diff --git "a/env_4_data_w_traj.json" "b/env_4_data_w_traj.json" new file mode 100644--- /dev/null +++ "b/env_4_data_w_traj.json" @@ -0,0 +1,3857 @@ +{ + "landmarks": [ + [ + 1, + "street lamp", + [ + -85.0346299835938, + -85.15489585749619, + -12.384834289550781, + 0.0, + 0.0, + 0.6941229146138288, + 0.7198564991774425 + ] + ], + [ + 2, + "white rectangular container", + [ + -91.73969706550183, + -30.044796201794274, + -10.384834289550781, + 0.0, + 0.0, + 0.5942244690732046, + 0.804299248013243 + ] + ], + [ + 3, + "railway landmark", + [ + -98.91852824937605, + 12.053692017437632, + -4.384834289550781, + 0.0, + 0.0, + 0.5942244690732046, + 0.8042992480132429 + ] + ], + [ + 4, + "railway crossroad", + [ + -36.6449326542113, + 23.677741037671826, + -8.384834289550781, + 0.0, + 0.0, + 0.4841586781165899, + 0.8749802137216568 + ] + ], + [ + 5, + "blue portable toilet", + [ + -16.041735467045264, + 51.668296209216535, + -6.384834289550781, + 0.0, + 0.0, + 0.365808797943255, + 0.9306900253829472 + ] + ], + [ + 6, + "red cylindrical container", + [ + 46.48337783350135, + 95.1348165458924, + -8.384834289550781, + 0.0, + 0.0, + 0.11246386176109426, + 0.9936558155607914 + ] + ], + [ + 7, + "yellow forklift", + [ + 45.40417355642791, + 65.49519915913797, + -6.384834289550781, + 0.0, + 0.0, + -0.39943134648758677, + 0.9167631097743372 + ] + ], + [ + 8, + "long white rectangular container", + [ + -8.003657934548155, + 22.63488728639131, + -10.384834289550781, + 0.0, + 0.0, + 0.24119982781575144, + 0.9704754726739114 + ] + ], + [ + 9, + "railway crossroad", + [ + 53.665714832061276, + 30.137345631886237, + -6.384834289550781, + 0.0, + 0.0, + 0.24119982781575144, + 0.9704754726739114 + ] + ], + [ + 10, + "long red container", + [ + 77.94752680003823, + 33.04983312152308, + -8.384834289550781, + 0.0, + 0.0, + 0.24119982781575144, + 0.9704754726739114 + ] + ], + [ + 11, + "white carriage with black coal", + [ + 117.79786798990884, + 32.89380026575623, + -12.384834289550781, + 0.0, + 0.0, + -0.01819639214916851, + 0.9998344319499872 + ] + ], + [ + 12, + "empty white rectangular container", + [ + 43.582183002161365, + -7.374638846993391, + -6.384834289550781, + 0.0, + 0.0, + -0.7198564991774423, + 0.694122914613829 + ] + ], + [ + 13, + "red rectangular container", + [ + 32.93550578917456, + -50.823417227113765, + -10.384834289550781, + 0.0, + 0.0, + -0.8042992480132428, + 0.5942244690732048 + ] + ], + [ + 14, + "yellow house covered with plants", + [ + -18.235272877623604, + -59.545826083821886, + -12.384834289550781, + 0.0, + 0.0, + -0.8749802137216568, + 0.4841586781165901 + ] + ], + [ + 15, + "green rectangular container", + [ + -22.333600840327435, + -22.38320408438833, + -6.384834289550781, + 0.0, + 0.0, + 0.5942244690732044, + 0.8042992480132432 + ] + ] + ], + "scene_objects": [ + "street lamp", + "white rectangular container", + "railway landmark", + "railway crossroad", + "blue portable toilet", + "red cylindrical container", + "yellow forklift", + "long white rectangular container", + "woods", + "long red container", + "white carriage with black coal", + "empty white rectangular container", + "yellow house covered with plants", + "green rectangular container", + "road" + ], + "navigation_tasks": [ + { + "task_id": "597327c92a34465d88284d2569ddf288", + "reference_landmark_route": [ + "green rectangular container", + "railway crossroad", + "blue portable toilet" + ], + "reference_landmark_idx_route": [ + 15, + 4, + 5 + ], + "reference_graph_idx_route": [ + 376, + 145, + 224 + ], + "instruction": "Fly over the green rectangular container and continue flying forward until you see the railway crossroad. 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