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0.0 + ] +} \ No newline at end of file diff --git a/virtualhome/tasks/carla00414/task.json b/virtualhome/tasks/carla00414/task.json new file mode 100644 index 0000000000000000000000000000000000000000..b83c9c4ab181ce11649138775ebcb33f25d460a5 --- /dev/null +++ b/virtualhome/tasks/carla00414/task.json @@ -0,0 +1,51 @@ +{ + "task_id": "carla00414", + "task_name": "Go to the trees by the red frame.", + "input_modality": "image_goal", + "origin_location": false, + "image_url": "./image.png", + "executor": "walker", + "instruction": "Walk to the row of trees by the red frame", + "golden_actions": { + "steps": 7, + "actions":[ + "WalkForward(distance=3)", + "TurnLeft", + "WalkForward(distance=3)", + "WalkForward(distance=3)", + "TurnRight", + "WalkForward(distance=3)", + "Done" + ] + + }, + "scene": "Town05", + "weather": "ClearSunset", + "success_conditions": { + "type": "polygon_area", + "target_polygon":[ + [ + -110.83749389648438, + 37.4079704284668, + 0.059987783432006836 + ], + [ + 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"threshold_label": "loose" + }, + "max_steps": 50 +} \ No newline at end of file diff --git a/virtualhome/tasks/carla00416/init.json b/virtualhome/tasks/carla00416/init.json new file mode 100644 index 0000000000000000000000000000000000000000..323e70d4c85d4b80f94eb5a93f845d390ee1f4a3 --- /dev/null +++ b/virtualhome/tasks/carla00416/init.json @@ -0,0 +1,14 @@ +{ + "scene": "Town02", + "weather": "ClearNoon", + "initial_location": [ + 5.758103370666504, + 247.21096801757812, + 1.195742130279541 + ], + "initial_rotation": [ + 0.0, + -30.0000057220459, + 0.0 + ] +} \ No newline at end of file diff --git a/virtualhome/tasks/carla00416/task.json b/virtualhome/tasks/carla00416/task.json new file mode 100644 index 0000000000000000000000000000000000000000..16353707cf4e9c8cec680b8c020639db1021b7ff --- /dev/null +++ b/virtualhome/tasks/carla00416/task.json @@ -0,0 +1,47 @@ +{ + "task_id": "carla00416", + "task_name": "Go to the red-framed street lamp in the park.", + "input_modality": "image_goal", + "origin_location": false, + "image_url": "./image.png", + "executor": "walker", + "instruction": "Can you see the street lamp in the park? I marked it with a red frame. Walk over there.", + "golden_actions": { + "steps": 3, + "actions":[ + "WalkForward(distance=3)", + "WalkForward(distance=3)", + "Done" + ] + + }, + "scene": "Town02", + "weather": "ClearSunset", + "success_conditions": { + "type": "polygon_area", + "target_polygon":[ + [ + 11.035260200500488, + 242.21377563476562, + 0.24000000953674316 + ], + [ + 13.092116355895996, + 242.21377563476562, + 0.24000000953674316 + ], + [ + 13.092116355895996, + 244.51449584960938, + 0.24000000953674316 + ], + [ + 11.035260200500488, + 244.51449584960938, + 0.24000000953674316 + ] + ], + "threshold_label": "loose" + }, + "max_steps": 50 + } \ No newline at end of file diff --git a/virtualhome/tasks/carla00417/init.json b/virtualhome/tasks/carla00417/init.json new file mode 100644 index 0000000000000000000000000000000000000000..f1e96eeed6d4271c76f9321eaed155807f0c7eb3 --- /dev/null +++ b/virtualhome/tasks/carla00417/init.json @@ -0,0 +1,14 @@ +{ + "scene": "Town02", + "weather": "ClearNoon", + "initial_location": [ + 46.674739837646484, + 179.4150390625, + 1.2515000104904175 + ], + "initial_rotation": [ + 0.0, + 179.9999542236328, + 0.0 + ] +} \ No newline at end of file diff --git a/virtualhome/tasks/carla00417/task.json b/virtualhome/tasks/carla00417/task.json new file mode 100644 index 0000000000000000000000000000000000000000..9f9648097235f33473e3b08691785eeec6176be9 --- /dev/null +++ b/virtualhome/tasks/carla00417/task.json @@ -0,0 +1,54 @@ +{ + "task_id": "carla00417", + "task_name": "Go to the utility pole.", + "input_modality": "image_goal", + "origin_location": false, + "image_url": "./image.png", + "executor": "walker", + "instruction": "Can you see the utility pole in the image? Walk underneath it", + "golden_actions": { + "steps": 10, + "actions":[ + "WalkForward(distance=3)", + "WalkForward(distance=3)", + "WalkForward(distance=3)", + "TurnLeft", + "WalkForward(distance=3)", + "WalkForward(distance=3)", + "TurnRight", + "WalkForward(distance=3)", + "WalkForward(distance=3)", + "Done" + ] + + }, + "scene": "Town02", + "weather": "ClearSunset", + "success_conditions": { + "type": "polygon_area", + "target_polygon":[ + [ + 21.79916763305664, + 182.245361328125, + 0.32000017166137695 + ], + [ + 22.911849975585938, + 182.245361328125, + 0.32000017166137695 + ], + [ + 22.911849975585938, + 183.35595703125, + 0.32000017166137695 + ], + [ + 21.79916763305664, + 183.35595703125, + 0.32000017166137695 + ] + ], + "threshold_label": "loose" + }, + "max_steps": 50 + } \ No newline at end of file diff --git a/virtualhome/tasks/carla00418/init.json b/virtualhome/tasks/carla00418/init.json new file mode 100644 index 0000000000000000000000000000000000000000..55506bb794aafa668760062f97475455ca6871e4 --- /dev/null +++ b/virtualhome/tasks/carla00418/init.json @@ -0,0 +1,14 @@ +{ + "scene": "Town02", + "weather": "ClearNoon", + "initial_location": [ + 83.35900115966797, + 191.15826416015625, + 1.1714999675750732 + ], + "initial_rotation": [ + 0.0, + 29.999759674072266, + 0.0 + ] +} \ No newline at end of file diff --git a/virtualhome/tasks/carla00418/task.json b/virtualhome/tasks/carla00418/task.json new file mode 100644 index 