],[-51.13541273285339,11.786430632760096,-9.133882761001587,0,0,-1.853769911055189],[-51.13541273285339,11.786430632760096,-9.133882761001587,0,0,-2.1155692988543384],[-51.13541273285339,11.786430632760096,-9.133882761001587,0,0,-2.377368686653488],[-51.13541273285339,11.786430632760096,-9.133882761001587,0,0,-2.639168074452637],[-51.13541273285339,11.786430632760096,-9.133882761001587,0,0,-2.9009674622517867],[-55.99135860989353,10.594881372655067,-9.133882761001587,0,0,-2.9009674622517867],[-60.84730448693367,9.403332112550038,-9.133882761001587,0,0,-2.9009674622517867],[-60.84730448693367,9.403332112550038,-7.133882761001587,0,0,-2.9009674622517867],[-60.84730448693367,9.403332112550038,-5.133882761001587,0,0,-2.9009674622517867],[-60.84730448693367,9.403332112550038,-3.133882761001587,0,0,-2.9009674622517867],[-60.84730448693367,9.403332112550038,-1.13388276100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+{"episode_id":"37ZHEEHM65KUX4I1HYNPC5WHP1V37C","trajectory_id":"3T5ZXGO9EMM22VXG81M2REN20D5QZ5","scene_id":8,"start_position":[17.70567512512207,-11.971580505371094,-3.6551432609558105],"start_rotation":[0.9999847099219331,0.0,0.0,0.0055299116039339265],"instruction":{"instruction_text":"Take off to the height of the second floor, turn back to face the big tree. Fly up to a height above the tree in front, fly forward by the left side of a tall building, passing some roofs with blue clothes and by the right side of a second floor building, to a short shed in the woods. Turn right to face short buildings hanging green tarps and fly forward to the left side of that buildings, then turn left to face a dirt path between trees and fly to the short wooden building ahead. Land on the ground."},"goals":[{"position":[-31.240079302666942,-74.82564534651097,-1.6551432609558105]}],"reference_path":[[17.70567512512207,-11.971580505371094,-3.6551432609558105,0,0,0.011059879576732691],[17.70567512512207,-11.971580505371094,-5.6551432609558105,0,0,0.011059879576732691],[17.70567512512207,-11.971580505371094,-7.6551432609558105,0,0,0.011059879576732691],[17.70567512512207,-11.971580505371094,-9.65514326095581,0,0,0.011059879576732691],[17.70567512512207,-11.971580505371094,-9.65514326095581,0,0,-0.25073950822241675],[17.70567512512207,-11.971580505371094,-9.65514326095581,0,0,-0.5125388960215661],[17.70567512512207,-11.971580505371094,-9.65514326095581,0,0,-0.7743382838207156],[17.70567512512207,-11.971580505371094,-9.65514326095581,0,0,-1.036137671619865],[17.70567512512207,-11.971580505371094,-9.65514326095581,0,0,-1.2979370594190143],[17.70567512512207,-11.971580505371094,-9.65514326095581,0,0,-1.5597364472181638],[17.70567512512207,-11.971580505371094,-9.65514326095581,0,0,-1.8215358350173134],[17.70567512512207,-11.971580505371094,-9.65514326095581,0,0,-2.083335222816463],[17.70567512512207,-11.971580505371094,-9.65514326095581,0,0,-2.3451346106156126],[17.70567512512207,-11.971580505371094,-9.65514326095581,0,0,-2.606933998414762],[17.70567512512207,-11.971580505371094,-11.65514326095581,0,0,-2.606933998414762],[13.40346207135163,-14.51931731280769,-11.65514326095581,0,0,-2.606933998414762],[10.855725263915033,-10.21710425903725,-11.65514326095581,0,0,-2.606933998414762],[6.553512210144594,-12.764841066473846,-11.65514326095581,0,0,-2.606933998414762],[2.251299156374154,-15.312577873910442,-11.65514326095581,0,0,-2.606933998414762],[-2.0509138973962857,-17.860314681347038,-11.65514326095581,0,0,-2.606933998414762],[-6.353126951166725,-20.408051488783634,-11.65514326095581,0,0,-2.606933998414762],[-10.655340004937166,-22.95578829622023,-11.65514326095581,0,0,-2.606933998414762],[-14.957553058707607,-25.503525103656827,-11.65514326095581,0,0,-2.606933998414762],[-19.259766112478047,-28.051261911093423,-11.65514326095581,0,0,-2.606933998414762],[-23.561979166248488,-30.59899871853002,-11.65514326095581,0,0,-2.606933998414762],[-27.86419222001893,-33.14673552596662,-11.65514326095581,0,0,-2.606933998414762],[-32.166405273789366,-35.69447233340322,-11.65514326095581,0,0,-2.606933998414762],[-36.4686183275598,-38.24220914083982,-11.65514326095581,0,0,-2.606933998414762],[-36.4686183275598,-38.24220914083982,-11.65514326095581,0,0,-2.345134610615613],[-36.4686183275598,-38.24220914083982,-11.65514326095581,0,0,-2.0833352228164634],[-36.4686183275598,-38.24220914083982,-11.65514326095581,0,0,-1.8215358350173139],[-36.4686183275598,-38.24220914083982,-11.65514326095581,0,0,-1.5597364472181645],[-36.4686183275598,-38.24220914083982,-11.65514326095581,0,0,-1.2979370594190154],[-36.4686183275598,-38.24220914083982,-11.65514326095581,0,0,-1.0361376716198658],[-33.92088152012321,-42.54442219461026,-11.65514326095581,0,0,-1.0361376716198658],[-31.373144712686614,-46.84663524838071,-11.65514326095581,0,0,-1.0361376716198658],[-31.373144712686614,-46.84663524838071,-9.65514326095581,0,0,-1.0361376716198658],[-28.825407905250017,-51.14884830215115,-9.65514326095581,0,0,-1.0361376716198658],[-26.27767109781342,-55.451061355921595,-9.65514326095581,0,0,-1.0361376716198658],[-26.27767109781342,-55.451061355921595,-9.65514326095581,0,0,-1.2979370594190154],[-26.27767109781342,-55.451061355921595,-9.65514326095581,0,0,-1.5597364472181647],[-26.27767109781342,-55.451061355921595,-9.65514326095581,0,0,-1.821535835017314],[-27.518273149026804,-60.29470735356894,-9.65514326095581,0,0,-1.821535835017314],[-28.758875200240183,-65.13835335121628,-9.65514326095581,0,0,-1.821535835017314],[-28.758875200240183,-65.13835335121628,-7.6551432609558105,0,0,-1.821535835017314],[-29.999477251453563,-69.98199934886362,-7.6551432609558105,0,0,-1.821535835017314],[-31.240079302666942,-74.82564534651097,-7.6551432609558105,0,0,-1.821535835017314],[-31.240079302666942,-74.82564534651097,-5.6551432609558105,0,0,-1.821535835017314],[-31.240079302666942,-74.82564534651097,-3.6551432609558105,0,0,-1.821535835017314],[-31.240079302666942,-74.82564534651097,-1.6551432609558105,0,0,-1.821535835017314]],"actions":[4,4,4,2,2,2,2,2,2,2,2,2,2,4,1,6,1,1,1,1,1,1,1,1,1,1,1,3,3,3,3,3,3,1,1,5,1,1,2,2,2,1,1,5,1,1,5,5,5,0]},
+{"episode_id":"34T446B1C9C4STE0PSDHQTQNWKNC0F","trajectory_id":"3R15W654WLRIX6GCT0VTJZC4FGTLQV","scene_id":8,"start_position":[-3.8264012336730957,-10.994068145751953,-2.1245388984680176],"start_rotation":[0.9998460307780812,0.0,0.0,-0.017547499460503338],"instruction":{"instruction_text":"Take off to the height of the second floor, turn back to face the road, fly forward to a tree on the road. Turn right to face another dirt road, fly forward until a tree on the roof is on your right, then turn right to face the gray roof. Make a sharp turn to the left to face a tree left to the tall wooden building hanging blue and yellow clothes, fly forward to the tree, then turn right slightly to a backlit building bathed in sunlight. Fly forward by the right side of the building to the grassland, and descend to the height of a single-story roof, then turn back to see the roof, and land on the ground."},"goals":[{"position":[-54.85252189842922,-29.21480308388136,-2.1245388984680176]}],"reference_path":[[-3.8264012336730957,-10.994068145751953,-2.1245388984680176,0,0,-0.035096800215170414],[-3.8264012336730957,-10.994068145751953,-4.124538898468018,0,0,-0.035096800215170414],[-3.8264012336730957,-10.994068145751953,-6.124538898468018,0,0,-0.035096800215170414],[-3.8264012336730957,-10.994068145751953,-8.124538898468018,0,0,-0.035096800215170414],[-3.8264012336730957,-10.994068145751953,-10.124538898468018,0,0,-0.035096800215170414],[-3.8264012336730957,-10.994068145751953,-10.124538898468018,0,0,0.226702587583979],[-3.8264012336730957,-10.994068145751953,-10.124538898468018,0,0,0.48850197538312845],[-3.8264012336730957,-10.994068145751953,-10.124538898468018,0,0,0.7503013631822779],[-3.8264012336730957,-10.994068145751953,-10.124538898468018,0,0,1.0121007509814273],[-3.8264012336730957,-10.994068145751953,-10.124538898468018,0,0,1.2739001387805764],[-3.8264012336730957,-10.994068145751953,-10.124538898468018,0,0,1.535699526579726],[-3.8264012336730957,-10.994068145751953,-10.124538898468018,0,0,1.7974989143788753],[-3.8264012336730957,-10.994068145751953,-10.124538898468018,0,0,2.059298302178025],[-3.8264012336730957,-10.994068145751953,-10.124538898468018,0,0,2.321097689977174],[-3.8264012336730957,-10.994068145751953,-10.124538898468018,0,0,2.5828970777763236],[-3.8264012336730957,-10.994068145751953,-10.124538898468018,0,0,2.844696465575473],[-3.8264012336730957,-10.994068145751953,-10.124538898468018,0,0,3.1064958533746223],[-8.823322086299932,-10.818620168895302,-10.124538898468018,0,0,3.1064958533746223],[-13.820242938926768,-10.643172192038652,-10.124538898468018,0,0,3.1064958533746223],[-13.820242938926768,-10.643172192038652,-10.124538898468018,0,0,-2.914890066005815],[-13.820242938926768,-10.643172192038652,-10.124538898468018,0,0,-2.6530906782066657],[-13.820242938926768,-10.643172192038652,-10.124538898468018,0,0,-2.391291290407516],[-13.820242938926768,-10.643172192038652,-10.124538898468018,0,0,-2.1294919026083665],[-13.820242938926768,-10.643172192038652,-10.124538898468018,0,0,-1.8676925148092172],[-13.820242938926768,-10.643172192038652,-10.124538898468018,0,0,-1.6058931270100678],[-13.99569091578342,-15.640093044665488,-10.124538898468018,0,0,-1.6058931270100678],[-14.171138892640073,-20.637013897292324,-10.124538898468018,0,0,-1.6058931270100678],[-14.346586869496726,-25.63393474991916,-10.124538898468018,0,0,-1.6058931270100678],[-19.34350772212356,-25.458486773062507,-10.124538898468018,0,0,-1.6058931270100678],[-19.518955698980214,-30.455407625689343,-10.124538898468018,0,0,-1.6058931270100678],[-19.518955698980214,-30.455407625689343,-10.124538898468018,0,0,-1.8676925148092172],[-19.518955698980214,-30.455407625689343,-10.124538898468018,0,0,-2.1294919026083665],[-19.518955698980214,-30.455407625689343,-10.124538898468018,0,0,-2.391291290407516],[-19.518955698980214,-30.455407625689343,-10.124538898468018,0,0,-2.6530906782066657],[-19.518955698980214,-30.455407625689343,-10.124538898468018,0,0,-2.914890066005815],[-19.518955698980214,-30.455407625689343,-10.124538898468018,0,0,3.106495853374622],[-19.518955698980214,-30.455407625689343,-10.124538898468018,0,0,2.8446964655754727],[-19.518955698980214,-30.455407625689343,-10.124538898468018,0,0,2.5828970777763236],[-19.518955698980214,-30.455407625689343,-10.124538898468018,0,0,2.321097689977174],[-22.92825186474432,-26.797990551563643,-10.124538898468018,0,0,2.321097689977174],[-26.337548030508422,-23.140573477437947,-10.124538898468018,0,0,2.321097689977174],[-26.337548030508422,-23.140573477437947,-8.124538898468018,0,0,2.321097689977174],[-29.746844196272527,-19.48315640331225,-8.124538898468018,0,0,2.321097689977174],[-33.15614036203663,-15.825739329186552,-8.124538898468018,0,0,2.321097689977174],[-36.565436527800735,-12.168322255060854,-8.124538898468018,0,0,2.321097689977174],[-36.565436527800735,-12.168322255060854,-8.124538898468018,0,0,2.5828970777763236],[-36.565436527800735,-12.168322255060854,-8.124538898468018,0,0,2.844696465575473],[-36.565436527800735,-12.168322255060854,-8.124538898468018,0,0,3.1064958533746223],[-36.565436527800735,-12.168322255060854,-8.124538898468018,0,0,-2.914890066005815],[-36.565436527800735,-12.168322255060854,-8.124538898468018,0,0,-2.6530906782066657],[-36.565436527800735,-12.168322255060854,-8.124538898468018,0,0,-2.391291290407516],[-40.22285360192643,-15.577618420824956,-8.124538898468018,0,0,-2.391291290407516],[-43.88027067605213,-18.98691458658906,-8.124538898468018,0,0,-2.391291290407516],[-43.88027067605213,-18.98691458658906,-10.124538898468018,0,0,-2.391291290407516],[-47.537687750177824,-22.39621075235316,-10.124538898468018,0,0,-2.391291290407516],[-47.537687750177824,-22.39621075235316,-12.124538898468018,0,0,-2.391291290407516],[-51.19510482430352,-25.80550691811726,-12.124538898468018,0,0,-2.391291290407516],[-54.85252189842922,-29.21480308388136,-12.124538898468018,0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+{"episode_id":"37Q970SNZN6K6ZOEIX7HJ3DGDI31SN","trajectory_id":"3087LXLJ7UE89L1HQRYG9GG2BYX0F1","scene_id":8,"start_position":[-2.2331535816192627,59.69483184814453,-1.1716622114181519],"start_rotation":[0.9996985097096146,0.0,0.0,0.024553812013117342],"instruction":{"instruction_text":"Take off to the height of trees ahead, turn right passing by two houses to face the woods and the houses in it directly, fly forward over the rusty roof of the building ahead, fly forward over another roof, turn right slightly to face the woods on the small mound, and fly over the trees and roofs to the hut with the blue cover. Turn left to face the dirt road, fly along the road over the huts to the second T-junction, then turn right slightly to the big hut and fly forward to it. Land next to the big hut."},"goals":[{"position":[-53.87889428110867,-14.147565609996516,-3.171662211418152]}],"reference_path":[[-2.2331535816192627,59.69483184814453,-1.1716622114181519,0,0,0.04911255977874833],[-2.2331535816192627,59.69483184814453,-3.171662211418152,0,0,0.04911255977874833],[-2.2331535816192627,59.69483184814453,-5.171662211418152,0,0,0.04911255977874833],[-2.2331535816192627,59.69483184814453,-7.171662211418152,0,0,0.04911255977874833],[-2.2331535816192627,59.69483184814453,-9.171662211418152,0,0,0.04911255977874833],[-2.2331535816192627,59.69483184814453,-11.171662211418152,0,0,0.04911255977874833],[-2.2331535816192627,59.69483184814453,-11.171662211418152,0,0,0.31091194757789775],[-2.2331535816192627,59.69483184814453,-11.171662211418152,0,0,0.5727113353770472],[-2.2331535816192627,59.69483184814453,-11.171662211418152,0,0,0.8345107231761967],[-2.2331535816192627,59.69483184814453,-11.171662211418152,0,0,1.0963101109753461],[-2.2331535816192627,59.69483184814453,-11.171662211418152,0,0,1.3581094987744957],[-2.2331535816192627,59.69483184814453,-11.171662211418152,0,0,1.619908886573645],[-2.2331535816192627,59.69483184814453,-11.171662211418152,0,0,1.8817082743727944],[-2.2331535816192627,59.69483184814453,-11.171662211418152,0,0,2.143507662171944],[-2.2331535816192627,59.69483184814453,-11.171662211418152,0,0,2.4053070499710936],[-2.2331535816192627,59.69483184814453,-11.171662211418152,0,0,2.6671064377702427],[-2.2331535816192627,59.69483184814453,-11.171662211418152,0,0,2.9289058255693923],[-2.2331535816192627,59.69483184814453,-11.171662211418152,0,0,-3.0924800938110444],[-2.2331535816192627,59.69483184814453,-11.171662211418152,0,0,-2.830680706011895],[-2.2331535816192627,59.69483184814453,-11.171662211418152,0,0,-2.5688813182127452],[-2.2331535816192627,59.69483184814453,-11.171662211418152,0,0,-2.307081930413596],[-2.2331535816192627,59.69483184814453,-11.171662211418152,0,0,-2.0452825426144465],[-2.2331535816192627,59.69483184814453,-11.171662211418152,0,0,-1.783483154815297],[-2.2331535816192627,59.69483184814453,-11.171662211418152,0,0,-1.5216837670161476],[-1.987689488847225,54.70086074498829,-11.171662211418152,0,0,-1.5216837670161476],[-1.7422253960751872,49.70688964183205,-11.171662211418152,0,0,-1.5216837670161476],[-1.4967613033031495,44.71291853867581,-11.171662211418152,0,0,-1.5216837670161476],[-1.2512972105311118,39.71894743551957,-11.171662211418152,0,0,-1.5216837670161476],[-1.005833117759074,34.724976332363326,-11.171662211418152,0,0,-1.5216837670161476],[-0.7603690249870362,29.73100522920708,-11.171662211418152,0,0,-1.5216837670161476],[-0.5149049322149983,24.737034126050837,-11.171662211418152,0,0,-1.5216837670161476],[-0.5149049322149983,24.737034126050837,-13.171662211418152,0,0,-1.5216837670161476],[-0.2694408394429605,19.743063022894592,-13.171662211418152,0,0,-1.5216837670161476],[-0.023976746670922672,14.749091919738348,-13.171662211418152,0,0,-1.5216837670161476],[0.22148734610111515,9.755120816582103,-13.171662211418152,0,0,-1.5216837670161476],[0.22148734610111515,9.755120816582103,-13.171662211418152,0,0,-1.2598843792169983],[0.22148734610111515,9.755120816582103,-15.171662211418152,0,0,-1.2598843792169983],[1.7511222849247234,4.994845934400392,-15.171662211418152,0,0,-1.2598843792169983],[6.511397167106434,6.524480873224001,-15.171662211418152,0,0,-1.2598843792169983],[8.041032105930043,1.7642059910422905,-15.171662211418152,0,0,-1.2598843792169983],[8.041032105930043,1.7642059910422905,-13.171662211418152,0,0,-1.2598843792169983],[9.570667044753652,-2.99606889113942,-13.171662211418152,0,0,-1.2598843792169983],[11.10030198357726,-7.756343773321131,-13.171662211418152,0,0,-1.2598843792169983],[11.10030198357726,-7.756343773321131,-13.171662211418152,0,0,-1.5216837670161476],[11.10030198357726,-7.756343773321131,-13.171662211418152,0,0,-1.783483154815297],[11.10030198357726,-7.756343773321131,-13.171662211418152,0,0,-2.0452825426144465],[11.10030198357726,-7.756343773321131,-13.171662211418152,0,0,-2.307081930413596],[11.10030198357726,-7.756343773321131,-13.171662211418152,0,0,-2.5688813182127452],[6.8981281888645745,-10.46590746495674,-13.171662211418152,0,0,-2.5688813182127452],[6.8981281888645745,-10.46590746495674,-13.171662211418152,0,0,-2.830680706011895],[2.1378533066828638,-11.995542403780348,-13.171662211418152,0,0,-2.830680706011895],[-2.622421575498847,-13.525177342603957,-13.171662211418152,0,0,-2.830680706011895],[-7.382696457680558,-15.054812281427566,-13.171662211418152,0,0,-2.830680706011895],[-8.912331396504166,-10.294537399245854,-13.171662211418152,0,0,-2.830680706011895],[-13.672606278685876,-11.824172338069463,-13.171662211418152,0,0,-2.830680706011895],[-18.432881160867588,-13.353807276893072,-13.171662211418152,0,0,-2.830680706011895],[-18.432881160867588,-13.353807276893072,-13.171662211418152,0,0,-3.0924800938110444],[-23.426852264023832,-13.599271369665109,-13.171662211418152,0,0,-3.0924800938110444],[-28.420823367180077,-13.844735462437146,-13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+{"episode_id":"34FNN24DCV7GQ316IQ1I4FEXPXX5YP","trajectory_id":"3D06DR523DHAG8RG4GZMTCCOD6HAM7","scene_id":8,"start_position":[-12.923069953918457,-12.381953239440918,-1.5916208028793335],"start_rotation":[0.9996285704226018,0.0,0.0,0.027252911676837764],"instruction":{"instruction_text":"Turn back to face the dirt road, fly forward to the last building on the left side of the road before the T-junction, turn left to face the building. Fly up above the blue tarp roof, fly forward to the tree between the roofs, then turn right to face a tall building with rusty roof, fly to that building, then fly up above this building and fly forward over the roof. Fly forward to the short building in the woods, then fly down to the height of the nearest tree."},"goals":[{"position":[-63.60700927919769,12.134359267233986,-3.5916208028793335]}],"reference_path":[[-12.923069953918457,-12.381953239440918,-1.5916208028793335,0,0,0.05451257271476244],[-12.923069953918457,-12.381953239440918,-1.5916208028793335,0,0,0.31631196051391186],[-12.923069953918457,-12.381953239440918,-1.5916208028793335,0,0,0.5781113483130613],[-12.923069953918457,-12.381953239440918,-1.5916208028793335,0,0,0.8399107361122108],[-12.923069953918457,-12.381953239440918,-1.5916208028793335,0,0,1.1017101239113603],[-12.923069953918457,-12.381953239440918,-1.5916208028793335,0,0,1.3635095117105096],[-12.923069953918457,-12.381953239440918,-1.5916208028793335,0,0,1.6253088995096592],[-12.923069953918457,-12.381953239440918,-1.5916208028793335,0,0,1.8871082873088088],[-12.923069953918457,-12.381953239440918,-1.5916208028793335,0,0,2.1489076751079583],[-12.923069953918457,-12.381953239440918,-1.5916208028793335,0,0,2.410707062907108],[-12.923069953918457,-12.381953239440918,-1.5916208028793335,0,0,2.6725064507062575],[-17.38297876431068,-10.121596320061627,-1.5916208028793335,0,0,2.6725064507062575],[-21.8428875747029,-7.8612394006823365,-1.5916208028793335,0,0,2.6725064507062575],[-21.8428875747029,-7.8612394006823365,-1.5916208028793335,0,0,2.934305838505407],[-26.735852097019524,-6.832211615172717,-1.5916208028793335,0,0,2.934305838505407],[-26.735852097019524,-6.832211615172717,-1.5916208028793335,0,0,2.672506450706258],[-26.735852097019524,-6.832211615172717,-1.5916208028793335,0,0,2.4107070629071083],[-26.735852097019524,-6.832211615172717,-1.5916208028793335,0,0,2.1489076751079588],[-26.735852097019524,-6.832211615172717,-1.5916208028793335,0,0,1.8871082873088094],[-26.735852097019524,-6.832211615172717,-1.5916208028793335,0,0,1.62530889950966],[-26.735852097019524,-6.832211615172717,-3.5916208028793335,0,0,1.62530889950966],[-26.735852097019524,-6.832211615172717,-5.5916208028793335,0,0,1.62530889950966],[-26.735852097019524,-6.832211615172717,-7.5916208028793335,0,0,1.62530889950966],[-26.735852097019524,-6.832211615172717,-9.591620802879333,0,0,1.62530889950966],[-27.008279988413236,-1.839638827121373,-9.591620802879333,0,0,1.62530889950966],[-27.280707879806947,3.152933960929971,-9.591620802879333,0,0,1.62530889950966],[-27.553135771200658,8.145506748981315,-9.591620802879333,0,0,1.62530889950966],[-27.82556366259437,13.13807953703266,-9.591620802879333,0,0,1.62530889950966],[-27.82556366259437,13.13807953703266,-9.591620802879333,0,0,1.8871082873088094],[-29.380881720301307,17.890025005929658,-9.591620802879333,0,0,1.8871082873088094],[-29.380881720301307,17.890025005929658,-9.591620802879333,0,0,2.1489076751079588],[-29.380881720301307,17.890025005929658,-9.591620802879333,0,0,2.4107070629071083],[-29.380881720301307,17.890025005929658,-9.591620802879333,0,0,2.672506450706258],[-29.380881720301307,17.890025005929658,-9.591620802879333,0,0,2.934305838505407],[-29.380881720301307,17.890025005929658,-9.591620802879333,0,0,-3.0870800808750296],[-34.37345450835265,17.617597114535943,-9.591620802879333,0,0,-3.0870800808750296],[-34.37345450835265,17.617597114535943,-11.591620802879333,0,0,-3.0870800808750296],[-39.366027296404,17.34516922314223,-11.591620802879333,0,0,-3.0870800808750296],[-39.366027296404,17.34516922314223,-13.591620802879333,0,0,-3.0870800808750296],[-44.35860008445535,17.072741331748514,-13.591620802879333,0,0,-3.0870800808750296],[-49.351172872506694,16.8003134403548,-13.591620802879333,0,0,-3.0870800808750296],[-49.351172872506694,16.8003134403548,-13.591620802879333,0,0,-2.8252806930758805],[-49.351172872506694,16.8003134403548,-11.591620802879333,0,0,-2.8252806930758805],[-54.10311834140369,15.244995382647861,-11.591620802879333,0,0,-2.8252806930758805],[-54.10311834140369,15.244995382647861,-9.591620802879333,0,0,-2.8252806930758805],[-58.85506381030069,13.689677324940924,-9.591620802879333,0,0,-2.8252806930758805],[-58.85506381030069,13.689677324940924,-7.5916208028793335,0,0,-2.8252806930758805],[-58.85506381030069,13.689677324940924,-5.5916208028793335,0,0,-2.8252806930758805],[-58.85506381030069,13.689677324940924,-3.5916208028793335,0,0,-2.8252806930758805],[-63.60700927919769,12.134359267233986,-3.5916208028793335,0,0,-2.8252806930758805]],"actions":[3,3,3,3,3,3,3,3,3,3,1,1,3,1,2,2,2,2,2,4,4,4,4,1,1,1,1,3,1,3,3,3,3,3,1,4,1,4,1,1,3,5,1,5,1,5,5,5,1,0]},
+{"episode_id":"3RKNTXVS3VWXY2Z3OF4SW1QCDW04A9","trajectory_id":"3P7QK0GJ41JLACVV6QW1VWPZEJU2ZO","scene_id":8,"start_position":[-36.13277816772461,-44.25289535522461,-4.684157371520996],"start_rotation":[0.9997378865237673,0.0,0.0,-0.02289450259322002],"instruction":{"instruction_text":"Take off to the height of trees ahead, turn right towards a short wooden house with green pillars and a yellow roof, fly forward to the power lines, and fly across the dirt road. Turn right to face the tree on the roadside, fly across a low house covered with blue cloth, and fly forward to the high wooden house with clothes of different colors hanging. Slightly turn left to face dirt road and land in front of the wires."},"goals":[{"position":[-36.98358251946647,9.151226775865926,-2.684157371520996]}],"reference_path":[[-36.13277816772461,-44.25289535522461,-4.684157371520996,0,0,-0.045793006244376544],[-36.13277816772461,-44.25289535522461,-6.684157371520996,0,0,-0.045793006244376544],[-36.13277816772461,-44.25289535522461,-8.684157371520996,0,0,-0.045793006244376544],[-36.13277816772461,-44.25289535522461,-10.684157371520996,0,0,-0.045793006244376544],[-36.13277816772461,-44.25289535522461,-10.684157371520996,0,0,0.2160063815547729],[-36.13277816772461,-44.25289535522461,-10.684157371520996,0,0,0.4778057693539223],[-36.13277816772461,-44.25289535522461,-10.684157371520996,0,0,0.7396051571530717],[-36.13277816772461,-44.25289535522461,-12.684157371520996,0,0,0.7396051571530717],[-32.439104473137604,-40.882913954991665,-12.684157371520996,0,0,0.7396051571530717],[-28.7454307785506,-37.51293255475872,-12.684157371520996,0,0,0.7396051571530717],[-25.051757083963594,-34.142951154525775,-12.684157371520996,0,0,0.7396051571530717],[-21.35808338937659,-30.77296975429283,-12.684157371520996,0,0,0.7396051571530717],[-21.35808338937659,-30.77296975429283,-10.684157371520996,0,0,0.7396051571530717],[-17.664409694789583,-27.402988354059886,-10.684157371520996,0,0,0.7396051571530717],[-13.97073600020258,-24.03300695382694,-10.684157371520996,0,0,0.7396051571530717],[-13.97073600020258,-24.03300695382694,-10.684157371520996,0,0,1.0014045449522213],[-13.97073600020258,-24.03300695382694,-10.684157371520996,0,0,1.2632039327513707],[-12.456911447516383,-19.267680603650657,-10.684157371520996,0,0,1.2632039327513707],[-12.456911447516383,-19.267680603650657,-10.684157371520996,0,0,1.52500332055052],[-12.456911447516383,-19.267680603650657,-10.684157371520996,0,0,1.7868027083496696],[-12.456911447516383,-19.267680603650657,-10.684157371520996,0,0,2.0486020961488194],[-12.456911447516383,-19.267680603650657,-10.684157371520996,0,0,2.310401483947969],[-15.82689284774933,-15.574006909063655,-10.684157371520996,0,0,2.310401483947969],[-19.196874247982276,-11.880333214476654,-10.684157371520996,0,0,2.310401483947969],[-22.566855648215224,-8.186659519889652,-10.684157371520996,0,0,2.310401483947969],[-22.566855648215224,-8.186659519889652,-10.684157371520996,0,0,2.572200871747118],[-26.77800081536733,-5.491060072425054,-10.684157371520996,0,0,2.572200871747118],[-26.77800081536733,-5.491060072425054,-10.684157371520996,0,0,2.310401483947969],[-30.471674509954333,-8.861041472658,-10.684157371520996,0,0,2.310401483947969],[-33.84165591018728,-5.167367778070998,-10.684157371520996,0,0,2.310401483947969],[-33.84165591018728,-5.167367778070998,-10.684157371520996,0,0,2.0486020961488194],[-36.14081488023277,-0.7273375945633065,-10.684157371520996,0,0,2.0486020961488194],[-36.14081488023277,-0.7273375945633065,-10.684157371520996,0,0,1.7868027083496698],[-37.21246753582205,4.156468358355834,-10.684157371520996,0,0,1.7868027083496698],[-37.21246753582205,4.156468358355834,-10.684157371520996,0,0,1.5250033205505202],[-36.98358251946647,9.151226775865926,-10.684157371520996,0,0,1.5250033205505202],[-36.98358251946647,9.151226775865926,-8.684157371520996,0,0,1.5250033205505202],[-36.98358251946647,9.151226775865926,-6.684157371520996,0,0,1.5250033205505202],[-36.98358251946647,9.151226775865926,-4.684157371520996,0,0,1.5250033205505202],[-36.98358251946647,9.151226775865926,-2.684157371520996,0,0,1.5250033205505202]],"actions":[4,4,4,3,3,3,4,1,1,1,1,5,1,1,3,3,1,3,3,3,3,1,1,1,3,1,2,7,1,2,1,2,1,2,1,5,5,5,5,0]},
+{"episode_id":"3LOZAJ85YMBZR1S9VBDINU4CU282X8","trajectory_id":"3RKHNXPHH4UZ5T5BP93XE0WET10UKC","scene_id":8,"start_position":[17.70567512512207,-11.971580505371094,-3.6551432609558105],"start_rotation":[0.9999066185239343,0.0,0.0,0.013665805209769238],"instruction":{"instruction_text":"Take off to the height above the blue tarp roof in front, then turn right to face the dirt road. Fly forward over the nearest wire, turn right to face another dirt road and fly along the road between the buildings to the first dirt T-junction. Turn left to face the nearest tree, fly forward over the tree. Turn right slightly to face the dirt road and fly forward to the dirt T-junction. Turn left to face the dirt road and fly forward along the road to the end of the road. Land on the ground."},"goals":[{"position":[-35.02267423093018,14.098429365702149,-3.6551432609558105]}],"reference_path":[[17.70567512512207,-11.971580505371094,-3.6551432609558105,0,0,0.02733246120669241],[17.70567512512207,-11.971580505371094,-5.6551432609558105,0,0,0.02733246120669241],[17.70567512512207,-11.971580505371094,-7.6551432609558105,0,0,0.02733246120669241],[17.70567512512207,-11.971580505371094,-9.65514326095581,0,0,0.02733246120669241],[17.70567512512207,-11.971580505371094,-11.65514326095581,0,0,0.02733246120669241],[17.70567512512207,-11.971580505371094,-11.65514326095581,0,0,0.2891318490058418],[17.70567512512207,-11.971580505371094,-11.65514326095581,0,0,0.5509312368049912],[17.70567512512207,-11.971580505371094,-11.65514326095581,0,0,0.8127306246041407],[17.70567512512207,-11.971580505371094,-11.65514326095581,0,0,1.0745300124032902],[17.70567512512207,-11.971580505371094,-11.65514326095581,0,0,1.3363294002024395],[17.70567512512207,-11.971580505371094,-11.65514326095581,0,0,1.598128788001589],[17.70567512512207,-11.971580505371094,-11.65514326095581,0,0,1.8599281758007384],[16.280074039736807,-7.179121684958721,-11.65514326095581,0,0,1.8599281758007384],[16.280074039736807,-7.179121684958721,-11.65514326095581,0,0,2.121727563599888],[16.280074039736807,-7.179121684958721,-11.65514326095581,0,0,2.383526951399037],[16.280074039736807,-7.179121684958721,-11.65514326095581,0,0,2.6453263391981867],[16.280074039736807,-7.179121684958721,-11.65514326095581,0,0,2.9071257269973363],[16.280074039736807,-7.179121684958721,-11.65514326095581,0,0,-3.114260192383101],[16.280074039736807,-7.179121684958721,-11.65514326095581,0,0,-2.8524608045839517],[11.487615219324432,-8.604722770343985,-11.65514326095581,0,0,-2.8524608045839517],[6.695156398912059,-10.030323855729248,-11.65514326095581,0,0,-2.8524608045839517],[1.9026975784996853,-11.455924941114512,-11.65514326095581,0,0,-2.8524608045839517],[-2.889761241912688,-12.881526026499776,-11.65514326095581,0,0,-2.8524608045839517],[-1.464160156527426,-17.67398484691215,-11.65514326095581,0,0,-2.8524608045839517],[-6.2566189769398,-19.099585932297412,-11.65514326095581,0,0,-2.8524608045839517],[-6.2566189769398,-19.099585932297412,-9.65514326095581,0,0,-2.8524608045839517],[-11.049077797352172,-20.525187017682676,-9.65514326095581,0,0,-2.8524608045839517],[-11.049077797352172,-20.525187017682676,-9.65514326095581,0,0,-3.1142601923831013],[-11.049077797352172,-20.525187017682676,-9.65514326095581,0,0,2.907125726997336],[-11.049077797352172,-20.525187017682676,-9.65514326095581,0,0,2.6453263391981863],[-11.049077797352172,-20.525187017682676,-9.65514326095581,0,0,2.3835269513990367],[-14.679913963164665,-17.087596475307386,-9.65514326095581,0,0,2.3835269513990367],[-18.31075012897716,-13.650005932932096,-9.65514326095581,0,0,2.3835269513990367],[-21.94158629478965,-10.212415390556806,-9.65514326095581,0,0,2.3835269513990367],[-21.94158629478965,-10.212415390556806,-9.65514326095581,0,0,2.6453263391981863],[-21.94158629478965,-10.212415390556806,-9.65514326095581,0,0,2.907125726997336],[-21.94158629478965,-10.212415390556806,-9.65514326095581,0,0,-3.1142601923831013],[-26.93971875246934,-10.349060681323875,-9.65514326095581,0,0,-3.1142601923831013],[-31.937851210149027,-10.485705972090944,-9.65514326095581,0,0,-3.1142601923831013],[-31.937851210149027,-10.485705972090944,-9.65514326095581,0,0,2.907125726997336],[-31.937851210149027,-10.485705972090944,-9.65514326095581,0,0,2.6453263391981863],[-31.937851210149027,-10.485705972090944,-9.65514326095581,0,0,2.3835269513990367],[-31.937851210149027,-10.485705972090944,-9.65514326095581,0,0,2.1217275635998876],[-31.937851210149027,-10.485705972090944,-9.65514326095581,0,0,1.8599281758007384],[-31.937851210149027,-10.485705972090944,-9.65514326095581,0,0,1.5981287880015893],[-32.0744965009161,-5.487573514411258,-9.65514326095581,0,0,1.5981287880015893],[-37.072628958595786,-5.62421880517833,-9.65514326095581,0,0,1.5981287880015893],[-37.209274249362856,-0.626086347498644,-9.65514326095581,0,0,1.5981287880015893],[-37.34591954012993,4.372046110181042,-9.65514326095581,0,0,1.5981287880015893],[-37.34591954012993,4.372046110181042,-9.65514326095581,0,0,1.33632940020244],[-36.18429688553005,9.235237737941596,-9.65514326095581,0,0,1.33632940020244],[-35.02267423093018,14.098429365702149,-9.65514326095581,0,0,1.33632940020244],[-35.02267423093018,14.098429365702149,-7.6551432609558105,0,0,1.33632940020244],[-35.02267423093018,14.098429365702149,-5.6551432609558105,0,0,1.33632940020244],[-35.02267423093018,14.098429365702149,-3.6551432609558105,0,0,1.33632940020244]],"actions":[4,4,4,4,3,3,3,3,3,3,3,1,3,3,3,3,3,3,1,1,1,1,7,1,5,1,2,2,2,2,1,1,1,3,3,3,1,1,2,2,2,2,2,2,1,7,1,1,2,1,1,5,5,5,0]},
+{"episode_id":"3B2X28YI35DGWZ89DHX3OAUW0I36B2","trajectory_id":"39O0SQZVKV5JUM6A2LJJ5K48ILA7R1","scene_id":8,"start_position":[-57.26609420776367,15.26229476928711,0.5848132967948914],"start_rotation":[0.9998508295584919,0.0,0.0,-0.017271902940776636],"instruction":{"instruction_text":"Take off to the height above the roof. Fly forward over the rusty roof, fly down to the height above the tree ahead. Turn right to face the wooden house with a ladder, then fly forward to the front of the roof covered with a blue tarp. Fly over the roof and the trees behind it, and fly forward to the front of the brown wooden building on the open ground. Land near the bottom of the wooden house."},"goals":[{"position":[-20.33470253436521,51.14916184220314,-5.415186703205109]}],"reference_path":[[-57.26609420776367,15.26229476928711,0.5848132967948914,0,0,-0.03454552362230641],[-57.26609420776367,15.26229476928711,-1.4151867032051086,0,0,-0.03454552362230641],[-57.26609420776367,15.26229476928711,-3.4151867032051086,0,0,-0.03454552362230641],[-57.26609420776367,15.26229476928711,-5.415186703205109,0,0,-0.03454552362230641],[-57.26609420776367,15.26229476928711,-7.415186703205109,0,0,-0.03454552362230641],[-57.26609420776367,15.26229476928711,-9.415186703205109,0,0,-0.03454552362230641],[-57.26609420776367,15.26229476928711,-11.415186703205109,0,0,-0.03454552362230641],[-57.26609420776367,15.26229476928711,-13.415186703205109,0,0,-0.03454552362230641],[-52.26907739407563,15.089601504453217,-13.415186703205109,0,0,-0.03454552362230641],[-47.27206058038759,14.916908239619325,-13.415186703205109,0,0,-0.03454552362230641],[-42.27504376669955,14.744214974785432,-13.415186703205109,0,0,-0.03454552362230641],[-42.27504376669955,14.744214974785432,-11.415186703205109,0,0,-0.03454552362230641],[-37.278026953011505,14.57152170995154,-11.415186703205109,0,0,-0.03454552362230641],[-37.278026953011505,14.57152170995154,-9.415186703205109,0,0,-0.03454552362230641],[-37.278026953011505,14.57152170995154,-9.415186703205109,0,0,0.227253864176843],[-37.278026953011505,14.57152170995154,-9.415186703205109,0,0,0.4890532519759925],[-37.278026953011505,14.57152170995154,-9.415186703205109,0,0,0.7508526397751418],[-37.278026953011505,14.57152170995154,-9.415186703205109,0,0,1.0126520275742914],[-34.62996179175886,18.81271858132641,-9.415186703205109,0,0,1.0126520275742914],[-31.981896630506213,23.053915452701283,-9.415186703205109,0,0,1.0126520275742914],[-29.333831469253568,27.295112324076154,-9.415186703205109,0,0,1.0126520275742914],[-26.68576630800092,31.536309195451025,-9.415186703205109,0,0,1.0126520275742914],[-24.037701146748276,35.77750606682589,-9.415186703205109,0,0,1.0126520275742914],[-28.278898018123147,38.42557122807854,-9.415186703205109,0,0,1.0126520275742914],[-25.6308328568705,42.66676809945341,-9.415186703205109,0,0,1.0126520275742914],[-22.982767695617856,46.907964970828274,-9.415186703205109,0,0,1.0126520275742914],[-22.982767695617856,46.907964970828274,-7.415186703205109,0,0,1.0126520275742914],[-20.33470253436521,51.14916184220314,-7.415186703205109,0,0,1.0126520275742914],[-20.33470253436521,51.14916184220314,-5.415186703205109,0,0,1.0126520275742914]],"actions":[4,4,4,4,4,4,4,1,1,1,5,1,5,3,3,3,3,1,1,1,1,1,7,1,1,5,1,5,0]},
+{"episode_id":"3L4PIM1GQ2E5VQZ4FXEL7GJTGC6YR9","trajectory_id":"32L724R86TIV7T7R8KJRREU2V8SPIV","scene_id":8,"start_position":[-69.38135528564453,9.706144332885742,3.581697940826416],"start_rotation":[0.9997069870048736,0.0,0.0,0.02420620031391821],"instruction":{"instruction_text":"Take off to the height of the second floor on the right side ahead, fly forward between two wooden houses until reach a thin electric pole. Turn left to face the dirt road, fly forward passing a utility pole to reach a T-junction. Turn right to face the utility pole and a tree on the left side of the road, fly forward across that tree by the left side to arrive at the wooden complex covered in blue tarps. Land in front of that wooden complex."},"goals":[{"position":[-15.670214125983662,-17.726480051689585,-2.418302059173584]}],"reference_path":[[-69.38135528564453,9.706144332885742,3.581697940826416,0,0,0.04841712966961242],[-69.38135528564453,9.706144332885742,1.581697940826416,0,0,0.04841712966961242],[-69.38135528564453,9.706144332885742,-0.418302059173584,0,0,0.04841712966961242],[-69.38135528564453,9.706144332885742,-2.418302059173584,0,0,0.04841712966961242],[-69.38135528564453,9.706144332885742,-4.418302059173584,0,0,0.04841712966961242],[-69.38135528564453,9.706144332885742,-6.418302059173584,0,0,0.04841712966961242],[-64.38721468698091,9.948135408712378,-6.418302059173584,0,0,0.04841712966961242],[-59.393074088317285,10.190126484539014,-6.418302059173584,0,0,0.04841712966961242],[-54.39893348965366,10.43211756036565,-6.418302059173584,0,0,0.04841712966961242],[-49.40479289099003,10.674108636192287,-6.418302059173584,0,0,0.04841712966961242],[-44.410652292326404,10.916099712018923,-6.418302059173584,0,0,0.04841712966961242],[-39.41651169366278,11.158090787845559,-6.418302059173584,0,0,0.04841712966961242],[-34.42237109499915,11.400081863672195,-6.418302059173584,0,0,0.04841712966961242],[-34.42237109499915,11.400081863672195,-6.418302059173584,0,0,-0.213382258129537],[-34.42237109499915,11.400081863672195,-6.418302059173584,0,0,-0.4751816459286865],[-34.42237109499915,11.400081863672195,-6.418302059173584,0,0,-0.736981033727836],[-34.42237109499915,11.400081863672195,-6.418302059173584,0,0,-0.9987804215269855],[-34.42237109499915,11.400081863672195,-6.418302059173584,0,0,-1.260579809326135],[-34.42237109499915,11.400081863672195,-6.418302059173584,0,0,-1.5223791971252845],[-34.18038001917252,6.405941265008571,-6.418302059173584,0,0,-1.5223791971252845],[-33.938388943345885,1.4118006663449467,-6.418302059173584,0,0,-1.5223791971252845],[-33.69639786751925,-3.5823399323186775,-6.418302059173584,0,0,-1.5223791971252845],[-33.45440679169262,-8.576480530982302,-6.418302059173584,0,0,-1.5223791971252845],[-33.45440679169262,-8.576480530982302,-6.418302059173584,0,0,-1.2605798093261351],[-33.45440679169262,-8.576480530982302,-6.418302059173584,0,0,-0.9987804215269858],[-33.45440679169262,-8.576480530982302,-6.418302059173584,0,0,-0.7369810337278364],[-33.45440679169262,-8.576480530982302,-6.418302059173584,0,0,-0.475181645928687],[-29.00835862526538,-10.863980411159122,-6.418302059173584,0,0,-0.475181645928687],[-24.56231045883814,-13.151480291335943,-6.418302059173584,0,0,-0.475181645928687],[-20.1162622924109,-15.438980171512764,-6.418302059173584,0,0,-0.475181645928687],[-15.670214125983662,-17.726480051689585,-6.418302059173584,0,0,-0.475181645928687],[-15.670214125983662,-17.726480051689585,-4.418302059173584,0,0,-0.475181645928687],[-15.670214125983662,-17.726480051689585,-2.418302059173584,0,0,-0.475181645928687]],"actions":[4,4,4,4,4,1,1,1,1,1,1,1,2,2,2,2,2,2,1,1,1,1,3,3,3,3,1,1,1,1,5,5,0]},
+{"episode_id":"30MVJZJNHVB9W18JZGDW684BXFCJ9K","trajectory_id":"34HEO7RUHES1DO489OV3FB6YJIBAR4","scene_id":8,"start_position":[-35.510658264160156,-9.149450302124023,-0.21374443173408508],"start_rotation":[0.9998540219449987,0.0,0.0,0.017086099625428473],"instruction":{"instruction_text":"Take off to the height above the roofs beside the road, and fly forward along the dirt road over the tree on the left. Fly forward over the blue tarp roof with wooden boards to the dirt road intersection. Turn right to face another dirt road, fly forward over the blue tarp roof with wooden boards, then make a sharp turn to the left to face another blue tarp roof with wooden boards. Fly forward to the third blue tarp roofs with wooden boards, then fly down to its height. Land by the house steps."},"goals":[{"position":[35.916010208913264,-2.2293811416507943,-2.213744431734085]}],"reference_path":[[-35.510658264160156,-9.149450302124023,-0.21374443173408508,0,0,0.03417386214501636],[-35.510658264160156,-9.149450302124023,-2.213744431734085,0,0,0.03417386214501636],[-35.510658264160156,-9.149450302124023,-4.213744431734085,0,0,0.03417386214501636],[-35.510658264160156,-9.149450302124023,-6.213744431734085,0,0,0.03417386214501636],[-30.513577612164255,-8.978614247825648,-6.213744431734085,0,0,0.03417386214501636],[-30.513577612164255,-8.978614247825648,-8.213744431734085,0,0,0.03417386214501636],[-25.516496960168354,-8.807778193527273,-8.213744431734085,0,0,0.03417386214501636],[-20.519416308172453,-8.636942139228898,-8.213744431734085,0,0,0.03417386214501636],[-15.522335656176553,-8.466106084930523,-8.213744431734085,0,0,0.03417386214501636],[-15.522335656176553,-8.466106084930523,-10.213744431734085,0,0,0.03417386214501636],[-10.525255004180654,-8.295270030632148,-10.213744431734085,0,0,0.03417386214501636],[-5.528174352184754,-8.124433976333773,-10.213744431734085,0,0,0.03417386214501636],[-5.528174352184754,-8.124433976333773,-10.213744431734085,0,0,-0.22762552565413308],[-0.6571494699299114,-9.252758662075511,-10.213744431734085,0,0,-0.22762552565413308],[4.213875412324931,-10.381083347817249,-10.213744431734085,0,0,-0.22762552565413308],[9.084900294579775,-11.509408033558987,-10.213744431734085,0,0,-0.22762552565413308],[9.084900294579775,-11.509408033558987,-10.213744431734085,0,0,-0.4894249134532825],[13.497917111117118,-13.859999996652245,-10.213744431734085,0,0,-0.4894249134532825],[13.497917111117118,-13.859999996652245,-10.213744431734085,0,0,-0.22762552565413302],[13.497917111117118,-13.859999996652245,-10.213744431734085,0,0,0.034173862145016415],[13.497917111117118,-13.859999996652245,-10.213744431734085,0,0,0.29597324994416585],[13.497917111117118,-13.859999996652245,-10.213744431734085,0,0,0.5577726377433153],[13.497917111117118,-13.859999996652245,-10.213744431734085,0,0,0.8195720255424648],[13.497917111117118,-13.859999996652245,-10.213744431734085,0,0,1.0813714133416141],[13.497917111117118,-13.859999996652245,-10.213744431734085,0,0,1.3431708011407637],[13.497917111117118,-13.859999996652245,-10.213744431734085,0,0,1.6049701889399133],[13.327081056818741,-8.862919344656346,-10.213744431734085,0,0,1.6049701889399133],[13.156245002520365,-3.8658386926604464,-10.213744431734085,0,0,1.6049701889399133],[13.156245002520365,-3.8658386926604464,-12.213744431734085,0,0,1.6049701889399133],[12.985408948221988,1.131241959335453,-12.213744431734085,0,0,1.6049701889399133],[12.81457289392361,6.1283226113313525,-12.213744431734085,0,0,1.6049701889399133],[12.643736839625234,11.125403263327252,-12.213744431734085,0,0,1.6049701889399133],[12.472900785326857,16.12248391532315,-12.213744431734085,0,0,1.6049701889399133],[12.472900785326857,16.12248391532315,-12.213744431734085,0,0,1.343170801140764],[12.472900785326857,16.12248391532315,-12.213744431734085,0,0,1.0813714133416146],[12.472900785326857,16.12248391532315,-12.213744431734085,0,0,0.8195720255424651],[12.472900785326857,16.12248391532315,-12.213744431734085,0,0,0.5577726377433158],[12.472900785326857,16.12248391532315,-12.213744431734085,0,0,0.29597324994416635],[12.472900785326857,16.12248391532315,-12.213744431734085,0,0,0.034173862145016914],[12.472900785326857,16.12248391532315,-12.213744431734085,0,0,-0.22762552565413252],[12.472900785326857,16.12248391532315,-12.213744431734085,0,0,-0.48942491345328193],[12.472900785326857,16.12248391532315,-14.213744431734085,0,0,-0.48942491345328193],[12.472900785326857,16.12248391532315,-16.213744431734085,0,0,-0.48942491345328193],[12.472900785326857,16.12248391532315,-18.213744431734085,0,0,-0.48942491345328193],[12.472900785326857,16.12248391532315,-16.213744431734085,0,0,-0.48942491345328193],[12.472900785326857,16.12248391532315,-16.213744431734085,0,0,-0.7512243012524314],[16.127169732954787,12.709813632626293,-16.213744431734085,0,0,-0.7512243012524314],[19.781438680582717,9.297143349929435,-16.213744431734085,0,0,-0.7512243012524314],[23.435707628210647,5.884473067232577,-16.213744431734085,0,0,-0.7512243012524314],[27.089976575838577,2.4718027845357184,-16.213744431734085,0,0,-0.7512243012524314],[27.089976575838577,2.4718027845357184,-14.213744431734085,0,0,-0.7512243012524314],[27.089976575838577,2.4718027845357184,-12.213744431734085,0,0,-0.7512243012524314],[27.089976575838577,2.4718027845357184,-12.213744431734085,0,0,-0.48942491345328204],[31.50299339237592,0.12121082144246209,-12.213744431734085,0,0,-0.48942491345328204],[31.50299339237592,0.12121082144246209,-10.213744431734085,0,0,-0.48942491345328204],[31.50299339237592,0.12121082144246209,-8.213744431734085,0,0,-0.48942491345328204],[31.50299339237592,0.12121082144246209,-6.213744431734085,0,0,-0.48942491345328204],[35.916010208913264,-2.2293811416507943,-6.213744431734085,0,0,-0.48942491345328204],[35.916010208913264,-2.2293811416507943,-4.213744431734085,0,0,-0.48942491345328204],[35.916010208913264,-2.2293811416507943,-2.213744431734085,0,0,-0.48942491345328204]],"actions":[4,4,4,1,4,1,1,1,4,1,1,2,1,1,1,2,1,3,3,3,3,3,3,3,3,1,1,4,1,1,1,1,2,2,2,2,2,2,2,2,4,4,4,5,2,1,1,1,1,5,5,3,1,5,5,5,1,5,5,0]},
+{"episode_id":"3WJ1OXY92JEYH3M50IU5DD6HNN5A8D","trajectory_id":"3OKP4QVBQAVAOYVUTD1RG7SRH90AG8","scene_id":8,"start_position":[-22.423419952392578,-61.50630569458008,0.016251184046268463],"start_rotation":[0.9998871709422188,0.0,0.0,0.015021497434218578],"instruction":{"instruction_text":"Take off to the height of the tree ahead and make a sharp turn to the right to face the grassland behind the broken roofs. Fly forward to the grassland ahead, then turn left to face the middle of trees on the roof and rusty roof building. Fly over the roof ahead to the top of the dirt road, then turn right to face the road and fly over the trees on the right side of the road, and turn right to face two utility poles, then fly forward across the roof. Turn left to face the low blue tarp building with wooden boards. Land in front of the tall building with clothes hanging on it."},"goals":[{"position":[-38.678693703396036,0.6166848667882512,-1.9837488159537315]}],"reference_path":[[-22.423419952392578,-61.50630569458008,0.016251184046268463,0,0,0.030044124827035498],[-22.423419952392578,-61.50630569458008,-1.9837488159537315,0,0,0.030044124827035498],[-22.423419952392578,-61.50630569458008,-3.9837488159537315,0,0,0.030044124827035498],[-22.423419952392578,-61.50630569458008,-5.9837488159537315,0,0,0.030044124827035498],[-22.423419952392578,-61.50630569458008,-7.9837488159537315,0,0,0.030044124827035498],[-22.423419952392578,-61.50630569458008,-9.983748815953732,0,0,0.030044124827035498],[-22.423419952392578,-61.50630569458008,-11.983748815953732,0,0,0.030044124827035498],[-22.423419952392578,-61.50630569458008,-11.983748815953732,0,0,0.29184351262618496],[-22.423419952392578,-61.50630569458008,-11.983748815953732,0,0,0.5536429004253345],[-22.423419952392578,-61.50630569458008,-11.983748815953732,0,0,0.815442288224484],[-22.423419952392578,-61.50630569458008,-11.983748815953732,0,0,1.0772416760236334],[-22.423419952392578,-61.50630569458008,-11.983748815953732,0,0,1.3390410638227828],[-22.423419952392578,-61.50630569458008,-11.983748815953732,0,0,1.6008404516219323],[-22.423419952392578,-61.50630569458008,-11.983748815953732,0,0,1.862639839421082],[-22.423419952392578,-61.50630569458008,-11.983748815953732,0,0,2.1244392272202313],[-25.052367031345607,-57.253231834879976,-11.983748815953732,0,0,2.1244392272202313],[-27.681314110298636,-53.000157975179874,-11.983748815953732,0,0,2.1244392272202313],[-30.310261189251666,-48.74708411547977,-11.983748815953732,0,0,2.1244392272202313],[-32.939208268204695,-44.49401025577967,-11.983748815953732,0,0,2.1244392272202313],[-32.939208268204695,-44.49401025577967,-11.983748815953732,0,0,1.862639839421082],[-32.939208268204695,-44.49401025577967,-11.983748815953732,0,0,1.6008404516219326],[-32.939208268204695,-44.49401025577967,-11.983748815953732,0,0,1.3390410638227832],[-32.939208268204695,-44.49401025577967,-11.983748815953732,0,0,1.0772416760236339],[-32.939208268204695,-44.49401025577967,-11.983748815953732,0,0,0.8154422882244844],[-29.51147595860512,-40.85386586115366,-11.983748815953732,0,0,0.8154422882244844],[-26.083743649005548,-37.213721466527645,-11.983748815953732,0,0,0.8154422882244844],[-22.656011339405975,-33.57357707190163,-11.983748815953732,0,0,0.8154422882244844],[-19.2282790298064,-29.93343267727562,-11.983748815953732,0,0,0.8154422882244844],[-19.2282790298064,-29.93343267727562,-11.983748815953732,0,0,1.0772416760236339],[-16.859482562611095,-25.530160791847347,-11.983748815953732,0,0,1.0772416760236339],[-14.49068609541579,-21.126888906419076,-11.983748815953732,0,0,1.0772416760236339],[-14.49068609541579,-21.126888906419076,-11.983748815953732,0,0,1.3390410638227834],[-13.342255035242859,-16.260565232429634,-11.983748815953732,0,0,1.3390410638227834],[-13.342255035242859,-16.260565232429634,-11.983748815953732,0,0,1.6008404516219328],[-13.342255035242859,-16.260565232429634,-11.983748815953732,0,0,1.8626398394210821],[-13.342255035242859,-16.260565232429634,-11.983748815953732,0,0,2.1244392272202317],[-13.342255035242859,-16.260565232429634,-11.983748815953732,0,0,2.3862386150193813],[-13.342255035242859,-16.260565232429634,-11.983748815953732,0,0,2.6480380028185304],[-13.342255035242859,-16.260565232429634,-9.983748815953732,0,0,2.6480380028185304],[-13.342255035242859,-16.260565232429634,-9.983748815953732,0,0,2.90983739061768],[-18.2085787092323,-15.112134172256704,-9.983748815953732,0,0,2.90983739061768],[-23.07490238322174,-13.963703112083774,-9.983748815953732,0,0,2.90983739061768],[-27.941226057211182,-12.815272051910844,-9.983748815953732,0,0,2.90983739061768],[-32.80754973120062,-11.666840991737914,-9.983748815953732,0,0,2.90983739061768],[-37.673873405190065,-10.518409931564983,-9.983748815953732,0,0,2.90983739061768],[-37.673873405190065,-10.518409931564983,-9.983748815953732,0,0,2.648038002818531],[-37.673873405190065,-10.518409931564983,-9.983748815953732,0,0,2.3862386150193817],[-37.673873405190065,-10.518409931564983,-9.983748815953732,0,0,2.1244392272202326],[-40.3028204841431,-6.265336071864884,-9.983748815953732,0,0,2.1244392272202326],[-36.049746624442996,-3.636388992911848,-9.983748815953732,0,0,2.1244392272202326],[-38.678693703396036,0.6166848667882512,-9.983748815953732,0,0,2.1244392272202326],[-38.678693703396036,0.6166848667882512,-7.9837488159537315,0,0,2.1244392272202326],[-38.678693703396036,0.6166848667882512,-5.9837488159537315,0,0,2.1244392272202326],[-38.678693703396036,0.6166848667882512,-5.9837488159537315,0,0,2.386238615019382],[-38.678693703396036,0.6166848667882512,-3.9837488159537315,0,0,2.386238615019382],[-38.678693703396036,0.6166848667882512,-1.9837488159537315,0,0,2.386238615019382]],"actions":[4,4,4,4,4,4,3,3,3,3,3,3,3,3,1,1,1,1,2,2,2,2,2,1,1,1,1,3,1,1,3,1,3,3,3,3,3,5,3,1,1,1,1,1,2,2,2,1,6,1,5,5,3,5,5,0]},
+{"episode_id":"3LYA37P8IZLNVETYFLR4YTZE26YKBJ","trajectory_id":"3DQYSJDTZT9O0X7WYS3H0CID5R5EX0","scene_id":8,"start_position":[-69.38135528564453,9.706144332885742,3.581697940826416],"start_rotation":[0.9999612250387251,0.0,0.0,-0.008806158018810784],"instruction":{"instruction_text":"Take off to the height above the house on the left ahead, fly forward to the front of a tree on the road, turn slightly left to face the blue tarp roof  with wooden boards, and fly across that roof, then fly forward to the dirt T-junction. Turn left to face the large tree. Fly up over the big tree ahead to the building with rusty roof ahead, then turn right to face another building with rusty roof, and fly over that building. Turn slightly left to face the tallest tree, then fly forward to its front."},"goals":[{"position":[-37.18088937885619,-39.436332056473816,-14.418302059173584]}],"reference_path":[[-69.38135528564453,9.706144332885742,3.581697940826416,0,0,-0.017612543680109744],[-69.38135528564453,9.706144332885742,1.581697940826416,0,0,-0.017612543680109744],[-69.38135528564453,9.706144332885742,-0.418302059173584,0,0,-0.017612543680109744],[-69.38135528564453,9.706144332885742,-2.418302059173584,0,0,-0.017612543680109744],[-69.38135528564453,9.706144332885742,-4.418302059173584,0,0,-0.017612543680109744],[-69.38135528564453,9.706144332885742,-6.418302059173584,0,0,-0.017612543680109744],[-69.38135528564453,9.706144332885742,-8.418302059173584,0,0,-0.017612543680109744],[-69.38135528564453,9.706144332885742,-10.418302059173584,0,0,-0.017612543680109744],[-64.38213076983506,9.618086167281996,-10.418302059173584,0,0,-0.017612543680109744],[-59.382906254025585,9.53002800167825,-10.418302059173584,0,0,-0.017612543680109744],[-59.382906254025585,9.53002800167825,-10.418302059173584,0,0,-0.27941193147925913],[-54.57681731312279,8.151075829871031,-10.418302059173584,0,0,-0.27941193147925913],[-54.57681731312279,8.151075829871031,-10.418302059173584,0,0,-0.5412113192784086],[-50.29139096601169,5.575202963542791,-10.418302059173584,0,0,-0.5412113192784086],[-46.00596461890059,2.9993300972145516,-10.418302059173584,0,0,-0.5412113192784086],[-46.00596461890059,2.9993300972145516,-10.418302059173584,0,0,-0.8030107070775581],[-42.533245589134935,-0.5979219846256214,-10.418302059173584,0,0,-0.8030107070775581],[-42.533245589134935,-0.5979219846256214,-8.418302059173584,0,0,-0.8030107070775581],[-42.533245589134935,-0.5979219846256214,-8.418302059173584,0,0,-1.0648100948767076],[-42.533245589134935,-0.5979219846256214,-8.418302059173584,0,0,-1.326609482675857],[-42.533245589134935,-0.5979219846256214,-8.418302059173584,0,0,-1.5884088704750063],[-42.533245589134935,-0.5979219846256214,-8.418302059173584,0,0,-1.850208258274156],[-42.533245589134935,-0.5979219846256214,-8.418302059173584,0,0,-2.1120076460733053],[-42.533245589134935,-0.5979219846256214,-8.418302059173584,0,0,-2.3738070338724544],[-42.533245589134935,-0.5979219846256214,-10.418302059173584,0,0,-2.3738070338724544],[-42.533245589134935,-0.5979219846256214,-12.418302059173584,0,0,-2.3738070338724544],[-42.533245589134935,-0.5979219846256214,-14.418302059173584,0,0,-2.3738070338724544],[-42.533245589134935,-0.5979219846256214,-16.418302059173584,0,0,-2.3738070338724544],[-42.533245589134935,-0.5979219846256214,-18.418302059173584,0,0,-2.3738070338724544],[-46.13049767097511,-4.070641014391281,-18.418302059173584,0,0,-2.3738070338724544],[-49.727749752815285,-7.543360044156941,-18.418302059173584,0,0,-2.3738070338724544],[-49.727749752815285,-7.543360044156941,-16.418302059173584,0,0,-2.3738070338724544],[-53.32500183465546,-11.0160790739226,-16.418302059173584,0,0,-2.3738070338724544],[-53.32500183465546,-11.0160790739226,-14.418302059173584,0,0,-2.3738070338724544],[-53.32500183465546,-11.0160790739226,-12.418302059173584,0,0,-2.3738070338724544],[-53.32500183465546,-11.0160790739226,-12.418302059173584,0,0,-2.1120076460733053],[-53.32500183465546,-11.0160790739226,-12.418302059173584,0,0,-1.850208258274156],[-53.32500183465546,-11.0160790739226,-12.418302059173584,0,0,-1.5884088704750063],[-53.32500183465546,-11.0160790739226,-12.418302059173584,0,0,-1.326609482675857],[-53.32500183465546,-11.0160790739226,-12.418302059173584,0,0,-1.0648100948767076],[-53.32500183465546,-11.0160790739226,-12.418302059173584,0,0,-0.8030107070775582],[-49.8522828048898,-14.613331155762776,-12.418302059173584,0,0,-0.8030107070775582],[-46.37956377512415,-18.21058323760295,-12.418302059173584,0,0,-0.8030107070775582],[-46.37956377512415,-18.21058323760295,-14.418302059173584,0,0,-0.8030107070775582],[-42.90684474535849,-21.807835319443125,-14.418302059173584,0,0,-0.8030107070775582],[-42.90684474535849,-21.807835319443125,-16.418302059173584,0,0,-0.8030107070775582],[-39.434125715592835,-25.4050874012833,-16.418302059173584,0,0,-0.8030107070775582],[-35.96140668582718,-29.002339483123475,-16.418302059173584,0,0,-0.8030107070775582],[-35.96140668582718,-29.002339483123475,-16.418302059173584,0,0,-1.0648100948767076],[-33.53805503634594,-33.37582399583832,-16.418302059173584,0,0,-1.0648100948767076],[-33.53805503634594,-33.37582399583832,-16.418302059173584,0,0,-1.326609482675857],[-33.53805503634594,-33.37582399583832,-14.418302059173584,0,0,-1.326609482675857],[-32.329218177283316,-38.227495197411194,-14.418302059173584,0,0,-1.326609482675857],[-37.18088937885619,-39.436332056473816,-14.418302059173584,0,0,-1.326609482675857],[-37.18088937885619,-39.436332056473816,-14.418302059173584,0,0,-1.5884088704750063]],"actions":[4,4,4,4,4,4,4,1,1,2,1,2,1,1,2,1,5,2,2,2,2,2,2,4,4,4,4,4,1,1,5,1,5,5,3,3,3,3,3,3,1,1,4,1,4,1,1,2,1,2,5,1,6,2,0]}
+]}
diff --git a/TEST_FILE/AerialVLN-Fine-V3-Scene-9.json b/TEST_FILE/AerialVLN-Fine-V3-Scene-9.json
new file mode 100644
index 0000000000000000000000000000000000000000..cfe507e2dc9ef8a722d2b3fc3f38f54760451adf
--- /dev/null
+++ b/TEST_FILE/AerialVLN-Fine-V3-Scene-9.json
@@ -0,0 +1,32 @@
+{"episodes":[
+{"episode_id":"3OLF68YTNIZ7WIWS8W0BN5N330EFA6","trajectory_id":"32FESTC2OPOHMVTNXWMZQHJ6P14CUD","scene_id":9,"start_position":[-255.26939392089844,62.84012222290039,19.14755630493164],"start_rotation":[0.9998762743908172,0.0,0.0,-0.01573009568754126],"instruction":{"instruction_text":"Take off and ascend to a height higher than the buildings in front. Fly straight to the middle of a building with a green and rusty roof. Turn left to face a two-story building with white walls and windows, then fly to the front of this building, then turn right to face another two-story building on the grass with white wall and windows. Fly forward to land on the grassy area in front of this building."},"goals":[{"position":[-112.68229631665344,-13.729056504679908,17.14755630493164]}],"reference_path":[[-255.26939392089844,62.84012222290039,19.14755630493164,0,0,-0.03146148891641268],[-255.26939392089844,62.84012222290039,17.14755630493164,0,0,-0.03146148891641268],[-255.26939392089844,62.84012222290039,15.14755630493164,0,0,-0.03146148891641268],[-255.26939392089844,62.84012222290039,13.14755630493164,0,0,-0.03146148891641268],[-255.26939392089844,62.84012222290039,11.14755630493164,0,0,-0.03146148891641268],[-255.26939392089844,62.84012222290039,9.14755630493164,0,0,-0.03146148891641268],[-255.26939392089844,62.84012222290039,7.147556304931641,0,0,-0.03146148891641268],[-250.27186828000183,62.682840728181695,7.147556304931641,0,0,-0.03146148891641268],[-245.2743426391052,62.525559233463,7.147556304931641,0,0,-0.03146148891641268],[-240.2768169982086,62.368277738744304,7.147556304931641,0,0,-0.03146148891641268],[-235.279291357312,62.21099624402561,7.147556304931641,0,0,-0.03146148891641268],[-230.28176571641538,62.05371474930691,7.147556304931641,0,0,-0.03146148891641268],[-225.28424007551877,61.89643325458822,7.147556304931641,0,0,-0.03146148891641268],[-220.28671443462216,61.73915175986952,7.147556304931641,0,0,-0.03146148891641268],[-215.28918879372554,61.581870265150826,7.147556304931641,0,0,-0.03146148891641268],[-210.29166315282893,61.42458877043213,7.147556304931641,0,0,-0.03146148891641268],[-205.29413751193232,61.267307275713435,7.147556304931641,0,0,-0.03146148891641268],[-200.2966118710357,61.11002578099474,7.147556304931641,0,0,-0.03146148891641268],[-195.2990862301391,60.952744286276044,7.147556304931641,0,0,-0.03146148891641268],[-190.30156058924248,60.79546279155735,7.147556304931641,0,0,-0.03146148891641268],[-185.30403494834587,60.63818129683865,7.147556304931641,0,0,-0.03146148891641268],[-180.30650930744926,60.48089980211996,7.147556304931641,0,0,-0.03146148891641268],[-175.30898366655265,60.32361830740126,7.147556304931641,0,0,-0.03146148891641268],[-170.31145802565604,60.166336812682566,7.147556304931641,0,0,-0.03146148891641268],[-165.31393238475943,60.00905531796387,7.147556304931641,0,0,-0.03146148891641268],[-160.3164067438628,59.851773823245175,7.147556304931641,0,0,-0.03146148891641268],[-155.3188811029662,59.69449232852648,7.147556304931641,0,0,-0.03146148891641268],[-150.3213554620696,59.537210833807784,7.147556304931641,0,0,-0.03146148891641268],[-145.32382982117298,59.37992933908909,7.147556304931641,0,0,-0.03146148891641268],[-145.32382982117298,59.37992933908909,7.147556304931641,0,0,-0.2932608767155621],[-145.32382982117298,59.37992933908909,7.147556304931641,0,0,-0.5550602645147116],[-145.32382982117298,59.37992933908909,7.147556304931641,0,0,-0.8168596523138609],[-145.32382982117298,59.37992933908909,7.147556304931641,0,0,-1.0786590401130103],[-145.32382982117298,59.37992933908909,9.14755630493164,0,0,-1.0786590401130103],[-142.96127677069626,54.97330443064917,9.14755630493164,0,0,-1.0786590401130103],[-142.96127677069626,54.97330443064917,9.14755630493164,0,0,-1.3404584279121599],[-142.96127677069626,54.97330443064917,9.14755630493164,0,0,-1.6022578157113092],[-142.96127677069626,54.97330443064917,9.14755630493164,0,0,-1.8640572035104586],[-144.40665384269462,50.1867727928407,9.14755630493164,0,0,-1.8640572035104586],[-145.852030914693,45.40024115503223,9.14755630493164,0,0,-1.8640572035104586],[-145.852030914693,45.40024115503223,9.14755630493164,0,0,-1.6022578157113092],[-145.852030914693,45.40024115503223,9.14755630493164,0,0,-1.3404584279121599],[-144.7104983581869,40.53229462467297,9.14755630493164,0,0,-1.3404584279121599],[-143.5689658016808,35.664348094313716,9.14755630493164,0,0,-1.3404584279121599],[-142.4274332451747,30.796401563954465,9.14755630493164,0,0,-1.3404584279121599],[-141.28590068866862,25.928455033595213,9.14755630493164,0,0,-1.3404584279121599],[-140.14436813216253,21.060508503235962,9.14755630493164,0,0,-1.3404584279121599],[-139.00283557565643,16.19256197287671,9.14755630493164,0,0,-1.3404584279121599],[-139.00283557565643,16.19256197287671,9.14755630493164,0,0,-1.0786590401130103],[-136.6402825251797,11.78593706443679,9.14755630493164,0,0,-1.0786590401130103],[-136.6402825251797,11.78593706443679,9.14755630493164,0,0,-0.8168596523138609],[-133.21771306681882,8.140937983134405,9.14755630493164,0,0,-0.8168596523138609],[-129.79514360845792,4.4959389018320195,9.14755630493164,0,0,-0.8168596523138609],[-129.79514360845792,4.4959389018320195,11.14755630493164,0,0,-0.8168596523138609],[-126.37257415009702,0.8509398205296339,11.14755630493164,0,0,-0.8168596523138609],[-122.95000469173613,-2.7940592607727517,11.14755630493164,0,0,-0.8168596523138609],[-119.52743523337523,-6.439058342075137,11.14755630493164,0,0,-0.8168596523138609],[-116.10486577501433,-10.084057423377523,11.14755630493164,0,0,-0.8168596523138609],[-112.68229631665344,-13.729056504679908,11.14755630493164,0,0,-0.8168596523138609],[-112.68229631665344,-13.729056504679908,1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+{"episode_id":"3DPNQGW4LUDWB0N0Y2NGGWOQIZM464","trajectory_id":"32FESTC2OPOHMVTNXWMZQHJ6P14CUD","scene_id":9,"start_position":[-255.26939392089844,62.84012222290039,19.14755630493164],"start_rotation":[0.9998762743908172,0.0,0.0,-0.01573009568754126],"instruction":{"instruction_text":"Take off and ascend to a height higher than the buildings in front, then fly straight ahead to the middle of a building with a green and rusty roof. Turn left to face a two-story building with white walls and windows, then fly to the front of this building, then turn right to face another two-story building on the grass with white wall and windows, then fly forward and land on the grassy area in front of this building."},"goals":[{"position":[-112.68229631665344,-13.729056504679908,17.14755630493164]}],"reference_path":[[-255.26939392089844,62.84012222290039,19.14755630493164,0,0,-0.03146148891641268],[-255.26939392089844,62.84012222290039,17.14755630493164,0,0,-0.03146148891641268],[-255.26939392089844,62.84012222290039,15.14755630493164,0,0,-0.03146148891641268],[-255.26939392089844,62.84012222290039,13.14755630493164,0,0,-0.03146148891641268],[-255.26939392089844,62.84012222290039,11.14755630493164,0,0,-0.03146148891641268],[-255.26939392089844,62.84012222290039,9.14755630493164,0,0,-0.03146148891641268],[-255.26939392089844,62.84012222290039,7.147556304931641,0,0,-0.03146148891641268],[-250.27186828000183,62.682840728181695,7.147556304931641,0,0,-0.03146148891641268],[-245.2743426391052,62.525559233463,7.147556304931641,0,0,-0.03146148891641268],[-240.2768169982086,62.368277738744304,7.147556304931641,0,0,-0.03146148891641268],[-235.279291357312,62.21099624402561,7.147556304931641,0,0,-0.03146148891641268],[-230.28176571641538,62.05371474930691,7.147556304931641,0,0,-0.03146148891641268],[-225.28424007551877,61.89643325458822,7.147556304931641,0,0,-0.03146148891641268],[-220.28671443462216,61.73915175986952,7.147556304931641,0,0,-0.03146148891641268],[-215.28918879372554,61.581870265150826,7.147556304931641,0,0,-0.03146148891641268],[-210.29166315282893,61.42458877043213,7.147556304931641,0,0,-0.03146148891641268],[-205.29413751193232,61.267307275713435,7.147556304931641,0,0,-0.03146148891641268],[-200.2966118710357,61.11002578099474,7.147556304931641,0,0,-0.03146148891641268],[-195.2990862301391,60.952744286276044,7.147556304931641,0,0,-0.03146148891641268],[-190.30156058924248,60.79546279155735,7.147556304931641,0,0,-0.03146148891641268],[-185.30403494834587,60.63818129683865,7.147556304931641,0,0,-0.03146148891641268],[-180.30650930744926,60.48089980211996,7.147556304931641,0,0,-0.03146148891641268],[-175.30898366655265,60.32361830740126,7.147556304931641,0,0,-0.03146148891641268],[-170.31145802565604,60.166336812682566,7.147556304931641,0,0,-0.03146148891641268],[-165.31393238475943,60.00905531796387,7.147556304931641,0,0,-0.03146148891641268],[-160.3164067438628,59.851773823245175,7.147556304931641,0,0,-0.03146148891641268],[-155.3188811029662,59.69449232852648,7.147556304931641,0,0,-0.03146148891641268],[-150.3213554620696,59.537210833807784,7.147556304931641,0,0,-0.03146148891641268],[-145.32382982117298,59.37992933908909,7.147556304931641,0,0,-0.03146148891641268],[-145.32382982117298,59.37992933908909,7.147556304931641,0,0,-0.2932608767155621],[-145.32382982117298,59.37992933908909,7.147556304931641,0,0,-0.5550602645147116],[-145.32382982117298,59.37992933908909,7.147556304931641,0,0,-0.8168596523138609],[-145.32382982117298,59.37992933908909,7.147556304931641,0,0,-1.0786590401130103],[-145.32382982117298,59.37992933908909,9.14755630493164,0,0,-1.0786590401130103],[-142.96127677069626,54.97330443064917,9.14755630493164,0,0,-1.0786590401130103],[-142.96127677069626,54.97330443064917,9.14755630493164,0,0,-1.3404584279121599],[-142.96127677069626,54.97330443064917,9.14755630493164,0,0,-1.6022578157113092],[-142.96127677069626,54.97330443064917,9.14755630493164,0,0,-1.8640572035104586],[-144.40665384269462,50.1867727928407,9.14755630493164,0,0,-1.8640572035104586],[-145.852030914693,45.40024115503223,9.14755630493164,0,0,-1.8640572035104586],[-145.852030914693,45.40024115503223,9.14755630493164,0,0,-1.6022578157113092],[-145.852030914693,45.40024115503223,9.14755630493164,0,0,-1.3404584279121599],[-144.7104983581869,40.53229462467297,9.14755630493164,0,0,-1.3404584279121599],[-143.5689658016808,35.664348094313716,9.14755630493164,0,0,-1.3404584279121599],[-142.4274332451747,30.796401563954465,9.14755630493164,0,0,-1.3404584279121599],[-141.28590068866862,25.928455033595213,9.14755630493164,0,0,-1.3404584279121599],[-140.14436813216253,21.060508503235962,9.14755630493164,0,0,-1.3404584279121599],[-139.00283557565643,16.19256197287671,9.14755630493164,0,0,-1.3404584279121599],[-139.00283557565643,16.19256197287671,9.14755630493164,0,0,-1.0786590401130103],[-136.6402825251797,11.78593706443679,9.14755630493164,0,0,-1.0786590401130103],[-136.6402825251797,11.78593706443679,9.14755630493164,0,0,-0.8168596523138609],[-133.21771306681882,8.140937983134405,9.14755630493164,0,0,-0.8168596523138609],[-129.79514360845792,4.4959389018320195,9.14755630493164,0,0,-0.8168596523138609],[-129.79514360845792,4.4959389018320195,11.14755630493164,0,0,-0.8168596523138609],[-126.37257415009702,0.8509398205296339,11.14755630493164,0,0,-0.8168596523138609],[-122.95000469173613,-2.7940592607727517,11.14755630493164,0,0,-0.8168596523138609],[-119.52743523337523,-6.439058342075137,11.14755630493164,0,0,-0.8168596523138609],[-116.10486577501433,-10.084057423377523,11.14755630493164,0,0,-0.8168596523138609],[-112.68229631665344,-13.729056504679908,11.14755630493164,0,0,-0.8168596523138609],[-112.68229631665344,-13.729056504679908,1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+{"episode_id":"386CSBG1O8K305AYWZUTJZPVEMA6QK","trajectory_id":"32FESTC2OPOHMVTNXWMZQHJ6P14CUD","scene_id":9,"start_position":[-255.26939392089844,62.84012222290039,19.14755630493164],"start_rotation":[0.9998762743908172,0.0,0.0,-0.01573009568754126],"instruction":{"instruction_text":"Take off, fly forward to the top of the roof of the light gray building, and then fly across the road to the top of the green roof. Turn left toward the blue tanker truck with the white compartment, then fly straight up above the road, then turn right to face the white building at its second floor, and fly to the front of this building. Turn right to face the building on the grassland, then fly forward and land on the grass."},"goals":[{"position":[-112.68229631665344,-13.729056504679908,17.14755630493164]}],"reference_path":[[-255.26939392089844,62.84012222290039,19.14755630493164,0,0,-0.03146148891641268],[-255.26939392089844,62.84012222290039,17.14755630493164,0,0,-0.03146148891641268],[-255.26939392089844,62.84012222290039,15.14755630493164,0,0,-0.03146148891641268],[-255.26939392089844,62.84012222290039,13.14755630493164,0,0,-0.03146148891641268],[-255.26939392089844,62.84012222290039,11.14755630493164,0,0,-0.03146148891641268],[-255.26939392089844,62.84012222290039,9.14755630493164,0,0,-0.03146148891641268],[-255.26939392089844,62.84012222290039,7.147556304931641,0,0,-0.03146148891641268],[-250.27186828000183,62.682840728181695,7.147556304931641,0,0,-0.03146148891641268],[-245.2743426391052,62.525559233463,7.147556304931641,0,0,-0.03146148891641268],[-240.2768169982086,62.368277738744304,7.147556304931641,0,0,-0.03146148891641268],[-235.279291357312,62.21099624402561,7.147556304931641,0,0,-0.03146148891641268],[-230.28176571641538,62.05371474930691,7.147556304931641,0,0,-0.03146148891641268],[-225.28424007551877,61.89643325458822,7.147556304931641,0,0,-0.03146148891641268],[-220.28671443462216,61.73915175986952,7.147556304931641,0,0,-0.03146148891641268],[-215.28918879372554,61.581870265150826,7.147556304931641,0,0,-0.03146148891641268],[-210.29166315282893,61.42458877043213,7.147556304931641,0,0,-0.03146148891641268],[-205.29413751193232,61.267307275713435,7.147556304931641,0,0,-0.03146148891641268],[-200.2966118710357,61.11002578099474,7.147556304931641,0,0,-0.03146148891641268],[-195.2990862301391,60.952744286276044,7.147556304931641,0,0,-0.03146148891641268],[-190.30156058924248,60.79546279155735,7.147556304931641,0,0,-0.03146148891641268],[-185.30403494834587,60.63818129683865,7.147556304931641,0,0,-0.03146148891641268],[-180.30650930744926,60.48089980211996,7.147556304931641,0,0,-0.03146148891641268],[-175.30898366655265,60.32361830740126,7.147556304931641,0,0,-0.03146148891641268],[-170.31145802565604,60.166336812682566,7.147556304931641,0,0,-0.03146148891641268],[-165.31393238475943,60.00905531796387,7.147556304931641,0,0,-0.03146148891641268],[-160.3164067438628,59.851773823245175,7.147556304931641,0,0,-0.03146148891641268],[-155.3188811029662,59.69449232852648,7.147556304931641,0,0,-0.03146148891641268],[-150.3213554620696,59.537210833807784,7.147556304931641,0,0,-0.03146148891641268],[-145.32382982117298,59.37992933908909,7.147556304931641,0,0,-0.03146148891641268],[-145.32382982117298,59.37992933908909,7.147556304931641,0,0,-0.2932608767155621],[-145.32382982117298,59.37992933908909,7.147556304931641,0,0,-0.5550602645147116],[-145.32382982117298,59.37992933908909,7.147556304931641,0,0,-0.8168596523138609],[-145.32382982117298,59.37992933908909,7.147556304931641,0,0,-1.0786590401130103],[-145.32382982117298,59.37992933908909,9.14755630493164,0,0,-1.0786590401130103],[-142.96127677069626,54.97330443064917,9.14755630493164,0,0,-1.0786590401130103],[-142.96127677069626,54.97330443064917,9.14755630493164,0,0,-1.3404584279121599],[-142.96127677069626,54.97330443064917,9.14755630493164,0,0,-1.6022578157113092],[-142.96127677069626,54.97330443064917,9.14755630493164,0,0,-1.8640572035104586],[-144.40665384269462,50.1867727928407,9.14755630493164,0,0,-1.8640572035104586],[-145.852030914693,45.40024115503223,9.14755630493164,0,0,-1.8640572035104586],[-145.852030914693,45.40024115503223,9.14755630493164,0,0,-1.6022578157113092],[-145.852030914693,45.40024115503223,9.14755630493164,0,0,-1.3404584279121599],[-144.7104983581869,40.53229462467297,9.14755630493164,0,0,-1.3404584279121599],[-143.5689658016808,35.664348094313716,9.14755630493164,0,0,-1.3404584279121599],[-142.4274332451747,30.796401563954465,9.14755630493164,0,0,-1.3404584279121599],[-141.28590068866862,25.928455033595213,9.14755630493164,0,0,-1.3404584279121599],[-140.14436813216253,21.060508503235962,9.14755630493164,0,0,-1.3404584279121599],[-139.00283557565643,16.19256197287671,9.14755630493164,0,0,-1.3404584279121599],[-139.00283557565643,16.19256197287671,9.14755630493164,0,0,-1.0786590401130103],[-136.6402825251797,11.78593706443679,9.14755630493164,0,0,-1.0786590401130103],[-136.6402825251797,11.78593706443679,9.14755630493164,0,0,-0.8168596523138609],[-133.21771306681882,8.140937983134405,9.14755630493164,0,0,-0.8168596523138609],[-129.79514360845792,4.4959389018320195,9.14755630493164,0,0,-0.8168596523138609],[-129.79514360845792,4.4959389018320195,11.14755630493164,0,0,-0.8168596523138609],[-126.37257415009702,0.8509398205296339,11.14755630493164,0,0,-0.8168596523138609],[-122.95000469173613,-2.7940592607727517,11.14755630493164,0,0,-0.8168596523138609],[-119.52743523337523,-6.439058342075137,11.14755630493164,0,0,-0.8168596523138609],[-116.10486577501433,-10.084057423377523,11.14755630493164,0,0,-0.8168596523138609],[-112.68229631665344,-13.729056504679908,11.14755630493164,0,0,-0.8168596523138609],[-112.68229631665344,-13.729056504679908,13.1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+{"episode_id":"3DQQ64TANPJGU8OPN4S8HOYYXO2WPX","trajectory_id":"3YO4AH2FQLI50ARQ479ALFKGDR1Q0T","scene_id":9,"start_position":[-109.26811981201172,38.07033920288086,19.659725189208984],"start_rotation":[0.9999911774860392,0.0,0.0,-0.004200589254499959],"instruction":{"instruction_text":"Take off and ascend to the height slightly below the streetlights. Turn right to face an oil tanker with red front and white body, and fly forward until passing the mentioned tanker. Turn right to face the blue semi-trailer head. Fly forward over the pipes and the road, and then fly straight ahead to the wide and short cylindrical building with the word \"Naftusha\" written on the left side. Move left towards the white two-story building behind the mentioned building, and then fly forward to it, land on the ground in front of the building."},"goals":[{"position":[-251.5091330153198,158.5346696255799,17.659725189208984]}],"reference_path":[[-109.26811981201172,38.07033920288086,19.659725189208984,0,0,-0.008401203215592002],[-109.26811981201172,38.07033920288086,17.659725189208984,0,0,-0.008401203215592002],[-109.26811981201172,38.07033920288086,15.659725189208984,0,0,-0.008401203215592002],[-109.26811981201172,38.07033920288086,13.659725189208984,0,0,-0.008401203215592002],[-109.26811981201172,38.07033920288086,11.659725189208984,0,0,-0.008401203215592002],[-109.26811981201172,38.07033920288086,9.659725189208984,0,0,-0.008401203215592002],[-109.26811981201172,38.07033920288086,9.659725189208984,0,0,0.2533981845835574],[-109.26811981201172,38.07033920288086,9.659725189208984,0,0,0.5151975723827068],[-109.26811981201172,38.07033920288086,9.659725189208984,0,0,0.7769969601818563],[-109.26811981201172,38.07033920288086,9.659725189208984,0,0,1.0387963479810056],[-109.26811981201172,38.07033920288086,9.659725189208984,0,0,1.3005957357801552],[-109.26811981201172,38.07033920288086,9.659725189208984,0,0,1.5623951235793045],[-109.22611429006429,43.07016275338001,9.659725189208984,0,0,1.5623951235793045],[-109.18410876811686,48.06998630387916,9.659725189208984,0,0,1.5623951235793045],[-109.14210324616943,53.06980985437831,9.659725189208984,0,0,1.5623951235793045],[-109.100097724222,58.069633404877464,9.659725189208984,0,0,1.5623951235793045],[-109.05809220227457,63.069456955376616,9.659725189208984,0,0,1.5623951235793045],[-109.01608668032713,68.06928050587577,9.659725189208984,0,0,1.5623951235793045],[-108.9740811583797,73.06910405637491,9.659725189208984,0,0,1.5623951235793045],[-108.93207563643227,78.06892760687406,9.659725189208984,0,0,1.5623951235793045],[-108.89007011448484,83.0687511573732,9.659725189208984,0,0,1.5623951235793045],[-108.84806459253741,88.06857470787234,9.659725189208984,0,0,1.5623951235793045],[-108.80605907058998,93.06839825837149,9.659725189208984,0,0,1.5623951235793045],[-108.80605907058998,93.06839825837149,9.659725189208984,0,0,1.8241945113784543],[-108.80605907058998,93.06839825837149,9.659725189208984,0,0,2.085993899177604],[-108.80605907058998,93.06839825837149,9.659725189208984,0,0,2.3477932869767537],[-108.80605907058998,93.06839825837149,9.659725189208984,0,0,2.6095926747759033],[-108.80605907058998,93.06839825837149,9.659725189208984,0,0,2.871392062575053],[-113.62464593582595,94.40302203388853,9.659725189208984,0,0,2.871392062575053],[-118.44323280106192,95.73764580940558,9.659725189208984,0,0,2.871392062575053],[-123.2618196662979,97.07226958492262,9.659725189208984,0,0,2.871392062575053],[-128.08040653153387,98.40689336043967,9.659725189208984,0,0,2.871392062575053],[-132.89899339676984,99.74151713595671,9.659725189208984,0,0,2.871392062575053],[-137.7175802620058,101.07614091147376,9.659725189208984,0,0,2.871392062575053],[-142.53616712724178,102.4107646869908,9.659725189208984,0,0,2.871392062575053],[-141.20154335172472,107.22935155222677,9.659725189208984,0,0,2.871392062575053],[-146.0201302169607,108.56397532774382,9.659725189208984,0,0,2.871392062575053],[-150.83871708219667,109.89859910326086,9.659725189208984,0,0,2.871392062575053],[-155.65730394743264,111.23322287877791,9.659725189208984,0,0,2.871392062575053],[-160.4758908126686,112.56784665429495,9.659725189208984,0,0,2.871392062575053],[-165.29447767790458,113.902470429812,9.659725189208984,0,0,2.871392062575053],[-170.11306454314055,115.23709420532904,9.659725189208984,0,0,2.871392062575053],[-168.7784407676235,120.05568107056502,9.659725189208984,0,0,2.871392062575053],[-173.59702763285947,121.39030484608206,9.659725189208984,0,0,2.871392062575053],[-178.41561449809544,122.7249286215991,9.659725189208984,0,0,2.871392062575053],[-183.2342013633314,124.05955239711615,9.659725189208984,0,0,2.871392062575053],[-188.05278822856738,125.3941761726332,9.659725189208984,0,0,2.871392062575053],[-192.87137509380335,126.72879994815024,9.659725189208984,0,0,2.871392062575053],[-197.68996195903932,128.06342372366728,9.659725189208984,0,0,2.871392062575053],[-196.35533818352226,132.88201058890326,9.659725189208984,0,0,2.871392062575053],[-201.17392504875824,134.21663436442032,9.659725189208984,0,0,2.871392062575053],[-205.9925119139942,135.55125813993737,9.659725189208984,0,0,2.871392062575053],[-210.81109877923018,136.88588191545443,9.659725189208984,0,0,2.871392062575053],[-215.62968564446615,138.2205056909715,9.659725189208984,0,0,2.871392062575053],[-214.2950618689491,143.03909255620746,9.659725189208984,0,0,2.871392062575053],[-219.11364873418506,144.37371633172452,9.659725189208984,0,0,2.871392062575053],[-223.93223559942103,145.70834010724158,9.659725189208984,0,0,2.871392062575053],[-228.750822464657,147.04296388275864,9.659725189208984,0,0,2.871392062575053],[-233.56940932989298,148.3775876582757,9.659725189208984,0,0,2.871392062575053],[-232.23478555437592,153.19617452351167,9.659725189208984,0,0,2.871392062575053],[-237.0533724196119,154.53079829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+{"episode_id":"384PI804X1ZKZA3WME3H5YU5J8Y0ST","trajectory_id":"3YO4AH2FQLI50ARQ479ALFKGDR1Q0T","scene_id":9,"start_position":[-109.26811981201172,38.07033920288086,19.659725189208984],"start_rotation":[0.9999911774860392,0.0,0.0,-0.004200589254499959],"instruction":{"instruction_text":"Take off, ascend to a height below the street lamp, then turn right to face the distant buildings with grey tiled roofs. Go straight ahead until passing the red semi-trailer head, turn right to face the blue semi-trailer head. Fly forward across the street, and keep flying until reaching the large cylindrical oil storage tank besides the steel pipeline. Move to the left side of the mentioned tank and then face the white building, then land on the left side of the mentioned tank."},"goals":[{"position":[-251.5091330153198,158.5346696255799,17.659725189208984]}],"reference_path":[[-109.26811981201172,38.07033920288086,19.659725189208984,0,0,-0.008401203215592002],[-109.26811981201172,38.07033920288086,17.659725189208984,0,0,-0.008401203215592002],[-109.26811981201172,38.07033920288086,15.659725189208984,0,0,-0.008401203215592002],[-109.26811981201172,38.07033920288086,13.659725189208984,0,0,-0.008401203215592002],[-109.26811981201172,38.07033920288086,11.659725189208984,0,0,-0.008401203215592002],[-109.26811981201172,38.07033920288086,9.659725189208984,0,0,-0.008401203215592002],[-109.26811981201172,38.07033920288086,9.659725189208984,0,0,0.2533981845835574],[-109.26811981201172,38.07033920288086,9.659725189208984,0,0,0.5151975723827068],[-109.26811981201172,38.07033920288086,9.659725189208984,0,0,0.7769969601818563],[-109.26811981201172,38.07033920288086,9.659725189208984,0,0,1.0387963479810056],[-109.26811981201172,38.07033920288086,9.659725189208984,0,0,1.3005957357801552],[-109.26811981201172,38.07033920288086,9.659725189208984,0,0,1.5623951235793045],[-109.22611429006429,43.07016275338001,9.659725189208984,0,0,1.5623951235793045],[-109.18410876811686,48.06998630387916,9.659725189208984,0,0,1.5623951235793045],[-109.14210324616943,53.06980985437831,9.659725189208984,0,0,1.5623951235793045],[-109.100097724222,58.069633404877464,9.659725189208984,0,0,1.5623951235793045],[-109.05809220227457,63.069456955376616,9.659725189208984,0,0,1.5623951235793045],[-109.01608668032713,68.06928050587577,9.659725189208984,0,0,1.5623951235793045],[-108.9740811583797,73.06910405637491,9.659725189208984,0,0,1.5623951235793045],[-108.93207563643227,78.06892760687406,9.659725189208984,0,0,1.5623951235793045],[-108.89007011448484,83.0687511573732,9.659725189208984,0,0,1.5623951235793045],[-108.84806459253741,88.06857470787234,9.659725189208984,0,0,1.5623951235793045],[-108.80605907058998,93.06839825837149,9.659725189208984,0,0,1.5623951235793045],[-108.80605907058998,93.06839825837149,9.659725189208984,0,0,1.8241945113784543],[-108.80605907058998,93.06839825837149,9.659725189208984,0,0,2.085993899177604],[-108.80605907058998,93.06839825837149,9.659725189208984,0,0,2.3477932869767537],[-108.80605907058998,93.06839825837149,9.659725189208984,0,0,2.6095926747759033],[-108.80605907058998,93.06839825837149,9.659725189208984,0,0,2.871392062575053],[-113.62464593582595,94.40302203388853,9.659725189208984,0,0,2.871392062575053],[-118.44323280106192,95.73764580940558,9.659725189208984,0,0,2.871392062575053],[-123.2618196662979,97.07226958492262,9.659725189208984,0,0,2.871392062575053],[-128.08040653153387,98.40689336043967,9.659725189208984,0,0,2.871392062575053],[-132.89899339676984,99.74151713595671,9.659725189208984,0,0,2.871392062575053],[-137.7175802620058,101.07614091147376,9.659725189208984,0,0,2.871392062575053],[-142.53616712724178,102.4107646869908,9.659725189208984,0,0,2.871392062575053],[-141.20154335172472,107.22935155222677,9.659725189208984,0,0,2.871392062575053],[-146.0201302169607,108.56397532774382,9.659725189208984,0,0,2.871392062575053],[-150.83871708219667,109.89859910326086,9.659725189208984,0,0,2.871392062575053],[-155.65730394743264,111.23322287877791,9.659725189208984,0,0,2.871392062575053],[-160.4758908126686,112.56784665429495,9.659725189208984,0,0,2.871392062575053],[-165.29447767790458,113.902470429812,9.659725189208984,0,0,2.871392062575053],[-170.11306454314055,115.23709420532904,9.659725189208984,0,0,2.871392062575053],[-168.7784407676235,120.05568107056502,9.659725189208984,0,0,2.871392062575053],[-173.59702763285947,121.39030484608206,9.659725189208984,0,0,2.871392062575053],[-178.41561449809544,122.7249286215991,9.659725189208984,0,0,2.871392062575053],[-183.2342013633314,124.05955239711615,9.659725189208984,0,0,2.871392062575053],[-188.05278822856738,125.3941761726332,9.659725189208984,0,0,2.871392062575053],[-192.87137509380335,126.72879994815024,9.659725189208984,0,0,2.871392062575053],[-197.68996195903932,128.06342372366728,9.659725189208984,0,0,2.871392062575053],[-196.35533818352226,132.88201058890326,9.659725189208984,0,0,2.871392062575053],[-201.17392504875824,134.21663436442032,9.659725189208984,0,0,2.871392062575053],[-205.9925119139942,135.55125813993737,9.659725189208984,0,0,2.871392062575053],[-210.81109877923018,136.88588191545443,9.659725189208984,0,0,2.871392062575053],[-215.62968564446615,138.2205056909715,9.659725189208984,0,0,2.871392062575053],[-214.2950618689491,143.03909255620746,9.659725189208984,0,0,2.871392062575053],[-219.11364873418506,144.37371633172452,9.659725189208984,0,0,2.871392062575053],[-223.93223559942103,145.70834010724158,9.659725189208984,0,0,2.871392062575053],[-228.750822464657,147.04296388275864,9.659725189208984,0,0,2.871392062575053],[-233.56940932989298,148.3775876582757,9.659725189208984,0,0,2.871392062575053],[-232.23478555437592,153.19617452351167,9.659725189208984,0,0,2.871392062575053],[-237.0533724196119,154.530798299028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+{"episode_id":"3STRJBFXO5PNR0NFF7IPYN5001ATKY","trajectory_id":"3IZPORCT2N7GNBCMFU5VWXT2VV2RHW","scene_id":9,"start_position":[-140.8810272216797,13.528334617614746,18.725366592407227],"start_rotation":[0.9999998468713943,0.0,0.0,-0.0005534050847420453],"instruction":{"instruction_text":"Take off, ascend to the roof height, then turn right to face the green-roofed building. Fly forward to the top of the green roof and then turn left to face the white cylinder behind the blue factory building. Fly forward to the red tank truck head and fly over the roof of the grey building, then stop in front of the tree on the far right of the grey building, and then turn right to face the middle between the blue warehouse and the red shipping container. Fly forward to the top of the green cylinder, then turn right to face the red shipping container, flyi over the red shipping container, turn left to face the bushes behind the container group, and then fly forward and land in the middle of the bushes."},"goals":[{"position":[-91.72525757311283,160.04545977021422,14.725366592407227]}],"reference_path":[[-140.8810272216797,13.528334617614746,18.725366592407227,0,0,-0.00110681022597886],[-140.8810272216797,13.528334617614746,16.725366592407227,0,0,-0.00110681022597886],[-140.8810272216797,13.528334617614746,14.725366592407227,0,0,-0.00110681022597886],[-140.8810272216797,13.528334617614746,12.725366592407227,0,0,-0.00110681022597886],[-140.8810272216797,13.528334617614746,10.725366592407227,0,0,-0.00110681022597886],[-140.8810272216797,13.528334617614746,8.725366592407227,0,0,-0.00110681022597886],[-140.8810272216797,13.528334617614746,8.725366592407227,0,0,0.26069257757317055],[-140.8810272216797,13.528334617614746,8.725366592407227,0,0,0.52249196537232],[-140.8810272216797,13.528334617614746,8.725366592407227,0,0,0.7842913531714695],[-140.8810272216797,13.528334617614746,8.725366592407227,0,0,1.0460907409706188],[-140.8810272216797,13.528334617614746,8.725366592407227,0,0,1.3078901287697682],[-139.58158730700004,18.356528473306266,8.725366592407227,0,0,1.3078901287697682],[-138.28214739232038,23.184722328997786,8.725366592407227,0,0,1.3078901287697682],[-136.98270747764073,28.012916184689306,8.725366592407227,0,0,1.3078901287697682],[-135.68326756296108,32.841110040380826,8.725366592407227,0,0,1.3078901287697682],[-134.38382764828143,37.66930389607235,8.725366592407227,0,0,1.3078901287697682],[-133.08438773360177,42.49749775176387,8.725366592407227,0,0,1.3078901287697682],[-137.9125815892933,43.796937666443526,8.725366592407227,0,0,1.3078901287697682],[-136.61314167461364,48.62513152213505,8.725366592407227,0,0,1.3078901287697682],[-135.313701759934,53.45332537782657,8.725366592407227,0,0,1.3078901287697682],[-135.313701759934,53.45332537782657,8.725366592407227,0,0,1.0460907409706188],[-135.313701759934,53.45332537782657,8.725366592407227,0,0,0.7842913531714695],[-131.77425685528416,56.98494395391154,8.725366592407227,0,0,0.7842913531714695],[-128.23481195063434,60.516562529996506,8.725366592407227,0,0,0.7842913531714695],[-124.69536704598451,64.04818110608147,8.725366592407227,0,0,0.7842913531714695],[-121.15592214133468,67.57979968216644,8.725366592407227,0,0,0.7842913531714695],[-117.61647723668486,71.1114182582514,8.725366592407227,0,0,0.7842913531714695],[-114.07703233203503,74.64303683433637,8.725366592407227,0,0,0.7842913531714695],[-110.5375874273852,78.17465541042134,8.725366592407227,0,0,0.7842913531714695],[-107.00596885130024,74.63521050577151,8.725366592407227,0,0,0.7842913531714695],[-103.46652394665043,78.16682908185648,8.725366592407227,0,0,0.7842913531714695],[-99.9270790420006,81.69844765794144,8.725366592407227,0,0,0.7842913531714695],[-99.9270790420006,81.69844765794144,8.725366592407227,0,0,0.5224919653723201],[-95.59418765034346,84.19365349876969,8.725366592407227,0,0,0.5224919653723201],[-91.26129625868631,86.68885933959794,8.725366592407227,0,0,0.5224919653723201],[-86.92840486702917,89.18406518042619,8.725366592407227,0,0,0.5224919653723201],[-82.59551347537203,91.67927102125444,8.725366592407227,0,0,0.5224919653723201],[-78.26262208371489,94.17447686208268,8.725366592407227,0,0,0.5224919653723201],[-73.92973069205775,96.66968270291093,8.725366592407227,0,0,0.5224919653723201],[-71.4345248512295,92.33679131125379,8.725366592407227,0,0,0.5224919653723201],[-67.10163345957235,94.83199715208204,8.725366592407227,0,0,0.5224919653723201],[-62.76874206791521,97.32720299291029,8.725366592407227,0,0,0.5224919653723201],[-58.43585067625807,99.82240883373854,8.725366592407227,0,0,0.5224919653723201],[-58.43585067625807,99.82240883373854,8.725366592407227,0,0,0.7842913531714696],[-58.43585067625807,99.82240883373854,8.725366592407227,0,0,1.0460907409706188],[-58.43585067625807,99.82240883373854,8.725366592407227,0,0,1.3078901287697682],[-58.43585067625807,99.82240883373854,8.725366592407227,0,0,1.5696895165689178],[-58.43585067625807,99.82240883373854,8.725366592407227,0,0,1.831488904368067],[-58.43585067625807,99.82240883373854,8.725366592407227,0,0,2.0932882921672165],[-60.93105651708632,104.15530022539568,8.725366592407227,0,0,2.0932882921672165],[-63.42626235791457,108.48819161705282,8.725366592407227,0,0,2.0932882921672165],[-65.92146819874282,112.82108300870996,8.725366592407227,0,0,2.0932882921672165],[-68.41667403957106,117.1539744003671,8.725366592407227,0,0,2.0932882921672165],[-68.41667403957106,117.1539744003671,8.725366592407227,0,0,2.3550876799663656],[-68.41667403957106,117.1539744003671,8.725366592407227,0,0,2.6168870677655147],[-72.74403138122821,119.65876549696698,8.725366592407227,0,0,2.6168870677655147],[-77.07138872288536,122.16355659356685,8.725366592407227,0,0,2.6168870677655147],[-81.39874606454251,124.66834769016673,8.725366592407227,0,0,2.6168870677655147],[-85.72610340619966,127.1731387867666,8.725366592407227,0,0,2.6168870677655147],[-85.72610340619966,127.1731387867666,8.725366592407227,0,0,2.3550876799663656],[-89.25772198228462,130.71258369141643,8.725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+{"episode_id":"3IAS3U3I0OESEYP8QFL0YXDKCNHB2I","trajectory_id":"3IZPORCT2N7GNBCMFU5VWXT2VV2RHW","scene_id":9,"start_position":[-140.8810272216797,13.528334617614746,18.725366592407227],"start_rotation":[0.9999998468713943,0.0,0.0,-0.0005534050847420453],"instruction":{"instruction_text":"Take off, then turn left to face the green building, and fly forward to the edge of the green roof. Turn left to face the tree at the far right of the row of trees behind the grey building, then fly forward to the tree. Turn right to face the two grey and slin cylindrical buildings, then fly forward towards the cylindrical buildings. Turn left towards the shrubbery in front of the blue factory, then fly forward and land in the grass at the middle of factory."},"goals":[{"position":[-91.72525757311283,160.04545977021422,14.725366592407227]}],"reference_path":[[-140.8810272216797,13.528334617614746,18.725366592407227,0,0,-0.00110681022597886],[-140.8810272216797,13.528334617614746,16.725366592407227,0,0,-0.00110681022597886],[-140.8810272216797,13.528334617614746,14.725366592407227,0,0,-0.00110681022597886],[-140.8810272216797,13.528334617614746,12.725366592407227,0,0,-0.00110681022597886],[-140.8810272216797,13.528334617614746,10.725366592407227,0,0,-0.00110681022597886],[-140.8810272216797,13.528334617614746,8.725366592407227,0,0,-0.00110681022597886],[-140.8810272216797,13.528334617614746,8.725366592407227,0,0,0.26069257757317055],[-140.8810272216797,13.528334617614746,8.725366592407227,0,0,0.52249196537232],[-140.8810272216797,13.528334617614746,8.725366592407227,0,0,0.7842913531714695],[-140.8810272216797,13.528334617614746,8.725366592407227,0,0,1.0460907409706188],[-140.8810272216797,13.528334617614746,8.725366592407227,0,0,1.3078901287697682],[-139.58158730700004,18.356528473306266,8.725366592407227,0,0,1.3078901287697682],[-138.28214739232038,23.184722328997786,8.725366592407227,0,0,1.3078901287697682],[-136.98270747764073,28.012916184689306,8.725366592407227,0,0,1.3078901287697682],[-135.68326756296108,32.841110040380826,8.725366592407227,0,0,1.3078901287697682],[-134.38382764828143,37.66930389607235,8.725366592407227,0,0,1.3078901287697682],[-133.08438773360177,42.49749775176387,8.725366592407227,0,0,1.3078901287697682],[-137.9125815892933,43.796937666443526,8.725366592407227,0,0,1.3078901287697682],[-136.61314167461364,48.62513152213505,8.725366592407227,0,0,1.3078901287697682],[-135.313701759934,53.45332537782657,8.725366592407227,0,0,1.3078901287697682],[-135.313701759934,53.45332537782657,8.725366592407227,0,0,1.0460907409706188],[-135.313701759934,53.45332537782657,8.725366592407227,0,0,0.7842913531714695],[-131.77425685528416,56.98494395391154,8.725366592407227,0,0,0.7842913531714695],[-128.23481195063434,60.516562529996506,8.725366592407227,0,0,0.7842913531714695],[-124.69536704598451,64.04818110608147,8.725366592407227,0,0,0.7842913531714695],[-121.15592214133468,67.57979968216644,8.725366592407227,0,0,0.7842913531714695],[-117.61647723668486,71.1114182582514,8.725366592407227,0,0,0.7842913531714695],[-114.07703233203503,74.64303683433637,8.725366592407227,0,0,0.7842913531714695],[-110.5375874273852,78.17465541042134,8.725366592407227,0,0,0.7842913531714695],[-107.00596885130024,74.63521050577151,8.725366592407227,0,0,0.7842913531714695],[-103.46652394665043,78.16682908185648,8.725366592407227,0,0,0.7842913531714695],[-99.9270790420006,81.69844765794144,8.725366592407227,0,0,0.7842913531714695],[-99.9270790420006,81.69844765794144,8.725366592407227,0,0,0.5224919653723201],[-95.59418765034346,84.19365349876969,8.725366592407227,0,0,0.5224919653723201],[-91.26129625868631,86.68885933959794,8.725366592407227,0,0,0.5224919653723201],[-86.92840486702917,89.18406518042619,8.725366592407227,0,0,0.5224919653723201],[-82.59551347537203,91.67927102125444,8.725366592407227,0,0,0.5224919653723201],[-78.26262208371489,94.17447686208268,8.725366592407227,0,0,0.5224919653723201],[-73.92973069205775,96.66968270291093,8.725366592407227,0,0,0.5224919653723201],[-71.4345248512295,92.33679131125379,8.725366592407227,0,0,0.5224919653723201],[-67.10163345957235,94.83199715208204,8.725366592407227,0,0,0.5224919653723201],[-62.76874206791521,97.32720299291029,8.725366592407227,0,0,0.5224919653723201],[-58.43585067625807,99.82240883373854,8.725366592407227,0,0,0.5224919653723201],[-58.43585067625807,99.82240883373854,8.725366592407227,0,0,0.7842913531714696],[-58.43585067625807,99.82240883373854,8.725366592407227,0,0,1.0460907409706188],[-58.43585067625807,99.82240883373854,8.725366592407227,0,0,1.3078901287697682],[-58.43585067625807,99.82240883373854,8.725366592407227,0,0,1.5696895165689178],[-58.43585067625807,99.82240883373854,8.725366592407227,0,0,1.831488904368067],[-58.43585067625807,99.82240883373854,8.725366592407227,0,0,2.0932882921672165],[-60.93105651708632,104.15530022539568,8.725366592407227,0,0,2.0932882921672165],[-63.42626235791457,108.48819161705282,8.725366592407227,0,0,2.0932882921672165],[-65.92146819874282,112.82108300870996,8.725366592407227,0,0,2.0932882921672165],[-68.41667403957106,117.1539744003671,8.725366592407227,0,0,2.0932882921672165],[-68.41667403957106,117.1539744003671,8.725366592407227,0,0,2.3550876799663656],[-68.41667403957106,117.1539744003671,8.725366592407227,0,0,2.6168870677655147],[-72.74403138122821,119.65876549696698,8.725366592407227,0,0,2.6168870677655147],[-77.07138872288536,122.16355659356685,8.725366592407227,0,0,2.6168870677655147],[-81.39874606454251,124.66834769016673,8.725366592407227,0,0,2.6168870677655147],[-85.72610340619966,127.1731387867666,8.725366592407227,0,0,2.6168870677655147],[-85.72610340619966,127.1731387867666,8.725366592407227,0,0,2.3550876799663656],[-89.25772198228462,130.71258369141643,8.72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+{"episode_id":"352YTHGRO4BC8P7HULEKDNDGRD24H5","trajectory_id":"3GONHBMNI3WBHGZOG8FLA53XLYKZM6","scene_id":9,"start_position":[-126.43002319335938,19.823741912841797,12.651652336120605],"start_rotation":[0.9998338470397056,0.0,0.0,0.018228502784996044],"instruction":{"instruction_text":"Take off, then turn right to face the iron gate on the opposite side of the road, and then fly to the top of the roof of the green building on the right front. Fly straight ahead and fly over a truck with a blue front end. Turn left to face the two cylindrical cans on the roof, and then fly forward to the top of the gray roof of the red brick house. Turn right to face the blue container on the ground, then fly over it, and then turn left to face the center of the roof of the blue factory on the far left. Fly straight to the front of blue factory's roof, then turn right to face the bushes, fly forward until over the bushes, then land on the ground."},"goals":[{"position":[-98.57173264919857,174.54630635778355,14.651652336120605]}],"reference_path":[[-126.43002319335938,19.823741912841797,12.651652336120605,0,0,0.03645902485066282],[-126.43002319335938,19.823741912841797,10.651652336120605,0,0,0.03645902485066282],[-126.43002319335938,19.823741912841797,8.651652336120605,0,0,0.03645902485066282],[-126.43002319335938,19.823741912841797,8.651652336120605,0,0,0.2982584126498123],[-126.43002319335938,19.823741912841797,8.651652336120605,0,0,0.5600578004489618],[-126.43002319335938,19.823741912841797,8.651652336120605,0,0,0.8218571882481113],[-126.43002319335938,19.823741912841797,8.651652336120605,0,0,1.0836565760472607],[-126.43002319335938,19.823741912841797,8.651652336120605,0,0,1.3454559638464103],[-126.43002319335938,19.823741912841797,8.651652336120605,0,0,1.6072553516455597],[-126.61227793401234,24.82041912970397,8.651652336120605,0,0,1.6072553516455597],[-126.7945326746653,29.817096346566146,8.651652336120605,0,0,1.6072553516455597],[-126.97678741531827,34.81377356342832,8.651652336120605,0,0,1.6072553516455597],[-127.15904215597124,39.810450780290495,8.651652336120605,0,0,1.6072553516455597],[-127.3412968966242,44.80712799715267,8.651652336120605,0,0,1.6072553516455597],[-132.33797411348638,44.624873256499704,8.651652336120605,0,0,1.6072553516455597],[-132.52022885413936,49.62155047336188,8.651652336120605,0,0,1.6072553516455597],[-132.70248359479234,54.61822769022405,8.651652336120605,0,0,1.6072553516455597],[-132.88473833544532,59.61490490708623,8.651652336120605,0,0,1.6072553516455597],[-133.0669930760983,64.6115821239484,8.651652336120605,0,0,1.6072553516455597],[-138.06367029296047,64.42932738329543,8.651652336120605,0,0,1.6072553516455597],[-138.24592503361345,69.4260046001576,8.651652336120605,0,0,1.6072553516455597],[-138.42817977426643,74.42268181701976,8.651652336120605,0,0,1.6072553516455597],[-138.6104345149194,79.41935903388193,8.651652336120605,0,0,1.6072553516455597],[-138.79268925557238,84.4160362507441,8.651652336120605,0,0,1.6072553516455597],[-138.97494399622536,89.41271346760627,8.651652336120605,0,0,1.6072553516455597],[-143.97162121308753,89.2304587269533,8.651652336120605,0,0,1.6072553516455597],[-144.1538759537405,94.22713594381547,8.651652336120605,0,0,1.6072553516455597],[-144.3361306943935,99.22381316067764,8.651652336120605,0,0,1.6072553516455597],[-144.3361306943935,99.22381316067764,8.651652336120605,0,0,1.3454559638464103],[-144.3361306943935,99.22381316067764,8.651652336120605,0,0,1.083656576047261],[-144.3361306943935,99.22381316067764,8.651652336120605,0,0,0.8218571882481116],[-140.93181991396904,102.88587106714031,8.651652336120605,0,0,0.8218571882481116],[-137.52750913354458,106.54792897360299,8.651652336120605,0,0,0.8218571882481116],[-134.12319835312013,110.20998688006567,8.651652336120605,0,0,0.8218571882481116],[-130.71888757269568,113.87204478652835,8.651652336120605,0,0,0.8218571882481116],[-127.31457679227123,117.53410269299103,8.651652336120605,0,0,0.8218571882481116],[-123.91026601184677,121.1961605994537,8.651652336120605,0,0,0.8218571882481116],[-120.50595523142232,124.85821850591638,8.651652336120605,0,0,0.8218571882481116],[-117.10164445099787,128.52027641237908,8.651652336120605,0,0,0.8218571882481116],[-117.10164445099787,128.52027641237908,8.651652336120605,0,0,1.0836565760472612],[-114.76114307793239,132.93865318701913,8.651652336120605,0,0,1.0836565760472612],[-112.42064170486691,137.35702996165918,8.651652336120605,0,0,1.0836565760472612],[-110.08014033180143,141.77540673629923,8.651652336120605,0,0,1.0836565760472612],[-110.08014033180143,141.77540673629923,8.651652336120605,0,0,0.8218571882481117],[-106.67582955137698,145.4374646427619,8.651652336120605,0,0,0.8218571882481117],[-106.67582955137698,145.4374646427619,8.651652336120605,0,0,0.5600578004489624],[-102.43970751738989,148.0936404865586,8.651652336120605,0,0,0.5600578004489624],[-102.43970751738989,148.0936404865586,8.651652336120605,0,0,0.29825841264981295],[-97.66045894593374,149.5629202734727,8.651652336120605,0,0,0.29825841264981295],[-97.66045894593374,149.5629202734727,8.651652336120605,0,0,0.5600578004489625],[-97.66045894593374,149.5629202734727,8.651652336120605,0,0,0.8218571882481119],[-97.66045894593374,149.5629202734727,8.651652336120605,0,0,1.0836565760472614],[-97.66045894593374,149.5629202734727,8.651652336120605,0,0,1.3454559638464108],[-97.66045894593374,149.5629202734727,8.651652336120605,0,0,1.6072553516455603],[-97.8427136865867,154.55959749033488,8.651652336120605,0,0,1.6072553516455603],[-98.02496842723967,159.55627470719705,8.651652336120605,0,0,1.6072553516455603],[-98.20722316789264,164.55295192405922,8.651652336120605,0,0,1.6072553516455603],[-98.3894779085456,169.54962914092138,8.651652336120605,0,0,1.6072553516455603],[-98.57173264919857,174.54630635778355,8.651652336120605,0,0,1.6072553516455603],[-98.57173264919857,174.54630635778355,10.651652336120605,0,0,1.6072553516455603],[-98.57173264919857,174.54630635778355,12.651652336120605,0,0,1.6072553516455603],[-98.57173264919857,174.54630635778355,14.651652336120605,0,0,1.6072553516455603]],"actions":[4,4,3,3,3,3,3,3,1,1,1,1,1,7,1,1,1,1,7,1,1,1,1,1,7,1,1,2,2,2,1,1,1,1,1,1,1,1,3,1,1,1,2,1,2,1,2,1,3,3,3,3,3,1,1,1,1,1,5,5,5,0]},
+{"episode_id":"3MYYFCXHJC5Y8TC6AFW2SN1FDFKG4I","trajectory_id":"3GONHBMNI3WBHGZOG8FLA53XLYKZM6","scene_id":9,"start_position":[-126.43002319335938,19.823741912841797,12.651652336120605],"start_rotation":[0.9998338470397056,0.0,0.0,0.018228502784996044],"instruction":{"instruction_text":"Take off, then turn right to face the green building. Fly straight ahead until reaching the top of the two rows of oil tankers, then turn left to face the two cylindrical storage tanks behind the red brick house. Fly forward towards the mentioned tanks, then fly over the tanks from the right side, then turn left slightly to face the leftmost blue factory building and fly to it, and then turn right to face the trees between factory building and four round tanks. Fly forward and then land on the grass beside the next blue factory building."},"goals":[{"position":[-98.57173264919857,174.54630635778355,14.651652336120605]}],"reference_path":[[-126.43002319335938,19.823741912841797,12.651652336120605,0,0,0.03645902485066282],[-126.43002319335938,19.823741912841797,10.651652336120605,0,0,0.03645902485066282],[-126.43002319335938,19.823741912841797,8.651652336120605,0,0,0.03645902485066282],[-126.43002319335938,19.823741912841797,8.651652336120605,0,0,0.2982584126498123],[-126.43002319335938,19.823741912841797,8.651652336120605,0,0,0.5600578004489618],[-126.43002319335938,19.823741912841797,8.651652336120605,0,0,0.8218571882481113],[-126.43002319335938,19.823741912841797,8.651652336120605,0,0,1.0836565760472607],[-126.43002319335938,19.823741912841797,8.651652336120605,0,0,1.3454559638464103],[-126.43002319335938,19.823741912841797,8.651652336120605,0,0,1.6072553516455597],[-126.61227793401234,24.82041912970397,8.651652336120605,0,0,1.6072553516455597],[-126.7945326746653,29.817096346566146,8.651652336120605,0,0,1.6072553516455597],[-126.97678741531827,34.81377356342832,8.651652336120605,0,0,1.6072553516455597],[-127.15904215597124,39.810450780290495,8.651652336120605,0,0,1.6072553516455597],[-127.3412968966242,44.80712799715267,8.651652336120605,0,0,1.6072553516455597],[-132.33797411348638,44.624873256499704,8.651652336120605,0,0,1.6072553516455597],[-132.52022885413936,49.62155047336188,8.651652336120605,0,0,1.6072553516455597],[-132.70248359479234,54.61822769022405,8.651652336120605,0,0,1.6072553516455597],[-132.88473833544532,59.61490490708623,8.651652336120605,0,0,1.6072553516455597],[-133.0669930760983,64.6115821239484,8.651652336120605,0,0,1.6072553516455597],[-138.06367029296047,64.42932738329543,8.651652336120605,0,0,1.6072553516455597],[-138.24592503361345,69.4260046001576,8.651652336120605,0,0,1.6072553516455597],[-138.42817977426643,74.42268181701976,8.651652336120605,0,0,1.6072553516455597],[-138.6104345149194,79.41935903388193,8.651652336120605,0,0,1.6072553516455597],[-138.79268925557238,84.4160362507441,8.651652336120605,0,0,1.6072553516455597],[-138.97494399622536,89.41271346760627,8.651652336120605,0,0,1.6072553516455597],[-143.97162121308753,89.2304587269533,8.651652336120605,0,0,1.6072553516455597],[-144.1538759537405,94.22713594381547,8.651652336120605,0,0,1.6072553516455597],[-144.3361306943935,99.22381316067764,8.651652336120605,0,0,1.6072553516455597],[-144.3361306943935,99.22381316067764,8.651652336120605,0,0,1.3454559638464103],[-144.3361306943935,99.22381316067764,8.651652336120605,0,0,1.083656576047261],[-144.3361306943935,99.22381316067764,8.651652336120605,0,0,0.8218571882481116],[-140.93181991396904,102.88587106714031,8.651652336120605,0,0,0.8218571882481116],[-137.52750913354458,106.54792897360299,8.651652336120605,0,0,0.8218571882481116],[-134.12319835312013,110.20998688006567,8.651652336120605,0,0,0.8218571882481116],[-130.71888757269568,113.87204478652835,8.651652336120605,0,0,0.8218571882481116],[-127.31457679227123,117.53410269299103,8.651652336120605,0,0,0.8218571882481116],[-123.91026601184677,121.1961605994537,8.651652336120605,0,0,0.8218571882481116],[-120.50595523142232,124.85821850591638,8.651652336120605,0,0,0.8218571882481116],[-117.10164445099787,128.52027641237908,8.651652336120605,0,0,0.8218571882481116],[-117.10164445099787,128.52027641237908,8.651652336120605,0,0,1.0836565760472612],[-114.76114307793239,132.93865318701913,8.651652336120605,0,0,1.0836565760472612],[-112.42064170486691,137.35702996165918,8.651652336120605,0,0,1.0836565760472612],[-110.08014033180143,141.77540673629923,8.651652336120605,0,0,1.0836565760472612],[-110.08014033180143,141.77540673629923,8.651652336120605,0,0,0.8218571882481117],[-106.67582955137698,145.4374646427619,8.651652336120605,0,0,0.8218571882481117],[-106.67582955137698,145.4374646427619,8.651652336120605,0,0,0.5600578004489624],[-102.43970751738989,148.0936404865586,8.651652336120605,0,0,0.5600578004489624],[-102.43970751738989,148.0936404865586,8.651652336120605,0,0,0.29825841264981295],[-97.66045894593374,149.5629202734727,8.651652336120605,0,0,0.29825841264981295],[-97.66045894593374,149.5629202734727,8.651652336120605,0,0,0.5600578004489625],[-97.66045894593374,149.5629202734727,8.651652336120605,0,0,0.8218571882481119],[-97.66045894593374,149.5629202734727,8.651652336120605,0,0,1.0836565760472614],[-97.66045894593374,149.5629202734727,8.651652336120605,0,0,1.3454559638464108],[-97.66045894593374,149.5629202734727,8.651652336120605,0,0,1.6072553516455603],[-97.8427136865867,154.55959749033488,8.651652336120605,0,0,1.6072553516455603],[-98.02496842723967,159.55627470719705,8.651652336120605,0,0,1.6072553516455603],[-98.20722316789264,164.55295192405922,8.651652336120605,0,0,1.6072553516455603],[-98.3894779085456,169.54962914092138,8.651652336120605,0,0,1.6072553516455603],[-98.57173264919857,174.54630635778355,8.651652336120605,0,0,1.6072553516455603],[-98.57173264919857,174.54630635778355,10.651652336120605,0,0,1.6072553516455603],[-98.5717326491985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+{"episode_id":"3P1L2B7ADANIYE0P4Q8RJDCSPEROL8","trajectory_id":"3IHWR4LC8LBA118AM3HG5SZC5FWI85","scene_id":9,"start_position":[-109.26811981201172,38.07033920288086,19.659725189208984],"start_rotation":[0.9999920550342312,0.0,0.0,-0.003986209780634197],"instruction":{"instruction_text":"Take off and ascend slightly higher than the grey building. Turn right to face the blue factory building in the distance. Fly forward to the top of the bushes in front of the grey building with three doors, then turn right to face the red brick house with a grey roof. Fly straight ahead towards the red brick house until reaching the middle of its grey roof. Turn left to face three smaller vertical cylinders that are closely connected to each other, then fly to their front. Turn right to face the first big and wide cylindrical container. Fly forward and ascend to a higher altitude above the wide container, then land on the roof of the container."},"goals":[{"position":[-140.50003408983648,217.87152464595914,-2.3402748107910156]}],"reference_path":[[-109.26811981201172,38.07033920288086,19.659725189208984,0,0,-0.007972440674868997],[-109.26811981201172,38.07033920288086,17.659725189208984,0,0,-0.007972440674868997],[-109.26811981201172,38.07033920288086,15.659725189208984,0,0,-0.007972440674868997],[-109.26811981201172,38.07033920288086,13.659725189208984,0,0,-0.007972440674868997],[-109.26811981201172,38.07033920288086,11.659725189208984,0,0,-0.007972440674868997],[-109.26811981201172,38.07033920288086,9.659725189208984,0,0,-0.007972440674868997],[-109.26811981201172,38.07033920288086,9.659725189208984,0,0,0.25382694712428044],[-109.26811981201172,38.07033920288086,9.659725189208984,0,0,0.5156263349234299],[-109.26811981201172,38.07033920288086,9.659725189208984,0,0,0.7774257227225793],[-109.26811981201172,38.07033920288086,9.659725189208984,0,0,1.0392251105217287],[-109.26811981201172,38.07033920288086,9.659725189208984,0,0,1.301024498320878],[-107.93556218865521,42.88949786186216,9.659725189208984,0,0,1.301024498320878],[-106.6030045652987,47.70865652084346,9.659725189208984,0,0,1.301024498320878],[-105.2704469419422,52.52781517982476,9.659725189208984,0,0,1.301024498320878],[-103.93788931858569,57.346973838806065,9.659725189208984,0,0,1.301024498320878],[-102.60533169522918,62.166132497787366,9.659725189208984,0,0,1.301024498320878],[-101.27277407187267,66.98529115676867,9.659725189208984,0,0,1.301024498320878],[-99.94021644851617,71.80444981574998,9.659725189208984,0,0,1.301024498320878],[-99.94021644851617,71.80444981574998,7.659725189208984,0,0,1.301024498320878],[-95.12105778953486,70.47189219239347,7.659725189208984,0,0,1.301024498320878],[-93.78850016617835,75.29105085137478,7.659725189208984,0,0,1.301024498320878],[-92.45594254282184,80.11020951035609,7.659725189208984,0,0,1.301024498320878],[-91.12338491946534,84.9293681693374,7.659725189208984,0,0,1.301024498320878],[-91.12338491946534,84.9293681693374,7.659725189208984,0,0,1.5628238861200276],[-91.12338491946534,84.9293681693374,7.659725189208984,0,0,1.824623273919177],[-91.12338491946534,84.9293681693374,7.659725189208984,0,0,2.0864226617183266],[-93.58878415504768,89.27928846851415,7.659725189208984,0,0,2.0864226617183266],[-96.05418339063002,93.62920876769091,7.659725189208984,0,0,2.0864226617183266],[-96.05418339063002,93.62920876769091,9.659725189208984,0,0,2.0864226617183266],[-98.51958262621235,97.97912906686767,9.659725189208984,0,0,2.0864226617183266],[-100.9849818617947,102.32904936604443,9.659725189208984,0,0,2.0864226617183266],[-103.45038109737703,106.67896966522119,9.659725189208984,0,0,2.0864226617183266],[-105.91578033295937,111.02888996439795,9.659725189208984,0,0,2.0864226617183266],[-108.38117956854171,115.3788102635747,9.659725189208984,0,0,2.0864226617183266],[-110.84657880412405,119.72873056275147,9.659725189208984,0,0,2.0864226617183266],[-113.31197803970639,124.07865086192822,9.659725189208984,0,0,2.0864226617183266],[-115.77737727528873,128.42857116110497,9.659725189208984,0,0,2.0864226617183266],[-115.77737727528873,128.42857116110497,9.659725189208984,0,0,1.824623273919177],[-117.03292785094604,133.26836379632877,9.659725189208984,0,0,1.824623273919177],[-117.03292785094604,133.26836379632877,7.659725189208984,0,0,1.824623273919177],[-118.28847842660335,138.10815643155257,7.659725189208984,0,0,1.824623273919177],[-119.54402900226066,142.94794906677637,7.659725189208984,0,0,1.824623273919177],[-120.79957957791797,147.78774170200018,7.659725189208984,0,0,1.824623273919177],[-115.95978694269417,149.04329227765749,7.659725189208984,0,0,1.824623273919177],[-117.21533751835148,153.8830849128813,7.659725189208984,0,0,1.824623273919177],[-117.21533751835148,153.8830849128813,5.659725189208984,0,0,1.824623273919177],[-118.47088809400879,158.7228775481051,5.659725189208984,0,0,1.824623273919177],[-118.47088809400879,158.7228775481051,5.659725189208984,0,0,2.0864226617183266],[-120.93628732959112,163.07279784728183,5.659725189208984,0,0,2.0864226617183266],[-120.93628732959112,163.07279784728183,5.659725189208984,0,0,1.824623273919177],[-120.93628732959112,163.07279784728183,5.659725189208984,0,0,1.5628238861200276],[-120.89642554848778,168.07263894859767,5.659725189208984,0,0,1.5628238861200276],[-120.85656376738444,173.0724800499135,5.659725189208984,0,0,1.5628238861200276],[-120.8167019862811,178.07232115122935,5.659725189208984,0,0,1.5628238861200276],[-120.77684020517776,183.07216225254518,5.659725189208984,0,0,1.5628238861200276],[-120.77684020517776,183.07216225254518,5.659725189208984,0,0,1.824623273919177],[-120.77684020517776,183.07216225254518,5.659725189208984,0,0,2.0864226617183266],[-123.2422394407601,187.42208255172193,5.659725189208984,0,0,2.0864226617183266],[-125.70763867634244,191.77200285089867,5.659725189208984,0,0,2.0864226617183266],[-125.70763867634244,191.77200285089867,3.6597251892089844,0,0,2.0864226617183266],[-128.17303791192478,1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+{"episode_id":"3K4J6M3CXNRDAISNJG6T5QNF4O4GAE","trajectory_id":"3IHWR4LC8LBA118AM3HG5SZC5FWI85","scene_id":9,"start_position":[-109.26811981201172,38.07033920288086,19.659725189208984],"start_rotation":[0.9999920550342312,0.0,0.0,-0.003986209780634197],"instruction":{"instruction_text":"Take off, then turn right to face a red truck with a white oil tank and fly forward until reaching the grass on the left side of the semi-trailer. Turn right to face the brown building with the grey roof, then fly past the semi-trailer with the red cab. Keep flying forward to the house with peak roof ahead, and fly across the middle of grey rooftops. Turn left to face the slender cylindrical structure, and then fly to the front of the medium-sized cylinder on its left. Turn right to face the big and chubby cylinder container, then fly towards it, then land on the top of it."},"goals":[{"position":[-140.50003408983648,217.87152464595914,-2.3402748107910156]}],"reference_path":[[-109.26811981201172,38.07033920288086,19.659725189208984,0,0,-0.007972440674868997],[-109.26811981201172,38.07033920288086,17.659725189208984,0,0,-0.007972440674868997],[-109.26811981201172,38.07033920288086,15.659725189208984,0,0,-0.007972440674868997],[-109.26811981201172,38.07033920288086,13.659725189208984,0,0,-0.007972440674868997],[-109.26811981201172,38.07033920288086,11.659725189208984,0,0,-0.007972440674868997],[-109.26811981201172,38.07033920288086,9.659725189208984,0,0,-0.007972440674868997],[-109.26811981201172,38.07033920288086,9.659725189208984,0,0,0.25382694712428044],[-109.26811981201172,38.07033920288086,9.659725189208984,0,0,0.5156263349234299],[-109.26811981201172,38.07033920288086,9.659725189208984,0,0,0.7774257227225793],[-109.26811981201172,38.07033920288086,9.659725189208984,0,0,1.0392251105217287],[-109.26811981201172,38.07033920288086,9.659725189208984,0,0,1.301024498320878],[-107.93556218865521,42.88949786186216,9.659725189208984,0,0,1.301024498320878],[-106.6030045652987,47.70865652084346,9.659725189208984,0,0,1.301024498320878],[-105.2704469419422,52.52781517982476,9.659725189208984,0,0,1.301024498320878],[-103.93788931858569,57.346973838806065,9.659725189208984,0,0,1.301024498320878],[-102.60533169522918,62.166132497787366,9.659725189208984,0,0,1.301024498320878],[-101.27277407187267,66.98529115676867,9.659725189208984,0,0,1.301024498320878],[-99.94021644851617,71.80444981574998,9.659725189208984,0,0,1.301024498320878],[-99.94021644851617,71.80444981574998,7.659725189208984,0,0,1.301024498320878],[-95.12105778953486,70.47189219239347,7.659725189208984,0,0,1.301024498320878],[-93.78850016617835,75.29105085137478,7.659725189208984,0,0,1.301024498320878],[-92.45594254282184,80.11020951035609,7.659725189208984,0,0,1.301024498320878],[-91.12338491946534,84.9293681693374,7.659725189208984,0,0,1.301024498320878],[-91.12338491946534,84.9293681693374,7.659725189208984,0,0,1.5628238861200276],[-91.12338491946534,84.9293681693374,7.659725189208984,0,0,1.824623273919177],[-91.12338491946534,84.9293681693374,7.659725189208984,0,0,2.0864226617183266],[-93.58878415504768,89.27928846851415,7.659725189208984,0,0,2.0864226617183266],[-96.05418339063002,93.62920876769091,7.659725189208984,0,0,2.0864226617183266],[-96.05418339063002,93.62920876769091,9.659725189208984,0,0,2.0864226617183266],[-98.51958262621235,97.97912906686767,9.659725189208984,0,0,2.0864226617183266],[-100.9849818617947,102.32904936604443,9.659725189208984,0,0,2.0864226617183266],[-103.45038109737703,106.67896966522119,9.659725189208984,0,0,2.0864226617183266],[-105.91578033295937,111.02888996439795,9.659725189208984,0,0,2.0864226617183266],[-108.38117956854171,115.3788102635747,9.659725189208984,0,0,2.0864226617183266],[-110.84657880412405,119.72873056275147,9.659725189208984,0,0,2.0864226617183266],[-113.31197803970639,124.07865086192822,9.659725189208984,0,0,2.0864226617183266],[-115.77737727528873,128.42857116110497,9.659725189208984,0,0,2.0864226617183266],[-115.77737727528873,128.42857116110497,9.659725189208984,0,0,1.824623273919177],[-117.03292785094604,133.26836379632877,9.659725189208984,0,0,1.824623273919177],[-117.03292785094604,133.26836379632877,7.659725189208984,0,0,1.824623273919177],[-118.28847842660335,138.10815643155257,7.659725189208984,0,0,1.824623273919177],[-119.54402900226066,142.94794906677637,7.659725189208984,0,0,1.824623273919177],[-120.79957957791797,147.78774170200018,7.659725189208984,0,0,1.824623273919177],[-115.95978694269417,149.04329227765749,7.659725189208984,0,0,1.824623273919177],[-117.21533751835148,153.8830849128813,7.659725189208984,0,0,1.824623273919177],[-117.21533751835148,153.8830849128813,5.659725189208984,0,0,1.824623273919177],[-118.47088809400879,158.7228775481051,5.659725189208984,0,0,1.824623273919177],[-118.47088809400879,158.7228775481051,5.659725189208984,0,0,2.0864226617183266],[-120.93628732959112,163.07279784728183,5.659725189208984,0,0,2.0864226617183266],[-120.93628732959112,163.07279784728183,5.659725189208984,0,0,1.824623273919177],[-120.93628732959112,163.07279784728183,5.659725189208984,0,0,1.5628238861200276],[-120.89642554848778,168.07263894859767,5.659725189208984,0,0,1.5628238861200276],[-120.85656376738444,173.0724800499135,5.659725189208984,0,0,1.5628238861200276],[-120.8167019862811,178.07232115122935,5.659725189208984,0,0,1.5628238861200276],[-120.77684020517776,183.07216225254518,5.659725189208984,0,0,1.5628238861200276],[-120.77684020517776,183.07216225254518,5.659725189208984,0,0,1.824623273919177],[-120.77684020517776,183.07216225254518,5.659725189208984,0,0,2.0864226617183266],[-123.2422394407601,187.42208255172193,5.659725189208984,0,0,2.0864226617183266],[-125.70763867634244,191.77200285089867,5.659725189208984,0,0,2.0864226617183266],[-125.70763867634244,191.77200285089867,3.6597251892089844,0,0,2.0864226617183266],[-128.17303791192478,196.1219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+{"episode_id":"3FFJ6VRILAMV5W00H2931WOIA9A0ID","trajectory_id":"3IHWR4LC8LBA118AM3HG5SZC5FWI85","scene_id":9,"start_position":[-109.26811981201172,38.07033920288086,19.659725189208984],"start_rotation":[0.9999920550342312,0.0,0.0,-0.003986209780634197],"instruction":{"instruction_text":"Take off, then turn right to face the blue factory in the distance, then fly forward to above the grass between the red truck and the gray house, and then turn right to face the gray-roofed building. Fly forward to the middle of the grey roof, then turn left to face the building at its second floor which has many small windows, then fly to the top of the roof, then turn left to face the three cylindrical structures, and fly to the front of the cylindrical objects. Turn right to face the large cylindrical object with a railing on the top, then ascend in height while moving forward to the top of the mentioned object, finally land on top of it."},"goals":[{"position":[-140.50003408983648,217.87152464595914,-2.3402748107910156]}],"reference_path":[[-109.26811981201172,38.07033920288086,19.659725189208984,0,0,-0.007972440674868997],[-109.26811981201172,38.07033920288086,17.659725189208984,0,0,-0.007972440674868997],[-109.26811981201172,38.07033920288086,15.659725189208984,0,0,-0.007972440674868997],[-109.26811981201172,38.07033920288086,13.659725189208984,0,0,-0.007972440674868997],[-109.26811981201172,38.07033920288086,11.659725189208984,0,0,-0.007972440674868997],[-109.26811981201172,38.07033920288086,9.659725189208984,0,0,-0.007972440674868997],[-109.26811981201172,38.07033920288086,9.659725189208984,0,0,0.25382694712428044],[-109.26811981201172,38.07033920288086,9.659725189208984,0,0,0.5156263349234299],[-109.26811981201172,38.07033920288086,9.659725189208984,0,0,0.7774257227225793],[-109.26811981201172,38.07033920288086,9.659725189208984,0,0,1.0392251105217287],[-109.26811981201172,38.07033920288086,9.659725189208984,0,0,1.301024498320878],[-107.93556218865521,42.88949786186216,9.659725189208984,0,0,1.301024498320878],[-106.6030045652987,47.70865652084346,9.659725189208984,0,0,1.301024498320878],[-105.2704469419422,52.52781517982476,9.659725189208984,0,0,1.301024498320878],[-103.93788931858569,57.346973838806065,9.659725189208984,0,0,1.301024498320878],[-102.60533169522918,62.166132497787366,9.659725189208984,0,0,1.301024498320878],[-101.27277407187267,66.98529115676867,9.659725189208984,0,0,1.301024498320878],[-99.94021644851617,71.80444981574998,9.659725189208984,0,0,1.301024498320878],[-99.94021644851617,71.80444981574998,7.659725189208984,0,0,1.301024498320878],[-95.12105778953486,70.47189219239347,7.659725189208984,0,0,1.301024498320878],[-93.78850016617835,75.29105085137478,7.659725189208984,0,0,1.301024498320878],[-92.45594254282184,80.11020951035609,7.659725189208984,0,0,1.301024498320878],[-91.12338491946534,84.9293681693374,7.659725189208984,0,0,1.301024498320878],[-91.12338491946534,84.9293681693374,7.659725189208984,0,0,1.5628238861200276],[-91.12338491946534,84.9293681693374,7.659725189208984,0,0,1.824623273919177],[-91.12338491946534,84.9293681693374,7.659725189208984,0,0,2.0864226617183266],[-93.58878415504768,89.27928846851415,7.659725189208984,0,0,2.0864226617183266],[-96.05418339063002,93.62920876769091,7.659725189208984,0,0,2.0864226617183266],[-96.05418339063002,93.62920876769091,9.659725189208984,0,0,2.0864226617183266],[-98.51958262621235,97.97912906686767,9.659725189208984,0,0,2.0864226617183266],[-100.9849818617947,102.32904936604443,9.659725189208984,0,0,2.0864226617183266],[-103.45038109737703,106.67896966522119,9.659725189208984,0,0,2.0864226617183266],[-105.91578033295937,111.02888996439795,9.659725189208984,0,0,2.0864226617183266],[-108.38117956854171,115.3788102635747,9.659725189208984,0,0,2.0864226617183266],[-110.84657880412405,119.72873056275147,9.659725189208984,0,0,2.0864226617183266],[-113.31197803970639,124.07865086192822,9.659725189208984,0,0,2.0864226617183266],[-115.77737727528873,128.42857116110497,9.659725189208984,0,0,2.0864226617183266],[-115.77737727528873,128.42857116110497,9.659725189208984,0,0,1.824623273919177],[-117.03292785094604,133.26836379632877,9.659725189208984,0,0,1.824623273919177],[-117.03292785094604,133.26836379632877,7.659725189208984,0,0,1.824623273919177],[-118.28847842660335,138.10815643155257,7.659725189208984,0,0,1.824623273919177],[-119.54402900226066,142.94794906677637,7.659725189208984,0,0,1.824623273919177],[-120.79957957791797,147.78774170200018,7.659725189208984,0,0,1.824623273919177],[-115.95978694269417,149.04329227765749,7.659725189208984,0,0,1.824623273919177],[-117.21533751835148,153.8830849128813,7.659725189208984,0,0,1.824623273919177],[-117.21533751835148,153.8830849128813,5.659725189208984,0,0,1.824623273919177],[-118.47088809400879,158.7228775481051,5.659725189208984,0,0,1.824623273919177],[-118.47088809400879,158.7228775481051,5.659725189208984,0,0,2.0864226617183266],[-120.93628732959112,163.07279784728183,5.659725189208984,0,0,2.0864226617183266],[-120.93628732959112,163.07279784728183,5.659725189208984,0,0,1.824623273919177],[-120.93628732959112,163.07279784728183,5.659725189208984,0,0,1.5628238861200276],[-120.89642554848778,168.07263894859767,5.659725189208984,0,0,1.5628238861200276],[-120.85656376738444,173.0724800499135,5.659725189208984,0,0,1.5628238861200276],[-120.8167019862811,178.07232115122935,5.659725189208984,0,0,1.5628238861200276],[-120.77684020517776,183.07216225254518,5.659725189208984,0,0,1.5628238861200276],[-120.77684020517776,183.07216225254518,5.659725189208984,0,0,1.824623273919177],[-120.77684020517776,183.07216225254518,5.659725189208984,0,0,2.0864226617183266],[-123.2422394407601,187.42208255172193,5.659725189208984,0,0,2.0864226617183266],[-125.70763867634244,191.77200285089867,5.659725189208984,0,0,2.0864226617183266],[-125.70763867634244,191.77200285089867,3.6597251892089844,0,0,2.0864226617183266],[-128.17303791192478,196.1219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+{"episode_id":"3R6BYFZZPGAJSV4LJ6SP7DY14O9XFK","trajectory_id":"3VJ4PFXFKB5TTGWPDIQ8KMTIPYJAU9","scene_id":9,"start_position":[-96.61461639404297,10.205656051635742,18.886608123779297],"start_rotation":[0.999935582081269,0.0,0.0,-0.011350404741406351],"instruction":{"instruction_text":"Take off to a height above the roof of the gray building ahead, then turn right to face the green roof, and then fly forward to the front of the mentioned roof. Turn left to face the grey building with three doors, then fly forward to the top of the grass front to the grey building. Turn right to face the red shipping container, then fly forward to the top of the green container, then fly over the containers and land on the ground in the middle of the grass ahead."},"goals":[{"position":[-95.10968002505726,160.9676584790653,14.886608123779297]}],"reference_path":[[-96.61461639404297,10.205656051635742,18.886608123779297,0,0,-0.02270129694167329],[-96.61461639404297,10.205656051635742,16.886608123779297,0,0,-0.02270129694167329],[-96.61461639404297,10.205656051635742,14.886608123779297,0,0,-0.02270129694167329],[-96.61461639404297,10.205656051635742,12.886608123779297,0,0,-0.02270129694167329],[-96.61461639404297,10.205656051635742,10.886608123779297,0,0,-0.02270129694167329],[-96.61461639404297,10.205656051635742,8.886608123779297,0,0,-0.02270129694167329],[-96.61461639404297,10.205656051635742,8.886608123779297,0,0,0.23909809085747613],[-96.61461639404297,10.205656051635742,8.886608123779297,0,0,0.5008974786566256],[-96.61461639404297,10.205656051635742,8.886608123779297,0,0,0.7626968664557751],[-96.61461639404297,10.205656051635742,8.886608123779297,0,0,1.0244962542549245],[-96.61461639404297,10.205656051635742,8.886608123779297,0,0,1.2862956420540739],[-96.61461639404297,10.205656051635742,8.886608123779297,0,0,1.5480950298532234],[-96.61461639404297,10.205656051635742,8.886608123779297,0,0,1.809894417652373],[-96.61461639404297,10.205656051635742,8.886608123779297,0,0,2.0716938054515226],[-99.01568117922426,14.591415723273297,8.886608123779297,0,0,2.0716938054515226],[-101.41674596440555,18.97717539491085,8.886608123779297,0,0,2.0716938054515226],[-103.81781074958684,23.362935066548406,8.886608123779297,0,0,2.0716938054515226],[-106.21887553476813,27.74869473818596,8.886608123779297,0,0,2.0716938054515226],[-108.61994031994942,32.13445440982352,8.886608123779297,0,0,2.0716938054515226],[-111.02100510513071,36.52021408146108,8.886608123779297,0,0,2.0716938054515226],[-111.02100510513071,36.52021408146108,8.886608123779297,0,0,2.3334931932506717],[-114.47537372199291,40.13509132126295,8.886608123779297,0,0,2.3334931932506717],[-117.9297423388551,43.74996856106482,8.886608123779297,0,0,2.3334931932506717],[-117.9297423388551,43.74996856106482,8.886608123779297,0,0,2.071693805451522],[-120.33080712403638,48.13572823270238,8.886608123779297,0,0,2.071693805451522],[-122.73187190921766,52.521487904339935,8.886608123779297,0,0,2.071693805451522],[-125.13293669439894,56.90724757597749,8.886608123779297,0,0,2.071693805451522],[-127.53400147958021,61.29300724761505,8.886608123779297,0,0,2.071693805451522],[-127.53400147958021,61.29300724761505,8.886608123779297,0,0,1.8098944176523728],[-127.53400147958021,61.29300724761505,8.886608123779297,0,0,1.5480950298532234],[-127.53400147958021,61.29300724761505,8.886608123779297,0,0,1.286295642054074],[-127.53400147958021,61.29300724761505,8.886608123779297,0,0,1.0244962542549247],[-127.53400147958021,61.29300724761505,8.886608123779297,0,0,0.7626968664557753],[-127.53400147958021,61.29300724761505,8.886608123779297,0,0,0.5008974786566258],[-123.14824180794265,63.694072032796335,8.886608123779297,0,0,0.5008974786566258],[-118.7624821363051,66.09513681797762,8.886608123779297,0,0,0.5008974786566258],[-114.37672246466754,68.49620160315891,8.886608123779297,0,0,0.5008974786566258],[-114.37672246466754,68.49620160315891,6.886608123779297,0,0,0.5008974786566258],[-109.99096279302998,70.8972663883402,6.886608123779297,0,0,0.5008974786566258],[-105.60520312139242,73.29833117352149,6.886608123779297,0,0,0.5008974786566258],[-103.20413833621113,68.91257150188393,6.886608123779297,0,0,0.5008974786566258],[-98.81837866457357,71.31363628706521,6.886608123779297,0,0,0.5008974786566258],[-94.43261899293601,73.7147010722465,6.886608123779297,0,0,0.5008974786566258],[-90.04685932129846,76.11576585742779,6.886608123779297,0,0,0.5008974786566258],[-90.04685932129846,76.11576585742779,6.886608123779297,0,0,0.7626968664557753],[-90.04685932129846,76.11576585742779,6.886608123779297,0,0,1.0244962542549247],[-90.04685932129846,76.11576585742779,6.886608123779297,0,0,1.286295642054074],[-90.04685932129846,76.11576585742779,6.886608123779297,0,0,1.5480950298532237],[-90.04685932129846,76.11576585742779,6.886608123779297,0,0,1.809894417652373],[-90.04685932129846,76.11576585742779,6.886608123779297,0,0,2.0716938054515226],[-90.04685932129846,76.11576585742779,8.886608123779297,0,0,2.0716938054515226],[-92.44792410647975,80.50152552906535,8.886608123779297,0,0,2.0716938054515226],[-94.84898889166104,84.8872852007029,8.886608123779297,0,0,2.0716938054515226],[-94.84898889166104,84.8872852007029,8.886608123779297,0,0,1.809894417652373],[-96.03312124799848,89.7450450303646,8.886608123779297,0,0,1.809894417652373],[-97.21725360433592,94.60280486002628,8.886608123779297,0,0,1.809894417652373],[-98.40138596067337,99.46056468968797,8.886608123779297,0,0,1.809894417652373],[-99.58551831701081,104.31832451934966,8.886608123779297,0,0,1.809894417652373],[-100.76965067334825,109.17608434901135,8.886608123779297,0,0,1.809894417652373],[-95.91189084368656,110.36021670534879,8.886608123779297,0,0,1.809894417652373],[-97.096023200024,115.21797653501048,8.88660812377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+{"episode_id":"39K0FND3AQDD2SO9UJ4OIV7C08YMA6","trajectory_id":"3QHITW7OZW711NP8W963ALWTMDDAQ4","scene_id":9,"start_position":[-195.8104705810547,22.185319900512695,19.42976188659668],"start_rotation":[0.9999999968543988,0.0,0.0,7.931710024949996e-05],"instruction":{"instruction_text":"Take off and ascend to the same height as the pipeline ahead. Fly forward until reaching the top of the red shipping container, and then turn right to face a row of white horizontal storage tanks. Fly forward over the white horizontal storage tanks and then turn right to face the red truck head. Fly straight ahead, pass over the green and red shipping containers ahead, and then land in the gap between the grass on the front."},"goals":[{"position":[-96.682840867084,159.64507406015403,15.42976188659668]}],"reference_path":[[-195.8104705810547,22.185319900512695,19.42976188659668,0,0,0.00015863420066533323],[-195.8104705810547,22.185319900512695,17.42976188659668,0,0,0.00015863420066533323],[-195.8104705810547,22.185319900512695,15.42976188659668,0,0,0.00015863420066533323],[-195.8104705810547,22.185319900512695,13.42976188659668,0,0,0.00015863420066533323],[-195.8104705810547,22.185319900512695,11.42976188659668,0,0,0.00015863420066533323],[-195.8104705810547,22.185319900512695,9.42976188659668,0,0,0.00015863420066533323],[-190.8104706439667,22.186113071512697,9.42976188659668,0,0,0.00015863420066533323],[-185.81047070687873,22.1869062425127,9.42976188659668,0,0,0.00015863420066533323],[-180.81047076979075,22.1876994135127,9.42976188659668,0,0,0.00015863420066533323],[-175.81047083270278,22.1884925845127,9.42976188659668,0,0,0.00015863420066533323],[-170.8104708956148,22.189285755512703,9.42976188659668,0,0,0.00015863420066533323],[-165.81047095852682,22.190078926512705,9.42976188659668,0,0,0.00015863420066533323],[-160.81047102143884,22.190872097512706,9.42976188659668,0,0,0.00015863420066533323],[-155.81047108435087,22.191665268512708,9.42976188659668,0,0,0.00015863420066533323],[-150.8104711472629,22.19245843951271,9.42976188659668,0,0,0.00015863420066533323],[-145.8104712101749,22.19325161051271,9.42976188659668,0,0,0.00015863420066533323],[-140.81047127308693,22.194044781512712,9.42976188659668,0,0,0.00015863420066533323],[-135.81047133599895,22.194837952512714,9.42976188659668,0,0,0.00015863420066533323],[-135.81047133599895,22.194837952512714,9.42976188659668,0,0,0.26195802199981477],[-130.9810475530828,23.48969930609605,9.42976188659668,0,0,0.26195802199981477],[-130.9810475530828,23.48969930609605,9.42976188659668,0,0,0.5237574097989642],[-130.9810475530828,23.48969930609605,9.42976188659668,0,0,0.7855567975981137],[-127.44607454822831,27.025794024136008,9.42976188659668,0,0,0.7855567975981137],[-123.91110154337383,30.561888742175967,9.42976188659668,0,0,0.7855567975981137],[-120.37612853851935,34.09798346021593,9.42976188659668,0,0,0.7855567975981137],[-116.84115553366487,37.63407817825589,9.42976188659668,0,0,0.7855567975981137],[-113.3061825288104,41.17017289629585,9.42976188659668,0,0,0.7855567975981137],[-109.77120952395592,44.706267614335815,9.42976188659668,0,0,0.7855567975981137],[-106.23623651910144,48.24236233237578,9.42976188659668,0,0,0.7855567975981137],[-102.70126351424696,51.77845705041574,9.42976188659668,0,0,0.7855567975981137],[-99.16629050939248,55.3145517684557,9.42976188659668,0,0,0.7855567975981137],[-99.16629050939248,55.3145517684557,9.42976188659668,0,0,1.0473561853972633],[-96.66697744708404,59.64507531839448,9.42976188659668,0,0,1.0473561853972633],[-96.66697744708404,59.64507531839448,9.42976188659668,0,0,1.3091555731964126],[-96.66697744708404,59.64507531839448,9.42976188659668,0,0,1.570954960995562],[-96.66777061808403,64.64507525548245,9.42976188659668,0,0,1.570954960995562],[-96.66856378908403,69.64507519257043,9.42976188659668,0,0,1.570954960995562],[-96.66935696008403,74.64507512965841,9.42976188659668,0,0,1.570954960995562],[-96.67015013108403,79.64507506674639,9.42976188659668,0,0,1.570954960995562],[-96.67015013108403,79.64507506674639,11.42976188659668,0,0,1.570954960995562],[-96.67094330208403,84.64507500383436,11.42976188659668,0,0,1.570954960995562],[-96.67173647308402,89.64507494092234,11.42976188659668,0,0,1.570954960995562],[-96.67252964408402,94.64507487801032,11.42976188659668,0,0,1.570954960995562],[-96.67332281508402,99.6450748150983,11.42976188659668,0,0,1.570954960995562],[-96.67411598608402,104.64507475218628,11.42976188659668,0,0,1.570954960995562],[-96.67490915708402,109.64507468927425,11.42976188659668,0,0,1.570954960995562],[-96.67570232808401,114.64507462636223,11.42976188659668,0,0,1.570954960995562],[-96.67649549908401,119.64507456345021,11.42976188659668,0,0,1.570954960995562],[-96.67728867008401,124.64507450053819,11.42976188659668,0,0,1.570954960995562],[-96.67808184108401,129.64507443762616,11.42976188659668,0,0,1.570954960995562],[-96.678875012084,134.64507437471414,11.42976188659668,0,0,1.570954960995562],[-96.679668183084,139.64507431180212,11.42976188659668,0,0,1.570954960995562],[-96.680461354084,144.6450742488901,11.42976188659668,0,0,1.570954960995562],[-96.681254525084,149.64507418597807,11.42976188659668,0,0,1.570954960995562],[-96.682047696084,154.64507412306605,11.42976188659668,0,0,1.570954960995562],[-96.682840867084,159.64507406015403,11.42976188659668,0,0,1.570954960995562],[-96.682840867084,159.64507406015403,13.42976188659668,0,0,1.570954960995562],[-96.682840867084,159.64507406015403,15.42976188659668,0,0,1.570954960995562]],"actions":[4,4,4,4,4,1,1,1,1,1,1,1,1,1,1,1,1,3,1,3,3,1,1,1,1,1,1,1,1,1,3,1,3,3,1,1,1,1,5,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,5,5,0]},
+{"episode_id":"358UUM7WR81MG633SOOLU3ZW5H7R7C","trajectory_id":"3QHITW7OZW711NP8W963ALWTMDDAQ4","scene_id":9,"start_position":[-195.8104705810547,22.185319900512695,19.42976188659668],"start_rotation":[0.9999999968543988,0.0,0.0,7.931710024949996e-05],"instruction":{"instruction_text":"Take off, ascend to the height of the buildings ahead, and fly to the top of the blue tanker truck. Fly forward to the top of the red shipping container and then turn right to face the white tankers on the opposite side of the road, then fly forward to the top of the white tanker. Turn right to face the blue container at the corner, then fly straight ahead to pass over the green and red shipping containers ahead. Landed in the gap between the grass patches ahead."},"goals":[{"position":[-96.682840867084,159.64507406015403,15.42976188659668]}],"reference_path":[[-195.8104705810547,22.185319900512695,19.42976188659668,0,0,0.00015863420066533323],[-195.8104705810547,22.185319900512695,17.42976188659668,0,0,0.00015863420066533323],[-195.8104705810547,22.185319900512695,15.42976188659668,0,0,0.00015863420066533323],[-195.8104705810547,22.185319900512695,13.42976188659668,0,0,0.00015863420066533323],[-195.8104705810547,22.185319900512695,11.42976188659668,0,0,0.00015863420066533323],[-195.8104705810547,22.185319900512695,9.42976188659668,0,0,0.00015863420066533323],[-190.8104706439667,22.186113071512697,9.42976188659668,0,0,0.00015863420066533323],[-185.81047070687873,22.1869062425127,9.42976188659668,0,0,0.00015863420066533323],[-180.81047076979075,22.1876994135127,9.42976188659668,0,0,0.00015863420066533323],[-175.81047083270278,22.1884925845127,9.42976188659668,0,0,0.00015863420066533323],[-170.8104708956148,22.189285755512703,9.42976188659668,0,0,0.00015863420066533323],[-165.81047095852682,22.190078926512705,9.42976188659668,0,0,0.00015863420066533323],[-160.81047102143884,22.190872097512706,9.42976188659668,0,0,0.00015863420066533323],[-155.81047108435087,22.191665268512708,9.42976188659668,0,0,0.00015863420066533323],[-150.8104711472629,22.19245843951271,9.42976188659668,0,0,0.00015863420066533323],[-145.8104712101749,22.19325161051271,9.42976188659668,0,0,0.00015863420066533323],[-140.81047127308693,22.194044781512712,9.42976188659668,0,0,0.00015863420066533323],[-135.81047133599895,22.194837952512714,9.42976188659668,0,0,0.00015863420066533323],[-135.81047133599895,22.194837952512714,9.42976188659668,0,0,0.26195802199981477],[-130.9810475530828,23.48969930609605,9.42976188659668,0,0,0.26195802199981477],[-130.9810475530828,23.48969930609605,9.42976188659668,0,0,0.5237574097989642],[-130.9810475530828,23.48969930609605,9.42976188659668,0,0,0.7855567975981137],[-127.44607454822831,27.025794024136008,9.42976188659668,0,0,0.7855567975981137],[-123.91110154337383,30.561888742175967,9.42976188659668,0,0,0.7855567975981137],[-120.37612853851935,34.09798346021593,9.42976188659668,0,0,0.7855567975981137],[-116.84115553366487,37.63407817825589,9.42976188659668,0,0,0.7855567975981137],[-113.3061825288104,41.17017289629585,9.42976188659668,0,0,0.7855567975981137],[-109.77120952395592,44.706267614335815,9.42976188659668,0,0,0.7855567975981137],[-106.23623651910144,48.24236233237578,9.42976188659668,0,0,0.7855567975981137],[-102.70126351424696,51.77845705041574,9.42976188659668,0,0,0.7855567975981137],[-99.16629050939248,55.3145517684557,9.42976188659668,0,0,0.7855567975981137],[-99.16629050939248,55.3145517684557,9.42976188659668,0,0,1.0473561853972633],[-96.66697744708404,59.64507531839448,9.42976188659668,0,0,1.0473561853972633],[-96.66697744708404,59.64507531839448,9.42976188659668,0,0,1.3091555731964126],[-96.66697744708404,59.64507531839448,9.42976188659668,0,0,1.570954960995562],[-96.66777061808403,64.64507525548245,9.42976188659668,0,0,1.570954960995562],[-96.66856378908403,69.64507519257043,9.42976188659668,0,0,1.570954960995562],[-96.66935696008403,74.64507512965841,9.42976188659668,0,0,1.570954960995562],[-96.67015013108403,79.64507506674639,9.42976188659668,0,0,1.570954960995562],[-96.67015013108403,79.64507506674639,11.42976188659668,0,0,1.570954960995562],[-96.67094330208403,84.64507500383436,11.42976188659668,0,0,1.570954960995562],[-96.67173647308402,89.64507494092234,11.42976188659668,0,0,1.570954960995562],[-96.67252964408402,94.64507487801032,11.42976188659668,0,0,1.570954960995562],[-96.67332281508402,99.6450748150983,11.42976188659668,0,0,1.570954960995562],[-96.67411598608402,104.64507475218628,11.42976188659668,0,0,1.570954960995562],[-96.67490915708402,109.64507468927425,11.42976188659668,0,0,1.570954960995562],[-96.67570232808401,114.64507462636223,11.42976188659668,0,0,1.570954960995562],[-96.67649549908401,119.64507456345021,11.42976188659668,0,0,1.570954960995562],[-96.67728867008401,124.64507450053819,11.42976188659668,0,0,1.570954960995562],[-96.67808184108401,129.64507443762616,11.42976188659668,0,0,1.570954960995562],[-96.678875012084,134.64507437471414,11.42976188659668,0,0,1.570954960995562],[-96.679668183084,139.64507431180212,11.42976188659668,0,0,1.570954960995562],[-96.680461354084,144.6450742488901,11.42976188659668,0,0,1.570954960995562],[-96.681254525084,149.64507418597807,11.42976188659668,0,0,1.570954960995562],[-96.682047696084,154.64507412306605,11.42976188659668,0,0,1.570954960995562],[-96.682840867084,159.64507406015403,11.42976188659668,0,0,1.570954960995562],[-96.682840867084,159.64507406015403,13.42976188659668,0,0,1.570954960995562],[-96.682840867084,159.64507406015403,15.42976188659668,0,0,1.570954960995562]],"actions":[4,4,4,4,4,1,1,1,1,1,1,1,1,1,1,1,1,3,1,3,3,1,1,1,1,1,1,1,1,1,3,1,3,3,1,1,1,1,5,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,5,5,0]},
+{"episode_id":"32SCWG5HIQ2I0T9JWMF4JUZL9MA6P7","trajectory_id":"3QHITW7OZW711NP8W963ALWTMDDAQ4","scene_id":9,"start_position":[-195.8104705810547,22.185319900512695,19.42976188659668],"start_rotation":[0.9999999968543988,0.0,0.0,7.931710024949996e-05],"instruction":{"instruction_text":"Take off and rise to the height of the pipeline, fly forward to the front of the red shipping container. Turn right to face the grey building on the right side of the road. Fly forward to the top of the white tanker parked on the opposite side of the road. Turn left toward the tanker featuring a red front end and a white oil tank, and then fly forward to the top of it. Fly straight ahead to the gap between the blue factory building and the cylindrical water tank on the right. Fly forward and then land in the gap between the grasslands ahead."},"goals":[{"position":[-96.682840867084,159.64507406015403,15.42976188659668]}],"reference_path":[[-195.8104705810547,22.185319900512695,19.42976188659668,0,0,0.00015863420066533323],[-195.8104705810547,22.185319900512695,17.42976188659668,0,0,0.00015863420066533323],[-195.8104705810547,22.185319900512695,15.42976188659668,0,0,0.00015863420066533323],[-195.8104705810547,22.185319900512695,13.42976188659668,0,0,0.00015863420066533323],[-195.8104705810547,22.185319900512695,11.42976188659668,0,0,0.00015863420066533323],[-195.8104705810547,22.185319900512695,9.42976188659668,0,0,0.00015863420066533323],[-190.8104706439667,22.186113071512697,9.42976188659668,0,0,0.00015863420066533323],[-185.81047070687873,22.1869062425127,9.42976188659668,0,0,0.00015863420066533323],[-180.81047076979075,22.1876994135127,9.42976188659668,0,0,0.00015863420066533323],[-175.81047083270278,22.1884925845127,9.42976188659668,0,0,0.00015863420066533323],[-170.8104708956148,22.189285755512703,9.42976188659668,0,0,0.00015863420066533323],[-165.81047095852682,22.190078926512705,9.42976188659668,0,0,0.00015863420066533323],[-160.81047102143884,22.190872097512706,9.42976188659668,0,0,0.00015863420066533323],[-155.81047108435087,22.191665268512708,9.42976188659668,0,0,0.00015863420066533323],[-150.8104711472629,22.19245843951271,9.42976188659668,0,0,0.00015863420066533323],[-145.8104712101749,22.19325161051271,9.42976188659668,0,0,0.00015863420066533323],[-140.81047127308693,22.194044781512712,9.42976188659668,0,0,0.00015863420066533323],[-135.81047133599895,22.194837952512714,9.42976188659668,0,0,0.00015863420066533323],[-135.81047133599895,22.194837952512714,9.42976188659668,0,0,0.26195802199981477],[-130.9810475530828,23.48969930609605,9.42976188659668,0,0,0.26195802199981477],[-130.9810475530828,23.48969930609605,9.42976188659668,0,0,0.5237574097989642],[-130.9810475530828,23.48969930609605,9.42976188659668,0,0,0.7855567975981137],[-127.44607454822831,27.025794024136008,9.42976188659668,0,0,0.7855567975981137],[-123.91110154337383,30.561888742175967,9.42976188659668,0,0,0.7855567975981137],[-120.37612853851935,34.09798346021593,9.42976188659668,0,0,0.7855567975981137],[-116.84115553366487,37.63407817825589,9.42976188659668,0,0,0.7855567975981137],[-113.3061825288104,41.17017289629585,9.42976188659668,0,0,0.7855567975981137],[-109.77120952395592,44.706267614335815,9.42976188659668,0,0,0.7855567975981137],[-106.23623651910144,48.24236233237578,9.42976188659668,0,0,0.7855567975981137],[-102.70126351424696,51.77845705041574,9.42976188659668,0,0,0.7855567975981137],[-99.16629050939248,55.3145517684557,9.42976188659668,0,0,0.7855567975981137],[-99.16629050939248,55.3145517684557,9.42976188659668,0,0,1.0473561853972633],[-96.66697744708404,59.64507531839448,9.42976188659668,0,0,1.0473561853972633],[-96.66697744708404,59.64507531839448,9.42976188659668,0,0,1.3091555731964126],[-96.66697744708404,59.64507531839448,9.42976188659668,0,0,1.570954960995562],[-96.66777061808403,64.64507525548245,9.42976188659668,0,0,1.570954960995562],[-96.66856378908403,69.64507519257043,9.42976188659668,0,0,1.570954960995562],[-96.66935696008403,74.64507512965841,9.42976188659668,0,0,1.570954960995562],[-96.67015013108403,79.64507506674639,9.42976188659668,0,0,1.570954960995562],[-96.67015013108403,79.64507506674639,11.42976188659668,0,0,1.570954960995562],[-96.67094330208403,84.64507500383436,11.42976188659668,0,0,1.570954960995562],[-96.67173647308402,89.64507494092234,11.42976188659668,0,0,1.570954960995562],[-96.67252964408402,94.64507487801032,11.42976188659668,0,0,1.570954960995562],[-96.67332281508402,99.6450748150983,11.42976188659668,0,0,1.570954960995562],[-96.67411598608402,104.64507475218628,11.42976188659668,0,0,1.570954960995562],[-96.67490915708402,109.64507468927425,11.42976188659668,0,0,1.570954960995562],[-96.67570232808401,114.64507462636223,11.42976188659668,0,0,1.570954960995562],[-96.67649549908401,119.64507456345021,11.42976188659668,0,0,1.570954960995562],[-96.67728867008401,124.64507450053819,11.42976188659668,0,0,1.570954960995562],[-96.67808184108401,129.64507443762616,11.42976188659668,0,0,1.570954960995562],[-96.678875012084,134.64507437471414,11.42976188659668,0,0,1.570954960995562],[-96.679668183084,139.64507431180212,11.42976188659668,0,0,1.570954960995562],[-96.680461354084,144.6450742488901,11.42976188659668,0,0,1.570954960995562],[-96.681254525084,149.64507418597807,11.42976188659668,0,0,1.570954960995562],[-96.682047696084,154.64507412306605,11.42976188659668,0,0,1.570954960995562],[-96.682840867084,159.64507406015403,11.42976188659668,0,0,1.570954960995562],[-96.682840867084,159.64507406015403,13.42976188659668,0,0,1.570954960995562],[-96.682840867084,159.64507406015403,15.42976188659668,0,0,1.570954960995562]],"actions":[4,4,4,4,4,1,1,1,1,1,1,1,1,1,1,1,1,3,1,3,3,1,1,1,1,1,1,1,1,1,3,1,3,3,1,1,1,1,5,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,5,5,0]},
+{"episode_id":"35DR22AR5MIOCJOSZBRN649427WX3M","trajectory_id":"338GLSUI5B98AULTZTH0JMML1HBSFO","scene_id":9,"start_position":[-195.8104705810547,22.185319900512695,19.42976188659668],"start_rotation":[0.9998727171970409,0.0,0.0,-0.0159546045079901],"instruction":{"instruction_text":"Take off, rise to the same height of the grey building. Fly forward to the red shipping container and then turn right to face the green building. Fly forward to the edge of the green roof, and then turn left to face the semi-trailer with the red cab and white body, then fly to the top of the white truck without a body next to it. Turn right to face the blue container, then fly forward to the grassy area in front of the factory gate with the grey roof, and then land on the ground."},"goals":[{"position":[-97.88801675460793,151.07164029692066,17.42976188659668]}],"reference_path":[[-195.8104705810547,22.185319900512695,19.42976188659668,0,0,-0.03191056291609965],[-195.8104705810547,22.185319900512695,17.42976188659668,0,0,-0.03191056291609965],[-195.8104705810547,22.185319900512695,15.42976188659668,0,0,-0.03191056291609965],[-195.8104705810547,22.185319900512695,13.42976188659668,0,0,-0.03191056291609965],[-195.8104705810547,22.185319900512695,11.42976188659668,0,0,-0.03191056291609965],[-195.8104705810547,22.185319900512695,9.42976188659668,0,0,-0.03191056291609965],[-190.81301607510474,22.025794162900613,9.42976188659668,0,0,-0.03191056291609965],[-185.8155615691548,21.86626842528853,9.42976188659668,0,0,-0.03191056291609965],[-180.81810706320485,21.70674268767645,9.42976188659668,0,0,-0.03191056291609965],[-175.8206525572549,21.547216950064367,9.42976188659668,0,0,-0.03191056291609965],[-170.82319805130496,21.387691212452285,9.42976188659668,0,0,-0.03191056291609965],[-165.825743545355,21.228165474840203,9.42976188659668,0,0,-0.03191056291609965],[-160.82828903940506,21.06863973722812,9.42976188659668,0,0,-0.03191056291609965],[-155.83083453345512,20.90911399961604,9.42976188659668,0,0,-0.03191056291609965],[-150.83338002750517,20.749588262003957,9.42976188659668,0,0,-0.03191056291609965],[-145.83592552155523,20.590062524391875,9.42976188659668,0,0,-0.03191056291609965],[-140.83847101560528,20.430536786779793,9.42976188659668,0,0,-0.03191056291609965],[-140.83847101560528,20.430536786779793,9.42976188659668,0,0,0.2298888248830498],[-140.83847101560528,20.430536786779793,9.42976188659668,0,0,0.4916882126821992],[-140.83847101560528,20.430536786779793,9.42976188659668,0,0,0.7534876004813487],[-140.83847101560528,20.430536786779793,9.42976188659668,0,0,1.015286988280498],[-140.83847101560528,20.430536786779793,9.42976188659668,0,0,1.2770863760796476],[-139.3909445825147,25.216418860703477,9.42976188659668,0,0,1.2770863760796476],[-137.9434181494241,30.00230093462716,9.42976188659668,0,0,1.2770863760796476],[-136.49589171633352,34.788183008550845,9.42976188659668,0,0,1.2770863760796476],[-135.04836528324293,39.57406508247453,9.42976188659668,0,0,1.2770863760796476],[-133.60083885015234,44.35994715639822,9.42976188659668,0,0,1.2770863760796476],[-132.15331241706176,49.14582923032191,9.42976188659668,0,0,1.2770863760796476],[-136.93919449098544,50.59335566341248,9.42976188659668,0,0,1.2770863760796476],[-135.49166805789486,55.37923773733617,9.42976188659668,0,0,1.2770863760796476],[-134.04414162480427,60.165119811259856,9.42976188659668,0,0,1.2770863760796476],[-132.59661519171368,64.95100188518354,9.42976188659668,0,0,1.2770863760796476],[-131.1490887586231,69.73688395910723,9.42976188659668,0,0,1.2770863760796476],[-131.1490887586231,69.73688395910723,9.42976188659668,0,0,1.0152869882804982],[-128.51220816431862,73.98504364671085,9.42976188659668,0,0,1.0152869882804982],[-128.51220816431862,73.98504364671085,9.42976188659668,0,0,0.7534876004813489],[-124.86567246365087,77.40597588570003,9.42976188659668,0,0,0.7534876004813489],[-121.21913676298311,80.82690812468921,9.42976188659668,0,0,0.7534876004813489],[-121.21913676298311,80.82690812468921,9.42976188659668,0,0,0.4916882126821995],[-116.81145133776741,83.18748203633467,9.42976188659668,0,0,0.4916882126821995],[-112.4037659125517,85.54805594798013,9.42976188659668,0,0,0.4916882126821995],[-112.4037659125517,85.54805594798013,9.42976188659668,0,0,0.2298888248830501],[-107.53530724047195,86.68740232123606,9.42976188659668,0,0,0.2298888248830501],[-107.53530724047195,86.68740232123606,9.42976188659668,0,0,-0.031910562916099346],[-102.53785273452202,86.52787658362398,9.42976188659668,0,0,-0.031910562916099346],[-102.53785273452202,86.52787658362398,9.42976188659668,0,0,0.2298888248830501],[-102.53785273452202,86.52787658362398,9.42976188659668,0,0,0.49168821268219953],[-102.53785273452202,86.52787658362398,9.42976188659668,0,0,0.7534876004813489],[-102.53785273452202,86.52787658362398,9.42976188659668,0,0,1.0152869882804982],[-102.53785273452202,86.52787658362398,9.42976188659668,0,0,1.2770863760796478],[-101.09032630143145,91.31375865754767,9.42976188659668,0,0,1.2770863760796478],[-99.64279986834087,96.09964073147135,9.42976188659668,0,0,1.2770863760796478],[-99.64279986834087,96.09964073147135,9.42976188659668,0,0,1.5388857638787972],[-99.48327413072879,101.09709523742129,9.42976188659668,0,0,1.5388857638787972],[-99.3237483931167,106.09454974337122,9.42976188659668,0,0,1.5388857638787972],[-99.16422265550462,111.09200424932115,9.42976188659668,0,0,1.5388857638787972],[-99.00469691789253,116.08945875527108,9.42976188659668,0,0,1.5388857638787972],[-98.84517118028045,121.08691326122101,9.42976188659668,0,0,1.5388857638787972],[-98.68564544266836,126.08436776717095,9.42976188659668,0,0,1.5388857638787972],[-98.52611970505627,131.08182227312088,9.42976188659668,0,0,1.5388857638787972],[-98.36659396744419,136.07927677907082,9.429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+{"episode_id":"3EJJQNKU903J9V9F5XAXLGOQJS6HRN","trajectory_id":"338GLSUI5B98AULTZTH0JMML1HBSFO","scene_id":9,"start_position":[-195.8104705810547,22.185319900512695,19.42976188659668],"start_rotation":[0.9998727171970409,0.0,0.0,-0.0159546045079901],"instruction":{"instruction_text":"Take off and fly forward to the upper left side of the blue semi-trailer's front section. Fly forward towards the red shipping container, then turn right to face the green building, and then fly to the top of the middle roof of the green building. Turn left to face the grey building with three doors, then fly forward until reaching the top of the white car. Turn right to face the blue factory, then fly forward to the top of the green shipping container, and then turn right again to face the blue shipping container. Fly through all the colored shipping containers ahead, and then land in the bushes in front of the first blue warehouse."},"goals":[{"position":[-97.88801675460793,151.07164029692066,17.42976188659668]}],"reference_path":[[-195.8104705810547,22.185319900512695,19.42976188659668,0,0,-0.03191056291609965],[-195.8104705810547,22.185319900512695,17.42976188659668,0,0,-0.03191056291609965],[-195.8104705810547,22.185319900512695,15.42976188659668,0,0,-0.03191056291609965],[-195.8104705810547,22.185319900512695,13.42976188659668,0,0,-0.03191056291609965],[-195.8104705810547,22.185319900512695,11.42976188659668,0,0,-0.03191056291609965],[-195.8104705810547,22.185319900512695,9.42976188659668,0,0,-0.03191056291609965],[-190.81301607510474,22.025794162900613,9.42976188659668,0,0,-0.03191056291609965],[-185.8155615691548,21.86626842528853,9.42976188659668,0,0,-0.03191056291609965],[-180.81810706320485,21.70674268767645,9.42976188659668,0,0,-0.03191056291609965],[-175.8206525572549,21.547216950064367,9.42976188659668,0,0,-0.03191056291609965],[-170.82319805130496,21.387691212452285,9.42976188659668,0,0,-0.03191056291609965],[-165.825743545355,21.228165474840203,9.42976188659668,0,0,-0.03191056291609965],[-160.82828903940506,21.06863973722812,9.42976188659668,0,0,-0.03191056291609965],[-155.83083453345512,20.90911399961604,9.42976188659668,0,0,-0.03191056291609965],[-150.83338002750517,20.749588262003957,9.42976188659668,0,0,-0.03191056291609965],[-145.83592552155523,20.590062524391875,9.42976188659668,0,0,-0.03191056291609965],[-140.83847101560528,20.430536786779793,9.42976188659668,0,0,-0.03191056291609965],[-140.83847101560528,20.430536786779793,9.42976188659668,0,0,0.2298888248830498],[-140.83847101560528,20.430536786779793,9.42976188659668,0,0,0.4916882126821992],[-140.83847101560528,20.430536786779793,9.42976188659668,0,0,0.7534876004813487],[-140.83847101560528,20.430536786779793,9.42976188659668,0,0,1.015286988280498],[-140.83847101560528,20.430536786779793,9.42976188659668,0,0,1.2770863760796476],[-139.3909445825147,25.216418860703477,9.42976188659668,0,0,1.2770863760796476],[-137.9434181494241,30.00230093462716,9.42976188659668,0,0,1.2770863760796476],[-136.49589171633352,34.788183008550845,9.42976188659668,0,0,1.2770863760796476],[-135.04836528324293,39.57406508247453,9.42976188659668,0,0,1.2770863760796476],[-133.60083885015234,44.35994715639822,9.42976188659668,0,0,1.2770863760796476],[-132.15331241706176,49.14582923032191,9.42976188659668,0,0,1.2770863760796476],[-136.93919449098544,50.59335566341248,9.42976188659668,0,0,1.2770863760796476],[-135.49166805789486,55.37923773733617,9.42976188659668,0,0,1.2770863760796476],[-134.04414162480427,60.165119811259856,9.42976188659668,0,0,1.2770863760796476],[-132.59661519171368,64.95100188518354,9.42976188659668,0,0,1.2770863760796476],[-131.1490887586231,69.73688395910723,9.42976188659668,0,0,1.2770863760796476],[-131.1490887586231,69.73688395910723,9.42976188659668,0,0,1.0152869882804982],[-128.51220816431862,73.98504364671085,9.42976188659668,0,0,1.0152869882804982],[-128.51220816431862,73.98504364671085,9.42976188659668,0,0,0.7534876004813489],[-124.86567246365087,77.40597588570003,9.42976188659668,0,0,0.7534876004813489],[-121.21913676298311,80.82690812468921,9.42976188659668,0,0,0.7534876004813489],[-121.21913676298311,80.82690812468921,9.42976188659668,0,0,0.4916882126821995],[-116.81145133776741,83.18748203633467,9.42976188659668,0,0,0.4916882126821995],[-112.4037659125517,85.54805594798013,9.42976188659668,0,0,0.4916882126821995],[-112.4037659125517,85.54805594798013,9.42976188659668,0,0,0.2298888248830501],[-107.53530724047195,86.68740232123606,9.42976188659668,0,0,0.2298888248830501],[-107.53530724047195,86.68740232123606,9.42976188659668,0,0,-0.031910562916099346],[-102.53785273452202,86.52787658362398,9.42976188659668,0,0,-0.031910562916099346],[-102.53785273452202,86.52787658362398,9.42976188659668,0,0,0.2298888248830501],[-102.53785273452202,86.52787658362398,9.42976188659668,0,0,0.49168821268219953],[-102.53785273452202,86.52787658362398,9.42976188659668,0,0,0.7534876004813489],[-102.53785273452202,86.52787658362398,9.42976188659668,0,0,1.0152869882804982],[-102.53785273452202,86.52787658362398,9.42976188659668,0,0,1.2770863760796478],[-101.09032630143145,91.31375865754767,9.42976188659668,0,0,1.2770863760796478],[-99.64279986834087,96.09964073147135,9.42976188659668,0,0,1.2770863760796478],[-99.64279986834087,96.09964073147135,9.42976188659668,0,0,1.5388857638787972],[-99.48327413072879,101.09709523742129,9.42976188659668,0,0,1.5388857638787972],[-99.3237483931167,106.09454974337122,9.42976188659668,0,0,1.5388857638787972],[-99.16422265550462,111.09200424932115,9.42976188659668,0,0,1.5388857638787972],[-99.00469691789253,116.08945875527108,9.42976188659668,0,0,1.5388857638787972],[-98.84517118028045,121.08691326122101,9.42976188659668,0,0,1.5388857638787972],[-98.68564544266836,126.08436776717095,9.42976188659668,0,0,1.5388857638787972],[-98.52611970505627,131.08182227312088,9.42976188659668,0,0,1.5388857638787972],[-98.36659396744419,136.07927677907082,9.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+{"episode_id":"30MVJZJNHVB9W18JZGDW684BPWXJ9V","trajectory_id":"3KWGG5KP7R0Y9NOEOUVDZ72CBAUCM3","scene_id":9,"start_position":[-97.04485321044922,186.89559936523438,17.89460563659668],"start_rotation":[0.9999959243358265,0.0,0.0,0.0028550502160188357],"instruction":{"instruction_text":"Take off and ascend to a height higher than the roof of the blue factory building, then turn left to face the green shipping container, then fly forward until reach the top of the mentioned container. Fly forward to the top of the red truck trailer with a white fuel tank and then descend to the height slightly higher than the grey building. Fly forward to the road beside the tank area, and then lower altitude to the height of grey building, then turn right to face the blue shipping container on the other side of the road. Fly forward to the open area above the grey building with three doors, then face the blue shipping container and land on the ground."},"goals":[{"position":[-96.70799995765489,18.584387664010276,17.89460563659668]}],"reference_path":[[-97.04485321044922,186.89559936523438,17.89460563659668,0,0,0.0057101081895342375],[-97.04485321044922,186.89559936523438,15.89460563659668,0,0,0.0057101081895342375],[-97.04485321044922,186.89559936523438,13.89460563659668,0,0,0.0057101081895342375],[-97.04485321044922,186.89559936523438,11.89460563659668,0,0,0.0057101081895342375],[-97.04485321044922,186.89559936523438,9.89460563659668,0,0,0.0057101081895342375],[-97.04485321044922,186.89559936523438,7.89460563659668,0,0,0.0057101081895342375],[-97.04485321044922,186.89559936523438,5.89460563659668,0,0,0.0057101081895342375],[-97.04485321044922,186.89559936523438,3.8946056365966797,0,0,0.0057101081895342375],[-97.04485321044922,186.89559936523438,3.8946056365966797,0,0,-0.2560892796096152],[-97.04485321044922,186.89559936523438,3.8946056365966797,0,0,-0.5178886674087647],[-97.04485321044922,186.89559936523438,3.8946056365966797,0,0,-0.7796880552079141],[-97.04485321044922,186.89559936523438,3.8946056365966797,0,0,-1.0414874430070633],[-97.04485321044922,186.89559936523438,3.8946056365966797,0,0,-1.3032868308062129],[-97.04485321044922,186.89559936523438,3.8946056365966797,0,0,-1.5650862186053622],[-97.01630282465129,181.89568087835173,3.8946056365966797,0,0,-1.5650862186053622],[-96.98775243885336,176.89576239146908,3.8946056365966797,0,0,-1.5650862186053622],[-96.95920205305544,171.89584390458643,3.8946056365966797,0,0,-1.5650862186053622],[-96.95920205305544,171.89584390458643,1.8946056365966797,0,0,-1.5650862186053622],[-96.93065166725751,166.89592541770378,1.8946056365966797,0,0,-1.5650862186053622],[-96.90210128145958,161.89600693082113,1.8946056365966797,0,0,-1.5650862186053622],[-96.90210128145958,161.89600693082113,-0.10539436340332031,0,0,-1.5650862186053622],[-96.87355089566165,156.89608844393848,-0.10539436340332031,0,0,-1.5650862186053622],[-96.84500050986372,151.89616995705583,-0.10539436340332031,0,0,-1.5650862186053622],[-96.8164501240658,146.89625147017318,-0.10539436340332031,0,0,-1.5650862186053622],[-101.81636861094843,146.86770108437526,-0.10539436340332031,0,0,-1.5650862186053622],[-101.7878182251505,141.8677825974926,-0.10539436340332031,0,0,-1.5650862186053622],[-101.75926783935257,136.86786411060996,-0.10539436340332031,0,0,-1.5650862186053622],[-101.73071745355465,131.8679456237273,-0.10539436340332031,0,0,-1.5650862186053622],[-101.73071745355465,131.8679456237273,-2.1053943634033203,0,0,-1.5650862186053622],[-101.70216706775672,126.86802713684467,-2.1053943634033203,0,0,-1.5650862186053622],[-101.67361668195879,121.86810864996204,-2.1053943634033203,0,0,-1.5650862186053622],[-101.64506629616086,116.8681901630794,-2.1053943634033203,0,0,-1.5650862186053622],[-101.61651591036293,111.86827167619677,-2.1053943634033203,0,0,-1.5650862186053622],[-101.61651591036293,111.86827167619677,-4.10539436340332,0,0,-1.5650862186053622],[-101.587965524565,106.86835318931413,-4.10539436340332,0,0,-1.5650862186053622],[-101.587965524565,106.86835318931413,-4.10539436340332,0,0,-1.8268856064045118],[-102.85446209793767,102.0314134099045,-4.10539436340332,0,0,-1.8268856064045118],[-102.85446209793767,102.0314134099045,-4.10539436340332,0,0,-1.5650862186053625],[-107.8543805848203,102.00286302410657,-4.10539436340332,0,0,-1.5650862186053625],[-107.8543805848203,102.00286302410657,-4.10539436340332,0,0,-1.303286830806213],[-107.8543805848203,102.00286302410657,-2.1053943634033203,0,0,-1.303286830806213],[-107.8543805848203,102.00286302410657,-0.10539436340332031,0,0,-1.303286830806213],[-107.8543805848203,102.00286302410657,1.8946056365966797,0,0,-1.303286830806213],[-107.8543805848203,102.00286302410657,3.8946056365966797,0,0,-1.303286830806213],[-107.8543805848203,102.00286302410657,5.89460563659668,0,0,-1.303286830806213],[-107.8543805848203,102.00286302410657,7.89460563659668,0,0,-1.303286830806213],[-107.8543805848203,102.00286302410657,7.89460563659668,0,0,-1.5650862186053625],[-107.82583019902238,97.00294453722394,7.89460563659668,0,0,-1.5650862186053625],[-107.79727981322445,92.0030260503413,7.89460563659668,0,0,-1.5650862186053625],[-107.76872942742652,87.00310756345867,7.89460563659668,0,0,-1.5650862186053625],[-107.7401790416286,82.00318907657604,7.89460563659668,0,0,-1.5650862186053625],[-107.7401790416286,82.00318907657604,5.89460563659668,0,0,-1.5650862186053625],[-107.71162865583067,77.0032705896934,5.89460563659668,0,0,-1.5650862186053625],[-107.68307827003274,72.00335210281077,5.89460563659668,0,0,-1.5650862186053625],[-107.65452788423481,67.00343361592813,5.89460563659668,0,0,-1.5650862186053625],[-107.62597749843688,62.00351512904549,5.89460563659668,0,0,-1.5650862186053625],[-107.59742711263895,57.00359664216285,5.89460563659668,0,0,-1.5650862186053625],[-107.56887672684103,52.003678155280205,5.89460563659668,0,0,-1.5650862186053625],[-107.5403263410431,47.003759668397564,5.89460563659668,0,0,-1.5650862186053625],[-107.540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+{"episode_id":"3FTYUGLFS3JDSS6FMUE4RU4WYHVD50","trajectory_id":"3KWGG5KP7R0Y9NOEOUVDZ72CBAUCM3","scene_id":9,"start_position":[-97.04485321044922,186.89559936523438,17.89460563659668],"start_rotation":[0.9999959243358265,0.0,0.0,0.0028550502160188357],"instruction":{"instruction_text":"Take off and ascend to a height higher than the blue building, then turn left to face the red shipping container, and then fly forward past the two cylinder pipes on the left. Fly forward past the semi-trailer with the red cab, then fly straight up above the road. Descend to a certain height, then turn right to face the blue shipping container, then fly forward until reach in front of the mentioned shipping container, and finally land in front of it."},"goals":[{"position":[-96.70799995765489,18.584387664010276,17.89460563659668]}],"reference_path":[[-97.04485321044922,186.89559936523438,17.89460563659668,0,0,0.0057101081895342375],[-97.04485321044922,186.89559936523438,15.89460563659668,0,0,0.0057101081895342375],[-97.04485321044922,186.89559936523438,13.89460563659668,0,0,0.0057101081895342375],[-97.04485321044922,186.89559936523438,11.89460563659668,0,0,0.0057101081895342375],[-97.04485321044922,186.89559936523438,9.89460563659668,0,0,0.0057101081895342375],[-97.04485321044922,186.89559936523438,7.89460563659668,0,0,0.0057101081895342375],[-97.04485321044922,186.89559936523438,5.89460563659668,0,0,0.0057101081895342375],[-97.04485321044922,186.89559936523438,3.8946056365966797,0,0,0.0057101081895342375],[-97.04485321044922,186.89559936523438,3.8946056365966797,0,0,-0.2560892796096152],[-97.04485321044922,186.89559936523438,3.8946056365966797,0,0,-0.5178886674087647],[-97.04485321044922,186.89559936523438,3.8946056365966797,0,0,-0.7796880552079141],[-97.04485321044922,186.89559936523438,3.8946056365966797,0,0,-1.0414874430070633],[-97.04485321044922,186.89559936523438,3.8946056365966797,0,0,-1.3032868308062129],[-97.04485321044922,186.89559936523438,3.8946056365966797,0,0,-1.5650862186053622],[-97.01630282465129,181.89568087835173,3.8946056365966797,0,0,-1.5650862186053622],[-96.98775243885336,176.89576239146908,3.8946056365966797,0,0,-1.5650862186053622],[-96.95920205305544,171.89584390458643,3.8946056365966797,0,0,-1.5650862186053622],[-96.95920205305544,171.89584390458643,1.8946056365966797,0,0,-1.5650862186053622],[-96.93065166725751,166.89592541770378,1.8946056365966797,0,0,-1.5650862186053622],[-96.90210128145958,161.89600693082113,1.8946056365966797,0,0,-1.5650862186053622],[-96.90210128145958,161.89600693082113,-0.10539436340332031,0,0,-1.5650862186053622],[-96.87355089566165,156.89608844393848,-0.10539436340332031,0,0,-1.5650862186053622],[-96.84500050986372,151.89616995705583,-0.10539436340332031,0,0,-1.5650862186053622],[-96.8164501240658,146.89625147017318,-0.10539436340332031,0,0,-1.5650862186053622],[-101.81636861094843,146.86770108437526,-0.10539436340332031,0,0,-1.5650862186053622],[-101.7878182251505,141.8677825974926,-0.10539436340332031,0,0,-1.5650862186053622],[-101.75926783935257,136.86786411060996,-0.10539436340332031,0,0,-1.5650862186053622],[-101.73071745355465,131.8679456237273,-0.10539436340332031,0,0,-1.5650862186053622],[-101.73071745355465,131.8679456237273,-2.1053943634033203,0,0,-1.5650862186053622],[-101.70216706775672,126.86802713684467,-2.1053943634033203,0,0,-1.5650862186053622],[-101.67361668195879,121.86810864996204,-2.1053943634033203,0,0,-1.5650862186053622],[-101.64506629616086,116.8681901630794,-2.1053943634033203,0,0,-1.5650862186053622],[-101.61651591036293,111.86827167619677,-2.1053943634033203,0,0,-1.5650862186053622],[-101.61651591036293,111.86827167619677,-4.10539436340332,0,0,-1.5650862186053622],[-101.587965524565,106.86835318931413,-4.10539436340332,0,0,-1.5650862186053622],[-101.587965524565,106.86835318931413,-4.10539436340332,0,0,-1.8268856064045118],[-102.85446209793767,102.0314134099045,-4.10539436340332,0,0,-1.8268856064045118],[-102.85446209793767,102.0314134099045,-4.10539436340332,0,0,-1.5650862186053625],[-107.8543805848203,102.00286302410657,-4.10539436340332,0,0,-1.5650862186053625],[-107.8543805848203,102.00286302410657,-4.10539436340332,0,0,-1.303286830806213],[-107.8543805848203,102.00286302410657,-2.1053943634033203,0,0,-1.303286830806213],[-107.8543805848203,102.00286302410657,-0.10539436340332031,0,0,-1.303286830806213],[-107.8543805848203,102.00286302410657,1.8946056365966797,0,0,-1.303286830806213],[-107.8543805848203,102.00286302410657,3.8946056365966797,0,0,-1.303286830806213],[-107.8543805848203,102.00286302410657,5.89460563659668,0,0,-1.303286830806213],[-107.8543805848203,102.00286302410657,7.89460563659668,0,0,-1.303286830806213],[-107.8543805848203,102.00286302410657,7.89460563659668,0,0,-1.5650862186053625],[-107.82583019902238,97.00294453722394,7.89460563659668,0,0,-1.5650862186053625],[-107.79727981322445,92.0030260503413,7.89460563659668,0,0,-1.5650862186053625],[-107.76872942742652,87.00310756345867,7.89460563659668,0,0,-1.5650862186053625],[-107.7401790416286,82.00318907657604,7.89460563659668,0,0,-1.5650862186053625],[-107.7401790416286,82.00318907657604,5.89460563659668,0,0,-1.5650862186053625],[-107.71162865583067,77.0032705896934,5.89460563659668,0,0,-1.5650862186053625],[-107.68307827003274,72.00335210281077,5.89460563659668,0,0,-1.5650862186053625],[-107.65452788423481,67.00343361592813,5.89460563659668,0,0,-1.5650862186053625],[-107.62597749843688,62.00351512904549,5.89460563659668,0,0,-1.5650862186053625],[-107.59742711263895,57.00359664216285,5.89460563659668,0,0,-1.5650862186053625],[-107.56887672684103,52.003678155280205,5.89460563659668,0,0,-1.5650862186053625],[-107.5403263410431,47.003759668397564,5.89460563659668,0,0,-1.5650862186053625],[-107.5403263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+{"episode_id":"3QXNC7EIPRT2UV7XD83QO3PFSY190C","trajectory_id":"30QQTY5GNSIBAEYR6FEOAVRSOQD7UF","scene_id":9,"start_position":[-252.1350860595703,27.01270866394043,17.31802749633789],"start_rotation":[0.9998727937968603,0.0,0.0,-0.015949803285971804],"instruction":{"instruction_text":"Take off from above the building, turn right towards the two-story white building with five windows, and keep flying forward until passing over the building. Turn right to face the gap between two tanks and fly into the gap between the two cylindrical buildings on the right. Turn left to face the red shipping container behind the wall and keep flying forward, when reach the edge of the road, turn left to face the street lamp and fly forward until stoping beside it. Turn right towards the giant white cement cylindrical container, then turn right again towards the steel frame that extends to the distance, and keep flying straight ahead until reaching the edge of the two-story roof beside the grassland. Turn left towards the iron frame between the second and third cylindrical buildings, then fly ahead and land on the open ground in front of the iron frame."},"goals":[{"position":[-246.26754909643873,186.41257604961487,15.31802749633789]}],"reference_path":[[-252.1350860595703,27.01270866394043,17.31802749633789,0,0,-0.03190095925004936],[-252.1350860595703,27.01270866394043,15.31802749633789,0,0,-0.03190095925004936],[-252.1350860595703,27.01270866394043,13.31802749633789,0,0,-0.03190095925004936],[-252.1350860595703,27.01270866394043,11.31802749633789,0,0,-0.03190095925004936],[-252.1350860595703,27.01270866394043,9.31802749633789,0,0,-0.03190095925004936],[-252.1350860595703,27.01270866394043,9.31802749633789,0,0,0.22989842854910006],[-252.1350860595703,27.01270866394043,9.31802749633789,0,0,0.49169781634824955],[-252.1350860595703,27.01270866394043,9.31802749633789,0,0,0.753497204147399],[-252.1350860595703,27.01270866394043,9.31802749633789,0,0,1.0152965919465482],[-252.1350860595703,27.01270866394043,9.31802749633789,0,0,1.2770959797456978],[-250.68760558855968,31.798604639203873,9.31802749633789,0,0,1.2770959797456978],[-249.24012511754904,36.584500614467316,9.31802749633789,0,0,1.2770959797456978],[-247.7926446465384,41.37039658973076,9.31802749633789,0,0,1.2770959797456978],[-246.34516417552777,46.1562925649942,9.31802749633789,0,0,1.2770959797456978],[-244.89768370451714,50.942188540257646,9.31802749633789,0,0,1.2770959797456978],[-243.4502032335065,55.72808451552109,9.31802749633789,0,0,1.2770959797456978],[-242.00272276249586,60.51398049078453,9.31802749633789,0,0,1.2770959797456978],[-240.55524229148523,65.29987646604798,9.31802749633789,0,0,1.2770959797456978],[-239.1077618204746,70.08577244131142,9.31802749633789,0,0,1.2770959797456978],[-237.66028134946396,74.87166841657486,9.31802749633789,0,0,1.2770959797456978],[-236.21280087845332,79.6575643918383,9.31802749633789,0,0,1.2770959797456978],[-240.99869685371678,81.10504486284894,9.31802749633789,0,0,1.2770959797456978],[-239.55121638270614,85.89094083811239,9.31802749633789,0,0,1.2770959797456978],[-238.1037359116955,90.67683681337583,9.31802749633789,0,0,1.2770959797456978],[-236.65625544068487,95.46273278863927,9.31802749633789,0,0,1.2770959797456978],[-235.20877496967424,100.24862876390272,9.31802749633789,0,0,1.2770959797456978],[-235.20877496967424,100.24862876390272,9.31802749633789,0,0,1.5388953675448473],[-235.0492972259537,105.2460848016541,9.31802749633789,0,0,1.5388953675448473],[-235.0492972259537,105.2460848016541,9.31802749633789,0,0,1.8006947553439967],[-236.18869035420835,110.11453253160727,9.31802749633789,0,0,1.8006947553439967],[-236.18869035420835,110.11453253160727,9.31802749633789,0,0,2.0624941431431463],[-238.54930659568382,114.52219528645617,9.31802749633789,0,0,2.0624941431431463],[-238.54930659568382,114.52219528645617,9.31802749633789,0,0,2.324293530942296],[-241.97027385462636,118.16869813346496,9.31802749633789,0,0,2.324293530942296],[-241.97027385462636,118.16869813346496,9.31802749633789,0,0,2.5860929187414454],[-241.97027385462636,118.16869813346496,9.31802749633789,0,0,2.324293530942296],[-241.97027385462636,118.16869813346496,9.31802749633789,0,0,2.5860929187414454],[-246.2184588657547,120.80553792974086,9.31802749633789,0,0,2.5860929187414454],[-246.2184588657547,120.80553792974086,9.31802749633789,0,0,2.847892306540595],[-246.2184588657547,120.80553792974086,9.31802749633789,0,0,2.5860929187414454],[-246.2184588657547,120.80553792974086,9.31802749633789,0,0,2.324293530942296],[-246.2184588657547,120.80553792974086,9.31802749633789,0,0,2.0624941431431467],[-246.2184588657547,120.80553792974086,9.31802749633789,0,0,1.8006947553439971],[-246.2184588657547,120.80553792974086,9.31802749633789,0,0,1.5388953675448478],[-246.2184588657547,120.80553792974086,9.31802749633789,0,0,1.2770959797456984],[-246.2184588657547,120.80553792974086,9.31802749633789,0,0,1.015296591946549],[-246.2184588657547,120.80553792974086,9.31802749633789,0,0,0.7534972041473997],[-246.2184588657547,120.80553792974086,9.31802749633789,0,0,0.49169781634825027],[-246.2184588657547,120.80553792974086,9.31802749633789,0,0,0.22989842854910086],[-241.35001113580157,121.94493105799552,9.31802749633789,0,0,0.22989842854910086],[-236.48156340584842,123.08432418625017,9.31802749633789,0,0,0.22989842854910086],[-231.61311567589527,124.22371731450482,9.31802749633789,0,0,0.22989842854910086],[-226.74466794594213,125.36311044275948,9.31802749633789,0,0,0.22989842854910086],[-221.87622021598898,126.50250357101413,9.31802749633789,0,0,0.22989842854910086],[-217.00777248603583,127.64189669926878,9.31802749633789,0,0,0.22989842854910086],[-212.1393247560827,128.78128982752344,9.31802749633789,0,0,0.22989842854910086],[-207.27087702612954,129.9206829557781,9.31802749633789,0,0,0.22989842854910086],[-202.4024292961764,131.06007608403274,9.31802749633789,0,0,0.22989842854910086],[-201.26303616792174,126.19162835407958,9.31802749633789,0,0,0.22989842854910086],[-201.26303616792174,126.19162835407958,9.31802749633789,0,0,-0.03190095925004857],[-196.26558013017035,126.03215061035904,9.31802749633789,0,0,-0.0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+{"episode_id":"3RJSC4XJ19SJT85LAIQ9CNKD6Z650Z","trajectory_id":"30QQTY5GNSIBAEYR6FEOAVRSOQD7UF","scene_id":9,"start_position":[-252.1350860595703,27.01270866394043,17.31802749633789],"start_rotation":[0.9998727937968603,0.0,0.0,-0.015949803285971804],"instruction":{"instruction_text":"Take off, turn right to face the house beside a round building and go over the white roof. Turn right to face the gap between two round buildings, fly to reach between the cylinders, and then turn left to face another giant white cement cylinders with word \"Naftusha\". Fly straight cross the road and the red shipping container, turn right to face the end of the pipeline and fly straight until reach the two-story White house beside the large cylindrical building. Turn left to face six round cotainers, fly to the middle of the second and third pipes on the left, and then land on the ground."},"goals":[{"position":[-246.26754909643873,186.41257604961487,15.31802749633789]}],"reference_path":[[-252.1350860595703,27.01270866394043,17.31802749633789,0,0,-0.03190095925004936],[-252.1350860595703,27.01270866394043,15.31802749633789,0,0,-0.03190095925004936],[-252.1350860595703,27.01270866394043,13.31802749633789,0,0,-0.03190095925004936],[-252.1350860595703,27.01270866394043,11.31802749633789,0,0,-0.03190095925004936],[-252.1350860595703,27.01270866394043,9.31802749633789,0,0,-0.03190095925004936],[-252.1350860595703,27.01270866394043,9.31802749633789,0,0,0.22989842854910006],[-252.1350860595703,27.01270866394043,9.31802749633789,0,0,0.49169781634824955],[-252.1350860595703,27.01270866394043,9.31802749633789,0,0,0.753497204147399],[-252.1350860595703,27.01270866394043,9.31802749633789,0,0,1.0152965919465482],[-252.1350860595703,27.01270866394043,9.31802749633789,0,0,1.2770959797456978],[-250.68760558855968,31.798604639203873,9.31802749633789,0,0,1.2770959797456978],[-249.24012511754904,36.584500614467316,9.31802749633789,0,0,1.2770959797456978],[-247.7926446465384,41.37039658973076,9.31802749633789,0,0,1.2770959797456978],[-246.34516417552777,46.1562925649942,9.31802749633789,0,0,1.2770959797456978],[-244.89768370451714,50.942188540257646,9.31802749633789,0,0,1.2770959797456978],[-243.4502032335065,55.72808451552109,9.31802749633789,0,0,1.2770959797456978],[-242.00272276249586,60.51398049078453,9.31802749633789,0,0,1.2770959797456978],[-240.55524229148523,65.29987646604798,9.31802749633789,0,0,1.2770959797456978],[-239.1077618204746,70.08577244131142,9.31802749633789,0,0,1.2770959797456978],[-237.66028134946396,74.87166841657486,9.31802749633789,0,0,1.2770959797456978],[-236.21280087845332,79.6575643918383,9.31802749633789,0,0,1.2770959797456978],[-240.99869685371678,81.10504486284894,9.31802749633789,0,0,1.2770959797456978],[-239.55121638270614,85.89094083811239,9.31802749633789,0,0,1.2770959797456978],[-238.1037359116955,90.67683681337583,9.31802749633789,0,0,1.2770959797456978],[-236.65625544068487,95.46273278863927,9.31802749633789,0,0,1.2770959797456978],[-235.20877496967424,100.24862876390272,9.31802749633789,0,0,1.2770959797456978],[-235.20877496967424,100.24862876390272,9.31802749633789,0,0,1.5388953675448473],[-235.0492972259537,105.2460848016541,9.31802749633789,0,0,1.5388953675448473],[-235.0492972259537,105.2460848016541,9.31802749633789,0,0,1.8006947553439967],[-236.18869035420835,110.11453253160727,9.31802749633789,0,0,1.8006947553439967],[-236.18869035420835,110.11453253160727,9.31802749633789,0,0,2.0624941431431463],[-238.54930659568382,114.52219528645617,9.31802749633789,0,0,2.0624941431431463],[-238.54930659568382,114.52219528645617,9.31802749633789,0,0,2.324293530942296],[-241.97027385462636,118.16869813346496,9.31802749633789,0,0,2.324293530942296],[-241.97027385462636,118.16869813346496,9.31802749633789,0,0,2.5860929187414454],[-241.97027385462636,118.16869813346496,9.31802749633789,0,0,2.324293530942296],[-241.97027385462636,118.16869813346496,9.31802749633789,0,0,2.5860929187414454],[-246.2184588657547,120.80553792974086,9.31802749633789,0,0,2.5860929187414454],[-246.2184588657547,120.80553792974086,9.31802749633789,0,0,2.847892306540595],[-246.2184588657547,120.80553792974086,9.31802749633789,0,0,2.5860929187414454],[-246.2184588657547,120.80553792974086,9.31802749633789,0,0,2.324293530942296],[-246.2184588657547,120.80553792974086,9.31802749633789,0,0,2.0624941431431467],[-246.2184588657547,120.80553792974086,9.31802749633789,0,0,1.8006947553439971],[-246.2184588657547,120.80553792974086,9.31802749633789,0,0,1.5388953675448478],[-246.2184588657547,120.80553792974086,9.31802749633789,0,0,1.2770959797456984],[-246.2184588657547,120.80553792974086,9.31802749633789,0,0,1.015296591946549],[-246.2184588657547,120.80553792974086,9.31802749633789,0,0,0.7534972041473997],[-246.2184588657547,120.80553792974086,9.31802749633789,0,0,0.49169781634825027],[-246.2184588657547,120.80553792974086,9.31802749633789,0,0,0.22989842854910086],[-241.35001113580157,121.94493105799552,9.31802749633789,0,0,0.22989842854910086],[-236.48156340584842,123.08432418625017,9.31802749633789,0,0,0.22989842854910086],[-231.61311567589527,124.22371731450482,9.31802749633789,0,0,0.22989842854910086],[-226.74466794594213,125.36311044275948,9.31802749633789,0,0,0.22989842854910086],[-221.87622021598898,126.50250357101413,9.31802749633789,0,0,0.22989842854910086],[-217.00777248603583,127.64189669926878,9.31802749633789,0,0,0.22989842854910086],[-212.1393247560827,128.78128982752344,9.31802749633789,0,0,0.22989842854910086],[-207.27087702612954,129.9206829557781,9.31802749633789,0,0,0.22989842854910086],[-202.4024292961764,131.06007608403274,9.31802749633789,0,0,0.22989842854910086],[-201.26303616792174,126.19162835407958,9.31802749633789,0,0,0.22989842854910086],[-201.26303616792174,126.19162835407958,9.31802749633789,0,0,-0.03190095925004857],[-196.26558013017035,126.03215061035904,9.31802749633789,0,0,-0.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+{"episode_id":"3FQ5JJ512UMPWNIVIBWDPOZ8AJDKNC","trajectory_id":"3S8APUMBK5H9T84RO7V5TXCLWQHFBV","scene_id":9,"start_position":[-268.3119812011719,93.33352661132812,18.28487205505371],"start_rotation":[0.9997398202909235,0.0,0.0,-0.0228099040916885],"instruction":{"instruction_text":"Take off, ascend until be level with the railing, then turn right towards the thick cylinder in the distance, and then fly forward until reaching the second railing. Turn left towards the tanker parking lot, fly straight ahead until reaching the top of the tanker, then turn right towards the red brick building and keep flying forward until reaching the top of the bushes in front of the dark green warehouse. Land in the bushes in front of the dark blue warehouses."},"goals":[{"position":[-102.54693644621325,154.15335926562483,16.28487205505371]}],"reference_path":[[-268.3119812011719,93.33352661132812,18.28487205505371,0,0,-0.04562376504465183],[-268.3119812011719,93.33352661132812,16.28487205505371,0,0,-0.04562376504465183],[-268.3119812011719,93.33352661132812,14.284872055053711,0,0,-0.04562376504465183],[-268.3119812011719,93.33352661132812,12.284872055053711,0,0,-0.04562376504465183],[-268.3119812011719,93.33352661132812,10.284872055053711,0,0,-0.04562376504465183],[-268.3119812011719,93.33352661132812,8.284872055053711,0,0,-0.04562376504465183],[-268.3119812011719,93.33352661132812,6.284872055053711,0,0,-0.04562376504465183],[-268.3119812011719,93.33352661132812,4.284872055053711,0,0,-0.04562376504465183],[-268.3119812011719,93.33352661132812,2.284872055053711,0,0,-0.04562376504465183],[-268.3119812011719,93.33352661132812,2.284872055053711,0,0,0.21617562275449761],[-268.3119812011719,93.33352661132812,2.284872055053711,0,0,0.47797501055364705],[-268.3119812011719,93.33352661132812,2.284872055053711,0,0,0.7397743983527965],[-268.3119812011719,93.33352661132812,2.284872055053711,0,0,1.0015737861519458],[-265.61709449156865,97.54512792465349,2.284872055053711,0,0,1.0015737861519458],[-262.9222077819654,101.75672923797885,2.284872055053711,0,0,1.0015737861519458],[-260.2273210723622,105.9683305513042,2.284872055053711,0,0,1.0015737861519458],[-257.532434362759,110.17993186462957,2.284872055053711,0,0,1.0015737861519458],[-254.83754765315575,114.39153317795493,2.284872055053711,0,0,1.0015737861519458],[-252.14266094355253,118.60313449128029,2.284872055053711,0,0,1.0015737861519458],[-249.4477742339493,122.81473580460565,2.284872055053711,0,0,1.0015737861519458],[-246.75288752434608,127.026337117931,2.284872055053711,0,0,1.0015737861519458],[-244.05800081474285,131.23793843125637,2.284872055053711,0,0,1.0015737861519458],[-241.36311410513963,135.44953974458173,2.284872055053711,0,0,1.0015737861519458],[-241.36311410513963,135.44953974458173,4.284872055053711,0,0,1.0015737861519458],[-238.6682273955364,139.6611410579071,4.284872055053711,0,0,1.0015737861519458],[-238.6682273955364,139.6611410579071,4.284872055053711,0,0,0.7397743983527963],[-238.6682273955364,139.6611410579071,4.284872055053711,0,0,0.47797501055364694],[-238.6682273955364,139.6611410579071,4.284872055053711,0,0,0.21617562275449756],[-238.6682273955364,139.6611410579071,4.284872055053711,0,0,-0.045623765044651876],[-233.67343031278313,139.4331013637323,4.284872055053711,0,0,-0.045623765044651876],[-228.67863323002985,139.20506166955752,4.284872055053711,0,0,-0.045623765044651876],[-223.68383614727657,138.97702197538274,4.284872055053711,0,0,-0.045623765044651876],[-218.68903906452329,138.74898228120796,4.284872055053711,0,0,-0.045623765044651876],[-218.68903906452329,138.74898228120796,4.284872055053711,0,0,-0.3074231528438013],[-213.92345658111037,137.2359642397464,4.284872055053711,0,0,-0.3074231528438013],[-213.92345658111037,137.2359642397464,6.284872055053711,0,0,-0.3074231528438013],[-209.15787409769746,135.72294619828486,6.284872055053711,0,0,-0.3074231528438013],[-204.39229161428455,134.2099281568233,6.284872055053711,0,0,-0.3074231528438013],[-199.62670913087163,132.69691011536176,6.284872055053711,0,0,-0.3074231528438013],[-194.86112664745872,131.1838920739002,6.284872055053711,0,0,-0.3074231528438013],[-190.0955441640458,129.67087403243866,6.284872055053711,0,0,-0.3074231528438013],[-191.60856220550735,124.90529154902576,6.284872055053711,0,0,-0.3074231528438013],[-186.84297972209444,123.39227350756423,6.284872055053711,0,0,-0.3074231528438013],[-182.07739723868153,121.87925546610269,6.284872055053711,0,0,-0.3074231528438013],[-177.3118147552686,120.36623742464116,6.284872055053711,0,0,-0.3074231528438013],[-172.5462322718557,118.85321938317962,6.284872055053711,0,0,-0.3074231528438013],[-174.05925031331725,114.08763689976672,6.284872055053711,0,0,-0.3074231528438013],[-169.29366782990434,112.57461885830519,6.284872055053711,0,0,-0.3074231528438013],[-169.29366782990434,112.57461885830519,8.284872055053711,0,0,-0.3074231528438013],[-164.52808534649142,111.06160081684365,8.284872055053711,0,0,-0.3074231528438013],[-159.7625028630785,109.54858277538212,8.284872055053711,0,0,-0.3074231528438013],[-154.9969203796656,108.03556473392058,8.284872055053711,0,0,-0.3074231528438013],[-154.9969203796656,108.03556473392058,8.284872055053711,0,0,-0.045623765044651876],[-154.9969203796656,108.03556473392058,8.284872055053711,0,0,0.21617562275449756],[-154.9969203796656,108.03556473392058,8.284872055053711,0,0,0.477975010553647],[-154.9969203796656,108.03556473392058,8.284872055053711,0,0,0.7397743983527963],[-151.30381707766927,111.40617120765552,8.284872055053711,0,0,0.7397743983527963],[-147.61071377567293,114.77677768139046,8.284872055053711,0,0,0.7397743983527963],[-143.9176104736766,118.1473841551254,8.284872055053711,0,0,0.7397743983527963],[-140.22450717168027,121.51799062886033,8.28487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+{"episode_id":"31LM9EDVOUQUL3CD0QW1O9ZVVW7NJE","trajectory_id":"308KJXFUKZ4ET3H0DD0YFQ7G5H7TAP","scene_id":9,"start_position":[-44.559593200683594,113.29983520507812,19.55103874206543],"start_rotation":[0.9999306109826032,0.0,0.0,-0.011780204580477452],"instruction":{"instruction_text":"Take off, turn right to face two dark green oil barrels, and fly towards the twins cylindrical buildings until only a horizontal green cylinder remains in the lower left corner of the field of vision. Fly up to the roof height and go over the roof of the lake green warehouse, then turn left to face the large grey chimney in the distance. Turn left to face a tree in distance and fly towards the edge of the roof of the second green warehouse. Turn right until seeing red shipping containers, pass through the gap between the green warehouse and the twin cylinders, and then fly up to its height. Fly towards the oil tanker beside the fence gate, turn left 45 degrees when there is only one oil tanker left in the lower right corner of the view. Fly forward to the gate and then turn left to face the brick wall beside the road, fly over two warehouses with green roofs and keep flying straight until there is only one large grey cylindrical building in the view. Turn right to face the end of pipeline and continue flying straight until approach the edge of the large tank before landing on the ground."},"goals":[{"position":[-233.14360961100545,137.15257430612573,15.55103874206543]}],"reference_path":[[-44.559593200683594,113.29983520507812,19.55103874206543,0,0,-0.02356095412062767],[-44.559593200683594,113.29983520507812,17.55103874206543,0,0,-0.02356095412062767],[-44.559593200683594,113.29983520507812,15.55103874206543,0,0,-0.02356095412062767],[-44.559593200683594,113.29983520507812,15.55103874206543,0,0,0.23823843367852177],[-44.559593200683594,113.29983520507812,15.55103874206543,0,0,0.5000378214776712],[-44.559593200683594,113.29983520507812,15.55103874206543,0,0,0.7618372092768206],[-44.559593200683594,113.29983520507812,15.55103874206543,0,0,1.0236365970759702],[-44.559593200683594,113.29983520507812,15.55103874206543,0,0,1.2854359848751196],[-44.559593200683594,113.29983520507812,15.55103874206543,0,0,1.5472353726742691],[-44.559593200683594,113.29983520507812,15.55103874206543,0,0,1.8090347604734187],[-44.559593200683594,113.29983520507812,15.55103874206543,0,0,2.070834148272568],[-44.559593200683594,113.29983520507812,15.55103874206543,0,0,2.3326335360717176],[-48.010852986351104,116.9176806815785,15.55103874206543,0,0,2.3326335360717176],[-48.010852986351104,116.9176806815785,15.55103874206543,0,0,2.594432923870867],[-52.28088125811653,119.51899930072611,15.55103874206543,0,0,2.594432923870867],[-56.550909529881956,122.12031791987371,15.55103874206543,0,0,2.594432923870867],[-60.82093780164738,124.72163653902132,15.55103874206543,0,0,2.594432923870867],[-60.82093780164738,124.72163653902132,13.55103874206543,0,0,2.594432923870867],[-65.0909660734128,127.32295515816892,13.55103874206543,0,0,2.594432923870867],[-65.0909660734128,127.32295515816892,11.55103874206543,0,0,2.594432923870867],[-69.36099434517823,129.92427377731653,11.55103874206543,0,0,2.594432923870867],[-73.63102261694365,132.52559239646413,11.55103874206543,0,0,2.594432923870867],[-77.90105088870908,135.12691101561174,11.55103874206543,0,0,2.594432923870867],[-77.90105088870908,135.12691101561174,9.55103874206543,0,0,2.594432923870867],[-82.1710791604745,137.72822963475934,9.55103874206543,0,0,2.594432923870867],[-84.77239777962211,133.45820136299392,9.55103874206543,0,0,2.594432923870867],[-89.04242605138754,136.05951998214152,9.55103874206543,0,0,2.594432923870867],[-89.04242605138754,136.05951998214152,9.55103874206543,0,0,2.3326335360717176],[-89.04242605138754,136.05951998214152,9.55103874206543,0,0,2.0708341482725685],[-91.43971970004036,140.4473421255435,9.55103874206543,0,0,2.0708341482725685],[-91.43971970004036,140.4473421255435,9.55103874206543,0,0,1.809034760473419],[-92.61967561123787,145.3061181079932,9.55103874206543,0,0,1.809034760473419],[-92.61967561123787,145.3061181079932,9.55103874206543,0,0,1.5472353726742696],[-92.5018817396013,150.3047303757936,9.55103874206543,0,0,1.5472353726742696],[-92.38408786796474,155.30334264359402,9.55103874206543,0,0,1.5472353726742696],[-92.26629399632817,160.30195491139443,9.55103874206543,0,0,1.5472353726742696],[-92.14850012469161,165.30056717919484,9.55103874206543,0,0,1.5472353726742696],[-92.14850012469161,165.30056717919484,9.55103874206543,0,0,1.809034760473419],[-92.14850012469161,165.30056717919484,9.55103874206543,0,0,2.0708341482725685],[-92.14850012469161,165.30056717919484,9.55103874206543,0,0,2.3326335360717176],[-92.14850012469161,165.30056717919484,9.55103874206543,0,0,2.594432923870867],[-92.14850012469161,165.30056717919484,9.55103874206543,0,0,2.856232311670017],[-92.14850012469161,165.30056717919484,9.55103874206543,0,0,3.118031699469167],[-92.14850012469161,165.30056717919484,9.55103874206543,0,0,-2.9033542199112703],[-92.14850012469161,165.30056717919484,9.55103874206543,0,0,-2.641554832112121],[-92.14850012469161,165.30056717919484,9.55103874206543,0,0,-2.3797554443129716],[-92.14850012469161,165.30056717919484,9.55103874206543,0,0,-2.117956056513822],[-92.14850012469161,165.30056717919484,9.55103874206543,0,0,-1.8561566687146727],[-93.55601632147379,160.50276579149696,9.55103874206543,0,0,-1.8561566687146727],[-94.96353251825597,155.70496440379907,9.55103874206543,0,0,-1.8561566687146727],[-96.37104871503816,150.90716301610118,9.55103874206543,0,0,-1.8561566687146727],[-97.77856491182034,146.1093616284033,9.55103874206543,0,0,-1.8561566687146727],[-99.18608110860252,141.3115602407054,9.55103874206543,0,0,-1.8561566687146727],[-99.18608110860252,141.3115602407054,7.55103874206543,0,0,-1.8561566687146727],[-100.5935973053847,136.51375885300752,7.55103874206543,0,0,-1.8561566687146727],[-102.00111350216689,131.71595746530963,7.55103874206543,0,0,-1.8561566687146727],[-103.40862969894907,126.91815607761174,7.55103874206543,0,0,-1.8561566687146727],[-104.81614589573125,122.12035468991385,7.55103874206543,0,0,-1.8561566687146727],[-100.01834450803337,120.71283849313167,7.55103874206543,0,0,-1.8561566687146727],[-101.42586070481555,115.91503710543378,7.55103874206543,0,0,-1.8561566687146727],[-102.83337690159773,111.1172357177359,7.55103874206543,0,0,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+{"episode_id":"3VW6495TLSYESRBQTS6FFCCQCS8YYD","trajectory_id":"3RZS0FBRXS84UQLRGAN5GBW7GH4CP2","scene_id":9,"start_position":[-235.54335021972656,147.5148162841797,18.01703643798828],"start_rotation":[0.9999548042040399,0.0,0.0,-0.00950734186090995],"instruction":{"instruction_text":"Take off and ascend to a height higher than the iron frame on the right. Fly forward until crossing the road, then turn left towards the oil tanker parking lot, after completely passing through the red shipping container, descend to a certain height, then fly to the top of the oil tanker parking lot, turn left towards the green building, and then turn left again towards the slender pipeline beside it. Fly straight to the horizontal iron pipe, then turn right to face the green warehouse. Fly straight to the road ahead, then turn left to face the wall while lowering altitude until landing on the ground."},"goals":[{"position":[-122.12331704741754,37.87261111470056,18.01703643798828]}],"reference_path":[[-235.54335021972656,147.5148162841797,18.01703643798828,0,0,-0.019014970188253984],[-235.54335021972656,147.5148162841797,16.01703643798828,0,0,-0.019014970188253984],[-235.54335021972656,147.5148162841797,14.017036437988281,0,0,-0.019014970188253984],[-235.54335021972656,147.5148162841797,12.017036437988281,0,0,-0.019014970188253984],[-235.54335021972656,147.5148162841797,10.017036437988281,0,0,-0.019014970188253984],[-235.54335021972656,147.5148162841797,8.017036437988281,0,0,-0.019014970188253984],[-235.54335021972656,147.5148162841797,6.017036437988281,0,0,-0.019014970188253984],[-235.54335021972656,147.5148162841797,4.017036437988281,0,0,-0.019014970188253984],[-235.54335021972656,147.5148162841797,2.0170364379882812,0,0,-0.019014970188253984],[-230.54425411521916,147.41974716248941,2.0170364379882812,0,0,-0.019014970188253984],[-225.54515801071176,147.32467804079914,2.0170364379882812,0,0,-0.019014970188253984],[-220.54606190620436,147.22960891910887,2.0170364379882812,0,0,-0.019014970188253984],[-215.54696580169696,147.1345397974186,2.0170364379882812,0,0,-0.019014970188253984],[-210.54786969718955,147.03947067572832,2.0170364379882812,0,0,-0.019014970188253984],[-205.54877359268215,146.94440155403805,2.0170364379882812,0,0,-0.019014970188253984],[-200.54967748817475,146.84933243234778,2.0170364379882812,0,0,-0.019014970188253984],[-195.55058138366735,146.7542633106575,2.0170364379882812,0,0,-0.019014970188253984],[-195.55058138366735,146.7542633106575,2.0170364379882812,0,0,-0.2808143579874034],[-190.74643104751718,145.3685723105899,2.0170364379882812,0,0,-0.2808143579874034],[-190.74643104751718,145.3685723105899,2.0170364379882812,0,0,-0.5426137457865529],[-186.46462138589908,142.78669198383696,2.0170364379882812,0,0,-0.5426137457865529],[-182.18281172428098,140.204811657084,2.0170364379882812,0,0,-0.5426137457865529],[-184.76469205103393,135.9230019954659,2.0170364379882812,0,0,-0.5426137457865529],[-180.48288238941583,133.34112166871296,2.0170364379882812,0,0,-0.5426137457865529],[-180.48288238941583,133.34112166871296,4.017036437988281,0,0,-0.5426137457865529],[-180.48288238941583,133.34112166871296,6.017036437988281,0,0,-0.5426137457865529],[-180.48288238941583,133.34112166871296,8.017036437988281,0,0,-0.5426137457865529],[-176.20107272779774,130.75924134196,8.017036437988281,0,0,-0.5426137457865529],[-171.91926306617964,128.17736101520705,8.017036437988281,0,0,-0.5426137457865529],[-167.63745340456154,125.5954806884541,8.017036437988281,0,0,-0.5426137457865529],[-167.63745340456154,125.5954806884541,8.017036437988281,0,0,-0.28081435798740345],[-162.83330306841137,124.20978968838652,8.017036437988281,0,0,-0.28081435798740345],[-158.0291527322612,122.82409868831894,8.017036437988281,0,0,-0.28081435798740345],[-153.22500239611102,121.43840768825136,8.017036437988281,0,0,-0.28081435798740345],[-148.42085205996085,120.05271668818378,8.017036437988281,0,0,-0.28081435798740345],[-148.42085205996085,120.05271668818378,8.017036437988281,0,0,-0.5426137457865529],[-148.42085205996085,120.05271668818378,8.017036437988281,0,0,-0.8044131335857023],[-148.42085205996085,120.05271668818378,8.017036437988281,0,0,-1.0662125213848517],[-146.0036362822064,115.67583790487541,8.017036437988281,0,0,-1.0662125213848517],[-146.0036362822064,115.67583790487541,8.017036437988281,0,0,-1.328011909184001],[-144.8016047219853,110.82247617013603,8.017036437988281,0,0,-1.328011909184001],[-144.8016047219853,110.82247617013603,8.017036437988281,0,0,-1.5898112969831504],[-144.8966738436756,105.82338006562863,8.017036437988281,0,0,-1.5898112969831504],[-144.99174296536586,100.82428396112122,8.017036437988281,0,0,-1.5898112969831504],[-144.99174296536586,100.82428396112122,8.017036437988281,0,0,-1.8516106847822997],[-146.37743396543345,96.02013362497107,8.017036437988281,0,0,-1.8516106847822997],[-146.37743396543345,96.02013362497107,8.017036437988281,0,0,-2.1134100725814493],[-148.9593142921864,91.73832396335297,8.017036437988281,0,0,-2.1134100725814493],[-151.54119461893936,87.45651430173487,8.017036437988281,0,0,-2.1134100725814493],[-154.1230749456923,83.17470464011677,8.017036437988281,0,0,-2.1134100725814493],[-156.70495527244526,78.89289497849867,8.017036437988281,0,0,-2.1134100725814493],[-156.70495527244526,78.89289497849867,8.017036437988281,0,0,-1.8516106847822997],[-156.70495527244526,78.89289497849867,8.017036437988281,0,0,-1.5898112969831504],[-156.80002439413553,73.89379887399127,8.017036437988281,0,0,-1.5898112969831504],[-156.80002439413553,73.89379887399127,8.017036437988281,0,0,-1.328011909184001],[-156.80002439413553,73.89379887399127,8.017036437988281,0,0,-1.0662125213848515],[-156.80002439413553,73.89379887399127,8.017036437988281,0,0,-0.8044131335857021],[-153.33235365946373,70.2916800980622,8.017036437988281,0,0,-0.8044131335857021],[-149.86468292479194,66.68956132213313,8.017036437988281,0,0,-0.80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+{"episode_id":"3RSDURM96JKGMMUZTRUL89KAUASEYR","trajectory_id":"3DQYSJDTZT9O0X7WYS3H0CID3SPXE3","scene_id":9,"start_position":[-231.36538696289062,193.11593627929688,18.462793350219727],"start_rotation":[0.9999457603075168,0.0,0.0,0.01041520249549752],"instruction":{"instruction_text":"Take off to the height of the top of the grey chimney, then turn left to face the horizontally extending pipe. Flying towards the green warehouse, fly down to the height slightly higher than the wall on street. Fly forward to the horizontal iron pipe, and continue flying along the pipe until the window of the green warehouse on the right is no longer visible. Turn right to face the window of the green warehouse and then fly up to reach the edge of the green roof. Turn left to face the red shipping container group opposite the road and fly across the road, land in front of the fence."},"goals":[{"position":[-124.49475064057285,37.7638989049664,16.462793350219727]}],"reference_path":[[-231.36538696289062,193.11593627929688,18.462793350219727,0,0,0.020830781610753153],[-231.36538696289062,193.11593627929688,16.462793350219727,0,0,0.020830781610753153],[-231.36538696289062,193.11593627929688,14.462793350219727,0,0,0.020830781610753153],[-231.36538696289062,193.11593627929688,12.462793350219727,0,0,0.020830781610753153],[-231.36538696289062,193.11593627929688,10.462793350219727,0,0,0.020830781610753153],[-231.36538696289062,193.11593627929688,8.462793350219727,0,0,0.020830781610753153],[-231.36538696289062,193.11593627929688,6.462793350219727,0,0,0.020830781610753153],[-231.36538696289062,193.11593627929688,4.462793350219727,0,0,0.020830781610753153],[-231.36538696289062,193.11593627929688,2.4627933502197266,0,0,0.020830781610753153],[-231.36538696289062,193.11593627929688,0.46279335021972656,0,0,0.020830781610753153],[-231.36538696289062,193.11593627929688,-1.5372066497802734,0,0,0.020830781610753153],[-231.36538696289062,193.11593627929688,-1.5372066497802734,0,0,-0.24096860618839627],[-231.36538696289062,193.11593627929688,-1.5372066497802734,0,0,-0.5027679939875457],[-231.36538696289062,193.11593627929688,-1.5372066497802734,0,0,-0.7645673817866951],[-227.75697749269162,189.6548120261996,-1.5372066497802734,0,0,-0.7645673817866951],[-224.1485680224926,186.19368777310234,-1.5372066497802734,0,0,-0.7645673817866951],[-220.5401585522936,182.73256352000507,-1.5372066497802734,0,0,-0.7645673817866951],[-216.9317490820946,179.2714392669078,-1.5372066497802734,0,0,-0.7645673817866951],[-220.39287333519187,175.6630297967088,-1.5372066497802734,0,0,-0.7645673817866951],[-216.78446386499286,172.20190554361153,-1.5372066497802734,0,0,-0.7645673817866951],[-213.17605439479385,168.74078129051426,-1.5372066497802734,0,0,-0.7645673817866951],[-209.56764492459484,165.279657037417,-1.5372066497802734,0,0,-0.7645673817866951],[-205.95923545439584,161.81853278431973,-1.5372066497802734,0,0,-0.7645673817866951],[-205.95923545439584,161.81853278431973,0.46279335021972656,0,0,-0.7645673817866951],[-202.35082598419683,158.35740853122246,0.46279335021972656,0,0,-0.7645673817866951],[-198.74241651399782,154.8962842781252,0.46279335021972656,0,0,-0.7645673817866951],[-198.74241651399782,154.8962842781252,2.4627933502197266,0,0,-0.7645673817866951],[-195.13400704379882,151.43516002502793,2.4627933502197266,0,0,-0.7645673817866951],[-195.13400704379882,151.43516002502793,4.462793350219727,0,0,-0.7645673817866951],[-191.5255975735998,147.97403577193066,4.462793350219727,0,0,-0.7645673817866951],[-187.9171881034008,144.5129115188334,4.462793350219727,0,0,-0.7645673817866951],[-187.9171881034008,144.5129115188334,6.462793350219727,0,0,-0.7645673817866951],[-184.3087786332018,141.05178726573612,6.462793350219727,0,0,-0.7645673817866951],[-184.3087786332018,141.05178726573612,8.462793350219727,0,0,-0.7645673817866951],[-180.7003691630028,137.59066301263886,8.462793350219727,0,0,-0.7645673817866951],[-180.7003691630028,137.59066301263886,8.462793350219727,0,0,-1.0263667695858445],[-178.11071813807933,133.31354861516095,8.462793350219727,0,0,-1.0263667695858445],[-175.52106711315588,129.03643421768305,8.462793350219727,0,0,-1.0263667695858445],[-172.93141608823242,124.75931982020514,8.462793350219727,0,0,-1.0263667695858445],[-170.34176506330897,120.48220542272722,8.462793350219727,0,0,-1.0263667695858445],[-167.7521140383855,116.2050910252493,8.462793350219727,0,0,-1.0263667695858445],[-165.16246301346206,111.92797662777139,8.462793350219727,0,0,-1.0263667695858445],[-162.5728119885386,107.65086223029347,8.462793350219727,0,0,-1.0263667695858445],[-159.98316096361515,103.37374783281555,8.462793350219727,0,0,-1.0263667695858445],[-159.98316096361515,103.37374783281555,8.462793350219727,0,0,-1.288166157384994],[-158.5887488217151,98.57212156887937,8.462793350219727,0,0,-1.288166157384994],[-158.5887488217151,98.57212156887937,10.462793350219727,0,0,-1.288166157384994],[-157.19433667981502,93.77049530494318,10.462793350219727,0,0,-1.288166157384994],[-161.9959629437512,92.37608316304313,10.462793350219727,0,0,-1.288166157384994],[-160.60155080185115,87.57445689910695,10.462793350219727,0,0,-1.288166157384994],[-160.60155080185115,87.57445689910695,10.462793350219727,0,0,-1.5499655451841436],[-160.60155080185115,87.57445689910695,12.462793350219727,0,0,-1.5499655451841436],[-160.49740442606998,82.57554166353717,12.462793350219727,0,0,-1.5499655451841436],[-160.3932580502888,77.57662642796738,12.462793350219727,0,0,-1.5499655451841436],[-160.28911167450764,72.5777111923976,12.462793350219727,0,0,-1.5499655451841436],[-160.28911167450764,72.5777111923976,12.462793350219727,0,0,-1.2881661573849943],[-160.28911167450764,72.5777111923976,12.462793350219727,0,0,-1.0263667695858447],[-160.28911167450764,72.5777111923976,12.462793350219727,0,0,-0.7645673817866954],[-160.28911167450764,72.5777111923976,12.462793350219727,0,0,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+{"episode_id":"3WYGZ5XF35DMC0A0Q7DZOI9EXFAKS7","trajectory_id":"3A9LA2FRX0C0K7YYOTBNLFFQV8HXHJ","scene_id":9,"start_position":[-235.54335021972656,147.5148162841797,18.01703643798828],"start_rotation":[0.9999636551931966,0.0,0.0,-0.00852574293898536],"instruction":{"instruction_text":"Take off, ascend to the height of the top of the grey chimney, then turn left to face the oil truck park, and then fly towards the concentrated oil storage tank to reach the road, fly down to the height slightly higher than the wall on street and continue flying to the top of the oil storage tank. Turn left until facing the three vertical chimneys that are closely adjacent, then fly forward until reaching the middle of the T-junction, then turn right until facing the two green warehouses. Fly towards the green warehouse to reach the edge of the warehouse, turn left to face the blue shipping container opposite of the road. Fly straight ahead until the blue container marked \"marks\" appears and land on the ground in front of it."},"goals":[{"position":[-103.14979531631016,18.109707136965547,18.01703643798828]}],"reference_path":[[-235.54335021972656,147.5148162841797,18.01703643798828,0,0,-0.01705169245862729],[-235.54335021972656,147.5148162841797,16.01703643798828,0,0,-0.01705169245862729],[-235.54335021972656,147.5148162841797,14.017036437988281,0,0,-0.01705169245862729],[-235.54335021972656,147.5148162841797,12.017036437988281,0,0,-0.01705169245862729],[-235.54335021972656,147.5148162841797,10.017036437988281,0,0,-0.01705169245862729],[-235.54335021972656,147.5148162841797,8.017036437988281,0,0,-0.01705169245862729],[-235.54335021972656,147.5148162841797,6.017036437988281,0,0,-0.01705169245862729],[-235.54335021972656,147.5148162841797,4.017036437988281,0,0,-0.01705169245862729],[-235.54335021972656,147.5148162841797,2.0170364379882812,0,0,-0.01705169245862729],[-235.54335021972656,147.5148162841797,0.01703643798828125,0,0,-0.01705169245862729],[-235.54335021972656,147.5148162841797,-1.9829635620117188,0,0,-0.01705169245862729],[-235.54335021972656,147.5148162841797,-3.9829635620117188,0,0,-0.01705169245862729],[-235.54335021972656,147.5148162841797,-3.9829635620117188,0,0,-0.2788510802577767],[-235.54335021972656,147.5148162841797,-3.9829635620117188,0,0,-0.5406504680569261],[-231.25647986524692,144.94134730945245,-3.9829635620117188,0,0,-0.5406504680569261],[-226.96960951076727,142.36787833472522,-3.9829635620117188,0,0,-0.5406504680569261],[-222.68273915628762,139.79440935999799,-3.9829635620117188,0,0,-0.5406504680569261],[-218.39586880180798,137.22094038527075,-3.9829635620117188,0,0,-0.5406504680569261],[-214.10899844732833,134.64747141054352,-3.9829635620117188,0,0,-0.5406504680569261],[-209.8221280928487,132.07400243581628,-3.9829635620117188,0,0,-0.5406504680569261],[-205.53525773836904,129.50053346108905,-3.9829635620117188,0,0,-0.5406504680569261],[-201.2483873838894,126.92706448636181,-3.9829635620117188,0,0,-0.5406504680569261],[-201.2483873838894,126.92706448636181,-1.9829635620117188,0,0,-0.5406504680569261],[-196.96151702940975,124.35359551163458,-1.9829635620117188,0,0,-0.5406504680569261],[-192.6746466749301,121.78012653690735,-1.9829635620117188,0,0,-0.5406504680569261],[-188.38777632045046,119.20665756218011,-1.9829635620117188,0,0,-0.5406504680569261],[-188.38777632045046,119.20665756218011,0.01703643798828125,0,0,-0.5406504680569261],[-185.81430734572322,123.49352791665976,0.01703643798828125,0,0,-0.5406504680569261],[-181.52743699124358,120.92005894193252,0.01703643798828125,0,0,-0.5406504680569261],[-177.24056663676393,118.34658996720529,0.01703643798828125,0,0,-0.5406504680569261],[-172.95369628228428,115.77312099247806,0.01703643798828125,0,0,-0.5406504680569261],[-172.95369628228428,115.77312099247806,2.0170364379882812,0,0,-0.5406504680569261],[-168.66682592780464,113.19965201775082,2.0170364379882812,0,0,-0.5406504680569261],[-164.379955573325,110.62618304302359,2.0170364379882812,0,0,-0.5406504680569261],[-164.379955573325,110.62618304302359,4.017036437988281,0,0,-0.5406504680569261],[-160.09308521884535,108.05271406829635,4.017036437988281,0,0,-0.5406504680569261],[-155.8062148643657,105.47924509356912,4.017036437988281,0,0,-0.5406504680569261],[-155.8062148643657,105.47924509356912,6.017036437988281,0,0,-0.5406504680569261],[-151.51934450988605,102.90577611884189,6.017036437988281,0,0,-0.5406504680569261],[-151.51934450988605,102.90577611884189,6.017036437988281,0,0,-0.8024498558560755],[-151.51934450988605,102.90577611884189,6.017036437988281,0,0,-1.0642492436552249],[-151.51934450988605,102.90577611884189,6.017036437988281,0,0,-1.3260486314543745],[-151.51934450988605,102.90577611884189,8.017036437988281,0,0,-1.3260486314543745],[-151.51934450988605,102.90577611884189,8.017036437988281,0,0,-1.587848019253524],[-151.51934450988605,102.90577611884189,8.017036437988281,0,0,-1.8496474070526736],[-151.51934450988605,102.90577611884189,8.017036437988281,0,0,-2.111446794851823],[-154.0928134846133,98.61890576436224,8.017036437988281,0,0,-2.111446794851823],[-156.66628245934052,94.3320354098826,8.017036437988281,0,0,-2.111446794851823],[-159.23975143406776,90.04516505540295,8.017036437988281,0,0,-2.111446794851823],[-154.9528810795881,87.47169608067571,8.017036437988281,0,0,-2.111446794851823],[-157.52635005431534,83.18482572619607,8.017036437988281,0,0,-2.111446794851823],[-160.09981902904258,78.89795537171642,8.017036437988281,0,0,-2.111446794851823],[-162.6732880037698,74.61108501723677,8.017036437988281,0,0,-2.111446794851823],[-165.24675697849705,70.32421466275713,8.017036437988281,0,0,-2.111446794851823],[-167.82022595322428,66.03734430827748,8.017036437988281,0,0,-2.111446794851823],[-170.39369492795151,61.750473953797844,8.017036437988281,0,0,-2.111446794851823],[-172.96716390267875,57.463603599318205,8.017036437988281,0,0,-2.111446794851823],[-175.54063287740598,53.176733244838566,8.017036437988281,0,0,-2.111446794851823],[-178.11410185213322,48.88986289035893,8.017036437988281,0,0,-2.1114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+{"episode_id":"31UV0MXWNZAU03M1E8FFIRK9RYUI5N","trajectory_id":"3NQUW096OE6C57ZQCYK7X4MF5M39LN","scene_id":9,"start_position":[-161.186279296875,58.156394958496094,19.67873764038086],"start_rotation":[0.9999999785305563,0.0,0.0,0.00020721700444883303],"instruction":{"instruction_text":"Take off, ascend to the height of the green building's roof, then turn right to face the distant red brick building and fly forward until flying over the lorry car park. Turn left facing the grey roof, fly forward to the edge of the roof, and fly towards the junction of the roofs of the first and the second blue warehouses. Turn right at the edge of the roof and fly towards the first large grey chimney to reach one side of the pillar, fly upwards until you are level with the railing of the grey chimney, and then land at the top of the grey chimney."},"goals":[{"position":[-140.40503192749554,217.9143013247041,-2.3212623596191406]}],"reference_path":[[-161.186279296875,58.156394958496094,19.67873764038086,0,0,0.0004144340118635553],[-161.186279296875,58.156394958496094,17.67873764038086,0,0,0.0004144340118635553],[-161.186279296875,58.156394958496094,15.67873764038086,0,0,0.0004144340118635553],[-161.186279296875,58.156394958496094,13.67873764038086,0,0,0.0004144340118635553],[-161.186279296875,58.156394958496094,11.67873764038086,0,0,0.0004144340118635553],[-161.186279296875,58.156394958496094,9.67873764038086,0,0,0.0004144340118635553],[-161.186279296875,58.156394958496094,9.67873764038086,0,0,0.262213821811013],[-161.186279296875,58.156394958496094,9.67873764038086,0,0,0.5240132096101625],[-161.186279296875,58.156394958496094,9.67873764038086,0,0,0.785812597409312],[-161.186279296875,58.156394958496094,9.67873764038086,0,0,1.0476119852084613],[-158.6880740634304,62.48755769055662,9.67873764038086,0,0,1.0476119852084613],[-156.1898688299858,66.81872042261715,9.67873764038086,0,0,1.0476119852084613],[-153.69166359654122,71.14988315467767,9.67873764038086,0,0,1.0476119852084613],[-151.19345836309662,75.48104588673819,9.67873764038086,0,0,1.0476119852084613],[-155.52462109515716,77.9792511201828,9.67873764038086,0,0,1.0476119852084613],[-153.02641586171256,82.31041385224331,9.67873764038086,0,0,1.0476119852084613],[-150.52821062826797,86.64157658430383,9.67873764038086,0,0,1.0476119852084613],[-148.03000539482338,90.97273931636435,9.67873764038086,0,0,1.0476119852084613],[-145.53180016137878,95.30390204842487,9.67873764038086,0,0,1.0476119852084613],[-143.0335949279342,99.6350647804854,9.67873764038086,0,0,1.0476119852084613],[-140.5353896944896,103.96622751254591,9.67873764038086,0,0,1.0476119852084613],[-138.037184461045,108.29739024460643,9.67873764038086,0,0,1.0476119852084613],[-138.037184461045,108.29739024460643,9.67873764038086,0,0,0.7858125974093119],[-134.50311610419482,111.83438909237417,9.67873764038086,0,0,0.7858125974093119],[-130.96904774734463,115.3713879401419,9.67873764038086,0,0,0.7858125974093119],[-127.43497939049445,118.90838678790963,9.67873764038086,0,0,0.7858125974093119],[-127.43497939049445,118.90838678790963,9.67873764038086,0,0,0.5240132096101625],[-123.10588882843392,121.41018112507616,9.67873764038086,0,0,0.5240132096101625],[-118.77679826637339,123.9119754622427,9.67873764038086,0,0,0.5240132096101625],[-116.27500392920686,119.58288490018217,9.67873764038086,0,0,0.5240132096101625],[-111.94591336714633,122.0846792373487,9.67873764038086,0,0,0.5240132096101625],[-107.6168228050858,124.58647357451522,9.67873764038086,0,0,0.5240132096101625],[-103.28773224302527,127.08826791168175,9.67873764038086,0,0,0.5240132096101625],[-103.28773224302527,127.08826791168175,9.67873764038086,0,0,0.785812597409312],[-99.75366388617509,130.6252667594495,9.67873764038086,0,0,0.785812597409312],[-99.75366388617509,130.6252667594495,9.67873764038086,0,0,1.0476119852084613],[-97.25545865273048,134.95642949151002,9.67873764038086,0,0,1.0476119852084613],[-94.75725341928587,139.28759222357056,9.67873764038086,0,0,1.0476119852084613],[-94.75725341928587,139.28759222357056,9.67873764038086,0,0,1.3094113730076105],[-93.46515986742675,144.1177572573188,9.67873764038086,0,0,1.3094113730076105],[-92.17306631556762,148.94792229106704,9.67873764038086,0,0,1.3094113730076105],[-90.8809727637085,153.7780873248153,9.67873764038086,0,0,1.3094113730076105],[-89.58887921184937,158.60825235856353,9.67873764038086,0,0,1.3094113730076105],[-89.58887921184937,158.60825235856353,9.67873764038086,0,0,1.57121076080676],[-89.59095138184938,163.60825192917466,9.67873764038086,0,0,1.57121076080676],[-89.59095138184938,163.60825192917466,9.67873764038086,0,0,1.8330101486059094],[-90.88704805874742,168.43734432880152,9.67873764038086,0,0,1.8330101486059094],[-90.88704805874742,168.43734432880152,9.67873764038086,0,0,2.0948095364050587],[-90.88704805874742,168.43734432880152,9.67873764038086,0,0,2.356608924204208],[-94.42404690651514,171.9714126856517,9.67873764038086,0,0,2.356608924204208],[-97.96104575428286,175.50548104250188,9.67873764038086,0,0,2.356608924204208],[-101.49804460205058,179.03954939935207,9.67873764038086,0,0,2.356608924204208],[-105.0350434498183,182.57361775620225,9.67873764038086,0,0,2.356608924204208],[-108.57204229758602,186.10768611305244,9.67873764038086,0,0,2.356608924204208],[-112.10904114535374,189.64175446990262,9.67873764038086,0,0,2.356608924204208],[-115.64603999312146,193.1758228267528,9.67873764038086,0,0,2.356608924204208],[-115.64603999312146,193.1758228267528,7.678737640380859,0,0,2.356608924204208],[-119.18303884088918,196.709891183603,7.678737640380859,0,0,2.356608924204208],[-122.7200376886569,200.24395954045318,7.678737640380859,0,0,2.356608924204208],[-122.7200376886569,200.24395954045318,5.678737640380859,0,0,2.356608924204208],[-122.7200376886569,200.24395954045318,3.6787376403808594,0,0,2.356608924204208],[-126.25703653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+{"episode_id":"33L7PJKHCPW3WZLE6ILM8IW95VQ8TS","trajectory_id":"3KI0JD2ZV9GQ838QAXGLUPDCL5T76D","scene_id":9,"start_position":[-104.86101531982422,-25.989213943481445,13.56334114074707],"start_rotation":[0.9999671647380041,0.0,0.0,0.008103668665324379],"instruction":{"instruction_text":"Take off above the building, turn right to face the grey roof on the right, and fly straight until fly over the first grey building behind the T-junction. Turn left to face four round tanks and head towards the grey building to reach the edge of the building, turn left to face the green warehous and head towards it to reach the green warehouse, fly forward until reaching the edge of the two-story grey building. Turn right to face the tanks area on the ground and fly towards the large cylindrical building in the distance. Raise the height until level with the railing of the large cylindrical building on the left, and then fly lower to the top of the building."},"goals":[{"position":[-155.4853853459775,208.49473729101322,-2.4366588592529297]}],"reference_path":[[-104.86101531982422,-25.989213943481445,13.56334114074707,0,0,0.01620751472370116],[-104.86101531982422,-25.989213943481445,11.56334114074707,0,0,0.01620751472370116],[-104.86101531982422,-25.989213943481445,9.56334114074707,0,0,0.01620751472370116],[-104.86101531982422,-25.989213943481445,7.56334114074707,0,0,0.01620751472370116],[-104.86101531982422,-25.989213943481445,7.56334114074707,0,0,0.2780069025228506],[-104.86101531982422,-25.989213943481445,7.56334114074707,0,0,0.539806290322],[-104.86101531982422,-25.989213943481445,7.56334114074707,0,0,0.8016056781211495],[-104.86101531982422,-25.989213943481445,7.56334114074707,0,0,1.063405065920299],[-104.86101531982422,-25.989213943481445,7.56334114074707,0,0,1.3252044537194483],[-104.86101531982422,-25.989213943481445,7.56334114074707,0,0,1.5870038415185979],[-104.86101531982422,-25.989213943481445,7.56334114074707,0,0,1.8488032293177474],[-104.86101531982422,-25.989213943481445,7.56334114074707,0,0,2.110602617116897],[-104.86101531982422,-25.989213943481445,7.56334114074707,0,0,2.3724020049160464],[-104.86101531982422,-25.989213943481445,7.56334114074707,0,0,2.634201392715196],[-109.23109063755913,-23.559719815617783,7.56334114074707,0,0,2.634201392715196],[-113.60116595529405,-21.13022568775412,7.56334114074707,0,0,2.634201392715196],[-117.97124127302897,-18.700731559890457,7.56334114074707,0,0,2.634201392715196],[-122.34131659076388,-16.271237432026794,7.56334114074707,0,0,2.634201392715196],[-126.7113919084988,-13.84174330416313,7.56334114074707,0,0,2.634201392715196],[-131.0814672262337,-11.412249176299465,7.56334114074707,0,0,2.634201392715196],[-135.45154254396863,-8.9827550484358,7.56334114074707,0,0,2.634201392715196],[-139.82161786170354,-6.553260920572136,7.56334114074707,0,0,2.634201392715196],[-144.19169317943846,-4.123766792708471,7.56334114074707,0,0,2.634201392715196],[-148.56176849717338,-1.694272664844807,7.56334114074707,0,0,2.634201392715196],[-152.9318438149083,0.7352214630188572,7.56334114074707,0,0,2.634201392715196],[-157.3019191326432,3.1647155908825213,7.56334114074707,0,0,2.634201392715196],[-161.67199445037812,5.5942097187461854,7.56334114074707,0,0,2.634201392715196],[-166.04206976811304,8.02370384660985,7.56334114074707,0,0,2.634201392715196],[-170.41214508584795,10.453197974473515,7.56334114074707,0,0,2.634201392715196],[-174.78222040358287,12.88269210233718,7.56334114074707,0,0,2.634201392715196],[-179.15229572131778,15.312186230200844,7.56334114074707,0,0,2.634201392715196],[-183.5223710390527,17.741680358064507,7.56334114074707,0,0,2.634201392715196],[-187.89244635678762,20.17117448592817,7.56334114074707,0,0,2.634201392715196],[-192.26252167452253,22.600668613791832,7.56334114074707,0,0,2.634201392715196],[-196.63259699225745,25.030162741655495,7.56334114074707,0,0,2.634201392715196],[-201.00267230999236,27.459656869519158,7.56334114074707,0,0,2.634201392715196],[-205.37274762772728,29.88915099738282,7.56334114074707,0,0,2.634201392715196],[-209.7428229454622,32.31864512524648,7.56334114074707,0,0,2.634201392715196],[-214.1128982631971,34.748139253110146,7.56334114074707,0,0,2.634201392715196],[-218.48297358093203,37.17763338097381,7.56334114074707,0,0,2.634201392715196],[-218.48297358093203,37.17763338097381,7.56334114074707,0,0,2.372402004916047],[-221.96074342461543,33.585264119001096,7.56334114074707,0,0,2.372402004916047],[-221.96074342461543,33.585264119001096,7.56334114074707,0,0,2.1106026171168972],[-221.96074342461543,33.585264119001096,7.56334114074707,0,0,1.8488032293177479],[-221.96074342461543,33.585264119001096,7.56334114074707,0,0,1.5870038415185985],[-221.96074342461543,33.585264119001096,7.56334114074707,0,0,1.3252044537194494],[-221.96074342461543,33.585264119001096,7.56334114074707,0,0,1.0634050659203],[-221.96074342461543,33.585264119001096,7.56334114074707,0,0,0.8016056781211506],[-218.48297358093203,37.17763338097381,7.56334114074707,0,0,0.8016056781211506],[-215.00520373724862,40.77000264294652,7.56334114074707,0,0,0.8016056781211506],[-211.52743389356522,44.362371904919236,7.56334114074707,0,0,0.8016056781211506],[-211.52743389356522,44.362371904919236,7.56334114074707,0,0,0.5398062903220012],[-207.2383926016227,46.9322210825972,7.56334114074707,0,0,0.5398062903220012],[-202.9493513096802,49.50207026027517,7.56334114074707,0,0,0.5398062903220012],[-198.6603100177377,52.071919437953134,7.56334114074707,0,0,0.5398062903220012],[-194.37126872579518,54.6417686156311,7.56334114074707,0,0,0.5398062903220012],[-190.08222743385267,57.21161779330907,7.56334114074707,0,0,0.5398062903220012],[-190.08222743385267,57.21161779330907,7.56334114074707,0,0,0.2780069025228518],[-185.27420576972105,58.5838159121101,7.56334114074707,0,0,0.2780069025228518],[-180.46618410558943,59.95601403091113,7.56334114074707,0,0,0.2780069025228518],[-175.65816244145782,61.32821214971216,7.56334114074707,0,0,0.27800690252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+{"episode_id":"32UTUBMZ7PU1BPNAEP5B02AV9JUVBQ","trajectory_id":"36BTXXLZ336MBZOR0NLC28KYQQH4RO","scene_id":9,"start_position":[-96.96603393554688,21.112062454223633,18.382036209106445],"start_rotation":[0.9998741588739536,0.0,0.0,0.015863997481842616],"instruction":{"instruction_text":"Take off, rise to the height of the roof of the building in front, then turn right to face the pipeline, and keep flying forward until reaching the pipe that spans the road. Turn left to face the two-story grey building, then fly straight ahead until reaching the edge of the roof of the dilapidated green building. Fly forward to the edge of the roof of the second green warehouse, and then turn right until facing the two wide and large cylinders. Fly towards the gap between the two large circular buildings in front and land on the ground when reaching the edge of the circular building on the right."},"goals":[{"position":[-172.70339685414825,201.82151326504194,16.382036209106445]}],"reference_path":[[-96.96603393554688,21.112062454223633,18.382036209106445,0,0,0.03172932592621921],[-96.96603393554688,21.112062454223633,16.382036209106445,0,0,0.03172932592621921],[-96.96603393554688,21.112062454223633,14.382036209106445,0,0,0.03172932592621921],[-96.96603393554688,21.112062454223633,12.382036209106445,0,0,0.03172932592621921],[-96.96603393554688,21.112062454223633,10.382036209106445,0,0,0.03172932592621921],[-96.96603393554688,21.112062454223633,10.382036209106445,0,0,0.29352871372536865],[-96.96603393554688,21.112062454223633,10.382036209106445,0,0,0.5553281015245181],[-96.96603393554688,21.112062454223633,10.382036209106445,0,0,0.8171274893236675],[-96.96603393554688,21.112062454223633,10.382036209106445,0,0,1.0789268771228169],[-96.96603393554688,21.112062454223633,10.382036209106445,0,0,1.3407262649219662],[-96.96603393554688,21.112062454223633,10.382036209106445,0,0,1.6025256527211158],[-96.96603393554688,21.112062454223633,10.382036209106445,0,0,1.8643250405202654],[-96.96603393554688,21.112062454223633,10.382036209106445,0,0,2.126124428319415],[-96.96603393554688,21.112062454223633,10.382036209106445,0,0,2.387923816118564],[-96.96603393554688,21.112062454223633,10.382036209106445,0,0,2.6497232039177137],[-96.96603393554688,21.112062454223633,10.382036209106445,0,0,2.9115225917168632],[-101.83428603596388,22.25229115355785,10.382036209106445,0,0,2.9115225917168632],[-106.7025381363809,23.392519852892065,10.382036209106445,0,0,2.9115225917168632],[-111.5707902367979,24.53274855222628,10.382036209106445,0,0,2.9115225917168632],[-116.43904233721491,25.672977251560496,10.382036209106445,0,0,2.9115225917168632],[-121.30729443763192,26.813205950894712,10.382036209106445,0,0,2.9115225917168632],[-126.17554653804893,27.953434650228928,10.382036209106445,0,0,2.9115225917168632],[-131.04379863846594,29.093663349563144,10.382036209106445,0,0,2.9115225917168632],[-135.91205073888295,30.23389204889736,10.382036209106445,0,0,2.9115225917168632],[-140.78030283929996,31.374120748231576,10.382036209106445,0,0,2.9115225917168632],[-141.92053153863418,26.505868647814566,10.382036209106445,0,0,2.9115225917168632],[-146.7887836390512,27.646097347148782,10.382036209106445,0,0,2.9115225917168632],[-146.7887836390512,27.646097347148782,10.382036209106445,0,0,-3.109863327663574],[-151.78626697489014,27.487477335763423,10.382036209106445,0,0,-3.109863327663574],[-151.78626697489014,27.487477335763423,10.382036209106445,0,0,2.9115225917168632],[-151.78626697489014,27.487477335763423,10.382036209106445,0,0,2.6497232039177137],[-151.78626697489014,27.487477335763423,10.382036209106445,0,0,2.387923816118564],[-151.78626697489014,27.487477335763423,10.382036209106445,0,0,2.126124428319415],[-151.78626697489014,27.487477335763423,10.382036209106445,0,0,1.8643250405202654],[-151.78626697489014,27.487477335763423,10.382036209106445,0,0,1.602525652721116],[-151.78626697489014,27.487477335763423,10.382036209106445,0,0,1.3407262649219667],[-151.78626697489014,27.487477335763423,10.382036209106445,0,0,1.0789268771228173],[-151.78626697489014,27.487477335763423,10.382036209106445,0,0,0.8171274893236679],[-148.3646739049341,31.133392977084398,10.382036209106445,0,0,0.8171274893236679],[-144.94308083497808,34.77930861840537,10.382036209106445,0,0,0.8171274893236679],[-141.52148776502204,38.42522425972635,10.382036209106445,0,0,0.8171274893236679],[-138.099894695066,42.071139901047324,10.382036209106445,0,0,0.8171274893236679],[-134.67830162510998,45.7170555423683,10.382036209106445,0,0,0.8171274893236679],[-131.25670855515395,49.362971183689275,10.382036209106445,0,0,0.8171274893236679],[-127.83511548519793,53.00888682501025,10.382036209106445,0,0,0.8171274893236679],[-124.41352241524191,56.654802466331226,10.382036209106445,0,0,0.8171274893236679],[-120.9919293452859,60.3007181076522,10.382036209106445,0,0,0.8171274893236679],[-117.57033627532988,63.94663374897318,10.382036209106445,0,0,0.8171274893236679],[-114.14874320537386,67.59254939029415,10.382036209106445,0,0,0.8171274893236679],[-110.72715013541784,71.23846503161512,10.382036209106445,0,0,0.8171274893236679],[-107.30555706546183,74.88438067293609,10.382036209106445,0,0,0.8171274893236679],[-103.88396399550581,78.53029631425706,10.382036209106445,0,0,0.8171274893236679],[-103.88396399550581,78.53029631425706,10.382036209106445,0,0,1.0789268771228173],[-101.52259128699463,82.93755384377567,10.382036209106445,0,0,1.0789268771228173],[-99.16121857848344,87.34481137329429,10.382036209106445,0,0,1.0789268771228173],[-103.56847610800206,89.70618408180547,10.382036209106445,0,0,1.0789268771228173],[-101.20710339949088,94.11344161132409,10.382036209106445,0,0,1.0789268771228173],[-98.84573069097969,98.52069914084271,10.382036209106445,0,0,1.0789268771228173],[-96.48435798246851,102.92795667036133,10.382036209106445,0,0,1.0789268771228173],[-94.12298527395733,107.33521419987994,1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+]}
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diff --git a/scene_10/3634BBTX0XSM20FQKKSO43BMEW8FI9.json b/scene_10/3634BBTX0XSM20FQKKSO43BMEW8FI9.json
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--- /dev/null
+++ b/scene_10/3634BBTX0XSM20FQKKSO43BMEW8FI9.json
@@ -0,0 +1 @@
+{"episode_id":"3634BBTX0XSM20FQKKSO43BMEW8FI9","trajectory_id":"3XEDXEGFYBMJP7TVR2PDPT87D7LK0E","scene_id":10,"instruction":"turn right, move down the road and cross the bridge. keep going down the road until you hit the wall. turn right and go down the road until it splits. turn right and move towards the orange building until youre beside it. turn left and move down the sidewalk past the white building, then move beside the second floor of the red building.","sentence_instructions":[{"id":0,"instruction":"turn right, move down the road and cross the bridge.","completed_instruction":"Turn right to face the street lamps right to the road, move forward to the nearest lamp, fly up to the height of street lights, then fly forward to the bridge on the left, then turn left to face the bridge, then fly over it.","start_frame":0,"end_frame":18,"start_position":[-45.242820739746094,-21.02818489074707,-1.2410321235656738],"start_rotation":[0.9999755052054552,0,0,0.0069992134625771786],"end_position":[-29.11198612837089,3.348149888946951,-3.241032123565674],"end_rotation":[0.9999755052054552,0,0,0.006999213462577313],"actions":[3,3,3,3,3,1,1,1,4,1,1,2,2,2,2,2,1,1,1],"reference_path":[[-45.242820739746094,-21.02818489074707,-1.2410321235656738,0,0,0.013998541222471395],[-45.242820739746094,-21.02818489074707,-1.2410321235656738,0,0,0.2757979290216208],[-45.242820739746094,-21.02818489074707,-1.2410321235656738,0,0,0.5375973168207703],[-45.242820739746094,-21.02818489074707,-1.2410321235656738,0,0,0.7993967046199197],[-45.242820739746094,-21.02818489074707,-1.2410321235656738,0,0,1.061196092419069],[-45.242820739746094,-21.02818489074707,-1.2410321235656738,0,0,1.3229954802182187],[-44.016457861514674,-16.180914102881392,-1.2410321235656738,0,0,1.3229954802182187],[-42.790094983283254,-11.333643315015713,-1.2410321235656738,0,0,1.3229954802182187],[-41.563732105051834,-6.486372527150036,-1.2410321235656738,0,0,1.3229954802182187],[-41.563732105051834,-6.486372527150036,-3.241032123565674,0,0,1.3229954802182187],[-40.337369226820414,-1.6391017392843583,-3.241032123565674,0,0,1.3229954802182187],[-39.111006348588994,3.2081690485813192,-3.241032123565674,0,0,1.3229954802182187],[-39.111006348588994,3.2081690485813192,-3.241032123565674,0,0,1.0611960924190693],[-39.111006348588994,3.2081690485813192,-3.241032123565674,0,0,0.7993967046199199],[-39.111006348588994,3.2081690485813192,-3.241032123565674,0,0,0.5375973168207705],[-39.111006348588994,3.2081690485813192,-3.241032123565674,0,0,0.2757979290216211],[-39.111006348588994,3.2081690485813192,-3.241032123565674,0,0,0.013998541222471664],[-34.111496238479944,3.278159468764135,-3.241032123565674,0,0,0.013998541222471664],[-29.11198612837089,3.348149888946951,-3.241032123565674,0,0,0.013998541222471664]]},{"id":1,"instruction":"keep going down the road until you hit the wall.","completed_instruction":"Fly straight along the road to the T-junction at the end of the road.","start_frame":18,"end_frame":33,"start_position":[-29.11198612837089,3.348149888946951,-3.241032123565674],"start_rotation":[0.9999755052054552,0,0,0.006999213462577313],"end_position":[40.881155413155845,4.328015771506371,-5.241032123565674],"end_rotation":[0.9999755052054552,0,0,0.006999213462577313],"actions":[1,1,1,4,1,1,1,1,1,1,1,1,1,1,1,1],"reference_path":[[-29.11198612837089,3.348149888946951,-3.241032123565674,0,0,0.013998541222471664],[-24.112476018261837,3.418140309129767,-3.241032123565674,0,0,0.013998541222471664],[-19.112965908152784,3.4881307293125827,-3.241032123565674,0,0,0.013998541222471664],[-14.11345579804373,3.5581211494953986,-3.241032123565674,0,0,0.013998541222471664],[-14.11345579804373,3.5581211494953986,-5.241032123565674,0,0,0.013998541222471664],[-9.113945687934677,3.6281115696782145,-5.241032123565674,0,0,0.013998541222471664],[-4.114435577825625,3.6981019898610303,-5.241032123565674,0,0,0.013998541222471664],[0.8850745322834275,3.768092410043846,-5.241032123565674,0,0,0.013998541222471664],[5.88458464239248,3.838082830226662,-5.241032123565674,0,0,0.013998541222471664],[10.884094752501532,3.908073250409478,-5.241032123565674,0,0,0.013998541222471664],[15.883604862610586,3.978063670592294,-5.241032123565674,0,0,0.013998541222471664],[20.88311497271964,4.04805409077511,-5.241032123565674,0,0,0.013998541222471664],[25.882625082828692,4.118044510957925,-5.241032123565674,0,0,0.013998541222471664],[30.882135192937746,4.1880349311407405,-5.241032123565674,0,0,0.013998541222471664],[35.881645303046795,4.258025351323556,-5.241032123565674,0,0,0.013998541222471664],[40.881155413155845,4.328015771506371,-5.241032123565674,0,0,0.013998541222471664]]},{"id":2,"instruction":"turn right and go down the road until it splits.","completed_instruction":"Turn right to face the road, then fly straight ahead to the T-junction.","start_frame":33,"end_frame":48,"start_position":[40.881155413155845,4.328015771506371,-5.241032123565674],"start_rotation":[0.9999755052054552,0,0,0.006999213462577313],"end_position":[55.45974322238608,34.535047692709135,-5.241032123565674],"end_rotation":[0.70214026944886054,0,0,0.71203865205358163],"actions":[1,1,1,3,3,3,3,3,3,1,1,1,1,1,1,4],"reference_path":[[40.881155413155845,4.328015771506371,-5.241032123565674,0,0,0.013998541222471664],[45.880665523264895,4.398006191689187,-5.241032123565674,0,0,0.013998541222471664],[50.880175633373945,4.467996611872002,-5.241032123565674,0,0,0.013998541222471664],[55.879685743482995,4.537987032054818,-5.241032123565674,0,0,0.013998541222471664],[55.879685743482995,4.537987032054818,-5.241032123565674,0,0,0.2757979290216211],[55.879685743482995,4.537987032054818,-5.241032123565674,0,0,0.5375973168207705],[55.879685743482995,4.537987032054818,-5.241032123565674,0,0,0.79939670461992],[55.879685743482995,4.537987032054818,-5.241032123565674,0,0,1.0611960924190693],[55.879685743482995,4.537987032054818,-5.241032123565674,0,0,1.3229954802182187],[55.879685743482995,4.537987032054818,-5.241032123565674,0,0,1.5847948680173682],[55.809695323300176,9.53749714216387,-5.241032123565674,0,0,1.5847948680173682],[55.73970490311736,14.537007252272922,-5.241032123565674,0,0,1.5847948680173682],[55.66971448293454,19.536517362381975,-5.241032123565674,0,0,1.5847948680173682],[55.59972406275172,24.53602747249103,-5.241032123565674,0,0,1.5847948680173682],[55.5297336425689,29.53553758260008,-5.241032123565674,0,0,1.5847948680173682],[55.45974322238608,34.535047692709135,-5.241032123565674,0,0,1.5847948680173682]]},{"id":3,"instruction":"turn right and move towards the orange building and beside it.","completed_instruction":"Turn right slightly to face the red building between the white building and orange building across the river, then fly forward to that red building.","start_frame":48,"end_frame":63,"start_position":[55.45974322238608,34.535047692709135,-5.241032123565674],"start_rotation":[0.70214026944886054,0,0,0.71203865205358163],"end_position":[34.67403464908724,84.21910293596757,-9.241032123565674],"end_rotation":[0.49392625593762529,0,0,0.86950379740139117],"actions":[4,1,1,3,1,4,1,3,1,1,1,1,1,1,1,1],"reference_path":[[55.45974322238608,34.535047692709135,-5.241032123565674,0,0,1.5847948680173682],[55.45974322238608,34.535047692709135,-7.241032123565674,0,0,1.5847948680173682],[55.38975280220326,39.534557802818185,-7.241032123565674,0,0,1.5847948680173682],[55.31976238202044,44.534067912927235,-7.241032123565674,0,0,1.5847948680173682],[55.31976238202044,44.534067912927235,-7.241032123565674,0,0,1.846594255816518],[53.958188394894215,49.34510899335683,-7.241032123565674,0,0,1.846594255816518],[53.958188394894215,49.34510899335683,-9.241032123565674,0,0,1.846594255816518],[52.59661440776799,54.15615007378643,-9.241032123565674,0,0,1.846594255816518],[52.59661440776799,54.15615007378643,-9.241032123565674,0,0,2.108393643615668],[50.036245870813595,58.450857625526595,-9.241032123565674,0,0,2.108393643615668],[47.4758773338592,62.74556517726676,-9.241032123565674,0,0,2.108393643615668],[44.91550879690481,67.04027272900693,-9.241032123565674,0,0,2.108393643615668],[42.35514025995042,71.33498028074709,-9.241032123565674,0,0,2.108393643615668],[39.794771722996025,75.62968783248725,-9.241032123565674,0,0,2.108393643615668],[37.23440318604163,79.92439538422741,-9.241032123565674,0,0,2.108393643615668],[34.67403464908724,84.21910293596757,-9.241032123565674,0,0,2.108393643615668]]},{"id":4,"instruction":"turn left and move down the sidewalk past the white building, then move beside the second floor of the red building.","completed_instruction":"Turn left to face the road, then fly straight along the sidewalk, fly past a tree, then land in front of  a red building on the right of the road.","start_frame":63,"end_frame":81,"start_position":[34.67403464908724,84.21910293596757,-9.241032123565674],"start_rotation":[0.49392625593762529,0,0,0.86950379740139117],"end_position":[56.98998969887836,97.52316811228496,-7.241032123565674],"end_rotation":[0.9999755052054552,0,0,0.0069992134625778864],"actions":[1,1,1,2,2,2,2,2,2,2,2,1,1,1,1,1,5,1,0],"reference_path":[[34.67403464908724,84.21910293596757,-9.241032123565674,0,0,2.108393643615668],[32.11366611213285,88.51381048770773,-9.241032123565674,0,0,2.108393643615668],[29.55329757517845,92.80851803944789,-9.241032123565674,0,0,2.108393643615668],[26.992929038224055,97.10322559118805,-9.241032123565674,0,0,2.108393643615668],[26.992929038224055,97.10322559118805,-9.241032123565674,0,0,1.8465942558165187],[26.992929038224055,97.10322559118805,-9.241032123565674,0,0,1.5847948680173696],[26.992929038224055,97.10322559118805,-9.241032123565674,0,0,1.3229954802182202],[26.992929038224055,97.10322559118805,-9.241032123565674,0,0,1.0611960924190706],[26.992929038224055,97.10322559118805,-9.241032123565674,0,0,0.7993967046199212],[26.992929038224055,97.10322559118805,-9.241032123565674,0,0,0.5375973168207717],[26.992929038224055,97.10322559118805,-9.241032123565674,0,0,0.27579792902162226],[26.992929038224055,97.10322559118805,-9.241032123565674,0,0,0.01399854122247281],[31.99243914833311,97.17321601137087,-9.241032123565674,0,0,0.01399854122247281],[36.99194925844216,97.24320643155369,-9.241032123565674,0,0,0.01399854122247281],[41.99145936855121,97.3131968517365,-9.241032123565674,0,0,0.01399854122247281],[46.99096947866026,97.38318727191933,-9.241032123565674,0,0,0.01399854122247281],[51.99047958876931,97.45317769210214,-9.241032123565674,0,0,0.01399854122247281],[51.99047958876931,97.45317769210214,-7.241032123565674,0,0,0.01399854122247281],[56.98998969887836,97.52316811228496,-7.241032123565674,0,0,0.01399854122247281]]}],"statistics":{"complete_actions":86,"sentence_actions":[19,16,16,16,19],"sentence_actions_average":17.2}}
diff --git a/scene_10/37ZHEEHM65KUX4I1HYNPC5WGYC537F.json b/scene_10/37ZHEEHM65KUX4I1HYNPC5WGYC537F.json
new file mode 100644
index 0000000000000000000000000000000000000000..71262ec4dd5bb59e3d51efd9fed535c5ec7a1efe
--- /dev/null
+++ b/scene_10/37ZHEEHM65KUX4I1HYNPC5WGYC537F.json
@@ -0,0 +1 @@
+{"episode_id":"37ZHEEHM65KUX4I1HYNPC5WGYC537F","trajectory_id":"3X52SWXE153UEZISSW10854396FCWP","scene_id":10,"instruction":"take off and and fly forward. turn right at the intersection and fly forward. turn left at the intersection and fly forward. turn slightly right towards the bridge when you are close to the light pole on the right side. fly forward and land on the bridge.","sentence_instructions":[{"id":0,"instruction":"take off and and fly forward.","completed_instruction":"Fly forward along the sidewalk until you reach an T-junction.","start_frame":0,"end_frame":9,"start_position":[9.232672691345215,7.131016254425049,-1.2442539930343628],"start_rotation":[0.999720772439168,0,0,0.02363000536676425],"end_position":[44.19358629059087,8.784654759685274,-5.244253993034363],"end_rotation":[0.999720772439168,0,0,0.02363000536676425],"actions":[4,4,1,1,1,1,1,1,1,1],"reference_path":[[9.232672691345215,7.131016254425049,-1.2442539930343628,0,0,0.04726440999073064],[9.232672691345215,7.131016254425049,-3.244253993034363,0,0,0.04726440999073064],[9.232672691345215,7.131016254425049,-5.244253993034363,0,0,0.04726440999073064],[14.227088919808882,7.367250326605081,-5.244253993034363,0,0,0.04726440999073064],[19.22150514827255,7.603484398785113,-5.244253993034363,0,0,0.04726440999073064],[24.215921376736215,7.8397184709651455,-5.244253993034363,0,0,0.04726440999073064],[29.210337605199882,8.075952543145178,-5.244253993034363,0,0,0.04726440999073064],[34.204753833663545,8.31218661532521,-5.244253993034363,0,0,0.04726440999073064],[39.19917006212721,8.548420687505242,-5.244253993034363,0,0,0.04726440999073064],[44.19358629059087,8.784654759685274,-5.244253993034363,0,0,0.04726440999073064]]},{"id":1,"instruction":"turn right at the intersection and fly forward.","completed_instruction":"Turn right to face the road, then fly straight ahead to another T-junction.","start_frame":9,"end_frame":27,"start_position":[44.19358629059087,8.784654759685274,-5.244253993034363],"start_rotation":[0.999720772439168,0,0,0.02363000536676425],"end_position":[52.52878024225798,44.218036503291,-3.244253993034363],"end_rotation":[0.69020040045047537,0,0,0.72361827451910266],"actions":[1,6,1,3,3,3,3,3,3,1,1,1,1,1,1,1,5,1,1],"reference_path":[[44.19358629059087,8.784654759685274,-5.244253993034363,0,0,0.04726440999073064],[49.188002519054535,9.020888831865307,-5.244253993034363,0,0,0.04726440999073064],[49.42423659123457,4.02647260340164,-5.244253993034363,0,0,0.04726440999073064],[54.41865281969824,4.262706675581672,-5.244253993034363,0,0,0.04726440999073064],[54.41865281969824,4.262706675581672,-5.244253993034363,0,0,0.3090637977898801],[54.41865281969824,4.262706675581672,-5.244253993034363,0,0,0.5708631855890295],[54.41865281969824,4.262706675581672,-5.244253993034363,0,0,0.832662573388179],[54.41865281969824,4.262706675581672,-5.244253993034363,0,0,1.0944619611873285],[54.41865281969824,4.262706675581672,-5.244253993034363,0,0,1.3562613489864779],[54.41865281969824,4.262706675581672,-5.244253993034363,0,0,1.6180607367856275],[54.182418747518206,9.257122904045339,-5.244253993034363,0,0,1.6180607367856275],[53.94618467533817,14.251539132509006,-5.244253993034363,0,0,1.6180607367856275],[53.70995060315814,19.245955360972673,-5.244253993034363,0,0,1.6180607367856275],[53.47371653097811,24.24037158943634,-5.244253993034363,0,0,1.6180607367856275],[53.23748245879808,29.234787817900006,-5.244253993034363,0,0,1.6180607367856275],[53.001248386618045,34.22920404636368,-5.244253993034363,0,0,1.6180607367856275],[52.76501431443801,39.22362027482734,-5.244253993034363,0,0,1.6180607367856275],[52.76501431443801,39.22362027482734,-3.244253993034363,0,0,1.6180607367856275],[52.52878024225798,44.218036503291,-3.244253993034363,0,0,1.6180607367856275]]},{"id":2,"instruction":"turn left at the intersection and fly forward.","completed_instruction":"Turn left to face the road, fly forward until passing all street lamps.","start_frame":27,"end_frame":41,"start_position":[52.52878024225798,44.218036503291,-3.244253993034363],"start_rotation":[0.69020040045047537,0,0,0.72361827451910266],"end_position":[71.79774293957254,60.14622147740212,-5.244253993034363],"end_rotation":[0.999720772439168,0,0,0.023630005366764323],"actions":[1,1,1,2,2,2,2,2,2,1,1,4,1,1,1],"reference_path":[[52.52878024225798,44.218036503291,-3.244253993034363,0,0,1.6180607367856275],[52.29254617007795,49.21245273175467,-3.244253993034363,0,0,1.6180607367856275],[52.056312097897916,54.20686896021833,-3.244253993034363,0,0,1.6180607367856275],[51.82007802571788,59.20128518868199,-3.244253993034363,0,0,1.6180607367856275],[51.82007802571788,59.20128518868199,-3.244253993034363,0,0,1.3562613489864779],[51.82007802571788,59.20128518868199,-3.244253993034363,0,0,1.0944619611873285],[51.82007802571788,59.20128518868199,-3.244253993034363,0,0,0.8326625733881791],[51.82007802571788,59.20128518868199,-3.244253993034363,0,0,0.5708631855890296],[51.82007802571788,59.20128518868199,-3.244253993034363,0,0,0.3090637977898802],[51.82007802571788,59.20128518868199,-3.244253993034363,0,0,0.04726440999073078],[56.814494254181554,59.437519260862025,-3.244253993034363,0,0,0.04726440999073078],[61.80891048264522,59.67375333304206,-3.244253993034363,0,0,0.04726440999073078],[61.80891048264522,59.67375333304206,-5.244253993034363,0,0,0.04726440999073078],[66.80332671110888,59.90998740522209,-5.244253993034363,0,0,0.04726440999073078],[71.79774293957254,60.14622147740212,-5.244253993034363,0,0,0.04726440999073078]]},{"id":3,"instruction":"turn slightly right towards the bridge when you are close to the light pole on the right side.","completed_instruction":"Turn right slightly to face the end of the canal.","start_frame":41,"end_frame":45,"start_position":[71.79774293957254,60.14622147740212,-5.244253993034363],"start_rotation":[0.999720772439168,0,0,0.023630005366764323],"end_position":[91.7754078534272,61.09115776612225,-5.244253993034363],"end_rotation":[0.999720772439168,0,0,0.023630005366764323],"actions":[1,1,1,1,3],"reference_path":[[71.79774293957254,60.14622147740212,-5.244253993034363,0,0,0.04726440999073078],[76.7921591680362,60.382455549582154,-5.244253993034363,0,0,0.04726440999073078],[81.78657539649987,60.61868962176219,-5.244253993034363,0,0,0.04726440999073078],[86.78099162496353,60.85492369394222,-5.244253993034363,0,0,0.04726440999073078],[91.7754078534272,61.09115776612225,-5.244253993034363,0,0,0.04726440999073078]]},{"id":4,"instruction":"fly forward and land on the bridge.","completed_instruction":"Fly forward to the end of the canal then descend to hover above the water.","start_frame":45,"end_frame":53,"start_position":[91.7754078534272,61.09115776612225,-5.244253993034363],"start_rotation":[0.999720772439168,0,0,0.023630005366764323],"end_position":[113.3671987780863,73.41916368450262,-3.244253993034363],"end_rotation":[0.95954021775185561,0,0,0.28157160815096682],"actions":[3,1,3,1,1,1,1,5,0],"reference_path":[[91.7754078534272,61.09115776612225,-5.244253993034363,0,0,0.04726440999073078],[91.7754078534272,61.09115776612225,-5.244253993034363,0,0,0.3090637977898802],[96.53850159875518,62.61199239658588,-5.244253993034363,0,0,0.3090637977898802],[96.53850159875518,62.61199239658588,-5.244253993034363,0,0,0.5708631855890296],[100.74567589358796,65.31378521856507,-5.244253993034363,0,0,0.5708631855890296],[104.95285018842074,68.01557804054426,-5.244253993034363,0,0,0.5708631855890296],[109.16002448325352,70.71737086252344,-5.244253993034363,0,0,0.5708631855890296],[113.3671987780863,73.41916368450262,-5.244253993034363,0,0,0.5708631855890296],[113.3671987780863,73.41916368450262,-3.244253993034363,0,0,0.5708631855890296]]}],"statistics":{"complete_actions":58,"sentence_actions":[10,19,15,5,9],"sentence_actions_average":11.6}}
diff --git a/scene_10/39OWYR0EPTP8S0UVO2ERQR5A55DYFM.json b/scene_10/39OWYR0EPTP8S0UVO2ERQR5A55DYFM.json
new file mode 100644
index 0000000000000000000000000000000000000000..7879729c76913d9157182c60d918f3ca23713e66
--- /dev/null
+++ b/scene_10/39OWYR0EPTP8S0UVO2ERQR5A55DYFM.json
@@ -0,0 +1 @@
+{"episode_id":"39OWYR0EPTP8S0UVO2ERQR5A55DYFM","trajectory_id":"33CLA8O0NQ9W9FLGK4HVTCHPE3BFRH","scene_id":10,"instruction":"take off and turn left towards the tree park and fly forward. fly down after passing the river. turn right on the street and fly forward. land on the left corner at the crossroad. turn right at the intersection and fly forward. turn left at the intersection and fly forward. turn right at the crossroad and fly forward. turn right at the crossroad towards the second corner with a brown building. fly up above the buildings and fly forward. fly down above the trees until the second floor. turn right towards the white building and fly forward. fly up above the white building and fly forward.","sentence_instructions":[{"id":0,"instruction":"take off and turn left towards the tree park and fly forward.","completed_instruction":"Turn left to face the trees between the buildings on the other side of the river and fly forwards that trees until reaching a 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right at the intersection and fly forward.","completed_instruction":"Turn right at the T-junction to face the road and fly forward to another T-junction.","start_frame":23,"end_frame":41,"start_position":[67.3271177262109,59.91503584942123,-5.223265886306763],"start_rotation":[0.26120923750332775,0,0,-0.96528220445781043],"end_position":[57.13886648805482,6.240215316808283,-7.223265886306763],"end_rotation":[0.70885493760994989,0,0,-0.70535429212984446],"actions":[1,3,6,3,3,1,1,3,1,1,1,1,1,1,1,1,4,1,2],"reference_path":[[67.3271177262109,59.91503584942123,-5.223265886306763,0,0,-2.613043212620792],[63.0094203837816,57.39362956340167,-5.223265886306763,0,0,-2.613043212620792],[63.0094203837816,57.39362956340167,-5.223265886306763,0,0,-2.3512438248216427],[59.45642663033846,60.911616969290726,-5.223265886306763,0,0,-2.3512438248216427],[59.45642663033846,60.911616969290726,-5.223265886306763,0,0,-2.089444437022493],[59.45642663033846,60.911616969290726,-5.223265886306763,0,0,-1.8276450492233438],[58.18625704336639,56.07564041637701,-5.223265886306763,0,0,-1.8276450492233438],[56.916087456394315,51.2396638634633,-5.223265886306763,0,0,-1.8276450492233438],[56.916087456394315,51.2396638634633,-5.223265886306763,0,0,-1.5658456614241942],[56.94084068213437,46.23972513605719,-5.223265886306763,0,0,-1.5658456614241942],[56.96559390787443,41.23978640865108,-5.223265886306763,0,0,-1.5658456614241942],[56.990347133614485,36.23984768124497,-5.223265886306763,0,0,-1.5658456614241942],[57.01510035935454,31.239908953838853,-5.223265886306763,0,0,-1.5658456614241942],[57.0398535850946,26.23997022643274,-5.223265886306763,0,0,-1.5658456614241942],[57.064606810834654,21.240031499026625,-5.223265886306763,0,0,-1.5658456614241942],[57.08936003657471,16.24009277162051,-5.223265886306763,0,0,-1.5658456614241942],[57.11411326231477,11.240154044214396,-5.223265886306763,0,0,-1.5658456614241942],[57.11411326231477,11.240154044214396,-7.223265886306763,0,0,-1.5658456614241942],[57.13886648805482,6.240215316808283,-7.223265886306763,0,0,-1.5658456614241942]]},{"id":2,"instruction":"turn right at the intersection and fly forward.","completed_instruction":"Turn right at the T-junction to face the road and fly forward to an intersection near the bridge.","start_frame":41,"end_frame":60,"start_position":[57.13886648805482,6.240215316808283,-7.223265886306763],"start_rotation":[0.70885493760994989,0,0,-0.70535429212984446],"end_position":[-6.976460033270155,-0.5477562242354387,-7.223265886306763],"end_rotation":[0.0024753301575124839,0,0,-0.99999693636561271],"actions":[2,2,2,2,2,1,1,1,1,1,2,1,1,1,1,1,1,1,1,3],"reference_path":[[57.13886648805482,6.240215316808283,-7.223265886306763,0,0,-1.5658456614241942],[57.13886648805482,6.240215316808283,-7.223265886306763,0,0,-1.8276450492233438],[57.13886648805482,6.240215316808283,-7.223265886306763,0,0,-2.089444437022493],[57.13886648805482,6.240215316808283,-7.223265886306763,0,0,-2.3512438248216427],[57.13886648805482,6.240215316808283,-7.223265886306763,0,0,-2.613043212620792],[57.13886648805482,6.240215316808283,-7.223265886306763,0,0,-2.8748426004199414],[52.31570314763961,4.922226169783633,-7.223265886306763,0,0,-2.8748426004199414],[47.4925398072244,3.6042370227589826,-7.223265886306763,0,0,-2.8748426004199414],[42.66937646680918,2.2862478757343325,-7.223265886306763,0,0,-2.8748426004199414],[37.84621312639397,0.9682587287096827,-7.223265886306763,0,0,-2.8748426004199414],[33.023049785978756,-0.3497304183149672,-7.223265886306763,0,0,-2.8748426004199414],[33.023049785978756,-0.3497304183149672,-7.223265886306763,0,0,-3.136641988219091],[28.023111058572642,-0.37448364405502615,-7.223265886306763,0,0,-3.136641988219091],[23.023172331166528,-0.3992368697950851,-7.223265886306763,0,0,-3.136641988219091],[18.023233603760414,-0.42399009553514405,-7.223265886306763,0,0,-3.136641988219091],[13.0232948763543,-0.448743321275203,-7.223265886306763,0,0,-3.136641988219091],[8.023356148948185,-0.47349654701526195,-7.223265886306763,0,0,-3.136641988219091],[3.0234174215420717,-0.4982497727553209,-7.223265886306763,0,0,-3.136641988219091],[-1.9765213058640416,-0.5230029984953798,-7.223265886306763,0,0,-3.136641988219091],[-6.976460033270155,-0.5477562242354387,-7.223265886306763,0,0,-3.136641988219091]]},{"id":3,"instruction":"turn right at the crossroad and fly forward.","completed_instruction":"Turn right at the intersection and fly forward along the road until you can\u0027t see buildings on the right.","start_frame":60,"end_frame":82,"start_position":[-6.976460033270155,-0.5477562242354387,-7.223265886306763],"start_rotation":[0.0024753301575124839,0,0,-0.99999693636561271],"end_position":[-6.654668098649375,-65.5469596805149,-5.223265886306763],"end_rotation":[0.70885493760994989,0,0,-0.70535429212984446],"actions":[3,3,3,3,3,3,3,2,1,5,1,1,1,1,1,1,1,1,1,1,1,1,3],"reference_path":[[-6.976460033270155,-0.5477562242354387,-7.223265886306763,0,0,-3.136641988219091],[-6.976460033270155,-0.5477562242354387,-7.223265886306763,0,0,-2.8748426004199414],[-6.976460033270155,-0.5477562242354387,-7.223265886306763,0,0,-2.613043212620792],[-6.976460033270155,-0.5477562242354387,-7.223265886306763,0,0,-2.3512438248216427],[-6.976460033270155,-0.5477562242354387,-7.223265886306763,0,0,-2.089444437022493],[-6.976460033270155,-0.5477562242354387,-7.223265886306763,0,0,-1.8276450492233438],[-6.976460033270155,-0.5477562242354387,-7.223265886306763,0,0,-1.5658456614241942],[-6.976460033270155,-0.5477562242354387,-7.223265886306763,0,0,-1.3040462736250449],[-6.976460033270155,-0.5477562242354387,-7.223265886306763,0,0,-1.5658456614241942],[-6.951706807530095,-5.547694951641552,-7.223265886306763,0,0,-1.5658456614241942],[-6.951706807530095,-5.547694951641552,-5.223265886306763,0,0,-1.5658456614241942],[-6.926953581790035,-10.547633679047665,-5.223265886306763,0,0,-1.5658456614241942],[-6.902200356049975,-15.547572406453778,-5.223265886306763,0,0,-1.5658456614241942],[-6.877447130309915,-20.547511133859892,-5.223265886306763,0,0,-1.5658456614241942],[-6.852693904569855,-25.547449861266006,-5.223265886306763,0,0,-1.5658456614241942],[-6.827940678829795,-30.54738858867212,-5.223265886306763,0,0,-1.5658456614241942],[-6.803187453089735,-35.54732731607823,-5.223265886306763,0,0,-1.5658456614241942],[-6.778434227349675,-40.54726604348434,-5.223265886306763,0,0,-1.5658456614241942],[-6.753681001609615,-45.54720477089045,-5.223265886306763,0,0,-1.5658456614241942],[-6.728927775869555,-50.54714349829656,-5.223265886306763,0,0,-1.5658456614241942],[-6.704174550129495,-55.547082225702674,-5.223265886306763,0,0,-1.5658456614241942],[-6.679421324389435,-60.547020953108785,-5.223265886306763,0,0,-1.5658456614241942],[-6.654668098649375,-65.5469596805149,-5.223265886306763,0,0,-1.5658456614241942]]},{"id":4,"instruction":"turn right at the crossroad towards the second corner with a brown building.","completed_instruction":"Turn right to face a brown building.","start_frame":82,"end_frame":91,"start_position":[-6.654668098649375,-65.5469596805149,-5.223265886306763],"start_rotation":[0.70885493760994989,0,0,-0.70535429212984446],"end_position":[-6.654668098649375,-65.5469596805149,-5.223265886306763],"end_rotation":[0.92292943424126761,0,0,0.38496916683170063],"actions":[3,3,3,3,3,3,3,3,3,4],"reference_path":[[-6.654668098649375,-65.5469596805149,-5.223265886306763,0,0,-1.5658456614241942],[-6.654668098649375,-65.5469596805149,-5.223265886306763,0,0,-1.3040462736250449],[-6.654668098649375,-65.5469596805149,-5.223265886306763,0,0,-1.0422468858258955],[-6.654668098649375,-65.5469596805149,-5.223265886306763,0,0,-0.7804474980267462],[-6.654668098649375,-65.5469596805149,-5.223265886306763,0,0,-0.5186481102275967],[-6.654668098649375,-65.5469596805149,-5.223265886306763,0,0,-0.2568487224284473],[-6.654668098649375,-65.5469596805149,-5.223265886306763,0,0,0.004950665370702125],[-6.654668098649375,-65.5469596805149,-5.223265886306763,0,0,0.26675005316985156],[-6.654668098649375,-65.5469596805149,-5.223265886306763,0,0,0.528549440969001],[-6.654668098649375,-65.5469596805149,-5.223265886306763,0,0,0.7903488287681505]]},{"id":5,"instruction":"fly up above the buildings and fly forward.","completed_instruction":"Fly up above the building ahead and fly forward over its roof.","start_frame":91,"end_frame":105,"start_position":[-6.654668098649375,-65.5469596805149,-5.223265886306763],"start_rotation":[0.92292943424126761,0,0,0.38496916683170063],"end_position":[14.453256336685001,-44.22899715985611,-21.223265886306763],"end_rotation":[0.92292943424126761,0,0,0.38496916683170063],"actions":[4,4,4,4,1,4,4,4,1,4,1,1,1,1,5],"reference_path":[[-6.654668098649375,-65.5469596805149,-5.223265886306763,0,0,0.7903488287681505],[-6.654668098649375,-65.5469596805149,-7.223265886306763,0,0,0.7903488287681505],[-6.654668098649375,-65.5469596805149,-9.223265886306763,0,0,0.7903488287681505],[-6.654668098649375,-65.5469596805149,-11.223265886306763,0,0,0.7903488287681505],[-6.654668098649375,-65.5469596805149,-13.223265886306763,0,0,0.7903488287681505],[-3.1366806927603124,-61.99396592707177,-13.223265886306763,0,0,0.7903488287681505],[-3.1366806927603124,-61.99396592707177,-15.223265886306763,0,0,0.7903488287681505],[-3.1366806927603124,-61.99396592707177,-17.223265886306763,0,0,0.7903488287681505],[-3.1366806927603124,-61.99396592707177,-19.223265886306763,0,0,0.7903488287681505],[0.3813067131287502,-58.44097217362864,-19.223265886306763,0,0,0.7903488287681505],[0.3813067131287502,-58.44097217362864,-21.223265886306763,0,0,0.7903488287681505],[3.8992941190178128,-54.887978420185505,-21.223265886306763,0,0,0.7903488287681505],[7.417281524906875,-51.33498466674237,-21.223265886306763,0,0,0.7903488287681505],[10.935268930795939,-47.78199091329924,-21.223265886306763,0,0,0.7903488287681505],[14.453256336685001,-44.22899715985611,-21.223265886306763,0,0,0.7903488287681505]]},{"id":6,"instruction":"fly down above the trees until the second floor.","completed_instruction":"Fly down until above the trees.","start_frame":105,"end_frame":110,"start_position":[14.453256336685001,-44.22899715985611,-21.223265886306763],"start_rotation":[0.92292943424126761,0,0,0.38496916683170063],"end_position":[14.453256336685001,-44.22899715985611,-11.223265886306763],"end_rotation":[0.92292943424126761,0,0,0.38496916683170063],"actions":[5,5,5,5,5,3],"reference_path":[[14.453256336685001,-44.22899715985611,-21.223265886306763,0,0,0.7903488287681505],[14.453256336685001,-44.22899715985611,-19.223265886306763,0,0,0.7903488287681505],[14.453256336685001,-44.22899715985611,-17.223265886306763,0,0,0.7903488287681505],[14.453256336685001,-44.22899715985611,-15.223265886306763,0,0,0.7903488287681505],[14.453256336685001,-44.22899715985611,-13.223265886306763,0,0,0.7903488287681505],[14.453256336685001,-44.22899715985611,-11.223265886306763,0,0,0.7903488287681505]]},{"id":7,"instruction":"turn right towards the white building and fly forward.","completed_instruction":"Turn right to face the white building.","start_frame":110,"end_frame":117,"start_position":[14.453256336685001,-44.22899715985611,-11.223265886306763],"start_rotation":[0.92292943424126761,0,0,0.38496916683170063],"end_position":[14.453256336685001,-44.22899715985611,-11.223265886306763],"end_rotation":[0.25642726684786088,0,0,0.966563529633172],"actions":[3,3,3,3,3,3,3,4],"reference_path":[[14.453256336685001,-44.22899715985611,-11.223265886306763,0,0,0.7903488287681505],[14.453256336685001,-44.22899715985611,-11.223265886306763,0,0,1.0521482165673],[14.453256336685001,-44.22899715985611,-11.223265886306763,0,0,1.3139476043664493],[14.453256336685001,-44.22899715985611,-11.223265886306763,0,0,1.5757469921655989],[14.453256336685001,-44.22899715985611,-11.223265886306763,0,0,1.8375463799647485],[14.453256336685001,-44.22899715985611,-11.223265886306763,0,0,2.099345767763898],[14.453256336685001,-44.22899715985611,-11.223265886306763,0,0,2.361145155563047],[14.453256336685001,-44.22899715985611,-11.223265886306763,0,0,2.622944543362196]]},{"id":8,"instruction":"fly up above the white building and fly forward.","completed_instruction":"Fly up above the white building and fly forward over the roof, fly forward over the river, turn right slightly to face a white building, fly down close to the road, turn right to face the road, fly forward until you can\u0027t see the buildings on the left, land there.","start_frame":117,"end_frame":156,"start_position":[14.453256336685001,-44.22899715985611,-11.223265886306763],"start_rotation":[0.25642726684786088,0,0,0.966563529633172],"end_position":[-50.385653081513325,-57.85806041737555,-5.223265886306763],"end_rotation":[0.61072337543505917,0,0,-0.791844024222705],"actions":[4,4,4,1,1,1,1,1,1,7,1,1,3,3,1,1,1,1,5,5,5,5,5,5,5,3,3,3,3,3,1,1,4,1,1,4,1,1,5,0],"reference_path":[[14.453256336685001,-44.22899715985611,-11.223265886306763,0,0,2.622944543362196],[14.453256336685001,-44.22899715985611,-13.223265886306763,0,0,2.622944543362196],[14.453256336685001,-44.22899715985611,-15.223265886306763,0,0,2.622944543362196],[14.453256336685001,-44.22899715985611,-17.223265886306763,0,0,2.622944543362196],[10.110805768515641,-41.75046471846955,-17.223265886306763,0,0,2.622944543362196],[5.7683552003462815,-39.271932277082996,-17.223265886306763,0,0,2.622944543362196],[1.4259046321769215,-36.79339983569644,-17.223265886306763,0,0,2.622944543362196],[-2.9165459359924384,-34.314867394309886,-17.223265886306763,0,0,2.622944543362196],[-7.258996504161798,-31.83633495292333,-17.223265886306763,0,0,2.622944543362196],[-11.601447072331158,-29.357802511536775,-17.223265886306763,0,0,2.622944543362196],[-14.079979513717714,-33.70025307970614,-17.223265886306763,0,0,2.622944543362196],[-18.42243008188707,-31.22172063831958,-17.223265886306763,0,0,2.622944543362196],[-22.764880650056433,-28.743188196933026,-17.223265886306763,0,0,2.622944543362196],[-22.764880650056433,-28.743188196933026,-17.223265886306763,0,0,2.8847439311613456],[-22.764880650056433,-28.743188196933026,-17.223265886306763,0,0,-3.136641988219091],[-27.764819377462548,-28.767941422673086,-17.223265886306763,0,0,-3.136641988219091],[-32.76475810486866,-28.792694648413146,-17.223265886306763,0,0,-3.136641988219091],[-37.76469683227477,-28.817447874153206,-17.223265886306763,0,0,-3.136641988219091],[-42.76463555968088,-28.842201099893266,-17.223265886306763,0,0,-3.136641988219091],[-42.76463555968088,-28.842201099893266,-15.223265886306763,0,0,-3.136641988219091],[-42.76463555968088,-28.842201099893266,-13.223265886306763,0,0,-3.136641988219091],[-42.76463555968088,-28.842201099893266,-11.223265886306763,0,0,-3.136641988219091],[-42.76463555968088,-28.842201099893266,-9.223265886306763,0,0,-3.136641988219091],[-42.76463555968088,-28.842201099893266,-7.223265886306763,0,0,-3.136641988219091],[-42.76463555968088,-28.842201099893266,-5.223265886306763,0,0,-3.136641988219091],[-42.76463555968088,-28.842201099893266,-3.2232658863067627,0,0,-3.136641988219091],[-42.76463555968088,-28.842201099893266,-3.2232658863067627,0,0,-2.8748426004199414],[-42.76463555968088,-28.842201099893266,-3.2232658863067627,0,0,-2.613043212620792],[-42.76463555968088,-28.842201099893266,-3.2232658863067627,0,0,-2.3512438248216427],[-42.76463555968088,-28.842201099893266,-3.2232658863067627,0,0,-2.089444437022493],[-42.76463555968088,-28.842201099893266,-3.2232658863067627,0,0,-1.8276450492233438],[-44.03480514665296,-33.67817765280698,-3.2232658863067627,0,0,-1.8276450492233438],[-45.30497473362503,-38.51415420572069,-3.2232658863067627,0,0,-1.8276450492233438],[-45.30497473362503,-38.51415420572069,-5.223265886306763,0,0,-1.8276450492233438],[-46.575144320597104,-43.35013075863441,-5.223265886306763,0,0,-1.8276450492233438],[-47.84531390756918,-48.18610731154812,-5.223265886306763,0,0,-1.8276450492233438],[-47.84531390756918,-48.18610731154812,-7.223265886306763,0,0,-1.8276450492233438],[-49.11548349454125,-53.022083864461834,-7.223265886306763,0,0,-1.8276450492233438],[-50.385653081513325,-57.85806041737555,-7.223265886306763,0,0,-1.8276450492233438],[-50.385653081513325,-57.85806041737555,-5.223265886306763,0,0,-1.8276450492233438]]}],"statistics":{"complete_actions":164,"sentence_actions":[23,19,20,23,10,15,6,8,40],"sentence_actions_average":18.22}}
diff --git a/scene_10/3E47SOBEYZUFZOVGTI2NWXQJHJ7CIM.json b/scene_10/3E47SOBEYZUFZOVGTI2NWXQJHJ7CIM.json
new file mode 100644
index 0000000000000000000000000000000000000000..55bf14eb117bd175c4843c0ff027cc9e4ebfbe6d
--- /dev/null
+++ b/scene_10/3E47SOBEYZUFZOVGTI2NWXQJHJ7CIM.json
@@ -0,0 +1 @@
+{"episode_id":"3E47SOBEYZUFZOVGTI2NWXQJHJ7CIM","trajectory_id":"3U18MJKL22K4R59E0VADCMRCGRNCN4","scene_id":10,"instruction":"turn 135 degrees right and head straight and once above the bridge lower to street level then continue. just before the road turn 180 degrees and head straight. at the next intersection turn 45 degrees right and head straight. at the end of the road turn right. at the next intersection turn right. just past the mural of the dog on the right turn 90 degrees right and head across the water. once back on the road turn left until facing the road again and head straight. stop at the last white building on the road.","sentence_instructions":[{"id":0,"instruction":"turn 135 degrees right and head straight and once above the bridge lower to street level then continue.","completed_instruction":"Turn right to face the bridge on the river, fly to its top, fly down to street lamp height and fly to the the bicycle on the bridge.","start_frame":0,"end_frame":31,"start_position":[0.9694768786430359,-52.45402526855469,-23.476224899291992],"start_rotation":[0.99973024717954828,0,0,-0.023225694269910269],"end_position":[-31.17755665870679,9.727710271300644,-5.476224899291992],"end_rotation":[0.5199791648480474,0,0,0.85417894385422966],"actions":[3,3,3,3,3,3,3,3,1,1,1,1,1,5,1,1,1,1,1,5,1,5,5,5,5,5,5,5,1,1,1,1],"reference_path":[[0.9694768786430359,-52.45402526855469,-23.476224899291992,0,0,-0.04645556578824467],[0.9694768786430359,-52.45402526855469,-23.476224899291992,0,0,0.21534382201090477],[0.9694768786430359,-52.45402526855469,-23.476224899291992,0,0,0.4771432098100542],[0.9694768786430359,-52.45402526855469,-23.476224899291992,0,0,0.7389425976092037],[0.9694768786430359,-52.45402526855469,-23.476224899291992,0,0,1.0007419854083532],[0.9694768786430359,-52.45402526855469,-23.476224899291992,0,0,1.2625413732075026],[0.9694768786430359,-52.45402526855469,-23.476224899291992,0,0,1.524340761006652],[0.9694768786430359,-52.45402526855469,-23.476224899291992,0,0,1.7861401488058013],[0.9694768786430359,-52.45402526855469,-23.476224899291992,0,0,2.0479395366049506],[-1.3267398025962382,-48.01247272999359,-23.476224899291992,0,0,2.0479395366049506],[-3.6229564838355124,-43.57092019143249,-23.476224899291992,0,0,2.0479395366049506],[-5.9191731650747865,-39.129367652871395,-23.476224899291992,0,0,2.0479395366049506],[-8.21538984631406,-34.6878151143103,-23.476224899291992,0,0,2.0479395366049506],[-10.511606527553335,-30.246262575749203,-23.476224899291992,0,0,2.0479395366049506],[-10.511606527553335,-30.246262575749203,-21.476224899291992,0,0,2.0479395366049506],[-12.807823208792609,-25.80471003718811,-21.476224899291992,0,0,2.0479395366049506],[-15.104039890031883,-21.363157498627015,-21.476224899291992,0,0,2.0479395366049506],[-17.400256571271157,-16.92160496006592,-21.476224899291992,0,0,2.0479395366049506],[-19.69647325251043,-12.480052421504826,-21.476224899291992,0,0,2.0479395366049506],[-21.992689933749702,-8.038499882943732,-21.476224899291992,0,0,2.0479395366049506],[-21.992689933749702,-8.038499882943732,-19.476224899291992,0,0,2.0479395366049506],[-24.288906614988974,-3.596947344382638,-19.476224899291992,0,0,2.0479395366049506],[-24.288906614988974,-3.596947344382638,-17.476224899291992,0,0,2.0479395366049506],[-24.288906614988974,-3.596947344382638,-15.476224899291992,0,0,2.0479395366049506],[-24.288906614988974,-3.596947344382638,-13.476224899291992,0,0,2.0479395366049506],[-24.288906614988974,-3.596947344382638,-11.476224899291992,0,0,2.0479395366049506],[-24.288906614988974,-3.596947344382638,-9.476224899291992,0,0,2.0479395366049506],[-24.288906614988974,-3.596947344382638,-7.476224899291992,0,0,2.0479395366049506],[-24.288906614988974,-3.596947344382638,-5.476224899291992,0,0,2.0479395366049506],[-26.585123296228247,0.844605194178456,-5.476224899291992,0,0,2.0479395366049506],[-28.88133997746752,5.28615773273955,-5.476224899291992,0,0,2.0479395366049506],[-31.17755665870679,9.727710271300644,-5.476224899291992,0,0,2.0479395366049506]]},{"id":1,"instruction":"just before the road turn 180 degrees and head straight.","completed_instruction":"Make a sharp left turn to face the red building illuminated by yellow neon light across the river, fly forward to that building, then fly along the road right to that building to an T-junction.","start_frame":31,"end_frame":61,"start_position":[-31.17755665870679,9.727710271300644,-5.476224899291992],"start_rotation":[0.5199791648480474,0,0,0.85417894385422966],"end_position":[42.53171715786176,5.90219600337475,-5.476224899291992],"end_rotation":[0.99973024717954828,0,0,-0.02322569426991045],"actions":[1,5,1,2,2,2,2,2,2,2,2,2,1,1,1,1,1,1,1,3,1,4,1,1,1,1,1,1,1,1,1],"reference_path":[[-31.17755665870679,9.727710271300644,-5.476224899291992,0,0,2.0479395366049506],[-33.473773339946064,14.169262809861738,-5.476224899291992,0,0,2.0479395366049506],[-33.473773339946064,14.169262809861738,-3.476224899291992,0,0,2.0479395366049506],[-35.769990021185336,18.610815348422832,-3.476224899291992,0,0,2.0479395366049506],[-35.769990021185336,18.610815348422832,-3.476224899291992,0,0,1.7861401488058013],[-35.769990021185336,18.610815348422832,-3.476224899291992,0,0,1.5243407610066517],[-35.769990021185336,18.610815348422832,-3.476224899291992,0,0,1.2625413732075021],[-35.769990021185336,18.610815348422832,-3.476224899291992,0,0,1.0007419854083528],[-35.769990021185336,18.610815348422832,-3.476224899291992,0,0,0.7389425976092032],[-35.769990021185336,18.610815348422832,-3.476224899291992,0,0,0.4771432098100538],[-35.769990021185336,18.610815348422832,-3.476224899291992,0,0,0.2153438220109044],[-35.769990021185336,18.610815348422832,-3.476224899291992,0,0,-0.04645556578824503],[-35.769990021185336,18.610815348422832,-3.476224899291992,0,0,-0.30825495358739446],[-31.0056677157945,17.093833815787917,-3.476224899291992,0,0,-0.30825495358739446],[-26.241345410403667,15.576852283153002,-3.476224899291992,0,0,-0.30825495358739446],[-21.477023105012833,14.059870750518087,-3.476224899291992,0,0,-0.30825495358739446],[-16.712700799622,12.542889217883172,-3.476224899291992,0,0,-0.30825495358739446],[-11.948378494231164,11.025907685248256,-3.476224899291992,0,0,-0.30825495358739446],[-7.184056188840331,9.508926152613341,-3.476224899291992,0,0,-0.30825495358739446],[-2.4197338834494975,7.991944619978426,-3.476224899291992,0,0,-0.30825495358739446],[-2.4197338834494975,7.991944619978426,-3.476224899291992,0,0,-0.04645556578824503],[2.574871787807309,7.759750329244684,-3.476224899291992,0,0,-0.04645556578824503],[2.574871787807309,7.759750329244684,-5.476224899291992,0,0,-0.04645556578824503],[7.569477459064116,7.527556038510943,-5.476224899291992,0,0,-0.04645556578824503],[12.564083130320922,7.295361747777201,-5.476224899291992,0,0,-0.04645556578824503],[17.55868880157773,7.063167457043459,-5.476224899291992,0,0,-0.04645556578824503],[22.553294472834537,6.830973166309717,-5.476224899291992,0,0,-0.04645556578824503],[27.547900144091344,6.5987788755759755,-5.476224899291992,0,0,-0.04645556578824503],[32.54250581534815,6.366584584842234,-5.476224899291992,0,0,-0.04645556578824503],[37.53711148660496,6.134390294108492,-5.476224899291992,0,0,-0.04645556578824503],[42.53171715786176,5.90219600337475,-5.476224899291992,0,0,-0.04645556578824503]]},{"id":2,"instruction":"at the next intersection turn 45 degrees right and head straight.","completed_instruction":"Turn right to face the road, then fly straight ahead to the T-junction.","start_frame":61,"end_frame":78,"start_position":[42.53171715786176,5.90219600337475,-5.476224899291992],"start_rotation":[0.99973024717954828,0,0,-0.02322569426991045],"end_position":[54.610677116979076,50.389258463218525,-5.476224899291992],"end_rotation":[0.7233390830539812,0,0,0.69049299122194263],"actions":[1,1,3,3,3,3,3,3,1,1,1,1,1,1,1,1,1,1],"reference_path":[[42.53171715786176,5.90219600337475,-5.476224899291992,0,0,-0.04645556578824503],[47.52632282911857,5.6700017126410085,-5.476224899291992,0,0,-0.04645556578824503],[52.520928500375376,5.437807421907267,-5.476224899291992,0,0,-0.04645556578824503],[52.520928500375376,5.437807421907267,-5.476224899291992,0,0,0.2153438220109044],[52.520928500375376,5.437807421907267,-5.476224899291992,0,0,0.4771432098100538],[52.520928500375376,5.437807421907267,-5.476224899291992,0,0,0.7389425976092032],[52.520928500375376,5.437807421907267,-5.476224899291992,0,0,1.0007419854083528],[52.520928500375376,5.437807421907267,-5.476224899291992,0,0,1.262541373207502],[52.520928500375376,5.437807421907267,-5.476224899291992,0,0,1.5243407610066515],[52.75312279110912,10.432413093164072,-5.476224899291992,0,0,1.5243407610066515],[52.985317081842865,15.427018764420879,-5.476224899291992,0,0,1.5243407610066515],[53.21751137257661,20.421624435677685,-5.476224899291992,0,0,1.5243407610066515],[53.449705663310354,25.416230106934492,-5.476224899291992,0,0,1.5243407610066515],[53.6818999540441,30.4108357781913,-5.476224899291992,0,0,1.5243407610066515],[53.91409424477784,35.405441449448105,-5.476224899291992,0,0,1.5243407610066515],[54.14628853551159,40.40004712070491,-5.476224899291992,0,0,1.5243407610066515],[54.37848282624533,45.39465279196172,-5.476224899291992,0,0,1.5243407610066515],[54.610677116979076,50.389258463218525,-5.476224899291992,0,0,1.5243407610066515]]},{"id":3,"instruction":"at the end of the road turn right.","completed_instruction":"Turn right to face the road, fly forward to the red building with dog pattern on wall.","start_frame":78,"end_frame":90,"start_position":[54.610677116979076,50.389258463218525,-5.476224899291992],"start_rotation":[0.7233390830539812,0,0,0.69049299122194263],"end_position":[35.32692637928531,62.592034210568286,-5.476224899291992],"end_rotation":[0.023225694269910523,0,0,0.99973024717954828],"actions":[1,1,3,3,3,3,3,1,3,1,1,1,1],"reference_path":[[54.610677116979076,50.389258463218525,-5.476224899291992,0,0,1.5243407610066515],[54.84287140771282,55.38386413447533,-5.476224899291992,0,0,1.5243407610066515],[55.075065698446565,60.37846980573214,-5.476224899291992,0,0,1.5243407610066515],[55.075065698446565,60.37846980573214,-5.476224899291992,0,0,1.7861401488058009],[55.075065698446565,60.37846980573214,-5.476224899291992,0,0,2.04793953660495],[55.075065698446565,60.37846980573214,-5.476224899291992,0,0,2.3097389244041],[55.075065698446565,60.37846980573214,-5.476224899291992,0,0,2.5715383122032494],[55.075065698446565,60.37846980573214,-5.476224899291992,0,0,2.8333377000023985],[50.31074339305573,61.89545133836705,-5.476224899291992,0,0,2.8333377000023985],[50.31074339305573,61.89545133836705,-5.476224899291992,0,0,3.095137087801548],[45.316137721798924,62.1276456291008,-5.476224899291992,0,0,3.095137087801548],[40.32153205054212,62.35983991983454,-5.476224899291992,0,0,3.095137087801548],[35.32692637928531,62.592034210568286,-5.476224899291992,0,0,3.095137087801548]]},{"id":4,"instruction":"just past the mural of the dog on the right turn 90 degrees right and head across the water.","completed_instruction":"Turn left to directly face the river, fly across it to the road, turn left to face the road, fly forward along the road until you can\u0027t see any building, and land.","start_frame":90,"end_frame":135,"start_position":[35.32692637928531,62.592034210568286,-5.476224899291992],"start_rotation":[0.023225694269910523,0,0,0.99973024717954828],"end_position":[99.21628723696897,99.6891481842345,-5.476224899291992],"end_rotation":[0.99420897776085093,0,0,0.10746398717581554],"actions":[1,1,3,1,1,2,2,2,2,2,2,1,1,1,5,1,1,1,2,2,2,2,2,2,1,1,1,1,1,1,1,6,1,1,1,1,1,1,6,1,1,1,1,1,4,0],"reference_path":[[35.32692637928531,62.592034210568286,-5.476224899291992,0,0,3.095137087801548],[30.332320708028504,62.82422850130203,-5.476224899291992,0,0,3.095137087801548],[25.337715036771698,63.056422792035775,-5.476224899291992,0,0,3.095137087801548],[25.337715036771698,63.056422792035775,-5.476224899291992,0,0,-2.9262488315788886],[20.453200122168937,61.988006183674045,-5.476224899291992,0,0,-2.9262488315788886],[15.568685207566176,60.919589575312315,-5.476224899291992,0,0,-2.9262488315788886],[15.568685207566176,60.919589575312315,-5.476224899291992,0,0,3.095137087801548],[15.568685207566176,60.919589575312315,-5.476224899291992,0,0,2.833337700002399],[15.568685207566176,60.919589575312315,-5.476224899291992,0,0,2.57153831220325],[15.568685207566176,60.919589575312315,-5.476224899291992,0,0,2.3097389244041002],[15.568685207566176,60.919589575312315,-5.476224899291992,0,0,2.0479395366049506],[15.568685207566176,60.919589575312315,-5.476224899291992,0,0,1.7861401488058013],[14.500268599204448,65.80410448991508,-5.476224899291992,0,0,1.7861401488058013],[13.43185199084272,70.68861940451784,-5.476224899291992,0,0,1.7861401488058013],[12.363435382480992,75.5731343191206,-5.476224899291992,0,0,1.7861401488058013],[12.363435382480992,75.5731343191206,-3.476224899291992,0,0,1.7861401488058013],[11.295018774119264,80.45764923372336,-3.476224899291992,0,0,1.7861401488058013],[10.226602165757535,85.34216414832612,-3.476224899291992,0,0,1.7861401488058013],[9.158185557395807,90.22667906292888,-3.476224899291992,0,0,1.7861401488058013],[9.158185557395807,90.22667906292888,-3.476224899291992,0,0,1.5243407610066517],[9.158185557395807,90.22667906292888,-3.476224899291992,0,0,1.2625413732075021],[9.158185557395807,90.22667906292888,-3.476224899291992,0,0,1.0007419854083528],[9.158185557395807,90.22667906292888,-3.476224899291992,0,0,0.7389425976092032],[9.158185557395807,90.22667906292888,-3.476224899291992,0,0,0.4771432098100538],[9.158185557395807,90.22667906292888,-3.476224899291992,0,0,0.2153438220109044],[14.042700471998568,91.29509567129061,-3.476224899291992,0,0,0.2153438220109044],[18.92721538660133,92.36351227965234,-3.476224899291992,0,0,0.2153438220109044],[23.81173030120409,93.43192888801407,-3.476224899291992,0,0,0.2153438220109044],[28.69624521580685,94.5003454963758,-3.476224899291992,0,0,0.2153438220109044],[33.580760130409615,95.56876210473753,-3.476224899291992,0,0,0.2153438220109044],[38.465275045012376,96.63717871309926,-3.476224899291992,0,0,0.2153438220109044],[43.34978995961514,97.70559532146099,-3.476224899291992,0,0,0.2153438220109044],[44.41820656797687,92.82108040685823,-3.476224899291992,0,0,0.2153438220109044],[49.30272148257963,93.88949701521996,-3.476224899291992,0,0,0.2153438220109044],[54.18723639718239,94.95791362358169,-3.476224899291992,0,0,0.2153438220109044],[59.07175131178515,96.02633023194342,-3.476224899291992,0,0,0.2153438220109044],[63.95626622638791,97.09474684030515,-3.476224899291992,0,0,0.2153438220109044],[68.84078114099067,98.16316344866688,-3.476224899291992,0,0,0.2153438220109044],[73.72529605559343,99.23158005702861,-3.476224899291992,0,0,0.2153438220109044],[74.79371266395516,94.34706514242585,-3.476224899291992,0,0,0.2153438220109044],[79.67822757855792,95.41548175078758,-3.476224899291992,0,0,0.2153438220109044],[84.56274249316068,96.48389835914931,-3.476224899291992,0,0,0.2153438220109044],[89.44725740776344,97.55231496751104,-3.476224899291992,0,0,0.2153438220109044],[94.3317723223662,98.62073157587277,-3.476224899291992,0,0,0.2153438220109044],[99.21628723696897,99.6891481842345,-3.476224899291992,0,0,0.2153438220109044],[99.21628723696897,99.6891481842345,-5.476224899291992,0,0,0.2153438220109044]]}],"statistics":{"complete_actions":140,"sentence_actions":[32,31,18,13,46],"sentence_actions_average":28.0}}
diff --git a/scene_10/3FE2ERCCZ668PZFNWI1Y0ULCSBHOP3.json b/scene_10/3FE2ERCCZ668PZFNWI1Y0ULCSBHOP3.json
new file mode 100644
index 0000000000000000000000000000000000000000..8c8f8065be83f9997fb8152a778d37aab6483efb
--- /dev/null
+++ b/scene_10/3FE2ERCCZ668PZFNWI1Y0ULCSBHOP3.json
@@ -0,0 +1 @@
+{"episode_id":"3FE2ERCCZ668PZFNWI1Y0ULCSBHOP3","trajectory_id":"3IKDQS3DRMYCD4YN3FXL7EVVUSTCIO","scene_id":10,"instruction":"lower yourself to street level turn right until facing the road then head straight. at the next corner turn 180 degrees and head straight on the road. at the second intersection turn right onto the bridge and head straight. at the end of the road turn right. at the next intersection turn right. at the mural of the dog on the right turn left 90 degrees and head straight across the water. once on the road again turn right and stop at the first red building on the left.","sentence_instructions":[{"id":0,"instruction":"lower yourself to street level turn right until facing the road then head straight.","completed_instruction":"Fly down to the height of street lights, then turn right to face the street, and fly forward along the road until the road turns.","start_frame":1,"end_frame":37,"start_position":[-54.55794143676758,-5.832708835601807,-22.575557708740234],"start_rotation":[0.9996602112038262,0,0,-0.026066494507731644],"end_position":[-37.574816873713345,78.05546690168482,-4.575557708740234],"end_rotation":[0.72529830925278072,0,0,0.68843471919642285],"actions":[1,1,5,5,5,5,5,5,5,5,3,3,3,3,3,1,5,1,3,1,1,1,1,1,1,5,1,1,1,1,1,1,4,1,1,1,1],"reference_path":[[-54.55794143676758,-5.832708835601807,-22.575557708740234,0,0,-0.05213889455331815],[-49.5647360581268,-6.09328520965123,-22.575557708740234,0,0,-0.05213889455331815],[-44.57153067948602,-6.353861583700654,-22.575557708740234,0,0,-0.05213889455331815],[-44.57153067948602,-6.353861583700654,-20.575557708740234,0,0,-0.05213889455331815],[-44.57153067948602,-6.353861583700654,-18.575557708740234,0,0,-0.05213889455331815],[-44.57153067948602,-6.353861583700654,-16.575557708740234,0,0,-0.05213889455331815],[-44.57153067948602,-6.353861583700654,-14.575557708740234,0,0,-0.05213889455331815],[-44.57153067948602,-6.353861583700654,-12.575557708740234,0,0,-0.05213889455331815],[-44.57153067948602,-6.353861583700654,-10.575557708740234,0,0,-0.05213889455331815],[-44.57153067948602,-6.353861583700654,-8.575557708740234,0,0,-0.05213889455331815],[-44.57153067948602,-6.353861583700654,-6.575557708740234,0,0,-0.05213889455331815],[-44.57153067948602,-6.353861583700654,-6.575557708740234,0,0,0.20966049324583128],[-44.57153067948602,-6.353861583700654,-6.575557708740234,0,0,0.47145988104498077],[-44.57153067948602,-6.353861583700654,-6.575557708740234,0,0,0.7332592688441302],[-44.57153067948602,-6.353861583700654,-6.575557708740234,0,0,0.9950586566432796],[-44.57153067948602,-6.353861583700654,-6.575557708740234,0,0,1.256858044442429],[-43.02749658197034,-1.5982376808137841,-6.575557708740234,0,0,1.256858044442429],[-43.02749658197034,-1.5982376808137841,-4.575557708740234,0,0,1.256858044442429],[-41.48346248445466,3.157386222073086,-4.575557708740234,0,0,1.256858044442429],[-41.48346248445466,3.157386222073086,-4.575557708740234,0,0,1.5186574322415785],[-41.22288611040524,8.15059160071387,-4.575557708740234,0,0,1.5186574322415785],[-40.96230973635582,13.143796979354654,-4.575557708740234,0,0,1.5186574322415785],[-40.7017333623064,18.13700235799544,-4.575557708740234,0,0,1.5186574322415785],[-40.44115698825698,23.130207736636223,-4.575557708740234,0,0,1.5186574322415785],[-40.18058061420756,28.123413115277007,-4.575557708740234,0,0,1.5186574322415785],[-39.920004240158136,33.11661849391779,-4.575557708740234,0,0,1.5186574322415785],[-39.920004240158136,33.11661849391779,-2.5755577087402344,0,0,1.5186574322415785],[-39.659427866108715,38.10982387255858,-2.5755577087402344,0,0,1.5186574322415785],[-39.39885149205929,43.10302925119936,-2.5755577087402344,0,0,1.5186574322415785],[-39.13827511800987,48.09623462984014,-2.5755577087402344,0,0,1.5186574322415785],[-38.87769874396045,53.08944000848092,-2.5755577087402344,0,0,1.5186574322415785],[-38.61712236991103,58.0826453871217,-2.5755577087402344,0,0,1.5186574322415785],[-38.35654599586161,63.07585076576248,-2.5755577087402344,0,0,1.5186574322415785],[-38.35654599586161,63.07585076576248,-4.575557708740234,0,0,1.5186574322415785],[-38.09596962181219,68.06905614440326,-4.575557708740234,0,0,1.5186574322415785],[-37.83539324776277,73.06226152304404,-4.575557708740234,0,0,1.5186574322415785],[-37.574816873713345,78.05546690168482,-4.575557708740234,0,0,1.5186574322415785]]},{"id":1,"instruction":"at the next corner turn 180 degrees and head straight on the road.","completed_instruction":"Turn back to face the road where you came from, then fly straight forward to the intersection beside the bridge.","start_frame":37,"end_frame":70,"start_position":[-37.574816873713345,78.05546690168482,-4.575557708740234],"start_rotation":[0.72529830925278072,0,0,0.68843471919642285],"end_position":[-42.5063438338715,8.38817307646779,-2.5755577087402344],"end_rotation":[0.68843471919642307,0,0,-0.7252983092527806],"actions":[1,1,1,3,3,3,3,3,3,3,3,3,3,3,1,3,1,1,1,1,1,5,1,1,1,1,1,1,1,1,1,1,1,3],"reference_path":[[-37.574816873713345,78.05546690168482,-4.575557708740234,0,0,1.5186574322415785],[-37.314240499663924,83.0486722803256,-4.575557708740234,0,0,1.5186574322415785],[-37.0536641256145,88.04187765896638,-4.575557708740234,0,0,1.5186574322415785],[-36.79308775156508,93.03508303760717,-4.575557708740234,0,0,1.5186574322415785],[-36.79308775156508,93.03508303760717,-4.575557708740234,0,0,1.7804568200407278],[-36.79308775156508,93.03508303760717,-4.575557708740234,0,0,2.0422562078398774],[-36.79308775156508,93.03508303760717,-4.575557708740234,0,0,2.304055595639027],[-36.79308775156508,93.03508303760717,-4.575557708740234,0,0,2.565854983438176],[-36.79308775156508,93.03508303760717,-4.575557708740234,0,0,2.8276543712373257],[-36.79308775156508,93.03508303760717,-4.575557708740234,0,0,3.0894537590364752],[-36.79308775156508,93.03508303760717,-4.575557708740234,0,0,-2.9319321603439614],[-36.79308775156508,93.03508303760717,-4.575557708740234,0,0,-2.670132772544812],[-36.79308775156508,93.03508303760717,-4.575557708740234,0,0,-2.4083333847456627],[-36.79308775156508,93.03508303760717,-4.575557708740234,0,0,-2.146533996946513],[-36.79308775156508,93.03508303760717,-4.575557708740234,0,0,-1.8847346091473636],[-38.33712184908076,88.2794591347203,-4.575557708740234,0,0,-1.8847346091473636],[-38.33712184908076,88.2794591347203,-4.575557708740234,0,0,-1.6229352213482142],[-38.59769822313018,83.28625375607952,-4.575557708740234,0,0,-1.6229352213482142],[-38.8582745971796,78.29304837743874,-4.575557708740234,0,0,-1.6229352213482142],[-39.11885097122902,73.29984299879796,-4.575557708740234,0,0,-1.6229352213482142],[-39.379427345278444,68.30663762015718,-4.575557708740234,0,0,-1.6229352213482142],[-39.640003719327865,63.313432241516395,-4.575557708740234,0,0,-1.6229352213482142],[-39.640003719327865,63.313432241516395,-2.5755577087402344,0,0,-1.6229352213482142],[-39.900580093377286,58.320226862875614,-2.5755577087402344,0,0,-1.6229352213482142],[-40.16115646742671,53.327021484234834,-2.5755577087402344,0,0,-1.6229352213482142],[-40.42173284147613,48.33381610559405,-2.5755577087402344,0,0,-1.6229352213482142],[-40.68230921552555,43.34061072695327,-2.5755577087402344,0,0,-1.6229352213482142],[-40.94288558957497,38.34740534831249,-2.5755577087402344,0,0,-1.6229352213482142],[-41.20346196362439,33.35419996967171,-2.5755577087402344,0,0,-1.6229352213482142],[-41.46403833767381,28.360994591030927,-2.5755577087402344,0,0,-1.6229352213482142],[-41.724614711723234,23.367789212390143,-2.5755577087402344,0,0,-1.6229352213482142],[-41.985191085772655,18.37458383374936,-2.5755577087402344,0,0,-1.6229352213482142],[-42.245767459822076,13.381378455108575,-2.5755577087402344,0,0,-1.6229352213482142],[-42.5063438338715,8.38817307646779,-2.5755577087402344,0,0,-1.6229352213482142]]},{"id":2,"instruction":"at the second intersection turn right onto the bridge and head straight.","completed_instruction":"Turn right to face the bridge, and fly straight across it, then fly straight to the T-junction at the end of the 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the end of the road turn right.","completed_instruction":"Turn right to face the road, then fly forward to the T-junction near the water.","start_frame":95,"end_frame":112,"start_position":[44.64908453278939,-0.49615617361310904,-4.575557708740234],"start_rotation":[0.9996602112038262,0,0,-0.026066494507731443],"end_position":[59.44490088430984,44.74759210728217,-4.575557708740234],"end_rotation":[0.7252983092527806,0,0,0.68843471919642307],"actions":[1,3,1,3,3,3,3,1,1,3,1,1,1,1,1,1,1,1],"reference_path":[[44.64908453278939,-0.49615617361310904,-4.575557708740234,0,0,-0.05213889455331775],[49.64228991143017,-0.756732547662531,-4.575557708740234,0,0,-0.05213889455331775],[49.64228991143017,-0.756732547662531,-4.575557708740234,0,0,0.2096604932458317],[54.532798070932536,0.2839066510229503,-4.575557708740234,0,0,0.2096604932458317],[54.532798070932536,0.2839066510229503,-4.575557708740234,0,0,0.4714598810449811],[54.532798070932536,0.2839066510229503,-4.575557708740234,0,0,0.7332592688441305],[54.532798070932536,0.2839066510229503,-4.575557708740234,0,0,0.9950586566432799],[54.532798070932536,0.2839066510229503,-4.575557708740234,0,0,1.2568580444424293],[56.07683216844821,5.039530553909821,-4.575557708740234,0,0,1.2568580444424293],[57.62086626596389,9.795154456796691,-4.575557708740234,0,0,1.2568580444424293],[57.62086626596389,9.795154456796691,-4.575557708740234,0,0,1.5186574322415787],[57.88144264001331,14.788359835437475,-4.575557708740234,0,0,1.5186574322415787],[58.14201901406273,19.78156521407826,-4.575557708740234,0,0,1.5186574322415787],[58.402595388112154,24.774770592719044,-4.575557708740234,0,0,1.5186574322415787],[58.663171762161575,29.767975971359828,-4.575557708740234,0,0,1.5186574322415787],[58.923748136210996,34.76118135000061,-4.575557708740234,0,0,1.5186574322415787],[59.18432451026042,39.75438672864139,-4.575557708740234,0,0,1.5186574322415787],[59.44490088430984,44.74759210728217,-4.575557708740234,0,0,1.5186574322415787]]},{"id":4,"instruction":"at the next intersection turn right.","completed_instruction":"Turn right to face the road, and fly forward along the sidewalk until passing a red crossroad sign and a street light.","start_frame":112,"end_frame":123,"start_position":[59.44490088430984,44.74759210728217,-4.575557708740234],"start_rotation":[0.7252983092527806,0,0,0.68843471919642307],"end_position":[44.98643749648633,55.515731986712,-4.575557708740234],"end_rotation":[0.026066494507731124,0,0,0.9996602112038262],"actions":[1,7,1,3,3,3,3,3,3,1,1,1],"reference_path":[[59.44490088430984,44.74759210728217,-4.575557708740234,0,0,1.5186574322415787],[59.70547725835926,49.740797485922954,-4.575557708740234,0,0,1.5186574322415787],[54.71227187971847,50.001373859972375,-4.575557708740234,0,0,1.5186574322415787],[54.97284825376789,54.994579238613156,-4.575557708740234,0,0,1.5186574322415787],[54.97284825376789,54.994579238613156,-4.575557708740234,0,0,1.7804568200407282],[54.97284825376789,54.994579238613156,-4.575557708740234,0,0,2.042256207839878],[54.97284825376789,54.994579238613156,-4.575557708740234,0,0,2.3040555956390274],[54.97284825376789,54.994579238613156,-4.575557708740234,0,0,2.565854983438177],[54.97284825376789,54.994579238613156,-4.575557708740234,0,0,2.8276543712373265],[54.97284825376789,54.994579238613156,-4.575557708740234,0,0,3.089453759036476],[49.97964287512711,55.25515561266258,-4.575557708740234,0,0,3.089453759036476],[44.98643749648633,55.515731986712,-4.575557708740234,0,0,3.089453759036476]]},{"id":5,"instruction":"at the mural of the dog on the right turn left 90 degrees and head straight across the water.","completed_instruction":"Turn left facing the river and fly across it to a road, turn right facing the road, fly forward pass a tree then land in front a red building on the left.","start_frame":119,"end_frame":176,"start_position":[54.97284825376789,54.994579238613156,-4.575557708740234],"start_rotation":[0.28390940153659833,0,0,0.95885111029769921],"end_position":[-1.1574183296520566,98.24316641467216,-2.5755577087402344],"end_rotation":[0.28390940153659766,0,0,0.95885111029769943],"actions":[3,3,1,1,1,1,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,1,3,1,2,2,2,2,2,2,1,1,1,1,1,1,3,3,3,3,3,1,1,1,1,1,2,5,1,0],"reference_path":[[54.97284825376789,54.994579238613156,-4.575557708740234,0,0,2.565854983438177],[54.97284825376789,54.994579238613156,-4.575557708740234,0,0,2.8276543712373265],[54.97284825376789,54.994579238613156,-4.575557708740234,0,0,3.089453759036476],[49.97964287512711,55.25515561266258,-4.575557708740234,0,0,3.089453759036476],[44.98643749648633,55.515731986712,-4.575557708740234,0,0,3.089453759036476],[39.99323211784555,55.77630836076142,-4.575557708740234,0,0,3.089453759036476],[35.00002673920477,56.03688473481084,-4.575557708740234,0,0,3.089453759036476],[35.00002673920477,56.03688473481084,-4.575557708740234,0,0,-2.931932160343961],[35.00002673920477,56.03688473481084,-4.575557708740234,0,0,-2.670132772544812],[35.00002673920477,56.03688473481084,-4.575557708740234,0,0,-2.4083333847456627],[35.00002673920477,56.03688473481084,-4.575557708740234,0,0,-2.146533996946513],[35.00002673920477,56.03688473481084,-4.575557708740234,0,0,-1.8847346091473636],[35.00002673920477,56.03688473481084,-4.575557708740234,0,0,-1.6229352213482142],[35.00002673920477,56.03688473481084,-4.575557708740234,0,0,-1.3611358335490649],[35.00002673920477,56.03688473481084,-4.575557708740234,0,0,-1.0993364457499153],[35.00002673920477,56.03688473481084,-4.575557708740234,0,0,-0.8375370579507659],[35.00002673920477,56.03688473481084,-4.575557708740234,0,0,-0.5757376701516166],[35.00002673920477,56.03688473481084,-4.575557708740234,0,0,-0.3139382823524672],[35.00002673920477,56.03688473481084,-4.575557708740234,0,0,-0.05213889455331775],[35.00002673920477,56.03688473481084,-4.575557708740234,0,0,0.2096604932458317],[35.00002673920477,56.03688473481084,-4.575557708740234,0,0,0.4714598810449811],[35.00002673920477,56.03688473481084,-4.575557708740234,0,0,0.7332592688441305],[35.00002673920477,56.03688473481084,-4.575557708740234,0,0,0.9950586566432799],[35.00002673920477,56.03688473481084,-4.575557708740234,0,0,1.2568580444424293],[35.00002673920477,56.03688473481084,-4.575557708740234,0,0,1.5186574322415787],[35.00002673920477,56.03688473481084,-4.575557708740234,0,0,1.7804568200407282],[35.00002673920477,56.03688473481084,-4.575557708740234,0,0,2.042256207839878],[35.00002673920477,56.03688473481084,-4.575557708740234,0,0,2.3040555956390274],[35.00002673920477,56.03688473481084,-4.575557708740234,0,0,2.565854983438177],[35.00002673920477,56.03688473481084,-4.575557708740234,0,0,2.8276543712373265],[30.2444028363179,57.58091883232651,-4.575557708740234,0,0,2.8276543712373265],[30.2444028363179,57.58091883232651,-4.575557708740234,0,0,3.089453759036476],[25.251197457677115,57.84149520637593,-4.575557708740234,0,0,3.089453759036476],[25.251197457677115,57.84149520637593,-4.575557708740234,0,0,2.8276543712373265],[25.251197457677115,57.84149520637593,-4.575557708740234,0,0,2.565854983438177],[25.251197457677115,57.84149520637593,-4.575557708740234,0,0,2.304055595639028],[25.251197457677115,57.84149520637593,-4.575557708740234,0,0,2.0422562078398783],[25.251197457677115,57.84149520637593,-4.575557708740234,0,0,1.780456820040729],[25.251197457677115,57.84149520637593,-4.575557708740234,0,0,1.5186574322415796],[25.511773831726533,62.83470058501672,-4.575557708740234,0,0,1.5186574322415796],[25.77235020577595,67.8279059636575,-4.575557708740234,0,0,1.5186574322415796],[26.032926579825368,72.82111134229828,-4.575557708740234,0,0,1.5186574322415796],[26.293502953874786,77.81431672093906,-4.575557708740234,0,0,1.5186574322415796],[26.554079327924203,82.80752209957984,-4.575557708740234,0,0,1.5186574322415796],[26.81465570197362,87.80072747822062,-4.575557708740234,0,0,1.5186574322415796],[26.81465570197362,87.80072747822062,-4.575557708740234,0,0,1.7804568200407291],[26.81465570197362,87.80072747822062,-4.575557708740234,0,0,2.0422562078398787],[26.81465570197362,87.80072747822062,-4.575557708740234,0,0,2.3040555956390283],[26.81465570197362,87.80072747822062,-4.575557708740234,0,0,2.565854983438178],[26.81465570197362,87.80072747822062,-4.575557708740234,0,0,2.8276543712373274],[22.059031799086746,89.34476157573629,-4.575557708740234,0,0,2.8276543712373274],[17.30340789619987,90.88879567325195,-4.575557708740234,0,0,2.8276543712373274],[12.547783993312999,92.43282977076761,-4.575557708740234,0,0,2.8276543712373274],[7.792160090426126,93.97686386828327,-4.575557708740234,0,0,2.8276543712373274],[3.0365361875392534,95.52089796579894,-4.575557708740234,0,0,2.8276543712373274],[3.0365361875392534,95.52089796579894,-4.575557708740234,0,0,2.5658549834381783],[3.0365361875392534,95.52089796579894,-2.575557708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diff --git a/scene_10/3NS0A6KXCD6EBQ0VV8MSMJEODX0ZGZ.json b/scene_10/3NS0A6KXCD6EBQ0VV8MSMJEODX0ZGZ.json
new file mode 100644
index 0000000000000000000000000000000000000000..2cba8cf13c0e85da969de00d1efcad5951b2db6a
--- /dev/null
+++ b/scene_10/3NS0A6KXCD6EBQ0VV8MSMJEODX0ZGZ.json
@@ -0,0 +1 @@
+{"episode_id":"3NS0A6KXCD6EBQ0VV8MSMJEODX0ZGZ","trajectory_id":"3N5YJ55YYO1GYQCGGHEM6R1OH2IAN9","scene_id":10,"instruction":"rise until the lightbulb of the lamps in front of you are at the bottom edge of your screen. move forward down the middle road until you hit the wall. turn right and go down the road until it splits. turn around and go back to where the road splits. turn around and go back again to where the road splits at the water. turn left and land in front of the tree at the end of the road.","sentence_instructions":[{"id":0,"instruction":"rise until the lightbulb of the lamps in front of you are at the bottom edge of your screen.","completed_instruction":"Take off to the height of street lamps, fly forward to the yellow neon light, then fly to the green neon light on the right.","start_frame":0,"end_frame":10,"start_position":[-23.985822677612305,2.37967586517334,-2.549964427947998],"start_rotation":[0.99996361723958516,0,0,0.0085301932641876545],"end_position":[-5.1459654953588085,1.3186393293869918,-6.549964427947998],"end_rotation":[0.9636829067659749,0,0,0.26704916252832794],"actions":[4,4,2,1,1,1,3,3,3,1,1],"reference_path":[[-23.985822677612305,2.37967586517334,-2.549964427947998,0,0,0.01706059343270496],[-23.985822677612305,2.37967586517334,-4.549964427947998,0,0,0.01706059343270496],[-23.985822677612305,2.37967586517334,-6.549964427947998,0,0,0.01706059343270496],[-23.985822677612305,2.37967586517334,-6.549964427947998,0,0,-0.24473879436644447],[-19.134819432837535,1.1681613092621628,-6.549964427947998,0,0,-0.24473879436644447],[-14.283816188062765,-0.0433532466490143,-6.549964427947998,0,0,-0.24473879436644447],[-9.432812943287995,-1.2548678025601914,-6.549964427947998,0,0,-0.24473879436644447],[-9.432812943287995,-1.2548678025601914,-6.549964427947998,0,0,0.017060593432704954],[-9.432812943287995,-1.2548678025601914,-6.549964427947998,0,0,0.2788599812318544],[-9.432812943287995,-1.2548678025601914,-6.549964427947998,0,0,0.5406593690310039],[-5.1459654953588085,1.3186393293869918,-6.549964427947998,0,0,0.5406593690310039]]},{"id":1,"instruction":"move forward down the middle road until you hit the wall.","completed_instruction":"Fly forward along the road to the T-junction.","start_frame":10,"end_frame":21,"start_position":[-5.1459654953588085,1.3186393293869918,-6.549964427947998],"start_rotation":[0.9636829067659749,0,0,0.26704916252832794],"end_position":[38.942637780542945,5.86553750510255,-6.549964427947998],"end_rotation":[0.99996361723958516,0,0,0.0085301932641876823],"actions":[1,2,1,2,1,1,1,1,1,1,1,1],"reference_path":[[-5.1459654953588085,1.3186393293869918,-6.549964427947998,0,0,0.5406593690310039],[-0.8591180474296216,3.8921464613341747,-6.549964427947998,0,0,0.5406593690310039],[-0.8591180474296216,3.8921464613341747,-6.549964427947998,0,0,0.27885998123185446],[3.947731274341659,5.268445701247858,-6.549964427947998,0,0,0.27885998123185446],[3.947731274341659,5.268445701247858,-6.549964427947998,0,0,0.017060593432705017],[8.947003632370414,5.353744530369957,-6.549964427947998,0,0,0.017060593432705017],[13.94627599039917,5.4390433594920555,-6.549964427947998,0,0,0.017060593432705017],[18.945548348427927,5.524342188614154,-6.549964427947998,0,0,0.017060593432705017],[23.94482070645668,5.609641017736253,-6.549964427947998,0,0,0.017060593432705017],[28.944093064485436,5.694939846858352,-6.549964427947998,0,0,0.017060593432705017],[33.94336542251419,5.780238675980451,-6.549964427947998,0,0,0.017060593432705017],[38.942637780542945,5.86553750510255,-6.549964427947998,0,0,0.017060593432705017]]},{"id":2,"instruction":"turn right and go down the road until it splits.","completed_instruction":"Turn right to face the road, then fly forward to the T-junction.","start_frame":21,"end_frame":37,"start_position":[38.942637780542945,5.86553750510255,-6.549964427947998],"start_rotation":[0.99996361723958516,0,0,0.0085301932641876823],"end_position":[53.34336305077449,41.116340498670134,-6.549964427947998],"end_rotation":[0.70104929718800091,0,0,0.71311281219187894],"actions":[1,1,1,3,3,3,3,3,3,1,1,1,1,1,1,1,1],"reference_path":[[38.942637780542945,5.86553750510255,-6.549964427947998,0,0,0.017060593432705017],[43.9419101385717,5.950836334224649,-6.549964427947998,0,0,0.017060593432705017],[48.941182496600454,6.0361351633467475,-6.549964427947998,0,0,0.017060593432705017],[53.94045485462921,6.121433992468846,-6.549964427947998,0,0,0.017060593432705017],[53.94045485462921,6.121433992468846,-6.549964427947998,0,0,0.27885998123185446],[53.94045485462921,6.121433992468846,-6.549964427947998,0,0,0.5406593690310039],[53.94045485462921,6.121433992468846,-6.549964427947998,0,0,0.8024587568301533],[53.94045485462921,6.121433992468846,-6.549964427947998,0,0,1.0642581446293027],[53.94045485462921,6.121433992468846,-6.549964427947998,0,0,1.3260575324284523],[53.94045485462921,6.121433992468846,-6.549964427947998,0,0,1.5878569202276018],[53.85515602550711,11.120706350497603,-6.549964427947998,0,0,1.5878569202276018],[53.769857196385004,16.11997870852636,-6.549964427947998,0,0,1.5878569202276018],[53.6845583672629,21.119251066555115,-6.549964427947998,0,0,1.5878569202276018],[53.5992595381408,26.11852342458387,-6.549964427947998,0,0,1.5878569202276018],[53.5139607090187,31.117795782612625,-6.549964427947998,0,0,1.5878569202276018],[53.428661879896595,36.11706814064138,-6.549964427947998,0,0,1.5878569202276018],[53.34336305077449,41.116340498670134,-6.549964427947998,0,0,1.5878569202276018]]},{"id":3,"instruction":"turn around and go back to where the road splits.","completed_instruction":"Turn back to face the road where you came, fly forward to an T-junction.","start_frame":37,"end_frame":61,"start_position":[53.34336305077449,41.116340498670134,-6.549964427947998],"start_rotation":[0.70104929718800091,0,0,0.71311281219187894],"end_position":[55.44531997933601,29.261387709231073,-6.549964427947998],"end_rotation":[0.79851732854795865,0,0,-0.601971823268026],"actions":[1,1,1,3,3,3,3,6,3,3,3,3,3,1,1,3,3,3,3,1,1,1,1,1,1],"reference_path":[[53.34336305077449,41.116340498670134,-6.549964427947998,0,0,1.5878569202276018],[53.25806422165239,46.11561285669889,-6.549964427947998,0,0,1.5878569202276018],[53.17276539253029,51.11488521472764,-6.549964427947998,0,0,1.5878569202276018],[53.087466563408185,56.1141575727564,-6.549964427947998,0,0,1.5878569202276018],[53.087466563408185,56.1141575727564,-6.549964427947998,0,0,1.8496563080267516],[53.087466563408185,56.1141575727564,-6.549964427947998,0,0,2.111455695825901],[53.087466563408185,56.1141575727564,-6.549964427947998,0,0,2.3732550836250508],[53.087466563408185,56.1141575727564,-6.549964427947998,0,0,2.6350544714242004],[55.51323178948975,60.48630384980768,-6.549964427947998,0,0,2.6350544714242004],[55.51323178948975,60.48630384980768,-6.549964427947998,0,0,2.89685385922335],[55.51323178948975,60.48630384980768,-6.549964427947998,0,0,-3.124532060157087],[55.51323178948975,60.48630384980768,-6.549964427947998,0,0,-2.8627326723579376],[55.51323178948975,60.48630384980768,-6.549964427947998,0,0,-2.6009332845587885],[55.51323178948975,60.48630384980768,-6.549964427947998,0,0,-2.3391338967596393],[52.03852778462867,56.89096908394758,-6.549964427947998,0,0,-2.3391338967596393],[48.56382377976759,53.29563431808748,-6.549964427947998,0,0,-2.3391338967596393],[48.56382377976759,53.29563431808748,-6.549964427947998,0,0,-2.0773345089604898],[48.56382377976759,53.29563431808748,-6.549964427947998,0,0,-1.8155351211613404],[48.56382377976759,53.29563431808748,-6.549964427947998,0,0,-1.553735733362191],[48.56382377976759,53.29563431808748,-6.549964427947998,0,0,-1.2919363455630417],[49.94012301968127,48.4887849963162,-6.549964427947998,0,0,-1.2919363455630417],[51.31642225959496,43.68193567454492,-6.549964427947998,0,0,-1.2919363455630417],[52.69272149950864,38.875086352773636,-6.549964427947998,0,0,-1.2919363455630417],[54.06902073942233,34.068237031002354,-6.549964427947998,0,0,-1.2919363455630417],[55.44531997933601,29.261387709231073,-6.549964427947998,0,0,-1.2919363455630417]]},{"id":4,"instruction":"turn around and go back again to where the road splits at the water.","completed_instruction":"Turn back to face the road where you came, and fly forward to the T-junction near water.","start_frame":61,"end_frame":87,"start_position":[55.44531997933601,29.261387709231073,-6.549964427947998],"start_rotation":[0.79851732854795865,0,0,-0.601971823268026],"end_position":[56.55985435877676,50.13529349351137,-6.549964427947998],"end_rotation":[0.70104929718800091,0,0,0.71311281219187894],"actions":[1,1,1,1,1,3,3,3,3,3,3,3,3,3,3,3,1,1,1,1,1,1,1,1,7,1,1],"reference_path":[[55.44531997933601,29.261387709231073,-6.549964427947998,0,0,-1.2919363455630417],[56.8216192192497,24.45453838745979,-6.549964427947998,0,0,-1.2919363455630417],[58.19791845916338,19.64768906568851,-6.549964427947998,0,0,-1.2919363455630417],[59.57421769907707,14.84083974391723,-6.549964427947998,0,0,-1.2919363455630417],[60.95051693899075,10.033990422145951,-6.549964427947998,0,0,-1.2919363455630417],[62.32681617890444,5.227141100374672,-6.549964427947998,0,0,-1.2919363455630417],[62.32681617890444,5.227141100374672,-6.549964427947998,0,0,-1.0301369577638924],[62.32681617890444,5.227141100374672,-6.549964427947998,0,0,-0.768337569964743],[62.32681617890444,5.227141100374672,-6.549964427947998,0,0,-0.5065381821655934],[62.32681617890444,5.227141100374672,-6.549964427947998,0,0,-0.24473879436644405],[62.32681617890444,5.227141100374672,-6.549964427947998,0,0,0.017060593432705388],[62.32681617890444,5.227141100374672,-6.549964427947998,0,0,0.2788599812318548],[62.32681617890444,5.227141100374672,-6.549964427947998,0,0,0.5406593690310042],[62.32681617890444,5.227141100374672,-6.549964427947998,0,0,0.8024587568301536],[62.32681617890444,5.227141100374672,-6.549964427947998,0,0,1.064258144629303],[62.32681617890444,5.227141100374672,-6.549964427947998,0,0,1.3260575324284525],[62.32681617890444,5.227141100374672,-6.549964427947998,0,0,1.5878569202276018],[62.241517349782335,10.226413458403428,-6.549964427947998,0,0,1.5878569202276018],[62.15621852066023,15.225685816432184,-6.549964427947998,0,0,1.5878569202276018],[62.07091969153813,20.22495817446094,-6.549964427947998,0,0,1.5878569202276018],[61.98562086241603,25.2242305324897,-6.549964427947998,0,0,1.5878569202276018],[61.900322033293925,30.223502890518454,-6.549964427947998,0,0,1.5878569202276018],[61.81502320417182,35.22277524854721,-6.549964427947998,0,0,1.5878569202276018],[61.72972437504972,40.22204760657596,-6.549964427947998,0,0,1.5878569202276018],[61.64442554592762,45.22131996460472,-6.549964427947998,0,0,1.5878569202276018],[56.64515318789886,45.136021135482615,-6.549964427947998,0,0,1.5878569202276018],[56.55985435877676,50.13529349351137,-6.549964427947998,0,0,1.5878569202276018]]},{"id":5,"instruction":"turn left and land in front of the tree at the end of the road.","completed_instruction":"Turn left to face the road, fly forward to the end of the road, then land there.","start_frame":87,"end_frame":108,"start_position":[56.55985435877676,50.13529349351137,-6.549964427947998],"start_rotation":[0.70104929718800091,0,0,0.71311281219187894],"end_position":[111.38125263884892,61.072125329912005,-2.549964427947998],"end_rotation":[0.99996361723958516,0,0,0.00853019326418796],"actions":[1,1,2,2,2,2,2,2,1,1,1,1,1,1,1,1,1,1,1,5,5,0],"reference_path":[[56.55985435877676,50.13529349351137,-6.549964427947998,0,0,1.5878569202276018],[56.47455552965466,55.134565851540124,-6.549964427947998,0,0,1.5878569202276018],[56.389256700532556,60.13383820956888,-6.549964427947998,0,0,1.5878569202276018],[56.389256700532556,60.13383820956888,-6.549964427947998,0,0,1.3260575324284527],[56.389256700532556,60.13383820956888,-6.549964427947998,0,0,1.0642581446293033],[56.389256700532556,60.13383820956888,-6.549964427947998,0,0,0.8024587568301539],[56.389256700532556,60.13383820956888,-6.549964427947998,0,0,0.5406593690310044],[56.389256700532556,60.13383820956888,-6.549964427947998,0,0,0.278859981231855],[56.389256700532556,60.13383820956888,-6.549964427947998,0,0,0.01706059343270557],[61.38852905856131,60.21913703869098,-6.549964427947998,0,0,0.01706059343270557],[66.38780141659007,60.30443586781308,-6.549964427947998,0,0,0.01706059343270557],[71.38707377461883,60.389734696935186,-6.549964427947998,0,0,0.01706059343270557],[76.38634613264759,60.47503352605729,-6.549964427947998,0,0,0.01706059343270557],[81.38561849067635,60.56033235517939,-6.549964427947998,0,0,0.01706059343270557],[86.38489084870511,60.64563118430149,-6.549964427947998,0,0,0.01706059343270557],[91.38416320673387,60.730930013423595,-6.549964427947998,0,0,0.01706059343270557],[96.38343556476264,60.8162288425457,-6.549964427947998,0,0,0.01706059343270557],[101.3827079227914,60.9015276716678,-6.549964427947998,0,0,0.01706059343270557],[106.38198028082016,60.9868265007899,-6.549964427947998,0,0,0.01706059343270557],[111.38125263884892,61.072125329912005,-6.549964427947998,0,0,0.01706059343270557],[111.38125263884892,61.072125329912005,-4.549964427947998,0,0,0.01706059343270557],[111.38125263884892,61.072125329912005,-2.549964427947998,0,0,0.01706059343270557]]}],"statistics":{"complete_actions":114,"sentence_actions":[11,12,17,25,27,22],"sentence_actions_average":19.0}}
diff --git a/scene_10/3OWEPKL08IA118BBZH74LJUM4SMN74.json b/scene_10/3OWEPKL08IA118BBZH74LJUM4SMN74.json
new file mode 100644
index 0000000000000000000000000000000000000000..54fcb55682f1f8b01d0efcb2d720960c7c1ad829
--- /dev/null
+++ b/scene_10/3OWEPKL08IA118BBZH74LJUM4SMN74.json
@@ -0,0 +1 @@
+{"episode_id":"3OWEPKL08IA118BBZH74LJUM4SMN74","trajectory_id":"3MYASTQBHF9ZZUSKGJX50M4Z7G2DQ1","scene_id":10,"instruction":"lift off and head straight towards the neon lights. at the end of the road turn right. at the next intersection go straight across the canal and land in front of the white building.","sentence_instructions":[{"id":0,"instruction":"lift off and head straight towards the neon lights.","completed_instruction":"Take off to the height of street lights then fly straight along the road, passing an intersection, to reach the white building at the end of the road.","start_frame":1,"end_frame":16,"start_position":[-23.985822677612305,2.37967586517334,-2.549964427947998],"start_rotation":[0.9998945198061312,0,0,-0.014524092455855753],"end_position":[40.986753918371086,0.4917430064435331,-6.549964427947998],"end_rotation":[0.9998945198061312,0,0,-0.014524092455855753],"actions":[4,4,1,1,1,1,1,1,1,1,1,1,1,1,1,1],"reference_path":[[-23.985822677612305,2.37967586517334,-2.549964427947998,0,0,-0.02904920629086442],[-23.985822677612305,2.37967586517334,-4.549964427947998,0,0,-0.02904920629086442],[-23.985822677612305,2.37967586517334,-6.549964427947998,0,0,-0.02904920629086442],[-18.987932170228966,2.234450260655662,-6.549964427947998,0,0,-0.02904920629086442],[-13.990041662845629,2.0892246561379846,-6.549964427947998,0,0,-0.02904920629086442],[-8.992151155462292,1.9439990516203072,-6.549964427947998,0,0,-0.02904920629086442],[-3.9942606480789546,1.7987734471026298,-6.549964427947998,0,0,-0.02904920629086442],[1.0036298593043824,1.6535478425849524,-6.549964427947998,0,0,-0.02904920629086442],[6.0015203666877195,1.508322238067275,-6.549964427947998,0,0,-0.02904920629086442],[10.999410874071057,1.3630966335495975,-6.549964427947998,0,0,-0.02904920629086442],[15.997301381454394,1.2178710290319201,-6.549964427947998,0,0,-0.02904920629086442],[20.99519188883773,1.0726454245142427,-6.549964427947998,0,0,-0.02904920629086442],[25.99308239622107,0.9274198199965653,-6.549964427947998,0,0,-0.02904920629086442],[30.99097290360441,0.7821942154788879,-6.549964427947998,0,0,-0.02904920629086442],[35.98886341098775,0.6369686109612105,-6.549964427947998,0,0,-0.02904920629086442],[40.986753918371086,0.4917430064435331,-6.549964427947998,0,0,-0.02904920629086442]]},{"id":1,"instruction":"at the end of the road turn right.","completed_instruction":"Turn right to face the road, fly forward to the T-junction.","start_frame":16,"end_frame":36,"start_position":[40.986753918371086,0.4917430064435331,-6.549964427947998],"start_rotation":[0.9998945198061312,0,0,-0.014524092455855753],"end_position":[58.57605668735249,44.829194617718045,-2.549964427947998],"end_rotation":[0.71730227969229787,0,0,0.69676211116006614],"actions":[1,1,1,3,3,3,3,3,1,3,1,1,5,1,1,5,1,1,1,1,1],"reference_path":[[40.986753918371086,0.4917430064435331,-6.549964427947998,0,0,-0.02904920629086442],[45.984644425754425,0.3465174019258557,-6.549964427947998,0,0,-0.02904920629086442],[50.982534933137764,0.20129179740817826,-6.549964427947998,0,0,-0.02904920629086442],[55.9804254405211,0.056066192890500854,-6.549964427947998,0,0,-0.02904920629086442],[55.9804254405211,0.056066192890500854,-6.549964427947998,0,0,0.23275018150828503],[55.9804254405211,0.056066192890500854,-6.549964427947998,0,0,0.49454956930743454],[55.9804254405211,0.056066192890500854,-6.549964427947998,0,0,0.756348957106584],[55.9804254405211,0.056066192890500854,-6.549964427947998,0,0,1.0181483449057334],[55.9804254405211,0.056066192890500854,-6.549964427947998,0,0,1.279947732704883],[57.41425185121108,4.846070558651341,-6.549964427947998,0,0,1.279947732704883],[57.41425185121108,4.846070558651341,-6.549964427947998,0,0,1.5417471205040323],[57.559477455728754,9.843961066034678,-6.549964427947998,0,0,1.5417471205040323],[57.70470306024643,14.841851573418015,-6.549964427947998,0,0,1.5417471205040323],[57.70470306024643,14.841851573418015,-4.549964427947998,0,0,1.5417471205040323],[57.84992866476411,19.83974208080135,-4.549964427947998,0,0,1.5417471205040323],[57.995154269281784,24.83763258818469,-4.549964427947998,0,0,1.5417471205040323],[57.995154269281784,24.83763258818469,-2.549964427947998,0,0,1.5417471205040323],[58.14037987379946,29.83552309556803,-2.549964427947998,0,0,1.5417471205040323],[58.28560547831714,34.83341360295137,-2.549964427947998,0,0,1.5417471205040323],[58.430831082834814,39.831304110334706,-2.549964427947998,0,0,1.5417471205040323],[58.57605668735249,44.829194617718045,-2.549964427947998,0,0,1.5417471205040323]]},{"id":2,"instruction":"at the next intersection go straight across the canal and land in front of the white building.","completed_instruction":"Turn right to face the nearest white building across the river, then fly forward across the river and land in front of that white building.","start_frame":36,"end_frame":54,"start_position":[58.57605668735249,44.829194617718045,-2.549964427947998],"start_rotation":[0.71730227969229787,0,0,0.69676211116006614],"end_position":[42.466132182297386,95.95870116244801,-6.549964427947998],"end_rotation":[0.62021995399972063,0,0,0.78442794994861342],"actions":[1,1,1,3,3,1,4,1,1,4,1,1,1,4,2,1,1,5,0],"reference_path":[[58.57605668735249,44.829194617718045,-2.549964427947998,0,0,1.5417471205040323],[58.72128229187017,49.827085125101384,-2.549964427947998,0,0,1.5417471205040323],[58.866507896387844,54.82497563248472,-2.549964427947998,0,0,1.5417471205040323],[59.01173350090552,59.82286613986806,-2.549964427947998,0,0,1.5417471205040323],[59.01173350090552,59.82286613986806,-2.549964427947998,0,0,1.8035465083031819],[59.01173350090552,59.82286613986806,-2.549964427947998,0,0,2.065345896102331],[56.638557310006114,64.22377908685397,-2.549964427947998,0,0,2.065345896102331],[56.638557310006114,64.22377908685397,-4.549964427947998,0,0,2.065345896102331],[54.265381119106706,68.62469203383988,-4.549964427947998,0,0,2.065345896102331],[51.8922049282073,73.02560498082579,-4.549964427947998,0,0,2.065345896102331],[51.8922049282073,73.02560498082579,-6.549964427947998,0,0,2.065345896102331],[49.51902873730789,77.4265179278117,-6.549964427947998,0,0,2.065345896102331],[47.145852546408484,81.82743087479761,-6.549964427947998,0,0,2.065345896102331],[44.77267635550908,86.22834382178353,-6.549964427947998,0,0,2.065345896102331],[44.77267635550908,86.22834382178353,-8.549964427947998,0,0,2.065345896102331],[44.77267635550908,86.22834382178353,-8.549964427947998,0,0,1.8035465083031819],[43.61940426890323,91.09352249211577,-8.549964427947998,0,0,1.8035465083031819],[42.466132182297386,95.95870116244801,-8.549964427947998,0,0,1.8035465083031819],[42.466132182297386,95.95870116244801,-6.549964427947998,0,0,1.8035465083031819]]}],"statistics":{"complete_actions":56,"sentence_actions":[16,21,19],"sentence_actions_average":18.67}}
diff --git a/scene_10/3TXMY6UCANMSGMJZ6Q7W5ZH58Z5CQI.json b/scene_10/3TXMY6UCANMSGMJZ6Q7W5ZH58Z5CQI.json
new file mode 100644
index 0000000000000000000000000000000000000000..cac2728bbab7a883b25353b560deb8b7a42e1440
--- /dev/null
+++ b/scene_10/3TXMY6UCANMSGMJZ6Q7W5ZH58Z5CQI.json
@@ -0,0 +1 @@
+{"episode_id":"3TXMY6UCANMSGMJZ6Q7W5ZH58Z5CQI","trajectory_id":"37VHPF5VZK1JOYMAUTLUUP1HRW9C81","scene_id":10,"instruction":"lift off and head straight across the canal. once on the road again turn left facing the intersection with the hotel and head straight. at the next intersection turn right towards the saloon. at the end of the road turn left. at the next corner turn left and head straight. just before the next bridge turn left. at the next intersection turn left towards the hotel. at the end of the road turn left. land at the light brown building on the right at the corner.","sentence_instructions":[{"id":0,"instruction":"lift off and head straight across the canal.","completed_instruction":"Take off to the height of street light, then fly forward across the river to the road.","start_frame":0,"end_frame":5,"start_position":[-42.73658752441406,29.77715492248535,-0.8412867784500122],"start_rotation":[0.99999659005138031,0,0,-0.0026114910705511665],"end_position":[-27.736792120982404,29.69881045752033,-4.841286778450012],"end_rotation":[0.99999659005138031,0,0,-0.0026114910705511665],"actions":[4,4,1,1,1,1],"reference_path":[[-42.73658752441406,29.77715492248535,-0.8412867784500122,0,0,-0.0052229880778106785],[-42.73658752441406,29.77715492248535,-2.841286778450012,0,0,-0.0052229880778106785],[-42.73658752441406,29.77715492248535,-4.841286778450012,0,0,-0.0052229880778106785],[-37.736655723270175,29.751040100830345,-4.841286778450012,0,0,-0.0052229880778106785],[-32.73672392212629,29.724925279175338,-4.841286778450012,0,0,-0.0052229880778106785],[-27.736792120982404,29.69881045752033,-4.841286778450012,0,0,-0.0052229880778106785]]},{"id":1,"instruction":"once on the road again turn left facing the intersection with the hotel and head straight.","completed_instruction":"Turn left to face the intersection beside the bridge and then fly forward to it.","start_frame":5,"end_frame":15,"start_position":[-27.736792120982404,29.69881045752033,-4.841286778450012],"start_rotation":[0.99999659005138031,0,0,-0.0026114910705511665],"end_position":[-10.19929153022219,19.947821453329972,-4.841286778450012],"end_rotation":[0.79176085996115531,0,0,-0.61083118832748862],"actions":[1,1,1,2,2,2,2,2,1,1,1],"reference_path":[[-27.736792120982404,29.69881045752033,-4.841286778450012,0,0,-0.0052229880778106785],[-22.73686031983852,29.672695635865324,-4.841286778450012,0,0,-0.0052229880778106785],[-17.736928518694636,29.646580814210317,-4.841286778450012,0,0,-0.0052229880778106785],[-12.736996717550753,29.62046599255531,-4.841286778450012,0,0,-0.0052229880778106785],[-12.736996717550753,29.62046599255531,-4.841286778450012,0,0,-0.26702237587696015],[-12.736996717550753,29.62046599255531,-4.841286778450012,0,0,-0.5288217636761097],[-12.736996717550753,29.62046599255531,-4.841286778450012,0,0,-0.7906211514752591],[-12.736996717550753,29.62046599255531,-4.841286778450012,0,0,-1.0524205392744086],[-12.736996717550753,29.62046599255531,-4.841286778450012,0,0,-1.314219927073558],[-11.468144123886471,24.78414372294264,-4.841286778450012,0,0,-1.314219927073558],[-10.19929153022219,19.947821453329972,-4.841286778450012,0,0,-1.314219927073558]]},{"id":2,"instruction":"at the next intersection turn right towards the saloon.","completed_instruction":"Turn right to face the road, then fly forward to the T-junction.","start_frame":15,"end_frame":35,"start_position":[-10.19929153022219,19.947821453329972,-4.841286778450012],"start_rotation":[0.79176085996115531,0,0,-0.61083118832748862],"end_position":[41.08400226266902,0.8606958817890942,-6.841286778450012],"end_rotation":[0.99999659005138031,0,0,-0.002611491070551252],"actions":[1,1,1,3,3,3,6,3,3,1,1,1,1,1,1,1,1,4,1,1,1],"reference_path":[[-10.19929153022219,19.947821453329972,-4.841286778450012,0,0,-1.314219927073558],[-8.930438936557909,15.111499183717303,-4.841286778450012,0,0,-1.314219927073558],[-7.661586342893628,10.275176914104634,-4.841286778450012,0,0,-1.314219927073558],[-6.392733749229347,5.438854644491966,-4.841286778450012,0,0,-1.314219927073558],[-6.392733749229347,5.438854644491966,-4.841286778450012,0,0,-1.0524205392744086],[-6.392733749229347,5.438854644491966,-4.841286778450012,0,0,-0.7906211514752591],[-6.392733749229347,5.438854644491966,-4.841286778450012,0,0,-0.5288217636761097],[-8.915315748769826,1.1218440983391824,-4.841286778450012,0,0,-0.5288217636761097],[-8.915315748769826,1.1218440983391824,-4.841286778450012,0,0,-0.26702237587696026],[-8.915315748769826,1.1218440983391824,-4.841286778450012,0,0,-0.005222988077810849],[-3.9153839476259424,1.0957292766841735,-4.841286778450012,0,0,-0.005222988077810849],[1.0845478535179414,1.0696144550291646,-4.841286778450012,0,0,-0.005222988077810849],[6.084479654661825,1.0434996333741557,-4.841286778450012,0,0,-0.005222988077810849],[11.084411455805709,1.0173848117191469,-4.841286778450012,0,0,-0.005222988077810849],[16.084343256949595,0.9912699900641381,-4.841286778450012,0,0,-0.005222988077810849],[21.08427505809348,0.9651551684091293,-4.841286778450012,0,0,-0.005222988077810849],[26.084206859237362,0.9390403467541205,-4.841286778450012,0,0,-0.005222988077810849],[31.084138660381246,0.9129255250991117,-4.841286778450012,0,0,-0.005222988077810849],[31.084138660381246,0.9129255250991117,-6.841286778450012,0,0,-0.005222988077810849],[36.08407046152513,0.886810703444103,-6.841286778450012,0,0,-0.005222988077810849],[41.08400226266902,0.8606958817890942,-6.841286778450012,0,0,-0.005222988077810849]]},{"id":3,"instruction":"at the end of the road turn left.","completed_instruction":"Turn left to face the road.","start_frame":35,"end_frame":41,"start_position":[41.08400226266902,0.8606958817890942,-6.841286778450012],"start_rotation":[0.99999659005138031,0,0,-0.002611491070551252],"end_position":[56.08379766610068,0.7823514168240678,-6.841286778450012],"end_rotation":[0.92287700776308079,0,0,-0.38509483058366611],"actions":[1,1,1,2,2,2,2],"reference_path":[[41.08400226266902,0.8606958817890942,-6.841286778450012,0,0,-0.005222988077810849],[46.083934063812904,0.8345810601340854,-6.841286778450012,0,0,-0.005222988077810849],[51.08386586495679,0.8084662384790766,-6.841286778450012,0,0,-0.005222988077810849],[56.08379766610068,0.7823514168240678,-6.841286778450012,0,0,-0.005222988077810849],[56.08379766610068,0.7823514168240678,-6.841286778450012,0,0,-0.26702237587696026],[56.08379766610068,0.7823514168240678,-6.841286778450012,0,0,-0.5288217636761098],[56.08379766610068,0.7823514168240678,-6.841286778450012,0,0,-0.7906211514752591]]},{"id":4,"instruction":"at the next corner turn left and head straight.","completed_instruction":"Fly straight until there are no buildings on your left, then turn left to face the tree and sidewalk, fly forward to the nearest road.","start_frame":41,"end_frame":76,"start_position":[56.08379766610068,0.7823514168240678,-6.841286778450012],"start_rotation":[0.92287700776308079,0,0,-0.38509483058366611],"end_position":[5.895999709430491,-67.6623578492599,-6.841286778450012],"end_rotation":[0.0026114910705513708,0,0,0.99999659005138031],"actions":[2,2,2,1,1,1,1,1,1,1,1,1,1,1,1,1,1,2,2,2,2,2,2,1,1,1,1,1,1,2,1,3,1,1,1,1],"reference_path":[[56.08379766610068,0.7823514168240678,-6.841286778450012,0,0,-0.7906211514752591],[56.08379766610068,0.7823514168240678,-6.841286778450012,0,0,-1.0524205392744086],[56.08379766610068,0.7823514168240678,-6.841286778450012,0,0,-1.314219927073558],[56.08379766610068,0.7823514168240678,-6.841286778450012,0,0,-1.5760193148727075],[56.05768284444567,-4.217580384319816,-6.841286778450012,0,0,-1.5760193148727075],[56.031568022790665,-9.2175121854637,-6.841286778450012,0,0,-1.5760193148727075],[56.00545320113566,-14.217443986607584,-6.841286778450012,0,0,-1.5760193148727075],[55.97933837948065,-19.217375787751468,-6.841286778450012,0,0,-1.5760193148727075],[55.953223557825645,-24.217307588895352,-6.841286778450012,0,0,-1.5760193148727075],[55.92710873617064,-29.217239390039236,-6.841286778450012,0,0,-1.5760193148727075],[55.90099391451563,-34.21717119118312,-6.841286778450012,0,0,-1.5760193148727075],[55.874879092860624,-39.217102992327,-6.841286778450012,0,0,-1.5760193148727075],[55.84876427120562,-44.21703479347089,-6.841286778450012,0,0,-1.5760193148727075],[55.82264944955061,-49.216966594614775,-6.841286778450012,0,0,-1.5760193148727075],[55.7965346278956,-54.21689839575866,-6.841286778450012,0,0,-1.5760193148727075],[55.7704198062406,-59.21683019690255,-6.841286778450012,0,0,-1.5760193148727075],[55.74430498458559,-64.21676199804644,-6.841286778450012,0,0,-1.5760193148727075],[55.71819016293058,-69.21669379919032,-6.841286778450012,0,0,-1.5760193148727075],[55.71819016293058,-69.21669379919032,-6.841286778450012,0,0,-1.8378187026718569],[55.71819016293058,-69.21669379919032,-6.841286778450012,0,0,-2.0996180904710067],[55.71819016293058,-69.21669379919032,-6.841286778450012,0,0,-2.3614174782701562],[55.71819016293058,-69.21669379919032,-6.841286778450012,0,0,-2.623216866069306],[55.71819016293058,-69.21669379919032,-6.841286778450012,0,0,-2.885016253868455],[55.71819016293058,-69.21669379919032,-6.841286778450012,0,0,3.136369665511982],[50.718258361786695,-69.19057897753531,-6.841286778450012,0,0,3.136369665511982],[45.71832656064281,-69.1644641558803,-6.841286778450012,0,0,3.136369665511982],[40.71839475949892,-69.13834933422528,-6.841286778450012,0,0,3.136369665511982],[35.71846295835503,-69.11223451257027,-6.841286778450012,0,0,3.136369665511982],[30.71853115721115,-69.08611969091525,-6.841286778450012,0,0,3.136369665511982],[25.718599356067266,-69.06000486926024,-6.841286778450012,0,0,3.136369665511982],[25.718599356067266,-69.06000486926024,-6.841286778450012,0,0,2.8745702777128326],[20.895795112862142,-67.74070231422495,-6.841286778450012,0,0,2.8745702777128326],[20.895795112862142,-67.74070231422495,-6.841286778450012,0,0,3.136369665511982],[15.895863311718259,-67.71458749256993,-6.841286778450012,0,0,3.136369665511982],[10.895931510574375,-67.68847267091492,-6.841286778450012,0,0,3.136369665511982],[5.895999709430491,-67.6623578492599,-6.841286778450012,0,0,3.136369665511982]]},{"id":5,"instruction":"just before the next bridge turn left.","completed_instruction":"Turn left to face the road, then fly forward to the intersection near a bridge.","start_frame":76,"end_frame":97,"start_position":[5.895999709430491,-67.6623578492599,-6.841286778450012],"start_rotation":[0.0026114910705513708,0,0,0.99999659005138031],"end_position":[-8.816532655796065,-12.584763571712116,-4.841286778450012],"end_rotation":[0.70895097303375,0,0,0.70525776694376019],"actions":[1,1,1,2,2,2,2,2,2,1,1,1,5,1,1,1,1,1,1,1,1,1],"reference_path":[[5.895999709430491,-67.6623578492599,-6.841286778450012,0,0,3.136369665511982],[0.8960679082866072,-67.63624302760489,-6.841286778450012,0,0,3.136369665511982],[-4.103863892857277,-67.61012820594988,-6.841286778450012,0,0,3.136369665511982],[-9.10379569400116,-67.58401338429486,-6.841286778450012,0,0,3.136369665511982],[-9.10379569400116,-67.58401338429486,-6.841286778450012,0,0,2.8745702777128326],[-9.10379569400116,-67.58401338429486,-6.841286778450012,0,0,2.6127708899136834],[-9.10379569400116,-67.58401338429486,-6.841286778450012,0,0,2.350971502114534],[-9.10379569400116,-67.58401338429486,-6.841286778450012,0,0,2.0891721143153847],[-9.10379569400116,-67.58401338429486,-6.841286778450012,0,0,1.8273727265162352],[-9.10379569400116,-67.58401338429486,-6.841286778450012,0,0,1.5655733387170858],[-9.077680872346152,-62.584081583150976,-6.841286778450012,0,0,1.5655733387170858],[-9.051566050691143,-57.58414978200709,-6.841286778450012,0,0,1.5655733387170858],[-9.025451229036134,-52.5842179808632,-6.841286778450012,0,0,1.5655733387170858],[-9.025451229036134,-52.5842179808632,-4.841286778450012,0,0,1.5655733387170858],[-8.999336407381126,-47.584286179719314,-4.841286778450012,0,0,1.5655733387170858],[-8.973221585726117,-42.584354378575426,-4.841286778450012,0,0,1.5655733387170858],[-8.947106764071108,-37.58442257743154,-4.841286778450012,0,0,1.5655733387170858],[-8.9209919424161,-32.58449077628765,-4.841286778450012,0,0,1.5655733387170858],[-8.894877120761091,-27.584558975143768,-4.841286778450012,0,0,1.5655733387170858],[-8.868762299106082,-22.584627173999884,-4.841286778450012,0,0,1.5655733387170858],[-8.842647477451074,-17.584695372856,-4.841286778450012,0,0,1.5655733387170858],[-8.816532655796065,-12.584763571712116,-4.841286778450012,0,0,1.5655733387170858]]},{"id":6,"instruction":"at the next intersection turn left towards the hotel.land at the light brown building on the right at the corner.","completed_instruction":"Turn left facing the road, fly forward to an T-junction, then turn left to the road, then fly forward until you can\u0027t see any building, then land on the right side of the road.","start_frame":97,"end_frame":140,"start_position":[-8.816532655796065,-12.584763571712116,-4.841286778450012],"start_rotation":[0.70895097303375,0,0,0.70525776694376019],"end_position":[61.12741702545652,-57.269204337397326,-4.841286778450012],"end_rotation":[0.79176085996115531,0,0,-0.61083118832748862],"actions":[1,1,2,2,2,2,2,2,7,1,1,1,1,1,1,1,1,1,4,1,1,1,1,2,2,2,2,2,1,2,1,1,1,1,1,1,1,1,3,1,1,1,5,0],"reference_path":[[-8.816532655796065,-12.584763571712116,-4.841286778450012,0,0,1.5655733387170858],[-8.790417834141056,-7.584831770568233,-4.841286778450012,0,0,1.5655733387170858],[-8.764303012486048,-2.584899969424349,-4.841286778450012,0,0,1.5655733387170858],[-8.764303012486048,-2.584899969424349,-4.841286778450012,0,0,1.3037739509179362],[-8.764303012486048,-2.584899969424349,-4.841286778450012,0,0,1.041974563118787],[-8.764303012486048,-2.584899969424349,-4.841286778450012,0,0,0.7801751753196374],[-8.764303012486048,-2.584899969424349,-4.841286778450012,0,0,0.518375787520488],[-8.764303012486048,-2.584899969424349,-4.841286778450012,0,0,0.25657639972133855],[-8.764303012486048,-2.584899969424349,-4.841286778450012,0,0,-0.00522298807781088],[-8.738188190831039,2.415031831719535,-4.841286778450012,0,0,-0.00522298807781088],[-3.7382563896871552,2.388917010064526,-4.841286778450012,0,0,-0.00522298807781088],[1.2616754114567286,2.3628021884095167,-4.841286778450012,0,0,-0.00522298807781088],[6.261607212600612,2.3366873667545076,-4.841286778450012,0,0,-0.00522298807781088],[11.261539013744496,2.3105725450994985,-4.841286778450012,0,0,-0.00522298807781088],[16.26147081488838,2.2844577234444894,-4.841286778450012,0,0,-0.00522298807781088],[21.261402616032264,2.2583429017894803,-4.841286778450012,0,0,-0.00522298807781088],[26.261334417176148,2.232228080134471,-4.841286778450012,0,0,-0.00522298807781088],[31.26126621832003,2.206113258479462,-4.841286778450012,0,0,-0.00522298807781088],[36.26119801946392,2.179998436824453,-4.841286778450012,0,0,-0.00522298807781088],[36.26119801946392,2.179998436824453,-6.841286778450012,0,0,-0.00522298807781088],[41.261129820607806,2.153883615169444,-6.841286778450012,0,0,-0.00522298807781088],[46.26106162175169,2.1277687935144347,-6.841286778450012,0,0,-0.00522298807781088],[51.26099342289558,2.1016539718594256,-6.841286778450012,0,0,-0.00522298807781088],[56.26092522403947,2.0755391502044165,-6.841286778450012,0,0,-0.00522298807781088],[56.26092522403947,2.0755391502044165,-6.841286778450012,0,0,-0.2670223758769603],[56.26092522403947,2.0755391502044165,-6.841286778450012,0,0,-0.5288217636761098],[56.26092522403947,2.0755391502044165,-6.841286778450012,0,0,-0.7906211514752591],[56.26092522403947,2.0755391502044165,-6.841286778450012,0,0,-1.0524205392744086],[56.26092522403947,2.0755391502044165,-6.841286778450012,0,0,-1.314219927073558],[57.529777817703746,-2.7607831194082517,-6.841286778450012,0,0,-1.314219927073558],[57.529777817703746,-2.7607831194082517,-6.841286778450012,0,0,-1.5760193148727075],[57.50366299604874,-7.760714920552136,-6.841286778450012,0,0,-1.5760193148727075],[57.47754817439373,-12.76064672169602,-6.841286778450012,0,0,-1.5760193148727075],[57.451433352738725,-17.760578522839904,-6.841286778450012,0,0,-1.5760193148727075],[57.42531853108372,-22.760510323983787,-6.841286778450012,0,0,-1.5760193148727075],[57.39920370942871,-27.76044212512767,-6.841286778450012,0,0,-1.5760193148727075],[57.373088887773704,-32.760373926271555,-6.841286778450012,0,0,-1.5760193148727075],[57.3469740661187,-37.76030572741544,-6.841286778450012,0,0,-1.5760193148727075],[57.32085924446369,-42.76023752855933,-6.841286778450012,0,0,-1.5760193148727075],[57.32085924446369,-42.76023752855933,-6.841286778450012,0,0,-1.314219927073558],[58.58971183812797,-47.596559798171995,-6.841286778450012,0,0,-1.314219927073558],[59.858564431792246,-52.43288206778466,-6.841286778450012,0,0,-1.314219927073558],[61.12741702545652,-57.269204337397326,-6.841286778450012,0,0,-1.314219927073558],[61.12741702545652,-57.269204337397326,-4.841286778450012,0,0,-1.314219927073558]]}],"statistics":{"complete_actions":147,"sentence_actions":[6,11,21,7,36,22,44],"sentence_actions_average":21.0}}
diff --git a/scene_10/3UOUJI6MTMC8BD1BEVNOTDZ4FNBXUV.json b/scene_10/3UOUJI6MTMC8BD1BEVNOTDZ4FNBXUV.json
new file mode 100644
index 0000000000000000000000000000000000000000..6ff68d62347efebd5946c7496175bcefb014100a
--- /dev/null
+++ b/scene_10/3UOUJI6MTMC8BD1BEVNOTDZ4FNBXUV.json
@@ -0,0 +1 @@
+{"episode_id":"3UOUJI6MTMC8BD1BEVNOTDZ4FNBXUV","trajectory_id":"3T8DUCXY1V40OK7VL7MYJVWW04OT9K","scene_id":10,"instruction":"rise up and turn left, head forward and head down the first street on your left. head to the end, turn around in the opposite direction and head across the river and turn left. head across the river again at a diagonal and head down the road to the other end of the map stopping at the last left.","sentence_instructions":[{"id":0,"instruction":"rise up and turn left, head forward and head down the first street on your left.","completed_instruction":"Take off to the height of street lights, turn left to face the road, fly forward to the tree in front of the bridge, then turn right to face the river directly and fly across it, then turn back to face the river directly again, and fly across the river, fly forward into the street.","start_frame":1,"end_frame":51,"start_position":[-41.07310104370117,94.76337432861328,-0.9125828146934509],"start_rotation":[0.99971427306999372,0,0,0.023903393485738462],"end_position":[-45.86410390105937,39.81234407202533,-6.912582814693451],"end_rotation":[0.023903393485738091,0,0,-0.99971427306999372],"actions":[2,2,2,2,2,1,1,2,1,1,4,1,1,1,1,1,1,1,3,3,3,3,3,3,1,1,1,1,1,2,2,2,2,2,2,2,2,2,2,2,2,1,1,4,1,1,1,4,1,1,1],"reference_path":[[-41.07310104370117,94.76337432861328,-0.9125828146934509,0,0,0.047811340720757635],[-41.07310104370117,94.76337432861328,-0.9125828146934509,0,0,-0.2139880470783918],[-41.07310104370117,94.76337432861328,-0.9125828146934509,0,0,-0.4757874348775412],[-41.07310104370117,94.76337432861328,-0.9125828146934509,0,0,-0.7375868226766906],[-41.07310104370117,94.76337432861328,-0.9125828146934509,0,0,-0.9993862104758402],[-41.07310104370117,94.76337432861328,-0.9125828146934509,0,0,-1.2611855982749895],[-39.54966155849418,90.00111308683829,-0.9125828146934509,0,0,-1.2611855982749895],[-38.02622207328719,85.2388518450633,-0.9125828146934509,0,0,-1.2611855982749895],[-38.02622207328719,85.2388518450633,-0.9125828146934509,0,0,-1.522984986074139],[-37.78725643686217,80.24456556726463,-0.9125828146934509,0,0,-1.522984986074139],[-37.54829080043716,75.25027928946596,-0.9125828146934509,0,0,-1.522984986074139],[-37.54829080043716,75.25027928946596,-2.912582814693451,0,0,-1.522984986074139],[-37.309325164012144,70.2559930116673,-2.912582814693451,0,0,-1.522984986074139],[-37.07035952758713,65.26170673386864,-2.912582814693451,0,0,-1.522984986074139],[-36.831393891162115,60.26742045606998,-2.912582814693451,0,0,-1.522984986074139],[-36.5924282547371,55.27313417827132,-2.912582814693451,0,0,-1.522984986074139],[-36.353462618312086,50.27884790047266,-2.912582814693451,0,0,-1.522984986074139],[-36.11449698188707,45.284561622674005,-2.912582814693451,0,0,-1.522984986074139],[-35.87553134546206,40.29027534487535,-2.912582814693451,0,0,-1.522984986074139],[-35.87553134546206,40.29027534487535,-2.912582814693451,0,0,-1.2611855982749895],[-35.87553134546206,40.29027534487535,-2.912582814693451,0,0,-0.9993862104758401],[-35.87553134546206,40.29027534487535,-2.912582814693451,0,0,-0.7375868226766906],[-35.87553134546206,40.29027534487535,-2.912582814693451,0,0,-0.4757874348775413],[-35.87553134546206,40.29027534487535,-2.912582814693451,0,0,-0.21398804707839195],[-35.87553134546206,40.29027534487535,-2.912582814693451,0,0,0.04781134072075747],[-30.8812450676634,40.529240981300354,-2.912582814693451,0,0,0.04781134072075747],[-25.886958789864742,40.76820661772536,-2.912582814693451,0,0,0.04781134072075747],[-20.892672512066085,41.00717225415037,-2.912582814693451,0,0,0.04781134072075747],[-15.898386234267425,41.246137890575376,-2.912582814693451,0,0,0.04781134072075747],[-10.904099956468766,41.48510352700038,-2.912582814693451,0,0,0.04781134072075747],[-10.904099956468766,41.48510352700038,-2.912582814693451,0,0,-0.21398804707839197],[-10.904099956468766,41.48510352700038,-2.912582814693451,0,0,-0.47578743487754144],[-10.904099956468766,41.48510352700038,-2.912582814693451,0,0,-0.7375868226766908],[-10.904099956468766,41.48510352700038,-2.912582814693451,0,0,-0.9993862104758403],[-10.904099956468766,41.48510352700038,-2.912582814693451,0,0,-1.2611855982749898],[-10.904099956468766,41.48510352700038,-2.912582814693451,0,0,-1.5229849860741391],[-10.904099956468766,41.48510352700038,-2.912582814693451,0,0,-1.7847843738732887],[-10.904099956468766,41.48510352700038,-2.912582814693451,0,0,-2.046583761672438],[-10.904099956468766,41.48510352700038,-2.912582814693451,0,0,-2.3083831494715876],[-10.904099956468766,41.48510352700038,-2.912582814693451,0,0,-2.570182537270737],[-10.904099956468766,41.48510352700038,-2.912582814693451,0,0,-2.8319819250698868],[-10.904099956468766,41.48510352700038,-2.912582814693451,0,0,-3.0937813128690363],[-15.898386234267425,41.246137890575376,-2.912582814693451,0,0,-3.0937813128690363],[-20.892672512066085,41.00717225415037,-2.912582814693451,0,0,-3.0937813128690363],[-20.892672512066085,41.00717225415037,-4.912582814693451,0,0,-3.0937813128690363],[-25.886958789864742,40.76820661772536,-4.912582814693451,0,0,-3.0937813128690363],[-30.8812450676634,40.529240981300354,-4.912582814693451,0,0,-3.0937813128690363],[-35.87553134546206,40.29027534487535,-4.912582814693451,0,0,-3.0937813128690363],[-35.87553134546206,40.29027534487535,-6.912582814693451,0,0,-3.0937813128690363],[-40.869817623260715,40.05130970845034,-6.912582814693451,0,0,-3.0937813128690363],[-45.86410390105937,39.81234407202533,-6.912582814693451,0,0,-3.0937813128690363]]},{"id":1,"instruction":"head to the end, turn around in the opposite direction and head across the river and turn left.","completed_instruction":"Fly to the end of the street, turn back to the road where you came, fly forward across the river to the road, turn left to face the road.","start_frame":51,"end_frame":88,"start_position":[-45.86410390105937,39.81234407202533,-6.912582814693451],"start_rotation":[0.023903393485738091,0,0,-0.99971427306999372],"end_position":[-9.844710543309127,39.29178998278937,-2.912582814693451],"end_rotation":[0.80767812185343923,0,0,-0.58962365240829751],"actions":[1,1,1,1,1,2,2,2,2,2,2,2,2,2,2,2,1,1,2,1,1,1,5,1,1,1,1,1,1,1,2,2,2,2,2,1,5,2],"reference_path":[[-45.86410390105937,39.81234407202533,-6.912582814693451,0,0,-3.0937813128690363],[-50.85839017885803,39.573378435600326,-6.912582814693451,0,0,-3.0937813128690363],[-55.85267645665669,39.33441279917532,-6.912582814693451,0,0,-3.0937813128690363],[-60.846962734455346,39.09544716275031,-6.912582814693451,0,0,-3.0937813128690363],[-65.84124901225401,38.856481526325304,-6.912582814693451,0,0,-3.0937813128690363],[-70.83553529005268,38.6175158899003,-6.912582814693451,0,0,-3.0937813128690363],[-70.83553529005268,38.6175158899003,-6.912582814693451,0,0,2.9276046065114008],[-70.83553529005268,38.6175158899003,-6.912582814693451,0,0,2.665805218712251],[-70.83553529005268,38.6175158899003,-6.912582814693451,0,0,2.4040058309131016],[-70.83553529005268,38.6175158899003,-6.912582814693451,0,0,2.142206443113952],[-70.83553529005268,38.6175158899003,-6.912582814693451,0,0,1.8804070553148027],[-70.83553529005268,38.6175158899003,-6.912582814693451,0,0,1.6186076675156533],[-70.83553529005268,38.6175158899003,-6.912582814693451,0,0,1.3568082797165042],[-70.83553529005268,38.6175158899003,-6.912582814693451,0,0,1.0950088919173548],[-70.83553529005268,38.6175158899003,-6.912582814693451,0,0,0.8332095041182054],[-70.83553529005268,38.6175158899003,-6.912582814693451,0,0,0.571410116319056],[-70.83553529005268,38.6175158899003,-6.912582814693451,0,0,0.3096107285199066],[-66.07327404827768,40.14095537510729,-6.912582814693451,0,0,0.3096107285199066],[-61.311012806502696,41.66439486031428,-6.912582814693451,0,0,0.3096107285199066],[-61.311012806502696,41.66439486031428,-6.912582814693451,0,0,0.04781134072075719],[-56.31672652870404,41.90336049673929,-6.912582814693451,0,0,0.04781134072075719],[-51.32244025090538,42.142326133164296,-6.912582814693451,0,0,0.04781134072075719],[-46.32815397310672,42.3812917695893,-6.912582814693451,0,0,0.04781134072075719],[-46.32815397310672,42.3812917695893,-4.912582814693451,0,0,0.04781134072075719],[-41.333867695308065,42.62025740601431,-4.912582814693451,0,0,0.04781134072075719],[-36.33958141750941,42.85922304243932,-4.912582814693451,0,0,0.04781134072075719],[-31.34529513971075,43.098188678864325,-4.912582814693451,0,0,0.04781134072075719],[-26.351008861912092,43.33715431528933,-4.912582814693451,0,0,0.04781134072075719],[-21.356722584113434,43.57611995171434,-4.912582814693451,0,0,0.04781134072075719],[-16.362436306314777,43.81508558813935,-4.912582814693451,0,0,0.04781134072075719],[-11.368150028516117,44.054051224564354,-4.912582814693451,0,0,0.04781134072075719],[-11.368150028516117,44.054051224564354,-4.912582814693451,0,0,-0.21398804707839225],[-11.368150028516117,44.054051224564354,-4.912582814693451,0,0,-0.47578743487754166],[-11.368150028516117,44.054051224564354,-4.912582814693451,0,0,-0.7375868226766911],[-11.368150028516117,44.054051224564354,-4.912582814693451,0,0,-0.9993862104758404],[-11.368150028516117,44.054051224564354,-4.912582814693451,0,0,-1.26118559827499],[-9.844710543309127,39.29178998278937,-4.912582814693451,0,0,-1.26118559827499],[-9.844710543309127,39.29178998278937,-2.912582814693451,0,0,-1.26118559827499]]},{"id":2,"instruction":"head across the river again at a diagonal and head down the road to the other end of the map stopping at the last left.","completed_instruction":"Turn left slightly to face the bridge, fly diagonally across the river over the bridge, turn right slightly to face the road, fly to its end and land there.","start_frame":87,"end_frame":118,"start_position":[-9.844710543309127,39.29178998278937,-4.912582814693451],"start_rotation":[0.80767812185343923,0,0,-0.58962365240829751],"end_position":[-48.71567197624781,-55.92359986520506,-4.912582814693451],"end_rotation":[0.62755132654070989,0,0,-0.77857519390036778],"actions":[5,2,2,1,1,2,1,1,1,1,4,1,2,1,1,1,1,3,1,4,3,1,1,1,1,1,1,1,1,1,5,0],"reference_path":[[-9.844710543309127,39.29178998278937,-4.912582814693451,0,0,-1.26118559827499],[-9.844710543309127,39.29178998278937,-2.912582814693451,0,0,-1.26118559827499],[-9.844710543309127,39.29178998278937,-2.912582814693451,0,0,-1.5229849860741393],[-9.844710543309127,39.29178998278937,-2.912582814693451,0,0,-1.784784373873289],[-10.90650386887908,34.40583102535071,-2.912582814693451,0,0,-1.784784373873289],[-11.968297194449033,29.519872067912047,-2.912582814693451,0,0,-1.784784373873289],[-11.968297194449033,29.519872067912047,-2.912582814693451,0,0,-2.0465837616724385],[-14.25849002157279,25.075210459353876,-2.912582814693451,0,0,-2.0465837616724385],[-16.548682848696547,20.630548850795705,-2.912582814693451,0,0,-2.0465837616724385],[-18.838875675820304,16.185887242237534,-2.912582814693451,0,0,-2.0465837616724385],[-21.12906850294406,11.741225633679365,-2.912582814693451,0,0,-2.0465837616724385],[-21.12906850294406,11.741225633679365,-4.912582814693451,0,0,-2.0465837616724385],[-23.41926133006782,7.296564025121196,-4.912582814693451,0,0,-2.0465837616724385],[-23.41926133006782,7.296564025121196,-4.912582814693451,0,0,-2.3083831494715876],[-26.78178080229949,3.5960961089161594,-4.912582814693451,0,0,-2.3083831494715876],[-30.14430027453116,-0.10437180728887707,-4.912582814693451,0,0,-2.3083831494715876],[-33.50681974676283,-3.8048397234939135,-4.912582814693451,0,0,-2.3083831494715876],[-36.8693392189945,-7.50530763969895,-4.912582814693451,0,0,-2.3083831494715876],[-36.8693392189945,-7.50530763969895,-4.912582814693451,0,0,-2.046583761672438],[-39.15953204611825,-11.94996924825712,-4.912582814693451,0,0,-2.046583761672438],[-39.15953204611825,-11.94996924825712,-6.912582814693451,0,0,-2.046583761672438],[-39.15953204611825,-11.94996924825712,-6.912582814693451,0,0,-1.784784373873289],[-40.2213253716882,-16.83592820569578,-6.912582814693451,0,0,-1.784784373873289],[-41.28311869725815,-21.72188716313444,-6.912582814693451,0,0,-1.784784373873289],[-42.344912022828105,-26.6078461205731,-6.912582814693451,0,0,-1.784784373873289],[-43.406705348398056,-31.49380507801176,-6.912582814693451,0,0,-1.784784373873289],[-44.46849867396801,-36.37976403545042,-6.912582814693451,0,0,-1.784784373873289],[-45.53029199953796,-41.26572299288908,-6.912582814693451,0,0,-1.784784373873289],[-46.59208532510791,-46.15168195032774,-6.912582814693451,0,0,-1.784784373873289],[-47.65387865067786,-51.0376409077664,-6.912582814693451,0,0,-1.784784373873289],[-48.71567197624781,-55.92359986520506,-6.912582814693451,0,0,-1.784784373873289],[-48.71567197624781,-55.92359986520506,-4.912582814693451,0,0,-1.784784373873289]]}],"statistics":{"complete_actions":121,"sentence_actions":[51,38,32],"sentence_actions_average":40.33}}
diff --git a/scene_10/3WLEIWSYHXF25BSUQ7VWK8GI5FG2HB.json b/scene_10/3WLEIWSYHXF25BSUQ7VWK8GI5FG2HB.json
new file mode 100644
index 0000000000000000000000000000000000000000..4e37f9793ea0581f1287e2d9fa95896ca28a0455
--- /dev/null
+++ b/scene_10/3WLEIWSYHXF25BSUQ7VWK8GI5FG2HB.json
@@ -0,0 +1 @@
+{"episode_id":"3WLEIWSYHXF25BSUQ7VWK8GI5FG2HB","trajectory_id":"3XEDXEGFYBMJP7TVR2PDPT87D7LK0E","scene_id":10,"instruction":"rise up two metres turn 90 degrees to the right, head forward and turn left across the bridge. continue forward, turn right at the end of the road, continue forward and head across the river bearing slightly to the right. stop next to the buildings a head of you.","sentence_instructions":[{"id":0,"instruction":"rise up two metres turn 90 degrees to the right, head forward and turn left across the bridge.","completed_instruction":"Turn right to face the street lamps at right side of the road, fly up to the height of the lamps, then fly forward along the road to the bridge on the left, then turn left to face the bridge, then fly over it.","start_frame":0,"end_frame":19,"start_position":[-45.242820739746094,-21.02818489074707,-1.2410321235656738],"start_rotation":[0.9999755052054552,0,0,0.0069992134625771786],"end_position":[-24.112476018261837,3.418140309129767,-3.241032123565674],"end_rotation":[0.9999755052054552,0,0,0.006999213462577313],"actions":[3,3,3,3,3,1,1,1,4,1,1,2,2,2,2,2,1,1,1,1],"reference_path":[[-45.242820739746094,-21.02818489074707,-1.2410321235656738,0,0,0.013998541222471395],[-45.242820739746094,-21.02818489074707,-1.2410321235656738,0,0,0.2757979290216208],[-45.242820739746094,-21.02818489074707,-1.2410321235656738,0,0,0.5375973168207703],[-45.242820739746094,-21.02818489074707,-1.2410321235656738,0,0,0.7993967046199197],[-45.242820739746094,-21.02818489074707,-1.2410321235656738,0,0,1.061196092419069],[-45.242820739746094,-21.02818489074707,-1.2410321235656738,0,0,1.3229954802182187],[-44.016457861514674,-16.180914102881392,-1.2410321235656738,0,0,1.3229954802182187],[-42.790094983283254,-11.333643315015713,-1.2410321235656738,0,0,1.3229954802182187],[-41.563732105051834,-6.486372527150036,-1.2410321235656738,0,0,1.3229954802182187],[-41.563732105051834,-6.486372527150036,-3.241032123565674,0,0,1.3229954802182187],[-40.337369226820414,-1.6391017392843583,-3.241032123565674,0,0,1.3229954802182187],[-39.111006348588994,3.2081690485813192,-3.241032123565674,0,0,1.3229954802182187],[-39.111006348588994,3.2081690485813192,-3.241032123565674,0,0,1.0611960924190693],[-39.111006348588994,3.2081690485813192,-3.241032123565674,0,0,0.7993967046199199],[-39.111006348588994,3.2081690485813192,-3.241032123565674,0,0,0.5375973168207705],[-39.111006348588994,3.2081690485813192,-3.241032123565674,0,0,0.2757979290216211],[-39.111006348588994,3.2081690485813192,-3.241032123565674,0,0,0.013998541222471664],[-34.111496238479944,3.278159468764135,-3.241032123565674,0,0,0.013998541222471664],[-29.11198612837089,3.348149888946951,-3.241032123565674,0,0,0.013998541222471664],[-24.112476018261837,3.418140309129767,-3.241032123565674,0,0,0.013998541222471664]]},{"id":1,"instruction":"continue forward, turn right at the end of the road, continue forward and head across the river bearing slightly to the right.","completed_instruction":"Flying straight along the road to the T-junction, then turn right to face the road, then fly forward to another T-junction, then turn right to face the light orange building on the opposite side between a red building and a gray building, then make a sharp left turn to face the road.","start_frame":19,"end_frame":72,"start_position":[-24.112476018261837,3.418140309129767,-3.241032123565674],"start_rotation":[0.9999755052054552,0,0,0.006999213462577313],"end_position":[26.992929038224055,97.10322559118805,-9.241032123565674],"end_rotation":[0.96409063638955461,0,0,0.26557342643040083],"actions":[1,1,4,1,1,1,1,1,1,1,1,1,1,1,1,1,1,3,3,3,3,3,3,1,1,1,1,1,1,4,1,1,3,1,4,1,3,1,1,1,1,1,1,1,1,1,1,2,2,2,2,2,2,2],"reference_path":[[-24.112476018261837,3.418140309129767,-3.241032123565674,0,0,0.013998541222471664],[-19.112965908152784,3.4881307293125827,-3.241032123565674,0,0,0.013998541222471664],[-14.11345579804373,3.5581211494953986,-3.241032123565674,0,0,0.013998541222471664],[-14.11345579804373,3.5581211494953986,-5.241032123565674,0,0,0.013998541222471664],[-9.113945687934677,3.6281115696782145,-5.241032123565674,0,0,0.013998541222471664],[-4.114435577825625,3.6981019898610303,-5.241032123565674,0,0,0.013998541222471664],[0.8850745322834275,3.768092410043846,-5.241032123565674,0,0,0.013998541222471664],[5.88458464239248,3.838082830226662,-5.241032123565674,0,0,0.013998541222471664],[10.884094752501532,3.908073250409478,-5.241032123565674,0,0,0.013998541222471664],[15.883604862610586,3.978063670592294,-5.241032123565674,0,0,0.013998541222471664],[20.88311497271964,4.04805409077511,-5.241032123565674,0,0,0.013998541222471664],[25.882625082828692,4.118044510957925,-5.241032123565674,0,0,0.013998541222471664],[30.882135192937746,4.1880349311407405,-5.241032123565674,0,0,0.013998541222471664],[35.881645303046795,4.258025351323556,-5.241032123565674,0,0,0.013998541222471664],[40.881155413155845,4.328015771506371,-5.241032123565674,0,0,0.013998541222471664],[45.880665523264895,4.398006191689187,-5.241032123565674,0,0,0.013998541222471664],[50.880175633373945,4.467996611872002,-5.241032123565674,0,0,0.013998541222471664],[55.879685743482995,4.537987032054818,-5.241032123565674,0,0,0.013998541222471664],[55.879685743482995,4.537987032054818,-5.241032123565674,0,0,0.2757979290216211],[55.879685743482995,4.537987032054818,-5.241032123565674,0,0,0.5375973168207705],[55.879685743482995,4.537987032054818,-5.241032123565674,0,0,0.79939670461992],[55.879685743482995,4.537987032054818,-5.241032123565674,0,0,1.0611960924190693],[55.879685743482995,4.537987032054818,-5.241032123565674,0,0,1.3229954802182187],[55.879685743482995,4.537987032054818,-5.241032123565674,0,0,1.5847948680173682],[55.809695323300176,9.53749714216387,-5.241032123565674,0,0,1.5847948680173682],[55.73970490311736,14.537007252272922,-5.241032123565674,0,0,1.5847948680173682],[55.66971448293454,19.536517362381975,-5.241032123565674,0,0,1.5847948680173682],[55.59972406275172,24.53602747249103,-5.241032123565674,0,0,1.5847948680173682],[55.5297336425689,29.53553758260008,-5.241032123565674,0,0,1.5847948680173682],[55.45974322238608,34.535047692709135,-5.241032123565674,0,0,1.5847948680173682],[55.45974322238608,34.535047692709135,-7.241032123565674,0,0,1.5847948680173682],[55.38975280220326,39.534557802818185,-7.241032123565674,0,0,1.5847948680173682],[55.31976238202044,44.534067912927235,-7.241032123565674,0,0,1.5847948680173682],[55.31976238202044,44.534067912927235,-7.241032123565674,0,0,1.846594255816518],[53.958188394894215,49.34510899335683,-7.241032123565674,0,0,1.846594255816518],[53.958188394894215,49.34510899335683,-9.241032123565674,0,0,1.846594255816518],[52.59661440776799,54.15615007378643,-9.241032123565674,0,0,1.846594255816518],[52.59661440776799,54.15615007378643,-9.241032123565674,0,0,2.108393643615668],[50.036245870813595,58.450857625526595,-9.241032123565674,0,0,2.108393643615668],[47.4758773338592,62.74556517726676,-9.241032123565674,0,0,2.108393643615668],[44.91550879690481,67.04027272900693,-9.241032123565674,0,0,2.108393643615668],[42.35514025995042,71.33498028074709,-9.241032123565674,0,0,2.108393643615668],[39.794771722996025,75.62968783248725,-9.241032123565674,0,0,2.108393643615668],[37.23440318604163,79.92439538422741,-9.241032123565674,0,0,2.108393643615668],[34.67403464908724,84.21910293596757,-9.241032123565674,0,0,2.108393643615668],[32.11366611213285,88.51381048770773,-9.241032123565674,0,0,2.108393643615668],[29.55329757517845,92.80851803944789,-9.241032123565674,0,0,2.108393643615668],[26.992929038224055,97.10322559118805,-9.241032123565674,0,0,2.108393643615668],[26.992929038224055,97.10322559118805,-9.241032123565674,0,0,1.8465942558165187],[26.992929038224055,97.10322559118805,-9.241032123565674,0,0,1.5847948680173696],[26.992929038224055,97.10322559118805,-9.241032123565674,0,0,1.3229954802182202],[26.992929038224055,97.10322559118805,-9.241032123565674,0,0,1.0611960924190706],[26.992929038224055,97.10322559118805,-9.241032123565674,0,0,0.7993967046199212],[26.992929038224055,97.10322559118805,-9.241032123565674,0,0,0.5375973168207717]]},{"id":2,"instruction":"stop next to the buildings a head of you.","completed_instruction":"Fly forward to the second streetlight, then land in front of a red house.","start_frame":72,"end_frame":81,"start_position":[26.992929038224055,97.10322559118805,-9.241032123565674],"start_rotation":[0.96409063638955461,0,0,0.26557342643040083],"end_position":[56.98998969887836,97.52316811228496,-7.241032123565674],"end_rotation":[0.9999755052054552,0,0,0.0069992134625778864],"actions":[2,2,1,1,1,1,1,5,1,0],"reference_path":[[26.992929038224055,97.10322559118805,-9.241032123565674,0,0,0.5375973168207717],[26.992929038224055,97.10322559118805,-9.241032123565674,0,0,0.27579792902162226],[26.992929038224055,97.10322559118805,-9.241032123565674,0,0,0.01399854122247281],[31.99243914833311,97.17321601137087,-9.241032123565674,0,0,0.01399854122247281],[36.99194925844216,97.24320643155369,-9.241032123565674,0,0,0.01399854122247281],[41.99145936855121,97.3131968517365,-9.241032123565674,0,0,0.01399854122247281],[46.99096947866026,97.38318727191933,-9.241032123565674,0,0,0.01399854122247281],[51.99047958876931,97.45317769210214,-9.241032123565674,0,0,0.01399854122247281],[51.99047958876931,97.45317769210214,-7.241032123565674,0,0,0.01399854122247281],[56.98998969887836,97.52316811228496,-7.241032123565674,0,0,0.01399854122247281]]}],"statistics":{"complete_actions":84,"sentence_actions":[20,54,10],"sentence_actions_average":28.0}}
diff --git a/scene_11/3180JW2OTDAQVE67WQ0FUSZAWP85JT.json b/scene_11/3180JW2OTDAQVE67WQ0FUSZAWP85JT.json
new file mode 100644
index 0000000000000000000000000000000000000000..f386538e2f196545c158c5ea6ff60d81afe35773
--- /dev/null
+++ b/scene_11/3180JW2OTDAQVE67WQ0FUSZAWP85JT.json
@@ -0,0 +1 @@
+{"episode_id":"3180JW2OTDAQVE67WQ0FUSZAWP85JT","trajectory_id":"33QQ60S6B0GXS3Y7LGTFVGH5L2KU00","scene_id":11,"instruction":"go straight and then down a bit. go over blue roofs ahead and turn left. go between large buildings and stop.","sentence_instructions":[{"id":0,"instruction":"go straight and then down a bit.","completed_instruction":"Fly forward by the left side of the glass building ahead to the white cylindrical building with windows lighting on, fly down to above the left flatform of this building.","start_frame":1,"end_frame":30,"start_position":[-134.07041931152344,-70.3873291015625,-61.81205749511719],"start_rotation":[0.99999765685942266,0,0,0.0021647807428116748],"end_position":[-59.09277000957741,-65.06265961375533,-43.81205749511719],"end_rotation":[0.99999765685942266,0,0,0.0021647807428116748],"actions":[6,1,6,1,1,1,1,1,7,1,7,1,1,1,1,1,1,1,7,5,5,5,1,5,5,5,5,5,5,5],"reference_path":[[-134.07041931152344,-70.3873291015625,-61.81205749511719,0,0,0.004329564867216919],[-134.04877155481918,-75.38728223880585,-61.81205749511719,0,0,0.004329564867216919],[-129.04881841757583,-75.3656344821016,-61.81205749511719,0,0,0.004329564867216919],[-129.02717066087158,-80.36558761934495,-61.81205749511719,0,0,0.004329564867216919],[-124.02721752362822,-80.3439398626407,-61.81205749511719,0,0,0.004329564867216919],[-119.02726438638487,-80.32229210593644,-61.81205749511719,0,0,0.004329564867216919],[-114.02731124914152,-80.30064434923219,-61.81205749511719,0,0,0.004329564867216919],[-109.02735811189817,-80.27899659252793,-61.81205749511719,0,0,0.004329564867216919],[-104.02740497465481,-80.25734883582368,-61.81205749511719,0,0,0.004329564867216919],[-104.04905273135907,-75.25739569858032,-61.81205749511719,0,0,0.004329564867216919],[-99.04909959411572,-75.23574794187607,-61.81205749511719,0,0,0.004329564867216919],[-99.07074735081997,-70.23579480463272,-61.81205749511719,0,0,0.004329564867216919],[-94.07079421357662,-70.21414704792846,-61.81205749511719,0,0,0.004329564867216919],[-89.07084107633327,-70.19249929122421,-61.81205749511719,0,0,0.004329564867216919],[-84.07088793908991,-70.17085153451995,-61.81205749511719,0,0,0.004329564867216919],[-79.07093480184656,-70.1492037778157,-61.81205749511719,0,0,0.004329564867216919],[-74.07098166460321,-70.12755602111145,-61.81205749511719,0,0,0.004329564867216919],[-69.07102852735986,-70.10590826440719,-61.81205749511719,0,0,0.004329564867216919],[-64.0710753901165,-70.08426050770294,-61.81205749511719,0,0,0.004329564867216919],[-64.09272314682076,-65.08430737045958,-61.81205749511719,0,0,0.004329564867216919],[-64.09272314682076,-65.08430737045958,-59.81205749511719,0,0,0.004329564867216919],[-64.09272314682076,-65.08430737045958,-57.81205749511719,0,0,0.004329564867216919],[-64.09272314682076,-65.08430737045958,-55.81205749511719,0,0,0.004329564867216919],[-59.09277000957741,-65.06265961375533,-55.81205749511719,0,0,0.004329564867216919],[-59.09277000957741,-65.06265961375533,-53.81205749511719,0,0,0.004329564867216919],[-59.09277000957741,-65.06265961375533,-51.81205749511719,0,0,0.004329564867216919],[-59.09277000957741,-65.06265961375533,-49.81205749511719,0,0,0.004329564867216919],[-59.09277000957741,-65.06265961375533,-47.81205749511719,0,0,0.004329564867216919],[-59.09277000957741,-65.06265961375533,-45.81205749511719,0,0,0.004329564867216919],[-59.09277000957741,-65.06265961375533,-43.81205749511719,0,0,0.004329564867216919]]},{"id":1,"instruction":"go over blue roofs ahead and turn left.","completed_instruction":"Turn left to face the gap between the two cylindrical glass wall buildings, then fly forward to the  front of the cylindrical glass walls, then , then turn right and face the short flat roofed building ahead, fly over it to reach the roof of the building with black stairs, turn left to face the four highest cylindrical buildings in the distance.","start_frame":30,"end_frame":75,"start_position":[-59.09277000957741,-65.06265961375533,-43.81205749511719],"start_rotation":[0.99999765685942266,0,0,0.0021647807428116748],"end_position":[60.289950052899364,-47.36049929210667,-33.81205749511719],"end_rotation":[0.96648384947378085,0,0,-0.25672742102537882],"actions":[5,5,1,2,2,2,2,1,5,1,7,1,1,3,3,3,3,3,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,5,5,1,7,1,1,2,2,2,2],"reference_path":[[-59.09277000957741,-65.06265961375533,-43.81205749511719,0,0,0.004329564867216919],[-59.09277000957741,-65.06265961375533,-41.81205749511719,0,0,0.004329564867216919],[-59.09277000957741,-65.06265961375533,-39.81205749511719,0,0,0.004329564867216919],[-54.092816872334055,-65.04101185705107,-39.81205749511719,0,0,0.004329564867216919],[-54.092816872334055,-65.04101185705107,-39.81205749511719,0,0,-0.2574698229319325],[-54.092816872334055,-65.04101185705107,-39.81205749511719,0,0,-0.5192692107310819],[-54.092816872334055,-65.04101185705107,-39.81205749511719,0,0,-0.7810685985302313],[-54.092816872334055,-65.04101185705107,-39.81205749511719,0,0,-1.0428679863293806],[-51.57409279647154,-69.36027441328339,-39.81205749511719,0,0,-1.0428679863293806],[-51.57409279647154,-69.36027441328339,-37.81205749511719,0,0,-1.0428679863293806],[-49.055368720609025,-73.67953696951571,-37.81205749511719,0,0,-1.0428679863293806],[-44.73610616437671,-71.1608128936532,-37.81205749511719,0,0,-1.0428679863293806],[-42.21738208851419,-75.48007544988552,-37.81205749511719,0,0,-1.0428679863293806],[-39.69865801265168,-79.79933800611784,-37.81205749511719,0,0,-1.0428679863293806],[-39.69865801265168,-79.79933800611784,-37.81205749511719,0,0,-0.7810685985302311],[-39.69865801265168,-79.79933800611784,-37.81205749511719,0,0,-0.5192692107310817],[-39.69865801265168,-79.79933800611784,-37.81205749511719,0,0,-0.25746982293193227],[-39.69865801265168,-79.79933800611784,-37.81205749511719,0,0,0.004329564867217177],[-39.69865801265168,-79.79933800611784,-37.81205749511719,0,0,0.2661289526663666],[-34.874676998872076,-78.48434478229728,-37.81205749511719,0,0,0.2661289526663666],[-30.050695985092478,-77.16935155847673,-37.81205749511719,0,0,0.2661289526663666],[-25.22671497131288,-75.85435833465618,-37.81205749511719,0,0,0.2661289526663666],[-20.402733957533282,-74.53936511083563,-37.81205749511719,0,0,0.2661289526663666],[-15.578752943753685,-73.22437188701508,-37.81205749511719,0,0,0.2661289526663666],[-10.754771929974087,-71.90937866319453,-37.81205749511719,0,0,0.2661289526663666],[-5.930790916194488,-70.59438543937398,-37.81205749511719,0,0,0.2661289526663666],[-1.1068099024148896,-69.27939221555343,-37.81205749511719,0,0,0.2661289526663666],[3.717171111364709,-67.96439899173288,-37.81205749511719,0,0,0.2661289526663666],[8.541152125144308,-66.64940576791233,-37.81205749511719,0,0,0.2661289526663666],[13.365133138923905,-65.33441254409178,-37.81205749511719,0,0,0.2661289526663666],[18.189114152703503,-64.01941932027123,-37.81205749511719,0,0,0.2661289526663666],[23.0130951664831,-62.704426096450675,-37.81205749511719,0,0,0.2661289526663666],[27.8370761802627,-61.389432872630124,-37.81205749511719,0,0,0.2661289526663666],[32.6610571940423,-60.07443964880957,-37.81205749511719,0,0,0.2661289526663666],[37.4850382078219,-58.75944642498902,-37.81205749511719,0,0,0.2661289526663666],[42.3090192216015,-57.44445320116847,-37.81205749511719,0,0,0.2661289526663666],[47.133000235381104,-56.12945997734792,-37.81205749511719,0,0,0.2661289526663666],[47.133000235381104,-56.12945997734792,-35.81205749511719,0,0,0.2661289526663666],[47.133000235381104,-56.12945997734792,-33.81205749511719,0,0,0.2661289526663666],[51.956981249160705,-54.81446675352737,-33.81205749511719,0,0,0.2661289526663666],[50.64198802534016,-49.99048573974777,-33.81205749511719,0,0,0.2661289526663666],[55.46596903911976,-48.67549251592722,-33.81205749511719,0,0,0.2661289526663666],[60.289950052899364,-47.36049929210667,-33.81205749511719,0,0,0.2661289526663666],[60.289950052899364,-47.36049929210667,-33.81205749511719,0,0,0.004329564867217177],[60.289950052899364,-47.36049929210667,-33.81205749511719,0,0,-0.25746982293193227],[60.289950052899364,-47.36049929210667,-33.81205749511719,0,0,-0.5192692107310817]]},{"id":2,"instruction":"go between large buildings and stop.","completed_instruction":"Fly forward to the space in the middle of the four cylindrical glass-walled buildings, then ascend to the same height as the right-side skywalk.","start_frame":76,"end_frame":128,"start_position":[60.289950052899364,-47.36049929210667,-33.81205749511719],"start_rotation":[0.92470579345664261,0,0,-0.38068253906335264],"end_position":[108.1306412620546,-256.634592478841,-43.81205749511719],"end_rotation":[0.70863585547898034,0,0,-0.70557439319293158],"actions":[2,2,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,6,1,1,1,1,2,1,1,1,4,4,4,4,4,0],"reference_path":[[60.289950052899364,-47.36049929210667,-33.81205749511719,0,0,-0.781068598530231],[60.289950052899364,-47.36049929210667,-33.81205749511719,0,0,-1.0428679863293804],[60.289950052899364,-47.36049929210667,-33.81205749511719,0,0,-1.3046673741285297],[61.604943276719915,-52.18448030588627,-33.81205749511719,0,0,-1.3046673741285297],[62.919936500540466,-57.00846131966587,-33.81205749511719,0,0,-1.3046673741285297],[64.23492972436101,-61.83244233344547,-33.81205749511719,0,0,-1.3046673741285297],[65.54992294818156,-66.65642334722507,-33.81205749511719,0,0,-1.3046673741285297],[66.86491617200211,-71.48040436100467,-33.81205749511719,0,0,-1.3046673741285297],[68.17990939582266,-76.30438537478427,-33.81205749511719,0,0,-1.3046673741285297],[69.49490261964321,-81.12836638856388,-33.81205749511719,0,0,-1.3046673741285297],[70.80989584346376,-85.95234740234348,-33.81205749511719,0,0,-1.3046673741285297],[72.12488906728431,-90.77632841612308,-33.81205749511719,0,0,-1.3046673741285297],[73.43988229110487,-95.60030942990268,-33.81205749511719,0,0,-1.3046673741285297],[74.75487551492542,-100.42429044368228,-33.81205749511719,0,0,-1.3046673741285297],[76.06986873874597,-105.24827145746188,-33.81205749511719,0,0,-1.3046673741285297],[77.38486196256652,-110.07225247124148,-33.81205749511719,0,0,-1.3046673741285297],[78.69985518638707,-114.89623348502109,-33.81205749511719,0,0,-1.3046673741285297],[80.01484841020762,-119.72021449880069,-33.81205749511719,0,0,-1.3046673741285297],[81.32984163402817,-124.54419551258029,-33.81205749511719,0,0,-1.3046673741285297],[82.64483485784872,-129.3681765263599,-33.81205749511719,0,0,-1.3046673741285297],[83.95982808166927,-134.19215754013948,-33.81205749511719,0,0,-1.3046673741285297],[85.27482130548982,-139.01613855391906,-33.81205749511719,0,0,-1.3046673741285297],[86.58981452931037,-143.84011956769865,-33.81205749511719,0,0,-1.3046673741285297],[87.90480775313092,-148.66410058147824,-33.81205749511719,0,0,-1.3046673741285297],[89.21980097695148,-153.48808159525782,-33.81205749511719,0,0,-1.3046673741285297],[90.53479420077203,-158.3120626090374,-33.81205749511719,0,0,-1.3046673741285297],[91.84978742459258,-163.136043622817,-33.81205749511719,0,0,-1.3046673741285297],[93.16478064841313,-167.9600246365966,-33.81205749511719,0,0,-1.3046673741285297],[94.47977387223368,-172.78400565037617,-33.81205749511719,0,0,-1.3046673741285297],[95.79476709605423,-177.60798666415576,-33.81205749511719,0,0,-1.3046673741285297],[97.10976031987478,-182.43196767793535,-33.81205749511719,0,0,-1.3046673741285297],[98.42475354369533,-187.25594869171493,-33.81205749511719,0,0,-1.3046673741285297],[99.73974676751588,-192.07992970549452,-33.81205749511719,0,0,-1.3046673741285297],[101.05473999133643,-196.9039107192741,-33.81205749511719,0,0,-1.3046673741285297],[102.36973321515698,-201.7278917330537,-33.81205749511719,0,0,-1.3046673741285297],[103.68472643897753,-206.55187274683328,-33.81205749511719,0,0,-1.3046673741285297],[104.99971966279809,-211.37585376061287,-33.81205749511719,0,0,-1.3046673741285297],[106.31471288661864,-216.19983477439246,-33.81205749511719,0,0,-1.3046673741285297],[107.62970611043919,-221.02381578817204,-33.81205749511719,0,0,-1.3046673741285297],[102.80572509665959,-222.3388090119926,-33.81205749511719,0,0,-1.3046673741285297],[104.12071832048014,-227.16279002577218,-33.81205749511719,0,0,-1.3046673741285297],[105.43571154430069,-231.98677103955177,-33.81205749511719,0,0,-1.3046673741285297],[106.75070476812124,-236.81075205333136,-33.81205749511719,0,0,-1.3046673741285297],[108.06569799194179,-241.63473306711094,-33.81205749511719,0,0,-1.3046673741285297],[108.06569799194179,-241.63473306711094,-33.81205749511719,0,0,-1.566466761927679],[108.08734574864606,-246.6346862043543,-33.81205749511719,0,0,-1.566466761927679],[108.10899350535033,-251.63463934159765,-33.81205749511719,0,0,-1.566466761927679],[108.1306412620546,-256.634592478841,-33.81205749511719,0,0,-1.566466761927679],[108.1306412620546,-256.634592478841,-35.81205749511719,0,0,-1.566466761927679],[108.1306412620546,-256.634592478841,-37.81205749511719,0,0,-1.566466761927679],[108.1306412620546,-256.634592478841,-39.81205749511719,0,0,-1.566466761927679],[108.1306412620546,-256.634592478841,-41.81205749511719,0,0,-1.566466761927679],[108.1306412620546,-256.634592478841,-43.81205749511719,0,0,-1.566466761927679]]}],"statistics":{"complete_actions":129,"sentence_actions":[30,46,53],"sentence_actions_average":43.0}}
diff --git a/scene_11/37C0GNLMHO19BW6TRDO9J0IXN8T6DJ.json b/scene_11/37C0GNLMHO19BW6TRDO9J0IXN8T6DJ.json
new file mode 100644
index 0000000000000000000000000000000000000000..3f5bf15327395803ac3dd11da3c05b75e8dddf4d
--- /dev/null
+++ b/scene_11/37C0GNLMHO19BW6TRDO9J0IXN8T6DJ.json
@@ -0,0 +1 @@
+{"episode_id":"37C0GNLMHO19BW6TRDO9J0IXN8T6DJ","trajectory_id":"3MQKOF1EFAM4JRO6SSWBSBML08FDWO","scene_id":11,"instruction":"take off and turn left side restaurant view. go straight on road top of the building. left and right side shake go to another top building. right side double side building view. up and down shake turn left side view. turn right side roof top on building. turn left side road view and shake.","sentence_instructions":[{"id":0,"instruction":"take off and turn left side restaurant view.","completed_instruction":"Take off to the third floor height, then turn left to face the row of street lamps on the right side of the road.","start_frame":1,"end_frame":8,"start_position":[8.597949028015137,-22.390138626098633,-1.1332043409347534],"start_rotation":[0.9999939311314654,0,0,0.0034839202399222723],"end_position":[8.597949028015137,-22.390138626098633,-5.133204340934753],"end_rotation":[0.79546940179791892,0,0,-0.60599375475598849],"actions":[4,4,2,2,2,2,2,4],"reference_path":[[8.597949028015137,-22.390138626098633,-1.1332043409347534,0,0,0.00696785457551471],[8.597949028015137,-22.390138626098633,-3.1332043409347534,0,0,0.00696785457551471],[8.597949028015137,-22.390138626098633,-5.133204340934753,0,0,0.00696785457551471],[8.597949028015137,-22.390138626098633,-5.133204340934753,0,0,-0.2548315332236347],[8.597949028015137,-22.390138626098633,-5.133204340934753,0,0,-0.5166309210227842],[8.597949028015137,-22.390138626098633,-5.133204340934753,0,0,-0.7784303088219336],[8.597949028015137,-22.390138626098633,-5.133204340934753,0,0,-1.040229696621083],[8.597949028015137,-22.390138626098633,-5.133204340934753,0,0,-1.3020290844202325]]},{"id":1,"instruction":"go straight on road top of the building.","completed_instruction":"Fly straight ahead until you reach the hotel sign hanging on wall, then fly up to the height of the roof on your right and fly to the roof of the glass building on the left side of the road.","start_frame":8,"end_frame":41,"start_position":[8.597949028015137,-22.390138626098633,-5.133204340934753],"start_rotation":[0.79546940179791892,0,0,-0.60599375475598849],"end_position":[0.5646704343318958,-131.60852036049053,-19.133204340934753],"end_rotation":[0.503014128998264,0,0,-0.86427818787015431],"actions":[4,4,2,1,1,1,1,1,1,1,4,1,1,1,1,1,4,1,1,1,1,1,1,4,1,6,1,2,1,4,2,4,1,1],"reference_path":[[8.597949028015137,-22.390138626098633,-5.133204340934753,0,0,-1.3020290844202325],[8.597949028015137,-22.390138626098633,-7.133204340934753,0,0,-1.3020290844202325],[8.597949028015137,-22.390138626098633,-9.133204340934753,0,0,-1.3020290844202325],[8.597949028015137,-22.390138626098633,-9.133204340934753,0,0,-1.563828472219382],[8.63278801897982,-27.390017249096253,-9.133204340934753,0,0,-1.563828472219382],[8.667627009944503,-32.389895872093874,-9.133204340934753,0,0,-1.563828472219382],[8.702466000909187,-37.389774495091494,-9.133204340934753,0,0,-1.563828472219382],[8.73730499187387,-42.389653118089115,-9.133204340934753,0,0,-1.563828472219382],[8.772143982838553,-47.389531741086735,-9.133204340934753,0,0,-1.563828472219382],[8.806982973803237,-52.389410364084355,-9.133204340934753,0,0,-1.563828472219382],[8.84182196476792,-57.389288987081976,-9.133204340934753,0,0,-1.563828472219382],[8.84182196476792,-57.389288987081976,-11.133204340934753,0,0,-1.563828472219382],[8.876660955732603,-62.389167610079596,-11.133204340934753,0,0,-1.563828472219382],[8.911499946697287,-67.38904623307721,-11.133204340934753,0,0,-1.563828472219382],[8.94633893766197,-72.38892485607482,-11.133204340934753,0,0,-1.563828472219382],[8.981177928626654,-77.38880347907244,-11.133204340934753,0,0,-1.563828472219382],[9.016016919591337,-82.38868210207005,-11.133204340934753,0,0,-1.563828472219382],[9.016016919591337,-82.38868210207005,-13.133204340934753,0,0,-1.563828472219382],[9.05085591055602,-87.38856072506766,-13.133204340934753,0,0,-1.563828472219382],[9.085694901520704,-92.38843934806528,-13.133204340934753,0,0,-1.563828472219382],[9.120533892485387,-97.38831797106289,-13.133204340934753,0,0,-1.563828472219382],[9.15537288345007,-102.3881965940605,-13.133204340934753,0,0,-1.563828472219382],[9.190211874414754,-107.38807521705812,-13.133204340934753,0,0,-1.563828472219382],[9.225050865379437,-112.38795384005573,-13.133204340934753,0,0,-1.563828472219382],[9.225050865379437,-112.38795384005573,-15.133204340934753,0,0,-1.563828472219382],[9.25988985634412,-117.38783246305334,-15.133204340934753,0,0,-1.563828472219382],[4.260011233346502,-117.42267145401803,-15.133204340934753,0,0,-1.563828472219382],[4.294850224311184,-122.42255007701564,-15.133204340934753,0,0,-1.563828472219382],[4.294850224311184,-122.42255007701564,-15.133204340934753,0,0,-1.8256278600185314],[3.0344382946130732,-127.26107896165348,-15.133204340934753,0,0,-1.8256278600185314],[3.0344382946130732,-127.26107896165348,-17.133204340934753,0,0,-1.8256278600185314],[3.0344382946130732,-127.26107896165348,-17.133204340934753,0,0,-2.087427247817681],[3.0344382946130732,-127.26107896165348,-19.133204340934753,0,0,-2.087427247817681],[0.5646704343318958,-131.60852036049053,-19.133204340934753,0,0,-2.087427247817681]]},{"id":2,"instruction":"left and right side shake go to another top building.","completed_instruction":"Turn right slightly to face the nearest tall building, then fly diagonally upwards to the left side of the terrace halfway up that building.","start_frame":42,"end_frame":57,"start_position":[-1.9050974259492817,-135.95596175932758,-19.133204340934753],"start_rotation":[0.503014128998264,0,0,-0.86427818787015431],"end_position":[-15.4795096660886,-167.53157626114827,-31.133204340934753],"end_rotation":[0.70956599347521443,0,0,-0.70463898622169063],"actions":[4,1,4,4,1,4,1,4,1,4,1,3,1,3,1,1],"reference_path":[[-1.9050974259492817,-135.95596175932758,-19.133204340934753,0,0,-2.087427247817681],[-1.9050974259492817,-135.95596175932758,-21.133204340934753,0,0,-2.087427247817681],[-4.37486528623046,-140.30340315816463,-21.133204340934753,0,0,-2.087427247817681],[-4.37486528623046,-140.30340315816463,-23.133204340934753,0,0,-2.087427247817681],[-4.37486528623046,-140.30340315816463,-25.133204340934753,0,0,-2.087427247817681],[-6.844633146511637,-144.65084455700168,-25.133204340934753,0,0,-2.087427247817681],[-6.844633146511637,-144.65084455700168,-27.133204340934753,0,0,-2.087427247817681],[-9.314401006792814,-148.99828595583872,-27.133204340934753,0,0,-2.087427247817681],[-9.314401006792814,-148.99828595583872,-29.133204340934753,0,0,-2.087427247817681],[-11.78416886707399,-153.34572735467577,-29.133204340934753,0,0,-2.087427247817681],[-11.78416886707399,-153.34572735467577,-31.133204340934753,0,0,-2.087427247817681],[-14.253936727355168,-157.69316875351282,-31.133204340934753,0,0,-2.087427247817681],[-14.253936727355168,-157.69316875351282,-31.133204340934753,0,0,-1.8256278600185316],[-15.51434865705328,-162.53169763815066,-31.133204340934753,0,0,-1.8256278600185316],[-15.51434865705328,-162.53169763815066,-31.133204340934753,0,0,-1.5638284722193825],[-15.4795096660886,-167.53157626114827,-31.133204340934753,0,0,-1.5638284722193825]]},{"id":3,"instruction":"right side double side building view.","completed_instruction":"Fly forward out of the terrace and then fly forward onto the road in front of a building with protruding ends and a concave middle.","start_frame":57,"end_frame":72,"start_position":[-15.4795096660886,-167.53157626114827,-31.133204340934753],"start_rotation":[0.70956599347521443,0,0,-0.70463898622169063],"end_position":[-7.339020559460901,-221.45393875147766,-27.133204340934753],"end_rotation":[0.70956599347521432,0,0,-0.70463898622169086],"actions":[1,3,1,1,1,1,5,1,1,2,1,1,1,5,1,1],"reference_path":[[-15.4795096660886,-167.53157626114827,-31.133204340934753,0,0,-1.5638284722193825],[-15.44467067512392,-172.5314548841459,-31.133204340934753,0,0,-1.5638284722193825],[-15.44467067512392,-172.5314548841459,-31.133204340934753,0,0,-1.3020290844202334],[-14.116954983156536,-177.3519497800361,-31.133204340934753,0,0,-1.3020290844202334],[-12.789239291189151,-182.17244467592633,-31.133204340934753,0,0,-1.3020290844202334],[-11.461523599221767,-186.99293957181655,-31.133204340934753,0,0,-1.3020290844202334],[-10.133807907254383,-191.81343446770677,-31.133204340934753,0,0,-1.3020290844202334],[-10.133807907254383,-191.81343446770677,-29.133204340934753,0,0,-1.3020290844202334],[-8.806092215286998,-196.633929363597,-29.133204340934753,0,0,-1.3020290844202334],[-7.478376523319613,-201.4544242594872,-29.133204340934753,0,0,-1.3020290844202334],[-7.478376523319613,-201.4544242594872,-29.133204340934753,0,0,-1.563828472219383],[-7.443537532354935,-206.45430288248482,-29.133204340934753,0,0,-1.563828472219383],[-7.408698541390257,-211.45418150548244,-29.133204340934753,0,0,-1.563828472219383],[-7.373859550425579,-216.45406012848005,-29.133204340934753,0,0,-1.563828472219383],[-7.373859550425579,-216.45406012848005,-27.133204340934753,0,0,-1.563828472219383],[-7.339020559460901,-221.45393875147766,-27.133204340934753,0,0,-1.563828472219383]]},{"id":4,"instruction":"up and down shake turn left side view.","completed_instruction":"Turn left to face the road between the red high-rise building and the deep building with two different roofs on the right, then fly forward along the road to the lower roof of the building on the right with two different roofs.","start_frame":72,"end_frame":88,"start_position":[-7.339020559460901,-221.45393875147766,-27.133204340934753],"start_rotation":[0.70956599347521432,0,0,-0.70463898622169086],"end_position":[-42.23365394755021,-236.69744755722311,-27.133204340934753],"end_rotation":[0.0034839202399210177,0,0,-0.9999939311314654],"actions":[1,1,1,2,2,2,2,2,2,1,1,1,1,1,1,1,1],"reference_path":[[-7.339020559460901,-221.45393875147766,-27.133204340934753,0,0,-1.563828472219383],[-7.304181568496223,-226.45381737447528,-27.133204340934753,0,0,-1.563828472219383],[-7.269342577531545,-231.4536959974729,-27.133204340934753,0,0,-1.563828472219383],[-7.234503586566867,-236.4535746204705,-27.133204340934753,0,0,-1.563828472219383],[-7.234503586566867,-236.4535746204705,-27.133204340934753,0,0,-1.8256278600185323],[-7.234503586566867,-236.4535746204705,-27.133204340934753,0,0,-2.087427247817682],[-7.234503586566867,-236.4535746204705,-27.133204340934753,0,0,-2.349226635616832],[-7.234503586566867,-236.4535746204705,-27.133204340934753,0,0,-2.6110260234159814],[-7.234503586566867,-236.4535746204705,-27.133204340934753,0,0,-2.872825411215131],[-7.234503586566867,-236.4535746204705,-27.133204340934753,0,0,-3.134624799014281],[-12.234382209564487,-236.48841361143516,-27.133204340934753,0,0,-3.134624799014281],[-17.234260832562107,-236.52325260239982,-27.133204340934753,0,0,-3.134624799014281],[-22.234139455559728,-236.55809159336448,-27.133204340934753,0,0,-3.134624799014281],[-27.234018078557348,-236.59293058432914,-27.133204340934753,0,0,-3.134624799014281],[-32.23389670155497,-236.6277695752938,-27.133204340934753,0,0,-3.134624799014281],[-37.23377532455259,-236.66260856625846,-27.133204340934753,0,0,-3.134624799014281],[-42.23365394755021,-236.69744755722311,-27.133204340934753,0,0,-3.134624799014281]]},{"id":5,"instruction":"turn right side roof top on building.","completed_instruction":"Turn right to face the last building on the right front, then fly forward until you fly past the lower roof platform and stop.","start_frame":88,"end_frame":99,"start_position":[-42.23365394755021,-236.69744755722311,-27.133204340934753],"start_rotation":[0.0034839202399210177,0,0,-0.9999939311314654],"end_position":[-80.82787180797627,-244.642938060703,-27.133204340934753],"end_rotation":[0.13397951489305643,0,0,-0.99098410158237216],"actions":[1,1,1,3,1,1,3,1,2,1,1,1],"reference_path":[[-42.23365394755021,-236.69744755722311,-27.133204340934753,0,0,-3.134624799014281],[-47.23353257054783,-236.73228654818777,-27.133204340934753,0,0,-3.134624799014281],[-52.23341119354545,-236.76712553915243,-27.133204340934753,0,0,-3.134624799014281],[-57.23328981654307,-236.8019645301171,-27.133204340934753,0,0,-3.134624799014281],[-57.23328981654307,-236.8019645301171,-27.133204340934753,0,0,-2.8728254112151315],[-62.053784712433284,-238.12968022208446,-27.133204340934753,0,0,-2.8728254112151315],[-66.87427960832349,-239.45739591405183,-27.133204340934753,0,0,-2.8728254112151315],[-66.87427960832349,-239.45739591405183,-27.133204340934753,0,0,-2.6110260234159823],[-71.18688201619585,-241.98750667676825,-27.133204340934753,0,0,-2.6110260234159823],[-71.18688201619585,-241.98750667676825,-27.133204340934753,0,0,-2.872825411215132],[-76.00737691208606,-243.31522236873562,-27.133204340934753,0,0,-2.872825411215132],[-80.82787180797627,-244.642938060703,-27.133204340934753,0,0,-2.872825411215132]]},{"id":6,"instruction":"turn left side road view and shake.","completed_instruction":"Turn right to face the roof of the lower restaurant, then fly forward above the roof of the restaurant, and after descending to the height of roof ahead, stop.","start_frame":99,"end_frame":117,"start_position":[-80.82787180797627,-244.642938060703,-27.133204340934753],"start_rotation":[0.13397951489305643,0,0,-0.99098410158237216],"end_position":[-89.9784937277774,-267.9080647201659,-21.133204340934753],"end_rotation":[0.79546940179791792,0,0,-0.60599375475598971],"actions":[1,1,1,3,3,3,3,3,3,2,3,1,1,1,1,5,5,5,0],"reference_path":[[-80.82787180797627,-244.642938060703,-27.133204340934753,0,0,-2.872825411215132],[-85.64836670386647,-245.97065375267036,-27.133204340934753,0,0,-2.872825411215132],[-90.46886159975668,-247.29836944463773,-27.133204340934753,0,0,-2.872825411215132],[-95.28935649564689,-248.6260851366051,-27.133204340934753,0,0,-2.872825411215132],[-95.28935649564689,-248.6260851366051,-27.133204340934753,0,0,-2.6110260234159828],[-95.28935649564689,-248.6260851366051,-27.133204340934753,0,0,-2.349226635616833],[-95.28935649564689,-248.6260851366051,-27.133204340934753,0,0,-2.0874272478176836],[-95.28935649564689,-248.6260851366051,-27.133204340934753,0,0,-1.8256278600185343],[-95.28935649564689,-248.6260851366051,-27.133204340934753,0,0,-1.563828472219385],[-95.28935649564689,-248.6260851366051,-27.133204340934753,0,0,-1.3020290844202356],[-95.28935649564689,-248.6260851366051,-27.133204340934753,0,0,-1.5638284722193851],[-95.28935649564689,-248.6260851366051,-27.133204340934753,0,0,-1.3020290844202358],[-93.96164080367951,-253.44658003249532,-27.133204340934753,0,0,-1.3020290844202358],[-92.63392511171214,-258.2670749283855,-27.133204340934753,0,0,-1.3020290844202358],[-91.30620941974477,-263.0875698242757,-27.133204340934753,0,0,-1.3020290844202358],[-89.9784937277774,-267.9080647201659,-27.133204340934753,0,0,-1.3020290844202358],[-89.9784937277774,-267.9080647201659,-25.133204340934753,0,0,-1.3020290844202358],[-89.9784937277774,-267.9080647201659,-23.133204340934753,0,0,-1.3020290844202358],[-89.9784937277774,-267.9080647201659,-21.133204340934753,0,0,-1.3020290844202358]]}],"statistics":{"complete_actions":122,"sentence_actions":[8,34,16,16,17,12,19],"sentence_actions_average":17.43}}
