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- benchmark/trajectory/CourtYard/task_x001312_y007194_z000118_t0_a/infos.json +132 -0
- benchmark/trajectory/CourtYard/task_x001312_y007194_z000118_t0_b/infos.json +159 -0
- benchmark/trajectory/CourtYard/task_x001312_y008131_z000118_t3_a/infos.json +177 -0
- benchmark/trajectory/CourtYard/task_x001312_y008131_z000118_t3_b/infos.json +177 -0
- benchmark/trajectory/CourtYard/task_x001312_y008131_z000118_t3_c/infos.json +231 -0
- benchmark/trajectory/CourtYard/task_x001312_y008131_z000118_t3_d/infos.json +177 -0
- benchmark/trajectory/CourtYard/task_x001318_y007191_z000118_t3_a/infos.json +285 -0
- benchmark/trajectory/CourtYard/task_x001318_y007191_z000118_t3_b/infos.json +303 -0
- benchmark/trajectory/CourtYard/task_x001318_y007191_z000118_t3_c/infos.json +339 -0
- benchmark/trajectory/CourtYard/task_x001318_y007191_z000118_t3_d/infos.json +240 -0
- benchmark/trajectory/CourtYard/task_x001318_y007191_z000118_t3_e/infos.json +231 -0
- benchmark/trajectory/CourtYard/task_x001318_y007867_z000118_t2_a/infos.json +123 -0
- benchmark/trajectory/CourtYard/task_x001318_y007867_z000118_t2_b/infos.json +114 -0
- benchmark/trajectory/CourtYard/task_x001318_y007867_z000118_t2_c/infos.json +150 -0
- benchmark/trajectory/CourtYard/task_x001318_y007867_z000118_t2_d/infos.json +96 -0
- benchmark/trajectory/CourtYard/task_x001318_y007867_z000118_t2_e/infos.json +114 -0
- benchmark/trajectory/CourtYard/task_x001433_y006682_z000130_t0_a/infos.json +114 -0
- benchmark/trajectory/CourtYard/task_x001433_y006682_z000130_t0_b/infos.json +150 -0
- benchmark/trajectory/CourtYard/task_x001433_y006682_z000130_t0_c/infos.json +150 -0
- benchmark/trajectory/CourtYard/task_x001459_y008111_z000118_t0_a/infos.json +87 -0
- benchmark/trajectory/CourtYard/task_x001459_y008111_z000118_t0_b/infos.json +123 -0
- benchmark/trajectory/CourtYard/task_x001459_y008111_z000118_t0_c/infos.json +114 -0
- benchmark/trajectory/CourtYard/task_x001514_y006599_z000118_t2_a/infos.json +114 -0
- benchmark/trajectory/CourtYard/task_x001514_y006599_z000118_t2_b/infos.json +204 -0
- benchmark/trajectory/CourtYard/task_x001514_y006599_z000118_t2_c/infos.json +105 -0
- benchmark/trajectory/CourtYard/task_x001514_y006599_z000118_t2_d/infos.json +159 -0
- benchmark/trajectory/CourtYard/task_x001527_y008193_z000118_t5_a_p/infos.json +138 -0
- benchmark/trajectory/CourtYard/task_x001527_y008193_z000118_t5_a_pd/infos.json +300 -0
- benchmark/trajectory/CourtYard/task_x001527_y008193_z000118_t5_b_pd/infos.json +300 -0
- benchmark/trajectory/CourtYard/task_x001645_y006817_z000118_t1_a/infos.json +159 -0
- benchmark/trajectory/CourtYard/task_x001645_y006817_z000118_t1_b/infos.json +150 -0
- benchmark/trajectory/CourtYard/task_x001645_y006817_z000118_t1_c/infos.json +159 -0
- benchmark/trajectory/CourtYard/task_x001665_y006763_z000118_t5_a_p/infos.json +192 -0
- benchmark/trajectory/CourtYard/task_x001665_y006763_z000118_t5_a_pd/infos.json +624 -0
- benchmark/trajectory/CourtYard/task_x001665_y006763_z000118_t5_b_p/infos.json +228 -0
- benchmark/trajectory/CourtYard/task_x001665_y006763_z000118_t5_b_pd/infos.json +444 -0
- benchmark/trajectory/CourtYard/task_x001686_y006195_z000118_t3_a/infos.json +240 -0
- benchmark/trajectory/CourtYard/task_x001686_y006195_z000118_t3_b/infos.json +285 -0
- benchmark/trajectory/CourtYard/task_x001788_y006967_z000118_t1_a/infos.json +186 -0
- benchmark/trajectory/CourtYard/task_x001788_y006967_z000118_t1_b/infos.json +258 -0
- benchmark/trajectory/CourtYard/task_x001990_y008061_z000118_t5_a_p/infos.json +228 -0
- benchmark/trajectory/CourtYard/task_x001990_y008061_z000118_t5_b_p/infos.json +210 -0
- benchmark/trajectory/CourtYard/task_x001990_y008061_z000118_t5_c_p/infos.json +192 -0
- benchmark/trajectory/CourtYard/task_x002009_y007037_z000118_t3_a/infos.json +168 -0
- benchmark/trajectory/CourtYard/task_x002009_y007037_z000118_t3_b/infos.json +249 -0
- benchmark/trajectory/CourtYard/task_x002009_y007037_z000118_t3_c/infos.json +231 -0
- benchmark/trajectory/CourtYard/task_x002009_y007037_z000118_t3_d/infos.json +159 -0
- benchmark/trajectory/CourtYard/task_x002192_y006896_z000118_t5_a_p/infos.json +192 -0
- benchmark/trajectory/CourtYard/task_x002192_y006896_z000118_t5_a_pd/infos.json +390 -0
- benchmark/trajectory/CourtYard/task_x002192_y006896_z000118_t5_b_p/infos.json +246 -0
benchmark/trajectory/CourtYard/task_x001312_y007194_z000118_t0_a/infos.json
ADDED
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@@ -0,0 +1,132 @@
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| 1 |
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{
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"Instruction": "Walk to the wooden door near the arched entrance.",
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}
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benchmark/trajectory/CourtYard/task_x001312_y007194_z000118_t0_b/infos.json
ADDED
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@@ -0,0 +1,159 @@
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| 1 |
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{
|
| 2 |
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"Instruction": "Head toward the green plastic dumpsters.",
|
| 3 |
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"Type": 0,
|
| 4 |
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"Start_Pose": [
|
| 5 |
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1312.053,
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| 6 |
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| 8 |
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| 12 |
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"Action": [
|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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"MoveForward",
|
| 20 |
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|
| 21 |
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|
| 22 |
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|
| 23 |
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"MoveForward",
|
| 24 |
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|
| 25 |
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|
| 26 |
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"MoveForward",
|
| 27 |
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"Finish"
|
| 28 |
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],
|
| 29 |
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"Pose_Trajectory": [
|
| 30 |
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[
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| 31 |
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| 32 |
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| 33 |
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| 38 |
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| 71 |
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| 74 |
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|
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| 81 |
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| 95 |
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|
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|
| 105 |
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|
| 106 |
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|
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|
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|
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|
| 114 |
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| 119 |
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|
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|
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|
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|
| 128 |
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|
| 129 |
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|
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|
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|
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|
| 142 |
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|
| 143 |
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|
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|
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|
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|
| 148 |
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|
| 150 |
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|
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|
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|
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|
| 158 |
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]
|
| 159 |
+
}
|
benchmark/trajectory/CourtYard/task_x001312_y008131_z000118_t3_a/infos.json
ADDED
|
@@ -0,0 +1,177 @@
|
|
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|
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|
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|
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|
|
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|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
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|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
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|
|
|
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|
|
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|
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|
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|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
|
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|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"Instruction": "Walk to the red metal door, then approach the wooden door under the corner.",
|
| 3 |
+
"Type": 3,
|
| 4 |
+
"Start_Pose": [
|
| 5 |
+
1312.002,
|
| 6 |
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8131.077,
|
| 7 |
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118.15,
|
| 8 |
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|
| 9 |
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|
| 10 |
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|
| 11 |
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],
|
| 12 |
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"Action": [
|
| 13 |
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"MoveForward",
|
| 14 |
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"TurnRight",
|
| 15 |
+
"MoveForward",
|
| 16 |
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"MoveForward",
|
| 17 |
+
"TurnRight",
|
| 18 |
+
"MoveForward",
|
| 19 |
+
"MoveForward",
|
| 20 |
+
"MidwayTarget",
|
| 21 |
+
"TurnLeft",
|
| 22 |
+
"TurnLeft",
|
| 23 |
+
"TurnLeft",
|
| 24 |
+
"MoveForward",
|
| 25 |
+
"MoveForward",
|
| 26 |
+
"MoveForward",
|
| 27 |
+
"MoveForward",
|
| 28 |
+
"MoveForward",
|
| 29 |
+
"Finish"
|
| 30 |
+
],
|
| 31 |
+
"Pose_Trajectory": [
|
| 32 |
+
[
|
| 33 |
+
1312.002,
|
| 34 |
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8131.077,
|
| 35 |
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118.15,
|
| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
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],
|
| 40 |
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[
|
| 41 |
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1420.2,
|
| 42 |
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8195.371,
|
| 43 |
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118.15,
|
| 44 |
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0.0,
|
| 45 |
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|
| 46 |
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|
| 47 |
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],
|
| 48 |
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[
|
| 49 |
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1420.2,
|
| 50 |
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|
| 51 |
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|
| 52 |
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0.0,
|
| 53 |
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55.72,
|
| 54 |
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|
| 55 |
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],
|
| 56 |
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[
|
| 57 |
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1491.088,
|
| 58 |
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|
| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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|
| 63 |
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|
| 64 |
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[
|
| 65 |
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1561.977,
|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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|
| 70 |
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|
| 71 |
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|
| 72 |
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[
|
| 73 |
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|
| 74 |
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|
| 75 |
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|
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| 77 |
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| 78 |
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| 79 |
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|
| 80 |
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|
| 81 |
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|
| 82 |
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|
| 83 |
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|
| 84 |
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|
| 85 |
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|
| 86 |
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| 87 |
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|
| 88 |
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| 89 |
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|
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|
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| 93 |
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|
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|
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|
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|
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|
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|
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|
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| 128 |
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|
| 129 |
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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1956.576,
|
| 146 |
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|
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|
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|
| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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[
|
| 153 |
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2081.556,
|
| 154 |
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|
| 155 |
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|
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|
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5.72,
|
| 158 |
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|
| 159 |
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|
| 160 |
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[
|
| 161 |
+
2118.901,
|
| 162 |
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8689.861,
|
| 163 |
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132.187,
|
| 164 |
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0.0,
|
| 165 |
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|
| 166 |
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|
| 167 |
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|
| 168 |
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[
|
| 169 |
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2118.901,
|
| 170 |
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|
| 171 |
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|
| 172 |
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|
| 173 |
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5.72,
|
| 174 |
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-0.0
|
| 175 |
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]
|
| 176 |
+
]
|
| 177 |
+
}
|
benchmark/trajectory/CourtYard/task_x001312_y008131_z000118_t3_b/infos.json
ADDED
|
@@ -0,0 +1,177 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
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|
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|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
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|
|
|
|
|
|
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|
|
|
|
|
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|
|
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|
|
|
|
|
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
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|
|
|
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|
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|
|
|
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|
|
|
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|
|
|
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|
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|
|
|
|
|
|
|
|
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|