0000000000000000000000000000000000000000..327f1bf7b786dd0b2779299f20dbb5747c7c9ecf --- /dev/null +++ b/virtualhome/tasks/carla00418/task.json @@ -0,0 +1,54 @@ +{ + "task_id": "carla00418", + "task_name": "Go to the red-framed house.", + "input_modality": "image_goal", + "origin_location": false, + "image_url": "./image.png", + "executor": "walker", + "instruction": "Can you see the house inside the red frame? That's my home. Walk over there.", + "golden_actions": { + "steps": 10, + "actions":[ + "WalkForward(distance=3)", + "WalkForward(distance=3)", + "TurnLeft", + "WalkForward(distance=3)", + "WalkForward(distance=3)", + "WalkForward(distance=3)", + "TurnRight", + "TurnRight", + "WalkForward(distance=3)", + "Done" + ] + + }, + "scene": "Town02", + "weather": "ClearSunset", + "success_conditions": { + "type": "polygon_area", + "target_polygon":[ + [ + 106.01261901855469, + 206.32070922851562, + 0.20275449752807617 + ], + [ + 98.19144377271758, + 206.3207154772305, + 0.20275449752807617 + ], + [ + 98.19143676757812, + 197.55276489257812, + 0.20275449752807617 + ], + [ + 106.01261201341524, + 197.55275864386326, + 0.20275449752807617 + ] + ], + "threshold_label": "loose" + }, + "max_steps": 50 + } \ No newline at end of file diff --git a/virtualhome/tasks/carla00419/init.json b/virtualhome/tasks/carla00419/init.json new file mode 100644 index 0000000000000000000000000000000000000000..5536ad931848c0c2e121ee3107c5e1a4cfc5e8b8 --- /dev/null +++ b/virtualhome/tasks/carla00419/init.json @@ -0,0 +1,14 @@ +{ + "scene": "Town02", + "weather": "ClearNoon", + "initial_location": [ + 173.81768798828125, + 106.21952819824219, + 1.1714997291564941 + ], + "initial_rotation": [ + 0.0, + 0.0, + 0.0 + ] +} \ No newline at end of file diff --git a/virtualhome/tasks/carla00419/task.json b/virtualhome/tasks/carla00419/task.json new file mode 100644 index 0000000000000000000000000000000000000000..5fb668fd6ac3c7afe1ba5afe74344fe0194e362d --- /dev/null +++ b/virtualhome/tasks/carla00419/task.json @@ -0,0 +1,55 @@ +{ + "task_id": "carla00419", + "task_name": "Wait by the red-framed pole near the gas station.", + "input_modality": "image_goal", + "origin_location": false, + "image_url": "./image.png", + "executor": "walker", + "instruction": "Can you see the storefront marked by the red box? Please walk forward to the front of this shop.", + "golden_actions": { + "steps": 11, + "actions":[ + "TurnLeft", + "WalkForward(distance=3)", + "WalkForward(distance=3)", + "WalkForward(distance=3)", + "TurnRight", + "WalkForward(distance=3)", + "WalkForward(distance=3)", + "WalkForward(distance=3)", + "WalkForward(distance=3)", + "WalkForward(distance=3)", + "Done" + ] + + }, + "scene": "Town02", + "weather": "ClearSunset", + "success_conditions": { + "type": "polygon_area", + "target_polygon":[ + [ + 198.4791717529297, + 101.89537048339844, + 0.32000017166137695 + ], + [ + 199.5918426513672, + 101.89537048339844, + 0.32000017166137695 + ], + [ + 199.5918426513672, + 103.00596618652344, + 0.32000017166137695 + ], + [ + 198.4791717529297, + 103.00596618652344, + 0.32000017166137695 + ] + ], + "threshold_label": "loose" + }, + "max_steps": 50 + } \ No newline at end of file diff --git a/virtualhome/tasks/carla00500/init.json b/virtualhome/tasks/carla00500/init.json new file mode 100644 index 0000000000000000000000000000000000000000..41111388036dc0271c3859912a0604cc378e4ac7 --- /dev/null +++ b/virtualhome/tasks/carla00500/init.json @@ -0,0 +1,14 @@ +{ + "scene": "Town01", + "weather": "ClearNoon", + "initial_location": [ + 281.93218994140625, + 132.7478790283203, + 0.9514999389648438 + ], + "initial_rotation": [ + 0.0, + 179.99996948242188, + 0.0 + ] +} \ No newline at end of file diff --git a/virtualhome/tasks/carla00500/task.json b/virtualhome/tasks/carla00500/task.json new file mode 100644 index 0000000000000000000000000000000000000000..e8ab8226f3b243be1175533cc17608a3fa1a8c71 --- /dev/null +++ b/virtualhome/tasks/carla00500/task.json @@ -0,0 +1,47 @@ +{ + "task_id": "carla00500", + "task_name": "Walk to the city lamp", + "input_modality": "image_goal", + "origin_location": false, + "image_url": "./image.png", + "executor": "walker", + "instruction": "Walk to the city lamp. You can turn and move in any direction.", + "golden_actions": { + "steps": 4, + "actions": [ + "WalkForward(distance=10)", + "WalkForward(distance=10)", + "WalkForward(distance=10)", + "Done" + ] + }, + "scene": "Town01", + "weather": "ClearSunset", + "success_conditions": { + "type": "polygon_area", + "target_polygon": [ + [ + 245.71035715556286, + 135.9981842041015, + 0.10087871551513672 + ], + [ + 245.71035766601562, + 132.1647490870236, + 0.10087871551513672 + ], + [ + 246.1495671608434, + 132.16474914550787, + 0.10087871551513672 + ], + [ + 246.14956665039062, + 135.99818426258577, + 0.10087871551513672 + ] + ], + "threshold_label": "loose" + }, + "max_steps": 30 +} \ No newline at end of file diff --git a/virtualhome/tasks/carla00501/init.json b/virtualhome/tasks/carla00501/init.json new file mode 100644 index 0000000000000000000000000000000000000000..31da712b04c685b319f5b3c2047a5027d40cd503 --- /dev/null +++ b/virtualhome/tasks/carla00501/init.json @@ -0,0 +1,14 @@ +{ + "scene": "Town01", + "weather": "ClearNoon", + "initial_location": [ + 322.55743408203125, + 138.0022430419922, + 1.0654029846191406 + ], + "initial_rotation": [ + 0.0, + 0.0, + 0.0 + ] +} \ No newline at end of file diff --git