OSMa-Bench dataset initial

README.md

@@ -1,3 +1,86 @@
 ---
 license: cc-by-4.0
 ---
+
+# OSMa-Bench Dataset
+
+[![OSMa-Bench pipeline](https://be2rlab.github.io/OSMa-Bench/static/images/full_pipeline.png)](https://be2rlab.github.io/OSMa-Bench/)
+
+OSMa-Bench (Open Semantic Mapping Benchmark) dataset is a fully automatically generated dataset for evaluating the robustness of open semantic mapping and segmentation systems under varying indoor lighting conditions and robot movement dynamics. This dataset is part of [OSMa-Bench](https://be2rlab.github.io/OSMa-Bench/) pipeline.
+
+- **Homepage:** [OSMa-Bench Project Page](https://be2rlab.github.io/OSMa-Bench/)
+
+## Dataset Summary
+
+This dataset provides simulated RGB-D and semantically annotated posed sequences for evaluation of semantic mapping and segmentation, with a particular focus on handling dynamic lighting—a critical but often overlooked factor in existing benchmarks. It also includes a collection of automatically generated question–answer pairs across multiple categories to support the evaluation of scene-graph–based reasoning, offering a task-driven measure of how well a system’s reconstructed scene captures semantic relationships between objects.
+
+The data is built upon two base datasets:
+- **ReplicaCAD**: 22 scenes with 4 lighting configurations and a velocity modifier.
+- **Habitat Matterport 3D (HM3D)**: 8 scenes with 2 lighting configurations and a velocity modifier.
+
+## Data Configurations
+
+The dataset includes the following configurations for the ReplicaCAD and HM3D scenes:
+
+| Configuration | Description |
+| :--- | :--- |
+| `baseline` | Static, non-uniformly distributed light sources (ReplicaCAD only) |
+| `dynamic_lighting` | Lighting conditions change along the robot's path (ReplicaCAD only) |
+| `nominal_lights` | The mesh itself emits light without added light sources |
+| `camera_light` | An extra directed light source is attached to the camera |
+| `velocity` | Sequences recorded at doubled nominal velocity |
+
+---
+
+## Data Configurations
+
+The dataset provides structured data for each scene, suitable for tasks like 3D scene understanding, visual question answering, and robotics. Each scene contains the following components:
+
+| Component                 | Description                                                                                       | Format / Example                      |
+| ------------------------- | ------------------------------------------------------------------------------------------------- | --------------------------------------|
+| **RGB Images**            | Standard color images captured from different camera viewpoints.                                  | `frame000000.jpg`, ...                |
+| **Depth Images**          | Depth maps aligned with RGB images. Each pixel encodes depth in meters.                           | `depth000000.png`, ...                |
+| **Semantic Masks**        | Pixel-wise semantic segmentation labels. Each pixel corresponds to a semantic class ID.           | `semantic000000.png`, ...             |
+| **Camera Trajectories**   | Flattened 4×4 transformation matrices representing camera poses for each frame.                   | `traj.txt` (one 4×4 matrix per line)  |
+| **Question-Answer Pairs** | Validated question-answer pairs related to the scene, optionally associated with specific frames. | `validated_questions.json`            |
+
+
+## VQA Question Categories
+The dataset includes a automatically generated answer-question pairs with the following question types:
+1. **Binary General** – Yes/No questions about the presence of objects and general scene characteristics  
+   *Example:* `Is there a blue sofa?`
+
+2. **Binary Existence-Based** – Yes/No questions designed to track false positives by querying non-existent objects  
+   *Example:* `Is there a piano?`
+
+3. **Binary Logical** – Yes/No questions with logical operators such as AND/OR  
+   *Example:* `Is there a chair AND a table?`
+
+4. **Measurement** – Questions requiring numerical answers related to object counts or scene attributes  
+   *Example:* `How many windows are present?`
+
+5. **Object Attributes** – Queries about object properties, including color, shape, and material  
+   *Example:* `What color is the door?`
+
+6. **Object Relations (Functional)** – Questions about functional relationships between objects  
+   *Example:* `Which object supports the table?`
+
+7. **Object Relations (Spatial)** – Queries about spatial placement of objects within the scene  
+   *Example:* `What is in front of the staircase?`
+
+8. **Comparison** – Questions that compare object properties such as size, color, and position  
+   *Example:* `Which is taller: the bookshelf or the lamp?`
+
+
+## Citing OSMa-Bench Dataset
+
+Using OSMa-Bench dataset in your research? Please cite following paper: [OSMa-Bench arxiv](https://arxiv.org/abs/2503.10331).
+
+```bibtex
+@inproceedings{popov2025osmabench,
+    title     = {OSMa-Bench: Evaluating Open Semantic Mapping Under Varying Lighting Conditions},
+    author    = {Popov, Maxim and Kurkova, Regina and Iumanov, Mikhail and Mahmoud, Jaafar and Kolyubin, Sergey},
+    booktitle = {2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
+    year      = {2025}
+}
+```