|
|
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|
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|
|
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|
|
|
|
|
|
|
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|
|
|
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|
|
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|
|
|
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|
|
|
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|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
|
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|
|
|
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|
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|
|
|
|
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|
|
|
|
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|
|
|
|
|
|
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|
|
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|
|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"Instruction": "Head toward the vertical drainpipe on the wall corner, then reach the red door.",
|
| 3 |
+
"Type": 3,
|
| 4 |
+
"Start_Pose": [
|
| 5 |
+
1312.002,
|
| 6 |
+
8131.077,
|
| 7 |
+
118.15,
|
| 8 |
+
0.0,
|
| 9 |
+
30.72,
|
| 10 |
+
-0.0
|
| 11 |
+
],
|
| 12 |
+
"Action": [
|
| 13 |
+
"MoveForward",
|
| 14 |
+
"MoveForward",
|
| 15 |
+
"MoveForward",
|
| 16 |
+
"MoveForward",
|
| 17 |
+
"MoveForward",
|
| 18 |
+
"TurnRight",
|
| 19 |
+
"MoveForward",
|
| 20 |
+
"MoveForward",
|
| 21 |
+
"TurnRight",
|
| 22 |
+
"TurnRight",
|
| 23 |
+
"MidwayTarget",
|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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| 31 |
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|
benchmark/trajectory/CourtYard/task_x001312_y008131_z000118_t3_c/infos.json
ADDED
|
@@ -0,0 +1,231 @@
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|
| 1 |
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{
|
| 2 |
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"Instruction": "Approach the wooden door under the corner, then move to the red door.",
|
| 3 |
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|
| 4 |
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|
| 5 |
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|
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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0.0,
|
| 211 |
+
105.72,
|
| 212 |
+
-0.0
|
| 213 |
+
],
|
| 214 |
+
[
|
| 215 |
+
1711.177,
|
| 216 |
+
8698.908,
|
| 217 |
+
132.342,
|
| 218 |
+
0.0,
|
| 219 |
+
105.72,
|
| 220 |
+
-0.0
|
| 221 |
+
],
|
| 222 |
+
[
|
| 223 |
+
1711.177,
|
| 224 |
+
8698.908,
|
| 225 |
+
132.342,
|
| 226 |
+
0.0,
|
| 227 |
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105.72,
|
| 228 |
+
-0.0
|
| 229 |
+
]
|
| 230 |
+
]
|
| 231 |
+
}
|
benchmark/trajectory/CourtYard/task_x001312_y008131_z000118_t3_d/infos.json
ADDED
|
@@ -0,0 +1,177 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"Instruction": "Navigate to the red door, then reach the drainpipe corner.",
|
| 3 |
+
"Type": 3,
|
| 4 |
+
"Start_Pose": [
|
| 5 |
+
1312.002,
|
| 6 |
+
8131.077,
|
| 7 |
+
118.15,
|
| 8 |
+
0.0,
|
| 9 |
+
30.72,
|
| 10 |
+
-0.0
|
| 11 |
+
],
|
| 12 |
+
"Action": [
|
| 13 |
+
"TurnRight",
|
| 14 |
+
"MoveForward",
|
| 15 |
+
"MoveForward",
|
| 16 |
+
"MoveForward",
|
| 17 |
+
"MoveForward",
|
| 18 |
+
"TurnRight",
|
| 19 |
+
"MoveForward",
|
| 20 |
+
"MidwayTarget",
|
| 21 |
+
"TurnLeft",
|
| 22 |
+
"TurnLeft",
|
| 23 |
+
"TurnLeft",
|
| 24 |
+
"MoveForward",
|
| 25 |
+
"MoveForward",
|
| 26 |
+
"MoveForward",
|
| 27 |
+
"TurnRight",
|
| 28 |
+
"TurnRight",
|
| 29 |
+
"Finish"
|
| 30 |
+
],
|
| 31 |
+
"Pose_Trajectory": [
|
| 32 |
+
[
|
| 33 |
+
1312.002,
|
| 34 |
+
8131.077,
|
| 35 |
+
118.15,
|
| 36 |
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0.0,
|
| 37 |
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30.72,
|
| 38 |
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-0.0
|
| 39 |
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],
|
| 40 |
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[
|
| 41 |
+
1312.002,
|
| 42 |
+
8131.077,
|
| 43 |
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118.15,
|
| 44 |
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0.0,
|
| 45 |
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55.72,
|
| 46 |
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-0.0
|
| 47 |
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],
|
| 48 |
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[
|
| 49 |
+
1382.89,
|
| 50 |
+
8235.074,
|
| 51 |
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118.15,
|
| 52 |
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0.0,
|
| 53 |
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55.72,
|
| 54 |
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-0.0
|
| 55 |
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],
|
| 56 |
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[
|
| 57 |
+
1453.779,
|
| 58 |
+
8339.07,
|
| 59 |
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118.15,
|
| 60 |
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0.0,
|
| 61 |
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55.72,
|
| 62 |
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|
| 63 |
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],
|
| 64 |
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[
|
| 65 |
+
1524.668,
|
| 66 |
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8443.067,
|
| 67 |
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118.15,
|
| 68 |
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0.0,
|
| 69 |
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55.72,
|
| 70 |
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|
| 71 |
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],
|
| 72 |
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[
|
| 73 |
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1595.556,
|
| 74 |
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8547.064,
|
| 75 |
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118.15,
|
| 76 |
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0.0,
|
| 77 |
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55.72,
|
| 78 |
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-0.0
|
| 79 |
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],
|
| 80 |
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[
|
| 81 |
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1595.556,
|
| 82 |
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8547.064,
|
| 83 |
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118.15,
|
| 84 |
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0.0,
|
| 85 |
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80.72,
|
| 86 |
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-0.0
|
| 87 |
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],
|
| 88 |
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[
|
| 89 |
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1615.852,
|
| 90 |
+
8671.276,
|
| 91 |
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132.342,
|
| 92 |
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0.0,
|
| 93 |
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80.72,
|
| 94 |
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|
| 95 |
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|
| 96 |
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[
|
| 97 |
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1615.852,
|
| 98 |
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8671.276,
|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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[
|
| 105 |
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|
| 106 |
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|
| 107 |
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|
| 108 |
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|
| 109 |
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|
| 110 |
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|
| 111 |
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|
| 112 |
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[
|
| 113 |
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|
| 114 |
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8671.276,
|
| 115 |
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132.342,
|
| 116 |
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|
| 117 |
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|
| 118 |
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|
| 119 |
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],
|
| 120 |
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[
|
| 121 |
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1615.852,
|
| 122 |
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8671.276,
|
| 123 |
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132.342,
|
| 124 |
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|
| 125 |
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5.72,
|
| 126 |
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|
| 127 |
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|
| 128 |
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[
|
| 129 |
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1741.084,
|
| 130 |
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|
| 131 |
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|
| 132 |
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|
| 133 |
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|
| 134 |
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|
| 135 |
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],
|
| 136 |
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[
|
| 137 |
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1864.801,
|
| 138 |
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8692.59,
|
| 139 |
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118.15,
|
| 140 |
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|
| 141 |
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5.72,
|
| 142 |
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|
| 143 |
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],
|
| 144 |
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[
|
| 145 |
+
1936.284,
|
| 146 |
+
8679.701,
|
| 147 |
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119.09,
|
| 148 |
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0.0,
|
| 149 |
+
5.72,
|
| 150 |
+
-0.0
|
| 151 |
+
],
|
| 152 |
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[
|
| 153 |
+
1936.284,
|
| 154 |
+
8679.701,
|
| 155 |
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119.09,
|
| 156 |
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0.0,
|
| 157 |
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30.72,
|
| 158 |
+
-0.0
|
| 159 |
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],
|
| 160 |
+
[
|
| 161 |
+
1936.284,
|
| 162 |
+
8679.701,
|
| 163 |
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119.09,
|
| 164 |
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0.0,
|
| 165 |
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55.72,
|
| 166 |
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-0.0
|
| 167 |
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],
|
| 168 |
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[
|
| 169 |
+
1936.284,
|
| 170 |
+
8679.701,
|
| 171 |
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119.09,
|
| 172 |
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0.0,
|
| 173 |
+
55.72,
|
| 174 |
+
-0.0
|
| 175 |
+
]
|
| 176 |
+
]
|
| 177 |
+
}
|
benchmark/trajectory/CourtYard/task_x001318_y007191_z000118_t3_a/infos.json
ADDED
|
@@ -0,0 +1,285 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
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|
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|
|
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|
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|
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|
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|
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|
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|
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|
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|
|
|
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|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"Instruction": "Walk to the green metal dumpsters, then approach the red door.",
|
| 3 |
+
"Type": 3,
|
| 4 |
+
"Start_Pose": [
|
| 5 |
+
1318.245,
|
| 6 |
+
7191.147,
|
| 7 |
+
118.15,
|
| 8 |
+
0,
|
| 9 |
+
-11.52,
|
| 10 |
+
0
|
| 11 |
+
],
|
| 12 |
+
"Action": [
|
| 13 |
+
"MoveForward",
|
| 14 |
+
"MoveForward",
|
| 15 |
+
"MoveForward",
|
| 16 |
+
"MoveForward",
|
| 17 |
+
"MoveForward",
|
| 18 |
+
"TurnRight",
|
| 19 |
+
"MoveForward",
|
| 20 |
+
"MoveForward",
|
| 21 |
+
"MoveForward",
|
| 22 |
+
"MoveForward",
|
| 23 |
+
"MoveForward",
|
| 24 |
+
"MidwayTarget",
|
| 25 |
+
"TurnRight",
|
| 26 |
+
"TurnRight",
|
| 27 |
+
"TurnRight",
|
| 28 |
+
"TurnRight",
|
| 29 |
+
"TurnRight",
|
| 30 |
+
"TurnRight",
|
| 31 |
+
"MoveForward",
|
| 32 |
+
"MoveForward",
|
| 33 |
+
"MoveForward",
|
| 34 |
+
"MoveForward",
|
| 35 |
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|
| 37 |
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|
| 39 |
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| 40 |
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}
|
benchmark/trajectory/CourtYard/task_x001318_y007191_z000118_t3_b/infos.json
ADDED
|
@@ -0,0 +1,303 @@
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|
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|
|
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|
|
|
|
| 1 |
+
{
|
| 2 |
+
"Instruction": "Head toward the brown wooden door, then reach the red door.",
|
| 3 |
+
"Type": 3,
|
| 4 |
+
"Start_Pose": [
|
| 5 |
+
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|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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|
| 10 |
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|
| 11 |
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],
|
| 12 |
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"Action": [
|
| 13 |
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"TurnLeft",
|
| 14 |
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"MoveForward",
|
| 15 |
+
"MoveForward",
|
| 16 |
+
"MoveForward",
|
| 17 |
+
"MoveForward",
|
| 18 |
+
"TurnLeft",
|
| 19 |
+
"MoveForward",
|
| 20 |
+
"MoveForward",
|
| 21 |
+
"MoveForward",
|
| 22 |
+
"MoveForward",
|
| 23 |
+
"MidwayTarget",
|
| 24 |
+
"TurnRight",
|
| 25 |
+
"TurnRight",
|
| 26 |
+
"TurnRight",
|
| 27 |
+
"TurnRight",
|
| 28 |
+
"TurnRight",
|
| 29 |
+
"TurnRight",
|
| 30 |
+
"TurnRight",
|
| 31 |
+
"MoveForward",
|
| 32 |
+
"MoveForward",
|
| 33 |
+
"MoveForward",
|
| 34 |
+
"MoveForward",
|
| 35 |
+
"MoveForward",
|
| 36 |
+
"TurnLeft",
|
| 37 |
+
"MoveForward",
|
| 38 |
+
"TurnLeft",
|
| 39 |
+
"MoveForward",
|
| 40 |
+
"MoveForward",
|
| 41 |
+
"TurnLeft",
|
| 42 |
+
"MoveForward",
|
| 43 |
+
"Finish"
|
| 44 |
+
],
|
| 45 |
+
"Pose_Trajectory": [
|
| 46 |
+
[
|
| 47 |
+
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|
| 48 |
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|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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],
|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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|
| 58 |
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|
| 59 |
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|
| 60 |
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|
| 61 |
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],
|
| 62 |
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[
|
| 63 |
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|
| 64 |
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|
| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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],
|
| 70 |
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[
|
| 71 |
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|
| 72 |
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|
| 73 |
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}
|
benchmark/trajectory/CourtYard/task_x001318_y007191_z000118_t3_c/infos.json
ADDED
|
@@ -0,0 +1,339 @@
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|
|
| 1 |
+
{
|
| 2 |
+
"Instruction": "Move to the gray graffiti on the wall, then navigate to the red door.",
|
| 3 |
+
"Type": 3,
|
| 4 |
+
"Start_Pose": [
|
| 5 |
+
1318.245,
|
| 6 |
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7191.147,
|
| 7 |
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|
| 8 |
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0,
|
| 9 |
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|
| 10 |
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0
|
| 11 |
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],
|
| 12 |
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"Action": [
|
| 13 |
+
"MoveForward",
|
| 14 |
+
"MoveForward",
|
| 15 |
+
"TurnLeft",
|
| 16 |
+
"MoveForward",
|
| 17 |
+
"MoveForward",
|
| 18 |
+
"MoveForward",
|
| 19 |
+
"MoveForward",
|
| 20 |
+
"TurnRight",
|
| 21 |
+
"MoveForward",
|
| 22 |
+
"MoveForward",
|
| 23 |
+
"MoveForward",
|
| 24 |
+
"MoveForward",
|
| 25 |
+
"MoveForward",
|
| 26 |
+
"MidwayTarget",
|
| 27 |
+
"TurnRight",
|
| 28 |
+
"TurnRight",
|
| 29 |
+
"TurnRight",
|
| 30 |
+
"TurnRight",
|
| 31 |
+
