diff --git a/benchmark/trajectory/CourtYard/task_x001312_y007194_z000118_t0_a/infos.json b/benchmark/trajectory/CourtYard/task_x001312_y007194_z000118_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..6f222bfe2ff42b6bcb3fdd8fbb1c109ab7f3536f --- /dev/null +++ b/benchmark/trajectory/CourtYard/task_x001312_y007194_z000118_t0_a/infos.json @@ -0,0 +1,132 @@ +{ + "Instruction": "Walk to the wooden door near the arched entrance.", + "Type": 0, + "Start_Pose": [ + 1312.053, + 7193.586, + 118.15, + 0.0, + -29.76, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1312.053, + 7193.586, + 118.15, + 0.0, + -29.76, + 0.0 + ], + [ + 1421.313, + 7131.114, + 118.15, + 0.0, + -29.76, + 0.0 + ], + [ + 1530.572, + 7068.641, + 118.15, + 0.0, + -29.76, + 0.0 + ], + [ + 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b/benchmark/trajectory/CourtYard/task_x001312_y007194_z000118_t0_b/infos.json @@ -0,0 +1,159 @@ +{ + "Instruction": "Head toward the green plastic dumpsters.", + "Type": 0, + "Start_Pose": [ + 1312.053, + 7193.586, + 118.15, + 0, + -29.76, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1312.053, + 7193.586, + 118.15, + 0, + -29.76, + 0 + ], + [ + 1421.313, + 7131.114, + 118.15, + 0.0, + -29.76, + 0.0 + ], + [ + 1530.572, + 7068.641, + 118.15, + 0.0, + -29.76, + 0.0 + ], + [ + 1530.572, + 7068.641, + 118.15, + 0.0, + -4.76, + 0.0 + ], + [ + 1655.997, + 7058.197, + 118.15, + 0.0, + -4.76, + 0.0 + ], + [ + 1655.997, + 7058.197, + 118.15, + 0.0, + 20.24, + -0.0 + ], + [ + 1774.085, + 7101.738, + 118.15, + 0.0, + 20.24, + -0.0 + ], + [ + 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"Walk to the red metal door, then approach the wooden door under the corner.", + "Type": 3, + "Start_Pose": [ + 1312.002, + 8131.077, + 118.15, + 0.0, + 30.72, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1312.002, + 8131.077, + 118.15, + 0.0, + 30.72, + -0.0 + ], + [ + 1420.2, + 8195.371, + 118.15, + 0.0, + 30.72, + -0.0 + ], + [ + 1420.2, + 8195.371, + 118.15, + 0.0, + 55.72, + -0.0 + ], + [ + 1491.088, + 8299.368, + 118.15, + 0.0, + 55.72, + -0.0 + ], + [ + 1561.977, + 8403.365, + 118.15, + 0.0, + 55.72, + -0.0 + ], + [ + 1561.977, + 8403.365, + 118.15, + 0.0, + 80.72, + -0.0 + ], + [ + 1582.273, + 8527.576, + 118.15, + 0.0, + 80.72, + -0.0 + ], + [ + 1602.569, + 8651.788, + 132.127, + 0.0, + 80.72, + 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b/benchmark/trajectory/CourtYard/task_x001312_y008131_z000118_t3_b/infos.json @@ -0,0 +1,177 @@ +{ + "Instruction": "Head toward the vertical drainpipe on the wall corner, then reach the red door.", + "Type": 3, + "Start_Pose": [ + 1312.002, + 8131.077, + 118.15, + 0.0, + 30.72, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "TurnRight", + "MidwayTarget", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1312.002, + 8131.077, + 118.15, + 0.0, + 30.72, + -0.0 + ], + [ + 1420.2, + 8195.371, + 118.15, + 0.0, + 30.72, + -0.0 + ], + [ + 1528.397, + 8259.666, + 118.15, + 0.0, + 30.72, + -0.0 + ], + [ + 1636.595, + 8323.96, + 118.15, + 0.0, + 30.72, + -0.0 + ], + [ + 1744.793, + 8388.254, + 118.15, + 0.0, + 30.72, + -0.0 + ], + [ + 1852.991, + 8452.548, + 118.15, + 0.0, + 30.72, + -0.0 + ], 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index 0000000000000000000000000000000000000000..1bb28a2e1330db7060dd0a81558200926f030c6e --- /dev/null +++ b/benchmark/trajectory/CourtYard/task_x001312_y008131_z000118_t3_c/infos.json @@ -0,0 +1,231 @@ +{ + "Instruction": "Approach the wooden door under the corner, then move to the red door.", + "Type": 3, + "Start_Pose": [ + 1312.002, + 8131.077, + 118.15, + 0.0, + 30.72, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1312.002, + 8131.077, + 118.15, + 0.0, + 30.72, + -0.0 + ], + [ + 1420.2, + 8195.371, + 118.15, + 0.0, + 30.72, + -0.0 + ], + [ + 1528.397, + 8259.666, + 118.15, + 0.0, + 30.72, + -0.0 + ], + [ + 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--- /dev/null +++ b/benchmark/trajectory/CourtYard/task_x001433_y006682_z000130_t0_c/infos.json @@ -0,0 +1,150 @@ +{ + "Instruction": "Move to the graffiti tag on the wall.", + "Type": 0, + "Start_Pose": [ + 1432.97, + 6682.451, + 129.616, + 0.0, + 35.52, + -0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1432.97, + 6682.451, + 129.616, + 0.0, + 35.52, + -0.0 + ], + [ + 1432.97, + 6682.451, + 129.616, + 0.0, + 10.52, + -0.0 + ], + [ + 1556.713, + 6705.43, + 118.15, + 0.0, + 10.52, + -0.0 + ], + [ + 1680.457, + 6728.41, + 118.15, + 0.0, + 10.52, + -0.0 + ], + [ + 1804.2, + 6751.389, + 118.15, + 0.0, + 10.52, + -0.0 + ], + [ + 1927.944, + 6774.368, + 118.15, + 0.0, + 10.52, + -0.0 + ], + [ + 1927.944, + 6774.368, + 118.15, + 0.0, + -14.48, + 0.0 + ], + [ + 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a/benchmark/trajectory/CourtYard/task_x001645_y006817_z000118_t1_b/infos.json b/benchmark/trajectory/CourtYard/task_x001645_y006817_z000118_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..866fc744ae6cf44379f2f7eda825bd12a67384e3 --- /dev/null +++ b/benchmark/trajectory/CourtYard/task_x001645_y006817_z000118_t1_b/infos.json @@ -0,0 +1,150 @@ +{ + "Instruction": "Identify the wooden pallet resting near the concrete wall with red graffiti text; after locating it, proceed to its position.", + "Type": 1, + "Start_Pose": [ + 1645.424, + 6816.561, + 118.15, + 0.0, + -145.92, + 0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1645.424, + 6816.561, + 118.15, + 0.0, + -145.92, + 0.0 + ], + [ + 1645.424, + 6816.561, + 118.15, + 0.0, + -170.92, + 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mode 100644 index 0000000000000000000000000000000000000000..94562ace9eaf218fc81e64e5d5b30c9cd8b96ef4 --- /dev/null +++ b/benchmark/trajectory/CourtYard/task_x001665_y006763_z000118_t5_a_p/infos.json @@ -0,0 +1,192 @@ +{ + "Instruction": "Pick up the candelabra near the wooden pallet standing upright near the dumpster.", + "Type": 5, + "Start_Pose": [ + 1664.723, + 6763.362, + 118.15, + 0, + 34.08, + 0 + ], + "PD_ID": 17, + "PD_Size": 1.7, + "PD_Type": "p", + "PD_Start_Pose": [ + 2240.138, + 7149.622, + 43.15, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "LookDown", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1664.723, + 6763.362, + 118.15, + 0, + 34.08, + 0 + ], + [ + 1768.966, + 6833.887, + 118.15, + 0.0, + 34.08, + -0.0 + ], + [ + 1873.21, + 6904.412, + 118.15, + 0.0, + 34.08, + -0.0 + ], + [ + 1977.453, + 6974.937, + 118.15, + 0.0, + 34.08, + -0.0 + ], + [ + 2081.697, + 7045.462, + 118.15, + 0.0, + 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b/benchmark/trajectory/CourtYard/task_x001788_y006967_z000118_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..faba8f52e78d05805fe5185c2027347d8fa2d97f --- /dev/null +++ b/benchmark/trajectory/CourtYard/task_x001788_y006967_z000118_t1_a/infos.json @@ -0,0 +1,186 @@ +{ + "Instruction": "Locate the brown wooden door set into the building facade and navigate to it.", + "Type": 1, + "Start_Pose": [ + 1788.174, + 6967.071, + 118.15, + 0.0, + 19.2, + -0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1788.174, + 6967.071, + 118.15, + 0.0, + 19.2, + -0.0 + ], + [ + 1788.174, + 6967.071, + 118.15, + 0.0, + 44.2, + -0.0 + ], + [ + 1788.174, + 6967.071, + 118.15, + 0.0, + 69.2, + 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1992.811, + 6402.167, + 132.187, + 0.0, + -90.8, + 0.0 + ] + ] +} diff --git a/benchmark/trajectory/CourtYard/task_x001788_y006967_z000118_t1_b/infos.json b/benchmark/trajectory/CourtYard/task_x001788_y006967_z000118_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..b32e0220772a2cebe9569f38205d814cf34555cb --- /dev/null +++ b/benchmark/trajectory/CourtYard/task_x001788_y006967_z000118_t1_b/infos.json @@ -0,0 +1,258 @@ +{ + "Instruction": "Determine where the graffiti depicting a large red letter \"A\" enclosed within a circle is painted on the wall, then make your way to that spot.", + "Type": 1, + "Start_Pose": [ + 1788.174, + 6967.071, + 118.15, + 0.0, + 19.2, + -0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1788.174, + 6967.071, + 118.15, + 0.0, + 19.2, + -0.0 + ], + [ + 1788.174, + 6967.071, + 118.15, + 0.0, + -5.8, + 0.0 + ], + [ + 1788.174, + 6967.071, + 118.15, + 0.0, + -30.8, + 0.0 + ], + [ + 1788.174, + 6967.071, + 118.15, + 0.0, + -55.8, + 0.0 + ], + [ + 1788.174, + 6967.071, + 118.15, + 0.0, + -80.8, + 0.0 + ], + [ + 1788.174, + 6967.071, + 118.15, + 0.0, + -105.8, + 0.0 + ], + [ + 1753.905, + 6845.967, + 118.15, + 0.0, + -105.8, + 0.0 + ], + [ + 1719.636, + 6724.863, + 118.15, + 0.0, + -105.8, + 0.0 + ], + [ + 1685.367, + 6603.759, + 118.15, + 0.0, + -105.8, + 0.0 + ], + [ + 1651.098, + 6482.656, + 118.15, + 0.0, + -105.8, + 0.0 + ], + [ + 1616.829, + 6361.552, + 118.15, + 0.0, + -105.8, + 0.0 + ], + [ + 1582.56, + 6240.448, + 118.15, + 0.0, + -105.8, + 0.0 + ], + [ + 1558.394, + 6119.73, + 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a/benchmark/trajectory/CourtYard/task_x001990_y008061_z000118_t5_a_p/infos.json b/benchmark/trajectory/CourtYard/task_x001990_y008061_z000118_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..7830678a4dd82da5629e691b1231c16f5f1d0231 --- /dev/null +++ b/benchmark/trajectory/CourtYard/task_x001990_y008061_z000118_t5_a_p/infos.json @@ -0,0 +1,228 @@ +{ + "Instruction": "Pick up the jerry can near the corner where the left wall meets the right wall.", + "Type": 5, + "Start_Pose": [ + 1989.881, + 8060.777, + 118.15, + 0, + 154.08, + 0 + ], + "PD_ID": 13, + "PD_Size": 1.5, + "PD_Type": "p", + "PD_Start_Pose": [ + 1395.914, + 8670.655, + 38.15, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1989.881, + 8060.777, + 118.15, + 0, + 154.08, + 0 + ], + [ + 1876.683, + 8115.792, + 118.15, + 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"Start_Pose": [ + 1989.881, + 8060.777, + 118.15, + 0, + 154.08, + 0 + ], + "PD_ID": 7, + "PD_Size": 2.5, + "PD_Type": "p", + "PD_Start_Pose": [ + 1677.635, + 8693.671, + 82.342, + 90, + 114.08, + 0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1989.881, + 8060.777, + 118.15, + 0, + 154.08, + 0 + ], + [ + 1989.881, + 8060.777, + 118.15, + 0.0, + 129.08, + -0.0 + ], + [ + 1910.539, + 8158.477, + 118.15, + 0.0, + 129.08, + -0.0 + ], + [ + 1831.197, + 8256.177, + 118.15, + 0.0, + 129.08, + -0.0 + ], + [ + 1831.197, + 8256.177, + 118.15, + 0.0, + 104.08, + -0.0 + ], + [ + 1800.578, + 8378.255, + 118.15, + 0.0, + 104.08, + -0.0 + ], + [ + 1769.96, + 8500.333, + 118.15, + 0.0, + 104.08, + -0.0 + ], + [ + 1739.341, + 8622.411, + 126.746, + 0.0, + 104.08, + -0.0 + ], + [ + 1739.341, + 8622.411, + 126.746, + 0.0, + 104.08, + -0.0 + ], + [ + 1739.341, + 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b/benchmark/trajectory/CourtYard/task_x001990_y008061_z000118_t5_c_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..f898c151854afe0ff349f9a1e099fb7df2b8eef8 --- /dev/null +++ b/benchmark/trajectory/CourtYard/task_x001990_y008061_z000118_t5_c_p/infos.json @@ -0,0 +1,192 @@ +{ + "Instruction": "Pick up the ceramic pot near the base of the drainpipe on the right wall.", + "Type": 5, + "Start_Pose": [ + 1989.881, + 8060.777, + 118.15, + 0, + 154.08, + 0 + ], + "PD_ID": 8, + "PD_Size": 1.5, + "PD_Type": "p", + "PD_Start_Pose": [ + 1400.861, + 8060.248, + 33.15, + 0, + 0, + 0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "LookDown", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1989.881, + 8060.777, + 118.15, + 0, + 154.08, + 0 + ], + [ + 1989.881, + 8060.777, + 118.15, + 0.0, + 179.08, + -0.0 + ], + [ + 1864.038, + 8062.798, + 118.15, + 0.0, + 179.08, + -0.0 + ], + [ + 1738.195, + 8064.819, + 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589.0, + 589.0, + 463.2, + 337.4, + 211.6, + 86.1, + 86.1, + 21.4, + 21.4 + ] +} diff --git a/benchmark/trajectory/CourtYard/task_x002009_y007037_z000118_t3_a/infos.json b/benchmark/trajectory/CourtYard/task_x002009_y007037_z000118_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..7ea04bc13ca1e0b1b9dbc77b35380b4445edd9bf --- /dev/null +++ b/benchmark/trajectory/CourtYard/task_x002009_y007037_z000118_t3_a/infos.json @@ -0,0 +1,168 @@ +{ + "Instruction": "Walk to the dark wooden door, then approach the red door.", + "Type": 3, + "Start_Pose": [ + 2008.516, + 7036.984, + 118.15, + 0.0, + -99.84, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MidwayTarget", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2008.516, + 7036.984, + 118.15, + 0.0, + -99.84, + 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mode 100644 index 0000000000000000000000000000000000000000..da816a31fa4b10278486774cf6a180cc56604477 --- /dev/null +++ b/benchmark/trajectory/CourtYard/task_x002242_y005336_z000118_t1_a/infos.json @@ -0,0 +1,195 @@ +{ + "Instruction": "Locate the wooden door set into the building facade and navigate to it.", + "Type": 1, + "Start_Pose": [ + 2241.698, + 5336.455, + 118.15, + 0.0, + -45.92, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2241.698, + 5336.455, + 118.15, + 0.0, + -45.92, + 0.0 + ], + [ + 2241.698, + 5336.455, + 118.15, + 0.0, + -20.92, + 0.0 + ], + [ + 2241.698, + 5336.455, + 118.15, + 0.0, + 4.08, + -0.0 + ], + [ + 2241.698, + 5336.455, + 118.15, + 0.0, + 29.08, + -0.0 + 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b/benchmark/trajectory/CourtYard/task_x002254_y005309_z000118_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..23389c8e895dee8eac04d948ba4ae3aa6ef1828a --- /dev/null +++ b/benchmark/trajectory/CourtYard/task_x002254_y005309_z000118_t0_b/infos.json @@ -0,0 +1,105 @@ +{ + "Instruction": "Navigate to the wall bearing the red 'A' graffiti enclosed by a circle.", + "Type": 0, + "Start_Pose": [ + 2253.899, + 5309.103, + 118.15, + 0.0, + -151.68, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2253.899, + 5309.103, + 118.15, + 0.0, + -151.68, + 0.0 + ], + [ + 2143.104, + 5249.396, + 118.15, + 0.0, + -151.68, + 0.0 + ], + [ + 2032.309, + 5189.689, + 118.15, + 0.0, + -151.68, + 0.0 + ], + [ + 1921.513, + 5129.982, + 118.15, + 0.0, + -151.68, + 0.0 + ], + [ + 1921.513, + 5129.982, + 118.15, + 0.0, + 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+ "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2253.899, + 5309.103, + 118.15, + 0, + -151.68, + 0 + ], + [ + 2143.104, + 5249.396, + 118.15, + 0.0, + -151.68, + 0.0 + ], + [ + 2032.309, + 5189.689, + 118.15, + 0.0, + -151.68, + 0.0 + ], + [ + 2032.309, + 5189.689, + 118.15, + 0.0, + -176.68, + 0.0 + ], + [ + 1906.661, + 5182.4, + 118.15, + 0.0, + -176.68, + 0.0 + ], + [ + 1781.013, + 5175.111, + 118.15, + 0.0, + -176.68, + 0.0 + ], + [ + 1781.013, + 5175.111, + 118.15, + 0.0, + 158.32, + -0.0 + ], + [ + 1664.057, + 5221.607, + 118.15, + 0.0, + 158.32, + -0.0 + ], + [ + 1547.101, + 5268.102, + 118.15, + 0.0, + 158.32, + -0.0 + ], + [ + 1518.091, + 5309.757, + 118.15, + 0.0, + 158.32, + -0.0 + ], + [ + 1518.091, + 5309.757, + 118.15, + 0.0, + 158.32, + -0.0 + ] + ] +} diff --git a/benchmark/trajectory/CourtYard/task_x002298_y005199_z000118_t3_a/infos.json b/benchmark/trajectory/CourtYard/task_x002298_y005199_z000118_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..6a85f7635770adddb1f37d59a7c9c97afb4ebc7e --- /dev/null +++ b/benchmark/trajectory/CourtYard/task_x002298_y005199_z000118_t3_a/infos.json @@ -0,0 +1,186 @@ +{ + "Instruction": "Navigate to the red anarchy symbol on the wall, then proceed to the wooden entrance door.", + "Type": 3, + "Start_Pose": [ + 2297.689, + 5199.394, + 118.15, + 0.0, + -175.68, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2297.689, + 5199.394, + 118.15, + 0.0, + -175.68, + 0.0 + ], + [ + 2172.188, + 5189.913, + 118.15, + 0.0, + -175.68, + 0.0 + ], + [ + 2172.188, + 5189.913, + 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132.187, + 0.0, + 134.32, + -0.0 + ], + [ + 1518.07, + 5053.042, + 132.187, + 0.0, + 134.32, + -0.0 + ] + ] +} diff --git a/benchmark/trajectory/CourtYard/task_x002298_y005199_z000118_t3_b/infos.json b/benchmark/trajectory/CourtYard/task_x002298_y005199_z000118_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..28cf9fbaccd0dbe712e1c41105426669c7420dce --- /dev/null +++ b/benchmark/trajectory/CourtYard/task_x002298_y005199_z000118_t3_b/infos.json @@ -0,0 +1,159 @@ +{ + "Instruction": "Move to the wooden door under the awning, then head toward the red spray-painted symbol on the wall.", + "Type": 3, + "Start_Pose": [ + 2297.689, + 5199.394, + 118.15, + 0, + -175.68, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ 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1637.642, + 4791.34, + 118.15, + 0.0, + -75.68, + 0.0 + ] + ] +} diff --git a/benchmark/trajectory/CourtYard/task_x002321_y007212_z000118_t2_a/infos.json b/benchmark/trajectory/CourtYard/task_x002321_y007212_z000118_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..f55693088f3d5e9ecce48816b0036fd6f5a3cec6 --- /dev/null +++ b/benchmark/trajectory/CourtYard/task_x002321_y007212_z000118_t2_a/infos.json @@ -0,0 +1,132 @@ +{ + "Instruction": "Walk to the first red door on the left.", + "Type": 2, + "Start_Pose": [ + 2321.139, + 7211.584, + 118.15, + 0.0, + -119.04, + 0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2321.139, + 7211.584, + 118.15, + 0.0, + -119.04, + 0.0 + ], + [ + 2321.047, + 7171.052, + 118.15, + 0.0, + -144.04, + 0.0 + ], + [ + 2219.174, + 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--- /dev/null +++ b/benchmark/trajectory/CourtYard/task_x002321_y007212_z000118_t2_b/infos.json @@ -0,0 +1,150 @@ +{ + "Instruction": "Head toward the second red door from the left.", + "Type": 2, + "Start_Pose": [ + 2321.139, + 7211.584, + 118.15, + 0.0, + -119.04, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2321.139, + 7211.584, + 118.15, + 