data/hm3d/00800-TEEsavR23oF/camera_params.txt

@@ -0,0 +1,6 @@
+camera_matrix = 
+[[600.    0.  599.5]
+ [  0.  600.  339.5]
+ [  0.    0.    1. ]]
+
+depth_scale = 6553.5

data/hm3d/00800-TEEsavR23oF/camera_params.yaml

@@ -0,0 +1,9 @@
+camera_params:
+  crop_edge: 0
+  cx: 599.5
+  cy: 339.5
+  fx: 600.0
+  fy: 600.0
+  image_height: 680
+  image_width: 1200
+  png_depth_scale: 6553.5

data/hm3d/00800-TEEsavR23oF/configs/lighting/light_settings_no_lights.json

@@ -0,0 +1,4 @@
+{
+    "lights": {
+    }
+}

data/hm3d/00800-TEEsavR23oF/configs/sim_settings/sim_settings_8.json

@@ -0,0 +1,51 @@
+{
+    "dataset_name": "hm3d_minival",
+    "scene_name": "00800-TEEsavR23oF",
+    "label": "no_lights_1",
+
+    "light_settings_filename": "light_settings_no_lights.json",
+
+    "width": 1200,
+    "height": 680,
+    "hfov": 90,
+    "zfar": 1000.0,
+    "clear_color": [0.0, 0.0, 0.0, 1.0],
+    "sensor_height": 1.0,
+
+    "depth_scale": 6553.5,
+    "nav_points_number": 2,
+    
+    "move_actuation_amount": 0.06,
+    "turn_actuation_amount": 4.0,
+
+    "move_freq_multiplier": 2,
+    "turn_freq_multiplier": 2,
+
+    "default_agent": 0,
+    "agent_radius": 0.2,
+
+    "override_scene_light_defaults": false,
+    "scene_light_setup": "default",
+
+    "remap_classes": true,
+
+    "color_sensor": true,
+    "semantic_sensor": true,
+    "depth_sensor": true,
+    "ortho_rgba_sensor": false,
+    "ortho_depth_sensor": false,
+    "ortho_semantic_sensor": false,
+    "fisheye_rgba_sensor": false,
+    "fisheye_depth_sensor": false,
+    "fisheye_semantic_sensor": false,
+    "equirect_rgba_sensor": false,
+    "equirect_depth_sensor": false,
+    "equirect_semantic_sensor": false,
+
+    "seed": 10,
+
+    "enable_physics": false,
+    "default_agent_navmesh": false,
+    "navmesh_include_static_objects": false,
+    "enable_hbao": true
+}