diff --git a/scene_11/39GHHAVOMOP8ZV27ILH5P0TVAJSJ49.json b/scene_11/39GHHAVOMOP8ZV27ILH5P0TVAJSJ49.json
new file mode 100644
index 0000000000000000000000000000000000000000..4c688a5efef27a7afc00f379637a2b330b893e90
--- /dev/null
+++ b/scene_11/39GHHAVOMOP8ZV27ILH5P0TVAJSJ49.json
@@ -0,0 +1 @@
+{"episode_id":"39GHHAVOMOP8ZV27ILH5P0TVAJSJ49","trajectory_id":"3OZ4VAIBF5D47OOTCEDQ97YKU3TJVH","scene_id":11,"instruction":"turn left and go between cylinder buildings. go left passed purple building to park areas. go left over dark blue building to next street and then turn right and go over roof again. go over parks and land on other side of park.","sentence_instructions":[{"id":0,"instruction":"turn left and go between cylinder buildings.","completed_instruction":"Turn left to face the gap between the two cylindrical glass-walled buildings, then fly forward over the gap to the white cylindrical building on the left that has the word \"HOTEL\" written on it.","start_frame":1,"end_frame":29,"start_position":[124.5847396850586,-266.15496826171875,-26.911251068115234],"start_rotation":[0.999971415103458,0,0,0.0075610168620223956],"end_position":[64.59159996217716,-267.06226434945506,-30.911251068115234],"end_rotation":[0.0075610168620223895,0,0,-0.999971415103458],"actions":[4,4,2,2,2,2,2,2,2,2,2,2,2,2,1,1,1,1,4,1,1,1,1,1,5,1,1,1,1],"reference_path":[[124.5847396850586,-266.15496826171875,-26.911251068115234,0,0,0.0151221778129488],[124.5847396850586,-266.15496826171875,-28.911251068115234,0,0,0.0151221778129488],[124.5847396850586,-266.15496826171875,-30.911251068115234,0,0,0.0151221778129488],[124.5847396850586,-266.15496826171875,-30.911251068115234,0,0,-0.24667720998620063],[124.5847396850586,-266.15496826171875,-30.911251068115234,0,0,-0.50847659778535],[124.5847396850586,-266.15496826171875,-30.911251068115234,0,0,-0.7702759855844995],[124.5847396850586,-266.15496826171875,-30.911251068115234,0,0,-1.032075373383649],[124.5847396850586,-266.15496826171875,-30.911251068115234,0,0,-1.2938747611827983],[124.5847396850586,-266.15496826171875,-30.911251068115234,0,0,-1.555674148981948],[124.5847396850586,-266.15496826171875,-30.911251068115234,0,0,-1.8174735367810975],[124.5847396850586,-266.15496826171875,-30.911251068115234,0,0,-2.079272924580247],[124.5847396850586,-266.15496826171875,-30.911251068115234,0,0,-2.341072312379396],[124.5847396850586,-266.15496826171875,-30.911251068115234,0,0,-2.6028717001785457],[124.5847396850586,-266.15496826171875,-30.911251068115234,0,0,-2.8646710879776953],[124.5847396850586,-266.15496826171875,-30.911251068115234,0,0,-3.1264704757768444],[119.58531137481847,-266.2305762690301,-30.911251068115234,0,0,-3.1264704757768444],[114.58588306457835,-266.30618427634147,-30.911251068115234,0,0,-3.1264704757768444],[109.58645475433823,-266.3817922836528,-30.911251068115234,0,0,-3.1264704757768444],[104.58702644409811,-266.4574002909642,-30.911251068115234,0,0,-3.1264704757768444],[104.58702644409811,-266.4574002909642,-32.911251068115234,0,0,-3.1264704757768444],[99.587598133858,-266.53300829827555,-32.911251068115234,0,0,-3.1264704757768444],[94.58816982361787,-266.6086163055869,-32.911251068115234,0,0,-3.1264704757768444],[89.58874151337776,-266.68422431289827,-32.911251068115234,0,0,-3.1264704757768444],[84.58931320313764,-266.7598323202096,-32.911251068115234,0,0,-3.1264704757768444],[79.58988489289752,-266.835440327521,-32.911251068115234,0,0,-3.1264704757768444],[79.58988489289752,-266.835440327521,-30.911251068115234,0,0,-3.1264704757768444],[74.5904565826574,-266.91104833483234,-30.911251068115234,0,0,-3.1264704757768444],[69.59102827241728,-266.9866563421437,-30.911251068115234,0,0,-3.1264704757768444],[64.59159996217716,-267.06226434945506,-30.911251068115234,0,0,-3.1264704757768444]]},{"id":1,"instruction":"go left passed purple building to park areas.","completed_instruction":"Fly forward over the white cylindrical building, turn left to face a dark red building, then fly forward to the  front of the red building, then turn left to face a park and fly forward to its top.","start_frame":29,"end_frame":62,"start_position":[64.59159996217716,-267.06226434945506,-30.911251068115234],"start_rotation":[0.0075610168620223895,0,0,-0.999971415103458],"end_position":[-30.372622151169264,-197.15546992447713,-30.911251068115234],"end_rotation":[0.49343767487077522,0,0,0.86978115696887981],"actions":[1,1,1,2,1,1,1,1,2,4,1,1,1,1,6,1,1,1,1,1,2,1,1,6,1,5,1,2,1,1,1,1,1,5],"reference_path":[[64.59159996217716,-267.06226434945506,-30.911251068115234,0,0,-3.1264704757768444],[59.592171651937036,-267.1378723567664,-30.911251068115234,0,0,-3.1264704757768444],[54.59274334169692,-267.2134803640778,-30.911251068115234,0,0,-3.1264704757768444],[49.5933150314568,-267.28908837138914,-30.911251068115234,0,0,-3.1264704757768444],[49.5933150314568,-267.28908837138914,-30.911251068115234,0,0,2.894915443603592],[44.74466931766071,-266.0681728370106,-30.911251068115234,0,0,2.894915443603592],[39.89602360386462,-264.84725730263204,-30.911251068115234,0,0,2.894915443603592],[35.04737789006853,-263.6263417682535,-30.911251068115234,0,0,2.894915443603592],[30.198732176272447,-262.40542623387495,-30.911251068115234,0,0,2.894915443603592],[30.198732176272447,-262.40542623387495,-30.911251068115234,0,0,2.633116055804443],[30.198732176272447,-262.40542623387495,-32.911251068115234,0,0,2.633116055804443],[25.831296251549702,-259.97119053381607,-32.911251068115234,0,0,2.633116055804443],[21.46386032682696,-257.5369548337572,-32.911251068115234,0,0,2.633116055804443],[17.09642440210422,-255.10271913369832,-32.911251068115234,0,0,2.633116055804443],[12.728988477381476,-252.66848343363944,-32.911251068115234,0,0,2.633116055804443],[15.163224177440366,-248.3010475089167,-32.911251068115234,0,0,2.633116055804443],[10.795788252717623,-245.86681180885782,-32.911251068115234,0,0,2.633116055804443],[6.4283523279948795,-243.43257610879894,-32.911251068115234,0,0,2.633116055804443],[2.0609164032721363,-240.99834040874006,-32.911251068115234,0,0,2.633116055804443],[-2.306519521450607,-238.56410470868119,-32.911251068115234,0,0,2.633116055804443],[-6.67395544617335,-236.1298690086223,-32.911251068115234,0,0,2.633116055804443],[-6.67395544617335,-236.1298690086223,-32.911251068115234,0,0,2.3713166680052935],[-10.262548041082018,-232.64820228307738,-32.911251068115234,0,0,2.3713166680052935],[-13.851140635990687,-229.16653555753246,-32.911251068115234,0,0,2.3713166680052935],[-10.36947391044577,-225.57794296262378,-32.911251068115234,0,0,2.3713166680052935],[-13.958066505354438,-222.09627623707885,-32.911251068115234,0,0,2.3713166680052935],[-13.958066505354438,-222.09627623707885,-30.911251068115234,0,0,2.3713166680052935],[-17.546659100263106,-218.61460951153393,-30.911251068115234,0,0,2.3713166680052935],[-17.546659100263106,-218.61460951153393,-30.911251068115234,0,0,2.109517280206144],[-20.111851710444338,-214.32278159412255,-30.911251068115234,0,0,2.109517280206144],[-22.67704432062557,-210.0309536767112,-30.911251068115234,0,0,2.109517280206144],[-25.2422369308068,-205.73912575929984,-30.911251068115234,0,0,2.109517280206144],[-27.807429540988032,-201.44729784188848,-30.911251068115234,0,0,2.109517280206144],[-30.372622151169264,-197.15546992447713,-30.911251068115234,0,0,2.109517280206144]]},{"id":2,"instruction":"go left over dark blue building to next street and then turn right and go over roof again.","completed_instruction":"Turn left to face the short dark blue building in front of two connected glass curtain wall cylindrical buildings, then fly forward to the roof of the red short building with the \"HOTEL\" sign on the the street left to this dark blue building, then turn right to face the mentioned dark blue building, and fly forward over its roof to the park area.","start_frame":62,"end_frame":110,"start_position":[-30.372622151169264,-197.15546992447713,-30.911251068115234],"start_rotation":[0.49343767487077522,0,0,0.86978115696887981],"end_position":[-36.98849202686453,-141.35838347961288,-18.911251068115234],"end_rotation":[0.26611502824692784,0,0,-0.9639412802350239],"actions":[5,2,1,1,6,1,2,1,2,1,5,1,2,1,1,5,1,1,6,5,1,1,5,1,5,1,1,6,1,3,3,3,3,3,3,3,3,3,1,1,1,1,1,1,1,1,3,1,1],"reference_path":[[-30.372622151169264,-197.15546992447713,-30.911251068115234,0,0,2.109517280206144],[-30.372622151169264,-197.15546992447713,-28.911251068115234,0,0,2.109517280206144],[-30.372622151169264,-197.15546992447713,-28.911251068115234,0,0,1.8477178924069946],[-31.73960113942043,-192.3459617951899,-28.911251068115234,0,0,1.8477178924069946],[-33.1065801276716,-187.53645366590268,-28.911251068115234,0,0,1.8477178924069946],[-28.297071998384382,-186.16947467765152,-28.911251068115234,0,0,1.8477178924069946],[-29.664050986635548,-181.3599665483643,-28.911251068115234,0,0,1.8477178924069946],[-29.664050986635548,-181.3599665483643,-28.911251068115234,0,0,1.5859185046078452],[-29.739658993946925,-176.36053823812418,-28.911251068115234,0,0,1.5859185046078452],[-29.739658993946925,-176.36053823812418,-28.911251068115234,0,0,1.3241191168086959],[-28.518743459568377,-171.5118925243281,-28.911251068115234,0,0,1.3241191168086959],[-28.518743459568377,-171.5118925243281,-26.911251068115234,0,0,1.3241191168086959],[-27.29782792518983,-166.663246810532,-26.911251068115234,0,0,1.3241191168086959],[-27.29782792518983,-166.663246810532,-26.911251068115234,0,0,1.0623197290095463],[-24.863592225130937,-162.29581088580926,-26.911251068115234,0,0,1.0623197290095463],[-22.429356525072045,-157.92837496108652,-26.911251068115234,0,0,1.0623197290095463],[-22.429356525072045,-157.92837496108652,-24.911251068115234,0,0,1.0623197290095463],[-19.995120825013153,-153.56093903636378,-24.911251068115234,0,0,1.0623197290095463],[-17.56088512495426,-149.19350311164104,-24.911251068115234,0,0,1.0623197290095463],[-13.193449200231518,-151.6277388116999,-24.911251068115234,0,0,1.0623197290095463],[-13.193449200231518,-151.6277388116999,-22.911251068115234,0,0,1.0623197290095463],[-10.759213500172628,-147.26030288697717,-22.911251068115234,0,0,1.0623197290095463],[-8.324977800113738,-142.89286696225443,-22.911251068115234,0,0,1.0623197290095463],[-8.324977800113738,-142.89286696225443,-20.911251068115234,0,0,1.0623197290095463],[-5.890742100054847,-138.5254310375317,-20.911251068115234,0,0,1.0623197290095463],[-5.890742100054847,-138.5254310375317,-18.911251068115234,0,0,1.0623197290095463],[-3.456506399995957,-134.15799511280895,-18.911251068115234,0,0,1.0623197290095463],[-1.0222706999370663,-129.7905591880862,-18.911251068115234,0,0,1.0623197290095463],[3.345165224785677,-132.22479488814508,-18.911251068115234,0,0,1.0623197290095463],[5.779400924844568,-127.85735896342234,-18.911251068115234,0,0,1.0623197290095463],[5.779400924844568,-127.85735896342234,-18.911251068115234,0,0,1.3241191168086957],[5.779400924844568,-127.85735896342234,-18.911251068115234,0,0,1.5859185046078452],[5.779400924844568,-127.85735896342234,-18.911251068115234,0,0,1.8477178924069948],[5.779400924844568,-127.85735896342234,-18.911251068115234,0,0,2.1095172802061444],[5.779400924844568,-127.85735896342234,-18.911251068115234,0,0,2.3713166680052935],[5.779400924844568,-127.85735896342234,-18.911251068115234,0,0,2.633116055804443],[5.779400924844568,-127.85735896342234,-18.911251068115234,0,0,2.894915443603592],[5.779400924844568,-127.85735896342234,-18.911251068115234,0,0,-3.1264704757768444],[5.779400924844568,-127.85735896342234,-18.911251068115234,0,0,-2.8646710879776953],[0.9698927955573522,-129.2243379516735,-18.911251068115234,0,0,-2.8646710879776953],[-3.8396153337298635,-130.59131693992467,-18.911251068115234,0,0,-2.8646710879776953],[-8.64912346301708,-131.95829592817583,-18.911251068115234,0,0,-2.8646710879776953],[-13.458631592304297,-133.325274916427,-18.911251068115234,0,0,-2.8646710879776953],[-18.268139721591513,-134.69225390467815,-18.911251068115234,0,0,-2.8646710879776953],[-23.07764785087873,-136.05923289292932,-18.911251068115234,0,0,-2.8646710879776953],[-27.887155980165947,-137.42621188118048,-18.911251068115234,0,0,-2.8646710879776953],[-32.69666410945316,-138.79319086943164,-18.911251068115234,0,0,-2.8646710879776953],[-32.69666410945316,-138.79319086943164,-18.911251068115234,0,0,-2.6028717001785457],[-36.98849202686453,-141.35838347961288,-18.911251068115234,0,0,-2.6028717001785457]]},{"id":3,"instruction":"go over parks and land on other side of park.","completed_instruction":"Fly forward through the park and land on the sidewalk in front of the park.","start_frame":111,"end_frame":129,"start_position":[-41.280319944275895,-143.92357608979412,-18.911251068115234],"start_rotation":[0.26611502824692784,0,0,-0.9639412802350239],"end_position":[-84.19859911838958,-169.57550219160655,-2.9112510681152344],"end_rotation":[0.26611502824692784,0,0,-0.9639412802350239],"actions":[1,1,1,1,1,1,1,1,1,1,5,5,5,5,5,5,5,5,0],"reference_path":[[-41.280319944275895,-143.92357608979412,-18.911251068115234,0,0,-2.6028717001785457],[-45.57214786168726,-146.48876869997537,-18.911251068115234,0,0,-2.6028717001785457],[-49.86397577909863,-149.0539613101566,-18.911251068115234,0,0,-2.6028717001785457],[-54.15580369651,-151.61915392033785,-18.911251068115234,0,0,-2.6028717001785457],[-58.44763161392137,-154.1843465305191,-18.911251068115234,0,0,-2.6028717001785457],[-62.739459531332734,-156.74953914070034,-18.911251068115234,0,0,-2.6028717001785457],[-67.03128744874411,-159.31473175088158,-18.911251068115234,0,0,-2.6028717001785457],[-71.32311536615548,-161.87992436106282,-18.911251068115234,0,0,-2.6028717001785457],[-75.61494328356684,-164.44511697124406,-18.911251068115234,0,0,-2.6028717001785457],[-79.90677120097821,-167.0103095814253,-18.911251068115234,0,0,-2.6028717001785457],[-84.19859911838958,-169.57550219160655,-18.911251068115234,0,0,-2.6028717001785457],[-84.19859911838958,-169.57550219160655,-16.911251068115234,0,0,-2.6028717001785457],[-84.19859911838958,-169.57550219160655,-14.911251068115234,0,0,-2.6028717001785457],[-84.19859911838958,-169.57550219160655,-12.911251068115234,0,0,-2.6028717001785457],[-84.19859911838958,-169.57550219160655,-10.911251068115234,0,0,-2.6028717001785457],[-84.19859911838958,-169.57550219160655,-8.911251068115234,0,0,-2.6028717001785457],[-84.19859911838958,-169.57550219160655,-6.911251068115234,0,0,-2.6028717001785457],[-84.19859911838958,-169.57550219160655,-4.911251068115234,0,0,-2.6028717001785457],[-84.19859911838958,-169.57550219160655,-2.9112510681152344,0,0,-2.6028717001785457]]}],"statistics":{"complete_actions":131,"sentence_actions":[29,34,49,19],"sentence_actions_average":32.75}}
diff --git a/scene_11/39GXDJN2O2CI9RP3BDL190KVTB48VP.json b/scene_11/39GXDJN2O2CI9RP3BDL190KVTB48VP.json
new file mode 100644
index 0000000000000000000000000000000000000000..9ad18571083060305b47d6ced3bc6198ffee7664
--- /dev/null
+++ b/scene_11/39GXDJN2O2CI9RP3BDL190KVTB48VP.json
@@ -0,0 +1 @@
+{"episode_id":"39GXDJN2O2CI9RP3BDL190KVTB48VP","trajectory_id":"3PGQRAZX1AIEAL2O4J9O87T1CJOYS1","scene_id":11,"instruction":"rise, look the right, and fly to the windows of the large building. look to the right, fly past the buildings that say \u0027leon\u0027 and \u0027hotel\u0027 and pause. look to the left and fly to the top of the rectangular building.","sentence_instructions":[{"id":0,"instruction":"rise, look the right, and fly to the windows of the large building.","completed_instruction":"Turn right to face the \"LEON\" sign, then take off to the sign\u0027s height, and fly along the road to the red high building behind the sign.","start_frame":1,"end_frame":31,"start_position":[22.05168914794922,-13.471610069274902,-13.465291023254395],"start_rotation":[0.999647961842568,0,0,-0.026532101009905617],"end_position":[-40.15211771982502,27.197289841739245,-17.465291023254395],"end_rotation":[0.28435597251395289,0,0,0.958718770493018],"actions":[3,3,3,3,3,3,3,3,3,3,4,1,1,2,1,1,1,1,3,4,1,1,1,1,7,1,1,1,1,1,1],"reference_path":[[22.05168914794922,-13.471610069274902,-13.465291023254395,0,0,-0.05307042977141742],[22.05168914794922,-13.471610069274902,-13.465291023254395,0,0,0.208728958027732],[22.05168914794922,-13.471610069274902,-13.465291023254395,0,0,0.4705283458268814],[22.05168914794922,-13.471610069274902,-13.465291023254395,0,0,0.7323277336260309],[22.05168914794922,-13.471610069274902,-13.465291023254395,0,0,0.9941271214251802],[22.05168914794922,-13.471610069274902,-13.465291023254395,0,0,1.2559265092243297],[22.05168914794922,-13.471610069274902,-13.465291023254395,0,0,1.517725897023479],[22.05168914794922,-13.471610069274902,-13.465291023254395,0,0,1.7795252848226286],[22.05168914794922,-13.471610069274902,-13.465291023254395,0,0,2.041324672621778],[22.05168914794922,-13.471610069274902,-13.465291023254395,0,0,2.3031240604209278],[22.05168914794922,-13.471610069274902,-13.465291023254395,0,0,2.564923448220077],[22.05168914794922,-13.471610069274902,-15.465291023254395,0,0,2.564923448220077],[17.86027233899278,-10.74543598576567,-15.465291023254395,0,0,2.564923448220077],[13.668855530036337,-8.019261902256439,-15.465291023254395,0,0,2.564923448220077],[13.668855530036337,-8.019261902256439,-15.465291023254395,0,0,2.3031240604209273],[10.325843558600296,-4.301161451914179,-15.465291023254395,0,0,2.3031240604209273],[6.982831587164254,-0.5830610015719202,-15.465291023254395,0,0,2.3031240604209273],[3.6398196157282126,3.135039448770339,-15.465291023254395,0,0,2.3031240604209273],[0.296807644292171,6.853139899112598,-15.465291023254395,0,0,2.3031240604209273],[0.296807644292171,6.853139899112598,-15.465291023254395,0,0,2.5649234482200765],[0.296807644292171,6.853139899112598,-17.465291023254395,0,0,2.5649234482200765],[-3.8946091646642698,9.57931398262183,-17.465291023254395,0,0,2.5649234482200765],[-8.08602597362071,12.305488066131062,-17.465291023254395,0,0,2.5649234482200765],[-12.27744278257715,15.031662149640294,-17.465291023254395,0,0,2.5649234482200765],[-16.46885959153359,17.757836233149526,-17.465291023254395,0,0,2.5649234482200765],[-19.195033675042822,13.566419424193086,-17.465291023254395,0,0,2.5649234482200765],[-23.386450483999262,16.292593507702318,-17.465291023254395,0,0,2.5649234482200765],[-27.577867292955702,19.01876759121155,-17.465291023254395,0,0,2.5649234482200765],[-31.76928410191214,21.74494167472078,-17.465291023254395,0,0,2.5649234482200765],[-35.96070091086858,24.471115758230013,-17.465291023254395,0,0,2.5649234482200765],[-40.15211771982502,27.197289841739245,-17.465291023254395,0,0,2.5649234482200765]]},{"id":1,"instruction":"look to the right, fly past the buildings that say \u0027leon\u0027 and \u0027hotel\u0027 and pause.","completed_instruction":"Turn right to face the intersection right to red building, then fly forward along the road right to the red building to an intersection, then turn right to face the road, fly forward along the road until you pass the \"HOTEL\" sign.","start_frame":31,"end_frame":75,"start_position":[-40.15211771982502,27.197289841739245,-17.465291023254395],"start_rotation":[0.28435597251395289,0,0,0.958718770493018],"end_position":[-96.75302168125258,-91.75954052819941,-23.465291023254395],"end_rotation":[0.6880968240749602,0,0,-0.72561888116142159],"actions":[1,7,1,3,3,3,3,3,1,1,1,2,1,1,4,1,1,3,1,3,1,1,4,3,1,1,3,1,1,1,1,1,1,1,1,4,1,1,1,1,1,1,1,1,1],"reference_path":[[-40.15211771982502,27.197289841739245,-17.465291023254395,0,0,2.5649234482200765],[-44.34353452878146,29.923463925248477,-17.465291023254395,0,0,2.5649234482200765],[-47.0697086122907,25.732047116292037,-17.465291023254395,0,0,2.5649234482200765],[-51.26112542124714,28.45822119980127,-17.465291023254395,0,0,2.5649234482200765],[-51.26112542124714,28.45822119980127,-17.465291023254395,0,0,2.826722836019226],[-51.26112542124714,28.45822119980127,-17.465291023254395,0,0,3.0885222238183756],[-51.26112542124714,28.45822119980127,-17.465291023254395,0,0,-2.932863695562061],[-51.26112542124714,28.45822119980127,-17.465291023254395,0,0,-2.6710643077629115],[-51.26112542124714,28.45822119980127,-17.465291023254395,0,0,-2.409264919963762],[-54.97922587158939,25.115209228365224,-17.465291023254395,0,0,-2.409264919963762],[-58.69732632193165,21.77219725692918,-17.465291023254395,0,0,-2.409264919963762],[-62.415426772273904,18.429185285493134,-17.465291023254395,0,0,-2.409264919963762],[-62.415426772273904,18.429185285493134,-17.465291023254395,0,0,-2.6710643077629115],[-66.87207118820987,16.16239889284236,-17.465291023254395,0,0,-2.6710643077629115],[-71.32871560414584,13.89561250019159,-17.465291023254395,0,0,-2.6710643077629115],[-71.32871560414584,13.89561250019159,-19.465291023254395,0,0,-2.6710643077629115],[-75.78536002008181,11.628826107540817,-19.465291023254395,0,0,-2.6710643077629115],[-80.24200443601778,9.362039714890045,-19.465291023254395,0,0,-2.6710643077629115],[-80.24200443601778,9.362039714890045,-19.465291023254395,0,0,-2.409264919963762],[-83.96010488636004,6.019027743454001,-19.465291023254395,0,0,-2.409264919963762],[-83.96010488636004,6.019027743454001,-19.465291023254395,0,0,-2.147465532164613],[-86.68627896986928,1.8276109344975584,-19.465291023254395,0,0,-2.147465532164613],[-89.41245305337851,-2.363805874458884,-19.465291023254395,0,0,-2.147465532164613],[-89.41245305337851,-2.363805874458884,-21.465291023254395,0,0,-2.147465532164613],[-89.41245305337851,-2.363805874458884,-21.465291023254395,0,0,-1.8856661443654632],[-90.96091651147925,-7.117989392049124,-21.465291023254395,0,0,-1.8856661443654632],[-92.50937996958,-11.872172909639364,-21.465291023254395,0,0,-1.8856661443654632],[-92.50937996958,-11.872172909639364,-21.465291023254395,0,0,-1.6238667565663139],[-92.77460757655953,-16.865133385799364,-21.465291023254395,0,0,-1.6238667565663139],[-93.03983518353907,-21.858093861959365,-21.465291023254395,0,0,-1.6238667565663139],[-93.3050627905186,-26.851054338119365,-21.465291023254395,0,0,-1.6238667565663139],[-93.57029039749814,-31.844014814279365,-21.465291023254395,0,0,-1.6238667565663139],[-93.83551800447768,-36.83697529043937,-21.465291023254395,0,0,-1.6238667565663139],[-94.10074561145721,-41.82993576659937,-21.465291023254395,0,0,-1.6238667565663139],[-94.36597321843675,-46.82289624275937,-21.465291023254395,0,0,-1.6238667565663139],[-94.63120082541629,-51.81585671891937,-21.465291023254395,0,0,-1.6238667565663139],[-94.63120082541629,-51.81585671891937,-23.465291023254395,0,0,-1.6238667565663139],[-94.89642843239582,-56.80881719507937,-23.465291023254395,0,0,-1.6238667565663139],[-95.16165603937536,-61.80177767123937,-23.465291023254395,0,0,-1.6238667565663139],[-95.4268836463549,-66.79473814739937,-23.465291023254395,0,0,-1.6238667565663139],[-95.69211125333443,-71.78769862355938,-23.465291023254395,0,0,-1.6238667565663139],[-95.95733886031397,-76.78065909971939,-23.465291023254395,0,0,-1.6238667565663139],[-96.2225664672935,-81.7736195758794,-23.465291023254395,0,0,-1.6238667565663139],[-96.48779407427304,-86.7665800520394,-23.465291023254395,0,0,-1.6238667565663139],[-96.75302168125258,-91.75954052819941,-23.465291023254395,0,0,-1.6238667565663139]]},{"id":2,"instruction":"look to the left and fly to the top of the rectangular building.","completed_instruction":"Turn left to face the dark red building with yellow light windows, then fly over the building, then fly to the \"D\"-shaped flat roof building at the front right side, and land on its roof.","start_frame":75,"end_frame":107,"start_position":[-96.75302168125258,-91.75954052819941,-23.465291023254395],"start_rotation":[0.6880968240749602,0,0,-0.72561888116142159],"end_position":[-182.40340553357257,-140.58551673017584,-21.465291023254395],"end_rotation":[0.23309988933159659,0,0,-0.97245279658891282],"actions":[1,1,2,2,1,2,2,1,4,2,1,1,4,1,1,1,3,1,1,1,1,1,1,5,1,1,1,5,1,1,1,5,0],"reference_path":[[-96.75302168125258,-91.75954052819941,-23.465291023254395,0,0,-1.6238667565663139],[-97.01824928823211,-96.75250100435942,-23.465291023254395,0,0,-1.6238667565663139],[-97.28347689521165,-101.74546148051942,-23.465291023254395,0,0,-1.6238667565663139],[-97.28347689521165,-101.74546148051942,-23.465291023254395,0,0,-1.8856661443654632],[-97.28347689521165,-101.74546148051942,-23.465291023254395,0,0,-2.147465532164613],[-100.00965097872088,-105.93687828947587,-23.465291023254395,0,0,-2.147465532164613],[-100.00965097872088,-105.93687828947587,-23.465291023254395,0,0,-2.409264919963762],[-100.00965097872088,-105.93687828947587,-23.465291023254395,0,0,-2.6710643077629115],[-104.46629539465685,-108.20366468212664,-23.465291023254395,0,0,-2.6710643077629115],[-104.46629539465685,-108.20366468212664,-25.465291023254395,0,0,-2.6710643077629115],[-104.46629539465685,-108.20366468212664,-25.465291023254395,0,0,-2.932863695562061],[-109.35777082419364,-109.23974774937463,-25.465291023254395,0,0,-2.932863695562061],[-114.24924625373042,-110.27583081662262,-25.465291023254395,0,0,-2.932863695562061],[-114.24924625373042,-110.27583081662262,-27.465291023254395,0,0,-2.932863695562061],[-119.1407216832672,-111.3119138838706,-27.465291023254395,0,0,-2.932863695562061],[-124.03219711280398,-112.34799695111859,-27.465291023254395,0,0,-2.932863695562061],[-128.92367254234077,-113.38408001836657,-27.465291023254395,0,0,-2.932863695562061],[-128.92367254234077,-113.38408001836657,-27.465291023254395,0,0,-2.6710643077629115],[-133.38031695827675,-115.65086641101735,-27.465291023254395,0,0,-2.6710643077629115],[-137.83696137421273,-117.91765280366812,-27.465291023254395,0,0,-2.6710643077629115],[-142.29360579014872,-120.18443919631889,-27.465291023254395,0,0,-2.6710643077629115],[-146.7502502060847,-122.45122558896966,-27.465291023254395,0,0,-2.6710643077629115],[-151.20689462202068,-124.71801198162044,-27.465291023254395,0,0,-2.6710643077629115],[-155.66353903795667,-126.98479837427121,-27.465291023254395,0,0,-2.6710643077629115],[-155.66353903795667,-126.98479837427121,-25.465291023254395,0,0,-2.6710643077629115],[-160.12018345389265,-129.25158476692198,-25.465291023254395,0,0,-2.6710643077629115],[-164.57682786982863,-131.51837115957275,-25.465291023254395,0,0,-2.6710643077629115],[-169.03347228576462,-133.78515755222352,-25.465291023254395,0,0,-2.6710643077629115],[-169.03347228576462,-133.78515755222352,-23.465291023254395,0,0,-2.6710643077629115],[-173.4901167017006,-136.0519439448743,-23.465291023254395,0,0,-2.6710643077629115],[-177.94676111763658,-138.31873033752507,-23.465291023254395,0,0,-2.6710643077629115],[-182.40340553357257,-140.58551673017584,-23.465291023254395,0,0,-2.6710643077629115],[-182.40340553357257,-140.58551673017584,-21.465291023254395,0,0,-2.6710643077629115]]}],"statistics":{"complete_actions":109,"sentence_actions":[31,45,33],"sentence_actions_average":36.33}}
diff --git a/scene_11/39JEC75373ZKLUFGSP16BMGEJ1CVC3.json b/scene_11/39JEC75373ZKLUFGSP16BMGEJ1CVC3.json
new file mode 100644
index 0000000000000000000000000000000000000000..4112efc6d43e5de67db7ffa1f28e4bb8cb41405d
--- /dev/null
+++ b/scene_11/39JEC75373ZKLUFGSP16BMGEJ1CVC3.json
@@ -0,0 +1 @@
+{"episode_id":"39JEC75373ZKLUFGSP16BMGEJ1CVC3","trajectory_id":"3PGQRAZX1AIEAL2O4J9O87T1CJOYS1","scene_id":11,"instruction":"turn the cam to the right facing the tall building... then tilt the cam to the right facing the blue tall building.... then go straight towards the tall building once you get closer towards the building turn the cam to the right facing the tall building. then turn the cam to the left and then immediately left once after you moved... then go straight towards the path between the building at a distance... then turn the cam to the left facing the small building fly over its roof then turn to your right facing the small building. go straight towards the roof of the small building.... then pause the cam facing the roof and the building...","sentence_instructions":[{"id":0,"instruction":"turn the cam to the right facing the tall building... then tilt the cam to the right facing the blue tall building...","completed_instruction":"Turn right to face the \"LEON\" sign and then take off to its height.","start_frame":1,"end_frame":9,"start_position":[22.05168914794922,-13.471610069274902,-13.465291023254395],"start_rotation":[0.999647961842568,0,0,-0.026532101009905617],"end_position":[22.05168914794922,-13.471610069274902,-13.465291023254395],"end_rotation":[0.522801454411637,0,0,0.85245447929204821],"actions":[3,3,3,3,3,3,3,3,3],"reference_path":[[22.05168914794922,-13.471610069274902,-13.465291023254395,0,0,-0.05307042977141742],[22.05168914794922,-13.471610069274902,-13.465291023254395,0,0,0.208728958027732],[22.05168914794922,-13.471610069274902,-13.465291023254395,0,0,0.4705283458268814],[22.05168914794922,-13.471610069274902,-13.465291023254395,0,0,0.7323277336260309],[22.05168914794922,-13.471610069274902,-13.465291023254395,0,0,0.9941271214251802],[22.05168914794922,-13.471610069274902,-13.465291023254395,0,0,1.2559265092243297],[22.05168914794922,-13.471610069274902,-13.465291023254395,0,0,1.517725897023479],[22.05168914794922,-13.471610069274902,-13.465291023254395,0,0,1.7795252848226286],[22.05168914794922,-13.471610069274902,-13.465291023254395,0,0,2.041324672621778]]},{"id":1,"instruction":"then go straight towards the tall building once you get closer towards the building turn the cam to the right facing the tall building.","completed_instruction":"Fly forward to the red building behind the sign, then turn right to face the terrace of the building right to the red building.","start_frame":9,"end_frame":36,"start_position":[22.05168914794922,-13.471610069274902,-13.465291023254395],"start_rotation":[0.522801454411637,0,0,0.85245447929204821],"end_position":[-51.26112542124714,28.45822119980127,-17.465291023254395],"end_rotation":[0.026532101009905724,0,0,0.999647961842568],"actions":[3,3,4,1,1,2,1,1,1,1,3,4,1,1,1,1,7,1,1,1,1,1,1,7,1,3,3,3],"reference_path":[[22.05168914794922,-13.471610069274902,-13.465291023254395,0,0,2.041324672621778],[22.05168914794922,-13.471610069274902,-13.465291023254395,0,0,2.3031240604209278],[22.05168914794922,-13.471610069274902,-13.465291023254395,0,0,2.564923448220077],[22.05168914794922,-13.471610069274902,-15.465291023254395,0,0,2.564923448220077],[17.86027233899278,-10.74543598576567,-15.465291023254395,0,0,2.564923448220077],[13.668855530036337,-8.019261902256439,-15.465291023254395,0,0,2.564923448220077],[13.668855530036337,-8.019261902256439,-15.465291023254395,0,0,2.3031240604209273],[10.325843558600296,-4.301161451914179,-15.465291023254395,0,0,2.3031240604209273],[6.982831587164254,-0.5830610015719202,-15.465291023254395,0,0,2.3031240604209273],[3.6398196157282126,3.135039448770339,-15.465291023254395,0,0,2.3031240604209273],[0.296807644292171,6.853139899112598,-15.465291023254395,0,0,2.3031240604209273],[0.296807644292171,6.853139899112598,-15.465291023254395,0,0,2.5649234482200765],[0.296807644292171,6.853139899112598,-17.465291023254395,0,0,2.5649234482200765],[-3.8946091646642698,9.57931398262183,-17.465291023254395,0,0,2.5649234482200765],[-8.08602597362071,12.305488066131062,-17.465291023254395,0,0,2.5649234482200765],[-12.27744278257715,15.031662149640294,-17.465291023254395,0,0,2.5649234482200765],[-16.46885959153359,17.757836233149526,-17.465291023254395,0,0,2.5649234482200765],[-19.195033675042822,13.566419424193086,-17.465291023254395,0,0,2.5649234482200765],[-23.386450483999262,16.292593507702318,-17.465291023254395,0,0,2.5649234482200765],[-27.577867292955702,19.01876759121155,-17.465291023254395,0,0,2.5649234482200765],[-31.76928410191214,21.74494167472078,-17.465291023254395,0,0,2.5649234482200765],[-35.96070091086858,24.471115758230013,-17.465291023254395,0,0,2.5649234482200765],[-40.15211771982502,27.197289841739245,-17.465291023254395,0,0,2.5649234482200765],[-44.34353452878146,29.923463925248477,-17.465291023254395,0,0,2.5649234482200765],[-47.0697086122907,25.732047116292037,-17.465291023254395,0,0,2.5649234482200765],[-51.26112542124714,28.45822119980127,-17.465291023254395,0,0,2.5649234482200765],[-51.26112542124714,28.45822119980127,-17.465291023254395,0,0,2.826722836019226],[-51.26112542124714,28.45822119980127,-17.465291023254395,0,0,3.0885222238183756]]},{"id":2,"instruction":"then turn the cam to the left and then immediately left once after you moved... then go straight towards the path between the building at a distance... then turn the cam to the left facing the small building fly over its roof then turn to your right facing the small building.","completed_instruction":"Fly forward to the left corner of the terrace wall, then turn right to face the road, then fly towards the \"LEON\" sign, then turn right to face the \"HOTEL\" sign, then fly along the road to the edge of the hotel building roof on the left side of the road, then turn left to face the dark building with yellow lights shining on the middle window.","start_frame":36,"end_frame":79,"start_position":[-51.26112542124714,28.45822119980127,-17.465291023254395],"start_rotation":[0.026532101009905724,0,0,0.999647961842568],"end_position":[-97.28347689521165,-101.74546148051942,-23.465291023254395],"end_rotation":[0.476846507430931,0,0,-0.87898658030195376],"actions":[3,3,3,1,1,1,2,1,1,4,1,1,3,1,3,1,1,4,3,1,1,3,1,1,1,1,1,1,1,1,4,1,1,1,1,1,1,1,1,1,1,2,2,1],"reference_path":[[-51.26112542124714,28.45822119980127,-17.465291023254395,0,0,3.0885222238183756],[-51.26112542124714,28.45822119980127,-17.465291023254395,0,0,-2.932863695562061],[-51.26112542124714,28.45822119980127,-17.465291023254395,0,0,-2.6710643077629115],[-51.26112542124714,28.45822119980127,-17.465291023254395,0,0,-2.409264919963762],[-54.97922587158939,25.115209228365224,-17.465291023254395,0,0,-2.409264919963762],[-58.69732632193165,21.77219725692918,-17.465291023254395,0,0,-2.409264919963762],[-62.415426772273904,18.429185285493134,-17.465291023254395,0,0,-2.409264919963762],[-62.415426772273904,18.429185285493134,-17.465291023254395,0,0,-2.6710643077629115],[-66.87207118820987,16.16239889284236,-17.465291023254395,0,0,-2.6710643077629115],[-71.32871560414584,13.89561250019159,-17.465291023254395,0,0,-2.6710643077629115],[-71.32871560414584,13.89561250019159,-19.465291023254395,0,0,-2.6710643077629115],[-75.78536002008181,11.628826107540817,-19.465291023254395,0,0,-2.6710643077629115],[-80.24200443601778,9.362039714890045,-19.465291023254395,0,0,-2.6710643077629115],[-80.24200443601778,9.362039714890045,-19.465291023254395,0,0,-2.409264919963762],[-83.96010488636004,6.019027743454001,-19.465291023254395,0,0,-2.409264919963762],[-83.96010488636004,6.019027743454001,-19.465291023254395,0,0,-2.147465532164613],[-86.68627896986928,1.8276109344975584,-19.465291023254395,0,0,-2.147465532164613],[-89.41245305337851,-2.363805874458884,-19.465291023254395,0,0,-2.147465532164613],[-89.41245305337851,-2.363805874458884,-21.465291023254395,0,0,-2.147465532164613],[-89.41245305337851,-2.363805874458884,-21.465291023254395,0,0,-1.8856661443654632],[-90.96091651147925,-7.117989392049124,-21.465291023254395,0,0,-1.8856661443654632],[-92.50937996958,-11.872172909639364,-21.465291023254395,0,0,-1.8856661443654632],[-92.50937996958,-11.872172909639364,-21.465291023254395,0,0,-1.6238667565663139],[-92.77460757655953,-16.865133385799364,-21.465291023254395,0,0,-1.6238667565663139],[-93.03983518353907,-21.858093861959365,-21.465291023254395,0,0,-1.6238667565663139],[-93.3050627905186,-26.851054338119365,-21.465291023254395,0,0,-1.6238667565663139],[-93.57029039749814,-31.844014814279365,-21.465291023254395,0,0,-1.6238667565663139],[-93.83551800447768,-36.83697529043937,-21.465291023254395,0,0,-1.6238667565663139],[-94.10074561145721,-41.82993576659937,-21.465291023254395,0,0,-1.6238667565663139],[-94.36597321843675,-46.82289624275937,-21.465291023254395,0,0,-1.6238667565663139],[-94.63120082541629,-51.81585671891937,-21.465291023254395,0,0,-1.6238667565663139],[-94.63120082541629,-51.81585671891937,-23.465291023254395,0,0,-1.6238667565663139],[-94.89642843239582,-56.80881719507937,-23.465291023254395,0,0,-1.6238667565663139],[-95.16165603937536,-61.80177767123937,-23.465291023254395,0,0,-1.6238667565663139],[-95.4268836463549,-66.79473814739937,-23.465291023254395,0,0,-1.6238667565663139],[-95.69211125333443,-71.78769862355938,-23.465291023254395,0,0,-1.6238667565663139],[-95.95733886031397,-76.78065909971939,-23.465291023254395,0,0,-1.6238667565663139],[-96.2225664672935,-81.7736195758794,-23.465291023254395,0,0,-1.6238667565663139],[-96.48779407427304,-86.7665800520394,-23.465291023254395,0,0,-1.6238667565663139],[-96.75302168125258,-91.75954052819941,-23.465291023254395,0,0,-1.6238667565663139],[-97.01824928823211,-96.75250100435942,-23.465291023254395,0,0,-1.6238667565663139],[-97.28347689521165,-101.74546148051942,-23.465291023254395,0,0,-1.6238667565663139],[-97.28347689521165,-101.74546148051942,-23.465291023254395,0,0,-1.8856661443654632],[-97.28347689521165,-101.74546148051942,-23.465291023254395,0,0,-2.147465532164613]]},{"id":3,"instruction":"go straight towards the roof of the small building...","completed_instruction":"Fly over the dark building with yellow lights shining on the middle window.","start_frame":79,"end_frame":88,"start_position":[-97.28347689521165,-101.74546148051942,-23.465291023254395],"start_rotation":[0.476846507430931,0,0,-0.87898658030195376],"end_position":[-114.24924625373042,-110.27583081662262,-27.465291023254395],"end_rotation":[0.1041751268121241,0,0,-0.99455896906803765],"actions":[1,2,2,1,4,2,1,1,4,1],"reference_path":[[-97.28347689521165,-101.74546148051942,-23.465291023254395,0,0,-2.147465532164613],[-100.00965097872088,-105.93687828947587,-23.465291023254395,0,0,-2.147465532164613],[-100.00965097872088,-105.93687828947587,-23.465291023254395,0,0,-2.409264919963762],[-100.00965097872088,-105.93687828947587,-23.465291023254395,0,0,-2.6710643077629115],[-104.46629539465685,-108.20366468212664,-23.465291023254395,0,0,-2.6710643077629115],[-104.46629539465685,-108.20366468212664,-25.465291023254395,0,0,-2.6710643077629115],[-104.46629539465685,-108.20366468212664,-25.465291023254395,0,0,-2.932863695562061],[-109.35777082419364,-109.23974774937463,-25.465291023254395,0,0,-2.932863695562061],[-114.24924625373042,-110.27583081662262,-25.465291023254395,0,0,-2.932863695562061],[-114.24924625373042,-110.27583081662262,-27.465291023254395,0,0,-2.932863695562061]]},{"id":4,"instruction":"then pause the cam facing the roof and the building...","completed_instruction":"Fly forward to the \"D\"-shaped flat roof building at front right side, and land on the D-shaped roof.","start_frame":88,"end_frame":107,"start_position":[-114.24924625373042,-110.27583081662262,-27.465291023254395],"start_rotation":[0.1041751268121241,0,0,-0.99455896906803765],"end_position":[-182.40340553357257,-140.58551673017584,-21.465291023254395],"end_rotation":[0.23309988933159659,0,0,-0.97245279658891282],"actions":[1,1,1,3,1,1,1,1,1,1,5,1,1,1,5,1,1,1,5,0],"reference_path":[[-114.24924625373042,-110.27583081662262,-27.465291023254395,0,0,-2.932863695562061],[-119.1407216832672,-111.3119138838706,-27.465291023254395,0,0,-2.932863695562061],[-124.03219711280398,-112.34799695111859,-27.465291023254395,0,0,-2.932863695562061],[-128.92367254234077,-113.38408001836657,-27.465291023254395,0,0,-2.932863695562061],[-128.92367254234077,-113.38408001836657,-27.465291023254395,0,0,-2.6710643077629115],[-133.38031695827675,-115.65086641101735,-27.465291023254395,0,0,-2.6710643077629115],[-137.83696137421273,-117.91765280366812,-27.465291023254395,0,0,-2.6710643077629115],[-142.29360579014872,-120.18443919631889,-27.465291023254395,0,0,-2.6710643077629115],[-146.7502502060847,-122.45122558896966,-27.465291023254395,0,0,-2.6710643077629115],[-151.20689462202068,-124.71801198162044,-27.465291023254395,0,0,-2.6710643077629115],[-155.66353903795667,-126.98479837427121,-27.465291023254395,0,0,-2.6710643077629115],[-155.66353903795667,-126.98479837427121,-25.465291023254395,0,0,-2.6710643077629115],[-160.12018345389265,-129.25158476692198,-25.465291023254395,0,0,-2.6710643077629115],[-164.57682786982863,-131.51837115957275,-25.465291023254395,0,0,-2.6710643077629115],[-169.03347228576462,-133.78515755222352,-25.465291023254395,0,0,-2.6710643077629115],[-169.03347228576462,-133.78515755222352,-23.465291023254395,0,0,-2.6710643077629115],[-173.4901167017006,-136.0519439448743,-23.465291023254395,0,0,-2.6710643077629115],[-177.94676111763658,-138.31873033752507,-23.465291023254395,0,0,-2.6710643077629115],[-182.40340553357257,-140.58551673017584,-23.465291023254395,0,0,-2.6710643077629115],[-182.40340553357257,-140.58551673017584,-21.465291023254395,0,0,-2.6710643077629115]]}],"statistics":{"complete_actions":111,"sentence_actions":[9,28,44,10,20],"sentence_actions_average":22.2}}
diff --git a/scene_11/3AQF3RZ55HG69GKPIJJZ70LIZLDF67.json b/scene_11/3AQF3RZ55HG69GKPIJJZ70LIZLDF67.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb867c49b2b5a2ed30920ff70a1459f650874b16
--- /dev/null
+++ b/scene_11/3AQF3RZ55HG69GKPIJJZ70LIZLDF67.json
@@ -0,0 +1 @@
+{"episode_id":"3AQF3RZ55HG69GKPIJJZ70LIZLDF67","trajectory_id":"3MQKOF1EFAM4JRO6SSWBSBML08FDWO","scene_id":11,"instruction":"elevate the came little... and then turn to your left facing the road go straight over the road... then pause the cam facing the building..... go straight towards the building then turn to your left facing the sky and top of the building.... go closer towards the top of the building... while moving shake the cam slightly... then turn the cam to the right facing the small building shake the cam up and down while facing it. then move the cam closer towards the small building... gap between the two building. then turn the cam to the left facing the path between the building.... go straight between the building and then turn the cam to the right then turn the cam to the left again facing the gap between the building. then go straight towards the gap then tilt down the cam and then go straight towards the building... then turn the cam to the right then bitter the cam left and right then go straight towards the building.","sentence_instructions":[{"id":0,"instruction":"elevate the came little... and then turn to your left facing the road go straight over the road... then pause the cam facing the building...","completed_instruction":"Take off to the third floor height, then turn left to face the row of street lamps on the right side of the road.","start_frame":1,"end_frame":8,"start_position":[8.597949028015137,-22.390138626098633,-1.1332043409347534],"start_rotation":[0.9999939311314654,0,0,0.0034839202399222723],"end_position":[8.597949028015137,-22.390138626098633,-5.133204340934753],"end_rotation":[0.79546940179791892,0,0,-0.60599375475598849],"actions":[4,4,2,2,2,2,2,4],"reference_path":[[8.597949028015137,-22.390138626098633,-1.1332043409347534,0,0,0.00696785457551471],[8.597949028015137,-22.390138626098633,-3.1332043409347534,0,0,0.00696785457551471],[8.597949028015137,-22.390138626098633,-5.133204340934753,0,0,0.00696785457551471],[8.597949028015137,-22.390138626098633,-5.133204340934753,0,0,-0.2548315332236347],[8.597949028015137,-22.390138626098633,-5.133204340934753,0,0,-0.5166309210227842],[8.597949028015137,-22.390138626098633,-5.133204340934753,0,0,-0.7784303088219336],[8.597949028015137,-22.390138626098633,-5.133204340934753,0,0,-1.040229696621083],[8.597949028015137,-22.390138626098633,-5.133204340934753,0,0,-1.3020290844202325]]},{"id":1,"instruction":"go straight towards the building then turn to your left facing the sky and top of the building...","completed_instruction":"Fly straight ahead until you reach the hotel sign, then fly up to the height of the roof on your right, then fly to the roof of the building on the left side of the road, turn slightly to the right and face the tall building with curved windows ahead, rising to the height of the terrace at half its height.","start_frame":8,"end_frame":41,"start_position":[8.597949028015137,-22.390138626098633,-5.133204340934753],"start_rotation":[0.79546940179791892,0,0,-0.60599375475598849],"end_position":[0.5646704343318958,-131.60852036049053,-19.133204340934753],"end_rotation":[0.503014128998264,0,0,-0.86427818787015431],"actions":[4,4,2,1,1,1,1,1,1,1,4,1,1,1,1,1,4,1,1,1,1,1,1,4,1,6,1,2,1,4,2,4,1,1],"reference_path":[[8.597949028015137,-22.390138626098633,-5.133204340934753,0,0,-1.3020290844202325],[8.597949028015137,-22.390138626098633,-7.133204340934753,0,0,-1.3020290844202325],[8.597949028015137,-22.390138626098633,-9.133204340934753,0,0,-1.3020290844202325],[8.597949028015137,-22.390138626098633,-9.133204340934753,0,0,-1.563828472219382],[8.63278801897982,-27.390017249096253,-9.133204340934753,0,0,-1.563828472219382],[8.667627009944503,-32.389895872093874,-9.133204340934753,0,0,-1.563828472219382],[8.702466000909187,-37.389774495091494,-9.133204340934753,0,0,-1.563828472219382],[8.73730499187387,-42.389653118089115,-9.133204340934753,0,0,-1.563828472219382],[8.772143982838553,-47.389531741086735,-9.133204340934753,0,0,-1.563828472219382],[8.806982973803237,-52.389410364084355,-9.133204340934753,0,0,-1.563828472219382],[8.84182196476792,-57.389288987081976,-9.133204340934753,0,0,-1.563828472219382],[8.84182196476792,-57.389288987081976,-11.133204340934753,0,0,-1.563828472219382],[8.876660955732603,-62.389167610079596,-11.133204340934753,0,0,-1.563828472219382],[8.911499946697287,-67.38904623307721,-11.133204340934753,0,0,-1.563828472219382],[8.94633893766197,-72.38892485607482,-11.133204340934753,0,0,-1.563828472219382],[8.981177928626654,-77.38880347907244,-11.133204340934753,0,0,-1.563828472219382],[9.016016919591337,-82.38868210207005,-11.133204340934753,0,0,-1.563828472219382],[9.016016919591337,-82.38868210207005,-13.133204340934753,0,0,-1.563828472219382],[9.05085591055602,-87.38856072506766,-13.133204340934753,0,0,-1.563828472219382],[9.085694901520704,-92.38843934806528,-13.133204340934753,0,0,-1.563828472219382],[9.120533892485387,-97.38831797106289,-13.133204340934753,0,0,-1.563828472219382],[9.15537288345007,-102.3881965940605,-13.133204340934753,0,0,-1.563828472219382],[9.190211874414754,-107.38807521705812,-13.133204340934753,0,0,-1.563828472219382],[9.225050865379437,-112.38795384005573,-13.133204340934753,0,0,-1.563828472219382],[9.225050865379437,-112.38795384005573,-15.133204340934753,0,0,-1.563828472219382],[9.25988985634412,-117.38783246305334,-15.133204340934753,0,0,-1.563828472219382],[4.260011233346502,-117.42267145401803,-15.133204340934753,0,0,-1.563828472219382],[4.294850224311184,-122.42255007701564,-15.133204340934753,0,0,-1.563828472219382],[4.294850224311184,-122.42255007701564,-15.133204340934753,0,0,-1.8256278600185314],[3.0344382946130732,-127.26107896165348,-15.133204340934753,0,0,-1.8256278600185314],[3.0344382946130732,-127.26107896165348,-17.133204340934753,0,0,-1.8256278600185314],[3.0344382946130732,-127.26107896165348,-17.133204340934753,0,0,-2.087427247817681],[3.0344382946130732,-127.26107896165348,-19.133204340934753,0,0,-2.087427247817681],[0.5646704343318958,-131.60852036049053,-19.133204340934753,0,0,-2.087427247817681]]},{"id":2,"instruction":"go closer towards the top of the building... while moving shake the cam slightly... then turn the cam to the right facing the small building shake the cam up and down while facing it.","completed_instruction":"Fly forward to that terrace, then fly forward out of the terrace first and then face a building with protruding ends and a concave middle.","start_frame":41,"end_frame":58,"start_position":[0.5646704343318958,-131.60852036049053,-19.133204340934753],"start_rotation":[0.503014128998264,0,0,-0.86427818787015431],"end_position":[-15.44467067512392,-172.5314548841459,-31.133204340934753],"end_rotation":[0.70956599347521443,0,0,-0.70463898622169063],"actions":[1,4,1,4,4,1,4,1,4,1,4,1,3,1,3,1,1,3],"reference_path":[[0.5646704343318958,-131.60852036049053,-19.133204340934753,0,0,-2.087427247817681],[-1.9050974259492817,-135.95596175932758,-19.133204340934753,0,0,-2.087427247817681],[-1.9050974259492817,-135.95596175932758,-21.133204340934753,0,0,-2.087427247817681],[-4.37486528623046,-140.30340315816463,-21.133204340934753,0,0,-2.087427247817681],[-4.37486528623046,-140.30340315816463,-23.133204340934753,0,0,-2.087427247817681],[-4.37486528623046,-140.30340315816463,-25.133204340934753,0,0,-2.087427247817681],[-6.844633146511637,-144.65084455700168,-25.133204340934753,0,0,-2.087427247817681],[-6.844633146511637,-144.65084455700168,-27.133204340934753,0,0,-2.087427247817681],[-9.314401006792814,-148.99828595583872,-27.133204340934753,0,0,-2.087427247817681],[-9.314401006792814,-148.99828595583872,-29.133204340934753,0,0,-2.087427247817681],[-11.78416886707399,-153.34572735467577,-29.133204340934753,0,0,-2.087427247817681],[-11.78416886707399,-153.34572735467577,-31.133204340934753,0,0,-2.087427247817681],[-14.253936727355168,-157.69316875351282,-31.133204340934753,0,0,-2.087427247817681],[-14.253936727355168,-157.69316875351282,-31.133204340934753,0,0,-1.8256278600185316],[-15.51434865705328,-162.53169763815066,-31.133204340934753,0,0,-1.8256278600185316],[-15.51434865705328,-162.53169763815066,-31.133204340934753,0,0,-1.5638284722193825],[-15.4795096660886,-167.53157626114827,-31.133204340934753,0,0,-1.5638284722193825],[-15.44467067512392,-172.5314548841459,-31.133204340934753,0,0,-1.5638284722193825]]},{"id":3,"instruction":"then move the cam closer towards the small building... gap between the two building.","completed_instruction":"Fly forward to the pedestrian walkway in front of the mentioned building.","start_frame":58,"end_frame":72,"start_position":[-15.44467067512392,-172.5314548841459,-31.133204340934753],"start_rotation":[0.70956599347521443,0,0,-0.70463898622169063],"end_position":[-7.339020559460901,-221.45393875147766,-27.133204340934753],"end_rotation":[0.70956599347521432,0,0,-0.70463898622169086],"actions":[3,1,1,1,1,5,1,1,2,1,1,1,5,1,1],"reference_path":[[-15.44467067512392,-172.5314548841459,-31.133204340934753,0,0,-1.5638284722193825],[-15.44467067512392,-172.5314548841459,-31.133204340934753,0,0,-1.3020290844202334],[-14.116954983156536,-177.3519497800361,-31.133204340934753,0,0,-1.3020290844202334],[-12.789239291189151,-182.17244467592633,-31.133204340934753,0,0,-1.3020290844202334],[-11.461523599221767,-186.99293957181655,-31.133204340934753,0,0,-1.3020290844202334],[-10.133807907254383,-191.81343446770677,-31.133204340934753,0,0,-1.3020290844202334],[-10.133807907254383,-191.81343446770677,-29.133204340934753,0,0,-1.3020290844202334],[-8.806092215286998,-196.633929363597,-29.133204340934753,0,0,-1.3020290844202334],[-7.478376523319613,-201.4544242594872,-29.133204340934753,0,0,-1.3020290844202334],[-7.478376523319613,-201.4544242594872,-29.133204340934753,0,0,-1.563828472219383],[-7.443537532354935,-206.45430288248482,-29.133204340934753,0,0,-1.563828472219383],[-7.408698541390257,-211.45418150548244,-29.133204340934753,0,0,-1.563828472219383],[-7.373859550425579,-216.45406012848005,-29.133204340934753,0,0,-1.563828472219383],[-7.373859550425579,-216.45406012848005,-27.133204340934753,0,0,-1.563828472219383],[-7.339020559460901,-221.45393875147766,-27.133204340934753,0,0,-1.563828472219383]]},{"id":4,"instruction":"then turn the cam to the left facing the path between the building...","completed_instruction":"Turn left to face the road between the red high-rise building and the deep building with two different roofs on the right.","start_frame":72,"end_frame":79,"start_position":[-7.339020559460901,-221.45393875147766,-27.133204340934753],"start_rotation":[0.70956599347521432,0,0,-0.70463898622169086],"end_position":[-7.234503586566867,-236.4535746204705,-27.133204340934753],"end_rotation":[0.26218268290023306,0,0,-0.96501825930250451],"actions":[1,1,1,2,2,2,2,2],"reference_path":[[-7.339020559460901,-221.45393875147766,-27.133204340934753,0,0,-1.563828472219383],[-7.304181568496223,-226.45381737447528,-27.133204340934753,0,0,-1.563828472219383],[-7.269342577531545,-231.4536959974729,-27.133204340934753,0,0,-1.563828472219383],[-7.234503586566867,-236.4535746204705,-27.133204340934753,0,0,-1.563828472219383],[-7.234503586566867,-236.4535746204705,-27.133204340934753,0,0,-1.8256278600185323],[-7.234503586566867,-236.4535746204705,-27.133204340934753,0,0,-2.087427247817682],[-7.234503586566867,-236.4535746204705,-27.133204340934753,0,0,-2.349226635616832],[-7.234503586566867,-236.4535746204705,-27.133204340934753,0,0,-2.6110260234159814]]},{"id":5,"instruction":"go straight between the building and then turn the cam to the right then turn the cam to the left again facing the gap between the building.","completed_instruction":"Fly forward along the road to the lower roof of the building on the right with two different roofs, then turn right to face the farthest building on the right front.","start_frame":79,"end_frame":109,"start_position":[-7.234503586566867,-236.4535746204705,-27.133204340934753],"start_rotation":[0.26218268290023306,0,0,-0.96501825930250451],"end_position":[-95.28935649564689,-248.6260851366051,-27.133204340934753],"end_rotation":[0.70956599347521354,0,0,-0.70463898622169163],"actions":[2,2,1,1,1,1,1,1,1,1,1,1,3,1,1,3,1,2,1,1,1,1,1,3,3,3,3,3,3,2,3],"reference_path":[[-7.234503586566867,-236.4535746204705,-27.133204340934753,0,0,-2.6110260234159814],[-7.234503586566867,-236.4535746204705,-27.133204340934753,0,0,-2.872825411215131],[-7.234503586566867,-236.4535746204705,-27.133204340934753,0,0,-3.134624799014281],[-12.234382209564487,-236.48841361143516,-27.133204340934753,0,0,-3.134624799014281],[-17.234260832562107,-236.52325260239982,-27.133204340934753,0,0,-3.134624799014281],[-22.234139455559728,-236.55809159336448,-27.133204340934753,0,0,-3.134624799014281],[-27.234018078557348,-236.59293058432914,-27.133204340934753,0,0,-3.134624799014281],[-32.23389670155497,-236.6277695752938,-27.133204340934753,0,0,-3.134624799014281],[-37.23377532455259,-236.66260856625846,-27.133204340934753,0,0,-3.134624799014281],[-42.23365394755021,-236.69744755722311,-27.133204340934753,0,0,-3.134624799014281],[-47.23353257054783,-236.73228654818777,-27.133204340934753,0,0,-3.134624799014281],[-52.23341119354545,-236.76712553915243,-27.133204340934753,0,0,-3.134624799014281],[-57.23328981654307,-236.8019645301171,-27.133204340934753,0,0,-3.134624799014281],[-57.23328981654307,-236.8019645301171,-27.133204340934753,0,0,-2.8728254112151315],[-62.053784712433284,-238.12968022208446,-27.133204340934753,0,0,-2.8728254112151315],[-66.87427960832349,-239.45739591405183,-27.133204340934753,0,0,-2.8728254112151315],[-66.87427960832349,-239.45739591405183,-27.133204340934753,0,0,-2.6110260234159823],[-71.18688201619585,-241.98750667676825,-27.133204340934753,0,0,-2.6110260234159823],[-71.18688201619585,-241.98750667676825,-27.133204340934753,0,0,-2.872825411215132],[-76.00737691208606,-243.31522236873562,-27.133204340934753,0,0,-2.872825411215132],[-80.82787180797627,-244.642938060703,-27.133204340934753,0,0,-2.872825411215132],[-85.64836670386647,-245.97065375267036,-27.133204340934753,0,0,-2.872825411215132],[-90.46886159975668,-247.29836944463773,-27.133204340934753,0,0,-2.872825411215132],[-95.28935649564689,-248.6260851366051,-27.133204340934753,0,0,-2.872825411215132],[-95.28935649564689,-248.6260851366051,-27.133204340934753,0,0,-2.6110260234159828],[-95.28935649564689,-248.6260851366051,-27.133204340934753,0,0,-2.349226635616833],[-95.28935649564689,-248.6260851366051,-27.133204340934753,0,0,-2.0874272478176836],[-95.28935649564689,-248.6260851366051,-27.133204340934753,0,0,-1.8256278600185343],[-95.28935649564689,-248.6260851366051,-27.133204340934753,0,0,-1.563828472219385],[-95.28935649564689,-248.6260851366051,-27.133204340934753,0,0,-1.3020290844202356],[-95.28935649564689,-248.6260851366051,-27.133204340934753,0,0,-1.5638284722193851]]},{"id":6,"instruction":"then go straight towards the gap then tilt down the cam and then go straight towards the building... then turn the cam to the right then bitter the cam left and right then go straight towards the building.","completed_instruction":"Fly forward over the roof beneath, then turn right to face the roof ahead, then fly forward to land on the roof.","start_frame":109,"end_frame":117,"start_position":[-95.28935649564689,-248.6260851366051,-27.133204340934753],"start_rotation":[0.70956599347521354,0,0,-0.70463898622169163],"end_position":[-89.9784937277774,-267.9080647201659,-21.133204340934753],"end_rotation":[0.79546940179791792,0,0,-0.60599375475598971],"actions":[3,1,1,1,1,5,5,5,0],"reference_path":[[-95.28935649564689,-248.6260851366051,-27.133204340934753,0,0,-1.5638284722193851],[-95.28935649564689,-248.6260851366051,-27.133204340934753,0,0,-1.3020290844202358],[-93.96164080367951,-253.44658003249532,-27.133204340934753,0,0,-1.3020290844202358],[-92.63392511171214,-258.2670749283855,-27.133204340934753,0,0,-1.3020290844202358],[-91.30620941974477,-263.0875698242757,-27.133204340934753,0,0,-1.3020290844202358],[-89.9784937277774,-267.9080647201659,-27.133204340934753,0,0,-1.3020290844202358],[-89.9784937277774,-267.9080647201659,-25.133204340934753,0,0,-1.3020290844202358],[-89.9784937277774,-267.9080647201659,-23.133204340934753,0,0,-1.3020290844202358],[-89.9784937277774,-267.9080647201659,-21.133204340934753,0,0,-1.3020290844202358]]}],"statistics":{"complete_actions":123,"sentence_actions":[8,34,18,15,8,31,9],"sentence_actions_average":17.57}}
diff --git a/scene_11/3BEFOD78WFRY038SLIUX5SLDYT84M1.json b/scene_11/3BEFOD78WFRY038SLIUX5SLDYT84M1.json
new file mode 100644
index 0000000000000000000000000000000000000000..e32c4a06fd9b2bbcf00f7b346f7231921cb480c0
--- /dev/null
+++ b/scene_11/3BEFOD78WFRY038SLIUX5SLDYT84M1.json
@@ -0,0 +1 @@
+{"episode_id":"3BEFOD78WFRY038SLIUX5SLDYT84M1","trajectory_id":"30QQTY5GNSIBAEYR6FEOAVRST5YU7M","scene_id":11,"instruction":"take off and turn right move towards the building. now turn left move forward to the blue building. now turn right behind toilet building slow down behind neon building and stay there.","sentence_instructions":[{"id":0,"instruction":"take off and turn right move towards the building.","completed_instruction":"Take off to the same height as the \"LEON\" sign on the right front, then turn right to face the red building, fly over the roof ahead to its right, then fly to the top of the road intersection in front of the red building.","start_frame":1,"end_frame":26,"start_position":[-14.103984832763672,-279.9921569824219,-2.2943878173828125],"start_rotation":[0.99967361165906532,0,0,0.025547409898464879],"end_position":[-29.59291425422591,-248.9333649719395,-20.294387817382812],"end_rotation":[0.58829461339714506,0,0,0.80864667676798352],"actions":[4,4,4,4,4,4,4,4,4,3,3,3,3,3,3,3,1,1,3,1,1,1,1,2,1,5],"reference_path":[[-14.103984832763672,-279.9921569824219,-2.2943878173828125,0,0,0.05110037944059897],[-14.103984832763672,-279.9921569824219,-4.2943878173828125,0,0,0.05110037944059897],[-14.103984832763672,-279.9921569824219,-6.2943878173828125,0,0,0.05110037944059897],[-14.103984832763672,-279.9921569824219,-8.294387817382812,0,0,0.05110037944059897],[-14.103984832763672,-279.9921569824219,-10.294387817382812,0,0,0.05110037944059897],[-14.103984832763672,-279.9921569824219,-12.294387817382812,0,0,0.05110037944059897],[-14.103984832763672,-279.9921569824219,-14.294387817382812,0,0,0.05110037944059897],[-14.103984832763672,-279.9921569824219,-16.294387817382812,0,0,0.05110037944059897],[-14.103984832763672,-279.9921569824219,-18.294387817382812,0,0,0.05110037944059897],[-14.103984832763672,-279.9921569824219,-20.294387817382812,0,0,0.05110037944059897],[-14.103984832763672,-279.9921569824219,-20.294387817382812,0,0,0.3128997672397484],[-14.103984832763672,-279.9921569824219,-20.294387817382812,0,0,0.5746991550388978],[-14.103984832763672,-279.9921569824219,-20.294387817382812,0,0,0.8364985428380473],[-14.103984832763672,-279.9921569824219,-20.294387817382812,0,0,1.0982979306371967],[-14.103984832763672,-279.9921569824219,-20.294387817382812,0,0,1.360097318436346],[-14.103984832763672,-279.9921569824219,-20.294387817382812,0,0,1.6218967062354954],[-14.103984832763672,-279.9921569824219,-20.294387817382812,0,0,1.8836960940346448],[-15.643079311242708,-275.2349321415808,-20.294387817382812,0,0,1.8836960940346448],[-17.182173789721745,-270.4777073007398,-20.294387817382812,0,0,1.8836960940346448],[-17.182173789721745,-270.4777073007398,-20.294387817382812,0,0,2.145495481833794],[-19.900085286228027,-266.28092792875,-20.294387817382812,0,0,2.145495481833794],[-22.61799678273431,-262.08414855676017,-20.294387817382812,0,0,2.145495481833794],[-25.33590827924059,-257.88736918477036,-20.294387817382812,0,0,2.145495481833794],[-28.053819775746874,-253.6905898127806,-20.294387817382812,0,0,2.145495481833794],[-28.053819775746874,-253.6905898127806,-20.294387817382812,0,0,1.8836960940346448],[-29.59291425422591,-248.9333649719395,-20.294387817382812,0,0,1.8836960940346448]]},{"id":1,"instruction":"now turn left move forward to the blue building.","completed_instruction":"Turn left to face two cylindrical buildings, then fly forward over the red building by its left side.","start_frame":26,"end_frame":40,"start_position":[-29.59291425422591,-248.9333649719395,-20.294387817382812],"start_rotation":[0.58829461339714506,0,0,0.80864667676798352],"end_position":[-34.4588382177053,-204.46460220093368,-12.294387817382812],"end_rotation":[0.68881124299641572,0,0,0.72494073655832914],"actions":[5,1,1,2,1,5,1,1,5,1,1,5,1,1,3],"reference_path":[[-29.59291425422591,-248.9333649719395,-20.294387817382812,0,0,1.8836960940346448],[-29.59291425422591,-248.9333649719395,-18.294387817382812,0,0,1.8836960940346448],[-31.132008732704946,-244.17614013109844,-18.294387817382812,0,0,1.8836960940346448],[-32.67110321118398,-239.41891529025736,-18.294387817382812,0,0,1.8836960940346448],[-32.67110321118398,-239.41891529025736,-18.294387817382812,0,0,1.6218967062354952],[-32.926493926401314,-234.42544199178255,-18.294387817382812,0,0,1.6218967062354952],[-32.926493926401314,-234.42544199178255,-16.294387817382812,0,0,1.6218967062354952],[-33.181884641618645,-229.43196869330774,-16.294387817382812,0,0,1.6218967062354952],[-33.437275356835976,-224.43849539483293,-16.294387817382812,0,0,1.6218967062354952],[-33.437275356835976,-224.43849539483293,-14.294387817382812,0,0,1.6218967062354952],[-33.692666072053306,-219.44502209635812,-14.294387817382812,0,0,1.6218967062354952],[-33.94805678727064,-214.4515487978833,-14.294387817382812,0,0,1.6218967062354952],[-33.94805678727064,-214.4515487978833,-12.294387817382812,0,0,1.6218967062354952],[-34.20344750248797,-209.4580754994085,-12.294387817382812,0,0,1.6218967062354952],[-34.4588382177053,-204.46460220093368,-12.294387817382812,0,0,1.6218967062354952]]},{"id":2,"instruction":"now turn right behind toilet building slow down behind neon building and stay there.","completed_instruction":"Turn right to face the opposite corner of the park, fly through the park to the intersection, then turn left to face the road, then fly forward along the road until reaching the intersection between the red building and the building with the \"LEON\" sign, ascending to the \"LEON\" sign\u0027s height, lower the height to below the sign and turn right to face the \"LEON\" sign and stop.","start_frame":40,"end_frame":105,"start_position":[-34.4588382177053,-204.46460220093368,-12.294387817382812],"start_rotation":[0.68881124299641572,0,0,0.72494073655832914],"end_position":[-93.82289858521307,-29.061569050447886,-14.294387817382812],"end_rotation":[0.47771209985656821,0,0,0.8785164481389226],"actions":[3,1,1,3,5,1,3,1,1,1,1,1,1,1,3,1,1,1,2,2,1,1,1,2,1,1,1,2,1,1,4,1,4,1,1,4,1,4,1,1,1,4,1,1,4,1,1,1,1,2,1,4,1,1,3,1,1,1,5,5,5,5,3,3,5,0],"reference_path":[[-34.4588382177053,-204.46460220093368,-12.294387817382812,0,0,1.6218967062354952],[-34.4588382177053,-204.46460220093368,-12.294387817382812,0,0,1.8836960940346446],[-35.997932696184336,-199.7073773600926,-12.294387817382812,0,0,1.8836960940346446],[-37.53702717466337,-194.95015251925153,-12.294387817382812,0,0,1.8836960940346446],[-37.53702717466337,-194.95015251925153,-12.294387817382812,0,0,2.145495481833794],[-37.53702717466337,-194.95015251925153,-10.294387817382812,0,0,2.145495481833794],[-40.254938671169654,-190.75337314726175,-10.294387817382812,0,0,2.145495481833794],[-40.254938671169654,-190.75337314726175,-10.294387817382812,0,0,2.4072948696329437],[-43.966446008777396,-187.40304282281852,-10.294387817382812,0,0,2.4072948696329437],[-47.67795334638514,-184.05271249837529,-10.294387817382812,0,0,2.4072948696329437],[-51.38946068399288,-180.70238217393205,-10.294387817382812,0,0,2.4072948696329437],[-55.10096802160062,-177.35205184948882,-10.294387817382812,0,0,2.4072948696329437],[-58.812475359208364,-174.00172152504558,-10.294387817382812,0,0,2.4072948696329437],[-62.523982696816105,-170.65139120060235,-10.294387817382812,0,0,2.4072948696329437],[-66.23549003442385,-167.3010608761591,-10.294387817382812,0,0,2.4072948696329437],[-66.23549003442385,-167.3010608761591,-10.294387817382812,0,0,2.6690942574320933],[-70.68766012163096,-165.0254990741906,-10.294387817382812,0,0,2.6690942574320933],[-75.13983020883808,-162.7499372722221,-10.294387817382812,0,0,2.6690942574320933],[-79.5920002960452,-160.4743754702536,-10.294387817382812,0,0,2.6690942574320933],[-79.5920002960452,-160.4743754702536,-10.294387817382812,0,0,2.4072948696329437],[-79.5920002960452,-160.4743754702536,-10.294387817382812,0,0,2.145495481833794],[-82.30991179255147,-156.2775960982638,-10.294387817382812,0,0,2.145495481833794],[-85.02782328905775,-152.08081672627404,-10.294387817382812,0,0,2.145495481833794],[-87.74573478556403,-147.88403735428426,-10.294387817382812,0,0,2.145495481833794],[-87.74573478556403,-147.88403735428426,-10.294387817382812,0,0,1.8836960940346448],[-89.28482926404305,-143.12681251344318,-10.294387817382812,0,0,1.8836960940346448],[-90.82392374252208,-138.3695876726021,-10.294387817382812,0,0,1.8836960940346448],[-92.36301822100111,-133.61236283176103,-10.294387817382812,0,0,1.8836960940346448],[-92.36301822100111,-133.61236283176103,-10.294387817382812,0,0,1.6218967062354952],[-92.61840893621844,-128.61888953328622,-10.294387817382812,0,0,1.6218967062354952],[-92.87379965143577,-123.62541623481142,-10.294387817382812,0,0,1.6218967062354952],[-92.87379965143577,-123.62541623481142,-12.294387817382812,0,0,1.6218967062354952],[-93.1291903666531,-118.63194293633663,-12.294387817382812,0,0,1.6218967062354952],[-93.1291903666531,-118.63194293633663,-14.294387817382812,0,0,1.6218967062354952],[-93.38458108187044,-113.63846963786183,-14.294387817382812,0,0,1.6218967062354952],[-93.63997179708777,-108.64499633938703,-14.294387817382812,0,0,1.6218967062354952],[-93.63997179708777,-108.64499633938703,-16.294387817382812,0,0,1.6218967062354952],[-93.8953625123051,-103.65152304091224,-16.294387817382812,0,0,1.6218967062354952],[-93.8953625123051,-103.65152304091224,-18.294387817382812,0,0,1.6218967062354952],[-94.15075322752243,-98.65804974243744,-18.294387817382812,0,0,1.6218967062354952],[-94.40614394273976,-93.66457644396264,-18.294387817382812,0,0,1.6218967062354952],[-94.66153465795709,-88.67110314548785,-18.294387817382812,0,0,1.6218967062354952],[-94.66153465795709,-88.67110314548785,-20.294387817382812,0,0,1.6218967062354952],[-94.91692537317442,-83.67762984701305,-20.294387817382812,0,0,1.6218967062354952],[-95.17231608839175,-78.68415654853825,-20.294387817382812,0,0,1.6218967062354952],[-95.17231608839175,-78.68415654853825,-22.294387817382812,0,0,1.6218967062354952],[-95.42770680360908,-73.69068325006346,-22.294387817382812,0,0,1.6218967062354952],[-95.68309751882641,-68.69720995158866,-22.294387817382812,0,0,1.6218967062354952],[-95.93848823404375,-63.703736653113864,-22.294387817382812,0,0,1.6218967062354952],[-96.19387894926108,-58.71026335463907,-22.294387817382812,0,0,1.6218967062354952],[-96.19387894926108,-58.71026335463907,-22.294387817382812,0,0,1.3600973184363458],[-95.14816144602774,-53.820838551716804,-22.294387817382812,0,0,1.3600973184363458],[-95.14816144602774,-53.820838551716804,-24.294387817382812,0,0,1.3600973184363458],[-94.10244394279441,-48.93141374879454,-24.294387817382812,0,0,1.3600973184363458],[-93.0567264395610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diff --git a/scene_11/3C8HJ7UOPGSE30WH6BKNZOYM2OJMZ6.json b/scene_11/3C8HJ7UOPGSE30WH6BKNZOYM2OJMZ6.json
new file mode 100644
index 0000000000000000000000000000000000000000..1b992a8eb3f59bb1546eb000caee756e46919b6f
--- /dev/null
+++ b/scene_11/3C8HJ7UOPGSE30WH6BKNZOYM2OJMZ6.json
@@ -0,0 +1 @@
+{"episode_id":"3C8HJ7UOPGSE30WH6BKNZOYM2OJMZ6","trajectory_id":"39WICJI5B1QAVUREAQA6E6URQ263ZS","scene_id":11,"instruction":"take off and go forward towards the grey building. now go forward towards the building with mirrors and turn right. now go forward towards the grey building and turn right. now go forward over the road and turn left. now go forward towards the building and get up. now go forward until the grey building arrives and get down and land there.","sentence_instructions":[{"id":0,"instruction":"take off and go forward towards the grey building.","completed_instruction":"Take off to the street light height and fly straight until you reach above the trees on the left side of the white building with two layers of lighted windows on the top.","start_frame":1,"end_frame":13,"start_position":[-35.603515625,-284.2222595214844,-1.6651777029037476],"start_rotation":[0.999999021399063,0,0,0.0013989999700629156],"end_position":[9.396308226917544,-284.0963496473942,-7.665177702903748],"end_rotation":[0.999999021399063,0,0,0.0013989999700629156],"actions":[4,4,4,1,1,1,1,1,1,1,1,1,1],"reference_path":[[-35.603515625,-284.2222595214844,-1.6651777029037476,0,0,0.002798000852834643],[-35.603515625,-284.2222595214844,-3.6651777029037476,0,0,0.002798000852834643],[-35.603515625,-284.2222595214844,-5.665177702903748,0,0,0.002798000852834643],[-35.603515625,-284.2222595214844,-7.665177702903748,0,0,0.002798000852834643],[-30.603535197009162,-284.20826953547436,-7.665177702903748,0,0,0.002798000852834643],[-25.603554769018324,-284.19427954946434,-7.665177702903748,0,0,0.002798000852834643],[-20.603574341027485,-284.1802895634543,-7.665177702903748,0,0,0.002798000852834643],[-15.603593913036647,-284.1662995774443,-7.665177702903748,0,0,0.002798000852834643],[-10.603613485045809,-284.1523095914343,-7.665177702903748,0,0,0.002798000852834643],[-5.603633057054971,-284.1383196054243,-7.665177702903748,0,0,0.002798000852834643],[-0.6036526290641326,-284.12432961941425,-7.665177702903748,0,0,0.002798000852834643],[4.3963277989267056,-284.11033963340424,-7.665177702903748,0,0,0.002798000852834643],[9.396308226917544,-284.0963496473942,-7.665177702903748,0,0,0.002798000852834643]]},{"id":1,"instruction":"now go forward towards the building with mirrors and turn right.","completed_instruction":"Continue flying straight to the front of the glass-walled high building, then turn right to face the gray-white building at the end of the road.","start_frame":13,"end_frame":28,"start_position":[9.396308226917544,-284.0963496473942,-7.665177702903748],"start_rotation":[0.999999021399063,0,0,0.0013989999700629156],"end_position":[69.39607336280758,-283.928469815274,-7.665177702903748],"end_rotation":[0.92334325429148834,0,0,0.3839755653090493],"actions":[1,1,1,1,1,1,1,1,1,1,1,1,3,3,3,3],"reference_path":[[9.396308226917544,-284.0963496473942,-7.665177702903748,0,0,0.002798000852834643],[14.396288654908382,-284.0823596613842,-7.665177702903748,0,0,0.002798000852834643],[19.39626908289922,-284.0683696753742,-7.665177702903748,0,0,0.002798000852834643],[24.39624951089006,-284.05437968936417,-7.665177702903748,0,0,0.002798000852834643],[29.396229938880897,-284.04038970335415,-7.665177702903748,0,0,0.002798000852834643],[34.396210366871735,-284.02639971734413,-7.665177702903748,0,0,0.002798000852834643],[39.39619079486258,-284.0124097313341,-7.665177702903748,0,0,0.002798000852834643],[44.39617122285341,-283.9984197453241,-7.665177702903748,0,0,0.002798000852834643],[49.396151650844246,-283.9844297593141,-7.665177702903748,0,0,0.002798000852834643],[54.39613207883508,-283.97043977330407,-7.665177702903748,0,0,0.002798000852834643],[59.396112506825915,-283.95644978729405,-7.665177702903748,0,0,0.002798000852834643],[64.39609293481675,-283.94245980128403,-7.665177702903748,0,0,0.002798000852834643],[69.39607336280758,-283.928469815274,-7.665177702903748,0,0,0.002798000852834643],[69.39607336280758,-283.928469815274,-7.665177702903748,0,0,0.26459738865198407],[69.39607336280758,-283.928469815274,-7.665177702903748,0,0,0.5263967764511335],[69.39607336280758,-283.928469815274,-7.665177702903748,0,0,0.7881961642502829]]},{"id":2,"instruction":"now go forward towards the grey building and turn right.","completed_instruction":"Fly straight along the road across the park area to the mentioned white building, and turn right to face the dark purple building on the left side of the road.","start_frame":28,"end_frame":57,"start_position":[69.39607336280758,-283.928469815274,-7.665177702903748],"start_rotation":[0.92334325429148834,0,0,0.3839755653090493],"end_position":[61.5636550499906,-196.65275617817758,-7.665177702903748],"end_rotation":[0.4987879411855633,0,0,0.86672405627619853],"actions":[3,3,3,1,1,1,1,1,1,1,3,1,1,1,1,3,1,1,2,1,2,2,1,1,1,3,1,3,3,3],"reference_path":[[69.39607336280758,-283.928469815274,-7.665177702903748,0,0,0.7881961642502829],[69.39607336280758,-283.928469815274,-7.665177702903748,0,0,1.0499955520494324],[69.39607336280758,-283.928469815274,-7.665177702903748,0,0,1.3117949398485818],[69.39607336280758,-283.928469815274,-7.665177702903748,0,0,1.5735943276477313],[69.38208337679758,-278.92848938728315,-7.665177702903748,0,0,1.5735943276477313],[69.36809339078758,-273.9285089592923,-7.665177702903748,0,0,1.5735943276477313],[69.35410340477758,-268.9285285313014,-7.665177702903748,0,0,1.5735943276477313],[69.34011341876757,-263.92854810331056,-7.665177702903748,0,0,1.5735943276477313],[69.32612343275757,-258.9285676753197,-7.665177702903748,0,0,1.5735943276477313],[69.31213344674757,-253.92858724732886,-7.665177702903748,0,0,1.5735943276477313],[69.29814346073756,-248.92860681933803,-7.665177702903748,0,0,1.5735943276477313],[69.29814346073756,-248.92860681933803,-7.665177702903748,0,0,1.835393715446881],[67.9905400120372,-244.10261746782191,-7.665177702903748,0,0,1.835393715446881],[66.68293656333684,-239.2766281163058,-7.665177702903748,0,0,1.835393715446881],[65.37533311463648,-234.4506387647897,-7.665177702903748,0,0,1.835393715446881],[64.06772966593611,-229.62464941327357,-7.665177702903748,0,0,1.835393715446881],[64.06772966593611,-229.62464941327357,-7.665177702903748,0,0,2.0971931032460303],[61.55562376865744,-225.30153433721352,-7.665177702903748,0,0,2.0971931032460303],[59.04351787137877,-220.97841926115348,-7.665177702903748,0,0,2.0971931032460303],[59.04351787137877,-220.97841926115348,-7.665177702903748,0,0,1.8353937154468807],[57.735914422678405,-216.15242990963736,-7.665177702903748,0,0,1.8353937154468807],[57.735914422678405,-216.15242990963736,-7.665177702903748,0,0,1.5735943276477313],[57.735914422678405,-216.15242990963736,-7.665177702903748,0,0,1.3117949398485822],[59.016491293785805,-211.31919880848105,-7.665177702903748,0,0,1.3117949398485822],[60.297068164893204,-206.48596770732473,-7.665177702903748,0,0,1.3117949398485822],[61.577645036000604,-201.65273660616842,-7.665177702903748,0,0,1.3117949398485822],[61.577645036000604,-201.65273660616842,-7.665177702903748,0,0,1.5735943276477316],[61.5636550499906,-196.65275617817758,-7.665177702903748,0,0,1.5735943276477316],[61.5636550499906,-196.65275617817758,-7.665177702903748,0,0,1.835393715446881],[61.5636550499906,-196.65275617817758,-7.665177702903748,0,0,2.0971931032460303]]},{"id":3,"instruction":"now go forward over the road and turn left.","completed_instruction":"Fly forward to the intersection behind the road between the dark purple buildings and the park, then turn left to face the gap between the cylindrical glass-walled building and the tall building with the \"HOTEL\" sign.","start_frame":57,"end_frame":83,"start_position":[61.5636550499906,-196.65275617817758,-7.665177702903748],"start_rotation":[0.4987879411855633,0,0,0.86672405627619853],"end_position":[-30.55681225525287,-192.93529690286965,-7.665177702903748],"end_rotation":[0.25746746161989914,0,0,0.96628696886949983],"actions":[3,3,3,1,1,1,1,1,7,1,1,1,1,7,1,1,1,1,7,1,1,1,1,7,1,2,2],"reference_path":[[61.5636550499906,-196.65275617817758,-7.665177702903748,0,0,2.0971931032460303],[61.5636550499906,-196.65275617817758,-7.665177702903748,0,0,2.3589924910451794],[61.5636550499906,-196.65275617817758,-7.665177702903748,0,0,2.620791878844329],[61.5636550499906,-196.65275617817758,-7.665177702903748,0,0,2.8825912666434785],[56.73042394883427,-195.37217930707018,-7.665177702903748,0,0,2.8825912666434785],[51.89719284767794,-194.09160243596278,-7.665177702903748,0,0,2.8825912666434785],[47.06396174652161,-192.81102556485538,-7.665177702903748,0,0,2.8825912666434785],[42.230730645365284,-191.53044869374799,-7.665177702903748,0,0,2.8825912666434785],[37.397499544208955,-190.24987182264059,-7.665177702903748,0,0,2.8825912666434785],[36.116922673101556,-195.0831029237969,-7.665177702903748,0,0,2.8825912666434785],[31.28369157194523,-193.8025260526895,-7.665177702903748,0,0,2.8825912666434785],[26.450460470788904,-192.5219491815821,-7.665177702903748,0,0,2.8825912666434785],[21.61722936963258,-191.2413723104747,-7.665177702903748,0,0,2.8825912666434785],[16.783998268476253,-189.9607954393673,-7.665177702903748,0,0,2.8825912666434785],[15.503421397368855,-194.79402654052362,-7.665177702903748,0,0,2.8825912666434785],[10.67019029621253,-193.51344966941622,-7.665177702903748,0,0,2.8825912666434785],[5.836959195056204,-192.23287279830882,-7.665177702903748,0,0,2.8825912666434785],[1.0037280938998787,-190.95229592720142,-7.665177702903748,0,0,2.8825912666434785],[-3.829503007256447,-189.67171905609402,-7.665177702903748,0,0,2.8825912666434785],[-5.110079878363845,-194.50495015725033,-7.665177702903748,0,0,2.8825912666434785],[-9.94331097952017,-193.22437328614294,-7.665177702903748,0,0,2.8825912666434785],[-14.776542080676496,-191.94379641503554,-7.665177702903748,0,0,2.8825912666434785],[-19.60977318183282,-190.66321954392814,-7.665177702903748,0,0,2.8825912666434785],[-24.443004282989147,-189.38264267282074,-7.665177702903748,0,0,2.8825912666434785],[-25.723581154096543,-194.21587377397705,-7.665177702903748,0,0,2.8825912666434785],[-30.55681225525287,-192.93529690286965,-7.665177702903748,0,0,2.8825912666434785],[-30.55681225525287,-192.93529690286965,-7.665177702903748,0,0,2.6207918788443294]]},{"id":4,"instruction":"now go forward towards the building and get up.","completed_instruction":"Fly forwardto the building with \"HOTEL\" sign, then pass through the gap between the tall building with the cylindrical glass facade and the hotel, then fly over the park in the center of the street, then fly forward to a red building.","start_frame":83,"end_frame":128,"start_position":[-30.55681225525287,-192.93529690286965,-7.665177702903748],"start_rotation":[0.25746746161989914,0,0,0.96628696886949983],"end_position":[-72.26843177398247,-70.68010427385656,-11.665177702903748],"end_rotation":[0.60765093197489906,0,0,0.79420422113587175],"actions":[2,2,2,1,1,1,1,1,1,1,4,1,6,4,1,4,4,1,4,1,4,1,3,1,4,1,1,1,1,1,1,1,1,1,5,1,1,5,6,1,5,1,5,5,2,2],"reference_path":[[-30.55681225525287,-192.93529690286965,-7.665177702903748,0,0,2.6207918788443294],[-30.55681225525287,-192.93529690286965,-7.665177702903748,0,0,2.35899249104518],[-30.55681225525287,-192.93529690286965,-7.665177702903748,0,0,2.0971931032460303],[-30.55681225525287,-192.93529690286965,-7.665177702903748,0,0,1.8353937154468807],[-31.864415703953235,-188.10930755135354,-7.665177702903748,0,0,1.8353937154468807],[-33.1720191526536,-183.28331819983742,-7.665177702903748,0,0,1.8353937154468807],[-34.47962260135396,-178.4573288483213,-7.665177702903748,0,0,1.8353937154468807],[-35.78722605005432,-173.6313394968052,-7.665177702903748,0,0,1.8353937154468807],[-37.094829498754684,-168.80535014528908,-7.665177702903748,0,0,1.8353937154468807],[-38.40243294745505,-163.97936079377297,-7.665177702903748,0,0,1.8353937154468807],[-39.71003639615541,-159.15337144225686,-7.665177702903748,0,0,1.8353937154468807],[-39.71003639615541,-159.15337144225686,-9.665177702903748,0,0,1.8353937154468807],[-41.01763984485577,-154.32738209074074,-9.665177702903748,0,0,1.8353937154468807],[-36.19165049333966,-153.01977864204036,-9.665177702903748,0,0,1.8353937154468807],[-36.19165049333966,-153.01977864204036,-11.665177702903748,0,0,1.8353937154468807],[-37.49925394204002,-148.19378929052425,-11.665177702903748,0,0,1.8353937154468807],[-37.49925394204002,-148.19378929052425,-13.665177702903748,0,0,1.8353937154468807],[-37.49925394204002,-148.19378929052425,-15.665177702903748,0,0,1.8353937154468807],[-38.80685739074038,-143.36779993900814,-15.665177702903748,0,0,1.8353937154468807],[-38.80685739074038,-143.36779993900814,-17.665177702903748,0,0,1.8353937154468807],[-40.114460839440746,-138.54181058749202,-17.665177702903748,0,0,1.8353937154468807],[-40.114460839440746,-138.54181058749202,-19.665177702903748,0,0,1.8353937154468807],[-41.42206428814111,-133.7158212359759,-19.665177702903748,0,0,1.8353937154468807],[-41.42206428814111,-133.7158212359759,-19.665177702903748,0,0,2.0971931032460303],[-43.93417018541978,-129.39270615991586,-19.665177702903748,0,0,2.0971931032460303],[-43.93417018541978,-129.39270615991586,-21.665177702903748,0,0,2.0971931032460303],[-46.44627608269845,-125.06959108385581,-21.665177702903748,0,0,2.0971931032460303],[-48.958381979977126,-120.74647600779576,-21.665177702903748,0,0,2.0971931032460303],[-51.4704878772558,-116.42336093173571,-21.665177702903748,0,0,2.0971931032460303],[-53.98259377453447,-112.10024585567567,-21.665177702903748,0,0,2.0971931032460303],[-56.494699671813144,-107.77713077961562,-21.665177702903748,0,0,2.0971931032460303],[-59.00680556909182,-103.45401570355557,-21.665177702903748,0,0,2.0971931032460303],[-61.51891146637049,-99.13090062749552,-21.665177702903748,0,0,2.0971931032460303],[-64.03101736364916,-94.80778555143547,-21.665177702903748,0,0,2.0971931032460303],[-66.54312326092783,-90.48467047537542,-21.665177702903748,0,0,2.0971931032460303],[-66.54312326092783,-90.48467047537542,-19.665177702903748,0,0,2.0971931032460303],[-69.0552291582065,-86.16155539931538,-19.665177702903748,0,0,2.0971931032460303],[-71.56733505548517,-81.83844032325533,-19.665177702903748,0,0,2.0971931032460303],[-71.56733505548517,-81.83844032325533,-17.665177702903748,0,0,2.0971931032460303],[-67.24421997942513,-79.32633442597665,-17.665177702903748,0,0,2.0971931032460303],[-69.7563258767038,-75.0032193499166,-17.665177702903748,0,0,2.0971931032460303],[-69.7563258767038,-75.0032193499166,-15.665177702903748,0,0,2.0971931032460303],[-72.26843177398247,-70.68010427385656,-15.665177702903748,0,0,2.0971931032460303],[-72.26843177398247,-70.68010427385656,-13.665177702903748,0,0,2.0971931032460303],[-72.26843177398247,-70.68010427385656,-11.665177702903748,0,0,2.0971931032460303],[-72.26843177398247,-70.68010427385656,-11.665177702903748,0,0,1.8353937154468807]]},{"id":5,"instruction":"now go forward until the grey building arrives and get down and land there.","completed_instruction":"Fly forward to the road left to the red building then land facing the streetlight on the road.","start_frame":128,"end_frame":149,"start_position":[-72.26843177398247,-70.68010427385656,-11.665177702903748],"start_rotation":[0.60765093197489906,0,0,0.79420422113587175],"end_position":[-43.86405881440484,-23.763641172747263,-1.6651777029037476],"end_rotation":[0.9655627931967995,0,0,0.26017012202402229],"actions":[2,2,2,1,1,1,1,1,1,1,1,1,1,2,1,2,5,5,5,5,5,0],"reference_path":[[-72.26843177398247,-70.68010427385656,-11.665177702903748,0,0,1.8353937154468807],[-72.26843177398247,-70.68010427385656,-11.665177702903748,0,0,1.5735943276477313],[-72.26843177398247,-70.68010427385656,-11.665177702903748,0,0,1.3117949398485822],[-72.26843177398247,-70.68010427385656,-11.665177702903748,0,0,1.0499955520494326],[-69.78055724327031,-66.3429992117865,-11.665177702903748,0,0,1.0499955520494326],[-67.29268271255815,-62.00589414971645,-11.665177702903748,0,0,1.0499955520494326],[-64.80480818184598,-57.66878908764639,-11.665177702903748,0,0,1.0499955520494326],[-62.316933651133816,-53.33168402557633,-11.665177702903748,0,0,1.0499955520494326],[-59.82905912042165,-48.99457896350627,-11.665177702903748,0,0,1.0499955520494326],[-57.34118458970948,-44.65747390143621,-11.665177702903748,0,0,1.0499955520494326],[-54.85331005899731,-40.320368839366154,-11.665177702903748,0,0,1.0499955520494326],[-52.36543552828514,-35.983263777296095,-11.665177702903748,0,0,1.0499955520494326],[-49.87756099757297,-31.646158715226036,-11.665177702903748,0,0,1.0499955520494326],[-47.3896864668608,-27.309053653155978,-11.665177702903748,0,0,1.0499955520494326],[-47.3896864668608,-27.309053653155978,-11.665177702903748,0,0,0.7881961642502833],[-43.86405881440484,-23.763641172747263,-11.665177702903748,0,0,0.7881961642502833],[-43.86405881440484,-23.763641172747263,-11.665177702903748,0,0,0.5263967764511338],[-43.86405881440484,-23.763641172747263,-9.665177702903748,0,0,0.5263967764511338],[-43.86405881440484,-23.763641172747263,-7.665177702903748,0,0,0.5263967764511338],[-43.86405881440484,-23.763641172747263,-5.665177702903748,0,0,0.5263967764511338],[-43.86405881440484,-23.763641172747263,-3.6651777029037476,0,0,0.5263967764511338],[-43.86405881440484,-23.763641172747263,-1.6651777029037476,0,0,0.5263967764511338]]}],"statistics":{"complete_actions":154,"sentence_actions":[13,16,30,27,46,22],"sentence_actions_average":25.67}}
diff --git a/scene_11/3CPLWGV3MXX5FRZ4EE5OZFLTPBU9N0.json b/scene_11/3CPLWGV3MXX5FRZ4EE5OZFLTPBU9N0.json
new file mode 100644
index 0000000000000000000000000000000000000000..a0658a1f114f6b0bab2d6e33404817bf6fc6f0f4
--- /dev/null
+++ b/scene_11/3CPLWGV3MXX5FRZ4EE5OZFLTPBU9N0.json
@@ -0,0 +1 @@
+{"episode_id":"3CPLWGV3MXX5FRZ4EE5OZFLTPBU9N0","trajectory_id":"39WICJI5B1QAVUREAQA6E6URQLS3ZG","scene_id":11,"instruction":"take off from garden move forward over the building and slightly turn right move forward towards the tall building. now slightly take right move forward along the buildings and turn right in front of blue building. now move forward towards to the buildings and take left in front of blue apartment terrace and get down towards the street and landed there.","sentence_instructions":[{"id":0,"instruction":"take off from garden move forward over the building and slightly turn right move forward towards the tall building.","completed_instruction":"Take off to a height higher than the grayish-white wall of the building in front, then fly forward to the red-brown framed roof ahead, then turn right to face a cylindrical building with white walls, then fly forward to the left platform of this white cylindrical building.","start_frame":1,"end_frame":42,"start_position":[-156.1870574951172,-117.18740844726562,-0.6545783877372742],"start_rotation":[0.9998205234217199,0,0,0.018945209017535967],"end_position":[-59.36104955610995,-71.5622098072557,-26.654578387737274],"end_rotation":[0.96084908431970717,0,0,0.27707225982039452],"actions":[4,4,4,4,4,4,4,4,4,4,4,4,4,4,1,1,1,1,1,1,3,5,1,1,1,7,1,1,1,3,1,1,1,1,1,1,1,1,7,1,1,1],"reference_path":[[-156.1870574951172,-117.18740844726562,-0.6545783877372742,0,0,0.03789268501201332],[-156.1870574951172,-117.18740844726562,-2.654578387737274,0,0,0.03789268501201332],[-156.1870574951172,-117.18740844726562,-4.654578387737274,0,0,0.03789268501201332],[-156.1870574951172,-117.18740844726562,-6.654578387737274,0,0,0.03789268501201332],[-156.1870574951172,-117.18740844726562,-8.654578387737274,0,0,0.03789268501201332],[-156.1870574951172,-117.18740844726562,-10.654578387737274,0,0,0.03789268501201332],[-156.1870574951172,-117.18740844726562,-12.654578387737274,0,0,0.03789268501201332],[-156.1870574951172,-117.18740844726562,-14.654578387737274,0,0,0.03789268501201332],[-156.1870574951172,-117.18740844726562,-16.654578387737274,0,0,0.03789268501201332],[-156.1870574951172,-117.18740844726562,-18.654578387737274,0,0,0.03789268501201332],[-156.1870574951172,-117.18740844726562,-20.654578387737274,0,0,0.03789268501201332],[-156.1870574951172,-117.18740844726562,-22.654578387737274,0,0,0.03789268501201332],[-156.1870574951172,-117.18740844726562,-24.654578387737274,0,0,0.03789268501201332],[-156.1870574951172,-117.18740844726562,-26.654578387737274,0,0,0.03789268501201332],[-156.1870574951172,-117.18740844726562,-28.654578387737274,0,0,0.03789268501201332],[-151.19064670456436,-116.99799035930316,-28.654578387737274,0,0,0.03789268501201332],[-146.19423591401153,-116.8085722713407,-28.654578387737274,0,0,0.03789268501201332],[-141.1978251234587,-116.61915418337823,-28.654578387737274,0,0,0.03789268501201332],[-136.20141433290587,-116.42973609541576,-28.654578387737274,0,0,0.03789268501201332],[-131.20500354235304,-116.2403180074533,-28.654578387737274,0,0,0.03789268501201332],[-126.20859275180023,-116.05089991949083,-28.654578387737274,0,0,0.03789268501201332],[-126.20859275180023,-116.05089991949083,-28.654578387737274,0,0,0.2996920728111627],[-126.20859275180023,-116.05089991949083,-26.654578387737274,0,0,0.2996920728111627],[-121.43145553910747,-114.57476982661078,-26.654578387737274,0,0,0.2996920728111627],[-116.65431832641471,-113.09863973373072,-26.654578387737274,0,0,0.2996920728111627],[-111.87718111372195,-111.62250964085067,-26.654578387737274,0,0,0.2996920728111627],[-113.353311206602,-106.8453724281579,-26.654578387737274,0,0,0.2996920728111627],[-108.57617399390924,-105.36924233527785,-26.654578387737274,0,0,0.2996920728111627],[-103.79903678121647,-103.89311224239779,-26.654578387737274,0,0,0.2996920728111627],[-99.02189956852371,-102.41698214951774,-26.654578387737274,0,0,0.2996920728111627],[-99.02189956852371,-102.41698214951774,-26.654578387737274,0,0,0.5614914606103121],[-94.78958994014351,-99.75473587812955,-26.654578387737274,0,0,0.5614914606103121],[-90.55728031176332,-97.09248960674137,-26.654578387737274,0,0,0.5614914606103121],[-86.32497068338313,-94.43024333535318,-26.654578387737274,0,0,0.5614914606103121],[-82.09266105500294,-91.767997063965,-26.654578387737274,0,0,0.5614914606103121],[-77.86035142662274,-89.10575079257681,-26.654578387737274,0,0,0.5614914606103121],[-73.62804179824255,-86.44350452118863,-26.654578387737274,0,0,0.5614914606103121],[-69.39573216986236,-83.78125824980044,-26.654578387737274,0,0,0.5614914606103121],[-65.16342254148216,-81.11901197841226,-26.654578387737274,0,0,0.5614914606103121],[-67.82566881287035,-76.88670235003207,-26.654578387737274,0,0,0.5614914606103121],[-63.59335918449015,-74.22445607864388,-26.654578387737274,0,0,0.5614914606103121],[-59.36104955610995,-71.5622098072557,-26.654578387737274,0,0,0.5614914606103121]]},{"id":1,"instruction":"now slightly take right move forward along the buildings and turn right in front of blue building.","completed_instruction":"Move to the right of the white cylindrical building, then turn left to face a white building that has stairs on the left and only the top windows are illuminated, then fly to this building, and turn left to face the short flat roof building ahead, fly forward over the flat roof, turn right to face the for air conditioning units on the roof of a red building.","start_frame":42,"end_frame":78,"start_position":[-59.36104955610995,-71.5622098072557,-26.654578387737274],"start_rotation":[0.96084908431970717,0,0,0.27707225982039452],"end_position":[48.78742582477683,-30.11489362726755,-28.654578387737274],"end_rotation":[0.96084908431970717,0,0,0.27707225982039452],"actions":[1,1,7,7,7,1,7,1,1,1,1,7,1,6,2,2,4,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,3,3,3],"reference_path":[[-59.36104955610995,-71.5622098072557,-26.654578387737274,0,0,0.5614914606103121],[-55.12873992772975,-68.89996353586751,-26.654578387737274,0,0,0.5614914606103121],[-50.89643029934955,-66.23771726447933,-26.654578387737274,0,0,0.5614914606103121],[-53.55867657073773,-62.00540763609913,-26.654578387737274,0,0,0.5614914606103121],[-56.220922842125916,-57.77309800771893,-26.654578387737274,0,0,0.5614914606103121],[-58.8831691135141,-53.54078837933873,-26.654578387737274,0,0,0.5614914606103121],[-54.6508594851339,-50.87854210795055,-26.654578387737274,0,0,0.5614914606103121],[-57.31310575652208,-46.64623247957035,-26.654578387737274,0,0,0.5614914606103121],[-53.08079612814188,-43.98398620818217,-26.654578387737274,0,0,0.5614914606103121],[-48.84848649976168,-41.321739936793996,-26.654578387737274,0,0,0.5614914606103121],[-44.61617687138148,-38.65949366540582,-26.654578387737274,0,0,0.5614914606103121],[-40.383867243001276,-35.99724739401764,-26.654578387737274,0,0,0.5614914606103121],[-43.04611351438946,-31.764937765637445,-26.654578387737274,0,0,0.5614914606103121],[-38.81380388600926,-29.102691494249264,-26.654578387737274,0,0,0.5614914606103121],[-36.15155761462108,-33.335001122629464,-26.654578387737274,0,0,0.5614914606103121],[-36.15155761462108,-33.335001122629464,-26.654578387737274,0,0,0.29969207281116267],[-36.15155761462108,-33.335001122629464,-26.654578387737274,0,0,0.03789268501201324],[-36.15155761462108,-33.335001122629464,-28.654578387737274,0,0,0.03789268501201324],[-31.155146824068265,-33.145583034667,-28.654578387737274,0,0,0.03789268501201324],[-26.158736033515446,-32.95616494670453,-28.654578387737274,0,0,0.03789268501201324],[-21.162325242962627,-32.76674685874207,-28.654578387737274,0,0,0.03789268501201324],[-16.165914452409808,-32.5773287707796,-28.654578387737274,0,0,0.03789268501201324],[-11.16950366185699,-32.387910682817136,-28.654578387737274,0,0,0.03789268501201324],[-6.173092871304171,-32.19849259485467,-28.654578387737274,0,0,0.03789268501201324],[-1.1766820807513518,-32.009074506892205,-28.654578387737274,0,0,0.03789268501201324],[3.819728709801467,-31.81965641892974,-28.654578387737274,0,0,0.03789268501201324],[8.816139500354286,-31.630238330967273,-28.654578387737274,0,0,0.03789268501201324],[13.812550290907105,-31.440820243004808,-28.654578387737274,0,0,0.03789268501201324],[18.808961081459923,-31.251402155042342,-28.654578387737274,0,0,0.03789268501201324],[23.805371872012742,-31.061984067079877,-28.654578387737274,0,0,0.03789268501201324],[28.80178266256556,-30.87256597911741,-28.654578387737274,0,0,0.03789268501201324],[33.79819345311838,-30.683147891154945,-28.654578387737274,0,0,0.03789268501201324],[38.7946042436712,-30.49372980319248,-28.654578387737274,0,0,0.03789268501201324],[43.79101503422402,-30.304311715230014,-28.654578387737274,0,0,0.03789268501201324],[48.78742582477683,-30.11489362726755,-28.654578387737274,0,0,0.03789268501201324],[48.78742582477683,-30.11489362726755,-28.654578387737274,0,0,0.29969207281116267],[48.78742582477683,-30.11489362726755,-28.654578387737274,0,0,0.5614914606103121]]},{"id":2,"instruction":"now move forward towards to the buildings and take left in front of blue apartment terrace and get down towards the street and landed there.","completed_instruction":"Turn right slightly to face the white building with stairs at the end of the road, fly forward to it, then turn left to face the open space at the end of the road, then descend close to the ground and fly forward to land in front of the \"HOTEL\" sign.","start_frame":78,"end_frame":125,"start_position":[48.78742582477683,-30.11489362726755,-28.654578387737274],"start_rotation":[0.96084908431970717,0,0,0.27707225982039452],"end_position":[86.89997881460387,52.544636008269435,-2.654578387737274],"end_rotation":[0.9998205234217199,0,0,0.018945209017535988],"actions":[3,3,3,1,1,1,1,1,1,7,1,1,1,1,7,1,1,1,1,7,1,1,2,2,2,2,2,1,1,1,5,1,1,5,5,5,5,1,1,5,5,5,5,5,5,5,5,0],"reference_path":[[48.78742582477683,-30.11489362726755,-28.654578387737274,0,0,0.5614914606103121],[48.78742582477683,-30.11489362726755,-28.654578387737274,0,0,0.8232908484094615],[48.78742582477683,-30.11489362726755,-28.654578387737274,0,0,1.085090236208611],[48.78742582477683,-30.11489362726755,-28.654578387737274,0,0,1.3468896240077604],[49.8976282713984,-25.23970639727161,-28.654578387737274,0,0,1.3468896240077604],[51.007830718019974,-20.364519167275674,-28.654578387737274,0,0,1.3468896240077604],[52.118033164641545,-15.489331937279735,-28.654578387737274,0,0,1.3468896240077604],[53.228235611263116,-10.614144707283796,-28.654578387737274,0,0,1.3468896240077604],[54.33843805788469,-5.738957477287856,-28.654578387737274,0,0,1.3468896240077604],[55.44864050450626,-0.8637702472919173,-28.654578387737274,0,0,1.3468896240077604],[50.57345327451032,0.24643219932965277,-28.654578387737274,0,0,1.3468896240077604],[51.68365572113189,5.121619429325592,-28.654578387737274,0,0,1.3468896240077604],[52.79385816775346,9.996806659321532,-28.654578387737274,0,0,1.3468896240077604],[53.904060614375034,14.871993889317471,-28.654578387737274,0,0,1.3468896240077604],[55.014263060996605,19.74718111931341,-28.654578387737274,0,0,1.3468896240077604],[50.13907583100067,20.85738356593498,-28.654578387737274,0,0,1.3468896240077604],[51.24927827762224,25.73257079593092,-28.654578387737274,0,0,1.3468896240077604],[52.35948072424381,30.607758025926856,-28.654578387737274,0,0,1.3468896240077604],[53.46968317086538,35.48294525592279,-28.654578387737274,0,0,1.3468896240077604],[54.57988561748695,40.35813248591873,-28.654578387737274,0,0,1.3468896240077604],[49.704698387491014,41.4683349325403,-28.654578387737274,0,0,1.3468896240077604],[50.814900834112585,46.34352216253624,-28.654578387737274,0,0,1.3468896240077604],[51.925103280734156,51.218709392532176,-28.654578387737274,0,0,1.3468896240077604],[51.925103280734156,51.218709392532176,-28.654578387737274,0,0,1.085090236208611],[51.925103280734156,51.218709392532176,-28.654578387737274,0,0,0.8232908484094617],[51.925103280734156,51.218709392532176,-28.654578387737274,0,0,0.5614914606103122],[51.925103280734156,51.218709392532176,-28.654578387737274,0,0,0.2996920728111628],[51.925103280734156,51.218709392532176,-28.654578387737274,0,0,0.037892685012013365],[56.92151407128698,51.40812748049464,-28.654578387737274,0,0,0.037892685012013365],[61.91792486183979,51.59754556845711,-28.654578387737274,0,0,0.037892685012013365],[66.91433565239261,51.78696365641957,-28.654578387737274,0,0,0.037892685012013365],[66.91433565239261,51.78696365641957,-26.654578387737274,0,0,0.037892685012013365],[71.91074644294542,51.97638174438204,-26.654578387737274,0,0,0.037892685012013365],[76.90715723349824,52.165799832344504,-26.654578387737274,0,0,0.037892685012013365],[76.90715723349824,52.165799832344504,-24.654578387737274,0,0,0.037892685012013365],[76.90715723349824,52.165799832344504,-22.654578387737274,0,0,0.037892685012013365],[76.90715723349824,52.165799832344504,-20.654578387737274,0,0,0.037892685012013365],[76.90715723349824,52.165799832344504,-18.654578387737274,0,0,0.037892685012013365],[81.90356802405105,52.35521792030697,-18.654578387737274,0,0,0.037892685012013365],[86.89997881460387,52.544636008269435,-18.654578387737274,0,0,0.037892685012013365],[86.89997881460387,52.544636008269435,-16.654578387737274,0,0,0.037892685012013365],[86.89997881460387,52.544636008269435,-14.654578387737274,0,0,0.037892685012013365],[86.89997881460387,52.544636008269435,-12.654578387737274,0,0,0.037892685012013365],[86.89997881460387,52.544636008269435,-10.654578387737274,0,0,0.037892685012013365],[86.89997881460387,52.544636008269435,-8.654578387737274,0,0,0.037892685012013365],[86.89997881460387,52.544636008269435,-6.654578387737274,0,0,0.037892685012013365],[86.89997881460387,52.544636008269435,-4.654578387737274,0,0,0.037892685012013365],[86.89997881460387,52.544636008269435,-2.654578387737274,0,0,0.037892685012013365]]}],"statistics":{"complete_actions":127,"sentence_actions":[42,37,48],"sentence_actions_average":42.33}}
diff --git a/scene_11/3H7Z272LXG50JECQJQL68DHI53DLPM.json b/scene_11/3H7Z272LXG50JECQJQL68DHI53DLPM.json
new file mode 100644
index 0000000000000000000000000000000000000000..2b06fd3d39722c990e62afaacd8f4d0022d83336
--- /dev/null
+++ b/scene_11/3H7Z272LXG50JECQJQL68DHI53DLPM.json
@@ -0,0 +1 @@
+{"episode_id":"3H7Z272LXG50JECQJQL68DHI53DLPM","trajectory_id":"3OZ4VAIBF5D47OOTCEDQ97YKU3TJVH","scene_id":11,"instruction":"take off and turn left and move over to the building and between the building. now go forward the and between the two buildings and cross the hotel and road and street light. now go forward and little turn left and move over to the building and turn left and move over to it. now go forward and turn little left and down to the other and cross the road and building and hotel. now go forward and turn right and move towards the building and apartment and cross the road and trees. now go forward and cross the road and tree and building and landed in the building opposite and near to the road.","sentence_instructions":[{"id":0,"instruction":"take off and turn left and move over to the building and between the building.","completed_instruction":"Turn left to face the gap between the two cylindrical glass-walled buildings, then fly forward across the gap to the white cylindrical building on the left that has the word \"HOTEL\" written on it.","start_frame":1,"end_frame":24,"start_position":[124.5847396850586,-266.15496826171875,-26.911251068115234],"start_rotation":[0.999971415103458,0,0,0.0075610168620223956],"end_position":[84.58931320313764,-266.7598323202096,-32.911251068115234],"end_rotation":[0.0075610168620223895,0,0,-0.999971415103458],"actions":[4,4,2,2,2,2,2,2,2,2,2,2,2,2,1,1,1,1,4,1,1,1,1,1],"reference_path":[[124.5847396850586,-266.15496826171875,-26.911251068115234,0,0,0.0151221778129488],[124.5847396850586,-266.15496826171875,-28.911251068115234,0,0,0.0151221778129488],[124.5847396850586,-266.15496826171875,-30.911251068115234,0,0,0.0151221778129488],[124.5847396850586,-266.15496826171875,-30.911251068115234,0,0,-0.24667720998620063],[124.5847396850586,-266.15496826171875,-30.911251068115234,0,0,-0.50847659778535],[124.5847396850586,-266.15496826171875,-30.911251068115234,0,0,-0.7702759855844995],[124.5847396850586,-266.15496826171875,-30.911251068115234,0,0,-1.032075373383649],[124.5847396850586,-266.15496826171875,-30.911251068115234,0,0,-1.2938747611827983],[124.5847396850586,-266.15496826171875,-30.911251068115234,0,0,-1.555674148981948],[124.5847396850586,-266.15496826171875,-30.911251068115234,0,0,-1.8174735367810975],[124.5847396850586,-266.15496826171875,-30.911251068115234,0,0,-2.079272924580247],[124.5847396850586,-266.15496826171875,-30.911251068115234,0,0,-2.341072312379396],[124.5847396850586,-266.15496826171875,-30.911251068115234,0,0,-2.6028717001785457],[124.5847396850586,-266.15496826171875,-30.911251068115234,0,0,-2.8646710879776953],[124.5847396850586,-266.15496826171875,-30.911251068115234,0,0,-3.1264704757768444],[119.58531137481847,-266.2305762690301,-30.911251068115234,0,0,-3.1264704757768444],[114.58588306457835,-266.30618427634147,-30.911251068115234,0,0,-3.1264704757768444],[109.58645475433823,-266.3817922836528,-30.911251068115234,0,0,-3.1264704757768444],[104.58702644409811,-266.4574002909642,-30.911251068115234,0,0,-3.1264704757768444],[104.58702644409811,-266.4574002909642,-32.911251068115234,0,0,-3.1264704757768444],[99.587598133858,-266.53300829827555,-32.911251068115234,0,0,-3.1264704757768444],[94.58816982361787,-266.6086163055869,-32.911251068115234,0,0,-3.1264704757768444],[89.58874151337776,-266.68422431289827,-32.911251068115234,0,0,-3.1264704757768444],[84.58931320313764,-266.7598323202096,-32.911251068115234,0,0,-3.1264704757768444]]},{"id":1,"instruction":"now go forward the and between the two buildings and cross the hotel and road and street light.","completed_instruction":"Move forward passing the hotel, and turn left towards a red building, then fly forward to the front of the red building.","start_frame":24,"end_frame":49,"start_position":[84.58931320313764,-266.7598323202096,-32.911251068115234],"start_rotation":[0.0075610168620223895,0,0,-0.999971415103458],"end_position":[-6.67395544617335,-236.1298690086223,-32.911251068115234],"end_rotation":[0.25150826532685888,0,0,0.96785515056348925],"actions":[1,5,1,1,1,1,1,1,2,1,1,1,1,2,4,1,1,1,1,6,1,1,1,1,1,2],"reference_path":[[84.58931320313764,-266.7598323202096,-32.911251068115234,0,0,-3.1264704757768444],[79.58988489289752,-266.835440327521,-32.911251068115234,0,0,-3.1264704757768444],[79.58988489289752,-266.835440327521,-30.911251068115234,0,0,-3.1264704757768444],[74.5904565826574,-266.91104833483234,-30.911251068115234,0,0,-3.1264704757768444],[69.59102827241728,-266.9866563421437,-30.911251068115234,0,0,-3.1264704757768444],[64.59159996217716,-267.06226434945506,-30.911251068115234,0,0,-3.1264704757768444],[59.592171651937036,-267.1378723567664,-30.911251068115234,0,0,-3.1264704757768444],[54.59274334169692,-267.2134803640778,-30.911251068115234,0,0,-3.1264704757768444],[49.5933150314568,-267.28908837138914,-30.911251068115234,0,0,-3.1264704757768444],[49.5933150314568,-267.28908837138914,-30.911251068115234,0,0,2.894915443603592],[44.74466931766071,-266.0681728370106,-30.911251068115234,0,0,2.894915443603592],[39.89602360386462,-264.84725730263204,-30.911251068115234,0,0,2.894915443603592],[35.04737789006853,-263.6263417682535,-30.911251068115234,0,0,2.894915443603592],[30.198732176272447,-262.40542623387495,-30.911251068115234,0,0,2.894915443603592],[30.198732176272447,-262.40542623387495,-30.911251068115234,0,0,2.633116055804443],[30.198732176272447,-262.40542623387495,-32.911251068115234,0,0,2.633116055804443],[25.831296251549702,-259.97119053381607,-32.911251068115234,0,0,2.633116055804443],[21.46386032682696,-257.5369548337572,-32.911251068115234,0,0,2.633116055804443],[17.09642440210422,-255.10271913369832,-32.911251068115234,0,0,2.633116055804443],[12.728988477381476,-252.66848343363944,-32.911251068115234,0,0,2.633116055804443],[15.163224177440366,-248.3010475089167,-32.911251068115234,0,0,2.633116055804443],[10.795788252717623,-245.86681180885782,-32.911251068115234,0,0,2.633116055804443],[6.4283523279948795,-243.43257610879894,-32.911251068115234,0,0,2.633116055804443],[2.0609164032721363,-240.99834040874006,-32.911251068115234,0,0,2.633116055804443],[-2.306519521450607,-238.56410470868119,-32.911251068115234,0,0,2.633116055804443],[-6.67395544617335,-236.1298690086223,-32.911251068115234,0,0,2.633116055804443]]},{"id":2,"instruction":"now go forward and little turn left and move over to the building and turn left and move over to it.","completed_instruction":"Fly forward to the park left to the red building, then turn left towards the short dark blue building in front of two connected glass curtain wall cylindrical buildings.","start_frame":49,"end_frame":71,"start_position":[-6.67395544617335,-236.1298690086223,-32.911251068115234],"start_rotation":[0.25150826532685888,0,0,0.96785515056348925],"end_position":[-29.739658993946925,-176.36053823812418,-28.911251068115234],"end_rotation":[0.78872780693839784,0,0,0.61474258560973749],"actions":[2,1,1,6,1,5,1,2,1,1,1,1,1,5,2,1,1,6,1,2,1,2,1],"reference_path":[[-6.67395544617335,-236.1298690086223,-32.911251068115234,0,0,2.633116055804443],[-6.67395544617335,-236.1298690086223,-32.911251068115234,0,0,2.3713166680052935],[-10.262548041082018,-232.64820228307738,-32.911251068115234,0,0,2.3713166680052935],[-13.851140635990687,-229.16653555753246,-32.911251068115234,0,0,2.3713166680052935],[-10.36947391044577,-225.57794296262378,-32.911251068115234,0,0,2.3713166680052935],[-13.958066505354438,-222.09627623707885,-32.911251068115234,0,0,2.3713166680052935],[-13.958066505354438,-222.09627623707885,-30.911251068115234,0,0,2.3713166680052935],[-17.546659100263106,-218.61460951153393,-30.911251068115234,0,0,2.3713166680052935],[-17.546659100263106,-218.61460951153393,-30.911251068115234,0,0,2.109517280206144],[-20.111851710444338,-214.32278159412255,-30.911251068115234,0,0,2.109517280206144],[-22.67704432062557,-210.0309536767112,-30.911251068115234,0,0,2.109517280206144],[-25.2422369308068,-205.73912575929984,-30.911251068115234,0,0,2.109517280206144],[-27.807429540988032,-201.44729784188848,-30.911251068115234,0,0,2.109517280206144],[-30.372622151169264,-197.15546992447713,-30.911251068115234,0,0,2.109517280206144],[-30.372622151169264,-197.15546992447713,-28.911251068115234,0,0,2.109517280206144],[-30.372622151169264,-197.15546992447713,-28.911251068115234,0,0,1.8477178924069946],[-31.73960113942043,-192.3459617951899,-28.911251068115234,0,0,1.8477178924069946],[-33.1065801276716,-187.53645366590268,-28.911251068115234,0,0,1.8477178924069946],[-28.297071998384382,-186.16947467765152,-28.911251068115234,0,0,1.8477178924069946],[-29.664050986635548,-181.3599665483643,-28.911251068115234,0,0,1.8477178924069946],[-29.664050986635548,-181.3599665483643,-28.911251068115234,0,0,1.5859185046078452],[-29.739658993946925,-176.36053823812418,-28.911251068115234,0,0,1.5859185046078452],[-29.739658993946925,-176.36053823812418,-28.911251068115234,0,0,1.3241191168086959]]},{"id":3,"instruction":"now go forward and turn little left and down to the other and cross the road and building and hotel.","completed_instruction":"Fly forward to the roof of the red short building with the \"HOTEL\" sign on the street on the left side of the dark blue building.","start_frame":71,"end_frame":88,"start_position":[-29.739658993946925,-176.36053823812418,-28.911251068115234],"start_rotation":[0.78872780693839784,0,0,0.61474258560973749],"end_position":[-3.456506399995957,-134.15799511280895,-18.911251068115234],"end_rotation":[0.86222014010685755,0,0,0.50653374023268272],"actions":[1,5,1,2,1,1,5,1,1,6,5,1,1,5,1,5,1,1],"reference_path":[[-29.739658993946925,-176.36053823812418,-28.911251068115234,0,0,1.3241191168086959],[-28.518743459568377,-171.5118925243281,-28.911251068115234,0,0,1.3241191168086959],[-28.518743459568377,-171.5118925243281,-26.911251068115234,0,0,1.3241191168086959],[-27.29782792518983,-166.663246810532,-26.911251068115234,0,0,1.3241191168086959],[-27.29782792518983,-166.663246810532,-26.911251068115234,0,0,1.0623197290095463],[-24.863592225130937,-162.29581088580926,-26.911251068115234,0,0,1.0623197290095463],[-22.429356525072045,-157.92837496108652,-26.911251068115234,0,0,1.0623197290095463],[-22.429356525072045,-157.92837496108652,-24.911251068115234,0,0,1.0623197290095463],[-19.995120825013153,-153.56093903636378,-24.911251068115234,0,0,1.0623197290095463],[-17.56088512495426,-149.19350311164104,-24.911251068115234,0,0,1.0623197290095463],[-13.193449200231518,-151.6277388116999,-24.911251068115234,0,0,1.0623197290095463],[-13.193449200231518,-151.6277388116999,-22.911251068115234,0,0,1.0623197290095463],[-10.759213500172628,-147.26030288697717,-22.911251068115234,0,0,1.0623197290095463],[-8.324977800113738,-142.89286696225443,-22.911251068115234,0,0,1.0623197290095463],[-8.324977800113738,-142.89286696225443,-20.911251068115234,0,0,1.0623197290095463],[-5.890742100054847,-138.5254310375317,-20.911251068115234,0,0,1.0623197290095463],[-5.890742100054847,-138.5254310375317,-18.911251068115234,0,0,1.0623197290095463],[-3.456506399995957,-134.15799511280895,-18.911251068115234,0,0,1.0623197290095463]]},{"id":4,"instruction":"now go forward and turn right and move towards the building and apartment and cross the road and trees.","completed_instruction":"Turn right to face the mentioned dark blue building, and fly forward over the building to the park.","start_frame":88,"end_frame":111,"start_position":[-3.456506399995957,-134.15799511280895,-18.911251068115234],"start_rotation":[0.86222014010685755,0,0,0.50653374023268272],"end_position":[-41.280319944275895,-143.92357608979412,-18.911251068115234],"end_rotation":[0.26611502824692784,0,0,-0.9639412802350239],"actions":[1,6,1,3,3,3,3,3,3,3,3,3,1,1,1,1,1,1,1,1,3,1,1,1],"reference_path":[[-3.456506399995957,-134.15799511280895,-18.911251068115234,0,0,1.0623197290095463],[-1.0222706999370663,-129.7905591880862,-18.911251068115234,0,0,1.0623197290095463],[3.345165224785677,-132.22479488814508,-18.911251068115234,0,0,1.0623197290095463],[5.779400924844568,-127.85735896342234,-18.911251068115234,0,0,1.0623197290095463],[5.779400924844568,-127.85735896342234,-18.911251068115234,0,0,1.3241191168086957],[5.779400924844568,-127.85735896342234,-18.911251068115234,0,0,1.5859185046078452],[5.779400924844568,-127.85735896342234,-18.911251068115234,0,0,1.8477178924069948],[5.779400924844568,-127.85735896342234,-18.911251068115234,0,0,2.1095172802061444],[5.779400924844568,-127.85735896342234,-18.911251068115234,0,0,2.3713166680052935],[5.779400924844568,-127.85735896342234,-18.911251068115234,0,0,2.633116055804443],[5.779400924844568,-127.85735896342234,-18.911251068115234,0,0,2.894915443603592],[5.779400924844568,-127.85735896342234,-18.911251068115234,0,0,-3.1264704757768444],[5.779400924844568,-127.85735896342234,-18.911251068115234,0,0,-2.8646710879776953],[0.9698927955573522,-129.2243379516735,-18.911251068115234,0,0,-2.8646710879776953],[-3.8396153337298635,-130.59131693992467,-18.911251068115234,0,0,-2.8646710879776953],[-8.64912346301708,-131.95829592817583,-18.911251068115234,0,0,-2.8646710879776953],[-13.458631592304297,-133.325274916427,-18.911251068115234,0,0,-2.8646710879776953],[-18.268139721591513,-134.69225390467815,-18.911251068115234,0,0,-2.8646710879776953],[-23.07764785087873,-136.05923289292932,-18.911251068115234,0,0,-2.8646710879776953],[-27.887155980165947,-137.42621188118048,-18.911251068115234,0,0,-2.8646710879776953],[-32.69666410945316,-138.79319086943164,-18.911251068115234,0,0,-2.8646710879776953],[-32.69666410945316,-138.79319086943164,-18.911251068115234,0,0,-2.6028717001785457],[-36.98849202686453,-141.35838347961288,-18.911251068115234,0,0,-2.6028717001785457],[-41.280319944275895,-143.92357608979412,-18.911251068115234,0,0,-2.6028717001785457]]},{"id":5,"instruction":"now go forward and cross the road and tree and building and landed in the building opposite and near to the road.","completed_instruction":"Fly forward through the park and land on the sidewalk in front of the park.","start_frame":111,"end_frame":129,"start_position":[-41.280319944275895,-143.92357608979412,-18.911251068115234],"start_rotation":[0.26611502824692784,0,0,-0.9639412802350239],"end_position":[-84.19859911838958,-169.57550219160655,-2.9112510681152344],"end_rotation":[0.26611502824692784,0,0,-0.9639412802350239],"actions":[1,1,1,1,1,1,1,1,1,1,5,5,5,5,5,5,5,5,0],"reference_path":[[-41.280319944275895,-143.92357608979412,-18.911251068115234,0,0,-2.6028717001785457],[-45.57214786168726,-146.48876869997537,-18.911251068115234,0,0,-2.6028717001785457],[-49.86397577909863,-149.0539613101566,-18.911251068115234,0,0,-2.6028717001785457],[-54.15580369651,-151.61915392033785,-18.911251068115234,0,0,-2.6028717001785457],[-58.44763161392137,-154.1843465305191,-18.911251068115234,0,0,-2.6028717001785457],[-62.739459531332734,-156.74953914070034,-18.911251068115234,0,0,-2.6028717001785457],[-67.03128744874411,-159.31473175088158,-18.911251068115234,0,0,-2.6028717001785457],[-71.32311536615548,-161.87992436106282,-18.911251068115234,0,0,-2.6028717001785457],[-75.61494328356684,-164.44511697124406,-18.911251068115234,0,0,-2.6028717001785457],[-79.90677120097821,-167.0103095814253,-18.911251068115234,0,0,-2.6028717001785457],[-84.19859911838958,-169.57550219160655,-18.911251068115234,0,0,-2.6028717001785457],[-84.19859911838958,-169.57550219160655,-16.911251068115234,0,0,-2.6028717001785457],[-84.19859911838958,-169.57550219160655,-14.911251068115234,0,0,-2.6028717001785457],[-84.19859911838958,-169.57550219160655,-12.911251068115234,0,0,-2.6028717001785457],[-84.19859911838958,-169.57550219160655,-10.911251068115234,0,0,-2.6028717001785457],[-84.19859911838958,-169.57550219160655,-8.911251068115234,0,0,-2.6028717001785457],[-84.19859911838958,-169.57550219160655,-6.911251068115234,0,0,-2.6028717001785457],[-84.19859911838958,-169.57550219160655,-4.911251068115234,0,0,-2.6028717001785457],[-84.19859911838958,-169.57550219160655,-2.9112510681152344,0,0,-2.6028717001785457]]}],"statistics":{"complete_actions":134,"sentence_actions":[24,26,23,18,24,19],"sentence_actions_average":22.33}}
diff --git a/scene_11/3HQUKB7LNOC6K1VC9SY37CMLO6VHHH.json b/scene_11/3HQUKB7LNOC6K1VC9SY37CMLO6VHHH.json
new file mode 100644
index 0000000000000000000000000000000000000000..45914bf8aa1e6387fea6734da78a0422fa100c2c
--- /dev/null
+++ b/scene_11/3HQUKB7LNOC6K1VC9SY37CMLO6VHHH.json
@@ -0,0 +1 @@
+{"episode_id":"3HQUKB7LNOC6K1VC9SY37CMLO6VHHH","trajectory_id":"33QQ60S6B0GXS3Y7LGTFVGH5L2KU00","scene_id":11,"instruction":"moving left to the building and going straight. coming slight down and turning left and moving towards the building. turning right and going straight. slightly coming down and turning left. going a big straight towards and building and going in between two buildings.","sentence_instructions":[{"id":0,"instruction":"moving left to the building and going straight.","completed_instruction":"Fly forward by the left side of the glass building ahead to the white cylindrical building with windows lighting on.","start_frame":1,"end_frame":17,"start_position":[-134.07041931152344,-70.3873291015625,-61.81205749511719],"start_rotation":[0.99999765685942266,0,0,0.0021647807428116748],"end_position":[-74.07098166460321,-70.12755602111145,-61.81205749511719],"end_rotation":[0.99999765685942266,0,0,0.0021647807428116748],"actions":[6,1,6,1,1,1,1,1,7,1,7,1,1,1,1,1,1],"reference_path":[[-134.07041931152344,-70.3873291015625,-61.81205749511719,0,0,0.004329564867216919],[-134.04877155481918,-75.38728223880585,-61.81205749511719,0,0,0.004329564867216919],[-129.04881841757583,-75.3656344821016,-61.81205749511719,0,0,0.004329564867216919],[-129.02717066087158,-80.36558761934495,-61.81205749511719,0,0,0.004329564867216919],[-124.02721752362822,-80.3439398626407,-61.81205749511719,0,0,0.004329564867216919],[-119.02726438638487,-80.32229210593644,-61.81205749511719,0,0,0.004329564867216919],[-114.02731124914152,-80.30064434923219,-61.81205749511719,0,0,0.004329564867216919],[-109.02735811189817,-80.27899659252793,-61.81205749511719,0,0,0.004329564867216919],[-104.02740497465481,-80.25734883582368,-61.81205749511719,0,0,0.004329564867216919],[-104.04905273135907,-75.25739569858032,-61.81205749511719,0,0,0.004329564867216919],[-99.04909959411572,-75.23574794187607,-61.81205749511719,0,0,0.004329564867216919],[-99.07074735081997,-70.23579480463272,-61.81205749511719,0,0,0.004329564867216919],[-94.07079421357662,-70.21414704792846,-61.81205749511719,0,0,0.004329564867216919],[-89.07084107633327,-70.19249929122421,-61.81205749511719,0,0,0.004329564867216919],[-84.07088793908991,-70.17085153451995,-61.81205749511719,0,0,0.004329564867216919],[-79.07093480184656,-70.1492037778157,-61.81205749511719,0,0,0.004329564867216919],[-74.07098166460321,-70.12755602111145,-61.81205749511719,0,0,0.004329564867216919]]},{"id":1,"instruction":"coming slight down and turning left and moving towards the building.","completed_instruction":"Descend to the middle height of the cylindrical building, then turn left to face the gap between the two cylindrical glass wall buildings, then fly forward to the front of cylindrical glass walls.","start_frame":17,"end_frame":40,"start_position":[-74.07098166460321,-70.12755602111145,-61.81205749511719],"start_rotation":[0.99999765685942266,0,0,0.0021647807428116748],"end_position":[-49.055368720609025,-73.67953696951571,-37.81205749511719],"end_rotation":[0.86710576493657987,0,0,-0.49812407331281294],"actions":[1,1,7,5,5,5,1,5,5,5,5,5,5,5,5,1,2,2,2,2,1,5,1,7],"reference_path":[[-74.07098166460321,-70.12755602111145,-61.81205749511719,0,0,0.004329564867216919],[-69.07102852735986,-70.10590826440719,-61.81205749511719,0,0,0.004329564867216919],[-64.0710753901165,-70.08426050770294,-61.81205749511719,0,0,0.004329564867216919],[-64.09272314682076,-65.08430737045958,-61.81205749511719,0,0,0.004329564867216919],[-64.09272314682076,-65.08430737045958,-59.81205749511719,0,0,0.004329564867216919],[-64.09272314682076,-65.08430737045958,-57.81205749511719,0,0,0.004329564867216919],[-64.09272314682076,-65.08430737045958,-55.81205749511719,0,0,0.004329564867216919],[-59.09277000957741,-65.06265961375533,-55.81205749511719,0,0,0.004329564867216919],[-59.09277000957741,-65.06265961375533,-53.81205749511719,0,0,0.004329564867216919],[-59.09277000957741,-65.06265961375533,-51.81205749511719,0,0,0.004329564867216919],[-59.09277000957741,-65.06265961375533,-49.81205749511719,0,0,0.004329564867216919],[-59.09277000957741,-65.06265961375533,-47.81205749511719,0,0,0.004329564867216919],[-59.09277000957741,-65.06265961375533,-45.81205749511719,0,0,0.004329564867216919],[-59.09277000957741,-65.06265961375533,-43.81205749511719,0,0,0.004329564867216919],[-59.09277000957741,-65.06265961375533,-41.81205749511719,0,0,0.004329564867216919],[-59.09277000957741,-65.06265961375533,-39.81205749511719,0,0,0.004329564867216919],[-54.092816872334055,-65.04101185705107,-39.81205749511719,0,0,0.004329564867216919],[-54.092816872334055,-65.04101185705107,-39.81205749511719,0,0,-0.2574698229319325],[-54.092816872334055,-65.04101185705107,-39.81205749511719,0,0,-0.5192692107310819],[-54.092816872334055,-65.04101185705107,-39.81205749511719,0,0,-0.7810685985302313],[-54.092816872334055,-65.04101185705107,-39.81205749511719,0,0,-1.0428679863293806],[-51.57409279647154,-69.36027441328339,-39.81205749511719,0,0,-1.0428679863293806],[-51.57409279647154,-69.36027441328339,-37.81205749511719,0,0,-1.0428679863293806],[-49.055368720609025,-73.67953696951571,-37.81205749511719,0,0,-1.0428679863293806]]},{"id":2,"instruction":"turning right and going straight.","completed_instruction":"Turn right and face the short flat roofed building ahead, fly over it to reach the building with black stairs.","start_frame":40,"end_frame":63,"start_position":[-49.055368720609025,-73.67953696951571,-37.81205749511719],"start_rotation":[0.86710576493657987,0,0,-0.49812407331281294],"end_position":[32.6610571940423,-60.07443964880957,-37.81205749511719],"end_rotation":[0.991159977691775,0,0,0.13267214712229594],"actions":[7,1,1,3,3,3,3,3,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1],"reference_path":[[-49.055368720609025,-73.67953696951571,-37.81205749511719,0,0,-1.0428679863293806],[-44.73610616437671,-71.1608128936532,-37.81205749511719,0,0,-1.0428679863293806],[-42.21738208851419,-75.48007544988552,-37.81205749511719,0,0,-1.0428679863293806],[-39.69865801265168,-79.79933800611784,-37.81205749511719,0,0,-1.0428679863293806],[-39.69865801265168,-79.79933800611784,-37.81205749511719,0,0,-0.7810685985302311],[-39.69865801265168,-79.79933800611784,-37.81205749511719,0,0,-0.5192692107310817],[-39.69865801265168,-79.79933800611784,-37.81205749511719,0,0,-0.25746982293193227],[-39.69865801265168,-79.79933800611784,-37.81205749511719,0,0,0.004329564867217177],[-39.69865801265168,-79.79933800611784,-37.81205749511719,0,0,0.2661289526663666],[-34.874676998872076,-78.48434478229728,-37.81205749511719,0,0,0.2661289526663666],[-30.050695985092478,-77.16935155847673,-37.81205749511719,0,0,0.2661289526663666],[-25.22671497131288,-75.85435833465618,-37.81205749511719,0,0,0.2661289526663666],[-20.402733957533282,-74.53936511083563,-37.81205749511719,0,0,0.2661289526663666],[-15.578752943753685,-73.22437188701508,-37.81205749511719,0,0,0.2661289526663666],[-10.754771929974087,-71.90937866319453,-37.81205749511719,0,0,0.2661289526663666],[-5.930790916194488,-70.59438543937398,-37.81205749511719,0,0,0.2661289526663666],[-1.1068099024148896,-69.27939221555343,-37.81205749511719,0,0,0.2661289526663666],[3.717171111364709,-67.96439899173288,-37.81205749511719,0,0,0.2661289526663666],[8.541152125144308,-66.64940576791233,-37.81205749511719,0,0,0.2661289526663666],[13.365133138923905,-65.33441254409178,-37.81205749511719,0,0,0.2661289526663666],[18.189114152703503,-64.01941932027123,-37.81205749511719,0,0,0.2661289526663666],[23.0130951664831,-62.704426096450675,-37.81205749511719,0,0,0.2661289526663666],[27.8370761802627,-61.389432872630124,-37.81205749511719,0,0,0.2661289526663666],[32.6610571940423,-60.07443964880957,-37.81205749511719,0,0,0.2661289526663666]]},{"id":3,"instruction":"slightly coming down and turning left.","completed_instruction":"Fly forward to the top of the building, then turn left to face the four highest cylindrical buildings in the distance.","start_frame":63,"end_frame":75,"start_position":[32.6610571940423,-60.07443964880957,-37.81205749511719],"start_rotation":[0.991159977691775,0,0,0.13267214712229594],"end_position":[60.289950052899364,-47.36049929210667,-33.81205749511719],"end_rotation":[0.96648384947378085,0,0,-0.25672742102537882],"actions":[1,1,1,5,5,1,7,1,1,2,2,2,2],"reference_path":[[32.6610571940423,-60.07443964880957,-37.81205749511719,0,0,0.2661289526663666],[37.4850382078219,-58.75944642498902,-37.81205749511719,0,0,0.2661289526663666],[42.3090192216015,-57.44445320116847,-37.81205749511719,0,0,0.2661289526663666],[47.133000235381104,-56.12945997734792,-37.81205749511719,0,0,0.2661289526663666],[47.133000235381104,-56.12945997734792,-35.81205749511719,0,0,0.2661289526663666],[47.133000235381104,-56.12945997734792,-33.81205749511719,0,0,0.2661289526663666],[51.956981249160705,-54.81446675352737,-33.81205749511719,0,0,0.2661289526663666],[50.64198802534016,-49.99048573974777,-33.81205749511719,0,0,0.2661289526663666],[55.46596903911976,-48.67549251592722,-33.81205749511719,0,0,0.2661289526663666],[60.289950052899364,-47.36049929210667,-33.81205749511719,0,0,0.2661289526663666],[60.289950052899364,-47.36049929210667,-33.81205749511719,0,0,0.004329564867217177],[60.289950052899364,-47.36049929210667,-33.81205749511719,0,0,-0.25746982293193227],[60.289950052899364,-47.36049929210667,-33.81205749511719,0,0,-0.5192692107310817]]},{"id":4,"instruction":"going a big straight towards and building and going in between two buildings.","completed_instruction":"Fly forward to the space in the middle of the four cylindrical glass-walled buildings, then ascend to the same height as the right-side skywalk.","start_frame":75,"end_frame":128,"start_position":[60.289950052899364,-47.36049929210667,-33.81205749511719],"start_rotation":[0.96648384947378085,0,0,-0.25672742102537882],"end_position":[108.1306412620546,-256.634592478841,-43.81205749511719],"end_rotation":[0.70863585547898034,0,0,-0.70557439319293158],"actions":[2,2,2,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,6,1,1,1,1,2,1,1,1,4,4,4,4,4,0],"reference_path":[[60.289950052899364,-47.36049929210667,-33.81205749511719,0,0,-0.5192692107310817],[60.289950052899364,-47.36049929210667,-33.81205749511719,0,0,-0.781068598530231],[60.289950052899364,-47.36049929210667,-33.81205749511719,0,0,-1.0428679863293804],[60.289950052899364,-47.36049929210667,-33.81205749511719,0,0,-1.3046673741285297],[61.604943276719915,-52.18448030588627,-33.81205749511719,0,0,-1.3046673741285297],[62.919936500540466,-57.00846131966587,-33.81205749511719,0,0,-1.3046673741285297],[64.23492972436101,-61.83244233344547,-33.81205749511719,0,0,-1.3046673741285297],[65.54992294818156,-66.65642334722507,-33.81205749511719,0,0,-1.3046673741285297],[66.86491617200211,-71.48040436100467,-33.81205749511719,0,0,-1.3046673741285297],[68.17990939582266,-76.30438537478427,-33.81205749511719,0,0,-1.3046673741285297],[69.49490261964321,-81.12836638856388,-33.81205749511719,0,0,-1.3046673741285297],[70.80989584346376,-85.95234740234348,-33.81205749511719,0,0,-1.3046673741285297],[72.12488906728431,-90.77632841612308,-33.81205749511719,0,0,-1.3046673741285297],[73.43988229110487,-95.60030942990268,-33.81205749511719,0,0,-1.3046673741285297],[74.75487551492542,-100.42429044368228,-33.81205749511719,0,0,-1.3046673741285297],[76.06986873874597,-105.24827145746188,-33.81205749511719,0,0,-1.3046673741285297],[77.38486196256652,-110.07225247124148,-33.81205749511719,0,0,-1.3046673741285297],[78.69985518638707,-114.89623348502109,-33.81205749511719,0,0,-1.3046673741285297],[80.01484841020762,-119.72021449880069,-33.81205749511719,0,0,-1.3046673741285297],[81.32984163402817,-124.54419551258029,-33.81205749511719,0,0,-1.3046673741285297],[82.64483485784872,-129.3681765263599,-33.81205749511719,0,0,-1.3046673741285297],[83.95982808166927,-134.19215754013948,-33.81205749511719,0,0,-1.3046673741285297],[85.27482130548982,-139.01613855391906,-33.81205749511719,0,0,-1.3046673741285297],[86.58981452931037,-143.84011956769865,-33.81205749511719,0,0,-1.3046673741285297],[87.90480775313092,-148.66410058147824,-33.81205749511719,0,0,-1.3046673741285297],[89.21980097695148,-153.48808159525782,-33.81205749511719,0,0,-1.3046673741285297],[90.53479420077203,-158.3120626090374,-33.81205749511719,0,0,-1.3046673741285297],[91.84978742459258,-163.136043622817,-33.81205749511719,0,0,-1.3046673741285297],[93.16478064841313,-167.9600246365966,-33.81205749511719,0,0,-1.3046673741285297],[94.47977387223368,-172.78400565037617,-33.81205749511719,0,0,-1.3046673741285297],[95.79476709605423,-177.60798666415576,-33.81205749511719,0,0,-1.3046673741285297],[97.10976031987478,-182.43196767793535,-33.81205749511719,0,0,-1.3046673741285297],[98.42475354369533,-187.25594869171493,-33.81205749511719,0,0,-1.3046673741285297],[99.73974676751588,-192.07992970549452,-33.81205749511719,0,0,-1.3046673741285297],[101.05473999133643,-196.9039107192741,-33.81205749511719,0,0,-1.3046673741285297],[102.36973321515698,-201.7278917330537,-33.81205749511719,0,0,-1.3046673741285297],[103.68472643897753,-206.55187274683328,-33.81205749511719,0,0,-1.3046673741285297],[104.99971966279809,-211.37585376061287,-33.81205749511719,0,0,-1.3046673741285297],[106.31471288661864,-216.19983477439246,-33.81205749511719,0,0,-1.3046673741285297],[107.62970611043919,-221.02381578817204,-33.81205749511719,0,0,-1.3046673741285297],[102.80572509665959,-222.3388090119926,-33.81205749511719,0,0,-1.3046673741285297],[104.12071832048014,-227.16279002577218,-33.81205749511719,0,0,-1.3046673741285297],[105.43571154430069,-231.98677103955177,-33.81205749511719,0,0,-1.3046673741285297],[106.75070476812124,-236.81075205333136,-33.81205749511719,0,0,-1.3046673741285297],[108.06569799194179,-241.63473306711094,-33.81205749511719,0,0,-1.3046673741285297],[108.06569799194179,-241.63473306711094,-33.81205749511719,0,0,-1.566466761927679],[108.08734574864606,-246.6346862043543,-33.81205749511719,0,0,-1.566466761927679],[108.10899350535033,-251.63463934159765,-33.81205749511719,0,0,-1.566466761927679],[108.1306412620546,-256.634592478841,-33.81205749511719,0,0,-1.566466761927679],[108.1306412620546,-256.634592478841,-35.81205749511719,0,0,-1.566466761927679],[108.1306412620546,-256.634592478841,-37.81205749511719,0,0,-1.566466761927679],[108.1306412620546,-256.634592478841,-39.81205749511719,0,0,-1.566466761927679],[108.1306412620546,-256.634592478841,-41.81205749511719,0,0,-1.566466761927679],[108.1306412620546,-256.634592478841,-43.81205749511719,0,0,-1.566466761927679]]}],"statistics":{"complete_actions":132,"sentence_actions":[17,24,24,13,54],"sentence_actions_average":26.4}}
diff --git a/scene_11/3HVVDCPGTNQIB5CWJMJG7VKCN0DYTN.json b/scene_11/3HVVDCPGTNQIB5CWJMJG7VKCN0DYTN.json
new file mode 100644
index 0000000000000000000000000000000000000000..cc5d848e27b7a4d2aba674073b3dd273ce5df17e
--- /dev/null
+++ b/scene_11/3HVVDCPGTNQIB5CWJMJG7VKCN0DYTN.json
@@ -0,0 +1 @@
+{"episode_id":"3HVVDCPGTNQIB5CWJMJG7VKCN0DYTN","trajectory_id":"3OYHVNTV61W4SOLETNROFU4PH3AOK9","scene_id":11,"instruction":"go forward to the tall building. turn left and go forward. go to the dark building past the park. turn right and go to the building to the right of the sky scraper. turn left and go behind the sky scraper. pass by the leon sign. land on the ground in the middle of the two parks. lift back up above the buildings and turn right. lower back down to the ground and look to the right at the building with the neon sign.","sentence_instructions":[{"id":0,"instruction":"go forward to the tall building.","completed_instruction":"Fly forward to the black and white horizontal stripes skyscraper.","start_frame":1,"end_frame":17,"start_position":[-164.62677001953125,-109.69386291503906,-27.072492599487305],"start_rotation":[0.999993332270135,0,0,0.0036517687866825209],"end_position":[-99.62850362351656,-109.21913613814142,-33.072492599487305],"end_rotation":[0.999993332270135,0,0,0.0036517687866825209],"actions":[4,4,4,1,1,1,1,1,1,1,1,1,1,1,1,1,5],"reference_path":[[-164.62677001953125,-109.69386291503906,-27.072492599487305,0,0,0.007303553806080202],[-164.62677001953125,-109.69386291503906,-29.072492599487305,0,0,0.007303553806080202],[-164.62677001953125,-109.69386291503906,-31.072492599487305,0,0,0.007303553806080202],[-164.62677001953125,-109.69386291503906,-33.072492599487305,0,0,0.007303553806080202],[-159.62690337368397,-109.65734547066232,-33.072492599487305,0,0,0.007303553806080202],[-154.6270367278367,-109.62082802628558,-33.072492599487305,0,0,0.007303553806080202],[-149.62717008198942,-109.58431058190884,-33.072492599487305,0,0,0.007303553806080202],[-144.62730343614214,-109.5477931375321,-33.072492599487305,0,0,0.007303553806080202],[-139.62743679029487,-109.51127569315535,-33.072492599487305,0,0,0.007303553806080202],[-134.6275701444476,-109.47475824877861,-33.072492599487305,0,0,0.007303553806080202],[-129.6277034986003,-109.43824080440187,-33.072492599487305,0,0,0.007303553806080202],[-124.62783685275302,-109.40172336002513,-33.072492599487305,0,0,0.007303553806080202],[-119.62797020690573,-109.36520591564839,-33.072492599487305,0,0,0.007303553806080202],[-114.62810356105844,-109.32868847127165,-33.072492599487305,0,0,0.007303553806080202],[-109.62823691521115,-109.2921710268949,-33.072492599487305,0,0,0.007303553806080202],[-104.62837026936386,-109.25565358251816,-33.072492599487305,0,0,0.007303553806080202],[-99.62850362351656,-109.21913613814142,-33.072492599487305,0,0,0.007303553806080202]]},{"id":1,"instruction":"turn left and go forward.","completed_instruction":"Turn left to face the dark red building with many lights shining behind the park, then fly forward over the wall of building on right.","start_frame":17,"end_frame":27,"start_position":[-99.62850362351656,-109.21913613814142,-33.072492599487305],"start_rotation":[0.999993332270135,0,0,0.0036517687866825209],"end_position":[-92.033828551211,-122.15439456409104,-27.072492599487305],"end_rotation":[0.86784551375433117,0,0,-0.49683414159705341],"actions":[5,5,5,2,2,2,2,1,1,1,1],"reference_path":[[-99.62850362351656,-109.21913613814142,-33.072492599487305,0,0,0.007303553806080202],[-99.62850362351656,-109.21913613814142,-31.072492599487305,0,0,0.007303553806080202],[-99.62850362351656,-109.21913613814142,-29.072492599487305,0,0,0.007303553806080202],[-99.62850362351656,-109.21913613814142,-27.072492599487305,0,0,0.007303553806080202],[-99.62850362351656,-109.21913613814142,-27.072492599487305,0,0,-0.25449583399306924],[-99.62850362351656,-109.21913613814142,-27.072492599487305,0,0,-0.5162952217922187],[-99.62850362351656,-109.21913613814142,-27.072492599487305,0,0,-0.778094609591368],[-99.62850362351656,-109.21913613814142,-27.072492599487305,0,0,-1.0398939973905175],[-97.09694526608138,-113.5308889467913,-27.072492599487305,0,0,-1.0398939973905175],[-94.56538690864619,-117.84264175544116,-27.072492599487305,0,0,-1.0398939973905175],[-92.033828551211,-122.15439456409104,-27.072492599487305,0,0,-1.0398939973905175]]},{"id":2,"instruction":"go to the dark building past the park.","completed_instruction":"Fly forward through the park to the right corner of the red building.","start_frame":27,"end_frame":46,"start_position":[-92.033828551211,-122.15439456409104,-27.072492599487305],"start_rotation":[0.86784551375433117,0,0,-0.49683414159705341],"end_position":[-58.37220599833303,-189.3622450512741,-25.072492599487305],"end_rotation":[0.86784551375433117,0,0,-0.49683414159705341],"actions":[1,6,1,1,1,1,7,1,1,1,1,1,1,1,1,6,1,1,5,5],"reference_path":[[-92.033828551211,-122.15439456409104,-27.072492599487305,0,0,-1.0398939973905175],[-89.50227019377581,-126.4661473727409,-27.072492599487305,0,0,-1.0398939973905175],[-93.81402300242569,-128.9977057301761,-27.072492599487305,0,0,-1.0398939973905175],[-91.2824646449905,-133.30945853882596,-27.072492599487305,0,0,-1.0398939973905175],[-88.75090628755531,-137.62121134747582,-27.072492599487305,0,0,-1.0398939973905175],[-86.21934793012012,-141.93296415612568,-27.072492599487305,0,0,-1.0398939973905175],[-83.68778957268493,-146.24471696477553,-27.072492599487305,0,0,-1.0398939973905175],[-79.37603676403506,-143.71315860734035,-27.072492599487305,0,0,-1.0398939973905175],[-76.84447840659988,-148.0249114159902,-27.072492599487305,0,0,-1.0398939973905175],[-74.31292004916469,-152.33666422464006,-27.072492599487305,0,0,-1.0398939973905175],[-71.7813616917295,-156.64841703328992,-27.072492599487305,0,0,-1.0398939973905175],[-69.24980333429431,-160.96016984193977,-27.072492599487305,0,0,-1.0398939973905175],[-66.71824497685913,-165.27192265058963,-27.072492599487305,0,0,-1.0398939973905175],[-64.18668661942394,-169.5836754592395,-27.072492599487305,0,0,-1.0398939973905175],[-61.65512826198874,-173.89542826788934,-27.072492599487305,0,0,-1.0398939973905175],[-59.12356990455355,-178.2071810765392,-27.072492599487305,0,0,-1.0398939973905175],[-63.43532271320342,-180.7387394339744,-27.072492599487305,0,0,-1.0398939973905175],[-60.903764355768224,-185.05049224262424,-27.072492599487305,0,0,-1.0398939973905175],[-58.37220599833303,-189.3622450512741,-27.072492599487305,0,0,-1.0398939973905175],[-58.37220599833303,-189.3622450512741,-25.072492599487305,0,0,-1.0398939973905175]]},{"id":3,"instruction":"turn right and go to the building to the right of the sky scraper.","completed_instruction":"Turn right and face the short building with blue and black stripes, then fly forward to the corner at the top of this building.","start_frame":46,"end_frame":65,"start_position":[-58.37220599833303,-189.3622450512741,-25.072492599487305],"start_rotation":[0.86784551375433117,0,0,-0.49683414159705341],"end_position":[-26.785645098523148,-157.31089296555706,-19.072492599487305],"end_rotation":[0.92247590091864484,0,0,0.3860546751748184],"actions":[5,5,5,3,3,3,3,3,3,3,1,1,1,1,1,1,1,1,1,1],"reference_path":[[-58.37220599833303,-189.3622450512741,-25.072492599487305,0,0,-1.0398939973905175],[-58.37220599833303,-189.3622450512741,-23.072492599487305,0,0,-1.0398939973905175],[-58.37220599833303,-189.3622450512741,-21.072492599487305,0,0,-1.0398939973905175],[-58.37220599833303,-189.3622450512741,-19.072492599487305,0,0,-1.0398939973905175],[-58.37220599833303,-189.3622450512741,-19.072492599487305,0,0,-0.7780946095913681],[-58.37220599833303,-189.3622450512741,-19.072492599487305,0,0,-0.5162952217922188],[-58.37220599833303,-189.3622450512741,-19.072492599487305,0,0,-0.25449583399306935],[-58.37220599833303,-189.3622450512741,-19.072492599487305,0,0,0.007303553806080095],[-58.37220599833303,-189.3622450512741,-19.072492599487305,0,0,0.2691029416052295],[-58.37220599833303,-189.3622450512741,-19.072492599487305,0,0,0.530902329404379],[-58.37220599833303,-189.3622450512741,-19.072492599487305,0,0,0.7927017172035283],[-54.862588120576376,-185.80098370841665,-19.072492599487305,0,0,0.7927017172035283],[-51.35297024281972,-182.2397223655592,-19.072492599487305,0,0,0.7927017172035283],[-47.84335236506307,-178.67846102270175,-19.072492599487305,0,0,0.7927017172035283],[-44.333734487306415,-175.1171996798443,-19.072492599487305,0,0,0.7927017172035283],[-40.82411660954976,-171.55593833698686,-19.072492599487305,0,0,0.7927017172035283],[-37.31449873179311,-167.9946769941294,-19.072492599487305,0,0,0.7927017172035283],[-33.804880854036455,-164.43341565127196,-19.072492599487305,0,0,0.7927017172035283],[-30.2952629762798,-160.8721543084145,-19.072492599487305,0,0,0.7927017172035283],[-26.785645098523148,-157.31089296555706,-19.072492599487305,0,0,0.7927017172035283]]},{"id":4,"instruction":"turn left and go behind the sky scraper.","completed_instruction":"Turn left to face the building with the \"LEON\" sign on its right side, then fly forward to building.","start_frame":65,"end_frame":84,"start_position":[-26.785645098523148,-157.31089296555706,-19.072492599487305],"start_rotation":[0.92247590091864484,0,0,0.3860546751748184],"end_position":[25.934295424196026,-153.3287644852016,-19.072492599487305],"end_rotation":[0.96686453306689335,0,0,-0.25528998158435112],"actions":[1,1,1,2,2,2,2,2,1,1,7,1,1,1,7,1,1,7,1,1],"reference_path":[[-26.785645098523148,-157.31089296555706,-19.072492599487305,0,0,0.7927017172035283],[-23.276027220766494,-153.7496316226996,-19.072492599487305,0,0,0.7927017172035283],[-19.76640934300984,-150.18837027984216,-19.072492599487305,0,0,0.7927017172035283],[-16.256791465253187,-146.6271089369847,-19.072492599487305,0,0,0.7927017172035283],[-16.256791465253187,-146.6271089369847,-19.072492599487305,0,0,0.5309023294043791],[-16.256791465253187,-146.6271089369847,-19.072492599487305,0,0,0.2691029416052297],[-16.256791465253187,-146.6271089369847,-19.072492599487305,0,0,0.00730355380608025],[-16.256791465253187,-146.6271089369847,-19.072492599487305,0,0,-0.2544958339930692],[-16.256791465253187,-146.6271089369847,-19.072492599487305,0,0,-0.5162952217922187],[-11.908521212226571,-149.0954172253968,-19.072492599487305,0,0,-0.5162952217922187],[-7.560250959199954,-151.5637255138089,-19.072492599487305,0,0,-0.5162952217922187],[-5.0919426707878594,-147.21545526078228,-19.072492599487305,0,0,-0.5162952217922187],[-0.7436724177612426,-149.68376354919437,-19.072492599487305,0,0,-0.5162952217922187],[3.6045978352653743,-152.15207183760646,-19.072492599487305,0,0,-0.5162952217922187],[7.952868088291991,-154.62038012601855,-19.072492599487305,0,0,-0.5162952217922187],[10.421176376704086,-150.27210987299193,-19.072492599487305,0,0,-0.5162952217922187],[14.769446629730702,-152.74041816140402,-19.072492599487305,0,0,-0.5162952217922187],[19.117716882757318,-155.2087264498161,-19.072492599487305,0,0,-0.5162952217922187],[21.58602517116941,-150.8604561967895,-19.072492599487305,0,0,-0.5162952217922187],[25.934295424196026,-153.3287644852016,-19.072492599487305,0,0,-0.5162952217922187]]},{"id":5,"instruction":"pass by the leon sign.","completed_instruction":"Move to the left side of the \"LEON\" sign, then fly forward to the park.","start_frame":84,"end_frame":98,"start_position":[25.934295424196026,-153.3287644852016,-19.072492599487305],"start_rotation":[0.96686453306689335,0,0,-0.25528998158435112],"end_position":[59.54376480081383,-195.40492838142893,-19.072492599487305],"end_rotation":[0.96686453306689335,0,0,-0.25528998158435112],"actions":[1,1,6,1,6,1,6,6,1,1,1,1,1,1,1],"reference_path":[[25.934295424196026,-153.3287644852016,-19.072492599487305,0,0,-0.5162952217922187],[30.282565677222642,-155.79707277361368,-19.072492599487305,0,0,-0.5162952217922187],[34.63083593024926,-158.26538106202577,-19.072492599487305,0,0,-0.5162952217922187],[32.162527641837166,-162.61365131505238,-19.072492599487305,0,0,-0.5162952217922187],[36.510797894863785,-165.08195960346447,-19.072492599487305,0,0,-0.5162952217922187],[34.04248960645169,-169.43022985649108,-19.072492599487305,0,0,-0.5162952217922187],[38.39075985947831,-171.89853814490317,-19.072492599487305,0,0,-0.5162952217922187],[35.92245157106621,-176.24680839792978,-19.072492599487305,0,0,-0.5162952217922187],[33.454143282654115,-180.5950786509564,-19.072492599487305,0,0,-0.5162952217922187],[37.802413535680735,-183.06338693936848,-19.072492599487305,0,0,-0.5162952217922187],[42.150683788707354,-185.53169522778057,-19.072492599487305,0,0,-0.5162952217922187],[46.498954041733974,-188.00000351619266,-19.072492599487305,0,0,-0.5162952217922187],[50.84722429476059,-190.46831180460475,-19.072492599487305,0,0,-0.5162952217922187],[55.19549454778721,-192.93662009301684,-19.072492599487305,0,0,-0.5162952217922187],[59.54376480081383,-195.40492838142893,-19.072492599487305,0,0,-0.5162952217922187]]},{"id":6,"instruction":"land on the ground in the middle of the two parks.","completed_instruction":"Reduce the altitude to a level slightly higher than the street lamp.","start_frame":98,"end_frame":104,"start_position":[59.54376480081383,-195.40492838142893,-19.072492599487305],"start_rotation":[0.96686453306689335,0,0,-0.25528998158435112],"end_position":[72.58857555989368,-202.8098532466652,-13.072492599487305],"end_rotation":[0.96686453306689335,0,0,-0.25528998158435112],"actions":[1,1,1,5,5,5,5],"reference_path":[[59.54376480081383,-195.40492838142893,-19.072492599487305,0,0,-0.5162952217922187],[63.89203505384045,-197.87323666984102,-19.072492599487305,0,0,-0.5162952217922187],[68.24030530686707,-200.3415449582531,-19.072492599487305,0,0,-0.5162952217922187],[72.58857555989368,-202.8098532466652,-19.072492599487305,0,0,-0.5162952217922187],[72.58857555989368,-202.8098532466652,-17.072492599487305,0,0,-0.5162952217922187],[72.58857555989368,-202.8098532466652,-15.072492599487305,0,0,-0.5162952217922187],[72.58857555989368,-202.8098532466652,-13.072492599487305,0,0,-0.5162952217922187]]},{"id":7,"instruction":"lift back up above the buildings and turn right.","completed_instruction":"Ascend to the same height as the top window of the building on the right, then turn right to face a nearest white apartment.","start_frame":104,"end_frame":123,"start_position":[72.58857555989368,-202.8098532466652,-13.072492599487305],"start_rotation":[0.96686453306689335,0,0,-0.25528998158435112],"end_position":[77.58844220574098,-202.77333580228844,-23.072492599487305],"end_rotation":[0.79112499444048434,0,0,0.61165451291684558],"actions":[5,5,5,4,4,4,4,4,4,4,4,3,3,1,3,3,3,3,3,3],"reference_path":[[72.58857555989368,-202.8098532466652,-13.072492599487305,0,0,-0.5162952217922187],[72.58857555989368,-202.8098532466652,-11.072492599487305,0,0,-0.5162952217922187],[72.58857555989368,-202.8098532466652,-9.072492599487305,0,0,-0.5162952217922187],[72.58857555989368,-202.8098532466652,-7.072492599487305,0,0,-0.5162952217922187],[72.58857555989368,-202.8098532466652,-9.072492599487305,0,0,-0.5162952217922187],[72.58857555989368,-202.8098532466652,-11.072492599487305,0,0,-0.5162952217922187],[72.58857555989368,-202.8098532466652,-13.072492599487305,0,0,-0.5162952217922187],[72.58857555989368,-202.8098532466652,-15.072492599487305,0,0,-0.5162952217922187],[72.58857555989368,-202.8098532466652,-17.072492599487305,0,0,-0.5162952217922187],[72.58857555989368,-202.8098532466652,-19.072492599487305,0,0,-0.5162952217922187],[72.58857555989368,-202.8098532466652,-21.072492599487305,0,0,-0.5162952217922187],[72.58857555989368,-202.8098532466652,-23.072492599487305,0,0,-0.5162952217922187],[72.58857555989368,-202.8098532466652,-23.072492599487305,0,0,-0.2544958339930692],[72.58857555989368,-202.8098532466652,-23.072492599487305,0,0,0.00730355380608025],[77.58844220574098,-202.77333580228844,-23.072492599487305,0,0,0.00730355380608025],[77.58844220574098,-202.77333580228844,-23.072492599487305,0,0,0.2691029416052297],[77.58844220574098,-202.77333580228844,-23.072492599487305,0,0,0.5309023294043791],[77.58844220574098,-202.77333580228844,-23.072492599487305,0,0,0.7927017172035286],[77.58844220574098,-202.77333580228844,-23.072492599487305,0,0,1.054501105002678],[77.58844220574098,-202.77333580228844,-23.072492599487305,0,0,1.3163004928018274]]},{"id":8,"instruction":"lower back down to the ground and look to the right at the building with the neon sign.","completed_instruction":"Land on the sidewalk.","start_frame":123,"end_frame":137,"start_position":[77.58844220574098,-202.77333580228844,-23.072492599487305],"start_rotation":[0.79112499444048434,0,0,0.61165451291684558],"end_position":[77.58844220574098,-202.77333580228844,-1.0724925994873047],"end_rotation":[0.49683414159705336,0,0,0.86784551375433128],"actions":[3,3,3,5,5,5,5,5,5,5,5,5,5,5,0],"reference_path":[[77.58844220574098,-202.77333580228844,-23.072492599487305,0,0,1.3163004928018274],[77.58844220574098,-202.77333580228844,-23.072492599487305,0,0,1.578099880600977],[77.58844220574098,-202.77333580228844,-23.072492599487305,0,0,1.8398992684001263],[77.58844220574098,-202.77333580228844,-23.072492599487305,0,0,2.1016986561992756],[77.58844220574098,-202.77333580228844,-21.072492599487305,0,0,2.1016986561992756],[77.58844220574098,-202.77333580228844,-19.072492599487305,0,0,2.1016986561992756],[77.58844220574098,-202.77333580228844,-17.072492599487305,0,0,2.1016986561992756],[77.58844220574098,-202.77333580228844,-15.072492599487305,0,0,2.1016986561992756],[77.58844220574098,-202.77333580228844,-13.072492599487305,0,0,2.1016986561992756],[77.58844220574098,-202.77333580228844,-11.072492599487305,0,0,2.1016986561992756],[77.58844220574098,-202.77333580228844,-9.072492599487305,0,0,2.1016986561992756],[77.58844220574098,-202.77333580228844,-7.072492599487305,0,0,2.1016986561992756],[77.58844220574098,-202.77333580228844,-5.072492599487305,0,0,2.1016986561992756],[77.58844220574098,-202.77333580228844,-3.0724925994873047,0,0,2.1016986561992756],[77.58844220574098,-202.77333580228844,-1.0724925994873047,0,0,2.1016986561992756]]}],"statistics":{"complete_actions":145,"sentence_actions":[17,11,20,20,20,15,7,20,15],"sentence_actions_average":16.11}}
diff --git a/scene_11/3N2BF7Y2VZSSCFWN0PEGZHUH3R8HM0.json b/scene_11/3N2BF7Y2VZSSCFWN0PEGZHUH3R8HM0.json
new file mode 100644
index 0000000000000000000000000000000000000000..6d68eccb77f3e7af1ac64191a1a4e9bdd39543fa
--- /dev/null
+++ b/scene_11/3N2BF7Y2VZSSCFWN0PEGZHUH3R8HM0.json
@@ -0,0 +1 @@
+{"episode_id":"3N2BF7Y2VZSSCFWN0PEGZHUH3R8HM0","trajectory_id":"38LRF35D6TUT9VX443BYXEFCO32U37","scene_id":11,"instruction":"fly up the top of buildings. veer right while flying forward and go past the cylinder shaped buildings. go to the intersection and look at the restaurant. fly over the restaurant and over the buildings until the end of the block before hovering in place.","sentence_instructions":[{"id":0,"instruction":"fly up the top of buildings.","completed_instruction":"Fly to the height of the building on the right front.","start_frame":1,"end_frame":5,"start_position":[-77.23320770263672,-150.96470642089844,-1.1921597719192505],"start_rotation":[0.99999819404894519,0,0,0.0019004996312146417],"end_position":[-77.23320770263672,-150.96470642089844,-9.19215977191925],"end_rotation":[0.99999819404894519,0,0,0.0019004996312146417],"actions":[4,4,4,4,4],"reference_path":[[-77.23320770263672,-150.96470642089844,-1.1921597719192505,0,0,0.003801001550570479],[-77.23320770263672,-150.96470642089844,-3.1921597719192505,0,0,0.003801001550570479],[-77.23320770263672,-150.96470642089844,-5.1921597719192505,0,0,0.003801001550570479],[-77.23320770263672,-150.96470642089844,-7.1921597719192505,0,0,0.003801001550570479],[-77.23320770263672,-150.96470642089844,-9.19215977191925,0,0,0.003801001550570479]]},{"id":1,"instruction":"veer right while flying forward and go past the cylinder shaped buildings.","completed_instruction":"Turn right to face the farthest white building on the right side of the road ahead, then fly forward to that building while ascending to its height, passing the cylindrical building on the right, then fly to the front of the target building.","start_frame":5,"end_frame":52,"start_position":[-77.23320770263672,-150.96470642089844,-9.19215977191925],"start_rotation":[0.99999819404894519,0,0,0.0019004996312146417],"end_position":[42.9585795777298,-97.54248005067751,-29.19215977191925],"end_rotation":[0.99119500589273912,0,0,0.13241019708954765],"actions":[4,4,4,3,4,1,1,4,1,4,1,4,1,4,1,1,4,1,4,1,7,1,4,1,4,1,4,1,1,1,1,1,7,1,1,1,1,7,1,5,1,1,5,1,5,1,7,5],"reference_path":[[-77.23320770263672,-150.96470642089844,-9.19215977191925,0,0,0.003801001550570479],[-77.23320770263672,-150.96470642089844,-11.19215977191925,0,0,0.003801001550570479],[-77.23320770263672,-150.96470642089844,-13.19215977191925,0,0,0.003801001550570479],[-77.23320770263672,-150.96470642089844,-15.19215977191925,0,0,0.003801001550570479],[-77.23320770263672,-150.96470642089844,-15.19215977191925,0,0,0.2656003893497199],[-77.23320770263672,-150.96470642089844,-17.19215977191925,0,0,0.2656003893497199],[-72.40853230556965,-149.6522631600541,-17.19215977191925,0,0,0.2656003893497199],[-67.58385690850258,-148.33981989920977,-17.19215977191925,0,0,0.2656003893497199],[-67.58385690850258,-148.33981989920977,-19.19215977191925,0,0,0.2656003893497199],[-62.759181511435514,-147.02737663836544,-19.19215977191925,0,0,0.2656003893497199],[-62.759181511435514,-147.02737663836544,-21.19215977191925,0,0,0.2656003893497199],[-57.934506114368446,-145.7149333775211,-21.19215977191925,0,0,0.2656003893497199],[-57.934506114368446,-145.7149333775211,-23.19215977191925,0,0,0.2656003893497199],[-53.10983071730138,-144.40249011667677,-23.19215977191925,0,0,0.2656003893497199],[-53.10983071730138,-144.40249011667677,-25.19215977191925,0,0,0.2656003893497199],[-48.28515532023431,-143.09004685583244,-25.19215977191925,0,0,0.2656003893497199],[-43.46047992316724,-141.7776035949881,-25.19215977191925,0,0,0.2656003893497199],[-43.46047992316724,-141.7776035949881,-27.19215977191925,0,0,0.2656003893497199],[-38.63580452610017,-140.46516033414377,-27.19215977191925,0,0,0.2656003893497199],[-38.63580452610017,-140.46516033414377,-29.19215977191925,0,0,0.2656003893497199],[-33.811129129033105,-139.15271707329944,-29.19215977191925,0,0,0.2656003893497199],[-35.12357238987743,-134.32804167623237,-29.19215977191925,0,0,0.2656003893497199],[-30.29889699281036,-133.01559841538804,-29.19215977191925,0,0,0.2656003893497199],[-30.29889699281036,-133.01559841538804,-31.19215977191925,0,0,0.2656003893497199],[-25.474221595743288,-131.7031551545437,-31.19215977191925,0,0,0.2656003893497199],[-25.474221595743288,-131.7031551545437,-33.19215977191925,0,0,0.2656003893497199],[-20.649546198676216,-130.39071189369938,-33.19215977191925,0,0,0.2656003893497199],[-20.649546198676216,-130.39071189369938,-35.19215977191925,0,0,0.2656003893497199],[-15.824870801609144,-129.07826863285504,-35.19215977191925,0,0,0.2656003893497199],[-11.000195404542072,-127.76582537201071,-35.19215977191925,0,0,0.2656003893497199],[-6.175520007475001,-126.45338211116638,-35.19215977191925,0,0,0.2656003893497199],[-1.350844610407929,-125.14093885032204,-35.19215977191925,0,0,0.2656003893497199],[3.4738307866591427,-123.82849558947771,-35.19215977191925,0,0,0.2656003893497199],[2.161387525814814,-119.00382019241064,-35.19215977191925,0,0,0.2656003893497199],[6.986062922881885,-117.69137693156631,-35.19215977191925,0,0,0.2656003893497199],[11.810738319948957,-116.37893367072198,-35.19215977191925,0,0,0.2656003893497199],[16.63541371701603,-115.06649040987764,-35.19215977191925,0,0,0.2656003893497199],[21.4600891140831,-113.75404714903331,-35.19215977191925,0,0,0.2656003893497199],[20.14764585323877,-108.92937175196624,-35.19215977191925,0,0,0.2656003893497199],[24.972321250305843,-107.61692849112191,-35.19215977191925,0,0,0.2656003893497199],[24.972321250305843,-107.61692849112191,-33.19215977191925,0,0,0.2656003893497199],[29.796996647372914,-106.30448523027758,-33.19215977191925,0,0,0.2656003893497199],[34.62167204443999,-104.99204196943325,-33.19215977191925,0,0,0.2656003893497199],[34.62167204443999,-104.99204196943325,-31.19215977191925,0,0,0.2656003893497199],[39.44634744150706,-103.67959870858891,-31.19215977191925,0,0,0.2656003893497199],[39.44634744150706,-103.67959870858891,-29.19215977191925,0,0,0.2656003893497199],[44.271022838574126,-102.36715544774458,-29.19215977191925,0,0,0.2656003893497199],[42.9585795777298,-97.54248005067751,-29.19215977191925,0,0,0.2656003893497199]]},{"id":2,"instruction":"go to the intersection and look at the restaurant.","completed_instruction":"Fly forward to the T-junction on the right, then descend to the restaurant sign height while turning right to face it.","start_frame":52,"end_frame":67,"start_position":[42.9585795777298,-97.54248005067751,-29.19215977191925],"start_rotation":[0.99119500589273912,0,0,0.13241019708954765],"end_position":[70.59418869928788,-84.84314508854445,-15.19215977191925],"end_rotation":[0.9654321963745347,0,0,0.26065431936463634],"actions":[5,1,5,1,5,1,1,5,5,1,7,5,1,5,3,3],"reference_path":[[42.9585795777298,-97.54248005067751,-29.19215977191925,0,0,0.2656003893497199],[42.9585795777298,-97.54248005067751,-27.19215977191925,0,0,0.2656003893497199],[47.783254974796876,-96.23003678983318,-27.19215977191925,0,0,0.2656003893497199],[47.783254974796876,-96.23003678983318,-25.19215977191925,0,0,0.2656003893497199],[52.607930371863944,-94.91759352898885,-25.19215977191925,0,0,0.2656003893497199],[52.607930371863944,-94.91759352898885,-23.19215977191925,0,0,0.2656003893497199],[57.43260576893101,-93.60515026814451,-23.19215977191925,0,0,0.2656003893497199],[62.25728116599808,-92.29270700730018,-23.19215977191925,0,0,0.2656003893497199],[62.25728116599808,-92.29270700730018,-21.19215977191925,0,0,0.2656003893497199],[62.25728116599808,-92.29270700730018,-19.19215977191925,0,0,0.2656003893497199],[67.08195656306515,-90.98026374645585,-19.19215977191925,0,0,0.2656003893497199],[65.76951330222082,-86.15558834938878,-19.19215977191925,0,0,0.2656003893497199],[65.76951330222082,-86.15558834938878,-17.19215977191925,0,0,0.2656003893497199],[70.59418869928788,-84.84314508854445,-17.19215977191925,0,0,0.2656003893497199],[70.59418869928788,-84.84314508854445,-15.19215977191925,0,0,0.2656003893497199],[70.59418869928788,-84.84314508854445,-15.19215977191925,0,0,0.5273997771488694]]},{"id":3,"instruction":"fly over the restaurant and over the buildings until the end of the block before hovering in place.","completed_instruction":"Fly over the roof of the restaurant, then fly towards the farthest white building on the left front, then turn left slightly to face the white building and stop.","start_frame":67,"end_frame":104,"start_position":[70.59418869928788,-84.84314508854445,-15.19215977191925],"start_rotation":[0.9654321963745347,0,0,0.26065431936463634],"end_position":[83.67877687426713,13.781063561254172,-29.19215977191925],"end_rotation":[0.92315057430798853,0,0,0.38443857396836606],"actions":[3,1,3,4,1,3,4,1,4,1,4,1,4,1,4,1,4,1,1,1,3,1,1,7,1,1,1,1,1,1,7,1,2,2,2,1,1,0],"reference_path":[[70.59418869928788,-84.84314508854445,-15.19215977191925,0,0,0.5273997771488694],[70.59418869928788,-84.84314508854445,-15.19215977191925,0,0,0.7891991649480188],[74.11625852773957,-81.29419818509403,-15.19215977191925,0,0,0.7891991649480188],[74.11625852773957,-81.29419818509403,-15.19215977191925,0,0,1.0509985527471684],[74.11625852773957,-81.29419818509403,-17.19215977191925,0,0,1.0509985527471684],[76.59978168836399,-76.9545999651384,-17.19215977191925,0,0,1.0509985527471684],[76.59978168836399,-76.9545999651384,-17.19215977191925,0,0,1.3127979405463177],[76.59978168836399,-76.9545999651384,-19.19215977191925,0,0,1.3127979405463177],[77.87551018198064,-72.12008687584238,-19.19215977191925,0,0,1.3127979405463177],[77.87551018198064,-72.12008687584238,-21.19215977191925,0,0,1.3127979405463177],[79.1512386755973,-67.28557378654635,-21.19215977191925,0,0,1.3127979405463177],[79.1512386755973,-67.28557378654635,-23.19215977191925,0,0,1.3127979405463177],[80.42696716921395,-62.45106069725033,-23.19215977191925,0,0,1.3127979405463177],[80.42696716921395,-62.45106069725033,-25.19215977191925,0,0,1.3127979405463177],[81.7026956628306,-57.6165476079543,-25.19215977191925,0,0,1.3127979405463177],[81.7026956628306,-57.6165476079543,-27.19215977191925,0,0,1.3127979405463177],[82.97842415644726,-52.78203451865828,-27.19215977191925,0,0,1.3127979405463177],[82.97842415644726,-52.78203451865828,-29.19215977191925,0,0,1.3127979405463177],[84.25415265006392,-47.947521429362254,-29.19215977191925,0,0,1.3127979405463177],[85.52988114368057,-43.11300834006623,-29.19215977191925,0,0,1.3127979405463177],[86.80560963729722,-38.278495250770206,-29.19215977191925,0,0,1.3127979405463177],[86.80560963729722,-38.278495250770206,-29.19215977191925,0,0,1.5745973283454673],[86.78660467530717,-33.27853136975869,-29.19215977191925,0,0,1.5745973283454673],[86.76759971331713,-28.27856748874717,-29.19215977191925,0,0,1.5745973283454673],[81.76763583230561,-28.297572450737224,-29.19215977191925,0,0,1.5745973283454673],[81.74863087031557,-23.297608569725707,-29.19215977191925,0,0,1.5745973283454673],[81.72962590832552,-18.29764468871419,-29.19215977191925,0,0,1.5745973283454673],[81.71062094633547,-13.297680807702672,-29.19215977191925,0,0,1.5745973283454673],[81.69161598434542,-8.297716926691155,-29.19215977191925,0,0,1.5745973283454673],[81.67261102235537,-3.297753045679638,-29.19215977191925,0,0,1.5745973283454673],[81.65360606036532,1.7022108353318792,-29.19215977191925,0,0,1.5745973283454673],[76.6536421793538,1.6832058733418265,-29.19215977191925,0,0,1.5745973283454673],[76.63463721736375,6.683169754353344,-29.19215977191925,0,0,1.5745973283454673],[76.63463721736375,6.683169754353344,-29.19215977191925,0,0,1.3127979405463182],[76.63463721736375,6.683169754353344,-29.19215977191925,0,0,1.0509985527471686],[76.63463721736375,6.683169754353344,-29.19215977191925,0,0,0.7891991649480192],[80.15670704581544,10.232116657803758,-29.19215977191925,0,0,0.7891991649480192],[83.67877687426713,13.781063561254172,-29.19215977191925,0,0,0.7891991649480192]]}],"statistics":{"complete_actions":107,"sentence_actions":[5,48,16,38],"sentence_actions_average":26.75}}
diff --git a/scene_11/3N2BF7Y2VZSSCFWN0PEGZHUH51AHMO.json b/scene_11/3N2BF7Y2VZSSCFWN0PEGZHUH51AHMO.json
new file mode 100644
index 0000000000000000000000000000000000000000..e7504b50f83983db932fa623604d14e6d5f3934a
--- /dev/null
+++ b/scene_11/3N2BF7Y2VZSSCFWN0PEGZHUH51AHMO.json
@@ -0,0 +1 @@
+{"episode_id":"3N2BF7Y2VZSSCFWN0PEGZHUH51AHMO","trajectory_id":"32K26U12EVMR42O12IRF6937TZDDVE","scene_id":11,"instruction":"take off and take a left hand turn. turn right and fly above the tips of the buildings. stop at the top of the building that says restaurant.","sentence_instructions":[{"id":0,"instruction":"take off and take a left hand turn.","completed_instruction":"Turn left to face the white cylindrical building with the word \"HOTEL\" on it.","start_frame":1,"end_frame":9,"start_position":[22.05168914794922,-13.471610069274902,-13.465291023254395],"start_rotation":[0.99998608904490138,0,0,-0.0052746295303668263],"end_position":[22.05168914794922,-13.471610069274902,-13.465291023254395],"end_rotation":[0.49542508135360136,0,0,-0.86865067130911577],"actions":[2,2,2,2,2,2,2,2,2],"reference_path":[[22.05168914794922,-13.471610069274902,-13.465291023254395,0,0,-0.010549307977762218],[22.05168914794922,-13.471610069274902,-13.465291023254395,0,0,-0.2723486957769116],[22.05168914794922,-13.471610069274902,-13.465291023254395,0,0,-0.534148083576061],[22.05168914794922,-13.471610069274902,-13.465291023254395,0,0,-0.7959474713752105],[22.05168914794922,-13.471610069274902,-13.465291023254395,0,0,-1.05774685917436],[22.05168914794922,-13.471610069274902,-13.465291023254395,0,0,-1.3195462469735095],[22.05168914794922,-13.471610069274902,-13.465291023254395,0,0,-1.581345634772659],[22.05168914794922,-13.471610069274902,-13.465291023254395,0,0,-1.8431450225718085],[22.05168914794922,-13.471610069274902,-13.465291023254395,0,0,-2.104944410370958]]},{"id":1,"instruction":"turn right and fly above the tips of the buildings.","completed_instruction":"Fly forward out of the roof to the road on the left side of the white cylindrical building, then fly over that building along the road, then turn right to face the small black-and-white building between the tall cylindrical structure and the building with the large \"HOTEL\" sign, then fly to the left side of this small building, then turn right to face the tall building behind the green shrubs, then fly forward to the front of this tall building.","start_frame":9,"end_frame":78,"start_position":[22.05168914794922,-13.471610069274902,-13.465291023254395],"start_rotation":[0.49542508135360136,0,0,-0.86865067130911577],"end_position":[-79.88119175888592,-168.41110871909993,-25.465291023254395],"end_rotation":[0.92184816713145812,0,0,-0.38755123113773138],"actions":[2,2,4,1,1,1,1,1,1,4,2,1,1,2,1,1,1,4,1,3,1,1,3,1,1,1,1,3,1,1,1,4,1,1,1,1,1,4,1,1,4,1,1,3,3,3,3,1,1,1,1,1,1,1,2,1,1,1,1,1,3,1,1,3,1,3,1,1,1,1],"reference_path":[[22.05168914794922,-13.471610069274902,-13.465291023254395,0,0,-2.104944410370958],[22.05168914794922,-13.471610069274902,-13.465291023254395,0,0,-2.3667437981701074],[22.05168914794922,-13.471610069274902,-13.465291023254395,0,0,-2.628543185969257],[22.05168914794922,-13.471610069274902,-15.465291023254395,0,0,-2.628543185969257],[17.695430291385104,-15.925791964450301,-15.465291023254395,0,0,-2.628543185969257],[13.33917143482099,-18.3799738596257,-15.465291023254395,0,0,-2.628543185969257],[8.982912578256876,-20.8341557548011,-15.465291023254395,0,0,-2.628543185969257],[4.626653721692761,-23.288337649976498,-15.465291023254395,0,0,-2.628543185969257],[0.27039486512864563,-25.742519545151897,-15.465291023254395,0,0,-2.628543185969257],[-4.0858639914354695,-28.196701440327296,-15.465291023254395,0,0,-2.628543185969257],[-4.0858639914354695,-28.196701440327296,-17.465291023254395,0,0,-2.628543185969257],[-4.0858639914354695,-28.196701440327296,-17.465291023254395,0,0,-2.8903425737684065],[-8.928875941608425,-29.43977635781294,-17.465291023254395,0,0,-2.8903425737684065],[-13.77188789178138,-30.68285127529858,-17.465291023254395,0,0,-2.8903425737684065],[-13.77188789178138,-30.68285127529858,-17.465291023254395,0,0,3.13104334561203],[-18.771609674614552,-30.630105713746254,-17.465291023254395,0,0,3.13104334561203],[-23.771331457447726,-30.577360152193926,-17.465291023254395,0,0,3.13104334561203],[-28.7710532402809,-30.524614590641598,-17.465291023254395,0,0,3.13104334561203],[-28.7710532402809,-30.524614590641598,-19.465291023254395,0,0,3.13104334561203],[-33.77077502311407,-30.47186902908927,-19.465291023254395,0,0,3.13104334561203],[-33.77077502311407,-30.47186902908927,-19.465291023254395,0,0,-2.8903425737684065],[-38.61378697328703,-31.714943946574913,-19.465291023254395,0,0,-2.8903425737684065],[-43.456798923459985,-32.958018864060556,-19.465291023254395,0,0,-2.8903425737684065],[-43.456798923459985,-32.958018864060556,-19.465291023254395,0,0,-2.6285431859692574],[-47.8130577800241,-35.41220075923595,-19.465291023254395,0,0,-2.6285431859692574],[-52.16931663658822,-37.866382654411346,-19.465291023254395,0,0,-2.6285431859692574],[-56.52557549315234,-40.32056454958674,-19.465291023254395,0,0,-2.6285431859692574],[-60.881834349716456,-42.77474644476214,-19.465291023254395,0,0,-2.6285431859692574],[-60.881834349716456,-42.77474644476214,-19.465291023254395,0,0,-2.3667437981701083],[-64.45446827065503,-46.27278687719843,-19.465291023254395,0,0,-2.3667437981701083],[-68.0271021915936,-49.77082730963472,-19.465291023254395,0,0,-2.3667437981701083],[-71.59973611253217,-53.26886774207101,-19.465291023254395,0,0,-2.3667437981701083],[-71.59973611253217,-53.26886774207101,-21.465291023254395,0,0,-2.3667437981701083],[-75.17237003347074,-56.7669081745073,-21.465291023254395,0,0,-2.3667437981701083],[-78.74500395440931,-60.26494860694359,-21.465291023254395,0,0,-2.3667437981701083],[-82.31763787534788,-63.76298903937988,-21.465291023254395,0,0,-2.3667437981701083],[-85.89027179628646,-67.26102947181617,-21.465291023254395,0,0,-2.3667437981701083],[-89.46290571722503,-70.75906990425246,-21.465291023254395,0,0,-2.3667437981701083],[-89.46290571722503,-70.75906990425246,-23.465291023254395,0,0,-2.3667437981701083],[-93.0355396381636,-74.25711033668874,-23.465291023254395,0,0,-2.3667437981701083],[-96.60817355910217,-77.75515076912502,-23.465291023254395,0,0,-2.3667437981701083],[-96.60817355910217,-77.75515076912502,-25.465291023254395,0,0,-2.3667437981701083],[-100.18080748004074,-81.25319120156131,-25.465291023254395,0,0,-2.3667437981701083],[-103.75344140097931,-84.75123163399759,-25.465291023254395,0,0,-2.3667437981701083],[-103.75344140097931,-84.75123163399759,-25.465291023254395,0,0,-2.1049444103709587],[-103.75344140097931,-84.75123163399759,-25.465291023254395,0,0,-1.8431450225718093],[-103.75344140097931,-84.75123163399759,-25.465291023254395,0,0,-1.5813456347726602],[-103.75344140097931,-84.75123163399759,-25.465291023254395,0,0,-1.3195462469735109],[-102.51036648349367,-89.59424358417056,-25.465291023254395,0,0,-1.3195462469735109],[-101.26729156600803,-94.4372555343435,-25.465291023254395,0,0,-1.3195462469735109],[-100.02421664852238,-99.28026748451646,-25.465291023254395,0,0,-1.3195462469735109],[-98.78114173103674,-104.12327943468941,-25.465291023254395,0,0,-1.3195462469735109],[-97.5380668135511,-108.96629138486236,-25.465291023254395,0,0,-1.3195462469735109],[-96.29499189606545,-113.80930333503531,-25.465291023254395,0,0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at the top of the building that says restaurant.","completed_instruction":"Descend to fourth floor height and turn left to face the road on the left side of the tall building, then fly forward to the road, then turn right to face the road, and fly forward to the \"restaurant\" sign and then turn right to face the sign and stop.","start_frame":78,"end_frame":119,"start_position":[-79.88119175888592,-168.41110871909993,-25.465291023254395],"start_rotation":[0.92184816713145812,0,0,-0.38755123113773138],"end_position":[-92.1876531482663,-263.74342929834415,-13.465291023254395],"end_rotation":[0.86337604177874849,0,0,-0.50456100769130063],"actions":[1,1,1,1,5,5,5,5,2,2,2,2,2,2,1,1,1,1,1,3,3,1,4,1,1,1,1,1,1,3,1,1,1,1,1,3,1,5,5,3,5,0],"reference_path":[[-79.88119175888592,-168.41110871909993,-25.465291023254395,0,0,-0.795947471375212],[-76.38315132644964,-171.9837426400385,-25.465291023254395,0,0,-0.795947471375212],[-72.88511089401335,-175.5563765609771,-25.465291023254395,0,0,-0.795947471375212],[-69.38707046157707,-179.12901048191569,-25.465291023254395,0,0,-0.795947471375212],[-65.88903002914078,-182.70164440285427,-25.465291023254395,0,0,-0.795947471375212],[-65.88903002914078,-182.70164440285427,-23.465291023254395,0,0,-0.795947471375212],[-65.88903002914078,-182.70164440285427,-21.465291023254395,0,0,-0.795947471375212],[-65.88903002914078,-182.70164440285427,-19.465291023254395,0,0,-0.795947471375212],[-65.88903002914078,-182.70164440285427,-17.465291023254395,0,0,-0.795947471375212],[-65.88903002914078,-182.70164440285427,-17.465291023254395,0,0,-1.0577468591743615],[-65.88903002914078,-182.70164440285427,-17.465291023254395,0,0,-1.3195462469735109],[-65.88903002914078,-182.70164440285427,-17.465291023254395,0,0,-1.5813456347726604],[-65.88903002914078,-182.70164440285427,-17.465291023254395,0,0,-1.8431450225718098],[-65.88903002914078,-182.70164440285427,-17.465291023254395,0,0,-2.104944410370959],[-65.88903002914078,-182.70164440285427,-17.465291023254395,0,0,-2.3667437981701087],[-69.46166395007936,-186.19968483529055,-17.465291023254395,0,0,-2.3667437981701087],[-73.03429787101793,-189.69772526772684,-17.465291023254395,0,0,-2.3667437981701087],[-76.6069317919565,-193.19576570016312,-17.465291023254395,0,0,-2.3667437981701087],[-80.17956571289507,-196.6938061325994,-17.465291023254395,0,0,-2.3667437981701087],[-83.75219963383364,-200.1918465650357,-17.465291023254395,0,0,-2.3667437981701087],[-83.75219963383364,-200.1918465650357,-17.465291023254395,0,0,-2.104944410370959],[-83.75219963383364,-200.1918465650357,-17.465291023254395,0,0,-1.8431450225718098],[-85.09717115157031,-205.00755540345992,-17.465291023254395,0,0,-1.8431450225718098],[-85.09717115157031,-205.00755540345992,-19.465291023254395,0,0,-1.8431450225718098],[-86.44214266930697,-209.82326424188415,-19.465291023254395,0,0,-1.8431450225718098],[-87.78711418704364,-214.63897308030838,-19.465291023254395,0,0,-1.8431450225718098],[-89.13208570478031,-219.4546819187326,-19.465291023254395,0,0,-1.8431450225718098],[-90.47705722251698,-224.27039075715683,-19.465291023254395,0,0,-1.8431450225718098],[-91.82202874025364,-229.08609959558106,-19.465291023254395,0,0,-1.8431450225718098],[-93.16700025799031,-233.9018084340053,-19.465291023254395,0,0,-1.8431450225718098],[-93.16700025799031,-233.9018084340053,-19.465291023254395,0,0,-1.5813456347726604],[-93.21974581954264,-238.90153021683847,-19.465291023254395,0,0,-1.5813456347726604],[-93.27249138109497,-243.90125199967164,-19.465291023254395,0,0,-1.5813456347726604],[-93.3252369426473,-248.90097378250482,-19.465291023254395,0,0,-1.5813456347726604],[-93.37798250419962,-253.900695565338,-19.465291023254395,0,0,-1.5813456347726604],[-93.43072806575195,-258.9004173481712,-19.465291023254395,0,0,-1.5813456347726604],[-93.43072806575195,-258.9004173481712,-19.465291023254395,0,0,-1.3195462469735109],[-92.1876531482663,-263.74342929834415,-19.465291023254395,0,0,-1.3195462469735109],[-92.1876531482663,-263.74342929834415,-17.465291023254395,0,0,-1.3195462469735109],[-92.1876531482663,-263.74342929834415,-15.465291023254395,0,0,-1.3195462469735109],[-92.1876531482663,-263.74342929834415,-15.465291023254395,0,0,-1.0577468591743615],[-92.1876531482663,-263.74342929834415,-13.465291023254395,0,0,-1.0577468591743615]]}],"statistics":{"complete_actions":121,"sentence_actions":[9,70,42],"sentence_actions_average":40.33}}
diff --git a/scene_11/3NL0RFNU0OL3AF8P06HHQFT9BSX4KQ.json b/scene_11/3NL0RFNU0OL3AF8P06HHQFT9BSX4KQ.json
new file mode 100644
index 0000000000000000000000000000000000000000..7b0e1048c4c54428705878a3d11b2c2d9bd13b02
--- /dev/null
+++ b/scene_11/3NL0RFNU0OL3AF8P06HHQFT9BSX4KQ.json
@@ -0,0 +1 @@
+{"episode_id":"3NL0RFNU0OL3AF8P06HHQFT9BSX4KQ","trajectory_id":"32K26U12EVMR42O12IRF6937TZDDVE","scene_id":11,"instruction":"rise, turn around, and fly past the hotel. fly until you get to an area with smaller buildings, and then turn right. fly to the restaurant and stop.","sentence_instructions":[{"id":0,"instruction":"rise, turn around, and fly past the hotel.","completed_instruction":"Turn left to face the white cylindrical building with the word \"HOTEL\" on it, then fly forward out of the roof to the road on the left side of the white cylindrical building, then fly over the white cylindrical building by its left side along the road.","start_frame":1,"end_frame":30,"start_position":[22.05168914794922,-13.471610069274902,-13.465291023254395],"start_rotation":[0.99998608904490138,0,0,-0.0052746295303668263],"end_position":[-38.61378697328703,-31.714943946574913,-19.465291023254395],"end_rotation":[0.12529487213251941,0,0,-0.99211954673683134],"actions":[2,2,2,2,2,2,2,2,2,2,4,1,1,1,1,1,1,4,2,1,1,2,1,1,1,4,1,3,1,1],"reference_path":[[22.05168914794922,-13.471610069274902,-13.465291023254395,0,0,-0.010549307977762218],[22.05168914794922,-13.471610069274902,-13.465291023254395,0,0,-0.2723486957769116],[22.05168914794922,-13.471610069274902,-13.465291023254395,0,0,-0.534148083576061],[22.05168914794922,-13.471610069274902,-13.465291023254395,0,0,-0.7959474713752105],[22.05168914794922,-13.471610069274902,-13.465291023254395,0,0,-1.05774685917436],[22.05168914794922,-13.471610069274902,-13.465291023254395,0,0,-1.3195462469735095],[22.05168914794922,-13.471610069274902,-13.465291023254395,0,0,-1.581345634772659],[22.05168914794922,-13.471610069274902,-13.465291023254395,0,0,-1.8431450225718085],[22.05168914794922,-13.471610069274902,-13.465291023254395,0,0,-2.104944410370958],[22.05168914794922,-13.471610069274902,-13.465291023254395,0,0,-2.3667437981701074],[22.05168914794922,-13.471610069274902,-13.465291023254395,0,0,-2.628543185969257],[22.05168914794922,-13.471610069274902,-15.465291023254395,0,0,-2.628543185969257],[17.695430291385104,-15.925791964450301,-15.465291023254395,0,0,-2.628543185969257],[13.33917143482099,-18.3799738596257,-15.465291023254395,0,0,-2.628543185969257],[8.982912578256876,-20.8341557548011,-15.465291023254395,0,0,-2.628543185969257],[4.626653721692761,-23.288337649976498,-15.465291023254395,0,0,-2.628543185969257],[0.27039486512864563,-25.742519545151897,-15.465291023254395,0,0,-2.628543185969257],[-4.0858639914354695,-28.196701440327296,-15.465291023254395,0,0,-2.628543185969257],[-4.0858639914354695,-28.196701440327296,-17.465291023254395,0,0,-2.628543185969257],[-4.0858639914354695,-28.196701440327296,-17.465291023254395,0,0,-2.8903425737684065],[-8.928875941608425,-29.43977635781294,-17.465291023254395,0,0,-2.8903425737684065],[-13.77188789178138,-30.68285127529858,-17.465291023254395,0,0,-2.8903425737684065],[-13.77188789178138,-30.68285127529858,-17.465291023254395,0,0,3.13104334561203],[-18.771609674614552,-30.630105713746254,-17.465291023254395,0,0,3.13104334561203],[-23.771331457447726,-30.577360152193926,-17.465291023254395,0,0,3.13104334561203],[-28.7710532402809,-30.524614590641598,-17.465291023254395,0,0,3.13104334561203],[-28.7710532402809,-30.524614590641598,-19.465291023254395,0,0,3.13104334561203],[-33.77077502311407,-30.47186902908927,-19.465291023254395,0,0,3.13104334561203],[-33.77077502311407,-30.47186902908927,-19.465291023254395,0,0,-2.8903425737684065],[-38.61378697328703,-31.714943946574913,-19.465291023254395,0,0,-2.8903425737684065]]},{"id":1,"instruction":"fly until you get to an area with smaller buildings, and then turn right.","completed_instruction":"Turn right to face a small, black-and-white building between the tall cylindrical structure and the building with the large \"HOTEL\" sign, then fly to the left side of this small building, then turn right to face the tall building behind the green shrubs.","start_frame":30,"end_frame":53,"start_position":[-38.61378697328703,-31.714943946574913,-19.465291023254395],"start_rotation":[0.12529487213251941,0,0,-0.99211954673683134],"end_position":[-103.75344140097931,-84.75123163399759,-25.465291023254395],"end_rotation":[0.49542508135360097,0,0,-0.868650671309116],"actions":[1,3,1,1,1,1,3,1,1,1,4,1,1,1,1,1,4,1,1,4,1,1,3,3],"reference_path":[[-38.61378697328703,-31.714943946574913,-19.465291023254395,0,0,-2.8903425737684065],[-43.456798923459985,-32.958018864060556,-19.465291023254395,0,0,-2.8903425737684065],[-43.456798923459985,-32.958018864060556,-19.465291023254395,0,0,-2.6285431859692574],[-47.8130577800241,-35.41220075923595,-19.465291023254395,0,0,-2.6285431859692574],[-52.16931663658822,-37.866382654411346,-19.465291023254395,0,0,-2.6285431859692574],[-56.52557549315234,-40.32056454958674,-19.465291023254395,0,0,-2.6285431859692574],[-60.881834349716456,-42.77474644476214,-19.465291023254395,0,0,-2.6285431859692574],[-60.881834349716456,-42.77474644476214,-19.465291023254395,0,0,-2.3667437981701083],[-64.45446827065503,-46.27278687719843,-19.465291023254395,0,0,-2.3667437981701083],[-68.0271021915936,-49.77082730963472,-19.465291023254395,0,0,-2.3667437981701083],[-71.59973611253217,-53.26886774207101,-19.465291023254395,0,0,-2.3667437981701083],[-71.59973611253217,-53.26886774207101,-21.465291023254395,0,0,-2.3667437981701083],[-75.17237003347074,-56.7669081745073,-21.465291023254395,0,0,-2.3667437981701083],[-78.74500395440931,-60.26494860694359,-21.465291023254395,0,0,-2.3667437981701083],[-82.31763787534788,-63.76298903937988,-21.465291023254395,0,0,-2.3667437981701083],[-85.89027179628646,-67.26102947181617,-21.465291023254395,0,0,-2.3667437981701083],[-89.46290571722503,-70.75906990425246,-21.465291023254395,0,0,-2.3667437981701083],[-89.46290571722503,-70.75906990425246,-23.465291023254395,0,0,-2.3667437981701083],[-93.0355396381636,-74.25711033668874,-23.465291023254395,0,0,-2.3667437981701083],[-96.60817355910217,-77.75515076912502,-23.465291023254395,0,0,-2.3667437981701083],[-96.60817355910217,-77.75515076912502,-25.465291023254395,0,0,-2.3667437981701083],[-100.18080748004074,-81.25319120156131,-25.465291023254395,0,0,-2.3667437981701083],[-103.75344140097931,-84.75123163399759,-25.465291023254395,0,0,-2.3667437981701083],[-103.75344140097931,-84.75123163399759,-25.465291023254395,0,0,-2.1049444103709587]]},{"id":2,"instruction":"fly to the restaurant and stop.","completed_instruction":"Fly forward to the front of the that tall building, then descend to fourth floor height and turn left to face the road on the left side of the red building and fly forward to its top, then turn right to face the road, and fly forward along the road to a \"restaurant\" sign and descend in height to face the sign and stop.","start_frame":53,"end_frame":119,"start_position":[-103.75344140097931,-84.75123163399759,-25.465291023254395],"start_rotation":[0.49542508135360097,0,0,-0.868650671309116],"end_position":[-92.1876531482663,-263.74342929834415,-13.465291023254395],"end_rotation":[0.86337604177874849,0,0,-0.50456100769130063],"actions":[3,3,3,1,1,1,1,1,1,1,2,1,1,1,1,1,3,1,1,3,1,3,1,1,1,1,1,1,1,5,5,5,5,2,2,2,2,2,2,1,1,1,1,1,3,3,1,4,1,1,1,1,1,1,3,1,1,1,1,1,3,1,5,5,3,5,0],"reference_path":[[-103.75344140097931,-84.75123163399759,-25.465291023254395,0,0,-2.1049444103709587],[-103.75344140097931,-84.75123163399759,-25.465291023254395,0,0,-1.8431450225718093],[-103.75344140097931,-84.75123163399759,-25.465291023254395,0,0,-1.5813456347726602],[-103.75344140097931,-84.75123163399759,-25.465291023254395,0,0,-1.3195462469735109],[-102.51036648349367,-89.59424358417056,-25.465291023254395,0,0,-1.3195462469735109],[-101.26729156600803,-94.4372555343435,-25.465291023254395,0,0,-1.3195462469735109],[-100.02421664852238,-99.28026748451646,-25.465291023254395,0,0,-1.3195462469735109],[-98.78114173103674,-104.12327943468941,-25.465291023254395,0,0,-1.3195462469735109],[-97.5380668135511,-108.96629138486236,-25.465291023254395,0,0,-1.3195462469735109],[-96.29499189606545,-113.80930333503531,-25.465291023254395,0,0,-1.3195462469735109],[-95.05191697857981,-118.65231528520826,-25.465291023254395,0,0,-1.3195462469735109],[-95.05191697857981,-118.65231528520826,-25.465291023254395,0,0,-1.5813456347726604],[-95.10466254013214,-123.65203706804144,-25.465291023254395,0,0,-1.5813456347726604],[-95.15740810168447,-128.65175885087461,-25.465291023254395,0,0,-1.5813456347726604],[-95.2101536632368,-133.6514806337078,-25.465291023254395,0,0,-1.5813456347726604],[-95.26289922478912,-138.65120241654097,-25.465291023254395,0,0,-1.5813456347726604],[-95.31564478634145,-143.65092419937415,-25.465291023254395,0,0,-1.5813456347726604],[-95.31564478634145,-143.65092419937415,-25.465291023254395,0,0,-1.3195462469735109],[-94.07256986885581,-148.4939361495471,-25.465291023254395,0,0,-1.3195462469735109],[-92.82949495137017,-153.33694809972005,-25.465291023254395,0,0,-1.3195462469735109],[-92.82949495137017,-153.33694809972005,-25.465291023254395,0,0,-1.0577468591743615],[-90.37531305619477,-157.69320695628417,-25.465291023254395,0,0,-1.0577468591743615],[-90.37531305619477,-157.69320695628417,-25.465291023254395,0,0,-0.795947471375212],[-86.87727262375849,-161.26584087722276,-25.465291023254395,0,0,-0.795947471375212],[-83.3792321913222,-164.83847479816134,-25.465291023254395,0,0,-0.795947471375212],[-79.88119175888592,-168.41110871909993,-25.465291023254395,0,0,-0.795947471375212],[-76.38315132644964,-171.9837426400385,-25.465291023254395,0,0,-0.795947471375212],[-72.88511089401335,-175.5563765609771,-25.465291023254395,0,0,-0.795947471375212],[-69.38707046157707,-179.12901048191569,-25.465291023254395,0,0,-0.795947471375212],[-65.88903002914078,-182.70164440285427,-25.465291023254395,0,0,-0.795947471375212],[-65.88903002914078,-182.70164440285427,-23.465291023254395,0,0,-0.795947471375212],[-65.88903002914078,-182.70164440285427,-21.465291023254395,0,0,-0.795947471375212],[-65.88903002914078,-182.70164440285427,-19.465291023254395,0,0,-0.795947471375212],[-65.88903002914078,-182.70164440285427,-17.465291023254395,0,0,-0.795947471375212],[-65.88903002914078,-182.70164440285427,-17.465291023254395,0,0,-1.0577468591743615],[-65.88903002914078,-182.70164440285427,-17.465291023254395,0,0,-1.3195462469735109],[-65.88903002914078,-182.70164440285427,-17.465291023254395,0,0,-1.5813456347726604],[-65.88903002914078,-182.70164440285427,-17.465291023254395,0,0,-1.8431450225718098],[-65.88903002914078,-182.70164440285427,-17.465291023254395,0,0,-2.104944410370959],[-65.88903002914078,-182.70164440285427,-17.465291023254395,0,0,-2.3667437981701087],[-69.46166395007936,-186.19968483529055,-17.465291023254395,0,0,-2.3667437981701087],[-73.03429787101793,-189.69772526772684,-17.465291023254395,0,0,-2.3667437981701087],[-76.6069317919565,-193.19576570016312,-17.465291023254395,0,0,-2.3667437981701087],[-80.17956571289507,-196.6938061325994,-17.465291023254395,0,0,-2.3667437981701087],[-83.75219963383364,-200.1918465650357,-17.465291023254395,0,0,-2.3667437981701087],[-83.75219963383364,-200.1918465650357,-17.465291023254395,0,0,-2.104944410370959],[-83.75219963383364,-200.1918465650357,-17.465291023254395,0,0,-1.8431450225718098],[-85.09717115157031,-205.00755540345992,-17.465291023254395,0,0,-1.8431450225718098],[-85.09717115157031,-205.00755540345992,-19.465291023254395,0,0,-1.8431450225718098],[-86.44214266930697,-209.82326424188415,-19.465291023254395,0,0,-1.8431450225718098],[-87.78711418704364,-214.63897308030838,-19.465291023254395,0,0,-1.8431450225718098],[-89.13208570478031,-219.4546819187326,-19.465291023254395,0,0,-1.8431450225718098],[-90.47705722251698,-224.27039075715683,-19.465291023254395,0,0,-1.8431450225718098],[-91.82202874025364,-229.08609959558106,-1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diff --git a/scene_11/3O6CYIULEMZTMDWL4QR2RULXBRBWUO.json b/scene_11/3O6CYIULEMZTMDWL4QR2RULXBRBWUO.json
new file mode 100644
index 0000000000000000000000000000000000000000..c9faf3f4c44467b4b89555a344c56f1783d98760
--- /dev/null
+++ b/scene_11/3O6CYIULEMZTMDWL4QR2RULXBRBWUO.json
@@ -0,0 +1 @@
+{"episode_id":"3O6CYIULEMZTMDWL4QR2RULXBRBWUO","trajectory_id":"33QQ60S6B0GXS3Y7LGTFVGH5HNEU0W","scene_id":11,"instruction":"rise up turn right and fly over the two parks ahead. turn left at the centre of the second park and head towards the largest skyscraper ahead of you. move around the skyscraper to its other side and turn left, fly across the street stopping at the old red brown skyscraper ahead.","sentence_instructions":[{"id":0,"instruction":"rise up turn right and fly over the two parks ahead.","completed_instruction":"Take off to the height of street lights then turn right to face the purple building with staircase, then fly forward to the right corner of the purple building, then fly to the park area.","start_frame":1,"end_frame":38,"start_position":[48.763954162597656,-241.5447540283203,-0.7997226715087891],"start_rotation":[0.9999997183536623,0,0,0.00075052821138304592],"end_position":[-29.102616690282584,-185.0930300190982,-12.799722671508789],"end_rotation":[0.38198992693063344,0,0,0.92416648701601889],"actions":[4,4,3,3,3,3,3,3,3,3,3,4,4,1,1,1,4,1,1,1,1,1,1,1,7,1,1,1,4,1,7,1,1,1,1,7,1,1],"reference_path":[[48.763954162597656,-241.5447540283203,-0.7997226715087891,0,0,0.0015010565636884555],[48.763954162597656,-241.5447540283203,-2.799722671508789,0,0,0.0015010565636884555],[48.763954162597656,-241.5447540283203,-4.799722671508789,0,0,0.0015010565636884555],[48.763954162597656,-241.5447540283203,-4.799722671508789,0,0,0.2633004443628379],[48.763954162597656,-241.5447540283203,-4.799722671508789,0,0,0.5250998321619873],[48.763954162597656,-241.5447540283203,-4.799722671508789,0,0,0.7868992199611368],[48.763954162597656,-241.5447540283203,-4.799722671508789,0,0,1.0486986077602862],[48.763954162597656,-241.5447540283203,-4.799722671508789,0,0,1.3104979955594358],[48.763954162597656,-241.5447540283203,-4.799722671508789,0,0,1.5722973833585854],[48.763954162597656,-241.5447540283203,-4.799722671508789,0,0,1.834096771157735],[48.763954162597656,-241.5447540283203,-4.799722671508789,0,0,2.0958961589568843],[48.763954162597656,-241.5447540283203,-4.799722671508789,0,0,2.3576955467560334],[48.763954162597656,-241.5447540283203,-6.799722671508789,0,0,2.3576955467560334],[48.763954162597656,-241.5447540283203,-8.799722671508789,0,0,2.3576955467560334],[45.223117205362364,-238.01453113985042,-8.799722671508789,0,0,2.3576955467560334],[41.68228024812707,-234.48430825138053,-8.799722671508789,0,0,2.3576955467560334],[38.14144329089178,-230.95408536291063,-8.799722671508789,0,0,2.3576955467560334],[38.14144329089178,-230.95408536291063,-10.799722671508789,0,0,2.3576955467560334],[34.600606333656486,-227.42386247444074,-10.799722671508789,0,0,2.3576955467560334],[31.059769376421194,-223.89363958597085,-10.799722671508789,0,0,2.3576955467560334],[27.5189324191859,-220.36341669750095,-10.799722671508789,0,0,2.3576955467560334],[23.97809546195061,-216.83319380903106,-10.799722671508789,0,0,2.3576955467560334],[20.437258504715317,-213.30297092056117,-10.799722671508789,0,0,2.3576955467560334],[16.896421547480024,-209.77274803209127,-10.799722671508789,0,0,2.3576955467560334],[13.355584590244732,-206.24252514362138,-10.799722671508789,0,0,2.3576955467560334],[9.825361701774838,-209.78336210085666,-10.799722671508789,0,0,2.3576955467560334],[6.284524744539545,-206.25313921238677,-10.799722671508789,0,0,2.3576955467560334],[2.7436877873042516,-202.72291632391688,-10.799722671508789,0,0,2.3576955467560334],[-0.7971491699310418,-199.19269343544698,-10.799722671508789,0,0,2.3576955467560334],[-0.7971491699310418,-199.19269343544698,-12.799722671508789,0,0,2.3576955467560334],[-4.337986127166335,-195.6624705469771,-12.799722671508789,0,0,2.3576955467560334],[-7.868209015636228,-199.20330750421238,-12.799722671508789,0,0,2.3576955467560334],[-11.409045972871521,-195.67308461574248,-12.799722671508789,0,0,2.3576955467560334],[-14.949882930106813,-192.1428617272726,-12.799722671508789,0,0,2.3576955467560334],[-18.490719887342106,-188.6126388388027,-12.799722671508789,0,0,2.3576955467560334],[-22.0315568445774,-185.0824159503328,-12.799722671508789,0,0,2.3576955467560334],[-25.561779733047292,-188.6232529075681,-12.799722671508789,0,0,2.3576955467560334],[-29.102616690282584,-185.0930300190982,-12.799722671508789,0,0,2.3576955467560334]]},{"id":1,"instruction":"turn left at the centre of the second park and head towards the largest skyscraper ahead of you.","completed_instruction":"Turn left to face the dark blue and black interlaced low buildings, then fly over the top of this building, then fly forward over the roof of a white building right to a red building, then turn right to face the sky between the white cylindrical building with \"HOTEL\" sign and the glass-walled cylindrical building, and then fly forward to the left side of the glass-walled cylindrical building.","start_frame":38,"end_frame":97,"start_position":[-29.102616690282584,-185.0930300190982,-12.799722671508789],"start_rotation":[0.38198992693063344,0,0,0.92416648701601889],"end_position":[-5.298287020572236,-90.13140611854593,-28.79972267150879],"end_rotation":[0.25809401762435086,0,0,0.96611980523458951],"actions":[1,1,1,2,2,7,2,2,2,1,1,1,4,1,6,1,4,1,4,1,1,6,1,2,1,1,1,1,1,2,1,1,1,1,1,1,3,6,3,3,3,3,3,3,3,4,4,1,1,4,1,4,1,4,1,1,1,1,1,3],"reference_path":[[-29.102616690282584,-185.0930300190982,-12.799722671508789,0,0,2.3576955467560334],[-32.64345364751788,-181.5628071306283,-12.799722671508789,0,0,2.3576955467560334],[-36.18429060475317,-178.0325842421584,-12.799722671508789,0,0,2.3576955467560334],[-39.725127561988465,-174.5023613536885,-12.799722671508789,0,0,2.3576955467560334],[-39.725127561988465,-174.5023613536885,-12.799722671508789,0,0,2.0958961589568843],[-39.725127561988465,-174.5023613536885,-12.799722671508789,0,0,1.834096771157735],[-44.55280874304232,-175.80370466507813,-12.799722671508789,0,0,1.834096771157735],[-44.55280874304232,-175.80370466507813,-12.799722671508789,0,0,1.5722973833585856],[-44.55280874304232,-175.80370466507813,-12.799722671508789,0,0,1.3104979955594365],[-44.55280874304232,-175.80370466507813,-12.799722671508789,0,0,1.048698607760287],[-42.059311322647815,-171.46982988441292,-12.799722671508789,0,0,1.048698607760287],[-39.56581390225331,-167.1359551037477,-12.799722671508789,0,0,1.048698607760287],[-37.072316481858806,-162.8020803230825,-12.799722671508789,0,0,1.048698607760287],[-37.072316481858806,-162.8020803230825,-14.799722671508789,0,0,1.048698607760287],[-34.5788190614643,-158.46820554241728,-14.799722671508789,0,0,1.048698607760287],[-30.24494428079909,-160.96170296281178,-14.799722671508789,0,0,1.048698607760287],[-27.751446860404585,-156.62782818214657,-14.799722671508789,0,0,1.048698607760287],[-27.751446860404585,-156.62782818214657,-16.79972267150879,0,0,1.048698607760287],[-25.25794944001008,-152.29395340148136,-16.79972267150879,0,0,1.048698607760287],[-25.25794944001008,-152.29395340148136,-18.79972267150879,0,0,1.048698607760287],[-22.764452019615575,-147.96007862081615,-18.79972267150879,0,0,1.048698607760287],[-20.27095459922107,-143.62620384015094,-18.79972267150879,0,0,1.048698607760287],[-15.937079818555858,-146.11970126054544,-18.79972267150879,0,0,1.048698607760287],[-13.443582398161354,-141.78582647988023,-18.79972267150879,0,0,1.048698607760287],[-13.443582398161354,-141.78582647988023,-18.79972267150879,0,0,0.7868992199611375],[-9.913359509691464,-138.24498952264494,-18.79972267150879,0,0,0.7868992199611375],[-6.383136621221574,-134.70415256540966,-18.79972267150879,0,0,0.7868992199611375],[-2.8529137327516847,-131.16331560817437,-18.79972267150879,0,0,0.7868992199611375],[0.6773091557182047,-127.62247865093907,-18.79972267150879,0,0,0.7868992199611375],[4.207532044188094,-124.08164169370377,-18.79972267150879,0,0,0.7868992199611375],[4.207532044188094,-124.08164169370377,-18.79972267150879,0,0,0.5250998321619882],[8.533901544853308,-121.57514474702424,-18.79972267150879,0,0,0.5250998321619882],[12.860271045518521,-119.0686478003447,-18.79972267150879,0,0,0.5250998321619882],[17.186640546183735,-116.56215085366517,-18.79972267150879,0,0,0.5250998321619882],[21.513010046848947,-114.05565390698564,-18.79972267150879,0,0,0.5250998321619882],[25.839379547514163,-111.5491569603061,-18.79972267150879,0,0,0.5250998321619882],[30.16574904817938,-109.04266001362657,-18.79972267150879,0,0,0.5250998321619882],[30.16574904817938,-109.04266001362657,-18.79972267150879,0,0,0.7868992199611377],[33.70658600541468,-112.57288290209647,-18.79972267150879,0,0,0.7868992199611377],[33.70658600541468,-112.57288290209647,-18.79972267150879,0,0,1.0486986077602871],[33.70658600541468,-112.57288290209647,-18.79972267150879,0,0,1.3104979955594365],[33.70658600541468,-112.57288290209647,-18.79972267150879,0,0,1.5722973833585858],[33.70658600541468,-112.57288290209647,-18.79972267150879,0,0,1.8340967711577352],[33.70658600541468,-112.57288290209647,-18.79972267150879,0,0,2.0958961589568847],[33.70658600541468,-112.57288290209647,-18.79972267150879,0,0,2.3576955467560343],[33.70658600541468,-112.57288290209647,-18.79972267150879,0,0,2.6194949345551835],[33.70658600541468,-112.57288290209647,-20.79972267150879,0,0,2.6194949345551835],[33.70658600541468,-112.57288290209647,-22.79972267150879,0,0,2.6194949345551835],[29.372711224749466,-110.07938548170196,-22.79972267150879,0,0,2.6194949345551835],[25.038836444084254,-107.58588806130746,-22.79972267150879,0,0,2.6194949345551835],[25.038836444084254,-107.58588806130746,-24.79972267150879,0,0,2.6194949345551835],[20.70496166341904,-105.09239064091295,-24.79972267150879,0,0,2.6194949345551835],[20.70496166341904,-105.09239064091295,-26.79972267150879,0,0,2.6194949345551835],[16.37108688275383,-102.59889322051845,-26.79972267150879,0,0,2.6194949345551835],[16.37108688275383,-102.59889322051845,-28.79972267150879,0,0,2.6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around the skyscraper to its other side and turn left, fly across the street stopping at the old red brown skyscraper ahead.","completed_instruction":"Ascend to a height of the right-side aerial corridor, then turn left to face a red building, and fly forward  to the red building.","start_frame":97,"end_frame":134,"start_position":[-5.298287020572236,-90.13140611854593,-28.79972267150879],"start_rotation":[0.25809401762435086,0,0,0.96611980523458951],"end_position":[-61.0301849283152,-35.041063831801594,-30.79972267150879],"end_rotation":[0.4993498826795158,0,0,0.86640042397724726],"actions":[3,1,1,1,3,3,3,1,4,1,4,4,4,4,2,2,2,2,2,2,1,1,1,1,1,1,1,5,1,1,1,5,1,1,5,1,5,0],"reference_path":[[-5.298287020572236,-90.13140611854593,-28.79972267150879,0,0,2.6194949345551835],[-5.298287020572236,-90.13140611854593,-28.79972267150879,0,0,2.881294322354333],[-10.129853220431741,-88.84456189472736,-28.79972267150879,0,0,2.881294322354333],[-14.961419420291246,-87.5577176709088,-28.79972267150879,0,0,2.881294322354333],[-19.792985620150752,-86.27087344709024,-28.79972267150879,0,0,2.881294322354333],[-19.792985620150752,-86.27087344709024,-28.79972267150879,0,0,-3.1400915970261036],[-19.792985620150752,-86.27087344709024,-28.79972267150879,0,0,-2.878292209226954],[-19.792985620150752,-86.27087344709024,-28.79972267150879,0,0,-2.616492821427805],[-24.119355120815968,-88.77737039376977,-28.79972267150879,0,0,-2.616492821427805],[-24.119355120815968,-88.77737039376977,-30.79972267150879,0,0,-2.616492821427805],[-28.445724621481183,-91.2838673404493,-30.79972267150879,0,0,-2.616492821427805],[-28.445724621481183,-91.2838673404493,-32.79972267150879,0,0,-2.616492821427805],[-28.445724621481183,-91.2838673404493,-34.79972267150879,0,0,-2.616492821427805],[-28.445724621481183,-91.2838673404493,-36.79972267150879,0,0,-2.616492821427805],[-28.445724621481183,-91.2838673404493,-38.79972267150879,0,0,-2.616492821427805],[-28.445724621481183,-91.2838673404493,-38.79972267150879,0,0,-2.8782922092269545],[-28.445724621481183,-91.2838673404493,-38.79972267150879,0,0,-3.140091597026104],[-28.445724621481183,-91.2838673404493,-38.79972267150879,0,0,2.881294322354333],[-28.445724621481183,-91.2838673404493,-38.79972267150879,0,0,2.619494934555184],[-28.445724621481183,-91.2838673404493,-38.79972267150879,0,0,2.3576955467560348],[-28.445724621481183,-91.2838673404493,-38.79972267150879,0,0,2.0958961589568856],[-30.95222156816072,-86.9574978397841,-38.79972267150879,0,0,2.0958961589568856],[-33.45871851484026,-82.63112833911889,-38.79972267150879,0,0,2.0958961589568856],[-35.9652154615198,-78.30475883845368,-38.79972267150879,0,0,2.0958961589568856],[-38.47171240819934,-73.97838933778847,-38.79972267150879,0,0,2.0958961589568856],[-40.97820935487888,-69.65201983712326,-38.79972267150879,0,0,2.0958961589568856],[-43.48470630155842,-65.32565033645805,-38.79972267150879,0,0,2.0958961589568856],[-45.99120324823796,-60.999280835792845,-38.79972267150879,0,0,2.0958961589568856],[-45.99120324823796,-60.999280835792845,-36.79972267150879,0,0,2.0958961589568856],[-48.4977001949175,-56.67291133512764,-36.79972267150879,0,0,2.0958961589568856],[-51.00419714159704,-52.34654183446243,-36.79972267150879,0,0,2.0958961589568856],[-53.51069408827658,-48.02017233379722,-36.79972267150879,0,0,2.0958961589568856],[-53.51069408827658,-48.02017233379722,-34.79972267150879,0,0,2.0958961589568856],[-56.01719103495612,-43.69380283313201,-34.79972267150879,0,0,2.0958961589568856],[-58.52368798163566,-39.3674333324668,-34.79972267150879,0,0,2.0958961589568856],[-58.52368798163566,-39.3674333324668,-32.79972267150879,0,0,2.0958961589568856],[-61.0301849283152,-35.041063831801594,-32.79972267150879,0,0,2.0958961589568856],[-61.0301849283152,-35.041063831801594,-30.79972267150879,0,0,2.0958961589568856]]}],"statistics":{"complete_actions":136,"sentence_actions":[38,60,38],"sentence_actions_average":45.33}}
diff --git a/scene_11/3OJSZ2ATD1UXBJ55VHBIR2U0L1275A.json b/scene_11/3OJSZ2ATD1UXBJ55VHBIR2U0L1275A.json
new file mode 100644
index 0000000000000000000000000000000000000000..745411c51bbd8ad939b184be5d91ba3fdfa1e260
--- /dev/null
+++ b/scene_11/3OJSZ2ATD1UXBJ55VHBIR2U0L1275A.json
@@ -0,0 +1 @@
+{"episode_id":"3OJSZ2ATD1UXBJ55VHBIR2U0L1275A","trajectory_id":"3SA4EMRVK30K0YQB4UULLAU69RMP01","scene_id":11,"instruction":"take off and little turn right and move forward and go over the road and building. now move forward and go over the building and slightly down and turn right at top of the restaurant building. now move forward and go over the building and turn left at top of the blue building and stay there.","sentence_instructions":[{"id":0,"instruction":"take off and little turn right and move forward and go over the road and building.","completed_instruction":"Fly up to the height of the building on the right front of the intersection, and turn right slightly to face the farthest white building on the right side of the road, then fly forward towards that building while ascending to the height of it, pass the cylindrical building on the right, finally to the rooftop of the building on the opposite side of the road in front of the target building.","start_frame":1,"end_frame":54,"start_position":[-77.23320770263672,-150.96470642089844,-1.1921597719192505],"start_rotation":[0.99999819404894519,0,0,0.0019004996312146417],"end_position":[47.783254974796876,-96.23003678983318,-27.19215977191925],"end_rotation":[0.99119500589273912,0,0,0.13241019708954765],"actions":[4,4,4,4,4,4,4,3,4,1,1,4,1,4,1,4,1,4,1,1,4,1,4,1,7,1,4,1,4,1,4,1,1,1,1,1,7,1,1,1,1,7,1,5,1,1,5,1,5,1,7,5,1,5],"reference_path":[[-77.23320770263672,-150.96470642089844,-1.1921597719192505,0,0,0.003801001550570479],[-77.23320770263672,-150.96470642089844,-3.1921597719192505,0,0,0.003801001550570479],[-77.23320770263672,-150.96470642089844,-5.1921597719192505,0,0,0.003801001550570479],[-77.23320770263672,-150.96470642089844,-7.1921597719192505,0,0,0.003801001550570479],[-77.23320770263672,-150.96470642089844,-9.19215977191925,0,0,0.003801001550570479],[-77.23320770263672,-150.96470642089844,-11.19215977191925,0,0,0.003801001550570479],[-77.23320770263672,-150.96470642089844,-13.19215977191925,0,0,0.003801001550570479],[-77.23320770263672,-150.96470642089844,-15.19215977191925,0,0,0.003801001550570479],[-77.23320770263672,-150.96470642089844,-15.19215977191925,0,0,0.2656003893497199],[-77.23320770263672,-150.96470642089844,-17.19215977191925,0,0,0.2656003893497199],[-72.40853230556965,-149.6522631600541,-17.19215977191925,0,0,0.2656003893497199],[-67.58385690850258,-148.33981989920977,-17.19215977191925,0,0,0.2656003893497199],[-67.58385690850258,-148.33981989920977,-19.19215977191925,0,0,0.2656003893497199],[-62.759181511435514,-147.02737663836544,-19.19215977191925,0,0,0.2656003893497199],[-62.759181511435514,-147.02737663836544,-21.19215977191925,0,0,0.2656003893497199],[-57.934506114368446,-145.7149333775211,-21.19215977191925,0,0,0.2656003893497199],[-57.934506114368446,-145.7149333775211,-23.19215977191925,0,0,0.2656003893497199],[-53.10983071730138,-144.40249011667677,-23.19215977191925,0,0,0.2656003893497199],[-53.10983071730138,-144.40249011667677,-25.19215977191925,0,0,0.2656003893497199],[-48.28515532023431,-143.09004685583244,-25.19215977191925,0,0,0.2656003893497199],[-43.46047992316724,-141.7776035949881,-25.19215977191925,0,0,0.2656003893497199],[-43.46047992316724,-141.7776035949881,-27.19215977191925,0,0,0.2656003893497199],[-38.63580452610017,-140.46516033414377,-27.19215977191925,0,0,0.2656003893497199],[-38.63580452610017,-140.46516033414377,-29.19215977191925,0,0,0.2656003893497199],[-33.811129129033105,-139.15271707329944,-29.19215977191925,0,0,0.2656003893497199],[-35.12357238987743,-134.32804167623237,-29.19215977191925,0,0,0.2656003893497199],[-30.29889699281036,-133.01559841538804,-29.19215977191925,0,0,0.2656003893497199],[-30.29889699281036,-133.01559841538804,-31.19215977191925,0,0,0.2656003893497199],[-25.474221595743288,-131.7031551545437,-31.19215977191925,0,0,0.2656003893497199],[-25.474221595743288,-131.7031551545437,-33.19215977191925,0,0,0.2656003893497199],[-20.649546198676216,-130.39071189369938,-33.19215977191925,0,0,0.2656003893497199],[-20.649546198676216,-130.39071189369938,-35.19215977191925,0,0,0.2656003893497199],[-15.824870801609144,-129.07826863285504,-35.19215977191925,0,0,0.2656003893497199],[-11.000195404542072,-127.76582537201071,-35.19215977191925,0,0,0.2656003893497199],[-6.175520007475001,-126.45338211116638,-35.19215977191925,0,0,0.2656003893497199],[-1.350844610407929,-125.14093885032204,-35.19215977191925,0,0,0.2656003893497199],[3.4738307866591427,-123.82849558947771,-35.19215977191925,0,0,0.2656003893497199],[2.161387525814814,-119.00382019241064,-35.19215977191925,0,0,0.2656003893497199],[6.986062922881885,-117.69137693156631,-35.19215977191925,0,0,0.2656003893497199],[11.810738319948957,-116.37893367072198,-35.19215977191925,0,0,0.2656003893497199],[16.63541371701603,-115.06649040987764,-35.19215977191925,0,0,0.2656003893497199],[21.4600891140831,-113.75404714903331,-35.19215977191925,0,0,0.2656003893497199],[20.14764585323877,-108.92937175196624,-35.19215977191925,0,0,0.2656003893497199],[24.972321250305843,-107.61692849112191,-35.19215977191925,0,0,0.2656003893497199],[24.972321250305843,-107.61692849112191,-33.19215977191925,0,0,0.2656003893497199],[29.796996647372914,-106.30448523027758,-33.19215977191925,0,0,0.2656003893497199],[34.62167204443999,-104.99204196943325,-33.19215977191925,0,0,0.2656003893497199],[34.62167204443999,-104.99204196943325,-31.19215977191925,0,0,0.2656003893497199],[39.44634744150706,-103.67959870858891,-31.19215977191925,0,0,0.2656003893497199],[39.44634744150706,-103.67959870858891,-29.19215977191925,0,0,0.2656003893497199],[44.271022838574126,-102.36715544774458,-29.19215977191925,0,0,0.2656003893497199],[42.9585795777298,-97.54248005067751,-29.19215977191925,0,0,0.2656003893497199],[42.9585795777298,-97.54248005067751,-27.19215977191925,0,0,0.2656003893497199],[47.783254974796876,-96.23003678983318,-27.19215977191925,0,0,0.2656003893497199]]},{"id":1,"instruction":"now move forward and go over the building and slightly down and turn right at top of the restaurant building.","completed_instruction":"Fly forward to the road intersection, then turn right to face the restaurant sign, and turn rightto face the direction directly behind the restaurant.","start_frame":54,"end_frame":70,"start_position":[47.783254974796876,-96.23003678983318,-27.19215977191925],"start_rotation":[0.99119500589273912,0,0,0.13241019708954765],"end_position":[74.11625852773957,-81.29419818509403,-15.19215977191925],"end_rotation":[0.86507358996933981,0,0,0.50164497798498742],"actions":[5,1,5,1,1,5,5,1,7,5,1,5,3,3,1,3,4],"reference_path":[[47.783254974796876,-96.23003678983318,-27.19215977191925,0,0,0.2656003893497199],[47.783254974796876,-96.23003678983318,-25.19215977191925,0,0,0.2656003893497199],[52.607930371863944,-94.91759352898885,-25.19215977191925,0,0,0.2656003893497199],[52.607930371863944,-94.91759352898885,-23.19215977191925,0,0,0.2656003893497199],[57.43260576893101,-93.60515026814451,-23.19215977191925,0,0,0.2656003893497199],[62.25728116599808,-92.29270700730018,-23.19215977191925,0,0,0.2656003893497199],[62.25728116599808,-92.29270700730018,-21.19215977191925,0,0,0.2656003893497199],[62.25728116599808,-92.29270700730018,-19.19215977191925,0,0,0.2656003893497199],[67.08195656306515,-90.98026374645585,-19.19215977191925,0,0,0.2656003893497199],[65.76951330222082,-86.15558834938878,-19.19215977191925,0,0,0.2656003893497199],[65.76951330222082,-86.15558834938878,-17.19215977191925,0,0,0.2656003893497199],[70.59418869928788,-84.84314508854445,-17.19215977191925,0,0,0.2656003893497199],[70.59418869928788,-84.84314508854445,-15.19215977191925,0,0,0.2656003893497199],[70.59418869928788,-84.84314508854445,-15.19215977191925,0,0,0.5273997771488694],[70.59418869928788,-84.84314508854445,-15.19215977191925,0,0,0.7891991649480188],[74.11625852773957,-81.29419818509403,-15.19215977191925,0,0,0.7891991649480188],[74.11625852773957,-81.29419818509403,-15.19215977191925,0,0,1.0509985527471684]]},{"id":2,"instruction":"now move forward and go over the building and turn left at top of the blue building and stay there.","completed_instruction":"Fly over the roof of the restaurant, then fly forward over the white building ahead, then turn right slightly to face the white building ahead horizontally, fly forward over that building, then turn left slightly to face the flat dark roof on the left front.","start_frame":70,"end_frame":104,"start_position":[74.11625852773957,-81.29419818509403,-15.19215977191925],"start_rotation":[0.86507358996933981,0,0,0.50164497798498742],"end_position":[83.67877687426713,13.781063561254172,-29.19215977191925],"end_rotation":[0.92315057430798853,0,0,0.38443857396836606],"actions":[4,1,3,4,1,4,1,4,1,4,1,4,1,4,1,1,1,3,1,1,7,1,1,1,1,1,1,7,1,2,2,2,1,1,0],"reference_path":[[74.11625852773957,-81.29419818509403,-15.19215977191925,0,0,1.0509985527471684],[74.11625852773957,-81.29419818509403,-17.19215977191925,0,0,1.0509985527471684],[76.59978168836399,-76.9545999651384,-17.19215977191925,0,0,1.0509985527471684],[76.59978168836399,-76.9545999651384,-17.19215977191925,0,0,1.3127979405463177],[76.59978168836399,-76.9545999651384,-19.19215977191925,0,0,1.3127979405463177],[77.87551018198064,-72.12008687584238,-19.19215977191925,0,0,1.3127979405463177],[77.87551018198064,-72.12008687584238,-21.19215977191925,0,0,1.3127979405463177],[79.1512386755973,-67.28557378654635,-21.19215977191925,0,0,1.3127979405463177],[79.1512386755973,-67.28557378654635,-23.19215977191925,0,0,1.3127979405463177],[80.42696716921395,-62.45106069725033,-23.19215977191925,0,0,1.3127979405463177],[80.42696716921395,-62.45106069725033,-25.19215977191925,0,0,1.3127979405463177],[81.7026956628306,-57.6165476079543,-25.19215977191925,0,0,1.3127979405463177],[81.7026956628306,-57.6165476079543,-27.19215977191925,0,0,1.3127979405463177],[82.97842415644726,-52.78203451865828,-27.19215977191925,0,0,1.3127979405463177],[82.97842415644726,-52.78203451865828,-29.19215977191925,0,0,1.3127979405463177],[84.25415265006392,-47.947521429362254,-29.19215977191925,0,0,1.3127979405463177],[85.52988114368057,-43.11300834006623,-29.19215977191925,0,0,1.3127979405463177],[86.80560963729722,-38.278495250770206,-29.19215977191925,0,0,1.3127979405463177],[86.80560963729722,-38.278495250770206,-29.19215977191925,0,0,1.5745973283454673],[86.78660467530717,-33.27853136975869,-29.19215977191925,0,0,1.5745973283454673],[86.76759971331713,-28.27856748874717,-29.19215977191925,0,0,1.5745973283454673],[81.76763583230561,-28.297572450737224,-29.19215977191925,0,0,1.5745973283454673],[81.74863087031557,-23.297608569725707,-29.19215977191925,0,0,1.5745973283454673],[81.72962590832552,-18.29764468871419,-29.19215977191925,0,0,1.5745973283454673],[81.71062094633547,-13.297680807702672,-29.19215977191925,0,0,1.5745973283454673],[81.69161598434542,-8.297716926691155,-29.19215977191925,0,0,1.5745973283454673],[81.67261102235537,-3.297753045679638,-29.19215977191925,0,0,1.5745973283454673],[81.65360606036532,1.7022108353318792,-29.19215977191925,0,0,1.5745973283454673],[76.6536421793538,1.6832058733418265,-29.19215977191925,0,0,1.5745973283454673],[76.63463721736375,6.683169754353344,-29.19215977191925,0,0,1.5745973283454673],[76.63463721736375,6.683169754353344,-29.19215977191925,0,0,1.3127979405463182],[76.63463721736375,6.683169754353344,-29.19215977191925,0,0,1.0509985527471686],[76.63463721736375,6.683169754353344,-29.19215977191925,0,0,0.7891991649480192],[80.15670704581544,10.232116657803758,-29.19215977191925,0,0,0.7891991649480192],[83.67877687426713,13.781063561254172,-29.19215977191925,0,0,0.7891991649480192]]}],"statistics":{"complete_actions":106,"sentence_actions":[54,17,35],"sentence_actions_average":35.33}}
diff --git a/scene_11/3Z3ZLGNNSRS43MNGDXWVCWDCWWF3QE.json b/scene_11/3Z3ZLGNNSRS43MNGDXWVCWDCWWF3QE.json
new file mode 100644
index 0000000000000000000000000000000000000000..6052c3141408fd1eeb4f18412e25acbe4745f027
--- /dev/null
+++ b/scene_11/3Z3ZLGNNSRS43MNGDXWVCWDCWWF3QE.json
@@ -0,0 +1 @@
+{"episode_id":"3Z3ZLGNNSRS43MNGDXWVCWDCWWF3QE","trajectory_id":"3MVY4USGCELSKLNJ01NLMJZDM0RISG","scene_id":11,"instruction":"take off and turn left go straight until the round building and slightly left and go straight until the building with black window. go upwards and go forward slightly. go downwards and go forward slightly left go to the roof of the building and park here.","sentence_instructions":[{"id":0,"instruction":"take off and turn left go straight until the round building and slightly left and go straight until the building with black window.","completed_instruction":"Take off to a height higher than the outdoor unit of the air conditioner on the left terrace, then turn left slightly to face two glass cylindrical buildings, then fly forward to the front of the cylindrical buildings, then fly over the cylindrical buildings by their left side to see the tops of three cylindrical buildings behind, then move forward to the high lavender building ahead.","start_frame":1,"end_frame":54,"start_position":[-114.83100128173828,-9.29707145690918,-0.9942290782928467],"start_rotation":[0.99970236375590438,0,0,-0.02439639114413196],"end_position":[-15.099700564139347,-141.5984987250074,-20.994229078292847],"end_rotation":[0.9142684577768756,0,0,-0.40510885835080612],"actions":[4,4,4,4,4,4,4,4,2,4,2,2,4,4,1,1,1,1,1,1,1,1,6,1,1,1,1,5,1,1,1,6,1,1,6,1,1,1,6,1,1,1,1,7,1,1,1,1,1,1,1,1,1,1],"reference_path":[[-114.83100128173828,-9.29707145690918,-0.9942290782928467,0,0,-0.04879762369814686],[-114.83100128173828,-9.29707145690918,-2.9942290782928467,0,0,-0.04879762369814686],[-114.83100128173828,-9.29707145690918,-4.994229078292847,0,0,-0.04879762369814686],[-114.83100128173828,-9.29707145690918,-6.994229078292847,0,0,-0.04879762369814686],[-114.83100128173828,-9.29707145690918,-8.994229078292847,0,0,-0.04879762369814686],[-114.83100128173828,-9.29707145690918,-10.994229078292847,0,0,-0.04879762369814686],[-114.83100128173828,-9.29707145690918,-12.994229078292847,0,0,-0.04879762369814686],[-114.83100128173828,-9.29707145690918,-14.994229078292847,0,0,-0.04879762369814686],[-114.83100128173828,-9.29707145690918,-16.994229078292847,0,0,-0.04879762369814686],[-114.83100128173828,-9.29707145690918,-16.994229078292847,0,0,-0.3105970114972963],[-114.83100128173828,-9.29707145690918,-18.994229078292847,0,0,-0.3105970114972963],[-114.83100128173828,-9.29707145690918,-18.994229078292847,0,0,-0.5723963992964457],[-114.83100128173828,-9.29707145690918,-18.994229078292847,0,0,-0.8341957870955952],[-114.83100128173828,-9.29707145690918,-20.994229078292847,0,0,-0.8341957870955952],[-114.83100128173828,-9.29707145690918,-22.994229078292847,0,0,-0.8341957870955952],[-111.47213315288121,-13.000853968470603,-22.994229078292847,0,0,-0.8341957870955952],[-108.11326502402414,-16.704636480032026,-22.994229078292847,0,0,-0.8341957870955952],[-104.75439689516708,-20.408418991593447,-22.994229078292847,0,0,-0.8341957870955952],[-101.39552876631001,-24.112201503154868,-22.994229078292847,0,0,-0.8341957870955952],[-98.03666063745294,-27.81598401471629,-22.994229078292847,0,0,-0.8341957870955952],[-94.67779250859587,-31.51976652627771,-22.994229078292847,0,0,-0.8341957870955952],[-91.3189243797388,-35.223549037839135,-22.994229078292847,0,0,-0.8341957870955952],[-87.96005625088173,-38.927331549400556,-22.994229078292847,0,0,-0.8341957870955952],[-91.66383876244316,-42.28619967825762,-22.994229078292847,0,0,-0.8341957870955952],[-88.3049706335861,-45.98998218981904,-22.994229078292847,0,0,-0.8341957870955952],[-84.94610250472903,-49.69376470138046,-22.994229078292847,0,0,-0.8341957870955952],[-81.58723437587196,-53.39754721294188,-22.994229078292847,0,0,-0.8341957870955952],[-78.22836624701489,-57.1013297245033,-22.994229078292847,0,0,-0.8341957870955952],[-78.22836624701489,-57.1013297245033,-20.994229078292847,0,0,-0.8341957870955952],[-74.86949811815782,-60.80511223606472,-20.994229078292847,0,0,-0.8341957870955952],[-71.51062998930075,-64.50889474762614,-20.994229078292847,0,0,-0.8341957870955952],[-68.15176186044368,-68.21267725918757,-20.994229078292847,0,0,-0.8341957870955952],[-71.85554437200511,-71.57154538804464,-20.994229078292847,0,0,-0.8341957870955952],[-68.49667624314804,-75.27532789960607,-20.994229078292847,0,0,-0.8341957870955952],[-65.13780811429098,-78.9791104111675,-20.994229078292847,0,0,-0.8341957870955952],[-68.8415906258524,-82.33797854002457,-20.994229078292847,0,0,-0.8341957870955952],[-65.48272249699534,-86.041761051586,-20.994229078292847,0,0,-0.8341957870955952],[-62.12385436813827,-89.74554356314742,-20.994229078292847,0,0,-0.8341957870955952],[-58.7649862392812,-93.44932607470885,-20.994229078292847,0,0,-0.8341957870955952],[-62.46876875084262,-96.80819420356592,-20.994229078292847,0,0,-0.8341957870955952],[-59.10990062198556,-100.51197671512735,-20.994229078292847,0,0,-0.8341957870955952],[-55.75103249312849,-104.21575922668877,-20.994229078292847,0,0,-0.8341957870955952],[-52.39216436427142,-107.9195417382502,-20.994229078292847,0,0,-0.8341957870955952],[-49.033296235414355,-111.62332424981163,-20.994229078292847,0,0,-0.8341957870955952],[-45.32951372385293,-108.26445612095456,-20.994229078292847,0,0,-0.8341957870955952],[-41.97064559499587,-111.96823863251599,-20.994229078292847,0,0,-0.8341957870955952],[-38.611777466138804,-115.67202114407742,-20.994229078292847,0,0,-0.8341957870955952],[-35.252909337281736,-119.37580365563885,-20.994229078292847,0,0,-0.8341957870955952],[-31.89404120842467,-123.07958616720028,-20.994229078292847,0,0,-0.8341957870955952],[-28.535173079567606,-126.7833686787617,-20.994229078292847,0,0,-0.8341957870955952],[-25.17630495071054,-130.48715119032312,-20.994229078292847,0,0,-0.8341957870955952],[-21.817436821853477,-134.19093370188455,-20.994229078292847,0,0,-0.8341957870955952],[-18.458568692996412,-137.89471621344597,-20.994229078292847,0,0,-0.8341957870955952],[-15.099700564139347,-141.5984987250074,-20.994229078292847,0,0,-0.83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upwards and go forward slightly.","completed_instruction":"Ascend to the height of roof of the building, then turn left to face it directly and fly forward over the building.","start_frame":55,"end_frame":76,"start_position":[-11.740832435282282,-145.30228123656883,-20.994229078292847],"start_rotation":[0.9142684577768756,0,0,-0.40510885835080612],"end_position":[-5.510878775446201,-162.6979425816745,-48.99422907829285],"end_rotation":[0.68964546696552542,0,0,-0.7241471741945158],"actions":[1,1,4,4,4,4,4,4,4,4,4,4,4,4,4,4,2,2,2,1,1,6],"reference_path":[[-11.740832435282282,-145.30228123656883,-20.994229078292847,0,0,-0.8341957870955952],[-8.381964306425218,-149.00606374813026,-20.994229078292847,0,0,-0.8341957870955952],[-5.023096177568153,-152.7098462596917,-20.994229078292847,0,0,-0.8341957870955952],[-5.023096177568153,-152.7098462596917,-22.994229078292847,0,0,-0.8341957870955952],[-5.023096177568153,-152.7098462596917,-24.994229078292847,0,0,-0.8341957870955952],[-5.023096177568153,-152.7098462596917,-26.994229078292847,0,0,-0.8341957870955952],[-5.023096177568153,-152.7098462596917,-28.994229078292847,0,0,-0.8341957870955952],[-5.023096177568153,-152.7098462596917,-30.994229078292847,0,0,-0.8341957870955952],[-5.023096177568153,-152.7098462596917,-32.99422907829285,0,0,-0.8341957870955952],[-5.023096177568153,-152.7098462596917,-34.99422907829285,0,0,-0.8341957870955952],[-5.023096177568153,-152.7098462596917,-36.99422907829285,0,0,-0.8341957870955952],[-5.023096177568153,-152.7098462596917,-38.99422907829285,0,0,-0.8341957870955952],[-5.023096177568153,-152.7098462596917,-40.99422907829285,0,0,-0.8341957870955952],[-5.023096177568153,-152.7098462596917,-42.99422907829285,0,0,-0.8341957870955952],[-5.023096177568153,-152.7098462596917,-44.99422907829285,0,0,-0.8341957870955952],[-5.023096177568153,-152.7098462596917,-46.99422907829285,0,0,-0.8341957870955952],[-5.023096177568153,-152.7098462596917,-48.99422907829285,0,0,-0.8341957870955952],[-5.023096177568153,-152.7098462596917,-48.99422907829285,0,0,-1.0959951748947445],[-5.023096177568153,-152.7098462596917,-48.99422907829285,0,0,-1.357794562693894],[-5.023096177568153,-152.7098462596917,-48.99422907829285,0,0,-1.6195939504930437],[-5.266987476507177,-157.7038944206831,-48.99422907829285,0,0,-1.6195939504930437],[-5.510878775446201,-162.6979425816745,-48.99422907829285,0,0,-1.6195939504930437]]},{"id":2,"instruction":"go downwards and go forward slightly left go to the roof of the building and park here.","completed_instruction":"Descend to the height of the building ahead and fly forward to the protruding part of the roof on the left side of the building, then move to the left side of the building, and then fly along the road to the roof of the farthest building on the left side of the road.","start_frame":76,"end_frame":129,"start_position":[-5.510878775446201,-162.6979425816745,-48.99422907829285],"start_rotation":[0.68964546696552542,0,0,-0.7241471741945158],"end_position":[-35.7563657453605,-269.37402543535796,-16.994229078292847],"end_rotation":[0.5892252811381915,0,0,-0.80796879151834766],"actions":[6,1,1,1,5,5,1,5,5,5,5,5,5,5,5,5,1,1,1,1,5,5,5,5,4,1,1,1,6,1,1,6,1,1,1,1,1,4,4,4,4,2,1,1,1,1,6,5,5,5,5,5,5,0],"reference_path":[[-5.510878775446201,-162.6979425816745,-48.99422907829285,0,0,-1.6195939504930437],[-10.504926936437627,-162.4540512827355,-48.99422907829285,0,0,-1.6195939504930437],[-10.748818235376651,-167.4480994437269,-48.99422907829285,0,0,-1.6195939504930437],[-10.992709534315676,-172.44214760471831,-48.99422907829285,0,0,-1.6195939504930437],[-11.2366008332547,-177.43619576570973,-48.99422907829285,0,0,-1.6195939504930437],[-11.2366008332547,-177.43619576570973,-46.99422907829285,0,0,-1.6195939504930437],[-11.2366008332547,-177.43619576570973,-44.99422907829285,0,0,-1.6195939504930437],[-11.480492132193724,-182.43024392670114,-44.99422907829285,0,0,-1.6195939504930437],[-11.480492132193724,-182.43024392670114,-42.99422907829285,0,0,-1.6195939504930437],[-11.480492132193724,-182.43024392670114,-40.99422907829285,0,0,-1.6195939504930437],[-11.480492132193724,-182.43024392670114,-38.99422907829285,0,0,-1.6195939504930437],[-11.480492132193724,-182.43024392670114,-36.99422907829285,0,0,-1.6195939504930437],[-11.480492132193724,-182.43024392670114,-34.99422907829285,0,0,-1.6195939504930437],[-11.480492132193724,-182.43024392670114,-32.99422907829285,0,0,-1.6195939504930437],[-11.480492132193724,-182.43024392670114,-30.994229078292847,0,0,-1.6195939504930437],[-11.480492132193724,-182.43024392670114,-28.994229078292847,0,0,-1.6195939504930437],[-11.480492132193724,-182.43024392670114,-26.994229078292847,0,0,-1.6195939504930437],[-11.724383431132749,-187.42429208769255,-26.994229078292847,0,0,-1.6195939504930437],[-11.968274730071773,-192.41834024868396,-26.994229078292847,0,0,-1.6195939504930437],[-12.212166029010797,-197.41238840967537,-26.994229078292847,0,0,-1.6195939504930437],[-12.456057327949821,-202.40643657066678,-26.994229078292847,0,0,-1.6195939504930437],[-12.456057327949821,-202.40643657066678,-24.994229078292847,0,0,-1.6195939504930437],[-12.456057327949821,-202.40643657066678,-22.994229078292847,0,0,-1.6195939504930437],[-12.456057327949821,-202.40643657066678,-20.994229078292847,0,0,-1.6195939504930437],[-12.456057327949821,-202.40643657066678,-18.994229078292847,0,0,-1.6195939504930437],[-12.456057327949821,-202.40643657066678,-20.994229078292847,0,0,-1.6195939504930437],[-12.699948626888846,-207.4004847316582,-20.994229078292847,0,0,-1.6195939504930437],[-12.94383992582787,-212.3945328926496,-20.994229078292847,0,0,-1.6195939504930437],[-13.187731224766894,-217.38858105364102,-20.994229078292847,0,0,-1.6195939504930437],[-18.18177938575832,-217.144689754702,-20.994229078292847,0,0,-1.6195939504930437],[-18.42567068469734,-222.1387379156934,-20.994229078292847,0,0,-1.6195939504930437],[-18.669561983636363,-227.13278607668482,-20.994229078292847,0,0,-1.6195939504930437],[-23.66361014462779,-226.8888947777458,-20.994229078292847,0,0,-1.6195939504930437],[-23.90750144356681,-231.88294293873722,-20.994229078292847,0,0,-1.6195939504930437],[-24.151392742505834,-236.87699109972863,-20.994229078292847,0,0,-1.6195939504930437],[-24.395284041444857,-241.87103926072004,-20.994229078292847,0,0,-1.6195939504930437],[-24.63917534038388,-246.86508742171145,-20.994229078292847,0,0,-1.6195939504930437],[-24.8830666393229,-251.85913558270286,-20.994229078292847,0,0,-1.6195939504930437],[-24.8830666393229,-251.85913558270286,-22.994229078292847,0,0,-1.6195939504930437],[-24.8830666393229,-251.85913558270286,-24.994229078292847,0,0,-1.6195939504930437],[-24.8830666393229,-251.85913558270286,-26.994229078292847,0,0,-1.6195939504930437],[-24.8830666393229,-251.85913558270286,-28.994229078292847,0,0,-1.6195939504930437],[-24.8830666393229,-251.85913558270286,-28.994229078292847,0,0,-1.881393338292193],[-26.41120231999909,-256.6198919660357,-28.994229078292847,0,0,-1.881393338292193],[-27.93933800067528,-261.3806483493685,-28.994229078292847,0,0,-1.881393338292193],[-29.46747368135147,-266.14140473270135,-28.994229078292847,0,0,-1.881393338292193],[-30.99560936202766,-270.90216111603416,-28.994229078292847,0,0,-1.881393338292193],[-35.7563657453605,-269.37402543535796,-28.994229078292847,0,0,-1.881393338292193],[-35.7563657453605,-269.37402543535796,-26.994229078292847,0,0,-1.881393338292193],[-35.7563657453605,-269.37402543535796,-24.994229078292847,0,0,-1.881393338292193],[-35.7563657453605,-269.37402543535796,-22.994229078292847,0,0,-1.881393338292193],[-35.7563657453605,-269.37402543535796,-20.994229078292847,0,0,-1.881393338292193],[-35.7563657453605,-269.37402543535796,-18.994229078292847,0,0,-1.881393338292193],[-35.7563657453605,-269.37402543535796,-16.994229078292847,0,0,-1.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diff --git a/scene_11/3Z4GS9HPN48CYNJOJAQFPM8XW8977P.json b/scene_11/3Z4GS9HPN48CYNJOJAQFPM8XW8977P.json
new file mode 100644
index 0000000000000000000000000000000000000000..aa27f2f13572818dfc23de65232f6d0abc2b0433
--- /dev/null
+++ b/scene_11/3Z4GS9HPN48CYNJOJAQFPM8XW8977P.json
@@ -0,0 +1 @@
+{"episode_id":"3Z4GS9HPN48CYNJOJAQFPM8XW8977P","trajectory_id":"32K26U12EVMR42O12IRF6937TZDDVE","scene_id":11,"instruction":"turn to the left. go straight across following a slight right turn in between two buildings. wiggle around and turn right on to the first sight of streets you see. turn left and then right and face up to the moon. stay next to the restaurant to watch the full moon.","sentence_instructions":[{"id":0,"instruction":"turn to the left.","completed_instruction":"Turn left to face the white cylindrical building with the word \"HOTEL\" on it.","start_frame":1,"end_frame":8,"start_position":[22.05168914794922,-13.471610069274902,-13.465291023254395],"start_rotation":[0.99998608904490138,0,0,-0.0052746295303668263],"end_position":[22.05168914794922,-13.471610069274902,-13.465291023254395],"end_rotation":[0.60456831559910051,0,0,-0.79655329499893879],"actions":[2,2,2,2,2,2,2,2],"reference_path":[[22.05168914794922,-13.471610069274902,-13.465291023254395,0,0,-0.010549307977762218],[22.05168914794922,-13.471610069274902,-13.465291023254395,0,0,-0.2723486957769116],[22.05168914794922,-13.471610069274902,-13.465291023254395,0,0,-0.534148083576061],[22.05168914794922,-13.471610069274902,-13.465291023254395,0,0,-0.7959474713752105],[22.05168914794922,-13.471610069274902,-13.465291023254395,0,0,-1.05774685917436],[22.05168914794922,-13.471610069274902,-13.465291023254395,0,0,-1.3195462469735095],[22.05168914794922,-13.471610069274902,-13.465291023254395,0,0,-1.581345634772659],[22.05168914794922,-13.471610069274902,-13.465291023254395,0,0,-1.8431450225718085]]},{"id":1,"instruction":"go straight across following a slight right turn in between two buildings.","completed_instruction":"Fly forward out of the roof to the road on the left side of the white cylindrical building, then fly over the white cylindrical building along the road, and turn right to face the small black-and-white building between the tall cylindrical structure and the building with the large \"HOTEL\" sign, then fly to the left side of this small building.","start_frame":8,"end_frame":49,"start_position":[22.05168914794922,-13.471610069274902,-13.465291023254395],"start_rotation":[0.60456831559910051,0,0,-0.79655329499893879],"end_position":[-96.60817355910217,-77.75515076912502,-23.465291023254395],"end_rotation":[0.37780498660835909,0,0,-0.92588519379772871],"actions":[2,2,2,4,1,1,1,1,1,1,4,2,1,1,2,1,1,1,4,1,3,1,1,3,1,1,1,1,3,1,1,1,4,1,1,1,1,1,4,1,1,4],"reference_path":[[22.05168914794922,-13.471610069274902,-13.465291023254395,0,0,-1.8431450225718085],[22.05168914794922,-13.471610069274902,-13.465291023254395,0,0,-2.104944410370958],[22.05168914794922,-13.471610069274902,-13.465291023254395,0,0,-2.3667437981701074],[22.05168914794922,-13.471610069274902,-13.465291023254395,0,0,-2.628543185969257],[22.05168914794922,-13.471610069274902,-15.465291023254395,0,0,-2.628543185969257],[17.695430291385104,-15.925791964450301,-15.465291023254395,0,0,-2.628543185969257],[13.33917143482099,-18.3799738596257,-15.465291023254395,0,0,-2.628543185969257],[8.982912578256876,-20.8341557548011,-15.465291023254395,0,0,-2.628543185969257],[4.626653721692761,-23.288337649976498,-15.465291023254395,0,0,-2.628543185969257],[0.27039486512864563,-25.742519545151897,-15.465291023254395,0,0,-2.628543185969257],[-4.0858639914354695,-28.196701440327296,-15.465291023254395,0,0,-2.628543185969257],[-4.0858639914354695,-28.196701440327296,-17.465291023254395,0,0,-2.628543185969257],[-4.0858639914354695,-28.196701440327296,-17.465291023254395,0,0,-2.8903425737684065],[-8.928875941608425,-29.43977635781294,-17.465291023254395,0,0,-2.8903425737684065],[-13.77188789178138,-30.68285127529858,-17.465291023254395,0,0,-2.8903425737684065],[-13.77188789178138,-30.68285127529858,-17.465291023254395,0,0,3.13104334561203],[-18.771609674614552,-30.630105713746254,-17.465291023254395,0,0,3.13104334561203],[-23.771331457447726,-30.577360152193926,-17.465291023254395,0,0,3.13104334561203],[-28.7710532402809,-30.524614590641598,-17.465291023254395,0,0,3.13104334561203],[-28.7710532402809,-30.524614590641598,-19.465291023254395,0,0,3.13104334561203],[-33.77077502311407,-30.47186902908927,-19.465291023254395,0,0,3.13104334561203],[-33.77077502311407,-30.47186902908927,-19.465291023254395,0,0,-2.8903425737684065],[-38.61378697328703,-31.714943946574913,-19.465291023254395,0,0,-2.8903425737684065],[-43.456798923459985,-32.958018864060556,-19.465291023254395,0,0,-2.8903425737684065],[-43.456798923459985,-32.958018864060556,-19.465291023254395,0,0,-2.6285431859692574],[-47.8130577800241,-35.41220075923595,-19.465291023254395,0,0,-2.6285431859692574],[-52.16931663658822,-37.866382654411346,-19.465291023254395,0,0,-2.6285431859692574],[-56.52557549315234,-40.32056454958674,-19.465291023254395,0,0,-2.6285431859692574],[-60.881834349716456,-42.77474644476214,-19.465291023254395,0,0,-2.6285431859692574],[-60.881834349716456,-42.77474644476214,-19.465291023254395,0,0,-2.3667437981701083],[-64.45446827065503,-46.27278687719843,-19.465291023254395,0,0,-2.3667437981701083],[-68.0271021915936,-49.77082730963472,-19.465291023254395,0,0,-2.3667437981701083],[-71.59973611253217,-53.26886774207101,-19.465291023254395,0,0,-2.3667437981701083],[-71.59973611253217,-53.26886774207101,-21.465291023254395,0,0,-2.3667437981701083],[-75.17237003347074,-56.7669081745073,-21.465291023254395,0,0,-2.3667437981701083],[-78.74500395440931,-60.26494860694359,-21.465291023254395,0,0,-2.3667437981701083],[-82.31763787534788,-63.76298903937988,-21.465291023254395,0,0,-2.3667437981701083],[-85.89027179628646,-67.26102947181617,-21.465291023254395,0,0,-2.3667437981701083],[-89.46290571722503,-70.75906990425246,-21.465291023254395,0,0,-2.3667437981701083],[-89.46290571722503,-70.75906990425246,-23.465291023254395,0,0,-2.3667437981701083],[-93.0355396381636,-74.25711033668874,-23.465291023254395,0,0,-2.3667437981701083],[-96.60817355910217,-77.75515076912502,-23.465291023254395,0,0,-2.3667437981701083]]},{"id":2,"instruction":"wiggle around and turn right on to the first sight of streets you see.","completed_instruction":"Turn right to face the tall building behind the green shrubs, then fly forward to the front of that tall building.","start_frame":49,"end_frame":83,"start_position":[-96.60817355910217,-77.75515076912502,-23.465291023254395],"start_rotation":[0.37780498660835909,0,0,-0.92588519379772871],"end_position":[-65.88903002914078,-182.70164440285427,-23.465291023254395],"end_rotation":[0.92184816713145812,0,0,-0.38755123113773138],"actions":[4,1,1,3,3,3,3,1,1,1,1,1,1,1,2,1,1,1,1,1,3,1,1,3,1,3,1,1,1,1,1,1,1,5,5],"reference_path":[[-96.60817355910217,-77.75515076912502,-23.465291023254395,0,0,-2.3667437981701083],[-96.60817355910217,-77.75515076912502,-25.465291023254395,0,0,-2.3667437981701083],[-100.18080748004074,-81.25319120156131,-25.465291023254395,0,0,-2.3667437981701083],[-103.75344140097931,-84.75123163399759,-25.465291023254395,0,0,-2.3667437981701083],[-103.75344140097931,-84.75123163399759,-25.465291023254395,0,0,-2.1049444103709587],[-103.75344140097931,-84.75123163399759,-25.465291023254395,0,0,-1.8431450225718093],[-103.75344140097931,-84.75123163399759,-25.465291023254395,0,0,-1.5813456347726602],[-103.75344140097931,-84.75123163399759,-25.465291023254395,0,0,-1.3195462469735109],[-102.51036648349367,-89.59424358417056,-25.465291023254395,0,0,-1.3195462469735109],[-101.26729156600803,-94.4372555343435,-25.465291023254395,0,0,-1.3195462469735109],[-100.02421664852238,-99.28026748451646,-25.465291023254395,0,0,-1.3195462469735109],[-98.78114173103674,-104.12327943468941,-25.465291023254395,0,0,-1.3195462469735109],[-97.5380668135511,-108.96629138486236,-25.465291023254395,0,0,-1.3195462469735109],[-96.29499189606545,-113.80930333503531,-25.465291023254395,0,0,-1.3195462469735109],[-95.05191697857981,-118.65231528520826,-25.465291023254395,0,0,-1.3195462469735109],[-95.05191697857981,-118.65231528520826,-25.465291023254395,0,0,-1.5813456347726604],[-95.10466254013214,-123.65203706804144,-25.465291023254395,0,0,-1.5813456347726604],[-95.15740810168447,-128.65175885087461,-25.465291023254395,0,0,-1.5813456347726604],[-95.2101536632368,-133.6514806337078,-25.465291023254395,0,0,-1.5813456347726604],[-95.26289922478912,-138.65120241654097,-25.465291023254395,0,0,-1.5813456347726604],[-95.31564478634145,-143.65092419937415,-25.465291023254395,0,0,-1.5813456347726604],[-95.31564478634145,-143.65092419937415,-25.465291023254395,0,0,-1.3195462469735109],[-94.07256986885581,-148.4939361495471,-25.465291023254395,0,0,-1.3195462469735109],[-92.82949495137017,-153.33694809972005,-25.465291023254395,0,0,-1.3195462469735109],[-92.82949495137017,-153.33694809972005,-25.465291023254395,0,0,-1.0577468591743615],[-90.37531305619477,-157.69320695628417,-25.465291023254395,0,0,-1.0577468591743615],[-90.37531305619477,-157.69320695628417,-25.465291023254395,0,0,-0.795947471375212],[-86.87727262375849,-161.26584087722276,-25.465291023254395,0,0,-0.795947471375212],[-83.3792321913222,-164.83847479816134,-25.465291023254395,0,0,-0.795947471375212],[-79.88119175888592,-168.41110871909993,-25.465291023254395,0,0,-0.795947471375212],[-76.38315132644964,-171.9837426400385,-25.465291023254395,0,0,-0.795947471375212],[-72.88511089401335,-175.5563765609771,-25.465291023254395,0,0,-0.795947471375212],[-69.38707046157707,-179.12901048191569,-25.465291023254395,0,0,-0.795947471375212],[-65.88903002914078,-182.70164440285427,-25.465291023254395,0,0,-0.795947471375212],[-65.88903002914078,-182.70164440285427,-23.465291023254395,0,0,-0.795947471375212]]},{"id":3,"instruction":"turn left and then right and face up to the moon.","completed_instruction":"Descend to fourth floor height and turn left to face the road on the left side of the tall building, then fly forward to the road, then turn right to face the road.","start_frame":83,"end_frame":96,"start_position":[-65.88903002914078,-182.70164440285427,-23.465291023254395],"start_rotation":[0.92184816713145812,0,0,-0.38755123113773138],"end_position":[-80.17956571289507,-196.6938061325994,-17.465291023254395],"end_rotation":[0.37780498660835887,0,0,-0.92588519379772882],"actions":[5,5,5,2,2,2,2,2,2,1,1,1,1,1],"reference_path":[[-65.88903002914078,-182.70164440285427,-23.465291023254395,0,0,-0.795947471375212],[-65.88903002914078,-182.70164440285427,-21.465291023254395,0,0,-0.795947471375212],[-65.88903002914078,-182.70164440285427,-19.465291023254395,0,0,-0.795947471375212],[-65.88903002914078,-182.70164440285427,-17.465291023254395,0,0,-0.795947471375212],[-65.88903002914078,-182.70164440285427,-17.465291023254395,0,0,-1.0577468591743615],[-65.88903002914078,-182.70164440285427,-17.465291023254395,0,0,-1.3195462469735109],[-65.88903002914078,-182.70164440285427,-17.465291023254395,0,0,-1.5813456347726604],[-65.88903002914078,-182.70164440285427,-17.465291023254395,0,0,-1.8431450225718098],[-65.88903002914078,-182.70164440285427,-17.465291023254395,0,0,-2.104944410370959],[-65.88903002914078,-182.70164440285427,-17.465291023254395,0,0,-2.3667437981701087],[-69.46166395007936,-186.19968483529055,-17.465291023254395,0,0,-2.3667437981701087],[-73.03429787101793,-189.69772526772684,-17.465291023254395,0,0,-2.3667437981701087],[-76.6069317919565,-193.19576570016312,-17.465291023254395,0,0,-2.3667437981701087],[-80.17956571289507,-196.6938061325994,-17.465291023254395,0,0,-2.3667437981701087]]},{"id":4,"instruction":"stay next to the restaurant to watch the full moon.","completed_instruction":"Fly forward to the \"restaurant\" sign then turn right to face the sign and stop.","start_frame":96,"end_frame":119,"start_position":[-80.17956571289507,-196.6938061325994,-17.465291023254395],"start_rotation":[0.37780498660835887,0,0,-0.92588519379772882],"end_position":[-92.1876531482663,-263.74342929834415,-13.465291023254395],"end_rotation":[0.86337604177874849,0,0,-0.50456100769130063],"actions":[1,3,3,1,4,1,1,1,1,1,1,3,1,1,1,1,1,3,1,5,5,3,5,0],"reference_path":[[-80.17956571289507,-196.6938061325994,-17.465291023254395,0,0,-2.3667437981701087],[-83.75219963383364,-200.1918465650357,-17.465291023254395,0,0,-2.3667437981701087],[-83.75219963383364,-200.1918465650357,-17.465291023254395,0,0,-2.104944410370959],[-83.75219963383364,-200.1918465650357,-17.465291023254395,0,0,-1.8431450225718098],[-85.09717115157031,-205.00755540345992,-17.465291023254395,0,0,-1.8431450225718098],[-85.09717115157031,-205.00755540345992,-19.465291023254395,0,0,-1.8431450225718098],[-86.44214266930697,-209.82326424188415,-19.465291023254395,0,0,-1.8431450225718098],[-87.78711418704364,-214.63897308030838,-19.465291023254395,0,0,-1.8431450225718098],[-89.13208570478031,-219.4546819187326,-19.465291023254395,0,0,-1.8431450225718098],[-90.47705722251698,-224.27039075715683,-19.465291023254395,0,0,-1.8431450225718098],[-91.82202874025364,-229.08609959558106,-19.465291023254395,0,0,-1.8431450225718098],[-93.16700025799031,-233.9018084340053,-19.465291023254395,0,0,-1.8431450225718098],[-93.16700025799031,-233.9018084340053,-19.465291023254395,0,0,-1.5813456347726604],[-93.21974581954264,-238.90153021683847,-19.465291023254395,0,0,-1.5813456347726604],[-93.27249138109497,-243.90125199967164,-19.465291023254395,0,0,-1.5813456347726604],[-93.3252369426473,-248.90097378250482,-19.465291023254395,0,0,-1.5813456347726604],[-93.37798250419962,-253.900695565338,-19.465291023254395,0,0,-1.5813456347726604],[-93.43072806575195,-258.9004173481712,-19.465291023254395,0,0,-1.5813456347726604],[-93.43072806575195,-258.9004173481712,-19.465291023254395,0,0,-1.3195462469735109],[-92.1876531482663,-263.74342929834415,-19.465291023254395,0,0,-1.3195462469735109],[-92.1876531482663,-263.74342929834415,-17.465291023254395,0,0,-1.3195462469735109],[-92.1876531482663,-263.74342929834415,-15.465291023254395,0,0,-1.3195462469735109],[-92.1876531482663,-263.74342929834415,-15.465291023254395,0,0,-1.0577468591743615],[-92.1876531482663,-263.74342929834415,-13.465291023254395,0,0,-1.0577468591743615]]}],"statistics":{"complete_actions":123,"sentence_actions":[8,42,35,14,24],"sentence_actions_average":24.6}}
diff --git a/scene_11/3Z7ISHFUH9TZIBUDCAA4U6XQV0T8ZC.json b/scene_11/3Z7ISHFUH9TZIBUDCAA4U6XQV0T8ZC.json
new file mode 100644
index 0000000000000000000000000000000000000000..0db4a17b82c0a4f81bf7a19440deca6bbb058b62
--- /dev/null
+++ b/scene_11/3Z7ISHFUH9TZIBUDCAA4U6XQV0T8ZC.json
@@ -0,0 +1 @@
+{"episode_id":"3Z7ISHFUH9TZIBUDCAA4U6XQV0T8ZC","trajectory_id":"33QQ60S6B0GXS3Y7LGTFVGH5HNEU0W","scene_id":11,"instruction":"rise up and turn to the right move forward and stop in the middle of the second park. turn to the left, and move forward over the buildings. keep moving forward and turn to the right once you are past the first building. turn back around and face the large circle building. move forward past the circle building. then move in between both circle towers, and raise up. turn to the left and move forward. move forward to the auburn color building.","sentence_instructions":[{"id":0,"instruction":"rise up and turn to the right move forward and stop in the middle of the second park.","completed_instruction":"Take off to the height of street lights then turn right to face the purple building with staircase, then fly forward to the right corner of the purple building, then fly to the park area.","start_frame":1,"end_frame":38,"start_position":[48.763954162597656,-241.5447540283203,-0.7997226715087891],"start_rotation":[0.9999997183536623,0,0,0.00075052821138304592],"end_position":[-29.102616690282584,-185.0930300190982,-12.799722671508789],"end_rotation":[0.38198992693063344,0,0,0.92416648701601889],"actions":[4,4,3,3,3,3,3,3,3,3,3,4,4,1,1,1,4,1,1,1,1,1,1,1,7,1,1,1,4,1,7,1,1,1,1,7,1,1],"reference_path":[[48.763954162597656,-241.5447540283203,-0.7997226715087891,0,0,0.0015010565636884555],[48.763954162597656,-241.5447540283203,-2.799722671508789,0,0,0.0015010565636884555],[48.763954162597656,-241.5447540283203,-4.799722671508789,0,0,0.0015010565636884555],[48.763954162597656,-241.5447540283203,-4.799722671508789,0,0,0.2633004443628379],[48.763954162597656,-241.5447540283203,-4.799722671508789,0,0,0.5250998321619873],[48.763954162597656,-241.5447540283203,-4.799722671508789,0,0,0.7868992199611368],[48.763954162597656,-241.5447540283203,-4.799722671508789,0,0,1.0486986077602862],[48.763954162597656,-241.5447540283203,-4.799722671508789,0,0,1.3104979955594358],[48.763954162597656,-241.5447540283203,-4.799722671508789,0,0,1.5722973833585854],[48.763954162597656,-241.5447540283203,-4.799722671508789,0,0,1.834096771157735],[48.763954162597656,-241.5447540283203,-4.799722671508789,0,0,2.0958961589568843],[48.763954162597656,-241.5447540283203,-4.799722671508789,0,0,2.3576955467560334],[48.763954162597656,-241.5447540283203,-6.799722671508789,0,0,2.3576955467560334],[48.763954162597656,-241.5447540283203,-8.799722671508789,0,0,2.3576955467560334],[45.223117205362364,-238.01453113985042,-8.799722671508789,0,0,2.3576955467560334],[41.68228024812707,-234.48430825138053,-8.799722671508789,0,0,2.3576955467560334],[38.14144329089178,-230.95408536291063,-8.799722671508789,0,0,2.3576955467560334],[38.14144329089178,-230.95408536291063,-10.799722671508789,0,0,2.3576955467560334],[34.600606333656486,-227.42386247444074,-10.799722671508789,0,0,2.3576955467560334],[31.059769376421194,-223.89363958597085,-10.799722671508789,0,0,2.3576955467560334],[27.5189324191859,-220.36341669750095,-10.799722671508789,0,0,2.3576955467560334],[23.97809546195061,-216.83319380903106,-10.799722671508789,0,0,2.3576955467560334],[20.437258504715317,-213.30297092056117,-10.799722671508789,0,0,2.3576955467560334],[16.896421547480024,-209.77274803209127,-10.799722671508789,0,0,2.3576955467560334],[13.355584590244732,-206.24252514362138,-10.799722671508789,0,0,2.3576955467560334],[9.825361701774838,-209.78336210085666,-10.799722671508789,0,0,2.3576955467560334],[6.284524744539545,-206.25313921238677,-10.799722671508789,0,0,2.3576955467560334],[2.7436877873042516,-202.72291632391688,-10.799722671508789,0,0,2.3576955467560334],[-0.7971491699310418,-199.19269343544698,-10.799722671508789,0,0,2.3576955467560334],[-0.7971491699310418,-199.19269343544698,-12.799722671508789,0,0,2.3576955467560334],[-4.337986127166335,-195.6624705469771,-12.799722671508789,0,0,2.3576955467560334],[-7.868209015636228,-199.20330750421238,-12.799722671508789,0,0,2.3576955467560334],[-11.409045972871521,-195.67308461574248,-12.799722671508789,0,0,2.3576955467560334],[-14.949882930106813,-192.1428617272726,-12.799722671508789,0,0,2.3576955467560334],[-18.490719887342106,-188.6126388388027,-12.799722671508789,0,0,2.3576955467560334],[-22.0315568445774,-185.0824159503328,-12.799722671508789,0,0,2.3576955467560334],[-25.561779733047292,-188.6232529075681,-12.799722671508789,0,0,2.3576955467560334],[-29.102616690282584,-185.0930300190982,-12.799722671508789,0,0,2.3576955467560334]]},{"id":1,"instruction":"turn to the left, and move forward over the buildings.","completed_instruction":"Turn left to face the dark blue and black interlaced low buildings, then fly over the top of this building.","start_frame":38,"end_frame":62,"start_position":[-29.102616690282584,-185.0930300190982,-12.799722671508789],"start_rotation":[0.38198992693063344,0,0,0.92416648701601889],"end_position":[-13.443582398161354,-141.78582647988023,-18.79972267150879],"end_rotation":[0.92359205759198093,0,0,0.383376722236772],"actions":[1,1,1,2,2,7,2,2,2,1,1,1,4,1,6,1,4,1,4,1,1,6,1,2,1],"reference_path":[[-29.102616690282584,-185.0930300190982,-12.799722671508789,0,0,2.3576955467560334],[-32.64345364751788,-181.5628071306283,-12.799722671508789,0,0,2.3576955467560334],[-36.18429060475317,-178.0325842421584,-12.799722671508789,0,0,2.3576955467560334],[-39.725127561988465,-174.5023613536885,-12.799722671508789,0,0,2.3576955467560334],[-39.725127561988465,-174.5023613536885,-12.799722671508789,0,0,2.0958961589568843],[-39.725127561988465,-174.5023613536885,-12.799722671508789,0,0,1.834096771157735],[-44.55280874304232,-175.80370466507813,-12.799722671508789,0,0,1.834096771157735],[-44.55280874304232,-175.80370466507813,-12.799722671508789,0,0,1.5722973833585856],[-44.55280874304232,-175.80370466507813,-12.799722671508789,0,0,1.3104979955594365],[-44.55280874304232,-175.80370466507813,-12.799722671508789,0,0,1.048698607760287],[-42.059311322647815,-171.46982988441292,-12.799722671508789,0,0,1.048698607760287],[-39.56581390225331,-167.1359551037477,-12.799722671508789,0,0,1.048698607760287],[-37.072316481858806,-162.8020803230825,-12.799722671508789,0,0,1.048698607760287],[-37.072316481858806,-162.8020803230825,-14.799722671508789,0,0,1.048698607760287],[-34.5788190614643,-158.46820554241728,-14.799722671508789,0,0,1.048698607760287],[-30.24494428079909,-160.96170296281178,-14.799722671508789,0,0,1.048698607760287],[-27.751446860404585,-156.62782818214657,-14.799722671508789,0,0,1.048698607760287],[-27.751446860404585,-156.62782818214657,-16.79972267150879,0,0,1.048698607760287],[-25.25794944001008,-152.29395340148136,-16.79972267150879,0,0,1.048698607760287],[-25.25794944001008,-152.29395340148136,-18.79972267150879,0,0,1.048698607760287],[-22.764452019615575,-147.96007862081615,-18.79972267150879,0,0,1.048698607760287],[-20.27095459922107,-143.62620384015094,-18.79972267150879,0,0,1.048698607760287],[-15.937079818555858,-146.11970126054544,-18.79972267150879,0,0,1.048698607760287],[-13.443582398161354,-141.78582647988023,-18.79972267150879,0,0,1.048698607760287],[-13.443582398161354,-141.78582647988023,-18.79972267150879,0,0,0.7868992199611375]]},{"id":2,"instruction":"keep moving forward and turn to the right once you are past the first building.","completed_instruction":"Fly forward over the roof of a white building right to a red building.","start_frame":62,"end_frame":71,"start_position":[-13.443582398161354,-141.78582647988023,-18.79972267150879],"start_rotation":[0.92359205759198093,0,0,0.383376722236772],"end_position":[17.186640546183735,-116.56215085366517,-18.79972267150879],"end_rotation":[0.9657313032446041,0,0,0.25954392678981841],"actions":[1,1,1,1,1,2,1,1,1,1],"reference_path":[[-13.443582398161354,-141.78582647988023,-18.79972267150879,0,0,0.7868992199611375],[-9.913359509691464,-138.24498952264494,-18.79972267150879,0,0,0.7868992199611375],[-6.383136621221574,-134.70415256540966,-18.79972267150879,0,0,0.7868992199611375],[-2.8529137327516847,-131.16331560817437,-18.79972267150879,0,0,0.7868992199611375],[0.6773091557182047,-127.62247865093907,-18.79972267150879,0,0,0.7868992199611375],[4.207532044188094,-124.08164169370377,-18.79972267150879,0,0,0.7868992199611375],[4.207532044188094,-124.08164169370377,-18.79972267150879,0,0,0.5250998321619882],[8.533901544853308,-121.57514474702424,-18.79972267150879,0,0,0.5250998321619882],[12.860271045518521,-119.0686478003447,-18.79972267150879,0,0,0.5250998321619882],[17.186640546183735,-116.56215085366517,-18.79972267150879,0,0,0.5250998321619882]]},{"id":3,"instruction":"turn back around and face the large circle building.","completed_instruction":"Turn right to face the edge of the brown building\u0027s roof towards the sky between the white cylindrical building and the glass-walled cylindrical building.","start_frame":71,"end_frame":80,"start_position":[17.186640546183735,-116.56215085366517,-18.79972267150879],"start_rotation":[0.9657313032446041,0,0,0.25954392678981841],"end_position":[33.70658600541468,-112.57288290209647,-18.79972267150879],"end_rotation":[0.60816582348980985,0,0,0.79381000947264546],"actions":[1,1,1,3,6,3,3,3,3,3],"reference_path":[[17.186640546183735,-116.56215085366517,-18.79972267150879,0,0,0.5250998321619882],[21.513010046848947,-114.05565390698564,-18.79972267150879,0,0,0.5250998321619882],[25.839379547514163,-111.5491569603061,-18.79972267150879,0,0,0.5250998321619882],[30.16574904817938,-109.04266001362657,-18.79972267150879,0,0,0.5250998321619882],[30.16574904817938,-109.04266001362657,-18.79972267150879,0,0,0.7868992199611377],[33.70658600541468,-112.57288290209647,-18.79972267150879,0,0,0.7868992199611377],[33.70658600541468,-112.57288290209647,-18.79972267150879,0,0,1.0486986077602871],[33.70658600541468,-112.57288290209647,-18.79972267150879,0,0,1.3104979955594365],[33.70658600541468,-112.57288290209647,-18.79972267150879,0,0,1.5722973833585858],[33.70658600541468,-112.57288290209647,-18.79972267150879,0,0,1.8340967711577352]]},{"id":4,"instruction":"move forward past the circle building.","completed_instruction":"Raise to a height higher than the roof of the black building ahead, and then fly forward to the side of the glass-walled cylindrical building.","start_frame":80,"end_frame":96,"start_position":[33.70658600541468,-112.57288290209647,-18.79972267150879],"start_rotation":[0.60816582348980985,0,0,0.79381000947264546],"end_position":[-0.9644122399070225,-92.62490353894043,-28.79972267150879],"end_rotation":[0.25809401762435086,0,0,0.96611980523458951],"actions":[3,3,3,4,4,1,1,4,1,4,1,4,1,1,1,1,1],"reference_path":[[33.70658600541468,-112.57288290209647,-18.79972267150879,0,0,1.8340967711577352],[33.70658600541468,-112.57288290209647,-18.79972267150879,0,0,2.0958961589568847],[33.70658600541468,-112.57288290209647,-18.79972267150879,0,0,2.3576955467560343],[33.70658600541468,-112.57288290209647,-18.79972267150879,0,0,2.6194949345551835],[33.70658600541468,-112.57288290209647,-20.79972267150879,0,0,2.6194949345551835],[33.70658600541468,-112.57288290209647,-22.79972267150879,0,0,2.6194949345551835],[29.372711224749466,-110.07938548170196,-22.79972267150879,0,0,2.6194949345551835],[25.038836444084254,-107.58588806130746,-22.79972267150879,0,0,2.6194949345551835],[25.038836444084254,-107.58588806130746,-24.79972267150879,0,0,2.6194949345551835],[20.70496166341904,-105.09239064091295,-24.79972267150879,0,0,2.6194949345551835],[20.70496166341904,-105.09239064091295,-26.79972267150879,0,0,2.6194949345551835],[16.37108688275383,-102.59889322051845,-26.79972267150879,0,0,2.6194949345551835],[16.37108688275383,-102.59889322051845,-28.79972267150879,0,0,2.6194949345551835],[12.037212102088617,-100.10539580012394,-28.79972267150879,0,0,2.6194949345551835],[7.703337321423404,-97.61189837972944,-28.79972267150879,0,0,2.6194949345551835],[3.3694625407581906,-95.11840095933493,-28.79972267150879,0,0,2.6194949345551835],[-0.9644122399070225,-92.62490353894043,-28.79972267150879,0,0,2.6194949345551835]]},{"id":5,"instruction":"then move in between both circle towers, and raise up.","completed_instruction":"Turn right to face another tall cylindrical building with glass walls, then ascend to a height of the right-side aerial corridor.","start_frame":96,"end_frame":108,"start_position":[-0.9644122399070225,-92.62490353894043,-28.79972267150879],"start_rotation":[0.25809401762435086,0,0,0.96611980523458951],"end_position":[-28.445724621481183,-91.2838673404493,-32.79972267150879],"end_rotation":[0.25954392678981847,0,0,-0.965731303244604],"actions":[1,3,1,1,1,3,3,3,1,4,1,4,4],"reference_path":[[-0.9644122399070225,-92.62490353894043,-28.79972267150879,0,0,2.6194949345551835],[-5.298287020572236,-90.13140611854593,-28.79972267150879,0,0,2.6194949345551835],[-5.298287020572236,-90.13140611854593,-28.79972267150879,0,0,2.881294322354333],[-10.129853220431741,-88.84456189472736,-28.79972267150879,0,0,2.881294322354333],[-14.961419420291246,-87.5577176709088,-28.79972267150879,0,0,2.881294322354333],[-19.792985620150752,-86.27087344709024,-28.79972267150879,0,0,2.881294322354333],[-19.792985620150752,-86.27087344709024,-28.79972267150879,0,0,-3.1400915970261036],[-19.792985620150752,-86.27087344709024,-28.79972267150879,0,0,-2.878292209226954],[-19.792985620150752,-86.27087344709024,-28.79972267150879,0,0,-2.616492821427805],[-24.119355120815968,-88.77737039376977,-28.79972267150879,0,0,-2.616492821427805],[-24.119355120815968,-88.77737039376977,-30.79972267150879,0,0,-2.616492821427805],[-28.445724621481183,-91.2838673404493,-30.79972267150879,0,0,-2.616492821427805],[-28.445724621481183,-91.2838673404493,-32.79972267150879,0,0,-2.616492821427805]]},{"id":6,"instruction":"turn to the left and move forward.","completed_instruction":"Turn left to face a red building.","start_frame":108,"end_frame":118,"start_position":[-28.445724621481183,-91.2838673404493,-32.79972267150879],"start_rotation":[0.25954392678981847,0,0,-0.965731303244604],"end_position":[-30.95222156816072,-86.9574978397841,-38.79972267150879],"end_rotation":[0.4993498826795158,0,0,0.86640042397724726],"actions":[4,4,4,2,2,2,2,2,2,1,1],"reference_path":[[-28.445724621481183,-91.2838673404493,-32.79972267150879,0,0,-2.616492821427805],[-28.445724621481183,-91.2838673404493,-34.79972267150879,0,0,-2.616492821427805],[-28.445724621481183,-91.2838673404493,-36.79972267150879,0,0,-2.616492821427805],[-28.445724621481183,-91.2838673404493,-38.79972267150879,0,0,-2.616492821427805],[-28.445724621481183,-91.2838673404493,-38.79972267150879,0,0,-2.8782922092269545],[-28.445724621481183,-91.2838673404493,-38.79972267150879,0,0,-3.140091597026104],[-28.445724621481183,-91.2838673404493,-38.79972267150879,0,0,2.881294322354333],[-28.445724621481183,-91.2838673404493,-38.79972267150879,0,0,2.619494934555184],[-28.445724621481183,-91.2838673404493,-38.79972267150879,0,0,2.3576955467560348],[-28.445724621481183,-91.2838673404493,-38.79972267150879,0,0,2.0958961589568856],[-30.95222156816072,-86.9574978397841,-38.79972267150879,0,0,2.0958961589568856]]},{"id":7,"instruction":"move forward to the auburn color building.","completed_instruction":"Fly forward to the front of the red building.","start_frame":118,"end_frame":134,"start_position":[-30.95222156816072,-86.9574978397841,-38.79972267150879],"start_rotation":[0.4993498826795158,0,0,0.86640042397724726],"end_position":[-61.0301849283152,-35.041063831801594,-30.79972267150879],"end_rotation":[0.4993498826795158,0,0,0.86640042397724726],"actions":[1,1,1,1,1,1,5,1,1,1,5,1,1,5,1,5,0],"reference_path":[[-30.95222156816072,-86.9574978397841,-38.79972267150879,0,0,2.0958961589568856],[-33.45871851484026,-82.63112833911889,-38.79972267150879,0,0,2.0958961589568856],[-35.9652154615198,-78.30475883845368,-38.79972267150879,0,0,2.0958961589568856],[-38.47171240819934,-73.97838933778847,-38.79972267150879,0,0,2.0958961589568856],[-40.97820935487888,-69.65201983712326,-38.79972267150879,0,0,2.0958961589568856],[-43.48470630155842,-65.32565033645805,-38.79972267150879,0,0,2.0958961589568856],[-45.99120324823796,-60.999280835792845,-38.79972267150879,0,0,2.0958961589568856],[-45.99120324823796,-60.999280835792845,-36.79972267150879,0,0,2.0958961589568856],[-48.4977001949175,-56.67291133512764,-36.79972267150879,0,0,2.0958961589568856],[-51.00419714159704,-52.34654183446243,-36.79972267150879,0,0,2.0958961589568856],[-53.51069408827658,-48.02017233379722,-36.79972267150879,0,0,2.0958961589568856],[-53.51069408827658,-48.02017233379722,-34.79972267150879,0,0,2.0958961589568856],[-56.01719103495612,-43.69380283313201,-34.79972267150879,0,0,2.0958961589568856],[-58.52368798163566,-39.3674333324668,-34.79972267150879,0,0,2.0958961589568856],[-58.52368798163566,-39.3674333324668,-32.79972267150879,0,0,2.0958961589568856],[-61.0301849283152,-35.041063831801594,-32.79972267150879,0,0,2.0958961589568856],[-61.0301849283152,-35.041063831801594,-30.79972267150879,0,0,2.0958961589568856]]}],"statistics":{"complete_actions":141,"sentence_actions":[38,25,10,10,17,13,11,17],"sentence_actions_average":17.62}}
diff --git a/scene_12/30OG32W0S39MANQLMPLARTM4G5PENO.json b/scene_12/30OG32W0S39MANQLMPLARTM4G5PENO.json
new file mode 100644
index 0000000000000000000000000000000000000000..7f203bf24434228bec2a8978991d08d3f780b51c
--- /dev/null
+++ b/scene_12/30OG32W0S39MANQLMPLARTM4G5PENO.json
@@ -0,0 +1 @@
+{"episode_id":"30OG32W0S39MANQLMPLARTM4G5PENO","trajectory_id":"3BDORL6HLSBP6316T2RUL6WMNHLRC8","scene_id":12,"instruction":"lifts off, just below power lines. turns until faces road that says stop on pavement. fly and follows road until close to stop sign and goes slightly right. flys over cement wall fence and flys towards stop sign. flys pass stop sign turns right and faces buildings. turns until it faces then road flys towards crosswalk. turns 180 degrees and follows road. descends and lands on road close to letters on road ahead.","sentence_instructions":[{"id":0,"instruction":"lifts off, just below power lines.","completed_instruction":"Take off, rise up to the same height as the building on the left, then turn back to facing the crosswalk.","start_frame":0,"end_frame":11,"start_position":[-8.495497703552246,135.70936584472656,-2.581834554672241],"start_rotation":[0.99995957075635988,0,0,-0.00899204385868383],"end_position":[-8.495497703552246,135.70936584472656,-4.581834554672241],"end_rotation":[0.26749422863851408,0,0,0.96355946243347446],"actions":[4,3,3,3,3,3,3,3,3,3,3,3],"reference_path":[[-8.495497703552246,135.70936584472656,-2.581834554672241,0,0,-0.01798433008230844],[-8.495497703552246,135.70936584472656,-4.581834554672241,0,0,-0.01798433008230844],[-8.495497703552246,135.70936584472656,-4.581834554672241,0,0,0.243815057716841],[-8.495497703552246,135.70936584472656,-4.581834554672241,0,0,0.5056144455159904],[-8.495497703552246,135.70936584472656,-4.581834554672241,0,0,0.7674138333151399],[-8.495497703552246,135.70936584472656,-4.581834554672241,0,0,1.0292132211142895],[-8.495497703552246,135.70936584472656,-4.581834554672241,0,0,1.291012608913439],[-8.495497703552246,135.70936584472656,-4.581834554672241,0,0,1.5528119967125884],[-8.495497703552246,135.70936584472656,-4.581834554672241,0,0,1.8146113845117375],[-8.495497703552246,135.70936584472656,-4.581834554672241,0,0,2.076410772310887],[-8.495497703552246,135.70936584472656,-4.581834554672241,0,0,2.338210160110037],[-8.495497703552246,135.70936584472656,-4.581834554672241,0,0,2.6000095479091865]]},{"id":1,"instruction":"fly and follows road until close to stop sign and goes slightly right.","completed_instruction":"Fly forward along the current road until seeing the stop sign at the end of the road, and then turn right to face the iron gate in the middle of the fence and keep flying forward until flying over the fence.","start_frame":11,"end_frame":28,"start_position":[-8.495497703552246,135.70936584472656,-4.581834554672241],"start_rotation":[0.26749422863851408,0,0,0.96355946243347446],"end_position":[-71.61056755714372,129.343357436554,-4.581834554672241],"end_rotation":[0.25012293385006135,0,0,-0.96821408684352339],"actions":[3,3,1,1,1,1,1,1,1,1,1,1,3,3,1,1,1,1],"reference_path":[[-8.495497703552246,135.70936584472656,-4.581834554672241,0,0,2.6000095479091865],[-8.495497703552246,135.70936584472656,-4.581834554672241,0,0,2.861808935708336],[-8.495497703552246,135.70936584472656,-4.581834554672241,0,0,3.123608323507486],[-13.494689135024682,135.79928264789808,-4.581834554672241,0,0,3.123608323507486],[-18.49388056649712,135.8891994510696,-4.581834554672241,0,0,3.123608323507486],[-23.493071997969555,135.97911625424112,-4.581834554672241,0,0,3.123608323507486],[-28.49226342944199,136.06903305741264,-4.581834554672241,0,0,3.123608323507486],[-33.49145486091442,136.15894986058416,-4.581834554672241,0,0,3.123608323507486],[-38.490646292386856,136.24886666375568,-4.581834554672241,0,0,3.123608323507486],[-43.48983772385929,136.3387834669272,-4.581834554672241,0,0,3.123608323507486],[-48.48902915533172,136.42870027009872,-4.581834554672241,0,0,3.123608323507486],[-53.488220586804154,136.51861707327024,-4.581834554672241,0,0,3.123608323507486],[-58.487412018276586,136.60853387644175,-4.581834554672241,0,0,3.123608323507486],[-58.487412018276586,136.60853387644175,-4.581834554672241,0,0,-2.897777595872951],[-58.487412018276586,136.60853387644175,-4.581834554672241,0,0,-2.635978208073802],[-62.861797197898966,134.18680839647917,-4.581834554672241,0,0,-2.635978208073802],[-67.23618237752135,131.76508291651658,-4.581834554672241,0,0,-2.635978208073802],[-71.61056755714372,129.343357436554,-4.581834554672241,0,0,-2.635978208073802]]},{"id":2,"instruction":"flys over cement wall fence and flys towards stop sign.","completed_instruction":"Turn right to the T-junction and fly to the middle of it.","start_frame":28,"end_frame":40,"start_position":[-71.61056755714372,129.343357436554,-4.581834554672241],"start_rotation":[0.25012293385006135,0,0,-0.96821408684352339],"end_position":[-90.67756355574471,102.32732892053913,-6.581834554672241],"end_rotation":[0.70071985820500937,0,0,-0.71343652858341333],"actions":[1,1,3,4,1,3,1,3,1,1,1,3,1],"reference_path":[[-71.61056755714372,129.343357436554,-4.581834554672241,0,0,-2.635978208073802],[-75.9849527367661,126.92163195659138,-4.581834554672241,0,0,-2.635978208073802],[-80.35933791638848,124.49990647662878,-4.581834554672241,0,0,-2.635978208073802],[-80.35933791638848,124.49990647662878,-4.581834554672241,0,0,-2.3741788202746523],[-80.35933791638848,124.49990647662878,-6.581834554672241,0,0,-2.3741788202746523],[-83.95788085929752,121.02852509625014,-6.581834554672241,0,0,-2.3741788202746523],[-83.95788085929752,121.02852509625014,-6.581834554672241,0,0,-2.112379432475503],[-86.53534681080735,116.74405671979927,-6.581834554672241,0,0,-2.112379432475503],[-86.53534681080735,116.74405671979927,-6.581834554672241,0,0,-1.8505800446763538],[-87.91608572578647,111.93848078671256,-6.581834554672241,0,0,-1.8505800446763538],[-89.29682464076559,107.13290485362585,-6.581834554672241,0,0,-1.8505800446763538],[-90.67756355574471,102.32732892053913,-6.581834554672241,0,0,-1.8505800446763538],[-90.67756355574471,102.32732892053913,-6.581834554672241,0,0,-1.5887806568772045]]},{"id":3,"instruction":"turns until it faces then road flys towards crosswalk.","completed_instruction":"Turn back to face the road, and fly ahead to the front of the first crosswalk.","start_frame":40,"end_frame":60,"start_position":[-90.67756355574471,102.32732892053913,-6.581834554672241],"start_rotation":[0.70071985820500937,0,0,-0.71343652858341333],"end_position":[-90.49772994940167,112.32571178348401,-6.581834554672241],"end_rotation":[0.71343652858341344,0,0,0.70071985820500926],"actions":[1,1,7,3,3,3,3,3,3,3,3,3,3,3,3,1,1,1,1,7,1],"reference_path":[[-90.67756355574471,102.32732892053913,-6.581834554672241,0,0,-1.5887806568772045],[-90.76748035891623,97.32813748906669,-6.581834554672241,0,0,-1.5887806568772045],[-90.85739716208775,92.32894605759425,-6.581834554672241,0,0,-1.5887806568772045],[-85.85820573061531,92.23902925442273,-6.581834554672241,0,0,-1.5887806568772045],[-85.85820573061531,92.23902925442273,-6.581834554672241,0,0,-1.3269812690780554],[-85.85820573061531,92.23902925442273,-6.581834554672241,0,0,-1.0651818812789058],[-85.85820573061531,92.23902925442273,-6.581834554672241,0,0,-0.8033824934797564],[-85.85820573061531,92.23902925442273,-6.581834554672241,0,0,-0.541583105680607],[-85.85820573061531,92.23902925442273,-6.581834554672241,0,0,-0.27978371788145756],[-85.85820573061531,92.23902925442273,-6.581834554672241,0,0,-0.01798433008230809],[-85.85820573061531,92.23902925442273,-6.581834554672241,0,0,0.24381505771684134],[-85.85820573061531,92.23902925442273,-6.581834554672241,0,0,0.5056144455159908],[-85.85820573061531,92.23902925442273,-6.581834554672241,0,0,0.7674138333151401],[-85.85820573061531,92.23902925442273,-6.581834554672241,0,0,1.0292132211142895],[-85.85820573061531,92.23902925442273,-6.581834554672241,0,0,1.291012608913439],[-85.85820573061531,92.23902925442273,-6.581834554672241,0,0,1.5528119967125884],[-85.76828892744379,97.23822068589517,-6.581834554672241,0,0,1.5528119967125884],[-85.67837212427227,102.23741211736761,-6.581834554672241,0,0,1.5528119967125884],[-85.58845532110075,107.23660354884005,-6.581834554672241,0,0,1.5528119967125884],[-85.49853851792923,112.23579498031249,-6.581834554672241,0,0,1.5528119967125884],[-90.49772994940167,112.32571178348401,-6.581834554672241,0,0,1.5528119967125884]]},{"id":4,"instruction":"turns 180 degrees and follows road.","completed_instruction":"Fly to the middle of the intersection, turn right until facing the two-story dark grey building, fly forward to it, and land on the ground when reach the corner of the white-roofed building.","start_frame":60,"end_frame":81,"start_position":[-90.49772994940167,112.32571178348401,-6.581834554672241],"start_rotation":[0.71343652858341344,0,0,0.70071985820500926],"end_position":[-100.47619794965611,118.51677406992098,-4.581834554672241],"end_rotation":[0.60160294921325674,0,0,-0.798795275084869],"actions":[1,1,1,1,3,3,1,3,3,3,3,3,3,3,3,1,1,3,1,1,5,0],"reference_path":[[-90.49772994940167,112.32571178348401,-6.581834554672241,0,0,1.5528119967125884],[-90.40781314623015,117.32490321495645,-6.581834554672241,0,0,1.5528119967125884],[-90.31789634305864,122.32409464642889,-6.581834554672241,0,0,1.5528119967125884],[-90.22797953988712,127.32328607790133,-6.581834554672241,0,0,1.5528119967125884],[-90.1380627367156,132.32247750937375,-6.581834554672241,0,0,1.5528119967125884],[-90.1380627367156,132.32247750937375,-6.581834554672241,0,0,1.8146113845117375],[-90.1380627367156,132.32247750937375,-6.581834554672241,0,0,2.076410772310887],[-92.5597882166782,136.69686268899613,-6.581834554672241,0,0,2.076410772310887],[-92.5597882166782,136.69686268899613,-6.581834554672241,0,0,2.338210160110037],[-92.5597882166782,136.69686268899613,-6.581834554672241,0,0,2.6000095479091865],[-92.5597882166782,136.69686268899613,-6.581834554672241,0,0,2.861808935708336],[-92.5597882166782,136.69686268899613,-6.581834554672241,0,0,3.123608323507486],[-92.5597882166782,136.69686268899613,-6.581834554672241,0,0,-2.897777595872951],[-92.5597882166782,136.69686268899613,-6.581834554672241,0,0,-2.635978208073802],[-92.5597882166782,136.69686268899613,-6.581834554672241,0,0,-2.3741788202746523],[-92.5597882166782,136.69686268899613,-6.581834554672241,0,0,-2.112379432475503],[-95.13725416818804,132.41239431254527,-6.581834554672241,0,0,-2.112379432475503],[-97.71472011969787,128.1279259360944,-6.581834554672241,0,0,-2.112379432475503],[-97.71472011969787,128.1279259360944,-6.581834554672241,0,0,-1.8505800446763538],[-99.09545903467699,123.3223500030077,-6.581834554672241,0,0,-1.8505800446763538],[-100.47619794965611,118.51677406992098,-6.581834554672241,0,0,-1.8505800446763538],[-100.47619794965611,118.51677406992098,-4.581834554672241,0,0,-1.8505800446763538]]}],"statistics":{"complete_actions":86,"sentence_actions":[12,18,13,21,22],"sentence_actions_average":17.2}}
diff --git a/scene_12/369J354OFM8CNGGKT3PHPLLT9DS6G9.json b/scene_12/369J354OFM8CNGGKT3PHPLLT9DS6G9.json
new file mode 100644
index 0000000000000000000000000000000000000000..2c45bb1d29b1857d4ae22283572ba049fe6e1d52
--- /dev/null
+++ b/scene_12/369J354OFM8CNGGKT3PHPLLT9DS6G9.json
@@ -0,0 +1 @@
+{"episode_id":"369J354OFM8CNGGKT3PHPLLT9DS6G9","trajectory_id":"3H1C3QRA19H0XZW17W7UMZX33GHECB","scene_id":12,"instruction":"take off and fly up until above the building. turn right towards a big blue machine and fly forward. turn right towards many pipes when near the big blue machine. fly forward and turn left towards a brown building with flat white roof when above a flat grey roof. fly forward and turn slightly right few times towards a big grey building when above the brown building with flat white roof. turn left towards a small grey building with flat grey roof when above the brown building with flat white roof. fly forward and turn right towards a big orange building when near the small grey building with flat grey roof. fly forward and land on the street near the big orange building.","sentence_instructions":[{"id":0,"instruction":"take off and fly up until above the building.","completed_instruction":"Take off, fly to the height higher than the light brown building in front.","start_frame":0,"end_frame":1,"start_position":[-9.71326732635498,116.57666015625,-2.192678213119507],"start_rotation":[0.99981752469423557,0,0,-0.019102809068082014],"end_position":[-9.71326732635498,116.57666015625,-4.192678213119507],"end_rotation":[0.99981752469423557,0,0,-0.019102809068082014],"actions":[4,4],"reference_path":[[-9.71326732635498,116.57666015625,-2.192678213119507,0,0,-0.03820794216641327],[-9.71326732635498,116.57666015625,-4.192678213119507,0,0,-0.03820794216641327]]},{"id":1,"instruction":"turn right towards a big blue machine and fly forward.","completed_instruction":"Turn right to face a very tall blue crane and fly straight to the front of it.","start_frame":1,"end_frame":13,"start_position":[-9.71326732635498,116.57666015625,-4.192678213119507],"start_rotation":[0.99981752469423557,0,0,-0.019102809068082014],"end_position":[-13.03926368782652,131.20327111721693,-8.192678213119507],"end_rotation":[0.62380562246393334,0,0,0.78157951955151994],"actions":[4,4,3,3,3,3,3,3,3,1,1,1,1],"reference_path":[[-9.71326732635498,116.57666015625,-4.192678213119507,0,0,-0.03820794216641327],[-9.71326732635498,116.57666015625,-6.192678213119507,0,0,-0.03820794216641327],[-9.71326732635498,116.57666015625,-8.192678213119507,0,0,-0.03820794216641327],[-9.71326732635498,116.57666015625,-8.192678213119507,0,0,0.22359144563273617],[-9.71326732635498,116.57666015625,-8.192678213119507,0,0,0.4853908334318856],[-9.71326732635498,116.57666015625,-8.192678213119507,0,0,0.7471902212310351],[-9.71326732635498,116.57666015625,-8.192678213119507,0,0,1.0089896090301846],[-9.71326732635498,116.57666015625,-8.192678213119507,0,0,1.270788996829334],[-9.71326732635498,116.57666015625,-8.192678213119507,0,0,1.5325883846284833],[-9.71326732635498,116.57666015625,-8.192678213119507,0,0,1.7943877724276327],[-10.821932780178827,121.45219714323898,-8.192678213119507,0,0,1.7943877724276327],[-11.930598234002673,126.32773413022795,-8.192678213119507,0,0,1.7943877724276327],[-13.03926368782652,131.20327111721693,-8.192678213119507,0,0,1.7943877724276327]]},{"id":2,"instruction":"turn right towards many pipes when near the big blue machine.","completed_instruction":"Turn right to face the gray roof warehouse where metal pipes are tied together in front, and fly forward to it, fly over the wires to the black roof.","start_frame":13,"end_frame":32,"start_position":[-13.03926368782652,131.20327111721693,-8.192678213119507],"start_rotation":[0.62380562246393334,0,0,0.78157951955151994],"end_position":[-33.901657430191605,111.334054209952,-10.192678213119507],"end_rotation":[0.48336524441051537,0,0,-0.87541878006812412],"actions":[1,1,3,3,3,3,3,3,3,3,3,1,4,1,1,1,1,1,1,2],"reference_path":[[-13.03926368782652,131.20327111721693,-8.192678213119507,0,0,1.7943877724276327],[-14.147929141650366,136.0788081042059,-8.192678213119507,0,0,1.7943877724276327],[-15.256594595474212,140.95434509119488,-8.192678213119507,0,0,1.7943877724276327],[-15.256594595474212,140.95434509119488,-8.192678213119507,0,0,2.056187160226782],[-15.256594595474212,140.95434509119488,-8.192678213119507,0,0,2.3179865480259316],[-15.256594595474212,140.95434509119488,-8.192678213119507,0,0,2.579785935825081],[-15.256594595474212,140.95434509119488,-8.192678213119507,0,0,2.841585323624231],[-15.256594595474212,140.95434509119488,-8.192678213119507,0,0,3.1033847114233803],[-15.256594595474212,140.95434509119488,-8.192678213119507,0,0,-2.9180012079570563],[-15.256594595474212,140.95434509119488,-8.192678213119507,0,0,-2.656201820157907],[-15.256594595474212,140.95434509119488,-8.192678213119507,0,0,-2.3944024323587576],[-15.256594595474212,140.95434509119488,-8.192678213119507,0,0,-2.132603044559608],[-17.92017500043384,136.72287496530305,-8.192678213119507,0,0,-2.132603044559608],[-17.92017500043384,136.72287496530305,-10.192678213119507,0,0,-2.132603044559608],[-20.583755405393468,132.49140483941122,-10.192678213119507,0,0,-2.132603044559608],[-23.247335810353096,128.25993471351939,-10.192678213119507,0,0,-2.132603044559608],[-25.910916215312724,124.02846458762754,-10.192678213119507,0,0,-2.132603044559608],[-28.574496620272352,119.7969944617357,-10.192678213119507,0,0,-2.132603044559608],[-31.23807702523198,115.56552433584385,-10.192678213119507,0,0,-2.132603044559608],[-33.901657430191605,111.334054209952,-10.192678213119507,0,0,-2.132603044559608]]},{"id":3,"instruction":"fly forward and turn left towards a brown building with flat white roof when above a flat grey roof.","completed_instruction":"Turn left to face the leftmost light on the dark brown wall and fly forward until reaching the edge of the grey roof.","start_frame":32,"end_frame":40,"start_position":[-33.901657430191605,111.334054209952,-10.192678213119507],"start_rotation":[0.48336524441051537,0,0,-0.87541878006812412],"end_position":[-47.12300682057282,110.8914253615175,-10.192678213119507],"end_rotation":[0.14944175630157058,0,0,0.9887705302412193],"actions":[2,1,2,2,2,2,1,1,1],"reference_path":[[-33.901657430191605,111.334054209952,-10.192678213119507,0,0,-2.132603044559608],[-33.901657430191605,111.334054209952,-10.192678213119507,0,0,-2.3944024323587576],[-37.569663591102774,107.93615326914785,-10.192678213119507,0,0,-2.3944024323587576],[-37.569663591102774,107.93615326914785,-10.192678213119507,0,0,-2.656201820157907],[-37.569663591102774,107.93615326914785,-10.192678213119507,0,0,-2.9180012079570563],[-37.569663591102774,107.93615326914785,-10.192678213119507,0,0,3.1033847114233803],[-37.569663591102774,107.93615326914785,-10.192678213119507,0,0,2.841585323624231],[-42.346335205837796,109.41378931533268,-10.192678213119507,0,0,2.841585323624231],[-47.12300682057282,110.8914253615175,-10.192678213119507,0,0,2.841585323624231]]},{"id":4,"instruction":"fly forward and turn slightly right few times towards a big grey building when above the brown building with flat white roof.","completed_instruction":"Turn right to face the two-story grey building.","start_frame":40,"end_frame":47,"start_position":[-47.12300682057282,110.8914253615175,-10.192678213119507],"start_rotation":[0.14944175630157058,0,0,0.9887705302412193],"end_position":[-66.44937249163497,115.51532673284355,-12.192678213119507],"end_rotation":[0.11156299252486142,0,0,-0.993757364097946],"actions":[1,1,4,1,3,1,3,1],"reference_path":[[-47.12300682057282,110.8914253615175,-10.192678213119507,0,0,2.841585323624231],[-51.89967843530784,112.36906140770233,-10.192678213119507,0,0,2.841585323624231],[-56.67635005004286,113.84669745388716,-10.192678213119507,0,0,2.841585323624231],[-56.67635005004286,113.84669745388716,-12.192678213119507,0,0,2.841585323624231],[-61.453021664777886,115.32433350007199,-12.192678213119507,0,0,2.841585323624231],[-61.453021664777886,115.32433350007199,-12.192678213119507,0,0,3.1033847114233803],[-66.44937249163497,115.51532673284355,-12.192678213119507,0,0,3.1033847114233803],[-66.44937249163497,115.51532673284355,-12.192678213119507,0,0,-2.9180012079570563]]},{"id":5,"instruction":"turn left towards a small grey building with flat grey roof when above the brown building with flat white roof.","completed_instruction":"Turn left until facing the two-story brown building with graffiti on the wall, then turn left to face the dark grey one-story building and fly forward to the main entrance of it.","start_frame":47,"end_frame":60,"start_position":[-66.44937249163497,115.51532673284355,-12.192678213119507],"start_rotation":[0.11156299252486142,0,0,-0.993757364097946],"end_position":[-70.75192978030927,129.39571375959096,-12.192678213119507],"end_rotation":[0.72048547749219494,0,0,0.69347002582868988],"actions":[1,3,2,2,2,2,2,2,2,2,1,1,1,5],"reference_path":[[-66.44937249163497,115.51532673284355,-12.192678213119507,0,0,-2.9180012079570563],[-71.32490947862395,114.4066612790197,-12.192678213119507,0,0,-2.9180012079570563],[-71.32490947862395,114.4066612790197,-12.192678213119507,0,0,-2.656201820157907],[-71.32490947862395,114.4066612790197,-12.192678213119507,0,0,-2.9180012079570563],[-71.32490947862395,114.4066612790197,-12.192678213119507,0,0,3.1033847114233803],[-71.32490947862395,114.4066612790197,-12.192678213119507,0,0,2.841585323624231],[-71.32490947862395,114.4066612790197,-12.192678213119507,0,0,2.5797859358250816],[-71.32490947862395,114.4066612790197,-12.192678213119507,0,0,2.317986548025932],[-71.32490947862395,114.4066612790197,-12.192678213119507,0,0,2.0561871602267825],[-71.32490947862395,114.4066612790197,-12.192678213119507,0,0,1.7943877724276331],[-71.32490947862395,114.4066612790197,-12.192678213119507,0,0,1.5325883846284838],[-71.13391624585239,119.40301210587678,-12.192678213119507,0,0,1.5325883846284838],[-70.94292301308083,124.39936293273387,-12.192678213119507,0,0,1.5325883846284838],[-70.75192978030927,129.39571375959096,-12.192678213119507,0,0,1.5325883846284838]]},{"id":6,"instruction":"fly forward and turn right towards a big orange building when near the small grey building with flat grey roof.","completed_instruction":"Turn right to face the brown building with graffiti on its exterior walls, fly forward across the crossing, and land on the ground at the edge of the road.","start_frame":60,"end_frame":75,"start_position":[-70.75192978030927,129.39571375959096,-12.192678213119507],"start_rotation":[0.72048547749219494,0,0,0.69347002582868988],"end_position":[-92.26348866584007,146.52402225247135,-4.192678213119507],"end_rotation":[0.14944175630157058,0,0,0.9887705302412193],"actions":[5,1,3,3,3,3,1,1,1,1,3,1,5,5,5,0],"reference_path":[[-70.75192978030927,129.39571375959096,-12.192678213119507,0,0,1.5325883846284838],[-70.75192978030927,129.39571375959096,-10.192678213119507,0,0,1.5325883846284838],[-70.56093654753771,134.39206458644804,-10.192678213119507,0,0,1.5325883846284838],[-70.56093654753771,134.39206458644804,-10.192678213119507,0,0,1.7943877724276334],[-70.56093654753771,134.39206458644804,-10.192678213119507,0,0,2.0561871602267825],[-70.56093654753771,134.39206458644804,-10.192678213119507,0,0,2.3179865480259316],[-70.56093654753771,134.39206458644804,-10.192678213119507,0,0,2.579785935825081],[-74.79240667342955,137.05564499140766,-10.192678213119507,0,0,2.579785935825081],[-79.02387679932139,139.71922539636728,-10.192678213119507,0,0,2.579785935825081],[-83.25534692521322,142.3828058013269,-10.192678213119507,0,0,2.579785935825081],[-87.48681705110505,145.0463862062865,-10.192678213119507,0,0,2.579785935825081],[-87.48681705110505,145.0463862062865,-10.192678213119507,0,0,2.841585323624231],[-92.26348866584007,146.52402225247135,-10.192678213119507,0,0,2.841585323624231],[-92.26348866584007,146.52402225247135,-8.192678213119507,0,0,2.841585323624231],[-92.26348866584007,146.52402225247135,-6.192678213119507,0,0,2.841585323624231],[-92.26348866584007,146.52402225247135,-4.192678213119507,0,0,2.841585323624231]]}],"statistics":{"complete_actions":82,"sentence_actions":[2,13,20,9,8,14,16],"sentence_actions_average":11.71}}
diff --git a/scene_12/386PBUZZXOV4X39SODGMBHV7GLYLJX.json b/scene_12/386PBUZZXOV4X39SODGMBHV7GLYLJX.json
new file mode 100644
index 0000000000000000000000000000000000000000..a9850ac7703d6a624e2ae8f199dc6c9f4854a0c2
--- /dev/null
+++ b/scene_12/386PBUZZXOV4X39SODGMBHV7GLYLJX.json
@@ -0,0 +1 @@
+{"episode_id":"386PBUZZXOV4X39SODGMBHV7GLYLJX","trajectory_id":"3LN3BXKGD8T7VBYXUIXJYWPIDOSWGQ","scene_id":12,"instruction":"elevate your drone to the top then move forward cross the road take a few move then you reach the shed. once you reach the shed then slightly turn your right and fly over the shed roof and move forward. then you reach the opposite building then turn 90 degree of your right and move forward in left laterally. fly over in the road side take long move once you cross the first zebra crossing drop your drone to the bottom in the road and stop there.","sentence_instructions":[{"id":0,"instruction":"elevate your drone to the top then move forward cross the road take a few move then you reach the shed.","completed_instruction":"Take off, and go straight to the double yellow lines on the road, and then turn right to face the utility pole, and fly forward until reaching the right edge of the shed.","start_frame":0,"end_frame":6,"start_position":[-26.5946044921875,54.15918731689453,-2.3711745738983154],"start_rotation":[0.99978858366618639,0,0,0.020561808547914784],"end_position":[-11.60728813131033,54.775911160266574,-4.371174573898315],"end_rotation":[0.9603998261381862,0,0,0.27862550844052625],"actions":[4,1,1,1,3,3,1],"reference_path":[[-26.5946044921875,54.15918731689453,-2.3711745738983154,0,0,0.041126515409051205],[-26.5946044921875,54.15918731689453,-4.371174573898315,0,0,0.041126515409051205],[-21.59883237189511,54.36476193135188,-4.371174573898315,0,0,0.041126515409051205],[-16.60306025160272,54.570336545809226,-4.371174573898315,0,0,0.041126515409051205],[-11.60728813131033,54.775911160266574,-4.371174573898315,0,0,0.041126515409051205],[-11.60728813131033,54.775911160266574,-4.371174573898315,0,0,0.3029259032082006],[-11.60728813131033,54.775911160266574,-4.371174573898315,0,0,0.56472529100735]]},{"id":1,"instruction":"then you reach the opposite building then turn 90 degree of your right and move forward in left laterally.","completed_instruction":"Fly to the same height as the roof of the brown building opposite, and then fly ahead to the edge of the shipping container\u0027s roof.","start_frame":6,"end_frame":13,"start_position":[-11.60728813131033,54.775911160266574,-4.371174573898315],"start_rotation":[0.9603998261381862,0,0,0.27862550844052625],"end_position":[6.831612630199613,60.53889818646017,-6.371174573898315],"end_rotation":[0.99978858366618639,0,0,0.020561808547914753],"actions":[1,1,2,2,4,1,1,1],"reference_path":[[-11.60728813131033,54.775911160266574,-4.371174573898315,0,0,0.56472529100735],[-7.383609870847748,57.451830058906026,-4.371174573898315,0,0,0.56472529100735],[-3.159931610385165,60.12774895754548,-4.371174573898315,0,0,0.56472529100735],[-3.159931610385165,60.12774895754548,-4.371174573898315,0,0,0.30292590320820056],[-3.159931610385165,60.12774895754548,-4.371174573898315,0,0,0.04112651540905114],[-3.159931610385165,60.12774895754548,-6.371174573898315,0,0,0.04112651540905114],[1.8358405099072241,60.333323572002826,-6.371174573898315,0,0,0.04112651540905114],[6.831612630199613,60.53889818646017,-6.371174573898315,0,0,0.04112651540905114]]},{"id":2,"instruction":"then you reach the opposite building then turn 90 degree of your right and move forward in left laterally.","completed_instruction":"Fly straight to the edge of the brown building roof, then turn right to face the utility pole ,and then fly forward until reaching the middle of the crosswalk.","start_frame":13,"end_frame":27,"start_position":[6.831612630199613,60.53889818646017,-6.371174573898315],"start_rotation":[0.99978858366618639,0,0,0.020561808547914753],"end_position":[38.41396721963386,83.50746101888924,-8.371174573898315],"end_rotation":[0.85556140759462374,0,0,0.51770134038333937],"actions":[1,1,4,1,1,3,3,3,3,1,1,1,1,1,1],"reference_path":[[6.831612630199613,60.53889818646017,-6.371174573898315,0,0,0.04112651540905114],[11.827384750492001,60.74447280091752,-6.371174573898315,0,0,0.04112651540905114],[16.82315687078439,60.95004741537487,-6.371174573898315,0,0,0.04112651540905114],[16.82315687078439,60.95004741537487,-8.371174573898315,0,0,0.04112651540905114],[21.81892899107678,61.155622029832216,-8.371174573898315,0,0,0.04112651540905114],[26.81470111136917,61.36119664428956,-8.371174573898315,0,0,0.04112651540905114],[26.81470111136917,61.36119664428956,-8.371174573898315,0,0,0.30292590320820056],[26.81470111136917,61.36119664428956,-8.371174573898315,0,0,0.56472529100735],[26.81470111136917,61.36119664428956,-8.371174573898315,0,0,0.8265246788064995],[26.81470111136917,61.36119664428956,-8.371174573898315,0,0,1.0883240666056488],[29.13455433302211,65.79044951920949,-8.371174573898315,0,0,1.0883240666056488],[31.454407554675047,70.21970239412943,-8.371174573898315,0,0,1.0883240666056488],[33.774260776327985,74.64895526904937,-8.371174573898315,0,0,1.0883240666056488],[36.09411399798093,79.0782081439693,-8.371174573898315,0,0,1.0883240666056488],[38.41396721963386,83.50746101888924,-8.371174573898315,0,0,1.0883240666056488]]},{"id":3,"instruction":"fly over in the road side take long move once you cross the first zebra crossing drop your drone to the bottom in the road and stop there.","completed_instruction":"Fly forward until reaching the left side of the road, and then land on the ground.","start_frame":27,"end_frame":37,"start_position":[38.41396721963386,83.50746101888924,-8.371174573898315],"start_rotation":[0.85556140759462374,0,0,0.51770134038333937],"end_position":[45.45298951210587,113.3018296175349,-4.371174573898315],"end_rotation":[0.78066837648197973,0,0,0.6249455063931495],"actions":[1,7,1,1,1,3,1,1,5,5,0],"reference_path":[[38.41396721963386,83.50746101888924,-8.371174573898315,0,0,1.0883240666056488],[40.733820441286795,87.93671389380918,-8.371174573898315,0,0,1.0883240666056488],[36.30456756636686,90.25656711546212,-8.371174573898315,0,0,1.0883240666056488],[38.624420788019805,94.68581999038204,-8.371174573898315,0,0,1.0883240666056488],[40.94427400967274,99.11507286530198,-8.371174573898315,0,0,1.0883240666056488],[43.26412723132567,103.54432574022192,-8.371174573898315,0,0,1.0883240666056488],[43.26412723132567,103.54432574022192,-8.371174573898315,0,0,1.3501234544047982],[44.35855837171577,108.42307767887841,-8.371174573898315,0,0,1.3501234544047982],[45.45298951210587,113.3018296175349,-8.371174573898315,0,0,1.3501234544047982],[45.45298951210587,113.3018296175349,-6.371174573898315,0,0,1.3501234544047982],[45.45298951210587,113.3018296175349,-4.371174573898315,0,0,1.3501234544047982]]}],"statistics":{"complete_actions":41,"sentence_actions":[7,8,15,11],"sentence_actions_average":10.25}}
diff --git a/scene_12/39KFRKBFIWT2YD7ON5XHDLEPQOSYOR.json b/scene_12/39KFRKBFIWT2YD7ON5XHDLEPQOSYOR.json
new file mode 100644
index 0000000000000000000000000000000000000000..a00b80a8fb88d77160738a5f6bd104211fa2aa4a
--- /dev/null
+++ b/scene_12/39KFRKBFIWT2YD7ON5XHDLEPQOSYOR.json
@@ -0,0 +1 @@
+{"episode_id":"39KFRKBFIWT2YD7ON5XHDLEPQOSYOR","trajectory_id":"3L55D8AUGIVY34DS7XJOT2PJQFSCY9","scene_id":12,"instruction":"lift off from the roof and go forward across the street and up to the edge of thinking roof directly ahead of you. turn right and fly across the street again at an angle that takes you up to the corner of the small black flat top roof and then turn left. fly over the telephone pole and across the street to the corner and continue forward across the next street. fly up to the power lines in front of the tank. go under the power lines and stay left of the tank. turn further right and fly between the tank and the building into the open area behind them. continue forward and out over the middle of the open area until you get close to the red brick buildings second window set. land there.","sentence_instructions":[{"id":0,"instruction":"lift off from the roof and go forward across the street and up to the edge of thinking roof directly ahead of you.","completed_instruction":"Take off from the roof and fly forward to the edge of the red-brown building\u0027s roof.","start_frame":0,"end_frame":5,"start_position":[-110.3045654296875,79.2200698852539,-11.200273513793945],"start_rotation":[0.99985102820801763,0,0,0.017260399513625738],"end_position":[-90.31648228534232,79.91038301329309,-13.200273513793945],"end_rotation":[0.99985102820801763,0,0,0.017260399513625738],"actions":[4,1,1,1,1,1],"reference_path":[[-110.3045654296875,79.2200698852539,-11.200273513793945,0,0,0.03452251333783606],[-110.3045654296875,79.2200698852539,-13.200273513793945,0,0,0.03452251333783606],[-105.3075446436012,79.3926481672637,-13.200273513793945,0,0,0.03452251333783606],[-100.31052385751491,79.5652264492735,-13.200273513793945,0,0,0.03452251333783606],[-95.31350307142861,79.73780473128329,-13.200273513793945,0,0,0.03452251333783606],[-90.31648228534232,79.91038301329309,-13.200273513793945,0,0,0.03452251333783606]]},{"id":1,"instruction":"turn right and fly across the street again at an angle that takes you up to the corner of the small black flat top roof and then turn left.","completed_instruction":"Turn right until facing the red truck, then keep flying forward until reaching the black roof, and then turn left until facing the warehouse with the white roof opposite the road.","start_frame":5,"end_frame":21,"start_position":[-90.31648228534232,79.91038301329309,-13.200273513793945],"start_rotation":[0.99985102820801763,0,0,0.017260399513625738],"end_position":[-46.39237828929197,101.43928013255356,-11.200273513793945],"end_rotation":[0.99355009828087026,0,0,-0.1133940130962526],"actions":[1,1,3,3,1,1,1,5,1,1,1,1,1,2,2,2,2],"reference_path":[[-90.31648228534232,79.91038301329309,-13.200273513793945,0,0,0.03452251333783606],[-85.31946149925602,80.08296129530288,-13.200273513793945,0,0,0.03452251333783606],[-80.32244071316973,80.25553957731267,-13.200273513793945,0,0,0.03452251333783606],[-80.32244071316973,80.25553957731267,-13.200273513793945,0,0,0.29632190113698553],[-80.32244071316973,80.25553957731267,-13.200273513793945,0,0,0.558121288936135],[-76.081182910185,82.90350714671779,-13.200273513793945,0,0,0.558121288936135],[-71.83992510720029,85.5514747161229,-13.200273513793945,0,0,0.558121288936135],[-67.59866730421557,88.19944228552801,-13.200273513793945,0,0,0.558121288936135],[-67.59866730421557,88.19944228552801,-11.200273513793945,0,0,0.558121288936135],[-63.35740950123085,90.84740985493312,-11.200273513793945,0,0,0.558121288936135],[-59.11615169824613,93.49537742433823,-11.200273513793945,0,0,0.558121288936135],[-54.87489389526141,96.14334499374334,-11.200273513793945,0,0,0.558121288936135],[-50.63363609227669,98.79131256314845,-11.200273513793945,0,0,0.558121288936135],[-46.39237828929197,101.43928013255356,-11.200273513793945,0,0,0.558121288936135],[-46.39237828929197,101.43928013255356,-11.200273513793945,0,0,0.2963219011369856],[-46.39237828929197,101.43928013255356,-11.200273513793945,0,0,0.0345225133378362],[-46.39237828929197,101.43928013255356,-11.200273513793945,0,0,-0.22727687446131323]]},{"id":2,"instruction":"fly over the telephone pole and across the street to the corner and continue forward across the next street.","completed_instruction":"Fly forward until reaching the edge of the white roof of the warehouse.","start_frame":21,"end_frame":28,"start_position":[-46.39237828929197,101.43928013255356,-11.200273513793945],"start_rotation":[0.99355009828087026,0,0,-0.1133940130962526],"end_position":[-28.115085503959918,84.38230008216807,-11.200273513793945],"end_rotation":[0.93034716945161977,0,0,-0.36667989349480173],"actions":[2,2,1,1,1,1,1,1],"reference_path":[[-46.39237828929197,101.43928013255356,-11.200273513793945,0,0,-0.22727687446131323],[-46.39237828929197,101.43928013255356,-11.200273513793945,0,0,-0.48907626226046264],[-46.39237828929197,101.43928013255356,-11.200273513793945,0,0,-0.7508756500596121],[-42.73691973222556,98.02788412247646,-11.200273513793945,0,0,-0.7508756500596121],[-39.08146117515915,94.61648811239937,-11.200273513793945,0,0,-0.7508756500596121],[-35.42600261809274,91.20509210232227,-11.200273513793945,0,0,-0.7508756500596121],[-31.770544061026328,87.79369609224517,-11.200273513793945,0,0,-0.7508756500596121],[-28.115085503959918,84.38230008216807,-11.200273513793945,0,0,-0.7508756500596121]]},{"id":3,"instruction":"fly up to the power lines in front of the tank.","completed_instruction":"Fly forward until reaching the front of the power line opposite the road.","start_frame":28,"end_frame":32,"start_position":[-28.115085503959918,84.38230008216807,-11.200273513793945],"start_rotation":[0.93034716945161977,0,0,-0.36667989349480173],"end_position":[-17.148709832760687,74.14811205193678,-9.200273513793945],"end_rotation":[0.93034716945161977,0,0,-0.36667989349480173],"actions":[1,5,1,1,1],"reference_path":[[-28.115085503959918,84.38230008216807,-11.200273513793945,0,0,-0.7508756500596121],[-24.459626946893508,80.97090407209097,-11.200273513793945,0,0,-0.7508756500596121],[-24.459626946893508,80.97090407209097,-9.200273513793945,0,0,-0.7508756500596121],[-20.804168389827097,77.55950806201388,-9.200273513793945,0,0,-0.7508756500596121],[-17.148709832760687,74.14811205193678,-9.200273513793945,0,0,-0.7508756500596121]]},{"id":4,"instruction":"go under the power lines and stay left of the tank.","completed_instruction":"Turn right to face the orange building.","start_frame":32,"end_frame":37,"start_position":[-17.148709832760687,74.14811205193678,-9.200273513793945],"start_rotation":[0.93034716945161977,0,0,-0.36667989349480173],"end_position":[-6.182334161561462,63.91392402170548,-7.200273513793945],"end_rotation":[0.9702492507080086,0,0,-0.24210822270329421],"actions":[1,1,5,1,3,3],"reference_path":[[-17.148709832760687,74.14811205193678,-9.200273513793945,0,0,-0.7508756500596121],[-13.493251275694279,70.73671604185968,-9.200273513793945,0,0,-0.7508756500596121],[-9.83779271862787,67.32532003178258,-9.200273513793945,0,0,-0.7508756500596121],[-9.83779271862787,67.32532003178258,-7.200273513793945,0,0,-0.7508756500596121],[-6.182334161561462,63.91392402170548,-7.200273513793945,0,0,-0.7508756500596121],[-6.182334161561462,63.91392402170548,-7.200273513793945,0,0,-0.48907626226046264]]},{"id":5,"instruction":"turn further right and fly between the tank and the building into the open area behind them.","completed_instruction":"Fly forward until reaching the front of the brown wall.","start_frame":37,"end_frame":42,"start_position":[-6.182334161561462,63.91392402170548,-7.200273513793945],"start_rotation":[0.9702492507080086,0,0,-0.24210822270329421],"end_position":[13.303337750195617,59.40741870745573,-7.200273513793945],"end_rotation":[0.99355009828087026,0,0,-0.11339401309625258],"actions":[3,1,1,1,1,1],"reference_path":[[-6.182334161561462,63.91392402170548,-7.200273513793945,0,0,-0.48907626226046264],[-6.182334161561462,63.91392402170548,-7.200273513793945,0,0,-0.22727687446131317],[-1.3109161836221928,62.787297693143046,-7.200273513793945,0,0,-0.22727687446131317],[3.5605017943170765,61.66067136458061,-7.200273513793945,0,0,-0.22727687446131317],[8.431919772256347,60.53404503601817,-7.200273513793945,0,0,-0.22727687446131317],[13.303337750195617,59.40741870745573,-7.200273513793945,0,0,-0.22727687446131317]]},{"id":6,"instruction":"continue forward and out over the middle of the open area until you get close to the red brick buildings second window set.","completed_instruction":"Land on the ground.","start_frame":42,"end_frame":46,"start_position":[13.303337750195617,59.40741870745573,-7.200273513793945],"start_rotation":[0.99355009828087026,0,0,-0.11339401309625258],"end_position":[23.046173706074157,57.15416605033086,-3.2002735137939453],"end_rotation":[0.99355009828087026,0,0,-0.11339401309625258],"actions":[1,1,5,5,0],"reference_path":[[13.303337750195617,59.40741870745573,-7.200273513793945,0,0,-0.22727687446131317],[18.174755728134887,58.280792378893295,-7.200273513793945,0,0,-0.22727687446131317],[23.046173706074157,57.15416605033086,-7.200273513793945,0,0,-0.22727687446131317],[23.046173706074157,57.15416605033086,-5.200273513793945,0,0,-0.22727687446131317],[23.046173706074157,57.15416605033086,-3.2002735137939453,0,0,-0.22727687446131317]]}],"statistics":{"complete_actions":53,"sentence_actions":[6,17,8,5,6,6,5],"sentence_actions_average":7.57}}
diff --git a/scene_12/3AMW0RGHOM0Q7EFBV31LL5L8WIUPN1.json b/scene_12/3AMW0RGHOM0Q7EFBV31LL5L8WIUPN1.json
new file mode 100644
index 0000000000000000000000000000000000000000..c0dc1bc9491bbce2590e624d00620597b475e79a
--- /dev/null
+++ b/scene_12/3AMW0RGHOM0Q7EFBV31LL5L8WIUPN1.json
@@ -0,0 +1 @@
+{"episode_id":"3AMW0RGHOM0Q7EFBV31LL5L8WIUPN1","trajectory_id":"329E6HTMT40F6ZSSAP7WRR6EMOH3KK","scene_id":12,"instruction":"elevate the cam a little from the road.... and then turn the cam to the left facing the roof of the small building.... then go diagonally straight towards the small building with lights... then turn the cam to the left facing the small building roof... go straight facing the brown building then turn the cam to the left facing the brown building. then go straight facing towards the grey building..... roof.... then levitate cam facing the grey building and then pause facing the building....","sentence_instructions":[{"id":0,"instruction":"elevate the cam a little from the road...","completed_instruction":"Take off and ascend to the height higher than the top of the utility pole.","start_frame":0,"end_frame":2,"start_position":[19.452272415161133,136.501220703125,-1.6318681240081787],"start_rotation":[0.99989949267635636,0,0,0.014177607187573412],"end_position":[19.452272415161133,136.501220703125,-5.631868124008179],"end_rotation":[0.99989949267635636,0,0,0.014177607187573412],"actions":[4,4,4],"reference_path":[[19.452272415161133,136.501220703125,-1.6318681240081787,0,0,0.02835616438224273],[19.452272415161133,136.501220703125,-3.6318681240081787,0,0,0.02835616438224273],[19.452272415161133,136.501220703125,-5.631868124008179,0,0,0.02835616438224273]]},{"id":1,"instruction":"and then turn the cam to the left facing the roof of the small building...","completed_instruction":"Turn left until facing the light brown roof beside the white bungalow.","start_frame":2,"end_frame":10,"start_position":[19.452272415161133,136.501220703125,-5.631868124008179],"start_rotation":[0.99989949267635636,0,0,0.014177607187573412],"end_position":[19.452272415161133,136.501220703125,-9.631868124008179],"end_rotation":[0.71706079395977251,0,0,-0.697010629593108],"actions":[4,4,2,2,2,2,2,2,2],"reference_path":[[19.452272415161133,136.501220703125,-5.631868124008179,0,0,0.02835616438224273],[19.452272415161133,136.501220703125,-7.631868124008179,0,0,0.02835616438224273],[19.452272415161133,136.501220703125,-9.631868124008179,0,0,0.02835616438224273],[19.452272415161133,136.501220703125,-9.631868124008179,0,0,-0.2334432234169067],[19.452272415161133,136.501220703125,-9.631868124008179,0,0,-0.49524261121605617],[19.452272415161133,136.501220703125,-9.631868124008179,0,0,-0.7570419990152056],[19.452272415161133,136.501220703125,-9.631868124008179,0,0,-1.018841386814355],[19.452272415161133,136.501220703125,-9.631868124008179,0,0,-1.2806407746135047],[19.452272415161133,136.501220703125,-9.631868124008179,0,0,-1.542440162412654]]},{"id":2,"instruction":"then go diagonally straight towards the small building with lights... then turn the cam to the left facing the small building roof... go straight facing the brown building then turn the cam to the left facing the brown building.","completed_instruction":"Fly forward over the white wall which is near the intersection.","start_frame":10,"end_frame":19,"start_position":[19.452272415161133,136.501220703125,-9.631868124008179],"start_rotation":[0.71706079395977251,0,0,-0.697010629593108],"end_position":[4.137272382706811,110.87053146974321,-9.631868124008179],"end_rotation":[0.39574337097808415,0,0,-0.91836114047084028],"actions":[2,2,1,1,1,1,1,2,1,2],"reference_path":[[19.452272415161133,136.501220703125,-9.631868124008179,0,0,-1.542440162412654],[19.452272415161133,136.501220703125,-9.631868124008179,0,0,-1.8042395502118034],[19.452272415161133,136.501220703125,-9.631868124008179,0,0,-2.0660389380109527],[17.076046777324073,132.10195352345906,-9.631868124008179,0,0,-2.0660389380109527],[14.699821139487014,127.70268634379312,-9.631868124008179,0,0,-2.0660389380109527],[12.323595501649955,123.30341916412718,-9.631868124008179,0,0,-2.0660389380109527],[9.947369863812895,118.90415198446124,-9.631868124008179,0,0,-2.0660389380109527],[7.571144225975837,114.5048848047953,-9.631868124008179,0,0,-2.0660389380109527],[7.571144225975837,114.5048848047953,-9.631868124008179,0,0,-2.327838325810102],[4.137272382706811,110.87053146974321,-9.631868124008179,0,0,-2.327838325810102]]},{"id":3,"instruction":"then go straight facing towards the grey building...","completed_instruction":"Fly forward to the brown building with a grey roof, then keep flying forward over the black roof.","start_frame":19,"end_frame":31,"start_position":[4.137272382706811,110.87053146974321,-9.631868124008179],"start_rotation":[0.39574337097808415,0,0,-0.91836114047084028],"end_position":[-35.08771778742601,103.02621932022807,-11.631868124008179],"end_rotation":[0.14456938917450224,0,0,-0.98949466482326787],"actions":[2,1,2,1,1,1,6,1,4,1,1,1,6],"reference_path":[[4.137272382706811,110.87053146974321,-9.631868124008179,0,0,-2.327838325810102],[4.137272382706811,110.87053146974321,-9.631868124008179,0,0,-2.5896377136092514],[-0.12023297461692906,108.24876715303593,-9.631868124008179,0,0,-2.5896377136092514],[-0.12023297461692906,108.24876715303593,-9.631868124008179,0,0,-2.851437101408401],[-4.911229891754042,106.81826076018665,-9.631868124008179,0,0,-2.851437101408401],[-9.702226808891155,105.38775436733737,-9.631868124008179,0,0,-2.851437101408401],[-14.493223726028267,103.95724797448808,-9.631868124008179,0,0,-2.851437101408401],[-15.923730118877556,108.74824489162519,-9.631868124008179,0,0,-2.851437101408401],[-20.71472703601467,107.31773849877591,-9.631868124008179,0,0,-2.851437101408401],[-20.71472703601467,107.31773849877591,-11.631868124008179,0,0,-2.851437101408401],[-25.50572395315178,105.88723210592663,-11.631868124008179,0,0,-2.851437101408401],[-30.296720870288894,104.45672571307735,-11.631868124008179,0,0,-2.851437101408401],[-35.08771778742601,103.02621932022807,-11.631868124008179,0,0,-2.851437101408401]]},{"id":4,"instruction":"roof...","completed_instruction":"Turn left to face the lights of the building, then fly forward until reach the top of the power lines.","start_frame":31,"end_frame":42,"start_position":[-35.08771778742601,103.02621932022807,-11.631868124008179],"start_rotation":[0.14456938917450224,0,0,-0.98949466482326787],"end_position":[-69.33884693203726,118.19094957314435,-11.631868124008179],"end_rotation":[0.11645675758910989,0,0,0.99319576298523915],"actions":[6,1,2,2,1,1,1,1,6,1,1,1],"reference_path":[[-35.08771778742601,103.02621932022807,-11.631868124008179,0,0,-2.851437101408401],[-36.5182241802753,107.81721623736517,-11.631868124008179,0,0,-2.851437101408401],[-41.30922109741241,106.38670984451589,-11.631868124008179,0,0,-2.851437101408401],[-41.30922109741241,106.38670984451589,-11.631868124008179,0,0,-3.11323648920755],[-41.30922109741241,106.38670984451589,-11.631868124008179,0,0,2.908149430172887],[-46.173599333530724,107.54335342660092,-11.631868124008179,0,0,2.908149430172887],[-51.03797756964904,108.69999700868594,-11.631868124008179,0,0,2.908149430172887],[-55.90235580576735,109.85664059077097,-11.631868124008179,0,0,2.908149430172887],[-60.76673404188566,111.01328417285599,-11.631868124008179,0,0,2.908149430172887],[-59.61009045980063,115.8776624089743,-11.631868124008179,0,0,2.908149430172887],[-64.47446869591894,117.03430599105933,-11.631868124008179,0,0,2.908149430172887],[-69.33884693203726,118.19094957314435,-11.631868124008179,0,0,2.908149430172887]]},{"id":5,"instruction":"then levitate cam facing the grey building and then pause facing the building...","completed_instruction":"Land at the edge of the road after flying over the crosswalk.","start_frame":42,"end_frame":52,"start_position":[-69.33884693203726,118.19094957314435,-11.631868124008179],"start_rotation":[0.11645675758910989,0,0,0.99319576298523915],"end_position":[-97.3684727666621,129.99518930177283,-5.631868124008179],"end_rotation":[0.11645675758910989,0,0,0.99319576298523915],"actions":[1,1,6,1,1,1,5,1,5,5,0],"reference_path":[[-69.33884693203726,118.19094957314435,-11.631868124008179,0,0,2.908149430172887],[-74.20322516815557,119.34759315522938,-11.631868124008179,0,0,2.908149430172887],[-79.06760340427388,120.5042367373144,-11.631868124008179,0,0,2.908149430172887],[-77.91095982218884,125.36861497343271,-11.631868124008179,0,0,2.908149430172887],[-82.77533805830716,126.52525855551774,-11.631868124008179,0,0,2.908149430172887],[-87.63971629442547,127.68190213760276,-11.631868124008179,0,0,2.908149430172887],[-92.50409453054378,128.8385457196878,-11.631868124008179,0,0,2.908149430172887],[-92.50409453054378,128.8385457196878,-9.631868124008179,0,0,2.908149430172887],[-97.3684727666621,129.99518930177283,-9.631868124008179,0,0,2.908149430172887],[-97.3684727666621,129.99518930177283,-7.631868124008179,0,0,2.908149430172887],[-97.3684727666621,129.99518930177283,-5.631868124008179,0,0,2.908149430172887]]}],"statistics":{"complete_actions":58,"sentence_actions":[3,9,10,13,12,11],"sentence_actions_average":9.67}}
diff --git a/scene_12/3B1NLC6UG8UKXMYP8ZOQVLCBVWZGPR.json b/scene_12/3B1NLC6UG8UKXMYP8ZOQVLCBVWZGPR.json
new file mode 100644
index 0000000000000000000000000000000000000000..8f44adaf77ffcb17cf2ff8bf8d2ae56ac0db29e8
--- /dev/null
+++ b/scene_12/3B1NLC6UG8UKXMYP8ZOQVLCBVWZGPR.json
@@ -0,0 +1 @@
+{"episode_id":"3B1NLC6UG8UKXMYP8ZOQVLCBVWZGPR","trajectory_id":"32CAVSKPDMNXZSJPHZXF9L0FQUQU13","scene_id":12,"instruction":"take off and turn left and go forward over the grey building and turn left. now go forward until the brown building arrives and turn right. now go forward towards the brown building and turn left and get down and land there.","sentence_instructions":[{"id":0,"instruction":"take off and turn left and go forward over the grey building and turn left.","completed_instruction":"Take off, ascend to a height higher than the dark grey fence, then turn left until facing the roof of the white bungalow, and then fly over the white roof to directly face the fence.","start_frame":0,"end_frame":17,"start_position":[43.0097541809082,113.529052734375,-2.0874736309051514],"start_rotation":[0.99999999998975142,0,0,-4.5273700000464E-06],"end_position":[25.68915555852947,103.52920956748221,-6.087473630905151],"end_rotation":[0.13052170358099155,0,0,-0.99144545230401648],"actions":[4,4,2,2,2,2,2,2,2,2,2,2,1,1,1,1,2,2],"reference_path":[[43.0097541809082,113.529052734375,-2.0874736309051514,0,0,-9.0547400001237322E-06],[43.0097541809082,113.529052734375,-4.087473630905151,0,0,-9.0547400001237322E-06],[43.0097541809082,113.529052734375,-6.087473630905151,0,0,-9.0547400001237322E-06],[43.0097541809082,113.529052734375,-6.087473630905151,0,0,-0.26180844253914953],[43.0097541809082,113.529052734375,-6.087473630905151,0,0,-0.5236078303382989],[43.0097541809082,113.529052734375,-6.087473630905151,0,0,-0.7854072181374484],[43.0097541809082,113.529052734375,-6.087473630905151,0,0,-1.0472066059365979],[43.0097541809082,113.529052734375,-6.087473630905151,0,0,-1.3090059937357472],[43.0097541809082,113.529052734375,-6.087473630905151,0,0,-1.5708053815348968],[43.0097541809082,113.529052734375,-6.087473630905151,0,0,-1.8326047693340461],[43.0097541809082,113.529052734375,-6.087473630905151,0,0,-2.0944041571331957],[43.0097541809082,113.529052734375,-6.087473630905151,0,0,-2.3562035449323453],[43.0097541809082,113.529052734375,-6.087473630905151,0,0,-2.618002932731495],[38.67960452531352,111.0290919426518,-6.087473630905151,0,0,-2.618002932731495],[34.34945486971884,108.5291311509286,-6.087473630905151,0,0,-2.618002932731495],[30.019305214124156,106.02917035920541,-6.087473630905151,0,0,-2.618002932731495],[25.68915555852947,103.52920956748221,-6.087473630905151,0,0,-2.618002932731495],[25.68915555852947,103.52920956748221,-6.087473630905151,0,0,-2.8798023205306444]]},{"id":1,"instruction":"now go forward until the brown building arrives and turn right.","completed_instruction":"Turn left to face the light brown roof, then keep flying straight ahead to cross the power line and fly under the gantry crane.","start_frame":17,"end_frame":35,"start_position":[25.68915555852947,103.52920956748221,-6.087473630905151],"start_rotation":[0.13052170358099155,0,0,-0.99144545230401648],"end_position":[-17.61180984406869,137.18985568569002,-10.087473630905151],"end_rotation":[0.25882341820347682,0,0,0.96592465450958864],"actions":[2,1,2,2,1,4,1,6,1,1,4,1,1,1,6,1,1,1,1],"reference_path":[[25.68915555852947,103.52920956748221,-6.087473630905151,0,0,-2.8798023205306444],[25.68915555852947,103.52920956748221,-6.087473630905151,0,0,3.1415835988497927],[20.68915555873444,103.52925484118221,-6.087473630905151,0,0,3.1415835988497927],[20.68915555873444,103.52925484118221,-6.087473630905151,0,0,2.879784211050643],[20.68915555873444,103.52925484118221,-6.087473630905151,0,0,2.6179848232514935],[16.35905117683976,106.02929404925405,-6.087473630905151,0,0,2.6179848232514935],[16.35905117683976,106.02929404925405,-8.087473630905151,0,0,2.6179848232514935],[12.028946794945078,108.52933325732589,-8.087473630905151,0,0,2.6179848232514935],[14.52898600301692,112.85943763922057,-8.087473630905151,0,0,2.6179848232514935],[10.198881621122238,115.35947684729241,-8.087473630905151,0,0,2.6179848232514935],[5.868777239227557,117.85951605536425,-8.087473630905151,0,0,2.6179848232514935],[5.868777239227557,117.85951605536425,-10.087473630905151,0,0,2.6179848232514935],[1.538672857332875,120.35955526343609,-10.087473630905151,0,0,2.6179848232514935],[-2.7914315245618067,122.85959447150793,-10.087473630905151,0,0,2.6179848232514935],[-7.121535906456488,125.35963367957977,-10.087473630905151,0,0,2.6179848232514935],[-4.621496698384647,129.68973806147446,-10.087473630905151,0,0,2.6179848232514935],[-8.951601080279328,132.1897772695463,-10.087473630905151,0,0,2.6179848232514935],[-13.28170546217401,134.68981647761817,-10.087473630905151,0,0,2.6179848232514935],[-17.61180984406869,137.18985568569002,-10.087473630905151,0,0,2.6179848232514935]]},{"id":2,"instruction":"now go forward towards the brown building and turn left and get down and land there.","completed_instruction":"Turn right to face the gray roof building, and fly over the gray roof and the black roof next to it until the road appears.","start_frame":35,"end_frame":54,"start_position":[-17.61180984406869,137.18985568569002,-10.087473630905151],"start_rotation":[0.25882341820347682,0,0,0.96592465450958864],"end_position":[-40.15459230963233,110.38066433360032,-10.087473630905151],"end_rotation":[0.4999960791774431,0,0,-0.86602766746056337],"actions":[1,6,3,3,3,3,3,3,3,1,1,1,2,1,1,1,1,6,1,1],"reference_path":[[-17.61180984406869,137.18985568569002,-10.087473630905151,0,0,2.6179848232514935],[-21.941914225963373,139.68989489376187,-10.087473630905151,0,0,2.6179848232514935],[-19.441875017891533,144.01999927565655,-10.087473630905151,0,0,2.6179848232514935],[-19.441875017891533,144.01999927565655,-10.087473630905151,0,0,2.879784211050643],[-19.441875017891533,144.01999927565655,-10.087473630905151,0,0,3.1415835988497927],[-19.441875017891533,144.01999927565655,-10.087473630905151,0,0,-2.8798023205306444],[-19.441875017891533,144.01999927565655,-10.087473630905151,0,0,-2.618002932731495],[-19.441875017891533,144.01999927565655,-10.087473630905151,0,0,-2.3562035449323453],[-19.441875017891533,144.01999927565655,-10.087473630905151,0,0,-2.094404157133196],[-19.441875017891533,144.01999927565655,-10.087473630905151,0,0,-1.8326047693340466],[-20.73601397438717,139.190381862105,-10.087473630905151,0,0,-1.8326047693340466],[-22.030152930882807,134.36076444855345,-10.087473630905151,0,0,-1.8326047693340466],[-23.324291887378443,129.5311470350019,-10.087473630905151,0,0,-1.8326047693340466],[-23.324291887378443,129.5311470350019,-10.087473630905151,0,0,-2.094404157133196],[-25.824331095450283,125.20104265310722,-10.087473630905151,0,0,-2.094404157133196],[-28.324370303522123,120.87093827121254,-10.087473630905151,0,0,-2.094404157133196],[-30.824409511593963,116.54083388931785,-10.087473630905151,0,0,-2.094404157133196],[-33.3244487196658,112.21072950742317,-10.087473630905151,0,0,-2.094404157133196],[-37.65455310156049,114.710768715495,-10.087473630905151,0,0,-2.094404157133196],[-40.15459230963233,110.38066433360032,-10.087473630905151,0,0,-2.094404157133196]]},{"id":3,"instruction":"","completed_instruction":"Fly towards the leftmost light of the building ahead, when reaching the opposite side of the road turn left to face the red truck and then land on the ground.","start_frame":54,"end_frame":72,"start_position":[-40.15459230963233,110.38066433360032,-10.087473630905151],"start_rotation":[0.4999960791774431,0,0,-0.86602766746056337],"end_position":[-66.38560277562209,89.78342118569401,-4.087473630905151],"end_rotation":[0.38268761510564719,0,0,0.92387779995232711],"actions":[1,1,1,6,1,2,1,1,2,2,2,2,1,2,2,5,5,5,0],"reference_path":[[-40.15459230963233,110.38066433360032,-10.087473630905151,0,0,-2.094404157133196],[-42.65463151770417,106.05055995170564,-10.087473630905151,0,0,-2.094404157133196],[-45.15467072577601,101.72045556981095,-10.087473630905151,0,0,-2.094404157133196],[-47.65470993384785,97.39035118791627,-10.087473630905151,0,0,-2.094404157133196],[-51.98481431574253,99.8903903959881,-10.087473630905151,0,0,-2.094404157133196],[-54.48485352381437,95.56028601409342,-10.087473630905151,0,0,-2.094404157133196],[-54.48485352381437,95.56028601409342,-10.087473630905151,0,0,-2.3562035449323453],[-58.020419442942455,92.0247841216459,-10.087473630905151,0,0,-2.3562035449323453],[-61.55598536207054,88.48928222919837,-10.087473630905151,0,0,-2.3562035449323453],[-61.55598536207054,88.48928222919837,-10.087473630905151,0,0,-2.618002932731495],[-61.55598536207054,88.48928222919837,-10.087473630905151,0,0,-2.8798023205306444],[-61.55598536207054,88.48928222919837,-10.087473630905151,0,0,3.1415835988497927],[-61.55598536207054,88.48928222919837,-10.087473630905151,0,0,2.879784211050643],[-66.38560277562209,89.78342118569401,-10.087473630905151,0,0,2.879784211050643],[-66.38560277562209,89.78342118569401,-10.087473630905151,0,0,2.6179848232514935],[-66.38560277562209,89.78342118569401,-10.087473630905151,0,0,2.3561854354523444],[-66.38560277562209,89.78342118569401,-8.087473630905151,0,0,2.3561854354523444],[-66.38560277562209,89.78342118569401,-6.087473630905151,0,0,2.3561854354523444],[-66.38560277562209,89.78342118569401,-4.087473630905151,0,0,2.3561854354523444]]}],"statistics":{"complete_actions":76,"sentence_actions":[18,19,20,19],"sentence_actions_average":19.0}}
diff --git a/scene_12/3D4CH1LGEJRZ5ZIIRAST9VCWQD6G9R.json b/scene_12/3D4CH1LGEJRZ5ZIIRAST9VCWQD6G9R.json
new file mode 100644
index 0000000000000000000000000000000000000000..3d1af222b44fa0e3d02d7cc59b5f002cbca1aecb
--- /dev/null
+++ b/scene_12/3D4CH1LGEJRZ5ZIIRAST9VCWQD6G9R.json
@@ -0,0 +1 @@
+{"episode_id":"3D4CH1LGEJRZ5ZIIRAST9VCWQD6G9R","trajectory_id":"3K1H3NEY8TX8M5Y6DNST680X6GJDGB","scene_id":12,"instruction":"elevate your drone to the top then turn 120 degree of your left and move forward. move towards the opposite building once you reach it fly over the building terrace and move forward cross the road. once you reach the grey color building then turn 90 degree of your right and move forward to the opposite orange color roof house in left laterally. once you fly over it then turn 180 degree of your left and move forward until you reach the middle of the road once you reach it drop your drone there and stop.","sentence_instructions":[{"id":0,"instruction":"elevate your drone to the top then turn 120 degree of your left and move forward.","completed_instruction":"Take off, ascend to the height higher than that of the electronic poles on the left, then turn left to face the two white vertical cylinders outside the brown building and fly over them.","start_frame":0,"end_frame":14,"start_position":[-48.552059173583984,136.729736328125,-1.648533582687378],"start_rotation":[0.999993180854716,0,0,-0.003692999332135414],"end_position":[-53.615886979715015,128.10664825308749,-9.648533582687378],"end_rotation":[0.49679835918956966,0,0,-0.86786599789745844],"actions":[4,4,4,4,2,2,2,2,2,2,2,2,1,1,1],"reference_path":[[-48.552059173583984,136.729736328125,-1.648533582687378,0,0,-0.007386015453049275],[-48.552059173583984,136.729736328125,-3.648533582687378,0,0,-0.007386015453049275],[-48.552059173583984,136.729736328125,-5.648533582687378,0,0,-0.007386015453049275],[-48.552059173583984,136.729736328125,-7.648533582687378,0,0,-0.007386015453049275],[-48.552059173583984,136.729736328125,-9.648533582687378,0,0,-0.007386015453049275],[-48.552059173583984,136.729736328125,-9.648533582687378,0,0,-0.2691854032521987],[-48.552059173583984,136.729736328125,-9.648533582687378,0,0,-0.5309847910513481],[-48.552059173583984,136.729736328125,-9.648533582687378,0,0,-0.7927841788504976],[-48.552059173583984,136.729736328125,-9.648533582687378,0,0,-1.054583566649647],[-48.552059173583984,136.729736328125,-9.648533582687378,0,0,-1.3163829544487966],[-48.552059173583984,136.729736328125,-9.648533582687378,0,0,-1.5781823422479462],[-48.552059173583984,136.729736328125,-9.648533582687378,0,0,-1.8399817300470955],[-48.552059173583984,136.729736328125,-9.648533582687378,0,0,-2.101781117846245],[-51.0839730766495,132.41819229060624,-9.648533582687378,0,0,-2.101781117846245],[-53.615886979715015,128.10664825308749,-9.648533582687378,0,0,-2.101781117846245]]},{"id":1,"instruction":"move towards the opposite building once you reach it fly over the building terrace and move forward cross the road.","completed_instruction":"Fly forward passing over the yellow forklift on the road, and then turn left to face the tall ash building.","start_frame":14,"end_frame":25,"start_position":[-53.615886979715015,128.10664825308749,-9.648533582687378],"start_rotation":[0.49679835918956966,0,0,-0.86786599789745844],"end_position":[-80.71465614482341,91.83466581848418,-9.648533582687378],"end_rotation":[0.37926893629462893,0,0,-0.92528648210267328],"actions":[1,1,1,1,1,1,1,1,1,6,2,1],"reference_path":[[-53.615886979715015,128.10664825308749,-9.648533582687378,0,0,-2.101781117846245],[-56.14780088278053,123.79510421556873,-9.648533582687378,0,0,-2.101781117846245],[-58.679714785846045,119.48356017804997,-9.648533582687378,0,0,-2.101781117846245],[-61.21162868891156,115.17201614053121,-9.648533582687378,0,0,-2.101781117846245],[-63.743542591977075,110.86047210301246,-9.648533582687378,0,0,-2.101781117846245],[-66.27545649504259,106.5489280654937,-9.648533582687378,0,0,-2.101781117846245],[-68.8073703981081,102.23738402797494,-9.648533582687378,0,0,-2.101781117846245],[-71.33928430117362,97.92583999045618,-9.648533582687378,0,0,-2.101781117846245],[-73.87119820423914,93.61429595293743,-9.648533582687378,0,0,-2.101781117846245],[-76.40311210730465,89.30275191541867,-9.648533582687378,0,0,-2.101781117846245],[-80.71465614482341,91.83466581848418,-9.648533582687378,0,0,-2.101781117846245],[-80.71465614482341,91.83466581848418,-9.648533582687378,0,0,-2.3635805056453942]]},{"id":2,"instruction":"once you reach the grey color building then turn 90 degree of your right and move forward to the opposite orange color roof house in left laterally.","completed_instruction":"Turn right to face the dark brown warehouse and approach the edge of the warehouse roof.","start_frame":25,"end_frame":37,"start_position":[-80.71465614482341,91.83466581848418,-9.648533582687378],"start_rotation":[0.37926893629462893,0,0,-0.92528648210267328],"end_position":[-84.31313662593318,83.32547800257605,-9.648533582687378],"end_rotation":[0.9649634209398178,0,0,-0.26238444360922791],"actions":[1,2,1,3,3,3,3,3,3,3,3,1,1],"reference_path":[[-80.71465614482341,91.83466581848418,-9.648533582687378,0,0,-2.3635805056453942],[-84.27620688444281,88.32534162013538,-9.648533582687378,0,0,-2.3635805056453942],[-84.27620688444281,88.32534162013538,-9.648533582687378,0,0,-2.625379893444544],[-88.62468066345194,85.85739190564156,-9.648533582687378,0,0,-2.625379893444544],[-88.62468066345194,85.85739190564156,-9.648533582687378,0,0,-2.3635805056453942],[-88.62468066345194,85.85739190564156,-9.648533582687378,0,0,-2.101781117846245],[-88.62468066345194,85.85739190564156,-9.648533582687378,0,0,-1.8399817300470955],[-88.62468066345194,85.85739190564156,-9.648533582687378,0,0,-1.5781823422479462],[-88.62468066345194,85.85739190564156,-9.648533582687378,0,0,-1.3163829544487966],[-88.62468066345194,85.85739190564156,-9.648533582687378,0,0,-1.0545835666496473],[-88.62468066345194,85.85739190564156,-9.648533582687378,0,0,-0.7927841788504978],[-88.62468066345194,85.85739190564156,-9.648533582687378,0,0,-0.5309847910513483],[-84.31313662593318,83.32547800257605,-9.648533582687378,0,0,-0.5309847910513483]]},{"id":3,"instruction":"once you fly over it then turn 180 degree of your left and move forward until you reach the middle of the road once you reach it drop your drone there and stop.","completed_instruction":"Fly forward over the roof until seeing a row of grey metal pipes tied together, then turn left to face the black utility pole.","start_frame":37,"end_frame":53,"start_position":[-84.31313662593318,83.32547800257605,-9.648533582687378],"start_rotation":[0.9649634209398178,0,0,-0.26238444360922791],"end_position":[-58.62173684852173,60.93932409267633,-11.648533582687378],"end_rotation":[0.255250116746472,0,0,-0.96687505806123286],"actions":[1,1,1,4,1,2,1,2,1,1,2,2,2,2,2,2,2],"reference_path":[[-84.31313662593318,83.32547800257605,-9.648533582687378,0,0,-0.5309847910513483],[-80.00159258841443,80.79356409951053,-9.648533582687378,0,0,-0.5309847910513483],[-75.69004855089567,78.26165019644502,-9.648533582687378,0,0,-0.5309847910513483],[-71.37850451337691,75.7297362933795,-9.648533582687378,0,0,-0.5309847910513483],[-71.37850451337691,75.7297362933795,-11.648533582687378,0,0,-0.5309847910513483],[-67.06696047585815,73.19782239031399,-11.648533582687378,0,0,-0.5309847910513483],[-67.06696047585815,73.19782239031399,-11.648533582687378,0,0,-0.7927841788504978],[-63.55763627750935,69.63627165069458,-11.648533582687378,0,0,-0.7927841788504978],[-63.55763627750935,69.63627165069458,-11.648533582687378,0,0,-1.0545835666496473],[-61.08968656301554,65.28779787168546,-11.648533582687378,0,0,-1.0545835666496473],[-58.62173684852173,60.93932409267633,-11.648533582687378,0,0,-1.0545835666496473],[-58.62173684852173,60.93932409267633,-11.648533582687378,0,0,-1.3163829544487966],[-58.62173684852173,60.93932409267633,-11.648533582687378,0,0,-1.5781823422479462],[-58.62173684852173,60.93932409267633,-11.648533582687378,0,0,-1.8399817300470955],[-58.62173684852173,60.93932409267633,-11.648533582687378,0,0,-2.101781117846245],[-58.62173684852173,60.93932409267633,-11.648533582687378,0,0,-2.3635805056453942],[-58.62173684852173,60.93932409267633,-11.648533582687378,0,0,-2.625379893444544]]},{"id":4,"instruction":"","completed_instruction":"Fly forward across the pole and turn left to face the road, and fly cross the double yellow line and land on the road.","start_frame":53,"end_frame":66,"start_position":[-58.62173684852173,60.93932409267633,-11.648533582687378],"start_rotation":[0.255250116746472,0,0,-0.96687505806123286],"end_position":[-92.97754976740796,56.016559172844154,-3.648533582687378],"end_rotation":[0.0036929993321357596,0,0,0.999993180854716],"actions":[2,5,1,1,1,1,2,1,1,1,5,5,5,0],"reference_path":[[-58.62173684852173,60.93932409267633,-11.648533582687378,0,0,-2.625379893444544],[-58.62173684852173,60.93932409267633,-11.648533582687378,0,0,-2.8871792812436934],[-58.62173684852173,60.93932409267633,-9.648533582687378,0,0,-2.8871792812436934],[-63.46079236507379,59.68093555660051,-9.648533582687378,0,0,-2.8871792812436934],[-68.29984788162585,58.42254702052469,-9.648533582687378,0,0,-2.8871792812436934],[-73.13890339817792,57.16415848444887,-9.648533582687378,0,0,-2.8871792812436934],[-77.97795891472998,55.90576994837305,-9.648533582687378,0,0,-2.8871792812436934],[-77.97795891472998,55.90576994837305,-9.648533582687378,0,0,3.1342066381367433],[-82.97782253228931,55.94269968986342,-9.648533582687378,0,0,3.1342066381367433],[-87.97768614984864,55.979629431353786,-9.648533582687378,0,0,3.1342066381367433],[-92.97754976740796,56.016559172844154,-9.648533582687378,0,0,3.1342066381367433],[-92.97754976740796,56.016559172844154,-7.648533582687378,0,0,3.1342066381367433],[-92.97754976740796,56.016559172844154,-5.648533582687378,0,0,3.1342066381367433],[-92.97754976740796,56.016559172844154,-3.648533582687378,0,0,3.1342066381367433]]}],"statistics":{"complete_actions":71,"sentence_actions":[15,12,13,17,14],"sentence_actions_average":14.2}}
diff --git a/scene_12/3F1567XTN53QIOCWU6X539GYWG19QX.json b/scene_12/3F1567XTN53QIOCWU6X539GYWG19QX.json
new file mode 100644
index 0000000000000000000000000000000000000000..91dcec0dd6def27bfdcffbe6734981bdf049355d
--- /dev/null
+++ b/scene_12/3F1567XTN53QIOCWU6X539GYWG19QX.json
@@ -0,0 +1 @@
+{"episode_id":"3F1567XTN53QIOCWU6X539GYWG19QX","trajectory_id":"34OWYT6U44FAF6RKRVNU5OUNUBRI9S","scene_id":12,"instruction":"take off and turn back and move forward and beside power grid. now move forward and go over the power grid and intersection road and beside terminal and turn right. now move forward and go over the road and chimney and power grid and turn left and move forward and stay there.","sentence_instructions":[{"id":0,"instruction":"take off and turn back and move forward and beside power grid.","completed_instruction":"Take off, rise to the same height as the white bungalow on the left, then turn back until facing the dilapidated building with a light brown roof.","start_frame":0,"end_frame":12,"start_position":[27.8535099029541,125.96004486083984,-1.6855583190917969],"start_rotation":[0.99979666759699137,0,0,-0.020164906693341082],"end_position":[27.8535099029541,125.96004486083984,-5.685558319091797],"end_rotation":[0.2782442229639433,0,0,0.96051036037472881],"actions":[4,4,3,3,3,3,3,3,3,3,3,3,4],"reference_path":[[27.8535099029541,125.96004486083984,-1.6855583190917969,0,0,-0.04033254706164427],[27.8535099029541,125.96004486083984,-3.685558319091797,0,0,-0.04033254706164427],[27.8535099029541,125.96004486083984,-5.685558319091797,0,0,-0.04033254706164427],[27.8535099029541,125.96004486083984,-5.685558319091797,0,0,0.22146684073750517],[27.8535099029541,125.96004486083984,-5.685558319091797,0,0,0.48326622853665463],[27.8535099029541,125.96004486083984,-5.685558319091797,0,0,0.7450656163358039],[27.8535099029541,125.96004486083984,-5.685558319091797,0,0,1.0068650041349534],[27.8535099029541,125.96004486083984,-5.685558319091797,0,0,1.2686643919341027],[27.8535099029541,125.96004486083984,-5.685558319091797,0,0,1.5304637797332523],[27.8535099029541,125.96004486083984,-5.685558319091797,0,0,1.7922631675324017],[27.8535099029541,125.96004486083984,-5.685558319091797,0,0,2.054062555331551],[27.8535099029541,125.96004486083984,-5.685558319091797,0,0,2.3158619431307],[27.8535099029541,125.96004486083984,-5.685558319091797,0,0,2.5776613309298497]]},{"id":1,"instruction":"now move forward and go over the power grid and intersection road and beside terminal and turn right.","completed_instruction":"Fly forward until reaching the middle of the intersection, and then turn right to face the warehouse with grey roof and brown wall.","start_frame":12,"end_frame":27,"start_position":[27.8535099029541,125.96004486083984,-5.685558319091797],"start_rotation":[0.2782442229639433,0,0,0.96051036037472881],"end_position":[-5.561140201581249,136.37451356507418,-9.685558319091797],"end_rotation":[0.239288614644328,0,0,-0.97094848416463286],"actions":[4,3,1,4,1,4,1,1,1,1,1,5,3,3,3,3],"reference_path":[[27.8535099029541,125.96004486083984,-5.685558319091797,0,0,2.5776613309298497],[27.8535099029541,125.96004486083984,-7.685558319091797,0,0,2.5776613309298497],[27.8535099029541,125.96004486083984,-7.685558319091797,0,0,2.8394607187289993],[23.07998845944905,127.44782610430188,-7.685558319091797,0,0,2.8394607187289993],[23.07998845944905,127.44782610430188,-9.685558319091797,0,0,2.8394607187289993],[18.306467015944,128.93560734776392,-9.685558319091797,0,0,2.8394607187289993],[18.306467015944,128.93560734776392,-11.685558319091797,0,0,2.8394607187289993],[13.532945572438951,130.42338859122597,-11.685558319091797,0,0,2.8394607187289993],[8.759424128933901,131.91116983468802,-11.685558319091797,0,0,2.8394607187289993],[3.985902685428851,133.39895107815008,-11.685558319091797,0,0,2.8394607187289993],[-0.7876187580761993,134.88673232161213,-11.685558319091797,0,0,2.8394607187289993],[-5.561140201581249,136.37451356507418,-11.685558319091797,0,0,2.8394607187289993],[-5.561140201581249,136.37451356507418,-9.685558319091797,0,0,2.8394607187289993],[-5.561140201581249,136.37451356507418,-9.685558319091797,0,0,3.101260106528149],[-5.561140201581249,136.37451356507418,-9.685558319091797,0,0,-2.9201258128522882],[-5.561140201581249,136.37451356507418,-9.685558319091797,0,0,-2.658326425053139]]},{"id":2,"instruction":"now move forward and go over the road and chimney and power grid and turn left and move forward and stay there.","completed_instruction":"Fly forward across the road to reach the edge of the white roof.","start_frame":27,"end_frame":41,"start_position":[-5.561140201581249,136.37451356507418,-9.685558319091797],"start_rotation":[0.239288614644328,0,0,-0.97094848416463286],"end_position":[-28.06098456483768,91.44393373764214,-11.685558319091797],"end_rotation":[0.48243501233711938,0,0,-0.87593176610469126],"actions":[3,3,1,1,1,1,1,1,7,1,4,1,1,1,7],"reference_path":[[-5.561140201581249,136.37451356507418,-9.685558319091797,0,0,-2.658326425053139],[-5.561140201581249,136.37451356507418,-9.685558319091797,0,0,-2.3965270372539895],[-5.561140201581249,136.37451356507418,-9.685558319091797,0,0,-2.13472764945484],[-8.233704790294084,132.14871204120226,-9.685558319091797,0,0,-2.13472764945484],[-10.906269379006918,127.92291051733034,-9.685558319091797,0,0,-2.13472764945484],[-13.578833967719753,123.69710899345841,-9.685558319091797,0,0,-2.13472764945484],[-16.251398556432587,119.47130746958649,-9.685558319091797,0,0,-2.13472764945484],[-18.92396314514542,115.24550594571457,-9.685558319091797,0,0,-2.13472764945484],[-21.596527733858256,111.01970442184265,-9.685558319091797,0,0,-2.13472764945484],[-17.37072620998634,108.34713983312982,-9.685558319091797,0,0,-2.13472764945484],[-20.043290798699175,104.12133830925791,-9.685558319091797,0,0,-2.13472764945484],[-20.043290798699175,104.12133830925791,-11.685558319091797,0,0,-2.13472764945484],[-22.71585538741201,99.89553678538599,-11.685558319091797,0,0,-2.13472764945484],[-25.388419976124844,95.66973526151406,-11.685558319091797,0,0,-2.13472764945484],[-28.06098456483768,91.44393373764214,-11.685558319091797,0,0,-2.13472764945484]]},{"id":3,"instruction":"Fly forward and across the road, reaching the edge of the white roof.","completed_instruction":"Turn left to face the lights on the wall, then fly forward along the reddish-brown roof and land at the edge of the roof.","start_frame":41,"end_frame":53,"start_position":[-28.06098456483768,91.44393373764214,-11.685558319091797],"start_rotation":[0.48243501233711938,0,0,-0.87593176610469126],"end_position":[-55.842260297085694,67.69025366071979,-11.685558319091797],"end_rotation":[0.11050725889453669,0,0,-0.9938753169948511],"actions":[7,1,2,1,1,1,1,2,2,1,1,1,0],"reference_path":[[-28.06098456483768,91.44393373764214,-11.685558319091797,0,0,-2.13472764945484],[-23.835183040965763,88.77136914892931,-11.685558319091797,0,0,-2.13472764945484],[-26.507747629678597,84.5455676250574,-11.685558319091797,0,0,-2.13472764945484],[-26.507747629678597,84.5455676250574,-11.685558319091797,0,0,-2.3965270372539895],[-30.182964703543252,81.15546741120329,-11.685558319091797,0,0,-2.3965270372539895],[-33.85818177740791,77.76536719734918,-11.685558319091797,0,0,-2.3965270372539895],[-37.533398851272565,74.37526698349507,-11.685558319091797,0,0,-2.3965270372539895],[-41.208615925137224,70.98516676964095,-11.685558319091797,0,0,-2.3965270372539895],[-41.208615925137224,70.98516676964095,-11.685558319091797,0,0,-2.6583264250531387],[-41.208615925137224,70.98516676964095,-11.685558319091797,0,0,-2.9201258128522882],[-46.08649738245338,69.88686240000057,-11.685558319091797,0,0,-2.9201258128522882],[-50.96437883976954,68.78855803036018,-11.685558319091797,0,0,-2.9201258128522882],[-55.842260297085694,67.69025366071979,-11.685558319091797,0,0,-2.9201258128522882]]}],"statistics":{"complete_actions":57,"sentence_actions":[13,16,15,13],"sentence_actions_average":14.25}}
diff --git a/scene_12/3HMIGG0U4U4ZDLK8GO8LGZOP9O38YL.json b/scene_12/3HMIGG0U4U4ZDLK8GO8LGZOP9O38YL.json
new file mode 100644
index 0000000000000000000000000000000000000000..2f5ed70ded7f7b1a554eab8c30b63e649bd1d778
--- /dev/null
+++ b/scene_12/3HMIGG0U4U4ZDLK8GO8LGZOP9O38YL.json
@@ -0,0 +1 @@
+{"episode_id":"3HMIGG0U4U4ZDLK8GO8LGZOP9O38YL","trajectory_id":"3ZZAYRN1JEP3V7B1NW5GGLRL0G1OTF","scene_id":12,"instruction":"take off and turn rotate left until you see a building with a high grey brick fence around it. fly straight over this building towards another building with a white roof until you are directly over the road in front of the white roofed building. come down to a height just above the white roofed building. turn left until you are lined up with the corner of the building across the street. fly toward that building until you are almost at it but not yet over it. turn right until you see a brick building with two bright down lights on its side. fly toward this building until you are over a street. turn left until you see some artwork graffiti on the side of a tall red brick building. fly to the artwork until you are right in front of it.","sentence_instructions":[{"id":0,"instruction":"take off and turn rotate left until you see a building with a high grey brick fence around it.","completed_instruction":"Take off, acsend to the same height as the electronic poles on the right, and turn left until seeing a light brown building with a high grey brick fence around it.","start_frame":0,"end_frame":9,"start_position":[27.8535099029541,125.96004486083984,-1.6855583190917969],"start_rotation":[0.99988628889253162,0,0,0.015080095646937804],"end_position":[27.8535099029541,125.96004486083984,-7.685558319091797],"end_rotation":[0.71768961318425184,0,0,-0.69636313739846889],"actions":[4,4,4,2,2,2,2,2,2,2],"reference_path":[[27.8535099029541,125.96004486083984,-1.6855583190917969,0,0,0.030161334528793007],[27.8535099029541,125.96004486083984,-3.685558319091797,0,0,0.030161334528793007],[27.8535099029541,125.96004486083984,-5.685558319091797,0,0,0.030161334528793007],[27.8535099029541,125.96004486083984,-7.685558319091797,0,0,0.030161334528793007],[27.8535099029541,125.96004486083984,-7.685558319091797,0,0,-0.23163805327035644],[27.8535099029541,125.96004486083984,-7.685558319091797,0,0,-0.4934374410695059],[27.8535099029541,125.96004486083984,-7.685558319091797,0,0,-0.7552368288686553],[27.8535099029541,125.96004486083984,-7.685558319091797,0,0,-1.0170362166678049],[27.8535099029541,125.96004486083984,-7.685558319091797,0,0,-1.2788356044669542],[27.8535099029541,125.96004486083984,-7.685558319091797,0,0,-1.5406349922661036]]},{"id":1,"instruction":"fly straight over this building towards another building with a white roof until you are directly over the road in front of the white roofed building.","completed_instruction":"Fly over the mentioned building to the opposite side of the road, then fly forward to the top of the pedestrian crossing, and then turn left to face the building with a white roof.","start_frame":9,"end_frame":24,"start_position":[27.8535099029541,125.96004486083984,-7.685558319091797],"start_rotation":[0.71768961318425184,0,0,-0.69636313739846889],"end_position":[-2.268112201929192,91.06466004034232,-11.685558319091797],"end_rotation":[0.513002890368013,0,0,-0.85838687925320967],"actions":[2,2,1,4,1,1,1,6,1,1,1,4,1,6,1,2],"reference_path":[[27.8535099029541,125.96004486083984,-7.685558319091797,0,0,-1.5406349922661036],[27.8535099029541,125.96004486083984,-7.685558319091797,0,0,-1.8024343800652531],[27.8535099029541,125.96004486083984,-7.685558319091797,0,0,-2.0642337678644025],[25.485229558213458,121.55649535973109,-7.685558319091797,0,0,-2.0642337678644025],[25.485229558213458,121.55649535973109,-9.685558319091797,0,0,-2.0642337678644025],[23.116949213472815,117.15294585862233,-9.685558319091797,0,0,-2.0642337678644025],[20.74866886873217,112.74939635751358,-9.685558319091797,0,0,-2.0642337678644025],[18.380388523991527,108.34584685640482,-9.685558319091797,0,0,-2.0642337678644025],[13.976839022882777,110.71412720114546,-9.685558319091797,0,0,-2.0642337678644025],[11.608558678142133,106.3105777000367,-9.685558319091797,0,0,-2.0642337678644025],[9.24027833340149,101.90702819892795,-9.685558319091797,0,0,-2.0642337678644025],[6.871997988660846,97.50347869781919,-9.685558319091797,0,0,-2.0642337678644025],[6.871997988660846,97.50347869781919,-11.685558319091797,0,0,-2.0642337678644025],[4.5037176439202025,93.09992919671043,-11.685558319091797,0,0,-2.0642337678644025],[0.10016814281145159,95.46820954145107,-11.685558319091797,0,0,-2.0642337678644025],[-2.268112201929192,91.06466004034232,-11.685558319091797,0,0,-2.0642337678644025]]},{"id":2,"instruction":"turn left until you are lined up with the corner of the building across the street.","completed_instruction":"Fly ahead over the crosswalk, and turn left until aligned with the corner of the grey warehouse across the street, and then fly towards the edge of the warehouse roof.","start_frame":24,"end_frame":37,"start_position":[-2.268112201929192,91.06466004034232,-11.685558319091797],"start_rotation":[0.513002890368013,0,0,-0.85838687925320967],"end_position":[-16.03253471151977,94.31130030028433,-9.685558319091797],"end_rotation":[0.48688339852451873,0,0,0.87346697490014735],"actions":[2,2,1,5,1,2,2,2,2,2,2,1,1,4],"reference_path":[[-2.268112201929192,91.06466004034232,-11.685558319091797,0,0,-2.0642337678644025],[-2.268112201929192,91.06466004034232,-11.685558319091797,0,0,-2.326033155663552],[-2.268112201929192,91.06466004034232,-11.685558319091797,0,0,-2.5878325434627016],[-6.520877894312334,88.43521447793017,-11.685558319091797,0,0,-2.5878325434627016],[-6.520877894312334,88.43521447793017,-9.685558319091797,0,0,-2.5878325434627016],[-10.773643586695476,85.80576891551803,-9.685558319091797,0,0,-2.5878325434627016],[-10.773643586695476,85.80576891551803,-9.685558319091797,0,0,-2.849631931261851],[-10.773643586695476,85.80576891551803,-9.685558319091797,0,0,-3.111431319061001],[-10.773643586695476,85.80576891551803,-9.685558319091797,0,0,2.9099546003194363],[-10.773643586695476,85.80576891551803,-9.685558319091797,0,0,2.6481552125202867],[-10.773643586695476,85.80576891551803,-9.685558319091797,0,0,2.3863558247211376],[-10.773643586695476,85.80576891551803,-9.685558319091797,0,0,2.124556436921988],[-13.403089149107622,90.05853460790118,-9.685558319091797,0,0,2.124556436921988],[-16.03253471151977,94.31130030028433,-9.685558319091797,0,0,2.124556436921988]]},{"id":3,"instruction":"turn right until you see a brick building with two bright down lights on its side.","completed_instruction":"Turn right until facing a brown building with two bright down lights on its side, and then fly over this building and across the crosswalk.","start_frame":37,"end_frame":56,"start_position":[-16.03253471151977,94.31130030028433,-9.685558319091797],"start_rotation":[0.48688339852451873,0,0,0.87346697490014735],"end_position":[-82.6799536341951,127.31644131792768,-11.685558319091797],"end_rotation":[0.24422336065398176,0,0,0.9697190057490237],"actions":[4,1,3,3,1,1,1,1,7,1,1,1,1,1,1,1,1,1,1,1],"reference_path":[[-16.03253471151977,94.31130030028433,-9.685558319091797,0,0,2.124556436921988],[-16.03253471151977,94.31130030028433,-11.685558319091797,0,0,2.124556436921988],[-18.661980273931917,98.56406599266748,-11.685558319091797,0,0,2.124556436921988],[-18.661980273931917,98.56406599266748,-11.685558319091797,0,0,2.3863558247211376],[-18.661980273931917,98.56406599266748,-11.685558319091797,0,0,2.648155212520287],[-23.06552977504067,100.93234633740812,-11.685558319091797,0,0,2.648155212520287],[-27.469079276149422,103.30062668214876,-11.685558319091797,0,0,2.648155212520287],[-31.872628777258175,105.6689070268894,-11.685558319091797,0,0,2.648155212520287],[-36.27617827836693,108.03718737163004,-11.685558319091797,0,0,2.648155212520287],[-38.644458623107575,103.63363787052128,-11.685558319091797,0,0,2.648155212520287],[-43.048008124216324,106.00191821526192,-11.685558319091797,0,0,2.648155212520287],[-47.45155762532507,108.37019856000256,-11.685558319091797,0,0,2.648155212520287],[-51.85510712643382,110.7384789047432,-11.685558319091797,0,0,2.648155212520287],[-56.25865662754257,113.10675924948384,-11.685558319091797,0,0,2.648155212520287],[-60.66220612865132,115.47503959422448,-11.685558319091797,0,0,2.648155212520287],[-65.06575562976008,117.84331993896512,-11.685558319091797,0,0,2.648155212520287],[-69.46930513086883,120.21160028370576,-11.685558319091797,0,0,2.648155212520287],[-73.87285463197759,122.5798806284464,-11.685558319091797,0,0,2.648155212520287],[-78.27640413308634,124.94816097318704,-11.685558319091797,0,0,2.648155212520287],[-82.6799536341951,127.31644131792768,-11.685558319091797,0,0,2.648155212520287]]},{"id":4,"instruction":"turn left until you see some artwork graffiti on the side of a tall red brick building.","completed_instruction":"Turn left to face some artwork graffiti on the side of a tall red building, and fly onto the deep grey roof.","start_frame":56,"end_frame":63,"start_position":[-82.6799536341951,127.31644131792768,-11.685558319091797],"start_rotation":[0.24422336065398176,0,0,0.9697190057490237],"end_position":[-103.17169440372626,141.27589360378244,-9.685558319091797],"end_rotation":[0.36870772529166751,0,0,0.92954537990904151],"actions":[1,1,1,2,1,5,1,0],"reference_path":[[-82.6799536341951,127.31644131792768,-11.685558319091797,0,0,2.648155212520287],[-87.08350313530386,129.68472166266832,-11.685558319091797,0,0,2.648155212520287],[-91.48705263641261,132.05300200740896,-11.685558319091797,0,0,2.648155212520287],[-95.89060213752137,134.4212823521496,-11.685558319091797,0,0,2.648155212520287],[-95.89060213752137,134.4212823521496,-11.685558319091797,0,0,2.3863558247211376],[-99.53114827062382,137.84858797796602,-11.685558319091797,0,0,2.3863558247211376],[-99.53114827062382,137.84858797796602,-9.685558319091797,0,0,2.3863558247211376],[-103.17169440372626,141.27589360378244,-9.685558319091797,0,0,2.3863558247211376]]}],"statistics":{"complete_actions":68,"sentence_actions":[10,16,14,20,8],"sentence_actions_average":13.6}}
diff --git a/scene_12/3J88R45B2PWVJ8TFX9OUJ7C55S1PXF.json b/scene_12/3J88R45B2PWVJ8TFX9OUJ7C55S1PXF.json
new file mode 100644
index 0000000000000000000000000000000000000000..9d4fa30d7b1b05edb46ad438accb66adbfff2f91
--- /dev/null
+++ b/scene_12/3J88R45B2PWVJ8TFX9OUJ7C55S1PXF.json
@@ -0,0 +1 @@
+{"episode_id":"3J88R45B2PWVJ8TFX9OUJ7C55S1PXF","trajectory_id":"3VEI3XUC0ZV80SAAY7D056VTGGKPRU","scene_id":12,"instruction":"take off and turn left and fly straight on the white, plain roof toward power lines. turn right and fly straight toward the tin roof. continue flying straight and turn slightly left toward a couple of tan roofs side by side. fly over the tan roofs toward a large white roof on top of a building on the left side of the street. fly over the building and land under a power line and face a crosswalk and a three car garage.","sentence_instructions":[{"id":0,"instruction":"take off and turn left and fly straight on the white, plain roof toward power lines.","completed_instruction":"Take off, turn left to face the grey roof, and then fly forward to the edge of the current roof.","start_frame":0,"end_frame":6,"start_position":[-65.41268920898438,111.80338287353516,-9.146767616271973],"start_rotation":[0.99982925618166518,0,0,-0.018478595271775446],"end_position":[-65.41268920898438,111.80338287353516,-9.146767616271973],"end_rotation":[0.69391970705128314,0,0,-0.72005238709823149],"actions":[2,2,2,2,2,2,1],"reference_path":[[-65.41268920898438,111.80338287353516,-9.146767616271973,0,0,-0.03695929409116147],[-65.41268920898438,111.80338287353516,-9.146767616271973,0,0,-0.2987586818903109],[-65.41268920898438,111.80338287353516,-9.146767616271973,0,0,-0.5605580696894603],[-65.41268920898438,111.80338287353516,-9.146767616271973,0,0,-0.8223574574886098],[-65.41268920898438,111.80338287353516,-9.146767616271973,0,0,-1.0841568452877592],[-65.41268920898438,111.80338287353516,-9.146767616271973,0,0,-1.3459562330869088],[-65.41268920898438,111.80338287353516,-9.146767616271973,0,0,-1.6077556208860584]]},{"id":1,"instruction":"turn right and fly straight toward the tin roof.","completed_instruction":"Turn right to face the grey roof, and  then fly forward until flying over it.","start_frame":6,"end_frame":23,"start_position":[-65.41268920898438,111.80338287353516,-9.146767616271973],"start_rotation":[0.69391970705128314,0,0,-0.72005238709823149],"end_position":[-38.35571189495647,113.3928796880343,-11.146767616271973],"end_rotation":[0.97054351280833639,0,0,0.24092590094395094],"actions":[1,1,3,3,3,3,3,3,3,1,1,4,3,1,1,1,1,1],"reference_path":[[-65.41268920898438,111.80338287353516,-9.146767616271973,0,0,-1.6077556208860584],[-65.59744361064298,106.80679745836734,-9.146767616271973,0,0,-1.6077556208860584],[-65.78219801230159,101.81021204319953,-9.146767616271973,0,0,-1.6077556208860584],[-65.78219801230159,101.81021204319953,-9.146767616271973,0,0,-1.3459562330869093],[-65.78219801230159,101.81021204319953,-9.146767616271973,0,0,-1.08415684528776],[-65.78219801230159,101.81021204319953,-9.146767616271973,0,0,-0.8223574574886104],[-65.78219801230159,101.81021204319953,-9.146767616271973,0,0,-0.560558069689461],[-65.78219801230159,101.81021204319953,-9.146767616271973,0,0,-0.2987586818903115],[-65.78219801230159,101.81021204319953,-9.146767616271973,0,0,-0.036959294091162075],[-65.78219801230159,101.81021204319953,-9.146767616271973,0,0,0.22484009370798735],[-60.90804915871594,102.9249644610438,-9.146767616271973,0,0,0.22484009370798735],[-56.03390030513029,104.03971687888807,-9.146767616271973,0,0,0.22484009370798735],[-56.03390030513029,104.03971687888807,-11.146767616271973,0,0,0.22484009370798735],[-56.03390030513029,104.03971687888807,-11.146767616271973,0,0,0.4866394815071368],[-51.614353202586834,106.37800758117463,-11.146767616271973,0,0,0.4866394815071368],[-47.19480610004338,108.71629828346119,-11.146767616271973,0,0,0.4866394815071368],[-42.775258997499925,111.05458898574774,-11.146767616271973,0,0,0.4866394815071368],[-38.35571189495647,113.3928796880343,-11.146767616271973,0,0,0.4866394815071368]]},{"id":2,"instruction":"continue flying straight and turn slightly left toward a couple of tan roofs side by side.","completed_instruction":"Turn left to face the light brown roof, then fly forward over the roof.","start_frame":23,"end_frame":36,"start_position":[-38.35571189495647,113.3928796880343,-11.146767616271973],"start_rotation":[0.97054351280833639,0,0,0.24092590094395094],"end_position":[5.214607093140835,119.37519392000284,-11.146767616271973],"end_rotation":[0.99982925618166518,0,0,-0.018478595271775748],"actions":[1,1,2,1,2,1,1,1,1,3,1,2,1,2],"reference_path":[[-38.35571189495647,113.3928796880343,-11.146767616271973,0,0,0.4866394815071368],[-33.93616479241302,115.73117039032086,-11.146767616271973,0,0,0.4866394815071368],[-29.516617689869562,118.06946109260741,-11.146767616271973,0,0,0.4866394815071368],[-29.516617689869562,118.06946109260741,-11.146767616271973,0,0,0.22484009370798735],[-24.64246883628391,119.18421351045168,-11.146767616271973,0,0,0.22484009370798735],[-24.64246883628391,119.18421351045168,-11.146767616271973,0,0,-0.036959294091162075],[-19.645883421116093,118.99945910879306,-11.146767616271973,0,0,-0.036959294091162075],[-14.649298005948275,118.81470470713444,-11.146767616271973,0,0,-0.036959294091162075],[-9.652712590780457,118.62995030547582,-11.146767616271973,0,0,-0.036959294091162075],[-4.656127175612638,118.4451959038172,-11.146767616271973,0,0,-0.036959294091162075],[-4.656127175612638,118.4451959038172,-11.146767616271973,0,0,0.22484009370798735],[0.21802167797301575,119.55994832166147,-11.146767616271973,0,0,0.22484009370798735],[0.21802167797301575,119.55994832166147,-11.146767616271973,0,0,-0.036959294091162075],[5.214607093140835,119.37519392000284,-11.146767616271973,0,0,-0.036959294091162075]]},{"id":3,"instruction":"fly over the tan roofs toward a large white roof on top of a building on the left side of the street.","completed_instruction":"Turn left to face the brown warehouse with lights on the wall, and then fly forward until reaching the double yellow lines.","start_frame":36,"end_frame":47,"start_position":[5.214607093140835,119.37519392000284,-11.146767616271973],"start_rotation":[0.99982925618166518,0,0,-0.018478595271775748],"end_position":[22.306972476128987,102.74237396791527,-7.146767616271973],"end_rotation":[0.85663823766433367,0,0,-0.51591756102244146],"actions":[2,1,2,1,5,2,1,2,1,1,5,1],"reference_path":[[5.214607093140835,119.37519392000284,-11.146767616271973,0,0,-0.036959294091162075],[5.214607093140835,119.37519392000284,-11.146767616271973,0,0,-0.2987586818903115],[9.993120031094946,117.90352340599328,-11.146767616271973,0,0,-0.2987586818903115],[9.993120031094946,117.90352340599328,-11.146767616271973,0,0,-0.560558069689461],[14.227912731979785,115.24522869311203,-11.146767616271973,0,0,-0.560558069689461],[14.227912731979785,115.24522869311203,-9.146767616271973,0,0,-0.560558069689461],[14.227912731979785,115.24522869311203,-9.146767616271973,0,0,-0.8223574574886103],[17.63039107155588,111.5814681730022,-9.146767616271973,0,0,-0.8223574574886103],[17.63039107155588,111.5814681730022,-9.146767616271973,0,0,-1.08415684528776],[19.968681773842434,107.16192107045873,-9.146767616271973,0,0,-1.08415684528776],[22.306972476128987,102.74237396791527,-9.146767616271973,0,0,-1.08415684528776],[22.306972476128987,102.74237396791527,-7.146767616271973,0,0,-1.08415684528776]]},{"id":4,"instruction":"fly over the building and land under a power line and facing a crosswalk and a three car garage.","completed_instruction":"Turn right to face the crosswalk and land on the ground.","start_frame":47,"end_frame":53,"start_position":[22.306972476128987,102.74237396791527,-7.146767616271973],"start_rotation":[0.85663823766433367,0,0,-0.51591756102244146],"end_position":[26.983553880702093,93.90327976282835,-5.146767616271973],"end_rotation":[0.91665033352833591,0,0,-0.39969008749578772],"actions":[1,1,3,3,5,2,0],"reference_path":[[22.306972476128987,102.74237396791527,-7.146767616271973,0,0,-1.08415684528776],[24.64526317841554,98.32282686537181,-7.146767616271973,0,0,-1.08415684528776],[26.983553880702093,93.90327976282835,-7.146767616271973,0,0,-1.08415684528776],[26.983553880702093,93.90327976282835,-7.146767616271973,0,0,-0.8223574574886104],[26.983553880702093,93.90327976282835,-7.146767616271973,0,0,-0.560558069689461],[26.983553880702093,93.90327976282835,-5.146767616271973,0,0,-0.560558069689461],[26.983553880702093,93.90327976282835,-5.146767616271973,0,0,-0.8223574574886103]]}],"statistics":{"complete_actions":58,"sentence_actions":[7,18,14,12,7],"sentence_actions_average":11.6}}
diff --git a/scene_12/3LRLIPTPEZ7IC4O697R83IF93CIKAQ.json b/scene_12/3LRLIPTPEZ7IC4O697R83IF93CIKAQ.json
new file mode 100644
index 0000000000000000000000000000000000000000..29a088bbaee8561c8ab9db6aa86c7544e4d0e662
--- /dev/null
+++ b/scene_12/3LRLIPTPEZ7IC4O697R83IF93CIKAQ.json
@@ -0,0 +1 @@
+{"episode_id":"3LRLIPTPEZ7IC4O697R83IF93CIKAQ","trajectory_id":"3H5TOKO3EHHTPGQ78ZIERDT2ZPN64P","scene_id":12,"instruction":"take off and turn right and fly at the opposite towards the roof building and take right before the electric wires and fly straight to the street lamp. cross the street lamp and fly towards the second roof building of the street and fly near the right side of the building. turn left and fly across the truck and fly straight towards the brown building which has old man painting.","sentence_instructions":[{"id":0,"instruction":"take off and turn right and fly at the opposite towards the roof building and take right before the electric wires and fly straight to the street lamp.","completed_instruction":"Take off, acsend to the same height as the orange building in front, then turn right to face the light brown roof building and fly towards it,  and then turn right in front of the power lines until facing the warehouse with the white roof.","start_frame":0,"end_frame":16,"start_position":[7.931318759918213,74.53087615966797,-4.944058418273926],"start_rotation":[0.99998154924833538,0,0,-0.0060746327377959666],"end_position":[8.113554379605887,89.529769124781,-8.944058418273926],"end_rotation":[0.13654644732631441,0,0,0.99063366979048417],"actions":[4,4,3,3,3,3,3,3,1,1,1,3,3,3,3,3,3],"reference_path":[[7.931318759918213,74.53087615966797,-4.944058418273926,0,0,-0.012149340197170134],[7.931318759918213,74.53087615966797,-6.944058418273926,0,0,-0.012149340197170134],[7.931318759918213,74.53087615966797,-8.944058418273926,0,0,-0.012149340197170134],[7.931318759918213,74.53087615966797,-8.944058418273926,0,0,0.2496500476019793],[7.931318759918213,74.53087615966797,-8.944058418273926,0,0,0.5114494354011287],[7.931318759918213,74.53087615966797,-8.944058418273926,0,0,0.7732488232002781],[7.931318759918213,74.53087615966797,-8.944058418273926,0,0,1.0350482109994275],[7.931318759918213,74.53087615966797,-8.944058418273926,0,0,1.296847598798577],[7.931318759918213,74.53087615966797,-8.944058418273926,0,0,1.5586469865977266],[7.992063966480771,79.53050714803898,-8.944058418273926,0,0,1.5586469865977266],[8.052809173043329,84.53013813640999,-8.944058418273926,0,0,1.5586469865977266],[8.113554379605887,89.529769124781,-8.944058418273926,0,0,1.5586469865977266],[8.113554379605887,89.529769124781,-8.944058418273926,0,0,1.8204463743968762],[8.113554379605887,89.529769124781,-8.944058418273926,0,0,2.0822457621960253],[8.113554379605887,89.529769124781,-8.944058418273926,0,0,2.3440451499951744],[8.113554379605887,89.529769124781,-8.944058418273926,0,0,2.605844537794324],[8.113554379605887,89.529769124781,-8.944058418273926,0,0,2.867643925593473]]},{"id":1,"instruction":"cross the street lamp and fly towards the second roof building of the street and fly near the right side of the building.","completed_instruction":"Fly forward over the white roof, and then keep flying forward to the edge of the red roof.","start_frame":16,"end_frame":32,"start_position":[8.113554379605887,89.529769124781,-8.944058418273926],"start_rotation":[0.13654644732631441,0,0,0.99063366979048417],"end_position":[-49.541567478490116,73.49399262387251,-10.944058418273926],"end_rotation":[0.25294662504993515,0,0,-0.96748023487606583],"actions":[3,3,1,1,1,1,1,1,1,4,1,1,1,1,3,1,1],"reference_path":[[8.113554379605887,89.529769124781,-8.944058418273926,0,0,2.867643925593473],[8.113554379605887,89.529769124781,-8.944058418273926,0,0,3.1294433133926227],[8.113554379605887,89.529769124781,-8.944058418273926,0,0,-2.8919426059878144],[3.2685596696661117,88.29444477034788,-8.944058418273926,0,0,-2.8919426059878144],[-1.5764350402736635,87.05912041591476,-8.944058418273926,0,0,-2.8919426059878144],[-6.421429750213439,85.82379606148164,-8.944058418273926,0,0,-2.8919426059878144],[-11.266424460153214,84.58847170704853,-8.944058418273926,0,0,-2.8919426059878144],[-16.11141917009299,83.35314735261541,-8.944058418273926,0,0,-2.8919426059878144],[-20.956413880032766,82.11782299818229,-8.944058418273926,0,0,-2.8919426059878144],[-25.801408589972542,80.88249864374917,-8.944058418273926,0,0,-2.8919426059878144],[-25.801408589972542,80.88249864374917,-10.944058418273926,0,0,-2.8919426059878144],[-30.64640329991232,79.64717428931606,-10.944058418273926,0,0,-2.8919426059878144],[-35.49139800985209,78.41184993488294,-10.944058418273926,0,0,-2.8919426059878144],[-40.33639271979187,77.17652558044982,-10.944058418273926,0,0,-2.8919426059878144],[-45.18138742973164,75.9412012260167,-10.944058418273926,0,0,-2.8919426059878144],[-45.18138742973164,75.9412012260167,-10.944058418273926,0,0,-2.630143218188665],[-49.541567478490116,73.49399262387251,-10.944058418273926,0,0,-2.630143218188665]]},{"id":2,"instruction":"turn left and fly across the truck and fly straight towards the brown building which has old man painting.","completed_instruction":"Turn left until facing the tall brown building in the distance, then keep flying forward to land in front of the wall painted with green human-shaped graffiti.","start_frame":32,"end_frame":58,"start_position":[-49.541567478490116,73.49399262387251,-10.944058418273926],"start_rotation":[0.25294662504993515,0,0,-0.96748023487606583],"end_position":[-99.86447381245826,142.72263624847827,-8.944058418273926],"end_rotation":[0.50525156089375978,0,0,0.86297210859588],"actions":[1,1,2,2,2,2,2,2,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,5,0],"reference_path":[[-49.541567478490116,73.49399262387251,-10.944058418273926,0,0,-2.630143218188665],[-53.90174752724859,71.04678402172831,-10.944058418273926,0,0,-2.630143218188665],[-58.26192757600706,68.59957541958411,-10.944058418273926,0,0,-2.630143218188665],[-58.26192757600706,68.59957541958411,-10.944058418273926,0,0,-2.8919426059878144],[-58.26192757600706,68.59957541958411,-10.944058418273926,0,0,3.1294433133926227],[-58.26192757600706,68.59957541958411,-10.944058418273926,0,0,2.867643925593473],[-58.26192757600706,68.59957541958411,-10.944058418273926,0,0,2.605844537794324],[-58.26192757600706,68.59957541958411,-10.944058418273926,0,0,2.3440451499951744],[-58.26192757600706,68.59957541958411,-10.944058418273926,0,0,2.082245762196025],[-60.709136178151255,72.95975546834259,-10.944058418273926,0,0,2.082245762196025],[-63.15634478029545,77.31993551710107,-10.944058418273926,0,0,2.082245762196025],[-65.60355338243964,81.68011556585955,-10.944058418273926,0,0,2.082245762196025],[-68.05076198458383,86.04029561461803,-10.944058418273926,0,0,2.082245762196025],[-70.49797058672802,90.40047566337651,-10.944058418273926,0,0,2.082245762196025],[-72.9451791888722,94.76065571213499,-10.944058418273926,0,0,2.082245762196025],[-75.39238779101639,99.12083576089347,-10.944058418273926,0,0,2.082245762196025],[-77.83959639316058,103.48101580965195,-10.944058418273926,0,0,2.082245762196025],[-80.28680499530476,107.84119585841043,-10.944058418273926,0,0,2.082245762196025],[-82.73401359744895,112.20137590716891,-10.944058418273926,0,0,2.082245762196025],[-85.18122219959314,116.56155595592739,-10.944058418273926,0,0,2.082245762196025],[-87.62843080173732,120.92173600468587,-10.944058418273926,0,0,2.082245762196025],[-90.07563940388151,125.28191605344435,-10.944058418273926,0,0,2.082245762196025],[-92.5228480060257,129.64209610220283,-10.944058418273926,0,0,2.082245762196025],[-94.97005660816988,134.0022761509613,-10.944058418273926,0,0,2.082245762196025],[-97.41726521031407,138.3624561997198,-10.944058418273926,0,0,2.082245762196025],[-99.86447381245826,142.72263624847827,-10.944058418273926,0,0,2.082245762196025],[-99.86447381245826,142.72263624847827,-8.944058418273926,0,0,2.082245762196025]]}],"statistics":{"complete_actions":61,"sentence_actions":[17,17,27],"sentence_actions_average":20.33}}
diff --git a/scene_12/3NQL1CS1506XOXGLOHJV8D8WUF1YV7.json b/scene_12/3NQL1CS1506XOXGLOHJV8D8WUF1YV7.json
new file mode 100644
index 0000000000000000000000000000000000000000..db3a49aee8e5d28f2adabb5778119ba95314e3ce
--- /dev/null
+++ b/scene_12/3NQL1CS1506XOXGLOHJV8D8WUF1YV7.json
@@ -0,0 +1 @@
+{"episode_id":"3NQL1CS1506XOXGLOHJV8D8WUF1YV7","trajectory_id":"3Q7TKIAPP18O8XC7OEP9J055XAXDLU","scene_id":12,"instruction":"take off and fly up until above the buildings. turn right towards two beige buildings and fly forward. turn right towards a brown building when above the first beige building. fly forward and turn left towards an orange building when above the brown building. land in front of the orange building.","sentence_instructions":[{"id":0,"instruction":"take off and fly up until above the buildings.","completed_instruction":"Take off and rise to the same height as the red building in front, then turn right to the building with a brown roof and grey walls.","start_frame":0,"end_frame":5,"start_position":[7.931318759918213,74.53087615966797,-4.944058418273926],"start_rotation":[0.9998813113685705,0,0,0.015406595206852577],"end_position":[7.931318759918213,74.53087615966797,-8.944058418273926],"end_rotation":[0.91787402977914934,0,0,0.39687185016952919],"actions":[4,4,3,3,3,3],"reference_path":[[7.931318759918213,74.53087615966797,-4.944058418273926,0,0,0.03081440953005018],[7.931318759918213,74.53087615966797,-6.944058418273926,0,0,0.03081440953005018],[7.931318759918213,74.53087615966797,-8.944058418273926,0,0,0.03081440953005018],[7.931318759918213,74.53087615966797,-8.944058418273926,0,0,0.29261379732919957],[7.931318759918213,74.53087615966797,-8.944058418273926,0,0,0.554413185128349],[7.931318759918213,74.53087615966797,-8.944058418273926,0,0,0.8162125729274985]]},{"id":1,"instruction":"turn right towards two beige buildings and fly forward.","completed_instruction":"Fly forward until reaching the edge of the light brown roof of the mentioned building.","start_frame":5,"end_frame":12,"start_position":[7.931318759918213,74.53087615966797,-8.944058418273926],"start_rotation":[0.91787402977914934,0,0,0.39687185016952919],"end_position":[12.510047820531994,93.99970355603398,-10.944058418273926],"end_rotation":[0.78388023735475343,0,0,0.62091204971771607],"actions":[3,3,1,1,4,1,1,3],"reference_path":[[7.931318759918213,74.53087615966797,-8.944058418273926,0,0,0.8162125729274985],[7.931318759918213,74.53087615966797,-8.944058418273926,0,0,1.078011960726648],[7.931318759918213,74.53087615966797,-8.944058418273926,0,0,1.3398113485257976],[9.076001025071658,79.39808300875947,-8.944058418273926,0,0,1.3398113485257976],[10.220683290225104,84.26528985785097,-8.944058418273926,0,0,1.3398113485257976],[10.220683290225104,84.26528985785097,-10.944058418273926,0,0,1.3398113485257976],[11.365365555378549,89.13249670694248,-10.944058418273926,0,0,1.3398113485257976],[12.510047820531994,93.99970355603398,-10.944058418273926,0,0,1.3398113485257976]]},{"id":2,"instruction":"turn right towards a brown building when above the first beige building.","completed_instruction":"Turn right until facing the brown warehouse with the grey roof.","start_frame":12,"end_frame":20,"start_position":[12.510047820531994,93.99970355603398,-10.944058418273926],"start_rotation":[0.78388023735475343,0,0,0.62091204971771607],"end_position":[10.75967298448759,108.78242220188021,-10.944058418273926],"end_rotation":[0.24390669801878934,0,0,0.96979870213440222],"actions":[3,1,1,3,1,3,3,3,3],"reference_path":[[12.510047820531994,93.99970355603398,-10.944058418273926,0,0,1.3398113485257976],[12.510047820531994,93.99970355603398,-10.944058418273926,0,0,1.6016107363249472],[12.356000154340467,98.9973299242753,-10.944058418273926,0,0,1.6016107363249472],[12.20195248814894,103.99495629251663,-10.944058418273926,0,0,1.6016107363249472],[12.20195248814894,103.99495629251663,-10.944058418273926,0,0,1.8634101241240966],[10.75967298448759,108.78242220188021,-10.944058418273926,0,0,1.8634101241240966],[10.75967298448759,108.78242220188021,-10.944058418273926,0,0,2.125209511923246],[10.75967298448759,108.78242220188021,-10.944058418273926,0,0,2.3870088997223955],[10.75967298448759,108.78242220188021,-10.944058418273926,0,0,2.6488082875215446]]},{"id":3,"instruction":"fly forward and turn left towards an orange building when above the brown building.","completed_instruction":"Fly forward to the edge of the grey roof, then turn left to face the orange building with an iron gate.","start_frame":20,"end_frame":29,"start_position":[10.75967298448759,108.78242220188021,-10.944058418273926],"start_rotation":[0.24390669801878934,0,0,0.96979870213440222],"end_position":[-19.588250375214837,110.7833089437094,-10.944058418273926],"end_rotation":[0.24390669801878934,0,0,0.96979870213440222],"actions":[3,1,1,1,1,7,1,1,2,2],"reference_path":[[10.75967298448759,108.78242220188021,-10.944058418273926,0,0,2.6488082875215446],[10.75967298448759,108.78242220188021,-10.944058418273926,0,0,2.910607675320694],[5.892466135396093,109.92710446703366,-10.944058418273926,0,0,2.910607675320694],[1.0252592863045962,111.0717867321871,-10.944058418273926,0,0,2.910607675320694],[-3.841947562786901,112.21646899734056,-10.944058418273926,0,0,2.910607675320694],[-8.709154411878398,113.361151262494,-10.944058418273926,0,0,2.910607675320694],[-9.853836677031843,108.4939444134025,-10.944058418273926,0,0,2.910607675320694],[-14.72104352612334,109.63862667855595,-10.944058418273926,0,0,2.910607675320694],[-19.588250375214837,110.7833089437094,-10.944058418273926,0,0,2.910607675320694],[-19.588250375214837,110.7833089437094,-10.944058418273926,0,0,2.6488082875215446]]},{"id":4,"instruction":"land in front of the orange building.","completed_instruction":"Fly forward until reaching the entrance of the orange building, and then land on the ground.","start_frame":29,"end_frame":39,"start_position":[-19.588250375214837,110.7833089437094,-10.944058418273926],"start_rotation":[0.24390669801878934,0,0,0.96979870213440222],"end_position":[-35.381584633832205,136.28959430625451,-6.944058418273926],"end_rotation":[0.48659815284932723,0,0,0.87362591401790657],"actions":[2,2,1,1,1,1,1,1,5,5,0],"reference_path":[[-19.588250375214837,110.7833089437094,-10.944058418273926,0,0,2.6488082875215446],[-19.588250375214837,110.7833089437094,-10.944058418273926,0,0,2.3870088997223955],[-19.588250375214837,110.7833089437094,-10.944058418273926,0,0,2.125209511923246],[-22.220472751651066,115.03435650413358,-10.944058418273926,0,0,2.125209511923246],[-24.852695128087294,119.28540406455777,-10.944058418273926,0,0,2.125209511923246],[-27.484917504523523,123.53645162498195,-10.944058418273926,0,0,2.125209511923246],[-30.11713988095975,127.78749918540613,-10.944058418273926,0,0,2.125209511923246],[-32.74936225739598,132.03854674583033,-10.944058418273926,0,0,2.125209511923246],[-35.381584633832205,136.28959430625451,-10.944058418273926,0,0,2.125209511923246],[-35.381584633832205,136.28959430625451,-8.944058418273926,0,0,2.125209511923246],[-35.381584633832205,136.28959430625451,-6.944058418273926,0,0,2.125209511923246]]}],"statistics":{"complete_actions":44,"sentence_actions":[6,8,9,10,11],"sentence_actions_average":8.8}}
diff --git a/scene_12/3ON104KXQTUU5F26PK0KEQN37BRW4U.json b/scene_12/3ON104KXQTUU5F26PK0KEQN37BRW4U.json
new file mode 100644
index 0000000000000000000000000000000000000000..fdbe0a86449c919f1561f92a2e8868c27b55d7cd
--- /dev/null
+++ b/scene_12/3ON104KXQTUU5F26PK0KEQN37BRW4U.json
@@ -0,0 +1 @@
+{"episode_id":"3ON104KXQTUU5F26PK0KEQN37BRW4U","trajectory_id":"3ACRLU861VCHNU4VTWBZBFRLLVHEB4","scene_id":12,"instruction":"take off and turn left to the stairs and turn left at them. go over wires and turn right and go over the stop sign. turn right and go land next to the yellow tractor.","sentence_instructions":[{"id":0,"instruction":"take off and turn left to the stairs and turn left at them.","completed_instruction":"Take off, ascend to the same height as the deep brown building on the left, then turn left to the white elevated platform with stairs, then turn left to face a gray building behind a fence.","start_frame":0,"end_frame":17,"start_position":[18.772573471069336,88.35712432861328,-1.6391370296478271],"start_rotation":[0.99998881703059739,0,0,0.0047292508652403134],"end_position":[16.313641356024302,84.00354501342903,-7.639137029647827],"end_rotation":[0.12583594108114829,0,0,0.99205106518375441],"actions":[4,4,2,2,2,2,2,2,2,2,4,1,2,2,2,2,2,2],"reference_path":[[18.772573471069336,88.35712432861328,-1.6391370296478271,0,0,0.009458536988683491],[18.772573471069336,88.35712432861328,-3.639137029647827,0,0,0.009458536988683491],[18.772573471069336,88.35712432861328,-5.639137029647827,0,0,0.009458536988683491],[18.772573471069336,88.35712432861328,-5.639137029647827,0,0,-0.252340850810466],[18.772573471069336,88.35712432861328,-5.639137029647827,0,0,-0.5141402386096154],[18.772573471069336,88.35712432861328,-5.639137029647827,0,0,-0.7759396264087649],[18.772573471069336,88.35712432861328,-5.639137029647827,0,0,-1.0377390142079144],[18.772573471069336,88.35712432861328,-5.639137029647827,0,0,-1.299538402007064],[18.772573471069336,88.35712432861328,-5.639137029647827,0,0,-1.5613377898062133],[18.772573471069336,88.35712432861328,-5.639137029647827,0,0,-1.8231371776053626],[18.772573471069336,88.35712432861328,-5.639137029647827,0,0,-2.084936565404512],[18.772573471069336,88.35712432861328,-7.639137029647827,0,0,-2.084936565404512],[16.313641356024302,84.00354501342903,-7.639137029647827,0,0,-2.084936565404512],[16.313641356024302,84.00354501342903,-7.639137029647827,0,0,-2.346735953203662],[16.313641356024302,84.00354501342903,-7.639137029647827,0,0,-2.6085353410028116],[16.313641356024302,84.00354501342903,-7.639137029647827,0,0,-2.870334728801961],[16.313641356024302,84.00354501342903,-7.639137029647827,0,0,-3.1321341166011107],[16.313641356024302,84.00354501342903,-7.639137029647827,0,0,2.889251802779326]]},{"id":1,"instruction":"go over wires and turn right and go over the stop sign.","completed_instruction":"Fly forward over the wires and fly ahead until reaching the double yellow lines, and then turn left to face a large gantry crane in the distance.","start_frame":17,"end_frame":25,"start_position":[16.313641356024302,84.00354501342903,-7.639137029647827],"start_rotation":[0.12583594108114829,0,0,0.99205106518375441],"end_position":[-1.5304398207079926,101.51322139416742,-9.639137029647827],"end_rotation":[0.37830989474946869,0,0,0.92567900674836845],"actions":[2,2,1,1,4,1,1,1,1],"reference_path":[[16.313641356024302,84.00354501342903,-7.639137029647827,0,0,2.889251802779326],[16.313641356024302,84.00354501342903,-7.639137029647827,0,0,2.6274524149801763],[16.313641356024302,84.00354501342903,-7.639137029647827,0,0,2.3656530271810268],[12.744825120677843,87.50548028957671,-7.639137029647827,0,0,2.3656530271810268],[9.176008885331385,91.00741556572439,-7.639137029647827,0,0,2.3656530271810268],[9.176008885331385,91.00741556572439,-9.639137029647827,0,0,2.3656530271810268],[5.607192649984926,94.50935084187206,-9.639137029647827,0,0,2.3656530271810268],[2.0383764146384666,98.01128611801974,-9.639137029647827,0,0,2.3656530271810268],[-1.5304398207079926,101.51322139416742,-9.639137029647827,0,0,2.3656530271810268]]},{"id":2,"instruction":"","completed_instruction":"Fly forward until reaching the front of the utility pole, then turn right to face the grey metal pipes tied together on the ground, and keep flying forward until reaching the edge of the road.","start_frame":25,"end_frame":48,"start_position":[-1.5304398207079926,101.51322139416742,-9.639137029647827],"start_rotation":[0.37830989474946869,0,0,0.92567900674836845],"end_position":[-70.10204954127202,123.01574300798757,-9.639137029647827],"end_rotation":[0.0047292508652395943,0,0,-0.99998881703059739],"actions":[1,2,1,1,1,1,2,3,3,3,3,1,3,1,1,1,1,1,1,1,1,1,1,3],"reference_path":[[-1.5304398207079926,101.51322139416742,-9.639137029647827,0,0,2.3656530271810268],[-5.099256056054452,105.0151566703151,-9.639137029647827,0,0,2.3656530271810268],[-5.099256056054452,105.0151566703151,-9.639137029647827,0,0,2.1038536393818776],[-7.640100282871949,109.32144400571762,-9.639137029647827,0,0,2.1038536393818776],[-10.180944509689446,113.62773134112015,-9.639137029647827,0,0,2.1038536393818776],[-12.721788736506944,117.93401867652268,-9.639137029647827,0,0,2.1038536393818776],[-15.262632963324442,122.24030601192521,-9.639137029647827,0,0,2.1038536393818776],[-15.262632963324442,122.24030601192521,-9.639137029647827,0,0,1.842054251582728],[-15.262632963324442,122.24030601192521,-9.639137029647827,0,0,2.1038536393818776],[-15.262632963324442,122.24030601192521,-9.639137029647827,0,0,2.3656530271810268],[-15.262632963324442,122.24030601192521,-9.639137029647827,0,0,2.6274524149801763],[-15.262632963324442,122.24030601192521,-9.639137029647827,0,0,2.889251802779326],[-20.10428612264666,123.48866280580475,-9.639137029647827,0,0,2.889251802779326],[-20.10428612264666,123.48866280580475,-9.639137029647827,0,0,-3.132134116601111],[-25.104062464509195,123.44137082602303,-9.639137029647827,0,0,-3.132134116601111],[-30.10383880637173,123.39407884624131,-9.639137029647827,0,0,-3.132134116601111],[-35.10361514823427,123.3467868664596,-9.639137029647827,0,0,-3.132134116601111],[-40.103391490096804,123.29949488667788,-9.639137029647827,0,0,-3.132134116601111],[-45.10316783195934,123.25220290689616,-9.639137029647827,0,0,-3.132134116601111],[-50.102944173821875,123.20491092711444,-9.639137029647827,0,0,-3.132134116601111],[-55.10272051568441,123.15761894733272,-9.639137029647827,0,0,-3.132134116601111],[-60.102496857546946,123.110326967551,-9.639137029647827,0,0,-3.132134116601111],[-65.10227319940948,123.06303498776929,-9.639137029647827,0,0,-3.132134116601111],[-70.10204954127202,123.01574300798757,-9.639137029647827,0,0,-3.132134116601111]]},{"id":3,"instruction":"turn right and go land next to the yellow tractor.","completed_instruction":"Turn right to face the yellow tractor and land next to it.","start_frame":48,"end_frame":67,"start_position":[-70.10204954127202,123.01574300798757,-9.639137029647827],"start_rotation":[0.0047292508652395943,0,0,-0.99998881703059739],"end_position":[-87.82548974672599,91.1103444041585,-3.639137029647827],"end_rotation":[0.79622345375996917,0,0,-0.60500265427727362],"actions":[3,1,1,1,3,3,1,3,3,1,1,3,1,3,1,1,5,5,5,0],"reference_path":[[-70.10204954127202,123.01574300798757,-9.639137029647827,0,0,-3.132134116601111],[-70.10204954127202,123.01574300798757,-9.639137029647827,0,0,-2.8703347288019616],[-74.91922257049802,121.67602512481302,-9.639137029647827,0,0,-2.8703347288019616],[-79.73639559972402,120.33630724163848,-9.639137029647827,0,0,-2.8703347288019616],[-84.55356862895002,118.99658935846394,-9.639137029647827,0,0,-2.8703347288019616],[-84.55356862895002,118.99658935846394,-9.639137029647827,0,0,-2.6085353410028125],[-84.55356862895002,118.99658935846394,-9.639137029647827,0,0,-2.3467359532036633],[-88.0555039050977,115.42777312311748,-9.639137029647827,0,0,-2.3467359532036633],[-88.0555039050977,115.42777312311748,-9.639137029647827,0,0,-2.0849365654045138],[-88.0555039050977,115.42777312311748,-9.639137029647827,0,0,-1.8231371776053644],[-89.30386069897723,110.58611996379526,-9.639137029647827,0,0,-1.8231371776053644],[-90.55221749285677,105.74446680447303,-9.639137029647827,0,0,-1.8231371776053644],[-90.55221749285677,105.74446680447303,-9.639137029647827,0,0,-1.561337789806215],[-90.50492551307505,100.74469046261049,-9.639137029647827,0,0,-1.561337789806215],[-90.50492551307505,100.74469046261049,-9.639137029647827,0,0,-1.2995384020070657],[-89.16520762990052,95.9275174333845,-9.639137029647827,0,0,-1.2995384020070657],[-87.82548974672599,91.1103444041585,-9.639137029647827,0,0,-1.2995384020070657],[-87.82548974672599,91.1103444041585,-7.639137029647827,0,0,-1.2995384020070657],[-87.82548974672599,91.1103444041585,-5.639137029647827,0,0,-1.2995384020070657],[-87.82548974672599,91.1103444041585,-3.639137029647827,0,0,-1.2995384020070657]]}],"statistics":{"complete_actions":71,"sentence_actions":[18,9,24,20],"sentence_actions_average":17.75}}
diff --git a/scene_12/3OVHNO1VEFZBZ6Q4TILKGYBSQ9HDZ0.json b/scene_12/3OVHNO1VEFZBZ6Q4TILKGYBSQ9HDZ0.json
new file mode 100644
index 0000000000000000000000000000000000000000..41e6978c6765583030310b112c5f306085badc97
--- /dev/null
+++ b/scene_12/3OVHNO1VEFZBZ6Q4TILKGYBSQ9HDZ0.json
@@ -0,0 +1 @@
+{"episode_id":"3OVHNO1VEFZBZ6Q4TILKGYBSQ9HDZ0","trajectory_id":"3T5ZXGO9EMM22VXG81M2REN20D5ZQE","scene_id":12,"instruction":"take off and turn right and move forward towards the ash building terrace. now turn left and move forward and cross the road towards top of the ash building. now turn right and go over the buildings and get down reach the road and landed.","sentence_instructions":[{"id":0,"instruction":"take off and turn right and move forward towards the ash building terrace.","completed_instruction":"Take off, rise to the same height as the utility pole, then turn right until facing the two-story grey building and fly forward to the top of its roof.","start_frame":0,"end_frame":14,"start_position":[-94.98247528076172,53.53457260131836,-1.7954952716827393],"start_rotation":[0.99999949085896522,0,0,0.0010090995046759834],"end_position":[-98.52513739374828,57.06296389951781,-9.79549527168274],"end_rotation":[0.38175095114661345,0,0,0.924265227788353],"actions":[4,4,3,3,3,3,3,3,3,3,3,4,1,4,1],"reference_path":[[-94.98247528076172,53.53457260131836,-1.7954952716827393,0,0,0.002018199351868014],[-94.98247528076172,53.53457260131836,-3.7954952716827393,0,0,0.002018199351868014],[-94.98247528076172,53.53457260131836,-5.795495271682739,0,0,0.002018199351868014],[-94.98247528076172,53.53457260131836,-5.795495271682739,0,0,0.26381758715101744],[-94.98247528076172,53.53457260131836,-5.795495271682739,0,0,0.5256169749501669],[-94.98247528076172,53.53457260131836,-5.795495271682739,0,0,0.7874163627493163],[-94.98247528076172,53.53457260131836,-5.795495271682739,0,0,1.0492157505484658],[-94.98247528076172,53.53457260131836,-5.795495271682739,0,0,1.3110151383476154],[-94.98247528076172,53.53457260131836,-5.795495271682739,0,0,1.5728145261467648],[-94.98247528076172,53.53457260131836,-5.795495271682739,0,0,1.8346139139459143],[-94.98247528076172,53.53457260131836,-5.795495271682739,0,0,2.0964133017450637],[-94.98247528076172,53.53457260131836,-5.795495271682739,0,0,2.3582126895442133],[-94.98247528076172,53.53457260131836,-7.795495271682739,0,0,2.3582126895442133],[-98.52513739374828,57.06296389951781,-7.795495271682739,0,0,2.3582126895442133],[-98.52513739374828,57.06296389951781,-9.79549527168274,0,0,2.3582126895442133]]},{"id":1,"instruction":"now turn left and move forward and cross the road towards top of the ash building.","completed_instruction":"Turn left to face the orange forklift, and then keep flying forward until reaching the edge of the black roof.","start_frame":14,"end_frame":39,"start_position":[-98.52513739374828,57.06296389951781,-9.79549527168274],"start_rotation":[0.38175095114661345,0,0,0.924265227788353],"end_position":[-56.09963337662636,97.32633849468981,-7.795495271682739],"end_rotation":[0.92349289646425814,0,0,0.38361552390388859],"actions":[1,4,1,2,2,2,2,2,2,2,1,1,1,1,1,1,5,1,1,1,5,3,1,1,1,1],"reference_path":[[-98.52513739374828,57.06296389951781,-9.79549527168274,0,0,2.3582126895442133],[-102.06779950673484,60.59135519771726,-9.79549527168274,0,0,2.3582126895442133],[-102.06779950673484,60.59135519771726,-11.79549527168274,0,0,2.3582126895442133],[-105.6104616197214,64.11974649591671,-11.79549527168274,0,0,2.3582126895442133],[-105.6104616197214,64.11974649591671,-11.79549527168274,0,0,2.0964133017450637],[-105.6104616197214,64.11974649591671,-11.79549527168274,0,0,1.8346139139459143],[-105.6104616197214,64.11974649591671,-11.79549527168274,0,0,1.5728145261467648],[-105.6104616197214,64.11974649591671,-11.79549527168274,0,0,1.3110151383476154],[-105.6104616197214,64.11974649591671,-11.79549527168274,0,0,1.049215750548466],[-105.6104616197214,64.11974649591671,-11.79549527168274,0,0,0.7874163627493167],[-105.6104616197214,64.11974649591671,-11.79549527168274,0,0,0.5256169749501672],[-101.28538891433288,66.6284804581182,-11.79549527168274,0,0,0.5256169749501672],[-96.96031620894436,69.1372144203197,-11.79549527168274,0,0,0.5256169749501672],[-92.63524350355584,71.64594838252118,-11.79549527168274,0,0,0.5256169749501672],[-88.31017079816732,74.15468234472267,-11.79549527168274,0,0,0.5256169749501672],[-83.9850980927788,76.66341630692416,-11.79549527168274,0,0,0.5256169749501672],[-79.66002538739028,79.17215026912565,-11.79549527168274,0,0,0.5256169749501672],[-79.66002538739028,79.17215026912565,-9.79549527168274,0,0,0.5256169749501672],[-75.33495268200176,81.68088423132714,-9.79549527168274,0,0,0.5256169749501672],[-71.00987997661323,84.18961819352863,-9.79549527168274,0,0,0.5256169749501672],[-66.68480727122471,86.69835215573012,-9.79549527168274,0,0,0.5256169749501672],[-66.68480727122471,86.69835215573012,-7.795495271682739,0,0,0.5256169749501672],[-66.68480727122471,86.69835215573012,-7.795495271682739,0,0,0.7874163627493167],[-63.15641597302526,90.24101426871668,-7.795495271682739,0,0,0.7874163627493167],[-59.62802467482581,93.78367638170324,-7.795495271682739,0,0,0.7874163627493167],[-56.09963337662636,97.32633849468981,-7.795495271682739,0,0,0.7874163627493167]]},{"id":2,"instruction":"now turn right and go over the buildings and get down reach the road and landed.","completed_instruction":"Turn right to face the illuminated exterior wall of the building, then fly forward over the building and then cross the first crosswalk, and land on the ground in the second crosswalk.","start_frame":39,"end_frame":61,"start_position":[-56.09963337662636,97.32633849468981,-7.795495271682739],"start_rotation":[0.92349289646425814,0,0,0.38361552390388859],"end_position":[-84.46947191009308,139.6955757026574,-3.7954952716827393],"end_rotation":[0.38175095114661345,0,0,0.924265227788353],"actions":[1,1,3,3,3,3,3,3,1,4,1,1,1,1,1,1,1,1,1,5,5,5,0],"reference_path":[[-56.09963337662636,97.32633849468981,-7.795495271682739,0,0,0.7874163627493167],[-52.571242078426906,100.86900060767637,-7.795495271682739,0,0,0.7874163627493167],[-49.042850780227454,104.41166272066293,-7.795495271682739,0,0,0.7874163627493167],[-49.042850780227454,104.41166272066293,-7.795495271682739,0,0,1.049215750548466],[-49.042850780227454,104.41166272066293,-7.795495271682739,0,0,1.3110151383476154],[-49.042850780227454,104.41166272066293,-7.795495271682739,0,0,1.5728145261467648],[-49.042850780227454,104.41166272066293,-7.795495271682739,0,0,1.8346139139459143],[-49.042850780227454,104.41166272066293,-7.795495271682739,0,0,2.0964133017450637],[-49.042850780227454,104.41166272066293,-7.795495271682739,0,0,2.3582126895442133],[-52.585512893214016,107.94005401886238,-7.795495271682739,0,0,2.3582126895442133],[-52.585512893214016,107.94005401886238,-9.79549527168274,0,0,2.3582126895442133],[-56.12817500620058,111.46844531706184,-9.79549527168274,0,0,2.3582126895442133],[-59.67083711918714,114.99683661526129,-9.79549527168274,0,0,2.3582126895442133],[-63.2134992321737,118.52522791346074,-9.79549527168274,0,0,2.3582126895442133],[-66.75616134516027,122.05361921166019,-9.79549527168274,0,0,2.3582126895442133],[-70.29882345814683,125.58201050985964,-9.79549527168274,0,0,2.3582126895442133],[-73.84148557113339,129.1104018080591,-9.79549527168274,0,0,2.3582126895442133],[-77.38414768411995,132.63879310625853,-9.79549527168274,0,0,2.3582126895442133],[-80.92680979710651,136.16718440445797,-9.79549527168274,0,0,2.3582126895442133],[-84.46947191009308,139.6955757026574,-9.79549527168274,0,0,2.3582126895442133],[-84.46947191009308,139.6955757026574,-7.795495271682739,0,0,2.3582126895442133],[-84.46947191009308,139.6955757026574,-5.795495271682739,0,0,2.3582126895442133],[-84.46947191009308,139.6955757026574,-3.7954952716827393,0,0,2.3582126895442133]]}],"statistics":{"complete_actions":64,"sentence_actions":[15,26,23],"sentence_actions_average":21.33}}
diff --git a/scene_12/3PJ71Z61RD021KSF9R7Q288PXUC19K.json b/scene_12/3PJ71Z61RD021KSF9R7Q288PXUC19K.json
new file mode 100644
index 0000000000000000000000000000000000000000..f121e3d48abb7cf3ef8cd3d7078de1a20fac0d91
--- /dev/null
+++ b/scene_12/3PJ71Z61RD021KSF9R7Q288PXUC19K.json
@@ -0,0 +1 @@