"TurnRight",
|
| 32 |
+
"TurnRight",
|
| 33 |
+
"MoveForward",
|
| 34 |
+
"TurnRight",
|
| 35 |
+
"MoveForward",
|
| 36 |
+
"MoveForward",
|
| 37 |
+
"MoveForward",
|
| 38 |
+
"MoveForward",
|
| 39 |
+
"TurnLeft",
|
| 40 |
+
"TurnLeft",
|
| 41 |
+
"MoveForward",
|
| 42 |
+
"MoveForward",
|
| 43 |
+
"TurnLeft",
|
| 44 |
+
"MoveForward",
|
| 45 |
+
"MoveForward",
|
| 46 |
+
"TurnLeft",
|
| 47 |
+
"Finish"
|
| 48 |
+
],
|
| 49 |
+
"Pose_Trajectory": [
|
| 50 |
+
[
|
| 51 |
+
1318.245,
|
| 52 |
+
7191.147,
|
| 53 |
+
118.15,
|
| 54 |
+
0,
|
| 55 |
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-11.52,
|
| 56 |
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0
|
| 57 |
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],
|
| 58 |
+
[
|
| 59 |
+
1441.569,
|
| 60 |
+
7166.012,
|
| 61 |
+
118.15,
|
| 62 |
+
0.0,
|
| 63 |
+
-11.52,
|
| 64 |
+
0.0
|
| 65 |
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],
|
| 66 |
+
[
|
| 67 |
+
1564.892,
|
| 68 |
+
7140.876,
|
| 69 |
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118.15,
|
| 70 |
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0.0,
|
| 71 |
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-11.52,
|
| 72 |
+
0.0
|
| 73 |
+
],
|
| 74 |
+
[
|
| 75 |
+
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|
benchmark/trajectory/CourtYard/task_x001318_y007191_z000118_t3_d/infos.json
ADDED
|
@@ -0,0 +1,240 @@
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|
| 1 |
+
{
|
| 2 |
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"Instruction": "Approach the red door, then proceed to the brown wooden door.",
|
| 3 |
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"Type": 3,
|
| 4 |
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|
| 5 |
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|
| 6 |
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|
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| 10 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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"MoveForward",
|
| 16 |
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"MoveForward",
|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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"MoveForward",
|
| 21 |
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|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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"MoveForward",
|
| 28 |
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"MoveForward",
|
| 29 |
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"MoveForward",
|
| 30 |
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"MoveForward",
|
| 31 |
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"MoveForward",
|
| 32 |
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"MoveForward",
|
| 33 |
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"MoveForward",
|
| 34 |
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"MoveForward",
|
| 35 |
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"MoveForward",
|
| 36 |
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"Finish"
|
| 37 |
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],
|
| 38 |
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"Pose_Trajectory": [
|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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| 47 |
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| 48 |
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| 49 |
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| 50 |
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| 55 |
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| 56 |
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| 57 |
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| 58 |
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|
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|
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| 1 |
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{
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0.0
|
| 221 |
+
],
|
| 222 |
+
[
|
| 223 |
+
2624.734,
|
| 224 |
+
6704.498,
|
| 225 |
+
118.15,
|
| 226 |
+
0.0,
|
| 227 |
+
-36.52,
|
| 228 |
+
0.0
|
| 229 |
+
]
|
| 230 |
+
]
|
| 231 |
+
}
|
benchmark/trajectory/CourtYard/task_x001318_y007867_z000118_t2_a/infos.json
ADDED
|
@@ -0,0 +1,123 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"Instruction": "Approach the red door on the right under the awning.",
|
| 3 |
+
"Type": 2,
|
| 4 |
+
"Start_Pose": [
|
| 5 |
+
1318.018,
|
| 6 |
+
7867.234,
|
| 7 |
+
118.15,
|
| 8 |
+
0.0,
|
| 9 |
+
29.76,
|
| 10 |
+
-0.0
|
| 11 |
+
],
|
| 12 |
+
"Action": [
|
| 13 |
+
"TurnRight",
|
| 14 |
+
"MoveForward",
|
| 15 |
+
"MoveForward",
|
| 16 |
+
"TurnRight",
|
| 17 |
+
"MoveForward",
|
| 18 |
+
"MoveForward",
|
| 19 |
+
"MoveForward",
|
| 20 |
+
"MoveForward",
|
| 21 |
+
"TurnLeft",
|
| 22 |
+
"MoveForward",
|
| 23 |
+
"Finish"
|
| 24 |
+
],
|
| 25 |
+
"Pose_Trajectory": [
|
| 26 |
+
[
|
| 27 |
+
1318.018,
|
| 28 |
+
7867.234,
|
| 29 |
+
118.15,
|
| 30 |
+
0.0,
|
| 31 |
+
29.76,
|
| 32 |
+
-0.0
|
| 33 |
+
],
|
| 34 |
+
[
|
| 35 |
+
1318.018,
|
| 36 |
+
7867.234,
|
| 37 |
+
118.15,
|
| 38 |
+
0.0,
|
| 39 |
+
54.76,
|
| 40 |
+
-0.0
|
| 41 |
+
],
|
| 42 |
+
[
|
| 43 |
+
1390.639,
|
| 44 |
+
7970.028,
|
| 45 |
+
118.15,
|
| 46 |
+
0.0,
|
| 47 |
+
54.76,
|
| 48 |
+
-0.0
|
| 49 |
+
],
|
| 50 |
+
[
|
| 51 |
+
1463.26,
|
| 52 |
+
8072.823,
|
| 53 |
+
118.15,
|
| 54 |
+
0.0,
|
| 55 |
+
54.76,
|
| 56 |
+
-0.0
|
| 57 |
+
],
|
| 58 |
+
[
|
| 59 |
+
1463.26,
|
| 60 |
+
8072.823,
|
| 61 |
+
118.15,
|
| 62 |
+
0.0,
|
| 63 |
+
79.76,
|
| 64 |
+
-0.0
|
| 65 |
+
],
|
| 66 |
+
[
|
| 67 |
+
1485.634,
|
| 68 |
+
8196.677,
|
| 69 |
+
118.15,
|
| 70 |
+
0.0,
|
| 71 |
+
79.76,
|
| 72 |
+
-0.0
|
| 73 |
+
],
|
| 74 |
+
[
|
| 75 |
+
1508.008,
|
| 76 |
+
8320.531,
|
| 77 |
+
118.15,
|
| 78 |
+
0.0,
|
| 79 |
+
79.76,
|
| 80 |
+
-0.0
|
| 81 |
+
],
|
| 82 |
+
[
|
| 83 |
+
1530.382,
|
| 84 |
+
8444.386,
|
| 85 |
+
118.15,
|
| 86 |
+
0.0,
|
| 87 |
+
79.76,
|
| 88 |
+
-0.0
|
| 89 |
+
],
|
| 90 |
+
[
|
| 91 |
+
1552.757,
|
| 92 |
+
8568.24,
|
| 93 |
+
118.15,
|
| 94 |
+
0.0,
|
| 95 |
+
79.76,
|
| 96 |
+
-0.0
|
| 97 |
+
],
|
| 98 |
+
[
|
| 99 |
+
1552.757,
|
| 100 |
+
8568.24,
|
| 101 |
+
118.15,
|
| 102 |
+
0.0,
|
| 103 |
+
54.76,
|
| 104 |
+
-0.0
|
| 105 |
+
],
|
| 106 |
+
[
|
| 107 |
+
1625.378,
|
| 108 |
+
8671.034,
|
| 109 |
+
132.274,
|
| 110 |
+
0.0,
|
| 111 |
+
54.76,
|
| 112 |
+
-0.0
|
| 113 |
+
],
|
| 114 |
+
[
|
| 115 |
+
1625.378,
|
| 116 |
+
8671.034,
|
| 117 |
+
132.274,
|
| 118 |
+
0.0,
|
| 119 |
+
54.76,
|
| 120 |
+
-0.0
|
| 121 |
+
]
|
| 122 |
+
]
|
| 123 |
+
}
|
benchmark/trajectory/CourtYard/task_x001318_y007867_z000118_t2_b/infos.json
ADDED
|
@@ -0,0 +1,114 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"Instruction": "Walk to the leftmost ground-floor window at the base.",
|
| 3 |
+
"Type": 2,
|
| 4 |
+
"Start_Pose": [
|
| 5 |
+
1318.018,
|
| 6 |
+
7867.234,
|
| 7 |
+
118.15,
|
| 8 |
+
0.0,
|
| 9 |
+
29.76,
|
| 10 |
+
-0.0
|
| 11 |
+
],
|
| 12 |
+
"Action": [
|
| 13 |
+
"TurnLeft",
|
| 14 |
+
"MoveForward",
|
| 15 |
+
"MoveForward",
|
| 16 |
+
"MoveForward",
|
| 17 |
+
"TurnLeft",
|
| 18 |
+
"MoveForward",
|
| 19 |
+
"MoveForward",
|
| 20 |
+
"MoveForward",
|
| 21 |
+
"LookDown",
|
| 22 |
+
"Finish"
|
| 23 |
+
],
|
| 24 |
+
"Pose_Trajectory": [
|
| 25 |
+
[
|
| 26 |
+
1318.018,
|
| 27 |
+
7867.234,
|
| 28 |
+
118.15,
|
| 29 |
+
0.0,
|
| 30 |
+
29.76,
|
| 31 |
+
-0.0
|
| 32 |
+
],
|
| 33 |
+
[
|
| 34 |
+
1318.018,
|
| 35 |
+
7867.234,
|
| 36 |
+
118.15,
|
| 37 |
+
0.0,
|
| 38 |
+
4.76,
|
| 39 |
+
-0.0
|
| 40 |
+
],
|
| 41 |
+
[
|
| 42 |
+
1443.443,
|
| 43 |
+
7877.678,
|
| 44 |
+
118.15,
|
| 45 |
+
0.0,
|
| 46 |
+
4.76,
|
| 47 |
+
-0.0
|
| 48 |
+
],
|
| 49 |
+
[
|
| 50 |
+
1568.868,
|
| 51 |
+
7888.122,
|
| 52 |
+
118.15,
|
| 53 |
+
0.0,
|
| 54 |
+
4.76,
|
| 55 |
+
-0.0
|
| 56 |
+
],
|
| 57 |
+
[
|
| 58 |
+
1694.293,
|
| 59 |
+
7898.566,
|
| 60 |
+
118.15,
|
| 61 |
+
0.0,
|
| 62 |
+
4.76,
|
| 63 |
+
-0.0
|
| 64 |
+
],
|
| 65 |
+
[
|
| 66 |
+
1694.293,
|
| 67 |
+
7898.566,
|
| 68 |
+
118.15,
|
| 69 |
+
0.0,
|
| 70 |
+
-20.24,
|
| 71 |
+
0.0
|
| 72 |
+
],
|
| 73 |
+
[
|
| 74 |
+
1812.38,
|
| 75 |
+
7855.025,
|
| 76 |
+
118.15,
|
| 77 |
+
0.0,
|
| 78 |
+
-20.24,
|
| 79 |
+
0.0
|
| 80 |
+
],
|
| 81 |
+
[
|
| 82 |
+
1930.468,
|
| 83 |
+
7811.483,
|
| 84 |
+
118.15,
|
| 85 |
+
0.0,
|
| 86 |
+
-20.24,
|
| 87 |
+
0.0
|
| 88 |
+
],
|
| 89 |
+
[
|
| 90 |
+
1989.909,
|
| 91 |
+
7771.991,
|
| 92 |
+
118.15,
|
| 93 |
+
0.0,
|
| 94 |
+
-20.24,
|
| 95 |
+
0.0
|
| 96 |
+
],
|
| 97 |
+
[
|
| 98 |
+
1989.909,
|
| 99 |
+
7771.991,
|
| 100 |
+
118.15,
|
| 101 |
+
0.0,
|
| 102 |
+
-20.24,
|
| 103 |
+
0.0
|
| 104 |
+
],
|
| 105 |
+
[
|
| 106 |
+
1989.909,
|
| 107 |
+
7771.991,
|
| 108 |
+
118.15,
|
| 109 |
+
0.0,
|
| 110 |
+
-20.24,
|
| 111 |
+
0.0
|
| 112 |
+
]
|
| 113 |
+
]
|
| 114 |
+
}
|
benchmark/trajectory/CourtYard/task_x001318_y007867_z000118_t2_c/infos.json
ADDED
|
@@ -0,0 +1,150 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"Instruction": "Head toward the vertical drainpipe in the far right corner.",
|
| 3 |
+
"Type": 2,
|
| 4 |
+
"Start_Pose": [
|
| 5 |
+
1318.018,
|
| 6 |
+
7867.234,
|
| 7 |
+
118.15,
|
| 8 |
+
0.0,
|
| 9 |
+
29.76,
|
| 10 |
+
-0.0
|
| 11 |
+
],
|
| 12 |
+
"Action": [
|
| 13 |
+
"MoveForward",
|
| 14 |
+
"MoveForward",
|
| 15 |
+
"MoveForward",
|
| 16 |
+
"TurnRight",
|
| 17 |
+
"MoveForward",
|
| 18 |
+
"MoveForward",
|
| 19 |
+
"MoveForward",
|
| 20 |
+
"TurnRight",
|
| 21 |
+
"MoveForward",
|
| 22 |
+
"MoveForward",
|
| 23 |
+
"MoveForward",
|
| 24 |
+
"TurnLeft",
|
| 25 |
+
"TurnLeft",
|
| 26 |
+
"Finish"
|
| 27 |
+
],
|
| 28 |
+
"Pose_Trajectory": [
|
| 29 |
+
[
|
| 30 |
+
1318.018,
|
| 31 |
+
7867.234,
|
| 32 |
+
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|
| 33 |
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0.0,
|
| 34 |
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29.76,
|
| 35 |
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|
| 36 |
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],
|
| 37 |
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[
|
| 38 |
+
1427.278,
|
| 39 |
+
7929.706,
|
| 40 |
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118.15,
|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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[
|
| 46 |
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|
| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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[
|
| 54 |
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|
| 55 |
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8054.651,
|
| 56 |
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|
| 57 |
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|
| 58 |
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|
| 59 |
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| 60 |
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|
| 61 |
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[
|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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| 67 |
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|
| 69 |
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[
|
| 70 |
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|
| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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[
|
| 78 |
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|
| 79 |
+
8260.24,
|
| 80 |
+
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|
| 81 |
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|
| 82 |
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|
| 83 |
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|
| 84 |
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|
| 85 |
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[
|
| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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[
|
| 94 |
+
1863.66,
|
| 95 |
+
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|
| 96 |
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|
| 97 |
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0.0,
|
| 98 |
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|
| 99 |
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|
| 100 |
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],
|
| 101 |
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[
|
| 102 |
+
1886.034,
|
| 103 |
+
8486.888,
|
| 104 |
+
118.15,
|
| 105 |
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0.0,
|
| 106 |
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|
| 107 |
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|
| 108 |
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|
| 109 |
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[
|
| 110 |
+
1908.408,
|
| 111 |
+
8610.743,
|
| 112 |
+
118.15,
|
| 113 |
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|
| 114 |
+
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|
| 115 |
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|
| 116 |
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|
| 117 |
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[
|
| 118 |
+
1923.515,
|
| 119 |
+
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|
| 120 |
+
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|
| 121 |
+
0.0,
|
| 122 |
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|
| 123 |
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|
| 124 |
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],
|
| 125 |
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[
|
| 126 |
+
1923.515,
|
| 127 |
+
8698.932,
|
| 128 |
+
118.15,
|
| 129 |
+
0.0,
|
| 130 |
+
54.76,
|
| 131 |
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-0.0
|
| 132 |
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],
|
| 133 |
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[
|
| 134 |
+
1923.515,
|
| 135 |
+
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|
| 136 |
+
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|
| 137 |
+
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|
| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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[
|
| 142 |
+
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|
| 143 |
+
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|
| 144 |
+
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|
| 145 |
+
0.0,
|
| 146 |
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29.76,
|
| 147 |
+
-0.0
|
| 148 |
+
]
|
| 149 |
+
]
|
| 150 |
+
}
|
benchmark/trajectory/CourtYard/task_x001318_y007867_z000118_t2_d/infos.json
ADDED
|
@@ -0,0 +1,96 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"Instruction": "Move to the vertical drainpipe on the left.",
|
| 3 |
+
"Type": 2,
|
| 4 |
+
"Start_Pose": [
|
| 5 |
+
1318.018,
|
| 6 |
+
7867.234,
|
| 7 |
+
118.15,
|
| 8 |
+
0.0,
|
| 9 |
+
29.76,
|
| 10 |
+
-0.0
|
| 11 |
+
],
|
| 12 |
+
"Action": [
|
| 13 |
+
"TurnLeft",
|
| 14 |
+
"MoveForward",
|
| 15 |
+
"TurnLeft",
|
| 16 |
+
"MoveForward",
|
| 17 |
+
"MoveForward",
|
| 18 |
+
"MoveForward",
|
| 19 |
+
"MoveForward",
|
| 20 |
+
"Finish"
|
| 21 |
+
],
|
| 22 |
+
"Pose_Trajectory": [
|
| 23 |
+
[
|
| 24 |
+
1318.018,
|
| 25 |
+
7867.234,
|
| 26 |
+
118.15,
|
| 27 |
+
0.0,
|
| 28 |
+
29.76,
|
| 29 |
+
-0.0
|
| 30 |
+
],
|
| 31 |
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[
|
| 32 |
+
1318.018,
|
| 33 |
+
7867.234,
|
| 34 |
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118.15,
|
| 35 |
+
0.0,
|
| 36 |
+
4.76,
|
| 37 |
+
-0.0
|
| 38 |
+
],
|
| 39 |
+
[
|
| 40 |
+
1443.443,
|
| 41 |
+
7877.678,
|
| 42 |
+
118.15,
|
| 43 |
+
0.0,
|
| 44 |
+
4.76,
|
| 45 |
+
-0.0
|
| 46 |
+
],
|
| 47 |
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[
|
| 48 |
+
1443.443,
|
| 49 |
+
7877.678,
|
| 50 |
+
118.15,
|
| 51 |
+
0.0,
|
| 52 |
+
-20.24,
|
| 53 |
+
0.0
|
| 54 |
+
],
|
| 55 |
+
[
|
| 56 |
+
1561.53,
|
| 57 |
+
7834.137,
|
| 58 |
+
118.15,
|
| 59 |
+
0.0,
|
| 60 |
+
-20.24,
|
| 61 |
+
0.0
|
| 62 |
+
],
|
| 63 |
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[
|
| 64 |
+
1679.618,
|
| 65 |
+
7790.595,
|
| 66 |
+
118.15,
|
| 67 |
+
0.0,
|
| 68 |
+
-20.24,
|
| 69 |
+
0.0
|
| 70 |
+
],
|
| 71 |
+
[
|
| 72 |
+
1797.705,
|
| 73 |
+
7747.054,
|
| 74 |
+
118.15,
|
| 75 |
+
0.0,
|
| 76 |
+
-20.24,
|
| 77 |
+
0.0
|
| 78 |
+
],
|
| 79 |
+
[
|
| 80 |
+
1915.793,
|
| 81 |
+
7703.513,
|
| 82 |
+
118.15,
|
| 83 |
+
0.0,
|
| 84 |
+
-20.24,
|
| 85 |
+
0.0
|
| 86 |
+
],
|
| 87 |
+
[
|
| 88 |
+
1915.793,
|
| 89 |
+
7703.513,
|
| 90 |
+
118.15,
|
| 91 |
+
0.0,
|
| 92 |
+
-20.24,
|
| 93 |
+
0.0
|
| 94 |
+
]
|
| 95 |
+
]
|
| 96 |
+
}
|
benchmark/trajectory/CourtYard/task_x001318_y007867_z000118_t2_e/infos.json
ADDED
|
@@ -0,0 +1,114 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"Instruction": "Proceed to the second ground-floor window from the left.",
|
| 3 |
+
"Type": 2,
|
| 4 |
+
"Start_Pose": [
|
| 5 |
+
1318.018,
|
| 6 |
+
7867.234,
|
| 7 |
+
118.15,
|
| 8 |
+
0.0,
|
| 9 |
+
29.76,
|
| 10 |
+
-0.0
|
| 11 |
+
],
|
| 12 |
+
"Action": [
|
| 13 |
+
"MoveForward",
|
| 14 |
+
"MoveForward",
|
| 15 |
+
"MoveForward",
|
| 16 |
+
"TurnLeft",
|
| 17 |
+
"MoveForward",
|
| 18 |
+
"MoveForward",
|
| 19 |
+
"TurnLeft",
|
| 20 |
+
"MoveForward",
|
| 21 |
+
"MoveBackward",
|
| 22 |
+
"Finish"
|
| 23 |
+
],
|
| 24 |
+
"Pose_Trajectory": [
|
| 25 |
+
[
|
| 26 |
+
1318.018,
|
| 27 |
+
7867.234,
|
| 28 |
+
118.15,
|
| 29 |
+
0.0,
|
| 30 |
+
29.76,
|
| 31 |
+
-0.0
|
| 32 |
+
],
|
| 33 |
+
[
|
| 34 |
+
1427.278,
|
| 35 |
+
7929.706,
|
| 36 |
+
118.15,
|
| 37 |
+
0.0,
|
| 38 |
+