data/hm3d/00800-TEEsavR23oF/embed_semseg_classes.json

@@ -0,0 +1,524 @@
+{
+  "classes": [
+    {
+      "name": "other",
+      "id": 0
+    },
+    {
+      "name": "alarm",
+      "id": 1
+    },
+    {
+      "name": "alarm control",
+      "id": 2
+    },
+    {
+      "name": "armchair",
+      "id": 3
+    },
+    {
+      "name": "attic door",
+      "id": 4
+    },
+    {
+      "name": "backpack",
+      "id": 5
+    },
+    {
+      "name": "bag",
+      "id": 6
+    },
+    {
+      "name": "balustrade",
+      "id": 7
+    },
+    {
+      "name": "basket",
+      "id": 8
+    },
+    {
+      "name": "bath",
+      "id": 9
+    },
+    {
+      "name": "bath mat",
+      "id": 10
+    },
+    {
+      "name": "bath sink",
+      "id": 11
+    },
+    {
+      "name": "bathroom accessory",
+      "id": 12
+    },
+    {
+      "name": "bathroom cabinet",
+      "id": 13
+    },
+    {
+      "name": "bathroom shelf",
+      "id": 14
+    },
+    {
+      "name": "bed",
+      "id": 15
+    },
+    {
+      "name": "bicycle",
+      "id": 16
+    },
+    {
+      "name": "blanket",
+      "id": 17
+    },
+    {
+      "name": "board",
+      "id": 18
+    },
+    {
+      "name": "book",
+      "id": 19
+    },
+    {
+      "name": "bottle of soap",
+      "id": 20
+    },
+    {
+      "name": "box",
+      "id": 21
+    },
+    {
+      "name": "boxes",
+      "id": 22
+    },
+    {
+      "name": "briefcase",
+      "id": 23
+    },
+    {
+      "name": "bucket",
+      "id": 24
+    },
+    {
+      "name": "cabinet",
+      "id": 25
+    },
+    {
+      "name": "case",
+      "id": 26
+    },
+    {
+      "name": "casket",
+      "id": 27
+    },
+    {
+      "name": "ceiling",
+      "id": 28
+    },
+    {
+      "name": "ceiling lamp",
+      "id": 29
+    },
+    {
+      "name": "ceiling vent",
+      "id": 30
+    },
+    {
+      "name": "chair",
+      "id": 31
+    },
+    {
+      "name": "chandelier",
+      "id": 32
+    },
+    {
+      "name": "clothes",
+      "id": 33
+    },
+    {
+      "name": "clothes hanger rod",
+      "id": 34
+    },
+    {
+      "name": "coffee machine",
+      "id": 35
+    },
+    {
+      "name": "coffee mug",
+      "id": 36
+    },
+    {
+      "name": "computer desk",
+      "id": 37
+    },
+    {
+      "name": "couch",
+      "id": 38
+    },
+    {
+      "name": "curtain",
+      "id": 39
+    },
+    {
+      "name": "curtain rod",
+      "id": 40
+    },
+    {
+      "name": "decorative plate",
+      "id": 41
+    },
+    {
+      "name": "desk lamp",
+      "id": 42
+    },
+    {
+      "name": "dishwasher",
+      "id": 43
+    },
+    {
+      "name": "door",
+      "id": 44
+    },
+    {
+      "name": "door frame",
+      "id": 45
+    },
+    {
+      "name": "door handle",
+      "id": 46
+    },
+    {
+      "name": "doormat",
+      "id": 47
+    },
+    {
+      "name": "dresser",
+      "id": 48
+    },
+    {
+      "name": "electric box",
+      "id": 49
+    },
+    {
+      "name": "electrical controller",
+      "id": 50
+    },
+    {
+      "name": "fire alarm",
+      "id": 51
+    },
+    {
+      "name": "fireplace",
+      "id": 52
+    },
+    {
+      "name": "flag",
+      "id": 53
+    },
+    {
+      "name": "floor",
+      "id": 54
+    },
+    {
+      "name": "floor mat",
+      "id": 55
+    },
+    {
+      "name": "flower",
+      "id": 56
+    },
+    {
+      "name": "folder",
+      "id": 57
+    },
+    {
+      "name": "frame",
+      "id": 58
+    },
+    {
+      "name": "fruit bowl",
+      "id": 59
+    },
+    {
+      "name": "hand soap",
+      "id": 60
+    },
+    {
+      "name": "handbag",
+      "id": 61
+    },
+    {
+      "name": "handle",
+      "id": 62
+    },
+    {
+      "name": "iron",
+      "id": 63
+    },
+    {
+      "name": "iron board",
+      "id": 64