+{"episode_id":"3PJ71Z61RD021KSF9R7Q288PXUC19K","trajectory_id":"3YD0MU1NDAZRV5KT0AXXAUFYHQ17AP","scene_id":12,"instruction":"lift off and head straight towards the empty warehouse. before the warehouse turn left facing the pile of pipes and head straight. at the intersection turn right facing the tan roofs and head straight. at the tan roofs turn left facing the non flat white roof and head straight. at the intersection turn right facing the platform and head straight. just past the platform land after it.","sentence_instructions":[{"id":0,"instruction":"lift off and head straight towards the empty warehouse.","completed_instruction":"Lift off, rise up to the height higher than the brown building with white roof in front and fly straight ahead until reaching the edge of dark grey warehouse\u0027s roof.","start_frame":0,"end_frame":9,"start_position":[-9.30901050567627,161.94236755371094,-2.0604546070098877],"start_rotation":[0.99987174679362589,0,0,-0.016015304051537348],"end_position":[15.678164996130572,161.14170505183878,-10.060454607009888],"end_rotation":[0.99987174679362589,0,0,-0.016015304051537348],"actions":[4,4,4,4,1,1,1,1,1,1],"reference_path":[[-9.30901050567627,161.94236755371094,-2.0604546070098877,0,0,-0.03203197751605804],[-9.30901050567627,161.94236755371094,-4.060454607009888,0,0,-0.03203197751605804],[-9.30901050567627,161.94236755371094,-6.060454607009888,0,0,-0.03203197751605804],[-9.30901050567627,161.94236755371094,-8.060454607009888,0,0,-0.03203197751605804],[-9.30901050567627,161.94236755371094,-10.060454607009888,0,0,-0.03203197751605804],[-4.311575405314901,161.7822350533365,-10.060454607009888,0,0,-0.03203197751605804],[0.6858596950464673,161.62210255296208,-10.060454607009888,0,0,-0.03203197751605804],[5.683294795407836,161.46197005258765,-10.060454607009888,0,0,-0.03203197751605804],[10.680729895769204,161.30183755221321,-10.060454607009888,0,0,-0.03203197751605804],[15.678164996130572,161.14170505183878,-10.060454607009888,0,0,-0.03203197751605804]]},{"id":1,"instruction":"before the warehouse turn left facing the pile of pipes and head straight.","completed_instruction":"Turn left until facing the intersection, and then fly forward to the middle of the intersection.","start_frame":9,"end_frame":27,"start_position":[15.678164996130572,161.14170505183878,-10.060454607009888],"start_rotation":[0.99987174679362589,0,0,-0.016015304051537348],"end_position":[0.3708395763013921,143.9454542493857,-10.060454607009888],"end_rotation":[0.36783814036770263,0,0,-0.92988983352375154],"actions":[1,1,2,2,2,2,2,2,2,2,2,1,1,1,1,1,1,6,1],"reference_path":[[15.678164996130572,161.14170505183878,-10.060454607009888,0,0,-0.03203197751605804],[20.67560009649194,160.98157255146435,-10.060454607009888,0,0,-0.03203197751605804],[25.67303519685331,160.82144005108992,-10.060454607009888,0,0,-0.03203197751605804],[25.67303519685331,160.82144005108992,-10.060454607009888,0,0,-0.2938313653152075],[25.67303519685331,160.82144005108992,-10.060454607009888,0,0,-0.555630753114357],[25.67303519685331,160.82144005108992,-10.060454607009888,0,0,-0.8174301409135063],[25.67303519685331,160.82144005108992,-10.060454607009888,0,0,-1.0792295287126557],[25.67303519685331,160.82144005108992,-10.060454607009888,0,0,-1.341028916511805],[25.67303519685331,160.82144005108992,-10.060454607009888,0,0,-1.6028283043109546],[25.67303519685331,160.82144005108992,-10.060454607009888,0,0,-1.8646276921101042],[25.67303519685331,160.82144005108992,-10.060454607009888,0,0,-2.1264270799092535],[25.67303519685331,160.82144005108992,-10.060454607009888,0,0,-2.3882264677084026],[22.026084171945005,157.40095057998784,-10.060454607009888,0,0,-2.3882264677084026],[18.3791331470367,153.98046110888575,-10.060454607009888,0,0,-2.3882264677084026],[14.732182122128396,150.55997163778366,-10.060454607009888,0,0,-2.3882264677084026],[11.085231097220092,147.13948216668157,-10.060454607009888,0,0,-2.3882264677084026],[7.4382800723117874,143.7189926955795,-10.060454607009888,0,0,-2.3882264677084026],[3.791329047403483,140.2985032244774,-10.060454607009888,0,0,-2.3882264677084026],[0.3708395763013921,143.9454542493857,-10.060454607009888,0,0,-2.3882264677084026]]},{"id":2,"instruction":"at the intersection turn right facing the tan roofs and head straight.","completed_instruction":"Turn right to face a grey building with corrugated metal roof, surrounded by power lines and utility poles, and fly to the middle top of its roof.","start_frame":27,"end_frame":35,"start_position":[0.3708395763013921,143.9454542493857,-10.060454607009888],"start_rotation":[0.36783814036770263,0,0,-0.92988983352375154],"end_position":[-6.923062473515216,137.10447530718153,-10.060454607009888],"end_rotation":[0.917632250474126,0,0,-0.3974305636080232],"actions":[1,1,3,3,3,3,3,3,1],"reference_path":[[0.3708395763013921,143.9454542493857,-10.060454607009888,0,0,-2.3882264677084026],[-3.2761114486069123,140.52496477828362,-10.060454607009888,0,0,-2.3882264677084026],[-6.923062473515216,137.10447530718153,-10.060454607009888,0,0,-2.3882264677084026],[-6.923062473515216,137.10447530718153,-10.060454607009888,0,0,-2.1264270799092535],[-6.923062473515216,137.10447530718153,-10.060454607009888,0,0,-1.864627692110104],[-6.923062473515216,137.10447530718153,-10.060454607009888,0,0,-1.6028283043109546],[-6.923062473515216,137.10447530718153,-10.060454607009888,0,0,-1.3410289165118052],[-6.923062473515216,137.10447530718153,-10.060454607009888,0,0,-1.0792295287126559],[-6.923062473515216,137.10447530718153,-10.060454607009888,0,0,-0.8174301409135064]]},{"id":3,"instruction":"at the tan roofs turn left facing the non flat white roof and head straight.","completed_instruction":"Turn left to face the intersection and then fly forward to the center of the intersection.","start_frame":35,"end_frame":48,"start_position":[-6.923062473515216,137.10447530718153,-10.060454607009888],"start_rotation":[0.917632250474126,0,0,-0.3974305636080232],"end_position":[-8.687837839900919,103.68319829180503,-10.060454607009888],"end_rotation":[0.59597755843846656,0,0,-0.80300108956197824],"actions":[1,1,1,2,2,2,2,1,1,1,1,1,6,1],"reference_path":[[-6.923062473515216,137.10447530718153,-10.060454607009888,0,0,-0.8174301409135064],[-3.5025730024131256,133.45752428227323,-10.060454607009888,0,0,-0.8174301409135064],[-0.08208353131103507,129.81057325736492,-10.060454607009888,0,0,-0.8174301409135064],[3.3384059397910555,126.16362223245662,-10.060454607009888,0,0,-0.8174301409135064],[3.3384059397910555,126.16362223245662,-10.060454607009888,0,0,-1.0792295287126559],[3.3384059397910555,126.16362223245662,-10.060454607009888,0,0,-1.3410289165118052],[3.3384059397910555,126.16362223245662,-10.060454607009888,0,0,-1.6028283043109548],[3.3384059397910555,126.16362223245662,-10.060454607009888,0,0,-1.8646276921101042],[1.8902984414138129,121.37791594465085,-10.060454607009888,0,0,-1.8646276921101042],[0.44219094303657025,116.59220965684509,-10.060454607009888,0,0,-1.8646276921101042],[-1.0059165553406724,111.80650336903932,-10.060454607009888,0,0,-1.8646276921101042],[-2.454024053717915,107.02079708123355,-10.060454607009888,0,0,-1.8646276921101042],[-3.902131552095158,102.23509079342779,-10.060454607009888,0,0,-1.8646276921101042],[-8.687837839900919,103.68319829180503,-10.060454607009888,0,0,-1.8646276921101042]]},{"id":4,"instruction":"at the intersection turn right facing the platform and head straight.","completed_instruction":"Turn right to face a grey high platform with industrial equipment and stairs, and fly ahead to the cylinder on the platform.","start_frame":48,"end_frame":58,"start_position":[-8.687837839900919,103.68319829180503,-10.060454607009888],"start_rotation":[0.59597755843846656,0,0,-0.80300108956197824],"end_position":[-2.770691921726373,78.38522635366282,-10.060454607009888],"end_rotation":[0.917632250474126,0,0,-0.3974305636080232],"actions":[1,1,1,3,3,3,3,1,1,1,1],"reference_path":[[-8.687837839900919,103.68319829180503,-10.060454607009888,0,0,-1.8646276921101042],[-10.13594533827816,98.89749200399926,-10.060454607009888,0,0,-1.8646276921101042],[-11.584052836655403,94.1117857161935,-10.060454607009888,0,0,-1.8646276921101042],[-13.032160335032644,89.32607942838773,-10.060454607009888,0,0,-1.8646276921101042],[-13.032160335032644,89.32607942838773,-10.060454607009888,0,0,-1.6028283043109548],[-13.032160335032644,89.32607942838773,-10.060454607009888,0,0,-1.3410289165118052],[-13.032160335032644,89.32607942838773,-10.060454607009888,0,0,-1.0792295287126559],[-13.032160335032644,89.32607942838773,-10.060454607009888,0,0,-0.8174301409135064],[-9.611670863930554,85.67912840347942,-10.060454607009888,0,0,-0.8174301409135064],[-6.191181392828463,82.03217737857112,-10.060454607009888,0,0,-0.8174301409135064],[-2.770691921726373,78.38522635366282,-10.060454607009888,0,0,-0.8174301409135064]]},{"id":5,"instruction":"just past the platform land after it.","completed_instruction":"Fly forward over the platform to land in front of the grey wall.","start_frame":58,"end_frame":67,"start_position":[-2.770691921726373,78.38522635366282,-10.060454607009888],"start_rotation":[0.917632250474126,0,0,-0.3974305636080232],"end_position":[17.75224490488617,56.50352020421299,-4.060454607009888],"end_rotation":[0.917632250474126,0,0,-0.3974305636080232],"actions":[1,1,1,1,1,1,5,5,5,0],"reference_path":[[-2.770691921726373,78.38522635366282,-10.060454607009888,0,0,-0.8174301409135064],[0.6497975493757178,74.73827532875451,-10.060454607009888,0,0,-0.8174301409135064],[4.070287020477808,71.0913243038462,-10.060454607009888,0,0,-0.8174301409135064],[7.490776491579899,67.4443732789379,-10.060454607009888,0,0,-0.8174301409135064],[10.91126596268199,63.7974222540296,-10.060454607009888,0,0,-0.8174301409135064],[14.33175543378408,60.150471229121294,-10.060454607009888,0,0,-0.8174301409135064],[17.75224490488617,56.50352020421299,-10.060454607009888,0,0,-0.8174301409135064],[17.75224490488617,56.50352020421299,-8.060454607009888,0,0,-0.8174301409135064],[17.75224490488617,56.50352020421299,-6.060454607009888,0,0,-0.8174301409135064],[17.75224490488617,56.50352020421299,-4.060454607009888,0,0,-0.8174301409135064]]}],"statistics":{"complete_actions":73,"sentence_actions":[10,19,9,14,11,10],"sentence_actions_average":12.17}}
diff --git a/scene_12/3RANCT1ZVOF1YAYA9ZV64G8CWN1UB3.json b/scene_12/3RANCT1ZVOF1YAYA9ZV64G8CWN1UB3.json
new file mode 100644
index 0000000000000000000000000000000000000000..651b4b6e2b2f515654539e98b8f2fc922452ce10
--- /dev/null
+++ b/scene_12/3RANCT1ZVOF1YAYA9ZV64G8CWN1UB3.json
@@ -0,0 +1 @@
+{"episode_id":"3RANCT1ZVOF1YAYA9ZV64G8CWN1UB3","trajectory_id":"3IQ9O0AYXEXTZL0YP1SBWOVZJVOTII","scene_id":12,"instruction":"take off and turn left and go over orange and gray roof to pipes. turn right and go to road and then go to the ladder and the pipe. go forward and land on the road next to the fence.","sentence_instructions":[{"id":0,"instruction":"take off and turn left and go over orange and gray roof to pipes.","completed_instruction":"Take off, ascend to the height of the roof of red buildind, and turn left to face the red roof and fly accross it, and then turn left to face a row of grey pipes tied together on the gound.","start_frame":0,"end_frame":14,"start_position":[-75.86724090576172,82.67501068115234,-1.996213674545288],"start_rotation":[0.99984348270088752,0,0,-0.01769209146935816],"end_position":[-56.33385554042948,67.40331778035886,-11.996213674545288],"end_rotation":[0.85704381009259645,0,0,-0.51524354200898581],"actions":[4,4,4,4,2,2,1,1,4,1,2,1,1,2,2],"reference_path":[[-75.86724090576172,82.67501068115234,-1.996213674545288,0,0,-0.03538602913321635],[-75.86724090576172,82.67501068115234,-3.996213674545288,0,0,-0.03538602913321635],[-75.86724090576172,82.67501068115234,-5.996213674545288,0,0,-0.03538602913321635],[-75.86724090576172,82.67501068115234,-7.996213674545288,0,0,-0.03538602913321635],[-75.86724090576172,82.67501068115234,-9.996213674545288,0,0,-0.03538602913321635],[-75.86724090576172,82.67501068115234,-9.996213674545288,0,0,-0.2971854169323658],[-75.86724090576172,82.67501068115234,-9.996213674545288,0,0,-0.5589848047315151],[-71.62827124558171,80.02338170633828,-9.996213674545288,0,0,-0.5589848047315151],[-67.38930158540171,77.37175273152423,-9.996213674545288,0,0,-0.5589848047315151],[-67.38930158540171,77.37175273152423,-11.996213674545288,0,0,-0.5589848047315151],[-63.15033192522171,74.72012375671017,-11.996213674545288,0,0,-0.5589848047315151],[-63.15033192522171,74.72012375671017,-11.996213674545288,0,0,-0.8207841925306646],[-59.742093732825595,71.06172076853451,-11.996213674545288,0,0,-0.8207841925306646],[-56.33385554042948,67.40331778035886,-11.996213674545288,0,0,-0.8207841925306646],[-56.33385554042948,67.40331778035886,-11.996213674545288,0,0,-1.082583580329814]]},{"id":1,"instruction":"turn right and go to road and then go to the ladder and the pipe.","completed_instruction":"Turn right to face the red roof in the distance, and then fly forward until flying across the red container on the ground.","start_frame":14,"end_frame":24,"start_position":[-56.33385554042948,67.40331778035886,-11.996213674545288],"start_rotation":[0.85704381009259645,0,0,-0.51524354200898581],"end_position":[-37.21056613702464,61.54671446498703,-9.996213674545288],"end_rotation":[0.988980401769985,0,0,-0.14804649578723247],"actions":[2,5,3,3,3,3,1,1,1,1,1],"reference_path":[[-56.33385554042948,67.40331778035886,-11.996213674545288,0,0,-1.082583580329814],[-56.33385554042948,67.40331778035886,-11.996213674545288,0,0,-1.3443829681289634],[-56.33385554042948,67.40331778035886,-9.996213674545288,0,0,-1.3443829681289634],[-56.33385554042948,67.40331778035886,-9.996213674545288,0,0,-1.082583580329814],[-56.33385554042948,67.40331778035886,-9.996213674545288,0,0,-0.8207841925306646],[-56.33385554042948,67.40331778035886,-9.996213674545288,0,0,-0.5589848047315152],[-56.33385554042948,67.40331778035886,-9.996213674545288,0,0,-0.29718541693236583],[-51.55303318957827,65.9391669515159,-9.996213674545288,0,0,-0.29718541693236583],[-46.77221083872706,64.47501612267294,-9.996213674545288,0,0,-0.29718541693236583],[-41.99138848787585,63.01086529382999,-9.996213674545288,0,0,-0.29718541693236583],[-37.21056613702464,61.54671446498703,-9.996213674545288,0,0,-0.29718541693236583]]},{"id":2,"instruction":"go forward and land on the road next to the fence.","completed_instruction":"Turn right until facing the light brown roof building behind the intersection, and fly forward to the middle of the intersection and then turn left towards the vertical grey cylinder.","start_frame":24,"end_frame":40,"start_position":[-37.21056613702464,61.54671446498703,-9.996213674545288],"start_rotation":[0.988980401769985,0,0,-0.14804649578723247],"end_position":[-12.626542652376148,77.91953237220149,-9.996213674545288],"end_rotation":[0.99984348270088752,0,0,-0.017692091469358136],"actions":[1,1,3,3,3,1,3,3,1,1,1,1,2,2,2,2,2],"reference_path":[[-37.21056613702464,61.54671446498703,-9.996213674545288,0,0,-0.29718541693236583],[-32.42974378617343,60.08256363614408,-9.996213674545288,0,0,-0.29718541693236583],[-27.648921435322222,58.61841280730113,-9.996213674545288,0,0,-0.29718541693236583],[-27.648921435322222,58.61841280730113,-9.996213674545288,0,0,-0.03538602913321642],[-27.648921435322222,58.61841280730113,-9.996213674545288,0,0,0.226413358665933],[-27.648921435322222,58.61841280730113,-9.996213674545288,0,0,0.48821274646508245],[-23.23305855163236,60.96365373148147,-9.996213674545288,0,0,0.48821274646508245],[-23.23305855163236,60.96365373148147,-9.996213674545288,0,0,0.750012134264232],[-23.23305855163236,60.96365373148147,-9.996213674545288,0,0,1.0118115220633814],[-20.58142957681831,65.20262339166148,-9.996213674545288,0,0,1.0118115220633814],[-17.929800602004256,69.44159305184148,-9.996213674545288,0,0,1.0118115220633814],[-15.278171627190202,73.68056271202148,-9.996213674545288,0,0,1.0118115220633814],[-12.626542652376148,77.91953237220149,-9.996213674545288,0,0,1.0118115220633814],[-12.626542652376148,77.91953237220149,-9.996213674545288,0,0,0.750012134264232],[-12.626542652376148,77.91953237220149,-9.996213674545288,0,0,0.48821274646508256],[-12.626542652376148,77.91953237220149,-9.996213674545288,0,0,0.22641335866593312],[-12.626542652376148,77.91953237220149,-9.996213674545288,0,0,-0.0353860291332163]]},{"id":3,"instruction":"","completed_instruction":"Fly towards the vertical grey cylinder, turn left to face the light brown shed in front of the cylinder, then turn right to face the cylinder and fly forward from the right side of the cylinder to the top of the horizontal cylinder.","start_frame":40,"end_frame":55,"start_position":[-12.626542652376148,77.91953237220149,-9.996213674545288],"start_rotation":[0.99984348270088752,0,0,-0.017692091469358136],"end_position":[-3.0261839693405768,67.7438854013343,-9.996213674545288],"end_rotation":[0.99984348270088752,0,0,-0.017692091469358198],"actions":[2,2,1,4,1,2,2,2,1,5,3,3,3,3,3,1],"reference_path":[[-12.626542652376148,77.91953237220149,-9.996213674545288,0,0,-0.0353860291332163],[-12.626542652376148,77.91953237220149,-9.996213674545288,0,0,-0.2971854169323657],[-12.626542652376148,77.91953237220149,-9.996213674545288,0,0,-0.5589848047315151],[-8.387572992196144,75.26790339738743,-9.996213674545288,0,0,-0.5589848047315151],[-8.387572992196144,75.26790339738743,-11.996213674545288,0,0,-0.5589848047315151],[-4.148603332016141,72.61627442257337,-11.996213674545288,0,0,-0.5589848047315151],[-4.148603332016141,72.61627442257337,-11.996213674545288,0,0,-0.8207841925306646],[-4.148603332016141,72.61627442257337,-11.996213674545288,0,0,-1.082583580329814],[-4.148603332016141,72.61627442257337,-11.996213674545288,0,0,-1.3443829681289634],[-3.0261839693405768,67.7438854013343,-11.996213674545288,0,0,-1.3443829681289634],[-3.0261839693405768,67.7438854013343,-9.996213674545288,0,0,-1.3443829681289634],[-3.0261839693405768,67.7438854013343,-9.996213674545288,0,0,-1.082583580329814],[-3.0261839693405768,67.7438854013343,-9.996213674545288,0,0,-0.8207841925306646],[-3.0261839693405768,67.7438854013343,-9.996213674545288,0,0,-0.5589848047315152],[-3.0261839693405768,67.7438854013343,-9.996213674545288,0,0,-0.29718541693236583],[-3.0261839693405768,67.7438854013343,-9.996213674545288,0,0,-0.03538602913321642]]},{"id":4,"instruction":"","completed_instruction":"Turn right to face the white-roofed building and fly forward until reaching the top of the double yellow lines.","start_frame":55,"end_frame":65,"start_position":[-3.0261839693405768,67.7438854013343,-9.996213674545288],"start_rotation":[0.99984348270088752,0,0,-0.017692091469358198],"end_position":[17.818283915419823,78.91412611768833,-9.996213674545288],"end_rotation":[0.93050539967136381,0,0,0.36627817459198336],"actions":[1,3,5,1,3,3,4,1,1,1,1],"reference_path":[[-3.0261839693405768,67.7438854013343,-9.996213674545288,0,0,-0.03538602913321642],[1.9706859296538224,67.56699217782443,-9.996213674545288,0,0,-0.03538602913321642],[1.9706859296538224,67.56699217782443,-9.996213674545288,0,0,0.226413358665933],[1.9706859296538224,67.56699217782443,-7.996213674545288,0,0,0.226413358665933],[6.843074950892888,68.68941154049999,-7.996213674545288,0,0,0.226413358665933],[6.843074950892888,68.68941154049999,-7.996213674545288,0,0,0.48821274646508245],[6.843074950892888,68.68941154049999,-7.996213674545288,0,0,0.750012134264232],[6.843074950892888,68.68941154049999,-9.996213674545288,0,0,0.750012134264232],[10.501477939068533,72.0976497328961,-9.996213674545288,0,0,0.750012134264232],[14.159880927244178,75.50588792529221,-9.996213674545288,0,0,0.750012134264232],[17.818283915419823,78.91412611768833,-9.996213674545288,0,0,0.750012134264232]]},{"id":5,"instruction":"","completed_instruction":"Turn left to face the crosswalk in the distance, and fly across it and land on the ground.","start_frame":65,"end_frame":74,"start_position":[17.818283915419823,78.91412611768833,-9.996213674545288],"start_rotation":[0.93050539967136381,0,0,0.36627817459198336],"end_position":[38.382678542840694,92.76632527502159,-5.996213674545288],"end_rotation":[0.99359896443379336,0,0,0.11296502943873131],"actions":[1,1,2,1,1,1,2,5,5,0],"reference_path":[[17.818283915419823,78.91412611768833,-9.996213674545288,0,0,0.750012134264232],[21.476686903595468,82.32236431008444,-9.996213674545288,0,0,0.750012134264232],[25.135089891771113,85.73060250248055,-9.996213674545288,0,0,0.750012134264232],[25.135089891771113,85.73060250248055,-9.996213674545288,0,0,0.48821274646508256],[29.55095277546097,88.0758434266609,-9.996213674545288,0,0,0.48821274646508256],[33.96681565915083,90.42108435084124,-9.996213674545288,0,0,0.48821274646508256],[38.382678542840694,92.76632527502159,-9.996213674545288,0,0,0.48821274646508256],[38.382678542840694,92.76632527502159,-9.996213674545288,0,0,0.22641335866593312],[38.382678542840694,92.76632527502159,-7.996213674545288,0,0,0.22641335866593312],[38.382678542840694,92.76632527502159,-5.996213674545288,0,0,0.22641335866593312]]}],"statistics":{"complete_actions":80,"sentence_actions":[15,11,17,16,11,10],"sentence_actions_average":13.33}}
diff --git a/scene_12/3SB5N7Y3OC2H95U5RE90GKB2VLFG0C.json b/scene_12/3SB5N7Y3OC2H95U5RE90GKB2VLFG0C.json
new file mode 100644
index 0000000000000000000000000000000000000000..ebe9b7d07a641bfb34af10c4ad8cddf95731b1cf
--- /dev/null
+++ b/scene_12/3SB5N7Y3OC2H95U5RE90GKB2VLFG0C.json
@@ -0,0 +1 @@
+{"episode_id":"3SB5N7Y3OC2H95U5RE90GKB2VLFG0C","trajectory_id":"3IVEC1GSMXXOLC8V50T12JR44OPJ18","scene_id":12,"instruction":"take off, after rising to the height slightly higher. turn right and fly forward by crossing the white roof building which appears near the intersection. turnright at the brown roof building which appears next to the above mentioned building. fly forward by crossing the intersection and white roof building. turn left at the brown roof building which appears next to the above mentioned building. fly forward dive down and land front of the building with goldman cycling picture. near the truck.","sentence_instructions":[{"id":0,"instruction":"take off, after rising to the height slightly higher.","completed_instruction":"Take off.","start_frame":0,"end_frame":1,"start_position":[49.33578872680664,60.913509368896484,-1.7884762287139893],"start_rotation":[0.999681178139549,0,0,0.025249595512072724],"end_position":[49.33578872680664,60.913509368896484,-3.7884762287139893],"end_rotation":[0.999681178139549,0,0,0.025249595512072724],"actions":[4,4],"reference_path":[[49.33578872680664,60.913509368896484,-1.7884762287139893,0,0,0.05050455845733156],[49.33578872680664,60.913509368896484,-3.7884762287139893,0,0,0.05050455845733156]]},{"id":1,"instruction":"turn right and fly forward by crossing the white roof building which appears near the intersection.","completed_instruction":"Turn right to face the zebra crossing, and fly across it, and then turn right to face the white-roofed building and fly over the roof.","start_frame":1,"end_frame":23,"start_position":[49.33578872680664,60.913509368896484,-3.7884762287139893],"start_rotation":[0.999681178139549,0,0,0.025249595512072724],"end_position":[32.57161451651785,105.56036138288047,-7.788476228713989],"end_rotation":[0.35923384002342634,0,0,0.93324758139628916],"actions":[4,4,3,3,3,3,3,3,1,1,1,1,1,1,3,1,7,1,3,3,1,1,1],"reference_path":[[49.33578872680664,60.913509368896484,-3.7884762287139893,0,0,0.05050455845733156],[49.33578872680664,60.913509368896484,-5.788476228713989,0,0,0.05050455845733156],[49.33578872680664,60.913509368896484,-7.788476228713989,0,0,0.05050455845733156],[49.33578872680664,60.913509368896484,-7.788476228713989,0,0,0.31230394625648095],[49.33578872680664,60.913509368896484,-7.788476228713989,0,0,0.5741033340556304],[49.33578872680664,60.913509368896484,-7.788476228713989,0,0,0.8359027218547799],[49.33578872680664,60.913509368896484,-7.788476228713989,0,0,1.0977021096539294],[49.33578872680664,60.913509368896484,-7.788476228713989,0,0,1.359501497453079],[49.33578872680664,60.913509368896484,-7.788476228713989,0,0,1.6213008852522286],[49.08337327291608,65.90713394816125,-7.788476228713989,0,0,1.6213008852522286],[48.830957819025514,70.900758527426,-7.788476228713989,0,0,1.6213008852522286],[48.57854236513495,75.89438310669077,-7.788476228713989,0,0,1.6213008852522286],[48.32612691124439,80.88800768595553,-7.788476228713989,0,0,1.6213008852522286],[48.073711457353824,85.88163226522029,-7.788476228713989,0,0,1.6213008852522286],[47.82129600346326,90.87525684448505,-7.788476228713989,0,0,1.6213008852522286],[47.82129600346326,90.87525684448505,-7.788476228713989,0,0,1.883100273051378],[46.28503625239011,95.6333978656437,-7.788476228713989,0,0,1.883100273051378],[41.526895231231464,94.09713811457054,-7.788476228713989,0,0,1.883100273051378],[39.99063548015831,98.85527913572919,-7.788476228713989,0,0,1.883100273051378],[39.99063548015831,98.85527913572919,-7.788476228713989,0,0,2.1448996608505273],[39.99063548015831,98.85527913572919,-7.788476228713989,0,0,2.406699048649677],[36.28112499833808,102.20782025930484,-7.788476228713989,0,0,2.406699048649677],[32.57161451651785,105.56036138288047,-7.788476228713989,0,0,2.406699048649677]]},{"id":2,"instruction":"turnright at the brown roof building which appears next to the above mentioned building.","completed_instruction":"Turn right to face the right building with wooden roof, then fly forward over the roof to reach the middle of the intersection.","start_frame":23,"end_frame":38,"start_position":[32.57161451651785,105.56036138288047,-7.788476228713989],"start_rotation":[0.35923384002342634,0,0,0.93324758139628916],"end_position":[2.4252004900338884,96.7682072835798,-9.78847622871399],"end_rotation":[0.28312576434150483,0,0,-0.95908279182041356],"actions":[1,1,3,1,3,3,3,3,1,1,1,4,1,1,7,1],"reference_path":[[32.57161451651785,105.56036138288047,-7.788476228713989,0,0,2.406699048649677],[28.862104034697616,108.9129025064561,-7.788476228713989,0,0,2.406699048649677],[25.152593552877384,112.26544363003174,-7.788476228713989,0,0,2.406699048649677],[25.152593552877384,112.26544363003174,-7.788476228713989,0,0,2.6684984364488264],[20.701780083326437,114.54365772428712,-7.788476228713989,0,0,2.6684984364488264],[20.701780083326437,114.54365772428712,-7.788476228713989,0,0,2.930297824247976],[20.701780083326437,114.54365772428712,-7.788476228713989,0,0,-3.091088095132461],[20.701780083326437,114.54365772428712,-7.788476228713989,0,0,-2.829288707333312],[20.701780083326437,114.54365772428712,-7.788476228713989,0,0,-2.5674893195341624],[16.50338206766605,111.82824723927773,-7.788476228713989,0,0,-2.5674893195341624],[12.304984052005661,109.11283675426834,-7.788476228713989,0,0,-2.5674893195341624],[8.106586036345274,106.39742626925896,-7.788476228713989,0,0,-2.5674893195341624],[8.106586036345274,106.39742626925896,-9.78847622871399,0,0,-2.5674893195341624],[3.9081880206848867,103.68201578424957,-9.78847622871399,0,0,-2.5674893195341624],[-0.29020999497550015,100.96660529924019,-9.78847622871399,0,0,-2.5674893195341624],[2.4252004900338884,96.7682072835798,-9.78847622871399,0,0,-2.5674893195341624]]},{"id":3,"instruction":"fly forward by crossing the intersection and white roof building.","completed_instruction":"Fly forward over a white-roofed building and reach the edge of a rusty red roof with lights on the wall.","start_frame":38,"end_frame":51,"start_position":[2.4252004900338884,96.7682072835798,-9.78847622871399],"start_rotation":[0.28312576434150483,0,0,-0.95908279182041356],"end_position":[-40.11852267206824,70.79325316742217,-13.78847622871399],"end_rotation":[0.15551815933882229,0,0,-0.98783303352128526],"actions":[1,1,1,4,1,1,1,1,4,1,1,2,1,1],"reference_path":[[2.4252004900338884,96.7682072835798,-9.78847622871399,0,0,-2.5674893195341624],[-1.7731975256264985,94.05279679857041,-9.78847622871399,0,0,-2.5674893195341624],[-5.971595541286885,91.33738631356103,-9.78847622871399,0,0,-2.5674893195341624],[-10.169993556947272,88.62197582855164,-9.78847622871399,0,0,-2.5674893195341624],[-10.169993556947272,88.62197582855164,-11.78847622871399,0,0,-2.5674893195341624],[-14.36839157260766,85.90656534354225,-11.78847622871399,0,0,-2.5674893195341624],[-18.566789588268048,83.19115485853287,-11.78847622871399,0,0,-2.5674893195341624],[-22.765187603928435,80.47574437352348,-11.78847622871399,0,0,-2.5674893195341624],[-26.963585619588823,77.7603338885141,-11.78847622871399,0,0,-2.5674893195341624],[-26.963585619588823,77.7603338885141,-13.78847622871399,0,0,-2.5674893195341624],[-31.16198363524921,75.04492340350471,-13.78847622871399,0,0,-2.5674893195341624],[-35.360381650909595,72.32951291849533,-13.78847622871399,0,0,-2.5674893195341624],[-35.360381650909595,72.32951291849533,-13.78847622871399,0,0,-2.829288707333312],[-40.11852267206824,70.79325316742217,-13.78847622871399,0,0,-2.829288707333312]]},{"id":4,"instruction":"turn left at the brown roof building which appears next to the above mentioned building.","completed_instruction":"Turn left until facing the small grey building with graffiti on its wall.","start_frame":51,"end_frame":59,"start_position":[-40.11852267206824,70.79325316742217,-13.78847622871399],"start_rotation":[0.15551815933882229,0,0,-0.98783303352128526],"end_position":[-53.34431519620577,71.07327478885148,-13.78847622871399],"end_rotation":[0.47797379792103767,0,0,0.87837409371004282],"actions":[1,1,2,2,2,2,1,2,2],"reference_path":[[-40.11852267206824,70.79325316742217,-13.78847622871399,0,0,-2.829288707333312],[-44.87666369322689,69.256993416349,-13.78847622871399,0,0,-2.829288707333312],[-49.63480471438554,67.72073366527584,-13.78847622871399,0,0,-2.829288707333312],[-49.63480471438554,67.72073366527584,-13.78847622871399,0,0,-3.0910880951324615],[-49.63480471438554,67.72073366527584,-13.78847622871399,0,0,2.9302978242479756],[-49.63480471438554,67.72073366527584,-13.78847622871399,0,0,2.668498436448826],[-49.63480471438554,67.72073366527584,-13.78847622871399,0,0,2.406699048649677],[-53.34431519620577,71.07327478885148,-13.78847622871399,0,0,2.406699048649677],[-53.34431519620577,71.07327478885148,-13.78847622871399,0,0,2.1448996608505277]]},{"id":5,"instruction":"fly forward dive down and land front of the building with goldman cycling picture.","completed_instruction":"Fly forward to the front of the building and land on the road.","start_frame":59,"end_frame":69,"start_position":[-53.34431519620577,71.07327478885148,-13.78847622871399],"start_rotation":[0.47797379792103767,0,0,0.87837409371004282],"end_position":[-59.48935420049838,90.10583887348608,-3.7884762287139893],"end_rotation":[0.58853549161684748,0,0,0.80847138174911026],"actions":[2,5,1,1,5,1,1,5,5,5,0],"reference_path":[[-53.34431519620577,71.07327478885148,-13.78847622871399,0,0,2.1448996608505277],[-53.34431519620577,71.07327478885148,-13.78847622871399,0,0,1.8831002730513784],[-53.34431519620577,71.07327478885148,-11.78847622871399,0,0,1.8831002730513784],[-54.88057494727892,75.83141581001013,-11.78847622871399,0,0,1.8831002730513784],[-56.416834698352076,80.58955683116878,-11.78847622871399,0,0,1.8831002730513784],[-56.416834698352076,80.58955683116878,-9.78847622871399,0,0,1.8831002730513784],[-57.95309444942523,85.34769785232743,-9.78847622871399,0,0,1.8831002730513784],[-59.48935420049838,90.10583887348608,-9.78847622871399,0,0,1.8831002730513784],[-59.48935420049838,90.10583887348608,-7.788476228713989,0,0,1.8831002730513784],[-59.48935420049838,90.10583887348608,-5.788476228713989,0,0,1.8831002730513784],[-59.48935420049838,90.10583887348608,-3.7884762287139893,0,0,1.8831002730513784]]}],"statistics":{"complete_actions":75,"sentence_actions":[2,23,16,14,9,11],"sentence_actions_average":12.5}}
diff --git a/scene_12/3TY7ZAOG5OIMBRQOH5UFEC3V1IMK04.json b/scene_12/3TY7ZAOG5OIMBRQOH5UFEC3V1IMK04.json
new file mode 100644
index 0000000000000000000000000000000000000000..451e1876b4fa6317e8fb795feed2e3a094b670c3
--- /dev/null
+++ b/scene_12/3TY7ZAOG5OIMBRQOH5UFEC3V1IMK04.json
@@ -0,0 +1 @@
+{"episode_id":"3TY7ZAOG5OIMBRQOH5UFEC3V1IMK04","trajectory_id":"3E9VAUV7C4CAAPGUNJNXN7ZVKHMYAC","scene_id":12,"instruction":"take off and turn slightly left to the white roof and then turn right to orange building. turn left on orange building and then onto the gray roof. turn around fully twice and then face blue structure with wheels. turn left and land on street next to yellow box.","sentence_instructions":[{"id":0,"instruction":"take off and turn slightly left to the white roof and then turn right to orange building.","completed_instruction":"Take off, then ascend to the height higher than the dark grey building on the right, and turn left to face the dark brown building behind the fence, fly to the front of the building, and then turn right to face the orange building, fly to the front of the building.","start_frame":0,"end_frame":19,"start_position":[-107.13088989257812,137.08840942382812,-6.79252815246582],"start_rotation":[0.99965045795128171,0,0,-0.026437887922310985],"end_position":[-67.10942529956557,134.11095649334047,-10.79252815246582],"end_rotation":[0.93367393946131749,0,0,0.35812424487987976],"actions":[4,2,2,1,1,4,1,1,1,1,3,3,3,3,3,1,1,1,1,1],"reference_path":[[-107.13088989257812,137.08840942382812,-6.79252815246582,0,0,-0.05288193747513559],[-107.13088989257812,137.08840942382812,-8.79252815246582,0,0,-0.05288193747513559],[-107.13088989257812,137.08840942382812,-8.79252815246582,0,0,-0.31468132527428505],[-107.13088989257812,137.08840942382812,-8.79252815246582,0,0,-0.5764807130734345],[-102.9389592952708,134.3630254385228,-8.79252815246582,0,0,-0.5764807130734345],[-98.74702869796349,131.6376414532175,-8.79252815246582,0,0,-0.5764807130734345],[-98.74702869796349,131.6376414532175,-10.79252815246582,0,0,-0.5764807130734345],[-94.55509810065617,128.91225746791218,-10.79252815246582,0,0,-0.5764807130734345],[-90.36316750334885,126.18687348260686,-10.79252815246582,0,0,-0.5764807130734345],[-86.17123690604153,123.46148949730153,-10.79252815246582,0,0,-0.5764807130734345],[-81.97930630873421,120.7361055119962,-10.79252815246582,0,0,-0.5764807130734345],[-81.97930630873421,120.7361055119962,-10.79252815246582,0,0,-0.3146813252742851],[-81.97930630873421,120.7361055119962,-10.79252815246582,0,0,-0.052881937475135664],[-81.97930630873421,120.7361055119962,-10.79252815246582,0,0,0.20891745032401376],[-81.97930630873421,120.7361055119962,-10.79252815246582,0,0,0.4707168381231632],[-81.97930630873421,120.7361055119962,-10.79252815246582,0,0,0.7325162259223125],[-78.26183605644205,124.07981825733226,-10.79252815246582,0,0,0.7325162259223125],[-74.54436580414989,127.42353100266833,-10.79252815246582,0,0,0.7325162259223125],[-70.82689555185773,130.7672437480044,-10.79252815246582,0,0,0.7325162259223125],[-67.10942529956557,134.11095649334047,-10.79252815246582,0,0,0.7325162259223125]]},{"id":1,"instruction":"turn left on orange building and then onto the gray roof.","completed_instruction":"Turn left to face the tall warehouse with a grey roof and some pipes in front of it, and fly forward until reaching the roof.","start_frame":19,"end_frame":34,"start_position":[-67.10942529956557,134.11095649334047,-10.79252815246582],"start_rotation":[0.93367393946131749,0,0,0.35812424487987976],"end_position":[-35.37111906310862,123.45399180519385,-10.79252815246582],"end_rotation":[0.85250374752940228,0,0,-0.5227211115387681],"actions":[1,1,2,2,2,2,2,1,1,1,1,1,2,1,2,1],"reference_path":[[-67.10942529956557,134.11095649334047,-10.79252815246582,0,0,0.7325162259223125],[-63.39195504727341,137.45466923867653,-10.79252815246582,0,0,0.7325162259223125],[-59.674484794981254,140.7983819840126,-10.79252815246582,0,0,0.7325162259223125],[-59.674484794981254,140.7983819840126,-10.79252815246582,0,0,0.47071683812316306],[-59.674484794981254,140.7983819840126,-10.79252815246582,0,0,0.20891745032401365],[-59.674484794981254,140.7983819840126,-10.79252815246582,0,0,-0.05288193747513576],[-59.674484794981254,140.7983819840126,-10.79252815246582,0,0,-0.3146813252742852],[-59.674484794981254,140.7983819840126,-10.79252815246582,0,0,-0.5764807130734346],[-55.48255419767394,138.07299799870728,-10.79252815246582,0,0,-0.5764807130734346],[-51.29062360036663,135.34761401340197,-10.79252815246582,0,0,-0.5764807130734346],[-47.09869300305932,132.62223002809665,-10.79252815246582,0,0,-0.5764807130734346],[-42.906762405752005,129.89684604279134,-10.79252815246582,0,0,-0.5764807130734346],[-38.71483180844469,127.17146205748601,-10.79252815246582,0,0,-0.5764807130734346],[-38.71483180844469,127.17146205748601,-10.79252815246582,0,0,-0.8382801008725841],[-35.37111906310862,123.45399180519385,-10.79252815246582,0,0,-0.8382801008725841],[-35.37111906310862,123.45399180519385,-10.79252815246582,0,0,-1.1000794886717336]]},{"id":2,"instruction":"turn around fully twice and then face blue structure with wheels.","completed_instruction":"Turn around to face the blue gantry crane.","start_frame":34,"end_frame":69,"start_position":[-35.37111906310862,123.45399180519385,-10.79252815246582],"start_rotation":[0.85250374752940228,0,0,-0.5227211115387681],"end_position":[-33.10349266759187,118.99777474019851,-10.79252815246582],"end_rotation":[0.87894163545171333,0,0,0.47692934641251361],"actions":[1,2,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3],"reference_path":[[-35.37111906310862,123.45399180519385,-10.79252815246582,0,0,-1.1000794886717336],[-33.10349266759187,118.99777474019851,-10.79252815246582,0,0,-1.1000794886717336],[-33.10349266759187,118.99777474019851,-10.79252815246582,0,0,-1.3618788764708831],[-33.10349266759187,118.99777474019851,-10.79252815246582,0,0,-1.1000794886717338],[-33.10349266759187,118.99777474019851,-10.79252815246582,0,0,-0.8382801008725843],[-33.10349266759187,118.99777474019851,-10.79252815246582,0,0,-0.5764807130734348],[-33.10349266759187,118.99777474019851,-10.79252815246582,0,0,-0.3146813252742855],[-33.10349266759187,118.99777474019851,-10.79252815246582,0,0,-0.0528819374751361],[-33.10349266759187,118.99777474019851,-10.79252815246582,0,0,0.20891745032401332],[-33.10349266759187,118.99777474019851,-10.79252815246582,0,0,0.47071683812316273],[-33.10349266759187,118.99777474019851,-10.79252815246582,0,0,0.7325162259223122],[-33.10349266759187,118.99777474019851,-10.79252815246582,0,0,0.9943156137214618],[-33.10349266759187,118.99777474019851,-10.79252815246582,0,0,1.256115001520611],[-33.10349266759187,118.99777474019851,-10.79252815246582,0,0,1.5179143893197606],[-33.10349266759187,118.99777474019851,-10.79252815246582,0,0,1.77971377711891],[-33.10349266759187,118.99777474019851,-10.79252815246582,0,0,2.04151316491806],[-33.10349266759187,118.99777474019851,-10.79252815246582,0,0,2.3033125527172094],[-33.10349266759187,118.99777474019851,-10.79252815246582,0,0,2.565111940516359],[-33.10349266759187,118.99777474019851,-10.79252815246582,0,0,2.826911328315508],[-33.10349266759187,118.99777474019851,-10.79252815246582,0,0,3.0887107161146576],[-33.10349266759187,118.99777474019851,-10.79252815246582,0,0,-2.932675203265779],[-33.10349266759187,118.99777474019851,-10.79252815246582,0,0,-2.6708758154666294],[-33.10349266759187,118.99777474019851,-10.79252815246582,0,0,-2.4090764276674803],[-33.10349266759187,118.99777474019851,-10.79252815246582,0,0,-2.147277039868331],[-33.10349266759187,118.99777474019851,-10.79252815246582,0,0,-1.8854776520691818],[-33.10349266759187,118.99777474019851,-10.79252815246582,0,0,-1.6236782642700325],[-33.10349266759187,118.99777474019851,-10.79252815246582,0,0,-1.3618788764708831],[-33.10349266759187,118.99777474019851,-10.79252815246582,0,0,-1.1000794886717338],[-33.10349266759187,118.99777474019851,-10.79252815246582,0,0,-0.8382801008725843],[-33.10349266759187,118.99777474019851,-10.79252815246582,0,0,-0.5764807130734348],[-33.10349266759187,118.99777474019851,-10.79252815246582,0,0,-0.3146813252742855],[-33.10349266759187,118.99777474019851,-10.79252815246582,0,0,-0.0528819374751361],[-33.10349266759187,118.99777474019851,-10.79252815246582,0,0,0.20891745032401332],[-33.10349266759187,118.99777474019851,-10.79252815246582,0,0,0.47071683812316273],[-33.10349266759187,118.99777474019851,-10.79252815246582,0,0,0.7325162259223122],[-33.10349266759187,118.99777474019851,-10.79252815246582,0,0,0.9943156137214618]]},{"id":3,"instruction":"turn left and land on street next to yellow box.","completed_instruction":"Fly forward to the front of the gantry crane, and turn left until facing the yellow box across the road, then fly towards the yellow box and land in front of it.","start_frame":69,"end_frame":89,"start_position":[-33.10349266759187,118.99777474019851,-10.79252815246582],"start_rotation":[0.87894163545171333,0,0,0.47692934641251361],"end_position":[-5.0447579391796555,157.56858501740936,-4.79252815246582],"end_rotation":[0.97243082350341736,0,0,0.23319153822655214],"actions":[3,3,1,1,1,1,1,2,2,2,2,1,1,5,1,1,1,5,1,5,0],"reference_path":[[-33.10349266759187,118.99777474019851,-10.79252815246582,0,0,0.9943156137214618],[-33.10349266759187,118.99777474019851,-10.79252815246582,0,0,1.256115001520611],[-33.10349266759187,118.99777474019851,-10.79252815246582,0,0,1.5179143893197606],[-32.83920619990384,123.99078512102058,-10.79252815246582,0,0,1.5179143893197606],[-32.57491973221581,128.98379550184265,-10.79252815246582,0,0,1.5179143893197606],[-32.31063326452778,133.97680588266473,-10.79252815246582,0,0,1.5179143893197606],[-32.04634679683975,138.96981626348682,-10.79252815246582,0,0,1.5179143893197606],[-31.78206032915172,143.9628266443089,-10.79252815246582,0,0,1.5179143893197606],[-31.78206032915172,143.9628266443089,-10.79252815246582,0,0,1.256115001520611],[-31.78206032915172,143.9628266443089,-10.79252815246582,0,0,0.9943156137214617],[-31.78206032915172,143.9628266443089,-10.79252815246582,0,0,0.7325162259223122],[-31.78206032915172,143.9628266443089,-10.79252815246582,0,0,0.47071683812316295],[-27.325843264156376,146.23045303982565,-10.79252815246582,0,0,0.47071683812316295],[-22.869626199161033,148.4980794353424,-10.79252815246582,0,0,0.47071683812316295],[-22.869626199161033,148.4980794353424,-8.79252815246582,0,0,0.47071683812316295],[-18.41340913416569,150.76570583085913,-8.79252815246582,0,0,0.47071683812316295],[-13.957192069170345,153.03333222637588,-8.79252815246582,0,0,0.47071683812316295],[-9.500975004175,155.30095862189262,-8.79252815246582,0,0,0.47071683812316295],[-9.500975004175,155.30095862189262,-6.79252815246582,0,0,0.47071683812316295],[-5.0447579391796555,157.56858501740936,-6.79252815246582,0,0,0.47071683812316295],[-5.0447579391796555,157.56858501740936,-4.79252815246582,0,0,0.47071683812316295]]}],"statistics":{"complete_actions":93,"sentence_actions":[20,16,36,21],"sentence_actions_average":23.25}}
diff --git a/scene_12/3VP0C6EFSPUCFQC646NC2Q5Q54YM61.json b/scene_12/3VP0C6EFSPUCFQC646NC2Q5Q54YM61.json
new file mode 100644
index 0000000000000000000000000000000000000000..ae7f79da6519099ae242ba773695aaac50d27d4f
--- /dev/null
+++ b/scene_12/3VP0C6EFSPUCFQC646NC2Q5Q54YM61.json
@@ -0,0 +1 @@
+{"episode_id":"3VP0C6EFSPUCFQC646NC2Q5Q54YM61","trajectory_id":"3OB6JN3AAYN2FPDX6RL8O21YCJBRMJ","scene_id":12,"instruction":"lift off and turn left facing the intersection then head straight. at the intersection turn left facing the tan roofs and head straight. at the roof before the road with tractors turn right facing the flat white roof and head straight. at the white roof turn left until facing the platform then head straight. land on top of the platform.","sentence_instructions":[{"id":0,"instruction":"lift off and turn left facing the intersection then head straight.","completed_instruction":"Take off, ascend to a higher altitude than the grey dilapidated warehouse ahead, turn left to face the intersection, and fly straight to the intersection.","start_frame":0,"end_frame":10,"start_position":[18.10561180114746,156.1925506591797,-7.904179573059082],"start_rotation":[0.9996361571641299,0,0,-0.026973195771561112],"end_position":[39.05065836997743,142.5431908123025,-13.904179573059082],"end_rotation":[0.95859320432423234,0,0,-0.28477898206047542],"actions":[4,4,4,2,2,1,1,1,1,1,5],"reference_path":[[18.10561180114746,156.1925506591797,-7.904179573059082,0,0,-0.05395293516483341],[18.10561180114746,156.1925506591797,-9.904179573059082,0,0,-0.05395293516483341],[18.10561180114746,156.1925506591797,-11.904179573059082,0,0,-0.05395293516483341],[18.10561180114746,156.1925506591797,-13.904179573059082,0,0,-0.05395293516483341],[18.10561180114746,156.1925506591797,-13.904179573059082,0,0,-0.31575232296398287],[18.10561180114746,156.1925506591797,-13.904179573059082,0,0,-0.5775517107631323],[22.294621114913454,153.46267868980425,-13.904179573059082,0,0,-0.5775517107631323],[26.483630428679447,150.7328067204288,-13.904179573059082,0,0,-0.5775517107631323],[30.67263974244544,148.00293475105337,-13.904179573059082,0,0,-0.5775517107631323],[34.861649056211434,145.27306278167794,-13.904179573059082,0,0,-0.5775517107631323],[39.05065836997743,142.5431908123025,-13.904179573059082,0,0,-0.5775517107631323]]},{"id":1,"instruction":"at the intersection turn left facing the tan roofs and head straight.","completed_instruction":"At the intersection turn left to face the tan roofs left to a white flat roof building and fly straight over the roofs, a road and another roof to the road with two old tractors.","start_frame":10,"end_frame":35,"start_position":[39.05065836997743,142.5431908123025,-13.904179573059082],"start_rotation":[0.95859320432423234,0,0,-0.28477898206047542],"end_position":[-14.72269302499199,110.39623637252481,-13.904179573059082],"end_rotation":[0.23267076923387128,0,0,-0.97255555787014991],"actions":[5,5,2,2,2,2,1,2,2,2,2,1,1,1,4,1,1,1,1,1,1,1,1,4,1,1],"reference_path":[[39.05065836997743,142.5431908123025,-13.904179573059082,0,0,-0.5775517107631323],[39.05065836997743,142.5431908123025,-11.904179573059082,0,0,-0.5775517107631323],[39.05065836997743,142.5431908123025,-9.904179573059082,0,0,-0.5775517107631323],[39.05065836997743,142.5431908123025,-9.904179573059082,0,0,-0.8393510985622817],[39.05065836997743,142.5431908123025,-9.904179573059082,0,0,-1.1011504863614312],[39.05065836997743,142.5431908123025,-9.904179573059082,0,0,-1.3629498741605806],[39.05065836997743,142.5431908123025,-9.904179573059082,0,0,-1.6247492619597301],[38.781024552302235,137.5504663452038,-9.904179573059082,0,0,-1.6247492619597301],[38.781024552302235,137.5504663452038,-9.904179573059082,0,0,-1.8865486497588797],[38.781024552302235,137.5504663452038,-9.904179573059082,0,0,-2.148348037558029],[38.781024552302235,137.5504663452038,-9.904179573059082,0,0,-2.410147425357178],[38.781024552302235,137.5504663452038,-9.904179573059082,0,0,-2.6719468131563278],[34.32238142086105,135.28761384748054,-9.904179573059082,0,0,-2.6719468131563278],[29.863738289419864,133.02476134975728,-9.904179573059082,0,0,-2.6719468131563278],[25.40509515797868,130.76190885203403,-9.904179573059082,0,0,-2.6719468131563278],[25.40509515797868,130.76190885203403,-11.904179573059082,0,0,-2.6719468131563278],[20.946452026537493,128.49905635431077,-11.904179573059082,0,0,-2.6719468131563278],[16.487808895096308,126.23620385658752,-11.904179573059082,0,0,-2.6719468131563278],[12.029165763655122,123.97335135886428,-11.904179573059082,0,0,-2.6719468131563278],[7.570522632213937,121.71049886114103,-11.904179573059082,0,0,-2.6719468131563278],[3.1118795007727513,119.44764636341779,-11.904179573059082,0,0,-2.6719468131563278],[-1.346763630668434,117.18479386569454,-11.904179573059082,0,0,-2.6719468131563278],[-5.8054067621096195,114.9219413679713,-11.904179573059082,0,0,-2.6719468131563278],[-10.264049893550805,112.65908887024806,-11.904179573059082,0,0,-2.6719468131563278],[-10.264049893550805,112.65908887024806,-13.904179573059082,0,0,-2.6719468131563278],[-14.72269302499199,110.39623637252481,-13.904179573059082,0,0,-2.6719468131563278]]},{"id":2,"instruction":"at the roof before the road with tractors turn right facing the flat white roof and head straight.","completed_instruction":"Turn right to face the intersection, fly to the intersection, then turn right slightly to face a flat white roof and fly ahead to it.","start_frame":35,"end_frame":62,"start_position":[-14.72269302499199,110.39623637252481,-13.904179573059082],"start_rotation":[0.23267076923387128,0,0,-0.97255555787014991],"end_position":[23.435543378495154,100.56562026731723,-11.904179573059082],"end_rotation":[0.9996361571641299,0,0,-0.026973195771561372],"actions":[1,1,1,1,5,3,3,3,3,3,3,3,3,3,1,1,7,3,1,1,1,1,1,1,1,1,1,1],"reference_path":[[-14.72269302499199,110.39623637252481,-13.904179573059082,0,0,-2.6719468131563278],[-19.181336156433176,108.13338387480157,-13.904179573059082,0,0,-2.6719468131563278],[-23.63997928787436,105.87053137707832,-13.904179573059082,0,0,-2.6719468131563278],[-28.098622419315546,103.60767887935508,-13.904179573059082,0,0,-2.6719468131563278],[-32.55726555075673,101.34482638163183,-13.904179573059082,0,0,-2.6719468131563278],[-32.55726555075673,101.34482638163183,-11.904179573059082,0,0,-2.6719468131563278],[-32.55726555075673,101.34482638163183,-11.904179573059082,0,0,-2.410147425357178],[-32.55726555075673,101.34482638163183,-11.904179573059082,0,0,-2.148348037558029],[-32.55726555075673,101.34482638163183,-11.904179573059082,0,0,-1.8865486497588797],[-32.55726555075673,101.34482638163183,-11.904179573059082,0,0,-1.6247492619597304],[-32.55726555075673,101.34482638163183,-11.904179573059082,0,0,-1.362949874160581],[-32.55726555075673,101.34482638163183,-11.904179573059082,0,0,-1.1011504863614316],[-32.55726555075673,101.34482638163183,-11.904179573059082,0,0,-0.8393510985622822],[-32.55726555075673,101.34482638163183,-11.904179573059082,0,0,-0.5775517107631328],[-32.55726555075673,101.34482638163183,-11.904179573059082,0,0,-0.31575232296398337],[-27.804450411658824,99.79216793446398,-11.904179573059082,0,0,-0.31575232296398337],[-23.051635272560915,98.23950948729612,-11.904179573059082,0,0,-0.31575232296398337],[-21.498976825393054,102.99232462639402,-11.904179573059082,0,0,-0.31575232296398337],[-21.498976825393054,102.99232462639402,-11.904179573059082,0,0,-0.05395293516483393],[-16.506252358294365,102.72269080871882,-11.904179573059082,0,0,-0.05395293516483393],[-11.513527891195675,102.45305699104362,-11.904179573059082,0,0,-0.05395293516483393],[-6.520803424096985,102.18342317336842,-11.904179573059082,0,0,-0.05395293516483393],[-1.5280789569982947,101.91378935569323,-11.904179573059082,0,0,-0.05395293516483393],[3.4646455101003957,101.64415553801803,-11.904179573059082,0,0,-0.05395293516483393],[8.457369977199086,101.37452172034283,-11.904179573059082,0,0,-0.05395293516483393],[13.450094444297775,101.10488790266763,-11.904179573059082,0,0,-0.05395293516483393],[18.442818911396465,100.83525408499243,-11.904179573059082,0,0,-0.05395293516483393],[23.435543378495154,100.56562026731723,-11.904179573059082,0,0,-0.05395293516483393]]},{"id":3,"instruction":"at the white roof turn left until facing the platform then head straight.","completed_instruction":"Turn left to face the shipping containers left to a red warehouse, fly over them, and then land on the ground.","start_frame":62,"end_frame":84,"start_position":[23.435543378495154,100.56562026731723,-11.904179573059082],"start_rotation":[0.9996361571641299,0,0,-0.026973195771561372],"end_position":[16.246909596251736,63.55648996635144,-7.904179573059082],"end_rotation":[0.58714066056032421,0,0,-0.80948492556488427],"actions":[1,5,1,2,2,2,2,2,2,2,4,1,1,1,5,1,1,6,1,1,1,5,0],"reference_path":[[23.435543378495154,100.56562026731723,-11.904179573059082,0,0,-0.05395293516483393],[28.428267845593844,100.29598644964203,-11.904179573059082,0,0,-0.05395293516483393],[28.428267845593844,100.29598644964203,-9.904179573059082,0,0,-0.05395293516483393],[33.42099231269253,100.02635263196683,-9.904179573059082,0,0,-0.05395293516483393],[33.42099231269253,100.02635263196683,-9.904179573059082,0,0,-0.31575232296398337],[33.42099231269253,100.02635263196683,-9.904179573059082,0,0,-0.5775517107631328],[33.42099231269253,100.02635263196683,-9.904179573059082,0,0,-0.8393510985622822],[33.42099231269253,100.02635263196683,-9.904179573059082,0,0,-1.1011504863614316],[33.42099231269253,100.02635263196683,-9.904179573059082,0,0,-1.362949874160581],[33.42099231269253,100.02635263196683,-9.904179573059082,0,0,-1.6247492619597306],[33.42099231269253,100.02635263196683,-9.904179573059082,0,0,-1.88654864975888],[33.42099231269253,100.02635263196683,-11.904179573059082,0,0,-1.88654864975888],[31.868333865524672,95.27353749286893,-11.904179573059082,0,0,-1.88654864975888],[30.31567541835681,90.52072235377102,-11.904179573059082,0,0,-1.88654864975888],[28.76301697118895,85.76790721467312,-11.904179573059082,0,0,-1.88654864975888],[28.76301697118895,85.76790721467312,-9.904179573059082,0,0,-1.88654864975888],[27.21035852402109,81.01509207557521,-9.904179573059082,0,0,-1.88654864975888],[25.657700076853228,76.2622769364773,-9.904179573059082,0,0,-1.88654864975888],[20.90488493775532,77.81493538364516,-9.904179573059082,0,0,-1.88654864975888],[19.35222649058746,73.06212024454726,-9.904179573059082,0,0,-1.88654864975888],[17.799568043419598,68.30930510544935,-9.904179573059082,0,0,-1.88654864975888],[16.246909596251736,63.55648996635144,-9.904179573059082,0,0,-1.88654864975888],[16.246909596251736,63.55648996635144,-7.904179573059082,0,0,-1.88654864975888]]}],"statistics":{"complete_actions":88,"sentence_actions":[11,26,28,23],"sentence_actions_average":22.0}}
diff --git a/scene_12/3XIQGXAUML66D2PF1NUDJLLK53N7XS.json b/scene_12/3XIQGXAUML66D2PF1NUDJLLK53N7XS.json
new file mode 100644
index 0000000000000000000000000000000000000000..82673e0e5627bfd7d7c64b982f9712f30929d98a
--- /dev/null
+++ b/scene_12/3XIQGXAUML66D2PF1NUDJLLK53N7XS.json
@@ -0,0 +1 @@
+{"episode_id":"3XIQGXAUML66D2PF1NUDJLLK53N7XS","trajectory_id":"3JUDR1D0EEPCWKU4JUDO43DV9KDQ2U","scene_id":12,"instruction":"take off and fly up until above the building. turn right towards the white building and fly forward. turn left towards a big yellow truck at the intersection and fly forward. turn slightly left towards the brown building and fly forward. turn right towards building with open door and fly forward. land on the street near the building with open door.","sentence_instructions":[{"id":0,"instruction":"take off and fly up until above the building.","completed_instruction":"Take off and rise to the height higher than the top of the building with glass windows on the right.","start_frame":1,"end_frame":4,"start_position":[-120.99652862548828,54.84059143066406,-1.8658044338226318],"start_rotation":[0.99986148583088175,0,0,0.016643591921860795],"end_position":[-120.99652862548828,54.84059143066406,-7.865804433822632],"end_rotation":[0.99986148583088175,0,0,0.016643591921860795],"actions":[4,4,4,4],"reference_path":[[-120.99652862548828,54.84059143066406,-1.8658044338226318,0,0,0.033288720844417946],[-120.99652862548828,54.84059143066406,-3.865804433822632,0,0,0.033288720844417946],[-120.99652862548828,54.84059143066406,-5.865804433822632,0,0,0.033288720844417946],[-120.99652862548828,54.84059143066406,-7.865804433822632,0,0,0.033288720844417946]]},{"id":1,"instruction":"turn right towards the white building and fly forward.","completed_instruction":"Turn right to face the brown-roofed building, and then fly forward until reaching the middle of the crossroads.","start_frame":4,"end_frame":16,"start_position":[-120.99652862548828,54.84059143066406,-7.865804433822632],"start_rotation":[0.99986148583088175,0,0,0.016643591921860795],"end_position":[-100.50110768685335,76.74807235723715,-9.865804433822632],"end_rotation":[0.917382335221934,0,0,0.39800709921149779],"actions":[4,4,3,3,3,1,1,1,1,1,1,5,1],"reference_path":[[-120.99652862548828,54.84059143066406,-7.865804433822632,0,0,0.033288720844417946],[-120.99652862548828,54.84059143066406,-9.865804433822632,0,0,0.033288720844417946],[-120.99652862548828,54.84059143066406,-11.865804433822632,0,0,0.033288720844417946],[-120.99652862548828,54.84059143066406,-11.865804433822632,0,0,0.2950881086435674],[-120.99652862548828,54.84059143066406,-11.865804433822632,0,0,0.5568874964427168],[-120.99652862548828,54.84059143066406,-11.865804433822632,0,0,0.8186868842418663],[-117.58062513571579,58.49183825175958,-11.865804433822632,0,0,0.8186868842418663],[-114.1647216459433,62.1430850728551,-11.865804433822632,0,0,0.8186868842418663],[-110.74881815617081,65.79433189395061,-11.865804433822632,0,0,0.8186868842418663],[-107.33291466639832,69.44557871504612,-11.865804433822632,0,0,0.8186868842418663],[-103.91701117662583,73.09682553614164,-11.865804433822632,0,0,0.8186868842418663],[-100.50110768685335,76.74807235723715,-11.865804433822632,0,0,0.8186868842418663],[-100.50110768685335,76.74807235723715,-9.865804433822632,0,0,0.8186868842418663]]},{"id":2,"instruction":"turn left towards a big yellow truck at the intersection and fly forward.","completed_instruction":"Turn left until facing a yellow forklift and a street lamp.","start_frame":16,"end_frame":21,"start_position":[-100.50110768685335,76.74807235723715,-9.865804433822632],"start_rotation":[0.917382335221934,0,0,0.39800709921149779],"end_position":[-93.66930070730837,84.05056599942817,-7.865804433822632],"end_rotation":[0.98913510753418576,0,0,0.14700931617871973],"actions":[1,1,5,2,2,2],"reference_path":[[-100.50110768685335,76.74807235723715,-9.865804433822632,0,0,0.8186868842418663],[-97.08520419708086,80.39931917833266,-9.865804433822632,0,0,0.8186868842418663],[-93.66930070730837,84.05056599942817,-9.865804433822632,0,0,0.8186868842418663],[-93.66930070730837,84.05056599942817,-7.865804433822632,0,0,0.8186868842418663],[-93.66930070730837,84.05056599942817,-7.865804433822632,0,0,0.556887496442717],[-93.66930070730837,84.05056599942817,-7.865804433822632,0,0,0.2950881086435676]]},{"id":3,"instruction":"turn slightly left towards the brown building and fly forward.","completed_instruction":"Turn left to face the brown building.","start_frame":21,"end_frame":24,"start_position":[-93.66930070730837,84.05056599942817,-7.865804433822632],"start_rotation":[0.98913510753418576,0,0,0.14700931617871973],"end_position":[-83.6748408903496,84.38339173039925,-7.865804433822632],"end_rotation":[0.99986148583088175,0,0,0.016643591921860931],"actions":[2,1,1,1],"reference_path":[[-93.66930070730837,84.05056599942817,-7.865804433822632,0,0,0.2950881086435676],[-93.66930070730837,84.05056599942817,-7.865804433822632,0,0,0.03328872084441822],[-88.67207079882898,84.21697886491371,-7.865804433822632,0,0,0.03328872084441822],[-83.6748408903496,84.38339173039925,-7.865804433822632,0,0,0.03328872084441822]]},{"id":4,"instruction":"turn right towards building with open door and fly forward.","completed_instruction":"Turn right to face the pointed warehouse at the end of the road across the street, and then fly towards it until reaching the front of the electric pole in front of the warehouse.","start_frame":24,"end_frame":34,"start_position":[-83.6748408903496,84.38339173039925,-7.865804433822632],"start_rotation":[0.99986148583088175,0,0,0.016643591921860931],"end_position":[-49.88817368659482,90.68777259576194,-7.865804433822632],"end_rotation":[0.98913510753418576,0,0,0.14700931617871976],"actions":[1,2,1,3,3,1,1,1,1,1,1],"reference_path":[[-83.6748408903496,84.38339173039925,-7.865804433822632,0,0,0.03328872084441822],[-78.67761098187022,84.5498045958848,-7.865804433822632,0,0,0.03328872084441822],[-78.67761098187022,84.5498045958848,-7.865804433822632,0,0,-0.2285106669547312],[-73.80758673442807,83.41716880741366,-7.865804433822632,0,0,-0.2285106669547312],[-73.80758673442807,83.41716880741366,-7.865804433822632,0,0,0.03328872084441822],[-73.80758673442807,83.41716880741366,-7.865804433822632,0,0,0.29508810864356766],[-69.02370412486142,84.87128956508332,-7.865804433822632,0,0,0.29508810864356766],[-64.23982151529478,86.32541032275297,-7.865804433822632,0,0,0.29508810864356766],[-59.455938905728125,87.77953108042263,-7.865804433822632,0,0,0.29508810864356766],[-54.67205629616147,89.23365183809229,-7.865804433822632,0,0,0.29508810864356766],[-49.88817368659482,90.68777259576194,-7.865804433822632,0,0,0.29508810864356766]]},{"id":5,"instruction":"land on the street near the building with open door.","completed_instruction":"Land on the street near the warehouse with open door.","start_frame":34,"end_frame":37,"start_position":[-49.88817368659482,90.68777259576194,-7.865804433822632],"start_rotation":[0.98913510753418576,0,0,0.14700931617871976],"end_position":[-45.104291077028165,92.1418933534316,-3.865804433822632],"end_rotation":[0.98913510753418576,0,0,0.14700931617871976],"actions":[1,5,5,0],"reference_path":[[-49.88817368659482,90.68777259576194,-7.865804433822632,0,0,0.29508810864356766],[-45.104291077028165,92.1418933534316,-7.865804433822632,0,0,0.29508810864356766],[-45.104291077028165,92.1418933534316,-5.865804433822632,0,0,0.29508810864356766],[-45.104291077028165,92.1418933534316,-3.865804433822632,0,0,0.29508810864356766]]}],"statistics":{"complete_actions":42,"sentence_actions":[4,13,6,4,11,4],"sentence_actions_average":7.0}}
diff --git a/scene_13/31LVTDXBLG8LVRS5WIPVD8HYSWWLRJ.json b/scene_13/31LVTDXBLG8LVRS5WIPVD8HYSWWLRJ.json
new file mode 100644
index 0000000000000000000000000000000000000000..b713348bec6b09cc5c8d180a7f45b48b4123a489
--- /dev/null
+++ b/scene_13/31LVTDXBLG8LVRS5WIPVD8HYSWWLRJ.json
@@ -0,0 +1 @@
+{"episode_id":"31LVTDXBLG8LVRS5WIPVD8HYSWWLRJ","trajectory_id":"34KYK9TV3Z6IXD9DURV40WV0R9WSB4","scene_id":13,"instruction":"turn left and go down street and turn right and go over building. go to other side of street to ground and turn left. go up onto roof and go left onto lower side and stop.","sentence_instructions":[{"id":0,"instruction":"turn left and go down street and turn right and go over building.","completed_instruction":"Take off from the roof, turn left to face a brown brick building with black edge roof and go farward to the street corner, and then go down close to ground and turn right to the orange building and go over this building.","start_frame":1,"end_frame":50,"start_position":[33.992637634277344,-16.65180206298828,-14.979244232177734],"start_rotation":[0.99977106657939663,0,0,-0.021396598577708047],"end_position":[9.771851190147455,-45.10557576246174,-14.979244232177734],"end_rotation":[0.99977106657939663,0,0,-0.021396598577707846],"actions":[2,2,2,2,2,2,2,2,2,2,1,1,1,1,1,1,1,1,5,1,5,5,1,5,5,5,3,3,6,3,3,3,3,3,3,4,1,4,4,4,1,4,1,4,1,7,3,1,3,1],"reference_path":[[33.992637634277344,-16.65180206298828,-14.979244232177734,0,0,-0.042796463052154995],[33.992637634277344,-16.65180206298828,-14.979244232177734,0,0,-0.3045958508513044],[33.992637634277344,-16.65180206298828,-14.979244232177734,0,0,-0.5663952386504538],[33.992637634277344,-16.65180206298828,-14.979244232177734,0,0,-0.8281946264496033],[33.992637634277344,-16.65180206298828,-14.979244232177734,0,0,-1.0899940142487528],[33.992637634277344,-16.65180206298828,-14.979244232177734,0,0,-1.3517934020479023],[33.992637634277344,-16.65180206298828,-14.979244232177734,0,0,-1.6135927898470517],[33.992637634277344,-16.65180206298828,-14.979244232177734,0,0,-1.875392177646201],[33.992637634277344,-16.65180206298828,-14.979244232177734,0,0,-2.13719156544535],[33.992637634277344,-16.65180206298828,-14.979244232177734,0,0,-2.3989909532444993],[33.992637634277344,-16.65180206298828,-14.979244232177734,0,0,-2.660790341043649],[29.559516903721136,-18.96425543296416,-14.979244232177734,0,0,-2.660790341043649],[25.126396173164927,-21.276708802940036,-14.979244232177734,0,0,-2.660790341043649],[20.69327544260872,-23.589162172915913,-14.979244232177734,0,0,-2.660790341043649],[16.26015471205251,-25.90161554289179,-14.979244232177734,0,0,-2.660790341043649],[11.827033981496303,-28.214068912867667,-14.979244232177734,0,0,-2.660790341043649],[7.393913250940094,-30.526522282843544,-14.979244232177734,0,0,-2.660790341043649],[2.960792520383885,-32.83897565281942,-14.979244232177734,0,0,-2.660790341043649],[-1.472328210172324,-35.1514290227953,-14.979244232177734,0,0,-2.660790341043649],[-1.472328210172324,-35.1514290227953,-12.979244232177734,0,0,-2.660790341043649],[-5.905448940728533,-37.463882392771175,-12.979244232177734,0,0,-2.660790341043649],[-5.905448940728533,-37.463882392771175,-10.979244232177734,0,0,-2.660790341043649],[-5.905448940728533,-37.463882392771175,-8.979244232177734,0,0,-2.660790341043649],[-10.338569671284741,-39.77633576274705,-8.979244232177734,0,0,-2.660790341043649],[-10.338569671284741,-39.77633576274705,-6.979244232177734,0,0,-2.660790341043649],[-10.338569671284741,-39.77633576274705,-4.979244232177734,0,0,-2.660790341043649],[-10.338569671284741,-39.77633576274705,-2.9792442321777344,0,0,-2.660790341043649],[-10.338569671284741,-39.77633576274705,-2.9792442321777344,0,0,-2.3989909532444993],[-10.338569671284741,-39.77633576274705,-2.9792442321777344,0,0,-2.13719156544535],[-14.55777340002889,-37.093367277029884,-2.9792442321777344,0,0,-2.13719156544535],[-14.55777340002889,-37.093367277029884,-2.9792442321777344,0,0,-1.8753921776462006],[-14.55777340002889,-37.093367277029884,-2.9792442321777344,0,0,-1.6135927898470512],[-14.55777340002889,-37.093367277029884,-2.9792442321777344,0,0,-1.3517934020479017],[-14.55777340002889,-37.093367277029884,-2.9792442321777344,0,0,-1.0899940142487523],[-14.55777340002889,-37.093367277029884,-2.9792442321777344,0,0,-0.8281946264496028],[-14.55777340002889,-37.093367277029884,-2.9792442321777344,0,0,-0.5663952386504535],[-14.55777340002889,-37.093367277029884,-4.979244232177734,0,0,-0.5663952386504535],[-10.338569671284741,-39.77633576274705,-4.979244232177734,0,0,-0.5663952386504535],[-10.338569671284741,-39.77633576274705,-6.979244232177734,0,0,-0.5663952386504535],[-10.338569671284741,-39.77633576274705,-8.979244232177734,0,0,-0.5663952386504535],[-10.338569671284741,-39.77633576274705,-10.979244232177734,0,0,-0.5663952386504535],[-6.119365942540593,-42.45930424846422,-10.979244232177734,0,0,-0.5663952386504535],[-6.119365942540593,-42.45930424846422,-12.979244232177734,0,0,-0.5663952386504535],[-1.9001622137964453,-45.14227273418139,-12.979244232177734,0,0,-0.5663952386504535],[-1.9001622137964453,-45.14227273418139,-14.979244232177734,0,0,-0.5663952386504535],[2.3190415149477026,-47.82524121989856,-14.979244232177734,0,0,-0.5663952386504535],[5.002010000664872,-43.60603749115441,-14.979244232177734,0,0,-0.5663952386504535],[5.002010000664872,-43.60603749115441,-14.979244232177734,0,0,-0.30459585085130403],[9.771851190147455,-45.10557576246174,-14.979244232177734,0,0,-0.30459585085130403],[9.771851190147455,-45.10557576246174,-14.979244232177734,0,0,-0.04279646305215459]]},{"id":1,"instruction":"go to other side of street to ground and turn left.","completed_instruction":"Go to other side of street and then go to the ground and turn left to face the orange awning and go to it.","start_frame":50,"end_frame":72,"start_position":[9.771851190147455,-45.10557576246174,-14.979244232177734],"start_rotation":[0.99977106657939663,0,0,-0.021396598577707846],"end_position":[30.80150107833024,-50.66964858166004,-0.9792442321777344],"end_rotation":[0.78014629127120383,0,0,-0.62559712612494145],"actions":[1,1,5,3,3,1,5,5,5,5,1,5,5,2,2,2,2,2,2,2,1,1,1],"reference_path":[[9.771851190147455,-45.10557576246174,-14.979244232177734,0,0,-0.04279646305215459],[14.767273045840499,-45.319492764273804,-14.979244232177734,0,0,-0.04279646305215459],[19.762694901533543,-45.53340976608587,-14.979244232177734,0,0,-0.04279646305215459],[19.762694901533543,-45.53340976608587,-12.979244232177734,0,0,-0.04279646305215459],[19.762694901533543,-45.53340976608587,-12.979244232177734,0,0,0.21900292474699484],[19.762694901533543,-45.53340976608587,-12.979244232177734,0,0,0.48080231254614425],[24.19581563208975,-43.22095639610999,-12.979244232177734,0,0,0.48080231254614425],[24.19581563208975,-43.22095639610999,-10.979244232177734,0,0,0.48080231254614425],[24.19581563208975,-43.22095639610999,-8.979244232177734,0,0,0.48080231254614425],[24.19581563208975,-43.22095639610999,-6.979244232177734,0,0,0.48080231254614425],[24.19581563208975,-43.22095639610999,-4.979244232177734,0,0,0.48080231254614425],[28.62893636264596,-40.90850302613411,-4.979244232177734,0,0,0.48080231254614425],[28.62893636264596,-40.90850302613411,-2.9792442321777344,0,0,0.48080231254614425],[28.62893636264596,-40.90850302613411,-0.9792442321777344,0,0,0.48080231254614425],[28.62893636264596,-40.90850302613411,-0.9792442321777344,0,0,0.21900292474699484],[28.62893636264596,-40.90850302613411,-0.9792442321777344,0,0,-0.04279646305215459],[28.62893636264596,-40.90850302613411,-0.9792442321777344,0,0,-0.30459585085130403],[28.62893636264596,-40.90850302613411,-0.9792442321777344,0,0,-0.5663952386504535],[28.62893636264596,-40.90850302613411,-0.9792442321777344,0,0,-0.8281946264496028],[28.62893636264596,-40.90850302613411,-0.9792442321777344,0,0,-1.0899940142487523],[28.62893636264596,-40.90850302613411,-0.9792442321777344,0,0,-1.3517934020479017],[29.7152187204881,-45.78907580389708,-0.9792442321777344,0,0,-1.3517934020479017],[30.80150107833024,-50.66964858166004,-0.9792442321777344,0,0,-1.3517934020479017]]},{"id":2,"instruction":"go up onto roof and go left onto lower side and stop.","completed_instruction":"Go up onto roof and go left onto the roof and stop at the roof.","start_frame":72,"end_frame":99,"start_position":[30.80150107833024,-50.66964858166004,-0.9792442321777344],"start_rotation":[0.78014629127120383,0,0,-0.62559712612494145],"end_position":[38.41944053489241,-62.666310575696386,-14.979244232177734],"end_rotation":[0.98842506997154733,0,0,-0.15170985812313487],"actions":[1,3,3,3,6,1,3,3,3,3,3,3,3,2,2,2,4,2,4,2,4,4,4,4,4,1,2,2],"reference_path":[[30.80150107833024,-50.66964858166004,-0.9792442321777344,0,0,-1.3517934020479017],[31.88778343617238,-55.550221359423006,-0.9792442321777344,0,0,-1.3517934020479017],[31.88778343617238,-55.550221359423006,-0.9792442321777344,0,0,-1.0899940142487523],[31.88778343617238,-55.550221359423006,-0.9792442321777344,0,0,-0.8281946264496028],[31.88778343617238,-55.550221359423006,-0.9792442321777344,0,0,-0.5663952386504535],[29.204814950455212,-59.769425088167154,-0.9792442321777344,0,0,-0.5663952386504535],[33.424018679199364,-62.45239357388432,-0.9792442321777344,0,0,-0.5663952386504535],[33.424018679199364,-62.45239357388432,-0.9792442321777344,0,0,-0.30459585085130403],[33.424018679199364,-62.45239357388432,-0.9792442321777344,0,0,-0.04279646305215459],[33.424018679199364,-62.45239357388432,-0.9792442321777344,0,0,0.21900292474699484],[33.424018679199364,-62.45239357388432,-0.9792442321777344,0,0,0.48080231254614425],[33.424018679199364,-62.45239357388432,-0.9792442321777344,0,0,0.7426017003452937],[33.424018679199364,-62.45239357388432,-0.9792442321777344,0,0,1.0044010881444432],[33.424018679199364,-62.45239357388432,-0.9792442321777344,0,0,1.2662004759435925],[33.424018679199364,-62.45239357388432,-0.9792442321777344,0,0,1.0044010881444432],[33.424018679199364,-62.45239357388432,-0.9792442321777344,0,0,0.7426017003452937],[33.424018679199364,-62.45239357388432,-0.9792442321777344,0,0,0.4808023125461444],[33.424018679199364,-62.45239357388432,-2.9792442321777344,0,0,0.4808023125461444],[33.424018679199364,-62.45239357388432,-2.9792442321777344,0,0,0.21900292474699504],[33.424018679199364,-62.45239357388432,-4.979244232177734,0,0,0.21900292474699504],[33.424018679199364,-62.45239357388432,-4.979244232177734,0,0,-0.04279646305215438],[33.424018679199364,-62.45239357388432,-6.979244232177734,0,0,-0.04279646305215438],[33.424018679199364,-62.45239357388432,-8.979244232177734,0,0,-0.04279646305215438],[33.424018679199364,-62.45239357388432,-10.979244232177734,0,0,-0.04279646305215438],[33.424018679199364,-62.45239357388432,-12.979244232177734,0,0,-0.04279646305215438],[33.424018679199364,-62.45239357388432,-14.979244232177734,0,0,-0.04279646305215438],[38.41944053489241,-62.666310575696386,-14.979244232177734,0,0,-0.04279646305215438],[38.41944053489241,-62.666310575696386,-14.979244232177734,0,0,-0.30459585085130386]]}],"statistics":{"complete_actions":101,"sentence_actions":[50,23,28],"sentence_actions_average":33.67}}
diff --git a/scene_13/32N49TQG3PGWSFII8B5F5RQPT7XVAX.json b/scene_13/32N49TQG3PGWSFII8B5F5RQPT7XVAX.json
new file mode 100644
index 0000000000000000000000000000000000000000..33d32e4a0d8c4d7cf0ab6ae76369289e3af6ccaf
--- /dev/null
+++ b/scene_13/32N49TQG3PGWSFII8B5F5RQPT7XVAX.json
@@ -0,0 +1 @@
+{"episode_id":"32N49TQG3PGWSFII8B5F5RQPT7XVAX","trajectory_id":"3INZSNUD98OT7VBYZHMJEREAXPGD9F","scene_id":13,"instruction":"take off and turn right into cafe and turn left. turn right at street and go passed stop sign. land in the middle of the street.","sentence_instructions":[{"id":0,"instruction":"take off and turn right into cafe and turn left. turn right at street and go passed stop sign. land in the middle of the street.","completed_instruction":"Lift off and turn right to face the black umbrellas and move forward to the area above the front black fence, then turn left to face the navy blue building on the opposite side of the road, then move forward.","start_frame":0,"end_frame":17,"start_position":[54.06113815307617,-40.53596115112305,-1.2073620557785034],"start_rotation":[0.99986751448460232,0,0,0.016277391633290551],"end_position":[49.19194486759421,-39.39975837493503,-3.2073620557785034],"end_rotation":[0.59576705391354456,0,0,0.80315728065627079],"actions":[4,3,3,3,3,3,3,3,3,3,3,3,1,2,2,2,2,1],"reference_path":[[54.06113815307617,-40.53596115112305,-1.2073620557785034,0,0,0.032556221021854],[54.06113815307617,-40.53596115112305,-3.2073620557785034,0,0,0.032556221021854],[54.06113815307617,-40.53596115112305,-3.2073620557785034,0,0,0.2943556088210034],[54.06113815307617,-40.53596115112305,-3.2073620557785034,0,0,0.5561549966201529],[54.06113815307617,-40.53596115112305,-3.2073620557785034,0,0,0.8179543844193022],[54.06113815307617,-40.53596115112305,-3.2073620557785034,0,0,1.0797537722184516],[54.06113815307617,-40.53596115112305,-3.2073620557785034,0,0,1.3415531600176012],[54.06113815307617,-40.53596115112305,-3.2073620557785034,0,0,1.6033525478167507],[54.06113815307617,-40.53596115112305,-3.2073620557785034,0,0,1.8651519356159],[54.06113815307617,-40.53596115112305,-3.2073620557785034,0,0,2.1269513234150494],[54.06113815307617,-40.53596115112305,-3.2073620557785034,0,0,2.388750711214199],[54.06113815307617,-40.53596115112305,-3.2073620557785034,0,0,2.6505500990133486],[54.06113815307617,-40.53596115112305,-3.2073620557785034,0,0,2.9123494868124977],[49.19194486759421,-39.39975837493503,-3.2073620557785034,0,0,2.9123494868124977],[49.19194486759421,-39.39975837493503,-3.2073620557785034,0,0,2.6505500990133486],[49.19194486759421,-39.39975837493503,-3.2073620557785034,0,0,2.388750711214199],[49.19194486759421,-39.39975837493503,-3.2073620557785034,0,0,2.1269513234150494],[49.19194486759421,-39.39975837493503,-3.2073620557785034,0,0,1.8651519356159]]},{"id":1,"instruction":"turn right at street and go passed stop sign.","completed_instruction":"Fly to the center of the road and then turn right to face the traffic light above the road, and go forward to the traffic light, land after passing the traffic light.","start_frame":17,"end_frame":27,"start_position":[49.19194486759421,-39.39975837493503,-3.2073620557785034],"start_rotation":[0.59576705391354456,0,0,0.80315728065627079],"end_position":[37.84018977077182,-27.345055888084836,-3.2073620557785034],"end_rotation":[0.11437076309880749,0,0,0.99343813523953084],"actions":[1,2,1,3,3,3,3,3,1,1,3],"reference_path":[[49.19194486759421,-39.39975837493503,-3.2073620557785034,0,0,1.8651519356159],[47.741328692882455,-34.61481190567703,-3.2073620557785034,0,0,1.8651519356159],[47.741328692882455,-34.61481190567703,-3.2073620557785034,0,0,1.6033525478167507],[47.57857634173575,-29.617461440460865,-3.2073620557785034,0,0,1.6033525478167507],[47.57857634173575,-29.617461440460865,-3.2073620557785034,0,0,1.8651519356159],[47.57857634173575,-29.617461440460865,-3.2073620557785034,0,0,2.1269513234150494],[47.57857634173575,-29.617461440460865,-3.2073620557785034,0,0,2.388750711214199],[47.57857634173575,-29.617461440460865,-3.2073620557785034,0,0,2.6505500990133486],[47.57857634173575,-29.617461440460865,-3.2073620557785034,0,0,2.9123494868124977],[42.709383056253785,-28.48125866427285,-3.2073620557785034,0,0,2.9123494868124977],[37.84018977077182,-27.345055888084836,-3.2073620557785034,0,0,2.9123494868124977]]},{"id":2,"instruction":"land in the middle of the street.","completed_instruction":"Lift off and turn right to face the black umbrellas and move forward to the area above the front black fence, then turn left to face the navy blue building on the opposite side of the road, then move forward. Fly to the center of the road and then turn right to face the traffic light above the road, and go forward to the traffic light, land after passing the traffic light.","start_frame":27,"end_frame":34,"start_position":[37.84018977077182,-27.345055888084836,-3.2073620557785034],"start_rotation":[0.11437076309880749,0,0,0.99343813523953084],"end_position":[12.853437444690996,-28.158817643818374,-1.2073620557785034],"end_rotation":[0.016277391633290703,0,0,-0.99986751448460232],"actions":[3,1,1,1,1,1,5,0],"reference_path":[[37.84018977077182,-27.345055888084836,-3.2073620557785034,0,0,2.9123494868124977],[37.84018977077182,-27.345055888084836,-3.2073620557785034,0,0,-3.109036432567939],[32.84283930555566,-27.507808239231544,-3.2073620557785034,0,0,-3.109036432567939],[27.845488840339492,-27.67056059037825,-3.2073620557785034,0,0,-3.109036432567939],[22.848138375123327,-27.83331294152496,-3.2073620557785034,0,0,-3.109036432567939],[17.85078790990716,-27.996065292671666,-3.2073620557785034,0,0,-3.109036432567939],[12.853437444690996,-28.158817643818374,-3.2073620557785034,0,0,-3.109036432567939],[12.853437444690996,-28.158817643818374,-1.2073620557785034,0,0,-3.109036432567939]]}],"statistics":{"complete_actions":37,"sentence_actions":[18,11,8],"sentence_actions_average":12.33}}
diff --git a/scene_13/33C7UALJVUW2NF954Z1C2CDED9381H.json b/scene_13/33C7UALJVUW2NF954Z1C2CDED9381H.json
new file mode 100644
index 0000000000000000000000000000000000000000..ce868c09ea810368c5b03a10204619d652968478
--- /dev/null
+++ b/scene_13/33C7UALJVUW2NF954Z1C2CDED9381H.json
@@ -0,0 +1 @@
+{"episode_id":"33C7UALJVUW2NF954Z1C2CDED9381H","trajectory_id":"3MZ3TAMYUTLGJ6N6LCNGW9UHVGUIR9","scene_id":13,"instruction":"lift off and turn right facing the man hole cover and head straight. at the next corner turn right facing the alley and head straight. just before the alley turn left facing the building with lots of windows and land before the building.","sentence_instructions":[{"id":0,"instruction":"lift off and turn right to face the man hole cover and head straight. at the next corner turn right to face the alley and head straight. just before the alley turn left to face the building with lots of windows and land before the building.","completed_instruction":"Turn around to align with the road.","start_frame":1,"end_frame":19,"start_position":[28.115341186523438,-29.557783126831055,-0.813248336315155],"start_rotation":[0.9998973332447374,0,0,0.014329095228333085],"end_position":[3.125607335026574,-30.274164332162055,-2.813248336315155],"end_rotation":[0.014329095228332783,0,0,-0.9998973332447374],"actions":[3,3,3,3,3,3,3,3,3,3,3,3,1,1,1,1,1,4,1],"reference_path":[[28.115341186523438,-29.557783126831055,-0.813248336315155,0,0,0.02865917124475265],[28.115341186523438,-29.557783126831055,-0.813248336315155,0,0,0.2904585590439021],[28.115341186523438,-29.557783126831055,-0.813248336315155,0,0,0.5522579468430515],[28.115341186523438,-29.557783126831055,-0.813248336315155,0,0,0.814057334642201],[28.115341186523438,-29.557783126831055,-0.813248336315155,0,0,1.0758567224413504],[28.115341186523438,-29.557783126831055,-0.813248336315155,0,0,1.3376561102404998],[28.115341186523438,-29.557783126831055,-0.813248336315155,0,0,1.5994554980396494],[28.115341186523438,-29.557783126831055,-0.813248336315155,0,0,1.8612548858387987],[28.115341186523438,-29.557783126831055,-0.813248336315155,0,0,2.123054273637948],[28.115341186523438,-29.557783126831055,-0.813248336315155,0,0,2.3848536614370976],[28.115341186523438,-29.557783126831055,-0.813248336315155,0,0,2.646653049236247],[28.115341186523438,-29.557783126831055,-0.813248336315155,0,0,2.9084524370353964],[28.115341186523438,-29.557783126831055,-0.813248336315155,0,0,-3.112933482345041],[23.117394416224066,-29.701059367897255,-0.813248336315155,0,0,-3.112933482345041],[18.119447645924694,-29.844335608963455,-0.813248336315155,0,0,-3.112933482345041],[13.12150087562532,-29.987611850029655,-0.813248336315155,0,0,-3.112933482345041],[8.123554105325947,-30.130888091095855,-0.813248336315155,0,0,-3.112933482345041],[3.125607335026574,-30.274164332162055,-0.813248336315155,0,0,-3.112933482345041],[3.125607335026574,-30.274164332162055,-2.813248336315155,0,0,-3.112933482345041]]},{"id":1,"instruction":"at the next corner turn right to face the alley and head straight.","completed_instruction":"Go forward to the road corner, turn right to face the small alley between the two light pink buildings at the right side of the road.","start_frame":19,"end_frame":30,"start_position":[3.125607335026574,-30.274164332162055,-2.813248336315155],"start_rotation":[0.014329095228332783,0,0,-0.9998973332447374],"end_position":[-10.436274943769977,-35.49455629931222,-2.813248336315155],"end_rotation":[0.80199488976561251,0,0,-0.59733089388532645],"actions":[1,1,1,3,3,3,3,3,3,3,1,1],"reference_path":[[3.125607335026574,-30.274164332162055,-2.813248336315155,0,0,-3.112933482345041],[-1.8723394352727993,-30.417440573228255,-2.813248336315155,0,0,-3.112933482345041],[-6.870286205572173,-30.560716814294455,-2.813248336315155,0,0,-3.112933482345041],[-11.868232975871546,-30.703993055360655,-2.813248336315155,0,0,-3.112933482345041],[-11.868232975871546,-30.703993055360655,-2.813248336315155,0,0,-2.8511340945458916],[-11.868232975871546,-30.703993055360655,-2.813248336315155,0,0,-2.589334706746742],[-11.868232975871546,-30.703993055360655,-2.813248336315155,0,0,-2.327535318947593],[-11.868232975871546,-30.703993055360655,-2.813248336315155,0,0,-2.065735931148444],[-11.868232975871546,-30.703993055360655,-2.813248336315155,0,0,-1.8039365433492944],[-11.868232975871546,-30.703993055360655,-2.813248336315155,0,0,-1.5421371555501449],[-11.868232975871546,-30.703993055360655,-2.813248336315155,0,0,-1.2803377677509955],[-10.436274943769977,-35.49455629931222,-2.813248336315155,0,0,-1.2803377677509955]]},{"id":2,"instruction":"just before the alley turn left to face the building with lots of windows and land before the building.","completed_instruction":"Fly forward to the entrance of the alley, turn left slightly to face the corner and land in front of the grey-white building with many windows.","start_frame":30,"end_frame":40,"start_position":[-10.436274943769977,-35.49455629931222,-2.813248336315155],"start_rotation":[0.80199488976561251,0,0,-0.59733089388532645],"end_position":[-14.653822346082361,-55.112354530510444,-2.813248336315155],"end_rotation":[0.27263331613936193,0,0,-0.96211801507447869],"actions":[1,1,1,2,2,2,2,2,1,1,0],"reference_path":[[-10.436274943769977,-35.49455629931222,-2.813248336315155,0,0,-1.2803377677509955],[-9.004316911668408,-40.28511954326379,-2.813248336315155,0,0,-1.2803377677509955],[-7.572358879566838,-45.07568278721536,-2.813248336315155,0,0,-1.2803377677509955],[-6.140400847465269,-49.866246031166924,-2.813248336315155,0,0,-1.2803377677509955],[-6.140400847465269,-49.866246031166924,-2.813248336315155,0,0,-1.5421371555501449],[-6.140400847465269,-49.866246031166924,-2.813248336315155,0,0,-1.8039365433492944],[-6.140400847465269,-49.866246031166924,-2.813248336315155,0,0,-2.065735931148444],[-6.140400847465269,-49.866246031166924,-2.813248336315155,0,0,-2.3275353189475934],[-6.140400847465269,-49.866246031166924,-2.813248336315155,0,0,-2.5893347067467425],[-10.397111596773815,-52.489300280838684,-2.813248336315155,0,0,-2.5893347067467425],[-14.653822346082361,-55.112354530510444,-2.813248336315155,0,0,-2.5893347067467425]]}],"statistics":{"complete_actions":42,"sentence_actions":[19,12,11],"sentence_actions_average":14.0}}
diff --git a/scene_13/354GIDR5ZK4KY1JKDCKXVSONG8M00R.json b/scene_13/354GIDR5ZK4KY1JKDCKXVSONG8M00R.json
new file mode 100644
index 0000000000000000000000000000000000000000..633caab4d451ba16f4a6465f43f192ffce807e7d
--- /dev/null
+++ b/scene_13/354GIDR5ZK4KY1JKDCKXVSONG8M00R.json
@@ -0,0 +1 @@
+{"episode_id":"354GIDR5ZK4KY1JKDCKXVSONG8M00R","trajectory_id":"32PT7WK7EUD7STMII8L9NEBO2E9D34","scene_id":13,"instruction":"turn left to building and go down. turn right and go over building to other side and go down. turn left and go to hydrant and stop.","sentence_instructions":[{"id":0,"instruction":"turn left to building and go down.","completed_instruction":"Turn left to face the a building with black roof edge and brick wall and then go farword to it and go down close to the corner of street.","start_frame":1,"end_frame":21,"start_position":[33.992637634277344,-16.65180206298828,-14.979244232177734],"start_rotation":[0.99994345109352667,0,0,-0.010634595204699272],"end_position":[-7.8555618444117865,-33.935557453291686,-14.979244232177734],"end_rotation":[0.24853217900819685,0,0,-0.96862364001578938],"actions":[2,2,2,2,2,2,2,2,2,2,1,1,1,1,1,1,1,1,6,1,1],"reference_path":[[33.992637634277344,-16.65180206298828,-14.979244232177734,0,0,-0.021269591334953725],[33.992637634277344,-16.65180206298828,-14.979244232177734,0,0,-0.28306897913410317],[33.992637634277344,-16.65180206298828,-14.979244232177734,0,0,-0.5448683669332526],[33.992637634277344,-16.65180206298828,-14.979244232177734,0,0,-0.8066677547324019],[33.992637634277344,-16.65180206298828,-14.979244232177734,0,0,-1.0684671425315515],[33.992637634277344,-16.65180206298828,-14.979244232177734,0,0,-1.330266530330701],[33.992637634277344,-16.65180206298828,-14.979244232177734,0,0,-1.5920659181298504],[33.992637634277344,-16.65180206298828,-14.979244232177734,0,0,-1.853865305929],[33.992637634277344,-16.65180206298828,-14.979244232177734,0,0,-2.1156646937281494],[33.992637634277344,-16.65180206298828,-14.979244232177734,0,0,-2.377464081527299],[33.992637634277344,-16.65180206298828,-14.979244232177734,0,0,-2.639263469326448],[29.61032007430297,-19.059143501908036,-14.979244232177734,0,0,-2.639263469326448],[25.228002514328594,-21.46648494082779,-14.979244232177734,0,0,-2.639263469326448],[20.84568495435422,-23.873826379747545,-14.979244232177734,0,0,-2.639263469326448],[16.463367394379844,-26.2811678186673,-14.979244232177734,0,0,-2.639263469326448],[12.08104983440547,-28.688509257587054,-14.979244232177734,0,0,-2.639263469326448],[7.6987322744310935,-31.095850696506808,-14.979244232177734,0,0,-2.639263469326448],[3.3164147144567178,-33.50319213542656,-14.979244232177734,0,0,-2.639263469326448],[-1.065902845517658,-35.91053357434631,-14.979244232177734,0,0,-2.639263469326448],[-3.4732442844374107,-31.528216014371935,-14.979244232177734,0,0,-2.639263469326448],[-7.8555618444117865,-33.935557453291686,-14.979244232177734,0,0,-2.639263469326448]]},{"id":1,"instruction":"turn right and go over building to other side and go down.","completed_instruction":"Turn right to face the gap between two light pink buildings and go over the buildings to other side street and go down close to the street.","start_frame":21,"end_frame":66,"start_position":[-7.8555618444117865,-33.935557453291686,-14.979244232177734],"start_rotation":[0.24853217900819685,0,0,-0.96862364001578938],"end_position":[28.837446805614505,-55.39066980489392,-6.979244232177734],"end_rotation":[0.96311876846392508,0,0,-0.26907663932889492],"actions":[1,5,5,5,5,5,5,3,3,3,3,3,3,3,3,4,4,1,4,4,4,1,1,4,1,4,1,7,1,1,1,5,5,1,3,2,2,2,5,2,5,5,3,3,3,5],"reference_path":[[-7.8555618444117865,-33.935557453291686,-14.979244232177734,0,0,-2.639263469326448],[-12.237879404386163,-36.34289889221144,-14.979244232177734,0,0,-2.639263469326448],[-12.237879404386163,-36.34289889221144,-12.979244232177734,0,0,-2.639263469326448],[-12.237879404386163,-36.34289889221144,-10.979244232177734,0,0,-2.639263469326448],[-12.237879404386163,-36.34289889221144,-8.979244232177734,0,0,-2.639263469326448],[-12.237879404386163,-36.34289889221144,-6.979244232177734,0,0,-2.639263469326448],[-12.237879404386163,-36.34289889221144,-4.979244232177734,0,0,-2.639263469326448],[-12.237879404386163,-36.34289889221144,-2.9792442321777344,0,0,-2.639263469326448],[-12.237879404386163,-36.34289889221144,-2.9792442321777344,0,0,-2.377464081527299],[-12.237879404386163,-36.34289889221144,-2.9792442321777344,0,0,-2.1156646937281494],[-12.237879404386163,-36.34289889221144,-2.9792442321777344,0,0,-1.853865305929],[-12.237879404386163,-36.34289889221144,-2.9792442321777344,0,0,-1.5920659181298504],[-12.237879404386163,-36.34289889221144,-2.9792442321777344,0,0,-1.330266530330701],[-12.237879404386163,-36.34289889221144,-2.9792442321777344,0,0,-1.0684671425315517],[-12.237879404386163,-36.34289889221144,-2.9792442321777344,0,0,-0.8066677547324024],[-12.237879404386163,-36.34289889221144,-2.9792442321777344,0,0,-0.544868366933253],[-12.237879404386163,-36.34289889221144,-4.979244232177734,0,0,-0.544868366933253],[-12.237879404386163,-36.34289889221144,-6.979244232177734,0,0,-0.544868366933253],[-7.961901782711485,-38.93442650714001,-6.979244232177734,0,0,-0.544868366933253],[-7.961901782711485,-38.93442650714001,-8.979244232177734,0,0,-0.544868366933253],[-7.961901782711485,-38.93442650714001,-10.979244232177734,0,0,-0.544868366933253],[-7.961901782711485,-38.93442650714001,-12.979244232177734,0,0,-0.544868366933253],[-3.685924161036807,-41.52595412206858,-12.979244232177734,0,0,-0.544868366933253],[0.5900534606378711,-44.117481736997156,-12.979244232177734,0,0,-0.544868366933253],[0.5900534606378711,-44.117481736997156,-14.979244232177734,0,0,-0.544868366933253],[4.866031082312549,-46.70900935192573,-14.979244232177734,0,0,-0.544868366933253],[4.866031082312549,-46.70900935192573,-16.979244232177734,0,0,-0.544868366933253],[9.142008703987226,-49.3005369668543,-16.979244232177734,0,0,-0.544868366933253],[11.733536318915796,-45.024559345179625,-16.979244232177734,0,0,-0.544868366933253],[16.009513940590473,-47.6160869601082,-16.979244232177734,0,0,-0.544868366933253],[20.28549156226515,-50.20761457503677,-16.979244232177734,0,0,-0.544868366933253],[24.561469183939828,-52.799142189965345,-16.979244232177734,0,0,-0.544868366933253],[24.561469183939828,-52.799142189965345,-14.979244232177734,0,0,-0.544868366933253],[24.561469183939828,-52.799142189965345,-12.979244232177734,0,0,-0.544868366933253],[28.837446805614505,-55.39066980489392,-12.979244232177734,0,0,-0.544868366933253],[28.837446805614505,-55.39066980489392,-12.979244232177734,0,0,-0.28306897913410356],[28.837446805614505,-55.39066980489392,-12.979244232177734,0,0,-0.544868366933253],[28.837446805614505,-55.39066980489392,-12.979244232177734,0,0,-0.8066677547324025],[28.837446805614505,-55.39066980489392,-12.979244232177734,0,0,-1.068467142531552],[28.837446805614505,-55.39066980489392,-10.979244232177734,0,0,-1.068467142531552],[28.837446805614505,-55.39066980489392,-10.979244232177734,0,0,-1.3302665303307013],[28.837446805614505,-55.39066980489392,-8.979244232177734,0,0,-1.3302665303307013],[28.837446805614505,-55.39066980489392,-6.979244232177734,0,0,-1.3302665303307013],[28.837446805614505,-55.39066980489392,-6.979244232177734,0,0,-1.068467142531552],[28.837446805614505,-55.39066980489392,-6.979244232177734,0,0,-0.8066677547324025],[28.837446805614505,-55.39066980489392,-6.979244232177734,0,0,-0.5448683669332531]]},{"id":2,"instruction":"turn left and go to hydrant and stop.","completed_instruction":"Turn left to face a hydrant and go to hydrant and stop there.","start_frame":66,"end_frame":79,"start_position":[28.837446805614505,-55.39066980489392,-6.979244232177734],"start_rotation":[0.96311876846392508,0,0,-0.26907663932889492],"end_position":[20.04446367803496,-67.40216556300032,-0.9792442321777344],"end_rotation":[0.3728367071892994,0,0,-0.92789697152875794],"actions":[5,5,2,2,2,2,2,2,1,1,2,1,5,0],"reference_path":[[28.837446805614505,-55.39066980489392,-6.979244232177734,0,0,-0.5448683669332531],[28.837446805614505,-55.39066980489392,-4.979244232177734,0,0,-0.5448683669332531],[28.837446805614505,-55.39066980489392,-2.9792442321777344,0,0,-0.5448683669332531],[28.837446805614505,-55.39066980489392,-2.9792442321777344,0,0,-0.8066677547324026],[28.837446805614505,-55.39066980489392,-2.9792442321777344,0,0,-1.068467142531552],[28.837446805614505,-55.39066980489392,-2.9792442321777344,0,0,-1.3302665303307013],[28.837446805614505,-55.39066980489392,-2.9792442321777344,0,0,-1.5920659181298509],[28.837446805614505,-55.39066980489392,-2.9792442321777344,0,0,-1.8538653059290005],[28.837446805614505,-55.39066980489392,-2.9792442321777344,0,0,-2.11566469372815],[26.245919190685935,-59.666647426568595,-2.9792442321777344,0,0,-2.11566469372815],[23.654391575757366,-63.94262504824327,-2.9792442321777344,0,0,-2.11566469372815],[23.654391575757366,-63.94262504824327,-2.9792442321777344,0,0,-2.3774640815272994],[20.04446367803496,-67.40216556300032,-2.9792442321777344,0,0,-2.3774640815272994],[20.04446367803496,-67.40216556300032,-0.9792442321777344,0,0,-2.3774640815272994]]}],"statistics":{"complete_actions":81,"sentence_actions":[21,46,14],"sentence_actions_average":27.0}}
diff --git a/scene_13/35BLDD71IFVXTNQQK3LEMKHY6VJVZN.json b/scene_13/35BLDD71IFVXTNQQK3LEMKHY6VJVZN.json
new file mode 100644
index 0000000000000000000000000000000000000000..774b9c2c3ab26aca3e3973e389e6d2c967e4c52c
--- /dev/null
+++ b/scene_13/35BLDD71IFVXTNQQK3LEMKHY6VJVZN.json
@@ -0,0 +1 @@
+{"episode_id":"35BLDD71IFVXTNQQK3LEMKHY6VJVZN","trajectory_id":"36MUZ9VAFE0A2R2F7S2565FLPMLEDG","scene_id":13,"instruction":"turn right and go to the end of the road. turn around and fly over the building on the right after the first one. land back down on the other side. turn right and go across the road to the blue doors. go to the end of the sidewalk on your left. go to the middle of the crosswalk and turn right. go to the lamp post on the left and land.","sentence_instructions":[{"id":0,"instruction":"turn right and go to the end of the road.","completed_instruction":"Turn right to face the street which only has tree on one side and go to the end of the road to the building with shadow.","start_frame":0,"end_frame":20,"start_position":[34.21627426147461,-83.59256744384766,-0.5034931898117065],"start_rotation":[0.99993290900106968,0,0,0.011583501053591207],"end_position":[4.36467176454787,-82.98983621208286,-0.5034931898117065],"end_rotation":[0.011583501053591292,0,0,-0.99993290900106968],"actions":[3,3,3,3,3,3,3,3,3,3,3,1,3,2,3,1,1,1,1,1,1],"reference_path":[[34.21627426147461,-83.59256744384766,-0.5034931898117065,0,0,0.02316752022019126],[34.21627426147461,-83.59256744384766,-0.5034931898117065,0,0,0.28496690801934066],[34.21627426147461,-83.59256744384766,-0.5034931898117065,0,0,0.5467662958184901],[34.21627426147461,-83.59256744384766,-0.5034931898117065,0,0,0.8085656836176396],[34.21627426147461,-83.59256744384766,-0.5034931898117065,0,0,1.070365071416789],[34.21627426147461,-83.59256744384766,-0.5034931898117065,0,0,1.3321644592159383],[34.21627426147461,-83.59256744384766,-0.5034931898117065,0,0,1.5939638470150876],[34.21627426147461,-83.59256744384766,-0.5034931898117065,0,0,1.8557632348142374],[34.21627426147461,-83.59256744384766,-0.5034931898117065,0,0,2.117562622613387],[34.21627426147461,-83.59256744384766,-0.5034931898117065,0,0,2.3793620104125366],[34.21627426147461,-83.59256744384766,-0.5034931898117065,0,0,2.6411613982116857],[34.21627426147461,-83.59256744384766,-0.5034931898117065,0,0,2.9029607860108353],[29.357962889714948,-82.41070001683617,-0.5034931898117065,0,0,2.9029607860108353],[29.357962889714948,-82.41070001683617,-0.5034931898117065,0,0,-3.118425133369602],[29.357962889714948,-82.41070001683617,-0.5034931898117065,0,0,2.9029607860108353],[29.357962889714948,-82.41070001683617,-0.5034931898117065,0,0,-3.118425133369602],[24.35930466468153,-82.52652725588551,-0.5034931898117065,0,0,-3.118425133369602],[19.360646439648114,-82.64235449493485,-0.5034931898117065,0,0,-3.118425133369602],[14.3619882146147,-82.75818173398419,-0.5034931898117065,0,0,-3.118425133369602],[9.363329989581285,-82.87400897303353,-0.5034931898117065,0,0,-3.118425133369602],[4.36467176454787,-82.98983621208286,-0.5034931898117065,0,0,-3.118425133369602]]},{"id":1,"instruction":"turn around and fly over the building on the right after the first one.","completed_instruction":"Turn back and fly over the building on the right after the first one.","start_frame":20,"end_frame":45,"start_position":[4.36467176454787,-82.98983621208286,-0.5034931898117065],"start_rotation":[0.011583501053591292,0,0,-0.99993290900106968],"end_position":[21.048270429131087,-70.01167997388187,-12.503493189811707],"end_rotation":[0.98986639406257426,0,0,0.14200183768373034],"actions":[1,1,2,2,2,2,2,2,2,2,2,2,4,4,1,4,1,4,1,4,1,2,1,4,1,2],"reference_path":[[4.36467176454787,-82.98983621208286,-0.5034931898117065,0,0,-3.118425133369602],[-0.633986460485545,-83.1056634511322,-0.5034931898117065,0,0,-3.118425133369602],[-5.63264468551896,-83.22149069018154,-0.5034931898117065,0,0,-3.118425133369602],[-5.63264468551896,-83.22149069018154,-0.5034931898117065,0,0,2.9029607860108353],[-5.63264468551896,-83.22149069018154,-0.5034931898117065,0,0,2.6411613982116857],[-5.63264468551896,-83.22149069018154,-0.5034931898117065,0,0,2.3793620104125366],[-5.63264468551896,-83.22149069018154,-0.5034931898117065,0,0,2.117562622613387],[-5.63264468551896,-83.22149069018154,-0.5034931898117065,0,0,1.8557632348142377],[-5.63264468551896,-83.22149069018154,-0.5034931898117065,0,0,1.593963847015088],[-5.63264468551896,-83.22149069018154,-0.5034931898117065,0,0,1.3321644592159387],[-5.63264468551896,-83.22149069018154,-0.5034931898117065,0,0,1.0703650714167894],[-5.63264468551896,-83.22149069018154,-0.5034931898117065,0,0,0.80856568361764],[-5.63264468551896,-83.22149069018154,-0.5034931898117065,0,0,0.5467662958184907],[-5.63264468551896,-83.22149069018154,-2.5034931898117065,0,0,0.5467662958184907],[-5.63264468551896,-83.22149069018154,-4.5034931898117065,0,0,0.5467662958184907],[-1.3615932973286657,-80.62185224619789,-4.5034931898117065,0,0,0.5467662958184907],[-1.3615932973286657,-80.62185224619789,-6.5034931898117065,0,0,0.5467662958184907],[2.9094580908616283,-78.02221380221424,-6.5034931898117065,0,0,0.5467662958184907],[2.9094580908616283,-78.02221380221424,-8.503493189811707,0,0,0.5467662958184907],[7.180509479051922,-75.42257535823059,-8.503493189811707,0,0,0.5467662958184907],[7.180509479051922,-75.42257535823059,-10.503493189811707,0,0,0.5467662958184907],[11.451560867242216,-72.82293691424694,-10.503493189811707,0,0,0.5467662958184907],[11.451560867242216,-72.82293691424694,-10.503493189811707,0,0,0.2849669080193412],[16.24991564818665,-71.4173084440644,-10.503493189811707,0,0,0.2849669080193412],[16.24991564818665,-71.4173084440644,-12.503493189811707,0,0,0.2849669080193412],[21.048270429131087,-70.01167997388187,-12.503493189811707,0,0,0.2849669080193412]]},{"id":2,"instruction":"land back down on the other side.","completed_instruction":"Land back down on the other side at the door of the white building.","start_frame":45,"end_frame":52,"start_position":[21.048270429131087,-70.01167997388187,-12.503493189811707],"start_rotation":[0.98986639406257426,0,0,0.14200183768373034],"end_position":[31.04558687919792,-69.78002549578316,-4.5034931898117065],"end_rotation":[0.99993290900106968,0,0,0.011583501053591481],"actions":[2,1,5,5,1,5,5,5],"reference_path":[[21.048270429131087,-70.01167997388187,-12.503493189811707,0,0,0.2849669080193412],[21.048270429131087,-70.01167997388187,-12.503493189811707,0,0,0.023167520220191806],[26.046928654164503,-69.89585273483252,-12.503493189811707,0,0,0.023167520220191806],[26.046928654164503,-69.89585273483252,-10.503493189811707,0,0,0.023167520220191806],[26.046928654164503,-69.89585273483252,-8.503493189811707,0,0,0.023167520220191806],[31.04558687919792,-69.78002549578316,-8.503493189811707,0,0,0.023167520220191806],[31.04558687919792,-69.78002549578316,-6.5034931898117065,0,0,0.023167520220191806],[31.04558687919792,-69.78002549578316,-4.5034931898117065,0,0,0.023167520220191806]]},{"id":3,"instruction":"turn right and go across the road to the blue doors.","completed_instruction":"Turn right to face a blue awning  and go across the road to the blue awning.","start_frame":52,"end_frame":62,"start_position":[31.04558687919792,-69.78002549578316,-4.5034931898117065],"start_rotation":[0.99993290900106968,0,0,0.011583501053591481],"end_position":[28.445948435214266,-65.50897410759288,-2.5034931898117065],"end_rotation":[0.48993484832336071,0,0,0.87175905180179547],"actions":[5,3,3,3,3,3,3,3,3,1,1],"reference_path":[[31.04558687919792,-69.78002549578316,-4.5034931898117065,0,0,0.023167520220191806],[31.04558687919792,-69.78002549578316,-2.5034931898117065,0,0,0.023167520220191806],[31.04558687919792,-69.78002549578316,-2.5034931898117065,0,0,0.2849669080193412],[31.04558687919792,-69.78002549578316,-2.5034931898117065,0,0,0.5467662958184907],[31.04558687919792,-69.78002549578316,-2.5034931898117065,0,0,0.8085656836176401],[31.04558687919792,-69.78002549578316,-2.5034931898117065,0,0,1.0703650714167896],[31.04558687919792,-69.78002549578316,-2.5034931898117065,0,0,1.332164459215939],[31.04558687919792,-69.78002549578316,-2.5034931898117065,0,0,1.5939638470150883],[31.04558687919792,-69.78002549578316,-2.5034931898117065,0,0,1.8557632348142379],[31.04558687919792,-69.78002549578316,-2.5034931898117065,0,0,2.1175626226133875],[28.445948435214266,-65.50897410759288,-2.5034931898117065,0,0,2.1175626226133875]]},{"id":4,"instruction":"go to the end of the sidewalk on your left.","completed_instruction":"Go to the end of the sidewalk on your left.","start_frame":62,"end_frame":70,"start_position":[28.445948435214266,-65.50897410759288,-2.5034931898117065],"start_rotation":[0.48993484832336071,0,0,0.87175905180179547],"end_position":[20.299551386115258,-37.699845267921745,-2.5034931898117065],"end_rotation":[0.698868568541371,0,0,0.7152501128311235],"actions":[1,1,1,2,2,1,1,1,1],"reference_path":[[28.445948435214266,-65.50897410759288,-2.5034931898117065,0,0,2.1175626226133875],[25.846309991230612,-61.23792271940258,-2.5034931898117065,0,0,2.1175626226133875],[23.246671547246958,-56.96687133121229,-2.5034931898117065,0,0,2.1175626226133875],[20.647033103263304,-52.695819943021995,-2.5034931898117065,0,0,2.1175626226133875],[20.647033103263304,-52.695819943021995,-2.5034931898117065,0,0,1.855763234814238],[20.647033103263304,-52.695819943021995,-2.5034931898117065,0,0,1.593963847015089],[20.531205864213955,-47.69716171798858,-2.5034931898117065,0,0,1.593963847015089],[20.415378625164607,-42.69850349295516,-2.5034931898117065,0,0,1.593963847015089],[20.299551386115258,-37.699845267921745,-2.5034931898117065,0,0,1.593963847015089]]},{"id":5,"instruction":"go to the lamp post on the left and land.","completed_instruction":"Turn right to face the corner and go to the building with many glass windows on the left and land.","start_frame":70,"end_frame":80,"start_position":[20.299551386115258,-37.699845267921745,-2.5034931898117065],"start_rotation":[0.698868568541371,0,0,0.7152501128311235],"end_position":[5.608790031786924,-29.15558476185387,-2.5034931898117065],"end_rotation":[0.011583501053591959,0,0,-0.99993290900106968],"actions":[1,3,3,3,3,3,1,1,1,3,0],"reference_path":[[20.299551386115258,-37.699845267921745,-2.5034931898117065,0,0,1.593963847015089],[20.18372414706591,-32.70118704288833,-2.5034931898117065,0,0,1.593963847015089],[20.18372414706591,-32.70118704288833,-2.5034931898117065,0,0,1.8557632348142385],[20.18372414706591,-32.70118704288833,-2.5034931898117065,0,0,2.117562622613388],[20.18372414706591,-32.70118704288833,-2.5034931898117065,0,0,2.3793620104125375],[20.18372414706591,-32.70118704288833,-2.5034931898117065,0,0,2.641161398211687],[20.18372414706591,-32.70118704288833,-2.5034931898117065,0,0,2.902960786010836],[15.325412775306248,-31.519319615876842,-2.5034931898117065,0,0,2.902960786010836],[10.467101403546586,-30.337452188865356,-2.5034931898117065,0,0,2.902960786010836],[5.608790031786924,-29.15558476185387,-2.5034931898117065,0,0,2.902960786010836],[5.608790031786924,-29.15558476185387,-2.5034931898117065,0,0,-3.1184251333696005]]}],"statistics":{"complete_actions":86,"sentence_actions":[21,26,8,11,9,11],"sentence_actions_average":14.33}}
diff --git a/scene_13/35GMH2SV3NF4S8QXN4LN6IM8MW2EON.json b/scene_13/35GMH2SV3NF4S8QXN4LN6IM8MW2EON.json
new file mode 100644
index 0000000000000000000000000000000000000000..26d8e018008050c9c16bffb833b77ac26ba0c02b
--- /dev/null
+++ b/scene_13/35GMH2SV3NF4S8QXN4LN6IM8MW2EON.json
@@ -0,0 +1 @@
+{"episode_id":"35GMH2SV3NF4S8QXN4LN6IM8MW2EON","trajectory_id":"36MUZ9VAFE0A2R2F7S2565FLPMLEDG","scene_id":13,"instruction":"turn right and go to end of street with shadow and then turn left. take to the air and go over building diagonally and then back to the ground on other side. turn right and go to the cafe with the white sign in front. go by cafe and then turn right and land in middle of shadowed area.","sentence_instructions":[{"id":0,"instruction":"turn right and go to end of street with shadow and then turn left.","completed_instruction":"Turn right to face the street which only has tree on one side and go to end of the street and then turn left to face a building with brick wall and black lines.","start_frame":0,"end_frame":30,"start_position":[34.21627426147461,-83.59256744384766,-0.5034931898117065],"start_rotation":[0.99993290900106968,0,0,0.011583501053591207],"end_position":[-5.63264468551896,-83.22149069018154,-0.5034931898117065],"end_rotation":[0.860175550748204,0,0,0.50999806067770881],"actions":[3,3,3,3,3,3,3,3,3,3,3,1,3,2,3,1,1,1,1,1,1,1,2,2,2,2,2,2,2,2,2],"reference_path":[[34.21627426147461,-83.59256744384766,-0.5034931898117065,0,0,0.02316752022019126],[34.21627426147461,-83.59256744384766,-0.5034931898117065,0,0,0.28496690801934066],[34.21627426147461,-83.59256744384766,-0.5034931898117065,0,0,0.5467662958184901],[34.21627426147461,-83.59256744384766,-0.5034931898117065,0,0,0.8085656836176396],[34.21627426147461,-83.59256744384766,-0.5034931898117065,0,0,1.070365071416789],[34.21627426147461,-83.59256744384766,-0.5034931898117065,0,0,1.3321644592159383],[34.21627426147461,-83.59256744384766,-0.5034931898117065,0,0,1.5939638470150876],[34.21627426147461,-83.59256744384766,-0.5034931898117065,0,0,1.8557632348142374],[34.21627426147461,-83.59256744384766,-0.5034931898117065,0,0,2.117562622613387],[34.21627426147461,-83.59256744384766,-0.5034931898117065,0,0,2.3793620104125366],[34.21627426147461,-83.59256744384766,-0.5034931898117065,0,0,2.6411613982116857],[34.21627426147461,-83.59256744384766,-0.5034931898117065,0,0,2.9029607860108353],[29.357962889714948,-82.41070001683617,-0.5034931898117065,0,0,2.9029607860108353],[29.357962889714948,-82.41070001683617,-0.5034931898117065,0,0,-3.118425133369602],[29.357962889714948,-82.41070001683617,-0.5034931898117065,0,0,2.9029607860108353],[29.357962889714948,-82.41070001683617,-0.5034931898117065,0,0,-3.118425133369602],[24.35930466468153,-82.52652725588551,-0.5034931898117065,0,0,-3.118425133369602],[19.360646439648114,-82.64235449493485,-0.5034931898117065,0,0,-3.118425133369602],[14.3619882146147,-82.75818173398419,-0.5034931898117065,0,0,-3.118425133369602],[9.363329989581285,-82.87400897303353,-0.5034931898117065,0,0,-3.118425133369602],[4.36467176454787,-82.98983621208286,-0.5034931898117065,0,0,-3.118425133369602],[-0.633986460485545,-83.1056634511322,-0.5034931898117065,0,0,-3.118425133369602],[-5.63264468551896,-83.22149069018154,-0.5034931898117065,0,0,-3.118425133369602],[-5.63264468551896,-83.22149069018154,-0.5034931898117065,0,0,2.9029607860108353],[-5.63264468551896,-83.22149069018154,-0.5034931898117065,0,0,2.6411613982116857],[-5.63264468551896,-83.22149069018154,-0.5034931898117065,0,0,2.3793620104125366],[-5.63264468551896,-83.22149069018154,-0.5034931898117065,0,0,2.117562622613387],[-5.63264468551896,-83.22149069018154,-0.5034931898117065,0,0,1.8557632348142377],[-5.63264468551896,-83.22149069018154,-0.5034931898117065,0,0,1.593963847015088],[-5.63264468551896,-83.22149069018154,-0.5034931898117065,0,0,1.3321644592159387],[-5.63264468551896,-83.22149069018154,-0.5034931898117065,0,0,1.0703650714167894]]},{"id":1,"instruction":"take to the air and go over building diagonally and then back to the ground on other side.","completed_instruction":"Ascend to the roof height and go over the buildings diagonally and then back to the ground on other side.","start_frame":30,"end_frame":53,"start_position":[-5.63264468551896,-83.22149069018154,-0.5034931898117065],"start_rotation":[0.860175550748204,0,0,0.50999806067770881],"end_position":[31.04558687919792,-69.78002549578316,-2.5034931898117065],"end_rotation":[0.99993290900106968,0,0,0.011583501053591481],"actions":[2,2,4,4,1,4,1,4,1,4,1,2,1,4,1,2,1,5,5,1,5,5,5,3],"reference_path":[[-5.63264468551896,-83.22149069018154,-0.5034931898117065,0,0,1.0703650714167894],[-5.63264468551896,-83.22149069018154,-0.5034931898117065,0,0,0.80856568361764],[-5.63264468551896,-83.22149069018154,-0.5034931898117065,0,0,0.5467662958184907],[-5.63264468551896,-83.22149069018154,-2.5034931898117065,0,0,0.5467662958184907],[-5.63264468551896,-83.22149069018154,-4.5034931898117065,0,0,0.5467662958184907],[-1.3615932973286657,-80.62185224619789,-4.5034931898117065,0,0,0.5467662958184907],[-1.3615932973286657,-80.62185224619789,-6.5034931898117065,0,0,0.5467662958184907],[2.9094580908616283,-78.02221380221424,-6.5034931898117065,0,0,0.5467662958184907],[2.9094580908616283,-78.02221380221424,-8.503493189811707,0,0,0.5467662958184907],[7.180509479051922,-75.42257535823059,-8.503493189811707,0,0,0.5467662958184907],[7.180509479051922,-75.42257535823059,-10.503493189811707,0,0,0.5467662958184907],[11.451560867242216,-72.82293691424694,-10.503493189811707,0,0,0.5467662958184907],[11.451560867242216,-72.82293691424694,-10.503493189811707,0,0,0.2849669080193412],[16.24991564818665,-71.4173084440644,-10.503493189811707,0,0,0.2849669080193412],[16.24991564818665,-71.4173084440644,-12.503493189811707,0,0,0.2849669080193412],[21.048270429131087,-70.01167997388187,-12.503493189811707,0,0,0.2849669080193412],[21.048270429131087,-70.01167997388187,-12.503493189811707,0,0,0.023167520220191806],[26.046928654164503,-69.89585273483252,-12.503493189811707,0,0,0.023167520220191806],[26.046928654164503,-69.89585273483252,-10.503493189811707,0,0,0.023167520220191806],[26.046928654164503,-69.89585273483252,-8.503493189811707,0,0,0.023167520220191806],[31.04558687919792,-69.78002549578316,-8.503493189811707,0,0,0.023167520220191806],[31.04558687919792,-69.78002549578316,-6.5034931898117065,0,0,0.023167520220191806],[31.04558687919792,-69.78002549578316,-4.5034931898117065,0,0,0.023167520220191806],[31.04558687919792,-69.78002549578316,-2.5034931898117065,0,0,0.023167520220191806]]},{"id":2,"instruction":"turn right and go to the cafe with the white sign in front.","completed_instruction":"Turn right to face a blue awning and go forward to the cafe with the white sign in front under the blue awning.","start_frame":53,"end_frame":62,"start_position":[31.04558687919792,-69.78002549578316,-2.5034931898117065],"start_rotation":[0.99993290900106968,0,0,0.011583501053591481],"end_position":[28.445948435214266,-65.50897410759288,-2.5034931898117065],"end_rotation":[0.48993484832336071,0,0,0.87175905180179547],"actions":[3,3,3,3,3,3,3,3,1,1],"reference_path":[[31.04558687919792,-69.78002549578316,-2.5034931898117065,0,0,0.023167520220191806],[31.04558687919792,-69.78002549578316,-2.5034931898117065,0,0,0.2849669080193412],[31.04558687919792,-69.78002549578316,-2.5034931898117065,0,0,0.5467662958184907],[31.04558687919792,-69.78002549578316,-2.5034931898117065,0,0,0.8085656836176401],[31.04558687919792,-69.78002549578316,-2.5034931898117065,0,0,1.0703650714167896],[31.04558687919792,-69.78002549578316,-2.5034931898117065,0,0,1.332164459215939],[31.04558687919792,-69.78002549578316,-2.5034931898117065,0,0,1.5939638470150883],[31.04558687919792,-69.78002549578316,-2.5034931898117065,0,0,1.8557632348142379],[31.04558687919792,-69.78002549578316,-2.5034931898117065,0,0,2.1175626226133875],[28.445948435214266,-65.50897410759288,-2.5034931898117065,0,0,2.1175626226133875]]},{"id":3,"instruction":"go by cafe and then turn right and land in middle of shadowed area.","completed_instruction":"Go by cafe and then turn right to the corner and land in middle of street.","start_frame":62,"end_frame":80,"start_position":[28.445948435214266,-65.50897410759288,-2.5034931898117065],"start_rotation":[0.48993484832336071,0,0,0.87175905180179547],"end_position":[5.608790031786924,-29.15558476185387,-2.5034931898117065],"end_rotation":[0.011583501053591959,0,0,-0.99993290900106968],"actions":[1,1,1,2,2,1,1,1,1,3,3,3,3,3,1,1,1,3,0],"reference_path":[[28.445948435214266,-65.50897410759288,-2.5034931898117065,0,0,2.1175626226133875],[25.846309991230612,-61.23792271940258,-2.5034931898117065,0,0,2.1175626226133875],[23.246671547246958,-56.96687133121229,-2.5034931898117065,0,0,2.1175626226133875],[20.647033103263304,-52.695819943021995,-2.5034931898117065,0,0,2.1175626226133875],[20.647033103263304,-52.695819943021995,-2.5034931898117065,0,0,1.855763234814238],[20.647033103263304,-52.695819943021995,-2.5034931898117065,0,0,1.593963847015089],[20.531205864213955,-47.69716171798858,-2.5034931898117065,0,0,1.593963847015089],[20.415378625164607,-42.69850349295516,-2.5034931898117065,0,0,1.593963847015089],[20.299551386115258,-37.699845267921745,-2.5034931898117065,0,0,1.593963847015089],[20.18372414706591,-32.70118704288833,-2.5034931898117065,0,0,1.593963847015089],[20.18372414706591,-32.70118704288833,-2.5034931898117065,0,0,1.8557632348142385],[20.18372414706591,-32.70118704288833,-2.5034931898117065,0,0,2.117562622613388],[20.18372414706591,-32.70118704288833,-2.5034931898117065,0,0,2.3793620104125375],[20.18372414706591,-32.70118704288833,-2.5034931898117065,0,0,2.641161398211687],[20.18372414706591,-32.70118704288833,-2.5034931898117065,0,0,2.902960786010836],[15.325412775306248,-31.519319615876842,-2.5034931898117065,0,0,2.902960786010836],[10.467101403546586,-30.337452188865356,-2.5034931898117065,0,0,2.902960786010836],[5.608790031786924,-29.15558476185387,-2.5034931898117065,0,0,2.902960786010836],[5.608790031786924,-29.15558476185387,-2.5034931898117065,0,0,-3.1184251333696005]]}],"statistics":{"complete_actions":84,"sentence_actions":[31,24,10,19],"sentence_actions_average":21.0}}
diff --git a/scene_13/37QW5D2ZRPK2HZ8ZHIGWYD0N8IF8SN.json b/scene_13/37QW5D2ZRPK2HZ8ZHIGWYD0N8IF8SN.json
new file mode 100644
index 0000000000000000000000000000000000000000..02778a3d1f42e8d9970f8ccbf514b0b104969944
--- /dev/null
+++ b/scene_13/37QW5D2ZRPK2HZ8ZHIGWYD0N8IF8SN.json
@@ -0,0 +1 @@
+{"episode_id":"37QW5D2ZRPK2HZ8ZHIGWYD0N8IF8SN","trajectory_id":"36MUZ9VAFE0A2R2F7S2565FLPMLEDG","scene_id":13,"instruction":"take off and turn right fly towards the big building. now turn back and fly up towards the top of building and trees and turn around and fly down in front of buildings. now turn right fly towards the entrance of hotel and turn left fly towards the building. now turn right fly towards the street light and land there.","sentence_instructions":[{"id":0,"instruction":"take off and turn right fly towards the big building.","completed_instruction":"Take off and turn right to face the street which only has tree on one side and fly towards the big building with black door at the corner.","start_frame":0,"end_frame":21,"start_position":[34.21627426147461,-83.59256744384766,-0.5034931898117065],"start_rotation":[0.99993290900106968,0,0,0.011583501053591207],"end_position":[-0.633986460485545,-83.1056634511322,-0.5034931898117065],"end_rotation":[0.011583501053591292,0,0,-0.99993290900106968],"actions":[3,3,3,3,3,3,3,3,3,3,3,1,3,2,3,1,1,1,1,1,1,1],"reference_path":[[34.21627426147461,-83.59256744384766,-0.5034931898117065,0,0,0.02316752022019126],[34.21627426147461,-83.59256744384766,-0.5034931898117065,0,0,0.28496690801934066],[34.21627426147461,-83.59256744384766,-0.5034931898117065,0,0,0.5467662958184901],[34.21627426147461,-83.59256744384766,-0.5034931898117065,0,0,0.8085656836176396],[34.21627426147461,-83.59256744384766,-0.5034931898117065,0,0,1.070365071416789],[34.21627426147461,-83.59256744384766,-0.5034931898117065,0,0,1.3321644592159383],[34.21627426147461,-83.59256744384766,-0.5034931898117065,0,0,1.5939638470150876],[34.21627426147461,-83.59256744384766,-0.5034931898117065,0,0,1.8557632348142374],[34.21627426147461,-83.59256744384766,-0.5034931898117065,0,0,2.117562622613387],[34.21627426147461,-83.59256744384766,-0.5034931898117065,0,0,2.3793620104125366],[34.21627426147461,-83.59256744384766,-0.5034931898117065,0,0,2.6411613982116857],[34.21627426147461,-83.59256744384766,-0.5034931898117065,0,0,2.9029607860108353],[29.357962889714948,-82.41070001683617,-0.5034931898117065,0,0,2.9029607860108353],[29.357962889714948,-82.41070001683617,-0.5034931898117065,0,0,-3.118425133369602],[29.357962889714948,-82.41070001683617,-0.5034931898117065,0,0,2.9029607860108353],[29.357962889714948,-82.41070001683617,-0.5034931898117065,0,0,-3.118425133369602],[24.35930466468153,-82.52652725588551,-0.5034931898117065,0,0,-3.118425133369602],[19.360646439648114,-82.64235449493485,-0.5034931898117065,0,0,-3.118425133369602],[14.3619882146147,-82.75818173398419,-0.5034931898117065,0,0,-3.118425133369602],[9.363329989581285,-82.87400897303353,-0.5034931898117065,0,0,-3.118425133369602],[4.36467176454787,-82.98983621208286,-0.5034931898117065,0,0,-3.118425133369602],[-0.633986460485545,-83.1056634511322,-0.5034931898117065,0,0,-3.118425133369602]]},{"id":1,"instruction":"now turn back and fly up towards the top of building and trees and turn around and fly down in front of buildings.","completed_instruction":"Now turn back to face a building with brick wall and black lines and fly up towards the top of building and trees and turn slightly left and fly down in front of buildings with orange shed.","start_frame":21,"end_frame":53,"start_position":[-0.633986460485545,-83.1056634511322,-0.5034931898117065],"start_rotation":[0.011583501053591292,0,0,-0.99993290900106968],"end_position":[31.04558687919792,-69.78002549578316,-2.5034931898117065],"end_rotation":[0.99993290900106968,0,0,0.011583501053591481],"actions":[1,2,2,2,2,2,2,2,2,2,2,4,4,1,4,1,4,1,4,1,2,1,4,1,2,1,5,5,1,5,5,5,3],"reference_path":[[-0.633986460485545,-83.1056634511322,-0.5034931898117065,0,0,-3.118425133369602],[-5.63264468551896,-83.22149069018154,-0.5034931898117065,0,0,-3.118425133369602],[-5.63264468551896,-83.22149069018154,-0.5034931898117065,0,0,2.9029607860108353],[-5.63264468551896,-83.22149069018154,-0.5034931898117065,0,0,2.6411613982116857],[-5.63264468551896,-83.22149069018154,-0.5034931898117065,0,0,2.3793620104125366],[-5.63264468551896,-83.22149069018154,-0.5034931898117065,0,0,2.117562622613387],[-5.63264468551896,-83.22149069018154,-0.5034931898117065,0,0,1.8557632348142377],[-5.63264468551896,-83.22149069018154,-0.5034931898117065,0,0,1.593963847015088],[-5.63264468551896,-83.22149069018154,-0.5034931898117065,0,0,1.3321644592159387],[-5.63264468551896,-83.22149069018154,-0.5034931898117065,0,0,1.0703650714167894],[-5.63264468551896,-83.22149069018154,-0.5034931898117065,0,0,0.80856568361764],[-5.63264468551896,-83.22149069018154,-0.5034931898117065,0,0,0.5467662958184907],[-5.63264468551896,-83.22149069018154,-2.5034931898117065,0,0,0.5467662958184907],[-5.63264468551896,-83.22149069018154,-4.5034931898117065,0,0,0.5467662958184907],[-1.3615932973286657,-80.62185224619789,-4.5034931898117065,0,0,0.5467662958184907],[-1.3615932973286657,-80.62185224619789,-6.5034931898117065,0,0,0.5467662958184907],[2.9094580908616283,-78.02221380221424,-6.5034931898117065,0,0,0.5467662958184907],[2.9094580908616283,-78.02221380221424,-8.503493189811707,0,0,0.5467662958184907],[7.180509479051922,-75.42257535823059,-8.503493189811707,0,0,0.5467662958184907],[7.180509479051922,-75.42257535823059,-10.503493189811707,0,0,0.5467662958184907],[11.451560867242216,-72.82293691424694,-10.503493189811707,0,0,0.5467662958184907],[11.451560867242216,-72.82293691424694,-10.503493189811707,0,0,0.2849669080193412],[16.24991564818665,-71.4173084440644,-10.503493189811707,0,0,0.2849669080193412],[16.24991564818665,-71.4173084440644,-12.503493189811707,0,0,0.2849669080193412],[21.048270429131087,-70.01167997388187,-12.503493189811707,0,0,0.2849669080193412],[21.048270429131087,-70.01167997388187,-12.503493189811707,0,0,0.023167520220191806],[26.046928654164503,-69.89585273483252,-12.503493189811707,0,0,0.023167520220191806],[26.046928654164503,-69.89585273483252,-10.503493189811707,0,0,0.023167520220191806],[26.046928654164503,-69.89585273483252,-8.503493189811707,0,0,0.023167520220191806],[31.04558687919792,-69.78002549578316,-8.503493189811707,0,0,0.023167520220191806],[31.04558687919792,-69.78002549578316,-6.5034931898117065,0,0,0.023167520220191806],[31.04558687919792,-69.78002549578316,-4.5034931898117065,0,0,0.023167520220191806],[31.04558687919792,-69.78002549578316,-2.5034931898117065,0,0,0.023167520220191806]]},{"id":2,"instruction":"now turn right fly towards the entrance of hotel and turn left fly towards the building.","completed_instruction":"Now turn right to face a blue awning fly towards the entrance of hotel under the blue awning and turn left fly towards the crossline.","start_frame":53,"end_frame":69,"start_position":[31.04558687919792,-69.78002549578316,-2.5034931898117065],"start_rotation":[0.99993290900106968,0,0,0.011583501053591481],"end_position":[20.415378625164607,-42.69850349295516,-2.5034931898117065],"end_rotation":[0.698868568541371,0,0,0.7152501128311235],"actions":[3,3,3,3,3,3,3,3,1,1,1,1,2,2,1,1,1],"reference_path":[[31.04558687919792,-69.78002549578316,-2.5034931898117065,0,0,0.023167520220191806],[31.04558687919792,-69.78002549578316,-2.5034931898117065,0,0,0.2849669080193412],[31.04558687919792,-69.78002549578316,-2.5034931898117065,0,0,0.5467662958184907],[31.04558687919792,-69.78002549578316,-2.5034931898117065,0,0,0.8085656836176401],[31.04558687919792,-69.78002549578316,-2.5034931898117065,0,0,1.0703650714167896],[31.04558687919792,-69.78002549578316,-2.5034931898117065,0,0,1.332164459215939],[31.04558687919792,-69.78002549578316,-2.5034931898117065,0,0,1.5939638470150883],[31.04558687919792,-69.78002549578316,-2.5034931898117065,0,0,1.8557632348142379],[31.04558687919792,-69.78002549578316,-2.5034931898117065,0,0,2.1175626226133875],[28.445948435214266,-65.50897410759288,-2.5034931898117065,0,0,2.1175626226133875],[25.846309991230612,-61.23792271940258,-2.5034931898117065,0,0,2.1175626226133875],[23.246671547246958,-56.96687133121229,-2.5034931898117065,0,0,2.1175626226133875],[20.647033103263304,-52.695819943021995,-2.5034931898117065,0,0,2.1175626226133875],[20.647033103263304,-52.695819943021995,-2.5034931898117065,0,0,1.855763234814238],[20.647033103263304,-52.695819943021995,-2.5034931898117065,0,0,1.593963847015089],[20.531205864213955,-47.69716171798858,-2.5034931898117065,0,0,1.593963847015089],[20.415378625164607,-42.69850349295516,-2.5034931898117065,0,0,1.593963847015089]]},{"id":3,"instruction":"now turn right fly towards the street light and land there.","completed_instruction":"Now turn right to face the street corner and land here.","start_frame":69,"end_frame":80,"start_position":[20.415378625164607,-42.69850349295516,-2.5034931898117065],"start_rotation":[0.698868568541371,0,0,0.7152501128311235],"end_position":[5.608790031786924,-29.15558476185387,-2.5034931898117065],"end_rotation":[0.011583501053591959,0,0,-0.99993290900106968],"actions":[1,1,3,3,3,3,3,1,1,1,3,0],"reference_path":[[20.415378625164607,-42.69850349295516,-2.5034931898117065,0,0,1.593963847015089],[20.299551386115258,-37.699845267921745,-2.5034931898117065,0,0,1.593963847015089],[20.18372414706591,-32.70118704288833,-2.5034931898117065,0,0,1.593963847015089],[20.18372414706591,-32.70118704288833,-2.5034931898117065,0,0,1.8557632348142385],[20.18372414706591,-32.70118704288833,-2.5034931898117065,0,0,2.117562622613388],[20.18372414706591,-32.70118704288833,-2.5034931898117065,0,0,2.3793620104125375],[20.18372414706591,-32.70118704288833,-2.5034931898117065,0,0,2.641161398211687],[20.18372414706591,-32.70118704288833,-2.5034931898117065,0,0,2.902960786010836],[15.325412775306248,-31.519319615876842,-2.5034931898117065,0,0,2.902960786010836],[10.467101403546586,-30.337452188865356,-2.5034931898117065,0,0,2.902960786010836],[5.608790031786924,-29.15558476185387,-2.5034931898117065,0,0,2.902960786010836],[5.608790031786924,-29.15558476185387,-2.5034931898117065,0,0,-3.1184251333696005]]}],"statistics":{"complete_actions":84,"sentence_actions":[22,33,17,12],"sentence_actions_average":21.0}}
diff --git a/scene_13/37QW5D2ZRPK2HZ8ZHIGWYD0NABVS8B.json b/scene_13/37QW5D2ZRPK2HZ8ZHIGWYD0NABVS8B.json
new file mode 100644
index 0000000000000000000000000000000000000000..ca44a901a06e6e91990a49708441434578a32bc6
--- /dev/null
+++ b/scene_13/37QW5D2ZRPK2HZ8ZHIGWYD0NABVS8B.json
@@ -0,0 +1 @@
+{"episode_id":"37QW5D2ZRPK2HZ8ZHIGWYD0NABVS8B","trajectory_id":"32ZCLEW0C7IR24RXQ24R3F928ZZPJD","scene_id":13,"instruction":"take off from the rooftop of the building. after rising to the height slightly higher turn right. dive down by facing the road. turn right and turn left by facing the manhole. proceed forward on the street by facing the street light. turn right by facing road. proceed forward turn left by facing red building. land by facing the above mentioned building.","sentence_instructions":[{"id":0,"instruction":"take off from the rooftop of the building.","completed_instruction":"Take off from the roof, turn right to face the top part of a green tree.","start_frame":1,"end_frame":2,"start_position":[41.42513656616211,-56.09119415283203,-15.274781227111816],"start_rotation":[0.99994771204227817,0,0,-0.010226102943606893],"end_position":[41.42513656616211,-56.09119415283203,-15.274781227111816],"end_rotation":[0.99272779502529462,0,0,0.12038075005671255],"actions":[3,3],"reference_path":[[41.42513656616211,-56.09119415283203,-15.274781227111816,0,0,-0.02045256236269513],[41.42513656616211,-56.09119415283203,-15.274781227111816,0,0,0.2413468254364543]]},{"id":1,"instruction":"after rising to the height slightly higher turn right.","completed_instruction":"Move forward over the roof and descend to the height above the road.","start_frame":2,"end_frame":9,"start_position":[41.42513656616211,-56.09119415283203,-15.274781227111816],"start_rotation":[0.99272779502529462,0,0,0.12038075005671255],"end_position":[41.42513656616211,-56.09119415283203,-15.274781227111816],"end_rotation":[0.5088299209520174,0,0,0.860867069612936],"actions":[3,3,3,3,3,3,3,3],"reference_path":[[41.42513656616211,-56.09119415283203,-15.274781227111816,0,0,0.2413468254364543],[41.42513656616211,-56.09119415283203,-15.274781227111816,0,0,0.5031462132356037],[41.42513656616211,-56.09119415283203,-15.274781227111816,0,0,0.7649456010347532],[41.42513656616211,-56.09119415283203,-15.274781227111816,0,0,1.0267449888339026],[41.42513656616211,-56.09119415283203,-15.274781227111816,0,0,1.2885443766330522],[41.42513656616211,-56.09119415283203,-15.274781227111816,0,0,1.5503437644322016],[41.42513656616211,-56.09119415283203,-15.274781227111816,0,0,1.8121431522313511],[41.42513656616211,-56.09119415283203,-15.274781227111816,0,0,2.0739425400305005]]},{"id":2,"instruction":"dive down by facing the road.","completed_instruction":"Turn right to face the corner of the street and move foward to it.","start_frame":9,"end_frame":14,"start_position":[41.42513656616211,-56.09119415283203,-15.274781227111816],"start_rotation":[0.5088299209520174,0,0,0.860867069612936],"end_position":[36.62298325216254,-54.69859817809888,-13.274781227111816],"end_rotation":[0.14065798448734956,0,0,0.99005824646833607],"actions":[3,3,3,1,5,5],"reference_path":[[41.42513656616211,-56.09119415283203,-15.274781227111816,0,0,2.0739425400305005],[41.42513656616211,-56.09119415283203,-15.274781227111816,0,0,2.33574192782965],[41.42513656616211,-56.09119415283203,-15.274781227111816,0,0,2.5975413156287996],[41.42513656616211,-56.09119415283203,-15.274781227111816,0,0,2.859340703427949],[36.62298325216254,-54.69859817809888,-15.274781227111816,0,0,2.859340703427949],[36.62298325216254,-54.69859817809888,-13.274781227111816,0,0,2.859340703427949]]},{"id":3,"instruction":"turn right and turn left by facing the manhole.","completed_instruction":"Turn left and lower your altitude to face the street lamp in front of the brown awning.","start_frame":14,"end_frame":20,"start_position":[36.62298325216254,-54.69859817809888,-13.274781227111816],"start_rotation":[0.14065798448734956,0,0,0.99005824646833607],"end_position":[31.62402898397667,-54.596342495683196,-11.274781227111816],"end_rotation":[0.37321573542300579,0,0,-0.92774458491152889],"actions":[5,3,1,3,3,3,3],"reference_path":[[36.62298325216254,-54.69859817809888,-13.274781227111816,0,0,2.859340703427949],[36.62298325216254,-54.69859817809888,-11.274781227111816,0,0,2.859340703427949],[36.62298325216254,-54.69859817809888,-11.274781227111816,0,0,3.121140091227099],[31.62402898397667,-54.596342495683196,-11.274781227111816,0,0,3.121140091227099],[31.62402898397667,-54.596342495683196,-11.274781227111816,0,0,-2.9002458281533383],[31.62402898397667,-54.596342495683196,-11.274781227111816,0,0,-2.6384464403541887],[31.62402898397667,-54.596342495683196,-11.274781227111816,0,0,-2.3766470525550396]]},{"id":4,"instruction":"proceed forward on the street by facing the street light.","completed_instruction":"Turn right to face the green awning at the inner corner.","start_frame":20,"end_frame":27,"start_position":[31.62402898397667,-54.596342495683196,-11.274781227111816],"start_rotation":[0.37321573542300579,0,0,-0.92774458491152889],"end_position":[31.62402898397667,-54.596342495683196,-9.274781227111816],"end_rotation":[0.37321573542300557,0,0,-0.92774458491152889],"actions":[3,3,3,5,2,2,2,2],"reference_path":[[31.62402898397667,-54.596342495683196,-11.274781227111816,0,0,-2.3766470525550396],[31.62402898397667,-54.596342495683196,-11.274781227111816,0,0,-2.1148476647558905],[31.62402898397667,-54.596342495683196,-11.274781227111816,0,0,-1.8530482769567411],[31.62402898397667,-54.596342495683196,-11.274781227111816,0,0,-1.5912488891575916],[31.62402898397667,-54.596342495683196,-9.274781227111816,0,0,-1.5912488891575916],[31.62402898397667,-54.596342495683196,-9.274781227111816,0,0,-1.8530482769567411],[31.62402898397667,-54.596342495683196,-9.274781227111816,0,0,-2.1148476647558905],[31.62402898397667,-54.596342495683196,-9.274781227111816,0,0,-2.37664705255504]]},{"id":5,"instruction":"turn right by facing road.","completed_instruction":"Proceed forward to the street light and when you reach the corner of the road, start to turn right to face the red-brown building.","start_frame":27,"end_frame":30,"start_position":[31.62402898397667,-54.596342495683196,-9.274781227111816],"start_rotation":[0.37321573542300557,0,0,-0.92774458491152889],"end_position":[31.62402898397667,-54.596342495683196,-5.274781227111816],"end_rotation":[0.24892785504771242,0,0,-0.96852203019928518],"actions":[2,5,5,3],"reference_path":[[31.62402898397667,-54.596342495683196,-9.274781227111816,0,0,-2.37664705255504],[31.62402898397667,-54.596342495683196,-9.274781227111816,0,0,-2.638446440354189],[31.62402898397667,-54.596342495683196,-7.274781227111816,0,0,-2.638446440354189],[31.62402898397667,-54.596342495683196,-5.274781227111816,0,0,-2.638446440354189]]},{"id":6,"instruction":"proceed forward turn left by facing red building.","completed_instruction":"Move forward until passing the first building on the left at the inner corner.","start_frame":30,"end_frame":55,"start_position":[31.62402898397667,-54.596342495683196,-5.274781227111816],"start_rotation":[0.24892785504771242,0,0,-0.96852203019928518],"end_position":[31.221974810085058,-74.25148909621232,-3.2747812271118164],"end_rotation":[0.2686831689187536,0,0,0.9632286098013163],"actions":[3,3,3,1,3,1,3,1,5,3,3,3,3,3,6,3,3,3,3,3,3,3,3,3,3,3],"reference_path":[[31.62402898397667,-54.596342495683196,-5.274781227111816,0,0,-2.638446440354189],[31.62402898397667,-54.596342495683196,-5.274781227111816,0,0,-2.37664705255504],[31.62402898397667,-54.596342495683196,-5.274781227111816,0,0,-2.1148476647558905],[31.62402898397667,-54.596342495683196,-5.274781227111816,0,0,-1.8530482769567411],[30.231433009243514,-59.39849580968276,-5.274781227111816,0,0,-1.8530482769567411],[30.231433009243514,-59.39849580968276,-5.274781227111816,0,0,-1.5912488891575916],[30.12917732682783,-64.39745007786863,-5.274781227111816,0,0,-1.5912488891575916],[30.12917732682783,-64.39745007786863,-5.274781227111816,0,0,-1.3294495013584422],[31.324230492500742,-69.25253482802646,-5.274781227111816,0,0,-1.3294495013584422],[31.324230492500742,-69.25253482802646,-3.2747812271118164,0,0,-1.3294495013584422],[31.324230492500742,-69.25253482802646,-3.2747812271118164,0,0,-1.0676501135592928],[31.324230492500742,-69.25253482802646,-3.2747812271118164,0,0,-0.8058507257601435],[31.324230492500742,-69.25253482802646,-3.2747812271118164,0,0,-0.5440513379609941],[31.324230492500742,-69.25253482802646,-3.2747812271118164,0,0,-0.28225195016184473],[31.324230492500742,-69.25253482802646,-3.2747812271118164,0,0,-0.02045256236269535],[31.221974810085058,-74.25148909621232,-3.2747812271118164,0,0,-0.02045256236269535],[31.221974810085058,-74.25148909621232,-3.2747812271118164,0,0,0.24134682543645408],[31.221974810085058,-74.25148909621232,-3.2747812271118164,0,0,0.5031462132356035],[31.221974810085058,-74.25148909621232,-3.2747812271118164,0,0,0.7649456010347528],[31.221974810085058,-74.25148909621232,-3.2747812271118164,0,0,1.0267449888339024],[31.221974810085058,-74.25148909621232,-3.2747812271118164,0,0,1.2885443766330518],[31.221974810085058,-74.25148909621232,-3.2747812271118164,0,0,1.5503437644322013],[31.221974810085058,-74.25148909621232,-3.2747812271118164,0,0,1.8121431522313507],[31.221974810085058,-74.25148909621232,-3.2747812271118164,0,0,2.0739425400305],[31.221974810085058,-74.25148909621232,-3.2747812271118164,0,0,2.335741927829649],[31.221974810085058,-74.25148909621232,-3.2747812271118164,0,0,2.5975413156287988]]},{"id":7,"instruction":"proceed forward.","completed_instruction":"Then turn left to face the rubbish bin and land facing the reddish-brown wall.","start_frame":54,"end_frame":66,"start_position":[31.221974810085058,-74.25148909621232,-3.2747812271118164],"start_rotation":[0.3921111098369095,0,0,0.91991786456317237],"end_position":[16.512851041583524,-76.53933974514247,-3.2747812271118164],"end_rotation":[0.50882992095201762,0,0,0.86086706961293591],"actions":[3,3,3,3,1,1,2,1,2,2,2,2,0],"reference_path":[[31.221974810085058,-74.25148909621232,-3.2747812271118164,0,0,2.335741927829649],[31.221974810085058,-74.25148909621232,-3.2747812271118164,0,0,2.5975413156287988],[31.221974810085058,-74.25148909621232,-3.2747812271118164,0,0,2.8593407034279483],[31.221974810085058,-74.25148909621232,-3.2747812271118164,0,0,3.1211400912270975],[31.221974810085058,-74.25148909621232,-3.2747812271118164,0,0,-2.9002458281533396],[26.366890059927226,-75.44654226188524,-3.2747812271118164,0,0,-2.9002458281533396],[21.511805309769393,-76.64159542755816,-3.2747812271118164,0,0,-2.9002458281533396],[21.511805309769393,-76.64159542755816,-3.2747812271118164,0,0,3.121140091227097],[16.512851041583524,-76.53933974514247,-3.2747812271118164,0,0,3.121140091227097],[16.512851041583524,-76.53933974514247,-3.2747812271118164,0,0,2.859340703427948],[16.512851041583524,-76.53933974514247,-3.2747812271118164,0,0,2.5975413156287988],[16.512851041583524,-76.53933974514247,-3.2747812271118164,0,0,2.335741927829649],[16.512851041583524,-76.53933974514247,-3.2747812271118164,0,0,2.0739425400305]]}],"statistics":{"complete_actions":74,"sentence_actions":[2,8,6,7,8,4,26,13],"sentence_actions_average":9.25}}
diff --git a/scene_13/38F71OA9G2U8YJ5H5ZQGWWI3YNLFML.json b/scene_13/38F71OA9G2U8YJ5H5ZQGWWI3YNLFML.json
new file mode 100644
index 0000000000000000000000000000000000000000..40ea3d350309e9e1548646e610ba606d00f8e252
--- /dev/null
+++ b/scene_13/38F71OA9G2U8YJ5H5ZQGWWI3YNLFML.json
@@ -0,0 +1 @@
+{"episode_id":"38F71OA9G2U8YJ5H5ZQGWWI3YNLFML","trajectory_id":"3R15W654WLRIX6GCT0VTJZC4GYMQLU","scene_id":13,"instruction":"turn left and go down to street and then turn. turn around and go passed stop sign to cafe on left. turn left and go down street and then take next left. turn right and stop at the opening.","sentence_instructions":[{"id":0,"instruction":"turn left and go down to street and then turn.","completed_instruction":"Turn left to face the distant reddish-brown buildings, then descend onto the street, and start turning left until you face the trees on the right side of the road.","start_frame":0,"end_frame":31,"start_position":[2.0097713470458984,-14.36480712890625,-15.442648887634277],"start_rotation":[0.99998879445993172,0,0,-0.004734020972954475],"end_position":[-5.511421402775028,-25.24743822713067,-3.4426488876342773],"end_rotation":[0.92568081133698543,0,0,0.37830547910716344],"actions":[2,2,2,2,2,2,2,1,1,1,5,5,5,5,5,5,2,2,2,2,2,2,2,2,1,2,2,2,2,2,2,2],"reference_path":[[2.0097713470458984,-14.36480712890625,-15.442648887634277,0,0,-0.009468077310908594],[2.0097713470458984,-14.36480712890625,-15.442648887634277,0,0,-0.271267465110058],[2.0097713470458984,-14.36480712890625,-15.442648887634277,0,0,-0.5330668529092074],[2.0097713470458984,-14.36480712890625,-15.442648887634277,0,0,-0.7948662407083569],[2.0097713470458984,-14.36480712890625,-15.442648887634277,0,0,-1.0566656285075062],[2.0097713470458984,-14.36480712890625,-15.442648887634277,0,0,-1.3184650163066558],[2.0097713470458984,-14.36480712890625,-15.442648887634277,0,0,-1.5802644041058052],[2.0097713470458984,-14.36480712890625,-15.442648887634277,0,0,-1.8420637919049547],[0.6700075065494095,-19.18196737657272,-15.442648887634277,0,0,-1.8420637919049547],[-0.6697563339470793,-23.999127624239193,-15.442648887634277,0,0,-1.8420637919049547],[-2.0095201744435682,-28.816287871905665,-15.442648887634277,0,0,-1.8420637919049547],[-2.0095201744435682,-28.816287871905665,-13.442648887634277,0,0,-1.8420637919049547],[-2.0095201744435682,-28.816287871905665,-11.442648887634277,0,0,-1.8420637919049547],[-2.0095201744435682,-28.816287871905665,-9.442648887634277,0,0,-1.8420637919049547],[-2.0095201744435682,-28.816287871905665,-7.442648887634277,0,0,-1.8420637919049547],[-2.0095201744435682,-28.816287871905665,-5.442648887634277,0,0,-1.8420637919049547],[-2.0095201744435682,-28.816287871905665,-3.4426488876342773,0,0,-1.8420637919049547],[-2.0095201744435682,-28.816287871905665,-3.4426488876342773,0,0,-2.103863179704104],[-2.0095201744435682,-28.816287871905665,-3.4426488876342773,0,0,-2.3656625675032537],[-2.0095201744435682,-28.816287871905665,-3.4426488876342773,0,0,-2.627461955302403],[-2.0095201744435682,-28.816287871905665,-3.4426488876342773,0,0,-2.8892613431015524],[-2.0095201744435682,-28.816287871905665,-3.4426488876342773,0,0,3.1321245762788847],[-2.0095201744435682,-28.816287871905665,-3.4426488876342773,0,0,2.8703251884797356],[-2.0095201744435682,-28.816287871905665,-3.4426488876342773,0,0,2.608525800680586],[-2.0095201744435682,-28.816287871905665,-3.4426488876342773,0,0,2.346726412881437],[-5.511421402775028,-25.24743822713067,-3.4426488876342773,0,0,2.346726412881437],[-5.511421402775028,-25.24743822713067,-3.4426488876342773,0,0,2.0849270250822873],[-5.511421402775028,-25.24743822713067,-3.4426488876342773,0,0,1.823127637283138],[-5.511421402775028,-25.24743822713067,-3.4426488876342773,0,0,1.5613282494839884],[-5.511421402775028,-25.24743822713067,-3.4426488876342773,0,0,1.299528861684839],[-5.511421402775028,-25.24743822713067,-3.4426488876342773,0,0,1.0377294738856897],[-5.511421402775028,-25.24743822713067,-3.4426488876342773,0,0,0.7759300860865403]]},{"id":1,"instruction":"turn around and go passed stop sign to cafe on left.","completed_instruction":"Fly straight ahead to the right side of the traffic signal at the intersection.","start_frame":31,"end_frame":39,"start_position":[-5.511421402775028,-25.24743822713067,-3.4426488876342773],"start_rotation":[0.92568081133698543,0,0,0.37830547910716344],"end_position":[19.487458049496354,-25.484136623415296,-3.4426488876342773],"end_rotation":[0.99998879445993172,0,0,-0.0047340209729540856],"actions":[2,2,2,1,1,1,1,1,1],"reference_path":[[-5.511421402775028,-25.24743822713067,-3.4426488876342773,0,0,0.7759300860865403],[-5.511421402775028,-25.24743822713067,-3.4426488876342773,0,0,0.514130698287391],[-5.511421402775028,-25.24743822713067,-3.4426488876342773,0,0,0.2523313104882416],[-5.511421402775028,-25.24743822713067,-3.4426488876342773,0,0,-0.009468077310907817],[-0.5116455123207517,-25.294777906387594,-3.4426488876342773,0,0,-0.009468077310907817],[4.4881303781335244,-25.34211758564452,-3.4426488876342773,0,0,-0.009468077310907817],[9.4879062685878,-25.389457264901445,-3.4426488876342773,0,0,-0.009468077310907817],[14.487682159042077,-25.43679694415837,-3.4426488876342773,0,0,-0.009468077310907817],[19.487458049496354,-25.484136623415296,-3.4426488876342773,0,0,-0.009468077310907817]]},{"id":2,"instruction":"turn left and go down street and then take next left.","completed_instruction":"Turn left and fly over the distant green awning, then turn left to face the warm taupe-colored building at the end of the road, and stop at the third tree on the right side of the road.","start_frame":39,"end_frame":66,"start_position":[19.487458049496354,-25.484136623415296,-3.4426488876342773],"start_rotation":[0.99998879445993172,0,0,-0.0047340209729540856],"end_position":[20.262371859818614,-80.323560596786,-3.4426488876342773],"end_rotation":[0.0047340209729542036,0,0,0.99998879445993172],"actions":[1,1,2,2,2,2,2,1,2,1,1,1,1,1,1,1,1,1,1,2,2,2,2,2,2,1,1,3],"reference_path":[[19.487458049496354,-25.484136623415296,-3.4426488876342773,0,0,-0.009468077310907817],[24.48723393995063,-25.53147630267222,-3.4426488876342773,0,0,-0.009468077310907817],[29.487009830404908,-25.578815981929147,-3.4426488876342773,0,0,-0.009468077310907817],[29.487009830404908,-25.578815981929147,-3.4426488876342773,0,0,-0.2712674651100572],[29.487009830404908,-25.578815981929147,-3.4426488876342773,0,0,-0.5330668529092066],[29.487009830404908,-25.578815981929147,-3.4426488876342773,0,0,-0.7948662407083561],[29.487009830404908,-25.578815981929147,-3.4426488876342773,0,0,-1.0566656285075056],[29.487009830404908,-25.578815981929147,-3.4426488876342773,0,0,-1.318465016306655],[30.735320433296387,-30.420481050757093,-3.4426488876342773,0,0,-1.318465016306655],[30.735320433296387,-30.420481050757093,-3.4426488876342773,0,0,-1.5802644041058043],[30.687980754039465,-35.42025694121137,-3.4426488876342773,0,0,-1.5802644041058043],[30.640641074782543,-40.420032831665644,-3.4426488876342773,0,0,-1.5802644041058043],[30.59330139552562,-45.41980872211992,-3.4426488876342773,0,0,-1.5802644041058043],[30.5459617162687,-50.41958461257419,-3.4426488876342773,0,0,-1.5802644041058043],[30.498622037011778,-55.419360503028464,-3.4426488876342773,0,0,-1.5802644041058043],[30.451282357754856,-60.41913639348274,-3.4426488876342773,0,0,-1.5802644041058043],[30.403942678497934,-65.41891228393702,-3.4426488876342773,0,0,-1.5802644041058043],[30.356602999241012,-70.41868817439129,-3.4426488876342773,0,0,-1.5802644041058043],[30.30926331998409,-75.41846406484557,-3.4426488876342773,0,0,-1.5802644041058043],[30.26192364072717,-80.41823995529984,-3.4426488876342773,0,0,-1.5802644041058043],[30.26192364072717,-80.41823995529984,-3.4426488876342773,0,0,-1.8420637919049536],[30.26192364072717,-80.41823995529984,-3.4426488876342773,0,0,-2.103863179704103],[30.26192364072717,-80.41823995529984,-3.4426488876342773,0,0,-2.3656625675032528],[30.26192364072717,-80.41823995529984,-3.4426488876342773,0,0,-2.627461955302402],[30.26192364072717,-80.41823995529984,-3.4426488876342773,0,0,-2.8892613431015515],[30.26192364072717,-80.41823995529984,-3.4426488876342773,0,0,3.132124576278885],[25.26214775027289,-80.37090027604292,-3.4426488876342773,0,0,3.132124576278885],[20.262371859818614,-80.323560596786,-3.4426488876342773,0,0,3.132124576278885]]},{"id":3,"instruction":"turn right and stop at the opening.","completed_instruction":"Stop at the door.","start_frame":68,"end_frame":73,"start_position":[15.420706790990668,-81.57187119967747,-3.4426488876342773],"start_rotation":[0.12583120883630339,0,0,-0.99205166543018042],"end_position":[7.010192077387723,-86.32208303090042,-1.4426488876342773],"end_rotation":[0.37830547910716306,0,0,-0.92568081133698554],"actions":[1,3,3,1,5,0],"reference_path":[[15.420706790990668,-81.57187119967747,-3.4426488876342773,0,0,-2.889261343101552],[10.57904172216272,-82.82018180256895,-3.4426488876342773,0,0,-2.889261343101552],[10.57904172216272,-82.82018180256895,-3.4426488876342773,0,0,-2.627461955302403],[10.57904172216272,-82.82018180256895,-3.4426488876342773,0,0,-2.3656625675032537],[7.010192077387723,-86.32208303090042,-3.4426488876342773,0,0,-2.3656625675032537],[7.010192077387723,-86.32208303090042,-1.4426488876342773,0,0,-2.3656625675032537]]}],"statistics":{"complete_actions":75,"sentence_actions":[32,9,28,6],"sentence_actions_average":18.75}}
diff --git a/scene_13/392CY0QWGAPC4KI103W5DZEWJE34IQ.json b/scene_13/392CY0QWGAPC4KI103W5DZEWJE34IQ.json
new file mode 100644
index 0000000000000000000000000000000000000000..a9b6308f7640bb611656cb1157875b39acab39be
--- /dev/null
+++ b/scene_13/392CY0QWGAPC4KI103W5DZEWJE34IQ.json
@@ -0,0 +1 @@
+{"episode_id":"392CY0QWGAPC4KI103W5DZEWJE34IQ","trajectory_id":"34KYK9TV3Z6IXD9DURV40WV0R9WSB4","scene_id":13,"instruction":"take off and turn left and go forward until the grey building arrives and get down. now turn back and get up and go forward over the brown building and get down and turn left. now go forward over the road and turn right and get up and move forward and land at the top of the grey building.","sentence_instructions":[{"id":0,"instruction":"take off and turn left and go forward until the grey building arrives and get down.","completed_instruction":"Take off and turn left to face a brown brick building with black edge roof and go forward until the grey building with mirror glass arrives and get down.","start_frame":1,"end_frame":24,"start_position":[33.992637634277344,-16.65180206298828,-14.979244232177734],"start_rotation":[0.99977106657939663,0,0,-0.021396598577708047],"end_position":[-10.338569671284741,-39.77633576274705,-8.979244232177734],"end_rotation":[0.23809226561226024,0,0,-0.97124254079793115],"actions":[2,2,2,2,2,2,2,2,2,2,1,1,1,1,1,1,1,1,5,1,5,5,1,5],"reference_path":[[33.992637634277344,-16.65180206298828,-14.979244232177734,0,0,-0.042796463052154995],[33.992637634277344,-16.65180206298828,-14.979244232177734,0,0,-0.3045958508513044],[33.992637634277344,-16.65180206298828,-14.979244232177734,0,0,-0.5663952386504538],[33.992637634277344,-16.65180206298828,-14.979244232177734,0,0,-0.8281946264496033],[33.992637634277344,-16.65180206298828,-14.979244232177734,0,0,-1.0899940142487528],[33.992637634277344,-16.65180206298828,-14.979244232177734,0,0,-1.3517934020479023],[33.992637634277344,-16.65180206298828,-14.979244232177734,0,0,-1.6135927898470517],[33.992637634277344,-16.65180206298828,-14.979244232177734,0,0,-1.875392177646201],[33.992637634277344,-16.65180206298828,-14.979244232177734,0,0,-2.13719156544535],[33.992637634277344,-16.65180206298828,-14.979244232177734,0,0,-2.3989909532444993],[33.992637634277344,-16.65180206298828,-14.979244232177734,0,0,-2.660790341043649],[29.559516903721136,-18.96425543296416,-14.979244232177734,0,0,-2.660790341043649],[25.126396173164927,-21.276708802940036,-14.979244232177734,0,0,-2.660790341043649],[20.69327544260872,-23.589162172915913,-14.979244232177734,0,0,-2.660790341043649],[16.26015471205251,-25.90161554289179,-14.979244232177734,0,0,-2.660790341043649],[11.827033981496303,-28.214068912867667,-14.979244232177734,0,0,-2.660790341043649],[7.393913250940094,-30.526522282843544,-14.979244232177734,0,0,-2.660790341043649],[2.960792520383885,-32.83897565281942,-14.979244232177734,0,0,-2.660790341043649],[-1.472328210172324,-35.1514290227953,-14.979244232177734,0,0,-2.660790341043649],[-1.472328210172324,-35.1514290227953,-12.979244232177734,0,0,-2.660790341043649],[-5.905448940728533,-37.463882392771175,-12.979244232177734,0,0,-2.660790341043649],[-5.905448940728533,-37.463882392771175,-10.979244232177734,0,0,-2.660790341043649],[-5.905448940728533,-37.463882392771175,-8.979244232177734,0,0,-2.660790341043649],[-10.338569671284741,-39.77633576274705,-8.979244232177734,0,0,-2.660790341043649]]},{"id":1,"instruction":"now turn back and get up and go forward over the brown building and get down and turn left.","completed_instruction":"Now turn right to face the gap between two light pink buildings and get up to the roof and go forward over the buildings under and get down close to the street when seeing the street and turn left to the orange awning.","start_frame":24,"end_frame":68,"start_position":[-10.338569671284741,-39.77633576274705,-8.979244232177734],"start_rotation":[0.23809226561226024,0,0,-0.97124254079793115],"end_position":[28.62893636264596,-40.90850302613411,-0.9792442321777344],"end_rotation":[0.91547990182502836,0,0,-0.40236370282921458],"actions":[5,5,5,3,3,6,3,3,3,3,3,3,4,1,4,4,4,1,4,1,4,1,7,3,1,3,1,1,5,3,3,1,5,5,5,5,1,5,5,2,2,2,2,2,2],"reference_path":[[-10.338569671284741,-39.77633576274705,-8.979244232177734,0,0,-2.660790341043649],[-10.338569671284741,-39.77633576274705,-6.979244232177734,0,0,-2.660790341043649],[-10.338569671284741,-39.77633576274705,-4.979244232177734,0,0,-2.660790341043649],[-10.338569671284741,-39.77633576274705,-2.9792442321777344,0,0,-2.660790341043649],[-10.338569671284741,-39.77633576274705,-2.9792442321777344,0,0,-2.3989909532444993],[-10.338569671284741,-39.77633576274705,-2.9792442321777344,0,0,-2.13719156544535],[-14.55777340002889,-37.093367277029884,-2.9792442321777344,0,0,-2.13719156544535],[-14.55777340002889,-37.093367277029884,-2.9792442321777344,0,0,-1.8753921776462006],[-14.55777340002889,-37.093367277029884,-2.9792442321777344,0,0,-1.6135927898470512],[-14.55777340002889,-37.093367277029884,-2.9792442321777344,0,0,-1.3517934020479017],[-14.55777340002889,-37.093367277029884,-2.9792442321777344,0,0,-1.0899940142487523],[-14.55777340002889,-37.093367277029884,-2.9792442321777344,0,0,-0.8281946264496028],[-14.55777340002889,-37.093367277029884,-2.9792442321777344,0,0,-0.5663952386504535],[-14.55777340002889,-37.093367277029884,-4.979244232177734,0,0,-0.5663952386504535],[-10.338569671284741,-39.77633576274705,-4.979244232177734,0,0,-0.5663952386504535],[-10.338569671284741,-39.77633576274705,-6.979244232177734,0,0,-0.5663952386504535],[-10.338569671284741,-39.77633576274705,-8.979244232177734,0,0,-0.5663952386504535],[-10.338569671284741,-39.77633576274705,-10.979244232177734,0,0,-0.5663952386504535],[-6.119365942540593,-42.45930424846422,-10.979244232177734,0,0,-0.5663952386504535],[-6.119365942540593,-42.45930424846422,-12.979244232177734,0,0,-0.5663952386504535],[-1.9001622137964453,-45.14227273418139,-12.979244232177734,0,0,-0.5663952386504535],[-1.9001622137964453,-45.14227273418139,-14.979244232177734,0,0,-0.5663952386504535],[2.3190415149477026,-47.82524121989856,-14.979244232177734,0,0,-0.5663952386504535],[5.002010000664872,-43.60603749115441,-14.979244232177734,0,0,-0.5663952386504535],[5.002010000664872,-43.60603749115441,-14.979244232177734,0,0,-0.30459585085130403],[9.771851190147455,-45.10557576246174,-14.979244232177734,0,0,-0.30459585085130403],[9.771851190147455,-45.10557576246174,-14.979244232177734,0,0,-0.04279646305215459],[14.767273045840499,-45.319492764273804,-14.979244232177734,0,0,-0.04279646305215459],[19.762694901533543,-45.53340976608587,-14.979244232177734,0,0,-0.04279646305215459],[19.762694901533543,-45.53340976608587,-12.979244232177734,0,0,-0.04279646305215459],[19.762694901533543,-45.53340976608587,-12.979244232177734,0,0,0.21900292474699484],[19.762694901533543,-45.53340976608587,-12.979244232177734,0,0,0.48080231254614425],[24.19581563208975,-43.22095639610999,-12.979244232177734,0,0,0.48080231254614425],[24.19581563208975,-43.22095639610999,-10.979244232177734,0,0,0.48080231254614425],[24.19581563208975,-43.22095639610999,-8.979244232177734,0,0,0.48080231254614425],[24.19581563208975,-43.22095639610999,-6.979244232177734,0,0,0.48080231254614425],[24.19581563208975,-43.22095639610999,-4.979244232177734,0,0,0.48080231254614425],[28.62893636264596,-40.90850302613411,-4.979244232177734,0,0,0.48080231254614425],[28.62893636264596,-40.90850302613411,-2.9792442321777344,0,0,0.48080231254614425],[28.62893636264596,-40.90850302613411,-0.9792442321777344,0,0,0.48080231254614425],[28.62893636264596,-40.90850302613411,-0.9792442321777344,0,0,0.21900292474699484],[28.62893636264596,-40.90850302613411,-0.9792442321777344,0,0,-0.04279646305215459],[28.62893636264596,-40.90850302613411,-0.9792442321777344,0,0,-0.30459585085130403],[28.62893636264596,-40.90850302613411,-0.9792442321777344,0,0,-0.5663952386504535],[28.62893636264596,-40.90850302613411,-0.9792442321777344,0,0,-0.8281946264496028]]},{"id":2,"instruction":"now go forward over the road and turn right and get up and move forward and land at the top of the grey building.","completed_instruction":"Now go forward over the road and turn right to face the orange door and get up and move forward and land at the top of the grey building.","start_frame":68,"end_frame":99,"start_position":[28.62893636264596,-40.90850302613411,-0.9792442321777344],"start_rotation":[0.91547990182502836,0,0,-0.40236370282921458],"end_position":[38.41944053489241,-62.666310575696386,-14.979244232177734],"end_rotation":[0.98842506997154733,0,0,-0.15170985812313487],"actions":[2,2,1,1,1,3,3,3,6,1,3,3,3,3,3,3,3,2,2,2,4,2,4,2,4,4,4,4,4,1,2,2],"reference_path":[[28.62893636264596,-40.90850302613411,-0.9792442321777344,0,0,-0.8281946264496028],[28.62893636264596,-40.90850302613411,-0.9792442321777344,0,0,-1.0899940142487523],[28.62893636264596,-40.90850302613411,-0.9792442321777344,0,0,-1.3517934020479017],[29.7152187204881,-45.78907580389708,-0.9792442321777344,0,0,-1.3517934020479017],[30.80150107833024,-50.66964858166004,-0.9792442321777344,0,0,-1.3517934020479017],[31.88778343617238,-55.550221359423006,-0.9792442321777344,0,0,-1.3517934020479017],[31.88778343617238,-55.550221359423006,-0.9792442321777344,0,0,-1.0899940142487523],[31.88778343617238,-55.550221359423006,-0.9792442321777344,0,0,-0.8281946264496028],[31.88778343617238,-55.550221359423006,-0.9792442321777344,0,0,-0.5663952386504535],[29.204814950455212,-59.769425088167154,-0.9792442321777344,0,0,-0.5663952386504535],[33.424018679199364,-62.45239357388432,-0.9792442321777344,0,0,-0.5663952386504535],[33.424018679199364,-62.45239357388432,-0.9792442321777344,0,0,-0.30459585085130403],[33.424018679199364,-62.45239357388432,-0.9792442321777344,0,0,-0.04279646305215459],[33.424018679199364,-62.45239357388432,-0.9792442321777344,0,0,0.21900292474699484],[33.424018679199364,-62.45239357388432,-0.9792442321777344,0,0,0.48080231254614425],[33.424018679199364,-62.45239357388432,-0.9792442321777344,0,0,0.7426017003452937],[33.424018679199364,-62.45239357388432,-0.9792442321777344,0,0,1.0044010881444432],[33.424018679199364,-62.45239357388432,-0.9792442321777344,0,0,1.2662004759435925],[33.424018679199364,-62.45239357388432,-0.9792442321777344,0,0,1.0044010881444432],[33.424018679199364,-62.45239357388432,-0.9792442321777344,0,0,0.7426017003452937],[33.424018679199364,-62.45239357388432,-0.9792442321777344,0,0,0.4808023125461444],[33.424018679199364,-62.45239357388432,-2.9792442321777344,0,0,0.4808023125461444],[33.424018679199364,-62.45239357388432,-2.9792442321777344,0,0,0.21900292474699504],[33.424018679199364,-62.45239357388432,-4.979244232177734,0,0,0.21900292474699504],[33.424018679199364,-62.45239357388432,-4.979244232177734,0,0,-0.04279646305215438],[33.424018679199364,-62.45239357388432,-6.979244232177734,0,0,-0.04279646305215438],[33.424018679199364,-62.45239357388432,-8.979244232177734,0,0,-0.04279646305215438],[33.424018679199364,-62.45239357388432,-10.979244232177734,0,0,-0.04279646305215438],[33.424018679199364,-62.45239357388432,-12.979244232177734,0,0,-0.04279646305215438],[33.424018679199364,-62.45239357388432,-14.979244232177734,0,0,-0.04279646305215438],[38.41944053489241,-62.666310575696386,-14.979244232177734,0,0,-0.04279646305215438],[38.41944053489241,-62.666310575696386,-14.979244232177734,0,0,-0.30459585085130386]]}],"statistics":{"complete_actions":101,"sentence_actions":[24,45,32],"sentence_actions_average":33.67}}
diff --git a/scene_13/3A4NIXBJ7FXUYBFDRATER9NNWQ4LM8.json b/scene_13/3A4NIXBJ7FXUYBFDRATER9NNWQ4LM8.json
new file mode 100644
index 0000000000000000000000000000000000000000..8291a88ee390f2deeed7a2f9894b9e208f98a645
--- /dev/null
+++ b/scene_13/3A4NIXBJ7FXUYBFDRATER9NNWQ4LM8.json
@@ -0,0 +1 @@
+{"episode_id":"3A4NIXBJ7FXUYBFDRATER9NNWQ4LM8","trajectory_id":"3UUSLRKAVT1PTCN5KKOZ0VN42ZSD73","scene_id":13,"instruction":"lift off and turn left facing the cafe and head straight. on the road turn right facing the traffic light and head straight. at the intersection turn left. veer right to the right of the umbrellas and land.","sentence_instructions":[{"id":0,"instruction":"lift off and turn left to face the cafe and head straight. on the road turn right to face the traffic light and head straight. at the intersection turn left. veer right to the right of the umbrellas and land.","completed_instruction":"Turn left to face the brown building and the go the edge of the roof and then descend close to the sidewalk.","start_frame":1,"end_frame":10,"start_position":[2.0097713470458984,-14.36480712890625,-15.442648887634277],"start_rotation":[0.99983643687688617,0,0,-0.018085892107728745],"end_position":[6.693294749071761,-23.200224976562133,-9.442648887634277],"end_rotation":[0.85684080791083539,0,0,-0.51558106045384067],"actions":[2,2,2,2,1,1,5,5,5,5],"reference_path":[[2.0097713470458984,-14.36480712890625,-15.442648887634277,0,0,-0.03617375646782482],[2.0097713470458984,-14.36480712890625,-15.442648887634277,0,0,-0.29797314426697424],[2.0097713470458984,-14.36480712890625,-15.442648887634277,0,0,-0.5597725320661237],[2.0097713470458984,-14.36480712890625,-15.442648887634277,0,0,-0.8215719198652731],[2.0097713470458984,-14.36480712890625,-15.442648887634277,0,0,-1.0833713076644225],[4.35153304805883,-18.78251605273419,-15.442648887634277,0,0,-1.0833713076644225],[6.693294749071761,-23.200224976562133,-15.442648887634277,0,0,-1.0833713076644225],[6.693294749071761,-23.200224976562133,-13.442648887634277,0,0,-1.0833713076644225],[6.693294749071761,-23.200224976562133,-11.442648887634277,0,0,-1.0833713076644225],[6.693294749071761,-23.200224976562133,-9.442648887634277,0,0,-1.0833713076644225]]},{"id":1,"instruction":"on the road turn right to face the traffic light and head straight.","completed_instruction":"Turn right to face the traffic light, then fly forward to it.","start_frame":10,"end_frame":17,"start_position":[6.693294749071761,-23.200224976562133,-9.442648887634277],"start_rotation":[0.85684080791083539,0,0,-0.51558106045384067],"end_position":[11.472962265128011,-24.668141335200005,-3.4426488876342773],"end_rotation":[0.98892201492616449,0,0,-0.14843600774197269],"actions":[5,5,5,3,3,3,1,1],"reference_path":[[6.693294749071761,-23.200224976562133,-9.442648887634277,0,0,-1.0833713076644225],[6.693294749071761,-23.200224976562133,-7.442648887634277,0,0,-1.0833713076644225],[6.693294749071761,-23.200224976562133,-5.442648887634277,0,0,-1.0833713076644225],[6.693294749071761,-23.200224976562133,-3.4426488876342773,0,0,-1.0833713076644225],[6.693294749071761,-23.200224976562133,-3.4426488876342773,0,0,-0.8215719198652731],[6.693294749071761,-23.200224976562133,-3.4426488876342773,0,0,-0.5597725320661235],[6.693294749071761,-23.200224976562133,-3.4426488876342773,0,0,-0.29797314426697413],[11.472962265128011,-24.668141335200005,-3.4426488876342773,0,0,-0.29797314426697413]]},{"id":2,"instruction":"at the intersection turn left.","completed_instruction":"Turn left to face the flower bed in the middle of the road and then proceed to the first flower bed.","start_frame":17,"end_frame":26,"start_position":[11.472962265128011,-24.668141335200005,-3.4426488876342773],"start_rotation":[0.98892201492616449,0,0,-0.14843600774197269],"end_position":[25.63113547406945,-34.0686194161803,-3.4426488876342773],"end_rotation":[0.69420246763985849,0,0,-0.71977978154622491],"actions":[1,1,1,2,2,2,2,2,1,3],"reference_path":[[11.472962265128011,-24.668141335200005,-3.4426488876342773,0,0,-0.29797314426697413],[16.25262978118426,-26.136057693837877,-3.4426488876342773,0,0,-0.29797314426697413],[21.03229729724051,-27.60397405247575,-3.4426488876342773,0,0,-0.29797314426697413],[25.81196481329676,-29.07189041111362,-3.4426488876342773,0,0,-0.29797314426697413],[25.81196481329676,-29.07189041111362,-3.4426488876342773,0,0,-0.5597725320661235],[25.81196481329676,-29.07189041111362,-3.4426488876342773,0,0,-0.821571919865273],[25.81196481329676,-29.07189041111362,-3.4426488876342773,0,0,-1.0833713076644225],[25.81196481329676,-29.07189041111362,-3.4426488876342773,0,0,-1.345170695463572],[25.81196481329676,-29.07189041111362,-3.4426488876342773,0,0,-1.6069700832627214],[25.63113547406945,-34.0686194161803,-3.4426488876342773,0,0,-1.6069700832627214]]},{"id":3,"instruction":"veer right to the right of the umbrellas and land.","completed_instruction":"Turn right to face three blue umbrella and head towards the blue umbrella area, then land under the umbrella on the far right.","start_frame":26,"end_frame":39,"start_position":[25.63113547406945,-34.0686194161803,-3.4426488876342773],"start_rotation":[0.69420246763985849,0,0,-0.71977978154622491],"end_position":[41.624214688577624,-38.98036328227636,-1.4426488876342773],"end_rotation":[0.97044880976937375,0,0,0.24130708157284966],"actions":[3,3,1,3,3,1,3,3,1,3,3,1,5,0],"reference_path":[[25.63113547406945,-34.0686194161803,-3.4426488876342773,0,0,-1.6069700832627214],[25.63113547406945,-34.0686194161803,-3.4426488876342773,0,0,-1.345170695463572],[25.63113547406945,-34.0686194161803,-3.4426488876342773,0,0,-1.0833713076644225],[27.97289717508238,-38.486328340008235,-3.4426488876342773,0,0,-1.0833713076644225],[27.97289717508238,-38.486328340008235,-3.4426488876342773,0,0,-0.8215719198652731],[27.97289717508238,-38.486328340008235,-3.4426488876342773,0,0,-0.5597725320661235],[32.20977675968301,-41.14129564406198,-3.4426488876342773,0,0,-0.5597725320661235],[32.20977675968301,-41.14129564406198,-3.4426488876342773,0,0,-0.29797314426697413],[32.20977675968301,-41.14129564406198,-3.4426488876342773,0,0,-0.036173756467824704],[37.206505764749686,-41.32212498328929,-3.4426488876342773,0,0,-0.036173756467824704],[37.206505764749686,-41.32212498328929,-3.4426488876342773,0,0,0.22562563133132474],[37.206505764749686,-41.32212498328929,-3.4426488876342773,0,0,0.48742501913047415],[41.624214688577624,-38.98036328227636,-3.4426488876342773,0,0,0.48742501913047415],[41.624214688577624,-38.98036328227636,-1.4426488876342773,0,0,0.48742501913047415]]}],"statistics":{"complete_actions":42,"sentence_actions":[10,8,10,14],"sentence_actions_average":10.5}}
diff --git a/scene_13/3AAPLD8UCLFWPAM79MFSLVP89HHTH0.json b/scene_13/3AAPLD8UCLFWPAM79MFSLVP89HHTH0.json
new file mode 100644
index 0000000000000000000000000000000000000000..cb72c3c1230183e7f412a6277b892ff3324a855e
--- /dev/null
+++ b/scene_13/3AAPLD8UCLFWPAM79MFSLVP89HHTH0.json
@@ -0,0 +1 @@
+{"episode_id":"3AAPLD8UCLFWPAM79MFSLVP89HHTH0","trajectory_id":"3Y7LTZE0Z1KUUO4XPA671FKRYS0UZM","scene_id":13,"instruction":"go over white roof and turn left to street. go down to street and turn right. go to orange awning and stop there.","sentence_instructions":[{"id":0,"instruction":"go over white roof and turn left to street.","completed_instruction":"Lift off and head straight to the white wall in the alley in front, and turn left to face the brown wall, then ascend to a higher altitude to fly over the gray-white rooftop platform, and then descend to reach the street.","start_frame":1,"end_frame":20,"start_position":[-16.377094268798828,-52.42120361328125,-0.7463926672935486],"start_rotation":[0.99969130310469079,0,0,-0.024845492485464749],"end_position":[7.6650806414964325,-72.3003108955426,-10.746392667293549],"end_rotation":[0.68932008330015149,0,0,-0.72445691573693471],"actions":[4,4,4,1,1,4,1,1,2,2,2,2,4,1,1,2,2,1,1,3],"reference_path":[[-16.377094268798828,-52.42120361328125,-0.7463926672935486,0,0,-0.04969609875330702],[-16.377094268798828,-52.42120361328125,-2.7463926672935486,0,0,-0.04969609875330702],[-16.377094268798828,-52.42120361328125,-4.746392667293549,0,0,-0.04969609875330702],[-16.377094268798828,-52.42120361328125,-6.746392667293549,0,0,-0.04969609875330702],[-11.383267253767281,-52.66958184087197,-6.746392667293549,0,0,-0.04969609875330702],[-6.389440238735734,-52.91796006846269,-6.746392667293549,0,0,-0.04969609875330702],[-6.389440238735734,-52.91796006846269,-8.746392667293549,0,0,-0.04969609875330702],[-1.3956132237041867,-53.16633829605341,-8.746392667293549,0,0,-0.04969609875330702],[3.5982137913273604,-53.41471652364413,-8.746392667293549,0,0,-0.04969609875330702],[3.5982137913273604,-53.41471652364413,-8.746392667293549,0,0,-0.31149548655245646],[3.5982137913273604,-53.41471652364413,-8.746392667293549,0,0,-0.5732948743516059],[3.5982137913273604,-53.41471652364413,-8.746392667293549,0,0,-0.8350942621507553],[3.5982137913273604,-53.41471652364413,-8.746392667293549,0,0,-1.0968936499499047],[3.5982137913273604,-53.41471652364413,-10.746392667293549,0,0,-1.0968936499499047],[5.880025444002618,-57.86368669456182,-10.746392667293549,0,0,-1.0968936499499047],[8.161837096677875,-62.31265686547951,-10.746392667293549,0,0,-1.0968936499499047],[8.161837096677875,-62.31265686547951,-10.746392667293549,0,0,-1.3586930377490543],[8.161837096677875,-62.31265686547951,-10.746392667293549,0,0,-1.6204924255482038],[7.913458869087154,-67.30648388051105,-10.746392667293549,0,0,-1.6204924255482038],[7.6650806414964325,-72.3003108955426,-10.746392667293549,0,0,-1.6204924255482038]]},{"id":1,"instruction":"go down to street and turn right.","completed_instruction":"Turn right to face the orange awning and proceed to stop in front of the orange awning.","start_frame":20,"end_frame":29,"start_position":[7.6650806414964325,-72.3003108955426,-10.746392667293549],"start_rotation":[0.68932008330015149,0,0,-0.72445691573693471],"end_position":[8.717663236216287,-77.1882623970709,-8.746392667293549],"end_rotation":[0.99438179295119367,0,0,0.10585296333674098],"actions":[3,5,1,3,3,3,3,3,3,3],"reference_path":[[7.6650806414964325,-72.3003108955426,-10.746392667293549,0,0,-1.6204924255482038],[7.6650806414964325,-72.3003108955426,-10.746392667293549,0,0,-1.3586930377490545],[7.6650806414964325,-72.3003108955426,-8.746392667293549,0,0,-1.3586930377490545],[8.717663236216287,-77.1882623970709,-8.746392667293549,0,0,-1.3586930377490545],[8.717663236216287,-77.1882623970709,-8.746392667293549,0,0,-1.096893649949905],[8.717663236216287,-77.1882623970709,-8.746392667293549,0,0,-0.8350942621507556],[8.717663236216287,-77.1882623970709,-8.746392667293549,0,0,-0.5732948743516061],[8.717663236216287,-77.1882623970709,-8.746392667293549,0,0,-0.3114954865524567],[8.717663236216287,-77.1882623970709,-8.746392667293549,0,0,-0.04969609875330723],[8.717663236216287,-77.1882623970709,-8.746392667293549,0,0,0.2121032890458422]]},{"id":2,"instruction":"go to orange awning and stop there.","completed_instruction":"Land in the left front area of the orange awning.","start_frame":29,"end_frame":57,"start_position":[8.717663236216287,-77.1882623970709,-8.746392667293549],"start_rotation":[0.99438179295119367,0,0,0.10585296333674098],"end_position":[31.34936792622637,-65.19109355033396,-0.7463926672935486],"end_rotation":[0.93310229211109952,0,0,0.35961105719514846],"actions":[3,3,6,5,1,2,5,1,3,1,1,1,2,5,2,2,5,3,3,3,3,3,3,3,2,2,2,2,0],"reference_path":[[8.717663236216287,-77.1882623970709,-8.746392667293549,0,0,0.2121032890458422],[8.717663236216287,-77.1882623970709,-8.746392667293549,0,0,0.47390267684499165],[8.717663236216287,-77.1882623970709,-8.746392667293549,0,0,0.7357020646441411],[12.073202253589177,-80.89506127250078,-8.746392667293549,0,0,0.7357020646441411],[12.073202253589177,-80.89506127250078,-6.746392667293549,0,0,0.7357020646441411],[15.780001129019052,-77.53952225512789,-6.746392667293549,0,0,0.7357020646441411],[15.780001129019052,-77.53952225512789,-6.746392667293549,0,0,0.47390267684499177],[15.780001129019052,-77.53952225512789,-4.746392667293549,0,0,0.47390267684499177],[20.228971299936745,-75.25771060245263,-4.746392667293549,0,0,0.47390267684499177],[20.228971299936745,-75.25771060245263,-4.746392667293549,0,0,0.7357020646441413],[23.93577017536662,-71.90217158507974,-4.746392667293549,0,0,0.7357020646441413],[27.642569050796496,-68.54663256770685,-4.746392667293549,0,0,0.7357020646441413],[31.34936792622637,-65.19109355033396,-4.746392667293549,0,0,0.7357020646441413],[31.34936792622637,-65.19109355033396,-4.746392667293549,0,0,0.4739026768449919],[31.34936792622637,-65.19109355033396,-2.7463926672935486,0,0,0.4739026768449919],[31.34936792622637,-65.19109355033396,-2.7463926672935486,0,0,0.21210328904584244],[31.34936792622637,-65.19109355033396,-2.7463926672935486,0,0,-0.04969609875330695],[31.34936792622637,-65.19109355033396,-0.7463926672935486,0,0,-0.04969609875330695],[31.34936792622637,-65.19109355033396,-0.7463926672935486,0,0,0.21210328904584247],[31.34936792622637,-65.19109355033396,-0.7463926672935486,0,0,0.4739026768449919],[31.34936792622637,-65.19109355033396,-0.7463926672935486,0,0,0.7357020646441413],[31.34936792622637,-65.19109355033396,-0.7463926672935486,0,0,0.9975014524432907],[31.34936792622637,-65.19109355033396,-0.7463926672935486,0,0,1.2593008402424402],[31.34936792622637,-65.19109355033396,-0.7463926672935486,0,0,1.5211002280415895],[31.34936792622637,-65.19109355033396,-0.7463926672935486,0,0,1.7828996158407389],[31.34936792622637,-65.19109355033396,-0.7463926672935486,0,0,1.5211002280415895],[31.34936792622637,-65.19109355033396,-0.7463926672935486,0,0,1.25930084024244],[31.34936792622637,-65.19109355033396,-0.7463926672935486,0,0,0.9975014524432905],[31.34936792622637,-65.19109355033396,-0.7463926672935486,0,0,0.7357020646441411]]}],"statistics":{"complete_actions":59,"sentence_actions":[20,10,29],"sentence_actions_average":19.67}}
diff --git a/scene_13/3CFJTT4SX2O9N70K21UCGBY6AGW7IG.json b/scene_13/3CFJTT4SX2O9N70K21UCGBY6AGW7IG.json
new file mode 100644
index 0000000000000000000000000000000000000000..6bf10a68292ff70b34c4400d200c8e6ca58de6ec
--- /dev/null
+++ b/scene_13/3CFJTT4SX2O9N70K21UCGBY6AGW7IG.json
@@ -0,0 +1 @@
+{"episode_id":"3CFJTT4SX2O9N70K21UCGBY6AGW7IG","trajectory_id":"30QQTY5GNSIBAEYR6FEOAVRSTGQU70","scene_id":13,"instruction":"take off ascend to the highest building next to you then turn right fly on top of roof top. the turn left were your facing trees and a apartment building. fly toward apartment building where you come to a window then turn right looking upon the street between trees. descend down where you come to a light fixture and a fire hydrant.","sentence_instructions":[{"id":0,"instruction":"take off ascend to the highest building next to you then turn right fly on top of roof top.","completed_instruction":"Take off, then turn right to face the brown building at the inner corner, and then fly up to the top of the mentioned building.","start_frame":1,"end_frame":11,"start_position":[9.102559089660645,-81.3253402709961,-0.8774731755256653],"start_rotation":[0.9999860299567197,0,0,-0.0052858198416696582],"end_position":[12.993274590794908,-72.20620521312537,-6.877473175525665],"end_rotation":[0.79656006035103211,0,0,0.60455940175764367],"actions":[4,3,3,3,3,1,3,4,1,4,4],"reference_path":[[9.102559089660645,-81.3253402709961,-0.8774731755256653,0,0,-0.01057168891236905],[9.102559089660645,-81.3253402709961,-2.8774731755256653,0,0,-0.01057168891236905],[9.102559089660645,-81.3253402709961,-2.8774731755256653,0,0,0.25122769888678037],[9.102559089660645,-81.3253402709961,-2.8774731755256653,0,0,0.5130270866859298],[9.102559089660645,-81.3253402709961,-2.8774731755256653,0,0,0.7748264744850792],[9.102559089660645,-81.3253402709961,-2.8774731755256653,0,0,1.0366258622842288],[11.648195293330508,-77.0218839486239,-2.8774731755256653,0,0,1.0366258622842288],[11.648195293330508,-77.0218839486239,-2.8774731755256653,0,0,1.2984252500833782],[11.648195293330508,-77.0218839486239,-4.877473175525665,0,0,1.2984252500833782],[12.993274590794908,-72.20620521312537,-4.877473175525665,0,0,1.2984252500833782],[12.993274590794908,-72.20620521312537,-6.877473175525665,0,0,1.2984252500833782]]},{"id":1,"instruction":"the turn left were your facing trees and a apartment building.","completed_instruction":"Fly forward over the rooftop platform and then turn left to face the white buildings across the street.","start_frame":11,"end_frame":19,"start_position":[12.993274590794908,-72.20620521312537,-6.877473175525665],"start_rotation":[0.79656006035103211,0,0,0.60455940175764367],"end_position":[12.725056160815903,-55.21353280295994,-10.877473175525665],"end_rotation":[0.92588942155410536,0,0,0.37779462549671633],"actions":[4,4,1,1,1,2,7,2,2],"reference_path":[[12.993274590794908,-72.20620521312537,-6.877473175525665,0,0,1.2984252500833782],[12.993274590794908,-72.20620521312537,-8.877473175525665,0,0,1.2984252500833782],[12.993274590794908,-72.20620521312537,-10.877473175525665,0,0,1.2984252500833782],[14.338353888259308,-67.39052647762685,-10.877473175525665,0,0,1.2984252500833782],[15.683433185723707,-62.57484774212833,-10.877473175525665,0,0,1.2984252500833782],[17.028512483188106,-57.759169006629804,-10.877473175525665,0,0,1.2984252500833782],[17.028512483188106,-57.759169006629804,-10.877473175525665,0,0,1.0366258622842288],[12.725056160815903,-55.21353280295994,-10.877473175525665,0,0,1.0366258622842288],[12.725056160815903,-55.21353280295994,-10.877473175525665,0,0,0.7748264744850794]]},{"id":2,"instruction":"fly toward apartment building where you come to a window then turn right looking upon the street between trees.","completed_instruction":"Fly toward to the white building, then turn right to face the sidewalk with trees.","start_frame":19,"end_frame":28,"start_position":[12.725056160815903,-55.21353280295994,-10.877473175525665],"start_rotation":[0.92588942155410536,0,0,0.37779462549671633],"end_position":[32.72393856515996,-55.42496264290144,-8.877473175525665],"end_rotation":[0.99212094878288126,0,0,0.12528376984332604],"actions":[2,2,2,1,1,5,1,1,3,3],"reference_path":[[12.725056160815903,-55.21353280295994,-10.877473175525665,0,0,0.7748264744850794],[12.725056160815903,-55.21353280295994,-10.877473175525665,0,0,0.51302708668593],[12.725056160815903,-55.21353280295994,-10.877473175525665,0,0,0.2512276988867806],[12.725056160815903,-55.21353280295994,-10.877473175525665,0,0,-0.010571688912368822],[17.724776761901918,-55.266390262945315,-10.877473175525665,0,0,-0.010571688912368822],[22.724497362987933,-55.31924772293069,-10.877473175525665,0,0,-0.010571688912368822],[22.724497362987933,-55.31924772293069,-8.877473175525665,0,0,-0.010571688912368822],[27.724217964073947,-55.372105182916066,-8.877473175525665,0,0,-0.010571688912368822],[32.72393856515996,-55.42496264290144,-8.877473175525665,0,0,-0.010571688912368822],[32.72393856515996,-55.42496264290144,-8.877473175525665,0,0,0.2512276988867806]]},{"id":3,"instruction":"descend down where you come to a light fixture and a fire hydrant.","completed_instruction":"Descend to a ground height and then land beside the trees in front.","start_frame":28,"end_frame":38,"start_position":[32.72393856515996,-55.42496264290144,-8.877473175525665],"start_rotation":[0.99212094878288126,0,0,0.12528376984332604],"end_position":[35.26957476882983,-51.121506320529235,-2.8774731755256653],"end_rotation":[0.79656006035103222,0,0,0.60455940175764356],"actions":[3,3,3,5,5,1,5,3,3,2,0],"reference_path":[[32.72393856515996,-55.42496264290144,-8.877473175525665,0,0,0.2512276988867806],[32.72393856515996,-55.42496264290144,-8.877473175525665,0,0,0.51302708668593],[32.72393856515996,-55.42496264290144,-8.877473175525665,0,0,0.7748264744850795],[32.72393856515996,-55.42496264290144,-8.877473175525665,0,0,1.0366258622842288],[32.72393856515996,-55.42496264290144,-6.877473175525665,0,0,1.0366258622842288],[32.72393856515996,-55.42496264290144,-4.877473175525665,0,0,1.0366258622842288],[35.26957476882983,-51.121506320529235,-4.877473175525665,0,0,1.0366258622842288],[35.26957476882983,-51.121506320529235,-2.8774731755256653,0,0,1.0366258622842288],[35.26957476882983,-51.121506320529235,-2.8774731755256653,0,0,1.2984252500833782],[35.26957476882983,-51.121506320529235,-2.8774731755256653,0,0,1.5602246378825275],[35.26957476882983,-51.121506320529235,-2.8774731755256653,0,0,1.298425250083378]]}],"statistics":{"complete_actions":41,"sentence_actions":[11,9,10,11],"sentence_actions_average":10.25}}
diff --git a/scene_13/3E7TUJ2EGLKWTF8RPKRL3A9YME3D9K.json b/scene_13/3E7TUJ2EGLKWTF8RPKRL3A9YME3D9K.json
new file mode 100644
index 0000000000000000000000000000000000000000..f20d50d030ffb6348b8e12cfc624558de46fa746
--- /dev/null
+++ b/scene_13/3E7TUJ2EGLKWTF8RPKRL3A9YME3D9K.json
@@ -0,0 +1 @@
+{"episode_id":"3E7TUJ2EGLKWTF8RPKRL3A9YME3D9K","trajectory_id":"3Y7LTZE0Z1KUUO4XPA671FKRYS0UZM","scene_id":13,"instruction":"take off and fly forward. fly up until above the white wall and turn left towards a beige building when above the white wall. fly forward and fly up until above the building. fly down towards the beige building. turn right towards a white building and fly forward. fly down towards the white building. fly down when near the white building and look right and left. land in front of the white building.","sentence_instructions":[{"id":0,"instruction":"take off and fly forward.","completed_instruction":"Take off and fly straight towards the white wall in front.","start_frame":1,"end_frame":6,"start_position":[-16.377094268798828,-52.42120361328125,-0.7463926672935486],"start_rotation":[0.99969130310469079,0,0,-0.024845492485464749],"end_position":[-6.389440238735734,-52.91796006846269,-6.746392667293549],"end_rotation":[0.99969130310469079,0,0,-0.024845492485464749],"actions":[4,4,4,1,1,4],"reference_path":[[-16.377094268798828,-52.42120361328125,-0.7463926672935486,0,0,-0.04969609875330702],[-16.377094268798828,-52.42120361328125,-2.7463926672935486,0,0,-0.04969609875330702],[-16.377094268798828,-52.42120361328125,-4.746392667293549,0,0,-0.04969609875330702],[-16.377094268798828,-52.42120361328125,-6.746392667293549,0,0,-0.04969609875330702],[-11.383267253767281,-52.66958184087197,-6.746392667293549,0,0,-0.04969609875330702],[-6.389440238735734,-52.91796006846269,-6.746392667293549,0,0,-0.04969609875330702]]},{"id":1,"instruction":"fly up until above the white wall and turn left towards a beige building when above the white wall.","completed_instruction":"Turn left to face the brown brick wall, then ascend to a higher altitude to the roof, and then fly over the gray-white rooftop platform to the steet on the other side of the roof.","start_frame":6,"end_frame":18,"start_position":[-6.389440238735734,-52.91796006846269,-6.746392667293549],"start_rotation":[0.99969130310469079,0,0,-0.024845492485464749],"end_position":[8.161837096677875,-62.31265686547951,-10.746392667293549],"end_rotation":[0.68932008330015149,0,0,-0.72445691573693471],"actions":[4,1,1,2,2,2,2,4,1,1,2,2,1],"reference_path":[[-6.389440238735734,-52.91796006846269,-6.746392667293549,0,0,-0.04969609875330702],[-6.389440238735734,-52.91796006846269,-8.746392667293549,0,0,-0.04969609875330702],[-1.3956132237041867,-53.16633829605341,-8.746392667293549,0,0,-0.04969609875330702],[3.5982137913273604,-53.41471652364413,-8.746392667293549,0,0,-0.04969609875330702],[3.5982137913273604,-53.41471652364413,-8.746392667293549,0,0,-0.31149548655245646],[3.5982137913273604,-53.41471652364413,-8.746392667293549,0,0,-0.5732948743516059],[3.5982137913273604,-53.41471652364413,-8.746392667293549,0,0,-0.8350942621507553],[3.5982137913273604,-53.41471652364413,-8.746392667293549,0,0,-1.0968936499499047],[3.5982137913273604,-53.41471652364413,-10.746392667293549,0,0,-1.0968936499499047],[5.880025444002618,-57.86368669456182,-10.746392667293549,0,0,-1.0968936499499047],[8.161837096677875,-62.31265686547951,-10.746392667293549,0,0,-1.0968936499499047],[8.161837096677875,-62.31265686547951,-10.746392667293549,0,0,-1.3586930377490543],[8.161837096677875,-62.31265686547951,-10.746392667293549,0,0,-1.6204924255482038]]},{"id":2,"instruction":"fly forward and fly up until above the building.","completed_instruction":"Descend to reach the street.","start_frame":18,"end_frame":21,"start_position":[8.161837096677875,-62.31265686547951,-10.746392667293549],"start_rotation":[0.68932008330015149,0,0,-0.72445691573693471],"end_position":[7.6650806414964325,-72.3003108955426,-10.746392667293549],"end_rotation":[0.777983457068327,0,0,-0.628284760700126],"actions":[1,1,3,5],"reference_path":[[8.161837096677875,-62.31265686547951,-10.746392667293549,0,0,-1.6204924255482038],[7.913458869087154,-67.30648388051105,-10.746392667293549,0,0,-1.6204924255482038],[7.6650806414964325,-72.3003108955426,-10.746392667293549,0,0,-1.6204924255482038],[7.6650806414964325,-72.3003108955426,-10.746392667293549,0,0,-1.3586930377490545]]},{"id":3,"instruction":"fly down towards the beige building.","completed_instruction":"Turn right to face the street lights at the inner corner.","start_frame":21,"end_frame":29,"start_position":[7.6650806414964325,-72.3003108955426,-10.746392667293549],"start_rotation":[0.777983457068327,0,0,-0.628284760700126],"end_position":[8.717663236216287,-77.1882623970709,-8.746392667293549],"end_rotation":[0.99438179295119367,0,0,0.10585296333674098],"actions":[5,1,3,3,3,3,3,3,3],"reference_path":[[7.6650806414964325,-72.3003108955426,-10.746392667293549,0,0,-1.3586930377490545],[7.6650806414964325,-72.3003108955426,-8.746392667293549,0,0,-1.3586930377490545],[8.717663236216287,-77.1882623970709,-8.746392667293549,0,0,-1.3586930377490545],[8.717663236216287,-77.1882623970709,-8.746392667293549,0,0,-1.096893649949905],[8.717663236216287,-77.1882623970709,-8.746392667293549,0,0,-0.8350942621507556],[8.717663236216287,-77.1882623970709,-8.746392667293549,0,0,-0.5732948743516061],[8.717663236216287,-77.1882623970709,-8.746392667293549,0,0,-0.3114954865524567],[8.717663236216287,-77.1882623970709,-8.746392667293549,0,0,-0.04969609875330723],[8.717663236216287,-77.1882623970709,-8.746392667293549,0,0,0.2121032890458422]]},{"id":4,"instruction":"turn right towards a white building and fly forward.","completed_instruction":"Proceed to the front of the orange awning.","start_frame":29,"end_frame":38,"start_position":[8.717663236216287,-77.1882623970709,-8.746392667293549],"start_rotation":[0.99438179295119367,0,0,0.10585296333674098],"end_position":[20.228971299936745,-75.25771060245263,-4.746392667293549],"end_rotation":[0.93310229211109952,0,0,0.35961105719514858],"actions":[3,3,6,5,1,2,5,1,3,1],"reference_path":[[8.717663236216287,-77.1882623970709,-8.746392667293549,0,0,0.2121032890458422],[8.717663236216287,-77.1882623970709,-8.746392667293549,0,0,0.47390267684499165],[8.717663236216287,-77.1882623970709,-8.746392667293549,0,0,0.7357020646441411],[12.073202253589177,-80.89506127250078,-8.746392667293549,0,0,0.7357020646441411],[12.073202253589177,-80.89506127250078,-6.746392667293549,0,0,0.7357020646441411],[15.780001129019052,-77.53952225512789,-6.746392667293549,0,0,0.7357020646441411],[15.780001129019052,-77.53952225512789,-6.746392667293549,0,0,0.47390267684499177],[15.780001129019052,-77.53952225512789,-4.746392667293549,0,0,0.47390267684499177],[20.228971299936745,-75.25771060245263,-4.746392667293549,0,0,0.47390267684499177],[20.228971299936745,-75.25771060245263,-4.746392667293549,0,0,0.7357020646441413]]},{"id":5,"instruction":"fly down towards the white building.","completed_instruction":"Descend to close to the street.","start_frame":38,"end_frame":40,"start_position":[20.228971299936745,-75.25771060245263,-4.746392667293549],"start_rotation":[0.93310229211109952,0,0,0.35961105719514858],"end_position":[27.642569050796496,-68.54663256770685,-4.746392667293549],"end_rotation":[0.93310229211109952,0,0,0.35961105719514858],"actions":[1,1,1],"reference_path":[[20.228971299936745,-75.25771060245263,-4.746392667293549,0,0,0.7357020646441413],[23.93577017536662,-71.90217158507974,-4.746392667293549,0,0,0.7357020646441413],[27.642569050796496,-68.54663256770685,-4.746392667293549,0,0,0.7357020646441413]]},{"id":6,"instruction":"fly down when near the white building and look right and left.","completed_instruction":"Turn right slightly then turn left to face the orange awning.","start_frame":40,"end_frame":51,"start_position":[27.642569050796496,-68.54663256770685,-4.746392667293549],"start_rotation":[0.93310229211109952,0,0,0.35961105719514858],"end_position":[31.34936792622637,-65.19109355033396,-0.7463926672935486],"end_rotation":[0.808233412088081,0,0,0.58886225179107743],"actions":[1,2,5,2,2,5,3,3,3,3,3,3],"reference_path":[[27.642569050796496,-68.54663256770685,-4.746392667293549,0,0,0.7357020646441413],[31.34936792622637,-65.19109355033396,-4.746392667293549,0,0,0.7357020646441413],[31.34936792622637,-65.19109355033396,-4.746392667293549,0,0,0.4739026768449919],[31.34936792622637,-65.19109355033396,-2.7463926672935486,0,0,0.4739026768449919],[31.34936792622637,-65.19109355033396,-2.7463926672935486,0,0,0.21210328904584244],[31.34936792622637,-65.19109355033396,-2.7463926672935486,0,0,-0.04969609875330695],[31.34936792622637,-65.19109355033396,-0.7463926672935486,0,0,-0.04969609875330695],[31.34936792622637,-65.19109355033396,-0.7463926672935486,0,0,0.21210328904584247],[31.34936792622637,-65.19109355033396,-0.7463926672935486,0,0,0.4739026768449919],[31.34936792622637,-65.19109355033396,-0.7463926672935486,0,0,0.7357020646441413],[31.34936792622637,-65.19109355033396,-0.7463926672935486,0,0,0.9975014524432907],[31.34936792622637,-65.19109355033396,-0.7463926672935486,0,0,1.2593008402424402]]},{"id":7,"instruction":"land in front of the white building.","completed_instruction":"Land in the left front area of the orange awning.","start_frame":51,"end_frame":57,"start_position":[31.34936792622637,-65.19109355033396,-0.7463926672935486],"start_rotation":[0.808233412088081,0,0,0.58886225179107743],"end_position":[31.34936792622637,-65.19109355033396,-0.7463926672935486],"end_rotation":[0.93310229211109952,0,0,0.35961105719514846],"actions":[3,3,2,2,2,2,0],"reference_path":[[31.34936792622637,-65.19109355033396,-0.7463926672935486,0,0,1.2593008402424402],[31.34936792622637,-65.19109355033396,-0.7463926672935486,0,0,1.5211002280415895],[31.34936792622637,-65.19109355033396,-0.7463926672935486,0,0,1.7828996158407389],[31.34936792622637,-65.19109355033396,-0.7463926672935486,0,0,1.5211002280415895],[31.34936792622637,-65.19109355033396,-0.7463926672935486,0,0,1.25930084024244],[31.34936792622637,-65.19109355033396,-0.7463926672935486,0,0,0.9975014524432905],[31.34936792622637,-65.19109355033396,-0.7463926672935486,0,0,0.7357020646441411]]}],"statistics":{"complete_actions":64,"sentence_actions":[6,13,4,9,10,3,12,7],"sentence_actions_average":8.0}}
diff --git a/scene_13/3EKVH9QME72LTVNS4BC6TN1L7VED2G.json b/scene_13/3EKVH9QME72LTVNS4BC6TN1L7VED2G.json
new file mode 100644
index 0000000000000000000000000000000000000000..1637a28c7a5bf0b4e0f0b2540c9356a162dc8b37
--- /dev/null
+++ b/scene_13/3EKVH9QME72LTVNS4BC6TN1L7VED2G.json
@@ -0,0 +1 @@
+{"episode_id":"3EKVH9QME72LTVNS4BC6TN1L7VED2G","trajectory_id":"32PT7WK7EUD7STMII8L9NEBO2E9D34","scene_id":13,"instruction":"take off and turn left and go forward towards the grey building and get down. now turn right and get up and go forward until the grey building arrives and turn left. now get down and turn left and go forward and land in front of the street lamp.","sentence_instructions":[{"id":0,"instruction":"take off and turn left and go forward towards the grey building and get down.","completed_instruction":"Take off and turn left to face a building with black roof edge and brick wall and go forward towards the grey building with many glass windows and get down close to the street.","start_frame":0,"end_frame":25,"start_position":[33.992637634277344,-16.65180206298828,-14.979244232177734],"start_rotation":[0.99994345109352667,0,0,-0.010634595204699272],"end_position":[-12.237879404386163,-36.34289889221144,-6.979244232177734],"end_rotation":[0.24853217900819685,0,0,-0.96862364001578938],"actions":[2,2,2,2,2,2,2,2,2,2,1,1,1,1,1,1,1,1,6,1,1,5,5,5,5,5],"reference_path":[[33.992637634277344,-16.65180206298828,-14.979244232177734,0,0,-0.021269591334953725],[33.992637634277344,-16.65180206298828,-14.979244232177734,0,0,-0.28306897913410317],[33.992637634277344,-16.65180206298828,-14.979244232177734,0,0,-0.5448683669332526],[33.992637634277344,-16.65180206298828,-14.979244232177734,0,0,-0.8066677547324019],[33.992637634277344,-16.65180206298828,-14.979244232177734,0,0,-1.0684671425315515],[33.992637634277344,-16.65180206298828,-14.979244232177734,0,0,-1.330266530330701],[33.992637634277344,-16.65180206298828,-14.979244232177734,0,0,-1.5920659181298504],[33.992637634277344,-16.65180206298828,-14.979244232177734,0,0,-1.853865305929],[33.992637634277344,-16.65180206298828,-14.979244232177734,0,0,-2.1156646937281494],[33.992637634277344,-16.65180206298828,-14.979244232177734,0,0,-2.377464081527299],[33.992637634277344,-16.65180206298828,-14.979244232177734,0,0,-2.639263469326448],[29.61032007430297,-19.059143501908036,-14.979244232177734,0,0,-2.639263469326448],[25.228002514328594,-21.46648494082779,-14.979244232177734,0,0,-2.639263469326448],[20.84568495435422,-23.873826379747545,-14.979244232177734,0,0,-2.639263469326448],[16.463367394379844,-26.2811678186673,-14.979244232177734,0,0,-2.639263469326448],[12.08104983440547,-28.688509257587054,-14.979244232177734,0,0,-2.639263469326448],[7.6987322744310935,-31.095850696506808,-14.979244232177734,0,0,-2.639263469326448],[3.3164147144567178,-33.50319213542656,-14.979244232177734,0,0,-2.639263469326448],[-1.065902845517658,-35.91053357434631,-14.979244232177734,0,0,-2.639263469326448],[-3.4732442844374107,-31.528216014371935,-14.979244232177734,0,0,-2.639263469326448],[-7.8555618444117865,-33.935557453291686,-14.979244232177734,0,0,-2.639263469326448],[-12.237879404386163,-36.34289889221144,-14.979244232177734,0,0,-2.639263469326448],[-12.237879404386163,-36.34289889221144,-12.979244232177734,0,0,-2.639263469326448],[-12.237879404386163,-36.34289889221144,-10.979244232177734,0,0,-2.639263469326448],[-12.237879404386163,-36.34289889221144,-8.979244232177734,0,0,-2.639263469326448],[-12.237879404386163,-36.34289889221144,-6.979244232177734,0,0,-2.639263469326448]]},{"id":1,"instruction":"now turn right and get up and go forward until the grey building arrives and turn left.","completed_instruction":"Now turn right to face the gap between two light pink buildings and fly over the buildings in front and go forward until the grey building arrives and descend to the street and turn left to face a green awning.","start_frame":25,"end_frame":59,"start_position":[-12.237879404386163,-36.34289889221144,-6.979244232177734],"start_rotation":[0.24853217900819685,0,0,-0.96862364001578938],"end_position":[28.837446805614505,-55.39066980489392,-10.979244232177734],"end_rotation":[0.86065913339252675,0,0,-0.50918155515299723],"actions":[5,5,3,3,3,3,3,3,3,3,4,4,1,4,4,4,1,1,4,1,4,1,7,1,1,1,5,5,1,3,2,2,2,5,2],"reference_path":[[-12.237879404386163,-36.34289889221144,-6.979244232177734,0,0,-2.639263469326448],[-12.237879404386163,-36.34289889221144,-4.979244232177734,0,0,-2.639263469326448],[-12.237879404386163,-36.34289889221144,-2.9792442321777344,0,0,-2.639263469326448],[-12.237879404386163,-36.34289889221144,-2.9792442321777344,0,0,-2.377464081527299],[-12.237879404386163,-36.34289889221144,-2.9792442321777344,0,0,-2.1156646937281494],[-12.237879404386163,-36.34289889221144,-2.9792442321777344,0,0,-1.853865305929],[-12.237879404386163,-36.34289889221144,-2.9792442321777344,0,0,-1.5920659181298504],[-12.237879404386163,-36.34289889221144,-2.9792442321777344,0,0,-1.330266530330701],[-12.237879404386163,-36.34289889221144,-2.9792442321777344,0,0,-1.0684671425315517],[-12.237879404386163,-36.34289889221144,-2.9792442321777344,0,0,-0.8066677547324024],[-12.237879404386163,-36.34289889221144,-2.9792442321777344,0,0,-0.544868366933253],[-12.237879404386163,-36.34289889221144,-4.979244232177734,0,0,-0.544868366933253],[-12.237879404386163,-36.34289889221144,-6.979244232177734,0,0,-0.544868366933253],[-7.961901782711485,-38.93442650714001,-6.979244232177734,0,0,-0.544868366933253],[-7.961901782711485,-38.93442650714001,-8.979244232177734,0,0,-0.544868366933253],[-7.961901782711485,-38.93442650714001,-10.979244232177734,0,0,-0.544868366933253],[-7.961901782711485,-38.93442650714001,-12.979244232177734,0,0,-0.544868366933253],[-3.685924161036807,-41.52595412206858,-12.979244232177734,0,0,-0.544868366933253],[0.5900534606378711,-44.117481736997156,-12.979244232177734,0,0,-0.544868366933253],[0.5900534606378711,-44.117481736997156,-14.979244232177734,0,0,-0.544868366933253],[4.866031082312549,-46.70900935192573,-14.979244232177734,0,0,-0.544868366933253],[4.866031082312549,-46.70900935192573,-16.979244232177734,0,0,-0.544868366933253],[9.142008703987226,-49.3005369668543,-16.979244232177734,0,0,-0.544868366933253],[11.733536318915796,-45.024559345179625,-16.979244232177734,0,0,-0.544868366933253],[16.009513940590473,-47.6160869601082,-16.979244232177734,0,0,-0.544868366933253],[20.28549156226515,-50.20761457503677,-16.979244232177734,0,0,-0.544868366933253],[24.561469183939828,-52.799142189965345,-16.979244232177734,0,0,-0.544868366933253],[24.561469183939828,-52.799142189965345,-14.979244232177734,0,0,-0.544868366933253],[24.561469183939828,-52.799142189965345,-12.979244232177734,0,0,-0.544868366933253],[28.837446805614505,-55.39066980489392,-12.979244232177734,0,0,-0.544868366933253],[28.837446805614505,-55.39066980489392,-12.979244232177734,0,0,-0.28306897913410356],[28.837446805614505,-55.39066980489392,-12.979244232177734,0,0,-0.544868366933253],[28.837446805614505,-55.39066980489392,-12.979244232177734,0,0,-0.8066677547324025],[28.837446805614505,-55.39066980489392,-12.979244232177734,0,0,-1.068467142531552],[28.837446805614505,-55.39066980489392,-10.979244232177734,0,0,-1.068467142531552]]},{"id":2,"instruction":"now get down and turn left and go forward and land in front of the street lamp.","completed_instruction":"Now get down and turn left and go forward to a hydrant and land in front of the street lamp.","start_frame":59,"end_frame":78,"start_position":[28.837446805614505,-55.39066980489392,-10.979244232177734],"start_rotation":[0.86065913339252675,0,0,-0.50918155515299723],"end_position":[20.04446367803496,-67.40216556300032,-0.9792442321777344],"end_rotation":[0.3728367071892994,0,0,-0.92789697152875794],"actions":[2,5,5,3,3,3,5,5,2,2,2,2,2,2,1,1,2,1,5,0],"reference_path":[[28.837446805614505,-55.39066980489392,-10.979244232177734,0,0,-1.068467142531552],[28.837446805614505,-55.39066980489392,-10.979244232177734,0,0,-1.3302665303307013],[28.837446805614505,-55.39066980489392,-8.979244232177734,0,0,-1.3302665303307013],[28.837446805614505,-55.39066980489392,-6.979244232177734,0,0,-1.3302665303307013],[28.837446805614505,-55.39066980489392,-6.979244232177734,0,0,-1.068467142531552],[28.837446805614505,-55.39066980489392,-6.979244232177734,0,0,-0.8066677547324025],[28.837446805614505,-55.39066980489392,-6.979244232177734,0,0,-0.5448683669332531],[28.837446805614505,-55.39066980489392,-4.979244232177734,0,0,-0.5448683669332531],[28.837446805614505,-55.39066980489392,-2.9792442321777344,0,0,-0.5448683669332531],[28.837446805614505,-55.39066980489392,-2.9792442321777344,0,0,-0.8066677547324026],[28.837446805614505,-55.39066980489392,-2.9792442321777344,0,0,-1.068467142531552],[28.837446805614505,-55.39066980489392,-2.9792442321777344,0,0,-1.3302665303307013],[28.837446805614505,-55.39066980489392,-2.9792442321777344,0,0,-1.5920659181298509],[28.837446805614505,-55.39066980489392,-2.9792442321777344,0,0,-1.8538653059290005],[28.837446805614505,-55.39066980489392,-2.9792442321777344,0,0,-2.11566469372815],[26.245919190685935,-59.666647426568595,-2.9792442321777344,0,0,-2.11566469372815],[23.654391575757366,-63.94262504824327,-2.9792442321777344,0,0,-2.11566469372815],[23.654391575757366,-63.94262504824327,-2.9792442321777344,0,0,-2.3774640815272994],[20.04446367803496,-67.40216556300032,-2.9792442321777344,0,0,-2.3774640815272994],[20.04446367803496,-67.40216556300032,-0.9792442321777344,0,0,-2.3774640815272994]]}],"statistics":{"complete_actions":81,"sentence_actions":[26,35,20],"sentence_actions_average":27.0}}
diff --git a/scene_13/3FK0YFF9P8EGK3LGJ6WB1E42EDUVVM.json b/scene_13/3FK0YFF9P8EGK3LGJ6WB1E42EDUVVM.json
new file mode 100644
index 0000000000000000000000000000000000000000..93e62484bdbfdea93929ed6acf10b6a06e24009f
--- /dev/null
+++ b/scene_13/3FK0YFF9P8EGK3LGJ6WB1E42EDUVVM.json
@@ -0,0 +1 @@
+{"episode_id":"3FK0YFF9P8EGK3LGJ6WB1E42EDUVVM","trajectory_id":"3KG2UQJ0NRM8L6JX5DB8WRGTLTMNQT","scene_id":13,"instruction":"zoom to a good height and turn left. go by the trees ahead. zoom down. turn left and approach the stop sign. take a left on the road there. go to the corner end building on the left of the end and stop on the sidewalk facing the far right window.","sentence_instructions":[{"id":0,"instruction":"zoom to a good height and turn left.","completed_instruction":"Ascend to the roof height and turn left to face the intersection.","start_frame":0,"end_frame":12,"start_position":[46.02077865600586,-24.329687118530273,-0.6907194256782532],"start_rotation":[0.99968604667228589,0,0,-0.025056098833141208],"end_position":[46.02077865600586,-24.329687118530273,-14.690719425678253],"end_rotation":[0.77785107783895069,0,0,-0.62844864603623951],"actions":[4,4,4,4,4,4,4,2,2,2,2,2,2],"reference_path":[[46.02077865600586,-24.329687118530273,-0.6907194256782532,0,0,-0.05011744262202898],[46.02077865600586,-24.329687118530273,-2.690719425678253,0,0,-0.05011744262202898],[46.02077865600586,-24.329687118530273,-4.690719425678253,0,0,-0.05011744262202898],[46.02077865600586,-24.329687118530273,-6.690719425678253,0,0,-0.05011744262202898],[46.02077865600586,-24.329687118530273,-8.690719425678253,0,0,-0.05011744262202898],[46.02077865600586,-24.329687118530273,-10.690719425678253,0,0,-0.05011744262202898],[46.02077865600586,-24.329687118530273,-12.690719425678253,0,0,-0.05011744262202898],[46.02077865600586,-24.329687118530273,-14.690719425678253,0,0,-0.05011744262202898],[46.02077865600586,-24.329687118530273,-14.690719425678253,0,0,-0.31191683042117846],[46.02077865600586,-24.329687118530273,-14.690719425678253,0,0,-0.5737162182203279],[46.02077865600586,-24.329687118530273,-14.690719425678253,0,0,-0.8355156060194774],[46.02077865600586,-24.329687118530273,-14.690719425678253,0,0,-1.0973149938186268],[46.02077865600586,-24.329687118530273,-14.690719425678253,0,0,-1.3591143816177766]]},{"id":1,"instruction":"go by the trees ahead.","completed_instruction":"Go above the trees ahead to the street.","start_frame":12,"end_frame":18,"start_position":[46.02077865600586,-24.329687118530273,-14.690719425678253],"start_rotation":[0.77785107783895069,0,0,-0.62844864603623951],"end_position":[37.87942361031191,-36.92803375687745,-14.690719425678253],"end_rotation":[0.47814380522690875,0,0,-0.87828156164360638],"actions":[2,2,2,1,1,1,6],"reference_path":[[46.02077865600586,-24.329687118530273,-14.690719425678253,0,0,-1.3591143816177766],[46.02077865600586,-24.329687118530273,-14.690719425678253,0,0,-1.6209137694169262],[46.02077865600586,-24.329687118530273,-14.690719425678253,0,0,-1.8827131572160756],[46.02077865600586,-24.329687118530273,-14.690719425678253,0,0,-2.144512545015225],[43.30699364077454,-28.52913599797933,-14.690719425678253,0,0,-2.144512545015225],[40.59320862554323,-32.72858487742839,-14.690719425678253,0,0,-2.144512545015225],[37.87942361031191,-36.92803375687745,-14.690719425678253,0,0,-2.144512545015225]]},{"id":2,"instruction":"zoom down.","completed_instruction":"Descend down close to the street.","start_frame":18,"end_frame":23,"start_position":[37.87942361031191,-36.92803375687745,-14.690719425678253],"start_rotation":[0.47814380522690875,0,0,-0.87828156164360638],"end_position":[30.966189715631533,-38.41369762109518,-8.690719425678253],"end_rotation":[0.47814380522690875,0,0,-0.87828156164360638],"actions":[6,1,5,5,5,5],"reference_path":[[37.87942361031191,-36.92803375687745,-14.690719425678253,0,0,-2.144512545015225],[33.67997473086285,-34.214248741646124,-14.690719425678253,0,0,-2.144512545015225],[30.966189715631533,-38.41369762109518,-14.690719425678253,0,0,-2.144512545015225],[30.966189715631533,-38.41369762109518,-12.690719425678253,0,0,-2.144512545015225],[30.966189715631533,-38.41369762109518,-10.690719425678253,0,0,-2.144512545015225],[30.966189715631533,-38.41369762109518,-8.690719425678253,0,0,-2.144512545015225]]},{"id":3,"instruction":"turn left and approach the stop sign.","completed_instruction":"Turn left to face the red \"STOP\" sign and approach it.","start_frame":23,"end_frame":32,"start_position":[30.966189715631533,-38.41369762109518,-8.690719425678253],"start_rotation":[0.47814380522690875,0,0,-0.87828156164360638],"end_position":[26.077795148774353,-39.464220614047356,-2.690719425678253],"end_rotation":[0.15532695352184323,0,0,0.98786311678775773],"actions":[5,5,5,2,2,2,1,2,2,2],"reference_path":[[30.966189715631533,-38.41369762109518,-8.690719425678253,0,0,-2.144512545015225],[30.966189715631533,-38.41369762109518,-6.690719425678253,0,0,-2.144512545015225],[30.966189715631533,-38.41369762109518,-4.690719425678253,0,0,-2.144512545015225],[30.966189715631533,-38.41369762109518,-2.690719425678253,0,0,-2.144512545015225],[30.966189715631533,-38.41369762109518,-2.690719425678253,0,0,-2.4063119328143747],[30.966189715631533,-38.41369762109518,-2.690719425678253,0,0,-2.6681113206135243],[30.966189715631533,-38.41369762109518,-2.690719425678253,0,0,-2.9299107084126734],[26.077795148774353,-39.464220614047356,-2.690719425678253,0,0,-2.9299107084126734],[26.077795148774353,-39.464220614047356,-2.690719425678253,0,0,3.0914752109677632],[26.077795148774353,-39.464220614047356,-2.690719425678253,0,0,2.829675823168613]]},{"id":4,"instruction":"take a left on the road there.","completed_instruction":"Turn left to face the T-junction.","start_frame":32,"end_frame":37,"start_position":[26.077795148774353,-39.464220614047356,-2.690719425678253],"start_rotation":[0.15532695352184323,0,0,0.98786311678775773],"end_position":[25.027272155822185,-34.575826047190176,-2.690719425678253],"end_rotation":[0.62844864603623984,0,0,0.77785107783895047],"actions":[2,2,2,2,1,3],"reference_path":[[26.077795148774353,-39.464220614047356,-2.690719425678253,0,0,2.829675823168613],[26.077795148774353,-39.464220614047356,-2.690719425678253,0,0,2.567876435369464],[26.077795148774353,-39.464220614047356,-2.690719425678253,0,0,2.3060770475703145],[26.077795148774353,-39.464220614047356,-2.690719425678253,0,0,2.044277659771165],[26.077795148774353,-39.464220614047356,-2.690719425678253,0,0,1.7824782719720156],[25.027272155822185,-34.575826047190176,-2.690719425678253,0,0,1.7824782719720156]]},{"id":5,"instruction":"go to the corner end building on the left of the end and stop on the sidewalk facing the far right window.","completed_instruction":"Turn right to face the road, fly forward to the building at the corner of the road and stop on the sidewalk.","start_frame":37,"end_frame":75,"start_position":[25.027272155822185,-34.575826047190176,-2.690719425678253],"start_rotation":[0.62844864603623984,0,0,0.77785107783895047],"end_position":[-12.342811984485486,-23.97849595633069,-2.690719425678253],"end_rotation":[0.15532695352184323,0,0,0.98786311678775773],"actions":[3,3,1,3,3,1,1,1,3,1,1,1,2,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,1,0],"reference_path":[[25.027272155822185,-34.575826047190176,-2.690719425678253,0,0,1.7824782719720156],[25.027272155822185,-34.575826047190176,-2.690719425678253,0,0,2.044277659771165],[25.027272155822185,-34.575826047190176,-2.690719425678253,0,0,2.3060770475703145],[21.673295273237354,-30.867613665046115,-2.690719425678253,0,0,2.3060770475703145],[21.673295273237354,-30.867613665046115,-2.690719425678253,0,0,2.567876435369464],[21.673295273237354,-30.867613665046115,-2.690719425678253,0,0,2.829675823168613],[16.91455989814112,-29.333195980773763,-2.690719425678253,0,0,2.829675823168613],[12.15582452304489,-27.79877829650141,-2.690719425678253,0,0,2.829675823168613],[7.397089147948659,-26.26436061222906,-2.690719425678253,0,0,2.829675823168613],[7.397089147948659,-26.26436061222906,-2.690719425678253,0,0,3.091475210967763],[2.4033672288360206,-26.01387828835372,-2.690719425678253,0,0,3.091475210967763],[-2.5903546902766177,-25.76339596447838,-2.690719425678253,0,0,3.091475210967763],[-7.584076609389256,-25.512913640603042,-2.690719425678253,0,0,3.091475210967763],[-7.584076609389256,-25.512913640603042,-2.690719425678253,0,0,2.829675823168613],[-7.584076609389256,-25.512913640603042,-2.690719425678253,0,0,3.091475210967763],[-7.584076609389256,-25.512913640603042,-2.690719425678253,0,0,-2.9299107084126743],[-7.584076609389256,-25.512913640603042,-2.690719425678253,0,0,-2.6681113206135247],[-7.584076609389256,-25.512913640603042,-2.690719425678253,0,0,-2.406311932814375],[-7.584076609389256,-25.512913640603042,-2.690719425678253,0,0,-2.144512545015226],[-7.584076609389256,-25.512913640603042,-2.690719425678253,0,0,-1.8827131572160767],[-7.584076609389256,-25.512913640603042,-2.690719425678253,0,0,-1.620913769416927],[-7.584076609389256,-25.512913640603042,-2.690719425678253,0,0,-1.3591143816177778],[-7.584076609389256,-25.512913640603042,-2.690719425678253,0,0,-1.0973149938186284],[-7.584076609389256,-25.512913640603042,-2.690719425678253,0,0,-0.8355156060194789],[-7.584076609389256,-25.512913640603042,-2.690719425678253,0,0,-0.5737162182203296],[-7.584076609389256,-25.512913640603042,-2.690719425678253,0,0,-0.3119168304211802],[-7.584076609389256,-25.512913640603042,-2.690719425678253,0,0,-0.050117442622030745],[-7.584076609389256,-25.512913640603042,-2.690719425678253,0,0,0.2116819451771187],[-7.584076609389256,-25.512913640603042,-2.690719425678253,0,0,0.4734813329762681],[-7.584076609389256,-25.512913640603042,-2.690719425678253,0,0,0.7352807207754175],[-7.584076609389256,-25.512913640603042,-2.690719425678253,0,0,0.997080108574567],[-7.584076609389256,-25.512913640603042,-2.690719425678253,0,0,1.2588794963737162],[-7.584076609389256,-25.512913640603042,-2.690719425678253,0,0,1.5206788841728658],[-7.584076609389256,-25.512913640603042,-2.690719425678253,0,0,1.7824782719720151],[-7.584076609389256,-25.512913640603042,-2.690719425678253,0,0,2.0442776597711645],[-7.584076609389256,-25.512913640603042,-2.690719425678253,0,0,2.306077047570314],[-7.584076609389256,-25.512913640603042,-2.690719425678253,0,0,2.5678764353694636],[-7.584076609389256,-25.512913640603042,-2.690719425678253,0,0,2.829675823168613],[-12.342811984485486,-23.97849595633069,-2.690719425678253,0,0,2.829675823168613]]}],"statistics":{"complete_actions":81,"sentence_actions":[13,7,6,10,6,39],"sentence_actions_average":13.5}}
diff --git a/scene_13/3GU1KF0O4RZO65QESDWCUALDT24PBU.json b/scene_13/3GU1KF0O4RZO65QESDWCUALDT24PBU.json
new file mode 100644
index 0000000000000000000000000000000000000000..9fc4bce9fe0b7f7d479e1d8019f597a8cffda0b2
--- /dev/null
+++ b/scene_13/3GU1KF0O4RZO65QESDWCUALDT24PBU.json
@@ -0,0 +1 @@
+{"episode_id":"3GU1KF0O4RZO65QESDWCUALDT24PBU","trajectory_id":"3AFT28WXMN0DMTVQTK6C2EPCLTZOIW","scene_id":13,"instruction":"lift off and turn right facing right of the emergency stairs then head straight lowering to the road. once on the sidewalk turn left facing the umbrellas and head straight. at the umbrellas turn left facing the open door and head straight. at the road turn right facing the green canopy and head straight. veer right and land before the trash can.","sentence_instructions":[{"id":0,"instruction":"lift off and turn right to face right of the emergency stairs then head straight lowering to the road.","completed_instruction":"Fly forward over the roof above and then descend onto the sidewalk.","start_frame":1,"end_frame":8,"start_position":[33.992637634277344,-16.65180206298828,-14.979244232177734],"start_rotation":[0.99990684393667273,0,0,-0.013649302128766647],"end_position":[42.513184495600555,-21.886329852960856,-8.979244232177734],"end_rotation":[0.96230314509834192,0,0,-0.27197914797616296],"actions":[2,2,1,1,5,5,5,5],"reference_path":[[33.992637634277344,-16.65180206298828,-14.979244232177734,0,0,-0.027299451965956706],[33.992637634277344,-16.65180206298828,-14.979244232177734,0,0,-0.28909883976510614],[33.992637634277344,-16.65180206298828,-14.979244232177734,0,0,-0.5508982275642555],[38.25291106493895,-19.26906595797457,-14.979244232177734,0,0,-0.5508982275642555],[42.513184495600555,-21.886329852960856,-14.979244232177734,0,0,-0.5508982275642555],[42.513184495600555,-21.886329852960856,-12.979244232177734,0,0,-0.5508982275642555],[42.513184495600555,-21.886329852960856,-10.979244232177734,0,0,-0.5508982275642555],[42.513184495600555,-21.886329852960856,-8.979244232177734,0,0,-0.5508982275642555]]},{"id":1,"instruction":"once on the sidewalk turn left to face the umbrellas and head straight.","completed_instruction":"Turn left to face three sunshades, then cross the road to the sidewalk.","start_frame":8,"end_frame":14,"start_position":[42.513184495600555,-21.886329852960856,-8.979244232177734],"start_rotation":[0.96230314509834192,0,0,-0.27197914797616296],"end_position":[42.513184495600555,-21.886329852960856,-2.9792442321777344],"end_rotation":[0.7849702659483464,0,0,-0.61953343862699],"actions":[5,5,5,2,2,2,1],"reference_path":[[42.513184495600555,-21.886329852960856,-8.979244232177734,0,0,-0.5508982275642555],[42.513184495600555,-21.886329852960856,-6.979244232177734,0,0,-0.5508982275642555],[42.513184495600555,-21.886329852960856,-4.979244232177734,0,0,-0.5508982275642555],[42.513184495600555,-21.886329852960856,-2.9792442321777344,0,0,-0.5508982275642555],[42.513184495600555,-21.886329852960856,-2.9792442321777344,0,0,-0.812697615363405],[42.513184495600555,-21.886329852960856,-2.9792442321777344,0,0,-1.0744970031625545],[42.513184495600555,-21.886329852960856,-2.9792442321777344,0,0,-1.3362963909617038]]},{"id":2,"instruction":"at the umbrellas turn left to face the open door and head straight.","completed_instruction":"Turn left to face the street light and then head towards the building with the door open on the opposite side of the road.","start_frame":14,"end_frame":25,"start_position":[42.513184495600555,-21.886329852960856,-2.9792442321777344],"start_rotation":[0.7849702659483464,0,0,-0.61953343862699],"end_position":[31.180090109638208,-37.53616573990483,-2.9792442321777344],"end_rotation":[0.11698150245691903,0,0,-0.9931340937068478],"actions":[1,1,2,2,2,2,2,1,1,2,1,3],"reference_path":[[42.513184495600555,-21.886329852960856,-2.9792442321777344,0,0,-1.3362963909617038],[43.67496767983073,-26.749483133790072,-2.9792442321777344,0,0,-1.3362963909617038],[44.8367508640609,-31.61263641461929,-2.9792442321777344,0,0,-1.3362963909617038],[44.8367508640609,-31.61263641461929,-2.9792442321777344,0,0,-1.5980957787608532],[44.8367508640609,-31.61263641461929,-2.9792442321777344,0,0,-1.8598951665600028],[44.8367508640609,-31.61263641461929,-2.9792442321777344,0,0,-2.121694554359152],[44.8367508640609,-31.61263641461929,-2.9792442321777344,0,0,-2.3834939421583017],[44.8367508640609,-31.61263641461929,-2.9792442321777344,0,0,-2.645293329957451],[40.439997127264164,-33.99350948514697,-2.9792442321777344,0,0,-2.645293329957451],[36.043243390467424,-36.37438255567466,-2.9792442321777344,0,0,-2.645293329957451],[36.043243390467424,-36.37438255567466,-2.9792442321777344,0,0,-2.9070927177566004],[31.180090109638208,-37.53616573990483,-2.9792442321777344,0,0,-2.9070927177566004]]},{"id":3,"instruction":"at the road turn right to face the green canopy and head straight.","completed_instruction":"Turn right to face the trash can beside the orange awning.","start_frame":25,"end_frame":31,"start_position":[31.180090109638208,-37.53616573990483,-2.9792442321777344],"start_rotation":[0.11698150245691903,0,0,-0.9931340937068478],"end_position":[27.549367418057553,-40.97387613155235,-2.9792442321777344],"end_rotation":[0.69738939580874537,0,0,-0.716692423996175],"actions":[3,3,1,3,3,3,1],"reference_path":[[31.180090109638208,-37.53616573990483,-2.9792442321777344,0,0,-2.9070927177566004],[31.180090109638208,-37.53616573990483,-2.9792442321777344,0,0,-2.645293329957451],[31.180090109638208,-37.53616573990483,-2.9792442321777344,0,0,-2.3834939421583017],[27.549367418057553,-40.97387613155235,-2.9792442321777344,0,0,-2.3834939421583017],[27.549367418057553,-40.97387613155235,-2.9792442321777344,0,0,-2.121694554359152],[27.549367418057553,-40.97387613155235,-2.9792442321777344,0,0,-1.8598951665600028],[27.549367418057553,-40.97387613155235,-2.9792442321777344,0,0,-1.5980957787608532]]},{"id":4,"instruction":"Turn left to face the trash can beside the orange awning.","completed_instruction":"Turn right to face the trash can beside the orange awning, then land beside the street lamp in front of a white building.","start_frame":31,"end_frame":38,"start_position":[27.549367418057553,-40.97387613155235,-2.9792442321777344],"start_rotation":[0.69738939580874537,0,0,-0.716692423996175],"end_position":[33.23147057409763,-53.999489525443714,-0.9792442321777344],"end_rotation":[0.91857010574302478,0,0,-0.39525809395286038],"actions":[1,3,3,1,3,1,5,0],"reference_path":[[27.549367418057553,-40.97387613155235,-2.9792442321777344,0,0,-1.5980957787608532],[27.412887111922423,-45.97201309706633,-2.9792442321777344,0,0,-1.5980957787608532],[27.412887111922423,-45.97201309706633,-2.9792442321777344,0,0,-1.3362963909617038],[27.412887111922423,-45.97201309706633,-2.9792442321777344,0,0,-1.0744970031625545],[29.79376018245011,-50.36876683386306,-2.9792442321777344,0,0,-1.0744970031625545],[29.79376018245011,-50.36876683386306,-2.9792442321777344,0,0,-0.8126976153634051],[33.23147057409763,-53.999489525443714,-2.9792442321777344,0,0,-0.8126976153634051],[33.23147057409763,-53.999489525443714,-0.9792442321777344,0,0,-0.8126976153634051]]}],"statistics":{"complete_actions":42,"sentence_actions":[8,7,12,7,8],"sentence_actions_average":8.4}}
diff --git a/scene_13/3HWRJOOETE0JQ0IQUL2WQNW9JKGEST.json b/scene_13/3HWRJOOETE0JQ0IQUL2WQNW9JKGEST.json
new file mode 100644
index 0000000000000000000000000000000000000000..111424864dd54e4998fdf3e8bfa21519c5ff4a7b
--- /dev/null
+++ b/scene_13/3HWRJOOETE0JQ0IQUL2WQNW9JKGEST.json
@@ -0,0 +1 @@
+{"episode_id":"3HWRJOOETE0JQ0IQUL2WQNW9JKGEST","trajectory_id":"3TKXBROM618ZLI4TD7E7UI8QMZPJI8","scene_id":13,"instruction":"turn right and fly to the wall. turn left and fly forward. fall to the street. turn right and go around the stop sign on the right at the end of the road. turn left and go to the end of the road. land by the street lamp on the right.","sentence_instructions":[{"id":0,"instruction":"turn right and fly to the wall. turn left and fly forward.","completed_instruction":"Lift off and turn right to face the alley and head straight to the brick edge.","start_frame":1,"end_frame":4,"start_position":[11.7904634475708,-62.09373092651367,-10.231950759887695],"start_rotation":[0.99978692705850669,0,0,0.020642201503429145],"end_position":[11.7904634475708,-62.09373092651367,-10.231950759887695],"end_rotation":[0.915783250258805,0,0,0.40167280035548691],"actions":[3,3,3,3],"reference_path":[[11.7904634475708,-62.09373092651367,-10.231950759887695,0,0,0.04128733545318528],[11.7904634475708,-62.09373092651367,-10.231950759887695,0,0,0.3030867232523347],[11.7904634475708,-62.09373092651367,-10.231950759887695,0,0,0.5648861110514842],[11.7904634475708,-62.09373092651367,-10.231950759887695,0,0,0.8266854988506336]]},{"id":1,"instruction":"turn left and fly forward.","completed_instruction":"Turn left to face the trees and the white buildings.","start_frame":4,"end_frame":9,"start_position":[11.7904634475708,-62.09373092651367,-10.231950759887695],"start_rotation":[0.915783250258805,0,0,0.40167280035548691],"end_position":[12.884109972709505,-57.21480304448344,-10.231950759887695],"end_rotation":[0.915783250258805,0,0,0.40167280035548691],"actions":[3,3,1,2,2,2],"reference_path":[[11.7904634475708,-62.09373092651367,-10.231950759887695,0,0,0.8266854988506336],[11.7904634475708,-62.09373092651367,-10.231950759887695,0,0,1.088484886649783],[11.7904634475708,-62.09373092651367,-10.231950759887695,0,0,1.3502842744489323],[12.884109972709505,-57.21480304448344,-10.231950759887695,0,0,1.3502842744489323],[12.884109972709505,-57.21480304448344,-10.231950759887695,0,0,1.0884848866497832],[12.884109972709505,-57.21480304448344,-10.231950759887695,0,0,0.8266854988506337]]},{"id":2,"instruction":"fall to the street.","completed_instruction":"fly forward until seeing the street below, and then descend onto the sidewalk, turn left  facing the orange awning.","start_frame":9,"end_frame":17,"start_position":[12.884109972709505,-57.21480304448344,-10.231950759887695],"start_rotation":[0.915783250258805,0,0,0.40167280035548691],"end_position":[27.754515845081578,-57.89569350544542,-8.231950759887695],"end_rotation":[0.99392795926215072,0,0,-0.1100327760123157],"actions":[2,2,2,1,1,2,1,5,5],"reference_path":[[12.884109972709505,-57.21480304448344,-10.231950759887695,0,0,0.8266854988506337],[12.884109972709505,-57.21480304448344,-10.231950759887695,0,0,0.5648861110514843],[12.884109972709505,-57.21480304448344,-10.231950759887695,0,0,0.3030867232523349],[12.884109972709505,-57.21480304448344,-10.231950759887695,0,0,0.04128733545318545],[17.879848967880424,-57.00842501239508,-10.231950759887695,0,0,0.04128733545318545],[22.87558796305134,-56.80204698030672,-10.231950759887695,0,0,0.04128733545318545],[22.87558796305134,-56.80204698030672,-10.231950759887695,0,0,-0.220512052345964],[27.754515845081578,-57.89569350544542,-10.231950759887695,0,0,-0.220512052345964],[27.754515845081578,-57.89569350544542,-8.231950759887695,0,0,-0.220512052345964]]},{"id":3,"instruction":"turn right and go around the stop sign on the right at the end of the road.","completed_instruction":"Turn right to face the \"STOP\" sign at the T-junction and proceed until you reach theW sign.","start_frame":17,"end_frame":30,"start_position":[27.754515845081578,-57.89569350544542,-8.231950759887695],"start_rotation":[0.99392795926215072,0,0,-0.1100327760123157],"end_position":[29.648767192142966,-49.44514252730464,-2.2319507598876953],"end_rotation":[0.59225515890666391,0,0,0.80575047424648927],"actions":[5,5,5,3,3,3,3,1,3,3,3,3,1,1],"reference_path":[[27.754515845081578,-57.89569350544542,-8.231950759887695,0,0,-0.220512052345964],[27.754515845081578,-57.89569350544542,-6.231950759887695,0,0,-0.220512052345964],[27.754515845081578,-57.89569350544542,-4.231950759887695,0,0,-0.220512052345964],[27.754515845081578,-57.89569350544542,-2.2319507598876953,0,0,-0.220512052345964],[27.754515845081578,-57.89569350544542,-2.2319507598876953,0,0,0.04128733545318545],[27.754515845081578,-57.89569350544542,-2.2319507598876953,0,0,0.3030867232523349],[27.754515845081578,-57.89569350544542,-2.2319507598876953,0,0,0.5648861110514843],[27.754515845081578,-57.89569350544542,-2.2319507598876953,0,0,0.8266854988506337],[31.14110545962739,-54.217241278944385,-2.2319507598876953,0,0,0.8266854988506337],[31.14110545962739,-54.217241278944385,-2.2319507598876953,0,0,1.0884848866497832],[31.14110545962739,-54.217241278944385,-2.2319507598876953,0,0,1.3502842744489327],[31.14110545962739,-54.217241278944385,-2.2319507598876953,0,0,1.612083662248082],[31.14110545962739,-54.217241278944385,-2.2319507598876953,0,0,1.8738830500472314],[29.648767192142966,-49.44514252730464,-2.2319507598876953,0,0,1.8738830500472314]]},{"id":4,"instruction":"turn left and go to the end of the road.","completed_instruction":"Turn left to face the road end and go to the end of the road.","start_frame":31,"end_frame":50,"start_position":[28.15642892465854,-44.673043775664894,-2.2319507598876953],"start_rotation":[0.59225515890666391,0,0,0.80575047424648927],"end_position":[36.48051714870141,-31.123122561574505,-2.2319507598876953],"end_rotation":[0.99978692705850669,0,0,0.02064220150342954],"actions":[1,1,3,3,1,3,2,2,2,2,2,2,2,2,2,2,1,1,1,3],"reference_path":[[28.15642892465854,-44.673043775664894,-2.2319507598876953,0,0,1.8738830500472314],[26.664090657174118,-39.90094502402515,-2.2319507598876953,0,0,1.8738830500472314],[25.171752389689694,-35.1288462723854,-2.2319507598876953,0,0,1.8738830500472314],[25.171752389689694,-35.1288462723854,-2.2319507598876953,0,0,2.135682437846381],[25.171752389689694,-35.1288462723854,-2.2319507598876953,0,0,2.3974818256455306],[21.493300163188653,-31.742256657839594,-2.2319507598876953,0,0,2.3974818256455306],[21.493300163188653,-31.742256657839594,-2.2319507598876953,0,0,2.6592812134446797],[21.493300163188653,-31.742256657839594,-2.2319507598876953,0,0,2.3974818256455306],[21.493300163188653,-31.742256657839594,-2.2319507598876953,0,0,2.135682437846381],[21.493300163188653,-31.742256657839594,-2.2319507598876953,0,0,1.8738830500472317],[21.493300163188653,-31.742256657839594,-2.2319507598876953,0,0,1.6120836622480823],[21.493300163188653,-31.742256657839594,-2.2319507598876953,0,0,1.350284274448933],[21.493300163188653,-31.742256657839594,-2.2319507598876953,0,0,1.0884848866497836],[21.493300163188653,-31.742256657839594,-2.2319507598876953,0,0,0.8266854988506342],[21.493300163188653,-31.742256657839594,-2.2319507598876953,0,0,0.5648861110514849],[21.493300163188653,-31.742256657839594,-2.2319507598876953,0,0,0.3030867232523355],[21.493300163188653,-31.742256657839594,-2.2319507598876953,0,0,0.04128733545318607],[26.48903915835957,-31.53587862575123,-2.2319507598876953,0,0,0.04128733545318607],[31.48477815353049,-31.329500593662868,-2.2319507598876953,0,0,0.04128733545318607],[36.48051714870141,-31.123122561574505,-2.2319507598876953,0,0,0.04128733545318607]]},{"id":5,"instruction":"land by the street lamp on the right.","completed_instruction":"Land to the left of the last street lamp on the right.","start_frame":50,"end_frame":53,"start_position":[36.48051714870141,-31.123122561574505,-2.2319507598876953],"start_rotation":[0.99978692705850669,0,0,0.02064220150342954],"end_position":[46.02471465198089,-28.13844602660565,-2.2319507598876953],"end_rotation":[0.98853926333958742,0,0,0.15096398522835131],"actions":[3,1,1,0],"reference_path":[[36.48051714870141,-31.123122561574505,-2.2319507598876953,0,0,0.04128733545318607],[36.48051714870141,-31.123122561574505,-2.2319507598876953,0,0,0.3030867232523355],[41.25261590034115,-29.630784294090077,-2.2319507598876953,0,0,0.3030867232523355],[46.02471465198089,-28.13844602660565,-2.2319507598876953,0,0,0.3030867232523355]]}],"statistics":{"complete_actions":57,"sentence_actions":[4,6,9,14,20,4],"sentence_actions_average":9.5}}
diff --git a/scene_13/3IQ1VMJRY2IYV85F5A0JD91S1809A2.json b/scene_13/3IQ1VMJRY2IYV85F5A0JD91S1809A2.json
new file mode 100644
index 0000000000000000000000000000000000000000..f6692914a77c7e21a346bb7127bda87b40e6449f
--- /dev/null
+++ b/scene_13/3IQ1VMJRY2IYV85F5A0JD91S1809A2.json
@@ -0,0 +1 @@
+{"episode_id":"3IQ1VMJRY2IYV85F5A0JD91S1809A2","trajectory_id":"3MZ3TAMYUTLGJ6N6LCNGW9UHVGUIR9","scene_id":13,"instruction":"turn the cam to your 180 right facing the path towards the building... go straight towards the building and then turn to your right facing the beige building... once you get closer to the beige building... turn to your left facing the gate and the wall.","sentence_instructions":[{"id":0,"instruction":"turn the cam to your 180 right to face the path towards the building...","completed_instruction":"Turn around to align with the road.","start_frame":1,"end_frame":20,"start_position":[28.115341186523438,-29.557783126831055,-0.813248336315155],"start_rotation":[0.9998973332447374,0,0,0.014329095228333085],"end_position":[-1.8723394352727993,-30.417440573228255,-2.813248336315155],"end_rotation":[0.014329095228332783,0,0,-0.9998973332447374],"actions":[3,3,3,3,3,3,3,3,3,3,3,3,1,1,1,1,1,4,1,1],"reference_path":[[28.115341186523438,-29.557783126831055,-0.813248336315155,0,0,0.02865917124475265],[28.115341186523438,-29.557783126831055,-0.813248336315155,0,0,0.2904585590439021],[28.115341186523438,-29.557783126831055,-0.813248336315155,0,0,0.5522579468430515],[28.115341186523438,-29.557783126831055,-0.813248336315155,0,0,0.814057334642201],[28.115341186523438,-29.557783126831055,-0.813248336315155,0,0,1.0758567224413504],[28.115341186523438,-29.557783126831055,-0.813248336315155,0,0,1.3376561102404998],[28.115341186523438,-29.557783126831055,-0.813248336315155,0,0,1.5994554980396494],[28.115341186523438,-29.557783126831055,-0.813248336315155,0,0,1.8612548858387987],[28.115341186523438,-29.557783126831055,-0.813248336315155,0,0,2.123054273637948],[28.115341186523438,-29.557783126831055,-0.813248336315155,0,0,2.3848536614370976],[28.115341186523438,-29.557783126831055,-0.813248336315155,0,0,2.646653049236247],[28.115341186523438,-29.557783126831055,-0.813248336315155,0,0,2.9084524370353964],[28.115341186523438,-29.557783126831055,-0.813248336315155,0,0,-3.112933482345041],[23.117394416224066,-29.701059367897255,-0.813248336315155,0,0,-3.112933482345041],[18.119447645924694,-29.844335608963455,-0.813248336315155,0,0,-3.112933482345041],[13.12150087562532,-29.987611850029655,-0.813248336315155,0,0,-3.112933482345041],[8.123554105325947,-30.130888091095855,-0.813248336315155,0,0,-3.112933482345041],[3.125607335026574,-30.274164332162055,-0.813248336315155,0,0,-3.112933482345041],[3.125607335026574,-30.274164332162055,-2.813248336315155,0,0,-3.112933482345041],[-1.8723394352727993,-30.417440573228255,-2.813248336315155,0,0,-3.112933482345041]]},{"id":1,"instruction":"go straight towards the building and then turn to your right to face the beige building...","completed_instruction":"Fly forward to reach the road corner, turn right to face the small alley between the two light pink buildings at the right side of the road.","start_frame":20,"end_frame":27,"start_position":[-1.8723394352727993,-30.417440573228255,-2.813248336315155],"start_rotation":[0.014329095228332783,0,0,-0.9998973332447374],"end_position":[-11.868232975871546,-30.703993055360655,-2.813248336315155],"end_rotation":[0.62006696501082414,0,0,-0.784548888790409],"actions":[1,1,3,3,3,3,3,3],"reference_path":[[-1.8723394352727993,-30.417440573228255,-2.813248336315155,0,0,-3.112933482345041],[-6.870286205572173,-30.560716814294455,-2.813248336315155,0,0,-3.112933482345041],[-11.868232975871546,-30.703993055360655,-2.813248336315155,0,0,-3.112933482345041],[-11.868232975871546,-30.703993055360655,-2.813248336315155,0,0,-2.8511340945458916],[-11.868232975871546,-30.703993055360655,-2.813248336315155,0,0,-2.589334706746742],[-11.868232975871546,-30.703993055360655,-2.813248336315155,0,0,-2.327535318947593],[-11.868232975871546,-30.703993055360655,-2.813248336315155,0,0,-2.065735931148444],[-11.868232975871546,-30.703993055360655,-2.813248336315155,0,0,-1.8039365433492944]]},{"id":2,"instruction":"once you get closer to the beige building... turn to your left to face the gate and the wall.","completed_instruction":"Fly forward to the entrance of the alley, turn left to face between a gray, ornate, multi-story building and a smaller reddish-brown brick building nearby, and then land in front of the grey-white building with many windows.","start_frame":27,"end_frame":40,"start_position":[-11.868232975871546,-30.703993055360655,-2.813248336315155],"start_rotation":[0.62006696501082414,0,0,-0.784548888790409],"end_position":[-14.653822346082361,-55.112354530510444,-2.813248336315155],"end_rotation":[0.27263331613936193,0,0,-0.96211801507447869],"actions":[3,3,1,1,1,1,2,2,2,2,2,1,1,0],"reference_path":[[-11.868232975871546,-30.703993055360655,-2.813248336315155,0,0,-1.8039365433492944],[-11.868232975871546,-30.703993055360655,-2.813248336315155,0,0,-1.5421371555501449],[-11.868232975871546,-30.703993055360655,-2.813248336315155,0,0,-1.2803377677509955],[-10.436274943769977,-35.49455629931222,-2.813248336315155,0,0,-1.2803377677509955],[-9.004316911668408,-40.28511954326379,-2.813248336315155,0,0,-1.2803377677509955],[-7.572358879566838,-45.07568278721536,-2.813248336315155,0,0,-1.2803377677509955],[-6.140400847465269,-49.866246031166924,-2.813248336315155,0,0,-1.2803377677509955],[-6.140400847465269,-49.866246031166924,-2.813248336315155,0,0,-1.5421371555501449],[-6.140400847465269,-49.866246031166924,-2.813248336315155,0,0,-1.8039365433492944],[-6.140400847465269,-49.866246031166924,-2.813248336315155,0,0,-2.065735931148444],[-6.140400847465269,-49.866246031166924,-2.813248336315155,0,0,-2.3275353189475934],[-6.140400847465269,-49.866246031166924,-2.813248336315155,0,0,-2.5893347067467425],[-10.397111596773815,-52.489300280838684,-2.813248336315155,0,0,-2.5893347067467425],[-14.653822346082361,-55.112354530510444,-2.813248336315155,0,0,-2.5893347067467425]]}],"statistics":{"complete_actions":42,"sentence_actions":[20,8,14],"sentence_actions_average":14.0}}
diff --git a/scene_13/3M81GAB8A9H96HRTSQB1UFBNUV8BQF.json b/scene_13/3M81GAB8A9H96HRTSQB1UFBNUV8BQF.json
new file mode 100644
index 0000000000000000000000000000000000000000..7339f6a3c1ed1dc0ed41e4be40b8544351159b0b
--- /dev/null
+++ b/scene_13/3M81GAB8A9H96HRTSQB1UFBNUV8BQF.json
@@ -0,0 +1 @@
+{"episode_id":"3M81GAB8A9H96HRTSQB1UFBNUV8BQF","trajectory_id":"3KG2UQJ0NRM8L6JX5DB8WRGTLTMNQT","scene_id":13,"instruction":"take off and fly up until above the buildings and turn left towards a brown building. fly forward and fly down until above the street when near the brown building. turn slightly left towards the green door and fly forward. turn left towards the street when near the green door. fly forward and turn right at the intersection. fly forward and land in front of a blue building.","sentence_instructions":[{"id":0,"instruction":"take off and fly up until above the buildings and turn left towards a brown building.","completed_instruction":"Take off and fly up until above the buildings and turn left towards the intersection.","start_frame":0,"end_frame":18,"start_position":[46.02077865600586,-24.329687118530273,-0.6907194256782532],"start_rotation":[0.99968604667228589,0,0,-0.025056098833141208],"end_position":[37.87942361031191,-36.92803375687745,-14.690719425678253],"end_rotation":[0.47814380522690875,0,0,-0.87828156164360638],"actions":[4,4,4,4,4,4,4,2,2,2,2,2,2,2,2,1,1,1,6],"reference_path":[[46.02077865600586,-24.329687118530273,-0.6907194256782532,0,0,-0.05011744262202898],[46.02077865600586,-24.329687118530273,-2.690719425678253,0,0,-0.05011744262202898],[46.02077865600586,-24.329687118530273,-4.690719425678253,0,0,-0.05011744262202898],[46.02077865600586,-24.329687118530273,-6.690719425678253,0,0,-0.05011744262202898],[46.02077865600586,-24.329687118530273,-8.690719425678253,0,0,-0.05011744262202898],[46.02077865600586,-24.329687118530273,-10.690719425678253,0,0,-0.05011744262202898],[46.02077865600586,-24.329687118530273,-12.690719425678253,0,0,-0.05011744262202898],[46.02077865600586,-24.329687118530273,-14.690719425678253,0,0,-0.05011744262202898],[46.02077865600586,-24.329687118530273,-14.690719425678253,0,0,-0.31191683042117846],[46.02077865600586,-24.329687118530273,-14.690719425678253,0,0,-0.5737162182203279],[46.02077865600586,-24.329687118530273,-14.690719425678253,0,0,-0.8355156060194774],[46.02077865600586,-24.329687118530273,-14.690719425678253,0,0,-1.0973149938186268],[46.02077865600586,-24.329687118530273,-14.690719425678253,0,0,-1.3591143816177766],[46.02077865600586,-24.329687118530273,-14.690719425678253,0,0,-1.6209137694169262],[46.02077865600586,-24.329687118530273,-14.690719425678253,0,0,-1.8827131572160756],[46.02077865600586,-24.329687118530273,-14.690719425678253,0,0,-2.144512545015225],[43.30699364077454,-28.52913599797933,-14.690719425678253,0,0,-2.144512545015225],[40.59320862554323,-32.72858487742839,-14.690719425678253,0,0,-2.144512545015225],[37.87942361031191,-36.92803375687745,-14.690719425678253,0,0,-2.144512545015225]]},{"id":1,"instruction":"fly forward and fly down until above the street when near the brown building.","completed_instruction":"Fly forward to the next road ahead and fly down until above the street.","start_frame":18,"end_frame":25,"start_position":[37.87942361031191,-36.92803375687745,-14.690719425678253],"start_rotation":[0.47814380522690875,0,0,-0.87828156164360638],"end_position":[30.966189715631533,-38.41369762109518,-4.690719425678253],"end_rotation":[0.47814380522690875,0,0,-0.87828156164360638],"actions":[6,1,5,5,5,5,5,5],"reference_path":[[37.87942361031191,-36.92803375687745,-14.690719425678253,0,0,-2.144512545015225],[33.67997473086285,-34.214248741646124,-14.690719425678253,0,0,-2.144512545015225],[30.966189715631533,-38.41369762109518,-14.690719425678253,0,0,-2.144512545015225],[30.966189715631533,-38.41369762109518,-12.690719425678253,0,0,-2.144512545015225],[30.966189715631533,-38.41369762109518,-10.690719425678253,0,0,-2.144512545015225],[30.966189715631533,-38.41369762109518,-8.690719425678253,0,0,-2.144512545015225],[30.966189715631533,-38.41369762109518,-6.690719425678253,0,0,-2.144512545015225],[30.966189715631533,-38.41369762109518,-4.690719425678253,0,0,-2.144512545015225]]},{"id":2,"instruction":"turn slightly left towards the green door and fly forward.","completed_instruction":"Turn slightly left towards the green door and fly forward to the intersection.","start_frame":25,"end_frame":29,"start_position":[30.966189715631533,-38.41369762109518,-4.690719425678253],"start_rotation":[0.47814380522690875,0,0,-0.87828156164360638],"end_position":[30.966189715631533,-38.41369762109518,-2.690719425678253],"end_rotation":[0.10564347265345776,0,0,-0.99440407113291629],"actions":[5,2,2,2,1],"reference_path":[[30.966189715631533,-38.41369762109518,-4.690719425678253,0,0,-2.144512545015225],[30.966189715631533,-38.41369762109518,-2.690719425678253,0,0,-2.144512545015225],[30.966189715631533,-38.41369762109518,-2.690719425678253,0,0,-2.4063119328143747],[30.966189715631533,-38.41369762109518,-2.690719425678253,0,0,-2.6681113206135243],[30.966189715631533,-38.41369762109518,-2.690719425678253,0,0,-2.9299107084126734]]},{"id":3,"instruction":"turn left towards the street when near the green door.","completed_instruction":"Turn left towards the intersection.","start_frame":29,"end_frame":36,"start_position":[30.966189715631533,-38.41369762109518,-2.690719425678253],"start_rotation":[0.10564347265345776,0,0,-0.99440407113291629],"end_position":[26.077795148774353,-39.464220614047356,-2.690719425678253],"end_rotation":[0.62844864603623984,0,0,0.77785107783895047],"actions":[1,2,2,2,2,2,2,1],"reference_path":[[30.966189715631533,-38.41369762109518,-2.690719425678253,0,0,-2.9299107084126734],[26.077795148774353,-39.464220614047356,-2.690719425678253,0,0,-2.9299107084126734],[26.077795148774353,-39.464220614047356,-2.690719425678253,0,0,3.0914752109677632],[26.077795148774353,-39.464220614047356,-2.690719425678253,0,0,2.829675823168613],[26.077795148774353,-39.464220614047356,-2.690719425678253,0,0,2.567876435369464],[26.077795148774353,-39.464220614047356,-2.690719425678253,0,0,2.3060770475703145],[26.077795148774353,-39.464220614047356,-2.690719425678253,0,0,2.044277659771165],[26.077795148774353,-39.464220614047356,-2.690719425678253,0,0,1.7824782719720156]]},{"id":4,"instruction":"fly forward and turn right at the intersection.","completed_instruction":"Fly forward to the intersection and turn right at the intersection to face the distant corner.","start_frame":36,"end_frame":48,"start_position":[26.077795148774353,-39.464220614047356,-2.690719425678253],"start_rotation":[0.62844864603623984,0,0,0.77785107783895047],"end_position":[-2.5903546902766177,-25.76339596447838,-2.690719425678253],"end_rotation":[0.025056098833141943,0,0,0.99968604667228589],"actions":[1,3,3,1,3,3,1,1,1,3,1,1,1],"reference_path":[[26.077795148774353,-39.464220614047356,-2.690719425678253,0,0,1.7824782719720156],[25.027272155822185,-34.575826047190176,-2.690719425678253,0,0,1.7824782719720156],[25.027272155822185,-34.575826047190176,-2.690719425678253,0,0,2.044277659771165],[25.027272155822185,-34.575826047190176,-2.690719425678253,0,0,2.3060770475703145],[21.673295273237354,-30.867613665046115,-2.690719425678253,0,0,2.3060770475703145],[21.673295273237354,-30.867613665046115,-2.690719425678253,0,0,2.567876435369464],[21.673295273237354,-30.867613665046115,-2.690719425678253,0,0,2.829675823168613],[16.91455989814112,-29.333195980773763,-2.690719425678253,0,0,2.829675823168613],[12.15582452304489,-27.79877829650141,-2.690719425678253,0,0,2.829675823168613],[7.397089147948659,-26.26436061222906,-2.690719425678253,0,0,2.829675823168613],[7.397089147948659,-26.26436061222906,-2.690719425678253,0,0,3.091475210967763],[2.4033672288360206,-26.01387828835372,-2.690719425678253,0,0,3.091475210967763],[-2.5903546902766177,-25.76339596447838,-2.690719425678253,0,0,3.091475210967763]]},{"id":5,"instruction":"fly forward and land in front of a blue building.","completed_instruction":"Fly forward to the corner and spin twice and land in front of a blue building.","start_frame":48,"end_frame":75,"start_position":[-2.5903546902766177,-25.76339596447838,-2.690719425678253],"start_rotation":[0.025056098833141943,0,0,0.99968604667228589],"end_position":[-12.342811984485486,-23.97849595633069,-2.690719425678253],"end_rotation":[0.15532695352184323,0,0,0.98786311678775773],"actions":[1,2,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,1,0],"reference_path":[[-2.5903546902766177,-25.76339596447838,-2.690719425678253,0,0,3.091475210967763],[-7.584076609389256,-25.512913640603042,-2.690719425678253,0,0,3.091475210967763],[-7.584076609389256,-25.512913640603042,-2.690719425678253,0,0,2.829675823168613],[-7.584076609389256,-25.512913640603042,-2.690719425678253,0,0,3.091475210967763],[-7.584076609389256,-25.512913640603042,-2.690719425678253,0,0,-2.9299107084126743],[-7.584076609389256,-25.512913640603042,-2.690719425678253,0,0,-2.6681113206135247],[-7.584076609389256,-25.512913640603042,-2.690719425678253,0,0,-2.406311932814375],[-7.584076609389256,-25.512913640603042,-2.690719425678253,0,0,-2.144512545015226],[-7.584076609389256,-25.512913640603042,-2.690719425678253,0,0,-1.8827131572160767],[-7.584076609389256,-25.512913640603042,-2.690719425678253,0,0,-1.620913769416927],[-7.584076609389256,-25.512913640603042,-2.690719425678253,0,0,-1.3591143816177778],[-7.584076609389256,-25.512913640603042,-2.690719425678253,0,0,-1.0973149938186284],[-7.584076609389256,-25.512913640603042,-2.690719425678253,0,0,-0.8355156060194789],[-7.584076609389256,-25.512913640603042,-2.690719425678253,0,0,-0.5737162182203296],[-7.584076609389256,-25.512913640603042,-2.690719425678253,0,0,-0.3119168304211802],[-7.584076609389256,-25.512913640603042,-2.690719425678253,0,0,-0.050117442622030745],[-7.584076609389256,-25.512913640603042,-2.690719425678253,0,0,0.2116819451771187],[-7.584076609389256,-25.512913640603042,-2.690719425678253,0,0,0.4734813329762681],[-7.584076609389256,-25.512913640603042,-2.690719425678253,0,0,0.7352807207754175],[-7.584076609389256,-25.512913640603042,-2.690719425678253,0,0,0.997080108574567],[-7.584076609389256,-25.512913640603042,-2.690719425678253,0,0,1.2588794963737162],[-7.584076609389256,-25.512913640603042,-2.690719425678253,0,0,1.5206788841728658],[-7.584076609389256,-25.512913640603042,-2.690719425678253,0,0,1.7824782719720151],[-7.584076609389256,-25.512913640603042,-2.690719425678253,0,0,2.0442776597711645],[-7.584076609389256,-25.512913640603042,-2.690719425678253,0,0,2.306077047570314],[-7.584076609389256,-25.512913640603042,-2.690719425678253,0,0,2.5678764353694636],[-7.584076609389256,-25.512913640603042,-2.690719425678253,0,0,2.829675823168613],[-12.342811984485486,-23.97849595633069,-2.690719425678253,0,0,2.829675823168613]]}],"statistics":{"complete_actions":81,"sentence_actions":[19,8,5,8,13,28],"sentence_actions_average":13.5}}
diff --git a/scene_13/3MRNMEIQWE4RUH90EHUB8J0TS85LDG.json b/scene_13/3MRNMEIQWE4RUH90EHUB8J0TS85LDG.json
new file mode 100644
index 0000000000000000000000000000000000000000..79f42cdcefc3bd6254bd042a68b8f60d7f051862
--- /dev/null
+++ b/scene_13/3MRNMEIQWE4RUH90EHUB8J0TS85LDG.json
@@ -0,0 +1 @@
+{"episode_id":"3MRNMEIQWE4RUH90EHUB8J0TS85LDG","trajectory_id":"30UZJB2PPPACOG7P323QP2NWLUG53J","scene_id":13,"instruction":"take off and right turn back and move forward towards the intersection road. now turn right and over the road and reach the brown building. now move forward brown building opposite and land there.","sentence_instructions":[{"id":0,"instruction":"take off and right turn back and move forward towards the intersection road. now turn right and over the road and reach the brown building. now move forward brown building opposite and land there.","completed_instruction":"Take off, then turn right to face the intersection and a red sign, and then fly forward until you reach the center of the intersection facing the sign that says \"ALDER\".","start_frame":1,"end_frame":14,"start_position":[49.02505111694336,-36.80860137939453,-0.5600948333740234],"start_rotation":[0.99998863940349814,0,0,0.0047666617187042395],"end_position":[44.18330456593501,-35.56060685384614,-2.5600948333740234],"end_rotation":[0.12579882709773207,0,0,0.99205577217253],"actions":[4,3,3,3,3,3,3,3,3,3,3,3,1,1],"reference_path":[[49.02505111694336,-36.80860137939453,-0.5600948333740234,0,0,0.009533359538986163],[49.02505111694336,-36.80860137939453,-2.5600948333740234,0,0,0.009533359538986163],[49.02505111694336,-36.80860137939453,-2.5600948333740234,0,0,0.2713327473381356],[49.02505111694336,-36.80860137939453,-2.5600948333740234,0,0,0.5331321351372851],[49.02505111694336,-36.80860137939453,-2.5600948333740234,0,0,0.7949315229364345],[49.02505111694336,-36.80860137939453,-2.5600948333740234,0,0,1.056730910735584],[49.02505111694336,-36.80860137939453,-2.5600948333740234,0,0,1.3185302985347336],[49.02505111694336,-36.80860137939453,-2.5600948333740234,0,0,1.580329686333883],[49.02505111694336,-36.80860137939453,-2.5600948333740234,0,0,1.8421290741330325],[49.02505111694336,-36.80860137939453,-2.5600948333740234,0,0,2.103928461932182],[49.02505111694336,-36.80860137939453,-2.5600948333740234,0,0,2.365727849731331],[49.02505111694336,-36.80860137939453,-2.5600948333740234,0,0,2.627527237530481],[49.02505111694336,-36.80860137939453,-2.5600948333740234,0,0,2.8893266253296304],[44.18330456593501,-35.56060685384614,-2.5600948333740234,0,0,2.8893266253296304]]},{"id":1,"instruction":"now turn right and over the road and reach the brown building.","completed_instruction":"Turn right to align with the road, then fly forward to reach the warm white building at the corner of the road.","start_frame":14,"end_frame":31,"start_position":[44.18330456593501,-35.56060685384614,-2.5600948333740234],"start_rotation":[0.12579882709773207,0,0,0.99205577217253],"end_position":[29.991727442570827,-66.8150328027251,-2.5600948333740234],"end_rotation":[0.7104692868566409,0,0,-0.70372820920680457],"actions":[1,1,1,3,3,3,3,3,3,3,1,1,1,1,1,1,1,3],"reference_path":[[44.18330456593501,-35.56060685384614,-2.5600948333740234,0,0,2.8893266253296304],[39.34155801492666,-34.312612328297746,-2.5600948333740234,0,0,2.8893266253296304],[34.49981146391831,-33.06461780274935,-2.5600948333740234,0,0,2.8893266253296304],[29.658064912909964,-31.81662327720096,-2.5600948333740234,0,0,2.8893266253296304],[29.658064912909964,-31.81662327720096,-2.5600948333740234,0,0,-3.1320592940508067],[29.658064912909964,-31.81662327720096,-2.5600948333740234,0,0,-2.870259906251657],[29.658064912909964,-31.81662327720096,-2.5600948333740234,0,0,-2.608460518452508],[29.658064912909964,-31.81662327720096,-2.5600948333740234,0,0,-2.3466611306533585],[29.658064912909964,-31.81662327720096,-2.5600948333740234,0,0,-2.084861742854209],[29.658064912909964,-31.81662327720096,-2.5600948333740234,0,0,-1.8230623550550595],[29.658064912909964,-31.81662327720096,-2.5600948333740234,0,0,-1.5612629672559102],[29.7057309885758,-36.81639606656155,-2.5600948333740234,0,0,-1.5612629672559102],[29.75339706424164,-41.81616885592214,-2.5600948333740234,0,0,-1.5612629672559102],[29.801063139907477,-46.815941645282734,-2.5600948333740234,0,0,-1.5612629672559102],[29.848729215573314,-51.815714434643326,-2.5600948333740234,0,0,-1.5612629672559102],[29.896395291239152,-56.81548722400392,-2.5600948333740234,0,0,-1.5612629672559102],[29.94406136690499,-61.81526001336451,-2.5600948333740234,0,0,-1.5612629672559102],[29.991727442570827,-66.8150328027251,-2.5600948333740234,0,0,-1.5612629672559102]]},{"id":2,"instruction":"now move forward brown building opposite and land there.","completed_instruction":"Take off, then turn right to face the intersection and a red sign, and then fly forward until you reach the center of the intersection facing the sign that says \"ALDER\". Turn right to align with the road, then fly forward to reach the warm white building at the corner of the road.","start_frame":32,"end_frame":34,"start_position":[29.991727442570827,-66.8150328027251,-2.5600948333740234],"start_rotation":[0.79624608712353229,0,0,-0.60497286611918744],"end_position":[32.67188406776154,-76.44917835199134,-2.5600948333740234],"end_rotation":[0.79624608712353229,0,0,-0.60497286611918744],"actions":[1,1,0],"reference_path":[[29.991727442570827,-66.8150328027251,-2.5600948333740234,0,0,-1.299463579456761],[31.331805755166183,-71.63210557735822,-2.5600948333740234,0,0,-1.299463579456761],[32.67188406776154,-76.44917835199134,-2.5600948333740234,0,0,-1.299463579456761]]}],"statistics":{"complete_actions":35,"sentence_actions":[14,18,3],"sentence_actions_average":11.67}}
diff --git a/scene_13/3OONKJ5DKLH6L5EDDDJX5AGO5GWOBQ.json b/scene_13/3OONKJ5DKLH6L5EDDDJX5AGO5GWOBQ.json
new file mode 100644
index 0000000000000000000000000000000000000000..781f3e5bab5dc084a886bedcb15f8fb2c1c0abd7
--- /dev/null
+++ b/scene_13/3OONKJ5DKLH6L5EDDDJX5AGO5GWOBQ.json
@@ -0,0 +1 @@
+{"episode_id":"3OONKJ5DKLH6L5EDDDJX5AGO5GWOBQ","trajectory_id":"3E22YV8GH94NLUII50WJWMQJLE3NP8","scene_id":13,"instruction":"take off and move forward above on the road and move towards the green building at the end and move towards it by moving left. now move closer to it and turn right towards the road and move forward on the road till the second tree arrives at right and turn left. now move forward towards the white building at left and land near to it.","sentence_instructions":[{"id":0,"instruction":"take off and move forward above on the road and move towards the green building at the end and move towards it by moving left.","completed_instruction":"Fly to face the street lamp on the right side of the street corner, then turn left to face a green shed and fly towards it.","start_frame":1,"end_frame":15,"start_position":[-7.445139408111572,-78.3685302734375,-0.815013587474823],"start_rotation":[0.99999474428003232,0,0,0.0032421308290468782],"end_position":[17.018059536787565,-74.32753469449828,-4.815013587474823],"end_rotation":[0.9251153866130164,0,0,-0.37968608277345278],"actions":[4,4,4,1,1,3,1,1,1,2,2,2,5,2,1],"reference_path":[[-7.445139408111572,-78.3685302734375,-0.815013587474823,0,0,0.006484273017938795],[-7.445139408111572,-78.3685302734375,-2.815013587474823,0,0,0.006484273017938795],[-7.445139408111572,-78.3685302734375,-4.815013587474823,0,0,0.006484273017938795],[-7.445139408111572,-78.3685302734375,-6.815013587474823,0,0,0.006484273017938795],[-2.445244522234699,-78.33610913554435,-6.815013587474823,0,0,0.006484273017938795],[2.5546503636421747,-78.3036879976512,-6.815013587474823,0,0,0.006484273017938795],[2.5546503636421747,-78.3036879976512,-6.815013587474823,0,0,0.26828366081708827],[7.375786754690638,-76.97830356326689,-6.815013587474823,0,0,0.26828366081708827],[12.1969231457391,-75.65291912888259,-6.815013587474823,0,0,0.26828366081708827],[17.018059536787565,-74.32753469449828,-6.815013587474823,0,0,0.26828366081708827],[17.018059536787565,-74.32753469449828,-6.815013587474823,0,0,0.006484273017938841],[17.018059536787565,-74.32753469449828,-6.815013587474823,0,0,-0.2553151147812106],[17.018059536787565,-74.32753469449828,-6.815013587474823,0,0,-0.5171145025803601],[17.018059536787565,-74.32753469449828,-4.815013587474823,0,0,-0.5171145025803601],[17.018059536787565,-74.32753469449828,-4.815013587474823,0,0,-0.7789138903795095]]},{"id":1,"instruction":"now move closer to it and turn right towards the road and move forward on the road till the second tree arrives at right and turn left.","completed_instruction":"Turn right to face the blue awning and proceed towards the flower bed in the middle of the road, go to the left side of the orange awning, and then turn left to face the orange awning.","start_frame":17,"end_frame":35,"start_position":[20.576444322269072,-77.84006906706372,-2.815013587474823],"start_rotation":[0.9251153866130164,0,0,-0.37968608277345278],"end_position":[27.89066278655829,-61.83895213290306,-2.815013587474823],"end_rotation":[0.96508162444814438,0,0,0.26194934272208192],"actions":[1,3,3,3,3,3,3,3,3,1,1,1,3,1,2,2,2,2,2],"reference_path":[[20.576444322269072,-77.84006906706372,-2.815013587474823,0,0,-0.7789138903795095],[24.13482910775058,-81.35260343962916,-2.815013587474823,0,0,-0.7789138903795095],[24.13482910775058,-81.35260343962916,-2.815013587474823,0,0,-0.5171145025803601],[24.13482910775058,-81.35260343962916,-2.815013587474823,0,0,-0.2553151147812106],[24.13482910775058,-81.35260343962916,-2.815013587474823,0,0,0.006484273017938811],[24.13482910775058,-81.35260343962916,-2.815013587474823,0,0,0.26828366081708827],[24.13482910775058,-81.35260343962916,-2.815013587474823,0,0,0.5300830486162377],[24.13482910775058,-81.35260343962916,-2.815013587474823,0,0,0.7918824364153871],[24.13482910775058,-81.35260343962916,-2.815013587474823,0,0,1.0536818242145365],[24.13482910775058,-81.35260343962916,-2.815013587474823,0,0,1.315481212013686],[25.397580713317534,-76.51468463267942,-2.815013587474823,0,0,1.315481212013686],[26.66033231888449,-71.67676582572967,-2.815013587474823,0,0,1.315481212013686],[27.923083924451443,-66.83884701877993,-2.815013587474823,0,0,1.315481212013686],[27.923083924451443,-66.83884701877993,-2.815013587474823,0,0,1.5772805998128356],[27.89066278655829,-61.83895213290306,-2.815013587474823,0,0,1.5772805998128356],[27.89066278655829,-61.83895213290306,-2.815013587474823,0,0,1.3154812120136863],[27.89066278655829,-61.83895213290306,-2.815013587474823,0,0,1.053681824214537],[27.89066278655829,-61.83895213290306,-2.815013587474823,0,0,0.7918824364153875],[27.89066278655829,-61.83895213290306,-2.815013587474823,0,0,0.530083048616238]]},{"id":2,"instruction":"now move forward towards the white building at left and land near to it.","completed_instruction":"Turn left to face the left of the orange awning and land in front of the building with the green facade.","start_frame":36,"end_frame":41,"start_position":[27.89066278655829,-61.83895213290306,-2.815013587474823],"start_rotation":[0.99101646762546092,0,0,0.13373990016129716],"end_position":[31.449047572039802,-65.3514865054685,-2.815013587474823],"end_rotation":[0.92511538661301651,0,0,-0.37968608277345256],"actions":[2,2,2,2,1,0],"reference_path":[[27.89066278655829,-61.83895213290306,-2.815013587474823,0,0,0.2682836608170886],[27.89066278655829,-61.83895213290306,-2.815013587474823,0,0,0.0064842730179391515],[27.89066278655829,-61.83895213290306,-2.815013587474823,0,0,-0.2553151147812103],[27.89066278655829,-61.83895213290306,-2.815013587474823,0,0,-0.5171145025803597],[27.89066278655829,-61.83895213290306,-2.815013587474823,0,0,-0.7789138903795091],[31.449047572039802,-65.3514865054685,-2.815013587474823,0,0,-0.7789138903795091]]}],"statistics":{"complete_actions":40,"sentence_actions":[15,19,6],"sentence_actions_average":13.33}}
diff --git a/scene_13/3PS7W85Z8803A44OBAR08ERKU639TS.json b/scene_13/3PS7W85Z8803A44OBAR08ERKU639TS.json
new file mode 100644
index 0000000000000000000000000000000000000000..e0230fcb96c479d1c377774aceba0449325a4fa2
--- /dev/null
+++ b/scene_13/3PS7W85Z8803A44OBAR08ERKU639TS.json
@@ -0,0 +1 @@
+{"episode_id":"3PS7W85Z8803A44OBAR08ERKU639TS","trajectory_id":"3TKXBROM618ZLI4TD7E7UI8QMZPJI8","scene_id":13,"instruction":"lift off and turn right to face the alley and head straight. at the alley turn left to face the alden sign and head straight and down. in front of the alden sign turn right to face the stop sign and head straight. at the stop sign turn left to face the left road and head straight. land to the left of the last street lamp on the right.","sentence_instructions":[{"id":0,"instruction":"lift off and turn right to face the alley and head straight.","completed_instruction":"Lift off and turn right to face the alley and head straight to the brick edge.","start_frame":0,"end_frame":3,"start_position":[11.7904634475708,-62.09373092651367,-10.231950759887695],"start_rotation":[0.99978692705850669,0,0,0.020642201503429145],"end_position":[11.7904634475708,-62.09373092651367,-10.231950759887695],"end_rotation":[0.915783250258805,0,0,0.40167280035548691],"actions":[3,3,3,3],"reference_path":[[11.7904634475708,-62.09373092651367,-10.231950759887695,0,0,0.04128733545318528],[11.7904634475708,-62.09373092651367,-10.231950759887695,0,0,0.3030867232523347],[11.7904634475708,-62.09373092651367,-10.231950759887695,0,0,0.5648861110514842],[11.7904634475708,-62.09373092651367,-10.231950759887695,0,0,0.8266854988506336]]},{"id":1,"instruction":"at the alley turn left to face the alden sign and head straight and down.","completed_instruction":"Turn left to face the a white building across the street and then go farward until seeing the sidewalk and descend close to the sidewalk facing the orange awning.","start_frame":3,"end_frame":16,"start_position":[11.7904634475708,-62.09373092651367,-10.231950759887695],"start_rotation":[0.915783250258805,0,0,0.40167280035548691],"end_position":[27.754515845081578,-57.89569350544542,-8.231950759887695],"end_rotation":[0.99392795926215072,0,0,-0.1100327760123157],"actions":[3,3,1,2,2,2,2,2,1,1,2,1,5,5],"reference_path":[[11.7904634475708,-62.09373092651367,-10.231950759887695,0,0,0.8266854988506336],[11.7904634475708,-62.09373092651367,-10.231950759887695,0,0,1.088484886649783],[11.7904634475708,-62.09373092651367,-10.231950759887695,0,0,1.3502842744489323],[12.884109972709505,-57.21480304448344,-10.231950759887695,0,0,1.3502842744489323],[12.884109972709505,-57.21480304448344,-10.231950759887695,0,0,1.0884848866497832],[12.884109972709505,-57.21480304448344,-10.231950759887695,0,0,0.8266854988506337],[12.884109972709505,-57.21480304448344,-10.231950759887695,0,0,0.5648861110514843],[12.884109972709505,-57.21480304448344,-10.231950759887695,0,0,0.3030867232523349],[12.884109972709505,-57.21480304448344,-10.231950759887695,0,0,0.04128733545318545],[17.879848967880424,-57.00842501239508,-10.231950759887695,0,0,0.04128733545318545],[22.87558796305134,-56.80204698030672,-10.231950759887695,0,0,0.04128733545318545],[22.87558796305134,-56.80204698030672,-10.231950759887695,0,0,-0.220512052345964],[27.754515845081578,-57.89569350544542,-10.231950759887695,0,0,-0.220512052345964],[27.754515845081578,-57.89569350544542,-8.231950759887695,0,0,-0.220512052345964]]},{"id":2,"instruction":"in front of the alden sign turn right to face the stop sign and head straight.","completed_instruction":"Turn right to face the \"STOP\" sign at the T-junction and proceed until you reach the sign.","start_frame":16,"end_frame":29,"start_position":[27.754515845081578,-57.89569350544542,-8.231950759887695],"start_rotation":[0.99392795926215072,0,0,-0.1100327760123157],"end_position":[29.648767192142966,-49.44514252730464,-2.2319507598876953],"end_rotation":[0.59225515890666391,0,0,0.80575047424648927],"actions":[5,5,5,3,3,3,3,1,3,3,3,3,1,1],"reference_path":[[27.754515845081578,-57.89569350544542,-8.231950759887695,0,0,-0.220512052345964],[27.754515845081578,-57.89569350544542,-6.231950759887695,0,0,-0.220512052345964],[27.754515845081578,-57.89569350544542,-4.231950759887695,0,0,-0.220512052345964],[27.754515845081578,-57.89569350544542,-2.2319507598876953,0,0,-0.220512052345964],[27.754515845081578,-57.89569350544542,-2.2319507598876953,0,0,0.04128733545318545],[27.754515845081578,-57.89569350544542,-2.2319507598876953,0,0,0.3030867232523349],[27.754515845081578,-57.89569350544542,-2.2319507598876953,0,0,0.5648861110514843],[27.754515845081578,-57.89569350544542,-2.2319507598876953,0,0,0.8266854988506337],[31.14110545962739,-54.217241278944385,-2.2319507598876953,0,0,0.8266854988506337],[31.14110545962739,-54.217241278944385,-2.2319507598876953,0,0,1.0884848866497832],[31.14110545962739,-54.217241278944385,-2.2319507598876953,0,0,1.3502842744489327],[31.14110545962739,-54.217241278944385,-2.2319507598876953,0,0,1.612083662248082],[31.14110545962739,-54.217241278944385,-2.2319507598876953,0,0,1.8738830500472314],[29.648767192142966,-49.44514252730464,-2.2319507598876953,0,0,1.8738830500472314]]},{"id":3,"instruction":"at the stop sign turn left to face the left road and head straight.","completed_instruction":"Turn left to face the end of the road and proceed towards the end of the road.","start_frame":29,"end_frame":45,"start_position":[29.648767192142966,-49.44514252730464,-2.2319507598876953],"start_rotation":[0.59225515890666391,0,0,0.80575047424648927],"end_position":[21.493300163188653,-31.742256657839594,-2.2319507598876953],"end_rotation":[0.98853926333958742,0,0,0.15096398522835131],"actions":[1,1,1,3,3,1,3,2,2,2,2,2,2,2,2,2,2],"reference_path":[[29.648767192142966,-49.44514252730464,-2.2319507598876953,0,0,1.8738830500472314],[28.15642892465854,-44.673043775664894,-2.2319507598876953,0,0,1.8738830500472314],[26.664090657174118,-39.90094502402515,-2.2319507598876953,0,0,1.8738830500472314],[25.171752389689694,-35.1288462723854,-2.2319507598876953,0,0,1.8738830500472314],[25.171752389689694,-35.1288462723854,-2.2319507598876953,0,0,2.135682437846381],[25.171752389689694,-35.1288462723854,-2.2319507598876953,0,0,2.3974818256455306],[21.493300163188653,-31.742256657839594,-2.2319507598876953,0,0,2.3974818256455306],[21.493300163188653,-31.742256657839594,-2.2319507598876953,0,0,2.6592812134446797],[21.493300163188653,-31.742256657839594,-2.2319507598876953,0,0,2.3974818256455306],[21.493300163188653,-31.742256657839594,-2.2319507598876953,0,0,2.135682437846381],[21.493300163188653,-31.742256657839594,-2.2319507598876953,0,0,1.8738830500472317],[21.493300163188653,-31.742256657839594,-2.2319507598876953,0,0,1.6120836622480823],[21.493300163188653,-31.742256657839594,-2.2319507598876953,0,0,1.350284274448933],[21.493300163188653,-31.742256657839594,-2.2319507598876953,0,0,1.0884848866497836],[21.493300163188653,-31.742256657839594,-2.2319507598876953,0,0,0.8266854988506342],[21.493300163188653,-31.742256657839594,-2.2319507598876953,0,0,0.5648861110514849],[21.493300163188653,-31.742256657839594,-2.2319507598876953,0,0,0.3030867232523355]]},{"id":4,"instruction":"land to the left of the last street lamp on the right.","completed_instruction":"Go to three trees in tree pot and stop there.","start_frame":45,"end_frame":52,"start_position":[21.493300163188653,-31.742256657839594,-2.2319507598876953],"start_rotation":[0.98853926333958742,0,0,0.15096398522835131],"end_position":[46.02471465198089,-28.13844602660565,-2.2319507598876953],"end_rotation":[0.98853926333958742,0,0,0.15096398522835131],"actions":[2,1,1,1,3,1,1,0],"reference_path":[[21.493300163188653,-31.742256657839594,-2.2319507598876953,0,0,0.3030867232523355],[21.493300163188653,-31.742256657839594,-2.2319507598876953,0,0,0.04128733545318607],[26.48903915835957,-31.53587862575123,-2.2319507598876953,0,0,0.04128733545318607],[31.48477815353049,-31.329500593662868,-2.2319507598876953,0,0,0.04128733545318607],[36.48051714870141,-31.123122561574505,-2.2319507598876953,0,0,0.04128733545318607],[36.48051714870141,-31.123122561574505,-2.2319507598876953,0,0,0.3030867232523355],[41.25261590034115,-29.630784294090077,-2.2319507598876953,0,0,0.3030867232523355],[46.02471465198089,-28.13844602660565,-2.2319507598876953,0,0,0.3030867232523355]]}],"statistics":{"complete_actions":57,"sentence_actions":[4,14,14,17,8],"sentence_actions_average":11.4}}
diff --git a/scene_13/3QILPRALQET51MGU9MZAZJQI5YG8N0.json b/scene_13/3QILPRALQET51MGU9MZAZJQI5YG8N0.json
new file mode 100644
index 0000000000000000000000000000000000000000..aab50f63504e94a74e2796755b2254d95b5fc450
--- /dev/null
+++ b/scene_13/3QILPRALQET51MGU9MZAZJQI5YG8N0.json
@@ -0,0 +1 @@
+{"episode_id":"3QILPRALQET51MGU9MZAZJQI5YG8N0","trajectory_id":"3XH7ZM9YYASN85U3HIH3JGVEHW89RZ","scene_id":13,"instruction":"take off and move forward towards the green building. now turn right and move forward top of the ash terrace. now reach the terrace and landed.","sentence_instructions":[{"id":0,"instruction":"take off and move forward towards the green building. now turn right and move forward top of the ash terrace. now reach the terrace and landed.","completed_instruction":"Take off and fly forward to the green awning.","start_frame":1,"end_frame":2,"start_position":[9.102559089660645,-81.3253402709961,-0.8774731755256653],"start_rotation":[0.99974650726037328,0,0,-0.022514911074318369],"end_position":[14.0974898774538,-81.55043230807438,-0.8774731755256653],"end_rotation":[0.99974650726037328,0,0,-0.022514911074318369],"actions":[1,1],"reference_path":[[9.102559089660645,-81.3253402709961,-0.8774731755256653,0,0,-0.04503362744547937],[14.0974898774538,-81.55043230807438,-0.8774731755256653,0,0,-0.04503362744547937]]},{"id":1,"instruction":"now turn right and move forward top of the ash terrace.","completed_instruction":"Turn right to face the orange awning, and then fly forward to the front of the orange awning, and ascend to the height above the roof of the gray-white building on the left.","start_frame":2,"end_frame":19,"start_position":[14.0974898774538,-81.55043230807438,-0.8774731755256653],"start_rotation":[0.99974650726037328,0,0,-0.022514911074318369],"end_position":[33.61289852710046,-67.92628479223212,-12.877473175525665],"end_rotation":[0.806858440419119,0,0,0.59074483249913146],"actions":[1,1,1,3,3,3,3,3,1,1,4,1,4,4,4,4,4,1],"reference_path":[[14.0974898774538,-81.55043230807438,-0.8774731755256653,0,0,-0.04503362744547937],[19.092420665246955,-81.77552434515266,-0.8774731755256653,0,0,-0.04503362744547937],[24.08735145304011,-82.00061638223094,-0.8774731755256653,0,0,-0.04503362744547937],[29.082282240833266,-82.22570841930923,-0.8774731755256653,0,0,-0.04503362744547937],[29.082282240833266,-82.22570841930923,-0.8774731755256653,0,0,0.21676576035367004],[29.082282240833266,-82.22570841930923,-0.8774731755256653,0,0,0.4785651481528195],[29.082282240833266,-82.22570841930923,-0.8774731755256653,0,0,0.7403645359519688],[29.082282240833266,-82.22570841930923,-0.8774731755256653,0,0,1.0021639237511182],[29.082282240833266,-82.22570841930923,-0.8774731755256653,0,0,1.2639633115502678],[30.592487669588998,-77.4592338769502,-0.8774731755256653,0,0,1.2639633115502678],[32.10269309834473,-72.69275933459116,-0.8774731755256653,0,0,1.2639633115502678],[32.10269309834473,-72.69275933459116,-2.8774731755256653,0,0,1.2639633115502678],[33.61289852710046,-67.92628479223212,-2.8774731755256653,0,0,1.2639633115502678],[33.61289852710046,-67.92628479223212,-4.877473175525665,0,0,1.2639633115502678],[33.61289852710046,-67.92628479223212,-6.877473175525665,0,0,1.2639633115502678],[33.61289852710046,-67.92628479223212,-8.877473175525665,0,0,1.2639633115502678],[33.61289852710046,-67.92628479223212,-10.877473175525665,0,0,1.2639633115502678],[33.61289852710046,-67.92628479223212,-12.877473175525665,0,0,1.2639633115502678]]},{"id":2,"instruction":"now reach the terrace and landed.","completed_instruction":"Turn left to face the rooftop platform, and then land on the rooftop.","start_frame":19,"end_frame":24,"start_position":[33.61289852710046,-67.92628479223212,-12.877473175525665],"start_rotation":[0.806858440419119,0,0,0.59074483249913146],"end_position":[38.81421749327134,-59.787024924076235,-14.877473175525665],"end_rotation":[0.93226141920682037,0,0,0.3617853593755353],"actions":[1,2,4,2,1,0],"reference_path":[[33.61289852710046,-67.92628479223212,-12.877473175525665,0,0,1.2639633115502678],[35.123103955856195,-63.1598102498731,-12.877473175525665,0,0,1.2639633115502678],[35.123103955856195,-63.1598102498731,-12.877473175525665,0,0,1.0021639237511182],[35.123103955856195,-63.1598102498731,-14.877473175525665,0,0,1.0021639237511182],[35.123103955856195,-63.1598102498731,-14.877473175525665,0,0,0.7403645359519688],[38.81421749327134,-59.787024924076235,-14.877473175525665,0,0,0.7403645359519688]]}],"statistics":{"complete_actions":26,"sentence_actions":[2,18,6],"sentence_actions_average":8.67}}
diff --git a/scene_13/3SPJ03342A1OX2GR7S5C5PX21BUYJQ.json b/scene_13/3SPJ03342A1OX2GR7S5C5PX21BUYJQ.json
new file mode 100644
index 0000000000000000000000000000000000000000..c6a8be998230f1824a29a50e94fc817cae8ad392
--- /dev/null
+++ b/scene_13/3SPJ03342A1OX2GR7S5C5PX21BUYJQ.json
@@ -0,0 +1 @@
+{"episode_id":"3SPJ03342A1OX2GR7S5C5PX21BUYJQ","trajectory_id":"3UUSLRKAVT1PTCN5KKOZ0VN42ZSD73","scene_id":13,"instruction":"go straight and land on the street and turn right. go passed light and turn left. turn right and go over the cafe.","sentence_instructions":[{"id":0,"instruction":"go straight and land on the street and turn right.","completed_instruction":"Turn left to face the brown building and then descend from the roof to the sidewalk, and turn right to face the traffic signal, then fly forward and stop in front of the traffic signal.","start_frame":1,"end_frame":17,"start_position":[2.0097713470458984,-14.36480712890625,-15.442648887634277],"start_rotation":[0.99983643687688617,0,0,-0.018085892107728745],"end_position":[11.472962265128011,-24.668141335200005,-3.4426488876342773],"end_rotation":[0.98892201492616449,0,0,-0.14843600774197269],"actions":[2,2,2,2,1,1,5,5,5,5,5,5,3,3,3,1,1],"reference_path":[[2.0097713470458984,-14.36480712890625,-15.442648887634277,0,0,-0.03617375646782482],[2.0097713470458984,-14.36480712890625,-15.442648887634277,0,0,-0.29797314426697424],[2.0097713470458984,-14.36480712890625,-15.442648887634277,0,0,-0.5597725320661237],[2.0097713470458984,-14.36480712890625,-15.442648887634277,0,0,-0.8215719198652731],[2.0097713470458984,-14.36480712890625,-15.442648887634277,0,0,-1.0833713076644225],[4.35153304805883,-18.78251605273419,-15.442648887634277,0,0,-1.0833713076644225],[6.693294749071761,-23.200224976562133,-15.442648887634277,0,0,-1.0833713076644225],[6.693294749071761,-23.200224976562133,-13.442648887634277,0,0,-1.0833713076644225],[6.693294749071761,-23.200224976562133,-11.442648887634277,0,0,-1.0833713076644225],[6.693294749071761,-23.200224976562133,-9.442648887634277,0,0,-1.0833713076644225],[6.693294749071761,-23.200224976562133,-7.442648887634277,0,0,-1.0833713076644225],[6.693294749071761,-23.200224976562133,-5.442648887634277,0,0,-1.0833713076644225],[6.693294749071761,-23.200224976562133,-3.4426488876342773,0,0,-1.0833713076644225],[6.693294749071761,-23.200224976562133,-3.4426488876342773,0,0,-0.8215719198652731],[6.693294749071761,-23.200224976562133,-3.4426488876342773,0,0,-0.5597725320661235],[6.693294749071761,-23.200224976562133,-3.4426488876342773,0,0,-0.29797314426697413],[11.472962265128011,-24.668141335200005,-3.4426488876342773,0,0,-0.29797314426697413]]},{"id":1,"instruction":"go passed light and turn left.","completed_instruction":"Turn left to face the flower bed in the middle of the road and then proceed to the first flower bed.","start_frame":17,"end_frame":26,"start_position":[11.472962265128011,-24.668141335200005,-3.4426488876342773],"start_rotation":[0.98892201492616449,0,0,-0.14843600774197269],"end_position":[25.63113547406945,-34.0686194161803,-3.4426488876342773],"end_rotation":[0.69420246763985849,0,0,-0.71977978154622491],"actions":[1,1,1,2,2,2,2,2,1,3],"reference_path":[[11.472962265128011,-24.668141335200005,-3.4426488876342773,0,0,-0.29797314426697413],[16.25262978118426,-26.136057693837877,-3.4426488876342773,0,0,-0.29797314426697413],[21.03229729724051,-27.60397405247575,-3.4426488876342773,0,0,-0.29797314426697413],[25.81196481329676,-29.07189041111362,-3.4426488876342773,0,0,-0.29797314426697413],[25.81196481329676,-29.07189041111362,-3.4426488876342773,0,0,-0.5597725320661235],[25.81196481329676,-29.07189041111362,-3.4426488876342773,0,0,-0.821571919865273],[25.81196481329676,-29.07189041111362,-3.4426488876342773,0,0,-1.0833713076644225],[25.81196481329676,-29.07189041111362,-3.4426488876342773,0,0,-1.345170695463572],[25.81196481329676,-29.07189041111362,-3.4426488876342773,0,0,-1.6069700832627214],[25.63113547406945,-34.0686194161803,-3.4426488876342773,0,0,-1.6069700832627214]]},{"id":2,"instruction":"turn right and go over the cafe.","completed_instruction":"Turn right to face the blue umbrella area and go to it，then land under the umbrella on the far right.","start_frame":26,"end_frame":39,"start_position":[25.63113547406945,-34.0686194161803,-3.4426488876342773],"start_rotation":[0.69420246763985849,0,0,-0.71977978154622491],"end_position":[41.624214688577624,-38.98036328227636,-1.4426488876342773],"end_rotation":[0.97044880976937375,0,0,0.24130708157284966],"actions":[3,3,1,3,3,1,3,3,1,3,3,1,5,0],"reference_path":[[25.63113547406945,-34.0686194161803,-3.4426488876342773,0,0,-1.6069700832627214],[25.63113547406945,-34.0686194161803,-3.4426488876342773,0,0,-1.345170695463572],[25.63113547406945,-34.0686194161803,-3.4426488876342773,0,0,-1.0833713076644225],[27.97289717508238,-38.486328340008235,-3.4426488876342773,0,0,-1.0833713076644225],[27.97289717508238,-38.486328340008235,-3.4426488876342773,0,0,-0.8215719198652731],[27.97289717508238,-38.486328340008235,-3.4426488876342773,0,0,-0.5597725320661235],[32.20977675968301,-41.14129564406198,-3.4426488876342773,0,0,-0.5597725320661235],[32.20977675968301,-41.14129564406198,-3.4426488876342773,0,0,-0.29797314426697413],[32.20977675968301,-41.14129564406198,-3.4426488876342773,0,0,-0.036173756467824704],[37.206505764749686,-41.32212498328929,-3.4426488876342773,0,0,-0.036173756467824704],[37.206505764749686,-41.32212498328929,-3.4426488876342773,0,0,0.22562563133132474],[37.206505764749686,-41.32212498328929,-3.4426488876342773,0,0,0.48742501913047415],[41.624214688577624,-38.98036328227636,-3.4426488876342773,0,0,0.48742501913047415],[41.624214688577624,-38.98036328227636,-1.4426488876342773,0,0,0.48742501913047415]]}],"statistics":{"complete_actions":41,"sentence_actions":[17,10,14],"sentence_actions_average":13.67}}
diff --git a/scene_13/3TXMY6UCANMSGMJZ6Q7W5ZH5CGKQCD.json b/scene_13/3TXMY6UCANMSGMJZ6Q7W5ZH5CGKQCD.json
new file mode 100644
index 0000000000000000000000000000000000000000..c1ab0b0cd810405757644bc6a2022cc4b0cfb5f9
--- /dev/null
+++ b/scene_13/3TXMY6UCANMSGMJZ6Q7W5ZH5CGKQCD.json
@@ -0,0 +1 @@
+{"episode_id":"3TXMY6UCANMSGMJZ6Q7W5ZH5CGKQCD","trajectory_id":"3INZSNUD98OT7VBYZHMJEREAXPGD9F","scene_id":13,"instruction":"lift off and turn right facing the umbrellas and head straight. veer left to the most left lamp post and head straight. on the road turn right facing the road and head straight. just past the traffic lights stop.","sentence_instructions":[{"id":0,"instruction":"lift off and turn right to face the umbrellas and head straight. veer left to the most left lamp post and head straight. on the road turn right to face the road and head straight. just past the traffic lights stop.","completed_instruction":"Lift off and turn right to face the black umbrellas and move forward to the area above the front black fence.","start_frame":1,"end_frame":11,"start_position":[54.06113815307617,-40.53596115112305,-1.2073620557785034],"start_rotation":[0.99986751448460232,0,0,0.016277391633290551],"end_position":[54.06113815307617,-40.53596115112305,-3.2073620557785034],"end_rotation":[0.36759438338065109,0,0,0.92998621995543507],"actions":[4,3,3,3,3,3,3,3,3,3,3],"reference_path":[[54.06113815307617,-40.53596115112305,-1.2073620557785034,0,0,0.032556221021854],[54.06113815307617,-40.53596115112305,-3.2073620557785034,0,0,0.032556221021854],[54.06113815307617,-40.53596115112305,-3.2073620557785034,0,0,0.2943556088210034],[54.06113815307617,-40.53596115112305,-3.2073620557785034,0,0,0.5561549966201529],[54.06113815307617,-40.53596115112305,-3.2073620557785034,0,0,0.8179543844193022],[54.06113815307617,-40.53596115112305,-3.2073620557785034,0,0,1.0797537722184516],[54.06113815307617,-40.53596115112305,-3.2073620557785034,0,0,1.3415531600176012],[54.06113815307617,-40.53596115112305,-3.2073620557785034,0,0,1.6033525478167507],[54.06113815307617,-40.53596115112305,-3.2073620557785034,0,0,1.8651519356159],[54.06113815307617,-40.53596115112305,-3.2073620557785034,0,0,2.1269513234150494],[54.06113815307617,-40.53596115112305,-3.2073620557785034,0,0,2.388750711214199]]},{"id":1,"instruction":"veer left to the most left lamp post and head straight.","completed_instruction":"Turn left to face the navy blue building on the opposite side of the road, then move forward the navy blue building.","start_frame":11,"end_frame":17,"start_position":[54.06113815307617,-40.53596115112305,-3.2073620557785034],"start_rotation":[0.36759438338065109,0,0,0.92998621995543507],"end_position":[49.19194486759421,-39.39975837493503,-3.2073620557785034],"end_rotation":[0.48583712258052331,0,0,0.874049363779116],"actions":[3,3,1,2,2,2,2],"reference_path":[[54.06113815307617,-40.53596115112305,-3.2073620557785034,0,0,2.388750711214199],[54.06113815307617,-40.53596115112305,-3.2073620557785034,0,0,2.6505500990133486],[54.06113815307617,-40.53596115112305,-3.2073620557785034,0,0,2.9123494868124977],[49.19194486759421,-39.39975837493503,-3.2073620557785034,0,0,2.9123494868124977],[49.19194486759421,-39.39975837493503,-3.2073620557785034,0,0,2.6505500990133486],[49.19194486759421,-39.39975837493503,-3.2073620557785034,0,0,2.388750711214199],[49.19194486759421,-39.39975837493503,-3.2073620557785034,0,0,2.1269513234150494]]},{"id":2,"instruction":"on the road turn right to face the road and head straight.","completed_instruction":"Fly to the center of the road and then turn right to face the traffic light above the road.","start_frame":17,"end_frame":27,"start_position":[49.19194486759421,-39.39975837493503,-3.2073620557785034],"start_rotation":[0.48583712258052331,0,0,0.874049363779116],"end_position":[42.709383056253785,-28.48125866427285,-3.2073620557785034],"end_rotation":[0.11437076309880749,0,0,0.99343813523953084],"actions":[2,1,2,1,3,3,3,3,3,1,1],"reference_path":[[49.19194486759421,-39.39975837493503,-3.2073620557785034,0,0,2.1269513234150494],[49.19194486759421,-39.39975837493503,-3.2073620557785034,0,0,1.8651519356159],[47.741328692882455,-34.61481190567703,-3.2073620557785034,0,0,1.8651519356159],[47.741328692882455,-34.61481190567703,-3.2073620557785034,0,0,1.6033525478167507],[47.57857634173575,-29.617461440460865,-3.2073620557785034,0,0,1.6033525478167507],[47.57857634173575,-29.617461440460865,-3.2073620557785034,0,0,1.8651519356159],[47.57857634173575,-29.617461440460865,-3.2073620557785034,0,0,2.1269513234150494],[47.57857634173575,-29.617461440460865,-3.2073620557785034,0,0,2.388750711214199],[47.57857634173575,-29.617461440460865,-3.2073620557785034,0,0,2.6505500990133486],[47.57857634173575,-29.617461440460865,-3.2073620557785034,0,0,2.9123494868124977],[42.709383056253785,-28.48125866427285,-3.2073620557785034,0,0,2.9123494868124977]]},{"id":3,"instruction":"just past the traffic lights stop.","completed_instruction":"After passing the traffic lights, land in the middle of the road.","start_frame":27,"end_frame":35,"start_position":[42.709383056253785,-28.48125866427285,-3.2073620557785034],"start_rotation":[0.11437076309880749,0,0,0.99343813523953084],"end_position":[12.853437444690996,-28.158817643818374,-1.2073620557785034],"end_rotation":[0.016277391633290703,0,0,-0.99986751448460232],"actions":[1,3,1,1,1,1,1,5,0],"reference_path":[[42.709383056253785,-28.48125866427285,-3.2073620557785034,0,0,2.9123494868124977],[37.84018977077182,-27.345055888084836,-3.2073620557785034,0,0,2.9123494868124977],[37.84018977077182,-27.345055888084836,-3.2073620557785034,0,0,-3.109036432567939],[32.84283930555566,-27.507808239231544,-3.2073620557785034,0,0,-3.109036432567939],[27.845488840339492,-27.67056059037825,-3.2073620557785034,0,0,-3.109036432567939],[22.848138375123327,-27.83331294152496,-3.2073620557785034,0,0,-3.109036432567939],[17.85078790990716,-27.996065292671666,-3.2073620557785034,0,0,-3.109036432567939],[12.853437444690996,-28.158817643818374,-3.2073620557785034,0,0,-3.109036432567939],[12.853437444690996,-28.158817643818374,-1.2073620557785034,0,0,-3.109036432567939]]}],"statistics":{"complete_actions":38,"sentence_actions":[11,7,11,9],"sentence_actions_average":9.5}}
diff --git a/scene_13/3URFVVM16EGXG81QFDB9QYFFT96ZU5.json b/scene_13/3URFVVM16EGXG81QFDB9QYFFT96ZU5.json
new file mode 100644
index 0000000000000000000000000000000000000000..f29df5a731c9aca2adcb1c267a2be20d4919bd1d
--- /dev/null
+++ b/scene_13/3URFVVM16EGXG81QFDB9QYFFT96ZU5.json
@@ -0,0 +1 @@
+{"episode_id":"3URFVVM16EGXG81QFDB9QYFFT96ZU5","trajectory_id":"3UQ1LLR27I6QAQ9V44Y7TZXZDU8AL8","scene_id":13,"instruction":"take off and turn back towards the buildings at back. now move forward till the tree comes at your front and get down and reach the ground and turn left. now move forward a little and turn back towards the buildings at back. now move forward on the road till the left curve arrives and turn back before that curve. now move forward on the road till the right cut arrives and turn right. now move forward on the road and turn right at the right curve and move little forward to the wall and land near to it.","sentence_instructions":[{"id":0,"instruction":"take off and turn back towards the buildings at back.","completed_instruction":"Take off from the roof and turn right to face the brownish building with black edge roof.","start_frame":1,"end_frame":9,"start_position":[41.42513656616211,-56.09119415283203,-15.274781227111816],"start_rotation":[0.99963655866582846,0,0,-0.0269583118673959],"end_position":[41.42513656616211,-56.09119415283203,-15.274781227111816],"end_rotation":[0.52316486225322256,0,0,0.85223149842256285],"actions":[3,3,3,3,3,3,3,3,3],"reference_path":[[41.42513656616211,-56.09119415283203,-15.274781227111816,0,0,-0.05392315652773786],[41.42513656616211,-56.09119415283203,-15.274781227111816,0,0,0.20787623127141155],[41.42513656616211,-56.09119415283203,-15.274781227111816,0,0,0.469675619070561],[41.42513656616211,-56.09119415283203,-15.274781227111816,0,0,0.7314750068697105],[41.42513656616211,-56.09119415283203,-15.274781227111816,0,0,0.9932743946688599],[41.42513656616211,-56.09119415283203,-15.274781227111816,0,0,1.2550737824680094],[41.42513656616211,-56.09119415283203,-15.274781227111816,0,0,1.516873170267159],[41.42513656616211,-56.09119415283203,-15.274781227111816,0,0,1.7786725580663083],[41.42513656616211,-56.09119415283203,-15.274781227111816,0,0,2.0404719458654577]]},{"id":1,"instruction":"now move forward till the tree comes at your front and get down and reach the ground and turn left.","completed_instruction":"Move forward out of the roof and descend in height to the sidewalk.","start_frame":9,"end_frame":18,"start_position":[41.42513656616211,-56.09119415283203,-15.274781227111816],"start_rotation":[0.52316486225322256,0,0,0.85223149842256285],"end_position":[31.919413820076073,-52.986160324587544,-7.274781227111816],"end_rotation":[0.15720643337884865,0,0,0.98756576353390346],"actions":[3,3,3,1,1,5,5,5,5,3],"reference_path":[[41.42513656616211,-56.09119415283203,-15.274781227111816,0,0,2.0404719458654577],[41.42513656616211,-56.09119415283203,-15.274781227111816,0,0,2.3022713336646077],[41.42513656616211,-56.09119415283203,-15.274781227111816,0,0,2.5640707214637573],[41.42513656616211,-56.09119415283203,-15.274781227111816,0,0,2.825870109262907],[36.67227519311909,-54.53867723870979,-15.274781227111816,0,0,2.825870109262907],[31.919413820076073,-52.986160324587544,-15.274781227111816,0,0,2.825870109262907],[31.919413820076073,-52.986160324587544,-13.274781227111816,0,0,2.825870109262907],[31.919413820076073,-52.986160324587544,-11.274781227111816,0,0,2.825870109262907],[31.919413820076073,-52.986160324587544,-9.274781227111816,0,0,2.825870109262907],[31.919413820076073,-52.986160324587544,-7.274781227111816,0,0,2.825870109262907]]},{"id":2,"instruction":"now move forward a little and turn back towards the buildings at back.","completed_instruction":"Then turn left to face the blue awning on the opposite side of the road.","start_frame":19,"end_frame":36,"start_position":[31.919413820076073,-52.986160324587544,-7.274781227111816],"start_rotation":[0.02695831186739539,0,0,0.99963655866582846],"end_position":[26.92668132586347,-52.71667518356191,-3.2747812271118164],"end_rotation":[0.9585974443829558,0,0,-0.28476470922933189],"actions":[5,5,1,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2],"reference_path":[[31.919413820076073,-52.986160324587544,-7.274781227111816,0,0,3.0876694970620564],[31.919413820076073,-52.986160324587544,-5.274781227111816,0,0,3.0876694970620564],[31.919413820076073,-52.986160324587544,-3.2747812271118164,0,0,3.0876694970620564],[26.92668132586347,-52.71667518356191,-3.2747812271118164,0,0,3.0876694970620564],[26.92668132586347,-52.71667518356191,-3.2747812271118164,0,0,2.825870109262907],[26.92668132586347,-52.71667518356191,-3.2747812271118164,0,0,2.5640707214637577],[26.92668132586347,-52.71667518356191,-3.2747812271118164,0,0,2.302271333664608],[26.92668132586347,-52.71667518356191,-3.2747812271118164,0,0,2.0404719458654585],[26.92668132586347,-52.71667518356191,-3.2747812271118164,0,0,1.778672558066309],[26.92668132586347,-52.71667518356191,-3.2747812271118164,0,0,1.5168731702671596],[26.92668132586347,-52.71667518356191,-3.2747812271118164,0,0,1.2550737824680103],[26.92668132586347,-52.71667518356191,-3.2747812271118164,0,0,0.993274394668861],[26.92668132586347,-52.71667518356191,-3.2747812271118164,0,0,0.7314750068697116],[26.92668132586347,-52.71667518356191,-3.2747812271118164,0,0,0.4696756190705622],[26.92668132586347,-52.71667518356191,-3.2747812271118164,0,0,0.2078762312714128],[26.92668132586347,-52.71667518356191,-3.2747812271118164,0,0,-0.053923156527736625],[26.92668132586347,-52.71667518356191,-3.2747812271118164,0,0,-0.31572254432688607],[26.92668132586347,-52.71667518356191,-3.2747812271118164,0,0,-0.5775219321260355]]},{"id":3,"instruction":"now move forward on the road till the left curve arrives and turn back before that curve.","completed_instruction":"Fly forward to the blue awning on the opposite side of the road, then turn back to face the green awning at the distant road corner.","start_frame":36,"end_frame":50,"start_position":[26.92668132586347,-52.71667518356191,-3.2747812271118164],"start_rotation":[0.9585974443829558,0,0,-0.28476470922933189],"end_position":[27.68910778392446,-62.601764824556675,-3.2747812271118164],"end_rotation":[0.28476470922933211,0,0,0.9585974443829558],"actions":[2,2,2,1,2,1,2,2,2,2,2,2,2,2,2],"reference_path":[[26.92668132586347,-52.71667518356191,-3.2747812271118164,0,0,-0.5775219321260355],[26.92668132586347,-52.71667518356191,-3.2747812271118164,0,0,-0.839321319925185],[26.92668132586347,-52.71667518356191,-3.2747812271118164,0,0,-1.1011207077243343],[26.92668132586347,-52.71667518356191,-3.2747812271118164,0,0,-1.362920095523484],[27.958592924950093,-57.60903233034407,-3.2747812271118164,0,0,-1.362920095523484],[27.958592924950093,-57.60903233034407,-3.2747812271118164,0,0,-1.6247194833226333],[27.68910778392446,-62.601764824556675,-3.2747812271118164,0,0,-1.6247194833226333],[27.68910778392446,-62.601764824556675,-3.2747812271118164,0,0,-1.8865188711217828],[27.68910778392446,-62.601764824556675,-3.2747812271118164,0,0,-2.1483182589209324],[27.68910778392446,-62.601764824556675,-3.2747812271118164,0,0,-2.410117646720082],[27.68910778392446,-62.601764824556675,-3.2747812271118164,0,0,-2.6719170345192316],[27.68910778392446,-62.601764824556675,-3.2747812271118164,0,0,-2.933716422318381],[27.68910778392446,-62.601764824556675,-3.2747812271118164,0,0,3.087669497062056],[27.68910778392446,-62.601764824556675,-3.2747812271118164,0,0,2.8258701092629064],[27.68910778392446,-62.601764824556675,-3.2747812271118164,0,0,2.5640707214637573]]},{"id":4,"instruction":"now move forward on the road till the right cut arrives and turn right.","completed_instruction":"Fly forward to the corner and turn back to align with the road.","start_frame":50,"end_frame":65,"start_position":[27.68910778392446,-62.601764824556675,-3.2747812271118164],"start_rotation":[0.28476470922933211,0,0,0.9585974443829558],"end_position":[25.4018284097415,-32.94649590157238,-1.2747812271118164],"end_rotation":[0.28476470922933211,0,0,0.9585974443829558],"actions":[2,2,2,1,1,1,2,1,1,1,3,5,3,3,3,1],"reference_path":[[27.68910778392446,-62.601764824556675,-3.2747812271118164,0,0,2.5640707214637573],[27.68910778392446,-62.601764824556675,-3.2747812271118164,0,0,2.302271333664608],[27.68910778392446,-62.601764824556675,-3.2747812271118164,0,0,2.0404719458654585],[27.68910778392446,-62.601764824556675,-3.2747812271118164,0,0,1.778672558066309],[26.65719618483784,-57.709407677774514,-3.2747812271118164,0,0,1.778672558066309],[25.62528458575122,-52.817050530992354,-3.2747812271118164,0,0,1.778672558066309],[24.5933729866646,-47.924693384210194,-3.2747812271118164,0,0,1.778672558066309],[24.5933729866646,-47.924693384210194,-3.2747812271118164,0,0,1.5168731702671596],[24.862858127690235,-42.93196088999759,-3.2747812271118164,0,0,1.5168731702671596],[25.132343268715868,-37.93922839578499,-3.2747812271118164,0,0,1.5168731702671596],[25.4018284097415,-32.94649590157238,-3.2747812271118164,0,0,1.5168731702671596],[25.4018284097415,-32.94649590157238,-3.2747812271118164,0,0,1.778672558066309],[25.4018284097415,-32.94649590157238,-1.2747812271118164,0,0,1.778672558066309],[25.4018284097415,-32.94649590157238,-1.2747812271118164,0,0,2.0404719458654585],[25.4018284097415,-32.94649590157238,-1.2747812271118164,0,0,2.3022713336646077],[25.4018284097415,-32.94649590157238,-1.2747812271118164,0,0,2.5640707214637573]]},{"id":5,"instruction":"now move forward on the road and turn right at the right curve and move little forward to the wall and land near to it.","completed_instruction":"Now move forward on the road to the T-junction and turn right to align with the road, fly foward to the road corner and turn right to align with the road.","start_frame":66,"end_frame":87,"start_position":[21.212737805966164,-30.21674867639545,-1.2747812271118164],"start_rotation":[0.28476470922933211,0,0,0.9585974443829558],"end_position":[-3.1272802232378663,-48.957052278885506,-3.2747812271118164],"end_rotation":[0.91322725718519349,0,0,-0.40745058195320866],"actions":[3,3,1,1,1,1,3,3,1,3,3,1,3,1,3,4,3,1,3,3,1,0],"reference_path":[[21.212737805966164,-30.21674867639545,-1.2747812271118164,0,0,2.5640707214637573],[21.212737805966164,-30.21674867639545,-1.2747812271118164,0,0,2.825870109262907],[21.212737805966164,-30.21674867639545,-1.2747812271118164,0,0,3.0876694970620564],[16.22000531175356,-29.947263535369817,-1.2747812271118164,0,0,3.0876694970620564],[11.227272817540957,-29.677778394344184,-1.2747812271118164,0,0,3.0876694970620564],[6.234540323328354,-29.40829325331855,-1.2747812271118164,0,0,3.0876694970620564],[1.2418078291157517,-29.138808112292917,-1.2747812271118164,0,0,3.0876694970620564],[1.2418078291157517,-29.138808112292917,-1.2747812271118164,0,0,-2.9337164223183807],[1.2418078291157517,-29.138808112292917,-1.2747812271118164,0,0,-2.6719170345192316],[-3.216767915685222,-31.401793381328588,-1.2747812271118164,0,0,-2.6719170345192316],[-3.216767915685222,-31.401793381328588,-1.2747812271118164,0,0,-2.410117646720082],[-3.216767915685222,-31.401793381328588,-1.2747812271118164,0,0,-2.148318258920933],[-5.9465151408621555,-35.59088398510393,-1.2747812271118164,0,0,-2.148318258920933],[-5.9465151408621555,-35.59088398510393,-1.2747812271118164,0,0,-1.8865188711217835],[-7.499032054984402,-40.34374535814695,-1.2747812271118164,0,0,-1.8865188711217835],[-7.499032054984402,-40.34374535814695,-1.2747812271118164,0,0,-1.6247194833226342],[-7.499032054984402,-40.34374535814695,-3.2747812271118164,0,0,-1.6247194833226342],[-7.499032054984402,-40.34374535814695,-3.2747812271118164,0,0,-1.3629200955234846],[-6.467120455897782,-45.23610250492911,-3.2747812271118164,0,0,-1.3629200955234846],[-6.467120455897782,-45.23610250492911,-3.2747812271118164,0,0,-1.1011207077243352],[-6.467120455897782,-45.23610250492911,-3.2747812271118164,0,0,-0.8393213199251858],[-3.1272802232378663,-48.957052278885506,-3.2747812271118164,0,0,-0.8393213199251858]]}],"statistics":{"complete_actions":90,"sentence_actions":[9,10,18,15,16,22],"sentence_actions_average":15.0}}
diff --git a/scene_13/3WETL7AQW26FA04IT58SELIKEAM35R.json b/scene_13/3WETL7AQW26FA04IT58SELIKEAM35R.json
new file mode 100644
index 0000000000000000000000000000000000000000..59a34a73769cc18ed68c545cefb5538118d947f7
--- /dev/null
+++ b/scene_13/3WETL7AQW26FA04IT58SELIKEAM35R.json
@@ -0,0 +1 @@
+{"episode_id":"3WETL7AQW26FA04IT58SELIKEAM35R","trajectory_id":"34O39PNDLE66WY90F2VZAMQ41QZBRJ","scene_id":13,"instruction":"turn around and go straight. fall to the road. follow the sidewalk on the right. look at the blue doors and then turn left. land there.","sentence_instructions":[{"id":0,"instruction":"turn around and go straight.","completed_instruction":"Turn back to align with the road and move forward over the trees above to above the street.","start_frame":1,"end_frame":13,"start_position":[61.09746551513672,-32.04927062988281,-10.125717163085938],"start_rotation":[0.99997258369958986,0,0,-0.0074048530820505568],"end_position":[61.09746551513672,-32.04927062988281,-12.125717163085938],"end_rotation":[0.13786411721218136,0,0,0.990451152346902],"actions":[4,3,3,3,3,3,3,3,3,3,3,3,1],"reference_path":[[61.09746551513672,-32.04927062988281,-10.125717163085938,0,0,-0.014809841508036428],[61.09746551513672,-32.04927062988281,-12.125717163085938,0,0,-0.014809841508036428],[61.09746551513672,-32.04927062988281,-12.125717163085938,0,0,0.246989546291113],[61.09746551513672,-32.04927062988281,-12.125717163085938,0,0,0.5087889340902624],[61.09746551513672,-32.04927062988281,-12.125717163085938,0,0,0.7705883218894117],[61.09746551513672,-32.04927062988281,-12.125717163085938,0,0,1.0323877096885612],[61.09746551513672,-32.04927062988281,-12.125717163085938,0,0,1.2941870974877105],[61.09746551513672,-32.04927062988281,-12.125717163085938,0,0,1.5559864852868601],[61.09746551513672,-32.04927062988281,-12.125717163085938,0,0,1.8177858730860095],[61.09746551513672,-32.04927062988281,-12.125717163085938,0,0,2.079585260885159],[61.09746551513672,-32.04927062988281,-12.125717163085938,0,0,2.341384648684308],[61.09746551513672,-32.04927062988281,-12.125717163085938,0,0,2.6031840364834578],[61.09746551513672,-32.04927062988281,-12.125717163085938,0,0,2.8649834242826073]]},{"id":1,"instruction":"fall to the road.","completed_instruction":"Facing the traffic signal lights  descend to close the road.","start_frame":13,"end_frame":19,"start_position":[61.09746551513672,-32.04927062988281,-12.125717163085938],"start_rotation":[0.13786411721218136,0,0,0.990451152346902],"end_position":[46.667660959577546,-27.952840417080015,-6.1257171630859375],"end_rotation":[0.13786411721218136,0,0,0.990451152346902],"actions":[1,1,1,5,5,5,5],"reference_path":[[61.09746551513672,-32.04927062988281,-12.125717163085938,0,0,2.8649834242826073],[56.28753066328366,-30.68379389228188,-12.125717163085938,0,0,2.8649834242826073],[51.477595811430604,-29.318317154680948,-12.125717163085938,0,0,2.8649834242826073],[46.667660959577546,-27.952840417080015,-12.125717163085938,0,0,2.8649834242826073],[46.667660959577546,-27.952840417080015,-10.125717163085938,0,0,2.8649834242826073],[46.667660959577546,-27.952840417080015,-8.125717163085938,0,0,2.8649834242826073],[46.667660959577546,-27.952840417080015,-6.1257171630859375,0,0,2.8649834242826073]]},{"id":2,"instruction":"follow the sidewalk on the right.","completed_instruction":"Turn right to face the street lamp beside the sign behind a green square signboard on your right.","start_frame":19,"end_frame":26,"start_position":[46.667660959577546,-27.952840417080015,-6.1257171630859375],"start_rotation":[0.13786411721218136,0,0,0.990451152346902],"end_position":[43.08015599061191,-31.435627820532435,-2.1257171630859375],"end_rotation":[0.37583174839738615,0,0,-0.92668791774607906],"actions":[5,5,3,3,3,3,1,1],"reference_path":[[46.667660959577546,-27.952840417080015,-6.1257171630859375,0,0,2.8649834242826073],[46.667660959577546,-27.952840417080015,-4.1257171630859375,0,0,2.8649834242826073],[46.667660959577546,-27.952840417080015,-2.1257171630859375,0,0,2.8649834242826073],[46.667660959577546,-27.952840417080015,-2.1257171630859375,0,0,3.1267828120817565],[46.667660959577546,-27.952840417080015,-2.1257171630859375,0,0,-2.8946031072986806],[46.667660959577546,-27.952840417080015,-2.1257171630859375,0,0,-2.6328037194995315],[46.667660959577546,-27.952840417080015,-2.1257171630859375,0,0,-2.371004331700382],[43.08015599061191,-31.435627820532435,-2.1257171630859375,0,0,-2.371004331700382]]},{"id":3,"instruction":"look at the blue doors and then turn left.","completed_instruction":"Then proceed to the center of the road with flowerpots.","start_frame":26,"end_frame":51,"start_position":[43.08015599061191,-31.435627820532435,-2.1257171630859375],"start_rotation":[0.37583174839738615,0,0,-0.92668791774607906],"end_position":[36.31913013847116,-64.10494437822041,-4.1257171630859375],"end_rotation":[0.92102048855888219,0,0,-0.3895141328049061],"actions":[1,1,1,3,3,1,3,1,1,3,1,3,3,3,1,3,3,3,3,2,2,4,2,2,2,2],"reference_path":[[43.08015599061191,-31.435627820532435,-2.1257171630859375,0,0,-2.371004331700382],[39.49265102164627,-34.91841522398486,-2.1257171630859375,0,0,-2.371004331700382],[35.90514605268063,-38.40120262743728,-2.1257171630859375,0,0,-2.371004331700382],[32.31764108371499,-41.8839900308897,-2.1257171630859375,0,0,-2.371004331700382],[32.31764108371499,-41.8839900308897,-2.1257171630859375,0,0,-2.1092049439012324],[32.31764108371499,-41.8839900308897,-2.1257171630859375,0,0,-1.847405556102083],[30.952164346114053,-46.693924882742756,-2.1257171630859375,0,0,-1.847405556102083],[30.952164346114053,-46.693924882742756,-2.1257171630859375,0,0,-1.5856061683029337],[30.87811784543031,-51.69337656425109,-2.1257171630859375,0,0,-1.5856061683029337],[30.804071344746568,-56.69282824575942,-2.1257171630859375,0,0,-1.5856061683029337],[30.804071344746568,-56.69282824575942,-2.1257171630859375,0,0,-1.3238067805037843],[32.026501227633986,-61.54109238681278,-2.1257171630859375,0,0,-1.3238067805037843],[32.026501227633986,-61.54109238681278,-2.1257171630859375,0,0,-1.062007392704635],[32.026501227633986,-61.54109238681278,-2.1257171630859375,0,0,-0.8002080049054856],[32.026501227633986,-61.54109238681278,-2.1257171630859375,0,0,-0.5384086171063361],[36.31913013847116,-64.10494437822041,-2.1257171630859375,0,0,-0.5384086171063361],[36.31913013847116,-64.10494437822041,-2.1257171630859375,0,0,-0.2766092293071867],[36.31913013847116,-64.10494437822041,-2.1257171630859375,0,0,-0.01480984150803726],[36.31913013847116,-64.10494437822041,-2.1257171630859375,0,0,0.24698954629111217],[36.31913013847116,-64.10494437822041,-2.1257171630859375,0,0,0.5087889340902616],[36.31913013847116,-64.10494437822041,-2.1257171630859375,0,0,0.24698954629111217],[36.31913013847116,-64.10494437822041,-2.1257171630859375,0,0,-0.01480984150803726],[36.31913013847116,-64.10494437822041,-4.1257171630859375,0,0,-0.01480984150803726],[36.31913013847116,-64.10494437822041,-4.1257171630859375,0,0,-0.2766092293071867],[36.31913013847116,-64.10494437822041,-4.1257171630859375,0,0,-0.5384086171063361],[36.31913013847116,-64.10494437822041,-4.1257171630859375,0,0,-0.8002080049054856]]},{"id":4,"instruction":"land there.","completed_instruction":"Turn right to face the road corner and fly to the orange awning, then turn left to face the street lamp.","start_frame":51,"end_frame":55,"start_position":[36.31913013847116,-64.10494437822041,-4.1257171630859375],"start_rotation":[0.92102048855888219,0,0,-0.3895141328049061],"end_position":[36.31913013847116,-64.10494437822041,-2.1257171630859375],"end_rotation":[0.70185137310660406,0,0,-0.7123234167626209],"actions":[2,2,2,5,0],"reference_path":[[36.31913013847116,-64.10494437822041,-4.1257171630859375,0,0,-0.8002080049054856],[36.31913013847116,-64.10494437822041,-4.1257171630859375,0,0,-1.062007392704635],[36.31913013847116,-64.10494437822041,-4.1257171630859375,0,0,-1.3238067805037845],[36.31913013847116,-64.10494437822041,-4.1257171630859375,0,0,-1.5856061683029339],[36.31913013847116,-64.10494437822041,-2.1257171630859375,0,0,-1.5856061683029339]]}],"statistics":{"complete_actions":59,"sentence_actions":[13,7,8,26,5],"sentence_actions_average":11.8}}
diff --git a/scene_13/3WR9XG3T6C9FF015HCS8MAOML71470.json b/scene_13/3WR9XG3T6C9FF015HCS8MAOML71470.json
new file mode 100644
index 0000000000000000000000000000000000000000..80e9e744ce0bff369e478b7780993d91c317949c
--- /dev/null
+++ b/scene_13/3WR9XG3T6C9FF015HCS8MAOML71470.json
@@ -0,0 +1 @@
+{"episode_id":"3WR9XG3T6C9FF015HCS8MAOML71470","trajectory_id":"32ZCLEW0C7IR24RXQ24R3F928ZZPJD","scene_id":13,"instruction":"take off make a right turn , viewing the buildings and the trees then descend down the street to the height level of the electric wire and make a right turn and a left turn on the same spot. descend down a little to the right and fly through the road in front straight to the street light on the right. continue with the turn viewing the buildings around and the trees, till you view the road in the middle of buildings on both sides. make a right turn further, and approach and view the next street, then make a left turn and stop.","sentence_instructions":[{"id":0,"instruction":"take off make a right turn , viewing the buildings and the trees then descend down the street to the height level of the electric wire and make a right turn and a left turn on the same spot.","completed_instruction":"Take off from the rooftop of the building, then turn right to face the top part of a green tree, and move forward over the roof and descend to the level above the road, then turn right facing the white building at the corner of the street.","start_frame":1,"end_frame":30,"start_position":[41.42513656616211,-56.09119415283203,-15.274781227111816],"start_rotation":[0.99994771204227817,0,0,-0.010226102943606893],"end_position":[31.62402898397667,-54.596342495683196,-5.274781227111816],"end_rotation":[0.24892785504771242,0,0,-0.96852203019928518],"actions":[3,3,3,3,3,3,3,3,3,3,3,1,5,5,3,1,3,3,3,3,3,3,5,2,2,2,2,5,5,3],"reference_path":[[41.42513656616211,-56.09119415283203,-15.274781227111816,0,0,-0.02045256236269513],[41.42513656616211,-56.09119415283203,-15.274781227111816,0,0,0.2413468254364543],[41.42513656616211,-56.09119415283203,-15.274781227111816,0,0,0.5031462132356037],[41.42513656616211,-56.09119415283203,-15.274781227111816,0,0,0.7649456010347532],[41.42513656616211,-56.09119415283203,-15.274781227111816,0,0,1.0267449888339026],[41.42513656616211,-56.09119415283203,-15.274781227111816,0,0,1.2885443766330522],[41.42513656616211,-56.09119415283203,-15.274781227111816,0,0,1.5503437644322016],[41.42513656616211,-56.09119415283203,-15.274781227111816,0,0,1.8121431522313511],[41.42513656616211,-56.09119415283203,-15.274781227111816,0,0,2.0739425400305005],[41.42513656616211,-56.09119415283203,-15.274781227111816,0,0,2.33574192782965],[41.42513656616211,-56.09119415283203,-15.274781227111816,0,0,2.5975413156287996],[41.42513656616211,-56.09119415283203,-15.274781227111816,0,0,2.859340703427949],[36.62298325216254,-54.69859817809888,-15.274781227111816,0,0,2.859340703427949],[36.62298325216254,-54.69859817809888,-13.274781227111816,0,0,2.859340703427949],[36.62298325216254,-54.69859817809888,-11.274781227111816,0,0,2.859340703427949],[36.62298325216254,-54.69859817809888,-11.274781227111816,0,0,3.121140091227099],[31.62402898397667,-54.596342495683196,-11.274781227111816,0,0,3.121140091227099],[31.62402898397667,-54.596342495683196,-11.274781227111816,0,0,-2.9002458281533383],[31.62402898397667,-54.596342495683196,-11.274781227111816,0,0,-2.6384464403541887],[31.62402898397667,-54.596342495683196,-11.274781227111816,0,0,-2.3766470525550396],[31.62402898397667,-54.596342495683196,-11.274781227111816,0,0,-2.1148476647558905],[31.62402898397667,-54.596342495683196,-11.274781227111816,0,0,-1.8530482769567411],[31.62402898397667,-54.596342495683196,-11.274781227111816,0,0,-1.5912488891575916],[31.62402898397667,-54.596342495683196,-9.274781227111816,0,0,-1.5912488891575916],[31.62402898397667,-54.596342495683196,-9.274781227111816,0,0,-1.8530482769567411],[31.62402898397667,-54.596342495683196,-9.274781227111816,0,0,-2.1148476647558905],[31.62402898397667,-54.596342495683196,-9.274781227111816,0,0,-2.37664705255504],[31.62402898397667,-54.596342495683196,-9.274781227111816,0,0,-2.638446440354189],[31.62402898397667,-54.596342495683196,-7.274781227111816,0,0,-2.638446440354189],[31.62402898397667,-54.596342495683196,-5.274781227111816,0,0,-2.638446440354189]]},{"id":1,"instruction":"descend down a little to the right and fly through the road in front straight to the street light on the right.","completed_instruction":"Turn left slightly and lower altitude to face the street lamp in front of the green awning, then turn right to face the green awning.","start_frame":30,"end_frame":36,"start_position":[31.62402898397667,-54.596342495683196,-5.274781227111816],"start_rotation":[0.24892785504771242,0,0,-0.96852203019928518],"end_position":[30.12917732682783,-64.39745007786863,-5.274781227111816],"end_rotation":[0.69983886128053185,0,0,-0.71430075475360411],"actions":[3,3,3,1,3,1,3],"reference_path":[[31.62402898397667,-54.596342495683196,-5.274781227111816,0,0,-2.638446440354189],[31.62402898397667,-54.596342495683196,-5.274781227111816,0,0,-2.37664705255504],[31.62402898397667,-54.596342495683196,-5.274781227111816,0,0,-2.1148476647558905],[31.62402898397667,-54.596342495683196,-5.274781227111816,0,0,-1.8530482769567411],[30.231433009243514,-59.39849580968276,-5.274781227111816,0,0,-1.8530482769567411],[30.231433009243514,-59.39849580968276,-5.274781227111816,0,0,-1.5912488891575916],[30.12917732682783,-64.39745007786863,-5.274781227111816,0,0,-1.5912488891575916]]},{"id":2,"instruction":"continue with the turn viewing the buildings around and the trees, till you view the road in the middle of buildings on both sides.","completed_instruction":"Proceed forward and when you reach the corner of the road, turn right to face the street light at the inner corner.","start_frame":36,"end_frame":55,"start_position":[30.12917732682783,-64.39745007786863,-5.274781227111816],"start_rotation":[0.69983886128053185,0,0,-0.71430075475360411],"end_position":[31.221974810085058,-74.25148909621232,-3.2747812271118164],"end_rotation":[0.2686831689187536,0,0,0.9632286098013163],"actions":[3,1,5,3,3,3,3,3,6,3,3,3,3,3,3,3,3,3,3,3],"reference_path":[[30.12917732682783,-64.39745007786863,-5.274781227111816,0,0,-1.5912488891575916],[30.12917732682783,-64.39745007786863,-5.274781227111816,0,0,-1.3294495013584422],[31.324230492500742,-69.25253482802646,-5.274781227111816,0,0,-1.3294495013584422],[31.324230492500742,-69.25253482802646,-3.2747812271118164,0,0,-1.3294495013584422],[31.324230492500742,-69.25253482802646,-3.2747812271118164,0,0,-1.0676501135592928],[31.324230492500742,-69.25253482802646,-3.2747812271118164,0,0,-0.8058507257601435],[31.324230492500742,-69.25253482802646,-3.2747812271118164,0,0,-0.5440513379609941],[31.324230492500742,-69.25253482802646,-3.2747812271118164,0,0,-0.28225195016184473],[31.324230492500742,-69.25253482802646,-3.2747812271118164,0,0,-0.02045256236269535],[31.221974810085058,-74.25148909621232,-3.2747812271118164,0,0,-0.02045256236269535],[31.221974810085058,-74.25148909621232,-3.2747812271118164,0,0,0.24134682543645408],[31.221974810085058,-74.25148909621232,-3.2747812271118164,0,0,0.5031462132356035],[31.221974810085058,-74.25148909621232,-3.2747812271118164,0,0,0.7649456010347528],[31.221974810085058,-74.25148909621232,-3.2747812271118164,0,0,1.0267449888339024],[31.221974810085058,-74.25148909621232,-3.2747812271118164,0,0,1.2885443766330518],[31.221974810085058,-74.25148909621232,-3.2747812271118164,0,0,1.5503437644322013],[31.221974810085058,-74.25148909621232,-3.2747812271118164,0,0,1.8121431522313507],[31.221974810085058,-74.25148909621232,-3.2747812271118164,0,0,2.0739425400305],[31.221974810085058,-74.25148909621232,-3.2747812271118164,0,0,2.335741927829649],[31.221974810085058,-74.25148909621232,-3.2747812271118164,0,0,2.5975413156287988]]},{"id":3,"instruction":"make a right turn further, and approach and view the next street, then make a left turn and stop.","completed_instruction":"Keep going until facing the red-brown building.","start_frame":55,"end_frame":66,"start_position":[31.221974810085058,-74.25148909621232,-3.2747812271118164],"start_rotation":[0.2686831689187536,0,0,0.9632286098013163],"end_position":[16.512851041583524,-76.53933974514247,-3.2747812271118164],"end_rotation":[0.50882992095201762,0,0,0.86086706961293591],"actions":[3,3,3,1,1,2,1,2,2,2,2,0],"reference_path":[[31.221974810085058,-74.25148909621232,-3.2747812271118164,0,0,2.5975413156287988],[31.221974810085058,-74.25148909621232,-3.2747812271118164,0,0,2.8593407034279483],[31.221974810085058,-74.25148909621232,-3.2747812271118164,0,0,3.1211400912270975],[31.221974810085058,-74.25148909621232,-3.2747812271118164,0,0,-2.9002458281533396],[26.366890059927226,-75.44654226188524,-3.2747812271118164,0,0,-2.9002458281533396],[21.511805309769393,-76.64159542755816,-3.2747812271118164,0,0,-2.9002458281533396],[21.511805309769393,-76.64159542755816,-3.2747812271118164,0,0,3.121140091227097],[16.512851041583524,-76.53933974514247,-3.2747812271118164,0,0,3.121140091227097],[16.512851041583524,-76.53933974514247,-3.2747812271118164,0,0,2.859340703427948],[16.512851041583524,-76.53933974514247,-3.2747812271118164,0,0,2.5975413156287988],[16.512851041583524,-76.53933974514247,-3.2747812271118164,0,0,2.335741927829649],[16.512851041583524,-76.53933974514247,-3.2747812271118164,0,0,2.0739425400305]]}],"statistics":{"complete_actions":69,"sentence_actions":[30,7,20,12],"sentence_actions_average":17.25}}
diff --git a/scene_13/3WYGZ5XF35DMC0A0Q7DZOI9EY8EKSY.json b/scene_13/3WYGZ5XF35DMC0A0Q7DZOI9EY8EKSY.json
new file mode 100644
index 0000000000000000000000000000000000000000..0cebaf5b1b3ce5af274c5e4b921b20eec5480c16
--- /dev/null
+++ b/scene_13/3WYGZ5XF35DMC0A0Q7DZOI9EY8EKSY.json
@@ -0,0 +1 @@
+{"episode_id":"3WYGZ5XF35DMC0A0Q7DZOI9EY8EKSY","trajectory_id":"3KG2UQJ0NRM8L6JX5DB8WRGTLTMNQT","scene_id":13,"instruction":"take off and turn left and go over trees. turn left at street and go passed stop sign. turn right and go to the end of the street and stop.","sentence_instructions":[{"id":0,"instruction":"take off and turn left and go over trees.","completed_instruction":"Take off and turn left to face the trees beside the umbrella area and go over trees to the street.","start_frame":0,"end_frame":18,"start_position":[46.02077865600586,-24.329687118530273,-0.6907194256782532],"start_rotation":[0.99968604667228589,0,0,-0.025056098833141208],"end_position":[37.87942361031191,-36.92803375687745,-14.690719425678253],"end_rotation":[0.47814380522690875,0,0,-0.87828156164360638],"actions":[4,4,4,4,4,4,4,2,2,2,2,2,2,2,2,1,1,1,6],"reference_path":[[46.02077865600586,-24.329687118530273,-0.6907194256782532,0,0,-0.05011744262202898],[46.02077865600586,-24.329687118530273,-2.690719425678253,0,0,-0.05011744262202898],[46.02077865600586,-24.329687118530273,-4.690719425678253,0,0,-0.05011744262202898],[46.02077865600586,-24.329687118530273,-6.690719425678253,0,0,-0.05011744262202898],[46.02077865600586,-24.329687118530273,-8.690719425678253,0,0,-0.05011744262202898],[46.02077865600586,-24.329687118530273,-10.690719425678253,0,0,-0.05011744262202898],[46.02077865600586,-24.329687118530273,-12.690719425678253,0,0,-0.05011744262202898],[46.02077865600586,-24.329687118530273,-14.690719425678253,0,0,-0.05011744262202898],[46.02077865600586,-24.329687118530273,-14.690719425678253,0,0,-0.31191683042117846],[46.02077865600586,-24.329687118530273,-14.690719425678253,0,0,-0.5737162182203279],[46.02077865600586,-24.329687118530273,-14.690719425678253,0,0,-0.8355156060194774],[46.02077865600586,-24.329687118530273,-14.690719425678253,0,0,-1.0973149938186268],[46.02077865600586,-24.329687118530273,-14.690719425678253,0,0,-1.3591143816177766],[46.02077865600586,-24.329687118530273,-14.690719425678253,0,0,-1.6209137694169262],[46.02077865600586,-24.329687118530273,-14.690719425678253,0,0,-1.8827131572160756],[46.02077865600586,-24.329687118530273,-14.690719425678253,0,0,-2.144512545015225],[43.30699364077454,-28.52913599797933,-14.690719425678253,0,0,-2.144512545015225],[40.59320862554323,-32.72858487742839,-14.690719425678253,0,0,-2.144512545015225],[37.87942361031191,-36.92803375687745,-14.690719425678253,0,0,-2.144512545015225]]},{"id":1,"instruction":"turn left at street and go passed stop sign.","completed_instruction":"Go down close to ground and turn left to face the intersection and go passed stop sign to the road.","start_frame":18,"end_frame":37,"start_position":[37.87942361031191,-36.92803375687745,-14.690719425678253],"start_rotation":[0.47814380522690875,0,0,-0.87828156164360638],"end_position":[25.027272155822185,-34.575826047190176,-2.690719425678253],"end_rotation":[0.62844864603623984,0,0,0.77785107783895047],"actions":[6,1,5,5,5,5,5,5,2,2,2,1,2,2,2,2,2,2,1,3],"reference_path":[[37.87942361031191,-36.92803375687745,-14.690719425678253,0,0,-2.144512545015225],[33.67997473086285,-34.214248741646124,-14.690719425678253,0,0,-2.144512545015225],[30.966189715631533,-38.41369762109518,-14.690719425678253,0,0,-2.144512545015225],[30.966189715631533,-38.41369762109518,-12.690719425678253,0,0,-2.144512545015225],[30.966189715631533,-38.41369762109518,-10.690719425678253,0,0,-2.144512545015225],[30.966189715631533,-38.41369762109518,-8.690719425678253,0,0,-2.144512545015225],[30.966189715631533,-38.41369762109518,-6.690719425678253,0,0,-2.144512545015225],[30.966189715631533,-38.41369762109518,-4.690719425678253,0,0,-2.144512545015225],[30.966189715631533,-38.41369762109518,-2.690719425678253,0,0,-2.144512545015225],[30.966189715631533,-38.41369762109518,-2.690719425678253,0,0,-2.4063119328143747],[30.966189715631533,-38.41369762109518,-2.690719425678253,0,0,-2.6681113206135243],[30.966189715631533,-38.41369762109518,-2.690719425678253,0,0,-2.9299107084126734],[26.077795148774353,-39.464220614047356,-2.690719425678253,0,0,-2.9299107084126734],[26.077795148774353,-39.464220614047356,-2.690719425678253,0,0,3.0914752109677632],[26.077795148774353,-39.464220614047356,-2.690719425678253,0,0,2.829675823168613],[26.077795148774353,-39.464220614047356,-2.690719425678253,0,0,2.567876435369464],[26.077795148774353,-39.464220614047356,-2.690719425678253,0,0,2.3060770475703145],[26.077795148774353,-39.464220614047356,-2.690719425678253,0,0,2.044277659771165],[26.077795148774353,-39.464220614047356,-2.690719425678253,0,0,1.7824782719720156],[25.027272155822185,-34.575826047190176,-2.690719425678253,0,0,1.7824782719720156]]},{"id":2,"instruction":"turn right and go to the end of the street and stop.","completed_instruction":"Turn right to face the corner and go to the end of the street and stop at the corner.","start_frame":37,"end_frame":75,"start_position":[25.027272155822185,-34.575826047190176,-2.690719425678253],"start_rotation":[0.62844864603623984,0,0,0.77785107783895047],"end_position":[-12.342811984485486,-23.97849595633069,-2.690719425678253],"end_rotation":[0.15532695352184323,0,0,0.98786311678775773],"actions":[3,3,1,3,3,1,1,1,3,1,1,1,2,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,1,0],"reference_path":[[25.027272155822185,-34.575826047190176,-2.690719425678253,0,0,1.7824782719720156],[25.027272155822185,-34.575826047190176,-2.690719425678253,0,0,2.044277659771165],[25.027272155822185,-34.575826047190176,-2.690719425678253,0,0,2.3060770475703145],[21.673295273237354,-30.867613665046115,-2.690719425678253,0,0,2.3060770475703145],[21.673295273237354,-30.867613665046115,-2.690719425678253,0,0,2.567876435369464],[21.673295273237354,-30.867613665046115,-2.690719425678253,0,0,2.829675823168613],[16.91455989814112,-29.333195980773763,-2.690719425678253,0,0,2.829675823168613],[12.15582452304489,-27.79877829650141,-2.690719425678253,0,0,2.829675823168613],[7.397089147948659,-26.26436061222906,-2.690719425678253,0,0,2.829675823168613],[7.397089147948659,-26.26436061222906,-2.690719425678253,0,0,3.091475210967763],[2.4033672288360206,-26.01387828835372,-2.690719425678253,0,0,3.091475210967763],[-2.5903546902766177,-25.76339596447838,-2.690719425678253,0,0,3.091475210967763],[-7.584076609389256,-25.512913640603042,-2.690719425678253,0,0,3.091475210967763],[-7.584076609389256,-25.512913640603042,-2.690719425678253,0,0,2.829675823168613],[-7.584076609389256,-25.512913640603042,-2.690719425678253,0,0,3.091475210967763],[-7.584076609389256,-25.512913640603042,-2.690719425678253,0,0,-2.9299107084126743],[-7.584076609389256,-25.512913640603042,-2.690719425678253,0,0,-2.6681113206135247],[-7.584076609389256,-25.512913640603042,-2.690719425678253,0,0,-2.406311932814375],[-7.584076609389256,-25.512913640603042,-2.690719425678253,0,0,-2.144512545015226],[-7.584076609389256,-25.512913640603042,-2.690719425678253,0,0,-1.8827131572160767],[-7.584076609389256,-25.512913640603042,-2.690719425678253,0,0,-1.620913769416927],[-7.584076609389256,-25.512913640603042,-2.690719425678253,0,0,-1.3591143816177778],[-7.584076609389256,-25.512913640603042,-2.690719425678253,0,0,-1.0973149938186284],[-7.584076609389256,-25.512913640603042,-2.690719425678253,0,0,-0.8355156060194789],[-7.584076609389256,-25.512913640603042,-2.690719425678253,0,0,-0.5737162182203296],[-7.584076609389256,-25.512913640603042,-2.690719425678253,0,0,-0.3119168304211802],[-7.584076609389256,-25.512913640603042,-2.690719425678253,0,0,-0.050117442622030745],[-7.584076609389256,-25.512913640603042,-2.690719425678253,0,0,0.2116819451771187],[-7.584076609389256,-25.512913640603042,-2.690719425678253,0,0,0.4734813329762681],[-7.584076609389256,-25.512913640603042,-2.690719425678253,0,0,0.7352807207754175],[-7.584076609389256,-25.512913640603042,-2.690719425678253,0,0,0.997080108574567],[-7.584076609389256,-25.512913640603042,-2.690719425678253,0,0,1.2588794963737162],[-7.584076609389256,-25.512913640603042,-2.690719425678253,0,0,1.5206788841728658],[-7.584076609389256,-25.512913640603042,-2.690719425678253,0,0,1.7824782719720151],[-7.584076609389256,-25.512913640603042,-2.690719425678253,0,0,2.0442776597711645],[-7.584076609389256,-25.512913640603042,-2.690719425678253,0,0,2.306077047570314],[-7.584076609389256,-25.512913640603042,-2.690719425678253,0,0,2.5678764353694636],[-7.584076609389256,-25.512913640603042,-2.690719425678253,0,0,2.829675823168613],[-12.342811984485486,-23.97849595633069,-2.690719425678253,0,0,2.829675823168613]]}],"statistics":{"complete_actions":78,"sentence_actions":[19,20,39],"sentence_actions_average":26.0}}
diff --git a/scene_13/3Z7ISHFUH9TZIBUDCAA4U6XQVWI8ZT.json b/scene_13/3Z7ISHFUH9TZIBUDCAA4U6XQVWI8ZT.json
new file mode 100644
index 0000000000000000000000000000000000000000..251a404c71e9a90b04cb2cd0f6d7f067f7b47a8e
--- /dev/null
+++ b/scene_13/3Z7ISHFUH9TZIBUDCAA4U6XQVWI8ZT.json
@@ -0,0 +1 @@
+{"episode_id":"3Z7ISHFUH9TZIBUDCAA4U6XQVWI8ZT","trajectory_id":"3AFT28WXMN0DMTVQTK6C2EPCLTZOIW","scene_id":13,"instruction":"go slight left and fall down to the sidewalk. turn left and cross the road. turn left and go to the middle of the road on the left of the restaurant. turn right and go to the trash bin on the sidewalk on the right.","sentence_instructions":[{"id":0,"instruction":"go slight left and fall down to the sidewalk.","completed_instruction":"Fly forward over the roof above and then descend onto the sidewalkd.","start_frame":1,"end_frame":8,"start_position":[33.992637634277344,-16.65180206298828,-14.979244232177734],"start_rotation":[0.99990684393667273,0,0,-0.013649302128766647],"end_position":[42.513184495600555,-21.886329852960856,-8.979244232177734],"end_rotation":[0.96230314509834192,0,0,-0.27197914797616296],"actions":[2,2,1,1,5,5,5,5],"reference_path":[[33.992637634277344,-16.65180206298828,-14.979244232177734,0,0,-0.027299451965956706],[33.992637634277344,-16.65180206298828,-14.979244232177734,0,0,-0.28909883976510614],[33.992637634277344,-16.65180206298828,-14.979244232177734,0,0,-0.5508982275642555],[38.25291106493895,-19.26906595797457,-14.979244232177734,0,0,-0.5508982275642555],[42.513184495600555,-21.886329852960856,-14.979244232177734,0,0,-0.5508982275642555],[42.513184495600555,-21.886329852960856,-12.979244232177734,0,0,-0.5508982275642555],[42.513184495600555,-21.886329852960856,-10.979244232177734,0,0,-0.5508982275642555],[42.513184495600555,-21.886329852960856,-8.979244232177734,0,0,-0.5508982275642555]]},{"id":1,"instruction":"turn left and cross the road.","completed_instruction":"Turn left to face three black sunshades, then fly across the road.","start_frame":8,"end_frame":14,"start_position":[42.513184495600555,-21.886329852960856,-8.979244232177734],"start_rotation":[0.96230314509834192,0,0,-0.27197914797616296],"end_position":[42.513184495600555,-21.886329852960856,-2.9792442321777344],"end_rotation":[0.7849702659483464,0,0,-0.61953343862699],"actions":[5,5,5,2,2,2,1],"reference_path":[[42.513184495600555,-21.886329852960856,-8.979244232177734,0,0,-0.5508982275642555],[42.513184495600555,-21.886329852960856,-6.979244232177734,0,0,-0.5508982275642555],[42.513184495600555,-21.886329852960856,-4.979244232177734,0,0,-0.5508982275642555],[42.513184495600555,-21.886329852960856,-2.9792442321777344,0,0,-0.5508982275642555],[42.513184495600555,-21.886329852960856,-2.9792442321777344,0,0,-0.812697615363405],[42.513184495600555,-21.886329852960856,-2.9792442321777344,0,0,-1.0744970031625545],[42.513184495600555,-21.886329852960856,-2.9792442321777344,0,0,-1.3362963909617038]]},{"id":2,"instruction":"turn left and go to the middle of the road on the left of the restaurant.","completed_instruction":"Turn left to face the intersection and then head towards the building with the door open on the right front across the road.","start_frame":14,"end_frame":25,"start_position":[42.513184495600555,-21.886329852960856,-2.9792442321777344],"start_rotation":[0.7849702659483464,0,0,-0.61953343862699],"end_position":[31.180090109638208,-37.53616573990483,-2.9792442321777344],"end_rotation":[0.11698150245691903,0,0,-0.9931340937068478],"actions":[1,1,2,2,2,2,2,1,1,2,1,3],"reference_path":[[42.513184495600555,-21.886329852960856,-2.9792442321777344,0,0,-1.3362963909617038],[43.67496767983073,-26.749483133790072,-2.9792442321777344,0,0,-1.3362963909617038],[44.8367508640609,-31.61263641461929,-2.9792442321777344,0,0,-1.3362963909617038],[44.8367508640609,-31.61263641461929,-2.9792442321777344,0,0,-1.5980957787608532],[44.8367508640609,-31.61263641461929,-2.9792442321777344,0,0,-1.8598951665600028],[44.8367508640609,-31.61263641461929,-2.9792442321777344,0,0,-2.121694554359152],[44.8367508640609,-31.61263641461929,-2.9792442321777344,0,0,-2.3834939421583017],[44.8367508640609,-31.61263641461929,-2.9792442321777344,0,0,-2.645293329957451],[40.439997127264164,-33.99350948514697,-2.9792442321777344,0,0,-2.645293329957451],[36.043243390467424,-36.37438255567466,-2.9792442321777344,0,0,-2.645293329957451],[36.043243390467424,-36.37438255567466,-2.9792442321777344,0,0,-2.9070927177566004],[31.180090109638208,-37.53616573990483,-2.9792442321777344,0,0,-2.9070927177566004]]},{"id":3,"instruction":"turn right and go to the trash bin on the sidewalk on the right.","completed_instruction":"Turn left to face the trash can beside the orange awning, and then land beside the street lamp in front of a white building.","start_frame":25,"end_frame":38,"start_position":[31.180090109638208,-37.53616573990483,-2.9792442321777344],"start_rotation":[0.11698150245691903,0,0,-0.9931340937068478],"end_position":[33.23147057409763,-53.999489525443714,-0.9792442321777344],"end_rotation":[0.91857010574302478,0,0,-0.39525809395286038],"actions":[3,3,1,3,3,3,1,3,3,1,3,1,5,0],"reference_path":[[31.180090109638208,-37.53616573990483,-2.9792442321777344,0,0,-2.9070927177566004],[31.180090109638208,-37.53616573990483,-2.9792442321777344,0,0,-2.645293329957451],[31.180090109638208,-37.53616573990483,-2.9792442321777344,0,0,-2.3834939421583017],[27.549367418057553,-40.97387613155235,-2.9792442321777344,0,0,-2.3834939421583017],[27.549367418057553,-40.97387613155235,-2.9792442321777344,0,0,-2.121694554359152],[27.549367418057553,-40.97387613155235,-2.9792442321777344,0,0,-1.8598951665600028],[27.549367418057553,-40.97387613155235,-2.9792442321777344,0,0,-1.5980957787608532],[27.412887111922423,-45.97201309706633,-2.9792442321777344,0,0,-1.5980957787608532],[27.412887111922423,-45.97201309706633,-2.9792442321777344,0,0,-1.3362963909617038],[27.412887111922423,-45.97201309706633,-2.9792442321777344,0,0,-1.0744970031625545],[29.79376018245011,-50.36876683386306,-2.9792442321777344,0,0,-1.0744970031625545],[29.79376018245011,-50.36876683386306,-2.9792442321777344,0,0,-0.8126976153634051],[33.23147057409763,-53.999489525443714,-2.9792442321777344,0,0,-0.8126976153634051],[33.23147057409763,-53.999489525443714,-0.9792442321777344,0,0,-0.8126976153634051]]}],"statistics":{"complete_actions":41,"sentence_actions":[8,7,12,14],"sentence_actions_average":10.25}}
diff --git a/scene_13/3ZOTGHDK5R952RVFOZ5SVZQNJLBSOU.json b/scene_13/3ZOTGHDK5R952RVFOZ5SVZQNJLBSOU.json
new file mode 100644
index 0000000000000000000000000000000000000000..0dcb55bdba0874e1d095e61d8bb7a7fa39023d8e
--- /dev/null
+++ b/scene_13/3ZOTGHDK5R952RVFOZ5SVZQNJLBSOU.json
@@ -0,0 +1 @@
+{"episode_id":"3ZOTGHDK5R952RVFOZ5SVZQNJLBSOU","trajectory_id":"3Y7LTZE0Z1KUUO4XPA671FKRYS0UZM","scene_id":13,"instruction":"lift off and head straight towards the alley. halfway into the alley turn left facing the road and head straight. on the road turn right facing the orange canopy and head straight. land at the left of the canopy.","sentence_instructions":[{"id":0,"instruction":"lift off and head straight towards the alley.","completed_instruction":"Lift off and head straight to the white wall in the alley in front.","start_frame":1,"end_frame":6,"start_position":[-16.377094268798828,-52.42120361328125,-0.7463926672935486],"start_rotation":[0.99969130310469079,0,0,-0.024845492485464749],"end_position":[-6.389440238735734,-52.91796006846269,-6.746392667293549],"end_rotation":[0.99969130310469079,0,0,-0.024845492485464749],"actions":[4,4,4,1,1,4],"reference_path":[[-16.377094268798828,-52.42120361328125,-0.7463926672935486,0,0,-0.04969609875330702],[-16.377094268798828,-52.42120361328125,-2.7463926672935486,0,0,-0.04969609875330702],[-16.377094268798828,-52.42120361328125,-4.746392667293549,0,0,-0.04969609875330702],[-16.377094268798828,-52.42120361328125,-6.746392667293549,0,0,-0.04969609875330702],[-11.383267253767281,-52.66958184087197,-6.746392667293549,0,0,-0.04969609875330702],[-6.389440238735734,-52.91796006846269,-6.746392667293549,0,0,-0.04969609875330702]]},{"id":1,"instruction":"halfway into the alley turn left to face the road and head straight.","completed_instruction":"Turn left to face the brown brick wall, then ascend to a higher altitude above the roof, and then fly straight over the gray-white rooftop platform, and then descend to close to the street.","start_frame":6,"end_frame":20,"start_position":[-6.389440238735734,-52.91796006846269,-6.746392667293549],"start_rotation":[0.99969130310469079,0,0,-0.024845492485464749],"end_position":[7.6650806414964325,-72.3003108955426,-10.746392667293549],"end_rotation":[0.68932008330015149,0,0,-0.72445691573693471],"actions":[4,1,1,2,2,2,2,4,1,1,2,2,1,1,3],"reference_path":[[-6.389440238735734,-52.91796006846269,-6.746392667293549,0,0,-0.04969609875330702],[-6.389440238735734,-52.91796006846269,-8.746392667293549,0,0,-0.04969609875330702],[-1.3956132237041867,-53.16633829605341,-8.746392667293549,0,0,-0.04969609875330702],[3.5982137913273604,-53.41471652364413,-8.746392667293549,0,0,-0.04969609875330702],[3.5982137913273604,-53.41471652364413,-8.746392667293549,0,0,-0.31149548655245646],[3.5982137913273604,-53.41471652364413,-8.746392667293549,0,0,-0.5732948743516059],[3.5982137913273604,-53.41471652364413,-8.746392667293549,0,0,-0.8350942621507553],[3.5982137913273604,-53.41471652364413,-8.746392667293549,0,0,-1.0968936499499047],[3.5982137913273604,-53.41471652364413,-10.746392667293549,0,0,-1.0968936499499047],[5.880025444002618,-57.86368669456182,-10.746392667293549,0,0,-1.0968936499499047],[8.161837096677875,-62.31265686547951,-10.746392667293549,0,0,-1.0968936499499047],[8.161837096677875,-62.31265686547951,-10.746392667293549,0,0,-1.3586930377490543],[8.161837096677875,-62.31265686547951,-10.746392667293549,0,0,-1.6204924255482038],[7.913458869087154,-67.30648388051105,-10.746392667293549,0,0,-1.6204924255482038],[7.6650806414964325,-72.3003108955426,-10.746392667293549,0,0,-1.6204924255482038]]},{"id":2,"instruction":"on the road turn right to face the orange canopy and head straight.","completed_instruction":"Turn right to face the street lights at the inner corner and proceed to the front of the orange awning.","start_frame":20,"end_frame":39,"start_position":[7.6650806414964325,-72.3003108955426,-10.746392667293549],"start_rotation":[0.68932008330015149,0,0,-0.72445691573693471],"end_position":[23.93577017536662,-71.90217158507974,-4.746392667293549],"end_rotation":[0.93310229211109952,0,0,0.35961105719514858],"actions":[3,5,1,3,3,3,3,3,3,3,3,6,5,1,2,5,1,3,1,1],"reference_path":[[7.6650806414964325,-72.3003108955426,-10.746392667293549,0,0,-1.6204924255482038],[7.6650806414964325,-72.3003108955426,-10.746392667293549,0,0,-1.3586930377490545],[7.6650806414964325,-72.3003108955426,-8.746392667293549,0,0,-1.3586930377490545],[8.717663236216287,-77.1882623970709,-8.746392667293549,0,0,-1.3586930377490545],[8.717663236216287,-77.1882623970709,-8.746392667293549,0,0,-1.096893649949905],[8.717663236216287,-77.1882623970709,-8.746392667293549,0,0,-0.8350942621507556],[8.717663236216287,-77.1882623970709,-8.746392667293549,0,0,-0.5732948743516061],[8.717663236216287,-77.1882623970709,-8.746392667293549,0,0,-0.3114954865524567],[8.717663236216287,-77.1882623970709,-8.746392667293549,0,0,-0.04969609875330723],[8.717663236216287,-77.1882623970709,-8.746392667293549,0,0,0.2121032890458422],[8.717663236216287,-77.1882623970709,-8.746392667293549,0,0,0.47390267684499165],[8.717663236216287,-77.1882623970709,-8.746392667293549,0,0,0.7357020646441411],[12.073202253589177,-80.89506127250078,-8.746392667293549,0,0,0.7357020646441411],[12.073202253589177,-80.89506127250078,-6.746392667293549,0,0,0.7357020646441411],[15.780001129019052,-77.53952225512789,-6.746392667293549,0,0,0.7357020646441411],[15.780001129019052,-77.53952225512789,-6.746392667293549,0,0,0.47390267684499177],[15.780001129019052,-77.53952225512789,-4.746392667293549,0,0,0.47390267684499177],[20.228971299936745,-75.25771060245263,-4.746392667293549,0,0,0.47390267684499177],[20.228971299936745,-75.25771060245263,-4.746392667293549,0,0,0.7357020646441413],[23.93577017536662,-71.90217158507974,-4.746392667293549,0,0,0.7357020646441413]]},{"id":3,"instruction":"land at the left of the canopy.","completed_instruction":"Land in the left front area of the orange awning.","start_frame":39,"end_frame":57,"start_position":[23.93577017536662,-71.90217158507974,-4.746392667293549],"start_rotation":[0.93310229211109952,0,0,0.35961105719514858],"end_position":[31.34936792622637,-65.19109355033396,-0.7463926672935486],"end_rotation":[0.93310229211109952,0,0,0.35961105719514846],"actions":[1,1,2,5,2,2,5,3,3,3,3,3,3,3,2,2,2,2,0],"reference_path":[[23.93577017536662,-71.90217158507974,-4.746392667293549,0,0,0.7357020646441413],[27.642569050796496,-68.54663256770685,-4.746392667293549,0,0,0.7357020646441413],[31.34936792622637,-65.19109355033396,-4.746392667293549,0,0,0.7357020646441413],[31.34936792622637,-65.19109355033396,-4.746392667293549,0,0,0.4739026768449919],[31.34936792622637,-65.19109355033396,-2.7463926672935486,0,0,0.4739026768449919],[31.34936792622637,-65.19109355033396,-2.7463926672935486,0,0,0.21210328904584244],[31.34936792622637,-65.19109355033396,-2.7463926672935486,0,0,-0.04969609875330695],[31.34936792622637,-65.19109355033396,-0.7463926672935486,0,0,-0.04969609875330695],[31.34936792622637,-65.19109355033396,-0.7463926672935486,0,0,0.21210328904584247],[31.34936792622637,-65.19109355033396,-0.7463926672935486,0,0,0.4739026768449919],[31.34936792622637,-65.19109355033396,-0.7463926672935486,0,0,0.7357020646441413],[31.34936792622637,-65.19109355033396,-0.7463926672935486,0,0,0.9975014524432907],[31.34936792622637,-65.19109355033396,-0.7463926672935486,0,0,1.2593008402424402],[31.34936792622637,-65.19109355033396,-0.7463926672935486,0,0,1.5211002280415895],[31.34936792622637,-65.19109355033396,-0.7463926672935486,0,0,1.7828996158407389],[31.34936792622637,-65.19109355033396,-0.7463926672935486,0,0,1.5211002280415895],[31.34936792622637,-65.19109355033396,-0.7463926672935486,0,0,1.25930084024244],[31.34936792622637,-65.19109355033396,-0.7463926672935486,0,0,0.9975014524432905],[31.34936792622637,-65.19109355033396,-0.7463926672935486,0,0,0.7357020646441411]]}],"statistics":{"complete_actions":60,"sentence_actions":[6,15,20,19],"sentence_actions_average":15.0}}
diff --git a/scene_14/30LSNF2393T2163EWPDHKKHXBH3I2C.json b/scene_14/30LSNF2393T2163EWPDHKKHXBH3I2C.json
new file mode 100644
index 0000000000000000000000000000000000000000..e3a45345e19cbc150c73f759ba8e687c45ba228d
--- /dev/null
+++ b/scene_14/30LSNF2393T2163EWPDHKKHXBH3I2C.json
@@ -0,0 +1 @@
+{"episode_id":"30LSNF2393T2163EWPDHKKHXBH3I2C","trajectory_id":"37VE3DA4Z2FT74VXJXJ5WIOYDZFHB5","scene_id":14,"instruction":"lift off and turn left facing the burger joint and head straight. before the burger joint turn right facing the red car and head straight. past the red car turn left facing the entrance to the subway and head straight. after the entrance turn left facing the restaurant and head straight. before the restaurant turn right facing the building and fly above it and turn right and climb over that building. land on the roof of the next building you come to.","sentence_instructions":[{"id":0,"instruction":"lift off and turn left facing the burger joint and head straight.","completed_instruction":"Turn left to face a white building with big windows, fly forward to the pillars in front of the building.","start_frame":1,"end_frame":5,"start_position":[-14.850597381591797,9.766430854797363,-0.9813388586044312],"start_rotation":[0.999694502818176,0,0,-0.024716412262299245],"end_position":[-10.649305228165765,7.055500342674106,-2.981338858604431],"end_rotation":[0.9592336604511974,0,0,-0.28261419755100226],"actions":[4,2,2,1,1],"reference_path":[[-14.850597381591797,9.766430854797363,-0.9813388586044312,0,0,-0.04943785900267203],[-14.850597381591797,9.766430854797363,-2.981338858604431,0,0,-0.04943785900267203],[-14.850597381591797,9.766430854797363,-2.981338858604431,0,0,-0.31123724680182147],[-14.850597381591797,9.766430854797363,-2.981338858604431,0,0,-0.573036634600971],[-10.649305228165765,7.055500342674106,-2.981338858604431,0,0,-0.573036634600971]]},{"id":1,"instruction":"before the burger joint turn right facing the red car and head straight.","completed_instruction":"Turn right to face the tallest white building behind the park, fly to the road right to the park, fly forward along the road until passing the park wall on your left.","start_frame":5,"end_frame":26,"start_position":[-10.649305228165765,7.055500342674106,-2.981338858604431],"start_rotation":[0.9592336604511974,0,0,-0.28261419755100226],"end_position":[-10.677479505197745,40.73507547747762,-6.981338858604431],"end_rotation":[0.62818430233606559,0,0,0.77806457463281953],"actions":[1,4,1,3,3,3,3,3,3,3,3,3,1,1,1,1,1,1,4,1,1,1],"reference_path":[[-10.649305228165765,7.055500342674106,-2.981338858604431,0,0,-0.573036634600971],[-6.448013074739735,4.344569830550849,-2.981338858604431,0,0,-0.573036634600971],[-6.448013074739735,4.344569830550849,-4.981338858604431,0,0,-0.573036634600971],[-2.2467209213137043,1.633639318427592,-4.981338858604431,0,0,-0.573036634600971],[-2.2467209213137043,1.633639318427592,-4.981338858604431,0,0,-0.3112372468018216],[-2.2467209213137043,1.633639318427592,-4.981338858604431,0,0,-0.04943785900267212],[-2.2467209213137043,1.633639318427592,-4.981338858604431,0,0,0.21236152879647732],[-2.2467209213137043,1.633639318427592,-4.981338858604431,0,0,0.47416091659562676],[-2.2467209213137043,1.633639318427592,-4.981338858604431,0,0,0.7359603043947762],[-2.2467209213137043,1.633639318427592,-4.981338858604431,0,0,0.9977596921939256],[-2.2467209213137043,1.633639318427592,-4.981338858604431,0,0,1.2595590799930751],[-2.2467209213137043,1.633639318427592,-4.981338858604431,0,0,1.5213584677922247],[-2.2467209213137043,1.633639318427592,-4.981338858604431,0,0,1.783157855591374],[-3.300565744299209,6.521318838308847,-4.981338858604431,0,0,1.783157855591374],[-4.354410567284714,11.408998358190102,-4.981338858604431,0,0,1.783157855591374],[-5.408255390270218,16.296677878071357,-4.981338858604431,0,0,1.783157855591374],[-6.462100213255724,21.18435739795261,-4.981338858604431,0,0,1.783157855591374],[-7.515945036241229,26.072036917833863,-4.981338858604431,0,0,1.783157855591374],[-8.569789859226734,30.959716437715116,-4.981338858604431,0,0,1.783157855591374],[-8.569789859226734,30.959716437715116,-6.981338858604431,0,0,1.783157855591374],[-9.62363468221224,35.84739595759637,-6.981338858604431,0,0,1.783157855591374],[-10.677479505197745,40.73507547747762,-6.981338858604431,0,0,1.783157855591374]]},{"id":2,"instruction":"past the red car turn left facing the entrance to the subway and head straight.","completed_instruction":"Turn left to face the black subway entrance on the square, then fly to the top of the entrance.","start_frame":26,"end_frame":37,"start_position":[-10.677479505197745,40.73507547747762,-6.981338858604431],"start_rotation":[0.62818430233606559,0,0,0.77806457463281953],"end_position":[1.6138179761350893,52.4716364299355,-10.981338858604431],"end_rotation":[0.97202781689137441,0,0,0.23486575567627702],"actions":[1,2,2,2,2,2,4,1,1,4,1,1],"reference_path":[[-10.677479505197745,40.73507547747762,-6.981338858604431,0,0,1.783157855591374],[-11.73132432818325,45.622754997358875,-6.981338858604431,0,0,1.783157855591374],[-11.73132432818325,45.622754997358875,-6.981338858604431,0,0,1.5213584677922247],[-11.73132432818325,45.622754997358875,-6.981338858604431,0,0,1.2595590799930754],[-11.73132432818325,45.622754997358875,-6.981338858604431,0,0,0.9977596921939259],[-11.73132432818325,45.622754997358875,-6.981338858604431,0,0,0.7359603043947764],[-11.73132432818325,45.622754997358875,-6.981338858604431,0,0,0.4741609165956271],[-11.73132432818325,45.622754997358875,-8.981338858604431,0,0,0.4741609165956271],[-7.282943560077137,47.90571547488442,-8.981338858604431,0,0,0.4741609165956271],[-2.834562791971024,50.18867595240996,-8.981338858604431,0,0,0.4741609165956271],[-2.834562791971024,50.18867595240996,-10.981338858604431,0,0,0.4741609165956271],[1.6138179761350893,52.4716364299355,-10.981338858604431,0,0,0.4741609165956271]]},{"id":3,"instruction":"after the entrance turn left facing the restaurant and head straight.","completed_instruction":"Turn left to face a building with a black roof and light beige wall building left to an light orange building, then fly forward to the front of that building.","start_frame":37,"end_frame":50,"start_position":[1.6138179761350893,52.4716364299355,-10.981338858604431],"start_rotation":[0.97202781689137441,0,0,0.23486575567627702],"end_position":[24.37586285729362,40.984712857321185,-10.981338858604431],"end_rotation":[0.91413872843747246,0,0,-0.40540151106122069],"actions":[1,2,1,5,2,2,2,2,1,1,4,1,1,1],"reference_path":[[1.6138179761350893,52.4716364299355,-10.981338858604431,0,0,0.4741609165956271],[6.062198744241202,54.75459690746104,-10.981338858604431,0,0,0.4741609165956271],[6.062198744241202,54.75459690746104,-10.981338858604431,0,0,0.21236152879647768],[10.949878264122457,55.808441730446546,-10.981338858604431,0,0,0.21236152879647768],[10.949878264122457,55.808441730446546,-8.981338858604431,0,0,0.21236152879647768],[10.949878264122457,55.808441730446546,-8.981338858604431,0,0,-0.04943785900267175],[10.949878264122457,55.808441730446546,-8.981338858604431,0,0,-0.3112372468018212],[10.949878264122457,55.808441730446546,-8.981338858604431,0,0,-0.5730366346009707],[10.949878264122457,55.808441730446546,-8.981338858604431,0,0,-0.8348360224001202],[14.306374412415247,52.102509512165206,-8.981338858604431,0,0,-0.8348360224001202],[17.662870560708036,48.396577293883865,-8.981338858604431,0,0,-0.8348360224001202],[17.662870560708036,48.396577293883865,-10.981338858604431,0,0,-0.8348360224001202],[21.019366709000828,44.690645075602525,-10.981338858604431,0,0,-0.8348360224001202],[24.37586285729362,40.984712857321185,-10.981338858604431,0,0,-0.8348360224001202]]},{"id":4,"instruction":"before the restaurant turn right facing the building and fly above it and turn right and climb over that building.land on the roof of the next building you come to.","completed_instruction":"Turn right to face the orange brick building beside the road, then ascend to above its roof and proceed forward to its roof, then land on the roof.","start_frame":50,"end_frame":69,"start_position":[24.37586285729362,40.984712857321185,-10.981338858604431],"start_rotation":[0.91413872843747246,0,0,-0.40540151106122069],"end_position":[49.269080175297354,43.29290079564833,-22.98133885860443],"end_rotation":[0.93305585139804692,0,0,0.35973153624872223],"actions":[1,1,1,3,3,3,3,3,3,4,4,4,4,4,4,1,1,1,1,0],"reference_path":[[24.37586285729362,40.984712857321185,-10.981338858604431,0,0,-0.8348360224001202],[27.73235900558641,37.278780639039844,-10.981338858604431,0,0,-0.8348360224001202],[31.0888551538792,33.572848420758504,-10.981338858604431,0,0,-0.8348360224001202],[34.44535130217199,29.866916202477164,-10.981338858604431,0,0,-0.8348360224001202],[34.44535130217199,29.866916202477164,-10.981338858604431,0,0,-0.5730366346009709],[34.44535130217199,29.866916202477164,-10.981338858604431,0,0,-0.3112372468018214],[34.44535130217199,29.866916202477164,-10.981338858604431,0,0,-0.049437859002672],[34.44535130217199,29.866916202477164,-10.981338858604431,0,0,0.21236152879647743],[34.44535130217199,29.866916202477164,-10.981338858604431,0,0,0.47416091659562687],[34.44535130217199,29.866916202477164,-10.981338858604431,0,0,0.7359603043947763],[34.44535130217199,29.866916202477164,-12.981338858604431,0,0,0.7359603043947763],[34.44535130217199,29.866916202477164,-14.981338858604431,0,0,0.7359603043947763],[34.44535130217199,29.866916202477164,-16.98133885860443,0,0,0.7359603043947763],[34.44535130217199,29.866916202477164,-18.98133885860443,0,0,0.7359603043947763],[34.44535130217199,29.866916202477164,-20.98133885860443,0,0,0.7359603043947763],[34.44535130217199,29.866916202477164,-22.98133885860443,0,0,0.7359603043947763],[38.15128352045333,33.223412350769955,-22.98133885860443,0,0,0.7359603043947763],[41.85721573873467,36.579908499062746,-22.98133885860443,0,0,0.7359603043947763],[45.563147957016014,39.93640464735554,-22.98133885860443,0,0,0.7359603043947763],[49.269080175297354,43.29290079564833,-22.98133885860443,0,0,0.7359603043947763]]}],"statistics":{"complete_actions":73,"sentence_actions":[5,22,12,14,20],"sentence_actions_average":14.6}}
diff --git a/scene_14/31QTRG6Q22BKJDJP25AW2LJEBT4YPX.json b/scene_14/31QTRG6Q22BKJDJP25AW2LJEBT4YPX.json
new file mode 100644
index 0000000000000000000000000000000000000000..96018b3a525a891dd5934f3d186f2962af3d334c
--- /dev/null
+++ b/scene_14/31QTRG6Q22BKJDJP25AW2LJEBT4YPX.json
@@ -0,0 +1 @@
+{"episode_id":"31QTRG6Q22BKJDJP25AW2LJEBT4YPX","trajectory_id":"3TL87MO8DUNL6HQ3FKKZ708Q9EGFLS","scene_id":14,"instruction":"turn left and float down and approach the subway entrance. turn left and go to the sidewalk. cross back into the park on your right near the sculpture. turn left and land in front of the red car in the road.","sentence_instructions":[{"id":0,"instruction":"turn left and float down and approach the subway entrance.","completed_instruction":"Turn left to face a dark beige or tan stone building with vertical columns and a light beige building with bigger windows, then fly forward out of the roof and descend until you can seethe blue trash can area behind the black subway entrance.","start_frame":1,"end_frame":12,"start_position":[-8.204543113708496,85.9005126953125,-16.543987274169922],"start_rotation":[0.9999069190136789,0,0,0.013643801104241488],"end_position":[2.687511484232341,75.58726167366682,-10.543987274169922],"end_rotation":[0.92901479353023653,0,0,-0.37004258322789296],"actions":[4,2,2,2,1,1,1,5,5,5,5,5],"reference_path":[[-8.204543113708496,85.9005126953125,-16.543987274169922,0,0,0.027288448892316425],[-8.204543113708496,85.9005126953125,-18.543987274169922,0,0,0.027288448892316425],[-8.204543113708496,85.9005126953125,-18.543987274169922,0,0,-0.234510938906833],[-8.204543113708496,85.9005126953125,-18.543987274169922,0,0,-0.49631032670598246],[-8.204543113708496,85.9005126953125,-18.543987274169922,0,0,-0.758109714505132],[-4.573858247728217,82.46276235476394,-18.543987274169922,0,0,-0.758109714505132],[-0.943173381747938,79.02501201421538,-18.543987274169922,0,0,-0.758109714505132],[2.687511484232341,75.58726167366682,-18.543987274169922,0,0,-0.758109714505132],[2.687511484232341,75.58726167366682,-16.543987274169922,0,0,-0.758109714505132],[2.687511484232341,75.58726167366682,-14.543987274169922,0,0,-0.758109714505132],[2.687511484232341,75.58726167366682,-12.543987274169922,0,0,-0.758109714505132],[2.687511484232341,75.58726167366682,-10.543987274169922,0,0,-0.758109714505132]]},{"id":1,"instruction":"turn left and go to the sidewalk.","completed_instruction":"Turn left to face the tall brownish buildings, then fly forward over the blue fences to the sidewalk.","start_frame":12,"end_frame":27,"start_position":[2.687511484232341,75.58726167366682,-10.543987274169922],"start_rotation":[0.92901479353023653,0,0,-0.37004258322789296],"end_position":[-3.758759100896199,52.60042696721748,-4.543987274169922],"end_rotation":[0.39525304039962023,0,0,-0.918572280256081],"actions":[5,1,5,2,1,2,2,2,2,1,2,1,1,5,1,1],"reference_path":[[2.687511484232341,75.58726167366682,-10.543987274169922,0,0,-0.758109714505132],[2.687511484232341,75.58726167366682,-8.543987274169922,0,0,-0.758109714505132],[6.31819635021262,72.14951133311826,-8.543987274169922,0,0,-0.758109714505132],[6.31819635021262,72.14951133311826,-6.543987274169922,0,0,-0.758109714505132],[6.31819635021262,72.14951133311826,-6.543987274169922,0,0,-1.0199091023042814],[8.935413368938192,67.88920910476718,-6.543987274169922,0,0,-1.0199091023042814],[8.935413368938192,67.88920910476718,-6.543987274169922,0,0,-1.2817084901034308],[8.935413368938192,67.88920910476718,-6.543987274169922,0,0,-1.5435078779025804],[8.935413368938192,67.88920910476718,-6.543987274169922,0,0,-1.8053072657017297],[8.935413368938192,67.88920910476718,-6.543987274169922,0,0,-2.067106653500879],[6.554491920749486,63.492481565158315,-6.543987274169922,0,0,-2.067106653500879],[6.554491920749486,63.492481565158315,-6.543987274169922,0,0,-2.328906041300028],[3.1167415802009244,59.861796699178036,-6.543987274169922,0,0,-2.328906041300028],[-0.32100876034763726,56.23111183319776,-6.543987274169922,0,0,-2.328906041300028],[-0.32100876034763726,56.23111183319776,-4.543987274169922,0,0,-2.328906041300028],[-3.758759100896199,52.60042696721748,-4.543987274169922,0,0,-2.328906041300028]]},{"id":2,"instruction":"cross back into the park on your right near the sculpture.","completed_instruction":"Turn right to face the white monument tower inside the park ,and then go forward to the tower.","start_frame":27,"end_frame":35,"start_position":[-3.758759100896199,52.60042696721748,-4.543987274169922],"start_rotation":[0.39525304039962023,0,0,-0.918572280256081],"end_position":[-7.196509441444761,48.9697421012372,-4.543987274169922],"end_rotation":[0.96936719253381276,0,0,-0.24561605411518583],"actions":[1,3,3,3,3,3,3,3,1],"reference_path":[[-3.758759100896199,52.60042696721748,-4.543987274169922,0,0,-2.328906041300028],[-7.196509441444761,48.9697421012372,-4.543987274169922,0,0,-2.328906041300028],[-7.196509441444761,48.9697421012372,-4.543987274169922,0,0,-2.067106653500879],[-7.196509441444761,48.9697421012372,-4.543987274169922,0,0,-1.8053072657017295],[-7.196509441444761,48.9697421012372,-4.543987274169922,0,0,-1.5435078779025801],[-7.196509441444761,48.9697421012372,-4.543987274169922,0,0,-1.2817084901034308],[-7.196509441444761,48.9697421012372,-4.543987274169922,0,0,-1.0199091023042814],[-7.196509441444761,48.9697421012372,-4.543987274169922,0,0,-0.758109714505132],[-7.196509441444761,48.9697421012372,-4.543987274169922,0,0,-0.4963103267059826]]},{"id":3,"instruction":"turn left and land in front of the red car in the road.","completed_instruction":"Turn left to face the tall brownish building left to the tall glass building, then fly forward over the park wall onto the road, and then turn right to face a yellow truck and land on the road.","start_frame":35,"end_frame":53,"start_position":[-7.196509441444761,48.9697421012372,-4.543987274169922],"start_rotation":[0.96936719253381276,0,0,-0.24561605411518583],"end_position":[-13.564882495469002,31.959520609074197,-0.5439872741699219],"end_rotation":[0.51176933786729473,0,0,-0.85912289273355458],"actions":[1,1,2,2,2,2,2,2,2,2,1,1,1,3,3,1,5,5,0],"reference_path":[[-7.196509441444761,48.9697421012372,-4.543987274169922,0,0,-0.4963103267059826],[-2.7997819018358996,46.588820653048494,-4.543987274169922,0,0,-0.4963103267059826],[1.5969456377729614,44.207899204859785,-4.543987274169922,0,0,-0.4963103267059826],[1.5969456377729614,44.207899204859785,-4.543987274169922,0,0,-0.758109714505132],[1.5969456377729614,44.207899204859785,-4.543987274169922,0,0,-1.0199091023042814],[1.5969456377729614,44.207899204859785,-4.543987274169922,0,0,-1.2817084901034308],[1.5969456377729614,44.207899204859785,-4.543987274169922,0,0,-1.5435078779025804],[1.5969456377729614,44.207899204859785,-4.543987274169922,0,0,-1.8053072657017297],[1.5969456377729614,44.207899204859785,-4.543987274169922,0,0,-2.067106653500879],[1.5969456377729614,44.207899204859785,-4.543987274169922,0,0,-2.328906041300028],[1.5969456377729614,44.207899204859785,-4.543987274169922,0,0,-2.590705429099178],[-2.6633565905781245,41.59068218613421,-4.543987274169922,0,0,-2.590705429099178],[-6.92365881892921,38.973465167408634,-4.543987274169922,0,0,-2.590705429099178],[-11.183961047280295,36.35624814868306,-4.543987274169922,0,0,-2.590705429099178],[-11.183961047280295,36.35624814868306,-4.543987274169922,0,0,-2.328906041300028],[-11.183961047280295,36.35624814868306,-4.543987274169922,0,0,-2.067106653500879],[-13.564882495469002,31.959520609074197,-4.543987274169922,0,0,-2.067106653500879],[-13.564882495469002,31.959520609074197,-2.543987274169922,0,0,-2.067106653500879],[-13.564882495469002,31.959520609074197,-0.5439872741699219,0,0,-2.067106653500879]]}],"statistics":{"complete_actions":56,"sentence_actions":[12,16,9,19],"sentence_actions_average":14.0}}
diff --git a/scene_14/32Q90QCQ11JL2H5IPCTUZ150MBAEKB.json b/scene_14/32Q90QCQ11JL2H5IPCTUZ150MBAEKB.json
new file mode 100644
index 0000000000000000000000000000000000000000..b005cd43d219bd38eaf6926a694faa9cd6d1b77a
--- /dev/null
+++ b/scene_14/32Q90QCQ11JL2H5IPCTUZ150MBAEKB.json
@@ -0,0 +1 @@
+{"episode_id":"32Q90QCQ11JL2H5IPCTUZ150MBAEKB","trajectory_id":"3YKP7CX6HADWEFPL6OXT55Z44KH7B8","scene_id":14,"instruction":"take off and fly towards the monument in the park. fly down beside the monument and turn left. now facing the outdoor sitting area, fly towards it. fly forward and land in the fencing fencing the outdoor sitting area.","sentence_instructions":[{"id":0,"instruction":"take off and fly towards the monument in the park. fly down beside the monument and turn left. now facing the outdoor sitting area, fly towards it. fly forward and land in the fencing fencing the outdoor sitting area.","completed_instruction":"Turn around to face two distant houses with a white first floor and a dark red upper floor, and then fly forward out of the edge of the roof to the top of the park.","start_frame":1,"end_frame":15,"start_position":[49.77042007446289,42.636375427246094,-20.400249481201172],"start_rotation":[0.99994983859773068,0,0,-0.010016001616037612],"end_position":[40.06125581194098,40.24218885904233,-22.400249481201172],"end_rotation":[0.12058933150948453,0,0,-0.99270247966150238],"actions":[4,2,2,2,2,2,2,2,2,2,2,2,1,1,1],"reference_path":[[49.77042007446289,42.636375427246094,-20.400249481201172,0,0,-0.020032338183253343],[49.77042007446289,42.636375427246094,-22.400249481201172,0,0,-0.020032338183253343],[49.77042007446289,42.636375427246094,-22.400249481201172,0,0,-0.28183172598240275],[49.77042007446289,42.636375427246094,-22.400249481201172,0,0,-0.5436311137815522],[49.77042007446289,42.636375427246094,-22.400249481201172,0,0,-0.8054305015807016],[49.77042007446289,42.636375427246094,-22.400249481201172,0,0,-1.067229889379851],[49.77042007446289,42.636375427246094,-22.400249481201172,0,0,-1.3290292771790004],[49.77042007446289,42.636375427246094,-22.400249481201172,0,0,-1.59082866497815],[49.77042007446289,42.636375427246094,-22.400249481201172,0,0,-1.8526280527772994],[49.77042007446289,42.636375427246094,-22.400249481201172,0,0,-2.1144274405764487],[49.77042007446289,42.636375427246094,-22.400249481201172,0,0,-2.3762268283755983],[49.77042007446289,42.636375427246094,-22.400249481201172,0,0,-2.638026216174748],[49.77042007446289,42.636375427246094,-22.400249481201172,0,0,-2.8998256039738974],[44.915837943201936,41.43928214314421,-22.400249481201172,0,0,-2.8998256039738974],[40.06125581194098,40.24218885904233,-22.400249481201172,0,0,-2.8998256039738974]]},{"id":1,"instruction":"fly down beside the monument and turn left.","completed_instruction":"Fly down to the height above the trees, fly forward close to the park monument tower and then turn left to face the shorter white building with black glass.","start_frame":15,"end_frame":32,"start_position":[40.06125581194098,40.24218885904233,-22.400249481201172],"start_rotation":[0.12058933150948453,0,0,-0.99270247966150238],"end_position":[10.93376302437525,33.059629154431036,-10.400249481201172],"end_rotation":[0.5086490311427,0,0,0.860973961927765],"actions":[1,1,5,5,5,5,5,1,1,1,5,1,2,2,2,2,2,2],"reference_path":[[40.06125581194098,40.24218885904233,-22.400249481201172,0,0,-2.8998256039738974],[35.20667368068003,39.04509557494045,-22.400249481201172,0,0,-2.8998256039738974],[30.35209154941907,37.848002290838565,-22.400249481201172,0,0,-2.8998256039738974],[30.35209154941907,37.848002290838565,-20.400249481201172,0,0,-2.8998256039738974],[30.35209154941907,37.848002290838565,-18.400249481201172,0,0,-2.8998256039738974],[30.35209154941907,37.848002290838565,-16.400249481201172,0,0,-2.8998256039738974],[30.35209154941907,37.848002290838565,-14.400249481201172,0,0,-2.8998256039738974],[30.35209154941907,37.848002290838565,-12.400249481201172,0,0,-2.8998256039738974],[25.497509418158117,36.65090900673668,-12.400249481201172,0,0,-2.8998256039738974],[20.642927286897162,35.4538157226348,-12.400249481201172,0,0,-2.8998256039738974],[15.788345155636206,34.25672243853292,-12.400249481201172,0,0,-2.8998256039738974],[15.788345155636206,34.25672243853292,-10.400249481201172,0,0,-2.8998256039738974],[10.93376302437525,33.059629154431036,-10.400249481201172,0,0,-2.8998256039738974],[10.93376302437525,33.059629154431036,-10.400249481201172,0,0,3.121560315406539],[10.93376302437525,33.059629154431036,-10.400249481201172,0,0,2.8597609276073896],[10.93376302437525,33.059629154431036,-10.400249481201172,0,0,2.59796153980824],[10.93376302437525,33.059629154431036,-10.400249481201172,0,0,2.336162152009091],[10.93376302437525,33.059629154431036,-10.400249481201172,0,0,2.0743627642099414]]},{"id":2,"instruction":"fly forward and land in the fencing fencing the outdoor sitting area.","completed_instruction":"Fly forward to the right side of the black metro entrance and land on the left side of the blue barrel next to a red barrel.","start_frame":32,"end_frame":43,"start_position":[10.93376302437525,33.059629154431036,-10.400249481201172],"start_rotation":[0.5086490311427,0,0,0.860973961927765],"end_position":[6.245544879961246,57.47695447659113,-2.400249481201172],"end_rotation":[0.71415369438192489,0,0,0.69998892905577315],"actions":[2,1,1,5,1,5,1,2,1,5,5,0],"reference_path":[[10.93376302437525,33.059629154431036,-10.400249481201172,0,0,2.0743627642099414],[10.93376302437525,33.059629154431036,-10.400249481201172,0,0,1.812563376410792],[9.736669740273369,37.91421128569199,-10.400249481201172,0,0,1.812563376410792],[8.539576456171488,42.768793416952946,-10.400249481201172,0,0,1.812563376410792],[8.539576456171488,42.768793416952946,-8.400249481201172,0,0,1.812563376410792],[7.342483172069608,47.6233755482139,-8.400249481201172,0,0,1.812563376410792],[7.342483172069608,47.6233755482139,-6.400249481201172,0,0,1.812563376410792],[6.145389887967728,52.477957679474855,-6.400249481201172,0,0,1.812563376410792],[6.145389887967728,52.477957679474855,-6.400249481201172,0,0,1.5507639886116424],[6.245544879961246,57.47695447659113,-6.400249481201172,0,0,1.5507639886116424],[6.245544879961246,57.47695447659113,-4.400249481201172,0,0,1.5507639886116424],[6.245544879961246,57.47695447659113,-2.400249481201172,0,0,1.5507639886116424]]}],"statistics":{"complete_actions":45,"sentence_actions":[15,18,12],"sentence_actions_average":15.0}}
diff --git a/scene_14/33FOTY3KEVJ4ZIZILBHH4Y9X5PAC1T.json b/scene_14/33FOTY3KEVJ4ZIZILBHH4Y9X5PAC1T.json
new file mode 100644
index 0000000000000000000000000000000000000000..53ad77a2de10bf8d8f04a3ba7248358a3911a738
--- /dev/null
+++ b/scene_14/33FOTY3KEVJ4ZIZILBHH4Y9X5PAC1T.json
@@ -0,0 +1 @@
+{"episode_id":"33FOTY3KEVJ4ZIZILBHH4Y9X5PAC1T","trajectory_id":"3MNJFORX9J274SNINX4SQBCTNOG5FU","scene_id":14,"instruction":"lift from the ground and ascend to above the roof top ahead. go forward and fly over the roof top. when clear of the roof, descend to eth story height. turn and face the opposite direction and go forward to the brown building across the far street. turn right and face the sidewalk and then go forward along it. cross the street and get close to the large brown brick building and stop there.","sentence_instructions":[{"id":0,"instruction":"lift from the ground and ascend to above the roof top ahead.","completed_instruction":"Take off to the height above the wall ahead.","start_frame":1,"end_frame":10,"start_position":[-59.66133499145508,58.74848937988281,-0.7071565985679626],"start_rotation":[0.999860354903661,0,0,0.016711394074857194],"end_position":[-59.66133499145508,58.74848937988281,-18.707156598567963],"end_rotation":[0.999860354903661,0,0,0.016711394074857194],"actions":[4,4,4,4,4,4,4,4,4,4],"reference_path":[[-59.66133499145508,58.74848937988281,-0.7071565985679626,0,0,0.033424344012779224],[-59.66133499145508,58.74848937988281,-2.7071565985679626,0,0,0.033424344012779224],[-59.66133499145508,58.74848937988281,-4.707156598567963,0,0,0.033424344012779224],[-59.66133499145508,58.74848937988281,-6.707156598567963,0,0,0.033424344012779224],[-59.66133499145508,58.74848937988281,-8.707156598567963,0,0,0.033424344012779224],[-59.66133499145508,58.74848937988281,-10.707156598567963,0,0,0.033424344012779224],[-59.66133499145508,58.74848937988281,-12.707156598567963,0,0,0.033424344012779224],[-59.66133499145508,58.74848937988281,-14.707156598567963,0,0,0.033424344012779224],[-59.66133499145508,58.74848937988281,-16.707156598567963,0,0,0.033424344012779224],[-59.66133499145508,58.74848937988281,-18.707156598567963,0,0,0.033424344012779224]]},{"id":1,"instruction":"go forward and fly over the roof top.","completed_instruction":"Fly forward over the roof ahead.","start_frame":10,"end_frame":22,"start_position":[-59.66133499145508,58.74848937988281,-18.707156598567963],"start_rotation":[0.999860354903661,0,0,0.016711394074857194],"end_position":[-29.8451818370768,64.74824029760086,-28.707156598567963],"end_rotation":[0.999860354903661,0,0,0.016711394074857194],"actions":[4,4,4,1,4,1,1,1,7,4,1,1,3],"reference_path":[[-59.66133499145508,58.74848937988281,-18.707156598567963,0,0,0.033424344012779224],[-59.66133499145508,58.74848937988281,-20.707156598567963,0,0,0.033424344012779224],[-59.66133499145508,58.74848937988281,-22.707156598567963,0,0,0.033424344012779224],[-59.66133499145508,58.74848937988281,-24.707156598567963,0,0,0.033424344012779224],[-54.66412769837433,58.915579983989026,-24.707156598567963,0,0,0.033424344012779224],[-54.66412769837433,58.915579983989026,-26.707156598567963,0,0,0.033424344012779224],[-49.66692040529358,59.08267058809524,-26.707156598567963,0,0,0.033424344012779224],[-44.66971311221283,59.249761192201454,-26.707156598567963,0,0,0.033424344012779224],[-39.672505819132084,59.41685179630767,-26.707156598567963,0,0,0.033424344012779224],[-39.8395964232383,64.41405908938842,-26.707156598567963,0,0,0.033424344012779224],[-39.8395964232383,64.41405908938842,-28.707156598567963,0,0,0.033424344012779224],[-34.84238913015755,64.58114969349464,-28.707156598567963,0,0,0.033424344012779224],[-29.8451818370768,64.74824029760086,-28.707156598567963,0,0,0.033424344012779224]]},{"id":2,"instruction":"when clear of the roof, descend to eth story height.","completed_instruction":"Descend to the the height of third floor of the white building ahead.","start_frame":22,"end_frame":33,"start_position":[-29.8451818370768,64.74824029760086,-28.707156598567963],"start_rotation":[0.999860354903661,0,0,0.016711394074857194],"end_position":[-20.277811130863988,67.65777939682275,-16.707156598567963],"end_rotation":[0.98912513632534915,0,0,0.14707639065927416],"actions":[3,1,4,5,5,5,5,5,5,1,5,5],"reference_path":[[-29.8451818370768,64.74824029760086,-28.707156598567963,0,0,0.033424344012779224],[-29.8451818370768,64.74824029760086,-28.707156598567963,0,0,0.2952237318119287],[-25.061496483970394,66.2030098472118,-28.707156598567963,0,0,0.2952237318119287],[-25.061496483970394,66.2030098472118,-30.707156598567963,0,0,0.2952237318119287],[-25.061496483970394,66.2030098472118,-28.707156598567963,0,0,0.2952237318119287],[-25.061496483970394,66.2030098472118,-26.707156598567963,0,0,0.2952237318119287],[-25.061496483970394,66.2030098472118,-24.707156598567963,0,0,0.2952237318119287],[-25.061496483970394,66.2030098472118,-22.707156598567963,0,0,0.2952237318119287],[-25.061496483970394,66.2030098472118,-20.707156598567963,0,0,0.2952237318119287],[-25.061496483970394,66.2030098472118,-18.707156598567963,0,0,0.2952237318119287],[-20.277811130863988,67.65777939682275,-18.707156598567963,0,0,0.2952237318119287],[-20.277811130863988,67.65777939682275,-16.707156598567963,0,0,0.2952237318119287]]},{"id":3,"instruction":"turn and face the opposite direction and go forward to the brown building across the far street.","completed_instruction":"Turn left to face a tall dark beige building on the left side of a glass building, then fly forward to the front of this building.","start_frame":33,"end_frame":62,"start_position":[-20.277811130863988,67.65777939682275,-16.707156598567963],"start_rotation":[0.98912513632534915,0,0,0.14707639065927416],"end_position":[-16.575033107459156,8.657680856053986,-14.707156598567963],"end_rotation":[0.51440266925330946,0,0,-0.8575487705460666],"actions":[5,5,5,2,2,2,2,2,2,1,1,4,1,1,4,6,1,1,1,1,4,2,1,1,2,1,2,1,5,1],"reference_path":[[-20.277811130863988,67.65777939682275,-16.707156598567963,0,0,0.2952237318119287],[-20.277811130863988,67.65777939682275,-14.707156598567963,0,0,0.2952237318119287],[-20.277811130863988,67.65777939682275,-12.707156598567963,0,0,0.2952237318119287],[-20.277811130863988,67.65777939682275,-10.707156598567963,0,0,0.2952237318119287],[-20.277811130863988,67.65777939682275,-10.707156598567963,0,0,0.033424344012779224],[-20.277811130863988,67.65777939682275,-10.707156598567963,0,0,-0.22837504378637022],[-20.277811130863988,67.65777939682275,-10.707156598567963,0,0,-0.49017443158551965],[-20.277811130863988,67.65777939682275,-10.707156598567963,0,0,-0.751973819384669],[-20.277811130863988,67.65777939682275,-10.707156598567963,0,0,-1.0137732071838184],[-20.277811130863988,67.65777939682275,-10.707156598567963,0,0,-1.275572594982968],[-18.82304158125304,62.87409404371634,-10.707156598567963,0,0,-1.275572594982968],[-17.368272031642093,58.090408690609934,-10.707156598567963,0,0,-1.275572594982968],[-17.368272031642093,58.090408690609934,-12.707156598567963,0,0,-1.275572594982968],[-15.913502482031143,53.30672333750353,-12.707156598567963,0,0,-1.275572594982968],[-14.458732932420194,48.52303798439712,-12.707156598567963,0,0,-1.275572594982968],[-14.458732932420194,48.52303798439712,-14.707156598567963,0,0,-1.275572594982968],[-19.2424182855266,47.06826843478617,-14.707156598567963,0,0,-1.275572594982968],[-17.787648735915653,42.28458308167976,-14.707156598567963,0,0,-1.275572594982968],[-16.332879186304705,37.50089772857336,-14.707156598567963,0,0,-1.275572594982968],[-14.878109636693756,32.71721237546695,-14.707156598567963,0,0,-1.275572594982968],[-13.423340087082806,27.933527022360543,-14.707156598567963,0,0,-1.275572594982968],[-13.423340087082806,27.933527022360543,-16.707156598567963,0,0,-1.275572594982968],[-13.423340087082806,27.933527022360543,-16.707156598567963,0,0,-1.5373719827821175],[-13.25624948297659,22.936319729279795,-16.707156598567963,0,0,-1.5373719827821175],[-13.089158878870375,17.939112436199046,-16.707156598567963,0,0,-1.5373719827821175],[-13.089158878870375,17.939112436199046,-16.707156598567963,0,0,-1.799171370581267],[-14.221134168808451,13.068934621891891,-16.707156598567963,0,0,-1.799171370581267],[-14.221134168808451,13.068934621891891,-16.707156598567963,0,0,-2.0609707583804164],[-16.575033107459156,8.657680856053986,-16.707156598567963,0,0,-2.0609707583804164],[-16.575033107459156,8.657680856053986,-14.707156598567963,0,0,-2.0609707583804164]]},{"id":4,"instruction":"turn right and face the sidewalk and then go forward along it.","completed_instruction":"Turn right to face the red barrier on the left side of the road.","start_frame":62,"end_frame":70,"start_position":[-16.575033107459156,8.657680856053986,-14.707156598567963],"start_rotation":[0.51440266925330946,0,0,-0.8575487705460666],"end_position":[-18.928932046109857,4.2464270902160814,-10.707156598567963],"end_rotation":[0.93014569090913546,0,0,-0.36719067755481888],"actions":[1,5,5,3,3,3,3,3,3],"reference_path":[[-16.575033107459156,8.657680856053986,-14.707156598567963,0,0,-2.0609707583804164],[-18.928932046109857,4.2464270902160814,-14.707156598567963,0,0,-2.0609707583804164],[-18.928932046109857,4.2464270902160814,-12.707156598567963,0,0,-2.0609707583804164],[-18.928932046109857,4.2464270902160814,-10.707156598567963,0,0,-2.0609707583804164],[-18.928932046109857,4.2464270902160814,-10.707156598567963,0,0,-1.799171370581267],[-18.928932046109857,4.2464270902160814,-10.707156598567963,0,0,-1.5373719827821175],[-18.928932046109857,4.2464270902160814,-10.707156598567963,0,0,-1.2755725949829682],[-18.928932046109857,4.2464270902160814,-10.707156598567963,0,0,-1.0137732071838186],[-18.928932046109857,4.2464270902160814,-10.707156598567963,0,0,-0.7519738193846691]]},{"id":5,"instruction":"cross the street and get close to the large brown brick building and stop there.","completed_instruction":"Fly straight along the road to reach the dark brown building at the end of the road, then stop.","start_frame":70,"end_frame":86,"start_position":[-18.928932046109857,4.2464270902160814,-10.707156598567963],"start_rotation":[0.93014569090913546,0,0,-0.36719067755481888],"end_position":[36.04034817777838,6.084423735384454,-10.707156598567963],"end_rotation":[0.999860354903661,0,0,0.016711394074857073],"actions":[3,3,3,1,1,4,1,1,1,1,1,5,1,1,1,1,0],"reference_path":[[-18.928932046109857,4.2464270902160814,-10.707156598567963,0,0,-0.7519738193846691],[-18.928932046109857,4.2464270902160814,-10.707156598567963,0,0,-0.4901744315855198],[-18.928932046109857,4.2464270902160814,-10.707156598567963,0,0,-0.22837504378637044],[-18.928932046109857,4.2464270902160814,-10.707156598567963,0,0,0.03342434401277898],[-13.931724753029108,4.413517694322297,-10.707156598567963,0,0,0.03342434401277898],[-8.93451745994836,4.580608298428513,-10.707156598567963,0,0,0.03342434401277898],[-8.93451745994836,4.580608298428513,-12.707156598567963,0,0,0.03342434401277898],[-3.9373101668676114,4.7476989025347285,-12.707156598567963,0,0,0.03342434401277898],[1.0598971262131371,4.914789506640944,-12.707156598567963,0,0,0.03342434401277898],[6.057104419293886,5.08188011074716,-12.707156598567963,0,0,0.03342434401277898],[11.054311712374634,5.2489707148533755,-12.707156598567963,0,0,0.03342434401277898],[16.051519005455383,5.416061318959591,-12.707156598567963,0,0,0.03342434401277898],[16.051519005455383,5.416061318959591,-10.707156598567963,0,0,0.03342434401277898],[21.04872629853613,5.583151923065807,-10.707156598567963,0,0,0.03342434401277898],[26.04593359161688,5.7502425271720226,-10.707156598567963,0,0,0.03342434401277898],[31.043140884697628,5.917333131278238,-10.707156598567963,0,0,0.03342434401277898],[36.04034817777838,6.084423735384454,-10.707156598567963,0,0,0.03342434401277898]]}],"statistics":{"complete_actions":91,"sentence_actions":[10,13,12,30,9,17],"sentence_actions_average":15.17}}
diff --git a/scene_14/34MAJL3QPDLXEH0IF0PI9TC712X43U.json b/scene_14/34MAJL3QPDLXEH0IF0PI9TC712X43U.json
new file mode 100644
index 0000000000000000000000000000000000000000..51367b8a486ff546b9146c0a312d2b0011b1292c
--- /dev/null
+++ b/scene_14/34MAJL3QPDLXEH0IF0PI9TC712X43U.json
@@ -0,0 +1 @@
+{"episode_id":"34MAJL3QPDLXEH0IF0PI9TC712X43U","trajectory_id":"33N1S8XHIUJELRDZNMWNQDFUSIRZ1V","scene_id":14,"instruction":"elevate your drone to the top of the building the turn 60 degree of your left and move forward to the opposite building. once you reach it down your drone to the middle of the building then turn 60 degree of your right. and take a few move then turn left and move forward to the white color once you reach it slightly move your drone to the right. then you reach the two building gap once you reach it then turn 90 degree of your right. take few move then turn 90 degree of your right and move forward to the peach color building once you near to it drop your there.","sentence_instructions":[{"id":0,"instruction":"elevate your drone to the top of the building the turn 60 degree of your left and move forward to the opposite building.","completed_instruction":"Take off to above the roof in front, then turn left to face a glass building, then proceed forward over the roof, then fly down to second floor height.","start_frame":1,"end_frame":25,"start_position":[-60.25965118408203,22.47199821472168,-1.0448955297470093],"start_rotation":[0.999861959687313,0,0,0.016615100669152481],"end_position":[-38.20564972822664,10.698255403485827,-15.04489552974701],"end_rotation":[0.97009279407544724,0,0,-0.2427343627978783],"actions":[4,4,4,4,4,4,4,4,4,4,4,2,2,1,4,1,1,1,1,5,5,5,5,5,5],"reference_path":[[-60.25965118408203,22.47199821472168,-1.0448955297470093,0,0,0.03323173045853185],[-60.25965118408203,22.47199821472168,-3.0448955297470093,0,0,0.03323173045853185],[-60.25965118408203,22.47199821472168,-5.044895529747009,0,0,0.03323173045853185],[-60.25965118408203,22.47199821472168,-7.044895529747009,0,0,0.03323173045853185],[-60.25965118408203,22.47199821472168,-9.04489552974701,0,0,0.03323173045853185],[-60.25965118408203,22.47199821472168,-11.04489552974701,0,0,0.03323173045853185],[-60.25965118408203,22.47199821472168,-13.04489552974701,0,0,0.03323173045853185],[-60.25965118408203,22.47199821472168,-15.04489552974701,0,0,0.03323173045853185],[-60.25965118408203,22.47199821472168,-17.04489552974701,0,0,0.03323173045853185],[-60.25965118408203,22.47199821472168,-19.04489552974701,0,0,0.03323173045853185],[-60.25965118408203,22.47199821472168,-21.04489552974701,0,0,0.03323173045853185],[-60.25965118408203,22.47199821472168,-23.04489552974701,0,0,0.03323173045853185],[-60.25965118408203,22.47199821472168,-23.04489552974701,0,0,-0.22856765734061757],[-60.25965118408203,22.47199821472168,-23.04489552974701,0,0,-0.49036704513976703],[-55.84885089291095,20.11724965247451,-23.04489552974701,0,0,-0.49036704513976703],[-55.84885089291095,20.11724965247451,-25.04489552974701,0,0,-0.49036704513976703],[-51.438050601739874,17.76250109022734,-25.04489552974701,0,0,-0.49036704513976703],[-47.027250310568796,15.407752527980168,-25.04489552974701,0,0,-0.49036704513976703],[-42.61645001939772,13.053003965732998,-25.04489552974701,0,0,-0.49036704513976703],[-38.20564972822664,10.698255403485827,-25.04489552974701,0,0,-0.49036704513976703],[-38.20564972822664,10.698255403485827,-23.04489552974701,0,0,-0.49036704513976703],[-38.20564972822664,10.698255403485827,-21.04489552974701,0,0,-0.49036704513976703],[-38.20564972822664,10.698255403485827,-19.04489552974701,0,0,-0.49036704513976703],[-38.20564972822664,10.698255403485827,-17.04489552974701,0,0,-0.49036704513976703],[-38.20564972822664,10.698255403485827,-15.04489552974701,0,0,-0.49036704513976703]]},{"id":1,"instruction":"once you reach it down your drone to the middle of the building then turn 60 degree of your right.","completed_instruction":"Turn right to face the dark red brick building, then move left until you see the white skyscraper.","start_frame":25,"end_frame":35,"start_position":[-38.20564972822664,10.698255403485827,-15.04489552974701],"start_rotation":[0.97009279407544724,0,0,-0.2427343627978783],"end_position":[-29.384049145884482,5.988758278991487,-11.04489552974701],"end_rotation":[0.85759830703232909,0,0,0.51432007910957833],"actions":[5,5,3,3,3,3,3,3,6,6,4],"reference_path":[[-38.20564972822664,10.698255403485827,-15.04489552974701,0,0,-0.49036704513976703],[-38.20564972822664,10.698255403485827,-13.04489552974701,0,0,-0.49036704513976703],[-38.20564972822664,10.698255403485827,-11.04489552974701,0,0,-0.49036704513976703],[-38.20564972822664,10.698255403485827,-11.04489552974701,0,0,-0.22856765734061765],[-38.20564972822664,10.698255403485827,-11.04489552974701,0,0,0.03323173045853177],[-38.20564972822664,10.698255403485827,-11.04489552974701,0,0,0.2950311182576812],[-38.20564972822664,10.698255403485827,-11.04489552974701,0,0,0.5568305060568306],[-38.20564972822664,10.698255403485827,-11.04489552974701,0,0,0.81862989385598],[-38.20564972822664,10.698255403485827,-11.04489552974701,0,0,1.0804292816551295],[-33.79484943705556,8.343506841238657,-11.04489552974701,0,0,1.0804292816551295],[-29.384049145884482,5.988758278991487,-11.04489552974701,0,0,1.0804292816551295]]},{"id":2,"instruction":"and take a few move then turn left and move forward to the white color once you reach it slightly move your drone to the right.","completed_instruction":"Fly forward to the right shorter one of the tall white buildings, then turn right to face the gap between this building and a building on its right, then fly into the entrance of the gap.","start_frame":35,"end_frame":55,"start_position":[-29.384049145884482,5.988758278991487,-11.04489552974701],"start_rotation":[0.85759830703232909,0,0,0.51432007910957833],"end_position":[-20.304651499075344,72.79596638111381,-15.04489552974701],"end_rotation":[0.48554188057773479,0,0,0.87421340770148148],"actions":[4,1,1,1,4,1,3,1,1,1,3,1,1,1,1,1,3,1,1,3,5],"reference_path":[[-29.384049145884482,5.988758278991487,-11.04489552974701,0,0,1.0804292816551295],[-29.384049145884482,5.988758278991487,-13.04489552974701,0,0,1.0804292816551295],[-27.029300583637312,10.399558570162567,-13.04489552974701,0,0,1.0804292816551295],[-24.67455202139014,14.810358861333647,-13.04489552974701,0,0,1.0804292816551295],[-22.31980345914297,19.221159152504725,-13.04489552974701,0,0,1.0804292816551295],[-22.31980345914297,19.221159152504725,-15.04489552974701,0,0,1.0804292816551295],[-19.9650548968958,23.631959443675804,-15.04489552974701,0,0,1.0804292816551295],[-19.9650548968958,23.631959443675804,-15.04489552974701,0,0,1.3422286694542787],[-18.832141565703026,28.50191913385864,-15.04489552974701,0,0,1.3422286694542787],[-17.69922823451025,33.371878824041474,-15.04489552974701,0,0,1.3422286694542787],[-16.566314903317476,38.241838514224305,-15.04489552974701,0,0,1.3422286694542787],[-16.566314903317476,38.241838514224305,-15.04489552974701,0,0,1.6040280572534282],[-16.732442974472082,43.23907789852184,-15.04489552974701,0,0,1.6040280572534282],[-16.89857104562669,48.23631728281938,-15.04489552974701,0,0,1.6040280572534282],[-17.064699116781295,53.233556667116915,-15.04489552974701,0,0,1.6040280572534282],[-17.2308271879359,58.23079605141445,-15.04489552974701,0,0,1.6040280572534282],[-17.396955259090507,63.22803543571199,-15.04489552974701,0,0,1.6040280572534282],[-17.396955259090507,63.22803543571199,-15.04489552974701,0,0,1.8658274450525776],[-18.850803379082926,68.0120009084129,-15.04489552974701,0,0,1.8658274450525776],[-20.304651499075344,72.79596638111381,-15.04489552974701,0,0,1.8658274450525776],[-20.304651499075344,72.79596638111381,-15.04489552974701,0,0,2.127626832851727]]},{"id":3,"instruction":"then you reach the two building gap once you reach it then turn 90 degree of your right.","completed_instruction":"Turn back to face a glass building.","start_frame":55,"end_frame":67,"start_position":[-20.304651499075344,72.79596638111381,-15.04489552974701],"start_rotation":[0.48554188057773479,0,0,0.87421340770148148],"end_position":[-20.304651499075344,72.79596638111381,-9.04489552974701],"end_rotation":[0.62185904100585543,0,0,-0.78312919312159324],"actions":[5,5,5,3,3,3,3,3,3,3,3,3,3],"reference_path":[[-20.304651499075344,72.79596638111381,-15.04489552974701,0,0,2.127626832851727],[-20.304651499075344,72.79596638111381,-13.04489552974701,0,0,2.127626832851727],[-20.304651499075344,72.79596638111381,-11.04489552974701,0,0,2.127626832851727],[-20.304651499075344,72.79596638111381,-9.04489552974701,0,0,2.127626832851727],[-20.304651499075344,72.79596638111381,-9.04489552974701,0,0,2.3894262206508765],[-20.304651499075344,72.79596638111381,-9.04489552974701,0,0,2.651225608450026],[-20.304651499075344,72.79596638111381,-9.04489552974701,0,0,2.913024996249175],[-20.304651499075344,72.79596638111381,-9.04489552974701,0,0,-3.1083609231312614],[-20.304651499075344,72.79596638111381,-9.04489552974701,0,0,-2.8465615353321123],[-20.304651499075344,72.79596638111381,-9.04489552974701,0,0,-2.5847621475329627],[-20.304651499075344,72.79596638111381,-9.04489552974701,0,0,-2.322962759733813],[-20.304651499075344,72.79596638111381,-9.04489552974701,0,0,-2.061163371934664],[-20.304651499075344,72.79596638111381,-9.04489552974701,0,0,-1.7993639841355147]]},{"id":4,"instruction":"take few move then turn 90 degree of your right and move forward to the peach color building once you near to it drop your there.","completed_instruction":"Fly forward to the nearest street light left to the park wall, turn right to face the black metro entrance and then fly forward passing the entrance to the front of a orange brick building.","start_frame":67,"end_frame":93,"start_position":[-20.304651499075344,72.79596638111381,-9.04489552974701],"start_rotation":[0.62185904100585543,0,0,-0.78312919312159324],"end_position":[21.54591698246553,44.76429331265187,-11.04489552974701],"end_rotation":[0.999861959687313,0,0,0.01661510066915222],"actions":[3,3,1,1,1,3,3,3,3,1,1,1,2,1,2,1,3,3,1,3,4,1,3,1,2,6,0],"reference_path":[[-20.304651499075344,72.79596638111381,-9.04489552974701,0,0,-1.7993639841355147],[-20.304651499075344,72.79596638111381,-9.04489552974701,0,0,-1.5375645963363653],[-20.304651499075344,72.79596638111381,-9.04489552974701,0,0,-1.275765208537216],[-18.850803379082926,68.0120009084129,-9.04489552974701,0,0,-1.275765208537216],[-17.396955259090507,63.22803543571199,-9.04489552974701,0,0,-1.275765208537216],[-15.943107139098089,58.444069963011074,-9.04489552974701,0,0,-1.275765208537216],[-15.943107139098089,58.444069963011074,-9.04489552974701,0,0,-1.0139658207380664],[-15.943107139098089,58.444069963011074,-9.04489552974701,0,0,-0.7521664329389169],[-15.943107139098089,58.444069963011074,-9.04489552974701,0,0,-0.49036704513976753],[-15.943107139098089,58.444069963011074,-9.04489552974701,0,0,-0.2285676573406181],[-11.073147448915254,57.3111566318183,-9.04489552974701,0,0,-0.2285676573406181],[-6.20318775873242,56.178243300625525,-9.04489552974701,0,0,-0.2285676573406181],[-1.3332280685495856,55.04532996943275,-9.04489552974701,0,0,-0.2285676573406181],[-1.3332280685495856,55.04532996943275,-9.04489552974701,0,0,-0.49036704513976753],[3.0775722226214928,52.690581407185576,-9.04489552974701,0,0,-0.49036704513976753],[3.0775722226214928,52.690581407185576,-9.04489552974701,0,0,-0.7521664329389169],[6.728624364129633,49.27446983699516,-9.04489552974701,0,0,-0.7521664329389169],[6.728624364129633,49.27446983699516,-9.04489552974701,0,0,-0.49036704513976753],[6.728624364129633,49.27446983699516,-9.04489552974701,0,0,-0.2285676573406181],[11.598584054312468,48.141556505802384,-9.04489552974701,0,0,-0.2285676573406181],[11.598584054312468,48.141556505802384,-9.04489552974701,0,0,0.03323173045853133],[11.598584054312468,48.141556505802384,-11.04489552974701,0,0,0.03323173045853133],[16.595823438610008,48.30768457695699,-11.04489552974701,0,0,0.03323173045853133],[16.595823438610008,48.30768457695699,-11.04489552974701,0,0,0.29503111825768075],[21.379788911310925,49.76153269694941,-11.04489552974701,0,0,0.29503111825768075],[21.379788911310925,49.76153269694941,-11.04489552974701,0,0,0.03323173045853133],[21.54591698246553,44.76429331265187,-11.04489552974701,0,0,0.03323173045853133]]}],"statistics":{"complete_actions":97,"sentence_actions":[25,11,21,13,27],"sentence_actions_average":19.4}}
diff --git a/scene_14/34PGFRQONX9K8XLRSRNOKSCMRL2JWL.json b/scene_14/34PGFRQONX9K8XLRSRNOKSCMRL2JWL.json
new file mode 100644
index 0000000000000000000000000000000000000000..a76d1b17a57813e51a9d4d68845765d927551918
--- /dev/null
+++ b/scene_14/34PGFRQONX9K8XLRSRNOKSCMRL2JWL.json
@@ -0,0 +1 @@
+{"episode_id":"34PGFRQONX9K8XLRSRNOKSCMRL2JWL","trajectory_id":"3EHIMLB7GFXA56XQGLZV5GYX5TUH86","scene_id":14,"instruction":"turn right and go down the road. turn left after the park and visit the park benches along the side. stop by the trees near the benches on the other side of the park.","sentence_instructions":[{"id":0,"instruction":"turn right and go down the road.","completed_instruction":"Turn right to face the tallest white building with black windows, fly up to the height above the red car ahead, and then fly forward along the road to the blue fence at the left side of the road behind the park.","start_frame":1,"end_frame":14,"start_position":[-14.850597381591797,9.766430854797363,-0.9813388586044312],"start_rotation":[0.99987425566221133,0,0,-0.015857895949300968],"end_position":[-10.957155673539242,39.930003449335906,-2.981338858604431],"end_rotation":[0.80290725599999591,0,0,0.59610396598458981],"actions":[3,3,3,3,3,1,4,1,1,1,1,1,7,1],"reference_path":[[-14.850597381591797,9.766430854797363,-0.9813388586044312,0,0,-0.03171712132588594],[-14.850597381591797,9.766430854797363,-0.9813388586044312,0,0,0.2300822664732635],[-14.850597381591797,9.766430854797363,-0.9813388586044312,0,0,0.49188165427241287],[-14.850597381591797,9.766430854797363,-0.9813388586044312,0,0,0.7536810420715623],[-14.850597381591797,9.766430854797363,-0.9813388586044312,0,0,1.0154804298707119],[-14.850597381591797,9.766430854797363,-0.9813388586044312,0,0,1.2772798176698612],[-13.403996764217368,14.552592850991383,-0.9813388586044312,0,0,1.2772798176698612],[-13.403996764217368,14.552592850991383,-2.981338858604431,0,0,1.2772798176698612],[-11.957396146842939,19.338754847185402,-2.981338858604431,0,0,1.2772798176698612],[-10.51079552946851,24.124916843379424,-2.981338858604431,0,0,1.2772798176698612],[-9.06419491209408,28.91107883957344,-2.981338858604431,0,0,1.2772798176698612],[-7.617594294719652,33.69724083576746,-2.981338858604431,0,0,1.2772798176698612],[-6.170993677345223,38.48340283196148,-2.981338858604431,0,0,1.2772798176698612],[-10.957155673539242,39.930003449335906,-2.981338858604431,0,0,1.2772798176698612]]},{"id":1,"instruction":"turn left after the park and visit the park benches along the side.","completed_instruction":"Turn left to face the white monument tower in the middle of the park, and then fly forward the park bench in front of the tower.","start_frame":14,"end_frame":29,"start_position":[-10.957155673539242,39.930003449335906,-2.981338858604431],"start_rotation":[0.80290725599999591,0,0,0.59610396598458981],"end_position":[0.22592131187293818,46.99674167417092,-2.981338858604431],"end_rotation":[0.91769480583930774,0,0,-0.39728609758655703],"actions":[1,1,1,2,2,2,2,2,2,2,2,1,2,3,1,1],"reference_path":[[-10.957155673539242,39.930003449335906,-2.981338858604431,0,0,1.2772798176698612],[-9.510555056164813,44.716165445529924,-2.981338858604431,0,0,1.2772798176698612],[-8.063954438790384,49.50232744172394,-2.981338858604431,0,0,1.2772798176698612],[-6.617353821415955,54.28848943791796,-2.981338858604431,0,0,1.2772798176698612],[-6.617353821415955,54.28848943791796,-2.981338858604431,0,0,1.0154804298707119],[-6.617353821415955,54.28848943791796,-2.981338858604431,0,0,0.7536810420715625],[-6.617353821415955,54.28848943791796,-2.981338858604431,0,0,0.49188165427241315],[-6.617353821415955,54.28848943791796,-2.981338858604431,0,0,0.23008226647326377],[-6.617353821415955,54.28848943791796,-2.981338858604431,0,0,-0.03171712132588567],[-6.617353821415955,54.28848943791796,-2.981338858604431,0,0,-0.2935165091250351],[-6.617353821415955,54.28848943791796,-2.981338858604431,0,0,-0.5553158969241845],[-6.617353821415955,54.28848943791796,-2.981338858604431,0,0,-0.817115284723334],[-3.1957162547715083,50.64261555604444,-2.981338858604431,0,0,-0.817115284723334],[-3.1957162547715083,50.64261555604444,-2.981338858604431,0,0,-1.0789146725224834],[-3.1957162547715083,50.64261555604444,-2.981338858604431,0,0,-0.8171152847233341],[0.22592131187293818,46.99674167417092,-2.981338858604431,0,0,-0.8171152847233341]]},{"id":2,"instruction":"stop by the trees near the benches on the other side of the park.","completed_instruction":"Turn right to face a large building featuring a dark beige or tan stone facade, and then fly forward to land in front of the trees in the park.","start_frame":29,"end_frame":43,"start_position":[0.22592131187293818,46.99674167417092,-2.981338858604431],"start_rotation":[0.91769480583930774,0,0,-0.39728609758655703],"end_position":[15.949331160464622,46.497873081885295,-0.9813388586044312],"end_rotation":[0.96990869207262176,0,0,0.24346894882505271],"actions":[1,3,1,3,3,3,3,4,1,3,5,1,2,5,0],"reference_path":[[0.22592131187293818,46.99674167417092,-2.981338858604431,0,0,-0.8171152847233341],[3.6475588785173847,43.3508677922974,-2.981338858604431,0,0,-0.8171152847233341],[3.6475588785173847,43.3508677922974,-2.981338858604431,0,0,-0.5553158969241847],[7.896228569010864,40.714809018088815,-2.981338858604431,0,0,-0.5553158969241847],[7.896228569010864,40.714809018088815,-2.981338858604431,0,0,-0.2935165091250353],[7.896228569010864,40.714809018088815,-2.981338858604431,0,0,-0.03171712132588585],[7.896228569010864,40.714809018088815,-2.981338858604431,0,0,0.23008226647326357],[7.896228569010864,40.714809018088815,-2.981338858604431,0,0,0.49188165427241304],[7.896228569010864,40.714809018088815,-4.981338858604431,0,0,0.49188165427241304],[12.303457278591104,43.076235515240846,-4.981338858604431,0,0,0.49188165427241304],[12.303457278591104,43.076235515240846,-4.981338858604431,0,0,0.7536810420715625],[12.303457278591104,43.076235515240846,-2.981338858604431,0,0,0.7536810420715625],[15.949331160464622,46.497873081885295,-2.981338858604431,0,0,0.7536810420715625],[15.949331160464622,46.497873081885295,-2.981338858604431,0,0,0.49188165427241315],[15.949331160464622,46.497873081885295,-0.9813388586044312,0,0,0.49188165427241315]]}],"statistics":{"complete_actions":45,"sentence_actions":[14,16,15],"sentence_actions_average":15.0}}
diff --git a/scene_14/3570Y55XZYHE60QQZMK98C5MBKWYG9.json b/scene_14/3570Y55XZYHE60QQZMK98C5MBKWYG9.json
new file mode 100644
index 0000000000000000000000000000000000000000..e05328c0390c79360b706c1f08f2467f71c0a245
--- /dev/null
+++ b/scene_14/3570Y55XZYHE60QQZMK98C5MBKWYG9.json
@@ -0,0 +1 @@
+{"episode_id":"3570Y55XZYHE60QQZMK98C5MBKWYG9","trajectory_id":"3ATYLI1PS109H4FWB2RCEF4CXQ2JOG","scene_id":14,"instruction":"turn left and fly over the yellow truck. turn left and take the next left at another truck. land in front of the back tire of the truck. stop on the sidewalk.","sentence_instructions":[{"id":0,"instruction":"turn left and fly over the yellow truck.","completed_instruction":"Turn left to face the yellow truck at the road T-junction, and then fly forward to the top of the truck.","start_frame":1,"end_frame":16,"start_position":[-9.048398971557617,37.05221939086914,-1.1274549961090088],"start_rotation":[0.99992023209041991,0,0,0.012630497070218245],"end_position":[-20.997537795281108,15.092754885299255,-5.127454996109009],"end_rotation":[0.51089844737044388,0,0,-0.85964107421322644],"actions":[4,2,2,2,2,2,2,2,2,1,1,4,1,1,1,1],"reference_path":[[-9.048398971557617,37.05221939086914,-1.1274549961090088,0,0,0.025261665834100545],[-9.048398971557617,37.05221939086914,-3.127454996109009,0,0,0.025261665834100545],[-9.048398971557617,37.05221939086914,-3.127454996109009,0,0,-0.23653772196504888],[-9.048398971557617,37.05221939086914,-3.127454996109009,0,0,-0.4983371097641983],[-9.048398971557617,37.05221939086914,-3.127454996109009,0,0,-0.7601364975633477],[-9.048398971557617,37.05221939086914,-3.127454996109009,0,0,-1.0219358853624971],[-9.048398971557617,37.05221939086914,-3.127454996109009,0,0,-1.2837352731616465],[-9.048398971557617,37.05221939086914,-3.127454996109009,0,0,-1.545534660960796],[-9.048398971557617,37.05221939086914,-3.127454996109009,0,0,-1.8073340487599454],[-9.048398971557617,37.05221939086914,-3.127454996109009,0,0,-2.069133436559095],[-11.438226736302315,32.660326489755164,-3.127454996109009,0,0,-2.069133436559095],[-13.828054501047014,28.268433588641187,-3.127454996109009,0,0,-2.069133436559095],[-13.828054501047014,28.268433588641187,-5.127454996109009,0,0,-2.069133436559095],[-16.21788226579171,23.87654068752721,-5.127454996109009,0,0,-2.069133436559095],[-18.60771003053641,19.484647786413234,-5.127454996109009,0,0,-2.069133436559095],[-20.997537795281108,15.092754885299255,-5.127454996109009,0,0,-2.069133436559095]]},{"id":1,"instruction":"turn left and take the next left at another truck.","completed_instruction":"Turn left to face the road behind the truck, then fly forward to a road T-junction, and then turn left to face a new yellow truck.","start_frame":16,"end_frame":27,"start_position":[-20.997537795281108,15.092754885299255,-5.127454996109009],"start_rotation":[0.51089844737044388,0,0,-0.85964107421322644],"end_position":[-48.10413111536324,12.66535896031063,-5.127454996109009],"end_rotation":[0.11799333900168817,0,0,0.99301438657817676],"actions":[1,2,2,2,2,1,1,1,2,1,1,1],"reference_path":[[-20.997537795281108,15.092754885299255,-5.127454996109009,0,0,-2.069133436559095],[-23.387365560025806,10.700861984185277,-5.127454996109009,0,0,-2.069133436559095],[-23.387365560025806,10.700861984185277,-5.127454996109009,0,0,-2.3309328243582446],[-23.387365560025806,10.700861984185277,-5.127454996109009,0,0,-2.592732212157394],[-23.387365560025806,10.700861984185277,-5.127454996109009,0,0,-2.8545315999565437],[-23.387365560025806,10.700861984185277,-5.127454996109009,0,0,-3.1163309877556933],[-28.3857702654634,10.57456708856658,-5.127454996109009,0,0,-3.1163309877556933],[-33.38417497090099,10.448272192947883,-5.127454996109009,0,0,-3.1163309877556933],[-38.38257967633859,10.321977297329186,-5.127454996109009,0,0,-3.1163309877556933],[-38.38257967633859,10.321977297329186,-5.127454996109009,0,0,2.905054931624744],[-43.24335539585091,11.493668128819909,-5.127454996109009,0,0,2.905054931624744],[-48.10413111536324,12.66535896031063,-5.127454996109009,0,0,2.905054931624744]]},{"id":2,"instruction":"land in front of the back tire of the truck.","completed_instruction":"Land on the sidewalk.","start_frame":27,"end_frame":33,"start_position":[-48.10413111536324,12.66535896031063,-5.127454996109009],"start_rotation":[0.11799333900168817,0,0,0.99301438657817676],"end_position":[-57.82568255438789,15.008740623292073,-1.1274549961090088],"end_rotation":[0.37098384877904084,0,0,0.92863931854358273],"actions":[1,1,2,2,5,5,0],"reference_path":[[-48.10413111536324,12.66535896031063,-5.127454996109009,0,0,2.905054931624744],[-52.96490683487556,13.837049791801352,-5.127454996109009,0,0,2.905054931624744],[-57.82568255438789,15.008740623292073,-5.127454996109009,0,0,2.905054931624744],[-57.82568255438789,15.008740623292073,-5.127454996109009,0,0,2.6432555438255947],[-57.82568255438789,15.008740623292073,-5.127454996109009,0,0,2.381456156026445],[-57.82568255438789,15.008740623292073,-3.127454996109009,0,0,2.381456156026445],[-57.82568255438789,15.008740623292073,-1.1274549961090088,0,0,2.381456156026445]]}],"statistics":{"complete_actions":35,"sentence_actions":[16,12,7],"sentence_actions_average":11.67}}
diff --git a/scene_14/358UUM7WR81MG633SOOLU3ZW8NAR7U.json b/scene_14/358UUM7WR81MG633SOOLU3ZW8NAR7U.json
new file mode 100644
index 0000000000000000000000000000000000000000..72273f85ce7bd744ad5647320e7df769f0fdc929
--- /dev/null
+++ b/scene_14/358UUM7WR81MG633SOOLU3ZW8NAR7U.json
@@ -0,0 +1 @@