29.76,
|
| 39 |
+
-0.0
|
| 40 |
+
],
|
| 41 |
+
[
|
| 42 |
+
1536.537,
|
| 43 |
+
7992.179,
|
| 44 |
+
118.15,
|
| 45 |
+
0.0,
|
| 46 |
+
29.76,
|
| 47 |
+
-0.0
|
| 48 |
+
],
|
| 49 |
+
[
|
| 50 |
+
1645.797,
|
| 51 |
+
8054.651,
|
| 52 |
+
118.15,
|
| 53 |
+
0.0,
|
| 54 |
+
29.76,
|
| 55 |
+
-0.0
|
| 56 |
+
],
|
| 57 |
+
[
|
| 58 |
+
1645.797,
|
| 59 |
+
8054.651,
|
| 60 |
+
118.15,
|
| 61 |
+
0.0,
|
| 62 |
+
4.76,
|
| 63 |
+
-0.0
|
| 64 |
+
],
|
| 65 |
+
[
|
| 66 |
+
1771.222,
|
| 67 |
+
8065.095,
|
| 68 |
+
118.15,
|
| 69 |
+
0.0,
|
| 70 |
+
4.76,
|
| 71 |
+
-0.0
|
| 72 |
+
],
|
| 73 |
+
[
|
| 74 |
+
1896.647,
|
| 75 |
+
8075.539,
|
| 76 |
+
118.15,
|
| 77 |
+
0.0,
|
| 78 |
+
4.76,
|
| 79 |
+
-0.0
|
| 80 |
+
],
|
| 81 |
+
[
|
| 82 |
+
1896.647,
|
| 83 |
+
8075.539,
|
| 84 |
+
118.15,
|
| 85 |
+
0.0,
|
| 86 |
+
-20.24,
|
| 87 |
+
0.0
|
| 88 |
+
],
|
| 89 |
+
[
|
| 90 |
+
1989.779,
|
| 91 |
+
8032.596,
|
| 92 |
+
118.15,
|
| 93 |
+
0.0,
|
| 94 |
+
-20.24,
|
| 95 |
+
0.0
|
| 96 |
+
],
|
| 97 |
+
[
|
| 98 |
+
1903.085,
|
| 99 |
+
8064.562,
|
| 100 |
+
118.15,
|
| 101 |
+
0.0,
|
| 102 |
+
-20.24,
|
| 103 |
+
0.0
|
| 104 |
+
],
|
| 105 |
+
[
|
| 106 |
+
1903.085,
|
| 107 |
+
8064.562,
|
| 108 |
+
118.15,
|
| 109 |
+
0.0,
|
| 110 |
+
-20.24,
|
| 111 |
+
0.0
|
| 112 |
+
]
|
| 113 |
+
]
|
| 114 |
+
}
|
benchmark/trajectory/CourtYard/task_x001433_y006682_z000130_t0_a/infos.json
ADDED
|
@@ -0,0 +1,114 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
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|
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|
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|
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|
|
|
|
|
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|
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|
|
|
|
|
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|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"Instruction": "Walk to the red door on the building.",
|
| 3 |
+
"Type": 0,
|
| 4 |
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"Start_Pose": [
|
| 5 |
+
1432.97,
|
| 6 |
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6682.451,
|
| 7 |
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|
| 8 |
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|
| 9 |
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|
| 10 |
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|
| 11 |
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|
| 12 |
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"Action": [
|
| 13 |
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"MoveForward",
|
| 14 |
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"MoveForward",
|
| 15 |
+
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|
| 16 |
+
"MoveForward",
|
| 17 |
+
"MoveForward",
|
| 18 |
+
"MoveForward",
|
| 19 |
+
"MoveForward",
|
| 20 |
+
"MoveForward",
|
| 21 |
+
"MoveForward",
|
| 22 |
+
"Finish"
|
| 23 |
+
],
|
| 24 |
+
"Pose_Trajectory": [
|
| 25 |
+
[
|
| 26 |
+
1432.97,
|
| 27 |
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6682.451,
|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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[
|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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[
|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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|
| 46 |
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|
| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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[
|
| 58 |
+
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|
| 59 |
+
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|
| 60 |
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|
| 61 |
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|
| 62 |
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|
| 63 |
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|
| 64 |
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],
|
| 65 |
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[
|
| 66 |
+
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|
| 67 |
+
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|
| 68 |
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|
| 69 |
+
0.0,
|
| 70 |
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|
| 71 |
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|
| 72 |
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],
|
| 73 |
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[
|
| 74 |
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1823.66,
|
| 75 |
+
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|
| 76 |
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118.15,
|
| 77 |
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0.0,
|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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[
|
| 82 |
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1885.597,
|
| 83 |
+
7266.951,
|
| 84 |
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|
| 85 |
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|
| 86 |
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|
| 87 |
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|
| 88 |
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],
|
| 89 |
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[
|
| 90 |
+
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|
| 91 |
+
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|
| 92 |
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|
| 93 |
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0.0,
|
| 94 |
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60.52,
|
| 95 |
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-0.0
|
| 96 |
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],
|
| 97 |
+
[
|
| 98 |
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|
| 99 |
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7481.562,
|
| 100 |
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|
| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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[
|
| 106 |
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|
| 107 |
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|
| 108 |
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|
| 109 |
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|
| 110 |
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|
| 111 |
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-0.0
|
| 112 |
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]
|
| 113 |
+
]
|
| 114 |
+
}
|
benchmark/trajectory/CourtYard/task_x001433_y006682_z000130_t0_b/infos.json
ADDED
|
@@ -0,0 +1,150 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
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|
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|
|
|
|
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|
|
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|
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|
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|
|
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|
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
|
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|
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|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
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|
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|
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|
|
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|
|
|
|
|
|
|
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|
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|
|
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|
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|
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|
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|
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|
|
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|
|
|
|
|
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|
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|
|
|
|
|
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|
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|
|
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|
|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"Instruction": "Approach the green dumpster against the wall.",
|
| 3 |
+
"Type": 0,
|
| 4 |
+
"Start_Pose": [
|
| 5 |
+
1432.97,
|
| 6 |
+
6682.451,
|
| 7 |
+
129.616,
|
| 8 |
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0.0,
|
| 9 |
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35.52,
|
| 10 |
+
-0.0
|
| 11 |
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],
|
| 12 |
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"Action": [
|
| 13 |
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"MoveForward",
|
| 14 |
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"TurnLeft",
|
| 15 |
+
"MoveForward",
|
| 16 |
+
"MoveForward",
|
| 17 |
+
"MoveForward",
|
| 18 |
+
"MoveForward",
|
| 19 |
+
"MoveForward",
|
| 20 |
+
"TurnRight",
|
| 21 |
+
"MoveForward",
|
| 22 |
+
"MoveForward",
|
| 23 |
+
"TurnRight",
|
| 24 |
+
"MoveForward",
|
| 25 |
+
"MoveForward",
|
| 26 |
+
"Finish"
|
| 27 |
+
],
|
| 28 |
+
"Pose_Trajectory": [
|
| 29 |
+
[
|
| 30 |
+
1432.97,
|
| 31 |
+
6682.451,
|
| 32 |
+
129.616,
|
| 33 |
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0.0,
|
| 34 |
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35.52,
|
| 35 |
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-0.0
|
| 36 |
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],
|
| 37 |
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[
|
| 38 |
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1535.408,
|
| 39 |
+
6755.574,
|
| 40 |
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118.15,
|
| 41 |
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0.0,
|
| 42 |
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35.52,
|
| 43 |
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-0.0
|
| 44 |
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],
|
| 45 |
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[
|
| 46 |
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1535.408,
|
| 47 |
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6755.574,
|
| 48 |
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118.15,
|
| 49 |
+
0.0,
|
| 50 |
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10.52,
|
| 51 |
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-0.0
|
| 52 |
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],
|
| 53 |
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[
|
| 54 |
+
1659.152,
|
| 55 |
+
6778.553,
|
| 56 |
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118.15,
|
| 57 |
+
0.0,
|
| 58 |
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10.52,
|
| 59 |
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-0.0
|
| 60 |
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],
|
| 61 |
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[
|
| 62 |
+
1782.895,
|
| 63 |
+
6801.532,
|
| 64 |
+
118.15,
|
| 65 |
+
0.0,
|
| 66 |
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10.52,
|
| 67 |
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-0.0
|
| 68 |
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],
|
| 69 |
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[
|
| 70 |
+
1906.639,
|
| 71 |
+
6824.511,
|
| 72 |
+
118.15,
|
| 73 |
+
0.0,
|
| 74 |
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10.52,
|
| 75 |
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-0.0
|
| 76 |
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],
|
| 77 |
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[
|
| 78 |
+
2030.382,
|
| 79 |
+
6847.49,
|
| 80 |
+
118.15,
|
| 81 |
+
0.0,
|
| 82 |
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10.52,
|
| 83 |
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-0.0
|
| 84 |
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],
|
| 85 |
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[
|
| 86 |
+
2154.126,
|
| 87 |
+
6870.47,
|
| 88 |
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118.15,
|
| 89 |
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0.0,
|
| 90 |
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10.52,
|
| 91 |
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-0.0
|
| 92 |
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],
|
| 93 |
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[
|
| 94 |
+
2154.126,
|
| 95 |
+
6870.47,
|
| 96 |
+
118.15,
|
| 97 |
+
0.0,
|
| 98 |
+
35.52,
|
| 99 |
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-0.0
|
| 100 |
+
],
|
| 101 |
+
[
|
| 102 |
+
2256.564,
|
| 103 |
+
6943.592,
|
| 104 |
+
118.15,
|
| 105 |
+
0.0,
|
| 106 |
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35.52,
|
| 107 |
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|
| 108 |
+
],
|
| 109 |
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[
|
| 110 |
+
2359.002,
|
| 111 |
+
7016.714,
|
| 112 |
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118.15,
|
| 113 |
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0.0,
|
| 114 |
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35.52,
|
| 115 |
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|
| 116 |
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],
|
| 117 |
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[
|
| 118 |
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|
| 119 |
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|
| 120 |
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118.15,
|
| 121 |
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|
| 122 |
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60.52,
|
| 123 |
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-0.0
|
| 124 |
+
],
|
| 125 |
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[
|
| 126 |
+
2420.94,
|
| 127 |
+
7126.278,
|
| 128 |
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118.15,
|
| 129 |
+
0.0,
|
| 130 |
+
60.52,
|
| 131 |
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-0.0
|
| 132 |
+
],
|
| 133 |
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[
|
| 134 |
+
2460.559,
|
| 135 |
+
7141.121,
|
| 136 |
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119.108,
|
| 137 |
+
0.0,
|
| 138 |
+
60.52,
|
| 139 |
+
-0.0
|
| 140 |
+
],
|
| 141 |
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[
|
| 142 |
+
2460.559,
|
| 143 |
+
7141.121,
|
| 144 |
+
119.108,
|
| 145 |
+
0.0,
|
| 146 |
+
60.52,
|
| 147 |
+
-0.0
|
| 148 |
+
]
|
| 149 |
+
]
|
| 150 |
+
}
|
benchmark/trajectory/CourtYard/task_x001433_y006682_z000130_t0_c/infos.json
ADDED
|
@@ -0,0 +1,150 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"Instruction": "Move to the graffiti tag on the wall.",
|
| 3 |
+
"Type": 0,
|
| 4 |
+
"Start_Pose": [
|
| 5 |
+
1432.97,
|
| 6 |
+
6682.451,
|
| 7 |
+
129.616,
|
| 8 |
+
0.0,
|
| 9 |
+
35.52,
|
| 10 |
+
-0.0
|
| 11 |
+
],
|
| 12 |
+
"Action": [
|
| 13 |
+
"TurnLeft",
|
| 14 |
+
"MoveForward",
|
| 15 |
+
"MoveForward",
|
| 16 |
+
"MoveForward",
|
| 17 |
+
"MoveForward",
|
| 18 |
+
"TurnLeft",
|
| 19 |
+
"MoveForward",
|
| 20 |
+
"MoveForward",
|
| 21 |
+
"MoveForward",
|
| 22 |
+
"MoveForward",
|
| 23 |
+
"MoveForward",
|
| 24 |
+
"TurnRight",
|
| 25 |
+
"MoveForward",
|
| 26 |
+
"Finish"
|
| 27 |
+
],
|
| 28 |
+
"Pose_Trajectory": [
|
| 29 |
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[
|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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| 34 |
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| 36 |
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| 38 |
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|
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| 40 |
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| 41 |
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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| 114 |
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|
| 115 |
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|
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|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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| 122 |
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|
| 123 |
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|
| 125 |
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[
|
| 126 |
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|
| 127 |
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|
| 128 |
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|
| 129 |
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|
| 130 |
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|
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|
| 132 |
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|
| 133 |
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[
|
| 134 |
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|
| 135 |
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|
| 136 |
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|
| 137 |
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|
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|
| 141 |
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[
|
| 142 |
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|
| 143 |
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|
| 144 |
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|
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|
| 147 |
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|