+    },
+    {
+      "name": "kitchen appliance",
+      "id": 65
+    },
+    {
+      "name": "kitchen cabinet",
+      "id": 66
+    },
+    {
+      "name": "kitchen countertop item",
+      "id": 67
+    },
+    {
+      "name": "kitchen shelf",
+      "id": 68
+    },
+    {
+      "name": "knife holder",
+      "id": 69
+    },
+    {
+      "name": "lamp",
+      "id": 70
+    },
+    {
+      "name": "laundry basket",
+      "id": 71
+    },
+    {
+      "name": "led tv",
+      "id": 72
+    },
+    {
+      "name": "light",
+      "id": 73
+    },
+    {
+      "name": "magazine",
+      "id": 74
+    },
+    {
+      "name": "mat",
+      "id": 75
+    },
+    {
+      "name": "microwave",
+      "id": 76
+    },
+    {
+      "name": "mirror",
+      "id": 77
+    },
+    {
+      "name": "mirror frame",
+      "id": 78
+    },
+    {
+      "name": "newspaper",
+      "id": 79
+    },
+    {
+      "name": "nightstand",
+      "id": 80
+    },
+    {
+      "name": "oven and stove",
+      "id": 81
+    },
+    {
+      "name": "pad",
+      "id": 82
+    },
+    {
+      "name": "pc tower",
+      "id": 83
+    },
+    {
+      "name": "photo",
+      "id": 84
+    },
+    {
+      "name": "picture",
+      "id": 85
+    },
+    {
+      "name": "pillar",
+      "id": 86
+    },
+    {
+      "name": "pillow",
+      "id": 87
+    },
+    {
+      "name": "plant",
+      "id": 88
+    },
+    {
+      "name": "plate",
+      "id": 89
+    },
+    {
+      "name": "plush toy",
+      "id": 90
+    },
+    {
+      "name": "printer",
+      "id": 91
+    },
+    {
+      "name": "refrigerator",
+      "id": 92
+    },
+    {
+      "name": "sheet",
+      "id": 93
+    },
+    {
+      "name": "shirt",
+      "id": 94
+    },
+    {
+      "name": "shoe",
+      "id": 95
+    },
+    {
+      "name": "shower curtain",
+      "id": 96
+    },
+    {
+      "name": "shower dial",
+      "id": 97
+    },
+    {
+      "name": "sink",
+      "id": 98
+    },
+    {
+      "name": "soap bottle",
+      "id": 99
+    },
+    {
+      "name": "speaker",
+      "id": 100
+    },
+    {
+      "name": "stack of papers",
+      "id": 101
+    },
+    {
+      "name": "stairs",
+      "id": 102
+    },
+    {
+      "name": "storage box",
+      "id": 103
+    },
+    {
+      "name": "table",
+      "id": 104
+    },
+    {
+      "name": "table lamp",
+      "id": 105
+    },
+    {
+      "name": "tap",
+      "id": 106
+    },
+    {
+      "name": "telephone",
+      "id": 107
+    },
+    {
+      "name": "tissue box",
+      "id": 108
+    },
+    {
+      "name": "toilet",
+      "id": 109
+    },
+    {
+      "name": "toilet brush",
+      "id": 110
+    },
+    {
+      "name": "toilet paper",
+      "id": 111
+    },
+    {
+      "name": "toilet seat",
+      "id": 112
+    },
+    {
+      "name": "towel",
+      "id": 113
+    },
+    {
+      "name": "toy",
+      "id": 114
+    },
+    {
+      "name": "trashcan",
+      "id": 115
+    },
+    {
+      "name": "tv",
+      "id": 116
+    },
+    {
+      "name": "unknown",
+      "id": 117
+    },
+    {
+      "name": "vent",
+      "id": 118
+    },
+    {
+      "name": "ventilation",
+      "id": 119
+    },
+    {
+      "name": "ventilation hood",
+      "id": 120
+    },
+    {
+      "name": "wall",
+      "id": 121
+    },
+    {
+      "name": "wall clock",
+      "id": 122
+    },
+    {
+      "name": "wall hanging decoration",
+      "id": 123
+    },
+    {
+      "name": "wall lamp",
+      "id": 124
+    },
+    {
+      "name": "wardrobe",
+      "id": 125
+    },
+    {
+      "name": "window",
+      "id": 126
+    },
+    {
+      "name": "window curtain",
+      "id": 127
+    },
+    {
+      "name": "window frame",
+      "id": 128
+    },
+    {
+      "name": "worktop",
+      "id": 129
+    }
+  ]
+}