0.0, + -119.04, + 0.0 + ], + [ + 2259.953, + 7061.015, + 118.15, + 0.0, + -119.04, + 0.0 + ], + [ + 2198.858, + 6950.979, + 118.15, + 0.0, + -119.04, + 0.0 + ], + [ + 2137.764, + 6840.943, + 118.15, + 0.0, + -119.04, + 0.0 + ], + [ + 2076.669, + 6730.907, + 118.15, + 0.0, + -119.04, + 0.0 + ], + [ + 2015.575, + 6620.871, + 118.15, + 0.0, + -119.04, + 0.0 + ], + [ + 2015.575, + 6620.871, + 118.15, + 0.0, + 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door on the right.", + "Type": 2, + "Start_Pose": [ + 2321.139, + 7211.584, + 118.15, + 0.0, + -119.04, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2321.139, + 7211.584, + 118.15, + 0.0, + -119.04, + 0.0 + ], + [ + 2259.953, + 7061.015, + 118.15, + 0.0, + -119.04, + 0.0 + ], + [ + 2198.858, + 6950.979, + 118.15, + 0.0, + -119.04, + 0.0 + ], + [ + 2137.764, + 6840.943, + 118.15, + 0.0, + -119.04, + 0.0 + ], + [ + 2076.669, + 6730.907, + 118.15, + 0.0, + -119.04, + 0.0 + ], + [ + 2015.575, + 6620.871, + 118.15, + 0.0, + -119.04, + 0.0 + ], + [ + 2015.575, + 6620.871, + 118.15, + 0.0, + -94.04, + 0.0 + ], + [ + 2006.708, + 6495.325, + 118.15, + 0.0, + -94.04, + 0.0 + ], + [ + 1997.963, + 6402.027, + 132.187, + 0.0, + -94.04, + 0.0 + ], + [ + 1997.963, + 6402.027, + 132.187, + 0.0, + -94.04, + 0.0 + ] + ] +} diff --git a/benchmark/trajectory/CourtYard/task_x002321_y007212_z000118_t2_d/infos.json b/benchmark/trajectory/CourtYard/task_x002321_y007212_z000118_t2_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..06a9b0967656f8554f16ad672aac675d32f26280 --- /dev/null +++ b/benchmark/trajectory/CourtYard/task_x002321_y007212_z000118_t2_d/infos.json @@ -0,0 +1,141 @@ +{ + "Instruction": "Move to the drainpipe running down the left wall.", + "Type": 2, + "Start_Pose": [ + 2321.139, + 7211.584, + 118.15, + 0.0, + -119.04, + 0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2321.139, + 7211.584, + 118.15, + 0.0, + -119.04, + 0.0 + ], + [ + 2321.047, + 7171.052, + 118.15, + 0.0, + -144.04, + 0.0 + ], + [ + 2219.174, + 7097.145, + 118.15, + 0.0, + -144.04, + 0.0 + 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0000000000000000000000000000000000000000..353af116289108201666f6b9191a072e381ea3dc --- /dev/null +++ b/benchmark/trajectory/CourtYard/task_x002758_y004923_z000118_t2_a/infos.json @@ -0,0 +1,96 @@ +{ + "Instruction": "Head toward the rightmost low ground-floor window on the left wall.", + "Type": 2, + "Start_Pose": [ + 2758.176, + 4922.996, + 118.15, + 0.0, + 143.04, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2758.176, + 4922.996, + 118.15, + 0.0, + 143.04, + -0.0 + ], + [ + 2657.608, + 4998.67, + 118.15, + 0.0, + 143.04, + -0.0 + ], + [ + 2557.039, + 5074.343, + 118.15, + 0.0, + 143.04, + -0.0 + ], + [ + 2456.471, + 5150.017, + 118.15, + 0.0, + 143.04, + -0.0 + ], + [ + 2355.903, + 5225.691, + 118.15, + 0.0, + 143.04, + -0.0 + ], + [ + 2255.334, + 5301.364, + 118.15, + 0.0, + 143.04, + -0.0 + ], + [ + 2155.074, + 5368.743, + 118.15, + 0.0, + 143.04, + -0.0 + ], + [ + 2060.666, + 5368.814, + 118.15, + 0.0, + 143.04, + -0.0 + ], + [ + 2060.666, + 5368.814, + 118.15, + 0.0, + 143.04, + -0.0 + ] + ] +} diff --git a/benchmark/trajectory/CourtYard/task_x002758_y004923_z000118_t2_b/infos.json b/benchmark/trajectory/CourtYard/task_x002758_y004923_z000118_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..df6b1aa0e908c5a4129a71f90857e718803fb8ea --- /dev/null +++ b/benchmark/trajectory/CourtYard/task_x002758_y004923_z000118_t2_b/infos.json @@ -0,0 +1,141 @@ +{ + "Instruction": "Move to the ground-floor window immediately left of the wooden door.", + "Type": 2, + "Start_Pose": [ + 2758.176, + 4922.996, + 118.15, + 0.0, + 143.04, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2758.176, + 4922.996, + 118.15, + 0.0, + 143.04, + -0.0 + ], + [ + 2657.608, + 4998.67, + 118.15, + 0.0, + 143.04, + -0.0 + ], + [ + 2557.039, + 5074.343, + 118.15, + 0.0, + 143.04, + -0.0 + ], + [ + 2557.039, + 5074.343, + 118.15, + 0.0, + 168.04, + -0.0 + ], + [ + 2433.912, + 5100.425, + 118.15, + 0.0, + 168.04, + -0.0 + ], + [ + 2310.786, + 5126.507, + 118.15, + 0.0, + 168.04, + -0.0 + ], + [ + 2187.659, + 5152.588, + 118.15, + 0.0, + 168.04, + -0.0 + ], + [ + 2064.532, + 5178.67, + 118.15, + 0.0, + 168.04, + -0.0 + ], + [ + 1941.405, + 5204.752, + 118.15, + 0.0, + 168.04, + -0.0 + ], + [ + 1818.278, + 5230.833, + 118.15, + 0.0, + 168.04, + -0.0 + ], + [ + 1695.151, + 5256.915, + 118.15, + 0.0, + 168.04, + -0.0 + ], + [ + 1572.024, + 5282.996, + 118.15, + 0.0, + 168.04, + -0.0 + ], + [ + 1518.096, + 5305.893, + 118.15, + 0.0, + 168.04, + -0.0 + ], + [ + 1518.096, + 5305.893, + 118.15, + 0.0, + 168.04, + -0.0 + ] + ] +} diff --git a/benchmark/trajectory/CourtYard/task_x002758_y004923_z000118_t2_c/infos.json b/benchmark/trajectory/CourtYard/task_x002758_y004923_z000118_t2_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..3d7faa71c50cfb4a418ada2f0829ad002cbb9a04 --- /dev/null +++ b/benchmark/trajectory/CourtYard/task_x002758_y004923_z000118_t2_c/infos.json @@ -0,0 +1,78 @@ +{ + "Instruction": "Navigate to the second low ground-floor window on the left.", + "Type": 2, + "Start_Pose": [ + 2758.176, + 4922.996, + 118.15, + 0.0, + 143.04, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2758.176, + 4922.996, + 118.15, + 0.0, + 143.04, + -0.0 + ], + [ + 2657.608, + 4998.67, + 118.15, + 0.0, + 143.04, + -0.0 + ], + [ + 2557.039, + 5074.343, + 118.15, + 0.0, + 143.04, + -0.0 + ], + [ + 2557.039, + 5074.343, + 118.15, + 0.0, + 118.04, + -0.0 + ], + [ + 2497.875, + 5185.429, + 118.15, + 0.0, + 118.04, + -0.0 + ], + [ + 2438.71, + 5296.515, + 118.15, + 0.0, + 118.04, + -0.0 + ], + [ + 2438.71, + 5296.515, + 118.15, + 0.0, + 118.04, + -0.0 + ] + ] +} diff --git a/benchmark/trajectory/Medieval_Daytime/task_x-000024_y-000481_z000240_t1_a/infos.json b/benchmark/trajectory/Medieval_Daytime/task_x-000024_y-000481_z000240_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..95a0454dfd98c50f311c005dc6111e817f4ba760 --- /dev/null +++ b/benchmark/trajectory/Medieval_Daytime/task_x-000024_y-000481_z000240_t1_a/infos.json @@ -0,0 +1,114 @@ +{ + "Instruction": "Search for a cloth sack resting beside a crate in this village area, then navigate to it.", + "Type": 1, + "Start_Pose": [ + -23.504, + -481.048, + 240.17, + 0.0, + -40.993, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -23.504, + -481.048, + 240.17, + 0.0, + -40.993, + 0.0 + ], + [ + -23.504, + -481.048, + 240.22, + 0.0, + -15.993, + 0.0 + ], + [ + -23.504, + -481.048, + 240.22, + 0.0, + 9.007, + -0.0 + ], + [ + -23.504, + -481.048, + 240.22, + 0.0, + 34.007, + -0.0 + ], + [ + 80.829, + -410.656, + 230.139, + 0.0, + 34.007, + -0.0 + ], + [ + 185.162, + -340.264, + 224.644, + 0.0, + 34.007, + -0.0 + ], + [ + 289.496, + -269.871, + 224.644, + 0.0, + 34.007, + -0.0 + ], + [ + 393.829, + -199.479, + 224.644, + 0.0, + 34.007, + -0.0 + ], + [ + 498.162, + -129.087, + 224.644, + 0.0, + 34.007, + -0.0 + ], + [ + 602.495, + -58.695, + 224.644, + 0.0, + 34.007, + -0.0 + ], + [ + 602.495, + -58.695, + 224.644, + 0.0, + 34.007, + -0.0 + ] + ] +} diff --git a/benchmark/trajectory/Medieval_Daytime/task_x-000037_y-000027_z000230_t0_a/infos.json b/benchmark/trajectory/Medieval_Daytime/task_x-000037_y-000027_z000230_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..a66cf10735531741055090f183a187062b97c0b1 --- /dev/null +++ b/benchmark/trajectory/Medieval_Daytime/task_x-000037_y-000027_z000230_t0_a/infos.json @@ -0,0 +1,132 @@ +{ + "Instruction": "Walk to the wooden door of the ivy-covered house.", + "Type": 0, + "Start_Pose": [ + -37.45, + -26.75, + 229.788, + 0, + -12.96, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -37.45, + -26.75, + 229.788, + 0, + -12.96, + 0 + ], + [ + 85.203, + -54.976, + 224.888, + 0, + -12.96, + 0 + ], + [ + 207.856, + -83.203, + 224.888, + 0, + -12.96, + 0 + ], + [ + 330.509, + -111.429, + 224.888, + 0, + -12.96, + 0 + ], + [ + 453.162, + -139.656, + 224.888, + 0, + -12.96, + 0 + ], + [ + 575.815, + -167.882, + 224.888, + 0, + -12.96, + 0 + ], + [ + 698.468, + -196.109, + 224.888, + 0, + -12.96, + 0 + ], + [ + 821.121, + -224.335, + 281.255, + 0, + -12.96, + 0 + ], + [ + 943.774, + -252.562, + 293.991, + 0, + -12.96, + 0 + ], + [ + 943.774, + -252.562, + 293.991, + 0, + 12.04, + 0 + ], + [ + 1066.864, + -226.308, + 295.028, + 0, + 12.04, + 0 + ], + [ + 1189.955, + -200.055, + 295.028, + 0, + 12.04, + 0 + ], + [ + 1189.955, + -200.055, + 295.028, + 0, + 12.04, + 0 + ] + ] +} diff --git a/benchmark/trajectory/Medieval_Daytime/task_x-000037_y-000027_z000230_t0_b/infos.json b/benchmark/trajectory/Medieval_Daytime/task_x-000037_y-000027_z000230_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..3e865881f017f3c2038231588b9f76cb099bf5ff --- /dev/null +++ b/benchmark/trajectory/Medieval_Daytime/task_x-000037_y-000027_z000230_t0_b/infos.json @@ -0,0 +1,114 @@ +{ + "Instruction": "Head toward the wooden barrel beside the fence.", + "Type": 0, + "Start_Pose": [ + -37.45, + -26.75, + 229.788, + 0, + -12.96, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -37.45, + -26.75, + 229.788, + 0, + -12.96, + 0 + ], + [ + 85.203, + -54.976, + 224.888, + 0, + -12.96, + 0 + ], + [ + 207.856, + -83.203, + 224.888, + 0, + -12.96, + 0 + ], + [ + 330.509, + -111.429, + 224.888, + 0, + -12.96, + 0 + ], + [ + 330.509, + -111.429, + 224.888, + 0, + -37.96, + 0 + ], + [ + 330.509, + -111.429, + 224.888, + 0, + -62.96, + 0 + ], + [ + 387.726, + -223.531, + 224.888, + 0, + -62.96, + 0 + ], + [ + 444.943, + -335.632, + 224.888, + 0, + -62.96, + 0 + ], + [ + 444.943, + -335.632, + 224.888, + 0, + -37.96, + 0 + ], + [ + 489.357, + -361.094, + 224.888, + 0, + -37.96, + 0 + ], + [ + 489.357, + -361.094, + 224.888, + 0, + -37.96, + 0 + ] + ] +} diff --git a/benchmark/trajectory/Medieval_Daytime/task_x-000038_y-000459_z000239_t4_a/infos.json b/benchmark/trajectory/Medieval_Daytime/task_x-000038_y-000459_z000239_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..ade383f85af7eb260a42b89a22ea071ba42144e6 --- /dev/null +++ b/benchmark/trajectory/Medieval_Daytime/task_x-000038_y-000459_z000239_t4_a/infos.json @@ -0,0 +1,147 @@ +{ + "Instruction": "The wooden door on the stone building to the right is nestled among the ivy. Make your way there and pull it open.", + "Type": 4, + "Start_Pose": [ + -37.559, + -458.633, + 238.992, + 0, + -140.993, + 0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + -37.559, + -458.633, + 238.992, + 0, + -140.993, + 0 + ], + [ + -135.36, + -537.851, + 228.961, + 0, + -140.993, + 0 + ], + [ + -135.36, + -537.851, + 228.961, + 0, + -115.993, + 0 + ], + [ + -190.519, + -650.979, + 224.716, + 0, + -115.993, + 0 + ], + [ + -245.678, + -764.107, + 224.716, + 0, + -115.993, + 0 + ], + [ + -245.678, + -764.107, + 224.716, + 0, + -90.993, + 0 + ], + [ + -247.86, + -889.947, + 224.716, + 0, + -90.993, + 0 + ], + [ + -250.041, + -1015.787, + 224.716, + 0, + -90.993, + 0 + ], + [ + -252.222, + -1141.627, + 224.716, + 0, + -90.993, + 0 + ], + [ + -254.373, + -1237.969, + 226.683, + 0, + -90.993, + 0 + ], + [ + -254.373, + -1237.969, + 226.683, + 0, + -115.993, + 0 + ], + [ + -254.373, + -1237.969, + 226.491, + 0, + -115.993, + 0 + ], + [ + -254.373, + -1237.969, + 226.491, + 0, + -115.993, + 0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ] +} diff --git a/benchmark/trajectory/Medieval_Daytime/task_x-000174_y000403_z000231_t4_a/infos.json b/benchmark/trajectory/Medieval_Daytime/task_x-000174_y000403_z000231_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..f7e4ae1a90c1b91dcae826d46aa5853074cedd29 --- /dev/null +++ b/benchmark/trajectory/Medieval_Daytime/task_x-000174_y000403_z000231_t4_a/infos.json @@ -0,0 +1,87 @@ +{ + "Instruction": "Walk over to the wooden door on the stone building and pull it open.", + "Type": 4, + "Start_Pose": [ + -174.159, + 403.245, + 231.226, + 0, + 119.007, + 0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + -174.159, + 403.245, + 231.226, + 0, + 119.007, + 0 + ], + [ + -235.19, + 513.316, + 233.934, + 0, + 119.007, + 0 + ], + [ + -235.19, + 513.316, + 233.934, + 0, + 94.007, + 0 + ], + [ + -243.985, + 638.868, + 227.18, + 0, + 94.007, + 0 + ], + [ + -252.78, + 764.419, + 222.939, + 0, + 94.007, + 0 + ], + [ + -252.78, + 764.419, + 223.11, + 0, + 94.007, + 0 + ], + [ + -252.78, + 764.419, + 223.11, + 0, + 94.007, + 0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ] +} diff --git a/benchmark/trajectory/Medieval_Daytime/task_x-000218_y000047_z000244_t4_a/infos.json b/benchmark/trajectory/Medieval_Daytime/task_x-000218_y000047_z000244_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..b453e25155a338a1d8c4a1d56793186ca2183a38 --- /dev/null +++ b/benchmark/trajectory/Medieval_Daytime/task_x-000218_y000047_z000244_t4_a/infos.json @@ -0,0 +1,67 @@ +{ + "Instruction": "The dark wooden door set into the stone wall ahead is your target. Make your way to it and pull it open.", + "Type": 4, + "Start_Pose": [ + -217.924, + 47.191, + 243.888, + 0.0, + -80.993, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + -217.924, + 47.191, + 243.888, + 0.0, + -80.993, + 0.0 + ], + [ + -198.22, + -77.116, + 243.888, + 0.0, + -80.993, + 0.0 + ], + [ + -198.22, + -77.116, + 243.888, + 0.0, + -55.993, + 0.0 + ], + [ + -198.22, + -77.116, + 243.888, + 0.0, + -55.993, + 0.0 + ], + [ + -198.22, + -77.116, + 243.888, + 0.0, + -55.993, + 0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 1, + 1 + ] +} diff --git a/benchmark/trajectory/Medieval_Daytime/task_x-000267_y000693_z000224_t4_a/infos.json b/benchmark/trajectory/Medieval_Daytime/task_x-000267_y000693_z000224_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..b414e80adc0aa770e5d9b8c5b1716b4d308f29f6 --- /dev/null +++ b/benchmark/trajectory/Medieval_Daytime/task_x-000267_y000693_z000224_t4_a/infos.json @@ -0,0 +1,57 @@ +{ + "Instruction": "Head toward the weathered wooden door set into the stone wall and pull it open.", + "Type": 4, + "Start_Pose": [ + -267.248, + 693.278, + 223.579, + 0.0, + 99.007, + -0.0 + ], + "Action": [ + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + -267.248, + 693.278, + 223.579, + 0.0, + 99.007, + -0.0 + ], + [ + -286.952, + 817.585, + 246.12, + 0.0, + 99.007, + -0.0 + ], + [ + -286.952, + 817.585, + 246.12, + 0.0, + 99.007, + -0.0 + ], + [ + -286.952, + 817.585, + 246.12, + 0.0, + 99.007, + -0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 1, + 1 + ] +} diff --git a/benchmark/trajectory/Medieval_Daytime/task_x-000268_y-001079_z000225_t4_a/infos.json b/benchmark/trajectory/Medieval_Daytime/task_x-000268_y-001079_z000225_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..e98693c6b89107c742ffb8101d0e77fa5ab6af00 --- /dev/null +++ b/benchmark/trajectory/Medieval_Daytime/task_x-000268_y-001079_z000225_t4_a/infos.json @@ -0,0 +1,57 @@ +{ + "Instruction": "Head toward the wooden door set into the stone wall covered in ivy and open it.", + "Type": 4, + "Start_Pose": [ + -268.121, + -1079.268, + 224.887, + 0.0, + -100.993, + 0.0 + ], + "Action": [ + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + -268.121, + -1079.268, + 224.887, + 0.0, + -100.993, + 0.0 + ], + [ + -292.121, + -1202.818, + 223.886, + 0.0, + -100.993, + 0.0 + ], + [ + -292.121, + -1202.818, + 223.886, + 0.0, + -100.993, + 0.0 + ], + [ + -292.121, + -1202.818, + 223.886, + 0.0, + -100.993, + 0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 1, + 1 + ] +} diff --git a/benchmark/trajectory/Medieval_Daytime/task_x-000345_y001442_z000247_t4_a/infos.json b/benchmark/trajectory/Medieval_Daytime/task_x-000345_y001442_z000247_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..e7d99b4eb64128b223dc36f689e4121adc43b100 --- /dev/null +++ b/benchmark/trajectory/Medieval_Daytime/task_x-000345_y001442_z000247_t4_a/infos.json @@ -0,0 +1,107 @@ +{ + "Instruction": "Head to the wooden door set into the stone wall beneath the small window, and pull it open after reaching it.", + "Type": 4, + "Start_Pose": [ + -345.492, + 1442.205, + 246.717, + 0.0, + -60.993, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + -345.492, + 1442.205, + 246.717, + 0.0, + -60.993, + 0.0 + ], + [ + -284.461, + 1332.134, + 246.614, + 0.0, + -60.993, + 0.0 + ], + [ + -284.461, + 1332.134, + 246.614, + 0.0, + -85.993, + 0.0 + ], + [ + -275.666, + 1206.582, + 246.614, + 0.0, + -85.993, + 0.0 + ], + [ + -266.871, + 1081.031, + 246.659, + 0.0, + -85.993, + 0.0 + ], + [ + -258.076, + 955.48, + 246.659, + 0.0, + -85.993, + 0.0 + ], + [ + -250.49, + 913.773, + 247.492, + 0.0, + -85.993, + 0.0 + ], + [ + -250.49, + 913.773, + 247.425, + 0.0, + -85.993, + 0.0 + ], + [ + -250.49, + 913.773, + 247.425, + 0.0, + -85.993, + 0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ] +} diff --git a/benchmark/trajectory/Medieval_Daytime/task_x-000376_y000213_z000425_t4_a/infos.json b/benchmark/trajectory/Medieval_Daytime/task_x-000376_y000213_z000425_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..821562b9f660b09cb9099d39d3d25ab928338704 --- /dev/null +++ b/benchmark/trajectory/Medieval_Daytime/task_x-000376_y000213_z000425_t4_a/infos.json @@ -0,0 +1,87 @@ +{ + "Instruction": "Walk toward the door beneath the staircase and open it when you arrive.", + "Type": 4, + "Start_Pose": [ + -375.815, + 213.415, + 425.031, + 0.0, + -60.993, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + -375.815, + 213.415, + 425.031, + 0.0, + -60.993, + 0.0 + ], + [ + -318.487, + 103.536, + 359.343, + 0.0, + -60.993, + 0.0 + ], + [ + -275.718, + -6.582, + 281.087, + 0.0, + -60.993, + 0.0 + ], + [ + -275.718, + -6.582, + 281.087, + 0.0, + -35.993, + 0.0 + ], + [ + -173.887, + -80.548, + 243.888, + 0.0, + -35.993, + 0.0 + ], + [ + -173.887, + -80.548, + 