| 148 |
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|
| 149 |
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]
|
| 150 |
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}
|
benchmark/trajectory/CourtYard/task_x001459_y008111_z000118_t0_a/infos.json
ADDED
|
@@ -0,0 +1,87 @@
|
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|
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|
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|
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|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"Instruction": "Walk to the red door.",
|
| 3 |
+
"Type": 0,
|
| 4 |
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"Start_Pose": [
|
| 5 |
+
1458.563,
|
| 6 |
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8110.887,
|
| 7 |
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|
| 8 |
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| 9 |
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|
| 10 |
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|
| 11 |
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|
| 12 |
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"Action": [
|
| 13 |
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"MoveForward",
|
| 14 |
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"MoveForward",
|
| 15 |
+
"MoveForward",
|
| 16 |
+
"TurnRight",
|
| 17 |
+
"MoveForward",
|
| 18 |
+
"MoveForward",
|
| 19 |
+
"Finish"
|
| 20 |
+
],
|
| 21 |
+
"Pose_Trajectory": [
|
| 22 |
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[
|
| 23 |
+
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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[
|
| 31 |
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|
| 32 |
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|
| 33 |
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118.15,
|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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[
|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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|
| 46 |
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|
| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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|
| 54 |
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[
|
| 55 |
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|
| 56 |
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|
| 57 |
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|
| 58 |
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|
| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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[
|
| 63 |
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|
| 64 |
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|
| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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|
| 70 |
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[
|
| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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[
|
| 79 |
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1674.123,
|
| 80 |
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|
| 81 |
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|
| 82 |
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|
| 83 |
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|
| 84 |
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-0.0
|
| 85 |
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]
|
| 86 |
+
]
|
| 87 |
+
}
|
benchmark/trajectory/CourtYard/task_x001459_y008111_z000118_t0_b/infos.json
ADDED
|
@@ -0,0 +1,123 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
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|
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|
|
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|
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|
|
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|
|
|
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|
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|
|
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|
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"Instruction": "Walk to that dark brown door.",
|
| 3 |
+
"Type": 0,
|
| 4 |
+
"Start_Pose": [
|
| 5 |
+
1458.563,
|
| 6 |
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8110.887,
|
| 7 |
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118.15,
|
| 8 |
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0.0,
|
| 9 |
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59.52,
|
| 10 |
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|
| 11 |
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],
|
| 12 |
+
"Action": [
|
| 13 |
+
"MoveForward",
|
| 14 |
+
"MoveForward",
|
| 15 |
+
"TurnLeft",
|
| 16 |
+
"MoveForward",
|
| 17 |
+
"MoveForward",
|
| 18 |
+
"TurnLeft",
|
| 19 |
+
"MoveForward",
|
| 20 |
+
"TurnRight",
|
| 21 |
+
"MoveForward",
|
| 22 |
+
"MoveForward",
|
| 23 |
+
"Finish"
|
| 24 |
+
],
|
| 25 |
+
"Pose_Trajectory": [
|
| 26 |
+
[
|
| 27 |
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1458.563,
|
| 28 |
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8110.887,
|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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],
|
| 34 |
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[
|
| 35 |
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1522.403,
|
| 36 |
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8219.353,
|
| 37 |
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118.15,
|
| 38 |
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0.0,
|
| 39 |
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|
| 40 |
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|
| 41 |
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],
|
| 42 |
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[
|
| 43 |
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1586.244,
|
| 44 |
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8327.819,
|
| 45 |
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118.15,
|
| 46 |
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|
| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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[
|
| 51 |
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|
| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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|
| 58 |
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[
|
| 59 |
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|
| 60 |
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8399.143,
|
| 61 |
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|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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],
|
| 66 |
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[
|
| 67 |
+
1793.641,
|
| 68 |
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8470.466,
|
| 69 |
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118.15,
|
| 70 |
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0.0,
|
| 71 |
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|
| 72 |
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|
| 73 |
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],
|
| 74 |
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[
|
| 75 |
+
1793.641,
|
| 76 |
+
8470.466,
|
| 77 |
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118.15,
|
| 78 |
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0.0,
|
| 79 |
+
9.52,
|
| 80 |
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|
| 81 |
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],
|
| 82 |
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[
|
| 83 |
+
1917.767,
|
| 84 |
+
8491.282,
|
| 85 |
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118.15,
|
| 86 |
+
0.0,
|
| 87 |
+
9.52,
|
| 88 |
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|
| 89 |
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],
|
| 90 |
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[
|
| 91 |
+
1917.767,
|
| 92 |
+
8491.282,
|
| 93 |
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118.15,
|
| 94 |
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0.0,
|
| 95 |
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34.52,
|
| 96 |
+
-0.0
|
| 97 |
+
],
|
| 98 |
+
[
|
| 99 |
+
2018.278,
|
| 100 |
+
8565.737,
|
| 101 |
+
118.15,
|
| 102 |
+
0.0,
|
| 103 |
+
34.52,
|
| 104 |
+
-0.0
|
| 105 |
+
],
|
| 106 |
+
[
|
| 107 |
+
2118.915,
|
| 108 |
+
8639.321,
|
| 109 |
+
132.186,
|
| 110 |
+
0.0,
|
| 111 |
+
34.52,
|
| 112 |
+
-0.0
|
| 113 |
+
],
|
| 114 |
+
[
|
| 115 |
+
2118.915,
|
| 116 |
+
8639.321,
|
| 117 |
+
132.186,
|
| 118 |
+
0.0,
|
| 119 |
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34.52,
|
| 120 |
+
-0.0
|
| 121 |
+
]
|
| 122 |
+
]
|
| 123 |
+
}
|
benchmark/trajectory/CourtYard/task_x001459_y008111_z000118_t0_c/infos.json
ADDED
|
@@ -0,0 +1,114 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"Instruction": "Move to the concrete step below the red door.",
|
| 3 |
+
"Type": 0,
|
| 4 |
+
"Start_Pose": [
|
| 5 |
+
1458.563,
|
| 6 |
+
8110.887,
|
| 7 |
+
118.15,
|
| 8 |
+
0.0,
|
| 9 |
+
59.52,
|
| 10 |
+
-0.0
|
| 11 |
+
],
|
| 12 |
+
"Action": [
|
| 13 |
+
"MoveForward",
|
| 14 |
+
"MoveForward",
|
| 15 |
+
"TurnRight",
|
| 16 |
+
"MoveForward",
|
| 17 |
+
"MoveForward",
|
| 18 |
+
"MoveForward",
|
| 19 |
+
"LookDown",
|
| 20 |
+
"MoveBackward",
|
| 21 |
+
"LookDown",
|
| 22 |
+
"Finish"
|
| 23 |
+
],
|
| 24 |
+
"Pose_Trajectory": [
|
| 25 |
+
[
|
| 26 |
+
1458.563,
|
| 27 |
+
8110.887,
|
| 28 |
+
118.15,
|
| 29 |
+
0.0,
|
| 30 |
+
59.52,
|
| 31 |
+
-0.0
|
| 32 |
+
],
|
| 33 |
+
[
|
| 34 |
+
1522.403,
|
| 35 |
+
8219.353,
|
| 36 |
+
118.15,
|
| 37 |
+
0.0,
|
| 38 |
+
59.52,
|
| 39 |
+
-0.0
|
| 40 |
+
],
|
| 41 |
+
[
|
| 42 |
+
1586.244,
|
| 43 |
+
8327.819,
|
| 44 |
+
118.15,
|
| 45 |
+
0.0,
|
| 46 |
+
59.52,
|
| 47 |
+
-0.0
|
| 48 |
+
],
|
| 49 |
+
[
|
| 50 |
+
1586.244,
|
| 51 |
+
8327.819,
|
| 52 |
+
118.15,
|
| 53 |
+
0.0,
|
| 54 |
+
84.52,
|
| 55 |
+
-0.0
|
| 56 |
+
],
|
| 57 |
+
[
|
| 58 |
+
1598.263,
|
| 59 |
+
8453.103,
|
| 60 |
+
118.15,
|
| 61 |
+
0.0,
|
| 62 |
+
84.52,
|
| 63 |
+
-0.0
|
| 64 |
+
],
|
| 65 |
+
[
|
| 66 |
+
1610.282,
|
| 67 |
+
8578.387,
|
| 68 |
+
118.15,
|
| 69 |
+
0.0,
|
| 70 |
+
84.52,
|
| 71 |
+
-0.0
|
| 72 |
+
],
|
| 73 |
+
[
|
| 74 |
+
1622.137,
|
| 75 |
+
8698.9,
|
| 76 |
+
132.342,
|
| 77 |
+
0.0,
|
| 78 |
+
84.52,
|
| 79 |
+
-0.0
|
| 80 |
+
],
|
| 81 |
+
[
|
| 82 |
+
1622.137,
|
| 83 |
+
8698.9,
|
| 84 |
+
132.342,
|
| 85 |
+
0.0,
|
| 86 |
+
84.52,
|
| 87 |
+
-0.0
|
| 88 |
+
],
|
| 89 |
+
[
|
| 90 |
+
1613.313,
|
| 91 |
+
8606.923,
|
| 92 |
+
118.368,
|
| 93 |
+
0.0,
|
| 94 |
+
84.52,
|
| 95 |
+
-0.0
|
| 96 |
+
],
|
| 97 |
+
[
|
| 98 |
+
1613.313,
|
| 99 |
+
8606.923,
|
| 100 |
+
118.368,
|
| 101 |
+
0.0,
|
| 102 |
+
84.52,
|
| 103 |
+
-0.0
|
| 104 |
+
],
|
| 105 |
+
[
|
| 106 |
+
1613.313,
|
| 107 |
+
8606.923,
|
| 108 |
+
118.368,
|
| 109 |
+
0.0,
|
| 110 |
+
84.52,
|
| 111 |
+
-0.0
|
| 112 |
+
]
|
| 113 |
+
]
|
| 114 |
+
}
|
benchmark/trajectory/CourtYard/task_x001514_y006599_z000118_t2_a/infos.json
ADDED
|
@@ -0,0 +1,114 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"Instruction": "Walk to the red door on the left.",
|
| 3 |
+
"Type": 2,
|
| 4 |
+
"Start_Pose": [
|
| 5 |
+
1513.88,
|
| 6 |
+
6599.484,
|
| 7 |
+
118.15,
|
| 8 |
+
0.0,
|
| 9 |
+
59.52,
|
| 10 |
+
-0.0
|
| 11 |
+
],
|
| 12 |
+
"Action": [
|
| 13 |
+
"MoveForward",
|
| 14 |
+
"MoveForward",
|
| 15 |
+
"MoveForward",
|
| 16 |
+
"MoveForward",
|
| 17 |
+
"MoveForward",
|
| 18 |
+
"MoveForward",
|
| 19 |
+
"MoveForward",
|
| 20 |
+
"MoveForward",
|
| 21 |
+
"TurnLeft",
|
| 22 |
+
"Finish"
|
| 23 |
+
],
|
| 24 |
+
"Pose_Trajectory": [
|
| 25 |
+
[
|
| 26 |
+
1513.88,
|
| 27 |
+
6599.484,
|
| 28 |
+
118.15,
|
| 29 |
+
0.0,
|
| 30 |
+
59.52,
|
| 31 |
+
-0.0
|
| 32 |
+
],
|
| 33 |
+
[
|
| 34 |
+
1577.72,
|
| 35 |
+
6707.95,
|
| 36 |
+
118.15,
|
| 37 |
+
0.0,
|
| 38 |
+
59.52,
|
| 39 |
+
-0.0
|
| 40 |
+
],
|
| 41 |
+
[
|
| 42 |
+
1641.561,
|
| 43 |
+
6816.416,
|
| 44 |
+
118.15,
|
| 45 |
+
0.0,
|
| 46 |
+
59.52,
|
| 47 |
+
-0.0
|
| 48 |
+
],
|
| 49 |
+
[
|
| 50 |
+
1705.401,
|
| 51 |
+
6924.882,
|
| 52 |
+
118.15,
|
| 53 |
+
0.0,
|
| 54 |
+
59.52,
|
| 55 |
+
-0.0
|
| 56 |
+
],
|
| 57 |
+
[
|
| 58 |
+
1769.242,
|
| 59 |
+
7033.348,
|
| 60 |
+
118.15,
|
| 61 |
+
0.0,
|
| 62 |
+
59.52,
|
| 63 |
+
-0.0
|
| 64 |
+
],
|
| 65 |
+
[
|
| 66 |
+
1833.082,
|
| 67 |
+
7141.814,
|
| 68 |
+
118.15,
|
| 69 |
+
0.0,
|
| 70 |
+
59.52,
|
| 71 |
+
-0.0
|
| 72 |
+
],
|
| 73 |
+
[
|
| 74 |
+
1896.922,
|
| 75 |
+
7250.28,
|
| 76 |
+
118.15,
|
| 77 |
+
0.0,
|
| 78 |
+
59.52,
|
| 79 |
+
-0.0
|
| 80 |
+
],
|
| 81 |
+
[
|
| 82 |
+
1939.929,
|
| 83 |
+
7357.459,
|
| 84 |
+
118.15,
|
| 85 |
+
0.0,
|
| 86 |
+
59.52,
|
| 87 |
+
-0.0
|
| 88 |
+
],
|
| 89 |
+
[
|
| 90 |
+
1939.95,
|
| 91 |
+
7461.361,
|
| 92 |
+
132.339,
|
| 93 |
+
0.0,
|
| 94 |
+
59.52,
|
| 95 |
+
-0.0
|
| 96 |
+
],
|
| 97 |
+
[
|
| 98 |
+
1939.95,
|
| 99 |
+
7461.361,
|
| 100 |
+
132.339,
|
| 101 |
+
0.0,
|
| 102 |
+
34.52,
|
| 103 |
+
-0.0
|
| 104 |
+
],
|
| 105 |
+
[
|
| 106 |
+
1939.95,
|
| 107 |
+
7461.361,
|
| 108 |
+
132.339,
|
| 109 |
+
0.0,
|
| 110 |
+
34.52,
|
| 111 |
+
-0.0
|
| 112 |
+
]
|
| 113 |
+
]
|
| 114 |
+
}
|
benchmark/trajectory/CourtYard/task_x001514_y006599_z000118_t2_b/infos.json
ADDED
|
@@ -0,0 +1,204 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"Instruction": "Head toward the red door on the right.",
|
| 3 |
+
"Type": 2,
|
| 4 |
+
"Start_Pose": [
|
| 5 |
+
1513.88,
|
| 6 |
+
6599.484,
|
| 7 |
+
118.15,
|
| 8 |
+
0.0,
|
| 9 |
+
59.52,
|
| 10 |
+
-0.0
|
| 11 |
+
],
|
| 12 |
+
"Action": [
|
| 13 |
+
"MoveForward",
|
| 14 |
+
"TurnRight",
|
| 15 |
+
"MoveForward",
|
| 16 |
+
"MoveForward",
|
| 17 |
+
"MoveForward",
|
| 18 |
+
"MoveForward",
|
| 19 |
+
"MoveForward",
|
| 20 |
+
"MoveForward",
|
| 21 |
+
"MoveForward",
|
| 22 |
+
"MoveForward",
|
| 23 |
+
"MoveForward",
|
| 24 |
+
"MoveForward",
|
| 25 |
+
"MoveForward",
|
| 26 |
+
"MoveForward",
|
| 27 |
+
"MoveForward",
|
| 28 |
+
"MoveForward",
|
| 29 |
+
"MoveForward",
|
| 30 |
+
"TurnRight",
|
| 31 |
+
"MoveForward",
|
| 32 |
+
"Finish"
|
| 33 |
+
],
|
| 34 |
+
"Pose_Trajectory": [
|
| 35 |
+
[
|
| 36 |
+
1513.88,
|
| 37 |
+
6599.484,
|
| 38 |
+
118.15,
|
| 39 |
+
0.0,
|
| 40 |
+
59.52,
|
| 41 |
+
-0.0
|
| 42 |
+
],
|
| 43 |
+
[
|
| 44 |
+
1577.72,
|
| 45 |
+
6707.95,
|
| 46 |
+
118.15,
|
| 47 |
+
0.0,
|
| 48 |
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|
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|
| 204 |
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}
|
benchmark/trajectory/CourtYard/task_x001514_y006599_z000118_t2_c/infos.json
ADDED
|
@@ -0,0 +1,105 @@
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|
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|
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|
|
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|
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|
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|
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|
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|
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|
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|
|
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|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
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"Instruction": "Approach the second red door from the right.",
|
| 3 |
+
"Type": 2,
|
| 4 |
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"Start_Pose": [
|
| 5 |
+
1513.88,
|
| 6 |
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6599.484,
|
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|
| 8 |
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|
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|
| 11 |
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|
| 12 |
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|
| 13 |
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"MoveForward",
|
| 14 |
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"MoveForward",
|
| 15 |
+
"MoveForward",
|
| 16 |
+
"MoveForward",
|
| 17 |
+
"MoveForward",
|
| 18 |
+
"MoveForward",
|
| 19 |
+
"MoveForward",
|
| 20 |
+
"MoveForward",
|
| 21 |
+
"Finish"
|
| 22 |
+
],
|
| 23 |
+
"Pose_Trajectory": [
|
| 24 |
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[
|
| 25 |
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1513.88,
|
| 26 |
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6599.484,
|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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[
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| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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|
| 46 |
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|
| 47 |
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|
| 48 |
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[
|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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|
| 58 |
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|
| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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|
| 63 |
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|
| 64 |
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[
|
| 65 |
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|
| 66 |
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|
| 67 |