data/hm3d/00800-TEEsavR23oF/log.txt

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+[000000] Light setup: None
+[000000] Start navigating.
+[000000] Action: turn_left
+[000002] Action: turn_left
+[000004] Action: turn_left
+[000006] Action: turn_left
+[000008] Action: turn_left
+[000010] Action: turn_left
+[000012] Action: turn_left
+[000014] Action: turn_left
+[000016] Action: turn_left
+[000018] Action: turn_left
+[000020] Action: turn_left
+[000022] Action: turn_left
+[000024] Action: turn_left
+[000026] Action: turn_left
+[000028] Action: turn_left
+[000030] Action: turn_left
+[000032] Action: turn_left
+[000034] Action: turn_left
+[000036] Action: turn_left
+[000038] Action: turn_left
+[000040] Action: turn_left
+[000042] Action: turn_left
+[000044] Action: turn_left
+[000046] Action: turn_left
+[000048] Action: move_forward
+[000050] Action: turn_left
+[000052] Action: move_forward
+[000054] Action: move_forward
+[000056] Action: move_forward
+[000058] Action: move_forward
+[000060] Action: move_forward
+[000062] Action: move_forward
+[000064] Action: move_forward
+[000066] Action: move_forward
+[000068] Action: move_forward
+[000070] Action: move_forward
+[000072] Action: move_forward
+[000074] Action: move_forward
+[000076] Action: move_forward
+[000078] Action: move_forward
+[000080] Action: turn_left
+[000082] Action: move_forward
+[000084] Action: move_forward
+[000086] Action: move_forward
+[000088] Action: move_forward
+[000090] Action: move_forward
+[000092] Action: move_forward
+[000094] Action: move_forward
+[000096] Action: move_forward
+[000098] Action: move_forward
+[000100] Action: move_forward
+[000102] Action: turn_left
+[000104] Action: move_forward
+[000106] Action: move_forward
+[000108] Action: move_forward
+[000110] Action: move_forward
+[000112] Action: move_forward
+[000114] Action: move_forward
+[000116] Action: turn_left
+[000118] Action: move_forward
+[000120] Action: move_forward
+[000122] Action: move_forward
+[000124] Action: move_forward
+[000126] Action: move_forward
+[000128] Action: turn_left
+[000130] Action: move_forward
+[000132] Action: move_forward
+[000134] Action: move_forward
+[000136] Action: turn_left
+[000138] Action: move_forward
+[000140] Action: move_forward
+[000142] Action: turn_left
+[000144] Action: move_forward
+[000146] Action: turn_left
+[000148] Action: move_forward
+[000150] Action: turn_left
+[000152] Action: move_forward
+[000154] Action: turn_left
+[000156] Action: turn_left
+[000158] Action: turn_left
+[000160] Action: turn_left
+[000162] Action: turn_left
+[000164] Action: move_forward
+[000166] Action: turn_left
+[000168] Action: move_forward
+[000170] Action: turn_left
+[000172] Action: move_forward
+[000174] Action: move_forward
+[000176] Action: move_forward
+[000178] Action: move_forward
+[000180] Action: move_forward
+[000182] Action: move_forward
+[000184] Action: turn_right
+[000186] Action: move_forward
+[000188] Action: turn_left
+[000190] Action: move_forward
+[000192] Action: move_forward
+[000194] Action: move_forward
+[000196] Action: move_forward
+[000198] Action: move_forward
+[000200] Action: move_forward
+[000202] Action: move_forward
+[000204] Action: move_forward
+[000206] Action: move_forward
+[000208] Action: move_forward
+[000210] Action: move_forward
+[000212] Action: turn_left
+[000214] Action: move_forward
+[000216] Action: turn_left
+[000218] Action: turn_left
+[000220] Action: turn_left
+[000222] Action: move_forward
+[000224] Action: move_forward
+[000226] Action: move_forward
+[000228] Action: move_forward
+[000230] Action: move_forward
+[000232] Action: move_forward
+[000234] Action: move_forward
+[000236] Action: move_forward
+[000238] Action: move_forward
+[000240] Action: move_forward
+[000242] Action: move_forward
+[000244] Action: move_forward
+[000246] Action: move_forward
+[000248] Action: move_forward
+[000250] Action: move_forward