a/virtualhome/tasks/carla00501/task.json b/virtualhome/tasks/carla00501/task.json new file mode 100644 index 0000000000000000000000000000000000000000..948da143f04f105508564c57a4994107d9b2514f --- /dev/null +++ b/virtualhome/tasks/carla00501/task.json @@ -0,0 +1,38 @@ +{ + "task_id": "carla00501", + "task_name": "Walk to the target point.", + "input_modality": "image_goal", + "origin_location": false, + "image_url": "./image.png", + "executor": "walker", + "instruction": "Walk to the target point. You can turn and move in any direction.", + "golden_actions": { + "steps": 12, + "actions": [ + "WalkForward(distance=10)", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "WalkForward(distance=10)", + "WalkForward(distance=10)", + "WalkForward(distance=10)", + "Done" + ] + }, + "scene": "Town01", + "weather": "ClearSunset", + "success_conditions": { + "type": "distance_to_waypoint", + "target_location": [ + 306.0, + 122.2, + 1.0 + ], + "threshold_label": "medium" + }, + "max_steps": 50 +} \ No newline at end of file diff --git a/virtualhome/tasks/carla00502/init.json b/virtualhome/tasks/carla00502/init.json new file mode 100644 index 0000000000000000000000000000000000000000..b6d25aa0f445931228af4f8e32c57bc253098c4e --- /dev/null +++ b/virtualhome/tasks/carla00502/init.json @@ -0,0 +1,14 @@ +{ + "scene": "Town03", + "weather": "ClearNoon", + "initial_location": [ + 152.47454833984375, + 205.00289916992188, + 3.4223690032958984 + ], + "initial_rotation": [ + 0.0, + -120.00000762939453, + 0.0 + ] +} \ No newline at end of file diff --git a/virtualhome/tasks/carla00502/task.json b/virtualhome/tasks/carla00502/task.json new file mode 100644 index 0000000000000000000000000000000000000000..78d6a696aaa3c64bb9f05bac0c562469fbd9b7e0 --- /dev/null +++ b/virtualhome/tasks/carla00502/task.json @@ -0,0 +1,38 @@ +{ + "task_id": "carla00502", + "task_name": "Walk to the target point.", + "input_modality": "image_goal", + "origin_location": false, + "image_url": "./image.png", + "executor": "walker", + "instruction": "Walk to the target point. You can turn and move in any direction.", + "golden_actions": { + "steps": 12, + "actions": [ + "WalkForward(distance=10)", + "TurnLeft", + "TurnLeft", + "WalkForward(distance=10)", + "WalkForward(distance=10)", + "WalkForward(distance=10)", + "WalkForward(distance=10)", + "WalkForward(distance=10)", + "TurnRight", + "TurnRight", + "WalkForward(distance=10)", + "Done" + ] + }, + "scene": "Town03", + "weather": "ClearSunset", + "success_conditions": { + "type": "distance_to_waypoint", + "target_location": [ + 88.2, + 186.9, + 2.1 + ], + "threshold_label": "medium" + }, + "max_steps": 50 +} \ No newline at end of file diff --git a/virtualhome/tasks/carla00503/init.json b/virtualhome/tasks/carla00503/init.json new file mode 100644 index 0000000000000000000000000000000000000000..b6d25aa0f445931228af4f8e32c57bc253098c4e --- /dev/null +++ b/virtualhome/tasks/carla00503/init.json @@ -0,0 +1,14 @@ +{ + "scene": "Town03", + "weather": "ClearNoon", + "initial_location": [ + 152.47454833984375, + 205.00289916992188, + 3.4223690032958984 + ], + "initial_rotation": [ + 0.0, + -120.00000762939453, + 0.0 + ] +} \ No newline at end of file diff --git a/virtualhome/tasks/carla00503/task.json b/virtualhome/tasks/carla00503/task.json new file mode 100644 index 0000000000000000000000000000000000000000..81d40d2832aa9e8cdb4ba275364f28f7e16e38e5 --- /dev/null +++ b/virtualhome/tasks/carla00503/task.json @@ -0,0 +1,45 @@ +{ + "task_id": "carla00503", + "task_name": "Walk to the target point.", + "input_modality": "image_goal", + "origin_location": false, + "image_url": "./image.png", + "executor": "walker", + "instruction": "Walk to the target point. You can turn and move in any direction.", + "golden_actions": { + "steps": 19, + "actions": [ + "TurnLeft", + "WalkForward(distance=10)", + "TurnLeft", + "WalkForward(distance=10)", + "WalkForward(distance=10)", + "WalkForward(distance=10)", + "WalkForward(distance=10)", + "WalkForward(distance=10)", + "WalkForward(distance=10)", + "WalkForward(distance=10)", + "WalkForward(distance=10)", + "WalkForward(distance=10)", + "WalkForward(distance=10)", + "WalkForward(distance=10)", + "WalkForward(distance=10)", + "TurnRight", + "TurnRight", + "WalkForward(distance=10)", + "Done" + ] + }, + "scene": "Town03", + "weather": "ClearSunset", + "success_conditions": { + "type": "distance_to_waypoint", + "target_location": [ + 11.6, + 190.1, + 1.0 + ], + "threshold_label": "loose" + }, + "max_steps": 50 +} \ No newline at end of file diff --git a/virtualhome/tasks/carla00504/init.json b/virtualhome/tasks/carla00504/init.json new file mode 100644 index 0000000000000000000000000000000000000000..422eaa0e12871e90962b883edd49988b54da1729 --- /dev/null +++ b/virtualhome/tasks/carla00504/init.json @@ -0,0 +1,14 @@ +{ + "scene": "Town03", + "weather": "ClearNoon", + "initial_location": [ + 11.590353965759277, + 190.10255432128906, + 0.9538841843605042 + ], + "initial_rotation": [ + 0.0, + -119.99995422363281, + 0.0 + ] +} \ No newline at end of file diff --git a/virtualhome/tasks/carla00504/task.json b/virtualhome/tasks/carla00504/task.json new file mode 100644 index 0000000000000000000000000000000000000000..a672633d8022a7339962e1d919f5ec7290d4f898 --- /dev/null +++ b/virtualhome/tasks/carla00504/task.json @@ -0,0 +1,32 @@ +{ + "task_id": "carla00504", + "task_name": "Walk to the target