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|
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|
| 69 |
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|
| 70 |
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|
| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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|
| 82 |
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|
| 83 |
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|
| 84 |
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|
| 85 |
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|
| 86 |
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|
| 87 |
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|
| 88 |
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[
|
| 89 |
+
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|
| 90 |
+
7461.361,
|
| 91 |
+
132.339,
|
| 92 |
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0.0,
|
| 93 |
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|
| 94 |
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|
| 95 |
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|
| 96 |
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[
|
| 97 |
+
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|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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|
| 103 |
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]
|
| 104 |
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]
|
| 105 |
+
}
|
benchmark/trajectory/CourtYard/task_x001514_y006599_z000118_t2_d/infos.json
ADDED
|
@@ -0,0 +1,159 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
|
|
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|
|
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|
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|
|
|
|
|
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|
|
|
|
|
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|
|
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|
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|
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|
|
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|
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|
|
|
|
|
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|
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|
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|
|
|
|
|
|
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|
|
|
|
|
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|
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|
|
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|
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|
|
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|
|
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|
|
|
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|
|
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|
|
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|
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|
|
|
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|
|
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|
|
|
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|
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|
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|
|
|
|
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|
|
|
|
|
|
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|
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|
|
|
|
|
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|
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|
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|
|
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|
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|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"Instruction": "Move to the wooden pallets leaning against the wall on the left.",
|
| 3 |
+
"Type": 2,
|
| 4 |
+
"Start_Pose": [
|
| 5 |
+
1513.88,
|
| 6 |
+
6599.484,
|
| 7 |
+
118.15,
|
| 8 |
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0.0,
|
| 9 |
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59.52,
|
| 10 |
+
-0.0
|
| 11 |
+
],
|
| 12 |
+
"Action": [
|
| 13 |
+
"TurnLeft",
|
| 14 |
+
"TurnLeft",
|
| 15 |
+
"MoveForward",
|
| 16 |
+
"MoveForward",
|
| 17 |
+
"MoveForward",
|
| 18 |
+
"MoveForward",
|
| 19 |
+
"MoveForward",
|
| 20 |
+
"MoveForward",
|
| 21 |
+
"MoveForward",
|
| 22 |
+
"TurnRight",
|
| 23 |
+
"MoveForward",
|
| 24 |
+
"MoveForward",
|
| 25 |
+
"MoveForward",
|
| 26 |
+
"TurnRight",
|
| 27 |
+
"Finish"
|
| 28 |
+
],
|
| 29 |
+
"Pose_Trajectory": [
|
| 30 |
+
[
|
| 31 |
+
1513.88,
|
| 32 |
+
6599.484,
|
| 33 |
+
118.15,
|
| 34 |
+
0.0,
|
| 35 |
+
59.52,
|
| 36 |
+
-0.0
|
| 37 |
+
],
|
| 38 |
+
[
|
| 39 |
+
1513.88,
|
| 40 |
+
6599.484,
|
| 41 |
+
118.15,
|
| 42 |
+
0.0,
|
| 43 |
+
34.52,
|
| 44 |
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-0.0
|
| 45 |
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],
|
| 46 |
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[
|
| 47 |
+
1513.88,
|
| 48 |
+
6599.484,
|
| 49 |
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118.15,
|
| 50 |
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0.0,
|
| 51 |
+
9.52,
|
| 52 |
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-0.0
|
| 53 |
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],
|
| 54 |
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[
|
| 55 |
+
1638.006,
|
| 56 |
+
6620.3,
|
| 57 |
+
118.15,
|
| 58 |
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0.0,
|
| 59 |
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9.52,
|
| 60 |
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-0.0
|
| 61 |
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],
|
| 62 |
+
[
|
| 63 |
+
1762.131,
|
| 64 |
+
6641.116,
|
| 65 |
+
118.15,
|
| 66 |
+
0.0,
|
| 67 |
+
9.52,
|
| 68 |
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-0.0
|
| 69 |
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],
|
| 70 |
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[
|
| 71 |
+
1886.257,
|
| 72 |
+
6661.932,
|
| 73 |
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118.15,
|
| 74 |
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0.0,
|
| 75 |
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9.52,
|
| 76 |
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-0.0
|
| 77 |
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],
|
| 78 |
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[
|
| 79 |
+
2010.383,
|
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| 89 |
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|
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|
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|
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|
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|
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|
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|
| 159 |
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}
|
benchmark/trajectory/CourtYard/task_x001527_y008193_z000118_t5_a_p/infos.json
ADDED
|
@@ -0,0 +1,138 @@
|
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|
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|
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|
|
|
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|
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|
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|
|
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|
|
|
|
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|
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|
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|
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|
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|
|
|
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|
|
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|
|
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|
|
|
|
|
|
|
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|
|
| 1 |
+
{
|
| 2 |
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"Instruction": "Pick up the candelabra near the drainpipe base.",
|
| 3 |
+
"Type": 5,
|
| 4 |
+
"Start_Pose": [
|
| 5 |
+
1526.975,
|
| 6 |
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8192.727,
|
| 7 |
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|
| 8 |
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0,
|
| 9 |
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|
| 10 |
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|
| 11 |
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],
|
| 12 |
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"PD_ID": 17,
|
| 13 |
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"PD_Size": 1.7,
|
| 14 |
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"PD_Type": "p",
|
| 15 |
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"PD_Start_Pose": [
|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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|
| 22 |
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],
|
| 23 |
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"Action": [
|
| 24 |
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"MoveForward",
|
| 25 |
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"MoveForward",
|
| 26 |
+
"MoveForward",
|
| 27 |
+
"Pick",
|
| 28 |
+
"Finish"
|
| 29 |
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],
|
| 30 |
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"Pose_Trajectory": [
|
| 31 |
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[
|
| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
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[
|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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|
| 46 |
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|
| 47 |
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[
|
| 48 |
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|
| 49 |
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|
| 50 |
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118.15,
|
| 51 |
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|
| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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[
|
| 56 |
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|
| 57 |
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|
| 58 |
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118.15,
|
| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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|
| 63 |
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[
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| 64 |
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|
| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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|
| 70 |
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|
| 71 |
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[
|
| 72 |
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|
| 73 |
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|
| 74 |
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118.15,
|
| 75 |
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0.0,
|
| 76 |
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54.08,
|
| 77 |
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-0.0
|
| 78 |
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]
|
| 79 |
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],
|
| 80 |
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"PD_Pose_Trajectory": [
|
| 81 |
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[
|
| 82 |
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1862.174,
|
| 83 |
+
8641.317,
|
| 84 |
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|
| 85 |
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0.0,
|
| 86 |
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0.0,
|
| 87 |
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|
| 88 |
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],
|
| 89 |
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[
|
| 90 |
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|
| 91 |
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8641.317,
|
| 92 |
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|
| 93 |
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|
| 94 |
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0.0,
|
| 95 |
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|
| 96 |
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],
|
| 97 |
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[
|
| 98 |
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|
| 99 |
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8641.317,
|
| 100 |
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|
| 101 |
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|
| 102 |
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0.0,
|
| 103 |
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|
| 104 |
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],
|
| 105 |
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[
|
| 106 |
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1862.174,
|
| 107 |
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8641.317,
|
| 108 |
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28.15,
|
| 109 |
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0.0,
|
| 110 |
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|
| 111 |
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|
| 112 |
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],
|
| 113 |
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[
|
| 114 |
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1730.831,
|
| 115 |
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8510.536,
|
| 116 |
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88.256,
|
| 117 |
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-28.202,
|
| 118 |
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104.225,
|
| 119 |
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1.862
|
| 120 |
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],
|
| 121 |
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[
|
| 122 |
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|
| 123 |
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|
| 124 |
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|
| 125 |
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|
| 126 |
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104.225,
|
| 127 |
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|
| 128 |
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]
|
| 129 |
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],
|
| 130 |
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"PD_Dist_2D": [
|
| 131 |
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560.0,
|
| 132 |
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|
| 133 |
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|
| 134 |
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182.5,
|
| 135 |
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21.4,
|
| 136 |
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21.4
|
| 137 |
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]
|
| 138 |
+
}
|
benchmark/trajectory/CourtYard/task_x001527_y008193_z000118_t5_a_pd/infos.json
ADDED
|
@@ -0,0 +1,300 @@
|
|
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|
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|
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|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"Instruction": "Pick up the wicker basket, then set it down near the red door.",
|
| 3 |
+
"Type": 5,
|
| 4 |
+
"Start_Pose": [
|
| 5 |
+
1526.975,
|
| 6 |
+
8192.727,
|
| 7 |
+
118.15,
|
| 8 |
+
0,
|
| 9 |
+
54.08,
|
| 10 |
+
0
|
| 11 |
+
],
|
| 12 |
+
"PD_ID": 7,
|
| 13 |
+
"PD_Size": 2.5,
|
| 14 |
+
"PD_Type": "pd",
|
| 15 |
+
"PD_Start_Pose": [
|
| 16 |
+
1994.758,
|
| 17 |
+
8644.85,
|
| 18 |
+
68.281,
|
| 19 |
+
90,
|
| 20 |
+
54.08,
|
| 21 |
+
0
|
| 22 |
+
],
|
| 23 |
+
"Action": [
|
| 24 |
+
"MoveForward",
|
| 25 |
+
"MoveForward",
|
| 26 |
+
"MoveForward",
|
| 27 |
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| 28 |
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|
| 29 |
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| 30 |
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| 33 |
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|
| 35 |
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}
|
benchmark/trajectory/CourtYard/task_x001527_y008193_z000118_t5_b_pd/infos.json
ADDED
|
@@ -0,0 +1,300 @@
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|
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|
|
|
|
|
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|
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|
| 1 |
+
{
|
| 2 |
+
"Instruction": "Pick up the jerry can, then place it by the brown door.",
|
| 3 |
+
"Type": 5,
|
| 4 |
+
"Start_Pose": [
|
| 5 |
+
1526.975,
|
| 6 |
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8192.727,
|
| 7 |
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|
| 8 |
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|
| 9 |
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|
| 10 |
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|
| 11 |
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],
|
| 12 |
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"PD_ID": 13,
|
| 13 |
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"PD_Size": 1.5,
|
| 14 |