+{"episode_id":"358UUM7WR81MG633SOOLU3ZW8NAR7U","trajectory_id":"3VJ4PFXFKB5TTGWPDIQ8KMTIPPWAU4","scene_id":14,"instruction":"turn left and pass over the fence and park benches. turn slight left and pass to the left of the trees to the road. fly towards the yellow truck on the left. fly above the yellow truck and raise up the side of the building. turn left and look over the roofs to your left. look back forward and stop.","sentence_instructions":[{"id":0,"instruction":"turn left and pass over the fence and park benches.","completed_instruction":"Turn left to face the red and blue buckets, then take off to the height above the fences and fly forward to the bench in front of the white monument tower in the park.","start_frame":1,"end_frame":10,"start_position":[2.7827796936035156,69.91053771972656,-0.53975510597229],"start_rotation":[0.99998951439107475,0,0,0.0045794222236440058],"end_position":[5.459328306455163,60.27538917271173,-4.53975510597229],"end_rotation":[0.79613279711526919,0,0,-0.60512194585671542],"actions":[4,2,2,2,2,2,1,4,1,1],"reference_path":[[2.7827796936035156,69.91053771972656,-0.53975510597229,0,0,0.009158876459442638],[2.7827796936035156,69.91053771972656,-2.53975510597229,0,0,0.009158876459442638],[2.7827796936035156,69.91053771972656,-2.53975510597229,0,0,-0.2526405113397068],[2.7827796936035156,69.91053771972656,-2.53975510597229,0,0,-0.5144398991388562],[2.7827796936035156,69.91053771972656,-2.53975510597229,0,0,-0.7762392869380057],[2.7827796936035156,69.91053771972656,-2.53975510597229,0,0,-1.038038674737155],[2.7827796936035156,69.91053771972656,-2.53975510597229,0,0,-1.2998380625363046],[4.121054000029339,65.09296344621914,-2.53975510597229,0,0,-1.2998380625363046],[4.121054000029339,65.09296344621914,-4.53975510597229,0,0,-1.2998380625363046],[5.459328306455163,60.27538917271173,-4.53975510597229,0,0,-1.2998380625363046]]},{"id":1,"instruction":"turn slight left and pass to the left of the trees to the road.","completed_instruction":"Turn left to face a building with white lower floors and red upper floors, and then fly forward to the road in front of the building.","start_frame":10,"end_frame":22,"start_position":[5.459328306455163,60.27538917271173,-4.53975510597229],"start_rotation":[0.79613279711526919,0,0,-0.60512194585671542],"end_position":[-7.754042905356311,35.66445159852769,-4.53975510597229],"end_rotation":[0.26323971342253122,0,0,-0.96473045628155829],"actions":[1,1,1,2,2,2,2,2,1,1,1,1,1],"reference_path":[[5.459328306455163,60.27538917271173,-4.53975510597229,0,0,-1.2998380625363046],[6.797602612880986,55.45781489920432,-4.53975510597229,0,0,-1.2998380625363046],[8.13587691930681,50.64024062569691,-4.53975510597229,0,0,-1.2998380625363046],[9.474151225732633,45.8226663521895,-4.53975510597229,0,0,-1.2998380625363046],[9.474151225732633,45.8226663521895,-4.53975510597229,0,0,-1.5616374503354542],[9.474151225732633,45.8226663521895,-4.53975510597229,0,0,-1.8234368381346038],[9.474151225732633,45.8226663521895,-4.53975510597229,0,0,-2.085236225933753],[9.474151225732633,45.8226663521895,-4.53975510597229,0,0,-2.3470356137329023],[9.474151225732633,45.8226663521895,-4.53975510597229,0,0,-2.608835001532052],[5.167102692960397,43.28311266377405,-4.53975510597229,0,0,-2.608835001532052],[0.8600541601881613,40.743558975358596,-4.53975510597229,0,0,-2.608835001532052],[-3.446994372584075,38.20400528694314,-4.53975510597229,0,0,-2.608835001532052],[-7.754042905356311,35.66445159852769,-4.53975510597229,0,0,-2.608835001532052]]},{"id":2,"instruction":"fly towards the yellow truck on the left.","completed_instruction":"Turn right to face a yellow truck and then fly forward to the top of the truck.","start_frame":22,"end_frame":29,"start_position":[-7.754042905356311,35.66445159852769,-4.53975510597229],"start_rotation":[0.26323971342253122,0,0,-0.96473045628155829],"end_position":[-20.484569191402464,20.851446677105024,-6.53975510597229],"end_rotation":[0.50396065317586825,0,0,-0.8637266118689132],"actions":[1,3,1,3,1,4,1,1],"reference_path":[[-7.754042905356311,35.66445159852769,-4.53975510597229,0,0,-2.608835001532052],[-12.061091438128546,33.12489791011224,-4.53975510597229,0,0,-2.608835001532052],[-12.061091438128546,33.12489791011224,-4.53975510597229,0,0,-2.3470356137329023],[-15.564095990391415,29.55713122676177,-4.53975510597229,0,0,-2.3470356137329023],[-15.564095990391415,29.55713122676177,-4.53975510597229,0,0,-2.0852362259337527],[-18.02433259089694,25.204288951933396,-4.53975510597229,0,0,-2.0852362259337527],[-18.02433259089694,25.204288951933396,-6.53975510597229,0,0,-2.0852362259337527],[-20.484569191402464,20.851446677105024,-6.53975510597229,0,0,-2.0852362259337527]]},{"id":3,"instruction":"turn left and look over the roofs to your left. look back forward and stop.","completed_instruction":"Ascend to a certain height of ten floors, and then turn slightly left to face the road.","start_frame":29,"end_frame":59,"start_position":[-20.484569191402464,20.851446677105024,-6.53975510597229],"start_rotation":[0.50396065317586825,0,0,-0.8637266118689132],"end_position":[-30.325515593424562,3.440077577791536,-38.53975510597229],"end_rotation":[0.263239713422531,0,0,-0.96473045628155829],"actions":[1,1,1,4,4,4,4,4,4,4,4,4,4,1,4,4,4,4,4,4,2,2,2,2,2,2,3,3,3,3,0],"reference_path":[[-20.484569191402464,20.851446677105024,-6.53975510597229,0,0,-2.0852362259337527],[-22.94480579190799,16.49860440227665,-6.53975510597229,0,0,-2.0852362259337527],[-25.405042392413513,12.145762127448279,-6.53975510597229,0,0,-2.0852362259337527],[-27.865278992919038,7.7929198526199075,-6.53975510597229,0,0,-2.0852362259337527],[-27.865278992919038,7.7929198526199075,-8.53975510597229,0,0,-2.0852362259337527],[-27.865278992919038,7.7929198526199075,-10.53975510597229,0,0,-2.0852362259337527],[-27.865278992919038,7.7929198526199075,-12.53975510597229,0,0,-2.0852362259337527],[-27.865278992919038,7.7929198526199075,-14.53975510597229,0,0,-2.0852362259337527],[-27.865278992919038,7.7929198526199075,-16.53975510597229,0,0,-2.0852362259337527],[-27.865278992919038,7.7929198526199075,-18.53975510597229,0,0,-2.0852362259337527],[-27.865278992919038,7.7929198526199075,-20.53975510597229,0,0,-2.0852362259337527],[-27.865278992919038,7.7929198526199075,-22.53975510597229,0,0,-2.0852362259337527],[-27.865278992919038,7.7929198526199075,-24.53975510597229,0,0,-2.0852362259337527],[-27.865278992919038,7.7929198526199075,-26.53975510597229,0,0,-2.0852362259337527],[-30.325515593424562,3.440077577791536,-26.53975510597229,0,0,-2.0852362259337527],[-30.325515593424562,3.440077577791536,-28.53975510597229,0,0,-2.0852362259337527],[-30.325515593424562,3.440077577791536,-30.53975510597229,0,0,-2.0852362259337527],[-30.325515593424562,3.440077577791536,-32.53975510597229,0,0,-2.0852362259337527],[-30.325515593424562,3.440077577791536,-34.53975510597229,0,0,-2.0852362259337527],[-30.325515593424562,3.440077577791536,-36.53975510597229,0,0,-2.0852362259337527],[-30.325515593424562,3.440077577791536,-38.53975510597229,0,0,-2.0852362259337527],[-30.325515593424562,3.440077577791536,-38.53975510597229,0,0,-2.3470356137329023],[-30.325515593424562,3.440077577791536,-38.53975510597229,0,0,-2.608835001532052],[-30.325515593424562,3.440077577791536,-38.53975510597229,0,0,-2.870634389331201],[-30.325515593424562,3.440077577791536,-38.53975510597229,0,0,-3.1324337771303505],[-30.325515593424562,3.440077577791536,-38.53975510597229,0,0,2.8889521422500857],[-30.325515593424562,3.440077577791536,-38.53975510597229,0,0,2.6271527544509365],[-30.325515593424562,3.440077577791536,-38.53975510597229,0,0,2.8889521422500866],[-30.325515593424562,3.440077577791536,-38.53975510597229,0,0,-3.1324337771303505],[-30.325515593424562,3.440077577791536,-38.53975510597229,0,0,-2.870634389331202],[-30.325515593424562,3.440077577791536,-38.53975510597229,0,0,-2.6088350015320523]]}],"statistics":{"complete_actions":62,"sentence_actions":[10,13,8,31],"sentence_actions_average":15.5}}
diff --git a/scene_14/39KFRKBFIWT2YD7ON5XHDLEPOQ1OYS.json b/scene_14/39KFRKBFIWT2YD7ON5XHDLEPOQ1OYS.json
new file mode 100644
index 0000000000000000000000000000000000000000..c94f49bcc61220bc00e928ceac2ab53c4ace8a0f
--- /dev/null
+++ b/scene_14/39KFRKBFIWT2YD7ON5XHDLEPOQ1OYS.json
@@ -0,0 +1 @@
+{"episode_id":"39KFRKBFIWT2YD7ON5XHDLEPOQ1OYS","trajectory_id":"33NOQL7TAWXWWRXKM7525N22678Z8S","scene_id":14,"instruction":"take off move forward. take right at the edge of the building. keep moving forward towards the street light.","sentence_instructions":[{"id":0,"instruction":"take off move forward.","completed_instruction":"Take off above the fences ahead and fly forward over the fences to the left side road of the park.","start_frame":1,"end_frame":9,"start_position":[-49.177703857421875,0.7505121231079102,-8.352989196777344],"start_rotation":[0.99985792920544536,0,0,-0.016855901192119896],"end_position":[-24.69852581585308,5.104247033158105,-10.352989196777344],"end_rotation":[0.99985792920544536,0,0,-0.016855901192119892],"actions":[3,1,4,1,1,1,2,1,1],"reference_path":[[-49.177703857421875,0.7505121231079102,-8.352989196777344,0,0,-0.03371339896248788],[-49.177703857421875,0.7505121231079102,-8.352989196777344,0,0,0.22808598883666156],[-44.30719904351718,1.8810796167725703,-8.352989196777344,0,0,0.22808598883666156],[-44.30719904351718,1.8810796167725703,-10.352989196777344,0,0,0.22808598883666156],[-39.436694229612485,3.0116471104372304,-10.352989196777344,0,0,0.22808598883666156],[-34.56618941570779,4.14221460410189,-10.352989196777344,0,0,0.22808598883666156],[-29.695684601803094,5.272782097766551,-10.352989196777344,0,0,0.22808598883666156],[-29.695684601803094,5.272782097766551,-10.352989196777344,0,0,-0.03371339896248787],[-24.69852581585308,5.104247033158105,-10.352989196777344,0,0,-0.03371339896248787]]},{"id":1,"instruction":"take right at the edge of the building.","completed_instruction":"Turn right to face the white skyscraper with black windows.","start_frame":9,"end_frame":14,"start_position":[-24.69852581585308,5.104247033158105,-10.352989196777344],"start_rotation":[0.99985792920544536,0,0,-0.016855901192119892],"end_position":[-19.701367029903068,4.935711968549659,-10.352989196777344],"end_rotation":[0.87433031746327849,0,0,0.48533132596666645],"actions":[1,3,3,3,3,3],"reference_path":[[-24.69852581585308,5.104247033158105,-10.352989196777344,0,0,-0.03371339896248787],[-19.701367029903068,4.935711968549659,-10.352989196777344,0,0,-0.03371339896248787],[-19.701367029903068,4.935711968549659,-10.352989196777344,0,0,0.22808598883666156],[-19.701367029903068,4.935711968549659,-10.352989196777344,0,0,0.48988537663581094],[-19.701367029903068,4.935711968549659,-10.352989196777344,0,0,0.7516847644349604],[-19.701367029903068,4.935711968549659,-10.352989196777344,0,0,1.0134841522341098]]},{"id":2,"instruction":"keep moving forward towards the street light.","completed_instruction":"Fly forward along the road right to the park until you reach the top of the last tree on the left side of the road.","start_frame":12,"end_frame":14,"start_position":[-19.701367029903068,4.935711968549659,-10.352989196777344],"start_rotation":[0.97015122469033355,0,0,0.24250072418829186],"end_position":[-19.701367029903068,4.935711968549659,-10.352989196777344],"end_rotation":[0.87433031746327849,0,0,0.48533132596666645],"actions":[3,3,3],"reference_path":[[-19.701367029903068,4.935711968549659,-10.352989196777344,0,0,0.48988537663581094],[-19.701367029903068,4.935711968549659,-10.352989196777344,0,0,0.7516847644349604],[-19.701367029903068,4.935711968549659,-10.352989196777344,0,0,1.0134841522341098]]}],"statistics":{"complete_actions":18,"sentence_actions":[9,6,3],"sentence_actions_average":6.0}}
diff --git a/scene_14/3AZHRG4CUDIGFTIHWZ2GXQMTZK103V.json b/scene_14/3AZHRG4CUDIGFTIHWZ2GXQMTZK103V.json
new file mode 100644
index 0000000000000000000000000000000000000000..34384657db838a82cc432a1dc605aeaebbd0852f
--- /dev/null
+++ b/scene_14/3AZHRG4CUDIGFTIHWZ2GXQMTZK103V.json
@@ -0,0 +1 @@
+{"episode_id":"3AZHRG4CUDIGFTIHWZ2GXQMTZK103V","trajectory_id":"391FPZIE5KK83343JO0018GM3MAUHS","scene_id":14,"instruction":"turn right and slide left. go forward and turn right to the brown building. go down to street level. turn right passed the pizzeria and go passed the yellow truck. turn around and go to parking place and turn around and land in front of the yellow truck.","sentence_instructions":[{"id":0,"instruction":"turn right and slide left.","completed_instruction":"Turn right to face the white wall in the shadow with many windows, and then move left until see a white tall building with grid windows behind a glass building.","start_frame":1,"end_frame":11,"start_position":[-45.48887634277344,-41.59473419189453,-48.2464485168457],"start_rotation":[0.99978290903191835,0,0,-0.020835901892524118],"end_position":[-29.680128666814245,-41.305775859509154,-50.2464485168457],"end_rotation":[0.80586520385733906,0,0,0.59209904003635183],"actions":[4,3,3,3,3,3,6,6,6,1,6],"reference_path":[[-45.48887634277344,-41.59473419189453,-48.2464485168457,0,0,-0.041674819571004953],[-45.48887634277344,-41.59473419189453,-50.2464485168457,0,0,-0.041674819571004953],[-45.48887634277344,-41.59473419189453,-50.2464485168457,0,0,0.2201245682281445],[-45.48887634277344,-41.59473419189453,-50.2464485168457,0,0,0.48192395602729393],[-45.48887634277344,-41.59473419189453,-50.2464485168457,0,0,0.7437233438264433],[-45.48887634277344,-41.59473419189453,-50.2464485168457,0,0,1.0055227316255928],[-45.48887634277344,-41.59473419189453,-50.2464485168457,0,0,1.2673221194247422],[-40.71735620674714,-43.08892145977484,-50.2464485168457,0,0,1.2673221194247422],[-35.945836070720844,-44.583108727655144,-50.2464485168457,0,0,1.2673221194247422],[-31.17431593469455,-46.07729599553545,-50.2464485168457,0,0,1.2673221194247422],[-29.680128666814245,-41.305775859509154,-50.2464485168457,0,0,1.2673221194247422]]},{"id":1,"instruction":"go forward and turn right to the brown building.","completed_instruction":"Fly forward through the gap between the two buildings ahead and then turn right to face the dark beige building on the right and fly forward to it.","start_frame":12,"end_frame":50,"start_position":[-24.90860853078795,-42.79996312738946,-50.2464485168457],"start_rotation":[0.80586520385733906,0,0,0.59209904003635183],"end_position":[-25.532395568253094,12.632393862348696,-50.2464485168457],"end_rotation":[0.48184703416627261,0,0,-0.87625534843741],"actions":[6,6,1,1,1,1,1,1,1,1,1,3,3,3,3,3,6,1,6,3,3,3,6,6,3,1,1,6,1,1,6,3,3,3,3,1,2,2,1],"reference_path":[[-24.90860853078795,-42.79996312738946,-50.2464485168457,0,0,1.2673221194247422],[-20.13708839476166,-44.29415039526977,-50.2464485168457,0,0,1.2673221194247422],[-15.365568258735365,-45.788337663150074,-50.2464485168457,0,0,1.2673221194247422],[-13.871380990855059,-41.01681752712378,-50.2464485168457,0,0,1.2673221194247422],[-12.377193722974752,-36.24529739109748,-50.2464485168457,0,0,1.2673221194247422],[-10.883006455094446,-31.473777255071187,-50.2464485168457,0,0,1.2673221194247422],[-9.388819187214139,-26.702257119044894,-50.2464485168457,0,0,1.2673221194247422],[-7.894631919333833,-21.9307369830186,-50.2464485168457,0,0,1.2673221194247422],[-6.400444651453526,-17.159216846992308,-50.2464485168457,0,0,1.2673221194247422],[-4.9062573835732195,-12.387696710966015,-50.2464485168457,0,0,1.2673221194247422],[-3.4120701156929134,-7.616176574939721,-50.2464485168457,0,0,1.2673221194247422],[-1.9178828478126073,-2.844656438913427,-50.2464485168457,0,0,1.2673221194247422],[-1.9178828478126073,-2.844656438913427,-50.2464485168457,0,0,1.5291215072238915],[-1.9178828478126073,-2.844656438913427,-50.2464485168457,0,0,1.790920895023041],[-1.9178828478126073,-2.844656438913427,-50.2464485168457,0,0,2.0527202828221904],[-1.9178828478126073,-2.844656438913427,-50.2464485168457,0,0,2.31451967062134],[-1.9178828478126073,-2.844656438913427,-50.2464485168457,0,0,2.576319058420489],[0.7603515088390576,1.3775539692555743,-50.2464485168457,0,0,2.576319058420489],[-3.461858899329942,4.0557883259072405,-50.2464485168457,0,0,2.576319058420489],[-0.7836245426782771,8.277998734076242,-50.2464485168457,0,0,2.576319058420489],[-0.7836245426782771,8.277998734076242,-50.2464485168457,0,0,2.8381184462196387],[-0.7836245426782771,8.277998734076242,-50.2464485168457,0,0,3.0999178340187883],[-0.7836245426782771,8.277998734076242,-50.2464485168457,0,0,-2.921468085361649],[-1.8753804786958126,13.157350020484147,-50.2464485168457,0,0,-2.921468085361649],[-2.967136414713348,18.036701306892052,-50.2464485168457,0,0,-2.921468085361649],[-2.967136414713348,18.036701306892052,-50.2464485168457,0,0,-2.6596686975624997],[-7.397660608946464,15.719277011620468,-50.2464485168457,0,0,-2.6596686975624997],[-11.82818480317958,13.401852716348884,-50.2464485168457,0,0,-2.6596686975624997],[-14.145609098451164,17.832376910582,-50.2464485168457,0,0,-2.6596686975624997],[-18.57613329268428,15.514952615310415,-50.2464485168457,0,0,-2.6596686975624997],[-23.006657486917394,13.197528320038831,-50.2464485168457,0,0,-2.6596686975624997],[-25.324081782188976,17.628052514271946,-50.2464485168457,0,0,-2.6596686975624997],[-25.324081782188976,17.628052514271946,-50.2464485168457,0,0,-2.3978693097633506],[-25.324081782188976,17.628052514271946,-50.2464485168457,0,0,-2.1360699219642014],[-25.324081782188976,17.628052514271946,-50.2464485168457,0,0,-1.874270534165052],[-25.324081782188976,17.628052514271946,-50.2464485168457,0,0,-1.6124711463659025],[-25.532395568253094,12.632393862348696,-50.2464485168457,0,0,-1.6124711463659025],[-25.532395568253094,12.632393862348696,-50.2464485168457,0,0,-1.874270534165052],[-25.532395568253094,12.632393862348696,-50.2464485168457,0,0,-2.1360699219642014]]},{"id":2,"instruction":"go down to street level.","completed_instruction":"Descend to the second floor height and then make a left turn to face a T-junction.","start_frame":51,"end_frame":86,"start_position":[-28.21062992490476,8.410183454179698,-50.2464485168457],"start_rotation":[0.48184703416627261,0,0,-0.87625534843741],"end_position":[-36.475145229840265,10.998191718170926,-10.246448516845703],"end_rotation":[0.020835901892524562,0,0,0.99978290903191835],"actions":[3,3,3,3,2,2,2,1,2,2,6,5,5,5,5,6,5,5,5,5,5,2,2,2,5,5,5,5,5,5,5,5,5,5,5,5],"reference_path":[[-28.21062992490476,8.410183454179698,-50.2464485168457,0,0,-2.1360699219642014],[-28.21062992490476,8.410183454179698,-50.2464485168457,0,0,-1.874270534165052],[-28.21062992490476,8.410183454179698,-50.2464485168457,0,0,-1.6124711463659025],[-28.21062992490476,8.410183454179698,-50.2464485168457,0,0,-1.3506717585667531],[-28.21062992490476,8.410183454179698,-50.2464485168457,0,0,-1.0888723707676038],[-28.21062992490476,8.410183454179698,-50.2464485168457,0,0,-1.3506717585667531],[-28.21062992490476,8.410183454179698,-50.2464485168457,0,0,-1.6124711463659025],[-28.21062992490476,8.410183454179698,-50.2464485168457,0,0,-1.874270534165052],[-29.70481719278507,3.638663318153405,-50.2464485168457,0,0,-1.874270534165052],[-29.70481719278507,3.638663318153405,-50.2464485168457,0,0,-2.1360699219642014],[-29.70481719278507,3.638663318153405,-50.2464485168457,0,0,-2.397869309763351],[-33.08998121131267,7.318427518162165,-50.2464485168457,0,0,-2.397869309763351],[-33.08998121131267,7.318427518162165,-48.2464485168457,0,0,-2.397869309763351],[-33.08998121131267,7.318427518162165,-46.2464485168457,0,0,-2.397869309763351],[-33.08998121131267,7.318427518162165,-44.2464485168457,0,0,-2.397869309763351],[-33.08998121131267,7.318427518162165,-42.2464485168457,0,0,-2.397869309763351],[-36.475145229840265,10.998191718170926,-42.2464485168457,0,0,-2.397869309763351],[-36.475145229840265,10.998191718170926,-40.2464485168457,0,0,-2.397869309763351],[-36.475145229840265,10.998191718170926,-38.2464485168457,0,0,-2.397869309763351],[-36.475145229840265,10.998191718170926,-36.2464485168457,0,0,-2.397869309763351],[-36.475145229840265,10.998191718170926,-34.2464485168457,0,0,-2.397869309763351],[-36.475145229840265,10.998191718170926,-32.2464485168457,0,0,-2.397869309763351],[-36.475145229840265,10.998191718170926,-32.2464485168457,0,0,-2.6596686975625],[-36.475145229840265,10.998191718170926,-32.2464485168457,0,0,-2.9214680853616497],[-36.475145229840265,10.998191718170926,-32.2464485168457,0,0,3.0999178340187874],[-36.475145229840265,10.998191718170926,-30.246448516845703,0,0,3.0999178340187874],[-36.475145229840265,10.998191718170926,-28.246448516845703,0,0,3.0999178340187874],[-36.475145229840265,10.998191718170926,-26.246448516845703,0,0,3.0999178340187874],[-36.475145229840265,10.998191718170926,-24.246448516845703,0,0,3.0999178340187874],[-36.475145229840265,10.998191718170926,-22.246448516845703,0,0,3.0999178340187874],[-36.475145229840265,10.998191718170926,-20.246448516845703,0,0,3.0999178340187874],[-36.475145229840265,10.998191718170926,-18.246448516845703,0,0,3.0999178340187874],[-36.475145229840265,10.998191718170926,-16.246448516845703,0,0,3.0999178340187874],[-36.475145229840265,10.998191718170926,-14.246448516845703,0,0,3.0999178340187874],[-36.475145229840265,10.998191718170926,-12.246448516845703,0,0,3.0999178340187874],[-36.475145229840265,10.998191718170926,-10.246448516845703,0,0,3.0999178340187874]]},{"id":3,"instruction":"turn right passed the pizzeria and go passed the yellow truck.","completed_instruction":"Turn right to face a yellow truck.","start_frame":86,"end_frame":102,"start_position":[-36.475145229840265,10.998191718170926,-10.246448516845703],"start_rotation":[0.020835901892524562,0,0,0.99978290903191835],"end_position":[-32.25293482167127,8.319957361519256,-6.246448516845703],"end_rotation":[0.98850999671355333,0,0,-0.151155504026055],"actions":[5,5,5,3,3,3,3,7,3,3,3,3,3,3,3,4,1],"reference_path":[[-36.475145229840265,10.998191718170926,-10.246448516845703,0,0,3.0999178340187874],[-36.475145229840265,10.998191718170926,-8.246448516845703,0,0,3.0999178340187874],[-36.475145229840265,10.998191718170926,-6.246448516845703,0,0,3.0999178340187874],[-36.475145229840265,10.998191718170926,-4.246448516845703,0,0,3.0999178340187874],[-36.475145229840265,10.998191718170926,-4.246448516845703,0,0,-2.9214680853616493],[-36.475145229840265,10.998191718170926,-4.246448516845703,0,0,-2.6596686975624997],[-36.475145229840265,10.998191718170926,-4.246448516845703,0,0,-2.3978693097633506],[-36.475145229840265,10.998191718170926,-4.246448516845703,0,0,-2.1360699219642014],[-32.25293482167127,8.319957361519256,-4.246448516845703,0,0,-2.1360699219642014],[-32.25293482167127,8.319957361519256,-4.246448516845703,0,0,-1.874270534165052],[-32.25293482167127,8.319957361519256,-4.246448516845703,0,0,-1.6124711463659025],[-32.25293482167127,8.319957361519256,-4.246448516845703,0,0,-1.3506717585667531],[-32.25293482167127,8.319957361519256,-4.246448516845703,0,0,-1.0888723707676038],[-32.25293482167127,8.319957361519256,-4.246448516845703,0,0,-0.8270729829684543],[-32.25293482167127,8.319957361519256,-4.246448516845703,0,0,-0.565273595169305],[-32.25293482167127,8.319957361519256,-4.246448516845703,0,0,-0.30347420737015557],[-32.25293482167127,8.319957361519256,-6.246448516845703,0,0,-0.30347420737015557]]},{"id":4,"instruction":"turn around and go to parking place and turn around and land in front of the yellow truck.","completed_instruction":"turn right to face a park, then turn right to face the yellow truck, then turn back to face the road, and turn back to face the truck, finally land on the left side of the yellow truck.","start_frame":103,"end_frame":150,"start_position":[-27.481414685644975,6.825770093638944,-6.246448516845703],"start_rotation":[0.98850999671355333,0,0,-0.151155504026055],"end_position":[-16.80411610845805,14.96005073086798,-4.246448516845703],"end_rotation":[0.02083590189252434,0,0,0.99978290903191835],"actions":[1,3,3,3,3,3,3,3,3,3,3,3,1,3,1,3,3,3,3,3,3,3,3,3,3,3,3,1,1,4,3,3,3,3,3,3,3,3,3,3,3,5,6,6,3,3,5,0],"reference_path":[[-27.481414685644975,6.825770093638944,-6.246448516845703,0,0,-0.30347420737015557],[-22.70989454961868,5.331582825758632,-6.246448516845703,0,0,-0.30347420737015557],[-22.70989454961868,5.331582825758632,-6.246448516845703,0,0,-0.04167481957100618],[-22.70989454961868,5.331582825758632,-6.246448516845703,0,0,0.22012456822814325],[-22.70989454961868,5.331582825758632,-6.246448516845703,0,0,0.48192395602729277],[-22.70989454961868,5.331582825758632,-6.246448516845703,0,0,0.7437233438264423],[-22.70989454961868,5.331582825758632,-6.246448516845703,0,0,1.005522731625592],[-22.70989454961868,5.331582825758632,-6.246448516845703,0,0,1.2673221194247413],[-22.70989454961868,5.331582825758632,-6.246448516845703,0,0,1.5291215072238908],[-22.70989454961868,5.331582825758632,-6.246448516845703,0,0,1.7909208950230404],[-22.70989454961868,5.331582825758632,-6.246448516845703,0,0,2.05272028282219],[-22.70989454961868,5.331582825758632,-6.246448516845703,0,0,2.3145196706213396],[-22.70989454961868,5.331582825758632,-6.246448516845703,0,0,2.5763190584204887],[-26.93210495778768,8.0098171824103,-6.246448516845703,0,0,2.5763190584204887],[-26.93210495778768,8.0098171824103,-6.246448516845703,0,0,2.8381184462196383],[-31.703625093813972,9.504004450290608,-6.246448516845703,0,0,2.8381184462196383],[-31.703625093813972,9.504004450290608,-6.246448516845703,0,0,3.099917834018788],[-31.703625093813972,9.504004450290608,-6.246448516845703,0,0,-2.9214680853616493],[-31.703625093813972,9.504004450290608,-6.246448516845703,0,0,-2.6596686975624997],[-31.703625093813972,9.504004450290608,-6.246448516845703,0,0,-2.3978693097633506],[-31.703625093813972,9.504004450290608,-6.246448516845703,0,0,-2.1360699219642014],[-31.703625093813972,9.504004450290608,-6.246448516845703,0,0,-1.874270534165052],[-31.703625093813972,9.504004450290608,-6.246448516845703,0,0,-1.6124711463659025],[-31.703625093813972,9.504004450290608,-6.246448516845703,0,0,-1.3506717585667531],[-31.703625093813972,9.504004450290608,-6.246448516845703,0,0,-1.0888723707676038],[-31.703625093813972,9.504004450290608,-6.246448516845703,0,0,-0.8270729829684543],[-31.703625093813972,9.504004450290608,-6.246448516845703,0,0,-0.565273595169305],[-31.703625093813972,9.504004450290608,-6.246448516845703,0,0,-0.30347420737015557],[-26.93210495778768,8.009817182410297,-6.246448516845703,0,0,-0.30347420737015557],[-22.160584821761386,6.515629914529985,-6.246448516845703,0,0,-0.30347420737015557],[-22.160584821761386,6.515629914529985,-8.246448516845703,0,0,-0.30347420737015557],[-22.160584821761386,6.515629914529985,-8.246448516845703,0,0,-0.04167481957100618],[-22.160584821761386,6.515629914529985,-8.246448516845703,0,0,0.22012456822814325],[-22.160584821761386,6.515629914529985,-8.246448516845703,0,0,0.48192395602729277],[-22.160584821761386,6.515629914529985,-8.246448516845703,0,0,0.7437233438264423],[-22.160584821761386,6.515629914529985,-8.246448516845703,0,0,1.005522731625592],[-22.160584821761386,6.515629914529985,-8.246448516845703,0,0,1.2673221194247413],[-22.160584821761386,6.515629914529985,-8.246448516845703,0,0,1.5291215072238908],[-22.160584821761386,6.515629914529985,-8.246448516845703,0,0,1.7909208950230404],[-22.160584821761386,6.515629914529985,-8.246448516845703,0,0,2.05272028282219],[-22.160584821761386,6.515629914529985,-8.246448516845703,0,0,2.3145196706213396],[-22.160584821761386,6.515629914529985,-8.246448516845703,0,0,2.5763190584204887],[-22.160584821761386,6.515629914529985,-6.246448516845703,0,0,2.5763190584204887],[-19.482350465109718,10.737840322698982,-6.246448516845703,0,0,2.5763190584204887],[-16.80411610845805,14.96005073086798,-6.246448516845703,0,0,2.5763190584204887],[-16.80411610845805,14.96005073086798,-6.246448516845703,0,0,2.8381184462196383],[-16.80411610845805,14.96005073086798,-6.246448516845703,0,0,3.099917834018788],[-16.80411610845805,14.96005073086798,-4.246448516845703,0,0,3.099917834018788]]}],"statistics":{"complete_actions":151,"sentence_actions":[11,39,36,17,48],"sentence_actions_average":30.2}}
diff --git a/scene_14/3CP1TO84P2ZQPI8ZP5UNVBDS3N252B.json b/scene_14/3CP1TO84P2ZQPI8ZP5UNVBDS3N252B.json
new file mode 100644
index 0000000000000000000000000000000000000000..a53c6ddc702ffadf0fcda3d6c6a6642171241d79
--- /dev/null
+++ b/scene_14/3CP1TO84P2ZQPI8ZP5UNVBDS3N252B.json
@@ -0,0 +1 @@
+{"episode_id":"3CP1TO84P2ZQPI8ZP5UNVBDS3N252B","trajectory_id":"3AFT28WXMN0DMTVQTK6C2EPCKSKIO8","scene_id":14,"instruction":"take off and turn left towards a tall wide brown building. fly forward and fly down near a small tower. turn left towards a short white building when near the small tower and fly forward. turn right towards a white and light brown building when near many black umbrellas. fly forward and land in front of the white and light brown building and near a red car.","sentence_instructions":[{"id":0,"instruction":"take off and turn left towards a tall wide brown building.","completed_instruction":"Take off 2 meters and then turn left to face dark brownish high-rise building left to the tall glass building.","start_frame":1,"end_frame":10,"start_position":[53.316219329833984,67.84723663330078,-29.064741134643555],"start_rotation":[0.999812871800086,0,0,-0.01934480247675566],"end_position":[53.316219329833984,67.84723663330078,-33.064741134643555],"end_rotation":[0.59330024891612476,0,0,-0.804981251108412],"actions":[4,4,2,2,2,2,2,2,2,2],"reference_path":[[53.316219329833984,67.84723663330078,-29.064741134643555,0,0,-0.038692018439541585],[53.316219329833984,67.84723663330078,-31.064741134643555,0,0,-0.038692018439541585],[53.316219329833984,67.84723663330078,-33.064741134643555,0,0,-0.038692018439541585],[53.316219329833984,67.84723663330078,-33.064741134643555,0,0,-0.30049140623869103],[53.316219329833984,67.84723663330078,-33.064741134643555,0,0,-0.5622907940378404],[53.316219329833984,67.84723663330078,-33.064741134643555,0,0,-0.8240901818369898],[53.316219329833984,67.84723663330078,-33.064741134643555,0,0,-1.0858895696361393],[53.316219329833984,67.84723663330078,-33.064741134643555,0,0,-1.347688957435289],[53.316219329833984,67.84723663330078,-33.064741134643555,0,0,-1.6094883452344386],[53.316219329833984,67.84723663330078,-33.064741134643555,0,0,-1.8712877330335882]]},{"id":1,"instruction":"fly forward and fly down near a small tower.","completed_instruction":"Fly forward to the front of the white monument tower in the park, then fly down to the same height as the tower.","start_frame":10,"end_frame":29,"start_position":[53.316219329833984,67.84723663330078,-33.064741134643555],"start_rotation":[0.59330024891612476,0,0,-0.804981251108412],"end_position":[22.35107477491846,51.5328312597303,-15.064741134643555],"end_rotation":[0.240084968443748,0,0,-0.97075187763267523],"actions":[2,2,2,1,1,1,1,1,1,1,5,5,5,5,5,5,5,5,5,5],"reference_path":[[53.316219329833984,67.84723663330078,-33.064741134643555,0,0,-1.8712877330335882],[53.316219329833984,67.84723663330078,-33.064741134643555,0,0,-2.1330871208327378],[53.316219329833984,67.84723663330078,-33.064741134643555,0,0,-2.3948865086318873],[53.316219329833984,67.84723663330078,-33.064741134643555,0,0,-2.6566858964310365],[48.89262725056034,65.51660729421928,-33.064741134643555,0,0,-2.6566858964310365],[44.46903517128669,63.18597795513779,-33.064741134643555,0,0,-2.6566858964310365],[40.045443092013045,60.85534861605629,-33.064741134643555,0,0,-2.6566858964310365],[35.6218510127394,58.52471927697479,-33.064741134643555,0,0,-2.6566858964310365],[31.198258933465752,56.194089937893295,-33.064741134643555,0,0,-2.6566858964310365],[26.774666854192105,53.8634605988118,-33.064741134643555,0,0,-2.6566858964310365],[22.35107477491846,51.5328312597303,-33.064741134643555,0,0,-2.6566858964310365],[22.35107477491846,51.5328312597303,-31.064741134643555,0,0,-2.6566858964310365],[22.35107477491846,51.5328312597303,-29.064741134643555,0,0,-2.6566858964310365],[22.35107477491846,51.5328312597303,-27.064741134643555,0,0,-2.6566858964310365],[22.35107477491846,51.5328312597303,-25.064741134643555,0,0,-2.6566858964310365],[22.35107477491846,51.5328312597303,-23.064741134643555,0,0,-2.6566858964310365],[22.35107477491846,51.5328312597303,-21.064741134643555,0,0,-2.6566858964310365],[22.35107477491846,51.5328312597303,-19.064741134643555,0,0,-2.6566858964310365],[22.35107477491846,51.5328312597303,-17.064741134643555,0,0,-2.6566858964310365],[22.35107477491846,51.5328312597303,-15.064741134643555,0,0,-2.6566858964310365]]},{"id":2,"instruction":"turn left towards a short white building when near the small tower and fly forward.","completed_instruction":"Turn left to face to face the end of the road nearby a white building, fly forward to the iron fences near the road.","start_frame":29,"end_frame":35,"start_position":[22.35107477491846,51.5328312597303,-15.064741134643555],"start_rotation":[0.240084968443748,0,0,-0.97075187763267523],"end_position":[17.575119008364116,53.01277940609095,-13.064741134643555],"end_rotation":[0.27745625707726673,0,0,0.96073827102321352],"actions":[5,2,2,2,1,2,1],"reference_path":[[22.35107477491846,51.5328312597303,-15.064741134643555,0,0,-2.6566858964310365],[22.35107477491846,51.5328312597303,-13.064741134643555,0,0,-2.6566858964310365],[22.35107477491846,51.5328312597303,-13.064741134643555,0,0,-2.918485284230186],[22.35107477491846,51.5328312597303,-13.064741134643555,0,0,3.102900635150251],[22.35107477491846,51.5328312597303,-13.064741134643555,0,0,2.8411012473511015],[17.575119008364116,53.01277940609095,-13.064741134643555,0,0,2.8411012473511015],[17.575119008364116,53.01277940609095,-13.064741134643555,0,0,2.579301859551952]]},{"id":3,"instruction":"turn right towards a white and light brown building when near many black umbrellas.","completed_instruction":"Turn right to face the brown building on the right side of the building with white lower floors and red upper floors.","start_frame":35,"end_frame":42,"start_position":[17.575119008364116,53.01277940609095,-13.064741134643555],"start_rotation":[0.27745625707726673,0,0,0.96073827102321352],"end_position":[9.114758500190643,58.34403630027066,-11.064741134643555],"end_rotation":[0.240084968443748,0,0,-0.97075187763267523],"actions":[1,5,1,3,3,3,3,3],"reference_path":[[17.575119008364116,53.01277940609095,-13.064741134643555,0,0,2.579301859551952],[13.34493875427738,55.6784078531808,-13.064741134643555,0,0,2.579301859551952],[13.34493875427738,55.6784078531808,-11.064741134643555,0,0,2.579301859551952],[9.114758500190643,58.34403630027066,-11.064741134643555,0,0,2.579301859551952],[9.114758500190643,58.34403630027066,-11.064741134643555,0,0,2.8411012473511015],[9.114758500190643,58.34403630027066,-11.064741134643555,0,0,3.102900635150251],[9.114758500190643,58.34403630027066,-11.064741134643555,0,0,-2.918485284230186],[9.114758500190643,58.34403630027066,-11.064741134643555,0,0,-2.6566858964310365]]},{"id":4,"instruction":"fly forward and land in front of the white and light brown building and near a red car.","completed_instruction":"Fly forward towardsthe mentioned brown building until you can see a dark red car on the road, land in front of the car.","start_frame":42,"end_frame":54,"start_position":[9.114758500190643,58.34403630027066,-11.064741134643555],"start_rotation":[0.240084968443748,0,0,-0.97075187763267523],"end_position":[-9.891078564006465,35.46512069399087,-3.0647411346435547],"end_rotation":[0.4831533455239802,0,0,-0.87553574724792671],"actions":[3,1,1,1,3,1,5,1,1,5,5,5,0],"reference_path":[[9.114758500190643,58.34403630027066,-11.064741134643555,0,0,-2.6566858964310365],[9.114758500190643,58.34403630027066,-11.064741134643555,0,0,-2.3948865086318873],[5.4451079258814605,54.947911352264136,-11.064741134643555,0,0,-2.3948865086318873],[1.7754573515722787,51.55178640425761,-11.064741134643555,0,0,-2.3948865086318873],[-1.8941932227369032,48.15566145625109,-11.064741134643555,0,0,-2.3948865086318873],[-1.8941932227369032,48.15566145625109,-11.064741134643555,0,0,-2.1330871208327378],[-4.559821669826757,43.92548120216435,-11.064741134643555,0,0,-2.1330871208327378],[-4.559821669826757,43.92548120216435,-9.064741134643555,0,0,-2.1330871208327378],[-7.225450116916611,39.69530094807761,-9.064741134643555,0,0,-2.1330871208327378],[-9.891078564006465,35.46512069399087,-9.064741134643555,0,0,-2.1330871208327378],[-9.891078564006465,35.46512069399087,-7.064741134643555,0,0,-2.1330871208327378],[-9.891078564006465,35.46512069399087,-5.064741134643555,0,0,-2.1330871208327378],[-9.891078564006465,35.46512069399087,-3.0647411346435547,0,0,-2.1330871208327378]]}],"statistics":{"complete_actions":58,"sentence_actions":[10,20,7,8,13],"sentence_actions_average":11.6}}
diff --git a/scene_14/3E47SOBEYZUFZOVGTI2NWXQK8KNIC3.json b/scene_14/3E47SOBEYZUFZOVGTI2NWXQK8KNIC3.json
new file mode 100644
index 0000000000000000000000000000000000000000..3eff7190c713c39f435ec1823be78cb3d75d98b8
--- /dev/null
+++ b/scene_14/3E47SOBEYZUFZOVGTI2NWXQK8KNIC3.json
@@ -0,0 +1 @@
+{"episode_id":"3E47SOBEYZUFZOVGTI2NWXQK8KNIC3","trajectory_id":"3QO7EE373WL6KXU02N6Z5WGZ942QB6","scene_id":14,"instruction":"rise up and turn to the left and move forward. turn around and face the large white tower and move towards it. slightly turn to the right and move between the buildings. turn around and move over the park and stop right on the other side of the park.","sentence_instructions":[{"id":0,"instruction":"rise up and turn to the left and move forward.","completed_instruction":"Take off to above the roof in front, then turn left to face a glass building, then proceed forward over the roof, then fly down to second floor height.","start_frame":1,"end_frame":24,"start_position":[-60.25965118408203,22.47199821472168,-1.0448955297470093],"start_rotation":[0.999861959687313,0,0,0.016615100669152481],"end_position":[-38.20564972822664,10.698255403485827,-17.04489552974701],"end_rotation":[0.97009279407544724,0,0,-0.2427343627978783],"actions":[4,4,4,4,4,4,4,4,4,4,4,2,2,1,4,1,1,1,1,5,5,5,5,5],"reference_path":[[-60.25965118408203,22.47199821472168,-1.0448955297470093,0,0,0.03323173045853185],[-60.25965118408203,22.47199821472168,-3.0448955297470093,0,0,0.03323173045853185],[-60.25965118408203,22.47199821472168,-5.044895529747009,0,0,0.03323173045853185],[-60.25965118408203,22.47199821472168,-7.044895529747009,0,0,0.03323173045853185],[-60.25965118408203,22.47199821472168,-9.04489552974701,0,0,0.03323173045853185],[-60.25965118408203,22.47199821472168,-11.04489552974701,0,0,0.03323173045853185],[-60.25965118408203,22.47199821472168,-13.04489552974701,0,0,0.03323173045853185],[-60.25965118408203,22.47199821472168,-15.04489552974701,0,0,0.03323173045853185],[-60.25965118408203,22.47199821472168,-17.04489552974701,0,0,0.03323173045853185],[-60.25965118408203,22.47199821472168,-19.04489552974701,0,0,0.03323173045853185],[-60.25965118408203,22.47199821472168,-21.04489552974701,0,0,0.03323173045853185],[-60.25965118408203,22.47199821472168,-23.04489552974701,0,0,0.03323173045853185],[-60.25965118408203,22.47199821472168,-23.04489552974701,0,0,-0.22856765734061757],[-60.25965118408203,22.47199821472168,-23.04489552974701,0,0,-0.49036704513976703],[-55.84885089291095,20.11724965247451,-23.04489552974701,0,0,-0.49036704513976703],[-55.84885089291095,20.11724965247451,-25.04489552974701,0,0,-0.49036704513976703],[-51.438050601739874,17.76250109022734,-25.04489552974701,0,0,-0.49036704513976703],[-47.027250310568796,15.407752527980168,-25.04489552974701,0,0,-0.49036704513976703],[-42.61645001939772,13.053003965732998,-25.04489552974701,0,0,-0.49036704513976703],[-38.20564972822664,10.698255403485827,-25.04489552974701,0,0,-0.49036704513976703],[-38.20564972822664,10.698255403485827,-23.04489552974701,0,0,-0.49036704513976703],[-38.20564972822664,10.698255403485827,-21.04489552974701,0,0,-0.49036704513976703],[-38.20564972822664,10.698255403485827,-19.04489552974701,0,0,-0.49036704513976703],[-38.20564972822664,10.698255403485827,-17.04489552974701,0,0,-0.49036704513976703]]},{"id":1,"instruction":"turn around and face the large white tower and move towards it.","completed_instruction":"Turn right to face the road, fly forward over a yellow truck, then turn right to face white tall buildings behind the park, and then fly forward to the shorter white building on the right.","start_frame":25,"end_frame":50,"start_position":[-38.20564972822664,10.698255403485827,-15.04489552974701],"start_rotation":[0.97009279407544724,0,0,-0.2427343627978783],"end_position":[-17.2308271879359,58.23079605141445,-15.04489552974701],"end_rotation":[0.69526052159211471,0,0,0.71875782229862417],"actions":[5,5,3,3,3,3,3,3,6,6,4,1,1,1,4,1,3,1,1,1,3,1,1,1,1,1],"reference_path":[[-38.20564972822664,10.698255403485827,-15.04489552974701,0,0,-0.49036704513976703],[-38.20564972822664,10.698255403485827,-13.04489552974701,0,0,-0.49036704513976703],[-38.20564972822664,10.698255403485827,-11.04489552974701,0,0,-0.49036704513976703],[-38.20564972822664,10.698255403485827,-11.04489552974701,0,0,-0.22856765734061765],[-38.20564972822664,10.698255403485827,-11.04489552974701,0,0,0.03323173045853177],[-38.20564972822664,10.698255403485827,-11.04489552974701,0,0,0.2950311182576812],[-38.20564972822664,10.698255403485827,-11.04489552974701,0,0,0.5568305060568306],[-38.20564972822664,10.698255403485827,-11.04489552974701,0,0,0.81862989385598],[-38.20564972822664,10.698255403485827,-11.04489552974701,0,0,1.0804292816551295],[-33.79484943705556,8.343506841238657,-11.04489552974701,0,0,1.0804292816551295],[-29.384049145884482,5.988758278991487,-11.04489552974701,0,0,1.0804292816551295],[-29.384049145884482,5.988758278991487,-13.04489552974701,0,0,1.0804292816551295],[-27.029300583637312,10.399558570162567,-13.04489552974701,0,0,1.0804292816551295],[-24.67455202139014,14.810358861333647,-13.04489552974701,0,0,1.0804292816551295],[-22.31980345914297,19.221159152504725,-13.04489552974701,0,0,1.0804292816551295],[-22.31980345914297,19.221159152504725,-15.04489552974701,0,0,1.0804292816551295],[-19.9650548968958,23.631959443675804,-15.04489552974701,0,0,1.0804292816551295],[-19.9650548968958,23.631959443675804,-15.04489552974701,0,0,1.3422286694542787],[-18.832141565703026,28.50191913385864,-15.04489552974701,0,0,1.3422286694542787],[-17.69922823451025,33.371878824041474,-15.04489552974701,0,0,1.3422286694542787],[-16.566314903317476,38.241838514224305,-15.04489552974701,0,0,1.3422286694542787],[-16.566314903317476,38.241838514224305,-15.04489552974701,0,0,1.6040280572534282],[-16.732442974472082,43.23907789852184,-15.04489552974701,0,0,1.6040280572534282],[-16.89857104562669,48.23631728281938,-15.04489552974701,0,0,1.6040280572534282],[-17.064699116781295,53.233556667116915,-15.04489552974701,0,0,1.6040280572534282],[-17.2308271879359,58.23079605141445,-15.04489552974701,0,0,1.6040280572534282]]},{"id":2,"instruction":"slightly turn to the right and move between the buildings.","completed_instruction":"Turn right to face the gap between the white shorter building and the building on the right, then fly to the entrance of the gap.","start_frame":50,"end_frame":57,"start_position":[-17.2308271879359,58.23079605141445,-15.04489552974701],"start_rotation":[0.69526052159211471,0,0,0.71875782229862417],"end_position":[-20.304651499075344,72.79596638111381,-11.04489552974701],"end_rotation":[0.48554188057773479,0,0,0.87421340770148148],"actions":[1,3,1,1,3,5,5,5],"reference_path":[[-17.2308271879359,58.23079605141445,-15.04489552974701,0,0,1.6040280572534282],[-17.396955259090507,63.22803543571199,-15.04489552974701,0,0,1.6040280572534282],[-17.396955259090507,63.22803543571199,-15.04489552974701,0,0,1.8658274450525776],[-18.850803379082926,68.0120009084129,-15.04489552974701,0,0,1.8658274450525776],[-20.304651499075344,72.79596638111381,-15.04489552974701,0,0,1.8658274450525776],[-20.304651499075344,72.79596638111381,-15.04489552974701,0,0,2.127626832851727],[-20.304651499075344,72.79596638111381,-13.04489552974701,0,0,2.127626832851727],[-20.304651499075344,72.79596638111381,-11.04489552974701,0,0,2.127626832851727]]},{"id":3,"instruction":"turn around and move over the park and stop right on the other side of the park.","completed_instruction":"Turn back to face a glass building and then fly forward to the nearest corner of the park wall, and then turn right to face the black metro entrance, and then fly forward passing the entrance to the front of a orange brick building.","start_frame":57,"end_frame":93,"start_position":[-20.304651499075344,72.79596638111381,-11.04489552974701],"start_rotation":[0.48554188057773479,0,0,0.87421340770148148],"end_position":[21.54591698246553,44.76429331265187,-11.04489552974701],"end_rotation":[0.999861959687313,0,0,0.01661510066915222],"actions":[5,3,3,3,3,3,3,3,3,3,3,3,1,1,1,3,3,3,3,1,1,1,2,1,2,1,3,3,1,3,4,1,3,1,2,6,0],"reference_path":[[-20.304651499075344,72.79596638111381,-11.04489552974701,0,0,2.127626832851727],[-20.304651499075344,72.79596638111381,-9.04489552974701,0,0,2.127626832851727],[-20.304651499075344,72.79596638111381,-9.04489552974701,0,0,2.3894262206508765],[-20.304651499075344,72.79596638111381,-9.04489552974701,0,0,2.651225608450026],[-20.304651499075344,72.79596638111381,-9.04489552974701,0,0,2.913024996249175],[-20.304651499075344,72.79596638111381,-9.04489552974701,0,0,-3.1083609231312614],[-20.304651499075344,72.79596638111381,-9.04489552974701,0,0,-2.8465615353321123],[-20.304651499075344,72.79596638111381,-9.04489552974701,0,0,-2.5847621475329627],[-20.304651499075344,72.79596638111381,-9.04489552974701,0,0,-2.322962759733813],[-20.304651499075344,72.79596638111381,-9.04489552974701,0,0,-2.061163371934664],[-20.304651499075344,72.79596638111381,-9.04489552974701,0,0,-1.7993639841355147],[-20.304651499075344,72.79596638111381,-9.04489552974701,0,0,-1.5375645963363653],[-20.304651499075344,72.79596638111381,-9.04489552974701,0,0,-1.275765208537216],[-18.850803379082926,68.0120009084129,-9.04489552974701,0,0,-1.275765208537216],[-17.396955259090507,63.22803543571199,-9.04489552974701,0,0,-1.275765208537216],[-15.943107139098089,58.444069963011074,-9.04489552974701,0,0,-1.275765208537216],[-15.943107139098089,58.444069963011074,-9.04489552974701,0,0,-1.0139658207380664],[-15.943107139098089,58.444069963011074,-9.04489552974701,0,0,-0.7521664329389169],[-15.943107139098089,58.444069963011074,-9.04489552974701,0,0,-0.49036704513976753],[-15.943107139098089,58.444069963011074,-9.04489552974701,0,0,-0.2285676573406181],[-11.073147448915254,57.3111566318183,-9.04489552974701,0,0,-0.2285676573406181],[-6.20318775873242,56.178243300625525,-9.04489552974701,0,0,-0.2285676573406181],[-1.3332280685495856,55.04532996943275,-9.04489552974701,0,0,-0.2285676573406181],[-1.3332280685495856,55.04532996943275,-9.04489552974701,0,0,-0.49036704513976753],[3.0775722226214928,52.690581407185576,-9.04489552974701,0,0,-0.49036704513976753],[3.0775722226214928,52.690581407185576,-9.04489552974701,0,0,-0.7521664329389169],[6.728624364129633,49.27446983699516,-9.04489552974701,0,0,-0.7521664329389169],[6.728624364129633,49.27446983699516,-9.04489552974701,0,0,-0.49036704513976753],[6.728624364129633,49.27446983699516,-9.04489552974701,0,0,-0.2285676573406181],[11.598584054312468,48.141556505802384,-9.04489552974701,0,0,-0.2285676573406181],[11.598584054312468,48.141556505802384,-9.04489552974701,0,0,0.03323173045853133],[11.598584054312468,48.141556505802384,-11.04489552974701,0,0,0.03323173045853133],[16.595823438610008,48.30768457695699,-11.04489552974701,0,0,0.03323173045853133],[16.595823438610008,48.30768457695699,-11.04489552974701,0,0,0.29503111825768075],[21.379788911310925,49.76153269694941,-11.04489552974701,0,0,0.29503111825768075],[21.379788911310925,49.76153269694941,-11.04489552974701,0,0,0.03323173045853133],[21.54591698246553,44.76429331265187,-11.04489552974701,0,0,0.03323173045853133]]}],"statistics":{"complete_actions":95,"sentence_actions":[24,26,8,37],"sentence_actions_average":23.75}}
diff --git a/scene_14/3KIBXJ1WDES7E8I7JQWQ4DZD38MOKW.json b/scene_14/3KIBXJ1WDES7E8I7JQWQ4DZD38MOKW.json
new file mode 100644
index 0000000000000000000000000000000000000000..7f5dfa4fc4371a0602c6b49ee83d11fe00a6be27
--- /dev/null
+++ b/scene_14/3KIBXJ1WDES7E8I7JQWQ4DZD38MOKW.json
@@ -0,0 +1 @@
+{"episode_id":"3KIBXJ1WDES7E8I7JQWQ4DZD38MOKW","trajectory_id":"3EN4YVUOVKQWBDTOCTE8XSV59U7JXL","scene_id":14,"instruction":"take off, turn left, and fly straight toward the reflective building. drop down until you reach a street light. turn left and fly straight passed the statue and the yellow a toward the white building. turn right and move straight toward the statue. turn left and fly straight over the yellow a. turn right and move straight toward the arms in front of the grey and brown brick building. raise up to the roof of the brown, brick building. fly over the roof of the brown brick building, then drop down facing a grey building. turn right once you see arms, and then turn back left and stop once youre viewing the arms.","sentence_instructions":[{"id":0,"instruction":"take off, turn left, and fly straight toward the reflective building.","completed_instruction":"Turn left to face the glass-walled building, then fly forward to the front of this building.","start_frame":1,"end_frame":18,"start_position":[49.77042007446289,42.636375427246094,-20.400249481201172],"start_rotation":[0.999937850179366,0,0,-0.011148801669593802],"end_position":[28.089515863472833,21.901419613599586,-24.400249481201172],"end_rotation":[0.37235949898384368,0,0,-0.92808857525373134],"actions":[4,4,2,2,2,2,2,2,2,2,2,1,1,1,1,1,1,6],"reference_path":[[49.77042007446289,42.636375427246094,-20.400249481201172,0,0,-0.022298065281354175],[49.77042007446289,42.636375427246094,-22.400249481201172,0,0,-0.022298065281354175],[49.77042007446289,42.636375427246094,-24.400249481201172,0,0,-0.022298065281354175],[49.77042007446289,42.636375427246094,-24.400249481201172,0,0,-0.2840974530805036],[49.77042007446289,42.636375427246094,-24.400249481201172,0,0,-0.5458968408796531],[49.77042007446289,42.636375427246094,-24.400249481201172,0,0,-0.8076962286788025],[49.77042007446289,42.636375427246094,-24.400249481201172,0,0,-1.0694956164779519],[49.77042007446289,42.636375427246094,-24.400249481201172,0,0,-1.3312950042771012],[49.77042007446289,42.636375427246094,-24.400249481201172,0,0,-1.5930943920762506],[49.77042007446289,42.636375427246094,-24.400249481201172,0,0,-1.8548937798754],[49.77042007446289,42.636375427246094,-24.400249481201172,0,0,-2.1166931676745495],[49.77042007446289,42.636375427246094,-24.400249481201172,0,0,-2.3784925554736986],[46.15693603929788,39.18054945830501,-24.400249481201172,0,0,-2.3784925554736986],[42.543452004132874,35.724723489363925,-24.400249481201172,0,0,-2.3784925554736986],[38.929967968967865,32.26889752042284,-24.400249481201172,0,0,-2.3784925554736986],[35.31648393380286,28.813071551481755,-24.400249481201172,0,0,-2.3784925554736986],[31.702999898637845,25.35724558254067,-24.400249481201172,0,0,-2.3784925554736986],[28.089515863472833,21.901419613599586,-24.400249481201172,0,0,-2.3784925554736986]]},{"id":1,"instruction":"drop down until you reach a street light.","completed_instruction":"Descend to a height of second floor.","start_frame":18,"end_frame":25,"start_position":[28.089515863472833,21.901419613599586,-24.400249481201172],"start_rotation":[0.37235949898384368,0,0,-0.92808857525373134],"end_position":[17.406721824201725,18.60325171088243,-16.400249481201172],"end_rotation":[0.37235949898384368,0,0,-0.92808857525373134],"actions":[6,1,1,5,5,5,5,5],"reference_path":[[28.089515863472833,21.901419613599586,-24.400249481201172,0,0,-2.3784925554736986],[24.63368989453175,25.514903648764598,-24.400249481201172,0,0,-2.3784925554736986],[21.020205859366737,22.059077679823513,-24.400249481201172,0,0,-2.3784925554736986],[17.406721824201725,18.60325171088243,-24.400249481201172,0,0,-2.3784925554736986],[17.406721824201725,18.60325171088243,-22.400249481201172,0,0,-2.3784925554736986],[17.406721824201725,18.60325171088243,-20.400249481201172,0,0,-2.3784925554736986],[17.406721824201725,18.60325171088243,-18.400249481201172,0,0,-2.3784925554736986],[17.406721824201725,18.60325171088243,-16.400249481201172,0,0,-2.3784925554736986]]},{"id":2,"instruction":"turn left and fly straight passed the statue and the yellow a toward the white building.","completed_instruction":"Turn left to face the tallest white building behind the park, then go forward through the park to a black metro entrance.","start_frame":25,"end_frame":41,"start_position":[17.406721824201725,18.60325171088243,-16.400249481201172],"start_rotation":[0.37235949898384368,0,0,-0.92808857525373134],"end_position":[17.852646175144514,38.598279879735706,-10.400249481201172],"end_rotation":[0.71494622788960138,0,0,0.69917944136425392],"actions":[5,5,5,2,2,2,2,2,2,2,2,2,1,1,1,1,1],"reference_path":[[17.406721824201725,18.60325171088243,-16.400249481201172,0,0,-2.3784925554736986],[17.406721824201725,18.60325171088243,-14.400249481201172,0,0,-2.3784925554736986],[17.406721824201725,18.60325171088243,-12.400249481201172,0,0,-2.3784925554736986],[17.406721824201725,18.60325171088243,-10.400249481201172,0,0,-2.3784925554736986],[17.406721824201725,18.60325171088243,-10.400249481201172,0,0,-2.640291943272848],[17.406721824201725,18.60325171088243,-10.400249481201172,0,0,-2.902091331071998],[17.406721824201725,18.60325171088243,-10.400249481201172,0,0,3.119294588308439],[17.406721824201725,18.60325171088243,-10.400249481201172,0,0,2.8574952005092893],[17.406721824201725,18.60325171088243,-10.400249481201172,0,0,2.59569581271014],[17.406721824201725,18.60325171088243,-10.400249481201172,0,0,2.333896424910991],[17.406721824201725,18.60325171088243,-10.400249481201172,0,0,2.0720970371118415],[17.406721824201725,18.60325171088243,-10.400249481201172,0,0,1.8102976493126919],[17.406721824201725,18.60325171088243,-10.400249481201172,0,0,1.5484982615135425],[17.518202911937422,23.60200875309575,-10.400249481201172,0,0,1.5484982615135425],[17.62968399967312,28.60076579530907,-10.400249481201172,0,0,1.5484982615135425],[17.741165087408817,33.599522837522386,-10.400249481201172,0,0,1.5484982615135425],[17.852646175144514,38.598279879735706,-10.400249481201172,0,0,1.5484982615135425]]},{"id":3,"instruction":"turn right and move straight toward the statue.","completed_instruction":"Turn right to face the white monument tower in the park, and then fly forward to the monument.","start_frame":41,"end_frame":50,"start_position":[17.852646175144514,38.598279879735706,-10.400249481201172],"start_rotation":[0.71494622788960138,0,0,0.69917944136425392],"end_position":[17.96412726288021,43.59703692194903,-10.400249481201172],"end_rotation":[0.24803404408045557,0,0,-0.96875131637438028],"actions":[1,3,3,3,3,3,3,3,3,3],"reference_path":[[17.852646175144514,38.598279879735706,-10.400249481201172,0,0,1.5484982615135425],[17.96412726288021,43.59703692194903,-10.400249481201172,0,0,1.5484982615135425],[17.96412726288021,43.59703692194903,-10.400249481201172,0,0,1.8102976493126919],[17.96412726288021,43.59703692194903,-10.400249481201172,0,0,2.0720970371118415],[17.96412726288021,43.59703692194903,-10.400249481201172,0,0,2.333896424910991],[17.96412726288021,43.59703692194903,-10.400249481201172,0,0,2.5956958127101406],[17.96412726288021,43.59703692194903,-10.400249481201172,0,0,2.8574952005092897],[17.96412726288021,43.59703692194903,-10.400249481201172,0,0,3.119294588308439],[17.96412726288021,43.59703692194903,-10.400249481201172,0,0,-2.9020913310719982],[17.96412726288021,43.59703692194903,-10.400249481201172,0,0,-2.6402919432728487]]},{"id":4,"instruction":"turn left and fly straight over the yellow a.","completed_instruction":"Turn left to face the black subway entrance, and then fly forward to the front of the entrance.","start_frame":50,"end_frame":61,"start_position":[17.96412726288021,43.59703692194903,-10.400249481201172],"start_rotation":[0.24803404408045557,0,0,-0.96875131637438028],"end_position":[10.737159192550187,36.68538498406686,-10.400249481201172],"end_rotation":[0.61756853363991548,0,0,0.78651707308732],"actions":[3,1,1,2,2,2,2,2,2,2,2,2],"reference_path":[[17.96412726288021,43.59703692194903,-10.400249481201172,0,0,-2.6402919432728487],[17.96412726288021,43.59703692194903,-10.400249481201172,0,0,-2.378492555473699],[14.3506432277152,40.14121095300794,-10.400249481201172,0,0,-2.378492555473699],[10.737159192550187,36.68538498406686,-10.400249481201172,0,0,-2.378492555473699],[10.737159192550187,36.68538498406686,-10.400249481201172,0,0,-2.6402919432728487],[10.737159192550187,36.68538498406686,-10.400249481201172,0,0,-2.9020913310719982],[10.737159192550187,36.68538498406686,-10.400249481201172,0,0,3.119294588308439],[10.737159192550187,36.68538498406686,-10.400249481201172,0,0,2.8574952005092893],[10.737159192550187,36.68538498406686,-10.400249481201172,0,0,2.59569581271014],[10.737159192550187,36.68538498406686,-10.400249481201172,0,0,2.333896424910991],[10.737159192550187,36.68538498406686,-10.400249481201172,0,0,2.0720970371118415],[10.737159192550187,36.68538498406686,-10.400249481201172,0,0,1.8102976493126919]]},{"id":5,"instruction":"turn right and move straight toward the arms in front of the grey and brown brick building.","completed_instruction":"Turn right to face a reddish-brown building beside the white building, and then fly forward to the entrance of the reddish-brown building.","start_frame":61,"end_frame":73,"start_position":[10.737159192550187,36.68538498406686,-10.400249481201172],"start_rotation":[0.61756853363991548,0,0,0.78651707308732],"end_position":[-6.133118800119416,57.066594969002665,-8.400249481201172],"end_rotation":[0.26957187501012608,0,0,0.962980271970057],"actions":[2,1,1,3,3,3,3,1,1,5,1,1,1],"reference_path":[[10.737159192550187,36.68538498406686,-10.400249481201172,0,0,1.8102976493126919],[10.737159192550187,36.68538498406686,-10.400249481201172,0,0,1.5484982615135425],[10.848640280285885,41.68414202628018,-10.400249481201172,0,0,1.5484982615135425],[10.960121368021582,46.6828990684935,-10.400249481201172,0,0,1.5484982615135425],[10.960121368021582,46.6828990684935,-10.400249481201172,0,0,1.8102976493126919],[10.960121368021582,46.6828990684935,-10.400249481201172,0,0,2.0720970371118415],[10.960121368021582,46.6828990684935,-10.400249481201172,0,0,2.333896424910991],[10.960121368021582,46.6828990684935,-10.400249481201172,0,0,2.5956958127101406],[6.686811325986333,49.27882304362079,-10.400249481201172,0,0,2.5956958127101406],[2.413501283951083,51.87474701874808,-10.400249481201172,0,0,2.5956958127101406],[2.413501283951083,51.87474701874808,-8.400249481201172,0,0,2.5956958127101406],[-1.8598087580841662,54.47067099387537,-8.400249481201172,0,0,2.5956958127101406],[-6.133118800119416,57.066594969002665,-8.400249481201172,0,0,2.5956958127101406]]},{"id":6,"instruction":"raise up to the roof of the brown, brick building.","completed_instruction":"Ascend to the roof of the reddish-brown building.","start_frame":73,"end_frame":80,"start_position":[-6.133118800119416,57.066594969002665,-8.400249481201172],"start_rotation":[0.26957187501012608,0,0,0.962980271970057],"end_position":[-18.95304892622516,64.85436689438454,-16.400249481201172],"end_rotation":[0.26957187501012608,0,0,0.962980271970057],"actions":[1,1,1,4,4,4,4,4],"reference_path":[[-6.133118800119416,57.066594969002665,-8.400249481201172,0,0,2.5956958127101406],[-10.406428842154664,59.66251894412996,-8.400249481201172,0,0,2.5956958127101406],[-14.679738884189913,62.25844291925725,-8.400249481201172,0,0,2.5956958127101406],[-18.95304892622516,64.85436689438454,-8.400249481201172,0,0,2.5956958127101406],[-18.95304892622516,64.85436689438454,-10.400249481201172,0,0,2.5956958127101406],[-18.95304892622516,64.85436689438454,-12.400249481201172,0,0,2.5956958127101406],[-18.95304892622516,64.85436689438454,-14.400249481201172,0,0,2.5956958127101406],[-18.95304892622516,64.85436689438454,-16.400249481201172,0,0,2.5956958127101406]]},{"id":7,"instruction":"fly over the roof of the brown brick building, then drop down facing a grey building.","completed_instruction":"Fly up to the roof of the mentioned building, fly forward over the roof  to a grey building, and then descend close to the road.","start_frame":80,"end_frame":101,"start_position":[-18.95304892622516,64.85436689438454,-16.400249481201172],"start_rotation":[0.26957187501012608,0,0,0.962980271970057],"end_position":[-62.49815068065172,75.05683164995868,-8.400249481201172],"end_rotation":[0.14157150216641154,0,0,0.98992803262375884],"actions":[4,4,4,1,1,3,1,1,1,1,1,1,1,7,5,5,5,5,5,5,5,5],"reference_path":[[-18.95304892622516,64.85436689438454,-16.400249481201172,0,0,2.5956958127101406],[-18.95304892622516,64.85436689438454,-18.400249481201172,0,0,2.5956958127101406],[-18.95304892622516,64.85436689438454,-20.400249481201172,0,0,2.5956958127101406],[-18.95304892622516,64.85436689438454,-22.400249481201172,0,0,2.5956958127101406],[-23.22635896826041,67.45029086951183,-22.400249481201172,0,0,2.5956958127101406],[-27.49966901029566,70.04621484463912,-22.400249481201172,0,0,2.5956958127101406],[-27.49966901029566,70.04621484463912,-22.400249481201172,0,0,2.8574952005092897],[-32.29924410803912,71.44767083079098,-22.400249481201172,0,0,2.8574952005092897],[-37.098819205782576,72.84912681694284,-22.400249481201172,0,0,2.8574952005092897],[-41.89839430352603,74.2505828030947,-22.400249481201172,0,0,2.8574952005092897],[-46.69796940126949,75.65203878924656,-22.400249481201172,0,0,2.8574952005092897],[-51.497544499012946,77.05349477539842,-22.400249481201172,0,0,2.8574952005092897],[-56.2971195967564,78.45495076155028,-22.400249481201172,0,0,2.8574952005092897],[-61.09669469449986,79.85640674770214,-22.400249481201172,0,0,2.8574952005092897],[-62.49815068065172,75.05683164995868,-22.400249481201172,0,0,2.8574952005092897],[-62.49815068065172,75.05683164995868,-20.400249481201172,0,0,2.8574952005092897],[-62.49815068065172,75.05683164995868,-18.400249481201172,0,0,2.8574952005092897],[-62.49815068065172,75.05683164995868,-16.400249481201172,0,0,2.8574952005092897],[-62.49815068065172,75.05683164995868,-14.400249481201172,0,0,2.8574952005092897],[-62.49815068065172,75.05683164995868,-12.400249481201172,0,0,2.8574952005092897],[-62.49815068065172,75.05683164995868,-10.400249481201172,0,0,2.8574952005092897],[-62.49815068065172,75.05683164995868,-8.400249481201172,0,0,2.8574952005092897]]},{"id":8,"instruction":"turn right once you see arms, and then turn back left and stop once youre viewing the arms.","completed_instruction":"Turn right to face the red brick wall, then turn left to face two yellow machine in front of the grey building.","start_frame":101,"end_frame":124,"start_position":[-62.49815068065172,75.05683164995868,-8.400249481201172],"start_rotation":[0.14157150216641154,0,0,0.98992803262375884],"end_position":[-62.49815068065172,75.05683164995868,-2.400249481201172],"end_rotation":[0.11946465791482218,0,0,-0.99283845388325609],"actions":[5,5,5,3,3,3,3,3,3,3,3,3,3,3,2,2,2,2,2,2,2,2,2,0],"reference_path":[[-62.49815068065172,75.05683164995868,-8.400249481201172,0,0,2.8574952005092897],[-62.49815068065172,75.05683164995868,-6.400249481201172,0,0,2.8574952005092897],[-62.49815068065172,75.05683164995868,-4.400249481201172,0,0,2.8574952005092897],[-62.49815068065172,75.05683164995868,-2.400249481201172,0,0,2.8574952005092897],[-62.49815068065172,75.05683164995868,-2.400249481201172,0,0,3.119294588308439],[-62.49815068065172,75.05683164995868,-2.400249481201172,0,0,-2.9020913310719982],[-62.49815068065172,75.05683164995868,-2.400249481201172,0,0,-2.6402919432728487],[-62.49815068065172,75.05683164995868,-2.400249481201172,0,0,-2.378492555473699],[-62.49815068065172,75.05683164995868,-2.400249481201172,0,0,-2.11669316767455],[-62.49815068065172,75.05683164995868,-2.400249481201172,0,0,-1.8548937798754006],[-62.49815068065172,75.05683164995868,-2.400249481201172,0,0,-1.5930943920762513],[-62.49815068065172,75.05683164995868,-2.400249481201172,0,0,-1.3312950042771017],[-62.49815068065172,75.05683164995868,-2.400249481201172,0,0,-1.0694956164779523],[-62.49815068065172,75.05683164995868,-2.400249481201172,0,0,-0.8076962286788029],[-62.49815068065172,75.05683164995868,-2.400249481201172,0,0,-0.5458968408796534],[-62.49815068065172,75.05683164995868,-2.400249481201172,0,0,-0.8076962286788029],[-62.49815068065172,75.05683164995868,-2.400249481201172,0,0,-1.0694956164779523],[-62.49815068065172,75.05683164995868,-2.400249481201172,0,0,-1.3312950042771017],[-62.49815068065172,75.05683164995868,-2.400249481201172,0,0,-1.5930943920762513],[-62.49815068065172,75.05683164995868,-2.400249481201172,0,0,-1.8548937798754006],[-62.49815068065172,75.05683164995868,-2.400249481201172,0,0,-2.11669316767455],[-62.49815068065172,75.05683164995868,-2.400249481201172,0,0,-2.3784925554736995],[-62.49815068065172,75.05683164995868,-2.400249481201172,0,0,-2.640291943272849],[-62.49815068065172,75.05683164995868,-2.400249481201172,0,0,-2.9020913310719987]]}],"statistics":{"complete_actions":132,"sentence_actions":[18,8,17,10,12,13,8,22,24],"sentence_actions_average":14.67}}
diff --git a/scene_14/3LUY3GC638Y14TNOFWKWP8ZH7TW7P4.json b/scene_14/3LUY3GC638Y14TNOFWKWP8ZH7TW7P4.json
new file mode 100644
index 0000000000000000000000000000000000000000..953a3661d420f2e24caafac5fa135e1c031e4512
--- /dev/null
+++ b/scene_14/3LUY3GC638Y14TNOFWKWP8ZH7TW7P4.json
@@ -0,0 +1 @@
+{"episode_id":"3LUY3GC638Y14TNOFWKWP8ZH7TW7P4","trajectory_id":"38DCH97KIP0C2GSCQFJG3KZCCRKJQO","scene_id":14,"instruction":"turn around and fly over the subway entrance. turn right and fly over the statue and go to the burger joint. turn left and park to the right of the yellow truck.","sentence_instructions":[{"id":0,"instruction":"turn around and fly over the subway entrance.","completed_instruction":"Take off to second floor height then turn right to face the black subway entrance behind a tree, fly straight to the entrance, and then stop at its top.","start_frame":1,"end_frame":19,"start_position":[28.536537170410156,46.85232162475586,-0.9495826363563538],"start_rotation":[0.99999072319060278,0,0,-0.0043073811922458381],"end_position":[15.611248267066305,54.46395132969397,-6.949582636356354],"end_rotation":[0.0043073811922455319,0,0,0.99999072319060278],"actions":[4,4,4,3,3,3,3,3,3,3,3,3,3,1,1,1,3,3,1],"reference_path":[[28.536537170410156,46.85232162475586,-0.9495826363563538,0,0,-0.008614789023760075],[28.536537170410156,46.85232162475586,-2.9495826363563538,0,0,-0.008614789023760075],[28.536537170410156,46.85232162475586,-4.949582636356354,0,0,-0.008614789023760075],[28.536537170410156,46.85232162475586,-6.949582636356354,0,0,-0.008614789023760075],[28.536537170410156,46.85232162475586,-6.949582636356354,0,0,0.25318459877538935],[28.536537170410156,46.85232162475586,-6.949582636356354,0,0,0.5149839865745388],[28.536537170410156,46.85232162475586,-6.949582636356354,0,0,0.7767833743736883],[28.536537170410156,46.85232162475586,-6.949582636356354,0,0,1.0385827621728376],[28.536537170410156,46.85232162475586,-6.949582636356354,0,0,1.3003821499719872],[28.536537170410156,46.85232162475586,-6.949582636356354,0,0,1.5621815377711366],[28.536537170410156,46.85232162475586,-6.949582636356354,0,0,1.8239809255702861],[28.536537170410156,46.85232162475586,-6.949582636356354,0,0,2.0857803133694355],[28.536537170410156,46.85232162475586,-6.949582636356354,0,0,2.347579701168585],[28.536537170410156,46.85232162475586,-6.949582636356354,0,0,2.6093790889677346],[24.228107535962206,49.389531526401896,-6.949582636356354,0,0,2.6093790889677346],[19.919677901514255,51.92674142804793,-6.949582636356354,0,0,2.6093790889677346],[15.611248267066305,54.46395132969397,-6.949582636356354,0,0,2.6093790889677346],[15.611248267066305,54.46395132969397,-6.949582636356354,0,0,2.871178476766884],[15.611248267066305,54.46395132969397,-6.949582636356354,0,0,3.1329778645660338]]},{"id":1,"instruction":"turn right and fly over the statue and go to the burger joint.","completed_instruction":"Turn right to face the white monument tower in the park, and then fly over the tower from its right side , fly forward over the park wall to the road in front of a glass building, and fly to the top of a black car.","start_frame":19,"end_frame":39,"start_position":[15.611248267066305,54.46395132969397,-6.949582636356354],"start_rotation":[0.0043073811922455319,0,0,0.99999072319060278],"end_position":[15.46044757524704,16.485070581329623,-6.949582636356354],"end_rotation":[0.70405444304152287,0,0,-0.710145999941907],"actions":[1,1,3,3,3,3,3,3,1,1,3,3,1,1,2,1,1,1,1,2,1],"reference_path":[[15.611248267066305,54.46395132969397,-6.949582636356354,0,0,3.1329778645660338],[10.611433802393659,54.50702474202888,-6.949582636356354,0,0,3.1329778645660338],[5.611619337721012,54.550098154363795,-6.949582636356354,0,0,3.1329778645660338],[5.611619337721012,54.550098154363795,-6.949582636356354,0,0,-2.888408054814403],[5.611619337721012,54.550098154363795,-6.949582636356354,0,0,-2.6266086670152533],[5.611619337721012,54.550098154363795,-6.949582636356354,0,0,-2.3648092792161037],[5.611619337721012,54.550098154363795,-6.949582636356354,0,0,-2.1030098914169546],[5.611619337721012,54.550098154363795,-6.949582636356354,0,0,-1.841210503617805],[5.611619337721012,54.550098154363795,-6.949582636356354,0,0,-1.5794111158186557],[5.568545925386102,49.55028368969115,-6.949582636356354,0,0,-1.5794111158186557],[5.525472513051192,44.5504692250185,-6.949582636356354,0,0,-1.5794111158186557],[5.525472513051192,44.5504692250185,-6.949582636356354,0,0,-1.3176117280195063],[5.525472513051192,44.5504692250185,-6.949582636356354,0,0,-1.0558123402203567],[7.988077076077802,40.198966178235644,-6.949582636356354,0,0,-1.0558123402203567],[10.450681639104412,35.847463131452784,-6.949582636356354,0,0,-1.0558123402203567],[10.450681639104412,35.847463131452784,-6.949582636356354,0,0,-1.3176117280195063],[11.703123123140069,31.006864993921994,-6.949582636356354,0,0,-1.3176117280195063],[12.955564607175726,26.166266856391204,-6.949582636356354,0,0,-1.3176117280195063],[14.208006091211383,21.325668718860413,-6.949582636356354,0,0,-1.3176117280195063],[15.46044757524704,16.485070581329623,-6.949582636356354,0,0,-1.3176117280195063],[15.46044757524704,16.485070581329623,-6.949582636356354,0,0,-1.5794111158186557]]},{"id":2,"instruction":"turn left and park to the right of the yellow truck.","completed_instruction":"Turn left to face a T-junction behind a red car and fly straight along the street, and then land when you reach the right side of the yellow truck.","start_frame":39,"end_frame":56,"start_position":[15.46044757524704,16.485070581329623,-6.949582636356354],"start_rotation":[0.70405444304152287,0,0,-0.710145999941907],"end_position":[-19.62440050213131,6.7869555383287,-2.9495826363563538],"end_rotation":[0.00430738119224531,0,0,0.99999072319060278],"actions":[1,5,1,2,2,2,2,2,2,1,1,1,1,1,1,1,5,0],"reference_path":[[15.46044757524704,16.485070581329623,-6.949582636356354,0,0,-1.5794111158186557],[15.417374162912129,11.485256116656977,-6.949582636356354,0,0,-1.5794111158186557],[15.417374162912129,11.485256116656977,-4.949582636356354,0,0,-1.5794111158186557],[15.374300750577218,6.48544165198433,-4.949582636356354,0,0,-1.5794111158186557],[15.374300750577218,6.48544165198433,-4.949582636356354,0,0,-1.841210503617805],[15.374300750577218,6.48544165198433,-4.949582636356354,0,0,-2.1030098914169546],[15.374300750577218,6.48544165198433,-4.949582636356354,0,0,-2.3648092792161037],[15.374300750577218,6.48544165198433,-4.949582636356354,0,0,-2.6266086670152533],[15.374300750577218,6.48544165198433,-4.949582636356354,0,0,-2.888408054814403],[15.374300750577218,6.48544165198433,-4.949582636356354,0,0,3.132977864566034],[10.37448628590457,6.52851506431924,-4.949582636356354,0,0,3.132977864566034],[5.3746718212319236,6.57158847665415,-4.949582636356354,0,0,3.132977864566034],[0.37485735655927677,6.61466188898906,-4.949582636356354,0,0,3.132977864566034],[-4.62495710811337,6.65773530132397,-4.949582636356354,0,0,3.132977864566034],[-9.624771572786017,6.70080871365888,-4.949582636356354,0,0,3.132977864566034],[-14.624586037458663,6.74388212599379,-4.949582636356354,0,0,3.132977864566034],[-19.62440050213131,6.7869555383287,-4.949582636356354,0,0,3.132977864566034],[-19.62440050213131,6.7869555383287,-2.9495826363563538,0,0,3.132977864566034]]}],"statistics":{"complete_actions":58,"sentence_actions":[19,21,18],"sentence_actions_average":19.33}}
diff --git a/scene_14/3OJSZ2ATD1UXBJ55VHBIR2U0G7B75Q.json b/scene_14/3OJSZ2ATD1UXBJ55VHBIR2U0G7B75Q.json
new file mode 100644
index 0000000000000000000000000000000000000000..6d8a6d21984dec37836fbb1e77ab3baf56f59ab0
--- /dev/null
+++ b/scene_14/3OJSZ2ATD1UXBJ55VHBIR2U0G7B75Q.json
@@ -0,0 +1 @@
+{"episode_id":"3OJSZ2ATD1UXBJ55VHBIR2U0G7B75Q","trajectory_id":"3R5OYNIC3K7LG7N22WIV5LWB5XPPT8","scene_id":14,"instruction":"elevate your drone turn right. lift down drone bring it back. move forward tor reach stone pillar turn right again. elevate your drone to the top. stop the drone on the roof of the building.","sentence_instructions":[{"id":0,"instruction":"elevate your drone turn right.","completed_instruction":"Turn right to face a white low-rise building with black windows, and then fly forward out of the roof.","start_frame":1,"end_frame":7,"start_position":[-29.751256942749023,62.35833740234375,-20.2233943939209],"start_rotation":[0.99999568239111414,0,0,0.0029385709332877367],"end_position":[-27.276748779657332,66.70308242947625,-22.2233943939209],"end_rotation":[0.864552379158816,0,0,0.50254271827460684],"actions":[4,3,3,3,3,1,1],"reference_path":[[-29.751256942749023,62.35833740234375,-20.2233943939209,0,0,0.005877150324990064],[-29.751256942749023,62.35833740234375,-22.2233943939209,0,0,0.005877150324990064],[-29.751256942749023,62.35833740234375,-22.2233943939209,0,0,0.2676765381241395],[-29.751256942749023,62.35833740234375,-22.2233943939209,0,0,0.5294759259232888],[-29.751256942749023,62.35833740234375,-22.2233943939209,0,0,0.7912753137224383],[-29.751256942749023,62.35833740234375,-22.2233943939209,0,0,1.0530747015215878],[-27.276748779657332,66.70308242947625,-22.2233943939209,0,0,1.0530747015215878]]},{"id":1,"instruction":"lift down drone bring it back.","completed_instruction":"Descend to the height of the third-floor windows and then turn left to face the white monument tower in the middle of the park.","start_frame":7,"end_frame":21,"start_position":[-27.276748779657332,66.70308242947625,-22.2233943939209],"start_rotation":[0.864552379158816,0,0,0.50254271827460684],"end_position":[-22.32773245347395,75.39257248374126,-10.223394393920898],"end_rotation":[0.96668221392205722,0,0,-0.2559794860662668],"actions":[1,5,5,1,5,5,5,5,2,2,2,2,2,2,2],"reference_path":[[-27.276748779657332,66.70308242947625,-22.2233943939209,0,0,1.0530747015215878],[-24.80224061656564,71.04782745660876,-22.2233943939209,0,0,1.0530747015215878],[-24.80224061656564,71.04782745660876,-20.2233943939209,0,0,1.0530747015215878],[-24.80224061656564,71.04782745660876,-18.2233943939209,0,0,1.0530747015215878],[-22.32773245347395,75.39257248374126,-18.2233943939209,0,0,1.0530747015215878],[-22.32773245347395,75.39257248374126,-16.2233943939209,0,0,1.0530747015215878],[-22.32773245347395,75.39257248374126,-14.223394393920898,0,0,1.0530747015215878],[-22.32773245347395,75.39257248374126,-12.223394393920898,0,0,1.0530747015215878],[-22.32773245347395,75.39257248374126,-10.223394393920898,0,0,1.0530747015215878],[-22.32773245347395,75.39257248374126,-10.223394393920898,0,0,0.7912753137224384],[-22.32773245347395,75.39257248374126,-10.223394393920898,0,0,0.5294759259232888],[-22.32773245347395,75.39257248374126,-10.223394393920898,0,0,0.26767653812413944],[-22.32773245347395,75.39257248374126,-10.223394393920898,0,0,0.005877150324989998],[-22.32773245347395,75.39257248374126,-10.223394393920898,0,0,-0.25592223747415943],[-22.32773245347395,75.39257248374126,-10.223394393920898,0,0,-0.5177216252733088]]},{"id":2,"instruction":"move forward tor reach stone pillar turn right again.","completed_instruction":"Fly forward to the nearest corner of park wall, then turn right and face the taller white building, and then fly forward to the umbrella area in front of the white building.","start_frame":21,"end_frame":33,"start_position":[-22.32773245347395,75.39257248374126,-10.223394393920898],"start_rotation":[0.96668221392205722,0,0,-0.2559794860662668],"end_position":[-6.261874809976036,59.51445653660678,-10.223394393920898],"end_rotation":[0.965161097676218,0,0,0.26165636917995688],"actions":[2,1,1,1,1,3,6,3,3,3,3,1,1],"reference_path":[[-22.32773245347395,75.39257248374126,-10.223394393920898,0,0,-0.5177216252733088],[-22.32773245347395,75.39257248374126,-10.223394393920898,0,0,-0.7795210130724581],[-18.771480862995453,71.87787838251151,-10.223394393920898,0,0,-0.7795210130724581],[-15.215229272516957,68.36318428128176,-10.223394393920898,0,0,-0.7795210130724581],[-11.658977682038461,64.84849018005201,-10.223394393920898,0,0,-0.7795210130724581],[-8.102726091559965,61.33379607882227,-10.223394393920898,0,0,-0.7795210130724581],[-8.102726091559965,61.33379607882227,-10.223394393920898,0,0,-0.5177216252733087],[-10.577234254651657,56.98905105168977,-10.223394393920898,0,0,-0.5177216252733087],[-10.577234254651657,56.98905105168977,-10.223394393920898,0,0,-0.25592223747415926],[-10.577234254651657,56.98905105168977,-10.223394393920898,0,0,0.005877150324990153],[-10.577234254651657,56.98905105168977,-10.223394393920898,0,0,0.2676765381241396],[-10.577234254651657,56.98905105168977,-10.223394393920898,0,0,0.5294759259232891],[-6.261874809976036,59.51445653660678,-10.223394393920898,0,0,0.5294759259232891]]},{"id":3,"instruction":"elevate your drone to the top.","completed_instruction":"Ascend above the roof of the white building.","start_frame":33,"end_frame":67,"start_position":[-6.261874809976036,59.51445653660678,-10.223394393920898],"start_rotation":[0.965161097676218,0,0,0.26165636917995688],"end_position":[2.3688440793752052,64.5652675064408,-72.2233943939209],"end_rotation":[0.9227510011498089,0,0,0.38539666562779895],"actions":[1,1,4,4,4,4,4,4,4,4,4,4,4,4,4,4,4,4,4,4,4,4,4,4,4,4,4,4,4,4,4,4,4,3,1],"reference_path":[[-6.261874809976036,59.51445653660678,-10.223394393920898,0,0,0.5294759259232891],[-1.9465153653004155,62.03986202152379,-10.223394393920898,0,0,0.5294759259232891],[2.3688440793752052,64.5652675064408,-10.223394393920898,0,0,0.5294759259232891],[2.3688440793752052,64.5652675064408,-12.223394393920898,0,0,0.5294759259232891],[2.3688440793752052,64.5652675064408,-14.223394393920898,0,0,0.5294759259232891],[2.3688440793752052,64.5652675064408,-16.2233943939209,0,0,0.5294759259232891],[2.3688440793752052,64.5652675064408,-18.2233943939209,0,0,0.5294759259232891],[2.3688440793752052,64.5652675064408,-20.2233943939209,0,0,0.5294759259232891],[2.3688440793752052,64.5652675064408,-22.2233943939209,0,0,0.5294759259232891],[2.3688440793752052,64.5652675064408,-24.2233943939209,0,0,0.5294759259232891],[2.3688440793752052,64.5652675064408,-26.2233943939209,0,0,0.5294759259232891],[2.3688440793752052,64.5652675064408,-28.2233943939209,0,0,0.5294759259232891],[2.3688440793752052,64.5652675064408,-30.2233943939209,0,0,0.5294759259232891],[2.3688440793752052,64.5652675064408,-32.2233943939209,0,0,0.5294759259232891],[2.3688440793752052,64.5652675064408,-34.2233943939209,0,0,0.5294759259232891],[2.3688440793752052,64.5652675064408,-36.2233943939209,0,0,0.5294759259232891],[2.3688440793752052,64.5652675064408,-38.2233943939209,0,0,0.5294759259232891],[2.3688440793752052,64.5652675064408,-40.2233943939209,0,0,0.5294759259232891],[2.3688440793752052,64.5652675064408,-42.2233943939209,0,0,0.5294759259232891],[2.3688440793752052,64.5652675064408,-44.2233943939209,0,0,0.5294759259232891],[2.3688440793752052,64.5652675064408,-46.2233943939209,0,0,0.5294759259232891],[2.3688440793752052,64.5652675064408,-48.2233943939209,0,0,0.5294759259232891],[2.3688440793752052,64.5652675064408,-50.2233943939209,0,0,0.5294759259232891],[2.3688440793752052,64.5652675064408,-52.2233943939209,0,0,0.5294759259232891],[2.3688440793752052,64.5652675064408,-54.2233943939209,0,0,0.5294759259232891],[2.3688440793752052,64.5652675064408,-56.2233943939209,0,0,0.5294759259232891],[2.3688440793752052,64.5652675064408,-58.2233943939209,0,0,0.5294759259232891],[2.3688440793752052,64.5652675064408,-60.2233943939209,0,0,0.5294759259232891],[2.3688440793752052,64.5652675064408,-62.2233943939209,0,0,0.5294759259232891],[2.3688440793752052,64.5652675064408,-64.2233943939209,0,0,0.5294759259232891],[2.3688440793752052,64.5652675064408,-66.2233943939209,0,0,0.5294759259232891],[2.3688440793752052,64.5652675064408,-68.2233943939209,0,0,0.5294759259232891],[2.3688440793752052,64.5652675064408,-70.2233943939209,0,0,0.5294759259232891],[2.3688440793752052,64.5652675064408,-72.2233943939209,0,0,0.5294759259232891],[2.3688440793752052,64.5652675064408,-72.2233943939209,0,0,0.7912753137224385]]},{"id":4,"instruction":"stop the drone on the roof of the building.","completed_instruction":"Fly forward to the roof of that building.","start_frame":67,"end_frame":72,"start_position":[2.3688440793752052,64.5652675064408,-72.2233943939209],"start_rotation":[0.9227510011498089,0,0,0.38539666562779895],"end_position":[19.942314585523935,82.34652545883328,-72.2233943939209],"end_rotation":[0.9227510011498089,0,0,0.38539666562779895],"actions":[1,1,1,1,1,0],"reference_path":[[2.3688440793752052,64.5652675064408,-72.2233943939209,0,0,0.7912753137224385],[5.883538180604951,68.1215190969193,-72.2233943939209,0,0,0.7912753137224385],[9.398232281834696,71.6777706873978,-72.2233943939209,0,0,0.7912753137224385],[12.912926383064441,75.23402227787629,-72.2233943939209,0,0,0.7912753137224385],[16.427620484294188,78.79027386835479,-72.2233943939209,0,0,0.7912753137224385],[19.942314585523935,82.34652545883328,-72.2233943939209,0,0,0.7912753137224385]]}],"statistics":{"complete_actions":76,"sentence_actions":[7,15,13,35,6],"sentence_actions_average":15.2}}
diff --git a/scene_14/3OLF68YTNIZ7WIWS8W0BN5N37AFAFQ.json b/scene_14/3OLF68YTNIZ7WIWS8W0BN5N37AFAFQ.json
new file mode 100644
index 0000000000000000000000000000000000000000..8676bb302b2d0b751dd94b2ed9146241f0c825ab
--- /dev/null
+++ b/scene_14/3OLF68YTNIZ7WIWS8W0BN5N37AFAFQ.json
@@ -0,0 +1 @@
+{"episode_id":"3OLF68YTNIZ7WIWS8W0BN5N37AFAFQ","trajectory_id":"3OND0WXMI4DRE77HTOLVXQUJGWSHE5","scene_id":14,"instruction":"take off and turn to the left, approach to the obelisk. turn slightly to the left and head toward the street, stop on top of the street. turn to the right and head towards the black car, stopping on top of it. turn to the left and head towards the burger restaurant and land in front of it.","sentence_instructions":[{"id":0,"instruction":"take off and turn to the left, approach to the obelisk.","completed_instruction":"Turn left to face the white monument tower, and fly forward to the top of the park bench.","start_frame":1,"end_frame":10,"start_position":[9.870762825012207,47.66728591918945,-1.0741862058639526],"start_rotation":[0.999998694512739,0,0,0.0016158504936170798],"end_position":[9.870762825012207,47.66728591918945,-5.074186205863953],"end_rotation":[0.61004257466495226,0,0,-0.79236863712299732],"actions":[4,2,2,2,2,2,2,4,2,1],"reference_path":[[9.870762825012207,47.66728591918945,-1.0741862058639526,0,0,0.0032317023935497175],[9.870762825012207,47.66728591918945,-3.0741862058639526,0,0,0.0032317023935497175],[9.870762825012207,47.66728591918945,-3.0741862058639526,0,0,-0.2585676854055997],[9.870762825012207,47.66728591918945,-3.0741862058639526,0,0,-0.5203670732047492],[9.870762825012207,47.66728591918945,-3.0741862058639526,0,0,-0.7821664610038986],[9.870762825012207,47.66728591918945,-3.0741862058639526,0,0,-1.043965848803048],[9.870762825012207,47.66728591918945,-3.0741862058639526,0,0,-1.3057652366021977],[9.870762825012207,47.66728591918945,-3.0741862058639526,0,0,-1.5675646244013473],[9.870762825012207,47.66728591918945,-5.074186205863953,0,0,-1.5675646244013473],[9.870762825012207,47.66728591918945,-5.074186205863953,0,0,-1.8293640122004968]]},{"id":1,"instruction":"turn slightly to the left and head toward the street, stop on top of the street.","completed_instruction":"Turn left to face the trees at the front left corner of the park, and then fly forward to the front of trees.","start_frame":10,"end_frame":16,"start_position":[9.870762825012207,47.66728591918945,-5.074186205863953],"start_rotation":[0.61004257466495226,0,0,-0.79236863712299732],"end_position":[1.134302391122909,29.81894893698165,-7.074186205863953],"end_rotation":[0.50139871483255938,0,0,-0.86521634795249791],"actions":[1,2,1,1,4,1,2],"reference_path":[[9.870762825012207,47.66728591918945,-5.074186205863953,0,0,-1.8293640122004968],[8.592282254050644,42.83349988444673,-5.074186205863953,0,0,-1.8293640122004968],[8.592282254050644,42.83349988444673,-5.074186205863953,0,0,-2.091163399999646],[6.106288966408066,38.4953162352917,-5.074186205863953,0,0,-2.091163399999646],[3.6202956787654874,34.157132586136676,-5.074186205863953,0,0,-2.091163399999646],[3.6202956787654874,34.157132586136676,-7.074186205863953,0,0,-2.091163399999646],[1.134302391122909,29.81894893698165,-7.074186205863953,0,0,-2.091163399999646]]},{"id":2,"instruction":"turn to the right and head towards the black car, stopping on top of it.","completed_instruction":"Turn right to face the bright brownish building left to a light orange building, then fly forward to the sidewalk near a glass building on the left.","start_frame":16,"end_frame":33,"start_position":[1.134302391122909,29.81894893698165,-7.074186205863953],"start_rotation":[0.50139871483255938,0,0,-0.86521634795249791],"end_position":[10.818032944449797,22.26201390478669,-9.074186205863953],"end_rotation":[0.96634277816699321,0,0,-0.25725791549434862],"actions":[2,2,1,3,3,3,3,3,3,3,3,3,4,1,1,2,1,5],"reference_path":[[1.134302391122909,29.81894893698165,-7.074186205863953,0,0,-2.091163399999646],[1.134302391122909,29.81894893698165,-7.074186205863953,0,0,-2.3529627877987958],[1.134302391122909,29.81894893698165,-7.074186205863953,0,0,-2.6147621755979453],[-3.187722774190674,27.304968334352406,-7.074186205863953,0,0,-2.6147621755979453],[-3.187722774190674,27.304968334352406,-7.074186205863953,0,0,-2.352962787798796],[-3.187722774190674,27.304968334352406,-7.074186205863953,0,0,-2.091163399999647],[-3.187722774190674,27.304968334352406,-7.074186205863953,0,0,-1.8293640122004977],[-3.187722774190674,27.304968334352406,-7.074186205863953,0,0,-1.5675646244013484],[-3.187722774190674,27.304968334352406,-7.074186205863953,0,0,-1.305765236602199],[-3.187722774190674,27.304968334352406,-7.074186205863953,0,0,-1.0439658488030497],[-3.187722774190674,27.304968334352406,-7.074186205863953,0,0,-0.7821664610039002],[-3.187722774190674,27.304968334352406,-7.074186205863953,0,0,-0.5203670732047508],[-3.187722774190674,27.304968334352406,-7.074186205863953,0,0,-0.25856768540560143],[-3.187722774190674,27.304968334352406,-9.074186205863953,0,0,-0.25856768540560143],[1.646063260552049,26.02648776339084,-9.074186205863953,0,0,-0.25856768540560143],[6.479849295294772,24.748007192429274,-9.074186205863953,0,0,-0.25856768540560143],[6.479849295294772,24.748007192429274,-9.074186205863953,0,0,-0.5203670732047508],[10.818032944449797,22.26201390478669,-9.074186205863953,0,0,-0.5203670732047508]]},{"id":3,"instruction":"turn to the left and head towards the burger restaurant and land in front of it.","completed_instruction":"Turn left to face the store at the first floor of the white building with windows, and then fly forward to the front of the pillars outside the store, turn right to face the road, and turn left to face the store.","start_frame":33,"end_frame":59,"start_position":[10.818032944449797,22.26201390478669,-9.074186205863953],"start_rotation":[0.96634277816699321,0,0,-0.25725791549434862],"end_position":[8.905749447358088,6.26586728409133,-3.0741862058639526],"end_rotation":[0.79433597203411421,0,0,-0.60747869389190834],"actions":[5,6,1,2,2,2,2,2,5,1,2,1,5,3,3,3,3,3,3,3,3,2,2,2,2,2,0],"reference_path":[[10.818032944449797,22.26201390478669,-9.074186205863953,0,0,-0.5203670732047508],[10.818032944449797,22.26201390478669,-7.074186205863953,0,0,-0.5203670732047508],[8.332039656807213,17.923830255631664,-7.074186205863953,0,0,-0.5203670732047508],[12.670223305962239,15.43783696798908,-7.074186205863953,0,0,-0.5203670732047508],[12.670223305962239,15.43783696798908,-7.074186205863953,0,0,-0.7821664610039002],[12.670223305962239,15.43783696798908,-7.074186205863953,0,0,-1.0439658488030497],[12.670223305962239,15.43783696798908,-7.074186205863953,0,0,-1.305765236602199],[12.670223305962239,15.43783696798908,-7.074186205863953,0,0,-1.5675646244013486],[12.670223305962239,15.43783696798908,-7.074186205863953,0,0,-1.829364012200498],[12.670223305962239,15.43783696798908,-5.074186205863953,0,0,-1.829364012200498],[11.391742735000673,10.604050933246356,-5.074186205863953,0,0,-1.829364012200498],[11.391742735000673,10.604050933246356,-5.074186205863953,0,0,-2.0911633999996475],[8.905749447358088,6.26586728409133,-5.074186205863953,0,0,-2.0911633999996475],[8.905749447358088,6.26586728409133,-3.0741862058639526,0,0,-2.0911633999996475],[8.905749447358088,6.26586728409133,-3.0741862058639526,0,0,-1.829364012200498],[8.905749447358088,6.26586728409133,-3.0741862058639526,0,0,-1.5675646244013486],[8.905749447358088,6.26586728409133,-3.0741862058639526,0,0,-1.305765236602199],[8.905749447358088,6.26586728409133,-3.0741862058639526,0,0,-1.0439658488030497],[8.905749447358088,6.26586728409133,-3.0741862058639526,0,0,-0.7821664610039002],[8.905749447358088,6.26586728409133,-3.0741862058639526,0,0,-0.5203670732047508],[8.905749447358088,6.26586728409133,-3.0741862058639526,0,0,-0.25856768540560143],[8.905749447358088,6.26586728409133,-3.0741862058639526,0,0,0.0032317023935480053],[8.905749447358088,6.26586728409133,-3.0741862058639526,0,0,-0.25856768540560143],[8.905749447358088,6.26586728409133,-3.0741862058639526,0,0,-0.5203670732047508],[8.905749447358088,6.26586728409133,-3.0741862058639526,0,0,-0.7821664610039002],[8.905749447358088,6.26586728409133,-3.0741862058639526,0,0,-1.0439658488030497],[8.905749447358088,6.26586728409133,-3.0741862058639526,0,0,-1.305765236602199]]}],"statistics":{"complete_actions":62,"sentence_actions":[10,7,18,27],"sentence_actions_average":15.5}}
diff --git a/scene_14/3WOKGM4L7AE51IB3FXM8LTK4POBO0D.json b/scene_14/3WOKGM4L7AE51IB3FXM8LTK4POBO0D.json
new file mode 100644
index 0000000000000000000000000000000000000000..6ea8a7484994de63f567869e6ef912874fc22b09
--- /dev/null
+++ b/scene_14/3WOKGM4L7AE51IB3FXM8LTK4POBO0D.json
@@ -0,0 +1 @@
+{"episode_id":"3WOKGM4L7AE51IB3FXM8LTK4POBO0D","trajectory_id":"3TTPFEFXD1IN1SE2N62XL226ZY4H6K","scene_id":14,"instruction":"go up until you are above the first level of the building. make a wide left until the long white building and the umbrellas are in the left third of your view. go forward and slightly right, passing over the edge of the object with the black screen. curve left so you are between the street lamps and facing across the street. cross the street, bearing left and descending, toward the square doorway of the building. stop when the square doorway is at the bottom right corner of your view. stop and lower down into the street.","sentence_instructions":[{"id":0,"instruction":"go up until you are above the first level of the building.","completed_instruction":"Take off to the height of the second floor of the building ahead.","start_frame":1,"end_frame":2,"start_position":[36.1090202331543,74.73526763916016,-1.2615935802459717],"start_rotation":[0.99971964139245051,0,0,-0.023677808474393418],"end_position":[36.1090202331543,74.73526763916016,-3.2615935802459717],"end_rotation":[0.99971964139245051,0,0,-0.023677808474393418],"actions":[4,4],"reference_path":[[36.1090202331543,74.73526763916016,-1.2615935802459717,0,0,-0.04736004296341514],[36.1090202331543,74.73526763916016,-3.2615935802459717,0,0,-0.04736004296341514]]},{"id":1,"instruction":"make a wide left until the long white building and the umbrellas are in the left third of your view.","completed_instruction":"Make a sharp left turn to face the black subway exit left to the park.","start_frame":2,"end_frame":12,"start_position":[36.1090202331543,74.73526763916016,-3.2615935802459717],"start_rotation":[0.99971964139245051,0,0,-0.023677808474393418],"end_position":[36.1090202331543,74.73526763916016,-5.261593580245972],"end_rotation":[0.36070070114664521,0,0,-0.93268161994987253],"actions":[4,2,2,2,2,2,2,2,2,2,2],"reference_path":[[36.1090202331543,74.73526763916016,-3.2615935802459717,0,0,-0.04736004296341514],[36.1090202331543,74.73526763916016,-5.261593580245972,0,0,-0.04736004296341514],[36.1090202331543,74.73526763916016,-5.261593580245972,0,0,-0.3091594307625646],[36.1090202331543,74.73526763916016,-5.261593580245972,0,0,-0.570958818561714],[36.1090202331543,74.73526763916016,-5.261593580245972,0,0,-0.8327582063608635],[36.1090202331543,74.73526763916016,-5.261593580245972,0,0,-1.094557594160013],[36.1090202331543,74.73526763916016,-5.261593580245972,0,0,-1.3563569819591625],[36.1090202331543,74.73526763916016,-5.261593580245972,0,0,-1.6181563697583121],[36.1090202331543,74.73526763916016,-5.261593580245972,0,0,-1.8799557575574615],[36.1090202331543,74.73526763916016,-5.261593580245972,0,0,-2.141755145356611],[36.1090202331543,74.73526763916016,-5.261593580245972,0,0,-2.40355453315576]]},{"id":2,"instruction":"go forward and slightly right, passing over the edge of the object with the black screen.","completed_instruction":"Fly forward to the entrance of the black subway station and then go over it.","start_frame":12,"end_frame":19,"start_position":[36.1090202331543,74.73526763916016,-5.261593580245972],"start_rotation":[0.36070070114664521,0,0,-0.93268161994987253],"end_position":[13.890882247728651,63.2742753409084,-7.261593580245972],"end_rotation":[0.23587547624008565,0,0,-0.97178328844887674],"actions":[2,1,4,1,1,1,1,1],"reference_path":[[36.1090202331543,74.73526763916016,-5.261593580245972,0,0,-2.40355453315576],[36.1090202331543,74.73526763916016,-5.261593580245972,0,0,-2.6653539209549097],[31.665392636069168,72.4430691795098,-5.261593580245972,0,0,-2.6653539209549097],[31.665392636069168,72.4430691795098,-7.261593580245972,0,0,-2.6653539209549097],[27.22176503898404,70.15087071985945,-7.261593580245972,0,0,-2.6653539209549097],[22.77813744189891,67.8586722602091,-7.261593580245972,0,0,-2.6653539209549097],[18.33450984481378,65.56647380055875,-7.261593580245972,0,0,-2.6653539209549097],[13.890882247728651,63.2742753409084,-7.261593580245972,0,0,-2.6653539209549097]]},{"id":3,"instruction":"curve left so you are between the street lamps and facing across the street.","completed_instruction":"Turn left to face between two street lamps and blue iron fences.","start_frame":19,"end_frame":21,"start_position":[13.890882247728651,63.2742753409084,-7.261593580245972],"start_rotation":[0.23587547624008565,0,0,-0.97178328844887674],"end_position":[5.003627053558394,58.6898784216077,-7.261593580245972],"end_rotation":[0.23587547624008565,0,0,-0.97178328844887674],"actions":[1,1,2],"reference_path":[[13.890882247728651,63.2742753409084,-7.261593580245972,0,0,-2.6653539209549097],[9.447254650643522,60.98207688125805,-7.261593580245972,0,0,-2.6653539209549097],[5.003627053558394,58.6898784216077,-7.261593580245972,0,0,-2.6653539209549097]]},{"id":4,"instruction":"cross the street, bearing left and descending, toward the square doorway of the building.","completed_instruction":"Fly forward onto the road and then turn left slightly to face the main entrance at the middle part of the red brick building.","start_frame":21,"end_frame":27,"start_position":[5.003627053558394,58.6898784216077,-7.261593580245972],"start_rotation":[0.23587547624008565,0,0,-0.97178328844887674],"end_position":[-9.63919411685834,59.38388201621244,-7.261593580245972],"end_rotation":[0.15396483961908289,0,0,0.9880763270927353],"actions":[2,1,2,1,2,1,1],"reference_path":[[5.003627053558394,58.6898784216077,-7.261593580245972,0,0,-2.6653539209549097],[5.003627053558394,58.6898784216077,-7.261593580245972,0,0,-2.9271533087540593],[0.11814777861086068,57.62588018192019,-7.261593580245972,0,0,-2.9271533087540593],[0.11814777861086068,57.62588018192019,-7.261593580245972,0,0,3.0942326106263778],[-4.876245835247639,57.86259188388998,-7.261593580245972,0,0,3.0942326106263778],[-4.876245835247639,57.86259188388998,-7.261593580245972,0,0,2.832433222827228],[-9.63919411685834,59.38388201621244,-7.261593580245972,0,0,2.832433222827228]]},{"id":5,"instruction":"stop when the square doorway is at the bottom right corner of your view.stop and lower down into the street.","completed_instruction":"Fly forward to the road in front of the entrance and then land on the road.","start_frame":28,"end_frame":33,"start_position":[-14.40214239846904,60.905172148534895,-7.261593580245972],"start_rotation":[0.15396483961908289,0,0,0.9880763270927353],"end_position":[-18.60905829358437,63.60736730274304,-1.2615935802459717],"end_rotation":[0.28161748967077138,0,0,0.95952675288995093],"actions":[5,2,1,5,5,0],"reference_path":[[-14.40214239846904,60.905172148534895,-7.261593580245972,0,0,2.832433222827228],[-14.40214239846904,60.905172148534895,-5.261593580245972,0,0,2.832433222827228],[-14.40214239846904,60.905172148534895,-5.261593580245972,0,0,2.570633835028079],[-18.60905829358437,63.60736730274304,-5.261593580245972,0,0,2.570633835028079],[-18.60905829358437,63.60736730274304,-3.2615935802459717,0,0,2.570633835028079],[-18.60905829358437,63.60736730274304,-1.2615935802459717,0,0,2.570633835028079]]}],"statistics":{"complete_actions":37,"sentence_actions":[2,11,8,3,7,6],"sentence_actions_average":6.17}}
diff --git a/scene_17/3180JW2OTDAQVE67WQ0FUSZ9B2VJ5X.json b/scene_17/3180JW2OTDAQVE67WQ0FUSZ9B2VJ5X.json
new file mode 100644
index 0000000000000000000000000000000000000000..b751bd6e241db0d68f71644ad32293269eb40ba0
--- /dev/null
+++ b/scene_17/3180JW2OTDAQVE67WQ0FUSZ9B2VJ5X.json
@@ -0,0 +1 @@
+{"episode_id":"3180JW2OTDAQVE67WQ0FUSZ9B2VJ5X","trajectory_id":"3A520CCNXVYC4KZ3NIB3G47F4YXEAH","scene_id":17,"instruction":"take off then turn right and go straight to the road then turn left and go forward. then go little up and down and go forward then go little up and down and go straight. then go little up and down then go up turn right and again turn left and go little up. then turn left and go straight then turn right and go straight and go down to the bridge and then safe land.","sentence_instructions":[{"id":0,"instruction":"take off then turn right and go straight to the road then turn left and go forward.","completed_instruction":"Turn left to face the road, make sure that the road is in the center of vision, go forward to the intersection, turn left to face the street light, fly forward to the street light.","start_frame":1,"end_frame":27,"start_position":[-11.240157127380371,18.384098052978516,9.454816818237305],"start_rotation":[0.99999872803384871,0,0,-0.00159497043377399],"end_position":[-28.340947513937508,-16.668629454979673,9.454816818237305],"end_rotation":[0.0015949704337740731,0,0,0.99999872803384871],"actions":[2,2,2,2,2,2,1,1,1,1,1,2,1,2,1,2,1,2,2,2,2,1,1,3,3,2,1],"reference_path":[[-11.240157127380371,18.384098052978516,9.454816818237305,0,0,-0.003189942220047604],[-11.240157127380371,18.384098052978516,9.454816818237305,0,0,-0.26498933001919706],[-11.240157127380371,18.384098052978516,9.454816818237305,0,0,-0.5267887178183465],[-11.240157127380371,18.384098052978516,9.454816818237305,0,0,-0.7885881056174959],[-11.240157127380371,18.384098052978516,9.454816818237305,0,0,-1.0503874934166453],[-11.240157127380371,18.384098052978516,9.454816818237305,0,0,-1.3121868812157949],[-11.240157127380371,18.384098052978516,9.454816818237305,0,0,-1.5739862690149442],[-11.256106811430627,13.384123492285362,9.454816818237305,0,0,-1.5739862690149442],[-11.272056495480882,8.384148931592208,9.454816818237305,0,0,-1.5739862690149442],[-11.288006179531138,3.3841743708990535,9.454816818237305,0,0,-1.5739862690149442],[-11.303955863581393,-1.6158001897941006,9.454816818237305,0,0,-1.5739862690149442],[-11.319905547631649,-6.615774750487255,9.454816818237305,0,0,-1.5739862690149442],[-11.319905547631649,-6.615774750487255,9.454816818237305,0,0,-1.8357856568140936],[-12.62940040071244,-11.441251227453536,9.454816818237305,0,0,-1.8357856568140936],[-12.62940040071244,-11.441251227453536,9.454816818237305,0,0,-2.097585044613243],[-15.143200512628873,-15.763381373264618,9.454816818237305,0,0,-2.097585044613243],[-15.143200512628873,-15.763381373264618,9.454816818237305,0,0,-2.3593844324123925],[-18.689994560004948,-19.287619161141258,9.454816818237305,0,0,-2.3593844324123925],[-18.689994560004948,-19.287619161141258,9.454816818237305,0,0,-2.6211838202115416],[-18.689994560004948,-19.287619161141258,9.454816818237305,0,0,-2.882983208010691],[-18.689994560004948,-19.287619161141258,9.454816818237305,0,0,3.1384027113697455],[-18.689994560004948,-19.287619161141258,9.454816818237305,0,0,2.876603323570596],[-23.515471036971228,-17.978124308060465,9.454816818237305,0,0,2.876603323570596],[-28.340947513937508,-16.668629454979673,9.454816818237305,0,0,2.876603323570596],[-28.340947513937508,-16.668629454979673,9.454816818237305,0,0,3.1384027113697455],[-28.340947513937508,-16.668629454979673,9.454816818237305,0,0,-2.8829832080106916],[-28.340947513937508,-16.668629454979673,9.454816818237305,0,0,3.1384027113697455]]},{"id":1,"instruction":"then go little up and down and go forward then go little up and down and go straight.","completed_instruction":"Fly up to the light\u0027s height, furn left slightly to see the signal light.","start_frame":27,"end_frame":57,"start_position":[-28.340947513937508,-16.668629454979673,9.454816818237305],"start_rotation":[0.0015949704337740731,0,0,0.99999872803384871],"end_position":[-38.340896635323816,-16.63673008687916,3.4548168182373047],"end_rotation":[0.13210735143576177,0,0,0.99123541487208178],"actions":[1,1,2,4,4,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,4,3,3,4],"reference_path":[[-28.340947513937508,-16.668629454979673,9.454816818237305,0,0,3.1384027113697455],[-33.34092207463066,-16.652679770929417,9.454816818237305,0,0,3.1384027113697455],[-38.340896635323816,-16.63673008687916,9.454816818237305,0,0,3.1384027113697455],[-38.340896635323816,-16.63673008687916,9.454816818237305,0,0,2.876603323570596],[-38.340896635323816,-16.63673008687916,7.454816818237305,0,0,2.876603323570596],[-38.340896635323816,-16.63673008687916,5.454816818237305,0,0,2.876603323570596],[-38.340896635323816,-16.63673008687916,5.454816818237305,0,0,3.1384027113697455],[-38.340896635323816,-16.63673008687916,5.454816818237305,0,0,-2.8829832080106916],[-38.340896635323816,-16.63673008687916,5.454816818237305,0,0,-2.621183820211542],[-38.340896635323816,-16.63673008687916,5.454816818237305,0,0,-2.359384432412393],[-38.340896635323816,-16.63673008687916,5.454816818237305,0,0,-2.097585044613244],[-38.340896635323816,-16.63673008687916,5.454816818237305,0,0,-1.8357856568140944],[-38.340896635323816,-16.63673008687916,5.454816818237305,0,0,-1.5739862690149449],[-38.340896635323816,-16.63673008687916,5.454816818237305,0,0,-1.3121868812157955],[-38.340896635323816,-16.63673008687916,5.454816818237305,0,0,-1.0503874934166462],[-38.340896635323816,-16.63673008687916,5.454816818237305,0,0,-0.7885881056174967],[-38.340896635323816,-16.63673008687916,5.454816818237305,0,0,-0.5267887178183472],[-38.340896635323816,-16.63673008687916,5.454816818237305,0,0,-0.26498933001919783],[-38.340896635323816,-16.63673008687916,5.454816818237305,0,0,-0.003189942220048386],[-38.340896635323816,-16.63673008687916,5.454816818237305,0,0,0.25860944557910104],[-38.340896635323816,-16.63673008687916,5.454816818237305,0,0,0.5204088333782505],[-38.340896635323816,-16.63673008687916,5.454816818237305,0,0,0.7822082211774],[-38.340896635323816,-16.63673008687916,5.454816818237305,0,0,1.0440076089765495],[-38.340896635323816,-16.63673008687916,5.454816818237305,0,0,1.3058069967756991],[-38.340896635323816,-16.63673008687916,5.454816818237305,0,0,1.5676063845748485],[-38.340896635323816,-16.63673008687916,5.454816818237305,0,0,1.829405772373998],[-38.340896635323816,-16.63673008687916,5.454816818237305,0,0,2.0912051601731476],[-38.340896635323816,-16.63673008687916,5.454816818237305,0,0,2.353004547972297],[-38.340896635323816,-16.63673008687916,3.4548168182373047,0,0,2.353004547972297],[-38.340896635323816,-16.63673008687916,3.4548168182373047,0,0,2.6148039357714463],[-38.340896635323816,-16.63673008687916,3.4548168182373047,0,0,2.876603323570596]]},{"id":2,"instruction":"then go little up and down then go up turn right and again turn left and go little up.","completed_instruction":"Fly to the railway tracks, turn left slightly to face the tracks, then fly over a track to the middle signal light.","start_frame":57,"end_frame":68,"start_position":[-38.340896635323816,-16.63673008687916,3.4548168182373047],"start_rotation":[0.13210735143576177,0,0,0.99123541487208178],"end_position":[-44.663118372871146,2.2025476658544694,-0.5451831817626953],"end_rotation":[0.50138064893085788,0,0,0.86522681701255189],"actions":[4,4,2,2,2,1,2,1,1,1,3,3],"reference_path":[[-38.340896635323816,-16.63673008687916,3.4548168182373047,0,0,2.876603323570596],[-38.340896635323816,-16.63673008687916,1.4548168182373047,0,0,2.876603323570596],[-38.340896635323816,-16.63673008687916,-0.5451831817626953,0,0,2.876603323570596],[-38.340896635323816,-16.63673008687916,-0.5451831817626953,0,0,2.6148039357714463],[-38.340896635323816,-16.63673008687916,-0.5451831817626953,0,0,2.353004547972297],[-38.340896635323816,-16.63673008687916,-0.5451831817626953,0,0,2.0912051601731476],[-40.82707108410053,-12.298650257017822,-0.5451831817626953,0,0,2.0912051601731476],[-40.82707108410053,-12.298650257017822,-0.5451831817626953,0,0,1.829405772373998],[-42.105753513690736,-7.464917616060392,-0.5451831817626953,0,0,1.829405772373998],[-43.38443594328094,-2.6311849751029612,-0.5451831817626953,0,0,1.829405772373998],[-44.663118372871146,2.2025476658544694,-0.5451831817626953,0,0,1.829405772373998],[-44.663118372871146,2.2025476658544694,-0.5451831817626953,0,0,2.0912051601731476]]},{"id":3,"instruction":"then turn left and go straight then turn right and go straight and go down to the bridge and then safe land.","completed_instruction":"Turn right to face the right signal light, go straight along the right railway track until over the black and white building on the right, turn right facing the wall and fly over it, turn left facing a green \"sushi noodle\" bar, fly down to it and land in front of it.","start_frame":68,"end_frame":88,"start_position":[-44.663118372871146,2.2025476658544694,-0.5451831817626953],"start_rotation":[0.50138064893085788,0,0,0.86522681701255189],"end_position":[-87.17540651929585,-11.720578238830393,5.454816818237305],"end_rotation":[0.0015949704337740731,0,0,0.99999872803384871],"actions":[3,3,3,3,3,1,1,1,1,1,1,3,1,1,2,1,2,5,5,5,0],"reference_path":[[-44.663118372871146,2.2025476658544694,-0.5451831817626953,0,0,2.0912051601731476],[-44.663118372871146,2.2025476658544694,-0.5451831817626953,0,0,2.353004547972297],[-44.663118372871146,2.2025476658544694,-0.5451831817626953,0,0,2.6148039357714463],[-44.663118372871146,2.2025476658544694,-0.5451831817626953,0,0,2.876603323570596],[-44.663118372871146,2.2025476658544694,-0.5451831817626953,0,0,3.1384027113697455],[-44.663118372871146,2.2025476658544694,-0.5451831817626953,0,0,-2.8829832080106916],[-49.496851013828575,0.9238652362642656,-0.5451831817626953,0,0,-2.8829832080106916],[-54.330583654786004,-0.3548171933259381,-0.5451831817626953,0,0,-2.8829832080106916],[-59.16431629574343,-1.6334996229161418,-0.5451831817626953,0,0,-2.8829832080106916],[-63.99804893670086,-2.9121820525063455,-0.5451831817626953,0,0,-2.8829832080106916],[-68.83178157765829,-4.190864482096549,-0.5451831817626953,0,0,-2.8829832080106916],[-73.66551421861573,-5.469546911686752,-0.5451831817626953,0,0,-2.8829832080106916],[-73.66551421861573,-5.469546911686752,-0.5451831817626953,0,0,-2.621183820211542],[-78.00359404847707,-7.955721360463471,-0.5451831817626953,0,0,-2.621183820211542],[-82.34167387833841,-10.44189580924019,-0.5451831817626953,0,0,-2.621183820211542],[-82.34167387833841,-10.44189580924019,-0.5451831817626953,0,0,-2.8829832080106916],[-87.17540651929585,-11.720578238830393,-0.5451831817626953,0,0,-2.8829832080106916],[-87.17540651929585,-11.720578238830393,-0.5451831817626953,0,0,3.1384027113697455],[-87.17540651929585,-11.720578238830393,1.4548168182373047,0,0,3.1384027113697455],[-87.17540651929585,-11.720578238830393,3.4548168182373047,0,0,3.1384027113697455],[-87.17540651929585,-11.720578238830393,5.454816818237305,0,0,3.1384027113697455]]}],"statistics":{"complete_actions":91,"sentence_actions":[27,31,12,21],"sentence_actions_average":22.75}}
diff --git a/scene_17/320DUZ38GGKOBBVRDMJ6YPQY17UJGS.json b/scene_17/320DUZ38GGKOBBVRDMJ6YPQY17UJGS.json
new file mode 100644
index 0000000000000000000000000000000000000000..e4822cf5952f398ccb9c1e08662501463e6404d6
--- /dev/null
+++ b/scene_17/320DUZ38GGKOBBVRDMJ6YPQY17UJGS.json
@@ -0,0 +1 @@
+{"episode_id":"320DUZ38GGKOBBVRDMJ6YPQY17UJGS","trajectory_id":"3VMHWJRYI3EG6B7ST3NNIU3DHJVFXC","scene_id":17,"instruction":"take off and turn back and fly to top and look around and down and reach the best soup in town. now turn right and go forward towards the bicycles and little turn left. now go forward and over the building beside and move forward and reach the ravens hotel and land there.","sentence_instructions":[{"id":0,"instruction":"take off and turn back and fly to top and look around and down and reach the best soup in town.","completed_instruction":"Take off until seeing the track upon the station, turn back to face the tunnel, fly down to near the road, fly forward to \"the best soup in town\" in the tunnel.","start_frame":1,"end_frame":30,"start_position":[-2.220662832260132,-15.431182861328125,9.454816818237305],"start_rotation":[0.99978085765462588,0,0,0.020934102975305326],"end_position":[-5.901091959853135,-12.046741779441042,7.454816818237305],"end_rotation":[0.36325898094981712,0,0,0.93168820576376321],"actions":[4,4,4,4,4,4,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,5,5,5,2,5,3,5,1,2],"reference_path":[[-2.220662832260132,-15.431182861328125,9.454816818237305,0,0,0.041871264584339006],[-2.220662832260132,-15.431182861328125,7.454816818237305,0,0,0.041871264584339006],[-2.220662832260132,-15.431182861328125,5.454816818237305,0,0,0.041871264584339006],[-2.220662832260132,-15.431182861328125,3.4548168182373047,0,0,0.041871264584339006],[-2.220662832260132,-15.431182861328125,1.4548168182373047,0,0,0.041871264584339006],[-2.220662832260132,-15.431182861328125,-0.5451831817626953,0,0,0.041871264584339006],[-2.220662832260132,-15.431182861328125,-2.5451831817626953,0,0,0.041871264584339006],[-2.220662832260132,-15.431182861328125,-2.5451831817626953,0,0,-0.21992812321481042],[-2.220662832260132,-15.431182861328125,-2.5451831817626953,0,0,-0.48172751101395983],[-2.220662832260132,-15.431182861328125,-2.5451831817626953,0,0,-0.7435268988131092],[-2.220662832260132,-15.431182861328125,-2.5451831817626953,0,0,-1.0053262866122585],[-2.220662832260132,-15.431182861328125,-2.5451831817626953,0,0,-1.2671256744114079],[-2.220662832260132,-15.431182861328125,-2.5451831817626953,0,0,-1.5289250622105575],[-2.220662832260132,-15.431182861328125,-2.5451831817626953,0,0,-1.7907244500097068],[-2.220662832260132,-15.431182861328125,-2.5451831817626953,0,0,-2.0525238378088564],[-2.220662832260132,-15.431182861328125,-2.5451831817626953,0,0,-2.314323225608006],[-2.220662832260132,-15.431182861328125,-2.5451831817626953,0,0,-2.5761226134071555],[-2.220662832260132,-15.431182861328125,-2.5451831817626953,0,0,-2.8379220012063047],[-2.220662832260132,-15.431182861328125,-2.5451831817626953,0,0,-3.0997213890054542],[-2.220662832260132,-15.431182861328125,-2.5451831817626953,0,0,2.921664530374983],[-2.220662832260132,-15.431182861328125,-2.5451831817626953,0,0,2.6598651425758333],[-2.220662832260132,-15.431182861328125,-2.5451831817626953,0,0,2.3980657547766837],[-2.220662832260132,-15.431182861328125,-0.5451831817626953,0,0,2.3980657547766837],[-2.220662832260132,-15.431182861328125,1.4548168182373047,0,0,2.3980657547766837],[-2.220662832260132,-15.431182861328125,3.4548168182373047,0,0,2.3980657547766837],[-2.220662832260132,-15.431182861328125,3.4548168182373047,0,0,2.1362663669775346],[-2.220662832260132,-15.431182861328125,5.454816818237305,0,0,2.1362663669775346],[-2.220662832260132,-15.431182861328125,5.454816818237305,0,0,2.398065754776684],[-2.220662832260132,-15.431182861328125,7.454816818237305,0,0,2.398065754776684],[-5.901091959853135,-12.046741779441042,7.454816818237305,0,0,2.398065754776684]]},{"id":1,"instruction":"now turn right and go forward towards the bicycles and little turn left.","completed_instruction":"Now turn right to face the road where is a red door store, and go forward to the bicycles near the road and little turn left to face the road.","start_frame":30,"end_frame":49,"start_position":[-5.901091959853135,-12.046741779441042,7.454816818237305],"start_rotation":[0.36325898094981712,0,0,0.93168820576376321],"end_position":[-21.02868392643211,-18.05089152031392,7.454816818237305],"end_rotation":[0.1512525972264929,0,0,-0.98849514507267067],"actions":[2,1,2,3,3,3,1,3,3,3,3,3,3,1,1,2,1,2,2,2],"reference_path":[[-5.901091959853135,-12.046741779441042,7.454816818237305,0,0,2.398065754776684],[-5.901091959853135,-12.046741779441042,7.454816818237305,0,0,2.136266366977535],[-8.580155697002006,-7.825057578521471,7.454816818237305,0,0,2.136266366977535],[-8.580155697002006,-7.825057578521471,7.454816818237305,0,0,1.8744669791783857],[-8.580155697002006,-7.825057578521471,7.454816818237305,0,0,2.136266366977535],[-8.580155697002006,-7.825057578521471,7.454816818237305,0,0,2.398065754776684],[-8.580155697002006,-7.825057578521471,7.454816818237305,0,0,2.6598651425758337],[-13.01113505219039,-5.5085036823441484,7.454816818237305,0,0,2.6598651425758337],[-13.01113505219039,-5.5085036823441484,7.454816818237305,0,0,2.9216645303749833],[-13.01113505219039,-5.5085036823441484,7.454816818237305,0,0,-3.0997213890054534],[-13.01113505219039,-5.5085036823441484,7.454816818237305,0,0,-2.837922001206304],[-13.01113505219039,-5.5085036823441484,7.454816818237305,0,0,-2.576122613407154],[-13.01113505219039,-5.5085036823441484,7.454816818237305,0,0,-2.314323225608005],[-13.01113505219039,-5.5085036823441484,7.454816818237305,0,0,-2.0525238378088555],[-15.32768894836771,-9.939483037532533,7.454816818237305,0,0,-2.0525238378088555],[-17.64424284454503,-14.370462392720917,7.454816818237305,0,0,-2.0525238378088555],[-17.64424284454503,-14.370462392720917,7.454816818237305,0,0,-2.314323225608005],[-21.02868392643211,-18.05089152031392,7.454816818237305,0,0,-2.314323225608005],[-21.02868392643211,-18.05089152031392,7.454816818237305,0,0,-2.576122613407154],[-21.02868392643211,-18.05089152031392,7.454816818237305,0,0,-2.837922001206304]]},{"id":2,"instruction":"now go forward and over the building beside and move forward and reach the ravens hotel and land there.","completed_instruction":"Now go forward along the road until reaching the ravens hotel and land there.","start_frame":49,"end_frame":56,"start_position":[-21.02868392643211,-18.05089152031392,7.454816818237305],"start_rotation":[0.1512525972264929,0,0,-0.98849514507267067],"end_position":[-41.01115445973688,-18.888072137389184,5.454816818237305],"end_rotation":[0.10974257958181861,0,0,0.993960042570489],"actions":[2,1,1,1,1,2,4,0],"reference_path":[[-21.02868392643211,-18.05089152031392,7.454816818237305,0,0,-2.837922001206304],[-21.02868392643211,-18.05089152031392,7.454816818237305,0,0,-3.0997213890054534],[-26.024301559758303,-18.260186674582737,7.454816818237305,0,0,-3.0997213890054534],[-31.019919193084498,-18.469481828851553,7.454816818237305,0,0,-3.0997213890054534],[-36.01553682641069,-18.67877698312037,7.454816818237305,0,0,-3.0997213890054534],[-41.01115445973688,-18.888072137389184,7.454816818237305,0,0,-3.0997213890054534],[-41.01115445973688,-18.888072137389184,7.454816818237305,0,0,2.9216645303749837],[-41.01115445973688,-18.888072137389184,5.454816818237305,0,0,2.9216645303749837]]}],"statistics":{"complete_actions":58,"sentence_actions":[30,20,8],"sentence_actions_average":19.33}}
diff --git a/scene_17/32N49TQG3PGWSFII8B5F5RQQKZMAVE.json b/scene_17/32N49TQG3PGWSFII8B5F5RQQKZMAVE.json
new file mode 100644
index 0000000000000000000000000000000000000000..10b1bffd8e43b188cc6424fec724faf554a4fc66
--- /dev/null
+++ b/scene_17/32N49TQG3PGWSFII8B5F5RQQKZMAVE.json
@@ -0,0 +1 @@
+{"episode_id":"32N49TQG3PGWSFII8B5F5RQQKZMAVE","trajectory_id":"3X878VYTJMGMRW11BQJPOVQPJZYF7L","scene_id":17,"instruction":"turn left. go to the end of the passage and go left down the road. go forward and look up. go forward to the green dumpster. lift up above the power lines and fly onto the train tracks. go to the right. fly off the right side wall and lower down near the sushi bar on the right.","sentence_instructions":[{"id":0,"instruction":"turn left.","completed_instruction":"Turn left to face the road.","start_frame":1,"end_frame":4,"start_position":[-11.240157127380371,18.384098052978516,9.454816818237305],"start_rotation":[0.99999872803384871,0,0,-0.00159497043377399],"end_position":[-11.240157127380371,18.384098052978516,9.454816818237305],"end_rotation":[0.92326798860767612,0,0,-0.3841565061434416],"actions":[2,2,2,2],"reference_path":[[-11.240157127380371,18.384098052978516,9.454816818237305,0,0,-0.003189942220047604],[-11.240157127380371,18.384098052978516,9.454816818237305,0,0,-0.26498933001919706],[-11.240157127380371,18.384098052978516,9.454816818237305,0,0,-0.5267887178183465],[-11.240157127380371,18.384098052978516,9.454816818237305,0,0,-0.7885881056174959]]},{"id":1,"instruction":"go to the end of the passage and go left down the road.","completed_instruction":"Go to the end of the tunnel, at the intersection turn left to face the road, fly forward along the road to the blue \"big kitchen\" sign.","start_frame":4,"end_frame":23,"start_position":[-11.240157127380371,18.384098052978516,9.454816818237305],"start_rotation":[0.92326798860767612,0,0,-0.3841565061434416],"end_position":[-23.515471036971228,-17.978124308060465,9.454816818237305],"end_rotation":[0.13210735143576177,0,0,0.99123541487208178],"actions":[2,2,2,1,1,1,1,1,2,1,2,1,2,1,2,2,2,2,1,1],"reference_path":[[-11.240157127380371,18.384098052978516,9.454816818237305,0,0,-0.7885881056174959],[-11.240157127380371,18.384098052978516,9.454816818237305,0,0,-1.0503874934166453],[-11.240157127380371,18.384098052978516,9.454816818237305,0,0,-1.3121868812157949],[-11.240157127380371,18.384098052978516,9.454816818237305,0,0,-1.5739862690149442],[-11.256106811430627,13.384123492285362,9.454816818237305,0,0,-1.5739862690149442],[-11.272056495480882,8.384148931592208,9.454816818237305,0,0,-1.5739862690149442],[-11.288006179531138,3.3841743708990535,9.454816818237305,0,0,-1.5739862690149442],[-11.303955863581393,-1.6158001897941006,9.454816818237305,0,0,-1.5739862690149442],[-11.319905547631649,-6.615774750487255,9.454816818237305,0,0,-1.5739862690149442],[-11.319905547631649,-6.615774750487255,9.454816818237305,0,0,-1.8357856568140936],[-12.62940040071244,-11.441251227453536,9.454816818237305,0,0,-1.8357856568140936],[-12.62940040071244,-11.441251227453536,9.454816818237305,0,0,-2.097585044613243],[-15.143200512628873,-15.763381373264618,9.454816818237305,0,0,-2.097585044613243],[-15.143200512628873,-15.763381373264618,9.454816818237305,0,0,-2.3593844324123925],[-18.689994560004948,-19.287619161141258,9.454816818237305,0,0,-2.3593844324123925],[-18.689994560004948,-19.287619161141258,9.454816818237305,0,0,-2.6211838202115416],[-18.689994560004948,-19.287619161141258,9.454816818237305,0,0,-2.882983208010691],[-18.689994560004948,-19.287619161141258,9.454816818237305,0,0,3.1384027113697455],[-18.689994560004948,-19.287619161141258,9.454816818237305,0,0,2.876603323570596],[-23.515471036971228,-17.978124308060465,9.454816818237305,0,0,2.876603323570596]]},{"id":2,"instruction":"go forward and look up.","completed_instruction":"Go forward to the street light behind the sign and fly up to the light\u0027s height.","start_frame":23,"end_frame":30,"start_position":[-23.515471036971228,-17.978124308060465,9.454816818237305],"start_rotation":[0.13210735143576177,0,0,0.99123541487208178],"end_position":[-38.340896635323816,-16.63673008687916,9.454816818237305],"end_rotation":[0.13210735143576177,0,0,0.99123541487208178],"actions":[1,3,3,2,1,1,2,4],"reference_path":[[-23.515471036971228,-17.978124308060465,9.454816818237305,0,0,2.876603323570596],[-28.340947513937508,-16.668629454979673,9.454816818237305,0,0,2.876603323570596],[-28.340947513937508,-16.668629454979673,9.454816818237305,0,0,3.1384027113697455],[-28.340947513937508,-16.668629454979673,9.454816818237305,0,0,-2.8829832080106916],[-28.340947513937508,-16.668629454979673,9.454816818237305,0,0,3.1384027113697455],[-33.34092207463066,-16.652679770929417,9.454816818237305,0,0,3.1384027113697455],[-38.340896635323816,-16.63673008687916,9.454816818237305,0,0,3.1384027113697455],[-38.340896635323816,-16.63673008687916,9.454816818237305,0,0,2.876603323570596]]},{"id":3,"instruction":"lift up above the power lines and fly onto the train tracks.","completed_instruction":"Fly up to the train station\u0027s height, turn left slightly to face the traffic signal light, fly forward to the railway tracks, turn left slightly to face the tracks and fly over a track to the middle signal light.","start_frame":30,"end_frame":65,"start_position":[-38.340896635323816,-16.63673008687916,9.454816818237305],"start_rotation":[0.13210735143576177,0,0,0.99123541487208178],"end_position":[-42.105753513690736,-7.464917616060392,-0.5451831817626953],"end_rotation":[0.61002602980608922,0,0,0.79238137469214931],"actions":[4,4,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,4,3,3,4,4,2,2,2,1,2,1,1],"reference_path":[[-38.340896635323816,-16.63673008687916,9.454816818237305,0,0,2.876603323570596],[-38.340896635323816,-16.63673008687916,7.454816818237305,0,0,2.876603323570596],[-38.340896635323816,-16.63673008687916,5.454816818237305,0,0,2.876603323570596],[-38.340896635323816,-16.63673008687916,5.454816818237305,0,0,3.1384027113697455],[-38.340896635323816,-16.63673008687916,5.454816818237305,0,0,-2.8829832080106916],[-38.340896635323816,-16.63673008687916,5.454816818237305,0,0,-2.621183820211542],[-38.340896635323816,-16.63673008687916,5.454816818237305,0,0,-2.359384432412393],[-38.340896635323816,-16.63673008687916,5.454816818237305,0,0,-2.097585044613244],[-38.340896635323816,-16.63673008687916,5.454816818237305,0,0,-1.8357856568140944],[-38.340896635323816,-16.63673008687916,5.454816818237305,0,0,-1.5739862690149449],[-38.340896635323816,-16.63673008687916,5.454816818237305,0,0,-1.3121868812157955],[-38.340896635323816,-16.63673008687916,5.454816818237305,0,0,-1.0503874934166462],[-38.340896635323816,-16.63673008687916,5.454816818237305,0,0,-0.7885881056174967],[-38.340896635323816,-16.63673008687916,5.454816818237305,0,0,-0.5267887178183472],[-38.340896635323816,-16.63673008687916,5.454816818237305,0,0,-0.26498933001919783],[-38.340896635323816,-16.63673008687916,5.454816818237305,0,0,-0.003189942220048386],[-38.340896635323816,-16.63673008687916,5.454816818237305,0,0,0.25860944557910104],[-38.340896635323816,-16.63673008687916,5.454816818237305,0,0,0.5204088333782505],[-38.340896635323816,-16.63673008687916,5.454816818237305,0,0,0.7822082211774],[-38.340896635323816,-16.63673008687916,5.454816818237305,0,0,1.0440076089765495],[-38.340896635323816,-16.63673008687916,5.454816818237305,0,0,1.3058069967756991],[-38.340896635323816,-16.63673008687916,5.454816818237305,0,0,1.5676063845748485],[-38.340896635323816,-16.63673008687916,5.454816818237305,0,0,1.829405772373998],[-38.340896635323816,-16.63673008687916,5.454816818237305,0,0,2.0912051601731476],[-38.340896635323816,-16.63673008687916,5.454816818237305,0,0,2.353004547972297],[-38.340896635323816,-16.63673008687916,3.4548168182373047,0,0,2.353004547972297],[-38.340896635323816,-16.63673008687916,3.4548168182373047,0,0,2.6148039357714463],[-38.340896635323816,-16.63673008687916,3.4548168182373047,0,0,2.876603323570596],[-38.340896635323816,-16.63673008687916,1.4548168182373047,0,0,2.876603323570596],[-38.340896635323816,-16.63673008687916,-0.5451831817626953,0,0,2.876603323570596],[-38.340896635323816,-16.63673008687916,-0.5451831817626953,0,0,2.6148039357714463],[-38.340896635323816,-16.63673008687916,-0.5451831817626953,0,0,2.353004547972297],[-38.340896635323816,-16.63673008687916,-0.5451831817626953,0,0,2.0912051601731476],[-40.82707108410053,-12.298650257017822,-0.5451831817626953,0,0,2.0912051601731476],[-40.82707108410053,-12.298650257017822,-0.5451831817626953,0,0,1.829405772373998],[-42.105753513690736,-7.464917616060392,-0.5451831817626953,0,0,1.829405772373998]]},{"id":4,"instruction":"go to the right.","completed_instruction":"Turn right to face the traffic light on the right, fly forward to the right track until over the black and white building on the right.","start_frame":65,"end_frame":76,"start_position":[-42.105753513690736,-7.464917616060392,-0.5451831817626953],"start_rotation":[0.61002602980608922,0,0,0.79238137469214931],"end_position":[-59.16431629574343,-1.6334996229161418,-0.5451831817626953],"end_rotation":[0.12894470095454474,0,0,-0.99165178570693],"actions":[1,1,3,3,3,3,3,3,1,1,1,1],"reference_path":[[-42.105753513690736,-7.464917616060392,-0.5451831817626953,0,0,1.829405772373998],[-43.38443594328094,-2.6311849751029612,-0.5451831817626953,0,0,1.829405772373998],[-44.663118372871146,2.2025476658544694,-0.5451831817626953,0,0,1.829405772373998],[-44.663118372871146,2.2025476658544694,-0.5451831817626953,0,0,2.0912051601731476],[-44.663118372871146,2.2025476658544694,-0.5451831817626953,0,0,2.353004547972297],[-44.663118372871146,2.2025476658544694,-0.5451831817626953,0,0,2.6148039357714463],[-44.663118372871146,2.2025476658544694,-0.5451831817626953,0,0,2.876603323570596],[-44.663118372871146,2.2025476658544694,-0.5451831817626953,0,0,3.1384027113697455],[-44.663118372871146,2.2025476658544694,-0.5451831817626953,0,0,-2.8829832080106916],[-49.496851013828575,0.9238652362642656,-0.5451831817626953,0,0,-2.8829832080106916],[-54.330583654786004,-0.3548171933259381,-0.5451831817626953,0,0,-2.8829832080106916],[-59.16431629574343,-1.6334996229161418,-0.5451831817626953,0,0,-2.8829832080106916]]},{"id":5,"instruction":"fly off the right side wall and lower down near the sushi bar on the right.","completed_instruction":"Fly over the right side wall, turn left facing the green \"sushi noddle bar\" building, fly towards it, then land in front of it.","start_frame":76,"end_frame":88,"start_position":[-59.16431629574343,-1.6334996229161418,-0.5451831817626953],"start_rotation":[0.12894470095454474,0,0,-0.99165178570693],"end_position":[-87.17540651929585,-11.720578238830393,5.454816818237305],"end_rotation":[0.0015949704337740731,0,0,0.99999872803384871],"actions":[1,1,1,3,1,1,2,1,2,5,5,5,0],"reference_path":[[-59.16431629574343,-1.6334996229161418,-0.5451831817626953,0,0,-2.8829832080106916],[-63.99804893670086,-2.9121820525063455,-0.5451831817626953,0,0,-2.8829832080106916],[-68.83178157765829,-4.190864482096549,-0.5451831817626953,0,0,-2.8829832080106916],[-73.66551421861573,-5.469546911686752,-0.5451831817626953,0,0,-2.8829832080106916],[-73.66551421861573,-5.469546911686752,-0.5451831817626953,0,0,-2.621183820211542],[-78.00359404847707,-7.955721360463471,-0.5451831817626953,0,0,-2.621183820211542],[-82.34167387833841,-10.44189580924019,-0.5451831817626953,0,0,-2.621183820211542],[-82.34167387833841,-10.44189580924019,-0.5451831817626953,0,0,-2.8829832080106916],[-87.17540651929585,-11.720578238830393,-0.5451831817626953,0,0,-2.8829832080106916],[-87.17540651929585,-11.720578238830393,-0.5451831817626953,0,0,3.1384027113697455],[-87.17540651929585,-11.720578238830393,1.4548168182373047,0,0,3.1384027113697455],[-87.17540651929585,-11.720578238830393,3.4548168182373047,0,0,3.1384027113697455],[-87.17540651929585,-11.720578238830393,5.454816818237305,0,0,3.1384027113697455]]}],"statistics":{"complete_actions":93,"sentence_actions":[4,20,8,36,12,13],"sentence_actions_average":15.5}}
diff --git a/scene_17/32SVAV9L3O7CG6GZO1Z9MWY67D53AU.json b/scene_17/32SVAV9L3O7CG6GZO1Z9MWY67D53AU.json
new file mode 100644
index 0000000000000000000000000000000000000000..076b221b04854290f7e164f5b44a4a7f85ecac8b
--- /dev/null
+++ b/scene_17/32SVAV9L3O7CG6GZO1Z9MWY67D53AU.json
@@ -0,0 +1 @@
+{"episode_id":"32SVAV9L3O7CG6GZO1Z9MWY67D53AU","trajectory_id":"3WRBLBQ2HZ6ENLXC1B4YR1GE8S0G09","scene_id":17,"instruction":"lift up over the building and turn left. fly over the train station. land down behind on the sidewalk and go right. go to the middle of the intersecting roads and land.","sentence_instructions":[{"id":0,"instruction":"lift up over the building and turn left.","completed_instruction":"Lift up to the top floor height of the orange building ahead, and turn left to face the railway station.","start_frame":1,"end_frame":6,"start_position":[10.812918663024902,38.59276580810547,0.9422487616539001],"start_rotation":[0.99980071335489307,0,0,-0.019963305714406084],"end_position":[10.812918663024902,38.59276580810547,-3.0577512383461],"end_rotation":[0.91605578930662712,0,0,-0.40105085821852116],"actions":[4,4,2,2,2,2],"reference_path":[[10.812918663024902,38.59276580810547,0.9422487616539001,0,0,-0.03992926392040321],[10.812918663024902,38.59276580810547,-1.0577512383460999,0,0,-0.03992926392040321],[10.812918663024902,38.59276580810547,-3.0577512383461,0,0,-0.03992926392040321],[10.812918663024902,38.59276580810547,-3.0577512383461,0,0,-0.30172865171955265],[10.812918663024902,38.59276580810547,-3.0577512383461,0,0,-0.5635280395187021],[10.812918663024902,38.59276580810547,-3.0577512383461,0,0,-0.8253274273178516]]},{"id":1,"instruction":"fly over the train station.","completed_instruction":"Fly over the railway station.","start_frame":6,"end_frame":21,"start_position":[10.812918663024902,38.59276580810547,-3.0577512383461],"start_rotation":[0.91605578930662712,0,0,-0.40105085821852116],"end_position":[18.115632250559308,-5.541330451598184,-5.0577512383461],"end_rotation":[0.69284967540283582,0,0,-0.72108205309394924],"actions":[2,2,1,4,1,1,1,1,1,3,2,1,2,1,1,2],"reference_path":[[10.812918663024902,38.59276580810547,-3.0577512383461,0,0,-0.8253274273178516],[10.812918663024902,38.59276580810547,-3.0577512383461,0,0,-1.087126815117001],[10.812918663024902,38.59276580810547,-3.0577512383461,0,0,-1.3489262029161504],[11.91319011065606,33.71532767507624,-3.0577512383461,0,0,-1.3489262029161504],[11.91319011065606,33.71532767507624,-5.0577512383461,0,0,-1.3489262029161504],[13.013461558287219,28.837889542047012,-5.0577512383461,0,0,-1.3489262029161504],[14.113733005918377,23.960451409017786,-5.0577512383461,0,0,-1.3489262029161504],[15.214004453549535,19.08301327598856,-5.0577512383461,0,0,-1.3489262029161504],[16.314275901180693,14.205575142959333,-5.0577512383461,0,0,-1.3489262029161504],[17.41454734881185,9.328137009930106,-5.0577512383461,0,0,-1.3489262029161504],[17.41454734881185,9.328137009930106,-5.0577512383461,0,0,-1.087126815117001],[17.41454734881185,9.328137009930106,-5.0577512383461,0,0,-1.3489262029161504],[18.51481879644301,4.450698876900879,-5.0577512383461,0,0,-1.3489262029161504],[18.51481879644301,4.450698876900879,-5.0577512383461,0,0,-1.6107255907153],[18.31522552350116,-0.5453157873486525,-5.0577512383461,0,0,-1.6107255907153],[18.115632250559308,-5.541330451598184,-5.0577512383461,0,0,-1.6107255907153]]},{"id":2,"instruction":"land down behind on the sidewalk and go right.","completed_instruction":"Fly down close to the sidewalk and turn right to face the road.","start_frame":21,"end_frame":37,"start_position":[18.115632250559308,-5.541330451598184,-5.0577512383461],"start_rotation":[0.69284967540283582,0,0,-0.72108205309394924],"end_position":[11.855655156346122,-8.829595462196664,0.9422487616539001],"end_rotation":[0.98864154537455251,0,0,-0.15029269695968833],"actions":[2,1,2,2,5,5,5,3,3,6,3,3,3,3,3,3,3],"reference_path":[[18.115632250559308,-5.541330451598184,-5.0577512383461,0,0,-1.6107255907153],[18.115632250559308,-5.541330451598184,-5.0577512383461,0,0,-1.8725249785144493],[16.629776208751956,-10.315451504004018,-5.0577512383461,0,0,-1.8725249785144493],[16.629776208751956,-10.315451504004018,-5.0577512383461,0,0,-2.134324366313599],[16.629776208751956,-10.315451504004018,-5.0577512383461,0,0,-2.396123754112748],[16.629776208751956,-10.315451504004018,-3.0577512383461,0,0,-2.396123754112748],[16.629776208751956,-10.315451504004018,-1.0577512383460999,0,0,-2.396123754112748],[16.629776208751956,-10.315451504004018,0.9422487616539001,0,0,-2.396123754112748],[16.629776208751956,-10.315451504004018,0.9422487616539001,0,0,-2.134324366313599],[16.629776208751956,-10.315451504004018,0.9422487616539001,0,0,-1.8725249785144495],[11.855655156346122,-8.829595462196664,0.9422487616539001,0,0,-1.8725249785144495],[11.855655156346122,-8.829595462196664,0.9422487616539001,0,0,-1.6107255907153004],[11.855655156346122,-8.829595462196664,0.9422487616539001,0,0,-1.3489262029161513],[11.855655156346122,-8.829595462196664,0.9422487616539001,0,0,-1.087126815117002],[11.855655156346122,-8.829595462196664,0.9422487616539001,0,0,-0.8253274273178525],[11.855655156346122,-8.829595462196664,0.9422487616539001,0,0,-0.5635280395187031],[11.855655156346122,-8.829595462196664,0.9422487616539001,0,0,-0.3017286517195537]]},{"id":3,"instruction":"go to the middle of the intersecting roads and land.","completed_instruction":"Go to a T-junction, then turn left to face a yellow house and land near it.","start_frame":37,"end_frame":49,"start_position":[11.855655156346122,-8.829595462196664,0.9422487616539001],"start_rotation":[0.98864154537455251,0,0,-0.15029269695968833],"end_position":[40.29347177424175,-14.969688907797874,6.9422487616539],"end_rotation":[0.96056644644963263,0,0,-0.278050538490982],"actions":[3,5,1,1,5,1,1,2,2,1,1,5,0],"reference_path":[[11.855655156346122,-8.829595462196664,0.9422487616539001,0,0,-0.3017286517195537],[11.855655156346122,-8.829595462196664,0.9422487616539001,0,0,-0.03992926392040427],[11.855655156346122,-8.829595462196664,2.9422487616539,0,0,-0.03992926392040427],[16.851669820595653,-9.02918873513852,2.9422487616539,0,0,-0.03992926392040427],[21.847684484845185,-9.228782008080376,2.9422487616539,0,0,-0.03992926392040427],[21.847684484845185,-9.228782008080376,4.9422487616539,0,0,-0.03992926392040427],[26.843699149094718,-9.428375281022232,4.9422487616539,0,0,-0.03992926392040427],[31.83971381334425,-9.627968553964088,4.9422487616539,0,0,-0.03992926392040427],[31.83971381334425,-9.627968553964088,4.9422487616539,0,0,-0.3017286517195537],[31.83971381334425,-9.627968553964088,4.9422487616539,0,0,-0.5635280395187031],[36.066592793793,-12.298828730880981,4.9422487616539,0,0,-0.5635280395187031],[40.29347177424175,-14.969688907797874,4.9422487616539,0,0,-0.5635280395187031],[40.29347177424175,-14.969688907797874,6.9422487616539,0,0,-0.5635280395187031]]}],"statistics":{"complete_actions":52,"sentence_actions":[6,16,17,13],"sentence_actions_average":13.0}}
diff --git a/scene_17/34J10VATJOWJTP5ZY03IG2F0UI9IQB.json b/scene_17/34J10VATJOWJTP5ZY03IG2F0UI9IQB.json
new file mode 100644
index 0000000000000000000000000000000000000000..747875d02d9f593324f6ef6ce2a6ab9703efb457
--- /dev/null
+++ b/scene_17/34J10VATJOWJTP5ZY03IG2F0UI9IQB.json
@@ -0,0 +1 @@
+{"episode_id":"34J10VATJOWJTP5ZY03IG2F0UI9IQB","trajectory_id":"3OEWW2KGRR9WEIF41651BH9ZT30DOM","scene_id":17,"instruction":"lift off and veer left towards the tunnel. at the tunnel turn right facing the stairs and head straight. before the stairs lift above the roof of the station and head straight. at the second roof turn right facing the white buildings on the right of the road and head straight. land on the road before the buildings.","sentence_instructions":[{"id":0,"instruction":"lift off and veer left towards the tunnel.","completed_instruction":"Turn left to face the tunnel, and fly towards it.","start_frame":1,"end_frame":2,"start_position":[-21.153654098510742,24.07201385498047,8.570941925048828],"start_rotation":[0.9997542930967005,0,0,0.022166493514235008],"end_position":[-21.153654098510742,24.07201385498047,8.570941925048828],"end_rotation":[0.99409456452041367,0,0,-0.10851726494419753],"actions":[2,2],"reference_path":[[-21.153654098510742,24.07201385498047,8.570941925048828,0,0,0.04433661835902197],[-21.153654098510742,24.07201385498047,8.570941925048828,0,0,-0.21746276944012743]]},{"id":1,"instruction":"at the tunnel turn right facing the stairs and head straight.","completed_instruction":"Turn right to face the road where you came from, fly forwards out of the tunnel, then turn left to face the stairs, and fly forward to it.","start_frame":2,"end_frame":19,"start_position":[-21.153654098510742,24.07201385498047,8.570941925048828],"start_rotation":[0.99409456452041367,0,0,-0.10851726494419753],"end_position":[-5.5295855893084,26.838291541738585,8.570941925048828],"end_rotation":[0.9997542930967005,0,0,0.022166493514235233],"actions":[2,1,1,3,3,3,3,3,3,3,2,2,1,1,2,2,2,2],"reference_path":[[-21.153654098510742,24.07201385498047,8.570941925048828,0,0,-0.21746276944012743],[-21.153654098510742,24.07201385498047,8.570941925048828,0,0,-0.4792621572392769],[-16.71697708988678,21.766390919384207,8.570941925048828,0,0,-0.4792621572392769],[-12.280300081262816,19.460767983787946,8.570941925048828,0,0,-0.4792621572392769],[-12.280300081262816,19.460767983787946,8.570941925048828,0,0,-0.21746276944012752],[-12.280300081262816,19.460767983787946,8.570941925048828,0,0,0.044336618359021925],[-12.280300081262816,19.460767983787946,8.570941925048828,0,0,0.3061360061581714],[-12.280300081262816,19.460767983787946,8.570941925048828,0,0,0.5679353939573208],[-12.280300081262816,19.460767983787946,8.570941925048828,0,0,0.8297347817564703],[-12.280300081262816,19.460767983787946,8.570941925048828,0,0,1.0915341695556198],[-12.280300081262816,19.460767983787946,8.570941925048828,0,0,1.3533335573547693],[-12.280300081262816,19.460767983787946,8.570941925048828,0,0,1.09153416955562],[-12.280300081262816,19.460767983787946,8.570941925048828,0,0,0.8297347817564706],[-8.904942835285608,23.149529762763265,8.570941925048828,0,0,0.8297347817564706],[-5.5295855893084,26.838291541738585,8.570941925048828,0,0,0.8297347817564706],[-5.5295855893084,26.838291541738585,8.570941925048828,0,0,0.5679353939573213],[-5.5295855893084,26.838291541738585,8.570941925048828,0,0,0.3061360061581719],[-5.5295855893084,26.838291541738585,8.570941925048828,0,0,0.044336618359022424]]},{"id":2,"instruction":"before the stairs lift above the roof of the station and head straight.","completed_instruction":"Lift above until you can see the tracks and the roof of the railway station, fly over the roof towards the high buildings to the second green roof.","start_frame":19,"end_frame":35,"start_position":[-5.5295855893084,26.838291541738585,8.570941925048828],"start_rotation":[0.9997542930967005,0,0,0.022166493514235233],"end_position":[12.411457267027993,10.421555348396062,-5.429058074951172],"end_rotation":[0.87689586212141368,0,0,-0.48068040005219964],"actions":[2,2,4,4,4,4,4,4,4,1,1,2,1,2,1,1,1],"reference_path":[[-5.5295855893084,26.838291541738585,8.570941925048828,0,0,0.044336618359022424],[-5.5295855893084,26.838291541738585,8.570941925048828,0,0,-0.21746276944012702],[-5.5295855893084,26.838291541738585,8.570941925048828,0,0,-0.47926215723927645],[-5.5295855893084,26.838291541738585,6.570941925048828,0,0,-0.47926215723927645],[-5.5295855893084,26.838291541738585,4.570941925048828,0,0,-0.47926215723927645],[-5.5295855893084,26.838291541738585,2.570941925048828,0,0,-0.47926215723927645],[-5.5295855893084,26.838291541738585,0.5709419250488281,0,0,-0.47926215723927645],[-5.5295855893084,26.838291541738585,-1.4290580749511719,0,0,-0.47926215723927645],[-5.5295855893084,26.838291541738585,-3.429058074951172,0,0,-0.47926215723927645],[-5.5295855893084,26.838291541738585,-5.429058074951172,0,0,-0.47926215723927645],[-1.092908580684436,24.532668606142323,-5.429058074951172,0,0,-0.47926215723927645],[3.343768427939528,22.22704567054606,-5.429058074951172,0,0,-0.47926215723927645],[3.343768427939528,22.22704567054606,-5.429058074951172,0,0,-0.7410615450384259],[7.032530206914847,18.851688424568856,-5.429058074951172,0,0,-0.7410615450384259],[7.032530206914847,18.851688424568856,-5.429058074951172,0,0,-1.0028609328375755],[9.72199373697142,14.636621886482459,-5.429058074951172,0,0,-1.0028609328375755],[12.411457267027993,10.421555348396062,-5.429058074951172,0,0,-1.0028609328375755]]},{"id":3,"instruction":"at the second roof turn right facing the white buildings on the right of the road and head straight.","completed_instruction":"Turn right to face the railway tracks, move forward to the green roof on your right, turn right to face the corner of the roof, then fly straight over it.","start_frame":35,"end_frame":47,"start_position":[12.411457267027993,10.421555348396062,-5.429058074951172],"start_rotation":[0.87689586212141368,0,0,-0.48068040005219964],"end_position":[28.29857988460916,13.092298656535911,-5.429058074951172],"end_rotation":[0.85472936860717863,0,0,0.5190738930445008],"actions":[1,3,3,3,3,3,1,3,1,1,3,3,1],"reference_path":[[12.411457267027993,10.421555348396062,-5.429058074951172,0,0,-1.0028609328375755],[15.100920797084566,6.206488810309666,-5.429058074951172,0,0,-1.0028609328375755],[15.100920797084566,6.206488810309666,-5.429058074951172,0,0,-0.7410615450384261],[15.100920797084566,6.206488810309666,-5.429058074951172,0,0,-0.4792621572392767],[15.100920797084566,6.206488810309666,-5.429058074951172,0,0,-0.21746276944012727],[15.100920797084566,6.206488810309666,-5.429058074951172,0,0,0.044336618359022174],[15.100920797084566,6.206488810309666,-5.429058074951172,0,0,0.3061360061581716],[19.868446808436367,7.713371596422767,-5.429058074951172,0,0,0.3061360061581716],[19.868446808436367,7.713371596422767,-5.429058074951172,0,0,0.5679353939573211],[24.083513346522764,10.402835126479339,-5.429058074951172,0,0,0.5679353939573211],[28.29857988460916,13.092298656535911,-5.429058074951172,0,0,0.5679353939573211],[28.29857988460916,13.092298656535911,-5.429058074951172,0,0,0.8297347817564704],[28.29857988460916,13.092298656535911,-5.429058074951172,0,0,1.0915341695556198]]},{"id":4,"instruction":"land on the road before the buildings.","completed_instruction":"Land on the road before the buildings.","start_frame":47,"end_frame":63,"start_position":[28.29857988460916,13.092298656535911,-5.429058074951172],"start_rotation":[0.85472936860717863,0,0,0.5190738930445008],"end_position":[40.097688723488254,25.32356545003132,8.570941925048828],"end_rotation":[0.7796643016309317,0,0,0.626197713795213],"actions":[1,1,1,5,5,5,5,5,2,2,3,3,3,6,5,5,0],"reference_path":[[28.29857988460916,13.092298656535911,-5.429058074951172,0,0,1.0915341695556198],[30.604202820205423,17.528975665159876,-5.429058074951172,0,0,1.0915341695556198],[32.909825755801684,21.96565267378384,-5.429058074951172,0,0,1.0915341695556198],[35.215448691397945,26.402329682407803,-5.429058074951172,0,0,1.0915341695556198],[35.215448691397945,26.402329682407803,-3.429058074951172,0,0,1.0915341695556198],[35.215448691397945,26.402329682407803,-1.4290580749511719,0,0,1.0915341695556198],[35.215448691397945,26.402329682407803,0.5709419250488281,0,0,1.0915341695556198],[35.215448691397945,26.402329682407803,2.570941925048828,0,0,1.0915341695556198],[35.215448691397945,26.402329682407803,4.570941925048828,0,0,1.0915341695556198],[35.215448691397945,26.402329682407803,4.570941925048828,0,0,0.8297347817564704],[35.215448691397945,26.402329682407803,4.570941925048828,0,0,0.567935393957321],[35.215448691397945,26.402329682407803,4.570941925048828,0,0,0.8297347817564703],[35.215448691397945,26.402329682407803,4.570941925048828,0,0,1.0915341695556198],[35.215448691397945,26.402329682407803,4.570941925048828,0,0,1.3533335573547693],[40.097688723488254,25.32356545003132,4.570941925048828,0,0,1.3533335573547693],[40.097688723488254,25.32356545003132,6.570941925048828,0,0,1.3533335573547693],[40.097688723488254,25.32356545003132,8.570941925048828,0,0,1.3533335573547693]]}],"statistics":{"complete_actions":67,"sentence_actions":[2,18,17,13,17],"sentence_actions_average":13.4}}
diff --git a/scene_17/34MAJL3QPDLXEH0IF0PI9TC6F7U43D.json b/scene_17/34MAJL3QPDLXEH0IF0PI9TC6F7U43D.json
new file mode 100644
index 0000000000000000000000000000000000000000..c5aebbbdd585467819c063548bfcfe2f50c6fe54
--- /dev/null
+++ b/scene_17/34MAJL3QPDLXEH0IF0PI9TC6F7U43D.json
@@ -0,0 +1 @@
+{"episode_id":"34MAJL3QPDLXEH0IF0PI9TC6F7U43D","trajectory_id":"3IKMEYR0M4TQLHW96PTR8H1MC6B2KQ","scene_id":17,"instruction":"take off from the road and turn to the left, to view the stairs on the left, then back to the right to view the light post. ascend up the electric post viewing the walls of the buildings from below ascending the beige building, to the view of a satellite dish on the wall. view the road below after a left turn, fly over the road, over the roofs of the houses to the right, descend down the walls of the houses and stop in the near view of the white grey and black building.","sentence_instructions":[{"id":0,"instruction":"take off from the road and turn to the left, to view the stairs on the left, then back to the right to view the light post.","completed_instruction":"Turn slightly right to face the road.","start_frame":1,"end_frame":3,"start_position":[-12.41129207611084,29.52887535095215,9.454816818237305],"start_rotation":[0.99985451012083315,0,0,-0.017057508347608906],"end_position":[-7.628615045964759,28.070794274566797,9.454816818237305],"end_rotation":[0.98907416456735342,0,0,-0.14741878097919511],"actions":[2,1,3],"reference_path":[[-12.41129207611084,29.52887535095215,9.454816818237305,0,0,-0.0341166712547258],[-12.41129207611084,29.52887535095215,9.454816818237305,0,0,-0.29591605905387525],[-7.628615045964759,28.070794274566797,9.454816818237305,0,0,-0.29591605905387525]]},{"id":1,"instruction":"ascend up the electric post viewing the walls of the buildings from below ascending the beige building, to the view of a satellite dish on the wall.","completed_instruction":"Fly up to second floor height, go ahead until passing the orange building at right side.","start_frame":3,"end_frame":20,"start_position":[-7.628615045964759,28.070794274566797,9.454816818237305],"start_rotation":[0.98907416456735342,0,0,-0.14741878097919511],"end_position":[6.526188019699526,32.678845142468305,1.4548168182373047],"end_rotation":[0.98907416456735342,0,0,-0.147418780979195],"actions":[3,3,1,4,4,1,4,3,1,4,3,3,2,2,2,2,2,1],"reference_path":[[-7.628615045964759,28.070794274566797,9.454816818237305,0,0,-0.29591605905387525],[-7.628615045964759,28.070794274566797,9.454816818237305,0,0,-0.034116671254725825],[-7.628615045964759,28.070794274566797,9.454816818237305,0,0,0.2276827165444236],[-2.7576547015692636,29.199397536712766,9.454816818237305,0,0,0.2276827165444236],[-2.7576547015692636,29.199397536712766,7.454816818237305,0,0,0.2276827165444236],[-2.7576547015692636,29.199397536712766,5.454816818237305,0,0,0.2276827165444236],[2.113305642826232,30.328000798858735,5.454816818237305,0,0,0.2276827165444236],[2.113305642826232,30.328000798858735,3.4548168182373047,0,0,0.2276827165444236],[2.113305642826232,30.328000798858735,3.4548168182373047,0,0,0.48948210434357303],[6.526188019699526,32.678845142468305,3.4548168182373047,0,0,0.48948210434357303],[6.526188019699526,32.678845142468305,1.4548168182373047,0,0,0.48948210434357303],[6.526188019699526,32.678845142468305,1.4548168182373047,0,0,0.7512814921427224],[6.526188019699526,32.678845142468305,1.4548168182373047,0,0,1.013080879941872],[6.526188019699526,32.678845142468305,1.4548168182373047,0,0,0.7512814921427228],[6.526188019699526,32.678845142468305,1.4548168182373047,0,0,0.4894821043435733],[6.526188019699526,32.678845142468305,1.4548168182373047,0,0,0.22768271654442385],[6.526188019699526,32.678845142468305,1.4548168182373047,0,0,-0.0341166712547256],[6.526188019699526,32.678845142468305,1.4548168182373047,0,0,-0.295916059053875]]},{"id":2,"instruction":"view the road below after a left turn, fly over the road, over the roofs of the houses to the right, descend down the walls of the houses and stop in the near view of the white grey and black building.","completed_instruction":"Go ahead along the road until reaching the first black and white house, land there.","start_frame":20,"end_frame":37,"start_position":[6.526188019699526,32.678845142468305,1.4548168182373047],"start_rotation":[0.98907416456735342,0,0,-0.147418780979195],"end_position":[35.65107696846328,26.505420303871304,7.454816818237305],"end_rotation":[0.99352706779410371,0,0,0.11359562298103977],"actions":[1,1,1,1,3,1,4,1,3,3,2,5,5,2,3,5,5,0],"reference_path":[[6.526188019699526,32.678845142468305,1.4548168182373047,0,0,-0.295916059053875],[11.308865049845608,31.220764066082957,1.4548168182373047,0,0,-0.295916059053875],[16.09154207999169,29.76268298969761,1.4548168182373047,0,0,-0.295916059053875],[20.874219110137773,28.30460191331226,1.4548168182373047,0,0,-0.295916059053875],[25.656896140283855,26.846520836926913,1.4548168182373047,0,0,-0.295916059053875],[25.656896140283855,26.846520836926913,1.4548168182373047,0,0,-0.034116671254725575],[30.653986554373567,26.67597057039911,1.4548168182373047,0,0,-0.034116671254725575],[30.653986554373567,26.67597057039911,-0.5451831817626953,0,0,-0.034116671254725575],[35.65107696846328,26.505420303871304,-0.5451831817626953,0,0,-0.034116671254725575],[35.65107696846328,26.505420303871304,-0.5451831817626953,0,0,0.22768271654442385],[35.65107696846328,26.505420303871304,-0.5451831817626953,0,0,0.4894821043435733],[35.65107696846328,26.505420303871304,-0.5451831817626953,0,0,0.22768271654442385],[35.65107696846328,26.505420303871304,1.4548168182373047,0,0,0.22768271654442385],[35.65107696846328,26.505420303871304,3.4548168182373047,0,0,0.22768271654442385],[35.65107696846328,26.505420303871304,3.4548168182373047,0,0,-0.0341166712547256],[35.65107696846328,26.505420303871304,3.4548168182373047,0,0,0.22768271654442382],[35.65107696846328,26.505420303871304,5.454816818237305,0,0,0.22768271654442382],[35.65107696846328,26.505420303871304,7.454816818237305,0,0,0.22768271654442382]]}],"statistics":{"complete_actions":39,"sentence_actions":[3,18,18],"sentence_actions_average":13.0}}
diff --git a/scene_17/3634BBTX0XSM20FQKKSO43BMNCFIFO.json b/scene_17/3634BBTX0XSM20FQKKSO43BMNCFIFO.json
new file mode 100644
index 0000000000000000000000000000000000000000..cc2b62a377a4baba1c0b32c93043d139c451ddb4
--- /dev/null
+++ b/scene_17/3634BBTX0XSM20FQKKSO43BMNCFIFO.json
@@ -0,0 +1 @@
+{"episode_id":"3634BBTX0XSM20FQKKSO43BMNCFIFO","trajectory_id":"3P4ZBJFX3311HB22JYR1GBP68IFFWB","scene_id":17,"instruction":"lift off and turn left facing the stairs and head straight. after the intersection rise to the tracks and turn left facing the tracks and follow them until the pillar on the left then turn right facing the white building and head straight. lower to the road and turn left facing the steps and head straight. land before the telephones.","sentence_instructions":[{"id":0,"instruction":"lift off and turn left facing the stairs and head straight.","completed_instruction":"Turn left to face a blue \"P\" sign and fly straight to it.","start_frame":1,"end_frame":11,"start_position":[48.26966857910156,-7.014821529388428,9.454816818237305],"start_rotation":[0.9999912645606498,0,0,0.004179808894254366],"end_position":[48.26966857910156,-7.014821529388428,9.454816818237305],"end_rotation":[0.26285416956436208,0,0,-0.96483557435587419],"actions":[2,2,2,2,2,2,2,2,2,2,1],"reference_path":[[48.26966857910156,-7.014821529388428,9.454816818237305,0,0,0.008359642130238513],[48.26966857910156,-7.014821529388428,9.454816818237305,0,0,-0.2534397456689109],[48.26966857910156,-7.014821529388428,9.454816818237305,0,0,-0.5152391334680604],[48.26966857910156,-7.014821529388428,9.454816818237305,0,0,-0.7770385212672097],[48.26966857910156,-7.014821529388428,9.454816818237305,0,0,-1.038837909066359],[48.26966857910156,-7.014821529388428,9.454816818237305,0,0,-1.3006372968655087],[48.26966857910156,-7.014821529388428,9.454816818237305,0,0,-1.5624366846646582],[48.26966857910156,-7.014821529388428,9.454816818237305,0,0,-1.824236072463808],[48.26966857910156,-7.014821529388428,9.454816818237305,0,0,-2.086035460262958],[48.26966857910156,-7.014821529388428,9.454816818237305,0,0,-2.3478348480621074],[48.26966857910156,-7.014821529388428,9.454816818237305,0,0,-2.609634235861257]]},{"id":1,"instruction":"after the intersection rise to the tracks and turn left facing them, fly along the tracks over the pillar on the left, then turn right facing the white building and head straight.","completed_instruction":"Riss until you can see railway tracks on left and turn left to face the tracks and follow them until reaching the nearest pillar on the left then turn right to face a white building with a shop sign.","start_frame":11,"end_frame":34,"start_position":[48.26966857910156,-7.014821529388428,9.454816818237305],"start_rotation":[0.26285416956436208,0,0,-0.96483557435587419],"end_position":[8.126294753421831,-7.9321164416539585,-2.5451831817626953],"end_rotation":[0.26285416956436208,0,0,-0.96483557435587419],"actions":[1,2,2,4,4,4,4,4,4,1,1,1,2,1,2,3,1,3,3,3,6,1,1,3],"reference_path":[[48.26966857910156,-7.014821529388428,9.454816818237305,0,0,-2.609634235861257],[43.960591723675265,-9.550932066023105,9.454816818237305,0,0,-2.609634235861257],[43.960591723675265,-9.550932066023105,9.454816818237305,0,0,-2.8714336236604066],[43.960591723675265,-9.550932066023105,9.454816818237305,0,0,-3.1332330114595557],[43.960591723675265,-9.550932066023105,7.454816818237305,0,0,-3.1332330114595557],[43.960591723675265,-9.550932066023105,5.454816818237305,0,0,-3.1332330114595557],[43.960591723675265,-9.550932066023105,3.4548168182373047,0,0,-3.1332330114595557],[43.960591723675265,-9.550932066023105,1.4548168182373047,0,0,-3.1332330114595557],[43.960591723675265,-9.550932066023105,-0.5451831817626953,0,0,-3.1332330114595557],[43.960591723675265,-9.550932066023105,-2.5451831817626953,0,0,-3.1332330114595557],[38.96076643169919,-9.592729789840973,-2.5451831817626953,0,0,-3.1332330114595557],[33.96094113972312,-9.634527513658842,-2.5451831817626953,0,0,-3.1332330114595557],[28.961115847747045,-9.67632523747671,-2.5451831817626953,0,0,-3.1332330114595557],[28.961115847747045,-9.67632523747671,-2.5451831817626953,0,0,2.888152907920881],[24.120837424328073,-8.422648730643806,-2.5451831817626953,0,0,2.888152907920881],[24.120837424328073,-8.422648730643806,-2.5451831817626953,0,0,2.626353520121732],[24.120837424328073,-8.422648730643806,-2.5451831817626953,0,0,2.888152907920881],[19.2805590009091,-7.168972223810901,-2.5451831817626953,0,0,2.888152907920881],[19.2805590009091,-7.168972223810901,-2.5451831817626953,0,0,-3.1332330114595557],[19.2805590009091,-7.168972223810901,-2.5451831817626953,0,0,-2.8714336236604066],[19.2805590009091,-7.168972223810901,-2.5451831817626953,0,0,-2.609634235861257],[16.744448464274424,-2.8598953683846045,-2.5451831817626953,0,0,-2.609634235861257],[12.435371608848127,-5.3960059050192815,-2.5451831817626953,0,0,-2.609634235861257],[8.126294753421831,-7.9321164416539585,-2.5451831817626953,0,0,-2.609634235861257]]},{"id":2,"instruction":"lower to the road and turn left facing the steps and head straight.","completed_instruction":"Fly down to the road and turn left to face the road.","start_frame":34,"end_frame":47,"start_position":[8.126294753421831,-7.9321164416539585,-2.5451831817626953],"start_rotation":[0.26285416956436208,0,0,-0.96483557435587419],"end_position":[9.460718262086285,-12.750758771140934,5.454816818237305],"end_rotation":[0.50361545296571253,0,0,-0.86392793422492142],"actions":[3,3,3,5,5,3,3,5,1,5,2,2,2,2],"reference_path":[[8.126294753421831,-7.9321164416539585,-2.5451831817626953,0,0,-2.609634235861257],[8.126294753421831,-7.9321164416539585,-2.5451831817626953,0,0,-2.3478348480621074],[8.126294753421831,-7.9321164416539585,-2.5451831817626953,0,0,-2.0860354602629583],[8.126294753421831,-7.9321164416539585,-2.5451831817626953,0,0,-1.824236072463809],[8.126294753421831,-7.9321164416539585,-0.5451831817626953,0,0,-1.824236072463809],[8.126294753421831,-7.9321164416539585,1.4548168182373047,0,0,-1.824236072463809],[8.126294753421831,-7.9321164416539585,1.4548168182373047,0,0,-1.5624366846646596],[8.126294753421831,-7.9321164416539585,1.4548168182373047,0,0,-1.3006372968655102],[8.126294753421831,-7.9321164416539585,3.4548168182373047,0,0,-1.3006372968655102],[9.460718262086285,-12.750758771140934,3.4548168182373047,0,0,-1.3006372968655102],[9.460718262086285,-12.750758771140934,5.454816818237305,0,0,-1.3006372968655102],[9.460718262086285,-12.750758771140934,5.454816818237305,0,0,-1.5624366846646596],[9.460718262086285,-12.750758771140934,5.454816818237305,0,0,-1.8242360724638091],[9.460718262086285,-12.750758771140934,5.454816818237305,0,0,-2.0860354602629587]]},{"id":3,"instruction":"land before the telephones.","completed_instruction":"Land on the road.","start_frame":47,"end_frame":54,"start_position":[9.460718262086285,-12.750758771140934,5.454816818237305],"start_rotation":[0.50361545296571253,0,0,-0.86392793422492142],"end_position":[9.460718262086285,-12.750758771140934,7.454816818237305],"end_rotation":[0.25477939884453749,0,0,0.9669992026493176],"actions":[2,2,2,2,2,2,5,0],"reference_path":[[9.460718262086285,-12.750758771140934,5.454816818237305,0,0,-2.0860354602629587],[9.460718262086285,-12.750758771140934,5.454816818237305,0,0,-2.347834848062108],[9.460718262086285,-12.750758771140934,5.454816818237305,0,0,-2.6096342358612574],[9.460718262086285,-12.750758771140934,5.454816818237305,0,0,-2.871433623660407],[9.460718262086285,-12.750758771140934,5.454816818237305,0,0,-3.133233011459556],[9.460718262086285,-12.750758771140934,5.454816818237305,0,0,2.8881529079208805],[9.460718262086285,-12.750758771140934,5.454816818237305,0,0,2.626353520121731],[9.460718262086285,-12.750758771140934,7.454816818237305,0,0,2.626353520121731]]}],"statistics":{"complete_actions":57,"sentence_actions":[11,24,14,8],"sentence_actions_average":14.25}}
diff --git a/scene_17/37Z929RLGI6LFJ0NKGRRP9WANL5STI.json b/scene_17/37Z929RLGI6LFJ0NKGRRP9WANL5STI.json
new file mode 100644
index 0000000000000000000000000000000000000000..fe0d4253f412bacd6a6ab8859a7eb045a169364a
--- /dev/null
+++ b/scene_17/37Z929RLGI6LFJ0NKGRRP9WANL5STI.json
@@ -0,0 +1 @@
+{"episode_id":"37Z929RLGI6LFJ0NKGRRP9WANL5STI","trajectory_id":"3XBXDSS89GH263HOFEQLD78XEFGXLY","scene_id":17,"instruction":"turn right and go around the left corner. fly onto the train station docks by going up and to the left. turn around and go back to over the road. turn left and go forward. land down on the sidewalk on the right.","sentence_instructions":[{"id":0,"instruction":"turn right and go around the left corner.","completed_instruction":"Turn right to face the road corner and go forward over the black wall on left.","start_frame":1,"end_frame":5,"start_position":[-11.240157127380371,18.384098052978516,9.454816818237305],"start_rotation":[0.99999446153215488,0,0,0.0033281984639882333],"end_position":[-11.240157127380371,18.384098052978516,9.454816818237305],"end_rotation":[0.86435650809859255,0,0,0.50287953518472761],"actions":[3,3,3,3,1],"reference_path":[[-11.240157127380371,18.384098052978516,9.454816818237305,0,0,0.006656409216750475],[-11.240157127380371,18.384098052978516,9.454816818237305,0,0,0.2684557970158999],[-11.240157127380371,18.384098052978516,9.454816818237305,0,0,0.5302551848150493],[-11.240157127380371,18.384098052978516,9.454816818237305,0,0,0.7920545726141988],[-11.240157127380371,18.384098052978516,9.454816818237305,0,0,1.0538539604133483]]},{"id":1,"instruction":"fly onto the train station docks by going up and to the left.","completed_instruction":"Go forward to the stair\u0027s right and stop there.","start_frame":5,"end_frame":11,"start_position":[-11.240157127380371,18.384098052978516,9.454816818237305],"start_rotation":[0.86435650809859255,0,0,0.50287953518472761],"end_position":[-5.257113602758587,26.28975941031825,9.454816818237305],"end_rotation":[0.99999446153215488,0,0,0.0033281984639883366],"actions":[1,2,1,2,2,2,2],"reference_path":[[-11.240157127380371,18.384098052978516,9.454816818237305,0,0,1.0538539604133483],[-8.769035396456449,22.73077004324366,9.454816818237305,0,0,1.0538539604133483],[-8.769035396456449,22.73077004324366,9.454816818237305,0,0,0.7920545726141989],[-5.257113602758587,26.28975941031825,9.454816818237305,0,0,0.7920545726141989],[-5.257113602758587,26.28975941031825,9.454816818237305,0,0,0.5302551848150495],[-5.257113602758587,26.28975941031825,9.454816818237305,0,0,0.2684557970159001],[-5.257113602758587,26.28975941031825,9.454816818237305,0,0,0.006656409216750681]]}],"statistics":{"complete_actions":12,"sentence_actions":[5,7],"sentence_actions_average":6.0}}
diff --git a/scene_17/39LNWE0K43UBLICGF9NNQ3CPXZFUIK.json b/scene_17/39LNWE0K43UBLICGF9NNQ3CPXZFUIK.json
new file mode 100644
index 0000000000000000000000000000000000000000..87e64d6dc24737809f88ce73184fd22e0e8a927b
--- /dev/null
+++ b/scene_17/39LNWE0K43UBLICGF9NNQ3CPXZFUIK.json
@@ -0,0 +1 @@
+{"episode_id":"39LNWE0K43UBLICGF9NNQ3CPXZFUIK","trajectory_id":"35O6H0UNM0EN9U9E6NVD594LHSS5JN","scene_id":17,"instruction":"take off and turn right back and move forward towards the railway platform and turn right. now go forward and towards the brown building and turn right and move forward and reach the big chicken board and turn back. now rotate and look areas and stay there.","sentence_instructions":[{"id":0,"instruction":"take off and turn right back and move forward towards the railway platform and turn right.","completed_instruction":"Turn back to face the nearby train platform, then fly onto the platform and turn left face the orange building, fly pass through the train station to the building.","start_frame":1,"end_frame":24,"start_position":[38.353118896484375,-4.5567545890808105,-0.3462750315666199],"start_rotation":[0.99995123904696848,0,0,0.00987519764016896],"end_position":[23.494142979722167,14.035701004552191,-2.34627503156662],"end_rotation":[0.70008948276908112,0,0,0.71405512120292258],"actions":[4,3,3,3,3,3,3,3,3,3,3,3,1,1,1,2,2,2,2,2,1,1,1,1],"reference_path":[[38.353118896484375,-4.5567545890808105,-0.3462750315666199,0,0,0.019750716302631477],[38.353118896484375,-4.5567545890808105,-2.34627503156662,0,0,0.019750716302631477],[38.353118896484375,-4.5567545890808105,-2.34627503156662,0,0,0.28155010410178094],[38.353118896484375,-4.5567545890808105,-2.34627503156662,0,0,0.5433494919009304],[38.353118896484375,-4.5567545890808105,-2.34627503156662,0,0,0.8051488797000799],[38.353118896484375,-4.5567545890808105,-2.34627503156662,0,0,1.0669482674992294],[38.353118896484375,-4.5567545890808105,-2.34627503156662,0,0,1.3287476552983788],[38.353118896484375,-4.5567545890808105,-2.34627503156662,0,0,1.5905470430975281],[38.353118896484375,-4.5567545890808105,-2.34627503156662,0,0,1.8523464308966773],[38.353118896484375,-4.5567545890808105,-2.34627503156662,0,0,2.1141458186958264],[38.353118896484375,-4.5567545890808105,-2.34627503156662,0,0,2.3759452064949755],[38.353118896484375,-4.5567545890808105,-2.34627503156662,0,0,2.637744594294125],[38.353118896484375,-4.5567545890808105,-2.34627503156662,0,0,2.8995439820932747],[33.498874085391506,-3.3582941959188193,-2.34627503156662,0,0,2.8995439820932747],[28.64462927429864,-2.159833802756828,-2.34627503156662,0,0,2.8995439820932747],[23.790384463205775,-0.9613734095948367,-2.34627503156662,0,0,2.8995439820932747],[23.790384463205775,-0.9613734095948367,-2.34627503156662,0,0,2.637744594294125],[23.790384463205775,-0.9613734095948367,-2.34627503156662,0,0,2.3759452064949755],[23.790384463205775,-0.9613734095948367,-2.34627503156662,0,0,2.1141458186958264],[23.790384463205775,-0.9613734095948367,-2.34627503156662,0,0,1.8523464308966768],[23.790384463205775,-0.9613734095948367,-2.34627503156662,0,0,1.5905470430975275],[23.691637302044573,4.0376513951208395,-2.34627503156662,0,0,1.5905470430975275],[23.59289014088337,9.036676199836515,-2.34627503156662,0,0,1.5905470430975275],[23.494142979722167,14.035701004552191,-2.34627503156662,0,0,1.5905470430975275]]},{"id":1,"instruction":"now go forward and towards the brown building and turn right and move forward and reach the big chicken board and turn back.","completed_instruction":"Go ahead in front of the orange building and turn right facing the road, go ahead until reaching a red board and turn around.","start_frame":24,"end_frame":68,"start_position":[23.494142979722167,14.035701004552191,-2.34627503156662],"start_rotation":[0.70008948276908112,0,0,0.71405512120292258],"end_position":[-1.693344947115822,31.906911039969135,5.65372496843338],"end_rotation":[0.9633228376017936,0,0,0.26834513327956666],"actions":[1,1,3,1,5,5,5,4,3,3,1,3,3,3,1,1,1,5,5,1,2,2,2,2,2,2,2,2,2,3,3,3,3,3,3,3,2,2,2,2,2,2,2,2,2],"reference_path":[[23.494142979722167,14.035701004552191,-2.34627503156662,0,0,1.5905470430975275],[23.395395818560964,19.03472580926787,-2.34627503156662,0,0,1.5905470430975275],[23.29664865739976,24.033750613983543,-2.34627503156662,0,0,1.5905470430975275],[23.29664865739976,24.033750613983543,-2.34627503156662,0,0,1.8523464308966768],[21.9074233977611,28.836880133159752,-2.34627503156662,0,0,1.8523464308966768],[21.9074233977611,28.836880133159752,-0.3462750315666199,0,0,1.8523464308966768],[21.9074233977611,28.836880133159752,1.6537249684333801,0,0,1.8523464308966768],[21.9074233977611,28.836880133159752,3.65372496843338,0,0,1.8523464308966768],[21.9074233977611,28.836880133159752,1.6537249684333801,0,0,1.8523464308966768],[21.9074233977611,28.836880133159752,1.6537249684333801,0,0,2.1141458186958264],[21.9074233977611,28.836880133159752,1.6537249684333801,0,0,2.3759452064949755],[18.30275427174688,32.30189968461396,1.6537249684333801,0,0,2.3759452064949755],[18.30275427174688,32.30189968461396,1.6537249684333801,0,0,2.637744594294125],[18.30275427174688,32.30189968461396,1.6537249684333801,0,0,2.8995439820932747],[18.30275427174688,32.30189968461396,1.6537249684333801,0,0,-3.1218419372871624],[13.303729467031205,32.20315252345275,1.6537249684333801,0,0,-3.1218419372871624],[8.30470466231553,32.104405362291544,1.6537249684333801,0,0,-3.1218419372871624],[3.305679857599854,32.00565820113034,1.6537249684333801,0,0,-3.1218419372871624],[3.305679857599854,32.00565820113034,3.65372496843338,0,0,-3.1218419372871624],[3.305679857599854,32.00565820113034,5.65372496843338,0,0,-3.1218419372871624],[-1.693344947115822,31.906911039969135,5.65372496843338,0,0,-3.1218419372871624],[-1.693344947115822,31.906911039969135,5.65372496843338,0,0,2.8995439820932742],[-1.693344947115822,31.906911039969135,5.65372496843338,0,0,2.637744594294125],[-1.693344947115822,31.906911039969135,5.65372496843338,0,0,2.3759452064949755],[-1.693344947115822,31.906911039969135,5.65372496843338,0,0,2.1141458186958264],[-1.693344947115822,31.906911039969135,5.65372496843338,0,0,1.8523464308966768],[-1.693344947115822,31.906911039969135,5.65372496843338,0,0,1.5905470430975275],[-1.693344947115822,31.906911039969135,5.65372496843338,0,0,1.3287476552983781],[-1.693344947115822,31.906911039969135,5.65372496843338,0,0,1.0669482674992286],[-1.693344947115822,31.906911039969135,5.65372496843338,0,0,0.8051488797000792],[-1.693344947115822,31.906911039969135,5.65372496843338,0,0,1.0669482674992288],[-1.693344947115822,31.906911039969135,5.65372496843338,0,0,1.3287476552983781],[-1.693344947115822,31.906911039969135,5.65372496843338,0,0,1.5905470430975275],[-1.693344947115822,31.906911039969135,5.65372496843338,0,0,1.8523464308966768],[-1.693344947115822,31.906911039969135,5.65372496843338,0,0,2.1141458186958264],[-1.693344947115822,31.906911039969135,5.65372496843338,0,0,2.3759452064949755],[-1.693344947115822,31.906911039969135,5.65372496843338,0,0,2.637744594294125],[-1.693344947115822,31.906911039969135,5.65372496843338,0,0,2.3759452064949755],[-1.693344947115822,31.906911039969135,5.65372496843338,0,0,2.1141458186958264],[-1.693344947115822,31.906911039969135,5.65372496843338,0,0,1.8523464308966768],[-1.693344947115822,31.906911039969135,5.65372496843338,0,0,1.5905470430975275],[-1.693344947115822,31.906911039969135,5.65372496843338,0,0,1.3287476552983781],[-1.693344947115822,31.906911039969135,5.65372496843338,0,0,1.0669482674992286],[-1.693344947115822,31.906911039969135,5.65372496843338,0,0,0.8051488797000792],[-1.693344947115822,31.906911039969135,5.65372496843338,0,0,0.5433494919009298]]},{"id":2,"instruction":"now rotate and look areas and stay there.","completed_instruction":"Turn back to face the road and land there.","start_frame":68,"end_frame":104,"start_position":[-1.693344947115822,31.906911039969135,5.65372496843338],"start_rotation":[0.9633228376017936,0,0,0.26834513327956666],"end_position":[-1.693344947115822,31.906911039969135,5.65372496843338],"end_rotation":[0.0098751976401686339,0,0,-0.99995123904696859],"actions":[2,2,2,2,2,2,2,2,3,3,3,3,2,2,2,2,2,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,0],"reference_path":[[-1.693344947115822,31.906911039969135,5.65372496843338,0,0,0.5433494919009298],[-1.693344947115822,31.906911039969135,5.65372496843338,0,0,0.28155010410178044],[-1.693344947115822,31.906911039969135,5.65372496843338,0,0,0.019750716302630988],[-1.693344947115822,31.906911039969135,5.65372496843338,0,0,-0.24204867149651843],[-1.693344947115822,31.906911039969135,5.65372496843338,0,0,-0.5038480592956679],[-1.693344947115822,31.906911039969135,5.65372496843338,0,0,-0.7656474470948174],[-1.693344947115822,31.906911039969135,5.65372496843338,0,0,-1.0274468348939667],[-1.693344947115822,31.906911039969135,5.65372496843338,0,0,-1.2892462226931163],[-1.693344947115822,31.906911039969135,5.65372496843338,0,0,-1.5510456104922656],[-1.693344947115822,31.906911039969135,5.65372496843338,0,0,-1.289246222693116],[-1.693344947115822,31.906911039969135,5.65372496843338,0,0,-1.0274468348939667],[-1.693344947115822,31.906911039969135,5.65372496843338,0,0,-0.7656474470948174],[-1.693344947115822,31.906911039969135,5.65372496843338,0,0,-0.5038480592956679],[-1.693344947115822,31.906911039969135,5.65372496843338,0,0,-0.7656474470948174],[-1.693344947115822,31.906911039969135,5.65372496843338,0,0,-1.0274468348939667],[-1.693344947115822,31.906911039969135,5.65372496843338,0,0,-1.2892462226931163],[-1.693344947115822,31.906911039969135,5.65372496843338,0,0,-1.5510456104922656],[-1.693344947115822,31.906911039969135,5.65372496843338,0,0,-1.812844998291415],[-1.693344947115822,31.906911039969135,5.65372496843338,0,0,-1.5510456104922654],[-1.693344947115822,31.906911039969135,5.65372496843338,0,0,-1.289246222693116],[-1.693344947115822,31.906911039969135,5.65372496843338,0,0,-1.0274468348939667],[-1.693344947115822,31.906911039969135,5.65372496843338,0,0,-0.7656474470948174],[-1.693344947115822,31.906911039969135,5.65372496843338,0,0,-0.5038480592956679],[-1.693344947115822,31.906911039969135,5.65372496843338,0,0,-0.24204867149651843],[-1.693344947115822,31.906911039969135,5.65372496843338,0,0,0.019750716302630988],[-1.693344947115822,31.906911039969135,5.65372496843338,0,0,0.28155010410178044],[-1.693344947115822,31.906911039969135,5.65372496843338,0,0,0.5433494919009298],[-1.693344947115822,31.906911039969135,5.65372496843338,0,0,0.8051488797000793],[-1.693344947115822,31.906911039969135,5.65372496843338,0,0,1.0669482674992288],[-1.693344947115822,31.906911039969135,5.65372496843338,0,0,1.3287476552983781],[-1.693344947115822,31.906911039969135,5.65372496843338,0,0,1.5905470430975275],[-1.693344947115822,31.906911039969135,5.65372496843338,0,0,1.8523464308966768],[-1.693344947115822,31.906911039969135,5.65372496843338,0,0,2.1141458186958264],[-1.693344947115822,31.906911039969135,5.65372496843338,0,0,2.3759452064949755],[-1.693344947115822,31.906911039969135,5.65372496843338,0,0,2.637744594294125],[-1.693344947115822,31.906911039969135,5.65372496843338,0,0,2.8995439820932747],[-1.693344947115822,31.906911039969135,5.65372496843338,0,0,-3.1218419372871624]]}],"statistics":{"complete_actions":106,"sentence_actions":[24,45,37],"sentence_actions_average":35.33}}
diff --git a/scene_17/3CFJTT4SX2O9N70K21UCGBY68M17IV.json b/scene_17/3CFJTT4SX2O9N70K21UCGBY68M17IV.json
new file mode 100644
index 0000000000000000000000000000000000000000..71b3ebb858971fb60a0165aedb04158567ce05f1
--- /dev/null
+++ b/scene_17/3CFJTT4SX2O9N70K21UCGBY68M17IV.json
@@ -0,0 +1 @@
+{"episode_id":"3CFJTT4SX2O9N70K21UCGBY68M17IV","trajectory_id":"3FO95NVK6KY5DKQ2QOHU0B049K7RS2","scene_id":17,"instruction":"take off and turn left and cross the railway track and platform towards the signal. now turn left and get down towards the towards the brown building. now get down reach the road and landed near to the hotel.","sentence_instructions":[{"id":0,"instruction":"take off and turn left and cross the railway track and platform towards the signal.","completed_instruction":"Ascend beside the railway until seeing the railway tracks and turn left 30 degrees, and fly forward over the track to the station platform, move forward across the tracks to another platform, turn right slightly to face the tracks, fly along the station platform crossing the elevators and the direction maps to its end.","start_frame":1,"end_frame":25,"start_position":[-21.153654098510742,24.07201385498047,8.570941925048828],"start_rotation":[0.99996006672581517,0,0,0.0089367194038567337],"end_position":[21.34890426385947,3.0979741388779574,-1.4290580749511719],"end_rotation":[0.99257174568904649,0,0,-0.121660715351336],"actions":[4,4,4,4,4,2,2,1,1,2,1,1,1,1,3,3,1,3,3,1,2,2,1,1,1],"reference_path":[[-21.153654098510742,24.07201385498047,8.570941925048828,0,0,0.017873676726491334],[-21.153654098510742,24.07201385498047,6.570941925048828,0,0,0.017873676726491334],[-21.153654098510742,24.07201385498047,4.570941925048828,0,0,0.017873676726491334],[-21.153654098510742,24.07201385498047,2.570941925048828,0,0,0.017873676726491334],[-21.153654098510742,24.07201385498047,0.5709419250488281,0,0,0.017873676726491334],[-21.153654098510742,24.07201385498047,-1.4290580749511719,0,0,0.017873676726491334],[-21.153654098510742,24.07201385498047,-1.4290580749511719,0,0,-0.24392571107265812],[-21.153654098510742,24.07201385498047,-1.4290580749511719,0,0,-0.5057250988718075],[-16.779536917719387,21.649804349445102,-1.4290580749511719,0,0,-0.5057250988718075],[-12.405419736928032,19.227594843909735,-1.4290580749511719,0,0,-0.5057250988718075],[-12.405419736928032,19.227594843909735,-1.4290580749511719,0,0,-0.7675244866709571],[-8.807260936047847,15.755815293931299,-1.4290580749511719,0,0,-0.7675244866709571],[-5.209102135167661,12.284035743952863,-1.4290580749511719,0,0,-0.7675244866709571],[-1.6109433342874748,8.812256193974427,-1.4290580749511719,0,0,-0.7675244866709571],[1.987215466592711,5.340476643995992,-1.4290580749511719,0,0,-0.7675244866709571],[1.987215466592711,5.340476643995992,-1.4290580749511719,0,0,-0.5057250988718076],[1.987215466592711,5.340476643995992,-1.4290580749511719,0,0,-0.24392571107265817],[6.839202169994723,4.132906757815455,-1.4290580749511719,0,0,-0.24392571107265817],[6.839202169994723,4.132906757815455,-1.4290580749511719,0,0,0.017873676726491233],[6.839202169994723,4.132906757815455,-1.4290580749511719,0,0,0.27967306452564067],[11.644930857055446,5.513113911239032,-1.4290580749511719,0,0,0.27967306452564067],[11.644930857055446,5.513113911239032,-1.4290580749511719,0,0,0.017873676726491265],[11.644930857055446,5.513113911239032,-1.4290580749511719,0,0,-0.24392571107265817],[16.496917560457458,4.305544025058495,-1.4290580749511719,0,0,-0.24392571107265817],[21.34890426385947,3.0979741388779574,-1.4290580749511719,0,0,-0.24392571107265817]]},{"id":1,"instruction":"now turn left and get down towards the towards the brown building.","completed_instruction":"Turn left to face high white building, fly over the track wall.","start_frame":25,"end_frame":30,"start_position":[21.34890426385947,3.0979741388779574,-1.4290580749511719],"start_rotation":[0.99257174568904649,0,0,-0.121660715351336],"end_position":[34.17316694893302,-4.003584802816384,-1.4290580749511719],"end_rotation":[0.92726257343215279,0,0,-0.37441169841763949],"actions":[1,2,1,2,1,2],"reference_path":[[21.34890426385947,3.0979741388779574,-1.4290580749511719,0,0,-0.24392571107265817],[26.200890967261483,1.8904042526974196,-1.4290580749511719,0,0,-0.24392571107265817],[26.200890967261483,1.8904042526974196,-1.4290580749511719,0,0,-0.5057250988718076],[30.575008148052838,-0.5318052528379487,-1.4290580749511719,0,0,-0.5057250988718076],[30.575008148052838,-0.5318052528379487,-1.4290580749511719,0,0,-0.7675244866709571],[34.17316694893302,-4.003584802816384,-1.4290580749511719,0,0,-0.7675244866709571]]},{"id":2,"instruction":"now get down reach the road and landed near to the hotel.","completed_instruction":"Fly down to the road height, and land near the yellow hotel.","start_frame":30,"end_frame":45,"start_position":[34.17316694893302,-4.003584802816384,-1.4290580749511719],"start_rotation":[0.92726257343215279,0,0,-0.37441169841763949],"end_position":[40.348317594740806,-11.76011790827227,8.570941925048828],"end_rotation":[0.92726257343215279,0,0,-0.37441169841763949],"actions":[2,1,3,5,5,5,1,5,5,2,2,2,3,3,3,0],"reference_path":[[34.17316694893302,-4.003584802816384,-1.4290580749511719,0,0,-0.7675244866709571],[34.17316694893302,-4.003584802816384,-1.4290580749511719,0,0,-1.0293238744701065],[36.75015879386062,-8.288338358293835,-1.4290580749511719,0,0,-1.0293238744701065],[36.75015879386062,-8.288338358293835,-1.4290580749511719,0,0,-0.7675244866709571],[36.75015879386062,-8.288338358293835,0.5709419250488281,0,0,-0.7675244866709571],[36.75015879386062,-8.288338358293835,2.570941925048828,0,0,-0.7675244866709571],[36.75015879386062,-8.288338358293835,4.570941925048828,0,0,-0.7675244866709571],[40.348317594740806,-11.76011790827227,4.570941925048828,0,0,-0.7675244866709571],[40.348317594740806,-11.76011790827227,6.570941925048828,0,0,-0.7675244866709571],[40.348317594740806,-11.76011790827227,8.570941925048828,0,0,-0.7675244866709571],[40.348317594740806,-11.76011790827227,8.570941925048828,0,0,-1.0293238744701065],[40.348317594740806,-11.76011790827227,8.570941925048828,0,0,-1.291123262269256],[40.348317594740806,-11.76011790827227,8.570941925048828,0,0,-1.5529226500684052],[40.348317594740806,-11.76011790827227,8.570941925048828,0,0,-1.291123262269256],[40.348317594740806,-11.76011790827227,8.570941925048828,0,0,-1.0293238744701065],[40.348317594740806,-11.76011790827227,8.570941925048828,0,0,-0.7675244866709571]]}],"statistics":{"complete_actions":47,"sentence_actions":[25,6,16],"sentence_actions_average":15.67}}
diff --git a/scene_17/3DEL4X4ELFJPSMLGOWKDWY5I33FYX1.json b/scene_17/3DEL4X4ELFJPSMLGOWKDWY5I33FYX1.json
new file mode 100644
index 0000000000000000000000000000000000000000..c5df34ca11d9347229a63173189bff3cfeae4425
--- /dev/null
+++ b/scene_17/3DEL4X4ELFJPSMLGOWKDWY5I33FYX1.json
@@ -0,0 +1 @@
+{"episode_id":"3DEL4X4ELFJPSMLGOWKDWY5I33FYX1","trajectory_id":"3TC2K6WKAO06QGU8X0WOICSVLFZ28B","scene_id":17,"instruction":"take off on the street road and then first see the tea advertisement board on the left side and see the black board contain the coffee shop advertisement and the top of the board see the atm board and move to see the did and mobile shop shutter closed on the right side. and move on to see the yellow bicycle on the left and turn right to see the under ground. enter into the underground and see the new \u0026 old sale board on left side and two air conditioner beside the board.","sentence_instructions":[{"id":0,"instruction":"and move on to see the yellow bicycle on the left and turn right to see the under ground.","completed_instruction":"Fly forward along the road until reaching two bikes on the left and move to the bikes slightly, move forward to the T-junction and turn right to see the tunnel.","start_frame":1,"end_frame":12,"start_position":[-36.43798828125,-18.10928726196289,9.454816818237305],"start_rotation":[0.99989331799548953,0,0,0.014606595358634195],"end_position":[-16.579019939225127,-18.823605352041827,9.454816818237305],"end_rotation":[0.9181912691438221,0,0,0.39613734142094859],"actions":[1,1,1,2,1,2,3,3,3,3,3,3],"reference_path":[[-36.43798828125,-18.10928726196289,9.454816818237305,0,0,0.029214229602181944],[-31.44012180752971,-17.963236890985268,9.454816818237305,0,0,0.029214229602181944],[-26.44225533380942,-17.817186520007645,9.454816818237305,0,0,0.029214229602181944],[-21.44438886008913,-17.671136149030023,9.454816818237305,0,0,0.029214229602181944],[-21.44438886008913,-17.671136149030023,9.454816818237305,0,0,-0.23258515819696748],[-16.579019939225127,-18.823605352041827,9.454816818237305,0,0,-0.23258515819696748],[-16.579019939225127,-18.823605352041827,9.454816818237305,0,0,-0.4943845459961169],[-16.579019939225127,-18.823605352041827,9.454816818237305,0,0,-0.2325851581969675],[-16.579019939225127,-18.823605352041827,9.454816818237305,0,0,0.029214229602181924],[-16.579019939225127,-18.823605352041827,9.454816818237305,0,0,0.29101361740133136],[-16.579019939225127,-18.823605352041827,9.454816818237305,0,0,0.5528130052004808],[-16.579019939225127,-18.823605352041827,9.454816818237305,0,0,0.8146123929996302]]},{"id":1,"instruction":"enter into the underground and see the new \u0026 old sale board on left side and two air conditioner beside the board.","completed_instruction":"Fly into the tunnel, fly through it and land at the end of it.","start_frame":12,"end_frame":20,"start_position":[-16.579019939225127,-18.823605352041827,9.454816818237305],"start_rotation":[0.9181912691438221,0,0,0.39613734142094859],"end_position":[-17.163221423135617,1.1678605428393336,9.454816818237305],"end_rotation":[0.78437677190313349,0,0,0.62028467633726025],"actions":[3,3,3,1,1,1,1,2,2],"reference_path":[[-16.579019939225127,-18.823605352041827,9.454816818237305,0,0,0.8146123929996302],[-16.579019939225127,-18.823605352041827,9.454816818237305,0,0,1.0764117807987796],[-16.579019939225127,-18.823605352041827,9.454816818237305,0,0,1.3382111685979292],[-16.579019939225127,-18.823605352041827,9.454816818237305,0,0,1.6000105563970786],[-16.72507031020275,-13.825738878321538,9.454816818237305,0,0,1.6000105563970786],[-16.871120681180372,-8.827872404601248,9.454816818237305,0,0,1.6000105563970786],[-17.017171052157995,-3.830005930880957,9.454816818237305,0,0,1.6000105563970786],[-17.163221423135617,1.1678605428393336,9.454816818237305,0,0,1.6000105563970786],[-17.163221423135617,1.1678605428393336,9.454816818237305,0,0,1.3382111685979292]]}],"statistics":{"complete_actions":21,"sentence_actions":[12,9],"sentence_actions_average":10.5}}
diff --git a/scene_17/3EICBYG64DUBUZFMB0NN8Y5KM6CJCV.json b/scene_17/3EICBYG64DUBUZFMB0NN8Y5KM6CJCV.json
new file mode 100644
index 0000000000000000000000000000000000000000..506a900ce82e5a629dca75a6a6ff5ce7bdedf088
--- /dev/null
+++ b/scene_17/3EICBYG64DUBUZFMB0NN8Y5KM6CJCV.json
@@ -0,0 +1 @@
+{"episode_id":"3EICBYG64DUBUZFMB0NN8Y5KM6CJCV","trajectory_id":"3WUVMVA7PJ1AFFQZJ5PG1E8XWV8ZAW","scene_id":17,"instruction":"take off turn high and fly straight towards the metro station near the route map. and turn right and fly a little forward and fly a little downwards to the electric post and turn right. fly straight to the bookstore and take a turn. turn right and fly straight towards the bicycle and start flying upwards. and turn left and fly straight towards the metro station and land near the signal.","sentence_instructions":[{"id":0,"instruction":"take off turn high and fly straight towards the metro station near the route map.","completed_instruction":"Take off till the railway tracks is in the sight, turn right to face the station and fly straight towards the platform.","start_frame":1,"end_frame":11,"start_position":[13.808820724487305,-16.274473190307617,9.454816818237305],"start_rotation":[0.99984831438820054,0,0,0.017416894530142557],"end_position":[13.808820724487305,-16.274473190307617,-0.5451831817626953],"end_rotation":[0.78263026640137623,0,0,0.62248684011191013],"actions":[4,4,4,4,4,3,3,3,3,3,1],"reference_path":[[13.808820724487305,-16.274473190307617,9.454816818237305,0,0,0.03483555042869024],[13.808820724487305,-16.274473190307617,7.454816818237305,0,0,0.03483555042869024],[13.808820724487305,-16.274473190307617,5.454816818237305,0,0,0.03483555042869024],[13.808820724487305,-16.274473190307617,3.4548168182373047,0,0,0.03483555042869024],[13.808820724487305,-16.274473190307617,1.4548168182373047,0,0,0.03483555042869024],[13.808820724487305,-16.274473190307617,-0.5451831817626953,0,0,0.03483555042869024],[13.808820724487305,-16.274473190307617,-0.5451831817626953,0,0,0.29663493822783965],[13.808820724487305,-16.274473190307617,-0.5451831817626953,0,0,0.5584343260269891],[13.808820724487305,-16.274473190307617,-0.5451831817626953,0,0,0.8202337138261385],[13.808820724487305,-16.274473190307617,-0.5451831817626953,0,0,1.082033101625288],[13.808820724487305,-16.274473190307617,-0.5451831817626953,0,0,1.3438324894244373]]},{"id":1,"instruction":"and turn right and fly a little forward and fly a little downwards to the electric post and turn right.","completed_instruction":"Turn right to face a brown and black building, fly over the wall, fly downwards to a dark blue platform.","start_frame":11,"end_frame":29,"start_position":[13.808820724487305,-16.274473190307617,-0.5451831817626953],"start_rotation":[0.78263026640137623,0,0,0.62248684011191013],"end_position":[7.036967108805209,-10.641746337035578,3.4548168182373047],"end_rotation":[0.14777428385772848,0,0,-0.9890211125301297],"actions":[1,1,3,3,3,3,3,3,3,3,3,1,5,3,2,2,1,5,3],"reference_path":[[13.808820724487305,-16.274473190307617,-0.5451831817626953,0,0,1.3438324894244373],[14.933922063362196,-11.402702775226265,-0.5451831817626953,0,0,1.3438324894244373],[16.059023402237088,-6.530932360144913,-0.5451831817626953,0,0,1.3438324894244373],[16.059023402237088,-6.530932360144913,-0.5451831817626953,0,0,1.605631877223587],[16.059023402237088,-6.530932360144913,-0.5451831817626953,0,0,1.8674312650227365],[16.059023402237088,-6.530932360144913,-0.5451831817626953,0,0,2.129230652821886],[16.059023402237088,-6.530932360144913,-0.5451831817626953,0,0,2.391030040621035],[16.059023402237088,-6.530932360144913,-0.5451831817626953,0,0,2.6528294284201848],[16.059023402237088,-6.530932360144913,-0.5451831817626953,0,0,2.9146288162193343],[16.059023402237088,-6.530932360144913,-0.5451831817626953,0,0,-3.1067571031611028],[16.059023402237088,-6.530932360144913,-0.5451831817626953,0,0,-2.844957715361953],[16.059023402237088,-6.530932360144913,-0.5451831817626953,0,0,-2.583158327562804],[11.818594719108564,-9.18022747079244,-0.5451831817626953,0,0,-2.583158327562804],[11.818594719108564,-9.18022747079244,1.4548168182373047,0,0,-2.583158327562804],[11.818594719108564,-9.18022747079244,1.4548168182373047,0,0,-2.3213589397636545],[11.818594719108564,-9.18022747079244,1.4548168182373047,0,0,-2.583158327562804],[11.818594719108564,-9.18022747079244,1.4548168182373047,0,0,-2.844957715361953],[7.036967108805209,-10.641746337035578,1.4548168182373047,0,0,-2.844957715361953],[7.036967108805209,-10.641746337035578,3.4548168182373047,0,0,-2.844957715361953]]},{"id":2,"instruction":"fly straight to the bookstore and take a turn.","completed_instruction":"Fly straight to the green bookstore, fly forward to it, fly down to near the road, and turn left to face a green bench.","start_frame":29,"end_frame":41,"start_position":[7.036967108805209,-10.641746337035578,3.4548168182373047],"start_rotation":[0.14777428385772848,0,0,-0.9890211125301297],"end_position":[4.689295701603478,-15.056317546542504,7.454816818237305],"end_rotation":[0.24195635773690144,0,0,0.97028713325009752],"actions":[3,3,3,1,5,5,2,2,2,2,2,2,2],"reference_path":[[7.036967108805209,-10.641746337035578,3.4548168182373047,0,0,-2.844957715361953],[7.036967108805209,-10.641746337035578,3.4548168182373047,0,0,-2.583158327562804],[7.036967108805209,-10.641746337035578,3.4548168182373047,0,0,-2.3213589397636545],[7.036967108805209,-10.641746337035578,3.4548168182373047,0,0,-2.059559551964505],[4.689295701603478,-15.056317546542504,3.4548168182373047,0,0,-2.059559551964505],[4.689295701603478,-15.056317546542504,5.454816818237305,0,0,-2.059559551964505],[4.689295701603478,-15.056317546542504,7.454816818237305,0,0,-2.059559551964505],[4.689295701603478,-15.056317546542504,7.454816818237305,0,0,-2.3213589397636545],[4.689295701603478,-15.056317546542504,7.454816818237305,0,0,-2.583158327562804],[4.689295701603478,-15.056317546542504,7.454816818237305,0,0,-2.844957715361953],[4.689295701603478,-15.056317546542504,7.454816818237305,0,0,-3.1067571031611028],[4.689295701603478,-15.056317546542504,7.454816818237305,0,0,2.9146288162193343],[4.689295701603478,-15.056317546542504,7.454816818237305,0,0,2.6528294284201848]]},{"id":3,"instruction":"turn right and fly straight towards the bicycle and start flying upwards.","completed_instruction":"Turn right to face the road, and fly straight passing the green store and fly upwards to the train station height.","start_frame":41,"end_frame":57,"start_position":[4.689295701603478,-15.056317546542504,7.454816818237305],"start_rotation":[0.24195635773690144,0,0,0.97028713325009752],"end_position":[-4.873959519003232,-17.97935527902878,1.4548168182373047],"end_rotation":[0.11323850269172922,0,0,0.99356783437676521],"actions":[2,2,2,3,3,3,3,3,3,1,1,4,4,2,2,4,1],"reference_path":[[4.689295701603478,-15.056317546542504,7.454816818237305,0,0,2.6528294284201848],[4.689295701603478,-15.056317546542504,7.454816818237305,0,0,2.391030040621035],[4.689295701603478,-15.056317546542504,7.454816818237305,0,0,2.129230652821886],[4.689295701603478,-15.056317546542504,7.454816818237305,0,0,1.8674312650227367],[4.689295701603478,-15.056317546542504,7.454816818237305,0,0,2.129230652821886],[4.689295701603478,-15.056317546542504,7.454816818237305,0,0,2.391030040621035],[4.689295701603478,-15.056317546542504,7.454816818237305,0,0,2.6528294284201848],[4.689295701603478,-15.056317546542504,7.454816818237305,0,0,2.9146288162193343],[4.689295701603478,-15.056317546542504,7.454816818237305,0,0,-3.1067571031611028],[4.689295701603478,-15.056317546542504,7.454816818237305,0,0,-2.844957715361953],[-0.09233190869987684,-16.51783641278564,7.454816818237305,0,0,-2.844957715361953],[-4.873959519003232,-17.97935527902878,7.454816818237305,0,0,-2.844957715361953],[-4.873959519003232,-17.97935527902878,5.454816818237305,0,0,-2.844957715361953],[-4.873959519003232,-17.97935527902878,3.4548168182373047,0,0,-2.844957715361953],[-4.873959519003232,-17.97935527902878,3.4548168182373047,0,0,-3.1067571031611028],[-4.873959519003232,-17.97935527902878,3.4548168182373047,0,0,2.9146288162193343],[-4.873959519003232,-17.97935527902878,1.4548168182373047,0,0,2.9146288162193343]]},{"id":4,"instruction":"and turn left and fly straight towards the metro station and land near the signal.","completed_instruction":"Fly forward to the roof of the white building with a red and yellow sign, turn left until you see the green roof of the station, fly forward to the railway tracks and land in front of the middle traffic light.","start_frame":57,"end_frame":68,"start_position":[-4.873959519003232,-17.97935527902878,1.4548168182373047],"start_rotation":[0.11323850269172922,0,0,0.99356783437676521],"end_position":[-38.9871462650425,0.1620562718236398,-0.5451831817626953],"end_rotation":[0.36653427241821945,0,0,0.93040455025910451],"actions":[1,4,1,1,1,2,2,1,1,1,1,0],"reference_path":[[-4.873959519003232,-17.97935527902878,1.4548168182373047,0,0,2.9146288162193343],[-9.745729934084583,-16.854253940153892,1.4548168182373047,0,0,2.9146288162193343],[-9.745729934084583,-16.854253940153892,-0.5451831817626953,0,0,2.9146288162193343],[-14.617500349165935,-15.729152601279003,-0.5451831817626953,0,0,2.9146288162193343],[-19.489270764247287,-14.604051262404113,-0.5451831817626953,0,0,2.9146288162193343],[-24.361041179328637,-13.478949923529223,-0.5451831817626953,0,0,2.9146288162193343],[-24.361041179328637,-13.478949923529223,-0.5451831817626953,0,0,2.6528294284201848],[-24.361041179328637,-13.478949923529223,-0.5451831817626953,0,0,2.391030040621035],[-28.017567450757102,-10.068698374691007,-0.5451831817626953,0,0,2.391030040621035],[-31.674093722185567,-6.658446825852791,-0.5451831817626953,0,0,2.391030040621035],[-35.330619993614036,-3.2481952770145757,-0.5451831817626953,0,0,2.391030040621035],[-38.9871462650425,0.1620562718236398,-0.5451831817626953,0,0,2.391030040621035]]}],"statistics":{"complete_actions":72,"sentence_actions":[11,19,13,17,12],"sentence_actions_average":14.4}}
diff --git a/scene_17/3EJJQNKU903J9V9F5XAXLGOR89HRHX.json b/scene_17/3EJJQNKU903J9V9F5XAXLGOR89HRHX.json
new file mode 100644
index 0000000000000000000000000000000000000000..a60092d9433ce24e7c85a57e91269eb6bf09169d
--- /dev/null
+++ b/scene_17/3EJJQNKU903J9V9F5XAXLGOR89HRHX.json
@@ -0,0 +1 @@
+{"episode_id":"3EJJQNKU903J9V9F5XAXLGOR89HRHX","trajectory_id":"3Y7LTZE0Z1KUUO4XPA671FKR3SHUZ8","scene_id":17,"instruction":"turn around. walk straight. go down the steps. turn at first right. turn right at the lights. do a turn by the no a turn sign. turn left at lights.","sentence_instructions":[{"id":0,"instruction":"turn around.","completed_instruction":"Turn right to make the orange building in the center of vision, fly forward over the short wall to above the street.","start_frame":1,"end_frame":12,"start_position":[37.14646530151367,18.471906661987305,-0.3462750315666199],"start_rotation":[0.99995801388708316,0,0,-0.0091635398727825529],"end_position":[33.67631844772351,22.071640098386485,-0.3462750315666199],"end_rotation":[0.26765947812021834,0,0,0.963513572178624],"actions":[3,3,3,3,3,3,3,3,3,1,3,1],"reference_path":[[37.14646530151367,18.471906661987305,-0.3462750315666199,0,0,-0.01832733624415274],[37.14646530151367,18.471906661987305,-0.3462750315666199,0,0,0.24347205155499668],[37.14646530151367,18.471906661987305,-0.3462750315666199,0,0,0.5052714393541461],[37.14646530151367,18.471906661987305,-0.3462750315666199,0,0,0.7670708271532956],[37.14646530151367,18.471906661987305,-0.3462750315666199,0,0,1.028870214952445],[37.14646530151367,18.471906661987305,-0.3462750315666199,0,0,1.2906696027515945],[37.14646530151367,18.471906661987305,-0.3462750315666199,0,0,1.5524689905507438],[37.14646530151367,18.471906661987305,-0.3462750315666199,0,0,1.8142683783498932],[37.14646530151367,18.471906661987305,-0.3462750315666199,0,0,2.0760677661490425],[37.14646530151367,18.471906661987305,-0.3462750315666199,0,0,2.337867153948192],[33.67631844772351,22.071640098386485,-0.3462750315666199,0,0,2.337867153948192],[33.67631844772351,22.071640098386485,-0.3462750315666199,0,0,2.5996665417473417]]},{"id":1,"instruction":"walk straight.","completed_instruction":"Fly forward to the red sign left to an utility pole.","start_frame":10,"end_frame":17,"start_position":[37.14646530151367,18.471906661987305,-0.3462750315666199],"start_rotation":[0.39113337190910197,0,0,0.92033400750978234],"end_position":[14.977428264665843,28.797737024933845,-0.3462750315666199],"end_rotation":[0.13960585645147061,0,0,0.990207152491059],"actions":[1,3,1,3,1,1,1,1],"reference_path":[[37.14646530151367,18.471906661987305,-0.3462750315666199,0,0,2.337867153948192],[33.67631844772351,22.071640098386485,-0.3462750315666199,0,0,2.337867153948192],[33.67631844772351,22.071640098386485,-0.3462750315666199,0,0,2.5996665417473417],[29.392734409999385,24.65057549729726,-0.3462750315666199,0,0,2.5996665417473417],[29.392734409999385,24.65057549729726,-0.3462750315666199,0,0,2.8614659295464913],[24.58763236155487,26.032962673176122,-0.3462750315666199,0,0,2.8614659295464913],[19.782530313110357,27.415349849054984,-0.3462750315666199,0,0,2.8614659295464913],[14.977428264665843,28.797737024933845,-0.3462750315666199,0,0,2.8614659295464913]]},{"id":2,"instruction":"go down the steps.","completed_instruction":"Fly down beneath electrical lines, then fly forward to the tunnel on the right.","start_frame":17,"end_frame":23,"start_position":[14.977428264665843,28.797737024933845,-0.3462750315666199],"start_rotation":[0.13960585645147061,0,0,0.990207152491059],"end_position":[0.3680638724068155,31.65414292800519,3.65372496843338],"end_rotation":[0.0091635398727821626,0,0,0.99995801388708316],"actions":[1,1,5,3,5,1,7],"reference_path":[[14.977428264665843,28.797737024933845,-0.3462750315666199,0,0,2.8614659295464913],[10.172326216221329,30.180124200812706,-0.3462750315666199,0,0,2.8614659295464913],[5.367224167776815,31.562511376691567,-0.3462750315666199,0,0,2.8614659295464913],[5.367224167776815,31.562511376691567,1.6537249684333801,0,0,2.8614659295464913],[5.367224167776815,31.562511376691567,1.6537249684333801,0,0,3.1232653173456413],[5.367224167776815,31.562511376691567,3.65372496843338,0,0,3.1232653173456413],[0.3680638724068155,31.65414292800519,3.65372496843338,0,0,3.1232653173456413]]},{"id":3,"instruction":"turn at first right.","completed_instruction":"Turn right facing the tunnel, then go through the tunnel.","start_frame":23,"end_frame":40,"start_position":[0.3680638724068155,31.65414292800519,3.65372496843338],"start_rotation":[0.0091635398727821626,0,0,0.99995801388708316],"end_position":[-12.2292441203268,-5.280455990879436,7.65372496843338],"end_rotation":[0.70059749133767046,0,0,-0.71355669370510622],"actions":[7,1,5,3,3,1,3,3,3,1,5,1,3,1,1,1,1,1],"reference_path":[[0.3680638724068155,31.65414292800519,3.65372496843338,0,0,3.1232653173456413],[0.27643232109318727,26.65498263263519,3.65372496843338,0,0,3.1232653173456413],[-4.722727974276812,26.74661418394881,3.65372496843338,0,0,3.1232653173456413],[-4.722727974276812,26.74661418394881,5.65372496843338,0,0,3.1232653173456413],[-4.722727974276812,26.74661418394881,5.65372496843338,0,0,-2.898120602034796],[-4.722727974276812,26.74661418394881,5.65372496843338,0,0,-2.6363212142356467],[-9.097943563314562,24.32638928748959,5.65372496843338,0,0,-2.6363212142356467],[-9.097943563314562,24.32638928748959,5.65372496843338,0,0,-2.3745218264364976],[-9.097943563314562,24.32638928748959,5.65372496843338,0,0,-2.1127224386373484],[-9.097943563314562,24.32638928748959,5.65372496843338,0,0,-1.850923050838199],[-10.480330739193427,19.521287239045076,5.65372496843338,0,0,-1.850923050838199],[-10.480330739193427,19.521287239045076,7.65372496843338,0,0,-1.850923050838199],[-11.862717915072292,14.716185190600562,7.65372496843338,0,0,-1.850923050838199],[-11.862717915072292,14.716185190600562,7.65372496843338,0,0,-1.5891236630390495],[-11.954349466385919,9.717024895230562,7.65372496843338,0,0,-1.5891236630390495],[-12.045981017699546,4.717864599860563,7.65372496843338,0,0,-1.5891236630390495],[-12.137612569013173,-0.2812956955094368,7.65372496843338,0,0,-1.5891236630390495],[-12.2292441203268,-5.280455990879436,7.65372496843338,0,0,-1.5891236630390495]]},{"id":4,"instruction":"turn right at the lights.","completed_instruction":"Turn right to face the road, fly forward to a bicycle and a no U-turn sign.","start_frame":40,"end_frame":48,"start_position":[-12.2292441203268,-5.280455990879436,7.65372496843338],"start_rotation":[0.70059749133767046,0,0,-0.71355669370510622],"end_position":[-3.232189585471791,-14.24093886103908,7.65372496843338],"end_rotation":[0.990207152491059,0,0,-0.13960585645147097],"actions":[1,3,3,3,3,1,3,1,3],"reference_path":[[-12.2292441203268,-5.280455990879436,7.65372496843338,0,0,-1.5891236630390495],[-12.320875671640428,-10.279616286249436,7.65372496843338,0,0,-1.5891236630390495],[-12.320875671640428,-10.279616286249436,7.65372496843338,0,0,-1.3273242752399002],[-12.320875671640428,-10.279616286249436,7.65372496843338,0,0,-1.0655248874407508],[-12.320875671640428,-10.279616286249436,7.65372496843338,0,0,-0.8037254996416014],[-12.320875671640428,-10.279616286249436,7.65372496843338,0,0,-0.5419261118424521],[-8.037291633916304,-12.858551685160215,7.65372496843338,0,0,-0.5419261118424521],[-8.037291633916304,-12.858551685160215,7.65372496843338,0,0,-0.2801267240433027],[-3.232189585471791,-14.24093886103908,7.65372496843338,0,0,-0.2801267240433027]]},{"id":5,"instruction":"do a turn by the no a turn sign.","completed_instruction":"Turn back to face the road.","start_frame":48,"end_frame":59,"start_position":[-3.232189585471791,-14.24093886103908,7.65372496843338],"start_rotation":[0.990207152491059,0,0,-0.13960585645147097],"end_position":[1.7669707098982084,-14.33257041235271,7.65372496843338],"end_rotation":[0.37420135804147181,0,0,-0.927347477292044],"actions":[3,1,2,2,2,2,2,2,2,2,2,2],"reference_path":[[-3.232189585471791,-14.24093886103908,7.65372496843338,0,0,-0.2801267240433027],[-3.232189585471791,-14.24093886103908,7.65372496843338,0,0,-0.018327336244153305],[1.7669707098982084,-14.33257041235271,7.65372496843338,0,0,-0.018327336244153305],[1.7669707098982084,-14.33257041235271,7.65372496843338,0,0,-0.28012672404330274],[1.7669707098982084,-14.33257041235271,7.65372496843338,0,0,-0.5419261118424522],[1.7669707098982084,-14.33257041235271,7.65372496843338,0,0,-0.8037254996416017],[1.7669707098982084,-14.33257041235271,7.65372496843338,0,0,-1.065524887440751],[1.7669707098982084,-14.33257041235271,7.65372496843338,0,0,-1.3273242752399004],[1.7669707098982084,-14.33257041235271,7.65372496843338,0,0,-1.5891236630390497],[1.7669707098982084,-14.33257041235271,7.65372496843338,0,0,-1.8509230508381993],[1.7669707098982084,-14.33257041235271,7.65372496843338,0,0,-2.112722438637349],[1.7669707098982084,-14.33257041235271,7.65372496843338,0,0,-2.3745218264364985]]},{"id":6,"instruction":"turn left at lights.","completed_instruction":"Fly forward to red and white road signs, then fly to the tunnel and land there.","start_frame":59,"end_frame":68,"start_position":[1.7669707098982084,-14.33257041235271,7.65372496843338],"start_rotation":[0.37420135804147181,0,0,-0.927347477292044],"end_position":[-10.79186223006058,-6.7715144011638735,7.65372496843338],"end_rotation":[0.39113337190910258,0,0,0.92033400750978211],"actions":[2,2,2,2,1,2,1,2,1,0],"reference_path":[[1.7669707098982084,-14.33257041235271,7.65372496843338,0,0,-2.3745218264364985],[1.7669707098982084,-14.33257041235271,7.65372496843338,0,0,-2.636321214235648],[1.7669707098982084,-14.33257041235271,7.65372496843338,0,0,-2.8981206020347976],[1.7669707098982084,-14.33257041235271,7.65372496843338,0,0,3.123265317345639],[1.7669707098982084,-14.33257041235271,7.65372496843338,0,0,2.8614659295464895],[-3.038131338546303,-12.95018323647384,7.65372496843338,0,0,2.8614659295464895],[-3.038131338546303,-12.95018323647384,7.65372496843338,0,0,2.5996665417473404],[-7.321715376270423,-10.371247837563057,7.65372496843338,0,0,2.5996665417473404],[-7.321715376270423,-10.371247837563057,7.65372496843338,0,0,2.337867153948191],[-10.79186223006058,-6.7715144011638735,7.65372496843338,0,0,2.337867153948191]]}],"statistics":{"complete_actions":76,"sentence_actions":[12,8,7,18,9,12,10],"sentence_actions_average":10.86}}
diff --git a/scene_17/3FTYUGLFS3JDSS6FMUE4RU4W6HED5R.json b/scene_17/3FTYUGLFS3JDSS6FMUE4RU4W6HED5R.json
new file mode 100644
index 0000000000000000000000000000000000000000..251eb9a291d6fb7f79b77fa6c4d89c366ae70e7e
--- /dev/null
+++ b/scene_17/3FTYUGLFS3JDSS6FMUE4RU4W6HED5R.json
@@ -0,0 +1 @@
+{"episode_id":"3FTYUGLFS3JDSS6FMUE4RU4W6HED5R","trajectory_id":"3NCN4N1H2OFLH0H8MVEI12LU08JNBA","scene_id":17,"instruction":"lift off and turn left facing the train tracks to the left of the pillar and head straight. at the platform turn right facing the tan and black building and head straight. at the tan and black building lower to the road and turn left facing the intersection and head straight. land at the intersection.","sentence_instructions":[{"id":0,"instruction":"lift off and turn left facing the train tracks to the left of the pillar and head straight.","completed_instruction":"Lift off until you can see railway tracks, turn right to face the railway platform, and head towards the platform.","start_frame":1,"end_frame":26,"start_position":[37.31625747680664,-14.892377853393555,9.454816818237305],"start_rotation":[0.99994403764407391,0,0,0.010579299601908024],"end_position":[9.739046529799896,-4.660047648849054,-0.5451831817626953],"end_rotation":[0.14100767989407037,0,0,-0.990008502090205],"actions":[4,4,4,4,4,3,3,3,3,3,3,3,3,1,1,3,1,3,1,3,3,3,1,1,1,3],"reference_path":[[37.31625747680664,-14.892377853393555,9.454816818237305,0,0,0.02115899390767133],[37.31625747680664,-14.892377853393555,7.454816818237305,0,0,0.02115899390767133],[37.31625747680664,-14.892377853393555,5.454816818237305,0,0,0.02115899390767133],[37.31625747680664,-14.892377853393555,3.4548168182373047,0,0,0.02115899390767133],[37.31625747680664,-14.892377853393555,1.4548168182373047,0,0,0.02115899390767133],[37.31625747680664,-14.892377853393555,-0.5451831817626953,0,0,0.02115899390767133],[37.31625747680664,-14.892377853393555,-0.5451831817626953,0,0,0.28295838170682075],[37.31625747680664,-14.892377853393555,-0.5451831817626953,0,0,0.5447577695059702],[37.31625747680664,-14.892377853393555,-0.5451831817626953,0,0,0.8065571573051196],[37.31625747680664,-14.892377853393555,-0.5451831817626953,0,0,1.068356545104269],[37.31625747680664,-14.892377853393555,-0.5451831817626953,0,0,1.3301559329034185],[37.31625747680664,-14.892377853393555,-0.5451831817626953,0,0,1.5919553207025678],[37.31625747680664,-14.892377853393555,-0.5451831817626953,0,0,1.8537547085017174],[37.31625747680664,-14.892377853393555,-0.5451831817626953,0,0,2.1155540963008668],[34.7252027898507,-10.616113641583949,-0.5451831817626953,0,0,2.1155540963008668],[32.134148102894756,-6.339849429774343,-0.5451831817626953,0,0,2.1155540963008668],[32.134148102894756,-6.339849429774343,-0.5451831817626953,0,0,2.3773534841000163],[28.524602843530026,-2.879909687438128,-0.5451831817626953,0,0,2.3773534841000163],[28.524602843530026,-2.879909687438128,-0.5451831817626953,0,0,2.6391528718991655],[24.14255155612664,-0.472083590194742,-0.5451831817626953,0,0,2.6391528718991655],[24.14255155612664,-0.472083590194742,-0.5451831817626953,0,0,2.900952259698315],[24.14255155612664,-0.472083590194742,-0.5451831817626953,0,0,-3.120433659682122],[24.14255155612664,-0.472083590194742,-0.5451831817626953,0,0,-2.858634271882973],[19.341383214017725,-1.8680716097461794,-0.5451831817626953,0,0,-2.858634271882973],[14.54021487190881,-3.2640596292976167,-0.5451831817626953,0,0,-2.858634271882973],[9.739046529799896,-4.660047648849054,-0.5451831817626953,0,0,-2.858634271882973]]},{"id":1,"instruction":"at the platform turn right facing the tan and black building and head straight.","completed_instruction":"Turn right to face the tan and black building and head straight until reaching the building.","start_frame":26,"end_frame":44,"start_position":[9.739046529799896,-4.660047648849054,-0.5451831817626953],"start_rotation":[0.14100767989407037,0,0,-0.990008502090205],"end_position":[-2.798325766454841,-12.256635614721166,1.4548168182373047],"end_rotation":[0.14100767989407037,0,0,-0.990008502090205],"actions":[3,1,5,2,2,5,3,1,3,3,4,4,4,1,2,2,5,5,5],"reference_path":[[9.739046529799896,-4.660047648849054,-0.5451831817626953,0,0,-2.858634271882973],[9.739046529799896,-4.660047648849054,-0.5451831817626953,0,0,-2.5968348840838233],[5.462782317990291,-7.251102335804998,-0.5451831817626953,0,0,-2.5968348840838233],[5.462782317990291,-7.251102335804998,1.4548168182373047,0,0,-2.5968348840838233],[5.462782317990291,-7.251102335804998,1.4548168182373047,0,0,-2.858634271882973],[5.462782317990291,-7.251102335804998,1.4548168182373047,0,0,-3.1204336596821225],[5.462782317990291,-7.251102335804998,3.4548168182373047,0,0,-3.1204336596821225],[5.462782317990291,-7.251102335804998,3.4548168182373047,0,0,-2.858634271882973],[0.6616139758813766,-8.647090355356436,3.4548168182373047,0,0,-2.858634271882973],[0.6616139758813766,-8.647090355356436,3.4548168182373047,0,0,-2.5968348840838233],[0.6616139758813766,-8.647090355356436,3.4548168182373047,0,0,-2.335035496284674],[0.6616139758813766,-8.647090355356436,1.4548168182373047,0,0,-2.335035496284674],[0.6616139758813766,-8.647090355356436,-0.5451831817626953,0,0,-2.335035496284674],[0.6616139758813766,-8.647090355356436,-2.5451831817626953,0,0,-2.335035496284674],[-2.798325766454841,-12.256635614721166,-2.5451831817626953,0,0,-2.335035496284674],[-2.798325766454841,-12.256635614721166,-2.5451831817626953,0,0,-2.5968348840838233],[-2.798325766454841,-12.256635614721166,-2.5451831817626953,0,0,-2.858634271882973],[-2.798325766454841,-12.256635614721166,-0.5451831817626953,0,0,-2.858634271882973],[-2.798325766454841,-12.256635614721166,1.4548168182373047,0,0,-2.858634271882973]]},{"id":2,"instruction":"at the tan and black building lower to the road and turn left facing the intersection and head straight.","completed_instruction":"Fly down to the road, turn left to face the T-junction, and head straight until reaching it.","start_frame":44,"end_frame":50,"start_position":[-2.798325766454841,-12.256635614721166,1.4548168182373047],"start_rotation":[0.14100767989407037,0,0,-0.990008502090205],"end_position":[-3.9899488491990223,-17.112563376608822,5.454816818237305],"end_rotation":[0.24858574226946578,0,0,0.96860989502499861],"actions":[5,2,5,2,7,2,2],"reference_path":[[-2.798325766454841,-12.256635614721166,1.4548168182373047,0,0,-2.858634271882973],[-2.798325766454841,-12.256635614721166,3.4548168182373047,0,0,-2.858634271882973],[-2.798325766454841,-12.256635614721166,3.4548168182373047,0,0,-3.1204336596821225],[-2.798325766454841,-12.256635614721166,5.454816818237305,0,0,-3.1204336596821225],[-2.798325766454841,-12.256635614721166,5.454816818237305,0,0,2.9009522596983146],[-3.9899488491990223,-17.112563376608822,5.454816818237305,0,0,2.9009522596983146],[-3.9899488491990223,-17.112563376608822,5.454816818237305,0,0,2.6391528718991655]]},{"id":3,"instruction":"land at the intersection.","completed_instruction":"Land at the T-junction.","start_frame":50,"end_frame":54,"start_position":[-3.9899488491990223,-17.112563376608822,5.454816818237305],"start_rotation":[0.24858574226946578,0,0,0.96860989502499861],"end_position":[-11.209039367928485,-10.19268389193639,7.454816818237305],"end_rotation":[0.37288801812813305,0,0,0.92787635271973234],"actions":[2,1,1,5,0],"reference_path":[[-3.9899488491990223,-17.112563376608822,5.454816818237305,0,0,2.6391528718991655],[-3.9899488491990223,-17.112563376608822,5.454816818237305,0,0,2.3773534841000163],[-7.5994941085637535,-13.652623634272606,5.454816818237305,0,0,2.3773534841000163],[-11.209039367928485,-10.19268389193639,5.454816818237305,0,0,2.3773534841000163],[-11.209039367928485,-10.19268389193639,7.454816818237305,0,0,2.3773534841000163]]}],"statistics":{"complete_actions":57,"sentence_actions":[26,19,7,5],"sentence_actions_average":14.25}}
diff --git a/scene_17/3G0WWMR1U4IB7QGQVGGALABHGGXNQO.json b/scene_17/3G0WWMR1U4IB7QGQVGGALABHGGXNQO.json
new file mode 100644
index 0000000000000000000000000000000000000000..e4cd67ecceee9f55d8a9484f5e0c9ef8e4be6d9f
--- /dev/null
+++ b/scene_17/3G0WWMR1U4IB7QGQVGGALABHGGXNQO.json
@@ -0,0 +1 @@
+{"episode_id":"3G0WWMR1U4IB7QGQVGGALABHGGXNQO","trajectory_id":"3VDI8GSXBNRW5A2FWFHDKGMWRQC8GO","scene_id":17,"instruction":"taking off by the train trucks and going left. flying down and closely to the grey and red building. adjusting and landing by the bookstore building.","sentence_instructions":[{"id":0,"instruction":"taking off by the train trucks and going left.","completed_instruction":"Fly forward along the track on the left to a block-shape building in black and white color, and move left  over the short wall near the track.","start_frame":1,"end_frame":9,"start_position":[-76.38756561279297,5.395530700683594,0.2654390335083008],"start_rotation":[0.99999630112177951,0,0,-0.0027198791810060996],"end_position":[-48.970620385473524,-6.136066596839722,0.2654390335083008],"end_rotation":[0.96521829691464456,0,0,-0.26144528930771155],"actions":[2,1,1,1,2,1,1,1,1],"reference_path":[[-76.38756561279297,5.395530700683594,0.2654390335083008,0,0,-0.005439765069023366],[-76.38756561279297,5.395530700683594,0.2654390335083008,0,0,-0.2672391528681728],[-71.56504747734122,4.075182703661947,0.2654390335083008,0,0,-0.2672391528681728],[-66.74252934188948,2.7548347066403007,0.2654390335083008,0,0,-0.2672391528681728],[-61.92001120643774,1.434486709618654,0.2654390335083008,0,0,-0.2672391528681728],[-61.92001120643774,1.434486709618654,0.2654390335083008,0,0,-0.5290385406673223],[-57.60354759944967,-1.0890310592008048,0.2654390335083008,0,0,-0.5290385406673223],[-53.287083992461596,-3.6125488280202633,0.2654390335083008,0,0,-0.5290385406673223],[-48.970620385473524,-6.136066596839722,0.2654390335083008,0,0,-0.5290385406673223]]},{"id":1,"instruction":"flying down and closely to the grey and red building.","completed_instruction":"Move left to face the street, turn slightly right to face the street, descend to second floor height and fly to the left side of the street with a gray house and a red shed.","start_frame":9,"end_frame":17,"start_position":[-48.970620385473524,-6.136066596839722,0.2654390335083008],"start_rotation":[0.96521829691464456,0,0,-0.26144528930771155],"end_position":[-33.72222919787703,-19.343431507307816,4.265439033508301],"end_rotation":[0.99108617866721049,0,0,-0.13322231965712811],"actions":[1,6,1,1,3,1,5,5,3],"reference_path":[[-48.970620385473524,-6.136066596839722,0.2654390335083008,0,0,-0.5290385406673223],[-44.65415677848545,-8.659584365659182,0.2654390335083008,0,0,-0.5290385406673223],[-47.17767454730491,-12.976047972647251,0.2654390335083008,0,0,-0.5290385406673223],[-42.86121094031684,-15.49956574146671,0.2654390335083008,0,0,-0.5290385406673223],[-38.544747333328765,-18.02308351028617,0.2654390335083008,0,0,-0.5290385406673223],[-38.544747333328765,-18.02308351028617,0.2654390335083008,0,0,-0.26723915286817285],[-33.72222919787703,-19.343431507307816,0.2654390335083008,0,0,-0.26723915286817285],[-33.72222919787703,-19.343431507307816,2.265439033508301,0,0,-0.26723915286817285],[-33.72222919787703,-19.343431507307816,4.265439033508301,0,0,-0.26723915286817285]]},{"id":2,"instruction":"adjusting and landing by the bookstore building.","completed_instruction":"Fly forward along the road until reaching a green \"bookstore\" sign on left, and land by the bookstore building.","start_frame":17,"end_frame":24,"start_position":[-33.72222919787703,-19.343431507307816,4.265439033508301],"start_rotation":[0.99108617866721049,0,0,-0.13322231965712811],"end_position":[-13.722525107587401,-19.45222627212799,8.2654390335083],"end_rotation":[0.99999630112177951,0,0,-0.0027198791810061243],"actions":[3,1,5,1,1,1,5,0],"reference_path":[[-33.72222919787703,-19.343431507307816,4.265439033508301,0,0,-0.26723915286817285],[-33.72222919787703,-19.343431507307816,4.265439033508301,0,0,-0.0054397650690234155],[-28.72230317530462,-19.37063019851286,4.265439033508301,0,0,-0.0054397650690234155],[-28.72230317530462,-19.37063019851286,6.265439033508301,0,0,-0.0054397650690234155],[-23.722377152732214,-19.397828889717903,6.265439033508301,0,0,-0.0054397650690234155],[-18.722451130159808,-19.425027580922947,6.265439033508301,0,0,-0.0054397650690234155],[-13.722525107587401,-19.45222627212799,6.265439033508301,0,0,-0.0054397650690234155],[-13.722525107587401,-19.45222627212799,8.2654390335083,0,0,-0.0054397650690234155]]}],"statistics":{"complete_actions":26,"sentence_actions":[9,9,8],"sentence_actions_average":8.67}}
diff --git a/scene_17/3GLB5JMZF6TB8PVZ3QXVVRVLWOBDGO.json b/scene_17/3GLB5JMZF6TB8PVZ3QXVVRVLWOBDGO.json
new file mode 100644
index 0000000000000000000000000000000000000000..6f8b1af8892d959d9c4726d08da24780052c7bec
--- /dev/null
+++ b/scene_17/3GLB5JMZF6TB8PVZ3QXVVRVLWOBDGO.json
@@ -0,0 +1 @@
+{"episode_id":"3GLB5JMZF6TB8PVZ3QXVVRVLWOBDGO","trajectory_id":"306W7JMRZ6W0ETU4GTPZJ5VZBDKB8A","scene_id":17,"instruction":"going through the shops and passing the small lifter. rotating by the bike parking and going up. going through the train station and. going toward the beige building. rotating by the green shop and going to the left. passing through the train station. turning back through the train station and going toward the white building. landing by the white and black building.","sentence_instructions":[{"id":0,"instruction":"going through the shops and passing the small lifter.","completed_instruction":"Go along the road until reaching a small red lifter ahead and a \"no turning back\" red and white sign.","start_frame":1,"end_frame":7,"start_position":[-36.43798828125,-18.10928726196289,9.454816818237305],"start_rotation":[0.99991747525342,0,0,0.012846893897992638],"end_position":[-6.447890842219579,-17.338537239283127,9.454816818237305],"end_rotation":[0.99991747525342,0,0,0.012846893897992638],"actions":[1,1,1,1,1,1,1],"reference_path":[[-36.43798828125,-18.10928726196289,9.454816818237305,0,0,0.02569449461042605],[-31.439638708078263,-17.980828924849597,9.454816818237305,0,0,0.02569449461042605],[-26.441289134906526,-17.852370587736303,9.454816818237305,0,0,0.02569449461042605],[-21.44293956173479,-17.72391225062301,9.454816818237305,0,0,0.02569449461042605],[-16.444589988563052,-17.595453913509715,9.454816818237305,0,0,0.02569449461042605],[-11.446240415391316,-17.46699557639642,9.454816818237305,0,0,0.02569449461042605],[-6.447890842219579,-17.338537239283127,9.454816818237305,0,0,0.02569449461042605]]},{"id":1,"instruction":"rotating by the bike parking and going up.","completed_instruction":"Turn right to face yellow bicycle parking racks and a green bench, then fly up to the height of train station.","start_frame":7,"end_frame":21,"start_position":[-6.447890842219579,-17.338537239283127,9.454816818237305],"start_rotation":[0.99991747525342,0,0,0.012846893897992638],"end_position":[3.548808304123895,-17.08162056505654,3.4548168182373047],"end_rotation":[0.370782869183114,0,0,0.92871958303910973],"actions":[1,1,3,3,3,3,3,3,3,3,4,4,4,3,4],"reference_path":[[-6.447890842219579,-17.338537239283127,9.454816818237305,0,0,0.02569449461042605],[-1.4495412690478418,-17.210078902169833,9.454816818237305,0,0,0.02569449461042605],[3.548808304123895,-17.08162056505654,9.454816818237305,0,0,0.02569449461042605],[3.548808304123895,-17.08162056505654,9.454816818237305,0,0,0.2874938824095755],[3.548808304123895,-17.08162056505654,9.454816818237305,0,0,0.549293270208725],[3.548808304123895,-17.08162056505654,9.454816818237305,0,0,0.8110926580078743],[3.548808304123895,-17.08162056505654,9.454816818237305,0,0,1.0728920458070237],[3.548808304123895,-17.08162056505654,9.454816818237305,0,0,1.3346914336061733],[3.548808304123895,-17.08162056505654,9.454816818237305,0,0,1.5964908214053226],[3.548808304123895,-17.08162056505654,9.454816818237305,0,0,1.8582902092044722],[3.548808304123895,-17.08162056505654,9.454816818237305,0,0,2.1200895970036218],[3.548808304123895,-17.08162056505654,7.454816818237305,0,0,2.1200895970036218],[3.548808304123895,-17.08162056505654,5.454816818237305,0,0,2.1200895970036218],[3.548808304123895,-17.08162056505654,3.4548168182373047,0,0,2.1200895970036218],[3.548808304123895,-17.08162056505654,3.4548168182373047,0,0,2.381888984802771]]},{"id":2,"instruction":"going through the train station and.","completed_instruction":"Go forward to the station platform, turn left slightly to face another platform, fly to another platform until you see the highest builing, fly towards it to above the street.","start_frame":21,"end_frame":33,"start_position":[3.548808304123895,-17.08162056505654,3.4548168182373047],"start_rotation":[0.370782869183114,0,0,0.92871958303910973],"end_position":[-16.622991408836736,15.871661811176523,-0.5451831817626953],"end_rotation":[0.59851906493972451,0,0,0.80110856249554452],"actions":[4,4,1,1,1,1,2,2,1,1,1,1,1],"reference_path":[[3.548808304123895,-17.08162056505654,3.4548168182373047,0,0,2.381888984802771],[3.548808304123895,-17.08162056505654,1.4548168182373047,0,0,2.381888984802771],[3.548808304123895,-17.08162056505654,-0.5451831817626953,0,0,2.381888984802771],[-0.07639233507948306,-13.638087448398675,-0.5451831817626953,0,0,2.381888984802771],[-3.7015929742828613,-10.194554331740811,-0.5451831817626953,0,0,2.381888984802771],[-7.32679361348624,-6.751021215082947,-0.5451831817626953,0,0,2.381888984802771],[-10.951994252689618,-3.307488098425083,-0.5451831817626953,0,0,2.381888984802771],[-10.951994252689618,-3.307488098425083,-0.5451831817626953,0,0,2.1200895970036213],[-10.951994252689618,-3.307488098425083,-0.5451831817626953,0,0,1.8582902092044722],[-12.369743541726397,1.4872993789753184,-0.5451831817626953,0,0,1.8582902092044722],[-13.787492830763176,6.28208685637572,-0.5451831817626953,0,0,1.8582902092044722],[-15.205242119799955,11.076874333776122,-0.5451831817626953,0,0,1.8582902092044722],[-16.622991408836736,15.871661811176523,-0.5451831817626953,0,0,1.8582902092044722]]},{"id":3,"instruction":"going toward the beige building.","completed_instruction":"Fly down to ground, fly towards the green store.","start_frame":33,"end_frame":39,"start_position":[-16.622991408836736,15.871661811176523,-0.5451831817626953],"start_rotation":[0.59851906493972451,0,0,0.80110856249554452],"end_position":[-14.663702509509896,26.878986055014106,5.454816818237305],"end_rotation":[0.59851906493972451,0,0,0.80110856249554452],"actions":[1,1,6,5,5,5,5],"reference_path":[[-16.622991408836736,15.871661811176523,-0.5451831817626953,0,0,1.8582902092044722],[-18.040740697873517,20.666449288576924,-0.5451831817626953,0,0,1.8582902092044722],[-19.458489986910298,25.461236765977326,-0.5451831817626953,0,0,1.8582902092044722],[-14.663702509509896,26.878986055014106,-0.5451831817626953,0,0,1.8582902092044722],[-14.663702509509896,26.878986055014106,1.4548168182373047,0,0,1.8582902092044722],[-14.663702509509896,26.878986055014106,3.4548168182373047,0,0,1.8582902092044722],[-14.663702509509896,26.878986055014106,5.454816818237305,0,0,1.8582902092044722]]},{"id":4,"instruction":"rotating by the green shop and going to the left.","completed_instruction":"Turn left to face the stairs in front of green store, and fly up to the height of railway station.","start_frame":39,"end_frame":51,"start_position":[-14.663702509509896,26.878986055014106,5.454816818237305],"start_rotation":[0.59851906493972451,0,0,0.80110856249554452],"end_position":[-14.663702509509896,26.878986055014106,3.4548168182373047],"end_rotation":[0.96917113431625057,0,0,-0.24638853952274692],"actions":[5,2,2,2,2,2,2,2,2,2,4,4,4],"reference_path":[[-14.663702509509896,26.878986055014106,5.454816818237305,0,0,1.8582902092044722],[-14.663702509509896,26.878986055014106,7.454816818237305,0,0,1.8582902092044722],[-14.663702509509896,26.878986055014106,7.454816818237305,0,0,1.5964908214053228],[-14.663702509509896,26.878986055014106,7.454816818237305,0,0,1.3346914336061733],[-14.663702509509896,26.878986055014106,7.454816818237305,0,0,1.072892045807024],[-14.663702509509896,26.878986055014106,7.454816818237305,0,0,0.8110926580078746],[-14.663702509509896,26.878986055014106,7.454816818237305,0,0,0.5492932702087252],[-14.663702509509896,26.878986055014106,7.454816818237305,0,0,0.28749388240957574],[-14.663702509509896,26.878986055014106,7.454816818237305,0,0,0.02569449461042633],[-14.663702509509896,26.878986055014106,7.454816818237305,0,0,-0.2361048931887231],[-14.663702509509896,26.878986055014106,7.454816818237305,0,0,-0.49790428098787254],[-14.663702509509896,26.878986055014106,5.454816818237305,0,0,-0.49790428098787254],[-14.663702509509896,26.878986055014106,3.4548168182373047,0,0,-0.49790428098787254]]},{"id":5,"instruction":"passing through the train station.","completed_instruction":"Go ahead through a platform in the train station and reach two railway tracks.","start_frame":51,"end_frame":59,"start_position":[-14.663702509509896,26.878986055014106,3.4548168182373047],"start_rotation":[0.96917113431625057,0,0,-0.24638853952274692],"end_position":[6.533205633367391,13.88374652508484,-0.5451831817626953],"end_rotation":[0.92871958303910973,0,0,-0.37078286918311382],"actions":[4,4,1,1,1,1,2,1,1],"reference_path":[[-14.663702509509896,26.878986055014106,3.4548168182373047,0,0,-0.49790428098787254],[-14.663702509509896,26.878986055014106,1.4548168182373047,0,0,-0.49790428098787254],[-14.663702509509896,26.878986055014106,-0.5451831817626953,0,0,-0.49790428098787254],[-10.27077563359142,24.491059451696255,-0.5451831817626953,0,0,-0.49790428098787254],[-5.877848757672942,22.103132848378404,-0.5451831817626953,0,0,-0.49790428098787254],[-1.484921881754465,19.715206245060553,-0.5451831817626953,0,0,-0.49790428098787254],[2.9080049941640125,17.327279641742702,-0.5451831817626953,0,0,-0.49790428098787254],[2.9080049941640125,17.327279641742702,-0.5451831817626953,0,0,-0.759703668787022],[6.533205633367391,13.88374652508484,-0.5451831817626953,0,0,-0.759703668787022]]},{"id":6,"instruction":"turning back through the train station and going toward the white building.","completed_instruction":"Turn right to face the end of the platform on the right, fly through the platform and over the wall, and going toward the nearest white and black building.","start_frame":59,"end_frame":71,"start_position":[6.533205633367391,13.88374652508484,-0.5451831817626953],"start_rotation":[0.92871958303910973,0,0,-0.37078286918311382],"end_position":[35.10594960580006,20.04879514103855,-0.5451831817626953],"end_rotation":[0.9625210926938268,0,0,0.27120683273008023],"actions":[1,1,3,3,3,3,3,1,1,1,1,1,1],"reference_path":[[6.533205633367391,13.88374652508484,-0.5451831817626953,0,0,-0.759703668787022],[10.15840627257077,10.440213408426978,-0.5451831817626953,0,0,-0.759703668787022],[13.78360691177415,6.996680291769115,-0.5451831817626953,0,0,-0.759703668787022],[13.78360691177415,6.996680291769115,-0.5451831817626953,0,0,-0.49790428098787254],[13.78360691177415,6.996680291769115,-0.5451831817626953,0,0,-0.2361048931887231],[13.78360691177415,6.996680291769115,-0.5451831817626953,0,0,0.02569449461042633],[13.78360691177415,6.996680291769115,-0.5451831817626953,0,0,0.28749388240957574],[13.78360691177415,6.996680291769115,-0.5451831817626953,0,0,0.5492932702087252],[18.048075450579333,9.607103261623003,-0.5451831817626953,0,0,0.5492932702087252],[22.312543989384515,12.21752623147689,-0.5451831817626953,0,0,0.5492932702087252],[26.577012528189698,14.827949201330778,-0.5451831817626953,0,0,0.5492932702087252],[30.84148106699488,17.438372171184664,-0.5451831817626953,0,0,0.5492932702087252],[35.10594960580006,20.04879514103855,-0.5451831817626953,0,0,0.5492932702087252]]},{"id":7,"instruction":"landing by the white and black building.","completed_instruction":"Land by the white and black building.","start_frame":71,"end_frame":78,"start_position":[35.10594960580006,20.04879514103855,-0.5451831817626953],"start_rotation":[0.9625210926938268,0,0,0.27120683273008023],"end_position":[41.02446371355654,29.534109619551504,7.454816818237305],"end_rotation":[0.9625210926938268,0,0,0.27120683273008023],"actions":[1,7,1,5,5,5,5,0],"reference_path":[[35.10594960580006,20.04879514103855,-0.5451831817626953,0,0,0.5492932702087252],[39.370418144605246,22.659218110892436,-0.5451831817626953,0,0,0.5492932702087252],[36.75999517475136,26.92368664969762,-0.5451831817626953,0,0,0.5492932702087252],[41.02446371355654,29.534109619551504,-0.5451831817626953,0,0,0.5492932702087252],[41.02446371355654,29.534109619551504,1.4548168182373047,0,0,0.5492932702087252],[41.02446371355654,29.534109619551504,3.4548168182373047,0,0,0.5492932702087252],[41.02446371355654,29.534109619551504,5.454816818237305,0,0,0.5492932702087252],[41.02446371355654,29.534109619551504,7.454816818237305,0,0,0.5492932702087252]]}],"statistics":{"complete_actions":85,"sentence_actions":[7,15,13,7,13,9,13,8],"sentence_actions_average":10.62}}
diff --git a/scene_17/3I02618YA94324ZKS4D7Z0D1JBCPUP.json b/scene_17/3I02618YA94324ZKS4D7Z0D1JBCPUP.json
new file mode 100644
index 0000000000000000000000000000000000000000..960c2c72df4e7870eaf6c95cc4cee245300a36b8
--- /dev/null
+++ b/scene_17/3I02618YA94324ZKS4D7Z0D1JBCPUP.json
@@ -0,0 +1 @@
+{"episode_id":"3I02618YA94324ZKS4D7Z0D1JBCPUP","trajectory_id":"311HQEI8S0ESWDS1C2DWRN67RW07ZP","scene_id":17,"instruction":"ascend into the air then turn right above the road, turning right parallel with the road, descending along the electrical post at the intersection of the road, turning right down into the dark alleyway, flying to the end of the dark alleyway then turning right at the intersection, stopping near the payphones on the right side of the road, turn left towards the cornerstone. stop in front of the store in the street then turn left down the road, turn left down the dark alleyway, stopping in the middle of the intersection before entering the alleyway.","sentence_instructions":[{"id":0,"instruction":"ascend into the air then turn right above the road, turning right parallel with the road, descending along the electrical post at the intersection of the road, turning right down into the dark alleyway, flying to the end of the dark alleyway then turning right at the intersection, stopping near the payphones on the right side of the road, turn left towards the cornerstone.","completed_instruction":"Turn right to face the orange building, fly towards it over the train station to above the street, turn right to face the street, fly forward along the street to the middle of a white building and an utility pole, descend beneath the electrical lines, fly forward to the tunnel, then turn right down into the tunnel, fly to the end of it, then turn right to face the road at the intersection, fly forward along the road, stop near the payphones on the right side of the road in front of the bicycle, turn left to face the green shop.","start_frame":1,"end_frame":53,"start_position":[37.14646530151367,18.471906661987305,-0.3462750315666199],"start_rotation":[0.99995801388708316,0,0,-0.0091635398727825529],"end_position":[1.7669707098982084,-14.33257041235271,7.65372496843338],"end_rotation":[0.92033400750978223,0,0,-0.39113337190910225],"actions":[3,3,3,3,3,3,3,3,3,1,3,1,3,1,1,1,1,1,5,3,5,1,7,1,5,3,3,1,3,3,3,1,5,1,3,1,1,1,1,1,3,3,3,3,1,3,1,3,1,2,2,2,2],"reference_path":[[37.14646530151367,18.471906661987305,-0.3462750315666199,0,0,-0.01832733624415274],[37.14646530151367,18.471906661987305,-0.3462750315666199,0,0,0.24347205155499668],[37.14646530151367,18.471906661987305,-0.3462750315666199,0,0,0.5052714393541461],[37.14646530151367,18.471906661987305,-0.3462750315666199,0,0,0.7670708271532956],[37.14646530151367,18.471906661987305,-0.3462750315666199,0,0,1.028870214952445],[37.14646530151367,18.471906661987305,-0.3462750315666199,0,0,1.2906696027515945],[37.14646530151367,18.471906661987305,-0.3462750315666199,0,0,1.5524689905507438],[37.14646530151367,18.471906661987305,-0.3462750315666199,0,0,1.8142683783498932],[37.14646530151367,18.471906661987305,-0.3462750315666199,0,0,2.0760677661490425],[37.14646530151367,18.471906661987305,-0.3462750315666199,0,0,2.337867153948192],[33.67631844772351,22.071640098386485,-0.3462750315666199,0,0,2.337867153948192],[33.67631844772351,22.071640098386485,-0.3462750315666199,0,0,2.5996665417473417],[29.392734409999385,24.65057549729726,-0.3462750315666199,0,0,2.5996665417473417],[29.392734409999385,24.65057549729726,-0.3462750315666199,0,0,2.8614659295464913],[24.58763236155487,26.032962673176122,-0.3462750315666199,0,0,2.8614659295464913],[19.782530313110357,27.415349849054984,-0.3462750315666199,0,0,2.8614659295464913],[14.977428264665843,28.797737024933845,-0.3462750315666199,0,0,2.8614659295464913],[10.172326216221329,30.180124200812706,-0.3462750315666199,0,0,2.8614659295464913],[5.367224167776815,31.562511376691567,-0.3462750315666199,0,0,2.8614659295464913],[5.367224167776815,31.562511376691567,1.6537249684333801,0,0,2.8614659295464913],[5.367224167776815,31.562511376691567,1.6537249684333801,0,0,3.1232653173456413],[5.367224167776815,31.562511376691567,3.65372496843338,0,0,3.1232653173456413],[0.3680638724068155,31.65414292800519,3.65372496843338,0,0,3.1232653173456413],[0.27643232109318727,26.65498263263519,3.65372496843338,0,0,3.1232653173456413],[-4.722727974276812,26.74661418394881,3.65372496843338,0,0,3.1232653173456413],[-4.722727974276812,26.74661418394881,5.65372496843338,0,0,3.1232653173456413],[-4.722727974276812,26.74661418394881,5.65372496843338,0,0,-2.898120602034796],[-4.722727974276812,26.74661418394881,5.65372496843338,0,0,-2.6363212142356467],[-9.097943563314562,24.32638928748959,5.65372496843338,0,0,-2.6363212142356467],[-9.097943563314562,24.32638928748959,5.65372496843338,0,0,-2.3745218264364976],[-9.097943563314562,24.32638928748959,5.65372496843338,0,0,-2.1127224386373484],[-9.097943563314562,24.32638928748959,5.65372496843338,0,0,-1.850923050838199],[-10.480330739193427,19.521287239045076,5.65372496843338,0,0,-1.850923050838199],[-10.480330739193427,19.521287239045076,7.65372496843338,0,0,-1.850923050838199],[-11.862717915072292,14.716185190600562,7.65372496843338,0,0,-1.850923050838199],[-11.862717915072292,14.716185190600562,7.65372496843338,0,0,-1.5891236630390495],[-11.954349466385919,9.717024895230562,7.65372496843338,0,0,-1.5891236630390495],[-12.045981017699546,4.717864599860563,7.65372496843338,0,0,-1.5891236630390495],[-12.137612569013173,-0.2812956955094368,7.65372496843338,0,0,-1.5891236630390495],[-12.2292441203268,-5.280455990879436,7.65372496843338,0,0,-1.5891236630390495],[-12.320875671640428,-10.279616286249436,7.65372496843338,0,0,-1.5891236630390495],[-12.320875671640428,-10.279616286249436,7.65372496843338,0,0,-1.3273242752399002],[-12.320875671640428,-10.279616286249436,7.65372496843338,0,0,-1.0655248874407508],[-12.320875671640428,-10.279616286249436,7.65372496843338,0,0,-0.8037254996416014],[-12.320875671640428,-10.279616286249436,7.65372496843338,0,0,-0.5419261118424521],[-8.037291633916304,-12.858551685160215,7.65372496843338,0,0,-0.5419261118424521],[-8.037291633916304,-12.858551685160215,7.65372496843338,0,0,-0.2801267240433027],[-3.232189585471791,-14.24093886103908,7.65372496843338,0,0,-0.2801267240433027],[-3.232189585471791,-14.24093886103908,7.65372496843338,0,0,-0.018327336244153305],[1.7669707098982084,-14.33257041235271,7.65372496843338,0,0,-0.018327336244153305],[1.7669707098982084,-14.33257041235271,7.65372496843338,0,0,-0.28012672404330274],[1.7669707098982084,-14.33257041235271,7.65372496843338,0,0,-0.5419261118424522],[1.7669707098982084,-14.33257041235271,7.65372496843338,0,0,-0.8037254996416017]]},{"id":1,"instruction":"stop in front of the store in the street then turn left down the road, turn left down the dark alleyway, stopping in the middle of the intersection before entering the alleyway.","completed_instruction":"Turn left to face the road, fly forward to the red and white road sign, then fly forward to the front of the tunnel and land there.","start_frame":53,"end_frame":68,"start_position":[1.7669707098982084,-14.33257041235271,7.65372496843338],"start_rotation":[0.92033400750978223,0,0,-0.39113337190910225],"end_position":[-10.79186223006058,-6.7715144011638735,7.65372496843338],"end_rotation":[0.39113337190910258,0,0,0.92033400750978211],"actions":[2,2,2,2,2,2,2,2,2,2,1,2,1,2,1,0],"reference_path":[[1.7669707098982084,-14.33257041235271,7.65372496843338,0,0,-0.8037254996416017],[1.7669707098982084,-14.33257041235271,7.65372496843338,0,0,-1.065524887440751],[1.7669707098982084,-14.33257041235271,7.65372496843338,0,0,-1.3273242752399004],[1.7669707098982084,-14.33257041235271,7.65372496843338,0,0,-1.5891236630390497],[1.7669707098982084,-14.33257041235271,7.65372496843338,0,0,-1.8509230508381993],[1.7669707098982084,-14.33257041235271,7.65372496843338,0,0,-2.112722438637349],[1.7669707098982084,-14.33257041235271,7.65372496843338,0,0,-2.3745218264364985],[1.7669707098982084,-14.33257041235271,7.65372496843338,0,0,-2.636321214235648],[1.7669707098982084,-14.33257041235271,7.65372496843338,0,0,-2.8981206020347976],[1.7669707098982084,-14.33257041235271,7.65372496843338,0,0,3.123265317345639],[1.7669707098982084,-14.33257041235271,7.65372496843338,0,0,2.8614659295464895],[-3.038131338546303,-12.95018323647384,7.65372496843338,0,0,2.8614659295464895],[-3.038131338546303,-12.95018323647384,7.65372496843338,0,0,2.5996665417473404],[-7.321715376270423,-10.371247837563057,7.65372496843338,0,0,2.5996665417473404],[-7.321715376270423,-10.371247837563057,7.65372496843338,0,0,2.337867153948191],[-10.79186223006058,-6.7715144011638735,7.65372496843338,0,0,2.337867153948191]]}],"statistics":{"complete_actions":69,"sentence_actions":[53,16],"sentence_actions_average":34.5}}
diff --git a/scene_17/3M0NZ3JDPAWGVTBBEC31IMNZUVBZ5R.json b/scene_17/3M0NZ3JDPAWGVTBBEC31IMNZUVBZ5R.json
new file mode 100644
index 0000000000000000000000000000000000000000..bc81e2255cac518b02a38058ad78bbb9d2f6f156
--- /dev/null
+++ b/scene_17/3M0NZ3JDPAWGVTBBEC31IMNZUVBZ5R.json
@@ -0,0 +1 @@
+{"episode_id":"3M0NZ3JDPAWGVTBBEC31IMNZUVBZ5R","trajectory_id":"3VMHWJRYI3EG6B7ST3NNIU3DHJVFXC","scene_id":17,"instruction":"lift up and down and then turn left facing the tunnel and head straight. at the tunnel turn right facing the intersection and head straight. at the intersection turn left and follow the road. rise up a little and stop before the ramen restaurant.","sentence_instructions":[{"id":0,"instruction":"lift up and down and then turn left facing the tunnel and head straight.","completed_instruction":"Lift up until you can see railway tracks and down to the road\u0027s height, then turn back to face the T-junction and fly to the tunnel.","start_frame":1,"end_frame":32,"start_position":[-2.220662832260132,-15.431182861328125,9.454816818237305],"start_rotation":[0.99978085765462588,0,0,0.020934102975305326],"end_position":[-8.580155697002006,-7.825057578521471,7.454816818237305],"end_rotation":[0.4817609638452589,0,0,0.87630267243395255],"actions":[4,4,4,4,4,4,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,5,5,5,2,5,3,5,1,2,1,2],"reference_path":[[-2.220662832260132,-15.431182861328125,9.454816818237305,0,0,0.041871264584339006],[-2.220662832260132,-15.431182861328125,7.454816818237305,0,0,0.041871264584339006],[-2.220662832260132,-15.431182861328125,5.454816818237305,0,0,0.041871264584339006],[-2.220662832260132,-15.431182861328125,3.4548168182373047,0,0,0.041871264584339006],[-2.220662832260132,-15.431182861328125,1.4548168182373047,0,0,0.041871264584339006],[-2.220662832260132,-15.431182861328125,-0.5451831817626953,0,0,0.041871264584339006],[-2.220662832260132,-15.431182861328125,-2.5451831817626953,0,0,0.041871264584339006],[-2.220662832260132,-15.431182861328125,-2.5451831817626953,0,0,-0.21992812321481042],[-2.220662832260132,-15.431182861328125,-2.5451831817626953,0,0,-0.48172751101395983],[-2.220662832260132,-15.431182861328125,-2.5451831817626953,0,0,-0.7435268988131092],[-2.220662832260132,-15.431182861328125,-2.5451831817626953,0,0,-1.0053262866122585],[-2.220662832260132,-15.431182861328125,-2.5451831817626953,0,0,-1.2671256744114079],[-2.220662832260132,-15.431182861328125,-2.5451831817626953,0,0,-1.5289250622105575],[-2.220662832260132,-15.431182861328125,-2.5451831817626953,0,0,-1.7907244500097068],[-2.220662832260132,-15.431182861328125,-2.5451831817626953,0,0,-2.0525238378088564],[-2.220662832260132,-15.431182861328125,-2.5451831817626953,0,0,-2.314323225608006],[-2.220662832260132,-15.431182861328125,-2.5451831817626953,0,0,-2.5761226134071555],[-2.220662832260132,-15.431182861328125,-2.5451831817626953,0,0,-2.8379220012063047],[-2.220662832260132,-15.431182861328125,-2.5451831817626953,0,0,-3.0997213890054542],[-2.220662832260132,-15.431182861328125,-2.5451831817626953,0,0,2.921664530374983],[-2.220662832260132,-15.431182861328125,-2.5451831817626953,0,0,2.6598651425758333],[-2.220662832260132,-15.431182861328125,-2.5451831817626953,0,0,2.3980657547766837],[-2.220662832260132,-15.431182861328125,-0.5451831817626953,0,0,2.3980657547766837],[-2.220662832260132,-15.431182861328125,1.4548168182373047,0,0,2.3980657547766837],[-2.220662832260132,-15.431182861328125,3.4548168182373047,0,0,2.3980657547766837],[-2.220662832260132,-15.431182861328125,3.4548168182373047,0,0,2.1362663669775346],[-2.220662832260132,-15.431182861328125,5.454816818237305,0,0,2.1362663669775346],[-2.220662832260132,-15.431182861328125,5.454816818237305,0,0,2.398065754776684],[-2.220662832260132,-15.431182861328125,7.454816818237305,0,0,2.398065754776684],[-5.901091959853135,-12.046741779441042,7.454816818237305,0,0,2.398065754776684],[-5.901091959853135,-12.046741779441042,7.454816818237305,0,0,2.136266366977535],[-8.580155697002006,-7.825057578521471,7.454816818237305,0,0,2.136266366977535]]},{"id":1,"instruction":"at the tunnel turn right facing the intersection and head straight.","completed_instruction":"Turn right to face a T-junction and head straight to the it.","start_frame":32,"end_frame":45,"start_position":[-8.580155697002006,-7.825057578521471,7.454816818237305],"start_rotation":[0.4817609638452589,0,0,0.87630267243395255],"end_position":[-17.64424284454503,-14.370462392720917,7.454816818237305],"end_rotation":[0.51801989380936719,0,0,-0.85536856945864681],"actions":[2,3,3,3,1,3,3,3,3,3,3,1,1,2],"reference_path":[[-8.580155697002006,-7.825057578521471,7.454816818237305,0,0,2.136266366977535],[-8.580155697002006,-7.825057578521471,7.454816818237305,0,0,1.8744669791783857],[-8.580155697002006,-7.825057578521471,7.454816818237305,0,0,2.136266366977535],[-8.580155697002006,-7.825057578521471,7.454816818237305,0,0,2.398065754776684],[-8.580155697002006,-7.825057578521471,7.454816818237305,0,0,2.6598651425758337],[-13.01113505219039,-5.5085036823441484,7.454816818237305,0,0,2.6598651425758337],[-13.01113505219039,-5.5085036823441484,7.454816818237305,0,0,2.9216645303749833],[-13.01113505219039,-5.5085036823441484,7.454816818237305,0,0,-3.0997213890054534],[-13.01113505219039,-5.5085036823441484,7.454816818237305,0,0,-2.837922001206304],[-13.01113505219039,-5.5085036823441484,7.454816818237305,0,0,-2.576122613407154],[-13.01113505219039,-5.5085036823441484,7.454816818237305,0,0,-2.314323225608005],[-13.01113505219039,-5.5085036823441484,7.454816818237305,0,0,-2.0525238378088555],[-15.32768894836771,-9.939483037532533,7.454816818237305,0,0,-2.0525238378088555],[-17.64424284454503,-14.370462392720917,7.454816818237305,0,0,-2.0525238378088555]]},{"id":2,"instruction":"at the intersection turn left and follow the road.","completed_instruction":"Turn left to face the road, fly forward follow the road to ramen restaurant.","start_frame":45,"end_frame":51,"start_position":[-17.64424284454503,-14.370462392720917,7.454816818237305],"start_rotation":[0.51801989380936719,0,0,-0.85536856945864681],"end_position":[-26.024301559758303,-18.260186674582737,7.454816818237305],"end_rotation":[0.020934102975305544,0,0,-0.99978085765462588],"actions":[2,1,2,2,2,1,1],"reference_path":[[-17.64424284454503,-14.370462392720917,7.454816818237305,0,0,-2.0525238378088555],[-17.64424284454503,-14.370462392720917,7.454816818237305,0,0,-2.314323225608005],[-21.02868392643211,-18.05089152031392,7.454816818237305,0,0,-2.314323225608005],[-21.02868392643211,-18.05089152031392,7.454816818237305,0,0,-2.576122613407154],[-21.02868392643211,-18.05089152031392,7.454816818237305,0,0,-2.837922001206304],[-21.02868392643211,-18.05089152031392,7.454816818237305,0,0,-3.0997213890054534],[-26.024301559758303,-18.260186674582737,7.454816818237305,0,0,-3.0997213890054534]]},{"id":3,"instruction":"rise up a little and stop before the ramen restaurant.","completed_instruction":"Rise up to second floor height and stop before the ramen restaurant.","start_frame":51,"end_frame":56,"start_position":[-26.024301559758303,-18.260186674582737,7.454816818237305],"start_rotation":[0.020934102975305544,0,0,-0.99978085765462588],"end_position":[-41.01115445973688,-18.888072137389184,5.454816818237305],"end_rotation":[0.10974257958181861,0,0,0.993960042570489],"actions":[1,1,1,2,4,0],"reference_path":[[-26.024301559758303,-18.260186674582737,7.454816818237305,0,0,-3.0997213890054534],[-31.019919193084498,-18.469481828851553,7.454816818237305,0,0,-3.0997213890054534],[-36.01553682641069,-18.67877698312037,7.454816818237305,0,0,-3.0997213890054534],[-41.01115445973688,-18.888072137389184,7.454816818237305,0,0,-3.0997213890054534],[-41.01115445973688,-18.888072137389184,7.454816818237305,0,0,2.9216645303749837],[-41.01115445973688,-18.888072137389184,5.454816818237305,0,0,2.9216645303749837]]}],"statistics":{"complete_actions":59,"sentence_actions":[32,14,7,6],"sentence_actions_average":14.75}}
diff --git a/scene_17/3NGMS9VZTUG2S9D0JCM316YVTOTFFW.json b/scene_17/3NGMS9VZTUG2S9D0JCM316YVTOTFFW.json
new file mode 100644
index 0000000000000000000000000000000000000000..97c58c72ef557d781c718e8b127657283bb5a515
--- /dev/null
+++ b/scene_17/3NGMS9VZTUG2S9D0JCM316YVTOTFFW.json
@@ -0,0 +1 @@
+{"episode_id":"3NGMS9VZTUG2S9D0JCM316YVTOTFFW","trajectory_id":"3G57RS03IP3N3YB6Z2PL6SI4JPY259","scene_id":17,"instruction":"taking off from beside the railway line and crossing over the tracks. moving on the station platforms crossing the elevators and the direction maps on its path. and then moved forward from there and goes straight through the buildings. it goes near the hotel a and landed in front of it.","sentence_instructions":[{"id":0,"instruction":"taking off from beside the railway line and crossing over the tracks.","completed_instruction":"Ascend beside the railway until seeing the railway tracks and turn left 30 degrees, and fly forward over the track to the station platform.","start_frame":1,"end_frame":12,"start_position":[-21.153654098510742,24.07201385498047,8.570941925048828],"start_rotation":[0.99996006672581517,0,0,0.0089367194038567337],"end_position":[-8.807260936047847,15.755815293931299,-1.4290580749511719],"end_rotation":[0.92726257343215279,0,0,-0.37441169841763949],"actions":[4,4,4,4,4,2,2,1,1,2,1,1],"reference_path":[[-21.153654098510742,24.07201385498047,8.570941925048828,0,0,0.017873676726491334],[-21.153654098510742,24.07201385498047,6.570941925048828,0,0,0.017873676726491334],[-21.153654098510742,24.07201385498047,4.570941925048828,0,0,0.017873676726491334],[-21.153654098510742,24.07201385498047,2.570941925048828,0,0,0.017873676726491334],[-21.153654098510742,24.07201385498047,0.5709419250488281,0,0,0.017873676726491334],[-21.153654098510742,24.07201385498047,-1.4290580749511719,0,0,0.017873676726491334],[-21.153654098510742,24.07201385498047,-1.4290580749511719,0,0,-0.24392571107265812],[-21.153654098510742,24.07201385498047,-1.4290580749511719,0,0,-0.5057250988718075],[-16.779536917719387,21.649804349445102,-1.4290580749511719,0,0,-0.5057250988718075],[-12.405419736928032,19.227594843909735,-1.4290580749511719,0,0,-0.5057250988718075],[-12.405419736928032,19.227594843909735,-1.4290580749511719,0,0,-0.7675244866709571],[-8.807260936047847,15.755815293931299,-1.4290580749511719,0,0,-0.7675244866709571]]},{"id":1,"instruction":"moving on the station platforms crossing the elevators and the direction maps on its path.","completed_instruction":"Move forward across the tracks to another platform, turn right slightly to face the tracks, fly along the station platform crossing the elevators and the direction maps to its end.","start_frame":12,"end_frame":27,"start_position":[-8.807260936047847,15.755815293931299,-1.4290580749511719],"start_rotation":[0.92726257343215279,0,0,-0.37441169841763949],"end_position":[26.200890967261483,1.8904042526974196,-1.4290580749511719],"end_rotation":[0.9682002468906602,0,0,-0.25017650153614462],"actions":[1,1,1,3,3,1,3,3,1,2,2,1,1,1,2,1],"reference_path":[[-8.807260936047847,15.755815293931299,-1.4290580749511719,0,0,-0.7675244866709571],[-5.209102135167661,12.284035743952863,-1.4290580749511719,0,0,-0.7675244866709571],[-1.6109433342874748,8.812256193974427,-1.4290580749511719,0,0,-0.7675244866709571],[1.987215466592711,5.340476643995992,-1.4290580749511719,0,0,-0.7675244866709571],[1.987215466592711,5.340476643995992,-1.4290580749511719,0,0,-0.5057250988718076],[1.987215466592711,5.340476643995992,-1.4290580749511719,0,0,-0.24392571107265817],[6.839202169994723,4.132906757815455,-1.4290580749511719,0,0,-0.24392571107265817],[6.839202169994723,4.132906757815455,-1.4290580749511719,0,0,0.017873676726491233],[6.839202169994723,4.132906757815455,-1.4290580749511719,0,0,0.27967306452564067],[11.644930857055446,5.513113911239032,-1.4290580749511719,0,0,0.27967306452564067],[11.644930857055446,5.513113911239032,-1.4290580749511719,0,0,0.017873676726491265],[11.644930857055446,5.513113911239032,-1.4290580749511719,0,0,-0.24392571107265817],[16.496917560457458,4.305544025058495,-1.4290580749511719,0,0,-0.24392571107265817],[21.34890426385947,3.0979741388779574,-1.4290580749511719,0,0,-0.24392571107265817],[26.200890967261483,1.8904042526974196,-1.4290580749511719,0,0,-0.24392571107265817],[26.200890967261483,1.8904042526974196,-1.4290580749511719,0,0,-0.5057250988718076]]},{"id":2,"instruction":"and then moved forward from there and goes straight through the buildings.","completed_instruction":"Turn left slightly to face the high white building, then fly over the track wall and fly down to second floor height.","start_frame":27,"end_frame":34,"start_position":[26.200890967261483,1.8904042526974196,-1.4290580749511719],"start_rotation":[0.9682002468906602,0,0,-0.25017650153614462],"end_position":[36.75015879386062,-8.288338358293835,0.5709419250488281],"end_rotation":[0.92726257343215279,0,0,-0.37441169841763949],"actions":[1,2,1,2,1,3,5,5],"reference_path":[[26.200890967261483,1.8904042526974196,-1.4290580749511719,0,0,-0.5057250988718076],[30.575008148052838,-0.5318052528379487,-1.4290580749511719,0,0,-0.5057250988718076],[30.575008148052838,-0.5318052528379487,-1.4290580749511719,0,0,-0.7675244866709571],[34.17316694893302,-4.003584802816384,-1.4290580749511719,0,0,-0.7675244866709571],[34.17316694893302,-4.003584802816384,-1.4290580749511719,0,0,-1.0293238744701065],[36.75015879386062,-8.288338358293835,-1.4290580749511719,0,0,-1.0293238744701065],[36.75015879386062,-8.288338358293835,-1.4290580749511719,0,0,-0.7675244866709571],[36.75015879386062,-8.288338358293835,0.5709419250488281,0,0,-0.7675244866709571]]},{"id":3,"instruction":"it goes near the hotel a and landed in front of it.","completed_instruction":"Go near the yellow hotel and land in front of it.","start_frame":34,"end_frame":45,"start_position":[36.75015879386062,-8.288338358293835,0.5709419250488281],"start_rotation":[0.92726257343215279,0,0,-0.37441169841763949],"end_position":[40.348317594740806,-11.76011790827227,8.570941925048828],"end_rotation":[0.92726257343215279,0,0,-0.37441169841763949],"actions":[5,5,1,5,5,2,2,2,3,3,3,0],"reference_path":[[36.75015879386062,-8.288338358293835,0.5709419250488281,0,0,-0.7675244866709571],[36.75015879386062,-8.288338358293835,2.570941925048828,0,0,-0.7675244866709571],[36.75015879386062,-8.288338358293835,4.570941925048828,0,0,-0.7675244866709571],[40.348317594740806,-11.76011790827227,4.570941925048828,0,0,-0.7675244866709571],[40.348317594740806,-11.76011790827227,6.570941925048828,0,0,-0.7675244866709571],[40.348317594740806,-11.76011790827227,8.570941925048828,0,0,-0.7675244866709571],[40.348317594740806,-11.76011790827227,8.570941925048828,0,0,-1.0293238744701065],[40.348317594740806,-11.76011790827227,8.570941925048828,0,0,-1.291123262269256],[40.348317594740806,-11.76011790827227,8.570941925048828,0,0,-1.5529226500684052],[40.348317594740806,-11.76011790827227,8.570941925048828,0,0,-1.291123262269256],[40.348317594740806,-11.76011790827227,8.570941925048828,0,0,-1.0293238744701065],[40.348317594740806,-11.76011790827227,8.570941925048828,0,0,-0.7675244866709571]]}],"statistics":{"complete_actions":48,"sentence_actions":[12,16,8,12],"sentence_actions_average":12.0}}
diff --git a/scene_17/3NPI0JQDAX3O2RKVSZNXU4RZ02DPTG.json b/scene_17/3NPI0JQDAX3O2RKVSZNXU4RZ02DPTG.json
new file mode 100644
index 0000000000000000000000000000000000000000..63da92d75410f32073a5ac5936ed10f38dc6b8da
--- /dev/null
+++ b/scene_17/3NPI0JQDAX3O2RKVSZNXU4RZ02DPTG.json
@@ -0,0 +1 @@
+{"episode_id":"3NPI0JQDAX3O2RKVSZNXU4RZ02DPTG","trajectory_id":"3OEWW2KGRR9WEIF41651BH9ZT30DOM","scene_id":17,"instruction":"taking off and zooming in to the best coffee sign. turning left by the ramp. flying over the train station. turning right toward the white building. landing by the white and black building.","sentence_instructions":[{"id":0,"instruction":"taking off and zooming in to the best coffee sign.","completed_instruction":"Fly straight to two air conditioners in the tunnel on the left.","start_frame":1,"end_frame":3,"start_position":[-21.153654098510742,24.07201385498047,8.570941925048828],"start_rotation":[0.9997542930967005,0,0,0.022166493514235008],"end_position":[-21.153654098510742,24.07201385498047,8.570941925048828],"end_rotation":[0.97142560233009934,0,0,-0.23734426291276498],"actions":[2,2,1],"reference_path":[[-21.153654098510742,24.07201385498047,8.570941925048828,0,0,0.04433661835902197],[-21.153654098510742,24.07201385498047,8.570941925048828,0,0,-0.21746276944012743],[-21.153654098510742,24.07201385498047,8.570941925048828,0,0,-0.4792621572392769]]},{"id":1,"instruction":"turning left by the ramp.","completed_instruction":"Turn right to face the road, fly forward to the right side of the stairs, then turn left to face the stairs.","start_frame":3,"end_frame":19,"start_position":[-21.153654098510742,24.07201385498047,8.570941925048828],"start_rotation":[0.97142560233009934,0,0,-0.23734426291276498],"end_position":[-5.5295855893084,26.838291541738585,8.570941925048828],"end_rotation":[0.9997542930967005,0,0,0.022166493514235233],"actions":[1,1,3,3,3,3,3,3,3,2,2,1,1,2,2,2,2],"reference_path":[[-21.153654098510742,24.07201385498047,8.570941925048828,0,0,-0.4792621572392769],[-16.71697708988678,21.766390919384207,8.570941925048828,0,0,-0.4792621572392769],[-12.280300081262816,19.460767983787946,8.570941925048828,0,0,-0.4792621572392769],[-12.280300081262816,19.460767983787946,8.570941925048828,0,0,-0.21746276944012752],[-12.280300081262816,19.460767983787946,8.570941925048828,0,0,0.044336618359021925],[-12.280300081262816,19.460767983787946,8.570941925048828,0,0,0.3061360061581714],[-12.280300081262816,19.460767983787946,8.570941925048828,0,0,0.5679353939573208],[-12.280300081262816,19.460767983787946,8.570941925048828,0,0,0.8297347817564703],[-12.280300081262816,19.460767983787946,8.570941925048828,0,0,1.0915341695556198],[-12.280300081262816,19.460767983787946,8.570941925048828,0,0,1.3533335573547693],[-12.280300081262816,19.460767983787946,8.570941925048828,0,0,1.09153416955562],[-12.280300081262816,19.460767983787946,8.570941925048828,0,0,0.8297347817564706],[-8.904942835285608,23.149529762763265,8.570941925048828,0,0,0.8297347817564706],[-5.5295855893084,26.838291541738585,8.570941925048828,0,0,0.8297347817564706],[-5.5295855893084,26.838291541738585,8.570941925048828,0,0,0.5679353939573213],[-5.5295855893084,26.838291541738585,8.570941925048828,0,0,0.3061360061581719],[-5.5295855893084,26.838291541738585,8.570941925048828,0,0,0.044336618359022424]]},{"id":2,"instruction":"flying over the train station.","completed_instruction":"Flying up until the railway tracks are below you, fly forward to the green roof then fly over it to another green roof.","start_frame":19,"end_frame":34,"start_position":[-5.5295855893084,26.838291541738585,8.570941925048828],"start_rotation":[0.9997542930967005,0,0,0.022166493514235233],"end_position":[9.72199373697142,14.636621886482459,-5.429058074951172],"end_rotation":[0.87689586212141368,0,0,-0.48068040005219964],"actions":[2,2,4,4,4,4,4,4,4,1,1,2,1,2,1,1],"reference_path":[[-5.5295855893084,26.838291541738585,8.570941925048828,0,0,0.044336618359022424],[-5.5295855893084,26.838291541738585,8.570941925048828,0,0,-0.21746276944012702],[-5.5295855893084,26.838291541738585,8.570941925048828,0,0,-0.47926215723927645],[-5.5295855893084,26.838291541738585,6.570941925048828,0,0,-0.47926215723927645],[-5.5295855893084,26.838291541738585,4.570941925048828,0,0,-0.47926215723927645],[-5.5295855893084,26.838291541738585,2.570941925048828,0,0,-0.47926215723927645],[-5.5295855893084,26.838291541738585,0.5709419250488281,0,0,-0.47926215723927645],[-5.5295855893084,26.838291541738585,-1.4290580749511719,0,0,-0.47926215723927645],[-5.5295855893084,26.838291541738585,-3.429058074951172,0,0,-0.47926215723927645],[-5.5295855893084,26.838291541738585,-5.429058074951172,0,0,-0.47926215723927645],[-1.092908580684436,24.532668606142323,-5.429058074951172,0,0,-0.47926215723927645],[3.343768427939528,22.22704567054606,-5.429058074951172,0,0,-0.47926215723927645],[3.343768427939528,22.22704567054606,-5.429058074951172,0,0,-0.7410615450384259],[7.032530206914847,18.851688424568856,-5.429058074951172,0,0,-0.7410615450384259],[7.032530206914847,18.851688424568856,-5.429058074951172,0,0,-1.0028609328375755],[9.72199373697142,14.636621886482459,-5.429058074951172,0,0,-1.0028609328375755]]},{"id":3,"instruction":"turning right toward the white building.","completed_instruction":"Turn right to face the railway line, fly forward to the right green roof, turn right facing the corner of the roof, then fly over it in front of the white building.","start_frame":34,"end_frame":47,"start_position":[9.72199373697142,14.636621886482459,-5.429058074951172],"start_rotation":[0.87689586212141368,0,0,-0.48068040005219964],"end_position":[28.29857988460916,13.092298656535911,-5.429058074951172],"end_rotation":[0.85472936860717863,0,0,0.5190738930445008],"actions":[1,1,3,3,3,3,3,1,3,1,1,3,3,1],"reference_path":[[9.72199373697142,14.636621886482459,-5.429058074951172,0,0,-1.0028609328375755],[12.411457267027993,10.421555348396062,-5.429058074951172,0,0,-1.0028609328375755],[15.100920797084566,6.206488810309666,-5.429058074951172,0,0,-1.0028609328375755],[15.100920797084566,6.206488810309666,-5.429058074951172,0,0,-0.7410615450384261],[15.100920797084566,6.206488810309666,-5.429058074951172,0,0,-0.4792621572392767],[15.100920797084566,6.206488810309666,-5.429058074951172,0,0,-0.21746276944012727],[15.100920797084566,6.206488810309666,-5.429058074951172,0,0,0.044336618359022174],[15.100920797084566,6.206488810309666,-5.429058074951172,0,0,0.3061360061581716],[19.868446808436367,7.713371596422767,-5.429058074951172,0,0,0.3061360061581716],[19.868446808436367,7.713371596422767,-5.429058074951172,0,0,0.5679353939573211],[24.083513346522764,10.402835126479339,-5.429058074951172,0,0,0.5679353939573211],[28.29857988460916,13.092298656535911,-5.429058074951172,0,0,0.5679353939573211],[28.29857988460916,13.092298656535911,-5.429058074951172,0,0,0.8297347817564704],[28.29857988460916,13.092298656535911,-5.429058074951172,0,0,1.0915341695556198]]},{"id":4,"instruction":"landing by the white and black building.","completed_instruction":"Land by the white and black building.","start_frame":46,"end_frame":63,"start_position":[28.29857988460916,13.092298656535911,-5.429058074951172],"start_rotation":[0.91516977911080566,0,0,0.40306857406932528],"end_position":[40.097688723488254,25.32356545003132,8.570941925048828],"end_rotation":[0.7796643016309317,0,0,0.626197713795213],"actions":[3,1,1,1,5,5,5,5,5,2,2,3,3,3,6,5,5,0],"reference_path":[[28.29857988460916,13.092298656535911,-5.429058074951172,0,0,0.8297347817564704],[28.29857988460916,13.092298656535911,-5.429058074951172,0,0,1.0915341695556198],[30.604202820205423,17.528975665159876,-5.429058074951172,0,0,1.0915341695556198],[32.909825755801684,21.96565267378384,-5.429058074951172,0,0,1.0915341695556198],[35.215448691397945,26.402329682407803,-5.429058074951172,0,0,1.0915341695556198],[35.215448691397945,26.402329682407803,-3.429058074951172,0,0,1.0915341695556198],[35.215448691397945,26.402329682407803,-1.4290580749511719,0,0,1.0915341695556198],[35.215448691397945,26.402329682407803,0.5709419250488281,0,0,1.0915341695556198],[35.215448691397945,26.402329682407803,2.570941925048828,0,0,1.0915341695556198],[35.215448691397945,26.402329682407803,4.570941925048828,0,0,1.0915341695556198],[35.215448691397945,26.402329682407803,4.570941925048828,0,0,0.8297347817564704],[35.215448691397945,26.402329682407803,4.570941925048828,0,0,0.567935393957321],[35.215448691397945,26.402329682407803,4.570941925048828,0,0,0.8297347817564703],[35.215448691397945,26.402329682407803,4.570941925048828,0,0,1.0915341695556198],[35.215448691397945,26.402329682407803,4.570941925048828,0,0,1.3533335573547693],[40.097688723488254,25.32356545003132,4.570941925048828,0,0,1.3533335573547693],[40.097688723488254,25.32356545003132,6.570941925048828,0,0,1.3533335573547693],[40.097688723488254,25.32356545003132,8.570941925048828,0,0,1.3533335573547693]]}],"statistics":{"complete_actions":68,"sentence_actions":[3,17,16,14,18],"sentence_actions_average":13.6}}
diff --git a/scene_17/3PJ71Z61RD021KSF9R7Q288P3CI19W.json b/scene_17/3PJ71Z61RD021KSF9R7Q288P3CI19W.json
new file mode 100644
index 0000000000000000000000000000000000000000..d06c9425a9695ba587d8e045b8d59170da27cbf8
--- /dev/null
+++ b/scene_17/3PJ71Z61RD021KSF9R7Q288P3CI19W.json
@@ -0,0 +1 @@
+{"episode_id":"3PJ71Z61RD021KSF9R7Q288P3CI19W","trajectory_id":"311HQEI8S0ESWDS1C2DWRN67RW07ZP","scene_id":17,"instruction":"rise up and turn towards orange building across the street, then turn and fly towards the sign that says \u0027of! mobile\u0027 with a blue circle around the text, then turn until you see the green store front and then continue turning until you see smoke in the road, fly over the smoke just to the left of the smoke and to the right of the red and white triangle sign on the left side walk, then fly past the red and white triangle sign and land in the middle of the street just before entering the covered roadway. then fly down the street to the left of the train tracks, fly to the utility pole with the transformer and look down towards the transformer, then look back up and drop down towards sidewalk facing the utility pole, then fly to the right of utility pole towards the covered roadway and pedestrian walkway, then turn and fly through the covered street down the roadway in the middle of the road, fly up to the smoke in the street and then turn toward the two bikes on the sidewalk, then look up towards the sky and power lines and then look straight ahead, then fly towards the red and white sign on the right side of the road that says no a turns.","sentence_instructions":[{"id":0,"instruction":"rise up and turn towards orange building across the street, then turn and fly towards the sign that says \u0027of! mobile\u0027 with a blue circle around the text, then turn until you see the green store front and then continue turning until you see smoke in the road, fly over the smoke just to the left of the smoke and to the right of the red and white triangle sign on the left side walk, then fly past the red and white triangle sign and land in the middle of the street just before entering the covered roadway.","completed_instruction":"Turn right back to face an orange building, fly over the wall to above the street, then turn right to face the road and fly forward to a red sign and an utility pole, fly down beneath electrical lines, then fly forward until you see a green store on the left, then turn right to face the tunnel and fly through it  until you see smoke in the road, then turn right to face the road and fly forward to the front of a not U-turn sign.","start_frame":1,"end_frame":48,"start_position":[37.14646530151367,18.471906661987305,-0.3462750315666199],"start_rotation":[0.99995801388708316,0,0,-0.0091635398727825529],"end_position":[-3.232189585471791,-14.24093886103908,7.65372496843338],"end_rotation":[0.990207152491059,0,0,-0.13960585645147097],"actions":[3,3,3,3,3,3,3,3,3,1,3,1,3,1,1,1,1,1,5,3,5,1,7,1,5,3,3,1,3,3,3,1,5,1,3,1,1,1,1,1,3,3,3,3,1,3,1,3],"reference_path":[[37.14646530151367,18.471906661987305,-0.3462750315666199,0,0,-0.01832733624415274],[37.14646530151367,18.471906661987305,-0.3462750315666199,0,0,0.24347205155499668],[37.14646530151367,18.471906661987305,-0.3462750315666199,0,0,0.5052714393541461],[37.14646530151367,18.471906661987305,-0.3462750315666199,0,0,0.7670708271532956],[37.14646530151367,18.471906661987305,-0.3462750315666199,0,0,1.028870214952445],[37.14646530151367,18.471906661987305,-0.3462750315666199,0,0,1.2906696027515945],[37.14646530151367,18.471906661987305,-0.3462750315666199,0,0,1.5524689905507438],[37.14646530151367,18.471906661987305,-0.3462750315666199,0,0,1.8142683783498932],[37.14646530151367,18.471906661987305,-0.3462750315666199,0,0,2.0760677661490425],[37.14646530151367,18.471906661987305,-0.3462750315666199,0,0,2.337867153948192],[33.67631844772351,22.071640098386485,-0.3462750315666199,0,0,2.337867153948192],[33.67631844772351,22.071640098386485,-0.3462750315666199,0,0,2.5996665417473417],[29.392734409999385,24.65057549729726,-0.3462750315666199,0,0,2.5996665417473417],[29.392734409999385,24.65057549729726,-0.3462750315666199,0,0,2.8614659295464913],[24.58763236155487,26.032962673176122,-0.3462750315666199,0,0,2.8614659295464913],[19.782530313110357,27.415349849054984,-0.3462750315666199,0,0,2.8614659295464913],[14.977428264665843,28.797737024933845,-0.3462750315666199,0,0,2.8614659295464913],[10.172326216221329,30.180124200812706,-0.3462750315666199,0,0,2.8614659295464913],[5.367224167776815,31.562511376691567,-0.3462750315666199,0,0,2.8614659295464913],[5.367224167776815,31.562511376691567,1.6537249684333801,0,0,2.8614659295464913],[5.367224167776815,31.562511376691567,1.6537249684333801,0,0,3.1232653173456413],[5.367224167776815,31.562511376691567,3.65372496843338,0,0,3.1232653173456413],[0.3680638724068155,31.65414292800519,3.65372496843338,0,0,3.1232653173456413],[0.27643232109318727,26.65498263263519,3.65372496843338,0,0,3.1232653173456413],[-4.722727974276812,26.74661418394881,3.65372496843338,0,0,3.1232653173456413],[-4.722727974276812,26.74661418394881,5.65372496843338,0,0,3.1232653173456413],[-4.722727974276812,26.74661418394881,5.65372496843338,0,0,-2.898120602034796],[-4.722727974276812,26.74661418394881,5.65372496843338,0,0,-2.6363212142356467],[-9.097943563314562,24.32638928748959,5.65372496843338,0,0,-2.6363212142356467],[-9.097943563314562,24.32638928748959,5.65372496843338,0,0,-2.3745218264364976],[-9.097943563314562,24.32638928748959,5.65372496843338,0,0,-2.1127224386373484],[-9.097943563314562,24.32638928748959,5.65372496843338,0,0,-1.850923050838199],[-10.480330739193427,19.521287239045076,5.65372496843338,0,0,-1.850923050838199],[-10.480330739193427,19.521287239045076,7.65372496843338,0,0,-1.850923050838199],[-11.862717915072292,14.716185190600562,7.65372496843338,0,0,-1.850923050838199],[-11.862717915072292,14.716185190600562,7.65372496843338,0,0,-1.5891236630390495],[-11.954349466385919,9.717024895230562,7.65372496843338,0,0,-1.5891236630390495],[-12.045981017699546,4.717864599860563,7.65372496843338,0,0,-1.5891236630390495],[-12.137612569013173,-0.2812956955094368,7.65372496843338,0,0,-1.5891236630390495],[-12.2292441203268,-5.280455990879436,7.65372496843338,0,0,-1.5891236630390495],[-12.320875671640428,-10.279616286249436,7.65372496843338,0,0,-1.5891236630390495],[-12.320875671640428,-10.279616286249436,7.65372496843338,0,0,-1.3273242752399002],[-12.320875671640428,-10.279616286249436,7.65372496843338,0,0,-1.0655248874407508],[-12.320875671640428,-10.279616286249436,7.65372496843338,0,0,-0.8037254996416014],[-12.320875671640428,-10.279616286249436,7.65372496843338,0,0,-0.5419261118424521],[-8.037291633916304,-12.858551685160215,7.65372496843338,0,0,-0.5419261118424521],[-8.037291633916304,-12.858551685160215,7.65372496843338,0,0,-0.2801267240433027],[-3.232189585471791,-14.24093886103908,7.65372496843338,0,0,-0.2801267240433027]]},{"id":1,"instruction":"then fly down the street to the left of the train tracks, fly to the utility pole with the transformer and look down towards the transformer, then look back up and drop down towards sidewalk facing the utility pole, then fly to the right of utility pole towards the covered roadway and pedestrian walkway, then turn and fly through the covered street down the roadway in the middle of the road, fly up to the smoke in the street and then turn toward the two bikes on the sidewalk, then look up towards the sky and power lines and then look straight ahead, then fly towards the red and white sign on the right side of the road that says no a turns.","completed_instruction":"Fly down the street to two red and white road signs, then fly forward to the front of the tunnel and land there.","start_frame":48,"end_frame":68,"start_position":[-3.232189585471791,-14.24093886103908,7.65372496843338],"start_rotation":[0.990207152491059,0,0,-0.13960585645147097],"end_position":[-10.79186223006058,-6.7715144011638735,7.65372496843338],"end_rotation":[0.39113337190910258,0,0,0.92033400750978211],"actions":[3,1,2,2,2,2,2,2,2,2,2,2,2,2,2,1,2,1,2,1,0],"reference_path":[[-3.232189585471791,-14.24093886103908,7.65372496843338,0,0,-0.2801267240433027],[-3.232189585471791,-14.24093886103908,7.65372496843338,0,0,-0.018327336244153305],[1.7669707098982084,-14.33257041235271,7.65372496843338,0,0,-0.018327336244153305],[1.7669707098982084,-14.33257041235271,7.65372496843338,0,0,-0.28012672404330274],[1.7669707098982084,-14.33257041235271,7.65372496843338,0,0,-0.5419261118424522],[1.7669707098982084,-14.33257041235271,7.65372496843338,0,0,-0.8037254996416017],[1.7669707098982084,-14.33257041235271,7.65372496843338,0,0,-1.065524887440751],[1.7669707098982084,-14.33257041235271,7.65372496843338,0,0,-1.3273242752399004],[1.7669707098982084,-14.33257041235271,7.65372496843338,0,0,-1.5891236630390497],[1.7669707098982084,-14.33257041235271,7.65372496843338,0,0,-1.8509230508381993],[1.7669707098982084,-14.33257041235271,7.65372496843338,0,0,-2.112722438637349],[1.7669707098982084,-14.33257041235271,7.65372496843338,0,0,-2.3745218264364985],[1.7669707098982084,-14.33257041235271,7.65372496843338,0,0,-2.636321214235648],[1.7669707098982084,-14.33257041235271,7.65372496843338,0,0,-2.8981206020347976],[1.7669707098982084,-14.33257041235271,7.65372496843338,0,0,3.123265317345639],[1.7669707098982084,-14.33257041235271,7.65372496843338,0,0,2.8614659295464895],[-3.038131338546303,-12.95018323647384,7.65372496843338,0,0,2.8614659295464895],[-3.038131338546303,-12.95018323647384,7.65372496843338,0,0,2.5996665417473404],[-7.321715376270423,-10.371247837563057,7.65372496843338,0,0,2.5996665417473404],[-7.321715376270423,-10.371247837563057,7.65372496843338,0,0,2.337867153948191],[-10.79186223006058,-6.7715144011638735,7.65372496843338,0,0,2.337867153948191]]}],"statistics":{"complete_actions":69,"sentence_actions":[48,21],"sentence_actions_average":34.5}}
diff --git a/scene_17/3QFUFYSY97DSUTGBZVQKA213IYV4FK.json b/scene_17/3QFUFYSY97DSUTGBZVQKA213IYV4FK.json
new file mode 100644
index 0000000000000000000000000000000000000000..0605bc89c5007262a5d85274ccda99a987ec816a
--- /dev/null
+++ b/scene_17/3QFUFYSY97DSUTGBZVQKA213IYV4FK.json
@@ -0,0 +1 @@
+{"episode_id":"3QFUFYSY97DSUTGBZVQKA213IYV4FK","trajectory_id":"3S829FDFUAZJ8RTW2XSXUU0S575DXR","scene_id":17,"instruction":"rise up turn around and head down the road to the roundabout. turn left and fly under the bridge. land at the end of the tunnel.","sentence_instructions":[{"id":0,"instruction":"rise up turn around and head down the road to the roundabout.","completed_instruction":"Turn back to face the road and head down the road to a T-junction.","start_frame":1,"end_frame":32,"start_position":[37.31625747680664,-14.892377853393555,9.454816818237305],"start_rotation":[0.99964903069814615,0,0,0.026491799188745932],"end_position":[-8.072256084009428,-9.700903234508484,9.454816818237305],"end_rotation":[0.35807389117812027,0,0,0.9336932517998402],"actions":[3,3,3,3,3,3,3,3,3,3,3,1,1,3,1,1,3,1,2,2,2,1,2,7,1,3,3,1,2,1,2,2],"reference_path":[[37.31625747680664,-14.892377853393555,9.454816818237305,0,0,0.0529897977866656],[37.31625747680664,-14.892377853393555,9.454816818237305,0,0,0.31478918558581503],[37.31625747680664,-14.892377853393555,9.454816818237305,0,0,0.5765885733849645],[37.31625747680664,-14.892377853393555,9.454816818237305,0,0,0.838387961184114],[37.31625747680664,-14.892377853393555,9.454816818237305,0,0,1.1001873489832634],[37.31625747680664,-14.892377853393555,9.454816818237305,0,0,1.361986736782413],[37.31625747680664,-14.892377853393555,9.454816818237305,0,0,1.6237861245815624],[37.31625747680664,-14.892377853393555,9.454816818237305,0,0,1.8855855123807117],[37.31625747680664,-14.892377853393555,9.454816818237305,0,0,2.147384900179861],[37.31625747680664,-14.892377853393555,9.454816818237305,0,0,2.4091842879790106],[37.31625747680664,-14.892377853393555,9.454816818237305,0,0,2.67098367577816],[37.31625747680664,-14.892377853393555,9.454816818237305,0,0,2.9327830635773093],[32.424865604604854,-13.855900380141808,9.454816818237305,0,0,2.9327830635773093],[27.53347373240307,-12.819422906890061,9.454816818237305,0,0,2.9327830635773093],[27.53347373240307,-12.819422906890061,9.454816818237305,0,0,-3.0886028558031273],[22.54049188664564,-13.08424792069486,9.454816818237305,0,0,-3.0886028558031273],[17.54751004088821,-13.34907293449966,9.454816818237305,0,0,-3.0886028558031273],[17.54751004088821,-13.34907293449966,9.454816818237305,0,0,-2.826803468003978],[12.793201683070865,-14.897153048314234,9.454816818237305,0,0,-2.826803468003978],[12.793201683070865,-14.897153048314234,9.454816818237305,0,0,-3.0886028558031273],[12.793201683070865,-14.897153048314234,9.454816818237305,0,0,2.9327830635773093],[12.793201683070865,-14.897153048314234,9.454816818237305,0,0,2.67098367577816],[8.336740057108015,-12.630007314948038,9.454816818237305,0,0,2.67098367577816],[8.336740057108015,-12.630007314948038,9.454816818237305,0,0,2.4091842879790106],[4.993428298720804,-16.347838199513635,9.454816818237305,0,0,2.4091842879790106],[1.275597414155206,-13.004526441126425,9.454816818237305,0,0,2.4091842879790106],[1.275597414155206,-13.004526441126425,9.454816818237305,0,0,2.67098367577816],[1.275597414155206,-13.004526441126425,9.454816818237305,0,0,2.9327830635773093],[-3.615794458046578,-11.968048967874678,9.454816818237305,0,0,2.9327830635773093],[-3.615794458046578,-11.968048967874678,9.454816818237305,0,0,2.67098367577816],[-8.072256084009428,-9.700903234508484,9.454816818237305,0,0,2.67098367577816],[-8.072256084009428,-9.700903234508484,9.454816818237305,0,0,2.4091842879790106]]},{"id":1,"instruction":"turn left and fly under the bridge.","completed_instruction":"Turn left to face the runnel and fly through it.","start_frame":32,"end_frame":39,"start_position":[-8.072256084009428,-9.700903234508484,9.454816818237305],"start_rotation":[0.35807389117812027,0,0,0.9336932517998402],"end_position":[-12.87582233782483,9.231005426981778,9.454816818237305],"end_rotation":[0.688126077561024,0,0,0.72559113926541274],"actions":[2,1,2,1,2,1,1,1],"reference_path":[[-8.072256084009428,-9.700903234508484,9.454816818237305,0,0,2.4091842879790106],[-8.072256084009428,-9.700903234508484,9.454816818237305,0,0,2.147384900179861],[-10.798092196400663,-5.509266622350432,9.454816818237305,0,0,2.147384900179861],[-10.798092196400663,-5.509266622350432,9.454816818237305,0,0,1.8855855123807115],[-12.346172310215236,-0.7549582645330863,9.454816818237305,0,0,1.8855855123807115],[-12.346172310215236,-0.7549582645330863,9.454816818237305,0,0,1.6237861245815621],[-12.610997324020033,4.238023581224345,9.454816818237305,0,0,1.6237861245815621],[-12.87582233782483,9.231005426981778,9.454816818237305,0,0,1.6237861245815621]]},{"id":2,"instruction":"land at the end of the tunnel","completed_instruction":"Land at the end of the tunnel.","start_frame":39,"end_frame":42,"start_position":[-12.87582233782483,9.231005426981778,9.454816818237305],"start_rotation":[0.688126077561024,0,0,0.72559113926541274],"end_position":[-12.104169878377883,19.115379144940995,9.454816818237305],"end_rotation":[0.77694771209211666,0,0,0.62956512981170221],"actions":[1,2,1,0],"reference_path":[[-12.87582233782483,9.231005426981778,9.454816818237305,0,0,1.6237861245815621],[-13.140647351629628,14.223987272739208,9.454816818237305,0,0,1.6237861245815621],[-13.140647351629628,14.223987272739208,9.454816818237305,0,0,1.361986736782413],[-12.104169878377883,19.115379144940995,9.454816818237305,0,0,1.361986736782413]]}],"statistics":{"complete_actions":44,"sentence_actions":[32,8,4],"sentence_actions_average":14.67}}
diff --git a/scene_17/3S96KQ6I9V2FDUH5NQW2UAAB5CKTDN.json b/scene_17/3S96KQ6I9V2FDUH5NQW2UAAB5CKTDN.json
new file mode 100644
index 0000000000000000000000000000000000000000..520f6925fa23f62ee57814f938dce427dca0507e
--- /dev/null
+++ b/scene_17/3S96KQ6I9V2FDUH5NQW2UAAB5CKTDN.json
@@ -0,0 +1 @@
+{"episode_id":"3S96KQ6I9V2FDUH5NQW2UAAB5CKTDN","trajectory_id":"3P7RGTLO7MBFQKRDJ4M6EZKKSMWKAW","scene_id":17,"instruction":"take off. after rising to the height of \u0027new \u0026 old\u0027 sign, turn left to face it and fly in front of it. turn right until facing the corner of the wall and fly to it. turn left until looking to the right of the stairs and fly forward until next to the stairs. turn left to face the wall of the stairs then fly upwards until above the height of the roof of the train station. fly forward until at the farthest train station roof. turn right until facing to the right of the rightmost train signal and fly forward until above the street. descend until landed on the street.","sentence_instructions":[{"id":0,"instruction":"after rising to the height of \u0027new \u0026 old\u0027 sign, turn left to face it and fly in front of it.","completed_instruction":"Fly forward to the \u0027new \u0026 old\u0027 sign in the tunnel.","start_frame":1,"end_frame":3,"start_position":[-21.153654098510742,24.07201385498047,8.570941925048828],"start_rotation":[0.9997542930967005,0,0,0.022166493514235008],"end_position":[-21.153654098510742,24.07201385498047,8.570941925048828],"end_rotation":[0.97142560233009934,0,0,-0.23734426291276498],"actions":[2,2,1],"reference_path":[[-21.153654098510742,24.07201385498047,8.570941925048828,0,0,0.04433661835902197],[-21.153654098510742,24.07201385498047,8.570941925048828,0,0,-0.21746276944012743],[-21.153654098510742,24.07201385498047,8.570941925048828,0,0,-0.4792621572392769]]},{"id":1,"instruction":"turn right until facing the corner of the wall and fly to it.","completed_instruction":"Turn right until facing the corner of the black wall, then fly forward to the stairs, and fly to the utility pole.","start_frame":3,"end_frame":14,"start_position":[-21.153654098510742,24.07201385498047,8.570941925048828],"start_rotation":[0.97142560233009934,0,0,-0.23734426291276498],"end_position":[-12.280300081262816,19.460767983787946,8.570941925048828],"end_rotation":[0.91516977911080566,0,0,0.40306857406932539],"actions":[1,1,3,3,3,3,3,3,3,2,2,1],"reference_path":[[-21.153654098510742,24.07201385498047,8.570941925048828,0,0,-0.4792621572392769],[-16.71697708988678,21.766390919384207,8.570941925048828,0,0,-0.4792621572392769],[-12.280300081262816,19.460767983787946,8.570941925048828,0,0,-0.4792621572392769],[-12.280300081262816,19.460767983787946,8.570941925048828,0,0,-0.21746276944012752],[-12.280300081262816,19.460767983787946,8.570941925048828,0,0,0.044336618359021925],[-12.280300081262816,19.460767983787946,8.570941925048828,0,0,0.3061360061581714],[-12.280300081262816,19.460767983787946,8.570941925048828,0,0,0.5679353939573208],[-12.280300081262816,19.460767983787946,8.570941925048828,0,0,0.8297347817564703],[-12.280300081262816,19.460767983787946,8.570941925048828,0,0,1.0915341695556198],[-12.280300081262816,19.460767983787946,8.570941925048828,0,0,1.3533335573547693],[-12.280300081262816,19.460767983787946,8.570941925048828,0,0,1.09153416955562],[-12.280300081262816,19.460767983787946,8.570941925048828,0,0,0.8297347817564706]]},{"id":2,"instruction":"turn left until looking to the right of the stairs and fly forward until next to the stairs.","completed_instruction":"Turn left until facing to the right of the stairs.","start_frame":14,"end_frame":19,"start_position":[-12.280300081262816,19.460767983787946,8.570941925048828],"start_rotation":[0.91516977911080566,0,0,0.40306857406932539],"end_position":[-5.5295855893084,26.838291541738585,8.570941925048828],"end_rotation":[0.9997542930967005,0,0,0.022166493514235233],"actions":[1,1,2,2,2,2],"reference_path":[[-12.280300081262816,19.460767983787946,8.570941925048828,0,0,0.8297347817564706],[-8.904942835285608,23.149529762763265,8.570941925048828,0,0,0.8297347817564706],[-5.5295855893084,26.838291541738585,8.570941925048828,0,0,0.8297347817564706],[-5.5295855893084,26.838291541738585,8.570941925048828,0,0,0.5679353939573213],[-5.5295855893084,26.838291541738585,8.570941925048828,0,0,0.3061360061581719],[-5.5295855893084,26.838291541738585,8.570941925048828,0,0,0.044336618359022424]]},{"id":3,"instruction":"turn left to face the wall of the stairs then fly upwards until above the height of the roof of the train station.","completed_instruction":"Fly upwards until above the height of the green roof of the train station.","start_frame":19,"end_frame":25,"start_position":[-5.5295855893084,26.838291541738585,8.570941925048828],"start_rotation":[0.9997542930967005,0,0,0.022166493514235233],"end_position":[-5.5295855893084,26.838291541738585,0.5709419250488281],"end_rotation":[0.97142560233009934,0,0,-0.23734426291276475],"actions":[2,2,4,4,4,4,4],"reference_path":[[-5.5295855893084,26.838291541738585,8.570941925048828,0,0,0.044336618359022424],[-5.5295855893084,26.838291541738585,8.570941925048828,0,0,-0.21746276944012702],[-5.5295855893084,26.838291541738585,8.570941925048828,0,0,-0.47926215723927645],[-5.5295855893084,26.838291541738585,6.570941925048828,0,0,-0.47926215723927645],[-5.5295855893084,26.838291541738585,4.570941925048828,0,0,-0.47926215723927645],[-5.5295855893084,26.838291541738585,2.570941925048828,0,0,-0.47926215723927645],[-5.5295855893084,26.838291541738585,0.5709419250488281,0,0,-0.47926215723927645]]},{"id":4,"instruction":"fly forward until at the farthest train station roof.","completed_instruction":"Fly forward to the green roof, fly over it to the left green roof.","start_frame":25,"end_frame":33,"start_position":[-5.5295855893084,26.838291541738585,0.5709419250488281],"start_rotation":[0.97142560233009934,0,0,-0.23734426291276475],"end_position":[7.032530206914847,18.851688424568856,-5.429058074951172],"end_rotation":[0.87689586212141368,0,0,-0.48068040005219964],"actions":[4,4,4,1,1,2,1,2,1],"reference_path":[[-5.5295855893084,26.838291541738585,0.5709419250488281,0,0,-0.47926215723927645],[-5.5295855893084,26.838291541738585,-1.4290580749511719,0,0,-0.47926215723927645],[-5.5295855893084,26.838291541738585,-3.429058074951172,0,0,-0.47926215723927645],[-5.5295855893084,26.838291541738585,-5.429058074951172,0,0,-0.47926215723927645],[-1.092908580684436,24.532668606142323,-5.429058074951172,0,0,-0.47926215723927645],[3.343768427939528,22.22704567054606,-5.429058074951172,0,0,-0.47926215723927645],[3.343768427939528,22.22704567054606,-5.429058074951172,0,0,-0.7410615450384259],[7.032530206914847,18.851688424568856,-5.429058074951172,0,0,-0.7410615450384259],[7.032530206914847,18.851688424568856,-5.429058074951172,0,0,-1.0028609328375755]]},{"id":5,"instruction":"turn right until facing to the right of the rightmost train signal and fly forward until above the street.","completed_instruction":"Turn right until facing the white insulator on the right, then fly forward to the green roof on the right, turn right facing the corner of the roof, then fly over it in front of the white building.","start_frame":33,"end_frame":48,"start_position":[7.032530206914847,18.851688424568856,-5.429058074951172],"start_rotation":[0.87689586212141368,0,0,-0.48068040005219964],"end_position":[30.604202820205423,17.528975665159876,-5.429058074951172],"end_rotation":[0.85472936860717863,0,0,0.5190738930445008],"actions":[1,1,1,3,3,3,3,3,1,3,1,1,3,3,1,1],"reference_path":[[7.032530206914847,18.851688424568856,-5.429058074951172,0,0,-1.0028609328375755],[9.72199373697142,14.636621886482459,-5.429058074951172,0,0,-1.0028609328375755],[12.411457267027993,10.421555348396062,-5.429058074951172,0,0,-1.0028609328375755],[15.100920797084566,6.206488810309666,-5.429058074951172,0,0,-1.0028609328375755],[15.100920797084566,6.206488810309666,-5.429058074951172,0,0,-0.7410615450384261],[15.100920797084566,6.206488810309666,-5.429058074951172,0,0,-0.4792621572392767],[15.100920797084566,6.206488810309666,-5.429058074951172,0,0,-0.21746276944012727],[15.100920797084566,6.206488810309666,-5.429058074951172,0,0,0.044336618359022174],[15.100920797084566,6.206488810309666,-5.429058074951172,0,0,0.3061360061581716],[19.868446808436367,7.713371596422767,-5.429058074951172,0,0,0.3061360061581716],[19.868446808436367,7.713371596422767,-5.429058074951172,0,0,0.5679353939573211],[24.083513346522764,10.402835126479339,-5.429058074951172,0,0,0.5679353939573211],[28.29857988460916,13.092298656535911,-5.429058074951172,0,0,0.5679353939573211],[28.29857988460916,13.092298656535911,-5.429058074951172,0,0,0.8297347817564704],[28.29857988460916,13.092298656535911,-5.429058074951172,0,0,1.0915341695556198],[30.604202820205423,17.528975665159876,-5.429058074951172,0,0,1.0915341695556198]]},{"id":6,"instruction":"descend until landed on the street.","completed_instruction":"Descend to land on the street in front of the white and black building.","start_frame":48,"end_frame":63,"start_position":[30.604202820205423,17.528975665159876,-5.429058074951172],"start_rotation":[0.85472936860717863,0,0,0.5190738930445008],"end_position":[40.097688723488254,25.32356545003132,8.570941925048828],"end_rotation":[0.7796643016309317,0,0,0.626197713795213],"actions":[1,1,5,5,5,5,5,2,2,3,3,3,6,5,5,0],"reference_path":[[30.604202820205423,17.528975665159876,-5.429058074951172,0,0,1.0915341695556198],[32.909825755801684,21.96565267378384,-5.429058074951172,0,0,1.0915341695556198],[35.215448691397945,26.402329682407803,-5.429058074951172,0,0,1.0915341695556198],[35.215448691397945,26.402329682407803,-3.429058074951172,0,0,1.0915341695556198],[35.215448691397945,26.402329682407803,-1.4290580749511719,0,0,1.0915341695556198],[35.215448691397945,26.402329682407803,0.5709419250488281,0,0,1.0915341695556198],[35.215448691397945,26.402329682407803,2.570941925048828,0,0,1.0915341695556198],[35.215448691397945,26.402329682407803,4.570941925048828,0,0,1.0915341695556198],[35.215448691397945,26.402329682407803,4.570941925048828,0,0,0.8297347817564704],[35.215448691397945,26.402329682407803,4.570941925048828,0,0,0.567935393957321],[35.215448691397945,26.402329682407803,4.570941925048828,0,0,0.8297347817564703],[35.215448691397945,26.402329682407803,4.570941925048828,0,0,1.0915341695556198],[35.215448691397945,26.402329682407803,4.570941925048828,0,0,1.3533335573547693],[40.097688723488254,25.32356545003132,4.570941925048828,0,0,1.3533335573547693],[40.097688723488254,25.32356545003132,6.570941925048828,0,0,1.3533335573547693],[40.097688723488254,25.32356545003132,8.570941925048828,0,0,1.3533335573547693]]}],"statistics":{"complete_actions":69,"sentence_actions":[3,12,6,7,9,16,16],"sentence_actions_average":9.86}}
diff --git a/scene_17/3S96KQ6I9V2FDUH5NQW2UAAB8J8TDS.json b/scene_17/3S96KQ6I9V2FDUH5NQW2UAAB8J8TDS.json
new file mode 100644
index 0000000000000000000000000000000000000000..2060be9c66b91b4c2fd35b5e313ef2966bb2afce
--- /dev/null
+++ b/scene_17/3S96KQ6I9V2FDUH5NQW2UAAB8J8TDS.json
@@ -0,0 +1 @@
+{"episode_id":"3S96KQ6I9V2FDUH5NQW2UAAB8J8TDS","trajectory_id":"3NOEP8XAVC0SXOWM76JSUOHHNYZXP0","scene_id":17,"instruction":"takeoff from the railway trace and turn left to the platform and fly high over the building and show chimneys on the roof and show a outdoor units in the opposite building. fly lower to the building and show road and no a turn post and take right and move forward to the platform and turn left show corner stop. fly lower to the corner stop building and show a outdoor unit and turn left and show road ways and end up front of hotel 8.","sentence_instructions":[{"id":0,"instruction":"takeoff from the railway trace and turn left to the platform and fly high over the building and show chimneys on the roof and show a outdoor units in the opposite building.","completed_instruction":"Take off from the railway trace and turn left to the platform, fly over the train station passing a platform, two railway tracks and a platform, to a white building.","start_frame":1,"end_frame":15,"start_position":[-2.5512595176696777,19.902307510375977,-0.3462750315666199],"start_rotation":[0.9996246424398999,0,0,0.027396609770232172],"end_position":[4.117118330103505,-8.764866713160966,-0.3462750315666199],"end_rotation":[0.72621369186048368,0,0,-0.68746903476037846],"actions":[2,2,2,2,3,2,1,2,1,1,2,1,1,1,1],"reference_path":[[-2.5512595176696777,19.902307510375977,-0.3462750315666199,0,0,0.054800076253028525],[-2.5512595176696777,19.902307510375977,-0.3462750315666199,0,0,-0.2069993115461209],[-2.5512595176696777,19.902307510375977,-0.3462750315666199,0,0,-0.46879869934527035],[-2.5512595176696777,19.902307510375977,-0.3462750315666199,0,0,-0.7305980871444199],[-2.5512595176696777,19.902307510375977,-0.3462750315666199,0,0,-0.9923974749435693],[-2.5512595176696777,19.902307510375977,-0.3462750315666199,0,0,-0.73059808714442],[-2.5512595176696777,19.902307510375977,-0.3462750315666199,0,0,-0.9923974749435693],[0.1821601536462838,15.715612286161186,-0.3462750315666199,0,0,-0.9923974749435693],[0.1821601536462838,15.715612286161186,-0.3462750315666199,0,0,-1.254196862742719],[1.7388443481903904,10.964114173096574,-0.3462750315666199,0,0,-1.254196862742719],[3.295528542734497,6.212616060031962,-0.3462750315666199,0,0,-1.254196862742719],[3.295528542734497,6.212616060031962,-0.3462750315666199,0,0,-1.5159962505418685],[3.569391805190833,1.2201218023009863,-0.3462750315666199,0,0,-1.5159962505418685],[3.8432550676471693,-3.7723724554299896,-0.3462750315666199,0,0,-1.5159962505418685],[4.117118330103505,-8.764866713160966,-0.3462750315666199,0,0,-1.5159962505418685]]},{"id":1,"instruction":"fly lower to the building and show road and no a turn post and take right and move forward to the platform and turn left show corner stop.","completed_instruction":"Fly lower to near the ground, turn right to face a red \"no U-turn\" sign, fly up to the train station height, move forward to the railway track, turn right facing the platform, then turn right facing a white building, fly forward to the building.","start_frame":15,"end_frame":53,"start_position":[4.117118330103505,-8.764866713160966,-0.3462750315666199],"start_rotation":[0.72621369186048368,0,0,-0.68746903476037846],"end_position":[16.10094801566515,-4.566644513582801,-0.3462750315666199],"end_rotation":[0.52353848125854008,0,0,-0.85200202971677319],"actions":[1,2,5,5,2,3,5,5,3,3,3,3,3,3,3,3,3,4,4,4,4,1,1,3,1,3,3,3,3,3,3,3,3,3,3,3,3,3,1],"reference_path":[[4.117118330103505,-8.764866713160966,-0.3462750315666199,0,0,-1.5159962505418685],[4.390981592559841,-13.757360970891941,-0.3462750315666199,0,0,-1.5159962505418685],[4.390981592559841,-13.757360970891941,-0.3462750315666199,0,0,-1.7777956383410178],[4.390981592559841,-13.757360970891941,1.6537249684333801,0,0,-1.7777956383410178],[4.390981592559841,-13.757360970891941,3.65372496843338,0,0,-1.7777956383410178],[4.390981592559841,-13.757360970891941,3.65372496843338,0,0,-2.039595026140167],[4.390981592559841,-13.757360970891941,3.65372496843338,0,0,-1.7777956383410176],[4.390981592559841,-13.757360970891941,5.65372496843338,0,0,-1.7777956383410176],[4.390981592559841,-13.757360970891941,7.65372496843338,0,0,-1.7777956383410176],[4.390981592559841,-13.757360970891941,7.65372496843338,0,0,-1.5159962505418683],[4.390981592559841,-13.757360970891941,7.65372496843338,0,0,-1.254196862742719],[4.390981592559841,-13.757360970891941,7.65372496843338,0,0,-0.9923974749435696],[4.390981592559841,-13.757360970891941,7.65372496843338,0,0,-0.7305980871444201],[4.390981592559841,-13.757360970891941,7.65372496843338,0,0,-0.4687986993452707],[4.390981592559841,-13.757360970891941,7.65372496843338,0,0,-0.20699931154612128],[4.390981592559841,-13.757360970891941,7.65372496843338,0,0,0.054800076253028164],[4.390981592559841,-13.757360970891941,7.65372496843338,0,0,0.3165994640521776],[4.390981592559841,-13.757360970891941,7.65372496843338,0,0,0.578398851851327],[4.390981592559841,-13.757360970891941,5.65372496843338,0,0,0.578398851851327],[4.390981592559841,-13.757360970891941,3.65372496843338,0,0,0.578398851851327],[4.390981592559841,-13.757360970891941,1.6537249684333801,0,0,0.578398851851327],[4.390981592559841,-13.757360970891941,-0.3462750315666199,0,0,0.578398851851327],[8.577676816774634,-11.02394129957598,-0.3462750315666199,0,0,0.578398851851327],[12.764372040989425,-8.29052162826002,-0.3462750315666199,0,0,0.578398851851327],[12.764372040989425,-8.29052162826002,-0.3462750315666199,0,0,0.8401982396504765],[16.10094801566515,-4.566644513582801,-0.3462750315666199,0,0,0.8401982396504765],[16.10094801566515,-4.566644513582801,-0.3462750315666199,0,0,1.101997627449626],[16.10094801566515,-4.566644513582801,-0.3462750315666199,0,0,1.3637970152487753],[16.10094801566515,-4.566644513582801,-0.3462750315666199,0,0,1.6255964030479249],[16.10094801566515,-4.566644513582801,-0.3462750315666199,0,0,1.8873957908470742],[16.10094801566515,-4.566644513582801,-0.3462750315666199,0,0,2.149195178646224],[16.10094801566515,-4.566644513582801,-0.3462750315666199,0,0,2.410994566445373],[16.10094801566515,-4.566644513582801,-0.3462750315666199,0,0,2.6727939542445225],[16.10094801566515,-4.566644513582801,-0.3462750315666199,0,0,2.934593342043672],[16.10094801566515,-4.566644513582801,-0.3462750315666199,0,0,-3.0867925773367646],[16.10094801566515,-4.566644513582801,-0.3462750315666199,0,0,-2.824993189537615],[16.10094801566515,-4.566644513582801,-0.3462750315666199,0,0,-2.5631938017384654],[16.10094801566515,-4.566644513582801,-0.3462750315666199,0,0,-2.3013944139393163],[16.10094801566515,-4.566644513582801,-0.3462750315666199,0,0,-2.0395950261401667]]},{"id":2,"instruction":"fly lower to the corner stop building and show a outdoor unit and turn left and show road ways and end up front of hotel 8.","completed_instruction":"Fly lower to near the ground, turn right to face an utility pole, fly forward to the bike parking lot, turn left facing a yellow and white building \"hotel 8\", and land in front of it.","start_frame":53,"end_frame":77,"start_position":[16.10094801566515,-4.566644513582801,-0.3462750315666199],"start_rotation":[0.52353848125854008,0,0,-0.85200202971677319],"end_position":[39.50990826843584,-11.779173881578659,7.65372496843338],"end_rotation":[0.97265402310745253,0,0,-0.232258802487413],"actions":[1,1,5,5,5,5,3,3,3,3,3,3,3,3,3,1,1,1,1,2,2,2,1,1,0],"reference_path":[[16.10094801566515,-4.566644513582801,-0.3462750315666199,0,0,-2.0395950261401667],[13.841873429250136,-9.02720300025393,-0.3462750315666199,0,0,-2.0395950261401667],[11.582798842835121,-13.48776148692506,-0.3462750315666199,0,0,-2.0395950261401667],[11.582798842835121,-13.48776148692506,1.6537249684333801,0,0,-2.0395950261401667],[11.582798842835121,-13.48776148692506,3.65372496843338,0,0,-2.0395950261401667],[11.582798842835121,-13.48776148692506,5.65372496843338,0,0,-2.0395950261401667],[11.582798842835121,-13.48776148692506,7.65372496843338,0,0,-2.0395950261401667],[11.582798842835121,-13.48776148692506,7.65372496843338,0,0,-1.7777956383410174],[11.582798842835121,-13.48776148692506,7.65372496843338,0,0,-1.515996250541868],[11.582798842835121,-13.48776148692506,7.65372496843338,0,0,-1.2541968627427187],[11.582798842835121,-13.48776148692506,7.65372496843338,0,0,-0.9923974749435693],[11.582798842835121,-13.48776148692506,7.65372496843338,0,0,-0.73059808714442],[11.582798842835121,-13.48776148692506,7.65372496843338,0,0,-0.46879869934527046],[11.582798842835121,-13.48776148692506,7.65372496843338,0,0,-0.20699931154612103],[11.582798842835121,-13.48776148692506,7.65372496843338,0,0,0.05480007625302838],[11.582798842835121,-13.48776148692506,7.65372496843338,0,0,0.3165994640521778],[16.33429695589973,-11.931077292380952,7.65372496843338,0,0,0.3165994640521778],[21.085795068964345,-10.374393097836844,7.65372496843338,0,0,0.3165994640521778],[25.837293182028958,-8.817708903292736,7.65372496843338,0,0,0.3165994640521778],[30.58879129509357,-7.2610247087486295,7.65372496843338,0,0,0.3165994640521778],[30.58879129509357,-7.2610247087486295,7.65372496843338,0,0,0.05480007625302841],[30.58879129509357,-7.2610247087486295,7.65372496843338,0,0,-0.20699931154612103],[30.58879129509357,-7.2610247087486295,7.65372496843338,0,0,-0.46879869934527046],[35.049349781764704,-9.520099295163645,7.65372496843338,0,0,-0.46879869934527046],[39.50990826843584,-11.779173881578659,7.65372496843338,0,0,-0.46879869934527046]]}],"statistics":{"complete_actions":79,"sentence_actions":[15,39,25],"sentence_actions_average":26.33}}
diff --git a/scene_17/3TS1AR6UQZCPDGYU1TORDELD90NF7H.json b/scene_17/3TS1AR6UQZCPDGYU1TORDELD90NF7H.json
new file mode 100644
index 0000000000000000000000000000000000000000..e36d69c28301ea1dd62dc68073c1bfc5707df8f7
--- /dev/null
+++ b/scene_17/3TS1AR6UQZCPDGYU1TORDELD90NF7H.json
@@ -0,0 +1 @@
+{"episode_id":"3TS1AR6UQZCPDGYU1TORDELD90NF7H","trajectory_id":"3NI0WFPPJHECQS86PYVCFA3PED706Z","scene_id":17,"instruction":"lift off and head straight for the intersection. at the intersection turn right. land before the end of the tunnel on the left.","sentence_instructions":[{"id":0,"instruction":"lift off and head straight for the intersection.","completed_instruction":"Head straight to the T-junction.","start_frame":1,"end_frame":6,"start_position":[-36.43798828125,-18.10928726196289,9.454816818237305],"start_rotation":[0.99989331799548953,0,0,0.014606595358634195],"end_position":[-16.579019939225127,-18.823605352041827,9.454816818237305],"end_rotation":[0.99324563532209909,0,0,-0.11603063351374],"actions":[1,1,1,2,1,2],"reference_path":[[-36.43798828125,-18.10928726196289,9.454816818237305,0,0,0.029214229602181944],[-31.44012180752971,-17.963236890985268,9.454816818237305,0,0,0.029214229602181944],[-26.44225533380942,-17.817186520007645,9.454816818237305,0,0,0.029214229602181944],[-21.44438886008913,-17.671136149030023,9.454816818237305,0,0,0.029214229602181944],[-21.44438886008913,-17.671136149030023,9.454816818237305,0,0,-0.23258515819696748],[-16.579019939225127,-18.823605352041827,9.454816818237305,0,0,-0.23258515819696748]]},{"id":1,"instruction":"at the intersection turn right.","completed_instruction":"At the T-junction turn right to face the tunnel.","start_frame":6,"end_frame":12,"start_position":[-16.579019939225127,-18.823605352041827,9.454816818237305],"start_rotation":[0.99324563532209909,0,0,-0.11603063351374],"end_position":[-16.579019939225127,-18.823605352041827,9.454816818237305],"end_rotation":[0.9181912691438221,0,0,0.39613734142094859],"actions":[2,3,3,3,3,3,3],"reference_path":[[-16.579019939225127,-18.823605352041827,9.454816818237305,0,0,-0.23258515819696748],[-16.579019939225127,-18.823605352041827,9.454816818237305,0,0,-0.4943845459961169],[-16.579019939225127,-18.823605352041827,9.454816818237305,0,0,-0.2325851581969675],[-16.579019939225127,-18.823605352041827,9.454816818237305,0,0,0.029214229602181924],[-16.579019939225127,-18.823605352041827,9.454816818237305,0,0,0.29101361740133136],[-16.579019939225127,-18.823605352041827,9.454816818237305,0,0,0.5528130052004808],[-16.579019939225127,-18.823605352041827,9.454816818237305,0,0,0.8146123929996302]]},{"id":2,"instruction":"land before the end of the tunnel on the left.","completed_instruction":"Fly into the tunnel, land at the fence before the end of the tunnel on the left.","start_frame":12,"end_frame":20,"start_position":[-16.579019939225127,-18.823605352041827,9.454816818237305],"start_rotation":[0.9181912691438221,0,0,0.39613734142094859],"end_position":[-17.163221423135617,1.1678605428393336,9.454816818237305],"end_rotation":[0.78437677190313349,0,0,0.62028467633726025],"actions":[3,3,3,1,1,1,1,2,2],"reference_path":[[-16.579019939225127,-18.823605352041827,9.454816818237305,0,0,0.8146123929996302],[-16.579019939225127,-18.823605352041827,9.454816818237305,0,0,1.0764117807987796],[-16.579019939225127,-18.823605352041827,9.454816818237305,0,0,1.3382111685979292],[-16.579019939225127,-18.823605352041827,9.454816818237305,0,0,1.6000105563970786],[-16.72507031020275,-13.825738878321538,9.454816818237305,0,0,1.6000105563970786],[-16.871120681180372,-8.827872404601248,9.454816818237305,0,0,1.6000105563970786],[-17.017171052157995,-3.830005930880957,9.454816818237305,0,0,1.6000105563970786],[-17.163221423135617,1.1678605428393336,9.454816818237305,0,0,1.6000105563970786],[-17.163221423135617,1.1678605428393336,9.454816818237305,0,0,1.3382111685979292]]}],"statistics":{"complete_actions":22,"sentence_actions":[6,7,9],"sentence_actions_average":7.33}}
diff --git a/scene_17/3UWN2HHPU73NK6V3NK5FGAQIYZKSNA.json b/scene_17/3UWN2HHPU73NK6V3NK5FGAQIYZKSNA.json
new file mode 100644
index 0000000000000000000000000000000000000000..5ed3d54e838b4f93083f5e3a916f5fd82fa820b1
--- /dev/null
+++ b/scene_17/3UWN2HHPU73NK6V3NK5FGAQIYZKSNA.json
@@ -0,0 +1 @@
+{"episode_id":"3UWN2HHPU73NK6V3NK5FGAQIYZKSNA","trajectory_id":"3M47JKRKD5ZU8HD9K28R8P97XC986M","scene_id":17,"instruction":"taking off by the building and going toward the train station. turning right by the electrical cables going down. closely flying down to the green store. turning left and flying up to the roof. going through the building toward the train tracks.","sentence_instructions":[{"id":0,"instruction":"taking off by the building and going toward the train station.","completed_instruction":"Take off until you can see railway tracks and station platform ,turn right to face the platform, fly forward to the shed upon the station.","start_frame":1,"end_frame":10,"start_position":[13.808820724487305,-16.274473190307617,9.454816818237305],"start_rotation":[0.99984831438820054,0,0,0.017416894530142557],"end_position":[13.808820724487305,-16.274473190307617,-0.5451831817626953],"end_rotation":[0.85718559292616048,0,0,0.515007630312238],"actions":[4,4,4,4,4,3,3,3,3,3],"reference_path":[[13.808820724487305,-16.274473190307617,9.454816818237305,0,0,0.03483555042869024],[13.808820724487305,-16.274473190307617,7.454816818237305,0,0,0.03483555042869024],[13.808820724487305,-16.274473190307617,5.454816818237305,0,0,0.03483555042869024],[13.808820724487305,-16.274473190307617,3.4548168182373047,0,0,0.03483555042869024],[13.808820724487305,-16.274473190307617,1.4548168182373047,0,0,0.03483555042869024],[13.808820724487305,-16.274473190307617,-0.5451831817626953,0,0,0.03483555042869024],[13.808820724487305,-16.274473190307617,-0.5451831817626953,0,0,0.29663493822783965],[13.808820724487305,-16.274473190307617,-0.5451831817626953,0,0,0.5584343260269891],[13.808820724487305,-16.274473190307617,-0.5451831817626953,0,0,0.8202337138261385],[13.808820724487305,-16.274473190307617,-0.5451831817626953,0,0,1.082033101625288]]},{"id":1,"instruction":"turning right by the electrical cables going down.","completed_instruction":"Turn right to face a white building and fly over the wall to above the street, fly down to a green rippling platform.","start_frame":10,"end_frame":28,"start_position":[13.808820724487305,-16.274473190307617,-0.5451831817626953],"start_rotation":[0.85718559292616048,0,0,0.515007630312238],"end_position":[7.036967108805209,-10.641746337035578,1.4548168182373047],"end_rotation":[0.14777428385772848,0,0,-0.9890211125301297],"actions":[3,1,1,3,3,3,3,3,3,3,3,3,1,5,3,2,2,1,5],"reference_path":[[13.808820724487305,-16.274473190307617,-0.5451831817626953,0,0,1.082033101625288],[13.808820724487305,-16.274473190307617,-0.5451831817626953,0,0,1.3438324894244373],[14.933922063362196,-11.402702775226265,-0.5451831817626953,0,0,1.3438324894244373],[16.059023402237088,-6.530932360144913,-0.5451831817626953,0,0,1.3438324894244373],[16.059023402237088,-6.530932360144913,-0.5451831817626953,0,0,1.605631877223587],[16.059023402237088,-6.530932360144913,-0.5451831817626953,0,0,1.8674312650227365],[16.059023402237088,-6.530932360144913,-0.5451831817626953,0,0,2.129230652821886],[16.059023402237088,-6.530932360144913,-0.5451831817626953,0,0,2.391030040621035],[16.059023402237088,-6.530932360144913,-0.5451831817626953,0,0,2.6528294284201848],[16.059023402237088,-6.530932360144913,-0.5451831817626953,0,0,2.9146288162193343],[16.059023402237088,-6.530932360144913,-0.5451831817626953,0,0,-3.1067571031611028],[16.059023402237088,-6.530932360144913,-0.5451831817626953,0,0,-2.844957715361953],[16.059023402237088,-6.530932360144913,-0.5451831817626953,0,0,-2.583158327562804],[11.818594719108564,-9.18022747079244,-0.5451831817626953,0,0,-2.583158327562804],[11.818594719108564,-9.18022747079244,1.4548168182373047,0,0,-2.583158327562804],[11.818594719108564,-9.18022747079244,1.4548168182373047,0,0,-2.3213589397636545],[11.818594719108564,-9.18022747079244,1.4548168182373047,0,0,-2.583158327562804],[11.818594719108564,-9.18022747079244,1.4548168182373047,0,0,-2.844957715361953],[7.036967108805209,-10.641746337035578,1.4548168182373047,0,0,-2.844957715361953]]},{"id":2,"instruction":"closely flying down to the green store.","completed_instruction":"Fly down to the green store on the ground.","start_frame":28,"end_frame":33,"start_position":[7.036967108805209,-10.641746337035578,1.4548168182373047],"start_rotation":[0.14777428385772848,0,0,-0.9890211125301297],"end_position":[4.689295701603478,-15.056317546542504,3.4548168182373047],"end_rotation":[0.51500763031223806,0,0,-0.85718559292616037],"actions":[5,3,3,3,1,5],"reference_path":[[7.036967108805209,-10.641746337035578,1.4548168182373047,0,0,-2.844957715361953],[7.036967108805209,-10.641746337035578,3.4548168182373047,0,0,-2.844957715361953],[7.036967108805209,-10.641746337035578,3.4548168182373047,0,0,-2.583158327562804],[7.036967108805209,-10.641746337035578,3.4548168182373047,0,0,-2.3213589397636545],[7.036967108805209,-10.641746337035578,3.4548168182373047,0,0,-2.059559551964505],[4.689295701603478,-15.056317546542504,3.4548168182373047,0,0,-2.059559551964505]]},{"id":3,"instruction":"turning left and flying up to the roof.","completed_instruction":"Turn left to face the green bench, then turn right to face the road, fly forward pass the green store, then fly up until you are higher than a red and yellow \"W\" sign.","start_frame":33,"end_frame":57,"start_position":[4.689295701603478,-15.056317546542504,3.4548168182373047],"start_rotation":[0.51500763031223806,0,0,-0.85718559292616037],"end_position":[-4.873959519003232,-17.97935527902878,1.4548168182373047],"end_rotation":[0.11323850269172922,0,0,0.99356783437676521],"actions":[5,5,2,2,2,2,2,2,2,2,2,3,3,3,3,3,3,1,1,4,4,2,2,4,1],"reference_path":[[4.689295701603478,-15.056317546542504,3.4548168182373047,0,0,-2.059559551964505],[4.689295701603478,-15.056317546542504,5.454816818237305,0,0,-2.059559551964505],[4.689295701603478,-15.056317546542504,7.454816818237305,0,0,-2.059559551964505],[4.689295701603478,-15.056317546542504,7.454816818237305,0,0,-2.3213589397636545],[4.689295701603478,-15.056317546542504,7.454816818237305,0,0,-2.583158327562804],[4.689295701603478,-15.056317546542504,7.454816818237305,0,0,-2.844957715361953],[4.689295701603478,-15.056317546542504,7.454816818237305,0,0,-3.1067571031611028],[4.689295701603478,-15.056317546542504,7.454816818237305,0,0,2.9146288162193343],[4.689295701603478,-15.056317546542504,7.454816818237305,0,0,2.6528294284201848],[4.689295701603478,-15.056317546542504,7.454816818237305,0,0,2.391030040621035],[4.689295701603478,-15.056317546542504,7.454816818237305,0,0,2.129230652821886],[4.689295701603478,-15.056317546542504,7.454816818237305,0,0,1.8674312650227367],[4.689295701603478,-15.056317546542504,7.454816818237305,0,0,2.129230652821886],[4.689295701603478,-15.056317546542504,7.454816818237305,0,0,2.391030040621035],[4.689295701603478,-15.056317546542504,7.454816818237305,0,0,2.6528294284201848],[4.689295701603478,-15.056317546542504,7.454816818237305,0,0,2.9146288162193343],[4.689295701603478,-15.056317546542504,7.454816818237305,0,0,-3.1067571031611028],[4.689295701603478,-15.056317546542504,7.454816818237305,0,0,-2.844957715361953],[-0.09233190869987684,-16.51783641278564,7.454816818237305,0,0,-2.844957715361953],[-4.873959519003232,-17.97935527902878,7.454816818237305,0,0,-2.844957715361953],[-4.873959519003232,-17.97935527902878,5.454816818237305,0,0,-2.844957715361953],[-4.873959519003232,-17.97935527902878,3.4548168182373047,0,0,-2.844957715361953],[-4.873959519003232,-17.97935527902878,3.4548168182373047,0,0,-3.1067571031611028],[-4.873959519003232,-17.97935527902878,3.4548168182373047,0,0,2.9146288162193343],[-4.873959519003232,-17.97935527902878,1.4548168182373047,0,0,2.9146288162193343]]},{"id":4,"instruction":"going through the building toward the train tracks.","completed_instruction":"Fly forward to the roof of the building with the red and yellow sign, turn left to see the green roof, then fly forward to the railway tracks, fly over one track and land in front of the middle traffic light.","start_frame":57,"end_frame":67,"start_position":[-4.873959519003232,-17.97935527902878,1.4548168182373047],"start_rotation":[0.11323850269172922,0,0,0.99356783437676521],"end_position":[-35.330619993614036,-3.2481952770145757,-0.5451831817626953],"end_rotation":[0.36653427241821945,0,0,0.93040455025910451],"actions":[1,4,1,1,1,2,2,1,1,1,1],"reference_path":[[-4.873959519003232,-17.97935527902878,1.4548168182373047,0,0,2.9146288162193343],[-9.745729934084583,-16.854253940153892,1.4548168182373047,0,0,2.9146288162193343],[-9.745729934084583,-16.854253940153892,-0.5451831817626953,0,0,2.9146288162193343],[-14.617500349165935,-15.729152601279003,-0.5451831817626953,0,0,2.9146288162193343],[-19.489270764247287,-14.604051262404113,-0.5451831817626953,0,0,2.9146288162193343],[-24.361041179328637,-13.478949923529223,-0.5451831817626953,0,0,2.9146288162193343],[-24.361041179328637,-13.478949923529223,-0.5451831817626953,0,0,2.6528294284201848],[-24.361041179328637,-13.478949923529223,-0.5451831817626953,0,0,2.391030040621035],[-28.017567450757102,-10.068698374691007,-0.5451831817626953,0,0,2.391030040621035],[-31.674093722185567,-6.658446825852791,-0.5451831817626953,0,0,2.391030040621035],[-35.330619993614036,-3.2481952770145757,-0.5451831817626953,0,0,2.391030040621035]]}],"statistics":{"complete_actions":71,"sentence_actions":[10,19,6,25,11],"sentence_actions_average":14.2}}
diff --git a/scene_17/3WJEQKOXAH0G632K1XLQY3JARLMA18.json b/scene_17/3WJEQKOXAH0G632K1XLQY3JARLMA18.json
new file mode 100644
index 0000000000000000000000000000000000000000..749ea9f7cacbee3c398c3cee9b33908966f80749
--- /dev/null
+++ b/scene_17/3WJEQKOXAH0G632K1XLQY3JARLMA18.json
@@ -0,0 +1 @@
+{"episode_id":"3WJEQKOXAH0G632K1XLQY3JARLMA18","trajectory_id":"3B9J25CZ3DB17I1J8RRZBG1I9DASCR","scene_id":17,"instruction":"move forward and slightly move to the bikes to the left. turn to the right and move down the tunnel. at the end of the tunnel land on the left side on the sidewalk.","sentence_instructions":[{"id":0,"instruction":"move forward and slightly move to the bikes to the left.","completed_instruction":"Move forward along the road until reaching the bikes on left, slightly move left to the bikes.","start_frame":1,"end_frame":3,"start_position":[-36.43798828125,-18.10928726196289,9.454816818237305],"start_rotation":[0.99989331799548953,0,0,0.014606595358634195],"end_position":[-26.44225533380942,-17.817186520007645,9.454816818237305],"end_rotation":[0.99989331799548953,0,0,0.014606595358634195],"actions":[1,1,1],"reference_path":[[-36.43798828125,-18.10928726196289,9.454816818237305,0,0,0.029214229602181944],[-31.44012180752971,-17.963236890985268,9.454816818237305,0,0,0.029214229602181944],[-26.44225533380942,-17.817186520007645,9.454816818237305,0,0,0.029214229602181944]]},{"id":1,"instruction":"turn to the right and move down the tunnel.","completed_instruction":"Move forward to the T-junction, then turn right to face the tunnel, and go through it.","start_frame":3,"end_frame":17,"start_position":[-26.44225533380942,-17.817186520007645,9.454816818237305],"start_rotation":[0.99989331799548953,0,0,0.014606595358634195],"end_position":[-16.871120681180372,-8.827872404601248,9.454816818237305],"end_rotation":[0.69670292298958936,0,0,0.71735976824586578],"actions":[1,2,1,2,3,3,3,3,3,3,3,3,1,1,1],"reference_path":[[-26.44225533380942,-17.817186520007645,9.454816818237305,0,0,0.029214229602181944],[-21.44438886008913,-17.671136149030023,9.454816818237305,0,0,0.029214229602181944],[-21.44438886008913,-17.671136149030023,9.454816818237305,0,0,-0.23258515819696748],[-16.579019939225127,-18.823605352041827,9.454816818237305,0,0,-0.23258515819696748],[-16.579019939225127,-18.823605352041827,9.454816818237305,0,0,-0.4943845459961169],[-16.579019939225127,-18.823605352041827,9.454816818237305,0,0,-0.2325851581969675],[-16.579019939225127,-18.823605352041827,9.454816818237305,0,0,0.029214229602181924],[-16.579019939225127,-18.823605352041827,9.454816818237305,0,0,0.29101361740133136],[-16.579019939225127,-18.823605352041827,9.454816818237305,0,0,0.5528130052004808],[-16.579019939225127,-18.823605352041827,9.454816818237305,0,0,0.8146123929996302],[-16.579019939225127,-18.823605352041827,9.454816818237305,0,0,1.0764117807987796],[-16.579019939225127,-18.823605352041827,9.454816818237305,0,0,1.3382111685979292],[-16.579019939225127,-18.823605352041827,9.454816818237305,0,0,1.6000105563970786],[-16.72507031020275,-13.825738878321538,9.454816818237305,0,0,1.6000105563970786],[-16.871120681180372,-8.827872404601248,9.454816818237305,0,0,1.6000105563970786]]},{"id":2,"instruction":"at the end of the tunnel land on the left side on the sidewalk.","completed_instruction":"At the end of the tunnel land on the left side on the sidewalk.","start_frame":17,"end_frame":20,"start_position":[-16.871120681180372,-8.827872404601248,9.454816818237305],"start_rotation":[0.69670292298958936,0,0,0.71735976824586578],"end_position":[-17.163221423135617,1.1678605428393336,9.454816818237305],"end_rotation":[0.78437677190313349,0,0,0.62028467633726025],"actions":[1,1,2,2],"reference_path":[[-16.871120681180372,-8.827872404601248,9.454816818237305,0,0,1.6000105563970786],[-17.017171052157995,-3.830005930880957,9.454816818237305,0,0,1.6000105563970786],[-17.163221423135617,1.1678605428393336,9.454816818237305,0,0,1.6000105563970786],[-17.163221423135617,1.1678605428393336,9.454816818237305,0,0,1.3382111685979292]]}],"statistics":{"complete_actions":22,"sentence_actions":[3,15,4],"sentence_actions_average":7.33}}
diff --git a/scene_17/3X31TUMD76KX2MTOYOAG7HZK38SL1A.json b/scene_17/3X31TUMD76KX2MTOYOAG7HZK38SL1A.json
new file mode 100644
index 0000000000000000000000000000000000000000..a6a94d4edca583a74835984800ed40e076468870
--- /dev/null
+++ b/scene_17/3X31TUMD76KX2MTOYOAG7HZK38SL1A.json
@@ -0,0 +1 @@
+{"episode_id":"3X31TUMD76KX2MTOYOAG7HZK38SL1A","trajectory_id":"3JMQI2OLG73EWXFS0R5OWS9U3TVDN7","scene_id":17,"instruction":"taking off and going through the tunnels. going toward the building with the a. passing by the green shop and rotating and stop by the shop.","sentence_instructions":[{"id":0,"instruction":"taking off and going through the tunnels.","completed_instruction":"Turn left to face the tunnel\u0027s end and go through the tunnel to a intersection.","start_frame":1,"end_frame":13,"start_position":[-21.153654098510742,24.07201385498047,8.570941925048828],"start_rotation":[0.99966257429013539,0,0,-0.025975711032029149],"end_position":[-15.164681718060265,-1.8982853089283012,8.570941925048828],"end_rotation":[0.68850058376206569,0,0,-0.72523578659584553],"actions":[2,1,2,2,2,1,2,2,1,1,1,1,1],"reference_path":[[-21.153654098510742,24.07201385498047,8.570941925048828,0,0,-0.051957266101326754],[-21.153654098510742,24.07201385498047,8.570941925048828,0,0,-0.3137566539004762],[-16.39774983354385,22.528843539535767,8.570941925048828,0,0,-0.3137566539004762],[-16.39774983354385,22.528843539535767,8.570941925048828,0,0,-0.5755560416996257],[-16.39774983354385,22.528843539535767,8.570941925048828,0,0,-0.8373554294987752],[-16.39774983354385,22.528843539535767,8.570941925048828,0,0,-1.0991548172979246],[-14.126003871688468,18.07472518852692,8.570941925048828,0,0,-1.0991548172979246],[-14.126003871688468,18.07472518852692,8.570941925048828,0,0,-1.360954205097074],[-14.126003871688468,18.07472518852692,8.570941925048828,0,0,-1.6227535928962233],[-14.385673333281417,13.081472564163114,8.570941925048828,0,0,-1.6227535928962233],[-14.645342794874367,8.088219939799309,8.570941925048828,0,0,-1.6227535928962233],[-14.905012256467316,3.094967315435504,8.570941925048828,0,0,-1.6227535928962233],[-15.164681718060265,-1.8982853089283012,8.570941925048828,0,0,-1.6227535928962233]]},{"id":1,"instruction":"going toward the building with the a.","completed_instruction":"Turn right to face the road and fly forward to the bus station on the right side.","start_frame":13,"end_frame":21,"start_position":[-15.164681718060265,-1.8982853089283012,8.570941925048828],"start_rotation":[0.68850058376206569,0,0,-0.72523578659584553],"end_position":[-15.684020641246164,-11.884790557655911,8.570941925048828],"end_rotation":[0.99966257429013539,0,0,-0.025975711032028986],"actions":[1,1,3,3,3,3,3,3,1],"reference_path":[[-15.164681718060265,-1.8982853089283012,8.570941925048828,0,0,-1.6227535928962233],[-15.424351179653215,-6.891537933292106,8.570941925048828,0,0,-1.6227535928962233],[-15.684020641246164,-11.884790557655911,8.570941925048828,0,0,-1.6227535928962233],[-15.684020641246164,-11.884790557655911,8.570941925048828,0,0,-1.3609542050970738],[-15.684020641246164,-11.884790557655911,8.570941925048828,0,0,-1.0991548172979242],[-15.684020641246164,-11.884790557655911,8.570941925048828,0,0,-0.8373554294987748],[-15.684020641246164,-11.884790557655911,8.570941925048828,0,0,-0.5755560416996253],[-15.684020641246164,-11.884790557655911,8.570941925048828,0,0,-0.31375665390047586],[-15.684020641246164,-11.884790557655911,8.570941925048828,0,0,-0.05195726610132643]]},{"id":2,"instruction":"passing by the green shop and rotating and stop by the shop.","completed_instruction":"Turn left at the bus station to face the green \"new\u0026old\" store.","start_frame":21,"end_frame":38,"start_position":[-15.684020641246164,-11.884790557655911,8.570941925048828],"start_rotation":[0.99966257429013539,0,0,-0.025975711032028986],"end_position":[4.2889898562090565,-12.923468404027702,8.570941925048828],"end_rotation":[0.35855587737135136,0,0,-0.93350826606006032],"actions":[1,1,1,3,3,2,2,1,2,2,2,2,2,2,2,2,2,0],"reference_path":[[-15.684020641246164,-11.884790557655911,8.570941925048828,0,0,-0.05195726610132643],[-10.690768016882359,-12.144460019248859,8.570941925048828,0,0,-0.05195726610132643],[-5.697515392518554,-12.404129480841807,8.570941925048828,0,0,-0.05195726610132643],[-0.7042627681547486,-12.663798942434754,8.570941925048828,0,0,-0.05195726610132643],[-0.7042627681547486,-12.663798942434754,8.570941925048828,0,0,0.20984212169782301],[-0.7042627681547486,-12.663798942434754,8.570941925048828,0,0,0.4716415094969724],[-0.7042627681547486,-12.663798942434754,8.570941925048828,0,0,0.20984212169782301],[-0.7042627681547486,-12.663798942434754,8.570941925048828,0,0,-0.0519572661013264],[4.2889898562090565,-12.923468404027702,8.570941925048828,0,0,-0.0519572661013264],[4.2889898562090565,-12.923468404027702,8.570941925048828,0,0,-0.31375665390047586],[4.2889898562090565,-12.923468404027702,8.570941925048828,0,0,-0.5755560416996253],[4.2889898562090565,-12.923468404027702,8.570941925048828,0,0,-0.8373554294987747],[4.2889898562090565,-12.923468404027702,8.570941925048828,0,0,-1.0991548172979242],[4.2889898562090565,-12.923468404027702,8.570941925048828,0,0,-1.3609542050970738],[4.2889898562090565,-12.923468404027702,8.570941925048828,0,0,-1.6227535928962231],[4.2889898562090565,-12.923468404027702,8.570941925048828,0,0,-1.8845529806953725],[4.2889898562090565,-12.923468404027702,8.570941925048828,0,0,-2.146352368494522],[4.2889898562090565,-12.923468404027702,8.570941925048828,0,0,-2.4081517562936714]]}],"statistics":{"complete_actions":40,"sentence_actions":[13,9,18],"sentence_actions_average":13.33}}
diff --git a/scene_17/3YMU66OBIW6SK501PMGLMCAJOHJHGI.json b/scene_17/3YMU66OBIW6SK501PMGLMCAJOHJHGI.json
new file mode 100644
index 0000000000000000000000000000000000000000..bd53e9c6463533bfc7afa22bee49c6c30cc2e797
--- /dev/null
+++ b/scene_17/3YMU66OBIW6SK501PMGLMCAJOHJHGI.json
@@ -0,0 +1 @@
+{"episode_id":"3YMU66OBIW6SK501PMGLMCAJOHJHGI","trajectory_id":"3MIVREZQWPW7D0YU80JS4ZZPSDFKQE","scene_id":17,"instruction":"taking off and going through the train station. going through the white building. descending by the new and old shop. turning right and passing by the bike parking. flying up and going through the train station. and going toward the white building. zooming in to the shop with banners. turning right and toward the bike parking. landing in front of the hotel 8.","sentence_instructions":[{"id":0,"instruction":"taking off and going through the train station.","completed_instruction":"Turn left to face the platform, and go through the train station to the other side to the white building outside the station.","start_frame":1,"end_frame":14,"start_position":[-2.5512595176696777,19.902307510375977,-0.3462750315666199],"start_rotation":[0.9996246424398999,0,0,0.027396609770232172],"end_position":[3.8432550676471693,-3.7723724554299896,-0.3462750315666199],"end_rotation":[0.72621369186048368,0,0,-0.68746903476037846],"actions":[2,2,2,2,3,2,1,2,1,1,2,1,1,1],"reference_path":[[-2.5512595176696777,19.902307510375977,-0.3462750315666199,0,0,0.054800076253028525],[-2.5512595176696777,19.902307510375977,-0.3462750315666199,0,0,-0.2069993115461209],[-2.5512595176696777,19.902307510375977,-0.3462750315666199,0,0,-0.46879869934527035],[-2.5512595176696777,19.902307510375977,-0.3462750315666199,0,0,-0.7305980871444199],[-2.5512595176696777,19.902307510375977,-0.3462750315666199,0,0,-0.9923974749435693],[-2.5512595176696777,19.902307510375977,-0.3462750315666199,0,0,-0.73059808714442],[-2.5512595176696777,19.902307510375977,-0.3462750315666199,0,0,-0.9923974749435693],[0.1821601536462838,15.715612286161186,-0.3462750315666199,0,0,-0.9923974749435693],[0.1821601536462838,15.715612286161186,-0.3462750315666199,0,0,-1.254196862742719],[1.7388443481903904,10.964114173096574,-0.3462750315666199,0,0,-1.254196862742719],[3.295528542734497,6.212616060031962,-0.3462750315666199,0,0,-1.254196862742719],[3.295528542734497,6.212616060031962,-0.3462750315666199,0,0,-1.5159962505418685],[3.569391805190833,1.2201218023009863,-0.3462750315666199,0,0,-1.5159962505418685],[3.8432550676471693,-3.7723724554299896,-0.3462750315666199,0,0,-1.5159962505418685]]},{"id":1,"instruction":"descending by the new and old shop.","completed_instruction":"Fly down by the new and old shop to near the ground.","start_frame":14,"end_frame":21,"start_position":[3.8432550676471693,-3.7723724554299896,-0.3462750315666199],"start_rotation":[0.72621369186048368,0,0,-0.68746903476037846],"end_position":[4.390981592559841,-13.757360970891941,3.65372496843338],"end_rotation":[0.630268117677914,0,0,-0.77637754980340534],"actions":[1,1,2,5,5,2,3,5],"reference_path":[[3.8432550676471693,-3.7723724554299896,-0.3462750315666199,0,0,-1.5159962505418685],[4.117118330103505,-8.764866713160966,-0.3462750315666199,0,0,-1.5159962505418685],[4.390981592559841,-13.757360970891941,-0.3462750315666199,0,0,-1.5159962505418685],[4.390981592559841,-13.757360970891941,-0.3462750315666199,0,0,-1.7777956383410178],[4.390981592559841,-13.757360970891941,1.6537249684333801,0,0,-1.7777956383410178],[4.390981592559841,-13.757360970891941,3.65372496843338,0,0,-1.7777956383410178],[4.390981592559841,-13.757360970891941,3.65372496843338,0,0,-2.039595026140167],[4.390981592559841,-13.757360970891941,3.65372496843338,0,0,-1.7777956383410176]]},{"id":2,"instruction":"turning right and passing by the bike parking.","completed_instruction":"Turn right to face a red \"not U-turn\" sign.","start_frame":21,"end_frame":27,"start_position":[4.390981592559841,-13.757360970891941,3.65372496843338],"start_rotation":[0.630268117677914,0,0,-0.77637754980340534],"end_position":[4.390981592559841,-13.757360970891941,7.65372496843338],"end_rotation":[0.93401697600617617,0,0,-0.35722862221871038],"actions":[5,5,3,3,3,3,3],"reference_path":[[4.390981592559841,-13.757360970891941,3.65372496843338,0,0,-1.7777956383410176],[4.390981592559841,-13.757360970891941,5.65372496843338,0,0,-1.7777956383410176],[4.390981592559841,-13.757360970891941,7.65372496843338,0,0,-1.7777956383410176],[4.390981592559841,-13.757360970891941,7.65372496843338,0,0,-1.5159962505418683],[4.390981592559841,-13.757360970891941,7.65372496843338,0,0,-1.254196862742719],[4.390981592559841,-13.757360970891941,7.65372496843338,0,0,-0.9923974749435696],[4.390981592559841,-13.757360970891941,7.65372496843338,0,0,-0.7305980871444201]]},{"id":3,"instruction":"flying up and going through the train station.","completed_instruction":"Fly up to the train station height, then turn right facing the platform, and fly to the front of it.","start_frame":27,"end_frame":41,"start_position":[4.390981592559841,-13.757360970891941,7.65372496843338],"start_rotation":[0.93401697600617617,0,0,-0.35722862221871038],"end_position":[16.10094801566515,-4.566644513582801,-0.3462750315666199],"end_rotation":[0.85200202971677341,0,0,0.52353848125853975],"actions":[3,3,3,3,3,4,4,4,4,1,1,3,1,3,3],"reference_path":[[4.390981592559841,-13.757360970891941,7.65372496843338,0,0,-0.7305980871444201],[4.390981592559841,-13.757360970891941,7.65372496843338,0,0,-0.4687986993452707],[4.390981592559841,-13.757360970891941,7.65372496843338,0,0,-0.20699931154612128],[4.390981592559841,-13.757360970891941,7.65372496843338,0,0,0.054800076253028164],[4.390981592559841,-13.757360970891941,7.65372496843338,0,0,0.3165994640521776],[4.390981592559841,-13.757360970891941,7.65372496843338,0,0,0.578398851851327],[4.390981592559841,-13.757360970891941,5.65372496843338,0,0,0.578398851851327],[4.390981592559841,-13.757360970891941,3.65372496843338,0,0,0.578398851851327],[4.390981592559841,-13.757360970891941,1.6537249684333801,0,0,0.578398851851327],[4.390981592559841,-13.757360970891941,-0.3462750315666199,0,0,0.578398851851327],[8.577676816774634,-11.02394129957598,-0.3462750315666199,0,0,0.578398851851327],[12.764372040989425,-8.29052162826002,-0.3462750315666199,0,0,0.578398851851327],[12.764372040989425,-8.29052162826002,-0.3462750315666199,0,0,0.8401982396504765],[16.10094801566515,-4.566644513582801,-0.3462750315666199,0,0,0.8401982396504765],[16.10094801566515,-4.566644513582801,-0.3462750315666199,0,0,1.101997627449626]]},{"id":4,"instruction":"and going toward the white building.","completed_instruction":"Turn right to face the white building, fly forward to it.","start_frame":41,"end_frame":53,"start_position":[16.10094801566515,-4.566644513582801,-0.3462750315666199],"start_rotation":[0.85200202971677341,0,0,0.52353848125853975],"end_position":[16.10094801566515,-4.566644513582801,-0.3462750315666199],"end_rotation":[0.52353848125854008,0,0,-0.85200202971677319],"actions":[3,3,3,3,3,3,3,3,3,3,3,3,1],"reference_path":[[16.10094801566515,-4.566644513582801,-0.3462750315666199,0,0,1.101997627449626],[16.10094801566515,-4.566644513582801,-0.3462750315666199,0,0,1.3637970152487753],[16.10094801566515,-4.566644513582801,-0.3462750315666199,0,0,1.6255964030479249],[16.10094801566515,-4.566644513582801,-0.3462750315666199,0,0,1.8873957908470742],[16.10094801566515,-4.566644513582801,-0.3462750315666199,0,0,2.149195178646224],[16.10094801566515,-4.566644513582801,-0.3462750315666199,0,0,2.410994566445373],[16.10094801566515,-4.566644513582801,-0.3462750315666199,0,0,2.6727939542445225],[16.10094801566515,-4.566644513582801,-0.3462750315666199,0,0,2.934593342043672],[16.10094801566515,-4.566644513582801,-0.3462750315666199,0,0,-3.0867925773367646],[16.10094801566515,-4.566644513582801,-0.3462750315666199,0,0,-2.824993189537615],[16.10094801566515,-4.566644513582801,-0.3462750315666199,0,0,-2.5631938017384654],[16.10094801566515,-4.566644513582801,-0.3462750315666199,0,0,-2.3013944139393163],[16.10094801566515,-4.566644513582801,-0.3462750315666199,0,0,-2.0395950261401667]]},{"id":5,"instruction":"zooming in to the shop with banners.","completed_instruction":"Fly down to second floor height.","start_frame":53,"end_frame":57,"start_position":[16.10094801566515,-4.566644513582801,-0.3462750315666199],"start_rotation":[0.52353848125854008,0,0,-0.85200202971677319],"end_position":[11.582798842835121,-13.48776148692506,3.65372496843338],"end_rotation":[0.52353848125854008,0,0,-0.85200202971677319],"actions":[1,1,5,5,5],"reference_path":[[16.10094801566515,-4.566644513582801,-0.3462750315666199,0,0,-2.0395950261401667],[13.841873429250136,-9.02720300025393,-0.3462750315666199,0,0,-2.0395950261401667],[11.582798842835121,-13.48776148692506,-0.3462750315666199,0,0,-2.0395950261401667],[11.582798842835121,-13.48776148692506,1.6537249684333801,0,0,-2.0395950261401667],[11.582798842835121,-13.48776148692506,3.65372496843338,0,0,-2.0395950261401667]]},{"id":6,"instruction":"turning right and toward the bike parking.","completed_instruction":"Turn right to face an utility pole, fly forward passing it to the bike parking lot.","start_frame":57,"end_frame":69,"start_position":[11.582798842835121,-13.48776148692506,3.65372496843338],"start_rotation":[0.52353848125854008,0,0,-0.85200202971677319],"end_position":[16.33429695589973,-11.931077292380952,7.65372496843338],"end_rotation":[0.98749673989662423,0,0,0.15763942620277085],"actions":[5,5,3,3,3,3,3,3,3,3,3,1,1],"reference_path":[[11.582798842835121,-13.48776148692506,3.65372496843338,0,0,-2.0395950261401667],[11.582798842835121,-13.48776148692506,5.65372496843338,0,0,-2.0395950261401667],[11.582798842835121,-13.48776148692506,7.65372496843338,0,0,-2.0395950261401667],[11.582798842835121,-13.48776148692506,7.65372496843338,0,0,-1.7777956383410174],[11.582798842835121,-13.48776148692506,7.65372496843338,0,0,-1.515996250541868],[11.582798842835121,-13.48776148692506,7.65372496843338,0,0,-1.2541968627427187],[11.582798842835121,-13.48776148692506,7.65372496843338,0,0,-0.9923974749435693],[11.582798842835121,-13.48776148692506,7.65372496843338,0,0,-0.73059808714442],[11.582798842835121,-13.48776148692506,7.65372496843338,0,0,-0.46879869934527046],[11.582798842835121,-13.48776148692506,7.65372496843338,0,0,-0.20699931154612103],[11.582798842835121,-13.48776148692506,7.65372496843338,0,0,0.05480007625302838],[11.582798842835121,-13.48776148692506,7.65372496843338,0,0,0.3165994640521778],[16.33429695589973,-11.931077292380952,7.65372496843338,0,0,0.3165994640521778]]},{"id":7,"instruction":"landing in front of the hotel 8.","completed_instruction":"Turn left facing a yellow and white house, fly forward to it and land in front of it.","start_frame":69,"end_frame":77,"start_position":[16.33429695589973,-11.931077292380952,7.65372496843338],"start_rotation":[0.98749673989662423,0,0,0.15763942620277085],"end_position":[39.50990826843584,-11.779173881578659,7.65372496843338],"end_rotation":[0.97265402310745253,0,0,-0.232258802487413],"actions":[1,1,1,2,2,2,1,1,0],"reference_path":[[16.33429695589973,-11.931077292380952,7.65372496843338,0,0,0.3165994640521778],[21.085795068964345,-10.374393097836844,7.65372496843338,0,0,0.3165994640521778],[25.837293182028958,-8.817708903292736,7.65372496843338,0,0,0.3165994640521778],[30.58879129509357,-7.2610247087486295,7.65372496843338,0,0,0.3165994640521778],[30.58879129509357,-7.2610247087486295,7.65372496843338,0,0,0.05480007625302841],[30.58879129509357,-7.2610247087486295,7.65372496843338,0,0,-0.20699931154612103],[30.58879129509357,-7.2610247087486295,7.65372496843338,0,0,-0.46879869934527046],[35.049349781764704,-9.520099295163645,7.65372496843338,0,0,-0.46879869934527046],[39.50990826843584,-11.779173881578659,7.65372496843338,0,0,-0.46879869934527046]]}],"statistics":{"complete_actions":84,"sentence_actions":[14,8,7,15,13,5,13,9],"sentence_actions_average":10.5}}
diff --git a/scene_17/3ZPPDN2SL4U1LLMRLF259SRJSLME9S.json b/scene_17/3ZPPDN2SL4U1LLMRLF259SRJSLME9S.json
new file mode 100644
index 0000000000000000000000000000000000000000..7c406ed38134efee0d75425d13c10c28d92ab08d
--- /dev/null
+++ b/scene_17/3ZPPDN2SL4U1LLMRLF259SRJSLME9S.json
@@ -0,0 +1 @@
+{"episode_id":"3ZPPDN2SL4U1LLMRLF259SRJSLME9S","trajectory_id":"3MDWE879VP00SYDELLVDJ1QAVJ2B9Z","scene_id":17,"instruction":"fly up. go right fly towards yellow lines. go left fly down towards street. fly towards used clothes. stop in middle of street.","sentence_instructions":[{"id":0,"instruction":"fly up.","completed_instruction":"Fly up to the height of the roof of the building on your right.","start_frame":1,"end_frame":4,"start_position":[-78.37213134765625,-17.36115264892578,9.454816818237305],"start_rotation":[0.99976733848453481,0,0,0.021570092710734158],"end_position":[-78.37213134765625,-17.36115264892578,3.4548168182373047],"end_rotation":[0.99976733848453481,0,0,0.021570092710734158],"actions":[4,4,4,4],"reference_path":[[-78.37213134765625,-17.36115264892578,9.454816818237305,0,0,0.04314353141983694],[-78.37213134765625,-17.36115264892578,7.454816818237305,0,0,0.04314353141983694],[-78.37213134765625,-17.36115264892578,5.454816818237305,0,0,0.04314353141983694],[-78.37213134765625,-17.36115264892578,3.4548168182373047,0,0,0.04314353141983694]]},{"id":1,"instruction":"go right fly towards yellow lines.","completed_instruction":"Turn right to face the tracks, fly towards to the tracks.","start_frame":4,"end_frame":10,"start_position":[-78.37213134765625,-17.36115264892578,3.4548168182373047],"start_rotation":[0.99976733848453481,0,0,0.021570092710734158],"end_position":[-74.99237549155961,-13.676420589035875,-0.5451831817626953],"end_rotation":[0.91541006418416848,0,0,0.40252256382759044],"actions":[4,4,3,3,3,1,3],"reference_path":[[-78.37213134765625,-17.36115264892578,3.4548168182373047,0,0,0.04314353141983694],[-78.37213134765625,-17.36115264892578,1.4548168182373047,0,0,0.04314353141983694],[-78.37213134765625,-17.36115264892578,-0.5451831817626953,0,0,0.04314353141983694],[-78.37213134765625,-17.36115264892578,-0.5451831817626953,0,0,0.30494291921898636],[-78.37213134765625,-17.36115264892578,-0.5451831817626953,0,0,0.5667423070181358],[-78.37213134765625,-17.36115264892578,-0.5451831817626953,0,0,0.8285416948172852],[-74.99237549155961,-13.676420589035875,-0.5451831817626953,0,0,0.8285416948172852]]},{"id":2,"instruction":"go left fly down towards street.","completed_instruction":"Turn left to face the left platform, fly forward to the left side of the platform, move left out of the short wall, fly down to the street until reaching the green store.","start_frame":10,"end_frame":36,"start_position":[-74.99237549155961,-13.676420589035875,-0.5451831817626953],"start_rotation":[0.91541006418416848,0,0,0.40252256382759044],"end_position":[-14.185747259870364,-8.018535055832809,7.454816818237305],"end_rotation":[0.93191909841412235,0,0,-0.36266622948795407],"actions":[3,1,2,2,1,1,1,1,1,2,2,2,1,1,1,1,1,1,2,1,2,1,5,5,5,5,1],"reference_path":[[-74.99237549155961,-13.676420589035875,-0.5451831817626953,0,0,0.8285416948172852],[-74.99237549155961,-13.676420589035875,-0.5451831817626953,0,0,1.0903410826164346],[-72.68146085680351,-9.242497546078313,-0.5451831817626953,0,0,1.0903410826164346],[-72.68146085680351,-9.242497546078313,-0.5451831817626953,0,0,0.8285416948172851],[-72.68146085680351,-9.242497546078313,-0.5451831817626953,0,0,0.5667423070181358],[-68.4631885556487,-6.558064869829918,-0.5451831817626953,0,0,0.5667423070181358],[-64.24491625449389,-3.873632193581523,-0.5451831817626953,0,0,0.5667423070181358],[-60.02664395333908,-1.1891995173331278,-0.5451831817626953,0,0,0.5667423070181358],[-55.80837165218428,1.4952331589152674,-0.5451831817626953,0,0,0.5667423070181358],[-51.59009935102947,4.179665835163663,-0.5451831817626953,0,0,0.5667423070181358],[-51.59009935102947,4.179665835163663,-0.5451831817626953,0,0,0.30494291921898636],[-51.59009935102947,4.179665835163663,-0.5451831817626953,0,0,0.04314353141983695],[-51.59009935102947,4.179665835163663,-0.5451831817626953,0,0,-0.21865585637931248],[-46.70914985297753,3.0950774351397077,-0.5451831817626953,0,0,-0.21865585637931248],[-41.82820035492559,2.0104890351157527,-0.5451831817626953,0,0,-0.21865585637931248],[-36.94725085687365,0.9259006350917978,-0.5451831817626953,0,0,-0.21865585637931248],[-32.06630135882171,-0.1586877649321572,-0.5451831817626953,0,0,-0.21865585637931248],[-27.18535186076977,-1.2432761649561122,-0.5451831817626953,0,0,-0.21865585637931248],[-22.30440236271783,-2.327864564980067,-0.5451831817626953,0,0,-0.21865585637931248],[-22.30440236271783,-2.327864564980067,-0.5451831817626953,0,0,-0.4804552441784619],[-17.87047931976027,-4.638779199736176,-0.5451831817626953,0,0,-0.4804552441784619],[-17.87047931976027,-4.638779199736176,-0.5451831817626953,0,0,-0.7422546319776113],[-14.185747259870364,-8.018535055832809,-0.5451831817626953,0,0,-0.7422546319776113],[-14.185747259870364,-8.018535055832809,1.4548168182373047,0,0,-0.7422546319776113],[-14.185747259870364,-8.018535055832809,3.4548168182373047,0,0,-0.7422546319776113],[-14.185747259870364,-8.018535055832809,5.454816818237305,0,0,-0.7422546319776113],[-14.185747259870364,-8.018535055832809,7.454816818237305,0,0,-0.7422546319776113]]},{"id":3,"instruction":"fly towards used clothes.","completed_instruction":"Turn to the tunnel and go through it to the green \"used clothes\" store.","start_frame":36,"end_frame":60,"start_position":[-14.185747259870364,-8.018535055832809,7.454816818237305],"start_rotation":[0.93191909841412235,0,0,-0.36266622948795407],"end_position":[-9.973718939586774,14.431469642397417,7.454816818237305],"end_rotation":[0.78003771703834657,0,0,0.62573249875454318],"actions":[1,6,3,3,3,3,3,3,3,3,3,1,1,2,2,2,2,3,3,3,1,1,1,1,1],"reference_path":[[-14.185747259870364,-8.018535055832809,7.454816818237305,0,0,-0.7422546319776113],[-10.501015199980458,-11.398290911929442,7.454816818237305,0,0,-0.7422546319776113],[-13.88077105607709,-15.083022971819348,7.454816818237305,0,0,-0.7422546319776113],[-13.88077105607709,-15.083022971819348,7.454816818237305,0,0,-0.4804552441784618],[-13.88077105607709,-15.083022971819348,7.454816818237305,0,0,-0.21865585637931242],[-13.88077105607709,-15.083022971819348,7.454816818237305,0,0,0.04314353141983698],[-13.88077105607709,-15.083022971819348,7.454816818237305,0,0,0.30494291921898636],[-13.88077105607709,-15.083022971819348,7.454816818237305,0,0,0.5667423070181358],[-13.88077105607709,-15.083022971819348,7.454816818237305,0,0,0.8285416948172852],[-13.88077105607709,-15.083022971819348,7.454816818237305,0,0,1.0903410826164346],[-13.88077105607709,-15.083022971819348,7.454816818237305,0,0,1.352140470415584],[-13.88077105607709,-15.083022971819348,7.454816818237305,0,0,1.6139398582147335],[-14.096421797879843,-10.087675660814845,7.454816818237305,0,0,1.6139398582147335],[-14.312072539682596,-5.092328349810343,7.454816818237305,0,0,1.6139398582147335],[-14.312072539682596,-5.092328349810343,7.454816818237305,0,0,1.352140470415584],[-14.312072539682596,-5.092328349810343,7.454816818237305,0,0,1.0903410826164346],[-14.312072539682596,-5.092328349810343,7.454816818237305,0,0,0.8285416948172851],[-14.312072539682596,-5.092328349810343,7.454816818237305,0,0,0.5667423070181358],[-14.312072539682596,-5.092328349810343,7.454816818237305,0,0,0.8285416948172852],[-14.312072539682596,-5.092328349810343,7.454816818237305,0,0,1.0903410826164346],[-14.312072539682596,-5.092328349810343,7.454816818237305,0,0,1.352140470415584],[-13.22748413965864,-0.2113788517584032,7.454816818237305,0,0,1.352140470415584],[-12.142895739634685,4.669570646293536,7.454816818237305,0,0,1.352140470415584],[-11.05830733961073,9.550520144345477,7.454816818237305,0,0,1.352140470415584],[-9.973718939586774,14.431469642397417,7.454816818237305,0,0,1.352140470415584]]}],"statistics":{"complete_actions":63,"sentence_actions":[4,7,27,25],"sentence_actions_average":15.75}}
diff --git a/scene_2/3180JW2OTDAQVE67WQ0FUSZ9DV45JG.json b/scene_2/3180JW2OTDAQVE67WQ0FUSZ9DV45JG.json
new file mode 100644
index 0000000000000000000000000000000000000000..aebc54e3100513302533b6aac0599793c9f978ce
--- /dev/null
+++ b/scene_2/3180JW2OTDAQVE67WQ0FUSZ9DV45JG.json
@@ -0,0 +1 @@
+{"episode_id":"3180JW2OTDAQVE67WQ0FUSZ9DV45JG","trajectory_id":"39I4RL8QHRF9M5AO4I9IO4IS5JAH41","scene_id":2,"instruction":"take off rising the height to the front of the van and move slight forward above the building. turn right and move forward above the road. move slight right above the building and move slight left and move forward above the road. turn slight right near the electric wire and move forward towards the pipe line area. turn right and look out there and turn left and move forward to the four pillars and staircase. move slight right before the pillars and move slight forward to the metal sheet. slow down near the sheet and lower down height and land it over there.","sentence_instructions":[{"id":0,"instruction":"take off rising the height to the front of the van and move slight forward above the building.","completed_instruction":"Take off, rise to a higher altitude than the front bungalow, and fly to the center of the square roof of it.","start_frame":1,"end_frame":6,"start_position":[6.791354179382324,-62.446014404296875,1.5117865800857544],"start_rotation":[0.99999996724991491,0,0,-0.00025593000838172736],"end_position":[11.791353524380632,-62.44857370429688,-6.488213419914246],"end_rotation":[0.99999996724991491,0,0,-0.00025593000838172736],"actions":[4,4,4,4,1,1],"reference_path":[[6.791354179382324,-62.446014404296875,1.5117865800857544,0,0,-0.0005118600223512745],[6.791354179382324,-62.446014404296875,-0.4882134199142456,0,0,-0.0005118600223512745],[6.791354179382324,-62.446014404296875,-2.4882134199142456,0,0,-0.0005118600223512745],[6.791354179382324,-62.446014404296875,-4.488213419914246,0,0,-0.0005118600223512745],[6.791354179382324,-62.446014404296875,-6.488213419914246,0,0,-0.0005118600223512745],[11.791353524380632,-62.44857370429688,-6.488213419914246,0,0,-0.0005118600223512745]]},{"id":1,"instruction":"turn right and move forward above the road.","completed_instruction":"Fly forward to the middle of the next black roof, turn right to face the door behind the utility pole and wires, and then fly forward until reaching the wall painted with the word \"OP\" above the green iron gate.","start_frame":6,"end_frame":19,"start_position":[11.791353524380632,-62.44857370429688,-6.488213419914246],"start_rotation":[0.99999996724991491,0,0,-0.00025593000838172736],"end_position":[33.27418730914011,-38.31142108839606,-6.488213419914246],"end_rotation":[0.79350911462647422,0,0,0.60855836614470182],"actions":[1,1,1,3,3,3,3,3,1,1,1,1,1,1],"reference_path":[[11.791353524380632,-62.44857370429688,-6.488213419914246,0,0,-0.0005118600223512745],[16.79135286937894,-62.45113300429688,-6.488213419914246,0,0,-0.0005118600223512745],[21.79135221437725,-62.45369230429688,-6.488213419914246,0,0,-0.0005118600223512745],[26.791351559375556,-62.45625160429688,-6.488213419914246,0,0,-0.0005118600223512745],[26.791351559375556,-62.45625160429688,-6.488213419914246,0,0,0.26128752777679815],[26.791351559375556,-62.45625160429688,-6.488213419914246,0,0,0.5230869155759477],[26.791351559375556,-62.45625160429688,-6.488213419914246,0,0,0.7848863033750971],[26.791351559375556,-62.45625160429688,-6.488213419914246,0,0,1.0466856911742466],[26.791351559375556,-62.45625160429688,-6.488213419914246,0,0,1.3084850789733964],[28.087918709328466,-57.62728550111672,-6.488213419914246,0,0,1.3084850789733964],[29.384485859281376,-52.79831939793655,-6.488213419914246,0,0,1.3084850789733964],[30.681053009234287,-47.96935329475639,-6.488213419914246,0,0,1.3084850789733964],[31.977620159187197,-43.140387191576224,-6.488213419914246,0,0,1.3084850789733964],[33.27418730914011,-38.31142108839606,-6.488213419914246,0,0,1.3084850789733964]]},{"id":2,"instruction":"move slight right above the building and move slight left and move forward above the road.","completed_instruction":"Fly across the roof and move forward above the road across two electric wires.","start_frame":19,"end_frame":34,"start_position":[33.27418730914011,-38.31142108839606,-6.488213419914246],"start_rotation":[0.79350911462647422,0,0,0.60855836614470182],"end_position":[31.41101380249724,23.25550590058058,-6.488213419914246],"end_rotation":[0.70728772787317584,0,0,0.70692578818430463],"actions":[1,7,1,7,1,1,1,1,3,1,1,1,1,1,1,3],"reference_path":[[33.27418730914011,-38.31142108839606,-6.488213419914246,0,0,1.3084850789733964],[34.570754459093024,-33.482454985215895,-6.488213419914246,0,0,1.3084850789733964],[29.741788355912863,-32.18588783526298,-6.488213419914246,0,0,1.3084850789733964],[31.038355505865773,-27.35692173208282,-6.488213419914246,0,0,1.3084850789733964],[26.209389402685613,-26.06035458212991,-6.488213419914246,0,0,1.3084850789733964],[27.505956552638523,-21.23138847894975,-6.488213419914246,0,0,1.3084850789733964],[28.802523702591433,-16.40242237576959,-6.488213419914246,0,0,1.3084850789733964],[30.099090852544343,-11.573456272589429,-6.488213419914246,0,0,1.3084850789733964],[31.395658002497253,-6.744490169409268,-6.488213419914246,0,0,1.3084850789733964],[31.395658002497253,-6.744490169409268,-6.488213419914246,0,0,1.570284466772546],[31.39821730249725,-1.7444908244109598,-6.488213419914246,0,0,1.570284466772546],[31.40077660249725,3.255508520587348,-6.488213419914246,0,0,1.570284466772546],[31.403335902497247,8.255507865585656,-6.488213419914246,0,0,1.570284466772546],[31.405895202497245,13.255507210583964,-6.488213419914246,0,0,1.570284466772546],[31.408454502497243,18.255506555582272,-6.488213419914246,0,0,1.570284466772546],[31.41101380249724,23.25550590058058,-6.488213419914246,0,0,1.570284466772546]]},{"id":3,"instruction":"turn slight right near the electric wire and move forward towards the pipe line area.","completed_instruction":"Move forward towards the pipe line area to the front of black roof building with 2 billboards on its wall.","start_frame":34,"end_frame":38,"start_position":[31.41101380249724,23.25550590058058,-6.488213419914246],"start_rotation":[0.70728772787317584,0,0,0.70692578818430463],"end_position":[23.997476984115874,31.624464727250952,-6.488213419914246],"end_rotation":[0.60896445199876215,0,0,0.7931975139912173],"actions":[3,1,1,7,1],"reference_path":[[31.41101380249724,23.25550590058058,-6.488213419914246,0,0,1.570284466772546],[31.41101380249724,23.25550590058058,-6.488213419914246,0,0,1.8320838545716955],[30.11939084047877,28.085796794925002,-6.488213419914246,0,0,1.8320838545716955],[28.827767878460296,32.916087689269425,-6.488213419914246,0,0,1.8320838545716955],[23.997476984115874,31.624464727250952,-6.488213419914246,0,0,1.8320838545716955]]},{"id":4,"instruction":"turn right and look out there and turn left and move forward to the four pillars and staircase.","completed_instruction":"Fly to the edge of the roof of the aforementioned building, then turn left to face the two-story shabby building with \"PO\" sprayed on the exterior wall and four pillars behind it, then fly forward to the front of the \"PO\" exterior wall.","start_frame":38,"end_frame":59,"start_position":[23.997476984115874,31.624464727250952,-6.488213419914246],"start_rotation":[0.60896445199876215,0,0,0.7931975139912173],"end_position":[31.763535027252193,58.010077386952034,-6.488213419914246],"end_rotation":[0.99999996724991491,0,0,-0.00025593000838129644],"actions":[1,1,1,1,3,3,1,1,2,2,2,2,2,2,2,2,2,1,1,1,1,1],"reference_path":[[23.997476984115874,31.624464727250952,-6.488213419914246,0,0,1.8320838545716955],[22.7058540220974,36.454755621595375,-6.488213419914246,0,0,1.8320838545716955],[21.41423106007893,41.2850465159398,-6.488213419914246,0,0,1.8320838545716955],[20.122608098060457,46.11533741028422,-6.488213419914246,0,0,1.8320838545716955],[18.830985136041985,50.94562830462864,-6.488213419914246,0,0,1.8320838545716955],[18.830985136041985,50.94562830462864,-6.488213419914246,0,0,2.093883242370845],[18.830985136041985,50.94562830462864,-6.488213419914246,0,0,2.3556826301699947],[15.297261391650473,54.48297144579033,-6.488213419914246,0,0,2.3556826301699947],[11.76353764725896,58.02031458695201,-6.488213419914246,0,0,2.3556826301699947],[11.76353764725896,58.02031458695201,-6.488213419914246,0,0,2.093883242370845],[11.76353764725896,58.02031458695201,-6.488213419914246,0,0,1.8320838545716955],[11.76353764725896,58.02031458695201,-6.488213419914246,0,0,1.5702844667725462],[11.76353764725896,58.02031458695201,-6.488213419914246,0,0,1.3084850789733968],[11.76353764725896,58.02031458695201,-6.488213419914246,0,0,1.0466856911742473],[11.76353764725896,58.02031458695201,-6.488213419914246,0,0,0.7848863033750979],[11.76353764725896,58.02031458695201,-6.488213419914246,0,0,0.5230869155759484],[11.76353764725896,58.02031458695201,-6.488213419914246,0,0,0.26128752777679903],[11.76353764725896,58.02031458695201,-6.488213419914246,0,0,-0.0005118600223504127],[16.76353699225727,58.01775528695202,-6.488213419914246,0,0,-0.0005118600223504127],[21.763536337255577,58.01519598695202,-6.488213419914246,0,0,-0.0005118600223504127],[26.763535682253885,58.01263668695203,-6.488213419914246,0,0,-0.0005118600223504127],[31.763535027252193,58.010077386952034,-6.488213419914246,0,0,-0.0005118600223504127]]},{"id":5,"instruction":"move slight right before the pillars and move slight forward to the metal sheet.","completed_instruction":"Move slightly to the right in front of the pillar until facing the graffiti, and then fly forward onto the metal plate.","start_frame":59,"end_frame":62,"start_position":[31.763535027252193,58.010077386952034,-6.488213419914246],"start_rotation":[0.99999996724991491,0,0,-0.00025593000838129644],"end_position":[41.76609301724881,63.00495813195035,-6.488213419914246],"end_rotation":[0.99999996724991491,0,0,-0.00025593000838129644],"actions":[1,1,7,1],"reference_path":[[31.763535027252193,58.010077386952034,-6.488213419914246,0,0,-0.0005118600223504127],[36.763534372250504,58.00751808695204,-6.488213419914246,0,0,-0.0005118600223504127],[41.76353371724881,58.004958786952045,-6.488213419914246,0,0,-0.0005118600223504127],[41.76609301724881,63.00495813195035,-6.488213419914246,0,0,-0.0005118600223504127]]},{"id":6,"instruction":"slow down near the sheet and lower down height and land it over there.","completed_instruction":"Lower down height and land in front of the graffiti.","start_frame":62,"end_frame":67,"start_position":[41.76609301724881,63.00495813195035,-6.488213419914246],"start_rotation":[0.99999996724991491,0,0,-0.00025593000838129644],"end_position":[51.76609170724542,62.999839531950364,-0.4882134199142456],"end_rotation":[0.99999996724991491,0,0,-0.00025593000838129644],"actions":[1,1,5,5,5,0],"reference_path":[[41.76609301724881,63.00495813195035,-6.488213419914246,0,0,-0.0005118600223504127],[46.766092362247115,63.00239883195036,-6.488213419914246,0,0,-0.0005118600223504127],[51.76609170724542,62.999839531950364,-6.488213419914246,0,0,-0.0005118600223504127],[51.76609170724542,62.999839531950364,-4.488213419914246,0,0,-0.0005118600223504127],[51.76609170724542,62.999839531950364,-2.4882134199142456,0,0,-0.0005118600223504127],[51.76609170724542,62.999839531950364,-0.4882134199142456,0,0,-0.0005118600223504127]]}],"statistics":{"complete_actions":73,"sentence_actions":[6,14,16,5,22,4,6],"sentence_actions_average":10.43}}
diff --git a/scene_2/32RIADZIS121YYLX5FQJH1KI6UNS40.json b/scene_2/32RIADZIS121YYLX5FQJH1KI6UNS40.json
new file mode 100644
index 0000000000000000000000000000000000000000..86642481f5c9764c785032248854d6148da830f2
--- /dev/null
+++ b/scene_2/32RIADZIS121YYLX5FQJH1KI6UNS40.json
@@ -0,0 +1 @@
+{"episode_id":"32RIADZIS121YYLX5FQJH1KI6UNS40","trajectory_id":"375VMB7D5RHMIW413BSWRKDDHFCDI8","scene_id":2,"instruction":"take off and turn left until you see the billboard. go passed the billboard and move above the roof nearby. turn right and move forward. turn left when passing street wires, and continue moving forward until you see a discoloured door.","sentence_instructions":[{"id":0,"instruction":"take off and turn left until you see the billboard.","completed_instruction":"Take off, rise up to the higher altitude than the front building, turn left until facing a gate where a billboard with three legs is on the left.","start_frame":1,"end_frame":15,"start_position":[-16.993558883666992,64.20699310302734,2.484872817993164],"start_rotation":[0.99998821218962,0,0,-0.0048554589698067956],"end_position":[-16.993558883666992,64.20699310302734,-7.515127182006836],"end_rotation":[0.378193062202201,0,0,-0.925726745698817],"actions":[4,4,4,4,4,2,2,2,2,2,2,2,2,2,2],"reference_path":[[-16.993558883666992,64.20699310302734,2.484872817993164,0,0,-0.00971095609661327],[-16.993558883666992,64.20699310302734,0.48487281799316406,0,0,-0.00971095609661327],[-16.993558883666992,64.20699310302734,-1.515127182006836,0,0,-0.00971095609661327],[-16.993558883666992,64.20699310302734,-3.515127182006836,0,0,-0.00971095609661327],[-16.993558883666992,64.20699310302734,-5.515127182006836,0,0,-0.00971095609661327],[-16.993558883666992,64.20699310302734,-7.515127182006836,0,0,-0.00971095609661327],[-16.993558883666992,64.20699310302734,-7.515127182006836,0,0,-0.27151034389576273],[-16.993558883666992,64.20699310302734,-7.515127182006836,0,0,-0.5333097316949121],[-16.993558883666992,64.20699310302734,-7.515127182006836,0,0,-0.7951091194940616],[-16.993558883666992,64.20699310302734,-7.515127182006836,0,0,-1.0569085072932112],[-16.993558883666992,64.20699310302734,-7.515127182006836,0,0,-1.3187078950923605],[-16.993558883666992,64.20699310302734,-7.515127182006836,0,0,-1.5805072828915099],[-16.993558883666992,64.20699310302734,-7.515127182006836,0,0,-1.8423066706906592],[-16.993558883666992,64.20699310302734,-7.515127182006836,0,0,-2.1041060584898084],[-16.993558883666992,64.20699310302734,-7.515127182006836,0,0,-2.3659054462889575]]},{"id":1,"instruction":"go passed the billboard and move above the roof nearby.","completed_instruction":"Fly forward, passing the gate, and fly to the wooden top of a box on the right side.","start_frame":15,"end_frame":25,"start_position":[-16.993558883666992,64.20699310302734,-7.515127182006836],"start_rotation":[0.378193062202201,0,0,-0.925726745698817],"end_position":[-45.57659114138208,53.814194300278466,-7.515127182006836],"end_rotation":[0.49578915527992445,0,0,-0.86844292472609785],"actions":[2,1,1,1,1,1,6,1,3,3,1],"reference_path":[[-16.993558883666992,64.20699310302734,-7.515127182006836,0,0,-2.3659054462889575],[-16.993558883666992,64.20699310302734,-7.515127182006836,0,0,-2.627704834088107],[-21.34775874160055,61.749159992913604,-7.515127182006836,0,0,-2.627704834088107],[-25.70195859953411,59.291326882799865,-7.515127182006836,0,0,-2.627704834088107],[-30.056158457467667,56.833493772686126,-7.515127182006836,0,0,-2.627704834088107],[-34.410358315401226,54.375660662572386,-7.515127182006836,0,0,-2.627704834088107],[-38.764558173334784,51.91782755245865,-7.515127182006836,0,0,-2.627704834088107],[-41.22239128344852,56.272027410392205,-7.515127182006836,0,0,-2.627704834088107],[-45.57659114138208,53.814194300278466,-7.515127182006836,0,0,-2.627704834088107],[-45.57659114138208,53.814194300278466,-7.515127182006836,0,0,-2.3659054462889575],[-45.57659114138208,53.814194300278466,-7.515127182006836,0,0,-2.1041060584898084]]},{"id":2,"instruction":"turn right and move forward.","completed_instruction":"Turn right to face the utility pole, and fly forward across the electric pole and wires, then fly to the next wire pole beside the brown walls.","start_frame":25,"end_frame":42,"start_position":[-45.57659114138208,53.814194300278466,-7.515127182006836],"start_rotation":[0.49578915527992445,0,0,-0.86844292472609785],"end_position":[-22.551674797687323,24.30473618110587,-7.515127182006836],"end_rotation":[0.99079940983897274,0,0,-0.13533857344727421],"actions":[1,1,1,3,3,3,3,3,3,1,1,1,1,1,1,3,1,1],"reference_path":[[-45.57659114138208,53.814194300278466,-7.515127182006836,0,0,-2.1041060584898084],[-48.11852227645027,49.50854845969067,-7.515127182006836,0,0,-2.1041060584898084],[-50.66045341151846,45.20290261910288,-7.515127182006836,0,0,-2.1041060584898084],[-53.20238454658665,40.897256778515086,-7.515127182006836,0,0,-2.1041060584898084],[-53.20238454658665,40.897256778515086,-7.515127182006836,0,0,-1.8423066706906588],[-53.20238454658665,40.897256778515086,-7.515127182006836,0,0,-1.5805072828915094],[-53.20238454658665,40.897256778515086,-7.515127182006836,0,0,-1.3187078950923599],[-53.20238454658665,40.897256778515086,-7.515127182006836,0,0,-1.0569085072932105],[-53.20238454658665,40.897256778515086,-7.515127182006836,0,0,-0.795109119494061],[-53.20238454658665,40.897256778515086,-7.515127182006836,0,0,-0.5333097316949117],[-48.89673870599886,38.355325643446896,-7.515127182006836,0,0,-0.5333097316949117],[-44.59109286541106,35.81339450837871,-7.515127182006836,0,0,-0.5333097316949117],[-40.28544702482327,33.27146337331052,-7.515127182006836,0,0,-0.5333097316949117],[-35.97980118423548,30.729532238242328,-7.515127182006836,0,0,-0.5333097316949117],[-31.674155343647683,28.18760110317414,-7.515127182006836,0,0,-0.5333097316949117],[-27.36850950305989,25.64566996810595,-7.515127182006836,0,0,-0.5333097316949117],[-27.36850950305989,25.64566996810595,-7.515127182006836,0,0,-0.2715103438957623],[-22.551674797687323,24.30473618110587,-7.515127182006836,0,0,-0.2715103438957623]]},{"id":3,"instruction":"turn left when passing street wires, and continue moving forward until you see a discoloured door.","completed_instruction":"Fly over the wire to the black roof, turn left to face a open garage and fly to its roof, then turn left to a broken orange roof and fly over it, and then fly over the iron fences, land in front of the the second brick house on the left.","start_frame":42,"end_frame":83,"start_position":[-22.551674797687323,24.30473618110587,-7.515127182006836],"start_rotation":[0.99079940983897274,0,0,-0.13533857344727421],"end_position":[-21.390201408053812,-63.17401349198842,-1.515127182006836],"end_rotation":[0.378193062202201,0,0,-0.925726745698817],"actions":[1,1,1,3,1,2,1,2,2,1,1,1,1,1,2,2,2,2,1,1,1,1,1,1,1,1,2,1,2,1,1,1,5,1,2,1,5,1,5,1,3,0],"reference_path":[[-22.551674797687323,24.30473618110587,-7.515127182006836,0,0,-0.2715103438957623],[-17.734840092314755,22.96380239410579,-7.515127182006836,0,0,-0.2715103438957623],[-12.918005386942188,21.622868607105712,-7.515127182006836,0,0,-0.2715103438957623],[-8.10117068156962,20.281934820105633,-7.515127182006836,0,0,-0.2715103438957623],[-8.10117068156962,20.281934820105633,-7.515127182006836,0,0,-0.00971095609661285],[-3.1014064363876948,20.233380802759864,-7.515127182006836,0,0,-0.00971095609661285],[-3.1014064363876948,20.233380802759864,-7.515127182006836,0,0,-0.2715103438957623],[1.7154282689848728,18.892447015759785,-7.515127182006836,0,0,-0.2715103438957623],[1.7154282689848728,18.892447015759785,-7.515127182006836,0,0,-0.5333097316949117],[1.7154282689848728,18.892447015759785,-7.515127182006836,0,0,-0.795109119494061],[5.21646259616801,15.322746938738565,-7.515127182006836,0,0,-0.795109119494061],[8.717496923351147,11.753046861717344,-7.515127182006836,0,0,-0.795109119494061],[12.218531250534284,8.183346784696123,-7.515127182006836,0,0,-0.795109119494061],[15.719565577717422,4.613646707674902,-7.515127182006836,0,0,-0.795109119494061],[19.22059990490056,1.0439466306536804,-7.515127182006836,0,0,-0.795109119494061],[19.22059990490056,1.0439466306536804,-7.515127182006836,0,0,-1.0569085072932105],[19.22059990490056,1.0439466306536804,-7.515127182006836,0,0,-1.3187078950923599],[19.22059990490056,1.0439466306536804,-7.515127182006836,0,0,-1.5805072828915094],[19.22059990490056,1.0439466306536804,-7.515127182006836,0,0,-1.8423066706906588],[17.879666117900484,-3.772888074718887,-7.515127182006836,0,0,-1.8423066706906588],[16.53873233090041,-8.589722780091455,-7.515127182006836,0,0,-1.8423066706906588],[15.197798543900332,-13.406557485464022,-7.515127182006836,0,0,-1.8423066706906588],[13.856864756900254,-18.22339219083659,-7.515127182006836,0,0,-1.8423066706906588],[12.515930969900177,-23.04022689620916,-7.515127182006836,0,0,-1.8423066706906588],[11.1749971829001,-27.857061601581727,-7.515127182006836,0,0,-1.8423066706906588],[9.834063395900023,-32.67389630695429,-7.515127182006836,0,0,-1.8423066706906588],[8.493129608899945,-37.49073101232686,-7.515127182006836,0,0,-1.8423066706906588],[8.493129608899945,-37.49073101232686,-7.515127182006836,0,0,-2.1041060584898084],[5.951198473831756,-41.796376852914655,-7.515127182006836,0,0,-2.1041060584898084],[5.951198473831756,-41.796376852914655,-7.515127182006836,0,0,-2.3659054462889575],[2.3814983968105343,-45.2974111800978,-7.515127182006836,0,0,-2.3659054462889575],[-1.1882016802106872,-48.79844550728093,-7.515127182006836,0,0,-2.3659054462889575],[-4.757901757231909,-52.299479834464066,-7.515127182006836,0,0,-2.3659054462889575],[-4.757901757231909,-52.299479834464066,-5.515127182006836,0,0,-2.3659054462889575],[-8.32760183425313,-55.8005141616472,-5.515127182006836,0,0,-2.3659054462889575],[-8.32760183425313,-55.8005141616472,-5.515127182006836,0,0,-2.627704834088107],[-12.68180169218669,-58.25834727176094,-5.515127182006836,0,0,-2.627704834088107],[-12.68180169218669,-58.25834727176094,-3.515127182006836,0,0,-2.627704834088107],[-17.03600155012025,-60.71618038187468,-3.515127182006836,0,0,-2.627704834088107],[-17.03600155012025,-60.71618038187468,-1.515127182006836,0,0,-2.627704834088107],[-21.390201408053812,-63.17401349198842,-1.515127182006836,0,0,-2.627704834088107],[-21.390201408053812,-63.17401349198842,-1.515127182006836,0,0,-2.3659054462889575]]}],"statistics":{"complete_actions":86,"sentence_actions":[15,11,18,42],"sentence_actions_average":21.5}}
diff --git a/scene_2/32UTUBMZ7PU1BPNAEP5B02AVKSBVB0.json b/scene_2/32UTUBMZ7PU1BPNAEP5B02AVKSBVB0.json
new file mode 100644
index 0000000000000000000000000000000000000000..b5ad5408dd6552918bf46a8b7390705c15acc930
--- /dev/null
+++ b/scene_2/32UTUBMZ7PU1BPNAEP5B02AVKSBVB0.json
@@ -0,0 +1 @@
+{"episode_id":"32UTUBMZ7PU1BPNAEP5B02AVKSBVB0","trajectory_id":"329E6HTMT40F6ZSSAP7WRR6EJA8K3X","scene_id":2,"instruction":"turn right and head forward over all of the buildings to the small broken down tower at the edge. turn around to face the opposite direction and head over the metal bars running across your path. stop just behind the small building just after the bars and before the wasteland.","sentence_instructions":[{"id":0,"instruction":"turn right and head forward over all of the buildings to the small broken down tower at the edge.","completed_instruction":"Take off, turn right until facing a wide, open road, and fly forward across a building with \"PO\" painting, turn right slightly until a pipeline is horizontal in the screen, then fly over all of the buildings to a broken building with four pillars at the edge.","start_frame":1,"end_frame":71,"start_position":[185.4297637939453,-39.16817092895508,-6.489437103271484],"start_rotation":[0.99977313571772808,0,0,-0.021299697113839451],"end_position":[-16.170448225049928,33.78974373302984,-8.489437103271484],"end_rotation":[0.36291826095070251,0,0,-0.93182097844409884],"actions":[3,3,3,3,3,3,3,3,3,4,1,1,1,1,1,7,1,1,1,1,3,1,1,1,1,1,1,7,1,1,1,1,1,1,1,1,1,1,1,3,1,1,7,1,1,1,1,1,7,1,1,1,1,1,7,1,3,3,1,2,2,1,1,1,3,3,3,3,1,1,1],"reference_path":[[185.4297637939453,-39.16817092895508,-6.489437103271484,0,0,-0.04260261594703691],[185.4297637939453,-39.16817092895508,-6.489437103271484,0,0,0.21919677185211253],[185.4297637939453,-39.16817092895508,-6.489437103271484,0,0,0.48099615965126197],[185.4297637939453,-39.16817092895508,-6.489437103271484,0,0,0.7427955474504113],[185.4297637939453,-39.16817092895508,-6.489437103271484,0,0,1.004594935249561],[185.4297637939453,-39.16817092895508,-6.489437103271484,0,0,1.2663943230487102],[185.4297637939453,-39.16817092895508,-6.489437103271484,0,0,1.5281937108478596],[185.4297637939453,-39.16817092895508,-6.489437103271484,0,0,1.7899930986470092],[185.4297637939453,-39.16817092895508,-6.489437103271484,0,0,2.0517924864461583],[185.4297637939453,-39.16817092895508,-6.489437103271484,0,0,2.3135918742453074],[185.4297637939453,-39.16817092895508,-8.489437103271484,0,0,2.3135918742453074],[182.04801530380217,-35.4852675702699,-8.489437103271484,0,0,2.3135918742453074],[178.66626681365904,-31.80236421158472,-8.489437103271484,0,0,2.3135918742453074],[175.2845183235159,-28.119460852899543,-8.489437103271484,0,0,2.3135918742453074],[171.90276983337276,-24.436557494214366,-8.489437103271484,0,0,2.3135918742453074],[168.52102134322962,-20.75365413552919,-8.489437103271484,0,0,2.3135918742453074],[164.83811798454445,-24.135402625672334,-8.489437103271484,0,0,2.3135918742453074],[161.45636949440132,-20.452499266987157,-8.489437103271484,0,0,2.3135918742453074],[158.07462100425818,-16.76959590830198,-8.489437103271484,0,0,2.3135918742453074],[154.69287251411504,-13.086692549616803,-8.489437103271484,0,0,2.3135918742453074],[151.3111240239719,-9.403789190931626,-8.489437103271484,0,0,2.3135918742453074],[151.3111240239719,-9.403789190931626,-8.489437103271484,0,0,2.575391262044457],[147.09140028882882,-6.7216386360466025,-8.489437103271484,0,0,2.575391262044457],[142.87167655368575,-4.039488081161579,-8.489437103271484,0,0,2.575391262044457],[138.65195281854267,-1.3573375262765555,-8.489437103271484,0,0,2.575391262044457],[134.4322290833996,1.3248130286084683,-8.489437103271484,0,0,2.575391262044457],[130.2125053482565,4.0069635834934925,-8.489437103271484,0,0,2.575391262044457],[125.99278161311342,6.689114138378516,-8.489437103271484,0,0,2.575391262044457],[123.3106310582284,2.4693904032354244,-8.489437103271484,0,0,2.575391262044457],[119.0909073230853,5.151540958120448,-8.489437103271484,0,0,2.575391262044457],[114.87118358794221,7.833691513005471,-8.489437103271484,0,0,2.575391262044457],[110.65145985279912,10.515842067890494,-8.489437103271484,0,0,2.575391262044457],[106.43173611765603,13.197992622775518,-8.489437103271484,0,0,2.575391262044457],[102.21201238251294,15.88014317766054,-8.489437103271484,0,0,2.575391262044457],[97.99228864736985,18.562293732545566,-8.489437103271484,0,0,2.575391262044457],[93.77256491222676,21.24444428743059,-8.489437103271484,0,0,2.575391262044457],[89.55284117708366,23.926594842315613,-8.489437103271484,0,0,2.575391262044457],[85.33311744194057,26.608745397200636,-8.489437103271484,0,0,2.575391262044457],[81.11339370679748,29.29089595208566,-8.489437103271484,0,0,2.575391262044457],[76.89366997165439,31.973046506970682,-8.489437103271484,0,0,2.575391262044457],[76.89366997165439,31.973046506970682,-8.489437103271484,0,0,2.837190649843606],[72.12353819063817,33.4716601302035,-8.489437103271484,0,0,2.837190649843606],[67.35340640962195,34.970273753436324,-8.489437103271484,0,0,2.837190649843606],[65.85479278638913,30.200141972420102,-8.489437103271484,0,0,2.837190649843606],[61.08466100537291,31.698755595652926,-8.489437103271484,0,0,2.837190649843606],[56.31452922435669,33.19736921888575,-8.489437103271484,0,0,2.837190649843606],[51.54439744334047,34.69598284211857,-8.489437103271484,0,0,2.837190649843606],[46.774265662324254,36.19459646535139,-8.489437103271484,0,0,2.837190649843606],[42.004133881308036,37.69321008858421,-8.489437103271484,0,0,2.837190649843606],[40.50552025807521,32.92307830756799,-8.489437103271484,0,0,2.837190649843606],[35.73538847705899,34.42169193080081,-8.489437103271484,0,0,2.837190649843606],[30.96525669604277,35.92030555403363,-8.489437103271484,0,0,2.837190649843606],[26.195124915026547,37.41891917726645,-8.489437103271484,0,0,2.837190649843606],[21.424993134010325,38.91753280049927,-8.489437103271484,0,0,2.837190649843606],[16.654861352994104,40.416146423732094,-8.489437103271484,0,0,2.837190649843606],[15.15624772976128,35.64601464271587,-8.489437103271484,0,0,2.837190649843606],[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around to face the opposite direction and head over the metal bars running across your path.","completed_instruction":"Turn left to face a concrete door and wall with a billboard behind, then fly towards the billboard.","start_frame":71,"end_frame":87,"start_position":[-16.170448225049928,33.78974373302984,-8.489437103271484],"start_rotation":[0.36291826095070251,0,0,-0.93182097844409884],"end_position":[-41.09903434596682,50.240532571859426,-8.489437103271484],"end_rotation":[0.51833264665236345,0,0,0.85517908499585993],"actions":[1,1,1,2,2,2,2,2,2,2,1,1,1,1,1,1,2],"reference_path":[[-16.170448225049928,33.78974373302984,-8.489437103271484,0,0,-2.3987971061393827],[-19.853351583735105,30.40799524288669,-8.489437103271484,0,0,-2.3987971061393827],[-23.536254942420282,27.026246752743546,-8.489437103271484,0,0,-2.3987971061393827],[-27.21915830110546,23.6444982626004,-8.489437103271484,0,0,-2.3987971061393827],[-27.21915830110546,23.6444982626004,-8.489437103271484,0,0,-2.6605964939385323],[-27.21915830110546,23.6444982626004,-8.489437103271484,0,0,-2.922395881737682],[-27.21915830110546,23.6444982626004,-8.489437103271484,0,0,3.0989900376427553],[-27.21915830110546,23.6444982626004,-8.489437103271484,0,0,2.8371906498436057],[-27.21915830110546,23.6444982626004,-8.489437103271484,0,0,2.5753912620444566],[-27.21915830110546,23.6444982626004,-8.489437103271484,0,0,2.3135918742453074],[-27.21915830110546,23.6444982626004,-8.489437103271484,0,0,2.051792486446158],[-29.53247097524902,28.077170647476905,-8.489437103271484,0,0,2.051792486446158],[-31.84578364939258,32.50984303235341,-8.489437103271484,0,0,2.051792486446158],[-34.15909632353614,36.94251541722991,-8.489437103271484,0,0,2.051792486446158],[-36.4724089976797,41.37518780210642,-8.489437103271484,0,0,2.051792486446158],[-38.78572167182326,45.80786018698292,-8.489437103271484,0,0,2.051792486446158],[-41.09903434596682,50.240532571859426,-8.489437103271484,0,0,2.051792486446158]]},{"id":2,"instruction":"stop just behind the small building just after the bars and before the wasteland.","completed_instruction":"Turn left to face the brick wall, then fly over all the buildings to a building with \"PO\" painting, then turn left to face the nearest building\u0027s roof, fly over the mentioned building and stop.","start_frame":87,"end_frame":134,"start_position":[-41.09903434596682,50.240532571859426,-8.489437103271484],"start_rotation":[0.51833264665236345,0,0,0.85517908499585993],"end_position":[119.35091865506168,10.516918584109764,-8.489437103271484],"end_rotation":[0.915518896044377,0,0,-0.402274969375035],"actions":[2,2,2,2,2,2,2,2,1,1,1,1,1,1,1,1,1,1,6,1,1,1,1,1,6,1,1,1,1,1,1,1,1,1,1,2,1,1,1,1,2,2,1,1,1,1,1,0],"reference_path":[[-41.09903434596682,50.240532571859426,-8.489437103271484,0,0,2.051792486446158],[-41.09903434596682,50.240532571859426,-8.489437103271484,0,0,1.7899930986470085],[-41.09903434596682,50.240532571859426,-8.489437103271484,0,0,1.5281937108478592],[-41.09903434596682,50.240532571859426,-8.489437103271484,0,0,1.2663943230487098],[-41.09903434596682,50.240532571859426,-8.489437103271484,0,0,1.0045949352495605],[-41.09903434596682,50.240532571859426,-8.489437103271484,0,0,0.742795547450411],[-41.09903434596682,50.240532571859426,-8.489437103271484,0,0,0.4809961596512617],[-41.09903434596682,50.240532571859426,-8.489437103271484,0,0,0.2191967718521123],[-41.09903434596682,50.240532571859426,-8.489437103271484,0,0,-0.042602615947037126],[-36.103571116938234,50.02758392212601,-8.489437103271484,0,0,-0.042602615947037126],[-31.108107887909647,49.8146352723926,-8.489437103271484,0,0,-0.042602615947037126],[-26.11264465888106,49.60168662265919,-8.489437103271484,0,0,-0.042602615947037126],[-21.117181429852472,49.388737972925774,-8.489437103271484,0,0,-0.042602615947037126],[-16.121718200823885,49.17578932319236,-8.489437103271484,0,0,-0.042602615947037126],[-11.126254971795298,48.96284067345895,-8.489437103271484,0,0,-0.042602615947037126],[-6.130791742766711,48.749892023725536,-8.489437103271484,0,0,-0.042602615947037126],[-1.1353285137381235,48.53694337399212,-8.489437103271484,0,0,-0.042602615947037126],[3.8601347152904637,48.32399472425871,-8.489437103271484,0,0,-0.042602615947037126],[8.855597944319051,48.1110460745253,-8.489437103271484,0,0,-0.042602615947037126],[8.642649294585638,43.11558284549671,-8.489437103271484,0,0,-0.042602615947037126],[13.638112523614225,42.9026341957633,-8.489437103271484,0,0,-0.042602615947037126],[18.633575752642813,42.689685546029885,-8.489437103271484,0,0,-0.042602615947037126],[23.6290389816714,42.47673689629647,-8.489437103271484,0,0,-0.042602615947037126],[28.624502210699987,42.26378824656306,-8.489437103271484,0,0,-0.042602615947037126],[33.619965439728574,42.05083959682965,-8.489437103271484,0,0,-0.042602615947037126],[33.40701678999516,37.05537636780106,-8.489437103271484,0,0,-0.042602615947037126],[38.40248001902375,36.84242771806765,-8.489437103271484,0,0,-0.042602615947037126],[43.397943248052336,36.629479068334234,-8.489437103271484,0,0,-0.042602615947037126],[48.39340647708092,36.41653041860082,-8.489437103271484,0,0,-0.042602615947037126],[53.38886970610951,36.20358176886741,-8.489437103271484,0,0,-0.042602615947037126],[58.3843329351381,35.990633119133996,-8.489437103271484,0,0,-0.042602615947037126],[63.379796164166684,35.77768446940058,-8.489437103271484,0,0,-0.042602615947037126],[68.37525939319528,35.56473581966717,-8.489437103271484,0,0,-0.042602615947037126],[73.37072262222387,35.35178716993376,-8.489437103271484,0,0,-0.042602615947037126],[78.36618585125245,35.138838520200345,-8.489437103271484,0,0,-0.042602615947037126],[83.36164908028104,34.92588987046693,-8.489437103271484,0,0,-0.042602615947037126],[83.36164908028104,34.92588987046693,-8.489437103271484,0,0,-0.30440200374618653],[88.13178086129726,33.42727624723411,-8.489437103271484,0,0,-0.30440200374618653],[92.90191264231348,31.92866262400129,-8.489437103271484,0,0,-0.30440200374618653],[97.6720444233297,30.43004900076847,-8.489437103271484,0,0,-0.30440200374618653],[102.44217620434591,28.93143537753565,-8.489437103271484,0,0,-0.30440200374618653],[102.44217620434591,28.93143537753565,-8.489437103271484,0,0,-0.5662013915453361],[102.44217620434591,28.93143537753565,-8.489437103271484,0,0,-0.8280007793444855],[105.82392469448907,25.248532018850472,-8.489437103271484,0,0,-0.8280007793444855],[109.20567318463222,21.565628660165295,-8.489437103271484,0,0,-0.8280007793444855],[112.58742167477537,17.882725301480118,-8.489437103271484,0,0,-0.8280007793444855],[115.96917016491852,14.19982194279494,-8.489437103271484,0,0,-0.8280007793444855],[119.35091865506168,10.516918584109764,-8.489437103271484,0,0,-0.8280007793444855]]}],"statistics":{"complete_actions":136,"sentence_actions":[71,17,48],"sentence_actions_average":45.33}}
diff --git a/scene_2/35GMH2SV3NF4S8QXN4LN6IM8R1UOE4.json b/scene_2/35GMH2SV3NF4S8QXN4LN6IM8R1UOE4.json
new file mode 100644
index 0000000000000000000000000000000000000000..c7b6ecfd24bec562cbcef86a7bc80b888cf541f4
--- /dev/null
+++ b/scene_2/35GMH2SV3NF4S8QXN4LN6IM8R1UOE4.json
@@ -0,0 +1 @@
+{"episode_id":"35GMH2SV3NF4S8QXN4LN6IM8R1UOE4","trajectory_id":"3XD2A6FGGVSZ9KUGW7H89Q0A0WVS93","scene_id":2,"instruction":"turn right until you see a metal track going horizontal across your view and go forward until you see a large green door. turn right until you see a white van. go towards the white van then turn left to the three buildings on the edge of the map the go towards them. go and stop above the building on the edge of the map. and turn all the way around until youre facing a fence and billboard. go forward.","sentence_instructions":[{"id":0,"instruction":"turn right until you see a metal track going horizontal across your view and go forward until you see a large green door.","completed_instruction":"Take off, descend to the altitude just slightly higher than the front electric wires, then turn right until seeing a pipeline going horizontal across your view, and fly over green fences, fly forward to a building with green and brown doors.","start_frame":1,"end_frame":34,"start_position":[106.87444305419922,-4.6568803787231445,-18.31999397277832],"start_rotation":[0.99996375275804783,0,0,-0.0085142921045556364],"end_position":[35.257118716082,-1.1025170739664143,-10.31999397277832],"end_rotation":[0.00851429210455572,0,0,0.99996375275804783],"actions":[5,5,5,5,3,3,3,3,3,3,3,3,3,3,3,1,1,1,1,7,1,1,1,1,7,1,1,1,1,1,7,3,1,1],"reference_path":[[106.87444305419922,-4.6568803787231445,-18.31999397277832,0,0,-0.01702878995849839],[106.87444305419922,-4.6568803787231445,-16.31999397277832,0,0,-0.01702878995849839],[106.87444305419922,-4.6568803787231445,-14.31999397277832,0,0,-0.01702878995849839],[106.87444305419922,-4.6568803787231445,-12.31999397277832,0,0,-0.01702878995849839],[106.87444305419922,-4.6568803787231445,-10.31999397277832,0,0,-0.01702878995849839],[106.87444305419922,-4.6568803787231445,-10.31999397277832,0,0,0.24477059784065103],[106.87444305419922,-4.6568803787231445,-10.31999397277832,0,0,0.5065699856398005],[106.87444305419922,-4.6568803787231445,-10.31999397277832,0,0,0.76836937343895],[106.87444305419922,-4.6568803787231445,-10.31999397277832,0,0,1.0301687612380994],[106.87444305419922,-4.6568803787231445,-10.31999397277832,0,0,1.2919681490372488],[106.87444305419922,-4.6568803787231445,-10.31999397277832,0,0,1.5537675368363981],[106.87444305419922,-4.6568803787231445,-10.31999397277832,0,0,1.8155669246355477],[106.87444305419922,-4.6568803787231445,-10.31999397277832,0,0,2.0773663124346973],[106.87444305419922,-4.6568803787231445,-10.31999397277832,0,0,2.3391657002338464],[106.87444305419922,-4.6568803787231445,-10.31999397277832,0,0,2.600965088032996],[106.87444305419922,-4.6568803787231445,-10.31999397277832,0,0,2.8627644758321455],[102.06754996376154,-3.280734014013893,-10.31999397277832,0,0,2.8627644758321455],[97.26065687332385,-1.9045876493046412,-10.31999397277832,0,0,2.8627644758321455],[92.45376378288617,-0.5284412845953894,-10.31999397277832,0,0,2.8627644758321455],[87.64687069244849,0.8477050801138624,-10.31999397277832,0,0,2.8627644758321455],[86.27072432773923,-3.9591880103238175,-10.31999397277832,0,0,2.8627644758321455],[81.46383123730155,-2.583041645614566,-10.31999397277832,0,0,2.8627644758321455],[76.65693814686387,-1.2068952809053142,-10.31999397277832,0,0,2.8627644758321455],[71.85004505642618,0.1692510838039376,-10.31999397277832,0,0,2.8627644758321455],[67.0431519659885,1.5453974485131894,-10.31999397277832,0,0,2.8627644758321455],[65.66700560127924,-3.2614956419244905,-10.31999397277832,0,0,2.8627644758321455],[60.86011251084156,-1.8853492772152387,-10.31999397277832,0,0,2.8627644758321455],[56.05321942040388,-0.5092029125059869,-10.31999397277832,0,0,2.8627644758321455],[51.246326329966195,0.8669434522032649,-10.31999397277832,0,0,2.8627644758321455],[46.43943323952851,2.2430898169125166,-10.31999397277832,0,0,2.8627644758321455],[41.63254014909083,3.619236181621768,-10.31999397277832,0,0,2.8627644758321455],[40.25639378438158,-1.187656908815912,-10.31999397277832,0,0,2.8627644758321455],[40.25639378438158,-1.187656908815912,-10.31999397277832,0,0,3.1245638636312947],[35.257118716082,-1.1025170739664143,-10.31999397277832,0,0,3.1245638636312947]]},{"id":1,"instruction":"turn right until you see a white van.","completed_instruction":"Turn right to face the orange and brown crumble roof.","start_frame":34,"end_frame":41,"start_position":[35.257118716082,-1.1025170739664143,-10.31999397277832],"start_rotation":[0.00851429210455572,0,0,0.99996375275804783],"end_position":[16.035534740454917,-4.569810512618558,-10.31999397277832],"end_rotation":[0.37480338093690441,0,0,-0.92710432295306755],"actions":[1,1,3,1,3,1,3,3],"reference_path":[[35.257118716082,-1.1025170739664143,-10.31999397277832,0,0,3.1245638636312947],[30.257843647782416,-1.0173772391169167,-10.31999397277832,0,0,3.1245638636312947],[25.258568579482834,-0.9322374042674191,-10.31999397277832,0,0,3.1245638636312947],[25.258568579482834,-0.9322374042674191,-10.31999397277832,0,0,-2.896822055749142],[20.40760386753329,-2.1439062383224425,-10.31999397277832,0,0,-2.896822055749142],[20.40760386753329,-2.1439062383224425,-10.31999397277832,0,0,-2.635022667949993],[16.035534740454917,-4.569810512618558,-10.31999397277832,0,0,-2.635022667949993],[16.035534740454917,-4.569810512618558,-10.31999397277832,0,0,-2.3732232801508433]]},{"id":2,"instruction":"go towards the white van then turn left to the three buildings on the edge of the map the go towards them.","completed_instruction":"Fly forward across the broken roof to the white van, then turn left to face the small isolated buildings on the rocky terrain, then go towards the buildings and the utility pole.","start_frame":41,"end_frame":68,"start_position":[16.035534740454917,-4.569810512618558,-10.31999397277832],"start_rotation":[0.37480338093690441,0,0,-0.92710432295306755],"end_position":[-29.968561655316172,-42.4289763921735,-8.31999397277832],"end_rotation":[0.00851429210455572,0,0,0.99996375275804783],"actions":[3,3,1,1,1,1,1,1,1,5,5,5,1,2,2,2,4,4,2,2,1,1,1,1,1,1,1,1],"reference_path":[[16.035534740454917,-4.569810512618558,-10.31999397277832,0,0,-2.3732232801508433],[16.035534740454917,-4.569810512618558,-10.31999397277832,0,0,-2.1114238923516937],[16.035534740454917,-4.569810512618558,-10.31999397277832,0,0,-1.8496245045525443],[14.659388375745666,-9.376703603056239,-10.31999397277832,0,0,-1.8496245045525443],[13.283242011036414,-14.183596693493918,-10.31999397277832,0,0,-1.8496245045525443],[11.907095646327162,-18.990489783931597,-10.31999397277832,0,0,-1.8496245045525443],[10.53094928161791,-23.797382874369276,-10.31999397277832,0,0,-1.8496245045525443],[9.15480291690866,-28.604275964806956,-10.31999397277832,0,0,-1.8496245045525443],[7.778656552199408,-33.411169055244635,-10.31999397277832,0,0,-1.8496245045525443],[6.402510187490156,-38.21806214568232,-10.31999397277832,0,0,-1.8496245045525443],[6.402510187490156,-38.21806214568232,-8.31999397277832,0,0,-1.8496245045525443],[6.402510187490156,-38.21806214568232,-6.31999397277832,0,0,-1.8496245045525443],[6.402510187490156,-38.21806214568232,-4.31999397277832,0,0,-1.8496245045525443],[5.026363822780905,-43.02495523612,-4.31999397277832,0,0,-1.8496245045525443],[5.026363822780905,-43.02495523612,-4.31999397277832,0,0,-2.1114238923516937],[5.026363822780905,-43.02495523612,-4.31999397277832,0,0,-2.3732232801508433],[5.026363822780905,-43.02495523612,-4.31999397277832,0,0,-2.635022667949993],[5.026363822780905,-43.02495523612,-6.31999397277832,0,0,-2.635022667949993],[5.026363822780905,-43.02495523612,-8.31999397277832,0,0,-2.635022667949993],[5.026363822780905,-43.02495523612,-8.31999397277832,0,0,-2.896822055749142],[5.026363822780905,-43.02495523612,-8.31999397277832,0,0,3.1245638636312947],[0.027088754481321864,-42.9398154012705,-8.31999397277832,0,0,3.1245638636312947],[-4.972186313818261,-42.854675566421,-8.31999397277832,0,0,3.1245638636312947],[-9.971461382117845,-42.7695357315715,-8.31999397277832,0,0,3.1245638636312947],[-14.970736450417427,-42.684395896722,-8.31999397277832,0,0,3.1245638636312947],[-19.97001151871701,-42.5992560618725,-8.31999397277832,0,0,3.1245638636312947],[-24.96928658701659,-42.514116227023,-8.31999397277832,0,0,3.1245638636312947],[-29.968561655316172,-42.4289763921735,-8.31999397277832,0,0,3.1245638636312947]]},{"id":3,"instruction":"go and stop above the building on the edge of the map.","completed_instruction":"Fly forward to the middle of the black roof of the building.","start_frame":68,"end_frame":73,"start_position":[-29.968561655316172,-42.4289763921735,-8.31999397277832],"start_rotation":[0.00851429210455572,0,0,0.99996375275804783],"end_position":[-49.3885159949288,-38.215397463196254,-8.31999397277832],"end_rotation":[0.13896291216087833,0,0,0.99029758610418117],"actions":[1,2,1,1,1,1],"reference_path":[[-29.968561655316172,-42.4289763921735,-8.31999397277832,0,0,3.1245638636312947],[-34.967836723615754,-42.343836557324,-8.31999397277832,0,0,3.1245638636312947],[-34.967836723615754,-42.343836557324,-8.31999397277832,0,0,2.8627644758321455],[-39.77472981405344,-40.967690192614754,-8.31999397277832,0,0,2.8627644758321455],[-44.58162290449112,-39.591543827905504,-8.31999397277832,0,0,2.8627644758321455],[-49.3885159949288,-38.215397463196254,-8.31999397277832,0,0,2.8627644758321455]]},{"id":4,"instruction":"and turn all the way around until youre facing a fence and billboard.","completed_instruction":"Turn back to the backside to face a cluster of buildings, fences and a billboard.","start_frame":73,"end_frame":87,"start_position":[-49.3885159949288,-38.215397463196254,-8.31999397277832],"start_rotation":[0.13896291216087833,0,0,0.99029758610418117],"end_position":[-57.62615581109492,-30.656211643340068,-8.31999397277832],"end_rotation":[0.99996375275804783,0,0,-0.00851429210455527],"actions":[1,6,1,2,2,2,2,2,2,2,2,2,2,2,2],"reference_path":[[-49.3885159949288,-38.215397463196254,-8.31999397277832,0,0,2.8627644758321455],[-54.195409085366485,-36.839251098487004,-8.31999397277832,0,0,2.8627644758321455],[-52.819262720657235,-32.03235800804932,-8.31999397277832,0,0,2.8627644758321455],[-57.62615581109492,-30.656211643340068,-8.31999397277832,0,0,2.8627644758321455],[-57.62615581109492,-30.656211643340068,-8.31999397277832,0,0,2.600965088032996],[-57.62615581109492,-30.656211643340068,-8.31999397277832,0,0,2.3391657002338464],[-57.62615581109492,-30.656211643340068,-8.31999397277832,0,0,2.0773663124346973],[-57.62615581109492,-30.656211643340068,-8.31999397277832,0,0,1.815566924635548],[-57.62615581109492,-30.656211643340068,-8.31999397277832,0,0,1.5537675368363986],[-57.62615581109492,-30.656211643340068,-8.31999397277832,0,0,1.2919681490372492],[-57.62615581109492,-30.656211643340068,-8.31999397277832,0,0,1.0301687612380999],[-57.62615581109492,-30.656211643340068,-8.31999397277832,0,0,0.7683693734389505],[-57.62615581109492,-30.656211643340068,-8.31999397277832,0,0,0.5065699856398012],[-57.62615581109492,-30.656211643340068,-8.31999397277832,0,0,0.24477059784065175],[-57.62615581109492,-30.656211643340068,-8.31999397277832,0,0,-0.01702878995849766]]},{"id":5,"instruction":"go forward.","completed_instruction":"Fly forward, passing the billboard, then go along the fences towards the white van, then fly forward and stop in front of a white house with several stacked crates and red barrels.","start_frame":87,"end_frame":105,"start_position":[-57.62615581109492,-30.656211643340068,-8.31999397277832],"start_rotation":[0.99996375275804783,0,0,-0.00851429210455527],"end_position":[24.091026726345675,-54.05069984339731,-8.31999397277832],"end_rotation":[0.99029758610418117,0,0,-0.13896291216087803],"actions":[2,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,0],"reference_path":[[-57.62615581109492,-30.656211643340068,-8.31999397277832,0,0,-0.01702878995849766],[-57.62615581109492,-30.656211643340068,-8.31999397277832,0,0,-0.27882817775764707],[-52.819262720657235,-32.032358008049314,-8.31999397277832,0,0,-0.27882817775764707],[-48.01236963021955,-33.408504372758564,-8.31999397277832,0,0,-0.27882817775764707],[-43.20547653978187,-34.784650737467814,-8.31999397277832,0,0,-0.27882817775764707],[-38.39858344934419,-36.160797102177064,-8.31999397277832,0,0,-0.27882817775764707],[-33.591690358906504,-37.536943466886314,-8.31999397277832,0,0,-0.27882817775764707],[-28.78479726846882,-38.91308983159556,-8.31999397277832,0,0,-0.27882817775764707],[-23.97790417803114,-40.28923619630481,-8.31999397277832,0,0,-0.27882817775764707],[-19.171011087593456,-41.66538256101406,-8.31999397277832,0,0,-0.27882817775764707],[-14.364117997155775,-43.04152892572331,-8.31999397277832,0,0,-0.27882817775764707],[-9.557224906718094,-44.41767529043256,-8.31999397277832,0,0,-0.27882817775764707],[-4.750331816280413,-45.79382165514181,-8.31999397277832,0,0,-0.27882817775764707],[0.05656127415726786,-47.16996801985106,-8.31999397277832,0,0,-0.27882817775764707],[4.863454364594949,-48.54611438456031,-8.31999397277832,0,0,-0.27882817775764707],[9.67034745503263,-49.92226074926956,-8.31999397277832,0,0,-0.27882817775764707],[14.47724054547031,-51.29840711397881,-8.31999397277832,0,0,-0.27882817775764707],[19.284133635907992,-52.67455347868806,-8.31999397277832,0,0,-0.27882817775764707],[24.091026726345675,-54.05069984339731,-8.31999397277832,0,0,-0.27882817775764707]]}],"statistics":{"complete_actions":110,"sentence_actions":[34,8,28,6,15,19],"sentence_actions_average":18.33}}
diff --git a/scene_2/36TFCYNS4D836RVREWGPAYAEQF5XHV.json b/scene_2/36TFCYNS4D836RVREWGPAYAEQF5XHV.json
new file mode 100644
index 0000000000000000000000000000000000000000..ee3b77cac78e85f2e5656fac1a10ad62d7945b0a
--- /dev/null
+++ b/scene_2/36TFCYNS4D836RVREWGPAYAEQF5XHV.json
@@ -0,0 +1 @@