point.", + "input_modality": "image_goal", + "origin_location": false, + "image_url": "./image.png", + "executor": "walker", + "instruction": "Walk to the target point. You can turn and move in any direction.", + "golden_actions": { + "steps": 6, + "actions": [ + "TurnLeft", + "WalkForward(distance=10)", + "WalkForward(distance=10)", + "WalkForward(distance=10)", + "WalkForward(distance=10)", + "Done" + ] + }, + "scene": "Town03", + "weather": "ClearSunset", + "success_conditions": { + "type": "distance_to_waypoint", + "target_location": [ + -24.8, + 169.1, + 1.0 + ], + "threshold_label": "loose" + }, + "max_steps": 50 +} \ No newline at end of file diff --git a/virtualhome/tasks/carla00505/init.json b/virtualhome/tasks/carla00505/init.json new file mode 100644 index 0000000000000000000000000000000000000000..16f6114b47d61f57a8fbe42ac98c59d180d44242 --- /dev/null +++ b/virtualhome/tasks/carla00505/init.json @@ -0,0 +1,14 @@ +{ + "scene": "Town03", + "weather": "ClearNoon", + "initial_location": [ + -24.810548782348633, + 169.08645629882812, + 0.9514999389648438 + ], + "initial_rotation": [ + 0.0, + -149.9999542236328, + 0.0 + ] +} \ No newline at end of file diff --git a/virtualhome/tasks/carla00505/task.json b/virtualhome/tasks/carla00505/task.json new file mode 100644 index 0000000000000000000000000000000000000000..1cc239292a7f30dfe6fbee4494708c2974fd2599 --- /dev/null +++ b/virtualhome/tasks/carla00505/task.json @@ -0,0 +1,39 @@ +{ + "task_id": "carla00505", + "task_name": "Walk to the target point.", + "input_modality": "image_goal", + "origin_location": false, + "image_url": "./image.png", + "executor": "walker", + "instruction": "Walk to the target point. You can turn and move in any direction.", + "golden_actions": { + "steps": 13, + "actions": [ + "TurnRight", + "TurnRight", + "TurnRight", + "WalkForward(distance=10)", + "WalkForward(distance=10)", + "WalkForward(distance=10)", + "WalkForward(distance=10)", + "WalkForward(distance=10)", + "WalkForward(distance=10)", + "TurnLeft", + "WalkForward(distance=10)", + "WalkForward(distance=10)", + "Done" + ] + }, + "scene": "Town03", + "weather": "ClearSunset", + "success_conditions": { + "type": "distance_to_waypoint", + "target_location": [ + 6.64, + 93.60, + 0.95 + ], + "threshold_label": "loose" + }, + "max_steps": 50 +} \ No newline at end of file diff --git a/virtualhome/tasks/carla00506/init.json b/virtualhome/tasks/carla00506/init.json new file mode 100644 index 0000000000000000000000000000000000000000..251318bce82d37adecd4070bd754b0881a5192f7 --- /dev/null +++ b/virtualhome/tasks/carla00506/init.json @@ -0,0 +1,14 @@ +{ + "scene": "Town03", + "weather": "ClearNoon", + "initial_location": [ + 6.638868808746338, + 93.59917449951172, + 0.9514999389648438 + ], + "initial_rotation": [ + 0.0, + -89.99993896484375, + 0.0 + ] +} \ No newline at end of file diff --git a/virtualhome/tasks/carla00506/task.json b/virtualhome/tasks/carla00506/task.json new file mode 100644 index 0000000000000000000000000000000000000000..1825e4051942102b4812e013b1be9be09674ff03 --- /dev/null +++ b/virtualhome/tasks/carla00506/task.json @@ -0,0 +1,35 @@ +{ + "task_id": "carla00506", + "task_name": "Walk to the target point.", + "input_modality": "image_goal", + "origin_location": false, + "image_url": "./image.png", + "executor": "walker", + "instruction": "Walk to the target point. You can turn and move in any direction.", + "golden_actions": { + "steps": 9, + "actions": [ + "TurnLeft", + "WalkForward(distance=10)", + "TurnLeft", + "WalkForward(distance=10)", + "WalkForward(distance=10)", + "WalkForward(distance=10)", + "TurnLeft", + "WalkForward(distance=10)", + "Done" + ] + }, + "scene": "Town03", + "weather": "ClearSunset", + "success_conditions": { + "type": "distance_to_waypoint", + "target_location": [ + -36.42, + 68.74, + 1.39 + ], + "threshold_label": "loose" + }, + "max_steps": 50 +} \ No newline at end of file diff --git a/virtualhome/tasks/carla00507/init.json b/virtualhome/tasks/carla00507/init.json new file mode 100644 index 0000000000000000000000000000000000000000..761e9fe303b7e31e9d05d53bc7858dc7b7905e7a --- /dev/null +++ b/virtualhome/tasks/carla00507/init.json @@ -0,0 +1,14 @@ +{ + "scene": "Town05", + "weather": "ClearNoon", + "initial_location": [ + 151.65170288085938, + -1.2713464498519897, + 0.979448676109314 + ], + "initial_rotation": [ + 0.0, + -59.99993133544922, + 0.0 + ] +} \ No newline at end of file diff --git a/virtualhome/tasks/carla00507/task.json b/virtualhome/tasks/carla00507/task.json new file mode 100644 index 0000000000000000000000000000000000000000..37ccb38b1789e2d9715f80e096ccce276f674deb --- /dev/null +++ b/virtualhome/tasks/carla00507/task.json @@ -0,0 +1,34 @@ +{ + "task_id": "carla00507", + "task_name": "Walk to the target point.", + "input_modality": "image_goal", + "origin_location": false, + "image_url": "./image.png", + "executor": "walker", + "instruction": "Walk to the target point. You can turn and move in any direction.", + "golden_actions": { + "steps": 8, + "actions": [ + "TurnLeft", + "WalkForward(distance=10)", + "WalkForward(distance=10)", + "WalkForward(distance=10)", + "WalkForward(distance=10)", + "WalkForward(distance=10)", + "WalkForward(distance=10)", + "Done" + ] + }, + "scene": "Town05", + "weather": "ClearSunset", + "success_conditions": { + "type": "distance_to_waypoint", + "target_location": [ + 151.65, + -64.72, + 0.99 + ], + "threshold_label": "loose" + }, + "max_steps": 