243.888, + 0.0, + -35.993, + 0.0 + ], + [ + -173.887, + -80.548, + 243.888, + 0.0, + -35.993, + 0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ] +} diff --git a/benchmark/trajectory/Medieval_Daytime/task_x-000458_y-000546_z000225_t4_a/infos.json b/benchmark/trajectory/Medieval_Daytime/task_x-000458_y-000546_z000225_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..a8dc101c3cc530a7ef17b65793e2ec9fd3b9c8b7 --- /dev/null +++ b/benchmark/trajectory/Medieval_Daytime/task_x-000458_y-000546_z000225_t4_a/infos.json @@ -0,0 +1,127 @@ +{ + "Instruction": "Walk over to the small wooden door on the ivy-covered building to the left and pull it open.", + "Type": 4, + "Start_Pose": [ + -458.252, + -545.673, + 224.888, + 0, + -40.993, + 0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + -458.252, + -545.673, + 224.888, + 0, + -40.993, + 0 + ], + [ + -363.255, + -628.232, + 224.888, + 0, + -40.993, + 0 + ], + [ + -363.255, + -628.232, + 224.888, + 0, + -65.993, + 0 + ], + [ + -312.049, + -743.204, + 224.888, + 0, + -65.993, + 0 + ], + [ + -260.844, + -858.176, + 224.888, + 0, + -65.993, + 0 + ], + [ + -260.844, + -858.176, + 224.888, + 0, + -90.993, + 0 + ], + [ + -263.025, + -984.016, + 224.888, + 0, + -90.993, + 0 + ], + [ + -265.206, + -1109.856, + 224.888, + 0, + -90.993, + 0 + ], + [ + -267.387, + -1235.696, + 226.335, + 0, + -90.993, + 0 + ], + [ + -267.387, + -1235.696, + 226.533, + 0, + -90.993, + 0 + ], + [ + -267.387, + -1235.696, + 226.533, + 0, + -90.993, + 0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ] +} diff --git a/benchmark/trajectory/Medieval_Daytime/task_x-000521_y-001053_z000215_t1_a/infos.json b/benchmark/trajectory/Medieval_Daytime/task_x-000521_y-001053_z000215_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..60451b05d507ab2091f479bbdd6d62ec4c0c2a7f --- /dev/null +++ b/benchmark/trajectory/Medieval_Daytime/task_x-000521_y-001053_z000215_t1_a/infos.json @@ -0,0 +1,141 @@ +{ + "Instruction": "Look for the area at the bottom of the wooden staircase where the stone walls converge; navigate to that spot once you have identified it.", + "Type": 1, + "Start_Pose": [ + -521.064, + -1052.51, + 215.203, + 0, + -120.993, + 0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -521.064, + -1052.51, + 215.203, + 0, + -120.993, + 0 + ], + [ + -521.124, + -1052.51, + 215.241, + 0, + -95.993, + 0 + ], + [ + -534.264, + -1177.681, + 215.241, + 0, + -95.993, + 0 + ], + [ + -547.405, + -1302.852, + 215.241, + 0, + -95.993, + 0 + ], + [ + -547.405, + -1302.852, + 215.241, + 0, + -70.993, + 0 + ], + [ + -547.405, + -1302.852, + 215.241, + 0, + -45.993, + 0 + ], + [ + -547.405, + -1302.852, + 215.241, + 0, + -20.993, + 0 + ], + [ + -476.751, + -1358.403, + 215.241, + 0, + -20.993, + 0 + ], + [ + -476.751, + -1358.403, + 215.241, + 0, + 4.007, + 0 + ], + [ + -351.199, + -1349.608, + 214.845, + 0, + 4.007, + 0 + ], + [ + -230.203, + -1348.629, + 215.241, + 0, + 4.007, + 0 + ], + [ + -126.345, + -1366.439, + 215.241, + 0, + 4.007, + 0 + ], + [ + -0.793, + -1357.644, + 215.132, + 0, + 4.007, + 0 + ], + [ + -0.793, + -1357.644, + 215.132, + 0, + 4.007, + 0 + ] + ] +} diff --git a/benchmark/trajectory/Medieval_Daytime/task_x-000521_y-001053_z000215_t1_b/infos.json b/benchmark/trajectory/Medieval_Daytime/task_x-000521_y-001053_z000215_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..60fdcd68ffb7418ab275eef18d8417e7f07e8980 --- /dev/null +++ b/benchmark/trajectory/Medieval_Daytime/task_x-000521_y-001053_z000215_t1_b/infos.json @@ -0,0 +1,195 @@ +{ + "Instruction": "Search for the small wooden chair tucked beneath the stairway against the stone wall, then make your way over to it.", + "Type": 1, + "Start_Pose": [ + -521.064, + -1052.51, + 215.203, + 0, + -120.993, + 0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -521.064, + -1052.51, + 215.203, + 0, + -120.993, + 0 + ], + [ + -585.933, + -1160.4, + 215.241, + 0, + -120.993, + 0 + ], + [ + -585.933, + -1160.4, + 215.241, + 0, + -95.993, + 0 + ], + [ + -585.933, + -1160.4, + 215.241, + 0, + -70.993, + 0 + ], + [ + -544.943, + -1279.397, + 215.241, + 0, + -70.993, + 0 + ], + [ + -544.943, + -1279.397, + 215.241, + 0, + -45.993, + 0 + ], + [ + -479.646, + -1373.29, + 215.241, + 0, + -45.993, + 0 + ], + [ + -479.646, + -1373.29, + 215.241, + 0, + -20.993, + 0 + ], + [ + -362.141, + -1418.38, + 215.089, + 0, + -20.993, + 0 + ], + [ + -244.636, + -1463.469, + 215.089, + 0, + -20.993, + 0 + ], + [ + -244.636, + -1463.469, + 215.089, + 0, + 4.007, + 0 + ], + [ + -119.084, + -1454.675, + 215.089, + 0, + 4.007, + 0 + ], + [ + 6.467, + -1445.88, + 215.085, + 0, + 4.007, + 0 + ], + [ + 6.467, + -1445.88, + 215.085, + 0, + -20.993, + 0 + ], + [ + 123.972, + -1490.969, + 246.933, + 0, + -20.993, + 0 + ], + [ + 123.972, + -1490.969, + 246.933, + 0, + 4.007, + 0 + ], + [ + 184.775, + -1486.762, + 275.411, + 0, + 4.007, + 0 + ], + [ + 184.775, + -1486.762, + 275.411, + 0, + 4.007, + 0 + ], + [ + 184.775, + -1486.762, + 275.411, + 0, + 4.007, + 0 + ], + [ + 184.775, + -1486.762, + 275.411, + 0, + 4.007, + 0 + ] + ] +} diff --git a/benchmark/trajectory/Medieval_Daytime/task_x-000521_y-001053_z000215_t1_c/infos.json b/benchmark/trajectory/Medieval_Daytime/task_x-000521_y-001053_z000215_t1_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..65efd777f9a7551746a929c04ca7ca2341272f29 --- /dev/null +++ b/benchmark/trajectory/Medieval_Daytime/task_x-000521_y-001053_z000215_t1_c/infos.json @@ -0,0 +1,321 @@ +{ + "Instruction": "Locate the wooden barrel sitting under the stairs near the stone backdrop; after spotting it, head toward it.", + "Type": 1, + "Start_Pose": [ + -521.064, + -1052.51, + 215.203, + 0, + -120.993, + 0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "Finish" + ], + "Pose_Trajectory": [ + [ + -521.064, + -1052.51, + 215.203, + 0, + -120.993, + 0 + ], + [ + -521.124, + -1052.51, + 215.241, + 0, + -95.993, + 0 + ], + [ + -521.124, + -1052.51, + 215.241, + 0, + -70.993, + 0 + ], + [ + -521.124, + -1052.51, + 215.241, + 0, + -45.993, + 0 + ], + [ + -521.124, + -1052.51, + 215.241, + 0, + -20.993, + 0 + ], + [ + -521.124, + -1052.51, + 215.241, + 0, + 4.007, + 0 + ], + [ + -521.124, + 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0000000000000000000000000000000000000000..aaee75c72273a0fce11a3e7611e759961019e902 --- /dev/null +++ b/benchmark/trajectory/Medieval_Daytime/task_x-000576_y000258_z000212_t4_a/infos.json @@ -0,0 +1,107 @@ +{ + "Instruction": "Proceed to the wooden door on the stone building ahead; once there, open it.", + "Type": 4, + "Start_Pose": [ + -575.924, + 258.165, + 212.276, + 0.0, + 59.007, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + -575.924, + 258.165, + 212.276, + 0.0, + 59.007, + -0.0 + ], + [ + -540.739, + 363.718, + 209.818, + 0.0, + 59.007, + -0.0 + ], + [ + -476.422, + 471.828, + 206.162, + 0.0, + 59.007, + -0.0 + ], + [ + -411.613, + 579.718, + 205.089, + 0.0, + 59.007, + -0.0 + ], + [ + -346.804, + 687.608, + 218.704, + 0.0, + 59.007, + -0.0 + ], + [ + -281.995, + 795.498, + 239.233, + 0.0, + 59.007, + -0.0 + ], + [ + -281.995, + 795.498, + 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Head over and pull it open.", + "Type": 4, + "Start_Pose": [ + -608.107, + -171.531, + 243.828, + 0.0, + 19.007, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + -608.107, + -171.531, + 243.828, + 0.0, + 19.007, + -0.0 + ], + [ + -428.186, + -91.249, + 243.888, + 0.0, + 19.007, + -0.0 + ], + [ + -309.189, + -50.259, + 246.366, + 0.0, + 19.007, + -0.0 + ], + [ + -309.189, + -50.259, + 246.366, + 0.0, + -5.993, + 0.0 + ], + [ + -184.018, + -63.399, + 243.897, + 0.0, + -5.993, + 0.0 + ], + [ + -184.018, + -63.399, + 243.897, + 0.0, + -30.993, + 0.0 + ], + [ + -164.515, + -124.621, + 243.888, + 0.0, + -30.993, + 0.0 + ], + [ + -164.515, + -124.621, + 243.888, + 0.0, + -30.993, + 0.0 + ], + [ + -164.515, + -124.621, + 243.888, + 0.0, + -30.993, + 0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ] +} diff --git a/benchmark/trajectory/Medieval_Daytime/task_x-000738_y-001536_z000215_t4_a/infos.json b/benchmark/trajectory/Medieval_Daytime/task_x-000738_y-001536_z000215_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..ec649bd1294255537edb3950c384205ad1873a70 --- /dev/null +++ b/benchmark/trajectory/Medieval_Daytime/task_x-000738_y-001536_z000215_t4_a/infos.json @@ -0,0 +1,107 @@ +{ + "Instruction": "Walk over to the wooden door set into the stone wall between the two windows and pull it open.", + "Type": 4, + "Start_Pose": [ + -737.704, + -1536.465, + 215.158, + 0.0, + 39.007, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnRight", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + -737.704, + -1536.465, + 215.158, + 0.0, + 39.007, + -0.0 + ], + [ + -639.903, + -1457.247, + 215.12, + 0.0, + 39.007, + -0.0 + ], + [ + -542.102, + -1378.03, + 215.12, + 0.0, + 39.007, + -0.0 + ], + [ + -542.102, + -1378.03, + 215.12, + 0.0, + 14.007, + -0.0 + ], + [ + -420.031, + -1348.869, + 215.241, + 0.0, + 14.007, + -0.0 + ], + [ + -420.031, + -1348.869, + 215.241, + 0.0, + 39.007, + -0.0 + ], + [ + -326.735, + -1335.98, + 214.927, + 0.0, + 39.007, + -0.0 + ], + [ + -326.735, + -1335.98, + 214.927, + 0.0, + 39.007, + -0.0 + ], + [ + -326.735, + -1335.98, + 214.927, + 0.0, + 39.007, + -0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ] +} diff --git a/benchmark/trajectory/Medieval_Daytime/task_x-001141_y-000392_z000280_t4_a/infos.json b/benchmark/trajectory/Medieval_Daytime/task_x-001141_y-000392_z000280_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..10bbbd3f0598bcfc2f1bd5d60a8301d9cfa13e1a --- /dev/null +++ b/benchmark/trajectory/Medieval_Daytime/task_x-001141_y-000392_z000280_t4_a/infos.json @@ -0,0 +1,117 @@ +{ + "Instruction": "The wooden door with the glass pane set against the stone wall is your target. Head toward it and pull it open.", + "Type": 4, + "Start_Pose": [ + -1141.121, + -392.206, + 279.725, + 0.0, + 139.007, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1141.121, + -392.206, + 279.725, + 0.0, + 139.007, + -0.0 + ], + [ + -1236.118, + -309.647, + 279.807, + 0.0, + 139.007, + -0.0 + ], + [ + -1236.118, + -309.647, + 279.807, + 0.0, + 164.007, + -0.0 + ], + [ + -1357.106, + -274.97, + 279.807, + 0.0, + 164.007, + -0.0 + ], + [ + -1478.093, + -240.293, + 279.78, + 0.0, + 164.007, + -0.0 + ], + [ + -1478.093, + -240.293, + 279.78, + 0.0, + -170.993, + 0.0 + ], + [ + -1602.4, + -259.997, + 279.78, + 0.0, + -170.993, + 0.0 + ], + [ + -1671.223, + -288.741, + 281.246, + 0.0, + -170.993, + 0.0 + ], + [ + -1671.223, + -288.741, + 281.074, + 0.0, + -170.993, + 0.0 + ], + [ + -1671.223, + -288.741, + 281.074, + 0.0, + -170.993, + 0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ] +} diff --git a/benchmark/trajectory/Medieval_Daytime/task_x-001164_y-001036_z000469_t4_a/infos.json b/benchmark/trajectory/Medieval_Daytime/task_x-001164_y-001036_z000469_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..cb3ae0882d993f00c9f8313b22c43dab473b7a9b --- /dev/null +++ b/benchmark/trajectory/Medieval_Daytime/task_x-001164_y-001036_z000469_t4_a/infos.json @@ -0,0 +1,107 @@ +{ + "Instruction": "The small wooden door tucked beneath the staircase awaits. Head down to it and pull it open.", + "Type": 4, + "Start_Pose": [ + -1164.476, + -1035.525, + 469.186, + 0.0, + -160.993, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1164.476, + -1035.525, + 469.186, + 0.0, + -160.993, + 0.0 + ], + [ + -1283.473, + -1076.515, + 449.527, + 0.0, + -160.993, + 0.0 + ], + [ + -1402.077, + -1106.132, + 370.392, + 0.0, + -160.993, + 0.0 + ], + [ + -1521.074, + -1147.122, + 293.122, + 0.0, + -160.993, + 0.0 + ], + [ + -1640.071, + -1188.112, + 273.603, + 0.0, + -160.993, + 0.0 + ], + [ + -1640.071, + -1188.112, + 273.603, + 0.0, + 174.007, + -0.0 + ], + [ + -1671.977, + -1170.423, + 281.506, + 0.0, + 174.007, + -0.0 + ], + [ + -1671.977, + -1170.423, + 281.398, + 0.0, + 174.007, + -0.0 + ], + [ + -1671.977, + -1170.423, + 281.398, + 0.0, + 174.007, + -0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ] +} diff --git a/benchmark/trajectory/Medieval_Daytime/task_x-001217_y-001460_z000273_t4_a/infos.json b/benchmark/trajectory/Medieval_Daytime/task_x-001217_y-001460_z000273_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..9a73bcc3ee0872cc7f00bbbf9c9dbfc1bc0a3ca5 --- /dev/null +++ b/benchmark/trajectory/Medieval_Daytime/task_x-001217_y-001460_z000273_t4_a/infos.json @@ -0,0 +1,107 @@ +{ + "Instruction": "The wooden door set into the stone wall ahead is your target. Make your way to it and pull it open.", + "Type": 4, + "Start_Pose": [ + -1216.717, + -1459.728, + 272.597, + 0.0, + 119.007, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1216.717, + -1459.728, + 272.597, + 0.0, + 119.007, + -0.0 + ], + [ + -1216.717, + -1459.728, + 272.66, + 0.0, + 144.007, + -0.0 + ], + [ + -1318.548, + -1385.762, + 272.66, + 0.0, + 144.007, + -0.0 + ], + [ + -1418.521, + -1360.779, + 271.868, + 0.0, + 144.007, + -0.0 + ], + [ + -1519.797, + -1311.178, + 273.128, + 0.0, + 144.007, + -0.0 + ], + [ + -1621.628, + -1237.212, + 273.384, + 0.0, + 144.007, + -0.0 + ], + [ + -1671.545, + -1162.248, + 281.361, + 0.0, + 144.007, + -0.0 + ], + [ + -1671.545, + -1162.248, + 281.263, + 0.0, + 144.007, + -0.0 + ], + [ + -1671.545, + -1162.248, + 281.263, + 0.0, + 144.007, + -0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ] +} diff --git a/benchmark/trajectory/Medieval_Daytime/task_x-001280_y-001239_z000272_t4_a/infos.json b/benchmark/trajectory/Medieval_Daytime/task_x-001280_y-001239_z000272_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..3841f5cc2a9ffd41c69c8d2064de7931299ea5d2 --- /dev/null +++ b/benchmark/trajectory/Medieval_Daytime/task_x-001280_y-001239_z000272_t4_a/infos.json @@ -0,0 +1,87 @@ +{ + "Instruction": "The wooden door set into the stone wall ahead is your target. Make your way to it and pull it open.", + "Type": 4, + "Start_Pose": [ + -1280.44, + -1239.31, + 271.779, + 0.0, + 159.007, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1280.44, + -1239.31, + 271.779, + 0.0, + 159.007, + -0.0 + ], + [ + -1397.945, + -1194.221, + 272.66, + 0.0, + 159.007, + -0.0 + ], + [ + -1514.04, + -1172.76, + 282.96, + 0.0, + 159.007, + -0.0 + ], + [ + -1514.04, + -1172.76, + 282.96, + 0.0, + -175.993, + 0.0 + ], + [ + -1639.592, + -1181.555, + 273.603, + 0.0, + -175.993, + 0.0 + ], + [ + -1639.592, + -1181.555, + 273.603, + 0.0, + -175.993, + 0.0 + ], + [ + -1639.592, + -1181.555, + 273.603, + 0.0, + -175.993, + 0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ] +} diff --git a/benchmark/trajectory/Medieval_Daytime/task_x-002166_y-000078_z000275_t4_a/infos.json b/benchmark/trajectory/Medieval_Daytime/task_x-002166_y-000078_z000275_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..7bf246fe50d0ce8f28de16319f28c92ec0143885 --- /dev/null +++ b/benchmark/trajectory/Medieval_Daytime/task_x-002166_y-000078_z000275_t4_a/infos.json @@ -0,0 +1,87 @@ +{ + "Instruction": "Head toward the wooden door set into the stone wall of the building and pull it open.", + "Type": 4, + "Start_Pose": [ + -2166.019, + -78.032, + 274.758, + 0.0, + -20.993, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2166.019, + -78.032, + 274.758, + 0.0, + -20.993, + 0.0 + ], + [ + -2048.514, + -123.121, + 258.222, + 0.0, + -20.993, + 0.0 + ], + [ + -1931.009, + -168.211, + 228.763, + 0.0, + -20.993, + 0.0 + ], + [ + -1813.504, + -213.3, + 250.233, + 0.0, + -20.993, + 0.0 + ], + [ + -1766.59, + -254.388, + 278.409, + 0.0, + -20.993, + 0.0 + ], + [ + -1766.59, + -254.388, + 278.409, + 0.0, + -20.993, + 0.0 + ], + [ + -1766.59, + -254.388, + 278.409, + 0.0, + -20.993, + 0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ] +} diff --git a/benchmark/trajectory/Medieval_Daytime/task_x-002203_y-001946_z000276_t4_a/infos.json b/benchmark/trajectory/Medieval_Daytime/task_x-002203_y-001946_z000276_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..440773639ee17e77141d3a11daf7b903bd8566bb --- /dev/null +++ b/benchmark/trajectory/Medieval_Daytime/task_x-002203_y-001946_z000276_t4_a/infos.json @@ -0,0 +1,147 @@ +{ + "Instruction": "Make your way to the dark doorway on the timber-framed building near the hanging banner and pull it open.", + "Type": 4, + "Start_Pose": [ + -2203.004, + -1946.113, + 276.23, + 0, + 19.007, + 0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2203.004, + -1946.113, + 276.23, + 0, + 19.007, + 0 + ], + [ + -2203.004, + -1946.113, + 276.274, + 0, + 44.007, + 0 + ], + [ + -2112.479, + -1858.673, + 276.274, + 0, + 44.007, + 0 + ], + [ + -2021.954, + -1771.233, + 276.274, + 0, + 44.007, + 0 + ], + [ + -2021.954, + -1771.233, + 276.274, + 0, + 69.007, + 0 + ], + [ + -1976.865, + -1653.728, + 273.09, + 0, + 69.007, + 0 + ], + [ + -1931.776, + -1536.223, + 261.069, + 0, + 69.007, + 0 + ], + [ + -1886.686, + -1418.718, + 252.069, + 0, + 69.007, + 0 + ], + [ + -1841.597, + -1301.213, + 252.069, + 0, + 69.007, + 0 + ], + [ + -1796.507, + -1183.708, + 268.403, + 0, + 69.007, + 0 + ], + [ + -1796.507, + -1183.708, + 268.403, + 0, + 44.007, + 0 + ], + [ + -1796.507, + -1183.708, + 268.403, + 0, + 44.007, + 0 + ], + [ + -1796.507, + -1183.708, + 268.403, + 0, + 44.007, + 0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ] +} diff --git a/benchmark/trajectory/Medieval_Daytime/task_x-002615_y-001086_z000275_t4_a/infos.json b/benchmark/trajectory/Medieval_Daytime/task_x-002615_y-001086_z000275_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..54664d7c24cd3346c2df5e2ff062336dea7e6906 --- /dev/null +++ b/benchmark/trajectory/Medieval_Daytime/task_x-002615_y-001086_z000275_t4_a/infos.json @@ -0,0 +1,127 @@ +{ + "Instruction": "Make your way through the tall grass to the dark wooden door on the ground floor of the timber-framed building and pull it open.", + "Type": 4, + "Start_Pose": [ + -2615.417, + -1085.634, + 274.953, + 0, + -20.993, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2615.417, + -1085.634, + 274.953, + 0, + -20.993, + 0 + ], + [ + -2497.912, + -1130.724, + 262.518, + 0, + -20.993, + 0 + ], + [ + -2380.407, + -1175.813, + 269.539, + 0, + -20.993, + 0 + ], + [ + -2380.407, + -1175.813, + 269.539, + 0, + 4.007, + 0 + ], + [ + -2254.856, + -1167.018, + 269.435, + 0, + 4.007, + 0 + ], + [ + -2129.304, + -1158.223, + 271.471, + 0, + 4.007, + 0 + ], + [ + -2003.753, + -1149.429, + 255.722, + 0, + 4.007, + 0 + ], + [ + -1878.202, + -1140.634, + 252.832, + 0, + 4.007, + 0 + ], + [ + -1764.183, + -1131.946, + 279.629, + 0, + 4.007, + 0 + ], + [ + -1764.183, + -1131.946, + 279.802, + 0, + 4.007, + 0 + ], + [ + -1764.183, + -1131.946, + 279.802, + 0, + 4.007, + 0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ] +} diff --git a/benchmark/trajectory/Medieval_Daytime/task_x-002617_y-000764_z000261_t4_a/infos.json b/benchmark/trajectory/Medieval_Daytime/task_x-002617_y-000764_z000261_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..ad7119fc348f8d1d9089e07ba0228fd95a1b0e8e --- /dev/null +++ b/benchmark/trajectory/Medieval_Daytime/task_x-002617_y-000764_z000261_t4_a/infos.json @@ -0,0 +1,147 @@ +{ + "Instruction": "Locate the dark wooden door on the left side of the stone building; once there, pull it open.", + "Type": 4, + "Start_Pose": [ + -2616.959, + -764.497, + 261.167, + 0.0, + -0.993, + 0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2616.959, + -764.497, + 261.167, + 0.0, + -0.993, + 0.0 + ], + [ + -2616.959, + -764.497, + 261.213, + 0.0, + -25.993, + 0.0 + ], + [ + -2503.831, + -819.656, + 267.859, + 0.0, + -25.993, + 0.0 + ], + [ + -2390.703, + -874.815, + 266.271, + 0.0, + -25.993, + 0.0 + ], + [ + -2277.575, + -929.974, + 258.566, + 0.0, + -25.993, + 0.0 + ], + [ + -2164.447, + -985.134, + 253.746, + 0.0, + -25.993, + 0.0 + ], + [ + -2051.319, + -1040.293, + 257.922, + 0.0, + -25.993, + 0.0 + ], + [ + -1938.191, + -1095.452, + 252.691, + 0.0, + -25.993, + 0.0 + ], + [ + -1938.191, + -1095.452, + 252.691, + 0.0, + -0.993, + 0.0 + ], + [ + -1812.35, + -1097.633, + 254.674, + 0.0, + -0.993, + 0.0 + ], + [ + -1773.841, + -1099.504, + 273.923, + 0.0, + -0.993, + 0.0 + ], + [ + -1773.841, + -1099.504, + 273.718, + 0.0, + -0.993, + 0.0 + ], + [ + -1773.841, + -1099.504, + 273.718, + 0.0, + -0.993, + 0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ] +} diff --git a/benchmark/trajectory/Medieval_Daytime/task_x-002617_y-000764_z000261_t4_b/infos.json b/benchmark/trajectory/Medieval_Daytime/task_x-002617_y-000764_z000261_t4_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..ff92d3eb6abbd2da64dda638a593292cba1caa52 --- /dev/null +++ b/benchmark/trajectory/Medieval_Daytime/task_x-002617_y-000764_z000261_t4_b/infos.json @@ -0,0 +1,167 @@ +{ + "Instruction": "Reach the wooden door on the right beneath the timber-framed facade, then open it.", + "Type": 4, + "Start_Pose": [ + -2616.959, + -764.497, + 261.167, + 0.0, + -0.993, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2616.959, + -764.497, + 261.167, + 0.0, + -0.993, + 0.0 + ], + [ + -2616.959, + -764.497, + 261.213, + 0.0, + 24.007, + -0.0 + ], + [ + -2501.987, + -713.291, + 264.037, + 0.0, + 24.007, + -0.0 + ], + [ + -2387.016, + -662.086, + 267.824, + 0.0, + 24.007, + -0.0 + ], + [ + -2387.016, + -662.086, + 267.824, + 0.0, + 49.007, + -0.0 + ], + [ + -2304.456, + -567.089, + 260.135, + 0.0, + 49.007, + -0.0 + ], + [ + -2221.897, + -472.092, + 253.773, + 0.0, + 49.007, + -0.0 + ], + [ + -2139.338, + -377.095, + 240.596, + 0.0, + 49.007, + -0.0 + ], + [ + -2139.338, + -377.095, + 240.596, + 0.0, + 24.007, + -0.0 + ], + [ + -2024.366, + -325.889, + 231.894, + 0.0, + 24.007, + -0.0 + ], + [ + -1909.394, + -274.684, + 249.668, + 0.0, + 24.007, + -0.0 + ], + [ + -1909.394, + -274.684, + 249.668, + 0.0, + -0.993, + 0.0 + ], + [ + -1783.554, + -276.865, + 273.183, + 0.0, + -0.993, + 0.0 + ], + [ + -1783.554, + -276.865, + 273.183, + 0.0, + -0.993, + 0.0 + ], + [ + -1783.554, + -276.865, + 273.183, + 0.0, + -0.993, + 0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ] +} diff --git a/benchmark/trajectory/Medieval_Daytime/task_x000014_y-000597_z000229_t0_a/infos.json b/benchmark/trajectory/Medieval_Daytime/task_x000014_y-000597_z000229_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..ead6626be57d94119a5e8607c3ecba86d2ec02f3 --- /dev/null +++ b/benchmark/trajectory/Medieval_Daytime/task_x000014_y-000597_z000229_t0_a/infos.json @@ -0,0 +1,114 @@ +{ + "Instruction": "Walk to the wooden barrel near the bench.", + "Type": 0, + "Start_Pose": [ + 14.449, + -597.057, + 228.979, + 0, + 74.047, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 14.449, + -597.057, + 228.979, + 0, + 74.047, + 0 + ], + [ + 49.041, + -476.045, + 236.228, + 0, + 74.047, + 0 + ], + [ + 83.633, + -355.033, + 224.888, + 0, + 74.047, + 0 + ], + [ + 83.633, + -355.033, + 224.888, + 0, + 99.047, + 0 + ], + [ + 63.843, + -230.74, + 224.888, + 0, + 99.047, + 0 + ], + [ + 44.052, + -106.447, + 224.888, + 0, + 99.047, + 0 + ], + [ + 27.321, + 17.121, + 224.608, + 0, + 99.047, + 0 + ], + [ + 12.821, + 138.383, + 224.888, + 0, + 99.047, + 0 + ], + [ + 16.423, + 243.434, + 224.888, + 0, + 99.047, + 0 + ], + [ + 27.102, + 357.074, + 224.349, + 0, + 99.047, + 0 + ], + [ + 27.102, + 357.074, + 224.349, + 0, + 99.047, + 0 + ] + ] +} diff --git a/benchmark/trajectory/Medieval_Daytime/task_x000014_y-000597_z000229_t0_b/infos.json b/benchmark/trajectory/Medieval_Daytime/task_x000014_y-000597_z000229_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..2c3b6583ed676f4bb84d1e51ebd3fa72a5b88bc6 --- /dev/null +++ b/benchmark/trajectory/Medieval_Daytime/task_x000014_y-000597_z000229_t0_b/infos.json @@ -0,0 +1,168 @@ +{ + "Instruction": "Head toward the wooden door of the pointed-roof building.", + "Type": 0, + "Start_Pose": [ + 14.449, + -597.057, + 228.979, + 0, + 74.047, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 14.449, + -597.057, + 228.979, + 0, + 74.047, + 0 + ], + [ + 49.041, + -476.045, + 236.228, + 0, + 74.047, + 0 + ], + [ + 83.633, + -355.033, + 224.888, + 0, + 74.047, + 0 + ], + [ + 118.226, + -234.021, + 224.888, + 0, + 74.047, + 0 + ], + [ + 152.818, + -113.01, + 224.888, + 0, + 74.047, + 0 + ], + [ + 187.41, + 8.002, + 224.888, + 0, + 74.047, + 0 + ], + [ + 222.002, + 129.014, + 224.888, + 0, + 74.047, + 0 + ], + [ + 256.594, + 250.026, + 224.888, + 0, + 74.047, + 0 + ], + [ + 256.594, + 250.026, + 224.888, + 0, + 49.047, + 0 + ], + [ + 339.087, + 345.081, + 224.888, + 0, + 49.047, + 0 + ], + [ + 421.58, + 440.135, + 224.888, + 0, + 49.047, + 0 + ], + [ + 504.073, + 535.19, + 229.971, + 0, + 49.047, + 0 + ], + [ + 504.073, + 535.19, + 229.971, + 0, + 74.047, + 0 + ], + [ + 538.666, + 656.202, + 227.102, + 0, + 74.047, + 0 + ], + [ + 573.258, + 777.214, + 228.222, + 0, + 74.047, + 0 + ], + [ + 603.866, + 814.986, + 244.438, + 0, + 74.047, + 0 + ], + [ + 603.866, + 814.986, + 244.438, + 0, + 74.047, + 0 + ] + ] +} diff --git a/benchmark/trajectory/Medieval_Daytime/task_x000014_y-000597_z000229_t0_c/infos.json b/benchmark/trajectory/Medieval_Daytime/task_x000014_y-000597_z000229_t0_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..315ff526c18b99a032013d1965eeffc001010377 --- /dev/null +++ b/benchmark/trajectory/Medieval_Daytime/task_x000014_y-000597_z000229_t0_c/infos.json @@ -0,0 +1,123 @@ +{ + "Instruction": "Approach the wooden crates near the timber pavilion.", + "Type": 0, + "Start_Pose": [ + 14.449, + -597.057, + 228.979, + 0, + 74.047, + 0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 14.449, + -597.057, + 228.979, + 0, + 74.047, + 0 + ], + [ + 14.449, + -597.057, + 229.033, + 0, + 49.047, + 0 + ], + [ + 96.942, + -502.002, + 233.506, + 0, + 49.047, + 0 + ], + [ + 179.435, + -406.948, + 225.572, + 0, + 49.047, + 0 + ], + [ + 261.928, + -311.893, + 224.721, + 0, + 49.047, + 0 + ], + [ + 344.421, + -216.838, + 224.721, + 0, + 49.047, + 0 + ], + [ + 344.421, + -216.838, + 224.721, + 0, + 24.047, + 0 + ], + [ + 459.357, + -165.552, + 224.721, + 0, + 24.047, + 0 + ], + [ + 574.293, + -114.267, + 224.721, + 0, + 24.047, + 0 + ], + [ + 574.293, + -114.267, + 224.721, + 0, + 49.047, + 0 + ], + [ + 639.528, + -43.901, + 224.721, + 0, + 49.047, + 0 + ], + [ + 639.528, + -43.901, + 224.721, + 0, + 49.047, + 0 + ] + ] +} diff --git a/benchmark/trajectory/Medieval_Daytime/task_x000065_y000051_z000225_t1_a/infos.json b/benchmark/trajectory/Medieval_Daytime/task_x000065_y000051_z000225_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..cffb5b31b2fdc416552fab04807f1d09a29c3564 --- /dev/null +++ b/benchmark/trajectory/Medieval_Daytime/task_x000065_y000051_z000225_t1_a/infos.json @@ -0,0 +1,114 @@ +{ + "Instruction": "Search for the single wooden wheel resting on the cobblestone ground near the barrels; after locating it, head over to it.", + "Type": 1, + "Start_Pose": [ + 65.208, + 50.956, + 224.888, + 0, + -100.993, + 0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 65.208, + 50.956, + 224.888, + 0, + -100.993, + 0 + ], + [ + 65.208, + 50.956, + 224.888, + 0, + -75.993, + 0 + ], + [ + 65.208, + 50.956, + 224.888, + 0, + -50.993, + 0 + ], + [ + 144.426, + -46.845, + 224.888, + 0, + -50.993, + 0 + ], + [ + 144.426, + -46.845, + 224.888, + 0, + -25.993, + 0 + ], + [ + 257.554, + -102.004, + 224.888, + 0, + -25.993, + 0 + ], + [ + 370.682, + -157.163, + 224.888, + 0, + -25.993, + 0 + ], + [ + 483.81, + -212.323, + 224.888, + 0, + -25.993, + 0 + ], + [ + 483.81, + -212.323, + 224.888, + 0, + -50.993, + 0 + ], + [ + 563.027, + -310.124, + 224.888, + 0, + -50.993, + 0 + ], + [ + 563.027, + -310.124, + 224.888, + 0, + -50.993, + 0 + ] + ] +} diff --git a/benchmark/trajectory/Medieval_Daytime/task_x000065_y000051_z000225_t1_b/infos.json b/benchmark/trajectory/Medieval_Daytime/task_x000065_y000051_z000225_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..b7b5701d0f9a09fbab3f1556e3860353507a9668 --- /dev/null +++ b/benchmark/trajectory/Medieval_Daytime/task_x000065_y000051_z000225_t1_b/infos.json @@ -0,0 +1,123 @@ +{ + "Instruction": "Identify the round well covered by a small wooden roof, then proceed to it.", + "Type": 1, + "Start_Pose": [ + 65.208, + 50.956, + 224.888, + 0, + -100.993, + 0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 65.208, + 50.956, + 224.888, + 0, + -100.993, + 0 + ], + [ + 65.208, + 50.956, + 224.888, + 0, + -75.993, + 0 + ], + [ + 65.208, + 50.956, + 224.888, + 0, + -50.993, + 0 + ], + [ + 65.208, + 50.956, + 224.888, + 0, + -25.993, + 0 + ], + [ + 65.208, + 50.956, + 224.888, + 0, + -0.993, + 0 + ], + [ + 65.208, + 50.956, + 224.888, + 0, + 24.007, + 0 + ], + [ + 180.18, + 102.162, + 224.888, + 0, + 24.007, + 0 + ], + [ + 295.151, + 153.367, + 224.888, + 0, + 24.007, + 0 + ], + [ + 410.123, + 204.573, + 224.888, + 0, + 24.007, + 0 + ], + [ + 525.095, + 255.778, + 224.888, + 0, + 24.007, + 0 + ], + [ + 634.741, + 306.28, + 224.888, + 0, + 24.007, + 0 + ], + [ + 634.741, + 306.28, + 224.888, + 0, + 24.007, + 0 + ] + ] +} diff --git a/benchmark/trajectory/Medieval_Daytime/task_x000066_y-000125_z000225_t4_a/infos.json b/benchmark/trajectory/Medieval_Daytime/task_x000066_y-000125_z000225_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..587bbd6ce6d90f24f8398d66f2cdae858f0d08a9 --- /dev/null +++ b/benchmark/trajectory/Medieval_Daytime/task_x000066_y-000125_z000225_t4_a/infos.json @@ -0,0 +1,57 @@ +{ + "Instruction": "Proceed to the wooden plank door with the mail slot set in the stone wall; once there, pull it open.", + "Type": 4, + "Start_Pose": [ + 66.379, + -124.961, + 224.888, + 0.0, + 179.007, + -0.0 + ], + "Action": [ + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 66.379, + -124.961, + 224.888, + 0.0, + 179.007, + -0.0 + ], + [ + -59.461, + -122.78, + 231.83, + 0.0, + 179.007, + -0.0 + ], + [ + -59.461, + -122.78, + 231.83, + 0.0, + 179.007, + -0.0 + ], + [ + -59.461, + -122.78, + 231.83, + 0.0, + 179.007, + -0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 1, + 1 + ] +} diff --git a/benchmark/trajectory/Medieval_Daytime/task_x000077_y000001_z000225_t3_a/infos.json b/benchmark/trajectory/Medieval_Daytime/task_x000077_y000001_z000225_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..fe7e630499a6a50a0541b51221811079f07dd0ed --- /dev/null +++ b/benchmark/trajectory/Medieval_Daytime/task_x000077_y000001_z000225_t3_a/infos.json @@ -0,0 +1,150 @@ +{ + "Instruction": "Walk to the wooden barrel cluster, then head toward the burlap sack.", + "Type": 3, + "Start_Pose": [ + 76.703, + 0.616, + 224.888, + 0, + -20.993, + 0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 76.703, + 0.616, + 224.888, + 0, + -20.993, + 0 + ], + [ + 194.208, + -44.473, + 224.888, + 0, + -20.993, + 0 + ], + [ + 194.208, + -44.473, + 224.888, + 0, + -45.993, + 0 + ], + [ + 281.648, + -134.998, + 224.888, + 0, + -45.993, + 0 + ], + [ + 369.088, + -225.523, + 224.888, + 0, + -45.993, + 0 + ], + [ + 456.528, + -316.048, + 224.888, + 0, + -45.993, + 0 + ], + [ + 456.528, + -316.048, + 224.888, + 0, + -45.993, + 0 + ], + [ + 456.528, + -316.048, + 224.888, + 0, + -20.993, + 0 + ], + [ + 456.528, + -316.048, + 224.888, + 0, + 4.007, + 0 + ], + [ + 456.528, + -316.048, + 224.888, + 0, + 29.007, + 0 + ], + [ + 456.528, + -316.048, + 224.888, + 0, + 54.007, + 0 + ], + [ + 530.494, + -214.216, + 224.888, + 0, + 54.007, + 0 + ], + [ + 604.459, + -112.385, + 224.888, + 0, + 54.007, + 0 + ], + [ + 660.411, + -53.352, + 224.888, + 0, + 54.007, + 0 + ], + [ + 660.411, + -53.352, + 224.888, + 0, + 54.007, + 0 + ] + ] +} diff --git a/benchmark/trajectory/Medieval_Daytime/task_x000077_y000001_z000225_t3_b/infos.json b/benchmark/trajectory/Medieval_Daytime/task_x000077_y000001_z000225_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..83a9c7cc6be15e40d7c336ae64264d83eb9b2851 --- /dev/null +++ b/benchmark/trajectory/Medieval_Daytime/task_x000077_y000001_z000225_t3_b/infos.json @@ -0,0 +1,159 @@ +{ + "Instruction": "Approach the cart wheel, then move to the ground-floor doorway with steps.", + "Type": 3, + "Start_Pose": [ + 76.703, + 0.616, + 224.888, + 0, + -20.993, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 76.703, + 0.616, + 224.888, + 0, + -20.993, + 0 + ], + [ + 194.208, + -44.473, + 224.888, + 0, + -20.993, + 0 + ], + [ + 311.713, + -89.563, + 224.888, + 0, + -20.993, + 0 + ], + [ + 429.218, + -134.652, + 224.888, + 0, + -20.993, + 0 + ], + [ + 429.218, + -134.652, + 224.888, + 0, + -45.993, + 0 + ], + [ + 516.658, + -225.177, + 224.888, + 0, + -45.993, + 0 + ], + [ + 604.098, + -315.702, + 224.888, + 0, + -45.993, + 0 + ], + [ + 604.098, + -315.702, + 224.888, + 0, + -45.993, + 0 + ], + [ + 604.098, + -315.702, + 224.888, + 0, + -20.993, + 0 + ], + [ + 604.098, + -315.702, + 224.888, + 0, + 4.007, + 0 + ], + [ + 729.65, + -306.907, + 224.888, + 0, + 4.007, + 0 + ], + [ + 855.201, + -298.112, + 286.763, + 0, + 4.007, + 0 + ], + [ + 980.752, + -289.317, + 295.144, + 0, + 4.007, + 0 + ], + [ + 1106.304, + -280.523, + 295.144, + 0, + 4.007, + 0 + ], + [ + 1231.855, + -271.728, + 295.144, + 0, + 4.007, + 0 + ], + [ + 1231.855, + -271.728, + 295.144, + 0, + 4.007, + 0 + ] + ] +} diff --git a/benchmark/trajectory/Medieval_Daytime/task_x000077_y000001_z000225_t3_c/infos.json b/benchmark/trajectory/Medieval_Daytime/task_x000077_y000001_z000225_t3_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..43a56942f0689be199788132f6ec7b609d614443 --- /dev/null +++ b/benchmark/trajectory/Medieval_Daytime/task_x000077_y000001_z000225_t3_c/infos.json @@ -0,0 +1,150 @@ +{ + "Instruction": "Head toward the burlap sack, then navigate to the wooden barrel.", + "Type": 3, + "Start_Pose": [ + 76.703, + 0.616, + 224.888, + 0, + -20.993, + 0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 76.703, + 0.616, + 224.888, + 0, + -20.993, + 0 + ], + [ + 76.703, + 0.616, + 224.888, + 0, + 4.007, + 0 + ], + [ + 202.254, + 9.411, + 224.888, + 0, + 4.007, + 0 + ], + [ + 327.806, + 18.206, + 224.888, + 0, + 4.007, + 0 + ], + [ + 453.357, + 27, + 224.888, + 0, + 4.007, + 0 + ], + [ + 578.908, + 35.795, + 224.888, + 0, + 4.007, + 0 + ], + [ + 578.908, + 35.795, + 224.888, + 0, + 4.007, + 0 + ], + [ + 578.908, + 35.795, + 224.888, + 0, + -20.993, + 0 + ], + [ + 578.908, + 35.795, + 224.888, + 0, + -45.993, + 0 + ], + [ + 578.908, + 35.795, + 224.888, + 0, + -70.993, + 0 + ], + [ + 619.899, + -83.202, + 224.888, + 0, + -70.993, + 0 + ], + [ + 619.899, + -83.202, + 224.888, + 0, + -95.993, + 0 + ], + [ + 606.758, + -208.373, + 224.888, + 0, + -95.993, + 0 + ], + [ + 593.618, + -333.544, + 224.888, + 0, + -95.993, + 0 + ], + [ + 593.618, + -333.544, + 224.888, + 0, + -95.993, + 0 + ] + ] +} diff --git a/benchmark/trajectory/Medieval_Daytime/task_x000120_y-000022_z000225_t2_a/infos.json b/benchmark/trajectory/Medieval_Daytime/task_x000120_y-000022_z000225_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..2d1c22683adc1b84df9d3663cdeca755e5269e2b --- /dev/null +++ b/benchmark/trajectory/Medieval_Daytime/task_x000120_y-000022_z000225_t2_a/infos.json @@ -0,0 +1,141 @@ +{ + "Instruction": "Walk to the leftmost ground-floor door on the far building.", + "Type": 2, + "Start_Pose": [ + 119.612, + -21.617, + 224.735, + 0, + 26.047, + 0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 119.612, + -21.617, + 224.735, + 0, + 26.047, + 0 + ], + [ + 119.612, + -21.617, + 224.888, + 0, + 1.047, + 0 + ], + [ + 119.612, + -21.617, + 224.888, + 0, + -23.953, + 