+{"episode_id":"36TFCYNS4D836RVREWGPAYAEQF5XHV","trajectory_id":"39N6W9XWSLLBKGTX9JF7JTAYKQQYG9","scene_id":2,"instruction":"lift off and turn slightly left. go forward toward the tall concrete columns and turn left when you get beside the roof with the three chimneys. go forward flying over the grooves and houses and toward the telephone poles with the lines running over the building. when you get to the telephone poles turn around in the opposite direction and propel forward. land to he right of the van that looks like the mystery machine from scoop do","sentence_instructions":[{"id":0,"instruction":"lift off and turn slightly left.","completed_instruction":"Take off and rise to a height higher than the power line.","start_frame":1,"end_frame":4,"start_position":[-50.566253662109375,91.09275817871094,0.4920169413089752],"start_rotation":[0.99996060741643156,0,0,0.00887601348361497],"end_position":[-50.566253662109375,91.09275817871094,-5.507983058691025],"end_rotation":[0.99996060741643156,0,0,0.00887601348361497],"actions":[4,4,4,4],"reference_path":[[-50.566253662109375,91.09275817871094,0.4920169413089752,0,0,0.017752260070304896],[-50.566253662109375,91.09275817871094,-1.5079830586910248,0,0,0.017752260070304896],[-50.566253662109375,91.09275817871094,-3.507983058691025,0,0,0.017752260070304896],[-50.566253662109375,91.09275817871094,-5.507983058691025,0,0,0.017752260070304896]]},{"id":1,"instruction":"go forward toward the tall concrete columns and turn left when you get beside the roof with the three chimneys.","completed_instruction":"Fly forward over a flat roof and a broken roof, and fly forward until encountering a house with an extended shed, turn left to face a building with brown ground floor and white second floor.","start_frame":4,"end_frame":26,"start_position":[-50.566253662109375,91.09275817871094,-5.507983058691025],"start_rotation":[0.99996060741643156,0,0,0.00887601348361497],"end_position":[14.943189038901124,64.47485223171682,-9.507983058691025],"end_rotation":[0.87042929554815518,0,0,-0.49229345054707196],"actions":[4,4,2,1,1,1,1,1,1,1,6,1,1,1,1,1,1,1,6,2,2,2,2],"reference_path":[[-50.566253662109375,91.09275817871094,-5.507983058691025,0,0,0.017752260070304896],[-50.566253662109375,91.09275817871094,-7.507983058691025,0,0,0.017752260070304896],[-50.566253662109375,91.09275817871094,-9.507983058691025,0,0,0.017752260070304896],[-50.566253662109375,91.09275817871094,-9.507983058691025,0,0,-0.24404712772884454],[-45.7144136135687,89.88459918943146,-9.507983058691025,0,0,-0.24404712772884454],[-40.86257356502803,88.67644020015197,-9.507983058691025,0,0,-0.24404712772884454],[-36.010733516487356,87.46828121087249,-9.507983058691025,0,0,-0.24404712772884454],[-31.15889346794668,86.26012222159301,-9.507983058691025,0,0,-0.24404712772884454],[-26.307053419406003,85.05196323231353,-9.507983058691025,0,0,-0.24404712772884454],[-21.455213370865327,83.84380424303404,-9.507983058691025,0,0,-0.24404712772884454],[-16.60337332232465,82.63564525375456,-9.507983058691025,0,0,-0.24404712772884454],[-17.81153231160413,77.78380520521388,-9.507983058691025,0,0,-0.24404712772884454],[-12.959692263063452,76.5756462159344,-9.507983058691025,0,0,-0.24404712772884454],[-8.107852214522776,75.36748722665492,-9.507983058691025,0,0,-0.24404712772884454],[-3.2560121659821,74.15932823737543,-9.507983058691025,0,0,-0.24404712772884454],[1.5958278825585754,72.95116924809595,-9.507983058691025,0,0,-0.24404712772884454],[6.447667931099251,71.74301025881647,-9.507983058691025,0,0,-0.24404712772884454],[11.299507979639927,70.53485126953699,-9.507983058691025,0,0,-0.24404712772884454],[16.151348028180603,69.3266922802575,-9.507983058691025,0,0,-0.24404712772884454],[14.943189038901124,64.47485223171682,-9.507983058691025,0,0,-0.24404712772884454],[14.943189038901124,64.47485223171682,-9.507983058691025,0,0,-0.505846515527994],[14.943189038901124,64.47485223171682,-9.507983058691025,0,0,-0.7676459033271434],[14.943189038901124,64.47485223171682,-9.507983058691025,0,0,-1.0294452911262928]]},{"id":2,"instruction":"go forward flying over the grooves and houses and toward the telephone poles with the lines running over the building.","completed_instruction":"Fly forward over the grooves and a warehouse, turn slightly left to face a green gate behind some electric wires in the distance, and fly to it until reaching the fence beside it.","start_frame":26,"end_frame":44,"start_position":[14.943189038901124,64.47485223171682,-9.507983058691025],"start_rotation":[0.87042929554815518,0,0,-0.49229345054707196],"end_position":[1.0518243067135966,1.8978939108673991,-9.507983058691025],"end_rotation":[0.5076671568693597,0,0,-0.86155328206454007],"actions":[2,2,1,1,1,1,1,1,1,1,6,1,2,2,1,1,1,1,1],"reference_path":[[14.943189038901124,64.47485223171682,-9.507983058691025,0,0,-1.0294452911262928],[14.943189038901124,64.47485223171682,-9.507983058691025,0,0,-1.2912446789254421],[14.943189038901124,64.47485223171682,-9.507983058691025,0,0,-1.5530440667245915],[15.031945677246247,59.47564006787044,-9.507983058691025,0,0,-1.5530440667245915],[15.12070231559137,54.47642790402405,-9.507983058691025,0,0,-1.5530440667245915],[15.209458953936492,49.47721574017766,-9.507983058691025,0,0,-1.5530440667245915],[15.298215592281615,44.478003576331275,-9.507983058691025,0,0,-1.5530440667245915],[15.386972230626737,39.47879141248489,-9.507983058691025,0,0,-1.5530440667245915],[15.47572886897186,34.4795792486385,-9.507983058691025,0,0,-1.5530440667245915],[15.564485507316983,29.480367084792114,-9.507983058691025,0,0,-1.5530440667245915],[15.653242145662105,24.481154920945727,-9.507983058691025,0,0,-1.5530440667245915],[10.654029981815718,24.392398282600606,-9.507983058691025,0,0,-1.5530440667245915],[10.74278662016084,19.39318611875422,-9.507983058691025,0,0,-1.5530440667245915],[10.74278662016084,19.39318611875422,-9.507983058691025,0,0,-1.8148434545237409],[10.74278662016084,19.39318611875422,-9.507983058691025,0,0,-2.0766428423228906],[8.32004604179903,15.019363066782514,-9.507983058691025,0,0,-2.0766428423228906],[5.897305463437219,10.645540014810809,-9.507983058691025,0,0,-2.0766428423228906],[3.4745648850754076,6.271716962839104,-9.507983058691025,0,0,-2.0766428423228906],[1.0518243067135966,1.8978939108673991,-9.507983058691025,0,0,-2.0766428423228906]]},{"id":3,"instruction":"when you get to the telephone poles turn around in the opposite direction and propel forward.","completed_instruction":"Fly to the top of the green gate, turn right to face a dilapidated tow-storey building with overgrown walls, fly forward until seeing a blue van.","start_frame":44,"end_frame":64,"start_position":[1.0518243067135966,1.8978939108673991,-9.507983058691025],"start_rotation":[0.5076671568693597,0,0,-0.86155328206454007],"end_position":[27.99528332525833,-14.499074277731616,-9.507983058691025],"end_rotation":[0.99996060741643156,0,0,0.00887601348361483],"actions":[1,1,1,3,3,3,3,3,3,3,1,1,1,1,3,1,3,1,2,1,1],"reference_path":[[1.0518243067135966,1.8978939108673991,-9.507983058691025,0,0,-2.0766428423228906],[-1.3709162716482144,-2.475929141104306,-9.507983058691025,0,0,-2.0766428423228906],[-3.7936568500100254,-6.849752193076011,-9.507983058691025,0,0,-2.0766428423228906],[-6.216397428371836,-11.223575245047716,-9.507983058691025,0,0,-2.0766428423228906],[-6.216397428371836,-11.223575245047716,-9.507983058691025,0,0,-1.8148434545237413],[-6.216397428371836,-11.223575245047716,-9.507983058691025,0,0,-1.553044066724592],[-6.216397428371836,-11.223575245047716,-9.507983058691025,0,0,-1.2912446789254426],[-6.216397428371836,-11.223575245047716,-9.507983058691025,0,0,-1.0294452911262932],[-6.216397428371836,-11.223575245047716,-9.507983058691025,0,0,-0.7676459033271438],[-6.216397428371836,-11.223575245047716,-9.507983058691025,0,0,-0.5058465155279942],[-6.216397428371836,-11.223575245047716,-9.507983058691025,0,0,-0.24404712772884482],[-1.3645573798311608,-12.431734234327195,-9.507983058691025,0,0,-0.24404712772884482],[3.487282668709515,-13.639893223606673,-9.507983058691025,0,0,-0.24404712772884482],[8.339122717250191,-14.848052212886152,-9.507983058691025,0,0,-0.24404712772884482],[13.190962765790868,-16.05621120216563,-9.507983058691025,0,0,-0.24404712772884482],[13.190962765790868,-16.05621120216563,-9.507983058691025,0,0,0.017752260070304587],[18.190174929637255,-15.967454563820512,-9.507983058691025,0,0,0.017752260070304587],[18.190174929637255,-15.967454563820512,-9.507983058691025,0,0,0.279551647869454],[22.996071161411944,-14.587830916076735,-9.507983058691025,0,0,0.279551647869454],[22.996071161411944,-14.587830916076735,-9.507983058691025,0,0,0.01775226007030462],[27.99528332525833,-14.499074277731616,-9.507983058691025,0,0,0.01775226007030462]]},{"id":4,"instruction":"land to he right of the van that looks like the mystery machine from scoop do.","completed_instruction":"Land to the right of the van.","start_frame":64,"end_frame":69,"start_position":[27.99528332525833,-14.499074277731616,-9.507983058691025],"start_rotation":[0.99996060741643156,0,0,0.00887601348361483],"end_position":[42.992919816797496,-14.232804362696259,-5.507983058691025],"end_rotation":[0.99996060741643156,0,0,0.00887601348361483],"actions":[1,1,5,5,1,0],"reference_path":[[27.99528332525833,-14.499074277731616,-9.507983058691025,0,0,0.01775226007030462],[32.99449548910472,-14.410317639386497,-9.507983058691025,0,0,0.01775226007030462],[37.99370765295111,-14.321561001041378,-9.507983058691025,0,0,0.01775226007030462],[37.99370765295111,-14.321561001041378,-7.507983058691025,0,0,0.01775226007030462],[37.99370765295111,-14.321561001041378,-5.507983058691025,0,0,0.01775226007030462],[42.992919816797496,-14.232804362696259,-5.507983058691025,0,0,0.01775226007030462]]}],"statistics":{"complete_actions":73,"sentence_actions":[4,23,19,21,6],"sentence_actions_average":14.6}}
diff --git a/scene_2/38YMOXR4M3X8K26K88TZBO7HBNBW67.json b/scene_2/38YMOXR4M3X8K26K88TZBO7HBNBW67.json
new file mode 100644
index 0000000000000000000000000000000000000000..62c57a169cd63032357d4e3e08b1b8c386d1dde2
--- /dev/null
+++ b/scene_2/38YMOXR4M3X8K26K88TZBO7HBNBW67.json
@@ -0,0 +1 @@
+{"episode_id":"38YMOXR4M3X8K26K88TZBO7HBNBW67","trajectory_id":"37VUR2VJ7IN1DY2PV8CFFFE9G7VC1A","scene_id":2,"instruction":"lift off and turn right facing the wooden bars and head straight. before the wooden bars turn right facing the scaffold and head straight. before the scaffold turn left facing the graffiti and head straight. before the graffiti turn right facing the exposed rear and head straight. just past the rear turn left facing the open garage and head straight. land in front of the open garage.","sentence_instructions":[{"id":0,"instruction":"lift off and turn right facing the wooden bars and head straight.","completed_instruction":"Lift off, ascend to the higher altitude than the left bungalows, and turn right to face the rusty metal fence, then fly ahead to the top of it.","start_frame":1,"end_frame":11,"start_position":[-32.85132598876953,-60.895652770996094,1.4970121383666992],"start_rotation":[0.99996223378073956,0,0,0.0086908579687813587],"end_position":[-13.625698741636057,-55.38427753841765,-8.5029878616333],"end_rotation":[0.99027303365200081,0,0,0.1391377692133349],"actions":[4,4,4,4,4,3,1,1,1,1,1],"reference_path":[[-32.85132598876953,-60.895652770996094,1.4970121383666992,0,0,0.01738193475476669],[-32.85132598876953,-60.895652770996094,-0.5029878616333008,0,0,0.01738193475476669],[-32.85132598876953,-60.895652770996094,-2.502987861633301,0,0,0.01738193475476669],[-32.85132598876953,-60.895652770996094,-4.502987861633301,0,0,0.01738193475476669],[-32.85132598876953,-60.895652770996094,-6.502987861633301,0,0,0.01738193475476669],[-32.85132598876953,-60.895652770996094,-8.5029878616333,0,0,0.01738193475476669],[-32.85132598876953,-60.895652770996094,-8.5029878616333,0,0,0.27918132255391614],[-28.044919176986163,-59.51780896285148,-8.5029878616333,0,0,0.27918132255391614],[-23.238512365202794,-58.13996515470687,-8.5029878616333,0,0,0.27918132255391614],[-18.432105553419426,-56.76212134656226,-8.5029878616333,0,0,0.27918132255391614],[-13.625698741636057,-55.38427753841765,-8.5029878616333,0,0,0.27918132255391614]]},{"id":1,"instruction":"before the wooden bars turn right facing the scaffold and head straight.","completed_instruction":"While facing a row of wooden frames, turn right to face the green iron fences, and fly straight to the utility poles behind the fences.","start_frame":11,"end_frame":23,"start_position":[-13.625698741636057,-55.38427753841765,-8.5029878616333],"start_rotation":[0.99027303365200081,0,0,0.1391377692133349],"end_position":[-5.7220563929048724,-33.83644393687014,-8.5029878616333],"end_rotation":[0.601843517191586,0,0,0.7986140374514219],"actions":[1,1,3,3,3,1,3,3,3,1,1,1,1],"reference_path":[[-13.625698741636057,-55.38427753841765,-8.5029878616333,0,0,0.27918132255391614],[-8.819291929852689,-54.00643373027304,-8.5029878616333,0,0,0.27918132255391614],[-4.012885118069321,-52.62858992212843,-8.5029878616333,0,0,0.27918132255391614],[-4.012885118069321,-52.62858992212843,-8.5029878616333,0,0,0.5409807103530656],[-4.012885118069321,-52.62858992212843,-8.5029878616333,0,0,0.8027800981522151],[-4.012885118069321,-52.62858992212843,-8.5029878616333,0,0,1.0645794859513644],[-1.588524968471039,-48.255664372220245,-8.5029878616333,0,0,1.0645794859513644],[-1.588524968471039,-48.255664372220245,-8.5029878616333,0,0,1.3263788737505138],[-1.588524968471039,-48.255664372220245,-8.5029878616333,0,0,1.5881782615496634],[-1.588524968471039,-48.255664372220245,-8.5029878616333,0,0,1.8499776493488127],[-2.96636877661565,-43.44925756043688,-8.5029878616333,0,0,1.8499776493488127],[-4.344212584760261,-38.64285074865351,-8.5029878616333,0,0,1.8499776493488127],[-5.7220563929048724,-33.83644393687014,-8.5029878616333,0,0,1.8499776493488127]]},{"id":2,"instruction":"before the scaffold turn left facing the graffiti and head straight.","completed_instruction":"Fly to the front of the power line, turn left until facing the billboard on the roof of the bungalow, and then fly directly towards it.","start_frame":23,"end_frame":34,"start_position":[-5.7220563929048724,-33.83644393687014,-8.5029878616333],"start_rotation":[0.601843517191586,0,0,0.7986140374514219],"end_position":[3.0024729399478343,-11.692569880681887,-8.5029878616333],"end_rotation":[0.96363998736192169,0,0,0.26720399465037076],"actions":[1,1,1,2,2,2,2,2,1,1,1,1],"reference_path":[[-5.7220563929048724,-33.83644393687014,-8.5029878616333,0,0,1.8499776493488127],[-7.099900201049484,-29.03003712508677,-8.5029878616333,0,0,1.8499776493488127],[-8.477744009194094,-24.223630313303403,-8.5029878616333,0,0,1.8499776493488127],[-9.855587817338705,-19.417223501520034,-8.5029878616333,0,0,1.8499776493488127],[-9.855587817338705,-19.417223501520034,-8.5029878616333,0,0,1.5881782615496634],[-9.855587817338705,-19.417223501520034,-8.5029878616333,0,0,1.3263788737505138],[-9.855587817338705,-19.417223501520034,-8.5029878616333,0,0,1.0645794859513644],[-9.855587817338705,-19.417223501520034,-8.5029878616333,0,0,0.8027800981522151],[-9.855587817338705,-19.417223501520034,-8.5029878616333,0,0,0.5409807103530656],[-5.569567564909859,-16.842338961240653,-8.5029878616333,0,0,0.5409807103530656],[-1.2835473124810122,-14.26745442096127,-8.5029878616333,0,0,0.5409807103530656],[3.0024729399478343,-11.692569880681887,-8.5029878616333,0,0,0.5409807103530656]]},{"id":3,"instruction":"before the graffiti turn right facing the exposed rear and head straight.","completed_instruction":"After reaching the billboard, turn back to face a one-storey bungalow behind two rows of walls, then fly straight ahead, passing the unfinished building with four pillars, and then fly to the front of the bungalow with a wooden roof.","start_frame":34,"end_frame":56,"start_position":[3.0024729399478343,-11.692569880681887,-8.5029878616333],"start_rotation":[0.96363998736192169,0,0,0.26720399465037076],"end_position":[-32.24164735175566,22.700045385737365,-8.5029878616333],"end_rotation":[0.25041454632105853,0,0,0.96813870648312494],"actions":[1,1,1,3,3,3,3,3,3,3,3,1,1,1,1,1,1,1,1,1,1,1,1],"reference_path":[[3.0024729399478343,-11.692569880681887,-8.5029878616333,0,0,0.5409807103530656],[7.288493192376681,-9.117685340402504,-8.5029878616333,0,0,0.5409807103530656],[11.574513444805527,-6.542800800123121,-8.5029878616333,0,0,0.5409807103530656],[15.860533697234374,-3.9679162598437387,-8.5029878616333,0,0,0.5409807103530656],[15.860533697234374,-3.9679162598437387,-8.5029878616333,0,0,0.8027800981522151],[15.860533697234374,-3.9679162598437387,-8.5029878616333,0,0,1.0645794859513644],[15.860533697234374,-3.9679162598437387,-8.5029878616333,0,0,1.3263788737505138],[15.860533697234374,-3.9679162598437387,-8.5029878616333,0,0,1.5881782615496634],[15.860533697234374,-3.9679162598437387,-8.5029878616333,0,0,1.8499776493488127],[15.860533697234374,-3.9679162598437387,-8.5029878616333,0,0,2.111777037147962],[15.860533697234374,-3.9679162598437387,-8.5029878616333,0,0,2.3735764249471116],[15.860533697234374,-3.9679162598437387,-8.5029878616333,0,0,2.635375812746261],[11.487608147326188,-1.543556110245457,-8.5029878616333,0,0,2.635375812746261],[7.114682597418004,0.8808040393528249,-8.5029878616333,0,0,2.635375812746261],[2.74175704750982,3.3051641889511068,-8.5029878616333,0,0,2.635375812746261],[-1.6311685023983644,5.729524338549389,-8.5029878616333,0,0,2.635375812746261],[-6.004094052306549,8.153884488147671,-8.5029878616333,0,0,2.635375812746261],[-10.377019602214734,10.578244637745954,-8.5029878616333,0,0,2.635375812746261],[-14.749945152122919,13.002604787344236,-8.5029878616333,0,0,2.635375812746261],[-19.122870702031104,15.426964936942518,-8.5029878616333,0,0,2.635375812746261],[-23.49579625193929,17.8513250865408,-8.5029878616333,0,0,2.635375812746261],[-27.868721801847474,20.275685236139083,-8.5029878616333,0,0,2.635375812746261],[-32.24164735175566,22.700045385737365,-8.5029878616333,0,0,2.635375812746261]]},{"id":4,"instruction":"just past the rear turn left facing the open garage and head straight.","completed_instruction":"Turn left to face the bungalows behind the big gate, then fly forward to the nearest bungalow, across its roof.","start_frame":56,"end_frame":73,"start_position":[-32.24164735175566,22.700045385737365,-8.5029878616333],"start_rotation":[0.25041454632105853,0,0,0.96813870648312494],"end_position":[-28.89205857626044,53.97619286128255,-8.5029878616333],"end_rotation":[0.92051879371660084,0,0,0.39069828565599585],"actions":[1,1,1,1,2,2,2,2,2,2,2,1,1,1,1,1,1,1],"reference_path":[[-32.24164735175566,22.700045385737365,-8.5029878616333,0,0,2.635375812746261],[-36.61457290166384,25.124405535335647,-8.5029878616333,0,0,2.635375812746261],[-40.98749845157202,27.54876568493393,-8.5029878616333,0,0,2.635375812746261],[-45.360424001480204,29.973125834532212,-8.5029878616333,0,0,2.635375812746261],[-49.733349551388386,32.39748598413049,-8.5029878616333,0,0,2.635375812746261],[-49.733349551388386,32.39748598413049,-8.5029878616333,0,0,2.373576424947112],[-49.733349551388386,32.39748598413049,-8.5029878616333,0,0,2.1117770371479625],[-49.733349551388386,32.39748598413049,-8.5029878616333,0,0,1.8499776493488131],[-49.733349551388386,32.39748598413049,-8.5029878616333,0,0,1.5881782615496638],[-49.733349551388386,32.39748598413049,-8.5029878616333,0,0,1.3263788737505147],[-49.733349551388386,32.39748598413049,-8.5029878616333,0,0,1.0645794859513653],[-49.733349551388386,32.39748598413049,-8.5029878616333,0,0,0.8027800981522158],[-46.25980105553373,35.9939371303225,-8.5029878616333,0,0,0.8027800981522158],[-42.78625255967907,39.59038827651451,-8.5029878616333,0,0,0.8027800981522158],[-39.31270406382441,43.18683942270652,-8.5029878616333,0,0,0.8027800981522158],[-35.839155567969755,46.78329056889853,-8.5029878616333,0,0,0.8027800981522158],[-32.3656070721151,50.37974171509054,-8.5029878616333,0,0,0.8027800981522158],[-28.89205857626044,53.97619286128255,-8.5029878616333,0,0,0.8027800981522158]]},{"id":5,"instruction":"land in front of the open garage.","completed_instruction":"Land in front of the open garage.","start_frame":73,"end_frame":79,"start_position":[-28.89205857626044,53.97619286128255,-8.5029878616333],"start_rotation":[0.92051879371660084,0,0,0.39069828565599585],"end_position":[-21.944961584551123,61.16909515366657,-0.5029878616333008],"end_rotation":[0.92051879371660084,0,0,0.39069828565599585],"actions":[1,1,5,5,5,5,0],"reference_path":[[-28.89205857626044,53.97619286128255,-8.5029878616333,0,0,0.8027800981522158],[-25.41851008040578,57.57264400747456,-8.5029878616333,0,0,0.8027800981522158],[-21.944961584551123,61.16909515366657,-8.5029878616333,0,0,0.8027800981522158],[-21.944961584551123,61.16909515366657,-6.502987861633301,0,0,0.8027800981522158],[-21.944961584551123,61.16909515366657,-4.502987861633301,0,0,0.8027800981522158],[-21.944961584551123,61.16909515366657,-2.502987861633301,0,0,0.8027800981522158],[-21.944961584551123,61.16909515366657,-0.5029878616333008,0,0,0.8027800981522158]]}],"statistics":{"complete_actions":84,"sentence_actions":[11,13,12,23,18,7],"sentence_actions_average":14.0}}
diff --git a/scene_2/3A7Y0R2P2XMZXXQH2WJAMBQT4DOJXE.json b/scene_2/3A7Y0R2P2XMZXXQH2WJAMBQT4DOJXE.json
new file mode 100644
index 0000000000000000000000000000000000000000..28c0d33bcf1cfd10052f97e4f3ff9a08cf977891
--- /dev/null
+++ b/scene_2/3A7Y0R2P2XMZXXQH2WJAMBQT4DOJXE.json
@@ -0,0 +1 @@
+{"episode_id":"3A7Y0R2P2XMZXXQH2WJAMBQT4DOJXE","trajectory_id":"3909MD9T37F70BGBYYXVU5I619YFE9","scene_id":2,"instruction":"slightly rise up and turn to the left and move forward. move forward till you are in front of the small house then turn to the left. move forward over the power lines, keep moving till you reach a house with a green door and turn to the right. keep turning to you are in front of the house with a patchy roof, move forward over the house. keep moving forward past the power lines land in front both the building with the broken windows.","sentence_instructions":[{"id":0,"instruction":"slightly rise up and turn to the left and move forward.","completed_instruction":"Take off, turn left towards the pillar, fly over the left side of the pillar, and reach the top of the bungalow with two chimneys on the roof.","start_frame":1,"end_frame":7,"start_position":[53.076473236083984,56.11555480957031,-7.863255977630615],"start_rotation":[0.99998209517655234,0,0,-0.00598408943052632],"end_position":[57.972469529303424,47.39608118458689,-7.863255977630615],"end_rotation":[0.86301785303721956,0,0,-0.50517342105363],"actions":[2,2,2,2,1,1,1],"reference_path":[[53.076473236083984,56.11555480957031,-7.863255977630615,0,0,-0.011968250290940717],[53.076473236083984,56.11555480957031,-7.863255977630615,0,0,-0.27376763809009014],[53.076473236083984,56.11555480957031,-7.863255977630615,0,0,-0.5355670258892395],[53.076473236083984,56.11555480957031,-7.863255977630615,0,0,-0.797366413688389],[53.076473236083984,56.11555480957031,-7.863255977630615,0,0,-1.0591658014875385],[55.524471382693704,51.7558179970786,-7.863255977630615,0,0,-1.0591658014875385],[57.972469529303424,47.39608118458689,-7.863255977630615,0,0,-1.0591658014875385]]},{"id":1,"instruction":"move forward till you are in front of the small house then turn to the left.","completed_instruction":"Fly straight ahead to the telegraph pole set up on the roof, then fly to the edge of the roof and turn left until reaching the orange gate of the bungalow.","start_frame":7,"end_frame":16,"start_position":[57.972469529303424,47.39608118458689,-7.863255977630615],"start_rotation":[0.86301785303721956,0,0,-0.50517342105363],"end_position":[70.23686554336368,20.26759208316566,-7.863255977630615],"end_rotation":[0.604003031904503,0,0,-0.79698201827278881],"actions":[1,1,1,1,2,1,1,2,2,2],"reference_path":[[57.972469529303424,47.39608118458689,-7.863255977630615,0,0,-1.0591658014875385],[60.420467675913144,43.03634437209518,-7.863255977630615,0,0,-1.0591658014875385],[62.868465822522865,38.67660755960347,-7.863255977630615,0,0,-1.0591658014875385],[65.31646396913258,34.31687074711176,-7.863255977630615,0,0,-1.0591658014875385],[67.7644621157423,29.957133934620046,-7.863255977630615,0,0,-1.0591658014875385],[67.7644621157423,29.957133934620046,-7.863255977630615,0,0,-1.320965189286688],[69.00066382955299,25.112363008892853,-7.863255977630615,0,0,-1.320965189286688],[70.23686554336368,20.26759208316566,-7.863255977630615,0,0,-1.320965189286688],[70.23686554336368,20.26759208316566,-7.863255977630615,0,0,-1.5827645770858374],[70.23686554336368,20.26759208316566,-7.863255977630615,0,0,-1.8445639648849868]]},{"id":2,"instruction":"move forward over the power lines, keep moving till you reach a house with a green door and turn to the right.","completed_instruction":"Fly forward over the power lines, keep flying ahead until reaching a house with a green door and turn right to face the house with a broken roof and go forward to it.","start_frame":16,"end_frame":36,"start_position":[70.23686554336368,20.26759208316566,-7.863255977630615],"start_rotation":[0.604003031904503,0,0,-0.79698201827278881],"end_position":[8.724130510616614,2.1627317089596207,-7.863255977630615],"end_rotation":[0.49480867412292212,0,0,-0.86900194246774609],"actions":[2,2,2,1,1,1,1,1,6,1,1,1,1,6,1,1,1,3,3,6,3],"reference_path":[[70.23686554336368,20.26759208316566,-7.863255977630615,0,0,-1.8445639648849868],[70.23686554336368,20.26759208316566,-7.863255977630615,0,0,-2.106363352684136],[70.23686554336368,20.26759208316566,-7.863255977630615,0,0,-2.3681627404832857],[70.23686554336368,20.26759208316566,-7.863255977630615,0,0,-2.6299621282824353],[65.87712873087196,17.81959393655594,-7.863255977630615,0,0,-2.6299621282824353],[61.51739191838025,15.371595789946221,-7.863255977630615,0,0,-2.6299621282824353],[57.15765510588854,12.923597643336503,-7.863255977630615,0,0,-2.6299621282824353],[52.797918293396826,10.475599496726785,-7.863255977630615,0,0,-2.6299621282824353],[48.438181480905115,8.027601350117067,-7.863255977630615,0,0,-2.6299621282824353],[45.9901833342954,12.387338162608778,-7.863255977630615,0,0,-2.6299621282824353],[41.63044652180369,9.93934001599906,-7.863255977630615,0,0,-2.6299621282824353],[37.27070970931198,7.491341869389341,-7.863255977630615,0,0,-2.6299621282824353],[32.91097289682027,5.043343722779623,-7.863255977630615,0,0,-2.6299621282824353],[28.551236084328558,2.5953455761699047,-7.863255977630615,0,0,-2.6299621282824353],[26.10323793771884,6.955082388661617,-7.863255977630615,0,0,-2.6299621282824353],[21.74350112522713,4.507084242051898,-7.863255977630615,0,0,-2.6299621282824353],[17.38376431273542,2.05908609544218,-7.863255977630615,0,0,-2.6299621282824353],[13.024027500243708,-0.38891205116753813,-7.863255977630615,0,0,-2.6299621282824353],[13.024027500243708,-0.38891205116753813,-7.863255977630615,0,0,-2.368162740483286],[13.024027500243708,-0.38891205116753813,-7.863255977630615,0,0,-2.106363352684137],[8.724130510616614,2.1627317089596207,-7.863255977630615,0,0,-2.106363352684137]]},{"id":3,"instruction":"keep turning to you are in front of the house with a patchy roof, move forward over the house.","completed_instruction":"Turn right to face the front house with a patchy roof, then fly forward to the house\u0027 roof.","start_frame":36,"end_frame":43,"start_position":[8.724130510616614,2.1627317089596207,-7.863255977630615],"start_rotation":[0.49480867412292212,0,0,-0.86900194246774609],"end_position":[12.432735652048668,-12.371581068221959,-5.863255977630615],"end_rotation":[0.78969625260670229,0,0,-0.6134980265811224],"actions":[3,3,3,1,1,5,1,1],"reference_path":[[8.724130510616614,2.1627317089596207,-7.863255977630615,0,0,-2.106363352684137],[8.724130510616614,2.1627317089596207,-7.863255977630615,0,0,-1.8445639648849876],[8.724130510616614,2.1627317089596207,-7.863255977630615,0,0,-1.582764577085838],[8.724130510616614,2.1627317089596207,-7.863255977630615,0,0,-1.3209651892866887],[9.9603322244273,-2.6820392167675724,-7.863255977630615,0,0,-1.3209651892866887],[11.196533938237984,-7.5268101424947655,-7.863255977630615,0,0,-1.3209651892866887],[11.196533938237984,-7.5268101424947655,-5.863255977630615,0,0,-1.3209651892866887],[12.432735652048668,-12.371581068221959,-5.863255977630615,0,0,-1.3209651892866887]]},{"id":4,"instruction":"keep moving forward past the power lines land in front both the building with the broken windows.","completed_instruction":"Land on the broken roof.","start_frame":43,"end_frame":44,"start_position":[12.432735652048668,-12.371581068221959,-5.863255977630615],"start_rotation":[0.78969625260670229,0,0,-0.6134980265811224],"end_position":[13.668937365859353,-17.216351993949154,-5.863255977630615],"end_rotation":[0.78969625260670229,0,0,-0.6134980265811224],"actions":[1,1],"reference_path":[[12.432735652048668,-12.371581068221959,-5.863255977630615,0,0,-1.3209651892866887],[13.668937365859353,-17.216351993949154,-5.863255977630615,0,0,-1.3209651892866887]]}],"statistics":{"complete_actions":48,"sentence_actions":[7,10,21,8,2],"sentence_actions_average":9.6}}
diff --git a/scene_2/3HSYG7LRBSWOOHXSLY4XXWI4MJ9KK4.json b/scene_2/3HSYG7LRBSWOOHXSLY4XXWI4MJ9KK4.json
new file mode 100644
index 0000000000000000000000000000000000000000..eddf8ee65ae1c102dae4caebd93d918c260421ce
--- /dev/null
+++ b/scene_2/3HSYG7LRBSWOOHXSLY4XXWI4MJ9KK4.json
@@ -0,0 +1 @@
+{"episode_id":"3HSYG7LRBSWOOHXSLY4XXWI4MJ9KK4","trajectory_id":"3P888QFVYBSQ3RJ96SBLBGGYC30OQJ","scene_id":2,"instruction":"lift off and turn right facing the left of the rear and head straight. just after the rear turn right facing the pipeline and head straight. at the pipeline turn left facing the end of the pipe and head straight. veer right and land in front of the first building on the right.","sentence_instructions":[{"id":0,"instruction":"lift off and turn right facing the left of the rear and head straight.","completed_instruction":"Lift off, rise up to the higher height than the front bungalow, and turn right to face the two chimneys on the roof, fly straight to a unfinished building with four pillars, passing by it on its left.","start_frame":1,"end_frame":16,"start_position":[12.361554145812988,21.787151336669922,-0.8927345275878906],"start_rotation":[0.999936860657204,0,0,0.011237201565130993],"end_position":[55.09006402253421,47.75394635867714,-6.892734527587891],"end_rotation":[0.962956436588495,0,0,0.26965700664508585],"actions":[4,4,4,3,3,1,1,1,1,1,1,1,1,1,1,1],"reference_path":[[12.361554145812988,21.787151336669922,-0.8927345275878906,0,0,0.022474876148556224],[12.361554145812988,21.787151336669922,-2.8927345275878906,0,0,0.022474876148556224],[12.361554145812988,21.787151336669922,-4.892734527587891,0,0,0.022474876148556224],[12.361554145812988,21.787151336669922,-6.892734527587891,0,0,0.022474876148556224],[12.361554145812988,21.787151336669922,-6.892734527587891,0,0,0.28427426394770566],[12.361554145812988,21.787151336669922,-6.892734527587891,0,0,0.5460736517468551],[16.63440513348511,24.383830838870644,-6.892734527587891,0,0,0.5460736517468551],[20.907256121157232,26.980510341071366,-6.892734527587891,0,0,0.5460736517468551],[25.180107108829354,29.577189843272087,-6.892734527587891,0,0,0.5460736517468551],[29.452958096501476,32.17386934547281,-6.892734527587891,0,0,0.5460736517468551],[33.7258090841736,34.77054884767353,-6.892734527587891,0,0,0.5460736517468551],[37.99866007184572,37.36722834987425,-6.892734527587891,0,0,0.5460736517468551],[42.27151105951784,39.963907852074975,-6.892734527587891,0,0,0.5460736517468551],[46.54436204718996,42.5605873542757,-6.892734527587891,0,0,0.5460736517468551],[50.817213034862085,45.15726685647642,-6.892734527587891,0,0,0.5460736517468551],[55.09006402253421,47.75394635867714,-6.892734527587891,0,0,0.5460736517468551]]},{"id":1,"instruction":"just after the rear turn right facing the pipeline and head straight.","completed_instruction":"Fly above the green iron gate, turn right until facing the blue iron sheet on the roof, fly forward, passing the blue roof, and fly to the front of the extended iron pipelines.","start_frame":16,"end_frame":30,"start_position":[55.09006402253421,47.75394635867714,-6.892734527587891],"start_rotation":[0.962956436588495,0,0,0.26965700664508585],"end_position":[54.925219474546964,76.9082398036399,-6.892734527587891],"end_rotation":[0.49023672830575238,0,0,0.87158932429216451],"actions":[1,1,1,3,3,3,3,3,3,1,1,1,1,1,1],"reference_path":[[55.09006402253421,47.75394635867714,-6.892734527587891,0,0,0.5460736517468551],[59.36291501020633,50.35062586087786,-6.892734527587891,0,0,0.5460736517468551],[63.63576599787845,52.947305363078584,-6.892734527587891,0,0,0.5460736517468551],[67.90861698555057,55.543984865279306,-6.892734527587891,0,0,0.5460736517468551],[67.90861698555057,55.543984865279306,-6.892734527587891,0,0,0.8078730395460045],[67.90861698555057,55.543984865279306,-6.892734527587891,0,0,1.0696724273451539],[67.90861698555057,55.543984865279306,-6.892734527587891,0,0,1.3314718151443032],[67.90861698555057,55.543984865279306,-6.892734527587891,0,0,1.5932712029434526],[67.90861698555057,55.543984865279306,-6.892734527587891,0,0,1.8550705907426022],[67.90861698555057,55.543984865279306,-6.892734527587891,0,0,2.1168699785417515],[65.31193748334985,59.81683585295143,-6.892734527587891,0,0,2.1168699785417515],[62.71525798114913,64.08968684062356,-6.892734527587891,0,0,2.1168699785417515],[60.11857847894841,68.36253782829567,-6.892734527587891,0,0,2.1168699785417515],[57.521898976747686,72.63538881596779,-6.892734527587891,0,0,2.1168699785417515],[54.925219474546964,76.9082398036399,-6.892734527587891,0,0,2.1168699785417515]]},{"id":2,"instruction":"at the pipeline turn left facing the end of the pipe and head straight.","completed_instruction":"At the pipeline turn left to face the end of the pipeline and fly straight to the house in the end of pipelines.","start_frame":30,"end_frame":47,"start_position":[54.925219474546964,76.9082398036399,-6.892734527587891],"start_rotation":[0.49023672830575238,0,0,0.87158932429216451],"end_position":[77.12760448600389,90.40098228999278,-6.892734527587891],"end_rotation":[0.999936860657204,0,0,0.011237201565130995],"actions":[1,1,1,2,2,2,2,2,2,2,2,1,1,1,1,1,1,1],"reference_path":[[54.925219474546964,76.9082398036399,-6.892734527587891,0,0,2.1168699785417515],[52.32853997234624,81.18109079131202,-6.892734527587891,0,0,2.1168699785417515],[49.73186047014552,85.45394177898413,-6.892734527587891,0,0,2.1168699785417515],[47.1351809679448,89.72679276665625,-6.892734527587891,0,0,2.1168699785417515],[47.1351809679448,89.72679276665625,-6.892734527587891,0,0,1.8550705907426022],[47.1351809679448,89.72679276665625,-6.892734527587891,0,0,1.5932712029434526],[47.1351809679448,89.72679276665625,-6.892734527587891,0,0,1.3314718151443032],[47.1351809679448,89.72679276665625,-6.892734527587891,0,0,1.0696724273451539],[47.1351809679448,89.72679276665625,-6.892734527587891,0,0,0.8078730395460044],[47.1351809679448,89.72679276665625,-6.892734527587891,0,0,0.5460736517468551],[47.1351809679448,89.72679276665625,-6.892734527587891,0,0,0.28427426394770566],[47.1351809679448,89.72679276665625,-6.892734527587891,0,0,0.022474876148556228],[52.13391822095464,89.83915768721234,-6.892734527587891,0,0,0.022474876148556228],[57.13265547396449,89.95152260776842,-6.892734527587891,0,0,0.022474876148556228],[62.13139272697434,90.06388752832451,-6.892734527587891,0,0,0.022474876148556228],[67.13012997998419,90.1762524488806,-6.892734527587891,0,0,0.022474876148556228],[72.12886723299404,90.2886173694367,-6.892734527587891,0,0,0.022474876148556228],[77.12760448600389,90.40098228999278,-6.892734527587891,0,0,0.022474876148556228]]},{"id":3,"instruction":"veer right and land in front of the first building on the right.","completed_instruction":"Turn right towards the building group on the far right of the land, fly forward until reaching the front of the first building on the opposite side of the road, then turn right towards the chimney at the edge of the roof, fly to the chimney and land on it.","start_frame":47,"end_frame":92,"start_position":[77.12760448600389,90.40098228999278,-6.892734527587891],"start_rotation":[0.999936860657204,0,0,0.011237201565130995],"end_position":[169.72637862967974,157.97779011580485,-4.892734527587891],"end_rotation":[0.11937688513408641,0,0,0.99284901132835057],"actions":[1,1,1,1,3,1,1,3,1,1,1,1,1,1,5,1,1,7,1,1,1,1,7,1,3,1,1,1,5,1,2,4,1,1,3,3,3,3,3,3,3,3,3,1,1,0],"reference_path":[[77.12760448600389,90.40098228999278,-6.892734527587891,0,0,0.022474876148556228],[82.12634173901374,90.51334721054887,-6.892734527587891,0,0,0.022474876148556228],[87.12507899202359,90.62571213110496,-6.892734527587891,0,0,0.022474876148556228],[92.12381624503344,90.73807705166105,-6.892734527587891,0,0,0.022474876148556228],[97.12255349804329,90.85044197221714,-6.892734527587891,0,0,0.022474876148556228],[97.12255349804329,90.85044197221714,-6.892734527587891,0,0,0.28427426394770566],[101.92188072811743,92.2527465534936,-6.892734527587891,0,0,0.28427426394770566],[106.72120795819157,93.65505113477005,-6.892734527587891,0,0,0.28427426394770566],[106.72120795819157,93.65505113477005,-6.892734527587891,0,0,0.5460736517468551],[110.99405894586369,96.25173063697076,-6.892734527587891,0,0,0.5460736517468551],[115.2669099335358,98.84841013917148,-6.892734527587891,0,0,0.5460736517468551],[119.53976092120791,101.44508964137219,-6.892734527587891,0,0,0.5460736517468551],[123.81261190888003,104.0417691435729,-6.892734527587891,0,0,0.5460736517468551],[128.08546289655214,106.63844864577362,-6.892734527587891,0,0,0.5460736517468551],[132.35831388422426,109.23512814797434,-6.892734527587891,0,0,0.5460736517468551],[132.35831388422426,109.23512814797434,-4.892734527587891,0,0,0.5460736517468551],[136.63116487189637,111.83180765017505,-4.892734527587891,0,0,0.5460736517468551],[140.9040158595685,114.42848715237577,-4.892734527587891,0,0,0.5460736517468551],[138.30733635736777,118.70133814004788,-4.892734527587891,0,0,0.5460736517468551],[142.5801873450399,121.2980176422486,-4.892734527587891,0,0,0.5460736517468551],[146.853038332712,123.89469714444931,-4.892734527587891,0,0,0.5460736517468551],[151.12588932038412,126.49137664665002,-4.892734527587891,0,0,0.5460736517468551],[155.39874030805623,129.08805614885074,-4.892734527587891,0,0,0.5460736517468551],[152.80206080585552,133.36090713652285,-4.892734527587891,0,0,0.5460736517468551],[157.07491179352763,135.95758663872357,-4.892734527587891,0,0,0.5460736517468551],[157.07491179352763,135.95758663872357,-4.892734527587891,0,0,0.8078730395460045],[160.530098805208,139.57168164498935,-4.892734527587891,0,0,0.8078730395460045],[163.9852858168884,143.18577665125514,-4.892734527587891,0,0,0.8078730395460045],[167.44047282856877,146.79987165752092,-4.892734527587891,0,0,0.8078730395460045],[167.44047282856877,146.79987165752092,-2.8927345275878906,0,0,0.8078730395460045],[170.89565984024915,150.4139666637867,-2.8927345275878906,0,0,0.8078730395460045],[170.89565984024915,150.4139666637867,-2.8927345275878906,0,0,0.5460736517468551],[170.89565984024915,150.4139666637867,-4.892734527587891,0,0,0.5460736517468551],[175.16851082792127,153.01064616598742,-4.892734527587891,0,0,0.5460736517468551],[179.44136181559338,155.60732566818814,-4.892734527587891,0,0,0.5460736517468551],[179.44136181559338,155.60732566818814,-4.892734527587891,0,0,0.8078730395460045],[179.44136181559338,155.60732566818814,-4.892734527587891,0,0,1.0696724273451539],[179.44136181559338,155.60732566818814,-4.892734527587891,0,0,1.3314718151443032],[179.44136181559338,155.60732566818814,-4.892734527587891,0,0,1.5932712029434526],[179.44136181559338,155.60732566818814,-4.892734527587891,0,0,1.8550705907426022],[179.44136181559338,155.60732566818814,-4.892734527587891,0,0,2.1168699785417515],[179.44136181559338,155.60732566818814,-4.892734527587891,0,0,2.378669366340901],[179.44136181559338,155.60732566818814,-4.892734527587891,0,0,2.6404687541400502],[179.44136181559338,155.60732566818814,-4.892734527587891,0,0,2.9022681419392],[174.58387022263656,156.7925578919965,-4.892734527587891,0,0,2.9022681419392],[169.72637862967974,157.97779011580485,-4.892734527587891,0,0,2.9022681419392]]}],"statistics":{"complete_actions":95,"sentence_actions":[16,15,18,46],"sentence_actions_average":23.75}}
diff --git a/scene_2/3IFS6Q0HJRHV65KCQ4SNB2U1C2QISO.json b/scene_2/3IFS6Q0HJRHV65KCQ4SNB2U1C2QISO.json
new file mode 100644
index 0000000000000000000000000000000000000000..dc7b9242203dd5067126c37a30f6bd098713ce59
--- /dev/null
+++ b/scene_2/3IFS6Q0HJRHV65KCQ4SNB2U1C2QISO.json
@@ -0,0 +1 @@
+{"episode_id":"3IFS6Q0HJRHV65KCQ4SNB2U1C2QISO","trajectory_id":"31YWE12TF8A3RISMBKPBU2QWJRQX7W","scene_id":2,"instruction":"take off and ascend up on the orange bins, view the connection of the electric lines on the pole, then make a right turn, pass over the wooden frame, and fly towards the electric lines ahead. proceed to fly in the direction of the suspended pipes, make a left turn to view the sign works for sign factory on the side of the wall of the building and fly over its roof, proceed ahead to the roofs of the other buildings with the suspended pipes in front and make a right turn to view the buildings below with orange gates. fly over the building, straight to the stony ground, where there is a sign to the right, descend on the roof of the building, viewing the connection of the electric lines on the pole , and stop.","sentence_instructions":[{"id":0,"instruction":"take off and ascend up on the orange bins, view the connection of the electric lines on the pole, then make a right turn, pass over the wooden frame, and fly towards the electric lines ahead.","completed_instruction":"Take off, ascend to a higher altitude than the electric lines on the pole, then turn right to face the ruined hut that behind the electric lines and beside the wooden frame, and fly ahead until reaching the power lines behind the front wooden roof.","start_frame":1,"end_frame":20,"start_position":[32.093849182128906,-50.701873779296875,0.7656828761100769],"start_rotation":[0.99980339413883945,0,0,-0.019828592195525484],"end_position":[15.809418429909465,-19.720955215184397,-7.234317123889923],"end_rotation":[0.51707376163202656,0,0,0.855940842016378],"actions":[4,4,4,4,3,3,3,3,3,3,3,3,1,1,1,1,1,1,1,1],"reference_path":[[32.093849182128906,-50.701873779296875,0.7656828761100769,0,0,-0.03965978354041812],[32.093849182128906,-50.701873779296875,-1.234317123889923,0,0,-0.03965978354041812],[32.093849182128906,-50.701873779296875,-3.234317123889923,0,0,-0.03965978354041812],[32.093849182128906,-50.701873779296875,-5.234317123889923,0,0,-0.03965978354041812],[32.093849182128906,-50.701873779296875,-7.234317123889923,0,0,-0.03965978354041812],[32.093849182128906,-50.701873779296875,-7.234317123889923,0,0,0.2221396042587313],[32.093849182128906,-50.701873779296875,-7.234317123889923,0,0,0.4839389920578807],[32.093849182128906,-50.701873779296875,-7.234317123889923,0,0,0.7457383798570302],[32.093849182128906,-50.701873779296875,-7.234317123889923,0,0,1.0075377676561796],[32.093849182128906,-50.701873779296875,-7.234317123889923,0,0,1.269337155455329],[32.093849182128906,-50.701873779296875,-7.234317123889923,0,0,1.5311365432544783],[32.093849182128906,-50.701873779296875,-7.234317123889923,0,0,1.792935931053628],[32.093849182128906,-50.701873779296875,-7.234317123889923,0,0,2.0547353188527775],[29.767501931811843,-46.27602827013795,-7.234317123889923,0,0,2.0547353188527775],[27.44115468149478,-41.850182760979024,-7.234317123889923,0,0,2.0547353188527775],[25.114807431177717,-37.4243372518201,-7.234317123889923,0,0,2.0547353188527775],[22.788460180860653,-32.99849174266117,-7.234317123889923,0,0,2.0547353188527775],[20.46211293054359,-28.572646233502248,-7.234317123889923,0,0,2.0547353188527775],[18.135765680226527,-24.146800724343322,-7.234317123889923,0,0,2.0547353188527775],[15.809418429909465,-19.720955215184397,-7.234317123889923,0,0,2.0547353188527775]]},{"id":1,"instruction":"proceed to fly in the direction of the suspended pipes, make a left turn to view the sign works for sign factory on the side of the wall of the building and fly over its roof, proceed ahead to the roofs of the other buildings with the suspended pipes in front and make a right turn to view the buildings below with orange gates.","completed_instruction":"Fly forward across the wooden roof under, make a slight left turn and go forward to the billboard \"works for scan factory\" on the wall of the building and fly over its roof, fly ahead to the broken wooden roof until crossing the wires and make a right turn to view the buildings below with orange gates.","start_frame":20,"end_frame":42,"start_position":[15.809418429909465,-19.720955215184397,-7.234317123889923],"start_rotation":[0.51707376163202656,0,0,0.855940842016378],"end_position":[0.4884887547721206,53.18386454623082,-7.234317123889923],"end_rotation":[0.27792110906188555,0,0,0.96060390231240034],"actions":[1,7,1,1,2,1,1,1,1,1,1,1,1,6,1,1,1,1,3,6,3,3,3],"reference_path":[[15.809418429909465,-19.720955215184397,-7.234317123889923,0,0,2.0547353188527775],[13.483071179592404,-15.29510970602547,-7.234317123889923,0,0,2.0547353188527775],[9.057225670433477,-17.62145695634253,-7.234317123889923,0,0,2.0547353188527775],[6.730878420116415,-13.195611447183603,-7.234317123889923,0,0,2.0547353188527775],[4.404531169799354,-8.769765938024676,-7.234317123889923,0,0,2.0547353188527775],[4.404531169799354,-8.769765938024676,-7.234317123889923,0,0,1.7929359310536281],[3.3029453882533373,-3.8926244836586408,-7.234317123889923,0,0,1.7929359310536281],[2.201359606707321,0.9845169707073946,-7.234317123889923,0,0,1.7929359310536281],[1.0997738251613045,5.86165842507343,-7.234317123889923,0,0,1.7929359310536281],[-0.001811956384711877,10.738799879439465,-7.234317123889923,0,0,1.7929359310536281],[-1.1033977379307283,15.615941333805502,-7.234317123889923,0,0,1.7929359310536281],[-2.2049835194767446,20.493082788171538,-7.234317123889923,0,0,1.7929359310536281],[-3.306569301022761,25.370224242537574,-7.234317123889923,0,0,1.7929359310536281],[-4.408155082568777,30.24736569690361,-7.234317123889923,0,0,1.7929359310536281],[0.4689863717972589,31.348951478449624,-7.234317123889923,0,0,1.7929359310536281],[-0.6325994097487575,36.22609293281566,-7.234317123889923,0,0,1.7929359310536281],[-1.7341851912947739,41.10323438718169,-7.234317123889923,0,0,1.7929359310536281],[-2.8357709728407903,45.980375841547726,-7.234317123889923,0,0,1.7929359310536281],[-3.9373567543868067,50.85751729591376,-7.234317123889923,0,0,1.7929359310536281],[-3.9373567543868067,50.85751729591376,-7.234317123889923,0,0,2.0547353188527775],[0.4884887547721206,53.18386454623082,-7.234317123889923,0,0,2.0547353188527775],[0.4884887547721206,53.18386454623082,-7.234317123889923,0,0,2.3165347066519266],[0.4884887547721206,53.18386454623082,-7.234317123889923,0,0,2.578334094451076]]},{"id":2,"instruction":"fly over the building, straight to the stony ground, where there is a sign to the right, descend on the roof of the building, viewing the connection of the electric lines on the pole , and stop.","completed_instruction":"Fly over the building with orange gate, descend on the roof of the building with orange doors.","start_frame":42,"end_frame":49,"start_position":[0.4884887547721206,53.18386454623082,-7.234317123889923],"start_rotation":[0.27792110906188555,0,0,0.96060390231240034],"end_position":[-18.609596397644594,59.122142369896565,-3.234317123889923],"end_rotation":[0.15015948584615671,0,0,0.9886617868666806],"actions":[3,1,1,1,1,5,5,0],"reference_path":[[0.4884887547721206,53.18386454623082,-7.234317123889923,0,0,2.578334094451076],[0.4884887547721206,53.18386454623082,-7.234317123889923,0,0,2.8401334822502258],[-4.286032533332058,54.66843400214726,-7.234317123889923,0,0,2.8401334822502258],[-9.060553821436237,56.153003458063694,-7.234317123889923,0,0,2.8401334822502258],[-13.835075109540416,57.63757291398013,-7.234317123889923,0,0,2.8401334822502258],[-18.609596397644594,59.122142369896565,-7.234317123889923,0,0,2.8401334822502258],[-18.609596397644594,59.122142369896565,-5.234317123889923,0,0,2.8401334822502258],[-18.609596397644594,59.122142369896565,-3.234317123889923,0,0,2.8401334822502258]]}],"statistics":{"complete_actions":51,"sentence_actions":[20,23,8],"sentence_actions_average":17.0}}
diff --git a/scene_2/3IGI0VL64GI8ME3AG3O6W5GIJ4VONV.json b/scene_2/3IGI0VL64GI8ME3AG3O6W5GIJ4VONV.json
new file mode 100644
index 0000000000000000000000000000000000000000..21ccca29682bea66c2cb9bae8b79d074debedfff
--- /dev/null
+++ b/scene_2/3IGI0VL64GI8ME3AG3O6W5GIJ4VONV.json
@@ -0,0 +1 @@
+{"episode_id":"3IGI0VL64GI8ME3AG3O6W5GIJ4VONV","trajectory_id":"31MCUE39CSKA4DW9KYMHTZELFPGG3A","scene_id":2,"instruction":"take off. half turn to the right and go forward over building. stop at the opened structure and a half turn to the left and go forward over the pipeline. reach the metal container. take a half right turn go straight. forward over powering. forward, veer to left and get near flat rooftop. left half turn to face end of flat building. go straight across the rock. forward until you reach a.","sentence_instructions":[{"id":0,"instruction":"take off.","completed_instruction":"Take off, turn right to face the deep brown brick bungalow.","start_frame":1,"end_frame":3,"start_position":[47.53717803955078,11.859173774719238,0.5165914297103882],"start_rotation":[0.99988772901357126,0,0,0.014984304057352262],"end_position":[47.53717803955078,11.859173774719238,0.5165914297103882],"end_rotation":[0.99988772901357126,0,0,0.014984304057352262],"actions":[4,5,4],"reference_path":[[47.53717803955078,11.859173774719238,0.5165914297103882,0,0,0.029969729700138267],[47.53717803955078,11.859173774719238,-1.4834085702896118,0,0,0.029969729700138267],[47.53717803955078,11.859173774719238,0.5165914297103882,0,0,0.029969729700138267]]},{"id":1,"instruction":"half turn to the right and go forward over building.","completed_instruction":"Turn right to face a green door, and rise up to the higher altitude than the front bungalow, then fly forward over the roofs and electric wires until reaching the exterior wall made of black bricks.","start_frame":3,"end_frame":16,"start_position":[47.53717803955078,11.859173774719238,0.5165914297103882],"start_rotation":[0.99988772901357126,0,0,0.014984304057352262],"end_position":[54.42993656612143,41.05660311180965,-3.483408570289612],"end_rotation":[0.78414240337847918,0,0,0.620580930438426],"actions":[4,4,3,3,3,3,3,1,1,1,1,1,1,7],"reference_path":[[47.53717803955078,11.859173774719238,0.5165914297103882,0,0,0.029969729700138267],[47.53717803955078,11.859173774719238,-1.4834085702896118,0,0,0.029969729700138267],[47.53717803955078,11.859173774719238,-3.483408570289612,0,0,0.029969729700138267],[47.53717803955078,11.859173774719238,-3.483408570289612,0,0,0.2917691174992877],[47.53717803955078,11.859173774719238,-3.483408570289612,0,0,0.5535685052984372],[47.53717803955078,11.859173774719238,-3.483408570289612,0,0,0.8153678930975865],[47.53717803955078,11.859173774719238,-3.483408570289612,0,0,1.077167280896736],[47.53717803955078,11.859173774719238,-3.483408570289612,0,0,1.3389666686958854],[48.685971127312555,16.72541199756764,-3.483408570289612,0,0,1.3389666686958854],[49.83476421507433,21.591650220416042,-3.483408570289612,0,0,1.3389666686958854],[50.983557302836104,26.457888443264444,-3.483408570289612,0,0,1.3389666686958854],[52.13235039059788,31.324126666112846,-3.483408570289612,0,0,1.3389666686958854],[53.28114347835965,36.19036488896125,-3.483408570289612,0,0,1.3389666686958854],[54.42993656612143,41.05660311180965,-3.483408570289612,0,0,1.3389666686958854]]},{"id":2,"instruction":"stop at the opened structure and a half turn to the left and go forward over the pipeline.","completed_instruction":"Turn left to face a utility pole and fly forward over the buildings and a pipeline to the house behind it.","start_frame":16,"end_frame":36,"start_position":[54.42993656612143,41.05660311180965,-3.483408570289612],"start_rotation":[0.78414240337847918,0,0,0.620580930438426],"end_position":[90.34035224799946,25.749518038925572,-7.483408570289612],"end_rotation":[0.96969560411138356,0,0,-0.24431626095505585],"actions":[7,1,2,2,2,2,2,2,2,1,1,1,1,1,4,1,1,4,1,1,1],"reference_path":[[54.42993656612143,41.05660311180965,-3.483408570289612,0,0,1.3389666686958854],[49.563698343273025,42.205396199571425,-3.483408570289612,0,0,1.3389666686958854],[50.7124914310348,47.07163442241983,-3.483408570289612,0,0,1.3389666686958854],[50.7124914310348,47.07163442241983,-3.483408570289612,0,0,1.077167280896736],[50.7124914310348,47.07163442241983,-3.483408570289612,0,0,0.8153678930975867],[50.7124914310348,47.07163442241983,-3.483408570289612,0,0,0.5535685052984373],[50.7124914310348,47.07163442241983,-3.483408570289612,0,0,0.29176911749928786],[50.7124914310348,47.07163442241983,-3.483408570289612,0,0,0.029969729700138437],[50.7124914310348,47.07163442241983,-3.483408570289612,0,0,-0.231829658099011],[50.7124914310348,47.07163442241983,-3.483408570289612,0,0,-0.49362904589816037],[55.11558707736421,44.702510379809354,-3.483408570289612,0,0,-0.49362904589816037],[59.51868272369362,42.33338633719888,-3.483408570289612,0,0,-0.49362904589816037],[63.921778370023034,39.96426229458841,-3.483408570289612,0,0,-0.49362904589816037],[68.32487401635244,37.595138251977936,-3.483408570289612,0,0,-0.49362904589816037],[72.72796966268184,35.22601420936746,-3.483408570289612,0,0,-0.49362904589816037],[72.72796966268184,35.22601420936746,-5.483408570289612,0,0,-0.49362904589816037],[77.13106530901125,32.85689016675699,-5.483408570289612,0,0,-0.49362904589816037],[81.53416095534065,30.487766124146518,-5.483408570289612,0,0,-0.49362904589816037],[81.53416095534065,30.487766124146518,-7.483408570289612,0,0,-0.49362904589816037],[85.93725660167006,28.118642081536045,-7.483408570289612,0,0,-0.49362904589816037],[90.34035224799946,25.749518038925572,-7.483408570289612,0,0,-0.49362904589816037]]},{"id":3,"instruction":"reach the metal container.","completed_instruction":"Fly forward close to the metal roof of the building.","start_frame":36,"end_frame":39,"start_position":[90.34035224799946,25.749518038925572,-7.483408570289612],"start_rotation":[0.96969560411138356,0,0,-0.24431626095505585],"end_position":[103.54963918698768,18.642145911094154,-7.483408570289612],"end_rotation":[0.96969560411138356,0,0,-0.24431626095505585],"actions":[1,1,1,1],"reference_path":[[90.34035224799946,25.749518038925572,-7.483408570289612,0,0,-0.49362904589816037],[94.74344789432887,23.3803939963151,-7.483408570289612,0,0,-0.49362904589816037],[99.14654354065827,21.011269953704627,-7.483408570289612,0,0,-0.49362904589816037],[103.54963918698768,18.642145911094154,-7.483408570289612,0,0,-0.49362904589816037]]},{"id":4,"instruction":"take a half right turn go straight.","completed_instruction":"Turn right until the pipeline is in the right half screen, fly forward across the pipeline, a black roof, a brick wall and a billboard, and then fly to the pipeline.","start_frame":39,"end_frame":71,"start_position":[103.54963918698768,18.642145911094154,-7.483408570289612],"start_rotation":[0.96969560411138356,0,0,-0.24431626095505585],"end_position":[61.641374785196156,81.69670206528478,-7.483408570289612],"end_rotation":[0.48696707653508814,0,0,0.87342032628675959],"actions":[1,3,3,2,3,3,3,3,3,3,3,3,3,1,1,4,1,1,1,5,1,1,1,1,1,7,1,1,1,1,1,1,7],"reference_path":[[103.54963918698768,18.642145911094154,-7.483408570289612,0,0,-0.49362904589816037],[107.95273483331708,16.27302186848368,-7.483408570289612,0,0,-0.49362904589816037],[107.95273483331708,16.27302186848368,-7.483408570289612,0,0,-0.23182965809901093],[107.95273483331708,16.27302186848368,-7.483408570289612,0,0,0.0299697297001385],[107.95273483331708,16.27302186848368,-7.483408570289612,0,0,-0.23182965809901093],[107.95273483331708,16.27302186848368,-7.483408570289612,0,0,0.0299697297001385],[107.95273483331708,16.27302186848368,-7.483408570289612,0,0,0.2917691174992879],[107.95273483331708,16.27302186848368,-7.483408570289612,0,0,0.5535685052984374],[107.95273483331708,16.27302186848368,-7.483408570289612,0,0,0.8153678930975868],[107.95273483331708,16.27302186848368,-7.483408570289612,0,0,1.0771672808967363],[107.95273483331708,16.27302186848368,-7.483408570289612,0,0,1.3389666686958859],[107.95273483331708,16.27302186848368,-7.483408570289612,0,0,1.6007660564950352],[107.95273483331708,16.27302186848368,-7.483408570289612,0,0,1.8625654442941848],[107.95273483331708,16.27302186848368,-7.483408570289612,0,0,2.124364832093334],[105.32410416960839,20.526291297265544,-7.483408570289612,0,0,2.124364832093334],[102.6954735058997,24.779560726047407,-7.483408570289612,0,0,2.124364832093334],[102.6954735058997,24.779560726047407,-9.483408570289612,0,0,2.124364832093334],[100.06684284219101,29.03283015482927,-9.483408570289612,0,0,2.124364832093334],[97.43821217848232,33.28609958361113,-9.483408570289612,0,0,2.124364832093334],[94.80958151477363,37.539369012392996,-9.483408570289612,0,0,2.124364832093334],[94.80958151477363,37.539369012392996,-7.483408570289612,0,0,2.124364832093334],[92.18095085106494,41.79263844117486,-7.483408570289612,0,0,2.124364832093334],[89.55232018735624,46.04590786995672,-7.483408570289612,0,0,2.124364832093334],[86.92368952364755,50.299177298738584,-7.483408570289612,0,0,2.124364832093334],[84.29505885993886,54.55244672752045,-7.483408570289612,0,0,2.124364832093334],[81.66642819623017,58.80571615630231,-7.483408570289612,0,0,2.124364832093334],[77.41315876744831,56.17708549259361,-7.483408570289612,0,0,2.124364832093334],[74.78452810373962,60.430354921375475,-7.483408570289612,0,0,2.124364832093334],[72.15589744003093,64.68362435015733,-7.483408570289612,0,0,2.124364832093334],[69.52726677632224,68.9368937789392,-7.483408570289612,0,0,2.124364832093334],[66.89863611261354,73.19016320772106,-7.483408570289612,0,0,2.124364832093334],[64.27000544890485,77.44343263650292,-7.483408570289612,0,0,2.124364832093334],[61.641374785196156,81.69670206528478,-7.483408570289612,0,0,2.124364832093334]]},{"id":5,"instruction":"forward over powering.","completed_instruction":"Fly forward over the electric wires.","start_frame":71,"end_frame":73,"start_position":[61.641374785196156,81.69670206528478,-7.483408570289612],"start_rotation":[0.48696707653508814,0,0,0.87342032628675959],"end_position":[54.759474692705595,83.32134083035795,-7.483408570289612],"end_rotation":[0.48696707653508814,0,0,0.87342032628675959],"actions":[7,1,1],"reference_path":[[61.641374785196156,81.69670206528478,-7.483408570289612,0,0,2.124364832093334],[57.38810535641429,79.06807140157609,-7.483408570289612,0,0,2.124364832093334],[54.759474692705595,83.32134083035795,-7.483408570289612,0,0,2.124364832093334]]},{"id":6,"instruction":"forward, veer to left and get near flat rooftop.","completed_instruction":"Fly over the wires, turn left to face the building with two billboards, then fly to its roof.","start_frame":73,"end_frame":79,"start_position":[54.759474692705595,83.32134083035795,-7.483408570289612],"start_rotation":[0.48696707653508814,0,0,0.87342032628675959],"end_position":[44.2449520378708,100.3344185454854,-7.483408570289612],"end_rotation":[0.69643189060039812,0,0,0.71762289662102829],"actions":[1,1,1,1,2,2,1],"reference_path":[[54.759474692705595,83.32134083035795,-7.483408570289612,0,0,2.124364832093334],[52.1308440289969,87.57461025913982,-7.483408570289612,0,0,2.124364832093334],[49.5022133652882,91.82787968792168,-7.483408570289612,0,0,2.124364832093334],[46.8735827015795,96.08114911670354,-7.483408570289612,0,0,2.124364832093334],[44.2449520378708,100.3344185454854,-7.483408570289612,0,0,2.124364832093334],[44.2449520378708,100.3344185454854,-7.483408570289612,0,0,1.8625654442941848],[44.2449520378708,100.3344185454854,-7.483408570289612,0,0,1.6007660564950354]]},{"id":7,"instruction":"left half turn to face end of flat building.","completed_instruction":"Turn left to face the end of the flat building, then fly over two flat roofs and fly to the wires above stony terrain.","start_frame":78,"end_frame":91,"start_position":[44.2449520378708,100.3344185454854,-7.483408570289612],"start_rotation":[0.59680523508674588,0,0,0.80238613607978915],"end_position":[62.58301608297632,127.72635070544906,-7.483408570289612],"end_rotation":[0.961939157576084,0,0,0.2732637135109855],"actions":[2,1,1,2,2,2,2,1,1,1,1,7,1,1],"reference_path":[[44.2449520378708,100.3344185454854,-7.483408570289612,0,0,1.8625654442941848],[44.2449520378708,100.3344185454854,-7.483408570289612,0,0,1.6007660564950354],[44.095125820323254,105.33217325180458,-7.483408570289612,0,0,1.6007660564950354],[43.945299602775705,110.32992795812375,-7.483408570289612,0,0,1.6007660564950354],[43.945299602775705,110.32992795812375,-7.483408570289612,0,0,1.338966668695886],[43.945299602775705,110.32992795812375,-7.483408570289612,0,0,1.0771672808967367],[43.945299602775705,110.32992795812375,-7.483408570289612,0,0,0.8153678930975874],[43.945299602775705,110.32992795812375,-7.483408570289612,0,0,0.5535685052984378],[48.19856903155757,112.95855862183244,-7.483408570289612,0,0,0.5535685052984378],[52.45183846033943,115.58718928554113,-7.483408570289612,0,0,0.5535685052984378],[56.705107889121294,118.21581994924982,-7.483408570289612,0,0,0.5535685052984378],[60.95837731790316,120.84445061295851,-7.483408570289612,0,0,0.5535685052984378],[58.32974665419446,125.09772004174037,-7.483408570289612,0,0,0.5535685052984378],[62.58301608297632,127.72635070544906,-7.483408570289612,0,0,0.5535685052984378]]},{"id":8,"instruction":"go straight across the rock.","completed_instruction":"Fly straight across the rock along the wires to the closest buildings on the stony terrain.","start_frame":91,"end_frame":110,"start_position":[62.58301608297632,127.72635070544906,-7.483408570289612],"start_rotation":[0.961939157576084,0,0,0.2732637135109855],"end_position":[133.73053660941846,161.2556457825314,-5.483408570289612],"end_rotation":[0.99988772901357126,0,0,0.014984304057352626],"actions":[1,1,1,1,1,1,1,1,1,1,1,2,1,1,1,2,1,5,1,1],"reference_path":[[62.58301608297632,127.72635070544906,-7.483408570289612,0,0,0.5535685052984378],[66.83628551175818,130.35498136915777,-7.483408570289612,0,0,0.5535685052984378],[71.08955494054004,132.98361203286646,-7.483408570289612,0,0,0.5535685052984378],[75.3428243693219,135.61224269657515,-7.483408570289612,0,0,0.5535685052984378],[79.59609379810377,138.24087336028384,-7.483408570289612,0,0,0.5535685052984378],[83.84936322688563,140.86950402399253,-7.483408570289612,0,0,0.5535685052984378],[88.10263265566749,143.49813468770122,-7.483408570289612,0,0,0.5535685052984378],[92.35590208444935,146.12676535140992,-7.483408570289612,0,0,0.5535685052984378],[96.60917151323122,148.7553960151186,-7.483408570289612,0,0,0.5535685052984378],[100.86244094201308,151.3840266788273,-7.483408570289612,0,0,0.5535685052984378],[105.11571037079494,154.012657342536,-7.483408570289612,0,0,0.5535685052984378],[109.3689797995768,156.64128800624468,-7.483408570289612,0,0,0.5535685052984378],[109.3689797995768,156.64128800624468,-7.483408570289612,0,0,0.2917691174992884],[114.15766226531125,158.07952311997522,-7.483408570289612,0,0,0.2917691174992884],[118.94634473104568,159.51775823370576,-7.483408570289612,0,0,0.2917691174992884],[123.73502719678012,160.9559933474363,-7.483408570289612,0,0,0.2917691174992884],[123.73502719678012,160.9559933474363,-7.483408570289612,0,0,0.029969729700138996],[128.7327819030993,161.10581956498385,-7.483408570289612,0,0,0.029969729700138996],[128.7327819030993,161.10581956498385,-5.483408570289612,0,0,0.029969729700138996],[133.73053660941846,161.2556457825314,-5.483408570289612,0,0,0.029969729700138996]]},{"id":9,"instruction":"forward until you reach a.","completed_instruction":"Land on the black roof ahead.","start_frame":110,"end_frame":117,"start_position":[133.73053660941846,161.2556457825314,-5.483408570289612],"start_rotation":[0.99988772901357126,0,0,0.014984304057352626],"end_position":[163.7170648473335,162.15460308781664,-3.483408570289612],"end_rotation":[0.99988772901357126,0,0,0.014984304057352626],"actions":[1,1,1,1,1,5,1,0],"reference_path":[[133.73053660941846,161.2556457825314,-5.483408570289612,0,0,0.029969729700138996],[138.72829131573764,161.40547200007893,-5.483408570289612,0,0,0.029969729700138996],[143.7260460220568,161.55529821762647,-5.483408570289612,0,0,0.029969729700138996],[148.72380072837598,161.705124435174,-5.483408570289612,0,0,0.029969729700138996],[153.72155543469515,161.85495065272156,-5.483408570289612,0,0,0.029969729700138996],[158.71931014101432,162.0047768702691,-5.483408570289612,0,0,0.029969729700138996],[158.71931014101432,162.0047768702691,-3.483408570289612,0,0,0.029969729700138996],[163.7170648473335,162.15460308781664,-3.483408570289612,0,0,0.029969729700138996]]}],"statistics":{"complete_actions":127,"sentence_actions":[3,14,21,4,33,3,7,14,20,8],"sentence_actions_average":12.7}}
diff --git a/scene_2/3JPSL1DZ51XJKA996KJOVAWCEUBNAB.json b/scene_2/3JPSL1DZ51XJKA996KJOVAWCEUBNAB.json
new file mode 100644
index 0000000000000000000000000000000000000000..3e42138492a88cce2681ed2006c3723f02afc405
--- /dev/null
+++ b/scene_2/3JPSL1DZ51XJKA996KJOVAWCEUBNAB.json
@@ -0,0 +1 @@
+{"episode_id":"3JPSL1DZ51XJKA996KJOVAWCEUBNAB","trajectory_id":"31SIZS5W6HDT04BPYKSP5BL3OKQQRP","scene_id":2,"instruction":"start out on the ground facing a white commercial van, then go up in the air much higher than the van and then turn completely all the way around. next go forward till you are above a building with a flat roof and right before the edge of the cliff. then turn to the left and till you see a tall fence and then fly over that fence continuing to be flying over some buildings. keep going forward with the three tall slim towers in the distance being in the middle of the screen. as the white van is not at your lower right hand of the screen stop and make a right turn. turning until you are completely turned around, and then turn a smudge to your left. once you see the tall scaffolding ladder like thing in the left had side of the screen go forward until you are almost going into it. before going into it turn left until it is now in the far right hand corner of the screen, almost cut off on the screen all the way to the right. you should be high enough so that you are able to see the top most part of this scaffolding as well as all the roof tops. now go forward until you are away from all the buildings, heading towards a bunch of just rocks. you will see below you a court yard of sorts, enclosed by a short concrete fence. land in the farthest corner of this fence as you are lowering and landing, also slowly turn round so that you are now turned completely around. once completely turned around now sit it down.","sentence_instructions":[{"id":0,"instruction":"start out on the ground facing a white commercial van, then go up in the air much higher than the van and then turn completely all the way around.","completed_instruction":"Lift off, rise up to the same height as the grey building ahead, turn left to face a column of buildings with black roof.","start_frame":1,"end_frame":13,"start_position":[6.791354179382324,-62.446014404296875,1.5117865800857544],"start_rotation":[0.99999992902782242,0,0,0.00037675502673910956],"end_position":[6.791354179382324,-62.446014404296875,-6.488213419914246],"end_rotation":[0.5003262439380709,0,0,-0.86583696480736028],"actions":[4,4,4,4,2,2,2,2,2,2,2,2,2],"reference_path":[[6.791354179382324,-62.446014404296875,1.5117865800857544,0,0,0.0007535100713043027],[6.791354179382324,-62.446014404296875,-0.4882134199142456,0,0,0.0007535100713043027],[6.791354179382324,-62.446014404296875,-2.4882134199142456,0,0,0.0007535100713043027],[6.791354179382324,-62.446014404296875,-4.488213419914246,0,0,0.0007535100713043027],[6.791354179382324,-62.446014404296875,-6.488213419914246,0,0,0.0007535100713043027],[6.791354179382324,-62.446014404296875,-6.488213419914246,0,0,-0.2610458777278451],[6.791354179382324,-62.446014404296875,-6.488213419914246,0,0,-0.5228452655269945],[6.791354179382324,-62.446014404296875,-6.488213419914246,0,0,-0.784644653326144],[6.791354179382324,-62.446014404296875,-6.488213419914246,0,0,-1.0464440411252933],[6.791354179382324,-62.446014404296875,-6.488213419914246,0,0,-1.308243428924443],[6.791354179382324,-62.446014404296875,-6.488213419914246,0,0,-1.5700428167235922],[6.791354179382324,-62.446014404296875,-6.488213419914246,0,0,-1.8318422045227418],[6.791354179382324,-62.446014404296875,-6.488213419914246,0,0,-2.093641592321891]]},{"id":1,"instruction":"next go forward till you are above a building with a flat roof and right before the edge of the cliff.","completed_instruction":"Fly forward over a higher roof to a lower flat roof.","start_frame":13,"end_frame":20,"start_position":[6.791354179382324,-62.446014404296875,-6.488213419914246],"start_rotation":[0.5003262439380709,0,0,-0.86583696480736028],"end_position":[-12.523256407316989,-67.63695053221858,-6.488213419914246],"end_rotation":[0.13089971479158086,0,0,-0.99139561460976955],"actions":[2,2,2,1,1,1,1,1],"reference_path":[[6.791354179382324,-62.446014404296875,-6.488213419914246,0,0,-2.093641592321891],[6.791354179382324,-62.446014404296875,-6.488213419914246,0,0,-2.3554409801210405],[6.791354179382324,-62.446014404296875,-6.488213419914246,0,0,-2.61724036792019],[6.791354179382324,-62.446014404296875,-6.488213419914246,0,0,-2.8790397557193392],[1.962701532707496,-63.7437484362773,-6.488213419914246,0,0,-2.8790397557193392],[-2.8659511139673324,-65.04148246825773,-6.488213419914246,0,0,-2.8790397557193392],[-7.694603760642161,-66.33921650023815,-6.488213419914246,0,0,-2.8790397557193392],[-12.523256407316989,-67.63695053221858,-6.488213419914246,0,0,-2.8790397557193392]]},{"id":2,"instruction":"then turn to the left and till you see a tall fence and then fly over that fence continuing to be flying over some buildings.","completed_instruction":"Turn left to face fences and fly over them, and fly over two roofs and wires to iron fences and a utility pole.","start_frame":20,"end_frame":48,"start_position":[-12.523256407316989,-67.63695053221858,-6.488213419914246],"start_rotation":[0.13089971479158086,0,0,-0.99139561460976955],"end_position":[10.4418330966818,-6.550009158438919,-8.488213419914246],"end_rotation":[0.86583696480736017,0,0,0.50032624393807112],"actions":[1,1,1,2,2,2,2,2,2,2,2,2,1,1,4,1,1,1,1,1,1,1,1,1,1,1,1,1,1],"reference_path":[[-12.523256407316989,-67.63695053221858,-6.488213419914246,0,0,-2.8790397557193392],[-17.351909053991818,-68.934684564199,-6.488213419914246,0,0,-2.8790397557193392],[-22.180561700666647,-70.23241859617943,-6.488213419914246,0,0,-2.8790397557193392],[-27.009214347341477,-71.53015262815985,-6.488213419914246,0,0,-2.8790397557193392],[-27.009214347341477,-71.53015262815985,-6.488213419914246,0,0,-3.140839143518489],[-27.009214347341477,-71.53015262815985,-6.488213419914246,0,0,2.8805467758619487],[-27.009214347341477,-71.53015262815985,-6.488213419914246,0,0,2.618747388062799],[-27.009214347341477,-71.53015262815985,-6.488213419914246,0,0,2.3569480002636496],[-27.009214347341477,-71.53015262815985,-6.488213419914246,0,0,2.0951486124645005],[-27.009214347341477,-71.53015262815985,-6.488213419914246,0,0,1.833349224665351],[-27.009214347341477,-71.53015262815985,-6.488213419914246,0,0,1.5715498368662015],[-27.009214347341477,-71.53015262815985,-6.488213419914246,0,0,1.3097504490670522],[-27.009214347341477,-71.53015262815985,-6.488213419914246,0,0,1.0479510612679028],[-24.512477851073257,-67.1981430635118,-6.488213419914246,0,0,1.0479510612679028],[-22.015741354805037,-62.86613349886373,-6.488213419914246,0,0,1.0479510612679028],[-22.015741354805037,-62.86613349886373,-8.488213419914246,0,0,1.0479510612679028],[-19.519004858536817,-58.53412393421567,-8.488213419914246,0,0,1.0479510612679028],[-17.022268362268598,-54.20211436956761,-8.488213419914246,0,0,1.0479510612679028],[-14.52553186600038,-49.87010480491955,-8.488213419914246,0,0,1.0479510612679028],[-12.028795369732162,-45.53809524027149,-8.488213419914246,0,0,1.0479510612679028],[-9.532058873463944,-41.20608567562343,-8.488213419914246,0,0,1.0479510612679028],[-7.035322377195726,-36.874076110975366,-8.488213419914246,0,0,1.0479510612679028],[-4.538585880927508,-32.542066546327305,-8.488213419914246,0,0,1.0479510612679028],[-2.0418493846592902,-28.21005698167924,-8.488213419914246,0,0,1.0479510612679028],[0.4548871116089277,-23.878047417031176,-8.488213419914246,0,0,1.0479510612679028],[2.9516236078771456,-19.54603785238311,-8.488213419914246,0,0,1.0479510612679028],[5.4483601041453635,-15.214028287735047,-8.488213419914246,0,0,1.0479510612679028],[7.9450966004135815,-10.882018723086983,-8.488213419914246,0,0,1.0479510612679028],[10.4418330966818,-6.550009158438919,-8.488213419914246,0,0,1.0479510612679028]]},{"id":3,"instruction":"keep going forward with the three tall slim towers in the distance being in the middle of the screen.","completed_instruction":"Fly forward to the utility pole.","start_frame":48,"end_frame":49,"start_position":[10.4418330966818,-6.550009158438919,-8.488213419914246],"start_rotation":[0.86583696480736017,0,0,0.50032624393807112],"end_position":[12.938569592950017,-2.2179995937908554,-8.488213419914246],"end_rotation":[0.86583696480736017,0,0,0.50032624393807112],"actions":[1,1],"reference_path":[[10.4418330966818,-6.550009158438919,-8.488213419914246,0,0,1.0479510612679028],[12.938569592950017,-2.2179995937908554,-8.488213419914246,0,0,1.0479510612679028]]},{"id":4,"instruction":"as the white van is not at your lower right hand of the screen stop and make a right turn.","completed_instruction":"As the white van is at your lower right hand of the screen, turn right to face a garage with green and brown doors.","start_frame":49,"end_frame":59,"start_position":[12.938569592950017,-2.2179995937908554,-8.488213419914246],"start_rotation":[0.86583696480736017,0,0,0.50032624393807112],"end_position":[17.932042585486453,6.446019535505272,-8.488213419914246],"end_rotation":[0.00037675502673983983,0,0,-0.99999992902782242],"actions":[1,1,3,3,3,3,3,3,3,3,3],"reference_path":[[12.938569592950017,-2.2179995937908554,-8.488213419914246,0,0,1.0479510612679028],[15.435306089218235,2.114009970857208,-8.488213419914246,0,0,1.0479510612679028],[17.932042585486453,6.446019535505272,-8.488213419914246,0,0,1.0479510612679028],[17.932042585486453,6.446019535505272,-8.488213419914246,0,0,1.3097504490670522],[17.932042585486453,6.446019535505272,-8.488213419914246,0,0,1.5715498368662015],[17.932042585486453,6.446019535505272,-8.488213419914246,0,0,1.833349224665351],[17.932042585486453,6.446019535505272,-8.488213419914246,0,0,2.0951486124645005],[17.932042585486453,6.446019535505272,-8.488213419914246,0,0,2.35694800026365],[17.932042585486453,6.446019535505272,-8.488213419914246,0,0,2.6187473880627996],[17.932042585486453,6.446019535505272,-8.488213419914246,0,0,2.880546775861949],[17.932042585486453,6.446019535505272,-8.488213419914246,0,0,-3.1408391435184875]]},{"id":5,"instruction":"once you see the tall scaffolding ladder like thing in the left had side of the screen go forward until you are almost going into it.","completed_instruction":"Fly forward to a tall scaffolding ladder.","start_frame":59,"end_frame":64,"start_position":[17.932042585486453,6.446019535505272,-8.488213419914246],"start_rotation":[0.00037675502673983983,0,0,-0.99999992902782242],"end_position":[4.947316541542279,-1.0637667173595822,-8.488213419914246],"end_rotation":[0.25918294414408188,0,0,-0.96582824635895059],"actions":[3,3,1,1,1,1],"reference_path":[[17.932042585486453,6.446019535505272,-8.488213419914246,0,0,-3.1408391435184875],[17.932042585486453,6.446019535505272,-8.488213419914246,0,0,-2.879039755719338],[17.932042585486453,6.446019535505272,-8.488213419914246,0,0,-2.6172403679201883],[13.603800570838395,3.942757451216987,-8.488213419914246,0,0,-2.6172403679201883],[9.275558556190337,1.4394953669287025,-8.488213419914246,0,0,-2.6172403679201883],[4.947316541542279,-1.0637667173595822,-8.488213419914246,0,0,-2.6172403679201883]]},{"id":6,"instruction":"before going into it turn left until it is now in the far right hand corner of the screen, almost cut off on the screen all the way to the right.","completed_instruction":"In front of scaffold turn left until it is now in the right corner of the screen.","start_frame":64,"end_frame":72,"start_position":[4.947316541542279,-1.0637667173595822,-8.488213419914246],"start_rotation":[0.25918294414408188,0,0,-0.96582824635895059],"end_position":[-7.2473644501419106,-2.5374220438550026,-8.488213419914246],"end_rotation":[0.38233532894723765,0,0,0.9240236448483381],"actions":[1,1,2,2,2,2,2,1,1],"reference_path":[[4.947316541542279,-1.0637667173595822,-8.488213419914246,0,0,-2.6172403679201883],[0.6190745268942219,-3.567028801647867,-8.488213419914246,0,0,-2.6172403679201883],[-3.7091674877538354,-6.070290885936151,-8.488213419914246,0,0,-2.6172403679201883],[-3.7091674877538354,-6.070290885936151,-8.488213419914246,0,0,-2.879039755719338],[-3.7091674877538354,-6.070290885936151,-8.488213419914246,0,0,-3.1408391435184875],[-3.7091674877538354,-6.070290885936151,-8.488213419914246,0,0,2.8805467758619496],[-3.7091674877538354,-6.070290885936151,-8.488213419914246,0,0,2.6187473880628],[-3.7091674877538354,-6.070290885936151,-8.488213419914246,0,0,2.3569480002636505],[-7.2473644501419106,-2.5374220438550026,-8.488213419914246,0,0,2.3569480002636505]]},{"id":7,"instruction":"now go forward until you are away from all the buildings, heading towards a bunch of just rocks.","completed_instruction":"Fly forward passing a unfinished building with four pillars to a wooden roof, then fly towards a bunch of rocks.","start_frame":72,"end_frame":81,"start_position":[-7.2473644501419106,-2.5374220438550026,-8.488213419914246],"start_rotation":[0.38233532894723765,0,0,0.9240236448483381],"end_position":[-39.091137111634595,29.258397534875336,-8.488213419914246],"end_rotation":[0.38233532894723765,0,0,0.9240236448483381],"actions":[1,1,1,1,1,1,1,1,1,5],"reference_path":[[-7.2473644501419106,-2.5374220438550026,-8.488213419914246,0,0,2.3569480002636505],[-10.785561412529987,0.9954467982261459,-8.488213419914246,0,0,2.3569480002636505],[-14.323758374918063,4.528315640307294,-8.488213419914246,0,0,2.3569480002636505],[-17.86195533730614,8.061184482388443,-8.488213419914246,0,0,2.3569480002636505],[-21.400152299694213,11.594053324469591,-8.488213419914246,0,0,2.3569480002636505],[-24.938349262082287,15.12692216655074,-8.488213419914246,0,0,2.3569480002636505],[-28.47654622447036,18.65979100863189,-8.488213419914246,0,0,2.3569480002636505],[-32.01474318685844,22.192659850713035,-8.488213419914246,0,0,2.3569480002636505],[-35.55294014924652,25.725528692794185,-8.488213419914246,0,0,2.3569480002636505],[-39.091137111634595,29.258397534875336,-8.488213419914246,0,0,2.3569480002636505]]},{"id":8,"instruction":"land in the farthest corner of this fence as you are lowering and landing, also slowly turn round so that you are now turned completely around.","completed_instruction":"Land in the farthest corner of the concrete fence, then turn back to face the brick fences.","start_frame":81,"end_frame":105,"start_position":[-39.091137111634595,29.258397534875336,-8.488213419914246],"start_rotation":[0.38233532894723765,0,0,0.9240236448483381],"end_position":[-49.70572799879883,39.857004061118786,-0.4882134199142456],"end_rotation":[0.86621371983409978,0,0,-0.499673685089751],"actions":[5,1,1,1,5,5,5,3,3,3,3,3,3,3,3,3,3,3,3,3,3,2,2,2,0],"reference_path":[[-39.091137111634595,29.258397534875336,-8.488213419914246,0,0,2.3569480002636505],[-39.091137111634595,29.258397534875336,-6.488213419914246,0,0,2.3569480002636505],[-42.62933407402267,32.791266376956486,-6.488213419914246,0,0,2.3569480002636505],[-46.16753103641075,36.324135219037636,-6.488213419914246,0,0,2.3569480002636505],[-49.70572799879883,39.857004061118786,-6.488213419914246,0,0,2.3569480002636505],[-49.70572799879883,39.857004061118786,-4.488213419914246,0,0,2.3569480002636505],[-49.70572799879883,39.857004061118786,-2.4882134199142456,0,0,2.3569480002636505],[-49.70572799879883,39.857004061118786,-0.4882134199142456,0,0,2.3569480002636505],[-49.70572799879883,39.857004061118786,-0.4882134199142456,0,0,2.6187473880627996],[-49.70572799879883,39.857004061118786,-0.4882134199142456,0,0,2.880546775861949],[-49.70572799879883,39.857004061118786,-0.4882134199142456,0,0,-3.1408391435184875],[-49.70572799879883,39.857004061118786,-0.4882134199142456,0,0,-2.879039755719338],[-49.70572799879883,39.857004061118786,-0.4882134199142456,0,0,-2.6172403679201883],[-49.70572799879883,39.857004061118786,-0.4882134199142456,0,0,-2.355440980121039],[-49.70572799879883,39.857004061118786,-0.4882134199142456,0,0,-2.0936415923218896],[-49.70572799879883,39.857004061118786,-0.4882134199142456,0,0,-1.8318422045227403],[-49.70572799879883,39.857004061118786,-0.4882134199142456,0,0,-1.5700428167235907],[-49.70572799879883,39.857004061118786,-0.4882134199142456,0,0,-1.3082434289244413],[-49.70572799879883,39.857004061118786,-0.4882134199142456,0,0,-1.046444041125292],[-49.70572799879883,39.857004061118786,-0.4882134199142456,0,0,-0.7846446533261426],[-49.70572799879883,39.857004061118786,-0.4882134199142456,0,0,-0.5228452655269932],[-49.70572799879883,39.857004061118786,-0.4882134199142456,0,0,-0.26104587772784377],[-49.70572799879883,39.857004061118786,-0.4882134199142456,0,0,-0.5228452655269932],[-49.70572799879883,39.857004061118786,-0.4882134199142456,0,0,-0.7846446533261426],[-49.70572799879883,39.857004061118786,-0.4882134199142456,0,0,-1.046444041125292]]}],"statistics":{"complete_actions":113,"sentence_actions":[13,8,29,2,11,6,9,10,25],"sentence_actions_average":12.56}}
diff --git a/scene_2/3NS0A6KXCD6EBQ0VV8MSMJEOM2ZZGH.json b/scene_2/3NS0A6KXCD6EBQ0VV8MSMJEOM2ZZGH.json
new file mode 100644
index 0000000000000000000000000000000000000000..fadd693d2b0f0e9d0601d3851a75a96bf162e847
--- /dev/null
+++ b/scene_2/3NS0A6KXCD6EBQ0VV8MSMJEOM2ZZGH.json
@@ -0,0 +1 @@
+{"episode_id":"3NS0A6KXCD6EBQ0VV8MSMJEOM2ZZGH","trajectory_id":"3S8A4GJREB1SJT9MSVJ103TF9PR6V1","scene_id":2,"instruction":"lift off and turn right facing right of the pipeline and head straight. at the right of the 2 skinny buildings turn left facing them and head straight. veer to the left most building then turn right facing the skinny sign and land in front of the skinny sign.","sentence_instructions":[{"id":0,"instruction":"lift off and turn right facing right of the pipeline and head straight.","completed_instruction":"Lift off, rise up to the higher altitude than the front electric wires, and turn right until facing the brwon brick wall which is the middle, fly across it, then fly to the edge of the front brown brick bungalow.","start_frame":1,"end_frame":22,"start_position":[80.40995788574219,-61.768592834472656,2.310379981994629],"start_rotation":[0.99999947327240768,0,0,-0.0010263795142444574],"end_position":[75.5023425279172,-16.758423855678075,-7.689620018005371],"end_rotation":[0.7078321686484883,0,0,0.706380648819302],"actions":[4,4,4,4,4,3,3,3,3,3,3,1,1,1,1,1,1,1,1,1,7,1],"reference_path":[[80.40995788574219,-61.768592834472656,2.310379981994629,0,0,-0.0020527593889039307],[80.40995788574219,-61.768592834472656,0.3103799819946289,0,0,-0.0020527593889039307],[80.40995788574219,-61.768592834472656,-1.689620018005371,0,0,-0.0020527593889039307],[80.40995788574219,-61.768592834472656,-3.689620018005371,0,0,-0.0020527593889039307],[80.40995788574219,-61.768592834472656,-5.689620018005371,0,0,-0.0020527593889039307],[80.40995788574219,-61.768592834472656,-7.689620018005371,0,0,-0.0020527593889039307],[80.40995788574219,-61.768592834472656,-7.689620018005371,0,0,0.2597466284102455],[80.40995788574219,-61.768592834472656,-7.689620018005371,0,0,0.5215460162093949],[80.40995788574219,-61.768592834472656,-7.689620018005371,0,0,0.7833454040085444],[80.40995788574219,-61.768592834472656,-7.689620018005371,0,0,1.045144791807694],[80.40995788574219,-61.768592834472656,-7.689620018005371,0,0,1.3069441796068435],[80.40995788574219,-61.768592834472656,-7.689620018005371,0,0,1.5687435674059929],[80.4202216754784,-56.768603369021726,-7.689620018005371,0,0,1.5687435674059929],[80.43048546521462,-51.768613903570795,-7.689620018005371,0,0,1.5687435674059929],[80.44074925495083,-46.768624438119865,-7.689620018005371,0,0,1.5687435674059929],[80.45101304468704,-41.768634972668934,-7.689620018005371,0,0,1.5687435674059929],[80.46127683442326,-36.768645507218004,-7.689620018005371,0,0,1.5687435674059929],[80.47154062415947,-31.768656041767077,-7.689620018005371,0,0,1.5687435674059929],[80.48180441389569,-26.76866657631615,-7.689620018005371,0,0,1.5687435674059929],[80.4920682036319,-21.768677110865223,-7.689620018005371,0,0,1.5687435674059929],[80.50233199336812,-16.768687645414296,-7.689620018005371,0,0,1.5687435674059929],[75.5023425279172,-16.758423855678075,-7.689620018005371,0,0,1.5687435674059929]]},{"id":1,"instruction":"at the right of the 2 skinny buildings turn left facing them and head straight.","completed_instruction":"Fly over the roof of the aforementioned building, turn left to face a row of two-story buildings behind pipelines, and then fly forward until reaching the graffiti on the exterior wall that reads \"PO\".","start_frame":22,"end_frame":35,"start_position":[75.5023425279172,-16.758423855678075,-7.689620018005371],"start_rotation":[0.7078321686484883,0,0,0.706380648819302],"end_position":[97.21964663987798,15.697064156499614,-7.689620018005371],"end_rotation":[0.96619096407507288,0,0,0.25782750229500562],"actions":[1,1,1,1,2,2,2,2,1,1,1,1,1,1],"reference_path":[[75.5023425279172,-16.758423855678075,-7.689620018005371,0,0,1.5687435674059929],[75.51260631765341,-11.758434390227148,-7.689620018005371,0,0,1.5687435674059929],[75.52287010738962,-6.75844492477622,-7.689620018005371,0,0,1.5687435674059929],[75.53313389712584,-1.7584554593252921,-7.689620018005371,0,0,1.5687435674059929],[75.54339768686205,3.2415340061256357,-7.689620018005371,0,0,1.5687435674059929],[75.54339768686205,3.2415340061256357,-7.689620018005371,0,0,1.3069441796068435],[75.54339768686205,3.2415340061256357,-7.689620018005371,0,0,1.045144791807694],[75.54339768686205,3.2415340061256357,-7.689620018005371,0,0,0.7833454040085445],[75.54339768686205,3.2415340061256357,-7.689620018005371,0,0,0.5215460162093951],[79.87864747746524,5.732640036200431,-7.689620018005371,0,0,0.5215460162093951],[84.21389726806842,8.223746066275226,-7.689620018005371,0,0,0.5215460162093951],[88.54914705867161,10.714852096350022,-7.689620018005371,0,0,0.5215460162093951],[92.8843968492748,13.205958126424818,-7.689620018005371,0,0,0.5215460162093951],[97.21964663987798,15.697064156499614,-7.689620018005371,0,0,0.5215460162093951]]},{"id":2,"instruction":"veer to the left most building then turn right facing the skinny sign and land in front of the skinny sign.","completed_instruction":"Turn left towards the buildings on the far left of the ground and fly straight towards them until reaching the edge of the building\u0027s roof, then turn right towards the two bungalows that are right next to each other, then fly straight ahead, stop at the signpost and land in front of it.","start_frame":35,"end_frame":89,"start_position":[97.21964663987798,15.697064156499614,-7.689620018005371],"start_rotation":[0.96619096407507288,0,0,0.25782750229500562],"end_position":[199.61958733093186,33.03984780188187,-3.689620018005371],"end_rotation":[0.7078321686484883,0,0,0.706380648819302],"actions":[1,1,2,2,1,1,2,1,1,1,1,6,1,1,2,1,1,1,1,1,6,1,1,1,1,6,1,1,1,3,6,3,3,3,3,3,3,1,1,1,1,1,1,1,1,3,1,1,1,1,1,1,5,5,0],"reference_path":[[97.21964663987798,15.697064156499614,-7.689620018005371,0,0,0.5215460162093951],[101.55489643048116,18.18817018657441,-7.689620018005371,0,0,0.5215460162093951],[105.89014622108435,20.679276216649207,-7.689620018005371,0,0,0.5215460162093951],[105.89014622108435,20.679276216649207,-7.689620018005371,0,0,0.2597466284102457],[105.89014622108435,20.679276216649207,-7.689620018005371,0,0,-0.0020527593889037147],[110.89013568653527,20.66901242691299,-7.689620018005371,0,0,-0.0020527593889037147],[115.8901251519862,20.65874863717677,-7.689620018005371,0,0,-0.0020527593889037147],[115.8901251519862,20.65874863717677,-7.689620018005371,0,0,-0.26385214718805317],[120.71708764357986,19.354742078624284,-7.689620018005371,0,0,-0.26385214718805317],[125.54405013517352,18.050735520071797,-7.689620018005371,0,0,-0.26385214718805317],[130.3710126267672,16.74672896151931,-7.689620018005371,0,0,-0.26385214718805317],[135.19797511836086,15.442722402966822,-7.689620018005371,0,0,-0.26385214718805317],[133.89396855980837,10.61575991137316,-7.689620018005371,0,0,-0.26385214718805317],[138.72093105140203,9.311753352820674,-7.689620018005371,0,0,-0.26385214718805317],[143.5478935429957,8.007746794268186,-7.689620018005371,0,0,-0.26385214718805317],[143.5478935429957,8.007746794268186,-7.689620018005371,0,0,-0.5256515349872026],[147.87287954386267,5.498863358892054,-7.689620018005371,0,0,-0.5256515349872026],[152.19786554472964,2.989979923515922,-7.689620018005371,0,0,-0.5256515349872026],[156.5228515455966,0.4810964881397899,-7.689620018005371,0,0,-0.5256515349872026],[160.84783754646358,-2.027786947236342,-7.689620018005371,0,0,-0.5256515349872026],[165.17282354733055,-4.536670382612474,-7.689620018005371,0,0,-0.5256515349872026],[162.66394011195442,-8.861656383479442,-7.689620018005371,0,0,-0.5256515349872026],[166.9889261128214,-11.370539818855574,-7.689620018005371,0,0,-0.5256515349872026],[171.31391211368836,-13.879423254231707,-7.689620018005371,0,0,-0.5256515349872026],[175.63889811455533,-16.388306689607838,-7.689620018005371,0,0,-0.5256515349872026],[179.9638841154223,-18.897190124983968,-7.689620018005371,0,0,-0.5256515349872026],[177.45500068004617,-23.222176125850936,-7.689620018005371,0,0,-0.5256515349872026],[181.77998668091314,-25.731059561227067,-7.689620018005371,0,0,-0.5256515349872026],[186.1049726817801,-28.239942996603197,-7.689620018005371,0,0,-0.5256515349872026],[190.42995868264708,-30.748826431979328,-7.689620018005371,0,0,-0.5256515349872026],[190.42995868264708,-30.748826431979328,-7.689620018005371,0,0,-0.2638521471880532],[189.1259521240946,-35.57578892357299,-7.689620018005371,0,0,-0.2638521471880532],[189.1259521240946,-35.57578892357299,-7.689620018005371,0,0,-0.0020527593889037767],[189.1259521240946,-35.57578892357299,-7.689620018005371,0,0,0.25974662841024565],[189.1259521240946,-35.57578892357299,-7.689620018005371,0,0,0.5215460162093951],[189.1259521240946,-35.57578892357299,-7.689620018005371,0,0,0.7833454040085446],[189.1259521240946,-35.57578892357299,-7.689620018005371,0,0,1.045144791807694],[189.1259521240946,-35.57578892357299,-7.689620018005371,0,0,1.3069441796068435],[190.42995868264708,-30.74882643197933,-7.689620018005371,0,0,1.3069441796068435],[191.73396524119957,-25.92186394038567,-7.689620018005371,0,0,1.3069441796068435],[193.03797179975206,-21.094901448792008,-7.689620018005371,0,0,1.3069441796068435],[194.34197835830454,-16.267938957198346,-7.689620018005371,0,0,1.3069441796068435],[195.64598491685703,-11.440976465604685,-7.689620018005371,0,0,1.3069441796068435],[196.94999147540952,-6.614013974011022,-7.689620018005371,0,0,1.3069441796068435],[198.253998033962,-1.7870514824173593,-7.689620018005371,0,0,1.3069441796068435],[199.5580045925145,3.0399110091763033,-7.689620018005371,0,0,1.3069441796068435],[199.5580045925145,3.0399110091763033,-7.689620018005371,0,0,1.5687435674059929],[199.56826838225072,8.039900474627231,-7.689620018005371,0,0,1.5687435674059929],[199.57853217198695,13.039889940078158,-7.689620018005371,0,0,1.5687435674059929],[199.58879596172318,18.039879405529085,-7.689620018005371,0,0,1.5687435674059929],[199.5990597514594,23.039868870980012,-7.689620018005371,0,0,1.5687435674059929],[199.60932354119564,28.03985833643094,-7.689620018005371,0,0,1.5687435674059929],[199.61958733093186,33.03984780188187,-7.689620018005371,0,0,1.5687435674059929],[199.61958733093186,33.03984780188187,-5.689620018005371,0,0,1.5687435674059929],[199.61958733093186,33.03984780188187,-3.689620018005371,0,0,1.5687435674059929]]}],"statistics":{"co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diff --git a/scene_2/3PJUZCGDJFEKCKC08CG5HIVXKUH988.json b/scene_2/3PJUZCGDJFEKCKC08CG5HIVXKUH988.json
new file mode 100644
index 0000000000000000000000000000000000000000..3bb7382e4f383bb076ce993322c9c0779105b79c
--- /dev/null
+++ b/scene_2/3PJUZCGDJFEKCKC08CG5HIVXKUH988.json
@@ -0,0 +1 @@
+{"episode_id":"3PJUZCGDJFEKCKC08CG5HIVXKUH988","trajectory_id":"3IVEC1GSMXXOLC8V50T12JR46R4J1V","scene_id":2,"instruction":"take off and turn right. go forward. now turn left and move on you can see some damaged buildings. now turn right and go on. you can see a four unfinished killers. near that killers you can see a damaged orch with green gates.","sentence_instructions":[{"id":0,"instruction":"take off and turn right.","completed_instruction":"Take off, ascend to a higher altitude than the shabby bungalows in front, and then turn right to face a row of bungalows with iron railings in front.","start_frame":1,"end_frame":10,"start_position":[6.791354179382324,-62.446014404296875,1.5117865800857544],"start_rotation":[0.99992162292143794,0,0,0.012519904718396613],"end_position":[6.791354179382324,-62.446014404296875,-8.488213419914246],"end_rotation":[0.85969757488413123,0,0,0.510803366999811],"actions":[4,4,4,4,4,3,3,3,3,3],"reference_path":[[6.791354179382324,-62.446014404296875,1.5117865800857544,0,0,0.025040463639673542],[6.791354179382324,-62.446014404296875,-0.4882134199142456,0,0,0.025040463639673542],[6.791354179382324,-62.446014404296875,-2.4882134199142456,0,0,0.025040463639673542],[6.791354179382324,-62.446014404296875,-4.488213419914246,0,0,0.025040463639673542],[6.791354179382324,-62.446014404296875,-6.488213419914246,0,0,0.025040463639673542],[6.791354179382324,-62.446014404296875,-8.488213419914246,0,0,0.025040463639673542],[6.791354179382324,-62.446014404296875,-8.488213419914246,0,0,0.28683985143882296],[6.791354179382324,-62.446014404296875,-8.488213419914246,0,0,0.5486392392379724],[6.791354179382324,-62.446014404296875,-8.488213419914246,0,0,0.8104386270371219],[6.791354179382324,-62.446014404296875,-8.488213419914246,0,0,1.0722380148362713]]},{"id":1,"instruction":"go forward.","completed_instruction":"Turn right to face the bungalow closest to the iron fence on the right, fly forward and pass through two rooftops, then fly to the power lines.","start_frame":10,"end_frame":21,"start_position":[6.791354179382324,-62.446014404296875,-8.488213419914246],"start_rotation":[0.85969757488413123,0,0,0.510803366999811],"end_position":[-4.5255501928274455,-24.080304774078115,-8.488213419914246],"end_rotation":[0.59878100783790555,0,0,0.80091279466157994],"actions":[3,3,3,1,1,1,1,1,1,1,1,1],"reference_path":[[6.791354179382324,-62.446014404296875,-8.488213419914246,0,0,1.0722380148362713],[6.791354179382324,-62.446014404296875,-8.488213419914246,0,0,1.334037402635421],[6.791354179382324,-62.446014404296875,-8.488213419914246,0,0,1.5958367904345705],[6.791354179382324,-62.446014404296875,-8.488213419914246,0,0,1.85763617823372],[5.376741132856103,-57.65030070051953,-8.488213419914246,0,0,1.85763617823372],[3.962128086329882,-52.854586996742185,-8.488213419914246,0,0,1.85763617823372],[2.5475150398036606,-48.05887329296484,-8.488213419914246,0,0,1.85763617823372],[1.1329019932774393,-43.263159589187495,-8.488213419914246,0,0,1.85763617823372],[-0.2817110532487819,-38.46744588541015,-8.488213419914246,0,0,1.85763617823372],[-1.696324099775003,-33.671732181632805,-8.488213419914246,0,0,1.85763617823372],[-3.1109371463012243,-28.87601847785546,-8.488213419914246,0,0,1.85763617823372],[-4.5255501928274455,-24.080304774078115,-8.488213419914246,0,0,1.85763617823372]]},{"id":2,"instruction":"now turn left and move on you can see some damaged buildings.","completed_instruction":"Turn left to face the blue cuboid surrounded by a wall on the ground, and fly forward until flying past the above-mentioned cuboid.","start_frame":21,"end_frame":33,"start_position":[-4.5255501928274455,-24.080304774078115,-8.488213419914246],"start_rotation":[0.59878100783790555,0,0,0.80091279466157994],"end_position":[2.2366511216747957,-11.659651273470976,-8.488213419914246],"end_rotation":[0.9897329793321703,0,0,0.1429287571563741],"actions":[1,7,1,2,2,2,2,2,2,1,1,1,1],"reference_path":[[-4.5255501928274455,-24.080304774078115,-8.488213419914246,0,0,1.85763617823372],[-5.940163239353667,-19.28459107030077,-8.488213419914246,0,0,1.85763617823372],[-10.73587694313101,-20.69920411682699,-8.488213419914246,0,0,1.85763617823372],[-12.150489989657231,-15.903490413049648,-8.488213419914246,0,0,1.85763617823372],[-12.150489989657231,-15.903490413049648,-8.488213419914246,0,0,1.5958367904345707],[-12.150489989657231,-15.903490413049648,-8.488213419914246,0,0,1.3340374026354216],[-12.150489989657231,-15.903490413049648,-8.488213419914246,0,0,1.0722380148362722],[-12.150489989657231,-15.903490413049648,-8.488213419914246,0,0,0.8104386270371228],[-12.150489989657231,-15.903490413049648,-8.488213419914246,0,0,0.5486392392379734],[-12.150489989657231,-15.903490413049648,-8.488213419914246,0,0,0.286839851438824],[-7.354776285879889,-14.488877366523424,-8.488213419914246,0,0,0.286839851438824],[-2.5590625821025466,-13.0742643199972,-8.488213419914246,0,0,0.286839851438824],[2.2366511216747957,-11.659651273470976,-8.488213419914246,0,0,0.286839851438824]]},{"id":3,"instruction":"now turn right and go on.","completed_instruction":"Fly to the billboard on the right side of the roof of the building ahead, then turn right to face the gate at the end of the road below, and fly straight ahead until reaching the front of an unfinished building with four pillars.","start_frame":33,"end_frame":53,"start_position":[2.2366511216747957,-11.659651273470976,-8.488213419914246],"start_rotation":[0.9897329793321703,0,0,0.1429287571563741],"end_position":[51.327129553727346,46.22601855343272,-8.488213419914246],"end_rotation":[0.8596975748841309,0,0,0.51080336699981144],"actions":[1,1,1,3,3,6,3,1,1,1,1,1,1,1,1,1,1,1,1,1,7],"reference_path":[[2.2366511216747957,-11.659651273470976,-8.488213419914246,0,0,0.286839851438824],[7.032364825452138,-10.245038226944752,-8.488213419914246,0,0,0.286839851438824],[11.82807852922948,-8.830425180418528,-8.488213419914246,0,0,0.286839851438824],[16.62379223300682,-7.415812133892304,-8.488213419914246,0,0,0.286839851438824],[16.62379223300682,-7.415812133892304,-8.488213419914246,0,0,0.5486392392379734],[16.62379223300682,-7.415812133892304,-8.488213419914246,0,0,0.8104386270371229],[20.246739919712102,-10.86171550737753,-8.488213419914246,0,0,0.8104386270371229],[20.246739919712102,-10.86171550737753,-8.488213419914246,0,0,1.0722380148362722],[22.63753912232866,-6.470351348853664,-8.488213419914246,0,0,1.0722380148362722],[25.02833832494522,-2.078987190329798,-8.488213419914246,0,0,1.0722380148362722],[27.41913752756178,2.3123769681940685,-8.488213419914246,0,0,1.0722380148362722],[29.80993673017834,6.703741126717935,-8.488213419914246,0,0,1.0722380148362722],[32.2007359327949,11.0951052852418,-8.488213419914246,0,0,1.0722380148362722],[34.591535135411455,15.486469443765667,-8.488213419914246,0,0,1.0722380148362722],[36.98233433802801,19.877833602289535,-8.488213419914246,0,0,1.0722380148362722],[39.37313354064457,24.2691977608134,-8.488213419914246,0,0,1.0722380148362722],[41.76393274326112,28.66056191933727,-8.488213419914246,0,0,1.0722380148362722],[44.15473194587768,33.05192607786113,-8.488213419914246,0,0,1.0722380148362722],[46.545531148494234,37.443290236384996,-8.488213419914246,0,0,1.0722380148362722],[48.93633035111079,41.83465439490886,-8.488213419914246,0,0,1.0722380148362722],[51.327129553727346,46.22601855343272,-8.488213419914246,0,0,1.0722380148362722]]},{"id":4,"instruction":"near that killers you can see a damaged orch with green gates.","completed_instruction":"Fly over the left side of the pillars, fly to the front of damaged orch with green iron gates, then land on the ground.","start_frame":53,"end_frame":63,"start_position":[51.327129553727346,46.22601855343272,-8.488213419914246],"start_rotation":[0.8596975748841309,0,0,0.51080336699981144],"end_position":[65.28169052271744,61.40067598491162,-2.4882134199142456],"end_rotation":[0.8596975748841309,0,0,0.51080336699981144],"actions":[7,6,1,6,1,1,1,5,5,5,0],"reference_path":[[51.327129553727346,46.22601855343272,-8.488213419914246,0,0,1.0722380148362722],[46.93576539520348,48.61681775604929,-8.488213419914246,0,0,1.0722380148362722],[51.327129553727346,46.22601855343272,-8.488213419914246,0,0,1.0722380148362722],[53.7179287563439,50.61738271195659,-8.488213419914246,0,0,1.0722380148362722],[58.109292914867765,48.22658350934003,-8.488213419914246,0,0,1.0722380148362722],[60.50009211748432,52.617947667863895,-8.488213419914246,0,0,1.0722380148362722],[62.89089132010088,57.00931182638776,-8.488213419914246,0,0,1.0722380148362722],[65.28169052271744,61.40067598491162,-8.488213419914246,0,0,1.0722380148362722],[65.28169052271744,61.40067598491162,-6.488213419914246,0,0,1.0722380148362722],[65.28169052271744,61.40067598491162,-4.488213419914246,0,0,1.0722380148362722],[65.28169052271744,61.40067598491162,-2.4882134199142456,0,0,1.0722380148362722]]}],"statistics":{"complete_actions":67,"sentence_actions":[10,12,13,21,11],"sentence_actions_average":13.4}}
diff --git a/scene_2/3T111IHZ5NOQUPRW7LM58ZQ2BUP9RL.json b/scene_2/3T111IHZ5NOQUPRW7LM58ZQ2BUP9RL.json
new file mode 100644
index 0000000000000000000000000000000000000000..ff54f1c6e85081e1d50aa27ce6a45a257b23684a
--- /dev/null
+++ b/scene_2/3T111IHZ5NOQUPRW7LM58ZQ2BUP9RL.json
@@ -0,0 +1 @@
+{"episode_id":"3T111IHZ5NOQUPRW7LM58ZQ2BUP9RL","trajectory_id":"3EQVJH0T58JT3QPEJJAQWCUKLSHHT7","scene_id":2,"instruction":"lift off and turn right facing left of the a shaped buildings and head straight. at the triangular black sign turn right facing the opened garage and head straight. veer left to the exposed rear and then turn right facing the dumpsters and head straight. at the dumpsters turn left facing the building right of the to shaped sign and head straight. stop above the building.","sentence_instructions":[{"id":0,"instruction":"lift off and turn right facing left of the a shaped buildings and head straight.","completed_instruction":"Liff off, turn right until facing the right side of the road and face the nearest utility pole at the right side of the road, then fly straight across a brick building to the pipeline.","start_frame":1,"end_frame":29,"start_position":[174.98248291015625,-52.36124801635742,-4.982565402984619],"start_rotation":[0.99968451305955475,0,0,0.025117212203605698],"end_position":[111.9359016146307,4.648651009572312,-8.98256540298462],"end_rotation":[0.3593574224712,0,0,0.93320000156175287],"actions":[3,3,3,3,3,3,3,3,3,4,4,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1],"reference_path":[[174.98248291015625,-52.36124801635742,-4.982565402984619,0,0,0.05023970784224639],[174.98248291015625,-52.36124801635742,-4.982565402984619,0,0,0.3120390956413958],[174.98248291015625,-52.36124801635742,-4.982565402984619,0,0,0.5738384834405452],[174.98248291015625,-52.36124801635742,-4.982565402984619,0,0,0.8356378712396947],[174.98248291015625,-52.36124801635742,-4.982565402984619,0,0,1.0974372590388441],[174.98248291015625,-52.36124801635742,-4.982565402984619,0,0,1.3592366468379937],[174.98248291015625,-52.36124801635742,-4.982565402984619,0,0,1.621036034637143],[174.98248291015625,-52.36124801635742,-4.982565402984619,0,0,1.8828354224362926],[174.98248291015625,-52.36124801635742,-4.982565402984619,0,0,2.144634810235442],[174.98248291015625,-52.36124801635742,-4.982565402984619,0,0,2.406434198034591],[174.98248291015625,-52.36124801635742,-6.982565402984619,0,0,2.406434198034591],[174.98248291015625,-52.36124801635742,-8.98256540298462,0,0,2.406434198034591],[171.2738604810077,-49.00772454424391,-8.98256540298462,0,0,2.406434198034591],[167.56523805185913,-45.65420107213039,-8.98256540298462,0,0,2.406434198034591],[163.85661562271056,-42.300677600016876,-8.98256540298462,0,0,2.406434198034591],[160.147993193562,-38.94715412790336,-8.98256540298462,0,0,2.406434198034591],[156.43937076441344,-35.593630655789845,-8.98256540298462,0,0,2.406434198034591],[152.73074833526488,-32.24010718367633,-8.98256540298462,0,0,2.406434198034591],[149.02212590611632,-28.886583711562817,-8.98256540298462,0,0,2.406434198034591],[145.31350347696775,-25.533060239449306,-8.98256540298462,0,0,2.406434198034591],[141.6048810478192,-22.179536767335794,-8.98256540298462,0,0,2.406434198034591],[137.89625861867063,-18.826013295222282,-8.98256540298462,0,0,2.406434198034591],[134.18763618952207,-15.472489823108768,-8.98256540298462,0,0,2.406434198034591],[130.4790137603735,-12.118966350995255,-8.98256540298462,0,0,2.406434198034591],[126.77039133122494,-8.765442878881741,-8.98256540298462,0,0,2.406434198034591],[123.06176890207638,-5.411919406768227,-8.98256540298462,0,0,2.406434198034591],[119.35314647292782,-2.058395934654714,-8.98256540298462,0,0,2.406434198034591],[115.64452404377926,1.2951275374587992,-8.98256540298462,0,0,2.406434198034591],[111.9359016146307,4.648651009572312,-8.98256540298462,0,0,2.406434198034591]]},{"id":1,"instruction":"at the triangular black sign turn right facing the opened garage and head straight.","completed_instruction":"Fly across the pipeline and fly straight across all the buildings to a black billboard, then turn right to face the opened garage, and fly straight to the second power line.","start_frame":29,"end_frame":94,"start_position":[111.9359016146307,4.648651009572312,-8.98256540298462],"start_rotation":[0.3593574224712,0,0,0.93320000156175287],"end_position":[20.83410336795283,71.55148968059709,-6.982565402984619],"end_rotation":[0.9878536193997558,0,0,0.15538734388232014],"actions":[1,1,7,1,3,1,1,1,1,1,1,1,7,1,1,1,3,1,1,1,1,1,7,1,1,1,1,1,1,6,1,1,1,1,6,1,1,1,5,3,3,3,3,3,3,3,3,3,3,3,3,3,3,1,1,1,1,1,1,1,1,1,1,1,1,1],"reference_path":[[111.9359016146307,4.648651009572312,-8.98256540298462,0,0,2.406434198034591],[108.22727918548213,8.002174481685826,-8.98256540298462,0,0,2.406434198034591],[104.51865675633357,11.35569795379934,-8.98256540298462,0,0,2.406434198034591],[101.16513328422006,7.647075524650784,-8.98256540298462,0,0,2.406434198034591],[97.45651085507151,11.000598996764298,-8.98256540298462,0,0,2.406434198034591],[97.45651085507151,11.000598996764298,-8.98256540298462,0,0,2.6682335858337405],[93.00630092802072,13.279991811787308,-8.98256540298462,0,0,2.6682335858337405],[88.55609100096993,15.559384626810317,-8.98256540298462,0,0,2.6682335858337405],[84.10588107391914,17.838777441833326,-8.98256540298462,0,0,2.6682335858337405],[79.65567114686834,20.118170256856335,-8.98256540298462,0,0,2.6682335858337405],[75.20546121981755,22.397563071879343,-8.98256540298462,0,0,2.6682335858337405],[70.75525129276676,24.676955886902352,-8.98256540298462,0,0,2.6682335858337405],[66.30504136571597,26.95634870192536,-8.98256540298462,0,0,2.6682335858337405],[64.02564855069295,22.50613877487456,-8.98256540298462,0,0,2.6682335858337405],[59.57543862364215,24.78553158989757,-8.98256540298462,0,0,2.6682335858337405],[55.12522869659135,27.06492440492058,-8.98256540298462,0,0,2.6682335858337405],[50.67501876954055,29.344317219943587,-8.98256540298462,0,0,2.6682335858337405],[50.67501876954055,29.344317219943587,-8.98256540298462,0,0,2.9300329736328896],[45.78649579679639,30.39424252440701,-8.98256540298462,0,0,2.9300329736328896],[40.89797282405223,31.44416782887043,-8.98256540298462,0,0,2.9300329736328896],[36.00944985130808,32.49409313333385,-8.98256540298462,0,0,2.9300329736328896],[31.120926878563917,33.54401843779727,-8.98256540298462,0,0,2.9300329736328896],[26.23240390581976,34.59394374226069,-8.98256540298462,0,0,2.9300329736328896],[25.182478601356337,29.705420769516532,-8.98256540298462,0,0,2.9300329736328896],[20.293955628612178,30.755346073979954,-8.98256540298462,0,0,2.9300329736328896],[15.405432655868019,31.805271378443376,-8.98256540298462,0,0,2.9300329736328896],[10.51690968312386,32.855196682906794,-8.98256540298462,0,0,2.9300329736328896],[5.628386710379701,33.905121987370215,-8.98256540298462,0,0,2.9300329736328896],[0.7398637376355417,34.95504729183364,-8.98256540298462,0,0,2.9300329736328896],[-4.148659235108617,36.00497259629706,-8.98256540298462,0,0,2.9300329736328896],[-3.0987339306451958,40.89349556904122,-8.98256540298462,0,0,2.9300329736328896],[-7.987256903389355,41.94342087350464,-8.98256540298462,0,0,2.9300329736328896],[-12.875779876133514,42.993346177968064,-8.98256540298462,0,0,2.9300329736328896],[-17.764302848877673,44.043271482431486,-8.98256540298462,0,0,2.9300329736328896],[-22.652825821621832,45.09319678689491,-8.98256540298462,0,0,2.9300329736328896],[-21.60290051715841,49.98171975963906,-8.98256540298462,0,0,2.9300329736328896],[-26.49142348990257,51.031645064102484,-8.98256540298462,0,0,2.9300329736328896],[-31.37994646264673,52.081570368565906,-8.98256540298462,0,0,2.9300329736328896],[-36.268469435390884,53.13149567302933,-8.98256540298462,0,0,2.9300329736328896],[-36.268469435390884,53.13149567302933,-6.982565402984619,0,0,2.9300329736328896],[-36.268469435390884,53.13149567302933,-6.982565402984619,0,0,-3.091352945747547],[-36.268469435390884,53.13149567302933,-6.982565402984619,0,0,-2.829553557948398],[-36.268469435390884,53.13149567302933,-6.982565402984619,0,0,-2.5677541701492483],[-36.268469435390884,53.13149567302933,-6.982565402984619,0,0,-2.3059547823500988],[-36.268469435390884,53.13149567302933,-6.982565402984619,0,0,-2.0441553945509496],[-36.268469435390884,53.13149567302933,-6.982565402984619,0,0,-1.7823560067518003],[-36.268469435390884,53.13149567302933,-6.982565402984619,0,0,-1.5205566189526507],[-36.268469435390884,53.13149567302933,-6.982565402984619,0,0,-1.2587572311535014],[-36.268469435390884,53.13149567302933,-6.982565402984619,0,0,-0.996957843354352],[-36.268469435390884,53.13149567302933,-6.982565402984619,0,0,-0.7351584555552025],[-36.268469435390884,53.13149567302933,-6.982565402984619,0,0,-0.4733590677560532],[-36.268469435390884,53.13149567302933,-6.982565402984619,0,0,-0.21155967995690378],[-36.268469435390884,53.13149567302933,-6.982565402984619,0,0,0.05023970784224562],[-36.268469435390884,53.13149567302933,-6.982565402984619,0,0,0.31203909564139504],[-31.509921701778907,54.666495173659975,-6.982565402984619,0,0,0.31203909564139504],[-26.75137396816693,56.20149467429062,-6.982565402984619,0,0,0.31203909564139504],[-21.9928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left to the exposed rear and then turn right facing the dumpsters and head straight.","completed_instruction":"Turn left to face a unfinished building with four pillars and a graffiti, fly towards it, then turn right to the pipeline and head straight over it.","start_frame":94,"end_frame":120,"start_position":[20.83410336795283,71.55148968059709,-6.982565402984619],"start_rotation":[0.9878536193997558,0,0,0.15538734388232014],"end_position":[35.362792746841656,93.07963500988046,-6.982565402984619],"end_rotation":[0.58864254852748743,0,0,0.80839343766699678],"actions":[1,2,1,2,2,1,1,1,6,1,3,3,3,3,3,3,3,3,3,1,1,1,1,1,1,1,7],"reference_path":[[20.83410336795283,71.55148968059709,-6.982565402984619,0,0,0.31203909564139504],[25.592651101564808,73.08648918122773,-6.982565402984619,0,0,0.31203909564139504],[25.592651101564808,73.08648918122773,-6.982565402984619,0,0,0.05023970784224566],[30.586342358076,73.33758206173948,-6.982565402984619,0,0,0.05023970784224566],[30.586342358076,73.33758206173948,-6.982565402984619,0,0,-0.21155967995690378],[30.586342358076,73.33758206173948,-6.982565402984619,0,0,-0.4733590677560532],[35.036552285126795,71.05818924671647,-6.982565402984619,0,0,-0.4733590677560532],[39.486762212177595,68.77879643169345,-6.982565402984619,0,0,-0.4733590677560532],[43.936972139228395,66.49940361667043,-6.982565402984619,0,0,-0.4733590677560532],[41.657579324205386,62.049193689619635,-6.982565402984619,0,0,-0.4733590677560532],[46.107789251256186,59.769800874596626,-6.982565402984619,0,0,-0.4733590677560532],[46.107789251256186,59.769800874596626,-6.982565402984619,0,0,-0.21155967995690378],[46.107789251256186,59.769800874596626,-6.982565402984619,0,0,0.05023970784224562],[46.107789251256186,59.769800874596626,-6.982565402984619,0,0,0.31203909564139504],[46.107789251256186,59.769800874596626,-6.982565402984619,0,0,0.5738384834405446],[46.107789251256186,59.769800874596626,-6.982565402984619,0,0,0.8356378712396941],[46.107789251256186,59.769800874596626,-6.982565402984619,0,0,1.0974372590388437],[46.107789251256186,59.769800874596626,-6.982565402984619,0,0,1.3592366468379933],[46.107789251256186,59.769800874596626,-6.982565402984619,0,0,1.6210360346371426],[46.107789251256186,59.769800874596626,-6.982565402984619,0,0,1.8828354224362922],[44.57278975062554,64.5283486082086,-6.982565402984619,0,0,1.8828354224362922],[43.03779024999489,69.28689634182058,-6.982565402984619,0,0,1.8828354224362922],[41.502790749364245,74.04544407543256,-6.982565402984619,0,0,1.8828354224362922],[39.9677912487336,78.80399180904453,-6.982565402984619,0,0,1.8828354224362922],[38.43279174810295,83.56253954265651,-6.982565402984619,0,0,1.8828354224362922],[36.8977922474723,88.32108727626849,-6.982565402984619,0,0,1.8828354224362922],[35.362792746841656,93.07963500988046,-6.982565402984619,0,0,1.8828354224362922]]},{"id":3,"instruction":"at the dumpsters turn left facing the building right of the to shaped sign and head straight.","completed_instruction":"Turn left to face the end of iron pipeline, fly forward along the pipeline, at the end of the pipeline fly over a brick building, and fly across stony terrain and a road to a building with \"PO\" painting, then stop in front of it.","start_frame":120,"end_frame":163,"start_position":[35.362792746841656,93.07963500988046,-6.982565402984619],"start_rotation":[0.58864254852748743,0,0,0.80839343766699678],"end_position":[185.08306503855098,65.62315963713935,-6.982565402984619],"end_rotation":[0.994410527535995,0,0,-0.10558268193971967],"actions":[7,1,2,2,2,2,2,2,2,1,1,1,1,1,1,2,1,1,1,1,1,1,1,1,1,1,6,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,0],"reference_path":[[35.362792746841656,93.07963500988046,-6.982565402984619,0,0,1.8828354224362922],[30.60424501322968,91.54463550924982,-6.982565402984619,0,0,1.8828354224362922],[29.069245512599032,96.30318324286179,-6.982565402984619,0,0,1.8828354224362922],[29.069245512599032,96.30318324286179,-6.982565402984619,0,0,1.6210360346371429],[29.069245512599032,96.30318324286179,-6.982565402984619,0,0,1.3592366468379935],[29.069245512599032,96.30318324286179,-6.982565402984619,0,0,1.097437259038844],[29.069245512599032,96.30318324286179,-6.982565402984619,0,0,0.8356378712396946],[29.069245512599032,96.30318324286179,-6.982565402984619,0,0,0.5738384834405452],[29.069245512599032,96.30318324286179,-6.982565402984619,0,0,0.3120390956413958],[29.069245512599032,96.30318324286179,-6.982565402984619,0,0,0.0502397078422464],[34.06293676911022,96.55427612337354,-6.982565402984619,0,0,0.0502397078422464],[39.056628025621414,96.80536900388529,-6.982565402984619,0,0,0.0502397078422464],[44.050319282132605,97.05646188439704,-6.982565402984619,0,0,0.0502397078422464],[49.044010538643796,97.30755476490879,-6.982565402984619,0,0,0.0502397078422464],[54.03770179515499,97.55864764542054,-6.982565402984619,0,0,0.0502397078422464],[59.03139305166618,97.80974052593228,-6.982565402984619,0,0,0.0502397078422464],[59.03139305166618,97.80974052593228,-6.982565402984619,0,0,-0.21155967995690303],[63.91991602441034,96.75981522146887,-6.982565402984619,0,0,-0.21155967995690303],[68.8084389971545,95.70988991700546,-6.982565402984619,0,0,-0.21155967995690303],[73.69696196989865,94.65996461254204,-6.982565402984619,0,0,-0.21155967995690303],[78.58548494264281,93.61003930807863,-6.982565402984619,0,0,-0.21155967995690303],[83.47400791538696,92.56011400361521,-6.982565402984619,0,0,-0.21155967995690303],[88.36253088813112,91.5101886991518,-6.982565402984619,0,0,-0.21155967995690303],[93.25105386087527,90.46026339468838,-6.982565402984619,0,0,-0.21155967995690303],[98.13957683361943,89.41033809022497,-6.982565402984619,0,0,-0.21155967995690303],[103.02809980636358,88.36041278576155,-6.982565402984619,0,0,-0.21155967995690303],[107.91662277910774,87.31048748129814,-6.982565402984619,0,0,-0.21155967995690303],[106.86669747464433,82.42196450855398,-6.982565402984619,0,0,-0.21155967995690303],[111.75522044738848,81.37203920409057,-6.982565402984619,0,0,-0.21155967995690303],[116.64374342013264,80.32211389962715,-6.982565402984619,0,0,-0.21155967995690303],[121.53226639287679,79.27218859516374,-6.982565402984619,0,0,-0.21155967995690303],[126.42078936562095,78.22226329070033,-6.982565402984619,0,0,-0.21155967995690303],[131.30931233836512,77.17233798623691,-6.982565402984619,0,0,-0.21155967995690303],[136.1978353111093,76.1224126817735,-6.982565402984619,0,0,-0.21155967995690303],[141.08635828385346,75.07248737731008,-6.982565402984619,0,0,-0.21155967995690303],[145.97488125659763,74.02256207284667,-6.982565402984619,0,0,-0.21155967995690303],[150.8634042293418,72.97263676838325,-6.982565402984619,0,0,-0.21155967995690303],[155.75192720208597,71.92271146391984,-6.982565402984619,0,0,-0.21155967995690303],[160.64045017483014,70.87278615945642,-6.982565402984619,0,0,-0.21155967995690303],[165.5289731475743,69.82286085499301,-6.982565402984619,0,0,-0.21155967995690303],[170.41749612031848,68.7729355505296,-6.982565402984619,0,0,-0.21155967995690303],[175.30601909306264,67.72301024606618,-6.982565402984619,0,0,-0.21155967995690303],[180.19454206580681,66.67308494160277,-6.982565402984619,0,0,-0.21155967995690303],[185.08306503855098,65.62315963713935,-6.982565402984619,0,0,-0.21155967995690303]]}],"statistics":{"complete_actions":166,"sentence_actions":[29,66,27,44],"sentence_actions_average":41.5}}
diff --git a/scene_2/3TOK3KHVJ2GJJTBN0W7H08UR09K7OG.json b/scene_2/3TOK3KHVJ2GJJTBN0W7H08UR09K7OG.json
new file mode 100644
index 0000000000000000000000000000000000000000..a60c3b331b07e9af60f79f051e32b5effacecaef
--- /dev/null
+++ b/scene_2/3TOK3KHVJ2GJJTBN0W7H08UR09K7OG.json
@@ -0,0 +1 @@
+{"episode_id":"3TOK3KHVJ2GJJTBN0W7H08UR09K7OG","trajectory_id":"36818Z1KWBB9UMJ6YYU7XD3IDUJ3AX","scene_id":2,"instruction":"take off, fly straight over the wires and turn left. fly straight over the wires and turn right. go forward. bear right and fly over the wires, go straight. turn left and go straight, fly towards the pipeline. go forward and land in front of the post.","sentence_instructions":[{"id":0,"instruction":"take off, fly straight over the wires and turn left.","completed_instruction":"Take off, ascend to the higher altitude than the front electric wires, and fly over them, then turn left to face a dark billboard painted with\"COME INTO THE FACTORIES\".","start_frame":1,"end_frame":15,"start_position":[23.61909294128418,35.452056884765625,2.1412832736968994],"start_rotation":[0.9999928620459777,0,0,0.0037783405212111574],"end_position":[38.61866466557135,35.56540629131333,-5.858716726303101],"end_rotation":[0.61175464277089053,0,0,-0.7910475693965946],"actions":[4,4,4,4,1,1,1,2,2,2,2,2,2,2,2],"reference_path":[[23.61909294128418,35.452056884765625,2.1412832736968994,0,0,0.007556699022220931],[23.61909294128418,35.452056884765625,0.14128327369689941,0,0,0.007556699022220931],[23.61909294128418,35.452056884765625,-1.8587167263031006,0,0,0.007556699022220931],[23.61909294128418,35.452056884765625,-3.8587167263031006,0,0,0.007556699022220931],[23.61909294128418,35.452056884765625,-5.858716726303101,0,0,0.007556699022220931],[28.618950182713238,35.48984002028153,-5.858716726303101,0,0,0.007556699022220931],[33.6188074241423,35.52762315579743,-5.858716726303101,0,0,0.007556699022220931],[38.61866466557135,35.56540629131333,-5.858716726303101,0,0,0.007556699022220931],[38.61866466557135,35.56540629131333,-5.858716726303101,0,0,-0.2542426887769285],[38.61866466557135,35.56540629131333,-5.858716726303101,0,0,-0.5160420765760779],[38.61866466557135,35.56540629131333,-5.858716726303101,0,0,-0.7778414643752274],[38.61866466557135,35.56540629131333,-5.858716726303101,0,0,-1.0396408521743767],[38.61866466557135,35.56540629131333,-5.858716726303101,0,0,-1.301440239973526],[38.61866466557135,35.56540629131333,-5.858716726303101,0,0,-1.5632396277726754],[38.61866466557135,35.56540629131333,-5.858716726303101,0,0,-1.8250390155718248]]},{"id":1,"instruction":"fly straight over the wires and turn right.","completed_instruction":"Fly straight over the wires to the hut with green and brown doors.","start_frame":15,"end_frame":23,"start_position":[38.61866466557135,35.56540629131333,-5.858716726303101],"start_rotation":[0.61175464277089053,0,0,-0.7910475693965946],"end_position":[17.566367171323154,14.192508261011703,-5.858716726303101],"end_rotation":[0.38617143226274958,0,0,-0.92242702958236034],"actions":[2,2,1,1,1,1,1,1,1],"reference_path":[[38.61866466557135,35.56540629131333,-5.858716726303101,0,0,-1.8250390155718248],[38.61866466557135,35.56540629131333,-5.858716726303101,0,0,-2.086838403370974],[38.61866466557135,35.56540629131333,-5.858716726303101,0,0,-2.3486377911701237],[35.10994841652999,32.00325661959639,-5.858716726303101,0,0,-2.3486377911701237],[31.60123216748862,28.441106947879454,-5.858716726303101,0,0,-2.3486377911701237],[28.092515918447255,24.878957276162517,-5.858716726303101,0,0,-2.3486377911701237],[24.583799669405888,21.31680760444558,-5.858716726303101,0,0,-2.3486377911701237],[21.07508342036452,17.75465793272864,-5.858716726303101,0,0,-2.3486377911701237],[17.566367171323154,14.192508261011703,-5.858716726303101,0,0,-2.3486377911701237]]},{"id":2,"instruction":"go forward.","completed_instruction":"Turn right to face a garage and fly over it, then pass the house with graffiti on the right, fly to the roof of a red brick house with a chimney.","start_frame":23,"end_frame":49,"start_position":[17.566367171323154,14.192508261011703,-5.858716726303101],"start_rotation":[0.38617143226274958,0,0,-0.92242702958236034],"end_position":[62.01541131137192,1.5096197276893681,-5.858716726303101],"end_rotation":[0.96494102506915924,0,0,0.26246679435402909],"actions":[1,1,1,3,3,3,3,3,3,3,1,1,1,1,3,1,1,3,3,1,1,1,1,3,1,1,3],"reference_path":[[17.566367171323154,14.192508261011703,-5.858716726303101,0,0,-2.3486377911701237],[14.057650922281788,10.630358589294765,-5.858716726303101,0,0,-2.3486377911701237],[10.54893467324042,7.068208917577827,-5.858716726303101,0,0,-2.3486377911701237],[7.040218424199055,3.5060592458608895,-5.858716726303101,0,0,-2.3486377911701237],[7.040218424199055,3.5060592458608895,-5.858716726303101,0,0,-2.086838403370974],[7.040218424199055,3.5060592458608895,-5.858716726303101,0,0,-1.8250390155718246],[7.040218424199055,3.5060592458608895,-5.858716726303101,0,0,-1.5632396277726752],[7.040218424199055,3.5060592458608895,-5.858716726303101,0,0,-1.301440239973526],[7.040218424199055,3.5060592458608895,-5.858716726303101,0,0,-1.0396408521743765],[7.040218424199055,3.5060592458608895,-5.858716726303101,0,0,-0.7778414643752272],[7.040218424199055,3.5060592458608895,-5.858716726303101,0,0,-0.5160420765760778],[11.389113378330155,1.0388517803377626,-5.858716726303101,0,0,-0.5160420765760778],[15.738008332461256,-1.4283556851853643,-5.858716726303101,0,0,-0.5160420765760778],[20.086903286592356,-3.895563150708491,-5.858716726303101,0,0,-0.5160420765760778],[24.435798240723457,-6.362770616231618,-5.858716726303101,0,0,-0.5160420765760778],[24.435798240723457,-6.362770616231618,-5.858716726303101,0,0,-0.2542426887769284],[29.275068473033407,-7.62033318671422,-5.858716726303101,0,0,-0.2542426887769284],[34.11433870534336,-8.877895757196821,-5.858716726303101,0,0,-0.2542426887769284],[34.11433870534336,-8.877895757196821,-5.858716726303101,0,0,0.0075566990222209985],[34.11433870534336,-8.877895757196821,-5.858716726303101,0,0,0.2693560868213704],[38.9340509475429,-7.547341773928239,-5.858716726303101,0,0,0.2693560868213704],[43.75376318974244,-6.216787790659657,-5.858716726303101,0,0,0.2693560868213704],[48.573475431941986,-4.886233807391075,-5.858716726303101,0,0,0.2693560868213704],[53.39318767414153,-3.5556798241224925,-5.858716726303101,0,0,0.2693560868213704],[53.39318767414153,-3.5556798241224925,-5.858716726303101,0,0,0.5311554746205198],[57.704299492756725,-1.0230300482165622,-5.858716726303101,0,0,0.5311554746205198],[62.01541131137192,1.5096197276893681,-5.858716726303101,0,0,0.5311554746205198]]},{"id":3,"instruction":"bear right and fly over the wires, go straight.","completed_instruction":"Fly straight to the chimney.","start_frame":49,"end_frame":50,"start_position":[62.01541131137192,1.5096197276893681,-5.858716726303101],"start_rotation":[0.96494102506915924,0,0,0.26246679435402909],"end_position":[62.01541131137192,1.5096197276893681,-5.858716726303101],"end_rotation":[0.92242702958236034,0,0,0.38617143226274941],"actions":[3,1],"reference_path":[[62.01541131137192,1.5096197276893681,-5.858716726303101,0,0,0.5311554746205198],[62.01541131137192,1.5096197276893681,-5.858716726303101,0,0,0.7929548624196692]]},{"id":4,"instruction":"turn left and go straight, fly towards the pipeline.","completed_instruction":"Turn left to face a white building and fly straight over it, then fly straight towards the pipeline.","start_frame":50,"end_frame":68,"start_position":[62.01541131137192,1.5096197276893681,-5.858716726303101],"start_rotation":[0.92242702958236034,0,0,0.38617143226274941],"end_position":[73.52700945013522,-26.43462060754212,-5.858716726303101],"end_rotation":[0.79564778534654279,0,0,-0.60575952462436911],"actions":[1,1,2,2,2,2,2,2,2,2,1,1,1,6,1,1,1,1,1],"reference_path":[[62.01541131137192,1.5096197276893681,-5.858716726303101,0,0,0.7929548624196692],[65.52412756041329,5.071769399406305,-5.858716726303101,0,0,0.7929548624196692],[69.03284380945466,8.633919071123241,-5.858716726303101,0,0,0.7929548624196692],[69.03284380945466,8.633919071123241,-5.858716726303101,0,0,0.5311554746205198],[69.03284380945466,8.633919071123241,-5.858716726303101,0,0,0.2693560868213704],[69.03284380945466,8.633919071123241,-5.858716726303101,0,0,0.007556699022220967],[69.03284380945466,8.633919071123241,-5.858716726303101,0,0,-0.25424268877692846],[69.03284380945466,8.633919071123241,-5.858716726303101,0,0,-0.5160420765760779],[69.03284380945466,8.633919071123241,-5.858716726303101,0,0,-0.7778414643752274],[69.03284380945466,8.633919071123241,-5.858716726303101,0,0,-1.0396408521743767],[69.03284380945466,8.633919071123241,-5.858716726303101,0,0,-1.301440239973526],[70.36339779272325,3.8142068289237017,-5.858716726303101,0,0,-1.301440239973526],[71.69395177599183,-1.0055054132758379,-5.858716726303101,0,0,-1.301440239973526],[73.02450575926042,-5.825217655475377,-5.858716726303101,0,0,-1.301440239973526],[68.20479351706088,-7.1557716387439605,-5.858716726303101,0,0,-1.301440239973526],[69.53534750032946,-11.9754838809435,-5.858716726303101,0,0,-1.301440239973526],[70.86590148359805,-16.79519612314304,-5.858716726303101,0,0,-1.301440239973526],[72.19645546686664,-21.61490836534258,-5.858716726303101,0,0,-1.301440239973526],[73.52700945013522,-26.43462060754212,-5.858716726303101,0,0,-1.301440239973526]]},{"id":5,"instruction":"go forward and land in front of the post.","completed_instruction":"Fly forward and land in front of the brown pole nearby stones.","start_frame":68,"end_frame":79,"start_position":[73.52700945013522,-26.43462060754212,-5.858716726303101],"start_rotation":[0.79564778534654279,0,0,-0.60575952462436911],"end_position":[85.74235027022424,-59.65365353733876,-1.8587167263031006],"end_rotation":[0.86790839239553,0,0,-0.4967242921474716],"actions":[1,3,5,1,1,6,1,1,1,5,1,0],"reference_path":[[73.52700945013522,-26.43462060754212,-5.858716726303101,0,0,-1.301440239973526],[74.85756343340381,-31.254332849741658,-5.858716726303101,0,0,-1.301440239973526],[74.85756343340381,-31.254332849741658,-5.858716726303101,0,0,-1.0396408521743765],[74.85756343340381,-31.254332849741658,-3.8587167263031006,0,0,-1.0396408521743765],[77.39021320930975,-35.565444668356854,-3.8587167263031006,0,0,-1.0396408521743765],[79.92286298521569,-39.87655648697205,-3.8587167263031006,0,0,-1.0396408521743765],[75.61175116660048,-42.40920626287798,-3.8587167263031006,0,0,-1.0396408521743765],[78.14440094250642,-46.720318081493176,-3.8587167263031006,0,0,-1.0396408521743765],[80.67705071841236,-51.03142990010837,-3.8587167263031006,0,0,-1.0396408521743765],[83.2097004943183,-55.34254171872357,-3.8587167263031006,0,0,-1.0396408521743765],[83.2097004943183,-55.34254171872357,-1.8587167263031006,0,0,-1.0396408521743765],[85.74235027022424,-59.65365353733876,-1.8587167263031006,0,0,-1.0396408521743765]]}],"statistics":{"complete_actions":84,"sentence_actions":[15,9,27,2,19,12],"sentence_actions_average":14.0}}
diff --git a/scene_2/3XC1O3LBO1KYB65X07UQDNIFU1JLT2.json b/scene_2/3XC1O3LBO1KYB65X07UQDNIFU1JLT2.json
new file mode 100644
index 0000000000000000000000000000000000000000..fc775dce6212ac4598e49fb2a5aa499a5aa40990
--- /dev/null
+++ b/scene_2/3XC1O3LBO1KYB65X07UQDNIFU1JLT2.json
@@ -0,0 +1 @@
+{"episode_id":"3XC1O3LBO1KYB65X07UQDNIFU1JLT2","trajectory_id":"3X2YVV51Q22ARW8UCZCGR9LC7T7W18","scene_id":2,"instruction":"take off and turn left and go to large structure with three pillars sticking out. go to brown roof and turn left and go over structures towards blue van. turn right at blue van and go land next to brown pole on gray cement.","sentence_instructions":[{"id":0,"instruction":"take off and turn left and go to large structure with three pillars sticking out.","completed_instruction":"Take off, ascend to the higher altitude than the two-storey small building ahead, and turn left to face iron fances and a utility pole and fly forward to a building with four unfinished pillars and a graffiti.","start_frame":1,"end_frame":20,"start_position":[9.722139358520508,115.83221435546875,0.7544180750846863],"start_rotation":[0.99996578905536493,0,0,-0.0082716817444487226],"end_position":[40.89422640700142,76.42027467924974,-9.245581924915314],"end_rotation":[0.92068249015835324,0,0,-0.39031237786651574],"actions":[4,4,4,4,2,2,2,1,1,4,1,1,1,1,1,1,6,1,1,1],"reference_path":[[9.722139358520508,115.83221435546875,0.7544180750846863,0,0,-0.01654355214617657],[9.722139358520508,115.83221435546875,-1.2455819249153137,0,0,-0.01654355214617657],[9.722139358520508,115.83221435546875,-3.2455819249153137,0,0,-0.01654355214617657],[9.722139358520508,115.83221435546875,-5.245581924915314,0,0,-0.01654355214617657],[9.722139358520508,115.83221435546875,-7.245581924915314,0,0,-0.01654355214617657],[9.722139358520508,115.83221435546875,-7.245581924915314,0,0,-0.278342939945326],[9.722139358520508,115.83221435546875,-7.245581924915314,0,0,-0.5401423277444755],[9.722139358520508,115.83221435546875,-7.245581924915314,0,0,-0.8019417155436248],[13.198701835362371,112.23867663553104,-7.245581924915314,0,0,-0.8019417155436248],[16.675264312204234,108.64513891559332,-7.245581924915314,0,0,-0.8019417155436248],[16.675264312204234,108.64513891559332,-9.245581924915314,0,0,-0.8019417155436248],[20.151826789046098,105.0516011956556,-9.245581924915314,0,0,-0.8019417155436248],[23.62838926588796,101.45806347571789,-9.245581924915314,0,0,-0.8019417155436248],[27.104951742729824,97.86452575578018,-9.245581924915314,0,0,-0.8019417155436248],[30.581514219571687,94.27098803584246,-9.245581924915314,0,0,-0.8019417155436248],[34.05807669641355,90.67745031590475,-9.245581924915314,0,0,-0.8019417155436248],[37.534639173255414,87.08391259596704,-9.245581924915314,0,0,-0.8019417155436248],[33.94110145331769,83.60735011912517,-9.245581924915314,0,0,-0.8019417155436248],[37.417663930159556,80.01381239918746,-9.245581924915314,0,0,-0.8019417155436248],[40.89422640700142,76.42027467924974,-9.245581924915314,0,0,-0.8019417155436248]]},{"id":1,"instruction":"go to brown roof and turn left and go over structures towards blue van.","completed_instruction":"Fly over the above-mentioned building, go to the wooden roof, turn left to face the bungalow with the light brown door open, then fly over the bungalow, turn left towards the blue van outside the green wall, and fly to the front of the van.","start_frame":20,"end_frame":45,"start_position":[40.89422640700142,76.42027467924974,-9.245581924915314],"start_rotation":[0.92068249015835324,0,0,-0.39031237786651574],"end_position":[61.83331872181104,-0.862308076062055,-7.245581924915314],"end_rotation":[0.60217823636339218,0,0,-0.79836167972309047],"actions":[1,1,1,3,1,1,1,2,2,1,2,2,1,1,1,1,1,1,5,1,1,2,1,1,1,6],"reference_path":[[40.89422640700142,76.42027467924974,-9.245581924915314,0,0,-0.8019417155436248],[44.37078888384328,72.82673695931203,-9.245581924915314,0,0,-0.8019417155436248],[47.847351360685145,69.23319923937431,-9.245581924915314,0,0,-0.8019417155436248],[51.32391383752701,65.6396615194366,-9.245581924915314,0,0,-0.8019417155436248],[51.32391383752701,65.6396615194366,-9.245581924915314,0,0,-0.5401423277444756],[55.61209132183022,63.06837120850029,-9.245581924915314,0,0,-0.5401423277444756],[59.90026880613344,60.497080897563976,-9.245581924915314,0,0,-0.5401423277444756],[64.18844629043666,57.92579058662766,-9.245581924915314,0,0,-0.5401423277444756],[64.18844629043666,57.92579058662766,-9.245581924915314,0,0,-0.8019417155436251],[64.18844629043666,57.92579058662766,-9.245581924915314,0,0,-1.0637411033427746],[66.61647177231153,53.55489911470042,-9.245581924915314,0,0,-1.0637411033427746],[66.61647177231153,53.55489911470042,-9.245581924915314,0,0,-1.3255404911419242],[66.61647177231153,53.55489911470042,-9.245581924915314,0,0,-1.5873398789410735],[66.5337577846875,48.55558332188923,-9.245581924915314,0,0,-1.5873398789410735],[66.45104379706346,43.55626752907804,-9.245581924915314,0,0,-1.5873398789410735],[66.36832980943943,38.55695173626685,-9.245581924915314,0,0,-1.5873398789410735],[66.2856158218154,33.557635943455665,-9.245581924915314,0,0,-1.5873398789410735],[66.20290183419137,28.55832015064448,-9.245581924915314,0,0,-1.5873398789410735],[66.12018784656733,23.559004357833295,-9.245581924915314,0,0,-1.5873398789410735],[66.12018784656733,23.559004357833295,-7.245581924915314,0,0,-1.5873398789410735],[66.0374738589433,18.55968856502211,-7.245581924915314,0,0,-1.5873398789410735],[65.95475987131927,13.560372772210926,-7.245581924915314,0,0,-1.5873398789410735],[65.95475987131927,13.560372772210926,-7.245581924915314,0,0,-1.849139266740223],[64.58094615481653,8.752812489453266,-7.245581924915314,0,0,-1.849139266740223],[63.207132438313785,3.9452522066956055,-7.245581924915314,0,0,-1.849139266740223],[61.83331872181104,-0.862308076062055,-7.245581924915314,0,0,-1.849139266740223]]},{"id":2,"instruction":"turn right at blue van and go land next to brown pole on gray cement.","completed_instruction":"Flying over the blue van, and turn right until facing the grass on the bungalow, then fly forward over the power line, and then fly towards the pipeline and land in front of it.","start_frame":45,"end_frame":68,"start_position":[61.83331872181104,-0.862308076062055,-7.245581924915314],"start_rotation":[0.60217823636339218,0,0,-0.79836167972309047],"end_position":[87.55296681486791,-56.916652603989085,-5.245581924915314],"end_rotation":[0.92068249015835313,0,0,-0.39031237786651607],"actions":[6,1,1,1,3,3,3,3,6,1,1,4,1,1,1,1,1,1,1,5,1,5,1,0],"reference_path":[[61.83331872181104,-0.862308076062055,-7.245581924915314,0,0,-1.849139266740223],[57.02575843905338,0.5115056404406904,-7.245581924915314,0,0,-1.849139266740223],[55.65194472255063,-4.29605464231697,-7.245581924915314,0,0,-1.849139266740223],[54.278131006047886,-9.10361492507463,-7.245581924915314,0,0,-1.849139266740223],[52.90431728954514,-13.91117520783229,-7.245581924915314,0,0,-1.849139266740223],[52.90431728954514,-13.91117520783229,-7.245581924915314,0,0,-1.5873398789410735],[52.90431728954514,-13.91117520783229,-7.245581924915314,0,0,-1.3255404911419242],[52.90431728954514,-13.91117520783229,-7.245581924915314,0,0,-1.0637411033427748],[52.90431728954514,-13.91117520783229,-7.245581924915314,0,0,-0.8019417155436255],[49.31077956960742,-17.38773768467415,-7.245581924915314,0,0,-0.8019417155436255],[52.78734204644928,-20.98127540461187,-7.245581924915314,0,0,-0.8019417155436255],[56.263904523291146,-24.574813124549593,-7.245581924915314,0,0,-0.8019417155436255],[56.263904523291146,-24.574813124549593,-9.245581924915314,0,0,-0.8019417155436255],[59.74046700013301,-28.168350844487314,-9.245581924915314,0,0,-0.8019417155436255],[63.21702947697487,-31.761888564425035,-9.245581924915314,0,0,-0.8019417155436255],[66.69359195381674,-35.35542628436276,-9.245581924915314,0,0,-0.8019417155436255],[70.1701544306586,-38.94896400430048,-9.245581924915314,0,0,-0.8019417155436255],[73.64671690750046,-42.5425017242382,-9.245581924915314,0,0,-0.8019417155436255],[77.12327938434233,-46.13603944417592,-9.245581924915314,0,0,-0.8019417155436255],[80.59984186118419,-49.72957716411364,-9.245581924915314,0,0,-0.8019417155436255],[80.59984186118419,-49.72957716411364,-7.245581924915314,0,0,-0.8019417155436255],[84.07640433802605,-53.323114884051364,-7.245581924915314,0,0,-0.8019417155436255],[84.07640433802605,-53.323114884051364,-5.245581924915314,0,0,-0.8019417155436255],[87.55296681486791,-56.916652603989085,-5.245581924915314,0,0,-0.8019417155436255]]}],"statistics":{"complete_actions":70,"sentence_actions":[20,26,24],"sentence_actions_average":23.33}}
diff --git a/scene_20/31HQ4X3T318XW6SIB7P03IMTTB3LSY.json b/scene_20/31HQ4X3T318XW6SIB7P03IMTTB3LSY.json
new file mode 100644
index 0000000000000000000000000000000000000000..cc1133ab45c3383de60184554b49c03d75580550
--- /dev/null
+++ b/scene_20/31HQ4X3T318XW6SIB7P03IMTTB3LSY.json
@@ -0,0 +1 @@
+{"episode_id":"31HQ4X3T318XW6SIB7P03IMTTB3LSY","trajectory_id":"302U8RURK7Z0QEFERC5I2EF130ZNVG","scene_id":20,"instruction":"turn around and fly forward. fall down on the first boat. go around it and keep straight. turn to the left side of the steel factory. fly over the left side of the steel factory. fly into the empty warehouse with windows.","sentence_instructions":[{"id":0,"instruction":"turn around and fly forward.","completed_instruction":"Take off to above the roof ahead, turn right to face the ship under construction, then fly forward above the ship with the black deck ahead.","start_frame":1,"end_frame":22,"start_position":[97.34031677246094,-69.1380386352539,-23.895029067993164],"start_rotation":[0.9998632876209248,0,0,0.016534995248736681],"end_position":[90.85510470922189,-24.327972528464695,-31.895029067993164],"end_rotation":[0.59556011007318654,0,0,0.80331074640491018],"actions":[4,4,4,4,3,3,3,3,3,3,1,1,1,1,1,1,1,1,7,1,3,1],"reference_path":[[97.34031677246094,-69.1380386352539,-23.895029067993164,0,0,0.03307149760558212],[97.34031677246094,-69.1380386352539,-25.895029067993164,0,0,0.03307149760558212],[97.34031677246094,-69.1380386352539,-27.895029067993164,0,0,0.03307149760558212],[97.34031677246094,-69.1380386352539,-29.895029067993164,0,0,0.03307149760558212],[97.34031677246094,-69.1380386352539,-31.895029067993164,0,0,0.03307149760558212],[97.34031677246094,-69.1380386352539,-31.895029067993164,0,0,0.2948708854047315],[97.34031677246094,-69.1380386352539,-31.895029067993164,0,0,0.556670273203881],[97.34031677246094,-69.1380386352539,-31.895029067993164,0,0,0.8184696610030305],[97.34031677246094,-69.1380386352539,-31.895029067993164,0,0,1.08026904880218],[97.34031677246094,-69.1380386352539,-31.895029067993164,0,0,1.3420684366013296],[97.34031677246094,-69.1380386352539,-31.895029067993164,0,0,1.6038678244004791],[97.17498942535896,-64.14077269593267,-31.895029067993164,0,0,1.6038678244004791],[97.00966207825698,-59.14350675661142,-31.895029067993164,0,0,1.6038678244004791],[96.844334731155,-54.14624081729018,-31.895029067993164,0,0,1.6038678244004791],[96.67900738405302,-49.14897487796893,-31.895029067993164,0,0,1.6038678244004791],[96.51368003695104,-44.15170893864769,-31.895029067993164,0,0,1.6038678244004791],[96.34835268984907,-39.15444299932644,-31.895029067993164,0,0,1.6038678244004791],[96.18302534274709,-34.157177060005196,-31.895029067993164,0,0,1.6038678244004791],[96.01769799564511,-29.159911120683955,-31.895029067993164,0,0,1.6038678244004791],[91.02043205632387,-29.325238467785937,-31.895029067993164,0,0,1.6038678244004791],[90.85510470922189,-24.327972528464695,-31.895029067993164,0,0,1.6038678244004791],[90.85510470922189,-24.327972528464695,-31.895029067993164,0,0,1.8656672121996287]]},{"id":1,"instruction":"fall down on the first boat.","completed_instruction":"Fly down to reach the black mast.","start_frame":22,"end_frame":32,"start_position":[90.85510470922189,-24.327972528464695,-31.895029067993164],"start_rotation":[0.59556011007318654,0,0,0.80331074640491018],"end_position":[85.04277849763734,-5.19117906638942,-19.895029067993164],"end_rotation":[0.59556011007318654,0,0,0.80331074640491018],"actions":[1,1,1,5,5,5,5,1,5,5,5],"reference_path":[[90.85510470922189,-24.327972528464695,-31.895029067993164,0,0,1.8656672121996287],[89.40202315632575,-19.543774162945876,-31.895029067993164,0,0,1.8656672121996287],[87.94894160342962,-14.759575797427058,-31.895029067993164,0,0,1.8656672121996287],[86.49586005053348,-9.975377431908239,-31.895029067993164,0,0,1.8656672121996287],[86.49586005053348,-9.975377431908239,-29.895029067993164,0,0,1.8656672121996287],[86.49586005053348,-9.975377431908239,-27.895029067993164,0,0,1.8656672121996287],[86.49586005053348,-9.975377431908239,-25.895029067993164,0,0,1.8656672121996287],[86.49586005053348,-9.975377431908239,-23.895029067993164,0,0,1.8656672121996287],[85.04277849763734,-5.19117906638942,-23.895029067993164,0,0,1.8656672121996287],[85.04277849763734,-5.19117906638942,-21.895029067993164,0,0,1.8656672121996287],[85.04277849763734,-5.19117906638942,-19.895029067993164,0,0,1.8656672121996287]]},{"id":2,"instruction":"go around it and keep straight.","completed_instruction":"Fly torwards the cement ground on the left side of the wooden frame until reaching the railway track.","start_frame":32,"end_frame":55,"start_position":[85.04277849763734,-5.19117906638942,-19.895029067993164],"start_rotation":[0.59556011007318654,0,0,0.80331074640491018],"end_position":[52.8237459473833,66.17528374755905,-13.895029067993164],"end_rotation":[0.59556011007318643,0,0,0.80331074640491029],"actions":[5,5,5,3,3,1,1,1,2,1,1,2,1,1,1,1,1,1,1,1,1,1,1,5],"reference_path":[[85.04277849763734,-5.19117906638942,-19.895029067993164,0,0,1.8656672121996287],[85.04277849763734,-5.19117906638942,-17.895029067993164,0,0,1.8656672121996287],[85.04277849763734,-5.19117906638942,-15.895029067993164,0,0,1.8656672121996287],[85.04277849763734,-5.19117906638942,-13.895029067993164,0,0,1.8656672121996287],[85.04277849763734,-5.19117906638942,-13.895029067993164,0,0,2.1274665999987783],[85.04277849763734,-5.19117906638942,-13.895029067993164,0,0,2.389265987797928],[81.39227377629933,-1.7744825215542042,-13.895029067993164,0,0,2.389265987797928],[77.74176905496132,1.6422140232810118,-13.895029067993164,0,0,2.389265987797928],[74.09126433362331,5.058910568116228,-13.895029067993164,0,0,2.389265987797928],[74.09126433362331,5.058910568116228,-13.895029067993164,0,0,2.1274665999987783],[71.44945368143209,9.304006147484136,-13.895029067993164,0,0,2.1274665999987783],[68.80764302924086,13.549101726852044,-13.895029067993164,0,0,2.1274665999987783],[68.80764302924086,13.549101726852044,-13.895029067993164,0,0,1.865667212199629],[67.35456147634473,18.333300092370862,-13.895029067993164,0,0,1.865667212199629],[65.90147992344859,23.11749845788968,-13.895029067993164,0,0,1.865667212199629],[64.44839837055245,27.9016968234085,-13.895029067993164,0,0,1.865667212199629],[62.99531681765631,32.68589518892732,-13.895029067993164,0,0,1.865667212199629],[61.542235264760166,37.47009355444614,-13.895029067993164,0,0,1.865667212199629],[60.08915371186402,42.254291919964956,-13.895029067993164,0,0,1.865667212199629],[58.63607215896788,47.038490285483775,-13.895029067993164,0,0,1.865667212199629],[57.18299060607173,51.82268865100259,-13.895029067993164,0,0,1.865667212199629],[55.72990905317559,56.60688701652141,-13.895029067993164,0,0,1.865667212199629],[54.276827500279445,61.39108538204023,-13.895029067993164,0,0,1.865667212199629],[52.8237459473833,66.17528374755905,-13.895029067993164,0,0,1.865667212199629]]},{"id":3,"instruction":"turn to the left side of the steel factory.","completed_instruction":"Turn left towards the campfire, fly over it to reach the chimneys on the factory.","start_frame":55,"end_frame":77,"start_position":[52.8237459473833,66.17528374755905,-13.895029067993164],"start_rotation":[0.59556011007318643,0,0,0.80331074640491029],"end_position":[97.47460920674393,106.56464385877995,-11.895029067993164],"end_rotation":[0.91742555800649117,0,0,0.39790745848309805],"actions":[5,5,5,2,2,2,2,1,1,1,4,1,1,1,4,6,1,1,1,1,1,1,4],"reference_path":[[52.8237459473833,66.17528374755905,-13.895029067993164,0,0,1.865667212199629],[52.8237459473833,66.17528374755905,-11.895029067993164,0,0,1.865667212199629],[52.8237459473833,66.17528374755905,-9.895029067993164,0,0,1.865667212199629],[52.8237459473833,66.17528374755905,-7.895029067993164,0,0,1.865667212199629],[52.8237459473833,66.17528374755905,-7.895029067993164,0,0,1.6038678244004796],[52.8237459473833,66.17528374755905,-7.895029067993164,0,0,1.34206843660133],[52.8237459473833,66.17528374755905,-7.895029067993164,0,0,1.0802690488021807],[52.8237459473833,66.17528374755905,-7.895029067993164,0,0,0.8184696610030312],[56.24044249221852,69.82578846889706,-7.895029067993164,0,0,0.8184696610030312],[59.65713903705374,73.47629319023507,-7.895029067993164,0,0,0.8184696610030312],[63.07383558188896,77.12679791157308,-7.895029067993164,0,0,0.8184696610030312],[63.07383558188896,77.12679791157308,-9.895029067993164,0,0,0.8184696610030312],[66.49053212672418,80.77730263291109,-9.895029067993164,0,0,0.8184696610030312],[69.9072286715594,84.4278073542491,-9.895029067993164,0,0,0.8184696610030312],[73.32392521639461,88.0783120755871,-9.895029067993164,0,0,0.8184696610030312],[73.32392521639461,88.0783120755871,-11.895029067993164,0,0,0.8184696610030312],[76.97442993773262,84.66161553075189,-11.895029067993164,0,0,0.8184696610030312],[80.39112648256784,88.3121202520899,-11.895029067993164,0,0,0.8184696610030312],[83.80782302740306,91.9626249734279,-11.895029067993164,0,0,0.8184696610030312],[87.22451957223828,95.61312969476592,-11.895029067993164,0,0,0.8184696610030312],[90.6412161170735,99.26363441610393,-11.895029067993164,0,0,0.8184696610030312],[94.05791266190872,102.91413913744194,-11.895029067993164,0,0,0.8184696610030312],[97.47460920674393,106.56464385877995,-11.895029067993164,0,0,0.8184696610030312]]},{"id":4,"instruction":"fly over the left side of the steel factory.","completed_instruction":"Turn right to face the tall chimneys in the distance, then fly up above the roof and fly over the glass roof ahead reaching the broken roof of the warehouse on the right.","start_frame":77,"end_frame":102,"start_position":[97.47460920674393,106.56464385877995,-11.895029067993164],"start_rotation":[0.91742555800649117,0,0,0.39790745848309805],"end_position":[97.8227902331752,158.67571940824513,-23.895029067993164],"end_rotation":[0.695318103668962,0,0,0.71870211820350072],"actions":[4,1,1,3,3,3,4,4,4,4,4,4,4,1,1,1,1,1,7,1,5,1,1,5,1,7],"reference_path":[[97.47460920674393,106.56464385877995,-11.895029067993164,0,0,0.8184696610030312],[97.47460920674393,106.56464385877995,-13.895029067993164,0,0,0.8184696610030312],[100.89130575157915,110.21514858011795,-13.895029067993164,0,0,0.8184696610030312],[104.30800229641437,113.86565330145596,-13.895029067993164,0,0,0.8184696610030312],[104.30800229641437,113.86565330145596,-13.895029067993164,0,0,1.0802690488021807],[104.30800229641437,113.86565330145596,-13.895029067993164,0,0,1.34206843660133],[104.30800229641437,113.86565330145596,-13.895029067993164,0,0,1.6038678244004796],[104.30800229641437,113.86565330145596,-15.895029067993164,0,0,1.6038678244004796],[104.30800229641437,113.86565330145596,-17.895029067993164,0,0,1.6038678244004796],[104.30800229641437,113.86565330145596,-19.895029067993164,0,0,1.6038678244004796],[104.30800229641437,113.86565330145596,-21.895029067993164,0,0,1.6038678244004796],[104.30800229641437,113.86565330145596,-23.895029067993164,0,0,1.6038678244004796],[104.30800229641437,113.86565330145596,-25.895029067993164,0,0,1.6038678244004796],[104.30800229641437,113.86565330145596,-27.895029067993164,0,0,1.6038678244004796],[104.14267494931238,118.8629192407772,-27.895029067993164,0,0,1.6038678244004796],[103.97734760221039,123.86018518009844,-27.895029067993164,0,0,1.6038678244004796],[103.8120202551084,128.8574511194197,-27.895029067993164,0,0,1.6038678244004796],[103.6466929080064,133.85471705874093,-27.895029067993164,0,0,1.6038678244004796],[103.48136556090441,138.85198299806217,-27.895029067993164,0,0,1.6038678244004796],[98.48409962158317,138.68665565096018,-27.895029067993164,0,0,1.6038678244004796],[98.31877227448118,143.68392159028141,-27.895029067993164,0,0,1.6038678244004796],[98.31877227448118,143.68392159028141,-25.895029067993164,0,0,1.6038678244004796],[98.15344492737918,148.68118752960265,-25.895029067993164,0,0,1.6038678244004796],[97.98811758027719,153.6784534689239,-25.895029067993164,0,0,1.6038678244004796],[97.98811758027719,153.6784534689239,-23.895029067993164,0,0,1.6038678244004796],[97.8227902331752,158.67571940824513,-23.895029067993164,0,0,1.6038678244004796]]},{"id":5,"instruction":"fly into the empty warehouse with windows.","completed_instruction":"Fly into an empty warehouse with windows and land beside the windows on the left.","start_frame":102,"end_frame":119,"start_position":[97.8227902331752,158.67571940824513,-23.895029067993164],"start_rotation":[0.695318103668962,0,0,0.71870211820350072],"end_position":[90.10924726610611,185.265334032028,-7.895029067993164],"end_rotation":[0.85763950976677916,0,0,0.51425136974732377],"actions":[7,1,5,1,5,5,1,5,5,1,5,2,5,2,7,1,5,0],"reference_path":[[97.8227902331752,158.67571940824513,-23.895029067993164,0,0,1.6038678244004796],[92.82552429385396,158.51039206114314,-23.895029067993164,0,0,1.6038678244004796],[92.66019694675197,163.50765800046437,-23.895029067993164,0,0,1.6038678244004796],[92.66019694675197,163.50765800046437,-21.895029067993164,0,0,1.6038678244004796],[92.49486959964997,168.5049239397856,-21.895029067993164,0,0,1.6038678244004796],[92.49486959964997,168.5049239397856,-19.895029067993164,0,0,1.6038678244004796],[92.49486959964997,168.5049239397856,-17.895029067993164,0,0,1.6038678244004796],[92.32954225254798,173.50218987910685,-17.895029067993164,0,0,1.6038678244004796],[92.32954225254798,173.50218987910685,-15.895029067993164,0,0,1.6038678244004796],[92.32954225254798,173.50218987910685,-13.895029067993164,0,0,1.6038678244004796],[92.16421490544599,178.4994558184281,-13.895029067993164,0,0,1.6038678244004796],[92.16421490544599,178.4994558184281,-11.895029067993164,0,0,1.6038678244004796],[92.16421490544599,178.4994558184281,-11.895029067993164,0,0,1.34206843660133],[92.16421490544599,178.4994558184281,-9.895029067993164,0,0,1.34206843660133],[92.16421490544599,178.4994558184281,-9.895029067993164,0,0,1.0802690488021807],[87.7537919789761,180.8549111055581,-9.895029067993164,0,0,1.0802690488021807],[90.10924726610611,185.265334032028,-9.895029067993164,0,0,1.0802690488021807],[90.10924726610611,185.265334032028,-7.895029067993164,0,0,1.0802690488021807]]}],"statistics":{"complete_actions":124,"sentence_actions":[22,11,24,23,26,18],"sentence_actions_average":20.67}}
diff --git a/scene_20/3VP0C6EFSPUCFQC646NC2Q5RYSY6MS.json b/scene_20/3VP0C6EFSPUCFQC646NC2Q5RYSY6MS.json
new file mode 100644
index 0000000000000000000000000000000000000000..b792ee7978c51538538ece56e043e02262a31f11
--- /dev/null
+++ b/scene_20/3VP0C6EFSPUCFQC646NC2Q5RYSY6MS.json
@@ -0,0 +1 @@
+{"episode_id":"3VP0C6EFSPUCFQC646NC2Q5RYSY6MS","trajectory_id":"3FULMHZ7P2VVEJBZVFPVG9QOPYI4MV","scene_id":20,"instruction":"turn right and fly forward towards the grassy area. turn left and fly up. fly over the building behind the empty rail cart. land after passing the roof of the building on the ground by the white winch. turn left and fly to the cranes by the boat. turn right and fly forward across the body of water to the other ship. fly up and over the warehouse behind the boat. go to the alley and land. go to the left to the boat on the water by flying over the fence.","sentence_instructions":[{"id":0,"instruction":"turn right and fly forward towards the grassy area.","completed_instruction":"Turn right to face the door, fly forward by the door to the grassy area.","start_frame":1,"end_frame":7,"start_position":[-51.78790283203125,-31.057374954223633,-0.5276330709457397],"start_rotation":[0.99999988204577739,0,0,0.00048570405729079044],"end_position":[-51.78790283203125,-31.057374954223633,-0.5276330709457397],"end_rotation":[0.70676325314775679,0,0,0.707450142412877],"actions":[3,3,3,3,3,3,3],"reference_path":[[-51.78790283203125,-31.057374954223633,-0.5276330709457397,0,0,0.000971408152775479],[-51.78790283203125,-31.057374954223633,-0.5276330709457397,0,0,0.26277079595192493],[-51.78790283203125,-31.057374954223633,-0.5276330709457397,0,0,0.5245701837510743],[-51.78790283203125,-31.057374954223633,-0.5276330709457397,0,0,0.7863695715502237],[-51.78790283203125,-31.057374954223633,-0.5276330709457397,0,0,1.048168959349373],[-51.78790283203125,-31.057374954223633,-0.5276330709457397,0,0,1.3099683471485226],[-51.78790283203125,-31.057374954223633,-0.5276330709457397,0,0,1.571767734947672]]},{"id":1,"instruction":"turn left and fly up.","completed_instruction":"Turn left to face the mine car, then ascend to a height higher than the chimney of the building in front.","start_frame":8,"end_frame":27,"start_position":[-51.78790283203125,-31.057374954223633,-0.5276330709457397],"start_rotation":[0.6083760222664949,0,0,0.7936489246078503],"end_position":[-54.385475142655196,-21.40063543764353,-26.52763307094574],"end_rotation":[0.92369355264003694,0,0,0.38313211926335194],"actions":[1,1,2,2,2,2,4,4,4,4,4,4,4,4,4,4,4,4,4,4],"reference_path":[[-51.78790283203125,-31.057374954223633,-0.5276330709457397,0,0,1.8335671227468218],[-53.08668898734322,-26.22900519593358,-0.5276330709457397,0,0,1.8335671227468218],[-54.385475142655196,-21.40063543764353,-0.5276330709457397,0,0,1.8335671227468218],[-54.385475142655196,-21.40063543764353,-0.5276330709457397,0,0,1.5717677349476724],[-54.385475142655196,-21.40063543764353,-0.5276330709457397,0,0,1.309968347148523],[-54.385475142655196,-21.40063543764353,-0.5276330709457397,0,0,1.0481689593493737],[-54.385475142655196,-21.40063543764353,-0.5276330709457397,0,0,0.7863695715502244],[-54.385475142655196,-21.40063543764353,-2.5276330709457397,0,0,0.7863695715502244],[-54.385475142655196,-21.40063543764353,-4.52763307094574,0,0,0.7863695715502244],[-54.385475142655196,-21.40063543764353,-6.52763307094574,0,0,0.7863695715502244],[-54.385475142655196,-21.40063543764353,-8.52763307094574,0,0,0.7863695715502244],[-54.385475142655196,-21.40063543764353,-10.52763307094574,0,0,0.7863695715502244],[-54.385475142655196,-21.40063543764353,-12.52763307094574,0,0,0.7863695715502244],[-54.385475142655196,-21.40063543764353,-14.52763307094574,0,0,0.7863695715502244],[-54.385475142655196,-21.40063543764353,-16.52763307094574,0,0,0.7863695715502244],[-54.385475142655196,-21.40063543764353,-18.52763307094574,0,0,0.7863695715502244],[-54.385475142655196,-21.40063543764353,-20.52763307094574,0,0,0.7863695715502244],[-54.385475142655196,-21.40063543764353,-22.52763307094574,0,0,0.7863695715502244],[-54.385475142655196,-21.40063543764353,-24.52763307094574,0,0,0.7863695715502244],[-54.385475142655196,-21.40063543764353,-26.52763307094574,0,0,0.7863695715502244]]},{"id":2,"instruction":"fly over the building behind the empty rail cart.","completed_instruction":"Fly forward over the beige building with the glass roof.","start_frame":27,"end_frame":38,"start_position":[-54.385475142655196,-21.40063543764353,-26.52763307094574],"start_rotation":[0.92369355264003694,0,0,0.38313211926335194],"end_position":[-26.12869280755337,6.911098032186221,-32.52763307094574],"end_rotation":[0.92369355264003694,0,0,0.38313211926335194],"actions":[4,4,1,1,4,1,1,1,1,1,1,1],"reference_path":[[-54.385475142655196,-21.40063543764353,-26.52763307094574,0,0,0.7863695715502244],[-54.385475142655196,-21.40063543764353,-28.52763307094574,0,0,0.7863695715502244],[-54.385475142655196,-21.40063543764353,-30.52763307094574,0,0,0.7863695715502244],[-50.85337735076747,-17.86166875391481,-30.52763307094574,0,0,0.7863695715502244],[-47.32127955887974,-14.322702070186091,-30.52763307094574,0,0,0.7863695715502244],[-47.32127955887974,-14.322702070186091,-32.52763307094574,0,0,0.7863695715502244],[-43.78918176699201,-10.783735386457373,-32.52763307094574,0,0,0.7863695715502244],[-40.25708397510428,-7.2447687027286545,-32.52763307094574,0,0,0.7863695715502244],[-36.72498618321655,-3.7058020189999357,-32.52763307094574,0,0,0.7863695715502244],[-33.19288839132882,-0.16683533527121686,-32.52763307094574,0,0,0.7863695715502244],[-29.660790599441096,3.372131348457502,-32.52763307094574,0,0,0.7863695715502244],[-26.12869280755337,6.911098032186221,-32.52763307094574,0,0,0.7863695715502244]]},{"id":3,"instruction":"land after passing the roof of the building on the ground by the white winch.","completed_instruction":"Fly forward and then fly down close to on the nearest wooden platform near the mine pit.","start_frame":38,"end_frame":59,"start_position":[-26.12869280755337,6.911098032186221,-32.52763307094574],"start_rotation":[0.92369355264003694,0,0,0.38313211926335194],"end_position":[9.185416219482905,49.37182934508986,-14.52763307094574],"end_rotation":[0.92369355264003694,0,0,0.38313211926335194],"actions":[1,1,1,1,1,1,1,1,1,7,1,1,5,5,5,5,5,5,5,5,5,5],"reference_path":[[-26.12869280755337,6.911098032186221,-32.52763307094574,0,0,0.7863695715502244],[-22.596595015665645,10.45006471591494,-32.52763307094574,0,0,0.7863695715502244],[-19.06449722377792,13.989031399643657,-32.52763307094574,0,0,0.7863695715502244],[-15.532399431890193,17.527998083372378,-32.52763307094574,0,0,0.7863695715502244],[-12.000301640002466,21.066964767101098,-32.52763307094574,0,0,0.7863695715502244],[-8.468203848114738,24.605931450829818,-32.52763307094574,0,0,0.7863695715502244],[-4.936106056227011,28.144898134558538,-32.52763307094574,0,0,0.7863695715502244],[-1.4040082643392844,31.683864818287258,-32.52763307094574,0,0,0.7863695715502244],[2.1280895275484424,35.22283150201598,-32.52763307094574,0,0,0.7863695715502244],[5.660187319436169,38.761798185744695,-32.52763307094574,0,0,0.7863695715502244],[2.1212206357074512,42.293895977632424,-32.52763307094574,0,0,0.7863695715502244],[5.6533184275951776,45.83286266136114,-32.52763307094574,0,0,0.7863695715502244],[9.185416219482905,49.37182934508986,-32.52763307094574,0,0,0.7863695715502244],[9.185416219482905,49.37182934508986,-30.52763307094574,0,0,0.7863695715502244],[9.185416219482905,49.37182934508986,-28.52763307094574,0,0,0.7863695715502244],[9.185416219482905,49.37182934508986,-26.52763307094574,0,0,0.7863695715502244],[9.185416219482905,49.37182934508986,-24.52763307094574,0,0,0.7863695715502244],[9.185416219482905,49.37182934508986,-22.52763307094574,0,0,0.7863695715502244],[9.185416219482905,49.37182934508986,-20.52763307094574,0,0,0.7863695715502244],[9.185416219482905,49.37182934508986,-18.52763307094574,0,0,0.7863695715502244],[9.185416219482905,49.37182934508986,-16.52763307094574,0,0,0.7863695715502244],[9.185416219482905,49.37182934508986,-14.52763307094574,0,0,0.7863695715502244]]},{"id":4,"instruction":"turn left and fly to the cranes by the boat.","completed_instruction":"Turn left to face the white high crane left to the white and red ship.","start_frame":59,"end_frame":77,"start_position":[9.185416219482905,49.37182934508986,-14.52763307094574],"start_rotation":[0.92369355264003694,0,0,0.38313211926335194],"end_position":[15.679346996042796,25.2299805536396,-12.52763307094574],"end_rotation":[0.79364892460785064,0,0,-0.60837602226649456],"actions":[5,5,5,2,2,2,2,4,4,2,2,2,2,1,1,1,1,1,6],"reference_path":[[9.185416219482905,49.37182934508986,-14.52763307094574,0,0,0.7863695715502244],[9.185416219482905,49.37182934508986,-12.52763307094574,0,0,0.7863695715502244],[9.185416219482905,49.37182934508986,-10.52763307094574,0,0,0.7863695715502244],[9.185416219482905,49.37182934508986,-8.52763307094574,0,0,0.7863695715502244],[9.185416219482905,49.37182934508986,-8.52763307094574,0,0,0.524570183751075],[9.185416219482905,49.37182934508986,-8.52763307094574,0,0,0.26277079595192554],[9.185416219482905,49.37182934508986,-8.52763307094574,0,0,0.0009714081527761035],[9.185416219482905,49.37182934508986,-8.52763307094574,0,0,-0.26082797964637333],[9.185416219482905,49.37182934508986,-10.52763307094574,0,0,-0.26082797964637333],[9.185416219482905,49.37182934508986,-12.52763307094574,0,0,-0.26082797964637333],[9.185416219482905,49.37182934508986,-12.52763307094574,0,0,-0.5226273674455227],[9.185416219482905,49.37182934508986,-12.52763307094574,0,0,-0.7844267552446722],[9.185416219482905,49.37182934508986,-12.52763307094574,0,0,-1.0462261430438216],[9.185416219482905,49.37182934508986,-12.52763307094574,0,0,-1.3080255308429707],[10.484202374794883,44.543459586799806,-12.52763307094574,0,0,-1.3080255308429707],[11.782988530106861,39.715089828509754,-12.52763307094574,0,0,-1.3080255308429707],[13.08177468541884,34.8867200702197,-12.52763307094574,0,0,-1.3080255308429707],[14.380560840730817,30.05835031192965,-12.52763307094574,0,0,-1.3080255308429707],[15.679346996042796,25.2299805536396,-12.52763307094574,0,0,-1.3080255308429707]]},{"id":5,"instruction":"turn right and fly forward across the body of water to the other ship.","completed_instruction":"Turn right to face the roof of nearby ship, fly over the water, and fly down close to on the deck of another ship.","start_frame":77,"end_frame":93,"start_position":[15.679346996042796,25.2299805536396,-12.52763307094574],"start_rotation":[0.79364892460785064,0,0,-0.60837602226649456],"end_position":[56.92650507317402,2.6698272106955327,-12.52763307094574],"end_rotation":[0.99150814152984657,0,0,-0.13004462803218628],"actions":[6,1,1,3,3,3,3,1,1,1,1,1,1,1,1,1,1],"reference_path":[[15.679346996042796,25.2299805536396,-12.52763307094574,0,0,-1.3080255308429707],[10.850977237752744,23.931194398327623,-12.52763307094574,0,0,-1.3080255308429707],[12.149763393064722,19.10282464003757,-12.52763307094574,0,0,-1.3080255308429707],[13.4485495483767,14.27445488174752,-12.52763307094574,0,0,-1.3080255308429707],[13.4485495483767,14.27445488174752,-12.52763307094574,0,0,-1.0462261430438213],[13.4485495483767,14.27445488174752,-12.52763307094574,0,0,-0.7844267552446719],[13.4485495483767,14.27445488174752,-12.52763307094574,0,0,-0.5226273674455225],[13.4485495483767,14.27445488174752,-12.52763307094574,0,0,-0.2608279796463731],[18.279433495576406,12.985051807186188,-12.52763307094574,0,0,-0.2608279796463731],[23.110317442776108,11.695648732624857,-12.52763307094574,0,0,-0.2608279796463731],[27.94120138997581,10.406245658063526,-12.52763307094574,0,0,-0.2608279796463731],[32.77208533717551,9.116842583502194,-12.52763307094574,0,0,-0.2608279796463731],[37.60296928437521,7.827439508940862,-12.52763307094574,0,0,-0.2608279796463731],[42.433853231574915,6.53803643437953,-12.52763307094574,0,0,-0.2608279796463731],[47.26473717877462,5.248633359818197,-12.52763307094574,0,0,-0.2608279796463731],[52.09562112597432,3.959230285256865,-12.52763307094574,0,0,-0.2608279796463731],[56.92650507317402,2.6698272106955327,-12.52763307094574,0,0,-0.2608279796463731]]},{"id":6,"instruction":"fly up and over the warehouse behind the boat.","completed_instruction":"Ascend higher than the ladder, then fly forward over a chimney and a broken ware house to the front of a ship and crane.","start_frame":93,"end_frame":125,"start_position":[56.92650507317402,2.6698272106955327,-12.52763307094574],"start_rotation":[0.99150814152984657,0,0,-0.13004462803218628],"end_position":[150.79377576778668,-13.373452737439681,-32.52763307094574],"end_rotation":[0.96605142181434889,0,0,-0.25834986048085057],"actions":[1,7,1,4,4,4,4,4,4,4,4,4,4,1,1,1,1,1,1,1,1,1,1,1,7,1,1,1,1,1,2,1,1],"reference_path":[[56.92650507317402,2.6698272106955327,-12.52763307094574,0,0,-0.2608279796463731],[61.75738902037372,1.3804241361342005,-12.52763307094574,0,0,-0.2608279796463731],[63.04679209493506,6.211308083333904,-12.52763307094574,0,0,-0.2608279796463731],[67.87767604213477,4.921905008772572,-12.52763307094574,0,0,-0.2608279796463731],[67.87767604213477,4.921905008772572,-14.52763307094574,0,0,-0.2608279796463731],[67.87767604213477,4.921905008772572,-16.52763307094574,0,0,-0.2608279796463731],[67.87767604213477,4.921905008772572,-18.52763307094574,0,0,-0.2608279796463731],[67.87767604213477,4.921905008772572,-20.52763307094574,0,0,-0.2608279796463731],[67.87767604213477,4.921905008772572,-22.52763307094574,0,0,-0.2608279796463731],[67.87767604213477,4.921905008772572,-24.52763307094574,0,0,-0.2608279796463731],[67.87767604213477,4.921905008772572,-26.52763307094574,0,0,-0.2608279796463731],[67.87767604213477,4.921905008772572,-28.52763307094574,0,0,-0.2608279796463731],[67.87767604213477,4.921905008772572,-30.52763307094574,0,0,-0.2608279796463731],[67.87767604213477,4.921905008772572,-32.52763307094574,0,0,-0.2608279796463731],[72.70855998933447,3.6325019342112395,-32.52763307094574,0,0,-0.2608279796463731],[77.53944393653418,2.343098859649907,-32.52763307094574,0,0,-0.2608279796463731],[82.37032788373389,1.0536957850885749,-32.52763307094574,0,0,-0.2608279796463731],[87.2012118309336,-0.23570728947275743,-32.52763307094574,0,0,-0.2608279796463731],[92.03209577813331,-1.5251103640340897,-32.52763307094574,0,0,-0.2608279796463731],[96.86297972533302,-2.814513438595422,-32.52763307094574,0,0,-0.2608279796463731],[101.69386367253273,-4.103916513156754,-32.52763307094574,0,0,-0.2608279796463731],[106.52474761973244,-5.393319587718087,-32.52763307094574,0,0,-0.2608279796463731],[111.35563156693215,-6.682722662279419,-32.52763307094574,0,0,-0.2608279796463731],[116.18651551413186,-7.972125736840751,-32.52763307094574,0,0,-0.2608279796463731],[121.01739946133156,-9.261528811402084,-32.52763307094574,0,0,-0.2608279796463731],[122.3068025358929,-4.43064486420238,-32.52763307094574,0,0,-0.2608279796463731],[127.13768648309261,-5.720047938763712,-32.52763307094574,0,0,-0.2608279796463731],[131.96857043029232,-7.0094510133250445,-32.52763307094574,0,0,-0.2608279796463731],[136.79945437749203,-8.298854087886376,-32.52763307094574,0,0,-0.2608279796463731],[141.63033832469173,-9.588257162447707,-32.52763307094574,0,0,-0.2608279796463731],[146.46122227189144,-10.877660237009039,-32.52763307094574,0,0,-0.2608279796463731],[146.46122227189144,-10.877660237009039,-32.52763307094574,0,0,-0.5226273674455226],[150.79377576778668,-13.373452737439681,-32.52763307094574,0,0,-0.5226273674455226]]},{"id":7,"instruction":"go to the alley and land.","completed_instruction":"Fly down to the height of the wall ahead.","start_frame":125,"end_frame":138,"start_position":[150.79377576778668,-13.373452737439681,-32.52763307094574],"start_rotation":[0.96605142181434889,0,0,-0.25834986048085057],"end_position":[166.28722875590304,-16.528276742836358,-14.52763307094574],"end_rotation":[0.96605142181434889,0,0,-0.25834986048085057],"actions":[1,1,7,5,5,5,5,5,5,5,1,5,5,5],"reference_path":[[150.79377576778668,-13.373452737439681,-32.52763307094574,0,0,-0.5226273674455226],[155.12632926368192,-15.869245237870324,-32.52763307094574,0,0,-0.5226273674455226],[159.45888275957716,-18.365037738300966,-32.52763307094574,0,0,-0.5226273674455226],[161.9546752600078,-14.032484242405715,-32.52763307094574,0,0,-0.5226273674455226],[161.9546752600078,-14.032484242405715,-30.52763307094574,0,0,-0.5226273674455226],[161.9546752600078,-14.032484242405715,-28.52763307094574,0,0,-0.5226273674455226],[161.9546752600078,-14.032484242405715,-26.52763307094574,0,0,-0.5226273674455226],[161.9546752600078,-14.032484242405715,-24.52763307094574,0,0,-0.5226273674455226],[161.9546752600078,-14.032484242405715,-22.52763307094574,0,0,-0.5226273674455226],[161.9546752600078,-14.032484242405715,-20.52763307094574,0,0,-0.5226273674455226],[161.9546752600078,-14.032484242405715,-18.52763307094574,0,0,-0.5226273674455226],[166.28722875590304,-16.528276742836358,-18.52763307094574,0,0,-0.5226273674455226],[166.28722875590304,-16.528276742836358,-16.52763307094574,0,0,-0.5226273674455226],[166.28722875590304,-16.528276742836358,-14.52763307094574,0,0,-0.5226273674455226]]},{"id":8,"instruction":"go to the left to the boat on the water by flying over the fence.","completed_instruction":"Fly up higher than the warehouse, then go over it and fly forward to the ship, and land on the ship.","start_frame":138,"end_frame":155,"start_position":[166.28722875590304,-16.528276742836358,-14.52763307094574],"start_rotation":[0.96605142181434889,0,0,-0.25834986048085057],"end_position":[187.95571091227308,-43.639757278073006,-14.52763307094574],"end_rotation":[0.86626815366173093,0,0,-0.49957930897055342],"actions":[5,5,2,4,4,4,4,1,1,1,1,5,2,1,1,1,5,0],"reference_path":[[166.28722875590304,-16.528276742836358,-14.52763307094574,0,0,-0.5226273674455226],[166.28722875590304,-16.528276742836358,-12.52763307094574,0,0,-0.5226273674455226],[166.28722875590304,-16.528276742836358,-10.52763307094574,0,0,-0.5226273674455226],[166.28722875590304,-16.528276742836358,-10.52763307094574,0,0,-0.7844267552446721],[166.28722875590304,-16.528276742836358,-12.52763307094574,0,0,-0.7844267552446721],[166.28722875590304,-16.528276742836358,-14.52763307094574,0,0,-0.7844267552446721],[166.28722875590304,-16.528276742836358,-16.52763307094574,0,0,-0.7844267552446721],[166.28722875590304,-16.528276742836358,-18.52763307094574,0,0,-0.7844267552446721],[169.82619543963176,-20.060374534724083,-18.52763307094574,0,0,-0.7844267552446721],[173.36516212336048,-23.59247232661181,-18.52763307094574,0,0,-0.7844267552446721],[176.9041288070892,-27.124570118499534,-18.52763307094574,0,0,-0.7844267552446721],[180.4430954908179,-30.65666791038726,-18.52763307094574,0,0,-0.7844267552446721],[180.4430954908179,-30.65666791038726,-16.52763307094574,0,0,-0.7844267552446721],[180.4430954908179,-30.65666791038726,-16.52763307094574,0,0,-1.0462261430438216],[182.94730063130297,-34.984364366282506,-16.52763307094574,0,0,-1.0462261430438216],[185.45150577178802,-39.312060822177756,-16.52763307094574,0,0,-1.0462261430438216],[187.95571091227308,-43.639757278073006,-16.52763307094574,0,0,-1.0462261430438216],[187.95571091227308,-43.639757278073006,-14.52763307094574,0,0,-1.0462261430438216]]}],"statistics":{"complete_actions":162,"sentence_actions":[7,20,12,22,19,17,33,14,18],"sentence_actions_average":18.0}}
diff --git a/scene_21/3C8HJ7UOPGSE30WH6BKNZOYLHF2ZMX.json b/scene_21/3C8HJ7UOPGSE30WH6BKNZOYLHF2ZMX.json
new file mode 100644
index 0000000000000000000000000000000000000000..b381e562c222cb3a212d19a5c35f8bef7f92a073
--- /dev/null
+++ b/scene_21/3C8HJ7UOPGSE30WH6BKNZOYLHF2ZMX.json
@@ -0,0 +1 @@
+{"episode_id":"3C8HJ7UOPGSE30WH6BKNZOYLHF2ZMX","trajectory_id":"3L4YG5VWAVQ5ALOFBXRL0NX0PT1DD5","scene_id":21,"instruction":"take off and turn right move forward into the two tank and towards the factory. now move forward and towards the white containers and a little move and go over to the containers. now go forward and towards the red \u0026 white container arrives and a little turn at right side move forward to land beside the yellow container.","sentence_instructions":[{"id":0,"instruction":"take off and turn right move forward into the two tank and towards the factory.","completed_instruction":"Take off, rise to a height slightly higher than the storage tank in front, and turn right to face the wharf where a blue cargo ship is moored.","start_frame":1,"end_frame":15,"start_position":[58.4410400390625,-257.8375244140625,-9.17194652557373],"start_rotation":[0.99972733074032949,0,0,-0.023350892291639946],"end_position":[58.4410400390625,-257.8375244140625,-25.17194652557373],"end_rotation":[0.72342554919018853,0,0,0.69040240061783831],"actions":[4,4,4,4,4,4,4,4,3,3,3,3,3,3,3],"reference_path":[[58.4410400390625,-257.8375244140625,-9.17194652557373,0,0,-0.04670602975997105],[58.4410400390625,-257.8375244140625,-11.17194652557373,0,0,-0.04670602975997105],[58.4410400390625,-257.8375244140625,-13.17194652557373,0,0,-0.04670602975997105],[58.4410400390625,-257.8375244140625,-15.17194652557373,0,0,-0.04670602975997105],[58.4410400390625,-257.8375244140625,-17.17194652557373,0,0,-0.04670602975997105],[58.4410400390625,-257.8375244140625,-19.17194652557373,0,0,-0.04670602975997105],[58.4410400390625,-257.8375244140625,-21.17194652557373,0,0,-0.04670602975997105],[58.4410400390625,-257.8375244140625,-23.17194652557373,0,0,-0.04670602975997105],[58.4410400390625,-257.8375244140625,-25.17194652557373,0,0,-0.04670602975997105],[58.4410400390625,-257.8375244140625,-25.17194652557373,0,0,0.21509335803917837],[58.4410400390625,-257.8375244140625,-25.17194652557373,0,0,0.4768927458383278],[58.4410400390625,-257.8375244140625,-25.17194652557373,0,0,0.7386921336374773],[58.4410400390625,-257.8375244140625,-25.17194652557373,0,0,1.0004915214366268],[58.4410400390625,-257.8375244140625,-25.17194652557373,0,0,1.2622909092357764],[58.4410400390625,-257.8375244140625,-25.17194652557373,0,0,1.524090297034926]]},{"id":1,"instruction":"now move forward and towards the white containers and a little move and go over to the containers.","completed_instruction":"Fly towards the mentioned wharf until fly cross the walls which is in front of the white shipping containers, then flying ahead until reaching the front of the group of white containers.","start_frame":15,"end_frame":47,"start_position":[58.4410400390625,-257.8375244140625,-25.17194652557373],"start_rotation":[0.72342554919018853,0,0,0.69040240061783831],"end_position":[26.876428181378714,-136.78515856244522,-23.17194652557373],"end_rotation":[0.62712094687891007,0,0,0.77892189466319361],"actions":[3,4,1,1,4,1,1,1,1,1,1,1,1,1,1,1,1,5,1,1,1,1,5,1,1,7,1,5,1,1,1,1,5],"reference_path":[[58.4410400390625,-257.8375244140625,-25.17194652557373,0,0,1.524090297034926],[58.4410400390625,-257.8375244140625,-25.17194652557373,0,0,1.7858896848340755],[58.4410400390625,-257.8375244140625,-27.17194652557373,0,0,1.7858896848340755],[57.37384685920551,-252.95274205280353,-27.17194652557373,0,0,1.7858896848340755],[56.306653679348514,-248.06795969154456,-27.17194652557373,0,0,1.7858896848340755],[56.306653679348514,-248.06795969154456,-29.17194652557373,0,0,1.7858896848340755],[55.23946049949152,-243.1831773302856,-29.17194652557373,0,0,1.7858896848340755],[54.17226731963453,-238.29839496902662,-29.17194652557373,0,0,1.7858896848340755],[53.105074139777535,-233.41361260776765,-29.17194652557373,0,0,1.7858896848340755],[52.03788095992054,-228.52883024650868,-29.17194652557373,0,0,1.7858896848340755],[50.97068778006355,-223.6440478852497,-29.17194652557373,0,0,1.7858896848340755],[49.90349460020656,-218.75926552399073,-29.17194652557373,0,0,1.7858896848340755],[48.836301420349564,-213.87448316273176,-29.17194652557373,0,0,1.7858896848340755],[47.76910824049257,-208.9897008014728,-29.17194652557373,0,0,1.7858896848340755],[46.70191506063558,-204.10491844021382,-29.17194652557373,0,0,1.7858896848340755],[45.634721880778585,-199.22013607895485,-29.17194652557373,0,0,1.7858896848340755],[44.56752870092159,-194.33535371769588,-29.17194652557373,0,0,1.7858896848340755],[43.5003355210646,-189.4505713564369,-29.17194652557373,0,0,1.7858896848340755],[43.5003355210646,-189.4505713564369,-27.17194652557373,0,0,1.7858896848340755],[42.433142341207606,-184.56578899517794,-27.17194652557373,0,0,1.7858896848340755],[41.36594916135061,-179.68100663391897,-27.17194652557373,0,0,1.7858896848340755],[40.29875598149362,-174.79622427266,-27.17194652557373,0,0,1.7858896848340755],[39.23156280163663,-169.91144191140103,-27.17194652557373,0,0,1.7858896848340755],[39.23156280163663,-169.91144191140103,-25.17194652557373,0,0,1.7858896848340755],[38.164369621779635,-165.02665955014206,-25.17194652557373,0,0,1.7858896848340755],[37.09717644192264,-160.1418771888831,-25.17194652557373,0,0,1.7858896848340755],[32.21239408066368,-161.20907036874007,-25.17194652557373,0,0,1.7858896848340755],[31.145200900806685,-156.3242880074811,-25.17194652557373,0,0,1.7858896848340755],[31.145200900806685,-156.3242880074811,-23.17194652557373,0,0,1.7858896848340755],[30.078007720949692,-151.43950564622213,-23.17194652557373,0,0,1.7858896848340755],[29.0108145410927,-146.55472328496316,-23.17194652557373,0,0,1.7858896848340755],[27.943621361235707,-141.6699409237042,-23.17194652557373,0,0,1.7858896848340755],[26.876428181378714,-136.78515856244522,-23.17194652557373,0,0,1.7858896848340755]]},{"id":2,"instruction":"now go forward and towards the red \u0026 white container arrives and a little turn at right side move forward to land beside the yellow container.","completed_instruction":"Fly towards the containers passing through two rows of containers, fly towards the third row of red, blue and white containers, then turn right to face the yellow container and fly in front of them.","start_frame":47,"end_frame":75,"start_position":[26.876428181378714,-136.78515856244522,-23.17194652557373],"start_rotation":[0.62712094687891007,0,0,0.77892189466319361],"end_position":[-6.746545220572271,-43.51605976194725,-13.17194652557373],"end_rotation":[0.520086131295759,0,0,0.85411381913291307],"actions":[5,1,1,1,3,1,5,1,5,1,2,1,1,1,5,1,1,1,1,5,3,1,1,1,1,1,1,1,0],"reference_path":[[26.876428181378714,-136.78515856244522,-23.17194652557373,0,0,1.7858896848340755],[26.876428181378714,-136.78515856244522,-21.17194652557373,0,0,1.7858896848340755],[25.80923500152172,-131.90037620118625,-21.17194652557373,0,0,1.7858896848340755],[24.742041821664728,-127.01559383992728,-21.17194652557373,0,0,1.7858896848340755],[23.674848641807735,-122.1308114786683,-21.17194652557373,0,0,1.7858896848340755],[23.674848641807735,-122.1308114786683,-21.17194652557373,0,0,2.047689072633225],[21.37974448146963,-117.68868395987748,-21.17194652557373,0,0,2.047689072633225],[21.37974448146963,-117.68868395987748,-19.17194652557373,0,0,2.047689072633225],[19.084640321131523,-113.24655644108665,-19.17194652557373,0,0,2.047689072633225],[19.084640321131523,-113.24655644108665,-17.17194652557373,0,0,2.047689072633225],[16.789536160793418,-108.80442892229583,-17.17194652557373,0,0,2.047689072633225],[16.789536160793418,-108.80442892229583,-17.17194652557373,0,0,1.7858896848340755],[15.722342980936425,-103.91964656103686,-17.17194652557373,0,0,1.7858896848340755],[14.655149801079432,-99.03486419977789,-17.17194652557373,0,0,1.7858896848340755],[13.587956621222439,-94.15008183851891,-17.17194652557373,0,0,1.7858896848340755],[13.587956621222439,-94.15008183851891,-15.17194652557373,0,0,1.7858896848340755],[12.520763441365446,-89.26529947725994,-15.17194652557373,0,0,1.7858896848340755],[11.453570261508453,-84.38051711600097,-15.17194652557373,0,0,1.7858896848340755],[10.38637708165146,-79.495734754742,-15.17194652557373,0,0,1.7858896848340755],[9.319183901794467,-74.61095239348303,-15.17194652557373,0,0,1.7858896848340755],[9.319183901794467,-74.61095239348303,-13.17194652557373,0,0,1.7858896848340755],[9.319183901794467,-74.61095239348303,-13.17194652557373,0,0,2.047689072633225],[7.024079741456362,-70.1688248746922,-13.17194652557373,0,0,2.047689072633225],[4.728975581118256,-65.72669735590138,-13.17194652557373,0,0,2.047689072633225],[2.4338714207801506,-61.28456983711055,-13.17194652557373,0,0,2.047689072633225],[0.13876726044204535,-56.842442318319726,-13.17194652557373,0,0,2.047689072633225],[-2.15633689989606,-52.4003147995289,-13.17194652557373,0,0,2.047689072633225],[-4.451441060234165,-47.95818728073807,-13.17194652557373,0,0,2.047689072633225],[-6.746545220572271,-43.51605976194725,-13.17194652557373,0,0,2.047689072633225]]}],"statistics":{"complete_actions":77,"sentence_actions":[15,33,29],"sentence_actions_average":25.67}}
diff --git a/scene_21/3ERMJ6L4D7QVJQQBNGS4845M7HXM7Q.json b/scene_21/3ERMJ6L4D7QVJQQBNGS4845M7HXM7Q.json
new file mode 100644
index 0000000000000000000000000000000000000000..cc33bbd041923cac6d6c265e51ddde621d3733cd
--- /dev/null
+++ b/scene_21/3ERMJ6L4D7QVJQQBNGS4845M7HXM7Q.json
@@ -0,0 +1 @@
+{"episode_id":"3ERMJ6L4D7QVJQQBNGS4845M7HXM7Q","trajectory_id":"3L4YG5VWAVQ5ALOFBXRL0NX0PT1DD5","scene_id":21,"instruction":"taking off by the plant containers. turning right and going through the containers. stopping in front of them.","sentence_instructions":[{"id":0,"instruction":"taking off by the plant containers.","completed_instruction":"Take off, ascend to a height higher than the two containers which is in front.","start_frame":0,"end_frame":6,"start_position":[58.4410400390625,-257.8375244140625,-9.17194652557373],"start_rotation":[0.99972733074032949,0,0,-0.023350892291639946],"end_position":[58.4410400390625,-257.8375244140625,-21.17194652557373],"end_rotation":[0.99972733074032949,0,0,-0.023350892291639946],"actions":[4,4,4,4,4,4,4],"reference_path":[[58.4410400390625,-257.8375244140625,-9.17194652557373,0,0,-0.04670602975997105],[58.4410400390625,-257.8375244140625,-11.17194652557373,0,0,-0.04670602975997105],[58.4410400390625,-257.8375244140625,-13.17194652557373,0,0,-0.04670602975997105],[58.4410400390625,-257.8375244140625,-15.17194652557373,0,0,-0.04670602975997105],[58.4410400390625,-257.8375244140625,-17.17194652557373,0,0,-0.04670602975997105],[58.4410400390625,-257.8375244140625,-19.17194652557373,0,0,-0.04670602975997105],[58.4410400390625,-257.8375244140625,-21.17194652557373,0,0,-0.04670602975997105]]},{"id":1,"instruction":"turning right and going through the containers.","completed_instruction":"Turn right to face the white container area of the wharf where a blue cargo ship is moored, and fly ahead to the shipping container area which is on the wharf, and fly forward until flying over two rows of white containers.","start_frame":6,"end_frame":63,"start_position":[58.4410400390625,-257.8375244140625,-21.17194652557373],"start_rotation":[0.99972733074032949,0,0,-0.023350892291639946],"end_position":[11.453570261508453,-84.38051711600097,-15.17194652557373],"end_rotation":[0.62712094687891007,0,0,0.77892189466319361],"actions":[4,4,3,3,3,3,3,3,3,4,1,1,4,1,1,1,1,1,1,1,1,1,1,1,1,5,1,1,1,1,5,1,1,7,1,5,1,1,1,1,5,1,1,1,3,1,5,1,5,1,2,1,1,1,5,1,1,1],"reference_path":[[58.4410400390625,-257.8375244140625,-21.17194652557373,0,0,-0.04670602975997105],[58.4410400390625,-257.8375244140625,-23.17194652557373,0,0,-0.04670602975997105],[58.4410400390625,-257.8375244140625,-25.17194652557373,0,0,-0.04670602975997105],[58.4410400390625,-257.8375244140625,-25.17194652557373,0,0,0.21509335803917837],[58.4410400390625,-257.8375244140625,-25.17194652557373,0,0,0.4768927458383278],[58.4410400390625,-257.8375244140625,-25.17194652557373,0,0,0.7386921336374773],[58.4410400390625,-257.8375244140625,-25.17194652557373,0,0,1.0004915214366268],[58.4410400390625,-257.8375244140625,-25.17194652557373,0,0,1.2622909092357764],[58.4410400390625,-257.8375244140625,-25.17194652557373,0,0,1.524090297034926],[58.4410400390625,-257.8375244140625,-25.17194652557373,0,0,1.7858896848340755],[58.4410400390625,-257.8375244140625,-27.17194652557373,0,0,1.7858896848340755],[57.37384685920551,-252.95274205280353,-27.17194652557373,0,0,1.7858896848340755],[56.306653679348514,-248.06795969154456,-27.17194652557373,0,0,1.7858896848340755],[56.306653679348514,-248.06795969154456,-29.17194652557373,0,0,1.7858896848340755],[55.23946049949152,-243.1831773302856,-29.17194652557373,0,0,1.7858896848340755],[54.17226731963453,-238.29839496902662,-29.17194652557373,0,0,1.7858896848340755],[53.105074139777535,-233.41361260776765,-29.17194652557373,0,0,1.7858896848340755],[52.03788095992054,-228.52883024650868,-29.17194652557373,0,0,1.7858896848340755],[50.97068778006355,-223.6440478852497,-29.17194652557373,0,0,1.7858896848340755],[49.90349460020656,-218.75926552399073,-29.17194652557373,0,0,1.7858896848340755],[48.836301420349564,-213.87448316273176,-29.17194652557373,0,0,1.7858896848340755],[47.76910824049257,-208.9897008014728,-29.17194652557373,0,0,1.7858896848340755],[46.70191506063558,-204.10491844021382,-29.17194652557373,0,0,1.7858896848340755],[45.634721880778585,-199.22013607895485,-29.17194652557373,0,0,1.7858896848340755],[44.56752870092159,-194.33535371769588,-29.17194652557373,0,0,1.7858896848340755],[43.5003355210646,-189.4505713564369,-29.17194652557373,0,0,1.7858896848340755],[43.5003355210646,-189.4505713564369,-27.17194652557373,0,0,1.7858896848340755],[42.433142341207606,-184.56578899517794,-27.17194652557373,0,0,1.7858896848340755],[41.36594916135061,-179.68100663391897,-27.17194652557373,0,0,1.7858896848340755],[40.29875598149362,-174.79622427266,-27.17194652557373,0,0,1.7858896848340755],[39.23156280163663,-169.91144191140103,-27.17194652557373,0,0,1.7858896848340755],[39.23156280163663,-169.91144191140103,-25.17194652557373,0,0,1.7858896848340755],[38.164369621779635,-165.02665955014206,-25.17194652557373,0,0,1.7858896848340755],[37.09717644192264,-160.1418771888831,-25.17194652557373,0,0,1.7858896848340755],[32.21239408066368,-161.20907036874007,-25.17194652557373,0,0,1.7858896848340755],[31.145200900806685,-156.3242880074811,-25.17194652557373,0,0,1.7858896848340755],[31.145200900806685,-156.3242880074811,-23.17194652557373,0,0,1.7858896848340755],[30.078007720949692,-151.43950564622213,-23.17194652557373,0,0,1.7858896848340755],[29.0108145410927,-146.55472328496316,-23.17194652557373,0,0,1.7858896848340755],[27.943621361235707,-141.6699409237042,-23.17194652557373,0,0,1.7858896848340755],[26.876428181378714,-136.78515856244522,-23.17194652557373,0,0,1.7858896848340755],[26.876428181378714,-136.78515856244522,-21.17194652557373,0,0,1.7858896848340755],[25.80923500152172,-131.90037620118625,-21.17194652557373,0,0,1.7858896848340755],[24.742041821664728,-127.01559383992728,-21.17194652557373,0,0,1.7858896848340755],[23.674848641807735,-122.1308114786683,-21.17194652557373,0,0,1.7858896848340755],[23.674848641807735,-122.1308114786683,-21.17194652557373,0,0,2.047689072633225],[21.37974448146963,-117.68868395987748,-21.17194652557373,0,0,2.047689072633225],[21.37974448146963,-117.68868395987748,-19.17194652557373,0,0,2.047689072633225],[19.084640321131523,-113.24655644108665,-19.17194652557373,0,0,2.047689072633225],[19.084640321131523,-113.24655644108665,-17.17194652557373,0,0,2.047689072633225],[16.789536160793418,-108.80442892229583,-17.17194652557373,0,0,2.047689072633225],[16.789536160793418,-108.80442892229583,-17.17194652557373,0,0,1.7858896848340755],[15.722342980936425,-103.91964656103686,-17.17194652557373,0,0,1.7858896848340755],[14.655149801079432,-99.03486419977789,-17.17194652557373,0,0,1.7858896848340755],[13.587956621222439,-94.15008183851891,-17.17194652557373,0,0,1.7858896848340755],[13.587956621222439,-94.15008183851891,-15.1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in front of them.","completed_instruction":"Turn right to face a stack of containers five stories high, with yellow, green, white, and blue colors, and then stop in front of it.","start_frame":63,"end_frame":74,"start_position":[11.453570261508453,-84.38051711600097,-15.17194652557373],"start_rotation":[0.62712094687891007,0,0,0.77892189466319361],"end_position":[-6.746545220572271,-43.51605976194725,-13.17194652557373],"end_rotation":[0.520086131295759,0,0,0.85411381913291307],"actions":[1,1,5,3,1,1,1,1,1,1,1,0],"reference_path":[[11.453570261508453,-84.38051711600097,-15.17194652557373,0,0,1.7858896848340755],[10.38637708165146,-79.495734754742,-15.17194652557373,0,0,1.7858896848340755],[9.319183901794467,-74.61095239348303,-15.17194652557373,0,0,1.7858896848340755],[9.319183901794467,-74.61095239348303,-13.17194652557373,0,0,1.7858896848340755],[9.319183901794467,-74.61095239348303,-13.17194652557373,0,0,2.047689072633225],[7.024079741456362,-70.1688248746922,-13.17194652557373,0,0,2.047689072633225],[4.728975581118256,-65.72669735590138,-13.17194652557373,0,0,2.047689072633225],[2.4338714207801506,-61.28456983711055,-13.17194652557373,0,0,2.047689072633225],[0.13876726044204535,-56.842442318319726,-13.17194652557373,0,0,2.047689072633225],[-2.15633689989606,-52.4003147995289,-13.17194652557373,0,0,2.047689072633225],[-4.451441060234165,-47.95818728073807,-13.17194652557373,0,0,2.047689072633225],[-6.746545220572271,-43.51605976194725,-13.17194652557373,0,0,2.047689072633225]]}],"statistics":{"complete_actions":77,"sentence_actions":[7,58,12],"sentence_actions_average":25.67}}
diff --git a/scene_21/3FK0YFF9P8EGK3LGJ6WB1E43156VV7.json b/scene_21/3FK0YFF9P8EGK3LGJ6WB1E43156VV7.json
new file mode 100644
index 0000000000000000000000000000000000000000..312a6be402040cc8196cd09b1de1c0f3105d498e
--- /dev/null
+++ b/scene_21/3FK0YFF9P8EGK3LGJ6WB1E43156VV7.json
@@ -0,0 +1 @@
+{"episode_id":"3FK0YFF9P8EGK3LGJ6WB1E43156VV7","trajectory_id":"3KTZHH2OOQDWXKY17IF8XL6TRZL8M7","scene_id":21,"instruction":"elevate your drone then turn 90 degree of your right. and then move forward to the container area and move into the right side container. once you reach it then turn 45 degree of your right and fly over the container and drop your drone near orange white and blue color containers once you reach it drop your drone there.","sentence_instructions":[{"id":0,"instruction":"elevate your drone then turn 90 degree of your right.","completed_instruction":"Take off, fly higher than the silos in front, then turn right to face the red lift racks and white containers on the wharf.","start_frame":1,"end_frame":14,"start_position":[58.4410400390625,-257.8375244140625,-9.17194652557373],"start_rotation":[0.99964644237323819,0,0,-0.026589288266673488],"end_position":[58.4410400390625,-257.8375244140625,-25.17194652557373],"end_rotation":[0.8092593772886032,0,0,0.58745149610028424],"actions":[4,4,4,4,4,4,4,4,3,3,3,3,3,3],"reference_path":[[58.4410400390625,-257.8375244140625,-9.17194652557373,0,0,-0.05318484465025005],[58.4410400390625,-257.8375244140625,-11.17194652557373,0,0,-0.05318484465025005],[58.4410400390625,-257.8375244140625,-13.17194652557373,0,0,-0.05318484465025005],[58.4410400390625,-257.8375244140625,-15.17194652557373,0,0,-0.05318484465025005],[58.4410400390625,-257.8375244140625,-17.17194652557373,0,0,-0.05318484465025005],[58.4410400390625,-257.8375244140625,-19.17194652557373,0,0,-0.05318484465025005],[58.4410400390625,-257.8375244140625,-21.17194652557373,0,0,-0.05318484465025005],[58.4410400390625,-257.8375244140625,-23.17194652557373,0,0,-0.05318484465025005],[58.4410400390625,-257.8375244140625,-25.17194652557373,0,0,-0.05318484465025005],[58.4410400390625,-257.8375244140625,-25.17194652557373,0,0,0.20861454314889938],[58.4410400390625,-257.8375244140625,-25.17194652557373,0,0,0.4704139309480488],[58.4410400390625,-257.8375244140625,-25.17194652557373,0,0,0.7322133187471983],[58.4410400390625,-257.8375244140625,-25.17194652557373,0,0,0.9940127065463478],[58.4410400390625,-257.8375244140625,-25.17194652557373,0,0,1.2558120943454971]]},{"id":1,"instruction":"and then move forward to the container area and move into the right side container.","completed_instruction":"Fly towards the container group at the mentioned location, and fly ahead to reach the street lamp, then turn right to face the blue cargo ship, and fly towards the cargo ship and lower the altitude below the street lamp.","start_frame":14,"end_frame":60,"start_position":[58.4410400390625,-257.8375244140625,-25.17194652557373],"start_rotation":[0.8092593772886032,0,0,0.58745149610028424],"end_position":[-7.394016769935705,-131.7801616506689,-13.17194652557373],"end_rotation":[0.40711343093256369,0,0,0.91337760775832288],"actions":[3,3,1,1,4,1,1,1,4,1,1,1,1,1,7,1,1,1,1,1,1,7,1,3,1,1,5,1,1,5,1,5,3,1,1,5,7,1,5,1,1,5,1,5,1,5,5],"reference_path":[[58.4410400390625,-257.8375244140625,-25.17194652557373,0,0,1.2558120943454971],[58.4410400390625,-257.8375244140625,-25.17194652557373,0,0,1.5176114821446467],[58.4410400390625,-257.8375244140625,-25.17194652557373,0,0,1.779410869943796],[57.40551663616344,-252.94593047322397,-25.17194652557373,0,0,1.779410869943796],[56.36999323326438,-248.05433653238543,-25.17194652557373,0,0,1.779410869943796],[56.36999323326438,-248.05433653238543,-27.17194652557373,0,0,1.779410869943796],[55.33446983036532,-243.1627425915469,-27.17194652557373,0,0,1.779410869943796],[54.29894642746626,-238.27114865070837,-27.17194652557373,0,0,1.779410869943796],[53.2634230245672,-233.37955470986984,-27.17194652557373,0,0,1.779410869943796],[53.2634230245672,-233.37955470986984,-29.17194652557373,0,0,1.779410869943796],[52.22789962166814,-228.4879607690313,-29.17194652557373,0,0,1.779410869943796],[51.192376218769084,-223.59636682819277,-29.17194652557373,0,0,1.779410869943796],[50.156852815870025,-218.70477288735424,-29.17194652557373,0,0,1.779410869943796],[49.121329412970965,-213.8131789465157,-29.17194652557373,0,0,1.779410869943796],[48.085806010071906,-208.92158500567717,-29.17194652557373,0,0,1.779410869943796],[43.194212069233366,-209.95710840857623,-29.17194652557373,0,0,1.779410869943796],[42.15868866633431,-205.0655144677377,-29.17194652557373,0,0,1.779410869943796],[41.12316526343525,-200.17392052689917,-29.17194652557373,0,0,1.779410869943796],[40.08764186053619,-195.28232658606063,-29.17194652557373,0,0,1.779410869943796],[39.05211845763713,-190.3907326452221,-29.17194652557373,0,0,1.779410869943796],[38.01659505473807,-185.49913870438357,-29.17194652557373,0,0,1.779410869943796],[36.98107165183901,-180.60754476354504,-29.17194652557373,0,0,1.779410869943796],[32.08947771100047,-181.6430681664441,-29.17194652557373,0,0,1.779410869943796],[31.05395430810141,-176.75147422560556,-29.17194652557373,0,0,1.779410869943796],[31.05395430810141,-176.75147422560556,-29.17194652557373,0,0,2.0412102577429456],[28.787677836717357,-172.29457048475015,-29.17194652557373,0,0,2.0412102577429456],[26.521401365333304,-167.83766674389474,-29.17194652557373,0,0,2.0412102577429456],[26.521401365333304,-167.83766674389474,-27.17194652557373,0,0,2.0412102577429456],[24.25512489394925,-163.38076300303933,-27.17194652557373,0,0,2.0412102577429456],[21.988848422565198,-158.92385926218392,-27.17194652557373,0,0,2.0412102577429456],[21.988848422565198,-158.92385926218392,-25.17194652557373,0,0,2.0412102577429456],[19.722571951181145,-154.46695552132852,-25.17194652557373,0,0,2.0412102577429456],[19.722571951181145,-154.46695552132852,-23.17194652557373,0,0,2.0412102577429456],[19.722571951181145,-154.46695552132852,-23.17194652557373,0,0,2.303009645542095],[16.379985407637978,-150.74847260501383,-23.17194652557373,0,0,2.303009645542095],[13.037398864094811,-147.02998968869915,-23.17194652557373,0,0,2.303009645542095],[13.037398864094811,-147.02998968869915,-21.17194652557373,0,0,2.303009645542095],[9.318915947780129,-150.37257623224232,-21.17194652557373,0,0,2.303009645542095],[5.976329404236962,-146.65409331592764,-21.17194652557373,0,0,2.303009645542095],[5.976329404236962,-146.65409331592764,-19.17194652557373,0,0,2.303009645542095],[2.633742860693795,-142.93561039961295,-19.17194652557373,0,0,2.303009645542095],[-0.7088436828493716,-139.21712748329827,-19.17194652557373,0,0,2.303009645542095],[-0.7088436828493716,-139.21712748329827,-17.17194652557373,0,0,2.303009645542095],[-4.051430226392538,-135.4986445669836,-17.17194652557373,0,0,2.303009645542095],[-4.051430226392538,-135.4986445669836,-15.17194652557373,0,0,2.303009645542095],[-7.394016769935705,-131.7801616506689,-15.17194652557373,0,0,2.303009645542095],[-7.394016769935705,-131.7801616506689,-13.17194652557373,0,0,2.303009645542095]]},{"id":2,"instruction":"once you reach it then turn 45 degree of your right and fly over the container and drop your drone near orange white and blue color containers once you reach it drop your drone there.","completed_instruction":"Turn left to face the third row of red and white containers, then fly forward and stop in front of the red, blue and white containers.","start_frame":60,"end_frame":80,"start_position":[-7.394016769935705,-131.7801616506689,-13.17194652557373],"start_rotation":[0.40711343093256369,0,0,0.91337760775832288],"end_position":[7.206858806728389,-76.59984528545549,-13.17194652557373],"end_rotation":[0.72565824423141267,0,0,0.68805531215083526],"actions":[5,1,2,2,2,2,1,1,1,1,4,1,6,1,1,1,3,1,1,1,0],"reference_path":[[-7.394016769935705,-131.7801616506689,-13.17194652557373,0,0,2.303009645542095],[-7.394016769935705,-131.7801616506689,-11.17194652557373,0,0,2.303009645542095],[-10.736603313478872,-128.06167873435422,-11.17194652557373,0,0,2.303009645542095],[-10.736603313478872,-128.06167873435422,-11.17194652557373,0,0,2.0412102577429456],[-10.736603313478872,-128.06167873435422,-11.17194652557373,0,0,1.779410869943796],[-10.736603313478872,-128.06167873435422,-11.17194652557373,0,0,1.5176114821446467],[-10.736603313478872,-128.06167873435422,-11.17194652557373,0,0,1.2558120943454971],[-9.187595916183493,-123.30767241514047,-11.17194652557373,0,0,1.2558120943454971],[-7.638588518888116,-118.55366609592673,-11.17194652557373,0,0,1.2558120943454971],[-6.0895811215927385,-113.79965977671299,-11.17194652557373,0,0,1.2558120943454971],[-4.540573724297361,-109.04565345749924,-11.17194652557373,0,0,1.2558120943454971],[-4.540573724297361,-109.04565345749924,-13.17194652557373,0,0,1.2558120943454971],[-2.9915663270019834,-104.2916471382855,-13.17194652557373,0,0,1.2558120943454971],[1.7624399922117595,-105.84065453558088,-13.17194652557373,0,0,1.2558120943454971],[3.311447389507137,-101.08664821636714,-13.17194652557373,0,0,1.2558120943454971],[4.8604547868025145,-96.3326418971534,-13.17194652557373,0,0,1.2558120943454971],[6.409462184097892,-91.57863557793965,-13.17194652557373,0,0,1.2558120943454971],[6.409462184097892,-91.57863557793965,-13.17194652557373,0,0,1.5176114821446467],[6.675261058308058,-86.58570548044493,-13.17194652557373,0,0,1.5176114821446467],[6.941059932518224,-81.59277538295021,-13.17194652557373,0,0,1.5176114821446467],[7.206858806728389,-76.59984528545549,-13.17194652557373,0,0,1.5176114821446467]]}],"statistics":{"complete_actions":82,"sentence_actions":[14,47,21],"sentence_actions_average":27.33}}
diff --git a/scene_21/3LJ7UR74RQB4ILTSXJ9XI7AD2Q4N4J.json b/scene_21/3LJ7UR74RQB4ILTSXJ9XI7AD2Q4N4J.json
new file mode 100644
index 0000000000000000000000000000000000000000..59bffa095c911a42ba0ddee60bb3a8f125487eb9
--- /dev/null
+++ b/scene_21/3LJ7UR74RQB4ILTSXJ9XI7AD2Q4N4J.json
@@ -0,0 +1 @@
+{"episode_id":"3LJ7UR74RQB4ILTSXJ9XI7AD2Q4N4J","trajectory_id":"3KTZHH2OOQDWXKY17IF8XL6TRZL8M7","scene_id":21,"instruction":"take off after rising to the height slightly higher. turn right proceed forward by facing the containers. fly forward turn right slightly by facing the pole with light. turn left fly forward to the white container. turn right proceed forward land by facing the red and white containers.","sentence_instructions":[{"id":0,"instruction":"take off after rising to the height slightly higher.","completed_instruction":"Take off, fly up to the height higher than the silos in front.","start_frame":1,"end_frame":7,"start_position":[58.4410400390625,-257.8375244140625,-9.17194652557373],"start_rotation":[0.99964644237323819,0,0,-0.026589288266673488],"end_position":[58.4410400390625,-257.8375244140625,-21.17194652557373],"end_rotation":[0.99964644237323819,0,0,-0.026589288266673488],"actions":[4,4,4,4,4,4,4],"reference_path":[[58.4410400390625,-257.8375244140625,-9.17194652557373,0,0,-0.05318484465025005],[58.4410400390625,-257.8375244140625,-11.17194652557373,0,0,-0.05318484465025005],[58.4410400390625,-257.8375244140625,-13.17194652557373,0,0,-0.05318484465025005],[58.4410400390625,-257.8375244140625,-15.17194652557373,0,0,-0.05318484465025005],[58.4410400390625,-257.8375244140625,-17.17194652557373,0,0,-0.05318484465025005],[58.4410400390625,-257.8375244140625,-19.17194652557373,0,0,-0.05318484465025005],[58.4410400390625,-257.8375244140625,-21.17194652557373,0,0,-0.05318484465025005]]},{"id":1,"instruction":"turn right proceed forward by facing the containers.","completed_instruction":"Turn right to face the white containers on the wharf where the blue cargo ship is moored in the distance, and then fly towards the white container area besides the blue cargo ship until flying over the fence wall.","start_frame":7,"end_frame":37,"start_position":[58.4410400390625,-257.8375244140625,-21.17194652557373],"start_rotation":[0.99964644237323819,0,0,-0.026589288266673488],"end_position":[31.05395430810141,-176.75147422560556,-29.17194652557373],"end_rotation":[0.62964089742494811,0,0,0.77688631104551331],"actions":[4,4,3,3,3,3,3,3,3,1,1,4,1,1,1,4,1,1,1,1,1,7,1,1,1,1,1,1,7,1,3],"reference_path":[[58.4410400390625,-257.8375244140625,-21.17194652557373,0,0,-0.05318484465025005],[58.4410400390625,-257.8375244140625,-23.17194652557373,0,0,-0.05318484465025005],[58.4410400390625,-257.8375244140625,-25.17194652557373,0,0,-0.05318484465025005],[58.4410400390625,-257.8375244140625,-25.17194652557373,0,0,0.20861454314889938],[58.4410400390625,-257.8375244140625,-25.17194652557373,0,0,0.4704139309480488],[58.4410400390625,-257.8375244140625,-25.17194652557373,0,0,0.7322133187471983],[58.4410400390625,-257.8375244140625,-25.17194652557373,0,0,0.9940127065463478],[58.4410400390625,-257.8375244140625,-25.17194652557373,0,0,1.2558120943454971],[58.4410400390625,-257.8375244140625,-25.17194652557373,0,0,1.5176114821446467],[58.4410400390625,-257.8375244140625,-25.17194652557373,0,0,1.779410869943796],[57.40551663616344,-252.94593047322397,-25.17194652557373,0,0,1.779410869943796],[56.36999323326438,-248.05433653238543,-25.17194652557373,0,0,1.779410869943796],[56.36999323326438,-248.05433653238543,-27.17194652557373,0,0,1.779410869943796],[55.33446983036532,-243.1627425915469,-27.17194652557373,0,0,1.779410869943796],[54.29894642746626,-238.27114865070837,-27.17194652557373,0,0,1.779410869943796],[53.2634230245672,-233.37955470986984,-27.17194652557373,0,0,1.779410869943796],[53.2634230245672,-233.37955470986984,-29.17194652557373,0,0,1.779410869943796],[52.22789962166814,-228.4879607690313,-29.17194652557373,0,0,1.779410869943796],[51.192376218769084,-223.59636682819277,-29.17194652557373,0,0,1.779410869943796],[50.156852815870025,-218.70477288735424,-29.17194652557373,0,0,1.779410869943796],[49.121329412970965,-213.8131789465157,-29.17194652557373,0,0,1.779410869943796],[48.085806010071906,-208.92158500567717,-29.17194652557373,0,0,1.779410869943796],[43.194212069233366,-209.95710840857623,-29.17194652557373,0,0,1.779410869943796],[42.15868866633431,-205.0655144677377,-29.17194652557373,0,0,1.779410869943796],[41.12316526343525,-200.17392052689917,-29.17194652557373,0,0,1.779410869943796],[40.08764186053619,-195.28232658606063,-29.17194652557373,0,0,1.779410869943796],[39.05211845763713,-190.3907326452221,-29.17194652557373,0,0,1.779410869943796],[38.01659505473807,-185.49913870438357,-29.17194652557373,0,0,1.779410869943796],[36.98107165183901,-180.60754476354504,-29.17194652557373,0,0,1.779410869943796],[32.08947771100047,-181.6430681664441,-29.17194652557373,0,0,1.779410869943796],[31.05395430810141,-176.75147422560556,-29.17194652557373,0,0,1.779410869943796]]},{"id":2,"instruction":"fly forward turn right slightly by facing the pole with light.","completed_instruction":"Fly forward to the lamp, and turn right to face the blue cargo ship.","start_frame":37,"end_frame":48,"start_position":[31.05395430810141,-176.75147422560556,-29.17194652557373],"start_rotation":[0.62964089742494811,0,0,0.77688631104551331],"end_position":[16.379985407637978,-150.74847260501383,-23.17194652557373],"end_rotation":[0.40711343093256369,0,0,0.91337760775832288],"actions":[3,1,1,5,1,1,5,1,5,3,1,1],"reference_path":[[31.05395430810141,-176.75147422560556,-29.17194652557373,0,0,1.779410869943796],[31.05395430810141,-176.75147422560556,-29.17194652557373,0,0,2.0412102577429456],[28.787677836717357,-172.29457048475015,-29.17194652557373,0,0,2.0412102577429456],[26.521401365333304,-167.83766674389474,-29.17194652557373,0,0,2.0412102577429456],[26.521401365333304,-167.83766674389474,-27.17194652557373,0,0,2.0412102577429456],[24.25512489394925,-163.38076300303933,-27.17194652557373,0,0,2.0412102577429456],[21.988848422565198,-158.92385926218392,-27.17194652557373,0,0,2.0412102577429456],[21.988848422565198,-158.92385926218392,-25.17194652557373,0,0,2.0412102577429456],[19.722571951181145,-154.46695552132852,-25.17194652557373,0,0,2.0412102577429456],[19.722571951181145,-154.46695552132852,-23.17194652557373,0,0,2.0412102577429456],[19.722571951181145,-154.46695552132852,-23.17194652557373,0,0,2.303009645542095],[16.379985407637978,-150.74847260501383,-23.17194652557373,0,0,2.303009645542095]]},{"id":3,"instruction":"turn left fly forward to the white container.","completed_instruction":"Fly towards the cargo ship and lower the altitude until reaching the front of the lamp.","start_frame":48,"end_frame":62,"start_position":[16.379985407637978,-150.74847260501383,-23.17194652557373],"start_rotation":[0.40711343093256369,0,0,0.91337760775832288],"end_position":[-10.736603313478872,-128.06167873435422,-11.17194652557373],"end_rotation":[0.40711343093256369,0,0,0.91337760775832288],"actions":[1,5,7,1,5,1,1,5,1,5,1,5,5,1,2],"reference_path":[[16.379985407637978,-150.74847260501383,-23.17194652557373,0,0,2.303009645542095],[13.037398864094811,-147.02998968869915,-23.17194652557373,0,0,2.303009645542095],[13.037398864094811,-147.02998968869915,-21.17194652557373,0,0,2.303009645542095],[9.318915947780129,-150.37257623224232,-21.17194652557373,0,0,2.303009645542095],[5.976329404236962,-146.65409331592764,-21.17194652557373,0,0,2.303009645542095],[5.976329404236962,-146.65409331592764,-19.17194652557373,0,0,2.303009645542095],[2.633742860693795,-142.93561039961295,-19.17194652557373,0,0,2.303009645542095],[-0.7088436828493716,-139.21712748329827,-19.17194652557373,0,0,2.303009645542095],[-0.7088436828493716,-139.21712748329827,-17.17194652557373,0,0,2.303009645542095],[-4.051430226392538,-135.4986445669836,-17.17194652557373,0,0,2.303009645542095],[-4.051430226392538,-135.4986445669836,-15.17194652557373,0,0,2.303009645542095],[-7.394016769935705,-131.7801616506689,-15.17194652557373,0,0,2.303009645542095],[-7.394016769935705,-131.7801616506689,-13.17194652557373,0,0,2.303009645542095],[-7.394016769935705,-131.7801616506689,-11.17194652557373,0,0,2.303009645542095],[-10.736603313478872,-128.06167873435422,-11.17194652557373,0,0,2.303009645542095]]},{"id":4,"instruction":"turn right proceed forward land by facing the red and white containers.","completed_instruction":"Turn left to face left column of containers, fly over two piles of white containers, and stop in front of the piles of red, blue, and white containers.","start_frame":62,"end_frame":80,"start_position":[-10.736603313478872,-128.06167873435422,-11.17194652557373],"start_rotation":[0.40711343093256369,0,0,0.91337760775832288],"end_position":[7.206858806728389,-76.59984528545549,-13.17194652557373],"end_rotation":[0.72565824423141267,0,0,0.68805531215083526],"actions":[2,2,2,2,1,1,1,1,4,1,6,1,1,1,3,1,1,1,0],"reference_path":[[-10.736603313478872,-128.06167873435422,-11.17194652557373,0,0,2.303009645542095],[-10.736603313478872,-128.06167873435422,-11.17194652557373,0,0,2.0412102577429456],[-10.736603313478872,-128.06167873435422,-11.17194652557373,0,0,1.779410869943796],[-10.736603313478872,-128.06167873435422,-11.17194652557373,0,0,1.5176114821446467],[-10.736603313478872,-128.06167873435422,-11.17194652557373,0,0,1.2558120943454971],[-9.187595916183493,-123.30767241514047,-11.17194652557373,0,0,1.2558120943454971],[-7.638588518888116,-118.55366609592673,-11.17194652557373,0,0,1.2558120943454971],[-6.0895811215927385,-113.79965977671299,-11.17194652557373,0,0,1.2558120943454971],[-4.540573724297361,-109.04565345749924,-11.17194652557373,0,0,1.2558120943454971],[-4.540573724297361,-109.04565345749924,-13.17194652557373,0,0,1.2558120943454971],[-2.9915663270019834,-104.2916471382855,-13.17194652557373,0,0,1.2558120943454971],[1.7624399922117595,-105.84065453558088,-13.17194652557373,0,0,1.2558120943454971],[3.311447389507137,-101.08664821636714,-13.17194652557373,0,0,1.2558120943454971],[4.8604547868025145,-96.3326418971534,-13.17194652557373,0,0,1.2558120943454971],[6.409462184097892,-91.57863557793965,-13.17194652557373,0,0,1.2558120943454971],[6.409462184097892,-91.57863557793965,-13.17194652557373,0,0,1.5176114821446467],[6.675261058308058,-86.58570548044493,-13.17194652557373,0,0,1.5176114821446467],[6.941059932518224,-81.59277538295021,-13.17194652557373,0,0,1.5176114821446467],[7.206858806728389,-76.59984528545549,-13.17194652557373,0,0,1.5176114821446467]]}],"statistics":{"complete_actions":84,"sentence_actions":[7,31,12,15,19],"sentence_actions_average":16.8}}
diff --git a/scene_24/32SCWG5HIQ2I0T9JWMF4JUZLGVE6P0.json b/scene_24/32SCWG5HIQ2I0T9JWMF4JUZLGVE6P0.json
new file mode 100644
index 0000000000000000000000000000000000000000..f0e36121e73391e4c64f177ab451bfbfc6411156
--- /dev/null
+++ b/scene_24/32SCWG5HIQ2I0T9JWMF4JUZLGVE6P0.json
@@ -0,0 +1 @@
+{"episode_id":"32SCWG5HIQ2I0T9JWMF4JUZLGVE6P0","trajectory_id":"3IHWR4LC8LBA118AM3HG5SZC62E8IO","scene_id":24,"instruction":"lift off and turn left facing the intersection and head straight. at the intersection turn right and up. at the green building turn left and head left towards the intersection. at the intersection head forward a little and turn right stopping in front of the pink building.","sentence_instructions":[{"id":0,"instruction":"lift off and turn left facing the intersection and head straight.","completed_instruction":"Lift off, and rise up to the same height as the front shop with blue billboard,  then turn left to face the intersection and fly straight to the yellow crosswalk.","start_frame":1,"end_frame":10,"start_position":[192.99388122558594,17.54991340637207,-0.3953145444393158],"start_rotation":[0.99982121651856959,0,0,-0.018908595911056834],"end_position":[193.91538857102276,7.67838284993051,-2.395314544439316],"end_rotation":[0.69360996578303946,0,0,-0.72035075856588837],"actions":[2,4,2,2,2,2,1,2,1,1],"reference_path":[[192.99388122558594,17.54991340637207,-0.3953145444393158,0,0,-0.03781944567969946],[192.99388122558594,17.54991340637207,-0.3953145444393158,0,0,-0.2996188334788489],[192.99388122558594,17.54991340637207,-2.395314544439316,0,0,-0.2996188334788489],[192.99388122558594,17.54991340637207,-2.395314544439316,0,0,-0.5614182212779982],[192.99388122558594,17.54991340637207,-2.395314544439316,0,0,-0.8232176090771477],[192.99388122558594,17.54991340637207,-2.395314544439316,0,0,-1.085016996876297],[192.99388122558594,17.54991340637207,-2.395314544439316,0,0,-1.3468163846754466],[194.10444072468727,12.674807499937234,-2.395314544439316,0,0,-1.3468163846754466],[194.10444072468727,12.674807499937234,-2.395314544439316,0,0,-1.608615772474596],[193.91538857102276,7.67838284993051,-2.395314544439316,0,0,-1.608615772474596]]},{"id":1,"instruction":"at the intersection turn right and up.","completed_instruction":"At the intersection turn right to face the left side of the green building, and fly straight to the front of the rooftop of above-mentioned building at the end of the road.","start_frame":10,"end_frame":39,"start_position":[193.91538857102276,7.67838284993051,-2.395314544439316],"start_rotation":[0.69360996578303946,0,0,-0.72035075856588837],"end_position":[214.7229259005767,-6.242535774687841,-22.395314544439316],"end_rotation":[0.97064703944496988,0,0,0.24050847140322318],"actions":[1,1,3,3,1,3,3,3,4,4,4,4,4,4,4,4,1,4,4,4,4,1,5,5,3,3,1,3,1,2],"reference_path":[[193.91538857102276,7.67838284993051,-2.395314544439316,0,0,-1.608615772474596],[193.72633641735825,2.681958199923786,-2.395314544439316,0,0,-1.608615772474596],[193.53728426369375,-2.3144664500829384,-2.395314544439316,0,0,-1.608615772474596],[193.53728426369375,-2.3144664500829384,-2.395314544439316,0,0,-1.3468163846754466],[193.53728426369375,-2.3144664500829384,-2.395314544439316,0,0,-1.085016996876297],[195.87177262098348,-6.736023201915788,-2.395314544439316,0,0,-1.085016996876297],[195.87177262098348,-6.736023201915788,-2.395314544439316,0,0,-0.8232176090771477],[195.87177262098348,-6.736023201915788,-2.395314544439316,0,0,-0.5614182212779982],[195.87177262098348,-6.736023201915788,-2.395314544439316,0,0,-0.2996188334788488],[195.87177262098348,-6.736023201915788,-4.395314544439316,0,0,-0.2996188334788488],[195.87177262098348,-6.736023201915788,-6.395314544439316,0,0,-0.2996188334788488],[195.87177262098348,-6.736023201915788,-8.395314544439316,0,0,-0.2996188334788488],[195.87177262098348,-6.736023201915788,-10.395314544439316,0,0,-0.2996188334788488],[195.87177262098348,-6.736023201915788,-12.395314544439316,0,0,-0.2996188334788488],[195.87177262098348,-6.736023201915788,-14.395314544439316,0,0,-0.2996188334788488],[195.87177262098348,-6.736023201915788,-16.395314544439316,0,0,-0.2996188334788488],[195.87177262098348,-6.736023201915788,-18.395314544439316,0,0,-0.2996188334788488],[200.64901793164626,-8.211803416497343,-18.395314544439316,0,0,-0.2996188334788488],[200.64901793164626,-8.211803416497343,-20.395314544439316,0,0,-0.2996188334788488],[200.64901793164626,-8.211803416497343,-22.395314544439316,0,0,-0.2996188334788488],[200.64901793164626,-8.211803416497343,-24.395314544439316,0,0,-0.2996188334788488],[200.64901793164626,-8.211803416497343,-26.395314544439316,0,0,-0.2996188334788488],[205.42626324230903,-9.687583631078898,-26.395314544439316,0,0,-0.2996188334788488],[205.42626324230903,-9.687583631078898,-24.395314544439316,0,0,-0.2996188334788488],[205.42626324230903,-9.687583631078898,-22.395314544439316,0,0,-0.2996188334788488],[205.42626324230903,-9.687583631078898,-22.395314544439316,0,0,-0.03781944567969939],[205.42626324230903,-9.687583631078898,-22.395314544439316,0,0,0.22397994211945005],[210.30136914874387,-8.577024131977579,-22.395314544439316,0,0,0.22397994211945005],[210.30136914874387,-8.577024131977579,-22.395314544439316,0,0,0.48577932991859946],[214.7229259005767,-6.242535774687841,-22.395314544439316,0,0,0.48577932991859946]]},{"id":2,"instruction":"at the green building turn left and head left towards the intersection.","completed_instruction":"Turn left towards the second pink building and descend to the ground.","start_frame":39,"end_frame":58,"start_position":[214.7229259005767,-6.242535774687841,-22.395314544439316],"start_rotation":[0.97064703944496988,0,0,0.24050847140322318],"end_position":[214.7229259005767,-6.242535774687841,-4.395314544439316],"end_rotation":[0.483535283850415,0,0,-0.87532487070327125],"actions":[2,2,2,2,2,2,2,2,2,2,5,5,5,5,5,5,5,5,5,5],"reference_path":[[214.7229259005767,-6.242535774687841,-22.395314544439316,0,0,0.48577932991859946],[214.7229259005767,-6.242535774687841,-22.395314544439316,0,0,0.22397994211945005],[214.7229259005767,-6.242535774687841,-22.395314544439316,0,0,-0.03781944567969939],[214.7229259005767,-6.242535774687841,-22.395314544439316,0,0,-0.2996188334788488],[214.7229259005767,-6.242535774687841,-22.395314544439316,0,0,-0.5614182212779982],[214.7229259005767,-6.242535774687841,-22.395314544439316,0,0,-0.8232176090771477],[214.7229259005767,-6.242535774687841,-22.395314544439316,0,0,-1.085016996876297],[214.7229259005767,-6.242535774687841,-22.395314544439316,0,0,-1.3468163846754466],[214.7229259005767,-6.242535774687841,-22.395314544439316,0,0,-1.608615772474596],[214.7229259005767,-6.242535774687841,-22.395314544439316,0,0,-1.8704151602737453],[214.7229259005767,-6.242535774687841,-22.395314544439316,0,0,-2.132214548072895],[214.7229259005767,-6.242535774687841,-20.395314544439316,0,0,-2.132214548072895],[214.7229259005767,-6.242535774687841,-18.395314544439316,0,0,-2.132214548072895],[214.7229259005767,-6.242535774687841,-16.395314544439316,0,0,-2.132214548072895],[214.7229259005767,-6.242535774687841,-14.395314544439316,0,0,-2.132214548072895],[214.7229259005767,-6.242535774687841,-12.395314544439316,0,0,-2.132214548072895],[214.7229259005767,-6.242535774687841,-10.395314544439316,0,0,-2.132214548072895],[214.7229259005767,-6.242535774687841,-8.395314544439316,0,0,-2.132214548072895],[214.7229259005767,-6.242535774687841,-6.395314544439316,0,0,-2.132214548072895],[214.7229259005767,-6.242535774687841,-4.395314544439316,0,0,-2.132214548072895]]},{"id":3,"instruction":"at the intersection head forward a little and turn right stopping in front of the pink building.","completed_instruction":"Turn left slightly towards the road, fly to the intersection and turn right to face the end of the road, then ascend to the roof of the second pink building on the right side of the road.","start_frame":58,"end_frame":85,"start_position":[214.7229259005767,-6.242535774687841,-4.395314544439316],"start_rotation":[0.483535283850415,0,0,-0.87532487070327125],"end_position":[194.95527566251766,-35.15680428192962,-22.395314544439316],"end_rotation":[0.85641627479221449,0,0,-0.51628593266815448],"actions":[5,5,1,6,1,6,1,1,1,1,3,3,3,3,1,4,4,4,4,4,4,4,4,4,4,4,1,3],"reference_path":[[214.7229259005767,-6.242535774687841,-4.395314544439316,0,0,-2.132214548072895],[214.7229259005767,-6.242535774687841,-2.395314544439316,0,0,-2.132214548072895],[214.7229259005767,-6.242535774687841,-0.3953145444393158,0,0,-2.132214548072895],[212.06098960785974,-10.475040372856181,-0.3953145444393158,0,0,-2.132214548072895],[207.8284850096914,-7.813104080139196,-0.3953145444393158,0,0,-2.132214548072895],[205.16654871697443,-12.045608678307538,-0.3953145444393158,0,0,-2.132214548072895],[200.9340441188061,-9.383672385590552,-0.3953145444393158,0,0,-2.132214548072895],[198.27210782608913,-13.616176983758894,-0.3953145444393158,0,0,-2.132214548072895],[195.61017153337215,-17.848681581927234,-0.3953145444393158,0,0,-2.132214548072895],[192.94823524065518,-22.081186180095575,-0.3953145444393158,0,0,-2.132214548072895],[190.2862989479382,-26.313690778263915,-0.3953145444393158,0,0,-2.132214548072895],[190.2862989479382,-26.313690778263915,-0.3953145444393158,0,0,-1.8704151602737453],[190.2862989479382,-26.313690778263915,-0.3953145444393158,0,0,-1.608615772474596],[190.2862989479382,-26.313690778263915,-0.3953145444393158,0,0,-1.3468163846754466],[190.2862989479382,-26.313690778263915,-0.3953145444393158,0,0,-1.085016996876297],[192.62078730522794,-30.735247530096764,-0.3953145444393158,0,0,-1.085016996876297],[192.62078730522794,-30.735247530096764,-2.395314544439316,0,0,-1.085016996876297],[192.62078730522794,-30.735247530096764,-4.395314544439316,0,0,-1.085016996876297],[192.62078730522794,-30.735247530096764,-6.395314544439316,0,0,-1.085016996876297],[192.62078730522794,-30.735247530096764,-8.395314544439316,0,0,-1.085016996876297],[192.62078730522794,-30.735247530096764,-10.395314544439316,0,0,-1.085016996876297],[192.62078730522794,-30.735247530096764,-12.395314544439316,0,0,-1.085016996876297],[192.62078730522794,-30.735247530096764,-14.395314544439316,0,0,-1.085016996876297],[192.62078730522794,-30.735247530096764,-16.395314544439316,0,0,-1.085016996876297],[192.62078730522794,-30.735247530096764,-18.395314544439316,0,0,-1.085016996876297],[192.62078730522794,-30.735247530096764,-20.395314544439316,0,0,-1.085016996876297],[192.62078730522794,-30.735247530096764,-22.395314544439316,0,0,-1.085016996876297],[194.95527566251766,-35.15680428192962,-22.395314544439316,0,0,-1.085016996876297]]}],"statistics":{"complete_actions":88,"sentence_actions":[10,30,20,28],"sentence_actions_average":22.0}}
diff --git a/scene_24/34Q075JO16BK5Q429VOX9X7W07W10Q.json b/scene_24/34Q075JO16BK5Q429VOX9X7W07W10Q.json
new file mode 100644
index 0000000000000000000000000000000000000000..752aaa8b95b875509cdbc3ca067b74c943ddc432
--- /dev/null
+++ b/scene_24/34Q075JO16BK5Q429VOX9X7W07W10Q.json
@@ -0,0 +1 @@
+{"episode_id":"34Q075JO16BK5Q429VOX9X7W07W10Q","trajectory_id":"3W0KKJIASZ717WYYM62SI8EPY638KZ","scene_id":24,"instruction":"go forward down the road to the intersection and turn left. fly up over the power lines ahead. turn around and go to the pink building on the left. turn around and lift up to the roof tops and go to the one on the right. look at the second to last roof on the left. then, fall down to the street. land near the stop sign.","sentence_instructions":[{"id":0,"instruction":"go forward down the road to the intersection and turn left.","completed_instruction":"Take off, fly forward to the intersection and turn left towards the road sign and stop sign.","start_frame":1,"end_frame":9,"start_position":[162.96963500976562,-8.06179428100586,-0.376708060503006],"start_rotation":[0.99999986027352683,0,0,0.00052863307386395242],"end_position":[187.96962103711923,-8.035362631005865,-0.376708060503006],"end_rotation":[0.924081702540026,0,0,-0.38219498561693205],"actions":[1,1,1,1,1,2,2,2,2],"reference_path":[[162.96963500976562,-8.06179428100586,-0.376708060503006,0,0,0.0010572661969705977],[167.96963221523635,-8.05650795100586,-0.376708060503006,0,0,0.0010572661969705977],[172.96962942070707,-8.051221621005862,-0.376708060503006,0,0,0.0010572661969705977],[177.96962662617779,-8.045935291005863,-0.376708060503006,0,0,0.0010572661969705977],[182.9696238316485,-8.040648961005864,-0.376708060503006,0,0,0.0010572661969705977],[187.96962103711923,-8.035362631005865,-0.376708060503006,0,0,0.0010572661969705977],[187.96962103711923,-8.035362631005865,-0.376708060503006,0,0,-0.26074212160217886],[187.96962103711923,-8.035362631005865,-0.376708060503006,0,0,-0.5225415094013284],[187.96962103711923,-8.035362631005865,-0.376708060503006,0,0,-0.7843408972004778]]},{"id":1,"instruction":"fly up over the power lines ahead.","completed_instruction":"Fly across the yellow crosswalk, and fly up to the higher height than the blue billboard.","start_frame":9,"end_frame":16,"start_position":[187.96962103711923,-8.035362631005865,-0.376708060503006],"start_rotation":[0.924081702540026,0,0,-0.38219498561693205],"end_position":[190.5680224469362,-17.69187908951517,-6.376708060503006],"end_rotation":[0.79367504086423757,0,0,-0.60834195113369494],"actions":[2,2,1,1,4,4,4,1],"reference_path":[[187.96962103711923,-8.035362631005865,-0.376708060503006,0,0,-0.7843408972004778],[187.96962103711923,-8.035362631005865,-0.376708060503006,0,0,-1.0461402849996273],[187.96962103711923,-8.035362631005865,-0.376708060503006,0,0,-1.3079396727987767],[189.2688217420277,-12.863620860260518,-0.376708060503006,0,0,-1.3079396727987767],[190.5680224469362,-17.69187908951517,-0.376708060503006,0,0,-1.3079396727987767],[190.5680224469362,-17.69187908951517,-2.376708060503006,0,0,-1.3079396727987767],[190.5680224469362,-17.69187908951517,-4.376708060503006,0,0,-1.3079396727987767],[190.5680224469362,-17.69187908951517,-6.376708060503006,0,0,-1.3079396727987767]]},{"id":2,"instruction":"turn around and go to the pink building on the left.","completed_instruction":"Turn right to face the pink building with green scaffolding on the wall, then turn left to face the pink building with clothes hanging on the wall.","start_frame":16,"end_frame":31,"start_position":[190.5680224469362,-17.69187908951517,-6.376708060503006],"start_rotation":[0.79367504086423757,0,0,-0.60834195113369494],"end_position":[194.36264365850727,-18.187369554980965,-8.376708060503006],"end_rotation":[0.99137572238050353,0,0,0.13105028452672177],"actions":[1,4,3,3,3,3,3,3,3,3,3,1,2,2,2,2],"reference_path":[[190.5680224469362,-17.69187908951517,-6.376708060503006,0,0,-1.3079396727987767],[191.86722315184468,-22.52013731876982,-6.376708060503006,0,0,-1.3079396727987767],[191.86722315184468,-22.52013731876982,-8.376708060503006,0,0,-1.3079396727987767],[191.86722315184468,-22.52013731876982,-8.376708060503006,0,0,-1.046140284999627],[191.86722315184468,-22.52013731876982,-8.376708060503006,0,0,-0.7843408972004776],[191.86722315184468,-22.52013731876982,-8.376708060503006,0,0,-0.5225415094013283],[191.86722315184468,-22.52013731876982,-8.376708060503006,0,0,-0.26074212160217886],[191.86722315184468,-22.52013731876982,-8.376708060503006,0,0,0.0010572661969705595],[191.86722315184468,-22.52013731876982,-8.376708060503006,0,0,0.26285665399612],[191.86722315184468,-22.52013731876982,-8.376708060503006,0,0,0.5246560417952695],[191.86722315184468,-22.52013731876982,-8.376708060503006,0,0,0.7864554295944189],[191.86722315184468,-22.52013731876982,-8.376708060503006,0,0,1.0482548173935684],[194.36264365850727,-18.187369554980965,-8.376708060503006,0,0,1.0482548173935684],[194.36264365850727,-18.187369554980965,-8.376708060503006,0,0,0.786455429594419],[194.36264365850727,-18.187369554980965,-8.376708060503006,0,0,0.5246560417952695],[194.36264365850727,-18.187369554980965,-8.376708060503006,0,0,0.26285665399612007]]},{"id":3,"instruction":"turn around and lift up to the roof tops and go to the one on the right.","completed_instruction":"Turn left to face the pink and white building with a black door on the first floor, then ascend to the height of its roof.","start_frame":31,"end_frame":46,"start_position":[194.36264365850727,-18.187369554980965,-8.376708060503006],"start_rotation":[0.99137572238050353,0,0,0.13105028452672177],"end_position":[199.3717970561236,-26.842332422558677,-24.376708060503006],"end_rotation":[0.86628959931469529,0,0,-0.49954212046551655],"actions":[2,2,2,2,2,4,4,4,4,4,4,4,4,1,1,1],"reference_path":[[194.36264365850727,-18.187369554980965,-8.376708060503006,0,0,0.26285665399612007],[194.36264365850727,-18.187369554980965,-8.376708060503006,0,0,0.0010572661969706215],[194.36264365850727,-18.187369554980965,-8.376708060503006,0,0,-0.2607421216021788],[194.36264365850727,-18.187369554980965,-8.376708060503006,0,0,-0.5225415094013283],[194.36264365850727,-18.187369554980965,-8.376708060503006,0,0,-0.7843408972004776],[194.36264365850727,-18.187369554980965,-8.376708060503006,0,0,-1.046140284999627],[194.36264365850727,-18.187369554980965,-10.376708060503006,0,0,-1.046140284999627],[194.36264365850727,-18.187369554980965,-12.376708060503006,0,0,-1.046140284999627],[194.36264365850727,-18.187369554980965,-14.376708060503006,0,0,-1.046140284999627],[194.36264365850727,-18.187369554980965,-16.376708060503006,0,0,-1.046140284999627],[194.36264365850727,-18.187369554980965,-18.376708060503006,0,0,-1.046140284999627],[194.36264365850727,-18.187369554980965,-20.376708060503006,0,0,-1.046140284999627],[194.36264365850727,-18.187369554980965,-22.376708060503006,0,0,-1.046140284999627],[194.36264365850727,-18.187369554980965,-24.376708060503006,0,0,-1.046140284999627],[196.86722035731543,-22.514850988769822,-24.376708060503006,0,0,-1.046140284999627],[199.3717970561236,-26.842332422558677,-24.376708060503006,0,0,-1.046140284999627]]},{"id":4,"instruction":"look at the second to last roof on the left.","completed_instruction":"Turn left to face the grey building, then leave the rooftop platform, and fly to the pink and white houses on the left side of the road.","start_frame":46,"end_frame":61,"start_position":[199.3717970561236,-26.842332422558677,-24.376708060503006],"start_rotation":[0.86628959931469529,0,0,-0.49954212046551655],"end_position":[195.43671858712207,-60.324784236918504,-24.376708060503006],"end_rotation":[0.25932962927732389,0,0,-0.9657888710162722],"actions":[1,2,2,2,1,1,1,3,1,2,1,1,2,2,2,2],"reference_path":[[199.3717970561236,-26.842332422558677,-24.376708060503006,0,0,-1.046140284999627],[201.87637375493176,-31.16981385634753,-24.376708060503006,0,0,-1.046140284999627],[201.87637375493176,-31.16981385634753,-24.376708060503006,0,0,-1.3079396727987764],[201.87637375493176,-31.16981385634753,-24.376708060503006,0,0,-1.569739060597926],[201.87637375493176,-31.16981385634753,-24.376708060503006,0,0,-1.8315384483970756],[200.58738545536983,-36.00080849136758,-24.376708060503006,0,0,-1.8315384483970756],[199.2983971558079,-40.831803126387626,-24.376708060503006,0,0,-1.8315384483970756],[198.00940885624595,-45.662797761407674,-24.376708060503006,0,0,-1.8315384483970756],[198.00940885624595,-45.662797761407674,-24.376708060503006,0,0,-1.5697390605979262],[198.01469518624594,-50.66279496687841,-24.376708060503006,0,0,-1.5697390605979262],[198.01469518624594,-50.66279496687841,-24.376708060503006,0,0,-1.8315384483970758],[196.725706886684,-55.493789601898456,-24.376708060503006,0,0,-1.8315384483970758],[195.43671858712207,-60.324784236918504,-24.376708060503006,0,0,-1.8315384483970758],[195.43671858712207,-60.324784236918504,-24.376708060503006,0,0,-2.093337836196225],[195.43671858712207,-60.324784236918504,-24.376708060503006,0,0,-2.3551372239953747],[195.43671858712207,-60.324784236918504,-24.376708060503006,0,0,-2.6169366117945243]]},{"id":5,"instruction":"then, fall down to the street.","completed_instruction":"Turn right towards the white building in the end of the road and descend to the ground.","start_frame":61,"end_frame":80,"start_position":[195.43671858712207,-60.324784236918504,-24.376708060503006],"start_rotation":[0.25932962927732389,0,0,-0.9657888710162722],"end_position":[196.73591929203056,-65.15304246617316,-8.376708060503006],"end_rotation":[0.86628959931469507,0,0,-0.49954212046551694],"actions":[2,2,3,3,3,3,3,3,3,1,3,5,5,5,5,5,5,5,5,5],"reference_path":[[195.43671858712207,-60.324784236918504,-24.376708060503006,0,0,-2.6169366117945243],[195.43671858712207,-60.324784236918504,-24.376708060503006,0,0,-2.8787359995936734],[195.43671858712207,-60.324784236918504,-24.376708060503006,0,0,-3.140535387392823],[195.43671858712207,-60.324784236918504,-24.376708060503006,0,0,-2.878735999593674],[195.43671858712207,-60.324784236918504,-24.376708060503006,0,0,-2.6169366117945247],[195.43671858712207,-60.324784236918504,-24.376708060503006,0,0,-2.355137223995375],[195.43671858712207,-60.324784236918504,-24.376708060503006,0,0,-2.0933378361962256],[195.43671858712207,-60.324784236918504,-24.376708060503006,0,0,-1.8315384483970765],[195.43671858712207,-60.324784236918504,-24.376708060503006,0,0,-1.5697390605979271],[195.43671858712207,-60.324784236918504,-24.376708060503006,0,0,-1.3079396727987775],[196.73591929203056,-65.15304246617316,-24.376708060503006,0,0,-1.3079396727987775],[196.73591929203056,-65.15304246617316,-24.376708060503006,0,0,-1.046140284999628],[196.73591929203056,-65.15304246617316,-22.376708060503006,0,0,-1.046140284999628],[196.73591929203056,-65.15304246617316,-20.376708060503006,0,0,-1.046140284999628],[196.73591929203056,-65.15304246617316,-18.376708060503006,0,0,-1.046140284999628],[196.73591929203056,-65.15304246617316,-16.376708060503006,0,0,-1.046140284999628],[196.73591929203056,-65.15304246617316,-14.376708060503006,0,0,-1.046140284999628],[196.73591929203056,-65.15304246617316,-12.376708060503006,0,0,-1.046140284999628],[196.73591929203056,-65.15304246617316,-10.376708060503006,0,0,-1.046140284999628],[196.73591929203056,-65.15304246617316,-8.376708060503006,0,0,-1.046140284999628]]},{"id":6,"instruction":"land near the stop sign.","completed_instruction":"Land near the stop sign.","start_frame":80,"end_frame":82,"start_position":[196.73591929203056,-65.15304246617316,-8.376708060503006],"start_rotation":[0.86628959931469507,0,0,-0.49954212046551694],"end_position":[196.73591929203056,-65.15304246617316,-4.376708060503006],"end_rotation":[0.86628959931469507,0,0,-0.49954212046551694],"actions":[5,5,0],"reference_path":[[196.73591929203056,-65.15304246617316,-8.376708060503006,0,0,-1.046140284999628],[196.73591929203056,-65.15304246617316,-6.376708060503006,0,0,-1.046140284999628],[196.73591929203056,-65.15304246617316,-4.376708060503006,0,0,-1.046140284999628]]}],"statistics":{"complete_actions":88,"sentence_actions":[9,8,16,16,16,20,3],"sentence_actions_average":12.57}}
diff --git a/scene_24/36AHBNMV10ABUGGZXWJ12R2P1GMYDK.json b/scene_24/36AHBNMV10ABUGGZXWJ12R2P1GMYDK.json
new file mode 100644
index 0000000000000000000000000000000000000000..5f6b0cbc60bb3fa6dd6ab790f92a166093591bd9
--- /dev/null
+++ b/scene_24/36AHBNMV10ABUGGZXWJ12R2P1GMYDK.json
@@ -0,0 +1 @@
+{"episode_id":"36AHBNMV10ABUGGZXWJ12R2P1GMYDK","trajectory_id":"36FQTHX30BPEDWOY4CU3SONOVQ2B3Q","scene_id":24,"instruction":"taking off by the rooftop and closely flying by the white building. by the seafood and turning right. flying up to the rooftops of the building. turning left and flying down by the building and landing by the seafood.","sentence_instructions":[{"id":0,"instruction":"taking off by the rooftop and closely flying by the white building.","completed_instruction":"Take off by the rooftop, fly up to the same height as the left bungalow\u0027s rooftop, then turn right towards white building and fly to the front of it.","start_frame":1,"end_frame":9,"start_position":[184.28927612304688,-80.71380615234375,-20.54572868347168],"start_rotation":[0.99987771111099777,0,0,-0.015638504513925289],"end_position":[193.1016601295188,-75.98708550029784,-26.54572868347168],"end_rotation":[0.9933648531294248,0,0,0.11500551537711692],"actions":[4,4,4,3,3,1,1,2,7],"reference_path":[[184.28927612304688,-80.71380615234375,-20.54572868347168,0,0,-0.0312782840337802],[184.28927612304688,-80.71380615234375,-22.54572868347168,0,0,-0.0312782840337802],[184.28927612304688,-80.71380615234375,-24.54572868347168,0,0,-0.0312782840337802],[184.28927612304688,-80.71380615234375,-26.54572868347168,0,0,-0.0312782840337802],[184.28927612304688,-80.71380615234375,-26.54572868347168,0,0,0.23052110376536925],[184.28927612304688,-80.71380615234375,-26.54572868347168,0,0,0.4923204915645186],[188.69546812628283,-78.3504458263208,-26.54572868347168,0,0,0.4923204915645186],[193.1016601295188,-75.98708550029784,-26.54572868347168,0,0,0.4923204915645186],[193.1016601295188,-75.98708550029784,-26.54572868347168,0,0,0.23052110376536922]]},{"id":1,"instruction":"by the seafood and turning right.","completed_instruction":"Descend until facing the store named \"FAT SEAFOOD\" at the first floor, then turn right towards the green building.","start_frame":9,"end_frame":25,"start_position":[193.1016601295188,-75.98708550029784,-26.54572868347168],"start_rotation":[0.9933648531294248,0,0,0.11500551537711692],"end_position":[191.95923576060216,-71.1193481859694,-2.5457286834716797],"end_rotation":[0.9698552470980385,0,0,0.24368175901450392],"actions":[7,2,5,5,5,5,5,5,5,5,5,5,5,5,3,3,3],"reference_path":[[193.1016601295188,-75.98708550029784,-26.54572868347168,0,0,0.23052110376536922],[191.95923576060216,-71.1193481859694,-26.54572868347168,0,0,0.23052110376536922],[191.95923576060216,-71.1193481859694,-26.54572868347168,0,0,-0.031278284033780225],[191.95923576060216,-71.1193481859694,-24.54572868347168,0,0,-0.031278284033780225],[191.95923576060216,-71.1193481859694,-22.54572868347168,0,0,-0.031278284033780225],[191.95923576060216,-71.1193481859694,-20.54572868347168,0,0,-0.031278284033780225],[191.95923576060216,-71.1193481859694,-18.54572868347168,0,0,-0.031278284033780225],[191.95923576060216,-71.1193481859694,-16.54572868347168,0,0,-0.031278284033780225],[191.95923576060216,-71.1193481859694,-14.54572868347168,0,0,-0.031278284033780225],[191.95923576060216,-71.1193481859694,-12.54572868347168,0,0,-0.031278284033780225],[191.95923576060216,-71.1193481859694,-10.54572868347168,0,0,-0.031278284033780225],[191.95923576060216,-71.1193481859694,-8.54572868347168,0,0,-0.031278284033780225],[191.95923576060216,-71.1193481859694,-6.54572868347168,0,0,-0.031278284033780225],[191.95923576060216,-71.1193481859694,-4.54572868347168,0,0,-0.031278284033780225],[191.95923576060216,-71.1193481859694,-2.5457286834716797,0,0,-0.031278284033780225],[191.95923576060216,-71.1193481859694,-2.5457286834716797,0,0,0.23052110376536922],[191.95923576060216,-71.1193481859694,-2.5457286834716797,0,0,0.4923204915645186]]},{"id":2,"instruction":"flying up to the rooftops of the building.","completed_instruction":"Fly up to the rooftop of the mentioned green building.","start_frame":25,"end_frame":38,"start_position":[191.95923576060216,-71.1193481859694,-2.5457286834716797],"start_rotation":[0.9698552470980385,0,0,0.24368175901450392],"end_position":[194.59342980634486,-66.86952210371925,-22.54572868347168],"end_rotation":[0.87373875075692475,0,0,0.486395513369242],"actions":[3,3,4,4,4,4,4,4,4,4,4,4,1,1],"reference_path":[[191.95923576060216,-71.1193481859694,-2.5457286834716797,0,0,0.4923204915645186],[191.95923576060216,-71.1193481859694,-2.5457286834716797,0,0,0.7541198793636681],[191.95923576060216,-71.1193481859694,-2.5457286834716797,0,0,1.0159192671628177],[191.95923576060216,-71.1193481859694,-4.54572868347168,0,0,1.0159192671628177],[191.95923576060216,-71.1193481859694,-6.54572868347168,0,0,1.0159192671628177],[191.95923576060216,-71.1193481859694,-8.54572868347168,0,0,1.0159192671628177],[191.95923576060216,-71.1193481859694,-10.54572868347168,0,0,1.0159192671628177],[191.95923576060216,-71.1193481859694,-12.54572868347168,0,0,1.0159192671628177],[191.95923576060216,-71.1193481859694,-14.54572868347168,0,0,1.0159192671628177],[191.95923576060216,-71.1193481859694,-16.54572868347168,0,0,1.0159192671628177],[191.95923576060216,-71.1193481859694,-18.54572868347168,0,0,1.0159192671628177],[191.95923576060216,-71.1193481859694,-20.54572868347168,0,0,1.0159192671628177],[191.95923576060216,-71.1193481859694,-22.54572868347168,0,0,1.0159192671628177],[194.59342980634486,-66.86952210371925,-22.54572868347168,0,0,1.0159192671628177]]},{"id":3,"instruction":"turning left and flying down by the building and landing by the seafood.","completed_instruction":"Fly over the rooftop, then turn right towards the pink building, fly over its rooftop platform, and fly forward to the the middle of the intersection, then fly straight ahead to the green building in the end of the road, turn left towards the pink building whose rooftop is white, and then descend to the ground, turn right towards the end of the road, and fly to the left side of the end of the road.","start_frame":38,"end_frame":81,"start_position":[194.59342980634486,-66.86952210371925,-22.54572868347168],"start_rotation":[0.87373875075692475,0,0,0.486395513369242],"end_position":[197.9722644418015,13.839847766656213,-2.5457286834716797],"end_rotation":[0.80277644034812112,0,0,0.59628012445661771],"actions":[1,1,1,3,3,1,3,1,1,1,1,1,1,1,1,1,1,1,2,2,2,2,2,2,2,1,5,5,5,5,5,5,5,5,5,5,3,3,3,3,3,1,1,0],"reference_path":[[194.59342980634486,-66.86952210371925,-22.54572868347168,0,0,1.0159192671628177],[197.22762385208756,-62.6196960214691,-22.54572868347168,0,0,1.0159192671628177],[199.86181789783026,-58.36986993921896,-22.54572868347168,0,0,1.0159192671628177],[202.49601194357297,-54.12004385696881,-22.54572868347168,0,0,1.0159192671628177],[202.49601194357297,-54.12004385696881,-22.54572868347168,0,0,1.2777186549619672],[202.49601194357297,-54.12004385696881,-22.54572868347168,0,0,1.5395180427611166],[202.6523778645588,-49.12248948520313,-22.54572868347168,0,0,1.5395180427611166],[202.6523778645588,-49.12248948520313,-22.54572868347168,0,0,1.801317430560266],[201.50995349564215,-44.254752170874696,-22.54572868347168,0,0,1.801317430560266],[200.36752912672551,-39.38701485654626,-22.54572868347168,0,0,1.801317430560266],[199.22510475780888,-34.51927754221782,-22.54572868347168,0,0,1.801317430560266],[198.08268038889224,-29.651540227889384,-22.54572868347168,0,0,1.801317430560266],[196.9402560199756,-24.783802913560947,-22.54572868347168,0,0,1.801317430560266],[195.79783165105897,-19.91606559923251,-22.54572868347168,0,0,1.801317430560266],[194.65540728214233,-15.048328284904073,-22.54572868347168,0,0,1.801317430560266],[193.5129829132257,-10.180590970575636,-22.54572868347168,0,0,1.801317430560266],[192.37055854430906,-5.312853656247199,-22.54572868347168,0,0,1.801317430560266],[191.22813417539243,-0.44511634191876226,-22.54572868347168,0,0,1.801317430560266],[190.0857098064758,4.422620972409675,-22.54572868347168,0,0,1.801317430560266],[190.0857098064758,4.422620972409675,-22.54572868347168,0,0,1.5395180427611166],[190.0857098064758,4.422620972409675,-22.54572868347168,0,0,1.2777186549619672],[190.0857098064758,4.422620972409675,-22.54572868347168,0,0,1.0159192671628177],[190.0857098064758,4.422620972409675,-22.54572868347168,0,0,0.7541198793636682],[190.0857098064758,4.422620972409675,-22.54572868347168,0,0,0.49232049156451874],[190.0857098064758,4.422620972409675,-22.54572868347168,0,0,0.23052110376536933],[190.0857098064758,4.422620972409675,-22.54572868347168,0,0,-0.0312782840337801],[195.08326417824148,4.266255051423849,-22.54572868347168,0,0,-0.0312782840337801],[195.08326417824148,4.266255051423849,-20.54572868347168,0,0,-0.0312782840337801],[195.08326417824148,4.266255051423849,-18.54572868347168,0,0,-0.0312782840337801],[195.08326417824148,4.266255051423849,-16.54572868347168,0,0,-0.0312782840337801],[195.08326417824148,4.266255051423849,-14.54572868347168,0,0,-0.0312782840337801],[195.08326417824148,4.266255051423849,-12.54572868347168,0,0,-0.0312782840337801],[195.08326417824148,4.266255051423849,-10.54572868347168,0,0,-0.0312782840337801],[195.08326417824148,4.266255051423849,-8.54572868347168,0,0,-0.0312782840337801],[195.08326417824148,4.266255051423849,-6.54572868347168,0,0,-0.0312782840337801],[195.08326417824148,4.266255051423849,-4.54572868347168,0,0,-0.0312782840337801],[195.08326417824148,4.266255051423849,-2.5457286834716797,0,0,-0.0312782840337801],[195.08326417824148,4.266255051423849,-2.5457286834716797,0,0,0.23052110376536933],[195.08326417824148,4.266255051423849,-2.5457286834716797,0,0,0.49232049156451874],[195.08326417824148,4.266255051423849,-2.5457286834716797,0,0,0.7541198793636682],[195.08326417824148,4.266255051423849,-2.5457286834716797,0,0,1.0159192671628177],[195.08326417824148,4.266255051423849,-2.5457286834716797,0,0,1.2777186549619672],[196.5277643100215,9.05305140904003,-2.5457286834716797,0,0,1.2777186549619672],[197.9722644418015,13.839847766656213,-2.5457286834716797,0,0,1.2777186549619672]]}],"statistics":{"complete_actions":84,"sentence_actions":[9,17,14,44],"sentence_actions_average":21.0}}
diff --git a/scene_24/36U2A8VAGAXJ8MM9PD5O64XFLP2KY2.json b/scene_24/36U2A8VAGAXJ8MM9PD5O64XFLP2KY2.json
new file mode 100644
index 0000000000000000000000000000000000000000..63dc9eddd9c82695e89599e40d6575eeaa515346
--- /dev/null
+++ b/scene_24/36U2A8VAGAXJ8MM9PD5O64XFLP2KY2.json
@@ -0,0 +1 @@
+{"episode_id":"36U2A8VAGAXJ8MM9PD5O64XFLP2KY2","trajectory_id":"3OREP8RUUA9F780MZR1NBICXZV7BGY","scene_id":24,"instruction":"turn around and inch forward. turn left and fall down a few stories. turn right. turn back left and fly onto the top of the pink building. fall back down to above the street lights and go down the road. land by the phone booth on the left.","sentence_instructions":[{"id":0,"instruction":"turn around and inch forward.","completed_instruction":"Take off, rise up to the higher altitude than the right railing, then turn right to face a pink sloped rooftop structure on the roof across the street.","start_frame":1,"end_frame":11,"start_position":[203.7742919921875,-68.91136932373047,-22.60723876953125],"start_rotation":[0.999641180140603,0,0,0.026786395186783711],"end_position":[203.7742919921875,-68.91136932373047,-26.60723876953125],"end_rotation":[0.47662289136273767,0,0,0.87910785426421034],"actions":[4,4,3,3,3,3,3,3,3,3,3],"reference_path":[[203.7742919921875,-68.91136932373047,-22.60723876953125,0,0,0.05357919895375697],[203.7742919921875,-68.91136932373047,-24.60723876953125,0,0,0.05357919895375697],[203.7742919921875,-68.91136932373047,-26.60723876953125,0,0,0.05357919895375697],[203.7742919921875,-68.91136932373047,-26.60723876953125,0,0,0.31537858675290636],[203.7742919921875,-68.91136932373047,-26.60723876953125,0,0,0.5771779745520558],[203.7742919921875,-68.91136932373047,-26.60723876953125,0,0,0.8389773623512052],[203.7742919921875,-68.91136932373047,-26.60723876953125,0,0,1.1007767501503547],[203.7742919921875,-68.91136932373047,-26.60723876953125,0,0,1.362576137949504],[203.7742919921875,-68.91136932373047,-26.60723876953125,0,0,1.6243755257486536],[203.7742919921875,-68.91136932373047,-26.60723876953125,0,0,1.886174913547803],[203.7742919921875,-68.91136932373047,-26.60723876953125,0,0,2.1479743013469523]]},{"id":1,"instruction":"turn left and fall down a few stories.","completed_instruction":"Fly to the front of mentioned structure, then turn left to face the street and descend to the second floor height.","start_frame":11,"end_frame":29,"start_position":[203.7742919921875,-68.91136932373047,-26.60723876953125],"start_rotation":[0.47662289136273767,0,0,0.87910785426421034],"end_position":[194.32316209795636,-54.39668215099505,-10.60723876953125],"end_rotation":[0.68791221555062576,0,0,0.72579389891086121],"actions":[3,3,1,1,2,2,2,2,1,1,5,5,5,5,5,5,5,5,5],"reference_path":[[203.7742919921875,-68.91136932373047,-26.60723876953125,0,0,2.1479743013469523],[203.7742919921875,-68.91136932373047,-26.60723876953125,0,0,2.409773689146102],[203.7742919921875,-68.91136932373047,-26.60723876953125,0,0,2.6715730769452515],[199.31649488203422,-66.64685062769173,-26.60723876953125,0,0,2.6715730769452515],[194.85869777188094,-64.382331931653,-26.60723876953125,0,0,2.6715730769452515],[194.85869777188094,-64.382331931653,-26.60723876953125,0,0,2.4097736891461023],[194.85869777188094,-64.382331931653,-26.60723876953125,0,0,2.1479743013469528],[194.85869777188094,-64.382331931653,-26.60723876953125,0,0,1.8861749135478036],[194.85869777188094,-64.382331931653,-26.60723876953125,0,0,1.6243755257486543],[194.59092993491865,-59.38950704132402,-26.60723876953125,0,0,1.6243755257486543],[194.32316209795636,-54.39668215099505,-26.60723876953125,0,0,1.6243755257486543],[194.32316209795636,-54.39668215099505,-24.60723876953125,0,0,1.6243755257486543],[194.32316209795636,-54.39668215099505,-22.60723876953125,0,0,1.6243755257486543],[194.32316209795636,-54.39668215099505,-20.60723876953125,0,0,1.6243755257486543],[194.32316209795636,-54.39668215099505,-18.60723876953125,0,0,1.6243755257486543],[194.32316209795636,-54.39668215099505,-16.60723876953125,0,0,1.6243755257486543],[194.32316209795636,-54.39668215099505,-14.60723876953125,0,0,1.6243755257486543],[194.32316209795636,-54.39668215099505,-12.60723876953125,0,0,1.6243755257486543],[194.32316209795636,-54.39668215099505,-10.60723876953125,0,0,1.6243755257486543]]},{"id":2,"instruction":"turn right.","completed_instruction":"Turn right to face the orange building.","start_frame":29,"end_frame":33,"start_position":[194.32316209795636,-54.39668215099505,-10.60723876953125],"start_rotation":[0.68791221555062576,0,0,0.72579389891086121],"end_position":[194.32316209795636,-54.39668215099505,-6.60723876953125],"end_rotation":[0.47662289136273728,0,0,0.87910785426421045],"actions":[5,5,3,3,3],"reference_path":[[194.32316209795636,-54.39668215099505,-10.60723876953125,0,0,1.6243755257486543],[194.32316209795636,-54.39668215099505,-8.60723876953125,0,0,1.6243755257486543],[194.32316209795636,-54.39668215099505,-6.60723876953125,0,0,1.6243755257486543],[194.32316209795636,-54.39668215099505,-6.60723876953125,0,0,1.8861749135478036],[194.32316209795636,-54.39668215099505,-6.60723876953125,0,0,2.147974301346953]]},{"id":3,"instruction":"turn back left and fly onto the top of the pink building.","completed_instruction":"Fly to the front of mentioned building, then turn left towards the pink building opposite the road, and fly up to the same height as its rooftop.","start_frame":33,"end_frame":54,"start_position":[194.32316209795636,-54.39668215099505,-6.60723876953125],"start_rotation":[0.47662289136273728,0,0,0.87910785426421045],"end_position":[194.05539426099406,-49.40385726066607,-24.60723876953125],"end_rotation":[0.958646403695909,0,0,0.28459984659324777],"actions":[3,3,1,2,2,2,2,2,2,2,2,4,4,4,4,4,4,4,4,4,1,1],"reference_path":[[194.32316209795636,-54.39668215099505,-6.60723876953125,0,0,2.147974301346953],[194.32316209795636,-54.39668215099505,-6.60723876953125,0,0,2.409773689146103],[194.32316209795636,-54.39668215099505,-6.60723876953125,0,0,2.671573076945252],[189.86536498780308,-52.13216345495631,-6.60723876953125,0,0,2.671573076945252],[189.86536498780308,-52.13216345495631,-6.60723876953125,0,0,2.409773689146103],[189.86536498780308,-52.13216345495631,-6.60723876953125,0,0,2.147974301346953],[189.86536498780308,-52.13216345495631,-6.60723876953125,0,0,1.8861749135478039],[189.86536498780308,-52.13216345495631,-6.60723876953125,0,0,1.6243755257486543],[189.86536498780308,-52.13216345495631,-6.60723876953125,0,0,1.3625761379495047],[189.86536498780308,-52.13216345495631,-6.60723876953125,0,0,1.1007767501503554],[189.86536498780308,-52.13216345495631,-6.60723876953125,0,0,0.838977362351206],[189.86536498780308,-52.13216345495631,-6.60723876953125,0,0,0.5771779745520567],[189.86536498780308,-52.13216345495631,-8.60723876953125,0,0,0.5771779745520567],[189.86536498780308,-52.13216345495631,-10.60723876953125,0,0,0.5771779745520567],[189.86536498780308,-52.13216345495631,-12.60723876953125,0,0,0.5771779745520567],[189.86536498780308,-52.13216345495631,-14.60723876953125,0,0,0.5771779745520567],[189.86536498780308,-52.13216345495631,-16.60723876953125,0,0,0.5771779745520567],[189.86536498780308,-52.13216345495631,-18.60723876953125,0,0,0.5771779745520567],[189.86536498780308,-52.13216345495631,-20.60723876953125,0,0,0.5771779745520567],[189.86536498780308,-52.13216345495631,-22.60723876953125,0,0,0.5771779745520567],[189.86536498780308,-52.13216345495631,-24.60723876953125,0,0,0.5771779745520567],[194.05539426099406,-49.40385726066607,-24.60723876953125,0,0,0.5771779745520567]]},{"id":4,"instruction":"fall back down to above the street lights and go down the road.","completed_instruction":"Turn right towards the white building next to the intersection, and fly down to the height of the third floor, then turn left towards the phone booth on the left side of the intersection.","start_frame":54,"end_frame":72,"start_position":[194.05539426099406,-49.40385726066607,-24.60723876953125],"start_rotation":[0.958646403695909,0,0,0.28459984659324777],"end_position":[192.78881114560457,-38.29549251999383,-12.60723876953125],"end_rotation":[0.77676214514532071,0,0,0.6297940694141535],"actions":[1,3,3,3,3,3,3,1,1,5,5,5,5,5,5,2,2,2,1],"reference_path":[[194.05539426099406,-49.40385726066607,-24.60723876953125,0,0,0.5771779745520567],[198.24542353418505,-46.67555106637583,-24.60723876953125,0,0,0.5771779745520567],[198.24542353418505,-46.67555106637583,-24.60723876953125,0,0,0.8389773623512061],[198.24542353418505,-46.67555106637583,-24.60723876953125,0,0,1.1007767501503556],[198.24542353418505,-46.67555106637583,-24.60723876953125,0,0,1.362576137949505],[198.24542353418505,-46.67555106637583,-24.60723876953125,0,0,1.6243755257486543],[198.24542353418505,-46.67555106637583,-24.60723876953125,0,0,1.8861749135478036],[198.24542353418505,-46.67555106637583,-24.60723876953125,0,0,2.147974301346953],[195.5171173398948,-42.48552179318483,-24.60723876953125,0,0,2.147974301346953],[192.78881114560457,-38.29549251999383,-24.60723876953125,0,0,2.147974301346953],[192.78881114560457,-38.29549251999383,-22.60723876953125,0,0,2.147974301346953],[192.78881114560457,-38.29549251999383,-20.60723876953125,0,0,2.147974301346953],[192.78881114560457,-38.29549251999383,-18.60723876953125,0,0,2.147974301346953],[192.78881114560457,-38.29549251999383,-16.60723876953125,0,0,2.147974301346953],[192.78881114560457,-38.29549251999383,-14.60723876953125,0,0,2.147974301346953],[192.78881114560457,-38.29549251999383,-12.60723876953125,0,0,2.147974301346953],[192.78881114560457,-38.29549251999383,-12.60723876953125,0,0,1.8861749135478039],[192.78881114560457,-38.29549251999383,-12.60723876953125,0,0,1.6243755257486543],[192.78881114560457,-38.29549251999383,-12.60723876953125,0,0,1.3625761379495047]]},{"id":5,"instruction":"land by the phone booth on the left.","completed_instruction":"Fly above the phone booth on the left side of the intersection, and land on the left of the phone booth.","start_frame":72,"end_frame":81,"start_position":[192.78881114560457,-38.29549251999383,-12.60723876953125],"start_rotation":[0.77676214514532071,0,0,0.6297940694141535],"end_position":[196.92318835083498,-18.727484825676274,-2.60723876953125],"end_rotation":[0.77676214514532071,0,0,0.6297940694141535],"actions":[1,1,1,1,5,5,5,5,5,0],"reference_path":[[192.78881114560457,-38.29549251999383,-12.60723876953125,0,0,1.3625761379495047],[193.82240544691217,-33.40349059641444,-12.60723876953125,0,0,1.3625761379495047],[194.85599974821977,-28.511488672835053,-12.60723876953125,0,0,1.3625761379495047],[195.88959404952737,-23.619486749255664,-12.60723876953125,0,0,1.3625761379495047],[196.92318835083498,-18.727484825676274,-12.60723876953125,0,0,1.3625761379495047],[196.92318835083498,-18.727484825676274,-10.60723876953125,0,0,1.3625761379495047],[196.92318835083498,-18.727484825676274,-8.60723876953125,0,0,1.3625761379495047],[196.92318835083498,-18.727484825676274,-6.60723876953125,0,0,1.3625761379495047],[196.92318835083498,-18.727484825676274,-4.60723876953125,0,0,1.3625761379495047],[196.92318835083498,-18.727484825676274,-2.60723876953125,0,0,1.3625761379495047]]}],"statistics":{"complete_actions":86,"sentence_actions":[11,19,5,22,19,10],"sentence_actions_average":14.33}}
diff --git a/scene_24/3AZHRG4CUDIGFTIHWZ2GXQMTYQ0308.json b/scene_24/3AZHRG4CUDIGFTIHWZ2GXQMTYQ0308.json
new file mode 100644
index 0000000000000000000000000000000000000000..b9da9fe0f0cf451c2c96ad8b3ecc8d06f70f958c
--- /dev/null
+++ b/scene_24/3AZHRG4CUDIGFTIHWZ2GXQMTYQ0308.json
@@ -0,0 +1 @@
+{"episode_id":"3AZHRG4CUDIGFTIHWZ2GXQMTYQ0308","trajectory_id":"3OREP8RUUA9F780MZR1NBICXZV7BGY","scene_id":24,"instruction":"take off and turn right. go forward and descend to the street. bear right. turn left and ascend to the roof. bear right and go forward. descend to second floor level and bear left. go forward and descend in front of the phone booth. stop there.","sentence_instructions":[{"id":0,"instruction":"take off and turn right.","completed_instruction":"Take off, ascend to the higher altitude than the right white railing, then turn right to face the half pink and half white building.","start_frame":1,"end_frame":12,"start_position":[203.7742919921875,-68.91136932373047,-22.60723876953125],"start_rotation":[0.999641180140603,0,0,0.026786395186783711],"end_position":[203.7742919921875,-68.91136932373047,-26.60723876953125],"end_rotation":[0.35779871568686666,0,0,0.93379873583809736],"actions":[4,4,3,3,3,3,3,3,3,3,3,3],"reference_path":[[203.7742919921875,-68.91136932373047,-22.60723876953125,0,0,0.05357919895375697],[203.7742919921875,-68.91136932373047,-24.60723876953125,0,0,0.05357919895375697],[203.7742919921875,-68.91136932373047,-26.60723876953125,0,0,0.05357919895375697],[203.7742919921875,-68.91136932373047,-26.60723876953125,0,0,0.31537858675290636],[203.7742919921875,-68.91136932373047,-26.60723876953125,0,0,0.5771779745520558],[203.7742919921875,-68.91136932373047,-26.60723876953125,0,0,0.8389773623512052],[203.7742919921875,-68.91136932373047,-26.60723876953125,0,0,1.1007767501503547],[203.7742919921875,-68.91136932373047,-26.60723876953125,0,0,1.362576137949504],[203.7742919921875,-68.91136932373047,-26.60723876953125,0,0,1.6243755257486536],[203.7742919921875,-68.91136932373047,-26.60723876953125,0,0,1.886174913547803],[203.7742919921875,-68.91136932373047,-26.60723876953125,0,0,2.1479743013469523],[203.7742919921875,-68.91136932373047,-26.60723876953125,0,0,2.409773689146102]]},{"id":1,"instruction":"go forward and descend to the street.","completed_instruction":"Fly forward away from the roof, turn left towards the road, and descend to near the ground.","start_frame":12,"end_frame":29,"start_position":[203.7742919921875,-68.91136932373047,-26.60723876953125],"start_rotation":[0.35779871568686666,0,0,0.93379873583809736],"end_position":[194.32316209795636,-54.39668215099505,-10.60723876953125],"end_rotation":[0.68791221555062576,0,0,0.72579389891086121],"actions":[3,1,1,2,2,2,2,1,1,5,5,5,5,5,5,5,5,5],"reference_path":[[203.7742919921875,-68.91136932373047,-26.60723876953125,0,0,2.409773689146102],[203.7742919921875,-68.91136932373047,-26.60723876953125,0,0,2.6715730769452515],[199.31649488203422,-66.64685062769173,-26.60723876953125,0,0,2.6715730769452515],[194.85869777188094,-64.382331931653,-26.60723876953125,0,0,2.6715730769452515],[194.85869777188094,-64.382331931653,-26.60723876953125,0,0,2.4097736891461023],[194.85869777188094,-64.382331931653,-26.60723876953125,0,0,2.1479743013469528],[194.85869777188094,-64.382331931653,-26.60723876953125,0,0,1.8861749135478036],[194.85869777188094,-64.382331931653,-26.60723876953125,0,0,1.6243755257486543],[194.59092993491865,-59.38950704132402,-26.60723876953125,0,0,1.6243755257486543],[194.32316209795636,-54.39668215099505,-26.60723876953125,0,0,1.6243755257486543],[194.32316209795636,-54.39668215099505,-24.60723876953125,0,0,1.6243755257486543],[194.32316209795636,-54.39668215099505,-22.60723876953125,0,0,1.6243755257486543],[194.32316209795636,-54.39668215099505,-20.60723876953125,0,0,1.6243755257486543],[194.32316209795636,-54.39668215099505,-18.60723876953125,0,0,1.6243755257486543],[194.32316209795636,-54.39668215099505,-16.60723876953125,0,0,1.6243755257486543],[194.32316209795636,-54.39668215099505,-14.60723876953125,0,0,1.6243755257486543],[194.32316209795636,-54.39668215099505,-12.60723876953125,0,0,1.6243755257486543],[194.32316209795636,-54.39668215099505,-10.60723876953125,0,0,1.6243755257486543]]},{"id":2,"instruction":"bear right.","completed_instruction":"Fly to the second level platform on the right side of the road.","start_frame":29,"end_frame":34,"start_position":[194.32316209795636,-54.39668215099505,-10.60723876953125],"start_rotation":[0.68791221555062576,0,0,0.72579389891086121],"end_position":[194.32316209795636,-54.39668215099505,-6.60723876953125],"end_rotation":[0.35779871568686622,0,0,0.93379873583809758],"actions":[5,5,3,3,3,3],"reference_path":[[194.32316209795636,-54.39668215099505,-10.60723876953125,0,0,1.6243755257486543],[194.32316209795636,-54.39668215099505,-8.60723876953125,0,0,1.6243755257486543],[194.32316209795636,-54.39668215099505,-6.60723876953125,0,0,1.6243755257486543],[194.32316209795636,-54.39668215099505,-6.60723876953125,0,0,1.8861749135478036],[194.32316209795636,-54.39668215099505,-6.60723876953125,0,0,2.147974301346953],[194.32316209795636,-54.39668215099505,-6.60723876953125,0,0,2.409773689146103]]},{"id":3,"instruction":"turn left and ascend to the roof.","completed_instruction":"Turn left to face the pink house across the street, and fly to its roof.","start_frame":34,"end_frame":54,"start_position":[194.32316209795636,-54.39668215099505,-6.60723876953125],"start_rotation":[0.35779871568686622,0,0,0.93379873583809758],"end_position":[194.05539426099406,-49.40385726066607,-24.60723876953125],"end_rotation":[0.958646403695909,0,0,0.28459984659324777],"actions":[3,1,2,2,2,2,2,2,2,2,4,4,4,4,4,4,4,4,4,1,1],"reference_path":[[194.32316209795636,-54.39668215099505,-6.60723876953125,0,0,2.409773689146103],[194.32316209795636,-54.39668215099505,-6.60723876953125,0,0,2.671573076945252],[189.86536498780308,-52.13216345495631,-6.60723876953125,0,0,2.671573076945252],[189.86536498780308,-52.13216345495631,-6.60723876953125,0,0,2.409773689146103],[189.86536498780308,-52.13216345495631,-6.60723876953125,0,0,2.147974301346953],[189.86536498780308,-52.13216345495631,-6.60723876953125,0,0,1.8861749135478039],[189.86536498780308,-52.13216345495631,-6.60723876953125,0,0,1.6243755257486543],[189.86536498780308,-52.13216345495631,-6.60723876953125,0,0,1.3625761379495047],[189.86536498780308,-52.13216345495631,-6.60723876953125,0,0,1.1007767501503554],[189.86536498780308,-52.13216345495631,-6.60723876953125,0,0,0.838977362351206],[189.86536498780308,-52.13216345495631,-6.60723876953125,0,0,0.5771779745520567],[189.86536498780308,-52.13216345495631,-8.60723876953125,0,0,0.5771779745520567],[189.86536498780308,-52.13216345495631,-10.60723876953125,0,0,0.5771779745520567],[189.86536498780308,-52.13216345495631,-12.60723876953125,0,0,0.5771779745520567],[189.86536498780308,-52.13216345495631,-14.60723876953125,0,0,0.5771779745520567],[189.86536498780308,-52.13216345495631,-16.60723876953125,0,0,0.5771779745520567],[189.86536498780308,-52.13216345495631,-18.60723876953125,0,0,0.5771779745520567],[189.86536498780308,-52.13216345495631,-20.60723876953125,0,0,0.5771779745520567],[189.86536498780308,-52.13216345495631,-22.60723876953125,0,0,0.5771779745520567],[189.86536498780308,-52.13216345495631,-24.60723876953125,0,0,0.5771779745520567],[194.05539426099406,-49.40385726066607,-24.60723876953125,0,0,0.5771779745520567]]},{"id":4,"instruction":"bear right and go forward.","completed_instruction":"Turn slightly right away from the roof and reach above the road.","start_frame":54,"end_frame":61,"start_position":[194.05539426099406,-49.40385726066607,-24.60723876953125],"start_rotation":[0.958646403695909,0,0,0.28459984659324777],"end_position":[198.24542353418505,-46.67555106637583,-24.60723876953125],"end_rotation":[0.47662289136273728,0,0,0.87910785426421045],"actions":[1,3,3,3,3,3,3,1],"reference_path":[[194.05539426099406,-49.40385726066607,-24.60723876953125,0,0,0.5771779745520567],[198.24542353418505,-46.67555106637583,-24.60723876953125,0,0,0.5771779745520567],[198.24542353418505,-46.67555106637583,-24.60723876953125,0,0,0.8389773623512061],[198.24542353418505,-46.67555106637583,-24.60723876953125,0,0,1.1007767501503556],[198.24542353418505,-46.67555106637583,-24.60723876953125,0,0,1.362576137949505],[198.24542353418505,-46.67555106637583,-24.60723876953125,0,0,1.6243755257486543],[198.24542353418505,-46.67555106637583,-24.60723876953125,0,0,1.8861749135478036],[198.24542353418505,-46.67555106637583,-24.60723876953125,0,0,2.147974301346953]]},{"id":5,"instruction":"descend to second floor level and bear left.","completed_instruction":"Descend to the second floor and turn left to face the road.","start_frame":61,"end_frame":69,"start_position":[198.24542353418505,-46.67555106637583,-24.60723876953125],"start_rotation":[0.47662289136273728,0,0,0.87910785426421045],"end_position":[192.78881114560457,-38.29549251999383,-12.60723876953125],"end_rotation":[0.47662289136273728,0,0,0.87910785426421045],"actions":[1,1,5,5,5,5,5,5,2],"reference_path":[[198.24542353418505,-46.67555106637583,-24.60723876953125,0,0,2.147974301346953],[195.5171173398948,-42.48552179318483,-24.60723876953125,0,0,2.147974301346953],[192.78881114560457,-38.29549251999383,-24.60723876953125,0,0,2.147974301346953],[192.78881114560457,-38.29549251999383,-22.60723876953125,0,0,2.147974301346953],[192.78881114560457,-38.29549251999383,-20.60723876953125,0,0,2.147974301346953],[192.78881114560457,-38.29549251999383,-18.60723876953125,0,0,2.147974301346953],[192.78881114560457,-38.29549251999383,-16.60723876953125,0,0,2.147974301346953],[192.78881114560457,-38.29549251999383,-14.60723876953125,0,0,2.147974301346953],[192.78881114560457,-38.29549251999383,-12.60723876953125,0,0,2.147974301346953]]},{"id":6,"instruction":"go forward and descend in front of the phone booth.","completed_instruction":"Fly forward to the phone booth, and descend to the height of it.","start_frame":69,"end_frame":79,"start_position":[192.78881114560457,-38.29549251999383,-12.60723876953125],"start_rotation":[0.47662289136273728,0,0,0.87910785426421045],"end_position":[196.92318835083498,-18.727484825676274,-6.60723876953125],"end_rotation":[0.77676214514532071,0,0,0.6297940694141535],"actions":[2,2,2,1,1,1,1,5,5,5,5],"reference_path":[[192.78881114560457,-38.29549251999383,-12.60723876953125,0,0,2.147974301346953],[192.78881114560457,-38.29549251999383,-12.60723876953125,0,0,1.8861749135478039],[192.78881114560457,-38.29549251999383,-12.60723876953125,0,0,1.6243755257486543],[192.78881114560457,-38.29549251999383,-12.60723876953125,0,0,1.3625761379495047],[193.82240544691217,-33.40349059641444,-12.60723876953125,0,0,1.3625761379495047],[194.85599974821977,-28.511488672835053,-12.60723876953125,0,0,1.3625761379495047],[195.88959404952737,-23.619486749255664,-12.60723876953125,0,0,1.3625761379495047],[196.92318835083498,-18.727484825676274,-12.60723876953125,0,0,1.3625761379495047],[196.92318835083498,-18.727484825676274,-10.60723876953125,0,0,1.3625761379495047],[196.92318835083498,-18.727484825676274,-8.60723876953125,0,0,1.3625761379495047],[196.92318835083498,-18.727484825676274,-6.60723876953125,0,0,1.3625761379495047]]},{"id":7,"instruction":"stop there.","completed_instruction":"Land there.","start_frame":79,"end_frame":81,"start_position":[196.92318835083498,-18.727484825676274,-6.60723876953125],"start_rotation":[0.77676214514532071,0,0,0.6297940694141535],"end_position":[196.92318835083498,-18.727484825676274,-2.60723876953125],"end_rotation":[0.77676214514532071,0,0,0.6297940694141535],"actions":[5,5,0],"reference_path":[[196.92318835083498,-18.727484825676274,-6.60723876953125,0,0,1.3625761379495047],[196.92318835083498,-18.727484825676274,-4.60723876953125,0,0,1.3625761379495047],[196.92318835083498,-18.727484825676274,-2.60723876953125,0,0,1.3625761379495047]]}],"statistics":{"complete_actions":88,"sentence_actions":[12,18,6,21,8,9,11,3],"sentence_actions_average":11.0}}
diff --git a/scene_24/3B1NLC6UG8UKXMYP8ZOQVLCAA3SPGK.json b/scene_24/3B1NLC6UG8UKXMYP8ZOQVLCAA3SPGK.json
new file mode 100644
index 0000000000000000000000000000000000000000..28827c01f7926bf578519110a3aa8600ada946ea
--- /dev/null
+++ b/scene_24/3B1NLC6UG8UKXMYP8ZOQVLCAA3SPGK.json
@@ -0,0 +1 @@
+{"episode_id":"3B1NLC6UG8UKXMYP8ZOQVLCAA3SPGK","trajectory_id":"3W0KKJIASZ717WYYM62SI8EPY638KZ","scene_id":24,"instruction":"flying through the shops and turning left to fly up to the roof. zooming in to the buildings with clothing hanging and turning left. flying over the rooftops and turning left toward the exit of the roof. rotating right and flying down by the white building and landing in front of the stop sign.","sentence_instructions":[{"id":0,"instruction":"flying through the shops and turning left to fly up to the roof.","completed_instruction":"Take off, fly straight to the intersection and turn left after passing the sidewalk, fly to the yellow crosswalk and rise to the height of blue billboard, then turn back towards the telephone booth, and turn left to face the pink building with a dark shop at the first floor, fly up to its rooftop.","start_frame":1,"end_frame":45,"start_position":[162.96963500976562,-8.06179428100586,-0.376708060503006],"start_rotation":[0.99999986027352683,0,0,0.00052863307386395242],"end_position":[196.86722035731543,-22.514850988769822,-24.376708060503006],"end_rotation":[0.86628959931469529,0,0,-0.49954212046551655],"actions":[1,1,1,1,1,2,2,2,2,2,1,1,4,4,4,1,4,3,3,3,3,3,3,3,3,3,1,2,2,2,2,2,2,2,2,4,4,4,4,4,4,4,4,1,1],"reference_path":[[162.96963500976562,-8.06179428100586,-0.376708060503006,0,0,0.0010572661969705977],[167.96963221523635,-8.05650795100586,-0.376708060503006,0,0,0.0010572661969705977],[172.96962942070707,-8.051221621005862,-0.376708060503006,0,0,0.0010572661969705977],[177.96962662617779,-8.045935291005863,-0.376708060503006,0,0,0.0010572661969705977],[182.9696238316485,-8.040648961005864,-0.376708060503006,0,0,0.0010572661969705977],[187.96962103711923,-8.035362631005865,-0.376708060503006,0,0,0.0010572661969705977],[187.96962103711923,-8.035362631005865,-0.376708060503006,0,0,-0.26074212160217886],[187.96962103711923,-8.035362631005865,-0.376708060503006,0,0,-0.5225415094013284],[187.96962103711923,-8.035362631005865,-0.376708060503006,0,0,-0.7843408972004778],[187.96962103711923,-8.035362631005865,-0.376708060503006,0,0,-1.0461402849996273],[187.96962103711923,-8.035362631005865,-0.376708060503006,0,0,-1.3079396727987767],[189.2688217420277,-12.863620860260518,-0.376708060503006,0,0,-1.3079396727987767],[190.5680224469362,-17.69187908951517,-0.376708060503006,0,0,-1.3079396727987767],[190.5680224469362,-17.69187908951517,-2.376708060503006,0,0,-1.3079396727987767],[190.5680224469362,-17.69187908951517,-4.376708060503006,0,0,-1.3079396727987767],[190.5680224469362,-17.69187908951517,-6.376708060503006,0,0,-1.3079396727987767],[191.86722315184468,-22.52013731876982,-6.376708060503006,0,0,-1.3079396727987767],[191.86722315184468,-22.52013731876982,-8.376708060503006,0,0,-1.3079396727987767],[191.86722315184468,-22.52013731876982,-8.376708060503006,0,0,-1.046140284999627],[191.86722315184468,-22.52013731876982,-8.376708060503006,0,0,-0.7843408972004776],[191.86722315184468,-22.52013731876982,-8.376708060503006,0,0,-0.5225415094013283],[191.86722315184468,-22.52013731876982,-8.376708060503006,0,0,-0.26074212160217886],[191.86722315184468,-22.52013731876982,-8.376708060503006,0,0,0.0010572661969705595],[191.86722315184468,-22.52013731876982,-8.376708060503006,0,0,0.26285665399612],[191.86722315184468,-22.52013731876982,-8.376708060503006,0,0,0.5246560417952695],[191.86722315184468,-22.52013731876982,-8.376708060503006,0,0,0.7864554295944189],[191.86722315184468,-22.52013731876982,-8.376708060503006,0,0,1.0482548173935684],[194.36264365850727,-18.187369554980965,-8.376708060503006,0,0,1.0482548173935684],[194.36264365850727,-18.187369554980965,-8.376708060503006,0,0,0.786455429594419],[194.36264365850727,-18.187369554980965,-8.376708060503006,0,0,0.5246560417952695],[194.36264365850727,-18.187369554980965,-8.376708060503006,0,0,0.26285665399612007],[194.36264365850727,-18.187369554980965,-8.376708060503006,0,0,0.0010572661969706215],[194.36264365850727,-18.187369554980965,-8.376708060503006,0,0,-0.2607421216021788],[194.36264365850727,-18.187369554980965,-8.376708060503006,0,0,-0.5225415094013283],[194.36264365850727,-18.187369554980965,-8.376708060503006,0,0,-0.7843408972004776],[194.36264365850727,-18.187369554980965,-8.376708060503006,0,0,-1.046140284999627],[194.36264365850727,-18.187369554980965,-10.376708060503006,0,0,-1.046140284999627],[194.36264365850727,-18.187369554980965,-12.376708060503006,0,0,-1.046140284999627],[194.36264365850727,-18.187369554980965,-14.376708060503006,0,0,-1.046140284999627],[194.36264365850727,-18.187369554980965,-16.376708060503006,0,0,-1.046140284999627],[194.36264365850727,-18.187369554980965,-18.376708060503006,0,0,-1.046140284999627],[194.36264365850727,-18.187369554980965,-20.376708060503006,0,0,-1.046140284999627],[194.36264365850727,-18.187369554980965,-22.376708060503006,0,0,-1.046140284999627],[194.36264365850727,-18.187369554980965,-24.376708060503006,0,0,-1.046140284999627],[196.86722035731543,-22.514850988769822,-24.376708060503006,0,0,-1.046140284999627]]},{"id":1,"instruction":"zooming in to the buildings with clothing hanging and turning left.","completed_instruction":"Turn left slightly to face the buildings at the end of the road, then fly out of the roof and reach the pink building at the end of the road, then turn left towards the triangular structure on the roof.","start_frame":45,"end_frame":61,"start_position":[196.86722035731543,-22.514850988769822,-24.376708060503006],"start_rotation":[0.86628959931469529,0,0,-0.49954212046551655],"end_position":[195.43671858712207,-60.324784236918504,-24.376708060503006],"end_rotation":[0.25932962927732389,0,0,-0.9657888710162722],"actions":[1,1,2,2,2,1,1,1,3,1,2,1,1,2,2,2,2],"reference_path":[[196.86722035731543,-22.514850988769822,-24.376708060503006,0,0,-1.046140284999627],[199.3717970561236,-26.842332422558677,-24.376708060503006,0,0,-1.046140284999627],[201.87637375493176,-31.16981385634753,-24.376708060503006,0,0,-1.046140284999627],[201.87637375493176,-31.16981385634753,-24.376708060503006,0,0,-1.3079396727987764],[201.87637375493176,-31.16981385634753,-24.376708060503006,0,0,-1.569739060597926],[201.87637375493176,-31.16981385634753,-24.376708060503006,0,0,-1.8315384483970756],[200.58738545536983,-36.00080849136758,-24.376708060503006,0,0,-1.8315384483970756],[199.2983971558079,-40.831803126387626,-24.376708060503006,0,0,-1.8315384483970756],[198.00940885624595,-45.662797761407674,-24.376708060503006,0,0,-1.8315384483970756],[198.00940885624595,-45.662797761407674,-24.376708060503006,0,0,-1.5697390605979262],[198.01469518624594,-50.66279496687841,-24.376708060503006,0,0,-1.5697390605979262],[198.01469518624594,-50.66279496687841,-24.376708060503006,0,0,-1.8315384483970758],[196.725706886684,-55.493789601898456,-24.376708060503006,0,0,-1.8315384483970758],[195.43671858712207,-60.324784236918504,-24.376708060503006,0,0,-1.8315384483970758],[195.43671858712207,-60.324784236918504,-24.376708060503006,0,0,-2.093337836196225],[195.43671858712207,-60.324784236918504,-24.376708060503006,0,0,-2.3551372239953747],[195.43671858712207,-60.324784236918504,-24.376708060503006,0,0,-2.6169366117945243]]},{"id":2,"instruction":"flying over the rooftops and turning left toward the exit of the roof.","completed_instruction":"Turn right to face the white building.","start_frame":61,"end_frame":70,"start_position":[195.43671858712207,-60.324784236918504,-24.376708060503006],"start_rotation":[0.25932962927732389,0,0,-0.9657888710162722],"end_position":[195.43671858712207,-60.324784236918504,-24.376708060503006],"end_rotation":[0.79367504086423735,0,0,-0.60834195113369516],"actions":[2,2,3,3,3,3,3,3,3,1],"reference_path":[[195.43671858712207,-60.324784236918504,-24.376708060503006,0,0,-2.6169366117945243],[195.43671858712207,-60.324784236918504,-24.376708060503006,0,0,-2.8787359995936734],[195.43671858712207,-60.324784236918504,-24.376708060503006,0,0,-3.140535387392823],[195.43671858712207,-60.324784236918504,-24.376708060503006,0,0,-2.878735999593674],[195.43671858712207,-60.324784236918504,-24.376708060503006,0,0,-2.6169366117945247],[195.43671858712207,-60.324784236918504,-24.376708060503006,0,0,-2.355137223995375],[195.43671858712207,-60.324784236918504,-24.376708060503006,0,0,-2.0933378361962256],[195.43671858712207,-60.324784236918504,-24.376708060503006,0,0,-1.8315384483970765],[195.43671858712207,-60.324784236918504,-24.376708060503006,0,0,-1.5697390605979271],[195.43671858712207,-60.324784236918504,-24.376708060503006,0,0,-1.3079396727987775]]},{"id":3,"instruction":"rotating right and flying down by the white building and landing in front of the stop sign.","completed_instruction":"Descend in front of the building and land in front of the red \"stop\" sign.","start_frame":70,"end_frame":82,"start_position":[195.43671858712207,-60.324784236918504,-24.376708060503006],"start_rotation":[0.79367504086423735,0,0,-0.60834195113369516],"end_position":[196.73591929203056,-65.15304246617316,-4.376708060503006],"end_rotation":[0.86628959931469507,0,0,-0.49954212046551694],"actions":[1,3,5,5,5,5,5,5,5,5,5,5,0],"reference_path":[[195.43671858712207,-60.324784236918504,-24.376708060503006,0,0,-1.3079396727987775],[196.73591929203056,-65.15304246617316,-24.376708060503006,0,0,-1.3079396727987775],[196.73591929203056,-65.15304246617316,-24.376708060503006,0,0,-1.046140284999628],[196.73591929203056,-65.15304246617316,-22.376708060503006,0,0,-1.046140284999628],[196.73591929203056,-65.15304246617316,-20.376708060503006,0,0,-1.046140284999628],[196.73591929203056,-65.15304246617316,-18.376708060503006,0,0,-1.046140284999628],[196.73591929203056,-65.15304246617316,-16.376708060503006,0,0,-1.046140284999628],[196.73591929203056,-65.15304246617316,-14.376708060503006,0,0,-1.046140284999628],[196.73591929203056,-65.15304246617316,-12.376708060503006,0,0,-1.046140284999628],[196.73591929203056,-65.15304246617316,-10.376708060503006,0,0,-1.046140284999628],[196.73591929203056,-65.15304246617316,-8.376708060503006,0,0,-1.046140284999628],[196.73591929203056,-65.15304246617316,-6.376708060503006,0,0,-1.046140284999628],[196.73591929203056,-65.15304246617316,-4.376708060503006,0,0,-1.046140284999628]]}],"statistics":{"complete_actions":85,"sentence_actions":[45,17,10,13],"sentence_actions_average":21.25}}
diff --git a/scene_24/3CCZ6YKWRGH1P2TYAE925YL6FSZ59U.json b/scene_24/3CCZ6YKWRGH1P2TYAE925YL6FSZ59U.json
new file mode 100644
index 0000000000000000000000000000000000000000..97843e396047c43b9b7c35f987d6a6ec49a05985
--- /dev/null
+++ b/scene_24/3CCZ6YKWRGH1P2TYAE925YL6FSZ59U.json
@@ -0,0 +1 @@
+{"episode_id":"3CCZ6YKWRGH1P2TYAE925YL6FSZ59U","trajectory_id":"3APP19WN89C91WJR30KF02Q5LUWG6I","scene_id":24,"instruction":"turn left and go forward a bit. land down on the road below. turn left and turn right down the sidewalk. go down the road and cut into the middle of the road. turn right and lift to the top of the pink building. turn around and land back safely on the ground.","sentence_instructions":[{"id":0,"instruction":"turn left and go forward a bit.","completed_instruction":"Take off, rise up to the higher altitude than the front blue house, and turn left to face the gap between two pink buildings on the left, then fly in front of them.","start_frame":1,"end_frame":10,"start_position":[204.5789337158203,5.2364959716796875,-19.965858459472656],"start_rotation":[0.99992820010830286,0,0,0.011983097603287035],"end_position":[205.98839681494505,0.43926616978300714,-25.965858459472656],"end_rotation":[0.80059122522825266,0,0,-0.5992108894934447],"actions":[4,4,4,2,2,2,2,2,1,1],"reference_path":[[204.5789337158203,5.2364959716796875,-19.965858459472656,0,0,0.023966768813121462],[204.5789337158203,5.2364959716796875,-21.965858459472656,0,0,0.023966768813121462],[204.5789337158203,5.2364959716796875,-23.965858459472656,0,0,0.023966768813121462],[204.5789337158203,5.2364959716796875,-25.965858459472656,0,0,0.023966768813121462],[204.5789337158203,5.2364959716796875,-25.965858459472656,0,0,-0.23783261898602795],[204.5789337158203,5.2364959716796875,-25.965858459472656,0,0,-0.49963200678517744],[204.5789337158203,5.2364959716796875,-25.965858459472656,0,0,-0.7614313945843268],[204.5789337158203,5.2364959716796875,-25.965858459472656,0,0,-1.0232307823834763],[204.5789337158203,5.2364959716796875,-25.965858459472656,0,0,-1.2850301701826257],[205.98839681494505,0.43926616978300714,-25.965858459472656,0,0,-1.2850301701826257]]},{"id":1,"instruction":"land down on the road below.","completed_instruction":"Descend to the height close to the ground.","start_frame":10,"end_frame":22,"start_position":[205.98839681494505,0.43926616978300714,-25.965858459472656],"start_rotation":[0.80059122522825266,0,0,-0.5992108894934447],"end_position":[208.80732301319452,-9.155193434010354,-5.965858459472656],"end_rotation":[0.80059122522825266,0,0,-0.5992108894934447],"actions":[1,1,5,5,5,5,5,5,5,5,5,5,5],"reference_path":[[205.98839681494505,0.43926616978300714,-25.965858459472656,0,0,-1.2850301701826257],[207.39785991406978,-4.357963632113673,-25.965858459472656,0,0,-1.2850301701826257],[208.80732301319452,-9.155193434010354,-25.965858459472656,0,0,-1.2850301701826257],[208.80732301319452,-9.155193434010354,-23.965858459472656,0,0,-1.2850301701826257],[208.80732301319452,-9.155193434010354,-21.965858459472656,0,0,-1.2850301701826257],[208.80732301319452,-9.155193434010354,-19.965858459472656,0,0,-1.2850301701826257],[208.80732301319452,-9.155193434010354,-17.965858459472656,0,0,-1.2850301701826257],[208.80732301319452,-9.155193434010354,-15.965858459472656,0,0,-1.2850301701826257],[208.80732301319452,-9.155193434010354,-13.965858459472656,0,0,-1.2850301701826257],[208.80732301319452,-9.155193434010354,-11.965858459472656,0,0,-1.2850301701826257],[208.80732301319452,-9.155193434010354,-9.965858459472656,0,0,-1.2850301701826257],[208.80732301319452,-9.155193434010354,-7.965858459472656,0,0,-1.2850301701826257],[208.80732301319452,-9.155193434010354,-5.965858459472656,0,0,-1.2850301701826257]]},{"id":2,"instruction":"turn left and turn right down the sidewalk.","completed_instruction":"Turn left towards the intersection, then fly towards the sidewalk on the right side of the road.","start_frame":22,"end_frame":36,"start_position":[208.80732301319452,-9.155193434010354,-5.965858459472656],"start_rotation":[0.80059122522825266,0,0,-0.5992108894934447],"end_position":[204.01009321129783,-10.5646565331351,-1.9658584594726562],"end_rotation":[0.5103417669946263,0,0,-0.85997167445259648],"actions":[5,5,2,2,2,2,2,2,1,2,3,3,3,3,1],"reference_path":[[208.80732301319452,-9.155193434010354,-5.965858459472656,0,0,-1.2850301701826257],[208.80732301319452,-9.155193434010354,-3.9658584594726562,0,0,-1.2850301701826257],[208.80732301319452,-9.155193434010354,-1.9658584594726562,0,0,-1.2850301701826257],[208.80732301319452,-9.155193434010354,-1.9658584594726562,0,0,-1.5468295579817752],[208.80732301319452,-9.155193434010354,-1.9658584594726562,0,0,-1.8086289457809246],[208.80732301319452,-9.155193434010354,-1.9658584594726562,0,0,-2.070428333580074],[208.80732301319452,-9.155193434010354,-1.9658584594726562,0,0,-2.3322277213792235],[208.80732301319452,-9.155193434010354,-1.9658584594726562,0,0,-2.594027109178373],[208.80732301319452,-9.155193434010354,-1.9658584594726562,0,0,-2.8558264969775227],[204.01009321129783,-10.5646565331351,-1.9658584594726562,0,0,-2.8558264969775227],[204.01009321129783,-10.5646565331351,-1.9658584594726562,0,0,-3.1176258847766722],[204.01009321129783,-10.5646565331351,-1.9658584594726562,0,0,-2.8558264969775227],[204.01009321129783,-10.5646565331351,-1.9658584594726562,0,0,-2.5940271091783735],[204.01009321129783,-10.5646565331351,-1.9658584594726562,0,0,-2.332227721379224],[204.01009321129783,-10.5646565331351,-1.9658584594726562,0,0,-2.0704283335800744]]},{"id":3,"instruction":"go down the road and cut into the middle of the road.","completed_instruction":"Fly to the middle of the road, move right to face a black patch on the road with a P sign on the right.","start_frame":36,"end_frame":41,"start_position":[204.01009321129783,-10.5646565331351,-1.9658584594726562],"start_rotation":[0.5103417669946263,0,0,-0.85997167445259648],"end_position":[192.03252916825767,-32.50862972840838,-1.9658584594726562],"end_rotation":[0.5103417669946263,0,0,-0.85997167445259648],"actions":[1,1,1,1,1,7],"reference_path":[[204.01009321129783,-10.5646565331351,-1.9658584594726562,0,0,-2.0704283335800744],[201.6145804026898,-14.953451172189755,-1.9658584594726562,0,0,-2.0704283335800744],[199.21906759408176,-19.34224581124441,-1.9658584594726562,0,0,-2.0704283335800744],[196.82355478547373,-23.731040450299066,-1.9658584594726562,0,0,-2.0704283335800744],[194.4280419768657,-28.11983508935372,-1.9658584594726562,0,0,-2.0704283335800744],[192.03252916825767,-32.50862972840838,-1.9658584594726562,0,0,-2.0704283335800744]]},{"id":4,"instruction":"turn right and lift to the top of the pink building.","completed_instruction":"Turn right towards the pork barbecue and the staircase next to the it, and then rise to the roof of the pink building.","start_frame":41,"end_frame":57,"start_position":[192.03252916825767,-32.50862972840838,-1.9658584594726562],"start_rotation":[0.5103417669946263,0,0,-0.85997167445259648],"end_position":[196.42132380731232,-34.904142537016405,-17.965858459472656],"end_rotation":[0.99293778384129827,0,0,-0.11863623991146728],"actions":[7,3,3,3,3,3,3,3,4,4,4,4,4,4,4,4,4],"reference_path":[[192.03252916825767,-32.50862972840838,-1.9658584594726562,0,0,-2.0704283335800744],[196.42132380731232,-34.904142537016405,-1.9658584594726562,0,0,-2.0704283335800744],[196.42132380731232,-34.904142537016405,-1.9658584594726562,0,0,-1.808628945780925],[196.42132380731232,-34.904142537016405,-1.9658584594726562,0,0,-1.5468295579817757],[196.42132380731232,-34.904142537016405,-1.9658584594726562,0,0,-1.2850301701826266],[196.42132380731232,-34.904142537016405,-1.9658584594726562,0,0,-1.023230782383477],[196.42132380731232,-34.904142537016405,-1.9658584594726562,0,0,-0.7614313945843276],[196.42132380731232,-34.904142537016405,-1.9658584594726562,0,0,-0.49963200678517833],[196.42132380731232,-34.904142537016405,-1.9658584594726562,0,0,-0.23783261898602895],[196.42132380731232,-34.904142537016405,-3.9658584594726562,0,0,-0.23783261898602895],[196.42132380731232,-34.904142537016405,-5.965858459472656,0,0,-0.23783261898602895],[196.42132380731232,-34.904142537016405,-7.965858459472656,0,0,-0.23783261898602895],[196.42132380731232,-34.904142537016405,-9.965858459472656,0,0,-0.23783261898602895],[196.42132380731232,-34.904142537016405,-11.965858459472656,0,0,-0.23783261898602895],[196.42132380731232,-34.904142537016405,-13.965858459472656,0,0,-0.23783261898602895],[196.42132380731232,-34.904142537016405,-15.965858459472656,0,0,-0.23783261898602895],[196.42132380731232,-34.904142537016405,-17.965858459472656,0,0,-0.23783261898602895]]},{"id":5,"instruction":"turn around and land back safely on the ground.","completed_instruction":"Turn back to face the orange building and land on the road in front of it.","start_frame":57,"end_frame":78,"start_position":[196.42132380731232,-34.904142537016405,-17.965858459472656],"start_rotation":[0.99293778384129827,0,0,-0.11863623991146728],"end_position":[190.48643051867683,-44.379217294109836,-7.965858459472656],"end_rotation":[0.27037524537707031,0,0,-0.96275501904030036],"actions":[4,4,2,2,2,1,2,2,2,2,2,2,1,1,5,5,5,5,5,5,5,0],"reference_path":[[196.42132380731232,-34.904142537016405,-17.965858459472656,0,0,-0.23783261898602895],[196.42132380731232,-34.904142537016405,-19.965858459472656,0,0,-0.23783261898602895],[196.42132380731232,-34.904142537016405,-21.965858459472656,0,0,-0.23783261898602895],[196.42132380731232,-34.904142537016405,-21.965858459472656,0,0,-0.49963200678517844],[196.42132380731232,-34.904142537016405,-21.965858459472656,0,0,-0.7614313945843278],[196.42132380731232,-34.904142537016405,-21.965858459472656,0,0,-1.0232307823834772],[199.02437505242258,-39.17311480388929,-21.965858459472656,0,0,-1.0232307823834772],[199.02437505242258,-39.17311480388929,-21.965858459472656,0,0,-1.2850301701826268],[199.02437505242258,-39.17311480388929,-21.965858459472656,0,0,-1.5468295579817761],[199.02437505242258,-39.17311480388929,-21.965858459472656,0,0,-1.8086289457809257],[199.02437505242258,-39.17311480388929,-21.965858459472656,0,0,-2.070428333580075],[199.02437505242258,-39.17311480388929,-21.965858459472656,0,0,-2.3322277213792244],[199.02437505242258,-39.17311480388929,-21.965858459472656,0,0,-2.594027109178374],[194.7554027855497,-41.77616604899956,-21.965858459472656,0,0,-2.594027109178374],[190.48643051867683,-44.379217294109836,-21.965858459472656,0,0,-2.594027109178374],[190.48643051867683,-44.379217294109836,-19.965858459472656,0,0,-2.594027109178374],[190.48643051867683,-44.379217294109836,-17.965858459472656,0,0,-2.594027109178374],[190.48643051867683,-44.379217294109836,-15.965858459472656,0,0,-2.594027109178374],[190.48643051867683,-44.379217294109836,-13.965858459472656,0,0,-2.594027109178374],[190.48643051867683,-44.379217294109836,-11.965858459472656,0,0,-2.594027109178374],[190.48643051867683,-44.379217294109836,-9.965858459472656,0,0,-2.594027109178374],[190.48643051867683,-44.379217294109836,-7.965858459472656,0,0,-2.594027109178374]]}],"statistics":{"complete_actions":83,"sentence_actions":[10,13,15,6,17,22],"sentence_actions_average":13.83}}
diff --git a/scene_24/3CFVK00FWUJS98UL4UMX2DQ1BLR6LG.json b/scene_24/3CFVK00FWUJS98UL4UMX2DQ1BLR6LG.json
new file mode 100644
index 0000000000000000000000000000000000000000..1a2544f49606505dfd6c334723cd2fcf4dded0cd
--- /dev/null
+++ b/scene_24/3CFVK00FWUJS98UL4UMX2DQ1BLR6LG.json
@@ -0,0 +1 @@
+{"episode_id":"3CFVK00FWUJS98UL4UMX2DQ1BLR6LG","trajectory_id":"37PGLWGSK14UW2ABVSEJVX83128IKH","scene_id":24,"instruction":"lift off and turn right facing the right of the intersection and head straight. veer left and down to the road towards the intersection. at the intersection turn left facing the closest pink building on your left and rise to the top of it. the veer right towards the green building. stop in front of the green building.","sentence_instructions":[{"id":0,"instruction":"lift off and turn right facing the right of the intersection and head straight.","completed_instruction":"Take off, ascend to higher altitude than the right railing, and turn right to directly face an intersection, then fly straight to the intersection.","start_frame":1,"end_frame":16,"start_position":[203.7742919921875,-68.91136932373047,-22.60723876953125],"start_rotation":[0.99995017342315662,0,0,0.0099825182694035647],"end_position":[195.4327546229174,-40.094382071120776,-26.60723876953125],"end_rotation":[0.60081143229704947,0,0,0.79939078229684879],"actions":[4,4,3,3,3,3,3,3,3,1,1,1,1,1,1,1],"reference_path":[[203.7742919921875,-68.91136932373047,-22.60723876953125,0,0,0.019965368141891957],[203.7742919921875,-68.91136932373047,-24.60723876953125,0,0,0.019965368141891957],[203.7742919921875,-68.91136932373047,-26.60723876953125,0,0,0.019965368141891957],[203.7742919921875,-68.91136932373047,-26.60723876953125,0,0,0.2817647559410414],[203.7742919921875,-68.91136932373047,-26.60723876953125,0,0,0.5435641437401908],[203.7742919921875,-68.91136932373047,-26.60723876953125,0,0,0.8053635315393401],[203.7742919921875,-68.91136932373047,-26.60723876953125,0,0,1.0671629193384895],[203.7742919921875,-68.91136932373047,-26.60723876953125,0,0,1.328962307137639],[203.7742919921875,-68.91136932373047,-26.60723876953125,0,0,1.5907616949367884],[203.7742919921875,-68.91136932373047,-26.60723876953125,0,0,1.8525610827359378],[202.38403576397582,-64.10853811496219,-26.60723876953125,0,0,1.8525610827359378],[200.99377953576413,-59.305706906193905,-26.60723876953125,0,0,1.8525610827359378],[199.60352330755245,-54.50287569742562,-26.60723876953125,0,0,1.8525610827359378],[198.21326707934077,-49.70004448865734,-26.60723876953125,0,0,1.8525610827359378],[196.82301085112908,-44.89721327988906,-26.60723876953125,0,0,1.8525610827359378],[195.4327546229174,-40.094382071120776,-26.60723876953125,0,0,1.8525610827359378]]},{"id":1,"instruction":"veer left and down to the road towards the intersection.","completed_instruction":"Fly down to the road and fly over the intersection.","start_frame":16,"end_frame":32,"start_position":[195.4327546229174,-40.094382071120776,-26.60723876953125],"start_rotation":[0.60081143229704947,0,0,0.79939078229684879],"end_position":[193.743037768465,-20.29454038248246,-4.60723876953125],"end_rotation":[0.70001284211456449,0,0,0.714130254837792],"actions":[1,5,5,5,5,5,5,5,5,5,5,5,2,1,1,1,1],"reference_path":[[195.4327546229174,-40.094382071120776,-26.60723876953125,0,0,1.8525610827359378],[194.04249839470572,-35.291550862352494,-26.60723876953125,0,0,1.8525610827359378],[194.04249839470572,-35.291550862352494,-24.60723876953125,0,0,1.8525610827359378],[194.04249839470572,-35.291550862352494,-22.60723876953125,0,0,1.8525610827359378],[194.04249839470572,-35.291550862352494,-20.60723876953125,0,0,1.8525610827359378],[194.04249839470572,-35.291550862352494,-18.60723876953125,0,0,1.8525610827359378],[194.04249839470572,-35.291550862352494,-16.60723876953125,0,0,1.8525610827359378],[194.04249839470572,-35.291550862352494,-14.60723876953125,0,0,1.8525610827359378],[194.04249839470572,-35.291550862352494,-12.60723876953125,0,0,1.8525610827359378],[194.04249839470572,-35.291550862352494,-10.60723876953125,0,0,1.8525610827359378],[194.04249839470572,-35.291550862352494,-8.60723876953125,0,0,1.8525610827359378],[194.04249839470572,-35.291550862352494,-6.60723876953125,0,0,1.8525610827359378],[194.04249839470572,-35.291550862352494,-4.60723876953125,0,0,1.8525610827359378],[194.04249839470572,-35.291550862352494,-4.60723876953125,0,0,1.5907616949367884],[193.9426781859588,-30.292547369062483,-4.60723876953125,0,0,1.5907616949367884],[193.8428579772119,-25.29354387577247,-4.60723876953125,0,0,1.5907616949367884],[193.743037768465,-20.29454038248246,-4.60723876953125,0,0,1.5907616949367884]]},{"id":2,"instruction":"at the intersection turn left facing the closest pink building on your left and rise to the top of it.","completed_instruction":"At the intersection turn left to the closest pink building on your left and fly to the clothes hanging outside the building.","start_frame":32,"end_frame":51,"start_position":[193.743037768465,-20.29454038248246,-4.60723876953125],"start_rotation":[0.70001284211456449,0,0,0.714130254837792],"end_position":[202.77707342512883,-13.907006698944857,-18.60723876953125],"end_rotation":[0.96846136335786515,0,0,-0.24916377682766214],"actions":[1,1,2,2,2,2,2,2,2,4,4,4,4,4,4,4,1,2,1,5],"reference_path":[[193.743037768465,-20.29454038248246,-4.60723876953125,0,0,1.5907616949367884],[193.6432175597181,-15.29553688919245,-4.60723876953125,0,0,1.5907616949367884],[193.5433973509712,-10.29653339590244,-4.60723876953125,0,0,1.5907616949367884],[193.5433973509712,-10.29653339590244,-4.60723876953125,0,0,1.328962307137639],[193.5433973509712,-10.29653339590244,-4.60723876953125,0,0,1.0671629193384895],[193.5433973509712,-10.29653339590244,-4.60723876953125,0,0,0.80536353153934],[193.5433973509712,-10.29653339590244,-4.60723876953125,0,0,0.5435641437401907],[193.5433973509712,-10.29653339590244,-4.60723876953125,0,0,0.2817647559410413],[193.5433973509712,-10.29653339590244,-4.60723876953125,0,0,0.01996536814189186],[193.5433973509712,-10.29653339590244,-4.60723876953125,0,0,-0.24183401965725757],[193.5433973509712,-10.29653339590244,-6.60723876953125,0,0,-0.24183401965725757],[193.5433973509712,-10.29653339590244,-8.60723876953125,0,0,-0.24183401965725757],[193.5433973509712,-10.29653339590244,-10.60723876953125,0,0,-0.24183401965725757],[193.5433973509712,-10.29653339590244,-12.60723876953125,0,0,-0.24183401965725757],[193.5433973509712,-10.29653339590244,-14.60723876953125,0,0,-0.24183401965725757],[193.5433973509712,-10.29653339590244,-16.60723876953125,0,0,-0.24183401965725757],[193.5433973509712,-10.29653339590244,-18.60723876953125,0,0,-0.24183401965725757],[198.3978993019591,-11.493951788885731,-18.60723876953125,0,0,-0.24183401965725757],[198.3978993019591,-11.493951788885731,-18.60723876953125,0,0,-0.5036334074564071],[202.77707342512883,-13.907006698944857,-18.60723876953125,0,0,-0.5036334074564071]]},{"id":3,"instruction":"the veer right towards the green building.","completed_instruction":"Turn right to face the green building.","start_frame":51,"end_frame":54,"start_position":[202.77707342512883,-13.907006698944857,-18.60723876953125],"start_rotation":[0.96846136335786515,0,0,-0.24916377682766214],"end_position":[202.77707342512883,-13.907006698944857,-14.60723876953125],"end_rotation":[0.99269844116871153,0,0,-0.12062257210493456],"actions":[5,5,3,3],"reference_path":[[202.77707342512883,-13.907006698944857,-18.60723876953125,0,0,-0.5036334074564071],[202.77707342512883,-13.907006698944857,-16.60723876953125,0,0,-0.5036334074564071],[202.77707342512883,-13.907006698944857,-14.60723876953125,0,0,-0.5036334074564071],[202.77707342512883,-13.907006698944857,-14.60723876953125,0,0,-0.24183401965725757]]},{"id":4,"instruction":"stop in front of the green building.","completed_instruction":"Approach the green building and rise to the height of its roof.","start_frame":54,"end_frame":60,"start_position":[202.77707342512883,-13.907006698944857,-14.60723876953125],"start_rotation":[0.99269844116871153,0,0,-0.12062257210493456],"end_position":[212.3827358426654,-11.126494242521494,-18.60723876953125],"end_rotation":[0.99009248097176683,0,0,0.14041680498847517],"actions":[3,3,1,1,4,4,0],"reference_path":[[202.77707342512883,-13.907006698944857,-14.60723876953125,0,0,-0.24183401965725757],[202.77707342512883,-13.907006698944857,-14.60723876953125,0,0,0.01996536814189186],[202.77707342512883,-13.907006698944857,-14.60723876953125,0,0,0.2817647559410413],[207.57990463389712,-12.516750470733175,-14.60723876953125,0,0,0.2817647559410413],[212.3827358426654,-11.126494242521494,-14.60723876953125,0,0,0.2817647559410413],[212.3827358426654,-11.126494242521494,-16.60723876953125,0,0,0.2817647559410413],[212.3827358426654,-11.126494242521494,-18.60723876953125,0,0,0.2817647559410413]]}],"statistics":{"complete_actions":64,"sentence_actions":[16,17,20,4,7],"sentence_actions_average":12.8}}
diff --git a/scene_24/3OCHAWUVGXIU8HWZKHJMNQQ6JPWXK9.json b/scene_24/3OCHAWUVGXIU8HWZKHJMNQQ6JPWXK9.json
new file mode 100644
index 0000000000000000000000000000000000000000..69bc573c99f0e5b6ebe29cdb30689c1cbf0c3123
--- /dev/null
+++ b/scene_24/3OCHAWUVGXIU8HWZKHJMNQQ6JPWXK9.json
@@ -0,0 +1 @@
+{"episode_id":"3OCHAWUVGXIU8HWZKHJMNQQ6JPWXK9","trajectory_id":"37MQ8Z1JRMUL5MLQA4UIHPGXALK2YL","scene_id":24,"instruction":"turn left in the opposite direction and then rise up above the blue sign ahead. go forward and then ascend a little more, continue to edge forward and ascend again and then turn left. descend down to the small red and orange sign and then turn right and ascend to about original height. go forward toward the roof extension and then turn left and go forward. veer to the speaker perched on the roof on the other side of the stree. turn right and go toward the last building at the edge of town. descend downward to below the fat seafood sign and end there.","sentence_instructions":[{"id":0,"instruction":"turn left in the opposite direction and then rise up above the blue sign ahead.","completed_instruction":"Take off, and turn left to face the road with a no-entry sign on each side, fly acoss the intesection, and then rise up above the blue sign ahead.","start_frame":1,"end_frame":11,"start_position":[192.59751892089844,-5.168997287750244,-0.2656462788581848],"start_rotation":[0.99996025990531046,0,0,-0.0089150776835678278],"end_position":[192.50837168692308,-10.168202501649205,-6.265646278858185],"end_rotation":[0.70077476881125178,0,0,-0.71338259258096326],"actions":[2,2,2,2,2,2,4,4,1,4,4],"reference_path":[[192.59751892089844,-5.168997287750244,-0.2656462788581848,0,0,-0.017830391561577754],[192.59751892089844,-5.168997287750244,-0.2656462788581848,0,0,-0.2796297793607272],[192.59751892089844,-5.168997287750244,-0.2656462788581848,0,0,-0.5414291671598767],[192.59751892089844,-5.168997287750244,-0.2656462788581848,0,0,-0.8032285549590261],[192.59751892089844,-5.168997287750244,-0.2656462788581848,0,0,-1.0650279427581755],[192.59751892089844,-5.168997287750244,-0.2656462788581848,0,0,-1.326827330557325],[192.59751892089844,-5.168997287750244,-0.2656462788581848,0,0,-1.5886267183564746],[192.59751892089844,-5.168997287750244,-2.265646278858185,0,0,-1.5886267183564746],[192.59751892089844,-5.168997287750244,-4.265646278858185,0,0,-1.5886267183564746],[192.50837168692308,-10.168202501649205,-4.265646278858185,0,0,-1.5886267183564746],[192.50837168692308,-10.168202501649205,-6.265646278858185,0,0,-1.5886267183564746]]},{"id":1,"instruction":"go forward and then ascend a little more, continue to edge forward and ascend again and then turn left.","completed_instruction":"Fly up to the height above a four-storey building, then fly forward until an orange building appears on the left side of the road, and then turn left to face the green building.","start_frame":11,"end_frame":28,"start_position":[192.50837168692308,-10.168202501649205,-6.265646278858185],"start_rotation":[0.70077476881125178,0,0,-0.71338259258096326],"end_position":[192.06263551704632,-35.16422857114401,-14.265646278858185],"end_rotation":[0.0089150776835681539,0,0,0.99996025990531046],"actions":[4,1,1,4,4,4,1,1,1,3,2,2,2,2,2,2,2,2],"reference_path":[[192.50837168692308,-10.168202501649205,-6.265646278858185,0,0,-1.5886267183564746],[192.50837168692308,-10.168202501649205,-8.265646278858185,0,0,-1.5886267183564746],[192.41922445294773,-15.167407715548165,-8.265646278858185,0,0,-1.5886267183564746],[192.33007721897238,-20.166612929447126,-8.265646278858185,0,0,-1.5886267183564746],[192.33007721897238,-20.166612929447126,-10.265646278858185,0,0,-1.5886267183564746],[192.33007721897238,-20.166612929447126,-12.265646278858185,0,0,-1.5886267183564746],[192.33007721897238,-20.166612929447126,-14.265646278858185,0,0,-1.5886267183564746],[192.24092998499702,-25.165818143346087,-14.265646278858185,0,0,-1.5886267183564746],[192.15178275102167,-30.165023357245047,-14.265646278858185,0,0,-1.5886267183564746],[192.06263551704632,-35.16422857114401,-14.265646278858185,0,0,-1.5886267183564746],[192.06263551704632,-35.16422857114401,-14.265646278858185,0,0,-1.3268273305573253],[192.06263551704632,-35.16422857114401,-14.265646278858185,0,0,-1.5886267183564746],[192.06263551704632,-35.16422857114401,-14.265646278858185,0,0,-1.8504261061556242],[192.06263551704632,-35.16422857114401,-14.265646278858185,0,0,-2.1122254939547735],[192.06263551704632,-35.16422857114401,-14.265646278858185,0,0,-2.374024881753923],[192.06263551704632,-35.16422857114401,-14.265646278858185,0,0,-2.6358242695530727],[192.06263551704632,-35.16422857114401,-14.265646278858185,0,0,-2.8976236573522223],[192.06263551704632,-35.16422857114401,-14.265646278858185,0,0,3.123762262028215]]},{"id":2,"instruction":"descend down to the small red and orange sign and then turn right and ascend to about original height.","completed_instruction":"Descend to the height of the red shop sign, then turn back towards the light purple building across the road, and fly to the height of its rooftop.","start_frame":28,"end_frame":52,"start_position":[192.06263551704632,-35.16422857114401,-14.265646278858185],"start_rotation":[0.0089150776835681539,0,0,0.99996025990531046],"end_position":[192.06263551704632,-35.16422857114401,-18.265646278858185],"end_rotation":[0.96358004841219247,0,0,-0.26742006338709279],"actions":[2,2,5,5,5,5,3,3,3,3,3,3,3,3,3,3,3,3,4,4,4,4,4,4,4],"reference_path":[[192.06263551704632,-35.16422857114401,-14.265646278858185,0,0,3.123762262028215],[192.06263551704632,-35.16422857114401,-14.265646278858185,0,0,2.8619628742290657],[192.06263551704632,-35.16422857114401,-14.265646278858185,0,0,2.6001634864299166],[192.06263551704632,-35.16422857114401,-12.265646278858185,0,0,2.6001634864299166],[192.06263551704632,-35.16422857114401,-10.265646278858185,0,0,2.6001634864299166],[192.06263551704632,-35.16422857114401,-8.265646278858185,0,0,2.6001634864299166],[192.06263551704632,-35.16422857114401,-6.265646278858185,0,0,2.6001634864299166],[192.06263551704632,-35.16422857114401,-6.265646278858185,0,0,2.8619628742290657],[192.06263551704632,-35.16422857114401,-6.265646278858185,0,0,3.1237622620282153],[192.06263551704632,-35.16422857114401,-6.265646278858185,0,0,-2.897623657352222],[192.06263551704632,-35.16422857114401,-6.265646278858185,0,0,-2.6358242695530727],[192.06263551704632,-35.16422857114401,-6.265646278858185,0,0,-2.374024881753923],[192.06263551704632,-35.16422857114401,-6.265646278858185,0,0,-2.112225493954774],[192.06263551704632,-35.16422857114401,-6.265646278858185,0,0,-1.8504261061556244],[192.06263551704632,-35.16422857114401,-6.265646278858185,0,0,-1.588626718356475],[192.06263551704632,-35.16422857114401,-6.265646278858185,0,0,-1.3268273305573257],[192.06263551704632,-35.16422857114401,-6.265646278858185,0,0,-1.0650279427581761],[192.06263551704632,-35.16422857114401,-6.265646278858185,0,0,-0.8032285549590268],[192.06263551704632,-35.16422857114401,-6.265646278858185,0,0,-0.5414291671598774],[192.06263551704632,-35.16422857114401,-8.265646278858185,0,0,-0.5414291671598774],[192.06263551704632,-35.16422857114401,-10.265646278858185,0,0,-0.5414291671598774],[192.06263551704632,-35.16422857114401,-12.265646278858185,0,0,-0.5414291671598774],[192.06263551704632,-35.16422857114401,-14.265646278858185,0,0,-0.5414291671598774],[192.06263551704632,-35.16422857114401,-16.265646278858185,0,0,-0.5414291671598774],[192.06263551704632,-35.16422857114401,-18.265646278858185,0,0,-0.5414291671598774]]},{"id":3,"instruction":"go forward toward the roof extension and then turn left and go forward.","completed_instruction":"Fly forward to the railing on the roof and then turn left to face the road and go past the pink and white buildings on the left side of the road.","start_frame":52,"end_frame":63,"start_position":[192.06263551704632,-35.16422857114401,-18.265646278858185],"start_rotation":[0.96358004841219247,0,0,-0.26742006338709279],"end_position":[193.58750234328292,-47.35261179749915,-22.265646278858185],"end_rotation":[0.70077476881125156,0,0,-0.71338259258096348],"actions":[4,4,1,2,2,2,2,2,1,1,3,1],"reference_path":[[192.06263551704632,-35.16422857114401,-18.265646278858185,0,0,-0.5414291671598774],[192.06263551704632,-35.16422857114401,-20.265646278858185,0,0,-0.5414291671598774],[192.06263551704632,-35.16422857114401,-22.265646278858185,0,0,-0.5414291671598774],[196.34750061402676,-37.741034947393274,-22.265646278858185,0,0,-0.5414291671598774],[196.34750061402676,-37.741034947393274,-22.265646278858185,0,0,-0.8032285549590269],[196.34750061402676,-37.741034947393274,-22.265646278858185,0,0,-1.0650279427581764],[196.34750061402676,-37.741034947393274,-22.265646278858185,0,0,-1.3268273305573257],[196.34750061402676,-37.741034947393274,-22.265646278858185,0,0,-1.588626718356475],[196.34750061402676,-37.741034947393274,-22.265646278858185,0,0,-1.8504261061556244],[194.96750147865484,-42.54682337244621,-22.265646278858185,0,0,-1.8504261061556244],[193.58750234328292,-47.35261179749915,-22.265646278858185,0,0,-1.8504261061556244],[193.58750234328292,-47.35261179749915,-22.265646278858185,0,0,-1.588626718356475]]},{"id":4,"instruction":"veer to the speaker perched on the roof on the other side of the stree.","completed_instruction":"Turn left to face the two satellites on the roof.","start_frame":63,"end_frame":69,"start_position":[193.58750234328292,-47.35261179749915,-22.265646278858185],"start_rotation":[0.70077476881125156,0,0,-0.71338259258096348],"end_position":[193.40920787533216,-57.35102222529707,-22.265646278858185],"end_rotation":[0.25019745583122915,0,0,-0.96819483219834435],"actions":[1,1,2,2,2,2,1],"reference_path":[[193.58750234328292,-47.35261179749915,-22.265646278858185,0,0,-1.588626718356475],[193.49835510930754,-52.35181701139811,-22.265646278858185,0,0,-1.588626718356475],[193.40920787533216,-57.35102222529707,-22.265646278858185,0,0,-1.588626718356475],[193.40920787533216,-57.35102222529707,-22.265646278858185,0,0,-1.8504261061556244],[193.40920787533216,-57.35102222529707,-22.265646278858185,0,0,-2.112225493954774],[193.40920787533216,-57.35102222529707,-22.265646278858185,0,0,-2.374024881753923],[193.40920787533216,-57.35102222529707,-22.265646278858185,0,0,-2.6358242695530727]]},{"id":5,"instruction":"turn right and go toward the last building at the edge of town.","completed_instruction":"Turn right to face the left side of the white building.","start_frame":69,"end_frame":77,"start_position":[193.40920787533216,-57.35102222529707,-22.265646278858185],"start_rotation":[0.25019745583122915,0,0,-0.96819483219834435],"end_position":[191.45759438202606,-64.14743339390257,-22.265646278858185],"end_rotation":[0.86153344901110462,0,0,-0.50770081370333686],"actions":[1,3,3,3,3,3,3,1,3],"reference_path":[[193.40920787533216,-57.35102222529707,-22.265646278858185,0,0,-2.6358242695530727],[189.03519554437636,-59.77342106294677,-22.265646278858185,0,0,-2.6358242695530727],[189.03519554437636,-59.77342106294677,-22.265646278858185,0,0,-2.374024881753923],[189.03519554437636,-59.77342106294677,-22.265646278858185,0,0,-2.112225493954774],[189.03519554437636,-59.77342106294677,-22.265646278858185,0,0,-1.8504261061556244],[189.03519554437636,-59.77342106294677,-22.265646278858185,0,0,-1.588626718356475],[189.03519554437636,-59.77342106294677,-22.265646278858185,0,0,-1.3268273305573257],[189.03519554437636,-59.77342106294677,-22.265646278858185,0,0,-1.0650279427581761],[191.45759438202606,-64.14743339390257,-22.265646278858185,0,0,-1.0650279427581761]]},{"id":6,"instruction":"descend downward to below the fat seafood sign and end there.","completed_instruction":"Fly down to below the shop sign that reads \"FAT SEAFOOD\" and land there.","start_frame":77,"end_frame":88,"start_position":[191.45759438202606,-64.14743339390257,-22.265646278858185],"start_rotation":[0.86153344901110462,0,0,-0.50770081370333686],"end_position":[191.45759438202606,-64.14743339390257,-4.265646278858185],"end_rotation":[0.96358004841219247,0,0,-0.26742006338709279],"actions":[3,3,5,5,5,5,5,5,5,5,5,0],"reference_path":[[191.45759438202606,-64.14743339390257,-22.265646278858185,0,0,-1.0650279427581761],[191.45759438202606,-64.14743339390257,-22.265646278858185,0,0,-0.8032285549590268],[191.45759438202606,-64.14743339390257,-22.265646278858185,0,0,-0.5414291671598774],[191.45759438202606,-64.14743339390257,-20.265646278858185,0,0,-0.5414291671598774],[191.45759438202606,-64.14743339390257,-18.265646278858185,0,0,-0.5414291671598774],[191.45759438202606,-64.14743339390257,-16.265646278858185,0,0,-0.5414291671598774],[191.45759438202606,-64.14743339390257,-14.265646278858185,0,0,-0.5414291671598774],[191.45759438202606,-64.14743339390257,-12.265646278858185,0,0,-0.5414291671598774],[191.45759438202606,-64.14743339390257,-10.265646278858185,0,0,-0.5414291671598774],[191.45759438202606,-64.14743339390257,-8.265646278858185,0,0,-0.5414291671598774],[191.45759438202606,-64.14743339390257,-6.265646278858185,0,0,-0.5414291671598774],[191.45759438202606,-64.14743339390257,-4.265646278858185,0,0,-0.5414291671598774]]}],"statistics":{"complete_actions":94,"sentence_actions":[11,18,25,12,7,9,12],"sentence_actions_average":13.43}}
diff --git a/scene_24/3QJOXOW4XSPGS55LAO6AEEX3SKUME0.json b/scene_24/3QJOXOW4XSPGS55LAO6AEEX3SKUME0.json
new file mode 100644
index 0000000000000000000000000000000000000000..df82f782db849e9bcb3bd2033c926c359bea0fd6
--- /dev/null
+++ b/scene_24/3QJOXOW4XSPGS55LAO6AEEX3SKUME0.json
@@ -0,0 +1 @@
+{"episode_id":"3QJOXOW4XSPGS55LAO6AEEX3SKUME0","trajectory_id":"3IHWR4LC8LBA118AM3HG5SZC62E8IO","scene_id":24,"instruction":"take off and turn left and move towards the road and turn right and climbs of the building. now go forward and goes down and near to the building and turn left and goes down to the building. now go forward and cross the road and shop and dust bin and move towards the road and climbs of the building and land in the air.","sentence_instructions":[{"id":0,"instruction":"take off and turn left and move towards the road and turn right and climbs of the building.","completed_instruction":"Take off, rise up to the same height as the front shop with red door, then turn left towards the intersection, fly to the middle of the intersection, and turn right to face the end of the road, and ascend to the same height as the front green building, then fly forward to the building.","start_frame":1,"end_frame":39,"start_position":[192.99388122558594,17.54991340637207,-0.3953145444393158],"start_rotation":[0.99982121651856959,0,0,-0.018908595911056834],"end_position":[214.7229259005767,-6.242535774687841,-22.395314544439316],"end_rotation":[0.97064703944496988,0,0,0.24050847140322318],"actions":[2,4,2,2,2,2,1,2,1,1,1,3,3,1,3,3,3,4,4,4,4,4,4,4,4,1,4,4,4,4,1,5,5,3,3,1,3,1,2],"reference_path":[[192.99388122558594,17.54991340637207,-0.3953145444393158,0,0,-0.03781944567969946],[192.99388122558594,17.54991340637207,-0.3953145444393158,0,0,-0.2996188334788489],[192.99388122558594,17.54991340637207,-2.395314544439316,0,0,-0.2996188334788489],[192.99388122558594,17.54991340637207,-2.395314544439316,0,0,-0.5614182212779982],[192.99388122558594,17.54991340637207,-2.395314544439316,0,0,-0.8232176090771477],[192.99388122558594,17.54991340637207,-2.395314544439316,0,0,-1.085016996876297],[192.99388122558594,17.54991340637207,-2.395314544439316,0,0,-1.3468163846754466],[194.10444072468727,12.674807499937234,-2.395314544439316,0,0,-1.3468163846754466],[194.10444072468727,12.674807499937234,-2.395314544439316,0,0,-1.608615772474596],[193.91538857102276,7.67838284993051,-2.395314544439316,0,0,-1.608615772474596],[193.72633641735825,2.681958199923786,-2.395314544439316,0,0,-1.608615772474596],[193.53728426369375,-2.3144664500829384,-2.395314544439316,0,0,-1.608615772474596],[193.53728426369375,-2.3144664500829384,-2.395314544439316,0,0,-1.3468163846754466],[193.53728426369375,-2.3144664500829384,-2.395314544439316,0,0,-1.085016996876297],[195.87177262098348,-6.736023201915788,-2.395314544439316,0,0,-1.085016996876297],[195.87177262098348,-6.736023201915788,-2.395314544439316,0,0,-0.8232176090771477],[195.87177262098348,-6.736023201915788,-2.395314544439316,0,0,-0.5614182212779982],[195.87177262098348,-6.736023201915788,-2.395314544439316,0,0,-0.2996188334788488],[195.87177262098348,-6.736023201915788,-4.395314544439316,0,0,-0.2996188334788488],[195.87177262098348,-6.736023201915788,-6.395314544439316,0,0,-0.2996188334788488],[195.87177262098348,-6.736023201915788,-8.395314544439316,0,0,-0.2996188334788488],[195.87177262098348,-6.736023201915788,-10.395314544439316,0,0,-0.2996188334788488],[195.87177262098348,-6.736023201915788,-12.395314544439316,0,0,-0.2996188334788488],[195.87177262098348,-6.736023201915788,-14.395314544439316,0,0,-0.2996188334788488],[195.87177262098348,-6.736023201915788,-16.395314544439316,0,0,-0.2996188334788488],[195.87177262098348,-6.736023201915788,-18.395314544439316,0,0,-0.2996188334788488],[200.64901793164626,-8.211803416497343,-18.395314544439316,0,0,-0.2996188334788488],[200.64901793164626,-8.211803416497343,-20.395314544439316,0,0,-0.2996188334788488],[200.64901793164626,-8.211803416497343,-22.395314544439316,0,0,-0.2996188334788488],[200.64901793164626,-8.211803416497343,-24.395314544439316,0,0,-0.2996188334788488],[200.64901793164626,-8.211803416497343,-26.395314544439316,0,0,-0.2996188334788488],[205.42626324230903,-9.687583631078898,-26.395314544439316,0,0,-0.2996188334788488],[205.42626324230903,-9.687583631078898,-24.395314544439316,0,0,-0.2996188334788488],[205.42626324230903,-9.687583631078898,-22.395314544439316,0,0,-0.2996188334788488],[205.42626324230903,-9.687583631078898,-22.395314544439316,0,0,-0.03781944567969939],[205.42626324230903,-9.687583631078898,-22.395314544439316,0,0,0.22397994211945005],[210.30136914874387,-8.577024131977579,-22.395314544439316,0,0,0.22397994211945005],[210.30136914874387,-8.577024131977579,-22.395314544439316,0,0,0.48577932991859946],[214.7229259005767,-6.242535774687841,-22.395314544439316,0,0,0.48577932991859946]]},{"id":1,"instruction":"now go forward and goes down and near to the building and turn left and goes down to the building.","completed_instruction":"Turn left to face the second pink building, then descend to the height close to the road surface.","start_frame":39,"end_frame":58,"start_position":[214.7229259005767,-6.242535774687841,-22.395314544439316],"start_rotation":[0.97064703944496988,0,0,0.24050847140322318],"end_position":[214.7229259005767,-6.242535774687841,-4.395314544439316],"end_rotation":[0.483535283850415,0,0,-0.87532487070327125],"actions":[2,2,2,2,2,2,2,2,2,2,5,5,5,5,5,5,5,5,5,5],"reference_path":[[214.7229259005767,-6.242535774687841,-22.395314544439316,0,0,0.48577932991859946],[214.7229259005767,-6.242535774687841,-22.395314544439316,0,0,0.22397994211945005],[214.7229259005767,-6.242535774687841,-22.395314544439316,0,0,-0.03781944567969939],[214.7229259005767,-6.242535774687841,-22.395314544439316,0,0,-0.2996188334788488],[214.7229259005767,-6.242535774687841,-22.395314544439316,0,0,-0.5614182212779982],[214.7229259005767,-6.242535774687841,-22.395314544439316,0,0,-0.8232176090771477],[214.7229259005767,-6.242535774687841,-22.395314544439316,0,0,-1.085016996876297],[214.7229259005767,-6.242535774687841,-22.395314544439316,0,0,-1.3468163846754466],[214.7229259005767,-6.242535774687841,-22.395314544439316,0,0,-1.608615772474596],[214.7229259005767,-6.242535774687841,-22.395314544439316,0,0,-1.8704151602737453],[214.7229259005767,-6.242535774687841,-22.395314544439316,0,0,-2.132214548072895],[214.7229259005767,-6.242535774687841,-20.395314544439316,0,0,-2.132214548072895],[214.7229259005767,-6.242535774687841,-18.395314544439316,0,0,-2.132214548072895],[214.7229259005767,-6.242535774687841,-16.395314544439316,0,0,-2.132214548072895],[214.7229259005767,-6.242535774687841,-14.395314544439316,0,0,-2.132214548072895],[214.7229259005767,-6.242535774687841,-12.395314544439316,0,0,-2.132214548072895],[214.7229259005767,-6.242535774687841,-10.395314544439316,0,0,-2.132214548072895],[214.7229259005767,-6.242535774687841,-8.395314544439316,0,0,-2.132214548072895],[214.7229259005767,-6.242535774687841,-6.395314544439316,0,0,-2.132214548072895],[214.7229259005767,-6.242535774687841,-4.395314544439316,0,0,-2.132214548072895]]},{"id":2,"instruction":"now go forward and cross the road and shop and dust bin and move towards the road and climbs of the building and land in the air.","completed_instruction":"Fly forward to the fence at the crossroad, move left to the front of the phone booth, then fly straight ahead, cross the yellow crosswalk to the other side of the road, turn right in front of the green mailbox until facing the large green trash can, and then ascend to the top floor of the pink building behind the trash can and stop there.","start_frame":58,"end_frame":86,"start_position":[214.7229259005767,-6.242535774687841,-4.395314544439316],"start_rotation":[0.483535283850415,0,0,-0.87532487070327125],"end_position":[194.95527566251766,-35.15680428192962,-22.395314544439316],"end_rotation":[0.9164783517275944,0,0,-0.40008427963951776],"actions":[5,5,1,6,1,6,1,1,1,1,3,3,3,3,1,4,4,4,4,4,4,4,4,4,4,4,1,3,0],"reference_path":[[214.7229259005767,-6.242535774687841,-4.395314544439316,0,0,-2.132214548072895],[214.7229259005767,-6.242535774687841,-2.395314544439316,0,0,-2.132214548072895],[214.7229259005767,-6.242535774687841,-0.3953145444393158,0,0,-2.132214548072895],[212.06098960785974,-10.475040372856181,-0.3953145444393158,0,0,-2.132214548072895],[207.8284850096914,-7.813104080139196,-0.3953145444393158,0,0,-2.132214548072895],[205.16654871697443,-12.045608678307538,-0.3953145444393158,0,0,-2.132214548072895],[200.9340441188061,-9.383672385590552,-0.3953145444393158,0,0,-2.132214548072895],[198.27210782608913,-13.616176983758894,-0.3953145444393158,0,0,-2.132214548072895],[195.61017153337215,-17.848681581927234,-0.3953145444393158,0,0,-2.132214548072895],[192.94823524065518,-22.081186180095575,-0.3953145444393158,0,0,-2.132214548072895],[190.2862989479382,-26.313690778263915,-0.3953145444393158,0,0,-2.132214548072895],[190.2862989479382,-26.313690778263915,-0.3953145444393158,0,0,-1.8704151602737453],[190.2862989479382,-26.313690778263915,-0.3953145444393158,0,0,-1.608615772474596],[190.2862989479382,-26.313690778263915,-0.3953145444393158,0,0,-1.3468163846754466],[190.2862989479382,-26.313690778263915,-0.3953145444393158,0,0,-1.085016996876297],[192.62078730522794,-30.735247530096764,-0.3953145444393158,0,0,-1.085016996876297],[192.62078730522794,-30.735247530096764,-2.395314544439316,0,0,-1.085016996876297],[192.62078730522794,-30.735247530096764,-4.395314544439316,0,0,-1.085016996876297],[192.62078730522794,-30.735247530096764,-6.395314544439316,0,0,-1.085016996876297],[192.62078730522794,-30.735247530096764,-8.395314544439316,0,0,-1.085016996876297],[192.62078730522794,-30.735247530096764,-10.395314544439316,0,0,-1.085016996876297],[192.62078730522794,-30.735247530096764,-12.395314544439316,0,0,-1.085016996876297],[192.62078730522794,-30.735247530096764,-14.395314544439316,0,0,-1.085016996876297],[192.62078730522794,-30.735247530096764,-16.395314544439316,0,0,-1.085016996876297],[192.62078730522794,-30.735247530096764,-18.395314544439316,0,0,-1.085016996876297],[192.62078730522794,-30.735247530096764,-20.395314544439316,0,0,-1.085016996876297],[192.62078730522794,-30.735247530096764,-22.395314544439316,0,0,-1.085016996876297],[194.95527566251766,-35.15680428192962,-22.395314544439316,0,0,-1.085016996876297],[194.95527566251766,-35.15680428192962,-22.395314544439316,0,0,-0.8232176090771477]]}],"statistics":{"complete_actions":88,"sentence_actions":[39,20,29],"sentence_actions_average":29.33}}
diff --git a/scene_24/3VNL7UK1XOHCBEV1EWRSIADVYT9TFU.json b/scene_24/3VNL7UK1XOHCBEV1EWRSIADVYT9TFU.json
new file mode 100644
index 0000000000000000000000000000000000000000..8b03670d0ef0f3c0dbf5759e74ec1d6caf68e6b9
--- /dev/null
+++ b/scene_24/3VNL7UK1XOHCBEV1EWRSIADVYT9TFU.json
@@ -0,0 +1 @@
+{"episode_id":"3VNL7UK1XOHCBEV1EWRSIADVYT9TFU","trajectory_id":"389A2A305WG169H7ZP8F1AVZAZI0CR","scene_id":24,"instruction":"float up above the street lights and turn around. go forward a bit and fall down to the road. go to the sidewalk on the left side of the road. turn right and go to the middle of the road just past the intersection. turn left and lift above the rooftops. go above the road to the left. go to the end of the road. look at the satellite on the pink building roof.","sentence_instructions":[{"id":0,"instruction":"float up above the street lights and turn around.","completed_instruction":"Fly up, ascend to the same altitude as the front red shed, and turn back towards the red billboard.","start_frame":1,"end_frame":13,"start_position":[216.11651611328125,-8.89354419708252,-0.9952113032341003],"start_rotation":[0.99994811729377875,0,0,-0.010186398805632487],"end_position":[216.11651611328125,-8.89354419708252,-6.9952113032341],"end_rotation":[0.37325257234647141,0,0,-0.92772976519929662],"actions":[4,4,4,2,2,2,2,2,2,2,2,2,2],"reference_path":[[216.11651611328125,-8.89354419708252,-0.9952113032341003,0,0,-0.0203731499505349],[216.11651611328125,-8.89354419708252,-2.9952113032341003,0,0,-0.0203731499505349],[216.11651611328125,-8.89354419708252,-4.9952113032341,0,0,-0.0203731499505349],[216.11651611328125,-8.89354419708252,-6.9952113032341,0,0,-0.0203731499505349],[216.11651611328125,-8.89354419708252,-6.9952113032341,0,0,-0.2821725377496843],[216.11651611328125,-8.89354419708252,-6.9952113032341,0,0,-0.5439719255488338],[216.11651611328125,-8.89354419708252,-6.9952113032341,0,0,-0.8057713133479832],[216.11651611328125,-8.89354419708252,-6.9952113032341,0,0,-1.0675707011471327],[216.11651611328125,-8.89354419708252,-6.9952113032341,0,0,-1.329370088946282],[216.11651611328125,-8.89354419708252,-6.9952113032341,0,0,-1.5911694767454314],[216.11651611328125,-8.89354419708252,-6.9952113032341,0,0,-1.8529688645445808],[216.11651611328125,-8.89354419708252,-6.9952113032341,0,0,-2.11476825234373],[216.11651611328125,-8.89354419708252,-6.9952113032341,0,0,-2.3765676401428797]]},{"id":1,"instruction":"go forward a bit and fall down to the road.","completed_instruction":"Fly down to the road in front of the billboard.","start_frame":13,"end_frame":28,"start_position":[216.11651611328125,-8.89354419708252,-6.9952113032341],"start_rotation":[0.37325257234647141,0,0,-0.92772976519929662],"end_position":[211.26152628048675,-10.08898291297808,-2.9952113032341003],"end_rotation":[0.12042016741621796,0,0,-0.99272301437986721],"actions":[2,2,1,4,4,4,4,4,5,5,5,5,5,5,5,2],"reference_path":[[216.11651611328125,-8.89354419708252,-6.9952113032341,0,0,-2.3765676401428797],[216.11651611328125,-8.89354419708252,-6.9952113032341,0,0,-2.6383670279420293],[216.11651611328125,-8.89354419708252,-6.9952113032341,0,0,-2.9001664157411784],[211.26152628048675,-10.08898291297808,-6.9952113032341,0,0,-2.9001664157411784],[211.26152628048675,-10.08898291297808,-8.9952113032341,0,0,-2.9001664157411784],[211.26152628048675,-10.08898291297808,-10.9952113032341,0,0,-2.9001664157411784],[211.26152628048675,-10.08898291297808,-12.9952113032341,0,0,-2.9001664157411784],[211.26152628048675,-10.08898291297808,-14.9952113032341,0,0,-2.9001664157411784],[211.26152628048675,-10.08898291297808,-16.9952113032341,0,0,-2.9001664157411784],[211.26152628048675,-10.08898291297808,-14.9952113032341,0,0,-2.9001664157411784],[211.26152628048675,-10.08898291297808,-12.9952113032341,0,0,-2.9001664157411784],[211.26152628048675,-10.08898291297808,-10.9952113032341,0,0,-2.9001664157411784],[211.26152628048675,-10.08898291297808,-8.9952113032341,0,0,-2.9001664157411784],[211.26152628048675,-10.08898291297808,-6.9952113032341,0,0,-2.9001664157411784],[211.26152628048675,-10.08898291297808,-4.9952113032341,0,0,-2.9001664157411784],[211.26152628048675,-10.08898291297808,-2.9952113032341003,0,0,-2.9001664157411784]]},{"id":2,"instruction":"go to the sidewalk on the left side of the road.","completed_instruction":"Go to the sidewalk on the left side of the road nearby the intersection.","start_frame":28,"end_frame":32,"start_position":[211.26152628048675,-10.08898291297808,-2.9952113032341003],"start_rotation":[0.12042016741621796,0,0,-0.99272301437986721],"end_position":[206.98322722462333,-7.501289502120034,-2.9952113032341003],"end_rotation":[0.26864492255327993,0,0,0.963239277431284],"actions":[2,2,2,1,1],"reference_path":[[211.26152628048675,-10.08898291297808,-2.9952113032341003,0,0,-2.9001664157411784],[211.26152628048675,-10.08898291297808,-2.9952113032341003,0,0,3.1212195036392583],[211.26152628048675,-10.08898291297808,-2.9952113032341003,0,0,2.8594201158401082],[211.26152628048675,-10.08898291297808,-2.9952113032341003,0,0,2.597620728040959],[206.98322722462333,-7.501289502120034,-2.9952113032341003,0,0,2.597620728040959]]},{"id":3,"instruction":"turn right and go to the middle of the road just past the intersection.","completed_instruction":"Turn right towards the white phone booth and fly to the middle of the road behind it.","start_frame":32,"end_frame":43,"start_position":[206.98322722462333,-7.501289502120034,-2.9952113032341003],"start_rotation":[0.26864492255327993,0,0,0.963239277431284],"end_position":[197.52954134704385,-13.47019420298883,-2.9952113032341003],"end_rotation":[0.49115237850813187,0,0,-0.87107367144565029],"actions":[1,2,3,3,3,3,3,3,3,1,1,1],"reference_path":[[206.98322722462333,-7.501289502120034,-2.9952113032341003,0,0,2.597620728040959],[202.70492816875992,-4.913596091261988,-2.9952113032341003,0,0,2.597620728040959],[202.70492816875992,-4.913596091261988,-2.9952113032341003,0,0,2.3358213402418095],[202.70492816875992,-4.913596091261988,-2.9952113032341003,0,0,2.597620728040959],[202.70492816875992,-4.913596091261988,-2.9952113032341003,0,0,2.8594201158401082],[202.70492816875992,-4.913596091261988,-2.9952113032341003,0,0,3.121219503639258],[202.70492816875992,-4.913596091261988,-2.9952113032341003,0,0,-2.9001664157411793],[202.70492816875992,-4.913596091261988,-2.9952113032341003,0,0,-2.6383670279420297],[202.70492816875992,-4.913596091261988,-2.9952113032341003,0,0,-2.37656764014288],[202.70492816875992,-4.913596091261988,-2.9952113032341003,0,0,-2.114768252343731],[200.11723475790188,-9.19189514712541,-2.9952113032341003,0,0,-2.114768252343731],[197.52954134704385,-13.47019420298883,-2.9952113032341003,0,0,-2.114768252343731]]},{"id":4,"instruction":"turn left and lift above the rooftops.","completed_instruction":"Turn left to face the no stopping sign and fly up to the same height as the rooftops.","start_frame":43,"end_frame":58,"start_position":[197.52954134704385,-13.47019420298883,-2.9952113032341003],"start_rotation":[0.49115237850813187,0,0,-0.87107367144565029],"end_position":[189.76646111446973,-26.305091370579092,-12.9952113032341],"end_rotation":[0.39207458307951454,0,0,0.91993343308253828],"actions":[1,1,1,2,2,2,2,2,2,2,4,4,4,4,4,4],"reference_path":[[197.52954134704385,-13.47019420298883,-2.9952113032341003,0,0,-2.114768252343731],[194.9418479361858,-17.74849325885225,-2.9952113032341003,0,0,-2.114768252343731],[192.35415452532777,-22.02679231471567,-2.9952113032341003,0,0,-2.114768252343731],[189.76646111446973,-26.305091370579092,-2.9952113032341003,0,0,-2.114768252343731],[189.76646111446973,-26.305091370579092,-2.9952113032341003,0,0,-2.3765676401428806],[189.76646111446973,-26.305091370579092,-2.9952113032341003,0,0,-2.63836702794203],[189.76646111446973,-26.305091370579092,-2.9952113032341003,0,0,-2.9001664157411797],[189.76646111446973,-26.305091370579092,-2.9952113032341003,0,0,3.121219503639257],[189.76646111446973,-26.305091370579092,-2.9952113032341003,0,0,2.8594201158401074],[189.76646111446973,-26.305091370579092,-2.9952113032341003,0,0,2.597620728040958],[189.76646111446973,-26.305091370579092,-2.9952113032341003,0,0,2.3358213402418087],[189.76646111446973,-26.305091370579092,-4.9952113032341,0,0,2.3358213402418087],[189.76646111446973,-26.305091370579092,-6.9952113032341,0,0,2.3358213402418087],[189.76646111446973,-26.305091370579092,-8.9952113032341,0,0,2.3358213402418087],[189.76646111446973,-26.305091370579092,-10.9952113032341,0,0,2.3358213402418087],[189.76646111446973,-26.305091370579092,-12.9952113032341,0,0,2.3358213402418087]]},{"id":5,"instruction":"go above the road to the left.","completed_instruction":"Fly along the roofs to the intersection, then turn right towards the end of the road.","start_frame":58,"end_frame":67,"start_position":[189.76646111446973,-26.305091370579092,-12.9952113032341],"start_rotation":[0.39207458307951454,0,0,0.91993343308253828],"end_position":[182.16943680491323,-13.04097240195594,-20.9952113032341],"end_rotation":[0.2686449225532806,0,0,0.9632392774312839],"actions":[4,4,6,1,1,4,4,3,1,3],"reference_path":[[189.76646111446973,-26.305091370579092,-12.9952113032341,0,0,2.3358213402418087],[189.76646111446973,-26.305091370579092,-14.9952113032341,0,0,2.3358213402418087],[189.76646111446973,-26.305091370579092,-16.9952113032341,0,0,2.3358213402418087],[193.37328628683716,-22.842316157548844,-16.9952113032341,0,0,2.3358213402418087],[189.9105110738069,-19.235490985181418,-16.9952113032341,0,0,2.3358213402418087],[186.44773586077665,-15.628665812813992,-16.9952113032341,0,0,2.3358213402418087],[186.44773586077665,-15.628665812813992,-18.9952113032341,0,0,2.3358213402418087],[186.44773586077665,-15.628665812813992,-20.9952113032341,0,0,2.3358213402418087],[186.44773586077665,-15.628665812813992,-20.9952113032341,0,0,2.597620728040958],[182.16943680491323,-13.04097240195594,-20.9952113032341,0,0,2.597620728040958]]},{"id":6,"instruction":"go to the end of the road.","completed_instruction":"fly to the end of the road.","start_frame":67,"end_frame":72,"start_position":[182.16943680491323,-13.04097240195594,-20.9952113032341],"start_rotation":[0.2686449225532806,0,0,0.9632392774312839],"end_position":[167.17254968653205,-12.735396292725044,-20.9952113032341],"end_rotation":[0.01018639880563319,0,0,0.99994811729377875],"actions":[3,3,1,1,1,2],"reference_path":[[182.16943680491323,-13.04097240195594,-20.9952113032341,0,0,2.597620728040958],[182.16943680491323,-13.04097240195594,-20.9952113032341,0,0,2.8594201158401074],[182.16943680491323,-13.04097240195594,-20.9952113032341,0,0,3.121219503639257],[177.1704744321195,-12.939113698878975,-20.9952113032341,0,0,3.121219503639257],[172.17151205932578,-12.83725499580201,-20.9952113032341,0,0,3.121219503639257],[167.17254968653205,-12.735396292725044,-20.9952113032341,0,0,3.121219503639257]]},{"id":7,"instruction":"look at the satellite on the pink building roof.","completed_instruction":"Stop in front of the satellite which is on the light brown building roof.","start_frame":72,"end_frame":75,"start_position":[167.17254968653205,-12.735396292725044,-20.9952113032341],"start_rotation":[0.01018639880563319,0,0,0.99994811729377875],"end_position":[162.37028579826907,-11.343181672960789,-20.9952113032341],"end_rotation":[0.01018639880563319,0,0,0.99994811729377875],"actions":[2,1,3,0],"reference_path":[[167.17254968653205,-12.735396292725044,-20.9952113032341,0,0,3.121219503639257],[167.17254968653205,-12.735396292725044,-20.9952113032341,0,0,2.8594201158401074],[162.37028579826907,-11.343181672960789,-20.9952113032341,0,0,2.8594201158401074],[162.37028579826907,-11.343181672960789,-20.9952113032341,0,0,3.121219503639257]]}],"statistics":{"complete_actions":82,"sentence_actions":[13,16,5,12,16,10,6,4],"sentence_actions_average":10.25}}
diff --git a/scene_24/3WRFBPLXRJMJ0PAOX54E82I66JXN3P.json b/scene_24/3WRFBPLXRJMJ0PAOX54E82I66JXN3P.json
new file mode 100644
index 0000000000000000000000000000000000000000..b3855ade936a0d48c9db22456bdf9ed3eb8028f9
--- /dev/null
+++ b/scene_24/3WRFBPLXRJMJ0PAOX54E82I66JXN3P.json
@@ -0,0 +1 @@
+{"episode_id":"3WRFBPLXRJMJ0PAOX54E82I66JXN3P","trajectory_id":"36MUZ9VAFE0A2R2F7S2565FLP04DEQ","scene_id":24,"instruction":"take off and next turn left towards a light pink edifice after that fly forward. turn right when close by the light pink edifice and next fly down a little. turn left towards a green edifice and next fly forward after that fly down until above the first floor. turn right towards a grey edifice and next fly forward. fly up until above the grey edifice and next fly forward a little after that fly down a little and stop there.","sentence_instructions":[{"id":0,"instruction":"take off and next turn left towards a light pink edifice after that fly forward.","completed_instruction":"Take off, turn left towards a light pink building, and fly forward over this light pink building until facing the white railing on the pink building.","start_frame":1,"end_frame":16,"start_position":[226.87049865722656,-7.888835906982422,-24.542165756225586],"start_rotation":[0.99993175372970644,0,0,-0.011682802875752503],"end_position":[209.59753020350726,-26.641024067216364,-26.542165756225586],"end_rotation":[0.48984827278704568,0,0,-0.8718077022185271],"actions":[4,2,2,2,2,2,2,2,2,1,1,1,1,6,1,1],"reference_path":[[226.87049865722656,-7.888835906982422,-24.542165756225586,0,0,-0.023366137304497533],[226.87049865722656,-7.888835906982422,-26.542165756225586,0,0,-0.023366137304497533],[226.87049865722656,-7.888835906982422,-26.542165756225586,0,0,-0.285165525103647],[226.87049865722656,-7.888835906982422,-26.542165756225586,0,0,-0.5469649129027965],[226.87049865722656,-7.888835906982422,-26.542165756225586,0,0,-0.8087643007019459],[226.87049865722656,-7.888835906982422,-26.542165756225586,0,0,-1.0705636885010954],[226.87049865722656,-7.888835906982422,-26.542165756225586,0,0,-1.332363076300245],[226.87049865722656,-7.888835906982422,-26.542165756225586,0,0,-1.5941624640993943],[226.87049865722656,-7.888835906982422,-26.542165756225586,0,0,-1.8559618518985437],[226.87049865722656,-7.888835906982422,-26.542165756225586,0,0,-2.117761239697693],[224.27001196075108,-12.159370878324307,-26.542165756225586,0,0,-2.117761239697693],[221.6695252642756,-16.42990584966619,-26.542165756225586,0,0,-2.117761239697693],[219.0690385678001,-20.700440821008076,-26.542165756225586,0,0,-2.117761239697693],[216.46855187132462,-24.97097579234996,-26.542165756225586,0,0,-2.117761239697693],[212.19801689998275,-22.37048909587448,-26.542165756225586,0,0,-2.117761239697693],[209.59753020350726,-26.641024067216364,-26.542165756225586,0,0,-2.117761239697693]]},{"id":1,"instruction":"turn right when close by the light pink edifice and next fly down a little.","completed_instruction":"Move left until you are off the small room on the roof, fly down near the roof.","start_frame":16,"end_frame":22,"start_position":[209.59753020350726,-26.641024067216364,-26.542165756225586],"start_rotation":[0.48984827278704568,0,0,-0.8718077022185271],"end_position":[199.59848130608293,-33.77551253221295,-26.542165756225586],"end_rotation":[0.78618715711126508,0,0,-0.61798847399713452],"actions":[1,1,3,6,3,3,5],"reference_path":[[209.59753020350726,-26.641024067216364,-26.542165756225586,0,0,-2.117761239697693],[206.99704350703178,-30.91155903855825,-26.542165756225586,0,0,-2.117761239697693],[204.3965568105563,-35.18209400990013,-26.542165756225586,0,0,-2.117761239697693],[204.3965568105563,-35.18209400990013,-26.542165756225586,0,0,-1.8559618518985437],[199.59848130608293,-33.77551253221295,-26.542165756225586,0,0,-1.8559618518985437],[199.59848130608293,-33.77551253221295,-26.542165756225586,0,0,-1.594162464099394],[199.59848130608293,-33.77551253221295,-26.542165756225586,0,0,-1.3323630763002448]]},{"id":2,"instruction":"turn left towards a green edifice and next fly forward after that fly down until above the first floor.","completed_instruction":"Turn left towards a green narrow building and fly to the front of it, then fly down until above the first floor.","start_frame":22,"end_frame":38,"start_position":[199.59848130608293,-33.77551253221295,-26.542165756225586],"start_rotation":[0.78618715711126508,0,0,-0.61798847399713452],"end_position":[194.80040580160957,-32.36893105452577,-12.542165756225586],"end_rotation":[0.1421001391718652,0,0,0.9898522871859905],"actions":[5,2,2,2,2,2,2,2,2,1,5,5,5,5,5,5,5],"reference_path":[[199.59848130608293,-33.77551253221295,-26.542165756225586,0,0,-1.3323630763002448],[199.59848130608293,-33.77551253221295,-24.542165756225586,0,0,-1.3323630763002448],[199.59848130608293,-33.77551253221295,-24.542165756225586,0,0,-1.5941624640993943],[199.59848130608293,-33.77551253221295,-24.542165756225586,0,0,-1.8559618518985437],[199.59848130608293,-33.77551253221295,-24.542165756225586,0,0,-2.117761239697693],[199.59848130608293,-33.77551253221295,-24.542165756225586,0,0,-2.379560627496842],[199.59848130608293,-33.77551253221295,-24.542165756225586,0,0,-2.6413600152959917],[199.59848130608293,-33.77551253221295,-24.542165756225586,0,0,-2.9031594030951413],[199.59848130608293,-33.77551253221295,-24.542165756225586,0,0,3.1182265162852953],[199.59848130608293,-33.77551253221295,-24.542165756225586,0,0,2.8564271284861458],[194.80040580160957,-32.36893105452577,-24.542165756225586,0,0,2.8564271284861458],[194.80040580160957,-32.36893105452577,-22.542165756225586,0,0,2.8564271284861458],[194.80040580160957,-32.36893105452577,-20.542165756225586,0,0,2.8564271284861458],[194.80040580160957,-32.36893105452577,-18.542165756225586,0,0,2.8564271284861458],[194.80040580160957,-32.36893105452577,-16.542165756225586,0,0,2.8564271284861458],[194.80040580160957,-32.36893105452577,-14.542165756225586,0,0,2.8564271284861458],[194.80040580160957,-32.36893105452577,-12.542165756225586,0,0,2.8564271284861458]]},{"id":3,"instruction":"turn right towards a grey edifice and next fly forward.","completed_instruction":"Turn right towards a construction site fenced off on the road and next fly forward to it.","start_frame":38,"end_frame":47,"start_position":[194.80040580160957,-32.36893105452577,-12.542165756225586],"start_rotation":[0.1421001391718652,0,0,0.9898522871859905],"end_position":[193.3938243239224,-37.167006558999134,-8.542165756225586],"end_rotation":[0.59945129262624941,0,0,-0.800411236658206],"actions":[5,5,3,3,3,3,3,3,1,1],"reference_path":[[194.80040580160957,-32.36893105452577,-12.542165756225586,0,0,2.8564271284861458],[194.80040580160957,-32.36893105452577,-10.542165756225586,0,0,2.8564271284861458],[194.80040580160957,-32.36893105452577,-8.542165756225586,0,0,2.8564271284861458],[194.80040580160957,-32.36893105452577,-8.542165756225586,0,0,3.1182265162852953],[194.80040580160957,-32.36893105452577,-8.542165756225586,0,0,-2.9031594030951418],[194.80040580160957,-32.36893105452577,-8.542165756225586,0,0,-2.641360015295992],[194.80040580160957,-32.36893105452577,-8.542165756225586,0,0,-2.379560627496843],[194.80040580160957,-32.36893105452577,-8.542165756225586,0,0,-2.117761239697694],[194.80040580160957,-32.36893105452577,-8.542165756225586,0,0,-1.8559618518985446],[193.3938243239224,-37.167006558999134,-8.542165756225586,0,0,-1.8559618518985446]]},{"id":4,"instruction":"fly up until above the grey edifice and next fly forward a little after that fly down a little and stop there.","completed_instruction":"Fly up until you are as high as the building on the left.","start_frame":47,"end_frame":58,"start_position":[193.3938243239224,-37.167006558999134,-8.542165756225586],"start_rotation":[0.59945129262624941,0,0,-0.800411236658206],"end_position":[190.46384131286771,-51.76179268911553,-22.542165756225586],"end_rotation":[0.69879753464932171,0,0,-0.71531951292274287],"actions":[1,1,3,4,4,4,4,4,4,4,1,0],"reference_path":[[193.3938243239224,-37.167006558999134,-8.542165756225586,0,0,-1.8559618518985446],[191.9872428462352,-41.9650820634725,-8.542165756225586,0,0,-1.8559618518985446],[190.58066136854802,-46.76315756794587,-8.542165756225586,0,0,-1.8559618518985446],[190.58066136854802,-46.76315756794587,-8.542165756225586,0,0,-1.594162464099395],[190.58066136854802,-46.76315756794587,-10.542165756225586,0,0,-1.594162464099395],[190.58066136854802,-46.76315756794587,-12.542165756225586,0,0,-1.594162464099395],[190.58066136854802,-46.76315756794587,-14.542165756225586,0,0,-1.594162464099395],[190.58066136854802,-46.76315756794587,-16.542165756225586,0,0,-1.594162464099395],[190.58066136854802,-46.76315756794587,-18.542165756225586,0,0,-1.594162464099395],[190.58066136854802,-46.76315756794587,-20.542165756225586,0,0,-1.594162464099395],[190.58066136854802,-46.76315756794587,-22.542165756225586,0,0,-1.594162464099395],[190.46384131286771,-51.76179268911553,-22.542165756225586,0,0,-1.594162464099395]]}],"statistics":{"complete_actions":62,"sentence_actions":[16,7,17,10,12],"sentence_actions_average":12.4}}
diff --git a/scene_3/._32AT8R96GU70FWFCKLH1U5IDOHNSU4.json b/scene_3/._32AT8R96GU70FWFCKLH1U5IDOHNSU4.json
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diff --git a/scene_3/._3Y5140Z9D6EYTD4KYNOTGXPRBGVPIB.json b/scene_3/._3Y5140Z9D6EYTD4KYNOTGXPRBGVPIB.json
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diff --git a/scene_3/308XBLVESR29II6T5501Z5LSXADRBS.json b/scene_3/308XBLVESR29II6T5501Z5LSXADRBS.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb861ac4f29ebaf199533d69ae96f9fe0739785d
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+++ b/scene_3/308XBLVESR29II6T5501Z5LSXADRBS.json
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+{"episode_id":"308XBLVESR29II6T5501Z5LSXADRBS","trajectory_id":"3IV1AEQ4EZB6WCSG4L2GHTECKXAJ8F","scene_id":3,"instruction":"go up and turn left to building and then right to trees. go over trees and down to building and turn left. go to roof and turn right then left and land next to the building.","sentence_instructions":[{"id":0,"instruction":"go up and turn left to building and then right to trees.","completed_instruction":"Fly up to the height of trees, turn left to face the tree in front of a brown building, fly forward to that tree, then turn right to face the park across the road, fly forward to the trees ahead.","start_frame":1,"end_frame":13,"start_position":[-25.075441360473633,6.72488260269165,-0.27789610624313354],"start_rotation":[0.999985422443952,0,0,0.0053995277192339531],"end_position":[-17.22142170576852,7.845296596995472,-6.2778961062431335],"end_rotation":[0.92179975480487308,0,0,0.38766636692093343],"actions":[4,4,2,2,1,3,3,3,3,3,4,1,1],"reference_path":[[-25.075441360473633,6.72488260269165,-0.27789610624313354,0,0,0.010799107913385862],[-25.075441360473633,6.72488260269165,-2.2778961062431335,0,0,0.010799107913385862],[-25.075441360473633,6.72488260269165,-4.2778961062431335,0,0,0.010799107913385862],[-25.075441360473633,6.72488260269165,-4.2778961062431335,0,0,-0.25100027988576357],[-25.075441360473633,6.72488260269165,-4.2778961062431335,0,0,-0.512799667684913],[-20.718569585351762,4.271788977257348,-4.2778961062431335,0,0,-0.512799667684913],[-20.718569585351762,4.271788977257348,-4.2778961062431335,0,0,-0.2510002798857636],[-20.718569585351762,4.271788977257348,-4.2778961062431335,0,0,0.010799107913385793],[-20.718569585351762,4.271788977257348,-4.2778961062431335,0,0,0.27259849571253525],[-20.718569585351762,4.271788977257348,-4.2778961062431335,0,0,0.5343978835116847],[-20.718569585351762,4.271788977257348,-4.2778961062431335,0,0,0.7961972713108342],[-20.718569585351762,4.271788977257348,-6.2778961062431335,0,0,0.7961972713108342],[-17.22142170576852,7.845296596995472,-6.2778961062431335,0,0,0.7961972713108342]]},{"id":1,"instruction":"go over trees and down to building and turn left.","completed_instruction":"Fly up above the trees, fly forward over the park to the shortest dark glass building across the road, turn left to face an intersection.","start_frame":13,"end_frame":29,"start_position":[-17.22142170576852,7.845296596995472,-6.2778961062431335],"start_rotation":[0.92179975480487308,0,0,0.38766636692093343],"end_position":[-0.21694060437285678,38.04648541144504,-2.2778961062431335],"end_rotation":[0.96451424484290071,0,0,0.26403081542715628],"actions":[1,3,3,1,2,1,4,1,1,1,1,5,5,5,2,2,2],"reference_path":[[-17.22142170576852,7.845296596995472,-6.2778961062431335,0,0,0.7961972713108342],[-13.724273826185279,11.418804216733596,-6.2778961062431335,0,0,0.7961972713108342],[-13.724273826185279,11.418804216733596,-6.2778961062431335,0,0,1.0579966591099836],[-13.724273826185279,11.418804216733596,-6.2778961062431335,0,0,1.319796046909133],[-12.48240873154437,16.262126535835694,-6.2778961062431335,0,0,1.319796046909133],[-12.48240873154437,16.262126535835694,-6.2778961062431335,0,0,1.0579966591099836],[-10.029315106110067,20.618998310957565,-6.2778961062431335,0,0,1.0579966591099836],[-10.029315106110067,20.618998310957565,-8.277896106243134,0,0,1.0579966591099836],[-7.576221480675764,24.975870086079436,-8.277896106243134,0,0,1.0579966591099836],[-5.123127855241462,29.332741861201306,-8.277896106243134,0,0,1.0579966591099836],[-2.6700342298071593,33.68961363632317,-8.277896106243134,0,0,1.0579966591099836],[-0.21694060437285678,38.04648541144504,-8.277896106243134,0,0,1.0579966591099836],[-0.21694060437285678,38.04648541144504,-6.2778961062431335,0,0,1.0579966591099836],[-0.21694060437285678,38.04648541144504,-4.2778961062431335,0,0,1.0579966591099836],[-0.21694060437285678,38.04648541144504,-2.2778961062431335,0,0,1.0579966591099836],[-0.21694060437285678,38.04648541144504,-2.2778961062431335,0,0,0.7961972713108342],[-0.21694060437285678,38.04648541144504,-2.2778961062431335,0,0,0.5343978835116847]]},{"id":2,"instruction":"go to roof and turn right then left and land next to the building.","completed_instruction":"Fly forward to the intersection, turn left to face a building with white longitudinal Flat noodles on the glass facade, fly forward to its short entrance hall roof, land on it.","start_frame":29,"end_frame":59,"start_position":[-0.21694060437285678,38.04648541144504,-2.2778961062431335],"start_rotation":[0.96451424484290071,0,0,0.26403081542715628],"end_position":[20.952020136959277,21.577840744949157,-2.2778961062431335],"end_rotation":[0.868712543110193,0,0,-0.49531658304868126],"actions":[2,1,2,2,2,1,1,2,2,1,1,4,1,3,3,3,3,3,3,3,3,2,2,2,2,2,2,2,2,5,0],"reference_path":[[-0.21694060437285678,38.04648541144504,-2.2778961062431335,0,0,0.5343978835116847],[-0.21694060437285678,38.04648541144504,-2.2778961062431335,0,0,0.27259849571253525],[4.598432110006176,39.392659850963895,-2.2778961062431335,0,0,0.27259849571253525],[4.598432110006176,39.392659850963895,-2.2778961062431335,0,0,0.010799107913385824],[4.598432110006176,39.392659850963895,-2.2778961062431335,0,0,-0.2510002798857636],[4.598432110006176,39.392659850963895,-2.2778961062431335,0,0,-0.5127996676849131],[8.955303885128044,36.93956622552959,-2.2778961062431335,0,0,-0.5127996676849131],[13.312175660249913,34.48647260009528,-2.2778961062431335,0,0,-0.5127996676849131],[13.312175660249913,34.48647260009528,-2.2778961062431335,0,0,-0.7745990554840626],[13.312175660249913,34.48647260009528,-2.2778961062431335,0,0,-1.036398443283212],[15.858790485819702,30.183595315046574,-2.2778961062431335,0,0,-1.036398443283212],[18.40540531138949,25.880718029997865,-2.2778961062431335,0,0,-1.036398443283212],[18.40540531138949,25.880718029997865,-4.2778961062431335,0,0,-1.036398443283212],[20.952020136959277,21.577840744949157,-4.2778961062431335,0,0,-1.036398443283212],[20.952020136959277,21.577840744949157,-4.2778961062431335,0,0,-0.7745990554840626],[20.952020136959277,21.577840744949157,-4.2778961062431335,0,0,-0.5127996676849133],[20.952020136959277,21.577840744949157,-4.2778961062431335,0,0,-0.2510002798857638],[20.952020136959277,21.577840744949157,-4.2778961062431335,0,0,0.010799107913385638],[20.952020136959277,21.577840744949157,-4.2778961062431335,0,0,0.2725984957125351],[20.952020136959277,21.577840744949157,-4.2778961062431335,0,0,0.5343978835116845],[20.952020136959277,21.577840744949157,-4.2778961062431335,0,0,0.796197271310834],[20.952020136959277,21.577840744949157,-4.2778961062431335,0,0,1.0579966591099834],[20.952020136959277,21.577840744949157,-4.2778961062431335,0,0,0.7961972713108341],[20.952020136959277,21.577840744949157,-4.2778961062431335,0,0,0.5343978835116847],[20.952020136959277,21.577840744949157,-4.2778961062431335,0,0,0.27259849571253525],[20.952020136959277,21.577840744949157,-4.2778961062431335,0,0,0.010799107913385824],[20.952020136959277,21.577840744949157,-4.2778961062431335,0,0,-0.2510002798857636],[20.952020136959277,21.577840744949157,-4.2778961062431335,0,0,-0.5127996676849131],[20.952020136959277,21.577840744949157,-4.2778961062431335,0,0,-0.7745990554840626],[20.952020136959277,21.577840744949157,-4.2778961062431335,0,0,-1.036398443283212],[20.952020136959277,21.577840744949157,-2.2778961062431335,0,0,-1.036398443283212]]}],"statistics":{"complete_actions":61,"sentence_actions":[13,17,31],"sentence_actions_average":20.33}}
diff --git a/scene_3/30BUDKLTXMTIKYKFIPPOXCMH5J35EF.json b/scene_3/30BUDKLTXMTIKYKFIPPOXCMH5J35EF.json
new file mode 100644
index 0000000000000000000000000000000000000000..5d5a89cfadc8505e2185cdabe152030f60fbc011
--- /dev/null
+++ b/scene_3/30BUDKLTXMTIKYKFIPPOXCMH5J35EF.json
@@ -0,0 +1 @@
+{"episode_id":"30BUDKLTXMTIKYKFIPPOXCMH5J35EF","trajectory_id":"3RHLQY6EE12SAP5MIMQSXJ3UC2E4DX","scene_id":3,"instruction":"go up and turn right and go to greenish building. turn right on gray roof and go down to tree level. go to street level and go passed the trees and onto green grass. turn left and go to street and then turn right and to to building being constructed.","sentence_instructions":[{"id":0,"instruction":"go up and turn right and go to greenish building.","completed_instruction":"Fly up until you can see the black platform at the narrowing point of the white building on the right, and turn right to face a tall black glass building featuring a grid-like facade, then fly forward to it.","start_frame":1,"end_frame":25,"start_position":[17.27764892578125,37.23603439331055,-0.1567239612340927],"start_rotation":[0.9996977898049354,0,0,0.024583105156328798],"end_position":[12.829877170576928,39.520181151644316,-26.156723961234093],"end_rotation":[0.23499537118753577,0,0,0.97199648945890349],"actions":[4,4,4,4,4,4,4,4,4,4,4,4,4,3,3,3,3,3,3,3,3,3,3,1,1],"reference_path":[[17.27764892578125,37.23603439331055,-0.1567239612340927,0,0,0.04917116375479144],[17.27764892578125,37.23603439331055,-2.1567239612340927,0,0,0.04917116375479144],[17.27764892578125,37.23603439331055,-4.156723961234093,0,0,0.04917116375479144],[17.27764892578125,37.23603439331055,-6.156723961234093,0,0,0.04917116375479144],[17.27764892578125,37.23603439331055,-8.156723961234093,0,0,0.04917116375479144],[17.27764892578125,37.23603439331055,-10.156723961234093,0,0,0.04917116375479144],[17.27764892578125,37.23603439331055,-12.156723961234093,0,0,0.04917116375479144],[17.27764892578125,37.23603439331055,-14.156723961234093,0,0,0.04917116375479144],[17.27764892578125,37.23603439331055,-16.156723961234093,0,0,0.04917116375479144],[17.27764892578125,37.23603439331055,-18.156723961234093,0,0,0.04917116375479144],[17.27764892578125,37.23603439331055,-20.156723961234093,0,0,0.04917116375479144],[17.27764892578125,37.23603439331055,-22.156723961234093,0,0,0.04917116375479144],[17.27764892578125,37.23603439331055,-24.156723961234093,0,0,0.04917116375479144],[17.27764892578125,37.23603439331055,-26.156723961234093,0,0,0.04917116375479144],[17.27764892578125,37.23603439331055,-26.156723961234093,0,0,0.3109705515539409],[17.27764892578125,37.23603439331055,-26.156723961234093,0,0,0.5727699393530903],[17.27764892578125,37.23603439331055,-26.156723961234093,0,0,0.8345693271522397],[17.27764892578125,37.23603439331055,-26.156723961234093,0,0,1.0963687149513892],[17.27764892578125,37.23603439331055,-26.156723961234093,0,0,1.3581681027505388],[17.27764892578125,37.23603439331055,-26.156723961234093,0,0,1.6199674905496884],[17.27764892578125,37.23603439331055,-26.156723961234093,0,0,1.8817668783488377],[17.27764892578125,37.23603439331055,-26.156723961234093,0,0,2.143566266147987],[17.27764892578125,37.23603439331055,-26.156723961234093,0,0,2.4053656539471366],[17.27764892578125,37.23603439331055,-26.156723961234093,0,0,2.667165041746286],[12.829877170576928,39.520181151644316,-26.156723961234093,0,0,2.667165041746286]]},{"id":1,"instruction":"turn right on gray roof and go down to tree level.","completed_instruction":"Turn right to face a brown building with windows, and fly down to the height of trees.","start_frame":25,"end_frame":47,"start_position":[12.829877170576928,39.520181151644316,-26.156723961234093],"start_rotation":[0.23499537118753577,0,0,0.97199648945890349],"end_position":[-0.26768133612279643,41.378664717236894,-6.156723961234093],"end_rotation":[0.72427596666693572,0,0,-0.68951020594961154],"actions":[1,1,1,3,3,3,3,3,3,3,3,1,5,5,5,5,5,5,5,5,5,5,5],"reference_path":[[12.829877170576928,39.520181151644316,-26.156723961234093,0,0,2.667165041746286],[8.382105415372607,41.804327909978085,-26.156723961234093,0,0,2.667165041746286],[3.934333660168284,44.088474668311854,-26.156723961234093,0,0,2.667165041746286],[-0.5134380950360384,46.37262142664562,-26.156723961234093,0,0,2.667165041746286],[-0.5134380950360384,46.37262142664562,-26.156723961234093,0,0,2.9289644295454353],[-0.5134380950360384,46.37262142664562,-26.156723961234093,0,0,-3.0924214898350013],[-0.5134380950360384,46.37262142664562,-26.156723961234093,0,0,-2.830622102035852],[-0.5134380950360384,46.37262142664562,-26.156723961234093,0,0,-2.5688227142367026],[-0.5134380950360384,46.37262142664562,-26.156723961234093,0,0,-2.307023326437553],[-0.5134380950360384,46.37262142664562,-26.156723961234093,0,0,-2.045223938638404],[-0.5134380950360384,46.37262142664562,-26.156723961234093,0,0,-1.7834245508392546],[-0.5134380950360384,46.37262142664562,-26.156723961234093,0,0,-1.5216251630401052],[-0.26768133612279643,41.378664717236894,-26.156723961234093,0,0,-1.5216251630401052],[-0.26768133612279643,41.378664717236894,-24.156723961234093,0,0,-1.5216251630401052],[-0.26768133612279643,41.378664717236894,-22.156723961234093,0,0,-1.5216251630401052],[-0.26768133612279643,41.378664717236894,-20.156723961234093,0,0,-1.5216251630401052],[-0.26768133612279643,41.378664717236894,-18.156723961234093,0,0,-1.5216251630401052],[-0.26768133612279643,41.378664717236894,-16.156723961234093,0,0,-1.5216251630401052],[-0.26768133612279643,41.378664717236894,-14.156723961234093,0,0,-1.5216251630401052],[-0.26768133612279643,41.378664717236894,-12.156723961234093,0,0,-1.5216251630401052],[-0.26768133612279643,41.378664717236894,-10.156723961234093,0,0,-1.5216251630401052],[-0.26768133612279643,41.378664717236894,-8.156723961234093,0,0,-1.5216251630401052],[-0.26768133612279643,41.378664717236894,-6.156723961234093,0,0,-1.5216251630401052]]},{"id":2,"instruction":"go to street level and go passed the trees and onto green grass.","completed_instruction":"Fly down close to the road and fly forward passing the trees and onto a green grass field.","start_frame":47,"end_frame":56,"start_position":[-0.26768133612279643,41.378664717236894,-6.156723961234093],"start_rotation":[0.72427596666693572,0,0,-0.68951020594961154],"end_position":[0.4695889406169229,26.39679458901071,-2.1567239612340927],"end_rotation":[0.52113848847175259,0,0,-0.85347212950006579],"actions":[5,5,3,2,1,1,1,2,2,1],"reference_path":[[-0.26768133612279643,41.378664717236894,-6.156723961234093,0,0,-1.5216251630401052],[-0.26768133612279643,41.378664717236894,-4.156723961234093,0,0,-1.5216251630401052],[-0.26768133612279643,41.378664717236894,-2.1567239612340927,0,0,-1.5216251630401052],[-0.26768133612279643,41.378664717236894,-2.1567239612340927,0,0,-1.259825775240956],[-0.26768133612279643,41.378664717236894,-2.1567239612340927,0,0,-1.5216251630401056],[-0.02192457720955665,36.384708007828166,-2.1567239612340927,0,0,-1.5216251630401056],[0.22383218170368313,31.39075129841944,-2.1567239612340927,0,0,-1.5216251630401056],[0.4695889406169229,26.39679458901071,-2.1567239612340927,0,0,-1.5216251630401056],[0.4695889406169229,26.39679458901071,-2.1567239612340927,0,0,-1.783424550839255],[0.4695889406169229,26.39679458901071,-2.1567239612340927,0,0,-2.0452239386384043]]},{"id":3,"instruction":"turn left and go to street and then turn right and to to building being constructed.","completed_instruction":"Turn left to face a tall black building right to a white building, fly forward passing trees to the street, then turn left to face a white building with green sheds, fly forward to it, then turn right to face a black building being constructed and land.","start_frame":56,"end_frame":79,"start_position":[0.4695889406169229,26.39679458901071,-2.1567239612340927],"start_rotation":[0.52113848847175259,0,0,-0.85347212950006579],"end_position":[-29.453943309842987,9.969428722952998,-2.1567239612340927],"end_rotation":[0.62808054368901634,0,0,-0.77814833459907229],"actions":[1,2,1,1,2,2,2,1,1,1,2,2,2,3,3,1,3,3,3,3,3,3,1,0],"reference_path":[[0.4695889406169229,26.39679458901071,-2.1567239612340927,0,0,-2.0452239386384043],[-1.8145578177168473,21.94902283380639,-2.1567239612340927,0,0,-2.0452239386384043],[-1.8145578177168473,21.94902283380639,-2.1567239612340927,0,0,-2.307023326437554],[-5.172042201141837,18.24398590888144,-2.1567239612340927,0,0,-2.307023326437554],[-8.529526584566826,14.538948983956494,-2.1567239612340927,0,0,-2.307023326437554],[-8.529526584566826,14.538948983956494,-2.1567239612340927,0,0,-2.5688227142367035],[-8.529526584566826,14.538948983956494,-2.1567239612340927,0,0,-2.830622102035853],[-8.529526584566826,14.538948983956494,-2.1567239612340927,0,0,-3.0924214898350026],[-13.523483293975556,14.293192225043256,-2.1567239612340927,0,0,-3.0924214898350026],[-18.517440003384284,14.047435466130018,-2.1567239612340927,0,0,-3.0924214898350026],[-23.51139671279301,13.80167870721678,-2.1567239612340927,0,0,-3.0924214898350026],[-23.51139671279301,13.80167870721678,-2.1567239612340927,0,0,2.9289644295454345],[-23.51139671279301,13.80167870721678,-2.1567239612340927,0,0,2.6671650417462853],[-23.51139671279301,13.80167870721678,-2.1567239612340927,0,0,2.405365653947136],[-23.51139671279301,13.80167870721678,-2.1567239612340927,0,0,2.667165041746286],[-23.51139671279301,13.80167870721678,-2.1567239612340927,0,0,2.9289644295454353],[-28.39879500344989,14.856827013609877,-2.1567239612340927,0,0,2.9289644295454353],[-28.39879500344989,14.856827013609877,-2.1567239612340927,0,0,-3.0924214898350013],[-28.39879500344989,14.856827013609877,-2.1567239612340927,0,0,-2.830622102035852],[-28.39879500344989,14.856827013609877,-2.1567239612340927,0,0,-2.5688227142367026],[-28.39879500344989,14.856827013609877,-2.1567239612340927,0,0,-2.307023326437553],[-28.39879500344989,14.856827013609877,-2.1567239612340927,0,0,-2.045223938638404],[-28.39879500344989,14.856827013609877,-2.1567239612340927,0,0,-1.7834245508392546],[-29.453943309842987,9.969428722952998,-2.1567239612340927,0,0,-1.7834245508392546]]}],"statistics":{"complete_actions":82,"sentence_actions":[25,23,10,24],"sentence_actions_average":20.5}}
diff --git a/scene_3/32AT8R96GU70FWFCKLH1U5IDOHNSU4.json b/scene_3/32AT8R96GU70FWFCKLH1U5IDOHNSU4.json
new file mode 100644
index 0000000000000000000000000000000000000000..3c12bba0a415192b9b9a53d78c5097ea33c9405e
--- /dev/null
+++ b/scene_3/32AT8R96GU70FWFCKLH1U5IDOHNSU4.json
@@ -0,0 +1 @@
+{"episode_id":"32AT8R96GU70FWFCKLH1U5IDOHNSU4","trajectory_id":"3JHB4BPSGS7NW4F343S3EQL9L1G9QQ","scene_id":3,"instruction":"fly over to the yellow taxi. take off above the trees to the building with the glass windows. fly to the cars on the road parked in front of the business office. fly to the road and look around.","sentence_instructions":[{"id":0,"instruction":"take off above the trees to the building with the glass windows.","completed_instruction":"Take off above the trees, fly forward to the white building with glass windows near an intersection.","start_frame":1,"end_frame":7,"start_position":[-12.530282020568848,30.128902435302734,-0.1728508323431015],"start_rotation":[0.9997085222608264,0,0,0.024142711510408782],"end_position":[-2.541939430950345,30.611615924251538,-8.172850832343102],"end_rotation":[0.9997085222608264,0,0,0.024142711510408782],"actions":[4,4,4,4,1,1,3],"reference_path":[[-12.530282020568848,30.128902435302734,-0.1728508323431015,0,0,0.04829011494317087],[-12.530282020568848,30.128902435302734,-2.1728508323431015,0,0,0.04829011494317087],[-12.530282020568848,30.128902435302734,-4.1728508323431015,0,0,0.04829011494317087],[-12.530282020568848,30.128902435302734,-6.1728508323431015,0,0,0.04829011494317087],[-12.530282020568848,30.128902435302734,-8.172850832343102,0,0,0.04829011494317087],[-7.536110725759596,30.370259179777136,-8.172850832343102,0,0,0.04829011494317087],[-2.541939430950345,30.611615924251538,-8.172850832343102,0,0,0.04829011494317087]]},{"id":1,"instruction":"fly to the cars on the road parked in front of the business office.","completed_instruction":"Turn left to face a brown building with windows, fly forward over the park to the trees on the left side of that building, then turn right to face the road, fly forward to the cars parked in front of the black glass business office with white vertical lines.","start_frame":7,"end_frame":36,"start_position":[-2.541939430950345,30.611615924251538,-8.172850832343102],"start_rotation":[0.9997085222608264,0,0,0.024142711510408782],"end_position":[2.7757983668945583,10.039947851644621,-8.172850832343102],"end_rotation":[0.98800462106378106,0,0,0.15442431400726525],"actions":[3,1,2,2,2,2,2,2,2,2,2,1,1,1,1,1,1,3,3,3,3,3,3,3,3,3,1,1,1,1],"reference_path":[[-2.541939430950345,30.611615924251538,-8.172850832343102,0,0,0.04829011494317087],[-2.541939430950345,30.611615924251538,-8.172850832343102,0,0,0.31008950274232033],[2.2195918814835096,32.137335282689364,-8.172850832343102,0,0,0.31008950274232033],[2.2195918814835096,32.137335282689364,-8.172850832343102,0,0,0.04829011494317088],[2.2195918814835096,32.137335282689364,-8.172850832343102,0,0,-0.21350927285597857],[2.2195918814835096,32.137335282689364,-8.172850832343102,0,0,-0.47530866065512806],[2.2195918814835096,32.137335282689364,-8.172850832343102,0,0,-0.7371080484542775],[2.2195918814835096,32.137335282689364,-8.172850832343102,0,0,-0.9989074362534269],[2.2195918814835096,32.137335282689364,-8.172850832343102,0,0,-1.2607068240525765],[2.2195918814835096,32.137335282689364,-8.172850832343102,0,0,-1.5225062118517259],[2.2195918814835096,32.137335282689364,-8.172850832343102,0,0,-1.7843055996508754],[2.2195918814835096,32.137335282689364,-8.172850832343102,0,0,-2.046104987450025],[-0.0684726938315765,27.691577698296328,-8.172850832343102,0,0,-2.046104987450025],[-2.3565372691466626,23.245820113903292,-8.172850832343102,0,0,-2.046104987450025],[-4.644601844461748,18.800062529510257,-8.172850832343102,0,0,-2.046104987450025],[-6.932666419776835,14.35430494511722,-8.172850832343102,0,0,-2.046104987450025],[-9.220730995091921,9.908547360724185,-8.172850832343102,0,0,-2.046104987450025],[-11.508795570407008,5.4627897763311495,-8.172850832343102,0,0,-2.046104987450025],[-11.508795570407008,5.4627897763311495,-8.172850832343102,0,0,-1.7843055996508757],[-11.508795570407008,5.4627897763311495,-8.172850832343102,0,0,-1.522506211851726],[-11.508795570407008,5.4627897763311495,-8.172850832343102,0,0,-1.2607068240525767],[-11.508795570407008,5.4627897763311495,-8.172850832343102,0,0,-0.9989074362534273],[-11.508795570407008,5.4627897763311495,-8.172850832343102,0,0,-0.7371080484542778],[-11.508795570407008,5.4627897763311495,-8.172850832343102,0,0,-0.47530866065512845],[-11.508795570407008,5.4627897763311495,-8.172850832343102,0,0,-0.21350927285597904],[-11.508795570407008,5.4627897763311495,-8.172850832343102,0,0,0.048290114943170384],[-11.508795570407008,5.4627897763311495,-8.172850832343102,0,0,0.31008950274231983],[-6.7472642579731525,6.988509134768973,-8.172850832343102,0,0,0.31008950274231983],[-1.9857329455392971,8.514228493206797,-8.172850832343102,0,0,0.31008950274231983],[2.7757983668945583,10.039947851644621,-8.172850832343102,0,0,0.31008950274231983]]},{"id":2,"instruction":"fly to the road and look around.","completed_instruction":"Turn left to face the road left to a dark black building, fly to the end of the road, turn back to face the road, then land in front of two yellow cars.","start_frame":36,"end_frame":80,"start_position":[2.7757983668945583,10.039947851644621,-8.172850832343102],"start_rotation":[0.98800462106378106,0,0,0.15442431400726525],"end_position":[15.65683790999217,-6.428532790027216,-2.1728508323431015],"end_rotation":[0.93284925790128492,0,0,-0.3602669316396136],"actions":[1,1,2,1,2,2,2,2,2,2,2,1,1,3,4,1,1,5,5,5,5,3,3,3,3,3,3,3,3,3,3,3,3,3,2,2,2,2,2,2,2,2,2,2,0],"reference_path":[[2.7757983668945583,10.039947851644621,-8.172850832343102,0,0,0.31008950274231983],[7.537329679328414,11.565667210082445,-8.172850832343102,0,0,0.31008950274231983],[12.298860991762268,13.091386568520269,-8.172850832343102,0,0,0.31008950274231983],[12.298860991762268,13.091386568520269,-8.172850832343102,0,0,0.04829011494317045],[17.29303228657152,13.332743312994669,-8.172850832343102,0,0,0.04829011494317045],[17.29303228657152,13.332743312994669,-8.172850832343102,0,0,-0.21350927285597898],[17.29303228657152,13.332743312994669,-8.172850832343102,0,0,-0.47530866065512845],[17.29303228657152,13.332743312994669,-8.172850832343102,0,0,-0.7371080484542778],[17.29303228657152,13.332743312994669,-8.172850832343102,0,0,-0.9989074362534273],[17.29303228657152,13.332743312994669,-8.172850832343102,0,0,-1.2607068240525767],[17.29303228657152,13.332743312994669,-8.172850832343102,0,0,-1.522506211851726],[17.29303228657152,13.332743312994669,-8.172850832343102,0,0,-1.7843055996508757],[16.233578353807445,8.446276556292979,-8.172850832343102,0,0,-1.7843055996508757],[15.17412442104337,3.5598097995912887,-8.172850832343102,0,0,-1.7843055996508757],[15.17412442104337,3.5598097995912887,-8.172850832343102,0,0,-1.522506211851726],[15.17412442104337,3.5598097995912887,-10.172850832343102,0,0,-1.522506211851726],[15.41548116551777,-1.4343614952179635,-10.172850832343102,0,0,-1.522506211851726],[15.65683790999217,-6.428532790027216,-10.172850832343102,0,0,-1.522506211851726],[15.65683790999217,-6.428532790027216,-8.172850832343102,0,0,-1.522506211851726],[15.65683790999217,-6.428532790027216,-6.1728508323431015,0,0,-1.522506211851726],[15.65683790999217,-6.428532790027216,-4.1728508323431015,0,0,-1.522506211851726],[15.65683790999217,-6.428532790027216,-2.1728508323431015,0,0,-1.522506211851726],[15.65683790999217,-6.428532790027216,-2.1728508323431015,0,0,-1.2607068240525767],[15.65683790999217,-6.428532790027216,-2.1728508323431015,0,0,-0.9989074362534273],[15.65683790999217,-6.428532790027216,-2.1728508323431015,0,0,-0.7371080484542778],[15.65683790999217,-6.428532790027216,-2.1728508323431015,0,0,-0.47530866065512845],[15.65683790999217,-6.428532790027216,-2.1728508323431015,0,0,-0.21350927285597904],[15.65683790999217,-6.428532790027216,-2.1728508323431015,0,0,0.048290114943170384],[15.65683790999217,-6.428532790027216,-2.1728508323431015,0,0,0.31008950274231983],[15.65683790999217,-6.428532790027216,-2.1728508323431015,0,0,0.5718888905414693],[15.65683790999217,-6.428532790027216,-2.1728508323431015,0,0,0.8336882783406188],[15.65683790999217,-6.428532790027216,-2.1728508323431015,0,0,1.0954876661397683],[15.65683790999217,-6.428532790027216,-2.1728508323431015,0,0,1.3572870539389177],[15.65683790999217,-6.428532790027216,-2.1728508323431015,0,0,1.619086441738067],[15.65683790999217,-6.428532790027216,-2.1728508323431015,0,0,1.8808858295372164],[15.65683790999217,-6.428532790027216,-2.1728508323431015,0,0,1.6190864417380668],[15.65683790999217,-6.428532790027216,-2.1728508323431015,0,0,1.3572870539389175],[15.65683790999217,-6.428532790027216,-2.1728508323431015,0,0,1.0954876661397681],[15.65683790999217,-6.428532790027216,-2.1728508323431015,0,0,0.8336882783406188],[15.65683790999217,-6.428532790027216,-2.1728508323431015,0,0,0.5718888905414694],[15.65683790999217,-6.428532790027216,-2.1728508323431015,0,0,0.31008950274232],[15.65683790999217,-6.428532790027216,-2.1728508323431015,0,0,0.04829011494317057],[15.65683790999217,-6.428532790027216,-2.1728508323431015,0,0,-0.21350927285597887],[15.65683790999217,-6.428532790027216,-2.1728508323431015,0,0,-0.4753086606551283],[15.65683790999217,-6.428532790027216,-2.1728508323431015,0,0,-0.7371080484542777]]}],"statistics":{"complete_actions":82,"sentence_actions":[7,30,45],"sentence_actions_average":27.33}}
diff --git a/scene_3/32UTUBMZ7PU1BPNAEP5B02AVFG1BVD.json b/scene_3/32UTUBMZ7PU1BPNAEP5B02AVFG1BVD.json
new file mode 100644
index 0000000000000000000000000000000000000000..74d8819b794ae36d1f54e17a64bbcb191e00d3a0
--- /dev/null
+++ b/scene_3/32UTUBMZ7PU1BPNAEP5B02AVFG1BVD.json
@@ -0,0 +1 @@
+{"episode_id":"32UTUBMZ7PU1BPNAEP5B02AVFG1BVD","trajectory_id":"3R868ACW50ABP63255HQX0J0QPWZGD","scene_id":3,"instruction":"take off and turn left. follow the sidewalk. bear right at the corner of the park. turn left and fly across the park to the intersection. turn left and fly across to the next intersection. turn right and go forward. stop on the right lane of the street.","sentence_instructions":[{"id":0,"instruction":"take off and turn left.","completed_instruction":"Turn left to face the sidewalk.","start_frame":1,"end_frame":3,"start_position":[-15.284477233886719,38.68547058105469,-0.24036730825901031],"start_rotation":[0.99998136927242764,0,0,-0.0061041877461848887],"end_position":[-15.284477233886719,38.68547058105469,-0.24036730825901031],"end_rotation":[0.96432795034454954,0,0,-0.26471041570795817],"actions":[2,2,2],"reference_path":[[-15.284477233886719,38.68547058105469,-0.24036730825901031,0,0,-0.012208451309907423],[-15.284477233886719,38.68547058105469,-0.24036730825901031,0,0,-0.27400783910905685],[-15.284477233886719,38.68547058105469,-0.24036730825901031,0,0,-0.5358072269082063]]},{"id":1,"instruction":"follow the sidewalk.","completed_instruction":"Follow the sidewalk to the footpath, go forward until you can see iron fences on the right.","start_frame":3,"end_frame":10,"start_position":[-15.284477233886719,38.68547058105469,-0.24036730825901031],"start_rotation":[0.96432795034454954,0,0,-0.26471041570795817],"end_position":[-14.110480014847395,28.840775469262688,-0.24036730825901031],"end_rotation":[0.60390730960217953,0,0,-0.79705455359658861],"actions":[2,2,2,1,2,1,2,1],"reference_path":[[-15.284477233886719,38.68547058105469,-0.24036730825901031,0,0,-0.5358072269082063],[-15.284477233886719,38.68547058105469,-0.24036730825901031,0,0,-0.7976066147073557],[-15.284477233886719,38.68547058105469,-0.24036730825901031,0,0,-1.0594060025065053],[-15.284477233886719,38.68547058105469,-0.24036730825901031,0,0,-1.3212053903056546],[-14.049439274640134,33.84040285818228,-0.24036730825901031,0,0,-1.3212053903056546],[-14.049439274640134,33.84040285818228,-0.24036730825901031,0,0,-1.5830047781048042],[-14.110480014847395,28.840775469262688,-0.24036730825901031,0,0,-1.5830047781048042],[-14.110480014847395,28.840775469262688,-0.24036730825901031,0,0,-1.8448041659039536]]},{"id":2,"instruction":"bear right at the corner of the park.","completed_instruction":"Turn right facing a paved pathway with stone barriers on both sides.","start_frame":10,"end_frame":17,"start_position":[-14.110480014847395,28.840775469262688,-0.24036730825901031],"start_rotation":[0.60390730960217953,0,0,-0.79705455359658861],"end_position":[-15.463439628937968,24.027304758575866,-0.24036730825901031],"end_rotation":[0.99062963365158929,0,0,-0.13657572599593937],"actions":[1,3,3,3,3,3,3,3],"reference_path":[[-14.110480014847395,28.840775469262688,-0.24036730825901031,0,0,-1.8448041659039536],[-15.463439628937968,24.027304758575866,-0.24036730825901031,0,0,-1.8448041659039536],[-15.463439628937968,24.027304758575866,-0.24036730825901031,0,0,-1.5830047781048042],[-15.463439628937968,24.027304758575866,-0.24036730825901031,0,0,-1.3212053903056549],[-15.463439628937968,24.027304758575866,-0.24036730825901031,0,0,-1.0594060025065053],[-15.463439628937968,24.027304758575866,-0.24036730825901031,0,0,-0.7976066147073558],[-15.463439628937968,24.027304758575866,-0.24036730825901031,0,0,-0.5358072269082065],[-15.463439628937968,24.027304758575866,-0.24036730825901031,0,0,-0.27400783910905707]]},{"id":3,"instruction":"turn left and fly across the park to the intersection.","completed_instruction":"Fly up slightly above the fences, fly forward to the right side of the park to the nearest yellow car on the road.","start_frame":17,"end_frame":23,"start_position":[-15.463439628937968,24.027304758575866,-0.24036730825901031],"start_rotation":[0.99062963365158929,0,0,-0.13657572599593937],"end_position":[-2.382465533844588,31.368157346899377,-0.24036730825901031],"end_rotation":[0.96748771043173776,0,0,0.25291803052284356],"actions":[3,3,3,1,1,1,1],"reference_path":[[-15.463439628937968,24.027304758575866,-0.24036730825901031,0,0,-0.27400783910905707],[-15.463439628937968,24.027304758575866,-0.24036730825901031,0,0,-0.012208451309907624],[-15.463439628937968,24.027304758575866,-0.24036730825901031,0,0,0.2495909364892418],[-15.463439628937968,24.027304758575866,-0.24036730825901031,0,0,0.5113903242883913],[-11.103114930573508,26.47425562135037,-0.24036730825901031,0,0,0.5113903242883913],[-6.742790232209048,28.921206484124873,-0.24036730825901031,0,0,0.5113903242883913],[-2.382465533844588,31.368157346899377,-0.24036730825901031,0,0,0.5113903242883913]]},{"id":4,"instruction":"turn left and fly across to the next intersection.","completed_instruction":"Turn left to face white and white bollards, fly across the bollards to a building with white longitudinal Flat noodles on the glass facade, at the front of the building turn left to face the road, then fly forward to an intersection.","start_frame":23,"end_frame":36,"start_position":[-2.382465533844588,31.368157346899377,-0.24036730825901031],"start_rotation":[0.96748771043173776,0,0,0.25291803052284356],"end_position":[14.914074410454427,18.3360172544826,-0.24036730825901031],"end_rotation":[0.78962256548597853,0,0,-0.61359286507858091],"actions":[1,1,2,2,2,2,2,2,1,1,1,2,1,1],"reference_path":[[-2.382465533844588,31.368157346899377,-0.24036730825901031,0,0,0.5113903242883913],[1.977859164519872,33.81510820967388,-0.24036730825901031,0,0,0.5113903242883913],[6.338183862884332,36.26205907244838,-0.24036730825901031,0,0,0.5113903242883913],[6.338183862884332,36.26205907244838,-0.24036730825901031,0,0,0.24959093648924188],[6.338183862884332,36.26205907244838,-0.24036730825901031,0,0,-0.012208451309907564],[6.338183862884332,36.26205907244838,-0.24036730825901031,0,0,-0.274007839109057],[6.338183862884332,36.26205907244838,-0.24036730825901031,0,0,-0.5358072269082065],[6.338183862884332,36.26205907244838,-0.24036730825901031,0,0,-0.7976066147073559],[6.338183862884332,36.26205907244838,-0.24036730825901031,0,0,-1.0594060025065053],[8.785134725658835,31.901734374083922,-0.24036730825901031,0,0,-1.0594060025065053],[11.232085588433339,27.541409675719464,-0.24036730825901031,0,0,-1.0594060025065053],[13.679036451207843,23.181084977355006,-0.24036730825901031,0,0,-1.0594060025065053],[13.679036451207843,23.181084977355006,-0.24036730825901031,0,0,-1.3212053903056546],[14.914074410454427,18.3360172544826,-0.24036730825901031,0,0,-1.3212053903056546]]},{"id":5,"instruction":"turn right and go forward.","completed_instruction":"Turn right to face the sidewalk, fly onto the sidewalk and land.","start_frame":36,"end_frame":38,"start_position":[14.914074410454427,18.3360172544826,-0.24036730825901031],"start_rotation":[0.78962256548597853,0,0,-0.61359286507858091],"end_position":[16.14911236970101,13.49094953161019,-0.24036730825901031],"end_rotation":[0.86295717522797755,0,0,-0.5052770662938797],"actions":[1,3,3],"reference_path":[[14.914074410454427,18.3360172544826,-0.24036730825901031,0,0,-1.3212053903056546],[16.14911236970101,13.49094953161019,-0.24036730825901031,0,0,-1.3212053903056546],[16.14911236970101,13.49094953161019,-0.24036730825901031,0,0,-1.0594060025065053]]}],"statistics":{"complete_actions":43,"sentence_actions":[3,8,8,7,14,3],"sentence_actions_average":7.17}}
diff --git a/scene_3/33LK57MYL23H1V9MQ8G9BXXSTRWSZA.json b/scene_3/33LK57MYL23H1V9MQ8G9BXXSTRWSZA.json
new file mode 100644
index 0000000000000000000000000000000000000000..d96cab8915dc6cb2cc1ee12926fff6d09a8899d5
--- /dev/null
+++ b/scene_3/33LK57MYL23H1V9MQ8G9BXXSTRWSZA.json
@@ -0,0 +1 @@
+{"episode_id":"33LK57MYL23H1V9MQ8G9BXXSTRWSZA","trajectory_id":"3N2YPY1GJEWWW821YD2ZCRLST77VEA","scene_id":3,"instruction":"take off and turn left move between the white towers. now turn left move forward closely to the blue tower. now turn right move forward slow down behind brown building and stay there.","sentence_instructions":[{"id":0,"instruction":"take off and turn left move between the white towers.","completed_instruction":"Turn left to face a brown building with windows, fly up to the height of trees, fly forward over a roof to that building, turn left to face an intersection, then fly forward to it.","start_frame":1,"end_frame":28,"start_position":[23.38324737548828,24.798795700073242,-0.3869688808917999],"start_rotation":[0.999870019217569,0,0,0.016122799690440739],"end_position":[-15.02474382271303,3.3716587128375295,-8.3869688808918],"end_rotation":[0.11452435941941261,0,0,0.99342044024651177],"actions":[4,2,2,2,2,2,2,4,2,2,2,4,1,1,1,6,1,1,1,2,1,2,4,2,1,1,2,1],"reference_path":[[23.38324737548828,24.798795700073242,-0.3869688808917999,0,0,0.032246996556269954],[23.38324737548828,24.798795700073242,-2.3869688808918,0,0,0.032246996556269954],[23.38324737548828,24.798795700073242,-2.3869688808918,0,0,-0.22955239124287946],[23.38324737548828,24.798795700073242,-2.3869688808918,0,0,-0.4913517790420289],[23.38324737548828,24.798795700073242,-2.3869688808918,0,0,-0.7531511668411783],[23.38324737548828,24.798795700073242,-2.3869688808918,0,0,-1.0149505546403277],[23.38324737548828,24.798795700073242,-2.3869688808918,0,0,-1.276749942439477],[23.38324737548828,24.798795700073242,-2.3869688808918,0,0,-1.5385493302386266],[23.38324737548828,24.798795700073242,-4.3869688808918,0,0,-1.5385493302386266],[23.38324737548828,24.798795700073242,-4.3869688808918,0,0,-1.800348718037776],[23.38324737548828,24.798795700073242,-4.3869688808918,0,0,-2.0621481058369255],[23.38324737548828,24.798795700073242,-4.3869688808918,0,0,-2.323947493636075],[23.38324737548828,24.798795700073242,-6.3869688808918,0,0,-2.323947493636075],[19.963542147359288,21.151109289112558,-6.3869688808918,0,0,-2.323947493636075],[16.543836919230294,17.503422878151873,-6.3869688808918,0,0,-2.323947493636075],[13.1241316911013,13.85573646719119,-6.3869688808918,0,0,-2.323947493636075],[9.476445280140616,17.27544169532018,-6.3869688808918,0,0,-2.323947493636075],[6.056740052011624,13.627755284359495,-6.3869688808918,0,0,-2.323947493636075],[2.6370348238826313,9.98006887339881,-6.3869688808918,0,0,-2.323947493636075],[-0.7826704042463613,6.332382462438126,-6.3869688808918,0,0,-2.323947493636075],[-0.7826704042463613,6.332382462438126,-6.3869688808918,0,0,-2.5857468814352242],[-5.02994271611019,3.694072793563964,-6.3869688808918,0,0,-2.5857468814352242],[-5.02994271611019,3.694072793563964,-6.3869688808918,0,0,-2.847546269234374],[-5.02994271611019,3.694072793563964,-8.3869688808918,0,0,-2.847546269234374],[-5.02994271611019,3.694072793563964,-8.3869688808918,0,0,-3.109345657033524],[-10.02734326941161,3.532865753200747,-8.3869688808918,0,0,-3.109345657033524],[-15.02474382271303,3.3716587128375295,-8.3869688808918,0,0,-3.109345657033524],[-15.02474382271303,3.3716587128375295,-8.3869688808918,0,0,2.9120402623469133]]},{"id":1,"instruction":"now turn left move forward closely to the blue tower.","completed_instruction":"Turn left to face a sleek dark blue glass skyscraper left to an intersection, move forward to this building.","start_frame":28,"end_frame":42,"start_position":[-15.02474382271303,3.3716587128375295,-8.3869688808918],"start_rotation":[0.11452435941941261,0,0,0.99342044024651177],"end_position":[-12.966972822568195,27.68947226504042,-8.3869688808918],"end_rotation":[0.85785143727962943,0,0,0.513897763720834],"actions":[1,1,2,2,2,2,2,2,2,1,1,1,1,1,1],"reference_path":[[-15.02474382271303,3.3716587128375295,-8.3869688808918,0,0,2.9120402623469133],[-19.893585533708762,4.509367108371356,-8.3869688808918,0,0,2.9120402623469133],[-24.762427244704494,5.647075503905182,-8.3869688808918,0,0,2.9120402623469133],[-24.762427244704494,5.647075503905182,-8.3869688808918,0,0,2.6502408745477637],[-24.762427244704494,5.647075503905182,-8.3869688808918,0,0,2.3884414867486146],[-24.762427244704494,5.647075503905182,-8.3869688808918,0,0,2.126642098949465],[-24.762427244704494,5.647075503905182,-8.3869688808918,0,0,1.8648427111503156],[-24.762427244704494,5.647075503905182,-8.3869688808918,0,0,1.603043323351166],[-24.762427244704494,5.647075503905182,-8.3869688808918,0,0,1.3412439355520167],[-24.762427244704494,5.647075503905182,-8.3869688808918,0,0,1.0794445477528674],[-22.403336360277233,10.055554856132229,-8.3869688808918,0,0,1.0794445477528674],[-20.044245475849973,14.464034208359276,-8.3869688808918,0,0,1.0794445477528674],[-17.685154591422712,18.872513560586324,-8.3869688808918,0,0,1.0794445477528674],[-15.326063706995454,23.28099291281337,-8.3869688808918,0,0,1.0794445477528674],[-12.966972822568195,27.68947226504042,-8.3869688808918,0,0,1.0794445477528674]]},{"id":2,"instruction":"now turn right move forward slow down behind brown building and stay there.","completed_instruction":"Turn right to face a white building near an intersection, move forward to this building, then turn right to face a brown building with windows, fly forward to the building, land in front of it.","start_frame":42,"end_frame":66,"start_position":[-12.966972822568195,27.68947226504042,-8.3869688808918],"start_rotation":[0.85785143727962943,0,0,0.513897763720834],"end_position":[-30.660018786981095,10.70900075314368,-2.3869688808918],"end_rotation":[0.51389776372083407,0,0,-0.85785143727962931],"actions":[1,1,3,3,3,3,3,3,3,3,3,3,1,1,3,1,1,3,1,1,1,5,5,5,0],"reference_path":[[-12.966972822568195,27.68947226504042,-8.3869688808918,0,0,1.0794445477528674],[-10.607881938140936,32.09795161726747,-8.3869688808918,0,0,1.0794445477528674],[-8.248791053713678,36.50643096949452,-8.3869688808918,0,0,1.0794445477528674],[-8.248791053713678,36.50643096949452,-8.3869688808918,0,0,1.3412439355520167],[-8.248791053713678,36.50643096949452,-8.3869688808918,0,0,1.603043323351166],[-8.248791053713678,36.50643096949452,-8.3869688808918,0,0,1.8648427111503156],[-8.248791053713678,36.50643096949452,-8.3869688808918,0,0,2.126642098949465],[-8.248791053713678,36.50643096949452,-8.3869688808918,0,0,2.3884414867486146],[-8.248791053713678,36.50643096949452,-8.3869688808918,0,0,2.6502408745477637],[-8.248791053713678,36.50643096949452,-8.3869688808918,0,0,2.9120402623469133],[-8.248791053713678,36.50643096949452,-8.3869688808918,0,0,-3.109345657033524],[-8.248791053713678,36.50643096949452,-8.3869688808918,0,0,-2.8475462692343743],[-8.248791053713678,36.50643096949452,-8.3869688808918,0,0,-2.5857468814352247],[-12.496063365577507,33.86812130062036,-8.3869688808918,0,0,-2.5857468814352247],[-16.743335677441337,31.2298116317462,-8.3869688808918,0,0,-2.5857468814352247],[-16.743335677441337,31.2298116317462,-8.3869688808918,0,0,-2.323947493636075],[-20.16304090557033,27.582125220785514,-8.3869688808918,0,0,-2.323947493636075],[-23.582746133699324,23.93443880982483,-8.3869688808918,0,0,-2.323947493636075],[-23.582746133699324,23.93443880982483,-8.3869688808918,0,0,-2.0621481058369255],[-25.94183701812658,19.52595945759778,-8.3869688808918,0,0,-2.0621481058369255],[-28.300927902553838,15.11748010537073,-8.3869688808918,0,0,-2.0621481058369255],[-30.660018786981095,10.70900075314368,-8.3869688808918,0,0,-2.0621481058369255],[-30.660018786981095,10.70900075314368,-6.3869688808918,0,0,-2.0621481058369255],[-30.660018786981095,10.70900075314368,-4.3869688808918,0,0,-2.0621481058369255],[-30.660018786981095,10.70900075314368,-2.3869688808918,0,0,-2.0621481058369255]]}],"statistics":{"complete_actions":68,"sentence_actions":[28,15,25],"sentence_actions_average":22.67}}
diff --git a/scene_3/34MAJL3QPDLXEH0IF0PI9TC6IHT34Y.json b/scene_3/34MAJL3QPDLXEH0IF0PI9TC6IHT34Y.json
new file mode 100644
index 0000000000000000000000000000000000000000..86dd3f9b9e6d9a141e2ae8bc31da7049cabb81a8
--- /dev/null
+++ b/scene_3/34MAJL3QPDLXEH0IF0PI9TC6IHT34Y.json
@@ -0,0 +1 @@
+{"episode_id":"34MAJL3QPDLXEH0IF0PI9TC6IHT34Y","trajectory_id":"3TKXBROM618ZLI4TD7E7UI8QNTFJIN","scene_id":3,"instruction":"go up and turn right and go passed trees and turn left and dark over trees. turn around and go to white building. turn left and go over park again. go down to street and turn right and land next to the taxi.","sentence_instructions":[{"id":0,"instruction":"go up and turn right and go passed trees and turn left and dark over trees.","completed_instruction":"Take up to the height of trees, turn right to face a black building with grids on the right side of the park, fly forward to it, then turn left to face a dark black building right to a brown building, go forward pass trees to an intersection near that building.","start_frame":1,"end_frame":28,"start_position":[-32.92213821411133,6.22611665725708,-0.18973933160305023],"start_rotation":[0.99988144079466512,0,0,0.015398193218185821],"end_position":[-1.4440285679375071,17.8075074676675,-10.18973933160305],"end_rotation":[0.92966263152104334,0,0,-0.3684119861695177],"actions":[4,4,4,3,3,3,1,1,1,1,7,1,1,1,2,2,2,2,2,2,4,1,1,1,6,4,1,1],"reference_path":[[-32.92213821411133,6.22611665725708,-0.18973933160305023,0,0,0.03079760355912664],[-32.92213821411133,6.22611665725708,-2.1897393316030502,0,0,0.03079760355912664],[-32.92213821411133,6.22611665725708,-4.18973933160305,0,0,0.03079760355912664],[-32.92213821411133,6.22611665725708,-6.18973933160305,0,0,0.03079760355912664],[-32.92213821411133,6.22611665725708,-6.18973933160305,0,0,0.29259699135827605],[-32.92213821411133,6.22611665725708,-6.18973933160305,0,0,0.5543963791574255],[-32.92213821411133,6.22611665725708,-6.18973933160305,0,0,0.8161957669565749],[-29.497149648648847,9.868842741723391,-6.18973933160305,0,0,0.8161957669565749],[-26.072161083186366,13.511568826189702,-6.18973933160305,0,0,0.8161957669565749],[-22.647172517723885,17.154294910656013,-6.18973933160305,0,0,0.8161957669565749],[-19.222183952261403,20.797020995122324,-6.18973933160305,0,0,0.8161957669565749],[-22.864910036727714,24.222009560584805,-6.18973933160305,0,0,0.8161957669565749],[-19.439921471265233,27.864735645051116,-6.18973933160305,0,0,0.8161957669565749],[-16.014932905802752,31.507461729517427,-6.18973933160305,0,0,0.8161957669565749],[-12.58994434034027,35.150187813983734,-6.18973933160305,0,0,0.8161957669565749],[-12.58994434034027,35.150187813983734,-6.18973933160305,0,0,0.5543963791574256],[-12.58994434034027,35.150187813983734,-6.18973933160305,0,0,0.29259699135827616],[-12.58994434034027,35.150187813983734,-6.18973933160305,0,0,0.030797603559126734],[-12.58994434034027,35.150187813983734,-6.18973933160305,0,0,-0.2310017842400227],[-12.58994434034027,35.150187813983734,-6.18973933160305,0,0,-0.4928011720391721],[-12.58994434034027,35.150187813983734,-6.18973933160305,0,0,-0.7546005598383215],[-12.58994434034027,35.150187813983734,-8.18973933160305,0,0,-0.7546005598383215],[-8.94721825587396,31.725199248521253,-8.18973933160305,0,0,-0.7546005598383215],[-5.304492171407649,28.300210683058772,-8.18973933160305,0,0,-0.7546005598383215],[-1.6617660869413378,24.87522211759629,-8.18973933160305,0,0,-0.7546005598383215],[-5.086754652403818,21.23249603312998,-8.18973933160305,0,0,-0.7546005598383215],[-5.086754652403818,21.23249603312998,-10.18973933160305,0,0,-0.7546005598383215],[-1.4440285679375071,17.8075074676675,-10.18973933160305,0,0,-0.7546005598383215]]},{"id":1,"instruction":"turn around and go to white building.","completed_instruction":"Turn left to face a white building and go forward to it.","start_frame":28,"end_frame":45,"start_position":[-1.4440285679375071,17.8075074676675,-10.18973933160305],"start_rotation":[0.92966263152104334,0,0,-0.3684119861695177],"end_position":[-13.979325330358055,19.0569408481035,-10.18973933160305],"end_rotation":[0.24391484721457288,0,0,0.969796652555726],"actions":[1,2,2,1,2,2,2,2,2,2,2,2,2,1,1,1,1,1],"reference_path":[[-1.4440285679375071,17.8075074676675,-10.18973933160305,0,0,-0.7546005598383215],[2.198697516528804,14.382518902205017,-10.18973933160305,0,0,-0.7546005598383215],[2.198697516528804,14.382518902205017,-10.18973933160305,0,0,-1.0163999476374708],[2.198697516528804,14.382518902205017,-10.18973933160305,0,0,-1.2781993354366203],[3.6408965619736082,9.595028754610134,-10.18973933160305,0,0,-1.2781993354366203],[3.6408965619736082,9.595028754610134,-10.18973933160305,0,0,-1.5399987232357697],[3.6408965619736082,9.595028754610134,-10.18973933160305,0,0,-1.8017981110349193],[3.6408965619736082,9.595028754610134,-10.18973933160305,0,0,-2.0635974988340684],[3.6408965619736082,9.595028754610134,-10.18973933160305,0,0,-2.3253968866332175],[3.6408965619736082,9.595028754610134,-10.18973933160305,0,0,-2.587196274432367],[3.6408965619736082,9.595028754610134,-10.18973933160305,0,0,-2.8489956622315162],[3.6408965619736082,9.595028754610134,-10.18973933160305,0,0,-3.110795050030666],[3.6408965619736082,9.595028754610134,-10.18973933160305,0,0,2.9105908693497704],[3.6408965619736082,9.595028754610134,-10.18973933160305,0,0,2.6487914815506213],[-0.7641589111093077,11.960506777983476,-10.18973933160305,0,0,2.6487914815506213],[-5.169214384192223,14.325984801356817,-10.18973933160305,0,0,2.6487914815506213],[-9.574269857275139,16.69146282473016,-10.18973933160305,0,0,2.6487914815506213],[-13.979325330358055,19.0569408481035,-10.18973933160305,0,0,2.6487914815506213]]},{"id":2,"instruction":"turn left and go over park again.","completed_instruction":"Turn back to face the park and go forward over it to a dark blue glass building with vertical white lines.","start_frame":45,"end_frame":64,"start_position":[-13.979325330358055,19.0569408481035,-10.18973933160305],"start_rotation":[0.24391484721457288,0,0,0.969796652555726],"end_position":[3.9119798013858773,22.469132052290256,-10.18973933160305],"end_rotation":[0.99333718398675108,0,0,-0.11524425759781459],"actions":[1,1,6,2,2,2,2,2,2,2,2,2,2,2,1,1,1,1,1,6],"reference_path":[[-13.979325330358055,19.0569408481035,-10.18973933160305,0,0,2.6487914815506213],[-18.38438080344097,21.422418871476843,-10.18973933160305,0,0,2.6487914815506213],[-22.789436276523887,23.787896894850185,-10.18973933160305,0,0,2.6487914815506213],[-20.42395825315055,28.192952367933103,-10.18973933160305,0,0,2.6487914815506213],[-20.42395825315055,28.192952367933103,-10.18973933160305,0,0,2.386992093751472],[-20.42395825315055,28.192952367933103,-10.18973933160305,0,0,2.125192705952323],[-20.42395825315055,28.192952367933103,-10.18973933160305,0,0,1.8633933181531737],[-20.42395825315055,28.192952367933103,-10.18973933160305,0,0,1.601593930354024],[-20.42395825315055,28.192952367933103,-10.18973933160305,0,0,1.3397945425548747],[-20.42395825315055,28.192952367933103,-10.18973933160305,0,0,1.0779951547557254],[-20.42395825315055,28.192952367933103,-10.18973933160305,0,0,0.816195766956576],[-20.42395825315055,28.192952367933103,-10.18973933160305,0,0,0.5543963791574267],[-20.42395825315055,28.192952367933103,-10.18973933160305,0,0,0.29259699135827727],[-20.42395825315055,28.192952367933103,-10.18973933160305,0,0,0.030797603559127848],[-20.42395825315055,28.192952367933103,-10.18973933160305,0,0,-0.23100178424002157],[-15.556770642243263,27.048188304804533,-10.18973933160305,0,0,-0.23100178424002157],[-10.689583031335978,25.903424241675964,-10.18973933160305,0,0,-0.23100178424002157],[-5.822395420428693,24.758660178547395,-10.18973933160305,0,0,-0.23100178424002157],[-0.9552078095214078,23.613896115418825,-10.18973933160305,0,0,-0.23100178424002157],[3.9119798013858773,22.469132052290256,-10.18973933160305,0,0,-0.23100178424002157]]},{"id":3,"instruction":"go down to street and turn right and land next to the taxi.","completed_instruction":"Fly down to near the street, and turn right to face a white building with black windows near an intersection and land next to the yellow taxi left to the intersection.","start_frame":64,"end_frame":88,"start_position":[3.9119798013858773,22.469132052290256,-10.18973933160305],"start_rotation":[0.99333718398675108,0,0,-0.11524425759781459],"end_position":[19.72846637574076,29.8263104737095,-2.1897393316030502],"end_rotation":[0.69613478032588283,0,0,0.71791111401108343],"actions":[6,1,2,2,2,1,5,5,5,3,3,3,3,3,3,3,3,1,1,1,1,3,5,3,0],"reference_path":[[3.9119798013858773,22.469132052290256,-10.18973933160305,0,0,-0.23100178424002157],[2.767215738257308,17.60194444138297,-10.18973933160305,0,0,-0.23100178424002157],[7.634403349164593,16.4571803782544,-10.18973933160305,0,0,-0.23100178424002157],[7.634403349164593,16.4571803782544,-10.18973933160305,0,0,-0.492801172039171],[7.634403349164593,16.4571803782544,-10.18973933160305,0,0,-0.7546005598383204],[7.634403349164593,16.4571803782544,-10.18973933160305,0,0,-1.0163999476374697],[10.26655428224741,12.20608858137783,-10.18973933160305,0,0,-1.0163999476374697],[10.26655428224741,12.20608858137783,-8.18973933160305,0,0,-1.0163999476374697],[10.26655428224741,12.20608858137783,-6.18973933160305,0,0,-1.0163999476374697],[10.26655428224741,12.20608858137783,-4.18973933160305,0,0,-1.0163999476374697],[10.26655428224741,12.20608858137783,-4.18973933160305,0,0,-0.7546005598383203],[10.26655428224741,12.20608858137783,-4.18973933160305,0,0,-0.4928011720391709],[10.26655428224741,12.20608858137783,-4.18973933160305,0,0,-0.23100178424002146],[10.26655428224741,12.20608858137783,-4.18973933160305,0,0,0.030797603559127973],[10.26655428224741,12.20608858137783,-4.18973933160305,0,0,0.2925969913582774],[10.26655428224741,12.20608858137783,-4.18973933160305,0,0,0.5543963791574268],[10.26655428224741,12.20608858137783,-4.18973933160305,0,0,0.8161957669565761],[10.26655428224741,12.20608858137783,-4.18973933160305,0,0,1.0779951547557256],[12.632032305620747,16.61114405446075,-4.18973933160305,0,0,1.0779951547557256],[14.997510328994084,21.016199527543666,-4.18973933160305,0,0,1.0779951547557256],[17.36298835236742,25.421255000626584,-4.18973933160305,0,0,1.0779951547557256],[19.72846637574076,29.8263104737095,-4.18973933160305,0,0,1.0779951547557256],[19.72846637574076,29.8263104737095,-4.18973933160305,0,0,1.339794542554875],[19.72846637574076,29.8263104737095,-2.1897393316030502,0,0,1.339794542554875],[19.72846637574076,29.8263104737095,-2.1897393316030502,0,0,1.6015939303540245]]}],"statistics":{"complete_actions":91,"sentence_actions":[28,18,20,25],"sentence_actions_average":22.75}}