+[000252] Action: move_forward
+[000254] Action: move_forward
+[000256] Action: move_forward
+[000258] Action: move_forward
+[000260] Action: move_forward
+[000262] Action: move_forward
+[000264] Action: move_forward
+[000266] Action: move_forward
+[000268] Action: move_forward
+[000270] Action: move_forward
+[000272] Action: move_forward
+[000274] Action: move_forward
+[000276] Action: move_forward
+[000278] Action: move_forward
+[000280] Action: turn_right
+[000282] Action: move_forward
+[000284] Action: move_forward
+[000286] Action: move_forward
+[000288] Action: move_forward
+[000290] Action: move_forward
+[000292] Action: turn_right
+[000294] Action: move_forward
+[000296] Action: move_forward
+[000298] Action: move_forward
+[000300] Action: turn_right
+[000302] Action: move_forward
+[000304] Action: move_forward
+[000306] Action: turn_right
+[000308] Action: move_forward
+[000310] Action: turn_right
+[000312] Action: move_forward
+[000314] Action: move_forward
+[000316] Action: turn_right
+[000318] Action: turn_right
+[000320] Action: move_forward
+[000322] Final action: None
+[000322] Stop navigating.
+[000322] Light setup: None
+[000322] Start navigating.
+[000322] Action: turn_right
+[000324] Action: turn_right
+[000326] Action: turn_right
+[000328] Action: turn_right
+[000330] Action: turn_right
+[000332] Action: turn_right
+[000334] Action: turn_right
+[000336] Action: turn_right
+[000338] Action: turn_right
+[000340] Action: turn_right
+[000342] Action: turn_right
+[000344] Action: turn_right
+[000346] Action: turn_right
+[000348] Action: turn_right
+[000350] Action: turn_right
+[000352] Action: turn_right
+[000354] Action: turn_right
+[000356] Action: turn_right
+[000358] Action: turn_right
+[000360] Action: turn_right
+[000362] Action: turn_right
+[000364] Action: turn_right
+[000366] Action: turn_right
+[000368] Action: turn_right
+[000370] Action: turn_right
+[000372] Action: turn_right
+[000374] Action: turn_right
+[000376] Action: turn_right
+[000378] Action: turn_right
+[000380] Action: turn_right
+[000382] Action: turn_right
+[000384] Action: turn_right
+[000386] Action: turn_right
+[000388] Action: turn_right
+[000390] Action: turn_right
+[000392] Action: turn_right
+[000394] Action: turn_right
+[000396] Action: move_forward
+[000398] Action: move_forward
+[000400] Action: move_forward
+[000402] Action: move_forward
+[000404] Action: turn_right
+[000406] Action: move_forward
+[000408] Action: move_forward
+[000410] Action: move_forward
+[000412] Action: move_forward
+[000414] Action: move_forward
+[000416] Action: move_forward
+[000418] Action: move_forward
+[000420] Action: move_forward
+[000422] Action: move_forward
+[000424] Action: move_forward
+[000426] Action: move_forward
+[000428] Action: move_forward
+[000430] Action: move_forward
+[000432] Action: move_forward
+[000434] Action: move_forward
+[000436] Action: move_forward
+[000438] Action: move_forward
+[000440] Action: move_forward
+[000442] Action: move_forward
+[000444] Action: turn_right
+[000446] Action: move_forward
+[000448] Action: move_forward
+[000450] Action: move_forward
+[000452] Action: move_forward
+[000454] Action: move_forward
+[000456] Action: move_forward
+[000458] Action: move_forward
+[000460] Action: move_forward
+[000462] Action: move_forward
+[000464] Action: move_forward
+[000466] Action: move_forward
+[000468] Action: move_forward
+[000470] Action: move_forward
+[000472] Action: turn_right
+[000474] Action: move_forward
+[000476] Action: move_forward
+[000478] Action: move_forward
+[000480] Action: move_forward
+[000482] Action: move_forward
+[000484] Action: move_forward
+[000486] Action: move_forward
+[000488] Action: move_forward
+[000490] Action: move_forward
+[000492] Action: turn_right
+[000494] Action: move_forward
+[000496] Action: turn_right
+[000498] Action: turn_right
+[000500] Action: turn_right