0 + ], + [ + 234.632, + -72.714, + 224.888, + 0, + -23.953, + 0 + ], + [ + 349.652, + -123.811, + 224.888, + 0, + -23.953, + 0 + ], + [ + 464.672, + -174.908, + 224.888, + 0, + -23.953, + 0 + ], + [ + 579.692, + -226.006, + 224.888, + 0, + -23.953, + 0 + ], + [ + 579.692, + -226.006, + 224.888, + 0, + 1.047, + 0 + ], + [ + 705.53, + -223.706, + 224.888, + 0, + 1.047, + 0 + ], + [ + 831.367, + -221.406, + 285.389, + 0, + 1.047, + 0 + ], + [ + 957.205, + -219.106, + 295.024, + 0, + 1.047, + 0 + ], + [ + 1083.043, + -216.806, + 295.024, + 0, + 1.047, + 0 + ], + [ + 1208.881, + -214.507, + 295.024, + 0, + 1.047, + 0 + ], + [ + 1208.881, + -214.507, + 295.024, + 0, + 1.047, + 0 + ] + ] +} diff --git a/benchmark/trajectory/Medieval_Daytime/task_x000120_y-000022_z000225_t2_b/infos.json b/benchmark/trajectory/Medieval_Daytime/task_x000120_y-000022_z000225_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..d3fc142598437cb177576240008f1cda2a0ac3e0 --- /dev/null +++ b/benchmark/trajectory/Medieval_Daytime/task_x000120_y-000022_z000225_t2_b/infos.json @@ -0,0 +1,141 @@ +{ + "Instruction": "Head toward the door on the far-right wall.", + "Type": 2, + "Start_Pose": [ + 119.612, + -21.617, + 224.735, + 0, + 26.047, + 0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 119.612, + -21.617, + 224.735, + 0, + 26.047, + 0 + ], + [ + 119.612, + -21.617, + 224.888, + 0, + 51.047, + 0 + ], + [ + 198.737, + 76.259, + 224.888, + 0, + 51.047, + 0 + ], + [ + 277.863, + 174.135, + 224.888, + 0, + 51.047, + 0 + ], + [ + 356.988, + 272.01, + 224.888, + 0, + 51.047, + 0 + ], + [ + 356.988, + 272.01, + 224.888, + 0, + 76.047, + 0 + ], + [ + 387.336, + 394.156, + 224.888, + 0, + 76.047, + 0 + ], + [ + 417.684, + 516.301, + 224.888, + 0, + 76.047, + 0 + ], + [ + 448.032, + 638.446, + 224.888, + 0, + 76.047, + 0 + ], + [ + 448.032, + 638.446, + 224.888, + 0, + 51.047, + 0 + ], + [ + 527.157, + 736.322, + 227.783, + 0, + 51.047, + 0 + ], + [ + 527.157, + 736.322, + 227.783, + 0, + 76.047, + 0 + ], + [ + 557.834, + 810.368, + 240.923, + 0, + 76.047, + 0 + ], + [ + 557.834, + 810.368, + 240.923, + 0, + 76.047, + 0 + ] + ] +} diff --git a/benchmark/trajectory/Medieval_Daytime/task_x000141_y000260_z000225_t4_a/infos.json b/benchmark/trajectory/Medieval_Daytime/task_x000141_y000260_z000225_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..cf4876d1dde12bf5627e7cf77136335e4279ca93 --- /dev/null +++ b/benchmark/trajectory/Medieval_Daytime/task_x000141_y000260_z000225_t4_a/infos.json @@ -0,0 +1,137 @@ +{ + "Instruction": "Head toward the wooden door set into the stone building beneath the timber awning, and pull it open when you arrive.", + "Type": 4, + "Start_Pose": [ + 141.274, + 259.927, + 224.888, + 0, + 59.007, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 141.274, + 259.927, + 224.888, + 0, + 59.007, + 0 + ], + [ + 206.083, + 367.817, + 224.888, + 0, + 59.007, + 0 + ], + [ + 270.892, + 475.707, + 224.888, + 0, + 59.007, + 0 + ], + [ + 270.892, + 475.707, + 224.888, + 0, + 34.007, + 0 + ], + [ + 375.225, + 546.099, + 224.888, + 0, + 34.007, + 0 + ], + [ + 479.558, + 616.492, + 225.404, + 0, + 34.007, + 0 + ], + [ + 479.558, + 616.492, + 225.404, + 0, + 59.007, + 0 + ], + [ + 544.367, + 724.382, + 227.482, + 0, + 59.007, + 0 + ], + [ + 544.367, + 724.382, + 227.482, + 0, + 84.007, + 0 + ], + [ + 562.177, + 811.216, + 241.556, + 0, + 84.007, + 0 + ], + [ + 562.177, + 811.216, + 241.556, + 0, + 84.007, + 0 + ], + [ + 562.177, + 811.216, + 241.556, + 0, + 84.007, + 0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ] +} diff --git a/benchmark/trajectory/Medieval_Daytime/task_x000190_y-000236_z000225_t0_a/infos.json b/benchmark/trajectory/Medieval_Daytime/task_x000190_y-000236_z000225_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..a9c25694fe038c66cc05e12af15f1d9f1505a3e5 --- /dev/null +++ b/benchmark/trajectory/Medieval_Daytime/task_x000190_y-000236_z000225_t0_a/infos.json @@ -0,0 +1,96 @@ +{ + "Instruction": "Move to the stone well under the wooden canopy.", + "Type": 0, + "Start_Pose": [ + 189.848, + -235.992, + 224.888, + 0, + 27.04, + 0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 189.848, + -235.992, + 224.888, + 0, + 27.04, + 0 + ], + [ + 189.848, + -235.992, + 224.888, + 0, + 52.04, + 0 + ], + [ + 267.265, + -136.76, + 224.888, + 0, + 52.04, + 0 + ], + [ + 344.683, + -37.527, + 224.888, + 0, + 52.04, + 0 + ], + [ + 422.1, + 61.705, + 224.888, + 0, + 52.04, + 0 + ], + [ + 499.517, + 160.937, + 224.888, + 0, + 52.04, + 0 + ], + [ + 499.517, + 160.937, + 224.888, + 0, + 27.04, + 0 + ], + [ + 611.618, + 218.154, + 224.888, + 0, + 27.04, + 0 + ], + [ + 611.618, + 218.154, + 224.888, + 0, + 27.04, + 0 + ] + ] +} diff --git a/benchmark/trajectory/Medieval_Daytime/task_x000190_y-000236_z000225_t0_b/infos.json b/benchmark/trajectory/Medieval_Daytime/task_x000190_y-000236_z000225_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..4a25a55d1494aa17baac01f5ac0fdd6e60f11a9a --- /dev/null +++ b/benchmark/trajectory/Medieval_Daytime/task_x000190_y-000236_z000225_t0_b/infos.json @@ -0,0 +1,69 @@ +{ + "Instruction": "Navigate to the burlap sack near the house entrance.", + "Type": 0, + "Start_Pose": [ + 189.848, + -235.992, + 224.888, + 0, + 27.04, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 189.848, + -235.992, + 224.888, + 0, + 27.04, + 0 + ], + [ + 301.949, + -178.775, + 224.888, + 0, + 27.04, + 0 + ], + [ + 414.051, + -121.558, + 224.888, + 0, + 27.04, + 0 + ], + [ + 526.152, + -64.341, + 224.888, + 0, + 27.04, + 0 + ], + [ + 618.792, + -28.648, + 230.75, + 0, + 27.04, + 0 + ], + [ + 618.792, + -28.648, + 230.75, + 0, + 27.04, + 0 + ] + ] +} diff --git a/benchmark/trajectory/Medieval_Daytime/task_x000293_y-001555_z000213_t4_a/infos.json b/benchmark/trajectory/Medieval_Daytime/task_x000293_y-001555_z000213_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..c8193fb5ced04fe497b79db5dbb047fb540b9986 --- /dev/null +++ b/benchmark/trajectory/Medieval_Daytime/task_x000293_y-001555_z000213_t4_a/infos.json @@ -0,0 +1,127 @@ +{ + "Instruction": "Head down the wooden corridor to the door at the far end and pull it open.", + "Type": 4, + "Start_Pose": [ + 292.837, + -1554.711, + 213.352, + 0.0, + 139.007, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "TurnLeft", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 292.837, + -1554.711, + 213.352, + 0.0, + 139.007, + -0.0 + ], + [ + 199.942, + -1501.033, + 214.644, + 0.0, + 139.007, + -0.0 + ], + [ + 110.175, + -1490.337, + 237.812, + 0.0, + 139.007, + -0.0 + ], + [ + 110.175, + -1490.337, + 237.812, + 0.0, + 164.007, + -0.0 + ], + [ + -10.813, + -1455.66, + 215.241, + 0.0, + 164.007, + -0.0 + ], + [ + -131.8, + -1420.983, + 215.037, + 0.0, + 164.007, + -0.0 + ], + [ + -252.788, + -1386.307, + 215.037, + 0.0, + 164.007, + -0.0 + ], + [ + -252.788, + -1386.307, + 215.037, + 0.0, + 139.007, + -0.0 + ], + [ + -252.788, + -1386.307, + 215.037, + 0.0, + 114.007, + -0.0 + ], + [ + -252.788, + -1386.307, + 215.037, + 0.0, + 114.007, + -0.0 + ], + [ + -252.788, + -1386.307, + 215.037, + 0.0, + 114.007, + -0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ] +} diff --git a/benchmark/trajectory/Medieval_Daytime/task_x000347_y-000174_z000225_t4_a/infos.json b/benchmark/trajectory/Medieval_Daytime/task_x000347_y-000174_z000225_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..372659241a2bd052eb65fd84de97a8502072a474 --- /dev/null +++ b/benchmark/trajectory/Medieval_Daytime/task_x000347_y-000174_z000225_t4_a/infos.json @@ -0,0 +1,97 @@ +{ + "Instruction": "Head toward the wooden door on the left side, set into the ivy-covered stone wall, and pull it open.", + "Type": 4, + "Start_Pose": [ + 346.966, + -173.518, + 224.888, + 0, + -160.993, + 0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 346.966, + -173.518, + 224.888, + 0, + -160.993, + 0 + ], + [ + 227.969, + -214.508, + 224.888, + 0, + -160.993, + 0 + ], + [ + 227.969, + -214.508, + 224.888, + 0, + 174.007, + 0 + ], + [ + 102.798, + -201.368, + 224.888, + 0, + 174.007, + 0 + ], + [ + -22.373, + -188.227, + 229.123, + 0, + 174.007, + 0 + ], + [ + -69.007, + -171.287, + 237.508, + 0, + 174.007, + 0 + ], + [ + -69.007, + -171.287, + 237.515, + 0, + 174.007, + 0 + ], + [ + -69.007, + -171.287, + 237.515, + 0, + 174.007, + 0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ] +} diff --git a/benchmark/trajectory/Medieval_Daytime/task_x000347_y-000174_z000225_t4_b/infos.json b/benchmark/trajectory/Medieval_Daytime/task_x000347_y-000174_z000225_t4_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..6031b9b7be11b6619fa8ad7cc93e2d9d56e7ffa3 --- /dev/null +++ b/benchmark/trajectory/Medieval_Daytime/task_x000347_y-000174_z000225_t4_b/infos.json @@ -0,0 +1,197 @@ +{ + "Instruction": "Reach the small wooden door on the right near the timber-framed structure and open it.", + "Type": 4, + "Start_Pose": [ + 346.966, + -173.518, + 224.888, + 0, + -160.993, + 0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 346.966, + -173.518, + 224.888, + 0, + -160.993, + 0 + ], + [ + 227.969, + -214.508, + 224.888, + 0, + -160.993, + 0 + ], + [ + 227.969, + -214.508, + 224.888, + 0, + -135.993, + 0 + ], + [ + 137.444, + -301.948, + 224.888, + 0, + -135.993, + 0 + ], + [ + 46.92, + -389.388, + 233.098, + 0, + -135.993, + 0 + ], + [ + -43.605, + -476.828, + 238.787, + 0, + -135.993, + 0 + ], + [ + -134.13, + -564.269, + 224.888, + 0, + -135.993, + 0 + ], + [ + -134.13, + -564.269, + 224.888, + 0, + -110.993, + 0 + ], + [ + -179.219, + -681.774, + 224.888, + 0, + -110.993, + 0 + ], + [ + -224.309, + -799.279, + 224.888, + 0, + -110.993, + 0 + ], + [ + -224.309, + -799.279, + 224.888, + 0, + -85.993, + 0 + ], + [ + -215.514, + -924.83, + 224.888, + 0, + -85.993, + 0 + ], + [ + -206.719, + -1050.381, + 224.888, + 0, + -85.993, + 0 + ], + [ + -206.719, + -1050.381, + 224.888, + 0, + -110.993, + 0 + ], + [ + -251.809, + -1167.886, + 224.888, + 0, + -110.993, + 0 + ], + [ + -296.642, + -1243.923, + 226.597, + 0, + -110.993, + 0 + ], + [ + -296.642, + -1243.923, + 226.516, + 0, + -110.993, + 0 + ], + [ + -296.642, + -1243.923, + 226.516, + 0, + -110.993, + 0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ] +} diff --git a/benchmark/trajectory/Medieval_Daytime/task_x000441_y-001507_z000402_t4_a/infos.json b/benchmark/trajectory/Medieval_Daytime/task_x000441_y-001507_z000402_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..ba37e483a191b69ef458c663db6bbb091e0f5e77 --- /dev/null +++ b/benchmark/trajectory/Medieval_Daytime/task_x000441_y-001507_z000402_t4_a/infos.json @@ -0,0 +1,147 @@ +{ + "Instruction": "Head downstairs to the wooden door and open it after reaching the lower level.", + "Type": 4, + "Start_Pose": [ + 440.547, + -1506.896, + 401.887, + 0.0, + 139.007, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "TurnLeft", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 440.547, + -1506.896, + 401.887, + 0.0, + 139.007, + -0.0 + ], + [ + 345.539, + -1424.337, + 420.356, + 0.0, + 139.007, + -0.0 + ], + [ + 345.539, + -1424.337, + 420.356, + 0.0, + 164.007, + -0.0 + ], + [ + 224.551, + -1389.66, + 329.152, + 0.0, + 164.007, + -0.0 + ], + [ + 224.551, + -1389.66, + 329.152, + 0.0, + -170.993, + 0.0 + ], + [ + 100.244, + -1409.364, + 249.369, + 0.0, + -170.993, + 0.0 + ], + [ + -24.063, + -1429.068, + 215.441, + 0.0, + -170.993, + 0.0 + ], + [ + -148.37, + -1448.772, + 215.2, + 0.0, + -170.993, + 0.0 + ], + [ + -148.37, + -1448.772, + 215.2, + 0.0, + 164.007, + -0.0 + ], + [ + -148.37, + -1448.772, + 215.2, + 0.0, + 139.007, + -0.0 + ], + [ + -243.367, + -1366.212, + 215.2, + 0.0, + 139.007, + -0.0 + ], + [ + -243.367, + -1366.212, + 215.2, + 0.0, + 139.007, + -0.0 + ], + [ + -243.367, + -1366.212, + 215.2, + 0.0, + 139.007, + -0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ] +} diff --git a/benchmark/trajectory/Medieval_Daytime/task_x000454_y000217_z000225_t1_a/infos.json b/benchmark/trajectory/Medieval_Daytime/task_x000454_y000217_z000225_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..38a2000ba05ce6e44f461641d6406596a644acf3 --- /dev/null +++ b/benchmark/trajectory/Medieval_Daytime/task_x000454_y000217_z000225_t1_a/infos.json @@ -0,0 +1,141 @@ +{ + "Instruction": "Discover the four-wheeled wooden cart in this area, then navigate toward it.", + "Type": 1, + "Start_Pose": [ + 453.654, + 217.424, + 224.888, + 0, + 39.007, + 0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 453.654, + 217.424, + 224.888, + 0, + 39.007, + 0 + ], + [ + 453.654, + 217.424, + 224.888, + 0, + 64.007, + 0 + ], + [ + 453.654, + 217.424, + 224.888, + 0, + 89.007, + 0 + ], + [ + 455.835, + 343.264, + 224.888, + 0, + 89.007, + 0 + ], + [ + 455.835, + 343.264, + 224.888, + 0, + 114.007, + 0 + ], + [ + 404.63, + 458.236, + 224.888, + 0, + 114.007, + 0 + ], + [ + 353.424, + 573.207, + 224.888, + 0, + 114.007, + 0 + ], + [ + 302.219, + 688.179, + 224.888, + 0, + 114.007, + 0 + ], + [ + 251.013, + 803.151, + 224.888, + 0, + 114.007, + 0 + ], + [ + 199.808, + 918.122, + 224.888, + 0, + 114.007, + 0 + ], + [ + 148.602, + 1033.094, + 224.888, + 0, + 114.007, + 0 + ], + [ + 97.397, + 1148.066, + 224.888, + 0, + 114.007, + 0 + ], + [ + 50.928, + 1239.691, + 224.888, + 0, + 114.007, + 0 + ], + [ + 50.928, + 1239.691, + 224.888, + 0, + 114.007, + 0 + ] + ] +} diff --git a/benchmark/trajectory/Medieval_Daytime/task_x000454_y000217_z000225_t1_b/infos.json b/benchmark/trajectory/Medieval_Daytime/task_x000454_y000217_z000225_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..c72d676596c26421f8ca5c1d951962f8bc78b1e6 --- /dev/null +++ b/benchmark/trajectory/Medieval_Daytime/task_x000454_y000217_z000225_t1_b/infos.json @@ -0,0 +1,123 @@ +{ + "Instruction": "Once you locate a wooden barrel whose lid has been removed and placed beside it, approach that barrel.", + "Type": 1, + "Start_Pose": [ + 453.654, + 217.424, + 224.888, + 0, + 39.007, + 0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 453.654, + 217.424, + 224.888, + 0, + 39.007, + 0 + ], + [ + 453.654, + 217.424, + 224.888, + 0, + 64.007, + 0 + ], + [ + 453.654, + 217.424, + 224.888, + 0, + 89.007, + 0 + ], + [ + 453.654, + 217.424, + 224.888, + 0, + 114.007, + 0 + ], + [ + 402.448, + 332.396, + 224.888, + 0, + 114.007, + 0 + ], + [ + 351.243, + 447.367, + 224.888, + 0, + 114.007, + 0 + ], + [ + 351.243, + 447.367, + 224.888, + 0, + 139.007, + 0 + ], + [ + 256.246, + 529.927, + 224.888, + 0, + 139.007, + 0 + ], + [ + 161.249, + 612.486, + 224.888, + 0, + 139.007, + 0 + ], + [ + 161.249, + 612.486, + 224.888, + 0, + 164.007, + 0 + ], + [ + 42.537, + 647.171, + 224.888, + 0, + 164.007, + 0 + ], + [ + 42.537, + 647.171, + 224.888, + 0, + 164.007, + 0 + ] + ] +} diff --git a/benchmark/trajectory/Medieval_Daytime/task_x000495_y-000053_z000225_t4_a/infos.json b/benchmark/trajectory/Medieval_Daytime/task_x000495_y-000053_z000225_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..529249e5c3dc278a9c41c512344b7a7ebf085bad --- /dev/null +++ b/benchmark/trajectory/Medieval_Daytime/task_x000495_y-000053_z000225_t4_a/infos.json @@ -0,0 +1,147 @@ +{ + "Instruction": "Head up the wooden steps and open the large wooden door at the top of the staircase.", + "Type": 4, + "Start_Pose": [ + 495.351, + -52.873, + 224.888, + 0, + -40.993, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 495.351, + -52.873, + 224.888, + 0, + -40.993, + 0 + ], + [ + 590.348, + -135.432, + 224.888, + 0, + -40.993, + 0 + ], + [ + 685.345, + -217.992, + 224.888, + 0, + -40.993, + 0 + ], + [ + 685.345, + -217.992, + 224.888, + 0, + -15.993, + 0 + ], + [ + 806.333, + -252.668, + 272.261, + 0, + -15.993, + 0 + ], + [ + 806.333, + -252.668, + 272.261, + 0, + 9.007, + 0 + ], + [ + 930.64, + -232.964, + 290.653, + 0, + 9.007, + 0 + ], + [ + 1054.947, + -213.261, + 295.053, + 0, + 9.007, + 0 + ], + [ + 1179.254, + -193.557, + 295.053, + 0, + 9.007, + 0 + ], + [ + 1179.254, + -193.557, + 295.053, + 0, + -15.993, + 0 + ], + [ + 1239.739, + -219.012, + 295.144, + 0, + -15.993, + 0 + ], + [ + 1239.739, + -219.012, + 295.144, + 0, + -15.993, + 0 + ], + [ + 1239.739, + -219.012, + 295.144, + 0, + -15.993, + 0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ] +} diff --git a/benchmark/trajectory/Medieval_Daytime/task_x000705_y-000347_z000225_t4_a/infos.json b/benchmark/trajectory/Medieval_Daytime/task_x000705_y-000347_z000225_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..2ad26fb6cefd63724005523f9ae0db1e4f7460c5 --- /dev/null +++ b/benchmark/trajectory/Medieval_Daytime/task_x000705_y-000347_z000225_t4_a/infos.json @@ -0,0 +1,127 @@ +{ + "Instruction": "Locate the wooden door set into the ivy-covered stone wall; once there, open it.", + "Type": 4, + "Start_Pose": [ + 704.726, + -346.788, + 224.888, + 0, + 179.007, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 704.726, + -346.788, + 224.888, + 0, + 179.007, + 0 + ], + [ + 578.886, + -344.607, + 224.888, + 0, + 179.007, + 0 + ], + [ + 453.046, + -342.426, + 224.888, + 0, + 179.007, + 0 + ], + [ + 327.206, + -340.245, + 224.888, + 0, + 179.007, + 0 + ], + [ + 201.366, + -338.063, + 224.888, + 0, + 179.007, + 0 + ], + [ + 201.366, + -338.063, + 224.888, + 0, + 154.007, + 0 + ], + [ + 88.238, + -282.904, + 224.888, + 0, + 154.007, + 0 + ], + [ + -24.891, + -227.745, + 228.513, + 0, + 154.007, + 0 + ], + [ + -68.945, + -171.33, + 237.29, + 0, + 154.007, + 0 + ], + [ + -68.945, + -171.33, + 237.489, + 0, + 154.007, + 0 + ], + [ + -68.945, + -171.33, + 237.489, + 0, + 154.007, + 0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ] +} diff --git a/benchmark/trajectory/Medieval_Daytime/task_x001028_y-000890_z000295_t4_a/infos.json