diff --git a/scene_3/34Z02EIMI1BLEAGBBE87F3QRUS50TM.json b/scene_3/34Z02EIMI1BLEAGBBE87F3QRUS50TM.json
new file mode 100644
index 0000000000000000000000000000000000000000..3b567217c06effaf5ea86d49af31dc4319ce9e41
--- /dev/null
+++ b/scene_3/34Z02EIMI1BLEAGBBE87F3QRUS50TM.json
@@ -0,0 +1 @@
+{"episode_id":"34Z02EIMI1BLEAGBBE87F3QRUS50TM","trajectory_id":"3CMV9YRYQBZ1BJCZYABKMY0I4X9JL1","scene_id":3,"instruction":"turn around and go to the right side of the park. go to the intersection near the sky scrapers. turn left and fly to the teal building. turn right and fly to the right side of the white sky scraper. land on the road to the left.","sentence_instructions":[{"id":0,"instruction":"turn around and go to the right side of the park.","completed_instruction":"Turn left to face a brown building with windows, fly up to the height of the roof ahead.","start_frame":1,"end_frame":10,"start_position":[23.38324737548828,24.798795700073242,-0.3869688808917999],"start_rotation":[0.999870019217569,0,0,0.016122799690440739],"end_position":[23.38324737548828,24.798795700073242,-4.3869688808918],"end_rotation":[0.62147337871112207,0,0,-0.78343528102414584],"actions":[4,2,2,2,2,2,2,4,2,2],"reference_path":[[23.38324737548828,24.798795700073242,-0.3869688808917999,0,0,0.032246996556269954],[23.38324737548828,24.798795700073242,-2.3869688808918,0,0,0.032246996556269954],[23.38324737548828,24.798795700073242,-2.3869688808918,0,0,-0.22955239124287946],[23.38324737548828,24.798795700073242,-2.3869688808918,0,0,-0.4913517790420289],[23.38324737548828,24.798795700073242,-2.3869688808918,0,0,-0.7531511668411783],[23.38324737548828,24.798795700073242,-2.3869688808918,0,0,-1.0149505546403277],[23.38324737548828,24.798795700073242,-2.3869688808918,0,0,-1.276749942439477],[23.38324737548828,24.798795700073242,-2.3869688808918,0,0,-1.5385493302386266],[23.38324737548828,24.798795700073242,-4.3869688808918,0,0,-1.5385493302386266],[23.38324737548828,24.798795700073242,-4.3869688808918,0,0,-1.800348718037776]]},{"id":1,"instruction":"go to the intersection near the sky scrapers.","completed_instruction":"Fly forward over the roof to the intersection ahead.","start_frame":10,"end_frame":13,"start_position":[23.38324737548828,24.798795700073242,-4.3869688808918],"start_rotation":[0.62147337871112207,0,0,-0.78343528102414584],"end_position":[23.38324737548828,24.798795700073242,-6.3869688808918],"end_rotation":[0.397529215513905,0,0,-0.91758951760190632],"actions":[2,2,4,1],"reference_path":[[23.38324737548828,24.798795700073242,-4.3869688808918,0,0,-1.800348718037776],[23.38324737548828,24.798795700073242,-4.3869688808918,0,0,-2.0621481058369255],[23.38324737548828,24.798795700073242,-4.3869688808918,0,0,-2.323947493636075],[23.38324737548828,24.798795700073242,-6.3869688808918,0,0,-2.323947493636075]]},{"id":2,"instruction":"turn left and fly to the teal building.","completed_instruction":"Fly forward to the mentioned brown building.","start_frame":13,"end_frame":18,"start_position":[23.38324737548828,24.798795700073242,-6.3869688808918],"start_rotation":[0.397529215513905,0,0,-0.91758951760190632],"end_position":[6.056740052011624,13.627755284359495,-6.3869688808918],"end_rotation":[0.397529215513905,0,0,-0.91758951760190632],"actions":[1,1,1,6,1,1],"reference_path":[[23.38324737548828,24.798795700073242,-6.3869688808918,0,0,-2.323947493636075],[19.963542147359288,21.151109289112558,-6.3869688808918,0,0,-2.323947493636075],[16.543836919230294,17.503422878151873,-6.3869688808918,0,0,-2.323947493636075],[13.1241316911013,13.85573646719119,-6.3869688808918,0,0,-2.323947493636075],[9.476445280140616,17.27544169532018,-6.3869688808918,0,0,-2.323947493636075],[6.056740052011624,13.627755284359495,-6.3869688808918,0,0,-2.323947493636075]]},{"id":3,"instruction":"turn right and fly to the right side of the white sky scraper.","completed_instruction":"Turn left to face an intersection and fly forward to it.","start_frame":18,"end_frame":28,"start_position":[6.056740052011624,13.627755284359495,-6.3869688808918],"start_rotation":[0.397529215513905,0,0,-0.91758951760190632],"end_position":[-15.02474382271303,3.3716587128375295,-8.3869688808918],"end_rotation":[0.11452435941941261,0,0,0.99342044024651177],"actions":[1,1,2,1,2,4,2,1,1,2,1],"reference_path":[[6.056740052011624,13.627755284359495,-6.3869688808918,0,0,-2.323947493636075],[2.6370348238826313,9.98006887339881,-6.3869688808918,0,0,-2.323947493636075],[-0.7826704042463613,6.332382462438126,-6.3869688808918,0,0,-2.323947493636075],[-0.7826704042463613,6.332382462438126,-6.3869688808918,0,0,-2.5857468814352242],[-5.02994271611019,3.694072793563964,-6.3869688808918,0,0,-2.5857468814352242],[-5.02994271611019,3.694072793563964,-6.3869688808918,0,0,-2.847546269234374],[-5.02994271611019,3.694072793563964,-8.3869688808918,0,0,-2.847546269234374],[-5.02994271611019,3.694072793563964,-8.3869688808918,0,0,-3.109345657033524],[-10.02734326941161,3.532865753200747,-8.3869688808918,0,0,-3.109345657033524],[-15.02474382271303,3.3716587128375295,-8.3869688808918,0,0,-3.109345657033524],[-15.02474382271303,3.3716587128375295,-8.3869688808918,0,0,2.9120402623469133]]},{"id":4,"instruction":"land on the road to the left.","completed_instruction":"Turn left to face the row of buildings behind the park, fly forward to the sleek dark glass skyscraper left to an intersection, turn right to face the building with a grid-like facade of light gray panels and dark window, fly to the intersection ahead and land.","start_frame":28,"end_frame":66,"start_position":[-15.02474382271303,3.3716587128375295,-8.3869688808918],"start_rotation":[0.11452435941941261,0,0,0.99342044024651177],"end_position":[-30.660018786981095,10.70900075314368,-2.3869688808918],"end_rotation":[0.51389776372083407,0,0,-0.85785143727962931],"actions":[1,1,2,2,2,2,2,2,2,1,1,1,1,1,1,1,3,3,3,3,3,3,3,3,3,3,1,1,3,1,1,3,1,1,1,5,5,5,0],"reference_path":[[-15.02474382271303,3.3716587128375295,-8.3869688808918,0,0,2.9120402623469133],[-19.893585533708762,4.509367108371356,-8.3869688808918,0,0,2.9120402623469133],[-24.762427244704494,5.647075503905182,-8.3869688808918,0,0,2.9120402623469133],[-24.762427244704494,5.647075503905182,-8.3869688808918,0,0,2.6502408745477637],[-24.762427244704494,5.647075503905182,-8.3869688808918,0,0,2.3884414867486146],[-24.762427244704494,5.647075503905182,-8.3869688808918,0,0,2.126642098949465],[-24.762427244704494,5.647075503905182,-8.3869688808918,0,0,1.8648427111503156],[-24.762427244704494,5.647075503905182,-8.3869688808918,0,0,1.603043323351166],[-24.762427244704494,5.647075503905182,-8.3869688808918,0,0,1.3412439355520167],[-24.762427244704494,5.647075503905182,-8.3869688808918,0,0,1.0794445477528674],[-22.403336360277233,10.055554856132229,-8.3869688808918,0,0,1.0794445477528674],[-20.044245475849973,14.464034208359276,-8.3869688808918,0,0,1.0794445477528674],[-17.685154591422712,18.872513560586324,-8.3869688808918,0,0,1.0794445477528674],[-15.326063706995454,23.28099291281337,-8.3869688808918,0,0,1.0794445477528674],[-12.966972822568195,27.68947226504042,-8.3869688808918,0,0,1.0794445477528674],[-10.607881938140936,32.09795161726747,-8.3869688808918,0,0,1.0794445477528674],[-8.248791053713678,36.50643096949452,-8.3869688808918,0,0,1.0794445477528674],[-8.248791053713678,36.50643096949452,-8.3869688808918,0,0,1.3412439355520167],[-8.248791053713678,36.50643096949452,-8.3869688808918,0,0,1.603043323351166],[-8.248791053713678,36.50643096949452,-8.3869688808918,0,0,1.8648427111503156],[-8.248791053713678,36.50643096949452,-8.3869688808918,0,0,2.126642098949465],[-8.248791053713678,36.50643096949452,-8.3869688808918,0,0,2.3884414867486146],[-8.248791053713678,36.50643096949452,-8.3869688808918,0,0,2.6502408745477637],[-8.248791053713678,36.50643096949452,-8.3869688808918,0,0,2.9120402623469133],[-8.248791053713678,36.50643096949452,-8.3869688808918,0,0,-3.109345657033524],[-8.248791053713678,36.50643096949452,-8.3869688808918,0,0,-2.8475462692343743],[-8.248791053713678,36.50643096949452,-8.3869688808918,0,0,-2.5857468814352247],[-12.496063365577507,33.86812130062036,-8.3869688808918,0,0,-2.5857468814352247],[-16.743335677441337,31.2298116317462,-8.3869688808918,0,0,-2.5857468814352247],[-16.743335677441337,31.2298116317462,-8.3869688808918,0,0,-2.323947493636075],[-20.16304090557033,27.582125220785514,-8.3869688808918,0,0,-2.323947493636075],[-23.582746133699324,23.93443880982483,-8.3869688808918,0,0,-2.323947493636075],[-23.582746133699324,23.93443880982483,-8.3869688808918,0,0,-2.0621481058369255],[-25.94183701812658,19.52595945759778,-8.3869688808918,0,0,-2.0621481058369255],[-28.300927902553838,15.11748010537073,-8.3869688808918,0,0,-2.0621481058369255],[-30.660018786981095,10.70900075314368,-8.3869688808918,0,0,-2.0621481058369255],[-30.660018786981095,10.70900075314368,-6.3869688808918,0,0,-2.0621481058369255],[-30.660018786981095,10.70900075314368,-4.3869688808918,0,0,-2.0621481058369255],[-30.660018786981095,10.70900075314368,-2.3869688808918,0,0,-2.0621481058369255]]}],"statistics":{"complete_actions":70,"sentence_actions":[10,4,6,11,39],"sentence_actions_average":14.0}}
diff --git a/scene_3/39GHHAVOMOP8ZV27ILH5P0TVAZK4JI.json b/scene_3/39GHHAVOMOP8ZV27ILH5P0TVAZK4JI.json
new file mode 100644
index 0000000000000000000000000000000000000000..dc45de808c853727fc8c0e64b77d8c4566e50229
--- /dev/null
+++ b/scene_3/39GHHAVOMOP8ZV27ILH5P0TVAZK4JI.json
@@ -0,0 +1 @@
+{"episode_id":"39GHHAVOMOP8ZV27ILH5P0TVAZK4JI","trajectory_id":"3SMIWMMK793Q0TZSENM02BQ9IV7UWI","scene_id":3,"instruction":"take off and turn left and go over the buildings from top to bottom and reach the tress. now go forward and turn left and move on the road. now go forward and turn right and reach the blue building. now go forward and turn left and go over the tress and turn back and reach the football ground. now go forward and turn right reach the street light and land there.","sentence_instructions":[{"id":0,"instruction":"take off and turn left and go over the buildings from top to bottom and reach the tress.","completed_instruction":"Turn left to face the white edge of the roof on your left until it is horizontal, go over the roof, then fly down to  above the trees.","start_frame":1,"end_frame":31,"start_position":[-1.0821374654769897,73.20098114013672,-43.913047790527344],"start_rotation":[0.999972516565019,0,0,-0.0074139135834539868],"end_position":[-0.30461803002859944,38.35599281449338,-13.913047790527344],"end_rotation":[0.86229464563983482,0,0,-0.50640689578724318],"actions":[2,2,2,2,2,2,1,1,1,1,1,1,3,1,3,5,5,5,5,5,5,5,5,5,5,5,5,5,5,5,5],"reference_path":[[-1.0821374654769897,73.20098114013672,-43.913047790527344,0,0,-0.014827963008275947],[-1.0821374654769897,73.20098114013672,-43.913047790527344,0,0,-0.2766273508074254],[-1.0821374654769897,73.20098114013672,-43.913047790527344,0,0,-0.5384267386065749],[-1.0821374654769897,73.20098114013672,-43.913047790527344,0,0,-0.8002261264057243],[-1.0821374654769897,73.20098114013672,-43.913047790527344,0,0,-1.0620255142048738],[-1.0821374654769897,73.20098114013672,-43.913047790527344,0,0,-1.3238249020040231],[-1.0821374654769897,73.20098114013672,-43.913047790527344,0,0,-1.5856242898031727],[-1.156274563713411,68.20153080128294,-43.913047790527344,0,0,-1.5856242898031727],[-1.2304116619498324,63.20208046242917,-43.913047790527344,0,0,-1.5856242898031727],[-1.3045487601862538,58.2026301235754,-43.913047790527344,0,0,-1.5856242898031727],[-1.378685858422675,53.203179784721634,-43.913047790527344,0,0,-1.5856242898031727],[-1.4528229566590964,48.203729445867864,-43.913047790527344,0,0,-1.5856242898031727],[-1.5269600548955178,43.204279107014095,-43.913047790527344,0,0,-1.5856242898031727],[-1.5269600548955178,43.204279107014095,-43.913047790527344,0,0,-1.3238249020040231],[-0.30461803002859944,38.35599281449338,-43.913047790527344,0,0,-1.3238249020040231],[-0.30461803002859944,38.35599281449338,-43.913047790527344,0,0,-1.0620255142048738],[-0.30461803002859944,38.35599281449338,-41.913047790527344,0,0,-1.0620255142048738],[-0.30461803002859944,38.35599281449338,-39.913047790527344,0,0,-1.0620255142048738],[-0.30461803002859944,38.35599281449338,-37.913047790527344,0,0,-1.0620255142048738],[-0.30461803002859944,38.35599281449338,-35.913047790527344,0,0,-1.0620255142048738],[-0.30461803002859944,38.35599281449338,-33.913047790527344,0,0,-1.0620255142048738],[-0.30461803002859944,38.35599281449338,-31.913047790527344,0,0,-1.0620255142048738],[-0.30461803002859944,38.35599281449338,-29.913047790527344,0,0,-1.0620255142048738],[-0.30461803002859944,38.35599281449338,-27.913047790527344,0,0,-1.0620255142048738],[-0.30461803002859944,38.35599281449338,-25.913047790527344,0,0,-1.0620255142048738],[-0.30461803002859944,38.35599281449338,-23.913047790527344,0,0,-1.0620255142048738],[-0.30461803002859944,38.35599281449338,-21.913047790527344,0,0,-1.0620255142048738],[-0.30461803002859944,38.35599281449338,-19.913047790527344,0,0,-1.0620255142048738],[-0.30461803002859944,38.35599281449338,-17.913047790527344,0,0,-1.0620255142048738],[-0.30461803002859944,38.35599281449338,-15.913047790527344,0,0,-1.0620255142048738],[-0.30461803002859944,38.35599281449338,-13.913047790527344,0,0,-1.0620255142048738]]},{"id":1,"instruction":"now go forward and turn left and move on the road.","completed_instruction":"Turn left to face an intersection on your left and move on above it.","start_frame":31,"end_frame":43,"start_position":[-0.30461803002859944,38.35599281449338,-13.913047790527344],"start_rotation":[0.86229464563983482,0,0,-0.50640689578724318],"end_position":[-0.30461803002859944,38.35599281449338,-9.913047790527344],"end_rotation":[0.0074139135834543754,0,0,0.999972516565019],"actions":[5,5,3,2,2,2,2,2,2,2,2,2,2],"reference_path":[[-0.30461803002859944,38.35599281449338,-13.913047790527344,0,0,-1.0620255142048738],[-0.30461803002859944,38.35599281449338,-11.913047790527344,0,0,-1.0620255142048738],[-0.30461803002859944,38.35599281449338,-9.913047790527344,0,0,-1.0620255142048738],[-0.30461803002859944,38.35599281449338,-9.913047790527344,0,0,-0.8002261264057244],[-0.30461803002859944,38.35599281449338,-9.913047790527344,0,0,-1.0620255142048738],[-0.30461803002859944,38.35599281449338,-9.913047790527344,0,0,-1.3238249020040231],[-0.30461803002859944,38.35599281449338,-9.913047790527344,0,0,-1.5856242898031727],[-0.30461803002859944,38.35599281449338,-9.913047790527344,0,0,-1.847423677602322],[-0.30461803002859944,38.35599281449338,-9.913047790527344,0,0,-2.109223065401472],[-0.30461803002859944,38.35599281449338,-9.913047790527344,0,0,-2.3710224532006214],[-0.30461803002859944,38.35599281449338,-9.913047790527344,0,0,-2.632821840999771],[-0.30461803002859944,38.35599281449338,-9.913047790527344,0,0,-2.89462122879892],[-0.30461803002859944,38.35599281449338,-9.913047790527344,0,0,3.1267646905815165]]},{"id":2,"instruction":"now go forward and turn right and reach the blue building.","completed_instruction":"Turn right to face the dark blue glass building with vertical white stripes near an intersection and fly forward to it.","start_frame":43,"end_frame":64,"start_position":[-0.30461803002859944,38.35599281449338,-9.913047790527344],"start_rotation":[0.0074139135834543754,0,0,0.999972516565019],"end_position":[4.12621161199266,34.40757530912933,-7.913047790527344],"end_rotation":[0.99044990315392867,0,0,-0.13787309143691981],"actions":[2,1,3,1,5,1,3,3,3,3,3,3,3,3,3,3,3,1,1,1,1,1],"reference_path":[[-0.30461803002859944,38.35599281449338,-9.913047790527344,0,0,3.1267646905815165],[-0.30461803002859944,38.35599281449338,-9.913047790527344,0,0,2.8649653027823674],[-5.114528136604868,39.72155671510568,-9.913047790527344,0,0,2.8649653027823674],[-5.114528136604868,39.72155671510568,-9.913047790527344,0,0,3.1267646905815165],[-10.113978475458639,39.795693813342105,-9.913047790527344,0,0,3.1267646905815165],[-10.113978475458639,39.795693813342105,-7.913047790527344,0,0,3.1267646905815165],[-15.11342881431241,39.86983091157853,-7.913047790527344,0,0,3.1267646905815165],[-15.11342881431241,39.86983091157853,-7.913047790527344,0,0,-2.89462122879892],[-15.11342881431241,39.86983091157853,-7.913047790527344,0,0,-2.632821840999771],[-15.11342881431241,39.86983091157853,-7.913047790527344,0,0,-2.3710224532006214],[-15.11342881431241,39.86983091157853,-7.913047790527344,0,0,-2.109223065401472],[-15.11342881431241,39.86983091157853,-7.913047790527344,0,0,-1.8474236776023225],[-15.11342881431241,39.86983091157853,-7.913047790527344,0,0,-1.5856242898031732],[-15.11342881431241,39.86983091157853,-7.913047790527344,0,0,-1.323824902004024],[-15.11342881431241,39.86983091157853,-7.913047790527344,0,0,-1.0620255142048745],[-15.11342881431241,39.86983091157853,-7.913047790527344,0,0,-0.8002261264057251],[-15.11342881431241,39.86983091157853,-7.913047790527344,0,0,-0.5384267386065757],[-15.11342881431241,39.86983091157853,-7.913047790527344,0,0,-0.27662735080742634],[-10.303518707736142,38.50426701096623,-7.913047790527344,0,0,-0.27662735080742634],[-5.493608601159875,37.13870311035393,-7.913047790527344,0,0,-0.27662735080742634],[-0.6836984945836075,35.77313920974163,-7.913047790527344,0,0,-0.27662735080742634],[4.12621161199266,34.40757530912933,-7.913047790527344,0,0,-0.27662735080742634]]},{"id":3,"instruction":"now go forward and turn left and go over the tress and turn back and reach the football ground.","completed_instruction":"Turn back to face the white building and dark glass building behind the trees, go over the trees to the white building, turn back to face the football ground in the park, land in the ground.","start_frame":64,"end_frame":92,"start_position":[4.12621161199266,34.40757530912933,-7.913047790527344],"start_rotation":[0.99044990315392867,0,0,-0.13787309143691981],"end_position":[-10.533775823402816,22.976831458090935,-7.913047790527344],"end_rotation":[0.8622946456398346,0,0,-0.50640689578724352],"actions":[1,1,1,2,2,2,2,2,2,2,2,2,2,4,1,1,1,1,1,1,3,3,3,3,3,3,5,3,5],"reference_path":[[4.12621161199266,34.40757530912933,-7.913047790527344,0,0,-0.27662735080742634],[8.936121718568927,33.04201140851703,-7.913047790527344,0,0,-0.27662735080742634],[13.746031825145195,31.676447507904726,-7.913047790527344,0,0,-0.27662735080742634],[18.555941931721463,30.310883607292425,-7.913047790527344,0,0,-0.27662735080742634],[18.555941931721463,30.310883607292425,-7.913047790527344,0,0,-0.5384267386065757],[18.555941931721463,30.310883607292425,-7.913047790527344,0,0,-0.8002261264057252],[18.555941931721463,30.310883607292425,-7.913047790527344,0,0,-1.0620255142048747],[18.555941931721463,30.310883607292425,-7.913047790527344,0,0,-1.3238249020040243],[18.555941931721463,30.310883607292425,-7.913047790527344,0,0,-1.5856242898031736],[18.555941931721463,30.310883607292425,-7.913047790527344,0,0,-1.8474236776023232],[18.555941931721463,30.310883607292425,-7.913047790527344,0,0,-2.1092230654014723],[18.555941931721463,30.310883607292425,-7.913047790527344,0,0,-2.3710224532006214],[18.555941931721463,30.310883607292425,-7.913047790527344,0,0,-2.632821840999771],[18.555941931721463,30.310883607292425,-7.913047790527344,0,0,-2.89462122879892],[18.555941931721463,30.310883607292425,-9.913047790527344,0,0,-2.89462122879892],[13.70765563920075,29.08854158242551,-9.913047790527344,0,0,-2.89462122879892],[8.859369346680037,27.866199557558595,-9.913047790527344,0,0,-2.89462122879892],[4.011083054159323,26.64385753269168,-9.913047790527344,0,0,-2.89462122879892],[-0.8372032383613899,25.421515507824765,-9.913047790527344,0,0,-2.89462122879892],[-5.685489530882103,24.19917348295785,-9.913047790527344,0,0,-2.89462122879892],[-10.533775823402816,22.976831458090935,-9.913047790527344,0,0,-2.89462122879892],[-10.533775823402816,22.976831458090935,-9.913047790527344,0,0,-2.632821840999771],[-10.533775823402816,22.976831458090935,-9.913047790527344,0,0,-2.3710224532006214],[-10.533775823402816,22.976831458090935,-9.913047790527344,0,0,-2.109223065401472],[-10.533775823402816,22.976831458090935,-9.913047790527344,0,0,-1.8474236776023225],[-10.533775823402816,22.976831458090935,-9.913047790527344,0,0,-1.5856242898031732],[-10.533775823402816,22.976831458090935,-9.913047790527344,0,0,-1.323824902004024],[-10.533775823402816,22.976831458090935,-7.913047790527344,0,0,-1.323824902004024],[-10.533775823402816,22.976831458090935,-7.913047790527344,0,0,-1.0620255142048745]]},{"id":4,"instruction":"now go forward and turn right reach the street light and land there.","completed_instruction":"Land in the football ground.","start_frame":92,"end_frame":105,"start_position":[-10.533775823402816,22.976831458090935,-7.913047790527344],"start_rotation":[0.8622946456398346,0,0,-0.50640689578724352],"end_position":[-8.098255264411538,18.610111910566637,-1.9130477905273438],"end_rotation":[0.92669132302559909,0,0,0.37582335189429716],"actions":[5,5,5,1,3,3,3,3,3,3,3,3,2,0],"reference_path":[[-10.533775823402816,22.976831458090935,-7.913047790527344,0,0,-1.0620255142048745],[-10.533775823402816,22.976831458090935,-5.913047790527344,0,0,-1.0620255142048745],[-10.533775823402816,22.976831458090935,-3.9130477905273438,0,0,-1.0620255142048745],[-10.533775823402816,22.976831458090935,-1.9130477905273438,0,0,-1.0620255142048745],[-8.098255264411538,18.610111910566637,-1.9130477905273438,0,0,-1.0620255142048745],[-8.098255264411538,18.610111910566637,-1.9130477905273438,0,0,-0.8002261264057251],[-8.098255264411538,18.610111910566637,-1.9130477905273438,0,0,-0.5384267386065757],[-8.098255264411538,18.610111910566637,-1.9130477905273438,0,0,-0.27662735080742634],[-8.098255264411538,18.610111910566637,-1.9130477905273438,0,0,-0.014827963008276919],[-8.098255264411538,18.610111910566637,-1.9130477905273438,0,0,0.2469714247908725],[-8.098255264411538,18.610111910566637,-1.9130477905273438,0,0,0.508770812590022],[-8.098255264411538,18.610111910566637,-1.9130477905273438,0,0,0.7705702003891715],[-8.098255264411538,18.610111910566637,-1.9130477905273438,0,0,1.032369588188321],[-8.098255264411538,18.610111910566637,-1.9130477905273438,0,0,0.7705702003891717]]}],"statistics":{"complete_actions":109,"sentence_actions":[31,13,22,29,14],"sentence_actions_average":21.8}}
diff --git a/scene_3/39GXDJN2O2CI9RP3BDL190KUA9V8VR.json b/scene_3/39GXDJN2O2CI9RP3BDL190KUA9V8VR.json
new file mode 100644
index 0000000000000000000000000000000000000000..0cae7680ed3bb9550a3066d046873faad1e5eb62
--- /dev/null
+++ b/scene_3/39GXDJN2O2CI9RP3BDL190KUA9V8VR.json
@@ -0,0 +1 @@
+{"episode_id":"39GXDJN2O2CI9RP3BDL190KUA9V8VR","trajectory_id":"3IV1AEQ4EZB6WCSG4L2GHTECKXAJ8F","scene_id":3,"instruction":"fly over the tree on the left and then go to the park on the right. land on the road by the dark building and go around the left corner. land on the ledge in front of the white building. land on the ground to the right of the ledge.","sentence_instructions":[{"id":0,"instruction":"fly over the tree on the left and then go to the park on the right.","completed_instruction":"Fly up to the height of trees, turn left to face the tree in front of a brown building, fly forward to that tree, then turn right to face the park across the road, fly forward over the park to the shortest dark glass building across the road.","start_frame":1,"end_frame":23,"start_position":[-25.075441360473633,6.72488260269165,-0.27789610624313354],"start_rotation":[0.999985422443952,0,0,0.0053995277192339531],"end_position":[-2.6700342298071593,33.68961363632317,-8.277896106243134],"end_rotation":[0.86331301539095906,0,0,0.50466883939527085],"actions":[4,4,2,2,1,3,3,3,3,3,4,1,1,3,3,1,2,1,4,1,1,1,1],"reference_path":[[-25.075441360473633,6.72488260269165,-0.27789610624313354,0,0,0.010799107913385862],[-25.075441360473633,6.72488260269165,-2.2778961062431335,0,0,0.010799107913385862],[-25.075441360473633,6.72488260269165,-4.2778961062431335,0,0,0.010799107913385862],[-25.075441360473633,6.72488260269165,-4.2778961062431335,0,0,-0.25100027988576357],[-25.075441360473633,6.72488260269165,-4.2778961062431335,0,0,-0.512799667684913],[-20.718569585351762,4.271788977257348,-4.2778961062431335,0,0,-0.512799667684913],[-20.718569585351762,4.271788977257348,-4.2778961062431335,0,0,-0.2510002798857636],[-20.718569585351762,4.271788977257348,-4.2778961062431335,0,0,0.010799107913385793],[-20.718569585351762,4.271788977257348,-4.2778961062431335,0,0,0.27259849571253525],[-20.718569585351762,4.271788977257348,-4.2778961062431335,0,0,0.5343978835116847],[-20.718569585351762,4.271788977257348,-4.2778961062431335,0,0,0.7961972713108342],[-20.718569585351762,4.271788977257348,-6.2778961062431335,0,0,0.7961972713108342],[-17.22142170576852,7.845296596995472,-6.2778961062431335,0,0,0.7961972713108342],[-13.724273826185279,11.418804216733596,-6.2778961062431335,0,0,0.7961972713108342],[-13.724273826185279,11.418804216733596,-6.2778961062431335,0,0,1.0579966591099836],[-13.724273826185279,11.418804216733596,-6.2778961062431335,0,0,1.319796046909133],[-12.48240873154437,16.262126535835694,-6.2778961062431335,0,0,1.319796046909133],[-12.48240873154437,16.262126535835694,-6.2778961062431335,0,0,1.0579966591099836],[-10.029315106110067,20.618998310957565,-6.2778961062431335,0,0,1.0579966591099836],[-10.029315106110067,20.618998310957565,-8.277896106243134,0,0,1.0579966591099836],[-7.576221480675764,24.975870086079436,-8.277896106243134,0,0,1.0579966591099836],[-5.123127855241462,29.332741861201306,-8.277896106243134,0,0,1.0579966591099836],[-2.6700342298071593,33.68961363632317,-8.277896106243134,0,0,1.0579966591099836]]},{"id":1,"instruction":"land on the road by the dark building and go around the left corner.","completed_instruction":"Fly down close to the ground in front of that building, and turn left to face an intersection, fly forward to it.","start_frame":23,"end_frame":34,"start_position":[-2.6700342298071593,33.68961363632317,-8.277896106243134],"start_rotation":[0.86331301539095906,0,0,0.50466883939527085],"end_position":[4.598432110006176,39.392659850963895,-2.2778961062431335],"end_rotation":[0.96730924605949409,0,0,-0.2535997288796128],"actions":[1,5,5,5,2,2,2,1,2,2,2,1],"reference_path":[[-2.6700342298071593,33.68961363632317,-8.277896106243134,0,0,1.0579966591099836],[-0.21694060437285678,38.04648541144504,-8.277896106243134,0,0,1.0579966591099836],[-0.21694060437285678,38.04648541144504,-6.2778961062431335,0,0,1.0579966591099836],[-0.21694060437285678,38.04648541144504,-4.2778961062431335,0,0,1.0579966591099836],[-0.21694060437285678,38.04648541144504,-2.2778961062431335,0,0,1.0579966591099836],[-0.21694060437285678,38.04648541144504,-2.2778961062431335,0,0,0.7961972713108342],[-0.21694060437285678,38.04648541144504,-2.2778961062431335,0,0,0.5343978835116847],[-0.21694060437285678,38.04648541144504,-2.2778961062431335,0,0,0.27259849571253525],[4.598432110006176,39.392659850963895,-2.2778961062431335,0,0,0.27259849571253525],[4.598432110006176,39.392659850963895,-2.2778961062431335,0,0,0.010799107913385824],[4.598432110006176,39.392659850963895,-2.2778961062431335,0,0,-0.2510002798857636],[4.598432110006176,39.392659850963895,-2.2778961062431335,0,0,-0.5127996676849131]]},{"id":2,"instruction":"land on the ledge in front of the white building.","completed_instruction":"Turn left to face a short entrance hall roof with flags on the wall, fly forward to the roof.","start_frame":34,"end_frame":40,"start_position":[4.598432110006176,39.392659850963895,-2.2778961062431335],"start_rotation":[0.96730924605949409,0,0,-0.2535997288796128],"end_position":[18.40540531138949,25.880718029997865,-2.2778961062431335],"end_rotation":[0.868712543110193,0,0,-0.49531658304868126],"actions":[1,1,2,2,1,1,4],"reference_path":[[4.598432110006176,39.392659850963895,-2.2778961062431335,0,0,-0.5127996676849131],[8.955303885128044,36.93956622552959,-2.2778961062431335,0,0,-0.5127996676849131],[13.312175660249913,34.48647260009528,-2.2778961062431335,0,0,-0.5127996676849131],[13.312175660249913,34.48647260009528,-2.2778961062431335,0,0,-0.7745990554840626],[13.312175660249913,34.48647260009528,-2.2778961062431335,0,0,-1.036398443283212],[15.858790485819702,30.183595315046574,-2.2778961062431335,0,0,-1.036398443283212],[18.40540531138949,25.880718029997865,-2.2778961062431335,0,0,-1.036398443283212]]},{"id":3,"instruction":"land on the ground to the right of the ledge.","completed_instruction":"Land on the roof.","start_frame":40,"end_frame":59,"start_position":[18.40540531138949,25.880718029997865,-2.2778961062431335],"start_rotation":[0.868712543110193,0,0,-0.49531658304868126],"end_position":[20.952020136959277,21.577840744949157,-2.2778961062431335],"end_rotation":[0.868712543110193,0,0,-0.49531658304868126],"actions":[4,1,3,3,3,3,3,3,3,3,2,2,2,2,2,2,2,2,5,0],"reference_path":[[18.40540531138949,25.880718029997865,-2.2778961062431335,0,0,-1.036398443283212],[18.40540531138949,25.880718029997865,-4.2778961062431335,0,0,-1.036398443283212],[20.952020136959277,21.577840744949157,-4.2778961062431335,0,0,-1.036398443283212],[20.952020136959277,21.577840744949157,-4.2778961062431335,0,0,-0.7745990554840626],[20.952020136959277,21.577840744949157,-4.2778961062431335,0,0,-0.5127996676849133],[20.952020136959277,21.577840744949157,-4.2778961062431335,0,0,-0.2510002798857638],[20.952020136959277,21.577840744949157,-4.2778961062431335,0,0,0.010799107913385638],[20.952020136959277,21.577840744949157,-4.2778961062431335,0,0,0.2725984957125351],[20.952020136959277,21.577840744949157,-4.2778961062431335,0,0,0.5343978835116845],[20.952020136959277,21.577840744949157,-4.2778961062431335,0,0,0.796197271310834],[20.952020136959277,21.577840744949157,-4.2778961062431335,0,0,1.0579966591099834],[20.952020136959277,21.577840744949157,-4.2778961062431335,0,0,0.7961972713108341],[20.952020136959277,21.577840744949157,-4.2778961062431335,0,0,0.5343978835116847],[20.952020136959277,21.577840744949157,-4.2778961062431335,0,0,0.27259849571253525],[20.952020136959277,21.577840744949157,-4.2778961062431335,0,0,0.010799107913385824],[20.952020136959277,21.577840744949157,-4.2778961062431335,0,0,-0.2510002798857636],[20.952020136959277,21.577840744949157,-4.2778961062431335,0,0,-0.5127996676849131],[20.952020136959277,21.577840744949157,-4.2778961062431335,0,0,-0.7745990554840626],[20.952020136959277,21.577840744949157,-4.2778961062431335,0,0,-1.036398443283212],[20.952020136959277,21.577840744949157,-2.2778961062431335,0,0,-1.036398443283212]]}],"statistics":{"complete_actions":62,"sentence_actions":[23,12,7,20],"sentence_actions_average":15.5}}
diff --git a/scene_3/39O5D9O872Q09LDX8FV0SROVTFB3C3.json b/scene_3/39O5D9O872Q09LDX8FV0SROVTFB3C3.json
new file mode 100644
index 0000000000000000000000000000000000000000..422cef8fcc1cbb7b0b490dd3290c5eb97f8dc330
--- /dev/null
+++ b/scene_3/39O5D9O872Q09LDX8FV0SROVTFB3C3.json
@@ -0,0 +1 @@
+{"episode_id":"39O5D9O872Q09LDX8FV0SROVTFB3C3","trajectory_id":"3DQYSJDTZT9O0X7WYS3H0CID9RVXED","scene_id":3,"instruction":"goes up and take a turn then move forward fly over the road. take right near the tree and move forward towards the building. then slowly stop and shows the view of the white building. went down slowly and landed near the park bench.","sentence_instructions":[{"id":0,"instruction":"goes up and take a turn then move forward fly over the road.","completed_instruction":"Make a sharp right turn until you can fully see the trees in the park, fly up slightly above the flat low-profile roof ahead, then move forward to the leftmost tree in that row.","start_frame":1,"end_frame":17,"start_position":[27.056156158447266,7.5123138427734375,-0.34915873408317566],"start_rotation":[0.99968128428034175,0,0,-0.025245392839219397],"end_position":[14.720187702365093,23.091555037193203,-4.349158734083176],"end_rotation":[0.52170379366745268,0,0,0.8531266914550194],"actions":[4,3,3,3,3,3,3,3,3,3,4,1,1,1,2,1,1],"reference_path":[[27.056156158447266,7.5123138427734375,-0.34915873408317566,0,0,-0.050496150431408676],[27.056156158447266,7.5123138427734375,-2.3491587340831757,0,0,-0.050496150431408676],[27.056156158447266,7.5123138427734375,-2.3491587340831757,0,0,0.21130323736774076],[27.056156158447266,7.5123138427734375,-2.3491587340831757,0,0,0.47310262516689017],[27.056156158447266,7.5123138427734375,-2.3491587340831757,0,0,0.7349020129660396],[27.056156158447266,7.5123138427734375,-2.3491587340831757,0,0,0.9967014007651891],[27.056156158447266,7.5123138427734375,-2.3491587340831757,0,0,1.2585007885643387],[27.056156158447266,7.5123138427734375,-2.3491587340831757,0,0,1.520300176363488],[27.056156158447266,7.5123138427734375,-2.3491587340831757,0,0,1.7820995641626374],[27.056156158447266,7.5123138427734375,-2.3491587340831757,0,0,2.0438989519617867],[27.056156158447266,7.5123138427734375,-2.3491587340831757,0,0,2.3056983397609363],[27.056156158447266,7.5123138427734375,-4.349158734083176,0,0,2.3056983397609363],[23.703583845329835,11.221796136209873,-4.349158734083176,0,0,2.3056983397609363],[20.351011532212404,14.931278429646309,-4.349158734083176,0,0,2.3056983397609363],[16.998439219094973,18.640760723082742,-4.349158734083176,0,0,2.3056983397609363],[16.998439219094973,18.640760723082742,-4.349158734083176,0,0,2.0438989519617867],[14.720187702365093,23.091555037193203,-4.349158734083176,0,0,2.0438989519617867]]},{"id":1,"instruction":"turn right and go over tree area to other side.","completed_instruction":"Turn right to face the white building behind the trees, and go over tree area to other side of the park where there is a football field.","start_frame":17,"end_frame":31,"start_position":[14.720187702365093,23.091555037193203,-4.349158734083176],"start_rotation":[0.52170379366745268,0,0,0.8531266914550194],"end_position":[-1.7864422436017051,23.166754545642107,-8.349158734083176],"end_rotation":[0.23435137846608478,0,0,-0.97215195901209084],"actions":[1,2,3,3,3,3,3,3,4,4,1,1,3,1,1],"reference_path":[[14.720187702365093,23.091555037193203,-4.349158734083176,0,0,2.0438989519617867],[12.441936185635214,27.542349351303663,-4.349158734083176,0,0,2.0438989519617867],[12.441936185635214,27.542349351303663,-4.349158734083176,0,0,1.7820995641626374],[12.441936185635214,27.542349351303663,-4.349158734083176,0,0,2.0438989519617867],[12.441936185635214,27.542349351303663,-4.349158734083176,0,0,2.3056983397609363],[12.441936185635214,27.542349351303663,-4.349158734083176,0,0,2.5674977275600854],[12.441936185635214,27.542349351303663,-4.349158734083176,0,0,2.829297115359235],[12.441936185635214,27.542349351303663,-4.349158734083176,0,0,3.0910965031583846],[12.441936185635214,27.542349351303663,-4.349158734083176,0,0,-2.930289416222052],[12.441936185635214,27.542349351303663,-6.349158734083176,0,0,-2.930289416222052],[12.441936185635214,27.542349351303663,-8.349158734083176,0,0,-2.930289416222052],[7.553144128071984,26.493677706837826,-8.349158734083176,0,0,-2.930289416222052],[2.6643520705087536,25.445006062371988,-8.349158734083176,0,0,-2.930289416222052],[2.6643520705087536,25.445006062371988,-8.349158734083176,0,0,-2.6684900284229025],[-1.7864422436017051,23.166754545642107,-8.349158734083176,0,0,-2.6684900284229025]]},{"id":2,"instruction":"go down at end and land between two benches.","completed_instruction":"Land in the football field in front of white stone benches.","start_frame":31,"end_frame":37,"start_position":[-1.7864422436017051,23.166754545642107,-8.349158734083176],"start_rotation":[0.23435137846608478,0,0,-0.97215195901209084],"end_position":[-10.688030871822622,18.610251512182344,-2.3491587340831757],"end_rotation":[0.10545517646695686,0,0,-0.99442405730971883],"actions":[1,1,2,5,5,5,0],"reference_path":[[-1.7864422436017051,23.166754545642107,-8.349158734083176,0,0,-2.6684900284229025],[-6.237236557712164,20.888503028912226,-8.349158734083176,0,0,-2.6684900284229025],[-10.688030871822622,18.610251512182344,-8.349158734083176,0,0,-2.6684900284229025],[-10.688030871822622,18.610251512182344,-8.349158734083176,0,0,-2.930289416222052],[-10.688030871822622,18.610251512182344,-6.349158734083176,0,0,-2.930289416222052],[-10.688030871822622,18.610251512182344,-4.349158734083176,0,0,-2.930289416222052],[-10.688030871822622,18.610251512182344,-2.3491587340831757,0,0,-2.930289416222052]]}],"statistics":{"complete_actions":39,"sentence_actions":[17,15,7],"sentence_actions_average":13.0}}
diff --git a/scene_3/39PAAFCODVY17BHREBWW0WGHLG3VTB.json b/scene_3/39PAAFCODVY17BHREBWW0WGHLG3VTB.json
new file mode 100644
index 0000000000000000000000000000000000000000..595dbcf9966f3a7929c2d7fe0ce30259070c0553
--- /dev/null
+++ b/scene_3/39PAAFCODVY17BHREBWW0WGHLG3VTB.json
@@ -0,0 +1 @@
+{"episode_id":"39PAAFCODVY17BHREBWW0WGHLG3VTB","trajectory_id":"33NKDW9FG5G93ZNI21XMAOIAKX6XC4","scene_id":3,"instruction":"climb a few feet and then shift left a little. climb above the tree line and then go forward. before you get to the end of the trees turn right a little and then stop and turn around to almost the opposite direction and go forward. go toward the right corner of the tree line and when you are even with the front of the building turn right and cut across the left corner of the trees below. before you get to the building ahead, turn left and fly toward the road ahead that runs between the two buildings. fly to the end of the short road and descend some. descend to about eight feet off the ground and then turn right and then turn left and stop there.","sentence_instructions":[{"id":0,"instruction":"climb a few feet and then shift left a little.","completed_instruction":"Fly up above the trees.","start_frame":1,"end_frame":5,"start_position":[-12.530282020568848,30.128902435302734,-0.1728508323431015],"start_rotation":[0.9997085222608264,0,0,0.024142711510408782],"end_position":[-12.530282020568848,30.128902435302734,-8.172850832343102],"end_rotation":[0.9997085222608264,0,0,0.024142711510408782],"actions":[4,4,4,4,1],"reference_path":[[-12.530282020568848,30.128902435302734,-0.1728508323431015,0,0,0.04829011494317087],[-12.530282020568848,30.128902435302734,-2.1728508323431015,0,0,0.04829011494317087],[-12.530282020568848,30.128902435302734,-4.1728508323431015,0,0,0.04829011494317087],[-12.530282020568848,30.128902435302734,-6.1728508323431015,0,0,0.04829011494317087],[-12.530282020568848,30.128902435302734,-8.172850832343102,0,0,0.04829011494317087]]},{"id":1,"instruction":"climb above the tree line and then go forward.","completed_instruction":"Go forward over the trees until you can see an intersection.","start_frame":5,"end_frame":8,"start_position":[-12.530282020568848,30.128902435302734,-8.172850832343102],"start_rotation":[0.9997085222608264,0,0,0.024142711510408782],"end_position":[-2.541939430950345,30.611615924251538,-8.172850832343102],"end_rotation":[0.988004621063781,0,0,0.1544243140072655],"actions":[1,1,3,1],"reference_path":[[-12.530282020568848,30.128902435302734,-8.172850832343102,0,0,0.04829011494317087],[-7.536110725759596,30.370259179777136,-8.172850832343102,0,0,0.04829011494317087],[-2.541939430950345,30.611615924251538,-8.172850832343102,0,0,0.04829011494317087],[-2.541939430950345,30.611615924251538,-8.172850832343102,0,0,0.31008950274232033]]},{"id":2,"instruction":"before you get to the end of the trees turn right a little and then stop and turn around to almost the opposite direction and go forward.","completed_instruction":"Turn left to face a brown building with windows, go forward over the trees in the park to another trees in front of that building.","start_frame":8,"end_frame":23,"start_position":[-2.541939430950345,30.611615924251538,-8.172850832343102],"start_rotation":[0.988004621063781,0,0,0.1544243140072655],"end_position":[-9.220730995091921,9.908547360724185,-8.172850832343102],"end_rotation":[0.520762462614666,0,0,-0.85370162090247237],"actions":[1,2,2,2,2,2,2,2,2,2,1,1,1,1,1,1],"reference_path":[[-2.541939430950345,30.611615924251538,-8.172850832343102,0,0,0.31008950274232033],[2.2195918814835096,32.137335282689364,-8.172850832343102,0,0,0.31008950274232033],[2.2195918814835096,32.137335282689364,-8.172850832343102,0,0,0.04829011494317088],[2.2195918814835096,32.137335282689364,-8.172850832343102,0,0,-0.21350927285597857],[2.2195918814835096,32.137335282689364,-8.172850832343102,0,0,-0.47530866065512806],[2.2195918814835096,32.137335282689364,-8.172850832343102,0,0,-0.7371080484542775],[2.2195918814835096,32.137335282689364,-8.172850832343102,0,0,-0.9989074362534269],[2.2195918814835096,32.137335282689364,-8.172850832343102,0,0,-1.2607068240525765],[2.2195918814835096,32.137335282689364,-8.172850832343102,0,0,-1.5225062118517259],[2.2195918814835096,32.137335282689364,-8.172850832343102,0,0,-1.7843055996508754],[2.2195918814835096,32.137335282689364,-8.172850832343102,0,0,-2.046104987450025],[-0.0684726938315765,27.691577698296328,-8.172850832343102,0,0,-2.046104987450025],[-2.3565372691466626,23.245820113903292,-8.172850832343102,0,0,-2.046104987450025],[-4.644601844461748,18.800062529510257,-8.172850832343102,0,0,-2.046104987450025],[-6.932666419776835,14.35430494511722,-8.172850832343102,0,0,-2.046104987450025],[-9.220730995091921,9.908547360724185,-8.172850832343102,0,0,-2.046104987450025]]},{"id":3,"instruction":"go toward the right corner of the tree line and when you are even with the front of the building turn right and cut across the left corner of the trees below.","completed_instruction":"Turn right to face the road, go forward along the road to a dark blue glass skyscraper with vertical white lines.","start_frame":23,"end_frame":38,"start_position":[-9.220730995091921,9.908547360724185,-8.172850832343102],"start_rotation":[0.520762462614666,0,0,-0.85370162090247237],"end_position":[12.298860991762268,13.091386568520269,-8.172850832343102],"end_rotation":[0.98800462106378106,0,0,0.15442431400726525],"actions":[1,3,3,3,3,3,3,3,3,3,1,1,1,1,1,2],"reference_path":[[-9.220730995091921,9.908547360724185,-8.172850832343102,0,0,-2.046104987450025],[-11.508795570407008,5.4627897763311495,-8.172850832343102,0,0,-2.046104987450025],[-11.508795570407008,5.4627897763311495,-8.172850832343102,0,0,-1.7843055996508757],[-11.508795570407008,5.4627897763311495,-8.172850832343102,0,0,-1.522506211851726],[-11.508795570407008,5.4627897763311495,-8.172850832343102,0,0,-1.2607068240525767],[-11.508795570407008,5.4627897763311495,-8.172850832343102,0,0,-0.9989074362534273],[-11.508795570407008,5.4627897763311495,-8.172850832343102,0,0,-0.7371080484542778],[-11.508795570407008,5.4627897763311495,-8.172850832343102,0,0,-0.47530866065512845],[-11.508795570407008,5.4627897763311495,-8.172850832343102,0,0,-0.21350927285597904],[-11.508795570407008,5.4627897763311495,-8.172850832343102,0,0,0.048290114943170384],[-11.508795570407008,5.4627897763311495,-8.172850832343102,0,0,0.31008950274231983],[-6.7472642579731525,6.988509134768973,-8.172850832343102,0,0,0.31008950274231983],[-1.9857329455392971,8.514228493206797,-8.172850832343102,0,0,0.31008950274231983],[2.7757983668945583,10.039947851644621,-8.172850832343102,0,0,0.31008950274231983],[7.537329679328414,11.565667210082445,-8.172850832343102,0,0,0.31008950274231983],[12.298860991762268,13.091386568520269,-8.172850832343102,0,0,0.31008950274231983]]},{"id":4,"instruction":"before you get to the building ahead, turn left and fly toward the road ahead that runs between the two buildings.","completed_instruction":"Turn left to face the middle of dark black building and brown building.","start_frame":38,"end_frame":45,"start_position":[12.298860991762268,13.091386568520269,-8.172850832343102],"start_rotation":[0.98800462106378106,0,0,0.15442431400726525],"end_position":[17.29303228657152,13.332743312994669,-8.172850832343102],"end_rotation":[0.80781924701246288,0,0,-0.58943028778322681],"actions":[2,1,2,2,2,2,2,2],"reference_path":[[12.298860991762268,13.091386568520269,-8.172850832343102,0,0,0.31008950274231983],[12.298860991762268,13.091386568520269,-8.172850832343102,0,0,0.04829011494317045],[17.29303228657152,13.332743312994669,-8.172850832343102,0,0,0.04829011494317045],[17.29303228657152,13.332743312994669,-8.172850832343102,0,0,-0.21350927285597898],[17.29303228657152,13.332743312994669,-8.172850832343102,0,0,-0.47530866065512845],[17.29303228657152,13.332743312994669,-8.172850832343102,0,0,-0.7371080484542778],[17.29303228657152,13.332743312994669,-8.172850832343102,0,0,-0.9989074362534273],[17.29303228657152,13.332743312994669,-8.172850832343102,0,0,-1.2607068240525767]]},{"id":5,"instruction":"fly to the end of the short road and descend some.","completed_instruction":"Fly to the end of the short road and fly down to the height of a street light.","start_frame":45,"end_frame":54,"start_position":[17.29303228657152,13.332743312994669,-8.172850832343102],"start_rotation":[0.80781924701246288,0,0,-0.58943028778322681],"end_position":[15.65683790999217,-6.428532790027216,-8.172850832343102],"end_rotation":[0.72397215032585338,0,0,-0.68982920027537253],"actions":[2,2,1,1,3,4,1,1,5,5],"reference_path":[[17.29303228657152,13.332743312994669,-8.172850832343102,0,0,-1.2607068240525767],[17.29303228657152,13.332743312994669,-8.172850832343102,0,0,-1.522506211851726],[17.29303228657152,13.332743312994669,-8.172850832343102,0,0,-1.7843055996508757],[16.233578353807445,8.446276556292979,-8.172850832343102,0,0,-1.7843055996508757],[15.17412442104337,3.5598097995912887,-8.172850832343102,0,0,-1.7843055996508757],[15.17412442104337,3.5598097995912887,-8.172850832343102,0,0,-1.522506211851726],[15.17412442104337,3.5598097995912887,-10.172850832343102,0,0,-1.522506211851726],[15.41548116551777,-1.4343614952179635,-10.172850832343102,0,0,-1.522506211851726],[15.65683790999217,-6.428532790027216,-10.172850832343102,0,0,-1.522506211851726],[15.65683790999217,-6.428532790027216,-8.172850832343102,0,0,-1.522506211851726]]},{"id":6,"instruction":"descend to about eight feet off the ground and then turn right and then turn left and stop there.","completed_instruction":"Turn right to face the road, then turn left to face an intersection and land.","start_frame":54,"end_frame":80,"start_position":[15.65683790999217,-6.428532790027216,-8.172850832343102],"start_rotation":[0.72397215032585338,0,0,-0.68982920027537253],"end_position":[15.65683790999217,-6.428532790027216,-2.1728508323431015],"end_rotation":[0.93284925790128492,0,0,-0.3602669316396136],"actions":[5,5,5,3,3,3,3,3,3,3,3,3,3,3,3,3,2,2,2,2,2,2,2,2,2,2,0],"reference_path":[[15.65683790999217,-6.428532790027216,-8.172850832343102,0,0,-1.522506211851726],[15.65683790999217,-6.428532790027216,-6.1728508323431015,0,0,-1.522506211851726],[15.65683790999217,-6.428532790027216,-4.1728508323431015,0,0,-1.522506211851726],[15.65683790999217,-6.428532790027216,-2.1728508323431015,0,0,-1.522506211851726],[15.65683790999217,-6.428532790027216,-2.1728508323431015,0,0,-1.2607068240525767],[15.65683790999217,-6.428532790027216,-2.1728508323431015,0,0,-0.9989074362534273],[15.65683790999217,-6.428532790027216,-2.1728508323431015,0,0,-0.7371080484542778],[15.65683790999217,-6.428532790027216,-2.1728508323431015,0,0,-0.47530866065512845],[15.65683790999217,-6.428532790027216,-2.1728508323431015,0,0,-0.21350927285597904],[15.65683790999217,-6.428532790027216,-2.1728508323431015,0,0,0.048290114943170384],[15.65683790999217,-6.428532790027216,-2.1728508323431015,0,0,0.31008950274231983],[15.65683790999217,-6.428532790027216,-2.1728508323431015,0,0,0.5718888905414693],[15.65683790999217,-6.428532790027216,-2.1728508323431015,0,0,0.8336882783406188],[15.65683790999217,-6.428532790027216,-2.1728508323431015,0,0,1.0954876661397683],[15.65683790999217,-6.428532790027216,-2.1728508323431015,0,0,1.3572870539389177],[15.65683790999217,-6.428532790027216,-2.1728508323431015,0,0,1.619086441738067],[15.65683790999217,-6.428532790027216,-2.1728508323431015,0,0,1.8808858295372164],[15.65683790999217,-6.428532790027216,-2.1728508323431015,0,0,1.6190864417380668],[15.65683790999217,-6.428532790027216,-2.1728508323431015,0,0,1.3572870539389175],[15.65683790999217,-6.428532790027216,-2.1728508323431015,0,0,1.0954876661397681],[15.65683790999217,-6.428532790027216,-2.1728508323431015,0,0,0.8336882783406188],[15.65683790999217,-6.428532790027216,-2.1728508323431015,0,0,0.5718888905414694],[15.65683790999217,-6.428532790027216,-2.1728508323431015,0,0,0.31008950274232],[15.65683790999217,-6.428532790027216,-2.1728508323431015,0,0,0.04829011494317057],[15.65683790999217,-6.428532790027216,-2.1728508323431015,0,0,-0.21350927285597887],[15.65683790999217,-6.428532790027216,-2.1728508323431015,0,0,-0.4753086606551283],[15.65683790999217,-6.428532790027216,-2.1728508323431015,0,0,-0.7371080484542777]]}],"statistics":{"complete_actions":86,"sentence_actions":[5,4,16,16,8,10,27],"sentence_actions_average":12.29}}
diff --git a/scene_3/3A7Y0R2P2XMZXXQH2WJAMBQUQWAXJ4.json b/scene_3/3A7Y0R2P2XMZXXQH2WJAMBQUQWAXJ4.json
new file mode 100644
index 0000000000000000000000000000000000000000..57a5f11004b7e0a90009fe7ff09c6bdd067bb671
--- /dev/null
+++ b/scene_3/3A7Y0R2P2XMZXXQH2WJAMBQUQWAXJ4.json
@@ -0,0 +1 @@
+{"episode_id":"3A7Y0R2P2XMZXXQH2WJAMBQUQWAXJ4","trajectory_id":"3OND0WXMI4DRE77HTOLVXQUJL1DHE5","scene_id":3,"instruction":"fly up. go down the road. take pictures of all the yellow taxis. dont hit the wall, turn back. go higher. go past the park with the trees. get a close up shot of building. power down.","sentence_instructions":[{"id":0,"instruction":"go down the road.","completed_instruction":"Turn left to face the road, fly forward along the road passing some yellow cars to a blue car.","start_frame":1,"end_frame":17,"start_position":[-21.44491958618164,51.62356948852539,-0.12390492856502533],"start_rotation":[0.99972087648854691,0,0,-0.023625602912337326],"end_position":[-25.09143569196893,27.43869816269192,-2.1239049285650253],"end_rotation":[0.690203587029876,0,0,-0.723615235087745],"actions":[4,2,2,2,2,2,2,1,1,1,1,2,2,1,3,3,1],"reference_path":[[-21.44491958618164,51.62356948852539,-0.12390492856502533,0,0,-0.04725560262307522],[-21.44491958618164,51.62356948852539,-2.1239049285650253,0,0,-0.04725560262307522],[-21.44491958618164,51.62356948852539,-2.1239049285650253,0,0,-0.3090549904222247],[-21.44491958618164,51.62356948852539,-2.1239049285650253,0,0,-0.5708543782213741],[-21.44491958618164,51.62356948852539,-2.1239049285650253,0,0,-0.8326537660205235],[-21.44491958618164,51.62356948852539,-2.1239049285650253,0,0,-1.0944531538196731],[-21.44491958618164,51.62356948852539,-2.1239049285650253,0,0,-1.3562525416188225],[-21.44491958618164,51.62356948852539,-2.1239049285650253,0,0,-1.6180519294179718],[-21.681109670692564,46.6291511796551,-2.1239049285650253,0,0,-1.6180519294179718],[-21.917299755203487,41.634732870784816,-2.1239049285650253,0,0,-1.6180519294179718],[-22.15348983971441,36.64031456191453,-2.1239049285650253,0,0,-1.6180519294179718],[-22.389679924225334,31.645896253044242,-2.1239049285650253,0,0,-1.6180519294179718],[-22.389679924225334,31.645896253044242,-2.1239049285650253,0,0,-1.8798513172171214],[-22.389679924225334,31.645896253044242,-2.1239049285650253,0,0,-2.141650705016271],[-25.09143569196893,27.43869816269192,-2.1239049285650253,0,0,-2.141650705016271],[-25.09143569196893,27.43869816269192,-2.1239049285650253,0,0,-1.8798513172171214],[-25.09143569196893,27.43869816269192,-2.1239049285650253,0,0,-1.618051929417972]]},{"id":1,"instruction":"dont hit the wall, turn back.","completed_instruction":"Turn right to face the park.","start_frame":17,"end_frame":18,"start_position":[-25.09143569196893,27.43869816269192,-2.1239049285650253],"start_rotation":[0.690203587029876,0,0,-0.723615235087745],"end_position":[-25.327625776479852,22.444279853821634,-2.1239049285650253],"end_rotation":[0.690203587029876,0,0,-0.723615235087745],"actions":[1,3],"reference_path":[[-25.09143569196893,27.43869816269192,-2.1239049285650253,0,0,-1.618051929417972],[-25.327625776479852,22.444279853821634,-2.1239049285650253,0,0,-1.618051929417972]]},{"id":2,"instruction":"go higher.","completed_instruction":"Fly higher to see the whole park.","start_frame":22,"end_frame":27,"start_position":[-25.327625776479852,22.444279853821634,-2.1239049285650253],"start_rotation":[0.95954145769488886,0,0,-0.28156738263649767],"end_position":[-25.327625776479852,22.444279853821634,-10.123904928565025],"end_rotation":[0.9880843658156413,0,0,-0.15391324189523756],"actions":[3,4,4,4,4,3],"reference_path":[[-25.327625776479852,22.444279853821634,-2.1239049285650253,0,0,-0.5708543782213741],[-25.327625776479852,22.444279853821634,-2.1239049285650253,0,0,-0.30905499042222473],[-25.327625776479852,22.444279853821634,-4.123904928565025,0,0,-0.30905499042222473],[-25.327625776479852,22.444279853821634,-6.123904928565025,0,0,-0.30905499042222473],[-25.327625776479852,22.444279853821634,-8.123904928565025,0,0,-0.30905499042222473],[-25.327625776479852,22.444279853821634,-10.123904928565025,0,0,-0.30905499042222473]]},{"id":3,"instruction":"go past the park with the trees.","completed_instruction":"Go past the park with the trees until reaching a football field.","start_frame":27,"end_frame":31,"start_position":[-25.327625776479852,22.444279853821634,-10.123904928565025],"start_rotation":[0.9880843658156413,0,0,-0.15391324189523756],"end_position":[-15.338789158739283,21.971899684799787,-10.123904928565025],"end_rotation":[0.9880843658156413,0,0,-0.15391324189523756],"actions":[3,1,1,2,1],"reference_path":[[-25.327625776479852,22.444279853821634,-10.123904928565025,0,0,-0.30905499042222473],[-25.327625776479852,22.444279853821634,-10.123904928565025,0,0,-0.04725560262307529],[-20.33320746760957,22.20808976931071,-10.123904928565025,0,0,-0.04725560262307529],[-15.338789158739283,21.971899684799787,-10.123904928565025,0,0,-0.04725560262307529],[-15.338789158739283,21.971899684799787,-10.123904928565025,0,0,-0.30905499042222473]]},{"id":4,"instruction":"get a close up shot of building.","completed_instruction":"Turn left to face a brown building with black windows, then fly towards the building until passing the trees.","start_frame":31,"end_frame":35,"start_position":[-15.338789158739283,21.971899684799787,-10.123904928565025],"start_rotation":[0.9880843658156413,0,0,-0.15391324189523756],"end_position":[-6.368483928693982,17.74935123696934,-10.123904928565025],"end_rotation":[0.91458052919782473,0,0,-0.40440382739562064],"actions":[1,2,1,2,1],"reference_path":[[-15.338789158739283,21.971899684799787,-10.123904928565025,0,0,-0.30905499042222473],[-10.575682019046303,20.451107004712934,-10.123904928565025,0,0,-0.30905499042222473],[-10.575682019046303,20.451107004712934,-10.123904928565025,0,0,-0.5708543782213742],[-6.368483928693982,17.74935123696934,-10.123904928565025,0,0,-0.5708543782213742],[-6.368483928693982,17.74935123696934,-10.123904928565025,0,0,-0.8326537660205235]]},{"id":5,"instruction":"power down.","completed_instruction":"Land on the road.","start_frame":35,"end_frame":41,"start_position":[-6.368483928693982,17.74935123696934,-10.123904928565025],"start_rotation":[0.91458052919782473,0,0,-0.40440382739562064],"end_position":[-3.0039084848162507,14.050752572278215,-2.1239049285650253],"end_rotation":[0.853970874276558,0,0,-0.52032081054608126],"actions":[1,2,5,5,5,5,0],"reference_path":[[-6.368483928693982,17.74935123696934,-10.123904928565025,0,0,-0.8326537660205235],[-3.0039084848162507,14.050752572278215,-10.123904928565025,0,0,-0.8326537660205235],[-3.0039084848162507,14.050752572278215,-10.123904928565025,0,0,-1.0944531538196731],[-3.0039084848162507,14.050752572278215,-8.123904928565025,0,0,-1.0944531538196731],[-3.0039084848162507,14.050752572278215,-6.123904928565025,0,0,-1.0944531538196731],[-3.0039084848162507,14.050752572278215,-4.123904928565025,0,0,-1.0944531538196731],[-3.0039084848162507,14.050752572278215,-2.1239049285650253,0,0,-1.0944531538196731]]}],"statistics":{"complete_actions":42,"sentence_actions":[17,2,6,5,5,7],"sentence_actions_average":7.0}}
diff --git a/scene_3/3BXQMRHWK8WXH1270OLFIWJ70B1UMW.json b/scene_3/3BXQMRHWK8WXH1270OLFIWJ70B1UMW.json
new file mode 100644
index 0000000000000000000000000000000000000000..ac393a6821f588d3087cc90bdf38ff297f4034dc
--- /dev/null
+++ b/scene_3/3BXQMRHWK8WXH1270OLFIWJ70B1UMW.json
@@ -0,0 +1 @@
+{"episode_id":"3BXQMRHWK8WXH1270OLFIWJ70B1UMW","trajectory_id":"39KMGHJ4S78HCHMRN9FV69TY5J1000","scene_id":3,"instruction":"takeoff from the land and fly high towards and show lamp post and vehicles and turn right fly over the tree. turn left and fly over the high building and focus on high building terrace. turn right and focus on next high building and fly lower to that building and land over the road.","sentence_instructions":[{"id":0,"instruction":"takeoff from the land and fly high towards and show lamp post and vehicles and turn right fly over the tree.","completed_instruction":"Turn left to face the road, fly towards the trees on the right side of the road, fly up above the trees, fly over the trees towards a dark blue building with white vertical stripes.","start_frame":1,"end_frame":34,"start_position":[-21.44491958618164,51.62356948852539,-0.12390492856502533],"start_rotation":[0.99993212131685849,0,0,0.011651298587172324],"end_position":[4.1467545417914735,13.73132085140038,-8.123904928565025],"end_rotation":[0.99289836304121537,0,0,-0.11896571216142431],"actions":[2,2,2,2,2,1,1,1,4,4,4,4,1,3,1,3,1,3,1,1,3,2,2,2,2,2,1,3,3,3,3,3,1,3],"reference_path":[[-21.44491958618164,51.62356948852539,-0.12390492856502533,0,0,0.023303124438530665],[-21.44491958618164,51.62356948852539,-0.12390492856502533,0,0,-0.23849626336061874],[-21.44491958618164,51.62356948852539,-0.12390492856502533,0,0,-0.5002956511597683],[-21.44491958618164,51.62356948852539,-0.12390492856502533,0,0,-0.7620950389589177],[-21.44491958618164,51.62356948852539,-0.12390492856502533,0,0,-1.0238944267580672],[-21.44491958618164,51.62356948852539,-0.12390492856502533,0,0,-1.2856938145572165],[-20.03864045177542,46.825405360847626,-0.12390492856502533,0,0,-1.2856938145572165],[-18.632361317369202,42.02724123316986,-0.12390492856502533,0,0,-1.2856938145572165],[-17.226082182962983,37.229077105492095,-0.12390492856502533,0,0,-1.2856938145572165],[-17.226082182962983,37.229077105492095,-2.1239049285650253,0,0,-1.2856938145572165],[-17.226082182962983,37.229077105492095,-4.123904928565025,0,0,-1.2856938145572165],[-17.226082182962983,37.229077105492095,-6.123904928565025,0,0,-1.2856938145572165],[-17.226082182962983,37.229077105492095,-8.123904928565025,0,0,-1.2856938145572165],[-15.819803048556766,32.43091297781433,-8.123904928565025,0,0,-1.2856938145572165],[-15.819803048556766,32.43091297781433,-8.123904928565025,0,0,-1.0238944267580672],[-13.219585455891638,28.160214150831237,-8.123904928565025,0,0,-1.0238944267580672],[-13.219585455891638,28.160214150831237,-8.123904928565025,0,0,-0.7620950389589177],[-9.602629936844982,24.708021691938203,-8.123904928565025,0,0,-0.7620950389589177],[-9.602629936844982,24.708021691938203,-8.123904928565025,0,0,-0.5002956511597683],[-5.2154260327382165,22.309596812191007,-8.123904928565025,0,0,-0.5002956511597683],[-0.8282221286314506,19.91117193244381,-8.123904928565025,0,0,-0.5002956511597683],[-0.8282221286314506,19.91117193244381,-8.123904928565025,0,0,-0.23849626336061885],[-0.8282221286314506,19.91117193244381,-8.123904928565025,0,0,-0.5002956511597683],[-0.8282221286314506,19.91117193244381,-8.123904928565025,0,0,-0.7620950389589177],[-0.8282221286314506,19.91117193244381,-8.123904928565025,0,0,-1.0238944267580672],[-0.8282221286314506,19.91117193244381,-8.123904928565025,0,0,-1.2856938145572165],[-0.8282221286314506,19.91117193244381,-8.123904928565025,0,0,-1.5474932023563661],[-0.7117170515077781,14.912529460031486,-8.123904928565025,0,0,-1.5474932023563661],[-0.7117170515077781,14.912529460031486,-8.123904928565025,0,0,-1.2856938145572165],[-0.7117170515077781,14.912529460031486,-8.123904928565025,0,0,-1.0238944267580672],[-0.7117170515077781,14.912529460031486,-8.123904928565025,0,0,-0.7620950389589177],[-0.7117170515077781,14.912529460031486,-8.123904928565025,0,0,-0.5002956511597683],[-0.7117170515077781,14.912529460031486,-8.123904928565025,0,0,-0.23849626336061885],[4.1467545417914735,13.73132085140038,-8.123904928565025,0,0,-0.23849626336061885]]},{"id":1,"instruction":"turn left and fly over the high building and focus on high building terrace.","completed_instruction":"Turn left to face a brown building with windows, fly up to the height of its roof, fly forward to its roof.","start_frame":34,"end_frame":61,"start_position":[4.1467545417914735,13.73132085140038,-8.123904928565025],"start_rotation":[0.99289836304121537,0,0,-0.11896571216142431],"end_position":[14.144039486616123,13.964331005647725,-40.123904928565025],"end_rotation":[0.510056381221998,0,0,-0.8601409698268766],"actions":[3,1,1,2,2,2,2,2,2,2,2,4,4,4,4,4,4,4,4,4,4,4,4,4,4,4,4,1],"reference_path":[[4.1467545417914735,13.73132085140038,-8.123904928565025,0,0,-0.23849626336061885],[4.1467545417914735,13.73132085140038,-8.123904928565025,0,0,0.023303124438530585],[9.145397014203798,13.847825928524053,-8.123904928565025,0,0,0.023303124438530585],[14.144039486616123,13.964331005647725,-8.123904928565025,0,0,0.023303124438530585],[14.144039486616123,13.964331005647725,-8.123904928565025,0,0,-0.23849626336061885],[14.144039486616123,13.964331005647725,-8.123904928565025,0,0,-0.5002956511597683],[14.144039486616123,13.964331005647725,-8.123904928565025,0,0,-0.7620950389589177],[14.144039486616123,13.964331005647725,-8.123904928565025,0,0,-1.0238944267580672],[14.144039486616123,13.964331005647725,-8.123904928565025,0,0,-1.2856938145572165],[14.144039486616123,13.964331005647725,-8.123904928565025,0,0,-1.5474932023563661],[14.144039486616123,13.964331005647725,-8.123904928565025,0,0,-1.8092925901555155],[14.144039486616123,13.964331005647725,-8.123904928565025,0,0,-2.0710919779546653],[14.144039486616123,13.964331005647725,-10.123904928565025,0,0,-2.0710919779546653],[14.144039486616123,13.964331005647725,-12.123904928565025,0,0,-2.0710919779546653],[14.144039486616123,13.964331005647725,-14.123904928565025,0,0,-2.0710919779546653],[14.144039486616123,13.964331005647725,-16.123904928565025,0,0,-2.0710919779546653],[14.144039486616123,13.964331005647725,-18.123904928565025,0,0,-2.0710919779546653],[14.144039486616123,13.964331005647725,-20.123904928565025,0,0,-2.0710919779546653],[14.144039486616123,13.964331005647725,-22.123904928565025,0,0,-2.0710919779546653],[14.144039486616123,13.964331005647725,-24.123904928565025,0,0,-2.0710919779546653],[14.144039486616123,13.964331005647725,-26.123904928565025,0,0,-2.0710919779546653],[14.144039486616123,13.964331005647725,-28.123904928565025,0,0,-2.0710919779546653],[14.144039486616123,13.964331005647725,-30.123904928565025,0,0,-2.0710919779546653],[14.144039486616123,13.964331005647725,-32.123904928565025,0,0,-2.0710919779546653],[14.144039486616123,13.964331005647725,-34.123904928565025,0,0,-2.0710919779546653],[14.144039486616123,13.964331005647725,-36.123904928565025,0,0,-2.0710919779546653],[14.144039486616123,13.964331005647725,-38.123904928565025,0,0,-2.0710919779546653],[14.144039486616123,13.964331005647725,-40.123904928565025,0,0,-2.0710919779546653]]},{"id":2,"instruction":"turn right and focus on next high building and fly lower to that building and land over the road.","completed_instruction":"Turn right to face a black high building, and fly down to the ground and land on the road.","start_frame":61,"end_frame":91,"start_position":[14.144039486616123,13.964331005647725,-40.123904928565025],"start_rotation":[0.510056381221998,0,0,-0.8601409698268766],"end_position":[14.182675885467836,-6.101665624458641,-0.12390492856502533],"end_rotation":[0.9282755797200879,0,0,-0.371893060025775],"actions":[1,1,1,3,3,3,3,3,1,5,5,5,5,1,5,5,5,5,5,5,5,5,5,5,5,5,5,5,5,5,0],"reference_path":[[14.144039486616123,13.964331005647725,-40.123904928565025,0,0,-2.0710919779546653],[11.745614606868925,9.577127101540961,-40.123904928565025,0,0,-2.0710919779546653],[9.347189727121727,5.189923197434197,-40.123904928565025,0,0,-2.0710919779546653],[6.9487648473745285,0.8027192933274332,-40.123904928565025,0,0,-2.0710919779546653],[6.9487648473745285,0.8027192933274332,-40.123904928565025,0,0,-1.809292590155516],[6.9487648473745285,0.8027192933274332,-40.123904928565025,0,0,-1.5474932023563666],[6.9487648473745285,0.8027192933274332,-40.123904928565025,0,0,-1.2856938145572172],[6.9487648473745285,0.8027192933274332,-40.123904928565025,0,0,-1.0238944267580679],[6.9487648473745285,0.8027192933274332,-40.123904928565025,0,0,-0.7620950389589185],[10.565720366421182,-2.649473165565604,-40.123904928565025,0,0,-0.7620950389589185],[10.565720366421182,-2.649473165565604,-38.123904928565025,0,0,-0.7620950389589185],[10.565720366421182,-2.649473165565604,-36.123904928565025,0,0,-0.7620950389589185],[10.565720366421182,-2.649473165565604,-34.123904928565025,0,0,-0.7620950389589185],[10.565720366421182,-2.649473165565604,-32.123904928565025,0,0,-0.7620950389589185],[14.182675885467836,-6.101665624458641,-32.123904928565025,0,0,-0.7620950389589185],[14.182675885467836,-6.101665624458641,-30.123904928565025,0,0,-0.7620950389589185],[14.182675885467836,-6.101665624458641,-28.123904928565025,0,0,-0.7620950389589185],[14.182675885467836,-6.101665624458641,-26.123904928565025,0,0,-0.7620950389589185],[14.182675885467836,-6.101665624458641,-24.123904928565025,0,0,-0.7620950389589185],[14.182675885467836,-6.101665624458641,-22.123904928565025,0,0,-0.7620950389589185],[14.182675885467836,-6.101665624458641,-20.123904928565025,0,0,-0.7620950389589185],[14.182675885467836,-6.101665624458641,-18.123904928565025,0,0,-0.7620950389589185],[14.182675885467836,-6.101665624458641,-16.123904928565025,0,0,-0.7620950389589185],[14.182675885467836,-6.101665624458641,-14.123904928565025,0,0,-0.7620950389589185],[14.182675885467836,-6.101665624458641,-12.123904928565025,0,0,-0.7620950389589185],[14.182675885467836,-6.101665624458641,-10.123904928565025,0,0,-0.7620950389589185],[14.182675885467836,-6.101665624458641,-8.123904928565025,0,0,-0.7620950389589185],[14.182675885467836,-6.101665624458641,-6.123904928565025,0,0,-0.7620950389589185],[14.182675885467836,-6.101665624458641,-4.123904928565025,0,0,-0.7620950389589185],[14.182675885467836,-6.101665624458641,-2.1239049285650253,0,0,-0.7620950389589185],[14.182675885467836,-6.101665624458641,-0.12390492856502533,0,0,-0.7620950389589185]]}],"statistics":{"complete_actions":93,"sentence_actions":[34,28,31],"sentence_actions_average":31.0}}
diff --git a/scene_3/3DH6GAKTY7NEXHLVPE8YTJLSOWYYZG.json b/scene_3/3DH6GAKTY7NEXHLVPE8YTJLSOWYYZG.json
new file mode 100644
index 0000000000000000000000000000000000000000..9df12bc53b87abd2e7951ec6aaa1129f4c298fb7
--- /dev/null
+++ b/scene_3/3DH6GAKTY7NEXHLVPE8YTJLSOWYYZG.json
@@ -0,0 +1 @@
+{"episode_id":"3DH6GAKTY7NEXHLVPE8YTJLSOWYYZG","trajectory_id":"3SBNLSTU7238DMTB3FGIRFG3DXGZD3","scene_id":3,"instruction":"float up above the street lights and turn around. fly to above the tree on the corner. go to the roof of the white building on the right. fly towards the white building to your left and fall down on the right side of the park. turn right and go down the road. park next to the scaffolding.","sentence_instructions":[{"id":0,"instruction":"float up above the street lights and turn around.","completed_instruction":"Turn back to face an intersection.","start_frame":1,"end_frame":11,"start_position":[27.056156158447266,7.5123138427734375,-0.34915873408317566],"start_rotation":[0.9998728958940537,0,0,0.01594340165832675],"end_position":[27.056156158447266,7.5123138427734375,-2.3491587340831757],"end_rotation":[0.36790500925882363,0,0,0.92986337929948881],"actions":[4,3,3,3,3,3,3,3,3,3,3],"reference_path":[[27.056156158447266,7.5123138427734375,-0.34915873408317566,0,0,0.03188815436655236],[27.056156158447266,7.5123138427734375,-2.3491587340831757,0,0,0.03188815436655236],[27.056156158447266,7.5123138427734375,-2.3491587340831757,0,0,0.2936875421657018],[27.056156158447266,7.5123138427734375,-2.3491587340831757,0,0,0.5554869299648513],[27.056156158447266,7.5123138427734375,-2.3491587340831757,0,0,0.8172863177640008],[27.056156158447266,7.5123138427734375,-2.3491587340831757,0,0,1.0790857055631504],[27.056156158447266,7.5123138427734375,-2.3491587340831757,0,0,1.3408850933623],[27.056156158447266,7.5123138427734375,-2.3491587340831757,0,0,1.6026844811614496],[27.056156158447266,7.5123138427734375,-2.3491587340831757,0,0,1.864483868960599],[27.056156158447266,7.5123138427734375,-2.3491587340831757,0,0,2.1262832567597485],[27.056156158447266,7.5123138427734375,-2.3491587340831757,0,0,2.388082644558898]]},{"id":1,"instruction":"fly to above the tree on the corner.","completed_instruction":"Fly forward to the intersection, then fly up above the trees ahead.","start_frame":11,"end_frame":17,"start_position":[27.056156158447266,7.5123138427734375,-2.3491587340831757],"start_rotation":[0.36790500925882363,0,0,0.92986337929948881],"end_position":[18.24089110430407,12.233659204553458,-8.349158734083176],"end_rotation":[0.24338600471851315,0,0,0.96992950914340159],"actions":[3,1,1,4,4,4,1],"reference_path":[[27.056156158447266,7.5123138427734375,-2.3491587340831757,0,0,2.388082644558898],[27.056156158447266,7.5123138427734375,-2.3491587340831757,0,0,2.649882032358047],[22.648523631375667,9.872986523663448,-2.3491587340831757,0,0,2.649882032358047],[18.24089110430407,12.233659204553458,-2.3491587340831757,0,0,2.649882032358047],[18.24089110430407,12.233659204553458,-4.349158734083176,0,0,2.649882032358047],[18.24089110430407,12.233659204553458,-6.349158734083176,0,0,2.649882032358047],[18.24089110430407,12.233659204553458,-8.349158734083176,0,0,2.649882032358047]]},{"id":2,"instruction":"go to the roof of the white building on the right.","completed_instruction":"Fly to the nearest tree, then turn right to face a brown building with windows, fly up to the height of its roof.","start_frame":17,"end_frame":41,"start_position":[18.24089110430407,12.233659204553458,-8.349158734083176],"start_rotation":[0.24338600471851315,0,0,0.96992950914340159],"end_position":[6.9912306738200805,7.301413802198171,-40.349158734083176],"end_rotation":[0.39736457420029342,0,0,-0.91766082795912107],"actions":[1,3,3,3,3,3,1,1,4,4,4,4,4,4,4,4,4,4,4,4,4,4,4,4,1],"reference_path":[[18.24089110430407,12.233659204553458,-8.349158734083176,0,0,2.649882032358047],[13.83325857723247,14.594331885443468,-8.349158734083176,0,0,2.649882032358047],[13.83325857723247,14.594331885443468,-8.349158734083176,0,0,2.9116814201571968],[13.83325857723247,14.594331885443468,-8.349158734083176,0,0,-3.10970449922324],[13.83325857723247,14.594331885443468,-8.349158734083176,0,0,-2.8479051114240903],[13.83325857723247,14.594331885443468,-8.349158734083176,0,0,-2.586105723624941],[13.83325857723247,14.594331885443468,-8.349158734083176,0,0,-2.324306335825792],[10.412244625526275,10.94787284382082,-8.349158734083176,0,0,-2.324306335825792],[6.9912306738200805,7.301413802198171,-8.349158734083176,0,0,-2.324306335825792],[6.9912306738200805,7.301413802198171,-10.349158734083176,0,0,-2.324306335825792],[6.9912306738200805,7.301413802198171,-12.349158734083176,0,0,-2.324306335825792],[6.9912306738200805,7.301413802198171,-14.349158734083176,0,0,-2.324306335825792],[6.9912306738200805,7.301413802198171,-16.349158734083176,0,0,-2.324306335825792],[6.9912306738200805,7.301413802198171,-18.349158734083176,0,0,-2.324306335825792],[6.9912306738200805,7.301413802198171,-20.349158734083176,0,0,-2.324306335825792],[6.9912306738200805,7.301413802198171,-22.349158734083176,0,0,-2.324306335825792],[6.9912306738200805,7.301413802198171,-24.349158734083176,0,0,-2.324306335825792],[6.9912306738200805,7.301413802198171,-26.349158734083176,0,0,-2.324306335825792],[6.9912306738200805,7.301413802198171,-28.349158734083176,0,0,-2.324306335825792],[6.9912306738200805,7.301413802198171,-30.349158734083176,0,0,-2.324306335825792],[6.9912306738200805,7.301413802198171,-32.349158734083176,0,0,-2.324306335825792],[6.9912306738200805,7.301413802198171,-34.349158734083176,0,0,-2.324306335825792],[6.9912306738200805,7.301413802198171,-36.349158734083176,0,0,-2.324306335825792],[6.9912306738200805,7.301413802198171,-38.349158734083176,0,0,-2.324306335825792],[6.9912306738200805,7.301413802198171,-40.349158734083176,0,0,-2.324306335825792]]},{"id":3,"instruction":"fly towards the white building to your left and fall down on the right side of the park.","completed_instruction":"Turn left to face the white building with a sleek grid-patterned facade of light blue panels and dark rectangular windows then fly to it, then fly down to the height of trees.","start_frame":41,"end_frame":71,"start_position":[6.9912306738200805,7.301413802198171,-40.349158734083176],"start_rotation":[0.39736457420029342,0,0,-0.91766082795912107],"end_position":[-15.589799904006897,11.467365683839638,-10.349158734083176],"end_rotation":[0.59603530197031351,0,0,0.802958229801001],"actions":[1,1,1,2,2,2,2,2,1,2,2,1,1,1,2,5,5,5,5,5,5,5,5,5,5,5,5,5,5,5,5],"reference_path":[[6.9912306738200805,7.301413802198171,-40.349158734083176,0,0,-2.324306335825792],[3.5702167221138854,3.6549547605755226,-40.349158734083176,0,0,-2.324306335825792],[0.14920277040769037,0.008495718952874043,-40.349158734083176,0,0,-2.324306335825792],[-3.2718111812985047,-3.6379633226697745,-40.349158734083176,0,0,-2.324306335825792],[-3.2718111812985047,-3.6379633226697745,-40.349158734083176,0,0,-2.5861057236249416],[-3.2718111812985047,-3.6379633226697745,-40.349158734083176,0,0,-2.847905111424091],[-3.2718111812985047,-3.6379633226697745,-40.349158734083176,0,0,-3.1097044992232408],[-3.2718111812985047,-3.6379633226697745,-40.349158734083176,0,0,2.911681420157196],[-3.2718111812985047,-3.6379633226697745,-40.349158734083176,0,0,2.6498820323580463],[-7.679443708370102,-1.2772906417797598,-40.349158734083176,0,0,2.6498820323580463],[-7.679443708370102,-1.2772906417797598,-40.349158734083176,0,0,2.3880826445588967],[-7.679443708370102,-1.2772906417797598,-40.349158734083176,0,0,2.1262832567597476],[-10.316229106915701,2.970928133426706,-40.349158734083176,0,0,2.1262832567597476],[-12.953014505461299,7.219146908633172,-40.349158734083176,0,0,2.1262832567597476],[-15.589799904006897,11.467365683839638,-40.349158734083176,0,0,2.1262832567597476],[-15.589799904006897,11.467365683839638,-40.349158734083176,0,0,1.8644838689605983],[-15.589799904006897,11.467365683839638,-38.349158734083176,0,0,1.8644838689605983],[-15.589799904006897,11.467365683839638,-36.349158734083176,0,0,1.8644838689605983],[-15.589799904006897,11.467365683839638,-34.349158734083176,0,0,1.8644838689605983],[-15.589799904006897,11.467365683839638,-32.349158734083176,0,0,1.8644838689605983],[-15.589799904006897,11.467365683839638,-30.349158734083176,0,0,1.8644838689605983],[-15.589799904006897,11.467365683839638,-28.349158734083176,0,0,1.8644838689605983],[-15.589799904006897,11.467365683839638,-26.349158734083176,0,0,1.8644838689605983],[-15.589799904006897,11.467365683839638,-24.349158734083176,0,0,1.8644838689605983],[-15.589799904006897,11.467365683839638,-22.349158734083176,0,0,1.8644838689605983],[-15.589799904006897,11.467365683839638,-20.349158734083176,0,0,1.8644838689605983],[-15.589799904006897,11.467365683839638,-18.349158734083176,0,0,1.8644838689605983],[-15.589799904006897,11.467365683839638,-16.349158734083176,0,0,1.8644838689605983],[-15.589799904006897,11.467365683839638,-14.349158734083176,0,0,1.8644838689605983],[-15.589799904006897,11.467365683839638,-12.349158734083176,0,0,1.8644838689605983],[-15.589799904006897,11.467365683839638,-10.349158734083176,0,0,1.8644838689605983]]},{"id":4,"instruction":"turn right and go down the road.","completed_instruction":"Turn right to face the road right to the white building, and fly over an intersection.","start_frame":70,"end_frame":80,"start_position":[-15.589799904006897,11.467365683839638,-12.349158734083176],"start_rotation":[0.59603530197031351,0,0,0.802958229801001],"end_position":[-25.584716062878123,11.148538180109362,-6.349158734083176],"end_rotation":[0.015943401658327246,0,0,-0.9998728958940537],"actions":[5,5,5,3,3,3,3,3,1,1,1],"reference_path":[[-15.589799904006897,11.467365683839638,-12.349158734083176,0,0,1.8644838689605983],[-15.589799904006897,11.467365683839638,-10.349158734083176,0,0,1.8644838689605983],[-15.589799904006897,11.467365683839638,-8.349158734083176,0,0,1.8644838689605983],[-15.589799904006897,11.467365683839638,-6.349158734083176,0,0,1.8644838689605983],[-15.589799904006897,11.467365683839638,-6.349158734083176,0,0,2.126283256759748],[-15.589799904006897,11.467365683839638,-6.349158734083176,0,0,2.388082644558898],[-15.589799904006897,11.467365683839638,-6.349158734083176,0,0,2.649882032358047],[-15.589799904006897,11.467365683839638,-6.349158734083176,0,0,2.9116814201571968],[-15.589799904006897,11.467365683839638,-6.349158734083176,0,0,-3.10970449922324],[-20.58725798344251,11.3079519319745,-6.349158734083176,0,0,-3.10970449922324],[-25.584716062878123,11.148538180109362,-6.349158734083176,0,0,-3.10970449922324]]},{"id":5,"instruction":"park next to the scaffolding.","completed_instruction":"Turn right to the scaffolding then land.","start_frame":80,"end_frame":85,"start_position":[-25.584716062878123,11.148538180109362,-6.349158734083176],"start_rotation":[0.015943401658327246,0,0,-0.9998728958940537],"end_position":[-30.582174142313736,10.989124428244224,-2.3491587340831757],"end_rotation":[0.27418629155986929,0,0,-0.96167659715761322],"actions":[1,5,5,3,3,0],"reference_path":[[-25.584716062878123,11.148538180109362,-6.349158734083176,0,0,-3.10970449922324],[-30.582174142313736,10.989124428244224,-6.349158734083176,0,0,-3.10970449922324],[-30.582174142313736,10.989124428244224,-4.349158734083176,0,0,-3.10970449922324],[-30.582174142313736,10.989124428244224,-2.3491587340831757,0,0,-3.10970449922324],[-30.582174142313736,10.989124428244224,-2.3491587340831757,0,0,-2.8479051114240903],[-30.582174142313736,10.989124428244224,-2.3491587340831757,0,0,-2.586105723624941]]}],"statistics":{"complete_actions":91,"sentence_actions":[11,7,25,31,11,6],"sentence_actions_average":15.17}}
diff --git a/scene_3/3DL65MZB8MD3JJTUXZCWBISSMYYCEQ.json b/scene_3/3DL65MZB8MD3JJTUXZCWBISSMYYCEQ.json
new file mode 100644
index 0000000000000000000000000000000000000000..6ed630dd7ec4b157519e7b5264bad8312c46435c
--- /dev/null
+++ b/scene_3/3DL65MZB8MD3JJTUXZCWBISSMYYCEQ.json
@@ -0,0 +1 @@
+{"episode_id":"3DL65MZB8MD3JJTUXZCWBISSMYYCEQ","trajectory_id":"3MDWE879VP00SYDELLVDJ1QA009B99","scene_id":3,"instruction":"take off and turn right whiles you make your way to the urban forestry. turn right and head pass the forestry to the cross road. turn around and move across the road to the building on sight. turn right and move up to the top of the building. take it down and land to the side ways and land.","sentence_instructions":[{"id":0,"instruction":"Take off to the height of the roof on the left, turn right facing the urban forestry and fly forward to it.","completed_instruction":"Take off to the height of the roof of the brown building on left, turn right to face a white skyscraper with a grid-patterned facade of light blue panels and dark windows, fly forward to the trees ahead.","start_frame":1,"end_frame":10,"start_position":[-17.52571678161621,-2.2486233711242676,-0.4963338375091553],"start_rotation":[0.99990068586288106,0,0,-0.014093204424120728],"end_position":[-10.25816964401961,4.620347338000314,-8.496333837509155],"end_rotation":[0.929181014054759,0,0,0.36962500337527215],"actions":[4,4,4,4,3,3,3,1,1,1],"reference_path":[[-17.52571678161621,-2.2486233711242676,-0.4963338375091553,0,0,-0.02818734198826891],[-17.52571678161621,-2.2486233711242676,-2.4963338375091553,0,0,-0.02818734198826891],[-17.52571678161621,-2.2486233711242676,-4.496333837509155,0,0,-0.02818734198826891],[-17.52571678161621,-2.2486233711242676,-6.496333837509155,0,0,-0.02818734198826891],[-17.52571678161621,-2.2486233711242676,-8.496333837509155,0,0,-0.02818734198826891],[-17.52571678161621,-2.2486233711242676,-8.496333837509155,0,0,0.23361204581088052],[-17.52571678161621,-2.2486233711242676,-8.496333837509155,0,0,0.49541143361003004],[-17.52571678161621,-2.2486233711242676,-8.496333837509155,0,0,0.7572108214091796],[-13.89194321281791,1.185861983438023,-8.496333837509155,0,0,0.7572108214091796],[-10.25816964401961,4.620347338000314,-8.496333837509155,0,0,0.7572108214091796]]},{"id":1,"instruction":"turn right and head pass the forestry to the cross road.","completed_instruction":"Turn right to face a dark black building left to a white building, and fly forward over the trees to an intersection.","start_frame":10,"end_frame":22,"start_position":[-10.25816964401961,4.620347338000314,-8.496333837509155],"start_rotation":[0.929181014054759,0,0,0.36962500337527215],"end_position":[-10.673033053007412,26.648586662698236,-8.496333837509155],"end_rotation":[0.39566584960515716,0,0,0.9183945423706682],"actions":[1,1,3,1,3,3,3,3,3,1,1,1,1],"reference_path":[[-10.25816964401961,4.620347338000314,-8.496333837509155,0,0,0.7572108214091796],[-6.624396075221309,8.054832692562604,-8.496333837509155,0,0,0.7572108214091796],[-2.990622506423009,11.489318047124895,-8.496333837509155,0,0,0.7572108214091796],[-2.990622506423009,11.489318047124895,-8.496333837509155,0,0,1.019010209208329],[-0.3695769893205383,15.747265956303334,-8.496333837509155,0,0,1.019010209208329],[-0.3695769893205383,15.747265956303334,-8.496333837509155,0,0,1.2808095970074784],[-0.3695769893205383,15.747265956303334,-8.496333837509155,0,0,1.5426089848066278],[-0.3695769893205383,15.747265956303334,-8.496333837509155,0,0,1.8044083726057771],[-0.3695769893205383,15.747265956303334,-8.496333837509155,0,0,2.066207760404927],[-0.3695769893205383,15.747265956303334,-8.496333837509155,0,0,2.3280071482040765],[-3.80406234388283,19.381039525101635,-8.496333837509155,0,0,2.3280071482040765],[-7.238547698445121,23.014813093899935,-8.496333837509155,0,0,2.3280071482040765],[-10.673033053007412,26.648586662698236,-8.496333837509155,0,0,2.3280071482040765]]},{"id":2,"instruction":"turn around and move across the road to the building on sight.","completed_instruction":"Turn right to face between dark black building and white building, and move across the road to the middle of the buildings.","start_frame":22,"end_frame":26,"start_position":[-10.673033053007412,26.648586662698236,-8.496333837509155],"start_rotation":[0.39566584960515716,0,0,0.9183945423706682],"end_position":[-18.898756757945403,31.71205777639516,-8.496333837509155],"end_rotation":[0.14448586423048482,0,0,0.98950686457324277],"actions":[1,3,3,1,1],"reference_path":[[-10.673033053007412,26.648586662698236,-8.496333837509155,0,0,2.3280071482040765],[-14.107518407569703,30.282360231496536,-8.496333837509155,0,0,2.3280071482040765],[-14.107518407569703,30.282360231496536,-8.496333837509155,0,0,2.5898065360032256],[-14.107518407569703,30.282360231496536,-8.496333837509155,0,0,2.851605923802375],[-18.898756757945403,31.71205777639516,-8.496333837509155,0,0,2.851605923802375]]},{"id":3,"instruction":"turn right and move up to the top of the building.","completed_instruction":"Turn left to face nearest sleek dark glass skyscraper next to the intersection, and fly up to the top of the building.","start_frame":26,"end_frame":47,"start_position":[-18.898756757945403,31.71205777639516,-8.496333837509155],"start_rotation":[0.14448586423048482,0,0,0.98950686457324277],"end_position":[-14.892263194570544,37.895691918870035,-26.496333837509155],"end_rotation":[0.9694774859105949,0,0,0.24518035058395724],"actions":[1,2,2,2,2,2,2,2,2,2,1,1,4,4,4,4,4,4,4,4,4,4],"reference_path":[[-18.898756757945403,31.71205777639516,-8.496333837509155,0,0,2.851605923802375],[-23.689995108321103,33.14175532129378,-8.496333837509155,0,0,2.851605923802375],[-23.689995108321103,33.14175532129378,-8.496333837509155,0,0,2.5898065360032256],[-23.689995108321103,33.14175532129378,-8.496333837509155,0,0,2.3280071482040765],[-23.689995108321103,33.14175532129378,-8.496333837509155,0,0,2.066207760404927],[-23.689995108321103,33.14175532129378,-8.496333837509155,0,0,1.8044083726057776],[-23.689995108321103,33.14175532129378,-8.496333837509155,0,0,1.542608984806628],[-23.689995108321103,33.14175532129378,-8.496333837509155,0,0,1.2808095970074787],[-23.689995108321103,33.14175532129378,-8.496333837509155,0,0,1.0190102092083293],[-23.689995108321103,33.14175532129378,-8.496333837509155,0,0,0.75721082140918],[-23.689995108321103,33.14175532129378,-8.496333837509155,0,0,0.49541143361003065],[-19.291129151445823,35.51872362008191,-8.496333837509155,0,0,0.49541143361003065],[-14.892263194570544,37.895691918870035,-8.496333837509155,0,0,0.49541143361003065],[-14.892263194570544,37.895691918870035,-10.496333837509155,0,0,0.49541143361003065],[-14.892263194570544,37.895691918870035,-12.496333837509155,0,0,0.49541143361003065],[-14.892263194570544,37.895691918870035,-14.496333837509155,0,0,0.49541143361003065],[-14.892263194570544,37.895691918870035,-16.496333837509155,0,0,0.49541143361003065],[-14.892263194570544,37.895691918870035,-18.496333837509155,0,0,0.49541143361003065],[-14.892263194570544,37.895691918870035,-20.496333837509155,0,0,0.49541143361003065],[-14.892263194570544,37.895691918870035,-22.496333837509155,0,0,0.49541143361003065],[-14.892263194570544,37.895691918870035,-24.496333837509155,0,0,0.49541143361003065],[-14.892263194570544,37.895691918870035,-26.496333837509155,0,0,0.49541143361003065]]},{"id":4,"instruction":"take it down and land to the side ways and land.","completed_instruction":"Turn right to face a dark black building left to a white building, fly forward to the dark building, land on the road.","start_frame":47,"end_frame":72,"start_position":[-14.892263194570544,37.895691918870035,-26.496333837509155],"start_rotation":[0.9694774859105949,0,0,0.24518035058395724],"end_position":[-19.009293056052147,45.51475125186311,-2.4963338375091553],"end_rotation":[0.27240633084081595,0,0,0.96218230648762393],"actions":[4,1,3,3,3,3,3,3,3,3,1,1,5,5,5,5,5,5,5,5,5,5,5,5,5,0],"reference_path":[[-14.892263194570544,37.895691918870035,-26.496333837509155,0,0,0.49541143361003065],[-14.892263194570544,37.895691918870035,-28.496333837509155,0,0,0.49541143361003065],[-10.493397237695266,40.272660217658164,-28.496333837509155,0,0,0.49541143361003065],[-10.493397237695266,40.272660217658164,-28.496333837509155,0,0,0.7572108214091801],[-10.493397237695266,40.272660217658164,-28.496333837509155,0,0,1.0190102092083295],[-10.493397237695266,40.272660217658164,-28.496333837509155,0,0,1.2808095970074789],[-10.493397237695266,40.272660217658164,-28.496333837509155,0,0,1.5426089848066284],[-10.493397237695266,40.272660217658164,-28.496333837509155,0,0,1.8044083726057778],[-10.493397237695266,40.272660217658164,-28.496333837509155,0,0,2.0662077604049274],[-10.493397237695266,40.272660217658164,-28.496333837509155,0,0,2.3280071482040765],[-10.493397237695266,40.272660217658164,-28.496333837509155,0,0,2.5898065360032256],[-14.751345146873707,42.89370573476064,-28.496333837509155,0,0,2.5898065360032256],[-19.009293056052147,45.51475125186311,-28.496333837509155,0,0,2.5898065360032256],[-19.009293056052147,45.51475125186311,-26.496333837509155,0,0,2.5898065360032256],[-19.009293056052147,45.51475125186311,-24.496333837509155,0,0,2.5898065360032256],[-19.009293056052147,45.51475125186311,-22.496333837509155,0,0,2.5898065360032256],[-19.009293056052147,45.51475125186311,-20.496333837509155,0,0,2.5898065360032256],[-19.009293056052147,45.51475125186311,-18.496333837509155,0,0,2.5898065360032256],[-19.009293056052147,45.51475125186311,-16.496333837509155,0,0,2.5898065360032256],[-19.009293056052147,45.51475125186311,-14.496333837509155,0,0,2.5898065360032256],[-19.009293056052147,45.51475125186311,-12.496333837509155,0,0,2.5898065360032256],[-19.009293056052147,45.51475125186311,-10.496333837509155,0,0,2.5898065360032256],[-19.009293056052147,45.51475125186311,-8.496333837509155,0,0,2.5898065360032256],[-19.009293056052147,45.51475125186311,-6.496333837509155,0,0,2.5898065360032256],[-19.009293056052147,45.51475125186311,-4.496333837509155,0,0,2.5898065360032256],[-19.009293056052147,45.51475125186311,-2.4963338375091553,0,0,2.5898065360032256]]}],"statistics":{"complete_actions":76,"sentence_actions":[10,13,5,22,26],"sentence_actions_average":15.2}}
diff --git a/scene_3/3HL8HNGX4EZTRZMNGQMBRACKQKF9F3.json b/scene_3/3HL8HNGX4EZTRZMNGQMBRACKQKF9F3.json
new file mode 100644
index 0000000000000000000000000000000000000000..727d5f1cbcda5fc3c1bb3c04b9d75e6f376d0a42
--- /dev/null
+++ b/scene_3/3HL8HNGX4EZTRZMNGQMBRACKQKF9F3.json
@@ -0,0 +1 @@
+{"episode_id":"3HL8HNGX4EZTRZMNGQMBRACKQKF9F3","trajectory_id":"3QX22DUVPWFU8WUEFBQIPZQ12IFMVP","scene_id":3,"instruction":"goes up and turn right then move forward towards the building. turn left and fly over the trees and slowdown near the building. then take left and move towards to the building and again take a turn. move forward and went little down and turn right and move forward and finally landed near taxi.","sentence_instructions":[{"id":0,"instruction":"goes up and turn right then move forward towards the building.","completed_instruction":"Take up to the height of trees, turn right to face a dark blue glass building with grids on the right side of the trees then fly forward to it.","start_frame":1,"end_frame":12,"start_position":[-32.92213821411133,6.22611665725708,-0.18973933160305023],"start_rotation":[0.99988144079466512,0,0,0.015398193218185821],"end_position":[-22.864910036727714,24.222009560584805,-6.18973933160305],"end_rotation":[0.91787736465513092,0,0,0.39686413727338971],"actions":[4,4,4,3,3,3,1,1,1,1,7,1],"reference_path":[[-32.92213821411133,6.22611665725708,-0.18973933160305023,0,0,0.03079760355912664],[-32.92213821411133,6.22611665725708,-2.1897393316030502,0,0,0.03079760355912664],[-32.92213821411133,6.22611665725708,-4.18973933160305,0,0,0.03079760355912664],[-32.92213821411133,6.22611665725708,-6.18973933160305,0,0,0.03079760355912664],[-32.92213821411133,6.22611665725708,-6.18973933160305,0,0,0.29259699135827605],[-32.92213821411133,6.22611665725708,-6.18973933160305,0,0,0.5543963791574255],[-32.92213821411133,6.22611665725708,-6.18973933160305,0,0,0.8161957669565749],[-29.497149648648847,9.868842741723391,-6.18973933160305,0,0,0.8161957669565749],[-26.072161083186366,13.511568826189702,-6.18973933160305,0,0,0.8161957669565749],[-22.647172517723885,17.154294910656013,-6.18973933160305,0,0,0.8161957669565749],[-19.222183952261403,20.797020995122324,-6.18973933160305,0,0,0.8161957669565749],[-22.864910036727714,24.222009560584805,-6.18973933160305,0,0,0.8161957669565749]]},{"id":1,"instruction":"turn left and fly over the trees and slowdown near the building.","completed_instruction":"Turn left to face a dark black building right to a brown building, fly forward over the trees to an intersection near that building.","start_frame":12,"end_frame":28,"start_position":[-22.864910036727714,24.222009560584805,-6.18973933160305],"start_rotation":[0.91787736465513092,0,0,0.39686413727338971],"end_position":[-1.4440285679375071,17.8075074676675,-10.18973933160305],"end_rotation":[0.92966263152104334,0,0,-0.3684119861695177],"actions":[1,1,1,2,2,2,2,2,2,4,1,1,1,6,4,1,1],"reference_path":[[-22.864910036727714,24.222009560584805,-6.18973933160305,0,0,0.8161957669565749],[-19.439921471265233,27.864735645051116,-6.18973933160305,0,0,0.8161957669565749],[-16.014932905802752,31.507461729517427,-6.18973933160305,0,0,0.8161957669565749],[-12.58994434034027,35.150187813983734,-6.18973933160305,0,0,0.8161957669565749],[-12.58994434034027,35.150187813983734,-6.18973933160305,0,0,0.5543963791574256],[-12.58994434034027,35.150187813983734,-6.18973933160305,0,0,0.29259699135827616],[-12.58994434034027,35.150187813983734,-6.18973933160305,0,0,0.030797603559126734],[-12.58994434034027,35.150187813983734,-6.18973933160305,0,0,-0.2310017842400227],[-12.58994434034027,35.150187813983734,-6.18973933160305,0,0,-0.4928011720391721],[-12.58994434034027,35.150187813983734,-6.18973933160305,0,0,-0.7546005598383215],[-12.58994434034027,35.150187813983734,-8.18973933160305,0,0,-0.7546005598383215],[-8.94721825587396,31.725199248521253,-8.18973933160305,0,0,-0.7546005598383215],[-5.304492171407649,28.300210683058772,-8.18973933160305,0,0,-0.7546005598383215],[-1.6617660869413378,24.87522211759629,-8.18973933160305,0,0,-0.7546005598383215],[-5.086754652403818,21.23249603312998,-8.18973933160305,0,0,-0.7546005598383215],[-5.086754652403818,21.23249603312998,-10.18973933160305,0,0,-0.7546005598383215],[-1.4440285679375071,17.8075074676675,-10.18973933160305,0,0,-0.7546005598383215]]},{"id":2,"instruction":"then take left and move towards to the building and again take a turn.","completed_instruction":"Turn left to face a white building, move towards it, then turn back to face the park.","start_frame":28,"end_frame":56,"start_position":[-1.4440285679375071,17.8075074676675,-10.18973933160305],"start_rotation":[0.92966263152104334,0,0,-0.3684119861695177],"end_position":[-20.42395825315055,28.192952367933103,-10.18973933160305],"end_rotation":[0.96182596122565589,0,0,0.27366187222984328],"actions":[1,2,2,1,2,2,2,2,2,2,2,2,2,1,1,1,1,1,1,6,2,2,2,2,2,2,2,2,2],"reference_path":[[-1.4440285679375071,17.8075074676675,-10.18973933160305,0,0,-0.7546005598383215],[2.198697516528804,14.382518902205017,-10.18973933160305,0,0,-0.7546005598383215],[2.198697516528804,14.382518902205017,-10.18973933160305,0,0,-1.0163999476374708],[2.198697516528804,14.382518902205017,-10.18973933160305,0,0,-1.2781993354366203],[3.6408965619736082,9.595028754610134,-10.18973933160305,0,0,-1.2781993354366203],[3.6408965619736082,9.595028754610134,-10.18973933160305,0,0,-1.5399987232357697],[3.6408965619736082,9.595028754610134,-10.18973933160305,0,0,-1.8017981110349193],[3.6408965619736082,9.595028754610134,-10.18973933160305,0,0,-2.0635974988340684],[3.6408965619736082,9.595028754610134,-10.18973933160305,0,0,-2.3253968866332175],[3.6408965619736082,9.595028754610134,-10.18973933160305,0,0,-2.587196274432367],[3.6408965619736082,9.595028754610134,-10.18973933160305,0,0,-2.8489956622315162],[3.6408965619736082,9.595028754610134,-10.18973933160305,0,0,-3.110795050030666],[3.6408965619736082,9.595028754610134,-10.18973933160305,0,0,2.9105908693497704],[3.6408965619736082,9.595028754610134,-10.18973933160305,0,0,2.6487914815506213],[-0.7641589111093077,11.960506777983476,-10.18973933160305,0,0,2.6487914815506213],[-5.169214384192223,14.325984801356817,-10.18973933160305,0,0,2.6487914815506213],[-9.574269857275139,16.69146282473016,-10.18973933160305,0,0,2.6487914815506213],[-13.979325330358055,19.0569408481035,-10.18973933160305,0,0,2.6487914815506213],[-18.38438080344097,21.422418871476843,-10.18973933160305,0,0,2.6487914815506213],[-22.789436276523887,23.787896894850185,-10.18973933160305,0,0,2.6487914815506213],[-20.42395825315055,28.192952367933103,-10.18973933160305,0,0,2.6487914815506213],[-20.42395825315055,28.192952367933103,-10.18973933160305,0,0,2.386992093751472],[-20.42395825315055,28.192952367933103,-10.18973933160305,0,0,2.125192705952323],[-20.42395825315055,28.192952367933103,-10.18973933160305,0,0,1.8633933181531737],[-20.42395825315055,28.192952367933103,-10.18973933160305,0,0,1.601593930354024],[-20.42395825315055,28.192952367933103,-10.18973933160305,0,0,1.3397945425548747],[-20.42395825315055,28.192952367933103,-10.18973933160305,0,0,1.0779951547557254],[-20.42395825315055,28.192952367933103,-10.18973933160305,0,0,0.816195766956576],[-20.42395825315055,28.192952367933103,-10.18973933160305,0,0,0.5543963791574267]]},{"id":3,"instruction":"move forward and went little down and turn right and move forward and finally landed near taxi.","completed_instruction":"Move forward to a black building with vertical white lines, fly down to the height of street lights, and turn right facing a white building near an intersection, move forward to that building, land on sidewalk corner on the left in front of the intersection.","start_frame":56,"end_frame":88,"start_position":[-20.42395825315055,28.192952367933103,-10.18973933160305],"start_rotation":[0.96182596122565589,0,0,0.27366187222984328],"end_position":[19.72846637574076,29.8263104737095,-2.1897393316030502],"end_rotation":[0.69613478032588283,0,0,0.71791111401108343],"actions":[2,2,2,1,1,1,1,1,6,1,2,2,2,1,5,5,5,3,3,3,3,3,3,3,3,1,1,1,1,3,5,3,0],"reference_path":[[-20.42395825315055,28.192952367933103,-10.18973933160305,0,0,0.5543963791574267],[-20.42395825315055,28.192952367933103,-10.18973933160305,0,0,0.29259699135827727],[-20.42395825315055,28.192952367933103,-10.18973933160305,0,0,0.030797603559127848],[-20.42395825315055,28.192952367933103,-10.18973933160305,0,0,-0.23100178424002157],[-15.556770642243263,27.048188304804533,-10.18973933160305,0,0,-0.23100178424002157],[-10.689583031335978,25.903424241675964,-10.18973933160305,0,0,-0.23100178424002157],[-5.822395420428693,24.758660178547395,-10.18973933160305,0,0,-0.23100178424002157],[-0.9552078095214078,23.613896115418825,-10.18973933160305,0,0,-0.23100178424002157],[3.9119798013858773,22.469132052290256,-10.18973933160305,0,0,-0.23100178424002157],[2.767215738257308,17.60194444138297,-10.18973933160305,0,0,-0.23100178424002157],[7.634403349164593,16.4571803782544,-10.18973933160305,0,0,-0.23100178424002157],[7.634403349164593,16.4571803782544,-10.18973933160305,0,0,-0.492801172039171],[7.634403349164593,16.4571803782544,-10.18973933160305,0,0,-0.7546005598383204],[7.634403349164593,16.4571803782544,-10.18973933160305,0,0,-1.0163999476374697],[10.26655428224741,12.20608858137783,-10.18973933160305,0,0,-1.0163999476374697],[10.26655428224741,12.20608858137783,-8.18973933160305,0,0,-1.0163999476374697],[10.26655428224741,12.20608858137783,-6.18973933160305,0,0,-1.0163999476374697],[10.26655428224741,12.20608858137783,-4.18973933160305,0,0,-1.0163999476374697],[10.26655428224741,12.20608858137783,-4.18973933160305,0,0,-0.7546005598383203],[10.26655428224741,12.20608858137783,-4.18973933160305,0,0,-0.4928011720391709],[10.26655428224741,12.20608858137783,-4.18973933160305,0,0,-0.23100178424002146],[10.26655428224741,12.20608858137783,-4.18973933160305,0,0,0.030797603559127973],[10.26655428224741,12.20608858137783,-4.18973933160305,0,0,0.2925969913582774],[10.26655428224741,12.20608858137783,-4.18973933160305,0,0,0.5543963791574268],[10.26655428224741,12.20608858137783,-4.18973933160305,0,0,0.8161957669565761],[10.26655428224741,12.20608858137783,-4.18973933160305,0,0,1.0779951547557256],[12.632032305620747,16.61114405446075,-4.18973933160305,0,0,1.0779951547557256],[14.997510328994084,21.016199527543666,-4.18973933160305,0,0,1.0779951547557256],[17.36298835236742,25.421255000626584,-4.18973933160305,0,0,1.0779951547557256],[19.72846637574076,29.8263104737095,-4.18973933160305,0,0,1.0779951547557256],[19.72846637574076,29.8263104737095,-4.18973933160305,0,0,1.339794542554875],[19.72846637574076,29.8263104737095,-2.1897393316030502,0,0,1.339794542554875],[19.72846637574076,29.8263104737095,-2.1897393316030502,0,0,1.6015939303540245]]}],"statistics":{"complete_actions":91,"sentence_actions":[12,17,29,33],"sentence_actions_average":22.75}}
diff --git a/scene_3/3IKZ72A5BDEEG1QHH05G9B7385JNF6.json b/scene_3/3IKZ72A5BDEEG1QHH05G9B7385JNF6.json
new file mode 100644
index 0000000000000000000000000000000000000000..bb33e97258b908cedf6d073edaee62c54683c0ce
--- /dev/null
+++ b/scene_3/3IKZ72A5BDEEG1QHH05G9B7385JNF6.json
@@ -0,0 +1 @@
+{"episode_id":"3IKZ72A5BDEEG1QHH05G9B7385JNF6","trajectory_id":"3BFNCI9LZSORBKL8RVINNM1SCRF73M","scene_id":3,"instruction":"go up and turn to the right till trees are visible and go over roof on left. turn right and go over tree area to other side. go down at end and land between two benches.","sentence_instructions":[{"id":0,"instruction":"go up and turn to the right till trees are visible and go over roof on left.","completed_instruction":"Make a sharp right turn to face a flat low-profile roof, fly up slightly above that roof, fly forward to roof\u0027s top.","start_frame":1,"end_frame":12,"start_position":[27.056156158447266,7.5123138427734375,-0.34915873408317566],"start_rotation":[0.99968128428034175,0,0,-0.025245392839219397],"end_position":[27.056156158447266,7.5123138427734375,-4.349158734083176],"end_rotation":[0.405885166873904,0,0,0.91392408399808733],"actions":[4,3,3,3,3,3,3,3,3,3,4,1],"reference_path":[[27.056156158447266,7.5123138427734375,-0.34915873408317566,0,0,-0.050496150431408676],[27.056156158447266,7.5123138427734375,-2.3491587340831757,0,0,-0.050496150431408676],[27.056156158447266,7.5123138427734375,-2.3491587340831757,0,0,0.21130323736774076],[27.056156158447266,7.5123138427734375,-2.3491587340831757,0,0,0.47310262516689017],[27.056156158447266,7.5123138427734375,-2.3491587340831757,0,0,0.7349020129660396],[27.056156158447266,7.5123138427734375,-2.3491587340831757,0,0,0.9967014007651891],[27.056156158447266,7.5123138427734375,-2.3491587340831757,0,0,1.2585007885643387],[27.056156158447266,7.5123138427734375,-2.3491587340831757,0,0,1.520300176363488],[27.056156158447266,7.5123138427734375,-2.3491587340831757,0,0,1.7820995641626374],[27.056156158447266,7.5123138427734375,-2.3491587340831757,0,0,2.0438989519617867],[27.056156158447266,7.5123138427734375,-2.3491587340831757,0,0,2.3056983397609363],[27.056156158447266,7.5123138427734375,-4.349158734083176,0,0,2.3056983397609363]]},{"id":1,"instruction":"turn right and go over tree area to other side.","completed_instruction":"Fly forward over the roof, then fly forward to an intersection, then turn right to face a white tall building behind the trees, then fly forward over the trees towards that white building until you are above the football field in the park.","start_frame":12,"end_frame":31,"start_position":[27.056156158447266,7.5123138427734375,-4.349158734083176],"start_rotation":[0.405885166873904,0,0,0.91392408399808733],"end_position":[-1.7864422436017051,23.166754545642107,-8.349158734083176],"end_rotation":[0.23435137846608478,0,0,-0.97215195901209084],"actions":[1,1,1,2,1,1,2,3,3,3,3,3,3,4,4,1,1,3,1,1],"reference_path":[[27.056156158447266,7.5123138427734375,-4.349158734083176,0,0,2.3056983397609363],[23.703583845329835,11.221796136209873,-4.349158734083176,0,0,2.3056983397609363],[20.351011532212404,14.931278429646309,-4.349158734083176,0,0,2.3056983397609363],[16.998439219094973,18.640760723082742,-4.349158734083176,0,0,2.3056983397609363],[16.998439219094973,18.640760723082742,-4.349158734083176,0,0,2.0438989519617867],[14.720187702365093,23.091555037193203,-4.349158734083176,0,0,2.0438989519617867],[12.441936185635214,27.542349351303663,-4.349158734083176,0,0,2.0438989519617867],[12.441936185635214,27.542349351303663,-4.349158734083176,0,0,1.7820995641626374],[12.441936185635214,27.542349351303663,-4.349158734083176,0,0,2.0438989519617867],[12.441936185635214,27.542349351303663,-4.349158734083176,0,0,2.3056983397609363],[12.441936185635214,27.542349351303663,-4.349158734083176,0,0,2.5674977275600854],[12.441936185635214,27.542349351303663,-4.349158734083176,0,0,2.829297115359235],[12.441936185635214,27.542349351303663,-4.349158734083176,0,0,3.0910965031583846],[12.441936185635214,27.542349351303663,-4.349158734083176,0,0,-2.930289416222052],[12.441936185635214,27.542349351303663,-6.349158734083176,0,0,-2.930289416222052],[12.441936185635214,27.542349351303663,-8.349158734083176,0,0,-2.930289416222052],[7.553144128071984,26.493677706837826,-8.349158734083176,0,0,-2.930289416222052],[2.6643520705087536,25.445006062371988,-8.349158734083176,0,0,-2.930289416222052],[2.6643520705087536,25.445006062371988,-8.349158734083176,0,0,-2.6684900284229025],[-1.7864422436017051,23.166754545642107,-8.349158734083176,0,0,-2.6684900284229025]]},{"id":2,"instruction":"go down at end and land between two benches.","completed_instruction":"Land in that football field and face the white stone fence.","start_frame":31,"end_frame":37,"start_position":[-1.7864422436017051,23.166754545642107,-8.349158734083176],"start_rotation":[0.23435137846608478,0,0,-0.97215195901209084],"end_position":[-10.688030871822622,18.610251512182344,-2.3491587340831757],"end_rotation":[0.10545517646695686,0,0,-0.99442405730971883],"actions":[1,1,2,5,5,5,0],"reference_path":[[-1.7864422436017051,23.166754545642107,-8.349158734083176,0,0,-2.6684900284229025],[-6.237236557712164,20.888503028912226,-8.349158734083176,0,0,-2.6684900284229025],[-10.688030871822622,18.610251512182344,-8.349158734083176,0,0,-2.6684900284229025],[-10.688030871822622,18.610251512182344,-8.349158734083176,0,0,-2.930289416222052],[-10.688030871822622,18.610251512182344,-6.349158734083176,0,0,-2.930289416222052],[-10.688030871822622,18.610251512182344,-4.349158734083176,0,0,-2.930289416222052],[-10.688030871822622,18.610251512182344,-2.3491587340831757,0,0,-2.930289416222052]]}],"statistics":{"complete_actions":39,"sentence_actions":[12,20,7],"sentence_actions_average":13.0}}
diff --git a/scene_3/3IRIK4HM3JIZ640FRHTYZU0EJ9Y6CH.json b/scene_3/3IRIK4HM3JIZ640FRHTYZU0EJ9Y6CH.json
new file mode 100644
index 0000000000000000000000000000000000000000..2d64b69a84b380254f8ea85f8ccf122e8266344a
--- /dev/null
+++ b/scene_3/3IRIK4HM3JIZ640FRHTYZU0EJ9Y6CH.json
@@ -0,0 +1 @@
+{"episode_id":"3IRIK4HM3JIZ640FRHTYZU0EJ9Y6CH","trajectory_id":"3BFNCI9LZSORBKL8RVINNM1SDGI734","scene_id":3,"instruction":"float up and go to the left side of the park. turn around and go straight. go back to above the middle of the park. go to the left side of the dark building to your left and land in the road.","sentence_instructions":[{"id":0,"instruction":"float up and go to the left side of the park.","completed_instruction":"Fly up above the trees, and fly forward along the road until over a construction site.","start_frame":1,"end_frame":10,"start_position":[-35.9530143737793,10.711148262023926,-0.5805371999740601],"start_rotation":[0.99990775354673356,0,0,0.013582503345290787],"end_position":[-16.09555089406725,9.956152834711574,-8.58053719997406],"end_rotation":[0.99312627654421626,0,0,-0.11704784849547978],"actions":[4,4,4,4,1,1,1,2,1,1],"reference_path":[[-35.9530143737793,10.711148262023926,-0.5805371999740601,0,0,0.02716584201324393],[-35.9530143737793,10.711148262023926,-2.58053719997406,0,0,0.02716584201324393],[-35.9530143737793,10.711148262023926,-4.58053719997406,0,0,0.02716584201324393],[-35.9530143737793,10.711148262023926,-6.58053719997406,0,0,0.02716584201324393],[-35.9530143737793,10.711148262023926,-8.58053719997406,0,0,0.02716584201324393],[-30.954859217750545,10.846960766099233,-8.58053719997406,0,0,0.02716584201324393],[-25.956704061721794,10.98277327017454,-8.58053719997406,0,0,0.02716584201324393],[-20.958548905693043,11.118585774249848,-8.58053719997406,0,0,0.02716584201324393],[-20.958548905693043,11.118585774249848,-8.58053719997406,0,0,-0.2346335457859055],[-16.09555089406725,9.956152834711574,-8.58053719997406,0,0,-0.2346335457859055]]},{"id":1,"instruction":"turn around and go straight.","completed_instruction":"Turn left to face the brown building with windows, turn left to face the trees at the right side of the intersection, fly forward until you cross the trees.","start_frame":10,"end_frame":27,"start_position":[-16.09555089406725,9.956152834711574,-8.58053719997406],"start_rotation":[0.99312627654421626,0,0,-0.11704784849547978],"end_position":[-11.36771002684442,7.495474451559723,-8.58053719997406],"end_rotation":[0.39519672801671041,0,0,-0.918596508900881],"actions":[1,1,2,2,2,2,2,2,2,2,2,2,2,1,3,3,3,1],"reference_path":[[-16.09555089406725,9.956152834711574,-8.58053719997406,0,0,-0.2346335457859055],[-11.23255288244146,8.7937198951733,-8.58053719997406,0,0,-0.2346335457859055],[-6.369554870815668,7.6312869556350265,-8.58053719997406,0,0,-0.2346335457859055],[-6.369554870815668,7.6312869556350265,-8.58053719997406,0,0,-0.49643293358505497],[-6.369554870815668,7.6312869556350265,-8.58053719997406,0,0,-0.7582323213842044],[-6.369554870815668,7.6312869556350265,-8.58053719997406,0,0,-1.0200317091833537],[-6.369554870815668,7.6312869556350265,-8.58053719997406,0,0,-1.2818310969825033],[-6.369554870815668,7.6312869556350265,-8.58053719997406,0,0,-1.5436304847816527],[-6.369554870815668,7.6312869556350265,-8.58053719997406,0,0,-1.805429872580802],[-6.369554870815668,7.6312869556350265,-8.58053719997406,0,0,-2.0672292603799516],[-6.369554870815668,7.6312869556350265,-8.58053719997406,0,0,-2.329028648179101],[-6.369554870815668,7.6312869556350265,-8.58053719997406,0,0,-2.5908280359782503],[-6.369554870815668,7.6312869556350265,-8.58053719997406,0,0,-2.8526274237774],[-6.369554870815668,7.6312869556350265,-8.58053719997406,0,0,-3.11442681157655],[-11.36771002684442,7.495474451559723,-8.58053719997406,0,0,-3.11442681157655],[-11.36771002684442,7.495474451559723,-8.58053719997406,0,0,-2.8526274237774003],[-11.36771002684442,7.495474451559723,-8.58053719997406,0,0,-2.5908280359782507],[-11.36771002684442,7.495474451559723,-8.58053719997406,0,0,-2.329028648179101]]},{"id":2,"instruction":"go back to above the middle of the park.","completed_instruction":"Turn left to face the park, then fly forward to the center of the park.","start_frame":27,"end_frame":43,"start_position":[-11.36771002684442,7.495474451559723,-8.58053719997406],"start_rotation":[0.39519672801671041,0,0,-0.918596508900881],"end_position":[-12.481039609416731,13.591207127959294,-8.58053719997406],"end_rotation":[0.85915426433985553,0,0,0.51171666971737551],"actions":[1,3,2,2,2,2,2,2,2,2,2,2,2,1,1,2,1],"reference_path":[[-11.36771002684442,7.495474451559723,-8.58053719997406,0,0,-2.329028648179101],[-14.805905488493282,3.8652111047077113,-8.58053719997406,0,0,-2.329028648179101],[-14.805905488493282,3.8652111047077113,-8.58053719997406,0,0,-2.0672292603799516],[-14.805905488493282,3.8652111047077113,-8.58053719997406,0,0,-2.329028648179101],[-14.805905488493282,3.8652111047077113,-8.58053719997406,0,0,-2.5908280359782503],[-14.805905488493282,3.8652111047077113,-8.58053719997406,0,0,-2.8526274237774],[-14.805905488493282,3.8652111047077113,-8.58053719997406,0,0,-3.11442681157655],[-14.805905488493282,3.8652111047077113,-8.58053719997406,0,0,2.906959107803887],[-14.805905488493282,3.8652111047077113,-8.58053719997406,0,0,2.6451597200047376],[-14.805905488493282,3.8652111047077113,-8.58053719997406,0,0,2.3833603322055885],[-14.805905488493282,3.8652111047077113,-8.58053719997406,0,0,2.121560944406439],[-14.805905488493282,3.8652111047077113,-8.58053719997406,0,0,1.8597615566072894],[-14.805905488493282,3.8652111047077113,-8.58053719997406,0,0,1.59796216880814],[-14.805905488493282,3.8652111047077113,-8.58053719997406,0,0,1.3361627810089907],[-13.643472548955007,8.728209116333502,-8.58053719997406,0,0,1.3361627810089907],[-12.481039609416731,13.591207127959294,-8.58053719997406,0,0,1.3361627810089907],[-12.481039609416731,13.591207127959294,-8.58053719997406,0,0,1.0743633932098413]]},{"id":3,"instruction":"go to the left side of the dark building to your left and land in the road.","completed_instruction":"Turn left to face the dark black building on the right side of a brown building, fly forward to that building, and land on the road.","start_frame":43,"end_frame":62,"start_position":[-12.481039609416731,13.591207127959294,-8.58053719997406],"start_rotation":[0.85915426433985553,0,0,0.51171666971737551],"end_position":[17.363384597174946,-2.6752132885974684,-2.58053719997406],"end_rotation":[0.87273676768514608,0,0,-0.48819108382935805],"actions":[1,2,2,2,2,2,2,1,1,1,1,2,1,1,5,5,2,1,5,0],"reference_path":[[-12.481039609416731,13.591207127959294,-8.58053719997406,0,0,1.0743633932098413],[-10.099579110083148,17.98764271717402,-8.58053719997406,0,0,1.0743633932098413],[-10.099579110083148,17.98764271717402,-8.58053719997406,0,0,0.8125640054106918],[-10.099579110083148,17.98764271717402,-8.58053719997406,0,0,0.5507646176115424],[-10.099579110083148,17.98764271717402,-8.58053719997406,0,0,0.2889652298123929],[-10.099579110083148,17.98764271717402,-8.58053719997406,0,0,0.027165842013243485],[-10.099579110083148,17.98764271717402,-8.58053719997406,0,0,-0.23463354578590595],[-10.099579110083148,17.98764271717402,-8.58053719997406,0,0,-0.49643293358505536],[-5.703143520868422,15.606182217840434,-8.58053719997406,0,0,-0.49643293358505536],[-1.3067079316536958,13.22472171850685,-8.58053719997406,0,0,-0.49643293358505536],[3.0897276575610304,10.843261219173264,-8.58053719997406,0,0,-0.49643293358505536],[7.486163246775757,8.46180071983968,-8.58053719997406,0,0,-0.49643293358505536],[7.486163246775757,8.46180071983968,-8.58053719997406,0,0,-0.7582323213842048],[11.116426593627768,5.023605258190816,-8.58053719997406,0,0,-0.7582323213842048],[14.74668994047978,1.5854097965419531,-8.58053719997406,0,0,-0.7582323213842048],[14.74668994047978,1.5854097965419531,-6.58053719997406,0,0,-0.7582323213842048],[14.74668994047978,1.5854097965419531,-4.58053719997406,0,0,-0.7582323213842048],[14.74668994047978,1.5854097965419531,-4.58053719997406,0,0,-1.0200317091833544],[17.363384597174946,-2.6752132885974684,-4.58053719997406,0,0,-1.0200317091833544],[17.363384597174946,-2.6752132885974684,-2.58053719997406,0,0,-1.0200317091833544]]}],"statistics":{"complete_actions":65,"sentence_actions":[10,18,17,20],"sentence_actions_average":16.25}}
diff --git a/scene_3/3IX2EGZR7KHF0145TXDIXT455GGRJ9.json b/scene_3/3IX2EGZR7KHF0145TXDIXT455GGRJ9.json
new file mode 100644
index 0000000000000000000000000000000000000000..12660093235439089041675a3bb75131185341ae
--- /dev/null
+++ b/scene_3/3IX2EGZR7KHF0145TXDIXT455GGRJ9.json
@@ -0,0 +1 @@
+{"episode_id":"3IX2EGZR7KHF0145TXDIXT455GGRJ9","trajectory_id":"3OEWW2KGRR9WEIF41651BH9ZUIHOD9","scene_id":3,"instruction":"take off and climbs of the building top and turn right and move towards the building and little turn left. now get down to the building and turn left and near to the tree and turn left again and move towards the building. now go forward and cross the road and cars and near to the white building and reach the land and in front of building.","sentence_instructions":[{"id":0,"instruction":"take off and climbs of the building top and turn right and move towards the building and little turn left.","completed_instruction":"Take off to the height of the top of the building in front of you, turn right to face the shortest black glass building, fly forward to it.","start_frame":1,"end_frame":28,"start_position":[20.917078018188477,15.523042678833008,-3.2698440551757812],"start_rotation":[0.99983044439513635,0,0,-0.018414191826524793],"end_position":[10.70822709043895,26.513009136242587,-33.26984405517578],"end_rotation":[0.39963104118050669,0,0,0.916676077425927],"actions":[4,4,4,4,4,4,4,4,4,4,4,4,4,4,4,3,3,3,3,3,3,3,3,3,1,1,1,1],"reference_path":[[20.917078018188477,15.523042678833008,-3.2698440551757812,0,0,-0.036830465280519725],[20.917078018188477,15.523042678833008,-5.269844055175781,0,0,-0.036830465280519725],[20.917078018188477,15.523042678833008,-7.269844055175781,0,0,-0.036830465280519725],[20.917078018188477,15.523042678833008,-9.269844055175781,0,0,-0.036830465280519725],[20.917078018188477,15.523042678833008,-11.269844055175781,0,0,-0.036830465280519725],[20.917078018188477,15.523042678833008,-13.269844055175781,0,0,-0.036830465280519725],[20.917078018188477,15.523042678833008,-15.269844055175781,0,0,-0.036830465280519725],[20.917078018188477,15.523042678833008,-17.26984405517578,0,0,-0.036830465280519725],[20.917078018188477,15.523042678833008,-19.26984405517578,0,0,-0.036830465280519725],[20.917078018188477,15.523042678833008,-21.26984405517578,0,0,-0.036830465280519725],[20.917078018188477,15.523042678833008,-23.26984405517578,0,0,-0.036830465280519725],[20.917078018188477,15.523042678833008,-25.26984405517578,0,0,-0.036830465280519725],[20.917078018188477,15.523042678833008,-27.26984405517578,0,0,-0.036830465280519725],[20.917078018188477,15.523042678833008,-29.26984405517578,0,0,-0.036830465280519725],[20.917078018188477,15.523042678833008,-31.26984405517578,0,0,-0.036830465280519725],[20.917078018188477,15.523042678833008,-33.26984405517578,0,0,-0.036830465280519725],[20.917078018188477,15.523042678833008,-33.26984405517578,0,0,0.2249689225186297],[20.917078018188477,15.523042678833008,-33.26984405517578,0,0,0.4867683103177791],[20.917078018188477,15.523042678833008,-33.26984405517578,0,0,0.7485676981169286],[20.917078018188477,15.523042678833008,-33.26984405517578,0,0,1.010367085916078],[20.917078018188477,15.523042678833008,-33.26984405517578,0,0,1.2721664737152274],[20.917078018188477,15.523042678833008,-33.26984405517578,0,0,1.5339658615143767],[20.917078018188477,15.523042678833008,-33.26984405517578,0,0,1.795765249313526],[20.917078018188477,15.523042678833008,-33.26984405517578,0,0,2.0575646371126757],[20.917078018188477,15.523042678833008,-33.26984405517578,0,0,2.3193640249118253],[17.514127708938634,19.186364831302868,-33.26984405517578,0,0,2.3193640249118253],[14.111177399688792,22.849686983772727,-33.26984405517578,0,0,2.3193640249118253],[10.70822709043895,26.513009136242587,-33.26984405517578,0,0,2.3193640249118253]]},{"id":1,"instruction":"now get down to the building and turn left and near to the tree and turn left again and move towards the building.","completed_instruction":"Fly down to above the trees, make a sharp left turn to face the white building behind the trees in the park, then fly forward to the front of it.","start_frame":28,"end_frame":74,"start_position":[10.70822709043895,26.513009136242587,-33.26984405517578],"start_rotation":[0.39963104118050669,0,0,0.916676077425927],"end_position":[-20.11761153976346,28.14869383356838,-7.269844055175781],"end_rotation":[0.018414191826523898,0,0,0.99983044439513646],"actions":[1,2,5,5,5,5,5,5,5,5,5,5,5,5,2,2,2,2,2,2,2,2,2,2,2,2,1,2,2,2,2,2,2,2,2,1,1,1,1,2,2,3,1,3,5,1,3],"reference_path":[[10.70822709043895,26.513009136242587,-33.26984405517578,0,0,2.3193640249118253],[7.305276781189108,30.176331288712447,-33.26984405517578,0,0,2.3193640249118253],[7.305276781189108,30.176331288712447,-33.26984405517578,0,0,2.057564637112676],[7.305276781189108,30.176331288712447,-31.26984405517578,0,0,2.057564637112676],[7.305276781189108,30.176331288712447,-29.26984405517578,0,0,2.057564637112676],[7.305276781189108,30.176331288712447,-27.26984405517578,0,0,2.057564637112676],[7.305276781189108,30.176331288712447,-25.26984405517578,0,0,2.057564637112676],[7.305276781189108,30.176331288712447,-23.26984405517578,0,0,2.057564637112676],[7.305276781189108,30.176331288712447,-21.26984405517578,0,0,2.057564637112676],[7.305276781189108,30.176331288712447,-19.26984405517578,0,0,2.057564637112676],[7.305276781189108,30.176331288712447,-17.26984405517578,0,0,2.057564637112676],[7.305276781189108,30.176331288712447,-15.269844055175781,0,0,2.057564637112676],[7.305276781189108,30.176331288712447,-13.269844055175781,0,0,2.057564637112676],[7.305276781189108,30.176331288712447,-11.269844055175781,0,0,2.057564637112676],[7.305276781189108,30.176331288712447,-9.269844055175781,0,0,2.057564637112676],[7.305276781189108,30.176331288712447,-9.269844055175781,0,0,1.7957652493135268],[7.305276781189108,30.176331288712447,-9.269844055175781,0,0,1.5339658615143774],[7.305276781189108,30.176331288712447,-9.269844055175781,0,0,1.2721664737152278],[7.305276781189108,30.176331288712447,-9.269844055175781,0,0,1.0103670859160785],[7.305276781189108,30.176331288712447,-9.269844055175781,0,0,0.748567698116929],[7.305276781189108,30.176331288712447,-9.269844055175781,0,0,0.4867683103177796],[7.305276781189108,30.176331288712447,-9.269844055175781,0,0,0.22496892251863024],[7.305276781189108,30.176331288712447,-9.269844055175781,0,0,-0.03683046528051919],[7.305276781189108,30.176331288712447,-9.269844055175781,0,0,-0.2986298530796686],[7.305276781189108,30.176331288712447,-9.269844055175781,0,0,-0.5604292408788181],[7.305276781189108,30.176331288712447,-9.269844055175781,0,0,-0.8222286286779675],[7.305276781189108,30.176331288712447,-9.269844055175781,0,0,-1.0840280164771168],[9.644136829066746,25.75708546205358,-9.269844055175781,0,0,-1.0840280164771168],[9.644136829066746,25.75708546205358,-9.269844055175781,0,0,-1.3458274042762661],[9.644136829066746,25.75708546205358,-9.269844055175781,0,0,-1.6076267920754157],[9.644136829066746,25.75708546205358,-9.269844055175781,0,0,-1.869426179874565],[9.644136829066746,25.75708546205358,-9.269844055175781,0,0,-2.1312255676737144],[9.644136829066746,25.75708546205358,-9.269844055175781,0,0,-2.3930249554728635],[9.644136829066746,25.75708546205358,-9.269844055175781,0,0,-2.6548243432720127],[9.644136829066746,25.75708546205358,-9.269844055175781,0,0,-2.9166237310711622],[9.644136829066746,25.75708546205358,-9.269844055175781,0,0,3.104762188309275],[4.647527653672986,25.94119615802449,-9.269844055175781,0,0,3.104762188309275],[-0.3490815217207732,26.125306853995397,-9.269844055175781,0,0,3.104762188309275],[-5.345690697114533,26.309417549966305,-9.269844055175781,0,0,3.104762188309275],[-10.342299872508292,26.493528245937213,-9.269844055175781,0,0,3.104762188309275],[-10.342299872508292,26.493528245937213,-9.269844055175781,0,0,2.8429628005101257],[-10.342299872508292,26.493528245937213,-9.269844055175781,0,0,2.581163412710976],[-10.342299872508292,26.493528245937213,-9.269844055175781,0,0,2.8429628005101257],[-15.121002364369698,27.964583137597472,-9.269844055175781,0,0,2.8429628005101257],[-15.121002364369698,27.964583137597472,-9.269844055175781,0,0,3.1047621883092753],[-15.121002364369698,27.964583137597472,-7.269844055175781,0,0,3.1047621883092753],[-20.11761153976346,28.14869383356838,-7.269844055175781,0,0,3.1047621883092753]]},{"id":2,"instruction":"now go forward and cross the road and cars and near to the white building and reach the land and in front of building.","completed_instruction":"Turn right to face the road, fly forward to the green sheds on left, turn left and face the flag on the first floor of the building before landing.","start_frame":74,"end_frame":86,"start_position":[-20.11761153976346,28.14869383356838,-7.269844055175781],"start_rotation":[0.018414191826523898,0,0,0.99983044439513646],"end_position":[-27.649365868189687,22.79817836348887,-1.2698440551757812],"end_rotation":[0.11224740490982019,0,0,-0.99368029068257713],"actions":[3,1,3,3,3,1,5,5,2,2,2,5,0],"reference_path":[[-20.11761153976346,28.14869383356838,-7.269844055175781,0,0,3.1047621883092753],[-20.11761153976346,28.14869383356838,-7.269844055175781,0,0,-2.916623731071162],[-24.991616740673567,27.033313494176827,-7.269844055175781,0,0,-2.916623731071162],[-24.991616740673567,27.033313494176827,-7.269844055175781,0,0,-2.6548243432720127],[-24.991616740673567,27.033313494176827,-7.269844055175781,0,0,-2.3930249554728635],[-24.991616740673567,27.033313494176827,-7.269844055175781,0,0,-2.131225567673714],[-27.649365868189687,22.79817836348887,-7.269844055175781,0,0,-2.131225567673714],[-27.649365868189687,22.79817836348887,-5.269844055175781,0,0,-2.131225567673714],[-27.649365868189687,22.79817836348887,-3.2698440551757812,0,0,-2.131225567673714],[-27.649365868189687,22.79817836348887,-3.2698440551757812,0,0,-2.3930249554728635],[-27.649365868189687,22.79817836348887,-3.2698440551757812,0,0,-2.6548243432720127],[-27.649365868189687,22.79817836348887,-3.2698440551757812,0,0,-2.9166237310711622],[-27.649365868189687,22.79817836348887,-1.2698440551757812,0,0,-2.9166237310711622]]}],"statistics":{"complete_actions":88,"sentence_actions":[28,47,13],"sentence_actions_average":29.33}}
diff --git a/scene_3/3L4PIM1GQ2E5VQZ4FXEL7GJTFI0YRE.json b/scene_3/3L4PIM1GQ2E5VQZ4FXEL7GJTFI0YRE.json
new file mode 100644
index 0000000000000000000000000000000000000000..f1db9510a39fa0c2b9fa16ed16c1de39d9f9336e
--- /dev/null
+++ b/scene_3/3L4PIM1GQ2E5VQZ4FXEL7GJTFI0YRE.json
@@ -0,0 +1 @@
+{"episode_id":"3L4PIM1GQ2E5VQZ4FXEL7GJTFI0YRE","trajectory_id":"3E22YV8GH94NLUII50WJWMQJH2BPNQ","scene_id":3,"instruction":"go up and turn right and go over trees. turn left and go to blue building and then go up. turn right and go to black building and then go down to the cement.","sentence_instructions":[{"id":0,"instruction":"go up and turn right and go over trees.","completed_instruction":"Fly up to the height of the roof of the brown building on left, turn right to face the trees, fly forward over trees to the middle of the park, turn right to face a dark black building left to a white building, fly forwards the dark building to an intersection.","start_frame":1,"end_frame":26,"start_position":[-17.52571678161621,-2.2486233711242676,-0.4963338375091553],"start_rotation":[0.99990068586288106,0,0,-0.014093204424120728],"end_position":[-18.898756757945403,31.71205777639516,-8.496333837509155],"end_rotation":[0.14448586423048482,0,0,0.98950686457324277],"actions":[4,4,4,4,3,3,3,1,1,1,1,3,1,3,3,3,3,3,1,1,1,1,3,3,1,1],"reference_path":[[-17.52571678161621,-2.2486233711242676,-0.4963338375091553,0,0,-0.02818734198826891],[-17.52571678161621,-2.2486233711242676,-2.4963338375091553,0,0,-0.02818734198826891],[-17.52571678161621,-2.2486233711242676,-4.496333837509155,0,0,-0.02818734198826891],[-17.52571678161621,-2.2486233711242676,-6.496333837509155,0,0,-0.02818734198826891],[-17.52571678161621,-2.2486233711242676,-8.496333837509155,0,0,-0.02818734198826891],[-17.52571678161621,-2.2486233711242676,-8.496333837509155,0,0,0.23361204581088052],[-17.52571678161621,-2.2486233711242676,-8.496333837509155,0,0,0.49541143361003004],[-17.52571678161621,-2.2486233711242676,-8.496333837509155,0,0,0.7572108214091796],[-13.89194321281791,1.185861983438023,-8.496333837509155,0,0,0.7572108214091796],[-10.25816964401961,4.620347338000314,-8.496333837509155,0,0,0.7572108214091796],[-6.624396075221309,8.054832692562604,-8.496333837509155,0,0,0.7572108214091796],[-2.990622506423009,11.489318047124895,-8.496333837509155,0,0,0.7572108214091796],[-2.990622506423009,11.489318047124895,-8.496333837509155,0,0,1.019010209208329],[-0.3695769893205383,15.747265956303334,-8.496333837509155,0,0,1.019010209208329],[-0.3695769893205383,15.747265956303334,-8.496333837509155,0,0,1.2808095970074784],[-0.3695769893205383,15.747265956303334,-8.496333837509155,0,0,1.5426089848066278],[-0.3695769893205383,15.747265956303334,-8.496333837509155,0,0,1.8044083726057771],[-0.3695769893205383,15.747265956303334,-8.496333837509155,0,0,2.066207760404927],[-0.3695769893205383,15.747265956303334,-8.496333837509155,0,0,2.3280071482040765],[-3.80406234388283,19.381039525101635,-8.496333837509155,0,0,2.3280071482040765],[-7.238547698445121,23.014813093899935,-8.496333837509155,0,0,2.3280071482040765],[-10.673033053007412,26.648586662698236,-8.496333837509155,0,0,2.3280071482040765],[-14.107518407569703,30.282360231496536,-8.496333837509155,0,0,2.3280071482040765],[-14.107518407569703,30.282360231496536,-8.496333837509155,0,0,2.5898065360032256],[-14.107518407569703,30.282360231496536,-8.496333837509155,0,0,2.851605923802375],[-18.898756757945403,31.71205777639516,-8.496333837509155,0,0,2.851605923802375]]},{"id":1,"instruction":"turn left and go to blue building and then go up.","completed_instruction":"Turn left to face nearest dark blue glass building with a grid-patterned facade, then fly up to its roof.","start_frame":26,"end_frame":47,"start_position":[-18.898756757945403,31.71205777639516,-8.496333837509155],"start_rotation":[0.14448586423048482,0,0,0.98950686457324277],"end_position":[-14.892263194570544,37.895691918870035,-26.496333837509155],"end_rotation":[0.9694774859105949,0,0,0.24518035058395724],"actions":[1,2,2,2,2,2,2,2,2,2,1,1,4,4,4,4,4,4,4,4,4,4],"reference_path":[[-18.898756757945403,31.71205777639516,-8.496333837509155,0,0,2.851605923802375],[-23.689995108321103,33.14175532129378,-8.496333837509155,0,0,2.851605923802375],[-23.689995108321103,33.14175532129378,-8.496333837509155,0,0,2.5898065360032256],[-23.689995108321103,33.14175532129378,-8.496333837509155,0,0,2.3280071482040765],[-23.689995108321103,33.14175532129378,-8.496333837509155,0,0,2.066207760404927],[-23.689995108321103,33.14175532129378,-8.496333837509155,0,0,1.8044083726057776],[-23.689995108321103,33.14175532129378,-8.496333837509155,0,0,1.542608984806628],[-23.689995108321103,33.14175532129378,-8.496333837509155,0,0,1.2808095970074787],[-23.689995108321103,33.14175532129378,-8.496333837509155,0,0,1.0190102092083293],[-23.689995108321103,33.14175532129378,-8.496333837509155,0,0,0.75721082140918],[-23.689995108321103,33.14175532129378,-8.496333837509155,0,0,0.49541143361003065],[-19.291129151445823,35.51872362008191,-8.496333837509155,0,0,0.49541143361003065],[-14.892263194570544,37.895691918870035,-8.496333837509155,0,0,0.49541143361003065],[-14.892263194570544,37.895691918870035,-10.496333837509155,0,0,0.49541143361003065],[-14.892263194570544,37.895691918870035,-12.496333837509155,0,0,0.49541143361003065],[-14.892263194570544,37.895691918870035,-14.496333837509155,0,0,0.49541143361003065],[-14.892263194570544,37.895691918870035,-16.496333837509155,0,0,0.49541143361003065],[-14.892263194570544,37.895691918870035,-18.496333837509155,0,0,0.49541143361003065],[-14.892263194570544,37.895691918870035,-20.496333837509155,0,0,0.49541143361003065],[-14.892263194570544,37.895691918870035,-22.496333837509155,0,0,0.49541143361003065],[-14.892263194570544,37.895691918870035,-24.496333837509155,0,0,0.49541143361003065],[-14.892263194570544,37.895691918870035,-26.496333837509155,0,0,0.49541143361003065]]},{"id":2,"instruction":"turn right and go to black building and then go down to the cement.","completed_instruction":"Turn right to face a dark black building left to a white building and fly forward to it, then land on the ground.","start_frame":47,"end_frame":72,"start_position":[-14.892263194570544,37.895691918870035,-26.496333837509155],"start_rotation":[0.9694774859105949,0,0,0.24518035058395724],"end_position":[-19.009293056052147,45.51475125186311,-2.4963338375091553],"end_rotation":[0.27240633084081595,0,0,0.96218230648762393],"actions":[4,1,3,3,3,3,3,3,3,3,1,1,5,5,5,5,5,5,5,5,5,5,5,5,5,0],"reference_path":[[-14.892263194570544,37.895691918870035,-26.496333837509155,0,0,0.49541143361003065],[-14.892263194570544,37.895691918870035,-28.496333837509155,0,0,0.49541143361003065],[-10.493397237695266,40.272660217658164,-28.496333837509155,0,0,0.49541143361003065],[-10.493397237695266,40.272660217658164,-28.496333837509155,0,0,0.7572108214091801],[-10.493397237695266,40.272660217658164,-28.496333837509155,0,0,1.0190102092083295],[-10.493397237695266,40.272660217658164,-28.496333837509155,0,0,1.2808095970074789],[-10.493397237695266,40.272660217658164,-28.496333837509155,0,0,1.5426089848066284],[-10.493397237695266,40.272660217658164,-28.496333837509155,0,0,1.8044083726057778],[-10.493397237695266,40.272660217658164,-28.496333837509155,0,0,2.0662077604049274],[-10.493397237695266,40.272660217658164,-28.496333837509155,0,0,2.3280071482040765],[-10.493397237695266,40.272660217658164,-28.496333837509155,0,0,2.5898065360032256],[-14.751345146873707,42.89370573476064,-28.496333837509155,0,0,2.5898065360032256],[-19.009293056052147,45.51475125186311,-28.496333837509155,0,0,2.5898065360032256],[-19.009293056052147,45.51475125186311,-26.496333837509155,0,0,2.5898065360032256],[-19.009293056052147,45.51475125186311,-24.496333837509155,0,0,2.5898065360032256],[-19.009293056052147,45.51475125186311,-22.496333837509155,0,0,2.5898065360032256],[-19.009293056052147,45.51475125186311,-20.496333837509155,0,0,2.5898065360032256],[-19.009293056052147,45.51475125186311,-18.496333837509155,0,0,2.5898065360032256],[-19.009293056052147,45.51475125186311,-16.496333837509155,0,0,2.5898065360032256],[-19.009293056052147,45.51475125186311,-14.496333837509155,0,0,2.5898065360032256],[-19.009293056052147,45.51475125186311,-12.496333837509155,0,0,2.5898065360032256],[-19.009293056052147,45.51475125186311,-10.496333837509155,0,0,2.5898065360032256],[-19.009293056052147,45.51475125186311,-8.496333837509155,0,0,2.5898065360032256],[-19.009293056052147,45.51475125186311,-6.496333837509155,0,0,2.5898065360032256],[-19.009293056052147,45.51475125186311,-4.496333837509155,0,0,2.5898065360032256],[-19.009293056052147,45.51475125186311,-2.4963338375091553,0,0,2.5898065360032256]]}],"statistics":{"complete_actions":74,"sentence_actions":[26,22,26],"sentence_actions_average":24.67}}
diff --git a/scene_3/3NPI0JQDAX3O2RKVSZNXU4RZZW4PTU.json b/scene_3/3NPI0JQDAX3O2RKVSZNXU4RZZW4PTU.json
new file mode 100644
index 0000000000000000000000000000000000000000..f0d6996ec7fff6fbc620e51871ac5b05302d71ff
--- /dev/null
+++ b/scene_3/3NPI0JQDAX3O2RKVSZNXU4RZZW4PTU.json
@@ -0,0 +1 @@
+{"episode_id":"3NPI0JQDAX3O2RKVSZNXU4RZZW4PTU","trajectory_id":"3E22YV8GH94NLUII50WJWMQJH2BPNQ","scene_id":3,"instruction":"fly upwards toward the roof of the building. turn right and fly towards the middle of those trees and stop. turn around and fly towards the dark building and follow the road that forks to the right. proceed forward and stop, turn around and fly back. proceed toward the blue building and stop. fly upward towards the roof of the blue building and stop. proceed forward and stop, rotate around and fly towards dark building. descend toward street light level and stop.","sentence_instructions":[{"id":0,"instruction":"fly upwards toward the roof of the building.","completed_instruction":"Fly up to the height of the roof of the brown building on your left.","start_frame":1,"end_frame":4,"start_position":[-17.52571678161621,-2.2486233711242676,-0.4963338375091553],"start_rotation":[0.99990068586288106,0,0,-0.014093204424120728],"end_position":[-17.52571678161621,-2.2486233711242676,-6.496333837509155],"end_rotation":[0.99990068586288106,0,0,-0.014093204424120728],"actions":[4,4,4,4],"reference_path":[[-17.52571678161621,-2.2486233711242676,-0.4963338375091553,0,0,-0.02818734198826891],[-17.52571678161621,-2.2486233711242676,-2.4963338375091553,0,0,-0.02818734198826891],[-17.52571678161621,-2.2486233711242676,-4.496333837509155,0,0,-0.02818734198826891],[-17.52571678161621,-2.2486233711242676,-6.496333837509155,0,0,-0.02818734198826891]]},{"id":1,"instruction":"turn right and fly towards the middle of those trees and stop.","completed_instruction":"Turn right to face a white building with a grid-like facade of light gray panels and dark windows, and fly toward to the middle of the park ahead.","start_frame":4,"end_frame":13,"start_position":[-17.52571678161621,-2.2486233711242676,-6.496333837509155],"start_rotation":[0.99990068586288106,0,0,-0.014093204424120728],"end_position":[-2.990622506423009,11.489318047124895,-8.496333837509155],"end_rotation":[0.872985997430799,0,0,0.48774526987942485],"actions":[4,3,3,3,1,1,1,1,3,1],"reference_path":[[-17.52571678161621,-2.2486233711242676,-6.496333837509155,0,0,-0.02818734198826891],[-17.52571678161621,-2.2486233711242676,-8.496333837509155,0,0,-0.02818734198826891],[-17.52571678161621,-2.2486233711242676,-8.496333837509155,0,0,0.23361204581088052],[-17.52571678161621,-2.2486233711242676,-8.496333837509155,0,0,0.49541143361003004],[-17.52571678161621,-2.2486233711242676,-8.496333837509155,0,0,0.7572108214091796],[-13.89194321281791,1.185861983438023,-8.496333837509155,0,0,0.7572108214091796],[-10.25816964401961,4.620347338000314,-8.496333837509155,0,0,0.7572108214091796],[-6.624396075221309,8.054832692562604,-8.496333837509155,0,0,0.7572108214091796],[-2.990622506423009,11.489318047124895,-8.496333837509155,0,0,0.7572108214091796],[-2.990622506423009,11.489318047124895,-8.496333837509155,0,0,1.019010209208329]]},{"id":2,"instruction":"turn around and fly towards the dark building and follow the road that forks to the right.","completed_instruction":"Turn right to face the dark black building left to a white building, fly towards the dark building until you reach an intersection.","start_frame":13,"end_frame":23,"start_position":[-2.990622506423009,11.489318047124895,-8.496333837509155],"start_rotation":[0.872985997430799,0,0,0.48774526987942485],"end_position":[-14.107518407569703,30.282360231496536,-8.496333837509155],"end_rotation":[0.39566584960515716,0,0,0.9183945423706682],"actions":[1,3,3,3,3,3,1,1,1,1,3],"reference_path":[[-2.990622506423009,11.489318047124895,-8.496333837509155,0,0,1.019010209208329],[-0.3695769893205383,15.747265956303334,-8.496333837509155,0,0,1.019010209208329],[-0.3695769893205383,15.747265956303334,-8.496333837509155,0,0,1.2808095970074784],[-0.3695769893205383,15.747265956303334,-8.496333837509155,0,0,1.5426089848066278],[-0.3695769893205383,15.747265956303334,-8.496333837509155,0,0,1.8044083726057771],[-0.3695769893205383,15.747265956303334,-8.496333837509155,0,0,2.066207760404927],[-0.3695769893205383,15.747265956303334,-8.496333837509155,0,0,2.3280071482040765],[-3.80406234388283,19.381039525101635,-8.496333837509155,0,0,2.3280071482040765],[-7.238547698445121,23.014813093899935,-8.496333837509155,0,0,2.3280071482040765],[-10.673033053007412,26.648586662698236,-8.496333837509155,0,0,2.3280071482040765],[-14.107518407569703,30.282360231496536,-8.496333837509155,0,0,2.3280071482040765]]},{"id":3,"instruction":"proceed forward and stop, turn around and fly back.","completed_instruction":"Fly to the middle of dark black building and the white building, turn left to face the road beside the trees.","start_frame":23,"end_frame":35,"start_position":[-14.107518407569703,30.282360231496536,-8.496333837509155],"start_rotation":[0.39566584960515716,0,0,0.9183945423706682],"end_position":[-23.689995108321103,33.14175532129378,-8.496333837509155],"end_rotation":[0.92918101405475884,0,0,0.36962500337527232],"actions":[3,3,1,1,2,2,2,2,2,2,2,2,2],"reference_path":[[-14.107518407569703,30.282360231496536,-8.496333837509155,0,0,2.3280071482040765],[-14.107518407569703,30.282360231496536,-8.496333837509155,0,0,2.5898065360032256],[-14.107518407569703,30.282360231496536,-8.496333837509155,0,0,2.851605923802375],[-18.898756757945403,31.71205777639516,-8.496333837509155,0,0,2.851605923802375],[-23.689995108321103,33.14175532129378,-8.496333837509155,0,0,2.851605923802375],[-23.689995108321103,33.14175532129378,-8.496333837509155,0,0,2.5898065360032256],[-23.689995108321103,33.14175532129378,-8.496333837509155,0,0,2.3280071482040765],[-23.689995108321103,33.14175532129378,-8.496333837509155,0,0,2.066207760404927],[-23.689995108321103,33.14175532129378,-8.496333837509155,0,0,1.8044083726057776],[-23.689995108321103,33.14175532129378,-8.496333837509155,0,0,1.542608984806628],[-23.689995108321103,33.14175532129378,-8.496333837509155,0,0,1.2808095970074787],[-23.689995108321103,33.14175532129378,-8.496333837509155,0,0,1.0190102092083293],[-23.689995108321103,33.14175532129378,-8.496333837509155,0,0,0.75721082140918]]},{"id":4,"instruction":"proceed toward the blue building and stop.","completed_instruction":"Fly forward to nearest sleek dark blue glass building with a grid-patterned facade near the intersection.","start_frame":35,"end_frame":37,"start_position":[-23.689995108321103,33.14175532129378,-8.496333837509155],"start_rotation":[0.92918101405475884,0,0,0.36962500337527232],"end_position":[-19.291129151445823,35.51872362008191,-8.496333837509155],"end_rotation":[0.9694774859105949,0,0,0.24518035058395724],"actions":[2,1,1],"reference_path":[[-23.689995108321103,33.14175532129378,-8.496333837509155,0,0,0.75721082140918],[-23.689995108321103,33.14175532129378,-8.496333837509155,0,0,0.49541143361003065],[-19.291129151445823,35.51872362008191,-8.496333837509155,0,0,0.49541143361003065]]},{"id":5,"instruction":"fly upward towards the roof of the blue building and stop.","completed_instruction":"Fly up to above the roof of the building.","start_frame":37,"end_frame":46,"start_position":[-19.291129151445823,35.51872362008191,-8.496333837509155],"start_rotation":[0.9694774859105949,0,0,0.24518035058395724],"end_position":[-14.892263194570544,37.895691918870035,-24.496333837509155],"end_rotation":[0.9694774859105949,0,0,0.24518035058395724],"actions":[1,4,4,4,4,4,4,4,4,4],"reference_path":[[-19.291129151445823,35.51872362008191,-8.496333837509155,0,0,0.49541143361003065],[-14.892263194570544,37.895691918870035,-8.496333837509155,0,0,0.49541143361003065],[-14.892263194570544,37.895691918870035,-10.496333837509155,0,0,0.49541143361003065],[-14.892263194570544,37.895691918870035,-12.496333837509155,0,0,0.49541143361003065],[-14.892263194570544,37.895691918870035,-14.496333837509155,0,0,0.49541143361003065],[-14.892263194570544,37.895691918870035,-16.496333837509155,0,0,0.49541143361003065],[-14.892263194570544,37.895691918870035,-18.496333837509155,0,0,0.49541143361003065],[-14.892263194570544,37.895691918870035,-20.496333837509155,0,0,0.49541143361003065],[-14.892263194570544,37.895691918870035,-22.496333837509155,0,0,0.49541143361003065],[-14.892263194570544,37.895691918870035,-24.496333837509155,0,0,0.49541143361003065]]},{"id":6,"instruction":"proceed forward and stop, rotate around and fly towards dark building.","completed_instruction":"Fly forward to the roof, turn right to face a high dark black building and fly toward to the building.","start_frame":46,"end_frame":57,"start_position":[-14.892263194570544,37.895691918870035,-24.496333837509155],"start_rotation":[0.9694774859105949,0,0,0.24518035058395724],"end_position":[-10.493397237695266,40.272660217658164,-28.496333837509155],"end_rotation":[0.27240633084081595,0,0,0.96218230648762393],"actions":[4,4,1,3,3,3,3,3,3,3,3,1],"reference_path":[[-14.892263194570544,37.895691918870035,-24.496333837509155,0,0,0.49541143361003065],[-14.892263194570544,37.895691918870035,-26.496333837509155,0,0,0.49541143361003065],[-14.892263194570544,37.895691918870035,-28.496333837509155,0,0,0.49541143361003065],[-10.493397237695266,40.272660217658164,-28.496333837509155,0,0,0.49541143361003065],[-10.493397237695266,40.272660217658164,-28.496333837509155,0,0,0.7572108214091801],[-10.493397237695266,40.272660217658164,-28.496333837509155,0,0,1.0190102092083295],[-10.493397237695266,40.272660217658164,-28.496333837509155,0,0,1.2808095970074789],[-10.493397237695266,40.272660217658164,-28.496333837509155,0,0,1.5426089848066284],[-10.493397237695266,40.272660217658164,-28.496333837509155,0,0,1.8044083726057778],[-10.493397237695266,40.272660217658164,-28.496333837509155,0,0,2.0662077604049274],[-10.493397237695266,40.272660217658164,-28.496333837509155,0,0,2.3280071482040765],[-10.493397237695266,40.272660217658164,-28.496333837509155,0,0,2.5898065360032256]]},{"id":7,"instruction":"descend toward street light level and land.","completed_instruction":"Fly down to the street light level and stop.","start_frame":57,"end_frame":72,"start_position":[-10.493397237695266,40.272660217658164,-28.496333837509155],"start_rotation":[0.27240633084081595,0,0,0.96218230648762393],"end_position":[-19.009293056052147,45.51475125186311,-2.4963338375091553],"end_rotation":[0.27240633084081595,0,0,0.96218230648762393],"actions":[1,1,5,5,5,5,5,5,5,5,5,5,5,5,5,0],"reference_path":[[-10.493397237695266,40.272660217658164,-28.496333837509155,0,0,2.5898065360032256],[-14.751345146873707,42.89370573476064,-28.496333837509155,0,0,2.5898065360032256],[-19.009293056052147,45.51475125186311,-28.496333837509155,0,0,2.5898065360032256],[-19.009293056052147,45.51475125186311,-26.496333837509155,0,0,2.5898065360032256],[-19.009293056052147,45.51475125186311,-24.496333837509155,0,0,2.5898065360032256],[-19.009293056052147,45.51475125186311,-22.496333837509155,0,0,2.5898065360032256],[-19.009293056052147,45.51475125186311,-20.496333837509155,0,0,2.5898065360032256],[-19.009293056052147,45.51475125186311,-18.496333837509155,0,0,2.5898065360032256],[-19.009293056052147,45.51475125186311,-16.496333837509155,0,0,2.5898065360032256],[-19.009293056052147,45.51475125186311,-14.496333837509155,0,0,2.5898065360032256],[-19.009293056052147,45.51475125186311,-12.496333837509155,0,0,2.5898065360032256],[-19.009293056052147,45.51475125186311,-10.496333837509155,0,0,2.5898065360032256],[-19.009293056052147,45.51475125186311,-8.496333837509155,0,0,2.5898065360032256],[-19.009293056052147,45.51475125186311,-6.496333837509155,0,0,2.5898065360032256],[-19.009293056052147,45.51475125186311,-4.496333837509155,0,0,2.5898065360032256],[-19.009293056052147,45.51475125186311,-2.4963338375091553,0,0,2.5898065360032256]]}],"statistics":{"complete_actions":79,"sentence_actions":[4,10,11,13,3,10,12,16],"sentence_actions_average":9.88}}
diff --git a/scene_3/3NS0A6KXCD6EBQ0VV8MSMJEP5GBZG6.json b/scene_3/3NS0A6KXCD6EBQ0VV8MSMJEP5GBZG6.json
new file mode 100644
index 0000000000000000000000000000000000000000..5440b8a1e20e88bca2cb2cf4d3fa9b71cabc0cc8
--- /dev/null
+++ b/scene_3/3NS0A6KXCD6EBQ0VV8MSMJEP5GBZG6.json
@@ -0,0 +1 @@
+{"episode_id":"3NS0A6KXCD6EBQ0VV8MSMJEP5GBZG6","trajectory_id":"3JVP4ZJHEXQSJC37RZ41CDTUR420IX","scene_id":3,"instruction":"take off and move forward to the buildings. now turn left move closely to the toilet building. now turn your back move towards the blue building and turn right move close to the blue building. now turn on your back view move towards the toilet building closely and slow down to the floor and stay there.","sentence_instructions":[{"id":0,"instruction":"take off and move forward to the buildings.","completed_instruction":"Take off to the height of trees and move forward to the trees on the right side of the road.","start_frame":1,"end_frame":6,"start_position":[-35.9530143737793,10.711148262023926,-0.5805371999740601],"start_rotation":[0.99999632029941088,0,0,0.0027128191311077332],"end_position":[-25.953161561532056,10.765404444998836,-6.58053719997406],"end_rotation":[0.99999632029941088,0,0,0.0027128191311077332],"actions":[4,4,4,1,1,1],"reference_path":[[-35.9530143737793,10.711148262023926,-0.5805371999740601,0,0,0.005425644917133365],[-35.9530143737793,10.711148262023926,-2.58053719997406,0,0,0.005425644917133365],[-35.9530143737793,10.711148262023926,-4.58053719997406,0,0,0.005425644917133365],[-35.9530143737793,10.711148262023926,-6.58053719997406,0,0,0.005425644917133365],[-30.953087967655676,10.738276353511381,-6.58053719997406,0,0,0.005425644917133365],[-25.953161561532056,10.765404444998836,-6.58053719997406,0,0,0.005425644917133365]]},{"id":1,"instruction":"now turn left move closely to the toilet building.","completed_instruction":"Turn left to face the black glass building near an intersection, then fly forward to it.","start_frame":6,"end_frame":20,"start_position":[-25.953161561532056,10.765404444998836,-6.58053719997406],"start_rotation":[0.99999632029941088,0,0,0.0027128191311077332],"end_position":[-15.269881582173152,8.323331900015065,-6.58053719997406],"end_rotation":[0.26143847478671639,0,0,-0.965220142714187],"actions":[1,1,1,2,2,2,2,2,2,2,2,2,2,1,1],"reference_path":[[-25.953161561532056,10.765404444998836,-6.58053719997406,0,0,0.005425644917133365],[-20.953235155408436,10.792532536486291,-6.58053719997406,0,0,0.005425644917133365],[-15.953308749284817,10.819660627973747,-6.58053719997406,0,0,0.005425644917133365],[-10.953382343161199,10.846788719461202,-6.58053719997406,0,0,0.005425644917133365],[-10.953382343161199,10.846788719461202,-6.58053719997406,0,0,-0.2563737428820161],[-10.953382343161199,10.846788719461202,-6.58053719997406,0,0,-0.5181731306811654],[-10.953382343161199,10.846788719461202,-6.58053719997406,0,0,-0.7799725184803149],[-10.953382343161199,10.846788719461202,-6.58053719997406,0,0,-1.0417719062794644],[-10.953382343161199,10.846788719461202,-6.58053719997406,0,0,-1.3035712940786137],[-10.953382343161199,10.846788719461202,-6.58053719997406,0,0,-1.5653706818777633],[-10.953382343161199,10.846788719461202,-6.58053719997406,0,0,-1.8271700696769126],[-10.953382343161199,10.846788719461202,-6.58053719997406,0,0,-2.088969457476062],[-10.953382343161199,10.846788719461202,-6.58053719997406,0,0,-2.350768845275211],[-10.953382343161199,10.846788719461202,-6.58053719997406,0,0,-2.6125682330743603],[-15.269881582173152,8.323331900015065,-6.58053719997406,0,0,-2.6125682330743603]]},{"id":2,"instruction":"now turn your back move towards the blue building and turn right move close to the blue building.","completed_instruction":"Turn back to face a dark glass skyscraper with a stacked box-like design and white vertical ribbing, fly forward to it, and turn right to face an intersection, fly forward to the shortest dark glass building near the intersection.","start_frame":20,"end_frame":53,"start_position":[-15.269881582173152,8.323331900015065,-6.58053719997406],"start_rotation":[0.26143847478671639,0,0,-0.965220142714187],"end_position":[10.716574461080569,28.30626781419023,-6.58053719997406],"end_rotation":[0.49764878986629363,0,0,0.867378626635804],"actions":[1,1,3,3,3,3,3,3,3,3,3,3,3,1,1,1,1,1,1,1,2,3,1,3,3,3,3,3,3,1,1,1,3,1],"reference_path":[[-15.269881582173152,8.323331900015065,-6.58053719997406,0,0,-2.6125682330743603],[-19.586380821185106,5.799875080568928,-6.58053719997406,0,0,-2.6125682330743603],[-23.90288006019706,3.27641826112279,-6.58053719997406,0,0,-2.6125682330743603],[-23.90288006019706,3.27641826112279,-6.58053719997406,0,0,-2.350768845275211],[-23.90288006019706,3.27641826112279,-6.58053719997406,0,0,-2.0889694574760616],[-23.90288006019706,3.27641826112279,-6.58053719997406,0,0,-1.8271700696769122],[-23.90288006019706,3.27641826112279,-6.58053719997406,0,0,-1.5653706818777626],[-23.90288006019706,3.27641826112279,-6.58053719997406,0,0,-1.3035712940786133],[-23.90288006019706,3.27641826112279,-6.58053719997406,0,0,-1.041771906279464],[-23.90288006019706,3.27641826112279,-6.58053719997406,0,0,-0.7799725184803146],[-23.90288006019706,3.27641826112279,-6.58053719997406,0,0,-0.5181731306811652],[-23.90288006019706,3.27641826112279,-6.58053719997406,0,0,-0.2563737428820158],[-23.90288006019706,3.27641826112279,-6.58053719997406,0,0,0.005425644917133618],[-23.90288006019706,3.27641826112279,-6.58053719997406,0,0,0.26722503271628306],[-19.08034328171181,4.596698163324251,-6.58053719997406,0,0,0.26722503271628306],[-14.257806503226558,5.916978065525711,-6.58053719997406,0,0,0.26722503271628306],[-9.435269724741307,7.237257967727173,-6.58053719997406,0,0,0.26722503271628306],[-4.612732946256056,8.557537869928634,-6.58053719997406,0,0,0.26722503271628306],[0.20980383222919485,9.877817772130095,-6.58053719997406,0,0,0.26722503271628306],[5.032340610714446,11.198097674331557,-6.58053719997406,0,0,0.26722503271628306],[9.854877389199697,12.518377576533018,-6.58053719997406,0,0,0.26722503271628306],[9.854877389199697,12.518377576533018,-6.58053719997406,0,0,0.005425644917133649],[9.854877389199697,12.518377576533018,-6.58053719997406,0,0,0.26722503271628306],[14.677414167684947,13.83865747873448,-6.58053719997406,0,0,0.26722503271628306],[14.677414167684947,13.83865747873448,-6.58053719997406,0,0,0.5290244205154325],[14.677414167684947,13.83865747873448,-6.58053719997406,0,0,0.7908238083145819],[14.677414167684947,13.83865747873448,-6.58053719997406,0,0,1.0526231961137311],[14.677414167684947,13.83865747873448,-6.58053719997406,0,0,1.3144225839128805],[14.677414167684947,13.83865747873448,-6.58053719997406,0,0,1.57622197171203],[14.677414167684947,13.83865747873448,-6.58053719997406,0,0,1.8380213595111794],[13.357134265483488,18.66119425721973,-6.58053719997406,0,0,1.8380213595111794],[12.036854363282028,23.48373103570498,-6.58053719997406,0,0,1.8380213595111794],[10.716574461080569,28.30626781419023,-6.58053719997406,0,0,1.8380213595111794],[10.716574461080569,28.30626781419023,-6.58053719997406,0,0,2.099820747310329]]},{"id":3,"instruction":"now turn on your back view move towards the toilet building closely and slow down to the floor and stay there.","completed_instruction":"Turn back to face a dark black building behind the trees and fly forward to it, land on the road right to it.","start_frame":53,"end_frame":76,"start_position":[10.716574461080569,28.30626781419023,-6.58053719997406],"start_rotation":[0.49764878986629363,0,0,0.867378626635804],"end_position":[21.84160924407412,11.840470687402112,-2.58053719997406],"end_rotation":[0.92491428384770491,0,0,-0.38017570613400226],"actions":[1,1,2,2,2,2,2,2,2,2,2,2,2,2,1,1,1,1,1,3,1,5,5,0],"reference_path":[[10.716574461080569,28.30626781419023,-6.58053719997406,0,0,2.099820747310329],[8.193117641634434,32.62276705320219,-6.58053719997406,0,0,2.099820747310329],[5.669660822188298,36.93926629221414,-6.58053719997406,0,0,2.099820747310329],[5.669660822188298,36.93926629221414,-6.58053719997406,0,0,1.8380213595111796],[5.669660822188298,36.93926629221414,-6.58053719997406,0,0,1.5762219717120305],[5.669660822188298,36.93926629221414,-6.58053719997406,0,0,1.3144225839128814],[5.669660822188298,36.93926629221414,-6.58053719997406,0,0,1.052623196113732],[5.669660822188298,36.93926629221414,-6.58053719997406,0,0,0.7908238083145825],[5.669660822188298,36.93926629221414,-6.58053719997406,0,0,0.5290244205154332],[5.669660822188298,36.93926629221414,-6.58053719997406,0,0,0.2672250327162838],[5.669660822188298,36.93926629221414,-6.58053719997406,0,0,0.005425644917134362],[5.669660822188298,36.93926629221414,-6.58053719997406,0,0,-0.2563737428820151],[5.669660822188298,36.93926629221414,-6.58053719997406,0,0,-0.5181731306811646],[5.669660822188298,36.93926629221414,-6.58053719997406,0,0,-0.7799725184803139],[5.669660822188298,36.93926629221414,-6.58053719997406,0,0,-1.0417719062794633],[8.193117641634437,32.62276705320219,-6.58053719997406,0,0,-1.0417719062794633],[10.716574461080576,28.306267814190235,-6.58053719997406,0,0,-1.0417719062794633],[13.240031280526715,23.98976857517828,-6.58053719997406,0,0,-1.0417719062794633],[15.763488099972854,19.673269336166328,-6.58053719997406,0,0,-1.0417719062794633],[18.286944919418993,15.356770097154374,-6.58053719997406,0,0,-1.0417719062794633],[18.286944919418993,15.356770097154374,-6.58053719997406,0,0,-0.7799725184803139],[21.84160924407412,11.840470687402112,-6.58053719997406,0,0,-0.7799725184803139],[21.84160924407412,11.840470687402112,-4.58053719997406,0,0,-0.7799725184803139],[21.84160924407412,11.840470687402112,-2.58053719997406,0,0,-0.7799725184803139]]}],"statistics":{"complete_actions":79,"sentence_actions":[6,15,34,24],"sentence_actions_average":19.75}}
diff --git a/scene_3/3OONKJ5DKLH6L5EDDDJX5AGO27YOB7.json b/scene_3/3OONKJ5DKLH6L5EDDDJX5AGO27YOB7.json
new file mode 100644
index 0000000000000000000000000000000000000000..bc3041398d2f5bf60d53b12a0520820a98faf6c6
--- /dev/null
+++ b/scene_3/3OONKJ5DKLH6L5EDDDJX5AGO27YOB7.json
@@ -0,0 +1 @@
+{"episode_id":"3OONKJ5DKLH6L5EDDDJX5AGO27YOB7","trajectory_id":"385MDVINGKDHMDOY2OIMV9HY578WJB","scene_id":3,"instruction":"float up above the street lights. turn right and fly over the ledge of the building. turn right and fly over the trees to the middle of the park. go to the other side of the park and look at the white building from the trees. land on the sidewalk by the park benches just below the trees.","sentence_instructions":[{"id":0,"instruction":"turn right and fly over the ledge of the building.","completed_instruction":"Turn right to face a flat low-profile roof on the left of the road, fly up slightly above that roof, fly over that roof, fly along the road to the intersection on the left.","start_frame":1,"end_frame":17,"start_position":[27.056156158447266,7.5123138427734375,-0.34915873408317566],"start_rotation":[0.99968128428034175,0,0,-0.025245392839219397],"end_position":[14.720187702365093,23.091555037193203,-4.349158734083176],"end_rotation":[0.52170379366745268,0,0,0.8531266914550194],"actions":[4,3,3,3,3,3,3,3,3,3,4,1,1,1,2,1,1],"reference_path":[[27.056156158447266,7.5123138427734375,-0.34915873408317566,0,0,-0.050496150431408676],[27.056156158447266,7.5123138427734375,-2.3491587340831757,0,0,-0.050496150431408676],[27.056156158447266,7.5123138427734375,-2.3491587340831757,0,0,0.21130323736774076],[27.056156158447266,7.5123138427734375,-2.3491587340831757,0,0,0.47310262516689017],[27.056156158447266,7.5123138427734375,-2.3491587340831757,0,0,0.7349020129660396],[27.056156158447266,7.5123138427734375,-2.3491587340831757,0,0,0.9967014007651891],[27.056156158447266,7.5123138427734375,-2.3491587340831757,0,0,1.2585007885643387],[27.056156158447266,7.5123138427734375,-2.3491587340831757,0,0,1.520300176363488],[27.056156158447266,7.5123138427734375,-2.3491587340831757,0,0,1.7820995641626374],[27.056156158447266,7.5123138427734375,-2.3491587340831757,0,0,2.0438989519617867],[27.056156158447266,7.5123138427734375,-2.3491587340831757,0,0,2.3056983397609363],[27.056156158447266,7.5123138427734375,-4.349158734083176,0,0,2.3056983397609363],[23.703583845329835,11.221796136209873,-4.349158734083176,0,0,2.3056983397609363],[20.351011532212404,14.931278429646309,-4.349158734083176,0,0,2.3056983397609363],[16.998439219094973,18.640760723082742,-4.349158734083176,0,0,2.3056983397609363],[16.998439219094973,18.640760723082742,-4.349158734083176,0,0,2.0438989519617867],[14.720187702365093,23.091555037193203,-4.349158734083176,0,0,2.0438989519617867]]},{"id":1,"instruction":"turn right and fly over the trees to the middle of the park.","completed_instruction":"Turn right to face the white building behind the trees, fly over the row of trees to the middle of the park.","start_frame":17,"end_frame":28,"start_position":[14.720187702365093,23.091555037193203,-4.349158734083176],"start_rotation":[0.52170379366745268,0,0,0.8531266914550194],"end_position":[7.553144128071984,26.493677706837826,-8.349158734083176],"end_rotation":[0.10545517646695686,0,0,-0.99442405730971883],"actions":[1,2,3,3,3,3,3,3,4,4,1,1],"reference_path":[[14.720187702365093,23.091555037193203,-4.349158734083176,0,0,2.0438989519617867],[12.441936185635214,27.542349351303663,-4.349158734083176,0,0,2.0438989519617867],[12.441936185635214,27.542349351303663,-4.349158734083176,0,0,1.7820995641626374],[12.441936185635214,27.542349351303663,-4.349158734083176,0,0,2.0438989519617867],[12.441936185635214,27.542349351303663,-4.349158734083176,0,0,2.3056983397609363],[12.441936185635214,27.542349351303663,-4.349158734083176,0,0,2.5674977275600854],[12.441936185635214,27.542349351303663,-4.349158734083176,0,0,2.829297115359235],[12.441936185635214,27.542349351303663,-4.349158734083176,0,0,3.0910965031583846],[12.441936185635214,27.542349351303663,-4.349158734083176,0,0,-2.930289416222052],[12.441936185635214,27.542349351303663,-6.349158734083176,0,0,-2.930289416222052],[12.441936185635214,27.542349351303663,-8.349158734083176,0,0,-2.930289416222052],[7.553144128071984,26.493677706837826,-8.349158734083176,0,0,-2.930289416222052]]},{"id":2,"instruction":"go to the other side of the park and look at the white building from the trees.","completed_instruction":"Turn left to face that white building.","start_frame":28,"end_frame":31,"start_position":[7.553144128071984,26.493677706837826,-8.349158734083176],"start_rotation":[0.10545517646695686,0,0,-0.99442405730971883],"end_position":[-1.7864422436017051,23.166754545642107,-8.349158734083176],"end_rotation":[0.23435137846608478,0,0,-0.97215195901209084],"actions":[1,3,1,1],"reference_path":[[7.553144128071984,26.493677706837826,-8.349158734083176,0,0,-2.930289416222052],[2.6643520705087536,25.445006062371988,-8.349158734083176,0,0,-2.930289416222052],[2.6643520705087536,25.445006062371988,-8.349158734083176,0,0,-2.6684900284229025],[-1.7864422436017051,23.166754545642107,-8.349158734083176,0,0,-2.6684900284229025]]},{"id":3,"instruction":"land on the sidewalk by the park benches just below the trees.","completed_instruction":"Land on the football field in front of the benches.","start_frame":31,"end_frame":37,"start_position":[-1.7864422436017051,23.166754545642107,-8.349158734083176],"start_rotation":[0.23435137846608478,0,0,-0.97215195901209084],"end_position":[-10.688030871822622,18.610251512182344,-2.3491587340831757],"end_rotation":[0.10545517646695686,0,0,-0.99442405730971883],"actions":[1,1,2,5,5,5,0],"reference_path":[[-1.7864422436017051,23.166754545642107,-8.349158734083176,0,0,-2.6684900284229025],[-6.237236557712164,20.888503028912226,-8.349158734083176,0,0,-2.6684900284229025],[-10.688030871822622,18.610251512182344,-8.349158734083176,0,0,-2.6684900284229025],[-10.688030871822622,18.610251512182344,-8.349158734083176,0,0,-2.930289416222052],[-10.688030871822622,18.610251512182344,-6.349158734083176,0,0,-2.930289416222052],[-10.688030871822622,18.610251512182344,-4.349158734083176,0,0,-2.930289416222052],[-10.688030871822622,18.610251512182344,-2.3491587340831757,0,0,-2.930289416222052]]}],"statistics":{"complete_actions":40,"sentence_actions":[17,12,4,7],"sentence_actions_average":10.0}}
diff --git a/scene_3/3TPWUS5F8IZX0JFLIZ62XOZR4DGCWE.json b/scene_3/3TPWUS5F8IZX0JFLIZ62XOZR4DGCWE.json
new file mode 100644
index 0000000000000000000000000000000000000000..f29d6d7f9b557028b66bfabc05114934a1f408bd
--- /dev/null
+++ b/scene_3/3TPWUS5F8IZX0JFLIZ62XOZR4DGCWE.json
@@ -0,0 +1 @@
+{"episode_id":"3TPWUS5F8IZX0JFLIZ62XOZR4DGCWE","trajectory_id":"3SMIWMMK793Q0TZSENM02BQ9IV7UWI","scene_id":3,"instruction":"aerial view of the city buildings and turning right. flying down over the park and turning left and then turning right. flying over the park and going toward the building with the flags. turning back to fly over the park area and flying down to land by the bench.","sentence_instructions":[{"id":0,"instruction":"aerial view of the city buildings and turning right.","completed_instruction":"Turn left to face another edge of the rooftop, fly forward over the edge, and turn slightly right to face a dark black building right to a brown building.","start_frame":1,"end_frame":12,"start_position":[-1.0821374654769897,73.20098114013672,-43.913047790527344],"start_rotation":[0.999972516565019,0,0,-0.0074139135834539868],"end_position":[-1.4528229566590964,48.203729445867864,-43.913047790527344],"end_rotation":[0.70184491889331069,0,0,-0.7123297760332935],"actions":[2,2,2,2,2,2,1,1,1,1,1,1],"reference_path":[[-1.0821374654769897,73.20098114013672,-43.913047790527344,0,0,-0.014827963008275947],[-1.0821374654769897,73.20098114013672,-43.913047790527344,0,0,-0.2766273508074254],[-1.0821374654769897,73.20098114013672,-43.913047790527344,0,0,-0.5384267386065749],[-1.0821374654769897,73.20098114013672,-43.913047790527344,0,0,-0.8002261264057243],[-1.0821374654769897,73.20098114013672,-43.913047790527344,0,0,-1.0620255142048738],[-1.0821374654769897,73.20098114013672,-43.913047790527344,0,0,-1.3238249020040231],[-1.0821374654769897,73.20098114013672,-43.913047790527344,0,0,-1.5856242898031727],[-1.156274563713411,68.20153080128294,-43.913047790527344,0,0,-1.5856242898031727],[-1.2304116619498324,63.20208046242917,-43.913047790527344,0,0,-1.5856242898031727],[-1.3045487601862538,58.2026301235754,-43.913047790527344,0,0,-1.5856242898031727],[-1.378685858422675,53.203179784721634,-43.913047790527344,0,0,-1.5856242898031727],[-1.4528229566590964,48.203729445867864,-43.913047790527344,0,0,-1.5856242898031727]]},{"id":1,"instruction":"flying down over the park and turning left and then turning right.","completed_instruction":"Fly down to above the park, turn left to face a white building left to a dark black glass building, fly to the intersection in front of that building, and turn right to face a dark glass building with white vertical lines.","start_frame":12,"end_frame":59,"start_position":[-1.4528229566590964,48.203729445867864,-43.913047790527344],"start_rotation":[0.70184491889331069,0,0,-0.7123297760332935],"end_position":[-15.11342881431241,39.86983091157853,-7.913047790527344],"end_rotation":[0.96398041729528261,0,0,-0.26597322247025679],"actions":[1,3,1,3,5,5,5,5,5,5,5,5,5,5,5,5,5,5,5,5,5,3,2,2,2,2,2,2,2,2,2,2,1,3,1,5,1,3,3,3,3,3,3,3,3,3,3,3],"reference_path":[[-1.4528229566590964,48.203729445867864,-43.913047790527344,0,0,-1.5856242898031727],[-1.5269600548955178,43.204279107014095,-43.913047790527344,0,0,-1.5856242898031727],[-1.5269600548955178,43.204279107014095,-43.913047790527344,0,0,-1.3238249020040231],[-0.30461803002859944,38.35599281449338,-43.913047790527344,0,0,-1.3238249020040231],[-0.30461803002859944,38.35599281449338,-43.913047790527344,0,0,-1.0620255142048738],[-0.30461803002859944,38.35599281449338,-41.913047790527344,0,0,-1.0620255142048738],[-0.30461803002859944,38.35599281449338,-39.913047790527344,0,0,-1.0620255142048738],[-0.30461803002859944,38.35599281449338,-37.913047790527344,0,0,-1.0620255142048738],[-0.30461803002859944,38.35599281449338,-35.913047790527344,0,0,-1.0620255142048738],[-0.30461803002859944,38.35599281449338,-33.913047790527344,0,0,-1.0620255142048738],[-0.30461803002859944,38.35599281449338,-31.913047790527344,0,0,-1.0620255142048738],[-0.30461803002859944,38.35599281449338,-29.913047790527344,0,0,-1.0620255142048738],[-0.30461803002859944,38.35599281449338,-27.913047790527344,0,0,-1.0620255142048738],[-0.30461803002859944,38.35599281449338,-25.913047790527344,0,0,-1.0620255142048738],[-0.30461803002859944,38.35599281449338,-23.913047790527344,0,0,-1.0620255142048738],[-0.30461803002859944,38.35599281449338,-21.913047790527344,0,0,-1.0620255142048738],[-0.30461803002859944,38.35599281449338,-19.913047790527344,0,0,-1.0620255142048738],[-0.30461803002859944,38.35599281449338,-17.913047790527344,0,0,-1.0620255142048738],[-0.30461803002859944,38.35599281449338,-15.913047790527344,0,0,-1.0620255142048738],[-0.30461803002859944,38.35599281449338,-13.913047790527344,0,0,-1.0620255142048738],[-0.30461803002859944,38.35599281449338,-11.913047790527344,0,0,-1.0620255142048738],[-0.30461803002859944,38.35599281449338,-9.913047790527344,0,0,-1.0620255142048738],[-0.30461803002859944,38.35599281449338,-9.913047790527344,0,0,-0.8002261264057244],[-0.30461803002859944,38.35599281449338,-9.913047790527344,0,0,-1.0620255142048738],[-0.30461803002859944,38.35599281449338,-9.913047790527344,0,0,-1.3238249020040231],[-0.30461803002859944,38.35599281449338,-9.913047790527344,0,0,-1.5856242898031727],[-0.30461803002859944,38.35599281449338,-9.913047790527344,0,0,-1.847423677602322],[-0.30461803002859944,38.35599281449338,-9.913047790527344,0,0,-2.109223065401472],[-0.30461803002859944,38.35599281449338,-9.913047790527344,0,0,-2.3710224532006214],[-0.30461803002859944,38.35599281449338,-9.913047790527344,0,0,-2.632821840999771],[-0.30461803002859944,38.35599281449338,-9.913047790527344,0,0,-2.89462122879892],[-0.30461803002859944,38.35599281449338,-9.913047790527344,0,0,3.1267646905815165],[-0.30461803002859944,38.35599281449338,-9.913047790527344,0,0,2.8649653027823674],[-5.114528136604868,39.72155671510568,-9.913047790527344,0,0,2.8649653027823674],[-5.114528136604868,39.72155671510568,-9.913047790527344,0,0,3.1267646905815165],[-10.113978475458639,39.795693813342105,-9.913047790527344,0,0,3.1267646905815165],[-10.113978475458639,39.795693813342105,-7.913047790527344,0,0,3.1267646905815165],[-15.11342881431241,39.86983091157853,-7.913047790527344,0,0,3.1267646905815165],[-15.11342881431241,39.86983091157853,-7.913047790527344,0,0,-2.89462122879892],[-15.11342881431241,39.86983091157853,-7.913047790527344,0,0,-2.632821840999771],[-15.11342881431241,39.86983091157853,-7.913047790527344,0,0,-2.3710224532006214],[-15.11342881431241,39.86983091157853,-7.913047790527344,0,0,-2.109223065401472],[-15.11342881431241,39.86983091157853,-7.913047790527344,0,0,-1.8474236776023225],[-15.11342881431241,39.86983091157853,-7.913047790527344,0,0,-1.5856242898031732],[-15.11342881431241,39.86983091157853,-7.913047790527344,0,0,-1.323824902004024],[-15.11342881431241,39.86983091157853,-7.913047790527344,0,0,-1.0620255142048745],[-15.11342881431241,39.86983091157853,-7.913047790527344,0,0,-0.8002261264057251],[-15.11342881431241,39.86983091157853,-7.913047790527344,0,0,-0.5384267386065757]]},{"id":2,"instruction":"flying over the park and going toward the building with the flags.","completed_instruction":"Fly over the park to the mentioned dark glass building.","start_frame":59,"end_frame":66,"start_position":[-15.11342881431241,39.86983091157853,-7.913047790527344],"start_rotation":[0.96398041729528261,0,0,-0.26597322247025679],"end_position":[13.746031825145195,31.676447507904726,-7.913047790527344],"end_rotation":[0.99044990315392867,0,0,-0.13787309143691981],"actions":[3,1,1,1,1,1,1,1],"reference_path":[[-15.11342881431241,39.86983091157853,-7.913047790527344,0,0,-0.5384267386065757],[-15.11342881431241,39.86983091157853,-7.913047790527344,0,0,-0.27662735080742634],[-10.303518707736142,38.50426701096623,-7.913047790527344,0,0,-0.27662735080742634],[-5.493608601159875,37.13870311035393,-7.913047790527344,0,0,-0.27662735080742634],[-0.6836984945836075,35.77313920974163,-7.913047790527344,0,0,-0.27662735080742634],[4.12621161199266,34.40757530912933,-7.913047790527344,0,0,-0.27662735080742634],[8.936121718568927,33.04201140851703,-7.913047790527344,0,0,-0.27662735080742634],[13.746031825145195,31.676447507904726,-7.913047790527344,0,0,-0.27662735080742634]]},{"id":3,"instruction":"turning back to fly over the park area and flying down to land by the bench.","completed_instruction":"Turn back to face a white building , fly towards it until you reach a football field in the park , landing on the field.","start_frame":66,"end_frame":105,"start_position":[13.746031825145195,31.676447507904726,-7.913047790527344],"start_rotation":[0.99044990315392867,0,0,-0.13787309143691981],"end_position":[-8.098255264411538,18.610111910566637,-1.9130477905273438],"end_rotation":[0.92669132302559909,0,0,0.37582335189429716],"actions":[1,2,2,2,2,2,2,2,2,2,2,4,1,1,1,1,1,1,3,3,3,3,3,3,5,3,5,5,5,1,3,3,3,3,3,3,3,3,2,0],"reference_path":[[13.746031825145195,31.676447507904726,-7.913047790527344,0,0,-0.27662735080742634],[18.555941931721463,30.310883607292425,-7.913047790527344,0,0,-0.27662735080742634],[18.555941931721463,30.310883607292425,-7.913047790527344,0,0,-0.5384267386065757],[18.555941931721463,30.310883607292425,-7.913047790527344,0,0,-0.8002261264057252],[18.555941931721463,30.310883607292425,-7.913047790527344,0,0,-1.0620255142048747],[18.555941931721463,30.310883607292425,-7.913047790527344,0,0,-1.3238249020040243],[18.555941931721463,30.310883607292425,-7.913047790527344,0,0,-1.5856242898031736],[18.555941931721463,30.310883607292425,-7.913047790527344,0,0,-1.8474236776023232],[18.555941931721463,30.310883607292425,-7.913047790527344,0,0,-2.1092230654014723],[18.555941931721463,30.310883607292425,-7.913047790527344,0,0,-2.3710224532006214],[18.555941931721463,30.310883607292425,-7.913047790527344,0,0,-2.632821840999771],[18.555941931721463,30.310883607292425,-7.913047790527344,0,0,-2.89462122879892],[18.555941931721463,30.310883607292425,-9.913047790527344,0,0,-2.89462122879892],[13.70765563920075,29.08854158242551,-9.913047790527344,0,0,-2.89462122879892],[8.859369346680037,27.866199557558595,-9.913047790527344,0,0,-2.89462122879892],[4.011083054159323,26.64385753269168,-9.913047790527344,0,0,-2.89462122879892],[-0.8372032383613899,25.421515507824765,-9.913047790527344,0,0,-2.89462122879892],[-5.685489530882103,24.19917348295785,-9.913047790527344,0,0,-2.89462122879892],[-10.533775823402816,22.976831458090935,-9.913047790527344,0,0,-2.89462122879892],[-10.533775823402816,22.976831458090935,-9.913047790527344,0,0,-2.632821840999771],[-10.533775823402816,22.976831458090935,-9.913047790527344,0,0,-2.3710224532006214],[-10.533775823402816,22.976831458090935,-9.913047790527344,0,0,-2.109223065401472],[-10.533775823402816,22.976831458090935,-9.913047790527344,0,0,-1.8474236776023225],[-10.533775823402816,22.976831458090935,-9.913047790527344,0,0,-1.5856242898031732],[-10.533775823402816,22.976831458090935,-9.913047790527344,0,0,-1.323824902004024],[-10.533775823402816,22.976831458090935,-7.913047790527344,0,0,-1.323824902004024],[-10.533775823402816,22.976831458090935,-7.913047790527344,0,0,-1.0620255142048745],[-10.533775823402816,22.976831458090935,-5.913047790527344,0,0,-1.0620255142048745],[-10.533775823402816,22.976831458090935,-3.9130477905273438,0,0,-1.0620255142048745],[-10.533775823402816,22.976831458090935,-1.9130477905273438,0,0,-1.0620255142048745],[-8.098255264411538,18.610111910566637,-1.9130477905273438,0,0,-1.0620255142048745],[-8.098255264411538,18.610111910566637,-1.9130477905273438,0,0,-0.8002261264057251],[-8.098255264411538,18.610111910566637,-1.9130477905273438,0,0,-0.5384267386065757],[-8.098255264411538,18.610111910566637,-1.9130477905273438,0,0,-0.27662735080742634],[-8.098255264411538,18.610111910566637,-1.9130477905273438,0,0,-0.014827963008276919],[-8.098255264411538,18.610111910566637,-1.9130477905273438,0,0,0.2469714247908725],[-8.098255264411538,18.610111910566637,-1.9130477905273438,0,0,0.508770812590022],[-8.098255264411538,18.610111910566637,-1.9130477905273438,0,0,0.7705702003891715],[-8.098255264411538,18.610111910566637,-1.9130477905273438,0,0,1.032369588188321],[-8.098255264411538,18.610111910566637,-1.9130477905273438,0,0,0.7705702003891717]]}],"statistics":{"complete_actions":108,"sentence_actions":[12,48,8,40],"sentence_actions_average":27.0}}
diff --git a/scene_3/3VELCLL3GTHB2UJSCD7IC4U05DK1F0.json b/scene_3/3VELCLL3GTHB2UJSCD7IC4U05DK1F0.json
new file mode 100644
index 0000000000000000000000000000000000000000..e11880b26f1af15d504c5563dbdeb457f98cc1a4
--- /dev/null
+++ b/scene_3/3VELCLL3GTHB2UJSCD7IC4U05DK1F0.json
@@ -0,0 +1 @@
+{"episode_id":"3VELCLL3GTHB2UJSCD7IC4U05DK1F0","trajectory_id":"3PMR2DOWPWZX6CQT3G89Z7F2ZLG45P","scene_id":3,"instruction":"fly up, then turn slightly left and fly forward until you reach the intersection then stop. turn right, fly up to normal altitude and then fly forward to the smallest glass building in front of you. stop at the smallest glass building, turn around and fly forward until the next intersection ahead and then stop. turn around, fly to the intersection and land directly in front of the edge of the smallest glass building in the middle of the intersection then stop.","sentence_instructions":[{"id":0,"instruction":"fly up, then turn slightly left and fly forward until you reach the intersection then stop.","completed_instruction":"Fly forward along the roaduntil you encountering a construction site and a black car.","start_frame":1,"end_frame":4,"start_position":[-25.075441360473633,6.72488260269165,-0.27789610624313354],"start_rotation":[0.999667893177733,0,0,0.025770202746440336],"end_position":[-15.088723427465483,7.24011548841759,-2.2778961062431335],"end_rotation":[0.999667893177733,0,0,0.025770202746440336],"actions":[4,1,1,1],"reference_path":[[-25.075441360473633,6.72488260269165,-0.27789610624313354,0,0,0.0515461118910369],[-25.075441360473633,6.72488260269165,-2.2778961062431335,0,0,0.0515461118910369],[-20.082082393969557,6.98249904555462,-2.2778961062431335,0,0,0.0515461118910369],[-15.088723427465483,7.24011548841759,-2.2778961062431335,0,0,0.0515461118910369]]},{"id":1,"instruction":"turn right, fly up to normal altitude and then fly forward to the smallest glass building in front of you.","completed_instruction":"Turn right to directly face the nearest white fence and tree, fly above the tree, then fly forward across the park to the shortest dark glass building ahead.","start_frame":4,"end_frame":20,"start_position":[-15.088723427465483,7.24011548841759,-2.2778961062431335],"start_rotation":[0.999667893177733,0,0,0.025770202746440336],"end_position":[10.719063938682096,27.74769095803752,-8.277896106243134],"end_rotation":[0.7774019567846886,0,0,0.6290041316138848],"actions":[1,1,3,3,3,3,4,4,4,1,1,1,1,6,1,3,3],"reference_path":[[-15.088723427465483,7.24011548841759,-2.2778961062431335,0,0,0.0515461118910369],[-10.09536446096141,7.49773193128056,-2.2778961062431335,0,0,0.0515461118910369],[-5.102005494457336,7.75534837414353,-2.2778961062431335,0,0,0.0515461118910369],[-5.102005494457336,7.75534837414353,-2.2778961062431335,0,0,0.3133454996901863],[-5.102005494457336,7.75534837414353,-2.2778961062431335,0,0,0.5751448874893358],[-5.102005494457336,7.75534837414353,-2.2778961062431335,0,0,0.8369442752884854],[-5.102005494457336,7.75534837414353,-2.2778961062431335,0,0,1.0987436630876348],[-5.102005494457336,7.75534837414353,-4.2778961062431335,0,0,1.0987436630876348],[-5.102005494457336,7.75534837414353,-6.2778961062431335,0,0,1.0987436630876348],[-5.102005494457336,7.75534837414353,-8.277896106243134,0,0,1.0987436630876348],[-2.8284283951572142,12.208532310782353,-8.277896106243134,0,0,1.0987436630876348],[-0.5548512958570928,16.661716247421175,-8.277896106243134,0,0,1.0987436630876348],[1.7187258034430286,21.114900184059998,-8.277896106243134,0,0,1.0987436630876348],[3.99230290274315,25.56808412069882,-8.277896106243134,0,0,1.0987436630876348],[8.445486839381974,23.294507021398697,-8.277896106243134,0,0,1.0987436630876348],[10.719063938682096,27.74769095803752,-8.277896106243134,0,0,1.0987436630876348],[10.719063938682096,27.74769095803752,-8.277896106243134,0,0,1.3605430508867844]]},{"id":2,"instruction":"stop at the smallest glass building, turn around and fly forward until the next intersection ahead and then stop.","completed_instruction":"Turn right in front of the glass building to face the road, fly forward along the road to an intersection.","start_frame":20,"end_frame":30,"start_position":[10.719063938682096,27.74769095803752,-8.277896106243134],"start_rotation":[0.7774019567846886,0,0,0.6290041316138848],"end_position":[0.6816666409733685,34.828125972794844,-6.2778961062431335],"end_rotation":[0.10493310849161112,0,0,0.99447928220867821],"actions":[3,1,3,3,3,3,3,1,1,5,1],"reference_path":[[10.719063938682096,27.74769095803752,-8.277896106243134,0,0,1.3605430508867844],[10.719063938682096,27.74769095803752,-8.277896106243134,0,0,1.6223424386859338],[10.461447495819124,32.74104992454159,-8.277896106243134,0,0,1.6223424386859338],[10.461447495819124,32.74104992454159,-8.277896106243134,0,0,1.8841418264850833],[10.461447495819124,32.74104992454159,-8.277896106243134,0,0,2.1459412142842327],[10.461447495819124,32.74104992454159,-8.277896106243134,0,0,2.4077406020833823],[10.461447495819124,32.74104992454159,-8.277896106243134,0,0,2.669539989882532],[10.461447495819124,32.74104992454159,-8.277896106243134,0,0,2.931339377681681],[5.571557068396246,33.78458794866822,-8.277896106243134,0,0,2.931339377681681],[0.6816666409733685,34.828125972794844,-8.277896106243134,0,0,2.931339377681681],[0.6816666409733685,34.828125972794844,-6.2778961062431335,0,0,2.931339377681681]]},{"id":3,"instruction":"turn around, fly to the intersection and land directly in front of the edge of the smallest glass building in the middle of the intersection then stop.","completed_instruction":"Turn back to face the road where you came from, fly forward to another intersection, and land in front of the street lamp on the left side of the road.","start_frame":30,"end_frame":49,"start_position":[0.6816666409733685,34.828125972794844,-6.2778961062431335],"start_rotation":[0.10493310849161112,0,0,0.99447928220867821],"end_position":[5.571557068396246,33.78458794866822,-2.2778961062431335],"end_rotation":[0.99447928220867821,0,0,-0.10493310849161122],"actions":[1,1,3,3,3,3,3,3,3,3,3,3,3,3,1,5,1,1,5,0],"reference_path":[[0.6816666409733685,34.828125972794844,-6.2778961062431335,0,0,2.931339377681681],[-4.208223786449509,35.87166399692147,-6.2778961062431335,0,0,2.931339377681681],[-9.098114213872387,36.915202021048096,-6.2778961062431335,0,0,2.931339377681681],[-9.098114213872387,36.915202021048096,-6.2778961062431335,0,0,-3.0900465416987557],[-9.098114213872387,36.915202021048096,-6.2778961062431335,0,0,-2.8282471538996066],[-9.098114213872387,36.915202021048096,-6.2778961062431335,0,0,-2.566447766100457],[-9.098114213872387,36.915202021048096,-6.2778961062431335,0,0,-2.3046483783013074],[-9.098114213872387,36.915202021048096,-6.2778961062431335,0,0,-2.042848990502158],[-9.098114213872387,36.915202021048096,-6.2778961062431335,0,0,-1.7810496027030087],[-9.098114213872387,36.915202021048096,-6.2778961062431335,0,0,-1.5192502149038594],[-9.098114213872387,36.915202021048096,-6.2778961062431335,0,0,-1.25745082710471],[-9.098114213872387,36.915202021048096,-6.2778961062431335,0,0,-0.9956514393055605],[-9.098114213872387,36.915202021048096,-6.2778961062431335,0,0,-0.7338520515064112],[-9.098114213872387,36.915202021048096,-6.2778961062431335,0,0,-0.47205266370726184],[-9.098114213872387,36.915202021048096,-6.2778961062431335,0,0,-0.21025327590811246],[-4.208223786449509,35.87166399692147,-6.2778961062431335,0,0,-0.21025327590811246],[-4.208223786449509,35.87166399692147,-4.2778961062431335,0,0,-0.21025327590811246],[0.6816666409733685,34.828125972794844,-4.2778961062431335,0,0,-0.21025327590811246],[5.571557068396246,33.78458794866822,-4.2778961062431335,0,0,-0.21025327590811246],[5.571557068396246,33.78458794866822,-2.2778961062431335,0,0,-0.21025327590811246]]}],"statistics":{"complete_actions":52,"sentence_actions":[4,17,11,20],"sentence_actions_average":13.0}}
diff --git a/scene_3/3WS1NTTKE7ABV5YAGU3IYZBQ3M90FW.json b/scene_3/3WS1NTTKE7ABV5YAGU3IYZBQ3M90FW.json
new file mode 100644
index 0000000000000000000000000000000000000000..2c24dea89796e9450cca77f25f8a25c02301d038
--- /dev/null
+++ b/scene_3/3WS1NTTKE7ABV5YAGU3IYZBQ3M90FW.json
@@ -0,0 +1 @@
+{"episode_id":"3WS1NTTKE7ABV5YAGU3IYZBQ3M90FW","trajectory_id":"3QMELQS6ZD90QMS5JBERZ64COJER6T","scene_id":3,"instruction":"fly up. fly right. fly left. fly straight. fly left. fly straight. fly right. fly straight. fly left. fly down.","sentence_instructions":[{"id":0,"instruction":"fly up.","completed_instruction":"Fly up above the horizontal brick line.","start_frame":1,"end_frame":2,"start_position":[23.38324737548828,24.798795700073242,-0.3869688808917999],"start_rotation":[0.99999836891096194,0,0,-0.0018061493336990737],"end_position":[23.38324737548828,24.798795700073242,-2.3869688808918],"end_rotation":[0.99999836891096194,0,0,-0.0018061493336990737],"actions":[4,4],"reference_path":[[23.38324737548828,24.798795700073242,-0.3869688808917999,0,0,-0.003612300631393015],[23.38324737548828,24.798795700073242,-2.3869688808918,0,0,-0.003612300631393015]]},{"id":1,"instruction":"fly left.","completed_instruction":"Turn left to face a brown building with windows.","start_frame":2,"end_frame":9,"start_position":[23.38324737548828,24.798795700073242,-2.3869688808918],"start_rotation":[0.99999836891096194,0,0,-0.0018061493336990737],"end_position":[23.38324737548828,24.798795700073242,-6.3869688808918],"end_rotation":[0.79225253221191283,0,0,-0.61019335067158187],"actions":[4,4,2,2,2,2,2,2],"reference_path":[[23.38324737548828,24.798795700073242,-2.3869688808918,0,0,-0.003612300631393015],[23.38324737548828,24.798795700073242,-4.3869688808918,0,0,-0.003612300631393015],[23.38324737548828,24.798795700073242,-6.3869688808918,0,0,-0.003612300631393015],[23.38324737548828,24.798795700073242,-6.3869688808918,0,0,-0.26541168843054247],[23.38324737548828,24.798795700073242,-6.3869688808918,0,0,-0.5272110762296919],[23.38324737548828,24.798795700073242,-6.3869688808918,0,0,-0.7890104640288413],[23.38324737548828,24.798795700073242,-6.3869688808918,0,0,-1.0508098518279907],[23.38324737548828,24.798795700073242,-6.3869688808918,0,0,-1.31260923962714]]},{"id":2,"instruction":"fly straight.","completed_instruction":"Fly forward over the roof to an intersection.","start_frame":9,"end_frame":13,"start_position":[23.38324737548828,24.798795700073242,-6.3869688808918],"start_rotation":[0.79225253221191283,0,0,-0.61019335067158187],"end_position":[22.071714558687475,19.97387272965656,-8.3869688808918],"end_rotation":[0.60732752145767221,0,0,-0.7944515603106842],"actions":[2,2,4,1,1],"reference_path":[[23.38324737548828,24.798795700073242,-6.3869688808918,0,0,-1.31260923962714],[23.38324737548828,24.798795700073242,-6.3869688808918,0,0,-1.5744086274262894],[23.38324737548828,24.798795700073242,-6.3869688808918,0,0,-1.8362080152254387],[23.38324737548828,24.798795700073242,-8.3869688808918,0,0,-1.8362080152254387],[22.071714558687475,19.97387272965656,-8.3869688808918,0,0,-1.8362080152254387]]},{"id":3,"instruction":"fly left.","completed_instruction":"Turn left to face the park and a dark black building behind it.","start_frame":13,"end_frame":21,"start_position":[22.071714558687475,19.97387272965656,-8.3869688808918],"start_rotation":[0.60732752145767221,0,0,-0.7944515603106842],"end_position":[19.448648925085863,10.324026788823193,-8.3869688808918],"end_rotation":[0.13231667679598011,0,0,0.9912074944438567],"actions":[1,1,2,2,2,2,2,2,2],"reference_path":[[22.071714558687475,19.97387272965656,-8.3869688808918,0,0,-1.8362080152254387],[20.76018174188667,15.148949759239876,-8.3869688808918,0,0,-1.8362080152254387],[19.448648925085863,10.324026788823193,-8.3869688808918,0,0,-1.8362080152254387],[19.448648925085863,10.324026788823193,-8.3869688808918,0,0,-2.0980074030245883],[19.448648925085863,10.324026788823193,-8.3869688808918,0,0,-2.359806790823738],[19.448648925085863,10.324026788823193,-8.3869688808918,0,0,-2.6216061786228875],[19.448648925085863,10.324026788823193,-8.3869688808918,0,0,-2.883405566422037],[19.448648925085863,10.324026788823193,-8.3869688808918,0,0,3.1379803529584],[19.448648925085863,10.324026788823193,-8.3869688808918,0,0,2.8761809651592505]]},{"id":4,"instruction":"fly straight.","completed_instruction":"Fly forward towards the dark black building left to a white building to an intersection.","start_frame":21,"end_frame":28,"start_position":[19.448648925085863,10.324026788823193,-8.3869688808918],"start_rotation":[0.13231667679598011,0,0,0.9912074944438567],"end_position":[1.834951648668277,28.0654379010972,-8.3869688808918],"end_rotation":[0.38435147257640151,0,0,0.923186842155125],"actions":[2,2,1,1,1,1,1,1],"reference_path":[[19.448648925085863,10.324026788823193,-8.3869688808918,0,0,2.8761809651592505],[19.448648925085863,10.324026788823193,-8.3869688808918,0,0,2.6143815773601013],[19.448648925085863,10.324026788823193,-8.3869688808918,0,0,2.352582189560952],[15.925909469802345,13.872309011277995,-8.3869688808918,0,0,2.352582189560952],[12.403170014518828,17.420591233732797,-8.3869688808918,0,0,2.352582189560952],[8.880430559235311,20.9688734561876,-8.3869688808918,0,0,2.352582189560952],[5.357691103951794,24.5171556786424,-8.3869688808918,0,0,2.352582189560952],[1.834951648668277,28.0654379010972,-8.3869688808918,0,0,2.352582189560952]]},{"id":5,"instruction":"fly right.","completed_instruction":"Turn right to face a brown building with windows.","start_frame":28,"end_frame":38,"start_position":[1.834951648668277,28.0654379010972,-8.3869688808918],"start_rotation":[0.38435147257640151,0,0,0.923186842155125],"end_position":[-5.210527261898756,35.16200234600681,-8.3869688808918],"end_rotation":[0.607327521457672,0,0,-0.79445156031068431],"actions":[1,1,3,3,3,3,3,3,3,3,3],"reference_path":[[1.834951648668277,28.0654379010972,-8.3869688808918,0,0,2.352582189560952],[-1.6877878066152396,31.613720123552003,-8.3869688808918,0,0,2.352582189560952],[-5.210527261898756,35.16200234600681,-8.3869688808918,0,0,2.352582189560952],[-5.210527261898756,35.16200234600681,-8.3869688808918,0,0,2.614381577360102],[-5.210527261898756,35.16200234600681,-8.3869688808918,0,0,2.876180965159251],[-5.210527261898756,35.16200234600681,-8.3869688808918,0,0,3.1379803529584],[-5.210527261898756,35.16200234600681,-8.3869688808918,0,0,-2.883405566422037],[-5.210527261898756,35.16200234600681,-8.3869688808918,0,0,-2.6216061786228875],[-5.210527261898756,35.16200234600681,-8.3869688808918,0,0,-2.359806790823738],[-5.210527261898756,35.16200234600681,-8.3869688808918,0,0,-2.0980074030245888],[-5.210527261898756,35.16200234600681,-8.3869688808918,0,0,-1.8362080152254392]]},{"id":6,"instruction":"fly straight.","completed_instruction":"Fly forward to the brown building.","start_frame":38,"end_frame":44,"start_position":[-5.210527261898756,35.16200234600681,-8.3869688808918],"start_rotation":[0.607327521457672,0,0,-0.79445156031068431],"end_position":[-0.10396427005124842,15.824913257669515,-8.3869688808918],"end_rotation":[0.79225253221191261,0,0,-0.61019335067158209],"actions":[3,3,1,1,1,1,1],"reference_path":[[-5.210527261898756,35.16200234600681,-8.3869688808918,0,0,-1.8362080152254392],[-5.210527261898756,35.16200234600681,-8.3869688808918,0,0,-1.5744086274262898],[-5.210527261898756,35.16200234600681,-8.3869688808918,0,0,-1.3126092396271405],[-3.933886513936879,30.327730073922485,-8.3869688808918,0,0,-1.3126092396271405],[-2.657245765975002,25.49345780183816,-8.3869688808918,0,0,-1.3126092396271405],[-1.3806050180131253,20.659185529753838,-8.3869688808918,0,0,-1.3126092396271405],[-0.10396427005124842,15.824913257669515,-8.3869688808918,0,0,-1.3126092396271405]]},{"id":7,"instruction":"fly left.","completed_instruction":"Turn left to face an intersection.","start_frame":44,"end_frame":51,"start_position":[-0.10396427005124842,15.824913257669515,-8.3869688808918],"start_rotation":[0.79225253221191261,0,0,-0.61019335067158209],"end_position":[2.4493172258725053,6.156368713500867,-8.3869688808918],"end_rotation":[0.25707401665805868,0,0,-0.966391716623902],"actions":[1,1,2,2,2,2,2,2],"reference_path":[[-0.10396427005124842,15.824913257669515,-8.3869688808918,0,0,-1.3126092396271405],[1.1726764779106285,10.990640985585191,-8.3869688808918,0,0,-1.3126092396271405],[2.4493172258725053,6.156368713500867,-8.3869688808918,0,0,-1.3126092396271405],[2.4493172258725053,6.156368713500867,-8.3869688808918,0,0,-1.57440862742629],[2.4493172258725053,6.156368713500867,-8.3869688808918,0,0,-1.8362080152254394],[2.4493172258725053,6.156368713500867,-8.3869688808918,0,0,-2.0980074030245888],[2.4493172258725053,6.156368713500867,-8.3869688808918,0,0,-2.359806790823738],[2.4493172258725053,6.156368713500867,-8.3869688808918,0,0,-2.6216061786228875]]},{"id":8,"instruction":"fly down.","completed_instruction":"Fly towards the intersection, land when reach some trees on your right side.","start_frame":51,"end_frame":73,"start_position":[2.4493172258725053,6.156368713500867,-8.3869688808918],"start_rotation":[0.25707401665805868,0,0,-0.966391716623902],"end_position":[-16.098867131319828,2.687813649848616,-0.3869688808917999],"end_rotation":[0.99999836891096194,0,0,-0.0018061493336992355],"actions":[2,2,1,1,1,3,3,3,1,5,5,5,5,3,3,3,3,3,3,3,3,3,0],"reference_path":[[2.4493172258725053,6.156368713500867,-8.3869688808918,0,0,-2.6216061786228875],[2.4493172258725053,6.156368713500867,-8.3869688808918,0,0,-2.883405566422037],[2.4493172258725053,6.156368713500867,-8.3869688808918,0,0,3.1379803529584],[-2.550650152373338,6.174430177377955,-8.3869688808918,0,0,3.1379803529584],[-7.550617530619181,6.192491641255043,-8.3869688808918,0,0,3.1379803529584],[-12.550584908865025,6.210553105132131,-8.3869688808918,0,0,3.1379803529584],[-12.550584908865025,6.210553105132131,-8.3869688808918,0,0,-2.883405566422037],[-12.550584908865025,6.210553105132131,-8.3869688808918,0,0,-2.6216061786228875],[-12.550584908865025,6.210553105132131,-8.3869688808918,0,0,-2.359806790823738],[-16.098867131319828,2.687813649848616,-8.3869688808918,0,0,-2.359806790823738],[-16.098867131319828,2.687813649848616,-6.3869688808918,0,0,-2.359806790823738],[-16.098867131319828,2.687813649848616,-4.3869688808918,0,0,-2.359806790823738],[-16.098867131319828,2.687813649848616,-2.3869688808918,0,0,-2.359806790823738],[-16.098867131319828,2.687813649848616,-0.3869688808917999,0,0,-2.359806790823738],[-16.098867131319828,2.687813649848616,-0.3869688808917999,0,0,-2.0980074030245888],[-16.098867131319828,2.687813649848616,-0.3869688808917999,0,0,-1.8362080152254392],[-16.098867131319828,2.687813649848616,-0.3869688808917999,0,0,-1.5744086274262898],[-16.098867131319828,2.687813649848616,-0.3869688808917999,0,0,-1.3126092396271405],[-16.098867131319828,2.687813649848616,-0.3869688808917999,0,0,-1.0508098518279911],[-16.098867131319828,2.687813649848616,-0.3869688808917999,0,0,-0.7890104640288417],[-16.098867131319828,2.687813649848616,-0.3869688808917999,0,0,-0.5272110762296922],[-16.098867131319828,2.687813649848616,-0.3869688808917999,0,0,-0.26541168843054275],[-16.098867131319828,2.687813649848616,-0.3869688808917999,0,0,-0.0036123006313933384]]}],"statistics":{"complete_actions":81,"sentence_actions":[2,8,5,9,8,11,7,8,23],"sentence_actions_average":9.0}}
diff --git a/scene_3/3WYGZ5XF35DMC0A0Q7DZOI9E65QSKK.json b/scene_3/3WYGZ5XF35DMC0A0Q7DZOI9E65QSKK.json
new file mode 100644
index 0000000000000000000000000000000000000000..3fba7ba3760ff25054c07b567ee5eaf2b2494001
--- /dev/null
+++ b/scene_3/3WYGZ5XF35DMC0A0Q7DZOI9E65QSKK.json
@@ -0,0 +1 @@
+{"episode_id":"3WYGZ5XF35DMC0A0Q7DZOI9E65QSKK","trajectory_id":"3126F2F5GG1JRO55C1T06ZWA4ZEEP9","scene_id":3,"instruction":"take off, fly up, fly sideways to the left a bit, continue flying up, turn left, and fly forward. approach the wall, turn right until the trees are seen, and fly forward, flying over the tree and branches. continue forward, turn left, and fly to the white building. descend to the street, turn left until the buildings are seen, fly forward, fly up a bit, fly sideways, and continue forward, passing the different flags. when approaching the four way intersection, turn left, turn right, fly to the brown building, and land.","sentence_instructions":[{"id":0,"instruction":"take off, fly up, fly sideways to the left a bit, continue flying up, turn left, and fly forward.","completed_instruction":"Take off to the height of trees, turn left to face the brown building with windows, fly up  above the trees, then fly forward across the park until you reach the front of that brown building.","start_frame":1,"end_frame":12,"start_position":[-18.28629493713379,31.673057556152344,-0.23775610327720642],"start_rotation":[0.99963854079550818,0,0,0.026884712314384766],"end_position":[-7.369773570679072,14.915087474554227,-6.237756103277206],"end_rotation":[0.87915472708810927,0,0,-0.47653642656006062],"actions":[4,4,4,2,2,2,2,1,1,1,1,1],"reference_path":[[-18.28629493713379,31.673057556152344,-0.23775610327720642,0,0,0.053775904050081896],[-18.28629493713379,31.673057556152344,-2.2377561032772064,0,0,0.053775904050081896],[-18.28629493713379,31.673057556152344,-4.237756103277206,0,0,0.053775904050081896],[-18.28629493713379,31.673057556152344,-6.237756103277206,0,0,0.053775904050081896],[-18.28629493713379,31.673057556152344,-6.237756103277206,0,0,-0.20802348374906754],[-18.28629493713379,31.673057556152344,-6.237756103277206,0,0,-0.469822871548217],[-18.28629493713379,31.673057556152344,-6.237756103277206,0,0,-0.7316222593473665],[-18.28629493713379,31.673057556152344,-6.237756103277206,0,0,-0.993421647146516],[-15.55716459552011,27.483565035752815,-6.237756103277206,0,0,-0.993421647146516],[-12.82803425390643,23.294072515353285,-6.237756103277206,0,0,-0.993421647146516],[-10.098903912292752,19.104579994953756,-6.237756103277206,0,0,-0.993421647146516],[-7.369773570679072,14.915087474554227,-6.237756103277206,0,0,-0.993421647146516]]},{"id":1,"instruction":"approach the wall, turn right until the trees are seen, and fly forward, flying over the tree and branches.","completed_instruction":"Turn back to horizontally face a row of trees.","start_frame":12,"end_frame":21,"start_position":[-7.369773570679072,14.915087474554227,-6.237756103277206],"start_rotation":[0.87915472708810927,0,0,-0.47653642656006062],"end_position":[-1.9115128874517135,6.536102433755168,-6.237756103277206],"end_rotation":[0.91325725376380218,0,0,0.407383343360769],"actions":[1,1,3,3,3,3,3,3,3,3],"reference_path":[[-7.369773570679072,14.915087474554227,-6.237756103277206,0,0,-0.993421647146516],[-4.640643229065393,10.725594954154698,-6.237756103277206,0,0,-0.993421647146516],[-1.9115128874517135,6.536102433755168,-6.237756103277206,0,0,-0.993421647146516],[-1.9115128874517135,6.536102433755168,-6.237756103277206,0,0,-0.7316222593473666],[-1.9115128874517135,6.536102433755168,-6.237756103277206,0,0,-0.4698228715482171],[-1.9115128874517135,6.536102433755168,-6.237756103277206,0,0,-0.2080234837490677],[-1.9115128874517135,6.536102433755168,-6.237756103277206,0,0,0.05377590405008174],[-1.9115128874517135,6.536102433755168,-6.237756103277206,0,0,0.31557529184923117],[-1.9115128874517135,6.536102433755168,-6.237756103277206,0,0,0.5773746796483806],[-1.9115128874517135,6.536102433755168,-6.237756103277206,0,0,0.83917406744753]]},{"id":2,"instruction":"continue forward, turn left, and fly to the white building.","completed_instruction":"Fly forward across the park to the road, and turn left to face the white building with a grid-patterned facade of light blue panels and dark windows at the intersection.","start_frame":21,"end_frame":30,"start_position":[-1.9115128874517135,6.536102433755168,-6.237756103277206],"start_rotation":[0.91325725376380218,0,0,0.407383343360769],"end_position":[6.79041300771786,29.391418260504462,-6.237756103277206],"end_rotation":[0.91325725376380218,0,0,0.407383343360769],"actions":[3,3,1,1,1,2,1,2,1,1],"reference_path":[[-1.9115128874517135,6.536102433755168,-6.237756103277206,0,0,0.83917406744753],[-1.9115128874517135,6.536102433755168,-6.237756103277206,0,0,1.1009734552466794],[-1.9115128874517135,6.536102433755168,-6.237756103277206,0,0,1.3627728430458288],[-0.8788808878438774,11.428307575956987,-6.237756103277206,0,0,1.3627728430458288],[0.15375111176395873,16.320512718158806,-6.237756103277206,0,0,1.3627728430458288],[1.1863831113717949,21.212717860360627,-6.237756103277206,0,0,1.3627728430458288],[1.1863831113717949,21.212717860360627,-6.237756103277206,0,0,1.1009734552466794],[3.4500248921958425,25.67096032663674,-6.237756103277206,0,0,1.1009734552466794],[3.4500248921958425,25.67096032663674,-6.237756103277206,0,0,0.83917406744753],[6.79041300771786,29.391418260504462,-6.237756103277206,0,0,0.83917406744753]]},{"id":3,"instruction":"descend to the street, turn left until the buildings are seen, fly forward, fly up a bit, fly sideways, and continue forward, passing the different flags.","completed_instruction":"Fly down to the height of street lights in front of the building, turn left to face the pedestrian crossing, and fly forward along the road until you see flags of different styles.","start_frame":30,"end_frame":45,"start_position":[6.79041300771786,29.391418260504462,-6.237756103277206],"start_rotation":[0.91325725376380218,0,0,0.407383343360769],"end_position":[17.92943170503801,34.56869234741585,-2.2377561032772064],"end_rotation":[0.72586155331967994,0,0,-0.68784082854417816],"actions":[1,1,5,5,2,1,2,2,2,2,2,2,2,2,1,1],"reference_path":[[6.79041300771786,29.391418260504462,-6.237756103277206,0,0,0.83917406744753],[10.130801123239877,33.11187619437218,-6.237756103277206,0,0,0.83917406744753],[13.471189238761895,36.8323341282399,-6.237756103277206,0,0,0.83917406744753],[13.471189238761895,36.8323341282399,-4.237756103277206,0,0,0.83917406744753],[13.471189238761895,36.8323341282399,-2.2377561032772064,0,0,0.83917406744753],[13.471189238761895,36.8323341282399,-2.2377561032772064,0,0,0.5773746796483805],[17.660681759161424,39.561464469853576,-2.2377561032772064,0,0,0.5773746796483805],[17.660681759161424,39.561464469853576,-2.2377561032772064,0,0,0.31557529184923117],[17.660681759161424,39.561464469853576,-2.2377561032772064,0,0,0.05377590405008174],[17.660681759161424,39.561464469853576,-2.2377561032772064,0,0,-0.2080234837490677],[17.660681759161424,39.561464469853576,-2.2377561032772064,0,0,-0.4698228715482171],[17.660681759161424,39.561464469853576,-2.2377561032772064,0,0,-0.7316222593473666],[17.660681759161424,39.561464469853576,-2.2377561032772064,0,0,-0.993421647146516],[17.660681759161424,39.561464469853576,-2.2377561032772064,0,0,-1.2552210349456654],[17.660681759161424,39.561464469853576,-2.2377561032772064,0,0,-1.517020422744815],[17.92943170503801,34.56869234741585,-2.2377561032772064,0,0,-1.517020422744815]]},{"id":4,"instruction":"when approaching the four way intersection, turn left, turn right, fly to the brown building, and land.","completed_instruction":"Fly forward to the intersection, turn right to face the road, fly forward passing two flags on your right, then land.","start_frame":45,"end_frame":59,"start_position":[17.92943170503801,34.56869234741585,-2.2377561032772064],"start_rotation":[0.72586155331967994,0,0,-0.68784082854417816],"end_position":[25.388524694395947,10.604849952178451,-2.2377561032772064],"end_rotation":[0.97253495907736465,0,0,-0.23275685461955492],"actions":[1,1,1,2,2,1,3,3,3,3,3,3,1,1,0],"reference_path":[[17.92943170503801,34.56869234741585,-2.2377561032772064,0,0,-1.517020422744815],[18.198181650914595,29.57592022497812,-2.2377561032772064,0,0,-1.517020422744815],[18.46693159679118,24.58314810254039,-2.2377561032772064,0,0,-1.517020422744815],[18.735681542667766,19.590375980102664,-2.2377561032772064,0,0,-1.517020422744815],[18.735681542667766,19.590375980102664,-2.2377561032772064,0,0,-1.7788198105439645],[18.735681542667766,19.590375980102664,-2.2377561032772064,0,0,-2.040619198343114],[16.472039761843718,15.132133513826549,-2.2377561032772064,0,0,-2.040619198343114],[16.472039761843718,15.132133513826549,-2.2377561032772064,0,0,-1.7788198105439645],[16.472039761843718,15.132133513826549,-2.2377561032772064,0,0,-1.5170204227448152],[16.472039761843718,15.132133513826549,-2.2377561032772064,0,0,-1.2552210349456658],[16.472039761843718,15.132133513826549,-2.2377561032772064,0,0,-0.9934216471465165],[16.472039761843718,15.132133513826549,-2.2377561032772064,0,0,-0.731622259347367],[16.472039761843718,15.132133513826549,-2.2377561032772064,0,0,-0.4698228715482175],[20.930282228119832,12.8684917330025,-2.2377561032772064,0,0,-0.4698228715482175],[25.388524694395947,10.604849952178451,-2.2377561032772064,0,0,-0.4698228715482175]]}],"statistics":{"complete_actions":63,"sentence_actions":[12,10,10,16,15],"sentence_actions_average":12.6}}
diff --git a/scene_3/3WYGZ5XF35DMC0A0Q7DZOI9E8QCKS6.json b/scene_3/3WYGZ5XF35DMC0A0Q7DZOI9E8QCKS6.json
new file mode 100644
index 0000000000000000000000000000000000000000..88a01f04b98d70d4a7c1eedcfb3991ec454ed852
--- /dev/null
+++ b/scene_3/3WYGZ5XF35DMC0A0Q7DZOI9E8QCKS6.json
@@ -0,0 +1 @@
+{"episode_id":"3WYGZ5XF35DMC0A0Q7DZOI9E8QCKS6","trajectory_id":"3NC6WP7WKPI3SXOX9N11KZB64ACWWC","scene_id":3,"instruction":"lift off and turn right facing the white building and head straight. to the left of the park turn right facing the white bricked building and head straight. before the white bricked building turn left facing the shortest black building and head straight. before the black building turn right facing the end of the park and head straight. stop at the end of the park.","sentence_instructions":[{"id":0,"instruction":"lift off and turn right facing the white building and head straight.","completed_instruction":"Turn right to face a short roof hanging some flags, fly up above the roof, and fly to its top.","start_frame":1,"end_frame":16,"start_position":[27.056156158447266,7.5123138427734375,-0.34915873408317566],"start_rotation":[0.99987805660421647,0,0,0.015616399116800078],"end_position":[23.411935535828725,10.935712162233463,-4.349158734083176],"end_rotation":[0.695978092471263,0,0,0.71806301589767318],"actions":[3,3,3,3,3,3,3,3,3,4,4,1,2,2,2,4],"reference_path":[[27.056156158447266,7.5123138427734375,-0.34915873408317566,0,0,0.03123406784002056],[27.056156158447266,7.5123138427734375,-0.34915873408317566,0,0,0.29303345563917005],[27.056156158447266,7.5123138427734375,-0.34915873408317566,0,0,0.5548328434383195],[27.056156158447266,7.5123138427734375,-0.34915873408317566,0,0,0.8166322312374689],[27.056156158447266,7.5123138427734375,-0.34915873408317566,0,0,1.0784316190366183],[27.056156158447266,7.5123138427734375,-0.34915873408317566,0,0,1.340231006835768],[27.056156158447266,7.5123138427734375,-0.34915873408317566,0,0,1.6020303946349175],[27.056156158447266,7.5123138427734375,-0.34915873408317566,0,0,1.8638297824340668],[27.056156158447266,7.5123138427734375,-0.34915873408317566,0,0,2.1256291702332164],[27.056156158447266,7.5123138427734375,-0.34915873408317566,0,0,2.3874285580323655],[27.056156158447266,7.5123138427734375,-2.3491587340831757,0,0,2.3874285580323655],[27.056156158447266,7.5123138427734375,-4.349158734083176,0,0,2.3874285580323655],[23.411935535828725,10.935712162233463,-4.349158734083176,0,0,2.3874285580323655],[23.411935535828725,10.935712162233463,-4.349158734083176,0,0,2.1256291702332164],[23.411935535828725,10.935712162233463,-4.349158734083176,0,0,1.8638297824340668],[23.411935535828725,10.935712162233463,-4.349158734083176,0,0,1.6020303946349175]]},{"id":1,"instruction":"to the left of the park turn right facing the white bricked building and head straight.","completed_instruction":"Turn right to face the brown building with windows and fly forward to its left side.","start_frame":16,"end_frame":30,"start_position":[23.411935535828725,10.935712162233463,-4.349158734083176],"start_rotation":[0.695978092471263,0,0,0.71806301589767318],"end_position":[13.682070141358889,13.04469649011413,-10.349158734083176],"end_rotation":[0.27387176704982275,0,0,-0.9617662165063855],"actions":[4,1,3,3,3,3,3,3,3,1,4,1,3,4,1],"reference_path":[[23.411935535828725,10.935712162233463,-4.349158734083176,0,0,1.6020303946349175],[23.411935535828725,10.935712162233463,-6.349158734083176,0,0,1.6020303946349175],[23.255790587828105,15.933273443019711,-6.349158734083176,0,0,1.6020303946349175],[23.255790587828105,15.933273443019711,-6.349158734083176,0,0,1.8638297824340668],[23.255790587828105,15.933273443019711,-6.349158734083176,0,0,2.1256291702332164],[23.255790587828105,15.933273443019711,-6.349158734083176,0,0,2.3874285580323655],[23.255790587828105,15.933273443019711,-6.349158734083176,0,0,2.649227945831515],[23.255790587828105,15.933273443019711,-6.349158734083176,0,0,2.9110273336306647],[23.255790587828105,15.933273443019711,-6.349158734083176,0,0,-3.1103585857497724],[23.255790587828105,15.933273443019711,-6.349158734083176,0,0,-2.848559197950623],[18.468930364593497,14.488984966566921,-6.349158734083176,0,0,-2.848559197950623],[18.468930364593497,14.488984966566921,-8.349158734083176,0,0,-2.848559197950623],[13.682070141358889,13.04469649011413,-8.349158734083176,0,0,-2.848559197950623],[13.682070141358889,13.04469649011413,-8.349158734083176,0,0,-2.5867598101514733],[13.682070141358889,13.04469649011413,-10.349158734083176,0,0,-2.5867598101514733]]},{"id":2,"instruction":"before the white bricked building turn left facing the shortest black building and head straight.","completed_instruction":"Turn left to face the park, fly forward across the park to the shortest dark glass building across the road.","start_frame":30,"end_frame":45,"start_position":[13.682070141358889,13.04469649011413,-10.349158734083176],"start_rotation":[0.27387176704982275,0,0,-0.9617662165063855],"end_position":[9.752743439562998,27.247431409696862,-10.349158734083176],"end_rotation":[0.78374993464855014,0,0,0.62107651697547983],"actions":[1,1,2,2,2,2,2,2,2,2,2,1,1,1,1,3],"reference_path":[[13.682070141358889,13.04469649011413,-10.349158734083176,0,0,-2.5867598101514733],[9.432127589228813,10.410690358079869,-10.349158734083176,0,0,-2.5867598101514733],[5.182185037098737,7.776684226045607,-10.349158734083176,0,0,-2.5867598101514733],[5.182185037098737,7.776684226045607,-10.349158734083176,0,0,-2.8485591979506224],[5.182185037098737,7.776684226045607,-10.349158734083176,0,0,-3.1103585857497724],[5.182185037098737,7.776684226045607,-10.349158734083176,0,0,2.9110273336306647],[5.182185037098737,7.776684226045607,-10.349158734083176,0,0,2.649227945831515],[5.182185037098737,7.776684226045607,-10.349158734083176,0,0,2.3874285580323655],[5.182185037098737,7.776684226045607,-10.349158734083176,0,0,2.1256291702332164],[5.182185037098737,7.776684226045607,-10.349158734083176,0,0,1.8638297824340668],[5.182185037098737,7.776684226045607,-10.349158734083176,0,0,1.6020303946349175],[5.182185037098737,7.776684226045607,-10.349158734083176,0,0,1.340231006835768],[6.324824637714802,12.64437102195842,-10.349158734083176,0,0,1.340231006835768],[7.467464238330868,17.512057817871234,-10.349158734083176,0,0,1.340231006835768],[8.610103838946934,22.379744613784048,-10.349158734083176,0,0,1.340231006835768],[9.752743439562998,27.247431409696862,-10.349158734083176,0,0,1.340231006835768]]},{"id":3,"instruction":"before the black building turn right facing the end of the park and head straight.","completed_instruction":"Turn right to face a white building behind the trees.","start_frame":45,"end_frame":52,"start_position":[9.752743439562998,27.247431409696862,-10.349158734083176],"start_rotation":[0.78374993464855014,0,0,0.62107651697547983],"end_position":[9.596598491562379,32.24499269048311,-8.349158734083176],"end_rotation":[0.24370320060871245,0,0,0.96984985952108571],"actions":[3,1,5,3,3,3,3,3],"reference_path":[[9.752743439562998,27.247431409696862,-10.349158734083176,0,0,1.340231006835768],[9.752743439562998,27.247431409696862,-10.349158734083176,0,0,1.6020303946349175],[9.596598491562379,32.24499269048311,-10.349158734083176,0,0,1.6020303946349175],[9.596598491562379,32.24499269048311,-8.349158734083176,0,0,1.6020303946349175],[9.596598491562379,32.24499269048311,-8.349158734083176,0,0,1.8638297824340668],[9.596598491562379,32.24499269048311,-8.349158734083176,0,0,2.1256291702332164],[9.596598491562379,32.24499269048311,-8.349158734083176,0,0,2.3874285580323655],[9.596598491562379,32.24499269048311,-8.349158734083176,0,0,2.649227945831515]]},{"id":4,"instruction":"stop at the end of the park.","completed_instruction":"Land on the sidewalk.","start_frame":52,"end_frame":65,"start_position":[9.596598491562379,32.24499269048311,-8.349158734083176],"start_rotation":[0.24370320060871245,0,0,0.96984985952108571],"end_position":[-7.3362685272152515,33.01066503994002,-4.349158734083176],"end_rotation":[0.39706443816337633,0,0,-0.91779073428859714],"actions":[3,3,5,1,2,5,1,3,3,3,3,6,1,0],"reference_path":[[9.596598491562379,32.24499269048311,-8.349158734083176,0,0,2.649227945831515],[9.596598491562379,32.24499269048311,-8.349158734083176,0,0,2.9110273336306647],[9.596598491562379,32.24499269048311,-8.349158734083176,0,0,-3.1103585857497724],[9.596598491562379,32.24499269048311,-6.349158734083176,0,0,-3.1103585857497724],[4.599037210776131,32.088847742482486,-6.349158734083176,0,0,-3.1103585857497724],[4.599037210776131,32.088847742482486,-6.349158734083176,0,0,2.9110273336306647],[4.599037210776131,32.088847742482486,-4.349158734083176,0,0,2.9110273336306647],[-0.2686495851366839,33.23148734309855,-4.349158734083176,0,0,2.9110273336306647],[-0.2686495851366839,33.23148734309855,-4.349158734083176,0,0,-3.1103585857497724],[-0.2686495851366839,33.23148734309855,-4.349158734083176,0,0,-2.848559197950623],[-0.2686495851366839,33.23148734309855,-4.349158734083176,0,0,-2.5867598101514733],[-0.2686495851366839,33.23148734309855,-4.349158734083176,0,0,-2.3249604223523237],[-3.912870207755229,36.65488566255857,-4.349158734083176,0,0,-2.3249604223523237],[-7.3362685272152515,33.01066503994002,-4.349158734083176,0,0,-2.3249604223523237]]}],"statistics":{"complete_actions":69,"sentence_actions":[16,15,16,8,14],"sentence_actions_average":13.8}}
diff --git a/scene_3/3XXU1SWE8VTGZEH25EHQKY0Z3XJA0V.json b/scene_3/3XXU1SWE8VTGZEH25EHQKY0Z3XJA0V.json
new file mode 100644
index 0000000000000000000000000000000000000000..83acb2fd8ef70f0f1a4a8bf258972412880e4bb9
--- /dev/null
+++ b/scene_3/3XXU1SWE8VTGZEH25EHQKY0Z3XJA0V.json
@@ -0,0 +1 @@
+{"episode_id":"3XXU1SWE8VTGZEH25EHQKY0Z3XJA0V","trajectory_id":"3A9LA2FRX0C0K7YYOTBNLFFQXPBXHD","scene_id":3,"instruction":"take off and turn right. go forward and descend. descend to the tree tops. go forward and bear right. go forward and bear left. turn left and fly across the park. turn right. ascend to height and fly to the roof of the white tower building. land on the roof of the white tower.","sentence_instructions":[{"id":0,"instruction":"take off and turn right.","completed_instruction":"Turn right until you can see the skyscrapers and the white edge of the roof is horizontal in your screen.","start_frame":1,"end_frame":4,"start_position":[-0.3521323800086975,-6.106232166290283,-38.577369689941406],"start_rotation":[0.99993428393717965,0,0,0.011464196746384369],"end_position":[-0.3521323800086975,-6.106232166290283,-38.577369689941406],"end_rotation":[0.91943166062567472,0,0,0.39324982064727515],"actions":[3,3,3,3],"reference_path":[[-0.3521323800086975,-6.106232166290283,-38.577369689941406,0,0,0.022928895760553968],[-0.3521323800086975,-6.106232166290283,-38.577369689941406,0,0,0.28472828355970337],[-0.3521323800086975,-6.106232166290283,-38.577369689941406,0,0,0.5465276713588528],[-0.3521323800086975,-6.106232166290283,-38.577369689941406,0,0,0.8083270591580023]]},{"id":1,"instruction":"go forward and descend.","completed_instruction":"Fly forward over the roof and fly down to the height of the trees ahead.","start_frame":4,"end_frame":22,"start_position":[-0.3521323800086975,-6.106232166290283,-38.577369689941406],"start_rotation":[0.91943166062567472,0,0,0.39324982064727515],"end_position":[0.7162598916237881,3.7504827666054332,-12.577369689941406],"end_rotation":[0.69895390165266924,0,0,0.71516672417311955],"actions":[3,3,1,3,1,5,5,5,5,5,5,5,5,5,5,5,5,5,5],"reference_path":[[-0.3521323800086975,-6.106232166290283,-38.577369689941406,0,0,0.8083270591580023],[-0.3521323800086975,-6.106232166290283,-38.577369689941406,0,0,1.0701264469571516],[-0.3521323800086975,-6.106232166290283,-38.577369689941406,0,0,1.3319258347563012],[0.8308943252688961,-1.2482029553241691,-38.577369689941406,0,0,1.3319258347563012],[0.8308943252688961,-1.2482029553241691,-38.577369689941406,0,0,1.5937252225554506],[0.7162598916237881,3.7504827666054332,-38.577369689941406,0,0,1.5937252225554506],[0.7162598916237881,3.7504827666054332,-36.577369689941406,0,0,1.5937252225554506],[0.7162598916237881,3.7504827666054332,-34.577369689941406,0,0,1.5937252225554506],[0.7162598916237881,3.7504827666054332,-32.577369689941406,0,0,1.5937252225554506],[0.7162598916237881,3.7504827666054332,-30.577369689941406,0,0,1.5937252225554506],[0.7162598916237881,3.7504827666054332,-28.577369689941406,0,0,1.5937252225554506],[0.7162598916237881,3.7504827666054332,-26.577369689941406,0,0,1.5937252225554506],[0.7162598916237881,3.7504827666054332,-24.577369689941406,0,0,1.5937252225554506],[0.7162598916237881,3.7504827666054332,-22.577369689941406,0,0,1.5937252225554506],[0.7162598916237881,3.7504827666054332,-20.577369689941406,0,0,1.5937252225554506],[0.7162598916237881,3.7504827666054332,-18.577369689941406,0,0,1.5937252225554506],[0.7162598916237881,3.7504827666054332,-16.577369689941406,0,0,1.5937252225554506],[0.7162598916237881,3.7504827666054332,-14.577369689941406,0,0,1.5937252225554506],[0.7162598916237881,3.7504827666054332,-12.577369689941406,0,0,1.5937252225554506]]},{"id":2,"instruction":"go forward and bear right.","completed_instruction":"Turn right to face an intersection.","start_frame":22,"end_frame":32,"start_position":[0.7162598916237881,3.7504827666054332,-12.577369689941406],"start_rotation":[0.69895390165266924,0,0,0.71516672417311955],"end_position":[3.116326420903484,8.136788804153579,-8.577369689941406],"end_rotation":[0.37206674718594096,0,0,0.928205976946105],"actions":[5,5,2,2,1,3,3,3,3,3,3],"reference_path":[[0.7162598916237881,3.7504827666054332,-12.577369689941406,0,0,1.5937252225554506],[0.7162598916237881,3.7504827666054332,-10.577369689941406,0,0,1.5937252225554506],[0.7162598916237881,3.7504827666054332,-8.577369689941406,0,0,1.5937252225554506],[0.7162598916237881,3.7504827666054332,-8.577369689941406,0,0,1.3319258347563012],[0.7162598916237881,3.7504827666054332,-8.577369689941406,0,0,1.0701264469571516],[3.116326420903484,8.136788804153579,-8.577369689941406,0,0,1.0701264469571516],[3.116326420903484,8.136788804153579,-8.577369689941406,0,0,1.3319258347563012],[3.116326420903484,8.136788804153579,-8.577369689941406,0,0,1.5937252225554506],[3.116326420903484,8.136788804153579,-8.577369689941406,0,0,1.8555246103546001],[3.116326420903484,8.136788804153579,-8.577369689941406,0,0,2.1173239981537497],[3.116326420903484,8.136788804153579,-8.577369689941406,0,0,2.3791233859528993]]},{"id":3,"instruction":"go forward and bear left.","completed_instruction":"Fly to the intersection, turn left to face the road and another intersection.","start_frame":32,"end_frame":45,"start_position":[3.116326420903484,8.136788804153579,-8.577369689941406],"start_rotation":[0.37206674718594096,0,0,0.928205976946105],"end_position":[-22.589412121299404,23.18162314541069,-8.577369689941406],"end_rotation":[0.59962626482190917,0,0,0.800280165027052],"actions":[3,3,1,1,1,6,1,1,2,2,2,1,2,2],"reference_path":[[3.116326420903484,8.136788804153579,-8.577369689941406,0,0,2.3791233859528993],[3.116326420903484,8.136788804153579,-8.577369689941406,0,0,2.6409227737520484],[3.116326420903484,8.136788804153579,-8.577369689941406,0,0,2.902722161551198],[-1.74170279006263,9.319815509431171,-8.577369689941406,0,0,2.902722161551198],[-6.599732001028745,10.502842214708764,-8.577369689941406,0,0,2.902722161551198],[-11.457761211994859,11.685868919986357,-8.577369689941406,0,0,2.902722161551198],[-10.27473450671727,16.54389813095247,-8.577369689941406,0,0,2.902722161551198],[-15.132763717683384,17.72692483623006,-8.577369689941406,0,0,2.902722161551198],[-19.990792928649498,18.909951541507652,-8.577369689941406,0,0,2.902722161551198],[-19.990792928649498,18.909951541507652,-8.577369689941406,0,0,2.6409227737520484],[-19.990792928649498,18.909951541507652,-8.577369689941406,0,0,2.3791233859528993],[-19.990792928649498,18.909951541507652,-8.577369689941406,0,0,2.1173239981537497],[-22.589412121299404,23.18162314541069,-8.577369689941406,0,0,2.1173239981537497],[-22.589412121299404,23.18162314541069,-8.577369689941406,0,0,1.8555246103546004]]},{"id":4,"instruction":"turn left and fly across the park.","completed_instruction":"Turn left to face the park and the dark blue building with white vertical lines behind it, fly over the park to reach the intersection in front of that building.","start_frame":45,"end_frame":56,"start_position":[-22.589412121299404,23.18162314541069,-8.577369689941406],"start_rotation":[0.59962626482190917,0,0,0.800280165027052],"end_position":[1.4040381870122047,30.204040272196988,-8.577369689941406],"end_rotation":[0.9898833295728503,0,0,0.14188373350658548],"actions":[2,2,2,2,2,2,1,1,1,1,1,1],"reference_path":[[-22.589412121299404,23.18162314541069,-8.577369689941406,0,0,1.8555246103546004],[-22.589412121299404,23.18162314541069,-8.577369689941406,0,0,1.593725222555451],[-22.589412121299404,23.18162314541069,-8.577369689941406,0,0,1.3319258347563017],[-22.589412121299404,23.18162314541069,-8.577369689941406,0,0,1.0701264469571523],[-22.589412121299404,23.18162314541069,-8.577369689941406,0,0,0.808327059158003],[-22.589412121299404,23.18162314541069,-8.577369689941406,0,0,0.5465276713588536],[-22.589412121299404,23.18162314541069,-8.577369689941406,0,0,0.2847282835597042],[-17.790722059637083,24.58610657076795,-8.577369689941406,0,0,0.2847282835597042],[-12.992031997974761,25.99058999612521,-8.577369689941406,0,0,0.2847282835597042],[-8.19334193631244,27.39507342148247,-8.577369689941406,0,0,0.2847282835597042],[-3.3946518746501173,28.799556846839728,-8.577369689941406,0,0,0.2847282835597042],[1.4040381870122047,30.204040272196988,-8.577369689941406,0,0,0.2847282835597042]]},{"id":5,"instruction":"turn right.","completed_instruction":"Turn right to face the shortest black glass building.","start_frame":56,"end_frame":62,"start_position":[1.4040381870122047,30.204040272196988,-8.577369689941406],"start_rotation":[0.9898833295728503,0,0,0.14188373350658548],"end_position":[11.001418310336849,33.0130071229115,-8.577369689941406],"end_rotation":[0.78632224343951951,0,0,0.61781658238690962],"actions":[1,1,3,3,3,3,3],"reference_path":[[1.4040381870122047,30.204040272196988,-8.577369689941406,0,0,0.2847282835597042],[6.202728248674527,31.608523697554247,-8.577369689941406,0,0,0.2847282835597042],[11.001418310336849,33.0130071229115,-8.577369689941406,0,0,0.2847282835597042],[11.001418310336849,33.0130071229115,-8.577369689941406,0,0,0.5465276713588536],[11.001418310336849,33.0130071229115,-8.577369689941406,0,0,0.8083270591580031],[11.001418310336849,33.0130071229115,-8.577369689941406,0,0,1.0701264469571525],[11.001418310336849,33.0130071229115,-8.577369689941406,0,0,1.3319258347563019]]},{"id":6,"instruction":"ascend to height and fly to the roof of the white tower building.","completed_instruction":"Fly up to the height of a black glass skyscraper with white vertical lines behind the black building and fly to its rooftop.","start_frame":62,"end_frame":88,"start_position":[11.001418310336849,33.0130071229115,-8.577369689941406],"start_rotation":[0.78632224343951951,0,0,0.61781658238690962],"end_position":[3.9790011835505594,57.006457431223104,-46.577369689941406],"end_rotation":[0.59962626482190906,0,0,0.80028016502705213],"actions":[3,3,4,4,4,4,4,4,4,4,4,4,4,4,4,4,4,4,4,4,4,1,1,1,1,1,1],"reference_path":[[11.001418310336849,33.0130071229115,-8.577369689941406,0,0,1.3319258347563019],[11.001418310336849,33.0130071229115,-8.577369689941406,0,0,1.5937252225554515],[11.001418310336849,33.0130071229115,-8.577369689941406,0,0,1.8555246103546008],[11.001418310336849,33.0130071229115,-10.577369689941406,0,0,1.8555246103546008],[11.001418310336849,33.0130071229115,-12.577369689941406,0,0,1.8555246103546008],[11.001418310336849,33.0130071229115,-14.577369689941406,0,0,1.8555246103546008],[11.001418310336849,33.0130071229115,-16.577369689941406,0,0,1.8555246103546008],[11.001418310336849,33.0130071229115,-18.577369689941406,0,0,1.8555246103546008],[11.001418310336849,33.0130071229115,-20.577369689941406,0,0,1.8555246103546008],[11.001418310336849,33.0130071229115,-22.577369689941406,0,0,1.8555246103546008],[11.001418310336849,33.0130071229115,-24.577369689941406,0,0,1.8555246103546008],[11.001418310336849,33.0130071229115,-26.577369689941406,0,0,1.8555246103546008],[11.001418310336849,33.0130071229115,-28.577369689941406,0,0,1.8555246103546008],[11.001418310336849,33.0130071229115,-30.577369689941406,0,0,1.8555246103546008],[11.001418310336849,33.0130071229115,-32.577369689941406,0,0,1.8555246103546008],[11.001418310336849,33.0130071229115,-34.577369689941406,0,0,1.8555246103546008],[11.001418310336849,33.0130071229115,-36.577369689941406,0,0,1.8555246103546008],[11.001418310336849,33.0130071229115,-38.577369689941406,0,0,1.8555246103546008],[11.001418310336849,33.0130071229115,-40.577369689941406,0,0,1.8555246103546008],[11.001418310336849,33.0130071229115,-42.577369689941406,0,0,1.8555246103546008],[11.001418310336849,33.0130071229115,-44.577369689941406,0,0,1.8555246103546008],[11.001418310336849,33.0130071229115,-46.577369689941406,0,0,1.8555246103546008],[9.596934884979591,37.81169718457382,-46.577369689941406,0,0,1.8555246103546008],[8.192451459622333,42.610387246236144,-46.577369689941406,0,0,1.8555246103546008],[6.7879680342650754,47.409077307898464,-46.577369689941406,0,0,1.8555246103546008],[5.383484608907818,52.207767369560784,-46.577369689941406,0,0,1.8555246103546008],[3.9790011835505594,57.006457431223104,-46.577369689941406,0,0,1.8555246103546008]]},{"id":7,"instruction":"land on the roof of the white tower.","completed_instruction":"Land on the rooftop.","start_frame":88,"end_frame":91,"start_position":[3.9790011835505594,57.006457431223104,-46.577369689941406],"start_rotation":[0.59962626482190906,0,0,0.80028016502705213],"end_position":[1.170034332836043,66.60383755454775,-44.577369689941406],"end_rotation":[0.59962626482190906,0,0,0.80028016502705213],"actions":[1,1,5,0],"reference_path":[[3.9790011835505594,57.006457431223104,-46.577369689941406,0,0,1.8555246103546008],[2.574517758193301,61.805147492885425,-46.577369689941406,0,0,1.8555246103546008],[1.170034332836043,66.60383755454775,-46.577369689941406,0,0,1.8555246103546008],[1.170034332836043,66.60383755454775,-44.577369689941406,0,0,1.8555246103546008]]}],"statistics":{"complete_actions":98,"sentence_actions":[4,19,11,14,12,7,27,4],"sentence_actions_average":12.25}}
diff --git a/scene_3/3Y5140Z9D6EYTD4KYNOTGXPQODUIP8.json b/scene_3/3Y5140Z9D6EYTD4KYNOTGXPQODUIP8.json
new file mode 100644
index 0000000000000000000000000000000000000000..e3bda16c7d7446ca1c0e4e1cbf947dac837efd82
--- /dev/null
+++ b/scene_3/3Y5140Z9D6EYTD4KYNOTGXPQODUIP8.json
@@ -0,0 +1 @@
+{"episode_id":"3Y5140Z9D6EYTD4KYNOTGXPQODUIP8","trajectory_id":"3R868ACW50ABP63255HQX0J0QPWZGD","scene_id":3,"instruction":"raise about 10 feet in the air and turn left hit down the sidewalk. go between the trees and head left toward the grassy area. fly between the trees toward the intersection. turn left until facing buildings containing flags on the front. go toward building and land in the middle of the street.","sentence_instructions":[{"id":0,"instruction":"go between the trees and head left toward the grassy area.","completed_instruction":"Turn left to face the crosswalk, fly forward to the sidewalk, then fly forward along the sidewalk until you can see metal fences on your right, turn right to face that fences.","start_frame":1,"end_frame":15,"start_position":[-15.284477233886719,38.68547058105469,-0.24036730825901031],"start_rotation":[0.99998136927242764,0,0,-0.0061041877461848887],"end_position":[-15.463439628937968,24.027304758575866,-0.24036730825901031],"end_rotation":[0.92152634844489589,0,0,-0.38831583681562137],"actions":[2,2,2,2,2,1,2,1,2,1,3,3,3,3,3],"reference_path":[[-15.284477233886719,38.68547058105469,-0.24036730825901031,0,0,-0.012208451309907423],[-15.284477233886719,38.68547058105469,-0.24036730825901031,0,0,-0.27400783910905685],[-15.284477233886719,38.68547058105469,-0.24036730825901031,0,0,-0.5358072269082063],[-15.284477233886719,38.68547058105469,-0.24036730825901031,0,0,-0.7976066147073557],[-15.284477233886719,38.68547058105469,-0.24036730825901031,0,0,-1.0594060025065053],[-15.284477233886719,38.68547058105469,-0.24036730825901031,0,0,-1.3212053903056546],[-14.049439274640134,33.84040285818228,-0.24036730825901031,0,0,-1.3212053903056546],[-14.049439274640134,33.84040285818228,-0.24036730825901031,0,0,-1.5830047781048042],[-14.110480014847395,28.840775469262688,-0.24036730825901031,0,0,-1.5830047781048042],[-14.110480014847395,28.840775469262688,-0.24036730825901031,0,0,-1.8448041659039536],[-15.463439628937968,24.027304758575866,-0.24036730825901031,0,0,-1.8448041659039536],[-15.463439628937968,24.027304758575866,-0.24036730825901031,0,0,-1.5830047781048042],[-15.463439628937968,24.027304758575866,-0.24036730825901031,0,0,-1.3212053903056549],[-15.463439628937968,24.027304758575866,-0.24036730825901031,0,0,-1.0594060025065053],[-15.463439628937968,24.027304758575866,-0.24036730825901031,0,0,-0.7976066147073558]]},{"id":1,"instruction":"fly between the trees toward the intersection.","completed_instruction":"Turn right to face the pedestrian entrance between stone fences, fly up slightly above the fences, fly forward over the fences, then turn right slightly to face another fences on the right side beside the road, then fly forward over that fences to the nearest yellow car on the road.","start_frame":15,"end_frame":23,"start_position":[-15.463439628937968,24.027304758575866,-0.24036730825901031],"start_rotation":[0.92152634844489589,0,0,-0.38831583681562137],"end_position":[-2.382465533844588,31.368157346899377,-0.24036730825901031],"end_rotation":[0.96748771043173776,0,0,0.25291803052284356],"actions":[3,3,3,3,3,1,1,1,1],"reference_path":[[-15.463439628937968,24.027304758575866,-0.24036730825901031,0,0,-0.7976066147073558],[-15.463439628937968,24.027304758575866,-0.24036730825901031,0,0,-0.5358072269082065],[-15.463439628937968,24.027304758575866,-0.24036730825901031,0,0,-0.27400783910905707],[-15.463439628937968,24.027304758575866,-0.24036730825901031,0,0,-0.012208451309907624],[-15.463439628937968,24.027304758575866,-0.24036730825901031,0,0,0.2495909364892418],[-15.463439628937968,24.027304758575866,-0.24036730825901031,0,0,0.5113903242883913],[-11.103114930573508,26.47425562135037,-0.24036730825901031,0,0,0.5113903242883913],[-6.742790232209048,28.921206484124873,-0.24036730825901031,0,0,0.5113903242883913],[-2.382465533844588,31.368157346899377,-0.24036730825901031,0,0,0.5113903242883913]]},{"id":2,"instruction":"turn left until facing buildings containing flags on the front.","completed_instruction":"Make a sharp left turn to face the white and red bollards on the road and a building with white longitudinal Flat noodles on the glass facade.","start_frame":23,"end_frame":30,"start_position":[-2.382465533844588,31.368157346899377,-0.24036730825901031],"start_rotation":[0.96748771043173776,0,0,0.25291803052284356],"end_position":[6.338183862884332,36.26205907244838,-0.24036730825901031],"end_rotation":[0.92152634844489589,0,0,-0.38831583681562143],"actions":[1,1,2,2,2,2,2,2],"reference_path":[[-2.382465533844588,31.368157346899377,-0.24036730825901031,0,0,0.5113903242883913],[1.977859164519872,33.81510820967388,-0.24036730825901031,0,0,0.5113903242883913],[6.338183862884332,36.26205907244838,-0.24036730825901031,0,0,0.5113903242883913],[6.338183862884332,36.26205907244838,-0.24036730825901031,0,0,0.24959093648924188],[6.338183862884332,36.26205907244838,-0.24036730825901031,0,0,-0.012208451309907564],[6.338183862884332,36.26205907244838,-0.24036730825901031,0,0,-0.274007839109057],[6.338183862884332,36.26205907244838,-0.24036730825901031,0,0,-0.5358072269082065],[6.338183862884332,36.26205907244838,-0.24036730825901031,0,0,-0.7976066147073559]]},{"id":3,"instruction":"go toward building and land in the middle of the street.","completed_instruction":"Fly forward across that bollards to the building with flags hanging on its wall, turn left to face the sidewalk, then fly forward to the corner of the sidewalk and land there.","start_frame":30,"end_frame":41,"start_position":[6.338183862884332,36.26205907244838,-0.24036730825901031],"start_rotation":[0.92152634844489589,0,0,-0.38831583681562143],"end_position":[20.448396327858212,10.9382730054651,-0.24036730825901031],"end_rotation":[0.96432795034454954,0,0,-0.26471041570795828],"actions":[2,1,1,1,2,1,1,3,3,3,1,0],"reference_path":[[6.338183862884332,36.26205907244838,-0.24036730825901031,0,0,-0.7976066147073559],[6.338183862884332,36.26205907244838,-0.24036730825901031,0,0,-1.0594060025065053],[8.785134725658835,31.901734374083922,-0.24036730825901031,0,0,-1.0594060025065053],[11.232085588433339,27.541409675719464,-0.24036730825901031,0,0,-1.0594060025065053],[13.679036451207843,23.181084977355006,-0.24036730825901031,0,0,-1.0594060025065053],[13.679036451207843,23.181084977355006,-0.24036730825901031,0,0,-1.3212053903056546],[14.914074410454427,18.3360172544826,-0.24036730825901031,0,0,-1.3212053903056546],[16.14911236970101,13.49094953161019,-0.24036730825901031,0,0,-1.3212053903056546],[16.14911236970101,13.49094953161019,-0.24036730825901031,0,0,-1.0594060025065053],[16.14911236970101,13.49094953161019,-0.24036730825901031,0,0,-0.7976066147073558],[16.14911236970101,13.49094953161019,-0.24036730825901031,0,0,-0.5358072269082065],[20.448396327858212,10.9382730054651,-0.24036730825901031,0,0,-0.5358072269082065]]}],"statistics":{"complete_actions":44,"sentence_actions":[15,9,8,12],"sentence_actions_average":11.0}}
diff --git a/scene_3/3Y5140Z9D6EYTD4KYNOTGXPRBGVPIB.json b/scene_3/3Y5140Z9D6EYTD4KYNOTGXPRBGVPIB.json
new file mode 100644
index 0000000000000000000000000000000000000000..a4609f4d0df3e19552b487ca0f63b23c63c53bf7
--- /dev/null
+++ b/scene_3/3Y5140Z9D6EYTD4KYNOTGXPRBGVPIB.json
@@ -0,0 +1 @@
+{"episode_id":"3Y5140Z9D6EYTD4KYNOTGXPRBGVPIB","trajectory_id":"3OYHVNTV61W4SOLETNROFU4PHKNKOG","scene_id":3,"instruction":"go upward and turn around move to straight near the top view of buildings. ans slowly downward to the road side near the view of cars. and take straight across the park side. and take straight and cut right at the end of corner building.","sentence_instructions":[{"id":0,"instruction":"go upward and turn around move to straight near the top view of buildings.","completed_instruction":"Fly up until you can see the black platform at the narrowing point of the white building on the right, and turn right to face a tall black glass building featuring a grid-like facade, then fly forward to it, then turn right to face a brown building with windows.","start_frame":1,"end_frame":34,"start_position":[17.27764892578125,37.23603439331055,-0.1567239612340927],"start_rotation":[0.9996977898049354,0,0,0.024583105156328798],"end_position":[-0.5134380950360384,46.37262142664562,-26.156723961234093],"end_rotation":[0.5211384884717527,0,0,-0.85347212950006568],"actions":[4,4,4,4,4,4,4,4,4,4,4,4,4,3,3,3,3,3,3,3,3,3,3,1,1,1,1,3,3,3,3,3,3,3],"reference_path":[[17.27764892578125,37.23603439331055,-0.1567239612340927,0,0,0.04917116375479144],[17.27764892578125,37.23603439331055,-2.1567239612340927,0,0,0.04917116375479144],[17.27764892578125,37.23603439331055,-4.156723961234093,0,0,0.04917116375479144],[17.27764892578125,37.23603439331055,-6.156723961234093,0,0,0.04917116375479144],[17.27764892578125,37.23603439331055,-8.156723961234093,0,0,0.04917116375479144],[17.27764892578125,37.23603439331055,-10.156723961234093,0,0,0.04917116375479144],[17.27764892578125,37.23603439331055,-12.156723961234093,0,0,0.04917116375479144],[17.27764892578125,37.23603439331055,-14.156723961234093,0,0,0.04917116375479144],[17.27764892578125,37.23603439331055,-16.156723961234093,0,0,0.04917116375479144],[17.27764892578125,37.23603439331055,-18.156723961234093,0,0,0.04917116375479144],[17.27764892578125,37.23603439331055,-20.156723961234093,0,0,0.04917116375479144],[17.27764892578125,37.23603439331055,-22.156723961234093,0,0,0.04917116375479144],[17.27764892578125,37.23603439331055,-24.156723961234093,0,0,0.04917116375479144],[17.27764892578125,37.23603439331055,-26.156723961234093,0,0,0.04917116375479144],[17.27764892578125,37.23603439331055,-26.156723961234093,0,0,0.3109705515539409],[17.27764892578125,37.23603439331055,-26.156723961234093,0,0,0.5727699393530903],[17.27764892578125,37.23603439331055,-26.156723961234093,0,0,0.8345693271522397],[17.27764892578125,37.23603439331055,-26.156723961234093,0,0,1.0963687149513892],[17.27764892578125,37.23603439331055,-26.156723961234093,0,0,1.3581681027505388],[17.27764892578125,37.23603439331055,-26.156723961234093,0,0,1.6199674905496884],[17.27764892578125,37.23603439331055,-26.156723961234093,0,0,1.8817668783488377],[17.27764892578125,37.23603439331055,-26.156723961234093,0,0,2.143566266147987],[17.27764892578125,37.23603439331055,-26.156723961234093,0,0,2.4053656539471366],[17.27764892578125,37.23603439331055,-26.156723961234093,0,0,2.667165041746286],[12.829877170576928,39.520181151644316,-26.156723961234093,0,0,2.667165041746286],[8.382105415372607,41.804327909978085,-26.156723961234093,0,0,2.667165041746286],[3.934333660168284,44.088474668311854,-26.156723961234093,0,0,2.667165041746286],[-0.5134380950360384,46.37262142664562,-26.156723961234093,0,0,2.667165041746286],[-0.5134380950360384,46.37262142664562,-26.156723961234093,0,0,2.9289644295454353],[-0.5134380950360384,46.37262142664562,-26.156723961234093,0,0,-3.0924214898350013],[-0.5134380950360384,46.37262142664562,-26.156723961234093,0,0,-2.830622102035852],[-0.5134380950360384,46.37262142664562,-26.156723961234093,0,0,-2.5688227142367026],[-0.5134380950360384,46.37262142664562,-26.156723961234093,0,0,-2.307023326437553],[-0.5134380950360384,46.37262142664562,-26.156723961234093,0,0,-2.045223938638404]]},{"id":1,"instruction":"ans slowly downward to the road side near the view of cars.","completed_instruction":"Fly down to ground level height in front of cars.","start_frame":34,"end_frame":48,"start_position":[-0.5134380950360384,46.37262142664562,-26.156723961234093],"start_rotation":[0.5211384884717527,0,0,-0.85347212950006568],"end_position":[-0.26768133612279643,41.378664717236894,-4.156723961234093],"end_rotation":[0.72427596666693572,0,0,-0.68951020594961154],"actions":[3,3,1,5,5,5,5,5,5,5,5,5,5,5,5],"reference_path":[[-0.5134380950360384,46.37262142664562,-26.156723961234093,0,0,-2.045223938638404],[-0.5134380950360384,46.37262142664562,-26.156723961234093,0,0,-1.7834245508392546],[-0.5134380950360384,46.37262142664562,-26.156723961234093,0,0,-1.5216251630401052],[-0.26768133612279643,41.378664717236894,-26.156723961234093,0,0,-1.5216251630401052],[-0.26768133612279643,41.378664717236894,-24.156723961234093,0,0,-1.5216251630401052],[-0.26768133612279643,41.378664717236894,-22.156723961234093,0,0,-1.5216251630401052],[-0.26768133612279643,41.378664717236894,-20.156723961234093,0,0,-1.5216251630401052],[-0.26768133612279643,41.378664717236894,-18.156723961234093,0,0,-1.5216251630401052],[-0.26768133612279643,41.378664717236894,-16.156723961234093,0,0,-1.5216251630401052],[-0.26768133612279643,41.378664717236894,-14.156723961234093,0,0,-1.5216251630401052],[-0.26768133612279643,41.378664717236894,-12.156723961234093,0,0,-1.5216251630401052],[-0.26768133612279643,41.378664717236894,-10.156723961234093,0,0,-1.5216251630401052],[-0.26768133612279643,41.378664717236894,-8.156723961234093,0,0,-1.5216251630401052],[-0.26768133612279643,41.378664717236894,-6.156723961234093,0,0,-1.5216251630401052],[-0.26768133612279643,41.378664717236894,-4.156723961234093,0,0,-1.5216251630401052]]},{"id":2,"instruction":"and take straight across the park side.","completed_instruction":"Fly straight across the trees ahead to reach a grass land for football field.","start_frame":48,"end_frame":57,"start_position":[-0.26768133612279643,41.378664717236894,-4.156723961234093],"start_rotation":[0.72427596666693572,0,0,-0.68951020594961154],"end_position":[-1.8145578177168473,21.94902283380639,-2.1567239612340927],"end_rotation":[0.52113848847175259,0,0,-0.85347212950006579],"actions":[5,3,2,1,1,1,2,2,1,2],"reference_path":[[-0.26768133612279643,41.378664717236894,-4.156723961234093,0,0,-1.5216251630401052],[-0.26768133612279643,41.378664717236894,-2.1567239612340927,0,0,-1.5216251630401052],[-0.26768133612279643,41.378664717236894,-2.1567239612340927,0,0,-1.259825775240956],[-0.26768133612279643,41.378664717236894,-2.1567239612340927,0,0,-1.5216251630401056],[-0.02192457720955665,36.384708007828166,-2.1567239612340927,0,0,-1.5216251630401056],[0.22383218170368313,31.39075129841944,-2.1567239612340927,0,0,-1.5216251630401056],[0.4695889406169229,26.39679458901071,-2.1567239612340927,0,0,-1.5216251630401056],[0.4695889406169229,26.39679458901071,-2.1567239612340927,0,0,-1.783424550839255],[0.4695889406169229,26.39679458901071,-2.1567239612340927,0,0,-2.0452239386384043],[-1.8145578177168473,21.94902283380639,-2.1567239612340927,0,0,-2.0452239386384043]]},{"id":3,"instruction":"and take straight and cut right at the end of corner building.","completed_instruction":"Turn left slightly to face a dark black building right to a white building, fly forward to the road, turn left to the white building near an intersection, fly forward to it, then turn right to face the black building being constructed and land in front of it.","start_frame":57,"end_frame":79,"start_position":[-1.8145578177168473,21.94902283380639,-2.1567239612340927],"start_rotation":[0.52113848847175259,0,0,-0.85347212950006579],"end_position":[-29.453943309842987,9.969428722952998,-2.1567239612340927],"end_rotation":[0.62808054368901634,0,0,-0.77814833459907229],"actions":[2,1,1,2,2,2,1,1,1,2,2,2,3,3,1,3,3,3,3,3,3,1,0],"reference_path":[[-1.8145578177168473,21.94902283380639,-2.1567239612340927,0,0,-2.0452239386384043],[-1.8145578177168473,21.94902283380639,-2.1567239612340927,0,0,-2.307023326437554],[-5.172042201141837,18.24398590888144,-2.1567239612340927,0,0,-2.307023326437554],[-8.529526584566826,14.538948983956494,-2.1567239612340927,0,0,-2.307023326437554],[-8.529526584566826,14.538948983956494,-2.1567239612340927,0,0,-2.5688227142367035],[-8.529526584566826,14.538948983956494,-2.1567239612340927,0,0,-2.830622102035853],[-8.529526584566826,14.538948983956494,-2.1567239612340927,0,0,-3.0924214898350026],[-13.523483293975556,14.293192225043256,-2.1567239612340927,0,0,-3.0924214898350026],[-18.517440003384284,14.047435466130018,-2.1567239612340927,0,0,-3.0924214898350026],[-23.51139671279301,13.80167870721678,-2.1567239612340927,0,0,-3.0924214898350026],[-23.51139671279301,13.80167870721678,-2.1567239612340927,0,0,2.9289644295454345],[-23.51139671279301,13.80167870721678,-2.1567239612340927,0,0,2.6671650417462853],[-23.51139671279301,13.80167870721678,-2.1567239612340927,0,0,2.405365653947136],[-23.51139671279301,13.80167870721678,-2.1567239612340927,0,0,2.667165041746286],[-23.51139671279301,13.80167870721678,-2.1567239612340927,0,0,2.9289644295454353],[-28.39879500344989,14.856827013609877,-2.1567239612340927,0,0,2.9289644295454353],[-28.39879500344989,14.856827013609877,-2.1567239612340927,0,0,-3.0924214898350013],[-28.39879500344989,14.856827013609877,-2.1567239612340927,0,0,-2.830622102035852],[-28.39879500344989,14.856827013609877,-2.1567239612340927,0,0,-2.5688227142367026],[-28.39879500344989,14.856827013609877,-2.1567239612340927,0,0,-2.307023326437553],[-28.39879500344989,14.856827013609877,-2.1567239612340927,0,0,-2.045223938638404],[-28.39879500344989,14.856827013609877,-2.1567239612340927,0,0,-1.7834245508392546],[-29.453943309842987,9.969428722952998,-2.1567239612340927,0,0,-1.7834245508392546]]}],"statistics":{"complete_actions":82,"sentence_actions":[34,15,10,23],"sentence_actions_average":20.5}}
diff --git a/scene_3/3Y9N9SS8L79AEDJB8BQBCX6DBRW3DX.json b/scene_3/3Y9N9SS8L79AEDJB8BQBCX6DBRW3DX.json
new file mode 100644
index 0000000000000000000000000000000000000000..42b5394648991a11272fda1e995195c8bbd238c4
--- /dev/null
+++ b/scene_3/3Y9N9SS8L79AEDJB8BQBCX6DBRW3DX.json
@@ -0,0 +1 @@
+{"episode_id":"3Y9N9SS8L79AEDJB8BQBCX6DBRW3DX","trajectory_id":"3VW0145YM6ALH1UKYMCZMBF77AAJMX","scene_id":3,"instruction":"take off and move towards the top of building. now turn right slow down to the floor. now move forward along the road and stay there.","sentence_instructions":[{"id":0,"instruction":"take off and move towards the top of building.","completed_instruction":"Take up to the rooftop of the dark brick building ahead.","start_frame":1,"end_frame":15,"start_position":[-15.867196083068848,-7.994211196899414,-9.655716896057129],"start_rotation":[0.999999930238778,0,0,0.00037352702605768727],"end_position":[-15.867196083068848,-7.994211196899414,-33.65571689605713],"end_rotation":[0.999999930238778,0,0,0.00037352702605768727],"actions":[4,4,4,4,4,4,5,4,4,4,4,4,4,4,4],"reference_path":[[-15.867196083068848,-7.994211196899414,-9.655716896057129,0,0,0.0007470540694871762],[-15.867196083068848,-7.994211196899414,-11.655716896057129,0,0,0.0007470540694871762],[-15.867196083068848,-7.994211196899414,-13.655716896057129,0,0,0.0007470540694871762],[-15.867196083068848,-7.994211196899414,-15.655716896057129,0,0,0.0007470540694871762],[-15.867196083068848,-7.994211196899414,-17.65571689605713,0,0,0.0007470540694871762],[-15.867196083068848,-7.994211196899414,-19.65571689605713,0,0,0.0007470540694871762],[-15.867196083068848,-7.994211196899414,-21.65571689605713,0,0,0.0007470540694871762],[-15.867196083068848,-7.994211196899414,-19.65571689605713,0,0,0.0007470540694871762],[-15.867196083068848,-7.994211196899414,-21.65571689605713,0,0,0.0007470540694871762],[-15.867196083068848,-7.994211196899414,-23.65571689605713,0,0,0.0007470540694871762],[-15.867196083068848,-7.994211196899414,-25.65571689605713,0,0,0.0007470540694871762],[-15.867196083068848,-7.994211196899414,-27.65571689605713,0,0,0.0007470540694871762],[-15.867196083068848,-7.994211196899414,-29.65571689605713,0,0,0.0007470540694871762],[-15.867196083068848,-7.994211196899414,-31.65571689605713,0,0,0.0007470540694871762],[-15.867196083068848,-7.994211196899414,-33.65571689605713,0,0,0.0007470540694871762]]},{"id":1,"instruction":"now turn right slow down to the floor.","completed_instruction":"Turn right to face the white building with a grid-like facade of light gray panels and dark windows, and descend to the height of trees.","start_frame":15,"end_frame":51,"start_position":[-15.867196083068848,-7.994211196899414,-33.65571689605713],"start_rotation":[0.999999930238778,0,0,0.00037352702605768727],"end_position":[2.31245131682899,12.285235620973937,-11.655716896057129],"end_rotation":[0.92373652545590867,0,0,0.38302849964284053],"actions":[4,4,1,3,3,3,3,4,3,4,1,5,5,1,5,2,5,2,1,5,5,5,5,5,5,5,5,5,1,2,2,5,3,5,3,1,3],"reference_path":[[-15.867196083068848,-7.994211196899414,-33.65571689605713,0,0,0.0007470540694871762],[-15.867196083068848,-7.994211196899414,-35.65571689605713,0,0,0.0007470540694871762],[-15.867196083068848,-7.994211196899414,-37.65571689605713,0,0,0.0007470540694871762],[-10.867197478293239,-7.990475926899414,-37.65571689605713,0,0,0.0007470540694871762],[-10.867197478293239,-7.990475926899414,-37.65571689605713,0,0,0.2625464418686366],[-10.867197478293239,-7.990475926899414,-37.65571689605713,0,0,0.524345829667786],[-10.867197478293239,-7.990475926899414,-37.65571689605713,0,0,0.7861452174669354],[-10.867197478293239,-7.990475926899414,-37.65571689605713,0,0,1.0479446052660848],[-10.867197478293239,-7.990475926899414,-39.65571689605713,0,0,1.0479446052660848],[-10.867197478293239,-7.990475926899414,-39.65571689605713,0,0,1.3097439930652344],[-10.867197478293239,-7.990475926899414,-41.65571689605713,0,0,1.3097439930652344],[-9.576710607652442,-3.1598813841227464,-41.65571689605713,0,0,1.3097439930652344],[-9.576710607652442,-3.1598813841227464,-39.65571689605713,0,0,1.3097439930652344],[-9.576710607652442,-3.1598813841227464,-37.65571689605713,0,0,1.3097439930652344],[-8.286223737011646,1.6707131586539212,-37.65571689605713,0,0,1.3097439930652344],[-8.286223737011646,1.6707131586539212,-35.65571689605713,0,0,1.3097439930652344],[-8.286223737011646,1.6707131586539212,-35.65571689605713,0,0,1.047944605266085],[-8.286223737011646,1.6707131586539212,-33.65571689605713,0,0,1.047944605266085],[-8.286223737011646,1.6707131586539212,-33.65571689605713,0,0,0.7861452174669357],[-4.7533320523981,5.208887312760593,-33.65571689605713,0,0,0.7861452174669357],[-4.7533320523981,5.208887312760593,-31.65571689605713,0,0,0.7861452174669357],[-4.7533320523981,5.208887312760593,-29.65571689605713,0,0,0.7861452174669357],[-4.7533320523981,5.208887312760593,-27.65571689605713,0,0,0.7861452174669357],[-4.7533320523981,5.208887312760593,-25.65571689605713,0,0,0.7861452174669357],[-4.7533320523981,5.208887312760593,-23.65571689605713,0,0,0.7861452174669357],[-4.7533320523981,5.208887312760593,-21.65571689605713,0,0,0.7861452174669357],[-4.7533320523981,5.208887312760593,-19.65571689605713,0,0,0.7861452174669357],[-4.7533320523981,5.208887312760593,-17.65571689605713,0,0,0.7861452174669357],[-4.7533320523981,5.208887312760593,-15.655716896057129,0,0,0.7861452174669357],[-1.2204403677845548,8.747061466867265,-15.655716896057129,0,0,0.7861452174669357],[-1.2204403677845548,8.747061466867265,-15.655716896057129,0,0,0.5243458296677863],[-1.2204403677845548,8.747061466867265,-15.655716896057129,0,0,0.2625464418686369],[-1.2204403677845548,8.747061466867265,-13.655716896057129,0,0,0.2625464418686369],[-1.2204403677845548,8.747061466867265,-13.655716896057129,0,0,0.5243458296677863],[-1.2204403677845548,8.747061466867265,-11.655716896057129,0,0,0.5243458296677863],[-1.2204403677845548,8.747061466867265,-11.655716896057129,0,0,0.7861452174669358],[2.31245131682899,12.285235620973937,-11.655716896057129,0,0,0.7861452174669358]]},{"id":2,"instruction":"now move forward along the road and stay there.","completed_instruction":"Fly toward to the mentioned white building until you reach the intersection, turn right to face the trees.","start_frame":51,"end_frame":70,"start_position":[2.31245131682899,12.285235620973937,-11.655716896057129],"start_rotation":[0.92373652545590867,0,0,0.38302849964284053],"end_position":[10.838871928798152,24.487396666325466,-3.655716896057129],"end_rotation":[0.382338311694411,0,0,0.92402241066473456],"actions":[3,5,1,1,3,3,2,2,2,5,1,5,3,3,3,3,3,3,5,0],"reference_path":[[2.31245131682899,12.285235620973937,-11.655716896057129,0,0,0.7861452174669358],[2.31245131682899,12.285235620973937,-11.655716896057129,0,0,1.0479446052660852],[2.31245131682899,12.285235620973937,-9.655716896057129,0,0,1.0479446052660852],[4.809215780506799,16.617229066596366,-9.655716896057129,0,0,1.0479446052660852],[7.305980244184608,20.949222512218793,-9.655716896057129,0,0,1.0479446052660852],[7.305980244184608,20.949222512218793,-9.655716896057129,0,0,1.3097439930652348],[7.305980244184608,20.949222512218793,-9.655716896057129,0,0,1.5715433808643844],[7.305980244184608,20.949222512218793,-9.655716896057129,0,0,1.309743993065235],[7.305980244184608,20.949222512218793,-9.655716896057129,0,0,1.0479446052660857],[7.305980244184608,20.949222512218793,-9.655716896057129,0,0,0.7861452174669362],[7.305980244184608,20.949222512218793,-7.655716896057129,0,0,0.7861452174669362],[10.838871928798152,24.487396666325466,-7.655716896057129,0,0,0.7861452174669362],[10.838871928798152,24.487396666325466,-5.655716896057129,0,0,0.7861452174669362],[10.838871928798152,24.487396666325466,-5.655716896057129,0,0,1.0479446052660857],[10.838871928798152,24.487396666325466,-5.655716896057129,0,0,1.3097439930652353],[10.838871928798152,24.487396666325466,-5.655716896057129,0,0,1.5715433808643846],[10.838871928798152,24.487396666325466,-5.655716896057129,0,0,1.8333427686635342],[10.838871928798152,24.487396666325466,-5.655716896057129,0,0,2.0951421564626838],[10.838871928798152,24.487396666325466,-5.655716896057129,0,0,2.356941544261833],[10.838871928798152,24.487396666325466,-3.655716896057129,0,0,2.356941544261833]]}],"statistics":{"complete_actions":72,"sentence_actions":[15,37,20],"sentence_actions_average":24.0}}
diff --git a/scene_5/354P56DE9T1YHL3G7DOQKD4SY537S8.json b/scene_5/354P56DE9T1YHL3G7DOQKD4SY537S8.json
new file mode 100644
index 0000000000000000000000000000000000000000..77d161eda605824fe474065a485185bcfde2600c
--- /dev/null
+++ b/scene_5/354P56DE9T1YHL3G7DOQKD4SY537S8.json
@@ -0,0 +1 @@
+{"episode_id":"354P56DE9T1YHL3G7DOQKD4SY537S8","trajectory_id":"3BS6ERDLAB56PC901AJ7UHN88YUD6B","scene_id":5,"instruction":"take off and turn right. fly between the buildings. go straight. go forward and descend to the lower roof and turn left. go straight over the roofs towards the tower. descend to the lower roof. move left and descend to the ground. go forward and land next to the pipes. stop there.","sentence_instructions":[{"id":0,"instruction":"take off and turn right.","completed_instruction":"Take off to the height of the terrace ahead, turn right to face between the two buildings.","start_frame":0,"end_frame":9,"start_position":[-122.1462631225586,-138.91073608398438,-20.78898811340332],"start_rotation":[0.9998909707654634,0,0,0.014766400431359544],"end_position":[-122.1462631225586,-138.91073608398438,-34.78898811340332],"end_rotation":[0.96199868647636289,0,0,0.273054073798126],"actions":[4,4,4,4,4,4,4,3,3,3],"reference_path":[[-122.1462631225586,-138.91073608398438,-20.78898811340332,0,0,0.029533874222420865],[-122.1462631225586,-138.91073608398438,-22.78898811340332,0,0,0.029533874222420865],[-122.1462631225586,-138.91073608398438,-24.78898811340332,0,0,0.029533874222420865],[-122.1462631225586,-138.91073608398438,-26.78898811340332,0,0,0.029533874222420865],[-122.1462631225586,-138.91073608398438,-28.78898811340332,0,0,0.029533874222420865],[-122.1462631225586,-138.91073608398438,-30.78898811340332,0,0,0.029533874222420865],[-122.1462631225586,-138.91073608398438,-32.78898811340332,0,0,0.029533874222420865],[-122.1462631225586,-138.91073608398438,-34.78898811340332,0,0,0.029533874222420865],[-122.1462631225586,-138.91073608398438,-34.78898811340332,0,0,0.29133326202157034],[-122.1462631225586,-138.91073608398438,-34.78898811340332,0,0,0.5531326498207199]]},{"id":1,"instruction":"fly between the buildings.","completed_instruction":"Fly forward to pass between two buildings.","start_frame":9,"end_frame":22,"start_position":[-122.1462631225586,-138.91073608398438,-34.78898811340332],"start_rotation":[0.96199868647636289,0,0,0.273054073798126],"end_position":[-102.83789644625294,-92.51906682868244,-34.78898811340332],"end_rotation":[0.85854778148189492,0,0,0.51273356327874264],"actions":[3,3,1,1,1,1,7,1,1,1,1,1,1,7],"reference_path":[[-122.1462631225586,-138.91073608398438,-34.78898811340332,0,0,0.5531326498207199],[-122.1462631225586,-138.91073608398438,-34.78898811340332,0,0,0.8149320376198692],[-122.1462631225586,-138.91073608398438,-34.78898811340332,0,0,1.0767314254190188],[-119.77522019168376,-134.50867345154165,-34.78898811340332,0,0,1.0767314254190188],[-117.40417726080892,-130.10661081909893,-34.78898811340332,0,0,1.0767314254190188],[-115.03313432993409,-125.70454818665623,-34.78898811340332,0,0,1.0767314254190188],[-112.66209139905925,-121.30248555421352,-34.78898811340332,0,0,1.0767314254190188],[-117.06415403150196,-118.93144262333868,-34.78898811340332,0,0,1.0767314254190188],[-114.69311110062712,-114.52937999089598,-34.78898811340332,0,0,1.0767314254190188],[-112.32206816975228,-110.12731735845327,-34.78898811340332,0,0,1.0767314254190188],[-109.95102523887745,-105.72525472601056,-34.78898811340332,0,0,1.0767314254190188],[-107.57998230800261,-101.32319209356785,-34.78898811340332,0,0,1.0767314254190188],[-105.20893937712778,-96.92112946112515,-34.78898811340332,0,0,1.0767314254190188],[-102.83789644625294,-92.51906682868244,-34.78898811340332,0,0,1.0767314254190188]]},{"id":2,"instruction":"go straight.","completed_instruction":"Fly over the roof ahead and the two slightly higher roofs.","start_frame":22,"end_frame":33,"start_position":[-102.83789644625294,-92.51906682868244,-34.78898811340332],"start_rotation":[0.85854778148189492,0,0,0.51273356327874264],"end_position":[-92.67367826413967,-52.56047990739109,-34.78898811340332],"end_rotation":[0.78427762655591671,0,0,0.62041002932239742],"actions":[7,1,1,1,1,1,7,1,1,1,3,1],"reference_path":[[-102.83789644625294,-92.51906682868244,-34.78898811340332,0,0,1.0767314254190188],[-107.23995907869565,-90.1480238978076,-34.78898811340332,0,0,1.0767314254190188],[-104.86891614782081,-85.7459612653649,-34.78898811340332,0,0,1.0767314254190188],[-102.49787321694598,-81.34389863292219,-34.78898811340332,0,0,1.0767314254190188],[-100.12683028607114,-76.94183600047948,-34.78898811340332,0,0,1.0767314254190188],[-97.7557873551963,-72.53977336803678,-34.78898811340332,0,0,1.0767314254190188],[-95.38474442432147,-68.13771073559407,-34.78898811340332,0,0,1.0767314254190188],[-99.78680705676418,-65.76666780471923,-34.78898811340332,0,0,1.0767314254190188],[-97.41576412588934,-61.36460517227652,-34.78898811340332,0,0,1.0767314254190188],[-95.0447211950145,-56.962542539833805,-34.78898811340332,0,0,1.0767314254190188],[-92.67367826413967,-52.56047990739109,-34.78898811340332,0,0,1.0767314254190188],[-92.67367826413967,-52.56047990739109,-34.78898811340332,0,0,1.3385308132181681]]},{"id":3,"instruction":"go forward and descend to the lower roof and turn left.","completed_instruction":"Fly forward and fly down to the roof ahead, then turn left to face the black and white building.","start_frame":33,"end_frame":50,"start_position":[-92.67367826413967,-52.56047990739109,-34.78898811340332],"start_rotation":[0.78427762655591671,0,0,0.62041002932239742],"end_position":[-91.80799815751816,-38.03969692810779,-24.78898811340332],"end_rotation":[0.96199868647636289,0,0,0.27305407379812624],"actions":[1,1,3,3,1,2,5,5,5,5,5,5,4,2,2,2,2,2],"reference_path":[[-92.67367826413967,-52.56047990739109,-34.78898811340332,0,0,1.3385308132181681],[-91.52276430897786,-47.69474285450653,-34.78898811340332,0,0,1.3385308132181681],[-90.37185035381603,-42.82900580162196,-34.78898811340332,0,0,1.3385308132181681],[-90.37185035381603,-42.82900580162196,-34.78898811340332,0,0,1.6003302010173177],[-90.37185035381603,-42.82900580162196,-34.78898811340332,0,0,1.8621295888164673],[-91.80799815751816,-38.03969692810779,-34.78898811340332,0,0,1.8621295888164673],[-91.80799815751816,-38.03969692810779,-34.78898811340332,0,0,1.600330201017318],[-91.80799815751816,-38.03969692810779,-32.78898811340332,0,0,1.600330201017318],[-91.80799815751816,-38.03969692810779,-30.78898811340332,0,0,1.600330201017318],[-91.80799815751816,-38.03969692810779,-28.78898811340332,0,0,1.600330201017318],[-91.80799815751816,-38.03969692810779,-26.78898811340332,0,0,1.600330201017318],[-91.80799815751816,-38.03969692810779,-24.78898811340332,0,0,1.600330201017318],[-91.80799815751816,-38.03969692810779,-22.78898811340332,0,0,1.600330201017318],[-91.80799815751816,-38.03969692810779,-24.78898811340332,0,0,1.600330201017318],[-91.80799815751816,-38.03969692810779,-24.78898811340332,0,0,1.3385308132181684],[-91.80799815751816,-38.03969692810779,-24.78898811340332,0,0,1.076731425419019],[-91.80799815751816,-38.03969692810779,-24.78898811340332,0,0,0.8149320376198697],[-91.80799815751816,-38.03969692810779,-24.78898811340332,0,0,0.5531326498207203]]},{"id":4,"instruction":"go straight over the roofs towards the tower.","completed_instruction":"Fly over the building ahead, cross the street, and then fly over the building with radar on the roof ahead, fly over a building to reach the tallest building and its lower roof.","start_frame":50,"end_frame":86,"start_position":[-91.80799815751816,-38.03969692810779,-24.78898811340332],"start_rotation":[0.96199868647636289,0,0,0.27305407379812624],"end_position":[32.67228352999397,-32.472741789171764,-34.78898811340332],"end_rotation":[0.9932641669205915,0,0,-0.1158718892205671],"actions":[2,2,1,7,4,4,4,1,1,7,1,1,1,1,1,1,1,1,1,1,1,1,2,1,1,4,1,7,1,1,1,1,4,1,1,1,1],"reference_path":[[-91.80799815751816,-38.03969692810779,-24.78898811340332,0,0,0.5531326498207203],[-91.80799815751816,-38.03969692810779,-24.78898811340332,0,0,0.2913332620215709],[-91.80799815751816,-38.03969692810779,-24.78898811340332,0,0,0.029533874222421503],[-86.81017862333515,-37.892049023487544,-24.78898811340332,0,0,0.029533874222421503],[-86.95782652795539,-32.894229489304536,-24.78898811340332,0,0,0.029533874222421503],[-86.95782652795539,-32.894229489304536,-26.78898811340332,0,0,0.029533874222421503],[-86.95782652795539,-32.894229489304536,-28.78898811340332,0,0,0.029533874222421503],[-86.95782652795539,-32.894229489304536,-30.78898811340332,0,0,0.029533874222421503],[-81.96000699377238,-32.74658158468429,-30.78898811340332,0,0,0.029533874222421503],[-76.96218745958937,-32.59893368006405,-30.78898811340332,0,0,0.029533874222421503],[-77.10983536420962,-27.60111414588104,-30.78898811340332,0,0,0.029533874222421503],[-72.1120158300266,-27.453466241260802,-30.78898811340332,0,0,0.029533874222421503],[-67.1141962958436,-27.305818336640563,-30.78898811340332,0,0,0.029533874222421503],[-62.11637676166059,-27.158170432020324,-30.78898811340332,0,0,0.029533874222421503],[-57.11855722747758,-27.010522527400084,-30.78898811340332,0,0,0.029533874222421503],[-52.12073769329457,-26.862874622779845,-30.78898811340332,0,0,0.029533874222421503],[-47.12291815911156,-26.715226718159606,-30.78898811340332,0,0,0.029533874222421503],[-42.125098624928555,-26.567578813539367,-30.78898811340332,0,0,0.029533874222421503],[-37.127279090745546,-26.419930908919127,-30.78898811340332,0,0,0.029533874222421503],[-32.12945955656254,-26.272283004298888,-30.78898811340332,0,0,0.029533874222421503],[-27.13164002237953,-26.12463509967865,-30.78898811340332,0,0,0.029533874222421503],[-22.13382048819652,-25.97698719505841,-30.78898811340332,0,0,0.029533874222421503],[-17.13600095401351,-25.82933929043817,-30.78898811340332,0,0,0.029533874222421503],[-17.13600095401351,-25.82933929043817,-30.78898811340332,0,0,-0.23226551357672792],[-12.270263901128946,-26.980253245599986,-30.78898811340332,0,0,-0.23226551357672792],[-7.404526848244379,-28.1311672007618,-30.78898811340332,0,0,-0.23226551357672792],[-7.404526848244379,-28.1311672007618,-32.78898811340332,0,0,-0.23226551357672792],[-2.538789795359813,-29.282081155923617,-32.78898811340332,0,0,-0.23226551357672792],[-1.387875840197996,-24.41634410303905,-32.78898811340332,0,0,-0.23226551357672792],[3.4778612126865704,-25.567258058200867,-32.78898811340332,0,0,-0.23226551357672792],[8.343598265571137,-26.718172013362683,-32.78898811340332,0,0,-0.23226551357672792],[13.209335318455704,-27.869085968524498,-32.78898811340332,0,0,-0.23226551357672792],[18.07507237134027,-29.019999923686314,-32.78898811340332,0,0,-0.23226551357672792],[18.07507237134027,-29.019999923686314,-34.78898811340332,0,0,-0.23226551357672792],[22.940809424224835,-30.17091387884813,-34.78898811340332,0,0,-0.23226551357672792],[27.8065464771094,-31.321827834009945,-34.78898811340332,0,0,-0.23226551357672792],[32.67228352999397,-32.472741789171764,-34.78898811340332,0,0,-0.23226551357672792]]},{"id":5,"instruction":"descend to the lower roof.","completed_instruction":"Fly down to the lower roof ahead in front of a billboard.","start_frame":86,"end_frame":100,"start_position":[32.67228352999397,-32.472741789171764,-34.78898811340332],"start_rotation":[0.9932641669205915,0,0,-0.1158718892205671],"end_position":[54.699140884093175,-47.95878567075,-24.78898811340332],"end_rotation":[0.92942965943380307,0,0,-0.36899933355599],"actions":[1,6,1,6,1,1,1,2,2,5,5,5,5,5,5],"reference_path":[[32.67228352999397,-32.472741789171764,-34.78898811340332,0,0,-0.23226551357672792],[37.53802058287854,-33.62365574433358,-34.78898811340332,0,0,-0.23226551357672792],[36.38710662771672,-38.48939279721815,-34.78898811340332,0,0,-0.23226551357672792],[41.25284368060129,-39.64030675237997,-34.78898811340332,0,0,-0.23226551357672792],[40.10192972543947,-44.50604380526454,-34.78898811340332,0,0,-0.23226551357672792],[44.96766677832404,-45.65695776042636,-34.78898811340332,0,0,-0.23226551357672792],[49.83340383120861,-46.80787171558818,-34.78898811340332,0,0,-0.23226551357672792],[54.699140884093175,-47.95878567075,-34.78898811340332,0,0,-0.23226551357672792],[54.699140884093175,-47.95878567075,-34.78898811340332,0,0,-0.4940649013758774],[54.699140884093175,-47.95878567075,-34.78898811340332,0,0,-0.7558642891750269],[54.699140884093175,-47.95878567075,-32.78898811340332,0,0,-0.7558642891750269],[54.699140884093175,-47.95878567075,-30.78898811340332,0,0,-0.7558642891750269],[54.699140884093175,-47.95878567075,-28.78898811340332,0,0,-0.7558642891750269],[54.699140884093175,-47.95878567075,-26.78898811340332,0,0,-0.7558642891750269],[54.699140884093175,-47.95878567075,-24.78898811340332,0,0,-0.7558642891750269]]},{"id":6,"instruction":"move left and descend to the ground.","completed_instruction":"Move left out of the roof and fly down to the ground.","start_frame":100,"end_frame":113,"start_position":[54.699140884093175,-47.95878567075,-24.78898811340332],"start_rotation":[0.92942965943380307,0,0,-0.36899933355599],"end_position":[50.118637679748915,-56.46291764198692,-6.78898811340332],"end_rotation":[0.9932641669205915,0,0,-0.11587188922056718],"actions":[5,5,6,3,3,6,5,5,5,5,5,5,5,5],"reference_path":[[54.699140884093175,-47.95878567075,-24.78898811340332,0,0,-0.7558642891750269],[54.699140884093175,-47.95878567075,-22.78898811340332,0,0,-0.7558642891750269],[54.699140884093175,-47.95878567075,-20.78898811340332,0,0,-0.7558642891750269],[51.269551634910734,-51.59718058910235,-20.78898811340332,0,0,-0.7558642891750269],[51.269551634910734,-51.59718058910235,-20.78898811340332,0,0,-0.49406490137587744],[51.269551634910734,-51.59718058910235,-20.78898811340332,0,0,-0.23226551357672806],[50.118637679748915,-56.46291764198692,-20.78898811340332,0,0,-0.23226551357672806],[50.118637679748915,-56.46291764198692,-18.78898811340332,0,0,-0.23226551357672806],[50.118637679748915,-56.46291764198692,-16.78898811340332,0,0,-0.23226551357672806],[50.118637679748915,-56.46291764198692,-14.78898811340332,0,0,-0.23226551357672806],[50.118637679748915,-56.46291764198692,-12.78898811340332,0,0,-0.23226551357672806],[50.118637679748915,-56.46291764198692,-10.78898811340332,0,0,-0.23226551357672806],[50.118637679748915,-56.46291764198692,-8.78898811340332,0,0,-0.23226551357672806],[50.118637679748915,-56.46291764198692,-6.78898811340332,0,0,-0.23226551357672806]]},{"id":7,"instruction":"go forward and land next to the pipes.","completed_instruction":"Fly forward and land next to the pipes.","start_frame":113,"end_frame":123,"start_position":[50.118637679748915,-56.46291764198692,-6.78898811340332],"start_rotation":[0.9932641669205915,0,0,-0.11587188922056718],"end_position":[64.71584883840262,-59.91565950747238,-0.7889881134033203],"end_rotation":[0.92942965943380307,0,0,-0.36899933355599],"actions":[5,1,1,1,3,2,2,2,5,5,0],"reference_path":[[50.118637679748915,-56.46291764198692,-6.78898811340332,0,0,-0.23226551357672806],[50.118637679748915,-56.46291764198692,-4.78898811340332,0,0,-0.23226551357672806],[54.98437473263348,-57.61383159714874,-4.78898811340332,0,0,-0.23226551357672806],[59.85011178551805,-58.76474555231056,-4.78898811340332,0,0,-0.23226551357672806],[64.71584883840262,-59.91565950747238,-4.78898811340332,0,0,-0.23226551357672806],[64.71584883840262,-59.91565950747238,-4.78898811340332,0,0,0.029533874222421347],[64.71584883840262,-59.91565950747238,-4.78898811340332,0,0,-0.2322655135767281],[64.71584883840262,-59.91565950747238,-4.78898811340332,0,0,-0.49406490137587755],[64.71584883840262,-59.91565950747238,-4.78898811340332,0,0,-0.755864289175027],[64.71584883840262,-59.91565950747238,-2.7889881134033203,0,0,-0.755864289175027],[64.71584883840262,-59.91565950747238,-0.7889881134033203,0,0,-0.755864289175027]]}],"statistics":{"complete_actions":131,"sentence_actions":[10,14,12,18,37,15,14,11],"sentence_actions_average":16.38}}
diff --git a/scene_5/3AMW0RGHOM0Q7EFBV31LL5L7BZXNPD.json b/scene_5/3AMW0RGHOM0Q7EFBV31LL5L7BZXNPD.json
new file mode 100644
index 0000000000000000000000000000000000000000..6f994841bd00bb97ea2bf21397f9ef29bd6d4c1c
--- /dev/null
+++ b/scene_5/3AMW0RGHOM0Q7EFBV31LL5L7BZXNPD.json
@@ -0,0 +1 @@
+{"episode_id":"3AMW0RGHOM0Q7EFBV31LL5L7BZXNPD","trajectory_id":"3BS6ERDLAB56PC901AJ7UHN88YUD6B","scene_id":5,"instruction":"turn right and go straight to the next building of the same height. look down and float down. turn left and pass one building and go to the next with satellites on top. go around it and look down. land on the roof below you. land into the alley on the left. land by the fence.","sentence_instructions":[{"id":0,"instruction":"turn right and go straight to the next building of the same height.","completed_instruction":"Take off to the height of the terrace ahead, turn right to face the gap between the two tall buildings, and fly forward to the next building of the same height.","start_frame":1,"end_frame":31,"start_position":[-122.1462631225586,-138.91073608398438,-20.78898811340332],"start_rotation":[0.9998909707654634,0,0,0.014766400431359544],"end_position":[-97.41576412588934,-61.36460517227652,-34.78898811340332],"end_rotation":[0.85854778148189492,0,0,0.51273356327874264],"actions":[4,4,4,4,4,4,4,3,3,3,3,1,1,1,1,7,1,1,1,1,1,1,7,1,1,1,1,1,7,1,1],"reference_path":[[-122.1462631225586,-138.91073608398438,-20.78898811340332,0,0,0.029533874222420865],[-122.1462631225586,-138.91073608398438,-22.78898811340332,0,0,0.029533874222420865],[-122.1462631225586,-138.91073608398438,-24.78898811340332,0,0,0.029533874222420865],[-122.1462631225586,-138.91073608398438,-26.78898811340332,0,0,0.029533874222420865],[-122.1462631225586,-138.91073608398438,-28.78898811340332,0,0,0.029533874222420865],[-122.1462631225586,-138.91073608398438,-30.78898811340332,0,0,0.029533874222420865],[-122.1462631225586,-138.91073608398438,-32.78898811340332,0,0,0.029533874222420865],[-122.1462631225586,-138.91073608398438,-34.78898811340332,0,0,0.029533874222420865],[-122.1462631225586,-138.91073608398438,-34.78898811340332,0,0,0.29133326202157034],[-122.1462631225586,-138.91073608398438,-34.78898811340332,0,0,0.5531326498207199],[-122.1462631225586,-138.91073608398438,-34.78898811340332,0,0,0.8149320376198692],[-122.1462631225586,-138.91073608398438,-34.78898811340332,0,0,1.0767314254190188],[-119.77522019168376,-134.50867345154165,-34.78898811340332,0,0,1.0767314254190188],[-117.40417726080892,-130.10661081909893,-34.78898811340332,0,0,1.0767314254190188],[-115.03313432993409,-125.70454818665623,-34.78898811340332,0,0,1.0767314254190188],[-112.66209139905925,-121.30248555421352,-34.78898811340332,0,0,1.0767314254190188],[-117.06415403150196,-118.93144262333868,-34.78898811340332,0,0,1.0767314254190188],[-114.69311110062712,-114.52937999089598,-34.78898811340332,0,0,1.0767314254190188],[-112.32206816975228,-110.12731735845327,-34.78898811340332,0,0,1.0767314254190188],[-109.95102523887745,-105.72525472601056,-34.78898811340332,0,0,1.0767314254190188],[-107.57998230800261,-101.32319209356785,-34.78898811340332,0,0,1.0767314254190188],[-105.20893937712778,-96.92112946112515,-34.78898811340332,0,0,1.0767314254190188],[-102.83789644625294,-92.51906682868244,-34.78898811340332,0,0,1.0767314254190188],[-107.23995907869565,-90.1480238978076,-34.78898811340332,0,0,1.0767314254190188],[-104.86891614782081,-85.7459612653649,-34.78898811340332,0,0,1.0767314254190188],[-102.49787321694598,-81.34389863292219,-34.78898811340332,0,0,1.0767314254190188],[-100.12683028607114,-76.94183600047948,-34.78898811340332,0,0,1.0767314254190188],[-97.7557873551963,-72.53977336803678,-34.78898811340332,0,0,1.0767314254190188],[-95.38474442432147,-68.13771073559407,-34.78898811340332,0,0,1.0767314254190188],[-99.78680705676418,-65.76666780471923,-34.78898811340332,0,0,1.0767314254190188],[-97.41576412588934,-61.36460517227652,-34.78898811340332,0,0,1.0767314254190188]]},{"id":1,"instruction":"look down and float down.","completed_instruction":"Fly ahead out of the roof and fly down to a terrace.","start_frame":31,"end_frame":44,"start_position":[-97.41576412588934,-61.36460517227652,-34.78898811340332],"start_rotation":[0.85854778148189492,0,0,0.51273356327874264],"end_position":[-91.80799815751816,-38.03969692810779,-26.78898811340332],"end_rotation":[0.69658826399672868,0,0,0.71747110775418954],"actions":[1,1,3,1,1,3,3,1,2,5,5,5,5,5],"reference_path":[[-97.41576412588934,-61.36460517227652,-34.78898811340332,0,0,1.0767314254190188],[-95.0447211950145,-56.962542539833805,-34.78898811340332,0,0,1.0767314254190188],[-92.67367826413967,-52.56047990739109,-34.78898811340332,0,0,1.0767314254190188],[-92.67367826413967,-52.56047990739109,-34.78898811340332,0,0,1.3385308132181681],[-91.52276430897786,-47.69474285450653,-34.78898811340332,0,0,1.3385308132181681],[-90.37185035381603,-42.82900580162196,-34.78898811340332,0,0,1.3385308132181681],[-90.37185035381603,-42.82900580162196,-34.78898811340332,0,0,1.6003302010173177],[-90.37185035381603,-42.82900580162196,-34.78898811340332,0,0,1.8621295888164673],[-91.80799815751816,-38.03969692810779,-34.78898811340332,0,0,1.8621295888164673],[-91.80799815751816,-38.03969692810779,-34.78898811340332,0,0,1.600330201017318],[-91.80799815751816,-38.03969692810779,-32.78898811340332,0,0,1.600330201017318],[-91.80799815751816,-38.03969692810779,-30.78898811340332,0,0,1.600330201017318],[-91.80799815751816,-38.03969692810779,-28.78898811340332,0,0,1.600330201017318],[-91.80799815751816,-38.03969692810779,-26.78898811340332,0,0,1.600330201017318]]},{"id":2,"instruction":"turn left and pass one building and go to the next with satellites on top.","completed_instruction":"Turn left to face the black building, fly forward past two buildings to reach the next building in distance that has satellites on top.","start_frame":44,"end_frame":79,"start_position":[-91.80799815751816,-38.03969692810779,-26.78898811340332],"start_rotation":[0.69658826399672868,0,0,0.71747110775418954],"end_position":[-1.387875840197996,-24.41634410303905,-32.78898811340332],"end_rotation":[0.9932641669205915,0,0,-0.1158718892205671],"actions":[5,5,4,2,2,2,2,2,2,1,7,4,4,4,1,1,7,1,1,1,1,1,1,1,1,1,1,1,1,2,1,1,4,1,7,1],"reference_path":[[-91.80799815751816,-38.03969692810779,-26.78898811340332,0,0,1.600330201017318],[-91.80799815751816,-38.03969692810779,-24.78898811340332,0,0,1.600330201017318],[-91.80799815751816,-38.03969692810779,-22.78898811340332,0,0,1.600330201017318],[-91.80799815751816,-38.03969692810779,-24.78898811340332,0,0,1.600330201017318],[-91.80799815751816,-38.03969692810779,-24.78898811340332,0,0,1.3385308132181684],[-91.80799815751816,-38.03969692810779,-24.78898811340332,0,0,1.076731425419019],[-91.80799815751816,-38.03969692810779,-24.78898811340332,0,0,0.8149320376198697],[-91.80799815751816,-38.03969692810779,-24.78898811340332,0,0,0.5531326498207203],[-91.80799815751816,-38.03969692810779,-24.78898811340332,0,0,0.2913332620215709],[-91.80799815751816,-38.03969692810779,-24.78898811340332,0,0,0.029533874222421503],[-86.81017862333515,-37.892049023487544,-24.78898811340332,0,0,0.029533874222421503],[-86.95782652795539,-32.894229489304536,-24.78898811340332,0,0,0.029533874222421503],[-86.95782652795539,-32.894229489304536,-26.78898811340332,0,0,0.029533874222421503],[-86.95782652795539,-32.894229489304536,-28.78898811340332,0,0,0.029533874222421503],[-86.95782652795539,-32.894229489304536,-30.78898811340332,0,0,0.029533874222421503],[-81.96000699377238,-32.74658158468429,-30.78898811340332,0,0,0.029533874222421503],[-76.96218745958937,-32.59893368006405,-30.78898811340332,0,0,0.029533874222421503],[-77.10983536420962,-27.60111414588104,-30.78898811340332,0,0,0.029533874222421503],[-72.1120158300266,-27.453466241260802,-30.78898811340332,0,0,0.029533874222421503],[-67.1141962958436,-27.305818336640563,-30.78898811340332,0,0,0.029533874222421503],[-62.11637676166059,-27.158170432020324,-30.78898811340332,0,0,0.029533874222421503],[-57.11855722747758,-27.010522527400084,-30.78898811340332,0,0,0.029533874222421503],[-52.12073769329457,-26.862874622779845,-30.78898811340332,0,0,0.029533874222421503],[-47.12291815911156,-26.715226718159606,-30.78898811340332,0,0,0.029533874222421503],[-42.125098624928555,-26.567578813539367,-30.78898811340332,0,0,0.029533874222421503],[-37.127279090745546,-26.419930908919127,-30.78898811340332,0,0,0.029533874222421503],[-32.12945955656254,-26.272283004298888,-30.78898811340332,0,0,0.029533874222421503],[-27.13164002237953,-26.12463509967865,-30.78898811340332,0,0,0.029533874222421503],[-22.13382048819652,-25.97698719505841,-30.78898811340332,0,0,0.029533874222421503],[-17.13600095401351,-25.82933929043817,-30.78898811340332,0,0,0.029533874222421503],[-17.13600095401351,-25.82933929043817,-30.78898811340332,0,0,-0.23226551357672792],[-12.270263901128946,-26.980253245599986,-30.78898811340332,0,0,-0.23226551357672792],[-7.404526848244379,-28.1311672007618,-30.78898811340332,0,0,-0.23226551357672792],[-7.404526848244379,-28.1311672007618,-32.78898811340332,0,0,-0.23226551357672792],[-2.538789795359813,-29.282081155923617,-32.78898811340332,0,0,-0.23226551357672792],[-1.387875840197996,-24.41634410303905,-32.78898811340332,0,0,-0.23226551357672792]]},{"id":3,"instruction":"go around it and look down.","completed_instruction":"Fly forward passing a building.","start_frame":79,"end_frame":89,"start_position":[-1.387875840197996,-24.41634410303905,-32.78898811340332],"start_rotation":[0.9932641669205915,0,0,-0.1158718892205671],"end_position":[36.38710662771672,-38.48939279721815,-34.78898811340332],"end_rotation":[0.9932641669205915,0,0,-0.1158718892205671],"actions":[1,1,1,1,4,1,1,1,1,6,1],"reference_path":[[-1.387875840197996,-24.41634410303905,-32.78898811340332,0,0,-0.23226551357672792],[3.4778612126865704,-25.567258058200867,-32.78898811340332,0,0,-0.23226551357672792],[8.343598265571137,-26.718172013362683,-32.78898811340332,0,0,-0.23226551357672792],[13.209335318455704,-27.869085968524498,-32.78898811340332,0,0,-0.23226551357672792],[18.07507237134027,-29.019999923686314,-32.78898811340332,0,0,-0.23226551357672792],[18.07507237134027,-29.019999923686314,-34.78898811340332,0,0,-0.23226551357672792],[22.940809424224835,-30.17091387884813,-34.78898811340332,0,0,-0.23226551357672792],[27.8065464771094,-31.321827834009945,-34.78898811340332,0,0,-0.23226551357672792],[32.67228352999397,-32.472741789171764,-34.78898811340332,0,0,-0.23226551357672792],[37.53802058287854,-33.62365574433358,-34.78898811340332,0,0,-0.23226551357672792],[36.38710662771672,-38.48939279721815,-34.78898811340332,0,0,-0.23226551357672792]]},{"id":4,"instruction":"land on the roof below you.","completed_instruction":"Fly towards the billboard on the roof ahead and fly down to the roof.","start_frame":89,"end_frame":101,"start_position":[36.38710662771672,-38.48939279721815,-34.78898811340332],"start_rotation":[0.9932641669205915,0,0,-0.1158718892205671],"end_position":[54.699140884093175,-47.95878567075,-24.78898811340332],"end_rotation":[0.92942965943380307,0,0,-0.36899933355599],"actions":[1,6,1,1,1,2,2,5,5,5,5,5,5],"reference_path":[[36.38710662771672,-38.48939279721815,-34.78898811340332,0,0,-0.23226551357672792],[41.25284368060129,-39.64030675237997,-34.78898811340332,0,0,-0.23226551357672792],[40.10192972543947,-44.50604380526454,-34.78898811340332,0,0,-0.23226551357672792],[44.96766677832404,-45.65695776042636,-34.78898811340332,0,0,-0.23226551357672792],[49.83340383120861,-46.80787171558818,-34.78898811340332,0,0,-0.23226551357672792],[54.699140884093175,-47.95878567075,-34.78898811340332,0,0,-0.23226551357672792],[54.699140884093175,-47.95878567075,-34.78898811340332,0,0,-0.4940649013758774],[54.699140884093175,-47.95878567075,-34.78898811340332,0,0,-0.7558642891750269],[54.699140884093175,-47.95878567075,-32.78898811340332,0,0,-0.7558642891750269],[54.699140884093175,-47.95878567075,-30.78898811340332,0,0,-0.7558642891750269],[54.699140884093175,-47.95878567075,-28.78898811340332,0,0,-0.7558642891750269],[54.699140884093175,-47.95878567075,-26.78898811340332,0,0,-0.7558642891750269],[54.699140884093175,-47.95878567075,-24.78898811340332,0,0,-0.7558642891750269]]},{"id":5,"instruction":"land into the alley on the left.","completed_instruction":"Move left and fly down to the alley on the left.","start_frame":101,"end_frame":114,"start_position":[54.699140884093175,-47.95878567075,-24.78898811340332],"start_rotation":[0.92942965943380307,0,0,-0.36899933355599],"end_position":[50.118637679748915,-56.46291764198692,-6.78898811340332],"end_rotation":[0.9932641669205915,0,0,-0.11587188922056718],"actions":[5,5,6,3,3,6,5,5,5,5,5,5,5,5],"reference_path":[[54.699140884093175,-47.95878567075,-24.78898811340332,0,0,-0.7558642891750269],[54.699140884093175,-47.95878567075,-22.78898811340332,0,0,-0.7558642891750269],[54.699140884093175,-47.95878567075,-20.78898811340332,0,0,-0.7558642891750269],[51.269551634910734,-51.59718058910235,-20.78898811340332,0,0,-0.7558642891750269],[51.269551634910734,-51.59718058910235,-20.78898811340332,0,0,-0.49406490137587744],[51.269551634910734,-51.59718058910235,-20.78898811340332,0,0,-0.23226551357672806],[50.118637679748915,-56.46291764198692,-20.78898811340332,0,0,-0.23226551357672806],[50.118637679748915,-56.46291764198692,-18.78898811340332,0,0,-0.23226551357672806],[50.118637679748915,-56.46291764198692,-16.78898811340332,0,0,-0.23226551357672806],[50.118637679748915,-56.46291764198692,-14.78898811340332,0,0,-0.23226551357672806],[50.118637679748915,-56.46291764198692,-12.78898811340332,0,0,-0.23226551357672806],[50.118637679748915,-56.46291764198692,-10.78898811340332,0,0,-0.23226551357672806],[50.118637679748915,-56.46291764198692,-8.78898811340332,0,0,-0.23226551357672806],[50.118637679748915,-56.46291764198692,-6.78898811340332,0,0,-0.23226551357672806]]},{"id":6,"instruction":"land by the fence.","completed_instruction":"Land by the fence.","start_frame":114,"end_frame":124,"start_position":[50.118637679748915,-56.46291764198692,-6.78898811340332],"start_rotation":[0.9932641669205915,0,0,-0.11587188922056718],"end_position":[64.71584883840262,-59.91565950747238,-0.7889881134033203],"end_rotation":[0.92942965943380307,0,0,-0.36899933355599],"actions":[5,1,1,1,3,2,2,2,5,5,0],"reference_path":[[50.118637679748915,-56.46291764198692,-6.78898811340332,0,0,-0.23226551357672806],[50.118637679748915,-56.46291764198692,-4.78898811340332,0,0,-0.23226551357672806],[54.98437473263348,-57.61383159714874,-4.78898811340332,0,0,-0.23226551357672806],[59.85011178551805,-58.76474555231056,-4.78898811340332,0,0,-0.23226551357672806],[64.71584883840262,-59.91565950747238,-4.78898811340332,0,0,-0.23226551357672806],[64.71584883840262,-59.91565950747238,-4.78898811340332,0,0,0.029533874222421347],[64.71584883840262,-59.91565950747238,-4.78898811340332,0,0,-0.2322655135767281],[64.71584883840262,-59.91565950747238,-4.78898811340332,0,0,-0.49406490137587755],[64.71584883840262,-59.91565950747238,-4.78898811340332,0,0,-0.755864289175027],[64.71584883840262,-59.91565950747238,-2.7889881134033203,0,0,-0.755864289175027],[64.71584883840262,-59.91565950747238,-0.7889881134033203,0,0,-0.755864289175027]]}],"statistics":{"complete_actions":130,"sentence_actions":[31,14,36,11,13,14,11],"sentence_actions_average":18.57}}
diff --git a/scene_5/3DUZQ9U6SVM0SB4CPBR6QRKVP34SVG.json b/scene_5/3DUZQ9U6SVM0SB4CPBR6QRKVP34SVG.json
new file mode 100644
index 0000000000000000000000000000000000000000..f1fb38f8a2e2f6751e95a4815dddf455d4268c4e
--- /dev/null
+++ b/scene_5/3DUZQ9U6SVM0SB4CPBR6QRKVP34SVG.json
@@ -0,0 +1 @@
+{"episode_id":"3DUZQ9U6SVM0SB4CPBR6QRKVP34SVG","trajectory_id":"3UAU495MJQQIVKQQN1VQLHDNG3XUOG","scene_id":5,"instruction":"take off, face the tall building, fly over the shade, see the giant screen on your left, be clos to that, look down see the tunnel, fly down, turn right until see the to tower far behind the buildings. target the building with white board, fly up and target the tallest building, go ahead and see the coloured screen on your left, reach there. fly down, land in front of the fence facing the tree.","sentence_instructions":[{"id":0,"instruction":"take off, face the tall building, fly over the shade, see the giant screen on your left, be clos to that, look down see the tunnel, fly down, turn right until see the to tower far behind the buildings.","completed_instruction":"Turn left to face the black tall building, fly over the edge wall, fly towards the tall building on the left, fly down to the white pipe, then turn right to face the dark green building with a white and red sign.","start_frame":1,"end_frame":43,"start_position":[30.809431076049805,36.02878189086914,-33.083560943603516],"start_rotation":[0.999905149142725,0,0,-0.013772897947235479],"end_position":[-1.0826138974759312,-9.765627723710878,-9.083560943603516],"end_rotation":[0.91852124188554707,0,0,-0.39537163303028239],"actions":[4,2,2,2,2,2,2,2,1,6,1,1,1,1,6,1,1,1,2,2,1,1,5,5,5,5,5,5,5,5,5,1,5,5,5,5,3,3,3,3,3,3,3],"reference_path":[[30.809431076049805,36.02878189086914,-33.083560943603516,0,0,-0.027546666841633382],[30.809431076049805,36.02878189086914,-35.083560943603516,0,0,-0.027546666841633382],[30.809431076049805,36.02878189086914,-35.083560943603516,0,0,-0.2893460546407828],[30.809431076049805,36.02878189086914,-35.083560943603516,0,0,-0.5511454424399322],[30.809431076049805,36.02878189086914,-35.083560943603516,0,0,-0.8129448302390817],[30.809431076049805,36.02878189086914,-35.083560943603516,0,0,-1.0747442180382312],[30.809431076049805,36.02878189086914,-35.083560943603516,0,0,-1.3365436058373807],[30.809431076049805,36.02878189086914,-35.083560943603516,0,0,-1.59834299363653],[30.809431076049805,36.02878189086914,-35.083560943603516,0,0,-1.8601423814356797],[29.382803451694013,31.23662855218882,-35.083560943603516,0,0,-1.8601423814356797],[24.59065011301369,32.66325617654461,-35.083560943603516,0,0,-1.8601423814356797],[23.1640224886579,27.871102837864285,-35.083560943603516,0,0,-1.8601423814356797],[21.737394864302107,23.078949499183963,-35.083560943603516,0,0,-1.8601423814356797],[20.310767239946315,18.28679616050364,-35.083560943603516,0,0,-1.8601423814356797],[18.884139615590524,13.49464282182332,-35.083560943603516,0,0,-1.8601423814356797],[14.091986276910202,14.921270446179111,-35.083560943603516,0,0,-1.8601423814356797],[12.66535865255441,10.12911710749879,-35.083560943603516,0,0,-1.8601423814356797],[11.238731028198618,5.336963768818468,-35.083560943603516,0,0,-1.8601423814356797],[9.812103403842826,0.5448104301381473,-35.083560943603516,0,0,-1.8601423814356797],[9.812103403842826,0.5448104301381473,-35.083560943603516,0,0,-2.121941769234829],[9.812103403842826,0.5448104301381473,-35.083560943603516,0,0,-2.3837411570339784],[6.180530970069907,-2.892002287811528,-35.083560943603516,0,0,-2.3837411570339784],[2.548958536296988,-6.328815005761204,-35.083560943603516,0,0,-2.3837411570339784],[2.548958536296988,-6.328815005761204,-33.083560943603516,0,0,-2.3837411570339784],[2.548958536296988,-6.328815005761204,-31.083560943603516,0,0,-2.3837411570339784],[2.548958536296988,-6.328815005761204,-29.083560943603516,0,0,-2.3837411570339784],[2.548958536296988,-6.328815005761204,-27.083560943603516,0,0,-2.3837411570339784],[2.548958536296988,-6.328815005761204,-25.083560943603516,0,0,-2.3837411570339784],[2.548958536296988,-6.328815005761204,-23.083560943603516,0,0,-2.3837411570339784],[2.548958536296988,-6.328815005761204,-21.083560943603516,0,0,-2.3837411570339784],[2.548958536296988,-6.328815005761204,-19.083560943603516,0,0,-2.3837411570339784],[2.548958536296988,-6.328815005761204,-17.083560943603516,0,0,-2.3837411570339784],[-1.0826138974759312,-9.765627723710878,-17.083560943603516,0,0,-2.3837411570339784],[-1.0826138974759312,-9.765627723710878,-15.083560943603516,0,0,-2.3837411570339784],[-1.0826138974759312,-9.765627723710878,-13.083560943603516,0,0,-2.3837411570339784],[-1.0826138974759312,-9.765627723710878,-11.083560943603516,0,0,-2.3837411570339784],[-1.0826138974759312,-9.765627723710878,-9.083560943603516,0,0,-2.3837411570339784],[-1.0826138974759312,-9.765627723710878,-9.083560943603516,0,0,-2.121941769234829],[-1.0826138974759312,-9.765627723710878,-9.083560943603516,0,0,-1.8601423814356792],[-1.0826138974759312,-9.765627723710878,-9.083560943603516,0,0,-1.5983429936365299],[-1.0826138974759312,-9.765627723710878,-9.083560943603516,0,0,-1.3365436058373803],[-1.0826138974759312,-9.765627723710878,-9.083560943603516,0,0,-1.0747442180382307],[-1.0826138974759312,-9.765627723710878,-9.083560943603516,0,0,-0.8129448302390814]]},{"id":1,"instruction":"target the building with white board, fly up and target the tallest building, go ahead and see the coloured screen on your left, reach there.","completed_instruction":"Fly up to the height of the roof, then fly over the shed on the top of the building ahead, fly towards the left side of the tallest building, then reach a black and red billboard.","start_frame":43,"end_frame":78,"start_position":[-1.0826138974759312,-9.765627723710878,-9.083560943603516],"start_rotation":[0.91852124188554707,0,0,-0.39537163303028239],"end_position":[50.85514988558211,-44.32188095458213,-31.083560943603516],"end_rotation":[0.91852124188554707,0,0,-0.39537163303028244],"actions":[3,3,4,1,4,4,4,4,4,1,4,4,4,4,4,4,1,1,4,1,2,1,4,1,1,1,5,1,2,1,5,1,5,1,6,1],"reference_path":[[-1.0826138974759312,-9.765627723710878,-9.083560943603516,0,0,-0.8129448302390814],[-1.0826138974759312,-9.765627723710878,-9.083560943603516,0,0,-0.551145442439932],[-1.0826138974759312,-9.765627723710878,-9.083560943603516,0,0,-0.2893460546407826],[-1.0826138974759312,-9.765627723710878,-11.083560943603516,0,0,-0.2893460546407826],[3.7095394412043907,-11.192255348066668,-11.083560943603516,0,0,-0.2893460546407826],[3.7095394412043907,-11.192255348066668,-13.083560943603516,0,0,-0.2893460546407826],[3.7095394412043907,-11.192255348066668,-15.083560943603516,0,0,-0.2893460546407826],[3.7095394412043907,-11.192255348066668,-17.083560943603516,0,0,-0.2893460546407826],[3.7095394412043907,-11.192255348066668,-19.083560943603516,0,0,-0.2893460546407826],[3.7095394412043907,-11.192255348066668,-21.083560943603516,0,0,-0.2893460546407826],[8.501692779884714,-12.618882972422458,-21.083560943603516,0,0,-0.2893460546407826],[8.501692779884714,-12.618882972422458,-23.083560943603516,0,0,-0.2893460546407826],[8.501692779884714,-12.618882972422458,-25.083560943603516,0,0,-0.2893460546407826],[8.501692779884714,-12.618882972422458,-27.083560943603516,0,0,-0.2893460546407826],[8.501692779884714,-12.618882972422458,-29.083560943603516,0,0,-0.2893460546407826],[8.501692779884714,-12.618882972422458,-31.083560943603516,0,0,-0.2893460546407826],[8.501692779884714,-12.618882972422458,-33.083560943603516,0,0,-0.2893460546407826],[13.293846118565035,-14.045510596778248,-33.083560943603516,0,0,-0.2893460546407826],[18.085999457245357,-15.472138221134038,-33.083560943603516,0,0,-0.2893460546407826],[18.085999457245357,-15.472138221134038,-35.083560943603516,0,0,-0.2893460546407826],[22.87815279592568,-16.898765845489827,-35.083560943603516,0,0,-0.2893460546407826],[22.87815279592568,-16.898765845489827,-35.083560943603516,0,0,-0.551145442439932],[27.13777906984174,-19.5170828634546,-35.083560943603516,0,0,-0.551145442439932],[27.13777906984174,-19.5170828634546,-37.083560943603516,0,0,-0.551145442439932],[31.397405343757804,-22.135399881419374,-37.083560943603516,0,0,-0.551145442439932],[35.657031617673866,-24.75371689938415,-37.083560943603516,0,0,-0.551145442439932],[39.91665789158993,-27.372033917348922,-37.083560943603516,0,0,-0.551145442439932],[39.91665789158993,-27.372033917348922,-35.083560943603516,0,0,-0.551145442439932],[44.17628416550599,-29.990350935313696,-35.083560943603516,0,0,-0.551145442439932],[44.17628416550599,-29.990350935313696,-35.083560943603516,0,0,-0.8129448302390815],[47.61309688345567,-33.621923369086616,-35.083560943603516,0,0,-0.8129448302390815],[47.61309688345567,-33.621923369086616,-33.083560943603516,0,0,-0.8129448302390815],[51.049909601405346,-37.25349580285953,-33.083560943603516,0,0,-0.8129448302390815],[51.049909601405346,-37.25349580285953,-31.083560943603516,0,0,-0.8129448302390815],[54.486722319355025,-40.88506823663245,-31.083560943603516,0,0,-0.8129448302390815],[50.85514988558211,-44.32188095458213,-31.083560943603516,0,0,-0.8129448302390815]]},{"id":2,"instruction":"fly down, land in front of the fence facing the tree.","completed_instruction":"Fly down to the white pipes and land in front of the fence facing the right tree.","start_frame":78,"end_frame":98,"start_position":[50.85514988558211,-44.32188095458213,-31.083560943603516],"start_rotation":[0.91852124188554707,0,0,-0.39537163303028244],"end_position":[57.728775321481464,-51.58502582212796,-3.0835609436035156],"end_rotation":[0.98955309805388014,0,0,-0.1441688805948351],"actions":[1,5,1,5,5,5,5,5,5,5,5,5,5,5,5,5,3,3,3,2,0],"reference_path":[[50.85514988558211,-44.32188095458213,-31.083560943603516,0,0,-0.8129448302390815],[54.291962603531786,-47.953453388355044,-31.083560943603516,0,0,-0.8129448302390815],[54.291962603531786,-47.953453388355044,-29.083560943603516,0,0,-0.8129448302390815],[57.728775321481464,-51.58502582212796,-29.083560943603516,0,0,-0.8129448302390815],[57.728775321481464,-51.58502582212796,-27.083560943603516,0,0,-0.8129448302390815],[57.728775321481464,-51.58502582212796,-25.083560943603516,0,0,-0.8129448302390815],[57.728775321481464,-51.58502582212796,-23.083560943603516,0,0,-0.8129448302390815],[57.728775321481464,-51.58502582212796,-21.083560943603516,0,0,-0.8129448302390815],[57.728775321481464,-51.58502582212796,-19.083560943603516,0,0,-0.8129448302390815],[57.728775321481464,-51.58502582212796,-17.083560943603516,0,0,-0.8129448302390815],[57.728775321481464,-51.58502582212796,-15.083560943603516,0,0,-0.8129448302390815],[57.728775321481464,-51.58502582212796,-13.083560943603516,0,0,-0.8129448302390815],[57.728775321481464,-51.58502582212796,-11.083560943603516,0,0,-0.8129448302390815],[57.728775321481464,-51.58502582212796,-9.083560943603516,0,0,-0.8129448302390815],[57.728775321481464,-51.58502582212796,-7.083560943603516,0,0,-0.8129448302390815],[57.728775321481464,-51.58502582212796,-5.083560943603516,0,0,-0.8129448302390815],[57.728775321481464,-51.58502582212796,-3.0835609436035156,0,0,-0.8129448302390815],[57.728775321481464,-51.58502582212796,-3.0835609436035156,0,0,-0.551145442439932],[57.728775321481464,-51.58502582212796,-3.0835609436035156,0,0,-0.2893460546407826],[57.728775321481464,-51.58502582212796,-3.0835609436035156,0,0,-0.027546666841633188],[57.728775321481464,-51.58502582212796,-3.0835609436035156,0,0,-0.2893460546407826]]}],"statistics":{"complete_actions":100,"sentence_actions":[43,36,21],"sentence_actions_average":33.33}}
diff --git a/scene_5/3FFJ6VRILAMV5W00H2931WOIJQRI0J.json b/scene_5/3FFJ6VRILAMV5W00H2931WOIJQRI0J.json
new file mode 100644
index 0000000000000000000000000000000000000000..8d6f17e6109e2dc3a49ebeb9eecb3642bea7761e
--- /dev/null
+++ b/scene_5/3FFJ6VRILAMV5W00H2931WOIJQRI0J.json
@@ -0,0 +1 @@
+{"episode_id":"3FFJ6VRILAMV5W00H2931WOIJQRI0J","trajectory_id":"38Z7YZ2SCB0G75868XYGRJKC0I0IQT","scene_id":5,"instruction":"take off, turn right, fly forward, and descend. turn left, fly up, and approach the multiple satellites. turn right, depend, and approach the ledge and fence. look up, fly up, move forward, and turn left. proceed forward to the sky scraper, and turn left again. when the worn out billboard is seen, approach it, turn right, and descend. turn right, descend further down, and land in front of the building.","sentence_instructions":[{"id":0,"instruction":"take off, turn right, fly forward, and descend.","completed_instruction":"Turn right slightly until a tall black and white building is on the left, fly over the roof of the building ahead, and fly down to the height of the building ahead.","start_frame":1,"end_frame":13,"start_position":[-101.682861328125,-53.82831954956055,-32.89664077758789],"start_rotation":[0.99963219615197829,0,0,-0.027119594694111869],"end_position":[-90.13339152934714,-36.75173478072817,-32.89664077758789],"end_rotation":[0.93391794564601338,0,0,0.35748744145820011],"actions":[4,4,3,3,3,1,1,1,5,1,7,5,1],"reference_path":[[-101.682861328125,-53.82831954956055,-32.89664077758789,0,0,-0.054245840160896126],[-101.682861328125,-53.82831954956055,-34.89664077758789,0,0,-0.054245840160896126],[-101.682861328125,-53.82831954956055,-36.89664077758789,0,0,-0.054245840160896126],[-101.682861328125,-53.82831954956055,-36.89664077758789,0,0,0.20755354763825332],[-101.682861328125,-53.82831954956055,-36.89664077758789,0,0,0.46935293543740275],[-101.682861328125,-53.82831954956055,-36.89664077758789,0,0,0.7311523232365522],[-97.9608340361283,-50.48968018035163,-36.89664077758789,0,0,0.7311523232365522],[-94.23880674413161,-47.15104081114271,-36.89664077758789,0,0,0.7311523232365522],[-90.51677945213491,-43.81240144193379,-36.89664077758789,0,0,0.7311523232365522],[-90.51677945213491,-43.81240144193379,-34.89664077758789,0,0,0.7311523232365522],[-86.79475216013822,-40.47376207272487,-34.89664077758789,0,0,0.7311523232365522],[-90.13339152934714,-36.75173478072817,-34.89664077758789,0,0,0.7311523232365522],[-90.13339152934714,-36.75173478072817,-32.89664077758789,0,0,0.7311523232365522]]},{"id":1,"instruction":"turn left, fly up, and approach the multiple satellites.","completed_instruction":"Turn left to face the broken black and white high building, fly up to the height of the building, and fly forward towards the satellite disks on the roof.","start_frame":13,"end_frame":42,"start_position":[-90.13339152934714,-36.75173478072817,-32.89664077758789],"start_rotation":[0.93391794564601338,0,0,0.35748744145820011],"end_position":[-61.54809326095277,-33.4671473498209,-64.89664077758789],"end_rotation":[0.99963219615197829,0,0,-0.02711959469411182],"actions":[1,5,5,2,2,4,4,4,4,4,4,4,4,4,4,4,4,4,4,4,4,4,4,1,2,1,1,1,1,1],"reference_path":[[-90.13339152934714,-36.75173478072817,-32.89664077758789,0,0,0.7311523232365522],[-86.41136423735044,-33.41309541151925,-32.89664077758789,0,0,0.7311523232365522],[-86.41136423735044,-33.41309541151925,-30.89664077758789,0,0,0.7311523232365522],[-86.41136423735044,-33.41309541151925,-28.89664077758789,0,0,0.7311523232365522],[-86.41136423735044,-33.41309541151925,-28.89664077758789,0,0,0.4693529354374028],[-86.41136423735044,-33.41309541151925,-28.89664077758789,0,0,0.20755354763825337],[-86.41136423735044,-33.41309541151925,-30.89664077758789,0,0,0.20755354763825337],[-86.41136423735044,-33.41309541151925,-32.89664077758789,0,0,0.20755354763825337],[-86.41136423735044,-33.41309541151925,-34.89664077758789,0,0,0.20755354763825337],[-86.41136423735044,-33.41309541151925,-36.89664077758789,0,0,0.20755354763825337],[-86.41136423735044,-33.41309541151925,-38.89664077758789,0,0,0.20755354763825337],[-86.41136423735044,-33.41309541151925,-40.89664077758789,0,0,0.20755354763825337],[-86.41136423735044,-33.41309541151925,-42.89664077758789,0,0,0.20755354763825337],[-86.41136423735044,-33.41309541151925,-44.89664077758789,0,0,0.20755354763825337],[-86.41136423735044,-33.41309541151925,-46.89664077758789,0,0,0.20755354763825337],[-86.41136423735044,-33.41309541151925,-48.89664077758789,0,0,0.20755354763825337],[-86.41136423735044,-33.41309541151925,-50.89664077758789,0,0,0.20755354763825337],[-86.41136423735044,-33.41309541151925,-52.89664077758789,0,0,0.20755354763825337],[-86.41136423735044,-33.41309541151925,-54.89664077758789,0,0,0.20755354763825337],[-86.41136423735044,-33.41309541151925,-56.89664077758789,0,0,0.20755354763825337],[-86.41136423735044,-33.41309541151925,-58.89664077758789,0,0,0.20755354763825337],[-86.41136423735044,-33.41309541151925,-60.89664077758789,0,0,0.20755354763825337],[-86.41136423735044,-33.41309541151925,-62.89664077758789,0,0,0.20755354763825337],[-86.41136423735044,-33.41309541151925,-64.89664077758789,0,0,0.20755354763825337],[-81.51867436429784,-32.38276254970783,-64.89664077758789,0,0,0.20755354763825337],[-81.51867436429784,-32.38276254970783,-64.89664077758789,0,0,-0.054245840160896036],[-76.52602908846157,-32.653858749736095,-64.89664077758789,0,0,-0.054245840160896036],[-71.5333838126253,-32.92495494976436,-64.89664077758789,0,0,-0.054245840160896036],[-66.54073853678904,-33.19605114979263,-64.89664077758789,0,0,-0.054245840160896036],[-61.54809326095277,-33.4671473498209,-64.89664077758789,0,0,-0.054245840160896036]]},{"id":2,"instruction":"turn right, depend, and approach the ledge and fence.","completed_instruction":"Turn right slightly to face electric lines below, fly forward to the river and white pipes, and fly down to the height of pipes.","start_frame":42,"end_frame":87,"start_position":[-61.54809326095277,-33.4671473498209,-64.89664077758789],"start_rotation":[0.99963219615197829,0,0,-0.02711959469411182],"end_position":[-8.364523477217588,-9.396996750688032,-10.89664077758789],"end_rotation":[0.99462002156866924,0,0,0.10359060138226779],"actions":[1,1,3,3,1,5,1,5,5,1,5,1,5,5,1,5,5,7,5,1,5,5,1,5,3,5,2,5,5,1,5,2,5,5,5,5,1,5,5,5,5,1,5,5,5,5],"reference_path":[[-61.54809326095277,-33.4671473498209,-64.89664077758789,0,0,-0.054245840160896036],[-56.5554479851165,-33.738243549849166,-64.89664077758789,0,0,-0.054245840160896036],[-51.562802709280234,-34.009339749877434,-64.89664077758789,0,0,-0.054245840160896036],[-51.562802709280234,-34.009339749877434,-64.89664077758789,0,0,0.2075535476382534],[-51.562802709280234,-34.009339749877434,-64.89664077758789,0,0,0.46935293543740286],[-47.103496968307525,-31.747793308053204,-64.89664077758789,0,0,0.46935293543740286],[-47.103496968307525,-31.747793308053204,-62.89664077758789,0,0,0.46935293543740286],[-42.644191227334815,-29.486246866228974,-62.89664077758789,0,0,0.46935293543740286],[-42.644191227334815,-29.486246866228974,-60.89664077758789,0,0,0.46935293543740286],[-42.644191227334815,-29.486246866228974,-58.89664077758789,0,0,0.46935293543740286],[-38.184885486362106,-27.224700424404745,-58.89664077758789,0,0,0.46935293543740286],[-38.184885486362106,-27.224700424404745,-56.89664077758789,0,0,0.46935293543740286],[-33.725579745389396,-24.963153982580515,-56.89664077758789,0,0,0.46935293543740286],[-33.725579745389396,-24.963153982580515,-54.89664077758789,0,0,0.46935293543740286],[-33.725579745389396,-24.963153982580515,-52.89664077758789,0,0,0.46935293543740286],[-29.266274004416687,-22.701607540756285,-52.89664077758789,0,0,0.46935293543740286],[-29.266274004416687,-22.701607540756285,-50.89664077758789,0,0,0.46935293543740286],[-29.266274004416687,-22.701607540756285,-48.89664077758789,0,0,0.46935293543740286],[-31.527820446240916,-18.242301799783576,-48.89664077758789,0,0,0.46935293543740286],[-31.527820446240916,-18.242301799783576,-46.89664077758789,0,0,0.46935293543740286],[-27.068514705268207,-15.980755357959346,-46.89664077758789,0,0,0.46935293543740286],[-27.068514705268207,-15.980755357959346,-44.89664077758789,0,0,0.46935293543740286],[-27.068514705268207,-15.980755357959346,-42.89664077758789,0,0,0.46935293543740286],[-22.609208964295497,-13.719208916135116,-42.89664077758789,0,0,0.46935293543740286],[-22.609208964295497,-13.719208916135116,-40.89664077758789,0,0,0.46935293543740286],[-22.609208964295497,-13.719208916135116,-40.89664077758789,0,0,0.7311523232365522],[-22.609208964295497,-13.719208916135116,-38.89664077758789,0,0,0.7311523232365522],[-22.609208964295497,-13.719208916135116,-38.89664077758789,0,0,0.4693529354374028],[-22.609208964295497,-13.719208916135116,-36.89664077758789,0,0,0.4693529354374028],[-22.609208964295497,-13.719208916135116,-34.89664077758789,0,0,0.4693529354374028],[-18.149903223322788,-11.457662474310887,-34.89664077758789,0,0,0.4693529354374028],[-18.149903223322788,-11.457662474310887,-32.89664077758789,0,0,0.4693529354374028],[-18.149903223322788,-11.457662474310887,-32.89664077758789,0,0,0.20755354763825337],[-18.149903223322788,-11.457662474310887,-30.89664077758789,0,0,0.20755354763825337],[-18.149903223322788,-11.457662474310887,-28.89664077758789,0,0,0.20755354763825337],[-18.149903223322788,-11.457662474310887,-26.89664077758789,0,0,0.20755354763825337],[-18.149903223322788,-11.457662474310887,-24.89664077758789,0,0,0.20755354763825337],[-13.257213350270188,-10.42732961249946,-24.89664077758789,0,0,0.20755354763825337],[-13.257213350270188,-10.42732961249946,-22.89664077758789,0,0,0.20755354763825337],[-13.257213350270188,-10.42732961249946,-20.89664077758789,0,0,0.20755354763825337],[-13.257213350270188,-10.42732961249946,-18.89664077758789,0,0,0.20755354763825337],[-13.257213350270188,-10.42732961249946,-16.89664077758789,0,0,0.20755354763825337],[-8.364523477217588,-9.396996750688032,-16.89664077758789,0,0,0.20755354763825337],[-8.364523477217588,-9.396996750688032,-14.89664077758789,0,0,0.20755354763825337],[-8.364523477217588,-9.396996750688032,-12.89664077758789,0,0,0.20755354763825337],[-8.364523477217588,-9.396996750688032,-10.89664077758789,0,0,0.20755354763825337]]},{"id":3,"instruction":"look up, fly up, move forward, and turn left.","completed_instruction":"Fly up above the electric lines ahead, fly towards the satellite antenna between two buildings, then turn left slightly to face a billboard\u0027s back.","start_frame":87,"end_frame":108,"start_position":[-8.364523477217588,-9.396996750688032,-10.89664077758789],"start_rotation":[0.99462002156866924,0,0,0.10359060138226779],"end_position":[17.12925874985684,-9.1380223146835,-30.89664077758789],"end_rotation":[0.99963219615197829,0,0,-0.02711959469411182],"actions":[5,5,4,4,4,4,4,4,4,4,4,4,4,4,1,1,1,1,1,6,2,2],"reference_path":[[-8.364523477217588,-9.396996750688032,-10.89664077758789,0,0,0.20755354763825337],[-8.364523477217588,-9.396996750688032,-8.89664077758789,0,0,0.20755354763825337],[-8.364523477217588,-9.396996750688032,-6.896640777587891,0,0,0.20755354763825337],[-8.364523477217588,-9.396996750688032,-8.89664077758789,0,0,0.20755354763825337],[-8.364523477217588,-9.396996750688032,-10.89664077758789,0,0,0.20755354763825337],[-8.364523477217588,-9.396996750688032,-12.89664077758789,0,0,0.20755354763825337],[-8.364523477217588,-9.396996750688032,-14.89664077758789,0,0,0.20755354763825337],[-8.364523477217588,-9.396996750688032,-16.89664077758789,0,0,0.20755354763825337],[-8.364523477217588,-9.396996750688032,-18.89664077758789,0,0,0.20755354763825337],[-8.364523477217588,-9.396996750688032,-20.89664077758789,0,0,0.20755354763825337],[-8.364523477217588,-9.396996750688032,-22.89664077758789,0,0,0.20755354763825337],[-8.364523477217588,-9.396996750688032,-24.89664077758789,0,0,0.20755354763825337],[-8.364523477217588,-9.396996750688032,-26.89664077758789,0,0,0.20755354763825337],[-8.364523477217588,-9.396996750688032,-28.89664077758789,0,0,0.20755354763825337],[-8.364523477217588,-9.396996750688032,-30.89664077758789,0,0,0.20755354763825337],[-3.4718336041649875,-8.366663888876605,-30.89664077758789,0,0,0.20755354763825337],[1.4208562688876132,-7.336331027065179,-30.89664077758789,0,0,0.20755354763825337],[6.313546141940214,-6.305998165253753,-30.89664077758789,0,0,0.20755354763825337],[11.206236014992815,-5.275665303442326,-30.89664077758789,0,0,0.20755354763825337],[16.098925888045414,-4.2453324416309,-30.89664077758789,0,0,0.20755354763825337],[17.12925874985684,-9.1380223146835,-30.89664077758789,0,0,0.20755354763825337],[17.12925874985684,-9.1380223146835,-30.89664077758789,0,0,-0.054245840160896036]]},{"id":4,"instruction":"proceed forward to the sky scraper, and turn left again.","completed_instruction":"Fly forward to the front of the highest building and turn left to face a black and red billboard.","start_frame":108,"end_frame":129,"start_position":[17.12925874985684,-9.1380223146835,-30.89664077758789],"start_rotation":[0.99963219615197829,0,0,-0.02711959469411182],"end_position":[64.65667440717812,-46.09941786377242,-28.89664077758789],"end_rotation":[0.77655217865971027,0,0,-0.63005294525052213],"actions":[2,2,1,1,4,1,1,1,1,1,1,1,1,5,6,1,1,5,2,2,2,2],"reference_path":[[17.12925874985684,-9.1380223146835,-30.89664077758789,0,0,-0.054245840160896036],[17.12925874985684,-9.1380223146835,-30.89664077758789,0,0,-0.31604522796004547],[17.12925874985684,-9.1380223146835,-30.89664077758789,0,0,-0.5778446157591949],[21.317468290801287,-11.869121148695541,-30.89664077758789,0,0,-0.5778446157591949],[25.505677831745732,-14.600219982707582,-30.89664077758789,0,0,-0.5778446157591949],[25.505677831745732,-14.600219982707582,-32.89664077758789,0,0,-0.5778446157591949],[29.693887372690178,-17.331318816719623,-32.89664077758789,0,0,-0.5778446157591949],[33.88209691363462,-20.062417650731664,-32.89664077758789,0,0,-0.5778446157591949],[38.07030645457906,-22.793516484743705,-32.89664077758789,0,0,-0.5778446157591949],[42.2585159955235,-25.524615318755746,-32.89664077758789,0,0,-0.5778446157591949],[46.446725536467945,-28.255714152767787,-32.89664077758789,0,0,-0.5778446157591949],[50.634935077412386,-30.986812986779828,-32.89664077758789,0,0,-0.5778446157591949],[54.82314461835683,-33.71791182079187,-32.89664077758789,0,0,-0.5778446157591949],[59.01135415930127,-36.44901065480391,-32.89664077758789,0,0,-0.5778446157591949],[59.01135415930127,-36.44901065480391,-30.89664077758789,0,0,-0.5778446157591949],[56.28025532528923,-40.63722019574835,-30.89664077758789,0,0,-0.5778446157591949],[60.468464866233674,-43.368319029760386,-30.89664077758789,0,0,-0.5778446157591949],[64.65667440717812,-46.09941786377242,-30.89664077758789,0,0,-0.5778446157591949],[64.65667440717812,-46.09941786377242,-28.89664077758789,0,0,-0.5778446157591949],[64.65667440717812,-46.09941786377242,-28.89664077758789,0,0,-0.8396440035583442],[64.65667440717812,-46.09941786377242,-28.89664077758789,0,0,-1.1014433913574937],[64.65667440717812,-46.09941786377242,-28.89664077758789,0,0,-1.3632427791566433]]},{"id":5,"instruction":"when the worn out billboard is seen, approach it, turn right, and descend.","completed_instruction":"Fly towards the billboard.","start_frame":129,"end_frame":135,"start_position":[64.65667440717812,-46.09941786377242,-28.89664077758789],"start_rotation":[0.77655217865971027,0,0,-0.63005294525052213],"end_position":[61.54857339949075,-55.604138171388676,-26.89664077758789],"end_rotation":[0.68767025528022785,0,0,-0.72602315390270189],"actions":[2,2,1,5,1,3,5],"reference_path":[[64.65667440717812,-46.09941786377242,-28.89664077758789,0,0,-1.3632427791566433],[64.65667440717812,-46.09941786377242,-28.89664077758789,0,0,-1.6250421669557926],[64.65667440717812,-46.09941786377242,-28.89664077758789,0,0,-1.8868415547549418],[63.10262390333443,-50.85177801758055,-28.89664077758789,0,0,-1.8868415547549418],[63.10262390333443,-50.85177801758055,-26.89664077758789,0,0,-1.8868415547549418],[61.54857339949075,-55.604138171388676,-26.89664077758789,0,0,-1.8868415547549418],[61.54857339949075,-55.604138171388676,-26.89664077758789,0,0,-1.6250421669557922]]},{"id":6,"instruction":"turn right, descend further down, and land in front of the building.","completed_instruction":"Land on the ground.","start_frame":135,"end_frame":150,"start_position":[61.54857339949075,-55.604138171388676,-26.89664077758789],"start_rotation":[0.68767025528022785,0,0,-0.72602315390270189],"end_position":[61.54857339949075,-55.604138171388676,-2.8966407775878906],"end_rotation":[0.58702210317468617,0,0,-0.80957090509995977],"actions":[5,5,5,5,2,5,2,5,5,5,5,3,5,5,5,0],"reference_path":[[61.54857339949075,-55.604138171388676,-26.89664077758789,0,0,-1.6250421669557922],[61.54857339949075,-55.604138171388676,-24.89664077758789,0,0,-1.6250421669557922],[61.54857339949075,-55.604138171388676,-22.89664077758789,0,0,-1.6250421669557922],[61.54857339949075,-55.604138171388676,-20.89664077758789,0,0,-1.6250421669557922],[61.54857339949075,-55.604138171388676,-18.89664077758789,0,0,-1.6250421669557922],[61.54857339949075,-55.604138171388676,-18.89664077758789,0,0,-1.8868415547549415],[61.54857339949075,-55.604138171388676,-16.89664077758789,0,0,-1.8868415547549415],[61.54857339949075,-55.604138171388676,-16.89664077758789,0,0,-2.148640942554091],[61.54857339949075,-55.604138171388676,-14.89664077758789,0,0,-2.148640942554091],[61.54857339949075,-55.604138171388676,-12.89664077758789,0,0,-2.148640942554091],[61.54857339949075,-55.604138171388676,-10.89664077758789,0,0,-2.148640942554091],[61.54857339949075,-55.604138171388676,-8.89664077758789,0,0,-2.148640942554091],[61.54857339949075,-55.604138171388676,-8.89664077758789,0,0,-1.8868415547549418],[61.54857339949075,-55.604138171388676,-6.896640777587891,0,0,-1.8868415547549418],[61.54857339949075,-55.604138171388676,-4.896640777587891,0,0,-1.8868415547549418],[61.54857339949075,-55.604138171388676,-2.8966407775878906,0,0,-1.8868415547549418]]}],"statistics":{"complete_actions":156,"sentence_actions":[13,30,46,22,22,7,16],"sentence_actions_average":22.29}}
diff --git a/scene_5/3IGI0VL64GI8ME3AG3O6W5GH3R7NOY.json b/scene_5/3IGI0VL64GI8ME3AG3O6W5GH3R7NOY.json
new file mode 100644
index 0000000000000000000000000000000000000000..0052c868ab58a06585e44bd5b739b8c66f4320cc
--- /dev/null
+++ b/scene_5/3IGI0VL64GI8ME3AG3O6W5GH3R7NOY.json
@@ -0,0 +1 @@
+{"episode_id":"3IGI0VL64GI8ME3AG3O6W5GH3R7NOY","trajectory_id":"3WGZLY9VDPKTTQSOUPG5EVJZE76D8B","scene_id":5,"instruction":"fly slightly above the height of the building in front of you. pass the building in front of satellite disks and fly toward tall building just beyond the building. look down and fly down just in front of trees in front of tall building. lower down until facing black fence and on the ground on top of white pipe. turn left, fly forward slightly, and turn left again. fly forward toward the green trees but before the black fence and begin to lower below the power lines. facing the power lines, turn right toward the beige building. until there is a red and white sign in to the left adjacent. fly above the top of the building with the red sign fly toward the satellite disks. facing the satellite disks, turn slightly left toward the black stained building and hover on roof by windows. fly slightly toward building with blue paint and fly above the height of the building. head toward the second set of satellite disks on the right.","sentence_instructions":[{"id":0,"instruction":"fly slightly above the height of the building in front of you.","completed_instruction":"Take off and fly up to the height of the black building on the left, then fly to its terrace.","start_frame":1,"end_frame":16,"start_position":[23.815502166748047,15.108762741088867,-8.151684761047363],"start_rotation":[0.99985542676570915,0,0,-0.017003692750743284],"end_position":[23.815502166748047,15.108762741088867,-38.15168476104736],"end_rotation":[0.99985542676570915,0,0,-0.017003692750743284],"actions":[4,4,4,4,4,4,4,4,4,4,4,4,4,4,4,2],"reference_path":[[23.815502166748047,15.108762741088867,-8.151684761047363,0,0,-0.0340090244488367],[23.815502166748047,15.108762741088867,-10.151684761047363,0,0,-0.0340090244488367],[23.815502166748047,15.108762741088867,-12.151684761047363,0,0,-0.0340090244488367],[23.815502166748047,15.108762741088867,-14.151684761047363,0,0,-0.0340090244488367],[23.815502166748047,15.108762741088867,-16.151684761047363,0,0,-0.0340090244488367],[23.815502166748047,15.108762741088867,-18.151684761047363,0,0,-0.0340090244488367],[23.815502166748047,15.108762741088867,-20.151684761047363,0,0,-0.0340090244488367],[23.815502166748047,15.108762741088867,-22.151684761047363,0,0,-0.0340090244488367],[23.815502166748047,15.108762741088867,-24.151684761047363,0,0,-0.0340090244488367],[23.815502166748047,15.108762741088867,-26.151684761047363,0,0,-0.0340090244488367],[23.815502166748047,15.108762741088867,-28.151684761047363,0,0,-0.0340090244488367],[23.815502166748047,15.108762741088867,-30.151684761047363,0,0,-0.0340090244488367],[23.815502166748047,15.108762741088867,-32.15168476104736,0,0,-0.0340090244488367],[23.815502166748047,15.108762741088867,-34.15168476104736,0,0,-0.0340090244488367],[23.815502166748047,15.108762741088867,-36.15168476104736,0,0,-0.0340090244488367],[23.815502166748047,15.108762741088867,-38.15168476104736,0,0,-0.0340090244488367]]},{"id":1,"instruction":"pass the building in front of satellite disks and fly toward tall building just beyond the building.","completed_instruction":"Turn left to face a terrace with radars, fly to it, then turn left to face the black and red bulletin board on the yellow building, then fly forward until you can see the bulletin board.","start_frame":16,"end_frame":33,"start_position":[23.815502166748047,15.108762741088867,-38.15168476104736],"start_rotation":[0.99985542676570915,0,0,-0.017003692750743284],"end_position":[14.270769785589774,-3.6551187611452205,-38.15168476104736],"end_rotation":[0.11364909782417937,0,0,-0.99352095225201476],"actions":[2,2,2,2,6,1,2,1,1,2,2,2,2,2,2,1,1,1],"reference_path":[[23.815502166748047,15.108762741088867,-38.15168476104736,0,0,-0.0340090244488367],[23.815502166748047,15.108762741088867,-38.15168476104736,0,0,-0.29580841224798615],[23.815502166748047,15.108762741088867,-38.15168476104736,0,0,-0.5576078000471356],[23.815502166748047,15.108762741088867,-38.15168476104736,0,0,-0.8194071878462851],[23.815502166748047,15.108762741088867,-38.15168476104736,0,0,-1.0812065756454345],[19.402872876326875,12.757443378408178,-38.15168476104736,0,0,-1.0812065756454345],[21.754192239007562,8.344814087987004,-38.15168476104736,0,0,-1.0812065756454345],[21.754192239007562,8.344814087987004,-38.15168476104736,0,0,-1.343005963444584],[22.88331983793617,3.4739752623495024,-38.15168476104736,0,0,-1.343005963444584],[24.01244743686478,-1.396863563287999,-38.15168476104736,0,0,-1.343005963444584],[24.01244743686478,-1.396863563287999,-38.15168476104736,0,0,-1.6048053512437332],[24.01244743686478,-1.396863563287999,-38.15168476104736,0,0,-1.8666047390428826],[24.01244743686478,-1.396863563287999,-38.15168476104736,0,0,-2.1284041268420317],[24.01244743686478,-1.396863563287999,-38.15168476104736,0,0,-2.390203514641181],[24.01244743686478,-1.396863563287999,-38.15168476104736,0,0,-2.6520029024403304],[24.01244743686478,-1.396863563287999,-38.15168476104736,0,0,-2.91380229023948],[19.141608611227277,-2.52599116221661,-38.15168476104736,0,0,-2.91380229023948],[14.270769785589774,-3.6551187611452205,-38.15168476104736,0,0,-2.91380229023948]]},{"id":2,"instruction":"look down and fly down just in front of trees in front of tall building.","completed_instruction":"Fly down to the height of trees.","start_frame":33,"end_frame":42,"start_position":[14.270769785589774,-3.6551187611452205,-38.15168476104736],"start_rotation":[0.11364909782417937,0,0,-0.99352095225201476],"end_position":[4.52909213431477,-5.913373959002442,-24.151684761047363],"end_rotation":[0.11364909782417937,0,0,-0.99352095225201476],"actions":[1,1,5,5,5,5,5,5,5,5],"reference_path":[[14.270769785589774,-3.6551187611452205,-38.15168476104736,0,0,-2.91380229023948],[9.399930959952272,-4.784246360073832,-38.15168476104736,0,0,-2.91380229023948],[4.52909213431477,-5.913373959002442,-38.15168476104736,0,0,-2.91380229023948],[4.52909213431477,-5.913373959002442,-36.15168476104736,0,0,-2.91380229023948],[4.52909213431477,-5.913373959002442,-34.15168476104736,0,0,-2.91380229023948],[4.52909213431477,-5.913373959002442,-32.15168476104736,0,0,-2.91380229023948],[4.52909213431477,-5.913373959002442,-30.151684761047363,0,0,-2.91380229023948],[4.52909213431477,-5.913373959002442,-28.151684761047363,0,0,-2.91380229023948],[4.52909213431477,-5.913373959002442,-26.151684761047363,0,0,-2.91380229023948],[4.52909213431477,-5.913373959002442,-24.151684761047363,0,0,-2.91380229023948]]},{"id":3,"instruction":"lower down until facing black fence and on the ground on top of white pipe.","completed_instruction":"Fly down to the height of black fence and you can see white pipe.","start_frame":42,"end_frame":50,"start_position":[4.52909213431477,-5.913373959002442,-24.151684761047363],"start_rotation":[0.11364909782417937,0,0,-0.99352095225201476],"end_position":[4.52909213431477,-5.913373959002442,-8.151684761047363],"end_rotation":[0.11364909782417937,0,0,-0.99352095225201476],"actions":[5,5,5,5,5,5,5,5,5],"reference_path":[[4.52909213431477,-5.913373959002442,-24.151684761047363,0,0,-2.91380229023948],[4.52909213431477,-5.913373959002442,-22.151684761047363,0,0,-2.91380229023948],[4.52909213431477,-5.913373959002442,-20.151684761047363,0,0,-2.91380229023948],[4.52909213431477,-5.913373959002442,-18.151684761047363,0,0,-2.91380229023948],[4.52909213431477,-5.913373959002442,-16.151684761047363,0,0,-2.91380229023948],[4.52909213431477,-5.913373959002442,-14.151684761047363,0,0,-2.91380229023948],[4.52909213431477,-5.913373959002442,-12.151684761047363,0,0,-2.91380229023948],[4.52909213431477,-5.913373959002442,-10.151684761047363,0,0,-2.91380229023948],[4.52909213431477,-5.913373959002442,-8.151684761047363,0,0,-2.91380229023948]]},{"id":4,"instruction":"facing the power lines, turn right toward the beige building.","completed_instruction":"Turn right to face a black building with a red and white billboard on its wall.","start_frame":50,"end_frame":60,"start_position":[4.52909213431477,-5.913373959002442,-8.151684761047363],"start_rotation":[0.11364909782417937,0,0,-0.99352095225201476],"end_position":[4.52909213431477,-5.913373959002442,-4.151684761047363],"end_rotation":[0.91723893275444079,0,0,-0.39833747029308519],"actions":[5,5,3,3,3,3,3,3,3,3,3],"reference_path":[[4.52909213431477,-5.913373959002442,-8.151684761047363,0,0,-2.91380229023948],[4.52909213431477,-5.913373959002442,-6.151684761047363,0,0,-2.91380229023948],[4.52909213431477,-5.913373959002442,-4.151684761047363,0,0,-2.91380229023948],[4.52909213431477,-5.913373959002442,-4.151684761047363,0,0,-2.6520029024403304],[4.52909213431477,-5.913373959002442,-4.151684761047363,0,0,-2.390203514641181],[4.52909213431477,-5.913373959002442,-4.151684761047363,0,0,-2.1284041268420317],[4.52909213431477,-5.913373959002442,-4.151684761047363,0,0,-1.8666047390428822],[4.52909213431477,-5.913373959002442,-4.151684761047363,0,0,-1.6048053512437328],[4.52909213431477,-5.913373959002442,-4.151684761047363,0,0,-1.3430059634445832],[4.52909213431477,-5.913373959002442,-4.151684761047363,0,0,-1.0812065756454339],[4.52909213431477,-5.913373959002442,-4.151684761047363,0,0,-0.8194071878462844]]},{"id":5,"instruction":"fly above the top of the building with the red sign fly toward the satellite disks.","completed_instruction":"Fly up to the top of the building above the satellite disks.","start_frame":60,"end_frame":74,"start_position":[4.52909213431477,-5.913373959002442,-4.151684761047363],"start_rotation":[0.91723893275444079,0,0,-0.39833747029308519],"end_position":[4.52909213431477,-5.913373959002442,-30.151684761047363],"end_rotation":[0.96138529974731268,0,0,-0.27520593276630112],"actions":[3,4,4,4,4,4,4,4,4,4,4,4,4,4,4],"reference_path":[[4.52909213431477,-5.913373959002442,-4.151684761047363,0,0,-0.8194071878462844],[4.52909213431477,-5.913373959002442,-4.151684761047363,0,0,-0.5576078000471351],[4.52909213431477,-5.913373959002442,-6.151684761047363,0,0,-0.5576078000471351],[4.52909213431477,-5.913373959002442,-8.151684761047363,0,0,-0.5576078000471351],[4.52909213431477,-5.913373959002442,-10.151684761047363,0,0,-0.5576078000471351],[4.52909213431477,-5.913373959002442,-12.151684761047363,0,0,-0.5576078000471351],[4.52909213431477,-5.913373959002442,-14.151684761047363,0,0,-0.5576078000471351],[4.52909213431477,-5.913373959002442,-16.151684761047363,0,0,-0.5576078000471351],[4.52909213431477,-5.913373959002442,-18.151684761047363,0,0,-0.5576078000471351],[4.52909213431477,-5.913373959002442,-20.151684761047363,0,0,-0.5576078000471351],[4.52909213431477,-5.913373959002442,-22.151684761047363,0,0,-0.5576078000471351],[4.52909213431477,-5.913373959002442,-24.151684761047363,0,0,-0.5576078000471351],[4.52909213431477,-5.913373959002442,-26.151684761047363,0,0,-0.5576078000471351],[4.52909213431477,-5.913373959002442,-28.151684761047363,0,0,-0.5576078000471351],[4.52909213431477,-5.913373959002442,-30.151684761047363,0,0,-0.5576078000471351]]},{"id":6,"instruction":"facing the satellite disks, turn slightly left toward the black stained building and hover on roof by windows.","completed_instruction":"Fly forward pass a billboard, then pass a terrace with a shed, then turn left to face a roof with curved wall and a chimney, and fly to it.","start_frame":74,"end_frame":97,"start_position":[4.52909213431477,-5.913373959002442,-30.151684761047363],"start_rotation":[0.96138529974731268,0,0,-0.27520593276630112],"end_position":[43.90086779925073,-30.26569540833531,-28.151684761047363],"end_rotation":[0.59518348195892945,0,0,-0.80358983493026137],"actions":[4,4,1,1,1,4,1,1,7,1,1,1,1,5,5,5,5,2,2,2,2,2,1,1],"reference_path":[[4.52909213431477,-5.913373959002442,-30.151684761047363,0,0,-0.5576078000471351],[4.52909213431477,-5.913373959002442,-32.15168476104736,0,0,-0.5576078000471351],[4.52909213431477,-5.913373959002442,-34.15168476104736,0,0,-0.5576078000471351],[8.771709080017072,-8.559163340650134,-34.15168476104736,0,0,-0.5576078000471351],[13.014326025719374,-11.204952722297826,-34.15168476104736,0,0,-0.5576078000471351],[17.256942971421676,-13.850742103945517,-34.15168476104736,0,0,-0.5576078000471351],[17.256942971421676,-13.850742103945517,-36.15168476104736,0,0,-0.5576078000471351],[21.499559917123978,-16.49653148559321,-36.15168476104736,0,0,-0.5576078000471351],[25.74217686282628,-19.1423208672409,-36.15168476104736,0,0,-0.5576078000471351],[28.387966244473972,-14.899703921538599,-36.15168476104736,0,0,-0.5576078000471351],[32.630583190176274,-17.54549330318629,-36.15168476104736,0,0,-0.5576078000471351],[36.87320013587858,-20.191282684833983,-36.15168476104736,0,0,-0.5576078000471351],[41.11581708158088,-22.837072066481674,-36.15168476104736,0,0,-0.5576078000471351],[45.35843402728318,-25.482861448129366,-36.15168476104736,0,0,-0.5576078000471351],[45.35843402728318,-25.482861448129366,-34.15168476104736,0,0,-0.5576078000471351],[45.35843402728318,-25.482861448129366,-32.15168476104736,0,0,-0.5576078000471351],[45.35843402728318,-25.482861448129366,-30.151684761047363,0,0,-0.5576078000471351],[45.35843402728318,-25.482861448129366,-28.151684761047363,0,0,-0.5576078000471351],[45.35843402728318,-25.482861448129366,-28.151684761047363,0,0,-0.8194071878462844],[45.35843402728318,-25.482861448129366,-28.151684761047363,0,0,-1.0812065756454339],[45.35843402728318,-25.482861448129366,-28.151684761047363,0,0,-1.3430059634445832],[45.35843402728318,-25.482861448129366,-28.151684761047363,0,0,-1.6048053512437328],[45.35843402728318,-25.482861448129366,-28.151684761047363,0,0,-1.8666047390428822],[43.90086779925073,-30.26569540833531,-28.151684761047363,0,0,-1.8666047390428822]]},{"id":7,"instruction":"fly slightly toward building with blue paint and fly above the height of the building.","completed_instruction":"Fly forward over the roof, make a slight left turn to face a beige building, and fly up to the height of satellite disks.","start_frame":97,"end_frame":107,"start_position":[43.90086779925073,-30.26569540833531,-28.151684761047363],"start_rotation":[0.59518348195892945,0,0,-0.80358983493026137],"end_position":[34.41689652584361,-52.810303846764135,-34.15168476104736],"end_rotation":[0.3669187428740413,0,0,-0.93025299576391218],"actions":[1,1,1,1,2,2,1,4,4,4,4],"reference_path":[[43.90086779925073,-30.26569540833531,-28.151684761047363,0,0,-1.8666047390428822],[42.443301571218285,-35.04852936854125,-28.151684761047363,0,0,-1.8666047390428822],[40.98573534318584,-39.831363328747194,-28.151684761047363,0,0,-1.8666047390428822],[39.52816911515339,-44.614197288953136,-28.151684761047363,0,0,-1.8666047390428822],[38.07060288712094,-49.39703124915908,-28.151684761047363,0,0,-1.8666047390428822],[38.07060288712094,-49.39703124915908,-28.151684761047363,0,0,-2.1284041268420317],[38.07060288712094,-49.39703124915908,-28.151684761047363,0,0,-2.390203514641181],[34.41689652584361,-52.810303846764135,-28.151684761047363,0,0,-2.390203514641181],[34.41689652584361,-52.810303846764135,-30.151684761047363,0,0,-2.390203514641181],[34.41689652584361,-52.810303846764135,-32.15168476104736,0,0,-2.390203514641181],[34.41689652584361,-52.810303846764135,-34.15168476104736,0,0,-2.390203514641181]]},{"id":8,"instruction":"head toward the second set of satellite disks on the right.","completed_instruction":"Fly forward over the tarrace with satellite disks, then fly forward to above the white pipe, and fly down to the height close to the pipe.","start_frame":107,"end_frame":144,"start_position":[34.41689652584361,-52.810303846764135,-34.15168476104736],"start_rotation":[0.3669187428740413,0,0,-0.93025299576391218],"end_position":[-11.69540763389082,-104.74284195372113,-2.1516847610473633],"end_rotation":[0.24235732082584738,0,0,-0.9701870587892405],"actions":[4,4,1,1,1,1,1,1,1,1,1,3,1,1,1,1,1,2,2,5,5,5,5,5,5,5,5,5,5,5,5,5,5,5,5,5,5,0],"reference_path":[[34.41689652584361,-52.810303846764135,-34.15168476104736,0,0,-2.390203514641181],[34.41689652584361,-52.810303846764135,-36.15168476104736,0,0,-2.390203514641181],[34.41689652584361,-52.810303846764135,-38.15168476104736,0,0,-2.390203514641181],[30.763190164566282,-56.22357644436919,-38.15168476104736,0,0,-2.390203514641181],[27.109483803288953,-59.63684904197425,-38.15168476104736,0,0,-2.390203514641181],[23.455777442011623,-63.05012163957931,-38.15168476104736,0,0,-2.390203514641181],[19.802071080734294,-66.46339423718436,-38.15168476104736,0,0,-2.390203514641181],[16.148364719456964,-69.87666683478942,-38.15168476104736,0,0,-2.390203514641181],[12.494658358179633,-73.28993943239448,-38.15168476104736,0,0,-2.390203514641181],[8.840951996902302,-76.70321202999953,-38.15168476104736,0,0,-2.390203514641181],[5.18724563562497,-80.11648462760459,-38.15168476104736,0,0,-2.390203514641181],[1.533539274347639,-83.52975722520965,-38.15168476104736,0,0,-2.390203514641181],[1.533539274347639,-83.52975722520965,-38.15168476104736,0,0,-2.1284041268420317],[-1.1122501073000528,-87.77237417091195,-38.15168476104736,0,0,-2.1284041268420317],[-3.7580394889477446,-92.01499111661424,-38.15168476104736,0,0,-2.1284041268420317],[-6.4038288705954365,-96.25760806231654,-38.15168476104736,0,0,-2.1284041268420317],[-9.049618252243128,-100.50022500801883,-38.15168476104736,0,0,-2.1284041268420317],[-11.69540763389082,-104.74284195372113,-38.15168476104736,0,0,-2.1284041268420317],[-11.69540763389082,-104.74284195372113,-38.15168476104736,0,0,-2.390203514641181],[-11.69540763389082,-104.74284195372113,-38.15168476104736,0,0,-2.6520029024403304],[-11.69540763389082,-104.74284195372113,-36.15168476104736,0,0,-2.6520029024403304],[-11.69540763389082,-104.74284195372113,-34.15168476104736,0,0,-2.6520029024403304],[-11.69540763389082,-104.74284195372113,-32.15168476104736,0,0,-2.6520029024403304],[-11.69540763389082,-104.74284195372113,-30.151684761047363,0,0,-2.6520029024403304],[-11.69540763389082,-104.74284195372113,-28.151684761047363,0,0,-2.6520029024403304],[-11.69540763389082,-104.74284195372113,-26.151684761047363,0,0,-2.6520029024403304],[-11.69540763389082,-104.74284195372113,-24.151684761047363,0,0,-2.6520029024403304],[-11.69540763389082,-104.74284195372113,-22.151684761047363,0,0,-2.6520029024403304],[-11.69540763389082,-104.74284195372113,-20.151684761047363,0,0,-2.6520029024403304],[-11.69540763389082,-104.74284195372113,-18.151684761047363,0,0,-2.6520029024403304],[-11.69540763389082,-104.74284195372113,-16.151684761047363,0,0,-2.6520029024403304],[-11.69540763389082,-104.74284195372113,-14.151684761047363,0,0,-2.6520029024403304],[-11.69540763389082,-104.74284195372113,-12.151684761047363,0,0,-2.6520029024403304],[-11.69540763389082,-104.74284195372113,-10.151684761047363,0,0,-2.6520029024403304],[-11.69540763389082,-104.74284195372113,-8.151684761047363,0,0,-2.6520029024403304],[-11.69540763389082,-104.74284195372113,-6.151684761047363,0,0,-2.6520029024403304],[-11.69540763389082,-104.74284195372113,-4.151684761047363,0,0,-2.6520029024403304],[-11.69540763389082,-104.74284195372113,-2.1516847610473633,0,0,-2.6520029024403304]]}],"statistics":{"complete_actions":152,"sentence_actions":[16,18,10,9,11,15,24,11,38],"sentence_actions_average":16.89}}
diff --git a/scene_5/3LUY3GC638Y14TNOFWKWP8ZHBJVP75.json b/scene_5/3LUY3GC638Y14TNOFWKWP8ZHBJVP75.json
new file mode 100644
index 0000000000000000000000000000000000000000..098397b2124a6519a2afeeb6d73ee42fffe9eb1d
--- /dev/null
+++ b/scene_5/3LUY3GC638Y14TNOFWKWP8ZHBJVP75.json
@@ -0,0 +1 @@
+{"episode_id":"3LUY3GC638Y14TNOFWKWP8ZHBJVP75","trajectory_id":"39KV3A5D2G5VV16NHAJOVU944CO7SY","scene_id":5,"instruction":"elevate your drone rotate your drone 360 degree. move forward to the notice board building slow down your drone. move towards 90 degree right to the bridge. move forward to the building near of left side near to the bridge. elevate your drone to the top of the tower. move forward to the straight line. you reach the building slow down your drone. stop your drone in front of the building road.","sentence_instructions":[{"id":0,"instruction":"elevate your drone rotate your drone 360 degree.","completed_instruction":"Take off above the billboard ahead, turn around to face the black and billboard on the yellow building.","start_frame":1,"end_frame":14,"start_position":[23.671276092529297,-12.88538932800293,-20.480939865112305],"start_rotation":[0.99979123068921349,0,0,0.02043269529327895],"end_position":[23.671276092529297,-12.88538932800293,-28.480939865112305],"end_rotation":[0.36372619083316576,0,0,0.93150590878533646],"actions":[4,4,4,4,3,3,3,3,3,3,3,3,3,3],"reference_path":[[23.671276092529297,-12.88538932800293,-20.480939865112305,0,0,0.04086823463720211],[23.671276092529297,-12.88538932800293,-22.480939865112305,0,0,0.04086823463720211],[23.671276092529297,-12.88538932800293,-24.480939865112305,0,0,0.04086823463720211],[23.671276092529297,-12.88538932800293,-26.480939865112305,0,0,0.04086823463720211],[23.671276092529297,-12.88538932800293,-28.480939865112305,0,0,0.04086823463720211],[23.671276092529297,-12.88538932800293,-28.480939865112305,0,0,0.30266762243635154],[23.671276092529297,-12.88538932800293,-28.480939865112305,0,0,0.5644670102355009],[23.671276092529297,-12.88538932800293,-28.480939865112305,0,0,0.8262663980346504],[23.671276092529297,-12.88538932800293,-28.480939865112305,0,0,1.0880657858337999],[23.671276092529297,-12.88538932800293,-28.480939865112305,0,0,1.3498651736329494],[23.671276092529297,-12.88538932800293,-28.480939865112305,0,0,1.6116645614320988],[23.671276092529297,-12.88538932800293,-28.480939865112305,0,0,1.8734639492312481],[23.671276092529297,-12.88538932800293,-28.480939865112305,0,0,2.1352633370303975],[23.671276092529297,-12.88538932800293,-28.480939865112305,0,0,2.3970627248295466]]},{"id":1,"instruction":"move forward to the notice board building slow down your drone.","completed_instruction":"Fly forward to the billboard, then fly down to the height of the white pipe.","start_frame":14,"end_frame":31,"start_position":[23.671276092529297,-12.88538932800293,-28.480939865112305],"start_rotation":[0.36372619083316576,0,0,0.93150590878533646],"end_position":[-0.838425378748135,-8.706908856985434,-10.480939865112305],"end_rotation":[0.020432695293279079,0,0,-0.99979123068921349],"actions":[3,3,1,1,1,1,3,1,5,5,5,5,5,5,5,5,5,5],"reference_path":[[23.671276092529297,-12.88538932800293,-28.480939865112305,0,0,2.3970627248295466],[23.671276092529297,-12.88538932800293,-28.480939865112305,0,0,2.658862112628696],[23.671276092529297,-12.88538932800293,-28.480939865112305,0,0,2.920661500427846],[18.79280698711757,-11.789698136314643,-28.480939865112305,0,0,2.920661500427846],[13.91433788170584,-10.694006944626356,-28.480939865112305,0,0,2.920661500427846],[9.035868776294112,-9.598315752938069,-28.480939865112305,0,0,2.920661500427846],[4.157399670882385,-8.502624561249782,-28.480939865112305,0,0,2.920661500427846],[4.157399670882385,-8.502624561249782,-28.480939865112305,0,0,-3.100724418952591],[-0.838425378748135,-8.706908856985434,-28.480939865112305,0,0,-3.100724418952591],[-0.838425378748135,-8.706908856985434,-26.480939865112305,0,0,-3.100724418952591],[-0.838425378748135,-8.706908856985434,-24.480939865112305,0,0,-3.100724418952591],[-0.838425378748135,-8.706908856985434,-22.480939865112305,0,0,-3.100724418952591],[-0.838425378748135,-8.706908856985434,-20.480939865112305,0,0,-3.100724418952591],[-0.838425378748135,-8.706908856985434,-18.480939865112305,0,0,-3.100724418952591],[-0.838425378748135,-8.706908856985434,-16.480939865112305,0,0,-3.100724418952591],[-0.838425378748135,-8.706908856985434,-14.480939865112305,0,0,-3.100724418952591],[-0.838425378748135,-8.706908856985434,-12.480939865112305,0,0,-3.100724418952591],[-0.838425378748135,-8.706908856985434,-10.480939865112305,0,0,-3.100724418952591]]},{"id":2,"instruction":"move towards 90 degree right to the bridge.","completed_instruction":"Turn right to face the river, and fly forward to the bridge.","start_frame":31,"end_frame":46,"start_position":[-0.838425378748135,-8.706908856985434,-10.480939865112305],"start_rotation":[0.020432695293279079,0,0,-0.99979123068921349],"end_position":[-11.013820815156656,-36.29581722686973,-4.480939865112305],"end_rotation":[0.624844685366829,0,0,-0.780749075675936],"actions":[5,5,3,3,1,3,3,1,5,1,7,1,1,3,1,1],"reference_path":[[-0.838425378748135,-8.706908856985434,-10.480939865112305,0,0,-3.100724418952591],[-0.838425378748135,-8.706908856985434,-8.480939865112305,0,0,-3.100724418952591],[-0.838425378748135,-8.706908856985434,-6.480939865112305,0,0,-3.100724418952591],[-0.838425378748135,-8.706908856985434,-6.480939865112305,0,0,-2.8389250311534413],[-0.838425378748135,-8.706908856985434,-6.480939865112305,0,0,-2.5771256433542917],[-5.062794636722993,-11.381736771501982,-6.480939865112305,0,0,-2.5771256433542917],[-5.062794636722993,-11.381736771501982,-6.480939865112305,0,0,-2.3153262555551426],[-5.062794636722993,-11.381736771501982,-6.480939865112305,0,0,-2.053526867755993],[-7.383791771836965,-15.810390325212492,-6.480939865112305,0,0,-2.053526867755993],[-7.383791771836965,-15.810390325212492,-4.480939865112305,0,0,-2.053526867755993],[-9.704788906950936,-20.239043878923002,-4.480939865112305,0,0,-2.053526867755993],[-5.276135353240426,-22.560041014036976,-4.480939865112305,0,0,-2.053526867755993],[-7.597132488354398,-26.988694567747487,-4.480939865112305,0,0,-2.053526867755993],[-9.91812962346837,-31.417348121457998,-4.480939865112305,0,0,-2.053526867755993],[-9.91812962346837,-31.417348121457998,-4.480939865112305,0,0,-1.7917274799568437],[-11.013820815156656,-36.29581722686973,-4.480939865112305,0,0,-1.7917274799568437]]},{"id":3,"instruction":"move forward to the building near of left side near to the bridge.","completed_instruction":"Fly forward to the building near to the bridge and turn left to face it.","start_frame":46,"end_frame":56,"start_position":[-11.013820815156656,-36.29581722686973,-4.480939865112305],"start_rotation":[0.624844685366829,0,0,-0.780749075675936],"end_position":[-18.683659156974652,-70.4451009647518,-4.480939865112305],"end_rotation":[0.27850147971332978,0,0,-0.96043579993536565],"actions":[1,1,1,1,1,1,1,2,2,2,2],"reference_path":[[-11.013820815156656,-36.29581722686973,-4.480939865112305,0,0,-1.7917274799568437],[-12.109512006844941,-41.174286332281454,-4.480939865112305,0,0,-1.7917274799568437],[-13.205203198533226,-46.05275543769318,-4.480939865112305,0,0,-1.7917274799568437],[-14.300894390221512,-50.9312245431049,-4.480939865112305,0,0,-1.7917274799568437],[-15.396585581909797,-55.80969364851663,-4.480939865112305,0,0,-1.7917274799568437],[-16.492276773598082,-60.68816275392835,-4.480939865112305,0,0,-1.7917274799568437],[-17.587967965286367,-65.56663185934008,-4.480939865112305,0,0,-1.7917274799568437],[-18.683659156974652,-70.4451009647518,-4.480939865112305,0,0,-1.7917274799568437],[-18.683659156974652,-70.4451009647518,-4.480939865112305,0,0,-2.053526867755993],[-18.683659156974652,-70.4451009647518,-4.480939865112305,0,0,-2.3153262555551426],[-18.683659156974652,-70.4451009647518,-4.480939865112305,0,0,-2.5771256433542917]]},{"id":4,"instruction":"elevate your drone to the top of the tower.","completed_instruction":"Fly up to the height of the signal tower.","start_frame":56,"end_frame":72,"start_position":[-18.683659156974652,-70.4451009647518,-4.480939865112305],"start_rotation":[0.27850147971332978,0,0,-0.96043579993536565],"end_position":[-23.456382929682896,-71.93543911075277,-32.480939865112305],"end_rotation":[0.15075683310940066,0,0,-0.98857087619999418],"actions":[2,1,4,4,4,4,4,4,4,4,4,4,4,4,4,4,4],"reference_path":[[-18.683659156974652,-70.4451009647518,-4.480939865112305,0,0,-2.5771256433542917],[-18.683659156974652,-70.4451009647518,-4.480939865112305,0,0,-2.8389250311534413],[-23.456382929682896,-71.93543911075277,-4.480939865112305,0,0,-2.8389250311534413],[-23.456382929682896,-71.93543911075277,-6.480939865112305,0,0,-2.8389250311534413],[-23.456382929682896,-71.93543911075277,-8.480939865112305,0,0,-2.8389250311534413],[-23.456382929682896,-71.93543911075277,-10.480939865112305,0,0,-2.8389250311534413],[-23.456382929682896,-71.93543911075277,-12.480939865112305,0,0,-2.8389250311534413],[-23.456382929682896,-71.93543911075277,-14.480939865112305,0,0,-2.8389250311534413],[-23.456382929682896,-71.93543911075277,-16.480939865112305,0,0,-2.8389250311534413],[-23.456382929682896,-71.93543911075277,-18.480939865112305,0,0,-2.8389250311534413],[-23.456382929682896,-71.93543911075277,-20.480939865112305,0,0,-2.8389250311534413],[-23.456382929682896,-71.93543911075277,-22.480939865112305,0,0,-2.8389250311534413],[-23.456382929682896,-71.93543911075277,-24.480939865112305,0,0,-2.8389250311534413],[-23.456382929682896,-71.93543911075277,-26.480939865112305,0,0,-2.8389250311534413],[-23.456382929682896,-71.93543911075277,-28.480939865112305,0,0,-2.8389250311534413],[-23.456382929682896,-71.93543911075277,-30.480939865112305,0,0,-2.8389250311534413],[-23.456382929682896,-71.93543911075277,-32.480939865112305,0,0,-2.8389250311534413]]},{"id":5,"instruction":"move forward to the straight line.","completed_instruction":"Fly forward across the terrace.","start_frame":72,"end_frame":85,"start_position":[-23.456382929682896,-71.93543911075277,-32.480939865112305],"start_rotation":[0.15075683310940066,0,0,-0.98857087619999418],"end_position":[-62.8478142171484,-70.95584086463145,-36.480939865112305],"end_rotation":[0.23902854354438274,0,0,0.97101254130472026],"actions":[4,4,1,2,1,1,1,1,2,1,1,1,2,1],"reference_path":[[-23.456382929682896,-71.93543911075277,-32.480939865112305,0,0,-2.8389250311534413],[-23.456382929682896,-71.93543911075277,-34.480939865112305,0,0,-2.8389250311534413],[-23.456382929682896,-71.93543911075277,-36.480939865112305,0,0,-2.8389250311534413],[-28.22910670239114,-73.42577725675373,-36.480939865112305,0,0,-2.8389250311534413],[-28.22910670239114,-73.42577725675373,-36.480939865112305,0,0,-3.100724418952591],[-33.22493175202166,-73.63006155248938,-36.480939865112305,0,0,-3.100724418952591],[-38.22075680165218,-73.83434584822503,-36.480939865112305,0,0,-3.100724418952591],[-43.2165818512827,-74.03863014396067,-36.480939865112305,0,0,-3.100724418952591],[-48.212406900913216,-74.24291443969632,-36.480939865112305,0,0,-3.100724418952591],[-48.212406900913216,-74.24291443969632,-36.480939865112305,0,0,2.9206615004278462],[-53.09087600632495,-73.14722324800803,-36.480939865112305,0,0,2.9206615004278462],[-57.96934511173667,-72.05153205631974,-36.480939865112305,0,0,2.9206615004278462],[-62.8478142171484,-70.95584086463145,-36.480939865112305,0,0,2.9206615004278462],[-62.8478142171484,-70.95584086463145,-36.480939865112305,0,0,2.658862112628697]]},{"id":6,"instruction":"you reach the building slow down your drone.","completed_instruction":"Fly down to the ground.","start_frame":85,"end_frame":102,"start_position":[-62.8478142171484,-70.95584086463145,-36.480939865112305],"start_rotation":[0.23902854354438274,0,0,0.97101254130472026],"end_position":[-71.70512132456943,-66.31384659440351,-6.480939865112305],"end_rotation":[0.23902854354438274,0,0,0.97101254130472026],"actions":[1,1,5,5,5,5,5,5,5,5,5,5,5,5,5,5,5,5],"reference_path":[[-62.8478142171484,-70.95584086463145,-36.480939865112305,0,0,2.658862112628697],[-67.27646777085891,-68.63484372951748,-36.480939865112305,0,0,2.658862112628697],[-71.70512132456943,-66.31384659440351,-36.480939865112305,0,0,2.658862112628697],[-71.70512132456943,-66.31384659440351,-34.480939865112305,0,0,2.658862112628697],[-71.70512132456943,-66.31384659440351,-32.480939865112305,0,0,2.658862112628697],[-71.70512132456943,-66.31384659440351,-30.480939865112305,0,0,2.658862112628697],[-71.70512132456943,-66.31384659440351,-28.480939865112305,0,0,2.658862112628697],[-71.70512132456943,-66.31384659440351,-26.480939865112305,0,0,2.658862112628697],[-71.70512132456943,-66.31384659440351,-24.480939865112305,0,0,2.658862112628697],[-71.70512132456943,-66.31384659440351,-22.480939865112305,0,0,2.658862112628697],[-71.70512132456943,-66.31384659440351,-20.480939865112305,0,0,2.658862112628697],[-71.70512132456943,-66.31384659440351,-18.480939865112305,0,0,2.658862112628697],[-71.70512132456943,-66.31384659440351,-16.480939865112305,0,0,2.658862112628697],[-71.70512132456943,-66.31384659440351,-14.480939865112305,0,0,2.658862112628697],[-71.70512132456943,-66.31384659440351,-12.480939865112305,0,0,2.658862112628697],[-71.70512132456943,-66.31384659440351,-10.480939865112305,0,0,2.658862112628697],[-71.70512132456943,-66.31384659440351,-8.480939865112305,0,0,2.658862112628697],[-71.70512132456943,-66.31384659440351,-6.480939865112305,0,0,2.658862112628697]]},{"id":7,"instruction":"stop your drone in front of the building road.","completed_instruction":"Land in front of the intersection.","start_frame":102,"end_frame":108,"start_position":[-71.70512132456943,-66.31384659440351,-6.480939865112305],"start_rotation":[0.23902854354438274,0,0,0.97101254130472026],"end_position":[-71.70512132456943,-66.31384659440351,-2.4809398651123047],"end_rotation":[0.48220038215283967,0,0,0.8760609519044068],"actions":[5,5,2,2,2,3,0],"reference_path":[[-71.70512132456943,-66.31384659440351,-6.480939865112305,0,0,2.658862112628697],[-71.70512132456943,-66.31384659440351,-4.480939865112305,0,0,2.658862112628697],[-71.70512132456943,-66.31384659440351,-2.4809398651123047,0,0,2.658862112628697],[-71.70512132456943,-66.31384659440351,-2.4809398651123047,0,0,2.397062724829548],[-71.70512132456943,-66.31384659440351,-2.4809398651123047,0,0,2.135263337030399],[-71.70512132456943,-66.31384659440351,-2.4809398651123047,0,0,1.8734639492312497],[-71.70512132456943,-66.31384659440351,-2.4809398651123047,0,0,2.1352633370303993]]}],"statistics":{"complete_actions":115,"sentence_actions":[14,18,16,11,17,14,18,7],"sentence_actions_average":14.38}}
diff --git a/scene_5/3NL0RFNU0OL3AF8P06HHQFT8S5K4KI.json b/scene_5/3NL0RFNU0OL3AF8P06HHQFT8S5K4KI.json
new file mode 100644
index 0000000000000000000000000000000000000000..0468922a941d24719100ebd1e375df6cc91922ca
--- /dev/null
+++ b/scene_5/3NL0RFNU0OL3AF8P06HHQFT8S5K4KI.json
@@ -0,0 +1 @@
+{"episode_id":"3NL0RFNU0OL3AF8P06HHQFT8S5K4KI","trajectory_id":"3WGZLY9VDPKTTQSOUPG5EVJZE76D8B","scene_id":5,"instruction":"taking off and going to the top. flying down and going through the electrical posts. turning right and up over the buildings. rotating closely to the buildings. going down and descending passing the trees.","sentence_instructions":[{"id":0,"instruction":"taking off and going to the top.","completed_instruction":"Take off and fly up to the top of the black building on the 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right and up over the buildings.","completed_instruction":"Turn right to face the building with the red and white billboard, and fly up to its top height.","start_frame":50,"end_frame":74,"start_position":[4.52909213431477,-5.913373959002442,-8.151684761047363],"start_rotation":[0.11364909782417937,0,0,-0.99352095225201476],"end_position":[4.52909213431477,-5.913373959002442,-30.151684761047363],"end_rotation":[0.96138529974731268,0,0,-0.27520593276630112],"actions":[5,5,3,3,3,3,3,3,3,3,3,4,4,4,4,4,4,4,4,4,4,4,4,4,4],"reference_path":[[4.52909213431477,-5.913373959002442,-8.151684761047363,0,0,-2.91380229023948],[4.52909213431477,-5.913373959002442,-6.151684761047363,0,0,-2.91380229023948],[4.52909213431477,-5.913373959002442,-4.151684761047363,0,0,-2.91380229023948],[4.52909213431477,-5.913373959002442,-4.151684761047363,0,0,-2.6520029024403304],[4.52909213431477,-5.913373959002442,-4.151684761047363,0,0,-2.390203514641181],[4.52909213431477,-5.913373959002442,-4.151684761047363,0,0,-2.1284041268420317],[4.52909213431477,-5.913373959002442,-4.151684761047363,0,0,-1.8666047390428822],[4.52909213431477,-5.913373959002442,-4.151684761047363,0,0,-1.6048053512437328],[4.52909213431477,-5.913373959002442,-4.151684761047363,0,0,-1.3430059634445832],[4.52909213431477,-5.913373959002442,-4.151684761047363,0,0,-1.0812065756454339],[4.52909213431477,-5.913373959002442,-4.151684761047363,0,0,-0.8194071878462844],[4.52909213431477,-5.913373959002442,-4.151684761047363,0,0,-0.5576078000471351],[4.52909213431477,-5.913373959002442,-6.151684761047363,0,0,-0.5576078000471351],[4.52909213431477,-5.913373959002442,-8.151684761047363,0,0,-0.5576078000471351],[4.52909213431477,-5.913373959002442,-10.151684761047363,0,0,-0.5576078000471351],[4.52909213431477,-5.913373959002442,-12.151684761047363,0,0,-0.5576078000471351],[4.52909213431477,-5.913373959002442,-14.151684761047363,0,0,-0.5576078000471351],[4.52909213431477,-5.913373959002442,-16.151684761047363,0,0,-0.5576078000471351],[4.52909213431477,-5.913373959002442,-18.151684761047363,0,0,-0.5576078000471351],[4.52909213431477,-5.913373959002442,-20.151684761047363,0,0,-0.5576078000471351],[4.52909213431477,-5.913373959002442,-22.151684761047363,0,0,-0.5576078000471351],[4.52909213431477,-5.913373959002442,-24.151684761047363,0,0,-0.5576078000471351],[4.52909213431477,-5.913373959002442,-26.151684761047363,0,0,-0.5576078000471351],[4.52909213431477,-5.913373959002442,-28.151684761047363,0,0,-0.5576078000471351],[4.52909213431477,-5.913373959002442,-30.151684761047363,0,0,-0.5576078000471351]]},{"id":3,"instruction":"rotating closely to the buildings.","completed_instruction":"Fly pass a billboard, turn left to face a round corner roof, fly forward to it, pass between the wall and chimney, fly cross the roof,turn left slightly to face a lower building, and fly towards a building with an antenna at top of same height.","start_frame":74,"end_frame":117,"start_position":[4.52909213431477,-5.913373959002442,-30.151684761047363],"start_rotation":[0.96138529974731268,0,0,-0.27520593276630112],"end_position":[5.18724563562497,-80.11648462760459,-38.15168476104736],"end_rotation":[0.3669187428740413,0,0,-0.93025299576391218],"actions":[4,4,1,1,1,4,1,1,7,1,1,1,1,5,5,5,5,2,2,2,2,2,1,1,1,1,1,2,2,1,4,4,4,4,4,1,1,1,1,1,1,1,1,1],"reference_path":[[4.52909213431477,-5.913373959002442,-30.151684761047363,0,0,-0.5576078000471351],[4.52909213431477,-5.913373959002442,-32.15168476104736,0,0,-0.5576078000471351],[4.52909213431477,-5.913373959002442,-34.15168476104736,0,0,-0.5576078000471351],[8.771709080017072,-8.559163340650134,-34.15168476104736,0,0,-0.5576078000471351],[13.014326025719374,-11.204952722297826,-34.15168476104736,0,0,-0.5576078000471351],[17.256942971421676,-13.850742103945517,-34.15168476104736,0,0,-0.5576078000471351],[17.256942971421676,-13.850742103945517,-36.15168476104736,0,0,-0.5576078000471351],[21.499559917123978,-16.49653148559321,-36.15168476104736,0,0,-0.5576078000471351],[25.74217686282628,-19.1423208672409,-36.15168476104736,0,0,-0.5576078000471351],[28.387966244473972,-14.899703921538599,-36.15168476104736,0,0,-0.5576078000471351],[32.630583190176274,-17.54549330318629,-36.15168476104736,0,0,-0.5576078000471351],[36.87320013587858,-20.191282684833983,-36.15168476104736,0,0,-0.5576078000471351],[41.11581708158088,-22.837072066481674,-36.15168476104736,0,0,-0.5576078000471351],[45.35843402728318,-25.482861448129366,-36.15168476104736,0,0,-0.5576078000471351],[45.35843402728318,-25.482861448129366,-34.15168476104736,0,0,-0.5576078000471351],[45.35843402728318,-25.482861448129366,-32.15168476104736,0,0,-0.5576078000471351],[45.35843402728318,-25.482861448129366,-30.151684761047363,0,0,-0.5576078000471351],[45.35843402728318,-25.482861448129366,-28.151684761047363,0,0,-0.5576078000471351],[45.35843402728318,-25.482861448129366,-28.151684761047363,0,0,-0.8194071878462844],[45.35843402728318,-25.482861448129366,-28.151684761047363,0,0,-1.0812065756454339],[45.35843402728318,-25.482861448129366,-28.151684761047363,0,0,-1.3430059634445832],[45.35843402728318,-25.482861448129366,-28.151684761047363,0,0,-1.6048053512437328],[45.35843402728318,-25.482861448129366,-28.151684761047363,0,0,-1.8666047390428822],[43.90086779925073,-30.26569540833531,-28.151684761047363,0,0,-1.8666047390428822],[42.443301571218285,-35.04852936854125,-28.151684761047363,0,0,-1.8666047390428822],[40.98573534318584,-39.831363328747194,-28.151684761047363,0,0,-1.8666047390428822],[39.52816911515339,-44.614197288953136,-28.151684761047363,0,0,-1.8666047390428822],[38.07060288712094,-49.39703124915908,-28.151684761047363,0,0,-1.8666047390428822],[38.07060288712094,-49.39703124915908,-28.151684761047363,0,0,-2.1284041268420317],[38.07060288712094,-49.39703124915908,-28.151684761047363,0,0,-2.390203514641181],[34.41689652584361,-52.810303846764135,-28.151684761047363,0,0,-2.390203514641181],[34.41689652584361,-52.810303846764135,-30.151684761047363,0,0,-2.390203514641181],[34.41689652584361,-52.810303846764135,-32.15168476104736,0,0,-2.390203514641181],[34.41689652584361,-52.810303846764135,-34.15168476104736,0,0,-2.390203514641181],[34.41689652584361,-52.810303846764135,-36.15168476104736,0,0,-2.390203514641181],[34.41689652584361,-52.810303846764135,-38.15168476104736,0,0,-2.390203514641181],[30.763190164566282,-56.22357644436919,-38.15168476104736,0,0,-2.390203514641181],[27.109483803288953,-59.63684904197425,-38.15168476104736,0,0,-2.390203514641181],[23.455777442011623,-63.05012163957931,-38.15168476104736,0,0,-2.390203514641181],[19.802071080734294,-66.46339423718436,-38.15168476104736,0,0,-2.390203514641181],[16.148364719456964,-69.87666683478942,-38.15168476104736,0,0,-2.390203514641181],[12.494658358179633,-73.28993943239448,-38.15168476104736,0,0,-2.390203514641181],[8.840951996902302,-76.70321202999953,-38.15168476104736,0,0,-2.390203514641181],[5.18724563562497,-80.11648462760459,-38.15168476104736,0,0,-2.390203514641181]]},{"id":4,"instruction":"going down and descending passing the trees.","completed_instruction":"Fly forward to above the river and fly down to above the river.","start_frame":117,"end_frame":144,"start_position":[5.18724563562497,-80.11648462760459,-38.15168476104736],"start_rotation":[0.3669187428740413,0,0,-0.93025299576391218],"end_position":[-11.69540763389082,-104.74284195372113,-2.1516847610473633],"end_rotation":[0.24235732082584738,0,0,-0.9701870587892405],"actions":[1,3,1,1,1,1,1,2,2,5,5,5,5,5,5,5,5,5,5,5,5,5,5,5,5,5,5,0],"reference_path":[[5.18724563562497,-80.11648462760459,-38.15168476104736,0,0,-2.390203514641181],[1.533539274347639,-83.52975722520965,-38.15168476104736,0,0,-2.390203514641181],[1.533539274347639,-83.52975722520965,-38.15168476104736,0,0,-2.1284041268420317],[-1.1122501073000528,-87.77237417091195,-38.15168476104736,0,0,-2.1284041268420317],[-3.7580394889477446,-92.01499111661424,-38.15168476104736,0,0,-2.1284041268420317],[-6.4038288705954365,-96.25760806231654,-38.15168476104736,0,0,-2.1284041268420317],[-9.049618252243128,-100.50022500801883,-38.15168476104736,0,0,-2.1284041268420317],[-11.69540763389082,-104.74284195372113,-38.15168476104736,0,0,-2.1284041268420317],[-11.69540763389082,-104.74284195372113,-38.15168476104736,0,0,-2.390203514641181],[-11.69540763389082,-104.74284195372113,-38.15168476104736,0,0,-2.6520029024403304],[-11.69540763389082,-104.74284195372113,-36.15168476104736,0,0,-2.6520029024403304],[-11.69540763389082,-104.74284195372113,-34.15168476104736,0,0,-2.6520029024403304],[-11.69540763389082,-104.74284195372113,-32.15168476104736,0,0,-2.6520029024403304],[-11.69540763389082,-104.74284195372113,-30.151684761047363,0,0,-2.6520029024403304],[-11.69540763389082,-104.74284195372113,-28.151684761047363,0,0,-2.6520029024403304],[-11.69540763389082,-104.74284195372113,-26.151684761047363,0,0,-2.6520029024403304],[-11.69540763389082,-104.74284195372113,-24.151684761047363,0,0,-2.6520029024403304],[-11.69540763389082,-104.74284195372113,-22.151684761047363,0,0,-2.6520029024403304],[-11.69540763389082,-104.74284195372113,-20.151684761047363,0,0,-2.6520029024403304],[-11.69540763389082,-104.74284195372113,-18.151684761047363,0,0,-2.6520029024403304],[-11.69540763389082,-104.74284195372113,-16.151684761047363,0,0,-2.6520029024403304],[-11.69540763389082,-104.74284195372113,-14.151684761047363,0,0,-2.6520029024403304],[-11.69540763389082,-104.74284195372113,-12.151684761047363,0,0,-2.6520029024403304],[-11.69540763389082,-104.74284195372113,-10.151684761047363,0,0,-2.6520029024403304],[-11.69540763389082,-104.74284195372113,-8.151684761047363,0,0,-2.6520029024403304],[-11.69540763389082,-104.74284195372113,-6.151684761047363,0,0,-2.6520029024403304],[-11.69540763389082,-104.74284195372113,-4.151684761047363,0,0,-2.6520029024403304],[-11.69540763389082,-104.74284195372113,-2.1516847610473633,0,0,-2.6520029024403304]]}],"statistics":{"complete_actions":148,"sentence_actions":[14,37,25,44,28],"sentence_actions_average":29.6}}
diff --git a/scene_5/3PS7W85Z8803A44OBAR08ERKXHJT9H.json b/scene_5/3PS7W85Z8803A44OBAR08ERKXHJT9H.json
new file mode 100644
index 0000000000000000000000000000000000000000..f2558c68a9a36f90b5c8c909a0ba5e78e614b15f
--- /dev/null
+++ b/scene_5/3PS7W85Z8803A44OBAR08ERKXHJT9H.json
@@ -0,0 +1 @@
+{"episode_id":"3PS7W85Z8803A44OBAR08ERKXHJT9H","trajectory_id":"3APP19WN89C91WJR30KF02Q5L4WG62","scene_id":5,"instruction":"take off from the rooftop of the building. dive down slightly land by facing the above mentioned building. after rising to the height slightly higher turn left. fly above and forward to the rooftop of the building. turn right dive down by facing the sewage. then fly above proceed forward. turn left at the rooftop of the building. proceed forward dive down to the rooftop of the building. turn right fly above by facing the pistachio color tall building. fly forward to the above mentioned building.","sentence_instructions":[{"id":0,"instruction":"dive down slightly land by facing the above mentioned building.","completed_instruction":"Turn left to face the tallest building.","start_frame":1,"end_frame":6,"start_position":[-56.38572692871094,-11.67587661743164,-20.61461639404297],"start_rotation":[0.99999983619679689,0,0,0.00057236909375576789],"end_position":[-51.38573020477473,-11.670152927431642,-24.61461639404297],"end_rotation":[0.966073808089616,0,0,-0.2582661366173038],"actions":[4,4,1,2,2,2],"reference_path":[[-56.38572692871094,-11.67587661743164,-20.61461639404297,0,0,0.0011447382500154673],[-56.38572692871094,-11.67587661743164,-22.61461639404297,0,0,0.0011447382500154673],[-56.38572692871094,-11.67587661743164,-24.61461639404297,0,0,0.0011447382500154673],[-51.38573020477473,-11.670152927431642,-24.61461639404297,0,0,0.0011447382500154673],[-51.38573020477473,-11.670152927431642,-24.61461639404297,0,0,-0.260654649549134],[-51.38573020477473,-11.670152927431642,-24.61461639404297,0,0,-0.5224540373482834]]},{"id":1,"instruction":"after rising to the height slightly higher turn left.","completed_instruction":"Fly up to the height of the building.","start_frame":6,"end_frame":25,"start_position":[-51.38573020477473,-11.670152927431642,-24.61461639404297],"start_rotation":[0.966073808089616,0,0,-0.2582661366173038],"end_position":[-51.38573020477473,-11.670152927431642,-56.61461639404297],"end_rotation":[0.793701646564852,0,0,-0.60830723835923806],"actions":[2,2,2,4,4,4,4,4,4,4,4,4,4,4,4,4,4,4,4,4],"reference_path":[[-51.38573020477473,-11.670152927431642,-24.61461639404297,0,0,-0.5224540373482834],[-51.38573020477473,-11.670152927431642,-24.61461639404297,0,0,-0.7842534251474329],[-51.38573020477473,-11.670152927431642,-24.61461639404297,0,0,-1.0460528129465823],[-51.38573020477473,-11.670152927431642,-24.61461639404297,0,0,-1.3078522007457318],[-51.38573020477473,-11.670152927431642,-26.61461639404297,0,0,-1.3078522007457318],[-51.38573020477473,-11.670152927431642,-28.61461639404297,0,0,-1.3078522007457318],[-51.38573020477473,-11.670152927431642,-30.61461639404297,0,0,-1.3078522007457318],[-51.38573020477473,-11.670152927431642,-32.61461639404297,0,0,-1.3078522007457318],[-51.38573020477473,-11.670152927431642,-34.61461639404297,0,0,-1.3078522007457318],[-51.38573020477473,-11.670152927431642,-36.61461639404297,0,0,-1.3078522007457318],[-51.38573020477473,-11.670152927431642,-38.61461639404297,0,0,-1.3078522007457318],[-51.38573020477473,-11.670152927431642,-40.61461639404297,0,0,-1.3078522007457318],[-51.38573020477473,-11.670152927431642,-42.61461639404297,0,0,-1.3078522007457318],[-51.38573020477473,-11.670152927431642,-44.61461639404297,0,0,-1.3078522007457318],[-51.38573020477473,-11.670152927431642,-46.61461639404297,0,0,-1.3078522007457318],[-51.38573020477473,-11.670152927431642,-48.61461639404297,0,0,-1.3078522007457318],[-51.38573020477473,-11.670152927431642,-50.61461639404297,0,0,-1.3078522007457318],[-51.38573020477473,-11.670152927431642,-52.61461639404297,0,0,-1.3078522007457318],[-51.38573020477473,-11.670152927431642,-54.61461639404297,0,0,-1.3078522007457318],[-51.38573020477473,-11.670152927431642,-56.61461639404297,0,0,-1.3078522007457318]]},{"id":2,"instruction":"fly above and forward to the rooftop of the building.","completed_instruction":"Fly forward to the rooftop of the building.","start_frame":25,"end_frame":28,"start_position":[-51.38573020477473,-11.670152927431642,-56.61461639404297],"start_rotation":[0.793701646564852,0,0,-0.60830723835923806],"end_position":[-51.38573020477473,-11.670152927431642,-62.61461639404297],"end_rotation":[0.793701646564852,0,0,-0.60830723835923806],"actions":[4,4,4,1],"reference_path":[[-51.38573020477473,-11.670152927431642,-56.61461639404297,0,0,-1.3078522007457318],[-51.38573020477473,-11.670152927431642,-58.61461639404297,0,0,-1.3078522007457318],[-51.38573020477473,-11.670152927431642,-60.61461639404297,0,0,-1.3078522007457318],[-51.38573020477473,-11.670152927431642,-62.61461639404297,0,0,-1.3078522007457318]]},{"id":3,"instruction":"turn right dive down by facing the sewage.","completed_instruction":"Turn left to face buildings and wires in the mist, fly forward to above the river and then fly down to the height of eletric lines.","start_frame":28,"end_frame":69,"start_position":[-51.38573020477473,-11.670152927431642,-62.61461639404297],"start_rotation":[0.793701646564852,0,0,-0.60830723835923806],"end_position":[-10.363807174928741,-10.442207181998809,-18.61461639404297],"end_rotation":[0.96577752804503181,0,0,0.25937186879696056],"actions":[1,1,1,3,3,3,3,3,3,3,1,5,1,5,1,5,5,1,5,5,1,5,5,5,5,1,5,5,5,5,5,1,5,5,5,5,5,5,6,5,1,5],"reference_path":[[-51.38573020477473,-11.670152927431642,-62.61461639404297,0,0,-1.3078522007457318],[-50.08610716717716,-16.498297494462093,-62.61461639404297,0,0,-1.3078522007457318],[-48.78648412957959,-21.326442061492543,-62.61461639404297,0,0,-1.3078522007457318],[-47.48686109198202,-26.154586628522992,-62.61461639404297,0,0,-1.3078522007457318],[-47.48686109198202,-26.154586628522992,-62.61461639404297,0,0,-1.0460528129465823],[-47.48686109198202,-26.154586628522992,-62.61461639404297,0,0,-0.7842534251474328],[-47.48686109198202,-26.154586628522992,-62.61461639404297,0,0,-0.5224540373482833],[-47.48686109198202,-26.154586628522992,-62.61461639404297,0,0,-0.2606546495491339],[-47.48686109198202,-26.154586628522992,-62.61461639404297,0,0,0.0011447382500155293],[-47.48686109198202,-26.154586628522992,-62.61461639404297,0,0,0.26294412604916495],[-47.48686109198202,-26.154586628522992,-62.61461639404297,0,0,0.5247435138483144],[-43.1595987552143,-23.649631405611505,-62.61461639404297,0,0,0.5247435138483144],[-43.1595987552143,-23.649631405611505,-60.61461639404297,0,0,0.5247435138483144],[-38.83233641844657,-21.144676182700017,-60.61461639404297,0,0,0.5247435138483144],[-38.83233641844657,-21.144676182700017,-58.61461639404297,0,0,0.5247435138483144],[-34.50507408167885,-18.63972095978853,-58.61461639404297,0,0,0.5247435138483144],[-34.50507408167885,-18.63972095978853,-56.61461639404297,0,0,0.5247435138483144],[-34.50507408167885,-18.63972095978853,-54.61461639404297,0,0,0.5247435138483144],[-30.177811744911125,-16.134765736877043,-54.61461639404297,0,0,0.5247435138483144],[-30.177811744911125,-16.134765736877043,-52.61461639404297,0,0,0.5247435138483144],[-30.177811744911125,-16.134765736877043,-50.61461639404297,0,0,0.5247435138483144],[-25.8505494081434,-13.629810513965554,-50.61461639404297,0,0,0.5247435138483144],[-25.8505494081434,-13.629810513965554,-48.61461639404297,0,0,0.5247435138483144],[-25.8505494081434,-13.629810513965554,-46.61461639404297,0,0,0.5247435138483144],[-25.8505494081434,-13.629810513965554,-44.61461639404297,0,0,0.5247435138483144],[-25.8505494081434,-13.629810513965554,-42.61461639404297,0,0,0.5247435138483144],[-21.523287071375677,-11.124855291054065,-42.61461639404297,0,0,0.5247435138483144],[-21.523287071375677,-11.124855291054065,-40.61461639404297,0,0,0.5247435138483144],[-21.523287071375677,-11.124855291054065,-38.61461639404297,0,0,0.5247435138483144],[-21.523287071375677,-11.124855291054065,-36.61461639404297,0,0,0.5247435138483144],[-21.523287071375677,-11.124855291054065,-34.61461639404297,0,0,0.5247435138483144],[-21.523287071375677,-11.124855291054065,-32.61461639404297,0,0,0.5247435138483144],[-17.196024734607953,-8.619900068142575,-32.61461639404297,0,0,0.5247435138483144],[-17.196024734607953,-8.619900068142575,-30.61461639404297,0,0,0.5247435138483144],[-17.196024734607953,-8.619900068142575,-28.61461639404297,0,0,0.5247435138483144],[-17.196024734607953,-8.619900068142575,-26.61461639404297,0,0,0.5247435138483144],[-17.196024734607953,-8.619900068142575,-24.61461639404297,0,0,0.5247435138483144],[-17.196024734607953,-8.619900068142575,-22.61461639404297,0,0,0.5247435138483144],[-17.196024734607953,-8.619900068142575,-20.61461639404297,0,0,0.5247435138483144],[-14.691069511696464,-12.947162404910298,-20.61461639404297,0,0,0.5247435138483144],[-14.691069511696464,-12.947162404910298,-18.61461639404297,0,0,0.5247435138483144],[-10.363807174928741,-10.442207181998809,-18.61461639404297,0,0,0.5247435138483144]]},{"id":4,"instruction":"then fly above proceed forward.","completed_instruction":"Turn right slightly to face a few scattered high-rise buildings, then fly up to a the height of the buildings, and fly towards the buildings.","start_frame":69,"end_frame":94,"start_position":[-10.363807174928741,-10.442207181998809,-18.61461639404297],"start_rotation":[0.96577752804503181,0,0,0.25937186879696056],"end_position":[7.293614472038277,7.2556870650922995,-40.61461639404297],"end_rotation":[0.92366034500748184,0,0,0.3832121697710808],"actions":[5,5,5,5,3,4,4,4,4,4,4,4,4,4,4,4,4,4,4,4,1,1,1,1,1,1],"reference_path":[[-10.363807174928741,-10.442207181998809,-18.61461639404297,0,0,0.5247435138483144],[-10.363807174928741,-10.442207181998809,-16.61461639404297,0,0,0.5247435138483144],[-10.363807174928741,-10.442207181998809,-14.614616394042969,0,0,0.5247435138483144],[-10.363807174928741,-10.442207181998809,-12.614616394042969,0,0,0.5247435138483144],[-10.363807174928741,-10.442207181998809,-10.614616394042969,0,0,0.5247435138483144],[-10.363807174928741,-10.442207181998809,-10.614616394042969,0,0,0.7865429016474639],[-10.363807174928741,-10.442207181998809,-12.614616394042969,0,0,0.7865429016474639],[-10.363807174928741,-10.442207181998809,-14.614616394042969,0,0,0.7865429016474639],[-10.363807174928741,-10.442207181998809,-16.61461639404297,0,0,0.7865429016474639],[-10.363807174928741,-10.442207181998809,-18.61461639404297,0,0,0.7865429016474639],[-10.363807174928741,-10.442207181998809,-20.61461639404297,0,0,0.7865429016474639],[-10.363807174928741,-10.442207181998809,-22.61461639404297,0,0,0.7865429016474639],[-10.363807174928741,-10.442207181998809,-24.61461639404297,0,0,0.7865429016474639],[-10.363807174928741,-10.442207181998809,-26.61461639404297,0,0,0.7865429016474639],[-10.363807174928741,-10.442207181998809,-28.61461639404297,0,0,0.7865429016474639],[-10.363807174928741,-10.442207181998809,-30.61461639404297,0,0,0.7865429016474639],[-10.363807174928741,-10.442207181998809,-32.61461639404297,0,0,0.7865429016474639],[-10.363807174928741,-10.442207181998809,-34.61461639404297,0,0,0.7865429016474639],[-10.363807174928741,-10.442207181998809,-36.61461639404297,0,0,0.7865429016474639],[-10.363807174928741,-10.442207181998809,-38.61461639404297,0,0,0.7865429016474639],[-10.363807174928741,-10.442207181998809,-40.61461639404297,0,0,0.7865429016474639],[-6.832322845535337,-6.902628332580587,-40.61461639404297,0,0,0.7865429016474639],[-3.300838516141934,-3.3630494831623654,-40.61461639404297,0,0,0.7865429016474639],[0.2306458132514697,0.17652936625585625,-40.61461639404297,0,0,0.7865429016474639],[3.762130142644873,3.716108215674078,-40.61461639404297,0,0,0.7865429016474639],[7.293614472038277,7.2556870650922995,-40.61461639404297,0,0,0.7865429016474639]]},{"id":5,"instruction":"turn left at the rooftop of the building.","completed_instruction":"Turn left to face two tallest buildings in the distance.","start_frame":94,"end_frame":103,"start_position":[7.293614472038277,7.2556870650922995,-40.61461639404297],"start_rotation":[0.92366034500748184,0,0,0.3832121697710808],"end_position":[16.588444422620913,22.702568180377412,-40.61461639404297],"end_rotation":[0.96607380808961607,0,0,-0.25826613661730363],"actions":[1,1,1,2,2,7,2,2,2,2],"reference_path":[[7.293614472038277,7.2556870650922995,-40.61461639404297,0,0,0.7865429016474639],[10.82509880143168,10.795265914510521,-40.61461639404297,0,0,0.7865429016474639],[14.356583130825085,14.334844763928743,-40.61461639404297,0,0,0.7865429016474639],[17.888067460218487,17.874423613346963,-40.61461639404297,0,0,0.7865429016474639],[17.888067460218487,17.874423613346963,-40.61461639404297,0,0,0.5247435138483145],[17.888067460218487,17.874423613346963,-40.61461639404297,0,0,0.26294412604916517],[16.588444422620913,22.702568180377412,-40.61461639404297,0,0,0.26294412604916517],[16.588444422620913,22.702568180377412,-40.61461639404297,0,0,0.0011447382500157463],[16.588444422620913,22.702568180377412,-40.61461639404297,0,0,-0.2606546495491337],[16.588444422620913,22.702568180377412,-40.61461639404297,0,0,-0.5224540373482831]]},{"id":6,"instruction":"proceed forward dive down to the rooftop of the building.","completed_instruction":"Fly forward and fly down to the billboard on the rooftop ahead.","start_frame":103,"end_frame":113,"start_position":[16.588444422620913,22.702568180377412,-40.61461639404297],"start_rotation":[0.96607380808961607,0,0,-0.25826613661730363],"end_position":[21.786936573011207,3.3899899122556096,-34.61461639404297],"end_rotation":[0.793701646564852,0,0,-0.608307238359238],"actions":[2,2,2,1,1,5,1,1,5,5,1],"reference_path":[[16.588444422620913,22.702568180377412,-40.61461639404297,0,0,-0.5224540373482831],[16.588444422620913,22.702568180377412,-40.61461639404297,0,0,-0.7842534251474326],[16.588444422620913,22.702568180377412,-40.61461639404297,0,0,-1.046052812946582],[16.588444422620913,22.702568180377412,-40.61461639404297,0,0,-1.3078522007457316],[17.888067460218487,17.874423613346963,-40.61461639404297,0,0,-1.3078522007457316],[19.18769049781606,13.046279046316512,-40.61461639404297,0,0,-1.3078522007457316],[19.18769049781606,13.046279046316512,-38.61461639404297,0,0,-1.3078522007457316],[20.487313535413634,8.21813447928606,-38.61461639404297,0,0,-1.3078522007457316],[21.786936573011207,3.3899899122556096,-38.61461639404297,0,0,-1.3078522007457316],[21.786936573011207,3.3899899122556096,-36.61461639404297,0,0,-1.3078522007457316],[21.786936573011207,3.3899899122556096,-34.61461639404297,0,0,-1.3078522007457316]]},{"id":7,"instruction":"turn right fly above by facing the pistachio color tall building.","completed_instruction":"Turn right to face the tallest building, then fly up to its height.","start_frame":113,"end_frame":142,"start_position":[21.786936573011207,3.3899899122556096,-34.61461639404297],"start_rotation":[0.793701646564852,0,0,-0.608307238359238],"end_position":[20.85766111877348,-12.394066826433317,-66.61461639404297],"end_rotation":[0.966073808089616,0,0,-0.25826613661730374],"actions":[1,5,1,5,1,6,5,3,3,3,4,4,4,4,4,4,4,4,4,4,4,4,4,4,4,4,4,4,4,4],"reference_path":[[21.786936573011207,3.3899899122556096,-34.61461639404297,0,0,-1.3078522007457316],[23.08655961060878,-1.4381546547748414,-34.61461639404297,0,0,-1.3078522007457316],[23.08655961060878,-1.4381546547748414,-32.61461639404297,0,0,-1.3078522007457316],[24.386182648206354,-6.266299221805292,-32.61461639404297,0,0,-1.3078522007457316],[24.386182648206354,-6.266299221805292,-30.61461639404297,0,0,-1.3078522007457316],[25.685805685803928,-11.094443788835743,-30.61461639404297,0,0,-1.3078522007457316],[20.85766111877348,-12.394066826433317,-30.61461639404297,0,0,-1.3078522007457316],[20.85766111877348,-12.394066826433317,-28.61461639404297,0,0,-1.3078522007457316],[20.85766111877348,-12.394066826433317,-28.61461639404297,0,0,-1.046052812946582],[20.85766111877348,-12.394066826433317,-28.61461639404297,0,0,-0.7842534251474327],[20.85766111877348,-12.394066826433317,-28.61461639404297,0,0,-0.5224540373482833],[20.85766111877348,-12.394066826433317,-30.61461639404297,0,0,-0.5224540373482833],[20.85766111877348,-12.394066826433317,-32.61461639404297,0,0,-0.5224540373482833],[20.85766111877348,-12.394066826433317,-34.61461639404297,0,0,-0.5224540373482833],[20.85766111877348,-12.394066826433317,-36.61461639404297,0,0,-0.5224540373482833],[20.85766111877348,-12.394066826433317,-38.61461639404297,0,0,-0.5224540373482833],[20.85766111877348,-12.394066826433317,-40.61461639404297,0,0,-0.5224540373482833],[20.85766111877348,-12.394066826433317,-42.61461639404297,0,0,-0.5224540373482833],[20.85766111877348,-12.394066826433317,-44.61461639404297,0,0,-0.5224540373482833],[20.85766111877348,-12.394066826433317,-46.61461639404297,0,0,-0.5224540373482833],[20.85766111877348,-12.394066826433317,-48.61461639404297,0,0,-0.5224540373482833],[20.85766111877348,-12.394066826433317,-50.61461639404297,0,0,-0.5224540373482833],[20.85766111877348,-12.394066826433317,-52.61461639404297,0,0,-0.5224540373482833],[20.85766111877348,-12.394066826433317,-54.61461639404297,0,0,-0.5224540373482833],[20.85766111877348,-12.394066826433317,-56.61461639404297,0,0,-0.5224540373482833],[20.85766111877348,-12.394066826433317,-58.61461639404297,0,0,-0.5224540373482833],[20.85766111877348,-12.394066826433317,-60.61461639404297,0,0,-0.5224540373482833],[20.85766111877348,-12.394066826433317,-62.61461639404297,0,0,-0.5224540373482833],[20.85766111877348,-12.394066826433317,-64.61461639404297,0,0,-0.5224540373482833],[20.85766111877348,-12.394066826433317,-66.61461639404297,0,0,-0.5224540373482833]]},{"id":8,"instruction":"fly forward to the above mentioned building.","completed_instruction":"Fly forward to the building.","start_frame":142,"end_frame":158,"start_position":[20.85766111877348,-12.394066826433317,-66.61461639404297],"start_rotation":[0.966073808089616,0,0,-0.25826613661730374],"end_position":[64.18752138645068,-37.34448183668047,-66.61461639404297],"end_rotation":[0.966073808089616,0,0,-0.25826613661730374],"actions":[4,4,4,1,1,1,1,1,1,1,1,1,5,1,5,5,5],"reference_path":[[20.85766111877348,-12.394066826433317,-66.61461639404297,0,0,-0.5224540373482833],[20.85766111877348,-12.394066826433317,-68.61461639404297,0,0,-0.5224540373482833],[20.85766111877348,-12.394066826433317,-70.61461639404297,0,0,-0.5224540373482833],[20.85766111877348,-12.394066826433317,-72.61461639404297,0,0,-0.5224540373482833],[25.1906471455412,-14.889108327458032,-72.61461639404297,0,0,-0.5224540373482833],[29.52363317230892,-17.384149828482748,-72.61461639404297,0,0,-0.5224540373482833],[33.85661919907664,-19.879191329507464,-72.61461639404297,0,0,-0.5224540373482833],[38.18960522584436,-22.37423283053218,-72.61461639404297,0,0,-0.5224540373482833],[42.52259125261208,-24.869274331556895,-72.61461639404297,0,0,-0.5224540373482833],[46.8555772793798,-27.36431583258161,-72.61461639404297,0,0,-0.5224540373482833],[51.18856330614752,-29.859357333606326,-72.61461639404297,0,0,-0.5224540373482833],[55.52154933291524,-32.35439883463104,-72.61461639404297,0,0,-0.5224540373482833],[59.85453535968296,-34.84944033565576,-72.61461639404297,0,0,-0.5224540373482833],[59.85453535968296,-34.84944033565576,-70.61461639404297,0,0,-0.5224540373482833],[64.18752138645068,-37.34448183668047,-70.61461639404297,0,0,-0.5224540373482833],[64.18752138645068,-37.34448183668047,-68.61461639404297,0,0,-0.5224540373482833],[64.18752138645068,-37.34448183668047,-66.61461639404297,0,0,-0.5224540373482833]]}],"statistics":{"complete_actions":166,"sentence_actions":[6,20,4,42,26,10,11,30,17],"sentence_actions_average":18.44}}
diff --git a/scene_5/3QY7M81QHGK0T2Q824FOTRDIMR2K7H.json b/scene_5/3QY7M81QHGK0T2Q824FOTRDIMR2K7H.json
new file mode 100644
index 0000000000000000000000000000000000000000..ac152578d90fba78d80385e14844c674147d9bc6
--- /dev/null
+++ b/scene_5/3QY7M81QHGK0T2Q824FOTRDIMR2K7H.json
@@ -0,0 +1 @@
+{"episode_id":"3QY7M81QHGK0T2Q824FOTRDIMR2K7H","trajectory_id":"386659BNUTFHJ679JSJVKEC873K10Y","scene_id":5,"instruction":"take off and turn left and cross the road and building and move towards the building and get down. now go forward and turn right and get up and top of the building and move over to it. now go forward and turn left and move towards the building terrace and land in the shed.","sentence_instructions":[{"id":0,"instruction":"take off and turn left and cross the road and building and move towards the building and get down.","completed_instruction":"Turn left to face the grayish-black building and fly forward to reach the edge of the river, fly down to the top wire.","start_frame":1,"end_frame":32,"start_position":[30.809431076049805,36.02878189086914,-33.083560943603516],"start_rotation":[0.999998095178374,0,0,-0.0019518298142304717],"end_position":[3.0147113441336852,-16.823648340041718,-15.083560943603516],"end_rotation":[0.49830871338619936,0,0,-0.86699966906763615],"actions":[4,2,2,2,2,2,2,2,1,1,2,1,1,1,1,1,1,1,1,1,1,5,5,5,5,5,5,5,5,5,5,5],"reference_path":[[30.809431076049805,36.02878189086914,-33.083560943603516,0,0,-0.003903662107054592],[30.809431076049805,36.02878189086914,-35.083560943603516,0,0,-0.003903662107054592],[30.809431076049805,36.02878189086914,-35.083560943603516,0,0,-0.265703049906204],[30.809431076049805,36.02878189086914,-35.083560943603516,0,0,-0.5275024377053534],[30.809431076049805,36.02878189086914,-35.083560943603516,0,0,-0.7893018255045029],[30.809431076049805,36.02878189086914,-35.083560943603516,0,0,-1.0511012133036524],[30.809431076049805,36.02878189086914,-35.083560943603516,0,0,-1.312900601102802],[30.809431076049805,36.02878189086914,-35.083560943603516,0,0,-1.5746999889019515],[30.809431076049805,36.02878189086914,-35.083560943603516,0,0,-1.8364993767011009],[29.49649251826127,31.20424125538143,-35.083560943603516,0,0,-1.8364993767011009],[28.183553960472736,26.37970061989372,-35.083560943603516,0,0,-1.8364993767011009],[28.183553960472736,26.37970061989372,-35.083560943603516,0,0,-2.0982987645002504],[25.66666969883883,22.059365723900175,-35.083560943603516,0,0,-2.0982987645002504],[23.149785437204926,17.73903082790663,-35.083560943603516,0,0,-2.0982987645002504],[20.63290117557102,13.418695931913089,-35.083560943603516,0,0,-2.0982987645002504],[18.116016913937116,9.098361035919545,-35.083560943603516,0,0,-2.0982987645002504],[15.599132652303211,4.778026139926001,-35.083560943603516,0,0,-2.0982987645002504],[13.082248390669307,0.45769124393245697,-35.083560943603516,0,0,-2.0982987645002504],[10.565364129035402,-3.862643652061087,-35.083560943603516,0,0,-2.0982987645002504],[8.048479867401497,-8.182978548054631,-35.083560943603516,0,0,-2.0982987645002504],[5.531595605767591,-12.503313444048175,-35.083560943603516,0,0,-2.0982987645002504],[3.0147113441336852,-16.823648340041718,-35.083560943603516,0,0,-2.0982987645002504],[3.0147113441336852,-16.823648340041718,-33.083560943603516,0,0,-2.0982987645002504],[3.0147113441336852,-16.823648340041718,-31.083560943603516,0,0,-2.0982987645002504],[3.0147113441336852,-16.823648340041718,-29.083560943603516,0,0,-2.0982987645002504],[3.0147113441336852,-16.823648340041718,-27.083560943603516,0,0,-2.0982987645002504],[3.0147113441336852,-16.823648340041718,-25.083560943603516,0,0,-2.0982987645002504],[3.0147113441336852,-16.823648340041718,-23.083560943603516,0,0,-2.0982987645002504],[3.0147113441336852,-16.823648340041718,-21.083560943603516,0,0,-2.0982987645002504],[3.0147113441336852,-16.823648340041718,-19.083560943603516,0,0,-2.0982987645002504],[3.0147113441336852,-16.823648340041718,-17.083560943603516,0,0,-2.0982987645002504],[3.0147113441336852,-16.823648340041718,-15.083560943603516,0,0,-2.0982987645002504]]},{"id":1,"instruction":"now go forward and turn right and get up and top of the building and move over to it.","completed_instruction":"Turn right to face the white and red sign and fly up to the roof of the building, then fly up to the height of the roof ahead  and fly forward towards the roof.","start_frame":32,"end_frame":61,"start_position":[3.0147113441336852,-16.823648340041718,-15.083560943603516],"start_rotation":[0.49830871338619936,0,0,-0.86699966906763615],"end_position":[26.151061107437894,-23.11991735004519,-31.083560943603516],"end_rotation":[0.9654188156439435,0,0,-0.26070387492449271],"actions":[5,5,3,6,3,3,3,3,3,3,3,1,4,4,1,4,4,1,4,2,2,4,1,4,4,1,4,4,1,1],"reference_path":[[3.0147113441336852,-16.823648340041718,-15.083560943603516,0,0,-2.0982987645002504],[3.0147113441336852,-16.823648340041718,-13.083560943603516,0,0,-2.0982987645002504],[3.0147113441336852,-16.823648340041718,-11.083560943603516,0,0,-2.0982987645002504],[3.0147113441336852,-16.823648340041718,-11.083560943603516,0,0,-1.8364993767011009],[-1.809829291354026,-15.510709782253183,-11.083560943603516,0,0,-1.8364993767011009],[-1.809829291354026,-15.510709782253183,-11.083560943603516,0,0,-1.5746999889019515],[-1.809829291354026,-15.510709782253183,-11.083560943603516,0,0,-1.312900601102802],[-1.809829291354026,-15.510709782253183,-11.083560943603516,0,0,-1.0511012133036526],[-1.809829291354026,-15.510709782253183,-11.083560943603516,0,0,-0.7893018255045031],[-1.809829291354026,-15.510709782253183,-11.083560943603516,0,0,-0.5275024377053537],[-1.809829291354026,-15.510709782253183,-11.083560943603516,0,0,-0.26570304990620425],[-1.809829291354026,-15.510709782253183,-11.083560943603516,0,0,-0.0039036621070548177],[3.1901326122497373,-15.530228043216614,-11.083560943603516,0,0,-0.0039036621070548177],[3.1901326122497373,-15.530228043216614,-13.083560943603516,0,0,-0.0039036621070548177],[3.1901326122497373,-15.530228043216614,-15.083560943603516,0,0,-0.0039036621070548177],[8.1900945158535,-15.549746304180044,-15.083560943603516,0,0,-0.0039036621070548177],[8.1900945158535,-15.549746304180044,-17.083560943603516,0,0,-0.0039036621070548177],[8.1900945158535,-15.549746304180044,-19.083560943603516,0,0,-0.0039036621070548177],[13.190056419457264,-15.569264565143474,-19.083560943603516,0,0,-0.0039036621070548177],[13.190056419457264,-15.569264565143474,-21.083560943603516,0,0,-0.0039036621070548177],[13.190056419457264,-15.569264565143474,-21.083560943603516,0,0,-0.26570304990620425],[13.190056419457264,-15.569264565143474,-21.083560943603516,0,0,-0.5275024377053537],[13.190056419457264,-15.569264565143474,-23.083560943603516,0,0,-0.5275024377053537],[17.510391315450807,-18.08614882677738,-23.083560943603516,0,0,-0.5275024377053537],[17.510391315450807,-18.08614882677738,-25.083560943603516,0,0,-0.5275024377053537],[17.510391315450807,-18.08614882677738,-27.083560943603516,0,0,-0.5275024377053537],[21.83072621144435,-20.603033088411284,-27.083560943603516,0,0,-0.5275024377053537],[21.83072621144435,-20.603033088411284,-29.083560943603516,0,0,-0.5275024377053537],[21.83072621144435,-20.603033088411284,-31.083560943603516,0,0,-0.5275024377053537],[26.151061107437894,-23.11991735004519,-31.083560943603516,0,0,-0.5275024377053537]]},{"id":2,"instruction":"now go forward and turn left and move towards the building terrace and land in the shed.","completed_instruction":"Go forward towards the billboard on the left, turn left to face the billboard and fly over it, then turn right to face the roof and land on it.","start_frame":61,"end_frame":85,"start_position":[26.151061107437894,-23.11991735004519,-31.083560943603516],"start_rotation":[0.9654188156439435,0,0,-0.26070387492449271],"end_position":[58.828034841164474,-66.2089552346125,-23.083560943603516],"end_rotation":[0.9654188156439435,0,0,-0.26070387492449271],"actions":[1,4,1,1,6,1,2,1,1,1,1,2,2,1,1,5,1,3,3,3,5,5,5,5,0],"reference_path":[[26.151061107437894,-23.11991735004519,-31.083560943603516,0,0,-0.5275024377053537],[30.471396003431437,-25.636801611679093,-31.083560943603516,0,0,-0.5275024377053537],[30.471396003431437,-25.636801611679093,-33.083560943603516,0,0,-0.5275024377053537],[34.791730899424984,-28.153685873312998,-33.083560943603516,0,0,-0.5275024377053537],[39.11206579541853,-30.670570134946903,-33.083560943603516,0,0,-0.5275024377053537],[36.595181533784626,-34.990905030940446,-33.083560943603516,0,0,-0.5275024377053537],[40.91551642977817,-37.50778929257435,-33.083560943603516,0,0,-0.5275024377053537],[40.91551642977817,-37.50778929257435,-33.083560943603516,0,0,-0.7893018255045031],[44.437221902806584,-41.05709775497118,-33.083560943603516,0,0,-0.7893018255045031],[47.958927375834996,-44.60640621736801,-33.083560943603516,0,0,-0.7893018255045031],[51.48063284886341,-48.15571467976484,-33.083560943603516,0,0,-0.7893018255045031],[55.00233832189182,-51.70502314216167,-33.083560943603516,0,0,-0.7893018255045031],[55.00233832189182,-51.70502314216167,-33.083560943603516,0,0,-1.0511012133036526],[55.00233832189182,-51.70502314216167,-33.083560943603516,0,0,-1.312900601102802],[56.277570494982704,-56.53966717297862,-33.083560943603516,0,0,-1.312900601102802],[57.55280266807359,-61.374311203795564,-33.083560943603516,0,0,-1.312900601102802],[57.55280266807359,-61.374311203795564,-31.083560943603516,0,0,-1.312900601102802],[58.828034841164474,-66.2089552346125,-31.083560943603516,0,0,-1.312900601102802],[58.828034841164474,-66.2089552346125,-31.083560943603516,0,0,-1.0511012133036526],[58.828034841164474,-66.2089552346125,-31.083560943603516,0,0,-0.7893018255045031],[58.828034841164474,-66.2089552346125,-31.083560943603516,0,0,-0.5275024377053537],[58.828034841164474,-66.2089552346125,-29.083560943603516,0,0,-0.5275024377053537],[58.828034841164474,-66.2089552346125,-27.083560943603516,0,0,-0.5275024377053537],[58.828034841164474,-66.2089552346125,-25.083560943603516,0,0,-0.5275024377053537],[58.828034841164474,-66.2089552346125,-23.083560943603516,0,0,-0.5275024377053537]]}],"statistics":{"complete_actions":87,"sentence_actions":[32,30,25],"sentence_actions_average":29.0}}
diff --git a/scene_5/3SUWZRL0M7BE32KTN8ZTPI0H2286E3.json b/scene_5/3SUWZRL0M7BE32KTN8ZTPI0H2286E3.json
new file mode 100644
index 0000000000000000000000000000000000000000..006031e2c9c305553ee60fe22ff332038bce05f6
--- /dev/null
+++ b/scene_5/3SUWZRL0M7BE32KTN8ZTPI0H2286E3.json
@@ -0,0 +1 @@