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"PD_Type": "pd",
|
| 15 |
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"PD_Start_Pose": [
|
| 16 |
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1675.299,
|
| 17 |
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8630.133,
|
| 18 |
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50.15,
|
| 19 |
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0,
|
| 20 |
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90,
|
| 21 |
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|
| 22 |
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],
|
| 23 |
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"Action": [
|
| 24 |
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"TurnRight",
|
| 25 |
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"MoveForward",
|
| 26 |
+
"MoveForward",
|
| 27 |
+
"TurnLeft",
|
| 28 |
+
"MoveForward",
|
| 29 |
+
"Pick",
|
| 30 |
+
"TurnLeft",
|
| 31 |
+
"MoveForward",
|
| 32 |
+
"TurnLeft",
|
| 33 |
+
"MoveForward",
|
| 34 |
+
"MoveForward",
|
| 35 |
+
"MoveForward",
|
| 36 |
+
"Drop",
|
| 37 |
+
"Finish"
|
| 38 |
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],
|
| 39 |
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"Pose_Trajectory": [
|
| 40 |
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[
|
| 41 |
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|
| 42 |
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|
| 43 |
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| 44 |
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| 45 |
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| 47 |
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| 48 |
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| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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}
|
benchmark/trajectory/CourtYard/task_x001645_y006817_z000118_t1_a/infos.json
ADDED
|
@@ -0,0 +1,159 @@
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|
|
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|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
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"Instruction": "Search for the green dumpsters positioned against the weathered wall, then head over to them.",
|
| 3 |
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"Type": 1,
|
| 4 |
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"Start_Pose": [
|
| 5 |
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|
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|
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|
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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|
| 22 |
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|
| 23 |
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|
| 24 |
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"MoveForward",
|
| 25 |
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"MoveForward",
|
| 26 |
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"MoveForward",
|
| 27 |
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"Finish"
|
| 28 |
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],
|
| 29 |
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"Pose_Trajectory": [
|
| 30 |
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| 31 |
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| 154 |
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0.0,
|
| 155 |
+
29.08,
|
| 156 |
+
-0.0
|
| 157 |
+
]
|
| 158 |
+
]
|
| 159 |
+
}
|
benchmark/trajectory/CourtYard/task_x001645_y006817_z000118_t1_b/infos.json
ADDED
|
@@ -0,0 +1,150 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"Instruction": "Identify the wooden pallet resting near the concrete wall with red graffiti text; after locating it, proceed to its position.",
|
| 3 |
+
"Type": 1,
|
| 4 |
+
"Start_Pose": [
|
| 5 |
+
1645.424,
|
| 6 |
+
6816.561,
|
| 7 |
+
118.15,
|
| 8 |
+
0.0,
|
| 9 |
+
-145.92,
|
| 10 |
+
0.0
|
| 11 |
+
],
|
| 12 |
+
"Action": [
|
| 13 |
+
"TurnLeft",
|
| 14 |
+
"TurnLeft",
|
| 15 |
+
"TurnLeft",
|
| 16 |
+
"TurnLeft",
|
| 17 |
+
"TurnLeft",
|
| 18 |
+
"TurnLeft",
|
| 19 |
+
"TurnLeft",
|
| 20 |
+
"MoveForward",
|
| 21 |
+
"MoveForward",
|
| 22 |
+
"MoveForward",
|
| 23 |
+
"MoveForward",
|
| 24 |
+
"MoveForward",
|
| 25 |
+
"MoveForward",
|
| 26 |
+
"Finish"
|
| 27 |
+
],
|
| 28 |
+
"Pose_Trajectory": [
|
| 29 |
+
[
|
| 30 |
+
1645.424,
|
| 31 |
+
6816.561,
|
| 32 |
+
118.15,
|
| 33 |
+
0.0,
|
| 34 |
+
-145.92,
|
| 35 |
+
0.0
|
| 36 |
+
],
|
| 37 |
+
[
|
| 38 |
+
1645.424,
|
| 39 |
+
6816.561,
|
| 40 |
+
118.15,
|
| 41 |
+
0.0,
|
| 42 |
+
-170.92,
|
| 43 |
+
0.0
|
| 44 |
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],
|
| 45 |
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[
|
| 46 |
+
1645.424,
|
| 47 |
+
6816.561,
|
| 48 |
+
118.15,
|
| 49 |
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0.0,
|
| 50 |
+
164.08,
|
| 51 |
+
-0.0
|
| 52 |
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],
|
| 53 |
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[
|
| 54 |
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1645.424,
|
| 55 |
+
6816.561,
|
| 56 |
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118.15,
|
| 57 |
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0.0,
|
| 58 |
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139.08,
|
| 59 |
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-0.0
|
| 60 |
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],
|
| 61 |
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[
|
| 62 |
+
1645.424,
|
| 63 |
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6816.561,
|
| 64 |
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|
| 65 |
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0.0,
|
| 66 |
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114.08,
|
| 67 |
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-0.0
|
| 68 |
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],
|
| 69 |
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[
|
| 70 |
+
1645.424,
|
| 71 |
+
6816.561,
|
| 72 |
+
118.15,
|
| 73 |
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0.0,
|
| 74 |
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89.08,
|
| 75 |
+
-0.0
|
| 76 |
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],
|
| 77 |
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[
|
| 78 |
+
1645.424,
|
| 79 |
+
6816.561,
|
| 80 |
+
118.15,
|
| 81 |
+
0.0,
|
| 82 |
+
64.08,
|
| 83 |
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-0.0
|
| 84 |
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],
|
| 85 |
+
[
|
| 86 |
+
1645.424,
|
| 87 |
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6816.561,
|
| 88 |
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118.15,
|
| 89 |
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0.0,
|
| 90 |
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39.08,
|
| 91 |
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-0.0
|
| 92 |
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],
|
| 93 |
+
[
|
| 94 |
+
1743.124,
|
| 95 |
+
6895.903,
|
| 96 |
+
118.15,
|
| 97 |
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0.0,
|
| 98 |
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39.08,
|
| 99 |
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-0.0
|
| 100 |
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],
|
| 101 |
+
[
|
| 102 |
+
1840.824,
|
| 103 |
+
6975.245,
|
| 104 |
+
118.15,
|
| 105 |
+
0.0,
|
| 106 |
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39.08,
|
| 107 |
+
-0.0
|
| 108 |
+
],
|
| 109 |
+
[
|
| 110 |
+
1938.524,
|
| 111 |
+
7054.587,
|
| 112 |
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118.15,
|
| 113 |
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0.0,
|
| 114 |
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39.08,
|
| 115 |
+
-0.0
|
| 116 |
+
],
|
| 117 |
+
[
|
| 118 |
+
2036.224,
|
| 119 |
+
7133.93,
|
| 120 |
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118.15,
|
| 121 |
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0.0,
|
| 122 |
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39.08,
|
| 123 |
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-0.0
|
| 124 |
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],
|
| 125 |
+
[
|
| 126 |
+
2133.925,
|
| 127 |
+
7213.272,
|
| 128 |
+
118.15,
|
| 129 |
+
0.0,
|
| 130 |
+
39.08,
|
| 131 |
+
-0.0
|
| 132 |
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],
|
| 133 |
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[
|
| 134 |
+
2223.553,
|
| 135 |
+
7248.837,
|
| 136 |
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118.15,
|
| 137 |
+
0.0,
|
| 138 |
+
39.08,
|
| 139 |
+
-0.0
|
| 140 |
+
],
|
| 141 |
+
[
|
| 142 |
+
2223.553,
|
| 143 |
+
7248.837,
|
| 144 |
+
118.15,
|
| 145 |
+
0.0,
|
| 146 |
+
39.08,
|
| 147 |
+
-0.0
|
| 148 |
+
]
|
| 149 |
+
]
|
| 150 |
+
}
|
benchmark/trajectory/CourtYard/task_x001645_y006817_z000118_t1_c/infos.json
ADDED
|
@@ -0,0 +1,159 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"Instruction": "Search for the stacked trash bags; once found, head toward it.",
|
| 3 |
+
"Type": 1,
|
| 4 |
+
"Start_Pose": [
|
| 5 |
+
1645.424,
|
| 6 |
+
6816.561,
|
| 7 |
+
118.15,
|
| 8 |
+
0.0,
|
| 9 |
+
-145.92,
|
| 10 |
+
0.0
|
| 11 |
+
],
|
| 12 |
+
"Action": [
|
| 13 |
+
"TurnRight",
|
| 14 |
+
"TurnRight",
|
| 15 |
+
"TurnRight",
|
| 16 |
+
"TurnRight",
|
| 17 |
+
"TurnRight",
|
| 18 |
+
"TurnRight",
|
| 19 |
+
"MoveForward",
|
| 20 |
+
"MoveForward",
|
| 21 |
+
"MoveForward",
|
| 22 |
+
"TurnRight",
|
| 23 |
+
"MoveForward",
|
| 24 |
+
"MoveForward",
|
| 25 |
+
"MoveForward",
|
| 26 |
+
"MoveForward",
|
| 27 |
+
"Finish"
|
| 28 |
+
],
|
| 29 |
+
"Pose_Trajectory": [
|
| 30 |
+
[
|
| 31 |
+
1645.424,
|
| 32 |
+
6816.561,
|
| 33 |
+
118.15,
|
| 34 |
+
0.0,
|
| 35 |
+
-145.92,
|
| 36 |
+
0.0
|
| 37 |
+
],
|
| 38 |
+
[
|
| 39 |
+
1645.424,
|
| 40 |
+
6816.561,
|
| 41 |
+
118.15,
|
| 42 |
+
0.0,
|
| 43 |
+
-120.92,
|
| 44 |
+
0.0
|
| 45 |
+
],
|
| 46 |
+
[
|
| 47 |
+
1645.424,
|
| 48 |
+
6816.561,
|
| 49 |
+
118.15,
|
| 50 |
+
0.0,
|
| 51 |
+
-95.92,
|
| 52 |
+
0.0
|
| 53 |
+
],
|
| 54 |
+
[
|
| 55 |
+
1645.424,
|
| 56 |
+
6816.561,
|
| 57 |
+
118.15,
|
| 58 |
+
0.0,
|
| 59 |
+
-70.92,
|
| 60 |
+
0.0
|
| 61 |
+
],
|
| 62 |
+
[
|
| 63 |
+
1645.424,
|
| 64 |
+
6816.561,
|
| 65 |
+
118.15,
|
| 66 |
+
0.0,
|
| 67 |
+
-45.92,
|
| 68 |
+
0.0
|
| 69 |
+
],
|
| 70 |
+
[
|
| 71 |
+
1645.424,
|
| 72 |
+
6816.561,
|
| 73 |
+
118.15,
|
| 74 |
+
0.0,
|
| 75 |
+
-20.92,
|
| 76 |
+
0.0
|
| 77 |
+
],
|
| 78 |
+
[
|
| 79 |
+
1645.424,
|
| 80 |
+
6816.561,
|
| 81 |
+
118.15,
|
| 82 |
+
0.0,
|
| 83 |
+
4.08,
|
| 84 |
+
-0.0
|
| 85 |
+
],
|
| 86 |
+
[
|
| 87 |
+
1770.964,
|
| 88 |
+
6825.516,
|
| 89 |
+
118.15,
|
| 90 |
+
0.0,
|
| 91 |
+
4.08,
|
| 92 |
+
-0.0
|
| 93 |
+
],
|
| 94 |
+
[
|
| 95 |
+
1896.504,
|
| 96 |
+
6834.471,
|
| 97 |
+
118.15,
|
| 98 |
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0.0,
|
| 99 |
+
4.08,
|
| 100 |
+
-0.0
|
| 101 |
+
],
|
| 102 |
+
[
|
| 103 |
+
2022.044,
|
| 104 |
+
6843.425,
|
| 105 |
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118.15,
|
| 106 |
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0.0,
|
| 107 |
+
4.08,
|
| 108 |
+
-0.0
|
| 109 |
+
],
|
| 110 |
+
[
|
| 111 |
+
2022.044,
|
| 112 |
+
6843.425,
|
| 113 |
+
118.15,
|
| 114 |
+
0.0,
|
| 115 |
+
29.08,
|
| 116 |
+
-0.0
|
| 117 |
+
],
|
| 118 |
+
[
|
| 119 |
+
2132.038,
|
| 120 |
+
6904.597,
|
| 121 |
+
118.15,
|
| 122 |
+
0.0,
|
| 123 |
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29.08,
|
| 124 |
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-0.0
|
| 125 |
+
],
|
| 126 |
+
[
|
| 127 |
+
2242.031,
|
| 128 |
+
6965.768,
|
| 129 |
+
118.15,
|
| 130 |
+
0.0,
|
| 131 |
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29.08,
|
| 132 |
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-0.0
|
| 133 |
+
],
|
| 134 |
+
[
|
| 135 |
+
2352.024,
|
| 136 |
+
7026.939,
|
| 137 |
+
118.15,
|
| 138 |
+
0.0,
|
| 139 |
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29.08,
|
| 140 |
+
-0.0
|
| 141 |
+
],
|
| 142 |
+
[
|
| 143 |
+
2462.018,
|
| 144 |
+
7088.111,
|
| 145 |
+
118.15,
|
| 146 |
+
0.0,
|
| 147 |
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29.08,
|
| 148 |
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-0.0
|
| 149 |
+
],
|
| 150 |
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[
|
| 151 |
+
2462.018,
|
| 152 |
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|
| 153 |
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118.15,
|
| 154 |
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0.0,
|
| 155 |
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29.08,
|
| 156 |
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|
| 157 |
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]
|
| 158 |
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]
|
| 159 |
+
}
|
benchmark/trajectory/CourtYard/task_x001665_y006763_z000118_t5_a_p/infos.json
ADDED
|
@@ -0,0 +1,192 @@
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|
| 1 |
+
{
|
| 2 |
+
"Instruction": "Pick up the candelabra near the wooden pallet standing upright near the dumpster.",
|
| 3 |
+
"Type": 5,
|
| 4 |
+
"Start_Pose": [
|
| 5 |
+
1664.723,
|
| 6 |
+
6763.362,
|
| 7 |
+
118.15,
|
| 8 |
+
0,
|
| 9 |
+
34.08,
|
| 10 |
+
0
|
| 11 |
+
],
|
| 12 |
+
"PD_ID": 17,
|
| 13 |
+
"PD_Size": 1.7,
|
| 14 |
+
"PD_Type": "p",
|
| 15 |
+
"PD_Start_Pose": [
|
| 16 |
+
2240.138,
|
| 17 |
+
7149.622,
|
| 18 |
+
43.15,
|
| 19 |
+
0,
|
| 20 |
+
0,
|
| 21 |
+
0
|
| 22 |
+
],
|
| 23 |
+
"Action": [
|
| 24 |
+
"MoveForward",
|
| 25 |
+
"MoveForward",
|
| 26 |
+
"MoveForward",
|
| 27 |
+
"MoveForward",
|
| 28 |
+
"MoveForward",
|
| 29 |
+
"LookDown",
|
| 30 |
+
"Pick",
|
| 31 |
+
"Finish"
|
| 32 |
+
],
|
| 33 |
+
"Pose_Trajectory": [
|
| 34 |
+
[
|
| 35 |
+
1664.723,
|
| 36 |
+
6763.362,
|
| 37 |
+
118.15,
|
| 38 |
+
0,
|
| 39 |
+
34.08,
|
| 40 |
+
0
|
| 41 |
+
],
|
| 42 |
+
[
|
| 43 |
+
1768.966,
|
| 44 |
+
6833.887,
|
| 45 |
+
118.15,
|
| 46 |
+
0.0,
|
| 47 |
+
34.08,
|
| 48 |
+
-0.0
|
| 49 |
+
],
|
| 50 |
+
[
|
| 51 |
+
1873.21,
|
| 52 |
+
6904.412,
|
| 53 |
+
118.15,
|
| 54 |
+
0.0,
|
| 55 |
+
34.08,
|
| 56 |
+
-0.0
|
| 57 |
+
],
|
| 58 |
+
[
|
| 59 |
+
1977.453,
|
| 60 |
+
6974.937,
|
| 61 |
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118.15,
|
| 62 |
+
0.0,
|
| 63 |
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34.08,
|
| 64 |
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-0.0
|
| 65 |
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],
|
| 66 |
+
[
|
| 67 |
+
2081.697,
|
| 68 |
+
7045.462,
|
| 69 |
+
118.15,
|
| 70 |
+
0.0,
|
| 71 |
+
34.08,
|
| 72 |
+
-0.0
|
| 73 |
+
],
|
| 74 |
+
[
|
| 75 |
+
2183.904,
|
| 76 |
+
7114.048,
|
| 77 |
+
118.15,
|
| 78 |
+
0.0,
|
| 79 |
+
34.08,
|
| 80 |
+
-0.0
|
| 81 |
+
],
|
| 82 |
+
[
|
| 83 |
+
2183.904,
|
| 84 |
+
7114.048,
|
| 85 |
+
118.15,
|
| 86 |
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0.0,
|
| 87 |
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34.08,
|
| 88 |
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-0.0
|
| 89 |
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],
|
| 90 |
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[
|
| 91 |
+
2183.904,
|
| 92 |
+
7114.048,
|
| 93 |
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118.15,
|
| 94 |
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0.0,
|
| 95 |
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34.08,
|
| 96 |
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-0.0
|
| 97 |
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],
|
| 98 |
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[
|
| 99 |
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2183.904,
|
| 100 |
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7114.048,
|
| 101 |
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118.15,
|
| 102 |
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0.0,
|
| 103 |
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34.08,
|
| 104 |
+
-0.0
|
| 105 |
+
]
|
| 106 |
+
],
|
| 107 |
+
"PD_Pose_Trajectory": [
|
| 108 |
+
[
|
| 109 |
+
2240.138,
|
| 110 |
+
7149.622,
|
| 111 |
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43.15,
|
| 112 |
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0.0,
|
| 113 |
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0.0,
|
| 114 |
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0.0
|
| 115 |
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],
|
| 116 |
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[
|
| 117 |
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2240.138,
|
| 118 |
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7149.622,
|
| 119 |
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43.15,
|
| 120 |
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0.0,
|
| 121 |
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0.0,
|
| 122 |
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0.0
|
| 123 |
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],
|
| 124 |
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[
|
| 125 |
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2240.138,
|
| 126 |
+
7149.622,
|
| 127 |
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43.15,
|
| 128 |
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0.0,
|
| 129 |
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0.0,
|
| 130 |
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0.0
|
| 131 |
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],
|
| 132 |
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[
|
| 133 |