b/benchmark/trajectory/Medieval_Daytime/task_x001028_y-000890_z000295_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..2b1425216e9198a7dc87451098d338f25e401bc0 --- /dev/null +++ b/benchmark/trajectory/Medieval_Daytime/task_x001028_y-000890_z000295_t4_a/infos.json @@ -0,0 +1,117 @@ +{ + "Instruction": "Head toward the wooden door with the decorative metal grille and pull it open.", + "Type": 4, + "Start_Pose": [ + 1028.057, + -889.911, + 295.144, + 0.0, + 59.007, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1028.057, + -889.911, + 295.144, + 0.0, + 59.007, + -0.0 + ], + [ + 1088.673, + -784.916, + 295.144, + 0.0, + 59.007, + -0.0 + ], + [ + 1101.289, + -685.355, + 295.144, + 0.0, + 59.007, + -0.0 + ], + [ + 1166.098, + -577.465, + 295.144, + 0.0, + 59.007, + -0.0 + ], + [ + 1230.907, + -469.575, + 295.144, + 0.0, + 59.007, + -0.0 + ], + [ + 1239.185, + -364.509, + 295.144, + 0.0, + 59.007, + -0.0 + ], + [ + 1239.762, + -260.613, + 295.144, + 0.0, + 59.007, + -0.0 + ], + [ + 1239.762, + -260.613, + 295.144, + 0.0, + 34.007, + -0.0 + ], + [ + 1239.762, + -260.613, + 295.144, + 0.0, + 34.007, + -0.0 + ], + [ + 1239.762, + -260.613, + 295.144, + 0.0, + 34.007, + -0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ] +} diff --git a/benchmark/trajectory/Medieval_Daytime/task_x001062_y000510_z000244_t4_a/infos.json b/benchmark/trajectory/Medieval_Daytime/task_x001062_y000510_z000244_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..60c241b89cf4b79ca6f62706b33ea0a6425919e7 --- /dev/null +++ b/benchmark/trajectory/Medieval_Daytime/task_x001062_y000510_z000244_t4_a/infos.json @@ -0,0 +1,127 @@ +{ + "Instruction": "The small wooden door tucked beneath the timber arches and ivy is your target. Make your way there and pull it open.", + "Type": 4, + "Start_Pose": [ + 1062.145, + 510.309, + 243.504, + 0, + 119.007, + 0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "TurnLeft", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1062.145, + 510.309, + 243.504, + 0, + 119.007, + 0 + ], + [ + 1062.145, + 510.309, + 243.504, + 0, + 144.007, + 0 + ], + [ + 960.314, + 584.275, + 242.557, + 0, + 144.007, + 0 + ], + [ + 858.483, + 658.24, + 233.545, + 0, + 144.007, + 0 + ], + [ + 756.652, + 732.206, + 227.085, + 0, + 144.007, + 0 + ], + [ + 654.821, + 806.171, + 240.868, + 0, + 144.007, + 0 + ], + [ + 560.84, + 810.823, + 241.338, + 0, + 144.007, + 0 + ], + [ + 560.84, + 810.823, + 241.338, + 0, + 119.007, + 0 + ], + [ + 560.84, + 810.823, + 241.338, + 0, + 94.007, + 0 + ], + [ + 560.84, + 810.823, + 241.211, + 0, + 94.007, + 0 + ], + [ + 560.84, + 810.823, + 241.211, + 0, + 94.007, + 0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ] +} diff --git a/benchmark/trajectory/Medieval_Daytime/task_x001191_y-001012_z000681_t4_a/infos.json b/benchmark/trajectory/Medieval_Daytime/task_x001191_y-001012_z000681_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..843947410be7b3e4d1f6c037e738a19b92dad33b --- /dev/null +++ b/benchmark/trajectory/Medieval_Daytime/task_x001191_y-001012_z000681_t4_a/infos.json @@ -0,0 +1,107 @@ +{ + "Instruction": "Locate the partially visible door on the right edge of the scene, then open it.", + "Type": 4, + "Start_Pose": [ + 1190.77, + -1011.885, + 680.531, + 0.0, + 39.007, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1190.77, + -1011.885, + 680.531, + 0.0, + 39.007, + -0.0 + ], + [ + 1190.769, + -1011.987, + 680.531, + 0.0, + 64.007, + -0.0 + ], + [ + 1237.278, + -1010.139, + 680.531, + 0.0, + 64.007, + -0.0 + ], + [ + 1237.278, + -1010.139, + 680.531, + 0.0, + 89.007, + -0.0 + ], + [ + 1275.386, + -945.372, + 680.531, + 0.0, + 89.007, + -0.0 + ], + [ + 1277.567, + -819.532, + 680.531, + 0.0, + 89.007, + -0.0 + ], + [ + 1279.748, + -693.692, + 679.808, + 0.0, + 89.007, + -0.0 + ], + [ + 1279.748, + -693.692, + 679.904, + 0.0, + 89.007, + -0.0 + ], + [ + 1279.748, + -693.692, + 679.904, + 0.0, + 89.007, + -0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ] +} diff --git a/benchmark/trajectory/Medieval_Daytime/task_x001281_y000651_z000289_t1_a/infos.json b/benchmark/trajectory/Medieval_Daytime/task_x001281_y000651_z000289_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..c7982bf5080576c2dccea4d04ea874b4d0331a79 --- /dev/null +++ b/benchmark/trajectory/Medieval_Daytime/task_x001281_y000651_z000289_t1_a/infos.json @@ -0,0 +1,177 @@ +{ + "Instruction": "Search for the bench situated beside the open-lidded wooden barrel; after locating it, proceed to that spot.", + "Type": 1, + "Start_Pose": [ + 1280.51, + 651.087, + 288.871, + 0, + 99.007, + 0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1280.51, + 651.087, + 288.871, + 0, + 99.007, + 0 + ], + [ + 1280.51, + 651.087, + 288.754, + 0, + 124.007, + 0 + ], + [ + 1280.51, + 651.087, + 288.754, + 0, + 149.007, + 0 + ], + [ + 1280.51, + 651.087, + 288.754, + 0, + 174.007, + 0 + ], + [ + 1189.892, + 678.409, + 281.227, + 0, + 174.007, + 0 + ], + [ + 1076.609, + 703.524, + 251.782, + 0, + 174.007, + 0 + ], + [ + 1076.609, + 703.524, + 251.782, + 0, + -160.993, + 0 + ], + [ + 957.612, + 662.533, + 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b/benchmark/trajectory/Medieval_Daytime/task_x001339_y-000191_z000680_t4_a/infos.json @@ -0,0 +1,97 @@ +{ + "Instruction": "Head to the wooden door with the small window straight ahead beside the row of barrels and pull it open.", + "Type": 4, + "Start_Pose": [ + 1339.412, + -191.18, + 679.808, + 0.0, + 99.007, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1339.412, + -191.18, + 679.808, + 0.0, + 99.007, + -0.0 + ], + [ + 1319.708, + -66.873, + 679.808, + 0.0, + 99.007, + -0.0 + ], + [ + 1303.696, + 57.312, + 679.8, + 0.0, + 99.007, + -0.0 + ], + [ + 1300.089, + 178.574, + 679.808, + 0.0, + 99.007, + -0.0 + ], + [ + 1280.385, + 302.881, + 679.42, + 0.0, + 99.007, + -0.0 + ], + [ + 1260.952, + 424.181, + 679.808, + 0.0, + 99.007, + -0.0 + ], + [ + 1260.952, + 424.181, + 679.808, + 0.0, + 99.007, + -0.0 + ], + [ + 1260.952, + 424.181, + 679.808, + 0.0, + 99.007, + -0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ] +} diff --git a/benchmark/trajectory/Medieval_Daytime/task_x001361_y000116_z000680_t4_a/infos.json b/benchmark/trajectory/Medieval_Daytime/task_x001361_y000116_z000680_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..a42f776c482835a0fa45d89ebe05f91d50458327 --- /dev/null +++ b/benchmark/trajectory/Medieval_Daytime/task_x001361_y000116_z000680_t4_a/infos.json @@ -0,0 +1,137 @@ +{ + "Instruction": "Walk over to the wooden door with the barred window and pull it open.", + "Type": 4, + "Start_Pose": [ + 1360.878, + 116.07, + 679.808, + 0.0, + -100.993, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1360.878, + 116.07, + 679.808, + 0.0, + -100.993, + 0.0 + ], + [ + 1336.878, + -7.48, + 679.526, + 0.0, + -100.993, + 0.0 + ], + [ + 1336.878, + -7.48, + 679.526, + 0.0, + -125.993, + 0.0 + ], + [ + 1305.795, + -99.432, + 679.808, + 0.0, + -125.993, + 0.0 + ], + [ + 1305.795, + -99.432, + 679.808, + 0.0, + -100.993, + 0.0 + ], + [ + 1286.562, + -222.738, + 679.808, + 0.0, + -100.993, + 0.0 + ], + [ + 1262.563, + -346.288, + 679.808, + 0.0, + -100.993, + 0.0 + ], + [ + 1238.563, + -469.837, + 679.029, + 0.0, + -100.993, + 0.0 + ], + [ + 1215.821, + -577.586, + 679.626, + 0.0, + -100.993, + 0.0 + ], + [ + 1215.821, + -577.586, + 679.626, + 0.0, + -75.993, + 0.0 + ], + [ + 1221.115, + -577.259, + 679.643, + 0.0, + -75.993, + 0.0 + ], + [ + 1221.115, + -577.259, + 679.643, + 0.0, + -75.993, + 0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ] +} diff --git a/benchmark/trajectory/Medieval_Daytime/task_x001397_y-001209_z000680_t4_a/infos.json b/benchmark/trajectory/Medieval_Daytime/task_x001397_y-001209_z000680_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..cf3ce933dc81aded917f08d3f1aa42e0538fd516 --- /dev/null +++ b/benchmark/trajectory/Medieval_Daytime/task_x001397_y-001209_z000680_t4_a/infos.json @@ -0,0 +1,117 @@ +{ + "Instruction": "Walk over to the door with the windowed panel at the end of the hallway and pull it open.", + "Type": 4, + "Start_Pose": [ + 1397.264, + -1209.225, + 679.808, + 0.0, + 79.007, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1397.264, + -1209.225, + 679.808, + 0.0, + 79.007, + -0.0 + ], + [ + 1389.86, + -1095.726, + 679.808, + 0.0, + 79.007, + -0.0 + ], + [ + 1399.642, + -996.794, + 679.808, + 0.0, + 79.007, + -0.0 + ], + [ + 1399.642, + -996.794, + 679.808, + 0.0, + 104.007, + -0.0 + ], + [ + 1360.277, + -980.659, + 679.808, + 0.0, + 104.007, + -0.0 + ], + [ + 1322.993, + -864.316, + 680.493, + 0.0, + 104.007, + -0.0 + ], + [ + 1292.53, + -742.199, + 680.493, + 0.0, + 104.007, + -0.0 + ], + [ + 1263.986, + -670.771, + 681.195, + 0.0, + 104.007, + -0.0 + ], + [ + 1263.986, + -670.771, + 681.195, + 0.0, + 104.007, + -0.0 + ], + [ + 1263.986, + -670.771, + 681.195, + 0.0, + 104.007, + -0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ] +} diff --git a/benchmark/trajectory/Medieval_Daytime/task_x001405_y000705_z000680_t4_a/infos.json b/benchmark/trajectory/Medieval_Daytime/task_x001405_y000705_z000680_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..ffcf2f73431a217847f189080b28957e51e4b0c8 --- /dev/null +++ b/benchmark/trajectory/Medieval_Daytime/task_x001405_y000705_z000680_t4_a/infos.json @@ -0,0 +1,67 @@ +{ + "Instruction": "Walk over to the rustic wooden door with the small window pane above it and pull it open.", + "Type": 4, + "Start_Pose": [ + 1405.255, + 704.892, + 679.808, + 0.0, + -120.993, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1405.255, + 704.892, + 679.808, + 0.0, + -120.993, + 0.0 + ], + [ + 1340.446, + 597.002, + 679.808, + 0.0, + -120.993, + 0.0 + ], + [ + 1274.438, + 517.458, + 679.808, + 0.0, + -120.993, + 0.0 + ], + [ + 1274.438, + 517.458, + 679.808, + 0.0, + -120.993, + 0.0 + ], + [ + 1274.438, + 517.458, + 679.808, + 0.0, + -120.993, + 0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 1, + 1 + ] +} diff --git a/benchmark/trajectory/Medieval_Daytime/task_x001423_y-000517_z000295_t1_a/infos.json b/benchmark/trajectory/Medieval_Daytime/task_x001423_y-000517_z000295_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..b0b360cb159d5c48eed2afe7916a85c2e25db178 --- /dev/null +++ b/benchmark/trajectory/Medieval_Daytime/task_x001423_y-000517_z000295_t1_a/infos.json @@ -0,0 +1,114 @@ +{ + "Instruction": "Locate the bottom landing of the wooden staircase where the steps meet the stone floor; navigate to that spot.", + "Type": 1, + "Start_Pose": [ + 1422.848, + -517.312, + 295.144, + 0.0, + 139.007, + -0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1422.848, + -517.312, + 295.144, + 0.0, + 139.007, + -0.0 + ], + [ + 1422.848, + -517.312, + 295.144, + 0.0, + 114.007, + -0.0 + ], + [ + 1422.848, + -517.312, + 295.144, + 0.0, + 89.007, + -0.0 + ], + [ + 1422.848, + -517.312, + 295.144, + 0.0, + 64.007, + -0.0 + ], + [ + 1422.848, + -517.312, + 295.144, + 0.0, + 39.007, + -0.0 + ], + [ + 1520.649, + -438.094, + 295.144, + 0.0, + 39.007, + -0.0 + ], + [ + 1618.45, + -358.877, + 295.144, + 0.0, + 39.007, + -0.0 + ], + [ + 1618.45, + -358.877, + 295.144, + 0.0, + 14.007, + -0.0 + ], + [ + 1740.567, + -328.414, + 295.144, + 0.0, + 14.007, + -0.0 + ], + [ + 1862.684, + -297.951, + 295.144, + 0.0, + 14.007, + -0.0 + ], + [ + 1862.684, + -297.951, + 295.144, + 0.0, + 14.007, + -0.0 + ] + ] +} diff --git a/benchmark/trajectory/Medieval_Daytime/task_x001423_y-000517_z000295_t1_b/infos.json b/benchmark/trajectory/Medieval_Daytime/task_x001423_y-000517_z000295_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..02d5111f55e98e636bab1f2dadc152f36af54b3c --- /dev/null +++ b/benchmark/trajectory/Medieval_Daytime/task_x001423_y-000517_z000295_t1_b/infos.json @@ -0,0 +1,132 @@ +{ + "Instruction": "Search for the burlap sacks resting on the ground beside the staircase, then move toward them.", + "Type": 1, + "Start_Pose": [ + 1422.848, + -517.312, + 295.144, + 0.0, + 139.007, + -0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "LookDown", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1422.848, + -517.312, + 295.144, + 0.0, + 139.007, + -0.0 + ], + [ + 1422.848, + -517.312, + 295.144, + 0.0, + 114.007, + -0.0 + ], + [ + 1422.848, + -517.312, + 295.144, + 0.0, + 89.007, + -0.0 + ], + [ + 1422.848, + -517.312, + 295.144, + 0.0, + 64.007, + -0.0 + ], + [ + 1422.848, + -517.312, + 295.144, + 0.0, + 39.007, + -0.0 + ], + [ + 1422.848, + -517.312, + 295.144, + 0.0, + 14.007, + -0.0 + ], + [ + 1544.965, + -486.849, + 295.144, + 0.0, + 14.007, + -0.0 + ], + [ + 1667.081, + -456.386, + 295.144, + 0.0, + 14.007, + -0.0 + ], + [ + 1789.198, + -425.923, + 295.144, + 0.0, + 14.007, + -0.0 + ], + [ + 1911.315, + -395.46, + 295.144, + 0.0, + 14.007, + -0.0 + ], + [ + 2002.88, + -370.36, + 295.144, + 0.0, + 14.007, + -0.0 + ], + [ + 2002.88, + -370.36, + 295.144, + 0.0, + 14.007, + -0.0 + ], + [ + 2002.88, + -370.36, + 295.144, + 0.0, + 14.007, + -0.0 + ] + ] +} diff --git a/benchmark/trajectory/Medieval_Daytime/task_x001423_y-000517_z000295_t1_c/infos.json b/benchmark/trajectory/Medieval_Daytime/task_x001423_y-000517_z000295_t1_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..3822bde1fe387ecc6d85e7323c3950e9f243271b --- /dev/null +++ b/benchmark/trajectory/Medieval_Daytime/task_x001423_y-000517_z000295_t1_c/infos.json @@ -0,0 +1,159 @@ +{ + "Instruction": "Find the large arched stone fireplace built into the wall beside the dining table, then go to it.", + "Type": 1, + "Start_Pose": [ + 1422.848, + -517.312, + 295.144, + 0.0, + 139.007, + -0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1422.848, + -517.312, + 295.144, + 0.0, + 139.007, + -0.0 + ], + [ + 1422.848, + -517.312, + 295.144, + 0.0, + 114.007, + -0.0 + ], + [ + 1422.848, + -517.312, + 295.144, + 0.0, + 89.007, + -0.0 + ], + [ + 1422.848, + -517.312, + 295.144, + 0.0, + 64.007, + -0.0 + ], + [ + 1478.007, + -404.184, + 295.144, + 0.0, + 64.007, + -0.0 + ], + [ + 1533.166, + -291.056, + 295.144, + 0.0, + 64.007, + -0.0 + ], + [ + 1533.166, + -291.056, + 295.144, + 0.0, + 39.007, + -0.0 + ], + [ + 1630.967, + -211.838, + 295.144, + 0.0, + 39.007, + -0.0 + ], + [ + 1728.769, + -132.621, + 295.144, + 0.0, + 39.007, + -0.0 + ], + [ + 1826.57, + -53.403, + 295.144, + 0.0, + 39.007, + -0.0 + ], + [ + 1924.371, + 25.815, + 295.144, + 0.0, + 39.007, + -0.0 + ], + [ + 1924.371, + 25.815, + 295.144, + 0.0, + 64.007, + -0.0 + ], + [ + 1979.53, + 138.943, + 295.144, + 0.0, + 64.007, + -0.0 + ], + [ + 1979.53, + 138.943, + 295.144, + 0.0, + 39.007, + -0.0 + ], + [ + 2030.347, + 213.406, + 295.144, + 0.0, + 39.007, + -0.0 + ], + [ + 2030.347, + 213.406, + 295.144, + 0.0, + 39.007, + -0.0 + ] + ] +} diff --git a/benchmark/trajectory/Medieval_Daytime/task_x001876_y000046_z000295_t4_a/infos.json b/benchmark/trajectory/Medieval_Daytime/task_x001876_y000046_z000295_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..82083f57f591579e12eb1f28f540dbcea675da1e --- /dev/null +++ b/benchmark/trajectory/Medieval_Daytime/task_x001876_y000046_z000295_t4_a/infos.json @@ -0,0 +1,117 @@ +{ + "Instruction": "Head to the wooden door with the cross-brace pattern to the left of the dining tables and pull it open.", + "Type": 4, + "Start_Pose": [ + 1876.188, + 46.377, + 295.144, + 0.0, + -120.993, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1876.188, + 46.377, + 295.144, + 0.0, + -120.993, + 0.0 + ], + [ + 1811.379, + -61.513, + 295.144, + 0.0, + -120.993, + 0.0 + ], + [ + 1742.186, + -159.638, + 295.144, + 0.0, + -120.993, + 0.0 + ], + [ + 1742.186, + -159.638, + 295.144, + 0.0, + -145.993, + 0.0 + ], + [ + 1637.853, + -230.03, + 295.144, + 0.0, + -145.993, + 0.0 + ], + [ + 1637.853, + -230.03, + 295.144, + 0.0, + -170.993, + 0.0 + ], + [ + 1513.545, + -249.734, + 295.144, + 0.0, + -170.993, + 0.0 + ], + [ + 1389.238, + -269.438, + 295.144, + 0.0, + -170.993, + 0.0 + ], + [ + 1389.238, + -269.438, + 295.144, + 0.0, + -170.993, + 0.0 + ], + [ + 1389.238, + -269.438, + 295.144, + 0.0, + -170.993, + 0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ] +} diff --git a/benchmark/trajectory/Medieval_Daytime/task_x001913_y-000003_z000680_t4_a/infos.json b/benchmark/trajectory/Medieval_Daytime/task_x001913_y-000003_z000680_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..1281d7eecf0008878899bdc1fe1b7f75d4bde280 --- /dev/null +++ b/benchmark/trajectory/Medieval_Daytime/task_x001913_y-000003_z000680_t4_a/infos.json @@ -0,0 +1,87 @@ +{ + "Instruction": "Head toward the wooden door with the barred window, and pull it open when you arrive.", + "Type": 4, + "Start_Pose": [ + 1913.012, + -3.397, + 679.505, + 0.0, + 59.007, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1913.012, + -3.397, + 679.505, + 0.0, + 59.007, + -0.0 + ], + [ + 1977.821, + 104.493, + 679.609, + 0.0, + 59.007, + -0.0 + ], + [ + 2042.63, + 212.383, + 679.609, + 0.0, + 59.007, + -0.0 + ], + [ + 2091.333, + 320.054, + 679.201, + 0.0, + 59.007, + -0.0 + ], + [ + 2147.428, + 416.297, + 679.808, + 0.0, + 59.007, + -0.0 + ], + [ + 2147.428, + 416.297, + 679.808, + 0.0, + 59.007, + -0.0 + ], + [ + 2147.428, + 416.297, + 679.808, + 0.0, + 59.007, + -0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ] +} diff --git a/benchmark/trajectory/Medieval_Daytime/task_x001993_y000705_z000680_t4_a/infos.json b/benchmark/trajectory/Medieval_Daytime/task_x001993_y000705_z000680_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..88ea9d8cc5de7e2dc7b31b40bec9442941778fe1 --- /dev/null +++ b/benchmark/trajectory/Medieval_Daytime/task_x001993_y000705_z000680_t4_a/infos.json @@ -0,0 +1,87 @@ +{ + "Instruction": "Head toward the wooden door near the hanging banner and open it to exit the