+{"episode_id":"3SUWZRL0M7BE32KTN8ZTPI0H2286E3","trajectory_id":"3XUY87HIWXCBI9051JPR237O7C1MMC","scene_id":5,"instruction":"take off and go forward and go over the white building from bottom reach the street tree. now go forward and turn left and turn back and reach the building. now go forward and reach the white building from bottom to top and reach the terrace and land there.","sentence_instructions":[{"id":0,"instruction":"take off and go forward and go over the white building from bottom reach the street tree.","completed_instruction":"Take off, fly up to the top floor of the building, fly forward passing through the gaps between the billboards and the top floor buildings, fly to the trees on the street and fly down to the ground.","start_frame":1,"end_frame":44,"start_position":[-73.3027114868164,0.21759970486164093,-0.8519984483718872],"start_rotation":[0.99990032484042,0,0,-0.014118795416841783],"end_position":[-3.471793021816125,-6.756841228609905,-8.851998448371887],"end_rotation":[0.99990032484042,0,0,-0.014118795416841783],"actions":[4,4,4,4,4,4,4,4,4,4,4,4,4,4,1,1,1,1,1,1,4,1,1,6,1,1,1,1,1,4,1,5,5,5,5,5,5,5,5,5,5,5,5,5],"reference_path":[[-73.3027114868164,0.21759970486164093,-0.8519984483718872,0,0,-0.028238529066548574],[-73.3027114868164,0.21759970486164093,-2.851998448371887,0,0,-0.028238529066548574],[-73.3027114868164,0.21759970486164093,-4.851998448371887,0,0,-0.028238529066548574],[-73.3027114868164,0.21759970486164093,-6.851998448371887,0,0,-0.028238529066548574],[-73.3027114868164,0.21759970486164093,-8.851998448371887,0,0,-0.028238529066548574],[-73.3027114868164,0.21759970486164093,-10.851998448371887,0,0,-0.028238529066548574],[-73.3027114868164,0.21759970486164093,-12.851998448371887,0,0,-0.028238529066548574],[-73.3027114868164,0.21759970486164093,-14.851998448371887,0,0,-0.028238529066548574],[-73.3027114868164,0.21759970486164093,-16.851998448371887,0,0,-0.028238529066548574],[-73.3027114868164,0.21759970486164093,-18.851998448371887,0,0,-0.028238529066548574],[-73.3027114868164,0.21759970486164093,-20.851998448371887,0,0,-0.028238529066548574],[-73.3027114868164,0.21759970486164093,-22.851998448371887,0,0,-0.028238529066548574],[-73.3027114868164,0.21759970486164093,-24.851998448371887,0,0,-0.028238529066548574],[-73.3027114868164,0.21759970486164093,-26.851998448371887,0,0,-0.028238529066548574],[-73.3027114868164,0.21759970486164093,-28.851998448371887,0,0,-0.028238529066548574],[-68.30470489065664,0.07642582362508563,-28.851998448371887,0,0,-0.028238529066548574],[-63.30669829449686,-0.06474805761146968,-28.851998448371887,0,0,-0.028238529066548574],[-58.308691698337086,-0.20592193884802498,-28.851998448371887,0,0,-0.028238529066548574],[-53.31068510217731,-0.3470958200845803,-28.851998448371887,0,0,-0.028238529066548574],[-48.312678506017534,-0.48826970132113556,-28.851998448371887,0,0,-0.028238529066548574],[-43.31467190985776,-0.6294435825576908,-28.851998448371887,0,0,-0.028238529066548574],[-43.31467190985776,-0.6294435825576908,-30.851998448371887,0,0,-0.028238529066548574],[-38.31666531369798,-0.7706174637942461,-30.851998448371887,0,0,-0.028238529066548574],[-33.318658717538206,-0.9117913450308014,-30.851998448371887,0,0,-0.028238529066548574],[-33.45983259877476,-5.9097979411905746,-30.851998448371887,0,0,-0.028238529066548574],[-28.461826002614988,-6.05097182242713,-30.851998448371887,0,0,-0.028238529066548574],[-23.463819406455215,-6.192145703663685,-30.851998448371887,0,0,-0.028238529066548574],[-18.465812810295443,-6.33331958490024,-30.851998448371887,0,0,-0.028238529066548574],[-13.46780621413567,-6.474493466136795,-30.851998448371887,0,0,-0.028238529066548574],[-8.469799617975898,-6.61566734737335,-30.851998448371887,0,0,-0.028238529066548574],[-8.469799617975898,-6.61566734737335,-32.85199844837189,0,0,-0.028238529066548574],[-3.471793021816125,-6.756841228609905,-32.85199844837189,0,0,-0.028238529066548574],[-3.471793021816125,-6.756841228609905,-30.851998448371887,0,0,-0.028238529066548574],[-3.471793021816125,-6.756841228609905,-28.851998448371887,0,0,-0.028238529066548574],[-3.471793021816125,-6.756841228609905,-26.851998448371887,0,0,-0.028238529066548574],[-3.471793021816125,-6.756841228609905,-24.851998448371887,0,0,-0.028238529066548574],[-3.471793021816125,-6.756841228609905,-22.851998448371887,0,0,-0.028238529066548574],[-3.471793021816125,-6.756841228609905,-20.851998448371887,0,0,-0.028238529066548574],[-3.471793021816125,-6.756841228609905,-18.851998448371887,0,0,-0.028238529066548574],[-3.471793021816125,-6.756841228609905,-16.851998448371887,0,0,-0.028238529066548574],[-3.471793021816125,-6.756841228609905,-14.851998448371887,0,0,-0.028238529066548574],[-3.471793021816125,-6.756841228609905,-12.851998448371887,0,0,-0.028238529066548574],[-3.471793021816125,-6.756841228609905,-10.851998448371887,0,0,-0.028238529066548574],[-3.471793021816125,-6.756841228609905,-8.851998448371887,0,0,-0.028238529066548574]]},{"id":1,"instruction":"now go forward and turn left and turn back and reach the building.","completed_instruction":"Turn left to face the white pipes and turn back, and fly forward to the bridge.","start_frame":44,"end_frame":63,"start_position":[-3.471793021816125,-6.756841228609905,-8.851998448371887],"start_rotation":[0.99990032484042,0,0,-0.014118795416841783],"end_position":[-3.0482713781064583,8.237178559869415,-4.851998448371887],"end_rotation":[0.71701979618672707,0,0,0.69705280422385829],"actions":[5,5,2,2,2,2,3,3,3,3,3,3,3,3,3,3,1,1,1,1],"reference_path":[[-3.471793021816125,-6.756841228609905,-8.851998448371887,0,0,-0.028238529066548574],[-3.471793021816125,-6.756841228609905,-6.851998448371887,0,0,-0.028238529066548574],[-3.471793021816125,-6.756841228609905,-4.851998448371887,0,0,-0.028238529066548574],[-3.471793021816125,-6.756841228609905,-4.851998448371887,0,0,-0.290037916865698],[-3.471793021816125,-6.756841228609905,-4.851998448371887,0,0,-0.5518373046648475],[-3.471793021816125,-6.756841228609905,-4.851998448371887,0,0,-0.813636692463997],[-3.471793021816125,-6.756841228609905,-4.851998448371887,0,0,-1.0754360802631464],[-3.471793021816125,-6.756841228609905,-4.851998448371887,0,0,-0.813636692463997],[-3.471793021816125,-6.756841228609905,-4.851998448371887,0,0,-0.5518373046648476],[-3.471793021816125,-6.756841228609905,-4.851998448371887,0,0,-0.2900379168656982],[-3.471793021816125,-6.756841228609905,-4.851998448371887,0,0,-0.028238529066548747],[-3.471793021816125,-6.756841228609905,-4.851998448371887,0,0,0.23356085873260068],[-3.471793021816125,-6.756841228609905,-4.851998448371887,0,0,0.4953602465317501],[-3.471793021816125,-6.756841228609905,-4.851998448371887,0,0,0.7571596343308996],[-3.471793021816125,-6.756841228609905,-4.851998448371887,0,0,1.018959022130049],[-3.471793021816125,-6.756841228609905,-4.851998448371887,0,0,1.2807584099291984],[-3.471793021816125,-6.756841228609905,-4.851998448371887,0,0,1.542557797728348],[-3.3306191405795693,-1.7588346324501316,-4.851998448371887,0,0,1.542557797728348],[-3.189445259343014,3.2391719637096417,-4.851998448371887,0,0,1.542557797728348],[-3.0482713781064583,8.237178559869415,-4.851998448371887,0,0,1.542557797728348]]},{"id":2,"instruction":"now go forward and reach the white building from bottom to top and reach the terrace and land there.","completed_instruction":"Turn left to face the white high building, fly forward to the trees near it, fly up to the height of the building, fly forward to the terrace and land there.","start_frame":63,"end_frame":95,"start_position":[-3.0482713781064583,8.237178559869415,-4.851998448371887],"start_rotation":[0.71701979618672707,0,0,0.69705280422385829],"end_position":[26.940678356153832,30.264890224090223,-34.85199844837189],"end_rotation":[0.99990032484042,0,0,-0.014118795416841714],"actions":[1,1,2,2,1,2,1,2,1,1,4,4,4,4,4,4,4,4,4,4,4,4,4,4,4,2,1,2,2,1,3,1,0],"reference_path":[[-3.0482713781064583,8.237178559869415,-4.851998448371887,0,0,1.542557797728348],[-2.907097496869903,13.235185156029189,-4.851998448371887,0,0,1.542557797728348],[-2.7659236156333473,18.23319175218896,-4.851998448371887,0,0,1.542557797728348],[-2.7659236156333473,18.23319175218896,-4.851998448371887,0,0,1.2807584099291984],[-2.7659236156333473,18.23319175218896,-4.851998448371887,0,0,1.018959022130049],[-0.14466015005175592,22.49100549212724,-4.851998448371887,0,0,1.018959022130049],[-0.14466015005175592,22.49100549212724,-4.851998448371887,0,0,0.7571596343308996],[3.489289215256707,25.925304839938118,-4.851998448371887,0,0,0.7571596343308996],[3.489289215256707,25.925304839938118,-4.851998448371887,0,0,0.4953602465317503],[7.88827683643154,28.302047970516302,-4.851998448371887,0,0,0.4953602465317503],[12.287264457606373,30.678791101094486,-4.851998448371887,0,0,0.4953602465317503],[12.287264457606373,30.678791101094486,-6.851998448371887,0,0,0.4953602465317503],[12.287264457606373,30.678791101094486,-8.851998448371887,0,0,0.4953602465317503],[12.287264457606373,30.678791101094486,-10.851998448371887,0,0,0.4953602465317503],[12.287264457606373,30.678791101094486,-12.851998448371887,0,0,0.4953602465317503],[12.287264457606373,30.678791101094486,-14.851998448371887,0,0,0.4953602465317503],[12.287264457606373,30.678791101094486,-16.851998448371887,0,0,0.4953602465317503],[12.287264457606373,30.678791101094486,-18.851998448371887,0,0,0.4953602465317503],[12.287264457606373,30.678791101094486,-20.851998448371887,0,0,0.4953602465317503],[12.287264457606373,30.678791101094486,-22.851998448371887,0,0,0.4953602465317503],[12.287264457606373,30.678791101094486,-24.851998448371887,0,0,0.4953602465317503],[12.287264457606373,30.678791101094486,-26.851998448371887,0,0,0.4953602465317503],[12.287264457606373,30.678791101094486,-28.851998448371887,0,0,0.4953602465317503],[12.287264457606373,30.678791101094486,-30.851998448371887,0,0,0.4953602465317503],[12.287264457606373,30.678791101094486,-32.85199844837189,0,0,0.4953602465317503],[12.287264457606373,30.678791101094486,-34.85199844837189,0,0,0.4953602465317503],[12.287264457606373,30.678791101094486,-34.85199844837189,0,0,0.23356085873260093],[17.151506597935278,31.836006897844804,-34.85199844837189,0,0,0.23356085873260093],[17.151506597935278,31.836006897844804,-34.85199844837189,0,0,-0.02823852906654847],[17.151506597935278,31.836006897844804,-34.85199844837189,0,0,-0.29003791686569785],[21.94267175999406,30.406064105326777,-34.85199844837189,0,0,-0.29003791686569785],[21.94267175999406,30.406064105326777,-34.85199844837189,0,0,-0.02823852906654844],[26.940678356153832,30.264890224090223,-34.85199844837189,0,0,-0.02823852906654844]]}],"statistics":{"complete_actions":97,"sentence_actions":[44,20,33],"sentence_actions_average":32.33}}
diff --git a/scene_7/31LVTDXBLG8LVRS5WIPVD8HX8E7RLE.json b/scene_7/31LVTDXBLG8LVRS5WIPVD8HX8E7RLE.json
new file mode 100644
index 0000000000000000000000000000000000000000..4815f747795c5cae7c0fee3f6e36234e82c24e88
--- /dev/null
+++ b/scene_7/31LVTDXBLG8LVRS5WIPVD8HX8E7RLE.json
@@ -0,0 +1 @@
+{"episode_id":"31LVTDXBLG8LVRS5WIPVD8HX8E7RLE","trajectory_id":"3126F2F5GG1JRO55C1T06ZWA3LIEPK","scene_id":7,"instruction":"turn right and fly down the street two blocks past the bridge. cross the street to the other tree. turn right at the corner. go down the street ahead. go to the end and left. go to the small dock. land on the stairs.","sentence_instructions":[{"id":0,"instruction":"turn right and fly down the street two blocks past the bridge.","completed_instruction":"Turn right to face the road, fly forward, pass a bridge and hover when reach a waterway.","start_frame":0,"end_frame":28,"start_position":[85.25076293945312,-168.8494873046875,-0.4288705289363861],"start_rotation":[0.99999994198968067,0,0,-0.000340618019759351],"end_position":[85.3222927194531,-63.8495116690209,-2.428870528936386],"end_rotation":[0.70734759347862353,0,0,0.70686588685549112],"actions":[3,3,3,3,3,3,1,1,1,1,1,1,1,4,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1],"reference_path":[[85.25076293945312,-168.8494873046875,-0.4288705289363861,0,0,-0.000681236052691609],[85.25076293945312,-168.8494873046875,-0.4288705289363861,0,0,0.2611181517464578],[85.25076293945312,-168.8494873046875,-0.4288705289363861,0,0,0.5229175395456073],[85.25076293945312,-168.8494873046875,-0.4288705289363861,0,0,0.7847169273447566],[85.25076293945312,-168.8494873046875,-0.4288705289363861,0,0,1.046516315143906],[85.25076293945312,-168.8494873046875,-0.4288705289363861,0,0,1.3083157029430554],[85.25076293945312,-168.8494873046875,-0.4288705289363861,0,0,1.5701150907422048],[85.25416911945312,-163.84948846489385,-0.4288705289363861,0,0,1.5701150907422048],[85.25757529945312,-158.8494896251002,-0.4288705289363861,0,0,1.5701150907422048],[85.26098147945312,-153.84949078530656,-0.4288705289363861,0,0,1.5701150907422048],[85.26438765945312,-148.8494919455129,-0.4288705289363861,0,0,1.5701150907422048],[85.26779383945312,-143.84949310571926,-0.4288705289363861,0,0,1.5701150907422048],[85.27120001945312,-138.8494942659256,-0.4288705289363861,0,0,1.5701150907422048],[85.27460619945312,-133.84949542613197,-0.4288705289363861,0,0,1.5701150907422048],[85.27460619945312,-133.84949542613197,-2.428870528936386,0,0,1.5701150907422048],[85.27801237945312,-128.84949658633832,-2.428870528936386,0,0,1.5701150907422048],[85.28141855945312,-123.84949774654467,-2.428870528936386,0,0,1.5701150907422048],[85.28482473945311,-118.84949890675102,-2.428870528936386,0,0,1.5701150907422048],[85.28823091945311,-113.84950006695738,-2.428870528936386,0,0,1.5701150907422048],[85.29163709945311,-108.84950122716373,-2.428870528936386,0,0,1.5701150907422048],[85.29504327945311,-103.84950238737008,-2.428870528936386,0,0,1.5701150907422048],[85.29844945945311,-98.84950354757643,-2.428870528936386,0,0,1.5701150907422048],[85.30185563945311,-93.84950470778278,-2.428870528936386,0,0,1.5701150907422048],[85.30526181945311,-88.84950586798914,-2.428870528936386,0,0,1.5701150907422048],[85.3086679994531,-83.84950702819549,-2.428870528936386,0,0,1.5701150907422048],[85.3120741794531,-78.84950818840184,-2.428870528936386,0,0,1.5701150907422048],[85.3154803594531,-73.8495093486082,-2.428870528936386,0,0,1.5701150907422048],[85.3188865394531,-68.84951050881455,-2.428870528936386,0,0,1.5701150907422048],[85.3222927194531,-63.8495116690209,-2.428870528936386,0,0,1.5701150907422048]]},{"id":1,"instruction":"cross the street to the other tree.","completed_instruction":"Turn right for 45 degrees and fly straight to gray house at the right side of the bridge.","start_frame":28,"end_frame":44,"start_position":[85.3222927194531,-63.8495116690209,-2.428870528936386],"start_rotation":[0.70734759347862353,0,0,0.70686588685549112],"end_position":[62.768974490489455,-3.8299459708593426,-2.428870528936386],"end_rotation":[0.50029495485293862,0,0,0.8658550445361487],"actions":[1,1,1,3,1,1,1,1,7,1,1,3,1,1,1,1,1],"reference_path":[[85.3222927194531,-63.8495116690209,-2.428870528936386,0,0,1.5701150907422048],[85.3256988994531,-58.84951282922725,-2.428870528936386,0,0,1.5701150907422048],[85.3291050794531,-53.8495139894336,-2.428870528936386,0,0,1.5701150907422048],[85.3325112594531,-48.849515149639956,-2.428870528936386,0,0,1.5701150907422048],[85.3325112594531,-48.849515149639956,-2.428870528936386,0,0,1.8319144785413544],[84.04170645145498,-44.019005554612846,-2.428870528936386,0,0,1.8319144785413544],[82.75090164345687,-39.18849595958574,-2.428870528936386,0,0,1.8319144785413544],[81.46009683545876,-34.35798636455863,-2.428870528936386,0,0,1.8319144785413544],[80.16929202746064,-29.527476769531518,-2.428870528936386,0,0,1.8319144785413544],[75.33878243243353,-30.818281577529632,-2.428870528936386,0,0,1.8319144785413544],[74.04797762443542,-25.987771982502522,-2.428870528936386,0,0,1.8319144785413544],[72.7571728164373,-21.157262387475413,-2.428870528936386,0,0,1.8319144785413544],[72.7571728164373,-21.157262387475413,-2.428870528936386,0,0,2.093713866340504],[70.26012323495034,-16.825433283321395,-2.428870528936386,0,0,2.093713866340504],[67.76307365346338,-12.493604179167377,-2.428870528936386,0,0,2.093713866340504],[65.26602407197642,-8.16177507501336,-2.428870528936386,0,0,2.093713866340504],[62.768974490489455,-3.8299459708593426,-2.428870528936386,0,0,2.093713866340504]]},{"id":2,"instruction":"turn right at the corner.","completed_instruction":"Go to the intersection and turn right to face the road.","start_frame":44,"end_frame":49,"start_position":[62.768974490489455,-3.8299459708593426,-2.428870528936386],"start_rotation":[0.50029495485293862,0,0,0.8658550445361487],"end_position":[55.27782574602857,9.165541341602708,-2.428870528936386],"end_rotation":[0.25914804183053014,0,0,0.96583761182478378],"actions":[1,1,1,3,3,3],"reference_path":[[62.768974490489455,-3.8299459708593426,-2.428870528936386,0,0,2.093713866340504],[60.27192490900249,0.5018831332946743,-2.428870528936386,0,0,2.093713866340504],[57.77487532751553,4.833712237448691,-2.428870528936386,0,0,2.093713866340504],[55.27782574602857,9.165541341602708,-2.428870528936386,0,0,2.093713866340504],[55.27782574602857,9.165541341602708,-2.428870528936386,0,0,2.3555132541396535],[55.27782574602857,9.165541341602708,-2.428870528936386,0,0,2.617312641938803]]},{"id":3,"instruction":"go down the street ahead.","completed_instruction":"Go straight to the end of the road and reach a intersection.","start_frame":49,"end_frame":59,"start_position":[55.27782574602857,9.165541341602708,-2.428870528936386],"start_rotation":[0.25914804183053014,0,0,0.96583761182478378],"end_position":[15.449087440956022,10.486769644062791,-2.428870528936386],"end_rotation":[0.00034061801975927033,0,0,0.99999994198968067],"actions":[3,1,3,1,1,1,1,1,1,1,1],"reference_path":[[55.27782574602857,9.165541341602708,-2.428870528936386,0,0,2.617312641938803],[55.27782574602857,9.165541341602708,-2.428870528936386,0,0,2.8791120297379527],[50.449079319511554,10.462926384062799,-2.428870528936386,0,0,2.8791120297379527],[50.449079319511554,10.462926384062799,-2.428870528936386,0,0,3.140911417537102],[45.44908047971791,10.466332564062798,-2.428870528936386,0,0,3.140911417537102],[40.44908163992426,10.469738744062797,-2.428870528936386,0,0,3.140911417537102],[35.44908280013061,10.473144924062796,-2.428870528936386,0,0,3.140911417537102],[30.449083960336964,10.476551104062795,-2.428870528936386,0,0,3.140911417537102],[25.449085120543316,10.479957284062793,-2.428870528936386,0,0,3.140911417537102],[20.44908628074967,10.483363464062792,-2.428870528936386,0,0,3.140911417537102],[15.449087440956022,10.486769644062791,-2.428870528936386,0,0,3.140911417537102]]},{"id":4,"instruction":"go to the end and left.","completed_instruction":"Turn left 45 degrees.","start_frame":59,"end_frame":63,"start_position":[15.449087440956022,10.486769644062791,-2.428870528936386],"start_rotation":[0.00034061801975927033,0,0,0.99999994198968067],"end_position":[5.449089761368731,10.49358200406279,-2.428870528936386],"end_rotation":[0.25914804183053014,0,0,0.96583761182478378],"actions":[1,1,2,2,1],"reference_path":[[15.449087440956022,10.486769644062791,-2.428870528936386,0,0,3.140911417537102],[10.449088601162376,10.49017582406279,-2.428870528936386,0,0,3.140911417537102],[5.449089761368731,10.49358200406279,-2.428870528936386,0,0,3.140911417537102],[5.449089761368731,10.49358200406279,-2.428870528936386,0,0,2.8791120297379527],[5.449089761368731,10.49358200406279,-2.428870528936386,0,0,2.617312641938803]]},{"id":5,"instruction":"go to the small dock.","completed_instruction":"Fly forward to the surface of water, turn left and go to the small dock.","start_frame":63,"end_frame":70,"start_position":[5.449089761368731,10.49358200406279,-2.428870528936386],"start_rotation":[0.25914804183053014,0,0,0.96583761182478378],"end_position":[-9.90360645981319,29.529960193350426,-2.428870528936386],"end_rotation":[0.5002949548529384,0,0,0.86585504453614881],"actions":[1,2,1,2,1,1,1,2],"reference_path":[[5.449089761368731,10.49358200406279,-2.428870528936386,0,0,2.617312641938803],[1.1206668372147126,12.996531262369473,-2.428870528936386,0,0,2.617312641938803],[1.1206668372147126,12.996531262369473,-2.428870528936386,0,0,2.3555132541396535],[-2.4124577153523035,16.534472880888373,-2.428870528936386,0,0,2.3555132541396535],[-2.4124577153523035,16.534472880888373,-2.428870528936386,0,0,2.0937138663405044],[-4.909507296839266,20.86630198504239,-2.428870528936386,0,0,2.0937138663405044],[-7.406556878326228,25.19813108919641,-2.428870528936386,0,0,2.0937138663405044],[-9.90360645981319,29.529960193350426,-2.428870528936386,0,0,2.0937138663405044]]},{"id":6,"instruction":"land on the stairs.","completed_instruction":"Land on the stairs.","start_frame":70,"end_frame":76,"start_position":[-9.90360645981319,29.529960193350426,-2.428870528936386],"start_rotation":[0.5002949548529384,0,0,0.86585504453614881],"end_position":[-7.397251021506511,38.85838195729809,-2.428870528936386],"end_rotation":[0.86619566255590785,0,0,0.49970498713674233],"actions":[2,2,1,2,2,1,0],"reference_path":[[-9.90360645981319,29.529960193350426,-2.428870528936386,0,0,2.0937138663405044],[-9.90360645981319,29.529960193350426,-2.428870528936386,0,0,1.831914478541355],[-9.90360645981319,29.529960193350426,-2.428870528936386,0,0,1.5701150907422057],[-9.900200279813193,34.529959033144074,-2.428870528936386,0,0,1.5701150907422057],[-9.900200279813193,34.529959033144074,-2.428870528936386,0,0,1.3083157029430565],[-9.900200279813193,34.529959033144074,-2.428870528936386,0,0,1.046516315143907],[-7.397251021506511,38.85838195729809,-2.428870528936386,0,0,1.046516315143907]]}],"statistics":{"complete_actions":83,"sentence_actions":[29,17,6,11,5,8,7],"sentence_actions_average":11.86}}
diff --git a/scene_7/31Z0PCVWUTDZWLGVWDTGUI0EWGIT70.json b/scene_7/31Z0PCVWUTDZWLGVWDTGUI0EWGIT70.json
new file mode 100644
index 0000000000000000000000000000000000000000..1ec31fe620764798e24c973669e67f0fc0fb26af
--- /dev/null
+++ b/scene_7/31Z0PCVWUTDZWLGVWDTGUI0EWGIT70.json
@@ -0,0 +1 @@
+{"episode_id":"31Z0PCVWUTDZWLGVWDTGUI0EWGIT70","trajectory_id":"3VP28W7DVVI5B677ULB8FFJOOIUFZ7","scene_id":7,"instruction":"go passed cones and take right at red signs. go down street and take left passed cones. stop in middle of bridge.","sentence_instructions":[{"id":0,"instruction":"go passed cones and take right at red signs.","completed_instruction":"Take off and fly straight ahead past the traffic lights, then go to the middle of the road T-junction, and then turn right to face the street where the buildings are on the right and the trees are on the left.","start_frame":1,"end_frame":17,"start_position":[-63.18816375732422,-155.08963012695312,-1.009127140045166],"start_rotation":[0.99988696648813813,0,0,-0.015035100503455714],"end_position":[1.188046069899677,-154.52496159417888,-1.009127140045166],"end_rotation":[0.92952878702980613,0,0,0.36874955468840531],"actions":[1,1,1,1,1,1,1,1,1,1,1,1,3,3,1,3,3],"reference_path":[[-63.18816375732422,-155.08963012695312,-1.009127140045166,0,0,-0.030071334038280533],[-58.19042429979571,-155.23996413728557,-1.009127140045166,0,0,-0.030071334038280533],[-53.1926848422672,-155.390298147618,-1.009127140045166,0,0,-0.030071334038280533],[-48.19494538473869,-155.54063215795045,-1.009127140045166,0,0,-0.030071334038280533],[-43.19720592721018,-155.6909661682829,-1.009127140045166,0,0,-0.030071334038280533],[-38.19946646968167,-155.84130017861534,-1.009127140045166,0,0,-0.030071334038280533],[-33.20172701215316,-155.99163418894778,-1.009127140045166,0,0,-0.030071334038280533],[-28.203987554624646,-156.14196819928023,-1.009127140045166,0,0,-0.030071334038280533],[-23.206248097096136,-156.29230220961267,-1.009127140045166,0,0,-0.030071334038280533],[-18.208508639567626,-156.44263621994511,-1.009127140045166,0,0,-0.030071334038280533],[-13.210769182039115,-156.59297023027756,-1.009127140045166,0,0,-0.030071334038280533],[-8.213029724510605,-156.74330424061,-1.009127140045166,0,0,-0.030071334038280533],[-3.2152902669820946,-156.89363825094244,-1.009127140045166,0,0,-0.030071334038280533],[-3.2152902669820946,-156.89363825094244,-1.009127140045166,0,0,0.2317280537608689],[-3.2152902669820946,-156.89363825094244,-1.009127140045166,0,0,0.49352744156001843],[1.188046069899677,-154.52496159417888,-1.009127140045166,0,0,0.49352744156001843],[1.188046069899677,-154.52496159417888,-1.009127140045166,0,0,0.7553268293591678]]},{"id":1,"instruction":"go down street and take left passed cones.","completed_instruction":"Fly straight along the street, reach the next intersection and then turn left to face the cone barriers.","start_frame":17,"end_frame":38,"start_position":[1.188046069899677,-154.52496159417888,-1.009127140045166],"start_rotation":[0.92952878702980613,0,0,0.36874955468840531],"end_position":[3.2927222145539132,-84.5566091887798,-1.009127140045166],"end_rotation":[0.9697080146560495,0,0,0.24426699799977661],"actions":[3,3,3,1,1,1,1,1,1,1,1,1,1,1,1,1,1,2,2,2,2,2],"reference_path":[[1.188046069899677,-154.52496159417888,-1.009127140045166,0,0,0.7553268293591678],[1.188046069899677,-154.52496159417888,-1.009127140045166,0,0,1.0171262171583173],[1.188046069899677,-154.52496159417888,-1.009127140045166,0,0,1.2789256049574669],[1.188046069899677,-154.52496159417888,-1.009127140045166,0,0,1.5407249927566162],[1.3383800802321224,-149.52722213665038,-1.009127140045166,0,0,1.5407249927566162],[1.4887140905645677,-144.52948267912188,-1.009127140045166,0,0,1.5407249927566162],[1.639048100897013,-139.5317432215934,-1.009127140045166,0,0,1.5407249927566162],[1.7893821112294583,-134.5340037640649,-1.009127140045166,0,0,1.5407249927566162],[1.9397161215619037,-129.5362643065364,-1.009127140045166,0,0,1.5407249927566162],[2.090050131894349,-124.53852484900789,-1.009127140045166,0,0,1.5407249927566162],[2.2403841422267945,-119.54078539147937,-1.009127140045166,0,0,1.5407249927566162],[2.39071815255924,-114.54304593395086,-1.009127140045166,0,0,1.5407249927566162],[2.5410521628916856,-109.54530647642235,-1.009127140045166,0,0,1.5407249927566162],[2.691386173224131,-104.54756701889384,-1.009127140045166,0,0,1.5407249927566162],[2.8417201835565766,-99.54982756136533,-1.009127140045166,0,0,1.5407249927566162],[2.992054193889022,-94.55208810383682,-1.009127140045166,0,0,1.5407249927566162],[3.1423882042214677,-89.55434864630831,-1.009127140045166,0,0,1.5407249927566162],[3.2927222145539132,-84.5566091887798,-1.009127140045166,0,0,1.5407249927566162],[3.2927222145539132,-84.5566091887798,-1.009127140045166,0,0,1.278925604957467],[3.2927222145539132,-84.5566091887798,-1.009127140045166,0,0,1.0171262171583177],[3.2927222145539132,-84.5566091887798,-1.009127140045166,0,0,0.7553268293591683],[3.2927222145539132,-84.5566091887798,-1.009127140045166,0,0,0.49352744156001876]]},{"id":2,"instruction":"stop in middle of bridge.","completed_instruction":"Fly forward to the center of the bridge and then land.","start_frame":38,"end_frame":54,"start_position":[3.2927222145539132,-84.5566091887798,-1.009127140045166],"start_rotation":[0.9697080146560495,0,0,0.24426699799977661],"end_position":[68.28228463531985,-80.21457920432161,-1.009127140045166],"end_rotation":[0.99988696648813813,0,0,-0.015035100503455521],"actions":[2,1,2,1,1,1,1,1,1,1,1,1,1,7,1,1,0],"reference_path":[[3.2927222145539132,-84.5566091887798,-1.009127140045166,0,0,0.49352744156001876],[3.2927222145539132,-84.5566091887798,-1.009127140045166,0,0,0.23172805376086927],[8.159077134645294,-83.4083105378608,-1.009127140045166,0,0,0.23172805376086927],[8.159077134645294,-83.4083105378608,-1.009127140045166,0,0,-0.030071334038280148],[13.156816592173804,-83.55864454819324,-1.009127140045166,0,0,-0.030071334038280148],[18.154556049702315,-83.70897855852569,-1.009127140045166,0,0,-0.030071334038280148],[23.152295507230825,-83.85931256885813,-1.009127140045166,0,0,-0.030071334038280148],[28.150034964759335,-84.00964657919057,-1.009127140045166,0,0,-0.030071334038280148],[33.147774422287846,-84.15998058952302,-1.009127140045166,0,0,-0.030071334038280148],[38.145513879816356,-84.31031459985546,-1.009127140045166,0,0,-0.030071334038280148],[43.143253337344866,-84.4606486101879,-1.009127140045166,0,0,-0.030071334038280148],[48.14099279487338,-84.61098262052035,-1.009127140045166,0,0,-0.030071334038280148],[53.13873225240189,-84.76131663085279,-1.009127140045166,0,0,-0.030071334038280148],[58.1364717099304,-84.91165064118523,-1.009127140045166,0,0,-0.030071334038280148],[58.28680572026284,-79.91391118365672,-1.009127140045166,0,0,-0.030071334038280148],[63.28454517779135,-80.06424519398917,-1.009127140045166,0,0,-0.030071334038280148],[68.28228463531985,-80.21457920432161,-1.009127140045166,0,0,-0.030071334038280148]]}],"statistics":{"complete_actions":56,"sentence_actions":[17,22,17],"sentence_actions_average":18.67}}
diff --git a/scene_7/32AT8R96GU70FWFCKLH1U5IC2FEUS5.json b/scene_7/32AT8R96GU70FWFCKLH1U5IC2FEUS5.json
new file mode 100644
index 0000000000000000000000000000000000000000..b19cc83ea1e471c2c78550512358866c4f6166fc
--- /dev/null
+++ b/scene_7/32AT8R96GU70FWFCKLH1U5IC2FEUS5.json
@@ -0,0 +1 @@
+{"episode_id":"32AT8R96GU70FWFCKLH1U5IC2FEUS5","trajectory_id":"3I6NF2WGJOUDISJDYHAA8WC5OZM5GR","scene_id":7,"instruction":"take off after rising to the height slightly higher. turn left fly forward by crossing the intersection on the right hand side. land on the street by facing pole and stop indication near the intersection.","sentence_instructions":[{"id":0,"instruction":"take off after rising to the height slightly higher.","completed_instruction":"take off.","start_frame":1,"end_frame":2,"start_position":[1.2124496698379517,-44.93172073364258,-0.7715672254562378],"start_rotation":[0.999919072094999,0,0,0.012721999083326834],"end_position":[1.2124496698379517,-44.93172073364258,-0.7715672254562378],"end_rotation":[0.99302517991602912,0,0,-0.11790246839120073],"actions":[2,2],"reference_path":[[1.2124496698379517,-44.93172073364258,-0.7715672254562378,0,0,0.02544468456536207],[1.2124496698379517,-44.93172073364258,-0.7715672254562378,0,0,-0.23635470323378738]]},{"id":1,"instruction":"turn left fly forward by crossing the intersection on the right hand side.","completed_instruction":"Turn left to face the road.","start_frame":2,"end_frame":14,"start_position":[1.2124496698379517,-44.93172073364258,-0.7715672254562378],"start_rotation":[0.99302517991602912,0,0,-0.11790246839120073],"end_position":[2.1029175361394947,-79.92039128539524,-0.7715672254562378],"end_rotation":[0.71604536833820343,0,0,-0.69805374469406478],"actions":[2,2,2,2,2,1,1,1,1,1,1,1,1],"reference_path":[[1.2124496698379517,-44.93172073364258,-0.7715672254562378,0,0,-0.23635470323378738],[1.2124496698379517,-44.93172073364258,-0.7715672254562378,0,0,-0.49815409103293684],[1.2124496698379517,-44.93172073364258,-0.7715672254562378,0,0,-0.7599534788320863],[1.2124496698379517,-44.93172073364258,-0.7715672254562378,0,0,-1.0217528666312359],[1.2124496698379517,-44.93172073364258,-0.7715672254562378,0,0,-1.2835522544303855],[1.2124496698379517,-44.93172073364258,-0.7715672254562378,0,0,-1.5453516422295348],[1.3396593650238864,-49.93010224103582,-0.7715672254562378,0,0,-1.5453516422295348],[1.466869060209821,-54.92848374842906,-0.7715672254562378,0,0,-1.5453516422295348],[1.5940787553957558,-59.9268652558223,-0.7715672254562378,0,0,-1.5453516422295348],[1.7212884505816906,-64.92524676321554,-0.7715672254562378,0,0,-1.5453516422295348],[1.8484981457676253,-69.92362827060877,-0.7715672254562378,0,0,-1.5453516422295348],[1.97570784095356,-74.922009778002,-0.7715672254562378,0,0,-1.5453516422295348],[2.1029175361394947,-79.92039128539524,-0.7715672254562378,0,0,-1.5453516422295348]]},{"id":2,"instruction":"land on the street by facing pole and stop indication near the intersection.","completed_instruction":"Then, proceed straight along the road and fly past the first crossroads.","start_frame":14,"end_frame":28,"start_position":[2.1029175361394947,-79.92039128539524,-0.7715672254562378],"start_rotation":[0.71604536833820343,0,0,-0.69805374469406478],"end_position":[3.6294338783707114,-139.90096937411408,-0.7715672254562378],"end_rotation":[0.872316317704496,0,0,-0.48894196165441633],"actions":[1,1,1,1,1,1,1,1,1,1,1,1,3,3,0],"reference_path":[[2.1029175361394947,-79.92039128539524,-0.7715672254562378,0,0,-1.5453516422295348],[2.2301272313254294,-84.91877279278847,-0.7715672254562378,0,0,-1.5453516422295348],[2.357336926511364,-89.9171543001817,-0.7715672254562378,0,0,-1.5453516422295348],[2.484546621697299,-94.91553580757494,-0.7715672254562378,0,0,-1.5453516422295348],[2.6117563168832336,-99.91391731496817,-0.7715672254562378,0,0,-1.5453516422295348],[2.7389660120691683,-104.91229882236141,-0.7715672254562378,0,0,-1.5453516422295348],[2.866175707255103,-109.91068032975464,-0.7715672254562378,0,0,-1.5453516422295348],[2.993385402441038,-114.90906183714787,-0.7715672254562378,0,0,-1.5453516422295348],[3.1205950976269725,-119.90744334454111,-0.7715672254562378,0,0,-1.5453516422295348],[3.2478047928129072,-124.90582485193434,-0.7715672254562378,0,0,-1.5453516422295348],[3.375014487998842,-129.9042063593276,-0.7715672254562378,0,0,-1.5453516422295348],[3.5022241831847767,-134.90258786672084,-0.7715672254562378,0,0,-1.5453516422295348],[3.6294338783707114,-139.90096937411408,-0.7715672254562378,0,0,-1.5453516422295348],[3.6294338783707114,-139.90096937411408,-0.7715672254562378,0,0,-1.2835522544303857],[3.6294338783707114,-139.90096937411408,-0.7715672254562378,0,0,-1.021752866631236]]}],"statistics":{"complete_actions":30,"sentence_actions":[2,13,15],"sentence_actions_average":10.0}}
diff --git a/scene_7/32N49TQG3PGWSFII8B5F5RQPOT3AVL.json b/scene_7/32N49TQG3PGWSFII8B5F5RQPOT3AVL.json
new file mode 100644
index 0000000000000000000000000000000000000000..7e74285ceda0307e8eaab03745ff1c39ef5ae300
--- /dev/null
+++ b/scene_7/32N49TQG3PGWSFII8B5F5RQPOT3AVL.json
@@ -0,0 +1 @@
+{"episode_id":"32N49TQG3PGWSFII8B5F5RQPOT3AVL","trajectory_id":"3CMV9YRYQBZ1BJCZYABKMY0I19IJLV","scene_id":7,"instruction":"lift off and turn left until facing the road then head straight. at the third intersection turn right. just after the bridge land.","sentence_instructions":[{"id":0,"instruction":"lift off and turn left until facing the road then head straight.","completed_instruction":"Turn left to face the road and fly straight ahead through two road intersections, and stop in the middle of the third road 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the third intersection turn right.","completed_instruction":"Turn right to face the black roof and red walls of the building on the right side of the white building at the end of the road.","start_frame":29,"end_frame":35,"start_position":[1.8660907523660546,-63.3305947920072,-0.5468800067901611],"start_rotation":[0.70556507450119388,0,0,-0.70864513378991367],"end_position":[1.800752983042314,-78.33045249052887,-0.5468800067901611],"end_rotation":[0.92304388331399667,0,0,-0.38469467045517652],"actions":[1,1,1,3,3,3,3],"reference_path":[[1.8660907523660546,-63.3305947920072,-0.5468800067901611,0,0,-1.575152191857511],[1.8443114959248077,-68.3305473581811,-0.5468800067901611,0,0,-1.575152191857511],[1.8225322394835608,-73.33049992435498,-0.5468800067901611,0,0,-1.575152191857511],[1.800752983042314,-78.33045249052887,-0.5468800067901611,0,0,-1.575152191857511],[1.800752983042314,-78.33045249052887,-0.5468800067901611,0,0,-1.3133528040583615],[1.800752983042314,-78.33045249052887,-0.5468800067901611,0,0,-1.0515534162592122],[1.800752983042314,-78.33045249052887,-0.5468800067901611,0,0,-0.7897540284600627]]},{"id":2,"instruction":"just after the bridge land.","completed_instruction":"Fly straight along the road until reach the front of the red building and then land.","start_frame":35,"end_frame":55,"start_position":[1.800752983042314,-78.33045249052887,-0.5468800067901611],"start_rotation":[0.92304388331399667,0,0,-0.38469467045517652],"end_position":[81.79999404182453,-78.67892059358886,-2.546880006790161],"end_rotation":[0.999997628305882,0,0,-0.0021779308095103357],"actions":[3,3,3,1,1,1,1,1,1,1,4,1,1,1,1,1,1,1,1,1,0],"reference_path":[[1.800752983042314,-78.33045249052887,-0.5468800067901611,0,0,-0.7897540284600627],[1.800752983042314,-78.33045249052887,-0.5468800067901611,0,0,-0.5279546406609132],[1.800752983042314,-78.33045249052887,-0.5468800067901611,0,0,-0.26615525286176384],[1.800752983042314,-78.33045249052887,-0.5468800067901611,0,0,-0.0043558650626143985],[6.800705549216204,-78.35223174697012,-0.5468800067901611,0,0,-0.0043558650626143985],[11.800658115390092,-78.37401100341137,-0.5468800067901611,0,0,-0.0043558650626143985],[16.80061068156398,-78.39579025985262,-0.5468800067901611,0,0,-0.0043558650626143985],[21.80056324773787,-78.41756951629387,-0.5468800067901611,0,0,-0.0043558650626143985],[26.80051581391176,-78.43934877273512,-0.5468800067901611,0,0,-0.0043558650626143985],[31.800468380085647,-78.46112802917636,-0.5468800067901611,0,0,-0.0043558650626143985],[36.800420946259536,-78.48290728561761,-0.5468800067901611,0,0,-0.0043558650626143985],[36.800420946259536,-78.48290728561761,-2.546880006790161,0,0,-0.0043558650626143985],[41.800373512433424,-78.50468654205886,-2.546880006790161,0,0,-0.0043558650626143985],[46.80032607860731,-78.52646579850011,-2.546880006790161,0,0,-0.0043558650626143985],[51.8002786447812,-78.54824505494136,-2.546880006790161,0,0,-0.0043558650626143985],[56.80023121095509,-78.57002431138261,-2.546880006790161,0,0,-0.0043558650626143985],[61.80018377712898,-78.59180356782386,-2.546880006790161,0,0,-0.0043558650626143985],[66.80013634330287,-78.61358282426511,-2.546880006790161,0,0,-0.0043558650626143985],[71.80008890947676,-78.63536208070636,-2.546880006790161,0,0,-0.0043558650626143985],[76.80004147565064,-78.6571413371476,-2.546880006790161,0,0,-0.0043558650626143985],[81.79999404182453,-78.67892059358886,-2.546880006790161,0,0,-0.0043558650626143985]]}],"statistics":{"complete_actions":57,"sentence_actions":[29,7,21],"sentence_actions_average":19.0}}
diff --git a/scene_7/33CUSNVVNWAKYFTQ3KARHM0MTN388D.json b/scene_7/33CUSNVVNWAKYFTQ3KARHM0MTN388D.json
new file mode 100644
index 0000000000000000000000000000000000000000..c60724f88e2068481b204dc845847a4cdbda9368
--- /dev/null
+++ b/scene_7/33CUSNVVNWAKYFTQ3KARHM0MTN388D.json
@@ -0,0 +1 @@
+{"episode_id":"33CUSNVVNWAKYFTQ3KARHM0MTN388D","trajectory_id":"3VIVIU06GSAPMQAEG4RZAA07P64IMK","scene_id":7,"instruction":"turn right and follow the water way. pass two bridges and turn left down the first road. go to the end of the road and stop in front of the red building on the other side.","sentence_instructions":[{"id":0,"instruction":"turn right and follow the water way.","completed_instruction":"Turn right to face the river and follow the water way until reaching a bridge.","start_frame":0,"end_frame":15,"start_position":[-17.457117080688477,-137.80479431152344,1.0983123779296875],"start_rotation":[0.999989989777269,0,0,0.004474410045737484],"end_position":[-12.291538464062366,-97.82583987852885,-0.9016876220703125],"end_rotation":[0.79062155039418036,0,0,0.61230512332684472],"actions":[4,3,3,3,3,3,1,1,1,1,1,7,1,1,1,1],"reference_path":[[-17.457117080688477,-137.80479431152344,1.0983123779296875,0,0,0.00894884995148863],[-17.457117080688477,-137.80479431152344,-0.9016876220703125,0,0,0.00894884995148863],[-17.457117080688477,-137.80479431152344,-0.9016876220703125,0,0,0.27074823775063805],[-17.457117080688477,-137.80479431152344,-0.9016876220703125,0,0,0.5325476255497875],[-17.457117080688477,-137.80479431152344,-0.9016876220703125,0,0,0.794347013348937],[-17.457117080688477,-137.80479431152344,-0.9016876220703125,0,0,1.0561464011480863],[-17.457117080688477,-137.80479431152344,-0.9016876220703125,0,0,1.3179457889472357],[-16.2062927212115,-132.96377805233374,-0.9016876220703125,0,0,1.3179457889472357],[-14.955468361734525,-128.12276179314404,-0.9016876220703125,0,0,1.3179457889472357],[-13.704644002257549,-123.28174553395434,-0.9016876220703125,0,0,1.3179457889472357],[-12.453819642780573,-118.44072927476464,-0.9016876220703125,0,0,1.3179457889472357],[-11.202995283303597,-113.59971301557493,-0.9016876220703125,0,0,1.3179457889472357],[-16.044011542493294,-112.34888865609796,-0.9016876220703125,0,0,1.3179457889472357],[-14.793187183016318,-107.50787239690825,-0.9016876220703125,0,0,1.3179457889472357],[-13.542362823539342,-102.66685613771855,-0.9016876220703125,0,0,1.3179457889472357],[-12.291538464062366,-97.82583987852885,-0.9016876220703125,0,0,1.3179457889472357]]},{"id":1,"instruction":"pass two bridges and turn left down the first road.","completed_instruction":"Fly forward along the river, pass two bridges, and then turn left towards the road at the first intersection on the left side of the riverbank.","start_frame":15,"end_frame":48,"start_position":[-12.291538464062366,-97.82583987852885,-0.9016876220703125],"start_rotation":[0.79062155039418036,0,0,0.61230512332684472],"end_position":[-13.819500110707079,16.181463980506383,-2.9016876220703125],"end_rotation":[0.99085090908422135,0,0,0.13496101647132105],"actions":[1,7,4,1,1,1,1,7,1,1,1,1,7,1,1,1,7,1,1,1,1,7,1,1,1,1,7,1,1,2,2,2,2,2],"reference_path":[[-12.291538464062366,-97.82583987852885,-0.9016876220703125,0,0,1.3179457889472357],[-11.04071410458539,-92.98482361933915,-0.9016876220703125,0,0,1.3179457889472357],[-15.881730363775088,-91.73399925986217,-0.9016876220703125,0,0,1.3179457889472357],[-15.881730363775088,-91.73399925986217,-2.9016876220703125,0,0,1.3179457889472357],[-14.630906004298112,-86.89298300067247,-2.9016876220703125,0,0,1.3179457889472357],[-13.380081644821136,-82.05196674148277,-2.9016876220703125,0,0,1.3179457889472357],[-12.12925728534416,-77.21095048229307,-2.9016876220703125,0,0,1.3179457889472357],[-10.878432925867184,-72.36993422310337,-2.9016876220703125,0,0,1.3179457889472357],[-15.719449185056881,-71.11910986362639,-2.9016876220703125,0,0,1.3179457889472357],[-14.468624825579905,-66.27809360443669,-2.9016876220703125,0,0,1.3179457889472357],[-13.21780046610293,-61.43707734524699,-2.9016876220703125,0,0,1.3179457889472357],[-11.966976106625953,-56.59606108605729,-2.9016876220703125,0,0,1.3179457889472357],[-10.716151747148977,-51.75504482686759,-2.9016876220703125,0,0,1.3179457889472357],[-15.557168006338674,-50.50422046739062,-2.9016876220703125,0,0,1.3179457889472357],[-14.306343646861698,-45.663204208200916,-2.9016876220703125,0,0,1.3179457889472357],[-13.055519287384723,-40.822187949011216,-2.9016876220703125,0,0,1.3179457889472357],[-11.804694927907747,-35.981171689821515,-2.9016876220703125,0,0,1.3179457889472357],[-16.645711187097444,-34.73034733034454,-2.9016876220703125,0,0,1.3179457889472357],[-15.394886827620468,-29.889331071154846,-2.9016876220703125,0,0,1.3179457889472357],[-14.144062468143492,-25.04831481196515,-2.9016876220703125,0,0,1.3179457889472357],[-12.893238108666516,-20.207298552775452,-2.9016876220703125,0,0,1.3179457889472357],[-11.64241374918954,-15.366282293585755,-2.9016876220703125,0,0,1.3179457889472357],[-16.483430008379237,-14.11545793410878,-2.9016876220703125,0,0,1.3179457889472357],[-15.232605648902261,-9.274441674919082,-2.9016876220703125,0,0,1.3179457889472357],[-13.981781289425285,-4.433425415729384,-2.9016876220703125,0,0,1.3179457889472357],[-12.73095692994831,0.40759084346031393,-2.9016876220703125,0,0,1.3179457889472357],[-11.480132570471334,5.248607102650012,-2.9016876220703125,0,0,1.3179457889472357],[-16.32114882966103,6.499431462126987,-2.9016876220703125,0,0,1.3179457889472357],[-15.070324470184055,11.340447721316686,-2.9016876220703125,0,0,1.3179457889472357],[-13.819500110707079,16.181463980506383,-2.9016876220703125,0,0,1.3179457889472357],[-13.819500110707079,16.181463980506383,-2.9016876220703125,0,0,1.0561464011480863],[-13.819500110707079,16.181463980506383,-2.9016876220703125,0,0,0.794347013348937],[-13.819500110707079,16.181463980506383,-2.9016876220703125,0,0,0.5325476255497875],[-13.819500110707079,16.181463980506383,-2.9016876220703125,0,0,0.2707482377506381]]},{"id":2,"instruction":"go to the end of the road and stop in front of the red building on the other side.","completed_instruction":"Go forward to the end of the road and stop in front of the red building.","start_frame":48,"end_frame":74,"start_position":[-13.819500110707079,16.181463980506383,-2.9016876220703125],"start_rotation":[0.99085090908422135,0,0,0.13496101647132105],"end_position":[84.74372690454733,13.527839578552387,-0.9016876220703125],"end_rotation":[0.86825393970012488,0,0,-0.4961200421220775],"actions":[2,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,2,2,2,1,2,5,0],"reference_path":[[-13.819500110707079,16.181463980506383,-2.9016876220703125,0,0,0.2707482377506381],[-13.819500110707079,16.181463980506383,-2.9016876220703125,0,0,0.008948849951488667],[-8.819700314159652,16.226207633065346,-2.9016876220703125,0,0,0.008948849951488667],[-3.8199005176122256,16.27095128562431,-2.9016876220703125,0,0,0.008948849951488667],[1.179899278935201,16.315694938183274,-2.9016876220703125,0,0,0.008948849951488667],[6.1796990754826275,16.360438590742238,-2.9016876220703125,0,0,0.008948849951488667],[11.179498872030054,16.4051822433012,-2.9016876220703125,0,0,0.008948849951488667],[16.17929866857748,16.449925895860165,-2.9016876220703125,0,0,0.008948849951488667],[21.17909846512491,16.49466954841913,-2.9016876220703125,0,0,0.008948849951488667],[26.178898261672337,16.539413200978093,-2.9016876220703125,0,0,0.008948849951488667],[31.178698058219766,16.584156853537056,-2.9016876220703125,0,0,0.008948849951488667],[36.178497854767194,16.62890050609602,-2.9016876220703125,0,0,0.008948849951488667],[41.17829765131462,16.673644158654984,-2.9016876220703125,0,0,0.008948849951488667],[46.17809744786205,16.718387811213947,-2.9016876220703125,0,0,0.008948849951488667],[51.17789724440948,16.76313146377291,-2.9016876220703125,0,0,0.008948849951488667],[56.17769704095691,16.807875116331875,-2.9016876220703125,0,0,0.008948849951488667],[61.177496837504336,16.85261876889084,-2.9016876220703125,0,0,0.008948849951488667],[66.17729663405176,16.897362421449802,-2.9016876220703125,0,0,0.008948849951488667],[71.17709643059918,16.942106074008766,-2.9016876220703125,0,0,0.008948849951488667],[76.1768962271466,16.98684972656773,-2.9016876220703125,0,0,0.008948849951488667],[81.17669602369402,17.031593379126694,-2.9016876220703125,0,0,0.008948849951488667],[81.17669602369402,17.031593379126694,-2.9016876220703125,0,0,-0.25285053784766076],[81.17669602369402,17.031593379126694,-2.9016876220703125,0,0,-0.5146499256468101],[81.17669602369402,17.031593379126694,-2.9016876220703125,0,0,-0.7764493134459595],[84.74372690454733,13.527839578552387,-2.9016876220703125,0,0,-0.7764493134459595],[84.74372690454733,13.527839578552387,-2.9016876220703125,0,0,-1.038248701245109],[84.74372690454733,13.527839578552387,-0.9016876220703125,0,0,-1.038248701245109]]}],"statistics":{"complete_actions":77,"sentence_actions":[16,34,27],"sentence_actions_average":25.67}}
diff --git a/scene_7/34S6N1K2Z4H86XE20DD1Z4FRG6SHLN.json b/scene_7/34S6N1K2Z4H86XE20DD1Z4FRG6SHLN.json
new file mode 100644
index 0000000000000000000000000000000000000000..fef59f3d4e2625a48c4ca0ff8ec9df17df1ea0a2
--- /dev/null
+++ b/scene_7/34S6N1K2Z4H86XE20DD1Z4FRG6SHLN.json
@@ -0,0 +1 @@
+{"episode_id":"34S6N1K2Z4H86XE20DD1Z4FRG6SHLN","trajectory_id":"37J05LC5B5HID7O7LTDW3LSDT71DJ9","scene_id":7,"instruction":"go across the bridge ahead. go to the next bridge to the left. cross it. go forward a block and turn around. cross the bridge again and take a slight left and land on the ground and stop.","sentence_instructions":[{"id":0,"instruction":"go across the bridge ahead.","completed_instruction":"Go across the bridge 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to the next bridge to your left.","completed_instruction":"Turn left to face the road, go ahead until reaching a bridge on the left.","start_frame":9,"end_frame":29,"start_position":[71.06334949582981,-77.6018198967198,-3.0446548461914062],"start_rotation":[0.999999480014542,0,0,0.001019789510487752],"end_position":[83.77319347244611,-137.2352794760503,-3.0446548461914062],"end_rotation":[0.70782751357955276,0,0,-0.70638531342305533],"actions":[1,1,2,2,2,2,2,1,1,2,1,1,1,1,1,1,1,1,1,1,1],"reference_path":[[71.06334949582981,-77.6018198967198,-3.0446548461914062,0,0,0.0020395793744927213],[76.06333909612336,-77.59162200691769,-3.0446548461914062,0,0,0.0020395793744927213],[81.0633286964169,-77.58142411711557,-3.0446548461914062,0,0,0.0020395793744927213],[81.0633286964169,-77.58142411711557,-3.0446548461914062,0,0,-0.25975980842465674],[81.0633286964169,-77.58142411711557,-3.0446548461914062,0,0,-0.5215591962238062],[81.0633286964169,-77.58142411711557,-3.0446548461914062,0,0,-0.7833585840229557],[81.0633286964169,-77.58142411711557,-3.0446548461914062,0,0,-1.0451579718221051],[81.0633286964169,-77.58142411711557,-3.0446548461914062,0,0,-1.3069573596212547],[82.36727163542093,-82.40840379511522,-3.0446548461914062,0,0,-1.3069573596212547],[83.67121457442497,-87.23538347311487,-3.0446548461914062,0,0,-1.3069573596212547],[83.67121457442497,-87.23538347311487,-3.0446548461914062,0,0,-1.568756747420404],[83.68141246422708,-92.23537307340841,-3.0446548461914062,0,0,-1.568756747420404],[83.6916103540292,-97.23536267370196,-3.0446548461914062,0,0,-1.568756747420404],[83.70180824383131,-102.2353522739955,-3.0446548461914062,0,0,-1.568756747420404],[83.71200613363342,-107.23534187428905,-3.0446548461914062,0,0,-1.568756747420404],[83.72220402343554,-112.2353314745826,-3.0446548461914062,0,0,-1.568756747420404],[83.73240191323765,-117.23532107487614,-3.0446548461914062,0,0,-1.568756747420404],[83.74259980303977,-122.23531067516969,-3.0446548461914062,0,0,-1.568756747420404],[83.75279769284188,-127.23530027546323,-3.0446548461914062,0,0,-1.568756747420404],[83.762995582644,-132.23528987575676,-3.0446548461914062,0,0,-1.568756747420404],[83.77319347244611,-137.2352794760503,-3.0446548461914062,0,0,-1.568756747420404]]},{"id":2,"instruction":"cross it.","completed_instruction":"Turn left and cross the bridge.","start_frame":29,"end_frame":42,"start_position":[83.77319347244611,-137.2352794760503,-3.0446548461914062],"start_rotation":[0.70782751357955276,0,0,-0.70638531342305533],"end_position":[63.80382874067827,-152.2760398361394,-3.0446548461914062],"end_rotation":[0.0010197895104875946,0,0,-0.999999480014542],"actions":[1,1,1,2,2,2,2,2,2,1,1,1,1,1],"reference_path":[[83.77319347244611,-137.2352794760503,-3.0446548461914062,0,0,-1.568756747420404],[83.78339136224822,-142.23526907634383,-3.0446548461914062,0,0,-1.568756747420404],[83.79358925205034,-147.23525867663736,-3.0446548461914062,0,0,-1.568756747420404],[83.80378714185245,-152.2352482769309,-3.0446548461914062,0,0,-1.568756747420404],[83.80378714185245,-152.2352482769309,-3.0446548461914062,0,0,-1.8305561352195534],[83.80378714185245,-152.2352482769309,-3.0446548461914062,0,0,-2.092355523018703],[83.80378714185245,-152.2352482769309,-3.0446548461914062,0,0,-2.3541549108178526],[83.80378714185245,-152.2352482769309,-3.0446548461914062,0,0,-2.6159542986170017],[83.80378714185245,-152.2352482769309,-3.0446548461914062,0,0,-2.8777536864161513],[83.80378714185245,-152.2352482769309,-3.0446548461914062,0,0,-3.139553074215301],[78.80379754155891,-152.24544616673302,-3.0446548461914062,0,0,-3.139553074215301],[73.80380794126536,-152.25564405653515,-3.0446548461914062,0,0,-3.139553074215301],[68.80381834097182,-152.26584194633728,-3.0446548461914062,0,0,-3.139553074215301],[63.80382874067827,-152.2760398361394,-3.0446548461914062,0,0,-3.139553074215301]]},{"id":3,"instruction":"go forward a block and turn around.","completed_instruction":"Fly forward to the roadblock and turn back to the bridge.","start_frame":42,"end_frame":63,"start_position":[63.80382874067827,-152.2760398361394,-3.0446548461914062],"start_rotation":[0.0010197895104875946,0,0,-0.999999480014542],"end_position":[38.80388073921054,-152.3270292851501,-3.0446548461914062],"end_rotation":[0.999999480014542,0,0,0.0010197895104870351],"actions":[1,1,1,1,1,1,1,3,3,3,3,3,3,3,3,3,3,3,3,1,1,1],"reference_path":[[63.80382874067827,-152.2760398361394,-3.0446548461914062,0,0,-3.139553074215301],[58.803839140384724,-152.28623772594153,-3.0446548461914062,0,0,-3.139553074215301],[53.80384954009118,-152.29643561574366,-3.0446548461914062,0,0,-3.139553074215301],[48.80385993979763,-152.3066335055458,-3.0446548461914062,0,0,-3.139553074215301],[43.80387033950409,-152.31683139534792,-3.0446548461914062,0,0,-3.139553074215301],[38.80388073921054,-152.32702928515005,-3.0446548461914062,0,0,-3.139553074215301],[33.803891138916995,-152.33722717495218,-3.0446548461914062,0,0,-3.139553074215301],[28.803901538623453,-152.3474250647543,-3.0446548461914062,0,0,-3.139553074215301],[28.803901538623453,-152.3474250647543,-3.0446548461914062,0,0,-2.8777536864161517],[28.803901538623453,-152.3474250647543,-3.0446548461914062,0,0,-2.615954298617002],[28.803901538623453,-152.3474250647543,-3.0446548461914062,0,0,-2.354154910817853],[28.803901538623453,-152.3474250647543,-3.0446548461914062,0,0,-2.092355523018704],[28.803901538623453,-152.3474250647543,-3.0446548461914062,0,0,-1.8305561352195545],[28.803901538623453,-152.3474250647543,-3.0446548461914062,0,0,-1.5687567474204052],[28.803901538623453,-152.3474250647543,-3.0446548461914062,0,0,-1.3069573596212558],[28.803901538623453,-152.3474250647543,-3.0446548461914062,0,0,-1.0451579718221065],[28.803901538623453,-152.3474250647543,-3.0446548461914062,0,0,-0.783358584022957],[28.803901538623453,-152.3474250647543,-3.0446548461914062,0,0,-0.5215591962238075],[28.803901538623453,-152.3474250647543,-3.0446548461914062,0,0,-0.2597598084246581],[28.803901538623453,-152.3474250647543,-3.0446548461914062,0,0,0.0020395793744912875],[33.803891138916995,-152.3372271749522,-3.0446548461914062,0,0,0.0020395793744912875],[38.80388073921054,-152.3270292851501,-3.0446548461914062,0,0,0.0020395793744912875]]},{"id":4,"instruction":"cross the bridge again and take a slight left and land on the ground and stop.","completed_instruction":"Cross the bridge and take a slight left to face a blue house and land in front of it and stop.","start_frame":63,"end_frame":77,"start_position":[38.80388073921054,-152.3270292851501,-3.0446548461914062],"start_rotation":[0.999999480014542,0,0,0.0010197895104870351],"end_position":[86.51402094214221,-159.55936490898245,-1.0446548461914062],"end_rotation":[0.924269308657528,0,0,-0.38174107071906122],"actions":[1,1,1,1,1,1,1,2,1,2,1,2,1,5,0],"reference_path":[[38.80388073921054,-152.3270292851501,-3.0446548461914062,0,0,0.0020395793744912875],[43.80387033950409,-152.316831395348,-3.0446548461914062,0,0,0.0020395793744912875],[48.80385993979763,-152.3066335055459,-3.0446548461914062,0,0,0.0020395793744912875],[53.80384954009118,-152.2964356157438,-3.0446548461914062,0,0,0.0020395793744912875],[58.803839140384724,-152.2862377259417,-3.0446548461914062,0,0,0.0020395793744912875],[63.80382874067827,-152.2760398361396,-3.0446548461914062,0,0,0.0020395793744912875],[68.80381834097182,-152.2658419463375,-3.0446548461914062,0,0,0.0020395793744912875],[73.80380794126536,-152.2556440565354,-3.0446548461914062,0,0,0.0020395793744912875],[73.80380794126536,-152.2556440565354,-3.0446548461914062,0,0,-0.2597598084246581],[78.63606643546629,-153.5398861852724,-3.0446548461914062,0,0,-0.2597598084246581],[78.63606643546629,-153.5398861852724,-3.0446548461914062,0,0,-0.5215591962238075],[82.97128339287956,-156.03104935378553,-3.0446548461914062,0,0,-0.5215591962238075],[82.97128339287956,-156.03104935378553,-3.0446548461914062,0,0,-0.783358584022957],[86.51402094214221,-159.55936490898245,-3.0446548461914062,0,0,-0.783358584022957],[86.51402094214221,-159.55936490898245,-1.0446548461914062,0,0,-0.783358584022957]]}],"statistics":{"complete_actions":82,"sentence_actions":[10,21,14,22,15],"sentence_actions_average":16.4}}
diff --git a/scene_7/35USIKEBN0EIX8X6G72CF5UQ69P6NS.json b/scene_7/35USIKEBN0EIX8X6G72CF5UQ69P6NS.json
new file mode 100644
index 0000000000000000000000000000000000000000..86dae2ee844c729570f5058f8e8698c9a273a202
--- /dev/null
+++ b/scene_7/35USIKEBN0EIX8X6G72CF5UQ69P6NS.json
@@ -0,0 +1 @@
+{"episode_id":"35USIKEBN0EIX8X6G72CF5UQ69P6NS","trajectory_id":"3BS6ERDLAB56PC901AJ7UHN86OV6DJ","scene_id":7,"instruction":"take off and go straight all the way across the bridge and turn left. go all the way to the end and take a left at the building. go to crosswalk and look down. turn around and go down the street to the cones.","sentence_instructions":[{"id":0,"instruction":"take off and go straight all the way across the bridge and turn left.","completed_instruction":"Take off and fly straight ahead, pass over the bridge, then turn left at the crossroads to face the road.","start_frame":1,"end_frame":18,"start_position":[-67.22526550292969,-81.81722259521484,-0.7372815012931824],"start_rotation":[0.99990074365383375,0,0,0.014089103609178422],"end_position":[2.7469440993988883,-79.84494387054221,-0.7372815012931824],"end_rotation":[0.92917949813269973,0,0,-0.369628814149904],"actions":[1,1,1,1,1,1,1,1,1,1,1,1,1,1,2,2,2,2],"reference_path":[[-67.22526550292969,-81.81722259521484,-0.7372815012931824,0,0,0.028179139544002647],[-62.22725053133479,-81.67634554345251,-0.7372815012931824,0,0,0.028179139544002647],[-57.22923555973989,-81.53546849169018,-0.7372815012931824,0,0,0.028179139544002647],[-52.23122058814499,-81.39459143992785,-0.7372815012931824,0,0,0.028179139544002647],[-47.233205616550094,-81.25371438816552,-0.7372815012931824,0,0,0.028179139544002647],[-42.235190644955196,-81.11283733640319,-0.7372815012931824,0,0,0.028179139544002647],[-37.2371756733603,-80.97196028464086,-0.7372815012931824,0,0,0.028179139544002647],[-32.2391607017654,-80.83108323287853,-0.7372815012931824,0,0,0.028179139544002647],[-27.2411457301705,-80.6902061811162,-0.7372815012931824,0,0,0.028179139544002647],[-22.243130758575603,-80.54932912935386,-0.7372815012931824,0,0,0.028179139544002647],[-17.245115786980705,-80.40845207759153,-0.7372815012931824,0,0,0.028179139544002647],[-12.247100815385807,-80.2675750258292,-0.7372815012931824,0,0,0.028179139544002647],[-7.249085843790908,-80.12669797406687,-0.7372815012931824,0,0,0.028179139544002647],[-2.25107087219601,-79.98582092230454,-0.7372815012931824,0,0,0.028179139544002647],[2.7469440993988883,-79.84494387054221,-0.7372815012931824,0,0,0.028179139544002647],[2.7469440993988883,-79.84494387054221,-0.7372815012931824,0,0,-0.23362024825514677],[2.7469440993988883,-79.84494387054221,-0.7372815012931824,0,0,-0.4954196360542962],[2.7469440993988883,-79.84494387054221,-0.7372815012931824,0,0,-0.7572190238534456]]},{"id":1,"instruction":"go all the way to the end and take a left at the building.","completed_instruction":"Fly straight ahead to the red building at the end of the road, then turn left to face the road crosswalk.","start_frame":18,"end_frame":39,"start_position":[2.7469440993988883,-79.84494387054221,-0.7372815012931824],"start_rotation":[0.92917949813269973,0,0,-0.369628814149904],"end_position":[4.86009987583388,-154.81516844446568,-0.7372815012931824],"end_rotation":[0.39566208306180561,0,0,-0.91839616507648425],"actions":[2,2,2,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,2,2,2,2],"reference_path":[[2.7469440993988883,-79.84494387054221,-0.7372815012931824,0,0,-0.7572190238534456],[2.7469440993988883,-79.84494387054221,-0.7372815012931824,0,0,-1.019018411652595],[2.7469440993988883,-79.84494387054221,-0.7372815012931824,0,0,-1.2808177994517447],[2.7469440993988883,-79.84494387054221,-0.7372815012931824,0,0,-1.5426171872508943],[2.887821151161221,-84.84295884213711,-0.7372815012931824,0,0,-1.5426171872508943],[3.028698202923554,-89.840973813732,-0.7372815012931824,0,0,-1.5426171872508943],[3.1695752546858866,-94.8389887853269,-0.7372815012931824,0,0,-1.5426171872508943],[3.3104523064482194,-99.8370037569218,-0.7372815012931824,0,0,-1.5426171872508943],[3.451329358210552,-104.8350187285167,-0.7372815012931824,0,0,-1.5426171872508943],[3.592206409972885,-109.8330337001116,-0.7372815012931824,0,0,-1.5426171872508943],[3.7330834617352178,-114.8310486717065,-0.7372815012931824,0,0,-1.5426171872508943],[3.8739605134975506,-119.8290636433014,-0.7372815012931824,0,0,-1.5426171872508943],[4.014837565259883,-124.8270786148963,-0.7372815012931824,0,0,-1.5426171872508943],[4.155714617022216,-129.8250935864912,-0.7372815012931824,0,0,-1.5426171872508943],[4.296591668784549,-134.8231085580861,-0.7372815012931824,0,0,-1.5426171872508943],[4.437468720546882,-139.821123529681,-0.7372815012931824,0,0,-1.5426171872508943],[4.5783457723092145,-144.8191385012759,-0.7372815012931824,0,0,-1.5426171872508943],[4.719222824071547,-149.81715347287079,-0.7372815012931824,0,0,-1.5426171872508943],[4.86009987583388,-154.81516844446568,-0.7372815012931824,0,0,-1.5426171872508943],[4.86009987583388,-154.81516844446568,-0.7372815012931824,0,0,-1.8044165750500436],[4.86009987583388,-154.81516844446568,-0.7372815012931824,0,0,-2.066215962849193],[4.86009987583388,-154.81516844446568,-0.7372815012931824,0,0,-2.3280153506483425]]},{"id":2,"instruction":"go to crosswalk and look down.","completed_instruction":"Fly forward onto the pedestrian crossing.","start_frame":39,"end_frame":41,"start_position":[4.86009987583388,-154.81516844446568,-0.7372815012931824],"start_rotation":[0.39566208306180561,0,0,-0.91839616507648425],"end_position":[4.86009987583388,-154.81516844446568,-0.7372815012931824],"end_rotation":[0.14448180604181574,0,0,-0.98950745713354538],"actions":[2,2,2],"reference_path":[[4.86009987583388,-154.81516844446568,-0.7372815012931824,0,0,-2.3280153506483425],[4.86009987583388,-154.81516844446568,-0.7372815012931824,0,0,-2.589814738447492],[4.86009987583388,-154.81516844446568,-0.7372815012931824,0,0,-2.8516141262466417]]},{"id":3,"instruction":"turn around and go down the street to the cones.","completed_instruction":"Turn back to face a row of barriers on the road, then fly forward and land right in front of the last barrier.","start_frame":41,"end_frame":62,"start_position":[4.86009987583388,-154.81516844446568,-0.7372815012931824],"start_rotation":[0.14448180604181574,0,0,-0.98950745713354538],"end_position":[25.041228641002782,-151.31022315530942,-0.7372815012931824],"end_rotation":[0.98950745713354538,0,0,0.14448180604181537],"actions":[2,1,1,2,2,2,2,2,2,2,2,2,2,2,1,1,1,1,6,1,1,0],"reference_path":[[4.86009987583388,-154.81516844446568,-0.7372815012931824,0,0,-2.8516141262466417],[4.86009987583388,-154.81516844446568,-0.7372815012931824,0,0,-3.1134135140457917],[-0.13791509576101824,-154.956045496228,-0.7372815012931824,0,0,-3.1134135140457917],[-5.1359300673559165,-155.09692254799032,-0.7372815012931824,0,0,-3.1134135140457917],[-5.1359300673559165,-155.09692254799032,-0.7372815012931824,0,0,2.9079724053346454],[-5.1359300673559165,-155.09692254799032,-0.7372815012931824,0,0,2.646173017535496],[-5.1359300673559165,-155.09692254799032,-0.7372815012931824,0,0,2.3843736297363463],[-5.1359300673559165,-155.09692254799032,-0.7372815012931824,0,0,2.122574241937197],[-5.1359300673559165,-155.09692254799032,-0.7372815012931824,0,0,1.8607748541380476],[-5.1359300673559165,-155.09692254799032,-0.7372815012931824,0,0,1.5989754663388982],[-5.1359300673559165,-155.09692254799032,-0.7372815012931824,0,0,1.3371760785397486],[-5.1359300673559165,-155.09692254799032,-0.7372815012931824,0,0,1.075376690740599],[-5.1359300673559165,-155.09692254799032,-0.7372815012931824,0,0,0.8135773029414496],[-5.1359300673559165,-155.09692254799032,-0.7372815012931824,0,0,0.5517779151423002],[-5.1359300673559165,-155.09692254799032,-0.7372815012931824,0,0,0.2899785273431508],[-0.3446799901269646,-153.66726430300534,-0.7372815012931824,0,0,0.2899785273431508],[4.446570087101987,-152.23760605802036,-0.7372815012931824,0,0,0.2899785273431508],[9.23782016433094,-150.80794781303538,-0.7372815012931824,0,0,0.2899785273431508],[14.029070241559891,-149.3782895680504,-0.7372815012931824,0,0,0.2899785273431508],[15.45872848654488,-154.16953964527937,-0.7372815012931824,0,0,0.2899785273431508],[20.24997856377383,-152.7398814002944,-0.7372815012931824,0,0,0.2899785273431508],[25.041228641002782,-151.31022315530942,-0.7372815012931824,0,0,0.2899785273431508]]}],"statistics":{"complete_actions":65,"sentence_actions":[18,22,3,22],"sentence_actions_average":16.25}}
diff --git a/scene_7/369J354OFM8CNGGKT3PHPLLT5O0G69.json b/scene_7/369J354OFM8CNGGKT3PHPLLT5O0G69.json
new file mode 100644
index 0000000000000000000000000000000000000000..b5b8ae9bc3f1987463652d3a21f4fe51d20bac64
--- /dev/null
+++ b/scene_7/369J354OFM8CNGGKT3PHPLLT5O0G69.json
@@ -0,0 +1 @@
+{"episode_id":"369J354OFM8CNGGKT3PHPLLT5O0G69","trajectory_id":"36GJS3V793OLPRYYNJE496VA5SWJGP","scene_id":7,"instruction":"take off and turn left and move forward until the garbage can arrived and turn left. now go straight over the river and reach the road and turn right and go forward. go straight until the bridge arrived and turn right. go straight until the second cut arrived and turn around back and move forward. now go straight until the next cut arrived and turn right and move forward. go straight until the stop sign arrived and turn left and move forward. now move little forward straight and land near the crosswalk.","sentence_instructions":[{"id":0,"instruction":"take off and turn left and move forward until the garbage can arrived and turn left.","completed_instruction":"Take off, then turn left to face the road, and fly forward to the trash can on the left side of the road.","start_frame":0,"end_frame":7,"start_position":[0.3112126886844635,-8.156624794006348,-0.6337697505950928],"start_rotation":[0.99981221738139014,0,0,-0.019378595792985988],"end_position":[1.417188259253216,-13.032772662693795,-2.6337697505950928],"end_rotation":[0.78140742065639179,0,0,-0.62402118789599181],"actions":[4,2,2,2,2,2,1,1],"reference_path":[[0.3112126886844635,-8.156624794006348,-0.6337697505950928,0,0,-0.03875961774385106],[0.3112126886844635,-8.156624794006348,-2.6337697505950928,0,0,-0.03875961774385106],[0.3112126886844635,-8.156624794006348,-2.6337697505950928,0,0,-0.30055900554300047],[0.3112126886844635,-8.156624794006348,-2.6337697505950928,0,0,-0.5623583933421499],[0.3112126886844635,-8.156624794006348,-2.6337697505950928,0,0,-0.8241577811412993],[0.3112126886844635,-8.156624794006348,-2.6337697505950928,0,0,-1.0859571689404488],[0.3112126886844635,-8.156624794006348,-2.6337697505950928,0,0,-1.3477565567395984],[1.417188259253216,-13.032772662693795,-2.6337697505950928,0,0,-1.3477565567395984]]},{"id":1,"instruction":"now go straight over the river and reach the road and turn right and go forward.","completed_instruction":"Turn left to face the trash can on the opposite side of the river, then fly to the riverbank in front of the trash can, then turn right to face the riverbank, and then fly forward.","start_frame":7,"end_frame":31,"start_position":[1.417188259253216,-13.032772662693795,-2.6337697505950928],"start_rotation":[0.78140742065639179,0,0,-0.62402118789599181],"end_position":[-23.306710681345308,-43.221121330023664,-2.6337697505950928],"end_rotation":[0.69327126232844616,0,0,-0.72067673531863286],"actions":[1,2,1,2,2,2,2,2,1,2,1,1,1,1,3,3,3,3,3,3,1,1,1,1,1],"reference_path":[[1.417188259253216,-13.032772662693795,-2.6337697505950928,0,0,-1.3477565567395984],[2.5231638298219683,-17.90892053138124,-2.6337697505950928,0,0,-1.3477565567395984],[2.5231638298219683,-17.90892053138124,-2.6337697505950928,0,0,-1.6095559445387477],[2.329414261526738,-22.90516523163216,-2.6337697505950928,0,0,-1.6095559445387477],[2.329414261526738,-22.90516523163216,-2.6337697505950928,0,0,-1.8713553323378973],[2.329414261526738,-22.90516523163216,-2.6337697505950928,0,0,-2.1331547201370467],[2.329414261526738,-22.90516523163216,-2.6337697505950928,0,0,-2.3949541079361962],[2.329414261526738,-22.90516523163216,-2.6337697505950928,0,0,-2.656753495735346],[2.329414261526738,-22.90516523163216,-2.6337697505950928,0,0,-2.9185528835344954],[-2.546733607160709,-24.011140802200913,-2.6337697505950928,0,0,-2.9185528835344954],[-2.546733607160709,-24.011140802200913,-2.6337697505950928,0,0,3.1028330358459417],[-7.54297830741163,-23.81739123390568,-2.6337697505950928,0,0,3.1028330358459417],[-12.539223007662551,-23.62364166561045,-2.6337697505950928,0,0,3.1028330358459417],[-17.535467707913472,-23.429892097315218,-2.6337697505950928,0,0,3.1028330358459417],[-22.531712408164395,-23.236142529019986,-2.6337697505950928,0,0,3.1028330358459417],[-22.531712408164395,-23.236142529019986,-2.6337697505950928,0,0,-2.9185528835344945],[-22.531712408164395,-23.236142529019986,-2.6337697505950928,0,0,-2.6567534957353454],[-22.531712408164395,-23.236142529019986,-2.6337697505950928,0,0,-2.394954107936196],[-22.531712408164395,-23.236142529019986,-2.6337697505950928,0,0,-2.133154720137046],[-22.531712408164395,-23.236142529019986,-2.6337697505950928,0,0,-1.8713553323378966],[-22.531712408164395,-23.236142529019986,-2.6337697505950928,0,0,-1.6095559445387473],[-22.725461976459624,-28.232387229270905,-2.6337697505950928,0,0,-1.6095559445387473],[-22.91921154475485,-33.228631929521825,-2.6337697505950928,0,0,-1.6095559445387473],[-23.11296111305008,-38.224876629772744,-2.6337697505950928,0,0,-1.6095559445387473],[-23.306710681345308,-43.221121330023664,-2.6337697505950928,0,0,-1.6095559445387473]]},{"id":2,"instruction":"go straight until the bridge arrived and turn right.","completed_instruction":"Fly forward to the left side of the bridge and then turn right to face the bridge.","start_frame":31,"end_frame":41,"start_position":[-23.306710681345308,-43.221121330023664,-2.6337697505950928],"start_rotation":[0.69327126232844616,0,0,-0.72067673531863286],"end_position":[-24.662957659411905,-78.19483423178012,-2.6337697505950928],"end_rotation":[0.91629017644091615,0,0,-0.40051505909001062],"actions":[1,1,1,1,1,1,1,3,3,3,3],"reference_path":[[-23.306710681345308,-43.221121330023664,-2.6337697505950928,0,0,-1.6095559445387473],[-23.500460249640536,-48.21736603027458,-2.6337697505950928,0,0,-1.6095559445387473],[-23.694209817935764,-53.2136107305255,-2.6337697505950928,0,0,-1.6095559445387473],[-23.887959386230992,-58.20985543077642,-2.6337697505950928,0,0,-1.6095559445387473],[-24.08170895452622,-63.20610013102734,-2.6337697505950928,0,0,-1.6095559445387473],[-24.27545852282145,-68.20234483127827,-2.6337697505950928,0,0,-1.6095559445387473],[-24.469208091116677,-73.1985895315292,-2.6337697505950928,0,0,-1.6095559445387473],[-24.662957659411905,-78.19483423178012,-2.6337697505950928,0,0,-1.6095559445387473],[-24.662957659411905,-78.19483423178012,-2.6337697505950928,0,0,-1.347756556739598],[-24.662957659411905,-78.19483423178012,-2.6337697505950928,0,0,-1.0859571689404486],[-24.662957659411905,-78.19483423178012,-2.6337697505950928,0,0,-0.8241577811412991]]},{"id":3,"instruction":"go straight until the second cut arrived and turn around back and move forward.","completed_instruction":"Fly straight ahead until reach the crossroads in front of the next bridge, then turn back to face the cone-shaped barriers, then fly forward again until you reach the crossroads again.","start_frame":41,"end_frame":78,"start_position":[-24.662957659411905,-78.19483423178012,-2.6337697505950928],"start_rotation":[0.91629017644091615,0,0,-0.40051505909001062],"end_position":[15.041702192971025,-83.96675888150247,-2.6337697505950928],"end_rotation":[0.11128887245028342,0,0,-0.99378809958096426],"actions":[3,3,3,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,2,2,2,2,2,2,2,2,2,2,2,1,1,1,6,1,1,1,1,1],"reference_path":[[-24.662957659411905,-78.19483423178012,-2.6337697505950928,0,0,-0.8241577811412991],[-24.662957659411905,-78.19483423178012,-2.6337697505950928,0,0,-0.5623583933421498],[-24.662957659411905,-78.19483423178012,-2.6337697505950928,0,0,-0.30055900554300036],[-24.662957659411905,-78.19483423178012,-2.6337697505950928,0,0,-0.03875961774385093],[-19.666712959160982,-78.38858380007535,-2.6337697505950928,0,0,-0.03875961774385093],[-14.670468258910061,-78.58233336837058,-2.6337697505950928,0,0,-0.03875961774385093],[-9.67422355865914,-78.77608293666582,-2.6337697505950928,0,0,-0.03875961774385093],[-4.677978858408219,-78.96983250496105,-2.6337697505950928,0,0,-0.03875961774385093],[0.31826584184270246,-79.16358207325628,-2.6337697505950928,0,0,-0.03875961774385093],[5.314510542093624,-79.35733164155151,-2.6337697505950928,0,0,-0.03875961774385093],[10.310755242344545,-79.55108120984674,-2.6337697505950928,0,0,-0.03875961774385093],[15.306999942595466,-79.74483077814197,-2.6337697505950928,0,0,-0.03875961774385093],[20.303244642846387,-79.9385803464372,-2.6337697505950928,0,0,-0.03875961774385093],[25.299489343097306,-80.13232991473244,-2.6337697505950928,0,0,-0.03875961774385093],[30.295734043348226,-80.32607948302767,-2.6337697505950928,0,0,-0.03875961774385093],[35.291978743599145,-80.5198290513229,-2.6337697505950928,0,0,-0.03875961774385093],[40.288223443850065,-80.71357861961813,-2.6337697505950928,0,0,-0.03875961774385093],[45.284468144100984,-80.90732818791336,-2.6337697505950928,0,0,-0.03875961774385093],[50.2807128443519,-81.1010777562086,-2.6337697505950928,0,0,-0.03875961774385093],[50.2807128443519,-81.1010777562086,-2.6337697505950928,0,0,-0.30055900554300036],[50.2807128443519,-81.1010777562086,-2.6337697505950928,0,0,-0.5623583933421498],[50.2807128443519,-81.1010777562086,-2.6337697505950928,0,0,-0.8241577811412992],[50.2807128443519,-81.1010777562086,-2.6337697505950928,0,0,-1.0859571689404486],[50.2807128443519,-81.1010777562086,-2.6337697505950928,0,0,-1.3477565567395982],[50.2807128443519,-81.1010777562086,-2.6337697505950928,0,0,-1.6095559445387475],[50.2807128443519,-81.1010777562086,-2.6337697505950928,0,0,-1.8713553323378969],[50.2807128443519,-81.1010777562086,-2.6337697505950928,0,0,-2.133154720137046],[50.2807128443519,-81.1010777562086,-2.6337697505950928,0,0,-2.394954107936196],[50.2807128443519,-81.1010777562086,-2.6337697505950928,0,0,-2.6567534957353454],[50.2807128443519,-81.1010777562086,-2.6337697505950928,0,0,-2.9185528835344945],[45.40456497566446,-82.20705332677736,-2.6337697505950928,0,0,-2.9185528835344945],[40.52841710697701,-83.31302889734611,-2.6337697505950928,0,0,-2.9185528835344945],[35.65226923828956,-84.41900446791487,-2.6337697505950928,0,0,-2.9185528835344945],[34.54629366772081,-79.54285659922743,-2.6337697505950928,0,0,-2.9185528835344945],[29.670145799033364,-80.6488321697962,-2.6337697505950928,0,0,-2.9185528835344945],[24.793997930345917,-81.75480774036495,-2.6337697505950928,0,0,-2.9185528835344945],[19.91785006165847,-82.86078331093371,-2.6337697505950928,0,0,-2.9185528835344945],[15.041702192971025,-83.96675888150247,-2.6337697505950928,0,0,-2.9185528835344945]]},{"id":4,"instruction":"now go straight until the next cut arrived and turn right and move forward.","completed_instruction":"Turn right to face the red building at the end of the road, and then walk forward to the intersection at the end of the road.","start_frame":78,"end_frame":97,"start_position":[15.041702192971025,-83.96675888150247,-2.6337697505950928],"start_rotation":[0.11128887245028342,0,0,-0.99378809958096426],"end_position":[2.052185633779871,-136.26125385671273,-2.6337697505950928],"end_rotation":[0.69327126232844616,0,0,-0.72067673531863286],"actions":[1,6,1,3,3,3,3,3,1,1,1,1,1,1,1,1,1,1,1,1],"reference_path":[[15.041702192971025,-83.96675888150247,-2.6337697505950928,0,0,-2.9185528835344945],[10.16555432428358,-85.07273445207123,-2.6337697505950928,0,0,-2.9185528835344945],[9.059578753714826,-80.19658658338379,-2.6337697505950928,0,0,-2.9185528835344945],[4.183430885027381,-81.30256215395255,-2.6337697505950928,0,0,-2.9185528835344945],[4.183430885027381,-81.30256215395255,-2.6337697505950928,0,0,-2.6567534957353454],[4.183430885027381,-81.30256215395255,-2.6337697505950928,0,0,-2.394954107936196],[4.183430885027381,-81.30256215395255,-2.6337697505950928,0,0,-2.133154720137046],[4.183430885027381,-81.30256215395255,-2.6337697505950928,0,0,-1.8713553323378966],[4.183430885027381,-81.30256215395255,-2.6337697505950928,0,0,-1.6095559445387473],[3.9896813167321525,-86.29880685420348,-2.6337697505950928,0,0,-1.6095559445387473],[3.7959317484369244,-91.2950515544544,-2.6337697505950928,0,0,-1.6095559445387473],[3.602182180141696,-96.29129625470533,-2.6337697505950928,0,0,-1.6095559445387473],[3.408432611846468,-101.28754095495626,-2.6337697505950928,0,0,-1.6095559445387473],[3.21468304355124,-106.28378565520718,-2.6337697505950928,0,0,-1.6095559445387473],[3.0209334752560117,-111.28003035545811,-2.6337697505950928,0,0,-1.6095559445387473],[2.8271839069607836,-116.27627505570904,-2.6337697505950928,0,0,-1.6095559445387473],[2.6334343386655554,-121.27251975595996,-2.6337697505950928,0,0,-1.6095559445387473],[2.4396847703703273,-126.26876445621089,-2.6337697505950928,0,0,-1.6095559445387473],[2.245935202075099,-131.26500915646182,-2.6337697505950928,0,0,-1.6095559445387473],[2.052185633779871,-136.26125385671273,-2.6337697505950928,0,0,-1.6095559445387473]]},{"id":5,"instruction":"go straight until the stop sign arrived and turn left and move forward.","completed_instruction":"Turn left to face the trash can on the right at the next intersection.","start_frame":97,"end_frame":102,"start_position":[2.052185633779871,-136.26125385671273,-2.6337697505950928],"start_rotation":[0.69327126232844616,0,0,-0.72067673531863286],"end_position":[1.4709369288941865,-151.24998795746546,-2.6337697505950928],"end_rotation":[0.48312375244429911,0,0,-0.87555207716282624],"actions":[1,1,1,2,2,2],"reference_path":[[2.052185633779871,-136.26125385671273,-2.6337697505950928,0,0,-1.6095559445387473],[1.8584360654846428,-141.25749855696364,-2.6337697505950928,0,0,-1.6095559445387473],[1.6646864971894146,-146.25374325721455,-2.6337697505950928,0,0,-1.6095559445387473],[1.4709369288941865,-151.24998795746546,-2.6337697505950928,0,0,-1.6095559445387473],[1.4709369288941865,-151.24998795746546,-2.6337697505950928,0,0,-1.8713553323378966],[1.4709369288941865,-151.24998795746546,-2.6337697505950928,0,0,-2.133154720137046]]},{"id":6,"instruction":"now move little forward straight and land near the crosswalk.","completed_instruction":"Fly straight ahead to the next intersection and land in front of the zebra crossing facing the trash can.","start_frame":102,"end_frame":112,"start_position":[1.4709369288941865,-151.24998795746546,-2.6337697505950928],"start_rotation":[0.48312375244429911,0,0,-0.87555207716282624],"end_position":[-18.033654545855594,-155.67389023974044,-0.6337697505950928],"end_rotation":[0.11128887245028342,0,0,-0.99378809958096426],"actions":[2,2,2,1,1,2,3,1,1,5,0],"reference_path":[[1.4709369288941865,-151.24998795746546,-2.6337697505950928,0,0,-2.133154720137046],[1.4709369288941865,-151.24998795746546,-2.6337697505950928,0,0,-2.394954107936196],[1.4709369288941865,-151.24998795746546,-2.6337697505950928,0,0,-2.6567534957353454],[1.4709369288941865,-151.24998795746546,-2.6337697505950928,0,0,-2.9185528835344945],[-3.4052109397932586,-152.3559635280342,-2.6337697505950928,0,0,-2.9185528835344945],[-8.281358808480704,-153.46193909860295,-2.6337697505950928,0,0,-2.9185528835344945],[-8.281358808480704,-153.46193909860295,-2.6337697505950928,0,0,3.102833035845942],[-8.281358808480704,-153.46193909860295,-2.6337697505950928,0,0,-2.9185528835344945],[-13.157506677168149,-154.5679146691717,-2.6337697505950928,0,0,-2.9185528835344945],[-18.033654545855594,-155.67389023974044,-2.6337697505950928,0,0,-2.9185528835344945],[-18.033654545855594,-155.67389023974044,-0.6337697505950928,0,0,-2.9185528835344945]]}],"statistics":{"complete_actions":119,"sentence_actions":[8,25,11,38,20,6,11],"sentence_actions_average":17.0}}
diff --git a/scene_7/37Q970SNZN6K6ZOEIX7HJ3DFRJGS15.json b/scene_7/37Q970SNZN6K6ZOEIX7HJ3DFRJGS15.json
new file mode 100644
index 0000000000000000000000000000000000000000..274d3389a66711326f304846908da6cc3bb8ac60
--- /dev/null
+++ b/scene_7/37Q970SNZN6K6ZOEIX7HJ3DFRJGS15.json
@@ -0,0 +1 @@
+{"episode_id":"37Q970SNZN6K6ZOEIX7HJ3DFRJGS15","trajectory_id":"3DWGDA5PPN2XC78PMP7K572YZY4V1N","scene_id":7,"instruction":"turn left and turn left at the bridge. turn around at the bend in the road ahead. take a left and cross the water. go left and turn left at the end. stop near the last corner on the right.","sentence_instructions":[{"id":0,"instruction":"turn left and turn left at the bridge.","completed_instruction":"Turn left to face the road.","start_frame":0,"end_frame":15,"start_position":[1.2124496698379517,-44.93172073364258,-0.7715672254562378],"start_rotation":[0.99992323112641623,0,0,-0.012390797137697291],"end_position":[0.46905891522846277,-74.9225088224201,-0.7715672254562378],"end_rotation":[0.37120645032203,0,0,-0.92855036009864234],"actions":[2,2,2,2,2,2,1,1,1,1,1,1,2,2,2,2],"reference_path":[[1.2124496698379517,-44.93172073364258,-0.7715672254562378,0,0,-0.024782228446561177],[1.2124496698379517,-44.93172073364258,-0.7715672254562378,0,0,-0.2865816162457106],[1.2124496698379517,-44.93172073364258,-0.7715672254562378,0,0,-0.54838100404486],[1.2124496698379517,-44.93172073364258,-0.7715672254562378,0,0,-0.8101803918440095],[1.2124496698379517,-44.93172073364258,-0.7715672254562378,0,0,-1.071979779643159],[1.2124496698379517,-44.93172073364258,-0.7715672254562378,0,0,-1.3337791674423083],[1.2124496698379517,-44.93172073364258,-0.7715672254562378,0,0,-1.5955785552414576],[1.0885512107363702,-49.9301854151055,-0.7715672254562378,0,0,-1.5955785552414576],[0.9646527516347887,-54.92865009656842,-0.7715672254562378,0,0,-1.5955785552414576],[0.8407542925332072,-59.92711477803134,-0.7715672254562378,0,0,-1.5955785552414576],[0.7168558334316257,-64.92557945949426,-0.7715672254562378,0,0,-1.5955785552414576],[0.5929573743300443,-69.92404414095718,-0.7715672254562378,0,0,-1.5955785552414576],[0.46905891522846277,-74.9225088224201,-0.7715672254562378,0,0,-1.5955785552414576],[0.46905891522846277,-74.9225088224201,-0.7715672254562378,0,0,-1.8573779430406072],[0.46905891522846277,-74.9225088224201,-0.7715672254562378,0,0,-2.1191773308397566],[0.46905891522846277,-74.9225088224201,-0.7715672254562378,0,0,-2.380976718638906]]},{"id":1,"instruction":"turn around at the bend in the road ahead.","completed_instruction":"Then fly forward to the crossroads and then turn left again to face the bridge.","start_frame":15,"end_frame":41,"start_position":[0.46905891522846277,-74.9225088224201,-0.7715672254562378],"start_rotation":[0.37120645032203,0,0,-0.92855036009864234],"end_position":[-59.63641572142822,-78.43419199466403,-2.771567225456238],"end_rotation":[0.91906685454185522,0,0,-0.39410165805606584],"actions":[2,2,2,1,1,7,4,1,1,1,1,1,1,1,1,1,1,3,3,3,3,3,3,3,3,3,3],"reference_path":[[0.46905891522846277,-74.9225088224201,-0.7715672254562378,0,0,-2.380976718638906],[0.46905891522846277,-74.9225088224201,-0.7715672254562378,0,0,-2.6427761064380553],[0.46905891522846277,-74.9225088224201,-0.7715672254562378,0,0,-2.904575494237205],[0.46905891522846277,-74.9225088224201,-0.7715672254562378,0,0,3.1168104251432327],[-4.529405766234461,-74.79861036331852,-0.7715672254562378,0,0,3.1168104251432327],[-9.527870447697385,-74.67471190421693,-0.7715672254562378,0,0,3.1168104251432327],[-9.651768906798964,-79.67317658567985,-0.7715672254562378,0,0,3.1168104251432327],[-9.651768906798964,-79.67317658567985,-2.771567225456238,0,0,3.1168104251432327],[-14.650233588261887,-79.54927812657827,-2.771567225456238,0,0,3.1168104251432327],[-19.64869826972481,-79.42537966747669,-2.771567225456238,0,0,3.1168104251432327],[-24.647162951187735,-79.30148120837511,-2.771567225456238,0,0,3.1168104251432327],[-29.64562763265066,-79.17758274927353,-2.771567225456238,0,0,3.1168104251432327],[-34.644092314113585,-79.05368429017194,-2.771567225456238,0,0,3.1168104251432327],[-39.64255699557651,-78.92978583107036,-2.771567225456238,0,0,3.1168104251432327],[-44.64102167703944,-78.80588737196878,-2.771567225456238,0,0,3.1168104251432327],[-49.63948635850237,-78.6819889128672,-2.771567225456238,0,0,3.1168104251432327],[-54.637951039965294,-78.55809045376562,-2.771567225456238,0,0,3.1168104251432327],[-59.63641572142822,-78.43419199466403,-2.771567225456238,0,0,3.1168104251432327],[-59.63641572142822,-78.43419199466403,-2.771567225456238,0,0,-2.9045754942372044],[-59.63641572142822,-78.43419199466403,-2.771567225456238,0,0,-2.642776106438055],[-59.63641572142822,-78.43419199466403,-2.771567225456238,0,0,-2.3809767186389057],[-59.63641572142822,-78.43419199466403,-2.771567225456238,0,0,-2.119177330839756],[-59.63641572142822,-78.43419199466403,-2.771567225456238,0,0,-1.8573779430406068],[-59.63641572142822,-78.43419199466403,-2.771567225456238,0,0,-1.5955785552414574],[-59.63641572142822,-78.43419199466403,-2.771567225456238,0,0,-1.333779167442308],[-59.63641572142822,-78.43419199466403,-2.771567225456238,0,0,-1.0719797796431587],[-59.63641572142822,-78.43419199466403,-2.771567225456238,0,0,-0.8101803918440094]]},{"id":2,"instruction":"take a left and cross the water.","completed_instruction":"Fly forward over the bridge, then fly forward to the turning point at the end of the road and onto the zebra crossing, then turn backward to face the bridge.","start_frame":41,"end_frame":66,"start_position":[-59.63641572142822,-78.43419199466403,-2.771567225456238],"start_rotation":[0.91906685454185522,0,0,-0.39410165805606584],"end_position":[-7.277922206341557,-126.5832082387349,-2.771567225456238],"end_rotation":[0.96264469896818072,0,0,-0.27076776681957665],"actions":[3,3,3,1,1,1,1,1,2,2,2,1,2,1,1,1,1,1,1,1,1,1,1,3,3,1],"reference_path":[[-59.63641572142822,-78.43419199466403,-2.771567225456238,0,0,-0.8101803918440094],[-59.63641572142822,-78.43419199466403,-2.771567225456238,0,0,-0.5483810040448599],[-59.63641572142822,-78.43419199466403,-2.771567225456238,0,0,-0.28658161624571044],[-59.63641572142822,-78.43419199466403,-2.771567225456238,0,0,-0.024782228446561024],[-54.6379510399653,-78.55809045376562,-2.771567225456238,0,0,-0.024782228446561024],[-49.63948635850238,-78.6819889128672,-2.771567225456238,0,0,-0.024782228446561024],[-44.64102167703946,-78.80588737196878,-2.771567225456238,0,0,-0.024782228446561024],[-39.64255699557654,-78.92978583107036,-2.771567225456238,0,0,-0.024782228446561024],[-34.64409231411362,-79.05368429017194,-2.771567225456238,0,0,-0.024782228446561024],[-34.64409231411362,-79.05368429017194,-2.771567225456238,0,0,-0.28658161624571044],[-34.64409231411362,-79.05368429017194,-2.771567225456238,0,0,-0.5483810040448599],[-34.64409231411362,-79.05368429017194,-2.771567225456238,0,0,-0.8101803918440094],[-31.197253482939026,-82.67574200256513,-2.771567225456238,0,0,-0.8101803918440094],[-31.197253482939026,-82.67574200256513,-2.771567225456238,0,0,-1.0719797796431587],[-28.805320355279278,-87.0664886261821,-2.771567225456238,0,0,-1.0719797796431587],[-26.41338722761953,-91.45723524979908,-2.771567225456238,0,0,-1.0719797796431587],[-24.021454099959783,-95.84798187341606,-2.771567225456238,0,0,-1.0719797796431587],[-21.629520972300035,-100.23872849703304,-2.771567225456238,0,0,-1.0719797796431587],[-19.237587844640288,-104.62947512065001,-2.771567225456238,0,0,-1.0719797796431587],[-16.84565471698054,-109.02022174426699,-2.771567225456238,0,0,-1.0719797796431587],[-14.453721589320795,-113.41096836788397,-2.771567225456238,0,0,-1.0719797796431587],[-12.061788461661049,-117.80171499150094,-2.771567225456238,0,0,-1.0719797796431587],[-9.669855334001303,-122.19246161511792,-2.771567225456238,0,0,-1.0719797796431587],[-7.277922206341557,-126.5832082387349,-2.771567225456238,0,0,-1.0719797796431587],[-7.277922206341557,-126.5832082387349,-2.771567225456238,0,0,-0.8101803918440094],[-7.277922206341557,-126.5832082387349,-2.771567225456238,0,0,-0.5483810040448599]]},{"id":3,"instruction":"go left and turn left at the end.","completed_instruction":"Fly forward to the crossroads, then turn left to face the tree on the far side of the river, then fly forward again, crossing the river and reaching the red house.","start_frame":66,"end_frame":85,"start_position":[-7.277922206341557,-126.5832082387349,-2.771567225456238],"start_rotation":[0.96264469896818072,0,0,-0.27076776681957665],"end_position":[-12.522540345743677,-155.173942202277,-0.7715672254562378],"end_rotation":[0.11823137972080645,0,0,-0.992986072837537],"actions":[1,5,1,2,2,2,1,2,1,1,1,2,2,2,2,2,1,1,1,1],"reference_path":[[-7.277922206341557,-126.5832082387349,-2.771567225456238,0,0,-0.5483810040448599],[-3.0110740418261637,-129.18973979253806,-2.771567225456238,0,0,-0.5483810040448599],[-3.0110740418261637,-129.18973979253806,-0.7715672254562378,0,0,-0.5483810040448599],[1.25577412268923,-131.79627134634123,-0.7715672254562378,0,0,-0.5483810040448599],[1.25577412268923,-131.79627134634123,-0.7715672254562378,0,0,-0.8101803918440094],[1.25577412268923,-131.79627134634123,-0.7715672254562378,0,0,-1.0719797796431587],[1.25577412268923,-131.79627134634123,-0.7715672254562378,0,0,-1.3337791674423083],[2.429795257040502,-136.65648475483437,-0.7715672254562378,0,0,-1.3337791674423083],[2.429795257040502,-136.65648475483437,-0.7715672254562378,0,0,-1.5955785552414576],[2.305896797938921,-141.6549494362973,-0.7715672254562378,0,0,-1.5955785552414576],[2.1819983388373396,-146.65341411776024,-0.7715672254562378,0,0,-1.5955785552414576],[2.0580998797357584,-151.65187879922317,-0.7715672254562378,0,0,-1.5955785552414576],[2.0580998797357584,-151.65187879922317,-0.7715672254562378,0,0,-1.8573779430406072],[2.0580998797357584,-151.65187879922317,-0.7715672254562378,0,0,-2.1191773308397566],[2.0580998797357584,-151.65187879922317,-0.7715672254562378,0,0,-2.380976718638906],[2.0580998797357584,-151.65187879922317,-0.7715672254562378,0,0,-2.6427761064380553],[2.0580998797357584,-151.65187879922317,-0.7715672254562378,0,0,-2.904575494237205],[-2.8021135287573866,-152.82589993357445,-0.7715672254562378,0,0,-2.904575494237205],[-7.662326937250532,-153.99992106792573,-0.7715672254562378,0,0,-2.904575494237205],[-12.522540345743677,-155.173942202277,-0.7715672254562378,0,0,-2.904575494237205]]},{"id":4,"instruction":"stop near the last corner on your right.","completed_instruction":"Turn left to face the road intersection, then fly forward to the road intersection, then turn left and fly towards the trash can on the right side of the next road intersection.","start_frame":85,"end_frame":98,"start_position":[-12.522540345743677,-155.173942202277,-0.7715672254562378],"start_rotation":[0.11823137972080645,0,0,-0.992986072837537],"end_position":[-62.028298779714916,-155.24132067994995,-0.7715672254562378],"end_rotation":[0.012390797137696972,0,0,0.99992323112641623],"actions":[1,1,2,2,1,3,1,1,1,1,1,1,1,0],"reference_path":[[-12.522540345743677,-155.173942202277,-0.7715672254562378,0,0,-2.904575494237205],[-17.382753754236823,-156.34796333662828,-0.7715672254562378,0,0,-2.904575494237205],[-22.24296716272997,-157.52198447097956,-0.7715672254562378,0,0,-2.904575494237205],[-22.24296716272997,-157.52198447097956,-0.7715672254562378,0,0,3.1168104251432327],[-22.24296716272997,-157.52198447097956,-0.7715672254562378,0,0,2.855011037344083],[-27.039046009474426,-156.10860989366103,-0.7715672254562378,0,0,2.855011037344083],[-27.039046009474426,-156.10860989366103,-0.7715672254562378,0,0,3.1168104251432327],[-32.03751069093735,-155.98471143455944,-0.7715672254562378,0,0,3.1168104251432327],[-37.03597537240028,-155.86081297545786,-0.7715672254562378,0,0,3.1168104251432327],[-42.03444005386321,-155.73691451635628,-0.7715672254562378,0,0,3.1168104251432327],[-47.032904735326134,-155.6130160572547,-0.7715672254562378,0,0,3.1168104251432327],[-52.03136941678906,-155.48911759815311,-0.7715672254562378,0,0,3.1168104251432327],[-57.02983409825199,-155.36521913905153,-0.7715672254562378,0,0,3.1168104251432327],[-62.028298779714916,-155.24132067994995,-0.7715672254562378,0,0,3.1168104251432327]]}],"statistics":{"complete_actions":103,"sentence_actions":[16,27,26,20,14],"sentence_actions_average":20.6}}
diff --git a/scene_7/37ZHEEHM65KUX4I1HYNPC5WHTDB37K.json b/scene_7/37ZHEEHM65KUX4I1HYNPC5WHTDB37K.json
new file mode 100644
index 0000000000000000000000000000000000000000..c5fd610c58421b291022f9b383be25257a2f2eae
--- /dev/null
+++ b/scene_7/37ZHEEHM65KUX4I1HYNPC5WHTDB37K.json
@@ -0,0 +1 @@
+{"episode_id":"37ZHEEHM65KUX4I1HYNPC5WHTDB37K","trajectory_id":"3X2LT8FDI4GS2WSFBKLV6J8KPMRW8K","scene_id":7,"instruction":"turn around and fly down the road. go to the next bridge ahead and stop. turn right. fly forward to the end of the road and stop. turn right again. fly forward to above the orange cones and turn around. fly forward to the second road just past the water. turn left and go forward a bit. pan left, then turn back forward and land on the puddle of water.","sentence_instructions":[{"id":0,"instruction":"turn around and fly down the road.","completed_instruction":"Turn right to face the zebra crossing, and then walk forward to the crossroads.","start_frame":0,"end_frame":12,"start_position":[70.05207824707031,-79.87269592285156,-0.8246278762817383],"start_rotation":[0.9997243328143095,0,0,-0.023478892200947572],"end_position":[65.2885249555716,-78.3533012937141,-0.8246278762817383],"end_rotation":[0.15376823745536256,0,0,0.98810694216257344],"actions":[3,3,3,3,3,3,3,3,3,3,3,1,3],"reference_path":[[70.05207824707031,-79.87269592285156,-0.8246278762817383,0,0,-0.04696209978450009],[70.05207824707031,-79.87269592285156,-0.8246278762817383,0,0,0.21483728801464932],[70.05207824707031,-79.87269592285156,-0.8246278762817383,0,0,0.47663667581379876],[70.05207824707031,-79.87269592285156,-0.8246278762817383,0,0,0.7384360636129482],[70.05207824707031,-79.87269592285156,-0.8246278762817383,0,0,1.0002354514120977],[70.05207824707031,-79.87269592285156,-0.8246278762817383,0,0,1.262034839211247],[70.05207824707031,-79.87269592285156,-0.8246278762817383,0,0,1.5238342270103964],[70.05207824707031,-79.87269592285156,-0.8246278762817383,0,0,1.785633614809546],[70.05207824707031,-79.87269592285156,-0.8246278762817383,0,0,2.0474330026086953],[70.05207824707031,-79.87269592285156,-0.8246278762817383,0,0,2.309232390407845],[70.05207824707031,-79.87269592285156,-0.8246278762817383,0,0,2.571031778206994],[70.05207824707031,-79.87269592285156,-0.8246278762817383,0,0,2.8328311660061436],[65.2885249555716,-78.3533012937141,-0.8246278762817383,0,0,2.8328311660061436]]},{"id":1,"instruction":"go to the next bridge ahead and stop.","completed_instruction":"Fly along the road to the next intersection and then stop.","start_frame":12,"end_frame":23,"start_position":[65.2885249555716,-78.3533012937141,-0.8246278762817383],"start_rotation":[0.15376823745536256,0,0,0.98810694216257344],"end_position":[15.343650793469976,-76.00605930963293,-0.8246278762817383],"end_rotation":[0.023478892200947562,0,0,0.9997243328143095],"actions":[3,1,1,1,1,1,1,1,1,1,1,4],"reference_path":[[65.2885249555716,-78.3533012937141,-0.8246278762817383,0,0,2.8328311660061436],[65.2885249555716,-78.3533012937141,-0.8246278762817383,0,0,3.094630553805293],[60.29403753936144,-78.11857709530598,-0.8246278762817383,0,0,3.094630553805293],[55.29955012315128,-77.88385289689786,-0.8246278762817383,0,0,3.094630553805293],[50.305062706941115,-77.64912869848975,-0.8246278762817383,0,0,3.094630553805293],[45.31057529073095,-77.41440450008163,-0.8246278762817383,0,0,3.094630553805293],[40.31608787452079,-77.17968030167351,-0.8246278762817383,0,0,3.094630553805293],[35.32160045831063,-76.9449561032654,-0.8246278762817383,0,0,3.094630553805293],[30.327113042100464,-76.71023190485728,-0.8246278762817383,0,0,3.094630553805293],[25.3326256258903,-76.47550770644916,-0.8246278762817383,0,0,3.094630553805293],[20.33813820968014,-76.24078350804105,-0.8246278762817383,0,0,3.094630553805293],[15.343650793469976,-76.00605930963293,-0.8246278762817383,0,0,3.094630553805293]]},{"id":2,"instruction":"turn right.","completed_instruction":"A sign indicating to turn right to face the sidewalk on the right side of the road.","start_frame":23,"end_frame":29,"start_position":[15.343650793469976,-76.00605930963293,-0.8246278762817383],"start_rotation":[0.023478892200947562,0,0,0.9997243328143095],"end_position":[5.354675961049651,-75.5366109128167,-2.8246278762817383],"end_rotation":[0.36088627114978467,0,0,-0.932609832296231],"actions":[4,1,1,3,3,3,3],"reference_path":[[15.343650793469976,-76.00605930963293,-0.8246278762817383,0,0,3.094630553805293],[15.343650793469976,-76.00605930963293,-2.8246278762817383,0,0,3.094630553805293],[10.349163377259814,-75.77133511122481,-2.8246278762817383,0,0,3.094630553805293],[5.354675961049651,-75.5366109128167,-2.8246278762817383,0,0,3.094630553805293],[5.354675961049651,-75.5366109128167,-2.8246278762817383,0,0,-2.926755365575144],[5.354675961049651,-75.5366109128167,-2.8246278762817383,0,0,-2.664955977775995],[5.354675961049651,-75.5366109128167,-2.8246278762817383,0,0,-2.4031565899768457]]},{"id":3,"instruction":"fly forward to the end of the road and stop.","completed_instruction":"Fly towards the road and land in front of the red building at the end of the road.","start_frame":29,"end_frame":44,"start_position":[5.354675961049651,-75.5366109128167,-2.8246278762817383],"start_rotation":[0.36088627114978467,0,0,-0.932609832296231],"end_position":[2.5379855801522417,-135.47045990733864,-2.8246278762817383],"end_rotation":[0.6903097711601569,0,0,-0.72351393894023341],"actions":[3,3,3,1,1,1,1,1,1,1,1,1,1,1,1,1],"reference_path":[[5.354675961049651,-75.5366109128167,-2.8246278762817383,0,0,-2.4031565899768457],[5.354675961049651,-75.5366109128167,-2.8246278762817383,0,0,-2.141357202177696],[5.354675961049651,-75.5366109128167,-2.8246278762817383,0,0,-1.8795578143785467],[5.354675961049651,-75.5366109128167,-2.8246278762817383,0,0,-1.6177584265793974],[5.119951762641533,-80.53109832902686,-2.8246278762817383,0,0,-1.6177584265793974],[4.885227564233416,-85.52558574523702,-2.8246278762817383,0,0,-1.6177584265793974],[4.6505033658252986,-90.52007316144719,-2.8246278762817383,0,0,-1.6177584265793974],[4.415779167417181,-95.51456057765735,-2.8246278762817383,0,0,-1.6177584265793974],[4.181054969009064,-100.50904799386751,-2.8246278762817383,0,0,-1.6177584265793974],[3.9463307706009463,-105.50353541007767,-2.8246278762817383,0,0,-1.6177584265793974],[3.711606572192829,-110.49802282628784,-2.8246278762817383,0,0,-1.6177584265793974],[3.4768823737847114,-115.492510242498,-2.8246278762817383,0,0,-1.6177584265793974],[3.242158175376594,-120.48699765870816,-2.8246278762817383,0,0,-1.6177584265793974],[3.0074339769684766,-125.48148507491833,-2.8246278762817383,0,0,-1.6177584265793974],[2.772709778560359,-130.4759724911285,-2.8246278762817383,0,0,-1.6177584265793974],[2.5379855801522417,-135.47045990733864,-2.8246278762817383,0,0,-1.6177584265793974]]},{"id":4,"instruction":"turn right again.","completed_instruction":"Turn right to face the speed limit sign on the right side of the road, which reads \"50\".","start_frame":44,"end_frame":50,"start_position":[2.5379855801522417,-135.47045990733864,-2.8246278762817383],"start_rotation":[0.6903097711601569,0,0,-0.72351393894023341],"end_position":[1.8338129849278895,-150.45392215596917,-2.8246278762817383],"end_rotation":[0.91463986618505355,0,0,-0.40426960705077408],"actions":[1,1,1,3,3,3,3],"reference_path":[[2.5379855801522417,-135.47045990733864,-2.8246278762817383,0,0,-1.6177584265793974],[2.3032613817441243,-140.4649473235488,-2.8246278762817383,0,0,-1.6177584265793974],[2.068537183336007,-145.459434739759,-2.8246278762817383,0,0,-1.6177584265793974],[1.8338129849278895,-150.45392215596917,-2.8246278762817383,0,0,-1.6177584265793974],[1.8338129849278895,-150.45392215596917,-2.8246278762817383,0,0,-1.355959038780248],[1.8338129849278895,-150.45392215596917,-2.8246278762817383,0,0,-1.0941596509810987],[1.8338129849278895,-150.45392215596917,-2.8246278762817383,0,0,-0.8323602631819493]]},{"id":5,"instruction":"fly forward to above the orange cones and turn around.","completed_instruction":"Fly forward along the road until reach the cone-shaped barrier, then turn around and head backward.","start_frame":50,"end_frame":66,"start_position":[1.8338129849278895,-150.45392215596917,-2.8246278762817383],"start_rotation":[0.91463986618505355,0,0,-0.40426960705077408],"end_position":[21.81176264976854,-151.39281894960163,-2.8246278762817383],"end_rotation":[0.40426960705077425,0,0,0.91463986618505355],"actions":[3,3,3,1,1,1,1,3,3,3,3,3,3,3,3,3,3],"reference_path":[[1.8338129849278895,-150.45392215596917,-2.8246278762817383,0,0,-0.8323602631819493],[1.8338129849278895,-150.45392215596917,-2.8246278762817383,0,0,-0.5705608753827999],[1.8338129849278895,-150.45392215596917,-2.8246278762817383,0,0,-0.3087614875836504],[1.8338129849278895,-150.45392215596917,-2.8246278762817383,0,0,-0.04696209978450099],[6.828300401138052,-150.68864635437728,-2.8246278762817383,0,0,-0.04696209978450099],[11.822787817348214,-150.9233705527854,-2.8246278762817383,0,0,-0.04696209978450099],[16.817275233558377,-151.15809475119352,-2.8246278762817383,0,0,-0.04696209978450099],[21.81176264976854,-151.39281894960163,-2.8246278762817383,0,0,-0.04696209978450099],[21.81176264976854,-151.39281894960163,-2.8246278762817383,0,0,0.21483728801464844],[21.81176264976854,-151.39281894960163,-2.8246278762817383,0,0,0.47663667581379787],[21.81176264976854,-151.39281894960163,-2.8246278762817383,0,0,0.7384360636129473],[21.81176264976854,-151.39281894960163,-2.8246278762817383,0,0,1.0002354514120968],[21.81176264976854,-151.39281894960163,-2.8246278762817383,0,0,1.2620348392112464],[21.81176264976854,-151.39281894960163,-2.8246278762817383,0,0,1.5238342270103957],[21.81176264976854,-151.39281894960163,-2.8246278762817383,0,0,1.785633614809545],[21.81176264976854,-151.39281894960163,-2.8246278762817383,0,0,2.0474330026086944],[21.81176264976854,-151.39281894960163,-2.8246278762817383,0,0,2.3092323904078436]]},{"id":6,"instruction":"fly forward to the second road just past the water.","completed_instruction":"Fly forward through the first road intersection and then reach the second one.","start_frame":66,"end_frame":76,"start_position":[21.81176264976854,-151.39281894960163,-2.8246278762817383],"start_rotation":[0.40426960705077425,0,0,0.91463986618505355],"end_position":[-13.1496492637026,-149.74974956074482,-2.8246278762817383],"end_rotation":[0.023478892200948006,0,0,0.9997243328143095],"actions":[3,3,3,1,1,1,1,1,1,1,1],"reference_path":[[21.81176264976854,-151.39281894960163,-2.8246278762817383,0,0,2.3092323904078436],[21.81176264976854,-151.39281894960163,-2.8246278762817383,0,0,2.571031778206993],[21.81176264976854,-151.39281894960163,-2.8246278762817383,0,0,2.8328311660061427],[21.81176264976854,-151.39281894960163,-2.8246278762817383,0,0,3.0946305538052923],[16.817275233558377,-151.15809475119352,-2.8246278762817383,0,0,3.0946305538052923],[11.822787817348214,-150.9233705527854,-2.8246278762817383,0,0,3.0946305538052923],[6.828300401138051,-150.68864635437728,-2.8246278762817383,0,0,3.0946305538052923],[1.8338129849278886,-150.45392215596917,-2.8246278762817383,0,0,3.0946305538052923],[-3.160674431282274,-150.21919795756105,-2.8246278762817383,0,0,3.0946305538052923],[-8.155161847492437,-149.98447375915293,-2.8246278762817383,0,0,3.0946305538052923],[-13.1496492637026,-149.74974956074482,-2.8246278762817383,0,0,3.0946305538052923]]},{"id":7,"instruction":"turn left and go forward a bit.","completed_instruction":"Turn slightly to the left to face the trash can on the left side of the road, and then fly forward to the trash can.","start_frame":76,"end_frame":84,"start_position":[-13.1496492637026,-149.74974956074482,-2.8246278762817383],"start_rotation":[0.023478892200948006,0,0,0.9997243328143095],"end_position":[-23.373348294531045,-154.27478858013876,-2.8246278762817383],"end_rotation":[0.62722067101278844,0,0,0.77884159484086835],"actions":[1,7,1,2,2,2,2,2,1],"reference_path":[[-13.1496492637026,-149.74974956074482,-2.8246278762817383,0,0,3.0946305538052923],[-18.144136679912762,-149.5150253623367,-2.8246278762817383,0,0,3.0946305538052923],[-18.378860878320882,-154.50951277854688,-2.8246278762817383,0,0,3.0946305538052923],[-23.373348294531045,-154.27478858013876,-2.8246278762817383,0,0,3.0946305538052923],[-23.373348294531045,-154.27478858013876,-2.8246278762817383,0,0,2.832831166006143],[-23.373348294531045,-154.27478858013876,-2.8246278762817383,0,0,2.5710317782069936],[-23.373348294531045,-154.27478858013876,-2.8246278762817383,0,0,2.3092323904078444],[-23.373348294531045,-154.27478858013876,-2.8246278762817383,0,0,2.0474330026086953],[-23.373348294531045,-154.27478858013876,-2.8246278762817383,0,0,1.785633614809546]]},{"id":8,"instruction":"pan left, then turn back forward and land on the puddle of water.","completed_instruction":"Face the situation where the trash can landed on the sidewalk.","start_frame":84,"end_frame":88,"start_position":[-23.373348294531045,-154.27478858013876,-2.8246278762817383],"start_rotation":[0.62722067101278844,0,0,0.77884159484086835],"end_position":[-25.50523289161639,-144.50467762556355,-0.8246278762817383],"end_rotation":[0.72351393894023319,0,0,0.69030977116015713],"actions":[1,1,2,5,0],"reference_path":[[-23.373348294531045,-154.27478858013876,-2.8246278762817383,0,0,1.785633614809546],[-24.439290593073718,-149.38973310285115,-2.8246278762817383,0,0,1.785633614809546],[-25.50523289161639,-144.50467762556355,-2.8246278762817383,0,0,1.785633614809546],[-25.50523289161639,-144.50467762556355,-2.8246278762817383,0,0,1.5238342270103964],[-25.50523289161639,-144.50467762556355,-0.8246278762817383,0,0,1.5238342270103964]]}],"statistics":{"complete_actions":97,"sentence_actions":[13,12,7,16,7,17,11,9,5],"sentence_actions_average":10.78}}
diff --git a/scene_7/3A4NIXBJ7FXUYBFDRATER9NN2RGMLT.json b/scene_7/3A4NIXBJ7FXUYBFDRATER9NN2RGMLT.json
new file mode 100644
index 0000000000000000000000000000000000000000..0b72d1503963b82f47d335f4e4dc0b6d7051ea11
--- /dev/null
+++ b/scene_7/3A4NIXBJ7FXUYBFDRATER9NN2RGMLT.json
@@ -0,0 +1 @@
+{"episode_id":"3A4NIXBJ7FXUYBFDRATER9NN2RGMLT","trajectory_id":"3126F2F5GG1JRO55C1T06ZWA3LIEPK","scene_id":7,"instruction":"turn right and go straight. pass over the water. keep straight. when you pass over the second body of water, go slightly to the right. go to the road on the right side of the bridge. turn right and go forward to the water. turn left and fly over the docks near the stairs on the right. turn left and land on the sidewalk near the stair tops.","sentence_instructions":[{"id":0,"instruction":"turn right and go straight.","completed_instruction":"Turn right towards the road and fly forward until encounter a waterway.","start_frame":0,"end_frame":13,"start_position":[85.25076293945312,-168.8494873046875,-0.4288705289363861],"start_rotation":[0.99999994198968067,0,0,-0.000340618019759351],"end_position":[85.27460619945312,-133.84949542613197,-0.4288705289363861],"end_rotation":[0.70734759347862353,0,0,0.70686588685549112],"actions":[3,3,3,3,3,3,1,1,1,1,1,1,1,4],"reference_path":[[85.25076293945312,-168.8494873046875,-0.4288705289363861,0,0,-0.000681236052691609],[85.25076293945312,-168.8494873046875,-0.4288705289363861,0,0,0.2611181517464578],[85.25076293945312,-168.8494873046875,-0.4288705289363861,0,0,0.5229175395456073],[85.25076293945312,-168.8494873046875,-0.4288705289363861,0,0,0.7847169273447566],[85.25076293945312,-168.8494873046875,-0.4288705289363861,0,0,1.046516315143906],[85.25076293945312,-168.8494873046875,-0.4288705289363861,0,0,1.3083157029430554],[85.25076293945312,-168.8494873046875,-0.4288705289363861,0,0,1.5701150907422048],[85.25416911945312,-163.84948846489385,-0.4288705289363861,0,0,1.5701150907422048],[85.25757529945312,-158.8494896251002,-0.4288705289363861,0,0,1.5701150907422048],[85.26098147945312,-153.84949078530656,-0.4288705289363861,0,0,1.5701150907422048],[85.26438765945312,-148.8494919455129,-0.4288705289363861,0,0,1.5701150907422048],[85.26779383945312,-143.84949310571926,-0.4288705289363861,0,0,1.5701150907422048],[85.27120001945312,-138.8494942659256,-0.4288705289363861,0,0,1.5701150907422048],[85.27460619945312,-133.84949542613197,-0.4288705289363861,0,0,1.5701150907422048]]},{"id":1,"instruction":"pass over the water.","completed_instruction":"Fly forward across the waterway.","start_frame":13,"end_frame":17,"start_position":[85.27460619945312,-133.84949542613197,-0.4288705289363861],"start_rotation":[0.70734759347862353,0,0,0.70686588685549112],"end_position":[85.28482473945311,-118.84949890675102,-2.428870528936386],"end_rotation":[0.70734759347862353,0,0,0.70686588685549112],"actions":[4,1,1,1,1],"reference_path":[[85.27460619945312,-133.84949542613197,-0.4288705289363861,0,0,1.5701150907422048],[85.27460619945312,-133.84949542613197,-2.428870528936386,0,0,1.5701150907422048],[85.27801237945312,-128.84949658633832,-2.428870528936386,0,0,1.5701150907422048],[85.28141855945312,-123.84949774654467,-2.428870528936386,0,0,1.5701150907422048],[85.28482473945311,-118.84949890675102,-2.428870528936386,0,0,1.5701150907422048]]},{"id":2,"instruction":"keep straight.","completed_instruction":"Fly forward until reaching a waterway.","start_frame":17,"end_frame":28,"start_position":[85.28482473945311,-118.84949890675102,-2.428870528936386],"start_rotation":[0.70734759347862353,0,0,0.70686588685549112],"end_position":[85.3222927194531,-63.8495116690209,-2.428870528936386],"end_rotation":[0.70734759347862353,0,0,0.70686588685549112],"actions":[1,1,1,1,1,1,1,1,1,1,1,1],"reference_path":[[85.28482473945311,-118.84949890675102,-2.428870528936386,0,0,1.5701150907422048],[85.28823091945311,-113.84950006695738,-2.428870528936386,0,0,1.5701150907422048],[85.29163709945311,-108.84950122716373,-2.428870528936386,0,0,1.5701150907422048],[85.29504327945311,-103.84950238737008,-2.428870528936386,0,0,1.5701150907422048],[85.29844945945311,-98.84950354757643,-2.428870528936386,0,0,1.5701150907422048],[85.30185563945311,-93.84950470778278,-2.428870528936386,0,0,1.5701150907422048],[85.30526181945311,-88.84950586798914,-2.428870528936386,0,0,1.5701150907422048],[85.3086679994531,-83.84950702819549,-2.428870528936386,0,0,1.5701150907422048],[85.3120741794531,-78.84950818840184,-2.428870528936386,0,0,1.5701150907422048],[85.3154803594531,-73.8495093486082,-2.428870528936386,0,0,1.5701150907422048],[85.3188865394531,-68.84951050881455,-2.428870528936386,0,0,1.5701150907422048],[85.3222927194531,-63.8495116690209,-2.428870528936386,0,0,1.5701150907422048]]},{"id":3,"instruction":"when you pass over the second body of water, go slightly to the right.","completed_instruction":"Fly forward and turn right 45 degrees after passing the tree on the right.","start_frame":28,"end_frame":30,"start_position":[85.3222927194531,-63.8495116690209,-2.428870528936386],"start_rotation":[0.70734759347862353,0,0,0.70686588685549112],"end_position":[85.3291050794531,-53.8495139894336,-2.428870528936386],"end_rotation":[0.70734759347862353,0,0,0.70686588685549112],"actions":[1,1,1],"reference_path":[[85.3222927194531,-63.8495116690209,-2.428870528936386,0,0,1.5701150907422048],[85.3256988994531,-58.84951282922725,-2.428870528936386,0,0,1.5701150907422048],[85.3291050794531,-53.8495139894336,-2.428870528936386,0,0,1.5701150907422048]]},{"id":4,"instruction":"go to the road on the right side of the bridge.","completed_instruction":"Fly forward, turn right in front of the bridge to face the gray house, then fly onto the road in front of the house.","start_frame":30,"end_frame":44,"start_position":[85.3291050794531,-53.8495139894336,-2.428870528936386],"start_rotation":[0.70734759347862353,0,0,0.70686588685549112],"end_position":[62.768974490489455,-3.8299459708593426,-2.428870528936386],"end_rotation":[0.50029495485293862,0,0,0.8658550445361487],"actions":[1,3,1,1,1,1,7,1,1,3,1,1,1,1,1],"reference_path":[[85.3291050794531,-53.8495139894336,-2.428870528936386,0,0,1.5701150907422048],[85.3325112594531,-48.849515149639956,-2.428870528936386,0,0,1.5701150907422048],[85.3325112594531,-48.849515149639956,-2.428870528936386,0,0,1.8319144785413544],[84.04170645145498,-44.019005554612846,-2.428870528936386,0,0,1.8319144785413544],[82.75090164345687,-39.18849595958574,-2.428870528936386,0,0,1.8319144785413544],[81.46009683545876,-34.35798636455863,-2.428870528936386,0,0,1.8319144785413544],[80.16929202746064,-29.527476769531518,-2.428870528936386,0,0,1.8319144785413544],[75.33878243243353,-30.818281577529632,-2.428870528936386,0,0,1.8319144785413544],[74.04797762443542,-25.987771982502522,-2.428870528936386,0,0,1.8319144785413544],[72.7571728164373,-21.157262387475413,-2.428870528936386,0,0,1.8319144785413544],[72.7571728164373,-21.157262387475413,-2.428870528936386,0,0,2.093713866340504],[70.26012323495034,-16.825433283321395,-2.428870528936386,0,0,2.093713866340504],[67.76307365346338,-12.493604179167377,-2.428870528936386,0,0,2.093713866340504],[65.26602407197642,-8.16177507501336,-2.428870528936386,0,0,2.093713866340504],[62.768974490489455,-3.8299459708593426,-2.428870528936386,0,0,2.093713866340504]]},{"id":5,"instruction":"turn right and go forward to the water.","completed_instruction":"Fly to the intersection ahead, turn right towards the road, and fly forward to the next 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left and fly over the docks near the stairs on the right.","completed_instruction":"Turn left for 45 degrees and go straight to the surface of the water, turn left to face the dock, fly forward to the dock.","start_frame":58,"end_frame":71,"start_position":[20.44908628074967,10.483363464062792,-2.428870528936386],"start_rotation":[0.00034061801975927033,0,0,0.99999994198968067],"end_position":[-9.90360645981319,29.529960193350426,-2.428870528936386],"end_rotation":[0.60903162413801493,0,0,0.79314593915609988],"actions":[1,1,1,2,2,1,2,1,2,1,1,1,2,2],"reference_path":[[20.44908628074967,10.483363464062792,-2.428870528936386,0,0,3.140911417537102],[15.449087440956022,10.486769644062791,-2.428870528936386,0,0,3.140911417537102],[10.449088601162376,10.49017582406279,-2.428870528936386,0,0,3.140911417537102],[5.449089761368731,10.49358200406279,-2.428870528936386,0,0,3.140911417537102],[5.449089761368731,10.49358200406279,-2.428870528936386,0,0,2.8791120297379527],[5.449089761368731,10.49358200406279,-2.428870528936386,0,0,2.617312641938803],[1.1206668372147126,12.996531262369473,-2.428870528936386,0,0,2.617312641938803],[1.1206668372147126,12.996531262369473,-2.428870528936386,0,0,2.3555132541396535],[-2.4124577153523035,16.534472880888373,-2.428870528936386,0,0,2.3555132541396535],[-2.4124577153523035,16.534472880888373,-2.428870528936386,0,0,2.0937138663405044],[-4.909507296839266,20.86630198504239,-2.428870528936386,0,0,2.0937138663405044],[-7.406556878326228,25.19813108919641,-2.428870528936386,0,0,2.0937138663405044],[-9.90360645981319,29.529960193350426,-2.428870528936386,0,0,2.0937138663405044],[-9.90360645981319,29.529960193350426,-2.428870528936386,0,0,1.831914478541355]]},{"id":7,"instruction":"turn left and land on the sidewalk near the stair tops.","completed_instruction":"Turn left to face the stairs and land on the sidewalk near the stair tops.","start_frame":71,"end_frame":76,"start_position":[-9.90360645981319,29.529960193350426,-2.428870528936386],"start_rotation":[0.60903162413801493,0,0,0.79314593915609988],"end_position":[-7.397251021506511,38.85838195729809,-2.428870528936386],"end_rotation":[0.86619566255590785,0,0,0.49970498713674233],"actions":[2,1,2,2,1,0],"reference_path":[[-9.90360645981319,29.529960193350426,-2.428870528936386,0,0,1.831914478541355],[-9.90360645981319,29.529960193350426,-2.428870528936386,0,0,1.5701150907422057],[-9.900200279813193,34.529959033144074,-2.428870528936386,0,0,1.5701150907422057],[-9.900200279813193,34.529959033144074,-2.428870528936386,0,0,1.3083157029430565],[-9.900200279813193,34.529959033144074,-2.428870528936386,0,0,1.046516315143907],[-7.397251021506511,38.85838195729809,-2.428870528936386,0,0,1.046516315143907]]}],"statistics":{"complete_actions":84,"sentence_actions":[14,5,12,3,15,15,14,6],"sentence_actions_average":10.5}}
diff --git a/scene_7/3D8YOU6S9NIVSYHFD8EYT0MKEZO6UE.json b/scene_7/3D8YOU6S9NIVSYHFD8EYT0MKEZO6UE.json
new file mode 100644
index 0000000000000000000000000000000000000000..a943d91e9e0e3c7e79c6be04119bc9e235d9e041
--- /dev/null
+++ b/scene_7/3D8YOU6S9NIVSYHFD8EYT0MKEZO6UE.json
@@ -0,0 +1 @@
+{"episode_id":"3D8YOU6S9NIVSYHFD8EYT0MKEZO6UE","trajectory_id":"3L2OEKSTXH8WR1NFQL3JRGT0U7R8YF","scene_id":7,"instruction":"turn left and go straight down street to first bridge and then turn right to street next to bridge. go to next bridge and go onto it. go to middle and stop and land in middle.","sentence_instructions":[{"id":0,"instruction":"turn left and go straight down street to first bridge and then turn right to street next to bridge.","completed_instruction":"Turn left to face the road, then keep going straight along the road until reach the center of the road intersection, then turn right to face the road with a row of barriers set up.","start_frame":1,"end_frame":26,"start_position":[1.8617212772369385,-3.587571382522583,-0.5758452415466309],"start_rotation":[0.99999200080799733,0,0,-0.0039997899967683615],"end_position":[2.557174280287929,-78.4251583527269,-0.5758452415466309],"end_rotation":[0.96488287783534932,0,0,-0.26268047521689614],"actions":[2,2,2,2,2,1,2,1,1,1,1,1,1,1,1,1,1,1,1,1,1,3,3,3,3,3],"reference_path":[[1.8617212772369385,-3.587571382522583,-0.5758452415466309,0,0,-0.007999601323663742],[1.8617212772369385,-3.587571382522583,-0.5758452415466309,0,0,-0.2697989891228132],[1.8617212772369385,-3.587571382522583,-0.5758452415466309,0,0,-0.5315983769219627],[1.8617212772369385,-3.587571382522583,-0.5758452415466309,0,0,-0.793397764721112],[1.8617212772369385,-3.587571382522583,-0.5758452415466309,0,0,-1.0551971525202613],[1.8617212772369385,-3.587571382522583,-0.5758452415466309,0,0,-1.3169965403194106],[3.1171404005231476,-8.427398117529457,-0.5758452415466309,0,0,-1.3169965403194106],[3.1171404005231476,-8.427398117529457,-0.5758452415466309,0,0,-1.5787959281185602],[3.0771428205063462,-13.427238134329274,-0.5758452415466309,0,0,-1.5787959281185602],[3.037145240489545,-18.42707815112909,-0.5758452415466309,0,0,-1.5787959281185602],[2.9971476604727436,-23.42691816792891,-0.5758452415466309,0,0,-1.5787959281185602],[2.9571500804559423,-28.426758184728726,-0.5758452415466309,0,0,-1.5787959281185602],[2.917152500439141,-33.42659820152854,-0.5758452415466309,0,0,-1.5787959281185602],[2.8771549204223397,-38.42643821832836,-0.5758452415466309,0,0,-1.5787959281185602],[2.8371573404055384,-43.42627823512817,-0.5758452415466309,0,0,-1.5787959281185602],[2.797159760388737,-48.42611825192799,-0.5758452415466309,0,0,-1.5787959281185602],[2.7571621803719357,-53.425958268727804,-0.5758452415466309,0,0,-1.5787959281185602],[2.7171646003551344,-58.42579828552762,-0.5758452415466309,0,0,-1.5787959281185602],[2.677167020338333,-63.425638302327435,-0.5758452415466309,0,0,-1.5787959281185602],[2.6371694403215318,-68.42547831912725,-0.5758452415466309,0,0,-1.5787959281185602],[2.5971718603047305,-73.42531833592707,-0.5758452415466309,0,0,-1.5787959281185602],[2.557174280287929,-78.4251583527269,-0.5758452415466309,0,0,-1.5787959281185602],[2.557174280287929,-78.4251583527269,-0.5758452415466309,0,0,-1.3169965403194106],[2.557174280287929,-78.4251583527269,-0.5758452415466309,0,0,-1.0551971525202613],[2.557174280287929,-78.4251583527269,-0.5758452415466309,0,0,-0.7933977647211118],[2.557174280287929,-78.4251583527269,-0.5758452415466309,0,0,-0.5315983769219623]]},{"id":1,"instruction":"go to next bridge and go onto it.","completed_instruction":"Fly forward above the bridge.","start_frame":26,"end_frame":37,"start_position":[2.557174280287929,-78.4251583527269,-0.5758452415466309],"start_rotation":[0.96488287783534932,0,0,-0.26268047521689614],"end_position":[47.37501687876061,-80.0778275072021,-0.5758452415466309],"end_rotation":[0.99999200080799733,0,0,-0.0039997899967681976],"actions":[3,1,3,1,1,1,1,1,1,1,1,1],"reference_path":[[2.557174280287929,-78.4251583527269,-0.5758452415466309,0,0,-0.5315983769219623],[2.557174280287929,-78.4251583527269,-0.5758452415466309,0,0,-0.26979898912281286],[7.376296744362083,-79.75784686706768,-0.5758452415466309,0,0,-0.26979898912281286],[7.376296744362083,-79.75784686706768,-0.5758452415466309,0,0,-0.007999601323663414],[12.3761367611619,-79.79784444708449,-0.5758452415466309,0,0,-0.007999601323663414],[17.375976777961718,-79.83784202710129,-0.5758452415466309,0,0,-0.007999601323663414],[22.375816794761533,-79.87783960711809,-0.5758452415466309,0,0,-0.007999601323663414],[27.37565681156135,-79.9178371871349,-0.5758452415466309,0,0,-0.007999601323663414],[32.375496828361165,-79.9578347671517,-0.5758452415466309,0,0,-0.007999601323663414],[37.37533684516098,-79.9978323471685,-0.5758452415466309,0,0,-0.007999601323663414],[42.375176861960796,-80.0378299271853,-0.5758452415466309,0,0,-0.007999601323663414],[47.37501687876061,-80.0778275072021,-0.5758452415466309,0,0,-0.007999601323663414]]},{"id":2,"instruction":"go to middle and stop and land in middle.","completed_instruction":"Landed right in the middle of the bridge.","start_frame":37,"end_frame":41,"start_position":[47.37501687876061,-80.0778275072021,-0.5758452415466309],"start_rotation":[0.99999200080799733,0,0,-0.0039997899967681976],"end_position":[67.37437694595988,-80.23781782726931,-0.5758452415466309],"end_rotation":[0.99999200080799733,0,0,-0.0039997899967681976],"actions":[1,1,1,1,0],"reference_path":[[47.37501687876061,-80.0778275072021,-0.5758452415466309,0,0,-0.007999601323663414],[52.37485689556043,-80.1178250872189,-0.5758452415466309,0,0,-0.007999601323663414],[57.37469691236024,-80.1578226672357,-0.5758452415466309,0,0,-0.007999601323663414],[62.37453692916006,-80.19782024725251,-0.5758452415466309,0,0,-0.007999601323663414],[67.37437694595988,-80.23781782726931,-0.5758452415466309,0,0,-0.007999601323663414]]}],"statistics":{"complete_actions":43,"sentence_actions":[26,12,5],"sentence_actions_average":14.33}}
diff --git a/scene_7/3EJPLAJKEVECEXBPJVD6AS1ZGL06Z8.json b/scene_7/3EJPLAJKEVECEXBPJVD6AS1ZGL06Z8.json
new file mode 100644
index 0000000000000000000000000000000000000000..6ce3cc4c548623d80fdf0b6a0697a53cd728db63
--- /dev/null
+++ b/scene_7/3EJPLAJKEVECEXBPJVD6AS1ZGL06Z8.json
@@ -0,0 +1 @@
+{"episode_id":"3EJPLAJKEVECEXBPJVD6AS1ZGL06Z8","trajectory_id":"3IWA71V4UQEKNIEHSAKJOOQ0M66X6B","scene_id":7,"instruction":"go down to street and face right at first right. go down the street and take first left. go down the street to the bridge and stop in the middle of it.","sentence_instructions":[{"id":0,"instruction":"go down to street and face right at first right.","completed_instruction":"Fly forward along the road to the road intersection and then turn right to face the trash can on the right side of the road.","start_frame":0,"end_frame":12,"start_position":[-26.809755325317383,-154.07713317871094,-0.2606585919857025],"start_rotation":[0.99999561273180171,0,0,0.0029621811471228824],"end_position":[-1.9882285852086152,-152.63596159007932,-2.2606585919857025],"end_rotation":[0.86454051372516438,0,0,0.50256313048992063],"actions":[4,3,1,2,1,1,1,1,3,3,3,3,3],"reference_path":[[-26.809755325317383,-154.07713317871094,-0.2606585919857025,0,0,0.005924370958183065],[-26.809755325317383,-154.07713317871094,-2.2606585919857025,0,0,0.005924370958183065],[-26.809755325317383,-154.07713317871094,-2.2606585919857025,0,0,0.2677237587573325],[-21.98787760452268,-152.7544483161289,-2.2606585919857025,0,0,0.2677237587573325],[-21.98787760452268,-152.7544483161289,-2.2606585919857025,0,0,0.005924370958183078],[-16.987965349694164,-152.7248266346165,-2.2606585919857025,0,0,0.005924370958183078],[-11.988053094865649,-152.6952049531041,-2.2606585919857025,0,0,0.005924370958183078],[-6.988140840037132,-152.66558327159171,-2.2606585919857025,0,0,0.005924370958183078],[-1.9882285852086152,-152.63596159007932,-2.2606585919857025,0,0,0.005924370958183078],[-1.9882285852086152,-152.63596159007932,-2.2606585919857025,0,0,0.2677237587573325],[-1.9882285852086152,-152.63596159007932,-2.2606585919857025,0,0,0.5295231465564819],[-1.9882285852086152,-152.63596159007932,-2.2606585919857025,0,0,0.7913225343556313],[-1.9882285852086152,-152.63596159007932,-2.2606585919857025,0,0,1.0531219221547807]]},{"id":1,"instruction":"go down the street and take first left.","completed_instruction":"Fly forward along the road to the next road intersection and then turn left to face the road with the cone barriers set up.","start_frame":12,"end_frame":32,"start_position":[-1.9882285852086152,-152.63596159007932,-2.2606585919857025],"start_rotation":[0.86454051372516438,0,0,0.50256313048992063],"end_position":[-1.1374719581819872,-77.7999789910386,-2.2606585919857025],"end_rotation":[0.92274190155532665,0,0,0.38541845196365454],"actions":[3,1,3,1,1,1,1,1,1,1,1,1,1,1,1,1,1,2,2,2,2],"reference_path":[[-1.9882285852086152,-152.63596159007932,-2.2606585919857025,0,0,1.0531219221547807],[-1.9882285852086152,-152.63596159007932,-2.2606585919857025,0,0,1.31492130995393],[-0.7227684170084405,-147.79875055863786,-2.2606585919857025,0,0,1.31492130995393],[-0.7227684170084405,-147.79875055863786,-2.2606585919857025,0,0,1.5767206977530794],[-0.7523900985208367,-142.79883830380933,-2.2606585919857025,0,0,1.5767206977530794],[-0.7820117800332329,-137.7989260489808,-2.2606585919857025,0,0,1.5767206977530794],[-0.8116334615456291,-132.79901379415227,-2.2606585919857025,0,0,1.5767206977530794],[-0.8412551430580253,-127.79910153932376,-2.2606585919857025,0,0,1.5767206977530794],[-0.8708768245704215,-122.79918928449524,-2.2606585919857025,0,0,1.5767206977530794],[-0.9004985060828177,-117.79927702966673,-2.2606585919857025,0,0,1.5767206977530794],[-0.9301201875952139,-112.79936477483821,-2.2606585919857025,0,0,1.5767206977530794],[-0.9597418691076101,-107.7994525200097,-2.2606585919857025,0,0,1.5767206977530794],[-0.9893635506200062,-102.79954026518118,-2.2606585919857025,0,0,1.5767206977530794],[-1.0189852321324024,-97.79962801035266,-2.2606585919857025,0,0,1.5767206977530794],[-1.0486069136447986,-92.79971575552415,-2.2606585919857025,0,0,1.5767206977530794],[-1.0782285951571948,-87.79980350069563,-2.2606585919857025,0,0,1.5767206977530794],[-1.107850276669591,-82.79989124586712,-2.2606585919857025,0,0,1.5767206977530794],[-1.1374719581819872,-77.7999789910386,-2.2606585919857025,0,0,1.5767206977530794],[-1.1374719581819872,-77.7999789910386,-2.2606585919857025,0,0,1.31492130995393],[-1.1374719581819872,-77.7999789910386,-2.2606585919857025,0,0,1.0531219221547807],[-1.1374719581819872,-77.7999789910386,-2.2606585919857025,0,0,0.7913225343556313]]},{"id":2,"instruction":"go down the street to the bridge and stop in the middle of it.","completed_instruction":"Fly forward to the middle above the railing on the right side of the bridge and then land.","start_frame":32,"end_frame":49,"start_position":[-1.1374719581819872,-77.7999789910386,-2.2606585919857025],"start_rotation":[0.92274190155532665,0,0,0.38541845196365454],"end_position":[68.86129960941724,-77.38527544986506,-2.2606585919857025],"end_rotation":[0.99999561273180171,0,0,0.002962181147122842],"actions":[2,2,2,1,1,1,1,1,1,1,1,1,1,1,1,1,1,0],"reference_path":[[-1.1374719581819872,-77.7999789910386,-2.2606585919857025,0,0,0.7913225343556313],[-1.1374719581819872,-77.7999789910386,-2.2606585919857025,0,0,0.5295231465564818],[-1.1374719581819872,-77.7999789910386,-2.2606585919857025,0,0,0.2677237587573324],[-1.1374719581819872,-77.7999789910386,-2.2606585919857025,0,0,0.005924370958182984],[3.8624402966465294,-77.7703573095262,-2.2606585919857025,0,0,0.005924370958182984],[8.862352551475047,-77.74073562801381,-2.2606585919857025,0,0,0.005924370958182984],[13.862264806303564,-77.71111394650141,-2.2606585919857025,0,0,0.005924370958182984],[18.86217706113208,-77.68149226498902,-2.2606585919857025,0,0,0.005924370958182984],[23.862089315960596,-77.65187058347662,-2.2606585919857025,0,0,0.005924370958182984],[28.86200157078911,-77.62224890196423,-2.2606585919857025,0,0,0.005924370958182984],[33.86191382561763,-77.59262722045183,-2.2606585919857025,0,0,0.005924370958182984],[38.86182608044614,-77.56300553893944,-2.2606585919857025,0,0,0.005924370958182984],[43.86173833527466,-77.53338385742704,-2.2606585919857025,0,0,0.005924370958182984],[48.861650590103174,-77.50376217591464,-2.2606585919857025,0,0,0.005924370958182984],[53.86156284493169,-77.47414049440225,-2.2606585919857025,0,0,0.005924370958182984],[58.861475099760206,-77.44451881288985,-2.2606585919857025,0,0,0.005924370958182984],[63.86138735458872,-77.41489713137746,-2.2606585919857025,0,0,0.005924370958182984],[68.86129960941724,-77.38527544986506,-2.2606585919857025,0,0,0.005924370958182984]]}],"statistics":{"complete_actions":52,"sentence_actions":[13,21,18],"sentence_actions_average":17.33}}
diff --git a/scene_7/3EWIJTFFVX5JPRYELJJCGHQQF82E0Y.json b/scene_7/3EWIJTFFVX5JPRYELJJCGHQQF82E0Y.json
new file mode 100644
index 0000000000000000000000000000000000000000..4f9f4c68d486bc72c49d9377dfd0c99ece94e1e3
--- /dev/null
+++ b/scene_7/3EWIJTFFVX5JPRYELJJCGHQQF82E0Y.json
@@ -0,0 +1 @@
+{"episode_id":"3EWIJTFFVX5JPRYELJJCGHQQF82E0Y","trajectory_id":"3CZH926SJKCX2VJMEH1C31LFA9QE4Z","scene_id":7,"instruction":"go straight to the bridge and then turn right before entering it. get to trash cans and then turn slightly left and look out over the water. go over the water to the other side and go towards the bridge when doing so. go straight down the street in front of the bridge to the next bridge and stop in the middle.","sentence_instructions":[{"id":0,"instruction":"go straight to the bridge and then turn right before entering it.","completed_instruction":"Fly straight ahead to the crossroads and then turn right to face the trash can on the right side of the street.","start_frame":1,"end_frame":10,"start_position":[-67.22526550292969,-81.81722259521484,-0.7372815012931824],"start_rotation":[0.9998600755668966,0,0,-0.01672809873714682],"end_position":[-32.244853553044884,-82.98802565993387,-0.7372815012931824],"end_rotation":[0.97012022020693389,0,0,0.24262472739943478],"actions":[1,1,1,1,1,1,1,3,3,3],"reference_path":[[-67.22526550292969,-81.81722259521484,-0.7372815012931824,0,0,-0.03345775800812517],[-62.22806379580329,-81.98448017588899,-0.7372815012931824,0,0,-0.03345775800812517],[-57.230862088676886,-82.15173775656314,-0.7372815012931824,0,0,-0.03345775800812517],[-52.233660381550486,-82.31899533723728,-0.7372815012931824,0,0,-0.03345775800812517],[-47.236458674424085,-82.48625291791143,-0.7372815012931824,0,0,-0.03345775800812517],[-42.239256967297685,-82.65351049858558,-0.7372815012931824,0,0,-0.03345775800812517],[-37.242055260171284,-82.82076807925972,-0.7372815012931824,0,0,-0.03345775800812517],[-32.244853553044884,-82.98802565993387,-0.7372815012931824,0,0,-0.03345775800812517],[-32.244853553044884,-82.98802565993387,-0.7372815012931824,0,0,0.22834162979102426],[-32.244853553044884,-82.98802565993387,-0.7372815012931824,0,0,0.4901410175901737]]},{"id":1,"instruction":"get to trash cans and then turn slightly left and look out over the water.","completed_instruction":"Fly forward to the trash can and then turn left to face the gray building located at the street corner on the opposite side of the bridge.","start_frame":10,"end_frame":26,"start_position":[-32.244853553044884,-82.98802565993387,-0.7372815012931824],"start_rotation":[0.97012022020693389,0,0,0.24262472739943478],"end_position":[-29.965034586551972,-53.558931421603255,-0.7372815012931824],"end_rotation":[0.9998600755668966,0,0,-0.01672809873714674],"actions":[3,3,3,1,1,3,1,1,1,2,2,2,2,2,7,2,2],"reference_path":[[-32.244853553044884,-82.98802565993387,-0.7372815012931824,0,0,0.4901410175901737],[-32.244853553044884,-82.98802565993387,-0.7372815012931824,0,0,0.7519404053893232],[-32.244853553044884,-82.98802565993387,-0.7372815012931824,0,0,1.0137397931884726],[-32.244853553044884,-82.98802565993387,-0.7372815012931824,0,0,1.275539180987622],[-30.78992416220596,-78.20438891916089,-0.7372815012931824,0,0,1.275539180987622],[-29.334994771367036,-73.42075217838791,-0.7372815012931824,0,0,1.275539180987622],[-29.334994771367036,-73.42075217838791,-0.7372815012931824,0,0,1.5373385687867713],[-29.167737190692893,-68.4235504712615,-0.7372815012931824,0,0,1.5373385687867713],[-29.00047961001875,-63.426348764135106,-0.7372815012931824,0,0,1.5373385687867713],[-28.833222029344608,-58.429147057008706,-0.7372815012931824,0,0,1.5373385687867713],[-28.833222029344608,-58.429147057008706,-0.7372815012931824,0,0,1.275539180987622],[-28.833222029344608,-58.429147057008706,-0.7372815012931824,0,0,1.0137397931884726],[-28.833222029344608,-58.429147057008706,-0.7372815012931824,0,0,0.7519404053893233],[-28.833222029344608,-58.429147057008706,-0.7372815012931824,0,0,0.4901410175901738],[-28.833222029344608,-58.429147057008706,-0.7372815012931824,0,0,0.2283416297910244],[-29.965034586551972,-53.558931421603255,-0.7372815012931824,0,0,0.2283416297910244],[-29.965034586551972,-53.558931421603255,-0.7372815012931824,0,0,-0.03345775800812501]]},{"id":2,"instruction":"go over the water to the other side and go towards the bridge when doing so.","completed_instruction":"Move forward across the river, then fly to the crossroads on the other side of the bridge, then turn right to face the cone-shaped barriers on the road.","start_frame":26,"end_frame":38,"start_position":[-29.965034586551972,-53.558931421603255,-0.7372815012931824],"start_rotation":[0.9998600755668966,0,0,-0.01672809873714674],"end_position":[-5.22924228328343,-78.11332669039945,-2.7372815012931824],"end_rotation":[0.96146111912387588,0,0,-0.274940932589282],"actions":[2,2,2,1,1,4,1,1,1,1,3,1,1],"reference_path":[[-29.965034586551972,-53.558931421603255,-0.7372815012931824,0,0,-0.03345775800812501],[-29.965034586551972,-53.558931421603255,-0.7372815012931824,0,0,-0.29525714580727447],[-29.965034586551972,-53.558931421603255,-0.7372815012931824,0,0,-0.5570565336064239],[-29.965034586551972,-53.558931421603255,-0.7372815012931824,0,0,-0.8188559214055733],[-26.549748341985442,-57.21075560516887,-0.7372815012931824,0,0,-0.8188559214055733],[-23.13446209741891,-60.86257978873448,-0.7372815012931824,0,0,-0.8188559214055733],[-23.13446209741891,-60.86257978873448,-2.7372815012931824,0,0,-0.8188559214055733],[-19.71917585285238,-64.51440397230009,-2.7372815012931824,0,0,-0.8188559214055733],[-16.30388960828585,-68.1662281558657,-2.7372815012931824,0,0,-0.8188559214055733],[-12.88860336371932,-71.8180523394313,-2.7372815012931824,0,0,-0.8188559214055733],[-9.473317119152789,-75.46987652299691,-2.7372815012931824,0,0,-0.8188559214055733],[-9.473317119152789,-75.46987652299691,-2.7372815012931824,0,0,-0.5570565336064238],[-5.22924228328343,-78.11332669039945,-2.7372815012931824,0,0,-0.5570565336064238]]},{"id":3,"instruction":"go straight down the street in front of the bridge to the next bridge and stop in the middle.","completed_instruction":"Fly forward along the road to the middle of the bridge.","start_frame":38,"end_frame":54,"start_position":[-5.22924228328343,-78.11332669039945,-2.7372815012931824],"start_rotation":[0.96146111912387588,0,0,-0.274940932589282],"end_position":[63.97845474522914,-82.93112540656588,-2.7372815012931824],"end_rotation":[0.9998600755668966,0,0,-0.016728098737146722],"actions":[1,3,3,1,1,1,1,1,1,1,1,1,1,1,1,1,0],"reference_path":[[-5.22924228328343,-78.11332669039945,-2.7372815012931824,0,0,-0.5570565336064238],[-0.9851674474140708,-80.75677685780198,-2.7372815012931824,0,0,-0.5570565336064238],[-0.9851674474140708,-80.75677685780198,-2.7372815012931824,0,0,-0.2952571458072744],[-0.9851674474140708,-80.75677685780198,-2.7372815012931824,0,0,-0.03345775800812498],[4.0120342597123315,-80.92403443847613,-2.7372815012931824,0,0,-0.03345775800812498],[9.009235966838734,-81.09129201915027,-2.7372815012931824,0,0,-0.03345775800812498],[14.006437673965136,-81.25854959982442,-2.7372815012931824,0,0,-0.03345775800812498],[19.00363938109154,-81.42580718049857,-2.7372815012931824,0,0,-0.03345775800812498],[24.00084108821794,-81.59306476117271,-2.7372815012931824,0,0,-0.03345775800812498],[28.99804279534434,-81.76032234184686,-2.7372815012931824,0,0,-0.03345775800812498],[33.99524450247074,-81.927579922521,-2.7372815012931824,0,0,-0.03345775800812498],[38.99244620959714,-82.09483750319515,-2.7372815012931824,0,0,-0.03345775800812498],[43.98964791672354,-82.2620950838693,-2.7372815012931824,0,0,-0.03345775800812498],[48.98684962384994,-82.42935266454344,-2.7372815012931824,0,0,-0.03345775800812498],[53.98405133097634,-82.59661024521759,-2.7372815012931824,0,0,-0.03345775800812498],[58.98125303810274,-82.76386782589174,-2.7372815012931824,0,0,-0.03345775800812498],[63.97845474522914,-82.93112540656588,-2.7372815012931824,0,0,-0.03345775800812498]]}],"statistics":{"complete_actions":57,"sentence_actions":[10,17,13,17],"sentence_actions_average":14.25}}
diff --git a/scene_7/3F6KKYWMNKZHIHCLQUAQLB4IT8FND0.json b/scene_7/3F6KKYWMNKZHIHCLQUAQLB4IT8FND0.json
new file mode 100644
index 0000000000000000000000000000000000000000..addebde957bf01055da4b49c7da2475b9949d237
--- /dev/null
+++ b/scene_7/3F6KKYWMNKZHIHCLQUAQLB4IT8FND0.json
@@ -0,0 +1 @@
+{"episode_id":"3F6KKYWMNKZHIHCLQUAQLB4IT8FND0","trajectory_id":"37J05LC5B5HID7O7LTDW3LSDT71DJ9","scene_id":7,"instruction":"lift off and head straight towards the bridge. after the bridge turn left. at the next intersection turn left onto the bridge and straight. at the next line of cones turn around facing the bridge and head straight. cross the bridge and land to the left of it before the red building on the road.","sentence_instructions":[{"id":0,"instruction":"lift off and head straight towards the bridge.","completed_instruction":"Lift off and head straight towards the bridge.","start_frame":0,"end_frame":3,"start_position":[31.063432693481445,-77.68340301513672,-1.0446548461914062],"start_rotation":[0.999999480014542,0,0,0.001019789510487752],"end_position":[41.06341189406854,-77.66300723553249,-3.0446548461914062],"end_rotation":[0.999999480014542,0,0,0.001019789510487752],"actions":[4,1,1,1],"reference_path":[[31.063432693481445,-77.68340301513672,-1.0446548461914062,0,0,0.0020395793744927213],[31.063432693481445,-77.68340301513672,-3.0446548461914062,0,0,0.0020395793744927213],[36.06342229377499,-77.6732051253346,-3.0446548461914062,0,0,0.0020395793744927213],[41.06341189406854,-77.66300723553249,-3.0446548461914062,0,0,0.0020395793744927213]]},{"id":1,"instruction":"after the bridge turn left.","completed_instruction":"Go ahead across the bridge and turn left to face the road.","start_frame":3,"end_frame":14,"start_position":[41.06341189406854,-77.66300723553249,-3.0446548461914062],"start_rotation":[0.999999480014542,0,0,0.001019789510487752],"end_position":[81.0633286964169,-77.58142411711557,-3.0446548461914062],"end_rotation":[0.92426930865752821,0,0,-0.3817410707190606],"actions":[1,1,1,1,1,1,1,1,2,2,2,2],"reference_path":[[41.06341189406854,-77.66300723553249,-3.0446548461914062,0,0,0.0020395793744927213],[46.06340149436208,-77.65280934573038,-3.0446548461914062,0,0,0.0020395793744927213],[51.06339109465563,-77.64261145592826,-3.0446548461914062,0,0,0.0020395793744927213],[56.063380694949174,-77.63241356612615,-3.0446548461914062,0,0,0.0020395793744927213],[61.06337029524272,-77.62221567632403,-3.0446548461914062,0,0,0.0020395793744927213],[66.06335989553627,-77.61201778652192,-3.0446548461914062,0,0,0.0020395793744927213],[71.06334949582981,-77.6018198967198,-3.0446548461914062,0,0,0.0020395793744927213],[76.06333909612336,-77.59162200691769,-3.0446548461914062,0,0,0.0020395793744927213],[81.0633286964169,-77.58142411711557,-3.0446548461914062,0,0,0.0020395793744927213],[81.0633286964169,-77.58142411711557,-3.0446548461914062,0,0,-0.25975980842465674],[81.0633286964169,-77.58142411711557,-3.0446548461914062,0,0,-0.5215591962238062],[81.0633286964169,-77.58142411711557,-3.0446548461914062,0,0,-0.7833585840229557]]},{"id":2,"instruction":"at the next intersection turn left onto the bridge and straight.","completed_instruction":"Go straight along the road, pass a waterway, until reach a bridge, turn left and go across the bridge.","start_frame":14,"end_frame":41,"start_position":[81.0633286964169,-77.58142411711557,-3.0446548461914062],"start_rotation":[0.92426930865752821,0,0,-0.3817410707190606],"end_position":[68.80381834097182,-152.26584194633728,-3.0446548461914062],"end_rotation":[0.0010197895104875946,0,0,-0.999999480014542],"actions":[2,2,1,1,2,1,1,1,1,1,1,1,1,1,1,1,1,1,2,2,2,2,2,2,1,1,1,1],"reference_path":[[81.0633286964169,-77.58142411711557,-3.0446548461914062,0,0,-0.7833585840229557],[81.0633286964169,-77.58142411711557,-3.0446548461914062,0,0,-1.0451579718221051],[81.0633286964169,-77.58142411711557,-3.0446548461914062,0,0,-1.3069573596212547],[82.36727163542093,-82.40840379511522,-3.0446548461914062,0,0,-1.3069573596212547],[83.67121457442497,-87.23538347311487,-3.0446548461914062,0,0,-1.3069573596212547],[83.67121457442497,-87.23538347311487,-3.0446548461914062,0,0,-1.568756747420404],[83.68141246422708,-92.23537307340841,-3.0446548461914062,0,0,-1.568756747420404],[83.6916103540292,-97.23536267370196,-3.0446548461914062,0,0,-1.568756747420404],[83.70180824383131,-102.2353522739955,-3.0446548461914062,0,0,-1.568756747420404],[83.71200613363342,-107.23534187428905,-3.0446548461914062,0,0,-1.568756747420404],[83.72220402343554,-112.2353314745826,-3.0446548461914062,0,0,-1.568756747420404],[83.73240191323765,-117.23532107487614,-3.0446548461914062,0,0,-1.568756747420404],[83.74259980303977,-122.23531067516969,-3.0446548461914062,0,0,-1.568756747420404],[83.75279769284188,-127.23530027546323,-3.0446548461914062,0,0,-1.568756747420404],[83.762995582644,-132.23528987575676,-3.0446548461914062,0,0,-1.568756747420404],[83.77319347244611,-137.2352794760503,-3.0446548461914062,0,0,-1.568756747420404],[83.78339136224822,-142.23526907634383,-3.0446548461914062,0,0,-1.568756747420404],[83.79358925205034,-147.23525867663736,-3.0446548461914062,0,0,-1.568756747420404],[83.80378714185245,-152.2352482769309,-3.0446548461914062,0,0,-1.568756747420404],[83.80378714185245,-152.2352482769309,-3.0446548461914062,0,0,-1.8305561352195534],[83.80378714185245,-152.2352482769309,-3.0446548461914062,0,0,-2.092355523018703],[83.80378714185245,-152.2352482769309,-3.0446548461914062,0,0,-2.3541549108178526],[83.80378714185245,-152.2352482769309,-3.0446548461914062,0,0,-2.6159542986170017],[83.80378714185245,-152.2352482769309,-3.0446548461914062,0,0,-2.8777536864161513],[83.80378714185245,-152.2352482769309,-3.0446548461914062,0,0,-3.139553074215301],[78.80379754155891,-152.24544616673302,-3.0446548461914062,0,0,-3.139553074215301],[73.80380794126536,-152.25564405653515,-3.0446548461914062,0,0,-3.139553074215301],[68.80381834097182,-152.26584194633728,-3.0446548461914062,0,0,-3.139553074215301]]},{"id":3,"instruction":"at the next line of cones turn around facing the bridge and head straight.","completed_instruction":"Move forward, turn around when passing the second pedestrian crossing, and fly forward to the bridge.","start_frame":41,"end_frame":63,"start_position":[68.80381834097182,-152.26584194633728,-3.0446548461914062],"start_rotation":[0.0010197895104875946,0,0,-0.999999480014542],"end_position":[38.80388073921054,-152.3270292851501,-3.0446548461914062],"end_rotation":[0.999999480014542,0,0,0.0010197895104870351],"actions":[1,1,1,1,1,1,1,1,3,3,3,3,3,3,3,3,3,3,3,3,1,1,1],"reference_path":[[68.80381834097182,-152.26584194633728,-3.0446548461914062,0,0,-3.139553074215301],[63.80382874067827,-152.2760398361394,-3.0446548461914062,0,0,-3.139553074215301],[58.803839140384724,-152.28623772594153,-3.0446548461914062,0,0,-3.139553074215301],[53.80384954009118,-152.29643561574366,-3.0446548461914062,0,0,-3.139553074215301],[48.80385993979763,-152.3066335055458,-3.0446548461914062,0,0,-3.139553074215301],[43.80387033950409,-152.31683139534792,-3.0446548461914062,0,0,-3.139553074215301],[38.80388073921054,-152.32702928515005,-3.0446548461914062,0,0,-3.139553074215301],[33.803891138916995,-152.33722717495218,-3.0446548461914062,0,0,-3.139553074215301],[28.803901538623453,-152.3474250647543,-3.0446548461914062,0,0,-3.139553074215301],[28.803901538623453,-152.3474250647543,-3.0446548461914062,0,0,-2.8777536864161517],[28.803901538623453,-152.3474250647543,-3.0446548461914062,0,0,-2.615954298617002],[28.803901538623453,-152.3474250647543,-3.0446548461914062,0,0,-2.354154910817853],[28.803901538623453,-152.3474250647543,-3.0446548461914062,0,0,-2.092355523018704],[28.803901538623453,-152.3474250647543,-3.0446548461914062,0,0,-1.8305561352195545],[28.803901538623453,-152.3474250647543,-3.0446548461914062,0,0,-1.5687567474204052],[28.803901538623453,-152.3474250647543,-3.0446548461914062,0,0,-1.3069573596212558],[28.803901538623453,-152.3474250647543,-3.0446548461914062,0,0,-1.0451579718221065],[28.803901538623453,-152.3474250647543,-3.0446548461914062,0,0,-0.783358584022957],[28.803901538623453,-152.3474250647543,-3.0446548461914062,0,0,-0.5215591962238075],[28.803901538623453,-152.3474250647543,-3.0446548461914062,0,0,-0.2597598084246581],[28.803901538623453,-152.3474250647543,-3.0446548461914062,0,0,0.0020395793744912875],[33.803891138916995,-152.3372271749522,-3.0446548461914062,0,0,0.0020395793744912875],[38.80388073921054,-152.3270292851501,-3.0446548461914062,0,0,0.0020395793744912875]]},{"id":4,"instruction":"cross the bridge and land to the left of it before the red building on the road.","completed_instruction":"Go across the bridge and land to the left of it before the red building on the road.","start_frame":63,"end_frame":77,"start_position":[38.80388073921054,-152.3270292851501,-3.0446548461914062],"start_rotation":[0.999999480014542,0,0,0.0010197895104870351],"end_position":[86.51402094214221,-159.55936490898245,-1.0446548461914062],"end_rotation":[0.924269308657528,0,0,-0.38174107071906122],"actions":[1,1,1,1,1,1,1,2,1,2,1,2,1,5,0],"reference_path":[[38.80388073921054,-152.3270292851501,-3.0446548461914062,0,0,0.0020395793744912875],[43.80387033950409,-152.316831395348,-3.0446548461914062,0,0,0.0020395793744912875],[48.80385993979763,-152.3066335055459,-3.0446548461914062,0,0,0.0020395793744912875],[53.80384954009118,-152.2964356157438,-3.0446548461914062,0,0,0.0020395793744912875],[58.803839140384724,-152.2862377259417,-3.0446548461914062,0,0,0.0020395793744912875],[63.80382874067827,-152.2760398361396,-3.0446548461914062,0,0,0.0020395793744912875],[68.80381834097182,-152.2658419463375,-3.0446548461914062,0,0,0.0020395793744912875],[73.80380794126536,-152.2556440565354,-3.0446548461914062,0,0,0.0020395793744912875],[73.80380794126536,-152.2556440565354,-3.0446548461914062,0,0,-0.2597598084246581],[78.63606643546629,-153.5398861852724,-3.0446548461914062,0,0,-0.2597598084246581],[78.63606643546629,-153.5398861852724,-3.0446548461914062,0,0,-0.5215591962238075],[82.97128339287956,-156.03104935378553,-3.0446548461914062,0,0,-0.5215591962238075],[82.97128339287956,-156.03104935378553,-3.0446548461914062,0,0,-0.783358584022957],[86.51402094214221,-159.55936490898245,-3.0446548461914062,0,0,-0.783358584022957],[86.51402094214221,-159.55936490898245,-1.0446548461914062,0,0,-0.783358584022957]]}],"statistics":{"complete_actions":82,"sentence_actions":[4,12,28,23,15],"sentence_actions_average":16.4}}
diff --git a/scene_7/3HL8HNGX4EZTRZMNGQMBRACJ0W49FO.json b/scene_7/3HL8HNGX4EZTRZMNGQMBRACJ0W49FO.json
new file mode 100644
index 0000000000000000000000000000000000000000..1c98e460a1560f64d6af24814f356e7bfc7afe4b
--- /dev/null
+++ b/scene_7/3HL8HNGX4EZTRZMNGQMBRACJ0W49FO.json
@@ -0,0 +1 @@
+{"episode_id":"3HL8HNGX4EZTRZMNGQMBRACJ0W49FO","trajectory_id":"3VP28W7DVVI5B677ULB8FFJOOIUFZ7","scene_id":7,"instruction":"lift off and head straight on the road. at the second intersection turn right. at the next intersection turn left. cross the next bridge and land halfway on it.","sentence_instructions":[{"id":0,"instruction":"lift off and head straight on the road.","completed_instruction":"Take off, then fly over the first road T-junction, and then stop at the second road T-junction.","start_frame":1,"end_frame":10,"start_position":[-63.18816375732422,-155.08963012695312,-1.009127140045166],"start_rotation":[0.99988696648813813,0,0,-0.015035100503455714],"end_position":[-18.208508639567626,-156.44263621994511,-1.009127140045166],"end_rotation":[0.99988696648813813,0,0,-0.015035100503455714],"actions":[1,1,1,1,1,1,1,1,1,1],"reference_path":[[-63.18816375732422,-155.08963012695312,-1.009127140045166,0,0,-0.030071334038280533],[-58.19042429979571,-155.23996413728557,-1.009127140045166,0,0,-0.030071334038280533],[-53.1926848422672,-155.390298147618,-1.009127140045166,0,0,-0.030071334038280533],[-48.19494538473869,-155.54063215795045,-1.009127140045166,0,0,-0.030071334038280533],[-43.19720592721018,-155.6909661682829,-1.009127140045166,0,0,-0.030071334038280533],[-38.19946646968167,-155.84130017861534,-1.009127140045166,0,0,-0.030071334038280533],[-33.20172701215316,-155.99163418894778,-1.009127140045166,0,0,-0.030071334038280533],[-28.203987554624646,-156.14196819928023,-1.009127140045166,0,0,-0.030071334038280533],[-23.206248097096136,-156.29230220961267,-1.009127140045166,0,0,-0.030071334038280533],[-18.208508639567626,-156.44263621994511,-1.009127140045166,0,0,-0.030071334038280533]]},{"id":1,"instruction":"at the second intersection turn right.","completed_instruction":"Turn right to face the road between the two \"No Entry\" signs, and then fly forward to the next intersection.","start_frame":10,"end_frame":31,"start_position":[-18.208508639567626,-156.44263621994511,-1.009127140045166],"start_rotation":[0.99988696648813813,0,0,-0.015035100503455714],"end_position":[2.8417201835565766,-99.54982756136533,-1.009127140045166],"end_rotation":[0.71765827594562337,0,0,0.6963954329019939],"actions":[1,1,1,3,3,1,3,3,3,3,1,1,1,1,1,1,1,1,1,1,1,1],"reference_path":[[-18.208508639567626,-156.44263621994511,-1.009127140045166,0,0,-0.030071334038280533],[-13.210769182039115,-156.59297023027756,-1.009127140045166,0,0,-0.030071334038280533],[-8.213029724510605,-156.74330424061,-1.009127140045166,0,0,-0.030071334038280533],[-3.2152902669820946,-156.89363825094244,-1.009127140045166,0,0,-0.030071334038280533],[-3.2152902669820946,-156.89363825094244,-1.009127140045166,0,0,0.2317280537608689],[-3.2152902669820946,-156.89363825094244,-1.009127140045166,0,0,0.49352744156001843],[1.188046069899677,-154.52496159417888,-1.009127140045166,0,0,0.49352744156001843],[1.188046069899677,-154.52496159417888,-1.009127140045166,0,0,0.7553268293591678],[1.188046069899677,-154.52496159417888,-1.009127140045166,0,0,1.0171262171583173],[1.188046069899677,-154.52496159417888,-1.009127140045166,0,0,1.2789256049574669],[1.188046069899677,-154.52496159417888,-1.009127140045166,0,0,1.5407249927566162],[1.3383800802321224,-149.52722213665038,-1.009127140045166,0,0,1.5407249927566162],[1.4887140905645677,-144.52948267912188,-1.009127140045166,0,0,1.5407249927566162],[1.639048100897013,-139.5317432215934,-1.009127140045166,0,0,1.5407249927566162],[1.7893821112294583,-134.5340037640649,-1.009127140045166,0,0,1.5407249927566162],[1.9397161215619037,-129.5362643065364,-1.009127140045166,0,0,1.5407249927566162],[2.090050131894349,-124.53852484900789,-1.009127140045166,0,0,1.5407249927566162],[2.2403841422267945,-119.54078539147937,-1.009127140045166,0,0,1.5407249927566162],[2.39071815255924,-114.54304593395086,-1.009127140045166,0,0,1.5407249927566162],[2.5410521628916856,-109.54530647642235,-1.009127140045166,0,0,1.5407249927566162],[2.691386173224131,-104.54756701889384,-1.009127140045166,0,0,1.5407249927566162],[2.8417201835565766,-99.54982756136533,-1.009127140045166,0,0,1.5407249927566162]]},{"id":2,"instruction":"at the next intersection turn left.","completed_instruction":"Go to the building with a red wall and a brown roof, face the end of the road and turn to the left to face the left road.","start_frame":31,"end_frame":38,"start_position":[2.8417201835565766,-99.54982756136533,-1.009127140045166],"start_rotation":[0.71765827594562337,0,0,0.6963954329019939],"end_position":[3.2927222145539132,-84.5566091887798,-1.009127140045166],"end_rotation":[0.9697080146560495,0,0,0.24426699799977661],"actions":[1,1,1,2,2,2,2,2],"reference_path":[[2.8417201835565766,-99.54982756136533,-1.009127140045166,0,0,1.5407249927566162],[2.992054193889022,-94.55208810383682,-1.009127140045166,0,0,1.5407249927566162],[3.1423882042214677,-89.55434864630831,-1.009127140045166,0,0,1.5407249927566162],[3.2927222145539132,-84.5566091887798,-1.009127140045166,0,0,1.5407249927566162],[3.2927222145539132,-84.5566091887798,-1.009127140045166,0,0,1.278925604957467],[3.2927222145539132,-84.5566091887798,-1.009127140045166,0,0,1.0171262171583177],[3.2927222145539132,-84.5566091887798,-1.009127140045166,0,0,0.7553268293591683],[3.2927222145539132,-84.5566091887798,-1.009127140045166,0,0,0.49352744156001876]]},{"id":3,"instruction":"cross the next bridge and land halfway on it.","completed_instruction":"Fly forward to the center of the bridge and then land.","start_frame":38,"end_frame":54,"start_position":[3.2927222145539132,-84.5566091887798,-1.009127140045166],"start_rotation":[0.9697080146560495,0,0,0.24426699799977661],"end_position":[68.28228463531985,-80.21457920432161,-1.009127140045166],"end_rotation":[0.99988696648813813,0,0,-0.015035100503455521],"actions":[2,1,2,1,1,1,1,1,1,1,1,1,1,7,1,1,0],"reference_path":[[3.2927222145539132,-84.5566091887798,-1.009127140045166,0,0,0.49352744156001876],[3.2927222145539132,-84.5566091887798,-1.009127140045166,0,0,0.23172805376086927],[8.159077134645294,-83.4083105378608,-1.009127140045166,0,0,0.23172805376086927],[8.159077134645294,-83.4083105378608,-1.009127140045166,0,0,-0.030071334038280148],[13.156816592173804,-83.55864454819324,-1.009127140045166,0,0,-0.030071334038280148],[18.154556049702315,-83.70897855852569,-1.009127140045166,0,0,-0.030071334038280148],[23.152295507230825,-83.85931256885813,-1.009127140045166,0,0,-0.030071334038280148],[28.150034964759335,-84.00964657919057,-1.009127140045166,0,0,-0.030071334038280148],[33.147774422287846,-84.15998058952302,-1.009127140045166,0,0,-0.030071334038280148],[38.145513879816356,-84.31031459985546,-1.009127140045166,0,0,-0.030071334038280148],[43.143253337344866,-84.4606486101879,-1.009127140045166,0,0,-0.030071334038280148],[48.14099279487338,-84.61098262052035,-1.009127140045166,0,0,-0.030071334038280148],[53.13873225240189,-84.76131663085279,-1.009127140045166,0,0,-0.030071334038280148],[58.1364717099304,-84.91165064118523,-1.009127140045166,0,0,-0.030071334038280148],[58.28680572026284,-79.91391118365672,-1.009127140045166,0,0,-0.030071334038280148],[63.28454517779135,-80.06424519398917,-1.009127140045166,0,0,-0.030071334038280148],[68.28228463531985,-80.21457920432161,-1.009127140045166,0,0,-0.030071334038280148]]}],"statistics":{"complete_actions":57,"sentence_actions":[10,22,8,17],"sentence_actions_average":14.25}}
diff --git a/scene_7/3HPZF4IVNVR1POALX0OQILK7CTRYCN.json b/scene_7/3HPZF4IVNVR1POALX0OQILK7CTRYCN.json
new file mode 100644
index 0000000000000000000000000000000000000000..f4a604ea2f405fc219fc65fa35590624dd3c85bb
--- /dev/null
+++ b/scene_7/3HPZF4IVNVR1POALX0OQILK7CTRYCN.json
@@ -0,0 +1 @@
+{"episode_id":"3HPZF4IVNVR1POALX0OQILK7CTRYCN","trajectory_id":"3VP28W7DVVI5B677ULB8FFJOOIUFZ7","scene_id":7,"instruction":"go straight and pass the water way. turn right and go down the street. take the next left. go to the middle of the bridge ahead and land.","sentence_instructions":[{"id":0,"instruction":"go straight and pass the water way.","completed_instruction":"Fly forward over the first intersection and then fly to the middle of the second intersection.","start_frame":0,"end_frame":12,"start_position":[-63.18816375732422,-155.08963012695312,-1.009127140045166],"start_rotation":[0.99988696648813813,0,0,-0.015035100503455714],"end_position":[-3.2152902669820946,-156.89363825094244,-1.009127140045166],"end_rotation":[0.99988696648813813,0,0,-0.015035100503455714],"actions":[1,1,1,1,1,1,1,1,1,1,1,1,3],"reference_path":[[-63.18816375732422,-155.08963012695312,-1.009127140045166,0,0,-0.030071334038280533],[-58.19042429979571,-155.23996413728557,-1.009127140045166,0,0,-0.030071334038280533],[-53.1926848422672,-155.390298147618,-1.009127140045166,0,0,-0.030071334038280533],[-48.19494538473869,-155.54063215795045,-1.009127140045166,0,0,-0.030071334038280533],[-43.19720592721018,-155.6909661682829,-1.009127140045166,0,0,-0.030071334038280533],[-38.19946646968167,-155.84130017861534,-1.009127140045166,0,0,-0.030071334038280533],[-33.20172701215316,-155.99163418894778,-1.009127140045166,0,0,-0.030071334038280533],[-28.203987554624646,-156.14196819928023,-1.009127140045166,0,0,-0.030071334038280533],[-23.206248097096136,-156.29230220961267,-1.009127140045166,0,0,-0.030071334038280533],[-18.208508639567626,-156.44263621994511,-1.009127140045166,0,0,-0.030071334038280533],[-13.210769182039115,-156.59297023027756,-1.009127140045166,0,0,-0.030071334038280533],[-8.213029724510605,-156.74330424061,-1.009127140045166,0,0,-0.030071334038280533],[-3.2152902669820946,-156.89363825094244,-1.009127140045166,0,0,-0.030071334038280533]]},{"id":1,"instruction":"turn right and go down the street.","completed_instruction":"Turn right to face the road.","start_frame":12,"end_frame":30,"start_position":[-3.2152902669820946,-156.89363825094244,-1.009127140045166],"start_rotation":[0.99988696648813813,0,0,-0.015035100503455714],"end_position":[2.8417201835565766,-99.54982756136533,-1.009127140045166],"end_rotation":[0.71765827594562337,0,0,0.6963954329019939],"actions":[3,3,1,3,3,3,3,1,1,1,1,1,1,1,1,1,1,1,1],"reference_path":[[-3.2152902669820946,-156.89363825094244,-1.009127140045166,0,0,-0.030071334038280533],[-3.2152902669820946,-156.89363825094244,-1.009127140045166,0,0,0.2317280537608689],[-3.2152902669820946,-156.89363825094244,-1.009127140045166,0,0,0.49352744156001843],[1.188046069899677,-154.52496159417888,-1.009127140045166,0,0,0.49352744156001843],[1.188046069899677,-154.52496159417888,-1.009127140045166,0,0,0.7553268293591678],[1.188046069899677,-154.52496159417888,-1.009127140045166,0,0,1.0171262171583173],[1.188046069899677,-154.52496159417888,-1.009127140045166,0,0,1.2789256049574669],[1.188046069899677,-154.52496159417888,-1.009127140045166,0,0,1.5407249927566162],[1.3383800802321224,-149.52722213665038,-1.009127140045166,0,0,1.5407249927566162],[1.4887140905645677,-144.52948267912188,-1.009127140045166,0,0,1.5407249927566162],[1.639048100897013,-139.5317432215934,-1.009127140045166,0,0,1.5407249927566162],[1.7893821112294583,-134.5340037640649,-1.009127140045166,0,0,1.5407249927566162],[1.9397161215619037,-129.5362643065364,-1.009127140045166,0,0,1.5407249927566162],[2.090050131894349,-124.53852484900789,-1.009127140045166,0,0,1.5407249927566162],[2.2403841422267945,-119.54078539147937,-1.009127140045166,0,0,1.5407249927566162],[2.39071815255924,-114.54304593395086,-1.009127140045166,0,0,1.5407249927566162],[2.5410521628916856,-109.54530647642235,-1.009127140045166,0,0,1.5407249927566162],[2.691386173224131,-104.54756701889384,-1.009127140045166,0,0,1.5407249927566162],[2.8417201835565766,-99.54982756136533,-1.009127140045166,0,0,1.5407249927566162]]},{"id":2,"instruction":"take the next left.","completed_instruction":"Then, keep going straight along this road until reach the next intersection.","start_frame":30,"end_frame":37,"start_position":[2.8417201835565766,-99.54982756136533,-1.009127140045166],"start_rotation":[0.71765827594562337,0,0,0.6963954329019939],"end_position":[3.2927222145539132,-84.5566091887798,-1.009127140045166],"end_rotation":[0.9697080146560495,0,0,0.24426699799977661],"actions":[1,1,1,2,2,2,2,2],"reference_path":[[2.8417201835565766,-99.54982756136533,-1.009127140045166,0,0,1.5407249927566162],[2.992054193889022,-94.55208810383682,-1.009127140045166,0,0,1.5407249927566162],[3.1423882042214677,-89.55434864630831,-1.009127140045166,0,0,1.5407249927566162],[3.2927222145539132,-84.5566091887798,-1.009127140045166,0,0,1.5407249927566162],[3.2927222145539132,-84.5566091887798,-1.009127140045166,0,0,1.278925604957467],[3.2927222145539132,-84.5566091887798,-1.009127140045166,0,0,1.0171262171583177],[3.2927222145539132,-84.5566091887798,-1.009127140045166,0,0,0.7553268293591683],[3.2927222145539132,-84.5566091887798,-1.009127140045166,0,0,0.49352744156001876]]},{"id":3,"instruction":"go to the middle of the bridge ahead and land.","completed_instruction":"Turn left to face the street with a row of cone barriers.","start_frame":37,"end_frame":53,"start_position":[3.2927222145539132,-84.5566091887798,-1.009127140045166],"start_rotation":[0.9697080146560495,0,0,0.24426699799977661],"end_position":[68.28228463531985,-80.21457920432161,-1.009127140045166],"end_rotation":[0.99988696648813813,0,0,-0.015035100503455521],"actions":[2,1,2,1,1,1,1,1,1,1,1,1,1,7,1,1,0],"reference_path":[[3.2927222145539132,-84.5566091887798,-1.009127140045166,0,0,0.49352744156001876],[3.2927222145539132,-84.5566091887798,-1.009127140045166,0,0,0.23172805376086927],[8.159077134645294,-83.4083105378608,-1.009127140045166,0,0,0.23172805376086927],[8.159077134645294,-83.4083105378608,-1.009127140045166,0,0,-0.030071334038280148],[13.156816592173804,-83.55864454819324,-1.009127140045166,0,0,-0.030071334038280148],[18.154556049702315,-83.70897855852569,-1.009127140045166,0,0,-0.030071334038280148],[23.152295507230825,-83.85931256885813,-1.009127140045166,0,0,-0.030071334038280148],[28.150034964759335,-84.00964657919057,-1.009127140045166,0,0,-0.030071334038280148],[33.147774422287846,-84.15998058952302,-1.009127140045166,0,0,-0.030071334038280148],[38.145513879816356,-84.31031459985546,-1.009127140045166,0,0,-0.030071334038280148],[43.143253337344866,-84.4606486101879,-1.009127140045166,0,0,-0.030071334038280148],[48.14099279487338,-84.61098262052035,-1.009127140045166,0,0,-0.030071334038280148],[53.13873225240189,-84.76131663085279,-1.009127140045166,0,0,-0.030071334038280148],[58.1364717099304,-84.91165064118523,-1.009127140045166,0,0,-0.030071334038280148],[58.28680572026284,-79.91391118365672,-1.009127140045166,0,0,-0.030071334038280148],[63.28454517779135,-80.06424519398917,-1.009127140045166,0,0,-0.030071334038280148],[68.28228463531985,-80.21457920432161,-1.009127140045166,0,0,-0.030071334038280148]]}],"statistics":{"complete_actions":57,"sentence_actions":[13,19,8,17],"sentence_actions_average":14.25}}
diff --git a/scene_7/3I3WADAZ9Z24WPX4C3SK2OGV0GWO56.json b/scene_7/3I3WADAZ9Z24WPX4C3SK2OGV0GWO56.json
new file mode 100644
index 0000000000000000000000000000000000000000..e3b70e92b25ca504417d768e816842429a48272a
--- /dev/null
+++ b/scene_7/3I3WADAZ9Z24WPX4C3SK2OGV0GWO56.json
@@ -0,0 +1 @@
+{"episode_id":"3I3WADAZ9Z24WPX4C3SK2OGV0GWO56","trajectory_id":"3JU8CV4BSTA53FIU6FWWBBQO5DTOPH","scene_id":7,"instruction":"lift off and turn left until facing the road then head straight. at the end of the road turn left. at the next intersection turn 180 degrees and head straight. after the next intersection land in front of the traffic cones.","sentence_instructions":[{"id":0,"instruction":"lift off and turn left until facing the road then head straight.","completed_instruction":"Take off, then turn left to face the red building at the end of the road, and then fly forward onto the road in front of the red building.","start_frame":0,"end_frame":28,"start_position":[1.8772368431091309,-32.51529312133789,-0.30986443161964417],"start_rotation":[0.99999870928810541,0,0,-0.0016066804670767671],"end_position":[2.834470387200138,-137.34853942341107,-2.309864431619644],"end_rotation":[0.70596977386194426,0,0,-0.70824196316888433],"actions":[4,2,2,2,2,2,1,2,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1],"reference_path":[[1.8772368431091309,-32.51529312133789,-0.30986443161964417,0,0,-0.0032133623166619744],[1.8772368431091309,-32.51529312133789,-2.309864431619644,0,0,-0.0032133623166619744],[1.8772368431091309,-32.51529312133789,-2.309864431619644,0,0,-0.2650127501158114],[1.8772368431091309,-32.51529312133789,-2.309864431619644,0,0,-0.5268121379149608],[1.8772368431091309,-32.51529312133789,-2.309864431619644,0,0,-0.7886115257141103],[1.8772368431091309,-32.51529312133789,-2.309864431619644,0,0,-1.0504109135132598],[1.8772368431091309,-32.51529312133789,-2.309864431619644,0,0,-1.3122103013124093],[3.1558060658632066,-37.3490557078357,-2.309864431619644,0,0,-1.3122103013124093],[3.1558060658632066,-37.3490557078357,-2.309864431619644,0,0,-1.574009689111559],[3.139739281930053,-42.34902989361447,-2.309864431619644,0,0,-1.574009689111559],[3.1236724979968997,-47.34900407939324,-2.309864431619644,0,0,-1.574009689111559],[3.1076057140637463,-52.34897826517201,-2.309864431619644,0,0,-1.574009689111559],[3.091538930130593,-57.348952450950776,-2.309864431619644,0,0,-1.574009689111559],[3.0754721461974395,-62.348926636729544,-2.309864431619644,0,0,-1.574009689111559],[3.059405362264286,-67.34890082250831,-2.309864431619644,0,0,-1.574009689111559],[3.0433385783311326,-72.34887500828708,-2.309864431619644,0,0,-1.574009689111559],[3.027271794397979,-77.34884919406585,-2.309864431619644,0,0,-1.574009689111559],[3.011205010464826,-82.34882337984462,-2.309864431619644,0,0,-1.574009689111559],[2.9951382265316724,-87.34879756562339,-2.309864431619644,0,0,-1.574009689111559],[2.979071442598519,-92.34877175140215,-2.309864431619644,0,0,-1.574009689111559],[2.9630046586653656,-97.34874593718092,-2.309864431619644,0,0,-1.574009689111559],[2.946937874732212,-102.34872012295969,-2.309864431619644,0,0,-1.574009689111559],[2.9308710907990587,-107.34869430873846,-2.309864431619644,0,0,-1.574009689111559],[2.9148043068659053,-112.34866849451723,-2.309864431619644,0,0,-1.574009689111559],[2.898737522932752,-117.348642680296,-2.309864431619644,0,0,-1.574009689111559],[2.8826707389995985,-122.34861686607476,-2.309864431619644,0,0,-1.574009689111559],[2.866603955066445,-127.34859105185353,-2.309864431619644,0,0,-1.574009689111559],[2.8505371711332916,-132.3485652376323,-2.309864431619644,0,0,-1.574009689111559],[2.834470387200138,-137.34853942341107,-2.309864431619644,0,0,-1.574009689111559]]},{"id":1,"instruction":"at the end of the road turn left.","completed_instruction":"Turn left to face the zebra crossing, and then fly forward onto the zebra crossing at the next road intersection.","start_frame":28,"end_frame":39,"start_position":[2.834470387200138,-137.34853942341107,-2.309864431619644],"start_rotation":[0.70596977386194426,0,0,-0.70824196316888433],"end_position":[-11.71501772409277,-156.1841696490096,-2.309864431619644],"end_rotation":[0.12893308865538919,0,0,-0.991653295587617],"actions":[1,1,1,2,2,2,2,2,1,1,1,1],"reference_path":[[2.834470387200138,-137.34853942341107,-2.309864431619644,0,0,-1.574009689111559],[2.818403603266985,-142.34851360918984,-2.309864431619644,0,0,-1.574009689111559],[2.8023368193338314,-147.3484877949686,-2.309864431619644,0,0,-1.574009689111559],[2.786270035400678,-152.34846198074737,-2.309864431619644,0,0,-1.574009689111559],[2.786270035400678,-152.34846198074737,-2.309864431619644,0,0,-1.8358090769107083],[2.786270035400678,-152.34846198074737,-2.309864431619644,0,0,-2.097608464709858],[2.786270035400678,-152.34846198074737,-2.309864431619644,0,0,-2.359407852509008],[2.786270035400678,-152.34846198074737,-2.309864431619644,0,0,-2.6212072403081574],[2.786270035400678,-152.34846198074737,-2.309864431619644,0,0,-2.883006628107307],[-2.047492551097138,-153.62703120350145,-2.309864431619644,0,0,-2.883006628107307],[-6.8812551375949536,-154.90560042625552,-2.309864431619644,0,0,-2.883006628107307],[-11.71501772409277,-156.1841696490096,-2.309864431619644,0,0,-2.883006628107307]]},{"id":2,"instruction":"at the next intersection turn 180 degrees and head straight.","completed_instruction":"Turn back to face the cone barrier on the road, then fly forward to the front of the barrier.","start_frame":39,"end_frame":61,"start_position":[-11.71501772409277,-156.1841696490096,-2.309864431619644],"start_rotation":[0.12893308865538919,0,0,-0.991653295587617],"end_position":[7.338732994830135,-154.00394621161885,-2.309864431619644],"end_rotation":[0.99999870928810541,0,0,-0.0016066804670771633],"actions":[1,6,1,2,2,2,2,2,2,2,2,2,2,2,2,2,1,1,1,1,1,1,1],"reference_path":[[-11.71501772409277,-156.1841696490096,-2.309864431619644,0,0,-2.883006628107307],[-16.548780310590587,-157.46273887176366,-2.309864431619644,0,0,-2.883006628107307],[-17.827349533344655,-152.62897628526585,-2.309864431619644,0,0,-2.883006628107307],[-22.66111211984247,-153.90754550801992,-2.309864431619644,0,0,-2.883006628107307],[-22.66111211984247,-153.90754550801992,-2.309864431619644,0,0,3.138379291273129],[-22.66111211984247,-153.90754550801992,-2.309864431619644,0,0,2.87657990347398],[-22.66111211984247,-153.90754550801992,-2.309864431619644,0,0,2.614780515674831],[-22.66111211984247,-153.90754550801992,-2.309864431619644,0,0,2.3529811278756814],[-22.66111211984247,-153.90754550801992,-2.309864431619644,0,0,2.0911817400765322],[-22.66111211984247,-153.90754550801992,-2.309864431619644,0,0,1.8293823522773829],[-22.66111211984247,-153.90754550801992,-2.309864431619644,0,0,1.5675829644782335],[-22.66111211984247,-153.90754550801992,-2.309864431619644,0,0,1.3057835766790844],[-22.66111211984247,-153.90754550801992,-2.309864431619644,0,0,1.0439841888799348],[-22.66111211984247,-153.90754550801992,-2.309864431619644,0,0,0.7821848010807855],[-22.66111211984247,-153.90754550801992,-2.309864431619644,0,0,0.5203854132816361],[-22.66111211984247,-153.90754550801992,-2.309864431619644,0,0,0.25858602548248666],[-22.66111211984247,-153.90754550801992,-2.309864431619644,0,0,-0.0032133623166627667],[-17.661137934063703,-153.92361229195308,-2.309864431619644,0,0,-0.0032133623166627667],[-12.661163748284935,-153.93967907588623,-2.309864431619644,0,0,-0.0032133623166627667],[-7.661189562506167,-153.9557458598194,-2.309864431619644,0,0,-0.0032133623166627667],[-2.6612153767274,-153.97181264375254,-2.309864431619644,0,0,-0.0032133623166627667],[2.3387588090513676,-153.9878794276857,-2.309864431619644,0,0,-0.0032133623166627667],[7.338732994830135,-154.00394621161885,-2.309864431619644,0,0,-0.0032133623166627667]]},{"id":3,"instruction":"after the next intersection land in front of the traffic cones.","completed_instruction":"Landing in front of the conical barrier.","start_frame":61,"end_frame":64,"start_position":[7.338732994830135,-154.00394621161885,-2.309864431619644],"start_rotation":[0.99999870928810541,0,0,-0.0016066804670771633],"end_position":[22.33865555216644,-154.05214656341832,-2.309864431619644],"end_rotation":[0.99999870928810541,0,0,-0.0016066804670771633],"actions":[1,1,1,0],"reference_path":[[7.338732994830135,-154.00394621161885,-2.309864431619644,0,0,-0.0032133623166627667],[12.338707180608903,-154.020012995552,-2.309864431619644,0,0,-0.0032133623166627667],[17.33868136638767,-154.03607977948516,-2.309864431619644,0,0,-0.0032133623166627667],[22.33865555216644,-154.05214656341832,-2.309864431619644,0,0,-0.0032133623166627667]]}],"statistics":{"complete_actions":68,"sentence_actions":[29,12,23,4],"sentence_actions_average":17.0}}
diff --git a/scene_7/3I7DHKZYGWYAQCKBD09UFU7H7O75FK.json b/scene_7/3I7DHKZYGWYAQCKBD09UFU7H7O75FK.json
new file mode 100644
index 0000000000000000000000000000000000000000..f75c80e88339819e2c2f2c3cbc34f4591bae9de6
--- /dev/null
+++ b/scene_7/3I7DHKZYGWYAQCKBD09UFU7H7O75FK.json
@@ -0,0 +1 @@
+{"episode_id":"3I7DHKZYGWYAQCKBD09UFU7H7O75FK","trajectory_id":"3L2OEKSTXH8WR1NFQL3JRGT0U7R8YF","scene_id":7,"instruction":"turn left until facing a road and go straight. at the next intersection turn right. at the bridge land in the middle.","sentence_instructions":[{"id":0,"instruction":"turn left until facing a road and go straight.","completed_instruction":"Turn left to face the road, then fly straight ahead until reach the center of the intersection.","start_frame":1,"end_frame":19,"start_position":[1.8617212772369385,-3.587571382522583,-0.5758452415466309],"start_rotation":[0.99999200080799733,0,0,-0.0039997899967683615],"end_position":[2.677167020338333,-63.425638302327435,-0.5758452415466309],"end_rotation":[0.70427284627360143,0,0,-0.7099294035336754],"actions":[2,2,2,2,2,1,2,1,1,1,1,1,1,1,1,1,1,1,1],"reference_path":[[1.8617212772369385,-3.587571382522583,-0.5758452415466309,0,0,-0.007999601323663742],[1.8617212772369385,-3.587571382522583,-0.5758452415466309,0,0,-0.2697989891228132],[1.8617212772369385,-3.587571382522583,-0.5758452415466309,0,0,-0.5315983769219627],[1.8617212772369385,-3.587571382522583,-0.5758452415466309,0,0,-0.793397764721112],[1.8617212772369385,-3.587571382522583,-0.5758452415466309,0,0,-1.0551971525202613],[1.8617212772369385,-3.587571382522583,-0.5758452415466309,0,0,-1.3169965403194106],[3.1171404005231476,-8.427398117529457,-0.5758452415466309,0,0,-1.3169965403194106],[3.1171404005231476,-8.427398117529457,-0.5758452415466309,0,0,-1.5787959281185602],[3.0771428205063462,-13.427238134329274,-0.5758452415466309,0,0,-1.5787959281185602],[3.037145240489545,-18.42707815112909,-0.5758452415466309,0,0,-1.5787959281185602],[2.9971476604727436,-23.42691816792891,-0.5758452415466309,0,0,-1.5787959281185602],[2.9571500804559423,-28.426758184728726,-0.5758452415466309,0,0,-1.5787959281185602],[2.917152500439141,-33.42659820152854,-0.5758452415466309,0,0,-1.5787959281185602],[2.8771549204223397,-38.42643821832836,-0.5758452415466309,0,0,-1.5787959281185602],[2.8371573404055384,-43.42627823512817,-0.5758452415466309,0,0,-1.5787959281185602],[2.797159760388737,-48.42611825192799,-0.5758452415466309,0,0,-1.5787959281185602],[2.7571621803719357,-53.425958268727804,-0.5758452415466309,0,0,-1.5787959281185602],[2.7171646003551344,-58.42579828552762,-0.5758452415466309,0,0,-1.5787959281185602],[2.677167020338333,-63.425638302327435,-0.5758452415466309,0,0,-1.5787959281185602]]},{"id":1,"instruction":"at the next intersection turn right.","completed_instruction":"Turn right to face the row of cone-shaped barriers in the middle of the road.","start_frame":19,"end_frame":26,"start_position":[2.677167020338333,-63.425638302327435,-0.5758452415466309],"start_rotation":[0.70427284627360143,0,0,-0.7099294035336754],"end_position":[2.557174280287929,-78.4251583527269,-0.5758452415466309],"end_rotation":[0.96488287783534932,0,0,-0.26268047521689614],"actions":[1,1,1,3,3,3,3,3],"reference_path":[[2.677167020338333,-63.425638302327435,-0.5758452415466309,0,0,-1.5787959281185602],[2.6371694403215318,-68.42547831912725,-0.5758452415466309,0,0,-1.5787959281185602],[2.5971718603047305,-73.42531833592707,-0.5758452415466309,0,0,-1.5787959281185602],[2.557174280287929,-78.4251583527269,-0.5758452415466309,0,0,-1.5787959281185602],[2.557174280287929,-78.4251583527269,-0.5758452415466309,0,0,-1.3169965403194106],[2.557174280287929,-78.4251583527269,-0.5758452415466309,0,0,-1.0551971525202613],[2.557174280287929,-78.4251583527269,-0.5758452415466309,0,0,-0.7933977647211118],[2.557174280287929,-78.4251583527269,-0.5758452415466309,0,0,-0.5315983769219623]]},{"id":2,"instruction":"at the bridge land in the middle.","completed_instruction":"Fly straight ahead until reach the center of the bridge deck.","start_frame":26,"end_frame":41,"start_position":[2.557174280287929,-78.4251583527269,-0.5758452415466309],"start_rotation":[0.96488287783534932,0,0,-0.26268047521689614],"end_position":[67.37437694595988,-80.23781782726931,-0.5758452415466309],"end_rotation":[0.99999200080799733,0,0,-0.0039997899967681976],"actions":[3,1,3,1,1,1,1,1,1,1,1,1,1,1,1,0],"reference_path":[[2.557174280287929,-78.4251583527269,-0.5758452415466309,0,0,-0.5315983769219623],[2.557174280287929,-78.4251583527269,-0.5758452415466309,0,0,-0.26979898912281286],[7.376296744362083,-79.75784686706768,-0.5758452415466309,0,0,-0.26979898912281286],[7.376296744362083,-79.75784686706768,-0.5758452415466309,0,0,-0.007999601323663414],[12.3761367611619,-79.79784444708449,-0.5758452415466309,0,0,-0.007999601323663414],[17.375976777961718,-79.83784202710129,-0.5758452415466309,0,0,-0.007999601323663414],[22.375816794761533,-79.87783960711809,-0.5758452415466309,0,0,-0.007999601323663414],[27.37565681156135,-79.9178371871349,-0.5758452415466309,0,0,-0.007999601323663414],[32.375496828361165,-79.9578347671517,-0.5758452415466309,0,0,-0.007999601323663414],[37.37533684516098,-79.9978323471685,-0.5758452415466309,0,0,-0.007999601323663414],[42.375176861960796,-80.0378299271853,-0.5758452415466309,0,0,-0.007999601323663414],[47.37501687876061,-80.0778275072021,-0.5758452415466309,0,0,-0.007999601323663414],[52.37485689556043,-80.1178250872189,-0.5758452415466309,0,0,-0.007999601323663414],[57.37469691236024,-80.1578226672357,-0.5758452415466309,0,0,-0.007999601323663414],[62.37453692916006,-80.19782024725251,-0.5758452415466309,0,0,-0.007999601323663414],[67.37437694595988,-80.23781782726931,-0.5758452415466309,0,0,-0.007999601323663414]]}],"statistics":{"complete_actions":43,"sentence_actions":[19,8,16],"sentence_actions_average":14.33}}
diff --git a/scene_7/3ITXP059P5HR1G4I8MDNN391EF5SJL.json b/scene_7/3ITXP059P5HR1G4I8MDNN391EF5SJL.json
new file mode 100644
index 0000000000000000000000000000000000000000..3c2348f1b572137eb492921e0108949d97966b97
--- /dev/null
+++ b/scene_7/3ITXP059P5HR1G4I8MDNN391EF5SJL.json
@@ -0,0 +1 @@
+{"episode_id":"3ITXP059P5HR1G4I8MDNN391EF5SJL","trajectory_id":"3IWA71V4UQEKNIEHSAKJOOQ0M66X6B","scene_id":7,"instruction":"lift off and head straight. at the first intersection turn right. at the next intersection turn left. the land at the half way point of the bridge.","sentence_instructions":[{"id":0,"instruction":"lift off and head straight.","completed_instruction":"Take off and then fly forward to the center of the road intersection.","start_frame":1,"end_frame":7,"start_position":[-26.809755325317383,-154.07713317871094,-0.2606585919857025],"start_rotation":[0.99999561273180171,0,0,0.0029621811471228824],"end_position":[-11.988053094865649,-152.6952049531041,-2.2606585919857025],"end_rotation":[0.99999561273180171,0,0,0.0029621811471228889],"actions":[4,3,1,2,1,1,1],"reference_path":[[-26.809755325317383,-154.07713317871094,-0.2606585919857025,0,0,0.005924370958183065],[-26.809755325317383,-154.07713317871094,-2.2606585919857025,0,0,0.005924370958183065],[-26.809755325317383,-154.07713317871094,-2.2606585919857025,0,0,0.2677237587573325],[-21.98787760452268,-152.7544483161289,-2.2606585919857025,0,0,0.2677237587573325],[-21.98787760452268,-152.7544483161289,-2.2606585919857025,0,0,0.005924370958183078],[-16.987965349694164,-152.7248266346165,-2.2606585919857025,0,0,0.005924370958183078],[-11.988053094865649,-152.6952049531041,-2.2606585919857025,0,0,0.005924370958183078]]},{"id":1,"instruction":"at the first intersection turn right.","completed_instruction":"Turn right to face the road beside the river, then, drive straight ahead to the No Entry sign at the next intersection.","start_frame":7,"end_frame":27,"start_position":[-11.988053094865649,-152.6952049531041,-2.2606585919857025],"start_rotation":[0.99999561273180171,0,0,0.0029621811471228889],"end_position":[-1.0486069136447986,-92.79971575552415,-2.2606585919857025],"end_rotation":[0.70500910054322019,0,0,0.70919825729568708],"actions":[1,1,3,3,3,3,3,1,3,1,1,1,1,1,1,1,1,1,1,1,1],"reference_path":[[-11.988053094865649,-152.6952049531041,-2.2606585919857025,0,0,0.005924370958183078],[-6.988140840037132,-152.66558327159171,-2.2606585919857025,0,0,0.005924370958183078],[-1.9882285852086152,-152.63596159007932,-2.2606585919857025,0,0,0.005924370958183078],[-1.9882285852086152,-152.63596159007932,-2.2606585919857025,0,0,0.2677237587573325],[-1.9882285852086152,-152.63596159007932,-2.2606585919857025,0,0,0.5295231465564819],[-1.9882285852086152,-152.63596159007932,-2.2606585919857025,0,0,0.7913225343556313],[-1.9882285852086152,-152.63596159007932,-2.2606585919857025,0,0,1.0531219221547807],[-1.9882285852086152,-152.63596159007932,-2.2606585919857025,0,0,1.31492130995393],[-0.7227684170084405,-147.79875055863786,-2.2606585919857025,0,0,1.31492130995393],[-0.7227684170084405,-147.79875055863786,-2.2606585919857025,0,0,1.5767206977530794],[-0.7523900985208367,-142.79883830380933,-2.2606585919857025,0,0,1.5767206977530794],[-0.7820117800332329,-137.7989260489808,-2.2606585919857025,0,0,1.5767206977530794],[-0.8116334615456291,-132.79901379415227,-2.2606585919857025,0,0,1.5767206977530794],[-0.8412551430580253,-127.79910153932376,-2.2606585919857025,0,0,1.5767206977530794],[-0.8708768245704215,-122.79918928449524,-2.2606585919857025,0,0,1.5767206977530794],[-0.9004985060828177,-117.79927702966673,-2.2606585919857025,0,0,1.5767206977530794],[-0.9301201875952139,-112.79936477483821,-2.2606585919857025,0,0,1.5767206977530794],[-0.9597418691076101,-107.7994525200097,-2.2606585919857025,0,0,1.5767206977530794],[-0.9893635506200062,-102.79954026518118,-2.2606585919857025,0,0,1.5767206977530794],[-1.0189852321324024,-97.79962801035266,-2.2606585919857025,0,0,1.5767206977530794],[-1.0486069136447986,-92.79971575552415,-2.2606585919857025,0,0,1.5767206977530794]]},{"id":2,"instruction":"at the next intersection turn left.","completed_instruction":"Turn left to face the row of cone barriers on the road.","start_frame":27,"end_frame":33,"start_position":[-1.0486069136447986,-92.79971575552415,-2.2606585919857025],"start_rotation":[0.70500910054322019,0,0,0.70919825729568708],"end_position":[-1.1374719581819872,-77.7999789910386,-2.2606585919857025],"end_rotation":[0.92274190155532665,0,0,0.38541845196365454],"actions":[1,1,1,2,2,2,2],"reference_path":[[-1.0486069136447986,-92.79971575552415,-2.2606585919857025,0,0,1.5767206977530794],[-1.0782285951571948,-87.79980350069563,-2.2606585919857025,0,0,1.5767206977530794],[-1.107850276669591,-82.79989124586712,-2.2606585919857025,0,0,1.5767206977530794],[-1.1374719581819872,-77.7999789910386,-2.2606585919857025,0,0,1.5767206977530794],[-1.1374719581819872,-77.7999789910386,-2.2606585919857025,0,0,1.31492130995393],[-1.1374719581819872,-77.7999789910386,-2.2606585919857025,0,0,1.0531219221547807],[-1.1374719581819872,-77.7999789910386,-2.2606585919857025,0,0,0.7913225343556313]]},{"id":3,"instruction":"the land at the half way point of the bridge.","completed_instruction":"Fly straight ahead to the middle of the bridge and then stop.","start_frame":33,"end_frame":50,"start_position":[-1.1374719581819872,-77.7999789910386,-2.2606585919857025],"start_rotation":[0.92274190155532665,0,0,0.38541845196365454],"end_position":[68.86129960941724,-77.38527544986506,-2.2606585919857025],"end_rotation":[0.99999561273180171,0,0,0.002962181147122842],"actions":[2,2,2,1,1,1,1,1,1,1,1,1,1,1,1,1,1,0],"reference_path":[[-1.1374719581819872,-77.7999789910386,-2.2606585919857025,0,0,0.7913225343556313],[-1.1374719581819872,-77.7999789910386,-2.2606585919857025,0,0,0.5295231465564818],[-1.1374719581819872,-77.7999789910386,-2.2606585919857025,0,0,0.2677237587573324],[-1.1374719581819872,-77.7999789910386,-2.2606585919857025,0,0,0.005924370958182984],[3.8624402966465294,-77.7703573095262,-2.2606585919857025,0,0,0.005924370958182984],[8.862352551475047,-77.74073562801381,-2.2606585919857025,0,0,0.005924370958182984],[13.862264806303564,-77.71111394650141,-2.2606585919857025,0,0,0.005924370958182984],[18.86217706113208,-77.68149226498902,-2.2606585919857025,0,0,0.005924370958182984],[23.862089315960596,-77.65187058347662,-2.2606585919857025,0,0,0.005924370958182984],[28.86200157078911,-77.62224890196423,-2.2606585919857025,0,0,0.005924370958182984],[33.86191382561763,-77.59262722045183,-2.2606585919857025,0,0,0.005924370958182984],[38.86182608044614,-77.56300553893944,-2.2606585919857025,0,0,0.005924370958182984],[43.86173833527466,-77.53338385742704,-2.2606585919857025,0,0,0.005924370958182984],[48.861650590103174,-77.50376217591464,-2.2606585919857025,0,0,0.005924370958182984],[53.86156284493169,-77.47414049440225,-2.2606585919857025,0,0,0.005924370958182984],[58.861475099760206,-77.44451881288985,-2.2606585919857025,0,0,0.005924370958182984],[63.86138735458872,-77.41489713137746,-2.2606585919857025,0,0,0.005924370958182984],[68.86129960941724,-77.38527544986506,-2.2606585919857025,0,0,0.005924370958182984]]}],"statistics":{"complete_actions":53,"sentence_actions":[7,21,7,18],"sentence_actions_average":13.25}}
diff --git a/scene_7/3JC6VJ2SAKHFUL332KN21TWQA835AG.json b/scene_7/3JC6VJ2SAKHFUL332KN21TWQA835AG.json
new file mode 100644
index 0000000000000000000000000000000000000000..8441a4a845046263cfc69571f90708cb18f4e9ee
--- /dev/null
+++ b/scene_7/3JC6VJ2SAKHFUL332KN21TWQA835AG.json
@@ -0,0 +1 @@
+{"episode_id":"3JC6VJ2SAKHFUL332KN21TWQA835AG","trajectory_id":"3CZH926SJKCX2VJMEH1C31LFA9QE4Z","scene_id":7,"instruction":"lift off and head straight. at the first intersection turn right. stop at the first garbage can and turn left 135 degrees and head straight across the water. once on the road veer right and head straight and then land in the middle of the bridge.","sentence_instructions":[{"id":0,"instruction":"lift off and head straight.","completed_instruction":"Take off and fly straight ahead to the crossroads.","start_frame":1,"end_frame":7,"start_position":[-67.22526550292969,-81.81722259521484,-0.7372815012931824],"start_rotation":[0.9998600755668966,0,0,-0.01672809873714682],"end_position":[-37.242055260171284,-82.82076807925972,-0.7372815012931824],"end_rotation":[0.9998600755668966,0,0,-0.01672809873714682],"actions":[1,1,1,1,1,1,1],"reference_path":[[-67.22526550292969,-81.81722259521484,-0.7372815012931824,0,0,-0.03345775800812517],[-62.22806379580329,-81.98448017588899,-0.7372815012931824,0,0,-0.03345775800812517],[-57.230862088676886,-82.15173775656314,-0.7372815012931824,0,0,-0.03345775800812517],[-52.233660381550486,-82.31899533723728,-0.7372815012931824,0,0,-0.03345775800812517],[-47.236458674424085,-82.48625291791143,-0.7372815012931824,0,0,-0.03345775800812517],[-42.239256967297685,-82.65351049858558,-0.7372815012931824,0,0,-0.03345775800812517],[-37.242055260171284,-82.82076807925972,-0.7372815012931824,0,0,-0.03345775800812517]]},{"id":1,"instruction":"at the first intersection turn right.","completed_instruction":"Turn right to face the trash can on the left side of the road.","start_frame":7,"end_frame":10,"start_position":[-37.242055260171284,-82.82076807925972,-0.7372815012931824],"start_rotation":[0.9998600755668966,0,0,-0.01672809873714682],"end_position":[-32.244853553044884,-82.98802565993387,-0.7372815012931824],"end_rotation":[0.97012022020693389,0,0,0.24262472739943478],"actions":[1,3,3,3],"reference_path":[[-37.242055260171284,-82.82076807925972,-0.7372815012931824,0,0,-0.03345775800812517],[-32.244853553044884,-82.98802565993387,-0.7372815012931824,0,0,-0.03345775800812517],[-32.244853553044884,-82.98802565993387,-0.7372815012931824,0,0,0.22834162979102426],[-32.244853553044884,-82.98802565993387,-0.7372815012931824,0,0,0.4901410175901737]]},{"id":2,"instruction":"stop at the first garbage can and turn left 135 degrees and head straight across the water.","completed_instruction":"Fly forward to the side of the trash can, then turn left to face the bridge, and then fly forward across the river and stop in the middle of the road intersection.","start_frame":10,"end_frame":36,"start_position":[-32.244853553044884,-82.98802565993387,-0.7372815012931824],"start_rotation":[0.97012022020693389,0,0,0.24262472739943478],"end_position":[-9.473317119152789,-75.46987652299691,-2.7372815012931824],"end_rotation":[0.91734869294977084,0,0,-0.39808463364383578],"actions":[3,3,3,1,1,3,1,1,1,2,2,2,2,2,7,2,2,2,2,1,1,4,1,1,1,1,3],"reference_path":[[-32.244853553044884,-82.98802565993387,-0.7372815012931824,0,0,0.4901410175901737],[-32.244853553044884,-82.98802565993387,-0.7372815012931824,0,0,0.7519404053893232],[-32.244853553044884,-82.98802565993387,-0.7372815012931824,0,0,1.0137397931884726],[-32.244853553044884,-82.98802565993387,-0.7372815012931824,0,0,1.275539180987622],[-30.78992416220596,-78.20438891916089,-0.7372815012931824,0,0,1.275539180987622],[-29.334994771367036,-73.42075217838791,-0.7372815012931824,0,0,1.275539180987622],[-29.334994771367036,-73.42075217838791,-0.7372815012931824,0,0,1.5373385687867713],[-29.167737190692893,-68.4235504712615,-0.7372815012931824,0,0,1.5373385687867713],[-29.00047961001875,-63.426348764135106,-0.7372815012931824,0,0,1.5373385687867713],[-28.833222029344608,-58.429147057008706,-0.7372815012931824,0,0,1.5373385687867713],[-28.833222029344608,-58.429147057008706,-0.7372815012931824,0,0,1.275539180987622],[-28.833222029344608,-58.429147057008706,-0.7372815012931824,0,0,1.0137397931884726],[-28.833222029344608,-58.429147057008706,-0.7372815012931824,0,0,0.7519404053893233],[-28.833222029344608,-58.429147057008706,-0.7372815012931824,0,0,0.4901410175901738],[-28.833222029344608,-58.429147057008706,-0.7372815012931824,0,0,0.2283416297910244],[-29.965034586551972,-53.558931421603255,-0.7372815012931824,0,0,0.2283416297910244],[-29.965034586551972,-53.558931421603255,-0.7372815012931824,0,0,-0.03345775800812501],[-29.965034586551972,-53.558931421603255,-0.7372815012931824,0,0,-0.29525714580727447],[-29.965034586551972,-53.558931421603255,-0.7372815012931824,0,0,-0.5570565336064239],[-29.965034586551972,-53.558931421603255,-0.7372815012931824,0,0,-0.8188559214055733],[-26.549748341985442,-57.21075560516887,-0.7372815012931824,0,0,-0.8188559214055733],[-23.13446209741891,-60.86257978873448,-0.7372815012931824,0,0,-0.8188559214055733],[-23.13446209741891,-60.86257978873448,-2.7372815012931824,0,0,-0.8188559214055733],[-19.71917585285238,-64.51440397230009,-2.7372815012931824,0,0,-0.8188559214055733],[-16.30388960828585,-68.1662281558657,-2.7372815012931824,0,0,-0.8188559214055733],[-12.88860336371932,-71.8180523394313,-2.7372815012931824,0,0,-0.8188559214055733],[-9.473317119152789,-75.46987652299691,-2.7372815012931824,0,0,-0.8188559214055733]]},{"id":3,"instruction":"once on the road veer right and head straight where you will land in the middle of the bridge.","completed_instruction":"Turn right to face the road with the cone-shaped barriers, then fly towards the front of the road and land in the middle of the bridge.","start_frame":36,"end_frame":54,"start_position":[-9.473317119152789,-75.46987652299691,-2.7372815012931824],"start_rotation":[0.91734869294977084,0,0,-0.39808463364383578],"end_position":[63.97845474522914,-82.93112540656588,-2.7372815012931824],"end_rotation":[0.9998600755668966,0,0,-0.016728098737146722],"actions":[3,1,1,3,3,1,1,1,1,1,1,1,1,1,1,1,1,1,0],"reference_path":[[-9.473317119152789,-75.46987652299691,-2.7372815012931824,0,0,-0.8188559214055733],[-9.473317119152789,-75.46987652299691,-2.7372815012931824,0,0,-0.5570565336064238],[-5.22924228328343,-78.11332669039945,-2.7372815012931824,0,0,-0.5570565336064238],[-0.9851674474140708,-80.75677685780198,-2.7372815012931824,0,0,-0.5570565336064238],[-0.9851674474140708,-80.75677685780198,-2.7372815012931824,0,0,-0.2952571458072744],[-0.9851674474140708,-80.75677685780198,-2.7372815012931824,0,0,-0.03345775800812498],[4.0120342597123315,-80.92403443847613,-2.7372815012931824,0,0,-0.03345775800812498],[9.009235966838734,-81.09129201915027,-2.7372815012931824,0,0,-0.03345775800812498],[14.006437673965136,-81.25854959982442,-2.7372815012931824,0,0,-0.03345775800812498],[19.00363938109154,-81.42580718049857,-2.7372815012931824,0,0,-0.03345775800812498],[24.00084108821794,-81.59306476117271,-2.7372815012931824,0,0,-0.03345775800812498],[28.99804279534434,-81.76032234184686,-2.7372815012931824,0,0,-0.03345775800812498],[33.99524450247074,-81.927579922521,-2.7372815012931824,0,0,-0.03345775800812498],[38.99244620959714,-82.09483750319515,-2.7372815012931824,0,0,-0.03345775800812498],[43.98964791672354,-82.2620950838693,-2.7372815012931824,0,0,-0.03345775800812498],[48.98684962384994,-82.42935266454344,-2.7372815012931824,0,0,-0.03345775800812498],[53.98405133097634,-82.59661024521759,-2.7372815012931824,0,0,-0.03345775800812498],[58.98125303810274,-82.76386782589174,-2.7372815012931824,0,0,-0.03345775800812498],[63.97845474522914,-82.93112540656588,-2.7372815012931824,0,0,-0.03345775800812498]]}],"statistics":{"complete_actions":57,"sentence_actions":[7,4,27,19],"sentence_actions_average":14.25}}
diff --git a/scene_7/3K4J6M3CXNRDAISNJG6T5QNFEPPGAB.json b/scene_7/3K4J6M3CXNRDAISNJG6T5QNFEPPGAB.json
new file mode 100644
index 0000000000000000000000000000000000000000..1be91f096336162f0c0458925db9576613176a38
--- /dev/null
+++ b/scene_7/3K4J6M3CXNRDAISNJG6T5QNFEPPGAB.json
@@ -0,0 +1 @@
+{"episode_id":"3K4J6M3CXNRDAISNJG6T5QNFEPPGAB","trajectory_id":"3JYPJ2TAZQ6BX2517CD6OHHAG0TPF2","scene_id":7,"instruction":"lift off and turn right facing the cones and head straight. at the next intersection turn left. after the second intersection land before the red building on the left.","sentence_instructions":[{"id":0,"instruction":"lift off and turn right facing the cones and head straight.","completed_instruction":"Take off, then turn right to face the gray-white building on the left side of the street, and then fly forward to the sidewalk in front of the gray building.","start_frame":1,"end_frame":15,"start_position":[40.25446319580078,-155.70828247070312,-0.7135906219482422],"start_rotation":[0.99965515998260812,0,0,0.026259495809063102],"end_position":[30.908146127039434,-152.40031503364548,-2.713590621948242],"end_rotation":[0.10444633938349376,0,0,0.99453052350814652],"actions":[3,3,3,3,3,3,3,3,3,3,4,1,3,1,1],"reference_path":[[40.25446319580078,-155.70828247070312,-0.7135906219482422,0,0,0.052525029334280535],[40.25446319580078,-155.70828247070312,-0.7135906219482422,0,0,0.31432441713342996],[40.25446319580078,-155.70828247070312,-0.7135906219482422,0,0,0.5761238049325793],[40.25446319580078,-155.70828247070312,-0.7135906219482422,0,0,0.8379231927317288],[40.25446319580078,-155.70828247070312,-0.7135906219482422,0,0,1.0997225805308781],[40.25446319580078,-155.70828247070312,-0.7135906219482422,0,0,1.3615219683300277],[40.25446319580078,-155.70828247070312,-0.7135906219482422,0,0,1.623321356129177],[40.25446319580078,-155.70828247070312,-0.7135906219482422,0,0,1.8851207439283268],[40.25446319580078,-155.70828247070312,-0.7135906219482422,0,0,2.146920131727476],[40.25446319580078,-155.70828247070312,-0.7135906219482422,0,0,2.4087195195266253],[40.25446319580078,-155.70828247070312,-0.7135906219482422,0,0,2.670518907325775],[40.25446319580078,-155.70828247070312,-2.713590621948242,0,0,2.670518907325775],[35.79905574893331,-153.43906575950123,-2.713590621948242,0,0,2.670518907325775],[35.79905574893331,-153.43906575950123,-2.713590621948242,0,0,2.932318295124924],[30.908146127039434,-152.40031503364548,-2.713590621948242,0,0,2.932318295124924]]},{"id":1,"instruction":"at the next intersection turn left.","completed_instruction":"Turn slightly right to face the traffic lights on the sidewalk, then fly forward onto the sidewalk at the road intersection, and then turn left to face the road beside the river.","start_frame":15,"end_frame":25,"start_position":[30.908146127039434,-152.40031503364548,-2.713590621948242],"start_rotation":[0.10444633938349376,0,0,0.99453052350814652],"end_position":[6.249208483760719,-149.80907166575966,-2.713590621948242],"end_rotation":[0.4770861895300843,0,0,0.87885651147366739],"actions":[1,1,1,3,1,1,2,2,2,2,2],"reference_path":[[30.908146127039434,-152.40031503364548,-2.713590621948242,0,0,2.932318295124924],[26.017236505145554,-151.36156430778973,-2.713590621948242,0,0,2.932318295124924],[21.126326883251675,-150.32281358193399,-2.713590621948242,0,0,2.932318295124924],[16.235417261357796,-149.28406285607824,-2.713590621948242,0,0,2.932318295124924],[16.235417261357796,-149.28406285607824,-2.713590621948242,0,0,-3.0890676242555126],[11.242312872559257,-149.54656726091895,-2.713590621948242,0,0,-3.0890676242555126],[6.249208483760719,-149.80907166575966,-2.713590621948242,0,0,-3.0890676242555126],[6.249208483760719,-149.80907166575966,-2.713590621948242,0,0,2.9323182951249236],[6.249208483760719,-149.80907166575966,-2.713590621948242,0,0,2.6705189073257745],[6.249208483760719,-149.80907166575966,-2.713590621948242,0,0,2.4087195195266253],[6.249208483760719,-149.80907166575966,-2.713590621948242,0,0,2.1469201317274758]]},{"id":2,"instruction":"after the second intersection land before the red building on the left.","completed_instruction":"Fly straight ahead past the first road intersection, then continue flying until reach the third road sign on the right side of the road that has the letter \"P\" on it, and stop 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diff --git a/scene_7/3MH9DQ7575AXPR6LPLNK5RZ97K8UGY.json b/scene_7/3MH9DQ7575AXPR6LPLNK5RZ97K8UGY.json
new file mode 100644
index 0000000000000000000000000000000000000000..ecd177b262551f1a6bb0999e9f1adb1cceb9320e
--- /dev/null
+++ b/scene_7/3MH9DQ7575AXPR6LPLNK5RZ97K8UGY.json
@@ -0,0 +1 @@
+{"episode_id":"3MH9DQ7575AXPR6LPLNK5RZ97K8UGY","trajectory_id":"3BS6ERDLAB56PC901AJ7UHN86OV6DJ","scene_id":7,"instruction":"lift off and head straight. once across the bridge turn left. at the end of the road turn left. at the first crosswalk turn 180 degrees around and head straight until you reach traffic cones where you will land.","sentence_instructions":[{"id":0,"instruction":"lift off and head straight.","completed_instruction":"Take off, then fly along the road over the bridge and stop in the middle of the 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across the bridge turn left.","completed_instruction":"Turn left to face the red building at the end of the 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turn left.","completed_instruction":"Fly straight ahead until reach the road in front of the red building, then turn left to face the zebra crossing behind the underground water 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the first crosswalk turn 180 degrees around and head straight until you reach traffic cones where you will land.","completed_instruction":"Walk forward to the crosswalk, then turn around to face the row of cone barriers on the road, and then fly forward to land right in front of the farthest cone barrier.","start_frame":38,"end_frame":61,"start_position":[4.86009987583388,-154.81516844446568,-0.7372815012931824],"start_rotation":[0.39566208306180561,0,0,-0.91839616507648425],"end_position":[25.041228641002782,-151.31022315530942,-0.7372815012931824],"end_rotation":[0.98950745713354538,0,0,0.14448180604181537],"actions":[2,2,2,1,1,2,2,2,2,2,2,2,2,2,2,2,1,1,1,1,6,1,1,0],"reference_path":[[4.86009987583388,-154.81516844446568,-0.7372815012931824,0,0,-2.3280153506483425],[4.86009987583388,-154.81516844446568,-0.7372815012931824,0,0,-2.589814738447492],[4.86009987583388,-154.81516844446568,-0.7372815012931824,0,0,-2.8516141262466417],[4.86009987583388,-154.81516844446568,-0.7372815012931824,0,0,-3.1134135140457917],[-0.13791509576101824,-154.956045496228,-0.7372815012931824,0,0,-3.1134135140457917],[-5.1359300673559165,-155.09692254799032,-0.7372815012931824,0,0,-3.1134135140457917],[-5.1359300673559165,-155.09692254799032,-0.7372815012931824,0,0,2.9079724053346454],[-5.1359300673559165,-155.09692254799032,-0.7372815012931824,0,0,2.646173017535496],[-5.1359300673559165,-155.09692254799032,-0.7372815012931824,0,0,2.3843736297363463],[-5.1359300673559165,-155.09692254799032,-0.7372815012931824,0,0,2.122574241937197],[-5.1359300673559165,-155.09692254799032,-0.7372815012931824,0,0,1.8607748541380476],[-5.1359300673559165,-155.09692254799032,-0.7372815012931824,0,0,1.5989754663388982],[-5.1359300673559165,-155.09692254799032,-0.7372815012931824,0,0,1.3371760785397486],[-5.1359300673559165,-155.09692254799032,-0.7372815012931824,0,0,1.075376690740599],[-5.1359300673559165,-155.09692254799032,-0.7372815012931824,0,0,0.8135773029414496],[-5.1359300673559165,-155.09692254799032,-0.7372815012931824,0,0,0.5517779151423002],[-5.1359300673559165,-155.09692254799032,-0.7372815012931824,0,0,0.2899785273431508],[-0.3446799901269646,-153.66726430300534,-0.7372815012931824,0,0,0.2899785273431508],[4.446570087101987,-152.23760605802036,-0.7372815012931824,0,0,0.2899785273431508],[9.23782016433094,-150.80794781303538,-0.7372815012931824,0,0,0.2899785273431508],[14.029070241559891,-149.3782895680504,-0.7372815012931824,0,0,0.2899785273431508],[15.45872848654488,-154.16953964527937,-0.7372815012931824,0,0,0.2899785273431508],[20.24997856377383,-152.7398814002944,-0.7372815012931824,0,0,0.2899785273431508],[25.041228641002782,-151.31022315530942,-0.7372815012931824,0,0,0.2899785273431508]]}],"statistics":{"complete_actions":65,"sentence_actions":[12,7,22,24],"sentence_actions_average":16.25}}
diff --git a/scene_7/3NPFYT4IZL2P6V0GUQY7PYYD2TDXG0.json b/scene_7/3NPFYT4IZL2P6V0GUQY7PYYD2TDXG0.json
new file mode 100644
index 0000000000000000000000000000000000000000..2dec1ddd68cc4c4742a2ae099030bf356c5b7d2d
--- /dev/null
+++ b/scene_7/3NPFYT4IZL2P6V0GUQY7PYYD2TDXG0.json
@@ -0,0 +1,912 @@
+{
+  "episode_id": "3NPFYT4IZL2P6V0GUQY7PYYD2TDXG0",
+  "trajectory_id": "3LXX8KJXQ47KBS2NPQ0ZPLQ909B9O7",
+  "scene_id": 7,
+  "instruction": "lift off and turn left until facing the road then head straight. at the next bridge on your left turn left and head across the bridge. once across the bridge turn left. at the first garbage cans on your left turn left 90 degrees and head straight. once back on the road turn left until parallel with the road and head straight. just after the intersection land in front of the traffic cones.",
+  "sentence_instructions": [
+    {
+      "id": 0,
+      "instruction": "lift off and turn left until facing the road then head straight",
+      "completed_instruction": "Lift off and turn left until facing the road then head straight until reaching the second bridge.",
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+      "instruction": "at the first garbage cans on your left turn left 90 degrees and head straight",
+      "completed_instruction": "At the first garbage cans on left turn left 90 degrees and head straight.",
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+    {
+      "id": 4,
+      "instruction": "once back on the road turn left until parallel with the road and head straight",
+      "completed_instruction": "Once back on the road turn left until parallel with the road and head straight until reaching second garbage bins.",
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+    {
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+      "instruction": "just after the intersection land in front of the traffic cones",
+      "completed_instruction": "Just after the intersection land in front of the traffic cones.",
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+  "statistics": {
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+    "sentence_actions_average": 13.17
+  }
+}
\ No newline at end of file
diff --git a/scene_7/3PDJHANYKEEQNCBVD97ZALXUKYH6HM.json b/scene_7/3PDJHANYKEEQNCBVD97ZALXUKYH6HM.json
new file mode 100644
index 0000000000000000000000000000000000000000..86237f23a0bb36ab47a2a811a63689773d4d4f13
--- /dev/null
+++ b/scene_7/3PDJHANYKEEQNCBVD97ZALXUKYH6HM.json
@@ -0,0 +1 @@
+{"episode_id":"3PDJHANYKEEQNCBVD97ZALXUKYH6HM","trajectory_id":"3ZC62PVYEP8X6XYDTXT9O13KJIGXXW","scene_id":7,"instruction":"lift off and head straight on the road. at the next intersection turn right. at the next intersection turn 180 degrees and head straight. at the next intersection turn left. at the next intersection turn left. at the first blue garbage cans on the left turn 135 degrees and head across the water. turn left 45 degrees and head straight on the road. at the next intersection turn right. at the end of the road past the bridge turn left and land in front of the first red house on the right.","sentence_instructions":[{"id":0,"instruction":"lift off and head straight on the road.","completed_instruction":"Take off and fly to the intersection of the road ahead.","start_frame":0,"end_frame":3,"start_position":[-26.809755325317383,-154.07713317871094,-0.2606585919857025],"start_rotation":[0.99985962000110684,0,0,-0.016755306360742503],"end_position":[-16.81537013114223,-154.412192263728,-2.2606585919857025],"end_rotation":[0.99985962000110684,0,0,-0.016755306360742503],"actions":[4,1,1,1],"reference_path":[[-26.809755325317383,-154.07713317871094,-0.2606585919857025,0,0,-0.03351218088279967],[-26.809755325317383,-154.07713317871094,-2.2606585919857025,0,0,-0.03351218088279967],[-21.812562728229807,-154.24466272121947,-2.2606585919857025,0,0,-0.03351218088279967],[-16.81537013114223,-154.412192263728,-2.2606585919857025,0,0,-0.03351218088279967]]},{"id":1,"instruction":"at the next intersection turn right.","completed_instruction":"Turn right to face the red warning sign on the right side of the road, then, drive straight ahead to the next intersection.","start_frame":3,"end_frame":23,"start_position":[-16.81537013114223,-154.412192263728,-2.2606585919857025],"start_rotation":[0.99985962000110684,0,0,-0.016755306360742503],"end_position":[0.01903262771445058,-99.94566232329026,-2.2606585919857025],"end_rotation":[0.71885530828592625,0,0,0.69515972678884808],"actions":[1,1,1,3,3,3,3,3,3,1,1,1,1,1,1,1,1,1,1,1,1],"reference_path":[[-16.81537013114223,-154.412192263728,-2.2606585919857025,0,0,-0.03351218088279967],[-11.818177534054655,-154.57972180623653,-2.2606585919857025,0,0,-0.03351218088279967],[-6.820984936967079,-154.74725134874507,-2.2606585919857025,0,0,-0.03351218088279967],[-1.8237923398795033,-154.9147808912536,-2.2606585919857025,0,0,-0.03351218088279967],[-1.8237923398795033,-154.9147808912536,-2.2606585919857025,0,0,0.22828720691634977],[-1.8237923398795033,-154.9147808912536,-2.2606585919857025,0,0,0.4900865947154992],[-1.8237923398795033,-154.9147808912536,-2.2606585919857025,0,0,0.7518859825146487],[-1.8237923398795033,-154.9147808912536,-2.2606585919857025,0,0,1.013685370313798],[-1.8237923398795033,-154.9147808912536,-2.2606585919857025,0,0,1.2754847581129474],[-1.8237923398795033,-154.9147808912536,-2.2606585919857025,0,0,1.537284145912097],[-1.656262797370962,-149.91758829416602,-2.2606585919857025,0,0,1.537284145912097],[-1.4887332548624208,-144.92039569707845,-2.2606585919857025,0,0,1.537284145912097],[-1.3212037123538796,-139.92320309999087,-2.2606585919857025,0,0,1.537284145912097],[-1.1536741698453383,-134.9260105029033,-2.2606585919857025,0,0,1.537284145912097],[-0.9861446273367971,-129.92881790581572,-2.2606585919857025,0,0,1.537284145912097],[-0.8186150848282558,-124.93162530872814,-2.2606585919857025,0,0,1.537284145912097],[-0.6510855423197146,-119.93443271164057,-2.2606585919857025,0,0,1.537284145912097],[-0.4835559998111733,-114.93724011455299,-2.2606585919857025,0,0,1.537284145912097],[-0.316026457302632,-109.94004751746542,-2.2606585919857025,0,0,1.537284145912097],[-0.14849691479409072,-104.94285492037784,-2.2606585919857025,0,0,1.537284145912097],[0.01903262771445058,-99.94566232329026,-2.2606585919857025,0,0,1.537284145912097]]},{"id":2,"instruction":"at the next intersection turn 180 degrees and head straight.","completed_instruction":"Turn around to face the trash can on the left side of the road, then fly forward to the next intersection.","start_frame":23,"end_frame":48,"start_position":[0.01903262771445058,-99.94566232329026,-2.2606585919857025],"start_rotation":[0.71885530828592625,0,0,0.69515972678884808],"end_position":[-1.1536741698453656,-134.9260105029033,-2.2606585919857025],"end_rotation":[0.69515972678884785,0,0,-0.71885530828592648],"actions":[1,1,1,3,3,3,3,3,3,3,3,3,3,3,3,1,1,1,1,1,1,1,1,1,1,1],"reference_path":[[0.01903262771445058,-99.94566232329026,-2.2606585919857025,0,0,1.537284145912097],[0.18656217022299187,-94.94846972620269,-2.2606585919857025,0,0,1.537284145912097],[0.35409171273153317,-89.95127712911511,-2.2606585919857025,0,0,1.537284145912097],[0.5216212552400745,-84.95408453202754,-2.2606585919857025,0,0,1.537284145912097],[0.5216212552400745,-84.95408453202754,-2.2606585919857025,0,0,1.7990835337112463],[0.5216212552400745,-84.95408453202754,-2.2606585919857025,0,0,2.060882921510396],[0.5216212552400745,-84.95408453202754,-2.2606585919857025,0,0,2.322682309309545],[0.5216212552400745,-84.95408453202754,-2.2606585919857025,0,0,2.5844816971086946],[0.5216212552400745,-84.95408453202754,-2.2606585919857025,0,0,2.8462810849078437],[0.5216212552400745,-84.95408453202754,-2.2606585919857025,0,0,3.1080804727069933],[0.5216212552400745,-84.95408453202754,-2.2606585919857025,0,0,-2.913305446673443],[0.5216212552400745,-84.95408453202754,-2.2606585919857025,0,0,-2.651506058874294],[0.5216212552400745,-84.95408453202754,-2.2606585919857025,0,0,-2.3897066710751447],[0.5216212552400745,-84.95408453202754,-2.2606585919857025,0,0,-2.1279072832759955],[0.5216212552400745,-84.95408453202754,-2.2606585919857025,0,0,-1.8661078954768462],[0.5216212552400745,-84.95408453202754,-2.2606585919857025,0,0,-1.6043085076776968],[0.3540917127315305,-89.95127712911511,-2.2606585919857025,0,0,-1.6043085076776968],[0.1865621702229865,-94.94846972620269,-2.2606585919857025,0,0,-1.6043085076776968],[0.019032627714442474,-99.94566232329026,-2.2606585919857025,0,0,-1.6043085076776968],[-0.14849691479410154,-104.94285492037784,-2.2606585919857025,0,0,-1.6043085076776968],[-0.31602645730264556,-109.94004751746542,-2.2606585919857025,0,0,-1.6043085076776968],[-0.4835559998111896,-114.93724011455299,-2.2606585919857025,0,0,-1.6043085076776968],[-0.6510855423197336,-119.93443271164057,-2.2606585919857025,0,0,-1.6043085076776968],[-0.8186150848282776,-124.93162530872814,-2.2606585919857025,0,0,-1.6043085076776968],[-0.9861446273368216,-129.92881790581572,-2.2606585919857025,0,0,-1.6043085076776968],[-1.1536741698453656,-134.9260105029033,-2.2606585919857025,0,0,-1.6043085076776968]]},{"id":3,"instruction":"at the next intersection turn left.","completed_instruction":"Turn around to face the trash can on the left side of the road, then fly forward to the next intersection.","start_frame":48,"end_frame":58,"start_position":[-1.1536741698453656,-134.9260105029033,-2.2606585919857025],"start_rotation":[0.69515972678884785,0,0,-0.71885530828592648],"end_position":[-11.39681724674291,-152.1806833029584,-2.2606585919857025],"end_rotation":[0.11389590656122973,0,0,-0.9934926886840163],"actions":[1,1,1,2,2,2,2,2,1,1,1],"reference_path":[[-1.1536741698453656,-134.9260105029033,-2.2606585919857025,0,0,-1.6043085076776968],[-1.3212037123539098,-139.92320309999087,-2.2606585919857025,0,0,-1.6043085076776968],[-1.4887332548624537,-144.92039569707845,-2.2606585919857025,0,0,-1.6043085076776968],[-1.6562627973709976,-149.91758829416602,-2.2606585919857025,0,0,-1.6043085076776968],[-1.6562627973709976,-149.91758829416602,-2.2606585919857025,0,0,-1.8661078954768464],[-1.6562627973709976,-149.91758829416602,-2.2606585919857025,0,0,-2.127907283275996],[-1.6562627973709976,-149.91758829416602,-2.2606585919857025,0,0,-2.389706671075145],[-1.6562627973709976,-149.91758829416602,-2.2606585919857025,0,0,-2.6515060588742947],[-1.6562627973709976,-149.91758829416602,-2.2606585919857025,0,0,-2.9133054466734443],[-6.526540022056953,-151.04913579856222,-2.2606585919857025,0,0,-2.9133054466734443],[-11.39681724674291,-152.1806833029584,-2.2606585919857025,0,0,-2.9133054466734443]]},{"id":4,"instruction":"at the next intersection turn left.","completed_instruction":"Turn to the right side of the road and build a red brick house there, then fly forward to the front of the red brick house.","start_frame":58,"end_frame":69,"start_position":[-11.39681724674291,-152.1806833029584,-2.2606585919857025],"start_rotation":[0.11389590656122973,0,0,-0.9934926886840163],"end_position":[-28.270743929593177,-145.83477136677507,-2.2606585919857025],"end_rotation":[0.6219688493488883,0,0,0.78304198510655854],"actions":[1,1,1,2,2,2,2,2,2,1,1,1],"reference_path":[[-11.39681724674291,-152.1806833029584,-2.2606585919857025,0,0,-2.9133054466734443],[-16.267094471428866,-153.3122308073546,-2.2606585919857025,0,0,-2.9133054466734443],[-21.137371696114823,-154.4437783117508,-2.2606585919857025,0,0,-2.9133054466734443],[-26.00764892080078,-155.575325816147,-2.2606585919857025,0,0,-2.9133054466734443],[-26.00764892080078,-155.575325816147,-2.2606585919857025,0,0,3.1080804727069924],[-26.00764892080078,-155.575325816147,-2.2606585919857025,0,0,2.846281084907843],[-26.00764892080078,-155.575325816147,-2.2606585919857025,0,0,2.584481697108694],[-26.00764892080078,-155.575325816147,-2.2606585919857025,0,0,2.322682309309545],[-26.00764892080078,-155.575325816147,-2.2606585919857025,0,0,2.0608829215103954],[-26.00764892080078,-155.575325816147,-2.2606585919857025,0,0,1.799083533711246],[-27.139196425196978,-150.70504859146104,-2.2606585919857025,0,0,1.799083533711246],[-28.270743929593177,-145.83477136677507,-2.2606585919857025,0,0,1.799083533711246]]},{"id":5,"instruction":"at the first blue garbage cans on the left turn 135 degrees and head across the water.","completed_instruction":"Turn left towards the blue \"P\" sign on the left side of the road, and then fly forward to the sidewalk on the other side of the river.","start_frame":69,"end_frame":83,"start_position":[-28.270743929593177,-145.83477136677507,-2.2606585919857025],"start_rotation":[0.6219688493488883,0,0,0.78304198510655854],"end_position":[-17.101078741196382,-134.3018486911197,-2.2606585919857025],"end_rotation":[0.98911867600651993,0,0,-0.14711983134543427],"actions":[1,1,1,2,2,2,2,2,2,2,1,2,1,1,1],"reference_path":[[-28.270743929593177,-145.83477136677507,-2.2606585919857025,0,0,1.799083533711246],[-29.402291433989376,-140.9644941420891,-2.2606585919857025,0,0,1.799083533711246],[-30.533838938385575,-136.09421691740314,-2.2606585919857025,0,0,1.799083533711246],[-31.665386442781774,-131.22393969271718,-2.2606585919857025,0,0,1.799083533711246],[-31.665386442781774,-131.22393969271718,-2.2606585919857025,0,0,1.5372841459120967],[-31.665386442781774,-131.22393969271718,-2.2606585919857025,0,0,1.2754847581129474],[-31.665386442781774,-131.22393969271718,-2.2606585919857025,0,0,1.013685370313798],[-31.665386442781774,-131.22393969271718,-2.2606585919857025,0,0,0.7518859825146486],[-31.665386442781774,-131.22393969271718,-2.2606585919857025,0,0,0.4900865947154992],[-31.665386442781774,-131.22393969271718,-2.2606585919857025,0,0,0.2282872069163498],[-31.665386442781774,-131.22393969271718,-2.2606585919857025,0,0,-0.033512180882799614],[-26.668193845694198,-131.3914692352257,-2.2606585919857025,0,0,-0.033512180882799614],[-26.668193845694198,-131.3914692352257,-2.2606585919857025,0,0,-0.2953115686819491],[-21.88463629344529,-132.8466589631727,-2.2606585919857025,0,0,-0.2953115686819491],[-17.101078741196382,-134.3018486911197,-2.2606585919857025,0,0,-0.2953115686819491]]},{"id":6,"instruction":"turn left 45 degrees and head straight on the road.","completed_instruction":"Turn left towards the road intersection, then fly forward to the road intersection, and then turn right to face the road with the cone barriers set up.","start_frame":83,"end_frame":95,"start_position":[-17.101078741196382,-134.3018486911197,-2.2606585919857025],"start_rotation":[0.98911867600651993,0,0,-0.14711983134543427],"end_position":[0.6442364287389482,-153.27824954901854,-2.2606585919857025],"end_rotation":[0.91733786015507779,0,0,-0.39810959587292416],"actions":[1,1,1,2,2,2,2,1,1,1,3,3,3],"reference_path":[[-17.101078741196382,-134.3018486911197,-2.2606585919857025,0,0,-0.2953115686819491],[-12.317521188947472,-135.75703841906667,-2.2606585919857025,0,0,-0.2953115686819491],[-7.533963636698562,-137.21222814701366,-2.2606585919857025,0,0,-0.2953115686819491],[-2.7504060844496525,-138.66741787496065,-2.2606585919857025,0,0,-0.2953115686819491],[-2.7504060844496525,-138.66741787496065,-2.2606585919857025,0,0,-0.5571109564810985],[-2.7504060844496525,-138.66741787496065,-2.2606585919857025,0,0,-0.8189103442802479],[-2.7504060844496525,-138.66741787496065,-2.2606585919857025,0,0,-1.0807097320793972],[-2.7504060844496525,-138.66741787496065,-2.2606585919857025,0,0,-1.3425091198785468],[-1.6188585800534523,-143.5376950996466,-2.2606585919857025,0,0,-1.3425091198785468],[-0.48731107565725207,-148.40797232433258,-2.2606585919857025,0,0,-1.3425091198785468],[0.6442364287389482,-153.27824954901854,-2.2606585919857025,0,0,-1.3425091198785468],[0.6442364287389482,-153.27824954901854,-2.2606585919857025,0,0,-1.0807097320793975],[0.6442364287389482,-153.27824954901854,-2.2606585919857025,0,0,-0.8189103442802481]]},{"id":7,"instruction":"at the next intersection turn right.","completed_instruction":"Fly forward to the end of the road, then turn left to face the red building, and then land in front of the red building.","start_frame":96,"end_frame":121,"start_position":[0.6442364287389482,-153.27824954901854,-2.2606585919857025],"start_rotation":[0.96145363722995525,0,0,-0.27496709522648249],"end_position":[82.86241299093255,-165.69927667852699,-2.2606585919857025],"end_rotation":[0.78304198510655854,0,0,-0.6219688493488883],"actions":[3,3,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,2,2,2,2,2,1,1,0],"reference_path":[[0.6442364287389482,-153.27824954901854,-2.2606585919857025,0,0,-0.5571109564810988],[0.6442364287389482,-153.27824954901854,-2.2606585919857025,0,0,-0.2953115686819493],[0.6442364287389482,-153.27824954901854,-2.2606585919857025,0,0,-0.03351218088279989],[5.641429025826524,-153.44577909152707,-2.2606585919857025,0,0,-0.03351218088279989],[10.6386216229141,-153.6133086340356,-2.2606585919857025,0,0,-0.03351218088279989],[15.635814220001675,-153.78083817654414,-2.2606585919857025,0,0,-0.03351218088279989],[20.633006817089253,-153.94836771905267,-2.2606585919857025,0,0,-0.03351218088279989],[25.63019941417683,-154.1158972615612,-2.2606585919857025,0,0,-0.03351218088279989],[30.627392011264405,-154.28342680406973,-2.2606585919857025,0,0,-0.03351218088279989],[35.62458460835198,-154.45095634657827,-2.2606585919857025,0,0,-0.03351218088279989],[40.62177720543956,-154.6184858890868,-2.2606585919857025,0,0,-0.03351218088279989],[45.61896980252713,-154.78601543159533,-2.2606585919857025,0,0,-0.03351218088279989],[50.61616239961471,-154.95354497410386,-2.2606585919857025,0,0,-0.03351218088279989],[55.613354996702284,-155.1210745166124,-2.2606585919857025,0,0,-0.03351218088279989],[60.61054759378986,-155.28860405912093,-2.2606585919857025,0,0,-0.03351218088279989],[65.60774019087744,-155.45613360162946,-2.2606585919857025,0,0,-0.03351218088279989],[70.60493278796501,-155.623663144138,-2.2606585919857025,0,0,-0.03351218088279989],[75.60212538505259,-155.79119268664653,-2.2606585919857025,0,0,-0.03351218088279989],[80.59931798214016,-155.95872222915506,-2.2606585919857025,0,0,-0.03351218088279989],[80.59931798214016,-155.95872222915506,-2.2606585919857025,0,0,-0.2953115686819493],[80.59931798214016,-155.95872222915506,-2.2606585919857025,0,0,-0.5571109564810988],[80.59931798214016,-155.95872222915506,-2.2606585919857025,0,0,-0.8189103442802482],[80.59931798214016,-155.95872222915506,-2.2606585919857025,0,0,-1.0807097320793977],[80.59931798214016,-155.95872222915506,-2.2606585919857025,0,0,-1.342509119878547],[81.73086548653636,-160.82899945384102,-2.2606585919857025,0,0,-1.342509119878547],[82.86241299093255,-165.69927667852699,-2.2606585919857025,0,0,-1.342509119878547]]}],"statistics":{"complete_actions":128,"sentence_actions":[4,21,26,11,12,15,13,26],"sentence_actions_average":16.0}}
diff --git a/scene_7/3TK8OJTYMAJ3FJOKXUNCVMFKN9OVPV.json b/scene_7/3TK8OJTYMAJ3FJOKXUNCVMFKN9OVPV.json
new file mode 100644
index 0000000000000000000000000000000000000000..9012e43b874c1d0f59ee4c308476659149303eed
--- /dev/null
+++ b/scene_7/3TK8OJTYMAJ3FJOKXUNCVMFKN9OVPV.json
@@ -0,0 +1 @@
+{"episode_id":"3TK8OJTYMAJ3FJOKXUNCVMFKN9OVPV","trajectory_id":"34O39PNDLE66WY90F2VZAMQ4ZWYRB8","scene_id":7,"instruction":"lift off and turn 180 degrees until facing a gray building on the other side of the water and head straight. once back on the road turn right 135 degrees and head straight. once back on the road turn 45 degrees left and head straight. at the end of the road turn left and land in front of the white trash bin.","sentence_instructions":[{"id":0,"instruction":"lift off and turn 180 degrees until facing a gray building on the other side of the water and head straight.","completed_instruction":"Turn around to face the river, fly vertically to the street across the river.","start_frame":0,"end_frame":17,"start_position":[1.8772368431091309,-32.51529312133789,-0.30986443161964417],"start_rotation":[0.99999789472741984,0,0,-0.00205196021601194],"end_position":[-18.122594735261746,-32.433214885494834,-2.309864431619644],"end_rotation":[0.0020519602160122964,0,0,0.99999789472741984],"actions":[4,2,2,2,2,2,2,2,2,2,2,2,2,1,1,1,1,1],"reference_path":[[1.8772368431091309,-32.51529312133789,-0.30986443161964417,0,0,-0.004103923311983357],[1.8772368431091309,-32.51529312133789,-2.309864431619644,0,0,-0.004103923311983357],[1.8772368431091309,-32.51529312133789,-2.309864431619644,0,0,-0.2659033111111328],[1.8772368431091309,-32.51529312133789,-2.309864431619644,0,0,-0.5277026989102822],[1.8772368431091309,-32.51529312133789,-2.309864431619644,0,0,-0.7895020867094317],[1.8772368431091309,-32.51529312133789,-2.309864431619644,0,0,-1.0513014745085811],[1.8772368431091309,-32.51529312133789,-2.309864431619644,0,0,-1.3131008623077305],[1.8772368431091309,-32.51529312133789,-2.309864431619644,0,0,-1.57490025010688],[1.8772368431091309,-32.51529312133789,-2.309864431619644,0,0,-1.8366996379060294],[1.8772368431091309,-32.51529312133789,-2.309864431619644,0,0,-2.098499025705179],[1.8772368431091309,-32.51529312133789,-2.309864431619644,0,0,-2.360298413504329],[1.8772368431091309,-32.51529312133789,-2.309864431619644,0,0,-2.6220978013034784],[1.8772368431091309,-32.51529312133789,-2.309864431619644,0,0,-2.8838971891026275],[1.8772368431091309,-32.51529312133789,-2.309864431619644,0,0,3.137488730277809],[-3.1227210514835884,-32.49477356237713,-2.309864431619644,0,0,3.137488730277809],[-8.122678946076308,-32.47425400341636,-2.309864431619644,0,0,3.137488730277809],[-13.122636840669028,-32.4537344444556,-2.309864431619644,0,0,3.137488730277809],[-18.122594735261746,-32.433214885494834,-2.309864431619644,0,0,3.137488730277809]]},{"id":1,"instruction":"once back on the road turn right 135 degrees and head straight.","completed_instruction":"Turn right 135 degrees, fly forward across the river, and reach the red house on the street across the river.","start_frame":17,"end_frame":33,"start_position":[-18.122594735261746,-32.433214885494834,-2.309864431619644],"start_rotation":[0.0020519602160122964,0,0,0.99999789472741984],"end_position":[-10.843187424089312,-42.46317339409664,-2.309864431619644],"end_rotation":[0.96539270636821506,0,0,-0.26080054158504595],"actions":[1,1,3,3,3,3,3,3,3,3,3,3,1,1,1,1,1],"reference_path":[[-18.122594735261746,-32.433214885494834,-2.309864431619644,0,0,3.137488730277809],[-23.122552629854464,-32.41269532653407,-2.309864431619644,0,0,3.137488730277809],[-28.122510524447183,-32.392175767573306,-2.309864431619644,0,0,3.137488730277809],[-28.122510524447183,-32.392175767573306,-2.309864431619644,0,0,-2.8838971891026275],[-28.122510524447183,-32.392175767573306,-2.309864431619644,0,0,-2.6220978013034784],[-28.122510524447183,-32.392175767573306,-2.309864431619644,0,0,-2.360298413504329],[-28.122510524447183,-32.392175767573306,-2.309864431619644,0,0,-2.098499025705179],[-28.122510524447183,-32.392175767573306,-2.309864431619644,0,0,-1.8366996379060299],[-28.122510524447183,-32.392175767573306,-2.309864431619644,0,0,-1.5749002501068805],[-28.122510524447183,-32.392175767573306,-2.309864431619644,0,0,-1.3131008623077314],[-28.122510524447183,-32.392175767573306,-2.309864431619644,0,0,-1.051301474508582],[-28.122510524447183,-32.392175767573306,-2.309864431619644,0,0,-0.7895020867094326],[-28.122510524447183,-32.392175767573306,-2.309864431619644,0,0,-0.5277026989102831],[-23.802679749357715,-34.90992517420414,-2.309864431619644,0,0,-0.5277026989102831],[-19.482848974268247,-37.427674580834974,-2.309864431619644,0,0,-0.5277026989102831],[-15.16301819917878,-39.94542398746581,-2.309864431619644,0,0,-0.5277026989102831],[-10.843187424089312,-42.46317339409664,-2.309864431619644,0,0,-0.5277026989102831]]},{"id":2,"instruction":"once back on the road turn 45 degrees left and head straight.","completed_instruction":"Turn left to face the road, fly straight along the road until reaching the intersection in front of white and red houses.","start_frame":33,"end_frame":58,"start_position":[-10.843187424089312,-42.46317339409664,-2.309864431619644],"start_rotation":[0.96539270636821506,0,0,-0.26080054158504595],"end_position":[2.585736565226213,-141.83763787985384,-2.309864431619644],"end_rotation":[0.7056543375505625,0,0,-0.70855624751749724],"actions":[1,1,2,2,2,1,1,1,1,2,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1],"reference_path":[[-10.843187424089312,-42.46317339409664,-2.309864431619644,0,0,-0.5277026989102831],[-6.523356648999845,-44.98092280072748,-2.309864431619644,0,0,-0.5277026989102831],[-2.203525873910378,-47.49867220735831,-2.309864431619644,0,0,-0.5277026989102831],[-2.203525873910378,-47.49867220735831,-2.309864431619644,0,0,-0.7895020867094326],[-2.203525873910378,-47.49867220735831,-2.309864431619644,0,0,-1.051301474508582],[-2.203525873910378,-47.49867220735831,-2.309864431619644,0,0,-1.3131008623077316],[-0.9292619180233481,-52.333571520759484,-2.309864431619644,0,0,-1.3131008623077316],[0.34500203786368155,-57.16847083416066,-2.309864431619644,0,0,-1.3131008623077316],[1.6192659937507112,-62.00337014756183,-2.309864431619644,0,0,-1.3131008623077316],[2.893529949637741,-66.838269460963,-2.309864431619644,0,0,-1.3131008623077316],[2.893529949637741,-66.838269460963,-2.309864431619644,0,0,-1.574900250106881],[2.8730103906769724,-71.83822735555573,-2.309864431619644,0,0,-1.574900250106881],[2.852490831716204,-76.83818525014846,-2.309864431619644,0,0,-1.574900250106881],[2.8319712727554354,-81.83814314474118,-2.309864431619644,0,0,-1.574900250106881],[2.811451713794667,-86.8381010393339,-2.309864431619644,0,0,-1.574900250106881],[2.7909321548338983,-91.83805893392663,-2.309864431619644,0,0,-1.574900250106881],[2.77041259587313,-96.83801682851936,-2.309864431619644,0,0,-1.574900250106881],[2.7498930369123613,-101.83797472311208,-2.309864431619644,0,0,-1.574900250106881],[2.729373477951593,-106.83793261770481,-2.309864431619644,0,0,-1.574900250106881],[2.7088539189908243,-111.83789051229753,-2.309864431619644,0,0,-1.574900250106881],[2.6883343600300558,-116.83784840689026,-2.309864431619644,0,0,-1.574900250106881],[2.6678148010692873,-121.83780630148298,-2.309864431619644,0,0,-1.574900250106881],[2.6472952421085187,-126.83776419607571,-2.309864431619644,0,0,-1.574900250106881],[2.6267756831477502,-131.83772209066842,-2.309864431619644,0,0,-1.574900250106881],[2.6062561241869817,-136.83767998526113,-2.309864431619644,0,0,-1.574900250106881],[2.585736565226213,-141.83763787985384,-2.309864431619644,0,0,-1.574900250106881]]},{"id":3,"instruction":"at the end of the road turn left and land in front of the white trash bin.","completed_instruction":"Turn left to face the road, go straight passing a blue house and land in front of a white house.","start_frame":58,"end_frame":69,"start_position":[2.585736565226213,-141.83763787985384,-2.309864431619644],"start_rotation":[0.7056543375505625,0,0,-0.70855624751749724],"end_position":[-16.794899806300016,-156.93460949258736,-2.309864431619644],"end_rotation":[0.12849151201492942,0,0,-0.99171060866571215],"actions":[1,1,2,2,2,2,2,1,1,1,1,0],"reference_path":[[2.585736565226213,-141.83763787985384,-2.309864431619644,0,0,-1.574900250106881],[2.5652170062654447,-146.83759577444656,-2.309864431619644,0,0,-1.574900250106881],[2.544697447304676,-151.83755366903927,-2.309864431619644,0,0,-1.574900250106881],[2.544697447304676,-151.83755366903927,-2.309864431619644,0,0,-1.8366996379060303],[2.544697447304676,-151.83755366903927,-2.309864431619644,0,0,-2.0984990257051797],[2.544697447304676,-151.83755366903927,-2.309864431619644,0,0,-2.360298413504329],[2.544697447304676,-151.83755366903927,-2.309864431619644,0,0,-2.6220978013034784],[2.544697447304676,-151.83755366903927,-2.309864431619644,0,0,-2.8838971891026275],[-2.2902018660964965,-153.1118176249263,-2.309864431619644,0,0,-2.8838971891026275],[-7.125101179497669,-154.3860815808133,-2.309864431619644,0,0,-2.8838971891026275],[-11.960000492898843,-155.66034553670033,-2.309864431619644,0,0,-2.8838971891026275],[-16.794899806300016,-156.93460949258736,-2.309864431619644,0,0,-2.8838971891026275]]}],"statistics":{"complete_actions":73,"sentence_actions":[18,17,26,12],"sentence_actions_average":18.25}}
diff --git a/scene_7/3VHHR074HCFBD88QN4RP8RQXWLL7LU.json b/scene_7/3VHHR074HCFBD88QN4RP8RQXWLL7LU.json
new file mode 100644
index 0000000000000000000000000000000000000000..645811fd9c0650bbcddcee7207dfa59c36686f7b
--- /dev/null
+++ b/scene_7/3VHHR074HCFBD88QN4RP8RQXWLL7LU.json
@@ -0,0 +1 @@
+{"episode_id":"3VHHR074HCFBD88QN4RP8RQXWLL7LU","trajectory_id":"351S7I5UHHURZJFKANRZZQ4764IJNX","scene_id":7,"instruction":"take off fly straight and turn back. straight to fly turn right to cross the river. turn left straight to fly and turn back to fly. turn right corner side fly to cross the water and land it.","sentence_instructions":[{"id":0,"instruction":"take off fly straight and turn back.","completed_instruction":"Turn around to face the bridge, and then fly forward to the crossroads behind the bridge, then turn right and face the water surface.","start_frame":0,"end_frame":24,"start_position":[70.05207824707031,-79.87269592285156,-0.8246278762817383],"start_rotation":[0.99999534605800422,0,0,0.0030508789442529505],"end_position":[50.0524505615636,-79.9947305126772,-0.8246278762817383],"end_rotation":[0.50263981169859617,0,0,-0.86449593388031609],"actions":[1,1,3,3,3,3,3,3,3,3,3,3,3,3,1,1,1,1,1,1,3,3,3,3,3],"reference_path":[[70.05207824707031,-79.87269592285156,-0.8246278762817383,0,0,0.006101767354265951],[75.05198516844699,-79.84218727539518,-0.8246278762817383,0,0,0.006101767354265951],[80.05189208982367,-79.81167862793879,-0.8246278762817383,0,0,0.006101767354265951],[80.05189208982367,-79.81167862793879,-0.8246278762817383,0,0,0.2679011551534154],[80.05189208982367,-79.81167862793879,-0.8246278762817383,0,0,0.5297005429525647],[80.05189208982367,-79.81167862793879,-0.8246278762817383,0,0,0.7914999307517142],[80.05189208982367,-79.81167862793879,-0.8246278762817383,0,0,1.0532993185508637],[80.05189208982367,-79.81167862793879,-0.8246278762817383,0,0,1.315098706350013],[80.05189208982367,-79.81167862793879,-0.8246278762817383,0,0,1.5768980941491626],[80.05189208982367,-79.81167862793879,-0.8246278762817383,0,0,1.838697481948312],[80.05189208982367,-79.81167862793879,-0.8246278762817383,0,0,2.1004968697474613],[80.05189208982367,-79.81167862793879,-0.8246278762817383,0,0,2.362296257546611],[80.05189208982367,-79.81167862793879,-0.8246278762817383,0,0,2.6240956453457605],[80.05189208982367,-79.81167862793879,-0.8246278762817383,0,0,2.8858950331449096],[80.05189208982367,-79.81167862793879,-0.8246278762817383,0,0,-3.1354908862355266],[75.05198516844699,-79.84218727539519,-0.8246278762817383,0,0,-3.1354908862355266],[70.05207824707031,-79.87269592285159,-0.8246278762817383,0,0,-3.1354908862355266],[65.05217132569364,-79.90320457030799,-0.8246278762817383,0,0,-3.1354908862355266],[60.05226440431696,-79.93371321776439,-0.8246278762817383,0,0,-3.1354908862355266],[55.05235748294028,-79.9642218652208,-0.8246278762817383,0,0,-3.1354908862355266],[50.0524505615636,-79.9947305126772,-0.8246278762817383,0,0,-3.1354908862355266],[50.0524505615636,-79.9947305126772,-0.8246278762817383,0,0,-2.8736914984363775],[50.0524505615636,-79.9947305126772,-0.8246278762817383,0,0,-2.6118921106372284],[50.0524505615636,-79.9947305126772,-0.8246278762817383,0,0,-2.350092722838079],[50.0524505615636,-79.9947305126772,-0.8246278762817383,0,0,-2.0882933350389297]]},{"id":1,"instruction":"straight to fly turn right to cross the river.","completed_instruction":"Fly straight ahead to the crossroads on the left side of the distant bridge, then turn left to face the cone barriers on the road.","start_frame":24,"end_frame":49,"start_position":[50.0524505615636,-79.9947305126772,-0.8246278762817383],"start_rotation":[0.50263981169859617,0,0,-0.86449593388031609],"end_position":[58.938727707705866,-150.1448130392284,-0.8246278762817383],"end_rotation":[0.13355036301067671,0,0,-0.99104202763541593],"actions":[3,3,3,1,1,1,1,6,1,1,1,1,1,1,1,6,1,1,1,2,2,2,2,2,2,1],"reference_path":[[50.0524505615636,-79.9947305126772,-0.8246278762817383,0,0,-2.0882933350389297],[50.0524505615636,-79.9947305126772,-0.8246278762817383,0,0,-1.8264939472397803],[50.0524505615636,-79.9947305126772,-0.8246278762817383,0,0,-1.564694559440631],[50.0524505615636,-79.9947305126772,-0.8246278762817383,0,0,-1.3028951716414818],[51.375990787059074,-84.81637351807436,-0.8246278762817383,0,0,-1.3028951716414818],[52.699531012554544,-89.63801652347152,-0.8246278762817383,0,0,-1.3028951716414818],[54.023071238050015,-94.45965952886868,-0.8246278762817383,0,0,-1.3028951716414818],[55.346611463545486,-99.28130253426585,-0.8246278762817383,0,0,-1.3028951716414818],[50.52496845814832,-100.60484275976131,-0.8246278762817383,0,0,-1.3028951716414818],[51.84850868364379,-105.42648576515847,-0.8246278762817383,0,0,-1.3028951716414818],[53.172048909139264,-110.24812877055564,-0.8246278762817383,0,0,-1.3028951716414818],[54.495589134634734,-115.0697717759528,-0.8246278762817383,0,0,-1.3028951716414818],[55.819129360130205,-119.89141478134997,-0.8246278762817383,0,0,-1.3028951716414818],[57.142669585625676,-124.71305778674713,-0.8246278762817383,0,0,-1.3028951716414818],[58.466209811121146,-129.5347007921443,-0.8246278762817383,0,0,-1.3028951716414818],[59.78975003661662,-134.35634379754146,-0.8246278762817383,0,0,-1.3028951716414818],[54.96810703121945,-135.67988402303692,-0.8246278762817383,0,0,-1.3028951716414818],[56.291647256714924,-140.50152702843408,-0.8246278762817383,0,0,-1.3028951716414818],[57.615187482210395,-145.32317003383125,-0.8246278762817383,0,0,-1.3028951716414818],[58.938727707705866,-150.1448130392284,-0.8246278762817383,0,0,-1.3028951716414818],[58.938727707705866,-150.1448130392284,-0.8246278762817383,0,0,-1.5646945594406314],[58.938727707705866,-150.1448130392284,-0.8246278762817383,0,0,-1.8264939472397808],[58.938727707705866,-150.1448130392284,-0.8246278762817383,0,0,-2.08829333503893],[58.938727707705866,-150.1448130392284,-0.8246278762817383,0,0,-2.3500927228380797],[58.938727707705866,-150.1448130392284,-0.8246278762817383,0,0,-2.6118921106372293],[58.938727707705866,-150.1448130392284,-0.8246278762817383,0,0,-2.873691498436379]]},{"id":2,"instruction":"turn left straight to fly and turn back to fly.","completed_instruction":"Fly forward to the conical barrier, then turn back to face the bridge, and then walk forward to the 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diff --git a/scene_7/3W8CV64QJBXD5VDTBGABUVOW9YJH9Z.json b/scene_7/3W8CV64QJBXD5VDTBGABUVOW9YJH9Z.json
new file mode 100644
index 0000000000000000000000000000000000000000..0a5b49488f92c5e9dfa795cf9fb9745fe41940d3
--- /dev/null
+++ b/scene_7/3W8CV64QJBXD5VDTBGABUVOW9YJH9Z.json
@@ -0,0 +1,957 @@
+{
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+  "scene_id": 7,
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+    "sentence_actions": [
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+    "sentence_actions_average": 14.0
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+}
\ No newline at end of file
diff --git a/scene_7/3WJ1OXY92JEYH3M50IU5DD6HJAGA8U.json b/scene_7/3WJ1OXY92JEYH3M50IU5DD6HJAGA8U.json
new file mode 100644
index 0000000000000000000000000000000000000000..81f6e475bf0f748bcbe65477a7ee767219fc0a70
--- /dev/null
+++ b/scene_7/3WJ1OXY92JEYH3M50IU5DD6HJAGA8U.json
@@ -0,0 +1 @@
+{"episode_id":"3WJ1OXY92JEYH3M50IU5DD6HJAGA8U","trajectory_id":"37J05LC5B5HID7O7LTDW3LSDT71DJ9","scene_id":7,"instruction":"take off after rising to the height slightly higher. fly forward by crossing the bridge and turn left at the intersection. fly forward by crossing a water body and reach the intersection. turn left and fly forward by crossing a bridge. fly forward on the street and turn right at the blue building on the right hand side which appears fourth on the street. fly forward by crossing the bridge turn left. fly forward and land on the ground by facing a staircase of the blue building.","sentence_instructions":[{"id":0,"instruction":"take off after rising to the height slightly higher.","completed_instruction":"Take off 2 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diff --git a/scene_7/3YZ8UPK3V2KK8FQGNZR1F0EUGDSUCD.json b/scene_7/3YZ8UPK3V2KK8FQGNZR1F0EUGDSUCD.json
new file mode 100644
index 0000000000000000000000000000000000000000..07d156c6e7243bdc66b25dd90f8f2efec442bcff
--- /dev/null
+++ b/scene_7/3YZ8UPK3V2KK8FQGNZR1F0EUGDSUCD.json
@@ -0,0 +1,796 @@
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+{"episode_id":"30BUDKLTXMTIKYKFIPPOXCMIPLOE5Z","trajectory_id":"37SOB9Z0T0VQQ5AAVPJX6RJTBCK3LX","scene_id":8,"instruction":"float up to the roof in front of you. turn left. fly over the tall tree and onto the roof behind it. turn left and fly past the tall buildings. go to the tree near the small houses. turn right. go forward to the blue tarps on top of the homes. turn around and go forward. dont pass the small house on stilts. land on the ground in front of the house.","sentence_instructions":[{"id":0,"instruction":"float up to the roof in front of you.","completed_instruction":"Take off to the height of the roof of the building 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it.","start_frame":8,"end_frame":18,"start_position":[-20.612924575805664,59.93636703491211,-11.133882761001587],"start_rotation":[0.963131601634378,0,0,-0.26903070072613949],"end_position":[-20.702673412425668,39.32103426664651,-15.133882761001587],"end_rotation":[0.78686398189935181,0,0,-0.61712646515077985],"actions":[2,2,2,1,1,4,1,4,1,6,1],"reference_path":[[-20.612924575805664,59.93636703491211,-11.133882761001587,0,0,-0.5447729720594406],[-20.612924575805664,59.93636703491211,-11.133882761001587,0,0,-0.8065723598585902],[-20.612924575805664,59.93636703491211,-11.133882761001587,0,0,-1.0683717476577397],[-20.612924575805664,59.93636703491211,-11.133882761001587,0,0,-1.330171135456889],[-19.42137531570063,55.08042115787197,-11.133882761001587,0,0,-1.330171135456889],[-18.229826055595595,50.224475280831825,-11.133882761001587,0,0,-1.330171135456889],[-18.229826055595595,50.224475280831825,-13.133882761001587,0,0,-1.330171135456889],[-17.03827679549056,45.36852940379168,-13.133882761001587,0,0,-1.330171135456889],[-17.03827679549056,45.36852940379168,-15.133882761001587,0,0,-1.330171135456889],[-15.846727535385526,40.51258352675154,-15.133882761001587,0,0,-1.330171135456889],[-20.702673412425668,39.32103426664651,-15.133882761001587,0,0,-1.330171135456889]]},{"id":3,"instruction":"turn left and fly past the tall buildings.","completed_instruction":"Turn left to face blue tarp roofs with wooden boards and fly forward over them.","start_frame":18,"end_frame":29,"start_position":[-20.702673412425668,39.32103426664651,-15.133882761001587],"start_rotation":[0.78686398189935181,0,0,-0.61712646515077985],"end_position":[-34.07896178344106,30.89044060929126,-13.133882761001587],"end_rotation":[0.12002254911468033,0,0,-0.99277116583028047],"actions":[1,5,2,2,2,2,2,2,1,1,1,1],"reference_path":[[-20.702673412425668,39.32103426664651,-15.133882761001587,0,0,-1.330171135456889],[-19.511124152320633,34.465088389606365,-15.133882761001587,0,0,-1.330171135456889],[-19.511124152320633,34.465088389606365,-13.133882761001587,0,0,-1.330171135456889],[-19.511124152320633,34.465088389606365,-13.133882761001587,0,0,-1.5919705232560384],[-19.511124152320633,34.465088389606365,-13.133882761001587,0,0,-1.853769911055188],[-19.511124152320633,34.465088389606365,-13.133882761001587,0,0,-2.1155692988543375],[-19.511124152320633,34.465088389606365,-13.133882761001587,0,0,-2.3773686866534867],[-19.511124152320633,34.465088389606365,-13.133882761001587,0,0,-2.6391680744526362],[-19.511124152320633,34.465088389606365,-13.133882761001587,0,0,-2.900967462251786],[-24.367070029360775,33.27353912950133,-13.133882761001587,0,0,-2.900967462251786],[-29.223015906400917,32.081989869396295,-13.133882761001587,0,0,-2.900967462251786],[-34.07896178344106,30.89044060929126,-13.133882761001587,0,0,-2.900967462251786]]},{"id":4,"instruction":"go to the tree near the small houses.","completed_instruction":"Fly forward along the roofs to the nearest tree.","start_frame":29,"end_frame":34,"start_position":[-34.07896178344106,30.89044060929126,-13.133882761001587],"start_rotation":[0.12002254911468033,0,0,-0.99277116583028047],"end_position":[-53.50274529160163,26.124243568871123,-11.133882761001587],"end_rotation":[0.12002254911468033,0,0,-0.99277116583028047],"actions":[1,1,5,1,1,1],"reference_path":[[-34.07896178344106,30.89044060929126,-13.133882761001587,0,0,-2.900967462251786],[-38.9349076604812,29.698891349186226,-13.133882761001587,0,0,-2.900967462251786],[-43.79085353752134,28.50734208908119,-13.133882761001587,0,0,-2.900967462251786],[-43.79085353752134,28.50734208908119,-11.133882761001587,0,0,-2.900967462251786],[-48.646799414561485,27.315792828976157,-11.133882761001587,0,0,-2.900967462251786],[-53.50274529160163,26.124243568871123,-11.133882761001587,0,0,-2.900967462251786]]},{"id":5,"instruction":"turn right.","completed_instruction":"Turn right to face the blue tarp roof building left to the building with tusty roof.","start_frame":34,"end_frame":39,"start_position":[-53.50274529160163,26.124243568871123,-11.133882761001587],"start_rotation":[0.12002254911468033,0,0,-0.99277116583028047],"end_position":[-58.35869116864177,24.932694308766088,-11.133882761001587],"end_rotation":[0.60032815947541851,0,0,-0.79975377519637658],"actions":[1,3,3,3,3,3],"reference_path":[[-53.50274529160163,26.124243568871123,-11.133882761001587,0,0,-2.900967462251786],[-58.35869116864177,24.932694308766088,-11.133882761001587,0,0,-2.900967462251786],[-58.35869116864177,24.932694308766088,-11.133882761001587,0,0,-2.6391680744526367],[-58.35869116864177,24.932694308766088,-11.133882761001587,0,0,-2.377368686653487],[-58.35869116864177,24.932694308766088,-11.133882761001587,0,0,-2.115569298854338],[-58.35869116864177,24.932694308766088,-11.133882761001587,0,0,-1.8537699110551886]]},{"id":6,"instruction":"go forward to the blue tarps on top of the homes.","completed_instruction":"Fly forward to the blue tarps on the roofs.","start_frame":39,"end_frame":43,"start_position":[-58.35869116864177,24.932694308766088,-11.133882761001587],"start_rotation":[0.60032815947541851,0,0,-0.79975377519637658],"end_position":[-55.95093169004564,20.55060641676409,-11.133882761001587],"end_rotation":[0.86068341906859858,0,0,-0.50914050333909511],"actions":[3,3,3,1,1],"reference_path":[[-58.35869116864177,24.932694308766088,-11.133882761001587,0,0,-1.8537699110551886],[-58.35869116864177,24.932694308766088,-11.133882761001587,0,0,-1.5919705232560393],[-58.35869116864177,24.932694308766088,-11.133882761001587,0,0,-1.3301711354568901],[-58.35869116864177,24.932694308766088,-11.133882761001587,0,0,-1.0683717476577408],[-55.95093169004564,20.55060641676409,-11.133882761001587,0,0,-1.0683717476577408]]},{"id":7,"instruction":"turn around and go forward.","completed_instruction":"Turn left to face the hut with the flat roof in the woods, and fly forward to it.","start_frame":43,"end_frame":52,"start_position":[-55.95093169004564,20.55060641676409,-11.133882761001587],"start_rotation":[0.86068341906859858,0,0,-0.50914050333909511],"end_position":[-51.13541273285339,11.786430632760096,-9.133882761001587],"end_rotation":[0.24857837959042312,0,0,-0.96861178456603525],"actions":[1,1,5,2,2,2,2,2,2,2],"reference_path":[[-55.95093169004564,20.55060641676409,-11.133882761001587,0,0,-1.0683717476577408],[-53.543172211449516,16.168518524762092,-11.133882761001587,0,0,-1.0683717476577408],[-51.13541273285339,11.786430632760096,-11.133882761001587,0,0,-1.0683717476577408],[-51.13541273285339,11.786430632760096,-9.133882761001587,0,0,-1.0683717476577408],[-51.13541273285339,11.786430632760096,-9.133882761001587,0,0,-1.3301711354568901],[-51.13541273285339,11.786430632760096,-9.133882761001587,0,0,-1.5919705232560397],[-51.13541273285339,11.786430632760096,-9.133882761001587,0,0,-1.853769911055189],[-51.13541273285339,11.786430632760096,-9.133882761001587,0,0,-2.1155692988543384],[-51.13541273285339,11.786430632760096,-9.133882761001587,0,0,-2.377368686653488],[-51.13541273285339,11.786430632760096,-9.133882761001587,0,0,-2.639168074452637]]},{"id":8,"instruction":"land on the ground in front of the house.","completed_instruction":"Land in front of the house.","start_frame":52,"end_frame":60,"start_position":[-51.13541273285339,11.786430632760096,-9.133882761001587],"start_rotation":[0.24857837959042312,0,0,-0.96861178456603525],"end_position":[-60.84730448693367,9.403332112550038,0.8661172389984131],"end_rotation":[0.1200225491146799,0,0,-0.99277116583028047],"actions":[2,1,1,5,5,5,5,5,5],"reference_path":[[-51.13541273285339,11.786430632760096,-9.133882761001587,0,0,-2.639168074452637],[-51.13541273285339,11.786430632760096,-9.133882761001587,0,0,-2.9009674622517867],[-55.99135860989353,10.594881372655067,-9.133882761001587,0,0,-2.9009674622517867],[-60.84730448693367,9.403332112550038,-9.133882761001587,0,0,-2.9009674622517867],[-60.84730448693367,9.403332112550038,-7.133882761001587,0,0,-2.9009674622517867],[-60.84730448693367,9.403332112550038,-5.133882761001587,0,0,-2.9009674622517867],[-60.84730448693367,9.403332112550038,-3.133882761001587,0,0,-2.9009674622517867],[-60.84730448693367,9.403332112550038,-1.133882761001587,0,0,-2.9009674622517867],[-60.84730448693367,9.403332112550038,0.8661172389984131,0,0,-2.9009674622517867]]}],"statistics":{"complete_actions":68,"sentence_actions":[3,6,11,12,6,6,5,10,9],"sentence_actions_average":7.56}}
diff --git a/scene_8/30MVJZJNHVB9W18JZGDW684BXFCJ9K.json b/scene_8/30MVJZJNHVB9W18JZGDW684BXFCJ9K.json
new file mode 100644
index 0000000000000000000000000000000000000000..b1247942ae92c8dc69a239bbfc1c81a2a2e9889d
--- /dev/null
+++ b/scene_8/30MVJZJNHVB9W18JZGDW684BXFCJ9K.json
@@ -0,0 +1 @@
+{"episode_id":"30MVJZJNHVB9W18JZGDW684BXFCJ9K","trajectory_id":"34HEO7RUHES1DO489OV3FB6YJIBAR4","scene_id":8,"instruction":"taking off and going through the old houses. passing by the house with the roof tarp. turning right and going toward the house and turning back left. descending by the roof blue tarp and toward the entrance with green and blue pattern towel. landing by the steps of the house.","sentence_instructions":[{"id":0,"instruction":"taking off and going through the old houses.","completed_instruction":"Take off to the height above the roofs beside the road, and fly forward along the dirt road over the tree on the left.","start_frame":0,"end_frame":5,"start_position":[-35.510658264160156,-9.149450302124023,-0.21374443173408508],"start_rotation":[0.99985402194499873,0,0,0.017086099625428473],"end_position":[-30.513577612164255,-8.978614247825648,-8.213744431734085],"end_rotation":[0.99985402194499873,0,0,0.017086099625428473],"actions":[4,4,4,1,4,1],"reference_path":[[-35.510658264160156,-9.149450302124023,-0.21374443173408508,0,0,0.03417386214501636],[-35.510658264160156,-9.149450302124023,-2.213744431734085,0,0,0.03417386214501636],[-35.510658264160156,-9.149450302124023,-4.213744431734085,0,0,0.03417386214501636],[-35.510658264160156,-9.149450302124023,-6.213744431734085,0,0,0.03417386214501636],[-30.513577612164255,-8.978614247825648,-6.213744431734085,0,0,0.03417386214501636],[-30.513577612164255,-8.978614247825648,-8.213744431734085,0,0,0.03417386214501636]]},{"id":1,"instruction":"passing by the house with the roof tarp.","completed_instruction":"Fly forward over the blue tarp roof with wooden boards to the dirt road intersection.","start_frame":5,"end_frame":13,"start_position":[-30.513577612164255,-8.978614247825648,-8.213744431734085],"start_rotation":[0.99985402194499873,0,0,0.017086099625428473],"end_position":[-0.6571494699299114,-9.252758662075511,-10.213744431734085],"end_rotation":[0.9935303157053057,0,0,-0.11356721258583254],"actions":[1,1,1,4,1,1,2,1,1],"reference_path":[[-30.513577612164255,-8.978614247825648,-8.213744431734085,0,0,0.03417386214501636],[-25.516496960168354,-8.807778193527273,-8.213744431734085,0,0,0.03417386214501636],[-20.519416308172453,-8.636942139228898,-8.213744431734085,0,0,0.03417386214501636],[-15.522335656176553,-8.466106084930523,-8.213744431734085,0,0,0.03417386214501636],[-15.522335656176553,-8.466106084930523,-10.213744431734085,0,0,0.03417386214501636],[-10.525255004180654,-8.295270030632148,-10.213744431734085,0,0,0.03417386214501636],[-5.528174352184754,-8.124433976333773,-10.213744431734085,0,0,0.03417386214501636],[-5.528174352184754,-8.124433976333773,-10.213744431734085,0,0,-0.22762552565413308],[-0.6571494699299114,-9.252758662075511,-10.213744431734085,0,0,-0.22762552565413308]]},{"id":2,"instruction":"turning right and going toward the house and turning back left.","completed_instruction":"Turn right to face another dirt road, fly forward over the blue tarp roof with wooden boards, then make a sharp turn to the left to face another blue tarp roof with wooden boards.","start_frame":13,"end_frame":38,"start_position":[-0.6571494699299114,-9.252758662075511,-10.213744431734085],"start_rotation":[0.9935303157053057,0,0,-0.11356721258583254],"end_position":[12.472900785326857,16.12248391532315,-12.213744431734085],"end_rotation":[0.99985402194499873,0,0,0.017086099625428751],"actions":[1,1,2,1,3,3,3,3,3,3,3,3,1,1,4,1,1,1,1,2,2,2,2,2,2,2],"reference_path":[[-0.6571494699299114,-9.252758662075511,-10.213744431734085,0,0,-0.22762552565413308],[4.213875412324931,-10.381083347817249,-10.213744431734085,0,0,-0.22762552565413308],[9.084900294579775,-11.509408033558987,-10.213744431734085,0,0,-0.22762552565413308],[9.084900294579775,-11.509408033558987,-10.213744431734085,0,0,-0.4894249134532825],[13.497917111117118,-13.859999996652245,-10.213744431734085,0,0,-0.4894249134532825],[13.497917111117118,-13.859999996652245,-10.213744431734085,0,0,-0.22762552565413302],[13.497917111117118,-13.859999996652245,-10.213744431734085,0,0,0.034173862145016415],[13.497917111117118,-13.859999996652245,-10.213744431734085,0,0,0.29597324994416585],[13.497917111117118,-13.859999996652245,-10.213744431734085,0,0,0.5577726377433153],[13.497917111117118,-13.859999996652245,-10.213744431734085,0,0,0.8195720255424648],[13.497917111117118,-13.859999996652245,-10.213744431734085,0,0,1.0813714133416141],[13.497917111117118,-13.859999996652245,-10.213744431734085,0,0,1.3431708011407637],[13.497917111117118,-13.859999996652245,-10.213744431734085,0,0,1.6049701889399133],[13.327081056818741,-8.862919344656346,-10.213744431734085,0,0,1.6049701889399133],[13.156245002520365,-3.8658386926604464,-10.213744431734085,0,0,1.6049701889399133],[13.156245002520365,-3.8658386926604464,-12.213744431734085,0,0,1.6049701889399133],[12.985408948221988,1.131241959335453,-12.213744431734085,0,0,1.6049701889399133],[12.81457289392361,6.1283226113313525,-12.213744431734085,0,0,1.6049701889399133],[12.643736839625234,11.125403263327252,-12.213744431734085,0,0,1.6049701889399133],[12.472900785326857,16.12248391532315,-12.213744431734085,0,0,1.6049701889399133],[12.472900785326857,16.12248391532315,-12.213744431734085,0,0,1.343170801140764],[12.472900785326857,16.12248391532315,-12.213744431734085,0,0,1.0813714133416146],[12.472900785326857,16.12248391532315,-12.213744431734085,0,0,0.8195720255424651],[12.472900785326857,16.12248391532315,-12.213744431734085,0,0,0.5577726377433158],[12.472900785326857,16.12248391532315,-12.213744431734085,0,0,0.29597324994416635],[12.472900785326857,16.12248391532315,-12.213744431734085,0,0,0.034173862145016914]]},{"id":3,"instruction":"descending by the roof blue tarp and toward the entrance with green and blue pattern towel.","completed_instruction":"Fly forward to the third blue tarp roofs with wooden boards, then fly down to its height.","start_frame":38,"end_frame":51,"start_position":[12.472900785326857,16.12248391532315,-12.213744431734085],"start_rotation":[0.99985402194499873,0,0,0.017086099625428751],"end_position":[27.089976575838577,2.4718027845357184,-12.213744431734085],"end_rotation":[0.93028323362446619,0,0,-0.36684207124756951],"actions":[2,2,4,4,4,5,2,1,1,1,1,5,5,3],"reference_path":[[12.472900785326857,16.12248391532315,-12.213744431734085,0,0,0.034173862145016914],[12.472900785326857,16.12248391532315,-12.213744431734085,0,0,-0.22762552565413252],[12.472900785326857,16.12248391532315,-12.213744431734085,0,0,-0.48942491345328193],[12.472900785326857,16.12248391532315,-14.213744431734085,0,0,-0.48942491345328193],[12.472900785326857,16.12248391532315,-16.213744431734085,0,0,-0.48942491345328193],[12.472900785326857,16.12248391532315,-18.213744431734085,0,0,-0.48942491345328193],[12.472900785326857,16.12248391532315,-16.213744431734085,0,0,-0.48942491345328193],[12.472900785326857,16.12248391532315,-16.213744431734085,0,0,-0.7512243012524314],[16.127169732954787,12.709813632626293,-16.213744431734085,0,0,-0.7512243012524314],[19.781438680582717,9.297143349929435,-16.213744431734085,0,0,-0.7512243012524314],[23.435707628210647,5.884473067232577,-16.213744431734085,0,0,-0.7512243012524314],[27.089976575838577,2.4718027845357184,-16.213744431734085,0,0,-0.7512243012524314],[27.089976575838577,2.4718027845357184,-14.213744431734085,0,0,-0.7512243012524314],[27.089976575838577,2.4718027845357184,-12.213744431734085,0,0,-0.7512243012524314]]},{"id":4,"instruction":"landing by the steps of the house.","completed_instruction":"Land by the house steps.","start_frame":51,"end_frame":59,"start_position":[27.089976575838577,2.4718027845357184,-12.213744431734085],"start_rotation":[0.93028323362446619,0,0,-0.36684207124756951],"end_position":[35.916010208913264,-2.2293811416507943,-2.213744431734085],"end_rotation":[0.970207030305251,0,0,-0.24227735830296987],"actions":[3,1,5,5,5,1,5,5,0],"reference_path":[[27.089976575838577,2.4718027845357184,-12.213744431734085,0,0,-0.7512243012524314],[27.089976575838577,2.4718027845357184,-12.213744431734085,0,0,-0.48942491345328204],[31.50299339237592,0.12121082144246209,-12.213744431734085,0,0,-0.48942491345328204],[31.50299339237592,0.12121082144246209,-10.213744431734085,0,0,-0.48942491345328204],[31.50299339237592,0.12121082144246209,-8.213744431734085,0,0,-0.48942491345328204],[31.50299339237592,0.12121082144246209,-6.213744431734085,0,0,-0.48942491345328204],[35.916010208913264,-2.2293811416507943,-6.213744431734085,0,0,-0.48942491345328204],[35.916010208913264,-2.2293811416507943,-4.213744431734085,0,0,-0.48942491345328204],[35.916010208913264,-2.2293811416507943,-2.213744431734085,0,0,-0.48942491345328204]]}],"statistics":{"complete_actions":64,"sentence_actions":[6,9,26,14,9],"sentence_actions_average":12.8}}
diff --git a/scene_8/32SCWG5HIQ2I0T9JWMF4JUZMZL26PP.json b/scene_8/32SCWG5HIQ2I0T9JWMF4JUZMZL26PP.json
new file mode 100644
index 0000000000000000000000000000000000000000..8a8407bc5648affcf67df06ca2b7d1249ec86ddd
--- /dev/null
+++ b/scene_8/32SCWG5HIQ2I0T9JWMF4JUZMZL26PP.json
@@ -0,0 +1 @@
+{"episode_id":"32SCWG5HIQ2I0T9JWMF4JUZMZL26PP","trajectory_id":"3XJOUITW92P6GJOH29XK5QMLFHJQTP","scene_id":8,"instruction":"fly up in the air. turn to the left and fly to the buildings. turn to the left and fly toward the building. turn to the right, fly under the power line and land on the ground.","sentence_instructions":[{"id":0,"instruction":"fly up in the air.","completed_instruction":"Fly up to the height of rusty roof.","start_frame":0,"end_frame":2,"start_position":[-20.612924575805664,59.93636703491211,-1.133882761001587],"start_rotation":[0.999999903272563,0,0,0.00043983504254408346],"end_position":[-20.612924575805664,59.93636703491211,-5.133882761001587],"end_rotation":[0.999999903272563,0,0,0.00043983504254408346],"actions":[4,4,4],"reference_path":[[-20.612924575805664,59.93636703491211,-1.133882761001587,0,0,0.0008796701134509122],[-20.612924575805664,59.93636703491211,-3.133882761001587,0,0,0.0008796701134509122],[-20.612924575805664,59.93636703491211,-5.133882761001587,0,0,0.0008796701134509122]]},{"id":1,"instruction":"turn to the left and fly to the buildings.","completed_instruction":"Turn left to face the leftmost tree in a row, fly forward to the trees until in front of the building with a rusty roof on the left, then fly down to the height of the second floor of that building.","start_frame":2,"end_frame":16,"start_position":[-20.612924575805664,59.93636703491211,-5.133882761001587],"start_rotation":[0.999999903272563,0,0,0.00043983504254408346],"end_position":[-15.419551757115157,40.62241149064084,-15.133882761001587],"end_rotation":[0.7936210181612271,0,0,-0.60841242552460839],"actions":[4,4,4,2,2,2,2,2,1,4,1,4,1,1,6],"reference_path":[[-20.612924575805664,59.93636703491211,-5.133882761001587,0,0,0.0008796701134509122],[-20.612924575805664,59.93636703491211,-7.133882761001587,0,0,0.0008796701134509122],[-20.612924575805664,59.93636703491211,-9.133882761001587,0,0,0.0008796701134509122],[-20.612924575805664,59.93636703491211,-11.133882761001587,0,0,0.0008796701134509122],[-20.612924575805664,59.93636703491211,-11.133882761001587,0,0,-0.2609197176856985],[-20.612924575805664,59.93636703491211,-11.133882761001587,0,0,-0.5227191054848479],[-20.612924575805664,59.93636703491211,-11.133882761001587,0,0,-0.7845184932839974],[-20.612924575805664,59.93636703491211,-11.133882761001587,0,0,-1.0463178810831468],[-20.612924575805664,59.93636703491211,-11.133882761001587,0,0,-1.3081172688822964],[-19.314581371133038,55.10787814884429,-11.133882761001587,0,0,-1.3081172688822964],[-19.314581371133038,55.10787814884429,-13.133882761001587,0,0,-1.3081172688822964],[-18.01623816646041,50.279389262776476,-13.133882761001587,0,0,-1.3081172688822964],[-18.01623816646041,50.279389262776476,-15.133882761001587,0,0,-1.3081172688822964],[-16.717894961787785,45.45090037670866,-15.133882761001587,0,0,-1.3081172688822964],[-15.419551757115157,40.62241149064084,-15.133882761001587,0,0,-1.3081172688822964]]},{"id":2,"instruction":"turn to the left and fly toward the building.","completed_instruction":"Turn left to face the roof covered in blue cloth, fly forward to the rusty roof.","start_frame":16,"end_frame":25,"start_position":[-15.419551757115157,40.62241149064084,-15.133882761001587],"start_rotation":[0.7936210181612271,0,0,-0.60841242552460839],"end_position":[-23.277623607064264,31.99177128433999,-13.133882761001587],"end_rotation":[0.2592438680945181,0,0,-0.96581189517182486],"actions":[6,1,5,2,2,2,2,2,1,1],"reference_path":[[-15.419551757115157,40.62241149064084,-15.133882761001587,0,0,-1.3081172688822964],[-20.24804064318297,39.32406828596822,-15.133882761001587,0,0,-1.3081172688822964],[-18.949697438510345,34.4955793999004,-15.133882761001587,0,0,-1.3081172688822964],[-18.949697438510345,34.4955793999004,-13.133882761001587,0,0,-1.3081172688822964],[-18.949697438510345,34.4955793999004,-13.133882761001587,0,0,-1.569916656681446],[-18.949697438510345,34.4955793999004,-13.133882761001587,0,0,-1.8317160444805956],[-18.949697438510345,34.4955793999004,-13.133882761001587,0,0,-2.093515432279745],[-18.949697438510345,34.4955793999004,-13.133882761001587,0,0,-2.355314820078894],[-18.949697438510345,34.4955793999004,-13.133882761001587,0,0,-2.6171142078780436],[-23.277623607064264,31.99177128433999,-13.133882761001587,0,0,-2.6171142078780436]]},{"id":3,"instruction":"turn to the right, fly under the power line and land on the ground.","completed_instruction":"Turn right to face the dirt road, fly forward to the nearest power line, land on the ground.","start_frame":25,"end_frame":39,"start_position":[-23.277623607064264,31.99177128433999,-13.133882761001587],"start_rotation":[0.2592438680945181,0,0,-0.96581189517182486],"end_position":[-35.80301467904165,12.491858134533565,-1.133882761001587],"end_rotation":[0.60911031472496735,0,0,-0.79308550894317265],"actions":[1,1,3,3,3,5,1,1,5,5,5,1,5,5,0],"reference_path":[[-23.277623607064264,31.99177128433999,-13.133882761001587,0,0,-2.6171142078780436],[-27.605549775618186,29.48796316877958,-13.133882761001587,0,0,-2.6171142078780436],[-31.93347594417211,26.98415505321917,-13.133882761001587,0,0,-2.6171142078780436],[-31.93347594417211,26.98415505321917,-13.133882761001587,0,0,-2.3553148200788945],[-31.93347594417211,26.98415505321917,-13.133882761001587,0,0,-2.093515432279745],[-31.93347594417211,26.98415505321917,-13.133882761001587,0,0,-1.8317160444805953],[-31.93347594417211,26.98415505321917,-11.133882761001587,0,0,-1.8317160444805953],[-33.22332218912862,22.1533894136573,-11.133882761001587,0,0,-1.8317160444805953],[-34.51316843408514,17.322623774095433,-11.133882761001587,0,0,-1.8317160444805953],[-34.51316843408514,17.322623774095433,-9.133882761001587,0,0,-1.8317160444805953],[-34.51316843408514,17.322623774095433,-7.133882761001587,0,0,-1.8317160444805953],[-34.51316843408514,17.322623774095433,-5.133882761001587,0,0,-1.8317160444805953],[-35.80301467904165,12.491858134533565,-5.133882761001587,0,0,-1.8317160444805953],[-35.80301467904165,12.491858134533565,-3.133882761001587,0,0,-1.8317160444805953],[-35.80301467904165,12.491858134533565,-1.133882761001587,0,0,-1.8317160444805953]]}],"statistics":{"complete_actions":43,"sentence_actions":[3,15,10,15],"sentence_actions_average":10.75}}
diff --git a/scene_8/33FBRBDW6XXMAIJ3KWQWJ8W66VH8CZ.json b/scene_8/33FBRBDW6XXMAIJ3KWQWJ8W66VH8CZ.json
new file mode 100644
index 0000000000000000000000000000000000000000..175a2f3b414475672643d2f6667717eb7ea57c8c
--- /dev/null
+++ b/scene_8/33FBRBDW6XXMAIJ3KWQWJ8W66VH8CZ.json
@@ -0,0 +1 @@
+{"episode_id":"33FBRBDW6XXMAIJ3KWQWJ8W66VH8CZ","trajectory_id":"3V0TR1NRWI0UCI2AYCZQ7IVOV06A4W","scene_id":8,"instruction":"take off and rise until you are in line with the green pair of pants. turn right until you are facing the house with the ladder. fly towards the house with the ladder. move upwards until you can see the blue house roofs. fly through the two trees toward the wooden house in the background. at the house, fly downwards along the front facing side until you are level with the horizontal wood balcony wall.","sentence_instructions":[{"id":0,"instruction":"turn right until you are facing the house with the ladder.","completed_instruction":"Turn right to face the dirt road, fly forward out of the shadowed area, then slightly turn right to face the dirt road paved with wooden boards.","start_frame":1,"end_frame":3,"start_position":[-38.391319274902344,8.043131828308105,-0.34734949469566345],"start_rotation":[0.98879837558342343,0,0,0.14925740331247592],"end_position":[-38.391319274902344,8.043131828308105,-0.34734949469566345],"end_rotation":[0.91647522936888992,0,0,0.40009143199178937],"actions":[3,3,3],"reference_path":[[-38.391319274902344,8.043131828308105,-0.34734949469566345,0,0,0.2996344418441567],[-38.391319274902344,8.043131828308105,-0.34734949469566345,0,0,0.5614338296433062],[-38.391319274902344,8.043131828308105,-0.34734949469566345,0,0,0.8232332174424556]]},{"id":1,"instruction":"fly towards the house with the ladder.","completed_instruction":"Fly up to the height above the roof of the building ahead, then fly forward over the roof covered with a blue tarp.","start_frame":3,"end_frame":13,"start_position":[-38.391319274902344,8.043131828308105,-0.34734949469566345],"start_rotation":[0.91647522936888992,0,0,0.40009143199178937],"end_position":[-34.94641652463784,17.339848257008804,-12.347349494695663],"end_rotation":[0.78169581081979334,0,0,0.6236598907632156],"actions":[3,1,3,4,4,4,4,4,4,1,1],"reference_path":[[-38.391319274902344,8.043131828308105,-0.34734949469566345,0,0,0.8232332174424556],[-38.391319274902344,8.043131828308105,-0.34734949469566345,0,0,1.085032605241605],[-36.05689993116998,12.464725017149448,-0.34734949469566345,0,0,1.085032605241605],[-36.05689993116998,12.464725017149448,-0.34734949469566345,0,0,1.3468319930407546],[-36.05689993116998,12.464725017149448,-2.3473494946956635,0,0,1.3468319930407546],[-36.05689993116998,12.464725017149448,-4.3473494946956635,0,0,1.3468319930407546],[-36.05689993116998,12.464725017149448,-6.3473494946956635,0,0,1.3468319930407546],[-36.05689993116998,12.464725017149448,-8.347349494695663,0,0,1.3468319930407546],[-36.05689993116998,12.464725017149448,-10.347349494695663,0,0,1.3468319930407546],[-36.05689993116998,12.464725017149448,-12.347349494695663,0,0,1.3468319930407546],[-34.94641652463784,17.339848257008804,-12.347349494695663,0,0,1.3468319930407546]]},{"id":2,"instruction":"move upwards until you can see the blue house roofs.","completed_instruction":"Slightly turn left to face the wooden house ahead, fly forward to the house, and land in front of the house.","start_frame":13,"end_frame":25,"start_position":[-34.94641652463784,17.339848257008804,-12.347349494695663],"start_rotation":[0.78169581081979334,0,0,0.6236598907632156],"end_position":[-18.718933649179377,53.61965386977557,-6.3473494946956635],"end_rotation":[0.85641224557641416,0,0,0.51629261628146861],"actions":[1,1,2,1,1,1,1,5,1,5,1,5,0],"reference_path":[[-34.94641652463784,17.339848257008804,-12.347349494695663,0,0,1.3468319930407546],[-33.8359331181057,22.21497149686816,-12.347349494695663,0,0,1.3468319930407546],[-32.72544971157356,27.090094736727515,-12.347349494695663,0,0,1.3468319930407546],[-32.72544971157356,27.090094736727515,-12.347349494695663,0,0,1.0850326052416053],[-30.391030367841196,31.511687925568857,-12.347349494695663,0,0,1.0850326052416053],[-28.056611024108832,35.9332811144102,-12.347349494695663,0,0,1.0850326052416053],[-25.72219168037647,40.35487430325154,-12.347349494695663,0,0,1.0850326052416053],[-23.387772336644105,44.776467492092884,-12.347349494695663,0,0,1.0850326052416053],[-23.387772336644105,44.776467492092884,-10.347349494695663,0,0,1.0850326052416053],[-21.05335299291174,49.198060680934226,-10.347349494695663,0,0,1.0850326052416053],[-21.05335299291174,49.198060680934226,-8.347349494695663,0,0,1.0850326052416053],[-18.718933649179377,53.61965386977557,-8.347349494695663,0,0,1.0850326052416053],[-18.718933649179377,53.61965386977557,-6.3473494946956635,0,0,1.0850326052416053]]}],"statistics":{"complete_actions":27,"sentence_actions":[3,11,13],"sentence_actions_average":9.0}}
diff --git a/scene_8/33NF62TLXS0TDXRA3D4LWHISRJEJK9.json b/scene_8/33NF62TLXS0TDXRA3D4LWHISRJEJK9.json
new file mode 100644
index 0000000000000000000000000000000000000000..588a0fbce01c71a31446feb1effd61794228bf9c
--- /dev/null
+++ b/scene_8/33NF62TLXS0TDXRA3D4LWHISRJEJK9.json
@@ -0,0 +1 @@
+{"episode_id":"33NF62TLXS0TDXRA3D4LWHISRJEJK9","trajectory_id":"3MD8CKRQ07LCEH7C3U8G8A9HD1UJRE","scene_id":8,"instruction":"lift up above the trees and turn around. go forward to the brown building. fly over the road to the right and go to the end. stop at the last tree. turn left. fly under the power line and land on the ground next to the yellow barrel that fell over.","sentence_instructions":[{"id":0,"instruction":"lift up above the trees and turn around.","completed_instruction":"Take off to the height above the trees ahead, then turn back to face the dirt road.","start_frame":0,"end_frame":14,"start_position":[34.013954162597656,-0.27672913670539856,-2.6408400535583496],"start_rotation":[0.99998156862240584,0,0,-0.0060714426187452953],"end_position":[34.013954162597656,-0.27672913670539856,-12.64084005355835],"end_rotation":[0.38828566055052405,0,0,0.92153906363802252],"actions":[4,4,4,4,4,3,3,3,3,3,3,3,3,3,3],"reference_path":[[34.013954162597656,-0.27672913670539856,-2.6408400535583496,0,0,-0.012142959841408243],[34.013954162597656,-0.27672913670539856,-4.64084005355835,0,0,-0.012142959841408243],[34.013954162597656,-0.27672913670539856,-6.64084005355835,0,0,-0.012142959841408243],[34.013954162597656,-0.27672913670539856,-8.64084005355835,0,0,-0.012142959841408243],[34.013954162597656,-0.27672913670539856,-10.64084005355835,0,0,-0.012142959841408243],[34.013954162597656,-0.27672913670539856,-12.64084005355835,0,0,-0.012142959841408243],[34.013954162597656,-0.27672913670539856,-12.64084005355835,0,0,0.24965642795774118],[34.013954162597656,-0.27672913670539856,-12.64084005355835,0,0,0.5114558157568907],[34.013954162597656,-0.27672913670539856,-12.64084005355835,0,0,0.77325520355604],[34.013954162597656,-0.27672913670539856,-12.64084005355835,0,0,1.0350545913551894],[34.013954162597656,-0.27672913670539856,-12.64084005355835,0,0,1.296853979154339],[34.013954162597656,-0.27672913670539856,-12.64084005355835,0,0,1.5586533669534883],[34.013954162597656,-0.27672913670539856,-12.64084005355835,0,0,1.820452754752638],[34.013954162597656,-0.27672913670539856,-12.64084005355835,0,0,2.0822521425517877],[34.013954162597656,-0.27672913670539856,-12.64084005355835,0,0,2.3440515303509373]]},{"id":1,"instruction":"go forward to the brown building.","completed_instruction":"Fly forward across the tree to the three-story brown building beside the dirt road.","start_frame":14,"end_frame":19,"start_position":[34.013954162597656,-0.27672913670539856,-12.64084005355835],"start_rotation":[0.38828566055052405,0,0,0.92153906363802252],"end_position":[24.014691410907112,-0.15530252243153164,-12.64084005355835],"end_rotation":[0.0060714426187447939,0,0,0.99998156862240584],"actions":[3,3,3,1,1,1],"reference_path":[[34.013954162597656,-0.27672913670539856,-12.64084005355835,0,0,2.3440515303509373],[34.013954162597656,-0.27672913670539856,-12.64084005355835,0,0,2.605850918150087],[34.013954162597656,-0.27672913670539856,-12.64084005355835,0,0,2.8676503059492364],[34.013954162597656,-0.27672913670539856,-12.64084005355835,0,0,3.129449693748386],[29.014322786752384,-0.2160158295684651,-12.64084005355835,0,0,3.129449693748386],[24.014691410907112,-0.15530252243153164,-12.64084005355835,0,0,3.129449693748386]]},{"id":2,"instruction":"fly over the road to the right and go to the end.","completed_instruction":"Move right slightly to face the dirt road ahead and fly forward along the dirt road to the second dirt T-junction.","start_frame":19,"end_frame":32,"start_position":[24.014691410907112,-0.15530252243153164,-12.64084005355835],"start_rotation":[0.0060714426187447939,0,0,0.99998156862240584],"end_position":[-24.589821417228805,-11.212786620075613,-12.64084005355835],"end_rotation":[0.12450428585703634,0,0,-0.9922190699655139],"actions":[1,3,1,7,1,1,1,1,1,1,1,6,1,1],"reference_path":[[24.014691410907112,-0.15530252243153164,-12.64084005355835,0,0,3.129449693748386],[19.01506003506184,-0.09458921529459818,-12.64084005355835,0,0,3.129449693748386],[19.01506003506184,-0.09458921529459818,-12.64084005355835,0,0,-2.891936225632051],[14.170073207029546,-1.329944482492489,-12.64084005355835,0,0,-2.891936225632051],[15.405428474227438,-6.174931310524782,-12.64084005355835,0,0,-2.891936225632051],[10.560441646195144,-7.4102865777226725,-12.64084005355835,0,0,-2.891936225632051],[5.715454818162851,-8.645641844920563,-12.64084005355835,0,0,-2.891936225632051],[0.8704679901305568,-9.880997112118454,-12.64084005355835,0,0,-2.891936225632051],[-3.974518837901737,-11.116352379316345,-12.64084005355835,0,0,-2.891936225632051],[-8.819505665934031,-12.351707646514235,-12.64084005355835,0,0,-2.891936225632051],[-13.664492493966325,-13.587062913712126,-12.64084005355835,0,0,-2.891936225632051],[-18.50947932199862,-14.822418180910017,-12.64084005355835,0,0,-2.891936225632051],[-19.74483458919651,-9.977431352877723,-12.64084005355835,0,0,-2.891936225632051],[-24.589821417228805,-11.212786620075613,-12.64084005355835,0,0,-2.891936225632051]]},{"id":3,"instruction":"turn left.","completed_instruction":"Turn left to face the tall building on the right side of the dirt road.","start_frame":32,"end_frame":38,"start_position":[-24.589821417228805,-11.212786620075613,-12.64084005355835],"start_rotation":[0.12450428585703634,0,0,-0.9922190699655139],"end_position":[-34.27979507329339,-13.683497154471395,-10.64084005355835],"end_rotation":[0.26467883793924957,0,0,0.96433661796445769],"actions":[1,5,1,2,2,2,2],"reference_path":[[-24.589821417228805,-11.212786620075613,-12.64084005355835,0,0,-2.891936225632051],[-29.4348082452611,-12.448141887273504,-12.64084005355835,0,0,-2.891936225632051],[-29.4348082452611,-12.448141887273504,-10.64084005355835,0,0,-2.891936225632051],[-34.27979507329339,-13.683497154471395,-10.64084005355835,0,0,-2.891936225632051],[-34.27979507329339,-13.683497154471395,-10.64084005355835,0,0,3.129449693748386],[-34.27979507329339,-13.683497154471395,-10.64084005355835,0,0,2.8676503059492364],[-34.27979507329339,-13.683497154471395,-10.64084005355835,0,0,2.6058509181500873]]},{"id":4,"instruction":"fly under the power line and land on the ground next to the yellow barrel that fell over.","completed_instruction":"Land on the ground.","start_frame":38,"end_frame":48,"start_position":[-34.27979507329339,-13.683497154471395,-10.64084005355835],"start_rotation":[0.26467883793924957,0,0,0.96433661796445769],"end_position":[-41.62150433807625,-0.6030038506467434,-0.6408400535583496],"end_rotation":[0.50524880785665527,0,0,0.862973720433843],"actions":[2,2,1,1,5,5,5,1,5,5,0],"reference_path":[[-34.27979507329339,-13.683497154471395,-10.64084005355835,0,0,2.6058509181500873],[-34.27979507329339,-13.683497154471395,-10.64084005355835,0,0,2.3440515303509377],[-34.27979507329339,-13.683497154471395,-10.64084005355835,0,0,2.0822521425517886],[-36.72703149488768,-9.323332719863178,-10.64084005355835,0,0,2.0822521425517886],[-39.174267916481966,-4.963168285254961,-10.64084005355835,0,0,2.0822521425517886],[-39.174267916481966,-4.963168285254961,-8.64084005355835,0,0,2.0822521425517886],[-39.174267916481966,-4.963168285254961,-6.64084005355835,0,0,2.0822521425517886],[-39.174267916481966,-4.963168285254961,-4.64084005355835,0,0,2.0822521425517886],[-41.62150433807625,-0.6030038506467434,-4.64084005355835,0,0,2.0822521425517886],[-41.62150433807625,-0.6030038506467434,-2.6408400535583496,0,0,2.0822521425517886],[-41.62150433807625,-0.6030038506467434,-0.6408400535583496,0,0,2.0822521425517886]]}],"statistics":{"complete_actions":53,"sentence_actions":[15,6,14,7,11],"sentence_actions_average":10.6}}
diff --git a/scene_8/34FNN24DCV7GQ316IQ1I4FEXPXX5YP.json b/scene_8/34FNN24DCV7GQ316IQ1I4FEXPXX5YP.json
new file mode 100644
index 0000000000000000000000000000000000000000..bcd041eecb4a969ff87223efcfd6dc9c2dbdbf09
--- /dev/null
+++ b/scene_8/34FNN24DCV7GQ316IQ1I4FEXPXX5YP.json
@@ -0,0 +1 @@
+{"episode_id":"34FNN24DCV7GQ316IQ1I4FEXPXX5YP","trajectory_id":"3D06DR523DHAG8RG4GZMTCCOD6HAM7","scene_id":8,"instruction":"taking off from the houses and turning to the right. flying up over the house with tarp on the roof. descending to stop over the roof and the front of the house.","sentence_instructions":[{"id":0,"instruction":"taking off from the houses and turning to the right.","completed_instruction":"Turn back to face the dirt road, fly forward to the last building on the left side of the road before the T-junction, turn left to face the building.","start_frame":0,"end_frame":17,"start_position":[-12.923069953918457,-12.381953239440918,-1.5916208028793335],"start_rotation":[0.99962857042260178,0,0,0.027252911676837764],"end_position":[-26.735852097019524,-6.832211615172717,-1.5916208028793335],"end_rotation":[0.47621257137206546,0,0,0.87933019217311392],"actions":[3,3,3,3,3,3,3,3,3,3,1,1,3,1,2,2,2,2],"reference_path":[[-12.923069953918457,-12.381953239440918,-1.5916208028793335,0,0,0.05451257271476244],[-12.923069953918457,-12.381953239440918,-1.5916208028793335,0,0,0.31631196051391186],[-12.923069953918457,-12.381953239440918,-1.5916208028793335,0,0,0.5781113483130613],[-12.923069953918457,-12.381953239440918,-1.5916208028793335,0,0,0.8399107361122108],[-12.923069953918457,-12.381953239440918,-1.5916208028793335,0,0,1.1017101239113603],[-12.923069953918457,-12.381953239440918,-1.5916208028793335,0,0,1.3635095117105096],[-12.923069953918457,-12.381953239440918,-1.5916208028793335,0,0,1.6253088995096592],[-12.923069953918457,-12.381953239440918,-1.5916208028793335,0,0,1.8871082873088088],[-12.923069953918457,-12.381953239440918,-1.5916208028793335,0,0,2.1489076751079583],[-12.923069953918457,-12.381953239440918,-1.5916208028793335,0,0,2.410707062907108],[-12.923069953918457,-12.381953239440918,-1.5916208028793335,0,0,2.6725064507062575],[-17.38297876431068,-10.121596320061627,-1.5916208028793335,0,0,2.6725064507062575],[-21.8428875747029,-7.8612394006823365,-1.5916208028793335,0,0,2.6725064507062575],[-21.8428875747029,-7.8612394006823365,-1.5916208028793335,0,0,2.934305838505407],[-26.735852097019524,-6.832211615172717,-1.5916208028793335,0,0,2.934305838505407],[-26.735852097019524,-6.832211615172717,-1.5916208028793335,0,0,2.672506450706258],[-26.735852097019524,-6.832211615172717,-1.5916208028793335,0,0,2.4107070629071083],[-26.735852097019524,-6.832211615172717,-1.5916208028793335,0,0,2.1489076751079588]]},{"id":1,"instruction":"flying up over the house with tarp on the roof.","completed_instruction":"Fly up above the blue tarp roof, fly forward to the tree between the roofs, then turn right to face a tall building with rusty roof, fly to that building, then fly up above this building and fly forward over the roof.","start_frame":17,"end_frame":38,"start_position":[-26.735852097019524,-6.832211615172717,-1.5916208028793335],"start_rotation":[0.47621257137206546,0,0,0.87933019217311392],"end_position":[-39.366027296404,17.34516922314223,-13.591620802879333],"end_rotation":[0.027252911676838361,0,0,-0.99962857042260178],"actions":[2,2,4,4,4,4,1,1,1,1,3,1,3,3,3,3,3,1,4,1,4,1],"reference_path":[[-26.735852097019524,-6.832211615172717,-1.5916208028793335,0,0,2.1489076751079588],[-26.735852097019524,-6.832211615172717,-1.5916208028793335,0,0,1.8871082873088094],[-26.735852097019524,-6.832211615172717,-1.5916208028793335,0,0,1.62530889950966],[-26.735852097019524,-6.832211615172717,-3.5916208028793335,0,0,1.62530889950966],[-26.735852097019524,-6.832211615172717,-5.5916208028793335,0,0,1.62530889950966],[-26.735852097019524,-6.832211615172717,-7.5916208028793335,0,0,1.62530889950966],[-26.735852097019524,-6.832211615172717,-9.591620802879333,0,0,1.62530889950966],[-27.008279988413236,-1.839638827121373,-9.591620802879333,0,0,1.62530889950966],[-27.280707879806947,3.152933960929971,-9.591620802879333,0,0,1.62530889950966],[-27.553135771200658,8.145506748981315,-9.591620802879333,0,0,1.62530889950966],[-27.82556366259437,13.13807953703266,-9.591620802879333,0,0,1.62530889950966],[-27.82556366259437,13.13807953703266,-9.591620802879333,0,0,1.8871082873088094],[-29.380881720301307,17.890025005929658,-9.591620802879333,0,0,1.8871082873088094],[-29.380881720301307,17.890025005929658,-9.591620802879333,0,0,2.1489076751079588],[-29.380881720301307,17.890025005929658,-9.591620802879333,0,0,2.4107070629071083],[-29.380881720301307,17.890025005929658,-9.591620802879333,0,0,2.672506450706258],[-29.380881720301307,17.890025005929658,-9.591620802879333,0,0,2.934305838505407],[-29.380881720301307,17.890025005929658,-9.591620802879333,0,0,-3.0870800808750296],[-34.37345450835265,17.617597114535943,-9.591620802879333,0,0,-3.0870800808750296],[-34.37345450835265,17.617597114535943,-11.591620802879333,0,0,-3.0870800808750296],[-39.366027296404,17.34516922314223,-11.591620802879333,0,0,-3.0870800808750296],[-39.366027296404,17.34516922314223,-13.591620802879333,0,0,-3.0870800808750296]]},{"id":2,"instruction":"descending to stop over the roof and the front of the house.","completed_instruction":"Fly forward to the short building in the woods, then fly down to the height of the nearest tree.","start_frame":38,"end_frame":49,"start_position":[-39.366027296404,17.34516922314223,-13.591620802879333],"start_rotation":[0.027252911676838361,0,0,-0.99962857042260178],"end_position":[-63.60700927919769,12.134359267233986,-3.5916208028793335],"end_rotation":[0.15749747017111146,0,0,-0.98751939063984961],"actions":[1,1,3,5,1,5,1,5,5,5,1,0],"reference_path":[[-39.366027296404,17.34516922314223,-13.591620802879333,0,0,-3.0870800808750296],[-44.35860008445535,17.072741331748514,-13.591620802879333,0,0,-3.0870800808750296],[-49.351172872506694,16.8003134403548,-13.591620802879333,0,0,-3.0870800808750296],[-49.351172872506694,16.8003134403548,-13.591620802879333,0,0,-2.8252806930758805],[-49.351172872506694,16.8003134403548,-11.591620802879333,0,0,-2.8252806930758805],[-54.10311834140369,15.244995382647861,-11.591620802879333,0,0,-2.8252806930758805],[-54.10311834140369,15.244995382647861,-9.591620802879333,0,0,-2.8252806930758805],[-58.85506381030069,13.689677324940924,-9.591620802879333,0,0,-2.8252806930758805],[-58.85506381030069,13.689677324940924,-7.5916208028793335,0,0,-2.8252806930758805],[-58.85506381030069,13.689677324940924,-5.5916208028793335,0,0,-2.8252806930758805],[-58.85506381030069,13.689677324940924,-3.5916208028793335,0,0,-2.8252806930758805],[-63.60700927919769,12.134359267233986,-3.5916208028793335,0,0,-2.8252806930758805]]}],"statistics":{"complete_actions":52,"sentence_actions":[18,22,12],"sentence_actions_average":17.33}}
diff --git a/scene_8/34T446B1C9C4STE0PSDHQTQNWKNC0F.json b/scene_8/34T446B1C9C4STE0PSDHQTQNWKNC0F.json
new file mode 100644
index 0000000000000000000000000000000000000000..ad980236242de33e10b67f535a849fbe5fbed92a
--- /dev/null
+++ b/scene_8/34T446B1C9C4STE0PSDHQTQNWKNC0F.json
@@ -0,0 +1 @@
+{"episode_id":"34T446B1C9C4STE0PSDHQTQNWKNC0F","trajectory_id":"3R15W654WLRIX6GCT0VTJZC4FGTLQV","scene_id":8,"instruction":"take off rising to the height, turn around and proceed forward above the roof of the small huts. turn right and proceed forward towards the tree. turn around and proceed forward to the small tree and turn right. proceed forward to the tree surface area and lower down to the height and land it near the wooden house.","sentence_instructions":[{"id":0,"instruction":"take off rising to the height, turn around and proceed forward above the roof of the small huts.","completed_instruction":"Take off to the height of the second floor, turn back to face the road, fly forward to a tree on the road.","start_frame":1,"end_frame":17,"start_position":[-3.8264012336730957,-10.994068145751953,-2.1245388984680176],"start_rotation":[0.99984603077808121,0,0,-0.017547499460503338],"end_position":[-3.8264012336730957,-10.994068145751953,-10.124538898468018],"end_rotation":[0.017547499460503598,0,0,0.99984603077808121],"actions":[4,4,4,4,3,3,3,3,3,3,3,3,3,3,3,3,1],"reference_path":[[-3.8264012336730957,-10.994068145751953,-2.1245388984680176,0,0,-0.035096800215170414],[-3.8264012336730957,-10.994068145751953,-4.124538898468018,0,0,-0.035096800215170414],[-3.8264012336730957,-10.994068145751953,-6.124538898468018,0,0,-0.035096800215170414],[-3.8264012336730957,-10.994068145751953,-8.124538898468018,0,0,-0.035096800215170414],[-3.8264012336730957,-10.994068145751953,-10.124538898468018,0,0,-0.035096800215170414],[-3.8264012336730957,-10.994068145751953,-10.124538898468018,0,0,0.226702587583979],[-3.8264012336730957,-10.994068145751953,-10.124538898468018,0,0,0.48850197538312845],[-3.8264012336730957,-10.994068145751953,-10.124538898468018,0,0,0.7503013631822779],[-3.8264012336730957,-10.994068145751953,-10.124538898468018,0,0,1.0121007509814273],[-3.8264012336730957,-10.994068145751953,-10.124538898468018,0,0,1.2739001387805764],[-3.8264012336730957,-10.994068145751953,-10.124538898468018,0,0,1.535699526579726],[-3.8264012336730957,-10.994068145751953,-10.124538898468018,0,0,1.7974989143788753],[-3.8264012336730957,-10.994068145751953,-10.124538898468018,0,0,2.059298302178025],[-3.8264012336730957,-10.994068145751953,-10.124538898468018,0,0,2.321097689977174],[-3.8264012336730957,-10.994068145751953,-10.124538898468018,0,0,2.5828970777763236],[-3.8264012336730957,-10.994068145751953,-10.124538898468018,0,0,2.844696465575473],[-3.8264012336730957,-10.994068145751953,-10.124538898468018,0,0,3.1064958533746223]]},{"id":1,"instruction":"turn right and proceed forward towards the tree.","completed_instruction":"Turn right to face another dirt road, fly forward until a tree on the roof is on your right, then turn right to face the gray roof.","start_frame":17,"end_frame":28,"start_position":[-3.8264012336730957,-10.994068145751953,-10.124538898468018],"start_rotation":[0.017547499460503598,0,0,0.99984603077808121],"end_position":[-14.346586869496726,-25.63393474991916,-10.124538898468018],"end_rotation":[0.69458995264424528,0,0,-0.71940586436702414],"actions":[1,1,3,3,3,3,3,3,1,1,1,6],"reference_path":[[-3.8264012336730957,-10.994068145751953,-10.124538898468018,0,0,3.1064958533746223],[-8.823322086299932,-10.818620168895302,-10.124538898468018,0,0,3.1064958533746223],[-13.820242938926768,-10.643172192038652,-10.124538898468018,0,0,3.1064958533746223],[-13.820242938926768,-10.643172192038652,-10.124538898468018,0,0,-2.914890066005815],[-13.820242938926768,-10.643172192038652,-10.124538898468018,0,0,-2.6530906782066657],[-13.820242938926768,-10.643172192038652,-10.124538898468018,0,0,-2.391291290407516],[-13.820242938926768,-10.643172192038652,-10.124538898468018,0,0,-2.1294919026083665],[-13.820242938926768,-10.643172192038652,-10.124538898468018,0,0,-1.8676925148092172],[-13.820242938926768,-10.643172192038652,-10.124538898468018,0,0,-1.6058931270100678],[-13.99569091578342,-15.640093044665488,-10.124538898468018,0,0,-1.6058931270100678],[-14.171138892640073,-20.637013897292324,-10.124538898468018,0,0,-1.6058931270100678],[-14.346586869496726,-25.63393474991916,-10.124538898468018,0,0,-1.6058931270100678]]},{"id":2,"instruction":"turn around and proceed forward to the small tree and turn right.","completed_instruction":"Make a sharp turn to the left to face a tree left to the tall wooden building hanging blue and yellow clothes, fly forward to the tree, then turn right slightly to a backlit building bathed in sunlight.","start_frame":28,"end_frame":50,"start_position":[-14.346586869496726,-25.63393474991916,-10.124538898468018],"start_rotation":[0.69458995264424528,0,0,-0.71940586436702414],"end_position":[-36.565436527800735,-12.168322255060854,-8.124538898468018],"end_rotation":[0.24182961201983447,0,0,-0.9703187304954678],"actions":[6,1,2,2,2,2,2,2,2,2,2,1,1,5,1,1,1,3,3,3,3,3,3],"reference_path":[[-14.346586869496726,-25.63393474991916,-10.124538898468018,0,0,-1.6058931270100678],[-19.34350772212356,-25.458486773062507,-10.124538898468018,0,0,-1.6058931270100678],[-19.518955698980214,-30.455407625689343,-10.124538898468018,0,0,-1.6058931270100678],[-19.518955698980214,-30.455407625689343,-10.124538898468018,0,0,-1.8676925148092172],[-19.518955698980214,-30.455407625689343,-10.124538898468018,0,0,-2.1294919026083665],[-19.518955698980214,-30.455407625689343,-10.124538898468018,0,0,-2.391291290407516],[-19.518955698980214,-30.455407625689343,-10.124538898468018,0,0,-2.6530906782066657],[-19.518955698980214,-30.455407625689343,-10.124538898468018,0,0,-2.914890066005815],[-19.518955698980214,-30.455407625689343,-10.124538898468018,0,0,3.106495853374622],[-19.518955698980214,-30.455407625689343,-10.124538898468018,0,0,2.8446964655754727],[-19.518955698980214,-30.455407625689343,-10.124538898468018,0,0,2.5828970777763236],[-19.518955698980214,-30.455407625689343,-10.124538898468018,0,0,2.321097689977174],[-22.92825186474432,-26.797990551563643,-10.124538898468018,0,0,2.321097689977174],[-26.337548030508422,-23.140573477437947,-10.124538898468018,0,0,2.321097689977174],[-26.337548030508422,-23.140573477437947,-8.124538898468018,0,0,2.321097689977174],[-29.746844196272527,-19.48315640331225,-8.124538898468018,0,0,2.321097689977174],[-33.15614036203663,-15.825739329186552,-8.124538898468018,0,0,2.321097689977174],[-36.565436527800735,-12.168322255060854,-8.124538898468018,0,0,2.321097689977174],[-36.565436527800735,-12.168322255060854,-8.124538898468018,0,0,2.5828970777763236],[-36.565436527800735,-12.168322255060854,-8.124538898468018,0,0,2.844696465575473],[-36.565436527800735,-12.168322255060854,-8.124538898468018,0,0,3.1064958533746223],[-36.565436527800735,-12.168322255060854,-8.124538898468018,0,0,-2.914890066005815],[-36.565436527800735,-12.168322255060854,-8.124538898468018,0,0,-2.6530906782066657]]},{"id":3,"instruction":"proceed forward to the tree surface area and lower down to the height and land it near the wooden house.","completed_instruction":"Fly forward by the right side of the building to the grassland, and descend to the height of a single-story roof, then turn back to see the roof, and land on the ground.","start_frame":50,"end_frame":83,"start_position":[-36.565436527800735,-12.168322255060854,-8.124538898468018],"start_rotation":[0.24182961201983447,0,0,-0.9703187304954678],"end_position":[-54.85252189842922,-29.21480308388136,-2.1245388984680176],"end_rotation":[0.11310871703371941,0,0,-0.99358261766749223],"actions":[3,1,1,4,1,4,1,1,5,5,5,3,3,3,3,3,3,3,3,3,5,5,2,2,2,2,2,2,2,2,2,2,2,0],"reference_path":[[-36.565436527800735,-12.168322255060854,-8.124538898468018,0,0,-2.6530906782066657],[-36.565436527800735,-12.168322255060854,-8.124538898468018,0,0,-2.391291290407516],[-40.22285360192643,-15.577618420824956,-8.124538898468018,0,0,-2.391291290407516],[-43.88027067605213,-18.98691458658906,-8.124538898468018,0,0,-2.391291290407516],[-43.88027067605213,-18.98691458658906,-10.124538898468018,0,0,-2.391291290407516],[-47.537687750177824,-22.39621075235316,-10.124538898468018,0,0,-2.391291290407516],[-47.537687750177824,-22.39621075235316,-12.124538898468018,0,0,-2.391291290407516],[-51.19510482430352,-25.80550691811726,-12.124538898468018,0,0,-2.391291290407516],[-54.85252189842922,-29.21480308388136,-12.124538898468018,0,0,-2.391291290407516],[-54.85252189842922,-29.21480308388136,-10.124538898468018,0,0,-2.391291290407516],[-54.85252189842922,-29.21480308388136,-8.124538898468018,0,0,-2.391291290407516],[-54.85252189842922,-29.21480308388136,-6.124538898468018,0,0,-2.391291290407516],[-54.85252189842922,-29.21480308388136,-6.124538898468018,0,0,-2.1294919026083665],[-54.85252189842922,-29.21480308388136,-6.124538898468018,0,0,-1.8676925148092172],[-54.85252189842922,-29.21480308388136,-6.124538898468018,0,0,-1.6058931270100678],[-54.85252189842922,-29.21480308388136,-6.124538898468018,0,0,-1.3440937392109182],[-54.85252189842922,-29.21480308388136,-6.124538898468018,0,0,-1.0822943514117687],[-54.85252189842922,-29.21480308388136,-6.124538898468018,0,0,-0.8204949636126192],[-54.85252189842922,-29.21480308388136,-6.124538898468018,0,0,-0.5586955758134697],[-54.85252189842922,-29.21480308388136,-6.124538898468018,0,0,-0.2968961880143204],[-54.85252189842922,-29.21480308388136,-6.124538898468018,0,0,-0.03509680021517099],[-54.85252189842922,-29.21480308388136,-4.124538898468018,0,0,-0.03509680021517099],[-54.85252189842922,-29.21480308388136,-2.1245388984680176,0,0,-0.03509680021517099],[-54.85252189842922,-29.21480308388136,-2.1245388984680176,0,0,-0.29689618801432044],[-54.85252189842922,-29.21480308388136,-2.1245388984680176,0,0,-0.5586955758134697],[-54.85252189842922,-29.21480308388136,-2.1245388984680176,0,0,-0.8204949636126192],[-54.85252189842922,-29.21480308388136,-2.1245388984680176,0,0,-1.0822943514117687],[-54.85252189842922,-29.21480308388136,-2.1245388984680176,0,0,-1.344093739210918],[-54.85252189842922,-29.21480308388136,-2.1245388984680176,0,0,-1.6058931270100676],[-54.85252189842922,-29.21480308388136,-2.1245388984680176,0,0,-1.8676925148092172],[-54.85252189842922,-29.21480308388136,-2.1245388984680176,0,0,-2.1294919026083665],[-54.85252189842922,-29.21480308388136,-2.1245388984680176,0,0,-2.391291290407516],[-54.85252189842922,-29.21480308388136,-2.1245388984680176,0,0,-2.6530906782066657],[-54.85252189842922,-29.21480308388136,-2.1245388984680176,0,0,-2.914890066005815]]}],"statistics":{"complete_actions":86,"sentence_actions":[17,12,23,34],"sentence_actions_average":21.5}}
diff --git a/scene_8/374TNBHA8KT5JPK42IPL2Q9P3VQQYH.json b/scene_8/374TNBHA8KT5JPK42IPL2Q9P3VQQYH.json
new file mode 100644
index 0000000000000000000000000000000000000000..e3be6bf6d1c123e1d809f6834eafcfb9e7f9562c
--- /dev/null
+++ b/scene_8/374TNBHA8KT5JPK42IPL2Q9P3VQQYH.json
@@ -0,0 +1 @@
+{"episode_id":"374TNBHA8KT5JPK42IPL2Q9P3VQQYH","trajectory_id":"39RRBHZ0B2ZU73TXU0GCX1MAH5KVZ4","scene_id":8,"instruction":"elevate your drone to top then turn 160 degree of your left and move forward to the the hut. once you reach it fly over the building roof and move forward once you reach the middle of second building then slightly move your right and down your drone to middle. and move forward to the to the opposite tree once you reach it then turn 90 degree of your left. move forward once you cross the blue color shed in your left then down your drone to the bottom and stop there.","sentence_instructions":[{"id":0,"instruction":"elevate your drone to top then turn 160 degree of your left and move forward to the the hut.","completed_instruction":"Take off above the trees ahead, make a sharp left turn to face an utility pole near the dirt road, then fly to the pole.","start_frame":0,"end_frame":14,"start_position":[34.013954162597656,-0.27672913670539856,-2.6408400535583496],"start_rotation":[0.99983148706251546,0,0,-0.018357491069289526],"end_position":[34.013954162597656,-0.27672913670539856,-12.64084005355835],"end_rotation":[0.36565883498859986,0,0,-0.93074895454938866],"actions":[4,4,4,4,4,2,2,2,2,2,2,2,2,2,2],"reference_path":[[34.013954162597656,-0.27672913670539856,-2.6408400535583496,0,0,-0.03671704459409652],[34.013954162597656,-0.27672913670539856,-4.64084005355835,0,0,-0.03671704459409652],[34.013954162597656,-0.27672913670539856,-6.64084005355835,0,0,-0.03671704459409652],[34.013954162597656,-0.27672913670539856,-8.64084005355835,0,0,-0.03671704459409652],[34.013954162597656,-0.27672913670539856,-10.64084005355835,0,0,-0.03671704459409652],[34.013954162597656,-0.27672913670539856,-12.64084005355835,0,0,-0.03671704459409652],[34.013954162597656,-0.27672913670539856,-12.64084005355835,0,0,-0.29851643239324593],[34.013954162597656,-0.27672913670539856,-12.64084005355835,0,0,-0.5603158201923953],[34.013954162597656,-0.27672913670539856,-12.64084005355835,0,0,-0.8221152079915448],[34.013954162597656,-0.27672913670539856,-12.64084005355835,0,0,-1.0839145957906942],[34.013954162597656,-0.27672913670539856,-12.64084005355835,0,0,-1.3457139835898435],[34.013954162597656,-0.27672913670539856,-12.64084005355835,0,0,-1.6075133713889929],[34.013954162597656,-0.27672913670539856,-12.64084005355835,0,0,-1.8693127591881424],[34.013954162597656,-0.27672913670539856,-12.64084005355835,0,0,-2.131112146987292],[34.013954162597656,-0.27672913670539856,-12.64084005355835,0,0,-2.3929115347864416]]},{"id":1,"instruction":"once you reach it fly over the building roof and move forward once you reach the middle of second building then slightly move your right and down your drone to middle.","completed_instruction":"Fly forward along the dirt road until you reach a tree on the road.","start_frame":14,"end_frame":26,"start_position":[34.013954162597656,-0.27672913670539856,-12.64084005355835],"start_rotation":[0.36565883498859986,0,0,-0.93074895454938866],"end_position":[-5.9517419852790825,-8.455498139924764,-14.64084005355835],"end_rotation":[0.11230375667961899,0,0,-0.99367392349585426],"actions":[2,1,1,1,6,2,4,1,1,1,1,1,5],"reference_path":[[34.013954162597656,-0.27672913670539856,-12.64084005355835,0,0,-2.3929115347864416],[34.013954162597656,-0.27672913670539856,-12.64084005355835,0,0,-2.654710922585591],[29.59497363947544,-2.6160904034332457,-12.64084005355835,0,0,-2.654710922585591],[25.175993116353226,-4.955451670161093,-12.64084005355835,0,0,-2.654710922585591],[20.75701259323101,-7.29481293688894,-12.64084005355835,0,0,-2.654710922585591],[18.417651326503165,-2.875832413766725,-12.64084005355835,0,0,-2.654710922585591],[18.417651326503165,-2.875832413766725,-12.64084005355835,0,0,-2.9165103103847407],[18.417651326503165,-2.875832413766725,-14.64084005355835,0,0,-2.9165103103847407],[13.543772664146715,-3.9917655589983325,-14.64084005355835,0,0,-2.9165103103847407],[8.669894001790265,-5.10769870422994,-14.64084005355835,0,0,-2.9165103103847407],[3.796015339433816,-6.2236318494615475,-14.64084005355835,0,0,-2.9165103103847407],[-1.0778633229226333,-7.339564994693156,-14.64084005355835,0,0,-2.9165103103847407],[-5.9517419852790825,-8.455498139924764,-14.64084005355835,0,0,-2.9165103103847407]]},{"id":2,"instruction":"and move forward to the to the opposite tree once you reach it then turn 90 degree of your left.","completed_instruction":"Fly forward to the dirt T-junction, then turn left to face the dirt road.","start_frame":26,"end_frame":37,"start_position":[-5.9517419852790825,-8.455498139924764,-14.64084005355835],"start_rotation":[0.11230375667961899,0,0,-0.99367392349585426],"end_position":[-35.808770773717576,-8.653711405429126,-10.64084005355835],"end_rotation":[0.27650740547465158,0,0,0.96101178698165646],"actions":[5,1,5,2,1,1,1,1,1,2,2,2],"reference_path":[[-5.9517419852790825,-8.455498139924764,-14.64084005355835,0,0,-2.9165103103847407],[-5.9517419852790825,-8.455498139924764,-12.64084005355835,0,0,-2.9165103103847407],[-10.825620647635532,-9.571431285156372,-12.64084005355835,0,0,-2.9165103103847407],[-10.825620647635532,-9.571431285156372,-10.64084005355835,0,0,-2.9165103103847407],[-10.825620647635532,-9.571431285156372,-10.64084005355835,0,0,3.104875608995696],[-15.82225067285194,-9.387887309210923,-10.64084005355835,0,0,3.104875608995696],[-20.818880698068348,-9.204343333265474,-10.64084005355835,0,0,3.104875608995696],[-25.815510723284756,-9.020799357320024,-10.64084005355835,0,0,3.104875608995696],[-30.812140748501164,-8.837255381374575,-10.64084005355835,0,0,3.104875608995696],[-35.808770773717576,-8.653711405429126,-10.64084005355835,0,0,3.104875608995696],[-35.808770773717576,-8.653711405429126,-10.64084005355835,0,0,2.843076221196547],[-35.808770773717576,-8.653711405429126,-10.64084005355835,0,0,2.581276833397397]]},{"id":3,"instruction":"move forward once you cross the blue color shed in your left then down your drone to the bottom and stop there.","completed_instruction":"Fly forward to the front of the three-story wooden building with many clothes hanging on it, then land in front of it.","start_frame":37,"end_frame":47,"start_position":[-35.808770773717576,-8.653711405429126,-10.64084005355835],"start_rotation":[0.27650740547465158,0,0,0.96101178698165646],"end_position":[-39.1565702094124,5.967924581640221,-2.6408400535583496],"end_rotation":[0.62322282169127863,0,0,0.78204431749304382],"actions":[2,2,2,5,1,1,5,1,5,5,0],"reference_path":[[-35.808770773717576,-8.653711405429126,-10.64084005355835,0,0,2.581276833397397],[-35.808770773717576,-8.653711405429126,-10.64084005355835,0,0,2.3194774455982476],[-35.808770773717576,-8.653711405429126,-10.64084005355835,0,0,2.0576780577990985],[-35.808770773717576,-8.653711405429126,-10.64084005355835,0,0,1.7958786699999492],[-35.808770773717576,-8.653711405429126,-8.64084005355835,0,0,1.7958786699999492],[-36.924703918949184,-3.779832743072677,-8.64084005355835,0,0,1.7958786699999492],[-38.04063706418079,1.0940459192837722,-8.64084005355835,0,0,1.7958786699999492],[-38.04063706418079,1.0940459192837722,-6.64084005355835,0,0,1.7958786699999492],[-39.1565702094124,5.967924581640221,-6.64084005355835,0,0,1.7958786699999492],[-39.1565702094124,5.967924581640221,-4.64084005355835,0,0,1.7958786699999492],[-39.1565702094124,5.967924581640221,-2.6408400535583496,0,0,1.7958786699999492]]}],"statistics":{"complete_actions":51,"sentence_actions":[15,13,12,11],"sentence_actions_average":12.75}}
diff --git a/scene_8/37M28K1J0ZBN1KIORMRW23FWM8HJAT.json b/scene_8/37M28K1J0ZBN1KIORMRW23FWM8HJAT.json
new file mode 100644
index 0000000000000000000000000000000000000000..4713e40b45fbb56de16b9f09b3f3f256b0a91ae5
--- /dev/null
+++ b/scene_8/37M28K1J0ZBN1KIORMRW23FWM8HJAT.json
@@ -0,0 +1 @@
+{"episode_id":"37M28K1J0ZBN1KIORMRW23FWM8HJAT","trajectory_id":"3X4Q1O9UCPKGX9EUAT2FBPZ3BJAO73","scene_id":8,"instruction":"take off and turn right move forward. now turn right move towards the roof houses and between the trees. now turn left move little forward slow down and stay there.","sentence_instructions":[{"id":0,"instruction":"take off and turn right move forward.","completed_instruction":"Take off to the height above the roof of the building ahead, then turn right to face the dirt road, and fly forward over the wire with clothes hanging on it.","start_frame":0,"end_frame":6,"start_position":[17.16092872619629,-21.32415199279785,-3.96555233001709],"start_rotation":[0.999868364496909,0,0,0.016225094091447678],"end_position":[17.16092872619629,-21.32415199279785,-9.96555233001709],"end_rotation":[0.91754884246686741,0,0,0.39762308998310414],"actions":[4,4,4,3,3,3,3],"reference_path":[[17.16092872619629,-21.32415199279785,-3.96555233001709,0,0,0.03245161212348771],[17.16092872619629,-21.32415199279785,-5.96555233001709,0,0,0.03245161212348771],[17.16092872619629,-21.32415199279785,-7.96555233001709,0,0,0.03245161212348771],[17.16092872619629,-21.32415199279785,-9.96555233001709,0,0,0.03245161212348771],[17.16092872619629,-21.32415199279785,-9.96555233001709,0,0,0.29425099992263715],[17.16092872619629,-21.32415199279785,-9.96555233001709,0,0,0.5560503877217866],[17.16092872619629,-21.32415199279785,-9.96555233001709,0,0,0.8178497755209361]]},{"id":1,"instruction":"now turn right move towards the roof houses and between the trees.","completed_instruction":"Turn right to face the middle of a tree and a rusty house, fly forward along the buildings on the right until you reach a dirt T-junction, fly down to the height of the tree.","start_frame":6,"end_frame":26,"start_position":[17.16092872619629,-21.32415199279785,-9.96555233001709],"start_rotation":[0.91754884246686741,0,0,0.39762308998310414],"end_position":[-21.843528431555985,-12.755546791102969,-11.96555233001709],"end_rotation":[0.016225094091447838,0,0,-0.999868364496909],"actions":[3,3,1,3,3,3,3,3,3,3,1,4,1,1,1,1,1,1,1,6,1],"reference_path":[[17.16092872619629,-21.32415199279785,-9.96555233001709,0,0,0.8178497755209361],[17.16092872619629,-21.32415199279785,-9.96555233001709,0,0,1.0796491633200855],[17.16092872619629,-21.32415199279785,-9.96555233001709,0,0,1.341448551119235],[18.297640857112153,-16.45507759087825,-9.96555233001709,0,0,1.341448551119235],[18.297640857112153,-16.45507759087825,-9.96555233001709,0,0,1.6032479389183845],[18.297640857112153,-16.45507759087825,-9.96555233001709,0,0,1.8650473267175338],[18.297640857112153,-16.45507759087825,-9.96555233001709,0,0,2.126846714516683],[18.297640857112153,-16.45507759087825,-9.96555233001709,0,0,2.3886461023158327],[18.297640857112153,-16.45507759087825,-9.96555233001709,0,0,2.6504454901149823],[18.297640857112153,-16.45507759087825,-9.96555233001709,0,0,2.912244877914132],[18.297640857112153,-16.45507759087825,-9.96555233001709,0,0,-3.109141041466305],[13.300273393894916,-16.617307173808495,-9.96555233001709,0,0,-3.109141041466305],[13.300273393894916,-16.617307173808495,-11.96555233001709,0,0,-3.109141041466305],[8.302905930677678,-16.77953675673874,-11.96555233001709,0,0,-3.109141041466305],[3.3055384674604413,-16.941766339668984,-11.96555233001709,0,0,-3.109141041466305],[-1.6918289957567954,-17.10399592259923,-11.96555233001709,0,0,-3.109141041466305],[-6.689196458974032,-17.266225505529473,-11.96555233001709,0,0,-3.109141041466305],[-11.686563922191269,-17.428455088459717,-11.96555233001709,0,0,-3.109141041466305],[-16.683931385408506,-17.590684671389962,-11.96555233001709,0,0,-3.109141041466305],[-21.681298848625744,-17.752914254320206,-11.96555233001709,0,0,-3.109141041466305],[-21.843528431555985,-12.755546791102969,-11.96555233001709,0,0,-3.109141041466305]]},{"id":2,"instruction":"now turn left move little forward slow down and stay there.","completed_instruction":"Turn left to face the dirt road and fly forward to the front of the three-story building with clothes hanging on it, then land in front of the building.","start_frame":26,"end_frame":43,"start_position":[-21.843528431555985,-12.755546791102969,-11.96555233001709],"start_rotation":[0.016225094091447838,0,0,-0.999868364496909],"end_position":[-37.63872583317732,6.060386804783861,-1.9655523300170898],"end_rotation":[0.69554082677221474,0,0,0.7184865748871192],"actions":[1,1,5,2,2,2,2,2,1,1,1,1,5,2,5,5,5,0],"reference_path":[[-21.843528431555985,-12.755546791102969,-11.96555233001709,0,0,-3.109141041466305],[-26.840895894773222,-12.917776374033213,-11.96555233001709,0,0,-3.109141041466305],[-31.83826335799046,-13.080005956963458,-11.96555233001709,0,0,-3.109141041466305],[-31.83826335799046,-13.080005956963458,-9.96555233001709,0,0,-3.109141041466305],[-31.83826335799046,-13.080005956963458,-9.96555233001709,0,0,2.9122448779141314],[-31.83826335799046,-13.080005956963458,-9.96555233001709,0,0,2.650445490114982],[-31.83826335799046,-13.080005956963458,-9.96555233001709,0,0,2.3886461023158323],[-31.83826335799046,-13.080005956963458,-9.96555233001709,0,0,2.1268467145166827],[-31.83826335799046,-13.080005956963458,-9.96555233001709,0,0,1.8650473267175331],[-33.28837897678717,-8.294907766526627,-9.96555233001709,0,0,1.8650473267175331],[-34.73849459558389,-3.509809576089798,-9.96555233001709,0,0,1.8650473267175331],[-36.1886102143806,1.2752886143470317,-9.96555233001709,0,0,1.8650473267175331],[-37.63872583317732,6.060386804783861,-9.96555233001709,0,0,1.8650473267175331],[-37.63872583317732,6.060386804783861,-7.96555233001709,0,0,1.8650473267175331],[-37.63872583317732,6.060386804783861,-7.96555233001709,0,0,1.6032479389183838],[-37.63872583317732,6.060386804783861,-5.96555233001709,0,0,1.6032479389183838],[-37.63872583317732,6.060386804783861,-3.96555233001709,0,0,1.6032479389183838],[-37.63872583317732,6.060386804783861,-1.9655523300170898,0,0,1.6032479389183838]]}],"statistics":{"complete_actions":46,"sentence_actions":[7,21,18],"sentence_actions_average":15.33}}
diff --git a/scene_8/37Q970SNZN6K6ZOEIX7HJ3DGDI31SN.json b/scene_8/37Q970SNZN6K6ZOEIX7HJ3DGDI31SN.json
new file mode 100644
index 0000000000000000000000000000000000000000..4a99ebc1d4b458e81d3f9ab20f596ad40024905b
--- /dev/null
+++ b/scene_8/37Q970SNZN6K6ZOEIX7HJ3DGDI31SN.json
@@ -0,0 +1 @@
+{"episode_id":"37Q970SNZN6K6ZOEIX7HJ3DGDI31SN","trajectory_id":"3087LXLJ7UE89L1HQRYG9GG2BYX0F1","scene_id":8,"instruction":"take off turn right, fly to the grey roof of the building right front of you, turn right and fly over the trees to the roof of the closest hut, fly over the roofs and look down at the hut with the blue material on the roof. turn left and fly over the huts, turn right and fly to the big hut on your right. set down next to the big hut.","sentence_instructions":[{"id":0,"instruction":"take off turn right, fly to the grey roof of the building right front of you, turn right and fly over the trees to the roof of the closest hut, fly over the roofs and look down at the hut with the blue material on the roof.","completed_instruction":"Take off to the height of trees ahead, turn right passing by two houses to face the woods and the houses in it directly, fly forward over the rusty roof of the building ahead, fly forward over another roof, turn right slightly to face the woods on the small mound, and fly over the trees and roofs to the hut with the blue cover.","start_frame":0,"end_frame":40,"start_position":[-2.2331535816192627,59.69483184814453,-1.1716622114181519],"start_rotation":[0.9996985097096146,0,0,0.024553812013117342],"end_position":[8.041032105930043,1.7642059910422905,-13.171662211418152],"end_rotation":[0.80806156565100951,0,0,-0.5890980445712235],"actions":[4,4,4,4,4,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,1,1,1,1,1,1,1,4,1,1,1,3,4,1,7,1,5,1],"reference_path":[[-2.2331535816192627,59.69483184814453,-1.1716622114181519,0,0,0.04911255977874833],[-2.2331535816192627,59.69483184814453,-3.171662211418152,0,0,0.04911255977874833],[-2.2331535816192627,59.69483184814453,-5.171662211418152,0,0,0.04911255977874833],[-2.2331535816192627,59.69483184814453,-7.171662211418152,0,0,0.04911255977874833],[-2.2331535816192627,59.69483184814453,-9.171662211418152,0,0,0.04911255977874833],[-2.2331535816192627,59.69483184814453,-11.171662211418152,0,0,0.04911255977874833],[-2.2331535816192627,59.69483184814453,-11.171662211418152,0,0,0.31091194757789775],[-2.2331535816192627,59.69483184814453,-11.171662211418152,0,0,0.5727113353770472],[-2.2331535816192627,59.69483184814453,-11.171662211418152,0,0,0.8345107231761967],[-2.2331535816192627,59.69483184814453,-11.171662211418152,0,0,1.0963101109753461],[-2.2331535816192627,59.69483184814453,-11.171662211418152,0,0,1.3581094987744957],[-2.2331535816192627,59.69483184814453,-11.171662211418152,0,0,1.619908886573645],[-2.2331535816192627,59.69483184814453,-11.171662211418152,0,0,1.8817082743727944],[-2.2331535816192627,59.69483184814453,-11.171662211418152,0,0,2.143507662171944],[-2.2331535816192627,59.69483184814453,-11.171662211418152,0,0,2.4053070499710936],[-2.2331535816192627,59.69483184814453,-11.171662211418152,0,0,2.6671064377702427],[-2.2331535816192627,59.69483184814453,-11.171662211418152,0,0,2.9289058255693923],[-2.2331535816192627,59.69483184814453,-11.171662211418152,0,0,-3.0924800938110444],[-2.2331535816192627,59.69483184814453,-11.171662211418152,0,0,-2.830680706011895],[-2.2331535816192627,59.69483184814453,-11.171662211418152,0,0,-2.5688813182127452],[-2.2331535816192627,59.69483184814453,-11.171662211418152,0,0,-2.307081930413596],[-2.2331535816192627,59.69483184814453,-11.171662211418152,0,0,-2.0452825426144465],[-2.2331535816192627,59.69483184814453,-11.171662211418152,0,0,-1.783483154815297],[-2.2331535816192627,59.69483184814453,-11.171662211418152,0,0,-1.5216837670161476],[-1.987689488847225,54.70086074498829,-11.171662211418152,0,0,-1.5216837670161476],[-1.7422253960751872,49.70688964183205,-11.171662211418152,0,0,-1.5216837670161476],[-1.4967613033031495,44.71291853867581,-11.171662211418152,0,0,-1.5216837670161476],[-1.2512972105311118,39.71894743551957,-11.171662211418152,0,0,-1.5216837670161476],[-1.005833117759074,34.724976332363326,-11.171662211418152,0,0,-1.5216837670161476],[-0.7603690249870362,29.73100522920708,-11.171662211418152,0,0,-1.5216837670161476],[-0.5149049322149983,24.737034126050837,-11.171662211418152,0,0,-1.5216837670161476],[-0.5149049322149983,24.737034126050837,-13.171662211418152,0,0,-1.5216837670161476],[-0.2694408394429605,19.743063022894592,-13.171662211418152,0,0,-1.5216837670161476],[-0.023976746670922672,14.749091919738348,-13.171662211418152,0,0,-1.5216837670161476],[0.22148734610111515,9.755120816582103,-13.171662211418152,0,0,-1.5216837670161476],[0.22148734610111515,9.755120816582103,-13.171662211418152,0,0,-1.2598843792169983],[0.22148734610111515,9.755120816582103,-15.171662211418152,0,0,-1.2598843792169983],[1.7511222849247234,4.994845934400392,-15.171662211418152,0,0,-1.2598843792169983],[6.511397167106434,6.524480873224001,-15.171662211418152,0,0,-1.2598843792169983],[8.041032105930043,1.7642059910422905,-15.171662211418152,0,0,-1.2598843792169983],[8.041032105930043,1.7642059910422905,-13.171662211418152,0,0,-1.2598843792169983]]},{"id":1,"instruction":"turn left and fly over the huts, turn right and fly to the big hut on your right.","completed_instruction":"Turn left to face the dirt road, fly along the road over the huts to the second T-junction, then turn right slightly to the big hut and fly forward to it.","start_frame":40,"end_frame":65,"start_position":[8.041032105930043,1.7642059910422905,-13.171662211418152],"start_rotation":[0.80806156565100951,0,0,-0.5890980445712235],"end_position":[-38.06843469573993,-14.318935675707401,-9.171662211418152],"end_rotation":[0.15483059058800033,0,0,-0.98794103478809459],"actions":[1,1,2,2,2,2,2,1,2,1,1,1,6,1,1,2,1,1,5,2,1,5,3,3,1,1],"reference_path":[[8.041032105930043,1.7642059910422905,-13.171662211418152,0,0,-1.2598843792169983],[9.570667044753652,-2.99606889113942,-13.171662211418152,0,0,-1.2598843792169983],[11.10030198357726,-7.756343773321131,-13.171662211418152,0,0,-1.2598843792169983],[11.10030198357726,-7.756343773321131,-13.171662211418152,0,0,-1.5216837670161476],[11.10030198357726,-7.756343773321131,-13.171662211418152,0,0,-1.783483154815297],[11.10030198357726,-7.756343773321131,-13.171662211418152,0,0,-2.0452825426144465],[11.10030198357726,-7.756343773321131,-13.171662211418152,0,0,-2.307081930413596],[11.10030198357726,-7.756343773321131,-13.171662211418152,0,0,-2.5688813182127452],[6.8981281888645745,-10.46590746495674,-13.171662211418152,0,0,-2.5688813182127452],[6.8981281888645745,-10.46590746495674,-13.171662211418152,0,0,-2.830680706011895],[2.1378533066828638,-11.995542403780348,-13.171662211418152,0,0,-2.830680706011895],[-2.622421575498847,-13.525177342603957,-13.171662211418152,0,0,-2.830680706011895],[-7.382696457680558,-15.054812281427566,-13.171662211418152,0,0,-2.830680706011895],[-8.912331396504166,-10.294537399245854,-13.171662211418152,0,0,-2.830680706011895],[-13.672606278685876,-11.824172338069463,-13.171662211418152,0,0,-2.830680706011895],[-18.432881160867588,-13.353807276893072,-13.171662211418152,0,0,-2.830680706011895],[-18.432881160867588,-13.353807276893072,-13.171662211418152,0,0,-3.0924800938110444],[-23.426852264023832,-13.599271369665109,-13.171662211418152,0,0,-3.0924800938110444],[-28.420823367180077,-13.844735462437146,-13.171662211418152,0,0,-3.0924800938110444],[-28.420823367180077,-13.844735462437146,-11.171662211418152,0,0,-3.0924800938110444],[-28.420823367180077,-13.844735462437146,-11.171662211418152,0,0,2.9289058255693927],[-33.30815981355822,-12.789300736883792,-11.171662211418152,0,0,2.9289058255693927],[-33.30815981355822,-12.789300736883792,-9.171662211418152,0,0,2.9289058255693927],[-33.30815981355822,-12.789300736883792,-9.171662211418152,0,0,-3.0924800938110444],[-33.30815981355822,-12.789300736883792,-9.171662211418152,0,0,-2.830680706011895],[-38.06843469573993,-14.318935675707401,-9.171662211418152,0,0,-2.830680706011895]]},{"id":2,"instruction":"set down next to the big hut.","completed_instruction":"Land next to the big hut.","start_frame":65,"end_frame":70,"start_position":[-38.06843469573993,-14.318935675707401,-9.171662211418152],"start_rotation":[0.15483059058800033,0,0,-0.98794103478809459],"end_position":[-53.87889428110867,-14.147565609996516,-7.171662211418152],"end_rotation":[0.15483059058800033,0,0,-0.98794103478809459],"actions":[1,1,6,1,5,5],"reference_path":[[-38.06843469573993,-14.318935675707401,-9.171662211418152,0,0,-2.830680706011895],[-42.82870957792164,-15.84857061453101,-9.171662211418152,0,0,-2.830680706011895],[-47.588984460103354,-17.37820555335462,-9.171662211418152,0,0,-2.830680706011895],[-49.11861939892696,-12.617930671172907,-9.171662211418152,0,0,-2.830680706011895],[-53.87889428110867,-14.147565609996516,-9.171662211418152,0,0,-2.830680706011895],[-53.87889428110867,-14.147565609996516,-7.171662211418152,0,0,-2.830680706011895]]}],"statistics":{"complete_actions":73,"sentence_actions":[41,26,6],"sentence_actions_average":24.33}}
diff --git a/scene_8/37ZHEEHM65KUX4I1HYNPC5WHP1V37C.json b/scene_8/37ZHEEHM65KUX4I1HYNPC5WHP1V37C.json
new file mode 100644
index 0000000000000000000000000000000000000000..447e0bb424206a06a2888bf103ab39651b28c4cf
--- /dev/null
+++ b/scene_8/37ZHEEHM65KUX4I1HYNPC5WHP1V37C.json
@@ -0,0 +1 @@
+{"episode_id":"37ZHEEHM65KUX4I1HYNPC5WHP1V37C","trajectory_id":"3T5ZXGO9EMM22VXG81M2REN20D5QZ5","scene_id":8,"instruction":"lift up above the building and turn around. fly past the brown building and go to the trees past the houses. turn right and fly around the large tree on the left. fly to the buildings on stilts and land in front of them on the grass.","sentence_instructions":[{"id":0,"instruction":"lift up above the building and turn around.","completed_instruction":"Take off to the height of the second floor, turn back to face the big tree.","start_frame":1,"end_frame":11,"start_position":[17.70567512512207,-11.971580505371094,-3.6551432609558105],"start_rotation":[0.99998470992193311,0,0,0.0055299116039339274],"end_position":[17.70567512512207,-11.971580505371094,-9.65514326095581],"end_rotation":[0.61313929484144314,0,0,-0.7899748129664248],"actions":[4,4,4,2,2,2,2,2,2,2,2],"reference_path":[[17.70567512512207,-11.971580505371094,-3.6551432609558105,0,0,0.011059879576732691],[17.70567512512207,-11.971580505371094,-5.6551432609558105,0,0,0.011059879576732691],[17.70567512512207,-11.971580505371094,-7.6551432609558105,0,0,0.011059879576732691],[17.70567512512207,-11.971580505371094,-9.65514326095581,0,0,0.011059879576732691],[17.70567512512207,-11.971580505371094,-9.65514326095581,0,0,-0.25073950822241675],[17.70567512512207,-11.971580505371094,-9.65514326095581,0,0,-0.5125388960215661],[17.70567512512207,-11.971580505371094,-9.65514326095581,0,0,-0.7743382838207156],[17.70567512512207,-11.971580505371094,-9.65514326095581,0,0,-1.036137671619865],[17.70567512512207,-11.971580505371094,-9.65514326095581,0,0,-1.2979370594190143],[17.70567512512207,-11.971580505371094,-9.65514326095581,0,0,-1.5597364472181638],[17.70567512512207,-11.971580505371094,-9.65514326095581,0,0,-1.8215358350173134]]},{"id":1,"instruction":"fly past the brown building and go to the trees past the houses.","completed_instruction":"Fly up to a height above the tree in front, fly forward by the left side of a tall building, passing some roofs with blue clothes and by the right side of a second floor building, to a short shed in the woods.","start_frame":11,"end_frame":26,"start_position":[17.70567512512207,-11.971580505371094,-9.65514326095581],"start_rotation":[0.61313929484144314,0,0,-0.7899748129664248],"end_position":[-27.86419222001893,-33.14673552596662,-11.65514326095581],"end_rotation":[0.2641565721744511,0,0,-0.964479810766946],"actions":[2,2,2,4,1,6,1,1,1,1,1,1,1,1,1,1],"reference_path":[[17.70567512512207,-11.971580505371094,-9.65514326095581,0,0,-1.8215358350173134],[17.70567512512207,-11.971580505371094,-9.65514326095581,0,0,-2.083335222816463],[17.70567512512207,-11.971580505371094,-9.65514326095581,0,0,-2.3451346106156126],[17.70567512512207,-11.971580505371094,-9.65514326095581,0,0,-2.606933998414762],[17.70567512512207,-11.971580505371094,-11.65514326095581,0,0,-2.606933998414762],[13.40346207135163,-14.51931731280769,-11.65514326095581,0,0,-2.606933998414762],[10.855725263915033,-10.21710425903725,-11.65514326095581,0,0,-2.606933998414762],[6.553512210144594,-12.764841066473846,-11.65514326095581,0,0,-2.606933998414762],[2.251299156374154,-15.312577873910442,-11.65514326095581,0,0,-2.606933998414762],[-2.0509138973962857,-17.860314681347038,-11.65514326095581,0,0,-2.606933998414762],[-6.353126951166725,-20.408051488783634,-11.65514326095581,0,0,-2.606933998414762],[-10.655340004937166,-22.95578829622023,-11.65514326095581,0,0,-2.606933998414762],[-14.957553058707607,-25.503525103656827,-11.65514326095581,0,0,-2.606933998414762],[-19.259766112478047,-28.051261911093423,-11.65514326095581,0,0,-2.606933998414762],[-23.561979166248488,-30.59899871853002,-11.65514326095581,0,0,-2.606933998414762],[-27.86419222001893,-33.14673552596662,-11.65514326095581,0,0,-2.606933998414762]]},{"id":2,"instruction":"turn right and fly around the large tree on the left.","completed_instruction":"Turn right to face short buildings hanging green tarps and fly forward to the left side of that buildings, then turn left to face a dirt path between trees and fly to the short wooden building ahead.","start_frame":26,"end_frame":43,"start_position":[-27.86419222001893,-33.14673552596662,-11.65514326095581],"start_rotation":[0.2641565721744511,0,0,-0.964479810766946],"end_position":[-27.518273149026804,-60.29470735356894,-9.65514326095581],"end_rotation":[0.61313929484144292,0,0,-0.789974812966425],"actions":[1,1,3,3,3,3,3,3,1,1,5,1,1,2,2,2,1,1],"reference_path":[[-27.86419222001893,-33.14673552596662,-11.65514326095581,0,0,-2.606933998414762],[-32.166405273789366,-35.69447233340322,-11.65514326095581,0,0,-2.606933998414762],[-36.4686183275598,-38.24220914083982,-11.65514326095581,0,0,-2.606933998414762],[-36.4686183275598,-38.24220914083982,-11.65514326095581,0,0,-2.345134610615613],[-36.4686183275598,-38.24220914083982,-11.65514326095581,0,0,-2.0833352228164634],[-36.4686183275598,-38.24220914083982,-11.65514326095581,0,0,-1.8215358350173139],[-36.4686183275598,-38.24220914083982,-11.65514326095581,0,0,-1.5597364472181645],[-36.4686183275598,-38.24220914083982,-11.65514326095581,0,0,-1.2979370594190154],[-36.4686183275598,-38.24220914083982,-11.65514326095581,0,0,-1.0361376716198658],[-33.92088152012321,-42.54442219461026,-11.65514326095581,0,0,-1.0361376716198658],[-31.373144712686614,-46.84663524838071,-11.65514326095581,0,0,-1.0361376716198658],[-31.373144712686614,-46.84663524838071,-9.65514326095581,0,0,-1.0361376716198658],[-28.825407905250017,-51.14884830215115,-9.65514326095581,0,0,-1.0361376716198658],[-26.27767109781342,-55.451061355921595,-9.65514326095581,0,0,-1.0361376716198658],[-26.27767109781342,-55.451061355921595,-9.65514326095581,0,0,-1.2979370594190154],[-26.27767109781342,-55.451061355921595,-9.65514326095581,0,0,-1.5597364472181647],[-26.27767109781342,-55.451061355921595,-9.65514326095581,0,0,-1.821535835017314],[-27.518273149026804,-60.29470735356894,-9.65514326095581,0,0,-1.821535835017314]]},{"id":3,"instruction":"fly to the buildings on stilts and land in front of them on the grass.","completed_instruction":"Land on the ground.","start_frame":43,"end_frame":50,"start_position":[-27.518273149026804,-60.29470735356894,-9.65514326095581],"start_rotation":[0.61313929484144292,0,0,-0.789974812966425],"end_position":[-31.240079302666942,-74.82564534651097,-1.6551432609558105],"end_rotation":[0.61313929484144292,0,0,-0.789974812966425],"actions":[1,5,1,1,5,5,5,0],"reference_path":[[-27.518273149026804,-60.29470735356894,-9.65514326095581,0,0,-1.821535835017314],[-28.758875200240183,-65.13835335121628,-9.65514326095581,0,0,-1.821535835017314],[-28.758875200240183,-65.13835335121628,-7.6551432609558105,0,0,-1.821535835017314],[-29.999477251453563,-69.98199934886362,-7.6551432609558105,0,0,-1.821535835017314],[-31.240079302666942,-74.82564534651097,-7.6551432609558105,0,0,-1.821535835017314],[-31.240079302666942,-74.82564534651097,-5.6551432609558105,0,0,-1.821535835017314],[-31.240079302666942,-74.82564534651097,-3.6551432609558105,0,0,-1.821535835017314],[-31.240079302666942,-74.82564534651097,-1.6551432609558105,0,0,-1.821535835017314]]}],"statistics":{"complete_actions":53,"sentence_actions":[11,16,18,8],"sentence_actions_average":13.25}}
diff --git a/scene_8/384PI804X1ZKZA3WME3H5YU696S0SB.json b/scene_8/384PI804X1ZKZA3WME3H5YU696S0SB.json
new file mode 100644
index 0000000000000000000000000000000000000000..5399a064b89259918a18686f8d5542f5ec4696af
--- /dev/null
+++ b/scene_8/384PI804X1ZKZA3WME3H5YU696S0SB.json
@@ -0,0 +1 @@
+{"episode_id":"384PI804X1ZKZA3WME3H5YU696S0SB","trajectory_id":"33J5JKFMLEW1H2QNNURTNDINLI73QM","scene_id":8,"instruction":"elevate your drone to the top then turn 120 degree of your right and move forward. and move forward to the opposite hut once you reach it fly over the hut and move forward. once you reach the second hut roof then turn 120 degree of your right and move forward to the tall tree once you reach it then drown your drone to the bottom of the tree and stop there.","sentence_instructions":[{"id":0,"instruction":"elevate your drone to the top then turn 120 degree of your right and move forward.","completed_instruction":"Take off to the height above the roofs on both sides, turn back to face the tree and fly forward until above the dirt road.","start_frame":1,"end_frame":15,"start_position":[34.013954162597656,-0.27672913670539856,-2.6408400535583496],"start_rotation":[0.99998569864186837,0,0,-0.0053481316115411275],"end_position":[34.013954162597656,-0.27672913670539856,-10.64084005355835],"end_rotation":[0.26398124208464596,0,0,0.96452781392111631],"actions":[4,4,4,4,3,3,3,3,3,3,3,3,3,3,3],"reference_path":[[34.013954162597656,-0.27672913670539856,-2.6408400535583496,0,0,-0.010696314213737623],[34.013954162597656,-0.27672913670539856,-4.64084005355835,0,0,-0.010696314213737623],[34.013954162597656,-0.27672913670539856,-6.64084005355835,0,0,-0.010696314213737623],[34.013954162597656,-0.27672913670539856,-8.64084005355835,0,0,-0.010696314213737623],[34.013954162597656,-0.27672913670539856,-10.64084005355835,0,0,-0.010696314213737623],[34.013954162597656,-0.27672913670539856,-10.64084005355835,0,0,0.2511030735854118],[34.013954162597656,-0.27672913670539856,-10.64084005355835,0,0,0.5129024613845612],[34.013954162597656,-0.27672913670539856,-10.64084005355835,0,0,0.7747018491837107],[34.013954162597656,-0.27672913670539856,-10.64084005355835,0,0,1.0365012369828601],[34.013954162597656,-0.27672913670539856,-10.64084005355835,0,0,1.2983006247820095],[34.013954162597656,-0.27672913670539856,-10.64084005355835,0,0,1.5601000125811588],[34.013954162597656,-0.27672913670539856,-10.64084005355835,0,0,1.8218994003803084],[34.013954162597656,-0.27672913670539856,-10.64084005355835,0,0,2.0836987881794578],[34.013954162597656,-0.27672913670539856,-10.64084005355835,0,0,2.3454981759786073],[34.013954162597656,-0.27672913670539856,-10.64084005355835,0,0,2.607297563777757]]},{"id":1,"instruction":"and move forward to the opposite hut once you reach it fly over the hut and move forward.","completed_instruction":"Fly forward across the building with the blue tarp roof to the front of a building with rusty roof, then move right to face the dirt road.","start_frame":15,"end_frame":30,"start_position":[34.013954162597656,-0.27672913670539856,-10.64084005355835],"start_rotation":[0.26398124208464596,0,0,0.96452781392111631],"end_position":[-10.143621194554603,-0.9221660879228338,-14.64084005355835],"end_rotation":[0.125221947914018,0,0,-0.99212875362052633],"actions":[3,1,1,4,1,4,1,3,1,1,1,7,1,3,1,7],"reference_path":[[34.013954162597656,-0.27672913670539856,-10.64084005355835,0,0,2.607297563777757],[34.013954162597656,-0.27672913670539856,-10.64084005355835,0,0,2.8690969515769065],[29.198443095408784,1.0689503057256258,-10.64084005355835,0,0,2.8690969515769065],[24.382932028219912,2.41462974815665,-10.64084005355835,0,0,2.8690969515769065],[24.382932028219912,2.41462974815665,-12.64084005355835,0,0,2.8690969515769065],[19.56742096103104,3.7603091905876744,-12.64084005355835,0,0,2.8690969515769065],[19.56742096103104,3.7603091905876744,-14.64084005355835,0,0,2.8690969515769065],[14.751909893842166,5.105988633018699,-14.64084005355835,0,0,2.8690969515769065],[14.751909893842166,5.105988633018699,-14.64084005355835,0,0,3.130896339376056],[9.75219591895951,5.159469184278652,-14.64084005355835,0,0,3.130896339376056],[4.7524819440768535,5.212949735538606,-14.64084005355835,0,0,3.130896339376056],[-0.2472320308058027,5.26643028679856,-14.64084005355835,0,0,3.130896339376056],[-0.300712582065757,0.2667163119159035,-14.64084005355835,0,0,3.130896339376056],[-5.3004265569484135,0.3201968631758575,-14.64084005355835,0,0,3.130896339376056],[-5.3004265569484135,0.3201968631758575,-14.64084005355835,0,0,-2.890489580004381],[-10.143621194554603,-0.9221660879228338,-14.64084005355835,0,0,-2.890489580004381]]},{"id":2,"instruction":"once you reach the second hut roof then turn 120 degree of your right and move forward to the tall tree once you reach it then drown your drone to the bottom of the tree and stop there.","completed_instruction":"Fly forward to the left of the nearest tree ahead, then turn right to face the short blue tarf roof, fly forward by the right side of a tall building ahead, then fly forward to the nearest tree of the woods ahead, and land there.","start_frame":30,"end_frame":52,"start_position":[-10.143621194554603,-0.9221660879228338,-14.64084005355835],"start_rotation":[0.125221947914018,0,0,-0.99212875362052633],"end_position":[-34.90303887719605,-52.58528656281334,-2.6408400535583496],"end_rotation":[0.49536123148255734,0,0,-0.86868708425075847],"actions":[7,5,1,3,3,3,1,1,1,1,1,1,1,1,5,5,1,5,5,1,7,5,0],"reference_path":[[-10.143621194554603,-0.9221660879228338,-14.64084005355835,0,0,-2.890489580004381],[-8.90125824345591,-5.765360725529023,-14.64084005355835,0,0,-2.890489580004381],[-8.90125824345591,-5.765360725529023,-12.64084005355835,0,0,-2.890489580004381],[-13.744452881062099,-7.007723676627714,-12.64084005355835,0,0,-2.890489580004381],[-13.744452881062099,-7.007723676627714,-12.64084005355835,0,0,-2.6286901922052315],[-13.744452881062099,-7.007723676627714,-12.64084005355835,0,0,-2.366890804406082],[-13.744452881062099,-7.007723676627714,-12.64084005355835,0,0,-2.1050914166069323],[-16.290625384502942,-11.310862714902191,-12.64084005355835,0,0,-2.1050914166069323],[-18.836797887943785,-15.614001753176668,-12.64084005355835,0,0,-2.1050914166069323],[-21.382970391384628,-19.917140791451146,-12.64084005355835,0,0,-2.1050914166069323],[-23.92914289482547,-24.220279829725623,-12.64084005355835,0,0,-2.1050914166069323],[-26.475315398266314,-28.5234188680001,-12.64084005355835,0,0,-2.1050914166069323],[-29.021487901707157,-32.82655790627457,-12.64084005355835,0,0,-2.1050914166069323],[-31.567660405148,-37.12969694454905,-12.64084005355835,0,0,-2.1050914166069323],[-34.11383290858884,-41.43283598282353,-12.64084005355835,0,0,-2.1050914166069323],[-34.11383290858884,-41.43283598282353,-10.64084005355835,0,0,-2.1050914166069323],[-34.11383290858884,-41.43283598282353,-8.64084005355835,0,0,-2.1050914166069323],[-36.66000541202968,-45.735975021098014,-8.64084005355835,0,0,-2.1050914166069323],[-36.66000541202968,-45.735975021098014,-6.64084005355835,0,0,-2.1050914166069323],[-36.66000541202968,-45.735975021098014,-4.64084005355835,0,0,-2.1050914166069323],[-39.206177915470526,-50.039114059372494,-4.64084005355835,0,0,-2.1050914166069323],[-34.90303887719605,-52.58528656281334,-4.64084005355835,0,0,-2.1050914166069323],[-34.90303887719605,-52.58528656281334,-2.6408400535583496,0,0,-2.1050914166069323]]}],"statistics":{"complete_actions":54,"sentence_actions":[15,16,23],"sentence_actions_average":18.0}}
diff --git a/scene_8/39PAAFCODVY17BHREBWW0WGI5IDVTB.json b/scene_8/39PAAFCODVY17BHREBWW0WGI5IDVTB.json
new file mode 100644
index 0000000000000000000000000000000000000000..55dd739fe75cbff4ea41d02061a31a68817faaf2
--- /dev/null
+++ b/scene_8/39PAAFCODVY17BHREBWW0WGI5IDVTB.json
@@ -0,0 +1 @@
+{"episode_id":"39PAAFCODVY17BHREBWW0WGI5IDVTB","trajectory_id":"3TY2U1TECF8VGTOZVPZ76JNQ3K0JJM","scene_id":8,"instruction":"lifts off above building with flat roof and tarp. turns right and flys forward towards trees. flys towards house with peaked roof. turns left and flys forward. flys pass buildings with flat roofs and blue tarps. flys forward towards house on left side with peaked roof. lands on ground in front of house with peaked roof.","sentence_instructions":[{"id":0,"instruction":"lifts off above building with flat roof and tarp.","completed_instruction":"Make a sharp right turn to face the middle of two utility poles.","start_frame":0,"end_frame":8,"start_position":[-15.728005409240723,-25.13334083557129,-1.6590052843093872],"start_rotation":[0.99988918549402939,0,0,0.014886797240728529],"end_position":[-15.728005409240723,-25.13334083557129,-7.659005284309387],"end_rotation":[0.78420291727114178,0,0,0.62050445972888124],"actions":[4,4,4,3,3,3,3,3,3],"reference_path":[[-15.728005409240723,-25.13334083557129,-1.6590052843093872,0,0,0.029774694312262578],[-15.728005409240723,-25.13334083557129,-3.659005284309387,0,0,0.029774694312262578],[-15.728005409240723,-25.13334083557129,-5.659005284309387,0,0,0.029774694312262578],[-15.728005409240723,-25.13334083557129,-7.659005284309387,0,0,0.029774694312262578],[-15.728005409240723,-25.13334083557129,-7.659005284309387,0,0,0.291574082111412],[-15.728005409240723,-25.13334083557129,-7.659005284309387,0,0,0.5533734699105615],[-15.728005409240723,-25.13334083557129,-7.659005284309387,0,0,0.8151728577097108],[-15.728005409240723,-25.13334083557129,-7.659005284309387,0,0,1.0769722455088602],[-15.728005409240723,-25.13334083557129,-7.659005284309387,0,0,1.3387716333080097]]},{"id":1,"instruction":"turns right and flys forward towards trees.","completed_instruction":"Fly forward to the left utility pole.","start_frame":8,"end_frame":10,"start_position":[-15.728005409240723,-25.13334083557129,-7.659005284309387],"start_rotation":[0.78420291727114178,0,0,0.62050445972888124],"end_position":[-15.728005409240723,-25.13334083557129,-7.659005284309387],"end_rotation":[0.59688347909454065,0,0,0.80232793319439966],"actions":[3,3,3],"reference_path":[[-15.728005409240723,-25.13334083557129,-7.659005284309387,0,0,1.3387716333080097],[-15.728005409240723,-25.13334083557129,-7.659005284309387,0,0,1.600571021107159],[-15.728005409240723,-25.13334083557129,-7.659005284309387,0,0,1.8623704089063087]]},{"id":2,"instruction":"flys towards house with peaked roof.","completed_instruction":"Fly forward across the building with the blue tarp ahead until you are in front of the three-story building with many clothes hanging on it.","start_frame":10,"end_frame":18,"start_position":[-15.728005409240723,-25.13334083557129,-7.659005284309387],"start_rotation":[0.59688347909454065,0,0,0.80232793319439966],"end_position":[-32.50623151440404,-0.4357177649945778,-7.659005284309387],"end_rotation":[0.36888741821423437,0,0,0.92947408392232034],"actions":[3,1,1,1,1,1,3,1,1],"reference_path":[[-15.728005409240723,-25.13334083557129,-7.659005284309387,0,0,1.8623704089063087],[-15.728005409240723,-25.13334083557129,-7.659005284309387,0,0,2.1241697967054582],[-18.355806484906914,-20.879558811686238,-7.659005284309387,0,0,2.1241697967054582],[-20.983607560573105,-16.625776787801186,-7.659005284309387,0,0,2.1241697967054582],[-23.611408636239297,-12.371994763916135,-7.659005284309387,0,0,2.1241697967054582],[-26.239209711905488,-8.118212740031083,-7.659005284309387,0,0,2.1241697967054582],[-28.86701078757168,-3.864430716146031,-7.659005284309387,0,0,2.1241697967054582],[-28.86701078757168,-3.864430716146031,-7.659005284309387,0,0,2.385969184504608],[-32.50623151440404,-0.4357177649945778,-7.659005284309387,0,0,2.385969184504608]]},{"id":3,"instruction":"turns left and flys forward.","completed_instruction":"Turn left to face the dirt road, and then fly forward to the building at the end of the road.","start_frame":18,"end_frame":26,"start_position":[-32.50623151440404,-0.4357177649945778,-7.659005284309387],"start_rotation":[0.36888741821423437,0,0,0.92947408392232034],"end_position":[-38.63493081350308,11.287722212299753,-7.659005284309387],"end_rotation":[0.85848603698679582,0,0,0.512836937338474],"actions":[1,1,2,2,2,2,1,2,1],"reference_path":[[-32.50623151440404,-0.4357177649945778,-7.659005284309387,0,0,2.385969184504608],[-36.145452241236406,2.9929951861568753,-7.659005284309387,0,0,2.385969184504608],[-39.78467296806877,6.421708137308329,-7.659005284309387,0,0,2.385969184504608],[-39.78467296806877,6.421708137308329,-7.659005284309387,0,0,2.1241697967054587],[-39.78467296806877,6.421708137308329,-7.659005284309387,0,0,1.8623704089063093],[-39.78467296806877,6.421708137308329,-7.659005284309387,0,0,1.60057102110716],[-39.78467296806877,6.421708137308329,-7.659005284309387,0,0,1.3387716333080104],[-38.63493081350308,11.287722212299753,-7.659005284309387,0,0,1.3387716333080104],[-38.63493081350308,11.287722212299753,-7.659005284309387,0,0,1.076972245508861]]},{"id":4,"instruction":"flys pass buildings with flat roofs and blue tarps.","completed_instruction":"Fly across the building ahead, then fly forwad to the wooden building ahead in the open area.","start_frame":26,"end_frame":35,"start_position":[-38.63493081350308,11.287722212299753,-7.659005284309387],"start_rotation":[0.85848603698679582,0,0,0.512836937338474],"end_position":[-26.447685013974016,44.47613946624336,-9.659005284309387],"end_rotation":[0.85848603698679582,0,0,0.512836937338474],"actions":[1,1,4,1,1,7,1,1,1,1],"reference_path":[[-38.63493081350308,11.287722212299753,-7.659005284309387,0,0,1.076972245508861],[-36.26494805649014,15.690355711861276,-7.659005284309387,0,0,1.076972245508861],[-33.8949652994772,20.092989211422797,-7.659005284309387,0,0,1.076972245508861],[-33.8949652994772,20.092989211422797,-9.659005284309387,0,0,1.076972245508861],[-31.524982542464258,24.49562271098432,-9.659005284309387,0,0,1.076972245508861],[-29.154999785451317,28.898256210545846,-9.659005284309387,0,0,1.076972245508861],[-33.55763328501284,31.268238967558787,-9.659005284309387,0,0,1.076972245508861],[-31.1876505279999,35.67087246712031,-9.659005284309387,0,0,1.076972245508861],[-28.817667770986958,40.073505966681836,-9.659005284309387,0,0,1.076972245508861],[-26.447685013974016,44.47613946624336,-9.659005284309387,0,0,1.076972245508861]]},{"id":5,"instruction":"flys forward towards house on left side with peaked roof.","completed_instruction":"Land in front of the wooden building.","start_frame":35,"end_frame":44,"start_position":[-26.447685013974016,44.47613946624336,-9.659005284309387],"start_rotation":[0.85848603698679582,0,0,0.512836937338474],"end_position":[-19.337736742935192,57.68403996492793,-1.6590052843093872],"end_rotation":[0.85848603698679582,0,0,0.512836937338474],"actions":[1,1,4,5,1,5,5,5,5,0],"reference_path":[[-26.447685013974016,44.47613946624336,-9.659005284309387,0,0,1.076972245508861],[-24.077702256961075,48.878772965804885,-9.659005284309387,0,0,1.076972245508861],[-21.707719499948134,53.28140646536641,-9.659005284309387,0,0,1.076972245508861],[-21.707719499948134,53.28140646536641,-11.659005284309387,0,0,1.076972245508861],[-21.707719499948134,53.28140646536641,-9.659005284309387,0,0,1.076972245508861],[-19.337736742935192,57.68403996492793,-9.659005284309387,0,0,1.076972245508861],[-19.337736742935192,57.68403996492793,-7.659005284309387,0,0,1.076972245508861],[-19.337736742935192,57.68403996492793,-5.659005284309387,0,0,1.076972245508861],[-19.337736742935192,57.68403996492793,-3.659005284309387,0,0,1.076972245508861],[-19.337736742935192,57.68403996492793,-1.6590052843093872,0,0,1.076972245508861]]}],"statistics":{"complete_actions":50,"sentence_actions":[9,3,9,9,10,10],"sentence_actions_average":8.33}}
diff --git a/scene_8/3B2X28YI35DGWZ89DHX3OAUW0I36B2.json b/scene_8/3B2X28YI35DGWZ89DHX3OAUW0I36B2.json
new file mode 100644
index 0000000000000000000000000000000000000000..c8cfc67c6bb1cf9476b9e11244d073cd82ff060c
--- /dev/null
+++ b/scene_8/3B2X28YI35DGWZ89DHX3OAUW0I36B2.json
@@ -0,0 +1 @@
+{"episode_id":"3B2X28YI35DGWZ89DHX3OAUW0I36B2","trajectory_id":"39O0SQZVKV5JUM6A2LJJ5K48ILA7R1","scene_id":8,"instruction":"take off after rising to the height slightly higher. proceed forward and dive down by facing the wood tent. turn right fly above by crossing the blue cover hut. fly forward to the wooden house. dive down land by facing the bottom of the above mentioned house.","sentence_instructions":[{"id":0,"instruction":"take off after rising to the height slightly higher.","completed_instruction":"Take off to the height above the roof.","start_frame":1,"end_frame":5,"start_position":[-57.26609420776367,15.26229476928711,0.5848132967948914],"start_rotation":[0.99985082955849192,0,0,-0.017271902940776636],"end_position":[-57.26609420776367,15.26229476928711,-7.415186703205109],"end_rotation":[0.99985082955849192,0,0,-0.017271902940776636],"actions":[4,4,4,4,4],"reference_path":[[-57.26609420776367,15.26229476928711,0.5848132967948914,0,0,-0.03454552362230641],[-57.26609420776367,15.26229476928711,-1.4151867032051086,0,0,-0.03454552362230641],[-57.26609420776367,15.26229476928711,-3.4151867032051086,0,0,-0.03454552362230641],[-57.26609420776367,15.26229476928711,-5.415186703205109,0,0,-0.03454552362230641],[-57.26609420776367,15.26229476928711,-7.415186703205109,0,0,-0.03454552362230641]]},{"id":1,"instruction":"proceed forward and dive down by facing the wood tent.","completed_instruction":"Fly forward over the rusty roof, fly down to the height above the tree ahead.","start_frame":5,"end_frame":11,"start_position":[-57.26609420776367,15.26229476928711,-7.415186703205109],"start_rotation":[0.99985082955849192,0,0,-0.017271902940776636],"end_position":[-42.27504376669955,14.744214974785432,-13.415186703205109],"end_rotation":[0.99985082955849192,0,0,-0.017271902940776636],"actions":[4,4,4,1,1,1,5],"reference_path":[[-57.26609420776367,15.26229476928711,-7.415186703205109,0,0,-0.03454552362230641],[-57.26609420776367,15.26229476928711,-9.415186703205109,0,0,-0.03454552362230641],[-57.26609420776367,15.26229476928711,-11.415186703205109,0,0,-0.03454552362230641],[-57.26609420776367,15.26229476928711,-13.415186703205109,0,0,-0.03454552362230641],[-52.26907739407563,15.089601504453217,-13.415186703205109,0,0,-0.03454552362230641],[-47.27206058038759,14.916908239619325,-13.415186703205109,0,0,-0.03454552362230641],[-42.27504376669955,14.744214974785432,-13.415186703205109,0,0,-0.03454552362230641]]},{"id":2,"instruction":"turn right fly above by crossing the blue cover hut.","completed_instruction":"Turn right to face the wooden house with a ladder, then fly forward to the front of the roof covered with a blue tarp.","start_frame":11,"end_frame":17,"start_position":[-42.27504376669955,14.744214974785432,-13.415186703205109],"start_rotation":[0.99985082955849192,0,0,-0.017271902940776636],"end_position":[-37.278026953011505,14.57152170995154,-9.415186703205109],"end_rotation":[0.93035138809437479,0,0,0.36666918969402096],"actions":[5,1,5,3,3,3,3],"reference_path":[[-42.27504376669955,14.744214974785432,-13.415186703205109,0,0,-0.03454552362230641],[-42.27504376669955,14.744214974785432,-11.415186703205109,0,0,-0.03454552362230641],[-37.278026953011505,14.57152170995154,-11.415186703205109,0,0,-0.03454552362230641],[-37.278026953011505,14.57152170995154,-9.415186703205109,0,0,-0.03454552362230641],[-37.278026953011505,14.57152170995154,-9.415186703205109,0,0,0.227253864176843],[-37.278026953011505,14.57152170995154,-9.415186703205109,0,0,0.4890532519759925],[-37.278026953011505,14.57152170995154,-9.415186703205109,0,0,0.7508526397751418]]},{"id":3,"instruction":"fly forward to the wooden house.","completed_instruction":"Fly over the roof and the trees behind it, and fly forward to the front of the brown wooden building on the open ground.","start_frame":17,"end_frame":25,"start_position":[-37.278026953011505,14.57152170995154,-9.415186703205109],"start_rotation":[0.93035138809437479,0,0,0.36666918969402096],"end_position":[-25.6308328568705,42.66676809945341,-9.415186703205109],"end_rotation":[0.87453216986298721,0,0,0.48496750806083427],"actions":[3,1,1,1,1,1,7,1,1],"reference_path":[[-37.278026953011505,14.57152170995154,-9.415186703205109,0,0,0.7508526397751418],[-37.278026953011505,14.57152170995154,-9.415186703205109,0,0,1.0126520275742914],[-34.62996179175886,18.81271858132641,-9.415186703205109,0,0,1.0126520275742914],[-31.981896630506213,23.053915452701283,-9.415186703205109,0,0,1.0126520275742914],[-29.333831469253568,27.295112324076154,-9.415186703205109,0,0,1.0126520275742914],[-26.68576630800092,31.536309195451025,-9.415186703205109,0,0,1.0126520275742914],[-24.037701146748276,35.77750606682589,-9.415186703205109,0,0,1.0126520275742914],[-28.278898018123147,38.42557122807854,-9.415186703205109,0,0,1.0126520275742914],[-25.6308328568705,42.66676809945341,-9.415186703205109,0,0,1.0126520275742914]]},{"id":4,"instruction":"dive down land by facing the bottom of the above mentioned house.","completed_instruction":"Land near the bottom of the wooden house.","start_frame":25,"end_frame":29,"start_position":[-25.6308328568705,42.66676809945341,-9.415186703205109],"start_rotation":[0.87453216986298721,0,0,0.48496750806083427],"end_position":[-20.33470253436521,51.14916184220314,-5.415186703205109],"end_rotation":[0.87453216986298721,0,0,0.48496750806083427],"actions":[1,5,1,5,0],"reference_path":[[-25.6308328568705,42.66676809945341,-9.415186703205109,0,0,1.0126520275742914],[-22.982767695617856,46.907964970828274,-9.415186703205109,0,0,1.0126520275742914],[-22.982767695617856,46.907964970828274,-7.415186703205109,0,0,1.0126520275742914],[-20.33470253436521,51.14916184220314,-7.415186703205109,0,0,1.0126520275742914],[-20.33470253436521,51.14916184220314,-5.415186703205109,0,0,1.0126520275742914]]}],"statistics":{"complete_actions":33,"sentence_actions":[5,7,7,9,5],"sentence_actions_average":6.6}}
diff --git a/scene_8/3CCZ6YKWRGH1P2TYAE925YL7YNB59H.json b/scene_8/3CCZ6YKWRGH1P2TYAE925YL7YNB59H.json
new file mode 100644
index 0000000000000000000000000000000000000000..731f68e8b9cd8c366995b253c0d05df6fe4cb265
--- /dev/null
+++ b/scene_8/3CCZ6YKWRGH1P2TYAE925YL7YNB59H.json
@@ -0,0 +1 @@
+{"episode_id":"3CCZ6YKWRGH1P2TYAE925YL7YNB59H","trajectory_id":"3YGE63DIOGVAK7NCGG8GD422673W0N","scene_id":8,"instruction":"lifts off and rises above tree line. turns approximately 180 degrees and flys towards peak roofs. flys towards brown roof building and descend downwards. flys pass house with roof thats line with blue tarp. descends, turn left and faces houses. flys towards house with blue tarp and lands in front of it on the ground.","sentence_instructions":[{"id":0,"instruction":"lifts off and rises above tree line.","completed_instruction":"Take off to the height above the roofs of the buildings on both sides.","start_frame":0,"end_frame":2,"start_position":[34.013954162597656,-0.27672913670539856,-2.6408400535583496],"start_rotation":[0.999957874651751,0,0,-0.0091787211501972738],"end_position":[34.013954162597656,-0.27672913670539856,-6.64084005355835],"end_rotation":[0.999957874651751,0,0,-0.0091787211501972738],"actions":[4,4,4],"reference_path":[[34.013954162597656,-0.27672913670539856,-2.6408400535583496,0,0,-0.018357700075954726],[34.013954162597656,-0.27672913670539856,-4.64084005355835,0,0,-0.018357700075954726],[34.013954162597656,-0.27672913670539856,-6.64084005355835,0,0,-0.018357700075954726]]},{"id":1,"instruction":"turns approximately 180 degrees and flys towards peak roofs.","completed_instruction":"Turn back to face the utility pole and fly forward to the dirt road.","start_frame":2,"end_frame":18,"start_position":[34.013954162597656,-0.27672913670539856,-6.64084005355835],"start_rotation":[0.999957874651751,0,0,-0.0091787211501972738],"end_position":[24.30881290851388,-2.6871716766306277,-12.64084005355835],"end_rotation":[0.12142049784040253,0,0,-0.99260115993494025],"actions":[4,4,4,2,2,2,2,2,2,2,2,2,2,2,1,1,1],"reference_path":[[34.013954162597656,-0.27672913670539856,-6.64084005355835,0,0,-0.018357700075954726],[34.013954162597656,-0.27672913670539856,-8.64084005355835,0,0,-0.018357700075954726],[34.013954162597656,-0.27672913670539856,-10.64084005355835,0,0,-0.018357700075954726],[34.013954162597656,-0.27672913670539856,-12.64084005355835,0,0,-0.018357700075954726],[34.013954162597656,-0.27672913670539856,-12.64084005355835,0,0,-0.2801570878751042],[34.013954162597656,-0.27672913670539856,-12.64084005355835,0,0,-0.5419564756742536],[34.013954162597656,-0.27672913670539856,-12.64084005355835,0,0,-0.8037558634734031],[34.013954162597656,-0.27672913670539856,-12.64084005355835,0,0,-1.0655552512725526],[34.013954162597656,-0.27672913670539856,-12.64084005355835,0,0,-1.327354639071702],[34.013954162597656,-0.27672913670539856,-12.64084005355835,0,0,-1.5891540268708513],[34.013954162597656,-0.27672913670539856,-12.64084005355835,0,0,-1.8509534146700009],[34.013954162597656,-0.27672913670539856,-12.64084005355835,0,0,-2.11275280246915],[34.013954162597656,-0.27672913670539856,-12.64084005355835,0,0,-2.3745521902683],[34.013954162597656,-0.27672913670539856,-12.64084005355835,0,0,-2.636351578067449],[34.013954162597656,-0.27672913670539856,-12.64084005355835,0,0,-2.8981509658665985],[29.161383535555768,-1.4819504066680131,-12.64084005355835,0,0,-2.8981509658665985],[24.30881290851388,-2.6871716766306277,-12.64084005355835,0,0,-2.8981509658665985]]},{"id":2,"instruction":"flys towards brown roof building and descend downwards.","completed_instruction":"Slightly turn right to face the dirt road and fly forward along the road until reach the second dirt T-junction.","start_frame":18,"end_frame":28,"start_position":[24.30881290851388,-2.6871716766306277,-12.64084005355835],"start_rotation":[0.12142049784040253,0,0,-0.99260115993494025],"end_position":[-24.216893361905004,-14.739384376256771,-12.64084005355835],"end_rotation":[0.12142049784040253,0,0,-0.99260115993494025],"actions":[1,1,1,1,1,1,1,1,1,1,6],"reference_path":[[24.30881290851388,-2.6871716766306277,-12.64084005355835,0,0,-2.8981509658665985],[19.45624228147199,-3.892392946593242,-12.64084005355835,0,0,-2.8981509658665985],[14.603671654430102,-5.097614216555857,-12.64084005355835,0,0,-2.8981509658665985],[9.751101027388213,-6.302835486518472,-12.64084005355835,0,0,-2.8981509658665985],[4.898530400346325,-7.5080567564810865,-12.64084005355835,0,0,-2.8981509658665985],[0.045959773304437235,-8.713278026443701,-12.64084005355835,0,0,-2.8981509658665985],[-4.806610853737451,-9.918499296406315,-12.64084005355835,0,0,-2.8981509658665985],[-9.659181480779338,-11.12372056636893,-12.64084005355835,0,0,-2.8981509658665985],[-14.511752107821227,-12.328941836331543,-12.64084005355835,0,0,-2.8981509658665985],[-19.364322734863116,-13.534163106294157,-12.64084005355835,0,0,-2.8981509658665985],[-24.216893361905004,-14.739384376256771,-12.64084005355835,0,0,-2.8981509658665985]]},{"id":3,"instruction":"flys pass house with roof thats line with blue tarp.","completed_instruction":"Turn left to face the tall building with clothes hanging on it and fly to the left side of that building.","start_frame":28,"end_frame":42,"start_position":[-24.216893361905004,-14.739384376256771,-12.64084005355835],"start_rotation":[0.12142049784040253,0,0,-0.99260115993494025],"end_position":[-39.94814096580185,7.113026219027438,-10.64084005355835],"end_rotation":[0.61601775380563362,0,0,0.78773226860162449],"actions":[6,1,5,1,2,2,2,2,2,2,1,1,1,1,6],"reference_path":[[-24.216893361905004,-14.739384376256771,-12.64084005355835,0,0,-2.8981509658665985],[-25.42211463186762,-9.886813749214882,-12.64084005355835,0,0,-2.8981509658665985],[-30.274685258909507,-11.092035019177496,-12.64084005355835,0,0,-2.8981509658665985],[-30.274685258909507,-11.092035019177496,-10.64084005355835,0,0,-2.8981509658665985],[-35.12725588595139,-12.29725628914011,-10.64084005355835,0,0,-2.8981509658665985],[-35.12725588595139,-12.29725628914011,-10.64084005355835,0,0,3.1232349535138386],[-35.12725588595139,-12.29725628914011,-10.64084005355835,0,0,2.8614355657146895],[-35.12725588595139,-12.29725628914011,-10.64084005355835,0,0,2.5996361779155404],[-35.12725588595139,-12.29725628914011,-10.64084005355835,0,0,2.337836790116391],[-35.12725588595139,-12.29725628914011,-10.64084005355835,0,0,2.076037402317241],[-35.12725588595139,-12.29725628914011,-10.64084005355835,0,0,1.8142380145180919],[-36.332477155914006,-7.444685662098223,-10.64084005355835,0,0,1.8142380145180919],[-37.53769842587662,-2.5921150350563362,-10.64084005355835,0,0,1.8142380145180919],[-38.742919695839234,2.2604555919855507,-10.64084005355835,0,0,1.8142380145180919],[-39.94814096580185,7.113026219027438,-10.64084005355835,0,0,1.8142380145180919]]},{"id":4,"instruction":"descends, turn left and faces houses.","completed_instruction":"Land on the ground.","start_frame":42,"end_frame":48,"start_position":[-39.94814096580185,7.113026219027438,-10.64084005355835],"start_rotation":[0.61601775380563362,0,0,0.78773226860162449],"end_position":[-36.30079160872258,13.17081811603194,-2.6408400535583496],"end_rotation":[0.61601775380563362,0,0,0.78773226860162449],"actions":[6,1,5,5,5,5,0],"reference_path":[[-39.94814096580185,7.113026219027438,-10.64084005355835,0,0,1.8142380145180919],[-35.09557033875996,8.318247488990053,-10.64084005355835,0,0,1.8142380145180919],[-36.30079160872258,13.17081811603194,-10.64084005355835,0,0,1.8142380145180919],[-36.30079160872258,13.17081811603194,-8.64084005355835,0,0,1.8142380145180919],[-36.30079160872258,13.17081811603194,-6.64084005355835,0,0,1.8142380145180919],[-36.30079160872258,13.17081811603194,-4.64084005355835,0,0,1.8142380145180919],[-36.30079160872258,13.17081811603194,-2.6408400535583496,0,0,1.8142380145180919]]}],"statistics":{"complete_actions":53,"sentence_actions":[3,17,11,15,7],"sentence_actions_average":10.6}}
diff --git a/scene_8/3DL65MZB8MD3JJTUXZCWBISSK6MCES.json b/scene_8/3DL65MZB8MD3JJTUXZCWBISSK6MCES.json
new file mode 100644
index 0000000000000000000000000000000000000000..d721285383a200e3b059b7ec1b030a31e0653cea
--- /dev/null
+++ b/scene_8/3DL65MZB8MD3JJTUXZCWBISSK6MCES.json
@@ -0,0 +1 @@
+{"episode_id":"3DL65MZB8MD3JJTUXZCWBISSK6MCES","trajectory_id":"3M4KL7H8L3LCXHTOLHZCTFMZNEV167","scene_id":8,"instruction":"elevate the cam a little... and then turn the cam to the right facing the small house... then go straight towards the house... move the cam straight towards the house at a distance while moving tilt the cam on the right side... slightly. move the cam closer towards the house... and the levitate a little... once you see the entrance of the house then levitate the cam up a little.. and then levitate down to lay the cam on the ground... facing the house.. and pause the cam.","sentence_instructions":[{"id":0,"instruction":"elevate the cam a little... and then turn the cam to the right facing the small house... then go straight towards the house... move the cam straight towards the house at a distance while moving tilt the cam on the right side... slightly.","completed_instruction":"Take off to the height of the wooden house ahead, turn right to face the wooden house on the right side of the road, fly forward to that house.","start_frame":1,"end_frame":6,"start_position":[-37.49095153808594,-60.46055221557617,-1.2272210121154785],"start_rotation":[0.99997145418388156,0,0,0.0075558465689403729],"end_position":[-37.49095153808594,-60.46055221557617,-5.2272210121154785],"end_rotation":[0.92096166231660992,0,0,0.38965320035003753],"actions":[4,3,3,4,3,1],"reference_path":[[-37.49095153808594,-60.46055221557617,-1.2272210121154785,0,0,0.015111836931393813],[-37.49095153808594,-60.46055221557617,-3.2272210121154785,0,0,0.015111836931393813],[-37.49095153808594,-60.46055221557617,-3.2272210121154785,0,0,0.27691122473054325],[-37.49095153808594,-60.46055221557617,-3.2272210121154785,0,0,0.5387106125296928],[-37.49095153808594,-60.46055221557617,-5.2272210121154785,0,0,0.5387106125296928],[-37.49095153808594,-60.46055221557617,-5.2272210121154785,0,0,0.8005100003288421]]},{"id":1,"instruction":"move the cam closer towards the house... and the levitate a little... once you see the entrance of the house then levitate the cam up a little.","completed_instruction":"Fly across the broken roof of the house.","start_frame":6,"end_frame":9,"start_position":[-37.49095153808594,-60.46055221557617,-5.2272210121154785],"start_rotation":[0.92096166231660992,0,0,0.38965320035003753],"end_position":[-30.527543868946466,-53.28343903314902,-7.2272210121154785],"end_rotation":[0.92096166231660992,0,0,0.38965320035003753],"actions":[1,1,4,1],"reference_path":[[-37.49095153808594,-60.46055221557617,-5.2272210121154785,0,0,0.8005100003288421],[-34.0092477035162,-56.8719956243626,-5.2272210121154785,0,0,0.8005100003288421],[-30.527543868946466,-53.28343903314902,-5.2272210121154785,0,0,0.8005100003288421],[-30.527543868946466,-53.28343903314902,-7.2272210121154785,0,0,0.8005100003288421]]},{"id":2,"instruction":"and then levitate down to lay the cam on the ground... facing the house.","completed_instruction":"Fly to the big tree ahead, then fly across the shortest house with the ladder towards the power lines behind the utility pole.","start_frame":9,"end_frame":21,"start_position":[-30.527543868946466,-53.28343903314902,-7.2272210121154785],"start_rotation":[0.92096166231660992,0,0,0.38965320035003753],"end_position":[-13.772149450458542,-16.322439122406536,-9.227221012115479],"end_rotation":[0.862222759098038,0,0,0.50652928216774062],"actions":[1,1,4,1,1,7,1,3,1,1,7,1,5],"reference_path":[[-30.527543868946466,-53.28343903314902,-7.2272210121154785,0,0,0.8005100003288421],[-27.04584003437673,-49.69488244193545,-7.2272210121154785,0,0,0.8005100003288421],[-23.564136199806995,-46.10632585072187,-7.2272210121154785,0,0,0.8005100003288421],[-23.564136199806995,-46.10632585072187,-9.227221012115479,0,0,0.8005100003288421],[-20.08243236523726,-42.5177692595083,-9.227221012115479,0,0,0.8005100003288421],[-16.600728530667524,-38.929212668294724,-9.227221012115479,0,0,0.8005100003288421],[-20.189285121881102,-35.44750883372499,-9.227221012115479,0,0,0.8005100003288421],[-16.707581287311367,-31.858952242511414,-9.227221012115479,0,0,0.8005100003288421],[-16.707581287311367,-31.858952242511414,-9.227221012115479,0,0,1.0623093881279915],[-14.273300424245033,-27.491541490165233,-9.227221012115479,0,0,1.0623093881279915],[-11.839019561178699,-23.12413073781905,-9.227221012115479,0,0,1.0623093881279915],[-16.206430313524876,-20.689849874752717,-9.227221012115479,0,0,1.0623093881279915],[-13.772149450458542,-16.322439122406536,-9.227221012115479,0,0,1.0623093881279915]]},{"id":3,"instruction":"and pause the cam.","completed_instruction":"Land on the ground.","start_frame":21,"end_frame":24,"start_position":[-13.772149450458542,-16.322439122406536,-9.227221012115479],"start_rotation":[0.862222759098038,0,0,0.50652928216774062],"end_position":[-13.772149450458542,-16.322439122406536,-3.2272210121154785],"end_rotation":[0.862222759098038,0,0,0.50652928216774062],"actions":[5,5,5,5],"reference_path":[[-13.772149450458542,-16.322439122406536,-9.227221012115479,0,0,1.0623093881279915],[-13.772149450458542,-16.322439122406536,-7.2272210121154785,0,0,1.0623093881279915],[-13.772149450458542,-16.322439122406536,-5.2272210121154785,0,0,1.0623093881279915],[-13.772149450458542,-16.322439122406536,-3.2272210121154785,0,0,1.0623093881279915]]}],"statistics":{"complete_actions":27,"sentence_actions":[6,4,13,4],"sentence_actions_average":6.75}}
diff --git a/scene_8/3EICBYG64DUBUZFMB0NN8Y5KMCFCJ3.json b/scene_8/3EICBYG64DUBUZFMB0NN8Y5KMCFCJ3.json
new file mode 100644
index 0000000000000000000000000000000000000000..a76260e092a5f5b1715d746662dac3c95c3c3ccf
--- /dev/null
+++ b/scene_8/3EICBYG64DUBUZFMB0NN8Y5KMCFCJ3.json
@@ -0,0 +1 @@
+{"episode_id":"3EICBYG64DUBUZFMB0NN8Y5KMCFCJ3","trajectory_id":"3SBNLSTU7238DMTB3FGIRFG3HYGZD9","scene_id":8,"instruction":"take off and turn left move to the container house since move forward and look at the another container house it. now turn left move forward between the container house. now turn right move forward and closely to the tree and fly over the container house and get down to the tree and land there.","sentence_instructions":[{"id":0,"instruction":"take off and turn left move to the container house since move forward and look at the another container house it.","completed_instruction":"Take off to the height above the roof ahead, turn left slightly to face the utility pole in the front-left, and fly forward to the front of the pole.","start_frame":1,"end_frame":5,"start_position":[14.69371223449707,-0.8330792784690857,-3.019906759262085],"start_rotation":[0.99964179055086455,0,0,0.026763605591577828],"end_position":[14.69371223449707,-0.8330792784690857,-9.019906759262085],"end_rotation":[0.99458306798411744,0,0,-0.10394479726903348],"actions":[4,4,4,2,2],"reference_path":[[14.69371223449707,-0.8330792784690857,-3.019906759262085,0,0,0.05353360341667897],[14.69371223449707,-0.8330792784690857,-5.019906759262085,0,0,0.05353360341667897],[14.69371223449707,-0.8330792784690857,-7.019906759262085,0,0,0.05353360341667897],[14.69371223449707,-0.8330792784690857,-9.019906759262085,0,0,0.05353360341667897],[14.69371223449707,-0.8330792784690857,-9.019906759262085,0,0,-0.20826578438247048]]},{"id":1,"instruction":"now turn left move forward between the container house.","completed_instruction":"Turn left slightly to face the dirt road, fly forward to the wire with clothes hanging on it, turn left to face another dirt road, fly up slightly above the wire and fly forward along the dirt road between the buildings until in front of a tree on the road.","start_frame":5,"end_frame":23,"start_position":[14.69371223449707,-0.8330792784690857,-9.019906759262085],"start_rotation":[0.99458306798411744,0,0,-0.10394479726903348],"end_position":[-2.591805049314547,-10.136484301053258,-11.019906759262085],"end_rotation":[0.026763605591577744,0,0,-0.99964179055086455],"actions":[2,2,1,2,2,2,2,1,2,2,2,2,2,4,1,1,1,1,1],"reference_path":[[14.69371223449707,-0.8330792784690857,-9.019906759262085,0,0,-0.20826578438247048],[14.69371223449707,-0.8330792784690857,-9.019906759262085,0,0,-0.4700651721816199],[14.69371223449707,-0.8330792784690857,-9.019906759262085,0,0,-0.7318645599807694],[18.413360681003216,-4.174368765239787,-9.019906759262085,0,0,-0.7318645599807694],[18.413360681003216,-4.174368765239787,-9.019906759262085,0,0,-0.9936639477799188],[18.413360681003216,-4.174368765239787,-9.019906759262085,0,0,-1.2554633355790683],[18.413360681003216,-4.174368765239787,-9.019906759262085,0,0,-1.5172627233782177],[18.413360681003216,-4.174368765239787,-9.019906759262085,0,0,-1.779062111177367],[17.37954332731499,-9.066323556446783,-9.019906759262085,0,0,-1.779062111177367],[17.37954332731499,-9.066323556446783,-9.019906759262085,0,0,-2.0408614989765166],[17.37954332731499,-9.066323556446783,-9.019906759262085,0,0,-2.302660886775666],[17.37954332731499,-9.066323556446783,-9.019906759262085,0,0,-2.5644602745748153],[17.37954332731499,-9.066323556446783,-9.019906759262085,0,0,-2.826259662373965],[17.37954332731499,-9.066323556446783,-9.019906759262085,0,0,-3.0880590501731144],[17.37954332731499,-9.066323556446783,-11.019906759262085,0,0,-3.0880590501731144],[12.386706233157607,-9.333863742598401,-11.019906759262085,0,0,-3.0880590501731144],[7.3938691390002225,-9.60140392875002,-11.019906759262085,0,0,-3.0880590501731144],[2.4010320448428377,-9.86894411490164,-11.019906759262085,0,0,-3.0880590501731144],[-2.591805049314547,-10.136484301053258,-11.019906759262085,0,0,-3.0880590501731144]]},{"id":2,"instruction":"now turn right move forward and closely to the tree and fly over the container house and get down to the tree and land there.","completed_instruction":"Turn right to face another narrow dirt road and fly forward along the dirt road between the buildings until  there is a building with the green and gray rusted roof on the right side of road, land on the road.","start_frame":23,"end_frame":44,"start_position":[-2.591805049314547,-10.136484301053258,-11.019906759262085],"start_rotation":[0.026763605591577744,0,0,-0.99964179055086455],"end_position":[-21.881835420823336,-54.69915779421946,-1.019906759262085],"end_rotation":[0.62977636080689592,0,0,-0.77677650284288491],"actions":[1,1,3,3,3,3,3,1,1,1,1,1,1,1,1,5,5,1,5,5,5,0],"reference_path":[[-2.591805049314547,-10.136484301053258,-11.019906759262085,0,0,-3.0880590501731144],[-7.584642143471932,-10.404024487204877,-11.019906759262085,0,0,-3.0880590501731144],[-12.577479237629316,-10.671564673356496,-11.019906759262085,0,0,-3.0880590501731144],[-12.577479237629316,-10.671564673356496,-11.019906759262085,0,0,-2.826259662373965],[-12.577479237629316,-10.671564673356496,-11.019906759262085,0,0,-2.5644602745748153],[-12.577479237629316,-10.671564673356496,-11.019906759262085,0,0,-2.302660886775666],[-12.577479237629316,-10.671564673356496,-11.019906759262085,0,0,-2.0408614989765166],[-12.577479237629316,-10.671564673356496,-11.019906759262085,0,0,-1.779062111177367],[-13.61129659131754,-15.563519464563491,-11.019906759262085,0,0,-1.779062111177367],[-14.645113945005765,-20.455474255770486,-11.019906759262085,0,0,-1.779062111177367],[-15.678931298693989,-25.34742904697748,-11.019906759262085,0,0,-1.779062111177367],[-16.712748652382214,-30.239383838184477,-11.019906759262085,0,0,-1.779062111177367],[-17.746566006070438,-35.13133862939147,-11.019906759262085,0,0,-1.779062111177367],[-18.780383359758662,-40.02329342059846,-11.019906759262085,0,0,-1.779062111177367],[-19.814200713446887,-44.91524821180546,-11.019906759262085,0,0,-1.779062111177367],[-20.84801806713511,-49.80720300301246,-11.019906759262085,0,0,-1.779062111177367],[-20.84801806713511,-49.80720300301246,-9.019906759262085,0,0,-1.779062111177367],[-20.84801806713511,-49.80720300301246,-7.019906759262085,0,0,-1.779062111177367],[-21.881835420823336,-54.69915779421946,-7.019906759262085,0,0,-1.779062111177367],[-21.881835420823336,-54.69915779421946,-5.019906759262085,0,0,-1.779062111177367],[-21.881835420823336,-54.69915779421946,-3.019906759262085,0,0,-1.779062111177367],[-21.881835420823336,-54.69915779421946,-1.019906759262085,0,0,-1.779062111177367]]}],"statistics":{"complete_actions":46,"sentence_actions":[5,19,22],"sentence_actions_average":15.33}}
diff --git a/scene_8/3F6KKYWMNKZHIHCLQUAQLB4JGW3DNF.json b/scene_8/3F6KKYWMNKZHIHCLQUAQLB4JGW3DNF.json
new file mode 100644
index 0000000000000000000000000000000000000000..9e2da4f7c652f8d4d0d8bffa819cad38e03accff
--- /dev/null
+++ b/scene_8/3F6KKYWMNKZHIHCLQUAQLB4JGW3DNF.json
@@ -0,0 +1 @@
+{"episode_id":"3F6KKYWMNKZHIHCLQUAQLB4JGW3DNF","trajectory_id":"37VUR2VJ7IN1DY2PV8CFFFE9JJS1CN","scene_id":8,"instruction":"take off after rising to the height slightly higher. turn right proceed forward to the rusted roof building. move left slightly fly forward. dive down by facing the hut with blue cover. turn right proceed forward over the rusted roof. turn left fly forward by facing huts with blue cover. turn right proceed forward on the street. dive down by facing rusted roof house with staircase. land by facing the above mentioned house.","sentence_instructions":[{"id":0,"instruction":"take off after rising to the height slightly higher.","completed_instruction":"Take off to the height above the blue tarp roof in front.","start_frame":1,"end_frame":2,"start_position":[-17.348716735839844,-41.651817321777344,-1.1202901601791382],"start_rotation":[0.99984901375428048,0,0,0.017376699761248431],"end_position":[-17.348716735839844,-41.651817321777344,-3.120290160179138],"end_rotation":[0.99984901375428048,0,0,0.017376699761248431],"actions":[4,4],"reference_path":[[-17.348716735839844,-41.651817321777344,-1.1202901601791382,0,0,0.03475514872324605],[-17.348716735839844,-41.651817321777344,-3.120290160179138,0,0,0.03475514872324605]]},{"id":1,"instruction":"turn right proceed forward to the rusted roof building.","completed_instruction":"Turn right to face the dirt road and the rusted roof building.","start_frame":2,"end_frame":8,"start_position":[-17.348716735839844,-41.651817321777344,-3.120290160179138],"start_rotation":[0.99984901375428048,0,0,0.017376699761248431],"end_position":[-17.348716735839844,-41.651817321777344,-7.120290160179138],"end_rotation":[0.85720629597939924,0,0,0.51497317030431655],"actions":[4,4,3,3,3,3,3],"reference_path":[[-17.348716735839844,-41.651817321777344,-3.120290160179138,0,0,0.03475514872324605],[-17.348716735839844,-41.651817321777344,-5.120290160179138,0,0,0.03475514872324605],[-17.348716735839844,-41.651817321777344,-7.120290160179138,0,0,0.03475514872324605],[-17.348716735839844,-41.651817321777344,-7.120290160179138,0,0,0.2965545365223955],[-17.348716735839844,-41.651817321777344,-7.120290160179138,0,0,0.558353924321545],[-17.348716735839844,-41.651817321777344,-7.120290160179138,0,0,0.8201533121206944],[-17.348716735839844,-41.651817321777344,-7.120290160179138,0,0,1.0819526999198439]]},{"id":2,"instruction":"move left slightly fly forward.","completed_instruction":"Fly forward across the roofs to the dirt road.","start_frame":8,"end_frame":16,"start_position":[-17.348716735839844,-41.651817321777344,-7.120290160179138],"start_rotation":[0.85720629597939924,0,0,0.51497317030431655],"end_position":[-20.270985556849716,-32.088327114862636,-13.120290160179138],"end_rotation":[0.59488365160719148,0,0,0.80381181942696867],"actions":[3,3,3,4,1,4,1,4,1],"reference_path":[[-17.348716735839844,-41.651817321777344,-7.120290160179138,0,0,1.0819526999198439],[-17.348716735839844,-41.651817321777344,-7.120290160179138,0,0,1.3437520877189932],[-17.348716735839844,-41.651817321777344,-7.120290160179138,0,0,1.6055514755181426],[-17.348716735839844,-41.651817321777344,-7.120290160179138,0,0,1.867350863317292],[-17.348716735839844,-41.651817321777344,-9.120290160179138,0,0,1.867350863317292],[-18.80985114634478,-36.87007221831999,-9.120290160179138,0,0,1.867350863317292],[-18.80985114634478,-36.87007221831999,-11.120290160179138,0,0,1.867350863317292],[-20.270985556849716,-32.088327114862636,-11.120290160179138,0,0,1.867350863317292],[-20.270985556849716,-32.088327114862636,-13.120290160179138,0,0,1.867350863317292]]},{"id":3,"instruction":"dive down by facing the hut with blue cover.","completed_instruction":"Fly down to the height above the blue tarp roof.","start_frame":16,"end_frame":18,"start_position":[-20.270985556849716,-32.088327114862636,-13.120290160179138],"start_rotation":[0.59488365160719148,0,0,0.80381181942696867],"end_position":[-23.19325437785959,-22.52483690794793,-13.120290160179138],"end_rotation":[0.59488365160719148,0,0,0.80381181942696867],"actions":[1,1,1],"reference_path":[[-20.270985556849716,-32.088327114862636,-13.120290160179138,0,0,1.867350863317292],[-21.732119967354652,-27.306582011405283,-13.120290160179138,0,0,1.867350863317292],[-23.19325437785959,-22.52483690794793,-13.120290160179138,0,0,1.867350863317292]]},{"id":4,"instruction":"turn right proceed forward over the rusted roof.","completed_instruction":"Turn right to directly face the short roof building while tall tusty roof building on the right.","start_frame":18,"end_frame":27,"start_position":[-23.19325437785959,-22.52483690794793,-13.120290160179138],"start_rotation":[0.59488365160719148,0,0,0.80381181942696867],"end_position":[-28.895030465631955,-20.392045968877433,-11.120290160179138],"end_rotation":[0.14773452424624572,0,0,-0.98902705238316679],"actions":[1,5,3,7,3,3,3,3,3,1],"reference_path":[[-23.19325437785959,-22.52483690794793,-13.120290160179138,0,0,1.867350863317292],[-24.654388788364525,-17.743091804490575,-13.120290160179138,0,0,1.867350863317292],[-24.654388788364525,-17.743091804490575,-11.120290160179138,0,0,1.867350863317292],[-24.654388788364525,-17.743091804490575,-11.120290160179138,0,0,2.1291502511164415],[-28.895030465631955,-20.392045968877433,-11.120290160179138,0,0,2.1291502511164415],[-28.895030465631955,-20.392045968877433,-11.120290160179138,0,0,2.3909496389155906],[-28.895030465631955,-20.392045968877433,-11.120290160179138,0,0,2.65274902671474],[-28.895030465631955,-20.392045968877433,-11.120290160179138,0,0,2.91454841451389],[-28.895030465631955,-20.392045968877433,-11.120290160179138,0,0,-3.106837504866547],[-28.895030465631955,-20.392045968877433,-11.120290160179138,0,0,-2.8450381170673973]]},{"id":5,"instruction":"turn left fly forward by facing huts with blue cover.","completed_instruction":"Turn left to face the short building behind the dirt road and fly forward towards the building.","start_frame":27,"end_frame":41,"start_position":[-28.895030465631955,-20.392045968877433,-11.120290160179138],"start_rotation":[0.14773452424624572,0,0,-0.98902705238316679],"end_position":[-44.701400186508955,-19.9937040969349,-11.120290160179138],"end_rotation":[0.91709026430136342,0,0,0.39867962968234949],"actions":[1,6,1,1,2,2,2,2,2,2,2,2,2,2,1],"reference_path":[[-28.895030465631955,-20.392045968877433,-11.120290160179138,0,0,-2.8450381170673973],[-33.67677556908931,-21.853180379382373,-11.120290160179138,0,0,-2.8450381170673973],[-35.13790997959425,-17.07143527592502,-11.120290160179138,0,0,-2.8450381170673973],[-39.9196550830516,-18.53256968642996,-11.120290160179138,0,0,-2.8450381170673973],[-44.701400186508955,-19.9937040969349,-11.120290160179138,0,0,-2.8450381170673973],[-44.701400186508955,-19.9937040969349,-11.120290160179138,0,0,-3.106837504866547],[-44.701400186508955,-19.9937040969349,-11.120290160179138,0,0,2.9145484145138902],[-44.701400186508955,-19.9937040969349,-11.120290160179138,0,0,2.652749026714741],[-44.701400186508955,-19.9937040969349,-11.120290160179138,0,0,2.3909496389155915],[-44.701400186508955,-19.9937040969349,-11.120290160179138,0,0,2.1291502511164424],[-44.701400186508955,-19.9937040969349,-11.120290160179138,0,0,1.867350863317293],[-44.701400186508955,-19.9937040969349,-11.120290160179138,0,0,1.6055514755181435],[-44.701400186508955,-19.9937040969349,-11.120290160179138,0,0,1.343752087718994],[-44.701400186508955,-19.9937040969349,-11.120290160179138,0,0,1.0819526999198446],[-44.701400186508955,-19.9937040969349,-11.120290160179138,0,0,0.8201533121206952]]},{"id":6,"instruction":"turn right proceed forward on the street.","completed_instruction":"Turn right to face the dirt road and fly forward to the end of the road.","start_frame":41,"end_frame":50,"start_position":[-44.701400186508955,-19.9937040969349,-11.120290160179138],"start_rotation":[0.91709026430136342,0,0,0.39867962968234949],"end_position":[-32.25284395954306,11.677199738546154,-11.120290160179138],"end_rotation":[0.78265529027074232,0,0,0.62245537720484034],"actions":[1,1,3,3,1,1,1,1,1,3],"reference_path":[[-44.701400186508955,-19.9937040969349,-11.120290160179138,0,0,0.8201533121206952],[-41.290854657745506,-16.33745202736534,-11.120290160179138,0,0,0.8201533121206952],[-37.880309128982056,-12.681199957795785,-11.120290160179138,0,0,0.8201533121206952],[-37.880309128982056,-12.681199957795785,-11.120290160179138,0,0,1.0819526999198446],[-37.880309128982056,-12.681199957795785,-11.120290160179138,0,0,1.343752087718994],[-36.754816095094256,-7.809520018527397,-11.120290160179138,0,0,1.343752087718994],[-35.629323061206456,-2.9378400792590096,-11.120290160179138,0,0,1.343752087718994],[-34.50383002731866,1.9338398600093782,-11.120290160179138,0,0,1.343752087718994],[-33.37833699343086,6.805519799277766,-11.120290160179138,0,0,1.343752087718994],[-32.25284395954306,11.677199738546154,-11.120290160179138,0,0,1.343752087718994]]},{"id":7,"instruction":"dive down by facing rusted roof house with staircase.","completed_instruction":"Fly down to the ground.","start_frame":50,"end_frame":56,"start_position":[-32.25284395954306,11.677199738546154,-11.120290160179138],"start_rotation":[0.78265529027074232,0,0,0.62245537720484034],"end_position":[-32.42658472072895,16.67418024160023,-3.120290160179138],"end_rotation":[0.69471283555251162,0,0,0.71928720002415514],"actions":[3,1,5,5,5,5,0],"reference_path":[[-32.25284395954306,11.677199738546154,-11.120290160179138,0,0,1.343752087718994],[-32.25284395954306,11.677199738546154,-11.120290160179138,0,0,1.6055514755181435],[-32.42658472072895,16.67418024160023,-11.120290160179138,0,0,1.6055514755181435],[-32.42658472072895,16.67418024160023,-9.120290160179138,0,0,1.6055514755181435],[-32.42658472072895,16.67418024160023,-7.120290160179138,0,0,1.6055514755181435],[-32.42658472072895,16.67418024160023,-5.120290160179138,0,0,1.6055514755181435],[-32.42658472072895,16.67418024160023,-3.120290160179138,0,0,1.6055514755181435]]}],"statistics":{"complete_actions":63,"sentence_actions":[2,7,9,3,10,15,10,7],"sentence_actions_average":7.88}}
diff --git a/scene_8/3GA6AFUKOXMRQTODU7913ILAKSWH3O.json b/scene_8/3GA6AFUKOXMRQTODU7913ILAKSWH3O.json
new file mode 100644
index 0000000000000000000000000000000000000000..69866b953390b8c3db83a1e5f3580307a2c3f459
--- /dev/null
+++ b/scene_8/3GA6AFUKOXMRQTODU7913ILAKSWH3O.json
@@ -0,0 +1 @@
+{"episode_id":"3GA6AFUKOXMRQTODU7913ILAKSWH3O","trajectory_id":"39AYGO6AGNIFBO0DQ4XAQMZ2M2WN63","scene_id":8,"instruction":"turn right and go over gray roof to the blue tarp. slide right and then turn right and go to the building with the clothing. turn left and go down near the barrels that are colourful.","sentence_instructions":[{"id":0,"instruction":"turn right and go over gray roof to the blue tarp.","completed_instruction":"Turn right to face the grassland, fly forward across the grassland and rusty roof to the electric pole on the roof covered in blue cloth.","start_frame":1,"end_frame":12,"start_position":[-41.6069221496582,-49.231727600097656,-3.5699455738067627],"start_rotation":[0.99971247230594984,0,0,0.023978588697531673],"end_position":[-23.28520255651788,-31.50280797282373,-9.569945573806763],"end_rotation":[0.95944198043401074,0,0,0.28190616556021514],"actions":[4,4,4,3,3,1,1,1,1,7,1,1],"reference_path":[[-41.6069221496582,-49.231727600097656,-3.5699455738067627,0,0,0.0479617742626349],[-41.6069221496582,-49.231727600097656,-5.569945573806763,0,0,0.0479617742626349],[-41.6069221496582,-49.231727600097656,-7.569945573806763,0,0,0.0479617742626349],[-41.6069221496582,-49.231727600097656,-9.569945573806763,0,0,0.0479617742626349],[-41.6069221496582,-49.231727600097656,-9.569945573806763,0,0,0.30976116206178433],[-41.6069221496582,-49.231727600097656,-9.569945573806763,0,0,0.5715605498609337],[-37.401633011466835,-46.527001502281145,-9.569945573806763,0,0,0.5715605498609337],[-33.19634387327547,-43.822275404464634,-9.569945573806763,0,0,0.5715605498609337],[-28.991054735084102,-41.11754930664812,-9.569945573806763,0,0,0.5715605498609337],[-24.785765596892738,-38.41282320883161,-9.569945573806763,0,0,0.5715605498609337],[-27.490491694709245,-34.20753407064024,-9.569945573806763,0,0,0.5715605498609337],[-23.28520255651788,-31.50280797282373,-9.569945573806763,0,0,0.5715605498609337]]},{"id":1,"instruction":"slide right and then turn right and go to the building with the clothing.","completed_instruction":"Turn right to face the nearest tree, and fly forward until you are in front of the three-story building with various clothes hanging on it.","start_frame":12,"end_frame":27,"start_position":[-23.28520255651788,-31.50280797282373,-9.569945573806763],"start_rotation":[0.95944198043401074,0,0,0.28190616556021514],"end_position":[-28.17795607994313,-5.735489502418019,-9.569945573806763],"end_rotation":[0.36042007296407474,0,0,0.9327901001857658],"actions":[1,1,7,1,3,3,3,3,3,3,3,1,1,1,1,1],"reference_path":[[-23.28520255651788,-31.50280797282373,-9.569945573806763,0,0,0.5715605498609337],[-19.079913418326516,-28.79808187500722,-9.569945573806763,0,0,0.5715605498609337],[-14.874624280135151,-26.09335577719071,-9.569945573806763,0,0,0.5715605498609337],[-17.57935037795166,-21.88806663899934,-9.569945573806763,0,0,0.5715605498609337],[-13.374061239760294,-19.18334054118283,-9.569945573806763,0,0,0.5715605498609337],[-13.374061239760294,-19.18334054118283,-9.569945573806763,0,0,0.8333599376600832],[-13.374061239760294,-19.18334054118283,-9.569945573806763,0,0,1.0951593254592327],[-13.374061239760294,-19.18334054118283,-9.569945573806763,0,0,1.356958713258382],[-13.374061239760294,-19.18334054118283,-9.569945573806763,0,0,1.6187581010575314],[-13.374061239760294,-19.18334054118283,-9.569945573806763,0,0,1.8805574888566807],[-13.374061239760294,-19.18334054118283,-9.569945573806763,0,0,2.14235687665583],[-13.374061239760294,-19.18334054118283,-9.569945573806763,0,0,2.4041562644549797],[-17.075034949806003,-15.821377781491627,-9.569945573806763,0,0,2.4041562644549797],[-20.776008659851712,-12.459415021800424,-9.569945573806763,0,0,2.4041562644549797],[-24.47698236989742,-9.097452262109222,-9.569945573806763,0,0,2.4041562644549797],[-28.17795607994313,-5.735489502418019,-9.569945573806763,0,0,2.4041562644549797]]},{"id":2,"instruction":"turn left and go down near the barrels that are colourful.","completed_instruction":"Turn left to face the dirt road, fly forward over the electric wires, and then land on the ground.","start_frame":27,"end_frame":41,"start_position":[-28.17795607994313,-5.735489502418019,-9.569945573806763],"start_rotation":[0.36042007296407474,0,0,0.9327901001857658],"end_position":[-32.412304685007534,17.685417016906193,-3.5699455738067627],"end_rotation":[0.853787103148334,0,0,0.52062230311193569],"actions":[1,1,1,2,2,2,2,2,1,1,5,5,1,5,0],"reference_path":[[-28.17795607994313,-5.735489502418019,-9.569945573806763,0,0,2.4041562644549797],[-31.878929789988838,-2.373526742726815,-9.569945573806763,0,0,2.4041562644549797],[-35.57990350003455,0.9884360169643882,-9.569945573806763,0,0,2.4041562644549797],[-39.280877210080256,4.350398776655592,-9.569945573806763,0,0,2.4041562644549797],[-39.280877210080256,4.350398776655592,-9.569945573806763,0,0,2.14235687665583],[-39.280877210080256,4.350398776655592,-9.569945573806763,0,0,1.8805574888566807],[-39.280877210080256,4.350398776655592,-9.569945573806763,0,0,1.6187581010575312],[-39.280877210080256,4.350398776655592,-9.569945573806763,0,0,1.3569587132583818],[-39.280877210080256,4.350398776655592,-9.569945573806763,0,0,1.0951593254592324],[-36.991353035056015,8.795404856739125,-9.569945573806763,0,0,1.0951593254592324],[-34.701828860031775,13.24041093682266,-9.569945573806763,0,0,1.0951593254592324],[-34.701828860031775,13.24041093682266,-7.569945573806763,0,0,1.0951593254592324],[-34.701828860031775,13.24041093682266,-5.569945573806763,0,0,1.0951593254592324],[-32.412304685007534,17.685417016906193,-5.569945573806763,0,0,1.0951593254592324],[-32.412304685007534,17.685417016906193,-3.5699455738067627,0,0,1.0951593254592324]]}],"statistics":{"complete_actions":43,"sentence_actions":[12,16,15],"sentence_actions_average":14.33}}
diff --git a/scene_8/3H7Z272LXG50JECQJQL68DHJPHMLP9.json b/scene_8/3H7Z272LXG50JECQJQL68DHJPHMLP9.json
new file mode 100644
index 0000000000000000000000000000000000000000..bf224155a1c2109d2992c4755989c06486ccb435
--- /dev/null
+++ b/scene_8/3H7Z272LXG50JECQJQL68DHJPHMLP9.json
@@ -0,0 +1 @@
+{"episode_id":"3H7Z272LXG50JECQJQL68DHJPHMLP9","trajectory_id":"3PUOXASB6F1WAWGURZBG5JXDQD1Z9S","scene_id":8,"instruction":"take off and turn right, head between the tree and the building. follow the street to the tree at the end. turn left and head to the blue tarpaulin covered roof, then turn right back towards the tree. fly over the tree and set down in front of the next building.","sentence_instructions":[{"id":0,"instruction":"take off and turn right, head between the tree and the building.","completed_instruction":"Take off to the height above the blue tarp roof in front, then turn right to face the middle of a tree and a rusty house.","start_frame":0,"end_frame":10,"start_position":[17.16092872619629,-21.32415199279785,-3.96555233001709],"start_rotation":[0.99991208234971385,0,0,-0.013259998908714566],"end_position":[17.16092872619629,-21.32415199279785,-9.96555233001709],"end_rotation":[0.61922777256078421,0,0,0.78521141464538691],"actions":[4,4,4,3,3,3,3,3,3,3,3],"reference_path":[[17.16092872619629,-21.32415199279785,-3.96555233001709,0,0,-0.026520775036726285],[17.16092872619629,-21.32415199279785,-5.96555233001709,0,0,-0.026520775036726285],[17.16092872619629,-21.32415199279785,-7.96555233001709,0,0,-0.026520775036726285],[17.16092872619629,-21.32415199279785,-9.96555233001709,0,0,-0.026520775036726285],[17.16092872619629,-21.32415199279785,-9.96555233001709,0,0,0.23527861276242315],[17.16092872619629,-21.32415199279785,-9.96555233001709,0,0,0.49707800056157264],[17.16092872619629,-21.32415199279785,-9.96555233001709,0,0,0.758877388360722],[17.16092872619629,-21.32415199279785,-9.96555233001709,0,0,1.0206767761598714],[17.16092872619629,-21.32415199279785,-9.96555233001709,0,0,1.282476163959021],[17.16092872619629,-21.32415199279785,-9.96555233001709,0,0,1.5442755517581703],[17.16092872619629,-21.32415199279785,-9.96555233001709,0,0,1.8060749395573195]]},{"id":1,"instruction":"follow the street to the tree at the end.","completed_instruction":"Fly forward across the roof ahead, then fly forward along the dirt road untiil you reach the second dirt T-junction.","start_frame":10,"end_frame":24,"start_position":[17.16092872619629,-21.32415199279785,-9.96555233001709],"start_rotation":[0.61922777256078421,0,0,0.78521141464538691],"end_position":[-24.345112516360487,-3.2531856893062674,-9.96555233001709],"end_rotation":[0.14366127444379798,0,0,0.98962691870481356],"actions":[3,3,3,1,1,1,1,1,1,7,1,1,3,1,3],"reference_path":[[17.16092872619629,-21.32415199279785,-9.96555233001709,0,0,1.8060749395573195],[17.16092872619629,-21.32415199279785,-9.96555233001709,0,0,2.067874327356469],[17.16092872619629,-21.32415199279785,-9.96555233001709,0,0,2.329673715155619],[17.16092872619629,-21.32415199279785,-9.96555233001709,0,0,2.5914731029547684],[12.898618584310164,-18.710206267581917,-9.96555233001709,0,0,2.5914731029547684],[8.636308442424038,-16.096260542365982,-9.96555233001709,0,0,2.5914731029547684],[4.373998300537912,-13.482314817150046,-9.96555233001709,0,0,2.5914731029547684],[0.11168815865178594,-10.86836909193411,-9.96555233001709,0,0,2.5914731029547684],[-4.15062198323434,-8.254423366718173,-9.96555233001709,0,0,2.5914731029547684],[-8.412932125120467,-5.640477641502237,-9.96555233001709,0,0,2.5914731029547684],[-11.026877850336401,-9.902787783388364,-9.96555233001709,0,0,2.5914731029547684],[-15.289187992222526,-7.288842058172428,-9.96555233001709,0,0,2.5914731029547684],[-19.551498134108652,-4.674896332956491,-9.96555233001709,0,0,2.5914731029547684],[-19.551498134108652,-4.674896332956491,-9.96555233001709,0,0,2.853272490753918],[-24.345112516360487,-3.2531856893062674,-9.96555233001709,0,0,2.853272490753918]]},{"id":2,"instruction":"turn left and head to the blue tarpaulin covered roof, then turn right back towards the tree.","completed_instruction":"Turn left slightly to face the roof with the blue tarp on the front-left, fly forward to the top of the roof, then turn right to face the tree on the roof.","start_frame":24,"end_frame":33,"start_position":[-24.345112516360487,-3.2531856893062674,-9.96555233001709],"start_rotation":[0.14366127444379798,0,0,0.98962691870481356],"end_position":[-42.86621624871157,2.239882423540947,-9.96555233001709],"end_rotation":[0.013259998908714044,0,0,0.99991208234971385],"actions":[3,1,1,2,2,1,1,3,3,3],"reference_path":[[-24.345112516360487,-3.2531856893062674,-9.96555233001709,0,0,2.853272490753918],[-24.345112516360487,-3.2531856893062674,-9.96555233001709,0,0,3.1150718785530676],[-29.343354240649894,-3.120597358098593,-9.96555233001709,0,0,3.1150718785530676],[-34.3415959649393,-2.9880090268909187,-9.96555233001709,0,0,3.1150718785530676],[-34.3415959649393,-2.9880090268909187,-9.96555233001709,0,0,2.8532724907539184],[-34.3415959649393,-2.9880090268909187,-9.96555233001709,0,0,2.5914731029547693],[-38.603906106825434,-0.3740633016749859,-9.96555233001709,0,0,2.5914731029547693],[-42.86621624871157,2.239882423540947,-9.96555233001709,0,0,2.5914731029547693],[-42.86621624871157,2.239882423540947,-9.96555233001709,0,0,2.853272490753919],[-42.86621624871157,2.239882423540947,-9.96555233001709,0,0,3.115071878553068]]},{"id":3,"instruction":"fly over the tree and set down in front of the next building.","completed_instruction":"Fly up slightly above the tree ahead, fly forward past it to a building with rusty roof, and land in front of the building.","start_frame":33,"end_frame":48,"start_position":[-42.86621624871157,2.239882423540947,-9.96555233001709],"start_rotation":[0.013259998908714044,0,0,0.99991208234971385],"end_position":[-57.378395150142495,-11.522263613064776,-1.9655523300170898],"end_rotation":[0.37039914614402997,0,0,-0.92887268908918486],"actions":[3,3,3,4,1,4,1,1,1,5,5,5,5,5,5,0],"reference_path":[[-42.86621624871157,2.239882423540947,-9.96555233001709,0,0,3.115071878553068],[-42.86621624871157,2.239882423540947,-9.96555233001709,0,0,-2.906314040827369],[-42.86621624871157,2.239882423540947,-9.96555233001709,0,0,-2.6445146530282195],[-42.86621624871157,2.239882423540947,-9.96555233001709,0,0,-2.38271526522907],[-42.86621624871157,2.239882423540947,-11.96555233001709,0,0,-2.38271526522907],[-46.4942609740693,-1.2006540856104841,-11.96555233001709,0,0,-2.38271526522907],[-46.4942609740693,-1.2006540856104841,-13.96555233001709,0,0,-2.38271526522907],[-50.12230569942703,-4.641190594761915,-13.96555233001709,0,0,-2.38271526522907],[-53.75035042478476,-8.081727103913346,-13.96555233001709,0,0,-2.38271526522907],[-57.378395150142495,-11.522263613064776,-13.96555233001709,0,0,-2.38271526522907],[-57.378395150142495,-11.522263613064776,-11.96555233001709,0,0,-2.38271526522907],[-57.378395150142495,-11.522263613064776,-9.96555233001709,0,0,-2.38271526522907],[-57.378395150142495,-11.522263613064776,-7.96555233001709,0,0,-2.38271526522907],[-57.378395150142495,-11.522263613064776,-5.96555233001709,0,0,-2.38271526522907],[-57.378395150142495,-11.522263613064776,-3.96555233001709,0,0,-2.38271526522907],[-57.378395150142495,-11.522263613064776,-1.9655523300170898,0,0,-2.38271526522907]]}],"statistics":{"complete_actions":52,"sentence_actions":[11,15,10,16],"sentence_actions_average":13.0}}
diff --git a/scene_8/3J4Q2Z4UT711UKP4NH7XHTO9SMCWQ8.json b/scene_8/3J4Q2Z4UT711UKP4NH7XHTO9SMCWQ8.json
new file mode 100644
index 0000000000000000000000000000000000000000..9033a4b011d861edc0404797ed3c26c8ae1cecc7
--- /dev/null
+++ b/scene_8/3J4Q2Z4UT711UKP4NH7XHTO9SMCWQ8.json
@@ -0,0 +1 @@
+{"episode_id":"3J4Q2Z4UT711UKP4NH7XHTO9SMCWQ8","trajectory_id":"3I4E7AFQ3SXPUWK47JDB8PAZ1MRJTR","scene_id":8,"instruction":"take off and turn right move towards the houses. now turn left move little forward behind the house. now slow down behind the house and stay there.","sentence_instructions":[{"id":0,"instruction":"take off and turn right move towards the houses.","completed_instruction":"Take off to the height above the roof, turn back to face the dirt road, and fly forward to the second utility pole.","start_frame":0,"end_frame":17,"start_position":[17.70567512512207,-11.971580505371094,-3.6551432609558105],"start_rotation":[0.99986503323754439,0,0,0.016429099454452669],"end_position":[7.711073431299756,-12.300118146812888,-9.65514326095581],"end_rotation":[0.01642909945445313,0,0,-0.99986503323754439],"actions":[4,4,4,3,3,3,3,3,3,3,3,3,3,3,3,1,1,1],"reference_path":[[17.70567512512207,-11.971580505371094,-3.6551432609558105,0,0,0.03285967724362502],[17.70567512512207,-11.971580505371094,-5.6551432609558105,0,0,0.03285967724362502],[17.70567512512207,-11.971580505371094,-7.6551432609558105,0,0,0.03285967724362502],[17.70567512512207,-11.971580505371094,-9.65514326095581,0,0,0.03285967724362502],[17.70567512512207,-11.971580505371094,-9.65514326095581,0,0,0.29465906504277445],[17.70567512512207,-11.971580505371094,-9.65514326095581,0,0,0.5564584528419239],[17.70567512512207,-11.971580505371094,-9.65514326095581,0,0,0.8182578406410733],[17.70567512512207,-11.971580505371094,-9.65514326095581,0,0,1.0800572284402228],[17.70567512512207,-11.971580505371094,-9.65514326095581,0,0,1.3418566162393721],[17.70567512512207,-11.971580505371094,-9.65514326095581,0,0,1.6036560040385215],[17.70567512512207,-11.971580505371094,-9.65514326095581,0,0,1.865455391837671],[17.70567512512207,-11.971580505371094,-9.65514326095581,0,0,2.1272547796368206],[17.70567512512207,-11.971580505371094,-9.65514326095581,0,0,2.38905416743597],[17.70567512512207,-11.971580505371094,-9.65514326095581,0,0,2.65085355523512],[17.70567512512207,-11.971580505371094,-9.65514326095581,0,0,2.9126529430342694],[17.70567512512207,-11.971580505371094,-9.65514326095581,0,0,-3.1087329763461673],[12.708374278210913,-12.135849326091991,-9.65514326095581,0,0,-3.1087329763461673],[7.711073431299756,-12.300118146812888,-9.65514326095581,0,0,-3.1087329763461673]]},{"id":1,"instruction":"now turn left move little forward behind the house.","completed_instruction":"Turn left to face the building on the left with the blue tarp and a rusty roof, then fly forward across the building with the blue tarp roof and the building with the rusted roof, fly over the roof by its right side, and fly forward to the electric pole.","start_frame":17,"end_frame":33,"start_position":[7.711073431299756,-12.300118146812888,-9.65514326095581],"start_rotation":[0.01642909945445313,0,0,-0.99986503323754439],"end_position":[-19.90664267537596,-2.059302260808513,-9.65514326095581],"end_rotation":[0.36745327409761674,0,0,0.93004198365178214],"actions":[1,3,1,3,1,2,2,2,2,2,2,1,3,1,1,1,1],"reference_path":[[7.711073431299756,-12.300118146812888,-9.65514326095581,0,0,-3.1087329763461673],[2.7137725843885985,-12.464386967533786,-9.65514326095581,0,0,-3.1087329763461673],[2.7137725843885985,-12.464386967533786,-9.65514326095581,0,0,-2.8469335885470177],[-2.0707334660600214,-13.916455097209713,-9.65514326095581,0,0,-2.8469335885470177],[-2.0707334660600214,-13.916455097209713,-9.65514326095581,0,0,-2.585134200747868],[-6.316388539478124,-16.557366492459302,-9.65514326095581,0,0,-2.585134200747868],[-6.316388539478124,-16.557366492459302,-9.65514326095581,0,0,-2.8469335885470177],[-6.316388539478124,-16.557366492459302,-9.65514326095581,0,0,-3.1087329763461673],[-6.316388539478124,-16.557366492459302,-9.65514326095581,0,0,2.91265294303427],[-6.316388539478124,-16.557366492459302,-9.65514326095581,0,0,2.6508535552351202],[-6.316388539478124,-16.557366492459302,-9.65514326095581,0,0,2.3890541674359707],[-6.316388539478124,-16.557366492459302,-9.65514326095581,0,0,2.127254779636821],[-8.95729993472771,-12.311711419041197,-9.65514326095581,0,0,2.127254779636821],[-8.95729993472771,-12.311711419041197,-9.65514326095581,0,0,2.38905416743597],[-12.607080848277127,-8.894241699630303,-9.65514326095581,0,0,2.38905416743597],[-16.256861761826542,-5.476771980219408,-9.65514326095581,0,0,2.38905416743597],[-19.90664267537596,-2.059302260808513,-9.65514326095581,0,0,2.38905416743597]]},{"id":2,"instruction":"now slow down behind the house and stay there.","completed_instruction":"Land in front of the two floor rusty building.","start_frame":33,"end_frame":37,"start_position":[-19.90664267537596,-2.059302260808513,-9.65514326095581],"start_rotation":[0.36745327409761674,0,0,0.93004198365178214],"end_position":[-30.85598541602421,8.193106897424173,-7.6551432609558105],"end_rotation":[0.36745327409761674,0,0,0.93004198365178214],"actions":[1,1,1,5,5],"reference_path":[[-19.90664267537596,-2.059302260808513,-9.65514326095581,0,0,2.38905416743597],[-23.556423588925377,1.3581674586023817,-9.65514326095581,0,0,2.38905416743597],[-27.206204502474794,4.775637178013277,-9.65514326095581,0,0,2.38905416743597],[-30.85598541602421,8.193106897424173,-9.65514326095581,0,0,2.38905416743597],[-30.85598541602421,8.193106897424173,-7.6551432609558105,0,0,2.38905416743597]]}],"statistics":{"complete_actions":40,"sentence_actions":[18,17,5],"sentence_actions_average":13.33}}