50 +} \ No newline at end of file diff --git a/virtualhome/tasks/carla00508/init.json b/virtualhome/tasks/carla00508/init.json new file mode 100644 index 0000000000000000000000000000000000000000..f09353515148e0bf414f4e48a8177c674b8236f3 --- /dev/null +++ b/virtualhome/tasks/carla00508/init.json @@ -0,0 +1,14 @@ +{ + "scene": "Town05", + "weather": "ClearNoon", + "initial_location": [ + 151.65170288085938, + -64.71951293945312, + 0.9887827038764954 + ], + "initial_rotation": [ + 0.0, + -89.99993896484375, + 0.0 + ] +} \ No newline at end of file diff --git a/virtualhome/tasks/carla00508/task.json b/virtualhome/tasks/carla00508/task.json new file mode 100644 index 0000000000000000000000000000000000000000..2bd44c2501fff93d47d7cc74bbac3d3aad02f6ce --- /dev/null +++ b/virtualhome/tasks/carla00508/task.json @@ -0,0 +1,36 @@ +{ + "task_id": "carla00508", + "task_name": "Walk to the target point.", + "input_modality": "image_goal", + "origin_location": false, + "image_url": "./image.png", + "executor": "walker", + "instruction": "Walk to the target point. You can turn and move in any direction.", + "golden_actions": { + "steps": 10, + "actions": [ + "WalkForward(distance=10)", + "WalkForward(distance=10)", + "WalkForward(distance=10)", + "WalkForward(distance=10)", + "TurnLeft", + "WalkForward(distance=10)", + "WalkForward(distance=10)", + "WalkForward(distance=10)", + "WalkForward(distance=10)", + "Done" + ] + }, + "scene": "Town05", + "weather": "ClearSunset", + "success_conditions": { + "type": "distance_to_waypoint", + "target_location": [ + 130.71, + -142.66, + 1.14 + ], + "threshold_label": "loose" + }, + "max_steps": 50 +} \ No newline at end of file diff --git a/virtualhome/tasks/carla00509/init.json b/virtualhome/tasks/carla00509/init.json new file mode 100644 index 0000000000000000000000000000000000000000..864df4ac0f4e25a867a33e127340459622347c76 --- /dev/null +++ b/virtualhome/tasks/carla00509/init.json @@ -0,0 +1,14 @@ +{ + "scene": "Town05", + "weather": "ClearNoon", + "initial_location": [ + 130.63563537597656, + -143.15267944335938, + 1.1398383378982544 + ], + "initial_rotation": [ + 0.0, + -119.99993896484375, + 0.0 + ] +} \ No newline at end of file diff --git a/virtualhome/tasks/carla00509/task.json b/virtualhome/tasks/carla00509/task.json new file mode 100644 index 0000000000000000000000000000000000000000..37f7a67c789d80afd3b6e5966138c9aa8135ef8d --- /dev/null +++ b/virtualhome/tasks/carla00509/task.json @@ -0,0 +1,39 @@ +{ + "task_id": "carla00509", + "task_name": "Walk to the target point.", + "input_modality": "image_goal", + "origin_location": false, + "image_url": "./image.png", + "executor": "walker", + "instruction": "Walk to the target point. You can turn and move in any direction.", + "golden_actions": { + "steps": 13, + "actions": [ + "TurnLeft", + "TurnLeft", + "WalkForward(distance=10)", + "WalkForward(distance=10)", + "WalkForward(distance=10)", + "WalkForward(distance=10)", + "WalkForward(distance=10)", + "WalkForward(distance=10)", + "WalkForward(distance=10)", + "WalkForward(distance=10)", + "WalkForward(distance=10)", + "WalkForward(distance=10)", + "Done" + ] + }, + "scene": "Town05", + "weather": "ClearSunset", + "success_conditions": { + "type": "distance_to_waypoint", + "target_location": [ + 26.33, + -143.15, + 0.95 + ], + "threshold_label": "loose" + }, + "max_steps": 50 +} \ No newline at end of file diff --git a/virtualhome/tasks/carla00510/init.json b/virtualhome/tasks/carla00510/init.json new file mode 100644 index 0000000000000000000000000000000000000000..e98311339122fe1ffd7013eaef4d89b4e26cbe6f --- /dev/null +++ b/virtualhome/tasks/carla00510/init.json @@ -0,0 +1,14 @@ +{ + "scene": "Town05", + "weather": "ClearNoon", + "initial_location": [ + 26.3271484375, + -143.15267944335938, + 0.9513310790061951 + ], + "initial_rotation": [ + 0.0, + -179.99989318847656, + 0.0 + ] +} \ No newline at end of file diff --git a/virtualhome/tasks/carla00510/task.json b/virtualhome/tasks/carla00510/task.json new file mode 100644 index 0000000000000000000000000000000000000000..4dbfae815cf07036e3ae7788ab62decaa0513531 --- /dev/null +++ b/virtualhome/tasks/carla00510/task.json @@ -0,0 +1,41 @@ +{ + "task_id": "carla00510", + "task_name": "Walk to the target point.", + "input_modality": "image_goal", + "origin_location": false, + "image_url": "./image.png", + "executor": "walker", + "instruction": "Walk to the target point. You can turn and move in any direction.", + "golden_actions": { + "steps": 15, + "actions": [ + "TurnRight", + "TurnRight", + "TurnRight", + "WalkForward(distance=10)", + "WalkForward(distance=10)", + "WalkForward(distance=10)", + "WalkForward(distance=10)", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "WalkForward(distance=10)", + "WalkForward(distance=10)", + "WalkForward(distance=10)", + "WalkForward(distance=10)", + "Done" + ] + }, + "scene": "Town05", + "weather": "ClearSunset", + "success_conditions": { + "type": "distance_to_waypoint", + "target_location": [ + -15.40, + -184.84, + 2.34 + ], + "threshold_label": "loose" + }, + "max_steps": 50 +} \ No newline at end of file diff --git a/virtualhome/tasks/carla00511/init.json b/virtualhome/tasks/carla00511/init.json new file mode 100644 index 0000000000000000000000000000000000000000..165a6891ede5b57c98fe80997ba2423c4f39a86f --- /dev/null +++ b/virtualhome/tasks/carla00511/init.json @@ -0,0 +1,14 @@ +{ + "scene": "Town04", + "weather": "ClearNoon", + "initial_location": [ + 159.445556640625, + -311.6780700683594, + 0.9851608276367188 + ], + "initial_rotation": [ + 0.0, + 29.99994468688965, + 0.0 + ] +} \ No newline at end of file diff --git a/virtualhome/tasks/carla00511/task.json b/virtualhome/tasks/carla00511/task.json new file mode 100644 index 0000000000000000000000000000000000000000..2933bca15c1da2ff86a50d47ee5d7676999f879f --- /dev/null +++ b/virtualhome/tasks/carla00511/task.json @@ -0,0 +1,48 @@ +{ + "task_id": "carla00511", + "task_name": "Walk to the house behind the car.", + "input_modality": "image_goal", + "origin_location": false, + "image_url": "./image.png", + "executor": "walker", + "instruction": "Walk to the house behind the car.You can turn and move in any direction.", + "golden_actions": { + "steps": 13, + "actions": [ + "TurnLeft", + "TurnLeft", + "WalkForward(distance=10)", + "WalkForward(distance=3)", + "Done" + ] + }, + "scene": "Town04", + "weather": "ClearSunset", + "success_conditions": { + "type": "polygon_area", + "target_polygon": [ + [ + 160.07955932617188, + -336.82562255859375, + -0.007568836212158203 + ], + [ + 182.94589233398438, + -336.82562255859375, + -0.007568836212158203 + ], + [ + 182.94589233398438, + -322.20013427734375, + -0.007568836212158203 + ], + [ + 160.07955932617188, + -322.20013427734375, + -0.007568836212158203 + ] + ], + "threshold_label": "loose" + }, + "max_steps": 50 +} \ No newline at end of file diff --git a/virtualhome/tasks/carla00512/init.json b/virtualhome/tasks/carla00512/init.json new file mode 100644 index 0000000000000000000000000000000000000000..667c063b41324f53c537bd1ad1e960e9d6248bf9 --- /dev/null +++ b/virtualhome/tasks/carla00512/init.json @@ -0,0 +1,14 @@ +{ + "scene": "Town04", + "weather": "ClearNoon", + "initial_location": [ + 171.4289093017578, + -318.5201721191406, + 1.129683494567871 + ], + "initial_rotation": [ + 0.0, + -30.000036239624023, + 0.0 + ] +} \ No newline at end of file diff --git a/virtualhome/tasks/carla00512/task.json b/virtualhome/tasks/carla00512/task.json new file mode 100644 index 0000000000000000000000000000000000000000..2fe3a9e2f1ce3d3afaf92599e4a3965c42eed1a4 --- /dev/null +++ b/virtualhome/tasks/carla00512/task.json @@ -0,0 +1,55 @@ +{ + "task_id": "carla00512", + "task_name": "Walk to the street light near the tree.", + "input_modality": "image_goal", + "origin_location": false, + "image_url": "./image.png", + "executor": "walker", + "instruction": "Walk to the street light near the tree. You can turn and move in any direction.", + "golden_actions": { + "steps": 12, + "actions": [ + "TurnRight", + "TurnRight", + "WalkForward(distance=10)", + "WalkForward(distance=10)", + "WalkForward(distance=10)", + "WalkForward(distance=3)", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "WalkForward(distance=3)", + "WalkForward(distance=3)", + "Done" + ] + }, + "scene": "Town04", + "weather": "ClearSunset", + "success_conditions": { + "type": "polygon_area", + "target_polygon": [ + [ + 210.53910979695675, + -299.44793701172404, + 0.1728208065032959 + ], + [ + 206.7056732178194, + -299.44792373994716, + 0.1728208065032959 + ], + [ + 206.70567169718387, + -299.88714599608846, + 0.1728208065032959 + ], + [ + 210.53910827632123, + -299.88715926786534, + 0.1728208065032959 + ] + ], + "threshold_label": "loose" + }, + "max_steps": 50 +} \ No newline at end of file diff --git a/virtualhome/tasks/carla00513/init.json b/virtualhome/tasks/carla00513/init.json new file mode 100644 index 0000000000000000000000000000000000000000..422eaa0e12871e90962b883edd49988b54da1729 --- /dev/null +++ b/virtualhome/tasks/carla00513/init.json @@ -0,0 +1,14 @@ +{ + "scene": "Town03", + "weather": "ClearNoon", + "initial_location": [ + 11.590353965759277, + 190.10255432128906, + 0.9538841843605042 + ], + "initial_rotation": [ + 0.0, + -119.99995422363281, + 0.0 + ] +} \ No newline at end of file diff --git a/virtualhome/tasks/carla00513/task.json b/virtualhome/tasks/carla00513/task.json new file mode 100644 index 0000000000000000000000000000000000000000..f36a3fb82033f75893ed84aca9784deb68feee77 --- /dev/null +++ b/virtualhome/tasks/carla00513/task.json @@ -0,0 +1,51 @@ +{ + "task_id": "carla00513", + "task_name": "Walk to the gas station.", + "input_modality": "image_goal", + "origin_location": false, + "image_url": "./image.png", + "executor": "walker", + "instruction": "Walk to the gas station. You can turn and move in any direction.", + "golden_actions": { + "steps": 8, + "actions": [ + "TurnLeft", + "WalkForward(distance=10)", + "WalkForward(distance=10)", + "WalkForward(distance=10)", + "WalkForward(distance=10)", + "TurnRight", + "WalkForward(distance=10)", + "Done" + ] + }, + "scene": "Town03", + "weather": "ClearSunset", + "success_conditions": { + "type": "polygon_area", + "target_polygon": [ + [ + -68.21886611796361, + 160.25251501103645, + -0.543034553527832 + ], + [ + -19.229602813720703, + 143.57504272460938, + -0.543034553527832 + ], + [ + -9.526487580766847, + 172.07747156122917, + -0.543034553527832 + ], + [ + -58.515750885009766, + 188.75494384765625, + -0.543034553527832 + ] + ], + "threshold_label": "loose" + }, + "max_steps": 50 +} \ No newline at end of file diff --git a/virtualhome/tasks/carla00514/init.json b/virtualhome/tasks/carla00514/init.json new file mode 100644 index 0000000000000000000000000000000000000000..eb69f1cc96e6a2944e8ce5dd8d7419e300d887df --- /dev/null +++ b/virtualhome/tasks/carla00514/init.json @@ -0,0 +1,14 @@ +{ + "scene": "Town05", + "weather": "ClearNoon", + "initial_location": [ + 100.53241729736328, + 4.2448201179504395, + 0.9521624445915222 + ], + "initial_rotation": [ + 0.0, + 179.99954223632812, + 0.0 + ] +} \ No newline at end of file diff --git a/virtualhome/tasks/carla00514/task.json b/virtualhome/tasks/carla00514/task.json new file mode 100644 index 0000000000000000000000000000000000000000..05666e438391fa666003ca73ab9402fd05af6795 --- /dev/null +++ b/virtualhome/tasks/carla00514/task.json @@ -0,0 +1,50 @@ +{ + "task_id": "carla00514", + "task_name": "Walk to the tree positioned in the middle section of the straight wire fence.", + "input_modality": "image_goal", + "origin_location": false, + "image_url": "./image.png", + "executor": "walker", + "instruction": "Walk to the tree positioned in the middle section of the straight wire fence.You can turn and move in any direction.", + "golden_actions": { + "steps": 7, + "actions": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "WalkForward(distance=10)", + "WalkForward(distance=10)", + "Done" + ] + }, + "scene": "Town05", + "weather": "ClearSunset", + "success_conditions": { + "type": "polygon_area", + "target_polygon": [ + [ + 115.63643646240234, + 23.80908203125, + -0.4162178039550781 + ], + [ + 112.39882803477771, + 32.70432333747854, + -0.4162178039550781 + ], + [ + 103.75589729474589, + 29.55854859793219, + -0.4162178039550781 + ], + [ + 106.99350572237053, + 20.663307291703646, + -0.4162178039550781 + ] + ], + "threshold_label": "loose" + }, + "max_steps": 50 +} \ No newline at end of file diff --git a/virtualhome/tasks/carla00515/init.json b/virtualhome/tasks/carla00515/init.json new file mode 100644 index 0000000000000000000000000000000000000000..eb69f1cc96e6a2944e8ce5dd8d7419e300d887df --- /dev/null +++ b/virtualhome/tasks/carla00515/init.json @@ -0,0 +1,14 @@ +{ + "scene": "Town05", + "weather": "ClearNoon", + "initial_location": [ + 100.53241729736328, + 4.2448201179504395, + 0.9521624445915222 + ], + "initial_rotation": [ + 0.0, + 179.99954223632812, + 0.0 + ] +} \ No newline at end of file diff --git a/virtualhome/tasks/carla00515/task.json b/virtualhome/tasks/carla00515/task.json new file mode 100644 index 0000000000000000000000000000000000000000..311f01bc77911adbf5912093b5a9dde9b87dcfcf --- /dev/null +++ b/virtualhome/tasks/carla00515/task.json @@ -0,0 +1,59 @@ +{ + "task_id": "carla00515", + "task_name": "Walk to the stopsign.", + "input_modality": "image_goal", + "origin_location": false, + "image_url": "./image.png", + "executor": "walker", + "instruction": "Walk to the stopsign. You can turn and move in any direction.", + "golden_actions": { + "steps": 16, + "actions": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "WalkForward(distance=10)", + "TurnRight", + "TurnRight", + "TurnLeft", + "WalkForward(distance=10)", + "WalkForward(distance=10)", + "WalkForward(distance=10)", + "TurnRight", + "TurnRight", + "WalkForward(distance=3)", + "Done" + ] + }, + "scene": "Town05", + "weather": "ClearSunset", + "success_conditions": { + "type": "polygon_area", + "target_polygon": [ + [ + 142.26185996351512, + 6.009302629411776, + 0.0441591739654541 + ], + [ + 142.26268005371094, + 6.087168216705322, + 0.0441591739654541 + ], + [ + 142.20808022203175, + 6.087743269025724, + 0.0441591739654541 + ], + [ + 142.20726013183594, + 6.009877681732178, + 0.0441591739654541 + ] + ], + "threshold_label": "loose" + }, + "max_steps": 50 +} \ No newline at end of file diff --git a/virtualhome/tasks/carla00516/init.json b/virtualhome/tasks/carla00516/init.json new file mode 100644 index 0000000000000000000000000000000000000000..7d670de9656e23da546cfb16376632568601ff63 --- /dev/null +++ b/virtualhome/tasks/carla00516/init.json @@ -0,0 +1,14 @@ +{ + "scene": "Town02", + "weather": "ClearNoon", + "initial_location": [ + 135.992919921875, + 212.34725952148438, + 1.1714999675750732 + ], + "initial_rotation": [ + 0.0, + 89.9999771118164, + 0.0 + ] +} \ No newline at end of file diff --git a/virtualhome/tasks/carla00516/task.json b/virtualhome/tasks/carla00516/task.json new file mode 100644 index 0000000000000000000000000000000000000000..30b4b7adb033e26491b9328be68be658038ea2c5 --- /dev/null +++ b/virtualhome/tasks/carla00516/task.json @@ -0,0 +1,49 @@ +{ + "task_id": "carla00516", + "task_name": "Walk to the traffic light.", + "input_modality": "image_goal", + "origin_location": false, + "image_url": "./image.png", + "executor": "walker", + "instruction": "Walk to the traffic light. You can turn and move in any direction.", + "golden_actions": { + "steps": 6, + "actions": [ + "WalkForward(distance=3)", + "TurnRight", + "WalkForward(distance=3)", + "WalkForward(distance=3)", + "WalkForward(distance=3)", + "Done" + ] + }, + "scene": "Town02", + "weather": "ClearSunset", + "success_conditions": { + "type": "polygon_area", + "target_polygon": [ + [ + 129.8059997558548, + 226.6159980303077, + 0.21999990940093994 + ], + [ + 129.69399952828604, + 226.61599731444855, + 0.21999990940093994 + ], + [ + 129.6940002441452, + 226.5039970868798, + 0.21999990940093994 + ], + [ + 129.80600047171396, + 226.50399780273895, + 0.21999990940093994 + ] + ], + "threshold_label": "loose" + }, + "max_steps": 50 +} \ No newline at end of file diff --git a/virtualhome/tasks/carla00517/init.json b/virtualhome/tasks/carla00517/init.json new file mode 