+[000502] Action: turn_right
+[000504] Action: move_forward
+[000506] Action: move_forward
+[000508] Action: move_forward
+[000510] Action: move_forward
+[000512] Action: move_forward
+[000514] Action: move_forward
+[000516] Action: move_forward
+[000518] Action: turn_left
+[000520] Action: move_forward
+[000522] Action: move_forward
+[000524] Action: move_forward
+[000526] Action: turn_left
+[000528] Action: move_forward
+[000530] Action: move_forward
+[000532] Action: turn_left
+[000534] Action: move_forward
+[000536] Action: move_forward
+[000538] Action: turn_left
+[000540] Action: move_forward
+[000542] Action: turn_left
+[000544] Action: move_forward
+[000546] Action: turn_left
+[000548] Action: turn_left
+[000550] Action: move_forward
+[000552] Action: turn_right
+[000554] Action: turn_right
+[000556] Action: turn_right
+[000558] Action: turn_right
+[000560] Action: turn_right
+[000562] Action: turn_right
+[000564] Action: turn_right
+[000566] Action: turn_right
+[000568] Action: move_forward
+[000570] Action: turn_right
+[000572] Action: turn_right
+[000574] Action: turn_right
+[000576] Action: turn_right
+[000578] Action: turn_right
+[000580] Action: turn_right
+[000582] Action: turn_right
+[000584] Action: turn_right
+[000586] Action: move_forward
+[000588] Action: move_forward
+[000590] Action: move_forward
+[000592] Action: turn_right
+[000594] Action: move_forward
+[000596] Action: move_forward
+[000598] Action: move_forward
+[000600] Action: move_forward
+[000602] Action: move_forward
+[000604] Action: move_forward
+[000606] Action: move_forward
+[000608] Action: move_forward
+[000610] Action: move_forward
+[000612] Action: move_forward
+[000614] Action: turn_left
+[000616] Action: move_forward
+[000618] Action: turn_right
+[000620] Action: turn_right
+[000622] Action: move_forward
+[000624] Action: move_forward
+[000626] Action: move_forward
+[000628] Action: move_forward
+[000630] Action: move_forward
+[000632] Action: move_forward
+[000634] Action: move_forward
+[000636] Action: move_forward
+[000638] Action: turn_right
+[000640] Action: move_forward
+[000642] Action: move_forward
+[000644] Action: move_forward
+[000646] Action: move_forward
+[000648] Action: move_forward
+[000650] Action: move_forward
+[000652] Action: move_forward
+[000654] Action: move_forward
+[000656] Action: move_forward
+[000658] Action: move_forward
+[000660] Action: turn_right
+[000662] Action: move_forward
+[000664] Action: move_forward
+[000666] Action: move_forward
+[000668] Action: move_forward
+[000670] Action: move_forward
+[000672] Action: move_forward
+[000674] Action: move_forward
+[000676] Action: move_forward
+[000678] Action: move_forward
+[000680] Action: move_forward
+[000682] Action: turn_right
+[000684] Action: move_forward
+[000686] Action: move_forward
+[000688] Action: move_forward
+[000690] Action: move_forward
+[000692] Action: move_forward
+[000694] Action: move_forward
+[000696] Action: move_forward
+[000698] Action: turn_right
+[000700] Action: move_forward
+[000702] Action: move_forward
+[000704] Action: move_forward
+[000706] Action: move_forward
+[000708] Action: move_forward
+[000710] Action: move_forward
+[000712] Action: turn_right
+[000714] Action: move_forward
+[000716] Action: move_forward
+[000718] Action: move_forward
+[000720] Action: move_forward
+[000722] Action: move_forward
+[000724] Action: turn_right
+[000726] Action: move_forward
+[000728] Action: move_forward
+[000730] Action: move_forward
+[000732] Action: move_forward
+[000734] Action: turn_right
+[000736] Action: move_forward
+[000738] Action: move_forward
+[000740] Action: turn_right
+[000742] Action: move_forward
+[000744] Action: turn_right
+[000746] Action: move_forward
+[000748] Action: move_forward
+[000750] Action: turn_right
+[000752] Action: turn_right
+[000754] Action: move_forward
+[000756] Final action: None
+[000756] Stop navigating.