room.", + "Type": 4, + "Start_Pose": [ + 1993.235, + 704.733, + 679.808, + 0.0, + -80.993, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1993.235, + 704.733, + 679.808, + 0.0, + -80.993, + 0.0 + ], + [ + 1993.235, + 704.733, + 679.808, + 0.0, + -55.993, + 0.0 + ], + [ + 2063.627, + 600.4, + 679.431, + 0.0, + -55.993, + 0.0 + ], + [ + 2131.041, + 530.667, + 679.808, + 0.0, + -55.993, + 0.0 + ], + [ + 2204.794, + 515.819, + 679.808, + 0.0, + -55.993, + 0.0 + ], + [ + 2204.794, + 515.819, + 679.808, + 0.0, + -55.993, + 0.0 + ], + [ + 2204.794, + 515.819, + 679.808, + 0.0, + -55.993, + 0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ] +} diff --git a/benchmark/trajectory/Medieval_Daytime/task_x002001_y000705_z000680_t4_a/infos.json b/benchmark/trajectory/Medieval_Daytime/task_x002001_y000705_z000680_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..470a6a19c34af97a4178fed477533392ed3f4286 --- /dev/null +++ b/benchmark/trajectory/Medieval_Daytime/task_x002001_y000705_z000680_t4_a/infos.json @@ -0,0 +1,117 @@ +{ + "Instruction": "Find the exit to the room, head over to the door, and open it.", + "Type": 4, + "Start_Pose": [ + 2000.839, + 704.892, + 679.808, + 0.0, + -160.993, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2000.839, + 704.892, + 679.808, + 0.0, + -160.993, + 0.0 + ], + [ + 2000.839, + 704.892, + 679.808, + 0.0, + -135.993, + 0.0 + ], + [ + 2000.839, + 704.892, + 679.808, + 0.0, + -110.993, + 0.0 + ], + [ + 2000.839, + 704.892, + 679.808, + 0.0, + -85.993, + 0.0 + ], + [ + 2000.839, + 704.892, + 679.808, + 0.0, + -60.993, + 0.0 + ], + [ + 2055.82, + 593.919, + 679.459, + 0.0, + -60.993, + 0.0 + ], + [ + 2112.16, + 530.655, + 679.808, + 0.0, + -60.993, + 0.0 + ], + [ + 2172.27, + 523.002, + 679.808, + 0.0, + -60.993, + 0.0 + ], + [ + 2172.27, + 523.002, + 679.808, + 0.0, + -60.993, + 0.0 + ], + [ + 2172.27, + 523.002, + 679.808, + 0.0, + -60.993, + 0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ] +} diff --git a/benchmark/trajectory/Medieval_Daytime/task_x002175_y-000554_z000295_t4_a/infos.json b/benchmark/trajectory/Medieval_Daytime/task_x002175_y-000554_z000295_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..5dd143d3bbc8022014298e595166a736c392507f --- /dev/null +++ b/benchmark/trajectory/Medieval_Daytime/task_x002175_y-000554_z000295_t4_a/infos.json @@ -0,0 +1,127 @@ +{ + "Instruction": "Walk toward the wooden door straight ahead across the dining hall, and after reaching it, pull it open.", + "Type": 4, + "Start_Pose": [ + 2175.353, + -554.487, + 294.981, + 0.0, + 179.007, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2175.353, + -554.487, + 294.981, + 0.0, + 179.007, + -0.0 + ], + [ + 2049.513, + -552.306, + 295.144, + 0.0, + 179.007, + -0.0 + ], + [ + 1923.673, + -550.125, + 295.144, + 0.0, + 179.007, + -0.0 + ], + [ + 1923.673, + -550.125, + 295.144, + 0.0, + 154.007, + -0.0 + ], + [ + 1810.545, + -494.966, + 295.144, + 0.0, + 154.007, + -0.0 + ], + [ + 1697.417, + -439.806, + 295.144, + 0.0, + 154.007, + -0.0 + ], + [ + 1584.289, + -384.647, + 295.144, + 0.0, + 154.007, + -0.0 + ], + [ + 1471.161, + -329.488, + 295.144, + 0.0, + 154.007, + -0.0 + ], + [ + 1358.032, + -274.329, + 295.144, + 0.0, + 154.007, + -0.0 + ], + [ + 1358.032, + -274.329, + 295.144, + 0.0, + 154.007, + -0.0 + ], + [ + 1358.032, + -274.329, + 295.144, + 0.0, + 154.007, + -0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ] +} diff --git a/benchmark/trajectory/Medieval_Daytime/task_x002220_y-000238_z000502_t4_a/infos.json b/benchmark/trajectory/Medieval_Daytime/task_x002220_y-000238_z000502_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..1231a15a53af966f14bda048fe6e5d264d7f8929 --- /dev/null +++ b/benchmark/trajectory/Medieval_Daytime/task_x002220_y-000238_z000502_t4_a/infos.json @@ -0,0 +1,117 @@ +{ + "Instruction": "Walk over to the wooden door straight ahead beyond the dining table and pull it open.", + "Type": 4, + "Start_Pose": [ + 2220.468, + -237.534, + 501.897, + 0, + 179.007, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2220.468, + -237.534, + 501.897, + 0, + 179.007, + 0 + ], + [ + 2094.628, + -235.353, + 434.599, + 0, + 179.007, + 0 + ], + [ + 1968.788, + -233.172, + 352.542, + 0, + 179.007, + 0 + ], + [ + 1842.948, + -230.991, + 295.144, + 0, + 179.007, + 0 + ], + [ + 1717.108, + -228.809, + 295.144, + 0, + 179.007, + 0 + ], + [ + 1591.267, + -226.628, + 295.144, + 0, + 179.007, + 0 + ], + [ + 1465.427, + -224.447, + 295.144, + 0, + 179.007, + 0 + ], + [ + 1343.042, + -222.296, + 295.144, + 0, + 179.007, + 0 + ], + [ + 1343.042, + -222.296, + 295.144, + 0, + 179.007, + 0 + ], + [ + 1343.042, + -222.296, + 295.144, + 0, + 179.007, + 0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ] +} diff --git a/benchmark/trajectory/Medieval_Daytime/task_x002302_y-000521_z000295_t4_a/infos.json b/benchmark/trajectory/Medieval_Daytime/task_x002302_y-000521_z000295_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..10fad32af1ad52fb9787b7c498d1f196cd980703 --- /dev/null +++ b/benchmark/trajectory/Medieval_Daytime/task_x002302_y-000521_z000295_t4_a/infos.json @@ -0,0 +1,187 @@ +{ + "Instruction": "Head toward the wooden door set into the stone wall near the shelves and pottery, then pull it open.", + "Type": 4, + "Start_Pose": [ + 2302.246, + -521.073, + 295.144, + 0.0, + -40.993, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2302.246, + -521.073, + 295.144, + 0.0, + -40.993, + 0.0 + ], + [ + 2397.243, + -603.632, + 286.279, + 0.0, + -40.993, + 0.0 + ], + [ + 2397.243, + -603.632, + 286.279, + 0.0, + -65.993, + 0.0 + ], + [ + 2458.709, + -690.96, + 291.2, + 0.0, + -65.993, + 0.0 + ], + [ + 2509.914, + -805.932, + 228.275, + 0.0, + -65.993, + 0.0 + ], + [ + 2561.12, + -920.904, + 228.275, + 0.0, + -65.993, + 0.0 + ], + [ + 2561.12, + -920.904, + 228.275, + 0.0, + -40.993, + 0.0 + ], + [ + 2561.12, + -920.904, + 228.275, + 0.0, + -15.993, + 0.0 + ], + [ + 2659.612, + -968.212, + 228.275, + 0.0, + -15.993, + 0.0 + ], + [ + 2780.599, + -1002.888, + 228.275, + 0.0, + -15.993, + 0.0 + ], + [ + 2898.55, + -1032.699, + 228.275, + 0.0, + -15.993, + 0.0 + ], + [ + 3000.375, + -1028.007, + 228.275, + 0.0, + -15.993, + 0.0 + ], + [ + 3121.363, + -1062.684, + 228.275, + 0.0, + -15.993, + 0.0 + ], + [ + 3121.363, + -1062.684, + 228.275, + 0.0, + 9.007, + -0.0 + ], + [ + 3241.078, + -1042.845, + 228.275, + 0.0, + 9.007, + -0.0 + ], + [ + 3241.078, + -1042.845, + 228.275, + 0.0, + 9.007, + -0.0 + ], + [ + 3241.078, + -1042.845, + 228.275, + 0.0, + 9.007, + -0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ] +} diff --git a/benchmark/trajectory/Medieval_Daytime/task_x002451_y-001048_z000228_t4_a/infos.json b/benchmark/trajectory/Medieval_Daytime/task_x002451_y-001048_z000228_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..b2d567b86f1edd414fdb42e36dc6bb001ed0f6c4 --- /dev/null +++ b/benchmark/trajectory/Medieval_Daytime/task_x002451_y-001048_z000228_t4_a/infos.json @@ -0,0 +1,137 @@ +{ + "Instruction": "Walk over to the wooden door set against the stone wall on the left and pull it open.", + "Type": 4, + "Start_Pose": [ + 2450.754, + -1048.377, + 228.275, + 0, + 39.007, + 0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2450.754, + -1048.377, + 228.275, + 0, + 39.007, + 0 + ], + [ + 2450.754, + -1048.377, + 228.275, + 0, + 14.007, + 0 + ], + [ + 2561.033, + -1007.612, + 228.275, + 0, + 14.007, + 0 + ], + [ + 2683.15, + -977.149, + 228.275, + 0, + 14.007, + 0 + ], + [ + 2804.589, + -963.195, + 228.275, + 0, + 14.007, + 0 + ], + [ + 2925.453, + -963.645, + 228.275, + 0, + 14.007, + 0 + ], + [ + 3046.986, + -952.684, + 228.275, + 0, + 14.007, + 0 + ], + [ + 3046.986, + -952.684, + 228.275, + 0, + -10.993, + 0 + ], + [ + 3163.24, + -985.44, + 228.275, + 0, + -10.993, + 0 + ], + [ + 3254.56, + -1011.113, + 228.175, + 0, + -10.993, + 0 + ], + [ + 3254.56, + -1011.113, + 228.175, + 0, + -10.993, + 0 + ], + [ + 3254.56, + -1011.113, + 228.175, + 0, + -10.993, + 0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ] +} diff --git a/benchmark/trajectory/Medieval_Daytime/task_x003108_y-001013_z000228_t4_a/infos.json b/benchmark/trajectory/Medieval_Daytime/task_x003108_y-001013_z000228_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..5d9f36b54acd033dde55ab32f2283bed116e2352 --- /dev/null +++ b/benchmark/trajectory/Medieval_Daytime/task_x003108_y-001013_z000228_t4_a/infos.json @@ -0,0 +1,57 @@ +{ + "Instruction": "Walk over to the wooden plank door beside the barrel and pull it open.", + "Type": 4, + "Start_Pose": [ + 3108.328, + -1013.482, + 228.275, + 0.0, + 19.007, + -0.0 + ], + "Action": [ + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3108.328, + -1013.482, + 228.275, + 0.0, + 19.007, + -0.0 + ], + [ + 3226.776, + -987.314, + 228.275, + 0.0, + 19.007, + -0.0 + ], + [ + 3226.776, + -987.314, + 228.275, + 0.0, + 19.007, + -0.0 + ], + [ + 3226.776, + -987.314, + 228.275, + 0.0, + 19.007, + -0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 1, + 1 + ] +} diff --git a/benchmark/trajectory/Medieval_Daytime/task_x003128_y-000663_z000228_t1_a/infos.json b/benchmark/trajectory/Medieval_Daytime/task_x003128_y-000663_z000228_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..7966111b3c14331f43fad795c2135d6cff86027c --- /dev/null +++ b/benchmark/trajectory/Medieval_Daytime/task_x003128_y-000663_z000228_t1_a/infos.json @@ -0,0 +1,105 @@ +{ + "Instruction": "Discover the round backless stool among the wooden furniture and reach it.", + "Type": 1, + "Start_Pose": [ + 3128.058, + -662.991, + 228.275, + 0, + 139.007, + 0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3128.058, + -662.991, + 228.275, + 0, + 139.007, + 0 + ], + [ + 3128.058, + -662.991, + 228.275, + 0, + 164.007, + 0 + ], + [ + 3128.058, + -662.991, + 228.275, + 0, + -170.993, + 0 + ], + [ + 3128.058, + -662.991, + 228.275, + 0, + -145.993, + 0 + ], + [ + 3128.058, + -662.991, + 228.275, + 0, + -120.993, + 0 + ], + [ + 3063.249, + -770.881, + 228.275, + 0, + -120.993, + 0 + ], + [ + 3043.28, + -873.68, + 228.275, + 0, + -120.993, + 0 + ], + [ + 3043.28, + -873.68, + 228.275, + 0, + -95.993, + 0 + ], + [ + 3033.538, + -998.533, + 228.275, + 0, + -95.993, + 0 + ], + [ + 3033.538, + -998.533, + 228.275, + 0, + -95.993, + 0 + ] + ] +} diff --git a/benchmark/trajectory/Medieval_Daytime/task_x003925_y-001551_z000232_t4_a/infos.json b/benchmark/trajectory/Medieval_Daytime/task_x003925_y-001551_z000232_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..17554e5b1b800321d6f57bb475b8f745159442e2 --- /dev/null +++ b/benchmark/trajectory/Medieval_Daytime/task_x003925_y-001551_z000232_t4_a/infos.json @@ -0,0 +1,137 @@ +{ + "Instruction": "Head toward the wooden door on the stone cottage and open it.", + "Type": 4, + "Start_Pose": [ + 3924.722, + -1551.348, + 232.307, + 0, + 119.007, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3924.722, + -1551.348, + 232.307, + 0, + 119.007, + 0 + ], + [ + 3863.691, + -1441.277, + 229.663, + 0, + 119.007, + 0 + ], + [ + 3802.66, + -1331.205, + 226.572, + 0, + 119.007, + 0 + ], + [ + 3741.629, + -1221.134, + 224.523, + 0, + 119.007, + 0 + ], + [ + 3741.629, + -1221.134, + 224.523, + 0, + 144.007, + 0 + ], + [ + 3639.797, + -1147.168, + 221.341, + 0, + 144.007, + 0 + ], + [ + 3537.966, + -1073.203, + 218.405, + 0, + 144.007, + 0 + ], + [ + 3537.966, + -1073.203, + 218.405, + 0, + 169.007, + 0 + ], + [ + 3414.417, + -1049.203, + 213.339, + 0, + 169.007, + 0 + ], + [ + 3345.379, + -1018.582, + 212.795, + 0, + 169.007, + 0 + ], + [ + 3345.834, + -1018.572, + 212.497, + 0, + 169.007, + 0 + ], + [ + 3345.834, + -1018.572, + 212.497, + 0, + 169.007, + 0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ] +} diff --git a/benchmark/trajectory/Medieval_Daytime/task_x004059_y-000440_z000238_t4_a/infos.json b/benchmark/trajectory/Medieval_Daytime/task_x004059_y-000440_z000238_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..6ef2b70ce6465104679042409c6fc214cca19261 --- /dev/null +++ b/benchmark/trajectory/Medieval_Daytime/task_x004059_y-000440_z000238_t4_a/infos.json @@ -0,0 +1,137 @@ +{ + "Instruction": "Locate the wooden door on the stone building; once there, open it.", + "Type": 4, + "Start_Pose": [ + 4059.031, + -440.122, + 238.072, + 0, + -120.993, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 4059.031, + -440.122, + 238.072, + 0, + -120.993, + 0 + ], + [ + 3994.222, + -548.012, + 235.156, + 0, + -120.993, + 0 + ], + [ + 3929.413, + -655.902, + 232.373, + 0, + -120.993, + 0 + ], + [ + 3929.413, + -655.902, + 232.373, + 0, + -145.993, + 0 + ], + [ + 3825.08, + -726.295, + 229.028, + 0, + -145.993, + 0 + ], + [ + 3720.747, + -796.687, + 226.033, + 0, + -145.993, + 0 + ], + [ + 3616.413, + -867.079, + 222.425, + 0, + -145.993, + 0 + ], + [ + 3512.08, + -937.471, + 217.954, + 0, + -145.993, + 0 + ], + [ + 3512.08, + -937.471, + 217.954, + 0, + -170.993, + 0 + ], + [ + 3387.773, + -957.175, + 212.891, + 0, + -170.993, + 0 + ], + [ + 3387.773, + -957.175, + 212.901, + 0, + -170.993, + 0 + ], + [ + 3387.773, + -957.175, + 212.901, + 0, + -170.993, + 0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ] +} diff --git a/benchmark/trajectory/TemplePlaza/task_x-000004_y000141_z000106_t0_a/infos.json b/benchmark/trajectory/TemplePlaza/task_x-000004_y000141_z000106_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..2b35adbaad91ee5c67a9cdb1578753dc49183adc --- /dev/null +++ b/benchmark/trajectory/TemplePlaza/task_x-000004_y000141_z000106_t0_a/infos.json @@ -0,0 +1,177 @@ +{ + "Instruction": "Walk to the white cylindrical tower with ivy.", + "Type": 0, + "Start_Pose": [ + -4.022, + 140.864, + 106.277, + 0.0, + 56.64, + -0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -4.022, + 140.864, + 106.277, + 0.0, + 56.64, + -0.0 + ], + [ + -4.022, + 140.864, + 106.277, + 0.0, + 31.64, + -0.0 + ], + [ + 103.129, + 206.887, + 106.277, + 0.0, + 31.64, + -0.0 + ], + [ + 210.281, + 272.91, + 106.04, + 0.0, + 31.64, + -0.0 + ], + [ + 317.432, + 338.933, + 111.956, + 0.0, 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b/benchmark/trajectory/TemplePlaza/task_x-000061_y000383_z000112_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..f89a4c7cc59d99bd9ea0711ac3ae3d4fffa17710 --- /dev/null +++ b/benchmark/trajectory/TemplePlaza/task_x-000061_y000383_z000112_t3_a/infos.json @@ -0,0 +1,294 @@ +{ + "Instruction": "Approach the shield on the weapon rack, then proceed to the white tower near the staircase.", + "Type": 3, + "Start_Pose": [ + -60.705, + 382.873, + 111.948, + 0.0, + 172.8, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + 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0000000000000000000000000000000000000000..e990af2b1a8b06fc4f7b6c4585466bcd1024bbeb --- /dev/null +++ b/benchmark/trajectory/TemplePlaza/task_x-000104_y001167_z000104_t2_a/infos.json @@ -0,0 +1,123 @@ +{ + "Instruction": "Walk to the base of the leftmost railing along the steps leading up to the circular building.", + "Type": 2, + "Start_Pose": [ + -103.909, + 1167.093, + 104.024, + 0.0, + -62.4, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -103.909, + 1167.093, + 104.024, + 0.0, + -62.4, + 0.0 + ], + [ + -45.599, + 1055.556, + 104.024, + 0.0, + -62.4, + 0.0 + ], + [ + -45.599, + 1055.556, + 104.024, + 0.0, + -87.4, + 0.0 + ], + [ + -39.89, + 929.827, + 104.024, + 0.0, + -87.4, + 0.0 + ], + [ + -34.18, + 804.097, + 111.272, + 0.0, + -87.4, + 0.0 + ], + [ + -28.471, + 678.368, + 112.005, + 0.0, + 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"MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -103.909, + 1167.093, + 104.024, + 0.0, + -62.4, + 0.0 + ], + [ + -45.599, + 1055.556, + 104.024, + 0.0, + -62.4, + 0.0 + ], + [ + 12.711, + 944.02, + 104.024, + 0.0, + -62.4, + 0.0 + ], + [ + 71.021, + 832.483, + 104.024, + 0.0, + -62.4, + 0.0 + ], + [ + 129.331, + 720.946, + 111.912, + 0.0, + -62.4, + 0.0 + ], + [ + 187.641, + 609.41, + 102.664, + 0.0, + -62.4, + 0.0 + ], + [ + 245.951, + 497.873, + 105.894, + 0.0, + -62.4, + 0.0 + ], + [ + 304.261, + 386.336, + 112.034, + 0.0, + -62.4, + 0.0 + ], + [ + 362.571, + 274.799, + 106.277, + 0.0, + -62.4, + 0.0 + ], + [ + 420.881, + 163.263, + 106.277, + 0.0, + -62.4, + 0.0 + ], + [ + 420.881, + 163.263, + 106.277, + 0.0, + -62.4, + 0.0 + ] + ] +} diff --git a/benchmark/trajectory/TemplePlaza/task_x-000104_y001167_z000104_t2_d/infos.json b/benchmark/trajectory/TemplePlaza/task_x-000104_y001167_z000104_t2_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..9a3d4757afded05c63ef99993c0a9c66e50fa4d6 --- /dev/null +++ b/benchmark/trajectory/TemplePlaza/task_x-000104_y001167_z000104_t2_d/infos.json @@ -0,0 +1,132 @@ +{ + "Instruction": "Move to the third stair railing base from the right.", + "Type": 2, + "Start_Pose": [ + -103.909, + 1167.093, + 104.024, + 0.0, + -62.4, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -103.909, + 1167.093, + 104.024, + 0.0, + -62.4, + 0.0 + ], + [ + -45.599, + 1055.556, + 104.024, + 0.0, + -62.4, + 0.0 + ], + [ + 12.711, + 944.02, + 104.024, + 0.0, + -62.4, + 0.0 + ], + [ + 12.711, + 944.02, + 104.024, + 0.0, + -87.4, + 0.0 + ], + [ + 18.42, + 818.29, + 107.417, 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b/benchmark/trajectory/TemplePlaza/task_x-000574_y-002236_z-000024_t1_a/infos.json @@ -0,0 +1,159 @@ +{ + "Instruction": "Explore the nearby area until you find the building's main entrance doorway, then head to that location.", + "Type": 1, + "Start_Pose": [ + -574.153, + -2235.997, + -23.723, + 0.0, + 148.8, + -0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -574.153, + -2235.997, + -23.723, + 0.0, + 148.8, + -0.0 + ], + [ + -574.153, + -2235.997, + -23.723, + 0.0, + 