diff --git a/scene_8/3JBT3HLQFH0KO3TUYRCFGSSH681PZ5.json b/scene_8/3JBT3HLQFH0KO3TUYRCFGSSH681PZ5.json
new file mode 100644
index 0000000000000000000000000000000000000000..72a8f36960082e98d8eb6f5c5aaa4219a0f84169
--- /dev/null
+++ b/scene_8/3JBT3HLQFH0KO3TUYRCFGSSH681PZ5.json
@@ -0,0 +1 @@
+{"episode_id":"3JBT3HLQFH0KO3TUYRCFGSSH681PZ5","trajectory_id":"3BS6ERDLAB56PC901AJ7UHN8C2GD69","scene_id":8,"instruction":"elevate the cam from the ground to the top of the roof.. and then turn the cam to the left facing the trees... then go straight towards the tree in the fog... then levitate the cam a little once you reach the red house then again elevate up immediately. turn the cam to the left facing the small house at a distance.. then go straight towards the small house... then turn the cam to the right facing the fog then levitate cam down towards the cable.. and fly through it. then make the cam fly over ground level and then pause the cam facing the ground and the house...","sentence_instructions":[{"id":0,"instruction":"elevate the cam from the ground to the top of the roof.","completed_instruction":"Take off to the height of rusty roof.","start_frame":1,"end_frame":3,"start_position":[-20.612924575805664,59.93636703491211,-1.133882761001587],"start_rotation":[0.999999903272563,0,0,0.00043983504254408346],"end_position":[-20.612924575805664,59.93636703491211,-5.133882761001587],"end_rotation":[0.999999903272563,0,0,0.00043983504254408346],"actions":[4,4,4],"reference_path":[[-20.612924575805664,59.93636703491211,-1.133882761001587,0,0,0.0008796701134509122],[-20.612924575805664,59.93636703491211,-3.133882761001587,0,0,0.0008796701134509122],[-20.612924575805664,59.93636703491211,-5.133882761001587,0,0,0.0008796701134509122]]},{"id":1,"instruction":"and then turn the cam to the left facing the trees... then go straight towards the tree in the fog... then levitate the cam a little once you reach the red house then again elevate up immediately.","completed_instruction":"Turn left to face the leftmost tree in a row, fly forward to that tree, fly over the tree to a rusty building.","start_frame":3,"end_frame":18,"start_position":[-20.612924575805664,59.93636703491211,-5.133882761001587],"start_rotation":[0.999999903272563,0,0,0.00043983504254408346],"end_position":[-20.24804064318297,39.32406828596822,-15.133882761001587],"end_rotation":[0.7936210181612271,0,0,-0.60841242552460839],"actions":[4,4,4,2,2,2,2,2,1,4,1,4,1,1,6,1],"reference_path":[[-20.612924575805664,59.93636703491211,-5.133882761001587,0,0,0.0008796701134509122],[-20.612924575805664,59.93636703491211,-7.133882761001587,0,0,0.0008796701134509122],[-20.612924575805664,59.93636703491211,-9.133882761001587,0,0,0.0008796701134509122],[-20.612924575805664,59.93636703491211,-11.133882761001587,0,0,0.0008796701134509122],[-20.612924575805664,59.93636703491211,-11.133882761001587,0,0,-0.2609197176856985],[-20.612924575805664,59.93636703491211,-11.133882761001587,0,0,-0.5227191054848479],[-20.612924575805664,59.93636703491211,-11.133882761001587,0,0,-0.7845184932839974],[-20.612924575805664,59.93636703491211,-11.133882761001587,0,0,-1.0463178810831468],[-20.612924575805664,59.93636703491211,-11.133882761001587,0,0,-1.3081172688822964],[-19.314581371133038,55.10787814884429,-11.133882761001587,0,0,-1.3081172688822964],[-19.314581371133038,55.10787814884429,-13.133882761001587,0,0,-1.3081172688822964],[-18.01623816646041,50.279389262776476,-13.133882761001587,0,0,-1.3081172688822964],[-18.01623816646041,50.279389262776476,-15.133882761001587,0,0,-1.3081172688822964],[-16.717894961787785,45.45090037670866,-15.133882761001587,0,0,-1.3081172688822964],[-15.419551757115157,40.62241149064084,-15.133882761001587,0,0,-1.3081172688822964],[-20.24804064318297,39.32406828596822,-15.133882761001587,0,0,-1.3081172688822964]]},{"id":2,"instruction":"turn the cam to the left facing the small house at a distance.","completed_instruction":"Turn left to face the the roof covered in blue cloth.","start_frame":18,"end_frame":22,"start_position":[-20.24804064318297,39.32406828596822,-15.133882761001587],"start_rotation":[0.7936210181612271,0,0,-0.60841242552460839],"end_position":[-18.949697438510345,34.4955793999004,-13.133882761001587],"end_rotation":[0.60911031472496724,0,0,-0.79308550894317276],"actions":[1,5,2,2,2],"reference_path":[[-20.24804064318297,39.32406828596822,-15.133882761001587,0,0,-1.3081172688822964],[-18.949697438510345,34.4955793999004,-15.133882761001587,0,0,-1.3081172688822964],[-18.949697438510345,34.4955793999004,-13.133882761001587,0,0,-1.3081172688822964],[-18.949697438510345,34.4955793999004,-13.133882761001587,0,0,-1.569916656681446],[-18.949697438510345,34.4955793999004,-13.133882761001587,0,0,-1.8317160444805956]]},{"id":3,"instruction":"then go straight towards the small house... then turn the cam to the right facing the fog then levitate cam down towards the cable.","completed_instruction":"Fly forward until in front of the rusty roof, then turn right to face the dirt road, fly forward to the nearest power line, and fly down to the height of the power lines.","start_frame":22,"end_frame":34,"start_position":[-18.949697438510345,34.4955793999004,-13.133882761001587],"start_rotation":[0.60911031472496724,0,0,-0.79308550894317276],"end_position":[-34.51316843408514,17.322623774095433,-11.133882761001587],"end_rotation":[0.60911031472496735,0,0,-0.79308550894317265],"actions":[2,2,2,1,1,1,3,3,3,5,1,1,5],"reference_path":[[-18.949697438510345,34.4955793999004,-13.133882761001587,0,0,-1.8317160444805956],[-18.949697438510345,34.4955793999004,-13.133882761001587,0,0,-2.093515432279745],[-18.949697438510345,34.4955793999004,-13.133882761001587,0,0,-2.355314820078894],[-18.949697438510345,34.4955793999004,-13.133882761001587,0,0,-2.6171142078780436],[-23.277623607064264,31.99177128433999,-13.133882761001587,0,0,-2.6171142078780436],[-27.605549775618186,29.48796316877958,-13.133882761001587,0,0,-2.6171142078780436],[-31.93347594417211,26.98415505321917,-13.133882761001587,0,0,-2.6171142078780436],[-31.93347594417211,26.98415505321917,-13.133882761001587,0,0,-2.3553148200788945],[-31.93347594417211,26.98415505321917,-13.133882761001587,0,0,-2.093515432279745],[-31.93347594417211,26.98415505321917,-13.133882761001587,0,0,-1.8317160444805953],[-31.93347594417211,26.98415505321917,-11.133882761001587,0,0,-1.8317160444805953],[-33.22332218912862,22.1533894136573,-11.133882761001587,0,0,-1.8317160444805953],[-34.51316843408514,17.322623774095433,-11.133882761001587,0,0,-1.8317160444805953]]},{"id":4,"instruction":"and fly through it.","completed_instruction":"Fly forward across the wires in front.","start_frame":34,"end_frame":35,"start_position":[-34.51316843408514,17.322623774095433,-11.133882761001587],"start_rotation":[0.60911031472496735,0,0,-0.79308550894317265],"end_position":[-34.51316843408514,17.322623774095433,-9.133882761001587],"end_rotation":[0.60911031472496735,0,0,-0.79308550894317265],"actions":[5,5],"reference_path":[[-34.51316843408514,17.322623774095433,-11.133882761001587,0,0,-1.8317160444805953],[-34.51316843408514,17.322623774095433,-9.133882761001587,0,0,-1.8317160444805953]]},{"id":5,"instruction":"then make the cam fly over ground level and then pause the cam facing the ground and the house...","completed_instruction":"Land on the ground.","start_frame":35,"end_frame":40,"start_position":[-34.51316843408514,17.322623774095433,-9.133882761001587],"start_rotation":[0.60911031472496735,0,0,-0.79308550894317265],"end_position":[-35.80301467904165,12.491858134533565,-1.133882761001587],"end_rotation":[0.60911031472496735,0,0,-0.79308550894317265],"actions":[5,5,1,5,5,0],"reference_path":[[-34.51316843408514,17.322623774095433,-9.133882761001587,0,0,-1.8317160444805953],[-34.51316843408514,17.322623774095433,-7.133882761001587,0,0,-1.8317160444805953],[-34.51316843408514,17.322623774095433,-5.133882761001587,0,0,-1.8317160444805953],[-35.80301467904165,12.491858134533565,-5.133882761001587,0,0,-1.8317160444805953],[-35.80301467904165,12.491858134533565,-3.133882761001587,0,0,-1.8317160444805953],[-35.80301467904165,12.491858134533565,-1.133882761001587,0,0,-1.8317160444805953]]}],"statistics":{"complete_actions":45,"sentence_actions":[3,16,5,13,2,6],"sentence_actions_average":7.5}}
diff --git a/scene_8/3JRJSWSMQQJF6JXB461VIFOYERV3E3.json b/scene_8/3JRJSWSMQQJF6JXB461VIFOYERV3E3.json
new file mode 100644
index 0000000000000000000000000000000000000000..1609f1dd2beab6dc9edde12cc54fdba20278bbbe
--- /dev/null
+++ b/scene_8/3JRJSWSMQQJF6JXB461VIFOYERV3E3.json
@@ -0,0 +1 @@
+{"episode_id":"3JRJSWSMQQJF6JXB461VIFOYERV3E3","trajectory_id":"34XASH8KMYKH3CXITZHJJ71JGUFPM8","scene_id":8,"instruction":"elevate your drone to the top then turn 60 degree of your right. and move forward in right laterally and move forward to the opposite shed once you reach it then turn 120 degree of your right. and move forward to the tree house once you reach it then turn 90 degree of your left and move forward to the house once you near to the house drop your drone there and stop.","sentence_instructions":[{"id":0,"instruction":"elevate your drone to the top then turn 60 degree of your right.","completed_instruction":"Fly up to the height of trees ahead and turn right to face the grassland.","start_frame":1,"end_frame":3,"start_position":[-41.6069221496582,-49.231727600097656,-3.5699455738067627],"start_rotation":[0.99971247230594984,0,0,0.023978588697531673],"end_position":[-41.6069221496582,-49.231727600097656,-7.569945573806763],"end_rotation":[0.99971247230594984,0,0,0.023978588697531673],"actions":[4,4,4],"reference_path":[[-41.6069221496582,-49.231727600097656,-3.5699455738067627,0,0,0.0479617742626349],[-41.6069221496582,-49.231727600097656,-5.569945573806763,0,0,0.0479617742626349],[-41.6069221496582,-49.231727600097656,-7.569945573806763,0,0,0.0479617742626349]]},{"id":1,"instruction":"and move forward in right laterally and move forward to the opposite shed once you reach it then turn 120 degree of your right.","completed_instruction":"Fly forward across the grassland and the building behind it to the utility pole on top of the building complex with blue tarps on the roof, and turn right to face the tree.","start_frame":3,"end_frame":21,"start_position":[-41.6069221496582,-49.231727600097656,-7.569945573806763],"start_rotation":[0.99971247230594984,0,0,0.023978588697531673],"end_position":[-13.374061239760294,-19.18334054118283,-9.569945573806763],"end_rotation":[0.58956289980015475,0,0,0.80772246915585588],"actions":[4,3,3,1,1,1,1,7,1,1,1,7,1,3,3,3,3,3,3],"reference_path":[[-41.6069221496582,-49.231727600097656,-7.569945573806763,0,0,0.0479617742626349],[-41.6069221496582,-49.231727600097656,-9.569945573806763,0,0,0.0479617742626349],[-41.6069221496582,-49.231727600097656,-9.569945573806763,0,0,0.30976116206178433],[-41.6069221496582,-49.231727600097656,-9.569945573806763,0,0,0.5715605498609337],[-37.401633011466835,-46.527001502281145,-9.569945573806763,0,0,0.5715605498609337],[-33.19634387327547,-43.822275404464634,-9.569945573806763,0,0,0.5715605498609337],[-28.991054735084102,-41.11754930664812,-9.569945573806763,0,0,0.5715605498609337],[-24.785765596892738,-38.41282320883161,-9.569945573806763,0,0,0.5715605498609337],[-27.490491694709245,-34.20753407064024,-9.569945573806763,0,0,0.5715605498609337],[-23.28520255651788,-31.50280797282373,-9.569945573806763,0,0,0.5715605498609337],[-19.079913418326516,-28.79808187500722,-9.569945573806763,0,0,0.5715605498609337],[-14.874624280135151,-26.09335577719071,-9.569945573806763,0,0,0.5715605498609337],[-17.57935037795166,-21.88806663899934,-9.569945573806763,0,0,0.5715605498609337],[-13.374061239760294,-19.18334054118283,-9.569945573806763,0,0,0.5715605498609337],[-13.374061239760294,-19.18334054118283,-9.569945573806763,0,0,0.8333599376600832],[-13.374061239760294,-19.18334054118283,-9.569945573806763,0,0,1.0951593254592327],[-13.374061239760294,-19.18334054118283,-9.569945573806763,0,0,1.356958713258382],[-13.374061239760294,-19.18334054118283,-9.569945573806763,0,0,1.6187581010575314],[-13.374061239760294,-19.18334054118283,-9.569945573806763,0,0,1.8805574888566807]]},{"id":2,"instruction":"and move forward to the tree house once you reach it then turn 90 degree of your left and move forward to the house once you near to the house drop your drone there and stop.","completed_instruction":"Fly forward over the tree, fly straight until reach a high wooden building hanging clothes of different colors, turn left facing the dirt road, land on the ground.","start_frame":21,"end_frame":41,"start_position":[-13.374061239760294,-19.18334054118283,-9.569945573806763],"start_rotation":[0.58956289980015475,0,0,0.80772246915585588],"end_position":[-32.412304685007534,17.685417016906193,-3.5699455738067627],"end_rotation":[0.853787103148334,0,0,0.52062230311193569],"actions":[3,3,1,1,1,1,1,1,1,2,2,2,2,2,1,1,5,5,1,5,0],"reference_path":[[-13.374061239760294,-19.18334054118283,-9.569945573806763,0,0,1.8805574888566807],[-13.374061239760294,-19.18334054118283,-9.569945573806763,0,0,2.14235687665583],[-13.374061239760294,-19.18334054118283,-9.569945573806763,0,0,2.4041562644549797],[-17.075034949806003,-15.821377781491627,-9.569945573806763,0,0,2.4041562644549797],[-20.776008659851712,-12.459415021800424,-9.569945573806763,0,0,2.4041562644549797],[-24.47698236989742,-9.097452262109222,-9.569945573806763,0,0,2.4041562644549797],[-28.17795607994313,-5.735489502418019,-9.569945573806763,0,0,2.4041562644549797],[-31.878929789988838,-2.373526742726815,-9.569945573806763,0,0,2.4041562644549797],[-35.57990350003455,0.9884360169643882,-9.569945573806763,0,0,2.4041562644549797],[-39.280877210080256,4.350398776655592,-9.569945573806763,0,0,2.4041562644549797],[-39.280877210080256,4.350398776655592,-9.569945573806763,0,0,2.14235687665583],[-39.280877210080256,4.350398776655592,-9.569945573806763,0,0,1.8805574888566807],[-39.280877210080256,4.350398776655592,-9.569945573806763,0,0,1.6187581010575312],[-39.280877210080256,4.350398776655592,-9.569945573806763,0,0,1.3569587132583818],[-39.280877210080256,4.350398776655592,-9.569945573806763,0,0,1.0951593254592324],[-36.991353035056015,8.795404856739125,-9.569945573806763,0,0,1.0951593254592324],[-34.701828860031775,13.24041093682266,-9.569945573806763,0,0,1.0951593254592324],[-34.701828860031775,13.24041093682266,-7.569945573806763,0,0,1.0951593254592324],[-34.701828860031775,13.24041093682266,-5.569945573806763,0,0,1.0951593254592324],[-32.412304685007534,17.685417016906193,-5.569945573806763,0,0,1.0951593254592324],[-32.412304685007534,17.685417016906193,-3.5699455738067627,0,0,1.0951593254592324]]}],"statistics":{"complete_actions":43,"sentence_actions":[3,19,21],"sentence_actions_average":14.33}}
diff --git a/scene_8/3L4PIM1GQ2E5VQZ4FXEL7GJTGC6YR9.json b/scene_8/3L4PIM1GQ2E5VQZ4FXEL7GJTGC6YR9.json
new file mode 100644
index 0000000000000000000000000000000000000000..345a257f56f80929b9c5747e2c48e72f9f74c1b0
--- /dev/null
+++ b/scene_8/3L4PIM1GQ2E5VQZ4FXEL7GJTGC6YR9.json
@@ -0,0 +1 @@
+{"episode_id":"3L4PIM1GQ2E5VQZ4FXEL7GJTGC6YR9","trajectory_id":"32L724R86TIV7T7R8KJRREU2V8SPIV","scene_id":8,"instruction":"lift off and head straight for the left of the utility pole. at the utility pole turn left facing the tall building and head straight. before the building turn right facing the clothes line and utility pole and head straight. land just before the red cloth door.","sentence_instructions":[{"id":0,"instruction":"lift off and head straight for the left of the utility pole.","completed_instruction":"Take off to the height of the second floor on the right side ahead, fly forward between two wooden houses until reach a thin electric pole.","start_frame":1,"end_frame":10,"start_position":[-69.38135528564453,9.706144332885742,3.581697940826416],"start_rotation":[0.99970698700487359,0,0,0.024206200313918212],"end_position":[-49.40479289099003,10.674108636192287,-6.418302059173584],"end_rotation":[0.99970698700487359,0,0,0.024206200313918212],"actions":[4,4,4,4,4,1,1,1,1,1],"reference_path":[[-69.38135528564453,9.706144332885742,3.581697940826416,0,0,0.04841712966961242],[-69.38135528564453,9.706144332885742,1.581697940826416,0,0,0.04841712966961242],[-69.38135528564453,9.706144332885742,-0.418302059173584,0,0,0.04841712966961242],[-69.38135528564453,9.706144332885742,-2.418302059173584,0,0,0.04841712966961242],[-69.38135528564453,9.706144332885742,-4.418302059173584,0,0,0.04841712966961242],[-69.38135528564453,9.706144332885742,-6.418302059173584,0,0,0.04841712966961242],[-64.38721468698091,9.948135408712378,-6.418302059173584,0,0,0.04841712966961242],[-59.393074088317285,10.190126484539014,-6.418302059173584,0,0,0.04841712966961242],[-54.39893348965366,10.43211756036565,-6.418302059173584,0,0,0.04841712966961242],[-49.40479289099003,10.674108636192287,-6.418302059173584,0,0,0.04841712966961242]]},{"id":1,"instruction":"at the utility pole turn left facing the tall building and head straight.","completed_instruction":"Turn left to face the dirt road, fly forward passing a utility pole to reach a T-junction.","start_frame":10,"end_frame":20,"start_position":[-49.40479289099003,10.674108636192287,-6.418302059173584],"start_rotation":[0.99970698700487359,0,0,0.024206200313918212],"end_position":[-34.18038001917252,6.405941265008571,-6.418302059173584],"end_rotation":[0.7240159580994493,0,0,-0.68978322132198644],"actions":[1,1,1,2,2,2,2,2,2,1,1],"reference_path":[[-49.40479289099003,10.674108636192287,-6.418302059173584,0,0,0.04841712966961242],[-44.410652292326404,10.916099712018923,-6.418302059173584,0,0,0.04841712966961242],[-39.41651169366278,11.158090787845559,-6.418302059173584,0,0,0.04841712966961242],[-34.42237109499915,11.400081863672195,-6.418302059173584,0,0,0.04841712966961242],[-34.42237109499915,11.400081863672195,-6.418302059173584,0,0,-0.213382258129537],[-34.42237109499915,11.400081863672195,-6.418302059173584,0,0,-0.4751816459286865],[-34.42237109499915,11.400081863672195,-6.418302059173584,0,0,-0.736981033727836],[-34.42237109499915,11.400081863672195,-6.418302059173584,0,0,-0.9987804215269855],[-34.42237109499915,11.400081863672195,-6.418302059173584,0,0,-1.260579809326135],[-34.42237109499915,11.400081863672195,-6.418302059173584,0,0,-1.5223791971252845],[-34.18038001917252,6.405941265008571,-6.418302059173584,0,0,-1.5223791971252845]]},{"id":2,"instruction":"before the building turn right facing the clothes line and utility pole and head straight.","completed_instruction":"Turn right to face the utility pole and a tree on the left side of the road, fly forward across that tree by the left side to arrive at the wooden complex covered in blue tarps.","start_frame":20,"end_frame":28,"start_position":[-34.18038001917252,6.405941265008571,-6.418302059173584],"start_rotation":[0.7240159580994493,0,0,-0.68978322132198644],"end_position":[-29.00835862526538,-10.863980411159122,-6.418302059173584],"end_rotation":[0.971907823120446,0,0,-0.23536181371937961],"actions":[1,1,1,3,3,3,3,1,1],"reference_path":[[-34.18038001917252,6.405941265008571,-6.418302059173584,0,0,-1.5223791971252845],[-33.938388943345885,1.4118006663449467,-6.418302059173584,0,0,-1.5223791971252845],[-33.69639786751925,-3.5823399323186775,-6.418302059173584,0,0,-1.5223791971252845],[-33.45440679169262,-8.576480530982302,-6.418302059173584,0,0,-1.5223791971252845],[-33.45440679169262,-8.576480530982302,-6.418302059173584,0,0,-1.2605798093261351],[-33.45440679169262,-8.576480530982302,-6.418302059173584,0,0,-0.9987804215269858],[-33.45440679169262,-8.576480530982302,-6.418302059173584,0,0,-0.7369810337278364],[-33.45440679169262,-8.576480530982302,-6.418302059173584,0,0,-0.475181645928687],[-29.00835862526538,-10.863980411159122,-6.418302059173584,0,0,-0.475181645928687]]},{"id":3,"instruction":"land just before the red cloth door.","completed_instruction":"Land in front of that wooden complex.","start_frame":28,"end_frame":33,"start_position":[-29.00835862526538,-10.863980411159122,-6.418302059173584],"start_rotation":[0.971907823120446,0,0,-0.23536181371937961],"end_position":[-15.670214125983662,-17.726480051689585,-2.418302059173584],"end_rotation":[0.971907823120446,0,0,-0.23536181371937961],"actions":[1,1,1,5,5,0],"reference_path":[[-29.00835862526538,-10.863980411159122,-6.418302059173584,0,0,-0.475181645928687],[-24.56231045883814,-13.151480291335943,-6.418302059173584,0,0,-0.475181645928687],[-20.1162622924109,-15.438980171512764,-6.418302059173584,0,0,-0.475181645928687],[-15.670214125983662,-17.726480051689585,-6.418302059173584,0,0,-0.475181645928687],[-15.670214125983662,-17.726480051689585,-4.418302059173584,0,0,-0.475181645928687],[-15.670214125983662,-17.726480051689585,-2.418302059173584,0,0,-0.475181645928687]]}],"statistics":{"complete_actions":36,"sentence_actions":[10,11,9,6],"sentence_actions_average":9.0}}
diff --git a/scene_8/3LOZAJ85YMBZR1S9VBDINU4CU282X8.json b/scene_8/3LOZAJ85YMBZR1S9VBDINU4CU282X8.json
new file mode 100644
index 0000000000000000000000000000000000000000..3bb9b155e295ed69c58e20315a9ab6c2db4bd4e3
--- /dev/null
+++ b/scene_8/3LOZAJ85YMBZR1S9VBDINU4CU282X8.json
@@ -0,0 +1 @@
+{"episode_id":"3LOZAJ85YMBZR1S9VBDINU4CU282X8","trajectory_id":"3RKHNXPHH4UZ5T5BP93XE0WET10UKC","scene_id":8,"instruction":"take off, make a sharp right, continue. turn right, continue flying above the houses. turn left, continue, make a slight left go ahead. continue make a right head towards the tree. make a left continue flying between the slum houses just below the roof. continue flying go down a little, land in the center of the slum houses patio.","sentence_instructions":[{"id":0,"instruction":"take off, make a sharp right, continue.","completed_instruction":"Take off to the height above the blue tarp roof in front, then turn right to face the dirt road.","start_frame":1,"end_frame":9,"start_position":[17.70567512512207,-11.971580505371094,-3.6551432609558105],"start_rotation":[0.99990661852393425,0,0,0.013665805209769238],"end_position":[17.70567512512207,-11.971580505371094,-11.65514326095581],"end_rotation":[0.85911163044903827,0,0,0.511788243736797],"actions":[4,4,4,4,3,3,3,3,3],"reference_path":[[17.70567512512207,-11.971580505371094,-3.6551432609558105,0,0,0.02733246120669241],[17.70567512512207,-11.971580505371094,-5.6551432609558105,0,0,0.02733246120669241],[17.70567512512207,-11.971580505371094,-7.6551432609558105,0,0,0.02733246120669241],[17.70567512512207,-11.971580505371094,-9.65514326095581,0,0,0.02733246120669241],[17.70567512512207,-11.971580505371094,-11.65514326095581,0,0,0.02733246120669241],[17.70567512512207,-11.971580505371094,-11.65514326095581,0,0,0.2891318490058418],[17.70567512512207,-11.971580505371094,-11.65514326095581,0,0,0.5509312368049912],[17.70567512512207,-11.971580505371094,-11.65514326095581,0,0,0.8127306246041407],[17.70567512512207,-11.971580505371094,-11.65514326095581,0,0,1.0745300124032902]]},{"id":1,"instruction":"turn right, continue flying above the houses.","completed_instruction":"Fly forward over the nearest wire, turn right to face another dirt road and fly along the road between the buildings to the first dirt T-junction.","start_frame":9,"end_frame":25,"start_position":[17.70567512512207,-11.971580505371094,-11.65514326095581],"start_rotation":[0.85911163044903827,0,0,0.511788243736797],"end_position":[-6.2566189769398,-19.099585932297412,-11.65514326095581],"end_rotation":[0.14406289584331786,0,0,-0.98956853327156546],"actions":[3,3,3,1,3,3,3,3,3,3,1,1,1,1,7,1,5],"reference_path":[[17.70567512512207,-11.971580505371094,-11.65514326095581,0,0,1.0745300124032902],[17.70567512512207,-11.971580505371094,-11.65514326095581,0,0,1.3363294002024395],[17.70567512512207,-11.971580505371094,-11.65514326095581,0,0,1.598128788001589],[17.70567512512207,-11.971580505371094,-11.65514326095581,0,0,1.8599281758007384],[16.280074039736807,-7.179121684958721,-11.65514326095581,0,0,1.8599281758007384],[16.280074039736807,-7.179121684958721,-11.65514326095581,0,0,2.121727563599888],[16.280074039736807,-7.179121684958721,-11.65514326095581,0,0,2.383526951399037],[16.280074039736807,-7.179121684958721,-11.65514326095581,0,0,2.6453263391981867],[16.280074039736807,-7.179121684958721,-11.65514326095581,0,0,2.9071257269973363],[16.280074039736807,-7.179121684958721,-11.65514326095581,0,0,-3.114260192383101],[16.280074039736807,-7.179121684958721,-11.65514326095581,0,0,-2.8524608045839517],[11.487615219324432,-8.604722770343985,-11.65514326095581,0,0,-2.8524608045839517],[6.695156398912059,-10.030323855729248,-11.65514326095581,0,0,-2.8524608045839517],[1.9026975784996853,-11.455924941114512,-11.65514326095581,0,0,-2.8524608045839517],[-2.889761241912688,-12.881526026499776,-11.65514326095581,0,0,-2.8524608045839517],[-1.464160156527426,-17.67398484691215,-11.65514326095581,0,0,-2.8524608045839517],[-6.2566189769398,-19.099585932297412,-11.65514326095581,0,0,-2.8524608045839517]]},{"id":2,"instruction":"turn left, continue, make a slight left go ahead.","completed_instruction":"Turn left to face the nearest tree, fly forward over the tree.","start_frame":25,"end_frame":31,"start_position":[-6.2566189769398,-19.099585932297412,-11.65514326095581],"start_rotation":[0.14406289584331786,0,0,-0.98956853327156546],"end_position":[-11.049077797352172,-20.525187017682676,-9.65514326095581],"end_rotation":[0.370022139092718,0,0,0.929022936520541],"actions":[5,1,2,2,2,2,1],"reference_path":[[-6.2566189769398,-19.099585932297412,-11.65514326095581,0,0,-2.8524608045839517],[-6.2566189769398,-19.099585932297412,-9.65514326095581,0,0,-2.8524608045839517],[-11.049077797352172,-20.525187017682676,-9.65514326095581,0,0,-2.8524608045839517],[-11.049077797352172,-20.525187017682676,-9.65514326095581,0,0,-3.1142601923831013],[-11.049077797352172,-20.525187017682676,-9.65514326095581,0,0,2.907125726997336],[-11.049077797352172,-20.525187017682676,-9.65514326095581,0,0,2.6453263391981863],[-11.049077797352172,-20.525187017682676,-9.65514326095581,0,0,2.3835269513990367]]},{"id":3,"instruction":"continue make a right head towards the tree.","completed_instruction":"Turn right slightly to face the dirt road and fly forward to the dirt T-junction.","start_frame":31,"end_frame":36,"start_position":[-11.049077797352172,-20.525187017682676,-9.65514326095581],"start_rotation":[0.370022139092718,0,0,0.929022936520541],"end_position":[-21.94158629478965,-10.212415390556806,-9.65514326095581],"end_rotation":[0.11696511113979587,0,0,0.99313602430686965],"actions":[1,1,1,3,3,3],"reference_path":[[-11.049077797352172,-20.525187017682676,-9.65514326095581,0,0,2.3835269513990367],[-14.679913963164665,-17.087596475307386,-9.65514326095581,0,0,2.3835269513990367],[-18.31075012897716,-13.650005932932096,-9.65514326095581,0,0,2.3835269513990367],[-21.94158629478965,-10.212415390556806,-9.65514326095581,0,0,2.3835269513990367],[-21.94158629478965,-10.212415390556806,-9.65514326095581,0,0,2.6453263391981863],[-21.94158629478965,-10.212415390556806,-9.65514326095581,0,0,2.907125726997336]]},{"id":4,"instruction":"make a left continue flying between the slum houses just below the roof.","completed_instruction":"Turn left to face the dirt road and fly forward along the road to the end of the road.","start_frame":36,"end_frame":50,"start_position":[-21.94158629478965,-10.212415390556806,-9.65514326095581],"start_rotation":[0.11696511113979587,0,0,0.99313602430686965],"end_position":[-37.34591954012993,4.372046110181042,-9.65514326095581],"end_rotation":[0.784960040677223,0,0,0.61954639417884783],"actions":[3,1,1,2,2,2,2,2,2,1,7,1,1,2,1],"reference_path":[[-21.94158629478965,-10.212415390556806,-9.65514326095581,0,0,2.907125726997336],[-21.94158629478965,-10.212415390556806,-9.65514326095581,0,0,-3.1142601923831013],[-26.93971875246934,-10.349060681323875,-9.65514326095581,0,0,-3.1142601923831013],[-31.937851210149027,-10.485705972090944,-9.65514326095581,0,0,-3.1142601923831013],[-31.937851210149027,-10.485705972090944,-9.65514326095581,0,0,2.907125726997336],[-31.937851210149027,-10.485705972090944,-9.65514326095581,0,0,2.6453263391981863],[-31.937851210149027,-10.485705972090944,-9.65514326095581,0,0,2.3835269513990367],[-31.937851210149027,-10.485705972090944,-9.65514326095581,0,0,2.1217275635998876],[-31.937851210149027,-10.485705972090944,-9.65514326095581,0,0,1.8599281758007384],[-31.937851210149027,-10.485705972090944,-9.65514326095581,0,0,1.5981287880015893],[-32.0744965009161,-5.487573514411258,-9.65514326095581,0,0,1.5981287880015893],[-37.072628958595786,-5.62421880517833,-9.65514326095581,0,0,1.5981287880015893],[-37.209274249362856,-0.626086347498644,-9.65514326095581,0,0,1.5981287880015893],[-37.34591954012993,4.372046110181042,-9.65514326095581,0,0,1.5981287880015893],[-37.34591954012993,4.372046110181042,-9.65514326095581,0,0,1.33632940020244]]},{"id":5,"instruction":"continue flying go down a little, land in the center of the slum houses patio.","completed_instruction":"Land on the ground.","start_frame":48,"end_frame":55,"start_position":[-37.209274249362856,-0.626086347498644,-9.65514326095581],"start_rotation":[0.69737756697738185,0,0,0.71670393404578658],"end_position":[-35.02267423093018,14.098429365702149,-3.6551432609558105],"end_rotation":[0.784960040677223,0,0,0.61954639417884783],"actions":[1,2,1,1,5,5,5,0],"reference_path":[[-37.209274249362856,-0.626086347498644,-9.65514326095581,0,0,1.5981287880015893],[-37.34591954012993,4.372046110181042,-9.65514326095581,0,0,1.5981287880015893],[-37.34591954012993,4.372046110181042,-9.65514326095581,0,0,1.33632940020244],[-36.18429688553005,9.235237737941596,-9.65514326095581,0,0,1.33632940020244],[-35.02267423093018,14.098429365702149,-9.65514326095581,0,0,1.33632940020244],[-35.02267423093018,14.098429365702149,-7.6551432609558105,0,0,1.33632940020244],[-35.02267423093018,14.098429365702149,-5.6551432609558105,0,0,1.33632940020244],[-35.02267423093018,14.098429365702149,-3.6551432609558105,0,0,1.33632940020244]]}],"statistics":{"complete_actions":62,"sentence_actions":[9,17,7,6,15,8],"sentence_actions_average":10.33}}
diff --git a/scene_8/3LYA37P8IZLNVETYFLR4YTZE26YKBJ.json b/scene_8/3LYA37P8IZLNVETYFLR4YTZE26YKBJ.json
new file mode 100644
index 0000000000000000000000000000000000000000..5d5b9e31b7f83630f00fda7b599550fa9fef4025
--- /dev/null
+++ b/scene_8/3LYA37P8IZLNVETYFLR4YTZE26YKBJ.json
@@ -0,0 +1 @@
+{"episode_id":"3LYA37P8IZLNVETYFLR4YTZE26YKBJ","trajectory_id":"3DQYSJDTZT9O0X7WYS3H0CID5R5EX0","scene_id":8,"instruction":"take off and fly straight toward the blue roof with wood boards laying on top of it. turn slightly left and turn around facing a large tree. move straight toward a tin roof to your right, then fly straight up toward the sky. turn slightly left and face the ground, then stop.","sentence_instructions":[{"id":0,"instruction":"take off and fly straight toward the blue roof with wood boards laying on top of it.","completed_instruction":"Take off to the height above the house on the left ahead, fly forward to the front of a tree on the road, turn slightly left to face the blue tarp roof  with wooden boards, and fly across that roof, then fly forward to the dirt T-junction.","start_frame":1,"end_frame":16,"start_position":[-69.38135528564453,9.706144332885742,3.581697940826416],"start_rotation":[0.99996122503872509,0,0,-0.0088061580188107842],"end_position":[-46.00596461890059,2.9993300972145516,-10.418302059173584],"end_rotation":[0.92047373834160306,0,0,-0.39080442298345869],"actions":[4,4,4,4,4,4,4,1,1,2,1,2,1,1,2,1],"reference_path":[[-69.38135528564453,9.706144332885742,3.581697940826416,0,0,-0.017612543680109744],[-69.38135528564453,9.706144332885742,1.581697940826416,0,0,-0.017612543680109744],[-69.38135528564453,9.706144332885742,-0.418302059173584,0,0,-0.017612543680109744],[-69.38135528564453,9.706144332885742,-2.418302059173584,0,0,-0.017612543680109744],[-69.38135528564453,9.706144332885742,-4.418302059173584,0,0,-0.017612543680109744],[-69.38135528564453,9.706144332885742,-6.418302059173584,0,0,-0.017612543680109744],[-69.38135528564453,9.706144332885742,-8.418302059173584,0,0,-0.017612543680109744],[-69.38135528564453,9.706144332885742,-10.418302059173584,0,0,-0.017612543680109744],[-64.38213076983506,9.618086167281996,-10.418302059173584,0,0,-0.017612543680109744],[-59.382906254025585,9.53002800167825,-10.418302059173584,0,0,-0.017612543680109744],[-59.382906254025585,9.53002800167825,-10.418302059173584,0,0,-0.27941193147925913],[-54.57681731312279,8.151075829871031,-10.418302059173584,0,0,-0.27941193147925913],[-54.57681731312279,8.151075829871031,-10.418302059173584,0,0,-0.5412113192784086],[-50.29139096601169,5.575202963542791,-10.418302059173584,0,0,-0.5412113192784086],[-46.00596461890059,2.9993300972145516,-10.418302059173584,0,0,-0.5412113192784086],[-46.00596461890059,2.9993300972145516,-10.418302059173584,0,0,-0.8030107070775581]]},{"id":1,"instruction":"turn slightly left and turn around facing a large tree.","completed_instruction":"Turn left to face the large tree.","start_frame":16,"end_frame":22,"start_position":[-46.00596461890059,2.9993300972145516,-10.418302059173584],"start_rotation":[0.92047373834160306,0,0,-0.39080442298345869],"end_position":[-42.533245589134935,-0.5979219846256214,-8.418302059173584],"end_rotation":[0.60175142942852911,0,0,-0.7986834273857959],"actions":[1,5,2,2,2,2,2],"reference_path":[[-46.00596461890059,2.9993300972145516,-10.418302059173584,0,0,-0.8030107070775581],[-42.533245589134935,-0.5979219846256214,-10.418302059173584,0,0,-0.8030107070775581],[-42.533245589134935,-0.5979219846256214,-8.418302059173584,0,0,-0.8030107070775581],[-42.533245589134935,-0.5979219846256214,-8.418302059173584,0,0,-1.0648100948767076],[-42.533245589134935,-0.5979219846256214,-8.418302059173584,0,0,-1.326609482675857],[-42.533245589134935,-0.5979219846256214,-8.418302059173584,0,0,-1.5884088704750063],[-42.533245589134935,-0.5979219846256214,-8.418302059173584,0,0,-1.850208258274156]]},{"id":2,"instruction":"move straight toward a tin roof to your right, then fly straight up toward the sky.","completed_instruction":"Fly up over the big tree ahead to the building with rusty roof ahead, then turn right to face another building with rusty roof, and fly over that building.","start_frame":22,"end_frame":47,"start_position":[-42.533245589134935,-0.5979219846256214,-8.418302059173584],"start_rotation":[0.60175142942852911,0,0,-0.7986834273857959],"end_position":[-39.434125715592835,-25.4050874012833,-16.418302059173584],"end_rotation":[0.92047373834160306,0,0,-0.39080442298345874],"actions":[2,2,4,4,4,4,4,1,1,5,1,5,5,3,3,3,3,3,3,1,1,4,1,4,1,1],"reference_path":[[-42.533245589134935,-0.5979219846256214,-8.418302059173584,0,0,-1.850208258274156],[-42.533245589134935,-0.5979219846256214,-8.418302059173584,0,0,-2.1120076460733053],[-42.533245589134935,-0.5979219846256214,-8.418302059173584,0,0,-2.3738070338724544],[-42.533245589134935,-0.5979219846256214,-10.418302059173584,0,0,-2.3738070338724544],[-42.533245589134935,-0.5979219846256214,-12.418302059173584,0,0,-2.3738070338724544],[-42.533245589134935,-0.5979219846256214,-14.418302059173584,0,0,-2.3738070338724544],[-42.533245589134935,-0.5979219846256214,-16.418302059173584,0,0,-2.3738070338724544],[-42.533245589134935,-0.5979219846256214,-18.418302059173584,0,0,-2.3738070338724544],[-46.13049767097511,-4.070641014391281,-18.418302059173584,0,0,-2.3738070338724544],[-49.727749752815285,-7.543360044156941,-18.418302059173584,0,0,-2.3738070338724544],[-49.727749752815285,-7.543360044156941,-16.418302059173584,0,0,-2.3738070338724544],[-53.32500183465546,-11.0160790739226,-16.418302059173584,0,0,-2.3738070338724544],[-53.32500183465546,-11.0160790739226,-14.418302059173584,0,0,-2.3738070338724544],[-53.32500183465546,-11.0160790739226,-12.418302059173584,0,0,-2.3738070338724544],[-53.32500183465546,-11.0160790739226,-12.418302059173584,0,0,-2.1120076460733053],[-53.32500183465546,-11.0160790739226,-12.418302059173584,0,0,-1.850208258274156],[-53.32500183465546,-11.0160790739226,-12.418302059173584,0,0,-1.5884088704750063],[-53.32500183465546,-11.0160790739226,-12.418302059173584,0,0,-1.326609482675857],[-53.32500183465546,-11.0160790739226,-12.418302059173584,0,0,-1.0648100948767076],[-53.32500183465546,-11.0160790739226,-12.418302059173584,0,0,-0.8030107070775582],[-49.8522828048898,-14.613331155762776,-12.418302059173584,0,0,-0.8030107070775582],[-46.37956377512415,-18.21058323760295,-12.418302059173584,0,0,-0.8030107070775582],[-46.37956377512415,-18.21058323760295,-14.418302059173584,0,0,-0.8030107070775582],[-42.90684474535849,-21.807835319443125,-14.418302059173584,0,0,-0.8030107070775582],[-42.90684474535849,-21.807835319443125,-16.418302059173584,0,0,-0.8030107070775582],[-39.434125715592835,-25.4050874012833,-16.418302059173584,0,0,-0.8030107070775582]]},{"id":3,"instruction":"turn slightly left and face the ground, then stop.","completed_instruction":"Turn slightly left to face the tallest tree, then fly forward to its front.","start_frame":47,"end_frame":55,"start_position":[-39.434125715592835,-25.4050874012833,-16.418302059173584],"start_rotation":[0.92047373834160306,0,0,-0.39080442298345874],"end_position":[-37.18088937885619,-39.436332056473816,-14.418302059173584],"end_rotation":[0.70085246909718835,0,0,-0.71330625719979113],"actions":[1,2,1,2,5,1,6,2,0],"reference_path":[[-39.434125715592835,-25.4050874012833,-16.418302059173584,0,0,-0.8030107070775582],[-35.96140668582718,-29.002339483123475,-16.418302059173584,0,0,-0.8030107070775582],[-35.96140668582718,-29.002339483123475,-16.418302059173584,0,0,-1.0648100948767076],[-33.53805503634594,-33.37582399583832,-16.418302059173584,0,0,-1.0648100948767076],[-33.53805503634594,-33.37582399583832,-16.418302059173584,0,0,-1.326609482675857],[-33.53805503634594,-33.37582399583832,-14.418302059173584,0,0,-1.326609482675857],[-32.329218177283316,-38.227495197411194,-14.418302059173584,0,0,-1.326609482675857],[-37.18088937885619,-39.436332056473816,-14.418302059173584,0,0,-1.326609482675857],[-37.18088937885619,-39.436332056473816,-14.418302059173584,0,0,-1.5884088704750063]]}],"statistics":{"complete_actions":58,"sentence_actions":[16,7,26,9],"sentence_actions_average":14.5}}
diff --git a/scene_8/3N8OEVH1F0OQ4Z3MHIOJBUGNAHUOOB.json b/scene_8/3N8OEVH1F0OQ4Z3MHIOJBUGNAHUOOB.json
new file mode 100644
index 0000000000000000000000000000000000000000..1980220f22192da476d82bf2d91b34bd6ce8d2e1
--- /dev/null
+++ b/scene_8/3N8OEVH1F0OQ4Z3MHIOJBUGNAHUOOB.json
@@ -0,0 +1 @@
+{"episode_id":"3N8OEVH1F0OQ4Z3MHIOJBUGNAHUOOB","trajectory_id":"344M16OZLQDJO3TSWMG82ARF7WZENQ","scene_id":8,"instruction":"lifts of in front of building with blue tarps and goes above it. turns right then goes towards building with flat roof and covered on blue tarps. flys pass tree leaves towards brown house and descends down. lands on ground in front of brown house.","sentence_instructions":[{"id":0,"instruction":"lifts of in front of building with blue tarps and goes above it.","completed_instruction":"Fly up to the height above the building with the blue tarp ahead.","start_frame":1,"end_frame":3,"start_position":[-38.391319274902344,8.043131828308105,-0.34734949469566345],"start_rotation":[0.99970392814985853,0,0,0.024332201744653153],"end_position":[-38.391319274902344,8.043131828308105,-4.3473494946956635],"end_rotation":[0.99970392814985853,0,0,0.024332201744653153],"actions":[4,4,4],"reference_path":[[-38.391319274902344,8.043131828308105,-0.34734949469566345,0,0,0.04866920677815093],[-38.391319274902344,8.043131828308105,-2.3473494946956635,0,0,0.04866920677815093],[-38.391319274902344,8.043131828308105,-4.3473494946956635,0,0,0.04866920677815093]]},{"id":1,"instruction":"turns right then goes towards building with flat roof and covered on blue tarps.","completed_instruction":"Turn right to face the dirt path, fly forward along the path to the top of the building with a flat roof covered in blue tarps.","start_frame":3,"end_frame":11,"start_position":[-38.391319274902344,8.043131828308105,-4.3473494946956635],"start_rotation":[0.99970392814985853,0,0,0.024332201744653153],"end_position":[-33.8185611538117,16.936381131346877,-8.347349494695663],"end_rotation":[0.85360289716854409,0,0,0.520924268915807],"actions":[4,4,3,3,3,3,1,1,1],"reference_path":[[-38.391319274902344,8.043131828308105,-4.3473494946956635,0,0,0.04866920677815093],[-38.391319274902344,8.043131828308105,-6.3473494946956635,0,0,0.04866920677815093],[-38.391319274902344,8.043131828308105,-8.347349494695663,0,0,0.04866920677815093],[-38.391319274902344,8.043131828308105,-8.347349494695663,0,0,0.31046859457730036],[-38.391319274902344,8.043131828308105,-8.347349494695663,0,0,0.5722679823764498],[-38.391319274902344,8.043131828308105,-8.347349494695663,0,0,0.8340673701755993],[-38.391319274902344,8.043131828308105,-8.347349494695663,0,0,1.0958667579747488],[-36.10494021435702,12.489756479827491,-8.347349494695663,0,0,1.0958667579747488],[-33.8185611538117,16.936381131346877,-8.347349494695663,0,0,1.0958667579747488]]},{"id":2,"instruction":"flys pass tree leaves towards brown house and descends down.","completed_instruction":"Fly across the building and the trees behind it, and fly forward to the brown wooden house in the open area.","start_frame":11,"end_frame":17,"start_position":[-33.8185611538117,16.936381131346877,-8.347349494695663],"start_rotation":[0.85360289716854409,0,0,0.520924268915807],"end_position":[-20.10028679053977,43.61612904046319,-8.347349494695663],"end_rotation":[0.85360289716854409,0,0,0.520924268915807],"actions":[1,1,1,1,1,1,1],"reference_path":[[-33.8185611538117,16.936381131346877,-8.347349494695663,0,0,1.0958667579747488],[-31.53218209326638,21.383005782866263,-8.347349494695663,0,0,1.0958667579747488],[-29.245803032721057,25.82963043438565,-8.347349494695663,0,0,1.0958667579747488],[-26.959423972175735,30.276255085905035,-8.347349494695663,0,0,1.0958667579747488],[-24.673044911630413,34.72287973742442,-8.347349494695663,0,0,1.0958667579747488],[-22.38666585108509,39.16950438894381,-8.347349494695663,0,0,1.0958667579747488],[-20.10028679053977,43.61612904046319,-8.347349494695663,0,0,1.0958667579747488]]},{"id":3,"instruction":"lands on ground in front of brown house.","completed_instruction":"Fly to the left side of the first brown wooden house, fly straight to the front of another brown wooden house behind it, land on the ground.","start_frame":17,"end_frame":25,"start_position":[-20.10028679053977,43.61612904046319,-8.347349494695663],"start_rotation":[0.85360289716854409,0,0,0.520924268915807],"end_position":[-7.735876541485929,59.17280712855297,-2.3473494946956635],"end_rotation":[0.91429446730814457,0,0,0.40505015374607145],"actions":[1,2,1,1,1,5,5,5,0],"reference_path":[[-20.10028679053977,43.61612904046319,-8.347349494695663,0,0,1.0958667579747488],[-17.813907729994447,48.06275369198258,-8.347349494695663,0,0,1.0958667579747488],[-17.813907729994447,48.06275369198258,-8.347349494695663,0,0,0.8340673701755993],[-14.454564000491608,51.76610483750604,-8.347349494695663,0,0,0.8340673701755993],[-11.095220270988769,55.469455983029505,-8.347349494695663,0,0,0.8340673701755993],[-7.735876541485929,59.17280712855297,-8.347349494695663,0,0,0.8340673701755993],[-7.735876541485929,59.17280712855297,-6.3473494946956635,0,0,0.8340673701755993],[-7.735876541485929,59.17280712855297,-4.3473494946956635,0,0,0.8340673701755993],[-7.735876541485929,59.17280712855297,-2.3473494946956635,0,0,0.8340673701755993]]}],"statistics":{"complete_actions":28,"sentence_actions":[3,9,7,9],"sentence_actions_average":7.0}}
diff --git a/scene_8/3OONKJ5DKLH6L5EDDDJX5AGO50KBO5.json b/scene_8/3OONKJ5DKLH6L5EDDDJX5AGO50KBO5.json
new file mode 100644
index 0000000000000000000000000000000000000000..b6e474a9e2df5a6b3dfeb18d1d1d0ac76191c576
--- /dev/null
+++ b/scene_8/3OONKJ5DKLH6L5EDDDJX5AGO50KBO5.json
@@ -0,0 +1 @@
+{"episode_id":"3OONKJ5DKLH6L5EDDDJX5AGO50KBO5","trajectory_id":"3TCFMTM8IMMOFGANYFN9325N70B12Q","scene_id":8,"instruction":"take off and turn right move forward to the roof house. now turn right and move little forward to the house. now move left and move forward slow down to the floor and stay there.","sentence_instructions":[{"id":0,"instruction":"take off and turn right move forward to the roof house.","completed_instruction":"Take off to the height of the trees ahead and turn right to face a building with green beams and a yellow tarp, fly forward to the power pole of the group of buildings with blue tarps on their roofs, and turn right to face the trees.","start_frame":1,"end_frame":20,"start_position":[-36.13277816772461,-44.25289535522461,-4.684157371520996],"start_rotation":[0.99973788652376727,0,0,-0.022894502593220019],"end_position":[-12.456911447516383,-19.267680603650657,-10.684157371520996],"end_rotation":[0.62676529454100416,0,0,0.77920810157423814],"actions":[4,4,4,3,3,3,4,1,1,1,1,5,1,1,3,3,1,3,3,3],"reference_path":[[-36.13277816772461,-44.25289535522461,-4.684157371520996,0,0,-0.045793006244376544],[-36.13277816772461,-44.25289535522461,-6.684157371520996,0,0,-0.045793006244376544],[-36.13277816772461,-44.25289535522461,-8.684157371520996,0,0,-0.045793006244376544],[-36.13277816772461,-44.25289535522461,-10.684157371520996,0,0,-0.045793006244376544],[-36.13277816772461,-44.25289535522461,-10.684157371520996,0,0,0.2160063815547729],[-36.13277816772461,-44.25289535522461,-10.684157371520996,0,0,0.4778057693539223],[-36.13277816772461,-44.25289535522461,-10.684157371520996,0,0,0.7396051571530717],[-36.13277816772461,-44.25289535522461,-12.684157371520996,0,0,0.7396051571530717],[-32.439104473137604,-40.882913954991665,-12.684157371520996,0,0,0.7396051571530717],[-28.7454307785506,-37.51293255475872,-12.684157371520996,0,0,0.7396051571530717],[-25.051757083963594,-34.142951154525775,-12.684157371520996,0,0,0.7396051571530717],[-21.35808338937659,-30.77296975429283,-12.684157371520996,0,0,0.7396051571530717],[-21.35808338937659,-30.77296975429283,-10.684157371520996,0,0,0.7396051571530717],[-17.664409694789583,-27.402988354059886,-10.684157371520996,0,0,0.7396051571530717],[-13.97073600020258,-24.03300695382694,-10.684157371520996,0,0,0.7396051571530717],[-13.97073600020258,-24.03300695382694,-10.684157371520996,0,0,1.0014045449522213],[-13.97073600020258,-24.03300695382694,-10.684157371520996,0,0,1.2632039327513707],[-12.456911447516383,-19.267680603650657,-10.684157371520996,0,0,1.2632039327513707],[-12.456911447516383,-19.267680603650657,-10.684157371520996,0,0,1.52500332055052],[-12.456911447516383,-19.267680603650657,-10.684157371520996,0,0,1.7868027083496696]]},{"id":1,"instruction":"now turn right and move little forward to the house.","completed_instruction":"Fly forward until on the top of the dirt road.","start_frame":20,"end_frame":27,"start_position":[-12.456911447516383,-19.267680603650657,-10.684157371520996],"start_rotation":[0.62676529454100416,0,0,0.77920810157423814],"end_position":[-26.77800081536733,-5.491060072425054,-10.684157371520996],"end_rotation":[0.28086559647772685,0,0,0.95974711081368236],"actions":[3,3,1,1,1,3,1,2],"reference_path":[[-12.456911447516383,-19.267680603650657,-10.684157371520996,0,0,1.7868027083496696],[-12.456911447516383,-19.267680603650657,-10.684157371520996,0,0,2.0486020961488194],[-12.456911447516383,-19.267680603650657,-10.684157371520996,0,0,2.310401483947969],[-15.82689284774933,-15.574006909063655,-10.684157371520996,0,0,2.310401483947969],[-19.196874247982276,-11.880333214476654,-10.684157371520996,0,0,2.310401483947969],[-22.566855648215224,-8.186659519889652,-10.684157371520996,0,0,2.310401483947969],[-22.566855648215224,-8.186659519889652,-10.684157371520996,0,0,2.572200871747118],[-26.77800081536733,-5.491060072425054,-10.684157371520996,0,0,2.572200871747118]]},{"id":2,"instruction":"now move left and move forward slow down to the floor and stay there.","completed_instruction":"Slightly turn left to face the building with a lot of clothes hanging and fly forward to it, slightly turn left to face the dirt road and land on the ground in front of the wires.","start_frame":27,"end_frame":40,"start_position":[-26.77800081536733,-5.491060072425054,-10.684157371520996],"start_rotation":[0.28086559647772685,0,0,0.95974711081368236],"end_position":[-36.98358251946647,9.151226775865926,-2.684157371520996],"end_rotation":[0.72311029700562179,0,0,0.69073258093450418],"actions":[2,7,1,2,1,2,1,2,1,5,5,5,5,0],"reference_path":[[-26.77800081536733,-5.491060072425054,-10.684157371520996,0,0,2.572200871747118],[-26.77800081536733,-5.491060072425054,-10.684157371520996,0,0,2.310401483947969],[-30.471674509954333,-8.861041472658,-10.684157371520996,0,0,2.310401483947969],[-33.84165591018728,-5.167367778070998,-10.684157371520996,0,0,2.310401483947969],[-33.84165591018728,-5.167367778070998,-10.684157371520996,0,0,2.0486020961488194],[-36.14081488023277,-0.7273375945633065,-10.684157371520996,0,0,2.0486020961488194],[-36.14081488023277,-0.7273375945633065,-10.684157371520996,0,0,1.7868027083496698],[-37.21246753582205,4.156468358355834,-10.684157371520996,0,0,1.7868027083496698],[-37.21246753582205,4.156468358355834,-10.684157371520996,0,0,1.5250033205505202],[-36.98358251946647,9.151226775865926,-10.684157371520996,0,0,1.5250033205505202],[-36.98358251946647,9.151226775865926,-8.684157371520996,0,0,1.5250033205505202],[-36.98358251946647,9.151226775865926,-6.684157371520996,0,0,1.5250033205505202],[-36.98358251946647,9.151226775865926,-4.684157371520996,0,0,1.5250033205505202],[-36.98358251946647,9.151226775865926,-2.684157371520996,0,0,1.5250033205505202]]}],"statistics":{"complete_actions":42,"sentence_actions":[20,8,14],"sentence_actions_average":14.0}}
diff --git a/scene_8/3PQMUDRV7046CRHGLSY970OFM0LII6.json b/scene_8/3PQMUDRV7046CRHGLSY970OFM0LII6.json
new file mode 100644
index 0000000000000000000000000000000000000000..4f049c59fdd7e7532254b2cdb411473544e8545f
--- /dev/null
+++ b/scene_8/3PQMUDRV7046CRHGLSY970OFM0LII6.json
@@ -0,0 +1 @@
+{"episode_id":"3PQMUDRV7046CRHGLSY970OFM0LII6","trajectory_id":"39TX062QY9MLQZRZ98MLHLEGILU3XJ","scene_id":8,"instruction":"take off then fly higher and move forward. move forward until it get closer to the building then turn right and move forward between the buildings. fly higher and move forward then fly lower towards the trees. fly lower between the trees to land on the ground.","sentence_instructions":[{"id":0,"instruction":"take off then fly higher and move forward.","completed_instruction":"Take off and fly up to the height of the third floor level.","start_frame":0,"end_frame":2,"start_position":[-35.61866760253906,-11.689401626586914,-0.15166786313056946],"start_rotation":[0.99983277510087343,0,0,0.018287204107964333],"end_position":[-35.61866760253906,-11.689401626586914,-4.1516678631305695],"end_rotation":[0.99983277510087343,0,0,0.018287204107964333],"actions":[4,4,4],"reference_path":[[-35.61866760253906,-11.689401626586914,-0.15166786313056946,0,0,0.03657644706954966],[-35.61866760253906,-11.689401626586914,-2.1516678631305695,0,0,0.03657644706954966],[-35.61866760253906,-11.689401626586914,-4.1516678631305695,0,0,0.03657644706954966]]},{"id":1,"instruction":"move forward until it get closer to the building then turn right and move forward between the buildings.","completed_instruction":"Fly forward to the middle of two tall buildings on both sides of the dirt road.","start_frame":2,"end_frame":14,"start_position":[-35.61866760253906,-11.689401626586914,-4.1516678631305695],"start_rotation":[0.99983277510087343,0,0,0.018287204107964333],"end_position":[-6.319760580896185,-10.617273551382944,-10.15166786313057],"end_rotation":[0.98889210798831406,0,0,0.14863511953245948],"actions":[4,4,4,1,1,2,1,1,3,3,1,1,1],"reference_path":[[-35.61866760253906,-11.689401626586914,-4.1516678631305695,0,0,0.03657644706954966],[-35.61866760253906,-11.689401626586914,-6.1516678631305695,0,0,0.03657644706954966],[-35.61866760253906,-11.689401626586914,-8.15166786313057,0,0,0.03657644706954966],[-35.61866760253906,-11.689401626586914,-10.15166786313057,0,0,0.03657644706954966],[-30.622011820879926,-11.506560166265894,-10.15166786313057,0,0,0.03657644706954966],[-25.62535603922079,-11.323718705944874,-10.15166786313057,0,0,0.03657644706954966],[-25.62535603922079,-11.323718705944874,-10.15166786313057,0,0,-0.22522294072959975],[-20.751634322474203,-12.440337095419398,-10.15166786313057,0,0,-0.22522294072959975],[-15.877912605727614,-13.556955484893923,-10.15166786313057,0,0,-0.22522294072959975],[-15.877912605727614,-13.556955484893923,-10.15166786313057,0,0,0.03657644706954967],[-15.877912605727614,-13.556955484893923,-10.15166786313057,0,0,0.29837583486869906],[-11.0988365933119,-12.087114518138433,-10.15166786313057,0,0,0.29837583486869906],[-6.319760580896185,-10.617273551382944,-10.15166786313057,0,0,0.29837583486869906]]},{"id":2,"instruction":"fly higher and move forward then fly lower towards the trees.","completed_instruction":"Fly forward to the nearest tree ahead, then to the roof covered with blue cloth behind the tree.","start_frame":14,"end_frame":22,"start_position":[-6.319760580896185,-10.617273551382944,-10.15166786313057],"start_rotation":[0.98889210798831406,0,0,0.14863511953245948],"end_position":[27.133771506013815,-0.32838678409452227,-12.15166786313057],"end_rotation":[0.98889210798831406,0,0,0.14863511953245948],"actions":[1,1,1,1,1,4,1,1,1],"reference_path":[[-6.319760580896185,-10.617273551382944,-10.15166786313057,0,0,0.29837583486869906],[-1.5406845684804704,-9.147432584627454,-10.15166786313057,0,0,0.29837583486869906],[3.238391443935244,-7.677591617871966,-10.15166786313057,0,0,0.29837583486869906],[8.017467456350959,-6.207750651116477,-10.15166786313057,0,0,0.29837583486869906],[12.796543468766673,-4.7379096843609885,-10.15166786313057,0,0,0.29837583486869906],[17.575619481182386,-3.2680687176055,-10.15166786313057,0,0,0.29837583486869906],[17.575619481182386,-3.2680687176055,-12.15166786313057,0,0,0.29837583486869906],[22.3546954935981,-1.798227750850011,-12.15166786313057,0,0,0.29837583486869906],[27.133771506013815,-0.32838678409452227,-12.15166786313057,0,0,0.29837583486869906]]},{"id":3,"instruction":"fly lower between the trees to land on the ground.","completed_instruction":"Fly forward over the roof and land on the ground.","start_frame":22,"end_frame":27,"start_position":[27.133771506013815,-0.32838678409452227,-12.15166786313057],"start_rotation":[0.98889210798831406,0,0,0.14863511953245948],"end_position":[36.691923530845244,2.6112951494164554,-6.1516678631305695],"end_rotation":[0.98889210798831406,0,0,0.14863511953245948],"actions":[1,5,1,5,5,5],"reference_path":[[27.133771506013815,-0.32838678409452227,-12.15166786313057,0,0,0.29837583486869906],[31.91284751842953,1.1414541826609665,-12.15166786313057,0,0,0.29837583486869906],[31.91284751842953,1.1414541826609665,-10.15166786313057,0,0,0.29837583486869906],[36.691923530845244,2.6112951494164554,-10.15166786313057,0,0,0.29837583486869906],[36.691923530845244,2.6112951494164554,-8.15166786313057,0,0,0.29837583486869906],[36.691923530845244,2.6112951494164554,-6.1516678631305695,0,0,0.29837583486869906]]}],"statistics":{"complete_actions":31,"sentence_actions":[3,13,9,6],"sentence_actions_average":7.75}}
diff --git a/scene_8/3QY7M81QHGK0T2Q824FOTRDIH9GK7Q.json b/scene_8/3QY7M81QHGK0T2Q824FOTRDIH9GK7Q.json
new file mode 100644
index 0000000000000000000000000000000000000000..79385786829536e8dd6c5d6135cd08ff3014bafe
--- /dev/null
+++ b/scene_8/3QY7M81QHGK0T2Q824FOTRDIH9GK7Q.json
@@ -0,0 +1 @@
+{"episode_id":"3QY7M81QHGK0T2Q824FOTRDIH9GK7Q","trajectory_id":"3UL5XDRDOKHYPDDVFJYMGJV71CM85K","scene_id":8,"instruction":"take off and turn right and go over the house. now go forward and towards and go over the house and reach the brown house. now go forward and reach the house from top to bottom and reach the ground and land it.","sentence_instructions":[{"id":0,"instruction":"take off and turn right and go over the house.","completed_instruction":"Take off to the height of the wooden houses ahead, turn right to face the wooden house on the right side of the road, fly forward across the building to the large tree on the roof ahead.","start_frame":1,"end_frame":12,"start_position":[-37.49095153808594,-60.46055221557617,-1.2272210121154785],"start_rotation":[0.99997145418388156,0,0,0.0075558465689403729],"end_position":[-23.564136199806995,-46.10632585072187,-9.227221012115479],"end_rotation":[0.92096166231660992,0,0,0.38965320035003753],"actions":[4,3,3,4,3,1,1,4,1,1,4,1],"reference_path":[[-37.49095153808594,-60.46055221557617,-1.2272210121154785,0,0,0.015111836931393813],[-37.49095153808594,-60.46055221557617,-3.2272210121154785,0,0,0.015111836931393813],[-37.49095153808594,-60.46055221557617,-3.2272210121154785,0,0,0.27691122473054325],[-37.49095153808594,-60.46055221557617,-3.2272210121154785,0,0,0.5387106125296928],[-37.49095153808594,-60.46055221557617,-5.2272210121154785,0,0,0.5387106125296928],[-37.49095153808594,-60.46055221557617,-5.2272210121154785,0,0,0.8005100003288421],[-34.0092477035162,-56.8719956243626,-5.2272210121154785,0,0,0.8005100003288421],[-30.527543868946466,-53.28343903314902,-5.2272210121154785,0,0,0.8005100003288421],[-30.527543868946466,-53.28343903314902,-7.2272210121154785,0,0,0.8005100003288421],[-27.04584003437673,-49.69488244193545,-7.2272210121154785,0,0,0.8005100003288421],[-23.564136199806995,-46.10632585072187,-7.2272210121154785,0,0,0.8005100003288421],[-23.564136199806995,-46.10632585072187,-9.227221012115479,0,0,0.8005100003288421]]},{"id":1,"instruction":"now go forward and towards and go over the house and reach the brown house.","completed_instruction":"Fly across the tree by the right side, fly over the roof with the blue tarps to above the dirt road.","start_frame":12,"end_frame":19,"start_position":[-23.564136199806995,-46.10632585072187,-9.227221012115479],"start_rotation":[0.92096166231660992,0,0,0.38965320035003753],"end_position":[-11.839019561178699,-23.12413073781905,-9.227221012115479],"end_rotation":[0.862222759098038,0,0,0.50652928216774062],"actions":[1,1,7,1,3,1,1,7],"reference_path":[[-23.564136199806995,-46.10632585072187,-9.227221012115479,0,0,0.8005100003288421],[-20.08243236523726,-42.5177692595083,-9.227221012115479,0,0,0.8005100003288421],[-16.600728530667524,-38.929212668294724,-9.227221012115479,0,0,0.8005100003288421],[-20.189285121881102,-35.44750883372499,-9.227221012115479,0,0,0.8005100003288421],[-16.707581287311367,-31.858952242511414,-9.227221012115479,0,0,0.8005100003288421],[-16.707581287311367,-31.858952242511414,-9.227221012115479,0,0,1.0623093881279915],[-14.273300424245033,-27.491541490165233,-9.227221012115479,0,0,1.0623093881279915],[-11.839019561178699,-23.12413073781905,-9.227221012115479,0,0,1.0623093881279915]]},{"id":2,"instruction":"now go forward and reach the house from top to bottom and reach the ground and land it.","completed_instruction":"Land on the dirt path.","start_frame":19,"end_frame":24,"start_position":[-11.839019561178699,-23.12413073781905,-9.227221012115479],"start_rotation":[0.862222759098038,0,0,0.50652928216774062],"end_position":[-13.772149450458542,-16.322439122406536,-3.2272210121154785],"end_rotation":[0.862222759098038,0,0,0.50652928216774062],"actions":[7,1,5,5,5,5],"reference_path":[[-11.839019561178699,-23.12413073781905,-9.227221012115479,0,0,1.0623093881279915],[-16.206430313524876,-20.689849874752717,-9.227221012115479,0,0,1.0623093881279915],[-13.772149450458542,-16.322439122406536,-9.227221012115479,0,0,1.0623093881279915],[-13.772149450458542,-16.322439122406536,-7.2272210121154785,0,0,1.0623093881279915],[-13.772149450458542,-16.322439122406536,-5.2272210121154785,0,0,1.0623093881279915],[-13.772149450458542,-16.322439122406536,-3.2272210121154785,0,0,1.0623093881279915]]}],"statistics":{"complete_actions":26,"sentence_actions":[12,8,6],"sentence_actions_average":8.67}}
diff --git a/scene_8/3RANCT1ZVOF1YAYA9ZV64G8DNLVBU3.json b/scene_8/3RANCT1ZVOF1YAYA9ZV64G8DNLVBU3.json
new file mode 100644
index 0000000000000000000000000000000000000000..16843fae216c911590a6c1373bad055adb605058
--- /dev/null
+++ b/scene_8/3RANCT1ZVOF1YAYA9ZV64G8DNLVBU3.json
@@ -0,0 +1 @@
+{"episode_id":"3RANCT1ZVOF1YAYA9ZV64G8DNLVBU3","trajectory_id":"3JYPJ2TAZQ6BX2517CD6OHHAJKMFPS","scene_id":8,"instruction":"take off until height is just above the huts. turn right until you are facing the clothes lines going between huts. fly forward until you are just over top of the first tree on the right. turn right and fly forward until there is a tree just on the left. turn left and fly straight to the large hut on the right. drop down to ground level and turn right to look at the house on the right, turn back to face the large hut.","sentence_instructions":[{"id":0,"instruction":"take off until height is just above the huts.","completed_instruction":"Take off to the height above the roof of the building ahead.","start_frame":0,"end_frame":1,"start_position":[-17.348716735839844,-41.651817321777344,-1.1202901601791382],"start_rotation":[0.99968438294321227,0,0,-0.025122390400774346],"end_position":[-17.348716735839844,-41.651817321777344,-3.120290160179138],"end_rotation":[0.99968438294321227,0,0,-0.025122390400774346],"actions":[4,4],"reference_path":[[-17.348716735839844,-41.651817321777344,-1.1202901601791382,0,0,-0.050250067505596144],[-17.348716735839844,-41.651817321777344,-3.120290160179138,0,0,-0.050250067505596144]]},{"id":1,"instruction":"turn right until you are facing the clothes lines going between huts.","completed_instruction":"Turn right to face the dirt road between the buildings.","start_frame":1,"end_frame":6,"start_position":[-17.348716735839844,-41.651817321777344,-3.120290160179138],"start_rotation":[0.99968438294321227,0,0,-0.025122390400774346],"end_position":[-17.348716735839844,-41.651817321777344,-7.120290160179138],"end_rotation":[0.93320186296019325,0,0,0.35935258864745179],"actions":[4,4,3,3,3,3],"reference_path":[[-17.348716735839844,-41.651817321777344,-3.120290160179138,0,0,-0.050250067505596144],[-17.348716735839844,-41.651817321777344,-5.120290160179138,0,0,-0.050250067505596144],[-17.348716735839844,-41.651817321777344,-7.120290160179138,0,0,-0.050250067505596144],[-17.348716735839844,-41.651817321777344,-7.120290160179138,0,0,0.21154932029355328],[-17.348716735839844,-41.651817321777344,-7.120290160179138,0,0,0.47334870809270263],[-17.348716735839844,-41.651817321777344,-7.120290160179138,0,0,0.735148095891852]]},{"id":2,"instruction":"fly forward until you are just over top of the first tree on the right.","completed_instruction":"Fly forward to the large tree on the right of the dirt road.","start_frame":6,"end_frame":13,"start_position":[-17.348716735839844,-41.651817321777344,-7.120290160179138],"start_rotation":[0.93320186296019325,0,0,0.35935258864745179],"end_position":[-14.027474527379615,-27.141065004214713,-7.120290160179138],"end_rotation":[0.62850022585876586,0,0,0.77780940216448935],"actions":[3,3,1,1,3,1,3,1],"reference_path":[[-17.348716735839844,-41.651817321777344,-7.120290160179138,0,0,0.735148095891852],[-17.348716735839844,-41.651817321777344,-7.120290160179138,0,0,0.9969474836910015],[-17.348716735839844,-41.651817321777344,-7.120290160179138,0,0,1.2587468714901509],[-15.813667938339012,-36.89328549049878,-7.120290160179138,0,0,1.2587468714901509],[-14.278619140838181,-32.13475365922022,-7.120290160179138,0,0,1.2587468714901509],[-14.278619140838181,-32.13475365922022,-7.120290160179138,0,0,1.5205462592893004],[-14.027474527379615,-27.141065004214713,-7.120290160179138,0,0,1.5205462592893004],[-14.027474527379615,-27.141065004214713,-7.120290160179138,0,0,1.7823456470884498]]},{"id":3,"instruction":"turn right and fly forward until there is a tree just on the left.","completed_instruction":"Turn right 90 degrees , then fly forward across the roof ahead until you are in front of a building complex with a tree on its roof.","start_frame":13,"end_frame":21,"start_position":[-14.027474527379615,-27.141065004214713,-7.120290160179138],"start_rotation":[0.62850022585876586,0,0,0.77780940216448935],"end_position":[-25.644287511846336,-14.293899710503986,-7.120290160179138],"end_rotation":[0.15539246079570387,0,0,0.98785281450621765],"actions":[1,1,3,3,3,3,1,1,1],"reference_path":[[-14.027474527379615,-27.141065004214713,-7.120290160179138,0,0,1.7823456470884498],[-15.077349188334418,-22.25253115486018,-7.120290160179138,0,0,1.7823456470884498],[-16.127223849289223,-17.36399730550565,-7.120290160179138,0,0,1.7823456470884498],[-16.127223849289223,-17.36399730550565,-7.120290160179138,0,0,2.0441450348875994],[-16.127223849289223,-17.36399730550565,-7.120290160179138,0,0,2.305944422686749],[-16.127223849289223,-17.36399730550565,-7.120290160179138,0,0,2.5677438104858985],[-16.127223849289223,-17.36399730550565,-7.120290160179138,0,0,2.8295431982850476],[-20.88575568056778,-15.828948508004817,-7.120290160179138,0,0,2.8295431982850476],[-25.644287511846336,-14.293899710503986,-7.120290160179138,0,0,2.8295431982850476]]},{"id":4,"instruction":"turn left and fly straight to the large hut on the right.","completed_instruction":"Turn left slightly to face the tall building on the right side of the road and fly forward to the front of the roof with the blue tarp on the right side of the dirt road.","start_frame":21,"end_frame":26,"start_position":[-25.644287511846336,-14.293899710503986,-7.120290160179138],"start_rotation":[0.15539246079570387,0,0,0.98785281450621765],"end_position":[-35.16135117440345,-11.223802115502323,-7.120290160179138],"end_rotation":[0.521598819762467,0,0,0.85319087619500567],"actions":[1,1,2,2,2,1],"reference_path":[[-25.644287511846336,-14.293899710503986,-7.120290160179138,0,0,2.8295431982850476],[-30.402819343124893,-12.758850913003155,-7.120290160179138,0,0,2.8295431982850476],[-35.16135117440345,-11.223802115502323,-7.120290160179138,0,0,2.8295431982850476],[-35.16135117440345,-11.223802115502323,-7.120290160179138,0,0,2.5677438104858985],[-35.16135117440345,-11.223802115502323,-7.120290160179138,0,0,2.305944422686749],[-35.16135117440345,-11.223802115502323,-7.120290160179138,0,0,2.0441450348875994]]},{"id":5,"instruction":"drop down to ground level and turn right to look at the house on the right, turn back to face the large hut.","completed_instruction":"Fly down to ground level, make a sharp turn to right to face the road, then make a sharp turn to left to face the tall building with clothes hanging on it.","start_frame":26,"end_frame":48,"start_position":[-35.16135117440345,-11.223802115502323,-7.120290160179138],"start_rotation":[0.521598819762467,0,0,0.85319087619500567],"end_position":[-39.28504936829399,6.325987433255915,-1.1202901601791382],"end_rotation":[0.40577271324551867,0,0,0.91397401778462506],"actions":[1,1,1,5,5,5,3,3,6,3,3,3,3,3,3,2,2,2,2,2,2,2,0],"reference_path":[[-35.16135117440345,-11.223802115502323,-7.120290160179138,0,0,2.0441450348875994],[-37.44069788662746,-6.773568574948122,-7.120290160179138,0,0,2.0441450348875994],[-39.72004459885147,-2.3233350343939208,-7.120290160179138,0,0,2.0441450348875994],[-41.999391311075485,2.1268985061602805,-7.120290160179138,0,0,2.0441450348875994],[-41.999391311075485,2.1268985061602805,-5.120290160179138,0,0,2.0441450348875994],[-41.999391311075485,2.1268985061602805,-3.120290160179138,0,0,2.0441450348875994],[-41.999391311075485,2.1268985061602805,-1.1202901601791382,0,0,2.0441450348875994],[-41.999391311075485,2.1268985061602805,-1.1202901601791382,0,0,2.305944422686749],[-41.999391311075485,2.1268985061602805,-1.1202901601791382,0,0,2.5677438104858985],[-39.28504936829399,6.325987433255915,-1.1202901601791382,0,0,2.5677438104858985],[-39.28504936829399,6.325987433255915,-1.1202901601791382,0,0,2.8295431982850476],[-39.28504936829399,6.325987433255915,-1.1202901601791382,0,0,3.091342586084197],[-39.28504936829399,6.325987433255915,-1.1202901601791382,0,0,-2.93004333329624],[-39.28504936829399,6.325987433255915,-1.1202901601791382,0,0,-2.6682439454970903],[-39.28504936829399,6.325987433255915,-1.1202901601791382,0,0,-2.4064445576979407],[-39.28504936829399,6.325987433255915,-1.1202901601791382,0,0,-2.1446451698987916],[-39.28504936829399,6.325987433255915,-1.1202901601791382,0,0,-2.406444557697941],[-39.28504936829399,6.325987433255915,-1.1202901601791382,0,0,-2.6682439454970908],[-39.28504936829399,6.325987433255915,-1.1202901601791382,0,0,-2.9300433332962403],[-39.28504936829399,6.325987433255915,-1.1202901601791382,0,0,3.0913425860841968],[-39.28504936829399,6.325987433255915,-1.1202901601791382,0,0,2.8295431982850476],[-39.28504936829399,6.325987433255915,-1.1202901601791382,0,0,2.5677438104858985],[-39.28504936829399,6.325987433255915,-1.1202901601791382,0,0,2.305944422686749]]}],"statistics":{"complete_actions":54,"sentence_actions":[2,6,8,9,6,23],"sentence_actions_average":9.0}}
diff --git a/scene_8/3RKNTXVS3VWXY2Z3OF4SW1QCDW04A9.json b/scene_8/3RKNTXVS3VWXY2Z3OF4SW1QCDW04A9.json
new file mode 100644
index 0000000000000000000000000000000000000000..2a1fb2f68d70d0badcf8e9d287faf9ada96a6e7e
--- /dev/null
+++ b/scene_8/3RKNTXVS3VWXY2Z3OF4SW1QCDW04A9.json
@@ -0,0 +1 @@
+{"episode_id":"3RKNTXVS3VWXY2Z3OF4SW1QCDW04A9","trajectory_id":"3P7QK0GJ41JLACVV6QW1VWPZEJU2ZO","scene_id":8,"instruction":"lift off above the buildings turning right until facing the power lines and head straight. at the power lines turn right until facing the utility pole and head just right of it. then land in front of the power line on your left right next to the tires.","sentence_instructions":[{"id":0,"instruction":"lift off above the buildings turning right until facing the power lines and head straight.","completed_instruction":"Take off to the height of trees ahead, turn right towards a short wooden house with green pillars and a yellow roof, fly forward to the power lines, and fly across the dirt road.","start_frame":1,"end_frame":12,"start_position":[-36.13277816772461,-44.25289535522461,-4.684157371520996],"start_rotation":[0.99973788652376727,0,0,-0.022894502593220019],"end_position":[-21.35808338937659,-30.77296975429283,-12.684157371520996],"end_rotation":[0.93239871807006491,0,0,0.36143136352743332],"actions":[4,4,4,3,3,3,4,1,1,1,1,5],"reference_path":[[-36.13277816772461,-44.25289535522461,-4.684157371520996,0,0,-0.045793006244376544],[-36.13277816772461,-44.25289535522461,-6.684157371520996,0,0,-0.045793006244376544],[-36.13277816772461,-44.25289535522461,-8.684157371520996,0,0,-0.045793006244376544],[-36.13277816772461,-44.25289535522461,-10.684157371520996,0,0,-0.045793006244376544],[-36.13277816772461,-44.25289535522461,-10.684157371520996,0,0,0.2160063815547729],[-36.13277816772461,-44.25289535522461,-10.684157371520996,0,0,0.4778057693539223],[-36.13277816772461,-44.25289535522461,-10.684157371520996,0,0,0.7396051571530717],[-36.13277816772461,-44.25289535522461,-12.684157371520996,0,0,0.7396051571530717],[-32.439104473137604,-40.882913954991665,-12.684157371520996,0,0,0.7396051571530717],[-28.7454307785506,-37.51293255475872,-12.684157371520996,0,0,0.7396051571530717],[-25.051757083963594,-34.142951154525775,-12.684157371520996,0,0,0.7396051571530717],[-21.35808338937659,-30.77296975429283,-12.684157371520996,0,0,0.7396051571530717]]},{"id":1,"instruction":"at the power lines turn right until facing the utility pole and head just right of it.","completed_instruction":"Turn right to face the tree on the roadside, fly across a low house covered with blue cloth, and fly forward to the high wooden house with clothes of different colors hanging.","start_frame":12,"end_frame":31,"start_position":[-21.35808338937659,-30.77296975429283,-12.684157371520996],"start_rotation":[0.93239871807006491,0,0,0.36143136352743332],"end_position":[-33.84165591018728,-5.167367778070998,-10.684157371520996],"end_rotation":[0.51969616411462072,0,0,0.854351155558737],"actions":[5,1,1,3,3,1,3,3,3,3,1,1,1,3,1,2,7,1,2,1],"reference_path":[[-21.35808338937659,-30.77296975429283,-12.684157371520996,0,0,0.7396051571530717],[-21.35808338937659,-30.77296975429283,-10.684157371520996,0,0,0.7396051571530717],[-17.664409694789583,-27.402988354059886,-10.684157371520996,0,0,0.7396051571530717],[-13.97073600020258,-24.03300695382694,-10.684157371520996,0,0,0.7396051571530717],[-13.97073600020258,-24.03300695382694,-10.684157371520996,0,0,1.0014045449522213],[-13.97073600020258,-24.03300695382694,-10.684157371520996,0,0,1.2632039327513707],[-12.456911447516383,-19.267680603650657,-10.684157371520996,0,0,1.2632039327513707],[-12.456911447516383,-19.267680603650657,-10.684157371520996,0,0,1.52500332055052],[-12.456911447516383,-19.267680603650657,-10.684157371520996,0,0,1.7868027083496696],[-12.456911447516383,-19.267680603650657,-10.684157371520996,0,0,2.0486020961488194],[-12.456911447516383,-19.267680603650657,-10.684157371520996,0,0,2.310401483947969],[-15.82689284774933,-15.574006909063655,-10.684157371520996,0,0,2.310401483947969],[-19.196874247982276,-11.880333214476654,-10.684157371520996,0,0,2.310401483947969],[-22.566855648215224,-8.186659519889652,-10.684157371520996,0,0,2.310401483947969],[-22.566855648215224,-8.186659519889652,-10.684157371520996,0,0,2.572200871747118],[-26.77800081536733,-5.491060072425054,-10.684157371520996,0,0,2.572200871747118],[-26.77800081536733,-5.491060072425054,-10.684157371520996,0,0,2.310401483947969],[-30.471674509954333,-8.861041472658,-10.684157371520996,0,0,2.310401483947969],[-33.84165591018728,-5.167367778070998,-10.684157371520996,0,0,2.310401483947969],[-33.84165591018728,-5.167367778070998,-10.684157371520996,0,0,2.0486020961488194]]},{"id":2,"instruction":"then land in front of the power line on your left right next to the tires.","completed_instruction":"Slightly turn left to face dirt road and land in front of the wires.","start_frame":31,"end_frame":40,"start_position":[-33.84165591018728,-5.167367778070998,-10.684157371520996],"start_rotation":[0.51969616411462072,0,0,0.854351155558737],"end_position":[-36.98358251946647,9.151226775865926,-2.684157371520996],"end_rotation":[0.72311029700562179,0,0,0.69073258093450418],"actions":[1,2,1,2,1,5,5,5,5,0],"reference_path":[[-33.84165591018728,-5.167367778070998,-10.684157371520996,0,0,2.0486020961488194],[-36.14081488023277,-0.7273375945633065,-10.684157371520996,0,0,2.0486020961488194],[-36.14081488023277,-0.7273375945633065,-10.684157371520996,0,0,1.7868027083496698],[-37.21246753582205,4.156468358355834,-10.684157371520996,0,0,1.7868027083496698],[-37.21246753582205,4.156468358355834,-10.684157371520996,0,0,1.5250033205505202],[-36.98358251946647,9.151226775865926,-10.684157371520996,0,0,1.5250033205505202],[-36.98358251946647,9.151226775865926,-8.684157371520996,0,0,1.5250033205505202],[-36.98358251946647,9.151226775865926,-6.684157371520996,0,0,1.5250033205505202],[-36.98358251946647,9.151226775865926,-4.684157371520996,0,0,1.5250033205505202],[-36.98358251946647,9.151226775865926,-2.684157371520996,0,0,1.5250033205505202]]}],"statistics":{"complete_actions":42,"sentence_actions":[12,20,10],"sentence_actions_average":14.0}}
diff --git a/scene_8/3SUWZRL0M7BE32KTN8ZTPI0IK5KE6D.json b/scene_8/3SUWZRL0M7BE32KTN8ZTPI0IK5KE6D.json
new file mode 100644
index 0000000000000000000000000000000000000000..b4b72a3d6af9d7f78b848e0f1674da56920dbb27
--- /dev/null
+++ b/scene_8/3SUWZRL0M7BE32KTN8ZTPI0IK5KE6D.json
@@ -0,0 +1 @@
+{"episode_id":"3SUWZRL0M7BE32KTN8ZTPI0IK5KE6D","trajectory_id":"3XUSYT70J1ZBB1NLZL3QLGDHZLH0DQ","scene_id":8,"instruction":"take off then fly plane toward large brown broken down house then make a left turn. fly toward brown house with blue tarp on top and green tarp in the front then make a left turn. descend plane then land on ground next to brown shack with black bucket, green ladder and tire in front.","sentence_instructions":[{"id":0,"instruction":"take off then fly plane toward large brown broken down house then make a left turn.","completed_instruction":"Take off to the height of the wooden houses ahead, turn right to face the wooden house on the right side of the road, fly forward across the building to the large tree on the roof ahead.","start_frame":1,"end_frame":11,"start_position":[-37.49095153808594,-60.46055221557617,-1.2272210121154785],"start_rotation":[0.99997145418388156,0,0,0.0075558465689403729],"end_position":[-23.564136199806995,-46.10632585072187,-7.2272210121154785],"end_rotation":[0.92096166231660992,0,0,0.38965320035003753],"actions":[4,3,3,4,3,1,1,4,1,1,4],"reference_path":[[-37.49095153808594,-60.46055221557617,-1.2272210121154785,0,0,0.015111836931393813],[-37.49095153808594,-60.46055221557617,-3.2272210121154785,0,0,0.015111836931393813],[-37.49095153808594,-60.46055221557617,-3.2272210121154785,0,0,0.27691122473054325],[-37.49095153808594,-60.46055221557617,-3.2272210121154785,0,0,0.5387106125296928],[-37.49095153808594,-60.46055221557617,-5.2272210121154785,0,0,0.5387106125296928],[-37.49095153808594,-60.46055221557617,-5.2272210121154785,0,0,0.8005100003288421],[-34.0092477035162,-56.8719956243626,-5.2272210121154785,0,0,0.8005100003288421],[-30.527543868946466,-53.28343903314902,-5.2272210121154785,0,0,0.8005100003288421],[-30.527543868946466,-53.28343903314902,-7.2272210121154785,0,0,0.8005100003288421],[-27.04584003437673,-49.69488244193545,-7.2272210121154785,0,0,0.8005100003288421],[-23.564136199806995,-46.10632585072187,-7.2272210121154785,0,0,0.8005100003288421]]},{"id":1,"instruction":"fly toward brown house with blue tarp on top and green tarp in the front then make a left turn.","completed_instruction":"Fly across the tree and the building ahead with blue tarps on the roof to the top of the dirt path.","start_frame":11,"end_frame":17,"start_position":[-23.564136199806995,-46.10632585072187,-7.2272210121154785],"start_rotation":[0.92096166231660992,0,0,0.38965320035003753],"end_position":[-16.707581287311367,-31.858952242511414,-9.227221012115479],"end_rotation":[0.862222759098038,0,0,0.50652928216774062],"actions":[4,1,1,7,1,3,1],"reference_path":[[-23.564136199806995,-46.10632585072187,-7.2272210121154785,0,0,0.8005100003288421],[-23.564136199806995,-46.10632585072187,-9.227221012115479,0,0,0.8005100003288421],[-20.08243236523726,-42.5177692595083,-9.227221012115479,0,0,0.8005100003288421],[-16.600728530667524,-38.929212668294724,-9.227221012115479,0,0,0.8005100003288421],[-20.189285121881102,-35.44750883372499,-9.227221012115479,0,0,0.8005100003288421],[-16.707581287311367,-31.858952242511414,-9.227221012115479,0,0,0.8005100003288421],[-16.707581287311367,-31.858952242511414,-9.227221012115479,0,0,1.0623093881279915]]},{"id":2,"instruction":"descend plane then land on ground next to brown shack with black bucket, green ladder and tire in front.","completed_instruction":"Land on the dirt ground.","start_frame":17,"end_frame":24,"start_position":[-16.707581287311367,-31.858952242511414,-9.227221012115479],"start_rotation":[0.862222759098038,0,0,0.50652928216774062],"end_position":[-13.772149450458542,-16.322439122406536,-3.2272210121154785],"end_rotation":[0.862222759098038,0,0,0.50652928216774062],"actions":[1,1,7,1,5,5,5,5],"reference_path":[[-16.707581287311367,-31.858952242511414,-9.227221012115479,0,0,1.0623093881279915],[-14.273300424245033,-27.491541490165233,-9.227221012115479,0,0,1.0623093881279915],[-11.839019561178699,-23.12413073781905,-9.227221012115479,0,0,1.0623093881279915],[-16.206430313524876,-20.689849874752717,-9.227221012115479,0,0,1.0623093881279915],[-13.772149450458542,-16.322439122406536,-9.227221012115479,0,0,1.0623093881279915],[-13.772149450458542,-16.322439122406536,-7.2272210121154785,0,0,1.0623093881279915],[-13.772149450458542,-16.322439122406536,-5.2272210121154785,0,0,1.0623093881279915],[-13.772149450458542,-16.322439122406536,-3.2272210121154785,0,0,1.0623093881279915]]}],"statistics":{"complete_actions":26,"sentence_actions":[11,7,8],"sentence_actions_average":8.67}}
diff --git a/scene_8/3TMSXRD2XFYDDG5N22HIGSG02JCW13.json b/scene_8/3TMSXRD2XFYDDG5N22HIGSG02JCW13.json
new file mode 100644
index 0000000000000000000000000000000000000000..ebbc83cd7351fcc81a90095e15f338f6eb0fa4ff
--- /dev/null
+++ b/scene_8/3TMSXRD2XFYDDG5N22HIGSG02JCW13.json
@@ -0,0 +1 @@
+{"episode_id":"3TMSXRD2XFYDDG5N22HIGSG02JCW13","trajectory_id":"36KM3FWE4ZAVUSMB8804LO3L9Q270K","scene_id":8,"instruction":"take off and turn right. go over the tarp roof. go straight. bear left past the second roof. descend and stop at the second house on the left.","sentence_instructions":[{"id":0,"instruction":"take off and turn right.","completed_instruction":"Fly up to the height above the building with the blue awning ahead, turn right to face the dirt path.","start_frame":1,"end_frame":7,"start_position":[-38.391319274902344,8.043131828308105,-0.34734949469566345],"start_rotation":[0.99970392814985853,0,0,0.024332201744653153],"end_position":[-38.391319274902344,8.043131828308105,-8.347349494695663],"end_rotation":[0.9593422056217864,0,0,0.28224551814462184],"actions":[4,4,4,4,3,3,3],"reference_path":[[-38.391319274902344,8.043131828308105,-0.34734949469566345,0,0,0.04866920677815093],[-38.391319274902344,8.043131828308105,-2.3473494946956635,0,0,0.04866920677815093],[-38.391319274902344,8.043131828308105,-4.3473494946956635,0,0,0.04866920677815093],[-38.391319274902344,8.043131828308105,-6.3473494946956635,0,0,0.04866920677815093],[-38.391319274902344,8.043131828308105,-8.347349494695663,0,0,0.04866920677815093],[-38.391319274902344,8.043131828308105,-8.347349494695663,0,0,0.31046859457730036],[-38.391319274902344,8.043131828308105,-8.347349494695663,0,0,0.5722679823764498]]},{"id":1,"instruction":"go over the tarp roof.","completed_instruction":"Fly straight until across the wooden building with blue tarps on the roof, then fly across the trees behind the building.","start_frame":7,"end_frame":15,"start_position":[-38.391319274902344,8.043131828308105,-8.347349494695663],"start_rotation":[0.9593422056217864,0,0,0.28224551814462184],"end_position":[-24.673044911630413,34.72287973742442,-8.347349494695663],"end_rotation":[0.85360289716854409,0,0,0.520924268915807],"actions":[3,3,1,1,1,1,1,1,1],"reference_path":[[-38.391319274902344,8.043131828308105,-8.347349494695663,0,0,0.5722679823764498],[-38.391319274902344,8.043131828308105,-8.347349494695663,0,0,0.8340673701755993],[-38.391319274902344,8.043131828308105,-8.347349494695663,0,0,1.0958667579747488],[-36.10494021435702,12.489756479827491,-8.347349494695663,0,0,1.0958667579747488],[-33.8185611538117,16.936381131346877,-8.347349494695663,0,0,1.0958667579747488],[-31.53218209326638,21.383005782866263,-8.347349494695663,0,0,1.0958667579747488],[-29.245803032721057,25.82963043438565,-8.347349494695663,0,0,1.0958667579747488],[-26.959423972175735,30.276255085905035,-8.347349494695663,0,0,1.0958667579747488],[-24.673044911630413,34.72287973742442,-8.347349494695663,0,0,1.0958667579747488]]},{"id":2,"instruction":"go straight.","completed_instruction":"Fly straight to the brown wooden house in the open area ahead.","start_frame":15,"end_frame":16,"start_position":[-24.673044911630413,34.72287973742442,-8.347349494695663],"start_rotation":[0.85360289716854409,0,0,0.520924268915807],"end_position":[-22.38666585108509,39.16950438894381,-8.347349494695663],"end_rotation":[0.85360289716854409,0,0,0.520924268915807],"actions":[1,1],"reference_path":[[-24.673044911630413,34.72287973742442,-8.347349494695663,0,0,1.0958667579747488],[-22.38666585108509,39.16950438894381,-8.347349494695663,0,0,1.0958667579747488]]},{"id":3,"instruction":"bear left past the second roof.","completed_instruction":"Fly over the brown wooden building from the left side of it.","start_frame":16,"end_frame":20,"start_position":[-22.38666585108509,39.16950438894381,-8.347349494695663],"start_rotation":[0.85360289716854409,0,0,0.520924268915807],"end_position":[-14.454564000491608,51.76610483750604,-8.347349494695663],"end_rotation":[0.91429446730814457,0,0,0.40505015374607145],"actions":[1,1,2,1,1],"reference_path":[[-22.38666585108509,39.16950438894381,-8.347349494695663,0,0,1.0958667579747488],[-20.10028679053977,43.61612904046319,-8.347349494695663,0,0,1.0958667579747488],[-17.813907729994447,48.06275369198258,-8.347349494695663,0,0,1.0958667579747488],[-17.813907729994447,48.06275369198258,-8.347349494695663,0,0,0.8340673701755993],[-14.454564000491608,51.76610483750604,-8.347349494695663,0,0,0.8340673701755993]]},{"id":4,"instruction":"descend and stop at the second house on the left.","completed_instruction":"Land in front of a brown wooden building ahead.","start_frame":20,"end_frame":25,"start_position":[-14.454564000491608,51.76610483750604,-8.347349494695663],"start_rotation":[0.91429446730814457,0,0,0.40505015374607145],"end_position":[-7.735876541485929,59.17280712855297,-2.3473494946956635],"end_rotation":[0.91429446730814457,0,0,0.40505015374607145],"actions":[1,1,5,5,5,0],"reference_path":[[-14.454564000491608,51.76610483750604,-8.347349494695663,0,0,0.8340673701755993],[-11.095220270988769,55.469455983029505,-8.347349494695663,0,0,0.8340673701755993],[-7.735876541485929,59.17280712855297,-8.347349494695663,0,0,0.8340673701755993],[-7.735876541485929,59.17280712855297,-6.3473494946956635,0,0,0.8340673701755993],[-7.735876541485929,59.17280712855297,-4.3473494946956635,0,0,0.8340673701755993],[-7.735876541485929,59.17280712855297,-2.3473494946956635,0,0,0.8340673701755993]]}],"statistics":{"complete_actions":29,"sentence_actions":[7,9,2,5,6],"sentence_actions_average":5.8}}
diff --git a/scene_8/3WJ1OXY92JEYH3M50IU5DD6HNN5A8D.json b/scene_8/3WJ1OXY92JEYH3M50IU5DD6HNN5A8D.json
new file mode 100644
index 0000000000000000000000000000000000000000..41980e46ba7ab4472079411a0334e057ac9093f3
--- /dev/null
+++ b/scene_8/3WJ1OXY92JEYH3M50IU5DD6HNN5A8D.json
@@ -0,0 +1 @@
+{"episode_id":"3WJ1OXY92JEYH3M50IU5DD6HNN5A8D","trajectory_id":"3OKP4QVBQAVAOYVUTD1RG7SRH90AG8","scene_id":8,"instruction":"go towards the right. move forward toward the tall trees. move left to the house with clothing. move left then go forward. look up.","sentence_instructions":[{"id":0,"instruction":"go towards the right.","completed_instruction":"Take off to the height of the tree ahead and make a sharp turn to the right to face the grassland behind the broken roofs.","start_frame":0,"end_frame":11,"start_position":[-22.423419952392578,-61.50630569458008,0.016251184046268463],"start_rotation":[0.99988717094221879,0,0,0.015021497434218578],"end_position":[-22.423419952392578,-61.50630569458008,-11.983748815953732],"end_rotation":[0.78411931873745677,0,0,0.62061009819588553],"actions":[4,4,4,4,4,4,3,3,3,3,3,3],"reference_path":[[-22.423419952392578,-61.50630569458008,0.016251184046268463,0,0,0.030044124827035498],[-22.423419952392578,-61.50630569458008,-1.9837488159537315,0,0,0.030044124827035498],[-22.423419952392578,-61.50630569458008,-3.9837488159537315,0,0,0.030044124827035498],[-22.423419952392578,-61.50630569458008,-5.9837488159537315,0,0,0.030044124827035498],[-22.423419952392578,-61.50630569458008,-7.9837488159537315,0,0,0.030044124827035498],[-22.423419952392578,-61.50630569458008,-9.983748815953732,0,0,0.030044124827035498],[-22.423419952392578,-61.50630569458008,-11.983748815953732,0,0,0.030044124827035498],[-22.423419952392578,-61.50630569458008,-11.983748815953732,0,0,0.29184351262618496],[-22.423419952392578,-61.50630569458008,-11.983748815953732,0,0,0.5536429004253345],[-22.423419952392578,-61.50630569458008,-11.983748815953732,0,0,0.815442288224484],[-22.423419952392578,-61.50630569458008,-11.983748815953732,0,0,1.0772416760236334],[-22.423419952392578,-61.50630569458008,-11.983748815953732,0,0,1.3390410638227828]]},{"id":1,"instruction":"move forward toward the tall trees.","completed_instruction":"Fly forward to the grassland ahead, then turn left to face the middle of trees on the roof and rusty roof building.","start_frame":11,"end_frame":21,"start_position":[-22.423419952392578,-61.50630569458008,-11.983748815953732],"start_rotation":[0.78411931873745677,0,0,0.62061009819588553],"end_position":[-32.939208268204695,-44.49401025577967,-11.983748815953732],"end_rotation":[0.78411931873745655,0,0,0.62061009819588575],"actions":[3,3,3,1,1,1,1,2,2,2,2],"reference_path":[[-22.423419952392578,-61.50630569458008,-11.983748815953732,0,0,1.3390410638227828],[-22.423419952392578,-61.50630569458008,-11.983748815953732,0,0,1.6008404516219323],[-22.423419952392578,-61.50630569458008,-11.983748815953732,0,0,1.862639839421082],[-22.423419952392578,-61.50630569458008,-11.983748815953732,0,0,2.1244392272202313],[-25.052367031345607,-57.253231834879976,-11.983748815953732,0,0,2.1244392272202313],[-27.681314110298636,-53.000157975179874,-11.983748815953732,0,0,2.1244392272202313],[-30.310261189251666,-48.74708411547977,-11.983748815953732,0,0,2.1244392272202313],[-32.939208268204695,-44.49401025577967,-11.983748815953732,0,0,2.1244392272202313],[-32.939208268204695,-44.49401025577967,-11.983748815953732,0,0,1.862639839421082],[-32.939208268204695,-44.49401025577967,-11.983748815953732,0,0,1.6008404516219326],[-32.939208268204695,-44.49401025577967,-11.983748815953732,0,0,1.3390410638227832]]},{"id":2,"instruction":"move left to the house with clothing.","completed_instruction":"Fly over the roof ahead to the top of the dirt road, then turn right to face the road and fly over the trees on the right side of the road, and turn right to face two utility poles, then fly forward across the roof.","start_frame":21,"end_frame":40,"start_position":[-32.939208268204695,-44.49401025577967,-11.983748815953732],"start_rotation":[0.78411931873745655,0,0,0.62061009819588575],"end_position":[-18.2085787092323,-15.112134172256704,-9.983748815953732],"end_rotation":[0.1156184786314714,0,0,0.99329369644579135],"actions":[2,2,1,1,1,1,3,1,1,3,1,3,3,3,3,3,5,3,1,1],"reference_path":[[-32.939208268204695,-44.49401025577967,-11.983748815953732,0,0,1.3390410638227832],[-32.939208268204695,-44.49401025577967,-11.983748815953732,0,0,1.0772416760236339],[-32.939208268204695,-44.49401025577967,-11.983748815953732,0,0,0.8154422882244844],[-29.51147595860512,-40.85386586115366,-11.983748815953732,0,0,0.8154422882244844],[-26.083743649005548,-37.213721466527645,-11.983748815953732,0,0,0.8154422882244844],[-22.656011339405975,-33.57357707190163,-11.983748815953732,0,0,0.8154422882244844],[-19.2282790298064,-29.93343267727562,-11.983748815953732,0,0,0.8154422882244844],[-19.2282790298064,-29.93343267727562,-11.983748815953732,0,0,1.0772416760236339],[-16.859482562611095,-25.530160791847347,-11.983748815953732,0,0,1.0772416760236339],[-14.49068609541579,-21.126888906419076,-11.983748815953732,0,0,1.0772416760236339],[-14.49068609541579,-21.126888906419076,-11.983748815953732,0,0,1.3390410638227834],[-13.342255035242859,-16.260565232429634,-11.983748815953732,0,0,1.3390410638227834],[-13.342255035242859,-16.260565232429634,-11.983748815953732,0,0,1.6008404516219328],[-13.342255035242859,-16.260565232429634,-11.983748815953732,0,0,1.8626398394210821],[-13.342255035242859,-16.260565232429634,-11.983748815953732,0,0,2.1244392272202317],[-13.342255035242859,-16.260565232429634,-11.983748815953732,0,0,2.3862386150193813],[-13.342255035242859,-16.260565232429634,-11.983748815953732,0,0,2.6480380028185304],[-13.342255035242859,-16.260565232429634,-9.983748815953732,0,0,2.6480380028185304],[-13.342255035242859,-16.260565232429634,-9.983748815953732,0,0,2.90983739061768],[-18.2085787092323,-15.112134172256704,-9.983748815953732,0,0,2.90983739061768]]},{"id":3,"instruction":"move left then go forward.","completed_instruction":"Turn left to face the low blue tarp building with wooden boards.","start_frame":40,"end_frame":46,"start_position":[-18.2085787092323,-15.112134172256704,-9.983748815953732],"start_rotation":[0.1156184786314714,0,0,0.99329369644579135],"end_position":[-37.673873405190065,-10.518409931564983,-9.983748815953732],"end_rotation":[0.36876220052684155,0,0,0.92952377025152055],"actions":[1,1,1,1,2,2,2],"reference_path":[[-18.2085787092323,-15.112134172256704,-9.983748815953732,0,0,2.90983739061768],[-23.07490238322174,-13.963703112083774,-9.983748815953732,0,0,2.90983739061768],[-27.941226057211182,-12.815272051910844,-9.983748815953732,0,0,2.90983739061768],[-32.80754973120062,-11.666840991737914,-9.983748815953732,0,0,2.90983739061768],[-37.673873405190065,-10.518409931564983,-9.983748815953732,0,0,2.90983739061768],[-37.673873405190065,-10.518409931564983,-9.983748815953732,0,0,2.648038002818531],[-37.673873405190065,-10.518409931564983,-9.983748815953732,0,0,2.3862386150193817]]},{"id":4,"instruction":"look up.","completed_instruction":"Land in front of the tall building with clothes hanging on it.","start_frame":46,"end_frame":55,"start_position":[-37.673873405190065,-10.518409931564983,-9.983748815953732],"start_rotation":[0.36876220052684155,0,0,0.92952377025152055],"end_position":[-38.678693703396036,0.6166848667882512,-1.9837488159537315],"end_rotation":[0.36876220052684133,0,0,0.92952377025152055],"actions":[2,1,6,1,5,5,3,5,5,0],"reference_path":[[-37.673873405190065,-10.518409931564983,-9.983748815953732,0,0,2.3862386150193817],[-37.673873405190065,-10.518409931564983,-9.983748815953732,0,0,2.1244392272202326],[-40.3028204841431,-6.265336071864884,-9.983748815953732,0,0,2.1244392272202326],[-36.049746624442996,-3.636388992911848,-9.983748815953732,0,0,2.1244392272202326],[-38.678693703396036,0.6166848667882512,-9.983748815953732,0,0,2.1244392272202326],[-38.678693703396036,0.6166848667882512,-7.9837488159537315,0,0,2.1244392272202326],[-38.678693703396036,0.6166848667882512,-5.9837488159537315,0,0,2.1244392272202326],[-38.678693703396036,0.6166848667882512,-5.9837488159537315,0,0,2.386238615019382],[-38.678693703396036,0.6166848667882512,-3.9837488159537315,0,0,2.386238615019382],[-38.678693703396036,0.6166848667882512,-1.9837488159537315,0,0,2.386238615019382]]}],"statistics":{"complete_actions":60,"sentence_actions":[12,11,20,7,10],"sentence_actions_average":12.0}}
diff --git a/scene_9/30MVJZJNHVB9W18JZGDW684BPWXJ9V.json b/scene_9/30MVJZJNHVB9W18JZGDW684BPWXJ9V.json
new file mode 100644
index 0000000000000000000000000000000000000000..3fe3d58a0470630995bed31f3e16b2bdc5a95c93
--- /dev/null
+++ b/scene_9/30MVJZJNHVB9W18JZGDW684BPWXJ9V.json
@@ -0,0 +1 @@
+{"episode_id":"30MVJZJNHVB9W18JZGDW684BPWXJ9V","trajectory_id":"3KWGG5KP7R0Y9NOEOUVDZ72CBAUCM3","scene_id":9,"instruction":"take off and turn left then fly straight toward the two tall, cylindrical structures. continue straight and look down toward a parking lot. move straight and down toward what looks to be storage units. land to the left of a grey and tan garage building.","sentence_instructions":[{"id":0,"instruction":"take off and turn left then fly straight toward the two tall, cylindrical structures.","completed_instruction":"Take off and ascend to a height higher than the roof of the blue factory building, then turn left to face the green shipping container, then fly forward until reach the top of the mentioned container.","start_frame":1,"end_frame":21,"start_position":[-97.04485321044922,186.89559936523438,17.89460563659668],"start_rotation":[0.99999592433582651,0,0,0.0028550502160188357],"end_position":[-96.90210128145958,161.89600693082113,-0.10539436340332031],"end_rotation":[0.70912272462514769,0,0,-0.70508507388839747],"actions":[4,4,4,4,4,4,4,2,2,2,2,2,2,1,1,1,4,1,1,4,1],"reference_path":[[-97.04485321044922,186.89559936523438,17.89460563659668,0,0,0.0057101081895342375],[-97.04485321044922,186.89559936523438,15.89460563659668,0,0,0.0057101081895342375],[-97.04485321044922,186.89559936523438,13.89460563659668,0,0,0.0057101081895342375],[-97.04485321044922,186.89559936523438,11.89460563659668,0,0,0.0057101081895342375],[-97.04485321044922,186.89559936523438,9.89460563659668,0,0,0.0057101081895342375],[-97.04485321044922,186.89559936523438,7.89460563659668,0,0,0.0057101081895342375],[-97.04485321044922,186.89559936523438,5.89460563659668,0,0,0.0057101081895342375],[-97.04485321044922,186.89559936523438,3.8946056365966797,0,0,0.0057101081895342375],[-97.04485321044922,186.89559936523438,3.8946056365966797,0,0,-0.2560892796096152],[-97.04485321044922,186.89559936523438,3.8946056365966797,0,0,-0.5178886674087647],[-97.04485321044922,186.89559936523438,3.8946056365966797,0,0,-0.7796880552079141],[-97.04485321044922,186.89559936523438,3.8946056365966797,0,0,-1.0414874430070633],[-97.04485321044922,186.89559936523438,3.8946056365966797,0,0,-1.3032868308062129],[-97.04485321044922,186.89559936523438,3.8946056365966797,0,0,-1.5650862186053622],[-97.01630282465129,181.89568087835173,3.8946056365966797,0,0,-1.5650862186053622],[-96.98775243885336,176.89576239146908,3.8946056365966797,0,0,-1.5650862186053622],[-96.95920205305544,171.89584390458643,3.8946056365966797,0,0,-1.5650862186053622],[-96.95920205305544,171.89584390458643,1.8946056365966797,0,0,-1.5650862186053622],[-96.93065166725751,166.89592541770378,1.8946056365966797,0,0,-1.5650862186053622],[-96.90210128145958,161.89600693082113,1.8946056365966797,0,0,-1.5650862186053622],[-96.90210128145958,161.89600693082113,-0.10539436340332031,0,0,-1.5650862186053622]]},{"id":1,"instruction":"continue straight and look down toward a parking lot.","completed_instruction":"Fly forward to the top of the red truck trailer with a white fuel tank and then descend to the height slightly higher than the grey building.","start_frame":21,"end_frame":44,"start_position":[-96.90210128145958,161.89600693082113,-0.10539436340332031],"start_rotation":[0.70912272462514769,0,0,-0.70508507388839747],"end_position":[-107.8543805848203,102.00286302410657,3.8946056365966797],"end_rotation":[0.79508815129884447,0,0,-0.60649388427599649],"actions":[1,1,1,6,1,1,1,4,1,1,1,1,4,1,2,1,3,6,3,5,5,5,5,5],"reference_path":[[-96.90210128145958,161.89600693082113,-0.10539436340332031,0,0,-1.5650862186053622],[-96.87355089566165,156.89608844393848,-0.10539436340332031,0,0,-1.5650862186053622],[-96.84500050986372,151.89616995705583,-0.10539436340332031,0,0,-1.5650862186053622],[-96.8164501240658,146.89625147017318,-0.10539436340332031,0,0,-1.5650862186053622],[-101.81636861094843,146.86770108437526,-0.10539436340332031,0,0,-1.5650862186053622],[-101.7878182251505,141.8677825974926,-0.10539436340332031,0,0,-1.5650862186053622],[-101.75926783935257,136.86786411060996,-0.10539436340332031,0,0,-1.5650862186053622],[-101.73071745355465,131.8679456237273,-0.10539436340332031,0,0,-1.5650862186053622],[-101.73071745355465,131.8679456237273,-2.1053943634033203,0,0,-1.5650862186053622],[-101.70216706775672,126.86802713684467,-2.1053943634033203,0,0,-1.5650862186053622],[-101.67361668195879,121.86810864996204,-2.1053943634033203,0,0,-1.5650862186053622],[-101.64506629616086,116.8681901630794,-2.1053943634033203,0,0,-1.5650862186053622],[-101.61651591036293,111.86827167619677,-2.1053943634033203,0,0,-1.5650862186053622],[-101.61651591036293,111.86827167619677,-4.10539436340332,0,0,-1.5650862186053622],[-101.587965524565,106.86835318931413,-4.10539436340332,0,0,-1.5650862186053622],[-101.587965524565,106.86835318931413,-4.10539436340332,0,0,-1.8268856064045118],[-102.85446209793767,102.0314134099045,-4.10539436340332,0,0,-1.8268856064045118],[-102.85446209793767,102.0314134099045,-4.10539436340332,0,0,-1.5650862186053625],[-107.8543805848203,102.00286302410657,-4.10539436340332,0,0,-1.5650862186053625],[-107.8543805848203,102.00286302410657,-4.10539436340332,0,0,-1.303286830806213],[-107.8543805848203,102.00286302410657,-2.1053943634033203,0,0,-1.303286830806213],[-107.8543805848203,102.00286302410657,-0.10539436340332031,0,0,-1.303286830806213],[-107.8543805848203,102.00286302410657,1.8946056365966797,0,0,-1.303286830806213],[-107.8543805848203,102.00286302410657,3.8946056365966797,0,0,-1.303286830806213]]},{"id":2,"instruction":"move straight and down toward what looks to be storage units.","completed_instruction":"Fly forward to the road beside the tank area, and then lower altitude to the height of grey building, then turn right to face the blue shipping container on the other side of the road.","start_frame":44,"end_frame":62,"start_position":[-107.8543805848203,102.00286302410657,3.8946056365966797],"start_rotation":[0.79508815129884447,0,0,-0.60649388427599649],"end_position":[-107.5403263410431,47.003759668397564,11.89460563659668],"end_rotation":[0.70912272462514758,0,0,-0.70508507388839758],"actions":[5,5,2,1,1,1,1,4,1,1,1,1,1,1,1,5,5,5,3],"reference_path":[[-107.8543805848203,102.00286302410657,3.8946056365966797,0,0,-1.303286830806213],[-107.8543805848203,102.00286302410657,5.89460563659668,0,0,-1.303286830806213],[-107.8543805848203,102.00286302410657,7.89460563659668,0,0,-1.303286830806213],[-107.8543805848203,102.00286302410657,7.89460563659668,0,0,-1.5650862186053625],[-107.82583019902238,97.00294453722394,7.89460563659668,0,0,-1.5650862186053625],[-107.79727981322445,92.0030260503413,7.89460563659668,0,0,-1.5650862186053625],[-107.76872942742652,87.00310756345867,7.89460563659668,0,0,-1.5650862186053625],[-107.7401790416286,82.00318907657604,7.89460563659668,0,0,-1.5650862186053625],[-107.7401790416286,82.00318907657604,5.89460563659668,0,0,-1.5650862186053625],[-107.71162865583067,77.0032705896934,5.89460563659668,0,0,-1.5650862186053625],[-107.68307827003274,72.00335210281077,5.89460563659668,0,0,-1.5650862186053625],[-107.65452788423481,67.00343361592813,5.89460563659668,0,0,-1.5650862186053625],[-107.62597749843688,62.00351512904549,5.89460563659668,0,0,-1.5650862186053625],[-107.59742711263895,57.00359664216285,5.89460563659668,0,0,-1.5650862186053625],[-107.56887672684103,52.003678155280205,5.89460563659668,0,0,-1.5650862186053625],[-107.5403263410431,47.003759668397564,5.89460563659668,0,0,-1.5650862186053625],[-107.5403263410431,47.003759668397564,7.89460563659668,0,0,-1.5650862186053625],[-107.5403263410431,47.003759668397564,9.89460563659668,0,0,-1.5650862186053625],[-107.5403263410431,47.003759668397564,11.89460563659668,0,0,-1.5650862186053625]]},{"id":3,"instruction":"land to the left of a grey and tan garage building.","completed_instruction":"Fly forward to the open area above the grey building with three doors, then face the blue shipping container and land on the ground.","start_frame":62,"end_frame":74,"start_position":[-107.5403263410431,47.003759668397564,11.89460563659668],"start_rotation":[0.70912272462514758,0,0,-0.70508507388839758],"end_position":[-96.70799995765489,18.584387664010276,17.89460563659668],"end_rotation":[0.86744939926373643,0,0,-0.49752541615176077],"actions":[3,3,1,1,1,1,1,5,5,6,1,5,0],"reference_path":[[-107.5403263410431,47.003759668397564,11.89460563659668,0,0,-1.5650862186053625],[-107.5403263410431,47.003759668397564,11.89460563659668,0,0,-1.303286830806213],[-107.5403263410431,47.003759668397564,11.89460563659668,0,0,-1.0414874430070638],[-105.01564173821292,42.68797843480471,11.89460563659668,0,0,-1.0414874430070638],[-102.49095713538274,38.37219720121186,11.89460563659668,0,0,-1.0414874430070638],[-99.96627253255257,34.05641596761901,11.89460563659668,0,0,-1.0414874430070638],[-97.44158792972239,29.740634734026155,11.89460563659668,0,0,-1.0414874430070638],[-94.91690332689221,25.4248535004333,11.89460563659668,0,0,-1.0414874430070638],[-94.91690332689221,25.4248535004333,13.89460563659668,0,0,-1.0414874430070638],[-94.91690332689221,25.4248535004333,15.89460563659668,0,0,-1.0414874430070638],[-99.23268456048507,22.90016889760313,15.89460563659668,0,0,-1.0414874430070638],[-96.70799995765489,18.584387664010276,15.89460563659668,0,0,-1.0414874430070638],[-96.70799995765489,18.584387664010276,17.89460563659668,0,0,-1.0414874430070638]]}],"statistics":{"complete_actions":77,"sentence_actions":[21,24,19,13],"sentence_actions_average":19.25}}
diff --git a/scene_9/31LM9EDVOUQUL3CD0QW1O9ZVVW7NJE.json b/scene_9/31LM9EDVOUQUL3CD0QW1O9ZVVW7NJE.json
new file mode 100644
index 0000000000000000000000000000000000000000..b404dcdae856beb01fd71c36c37d2e10065f06c5
--- /dev/null
+++ b/scene_9/31LM9EDVOUQUL3CD0QW1O9ZVVW7NJE.json
@@ -0,0 +1 @@
+{"episode_id":"31LM9EDVOUQUL3CD0QW1O9ZVVW7NJE","trajectory_id":"308KJXFUKZ4ET3H0DD0YFQ7G5H7TAP","scene_id":9,"instruction":"take off, avoid the tree, make a right head towards the twin tanks. increase altitude make a slight left, make a slight left, continue pass the twin tanks. make a slight left, fly along the warehouse. make a 90 degrees right, head towards the twin tanks. head straight towards the gas trucks, make a slight left, continue. make a left turn, fly above the warehouse continue towards the center of the oil company. keep going straight, make a slight left make a slight right, go towards the big tank land.","sentence_instructions":[{"id":0,"instruction":"take off, avoid the tree, make a right head towards the twin tanks.","completed_instruction":"Take off, turn right to face two dark green oil barrels, and fly towards the twins cylindrical buildings until only a horizontal green cylinder remains in the lower left corner of the field of vision.","start_frame":1,"end_frame":15,"start_position":[-44.559593200683594,113.29983520507812,19.55103874206543],"start_rotation":[0.99993061098260316,0,0,-0.011780204580477452],"end_position":[-52.28088125811653,119.51899930072611,15.55103874206543],"end_rotation":[0.27017988974654922,0,0,0.96280986034447247],"actions":[4,4,3,3,3,3,3,3,3,3,3,1,3,1,1],"reference_path":[[-44.559593200683594,113.29983520507812,19.55103874206543,0,0,-0.02356095412062767],[-44.559593200683594,113.29983520507812,17.55103874206543,0,0,-0.02356095412062767],[-44.559593200683594,113.29983520507812,15.55103874206543,0,0,-0.02356095412062767],[-44.559593200683594,113.29983520507812,15.55103874206543,0,0,0.23823843367852177],[-44.559593200683594,113.29983520507812,15.55103874206543,0,0,0.5000378214776712],[-44.559593200683594,113.29983520507812,15.55103874206543,0,0,0.7618372092768206],[-44.559593200683594,113.29983520507812,15.55103874206543,0,0,1.0236365970759702],[-44.559593200683594,113.29983520507812,15.55103874206543,0,0,1.2854359848751196],[-44.559593200683594,113.29983520507812,15.55103874206543,0,0,1.5472353726742691],[-44.559593200683594,113.29983520507812,15.55103874206543,0,0,1.8090347604734187],[-44.559593200683594,113.29983520507812,15.55103874206543,0,0,2.070834148272568],[-44.559593200683594,113.29983520507812,15.55103874206543,0,0,2.3326335360717176],[-48.010852986351104,116.9176806815785,15.55103874206543,0,0,2.3326335360717176],[-48.010852986351104,116.9176806815785,15.55103874206543,0,0,2.594432923870867],[-52.28088125811653,119.51899930072611,15.55103874206543,0,0,2.594432923870867]]},{"id":1,"instruction":"increase altitude make a slight left, make a slight left, continue pass the twin tanks.","completed_instruction":"Fly up to the roof height and go over the roof of the lake green warehouse, then turn left to face the large grey chimney in the distance.","start_frame":15,"end_frame":28,"start_position":[-52.28088125811653,119.51899930072611,15.55103874206543],"start_rotation":[0.27017988974654922,0,0,0.96280986034447247],"end_position":[-89.04242605138754,136.05951998214152,9.55103874206543],"end_rotation":[0.39354036823844257,0,0,0.91930733629551276],"actions":[1,1,4,1,4,1,1,1,4,1,7,1,2,2],"reference_path":[[-52.28088125811653,119.51899930072611,15.55103874206543,0,0,2.594432923870867],[-56.550909529881956,122.12031791987371,15.55103874206543,0,0,2.594432923870867],[-60.82093780164738,124.72163653902132,15.55103874206543,0,0,2.594432923870867],[-60.82093780164738,124.72163653902132,13.55103874206543,0,0,2.594432923870867],[-65.0909660734128,127.32295515816892,13.55103874206543,0,0,2.594432923870867],[-65.0909660734128,127.32295515816892,11.55103874206543,0,0,2.594432923870867],[-69.36099434517823,129.92427377731653,11.55103874206543,0,0,2.594432923870867],[-73.63102261694365,132.52559239646413,11.55103874206543,0,0,2.594432923870867],[-77.90105088870908,135.12691101561174,11.55103874206543,0,0,2.594432923870867],[-77.90105088870908,135.12691101561174,9.55103874206543,0,0,2.594432923870867],[-82.1710791604745,137.72822963475934,9.55103874206543,0,0,2.594432923870867],[-84.77239777962211,133.45820136299392,9.55103874206543,0,0,2.594432923870867],[-89.04242605138754,136.05951998214152,9.55103874206543,0,0,2.594432923870867],[-89.04242605138754,136.05951998214152,9.55103874206543,0,0,2.3326335360717176]]},{"id":2,"instruction":"make a slight left, fly along the warehouse.","completed_instruction":"Turn left to face a tree in distance and fly towards the edge of the roof of the second green warehouse.","start_frame":28,"end_frame":35,"start_position":[-89.04242605138754,136.05951998214152,9.55103874206543],"start_rotation":[0.39354036823844257,0,0,0.91930733629551276],"end_position":[-92.38408786796474,155.30334264359402,9.55103874206543],"end_rotation":[0.71538757828442656,0,0,0.69872785319918618],"actions":[2,1,2,1,2,1,1,1],"reference_path":[[-89.04242605138754,136.05951998214152,9.55103874206543,0,0,2.3326335360717176],[-89.04242605138754,136.05951998214152,9.55103874206543,0,0,2.0708341482725685],[-91.43971970004036,140.4473421255435,9.55103874206543,0,0,2.0708341482725685],[-91.43971970004036,140.4473421255435,9.55103874206543,0,0,1.809034760473419],[-92.61967561123787,145.3061181079932,9.55103874206543,0,0,1.809034760473419],[-92.61967561123787,145.3061181079932,9.55103874206543,0,0,1.5472353726742696],[-92.5018817396013,150.3047303757936,9.55103874206543,0,0,1.5472353726742696],[-92.38408786796474,155.30334264359402,9.55103874206543,0,0,1.5472353726742696]]},{"id":3,"instruction":"make a 90 degrees right, head towards the twin tanks.","completed_instruction":"Turn right until seeing red shipping containers, pass through the gap between the green warehouse and the twin cylinders, and then fly up to its height.","start_frame":35,"end_frame":52,"start_position":[-92.38408786796474,155.30334264359402,9.55103874206543],"start_rotation":[0.71538757828442656,0,0,0.69872785319918618],"end_position":[-97.77856491182034,146.1093616284033,9.55103874206543],"end_rotation":[0.59937332299809709,0,0,-0.80046962445693015],"actions":[1,1,3,3,3,3,3,3,3,3,3,3,3,1,1,1,1,1],"reference_path":[[-92.38408786796474,155.30334264359402,9.55103874206543,0,0,1.5472353726742696],[-92.26629399632817,160.30195491139443,9.55103874206543,0,0,1.5472353726742696],[-92.14850012469161,165.30056717919484,9.55103874206543,0,0,1.5472353726742696],[-92.14850012469161,165.30056717919484,9.55103874206543,0,0,1.809034760473419],[-92.14850012469161,165.30056717919484,9.55103874206543,0,0,2.0708341482725685],[-92.14850012469161,165.30056717919484,9.55103874206543,0,0,2.3326335360717176],[-92.14850012469161,165.30056717919484,9.55103874206543,0,0,2.594432923870867],[-92.14850012469161,165.30056717919484,9.55103874206543,0,0,2.856232311670017],[-92.14850012469161,165.30056717919484,9.55103874206543,0,0,3.118031699469167],[-92.14850012469161,165.30056717919484,9.55103874206543,0,0,-2.9033542199112703],[-92.14850012469161,165.30056717919484,9.55103874206543,0,0,-2.641554832112121],[-92.14850012469161,165.30056717919484,9.55103874206543,0,0,-2.3797554443129716],[-92.14850012469161,165.30056717919484,9.55103874206543,0,0,-2.117956056513822],[-92.14850012469161,165.30056717919484,9.55103874206543,0,0,-1.8561566687146727],[-93.55601632147379,160.50276579149696,9.55103874206543,0,0,-1.8561566687146727],[-94.96353251825597,155.70496440379907,9.55103874206543,0,0,-1.8561566687146727],[-96.37104871503816,150.90716301610118,9.55103874206543,0,0,-1.8561566687146727],[-97.77856491182034,146.1093616284033,9.55103874206543,0,0,-1.8561566687146727]]},{"id":4,"instruction":"head straight towards the gas trucks, make a slight left, continue.","completed_instruction":"Fly towards the oil tanker beside the fence gate, turn left 45 degrees when there is only one oil tanker left in the lower right corner of the view.","start_frame":52,"end_frame":71,"start_position":[-97.77856491182034,146.1093616284033,9.55103874206543],"start_rotation":[0.59937332299809709,0,0,-0.80046962445693015],"end_position":[-115.50102267263738,67.9370232284549,7.55103874206543],"end_rotation":[0.48976334906283081,0,0,-0.87185541342286776],"actions":[1,4,1,1,1,1,7,1,1,1,1,1,1,1,1,1,1,1,2,2],"reference_path":[[-97.77856491182034,146.1093616284033,9.55103874206543,0,0,-1.8561566687146727],[-99.18608110860252,141.3115602407054,9.55103874206543,0,0,-1.8561566687146727],[-99.18608110860252,141.3115602407054,7.55103874206543,0,0,-1.8561566687146727],[-100.5935973053847,136.51375885300752,7.55103874206543,0,0,-1.8561566687146727],[-102.00111350216689,131.71595746530963,7.55103874206543,0,0,-1.8561566687146727],[-103.40862969894907,126.91815607761174,7.55103874206543,0,0,-1.8561566687146727],[-104.81614589573125,122.12035468991385,7.55103874206543,0,0,-1.8561566687146727],[-100.01834450803337,120.71283849313167,7.55103874206543,0,0,-1.8561566687146727],[-101.42586070481555,115.91503710543378,7.55103874206543,0,0,-1.8561566687146727],[-102.83337690159773,111.1172357177359,7.55103874206543,0,0,-1.8561566687146727],[-104.24089309837991,106.319434330038,7.55103874206543,0,0,-1.8561566687146727],[-105.6484092951621,101.52163294234012,7.55103874206543,0,0,-1.8561566687146727],[-107.05592549194428,96.72383155464223,7.55103874206543,0,0,-1.8561566687146727],[-108.46344168872646,91.92603016694434,7.55103874206543,0,0,-1.8561566687146727],[-109.87095788550864,87.12822877924646,7.55103874206543,0,0,-1.8561566687146727],[-111.27847408229083,82.33042739154857,7.55103874206543,0,0,-1.8561566687146727],[-112.68599027907301,77.53262600385068,7.55103874206543,0,0,-1.8561566687146727],[-114.0935064758552,72.73482461615279,7.55103874206543,0,0,-1.8561566687146727],[-115.50102267263738,67.9370232284549,7.55103874206543,0,0,-1.8561566687146727],[-115.50102267263738,67.9370232284549,7.55103874206543,0,0,-2.117956056513822]]},{"id":5,"instruction":"make a left turn, fly above the warehouse continue towards the center of the oil company.","completed_instruction":"Fly forward to the gate and then turn left to face the brick wall beside the road, fly over two warehouses with green roofs and keep flying straight until there is only one large grey cylindrical building in the view.","start_frame":71,"end_frame":101,"start_position":[-115.50102267263738,67.9370232284549,7.55103874206543],"start_rotation":[0.48976334906283081,0,0,-0.87185541342286776],"end_position":[-205.41234751668304,126.3198722807018,7.55103874206543],"end_rotation":[0.270179889746549,0,0,0.96280986034447247],"actions":[2,2,1,2,2,2,1,1,2,1,1,1,1,1,6,1,1,1,1,1,1,1,1,1,1,1,1,1,6,1,1],"reference_path":[[-115.50102267263738,67.9370232284549,7.55103874206543,0,0,-2.117956056513822],[-115.50102267263738,67.9370232284549,7.55103874206543,0,0,-2.3797554443129716],[-115.50102267263738,67.9370232284549,7.55103874206543,0,0,-2.6415548321121207],[-119.88884481603937,65.53972957980208,7.55103874206543,0,0,-2.6415548321121207],[-119.88884481603937,65.53972957980208,7.55103874206543,0,0,-2.9033542199112703],[-119.88884481603937,65.53972957980208,7.55103874206543,0,0,3.1180316994691664],[-119.88884481603937,65.53972957980208,7.55103874206543,0,0,2.856232311670017],[-124.68664620373725,66.94724577658427,7.55103874206543,0,0,2.856232311670017],[-129.48444759143516,68.35476197336645,7.55103874206543,0,0,2.856232311670017],[-129.48444759143516,68.35476197336645,7.55103874206543,0,0,2.5944329238708677],[-133.75447586320058,70.95608059251406,7.55103874206543,0,0,2.5944329238708677],[-138.024504134966,73.55739921166166,7.55103874206543,0,0,2.5944329238708677],[-142.29453240673143,76.15871783080927,7.55103874206543,0,0,2.5944329238708677],[-146.56456067849686,78.76003644995687,7.55103874206543,0,0,2.5944329238708677],[-150.8345889502623,81.36135506910448,7.55103874206543,0,0,2.5944329238708677],[-148.23327033111468,85.6313833408699,7.55103874206543,0,0,2.5944329238708677],[-152.5032986028801,88.23270196001751,7.55103874206543,0,0,2.5944329238708677],[-156.77332687464553,90.83402057916511,7.55103874206543,0,0,2.5944329238708677],[-161.04335514641096,93.43533919831272,7.55103874206543,0,0,2.5944329238708677],[-165.3133834181764,96.03665781746032,7.55103874206543,0,0,2.5944329238708677],[-169.5834116899418,98.63797643660793,7.55103874206543,0,0,2.5944329238708677],[-173.85343996170724,101.23929505575553,7.55103874206543,0,0,2.5944329238708677],[-178.12346823347266,103.84061367490314,7.55103874206543,0,0,2.5944329238708677],[-182.3934965052381,106.44193229405074,7.55103874206543,0,0,2.5944329238708677],[-186.66352477700352,109.04325091319835,7.55103874206543,0,0,2.5944329238708677],[-190.93355304876894,111.64456953234595,7.55103874206543,0,0,2.5944329238708677],[-195.20358132053437,114.24588815149356,7.55103874206543,0,0,2.5944329238708677],[-199.4736095922998,116.84720677064117,7.55103874206543,0,0,2.5944329238708677],[-203.74363786406522,119.44852538978877,7.55103874206543,0,0,2.5944329238708677],[-201.14231924491762,123.7185536615542,7.55103874206543,0,0,2.5944329238708677],[-205.41234751668304,126.3198722807018,7.55103874206543,0,0,2.5944329238708677]]},{"id":6,"instruction":"keep going straight, make a slight left make a slight right, go towards the big tank land.","completed_instruction":"Turn right to face the end of pipeline and continue flying straight until approach the edge of the large tank before landing on the ground.","start_frame":101,"end_frame":112,"start_position":[-205.41234751668304,126.3198722807018,7.55103874206543],"start_rotation":[0.270179889746549,0,0,0.96280986034447247],"end_position":[-233.14360961100545,137.15257430612573,15.55103874206543],"end_rotation":[0.14219655843307494,0,0,0.98983844074161376],"actions":[1,1,3,1,1,1,1,5,5,5,5,0],"reference_path":[[-205.41234751668304,126.3198722807018,7.55103874206543,0,0,2.5944329238708677],[-209.68237578844847,128.9211908998494,7.55103874206543,0,0,2.5944329238708677],[-213.9524040602139,131.522509518997,7.55103874206543,0,0,2.5944329238708677],[-213.9524040602139,131.522509518997,7.55103874206543,0,0,2.8562323116700172],[-218.75020544791178,132.93002571577918,7.55103874206543,0,0,2.8562323116700172],[-223.54800683560967,134.33754191256136,7.55103874206543,0,0,2.8562323116700172],[-228.34580822330756,135.74505810934355,7.55103874206543,0,0,2.8562323116700172],[-233.14360961100545,137.15257430612573,7.55103874206543,0,0,2.8562323116700172],[-233.14360961100545,137.15257430612573,9.55103874206543,0,0,2.8562323116700172],[-233.14360961100545,137.15257430612573,11.55103874206543,0,0,2.8562323116700172],[-233.14360961100545,137.15257430612573,13.55103874206543,0,0,2.8562323116700172],[-233.14360961100545,137.15257430612573,15.55103874206543,0,0,2.8562323116700172]]}],"statistics":{"complete_actions":118,"sentence_actions":[15,14,8,18,20,31,12],"sentence_actions_average":16.86}}
diff --git a/scene_9/31UV0MXWNZAU03M1E8FFIRK9RYUI5N.json b/scene_9/31UV0MXWNZAU03M1E8FFIRK9RYUI5N.json
new file mode 100644
index 0000000000000000000000000000000000000000..d9d71174631221cb63c0aa67f6eac350fb8fe959
--- /dev/null
+++ b/scene_9/31UV0MXWNZAU03M1E8FFIRK9RYUI5N.json
@@ -0,0 +1 @@
+{"episode_id":"31UV0MXWNZAU03M1E8FFIRK9RYUI5N","trajectory_id":"3NQUW096OE6C57ZQCYK7X4MF5M39LN","scene_id":9,"instruction":"rise up turn slightly right and fly over the lorry car park. turn right at the old dark abandoned warehouse and head towards the large grey silos. land on the edge of the nearest one.","sentence_instructions":[{"id":0,"instruction":"rise up turn slightly right and fly over the lorry car park.","completed_instruction":"Take off, ascend to the height of the green building\u0027s roof, then turn right to face the distant red brick building and fly forward until flying over the lorry car park.","start_frame":1,"end_frame":20,"start_position":[-161.186279296875,58.156394958496094,19.67873764038086],"start_rotation":[0.99999997853055633,0,0,0.00020721700444883303],"end_position":[-143.0335949279342,99.6350647804854,9.67873764038086],"end_rotation":[0.86592177668913062,0,0,0.50017944445522688],"actions":[4,4,4,4,4,3,3,3,3,1,1,1,1,7,1,1,1,1,1,1],"reference_path":[[-161.186279296875,58.156394958496094,19.67873764038086,0,0,0.0004144340118635553],[-161.186279296875,58.156394958496094,17.67873764038086,0,0,0.0004144340118635553],[-161.186279296875,58.156394958496094,15.67873764038086,0,0,0.0004144340118635553],[-161.186279296875,58.156394958496094,13.67873764038086,0,0,0.0004144340118635553],[-161.186279296875,58.156394958496094,11.67873764038086,0,0,0.0004144340118635553],[-161.186279296875,58.156394958496094,9.67873764038086,0,0,0.0004144340118635553],[-161.186279296875,58.156394958496094,9.67873764038086,0,0,0.262213821811013],[-161.186279296875,58.156394958496094,9.67873764038086,0,0,0.5240132096101625],[-161.186279296875,58.156394958496094,9.67873764038086,0,0,0.785812597409312],[-161.186279296875,58.156394958496094,9.67873764038086,0,0,1.0476119852084613],[-158.6880740634304,62.48755769055662,9.67873764038086,0,0,1.0476119852084613],[-156.1898688299858,66.81872042261715,9.67873764038086,0,0,1.0476119852084613],[-153.69166359654122,71.14988315467767,9.67873764038086,0,0,1.0476119852084613],[-151.19345836309662,75.48104588673819,9.67873764038086,0,0,1.0476119852084613],[-155.52462109515716,77.9792511201828,9.67873764038086,0,0,1.0476119852084613],[-153.02641586171256,82.31041385224331,9.67873764038086,0,0,1.0476119852084613],[-150.52821062826797,86.64157658430383,9.67873764038086,0,0,1.0476119852084613],[-148.03000539482338,90.97273931636435,9.67873764038086,0,0,1.0476119852084613],[-145.53180016137878,95.30390204842487,9.67873764038086,0,0,1.0476119852084613],[-143.0335949279342,99.6350647804854,9.67873764038086,0,0,1.0476119852084613]]},{"id":1,"instruction":"turn right at the old dark abandoned warehouse and head towards the large grey silos.","completed_instruction":"Turn left facing the grey roof, fly forward to the edge of the roof, and fly towards the junction of the roofs of the first and the second blue warehouses.","start_frame":20,"end_frame":43,"start_position":[-143.0335949279342,99.6350647804854,9.67873764038086],"start_rotation":[0.86592177668913062,0,0,0.50017944445522688],"end_position":[-89.58887921184937,158.60825235856353,9.67873764038086],"end_rotation":[0.79322717753863725,0,0,0.60892581224159592],"actions":[1,1,2,1,1,1,2,1,1,6,1,1,1,3,1,3,1,1,3,1,1,1,1,3],"reference_path":[[-143.0335949279342,99.6350647804854,9.67873764038086,0,0,1.0476119852084613],[-140.5353896944896,103.96622751254591,9.67873764038086,0,0,1.0476119852084613],[-138.037184461045,108.29739024460643,9.67873764038086,0,0,1.0476119852084613],[-138.037184461045,108.29739024460643,9.67873764038086,0,0,0.7858125974093119],[-134.50311610419482,111.83438909237417,9.67873764038086,0,0,0.7858125974093119],[-130.96904774734463,115.3713879401419,9.67873764038086,0,0,0.7858125974093119],[-127.43497939049445,118.90838678790963,9.67873764038086,0,0,0.7858125974093119],[-127.43497939049445,118.90838678790963,9.67873764038086,0,0,0.5240132096101625],[-123.10588882843392,121.41018112507616,9.67873764038086,0,0,0.5240132096101625],[-118.77679826637339,123.9119754622427,9.67873764038086,0,0,0.5240132096101625],[-116.27500392920686,119.58288490018217,9.67873764038086,0,0,0.5240132096101625],[-111.94591336714633,122.0846792373487,9.67873764038086,0,0,0.5240132096101625],[-107.6168228050858,124.58647357451522,9.67873764038086,0,0,0.5240132096101625],[-103.28773224302527,127.08826791168175,9.67873764038086,0,0,0.5240132096101625],[-103.28773224302527,127.08826791168175,9.67873764038086,0,0,0.785812597409312],[-99.75366388617509,130.6252667594495,9.67873764038086,0,0,0.785812597409312],[-99.75366388617509,130.6252667594495,9.67873764038086,0,0,1.0476119852084613],[-97.25545865273048,134.95642949151002,9.67873764038086,0,0,1.0476119852084613],[-94.75725341928587,139.28759222357056,9.67873764038086,0,0,1.0476119852084613],[-94.75725341928587,139.28759222357056,9.67873764038086,0,0,1.3094113730076105],[-93.46515986742675,144.1177572573188,9.67873764038086,0,0,1.3094113730076105],[-92.17306631556762,148.94792229106704,9.67873764038086,0,0,1.3094113730076105],[-90.8809727637085,153.7780873248153,9.67873764038086,0,0,1.3094113730076105],[-89.58887921184937,158.60825235856353,9.67873764038086,0,0,1.3094113730076105]]},{"id":2,"instruction":"land on the edge of the nearest one.","completed_instruction":"Turn right at the edge of the roof and fly towards the first large grey chimney to reach one side of the pillar, fly upwards until you are level with the railing of the grey chimney, and then land at the top of the grey chimney.","start_frame":43,"end_frame":71,"start_position":[-89.58887921184937,158.60825235856353,9.67873764038086],"start_rotation":[0.79322717753863725,0,0,0.60892581224159592],"end_position":[-140.40503192749554,217.9143013247041,-2.3212623596191406],"end_rotation":[0.38249198059989109,0,0,0.923958811190614],"actions":[3,1,3,1,3,3,1,1,1,1,1,1,1,4,1,1,4,4,1,4,1,4,1,4,1,4,1,5,0],"reference_path":[[-89.58887921184937,158.60825235856353,9.67873764038086,0,0,1.3094113730076105],[-89.58887921184937,158.60825235856353,9.67873764038086,0,0,1.57121076080676],[-89.59095138184938,163.60825192917466,9.67873764038086,0,0,1.57121076080676],[-89.59095138184938,163.60825192917466,9.67873764038086,0,0,1.8330101486059094],[-90.88704805874742,168.43734432880152,9.67873764038086,0,0,1.8330101486059094],[-90.88704805874742,168.43734432880152,9.67873764038086,0,0,2.0948095364050587],[-90.88704805874742,168.43734432880152,9.67873764038086,0,0,2.356608924204208],[-94.42404690651514,171.9714126856517,9.67873764038086,0,0,2.356608924204208],[-97.96104575428286,175.50548104250188,9.67873764038086,0,0,2.356608924204208],[-101.49804460205058,179.03954939935207,9.67873764038086,0,0,2.356608924204208],[-105.0350434498183,182.57361775620225,9.67873764038086,0,0,2.356608924204208],[-108.57204229758602,186.10768611305244,9.67873764038086,0,0,2.356608924204208],[-112.10904114535374,189.64175446990262,9.67873764038086,0,0,2.356608924204208],[-115.64603999312146,193.1758228267528,9.67873764038086,0,0,2.356608924204208],[-115.64603999312146,193.1758228267528,7.678737640380859,0,0,2.356608924204208],[-119.18303884088918,196.709891183603,7.678737640380859,0,0,2.356608924204208],[-122.7200376886569,200.24395954045318,7.678737640380859,0,0,2.356608924204208],[-122.7200376886569,200.24395954045318,5.678737640380859,0,0,2.356608924204208],[-122.7200376886569,200.24395954045318,3.6787376403808594,0,0,2.356608924204208],[-126.25703653642462,203.77802789730336,3.6787376403808594,0,0,2.356608924204208],[-126.25703653642462,203.77802789730336,1.6787376403808594,0,0,2.356608924204208],[-129.79403538419234,207.31209625415354,1.6787376403808594,0,0,2.356608924204208],[-129.79403538419234,207.31209625415354,-0.3212623596191406,0,0,2.356608924204208],[-133.33103423196007,210.84616461100373,-0.3212623596191406,0,0,2.356608924204208],[-133.33103423196007,210.84616461100373,-2.3212623596191406,0,0,2.356608924204208],[-136.8680330797278,214.3802329678539,-2.3212623596191406,0,0,2.356608924204208],[-136.8680330797278,214.3802329678539,-4.321262359619141,0,0,2.356608924204208],[-140.40503192749554,217.9143013247041,-4.321262359619141,0,0,2.356608924204208],[-140.40503192749554,217.9143013247041,-2.3212623596191406,0,0,2.356608924204208]]}],"statistics":{"complete_actions":73,"sentence_actions":[20,24,29],"sentence_actions_average":24.33}}
diff --git a/scene_9/32SCWG5HIQ2I0T9JWMF4JUZL9MA6P7.json b/scene_9/32SCWG5HIQ2I0T9JWMF4JUZL9MA6P7.json
new file mode 100644
index 0000000000000000000000000000000000000000..6c29ca304eb1ddd74bd5ba60c3d0ed912c47e7da
--- /dev/null
+++ b/scene_9/32SCWG5HIQ2I0T9JWMF4JUZL9MA6P7.json
@@ -0,0 +1 @@
+{"episode_id":"32SCWG5HIQ2I0T9JWMF4JUZL9MA6P7","trajectory_id":"3QHITW7OZW711NP8W963ALWTMDDAQ4","scene_id":9,"instruction":"take off rising to the height, proceed forward towards the container. turn right above the container. proceed forward towards above the tanker trucks area. turn slight right and moved forward to the tank. slow down near the damaged shed. lower down and land it near the shed and plant.","sentence_instructions":[{"id":0,"instruction":"take off rising to the height, proceed forward towards the container.","completed_instruction":"Take off and rise to the height of the pipeline, fly forward to the front of the red shipping container.","start_frame":1,"end_frame":15,"start_position":[-195.8104705810547,22.185319900512695,19.42976188659668],"start_rotation":[0.99999999685439878,0,0,7.9317100249499972E-05],"end_position":[-150.8104711472629,22.19245843951271,9.42976188659668],"end_rotation":[0.99999999685439878,0,0,7.9317100249499972E-05],"actions":[4,4,4,4,4,1,1,1,1,1,1,1,1,1,1],"reference_path":[[-195.8104705810547,22.185319900512695,19.42976188659668,0,0,0.00015863420066533323],[-195.8104705810547,22.185319900512695,17.42976188659668,0,0,0.00015863420066533323],[-195.8104705810547,22.185319900512695,15.42976188659668,0,0,0.00015863420066533323],[-195.8104705810547,22.185319900512695,13.42976188659668,0,0,0.00015863420066533323],[-195.8104705810547,22.185319900512695,11.42976188659668,0,0,0.00015863420066533323],[-195.8104705810547,22.185319900512695,9.42976188659668,0,0,0.00015863420066533323],[-190.8104706439667,22.186113071512697,9.42976188659668,0,0,0.00015863420066533323],[-185.81047070687873,22.1869062425127,9.42976188659668,0,0,0.00015863420066533323],[-180.81047076979075,22.1876994135127,9.42976188659668,0,0,0.00015863420066533323],[-175.81047083270278,22.1884925845127,9.42976188659668,0,0,0.00015863420066533323],[-170.8104708956148,22.189285755512703,9.42976188659668,0,0,0.00015863420066533323],[-165.81047095852682,22.190078926512705,9.42976188659668,0,0,0.00015863420066533323],[-160.81047102143884,22.190872097512706,9.42976188659668,0,0,0.00015863420066533323],[-155.81047108435087,22.191665268512708,9.42976188659668,0,0,0.00015863420066533323],[-150.8104711472629,22.19245843951271,9.42976188659668,0,0,0.00015863420066533323]]},{"id":1,"instruction":"turn right above the container.","completed_instruction":"Turn right to face the grey building on the right side of the road.","start_frame":15,"end_frame":19,"start_position":[-150.8104711472629,22.19245843951271,9.42976188659668],"start_rotation":[0.99999999685439878,0,0,7.9317100249499972E-05],"end_position":[-135.81047133599895,22.194837952512714,9.42976188659668],"end_rotation":[0.99143450529604671,0,0,0.13060483034092968],"actions":[1,1,1,3,1],"reference_path":[[-150.8104711472629,22.19245843951271,9.42976188659668,0,0,0.00015863420066533323],[-145.8104712101749,22.19325161051271,9.42976188659668,0,0,0.00015863420066533323],[-140.81047127308693,22.194044781512712,9.42976188659668,0,0,0.00015863420066533323],[-135.81047133599895,22.194837952512714,9.42976188659668,0,0,0.00015863420066533323],[-135.81047133599895,22.194837952512714,9.42976188659668,0,0,0.26195802199981477]]},{"id":2,"instruction":"proceed forward towards above the tanker trucks area.","completed_instruction":"Fly forward to the top of the white tanker parked on the opposite side of the road.","start_frame":19,"end_frame":28,"start_position":[-135.81047133599895,22.194837952512714,9.42976188659668],"start_rotation":[0.99143450529604671,0,0,0.13060483034092968],"end_position":[-109.77120952395592,44.706267614335815,9.42976188659668],"end_rotation":[0.92384917626496144,0,0,0.382756710606819],"actions":[1,3,3,1,1,1,1,1,1,1],"reference_path":[[-135.81047133599895,22.194837952512714,9.42976188659668,0,0,0.26195802199981477],[-130.9810475530828,23.48969930609605,9.42976188659668,0,0,0.26195802199981477],[-130.9810475530828,23.48969930609605,9.42976188659668,0,0,0.5237574097989642],[-130.9810475530828,23.48969930609605,9.42976188659668,0,0,0.7855567975981137],[-127.44607454822831,27.025794024136008,9.42976188659668,0,0,0.7855567975981137],[-123.91110154337383,30.561888742175967,9.42976188659668,0,0,0.7855567975981137],[-120.37612853851935,34.09798346021593,9.42976188659668,0,0,0.7855567975981137],[-116.84115553366487,37.63407817825589,9.42976188659668,0,0,0.7855567975981137],[-113.3061825288104,41.17017289629585,9.42976188659668,0,0,0.7855567975981137],[-109.77120952395592,44.706267614335815,9.42976188659668,0,0,0.7855567975981137]]},{"id":3,"instruction":"turn slight right and moved forward to the tank.","completed_instruction":"Turn left toward the tanker featuring a red front end and a white oil tank, and then fly forward to the top of it.","start_frame":28,"end_frame":39,"start_position":[-109.77120952395592,44.706267614335815,9.42976188659668],"start_rotation":[0.92384917626496144,0,0,0.382756710606819],"end_position":[-96.67015013108403,79.64507506674639,9.42976188659668],"end_rotation":[0.70705069330282111,0,0,0.70716286462172206],"actions":[1,1,1,3,1,3,3,1,1,1,1,5],"reference_path":[[-109.77120952395592,44.706267614335815,9.42976188659668,0,0,0.7855567975981137],[-106.23623651910144,48.24236233237578,9.42976188659668,0,0,0.7855567975981137],[-102.70126351424696,51.77845705041574,9.42976188659668,0,0,0.7855567975981137],[-99.16629050939248,55.3145517684557,9.42976188659668,0,0,0.7855567975981137],[-99.16629050939248,55.3145517684557,9.42976188659668,0,0,1.0473561853972633],[-96.66697744708404,59.64507531839448,9.42976188659668,0,0,1.0473561853972633],[-96.66697744708404,59.64507531839448,9.42976188659668,0,0,1.3091555731964126],[-96.66697744708404,59.64507531839448,9.42976188659668,0,0,1.570954960995562],[-96.66777061808403,64.64507525548245,9.42976188659668,0,0,1.570954960995562],[-96.66856378908403,69.64507519257043,9.42976188659668,0,0,1.570954960995562],[-96.66935696008403,74.64507512965841,9.42976188659668,0,0,1.570954960995562],[-96.67015013108403,79.64507506674639,9.42976188659668,0,0,1.570954960995562]]},{"id":4,"instruction":"slow down near the damaged shed.","completed_instruction":"Fly straight ahead to the gap between the blue factory building and the cylindrical water tank on the right.","start_frame":39,"end_frame":50,"start_position":[-96.67015013108403,79.64507506674639,9.42976188659668],"start_rotation":[0.70705069330282111,0,0,0.70716286462172206],"end_position":[-96.67808184108401,129.64507443762616,11.42976188659668],"end_rotation":[0.70705069330282111,0,0,0.70716286462172206],"actions":[5,1,1,1,1,1,1,1,1,1,1,1],"reference_path":[[-96.67015013108403,79.64507506674639,9.42976188659668,0,0,1.570954960995562],[-96.67015013108403,79.64507506674639,11.42976188659668,0,0,1.570954960995562],[-96.67094330208403,84.64507500383436,11.42976188659668,0,0,1.570954960995562],[-96.67173647308402,89.64507494092234,11.42976188659668,0,0,1.570954960995562],[-96.67252964408402,94.64507487801032,11.42976188659668,0,0,1.570954960995562],[-96.67332281508402,99.6450748150983,11.42976188659668,0,0,1.570954960995562],[-96.67411598608402,104.64507475218628,11.42976188659668,0,0,1.570954960995562],[-96.67490915708402,109.64507468927425,11.42976188659668,0,0,1.570954960995562],[-96.67570232808401,114.64507462636223,11.42976188659668,0,0,1.570954960995562],[-96.67649549908401,119.64507456345021,11.42976188659668,0,0,1.570954960995562],[-96.67728867008401,124.64507450053819,11.42976188659668,0,0,1.570954960995562],[-96.67808184108401,129.64507443762616,11.42976188659668,0,0,1.570954960995562]]},{"id":5,"instruction":"lower down and land it near the shed and plant.","completed_instruction":"Fly forward and then land in the gap between the grasslands ahead.","start_frame":50,"end_frame":58,"start_position":[-96.67808184108401,129.64507443762616,11.42976188659668],"start_rotation":[0.70705069330282111,0,0,0.70716286462172206],"end_position":[-96.682840867084,159.64507406015403,15.42976188659668],"end_rotation":[0.70705069330282111,0,0,0.70716286462172206],"actions":[1,1,1,1,1,1,5,5,0],"reference_path":[[-96.67808184108401,129.64507443762616,11.42976188659668,0,0,1.570954960995562],[-96.678875012084,134.64507437471414,11.42976188659668,0,0,1.570954960995562],[-96.679668183084,139.64507431180212,11.42976188659668,0,0,1.570954960995562],[-96.680461354084,144.6450742488901,11.42976188659668,0,0,1.570954960995562],[-96.681254525084,149.64507418597807,11.42976188659668,0,0,1.570954960995562],[-96.682047696084,154.64507412306605,11.42976188659668,0,0,1.570954960995562],[-96.682840867084,159.64507406015403,11.42976188659668,0,0,1.570954960995562],[-96.682840867084,159.64507406015403,13.42976188659668,0,0,1.570954960995562],[-96.682840867084,159.64507406015403,15.42976188659668,0,0,1.570954960995562]]}],"statistics":{"complete_actions":63,"sentence_actions":[15,5,10,12,12,9],"sentence_actions_average":10.5}}
diff --git a/scene_9/32UTUBMZ7PU1BPNAEP5B02AV9JUVBQ.json b/scene_9/32UTUBMZ7PU1BPNAEP5B02AV9JUVBQ.json
new file mode 100644
index 0000000000000000000000000000000000000000..224c5615a42004a66c245ef47778e737191c6dc8
--- /dev/null
+++ b/scene_9/32UTUBMZ7PU1BPNAEP5B02AV9JUVBQ.json
@@ -0,0 +1 @@
+{"episode_id":"32UTUBMZ7PU1BPNAEP5B02AV9JUVBQ","trajectory_id":"36BTXXLZ336MBZOR0NLC28KYQQH4RO","scene_id":9,"instruction":"take off take a complete right towards the pipe line. turn left more forward towards the street light. move towards the building. go towards the shed turn right towards the tank.","sentence_instructions":[{"id":0,"instruction":"take off take a complete right towards the pipe line.","completed_instruction":"Take off, rise to the height of the roof of the building in front, then turn right to face the pipeline, and keep flying forward until reaching the pipe that spans the road.","start_frame":1,"end_frame":27,"start_position":[-96.96603393554688,21.112062454223633,18.382036209106445],"start_rotation":[0.99987415887395359,0,0,0.015863997481842616],"end_position":[-146.7887836390512,27.646097347148782,10.382036209106445],"end_rotation":[0.11478148787282402,0,0,0.99339076402073556],"actions":[4,4,4,4,3,3,3,3,3,3,3,3,3,3,3,1,1,1,1,1,1,1,1,1,7,1,3],"reference_path":[[-96.96603393554688,21.112062454223633,18.382036209106445,0,0,0.03172932592621921],[-96.96603393554688,21.112062454223633,16.382036209106445,0,0,0.03172932592621921],[-96.96603393554688,21.112062454223633,14.382036209106445,0,0,0.03172932592621921],[-96.96603393554688,21.112062454223633,12.382036209106445,0,0,0.03172932592621921],[-96.96603393554688,21.112062454223633,10.382036209106445,0,0,0.03172932592621921],[-96.96603393554688,21.112062454223633,10.382036209106445,0,0,0.29352871372536865],[-96.96603393554688,21.112062454223633,10.382036209106445,0,0,0.5553281015245181],[-96.96603393554688,21.112062454223633,10.382036209106445,0,0,0.8171274893236675],[-96.96603393554688,21.112062454223633,10.382036209106445,0,0,1.0789268771228169],[-96.96603393554688,21.112062454223633,10.382036209106445,0,0,1.3407262649219662],[-96.96603393554688,21.112062454223633,10.382036209106445,0,0,1.6025256527211158],[-96.96603393554688,21.112062454223633,10.382036209106445,0,0,1.8643250405202654],[-96.96603393554688,21.112062454223633,10.382036209106445,0,0,2.126124428319415],[-96.96603393554688,21.112062454223633,10.382036209106445,0,0,2.387923816118564],[-96.96603393554688,21.112062454223633,10.382036209106445,0,0,2.6497232039177137],[-96.96603393554688,21.112062454223633,10.382036209106445,0,0,2.9115225917168632],[-101.83428603596388,22.25229115355785,10.382036209106445,0,0,2.9115225917168632],[-106.7025381363809,23.392519852892065,10.382036209106445,0,0,2.9115225917168632],[-111.5707902367979,24.53274855222628,10.382036209106445,0,0,2.9115225917168632],[-116.43904233721491,25.672977251560496,10.382036209106445,0,0,2.9115225917168632],[-121.30729443763192,26.813205950894712,10.382036209106445,0,0,2.9115225917168632],[-126.17554653804893,27.953434650228928,10.382036209106445,0,0,2.9115225917168632],[-131.04379863846594,29.093663349563144,10.382036209106445,0,0,2.9115225917168632],[-135.91205073888295,30.23389204889736,10.382036209106445,0,0,2.9115225917168632],[-140.78030283929996,31.374120748231576,10.382036209106445,0,0,2.9115225917168632],[-141.92053153863418,26.505868647814566,10.382036209106445,0,0,2.9115225917168632],[-146.7887836390512,27.646097347148782,10.382036209106445,0,0,2.9115225917168632]]},{"id":1,"instruction":"turn left more forward towards the street light.","completed_instruction":"Turn left to face the two-story grey building, then fly straight ahead until reaching the edge of the roof of the dilapidated green building.","start_frame":27,"end_frame":65,"start_position":[-146.7887836390512,27.646097347148782,10.382036209106445],"start_rotation":[0.11478148787282402,0,0,0.99339076402073556],"end_position":[-92.66726868711936,123.37935406784537,10.382036209106445],"end_rotation":[0.78359611403670282,0,0,0.62127057717759226],"actions":[3,1,2,2,2,2,2,2,2,2,2,1,1,1,1,1,1,1,1,1,1,1,1,1,1,3,1,1,7,1,1,1,1,7,1,1,3,1,1],"reference_path":[[-146.7887836390512,27.646097347148782,10.382036209106445,0,0,2.9115225917168632],[-146.7887836390512,27.646097347148782,10.382036209106445,0,0,-3.109863327663574],[-151.78626697489014,27.487477335763423,10.382036209106445,0,0,-3.109863327663574],[-151.78626697489014,27.487477335763423,10.382036209106445,0,0,2.9115225917168632],[-151.78626697489014,27.487477335763423,10.382036209106445,0,0,2.6497232039177137],[-151.78626697489014,27.487477335763423,10.382036209106445,0,0,2.387923816118564],[-151.78626697489014,27.487477335763423,10.382036209106445,0,0,2.126124428319415],[-151.78626697489014,27.487477335763423,10.382036209106445,0,0,1.8643250405202654],[-151.78626697489014,27.487477335763423,10.382036209106445,0,0,1.602525652721116],[-151.78626697489014,27.487477335763423,10.382036209106445,0,0,1.3407262649219667],[-151.78626697489014,27.487477335763423,10.382036209106445,0,0,1.0789268771228173],[-151.78626697489014,27.487477335763423,10.382036209106445,0,0,0.8171274893236679],[-148.3646739049341,31.133392977084398,10.382036209106445,0,0,0.8171274893236679],[-144.94308083497808,34.77930861840537,10.382036209106445,0,0,0.8171274893236679],[-141.52148776502204,38.42522425972635,10.382036209106445,0,0,0.8171274893236679],[-138.099894695066,42.071139901047324,10.382036209106445,0,0,0.8171274893236679],[-134.67830162510998,45.7170555423683,10.382036209106445,0,0,0.8171274893236679],[-131.25670855515395,49.362971183689275,10.382036209106445,0,0,0.8171274893236679],[-127.83511548519793,53.00888682501025,10.382036209106445,0,0,0.8171274893236679],[-124.41352241524191,56.654802466331226,10.382036209106445,0,0,0.8171274893236679],[-120.9919293452859,60.3007181076522,10.382036209106445,0,0,0.8171274893236679],[-117.57033627532988,63.94663374897318,10.382036209106445,0,0,0.8171274893236679],[-114.14874320537386,67.59254939029415,10.382036209106445,0,0,0.8171274893236679],[-110.72715013541784,71.23846503161512,10.382036209106445,0,0,0.8171274893236679],[-107.30555706546183,74.88438067293609,10.382036209106445,0,0,0.8171274893236679],[-103.88396399550581,78.53029631425706,10.382036209106445,0,0,0.8171274893236679],[-103.88396399550581,78.53029631425706,10.382036209106445,0,0,1.0789268771228173],[-101.52259128699463,82.93755384377567,10.382036209106445,0,0,1.0789268771228173],[-99.16121857848344,87.34481137329429,10.382036209106445,0,0,1.0789268771228173],[-103.56847610800206,89.70618408180547,10.382036209106445,0,0,1.0789268771228173],[-101.20710339949088,94.11344161132409,10.382036209106445,0,0,1.0789268771228173],[-98.84573069097969,98.52069914084271,10.382036209106445,0,0,1.0789268771228173],[-96.48435798246851,102.92795667036133,10.382036209106445,0,0,1.0789268771228173],[-94.12298527395733,107.33521419987994,10.382036209106445,0,0,1.0789268771228173],[-98.53024280347594,109.69658690839113,10.382036209106445,0,0,1.0789268771228173],[-96.16887009496476,114.10384443790974,10.382036209106445,0,0,1.0789268771228173],[-93.80749738645358,118.51110196742836,10.382036209106445,0,0,1.0789268771228173],[-93.80749738645358,118.51110196742836,10.382036209106445,0,0,1.3407262649219667],[-92.66726868711936,123.37935406784537,10.382036209106445,0,0,1.3407262649219667]]},{"id":2,"instruction":"move towards the building.","completed_instruction":"Fly forward to the edge of the roof of the second green warehouse, and then turn right until facing the two wide and large cylinders.","start_frame":65,"end_frame":79,"start_position":[-92.66726868711936,123.37935406784537,10.382036209106445],"start_rotation":[0.78359611403670282,0,0,0.62127057717759226],"end_position":[-91.01138861430181,163.72406204135953,10.382036209106445],"end_rotation":[0.48619845461212857,0,0,0.8738484209133629],"actions":[1,1,1,7,1,3,1,1,2,1,1,3,3,3,3],"reference_path":[[-92.66726868711936,123.37935406784537,10.382036209106445,0,0,1.3407262649219667],[-91.52703998778514,128.24760616826237,10.382036209106445,0,0,1.3407262649219667],[-90.38681128845093,133.11585826867937,10.382036209106445,0,0,1.3407262649219667],[-89.24658258911671,137.98411036909638,10.382036209106445,0,0,1.3407262649219667],[-94.11483468953372,139.1243390684306,10.382036209106445,0,0,1.3407262649219667],[-92.9746059901995,143.9925911688476,10.382036209106445,0,0,1.3407262649219667],[-92.9746059901995,143.9925911688476,10.382036209106445,0,0,1.6025256527211162],[-93.13322600158487,148.99007450468656,10.382036209106445,0,0,1.6025256527211162],[-93.29184601297024,153.9875578405255,10.382036209106445,0,0,1.6025256527211162],[-93.29184601297024,153.9875578405255,10.382036209106445,0,0,1.3407262649219667],[-92.15161731363602,158.85580994094252,10.382036209106445,0,0,1.3407262649219667],[-91.01138861430181,163.72406204135953,10.382036209106445,0,0,1.3407262649219667],[-91.01138861430181,163.72406204135953,10.382036209106445,0,0,1.6025256527211162],[-91.01138861430181,163.72406204135953,10.382036209106445,0,0,1.8643250405202656],[-91.01138861430181,163.72406204135953,10.382036209106445,0,0,2.126124428319415]]},{"id":3,"instruction":"go towards the shed turn right towards the tank.","completed_instruction":"Fly towards the gap between the two large circular buildings in front and land on the ground when reaching the edge of the circular building on the right.","start_frame":79,"end_frame":105,"start_position":[-91.01138861430181,163.72406204135953,10.382036209106445],"start_rotation":[0.48619845461212857,0,0,0.8738484209133629],"end_position":[-172.70339685414825,201.82151326504194,16.382036209106445],"end_rotation":[0.24346303014654622,0,0,0.96991017777517008],"actions":[3,3,1,1,1,1,1,1,7,1,4,1,1,1,1,1,1,1,1,1,1,1,5,5,5,5,0],"reference_path":[[-91.01138861430181,163.72406204135953,10.382036209106445,0,0,2.126124428319415],[-91.01138861430181,163.72406204135953,10.382036209106445,0,0,2.387923816118564],[-91.01138861430181,163.72406204135953,10.382036209106445,0,0,2.6497232039177137],[-95.41864614382042,166.0854347498707,10.382036209106445,0,0,2.6497232039177137],[-99.82590367333904,168.44680745838187,10.382036209106445,0,0,2.6497232039177137],[-104.23316120285766,170.80818016689304,10.382036209106445,0,0,2.6497232039177137],[-108.64041873237628,173.1695528754042,10.382036209106445,0,0,2.6497232039177137],[-113.04767626189489,175.53092558391538,10.382036209106445,0,0,2.6497232039177137],[-117.45493379141351,177.89229829242655,10.382036209106445,0,0,2.6497232039177137],[-119.81630649992469,173.48504076290791,10.382036209106445,0,0,2.6497232039177137],[-124.22356402944331,175.84641347141908,10.382036209106445,0,0,2.6497232039177137],[-124.22356402944331,175.84641347141908,8.382036209106445,0,0,2.6497232039177137],[-128.63082155896194,178.20778617993025,8.382036209106445,0,0,2.6497232039177137],[-133.03807908848057,180.56915888844142,8.382036209106445,0,0,2.6497232039177137],[-137.4453366179992,182.9305315969526,8.382036209106445,0,0,2.6497232039177137],[-141.85259414751783,185.29190430546376,8.382036209106445,0,0,2.6497232039177137],[-146.25985167703647,187.65327701397493,8.382036209106445,0,0,2.6497232039177137],[-150.6671092065551,190.0146497224861,8.382036209106445,0,0,2.6497232039177137],[-155.07436673607373,192.37602243099727,8.382036209106445,0,0,2.6497232039177137],[-159.48162426559236,194.73739513950844,8.382036209106445,0,0,2.6497232039177137],[-163.888881795111,197.0987678480196,8.382036209106445,0,0,2.6497232039177137],[-168.29613932462962,199.46014055653077,8.382036209106445,0,0,2.6497232039177137],[-172.70339685414825,201.82151326504194,8.382036209106445,0,0,2.6497232039177137],[-172.70339685414825,201.82151326504194,10.382036209106445,0,0,2.6497232039177137],[-172.70339685414825,201.82151326504194,12.382036209106445,0,0,2.6497232039177137],[-172.70339685414825,201.82151326504194,14.382036209106445,0,0,2.6497232039177137],[-172.70339685414825,201.82151326504194,16.382036209106445,0,0,2.6497232039177137]]}],"statistics":{"complete_actions":108,"sentence_actions":[27,39,15,27],"sentence_actions_average":27.0}}
diff --git a/scene_9/33L7PJKHCPW3WZLE6ILM8IW95VQ8TS.json b/scene_9/33L7PJKHCPW3WZLE6ILM8IW95VQ8TS.json
new file mode 100644
index 0000000000000000000000000000000000000000..9785d9212cb0369bcfaeb7a4e0a907c6346f83c6
--- /dev/null
+++ b/scene_9/33L7PJKHCPW3WZLE6ILM8IW95VQ8TS.json
@@ -0,0 +1 @@
+{"episode_id":"33L7PJKHCPW3WZLE6ILM8IW95VQ8TS","trajectory_id":"3KI0JD2ZV9GQ838QAXGLUPDCL5T76D","scene_id":9,"instruction":"lift off above the buildings and turn right facing left of the trees and head straight. just past the intersection turn left facing the green building and head straight. at the building with numbers on it turn right facing in between the 2 natasha containers and head straight. land on the left natasha container.","sentence_instructions":[{"id":0,"instruction":"lift off above the buildings and turn right facing left of the trees and head straight.","completed_instruction":"Take off above the building, turn right to face the grey roof on the right, and fly straight until fly over the first grey building behind the T-junction.","start_frame":1,"end_frame":38,"start_position":[-104.86101531982422,-25.989213943481445,13.56334114074707],"start_rotation":[0.99996716473800407,0,0,0.0081036686653243786],"end_position":[-209.7428229454622,32.31864512524648,7.56334114074707],"end_rotation":[0.25098300385983879,0,0,0.96799149364728],"actions":[4,4,4,3,3,3,3,3,3,3,3,3,3,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1],"reference_path":[[-104.86101531982422,-25.989213943481445,13.56334114074707,0,0,0.01620751472370116],[-104.86101531982422,-25.989213943481445,11.56334114074707,0,0,0.01620751472370116],[-104.86101531982422,-25.989213943481445,9.56334114074707,0,0,0.01620751472370116],[-104.86101531982422,-25.989213943481445,7.56334114074707,0,0,0.01620751472370116],[-104.86101531982422,-25.989213943481445,7.56334114074707,0,0,0.2780069025228506],[-104.86101531982422,-25.989213943481445,7.56334114074707,0,0,0.539806290322],[-104.86101531982422,-25.989213943481445,7.56334114074707,0,0,0.8016056781211495],[-104.86101531982422,-25.989213943481445,7.56334114074707,0,0,1.063405065920299],[-104.86101531982422,-25.989213943481445,7.56334114074707,0,0,1.3252044537194483],[-104.86101531982422,-25.989213943481445,7.56334114074707,0,0,1.5870038415185979],[-104.86101531982422,-25.989213943481445,7.56334114074707,0,0,1.8488032293177474],[-104.86101531982422,-25.989213943481445,7.56334114074707,0,0,2.110602617116897],[-104.86101531982422,-25.989213943481445,7.56334114074707,0,0,2.3724020049160464],[-104.86101531982422,-25.989213943481445,7.56334114074707,0,0,2.634201392715196],[-109.23109063755913,-23.559719815617783,7.56334114074707,0,0,2.634201392715196],[-113.60116595529405,-21.13022568775412,7.56334114074707,0,0,2.634201392715196],[-117.97124127302897,-18.700731559890457,7.56334114074707,0,0,2.634201392715196],[-122.34131659076388,-16.271237432026794,7.56334114074707,0,0,2.634201392715196],[-126.7113919084988,-13.84174330416313,7.56334114074707,0,0,2.634201392715196],[-131.0814672262337,-11.412249176299465,7.56334114074707,0,0,2.634201392715196],[-135.45154254396863,-8.9827550484358,7.56334114074707,0,0,2.634201392715196],[-139.82161786170354,-6.553260920572136,7.56334114074707,0,0,2.634201392715196],[-144.19169317943846,-4.123766792708471,7.56334114074707,0,0,2.634201392715196],[-148.56176849717338,-1.694272664844807,7.56334114074707,0,0,2.634201392715196],[-152.9318438149083,0.7352214630188572,7.56334114074707,0,0,2.634201392715196],[-157.3019191326432,3.1647155908825213,7.56334114074707,0,0,2.634201392715196],[-161.67199445037812,5.5942097187461854,7.56334114074707,0,0,2.634201392715196],[-166.04206976811304,8.02370384660985,7.56334114074707,0,0,2.634201392715196],[-170.41214508584795,10.453197974473515,7.56334114074707,0,0,2.634201392715196],[-174.78222040358287,12.88269210233718,7.56334114074707,0,0,2.634201392715196],[-179.15229572131778,15.312186230200844,7.56334114074707,0,0,2.634201392715196],[-183.5223710390527,17.741680358064507,7.56334114074707,0,0,2.634201392715196],[-187.89244635678762,20.17117448592817,7.56334114074707,0,0,2.634201392715196],[-192.26252167452253,22.600668613791832,7.56334114074707,0,0,2.634201392715196],[-196.63259699225745,25.030162741655495,7.56334114074707,0,0,2.634201392715196],[-201.00267230999236,27.459656869519158,7.56334114074707,0,0,2.634201392715196],[-205.37274762772728,29.88915099738282,7.56334114074707,0,0,2.634201392715196],[-209.7428229454622,32.31864512524648,7.56334114074707,0,0,2.634201392715196]]},{"id":1,"instruction":"just past the intersection turn left facing the green building and head straight.","completed_instruction":"Turn left to face four round tanks and head towards the grey building to reach the edge of the building, turn left to face the green warehous and head towards it to reach the green warehouse, fly forward until reaching the edge of the two-story grey building.","start_frame":38,"end_frame":80,"start_position":[-209.7428229454622,32.31864512524648,7.56334114074707],"start_rotation":[0.25098300385983879,0,0,0.96799149364728],"end_position":[-101.34977035956506,90.97085134735546,7.56334114074707],"end_rotation":[0.99035456600813487,0,0,0.13855624701484515],"actions":[1,1,2,7,2,2,2,2,2,2,1,1,1,2,1,1,1,1,1,2,1,1,1,1,1,1,1,1,3,1,1,1,1,1,1,1,6,1,1,1,2,1,1],"reference_path":[[-209.7428229454622,32.31864512524648,7.56334114074707,0,0,2.634201392715196],[-214.1128982631971,34.748139253110146,7.56334114074707,0,0,2.634201392715196],[-218.48297358093203,37.17763338097381,7.56334114074707,0,0,2.634201392715196],[-218.48297358093203,37.17763338097381,7.56334114074707,0,0,2.372402004916047],[-221.96074342461543,33.585264119001096,7.56334114074707,0,0,2.372402004916047],[-221.96074342461543,33.585264119001096,7.56334114074707,0,0,2.1106026171168972],[-221.96074342461543,33.585264119001096,7.56334114074707,0,0,1.8488032293177479],[-221.96074342461543,33.585264119001096,7.56334114074707,0,0,1.5870038415185985],[-221.96074342461543,33.585264119001096,7.56334114074707,0,0,1.3252044537194494],[-221.96074342461543,33.585264119001096,7.56334114074707,0,0,1.0634050659203],[-221.96074342461543,33.585264119001096,7.56334114074707,0,0,0.8016056781211506],[-218.48297358093203,37.17763338097381,7.56334114074707,0,0,0.8016056781211506],[-215.00520373724862,40.77000264294652,7.56334114074707,0,0,0.8016056781211506],[-211.52743389356522,44.362371904919236,7.56334114074707,0,0,0.8016056781211506],[-211.52743389356522,44.362371904919236,7.56334114074707,0,0,0.5398062903220012],[-207.2383926016227,46.9322210825972,7.56334114074707,0,0,0.5398062903220012],[-202.9493513096802,49.50207026027517,7.56334114074707,0,0,0.5398062903220012],[-198.6603100177377,52.071919437953134,7.56334114074707,0,0,0.5398062903220012],[-194.37126872579518,54.6417686156311,7.56334114074707,0,0,0.5398062903220012],[-190.08222743385267,57.21161779330907,7.56334114074707,0,0,0.5398062903220012],[-190.08222743385267,57.21161779330907,7.56334114074707,0,0,0.2780069025228518],[-185.27420576972105,58.5838159121101,7.56334114074707,0,0,0.2780069025228518],[-180.46618410558943,59.95601403091113,7.56334114074707,0,0,0.2780069025228518],[-175.65816244145782,61.32821214971216,7.56334114074707,0,0,0.2780069025228518],[-170.8501407773262,62.70041026851319,7.56334114074707,0,0,0.2780069025228518],[-166.0421191131946,64.07260838731422,7.56334114074707,0,0,0.2780069025228518],[-161.23409744906297,65.44480650611524,7.56334114074707,0,0,0.2780069025228518],[-156.42607578493136,66.81700462491627,7.56334114074707,0,0,0.2780069025228518],[-151.61805412079974,68.18920274371729,7.56334114074707,0,0,0.2780069025228518],[-151.61805412079974,68.18920274371729,7.56334114074707,0,0,0.5398062903220012],[-147.32901282885723,70.75905192139525,7.56334114074707,0,0,0.5398062903220012],[-143.03997153691472,73.32890109907322,7.56334114074707,0,0,0.5398062903220012],[-138.7509302449722,75.89875027675119,7.56334114074707,0,0,0.5398062903220012],[-134.4618889530297,78.46859945442915,7.56334114074707,0,0,0.5398062903220012],[-130.1728476610872,81.03844863210712,7.56334114074707,0,0,0.5398062903220012],[-125.88380636914468,83.60829780978509,7.56334114074707,0,0,0.5398062903220012],[-121.59476507720217,86.17814698746305,7.56334114074707,0,0,0.5398062903220012],[-119.0249158995242,81.88910569552054,7.56334114074707,0,0,0.5398062903220012],[-114.73587460758169,84.45895487319851,7.56334114074707,0,0,0.5398062903220012],[-110.44683331563918,87.02880405087647,7.56334114074707,0,0,0.5398062903220012],[-106.15779202369667,89.59865322855444,7.56334114074707,0,0,0.5398062903220012],[-106.15779202369667,89.59865322855444,7.56334114074707,0,0,0.2780069025228518],[-101.34977035956506,90.97085134735546,7.56334114074707,0,0,0.2780069025228518]]},{"id":2,"instruction":"at the building with numbers on it turn right facing in between the 2 natasha containers and head straight.","completed_instruction":"Turn right to face the tanks area on the ground and fly towards the large cylindrical building in the distance.","start_frame":80,"end_frame":113,"start_position":[-101.34977035956506,90.97085134735546,7.56334114074707],"start_rotation":[0.99035456600813487,0,0,0.13855624701484515],"end_position":[-139.2156332164964,171.6125577777952,7.56334114074707],"end_rotation":[0.49296559944097879,0,0,0.8700488019460727],"actions":[1,1,3,3,6,3,3,3,3,3,3,1,1,6,1,1,1,1,1,6,1,1,2,1,1,1,1,1,1,1,1,1,1,1],"reference_path":[[-101.34977035956506,90.97085134735546,7.56334114074707,0,0,0.2780069025228518],[-96.54174869543344,92.34304946615649,7.56334114074707,0,0,0.2780069025228518],[-91.73372703130183,93.71524758495751,7.56334114074707,0,0,0.2780069025228518],[-91.73372703130183,93.71524758495751,7.56334114074707,0,0,0.5398062903220012],[-91.73372703130183,93.71524758495751,7.56334114074707,0,0,0.8016056781211507],[-88.1413577693291,90.23747774127412,7.56334114074707,0,0,0.8016056781211507],[-88.1413577693291,90.23747774127412,7.56334114074707,0,0,1.0634050659203],[-88.1413577693291,90.23747774127412,7.56334114074707,0,0,1.3252044537194496],[-88.1413577693291,90.23747774127412,7.56334114074707,0,0,1.587003841518599],[-88.1413577693291,90.23747774127412,7.56334114074707,0,0,1.8488032293177485],[-88.1413577693291,90.23747774127412,7.56334114074707,0,0,2.1106026171168977],[-88.1413577693291,90.23747774127412,7.56334114074707,0,0,2.3724020049160472],[-91.73372703130183,93.71524758495751,7.56334114074707,0,0,2.3724020049160472],[-95.32609629327455,97.1930174286409,7.56334114074707,0,0,2.3724020049160472],[-91.84832644959116,100.78538669061362,7.56334114074707,0,0,2.3724020049160472],[-95.44069571156388,104.26315653429701,7.56334114074707,0,0,2.3724020049160472],[-99.0330649735366,107.7409263779804,7.56334114074707,0,0,2.3724020049160472],[-102.62543423550932,111.21869622166379,7.56334114074707,0,0,2.3724020049160472],[-106.21780349748204,114.69646606534718,7.56334114074707,0,0,2.3724020049160472],[-109.81017275945476,118.17423590903057,7.56334114074707,0,0,2.3724020049160472],[-106.33240291577137,121.76660517100329,7.56334114074707,0,0,2.3724020049160472],[-109.92477217774409,125.24437501468668,7.56334114074707,0,0,2.3724020049160472],[-113.51714143971681,128.7221448583701,7.56334114074707,0,0,2.3724020049160472],[-113.51714143971681,128.7221448583701,7.56334114074707,0,0,2.1106026171168977],[-116.08699061739478,133.0111861503126,7.56334114074707,0,0,2.1106026171168977],[-118.65683979507274,137.3002274422551,7.56334114074707,0,0,2.1106026171168977],[-121.22668897275071,141.58926873419762,7.56334114074707,0,0,2.1106026171168977],[-123.79653815042867,145.87831002614013,7.56334114074707,0,0,2.1106026171168977],[-126.36638732810664,150.16735131808264,7.56334114074707,0,0,2.1106026171168977],[-128.9362365057846,154.45639261002515,7.56334114074707,0,0,2.1106026171168977],[-131.50608568346254,158.74543390196766,7.56334114074707,0,0,2.1106026171168977],[-134.0759348611405,163.03447519391017,7.56334114074707,0,0,2.1106026171168977],[-136.64578403881845,167.32351648585268,7.56334114074707,0,0,2.1106026171168977],[-139.2156332164964,171.6125577777952,7.56334114074707,0,0,2.1106026171168977]]},{"id":3,"instruction":"land on the left natasha container.","completed_instruction":"Raise the height until level with the railing of the large cylindrical building on the left, and then fly lower to the top of the building.","start_frame":113,"end_frame":129,"start_position":[-139.2156332164964,171.6125577777952,7.56334114074707],"start_rotation":[0.49296559944097879,0,0,0.8700488019460727],"end_position":[-155.4853853459775,208.49473729101322,-2.4366588592529297],"end_rotation":[0.49296559944097879,0,0,0.8700488019460727],"actions":[1,1,4,1,1,4,4,1,6,4,4,1,1,4,1,5,0],"reference_path":[[-139.2156332164964,171.6125577777952,7.56334114074707,0,0,2.1106026171168977],[-141.78548239417435,175.9015990697377,7.56334114074707,0,0,2.1106026171168977],[-144.3553315718523,180.1906403616802,7.56334114074707,0,0,2.1106026171168977],[-144.3553315718523,180.1906403616802,5.56334114074707,0,0,2.1106026171168977],[-146.92518074953026,184.47968165362272,5.56334114074707,0,0,2.1106026171168977],[-149.4950299272082,188.76872294556523,5.56334114074707,0,0,2.1106026171168977],[-149.4950299272082,188.76872294556523,3.5633411407470703,0,0,2.1106026171168977],[-149.4950299272082,188.76872294556523,1.5633411407470703,0,0,2.1106026171168977],[-152.06487910488616,193.05776423750774,1.5633411407470703,0,0,2.1106026171168977],[-147.77583781294365,195.6276134151857,1.5633411407470703,0,0,2.1106026171168977],[-147.77583781294365,195.6276134151857,-0.4366588592529297,0,0,2.1106026171168977],[-147.77583781294365,195.6276134151857,-2.4366588592529297,0,0,2.1106026171168977],[-150.3456869906216,199.9166547071282,-2.4366588592529297,0,0,2.1106026171168977],[-152.91553616829955,204.2056959990707,-2.4366588592529297,0,0,2.1106026171168977],[-152.91553616829955,204.2056959990707,-4.43665885925293,0,0,2.1106026171168977],[-155.4853853459775,208.49473729101322,-4.43665885925293,0,0,2.1106026171168977],[-155.4853853459775,208.49473729101322,-2.4366588592529297,0,0,2.1106026171168977]]}],"statistics":{"complete_actions":132,"sentence_actions":[38,43,34,17],"sentence_actions_average":33.0}}
diff --git a/scene_9/352YTHGRO4BC8P7HULEKDNDGRD24H5.json b/scene_9/352YTHGRO4BC8P7HULEKDNDGRD24H5.json
new file mode 100644
index 0000000000000000000000000000000000000000..1eb0028d2089fd60f882031572346d706ffcc257
--- /dev/null
+++ b/scene_9/352YTHGRO4BC8P7HULEKDNDGRD24H5.json
@@ -0,0 +1 @@
+{"episode_id":"352YTHGRO4BC8P7HULEKDNDGRD24H5","trajectory_id":"3GONHBMNI3WBHGZOG8FLA53XLYKZM6","scene_id":9,"instruction":"lift off, then turn right until youre facing the green buildings and move above them. continue moving forward until the closest row of tankers under you are out of view. turn left until youre facing to the right of the two big cylinder tanks next to each other and move there. turn left until youre facing the middle corner of the roof of the far left warehouse looking building and move in front of it. turn right, then move forward and stop when youre in front of the middle warehouse looking building.","sentence_instructions":[{"id":0,"instruction":"lift off, then turn right until youre facing the green buildings and move above them.","completed_instruction":"Take off, then turn right to face the iron gate on the opposite side of the road, and then fly to the top of the roof of the green building on the right front.","start_frame":0,"end_frame":18,"start_position":[-126.43002319335938,19.823741912841797,12.651652336120605],"start_rotation":[0.99983384703970557,0,0,0.018228502784996044],"end_position":[-133.0669930760983,64.6115821239484,8.651652336120605],"end_rotation":[0.69409979537146049,0,0,0.7198787912317578],"actions":[4,4,3,3,3,3,3,3,1,1,1,1,1,7,1,1,1,1,7],"reference_path":[[-126.43002319335938,19.823741912841797,12.651652336120605,0,0,0.03645902485066282],[-126.43002319335938,19.823741912841797,10.651652336120605,0,0,0.03645902485066282],[-126.43002319335938,19.823741912841797,8.651652336120605,0,0,0.03645902485066282],[-126.43002319335938,19.823741912841797,8.651652336120605,0,0,0.2982584126498123],[-126.43002319335938,19.823741912841797,8.651652336120605,0,0,0.5600578004489618],[-126.43002319335938,19.823741912841797,8.651652336120605,0,0,0.8218571882481113],[-126.43002319335938,19.823741912841797,8.651652336120605,0,0,1.0836565760472607],[-126.43002319335938,19.823741912841797,8.651652336120605,0,0,1.3454559638464103],[-126.43002319335938,19.823741912841797,8.651652336120605,0,0,1.6072553516455597],[-126.61227793401234,24.82041912970397,8.651652336120605,0,0,1.6072553516455597],[-126.7945326746653,29.817096346566146,8.651652336120605,0,0,1.6072553516455597],[-126.97678741531827,34.81377356342832,8.651652336120605,0,0,1.6072553516455597],[-127.15904215597124,39.810450780290495,8.651652336120605,0,0,1.6072553516455597],[-127.3412968966242,44.80712799715267,8.651652336120605,0,0,1.6072553516455597],[-132.33797411348638,44.624873256499704,8.651652336120605,0,0,1.6072553516455597],[-132.52022885413936,49.62155047336188,8.651652336120605,0,0,1.6072553516455597],[-132.70248359479234,54.61822769022405,8.651652336120605,0,0,1.6072553516455597],[-132.88473833544532,59.61490490708623,8.651652336120605,0,0,1.6072553516455597],[-133.0669930760983,64.6115821239484,8.651652336120605,0,0,1.6072553516455597]]},{"id":1,"instruction":"continue moving forward until the closest row of tankers under you are out of view.","completed_instruction":"Fly straight ahead and fly over a truck with a blue front end.","start_frame":18,"end_frame":24,"start_position":[-133.0669930760983,64.6115821239484,8.651652336120605],"start_rotation":[0.69409979537146049,0,0,0.7198787912317578],"end_position":[-138.97494399622536,89.41271346760627,8.651652336120605],"end_rotation":[0.69409979537146049,0,0,0.7198787912317578],"actions":[7,1,1,1,1,1,7],"reference_path":[[-133.0669930760983,64.6115821239484,8.651652336120605,0,0,1.6072553516455597],[-138.06367029296047,64.42932738329543,8.651652336120605,0,0,1.6072553516455597],[-138.24592503361345,69.4260046001576,8.651652336120605,0,0,1.6072553516455597],[-138.42817977426643,74.42268181701976,8.651652336120605,0,0,1.6072553516455597],[-138.6104345149194,79.41935903388193,8.651652336120605,0,0,1.6072553516455597],[-138.79268925557238,84.4160362507441,8.651652336120605,0,0,1.6072553516455597],[-138.97494399622536,89.41271346760627,8.651652336120605,0,0,1.6072553516455597]]},{"id":2,"instruction":"turn left until youre facing to the right of the two big cylinder tanks next to each other and move there.","completed_instruction":"Turn left to face the two cylindrical cans on the roof, and then fly forward to the top of the gray roof of the red brick house.","start_frame":24,"end_frame":36,"start_position":[-138.97494399622536,89.41271346760627,8.651652336120605],"start_rotation":[0.69409979537146049,0,0,0.7198787912317578],"end_position":[-123.91026601184677,121.1961605994537,8.651652336120605],"end_rotation":[0.91675028117936563,0,0,0.39946078901132975],"actions":[7,1,1,2,2,2,1,1,1,1,1,1,1],"reference_path":[[-138.97494399622536,89.41271346760627,8.651652336120605,0,0,1.6072553516455597],[-143.97162121308753,89.2304587269533,8.651652336120605,0,0,1.6072553516455597],[-144.1538759537405,94.22713594381547,8.651652336120605,0,0,1.6072553516455597],[-144.3361306943935,99.22381316067764,8.651652336120605,0,0,1.6072553516455597],[-144.3361306943935,99.22381316067764,8.651652336120605,0,0,1.3454559638464103],[-144.3361306943935,99.22381316067764,8.651652336120605,0,0,1.083656576047261],[-144.3361306943935,99.22381316067764,8.651652336120605,0,0,0.8218571882481116],[-140.93181991396904,102.88587106714031,8.651652336120605,0,0,0.8218571882481116],[-137.52750913354458,106.54792897360299,8.651652336120605,0,0,0.8218571882481116],[-134.12319835312013,110.20998688006567,8.651652336120605,0,0,0.8218571882481116],[-130.71888757269568,113.87204478652835,8.651652336120605,0,0,0.8218571882481116],[-127.31457679227123,117.53410269299103,8.651652336120605,0,0,0.8218571882481116],[-123.91026601184677,121.1961605994537,8.651652336120605,0,0,0.8218571882481116]]},{"id":3,"instruction":"turn left until youre facing the middle corner of the roof of the far left warehouse looking building and move in front of it.","completed_instruction":"Turn right to face the blue container on the ground, then fly over it, and then turn left to face the center of the roof of the blue factory on the far left.","start_frame":36,"end_frame":43,"start_position":[-123.91026601184677,121.1961605994537,8.651652336120605],"start_rotation":[0.91675028117936563,0,0,0.39946078901132975],"end_position":[-110.08014033180143,141.77540673629923,8.651652336120605],"end_rotation":[0.91675028117936563,0,0,0.39946078901132981],"actions":[1,1,3,1,1,1,2,1],"reference_path":[[-123.91026601184677,121.1961605994537,8.651652336120605,0,0,0.8218571882481116],[-120.50595523142232,124.85821850591638,8.651652336120605,0,0,0.8218571882481116],[-117.10164445099787,128.52027641237908,8.651652336120605,0,0,0.8218571882481116],[-117.10164445099787,128.52027641237908,8.651652336120605,0,0,1.0836565760472612],[-114.76114307793239,132.93865318701913,8.651652336120605,0,0,1.0836565760472612],[-112.42064170486691,137.35702996165918,8.651652336120605,0,0,1.0836565760472612],[-110.08014033180143,141.77540673629923,8.651652336120605,0,0,1.0836565760472612],[-110.08014033180143,141.77540673629923,8.651652336120605,0,0,0.8218571882481117]]},{"id":4,"instruction":"turn right, then move forward and stop when youre in front of the middle warehouse looking building.","completed_instruction":"Fly straight to the front of blue factory\u0027s roof, then turn right to face the bushes, fly forward until over the bushes, then land on the ground.","start_frame":43,"end_frame":61,"start_position":[-110.08014033180143,141.77540673629923,8.651652336120605],"start_rotation":[0.91675028117936563,0,0,0.39946078901132981],"end_position":[-98.57173264919857,174.54630635778355,14.651652336120605],"end_rotation":[0.69409979537146027,0,0,0.719878791231758],"actions":[1,2,1,2,1,3,3,3,3,3,1,1,1,1,1,5,5,5,0],"reference_path":[[-110.08014033180143,141.77540673629923,8.651652336120605,0,0,0.8218571882481117],[-106.67582955137698,145.4374646427619,8.651652336120605,0,0,0.8218571882481117],[-106.67582955137698,145.4374646427619,8.651652336120605,0,0,0.5600578004489624],[-102.43970751738989,148.0936404865586,8.651652336120605,0,0,0.5600578004489624],[-102.43970751738989,148.0936404865586,8.651652336120605,0,0,0.29825841264981295],[-97.66045894593374,149.5629202734727,8.651652336120605,0,0,0.29825841264981295],[-97.66045894593374,149.5629202734727,8.651652336120605,0,0,0.5600578004489625],[-97.66045894593374,149.5629202734727,8.651652336120605,0,0,0.8218571882481119],[-97.66045894593374,149.5629202734727,8.651652336120605,0,0,1.0836565760472614],[-97.66045894593374,149.5629202734727,8.651652336120605,0,0,1.3454559638464108],[-97.66045894593374,149.5629202734727,8.651652336120605,0,0,1.6072553516455603],[-97.8427136865867,154.55959749033488,8.651652336120605,0,0,1.6072553516455603],[-98.02496842723967,159.55627470719705,8.651652336120605,0,0,1.6072553516455603],[-98.20722316789264,164.55295192405922,8.651652336120605,0,0,1.6072553516455603],[-98.3894779085456,169.54962914092138,8.651652336120605,0,0,1.6072553516455603],[-98.57173264919857,174.54630635778355,8.651652336120605,0,0,1.6072553516455603],[-98.57173264919857,174.54630635778355,10.651652336120605,0,0,1.6072553516455603],[-98.57173264919857,174.54630635778355,12.651652336120605,0,0,1.6072553516455603],[-98.57173264919857,174.54630635778355,14.651652336120605,0,0,1.6072553516455603]]}],"statistics":{"complete_actions":66,"sentence_actions":[19,7,13,8,19],"sentence_actions_average":13.2}}
diff --git a/scene_9/358UUM7WR81MG633SOOLU3ZW5H7R7C.json b/scene_9/358UUM7WR81MG633SOOLU3ZW5H7R7C.json
new file mode 100644
index 0000000000000000000000000000000000000000..7e4dc53eff532422c32ff4b20cce63e3669dfb1a
--- /dev/null
+++ b/scene_9/358UUM7WR81MG633SOOLU3ZW5H7R7C.json
@@ -0,0 +1 @@
+{"episode_id":"358UUM7WR81MG633SOOLU3ZW5H7R7C","trajectory_id":"3QHITW7OZW711NP8W963ALWTMDDAQ4","scene_id":9,"instruction":"lift off above the buildings and head straight towards the blue tanker truck. at the red shipping containers turn right facing the white tankers and head straight. at the white tankers turn right facing the red tanker and head straight. on the right of the blue buildings land to the left of them.","sentence_instructions":[{"id":0,"instruction":"lift off above the buildings and head straight towards the blue tanker truck.","completed_instruction":"Take off, ascend to the height of the buildings ahead, and fly to the top of the blue tanker truck.","start_frame":1,"end_frame":8,"start_position":[-195.8104705810547,22.185319900512695,19.42976188659668],"start_rotation":[0.99999999685439878,0,0,7.9317100249499972E-05],"end_position":[-185.81047070687873,22.1869062425127,9.42976188659668],"end_rotation":[0.99999999685439878,0,0,7.9317100249499972E-05],"actions":[4,4,4,4,4,1,1,1],"reference_path":[[-195.8104705810547,22.185319900512695,19.42976188659668,0,0,0.00015863420066533323],[-195.8104705810547,22.185319900512695,17.42976188659668,0,0,0.00015863420066533323],[-195.8104705810547,22.185319900512695,15.42976188659668,0,0,0.00015863420066533323],[-195.8104705810547,22.185319900512695,13.42976188659668,0,0,0.00015863420066533323],[-195.8104705810547,22.185319900512695,11.42976188659668,0,0,0.00015863420066533323],[-195.8104705810547,22.185319900512695,9.42976188659668,0,0,0.00015863420066533323],[-190.8104706439667,22.186113071512697,9.42976188659668,0,0,0.00015863420066533323],[-185.81047070687873,22.1869062425127,9.42976188659668,0,0,0.00015863420066533323]]},{"id":1,"instruction":"at the red shipping containers turn right facing the white tankers and head straight.","completed_instruction":"Fly forward to the top of the red shipping container and then turn right to face the white tankers on the opposite side of the road, then fly forward to the top of the white tanker.","start_frame":8,"end_frame":29,"start_position":[-185.81047070687873,22.1869062425127,9.42976188659668],"start_rotation":[0.99999999685439878,0,0,7.9317100249499972E-05],"end_position":[-106.23623651910144,48.24236233237578,9.42976188659668],"end_rotation":[0.92384917626496144,0,0,0.382756710606819],"actions":[1,1,1,1,1,1,1,1,1,1,3,1,3,3,1,1,1,1,1,1,1,1],"reference_path":[[-185.81047070687873,22.1869062425127,9.42976188659668,0,0,0.00015863420066533323],[-180.81047076979075,22.1876994135127,9.42976188659668,0,0,0.00015863420066533323],[-175.81047083270278,22.1884925845127,9.42976188659668,0,0,0.00015863420066533323],[-170.8104708956148,22.189285755512703,9.42976188659668,0,0,0.00015863420066533323],[-165.81047095852682,22.190078926512705,9.42976188659668,0,0,0.00015863420066533323],[-160.81047102143884,22.190872097512706,9.42976188659668,0,0,0.00015863420066533323],[-155.81047108435087,22.191665268512708,9.42976188659668,0,0,0.00015863420066533323],[-150.8104711472629,22.19245843951271,9.42976188659668,0,0,0.00015863420066533323],[-145.8104712101749,22.19325161051271,9.42976188659668,0,0,0.00015863420066533323],[-140.81047127308693,22.194044781512712,9.42976188659668,0,0,0.00015863420066533323],[-135.81047133599895,22.194837952512714,9.42976188659668,0,0,0.00015863420066533323],[-135.81047133599895,22.194837952512714,9.42976188659668,0,0,0.26195802199981477],[-130.9810475530828,23.48969930609605,9.42976188659668,0,0,0.26195802199981477],[-130.9810475530828,23.48969930609605,9.42976188659668,0,0,0.5237574097989642],[-130.9810475530828,23.48969930609605,9.42976188659668,0,0,0.7855567975981137],[-127.44607454822831,27.025794024136008,9.42976188659668,0,0,0.7855567975981137],[-123.91110154337383,30.561888742175967,9.42976188659668,0,0,0.7855567975981137],[-120.37612853851935,34.09798346021593,9.42976188659668,0,0,0.7855567975981137],[-116.84115553366487,37.63407817825589,9.42976188659668,0,0,0.7855567975981137],[-113.3061825288104,41.17017289629585,9.42976188659668,0,0,0.7855567975981137],[-109.77120952395592,44.706267614335815,9.42976188659668,0,0,0.7855567975981137],[-106.23623651910144,48.24236233237578,9.42976188659668,0,0,0.7855567975981137]]},{"id":2,"instruction":"at the white tankers turn right facing the red tanker and head straight.","completed_instruction":"Turn right to face the blue container at the corner, then fly straight ahead to pass over the green and red shipping containers ahead.","start_frame":29,"end_frame":50,"start_position":[-106.23623651910144,48.24236233237578,9.42976188659668],"start_rotation":[0.92384917626496144,0,0,0.382756710606819],"end_position":[-96.67808184108401,129.64507443762616,11.42976188659668],"end_rotation":[0.70705069330282111,0,0,0.70716286462172206],"actions":[1,1,3,1,3,3,1,1,1,1,5,1,1,1,1,1,1,1,1,1,1,1],"reference_path":[[-106.23623651910144,48.24236233237578,9.42976188659668,0,0,0.7855567975981137],[-102.70126351424696,51.77845705041574,9.42976188659668,0,0,0.7855567975981137],[-99.16629050939248,55.3145517684557,9.42976188659668,0,0,0.7855567975981137],[-99.16629050939248,55.3145517684557,9.42976188659668,0,0,1.0473561853972633],[-96.66697744708404,59.64507531839448,9.42976188659668,0,0,1.0473561853972633],[-96.66697744708404,59.64507531839448,9.42976188659668,0,0,1.3091555731964126],[-96.66697744708404,59.64507531839448,9.42976188659668,0,0,1.570954960995562],[-96.66777061808403,64.64507525548245,9.42976188659668,0,0,1.570954960995562],[-96.66856378908403,69.64507519257043,9.42976188659668,0,0,1.570954960995562],[-96.66935696008403,74.64507512965841,9.42976188659668,0,0,1.570954960995562],[-96.67015013108403,79.64507506674639,9.42976188659668,0,0,1.570954960995562],[-96.67015013108403,79.64507506674639,11.42976188659668,0,0,1.570954960995562],[-96.67094330208403,84.64507500383436,11.42976188659668,0,0,1.570954960995562],[-96.67173647308402,89.64507494092234,11.42976188659668,0,0,1.570954960995562],[-96.67252964408402,94.64507487801032,11.42976188659668,0,0,1.570954960995562],[-96.67332281508402,99.6450748150983,11.42976188659668,0,0,1.570954960995562],[-96.67411598608402,104.64507475218628,11.42976188659668,0,0,1.570954960995562],[-96.67490915708402,109.64507468927425,11.42976188659668,0,0,1.570954960995562],[-96.67570232808401,114.64507462636223,11.42976188659668,0,0,1.570954960995562],[-96.67649549908401,119.64507456345021,11.42976188659668,0,0,1.570954960995562],[-96.67728867008401,124.64507450053819,11.42976188659668,0,0,1.570954960995562],[-96.67808184108401,129.64507443762616,11.42976188659668,0,0,1.570954960995562]]},{"id":3,"instruction":"on the right of the blue buildings land to the left of them.","completed_instruction":"Landed in the gap between the grass patches ahead.","start_frame":50,"end_frame":58,"start_position":[-96.67808184108401,129.64507443762616,11.42976188659668],"start_rotation":[0.70705069330282111,0,0,0.70716286462172206],"end_position":[-96.682840867084,159.64507406015403,15.42976188659668],"end_rotation":[0.70705069330282111,0,0,0.70716286462172206],"actions":[1,1,1,1,1,1,5,5,0],"reference_path":[[-96.67808184108401,129.64507443762616,11.42976188659668,0,0,1.570954960995562],[-96.678875012084,134.64507437471414,11.42976188659668,0,0,1.570954960995562],[-96.679668183084,139.64507431180212,11.42976188659668,0,0,1.570954960995562],[-96.680461354084,144.6450742488901,11.42976188659668,0,0,1.570954960995562],[-96.681254525084,149.64507418597807,11.42976188659668,0,0,1.570954960995562],[-96.682047696084,154.64507412306605,11.42976188659668,0,0,1.570954960995562],[-96.682840867084,159.64507406015403,11.42976188659668,0,0,1.570954960995562],[-96.682840867084,159.64507406015403,13.42976188659668,0,0,1.570954960995562],[-96.682840867084,159.64507406015403,15.42976188659668,0,0,1.570954960995562]]}],"statistics":{"complete_actions":61,"sentence_actions":[8,22,22,9],"sentence_actions_average":15.25}}
diff --git a/scene_9/35DR22AR5MIOCJOSZBRN649427WX3M.json b/scene_9/35DR22AR5MIOCJOSZBRN649427WX3M.json
new file mode 100644
index 0000000000000000000000000000000000000000..d962983480e67a64e7aab875be915fd2ec917481
--- /dev/null
+++ b/scene_9/35DR22AR5MIOCJOSZBRN649427WX3M.json
@@ -0,0 +1 @@
+{"episode_id":"35DR22AR5MIOCJOSZBRN649427WX3M","trajectory_id":"338GLSUI5B98AULTZTH0JMML1HBSFO","scene_id":9,"instruction":"take off, after rising to the height slightly higher. fly forward until seeing red containers and turn right. fly forward by crossing green roof building on the right hand side. fly forward until facing brown building. turn right fly forward and land by facing small shrubs.","sentence_instructions":[{"id":0,"instruction":"take off, after rising to the height slightly higher.","completed_instruction":"Take off, rise to the same height of the grey building.","start_frame":1,"end_frame":4,"start_position":[-195.8104705810547,22.185319900512695,19.42976188659668],"start_rotation":[0.99987271719704085,0,0,-0.0159546045079901],"end_position":[-195.8104705810547,22.185319900512695,13.42976188659668],"end_rotation":[0.99987271719704085,0,0,-0.0159546045079901],"actions":[4,4,4,4],"reference_path":[[-195.8104705810547,22.185319900512695,19.42976188659668,0,0,-0.03191056291609965],[-195.8104705810547,22.185319900512695,17.42976188659668,0,0,-0.03191056291609965],[-195.8104705810547,22.185319900512695,15.42976188659668,0,0,-0.03191056291609965],[-195.8104705810547,22.185319900512695,13.42976188659668,0,0,-0.03191056291609965]]},{"id":1,"instruction":"fly forward until seeing red containers and turn right.","completed_instruction":"Fly forward to the red shipping container and then turn right to face the green building.","start_frame":4,"end_frame":20,"start_position":[-195.8104705810547,22.185319900512695,13.42976188659668],"start_rotation":[0.99987271719704085,0,0,-0.0159546045079901],"end_position":[-140.83847101560528,20.430536786779793,9.42976188659668],"end_rotation":[0.92986750134993734,0,0,0.36789459079092796],"actions":[4,4,1,1,1,1,1,1,1,1,1,1,1,3,3,3,3],"reference_path":[[-195.8104705810547,22.185319900512695,13.42976188659668,0,0,-0.03191056291609965],[-195.8104705810547,22.185319900512695,11.42976188659668,0,0,-0.03191056291609965],[-195.8104705810547,22.185319900512695,9.42976188659668,0,0,-0.03191056291609965],[-190.81301607510474,22.025794162900613,9.42976188659668,0,0,-0.03191056291609965],[-185.8155615691548,21.86626842528853,9.42976188659668,0,0,-0.03191056291609965],[-180.81810706320485,21.70674268767645,9.42976188659668,0,0,-0.03191056291609965],[-175.8206525572549,21.547216950064367,9.42976188659668,0,0,-0.03191056291609965],[-170.82319805130496,21.387691212452285,9.42976188659668,0,0,-0.03191056291609965],[-165.825743545355,21.228165474840203,9.42976188659668,0,0,-0.03191056291609965],[-160.82828903940506,21.06863973722812,9.42976188659668,0,0,-0.03191056291609965],[-155.83083453345512,20.90911399961604,9.42976188659668,0,0,-0.03191056291609965],[-150.83338002750517,20.749588262003957,9.42976188659668,0,0,-0.03191056291609965],[-145.83592552155523,20.590062524391875,9.42976188659668,0,0,-0.03191056291609965],[-140.83847101560528,20.430536786779793,9.42976188659668,0,0,-0.03191056291609965],[-140.83847101560528,20.430536786779793,9.42976188659668,0,0,0.2298888248830498],[-140.83847101560528,20.430536786779793,9.42976188659668,0,0,0.4916882126821992],[-140.83847101560528,20.430536786779793,9.42976188659668,0,0,0.7534876004813487]]},{"id":2,"instruction":"fly forward by crossing green roof building on the right hand side.","completed_instruction":"Fly forward to the edge of the green roof, and then turn left to face the semi-trailer with the red cab and white body, then fly to the top of the white truck without a body next to it.","start_frame":20,"end_frame":42,"start_position":[-140.83847101560528,20.430536786779793,9.42976188659668],"start_rotation":[0.92986750134993734,0,0,0.36789459079092796],"end_position":[-112.4037659125517,85.54805594798013,9.42976188659668],"end_rotation":[0.99340116126768008,0,0,0.11469146782574818],"actions":[3,3,1,1,1,1,1,1,7,1,1,1,1,2,1,2,1,1,2,1,1,2,1],"reference_path":[[-140.83847101560528,20.430536786779793,9.42976188659668,0,0,0.7534876004813487],[-140.83847101560528,20.430536786779793,9.42976188659668,0,0,1.015286988280498],[-140.83847101560528,20.430536786779793,9.42976188659668,0,0,1.2770863760796476],[-139.3909445825147,25.216418860703477,9.42976188659668,0,0,1.2770863760796476],[-137.9434181494241,30.00230093462716,9.42976188659668,0,0,1.2770863760796476],[-136.49589171633352,34.788183008550845,9.42976188659668,0,0,1.2770863760796476],[-135.04836528324293,39.57406508247453,9.42976188659668,0,0,1.2770863760796476],[-133.60083885015234,44.35994715639822,9.42976188659668,0,0,1.2770863760796476],[-132.15331241706176,49.14582923032191,9.42976188659668,0,0,1.2770863760796476],[-136.93919449098544,50.59335566341248,9.42976188659668,0,0,1.2770863760796476],[-135.49166805789486,55.37923773733617,9.42976188659668,0,0,1.2770863760796476],[-134.04414162480427,60.165119811259856,9.42976188659668,0,0,1.2770863760796476],[-132.59661519171368,64.95100188518354,9.42976188659668,0,0,1.2770863760796476],[-131.1490887586231,69.73688395910723,9.42976188659668,0,0,1.2770863760796476],[-131.1490887586231,69.73688395910723,9.42976188659668,0,0,1.0152869882804982],[-128.51220816431862,73.98504364671085,9.42976188659668,0,0,1.0152869882804982],[-128.51220816431862,73.98504364671085,9.42976188659668,0,0,0.7534876004813489],[-124.86567246365087,77.40597588570003,9.42976188659668,0,0,0.7534876004813489],[-121.21913676298311,80.82690812468921,9.42976188659668,0,0,0.7534876004813489],[-121.21913676298311,80.82690812468921,9.42976188659668,0,0,0.4916882126821995],[-116.81145133776741,83.18748203633467,9.42976188659668,0,0,0.4916882126821995],[-112.4037659125517,85.54805594798013,9.42976188659668,0,0,0.4916882126821995],[-112.4037659125517,85.54805594798013,9.42976188659668,0,0,0.2298888248830501]]},{"id":3,"instruction":"fly forward until facing brown building.","completed_instruction":"Turn right to face the blue container, then fly forward to the grassy area in front of the factory gate with the grey roof, and then land on the ground.","start_frame":42,"end_frame":69,"start_position":[-112.4037659125517,85.54805594798013,9.42976188659668],"start_rotation":[0.99340116126768008,0,0,0.11469146782574818],"end_position":[-97.88801675460793,151.07164029692066,17.42976188659668],"end_rotation":[0.80296490789389874,0,0,0.59602630536826362],"actions":[1,2,1,3,3,3,3,3,1,1,3,1,1,1,1,1,1,1,1,1,1,1,5,5,2,5,5,0],"reference_path":[[-112.4037659125517,85.54805594798013,9.42976188659668,0,0,0.2298888248830501],[-107.53530724047195,86.68740232123606,9.42976188659668,0,0,0.2298888248830501],[-107.53530724047195,86.68740232123606,9.42976188659668,0,0,-0.031910562916099346],[-102.53785273452202,86.52787658362398,9.42976188659668,0,0,-0.031910562916099346],[-102.53785273452202,86.52787658362398,9.42976188659668,0,0,0.2298888248830501],[-102.53785273452202,86.52787658362398,9.42976188659668,0,0,0.49168821268219953],[-102.53785273452202,86.52787658362398,9.42976188659668,0,0,0.7534876004813489],[-102.53785273452202,86.52787658362398,9.42976188659668,0,0,1.0152869882804982],[-102.53785273452202,86.52787658362398,9.42976188659668,0,0,1.2770863760796478],[-101.09032630143145,91.31375865754767,9.42976188659668,0,0,1.2770863760796478],[-99.64279986834087,96.09964073147135,9.42976188659668,0,0,1.2770863760796478],[-99.64279986834087,96.09964073147135,9.42976188659668,0,0,1.5388857638787972],[-99.48327413072879,101.09709523742129,9.42976188659668,0,0,1.5388857638787972],[-99.3237483931167,106.09454974337122,9.42976188659668,0,0,1.5388857638787972],[-99.16422265550462,111.09200424932115,9.42976188659668,0,0,1.5388857638787972],[-99.00469691789253,116.08945875527108,9.42976188659668,0,0,1.5388857638787972],[-98.84517118028045,121.08691326122101,9.42976188659668,0,0,1.5388857638787972],[-98.68564544266836,126.08436776717095,9.42976188659668,0,0,1.5388857638787972],[-98.52611970505627,131.08182227312088,9.42976188659668,0,0,1.5388857638787972],[-98.36659396744419,136.07927677907082,9.42976188659668,0,0,1.5388857638787972],[-98.2070682298321,141.07673128502077,9.42976188659668,0,0,1.5388857638787972],[-98.04754249222002,146.07418579097072,9.42976188659668,0,0,1.5388857638787972],[-97.88801675460793,151.07164029692066,9.42976188659668,0,0,1.5388857638787972],[-97.88801675460793,151.07164029692066,11.42976188659668,0,0,1.5388857638787972],[-97.88801675460793,151.07164029692066,13.42976188659668,0,0,1.5388857638787972],[-97.88801675460793,151.07164029692066,13.42976188659668,0,0,1.277086376079648],[-97.88801675460793,151.07164029692066,15.42976188659668,0,0,1.277086376079648],[-97.88801675460793,151.07164029692066,17.42976188659668,0,0,1.277086376079648]]}],"statistics":{"complete_actions":72,"sentence_actions":[4,17,23,28],"sentence_actions_average":18.0}}
diff --git a/scene_9/384PI804X1ZKZA3WME3H5YU5J8Y0ST.json b/scene_9/384PI804X1ZKZA3WME3H5YU5J8Y0ST.json
new file mode 100644
index 0000000000000000000000000000000000000000..1d2fbe0ce725f5762a61bf321d0b7f1cdc9780eb
--- /dev/null
+++ b/scene_9/384PI804X1ZKZA3WME3H5YU5J8Y0ST.json
@@ -0,0 +1 @@
+{"episode_id":"384PI804X1ZKZA3WME3H5YU5J8Y0ST","trajectory_id":"3YO4AH2FQLI50ARQ479ALFKGDR1Q0T","scene_id":9,"instruction":"elevate your drone to the top then turn 90 degree of your right. and go straight until you cross the red head trucks once you cross it then turn 90 degree of your right. and move your drone in the left obliquely cross the pipeline and road then move forward to the big tank. once you reach then tank move your drone forward to the building once you reach it drop your drone in front of the building and stop there.","sentence_instructions":[{"id":0,"instruction":"elevate your drone to the top then turn 90 degree of your right.","completed_instruction":"Take off, ascend to a height below the street lamp, then turn right to face the distant buildings with grey tiled roofs.","start_frame":0,"end_frame":9,"start_position":[-109.26811981201172,38.07033920288086,19.659725189208984],"start_rotation":[0.99999117748603916,0,0,-0.0042005892544999587],"end_position":[-109.26811981201172,38.07033920288086,9.659725189208984],"end_rotation":[0.86811805789047325,0,0,0.49635777173775858],"actions":[4,4,4,4,4,3,3,3,3,3],"reference_path":[[-109.26811981201172,38.07033920288086,19.659725189208984,0,0,-0.008401203215592002],[-109.26811981201172,38.07033920288086,17.659725189208984,0,0,-0.008401203215592002],[-109.26811981201172,38.07033920288086,15.659725189208984,0,0,-0.008401203215592002],[-109.26811981201172,38.07033920288086,13.659725189208984,0,0,-0.008401203215592002],[-109.26811981201172,38.07033920288086,11.659725189208984,0,0,-0.008401203215592002],[-109.26811981201172,38.07033920288086,9.659725189208984,0,0,-0.008401203215592002],[-109.26811981201172,38.07033920288086,9.659725189208984,0,0,0.2533981845835574],[-109.26811981201172,38.07033920288086,9.659725189208984,0,0,0.5151975723827068],[-109.26811981201172,38.07033920288086,9.659725189208984,0,0,0.7769969601818563],[-109.26811981201172,38.07033920288086,9.659725189208984,0,0,1.0387963479810056]]},{"id":1,"instruction":"and go straight until you cross the red head trucks once you cross it then turn 90 degree of your right.","completed_instruction":"Go straight ahead until passing the red semi-trailer head, turn right to face the blue semi-trailer head.","start_frame":9,"end_frame":24,"start_position":[-109.26811981201172,38.07033920288086,9.659725189208984],"start_rotation":[0.86811805789047325,0,0,0.49635777173775858],"end_position":[-108.80605907058998,93.06839825837149,9.659725189208984],"end_rotation":[0.50363340574828019,0,0,0.86391746863597341],"actions":[3,3,1,1,1,1,1,1,1,1,1,1,1,3,3,3],"reference_path":[[-109.26811981201172,38.07033920288086,9.659725189208984,0,0,1.0387963479810056],[-109.26811981201172,38.07033920288086,9.659725189208984,0,0,1.3005957357801552],[-109.26811981201172,38.07033920288086,9.659725189208984,0,0,1.5623951235793045],[-109.22611429006429,43.07016275338001,9.659725189208984,0,0,1.5623951235793045],[-109.18410876811686,48.06998630387916,9.659725189208984,0,0,1.5623951235793045],[-109.14210324616943,53.06980985437831,9.659725189208984,0,0,1.5623951235793045],[-109.100097724222,58.069633404877464,9.659725189208984,0,0,1.5623951235793045],[-109.05809220227457,63.069456955376616,9.659725189208984,0,0,1.5623951235793045],[-109.01608668032713,68.06928050587577,9.659725189208984,0,0,1.5623951235793045],[-108.9740811583797,73.06910405637491,9.659725189208984,0,0,1.5623951235793045],[-108.93207563643227,78.06892760687406,9.659725189208984,0,0,1.5623951235793045],[-108.89007011448484,83.0687511573732,9.659725189208984,0,0,1.5623951235793045],[-108.84806459253741,88.06857470787234,9.659725189208984,0,0,1.5623951235793045],[-108.80605907058998,93.06839825837149,9.659725189208984,0,0,1.5623951235793045],[-108.80605907058998,93.06839825837149,9.659725189208984,0,0,1.8241945113784543],[-108.80605907058998,93.06839825837149,9.659725189208984,0,0,2.085993899177604]]},{"id":2,"instruction":"and move your drone in the left obliquely cross the pipeline and road then move forward to the big tank.","completed_instruction":"Fly forward across the street, and keep flying until reaching the large cylindrical oil storage tank besides the steel pipeline.","start_frame":24,"end_frame":53,"start_position":[-108.80605907058998,93.06839825837149,9.659725189208984],"start_rotation":[0.50363340574828019,0,0,0.86391746863597341],"end_position":[-215.62968564446615,138.2205056909715,9.659725189208984],"end_rotation":[0.13468969328201397,0,0,0.99088782741720927],"actions":[3,3,3,1,1,1,1,1,1,1,6,1,1,1,1,1,1,6,1,1,1,1,1,1,6,1,1,1,1,6],"reference_path":[[-108.80605907058998,93.06839825837149,9.659725189208984,0,0,2.085993899177604],[-108.80605907058998,93.06839825837149,9.659725189208984,0,0,2.3477932869767537],[-108.80605907058998,93.06839825837149,9.659725189208984,0,0,2.6095926747759033],[-108.80605907058998,93.06839825837149,9.659725189208984,0,0,2.871392062575053],[-113.62464593582595,94.40302203388853,9.659725189208984,0,0,2.871392062575053],[-118.44323280106192,95.73764580940558,9.659725189208984,0,0,2.871392062575053],[-123.2618196662979,97.07226958492262,9.659725189208984,0,0,2.871392062575053],[-128.08040653153387,98.40689336043967,9.659725189208984,0,0,2.871392062575053],[-132.89899339676984,99.74151713595671,9.659725189208984,0,0,2.871392062575053],[-137.7175802620058,101.07614091147376,9.659725189208984,0,0,2.871392062575053],[-142.53616712724178,102.4107646869908,9.659725189208984,0,0,2.871392062575053],[-141.20154335172472,107.22935155222677,9.659725189208984,0,0,2.871392062575053],[-146.0201302169607,108.56397532774382,9.659725189208984,0,0,2.871392062575053],[-150.83871708219667,109.89859910326086,9.659725189208984,0,0,2.871392062575053],[-155.65730394743264,111.23322287877791,9.659725189208984,0,0,2.871392062575053],[-160.4758908126686,112.56784665429495,9.659725189208984,0,0,2.871392062575053],[-165.29447767790458,113.902470429812,9.659725189208984,0,0,2.871392062575053],[-170.11306454314055,115.23709420532904,9.659725189208984,0,0,2.871392062575053],[-168.7784407676235,120.05568107056502,9.659725189208984,0,0,2.871392062575053],[-173.59702763285947,121.39030484608206,9.659725189208984,0,0,2.871392062575053],[-178.41561449809544,122.7249286215991,9.659725189208984,0,0,2.871392062575053],[-183.2342013633314,124.05955239711615,9.659725189208984,0,0,2.871392062575053],[-188.05278822856738,125.3941761726332,9.659725189208984,0,0,2.871392062575053],[-192.87137509380335,126.72879994815024,9.659725189208984,0,0,2.871392062575053],[-197.68996195903932,128.06342372366728,9.659725189208984,0,0,2.871392062575053],[-196.35533818352226,132.88201058890326,9.659725189208984,0,0,2.871392062575053],[-201.17392504875824,134.21663436442032,9.659725189208984,0,0,2.871392062575053],[-205.9925119139942,135.55125813993737,9.659725189208984,0,0,2.871392062575053],[-210.81109877923018,136.88588191545443,9.659725189208984,0,0,2.871392062575053],[-215.62968564446615,138.2205056909715,9.659725189208984,0,0,2.871392062575053]]},{"id":3,"instruction":"once you reach then tank move your drone forward to the building once you reach it drop your drone in front of the building and stop there.","completed_instruction":"Move to the left side of the mentioned tank and then face the white building, then land on the left side of the mentioned tank.","start_frame":53,"end_frame":67,"start_position":[-215.62968564446615,138.2205056909715,9.659725189208984],"start_rotation":[0.13468969328201397,0,0,0.99088782741720927],"end_position":[-251.5091330153198,158.5346696255799,17.659725189208984],"end_rotation":[0.13468969328201397,0,0,0.99088782741720927],"actions":[6,1,1,1,1,6,1,1,1,1,5,5,5,5,0],"reference_path":[[-215.62968564446615,138.2205056909715,9.659725189208984,0,0,2.871392062575053],[-214.2950618689491,143.03909255620746,9.659725189208984,0,0,2.871392062575053],[-219.11364873418506,144.37371633172452,9.659725189208984,0,0,2.871392062575053],[-223.93223559942103,145.70834010724158,9.659725189208984,0,0,2.871392062575053],[-228.750822464657,147.04296388275864,9.659725189208984,0,0,2.871392062575053],[-233.56940932989298,148.3775876582757,9.659725189208984,0,0,2.871392062575053],[-232.23478555437592,153.19617452351167,9.659725189208984,0,0,2.871392062575053],[-237.0533724196119,154.53079829902873,9.659725189208984,0,0,2.871392062575053],[-241.87195928484786,155.8654220745458,9.659725189208984,0,0,2.871392062575053],[-246.69054615008383,157.20004585006285,9.659725189208984,0,0,2.871392062575053],[-251.5091330153198,158.5346696255799,9.659725189208984,0,0,2.871392062575053],[-251.5091330153198,158.5346696255799,11.659725189208984,0,0,2.871392062575053],[-251.5091330153198,158.5346696255799,13.659725189208984,0,0,2.871392062575053],[-251.5091330153198,158.5346696255799,15.659725189208984,0,0,2.871392062575053],[-251.5091330153198,158.5346696255799,17.659725189208984,0,0,2.871392062575053]]}],"statistics":{"complete_actions":71,"sentence_actions":[10,16,30,15],"sentence_actions_average":17.75}}
diff --git a/scene_9/386CSBG1O8K305AYWZUTJZPVEMA6QK.json b/scene_9/386CSBG1O8K305AYWZUTJZPVEMA6QK.json
new file mode 100644
index 0000000000000000000000000000000000000000..891e334f633b0d9f21a2335074eb81e4dfd51254
--- /dev/null
+++ b/scene_9/386CSBG1O8K305AYWZUTJZPVEMA6QK.json
@@ -0,0 +1 @@
+{"episode_id":"386CSBG1O8K305AYWZUTJZPVEMA6QK","trajectory_id":"32FESTC2OPOHMVTNXWMZQHJ6P14CUD","scene_id":9,"instruction":"lift off and head straight towards the building. at the green building turn left until facing a house and head straight. at the house turn right facing the next house and land in front of it.","sentence_instructions":[{"id":0,"instruction":"lift off and head straight towards the building.","completed_instruction":"Take off, fly forward to the top of the roof of the light gray building, and then fly across the road to the top of the green roof.","start_frame":1,"end_frame":26,"start_position":[-255.26939392089844,62.84012222290039,19.14755630493164],"start_rotation":[0.99987627439081717,0,0,-0.01573009568754126],"end_position":[-160.3164067438628,59.851773823245175,7.147556304931641],"end_rotation":[0.99987627439081717,0,0,-0.01573009568754126],"actions":[4,4,4,4,4,4,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1],"reference_path":[[-255.26939392089844,62.84012222290039,19.14755630493164,0,0,-0.03146148891641268],[-255.26939392089844,62.84012222290039,17.14755630493164,0,0,-0.03146148891641268],[-255.26939392089844,62.84012222290039,15.14755630493164,0,0,-0.03146148891641268],[-255.26939392089844,62.84012222290039,13.14755630493164,0,0,-0.03146148891641268],[-255.26939392089844,62.84012222290039,11.14755630493164,0,0,-0.03146148891641268],[-255.26939392089844,62.84012222290039,9.14755630493164,0,0,-0.03146148891641268],[-255.26939392089844,62.84012222290039,7.147556304931641,0,0,-0.03146148891641268],[-250.27186828000183,62.682840728181695,7.147556304931641,0,0,-0.03146148891641268],[-245.2743426391052,62.525559233463,7.147556304931641,0,0,-0.03146148891641268],[-240.2768169982086,62.368277738744304,7.147556304931641,0,0,-0.03146148891641268],[-235.279291357312,62.21099624402561,7.147556304931641,0,0,-0.03146148891641268],[-230.28176571641538,62.05371474930691,7.147556304931641,0,0,-0.03146148891641268],[-225.28424007551877,61.89643325458822,7.147556304931641,0,0,-0.03146148891641268],[-220.28671443462216,61.73915175986952,7.147556304931641,0,0,-0.03146148891641268],[-215.28918879372554,61.581870265150826,7.147556304931641,0,0,-0.03146148891641268],[-210.29166315282893,61.42458877043213,7.147556304931641,0,0,-0.03146148891641268],[-205.29413751193232,61.267307275713435,7.147556304931641,0,0,-0.03146148891641268],[-200.2966118710357,61.11002578099474,7.147556304931641,0,0,-0.03146148891641268],[-195.2990862301391,60.952744286276044,7.147556304931641,0,0,-0.03146148891641268],[-190.30156058924248,60.79546279155735,7.147556304931641,0,0,-0.03146148891641268],[-185.30403494834587,60.63818129683865,7.147556304931641,0,0,-0.03146148891641268],[-180.30650930744926,60.48089980211996,7.147556304931641,0,0,-0.03146148891641268],[-175.30898366655265,60.32361830740126,7.147556304931641,0,0,-0.03146148891641268],[-170.31145802565604,60.166336812682566,7.147556304931641,0,0,-0.03146148891641268],[-165.31393238475943,60.00905531796387,7.147556304931641,0,0,-0.03146148891641268],[-160.3164067438628,59.851773823245175,7.147556304931641,0,0,-0.03146148891641268]]},{"id":1,"instruction":"at the green building turn left until facing a house and head straight.","completed_instruction":"Turn left toward the blue tanker truck with the white compartment, then fly straight up above the road, then turn right to face the white building at its second floor, and fly to the front of this building.","start_frame":26,"end_frame":47,"start_position":[-160.3164067438628,59.851773823245175,7.147556304931641],"start_rotation":[0.99987627439081717,0,0,-0.01573009568754126],"end_position":[-140.14436813216253,21.060508503235962,9.14755630493164],"end_rotation":[0.78367930663671881,0,0,-0.62116563358688126],"actions":[1,1,1,2,2,2,2,5,1,2,2,2,1,1,3,3,1,1,1,1,1,1],"reference_path":[[-160.3164067438628,59.851773823245175,7.147556304931641,0,0,-0.03146148891641268],[-155.3188811029662,59.69449232852648,7.147556304931641,0,0,-0.03146148891641268],[-150.3213554620696,59.537210833807784,7.147556304931641,0,0,-0.03146148891641268],[-145.32382982117298,59.37992933908909,7.147556304931641,0,0,-0.03146148891641268],[-145.32382982117298,59.37992933908909,7.147556304931641,0,0,-0.2932608767155621],[-145.32382982117298,59.37992933908909,7.147556304931641,0,0,-0.5550602645147116],[-145.32382982117298,59.37992933908909,7.147556304931641,0,0,-0.8168596523138609],[-145.32382982117298,59.37992933908909,7.147556304931641,0,0,-1.0786590401130103],[-145.32382982117298,59.37992933908909,9.14755630493164,0,0,-1.0786590401130103],[-142.96127677069626,54.97330443064917,9.14755630493164,0,0,-1.0786590401130103],[-142.96127677069626,54.97330443064917,9.14755630493164,0,0,-1.3404584279121599],[-142.96127677069626,54.97330443064917,9.14755630493164,0,0,-1.6022578157113092],[-142.96127677069626,54.97330443064917,9.14755630493164,0,0,-1.8640572035104586],[-144.40665384269462,50.1867727928407,9.14755630493164,0,0,-1.8640572035104586],[-145.852030914693,45.40024115503223,9.14755630493164,0,0,-1.8640572035104586],[-145.852030914693,45.40024115503223,9.14755630493164,0,0,-1.6022578157113092],[-145.852030914693,45.40024115503223,9.14755630493164,0,0,-1.3404584279121599],[-144.7104983581869,40.53229462467297,9.14755630493164,0,0,-1.3404584279121599],[-143.5689658016808,35.664348094313716,9.14755630493164,0,0,-1.3404584279121599],[-142.4274332451747,30.796401563954465,9.14755630493164,0,0,-1.3404584279121599],[-141.28590068866862,25.928455033595213,9.14755630493164,0,0,-1.3404584279121599],[-140.14436813216253,21.060508503235962,9.14755630493164,0,0,-1.3404584279121599]]},{"id":2,"instruction":"at the house turn right facing the next house and land in front of it.","completed_instruction":"Turn right to face the building on the grassland, then fly forward and land on the grass.","start_frame":47,"end_frame":62,"start_position":[-140.14436813216253,21.060508503235962,9.14755630493164],"start_rotation":[0.78367930663671881,0,0,-0.62116563358688126],"end_position":[-112.68229631665344,-13.729056504679908,17.14755630493164],"end_rotation":[0.91774557794417566,0,0,-0.39716879807445965],"actions":[1,3,1,3,1,1,5,1,1,1,1,1,5,5,5,0],"reference_path":[[-140.14436813216253,21.060508503235962,9.14755630493164,0,0,-1.3404584279121599],[-139.00283557565643,16.19256197287671,9.14755630493164,0,0,-1.3404584279121599],[-139.00283557565643,16.19256197287671,9.14755630493164,0,0,-1.0786590401130103],[-136.6402825251797,11.78593706443679,9.14755630493164,0,0,-1.0786590401130103],[-136.6402825251797,11.78593706443679,9.14755630493164,0,0,-0.8168596523138609],[-133.21771306681882,8.140937983134405,9.14755630493164,0,0,-0.8168596523138609],[-129.79514360845792,4.4959389018320195,9.14755630493164,0,0,-0.8168596523138609],[-129.79514360845792,4.4959389018320195,11.14755630493164,0,0,-0.8168596523138609],[-126.37257415009702,0.8509398205296339,11.14755630493164,0,0,-0.8168596523138609],[-122.95000469173613,-2.7940592607727517,11.14755630493164,0,0,-0.8168596523138609],[-119.52743523337523,-6.439058342075137,11.14755630493164,0,0,-0.8168596523138609],[-116.10486577501433,-10.084057423377523,11.14755630493164,0,0,-0.8168596523138609],[-112.68229631665344,-13.729056504679908,11.14755630493164,0,0,-0.8168596523138609],[-112.68229631665344,-13.729056504679908,13.14755630493164,0,0,-0.8168596523138609],[-112.68229631665344,-13.729056504679908,15.14755630493164,0,0,-0.8168596523138609],[-112.68229631665344,-13.729056504679908,17.14755630493164,0,0,-0.8168596523138609]]}],"statistics":{"complete_actions":64,"sentence_actions":[26,22,16],"sentence_actions_average":21.33}}
diff --git a/scene_9/39K0FND3AQDD2SO9UJ4OIV7C08YMA6.json b/scene_9/39K0FND3AQDD2SO9UJ4OIV7C08YMA6.json
new file mode 100644
index 0000000000000000000000000000000000000000..ae07aade677df2663145d2f400ad52a5255e2874
--- /dev/null
+++ b/scene_9/39K0FND3AQDD2SO9UJ4OIV7C08YMA6.json
@@ -0,0 +1 @@
+{"episode_id":"39K0FND3AQDD2SO9UJ4OIV7C08YMA6","trajectory_id":"3QHITW7OZW711NP8W963ALWTMDDAQ4","scene_id":9,"instruction":"take off and fly up until above the buildings. fly forward and turn slightly right few times towards a grey building when above red containers. fly forward and turn slightly right few times towards the blue buildings when above white tank trucks. fly forward and land in front of the blue building.","sentence_instructions":[{"id":0,"instruction":"take off and fly up until above the buildings.","completed_instruction":"Take off and ascend to the same height as the pipeline ahead.","start_frame":1,"end_frame":4,"start_position":[-195.8104705810547,22.185319900512695,19.42976188659668],"start_rotation":[0.99999999685439878,0,0,7.9317100249499972E-05],"end_position":[-195.8104705810547,22.185319900512695,13.42976188659668],"end_rotation":[0.99999999685439878,0,0,7.9317100249499972E-05],"actions":[4,4,4,4],"reference_path":[[-195.8104705810547,22.185319900512695,19.42976188659668,0,0,0.00015863420066533323],[-195.8104705810547,22.185319900512695,17.42976188659668,0,0,0.00015863420066533323],[-195.8104705810547,22.185319900512695,15.42976188659668,0,0,0.00015863420066533323],[-195.8104705810547,22.185319900512695,13.42976188659668,0,0,0.00015863420066533323]]},{"id":1,"instruction":"fly forward and turn slightly right few times towards a grey building when above red containers.","completed_instruction":"Fly forward until reaching the top of the red shipping container, and then turn right to face a row of white horizontal storage tanks.","start_frame":4,"end_frame":20,"start_position":[-195.8104705810547,22.185319900512695,13.42976188659668],"start_rotation":[0.99999999685439878,0,0,7.9317100249499972E-05],"end_position":[-130.9810475530828,23.48969930609605,9.42976188659668],"end_rotation":[0.99143450529604671,0,0,0.13060483034092968],"actions":[4,4,1,1,1,1,1,1,1,1,1,1,1,1,3,1,3],"reference_path":[[-195.8104705810547,22.185319900512695,13.42976188659668,0,0,0.00015863420066533323],[-195.8104705810547,22.185319900512695,11.42976188659668,0,0,0.00015863420066533323],[-195.8104705810547,22.185319900512695,9.42976188659668,0,0,0.00015863420066533323],[-190.8104706439667,22.186113071512697,9.42976188659668,0,0,0.00015863420066533323],[-185.81047070687873,22.1869062425127,9.42976188659668,0,0,0.00015863420066533323],[-180.81047076979075,22.1876994135127,9.42976188659668,0,0,0.00015863420066533323],[-175.81047083270278,22.1884925845127,9.42976188659668,0,0,0.00015863420066533323],[-170.8104708956148,22.189285755512703,9.42976188659668,0,0,0.00015863420066533323],[-165.81047095852682,22.190078926512705,9.42976188659668,0,0,0.00015863420066533323],[-160.81047102143884,22.190872097512706,9.42976188659668,0,0,0.00015863420066533323],[-155.81047108435087,22.191665268512708,9.42976188659668,0,0,0.00015863420066533323],[-150.8104711472629,22.19245843951271,9.42976188659668,0,0,0.00015863420066533323],[-145.8104712101749,22.19325161051271,9.42976188659668,0,0,0.00015863420066533323],[-140.81047127308693,22.194044781512712,9.42976188659668,0,0,0.00015863420066533323],[-135.81047133599895,22.194837952512714,9.42976188659668,0,0,0.00015863420066533323],[-135.81047133599895,22.194837952512714,9.42976188659668,0,0,0.26195802199981477],[-130.9810475530828,23.48969930609605,9.42976188659668,0,0,0.26195802199981477]]},{"id":2,"instruction":"fly forward and turn slightly right few times towards the blue buildings when above white tank trucks.","completed_instruction":"Fly forward over the white horizontal storage tanks and then turn right to face the red truck head.","start_frame":20,"end_frame":33,"start_position":[-130.9810475530828,23.48969930609605,9.42976188659668],"start_rotation":[0.99143450529604671,0,0,0.13060483034092968],"end_position":[-96.66697744708404,59.64507531839448,9.42976188659668],"end_rotation":[0.86598574251014326,0,0,0.50006868905097],"actions":[3,3,1,1,1,1,1,1,1,1,1,3,1,3],"reference_path":[[-130.9810475530828,23.48969930609605,9.42976188659668,0,0,0.26195802199981477],[-130.9810475530828,23.48969930609605,9.42976188659668,0,0,0.5237574097989642],[-130.9810475530828,23.48969930609605,9.42976188659668,0,0,0.7855567975981137],[-127.44607454822831,27.025794024136008,9.42976188659668,0,0,0.7855567975981137],[-123.91110154337383,30.561888742175967,9.42976188659668,0,0,0.7855567975981137],[-120.37612853851935,34.09798346021593,9.42976188659668,0,0,0.7855567975981137],[-116.84115553366487,37.63407817825589,9.42976188659668,0,0,0.7855567975981137],[-113.3061825288104,41.17017289629585,9.42976188659668,0,0,0.7855567975981137],[-109.77120952395592,44.706267614335815,9.42976188659668,0,0,0.7855567975981137],[-106.23623651910144,48.24236233237578,9.42976188659668,0,0,0.7855567975981137],[-102.70126351424696,51.77845705041574,9.42976188659668,0,0,0.7855567975981137],[-99.16629050939248,55.3145517684557,9.42976188659668,0,0,0.7855567975981137],[-99.16629050939248,55.3145517684557,9.42976188659668,0,0,1.0473561853972633],[-96.66697744708404,59.64507531839448,9.42976188659668,0,0,1.0473561853972633]]},{"id":3,"instruction":"fly forward and land in front of the blue building.","completed_instruction":"Fly straight ahead, pass over the green and red shipping containers ahead, and then land in the gap between the grass on the front.","start_frame":33,"end_frame":58,"start_position":[-96.66697744708404,59.64507531839448,9.42976188659668],"start_rotation":[0.86598574251014326,0,0,0.50006868905097],"end_position":[-96.682840867084,159.64507406015403,15.42976188659668],"end_rotation":[0.70705069330282111,0,0,0.70716286462172206],"actions":[3,3,1,1,1,1,5,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,5,5,0],"reference_path":[[-96.66697744708404,59.64507531839448,9.42976188659668,0,0,1.0473561853972633],[-96.66697744708404,59.64507531839448,9.42976188659668,0,0,1.3091555731964126],[-96.66697744708404,59.64507531839448,9.42976188659668,0,0,1.570954960995562],[-96.66777061808403,64.64507525548245,9.42976188659668,0,0,1.570954960995562],[-96.66856378908403,69.64507519257043,9.42976188659668,0,0,1.570954960995562],[-96.66935696008403,74.64507512965841,9.42976188659668,0,0,1.570954960995562],[-96.67015013108403,79.64507506674639,9.42976188659668,0,0,1.570954960995562],[-96.67015013108403,79.64507506674639,11.42976188659668,0,0,1.570954960995562],[-96.67094330208403,84.64507500383436,11.42976188659668,0,0,1.570954960995562],[-96.67173647308402,89.64507494092234,11.42976188659668,0,0,1.570954960995562],[-96.67252964408402,94.64507487801032,11.42976188659668,0,0,1.570954960995562],[-96.67332281508402,99.6450748150983,11.42976188659668,0,0,1.570954960995562],[-96.67411598608402,104.64507475218628,11.42976188659668,0,0,1.570954960995562],[-96.67490915708402,109.64507468927425,11.42976188659668,0,0,1.570954960995562],[-96.67570232808401,114.64507462636223,11.42976188659668,0,0,1.570954960995562],[-96.67649549908401,119.64507456345021,11.42976188659668,0,0,1.570954960995562],[-96.67728867008401,124.64507450053819,11.42976188659668,0,0,1.570954960995562],[-96.67808184108401,129.64507443762616,11.42976188659668,0,0,1.570954960995562],[-96.678875012084,134.64507437471414,11.42976188659668,0,0,1.570954960995562],[-96.679668183084,139.64507431180212,11.42976188659668,0,0,1.570954960995562],[-96.680461354084,144.6450742488901,11.42976188659668,0,0,1.570954960995562],[-96.681254525084,149.64507418597807,11.42976188659668,0,0,1.570954960995562],[-96.682047696084,154.64507412306605,11.42976188659668,0,0,1.570954960995562],[-96.682840867084,159.64507406015403,11.42976188659668,0,0,1.570954960995562],[-96.682840867084,159.64507406015403,13.42976188659668,0,0,1.570954960995562],[-96.682840867084,159.64507406015403,15.42976188659668,0,0,1.570954960995562]]}],"statistics":{"complete_actions":61,"sentence_actions":[4,17,14,26],"sentence_actions_average":15.25}}
diff --git a/scene_9/3DPNQGW4LUDWB0N0Y2NGGWOQIZM464.json b/scene_9/3DPNQGW4LUDWB0N0Y2NGGWOQIZM464.json
new file mode 100644
index 0000000000000000000000000000000000000000..d953e3c8021eadc972b4989dcb5ee8155a12ab01
--- /dev/null
+++ b/scene_9/3DPNQGW4LUDWB0N0Y2NGGWOQIZM464.json
@@ -0,0 +1 @@
+{"episode_id":"3DPNQGW4LUDWB0N0Y2NGGWOQIZM464","trajectory_id":"32FESTC2OPOHMVTNXWMZQHJ6P14CUD","scene_id":9,"instruction":"take off and move all the way forward until you reach the green buildings. turn left and move towards the containers, then land in the green area of the building in front of you.","sentence_instructions":[{"id":0,"instruction":"take off and move all the way forward until you reach the green buildings.","completed_instruction":"Take off and ascend to a height higher than the buildings in front, then fly straight ahead to the middle of a building with a green and rusty roof.","start_frame":1,"end_frame":26,"start_position":[-255.26939392089844,62.84012222290039,19.14755630493164],"start_rotation":[0.99987627439081717,0,0,-0.01573009568754126],"end_position":[-160.3164067438628,59.851773823245175,7.147556304931641],"end_rotation":[0.99987627439081717,0,0,-0.01573009568754126],"actions":[4,4,4,4,4,4,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1],"reference_path":[[-255.26939392089844,62.84012222290039,19.14755630493164,0,0,-0.03146148891641268],[-255.26939392089844,62.84012222290039,17.14755630493164,0,0,-0.03146148891641268],[-255.26939392089844,62.84012222290039,15.14755630493164,0,0,-0.03146148891641268],[-255.26939392089844,62.84012222290039,13.14755630493164,0,0,-0.03146148891641268],[-255.26939392089844,62.84012222290039,11.14755630493164,0,0,-0.03146148891641268],[-255.26939392089844,62.84012222290039,9.14755630493164,0,0,-0.03146148891641268],[-255.26939392089844,62.84012222290039,7.147556304931641,0,0,-0.03146148891641268],[-250.27186828000183,62.682840728181695,7.147556304931641,0,0,-0.03146148891641268],[-245.2743426391052,62.525559233463,7.147556304931641,0,0,-0.03146148891641268],[-240.2768169982086,62.368277738744304,7.147556304931641,0,0,-0.03146148891641268],[-235.279291357312,62.21099624402561,7.147556304931641,0,0,-0.03146148891641268],[-230.28176571641538,62.05371474930691,7.147556304931641,0,0,-0.03146148891641268],[-225.28424007551877,61.89643325458822,7.147556304931641,0,0,-0.03146148891641268],[-220.28671443462216,61.73915175986952,7.147556304931641,0,0,-0.03146148891641268],[-215.28918879372554,61.581870265150826,7.147556304931641,0,0,-0.03146148891641268],[-210.29166315282893,61.42458877043213,7.147556304931641,0,0,-0.03146148891641268],[-205.29413751193232,61.267307275713435,7.147556304931641,0,0,-0.03146148891641268],[-200.2966118710357,61.11002578099474,7.147556304931641,0,0,-0.03146148891641268],[-195.2990862301391,60.952744286276044,7.147556304931641,0,0,-0.03146148891641268],[-190.30156058924248,60.79546279155735,7.147556304931641,0,0,-0.03146148891641268],[-185.30403494834587,60.63818129683865,7.147556304931641,0,0,-0.03146148891641268],[-180.30650930744926,60.48089980211996,7.147556304931641,0,0,-0.03146148891641268],[-175.30898366655265,60.32361830740126,7.147556304931641,0,0,-0.03146148891641268],[-170.31145802565604,60.166336812682566,7.147556304931641,0,0,-0.03146148891641268],[-165.31393238475943,60.00905531796387,7.147556304931641,0,0,-0.03146148891641268],[-160.3164067438628,59.851773823245175,7.147556304931641,0,0,-0.03146148891641268]]},{"id":1,"instruction":"turn left and move towards the containers, then land in the green area of the building in front of you.","completed_instruction":"Turn left to face a two-story building with white walls and windows, then fly to the front of this building, then turn right to face another two-story building on the grass with white wall and windows, then fly forward and land on the grassy area in front of this building.","start_frame":26,"end_frame":62,"start_position":[-160.3164067438628,59.851773823245175,7.147556304931641],"start_rotation":[0.99987627439081717,0,0,-0.01573009568754126],"end_position":[-112.68229631665344,-13.729056504679908,17.14755630493164],"end_rotation":[0.91774557794417566,0,0,-0.39716879807445965],"actions":[1,1,1,2,2,2,2,5,1,2,2,2,1,1,3,3,1,1,1,1,1,1,3,1,3,1,1,5,1,1,1,1,1,5,5,5,0],"reference_path":[[-160.3164067438628,59.851773823245175,7.147556304931641,0,0,-0.03146148891641268],[-155.3188811029662,59.69449232852648,7.147556304931641,0,0,-0.03146148891641268],[-150.3213554620696,59.537210833807784,7.147556304931641,0,0,-0.03146148891641268],[-145.32382982117298,59.37992933908909,7.147556304931641,0,0,-0.03146148891641268],[-145.32382982117298,59.37992933908909,7.147556304931641,0,0,-0.2932608767155621],[-145.32382982117298,59.37992933908909,7.147556304931641,0,0,-0.5550602645147116],[-145.32382982117298,59.37992933908909,7.147556304931641,0,0,-0.8168596523138609],[-145.32382982117298,59.37992933908909,7.147556304931641,0,0,-1.0786590401130103],[-145.32382982117298,59.37992933908909,9.14755630493164,0,0,-1.0786590401130103],[-142.96127677069626,54.97330443064917,9.14755630493164,0,0,-1.0786590401130103],[-142.96127677069626,54.97330443064917,9.14755630493164,0,0,-1.3404584279121599],[-142.96127677069626,54.97330443064917,9.14755630493164,0,0,-1.6022578157113092],[-142.96127677069626,54.97330443064917,9.14755630493164,0,0,-1.8640572035104586],[-144.40665384269462,50.1867727928407,9.14755630493164,0,0,-1.8640572035104586],[-145.852030914693,45.40024115503223,9.14755630493164,0,0,-1.8640572035104586],[-145.852030914693,45.40024115503223,9.14755630493164,0,0,-1.6022578157113092],[-145.852030914693,45.40024115503223,9.14755630493164,0,0,-1.3404584279121599],[-144.7104983581869,40.53229462467297,9.14755630493164,0,0,-1.3404584279121599],[-143.5689658016808,35.664348094313716,9.14755630493164,0,0,-1.3404584279121599],[-142.4274332451747,30.796401563954465,9.14755630493164,0,0,-1.3404584279121599],[-141.28590068866862,25.928455033595213,9.14755630493164,0,0,-1.3404584279121599],[-140.14436813216253,21.060508503235962,9.14755630493164,0,0,-1.3404584279121599],[-139.00283557565643,16.19256197287671,9.14755630493164,0,0,-1.3404584279121599],[-139.00283557565643,16.19256197287671,9.14755630493164,0,0,-1.0786590401130103],[-136.6402825251797,11.78593706443679,9.14755630493164,0,0,-1.0786590401130103],[-136.6402825251797,11.78593706443679,9.14755630493164,0,0,-0.8168596523138609],[-133.21771306681882,8.140937983134405,9.14755630493164,0,0,-0.8168596523138609],[-129.79514360845792,4.4959389018320195,9.14755630493164,0,0,-0.8168596523138609],[-129.79514360845792,4.4959389018320195,11.14755630493164,0,0,-0.8168596523138609],[-126.37257415009702,0.8509398205296339,11.14755630493164,0,0,-0.8168596523138609],[-122.95000469173613,-2.7940592607727517,11.14755630493164,0,0,-0.8168596523138609],[-119.52743523337523,-6.439058342075137,11.14755630493164,0,0,-0.8168596523138609],[-116.10486577501433,-10.084057423377523,11.14755630493164,0,0,-0.8168596523138609],[-112.68229631665344,-13.729056504679908,11.14755630493164,0,0,-0.8168596523138609],[-112.68229631665344,-13.729056504679908,13.14755630493164,0,0,-0.8168596523138609],[-112.68229631665344,-13.729056504679908,15.14755630493164,0,0,-0.8168596523138609],[-112.68229631665344,-13.729056504679908,17.14755630493164,0,0,-0.8168596523138609]]}],"statistics":{"complete_actions":63,"sentence_actions":[26,37],"sentence_actions_average":31.5}}
diff --git a/scene_9/3DQQ64TANPJGU8OPN4S8HOYYXO2WPX.json b/scene_9/3DQQ64TANPJGU8OPN4S8HOYYXO2WPX.json
new file mode 100644
index 0000000000000000000000000000000000000000..b01878c98a79b9d40c159792aa02b26f8e6ef67c
--- /dev/null
+++ b/scene_9/3DQQ64TANPJGU8OPN4S8HOYYXO2WPX.json
@@ -0,0 +1 @@
+{"episode_id":"3DQQ64TANPJGU8OPN4S8HOYYXO2WPX","trajectory_id":"3YO4AH2FQLI50ARQ479ALFKGDR1Q0T","scene_id":9,"instruction":"take off, after rising to the height slightly higher from the road. turn right and fly forward over the fuel tankers. turn right at the grey roof building. fly forward to reach the white building near the natasha concrete barrel. land front of the above mentioned building.","sentence_instructions":[{"id":0,"instruction":"take off, after rising to the height slightly higher from the road.","completed_instruction":"Take off and ascend to the height slightly below the streetlights.","start_frame":1,"end_frame":4,"start_position":[-109.26811981201172,38.07033920288086,19.659725189208984],"start_rotation":[0.99999117748603916,0,0,-0.0042005892544999587],"end_position":[-109.26811981201172,38.07033920288086,13.659725189208984],"end_rotation":[0.99999117748603916,0,0,-0.0042005892544999587],"actions":[4,4,4,4],"reference_path":[[-109.26811981201172,38.07033920288086,19.659725189208984,0,0,-0.008401203215592002],[-109.26811981201172,38.07033920288086,17.659725189208984,0,0,-0.008401203215592002],[-109.26811981201172,38.07033920288086,15.659725189208984,0,0,-0.008401203215592002],[-109.26811981201172,38.07033920288086,13.659725189208984,0,0,-0.008401203215592002]]},{"id":1,"instruction":"turn right and fly forward over the fuel tankers.","completed_instruction":"Turn right to face an oil tanker with red front and white body, and fly forward until passing the mentioned tanker.","start_frame":4,"end_frame":20,"start_position":[-109.26811981201172,38.07033920288086,13.659725189208984],"start_rotation":[0.99999117748603916,0,0,-0.0042005892544999587],"end_position":[-108.93207563643227,78.06892760687406,9.659725189208984],"end_rotation":[0.71007080787393506,0,0,0.70413027758026225],"actions":[4,4,3,3,3,3,3,3,1,1,1,1,1,1,1,1,1],"reference_path":[[-109.26811981201172,38.07033920288086,13.659725189208984,0,0,-0.008401203215592002],[-109.26811981201172,38.07033920288086,11.659725189208984,0,0,-0.008401203215592002],[-109.26811981201172,38.07033920288086,9.659725189208984,0,0,-0.008401203215592002],[-109.26811981201172,38.07033920288086,9.659725189208984,0,0,0.2533981845835574],[-109.26811981201172,38.07033920288086,9.659725189208984,0,0,0.5151975723827068],[-109.26811981201172,38.07033920288086,9.659725189208984,0,0,0.7769969601818563],[-109.26811981201172,38.07033920288086,9.659725189208984,0,0,1.0387963479810056],[-109.26811981201172,38.07033920288086,9.659725189208984,0,0,1.3005957357801552],[-109.26811981201172,38.07033920288086,9.659725189208984,0,0,1.5623951235793045],[-109.22611429006429,43.07016275338001,9.659725189208984,0,0,1.5623951235793045],[-109.18410876811686,48.06998630387916,9.659725189208984,0,0,1.5623951235793045],[-109.14210324616943,53.06980985437831,9.659725189208984,0,0,1.5623951235793045],[-109.100097724222,58.069633404877464,9.659725189208984,0,0,1.5623951235793045],[-109.05809220227457,63.069456955376616,9.659725189208984,0,0,1.5623951235793045],[-109.01608668032713,68.06928050587577,9.659725189208984,0,0,1.5623951235793045],[-108.9740811583797,73.06910405637491,9.659725189208984,0,0,1.5623951235793045],[-108.93207563643227,78.06892760687406,9.659725189208984,0,0,1.5623951235793045]]},{"id":2,"instruction":"turn right at the grey roof building.","completed_instruction":"Turn right to face the blue semi-trailer head.","start_frame":20,"end_frame":26,"start_position":[-108.93207563643227,78.06892760687406,9.659725189208984],"start_rotation":[0.71007080787393506,0,0,0.70413027758026225],"end_position":[-108.80605907058998,93.06839825837149,9.659725189208984],"end_rotation":[0.38656089457188414,0,0,0.92226388565734518],"actions":[1,1,1,3,3,3,3],"reference_path":[[-108.93207563643227,78.06892760687406,9.659725189208984,0,0,1.5623951235793045],[-108.89007011448484,83.0687511573732,9.659725189208984,0,0,1.5623951235793045],[-108.84806459253741,88.06857470787234,9.659725189208984,0,0,1.5623951235793045],[-108.80605907058998,93.06839825837149,9.659725189208984,0,0,1.5623951235793045],[-108.80605907058998,93.06839825837149,9.659725189208984,0,0,1.8241945113784543],[-108.80605907058998,93.06839825837149,9.659725189208984,0,0,2.085993899177604],[-108.80605907058998,93.06839825837149,9.659725189208984,0,0,2.3477932869767537]]},{"id":3,"instruction":"fly forward to reach the white building near the natasha concrete barrel.","completed_instruction":"Fly forward over the pipes and the road, and then fly straight ahead to the wide and short cylindrical building with the word \"Naftusha\" written on the left side.","start_frame":26,"end_frame":54,"start_position":[-108.80605907058998,93.06839825837149,9.659725189208984],"start_rotation":[0.38656089457188414,0,0,0.92226388565734518],"end_position":[-215.62968564446615,138.2205056909715,9.659725189208984],"end_rotation":[0.13468969328201397,0,0,0.99088782741720927],"actions":[3,3,1,1,1,1,1,1,1,6,1,1,1,1,1,1,6,1,1,1,1,1,1,6,1,1,1,1,6],"reference_path":[[-108.80605907058998,93.06839825837149,9.659725189208984,0,0,2.3477932869767537],[-108.80605907058998,93.06839825837149,9.659725189208984,0,0,2.6095926747759033],[-108.80605907058998,93.06839825837149,9.659725189208984,0,0,2.871392062575053],[-113.62464593582595,94.40302203388853,9.659725189208984,0,0,2.871392062575053],[-118.44323280106192,95.73764580940558,9.659725189208984,0,0,2.871392062575053],[-123.2618196662979,97.07226958492262,9.659725189208984,0,0,2.871392062575053],[-128.08040653153387,98.40689336043967,9.659725189208984,0,0,2.871392062575053],[-132.89899339676984,99.74151713595671,9.659725189208984,0,0,2.871392062575053],[-137.7175802620058,101.07614091147376,9.659725189208984,0,0,2.871392062575053],[-142.53616712724178,102.4107646869908,9.659725189208984,0,0,2.871392062575053],[-141.20154335172472,107.22935155222677,9.659725189208984,0,0,2.871392062575053],[-146.0201302169607,108.56397532774382,9.659725189208984,0,0,2.871392062575053],[-150.83871708219667,109.89859910326086,9.659725189208984,0,0,2.871392062575053],[-155.65730394743264,111.23322287877791,9.659725189208984,0,0,2.871392062575053],[-160.4758908126686,112.56784665429495,9.659725189208984,0,0,2.871392062575053],[-165.29447767790458,113.902470429812,9.659725189208984,0,0,2.871392062575053],[-170.11306454314055,115.23709420532904,9.659725189208984,0,0,2.871392062575053],[-168.7784407676235,120.05568107056502,9.659725189208984,0,0,2.871392062575053],[-173.59702763285947,121.39030484608206,9.659725189208984,0,0,2.871392062575053],[-178.41561449809544,122.7249286215991,9.659725189208984,0,0,2.871392062575053],[-183.2342013633314,124.05955239711615,9.659725189208984,0,0,2.871392062575053],[-188.05278822856738,125.3941761726332,9.659725189208984,0,0,2.871392062575053],[-192.87137509380335,126.72879994815024,9.659725189208984,0,0,2.871392062575053],[-197.68996195903932,128.06342372366728,9.659725189208984,0,0,2.871392062575053],[-196.35533818352226,132.88201058890326,9.659725189208984,0,0,2.871392062575053],[-201.17392504875824,134.21663436442032,9.659725189208984,0,0,2.871392062575053],[-205.9925119139942,135.55125813993737,9.659725189208984,0,0,2.871392062575053],[-210.81109877923018,136.88588191545443,9.659725189208984,0,0,2.871392062575053],[-215.62968564446615,138.2205056909715,9.659725189208984,0,0,2.871392062575053]]},{"id":4,"instruction":"land front of the above mentioned building.","completed_instruction":"Move left towards the white two-story building behind the mentioned building, and then fly forward to it, land on the ground in front of the building.","start_frame":54,"end_frame":68,"start_position":[-215.62968564446615,138.2205056909715,9.659725189208984],"start_rotation":[0.13468969328201397,0,0,0.99088782741720927],"end_position":[-251.5091330153198,158.5346696255799,17.659725189208984],"end_rotation":[0.13468969328201397,0,0,0.99088782741720927],"actions":[6,1,1,1,1,6,1,1,1,1,5,5,5,5,0],"reference_path":[[-215.62968564446615,138.2205056909715,9.659725189208984,0,0,2.871392062575053],[-214.2950618689491,143.03909255620746,9.659725189208984,0,0,2.871392062575053],[-219.11364873418506,144.37371633172452,9.659725189208984,0,0,2.871392062575053],[-223.93223559942103,145.70834010724158,9.659725189208984,0,0,2.871392062575053],[-228.750822464657,147.04296388275864,9.659725189208984,0,0,2.871392062575053],[-233.56940932989298,148.3775876582757,9.659725189208984,0,0,2.871392062575053],[-232.23478555437592,153.19617452351167,9.659725189208984,0,0,2.871392062575053],[-237.0533724196119,154.53079829902873,9.659725189208984,0,0,2.871392062575053],[-241.87195928484786,155.8654220745458,9.659725189208984,0,0,2.871392062575053],[-246.69054615008383,157.20004585006285,9.659725189208984,0,0,2.871392062575053],[-251.5091330153198,158.5346696255799,9.659725189208984,0,0,2.871392062575053],[-251.5091330153198,158.5346696255799,11.659725189208984,0,0,2.871392062575053],[-251.5091330153198,158.5346696255799,13.659725189208984,0,0,2.871392062575053],[-251.5091330153198,158.5346696255799,15.659725189208984,0,0,2.871392062575053],[-251.5091330153198,158.5346696255799,17.659725189208984,0,0,2.871392062575053]]}],"statistics":{"complete_actions":72,"sentence_actions":[4,17,7,29,15],"sentence_actions_average":14.4}}
diff --git a/scene_9/3EJJQNKU903J9V9F5XAXLGOQJS6HRN.json b/scene_9/3EJJQNKU903J9V9F5XAXLGOQJS6HRN.json
new file mode 100644
index 0000000000000000000000000000000000000000..643369acb7e76f1c4a9baec15c69ced6e221b076
--- /dev/null
+++ b/scene_9/3EJJQNKU903J9V9F5XAXLGOQJS6HRN.json
@@ -0,0 +1 @@
+{"episode_id":"3EJJQNKU903J9V9F5XAXLGOQJS6HRN","trajectory_id":"338GLSUI5B98AULTZTH0JMML1HBSFO","scene_id":9,"instruction":"lift off above the buildings and head straight towards the blue semi. at the red convex turn facing the green building and head straight. at the green building turn left facing the building with numbers on it and head straight. at the numbered building turn right facing just right of the blue building and head straight. in front of the blue building land.","sentence_instructions":[{"id":0,"instruction":"lift off above the buildings and head straight towards the blue semi.","completed_instruction":"Take off and fly forward to the upper left side of the blue semi-trailer\u0027s front section.","start_frame":0,"end_frame":7,"start_position":[-195.8104705810547,22.185319900512695,19.42976188659668],"start_rotation":[0.99987271719704085,0,0,-0.0159546045079901],"end_position":[-185.8155615691548,21.86626842528853,9.42976188659668],"end_rotation":[0.99987271719704085,0,0,-0.0159546045079901],"actions":[4,4,4,4,4,1,1,1],"reference_path":[[-195.8104705810547,22.185319900512695,19.42976188659668,0,0,-0.03191056291609965],[-195.8104705810547,22.185319900512695,17.42976188659668,0,0,-0.03191056291609965],[-195.8104705810547,22.185319900512695,15.42976188659668,0,0,-0.03191056291609965],[-195.8104705810547,22.185319900512695,13.42976188659668,0,0,-0.03191056291609965],[-195.8104705810547,22.185319900512695,11.42976188659668,0,0,-0.03191056291609965],[-195.8104705810547,22.185319900512695,9.42976188659668,0,0,-0.03191056291609965],[-190.81301607510474,22.025794162900613,9.42976188659668,0,0,-0.03191056291609965],[-185.8155615691548,21.86626842528853,9.42976188659668,0,0,-0.03191056291609965]]},{"id":1,"instruction":"at the red convex turn facing the green building and head straight.","completed_instruction":"Fly forward towards the red shipping container, then turn right to face the green building, and then fly to the top of the middle roof of the green building.","start_frame":7,"end_frame":30,"start_position":[-185.8155615691548,21.86626842528853,9.42976188659668],"start_rotation":[0.99987271719704085,0,0,-0.0159546045079901],"end_position":[-134.04414162480427,60.165119811259856,9.42976188659668],"end_rotation":[0.80296490789389885,0,0,0.59602630536826351],"actions":[1,1,1,1,1,1,1,1,1,3,3,3,3,3,1,1,1,1,1,1,7,1,1,1],"reference_path":[[-185.8155615691548,21.86626842528853,9.42976188659668,0,0,-0.03191056291609965],[-180.81810706320485,21.70674268767645,9.42976188659668,0,0,-0.03191056291609965],[-175.8206525572549,21.547216950064367,9.42976188659668,0,0,-0.03191056291609965],[-170.82319805130496,21.387691212452285,9.42976188659668,0,0,-0.03191056291609965],[-165.825743545355,21.228165474840203,9.42976188659668,0,0,-0.03191056291609965],[-160.82828903940506,21.06863973722812,9.42976188659668,0,0,-0.03191056291609965],[-155.83083453345512,20.90911399961604,9.42976188659668,0,0,-0.03191056291609965],[-150.83338002750517,20.749588262003957,9.42976188659668,0,0,-0.03191056291609965],[-145.83592552155523,20.590062524391875,9.42976188659668,0,0,-0.03191056291609965],[-140.83847101560528,20.430536786779793,9.42976188659668,0,0,-0.03191056291609965],[-140.83847101560528,20.430536786779793,9.42976188659668,0,0,0.2298888248830498],[-140.83847101560528,20.430536786779793,9.42976188659668,0,0,0.4916882126821992],[-140.83847101560528,20.430536786779793,9.42976188659668,0,0,0.7534876004813487],[-140.83847101560528,20.430536786779793,9.42976188659668,0,0,1.015286988280498],[-140.83847101560528,20.430536786779793,9.42976188659668,0,0,1.2770863760796476],[-139.3909445825147,25.216418860703477,9.42976188659668,0,0,1.2770863760796476],[-137.9434181494241,30.00230093462716,9.42976188659668,0,0,1.2770863760796476],[-136.49589171633352,34.788183008550845,9.42976188659668,0,0,1.2770863760796476],[-135.04836528324293,39.57406508247453,9.42976188659668,0,0,1.2770863760796476],[-133.60083885015234,44.35994715639822,9.42976188659668,0,0,1.2770863760796476],[-132.15331241706176,49.14582923032191,9.42976188659668,0,0,1.2770863760796476],[-136.93919449098544,50.59335566341248,9.42976188659668,0,0,1.2770863760796476],[-135.49166805789486,55.37923773733617,9.42976188659668,0,0,1.2770863760796476],[-134.04414162480427,60.165119811259856,9.42976188659668,0,0,1.2770863760796476]]},{"id":2,"instruction":"at the green building turn left facing the building with numbers on it and head straight.","completed_instruction":"Turn left to face the grey building with three doors, then fly forward until reaching the top of the white car.","start_frame":30,"end_frame":42,"start_position":[-134.04414162480427,60.165119811259856,9.42976188659668],"start_rotation":[0.80296490789389885,0,0,0.59602630536826351],"end_position":[-107.53530724047195,86.68740232123606,9.42976188659668],"end_rotation":[0.99340116126768008,0,0,0.11469146782574818],"actions":[1,1,2,1,2,1,1,2,1,1,2,1,2],"reference_path":[[-134.04414162480427,60.165119811259856,9.42976188659668,0,0,1.2770863760796476],[-132.59661519171368,64.95100188518354,9.42976188659668,0,0,1.2770863760796476],[-131.1490887586231,69.73688395910723,9.42976188659668,0,0,1.2770863760796476],[-131.1490887586231,69.73688395910723,9.42976188659668,0,0,1.0152869882804982],[-128.51220816431862,73.98504364671085,9.42976188659668,0,0,1.0152869882804982],[-128.51220816431862,73.98504364671085,9.42976188659668,0,0,0.7534876004813489],[-124.86567246365087,77.40597588570003,9.42976188659668,0,0,0.7534876004813489],[-121.21913676298311,80.82690812468921,9.42976188659668,0,0,0.7534876004813489],[-121.21913676298311,80.82690812468921,9.42976188659668,0,0,0.4916882126821995],[-116.81145133776741,83.18748203633467,9.42976188659668,0,0,0.4916882126821995],[-112.4037659125517,85.54805594798013,9.42976188659668,0,0,0.4916882126821995],[-112.4037659125517,85.54805594798013,9.42976188659668,0,0,0.2298888248830501],[-107.53530724047195,86.68740232123606,9.42976188659668,0,0,0.2298888248830501]]},{"id":3,"instruction":"at the numbered building turn right facing just right of the blue building and head straight.","completed_instruction":"Turn right to face the blue factory, then fly forward to the top of the green shipping container, and then turn right again to face the blue shipping container.","start_frame":42,"end_frame":50,"start_position":[-107.53530724047195,86.68740232123606,9.42976188659668],"start_rotation":[0.99340116126768008,0,0,0.11469146782574818],"end_position":[-101.09032630143145,91.31375865754767,9.42976188659668],"end_rotation":[0.80296490789389885,0,0,0.59602630536826351],"actions":[2,1,3,3,3,3,3,1,1],"reference_path":[[-107.53530724047195,86.68740232123606,9.42976188659668,0,0,0.2298888248830501],[-107.53530724047195,86.68740232123606,9.42976188659668,0,0,-0.031910562916099346],[-102.53785273452202,86.52787658362398,9.42976188659668,0,0,-0.031910562916099346],[-102.53785273452202,86.52787658362398,9.42976188659668,0,0,0.2298888248830501],[-102.53785273452202,86.52787658362398,9.42976188659668,0,0,0.49168821268219953],[-102.53785273452202,86.52787658362398,9.42976188659668,0,0,0.7534876004813489],[-102.53785273452202,86.52787658362398,9.42976188659668,0,0,1.0152869882804982],[-102.53785273452202,86.52787658362398,9.42976188659668,0,0,1.2770863760796478],[-101.09032630143145,91.31375865754767,9.42976188659668,0,0,1.2770863760796478]]},{"id":4,"instruction":"in front of the blue building land.","completed_instruction":"Fly through all the colored shipping containers ahead, and then land in the bushes in front of the first blue warehouse.","start_frame":50,"end_frame":68,"start_position":[-101.09032630143145,91.31375865754767,9.42976188659668],"start_rotation":[0.80296490789389885,0,0,0.59602630536826351],"end_position":[-97.88801675460793,151.07164029692066,17.42976188659668],"end_rotation":[0.80296490789389874,0,0,0.59602630536826362],"actions":[1,3,1,1,1,1,1,1,1,1,1,1,1,5,5,2,5,5,0],"reference_path":[[-101.09032630143145,91.31375865754767,9.42976188659668,0,0,1.2770863760796478],[-99.64279986834087,96.09964073147135,9.42976188659668,0,0,1.2770863760796478],[-99.64279986834087,96.09964073147135,9.42976188659668,0,0,1.5388857638787972],[-99.48327413072879,101.09709523742129,9.42976188659668,0,0,1.5388857638787972],[-99.3237483931167,106.09454974337122,9.42976188659668,0,0,1.5388857638787972],[-99.16422265550462,111.09200424932115,9.42976188659668,0,0,1.5388857638787972],[-99.00469691789253,116.08945875527108,9.42976188659668,0,0,1.5388857638787972],[-98.84517118028045,121.08691326122101,9.42976188659668,0,0,1.5388857638787972],[-98.68564544266836,126.08436776717095,9.42976188659668,0,0,1.5388857638787972],[-98.52611970505627,131.08182227312088,9.42976188659668,0,0,1.5388857638787972],[-98.36659396744419,136.07927677907082,9.42976188659668,0,0,1.5388857638787972],[-98.2070682298321,141.07673128502077,9.42976188659668,0,0,1.5388857638787972],[-98.04754249222002,146.07418579097072,9.42976188659668,0,0,1.5388857638787972],[-97.88801675460793,151.07164029692066,9.42976188659668,0,0,1.5388857638787972],[-97.88801675460793,151.07164029692066,11.42976188659668,0,0,1.5388857638787972],[-97.88801675460793,151.07164029692066,13.42976188659668,0,0,1.5388857638787972],[-97.88801675460793,151.07164029692066,13.42976188659668,0,0,1.277086376079648],[-97.88801675460793,151.07164029692066,15.42976188659668,0,0,1.277086376079648],[-97.88801675460793,151.07164029692066,17.42976188659668,0,0,1.277086376079648]]}],"statistics":{"complete_actions":73,"sentence_actions":[8,24,13,9,19],"sentence_actions_average":14.6}}
diff --git a/scene_9/3FFJ6VRILAMV5W00H2931WOIA9A0ID.json b/scene_9/3FFJ6VRILAMV5W00H2931WOIA9A0ID.json
new file mode 100644
index 0000000000000000000000000000000000000000..1bebb602b1d002430d53a66bfc689062151b63a1
--- /dev/null
+++ b/scene_9/3FFJ6VRILAMV5W00H2931WOIA9A0ID.json
@@ -0,0 +1 @@
+{"episode_id":"3FFJ6VRILAMV5W00H2931WOIA9A0ID","trajectory_id":"3IHWR4LC8LBA118AM3HG5SZC5FWI85","scene_id":9,"instruction":"take of and turn to the right and go behind red truck and then turn right. go by gray building with many windows and then to pipes. turn right at the pipes and go on top of the one on left and land on middle of it.","sentence_instructions":[{"id":0,"instruction":"take of and turn to the right and go behind red truck and then turn right.","completed_instruction":"Take off, then turn right to face the blue factory in the distance, then fly forward to above the grass between the red truck and the gray house, and then turn right to face the gray-roofed building.","start_frame":0,"end_frame":23,"start_position":[-109.26811981201172,38.07033920288086,19.659725189208984],"start_rotation":[0.99999205503423116,0,0,-0.0039862097806341971],"end_position":[-91.12338491946534,84.9293681693374,7.659725189208984],"end_rotation":[0.70991983921449464,0,0,0.70428248728025755],"actions":[4,4,4,4,4,3,3,3,3,3,1,1,1,1,1,1,1,4,6,1,1,1,3,3],"reference_path":[[-109.26811981201172,38.07033920288086,19.659725189208984,0,0,-0.007972440674868997],[-109.26811981201172,38.07033920288086,17.659725189208984,0,0,-0.007972440674868997],[-109.26811981201172,38.07033920288086,15.659725189208984,0,0,-0.007972440674868997],[-109.26811981201172,38.07033920288086,13.659725189208984,0,0,-0.007972440674868997],[-109.26811981201172,38.07033920288086,11.659725189208984,0,0,-0.007972440674868997],[-109.26811981201172,38.07033920288086,9.659725189208984,0,0,-0.007972440674868997],[-109.26811981201172,38.07033920288086,9.659725189208984,0,0,0.25382694712428044],[-109.26811981201172,38.07033920288086,9.659725189208984,0,0,0.5156263349234299],[-109.26811981201172,38.07033920288086,9.659725189208984,0,0,0.7774257227225793],[-109.26811981201172,38.07033920288086,9.659725189208984,0,0,1.0392251105217287],[-109.26811981201172,38.07033920288086,9.659725189208984,0,0,1.301024498320878],[-107.93556218865521,42.88949786186216,9.659725189208984,0,0,1.301024498320878],[-106.6030045652987,47.70865652084346,9.659725189208984,0,0,1.301024498320878],[-105.2704469419422,52.52781517982476,9.659725189208984,0,0,1.301024498320878],[-103.93788931858569,57.346973838806065,9.659725189208984,0,0,1.301024498320878],[-102.60533169522918,62.166132497787366,9.659725189208984,0,0,1.301024498320878],[-101.27277407187267,66.98529115676867,9.659725189208984,0,0,1.301024498320878],[-99.94021644851617,71.80444981574998,9.659725189208984,0,0,1.301024498320878],[-99.94021644851617,71.80444981574998,7.659725189208984,0,0,1.301024498320878],[-95.12105778953486,70.47189219239347,7.659725189208984,0,0,1.301024498320878],[-93.78850016617835,75.29105085137478,7.659725189208984,0,0,1.301024498320878],[-92.45594254282184,80.11020951035609,7.659725189208984,0,0,1.301024498320878],[-91.12338491946534,84.9293681693374,7.659725189208984,0,0,1.301024498320878],[-91.12338491946534,84.9293681693374,7.659725189208984,0,0,1.5628238861200276]]},{"id":1,"instruction":"go by gray building with many windows and then to pipes.","completed_instruction":"Fly forward to the middle of the grey roof, then turn left to face the building at its second floor which has many small windows, then fly to the top of the roof, then turn left to face the three cylindrical structures, and fly to the front of the cylindrical objects.","start_frame":23,"end_frame":52,"start_position":[-91.12338491946534,84.9293681693374,7.659725189208984],"start_rotation":[0.70991983921449464,0,0,0.70428248728025755],"end_position":[-120.85656376738444,173.0724800499135,5.659725189208984],"end_rotation":[0.70991983921449464,0,0,0.70428248728025755],"actions":[3,3,1,1,5,1,1,1,1,1,1,1,1,2,1,4,1,1,1,6,1,4,1,3,1,2,2,1,1,1],"reference_path":[[-91.12338491946534,84.9293681693374,7.659725189208984,0,0,1.5628238861200276],[-91.12338491946534,84.9293681693374,7.659725189208984,0,0,1.824623273919177],[-91.12338491946534,84.9293681693374,7.659725189208984,0,0,2.0864226617183266],[-93.58878415504768,89.27928846851415,7.659725189208984,0,0,2.0864226617183266],[-96.05418339063002,93.62920876769091,7.659725189208984,0,0,2.0864226617183266],[-96.05418339063002,93.62920876769091,9.659725189208984,0,0,2.0864226617183266],[-98.51958262621235,97.97912906686767,9.659725189208984,0,0,2.0864226617183266],[-100.9849818617947,102.32904936604443,9.659725189208984,0,0,2.0864226617183266],[-103.45038109737703,106.67896966522119,9.659725189208984,0,0,2.0864226617183266],[-105.91578033295937,111.02888996439795,9.659725189208984,0,0,2.0864226617183266],[-108.38117956854171,115.3788102635747,9.659725189208984,0,0,2.0864226617183266],[-110.84657880412405,119.72873056275147,9.659725189208984,0,0,2.0864226617183266],[-113.31197803970639,124.07865086192822,9.659725189208984,0,0,2.0864226617183266],[-115.77737727528873,128.42857116110497,9.659725189208984,0,0,2.0864226617183266],[-115.77737727528873,128.42857116110497,9.659725189208984,0,0,1.824623273919177],[-117.03292785094604,133.26836379632877,9.659725189208984,0,0,1.824623273919177],[-117.03292785094604,133.26836379632877,7.659725189208984,0,0,1.824623273919177],[-118.28847842660335,138.10815643155257,7.659725189208984,0,0,1.824623273919177],[-119.54402900226066,142.94794906677637,7.659725189208984,0,0,1.824623273919177],[-120.79957957791797,147.78774170200018,7.659725189208984,0,0,1.824623273919177],[-115.95978694269417,149.04329227765749,7.659725189208984,0,0,1.824623273919177],[-117.21533751835148,153.8830849128813,7.659725189208984,0,0,1.824623273919177],[-117.21533751835148,153.8830849128813,5.659725189208984,0,0,1.824623273919177],[-118.47088809400879,158.7228775481051,5.659725189208984,0,0,1.824623273919177],[-118.47088809400879,158.7228775481051,5.659725189208984,0,0,2.0864226617183266],[-120.93628732959112,163.07279784728183,5.659725189208984,0,0,2.0864226617183266],[-120.93628732959112,163.07279784728183,5.659725189208984,0,0,1.824623273919177],[-120.93628732959112,163.07279784728183,5.659725189208984,0,0,1.5628238861200276],[-120.89642554848778,168.07263894859767,5.659725189208984,0,0,1.5628238861200276],[-120.85656376738444,173.0724800499135,5.659725189208984,0,0,1.5628238861200276]]},{"id":2,"instruction":"turn right at the pipes and go on top of the one on left and land on middle of it.","completed_instruction":"Turn right to face the large cylindrical object with a railing on the top, then ascend in height while moving forward to the top of the mentioned object, finally land on top of it.","start_frame":52,"end_frame":70,"start_position":[-120.85656376738444,173.0724800499135,5.659725189208984],"start_rotation":[0.70991983921449464,0,0,0.70428248728025755],"end_position":[-140.50003408983648,217.87152464595914,-2.3402748107910156],"end_rotation":[0.50344818645195877,0,0,0.86402541835193358],"actions":[1,1,3,3,1,1,4,1,4,1,4,1,4,1,1,4,1,5,0],"reference_path":[[-120.85656376738444,173.0724800499135,5.659725189208984,0,0,1.5628238861200276],[-120.8167019862811,178.07232115122935,5.659725189208984,0,0,1.5628238861200276],[-120.77684020517776,183.07216225254518,5.659725189208984,0,0,1.5628238861200276],[-120.77684020517776,183.07216225254518,5.659725189208984,0,0,1.824623273919177],[-120.77684020517776,183.07216225254518,5.659725189208984,0,0,2.0864226617183266],[-123.2422394407601,187.42208255172193,5.659725189208984,0,0,2.0864226617183266],[-125.70763867634244,191.77200285089867,5.659725189208984,0,0,2.0864226617183266],[-125.70763867634244,191.77200285089867,3.6597251892089844,0,0,2.0864226617183266],[-128.17303791192478,196.12192315007542,3.6597251892089844,0,0,2.0864226617183266],[-128.17303791192478,196.12192315007542,1.6597251892089844,0,0,2.0864226617183266],[-130.63843714750712,200.47184344925216,1.6597251892089844,0,0,2.0864226617183266],[-130.63843714750712,200.47184344925216,-0.3402748107910156,0,0,2.0864226617183266],[-133.10383638308946,204.8217637484289,-0.3402748107910156,0,0,2.0864226617183266],[-133.10383638308946,204.8217637484289,-2.3402748107910156,0,0,2.0864226617183266],[-135.5692356186718,209.17168404760565,-2.3402748107910156,0,0,2.0864226617183266],[-138.03463485425414,213.5216043467824,-2.3402748107910156,0,0,2.0864226617183266],[-138.03463485425414,213.5216043467824,-4.340274810791016,0,0,2.0864226617183266],[-140.50003408983648,217.87152464595914,-4.340274810791016,0,0,2.0864226617183266],[-140.50003408983648,217.87152464595914,-2.3402748107910156,0,0,2.0864226617183266]]}],"statistics":{"complete_actions":73,"sentence_actions":[24,30,19],"sentence_actions_average":24.33}}
diff --git a/scene_9/3FQ5JJ512UMPWNIVIBWDPOZ8AJDKNC.json b/scene_9/3FQ5JJ512UMPWNIVIBWDPOZ8AJDKNC.json
new file mode 100644
index 0000000000000000000000000000000000000000..1b7acd896cd0321f105fad3fa4f1d06a23b343b8
--- /dev/null
+++ b/scene_9/3FQ5JJ512UMPWNIVIBWDPOZ8AJDKNC.json
@@ -0,0 +1 @@
+{"episode_id":"3FQ5JJ512UMPWNIVIBWDPOZ8AJDKNC","trajectory_id":"3S8APUMBK5H9T84RO7V5TXCLWQHFBV","scene_id":9,"instruction":"rise up and turn slightly right flying over the large grey silo. head over the lorry car park in the centre and head towards the old dark grey ruined warehouses. land in front of the warehouses.","sentence_instructions":[{"id":0,"instruction":"rise up and turn slightly right flying over the large grey silo.","completed_instruction":"Take off, ascend until be level with the railing, then turn right towards the thick cylinder in the distance, and then fly forward until reaching the second railing.","start_frame":0,"end_frame":20,"start_position":[-268.3119812011719,93.33352661132812,18.28487205505371],"start_rotation":[0.99973982029092345,0,0,-0.0228099040916885],"end_position":[-246.75288752434608,127.026337117931,2.284872055053711],"end_rotation":[0.87720503359267343,0,0,0.48011595374417282],"actions":[4,4,4,4,4,4,4,4,3,3,3,3,1,1,1,1,1,1,1,1,1],"reference_path":[[-268.3119812011719,93.33352661132812,18.28487205505371,0,0,-0.04562376504465183],[-268.3119812011719,93.33352661132812,16.28487205505371,0,0,-0.04562376504465183],[-268.3119812011719,93.33352661132812,14.284872055053711,0,0,-0.04562376504465183],[-268.3119812011719,93.33352661132812,12.284872055053711,0,0,-0.04562376504465183],[-268.3119812011719,93.33352661132812,10.284872055053711,0,0,-0.04562376504465183],[-268.3119812011719,93.33352661132812,8.284872055053711,0,0,-0.04562376504465183],[-268.3119812011719,93.33352661132812,6.284872055053711,0,0,-0.04562376504465183],[-268.3119812011719,93.33352661132812,4.284872055053711,0,0,-0.04562376504465183],[-268.3119812011719,93.33352661132812,2.284872055053711,0,0,-0.04562376504465183],[-268.3119812011719,93.33352661132812,2.284872055053711,0,0,0.21617562275449761],[-268.3119812011719,93.33352661132812,2.284872055053711,0,0,0.47797501055364705],[-268.3119812011719,93.33352661132812,2.284872055053711,0,0,0.7397743983527965],[-268.3119812011719,93.33352661132812,2.284872055053711,0,0,1.0015737861519458],[-265.61709449156865,97.54512792465349,2.284872055053711,0,0,1.0015737861519458],[-262.9222077819654,101.75672923797885,2.284872055053711,0,0,1.0015737861519458],[-260.2273210723622,105.9683305513042,2.284872055053711,0,0,1.0015737861519458],[-257.532434362759,110.17993186462957,2.284872055053711,0,0,1.0015737861519458],[-254.83754765315575,114.39153317795493,2.284872055053711,0,0,1.0015737861519458],[-252.14266094355253,118.60313449128029,2.284872055053711,0,0,1.0015737861519458],[-249.4477742339493,122.81473580460565,2.284872055053711,0,0,1.0015737861519458],[-246.75288752434608,127.026337117931,2.284872055053711,0,0,1.0015737861519458]]},{"id":1,"instruction":"head over the lorry car park in the centre and head towards the old dark grey ruined warehouses.","completed_instruction":"Turn left towards the tanker parking lot, fly straight ahead until reaching the top of the tanker, then turn right towards the red brick building and keep flying forward until reaching the top of the bushes in front of the dark green warehouse.","start_frame":20,"end_frame":66,"start_position":[-246.75288752434608,127.026337117931,2.284872055053711],"start_rotation":[0.87720503359267343,0,0,0.48011595374417282],"end_position":[-114.37278405770601,145.1122359450049,8.284872055053711],"end_rotation":[0.93236813019302212,0,0,0.36151026237213207],"actions":[1,1,5,1,2,2,2,2,1,1,1,1,2,1,5,1,1,1,1,1,6,1,1,1,1,6,1,5,1,1,1,3,3,3,3,1,1,1,1,1,1,1,1,1,1,1,1],"reference_path":[[-246.75288752434608,127.026337117931,2.284872055053711,0,0,1.0015737861519458],[-244.05800081474285,131.23793843125637,2.284872055053711,0,0,1.0015737861519458],[-241.36311410513963,135.44953974458173,2.284872055053711,0,0,1.0015737861519458],[-241.36311410513963,135.44953974458173,4.284872055053711,0,0,1.0015737861519458],[-238.6682273955364,139.6611410579071,4.284872055053711,0,0,1.0015737861519458],[-238.6682273955364,139.6611410579071,4.284872055053711,0,0,0.7397743983527963],[-238.6682273955364,139.6611410579071,4.284872055053711,0,0,0.47797501055364694],[-238.6682273955364,139.6611410579071,4.284872055053711,0,0,0.21617562275449756],[-238.6682273955364,139.6611410579071,4.284872055053711,0,0,-0.045623765044651876],[-233.67343031278313,139.4331013637323,4.284872055053711,0,0,-0.045623765044651876],[-228.67863323002985,139.20506166955752,4.284872055053711,0,0,-0.045623765044651876],[-223.68383614727657,138.97702197538274,4.284872055053711,0,0,-0.045623765044651876],[-218.68903906452329,138.74898228120796,4.284872055053711,0,0,-0.045623765044651876],[-218.68903906452329,138.74898228120796,4.284872055053711,0,0,-0.3074231528438013],[-213.92345658111037,137.2359642397464,4.284872055053711,0,0,-0.3074231528438013],[-213.92345658111037,137.2359642397464,6.284872055053711,0,0,-0.3074231528438013],[-209.15787409769746,135.72294619828486,6.284872055053711,0,0,-0.3074231528438013],[-204.39229161428455,134.2099281568233,6.284872055053711,0,0,-0.3074231528438013],[-199.62670913087163,132.69691011536176,6.284872055053711,0,0,-0.3074231528438013],[-194.86112664745872,131.1838920739002,6.284872055053711,0,0,-0.3074231528438013],[-190.0955441640458,129.67087403243866,6.284872055053711,0,0,-0.3074231528438013],[-191.60856220550735,124.90529154902576,6.284872055053711,0,0,-0.3074231528438013],[-186.84297972209444,123.39227350756423,6.284872055053711,0,0,-0.3074231528438013],[-182.07739723868153,121.87925546610269,6.284872055053711,0,0,-0.3074231528438013],[-177.3118147552686,120.36623742464116,6.284872055053711,0,0,-0.3074231528438013],[-172.5462322718557,118.85321938317962,6.284872055053711,0,0,-0.3074231528438013],[-174.05925031331725,114.08763689976672,6.284872055053711,0,0,-0.3074231528438013],[-169.29366782990434,112.57461885830519,6.284872055053711,0,0,-0.3074231528438013],[-169.29366782990434,112.57461885830519,8.284872055053711,0,0,-0.3074231528438013],[-164.52808534649142,111.06160081684365,8.284872055053711,0,0,-0.3074231528438013],[-159.7625028630785,109.54858277538212,8.284872055053711,0,0,-0.3074231528438013],[-154.9969203796656,108.03556473392058,8.284872055053711,0,0,-0.3074231528438013],[-154.9969203796656,108.03556473392058,8.284872055053711,0,0,-0.045623765044651876],[-154.9969203796656,108.03556473392058,8.284872055053711,0,0,0.21617562275449756],[-154.9969203796656,108.03556473392058,8.284872055053711,0,0,0.477975010553647],[-154.9969203796656,108.03556473392058,8.284872055053711,0,0,0.7397743983527963],[-151.30381707766927,111.40617120765552,8.284872055053711,0,0,0.7397743983527963],[-147.61071377567293,114.77677768139046,8.284872055053711,0,0,0.7397743983527963],[-143.9176104736766,118.1473841551254,8.284872055053711,0,0,0.7397743983527963],[-140.22450717168027,121.51799062886033,8.284872055053711,0,0,0.7397743983527963],[-136.53140386968394,124.88859710259527,8.284872055053711,0,0,0.7397743983527963],[-132.8383005676876,128.2592035763302,8.284872055053711,0,0,0.7397743983527963],[-129.14519726569128,131.62981005006515,8.284872055053711,0,0,0.7397743983527963],[-125.45209396369496,135.00041652380008,8.284872055053711,0,0,0.7397743983527963],[-121.75899066169865,138.37102299753502,8.284872055053711,0,0,0.7397743983527963],[-118.06588735970233,141.74162947126996,8.284872055053711,0,0,0.7397743983527963],[-114.37278405770601,145.1122359450049,8.284872055053711,0,0,0.7397743983527963]]},{"id":2,"instruction":"land in front of the warehouses.","completed_instruction":"Land in the bushes in front of the dark blue warehouses.","start_frame":66,"end_frame":74,"start_position":[-114.37278405770601,145.1122359450049,8.284872055053711],"start_rotation":[0.93236813019302212,0,0,0.36151026237213207],"end_position":[-102.54693644621325,154.15335926562483,16.28487205505371],"end_rotation":[0.97157814958448585,0,0,0.23671903018132387],"actions":[1,1,2,5,1,5,5,5,0],"reference_path":[[-114.37278405770601,145.1122359450049,8.284872055053711,0,0,0.7397743983527963],[-110.6796807557097,148.48284241873984,8.284872055053711,0,0,0.7397743983527963],[-106.98657745371338,151.85344889247477,8.284872055053711,0,0,0.7397743983527963],[-106.98657745371338,151.85344889247477,8.284872055053711,0,0,0.47797501055364694],[-106.98657745371338,151.85344889247477,10.284872055053711,0,0,0.47797501055364694],[-102.54693644621325,154.15335926562483,10.284872055053711,0,0,0.47797501055364694],[-102.54693644621325,154.15335926562483,12.284872055053711,0,0,0.47797501055364694],[-102.54693644621325,154.15335926562483,14.284872055053711,0,0,0.47797501055364694],[-102.54693644621325,154.15335926562483,16.28487205505371,0,0,0.47797501055364694]]}],"statistics":{"complete_actions":77,"sentence_actions":[21,47,9],"sentence_actions_average":25.67}}
diff --git a/scene_9/3FTYUGLFS3JDSS6FMUE4RU4WYHVD50.json b/scene_9/3FTYUGLFS3JDSS6FMUE4RU4WYHVD50.json
new file mode 100644
index 0000000000000000000000000000000000000000..8d528ce9ba0ff86147be96fc3fa95cd0061efc54
--- /dev/null
+++ b/scene_9/3FTYUGLFS3JDSS6FMUE4RU4WYHVD50.json
@@ -0,0 +1 @@
+{"episode_id":"3FTYUGLFS3JDSS6FMUE4RU4WYHVD50","trajectory_id":"3KWGG5KP7R0Y9NOEOUVDZ72CBAUCM3","scene_id":9,"instruction":"take off and turn left and go over two cylinder pipes. go over red car and onto the street. turn slightly over to the right and go over to the marks.","sentence_instructions":[{"id":0,"instruction":"take off and turn left and go over two cylinder pipes.","completed_instruction":"Take off and ascend to a height higher than the blue building, then turn left to face the red shipping container, and then fly forward past the two cylinder pipes on the left.","start_frame":1,"end_frame":26,"start_position":[-97.04485321044922,186.89559936523438,17.89460563659668],"start_rotation":[0.99999592433582651,0,0,0.0028550502160188357],"end_position":[-101.7878182251505,141.8677825974926,-0.10539436340332031],"end_rotation":[0.70912272462514769,0,0,-0.70508507388839747],"actions":[4,4,4,4,4,4,4,2,2,2,2,2,2,1,1,1,4,1,1,4,1,1,1,6,1,1],"reference_path":[[-97.04485321044922,186.89559936523438,17.89460563659668,0,0,0.0057101081895342375],[-97.04485321044922,186.89559936523438,15.89460563659668,0,0,0.0057101081895342375],[-97.04485321044922,186.89559936523438,13.89460563659668,0,0,0.0057101081895342375],[-97.04485321044922,186.89559936523438,11.89460563659668,0,0,0.0057101081895342375],[-97.04485321044922,186.89559936523438,9.89460563659668,0,0,0.0057101081895342375],[-97.04485321044922,186.89559936523438,7.89460563659668,0,0,0.0057101081895342375],[-97.04485321044922,186.89559936523438,5.89460563659668,0,0,0.0057101081895342375],[-97.04485321044922,186.89559936523438,3.8946056365966797,0,0,0.0057101081895342375],[-97.04485321044922,186.89559936523438,3.8946056365966797,0,0,-0.2560892796096152],[-97.04485321044922,186.89559936523438,3.8946056365966797,0,0,-0.5178886674087647],[-97.04485321044922,186.89559936523438,3.8946056365966797,0,0,-0.7796880552079141],[-97.04485321044922,186.89559936523438,3.8946056365966797,0,0,-1.0414874430070633],[-97.04485321044922,186.89559936523438,3.8946056365966797,0,0,-1.3032868308062129],[-97.04485321044922,186.89559936523438,3.8946056365966797,0,0,-1.5650862186053622],[-97.01630282465129,181.89568087835173,3.8946056365966797,0,0,-1.5650862186053622],[-96.98775243885336,176.89576239146908,3.8946056365966797,0,0,-1.5650862186053622],[-96.95920205305544,171.89584390458643,3.8946056365966797,0,0,-1.5650862186053622],[-96.95920205305544,171.89584390458643,1.8946056365966797,0,0,-1.5650862186053622],[-96.93065166725751,166.89592541770378,1.8946056365966797,0,0,-1.5650862186053622],[-96.90210128145958,161.89600693082113,1.8946056365966797,0,0,-1.5650862186053622],[-96.90210128145958,161.89600693082113,-0.10539436340332031,0,0,-1.5650862186053622],[-96.87355089566165,156.89608844393848,-0.10539436340332031,0,0,-1.5650862186053622],[-96.84500050986372,151.89616995705583,-0.10539436340332031,0,0,-1.5650862186053622],[-96.8164501240658,146.89625147017318,-0.10539436340332031,0,0,-1.5650862186053622],[-101.81636861094843,146.86770108437526,-0.10539436340332031,0,0,-1.5650862186053622],[-101.7878182251505,141.8677825974926,-0.10539436340332031,0,0,-1.5650862186053622]]},{"id":1,"instruction":"go over red car and onto the street.","completed_instruction":"Fly forward past the semi-trailer with the red cab, then fly straight up above the road.","start_frame":26,"end_frame":56,"start_position":[-101.7878182251505,141.8677825974926,-0.10539436340332031],"start_rotation":[0.70912272462514769,0,0,-0.70508507388839747],"end_position":[-107.62597749843688,62.00351512904549,5.89460563659668],"end_rotation":[0.70912272462514758,0,0,-0.70508507388839758],"actions":[1,1,4,1,1,1,1,4,1,2,1,3,6,3,5,5,5,5,5,5,2,1,1,1,1,4,1,1,1,1,1],"reference_path":[[-101.7878182251505,141.8677825974926,-0.10539436340332031,0,0,-1.5650862186053622],[-101.75926783935257,136.86786411060996,-0.10539436340332031,0,0,-1.5650862186053622],[-101.73071745355465,131.8679456237273,-0.10539436340332031,0,0,-1.5650862186053622],[-101.73071745355465,131.8679456237273,-2.1053943634033203,0,0,-1.5650862186053622],[-101.70216706775672,126.86802713684467,-2.1053943634033203,0,0,-1.5650862186053622],[-101.67361668195879,121.86810864996204,-2.1053943634033203,0,0,-1.5650862186053622],[-101.64506629616086,116.8681901630794,-2.1053943634033203,0,0,-1.5650862186053622],[-101.61651591036293,111.86827167619677,-2.1053943634033203,0,0,-1.5650862186053622],[-101.61651591036293,111.86827167619677,-4.10539436340332,0,0,-1.5650862186053622],[-101.587965524565,106.86835318931413,-4.10539436340332,0,0,-1.5650862186053622],[-101.587965524565,106.86835318931413,-4.10539436340332,0,0,-1.8268856064045118],[-102.85446209793767,102.0314134099045,-4.10539436340332,0,0,-1.8268856064045118],[-102.85446209793767,102.0314134099045,-4.10539436340332,0,0,-1.5650862186053625],[-107.8543805848203,102.00286302410657,-4.10539436340332,0,0,-1.5650862186053625],[-107.8543805848203,102.00286302410657,-4.10539436340332,0,0,-1.303286830806213],[-107.8543805848203,102.00286302410657,-2.1053943634033203,0,0,-1.303286830806213],[-107.8543805848203,102.00286302410657,-0.10539436340332031,0,0,-1.303286830806213],[-107.8543805848203,102.00286302410657,1.8946056365966797,0,0,-1.303286830806213],[-107.8543805848203,102.00286302410657,3.8946056365966797,0,0,-1.303286830806213],[-107.8543805848203,102.00286302410657,5.89460563659668,0,0,-1.303286830806213],[-107.8543805848203,102.00286302410657,7.89460563659668,0,0,-1.303286830806213],[-107.8543805848203,102.00286302410657,7.89460563659668,0,0,-1.5650862186053625],[-107.82583019902238,97.00294453722394,7.89460563659668,0,0,-1.5650862186053625],[-107.79727981322445,92.0030260503413,7.89460563659668,0,0,-1.5650862186053625],[-107.76872942742652,87.00310756345867,7.89460563659668,0,0,-1.5650862186053625],[-107.7401790416286,82.00318907657604,7.89460563659668,0,0,-1.5650862186053625],[-107.7401790416286,82.00318907657604,5.89460563659668,0,0,-1.5650862186053625],[-107.71162865583067,77.0032705896934,5.89460563659668,0,0,-1.5650862186053625],[-107.68307827003274,72.00335210281077,5.89460563659668,0,0,-1.5650862186053625],[-107.65452788423481,67.00343361592813,5.89460563659668,0,0,-1.5650862186053625],[-107.62597749843688,62.00351512904549,5.89460563659668,0,0,-1.5650862186053625]]},{"id":2,"instruction":"turn slightly over to the right and go over to the marks.","completed_instruction":"Descend to a certain height, then turn right to face the blue shipping container, then fly forward until reach in front of the mentioned shipping container, and finally land in front of it.","start_frame":56,"end_frame":74,"start_position":[-107.62597749843688,62.00351512904549,5.89460563659668],"start_rotation":[0.70912272462514758,0,0,-0.70508507388839758],"end_position":[-96.70799995765489,18.584387664010276,17.89460563659668],"end_rotation":[0.86744939926373643,0,0,-0.49752541615176077],"actions":[1,1,1,5,5,5,3,3,1,1,1,1,1,5,5,6,1,5,0],"reference_path":[[-107.62597749843688,62.00351512904549,5.89460563659668,0,0,-1.5650862186053625],[-107.59742711263895,57.00359664216285,5.89460563659668,0,0,-1.5650862186053625],[-107.56887672684103,52.003678155280205,5.89460563659668,0,0,-1.5650862186053625],[-107.5403263410431,47.003759668397564,5.89460563659668,0,0,-1.5650862186053625],[-107.5403263410431,47.003759668397564,7.89460563659668,0,0,-1.5650862186053625],[-107.5403263410431,47.003759668397564,9.89460563659668,0,0,-1.5650862186053625],[-107.5403263410431,47.003759668397564,11.89460563659668,0,0,-1.5650862186053625],[-107.5403263410431,47.003759668397564,11.89460563659668,0,0,-1.303286830806213],[-107.5403263410431,47.003759668397564,11.89460563659668,0,0,-1.0414874430070638],[-105.01564173821292,42.68797843480471,11.89460563659668,0,0,-1.0414874430070638],[-102.49095713538274,38.37219720121186,11.89460563659668,0,0,-1.0414874430070638],[-99.96627253255257,34.05641596761901,11.89460563659668,0,0,-1.0414874430070638],[-97.44158792972239,29.740634734026155,11.89460563659668,0,0,-1.0414874430070638],[-94.91690332689221,25.4248535004333,11.89460563659668,0,0,-1.0414874430070638],[-94.91690332689221,25.4248535004333,13.89460563659668,0,0,-1.0414874430070638],[-94.91690332689221,25.4248535004333,15.89460563659668,0,0,-1.0414874430070638],[-99.23268456048507,22.90016889760313,15.89460563659668,0,0,-1.0414874430070638],[-96.70799995765489,18.584387664010276,15.89460563659668,0,0,-1.0414874430070638],[-96.70799995765489,18.584387664010276,17.89460563659668,0,0,-1.0414874430070638]]}],"statistics":{"complete_actions":76,"sentence_actions":[26,31,19],"sentence_actions_average":25.33}}
diff --git a/scene_9/3IAS3U3I0OESEYP8QFL0YXDKCNHB2I.json b/scene_9/3IAS3U3I0OESEYP8QFL0YXDKCNHB2I.json
new file mode 100644
index 0000000000000000000000000000000000000000..027b210c7af3109e679d9eae45aab024d42f8adf
--- /dev/null
+++ b/scene_9/3IAS3U3I0OESEYP8QFL0YXDKCNHB2I.json
@@ -0,0 +1 @@
+{"episode_id":"3IAS3U3I0OESEYP8QFL0YXDKCNHB2I","trajectory_id":"3IZPORCT2N7GNBCMFU5VWXT2VV2RHW","scene_id":9,"instruction":"lift off above the buildings and turn right facing the green building and head straight. at the green building turn right facing the building with numbers on it and head straight. at the trees in your path turn right facing the blue building and head straight. veer around the building and land in front of it.","sentence_instructions":[{"id":0,"instruction":"lift off above the buildings and turn right facing the green building and head straight.","completed_instruction":"Take off, then turn left to face the green building, and fly forward to the edge of the green roof.","start_frame":0,"end_frame":17,"start_position":[-140.8810272216797,13.528334617614746,18.725366592407227],"start_rotation":[0.99999984687139432,0,0,-0.00055340508474204528],"end_position":[-137.9125815892933,43.796937666443526,8.725366592407227],"end_rotation":[0.79369011047635274,0,0,0.60832229001741756],"actions":[4,4,4,4,4,3,3,3,3,3,1,1,1,1,1,1,7,1],"reference_path":[[-140.8810272216797,13.528334617614746,18.725366592407227,0,0,-0.00110681022597886],[-140.8810272216797,13.528334617614746,16.725366592407227,0,0,-0.00110681022597886],[-140.8810272216797,13.528334617614746,14.725366592407227,0,0,-0.00110681022597886],[-140.8810272216797,13.528334617614746,12.725366592407227,0,0,-0.00110681022597886],[-140.8810272216797,13.528334617614746,10.725366592407227,0,0,-0.00110681022597886],[-140.8810272216797,13.528334617614746,8.725366592407227,0,0,-0.00110681022597886],[-140.8810272216797,13.528334617614746,8.725366592407227,0,0,0.26069257757317055],[-140.8810272216797,13.528334617614746,8.725366592407227,0,0,0.52249196537232],[-140.8810272216797,13.528334617614746,8.725366592407227,0,0,0.7842913531714695],[-140.8810272216797,13.528334617614746,8.725366592407227,0,0,1.0460907409706188],[-140.8810272216797,13.528334617614746,8.725366592407227,0,0,1.3078901287697682],[-139.58158730700004,18.356528473306266,8.725366592407227,0,0,1.3078901287697682],[-138.28214739232038,23.184722328997786,8.725366592407227,0,0,1.3078901287697682],[-136.98270747764073,28.012916184689306,8.725366592407227,0,0,1.3078901287697682],[-135.68326756296108,32.841110040380826,8.725366592407227,0,0,1.3078901287697682],[-134.38382764828143,37.66930389607235,8.725366592407227,0,0,1.3078901287697682],[-133.08438773360177,42.49749775176387,8.725366592407227,0,0,1.3078901287697682],[-137.9125815892933,43.796937666443526,8.725366592407227,0,0,1.3078901287697682]]},{"id":1,"instruction":"at the green building turn right facing the building with numbers on it and head straight.","completed_instruction":"Turn left to face the tree at the far right of the row of trees behind the grey building, then fly forward to the tree.","start_frame":17,"end_frame":40,"start_position":[-137.9125815892933,43.796937666443526,8.725366592407227],"start_rotation":[0.79369011047635274,0,0,0.60832229001741756],"end_position":[-67.10163345957235,94.83199715208204,8.725366592407227],"end_rotation":[0.96606891015378116,0,0,0.25828445720616927],"actions":[1,1,2,2,1,1,1,1,1,1,1,6,1,1,2,1,1,1,1,1,1,6,1,1],"reference_path":[[-137.9125815892933,43.796937666443526,8.725366592407227,0,0,1.3078901287697682],[-136.61314167461364,48.62513152213505,8.725366592407227,0,0,1.3078901287697682],[-135.313701759934,53.45332537782657,8.725366592407227,0,0,1.3078901287697682],[-135.313701759934,53.45332537782657,8.725366592407227,0,0,1.0460907409706188],[-135.313701759934,53.45332537782657,8.725366592407227,0,0,0.7842913531714695],[-131.77425685528416,56.98494395391154,8.725366592407227,0,0,0.7842913531714695],[-128.23481195063434,60.516562529996506,8.725366592407227,0,0,0.7842913531714695],[-124.69536704598451,64.04818110608147,8.725366592407227,0,0,0.7842913531714695],[-121.15592214133468,67.57979968216644,8.725366592407227,0,0,0.7842913531714695],[-117.61647723668486,71.1114182582514,8.725366592407227,0,0,0.7842913531714695],[-114.07703233203503,74.64303683433637,8.725366592407227,0,0,0.7842913531714695],[-110.5375874273852,78.17465541042134,8.725366592407227,0,0,0.7842913531714695],[-107.00596885130024,74.63521050577151,8.725366592407227,0,0,0.7842913531714695],[-103.46652394665043,78.16682908185648,8.725366592407227,0,0,0.7842913531714695],[-99.9270790420006,81.69844765794144,8.725366592407227,0,0,0.7842913531714695],[-99.9270790420006,81.69844765794144,8.725366592407227,0,0,0.5224919653723201],[-95.59418765034346,84.19365349876969,8.725366592407227,0,0,0.5224919653723201],[-91.26129625868631,86.68885933959794,8.725366592407227,0,0,0.5224919653723201],[-86.92840486702917,89.18406518042619,8.725366592407227,0,0,0.5224919653723201],[-82.59551347537203,91.67927102125444,8.725366592407227,0,0,0.5224919653723201],[-78.26262208371489,94.17447686208268,8.725366592407227,0,0,0.5224919653723201],[-73.92973069205775,96.66968270291093,8.725366592407227,0,0,0.5224919653723201],[-71.4345248512295,92.33679131125379,8.725366592407227,0,0,0.5224919653723201],[-67.10163345957235,94.83199715208204,8.725366592407227,0,0,0.5224919653723201]]},{"id":2,"instruction":"at the trees in your path turn right facing the blue building and head straight.","completed_instruction":"Turn right to face the two grey and slin cylindrical buildings, then fly forward towards the cylindrical buildings.","start_frame":40,"end_frame":56,"start_position":[-67.10163345957235,94.83199715208204,8.725366592407227],"start_rotation":[0.96606891015378116,0,0,0.25828445720616927],"end_position":[-77.07138872288536,122.16355659356685,8.725366592407227],"end_rotation":[0.25935355373367369,0,0,0.96578244660260548],"actions":[1,1,3,3,3,3,3,3,1,1,1,1,3,3,1,1,1],"reference_path":[[-67.10163345957235,94.83199715208204,8.725366592407227,0,0,0.5224919653723201],[-62.76874206791521,97.32720299291029,8.725366592407227,0,0,0.5224919653723201],[-58.43585067625807,99.82240883373854,8.725366592407227,0,0,0.5224919653723201],[-58.43585067625807,99.82240883373854,8.725366592407227,0,0,0.7842913531714696],[-58.43585067625807,99.82240883373854,8.725366592407227,0,0,1.0460907409706188],[-58.43585067625807,99.82240883373854,8.725366592407227,0,0,1.3078901287697682],[-58.43585067625807,99.82240883373854,8.725366592407227,0,0,1.5696895165689178],[-58.43585067625807,99.82240883373854,8.725366592407227,0,0,1.831488904368067],[-58.43585067625807,99.82240883373854,8.725366592407227,0,0,2.0932882921672165],[-60.93105651708632,104.15530022539568,8.725366592407227,0,0,2.0932882921672165],[-63.42626235791457,108.48819161705282,8.725366592407227,0,0,2.0932882921672165],[-65.92146819874282,112.82108300870996,8.725366592407227,0,0,2.0932882921672165],[-68.41667403957106,117.1539744003671,8.725366592407227,0,0,2.0932882921672165],[-68.41667403957106,117.1539744003671,8.725366592407227,0,0,2.3550876799663656],[-68.41667403957106,117.1539744003671,8.725366592407227,0,0,2.6168870677655147],[-72.74403138122821,119.65876549696698,8.725366592407227,0,0,2.6168870677655147],[-77.07138872288536,122.16355659356685,8.725366592407227,0,0,2.6168870677655147]]},{"id":3,"instruction":"veer around the building and land in front of it.","completed_instruction":"Turn left towards the shrubbery in front of the blue factory, then fly forward and land in the grass at the middle of factory.","start_frame":56,"end_frame":72,"start_position":[-77.07138872288536,122.16355659356685,8.725366592407227],"start_rotation":[0.25935355373367369,0,0,0.96578244660260548],"end_position":[-91.72525757311283,160.04545977021422,14.725366592407227],"end_rotation":[0.70749798939643649,0,0,0.70671535642010763],"actions":[1,1,2,1,2,1,2,2,1,1,1,1,1,5,5,5,0],"reference_path":[[-77.07138872288536,122.16355659356685,8.725366592407227,0,0,2.6168870677655147],[-81.39874606454251,124.66834769016673,8.725366592407227,0,0,2.6168870677655147],[-85.72610340619966,127.1731387867666,8.725366592407227,0,0,2.6168870677655147],[-85.72610340619966,127.1731387867666,8.725366592407227,0,0,2.3550876799663656],[-89.25772198228462,130.71258369141643,8.725366592407227,0,0,2.3550876799663656],[-89.25772198228462,130.71258369141643,8.725366592407227,0,0,2.093288292167216],[-91.75292782311287,135.04547508307357,8.725366592407227,0,0,2.093288292167216],[-91.75292782311287,135.04547508307357,8.725366592407227,0,0,1.8314889043680667],[-91.75292782311287,135.04547508307357,8.725366592407227,0,0,1.569689516568917],[-91.74739377311286,140.04547202050168,8.725366592407227,0,0,1.569689516568917],[-91.74185972311285,145.0454689579298,8.725366592407227,0,0,1.569689516568917],[-91.73632567311284,150.04546589535795,8.725366592407227,0,0,1.569689516568917],[-91.73079162311284,155.0454628327861,8.725366592407227,0,0,1.569689516568917],[-91.72525757311283,160.04545977021422,8.725366592407227,0,0,1.569689516568917],[-91.72525757311283,160.04545977021422,10.725366592407227,0,0,1.569689516568917],[-91.72525757311283,160.04545977021422,12.725366592407227,0,0,1.569689516568917],[-91.72525757311283,160.04545977021422,14.725366592407227,0,0,1.569689516568917]]}],"statistics":{"complete_actions":76,"sentence_actions":[18,24,17,17],"sentence_actions_average":19.0}}
diff --git a/scene_9/3K4J6M3CXNRDAISNJG6T5QNF4O4GAE.json b/scene_9/3K4J6M3CXNRDAISNJG6T5QNF4O4GAE.json
new file mode 100644
index 0000000000000000000000000000000000000000..6e7ce3cf2756a1f9aa295895686b758856e0528d
--- /dev/null
+++ b/scene_9/3K4J6M3CXNRDAISNJG6T5QNF4O4GAE.json
@@ -0,0 +1 @@
+{"episode_id":"3K4J6M3CXNRDAISNJG6T5QNF4O4GAE","trajectory_id":"3IHWR4LC8LBA118AM3HG5SZC5FWI85","scene_id":9,"instruction":"lift off above the buildings and turn right facing the red semi and head straight. turn left past the red semi truck and head straight. immediately turn right facing the shack and head straight. past the shack veer left towards the skinny cylinder structures. at the cylinder structures turn right towards the fat cylinder to the right and head straight and land on top of the cylinder.","sentence_instructions":[{"id":0,"instruction":"lift off above the buildings and turn right facing the red semi and head straight.","completed_instruction":"Take off, then turn right to face a red truck with a white oil tank and fly forward until reaching the grass on the left side of the semi-trailer.","start_frame":1,"end_frame":20,"start_position":[-109.26811981201172,38.07033920288086,19.659725189208984],"start_rotation":[0.99999205503423116,0,0,-0.0039862097806341971],"end_position":[-95.12105778953486,70.47189219239347,7.659725189208984],"end_rotation":[0.79577368788849134,0,0,0.605594119575438],"actions":[4,4,4,4,4,3,3,3,3,3,1,1,1,1,1,1,1,4,6,1],"reference_path":[[-109.26811981201172,38.07033920288086,19.659725189208984,0,0,-0.007972440674868997],[-109.26811981201172,38.07033920288086,17.659725189208984,0,0,-0.007972440674868997],[-109.26811981201172,38.07033920288086,15.659725189208984,0,0,-0.007972440674868997],[-109.26811981201172,38.07033920288086,13.659725189208984,0,0,-0.007972440674868997],[-109.26811981201172,38.07033920288086,11.659725189208984,0,0,-0.007972440674868997],[-109.26811981201172,38.07033920288086,9.659725189208984,0,0,-0.007972440674868997],[-109.26811981201172,38.07033920288086,9.659725189208984,0,0,0.25382694712428044],[-109.26811981201172,38.07033920288086,9.659725189208984,0,0,0.5156263349234299],[-109.26811981201172,38.07033920288086,9.659725189208984,0,0,0.7774257227225793],[-109.26811981201172,38.07033920288086,9.659725189208984,0,0,1.0392251105217287],[-109.26811981201172,38.07033920288086,9.659725189208984,0,0,1.301024498320878],[-107.93556218865521,42.88949786186216,9.659725189208984,0,0,1.301024498320878],[-106.6030045652987,47.70865652084346,9.659725189208984,0,0,1.301024498320878],[-105.2704469419422,52.52781517982476,9.659725189208984,0,0,1.301024498320878],[-103.93788931858569,57.346973838806065,9.659725189208984,0,0,1.301024498320878],[-102.60533169522918,62.166132497787366,9.659725189208984,0,0,1.301024498320878],[-101.27277407187267,66.98529115676867,9.659725189208984,0,0,1.301024498320878],[-99.94021644851617,71.80444981574998,9.659725189208984,0,0,1.301024498320878],[-99.94021644851617,71.80444981574998,7.659725189208984,0,0,1.301024498320878],[-95.12105778953486,70.47189219239347,7.659725189208984,0,0,1.301024498320878]]},{"id":1,"instruction":"turn left past the red semi truck and head straight.","completed_instruction":"Turn right to face the brown building with the grey roof, then fly past the semi-trailer with the red cab.","start_frame":20,"end_frame":26,"start_position":[-95.12105778953486,70.47189219239347,7.659725189208984],"start_rotation":[0.79577368788849134,0,0,0.605594119575438],"end_position":[-91.12338491946534,84.9293681693374,7.659725189208984],"end_rotation":[0.50344818645195877,0,0,0.86402541835193358],"actions":[1,1,1,3,3,3,1],"reference_path":[[-95.12105778953486,70.47189219239347,7.659725189208984,0,0,1.301024498320878],[-93.78850016617835,75.29105085137478,7.659725189208984,0,0,1.301024498320878],[-92.45594254282184,80.11020951035609,7.659725189208984,0,0,1.301024498320878],[-91.12338491946534,84.9293681693374,7.659725189208984,0,0,1.301024498320878],[-91.12338491946534,84.9293681693374,7.659725189208984,0,0,1.5628238861200276],[-91.12338491946534,84.9293681693374,7.659725189208984,0,0,1.824623273919177],[-91.12338491946534,84.9293681693374,7.659725189208984,0,0,2.0864226617183266]]},{"id":2,"instruction":"immediately turn right facing the shack and head straight.","completed_instruction":"Keep flying forward to the house with peak roof ahead, and fly across the middle of grey rooftops.","start_frame":26,"end_frame":35,"start_position":[-91.12338491946534,84.9293681693374,7.659725189208984],"start_rotation":[0.50344818645195877,0,0,0.86402541835193358],"end_position":[-110.84657880412405,119.72873056275147,9.659725189208984],"end_rotation":[0.50344818645195877,0,0,0.86402541835193358],"actions":[1,1,5,1,1,1,1,1,1,1],"reference_path":[[-91.12338491946534,84.9293681693374,7.659725189208984,0,0,2.0864226617183266],[-93.58878415504768,89.27928846851415,7.659725189208984,0,0,2.0864226617183266],[-96.05418339063002,93.62920876769091,7.659725189208984,0,0,2.0864226617183266],[-96.05418339063002,93.62920876769091,9.659725189208984,0,0,2.0864226617183266],[-98.51958262621235,97.97912906686767,9.659725189208984,0,0,2.0864226617183266],[-100.9849818617947,102.32904936604443,9.659725189208984,0,0,2.0864226617183266],[-103.45038109737703,106.67896966522119,9.659725189208984,0,0,2.0864226617183266],[-105.91578033295937,111.02888996439795,9.659725189208984,0,0,2.0864226617183266],[-108.38117956854171,115.3788102635747,9.659725189208984,0,0,2.0864226617183266],[-110.84657880412405,119.72873056275147,9.659725189208984,0,0,2.0864226617183266]]},{"id":3,"instruction":"past the shack veer left towards the skinny cylinder structures.","completed_instruction":"Turn left to face the slender cylindrical structure, and then fly to the front of the medium-sized cylinder on its left.","start_frame":35,"end_frame":52,"start_position":[-110.84657880412405,119.72873056275147,9.659725189208984],"start_rotation":[0.50344818645195877,0,0,0.86402541835193358],"end_position":[-120.89642554848778,168.07263894859767,5.659725189208984],"end_rotation":[0.70991983921449464,0,0,0.70428248728025755],"actions":[1,1,2,1,4,1,1,1,6,1,4,1,3,1,2,2,1,1],"reference_path":[[-110.84657880412405,119.72873056275147,9.659725189208984,0,0,2.0864226617183266],[-113.31197803970639,124.07865086192822,9.659725189208984,0,0,2.0864226617183266],[-115.77737727528873,128.42857116110497,9.659725189208984,0,0,2.0864226617183266],[-115.77737727528873,128.42857116110497,9.659725189208984,0,0,1.824623273919177],[-117.03292785094604,133.26836379632877,9.659725189208984,0,0,1.824623273919177],[-117.03292785094604,133.26836379632877,7.659725189208984,0,0,1.824623273919177],[-118.28847842660335,138.10815643155257,7.659725189208984,0,0,1.824623273919177],[-119.54402900226066,142.94794906677637,7.659725189208984,0,0,1.824623273919177],[-120.79957957791797,147.78774170200018,7.659725189208984,0,0,1.824623273919177],[-115.95978694269417,149.04329227765749,7.659725189208984,0,0,1.824623273919177],[-117.21533751835148,153.8830849128813,7.659725189208984,0,0,1.824623273919177],[-117.21533751835148,153.8830849128813,5.659725189208984,0,0,1.824623273919177],[-118.47088809400879,158.7228775481051,5.659725189208984,0,0,1.824623273919177],[-118.47088809400879,158.7228775481051,5.659725189208984,0,0,2.0864226617183266],[-120.93628732959112,163.07279784728183,5.659725189208984,0,0,2.0864226617183266],[-120.93628732959112,163.07279784728183,5.659725189208984,0,0,1.824623273919177],[-120.93628732959112,163.07279784728183,5.659725189208984,0,0,1.5628238861200276],[-120.89642554848778,168.07263894859767,5.659725189208984,0,0,1.5628238861200276]]},{"id":4,"instruction":"at the cylinder structures turn right towards the fat cylinder to the right and head straight and land on top of the cylinder.","completed_instruction":"Turn right to face the big and chubby cylinder container, then fly towards it, then land on the top of it.","start_frame":52,"end_frame":71,"start_position":[-120.89642554848778,168.07263894859767,5.659725189208984],"start_rotation":[0.70991983921449464,0,0,0.70428248728025755],"end_position":[-140.50003408983648,217.87152464595914,-2.3402748107910156],"end_rotation":[0.50344818645195877,0,0,0.86402541835193358],"actions":[1,1,1,3,3,1,1,4,1,4,1,4,1,4,1,1,4,1,5,0],"reference_path":[[-120.89642554848778,168.07263894859767,5.659725189208984,0,0,1.5628238861200276],[-120.85656376738444,173.0724800499135,5.659725189208984,0,0,1.5628238861200276],[-120.8167019862811,178.07232115122935,5.659725189208984,0,0,1.5628238861200276],[-120.77684020517776,183.07216225254518,5.659725189208984,0,0,1.5628238861200276],[-120.77684020517776,183.07216225254518,5.659725189208984,0,0,1.824623273919177],[-120.77684020517776,183.07216225254518,5.659725189208984,0,0,2.0864226617183266],[-123.2422394407601,187.42208255172193,5.659725189208984,0,0,2.0864226617183266],[-125.70763867634244,191.77200285089867,5.659725189208984,0,0,2.0864226617183266],[-125.70763867634244,191.77200285089867,3.6597251892089844,0,0,2.0864226617183266],[-128.17303791192478,196.12192315007542,3.6597251892089844,0,0,2.0864226617183266],[-128.17303791192478,196.12192315007542,1.6597251892089844,0,0,2.0864226617183266],[-130.63843714750712,200.47184344925216,1.6597251892089844,0,0,2.0864226617183266],[-130.63843714750712,200.47184344925216,-0.3402748107910156,0,0,2.0864226617183266],[-133.10383638308946,204.8217637484289,-0.3402748107910156,0,0,2.0864226617183266],[-133.10383638308946,204.8217637484289,-2.3402748107910156,0,0,2.0864226617183266],[-135.5692356186718,209.17168404760565,-2.3402748107910156,0,0,2.0864226617183266],[-138.03463485425414,213.5216043467824,-2.3402748107910156,0,0,2.0864226617183266],[-138.03463485425414,213.5216043467824,-4.340274810791016,0,0,2.0864226617183266],[-140.50003408983648,217.87152464595914,-4.340274810791016,0,0,2.0864226617183266],[-140.50003408983648,217.87152464595914,-2.3402748107910156,0,0,2.0864226617183266]]}],"statistics":{"complete_actions":75,"sentence_actions":[20,7,10,18,20],"sentence_actions_average":15.0}}
diff --git a/scene_9/3MYYFCXHJC5Y8TC6AFW2SN1FDFKG4I.json b/scene_9/3MYYFCXHJC5Y8TC6AFW2SN1FDFKG4I.json
new file mode 100644
index 0000000000000000000000000000000000000000..4406049d89e57a2eacfe7ed39b9242835e46cc40
--- /dev/null
+++ b/scene_9/3MYYFCXHJC5Y8TC6AFW2SN1FDFKG4I.json
@@ -0,0 +1 @@
+{"episode_id":"3MYYFCXHJC5Y8TC6AFW2SN1FDFKG4I","trajectory_id":"3GONHBMNI3WBHGZOG8FLA53XLYKZM6","scene_id":9,"instruction":"take off and turn right towards the refilling area. now go forward and go to the refilling area and move towards the tanker trucks on your left in the refilling area and move near to it and turn left towards the filter pipes at your left. now go forward and go over that pipes and move to the building with blue top and turn right towards the refinery tanks there. now get down and land near to that building with blue top.","sentence_instructions":[{"id":0,"instruction":"take off and turn right towards the refilling area.","completed_instruction":"Take off, then turn right to face the green building.","start_frame":1,"end_frame":7,"start_position":[-126.43002319335938,19.823741912841797,12.651652336120605],"start_rotation":[0.99983384703970557,0,0,0.018228502784996044],"end_position":[-126.43002319335938,19.823741912841797,8.651652336120605],"end_rotation":[0.85676725970741163,0,0,0.5157032700046148],"actions":[4,4,3,3,3,3,3],"reference_path":[[-126.43002319335938,19.823741912841797,12.651652336120605,0,0,0.03645902485066282],[-126.43002319335938,19.823741912841797,10.651652336120605,0,0,0.03645902485066282],[-126.43002319335938,19.823741912841797,8.651652336120605,0,0,0.03645902485066282],[-126.43002319335938,19.823741912841797,8.651652336120605,0,0,0.2982584126498123],[-126.43002319335938,19.823741912841797,8.651652336120605,0,0,0.5600578004489618],[-126.43002319335938,19.823741912841797,8.651652336120605,0,0,0.8218571882481113],[-126.43002319335938,19.823741912841797,8.651652336120605,0,0,1.0836565760472607]]},{"id":1,"instruction":"now go forward and go to the refilling area and move towards the tanker trucks on your left in the refilling area and move near to it and turn left towards the filter pipes at your left.","completed_instruction":"Fly straight ahead until reaching the top of the two rows of oil tankers, then turn left to face the two cylindrical storage tanks behind the red brick house.","start_frame":7,"end_frame":29,"start_position":[-126.43002319335938,19.823741912841797,8.651652336120605],"start_rotation":[0.85676725970741163,0,0,0.5157032700046148],"end_position":[-144.3361306943935,99.22381316067764,8.651652336120605],"end_rotation":[0.78212471288110264,0,0,0.62312192506816255],"actions":[3,3,1,1,1,1,1,7,1,1,1,1,7,1,1,1,1,1,7,1,1,2,2],"reference_path":[[-126.43002319335938,19.823741912841797,8.651652336120605,0,0,1.0836565760472607],[-126.43002319335938,19.823741912841797,8.651652336120605,0,0,1.3454559638464103],[-126.43002319335938,19.823741912841797,8.651652336120605,0,0,1.6072553516455597],[-126.61227793401234,24.82041912970397,8.651652336120605,0,0,1.6072553516455597],[-126.7945326746653,29.817096346566146,8.651652336120605,0,0,1.6072553516455597],[-126.97678741531827,34.81377356342832,8.651652336120605,0,0,1.6072553516455597],[-127.15904215597124,39.810450780290495,8.651652336120605,0,0,1.6072553516455597],[-127.3412968966242,44.80712799715267,8.651652336120605,0,0,1.6072553516455597],[-132.33797411348638,44.624873256499704,8.651652336120605,0,0,1.6072553516455597],[-132.52022885413936,49.62155047336188,8.651652336120605,0,0,1.6072553516455597],[-132.70248359479234,54.61822769022405,8.651652336120605,0,0,1.6072553516455597],[-132.88473833544532,59.61490490708623,8.651652336120605,0,0,1.6072553516455597],[-133.0669930760983,64.6115821239484,8.651652336120605,0,0,1.6072553516455597],[-138.06367029296047,64.42932738329543,8.651652336120605,0,0,1.6072553516455597],[-138.24592503361345,69.4260046001576,8.651652336120605,0,0,1.6072553516455597],[-138.42817977426643,74.42268181701976,8.651652336120605,0,0,1.6072553516455597],[-138.6104345149194,79.41935903388193,8.651652336120605,0,0,1.6072553516455597],[-138.79268925557238,84.4160362507441,8.651652336120605,0,0,1.6072553516455597],[-138.97494399622536,89.41271346760627,8.651652336120605,0,0,1.6072553516455597],[-143.97162121308753,89.2304587269533,8.651652336120605,0,0,1.6072553516455597],[-144.1538759537405,94.22713594381547,8.651652336120605,0,0,1.6072553516455597],[-144.3361306943935,99.22381316067764,8.651652336120605,0,0,1.6072553516455597],[-144.3361306943935,99.22381316067764,8.651652336120605,0,0,1.3454559638464103]]},{"id":2,"instruction":"now go forward and go over that pipes and move to the building with blue top and turn right towards the refinery tanks there.","completed_instruction":"Fly forward towards the mentioned tanks, then fly over the tanks from the right side, then turn left slightly to face the leftmost blue factory building and fly to it, and then turn right to face the trees between factory building and four round tanks.","start_frame":29,"end_frame":51,"start_position":[-144.3361306943935,99.22381316067764,8.651652336120605],"start_rotation":[0.78212471288110264,0,0,0.62312192506816255],"end_position":[-97.66045894593374,149.5629202734727,8.651652336120605],"end_rotation":[0.91675028117936552,0,0,0.39946078901132986],"actions":[2,2,1,1,1,1,1,1,1,1,3,1,1,1,2,1,2,1,2,1,3,3,3],"reference_path":[[-144.3361306943935,99.22381316067764,8.651652336120605,0,0,1.3454559638464103],[-144.3361306943935,99.22381316067764,8.651652336120605,0,0,1.083656576047261],[-144.3361306943935,99.22381316067764,8.651652336120605,0,0,0.8218571882481116],[-140.93181991396904,102.88587106714031,8.651652336120605,0,0,0.8218571882481116],[-137.52750913354458,106.54792897360299,8.651652336120605,0,0,0.8218571882481116],[-134.12319835312013,110.20998688006567,8.651652336120605,0,0,0.8218571882481116],[-130.71888757269568,113.87204478652835,8.651652336120605,0,0,0.8218571882481116],[-127.31457679227123,117.53410269299103,8.651652336120605,0,0,0.8218571882481116],[-123.91026601184677,121.1961605994537,8.651652336120605,0,0,0.8218571882481116],[-120.50595523142232,124.85821850591638,8.651652336120605,0,0,0.8218571882481116],[-117.10164445099787,128.52027641237908,8.651652336120605,0,0,0.8218571882481116],[-117.10164445099787,128.52027641237908,8.651652336120605,0,0,1.0836565760472612],[-114.76114307793239,132.93865318701913,8.651652336120605,0,0,1.0836565760472612],[-112.42064170486691,137.35702996165918,8.651652336120605,0,0,1.0836565760472612],[-110.08014033180143,141.77540673629923,8.651652336120605,0,0,1.0836565760472612],[-110.08014033180143,141.77540673629923,8.651652336120605,0,0,0.8218571882481117],[-106.67582955137698,145.4374646427619,8.651652336120605,0,0,0.8218571882481117],[-106.67582955137698,145.4374646427619,8.651652336120605,0,0,0.5600578004489624],[-102.43970751738989,148.0936404865586,8.651652336120605,0,0,0.5600578004489624],[-102.43970751738989,148.0936404865586,8.651652336120605,0,0,0.29825841264981295],[-97.66045894593374,149.5629202734727,8.651652336120605,0,0,0.29825841264981295],[-97.66045894593374,149.5629202734727,8.651652336120605,0,0,0.5600578004489625],[-97.66045894593374,149.5629202734727,8.651652336120605,0,0,0.8218571882481119]]},{"id":3,"instruction":"now get down and land near to that building with blue top.","completed_instruction":"Fly forward and then land on the grass beside the next blue factory building.","start_frame":51,"end_frame":62,"start_position":[-97.66045894593374,149.5629202734727,8.651652336120605],"start_rotation":[0.91675028117936552,0,0,0.39946078901132986],"end_position":[-98.57173264919857,174.54630635778355,14.651652336120605],"end_rotation":[0.69409979537146027,0,0,0.719878791231758],"actions":[3,3,3,1,1,1,1,1,5,5,5,0],"reference_path":[[-97.66045894593374,149.5629202734727,8.651652336120605,0,0,0.8218571882481119],[-97.66045894593374,149.5629202734727,8.651652336120605,0,0,1.0836565760472614],[-97.66045894593374,149.5629202734727,8.651652336120605,0,0,1.3454559638464108],[-97.66045894593374,149.5629202734727,8.651652336120605,0,0,1.6072553516455603],[-97.8427136865867,154.55959749033488,8.651652336120605,0,0,1.6072553516455603],[-98.02496842723967,159.55627470719705,8.651652336120605,0,0,1.6072553516455603],[-98.20722316789264,164.55295192405922,8.651652336120605,0,0,1.6072553516455603],[-98.3894779085456,169.54962914092138,8.651652336120605,0,0,1.6072553516455603],[-98.57173264919857,174.54630635778355,8.651652336120605,0,0,1.6072553516455603],[-98.57173264919857,174.54630635778355,10.651652336120605,0,0,1.6072553516455603],[-98.57173264919857,174.54630635778355,12.651652336120605,0,0,1.6072553516455603],[-98.57173264919857,174.54630635778355,14.651652336120605,0,0,1.6072553516455603]]}],"statistics":{"complete_actions":65,"sentence_actions":[7,23,23,12],"sentence_actions_average":16.25}}
diff --git a/scene_9/3OLF68YTNIZ7WIWS8W0BN5N330EFA6.json b/scene_9/3OLF68YTNIZ7WIWS8W0BN5N330EFA6.json
new file mode 100644
index 0000000000000000000000000000000000000000..93f95a59d53520e848037b38f36bf4433cdf801d
--- /dev/null
+++ b/scene_9/3OLF68YTNIZ7WIWS8W0BN5N330EFA6.json
@@ -0,0 +1 @@
+{"episode_id":"3OLF68YTNIZ7WIWS8W0BN5N330EFA6","trajectory_id":"32FESTC2OPOHMVTNXWMZQHJ6P14CUD","scene_id":9,"instruction":"take off after rising to the height slightly higher. fly forward until facing the green rusted roof building. then turn left and fly forward and take a right turn at the white building with five windows. fly forward and dive down from the roof, land front of the white building which appears near the building. with four double frame windows.","sentence_instructions":[{"id":0,"instruction":"take off after rising to the height slightly higher.","completed_instruction":"Take off and ascend to a height higher than the buildings in front.","start_frame":1,"end_frame":5,"start_position":[-255.26939392089844,62.84012222290039,19.14755630493164],"start_rotation":[0.99987627439081717,0,0,-0.01573009568754126],"end_position":[-255.26939392089844,62.84012222290039,11.14755630493164],"end_rotation":[0.99987627439081717,0,0,-0.01573009568754126],"actions":[4,4,4,4,4],"reference_path":[[-255.26939392089844,62.84012222290039,19.14755630493164,0,0,-0.03146148891641268],[-255.26939392089844,62.84012222290039,17.14755630493164,0,0,-0.03146148891641268],[-255.26939392089844,62.84012222290039,15.14755630493164,0,0,-0.03146148891641268],[-255.26939392089844,62.84012222290039,13.14755630493164,0,0,-0.03146148891641268],[-255.26939392089844,62.84012222290039,11.14755630493164,0,0,-0.03146148891641268]]},{"id":1,"instruction":"fly forward until facing the green rusted roof building.","completed_instruction":"Fly straight to the middle of a building with a green and rusty roof.","start_frame":5,"end_frame":27,"start_position":[-255.26939392089844,62.84012222290039,11.14755630493164],"start_rotation":[0.99987627439081717,0,0,-0.01573009568754126],"end_position":[-155.3188811029662,59.69449232852648,7.147556304931641],"end_rotation":[0.99987627439081717,0,0,-0.01573009568754126],"actions":[4,4,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1],"reference_path":[[-255.26939392089844,62.84012222290039,11.14755630493164,0,0,-0.03146148891641268],[-255.26939392089844,62.84012222290039,9.14755630493164,0,0,-0.03146148891641268],[-255.26939392089844,62.84012222290039,7.147556304931641,0,0,-0.03146148891641268],[-250.27186828000183,62.682840728181695,7.147556304931641,0,0,-0.03146148891641268],[-245.2743426391052,62.525559233463,7.147556304931641,0,0,-0.03146148891641268],[-240.2768169982086,62.368277738744304,7.147556304931641,0,0,-0.03146148891641268],[-235.279291357312,62.21099624402561,7.147556304931641,0,0,-0.03146148891641268],[-230.28176571641538,62.05371474930691,7.147556304931641,0,0,-0.03146148891641268],[-225.28424007551877,61.89643325458822,7.147556304931641,0,0,-0.03146148891641268],[-220.28671443462216,61.73915175986952,7.147556304931641,0,0,-0.03146148891641268],[-215.28918879372554,61.581870265150826,7.147556304931641,0,0,-0.03146148891641268],[-210.29166315282893,61.42458877043213,7.147556304931641,0,0,-0.03146148891641268],[-205.29413751193232,61.267307275713435,7.147556304931641,0,0,-0.03146148891641268],[-200.2966118710357,61.11002578099474,7.147556304931641,0,0,-0.03146148891641268],[-195.2990862301391,60.952744286276044,7.147556304931641,0,0,-0.03146148891641268],[-190.30156058924248,60.79546279155735,7.147556304931641,0,0,-0.03146148891641268],[-185.30403494834587,60.63818129683865,7.147556304931641,0,0,-0.03146148891641268],[-180.30650930744926,60.48089980211996,7.147556304931641,0,0,-0.03146148891641268],[-175.30898366655265,60.32361830740126,7.147556304931641,0,0,-0.03146148891641268],[-170.31145802565604,60.166336812682566,7.147556304931641,0,0,-0.03146148891641268],[-165.31393238475943,60.00905531796387,7.147556304931641,0,0,-0.03146148891641268],[-160.3164067438628,59.851773823245175,7.147556304931641,0,0,-0.03146148891641268],[-155.3188811029662,59.69449232852648,7.147556304931641,0,0,-0.03146148891641268]]},{"id":2,"instruction":"then turn left and fly forward and take a right turn at the white building with five windows.","completed_instruction":"Turn left to face a two-story building with white walls and windows, then fly to the front of this building, then turn right to face another two-story building on the grass with white wall and windows.","start_frame":27,"end_frame":48,"start_position":[-155.3188811029662,59.69449232852648,7.147556304931641],"start_rotation":[0.99987627439081717,0,0,-0.01573009568754126],"end_position":[-139.00283557565643,16.19256197287671,9.14755630493164],"end_rotation":[0.78367930663671881,0,0,-0.62116563358688126],"actions":[1,1,2,2,2,2,5,1,2,2,2,1,1,3,3,1,1,1,1,1,1,3],"reference_path":[[-155.3188811029662,59.69449232852648,7.147556304931641,0,0,-0.03146148891641268],[-150.3213554620696,59.537210833807784,7.147556304931641,0,0,-0.03146148891641268],[-145.32382982117298,59.37992933908909,7.147556304931641,0,0,-0.03146148891641268],[-145.32382982117298,59.37992933908909,7.147556304931641,0,0,-0.2932608767155621],[-145.32382982117298,59.37992933908909,7.147556304931641,0,0,-0.5550602645147116],[-145.32382982117298,59.37992933908909,7.147556304931641,0,0,-0.8168596523138609],[-145.32382982117298,59.37992933908909,7.147556304931641,0,0,-1.0786590401130103],[-145.32382982117298,59.37992933908909,9.14755630493164,0,0,-1.0786590401130103],[-142.96127677069626,54.97330443064917,9.14755630493164,0,0,-1.0786590401130103],[-142.96127677069626,54.97330443064917,9.14755630493164,0,0,-1.3404584279121599],[-142.96127677069626,54.97330443064917,9.14755630493164,0,0,-1.6022578157113092],[-142.96127677069626,54.97330443064917,9.14755630493164,0,0,-1.8640572035104586],[-144.40665384269462,50.1867727928407,9.14755630493164,0,0,-1.8640572035104586],[-145.852030914693,45.40024115503223,9.14755630493164,0,0,-1.8640572035104586],[-145.852030914693,45.40024115503223,9.14755630493164,0,0,-1.6022578157113092],[-145.852030914693,45.40024115503223,9.14755630493164,0,0,-1.3404584279121599],[-144.7104983581869,40.53229462467297,9.14755630493164,0,0,-1.3404584279121599],[-143.5689658016808,35.664348094313716,9.14755630493164,0,0,-1.3404584279121599],[-142.4274332451747,30.796401563954465,9.14755630493164,0,0,-1.3404584279121599],[-141.28590068866862,25.928455033595213,9.14755630493164,0,0,-1.3404584279121599],[-140.14436813216253,21.060508503235962,9.14755630493164,0,0,-1.3404584279121599],[-139.00283557565643,16.19256197287671,9.14755630493164,0,0,-1.3404584279121599]]},{"id":3,"instruction":"fly forward and dive down from the roof, land front of the white building which appears near the building.with four double frame windows.","completed_instruction":"Fly forward to land on the grassy area in front of this building.","start_frame":49,"end_frame":62,"start_position":[-139.00283557565643,16.19256197287671,9.14755630493164],"start_rotation":[0.858053206420017,0,0,-0.51356079966477941],"end_position":[-112.68229631665344,-13.729056504679908,17.14755630493164],"end_rotation":[0.91774557794417566,0,0,-0.39716879807445965],"actions":[1,3,1,1,5,1,1,1,1,1,5,5,5,0],"reference_path":[[-139.00283557565643,16.19256197287671,9.14755630493164,0,0,-1.0786590401130103],[-136.6402825251797,11.78593706443679,9.14755630493164,0,0,-1.0786590401130103],[-136.6402825251797,11.78593706443679,9.14755630493164,0,0,-0.8168596523138609],[-133.21771306681882,8.140937983134405,9.14755630493164,0,0,-0.8168596523138609],[-129.79514360845792,4.4959389018320195,9.14755630493164,0,0,-0.8168596523138609],[-129.79514360845792,4.4959389018320195,11.14755630493164,0,0,-0.8168596523138609],[-126.37257415009702,0.8509398205296339,11.14755630493164,0,0,-0.8168596523138609],[-122.95000469173613,-2.7940592607727517,11.14755630493164,0,0,-0.8168596523138609],[-119.52743523337523,-6.439058342075137,11.14755630493164,0,0,-0.8168596523138609],[-116.10486577501433,-10.084057423377523,11.14755630493164,0,0,-0.8168596523138609],[-112.68229631665344,-13.729056504679908,11.14755630493164,0,0,-0.8168596523138609],[-112.68229631665344,-13.729056504679908,13.14755630493164,0,0,-0.8168596523138609],[-112.68229631665344,-13.729056504679908,15.14755630493164,0,0,-0.8168596523138609],[-112.68229631665344,-13.729056504679908,17.14755630493164,0,0,-0.8168596523138609]]}],"statistics":{"complete_actions":64,"sentence_actions":[5,23,22,14],"sentence_actions_average":16.0}}
diff --git a/scene_9/3P1L2B7ADANIYE0P4Q8RJDCSPEROL8.json b/scene_9/3P1L2B7ADANIYE0P4Q8RJDCSPEROL8.json
new file mode 100644
index 0000000000000000000000000000000000000000..2ad510c144ea37f05834aab11fc39d79575d1aef
--- /dev/null
+++ b/scene_9/3P1L2B7ADANIYE0P4Q8RJDCSPEROL8.json
@@ -0,0 +1 @@
+{"episode_id":"3P1L2B7ADANIYE0P4Q8RJDCSPEROL8","trajectory_id":"3IHWR4LC8LBA118AM3HG5SZC5FWI85","scene_id":9,"instruction":"take off and fly up until above the buildings. turn right towards the big blue buildings and fly forward. turn right towards a dark brown building when near a light grey building with three doors. fly forward and turn slightly left few times when above the dark brown building. fly forward towards few silos. turn right towards a big tank when near the silos. fly up until above the big tank and land on top of the big tank.","sentence_instructions":[{"id":0,"instruction":"take off and fly up until above the buildings.","completed_instruction":"Take off and ascend slightly higher than the grey building.","start_frame":0,"end_frame":3,"start_position":[-109.26811981201172,38.07033920288086,19.659725189208984],"start_rotation":[0.99999205503423116,0,0,-0.0039862097806341971],"end_position":[-109.26811981201172,38.07033920288086,13.659725189208984],"end_rotation":[0.99999205503423116,0,0,-0.0039862097806341971],"actions":[4,4,4,4],"reference_path":[[-109.26811981201172,38.07033920288086,19.659725189208984,0,0,-0.007972440674868997],[-109.26811981201172,38.07033920288086,17.659725189208984,0,0,-0.007972440674868997],[-109.26811981201172,38.07033920288086,15.659725189208984,0,0,-0.007972440674868997],[-109.26811981201172,38.07033920288086,13.659725189208984,0,0,-0.007972440674868997]]},{"id":1,"instruction":"turn right towards the big blue buildings and fly forward.","completed_instruction":"Turn right to face the blue factory building in the distance.","start_frame":3,"end_frame":8,"start_position":[-109.26811981201172,38.07033920288086,13.659725189208984],"start_rotation":[0.99999205503423116,0,0,-0.0039862097806341971],"end_position":[-109.26811981201172,38.07033920288086,9.659725189208984],"end_rotation":[0.92539764876100683,0,0,0.37899761432969503],"actions":[4,4,3,3,3,3],"reference_path":[[-109.26811981201172,38.07033920288086,13.659725189208984,0,0,-0.007972440674868997],[-109.26811981201172,38.07033920288086,11.659725189208984,0,0,-0.007972440674868997],[-109.26811981201172,38.07033920288086,9.659725189208984,0,0,-0.007972440674868997],[-109.26811981201172,38.07033920288086,9.659725189208984,0,0,0.25382694712428044],[-109.26811981201172,38.07033920288086,9.659725189208984,0,0,0.5156263349234299],[-109.26811981201172,38.07033920288086,9.659725189208984,0,0,0.7774257227225793]]},{"id":2,"instruction":"turn right towards a dark brown building when near a light grey building with three doors.","completed_instruction":"Fly forward to the top of the bushes in front of the grey building with three doors, then turn right to face the red brick house with a grey roof.","start_frame":8,"end_frame":23,"start_position":[-109.26811981201172,38.07033920288086,9.659725189208984],"start_rotation":[0.92539764876100683,0,0,0.37899761432969503],"end_position":[-91.12338491946534,84.9293681693374,7.659725189208984],"end_rotation":[0.70991983921449464,0,0,0.70428248728025755],"actions":[3,3,1,1,1,1,1,1,1,4,6,1,1,1,3,3],"reference_path":[[-109.26811981201172,38.07033920288086,9.659725189208984,0,0,0.7774257227225793],[-109.26811981201172,38.07033920288086,9.659725189208984,0,0,1.0392251105217287],[-109.26811981201172,38.07033920288086,9.659725189208984,0,0,1.301024498320878],[-107.93556218865521,42.88949786186216,9.659725189208984,0,0,1.301024498320878],[-106.6030045652987,47.70865652084346,9.659725189208984,0,0,1.301024498320878],[-105.2704469419422,52.52781517982476,9.659725189208984,0,0,1.301024498320878],[-103.93788931858569,57.346973838806065,9.659725189208984,0,0,1.301024498320878],[-102.60533169522918,62.166132497787366,9.659725189208984,0,0,1.301024498320878],[-101.27277407187267,66.98529115676867,9.659725189208984,0,0,1.301024498320878],[-99.94021644851617,71.80444981574998,9.659725189208984,0,0,1.301024498320878],[-99.94021644851617,71.80444981574998,7.659725189208984,0,0,1.301024498320878],[-95.12105778953486,70.47189219239347,7.659725189208984,0,0,1.301024498320878],[-93.78850016617835,75.29105085137478,7.659725189208984,0,0,1.301024498320878],[-92.45594254282184,80.11020951035609,7.659725189208984,0,0,1.301024498320878],[-91.12338491946534,84.9293681693374,7.659725189208984,0,0,1.301024498320878],[-91.12338491946534,84.9293681693374,7.659725189208984,0,0,1.5628238861200276]]},{"id":3,"instruction":"fly forward and turn slightly left few times when above the dark brown building.","completed_instruction":"Fly straight ahead towards the red brick house until reaching the middle of its grey roof.","start_frame":23,"end_frame":34,"start_position":[-91.12338491946534,84.9293681693374,7.659725189208984],"start_rotation":[0.70991983921449464,0,0,0.70428248728025755],"end_position":[-110.84657880412405,119.72873056275147,9.659725189208984],"end_rotation":[0.50344818645195877,0,0,0.86402541835193358],"actions":[3,3,1,1,5,1,1,1,1,1,1,1],"reference_path":[[-91.12338491946534,84.9293681693374,7.659725189208984,0,0,1.5628238861200276],[-91.12338491946534,84.9293681693374,7.659725189208984,0,0,1.824623273919177],[-91.12338491946534,84.9293681693374,7.659725189208984,0,0,2.0864226617183266],[-93.58878415504768,89.27928846851415,7.659725189208984,0,0,2.0864226617183266],[-96.05418339063002,93.62920876769091,7.659725189208984,0,0,2.0864226617183266],[-96.05418339063002,93.62920876769091,9.659725189208984,0,0,2.0864226617183266],[-98.51958262621235,97.97912906686767,9.659725189208984,0,0,2.0864226617183266],[-100.9849818617947,102.32904936604443,9.659725189208984,0,0,2.0864226617183266],[-103.45038109737703,106.67896966522119,9.659725189208984,0,0,2.0864226617183266],[-105.91578033295937,111.02888996439795,9.659725189208984,0,0,2.0864226617183266],[-108.38117956854171,115.3788102635747,9.659725189208984,0,0,2.0864226617183266],[-110.84657880412405,119.72873056275147,9.659725189208984,0,0,2.0864226617183266]]},{"id":4,"instruction":"fly forward towards few silos.","completed_instruction":"Turn left to face three smaller vertical cylinders that are closely connected to each other, then fly to their front.","start_frame":34,"end_frame":52,"start_position":[-110.84657880412405,119.72873056275147,9.659725189208984],"start_rotation":[0.50344818645195877,0,0,0.86402541835193358],"end_position":[-120.85656376738444,173.0724800499135,5.659725189208984],"end_rotation":[0.70991983921449464,0,0,0.70428248728025755],"actions":[1,1,2,1,4,1,1,1,6,1,4,1,3,1,2,2,1,1,1],"reference_path":[[-110.84657880412405,119.72873056275147,9.659725189208984,0,0,2.0864226617183266],[-113.31197803970639,124.07865086192822,9.659725189208984,0,0,2.0864226617183266],[-115.77737727528873,128.42857116110497,9.659725189208984,0,0,2.0864226617183266],[-115.77737727528873,128.42857116110497,9.659725189208984,0,0,1.824623273919177],[-117.03292785094604,133.26836379632877,9.659725189208984,0,0,1.824623273919177],[-117.03292785094604,133.26836379632877,7.659725189208984,0,0,1.824623273919177],[-118.28847842660335,138.10815643155257,7.659725189208984,0,0,1.824623273919177],[-119.54402900226066,142.94794906677637,7.659725189208984,0,0,1.824623273919177],[-120.79957957791797,147.78774170200018,7.659725189208984,0,0,1.824623273919177],[-115.95978694269417,149.04329227765749,7.659725189208984,0,0,1.824623273919177],[-117.21533751835148,153.8830849128813,7.659725189208984,0,0,1.824623273919177],[-117.21533751835148,153.8830849128813,5.659725189208984,0,0,1.824623273919177],[-118.47088809400879,158.7228775481051,5.659725189208984,0,0,1.824623273919177],[-118.47088809400879,158.7228775481051,5.659725189208984,0,0,2.0864226617183266],[-120.93628732959112,163.07279784728183,5.659725189208984,0,0,2.0864226617183266],[-120.93628732959112,163.07279784728183,5.659725189208984,0,0,1.824623273919177],[-120.93628732959112,163.07279784728183,5.659725189208984,0,0,1.5628238861200276],[-120.89642554848778,168.07263894859767,5.659725189208984,0,0,1.5628238861200276],[-120.85656376738444,173.0724800499135,5.659725189208984,0,0,1.5628238861200276]]},{"id":5,"instruction":"turn right towards a big tank when near the silos.","completed_instruction":"Turn right to face the first big and wide cylindrical container.","start_frame":52,"end_frame":54,"start_position":[-120.85656376738444,173.0724800499135,5.659725189208984],"start_rotation":[0.70991983921449464,0,0,0.70428248728025755],"end_position":[-120.77684020517776,183.07216225254518,5.659725189208984],"end_rotation":[0.70991983921449464,0,0,0.70428248728025755],"actions":[1,1,3],"reference_path":[[-120.85656376738444,173.0724800499135,5.659725189208984,0,0,1.5628238861200276],[-120.8167019862811,178.07232115122935,5.659725189208984,0,0,1.5628238861200276],[-120.77684020517776,183.07216225254518,5.659725189208984,0,0,1.5628238861200276]]},{"id":6,"instruction":"fly up until above the big tank and land on top of the big tank.","completed_instruction":"Fly forward and ascend to a higher altitude above the wide container, then land on the roof of the container.","start_frame":54,"end_frame":70,"start_position":[-120.77684020517776,183.07216225254518,5.659725189208984],"start_rotation":[0.70991983921449464,0,0,0.70428248728025755],"end_position":[-140.50003408983648,217.87152464595914,-2.3402748107910156],"end_rotation":[0.50344818645195877,0,0,0.86402541835193358],"actions":[3,3,1,1,4,1,4,1,4,1,4,1,1,4,1,5,0],"reference_path":[[-120.77684020517776,183.07216225254518,5.659725189208984,0,0,1.5628238861200276],[-120.77684020517776,183.07216225254518,5.659725189208984,0,0,1.824623273919177],[-120.77684020517776,183.07216225254518,5.659725189208984,0,0,2.0864226617183266],[-123.2422394407601,187.42208255172193,5.659725189208984,0,0,2.0864226617183266],[-125.70763867634244,191.77200285089867,5.659725189208984,0,0,2.0864226617183266],[-125.70763867634244,191.77200285089867,3.6597251892089844,0,0,2.0864226617183266],[-128.17303791192478,196.12192315007542,3.6597251892089844,0,0,2.0864226617183266],[-128.17303791192478,196.12192315007542,1.6597251892089844,0,0,2.0864226617183266],[-130.63843714750712,200.47184344925216,1.6597251892089844,0,0,2.0864226617183266],[-130.63843714750712,200.47184344925216,-0.3402748107910156,0,0,2.0864226617183266],[-133.10383638308946,204.8217637484289,-0.3402748107910156,0,0,2.0864226617183266],[-133.10383638308946,204.8217637484289,-2.3402748107910156,0,0,2.0864226617183266],[-135.5692356186718,209.17168404760565,-2.3402748107910156,0,0,2.0864226617183266],[-138.03463485425414,213.5216043467824,-2.3402748107910156,0,0,2.0864226617183266],[-138.03463485425414,213.5216043467824,-4.340274810791016,0,0,2.0864226617183266],[-140.50003408983648,217.87152464595914,-4.340274810791016,0,0,2.0864226617183266],[-140.50003408983648,217.87152464595914,-2.3402748107910156,0,0,2.0864226617183266]]}],"statistics":{"complete_actions":77,"sentence_actions":[4,6,16,12,19,3,17],"sentence_actions_average":11.0}}
diff --git a/scene_9/3QXNC7EIPRT2UV7XD83QO3PFSY190C.json b/scene_9/3QXNC7EIPRT2UV7XD83QO3PFSY190C.json
new file mode 100644
index 0000000000000000000000000000000000000000..8d16459fe1b582fe41e06034f36d6b744b37b0fd
--- /dev/null
+++ b/scene_9/3QXNC7EIPRT2UV7XD83QO3PFSY190C.json
@@ -0,0 +1 @@
+{"episode_id":"3QXNC7EIPRT2UV7XD83QO3PFSY190C","trajectory_id":"30QQTY5GNSIBAEYR6FEOAVRSOQD7UF","scene_id":9,"instruction":"lift off above the buildings and turn right facing the closest natasha container and head straight. veer right into the middle of the natasha containers. in the middle of the natasha containers turn left until facing the red shipping containers and head straight. at the red shipping containers turn right until facing the building to the left of the natasha containers and head straight. at the natasha container turn left facing the slim cylinder containers and head straight landing in front of them.","sentence_instructions":[{"id":0,"instruction":"lift off above the buildings and turn right facing the closest natasha container and head straight.","completed_instruction":"Take off from above the building, turn right towards the two-story white building with five windows, and keep flying forward until passing over the building.","start_frame":1,"end_frame":24,"start_position":[-252.1350860595703,27.01270866394043,17.31802749633789],"start_rotation":[0.99987279379686034,0,0,-0.015949803285971804],"end_position":[-238.1037359116955,90.67683681337583,9.31802749633789],"end_rotation":[0.80296204586584474,0,0,0.59603016106480466],"actions":[4,4,4,4,3,3,3,3,3,1,1,1,1,1,1,1,1,1,1,1,7,1,1,1],"reference_path":[[-252.1350860595703,27.01270866394043,17.31802749633789,0,0,-0.03190095925004936],[-252.1350860595703,27.01270866394043,15.31802749633789,0,0,-0.03190095925004936],[-252.1350860595703,27.01270866394043,13.31802749633789,0,0,-0.03190095925004936],[-252.1350860595703,27.01270866394043,11.31802749633789,0,0,-0.03190095925004936],[-252.1350860595703,27.01270866394043,9.31802749633789,0,0,-0.03190095925004936],[-252.1350860595703,27.01270866394043,9.31802749633789,0,0,0.22989842854910006],[-252.1350860595703,27.01270866394043,9.31802749633789,0,0,0.49169781634824955],[-252.1350860595703,27.01270866394043,9.31802749633789,0,0,0.753497204147399],[-252.1350860595703,27.01270866394043,9.31802749633789,0,0,1.0152965919465482],[-252.1350860595703,27.01270866394043,9.31802749633789,0,0,1.2770959797456978],[-250.68760558855968,31.798604639203873,9.31802749633789,0,0,1.2770959797456978],[-249.24012511754904,36.584500614467316,9.31802749633789,0,0,1.2770959797456978],[-247.7926446465384,41.37039658973076,9.31802749633789,0,0,1.2770959797456978],[-246.34516417552777,46.1562925649942,9.31802749633789,0,0,1.2770959797456978],[-244.89768370451714,50.942188540257646,9.31802749633789,0,0,1.2770959797456978],[-243.4502032335065,55.72808451552109,9.31802749633789,0,0,1.2770959797456978],[-242.00272276249586,60.51398049078453,9.31802749633789,0,0,1.2770959797456978],[-240.55524229148523,65.29987646604798,9.31802749633789,0,0,1.2770959797456978],[-239.1077618204746,70.08577244131142,9.31802749633789,0,0,1.2770959797456978],[-237.66028134946396,74.87166841657486,9.31802749633789,0,0,1.2770959797456978],[-236.21280087845332,79.6575643918383,9.31802749633789,0,0,1.2770959797456978],[-240.99869685371678,81.10504486284894,9.31802749633789,0,0,1.2770959797456978],[-239.55121638270614,85.89094083811239,9.31802749633789,0,0,1.2770959797456978],[-238.1037359116955,90.67683681337583,9.31802749633789,0,0,1.2770959797456978]]},{"id":1,"instruction":"veer right into the middle of the natasha containers.","completed_instruction":"Turn right to face the gap between two tanks and fly into the gap between the two cylindrical buildings on the right.","start_frame":24,"end_frame":37,"start_position":[-238.1037359116955,90.67683681337583,9.31802749633789],"start_rotation":[0.80296204586584474,0,0,0.59603016106480466],"end_position":[-241.97027385462636,118.16869813346496,9.31802749633789],"end_rotation":[0.27419244863264325,0,0,0.96167484167614325],"actions":[1,1,3,1,3,1,3,1,3,1,3,2,3,1],"reference_path":[[-238.1037359116955,90.67683681337583,9.31802749633789,0,0,1.2770959797456978],[-236.65625544068487,95.46273278863927,9.31802749633789,0,0,1.2770959797456978],[-235.20877496967424,100.24862876390272,9.31802749633789,0,0,1.2770959797456978],[-235.20877496967424,100.24862876390272,9.31802749633789,0,0,1.5388953675448473],[-235.0492972259537,105.2460848016541,9.31802749633789,0,0,1.5388953675448473],[-235.0492972259537,105.2460848016541,9.31802749633789,0,0,1.8006947553439967],[-236.18869035420835,110.11453253160727,9.31802749633789,0,0,1.8006947553439967],[-236.18869035420835,110.11453253160727,9.31802749633789,0,0,2.0624941431431463],[-238.54930659568382,114.52219528645617,9.31802749633789,0,0,2.0624941431431463],[-238.54930659568382,114.52219528645617,9.31802749633789,0,0,2.324293530942296],[-241.97027385462636,118.16869813346496,9.31802749633789,0,0,2.324293530942296],[-241.97027385462636,118.16869813346496,9.31802749633789,0,0,2.5860929187414454],[-241.97027385462636,118.16869813346496,9.31802749633789,0,0,2.324293530942296],[-241.97027385462636,118.16869813346496,9.31802749633789,0,0,2.5860929187414454]]},{"id":2,"instruction":"in the middle of the natasha containers turn left until facing the red shipping containers and head straight.","completed_instruction":"Turn left to face the red shipping container behind the wall and keep flying forward, when reach the edge of the road, turn left to face the street lamp and fly forward until stoping beside it.","start_frame":37,"end_frame":61,"start_position":[-241.97027385462636,118.16869813346496,9.31802749633789],"start_rotation":[0.27419244863264325,0,0,0.96167484167614325],"end_position":[-196.26558013017035,126.03215061035904,9.31802749633789],"end_rotation":[0.99987279379686034,0,0,-0.015949803285971408],"actions":[1,3,2,2,2,2,2,2,2,2,2,2,1,1,1,1,1,1,1,1,1,6,2,1,1],"reference_path":[[-241.97027385462636,118.16869813346496,9.31802749633789,0,0,2.5860929187414454],[-246.2184588657547,120.80553792974086,9.31802749633789,0,0,2.5860929187414454],[-246.2184588657547,120.80553792974086,9.31802749633789,0,0,2.847892306540595],[-246.2184588657547,120.80553792974086,9.31802749633789,0,0,2.5860929187414454],[-246.2184588657547,120.80553792974086,9.31802749633789,0,0,2.324293530942296],[-246.2184588657547,120.80553792974086,9.31802749633789,0,0,2.0624941431431467],[-246.2184588657547,120.80553792974086,9.31802749633789,0,0,1.8006947553439971],[-246.2184588657547,120.80553792974086,9.31802749633789,0,0,1.5388953675448478],[-246.2184588657547,120.80553792974086,9.31802749633789,0,0,1.2770959797456984],[-246.2184588657547,120.80553792974086,9.31802749633789,0,0,1.015296591946549],[-246.2184588657547,120.80553792974086,9.31802749633789,0,0,0.7534972041473997],[-246.2184588657547,120.80553792974086,9.31802749633789,0,0,0.49169781634825027],[-246.2184588657547,120.80553792974086,9.31802749633789,0,0,0.22989842854910086],[-241.35001113580157,121.94493105799552,9.31802749633789,0,0,0.22989842854910086],[-236.48156340584842,123.08432418625017,9.31802749633789,0,0,0.22989842854910086],[-231.61311567589527,124.22371731450482,9.31802749633789,0,0,0.22989842854910086],[-226.74466794594213,125.36311044275948,9.31802749633789,0,0,0.22989842854910086],[-221.87622021598898,126.50250357101413,9.31802749633789,0,0,0.22989842854910086],[-217.00777248603583,127.64189669926878,9.31802749633789,0,0,0.22989842854910086],[-212.1393247560827,128.78128982752344,9.31802749633789,0,0,0.22989842854910086],[-207.27087702612954,129.9206829557781,9.31802749633789,0,0,0.22989842854910086],[-202.4024292961764,131.06007608403274,9.31802749633789,0,0,0.22989842854910086],[-201.26303616792174,126.19162835407958,9.31802749633789,0,0,0.22989842854910086],[-201.26303616792174,126.19162835407958,9.31802749633789,0,0,-0.03190095925004857],[-196.26558013017035,126.03215061035904,9.31802749633789,0,0,-0.03190095925004857]]},{"id":3,"instruction":"at the red shipping containers turn right until facing the building to the left of the natasha containers and head straight.","completed_instruction":"Turn right towards the giant white cement cylindrical container, then turn right again towards the steel frame that extends to the distance, and keep flying straight ahead until reaching the edge of the two-story roof beside the grassland.","start_frame":61,"end_frame":95,"start_position":[-196.26558013017035,126.03215061035904,9.31802749633789],"start_rotation":[0.99987279379686034,0,0,-0.015949803285971408],"end_position":[-242.48567902995435,164.37403120653977,5.318027496337891],"end_rotation":[0.14632293898652859,0,0,0.989236876347796],"actions":[1,1,3,3,1,3,4,1,1,3,3,1,3,3,3,1,3,3,3,1,1,1,1,1,1,1,1,1,1,1,1,4,1,1,1],"reference_path":[[-196.26558013017035,126.03215061035904,9.31802749633789,0,0,-0.03190095925004857],[-191.26812409241896,125.8726728666385,9.31802749633789,0,0,-0.03190095925004857],[-186.27066805466757,125.71319512291795,9.31802749633789,0,0,-0.03190095925004857],[-186.27066805466757,125.71319512291795,9.31802749633789,0,0,0.22989842854910086],[-186.27066805466757,125.71319512291795,9.31802749633789,0,0,0.49169781634825027],[-181.86300529981867,128.07381136439344,9.31802749633789,0,0,0.49169781634825027],[-181.86300529981867,128.07381136439344,9.31802749633789,0,0,0.7534972041473997],[-181.86300529981867,128.07381136439344,7.318027496337891,0,0,0.7534972041473997],[-178.2165024528099,131.49477862333597,7.318027496337891,0,0,0.7534972041473997],[-174.56999960580112,134.91574588227851,7.318027496337891,0,0,0.7534972041473997],[-174.56999960580112,134.91574588227851,7.318027496337891,0,0,1.015296591946549],[-174.56999960580112,134.91574588227851,7.318027496337891,0,0,1.2770959797456987],[-173.12251913479048,139.70164185754197,7.318027496337891,0,0,1.2770959797456987],[-173.12251913479048,139.70164185754197,7.318027496337891,0,0,1.538895367544848],[-173.12251913479048,139.70164185754197,7.318027496337891,0,0,1.8006947553439974],[-173.12251913479048,139.70164185754197,7.318027496337891,0,0,2.0624941431431467],[-175.48313537626595,144.10930461239087,7.318027496337891,0,0,2.0624941431431467],[-175.48313537626595,144.10930461239087,7.318027496337891,0,0,2.324293530942296],[-175.48313537626595,144.10930461239087,7.318027496337891,0,0,2.5860929187414454],[-175.48313537626595,144.10930461239087,7.318027496337891,0,0,2.847892306540595],[-180.2690313515294,145.5567850834015,7.318027496337891,0,0,2.847892306540595],[-185.05492732679286,147.00426555441214,7.318027496337891,0,0,2.847892306540595],[-189.84082330205632,148.45174602542278,7.318027496337891,0,0,2.847892306540595],[-194.62671927731978,149.8992264964334,7.318027496337891,0,0,2.847892306540595],[-199.41261525258324,151.34670696744405,7.318027496337891,0,0,2.847892306540595],[-204.1985112278467,152.79418743845468,7.318027496337891,0,0,2.847892306540595],[-208.98440720311015,154.24166790946532,7.318027496337891,0,0,2.847892306540595],[-213.7703031783736,155.68914838047596,7.318027496337891,0,0,2.847892306540595],[-218.55619915363707,157.1366288514866,7.318027496337891,0,0,2.847892306540595],[-223.34209512890052,158.58410932249723,7.318027496337891,0,0,2.847892306540595],[-228.12799110416398,160.03158979350786,7.318027496337891,0,0,2.847892306540595],[-232.91388707942744,161.4790702645185,7.318027496337891,0,0,2.847892306540595],[-232.91388707942744,161.4790702645185,5.318027496337891,0,0,2.847892306540595],[-237.6997830546909,162.92655073552913,5.318027496337891,0,0,2.847892306540595],[-242.48567902995435,164.37403120653977,5.318027496337891,0,0,2.847892306540595]]},{"id":4,"instruction":"at the natasha container turn left facing the slim cylinder containers and head straight landing in front of them.","completed_instruction":"Turn left towards the iron frame between the second and third cylindrical buildings, then fly ahead and land on the open ground in front of the iron frame.","start_frame":95,"end_frame":112,"start_position":[-242.48567902995435,164.37403120653977,5.318027496337891],"start_rotation":[0.14632293898652859,0,0,0.989236876347796],"end_position":[-246.26754909643873,186.41257604961487,15.31802749633789],"end_rotation":[0.80296204586584452,0,0,0.596030161064805],"actions":[1,1,2,2,2,2,2,2,5,1,1,5,1,1,5,5,5,0],"reference_path":[[-242.48567902995435,164.37403120653977,5.318027496337891,0,0,2.847892306540595],[-247.2715750052178,165.8215116775504,5.318027496337891,0,0,2.847892306540595],[-252.05747098048127,167.26899214856104,5.318027496337891,0,0,2.847892306540595],[-252.05747098048127,167.26899214856104,5.318027496337891,0,0,2.5860929187414454],[-252.05747098048127,167.26899214856104,5.318027496337891,0,0,2.324293530942296],[-252.05747098048127,167.26899214856104,5.318027496337891,0,0,2.0624941431431467],[-252.05747098048127,167.26899214856104,5.318027496337891,0,0,1.8006947553439971],[-252.05747098048127,167.26899214856104,5.318027496337891,0,0,1.5388953675448478],[-252.05747098048127,167.26899214856104,5.318027496337891,0,0,1.2770959797456984],[-252.05747098048127,167.26899214856104,7.318027496337891,0,0,1.2770959797456984],[-250.60999050947063,172.0548881238245,7.318027496337891,0,0,1.2770959797456984],[-249.16251003846,176.84078409908795,7.318027496337891,0,0,1.2770959797456984],[-249.16251003846,176.84078409908795,9.31802749633789,0,0,1.2770959797456984],[-247.71502956744936,181.6266800743514,9.31802749633789,0,0,1.2770959797456984],[-246.26754909643873,186.41257604961487,9.31802749633789,0,0,1.2770959797456984],[-246.26754909643873,186.41257604961487,11.31802749633789,0,0,1.2770959797456984],[-246.26754909643873,186.41257604961487,13.31802749633789,0,0,1.2770959797456984],[-246.26754909643873,186.41257604961487,15.31802749633789,0,0,1.2770959797456984]]}],"statistics":{"complete_actions":116,"sentence_actions":[24,14,25,35,18],"sentence_actions_average":23.2}}
diff --git a/scene_9/3R6BYFZZPGAJSV4LJ6SP7DY14O9XFK.json b/scene_9/3R6BYFZZPGAJSV4LJ6SP7DY14O9XFK.json
new file mode 100644
index 0000000000000000000000000000000000000000..97661032809a7f2f05adc3057b3a372f28a6cbb5
--- /dev/null
+++ b/scene_9/3R6BYFZZPGAJSV4LJ6SP7DY14O9XFK.json
@@ -0,0 +1 @@
+{"episode_id":"3R6BYFZZPGAJSV4LJ6SP7DY14O9XFK","trajectory_id":"3VJ4PFXFKB5TTGWPDIQ8KMTIPYJAU9","scene_id":9,"instruction":"take off and turn to the right and go to the green roofs. turn left and go over white trucks to the gray roof. turn right and go over the blue shipping container and land in the leaves.","sentence_instructions":[{"id":0,"instruction":"take off and turn to the right and go to the green roofs.","completed_instruction":"Take off to a height above the roof of the gray building ahead, then turn right to face the green roof, and then fly forward to the front of the mentioned roof.","start_frame":1,"end_frame":25,"start_position":[-96.61461639404297,10.205656051635742,18.886608123779297],"start_rotation":[0.999935582081269,0,0,-0.011350404741406351],"end_position":[-120.33080712403638,48.13572823270238,8.886608123779297],"end_rotation":[0.50979752988992777,0,0,0.86029441385965555],"actions":[4,4,4,4,4,3,3,3,3,3,3,3,3,1,1,1,1,1,1,3,1,1,2,1,1],"reference_path":[[-96.61461639404297,10.205656051635742,18.886608123779297,0,0,-0.02270129694167329],[-96.61461639404297,10.205656051635742,16.886608123779297,0,0,-0.02270129694167329],[-96.61461639404297,10.205656051635742,14.886608123779297,0,0,-0.02270129694167329],[-96.61461639404297,10.205656051635742,12.886608123779297,0,0,-0.02270129694167329],[-96.61461639404297,10.205656051635742,10.886608123779297,0,0,-0.02270129694167329],[-96.61461639404297,10.205656051635742,8.886608123779297,0,0,-0.02270129694167329],[-96.61461639404297,10.205656051635742,8.886608123779297,0,0,0.23909809085747613],[-96.61461639404297,10.205656051635742,8.886608123779297,0,0,0.5008974786566256],[-96.61461639404297,10.205656051635742,8.886608123779297,0,0,0.7626968664557751],[-96.61461639404297,10.205656051635742,8.886608123779297,0,0,1.0244962542549245],[-96.61461639404297,10.205656051635742,8.886608123779297,0,0,1.2862956420540739],[-96.61461639404297,10.205656051635742,8.886608123779297,0,0,1.5480950298532234],[-96.61461639404297,10.205656051635742,8.886608123779297,0,0,1.809894417652373],[-96.61461639404297,10.205656051635742,8.886608123779297,0,0,2.0716938054515226],[-99.01568117922426,14.591415723273297,8.886608123779297,0,0,2.0716938054515226],[-101.41674596440555,18.97717539491085,8.886608123779297,0,0,2.0716938054515226],[-103.81781074958684,23.362935066548406,8.886608123779297,0,0,2.0716938054515226],[-106.21887553476813,27.74869473818596,8.886608123779297,0,0,2.0716938054515226],[-108.61994031994942,32.13445440982352,8.886608123779297,0,0,2.0716938054515226],[-111.02100510513071,36.52021408146108,8.886608123779297,0,0,2.0716938054515226],[-111.02100510513071,36.52021408146108,8.886608123779297,0,0,2.3334931932506717],[-114.47537372199291,40.13509132126295,8.886608123779297,0,0,2.3334931932506717],[-117.9297423388551,43.74996856106482,8.886608123779297,0,0,2.3334931932506717],[-117.9297423388551,43.74996856106482,8.886608123779297,0,0,2.071693805451522],[-120.33080712403638,48.13572823270238,8.886608123779297,0,0,2.071693805451522]]},{"id":1,"instruction":"turn left and go over white trucks to the gray roof.","completed_instruction":"Turn left to face the grey building with three doors, then fly forward to the top of the grass front to the grey building.","start_frame":25,"end_frame":41,"start_position":[-120.33080712403638,48.13572823270238,8.886608123779297],"start_rotation":[0.50979752988992777,0,0,0.86029441385965555],"end_position":[-103.20413833621113,68.91257150188393,6.886608123779297],"end_rotation":[0.96880130427438815,0,0,0.24783872343974914],"actions":[1,1,1,2,2,2,2,2,2,1,1,1,4,1,1,6,1],"reference_path":[[-120.33080712403638,48.13572823270238,8.886608123779297,0,0,2.071693805451522],[-122.73187190921766,52.521487904339935,8.886608123779297,0,0,2.071693805451522],[-125.13293669439894,56.90724757597749,8.886608123779297,0,0,2.071693805451522],[-127.53400147958021,61.29300724761505,8.886608123779297,0,0,2.071693805451522],[-127.53400147958021,61.29300724761505,8.886608123779297,0,0,1.8098944176523728],[-127.53400147958021,61.29300724761505,8.886608123779297,0,0,1.5480950298532234],[-127.53400147958021,61.29300724761505,8.886608123779297,0,0,1.286295642054074],[-127.53400147958021,61.29300724761505,8.886608123779297,0,0,1.0244962542549247],[-127.53400147958021,61.29300724761505,8.886608123779297,0,0,0.7626968664557753],[-127.53400147958021,61.29300724761505,8.886608123779297,0,0,0.5008974786566258],[-123.14824180794265,63.694072032796335,8.886608123779297,0,0,0.5008974786566258],[-118.7624821363051,66.09513681797762,8.886608123779297,0,0,0.5008974786566258],[-114.37672246466754,68.49620160315891,8.886608123779297,0,0,0.5008974786566258],[-114.37672246466754,68.49620160315891,6.886608123779297,0,0,0.5008974786566258],[-109.99096279302998,70.8972663883402,6.886608123779297,0,0,0.5008974786566258],[-105.60520312139242,73.29833117352149,6.886608123779297,0,0,0.5008974786566258],[-103.20413833621113,68.91257150188393,6.886608123779297,0,0,0.5008974786566258]]},{"id":2,"instruction":"turn right and go over the blue shipping container and land in the leaves.","completed_instruction":"Turn right to face the red shipping container, then fly forward to the top of the green container, then fly over the containers and land on the ground in the middle of the grass ahead.","start_frame":41,"end_frame":75,"start_position":[-103.20413833621113,68.91257150188393,6.886608123779297],"start_rotation":[0.96880130427438815,0,0,0.24783872343974914],"end_position":[-95.10968002505726,160.9676584790653,14.886608123779297],"end_rotation":[0.71508717900124319,0,0,0.69903528267752268],"actions":[1,1,1,3,3,3,3,3,3,5,1,1,2,1,1,1,1,1,6,1,1,1,1,6,2,1,1,1,1,1,1,5,5,5,0],"reference_path":[[-103.20413833621113,68.91257150188393,6.886608123779297,0,0,0.5008974786566258],[-98.81837866457357,71.31363628706521,6.886608123779297,0,0,0.5008974786566258],[-94.43261899293601,73.7147010722465,6.886608123779297,0,0,0.5008974786566258],[-90.04685932129846,76.11576585742779,6.886608123779297,0,0,0.5008974786566258],[-90.04685932129846,76.11576585742779,6.886608123779297,0,0,0.7626968664557753],[-90.04685932129846,76.11576585742779,6.886608123779297,0,0,1.0244962542549247],[-90.04685932129846,76.11576585742779,6.886608123779297,0,0,1.286295642054074],[-90.04685932129846,76.11576585742779,6.886608123779297,0,0,1.5480950298532237],[-90.04685932129846,76.11576585742779,6.886608123779297,0,0,1.809894417652373],[-90.04685932129846,76.11576585742779,6.886608123779297,0,0,2.0716938054515226],[-90.04685932129846,76.11576585742779,8.886608123779297,0,0,2.0716938054515226],[-92.44792410647975,80.50152552906535,8.886608123779297,0,0,2.0716938054515226],[-94.84898889166104,84.8872852007029,8.886608123779297,0,0,2.0716938054515226],[-94.84898889166104,84.8872852007029,8.886608123779297,0,0,1.809894417652373],[-96.03312124799848,89.7450450303646,8.886608123779297,0,0,1.809894417652373],[-97.21725360433592,94.60280486002628,8.886608123779297,0,0,1.809894417652373],[-98.40138596067337,99.46056468968797,8.886608123779297,0,0,1.809894417652373],[-99.58551831701081,104.31832451934966,8.886608123779297,0,0,1.809894417652373],[-100.76965067334825,109.17608434901135,8.886608123779297,0,0,1.809894417652373],[-95.91189084368656,110.36021670534879,8.886608123779297,0,0,1.809894417652373],[-97.096023200024,115.21797653501048,8.886608123779297,0,0,1.809894417652373],[-98.28015555636145,120.07573636467217,8.886608123779297,0,0,1.809894417652373],[-99.4642879126989,124.93349619433386,8.886608123779297,0,0,1.809894417652373],[-100.64842026903634,129.79125602399554,8.886608123779297,0,0,1.809894417652373],[-95.79066043937465,130.975388380333,8.886608123779297,0,0,1.809894417652373],[-95.79066043937465,130.975388380333,8.886608123779297,0,0,1.5480950298532237],[-95.67716370365508,135.97410006345504,8.886608123779297,0,0,1.5480950298532237],[-95.56366696793552,140.9728117465771,8.886608123779297,0,0,1.5480950298532237],[-95.45017023221595,145.97152342969915,8.886608123779297,0,0,1.5480950298532237],[-95.33667349649639,150.9702351128212,8.886608123779297,0,0,1.5480950298532237],[-95.22317676077682,155.96894679594325,8.886608123779297,0,0,1.5480950298532237],[-95.10968002505726,160.9676584790653,8.886608123779297,0,0,1.5480950298532237],[-95.10968002505726,160.9676584790653,10.886608123779297,0,0,1.5480950298532237],[-95.10968002505726,160.9676584790653,12.886608123779297,0,0,1.5480950298532237],[-95.10968002505726,160.9676584790653,14.886608123779297,0,0,1.5480950298532237]]}],"statistics":{"complete_actions":77,"sentence_actions":[25,17,35],"sentence_actions_average":25.67}}
diff --git a/scene_9/3RJSC4XJ19SJT85LAIQ9CNKD6Z650Z.json b/scene_9/3RJSC4XJ19SJT85LAIQ9CNKD6Z650Z.json
new file mode 100644
index 0000000000000000000000000000000000000000..0d1b297d60f2509e91f08d95320ec32b3b3e8743
--- /dev/null
+++ b/scene_9/3RJSC4XJ19SJT85LAIQ9CNKD6Z650Z.json
@@ -0,0 +1 @@
+{"episode_id":"3RJSC4XJ19SJT85LAIQ9CNKD6Z650Z","trajectory_id":"30QQTY5GNSIBAEYR6FEOAVRSOQD7UF","scene_id":9,"instruction":"take off and turn right and go over white roofs. go between cylinders and turn left and go over fence. turn around and go passed the natasha concrete things on the left to white building. go to the pipes to the left and land next to them.","sentence_instructions":[{"id":0,"instruction":"take off and turn right and go over white roofs.","completed_instruction":"Take off, turn right to face the house beside a round building and go over the white roof.","start_frame":1,"end_frame":24,"start_position":[-252.1350860595703,27.01270866394043,17.31802749633789],"start_rotation":[0.99987279379686034,0,0,-0.015949803285971804],"end_position":[-238.1037359116955,90.67683681337583,9.31802749633789],"end_rotation":[0.80296204586584474,0,0,0.59603016106480466],"actions":[4,4,4,4,3,3,3,3,3,1,1,1,1,1,1,1,1,1,1,1,7,1,1,1],"reference_path":[[-252.1350860595703,27.01270866394043,17.31802749633789,0,0,-0.03190095925004936],[-252.1350860595703,27.01270866394043,15.31802749633789,0,0,-0.03190095925004936],[-252.1350860595703,27.01270866394043,13.31802749633789,0,0,-0.03190095925004936],[-252.1350860595703,27.01270866394043,11.31802749633789,0,0,-0.03190095925004936],[-252.1350860595703,27.01270866394043,9.31802749633789,0,0,-0.03190095925004936],[-252.1350860595703,27.01270866394043,9.31802749633789,0,0,0.22989842854910006],[-252.1350860595703,27.01270866394043,9.31802749633789,0,0,0.49169781634824955],[-252.1350860595703,27.01270866394043,9.31802749633789,0,0,0.753497204147399],[-252.1350860595703,27.01270866394043,9.31802749633789,0,0,1.0152965919465482],[-252.1350860595703,27.01270866394043,9.31802749633789,0,0,1.2770959797456978],[-250.68760558855968,31.798604639203873,9.31802749633789,0,0,1.2770959797456978],[-249.24012511754904,36.584500614467316,9.31802749633789,0,0,1.2770959797456978],[-247.7926446465384,41.37039658973076,9.31802749633789,0,0,1.2770959797456978],[-246.34516417552777,46.1562925649942,9.31802749633789,0,0,1.2770959797456978],[-244.89768370451714,50.942188540257646,9.31802749633789,0,0,1.2770959797456978],[-243.4502032335065,55.72808451552109,9.31802749633789,0,0,1.2770959797456978],[-242.00272276249586,60.51398049078453,9.31802749633789,0,0,1.2770959797456978],[-240.55524229148523,65.29987646604798,9.31802749633789,0,0,1.2770959797456978],[-239.1077618204746,70.08577244131142,9.31802749633789,0,0,1.2770959797456978],[-237.66028134946396,74.87166841657486,9.31802749633789,0,0,1.2770959797456978],[-236.21280087845332,79.6575643918383,9.31802749633789,0,0,1.2770959797456978],[-240.99869685371678,81.10504486284894,9.31802749633789,0,0,1.2770959797456978],[-239.55121638270614,85.89094083811239,9.31802749633789,0,0,1.2770959797456978],[-238.1037359116955,90.67683681337583,9.31802749633789,0,0,1.2770959797456978]]},{"id":1,"instruction":"go between cylinders and turn left and go over fence.","completed_instruction":"Turn right to face the gap between two round buildings, fly to reach between the cylinders, and then turn left to face another giant white cement cylinders with word \"Naftusha\".","start_frame":24,"end_frame":47,"start_position":[-238.1037359116955,90.67683681337583,9.31802749633789],"start_rotation":[0.80296204586584474,0,0,0.59603016106480466],"end_position":[-246.2184588657547,120.80553792974086,9.31802749633789],"end_rotation":[0.92986573477082113,0,0,0.36789905585516391],"actions":[1,1,3,1,3,1,3,1,3,1,3,2,3,1,3,2,2,2,2,2,2,2,2,2],"reference_path":[[-238.1037359116955,90.67683681337583,9.31802749633789,0,0,1.2770959797456978],[-236.65625544068487,95.46273278863927,9.31802749633789,0,0,1.2770959797456978],[-235.20877496967424,100.24862876390272,9.31802749633789,0,0,1.2770959797456978],[-235.20877496967424,100.24862876390272,9.31802749633789,0,0,1.5388953675448473],[-235.0492972259537,105.2460848016541,9.31802749633789,0,0,1.5388953675448473],[-235.0492972259537,105.2460848016541,9.31802749633789,0,0,1.8006947553439967],[-236.18869035420835,110.11453253160727,9.31802749633789,0,0,1.8006947553439967],[-236.18869035420835,110.11453253160727,9.31802749633789,0,0,2.0624941431431463],[-238.54930659568382,114.52219528645617,9.31802749633789,0,0,2.0624941431431463],[-238.54930659568382,114.52219528645617,9.31802749633789,0,0,2.324293530942296],[-241.97027385462636,118.16869813346496,9.31802749633789,0,0,2.324293530942296],[-241.97027385462636,118.16869813346496,9.31802749633789,0,0,2.5860929187414454],[-241.97027385462636,118.16869813346496,9.31802749633789,0,0,2.324293530942296],[-241.97027385462636,118.16869813346496,9.31802749633789,0,0,2.5860929187414454],[-246.2184588657547,120.80553792974086,9.31802749633789,0,0,2.5860929187414454],[-246.2184588657547,120.80553792974086,9.31802749633789,0,0,2.847892306540595],[-246.2184588657547,120.80553792974086,9.31802749633789,0,0,2.5860929187414454],[-246.2184588657547,120.80553792974086,9.31802749633789,0,0,2.324293530942296],[-246.2184588657547,120.80553792974086,9.31802749633789,0,0,2.0624941431431467],[-246.2184588657547,120.80553792974086,9.31802749633789,0,0,1.8006947553439971],[-246.2184588657547,120.80553792974086,9.31802749633789,0,0,1.5388953675448478],[-246.2184588657547,120.80553792974086,9.31802749633789,0,0,1.2770959797456984],[-246.2184588657547,120.80553792974086,9.31802749633789,0,0,1.015296591946549],[-246.2184588657547,120.80553792974086,9.31802749633789,0,0,0.7534972041473997]]},{"id":2,"instruction":"turn around and go passed the natasha concrete things on the left to white building.","completed_instruction":"Fly straight cross the road and the red shipping container, turn right to face the end of the pipeline and fly straight until reach the two-story White house beside the large cylindrical building.","start_frame":47,"end_frame":95,"start_position":[-246.2184588657547,120.80553792974086,9.31802749633789],"start_rotation":[0.92986573477082113,0,0,0.36789905585516391],"end_position":[-242.48567902995435,164.37403120653977,5.318027496337891],"end_rotation":[0.14632293898652859,0,0,0.989236876347796],"actions":[2,2,1,1,1,1,1,1,1,1,1,6,2,1,1,1,3,3,1,3,4,1,1,3,3,1,3,3,3,1,3,3,3,1,1,1,1,1,1,1,1,1,1,1,1,4,1,1,1],"reference_path":[[-246.2184588657547,120.80553792974086,9.31802749633789,0,0,0.7534972041473997],[-246.2184588657547,120.80553792974086,9.31802749633789,0,0,0.49169781634825027],[-246.2184588657547,120.80553792974086,9.31802749633789,0,0,0.22989842854910086],[-241.35001113580157,121.94493105799552,9.31802749633789,0,0,0.22989842854910086],[-236.48156340584842,123.08432418625017,9.31802749633789,0,0,0.22989842854910086],[-231.61311567589527,124.22371731450482,9.31802749633789,0,0,0.22989842854910086],[-226.74466794594213,125.36311044275948,9.31802749633789,0,0,0.22989842854910086],[-221.87622021598898,126.50250357101413,9.31802749633789,0,0,0.22989842854910086],[-217.00777248603583,127.64189669926878,9.31802749633789,0,0,0.22989842854910086],[-212.1393247560827,128.78128982752344,9.31802749633789,0,0,0.22989842854910086],[-207.27087702612954,129.9206829557781,9.31802749633789,0,0,0.22989842854910086],[-202.4024292961764,131.06007608403274,9.31802749633789,0,0,0.22989842854910086],[-201.26303616792174,126.19162835407958,9.31802749633789,0,0,0.22989842854910086],[-201.26303616792174,126.19162835407958,9.31802749633789,0,0,-0.03190095925004857],[-196.26558013017035,126.03215061035904,9.31802749633789,0,0,-0.03190095925004857],[-191.26812409241896,125.8726728666385,9.31802749633789,0,0,-0.03190095925004857],[-186.27066805466757,125.71319512291795,9.31802749633789,0,0,-0.03190095925004857],[-186.27066805466757,125.71319512291795,9.31802749633789,0,0,0.22989842854910086],[-186.27066805466757,125.71319512291795,9.31802749633789,0,0,0.49169781634825027],[-181.86300529981867,128.07381136439344,9.31802749633789,0,0,0.49169781634825027],[-181.86300529981867,128.07381136439344,9.31802749633789,0,0,0.7534972041473997],[-181.86300529981867,128.07381136439344,7.318027496337891,0,0,0.7534972041473997],[-178.2165024528099,131.49477862333597,7.318027496337891,0,0,0.7534972041473997],[-174.56999960580112,134.91574588227851,7.318027496337891,0,0,0.7534972041473997],[-174.56999960580112,134.91574588227851,7.318027496337891,0,0,1.015296591946549],[-174.56999960580112,134.91574588227851,7.318027496337891,0,0,1.2770959797456987],[-173.12251913479048,139.70164185754197,7.318027496337891,0,0,1.2770959797456987],[-173.12251913479048,139.70164185754197,7.318027496337891,0,0,1.538895367544848],[-173.12251913479048,139.70164185754197,7.318027496337891,0,0,1.8006947553439974],[-173.12251913479048,139.70164185754197,7.318027496337891,0,0,2.0624941431431467],[-175.48313537626595,144.10930461239087,7.318027496337891,0,0,2.0624941431431467],[-175.48313537626595,144.10930461239087,7.318027496337891,0,0,2.324293530942296],[-175.48313537626595,144.10930461239087,7.318027496337891,0,0,2.5860929187414454],[-175.48313537626595,144.10930461239087,7.318027496337891,0,0,2.847892306540595],[-180.2690313515294,145.5567850834015,7.318027496337891,0,0,2.847892306540595],[-185.05492732679286,147.00426555441214,7.318027496337891,0,0,2.847892306540595],[-189.84082330205632,148.45174602542278,7.318027496337891,0,0,2.847892306540595],[-194.62671927731978,149.8992264964334,7.318027496337891,0,0,2.847892306540595],[-199.41261525258324,151.34670696744405,7.318027496337891,0,0,2.847892306540595],[-204.1985112278467,152.79418743845468,7.318027496337891,0,0,2.847892306540595],[-208.98440720311015,154.24166790946532,7.318027496337891,0,0,2.847892306540595],[-213.7703031783736,155.68914838047596,7.318027496337891,0,0,2.847892306540595],[-218.55619915363707,157.1366288514866,7.318027496337891,0,0,2.847892306540595],[-223.34209512890052,158.58410932249723,7.318027496337891,0,0,2.847892306540595],[-228.12799110416398,160.03158979350786,7.318027496337891,0,0,2.847892306540595],[-232.91388707942744,161.4790702645185,7.318027496337891,0,0,2.847892306540595],[-232.91388707942744,161.4790702645185,5.318027496337891,0,0,2.847892306540595],[-237.6997830546909,162.92655073552913,5.318027496337891,0,0,2.847892306540595],[-242.48567902995435,164.37403120653977,5.318027496337891,0,0,2.847892306540595]]},{"id":3,"instruction":"go to the pipes to the left and land next to them.","completed_instruction":"Turn left to face six round cotainers, fly to the middle of the second and third pipes on the left, and then land on the ground.","start_frame":95,"end_frame":112,"start_position":[-242.48567902995435,164.37403120653977,5.318027496337891],"start_rotation":[0.14632293898652859,0,0,0.989236876347796],"end_position":[-246.26754909643873,186.41257604961487,15.31802749633789],"end_rotation":[0.80296204586584452,0,0,0.596030161064805],"actions":[1,1,2,2,2,2,2,2,5,1,1,5,1,1,5,5,5,0],"reference_path":[[-242.48567902995435,164.37403120653977,5.318027496337891,0,0,2.847892306540595],[-247.2715750052178,165.8215116775504,5.318027496337891,0,0,2.847892306540595],[-252.05747098048127,167.26899214856104,5.318027496337891,0,0,2.847892306540595],[-252.05747098048127,167.26899214856104,5.318027496337891,0,0,2.5860929187414454],[-252.05747098048127,167.26899214856104,5.318027496337891,0,0,2.324293530942296],[-252.05747098048127,167.26899214856104,5.318027496337891,0,0,2.0624941431431467],[-252.05747098048127,167.26899214856104,5.318027496337891,0,0,1.8006947553439971],[-252.05747098048127,167.26899214856104,5.318027496337891,0,0,1.5388953675448478],[-252.05747098048127,167.26899214856104,5.318027496337891,0,0,1.2770959797456984],[-252.05747098048127,167.26899214856104,7.318027496337891,0,0,1.2770959797456984],[-250.60999050947063,172.0548881238245,7.318027496337891,0,0,1.2770959797456984],[-249.16251003846,176.84078409908795,7.318027496337891,0,0,1.2770959797456984],[-249.16251003846,176.84078409908795,9.31802749633789,0,0,1.2770959797456984],[-247.71502956744936,181.6266800743514,9.31802749633789,0,0,1.2770959797456984],[-246.26754909643873,186.41257604961487,9.31802749633789,0,0,1.2770959797456984],[-246.26754909643873,186.41257604961487,11.31802749633789,0,0,1.2770959797456984],[-246.26754909643873,186.41257604961487,13.31802749633789,0,0,1.2770959797456984],[-246.26754909643873,186.41257604961487,15.31802749633789,0,0,1.2770959797456984]]}],"statistics":{"complete_actions":115,"sentence_actions":[24,24,49,18],"sentence_actions_average":28.75}}
diff --git a/scene_9/3RSDURM96JKGMMUZTRUL89KAUASEYR.json b/scene_9/3RSDURM96JKGMMUZTRUL89KAUASEYR.json
new file mode 100644
index 0000000000000000000000000000000000000000..683ef65c0e7d2387c4dd25cf2ee51bb8528e6805
--- /dev/null
+++ b/scene_9/3RSDURM96JKGMMUZTRUL89KAUASEYR.json
@@ -0,0 +1 @@
+{"episode_id":"3RSDURM96JKGMMUZTRUL89KAUASEYR","trajectory_id":"3DQYSJDTZT9O0X7WYS3H0CID3SPXE3","scene_id":9,"instruction":"take off and turn left. go towards the green warehouses and lower your flight slightly. keep lowering your flight until you are on the same level as the pipes next to the warehouse. turn right and fly straight, right above the warehouse. turn left towards the car park and land just next to the fence wall.","sentence_instructions":[{"id":0,"instruction":"take off and turn left.","completed_instruction":"Take off to the height of the top of the grey chimney, then turn left to face the horizontally extending pipe.","start_frame":0,"end_frame":11,"start_position":[-231.36538696289062,193.11593627929688,18.462793350219727],"start_rotation":[0.99994576030751681,0,0,0.01041520249549752],"end_position":[-231.36538696289062,193.11593627929688,-1.5372066497802734],"end_rotation":[0.9927505424323535,0,0,-0.12019301352519586],"actions":[4,4,4,4,4,4,4,4,4,4,2,2],"reference_path":[[-231.36538696289062,193.11593627929688,18.462793350219727,0,0,0.020830781610753153],[-231.36538696289062,193.11593627929688,16.462793350219727,0,0,0.020830781610753153],[-231.36538696289062,193.11593627929688,14.462793350219727,0,0,0.020830781610753153],[-231.36538696289062,193.11593627929688,12.462793350219727,0,0,0.020830781610753153],[-231.36538696289062,193.11593627929688,10.462793350219727,0,0,0.020830781610753153],[-231.36538696289062,193.11593627929688,8.462793350219727,0,0,0.020830781610753153],[-231.36538696289062,193.11593627929688,6.462793350219727,0,0,0.020830781610753153],[-231.36538696289062,193.11593627929688,4.462793350219727,0,0,0.020830781610753153],[-231.36538696289062,193.11593627929688,2.4627933502197266,0,0,0.020830781610753153],[-231.36538696289062,193.11593627929688,0.46279335021972656,0,0,0.020830781610753153],[-231.36538696289062,193.11593627929688,-1.5372066497802734,0,0,0.020830781610753153],[-231.36538696289062,193.11593627929688,-1.5372066497802734,0,0,-0.24096860618839627]]},{"id":1,"instruction":"go towards the green warehouses and lower your flight slightly.","completed_instruction":"Flying towards the green warehouse, fly down to the height slightly higher than the wall on street.","start_frame":11,"end_frame":32,"start_position":[-231.36538696289062,193.11593627929688,-1.5372066497802734],"start_rotation":[0.9927505424323535,0,0,-0.12019301352519586],"end_position":[-184.3087786332018,141.05178726573612,6.462793350219727],"end_rotation":[0.92781514700930623,0,0,-0.37304028332084921],"actions":[2,2,1,1,1,1,6,1,1,1,1,5,1,1,5,1,5,1,1,5,1,5],"reference_path":[[-231.36538696289062,193.11593627929688,-1.5372066497802734,0,0,-0.24096860618839627],[-231.36538696289062,193.11593627929688,-1.5372066497802734,0,0,-0.5027679939875457],[-231.36538696289062,193.11593627929688,-1.5372066497802734,0,0,-0.7645673817866951],[-227.75697749269162,189.6548120261996,-1.5372066497802734,0,0,-0.7645673817866951],[-224.1485680224926,186.19368777310234,-1.5372066497802734,0,0,-0.7645673817866951],[-220.5401585522936,182.73256352000507,-1.5372066497802734,0,0,-0.7645673817866951],[-216.9317490820946,179.2714392669078,-1.5372066497802734,0,0,-0.7645673817866951],[-220.39287333519187,175.6630297967088,-1.5372066497802734,0,0,-0.7645673817866951],[-216.78446386499286,172.20190554361153,-1.5372066497802734,0,0,-0.7645673817866951],[-213.17605439479385,168.74078129051426,-1.5372066497802734,0,0,-0.7645673817866951],[-209.56764492459484,165.279657037417,-1.5372066497802734,0,0,-0.7645673817866951],[-205.95923545439584,161.81853278431973,-1.5372066497802734,0,0,-0.7645673817866951],[-205.95923545439584,161.81853278431973,0.46279335021972656,0,0,-0.7645673817866951],[-202.35082598419683,158.35740853122246,0.46279335021972656,0,0,-0.7645673817866951],[-198.74241651399782,154.8962842781252,0.46279335021972656,0,0,-0.7645673817866951],[-198.74241651399782,154.8962842781252,2.4627933502197266,0,0,-0.7645673817866951],[-195.13400704379882,151.43516002502793,2.4627933502197266,0,0,-0.7645673817866951],[-195.13400704379882,151.43516002502793,4.462793350219727,0,0,-0.7645673817866951],[-191.5255975735998,147.97403577193066,4.462793350219727,0,0,-0.7645673817866951],[-187.9171881034008,144.5129115188334,4.462793350219727,0,0,-0.7645673817866951],[-187.9171881034008,144.5129115188334,6.462793350219727,0,0,-0.7645673817866951],[-184.3087786332018,141.05178726573612,6.462793350219727,0,0,-0.7645673817866951]]},{"id":2,"instruction":"keep lowering your flight until you are on the same level as the pipes next to the warehouse.","completed_instruction":"Fly forward to the horizontal iron pipe, and continue flying along the pipe until the window of the green warehouse on the right is no longer visible.","start_frame":32,"end_frame":52,"start_position":[-184.3087786332018,141.05178726573612,6.462793350219727],"start_rotation":[0.92781514700930623,0,0,-0.37304028332084921],"end_position":[-160.49740442606998,82.57554166353717,12.462793350219727],"end_rotation":[0.71443308824418039,0,0,-0.69970376762018582],"actions":[5,1,2,1,1,1,1,1,1,1,1,2,1,5,1,6,1,2,5,1,1],"reference_path":[[-184.3087786332018,141.05178726573612,6.462793350219727,0,0,-0.7645673817866951],[-184.3087786332018,141.05178726573612,8.462793350219727,0,0,-0.7645673817866951],[-180.7003691630028,137.59066301263886,8.462793350219727,0,0,-0.7645673817866951],[-180.7003691630028,137.59066301263886,8.462793350219727,0,0,-1.0263667695858445],[-178.11071813807933,133.31354861516095,8.462793350219727,0,0,-1.0263667695858445],[-175.52106711315588,129.03643421768305,8.462793350219727,0,0,-1.0263667695858445],[-172.93141608823242,124.75931982020514,8.462793350219727,0,0,-1.0263667695858445],[-170.34176506330897,120.48220542272722,8.462793350219727,0,0,-1.0263667695858445],[-167.7521140383855,116.2050910252493,8.462793350219727,0,0,-1.0263667695858445],[-165.16246301346206,111.92797662777139,8.462793350219727,0,0,-1.0263667695858445],[-162.5728119885386,107.65086223029347,8.462793350219727,0,0,-1.0263667695858445],[-159.98316096361515,103.37374783281555,8.462793350219727,0,0,-1.0263667695858445],[-159.98316096361515,103.37374783281555,8.462793350219727,0,0,-1.288166157384994],[-158.5887488217151,98.57212156887937,8.462793350219727,0,0,-1.288166157384994],[-158.5887488217151,98.57212156887937,10.462793350219727,0,0,-1.288166157384994],[-157.19433667981502,93.77049530494318,10.462793350219727,0,0,-1.288166157384994],[-161.9959629437512,92.37608316304313,10.462793350219727,0,0,-1.288166157384994],[-160.60155080185115,87.57445689910695,10.462793350219727,0,0,-1.288166157384994],[-160.60155080185115,87.57445689910695,10.462793350219727,0,0,-1.5499655451841436],[-160.60155080185115,87.57445689910695,12.462793350219727,0,0,-1.5499655451841436],[-160.49740442606998,82.57554166353717,12.462793350219727,0,0,-1.5499655451841436]]},{"id":3,"instruction":"turn right and fly straight, right above the warehouse.","completed_instruction":"Turn right to face the window of the green warehouse and then fly up to reach the edge of the green roof.","start_frame":52,"end_frame":59,"start_position":[-160.49740442606998,82.57554166353717,12.462793350219727],"start_rotation":[0.71443308824418039,0,0,-0.69970376762018582],"end_position":[-155.90785090124857,70.16844698175129,12.462793350219727],"end_rotation":[0.96856908753372273,0,0,-0.24874469376067435],"actions":[1,1,3,3,3,3,1,4],"reference_path":[[-160.49740442606998,82.57554166353717,12.462793350219727,0,0,-1.5499655451841436],[-160.3932580502888,77.57662642796738,12.462793350219727,0,0,-1.5499655451841436],[-160.28911167450764,72.5777111923976,12.462793350219727,0,0,-1.5499655451841436],[-160.28911167450764,72.5777111923976,12.462793350219727,0,0,-1.2881661573849943],[-160.28911167450764,72.5777111923976,12.462793350219727,0,0,-1.0263667695858447],[-160.28911167450764,72.5777111923976,12.462793350219727,0,0,-0.7645673817866954],[-160.28911167450764,72.5777111923976,12.462793350219727,0,0,-0.502767993987546],[-155.90785090124857,70.16844698175129,12.462793350219727,0,0,-0.502767993987546]]},{"id":4,"instruction":"turn left towards the car park and land just next to the fence wall.","completed_instruction":"Turn left to face the red shipping container group opposite the road and fly across the road, land in front of the fence.","start_frame":59,"end_frame":75,"start_position":[-155.90785090124857,70.16844698175129,12.462793350219727],"start_rotation":[0.96856908753372273,0,0,-0.24874469376067435],"end_position":[-124.49475064057285,37.7638989049664,16.462793350219727],"end_rotation":[0.87118603208060341,0,0,-0.49095305020709862],"actions":[4,1,2,1,1,2,1,1,1,1,7,1,1,5,5,5,0],"reference_path":[[-155.90785090124857,70.16844698175129,12.462793350219727,0,0,-0.502767993987546],[-155.90785090124857,70.16844698175129,10.462793350219727,0,0,-0.502767993987546],[-151.5265901279895,67.75918277110497,10.462793350219727,0,0,-0.502767993987546],[-151.5265901279895,67.75918277110497,10.462793350219727,0,0,-0.7645673817866955],[-147.9181806577905,64.29805851800771,10.462793350219727,0,0,-0.7645673817866955],[-144.30977118759148,60.83693426491044,10.462793350219727,0,0,-0.7645673817866955],[-144.30977118759148,60.83693426491044,10.462793350219727,0,0,-1.026366769585845],[-141.72012016266802,56.55981986743252,10.462793350219727,0,0,-1.026366769585845],[-139.13046913774457,52.28270546995461,10.462793350219727,0,0,-1.026366769585845],[-136.5408181128211,48.00559107247669,10.462793350219727,0,0,-1.026366769585845],[-133.95116708789766,43.728476674998774,10.462793350219727,0,0,-1.026366769585845],[-129.67405269041976,46.318127699922236,10.462793350219727,0,0,-1.026366769585845],[-127.0844016654963,42.04101330244432,10.462793350219727,0,0,-1.026366769585845],[-124.49475064057285,37.7638989049664,10.462793350219727,0,0,-1.026366769585845],[-124.49475064057285,37.7638989049664,12.462793350219727,0,0,-1.026366769585845],[-124.49475064057285,37.7638989049664,14.462793350219727,0,0,-1.026366769585845],[-124.49475064057285,37.7638989049664,16.462793350219727,0,0,-1.026366769585845]]}],"statistics":{"complete_actions":80,"sentence_actions":[12,22,21,8,17],"sentence_actions_average":16.0}}
diff --git a/scene_9/3STRJBFXO5PNR0NFF7IPYN5001ATKY.json b/scene_9/3STRJBFXO5PNR0NFF7IPYN5001ATKY.json
new file mode 100644
index 0000000000000000000000000000000000000000..4df6bb1662076b16aae2a9c0554cbff456cc25e5
--- /dev/null
+++ b/scene_9/3STRJBFXO5PNR0NFF7IPYN5001ATKY.json
@@ -0,0 +1 @@
+{"episode_id":"3STRJBFXO5PNR0NFF7IPYN5001ATKY","trajectory_id":"3IZPORCT2N7GNBCMFU5VWXT2VV2RHW","scene_id":9,"instruction":"elevate your drone to the top then turn 90 degree of your right. and move forward to the green roof shed once you reach it then 60 degree of your right. and move forward to the brown color building fly over the roof then move forward , you reach the tree then turn 90 degree of your right. and move forward to the old rusted shed move your drone in the lateral side of the shed once you reach middle of the shed drop your drone to the bottom and stop there.","sentence_instructions":[{"id":0,"instruction":"elevate your drone to the top then turn 90 degree of your right.","completed_instruction":"Take off, ascend to the roof height, then turn right to face the green-roofed building.","start_frame":1,"end_frame":9,"start_position":[-140.8810272216797,13.528334617614746,18.725366592407227],"start_rotation":[0.99999984687139432,0,0,-0.00055340508474204528],"end_position":[-140.8810272216797,13.528334617614746,8.725366592407227],"end_rotation":[0.92409116999621954,0,0,0.38217209413432851],"actions":[4,4,4,4,4,3,3,3,3],"reference_path":[[-140.8810272216797,13.528334617614746,18.725366592407227,0,0,-0.00110681022597886],[-140.8810272216797,13.528334617614746,16.725366592407227,0,0,-0.00110681022597886],[-140.8810272216797,13.528334617614746,14.725366592407227,0,0,-0.00110681022597886],[-140.8810272216797,13.528334617614746,12.725366592407227,0,0,-0.00110681022597886],[-140.8810272216797,13.528334617614746,10.725366592407227,0,0,-0.00110681022597886],[-140.8810272216797,13.528334617614746,8.725366592407227,0,0,-0.00110681022597886],[-140.8810272216797,13.528334617614746,8.725366592407227,0,0,0.26069257757317055],[-140.8810272216797,13.528334617614746,8.725366592407227,0,0,0.52249196537232],[-140.8810272216797,13.528334617614746,8.725366592407227,0,0,0.7842913531714695]]},{"id":1,"instruction":"and move forward to the green roof shed once you reach it then 60 degree of your right.","completed_instruction":"Fly forward to the top of the green roof and then turn left to face the white cylinder behind the blue factory building.","start_frame":9,"end_frame":20,"start_position":[-140.8810272216797,13.528334617614746,8.725366592407227],"start_rotation":[0.92409116999621954,0,0,0.38217209413432851],"end_position":[-135.313701759934,53.45332537782657,8.725366592407227],"end_rotation":[0.79369011047635274,0,0,0.60832229001741756],"actions":[3,3,1,1,1,1,1,1,7,1,1,2],"reference_path":[[-140.8810272216797,13.528334617614746,8.725366592407227,0,0,0.7842913531714695],[-140.8810272216797,13.528334617614746,8.725366592407227,0,0,1.0460907409706188],[-140.8810272216797,13.528334617614746,8.725366592407227,0,0,1.3078901287697682],[-139.58158730700004,18.356528473306266,8.725366592407227,0,0,1.3078901287697682],[-138.28214739232038,23.184722328997786,8.725366592407227,0,0,1.3078901287697682],[-136.98270747764073,28.012916184689306,8.725366592407227,0,0,1.3078901287697682],[-135.68326756296108,32.841110040380826,8.725366592407227,0,0,1.3078901287697682],[-134.38382764828143,37.66930389607235,8.725366592407227,0,0,1.3078901287697682],[-133.08438773360177,42.49749775176387,8.725366592407227,0,0,1.3078901287697682],[-137.9125815892933,43.796937666443526,8.725366592407227,0,0,1.3078901287697682],[-136.61314167461364,48.62513152213505,8.725366592407227,0,0,1.3078901287697682],[-135.313701759934,53.45332537782657,8.725366592407227,0,0,1.3078901287697682]]},{"id":2,"instruction":"and move forward to the brown color building fly over the roof then move forward , you reach the tree then turn 90 degree of your right.","completed_instruction":"Fly forward to the red tank truck head and fly over the roof of the grey building, then stop in front of the tree on the far right of the grey building, and then turn right to face the middle between the blue warehouse and the red shipping container.","start_frame":20,"end_frame":47,"start_position":[-135.313701759934,53.45332537782657,8.725366592407227],"start_rotation":[0.79369011047635274,0,0,0.60832229001741756],"end_position":[-58.43585067625807,99.82240883373854,8.725366592407227],"end_rotation":[0.70749798939643627,0,0,0.70671535642010785],"actions":[2,2,1,1,1,1,1,1,1,6,1,1,2,1,1,1,1,1,1,6,1,1,1,3,3,3,3,3],"reference_path":[[-135.313701759934,53.45332537782657,8.725366592407227,0,0,1.3078901287697682],[-135.313701759934,53.45332537782657,8.725366592407227,0,0,1.0460907409706188],[-135.313701759934,53.45332537782657,8.725366592407227,0,0,0.7842913531714695],[-131.77425685528416,56.98494395391154,8.725366592407227,0,0,0.7842913531714695],[-128.23481195063434,60.516562529996506,8.725366592407227,0,0,0.7842913531714695],[-124.69536704598451,64.04818110608147,8.725366592407227,0,0,0.7842913531714695],[-121.15592214133468,67.57979968216644,8.725366592407227,0,0,0.7842913531714695],[-117.61647723668486,71.1114182582514,8.725366592407227,0,0,0.7842913531714695],[-114.07703233203503,74.64303683433637,8.725366592407227,0,0,0.7842913531714695],[-110.5375874273852,78.17465541042134,8.725366592407227,0,0,0.7842913531714695],[-107.00596885130024,74.63521050577151,8.725366592407227,0,0,0.7842913531714695],[-103.46652394665043,78.16682908185648,8.725366592407227,0,0,0.7842913531714695],[-99.9270790420006,81.69844765794144,8.725366592407227,0,0,0.7842913531714695],[-99.9270790420006,81.69844765794144,8.725366592407227,0,0,0.5224919653723201],[-95.59418765034346,84.19365349876969,8.725366592407227,0,0,0.5224919653723201],[-91.26129625868631,86.68885933959794,8.725366592407227,0,0,0.5224919653723201],[-86.92840486702917,89.18406518042619,8.725366592407227,0,0,0.5224919653723201],[-82.59551347537203,91.67927102125444,8.725366592407227,0,0,0.5224919653723201],[-78.26262208371489,94.17447686208268,8.725366592407227,0,0,0.5224919653723201],[-73.92973069205775,96.66968270291093,8.725366592407227,0,0,0.5224919653723201],[-71.4345248512295,92.33679131125379,8.725366592407227,0,0,0.5224919653723201],[-67.10163345957235,94.83199715208204,8.725366592407227,0,0,0.5224919653723201],[-62.76874206791521,97.32720299291029,8.725366592407227,0,0,0.5224919653723201],[-58.43585067625807,99.82240883373854,8.725366592407227,0,0,0.5224919653723201],[-58.43585067625807,99.82240883373854,8.725366592407227,0,0,0.7842913531714696],[-58.43585067625807,99.82240883373854,8.725366592407227,0,0,1.0460907409706188],[-58.43585067625807,99.82240883373854,8.725366592407227,0,0,1.3078901287697682],[-58.43585067625807,99.82240883373854,8.725366592407227,0,0,1.5696895165689178]]},{"id":3,"instruction":"and move forward to the old rusted shed move your drone in the lateral side of the shed once you reach middle of the shed drop your drone to the bottom and stop there.","completed_instruction":"Fly forward to the top of the green cylinder, then turn right to face the red shipping container, flyi over the red shipping container, turn left to face the bushes behind the container group, and then fly forward and land in the middle of the bushes.","start_frame":47,"end_frame":73,"start_position":[-58.43585067625807,99.82240883373854,8.725366592407227],"start_rotation":[0.70749798939643627,0,0,0.70671535642010785],"end_position":[-91.72525757311283,160.04545977021422,14.725366592407227],"end_rotation":[0.70749798939643649,0,0,0.70671535642010763],"actions":[3,3,1,1,1,1,3,3,1,1,1,1,2,1,2,1,2,2,1,1,1,1,1,5,5,5,0],"reference_path":[[-58.43585067625807,99.82240883373854,8.725366592407227,0,0,1.5696895165689178],[-58.43585067625807,99.82240883373854,8.725366592407227,0,0,1.831488904368067],[-58.43585067625807,99.82240883373854,8.725366592407227,0,0,2.0932882921672165],[-60.93105651708632,104.15530022539568,8.725366592407227,0,0,2.0932882921672165],[-63.42626235791457,108.48819161705282,8.725366592407227,0,0,2.0932882921672165],[-65.92146819874282,112.82108300870996,8.725366592407227,0,0,2.0932882921672165],[-68.41667403957106,117.1539744003671,8.725366592407227,0,0,2.0932882921672165],[-68.41667403957106,117.1539744003671,8.725366592407227,0,0,2.3550876799663656],[-68.41667403957106,117.1539744003671,8.725366592407227,0,0,2.6168870677655147],[-72.74403138122821,119.65876549696698,8.725366592407227,0,0,2.6168870677655147],[-77.07138872288536,122.16355659356685,8.725366592407227,0,0,2.6168870677655147],[-81.39874606454251,124.66834769016673,8.725366592407227,0,0,2.6168870677655147],[-85.72610340619966,127.1731387867666,8.725366592407227,0,0,2.6168870677655147],[-85.72610340619966,127.1731387867666,8.725366592407227,0,0,2.3550876799663656],[-89.25772198228462,130.71258369141643,8.725366592407227,0,0,2.3550876799663656],[-89.25772198228462,130.71258369141643,8.725366592407227,0,0,2.093288292167216],[-91.75292782311287,135.04547508307357,8.725366592407227,0,0,2.093288292167216],[-91.75292782311287,135.04547508307357,8.725366592407227,0,0,1.8314889043680667],[-91.75292782311287,135.04547508307357,8.725366592407227,0,0,1.569689516568917],[-91.74739377311286,140.04547202050168,8.725366592407227,0,0,1.569689516568917],[-91.74185972311285,145.0454689579298,8.725366592407227,0,0,1.569689516568917],[-91.73632567311284,150.04546589535795,8.725366592407227,0,0,1.569689516568917],[-91.73079162311284,155.0454628327861,8.725366592407227,0,0,1.569689516568917],[-91.72525757311283,160.04545977021422,8.725366592407227,0,0,1.569689516568917],[-91.72525757311283,160.04545977021422,10.725366592407227,0,0,1.569689516568917],[-91.72525757311283,160.04545977021422,12.725366592407227,0,0,1.569689516568917],[-91.72525757311283,160.04545977021422,14.725366592407227,0,0,1.569689516568917]]}],"statistics":{"complete_actions":76,"sentence_actions":[9,12,28,27],"sentence_actions_average":19.0}}
diff --git a/scene_9/3VW6495TLSYESRBQTS6FFCCQCS8YYD.json b/scene_9/3VW6495TLSYESRBQTS6FFCCQCS8YYD.json
new file mode 100644
index 0000000000000000000000000000000000000000..e29e4ad9c70216ad5c431bb9bec63f3e92a30b4e
--- /dev/null
+++ b/scene_9/3VW6495TLSYESRBQTS6FFCCQCS8YYD.json
@@ -0,0 +1 @@
+{"episode_id":"3VW6495TLSYESRBQTS6FFCCQCS8YYD","trajectory_id":"3RZS0FBRXS84UQLRGAN5GBW7GH4CP2","scene_id":9,"instruction":"take off, after rising to the height slightly higher. fly forward and turn left at the fuel tankers. take a right turn at the green roof building. land on the road near the foot path.","sentence_instructions":[{"id":0,"instruction":"take off, after rising to the height slightly higher.","completed_instruction":"Take off and ascend to a height higher than the iron frame on the right.","start_frame":1,"end_frame":7,"start_position":[-235.54335021972656,147.5148162841797,18.01703643798828],"start_rotation":[0.99995480420403993,0,0,-0.00950734186090995],"end_position":[-235.54335021972656,147.5148162841797,6.017036437988281],"end_rotation":[0.99995480420403993,0,0,-0.00950734186090995],"actions":[4,4,4,4,4,4,4],"reference_path":[[-235.54335021972656,147.5148162841797,18.01703643798828,0,0,-0.019014970188253984],[-235.54335021972656,147.5148162841797,16.01703643798828,0,0,-0.019014970188253984],[-235.54335021972656,147.5148162841797,14.017036437988281,0,0,-0.019014970188253984],[-235.54335021972656,147.5148162841797,12.017036437988281,0,0,-0.019014970188253984],[-235.54335021972656,147.5148162841797,10.017036437988281,0,0,-0.019014970188253984],[-235.54335021972656,147.5148162841797,8.017036437988281,0,0,-0.019014970188253984],[-235.54335021972656,147.5148162841797,6.017036437988281,0,0,-0.019014970188253984]]},{"id":1,"instruction":"fly forward and turn left at the fuel tankers.","completed_instruction":"Fly forward until crossing the road, then turn left towards the oil tanker parking lot, after completely passing through the red shipping container, descend to a certain height, then fly to the top of the oil tanker parking lot, turn left towards the green building, and then turn left again towards the slender pipeline beside it.","start_frame":7,"end_frame":45,"start_position":[-235.54335021972656,147.5148162841797,6.017036437988281],"start_rotation":[0.99995480420403993,0,0,-0.00950734186090995],"end_position":[-144.99174296536586,100.82428396112122,8.017036437988281],"end_rotation":[0.60119123412874342,0,0,-0.79910518707286493],"actions":[4,4,1,1,1,1,1,1,1,1,2,1,2,1,1,6,1,5,5,5,1,1,1,3,1,1,1,1,2,2,2,1,2,1,2,1,1,2,1],"reference_path":[[-235.54335021972656,147.5148162841797,6.017036437988281,0,0,-0.019014970188253984],[-235.54335021972656,147.5148162841797,4.017036437988281,0,0,-0.019014970188253984],[-235.54335021972656,147.5148162841797,2.0170364379882812,0,0,-0.019014970188253984],[-230.54425411521916,147.41974716248941,2.0170364379882812,0,0,-0.019014970188253984],[-225.54515801071176,147.32467804079914,2.0170364379882812,0,0,-0.019014970188253984],[-220.54606190620436,147.22960891910887,2.0170364379882812,0,0,-0.019014970188253984],[-215.54696580169696,147.1345397974186,2.0170364379882812,0,0,-0.019014970188253984],[-210.54786969718955,147.03947067572832,2.0170364379882812,0,0,-0.019014970188253984],[-205.54877359268215,146.94440155403805,2.0170364379882812,0,0,-0.019014970188253984],[-200.54967748817475,146.84933243234778,2.0170364379882812,0,0,-0.019014970188253984],[-195.55058138366735,146.7542633106575,2.0170364379882812,0,0,-0.019014970188253984],[-195.55058138366735,146.7542633106575,2.0170364379882812,0,0,-0.2808143579874034],[-190.74643104751718,145.3685723105899,2.0170364379882812,0,0,-0.2808143579874034],[-190.74643104751718,145.3685723105899,2.0170364379882812,0,0,-0.5426137457865529],[-186.46462138589908,142.78669198383696,2.0170364379882812,0,0,-0.5426137457865529],[-182.18281172428098,140.204811657084,2.0170364379882812,0,0,-0.5426137457865529],[-184.76469205103393,135.9230019954659,2.0170364379882812,0,0,-0.5426137457865529],[-180.48288238941583,133.34112166871296,2.0170364379882812,0,0,-0.5426137457865529],[-180.48288238941583,133.34112166871296,4.017036437988281,0,0,-0.5426137457865529],[-180.48288238941583,133.34112166871296,6.017036437988281,0,0,-0.5426137457865529],[-180.48288238941583,133.34112166871296,8.017036437988281,0,0,-0.5426137457865529],[-176.20107272779774,130.75924134196,8.017036437988281,0,0,-0.5426137457865529],[-171.91926306617964,128.17736101520705,8.017036437988281,0,0,-0.5426137457865529],[-167.63745340456154,125.5954806884541,8.017036437988281,0,0,-0.5426137457865529],[-167.63745340456154,125.5954806884541,8.017036437988281,0,0,-0.28081435798740345],[-162.83330306841137,124.20978968838652,8.017036437988281,0,0,-0.28081435798740345],[-158.0291527322612,122.82409868831894,8.017036437988281,0,0,-0.28081435798740345],[-153.22500239611102,121.43840768825136,8.017036437988281,0,0,-0.28081435798740345],[-148.42085205996085,120.05271668818378,8.017036437988281,0,0,-0.28081435798740345],[-148.42085205996085,120.05271668818378,8.017036437988281,0,0,-0.5426137457865529],[-148.42085205996085,120.05271668818378,8.017036437988281,0,0,-0.8044131335857023],[-148.42085205996085,120.05271668818378,8.017036437988281,0,0,-1.0662125213848517],[-146.0036362822064,115.67583790487541,8.017036437988281,0,0,-1.0662125213848517],[-146.0036362822064,115.67583790487541,8.017036437988281,0,0,-1.328011909184001],[-144.8016047219853,110.82247617013603,8.017036437988281,0,0,-1.328011909184001],[-144.8016047219853,110.82247617013603,8.017036437988281,0,0,-1.5898112969831504],[-144.8966738436756,105.82338006562863,8.017036437988281,0,0,-1.5898112969831504],[-144.99174296536586,100.82428396112122,8.017036437988281,0,0,-1.5898112969831504],[-144.99174296536586,100.82428396112122,8.017036437988281,0,0,-1.8516106847822997]]},{"id":2,"instruction":"take a right turn at the green roof building.","completed_instruction":"Fly straight to the horizontal iron pipe, then turn right to face the green warehouse.","start_frame":45,"end_frame":55,"start_position":[-144.99174296536586,100.82428396112122,8.017036437988281],"start_rotation":[0.60119123412874342,0,0,-0.79910518707286493],"end_position":[-156.80002439413553,73.89379887399127,8.017036437988281],"end_rotation":[0.78752978103822113,0,0,-0.61627659697403037],"actions":[1,2,1,1,1,1,3,3,1,3,3],"reference_path":[[-144.99174296536586,100.82428396112122,8.017036437988281,0,0,-1.8516106847822997],[-146.37743396543345,96.02013362497107,8.017036437988281,0,0,-1.8516106847822997],[-146.37743396543345,96.02013362497107,8.017036437988281,0,0,-2.1134100725814493],[-148.9593142921864,91.73832396335297,8.017036437988281,0,0,-2.1134100725814493],[-151.54119461893936,87.45651430173487,8.017036437988281,0,0,-2.1134100725814493],[-154.1230749456923,83.17470464011677,8.017036437988281,0,0,-2.1134100725814493],[-156.70495527244526,78.89289497849867,8.017036437988281,0,0,-2.1134100725814493],[-156.70495527244526,78.89289497849867,8.017036437988281,0,0,-1.8516106847822997],[-156.70495527244526,78.89289497849867,8.017036437988281,0,0,-1.5898112969831504],[-156.80002439413553,73.89379887399127,8.017036437988281,0,0,-1.5898112969831504],[-156.80002439413553,73.89379887399127,8.017036437988281,0,0,-1.328011909184001]]},{"id":3,"instruction":"land on the road near the foot path.","completed_instruction":"Fly straight to the road ahead, then turn left to face the wall while lowering altitude until landing on the ground.","start_frame":55,"end_frame":74,"start_position":[-156.80002439413553,73.89379887399127,8.017036437988281],"start_rotation":[0.78752978103822113,0,0,-0.61627659697403037],"end_position":[-122.12331704741754,37.87261111470056,18.01703643798828],"end_rotation":[0.78752978103822113,0,0,-0.61627659697403037],"actions":[3,3,1,1,1,1,1,1,1,1,1,1,5,2,2,5,5,5,5,0],"reference_path":[[-156.80002439413553,73.89379887399127,8.017036437988281,0,0,-1.328011909184001],[-156.80002439413553,73.89379887399127,8.017036437988281,0,0,-1.0662125213848515],[-156.80002439413553,73.89379887399127,8.017036437988281,0,0,-0.8044131335857021],[-153.33235365946373,70.2916800980622,8.017036437988281,0,0,-0.8044131335857021],[-149.86468292479194,66.68956132213313,8.017036437988281,0,0,-0.8044131335857021],[-146.39701219012014,63.08744254620406,8.017036437988281,0,0,-0.8044131335857021],[-142.92934145544834,59.48532377027499,8.017036437988281,0,0,-0.8044131335857021],[-139.46167072077654,55.88320499434592,8.017036437988281,0,0,-0.8044131335857021],[-135.99399998610474,52.281086218416846,8.017036437988281,0,0,-0.8044131335857021],[-132.52632925143294,48.678967442487775,8.017036437988281,0,0,-0.8044131335857021],[-129.05865851676114,45.0768486665587,8.017036437988281,0,0,-0.8044131335857021],[-125.59098778208934,41.47472989062963,8.017036437988281,0,0,-0.8044131335857021],[-122.12331704741754,37.87261111470056,8.017036437988281,0,0,-0.8044131335857021],[-122.12331704741754,37.87261111470056,10.017036437988281,0,0,-0.8044131335857021],[-122.12331704741754,37.87261111470056,10.017036437988281,0,0,-1.0662125213848517],[-122.12331704741754,37.87261111470056,10.017036437988281,0,0,-1.328011909184001],[-122.12331704741754,37.87261111470056,12.017036437988281,0,0,-1.328011909184001],[-122.12331704741754,37.87261111470056,14.017036437988281,0,0,-1.328011909184001],[-122.12331704741754,37.87261111470056,16.01703643798828,0,0,-1.328011909184001],[-122.12331704741754,37.87261111470056,18.01703643798828,0,0,-1.328011909184001]]}],"statistics":{"complete_actions":77,"sentence_actions":[7,39,11,20],"sentence_actions_average":19.25}}
diff --git a/scene_9/3WYGZ5XF35DMC0A0Q7DZOI9EXFAKS7.json b/scene_9/3WYGZ5XF35DMC0A0Q7DZOI9EXFAKS7.json
new file mode 100644
index 0000000000000000000000000000000000000000..c5ff181e84ef7190ee251bf7bbacaf0598b206fc
--- /dev/null
+++ b/scene_9/3WYGZ5XF35DMC0A0Q7DZOI9EXFAKS7.json
@@ -0,0 +1 @@
+{"episode_id":"3WYGZ5XF35DMC0A0Q7DZOI9EXFAKS7","trajectory_id":"3A9LA2FRX0C0K7YYOTBNLFFQV8HXHJ","scene_id":9,"instruction":"take off toward the large bank of shipping tanks. fly to the alley behind you on the left. hover over the green roofed warehouse. land next to the marks shipping container.","sentence_instructions":[{"id":0,"instruction":"take off toward the large bank of shipping tanks.","completed_instruction":"Take off, ascend to the height of the top of the grey chimney, then turn left to face the oil truck park, and then fly towards the concentrated oil storage tank to reach the road, fly down to the height slightly higher than the wall on street and continue flying to the top of the oil storage tank.","start_frame":1,"end_frame":37,"start_position":[-235.54335021972656,147.5148162841797,18.01703643798828],"start_rotation":[0.99996365519319663,0,0,-0.00852574293898536],"end_position":[-155.8062148643657,105.47924509356912,4.017036437988281],"end_rotation":[0.96368409525526777,0,0,-0.26704487366739704],"actions":[4,4,4,4,4,4,4,4,4,4,4,2,2,1,1,1,1,1,1,1,1,5,1,1,1,5,7,1,1,1,5,1,1,5,1,1,5],"reference_path":[[-235.54335021972656,147.5148162841797,18.01703643798828,0,0,-0.01705169245862729],[-235.54335021972656,147.5148162841797,16.01703643798828,0,0,-0.01705169245862729],[-235.54335021972656,147.5148162841797,14.017036437988281,0,0,-0.01705169245862729],[-235.54335021972656,147.5148162841797,12.017036437988281,0,0,-0.01705169245862729],[-235.54335021972656,147.5148162841797,10.017036437988281,0,0,-0.01705169245862729],[-235.54335021972656,147.5148162841797,8.017036437988281,0,0,-0.01705169245862729],[-235.54335021972656,147.5148162841797,6.017036437988281,0,0,-0.01705169245862729],[-235.54335021972656,147.5148162841797,4.017036437988281,0,0,-0.01705169245862729],[-235.54335021972656,147.5148162841797,2.0170364379882812,0,0,-0.01705169245862729],[-235.54335021972656,147.5148162841797,0.01703643798828125,0,0,-0.01705169245862729],[-235.54335021972656,147.5148162841797,-1.9829635620117188,0,0,-0.01705169245862729],[-235.54335021972656,147.5148162841797,-3.9829635620117188,0,0,-0.01705169245862729],[-235.54335021972656,147.5148162841797,-3.9829635620117188,0,0,-0.2788510802577767],[-235.54335021972656,147.5148162841797,-3.9829635620117188,0,0,-0.5406504680569261],[-231.25647986524692,144.94134730945245,-3.9829635620117188,0,0,-0.5406504680569261],[-226.96960951076727,142.36787833472522,-3.9829635620117188,0,0,-0.5406504680569261],[-222.68273915628762,139.79440935999799,-3.9829635620117188,0,0,-0.5406504680569261],[-218.39586880180798,137.22094038527075,-3.9829635620117188,0,0,-0.5406504680569261],[-214.10899844732833,134.64747141054352,-3.9829635620117188,0,0,-0.5406504680569261],[-209.8221280928487,132.07400243581628,-3.9829635620117188,0,0,-0.5406504680569261],[-205.53525773836904,129.50053346108905,-3.9829635620117188,0,0,-0.5406504680569261],[-201.2483873838894,126.92706448636181,-3.9829635620117188,0,0,-0.5406504680569261],[-201.2483873838894,126.92706448636181,-1.9829635620117188,0,0,-0.5406504680569261],[-196.96151702940975,124.35359551163458,-1.9829635620117188,0,0,-0.5406504680569261],[-192.6746466749301,121.78012653690735,-1.9829635620117188,0,0,-0.5406504680569261],[-188.38777632045046,119.20665756218011,-1.9829635620117188,0,0,-0.5406504680569261],[-188.38777632045046,119.20665756218011,0.01703643798828125,0,0,-0.5406504680569261],[-185.81430734572322,123.49352791665976,0.01703643798828125,0,0,-0.5406504680569261],[-181.52743699124358,120.92005894193252,0.01703643798828125,0,0,-0.5406504680569261],[-177.24056663676393,118.34658996720529,0.01703643798828125,0,0,-0.5406504680569261],[-172.95369628228428,115.77312099247806,0.01703643798828125,0,0,-0.5406504680569261],[-172.95369628228428,115.77312099247806,2.0170364379882812,0,0,-0.5406504680569261],[-168.66682592780464,113.19965201775082,2.0170364379882812,0,0,-0.5406504680569261],[-164.379955573325,110.62618304302359,2.0170364379882812,0,0,-0.5406504680569261],[-164.379955573325,110.62618304302359,4.017036437988281,0,0,-0.5406504680569261],[-160.09308521884535,108.05271406829635,4.017036437988281,0,0,-0.5406504680569261],[-155.8062148643657,105.47924509356912,4.017036437988281,0,0,-0.5406504680569261]]},{"id":1,"instruction":"fly to the alley behind you on the left.","completed_instruction":"Turn left until facing the three vertical chimneys that are closely adjacent, then fly forward until reaching the middle of the T-junction, then turn right until facing the two green warehouses.","start_frame":37,"end_frame":67,"start_position":[-155.8062148643657,105.47924509356912,4.017036437988281],"start_rotation":[0.96368409525526777,0,0,-0.26704487366739704],"end_position":[-178.11410185213322,48.88986289035893,8.017036437988281],"end_rotation":[0.99996365519319663,0,0,-0.0085257429389855571],"actions":[5,1,2,2,2,5,2,2,2,1,1,1,7,1,1,1,1,1,1,1,1,1,3,3,3,3,3,3,3,3,3],"reference_path":[[-155.8062148643657,105.47924509356912,4.017036437988281,0,0,-0.5406504680569261],[-155.8062148643657,105.47924509356912,6.017036437988281,0,0,-0.5406504680569261],[-151.51934450988605,102.90577611884189,6.017036437988281,0,0,-0.5406504680569261],[-151.51934450988605,102.90577611884189,6.017036437988281,0,0,-0.8024498558560755],[-151.51934450988605,102.90577611884189,6.017036437988281,0,0,-1.0642492436552249],[-151.51934450988605,102.90577611884189,6.017036437988281,0,0,-1.3260486314543745],[-151.51934450988605,102.90577611884189,8.017036437988281,0,0,-1.3260486314543745],[-151.51934450988605,102.90577611884189,8.017036437988281,0,0,-1.587848019253524],[-151.51934450988605,102.90577611884189,8.017036437988281,0,0,-1.8496474070526736],[-151.51934450988605,102.90577611884189,8.017036437988281,0,0,-2.111446794851823],[-154.0928134846133,98.61890576436224,8.017036437988281,0,0,-2.111446794851823],[-156.66628245934052,94.3320354098826,8.017036437988281,0,0,-2.111446794851823],[-159.23975143406776,90.04516505540295,8.017036437988281,0,0,-2.111446794851823],[-154.9528810795881,87.47169608067571,8.017036437988281,0,0,-2.111446794851823],[-157.52635005431534,83.18482572619607,8.017036437988281,0,0,-2.111446794851823],[-160.09981902904258,78.89795537171642,8.017036437988281,0,0,-2.111446794851823],[-162.6732880037698,74.61108501723677,8.017036437988281,0,0,-2.111446794851823],[-165.24675697849705,70.32421466275713,8.017036437988281,0,0,-2.111446794851823],[-167.82022595322428,66.03734430827748,8.017036437988281,0,0,-2.111446794851823],[-170.39369492795151,61.750473953797844,8.017036437988281,0,0,-2.111446794851823],[-172.96716390267875,57.463603599318205,8.017036437988281,0,0,-2.111446794851823],[-175.54063287740598,53.176733244838566,8.017036437988281,0,0,-2.111446794851823],[-178.11410185213322,48.88986289035893,8.017036437988281,0,0,-2.111446794851823],[-178.11410185213322,48.88986289035893,8.017036437988281,0,0,-1.8496474070526736],[-178.11410185213322,48.88986289035893,8.017036437988281,0,0,-1.587848019253524],[-178.11410185213322,48.88986289035893,8.017036437988281,0,0,-1.3260486314543747],[-178.11410185213322,48.88986289035893,8.017036437988281,0,0,-1.0642492436552253],[-178.11410185213322,48.88986289035893,8.017036437988281,0,0,-0.8024498558560759],[-178.11410185213322,48.88986289035893,8.017036437988281,0,0,-0.5406504680569265],[-178.11410185213322,48.88986289035893,8.017036437988281,0,0,-0.2788510802577771],[-178.11410185213322,48.88986289035893,8.017036437988281,0,0,-0.017051692458627685]]},{"id":2,"instruction":"hover 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