100644 index 0000000000000000000000000000000000000000..7d670de9656e23da546cfb16376632568601ff63 --- /dev/null +++ b/virtualhome/tasks/carla00517/init.json @@ -0,0 +1,14 @@ +{ + "scene": "Town02", + "weather": "ClearNoon", + "initial_location": [ + 135.992919921875, + 212.34725952148438, + 1.1714999675750732 + ], + "initial_rotation": [ + 0.0, + 89.9999771118164, + 0.0 + ] +} \ No newline at end of file diff --git a/virtualhome/tasks/carla00517/task.json b/virtualhome/tasks/carla00517/task.json new file mode 100644 index 0000000000000000000000000000000000000000..51a89b422cc64ffc00ee75fff16f9621e26f9e18 --- /dev/null +++ b/virtualhome/tasks/carla00517/task.json @@ -0,0 +1,53 @@ +{ + "task_id": "carla00517", + "task_name": "Walk to the area near the yellow-roofed bungalow.", + "input_modality": "image_goal", + "origin_location": false, + "image_url": "./image.png", + "executor": "walker", + "instruction": "Walk to the area near the yellow-roofed bungalow. You can turn and move in any direction.", + "golden_actions": { + "steps": 10, + "actions": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "WalkForward(distance=10)", + "WalkForward(distance=10)", + "WalkForward(distance=10)", + "Done" + ] + }, + "scene": "Town02", + "weather": "ClearSunset", + "success_conditions": { + "type": "polygon_area", + "target_polygon": [ + [ + 132.69491577148438, + 164.6818389892578, + 0.2806274890899658 + ], + [ + 149.7267002239075, + 164.6819197838736, + 0.2806274890899658 + ], + [ + 149.72665405273438, + 174.4149627685547, + 0.2806274890899658 + ], + [ + 132.69486960031125, + 174.4148819739389, + 0.2806274890899658 + ] + ], + "threshold_label": "loose" + }, + "max_steps": 50 +} \ No newline at end of file diff --git a/virtualhome/tasks/carla00518/init.json b/virtualhome/tasks/carla00518/init.json new file mode 100644 index 0000000000000000000000000000000000000000..7d670de9656e23da546cfb16376632568601ff63 --- /dev/null +++ b/virtualhome/tasks/carla00518/init.json @@ -0,0 +1,14 @@ +{ + "scene": "Town02", + "weather": "ClearNoon", + "initial_location": [ + 135.992919921875, + 212.34725952148438, + 1.1714999675750732 + ], + "initial_rotation": [ + 0.0, + 89.9999771118164, + 0.0 + ] +} \ No newline at end of file diff --git a/virtualhome/tasks/carla00518/task.json b/virtualhome/tasks/carla00518/task.json new file mode 100644 index 0000000000000000000000000000000000000000..a521be081cbfade46aae51fc9f04dba1a3ceef8b --- /dev/null +++ b/virtualhome/tasks/carla00518/task.json @@ -0,0 +1,56 @@ +{ + "task_id": "carla00518", + "task_name": "Walk toward the streetlight opposite the house with the yellow roof.", + "input_modality": "image_goal", + "origin_location": false, + "image_url": "./image.png", + "executor": "walker", + "instruction": "Please walk to Walk toward the streetlight opposite the house with the yellow roof. You can turn and move in any direction.", + "golden_actions": { + "steps": 13, + "actions": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "WalkForward(distance=10)", + "WalkForward(distance=10)", + "TurnRight", + "TurnRight", + "TurnRight", + "WalkForward(distance=10)", + "Done" + ] + }, + "scene": "Town02", + "weather": "ClearSunset", + "success_conditions": { + "type": "polygon_area", + "target_polygon": [ + [ + 151.63349863505505, + 194.71304321289057, + 0.3208787441253662 + ], + [ + 151.6334991455078, + 190.87960809581267, + 0.3208787441253662 + ], + [ + 152.07270864033558, + 190.87960815429693, + 0.3208787441253662 + ], + [ + 152.0727081298828, + 194.71304327137483, + 0.3208787441253662 + ] + ], + "threshold_label": "loose" + }, + "max_steps": 50 +} \ No newline at end of file diff --git a/virtualhome/tasks/carla00519/init.json b/virtualhome/tasks/carla00519/init.json new file mode 100644 index 0000000000000000000000000000000000000000..419ac6601d511c0ed3354e30f7b83535b13322e2 --- /dev/null +++ b/virtualhome/tasks/carla00519/init.json @@ -0,0 +1,14 @@ +{ + "scene": "Town02", + "weather": "ClearNoon", + "initial_location": [ + -4.457595348358154, + 184.66905212402344, + 1.1714999675750732 + ], + "initial_rotation": [ + 0.0, + 89.99995422363281, + 0.0 + ] +} \ No newline at end of file diff --git a/virtualhome/tasks/carla00519/task.json b/virtualhome/tasks/carla00519/task.json new file mode 100644 index 0000000000000000000000000000000000000000..29caff0b7fb7f94ab11625074b74c7a1515c73c5 --- /dev/null +++ b/virtualhome/tasks/carla00519/task.json @@ -0,0 +1,49 @@ +{ + "task_id": "carla00519", + "task_name": "Walk to the speed limit station.", + "input_modality": "image_goal", + "origin_location": false, + "image_url": "./image.png", + "executor": "walker", + "instruction": "Walk to the speed limit station. You can turn and move in any direction.", + "golden_actions": { + "steps": 6, + "actions": [ + "WalkForward(distance=10)", + "TurnRight", + "WalkForward(distance=3)", + "WalkForward(distance=3)", + "WalkForward(distance=3)", + "Done" + ] + }, + "scene": "Town02", + "weather": "ClearSunset", + "success_conditions": { + "type": "polygon_area", + "target_polygon": [ + [ + -9.841065363179975, + 208.78729248046872, + 0.23532617092132568 + ], + [ + -9.91893482208247, + 208.7872925426824, + 0.23532617092132568 + ], + [ + -9.91893486570186, + 208.73269653320315, + 0.23532617092132568 + ], + [ + -9.841065406799366, + 208.73269647098948, + 0.23532617092132568 + ] + ], + "threshold_label": "loose" + }, + "max_steps": 50 +} \ No newline at end of file