123.8, + -0.0 + ], + [ + -644.168, + -2131.41, + -23.723, + 0.0, + 123.8, + -0.0 + ], + [ + -714.183, + -2026.823, + -23.724, + 0.0, + 123.8, + -0.0 + ], + [ + -784.197, + -1922.236, + -23.723, + 0.0, + 123.8, + -0.0 + ], + [ + -854.212, + -1817.65, + -23.83, + 0.0, + 123.8, + 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b/benchmark/trajectory/TemplePlaza/task_x-000664_y-001053_z000008_t2_a/infos.json @@ -0,0 +1,150 @@ +{ + "Instruction": "Walk to the leftmost column near the building entrance.", + "Type": 2, + "Start_Pose": [ + -664.113, + -1052.708, + 7.662, + 0.0, + -119.04, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -664.113, + -1052.708, + 7.662, + 0.0, + -119.04, + 0.0 + ], + [ + -725.207, + -1162.744, + -23.895, + 0.0, + -119.04, + 0.0 + ], + [ + -786.302, + -1272.78, + -23.872, + 0.0, + -119.04, + 0.0 + ], + [ + -847.396, + -1382.816, + -23.858, + 0.0, + -119.04, + 0.0 + ], + [ + -847.396, + -1382.816, + -23.858, + 0.0, + -144.04, + 0.0 + ], + [ + -949.27, + -1456.723, + -23.858, + 0.0, + -144.04, + 0.0 + ], + [ + -1051.144, + -1530.63, + -23.891, + 0.0, + 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"Instruction": "Head toward the rightmost column under the portico.", + "Type": 2, + "Start_Pose": [ + -664.113, + -1052.708, + 7.662, + 0.0, + -119.04, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -664.113, + -1052.708, + 7.662, + 0.0, + -119.04, + 0.0 + ], + [ + -725.207, + -1162.744, + -23.895, + 0.0, + -119.04, + 0.0 + ], + [ + -725.207, + -1162.744, + -23.895, + 0.0, + -94.04, + 0.0 + ], + [ + -734.075, + -1288.29, + -23.895, + 0.0, + -94.04, + 0.0 + ], + [ + -742.942, + -1413.837, + -23.947, + 0.0, + -94.04, + 0.0 + ], + [ + -751.809, + -1539.383, + -23.947, + 0.0, + -94.04, + 0.0 + ], + [ + -760.676, + -1664.929, + -24.092, + 0.0, + -94.04, + 0.0 + ], + [ + -769.543, + -1790.475, + -23.777, + 0.0, + -94.04, + 0.0 + ], + [ + -778.41, + -1916.022, + -23.725, + 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0000000000000000000000000000000000000000..0e0ccbb38098be91e521d1e494f7b0384e1e497d --- /dev/null +++ b/benchmark/trajectory/TemplePlaza/task_x-001294_y-000751_z-000024_t2_e/infos.json @@ -0,0 +1,123 @@ +{ + "Instruction": "Navigate to the third column from the left near the door.", + "Type": 2, + "Start_Pose": [ + -1294.293, + -750.524, + -23.723, + 0.0, + -119.04, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1294.293, + -750.524, + -23.723, + 0.0, + -119.04, + 0.0 + ], + [ + -1355.387, + -860.56, + -23.723, + 0.0, + -119.04, + 0.0 + ], + [ + -1355.387, + -860.56, + -23.723, + 0.0, + -94.04, + 0.0 + ], + [ + -1364.255, + -986.106, + -23.8, + 0.0, + -94.04, + 0.0 + ], + [ + -1373.122, + -1111.653, + -23.8, + 0.0, + -94.04, + 0.0 + ], + [ + -1381.989, + -1237.199, + -23.791, + 0.0, + -94.04, + 0.0 + ], + [ + -1390.856, + -1362.745, + -24.068, + 0.0, + -94.04, + 0.0 + ], + [ + -1399.723, + -1488.291, + -23.816, + 0.0, + -94.04, + 0.0 + ], + [ + -1408.59, + -1613.838, + -24.104, + 0.0, + -94.04, + 0.0 + ], + [ + -1415.252, + -1737.042, + 27.443, + 0.0, + -94.04, + 0.0 + ], + [ + -1415.252, + -1737.042, + 27.443, + 0.0, + -119.04, + 0.0 + ], + [ + -1415.252, + -1737.042, + 27.443, + 0.0, + -119.04, + 0.0 + ] + ] +} diff --git a/benchmark/trajectory/TemplePlaza/task_x-001307_y-001849_z-000004_t0_a/infos.json b/benchmark/trajectory/TemplePlaza/task_x-001307_y-001849_z-000004_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..1913b6918f717eb14ac1809188ca683eb10df621 --- /dev/null +++ b/benchmark/trajectory/TemplePlaza/task_x-001307_y-001849_z-000004_t0_a/infos.json @@ -0,0 +1,105 @@ +{ + "Instruction": "Head toward the root of the stone staircase leading upward.", + "Type": 0, + "Start_Pose": [ + -1306.607, + -1849.323, + -3.85, + 0.0, + 86.4, + -0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1306.607, + -1849.323, + -3.85, + 0.0, + 86.4, + -0.0 + ], + [ + -1306.607, + -1849.323, + -3.85, + 0.0, + 61.4, + -0.0 + ], + [ + -1306.198, + -1752.05, + -3.85, + 0.0, + 61.4, + -0.0 + ], + [ + -1245.95, + -1641.548, + -6.451, + 0.0, + 61.4, + -0.0 + ], + [ + -1185.702, + -1531.046, + -23.723, + 0.0, + 61.4, + -0.0 + ], + [ + -1125.455, + -1420.544, + -23.723, + 0.0, + 61.4, + -0.0 + ], + [ + -1065.207, + -1310.042, + -23.852, + 0.0, + 61.4, + -0.0 + ], + [ + -1004.959, + -1199.54, + -24.137, + 0.0, + 61.4, + -0.0 + ], + [ + -950.982, + -1089.225, + 0.106, + 0.0, + 61.4, + -0.0 + ], + [ + -950.982, + -1089.225, + 0.106, + 0.0, + 61.4, + -0.0 + ] + ] +} diff --git a/benchmark/trajectory/TemplePlaza/task_x-001307_y-001849_z-000004_t0_b/infos.json b/benchmark/trajectory/TemplePlaza/task_x-001307_y-001849_z-000004_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..1e14935ff84f454829967cc7ea37ce9587bce30b --- /dev/null +++ b/benchmark/trajectory/TemplePlaza/task_x-001307_y-001849_z-000004_t0_b/infos.json @@ -0,0 +1,123 @@ +{ + "Instruction": "Approach the white pillar with star-shaped decorations.", + "Type": 0, + "Start_Pose": [ + -1306.607, + -1849.323, + -3.85, + 0.0, + 86.4, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1306.607, + -1849.323, + -3.85, + 0.0, + 86.4, + -0.0 + ], + [ + -1312.249, + -1726.222, + -3.85, + 0.0, + 86.4, + -0.0 + ], + [ + -1304.346, + -1600.611, + -24.187, + 0.0, + 86.4, + -0.0 + ], + [ + -1296.443, + -1475.0, + -23.933, + 0.0, + 86.4, + -0.0 + ], + [ + -1288.541, + -1349.39, + -23.933, + 0.0, + 86.4, + -0.0 + ], + [ + -1280.638, + -1223.779, + -23.933, + 0.0, + 86.4, + -0.0 + ], + [ + -1301.089, + -1138.443, + -23.723, + 0.0, + 86.4, + -0.0 + ], + [ + -1300.287, + -1012.893, + -23.773, + 0.0, + 86.4, + -0.0 + ], + [ + -1294.606, + -887.261, + -23.723, + 0.0, + 86.4, + -0.0 + ], + [ + -1294.274, + -761.7, + -23.723, + 0.0, + 86.4, + -0.0 + ], + [ + -1294.274, + -761.7, + -23.723, + 0.0, + 111.4, + -0.0 + ], + [ + -1294.274, + -761.7, + -23.723, + 0.0, + 111.4, + -0.0 + ] + ] +} diff --git a/benchmark/trajectory/TemplePlaza/task_x-001307_y-001849_z-000004_t0_c/infos.json b/benchmark/trajectory/TemplePlaza/task_x-001307_y-001849_z-000004_t0_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..3a5df120f461ec151a716c29df1727cf2cef39e6 --- /dev/null +++ b/benchmark/trajectory/TemplePlaza/task_x-001307_y-001849_z-000004_t0_c/infos.json @@ -0,0 +1,87 @@ +{ + "Instruction": "Navigate to the dark wooden post supporting the overhang.", + "Type": 0, + "Start_Pose": [ + -1306.607, + -1849.323, + -3.85, + 0.0, + 86.4, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1306.607, + -1849.323, + -3.85, + 0.0, + 86.4, + -0.0 + ], + [ + -1312.249, + -1726.222, + -3.85, + 0.0, + 86.4, + -0.0 + ], + [ + -1312.249, + -1726.222, + -3.85, + 0.0, + 111.4, + -0.0 + ], + [ + -1358.172, + -1609.04, + -23.913, + 0.0, + 111.4, + -0.0 + ], + [ + -1404.095, + -1491.858, + -23.853, + 0.0, + 111.4, + -0.0 + ], + [ + -1450.018, + -1374.676, + -23.853, + 0.0, + 111.4, + -0.0 + ], + [ + -1495.941, + -1257.495, + -23.738, + 0.0, + 111.4, + -0.0 + ], + [ + -1495.941, + -1257.495, + -23.738, + 0.0, + 111.4, + -0.0 + ] + ] +} diff --git a/benchmark/trajectory/TemplePlaza/task_x-001408_y-002191_z-000003_t0_a/infos.json b/benchmark/trajectory/TemplePlaza/task_x-001408_y-002191_z-000003_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..a0f8fffbab2dc5dbe3966c7add6a327545bfe305 --- /dev/null +++ b/benchmark/trajectory/TemplePlaza/task_x-001408_y-002191_z-000003_t0_a/infos.json @@ -0,0 +1,87 @@ +{ + "Instruction": "Approach the arched doorway.", + "Type": 0, + "Start_Pose": [ + -1407.902, + -2191.368, + -2.676, + 0.0, + 148.8, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1407.902, + -2191.368, + -2.676, + 0.0, + 148.8, + -0.0 + ], + [ + -1515.557, + -2126.17, + -4.004, + 0.0, + 148.8, + -0.0 + ], + [ + -1515.557, + -2126.17, + -4.004, + 0.0, + 173.8, + -0.0 + ], + [ + -1640.68, + -2112.577, + -4.004, + 0.0, + 173.8, + -0.0 + ], + [ + -1765.803, + -2098.984, + -4.004, + 0.0, + 173.8, + -0.0 + ], + [ + -1890.926, + -2085.392, + -4.004, + 0.0, + 173.8, + -0.0 + ], + [ + -2016.049, + -2071.799, + -4.004, + 0.0, + 173.8, + -0.0 + ], + [ + -2016.049, + -2071.799, + -4.004, + 0.0, + 173.8, + -0.0 + ] + ] +} diff --git a/benchmark/trajectory/TemplePlaza/task_x-001408_y-002191_z-000003_t2_a/infos.json b/benchmark/trajectory/TemplePlaza/task_x-001408_y-002191_z-000003_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..23ccdd691abe5413b51e43f231f01b8e47d562ae --- /dev/null +++ b/benchmark/trajectory/TemplePlaza/task_x-001408_y-002191_z-000003_t2_a/infos.json @@ -0,0 +1,78 @@ +{ + "Instruction": "Walk to the window group left of the arched doorway.", + "Type": 2, + "Start_Pose": [ + -1407.902, + -2191.368, + -2.676, + 0.0, + 148.8, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1407.902, + -2191.368, + -2.676, + 0.0, + 148.8, + -0.0 + ], + [ + -1515.557, + -2126.17, + -4.004, + 0.0, + 148.8, + -0.0 + ], + [ + -1623.213, + -2060.971, + -4.004, + 0.0, + 148.8, + -0.0 + ], + [ + -1730.868, + -1995.773, + -3.882, + 0.0, + 148.8, + -0.0 + ], + [ + -1838.523, + -1930.574, + -4.055, + 0.0, + 148.8, + -0.0 + ], + [ + -1946.178, + -1865.376, + -4.055, + 0.0, + 148.8, + -0.0 + ], + [ + -1946.178, + -1865.376, + -4.055, + 0.0, + 148.8, + -0.0 + ] + ] +} diff --git a/benchmark/trajectory/TemplePlaza/task_x-001408_y-002191_z-000003_t2_b/infos.json b/benchmark/trajectory/TemplePlaza/task_x-001408_y-002191_z-000003_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..671289972210b35a309821b4f531eb0a66a3c886 --- /dev/null +++ b/benchmark/trajectory/TemplePlaza/task_x-001408_y-002191_z-000003_t2_b/infos.json @@ -0,0 +1,123 @@ +{ + "Instruction": "Head toward the rightmost window group near the right wall.", + "Type": 2, + "Start_Pose": [ + -1407.902, + -2191.368, + -2.676, + 0.0, + 148.8, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "TurnRight", + "TurnRight", + "LookUp", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1407.902, + -2191.368, + -2.676, + 0.0, + 148.8, + -0.0 + ], + [ + -1515.557, + -2126.17, + -4.004, + 0.0, + 148.8, + -0.0 + ], + [ + -1515.557, + -2126.17, + -4.004, + 0.0, + 173.8, + -0.0 + ], + [ + -1515.557, + -2126.17, + -4.004, + 0.0, + -161.2, + 0.0 + ], + [ + -1634.702, + -2166.73, + -4.004, + 0.0, + -161.2, + 0.0 + ], + [ + -1752.517, + -2191.738, + -4.004, + 0.0, + -161.2, + 0.0 + ], + [ + -1869.394, + -2191.143, + -4.004, + 0.0, + -161.2, + 0.0 + ], + [ + -1869.394, + -2191.143, + -4.004, + 0.0, + -136.2, + 0.0 + ], + [ + -1869.394, + -2191.143, + -4.004, + 0.0, + -111.2, + 0.0 + ], + [ + -1869.394, + -2191.143, + -4.004, + 0.0, + -86.2, + 0.0 + ], + [ + -1869.394, + -2191.143, + -4.004, + 0.0, + -86.2, + 0.0 + ], + [ + -1869.394, + -2191.143, + -4.004, + 0.0, + -86.2, + 0.0 + ] + ] +} diff --git a/benchmark/trajectory/TemplePlaza/task_x-001509_y003443_z000104_t1_a/infos.json b/benchmark/trajectory/TemplePlaza/task_x-001509_y003443_z000104_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..44fcec263bd8aff559771ce1eb74ccbbb343056a --- /dev/null +++ b/benchmark/trajectory/TemplePlaza/task_x-001509_y003443_z000104_t1_a/infos.json @@ -0,0 +1,96 @@ +{ + "Instruction": "Search for three white crates stacked beside a wooden barrel, then head to that spot.", + "Type": 1, + "Start_Pose": [ + -1509.025, + 3442.888, + 104.15, + 0.0, + -72.16, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1509.025, + 3442.888, + 104.15, + 0.0, + -72.16, + 0.0 + ], + [ + -1509.025, + 3442.888, + 104.15, + 0.0, + -47.16, + 0.0 + ], + [ + -1509.025, + 3442.888, + 104.15, + 0.0, + -22.16, + 0.0 + ], + [ + -1392.463, + 3395.415, + 104.15, + 0.0, + -22.16, + 0.0 + ], + [ + -1275.9, + 3347.941, + 104.15, + 0.0, + -22.16, + 0.0 + ], + [ + -1159.338, + 3300.468, + 104.15, + 0.0, + -22.16, + 0.0 + ], + [ + -1042.776, + 3252.995, + 104.15, + 0.0, + -22.16, + 0.0 + ], + [ + -926.213, + 3205.521, + 104.15, + 0.0, + -22.16, + 0.0 + ], + [ + -926.213, + 3205.521, + 104.15, + 0.0, + -22.16, + 0.0 + ] + ] +} diff --git a/benchmark/trajectory/TemplePlaza/task_x-001615_y000712_z000112_t0_a/infos.json b/benchmark/trajectory/TemplePlaza/task_x-001615_y000712_z000112_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..ec60dc77bcad0f7d366f3657c4e71fdcbb9c9253 --- /dev/null +++ b/benchmark/trajectory/TemplePlaza/task_x-001615_y000712_z000112_t0_a/infos.json @@ -0,0 +1,105 @@ +{ + "Instruction": "Go to the wooden weapon rack.", + "Type": 0, + "Start_Pose": [ + -1615.458, + 711.589, + 112.091, + 0, + -95.04, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1615.458, + 711.589, + 112.091, + 0, + -95.04, + 0 + ], + [ + -1626.515, + 586.217, + 91.756, + 0.0, + -95.04, + 0.0 + ], + [ + -1637.572, + 460.844, + 111.934, + 0.0, + -95.04, + 0.0 + ], + [ + -1648.629, + 335.472, + 111.934, + 0.0, + -95.04, + 0.0 + ], + [ + -1648.629, + 335.472, + 111.934, + 0.0, + -120.04, + 0.0 + ], + [ + -1711.634, + 226.519, + 106.089, + 0.0, + -120.04, + 0.0 + ], + [ + -1774.64, + 118.314, + 119.401, + 0.0, + -120.04, + 0.0 + ], + [ + -1837.645, + 9.361, + 123.445, + 0.0, + -120.04, + 0.0 + ], + [ + -1900.651, + -99.592, + 123.445, + 0.0, + -120.04, + 0.0 + ], + [ + -1900.651, + -99.592, + 123.445, + 0.0, + -120.04, + 0.0 + ] + ] +} diff --git a/benchmark/trajectory/TemplePlaza/task_x-001615_y000712_z000112_t0_b/infos.json b/benchmark/trajectory/TemplePlaza/task_x-001615_y000712_z000112_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..57b42063e38b915db77daee200e35c3fc6f3d9fb --- /dev/null +++ b/benchmark/trajectory/TemplePlaza/task_x-001615_y000712_z000112_t0_b/infos.json @@ -0,0 +1,105 @@ +{ + "Instruction": "Go near the shield leaning against the weapon rack.", + "Type": 0, + "Start_Pose": [ + -1615.458, + 711.589, + 112.091, + 0.0, + -95.04, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1615.458, + 711.589, + 112.091, + 0.0, + -95.04, + 0.0 + ], + [ + -1626.515, + 586.217, + 91.756, + 0.0, + -95.04, + 0.0 + ], + [ + -1637.572, + 460.844, + 111.934, + 0.0, + -95.04, + 0.0 + ], + [ + -1648.629, + 335.472, + 111.934, + 0.0, + -95.04, + 0.0 + ], + [ + -1648.629, + 335.472, + 111.934, + 0.0, + -120.04, + 0.0 + ], + [ + -1711.634, + 226.519, + 106.089, + 0.0, + -120.04, + 0.0 + ], + [ + -1774.64, + 118.314, + 119.401, + 0.0, + -120.04, + 0.0 + ], + [ + -1837.645, + 9.361, + 123.445, + 0.0, + -120.04, + 0.0 + ], + [ + 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index 0000000000000000000000000000000000000000..61488acb1f108f84ca58c0f3ca9c9cae7aca3a31 --- /dev/null +++ b/benchmark/trajectory/TemplePlaza/task_x-002264_y-001954_z-000024_t5_b_p/infos.json @@ -0,0 +1,210 @@ +{ + "Instruction": "Pick up the metal bucket from beside the right stone wall.", + "Type": 5, + "Start_Pose": [ + -2263.588, + -1954.109, + -23.723, + 0, + 86.4, + 0 + ], + "PD_ID": 18, + "PD_Size": 2.0, + "PD_Type": "p", + "PD_Start_Pose": [ + -2297.543, + -1138.796, + -99.931, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2263.588, + -1954.109, + -23.723, + 0, + 86.4, + 0 + ], + [ + -2255.685, + -1828.498, + -23.786, + 0.0, + 86.4, + -0.0 + ], + [ + -2247.782, + -1702.888, + -23.786, + 0.0, + 86.4, + -0.0 + ], + [ + -2239.88, + -1577.277, + -23.742, + 0.0, + 86.4, + -0.0 + ], + [ + -2231.977, + -1451.666, + -23.742, + 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b/benchmark/trajectory/TemplePlaza/task_x-002294_y-002143_z-000024_t2_b/infos.json @@ -0,0 +1,78 @@ +{ + "Instruction": "Approach the second pillar from the right.", + "Type": 2, + "Start_Pose": [ + -2293.586, + -2142.9, + -23.723, + 0.0, + 56.64, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2293.586, + -2142.9, + -23.723, + 0.0, + 56.64, + -0.0 + ], + [ + -2224.376, + -2037.778, + -23.724, + 0.0, + 56.64, + -0.0 + ], + [ + -2172.886, + -1939.201, + -23.744, + 0.0, + 56.64, + -0.0 + ], + [ + -2172.886, + -1939.201, + -23.744, + 0.0, + 81.64, + -0.0 + ], + [ + -2160.168, + -1815.664, + -23.723, + 0.0, + 81.64, + -0.0 + ], + [ + -2146.547, + -1699.866, + -23.732, + 0.0, + 81.64, + -0.0 + ], + [ + -2146.547, + -1699.866, + -23.732, + 0.0, + 81.64, + -0.0 + ] + ] +} diff --git a/benchmark/trajectory/TemplePlaza/task_x-002294_y-002143_z-000024_t2_c/infos.json 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0000000000000000000000000000000000000000..d2fd0f64a358d47d7a54dfd77d2f4c5e33ea036a --- /dev/null +++ b/benchmark/trajectory/TemplePlaza/task_x000696_y001276_z000104_t2_a/infos.json @@ -0,0 +1,150 @@ +{ + "Instruction": "Walk to the base of the second railing from the left along the steps leading up to the circular building.", + "Type": 2, + "Start_Pose": [ + 695.548, + 1275.574, + 104.15, + 0.0, + -121.92, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 695.548, + 1275.574, + 104.15, + 0.0, + -121.92, + 0.0 + ], + [ + 695.548, + 1275.574, + 104.15, + 0.0, + -96.92, + 0.0 + ], + [ + 680.384, + 1150.632, + 104.15, + 0.0, + -96.92, + 0.0 + ], + [ + 665.22, + 1025.69, + 104.15, + 0.0, + -96.92, + 0.0 + ], + [ + 650.056, + 900.747, + 104.15, + 0.0, + -96.92, + 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b/benchmark/trajectory/TemplePlaza/task_x000696_y001276_z000104_t2_b/infos.json @@ -0,0 +1,204 @@ +{ + "Instruction": "Head toward the third white stone pillar from the left.", + "Type": 2, + "Start_Pose": [ + 695.548, + 1275.574, + 104.15, + 0, + -121.92, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 695.548, + 1275.574, + 104.15, + 0, + -121.92, + 0 + ], + [ + 629.002, + 1168.746, + 104.15, + 0.0, + -121.92, + 0.0 + ], + [ + 562.456, + 1061.919, + 104.15, + 0.0, + -121.92, + 0.0 + ], + [ + 495.91, + 955.091, + 104.15, + 0.0, + -121.92, + 0.0 + ], + [ + 429.364, + 848.264, + 104.15, + 0.0, + -121.92, + 0.0 + ], + [ + 362.818, + 741.436, + 111.962, + 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