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2240.138,
|
| 134 |
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7149.622,
|
| 135 |
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43.15,
|
| 136 |
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0.0,
|
| 137 |
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0.0,
|
| 138 |
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0.0
|
| 139 |
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],
|
| 140 |
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[
|
| 141 |
+
2240.138,
|
| 142 |
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7149.622,
|
| 143 |
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43.15,
|
| 144 |
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0.0,
|
| 145 |
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0.0,
|
| 146 |
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0.0
|
| 147 |
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],
|
| 148 |
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[
|
| 149 |
+
2240.138,
|
| 150 |
+
7149.622,
|
| 151 |
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43.15,
|
| 152 |
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0.0,
|
| 153 |
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0.0,
|
| 154 |
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0.0
|
| 155 |
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],
|
| 156 |
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[
|
| 157 |
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2240.138,
|
| 158 |
+
7149.622,
|
| 159 |
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43.15,
|
| 160 |
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0.0,
|
| 161 |
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0.0,
|
| 162 |
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0.0
|
| 163 |
+
],
|
| 164 |
+
[
|
| 165 |
+
2171.433,
|
| 166 |
+
7131.393,
|
| 167 |
+
88.256,
|
| 168 |
+
-28.202,
|
| 169 |
+
84.224,
|
| 170 |
+
1.862
|
| 171 |
+
],
|
| 172 |
+
[
|
| 173 |
+
2171.433,
|
| 174 |
+
7131.393,
|
| 175 |
+
88.256,
|
| 176 |
+
-28.202,
|
| 177 |
+
84.224,
|
| 178 |
+
1.862
|
| 179 |
+
]
|
| 180 |
+
],
|
| 181 |
+
"PD_Dist_2D": [
|
| 182 |
+
693.0,
|
| 183 |
+
567.2,
|
| 184 |
+
441.3,
|
| 185 |
+
315.5,
|
| 186 |
+
189.6,
|
| 187 |
+
66.5,
|
| 188 |
+
66.5,
|
| 189 |
+
21.4,
|
| 190 |
+
21.4
|
| 191 |
+
]
|
| 192 |
+
}
|
benchmark/trajectory/CourtYard/task_x001665_y006763_z000118_t5_a_pd/infos.json
ADDED
|
@@ -0,0 +1,624 @@
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|
| 1 |
+
{
|
| 2 |
+
"Instruction": "Pick up the ceramic pot from the wooden pallet near the graffiti wall, then place it near the concrete step in front of the red door.",
|
| 3 |
+
"Type": 5,
|
| 4 |
+
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|
| 5 |
+
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|
| 6 |
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|
| 7 |
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|
| 8 |
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0,
|
| 9 |
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|
| 10 |
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0
|
| 11 |
+
],
|
| 12 |
+
"PD_ID": 8,
|
| 13 |
+
"PD_Size": 1.5,
|
| 14 |
+
"PD_Type": "pd",
|
| 15 |
+
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|
| 16 |
+
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|
| 17 |
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| 18 |
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|
| 19 |
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| 20 |
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|
| 21 |
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|
| 22 |
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],
|
| 23 |
+
"Action": [
|
| 24 |
+
"TurnLeft",
|
| 25 |
+
"MoveForward",
|
| 26 |
+
"MoveForward",
|
| 27 |
+
"MoveForward",
|
| 28 |
+
"MoveForward",
|
| 29 |
+
"MoveForward",
|
| 30 |
+
"MoveForward",
|
| 31 |
+
"LookDown",
|
| 32 |
+
"Pick",
|
| 33 |
+
"TurnRight",
|
| 34 |
+
"TurnRight",
|
| 35 |
+
"TurnRight",
|
| 36 |
+
"TurnRight",
|
| 37 |
+
"TurnRight",
|
| 38 |
+
"TurnRight",
|
| 39 |
+
"MoveForward",
|
| 40 |
+
"MoveForward",
|
| 41 |
+
"MoveForward",
|
| 42 |
+
"TurnLeft",
|
| 43 |
+
"MoveForward",
|
| 44 |
+
"MoveForward",
|
| 45 |
+
"TurnLeft",
|
| 46 |
+
"TurnLeft",
|
| 47 |
+
"MoveForward",
|
| 48 |
+
"Drop",
|
| 49 |
+
"Pick",
|
| 50 |
+
"MoveForward",
|
| 51 |
+
"MoveForward",
|
| 52 |
+
"LookDown",
|
| 53 |
+
"Drop",
|
| 54 |
+
"LookDown",
|
| 55 |
+
"Finish"
|
| 56 |
+
],
|
| 57 |
+
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|
| 58 |
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|
| 59 |
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|
| 60 |
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| 61 |
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| 62 |
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| 63 |
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| 64 |
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| 65 |
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| 66 |
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| 67 |
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| 71 |
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| 73 |
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| 74 |
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| 75 |
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|
| 82 |
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| 83 |
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|
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|
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|
| 323 |
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"PD_Pose_Trajectory": [
|
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}
|
benchmark/trajectory/CourtYard/task_x001665_y006763_z000118_t5_b_p/infos.json
ADDED
|
@@ -0,0 +1,228 @@
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|
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|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"Instruction": "Pick up the metal bucket near the concrete step in front of the red door.",
|
| 3 |
+
"Type": 5,
|
| 4 |
+
"Start_Pose": [
|
| 5 |
+
1664.723,
|
| 6 |
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|
| 7 |
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|
| 8 |
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0,
|
| 9 |
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|
| 10 |
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0
|
| 11 |
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],
|
| 12 |
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"PD_ID": 18,
|
| 13 |
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"PD_Size": 2.0,
|
| 14 |
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"PD_Type": "p",
|
| 15 |
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"PD_Start_Pose": [
|
| 16 |
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1903.829,
|
| 17 |
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7410.451,
|
| 18 |
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68.15,
|
| 19 |
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0,
|
| 20 |
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0,
|
| 21 |
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0
|
| 22 |
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],
|
| 23 |
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"Action": [
|
| 24 |
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"TurnRight",
|
| 25 |
+
"MoveForward",
|
| 26 |
+
"MoveForward",
|
| 27 |
+
"TurnRight",
|
| 28 |
+
"MoveForward",
|
| 29 |
+
"MoveForward",
|
| 30 |
+
"MoveForward",
|
| 31 |
+
"TurnLeft",
|
| 32 |
+
"Pick",
|
| 33 |
+
"Finish"
|
| 34 |
+
],
|
| 35 |
+
"Pose_Trajectory": [
|
| 36 |
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[
|
| 37 |
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1664.723,
|
| 38 |
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6763.362,
|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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| 45 |
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|
| 46 |
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|
| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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[
|
| 53 |
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1729.395,
|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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|
| 58 |
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|
| 59 |
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|
| 60 |
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[
|
| 61 |
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|
| 62 |
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|
| 63 |
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|
| 64 |
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| 65 |
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| 66 |
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|
| 68 |
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[
|
| 69 |
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|
| 70 |
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|
| 71 |
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|
| 72 |
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| 75 |
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|
| 76 |
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[
|
| 77 |
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|
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|
| 215 |
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"PD_Dist_2D": [
|
| 216 |
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| 217 |
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|
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| 227 |
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|
| 228 |
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}
|
benchmark/trajectory/CourtYard/task_x001665_y006763_z000118_t5_b_pd/infos.json
ADDED
|
@@ -0,0 +1,444 @@
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|
|
| 1 |
+
{
|
| 2 |
+
"Instruction": "Pick up the green bell pepper from the concrete step in front of the red door, then place it near the left-hand one of the two green dumpsters, beside the upright wooden pallet.",
|
| 3 |
+
"Type": 5,
|
| 4 |
+
"Start_Pose": [
|
| 5 |
+
1664.723,
|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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|
| 10 |
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0
|
| 11 |
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],
|
| 12 |
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"PD_ID": 2,
|
| 13 |
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"PD_Size": 5.0,
|
| 14 |
+
"PD_Type": "pd",
|
| 15 |
+
"PD_Start_Pose": [
|
| 16 |
+
1922.098,
|
| 17 |
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7444.684,
|
| 18 |
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74.892,
|
| 19 |
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0,
|
| 20 |
+
0,
|
| 21 |
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0
|
| 22 |
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],
|
| 23 |
+
"Action": [
|
| 24 |
+
"TurnRight",
|
| 25 |
+
"MoveForward",
|
| 26 |
+
"MoveForward",
|
| 27 |
+
"TurnRight",
|
| 28 |
+
"MoveForward",
|
| 29 |
+
"MoveForward",
|
| 30 |
+
"MoveForward",
|
| 31 |
+
"Pick",
|
| 32 |
+
"MoveBackward",
|
| 33 |
+
"MoveBackward",
|
| 34 |
+
"MoveBackward",
|
| 35 |
+
"TurnLeft",
|
| 36 |
+
"TurnLeft",
|
| 37 |
+
"TurnLeft",
|
| 38 |
+
"MoveForward",
|
| 39 |
+
"MoveForward",
|
| 40 |
+
"MoveForward",
|
| 41 |
+
"MoveForward",
|
| 42 |
+
"MoveForward",
|
| 43 |
+
"MoveForward",
|
| 44 |
+
"Drop",
|
| 45 |
+
"Finish"
|
| 46 |
+
],
|
| 47 |
+
"Pose_Trajectory": [
|
| 48 |
+
[
|
| 49 |
+
1664.723,
|
| 50 |
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6763.362,
|
| 51 |
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|
| 52 |
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0,
|
| 53 |
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34.08,
|
| 54 |
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0
|
| 55 |
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],
|
| 56 |
+
[
|
| 57 |
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1664.723,
|
| 58 |
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6763.362,
|
| 59 |
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118.15,
|
| 60 |
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0.0,
|
| 61 |
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|
| 62 |
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|
| 63 |
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],
|
| 64 |
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[
|
| 65 |
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1729.395,
|
| 66 |
+
6871.334,
|
| 67 |
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118.15,
|
| 68 |
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0.0,
|
| 69 |
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59.08,
|
| 70 |
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-0.0
|
| 71 |
+
],
|
| 72 |
+
[
|
| 73 |
+
1794.066,
|
| 74 |
+
6979.307,
|
| 75 |
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118.15,
|
| 76 |
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0.0,
|
| 77 |
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59.08,
|
| 78 |
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-0.0
|
| 79 |
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],
|
| 80 |
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[
|
| 81 |
+
1794.066,
|
| 82 |
+
6979.307,
|
| 83 |
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118.15,
|
| 84 |
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0.0,
|
| 85 |
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84.08,
|
| 86 |
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-0.0
|
| 87 |
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],
|
| 88 |
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[
|
| 89 |
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1807.047,
|
| 90 |
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7104.495,
|
| 91 |
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118.15,
|
| 92 |
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0.0,
|
| 93 |
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84.08,
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}
|
benchmark/trajectory/CourtYard/task_x001686_y006195_z000118_t3_a/infos.json
ADDED
|
@@ -0,0 +1,240 @@
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|
| 1 |
+
{
|
| 2 |
+
"Instruction": "Approach the red door with the awning on the right, then reach the green dumpster.",
|
| 3 |
+
"Type": 3,
|
| 4 |
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"Start_Pose": [
|
| 5 |
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1685.65,
|
| 6 |
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6194.675,
|
| 7 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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|
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|
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
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|
| 28 |
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|
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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|
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|
| 39 |
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|
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|
| 240 |
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}
|
benchmark/trajectory/CourtYard/task_x001686_y006195_z000118_t3_b/infos.json
ADDED
|
@@ -0,0 +1,285 @@
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|
|
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|
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|
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|
|
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|
|
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|
|
|
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|
|
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|
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|
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|
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|
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|
|
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|
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|
|
|
|
|
|
|
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|
|
|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
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|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
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|
|
|
|
|
|
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|
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|
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|
|
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|
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|
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|
|
|
|
|
|
|
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|
|
|
|
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|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"Instruction": "Move to the wooden pallet, then proceed to the red door with awning on the right.",
|
| 3 |
+
"Type": 3,
|
| 4 |
+
"Start_Pose": [
|
| 5 |
+
1685.65,
|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
+
"MoveForward",
|
| 16 |
+
"MoveForward",
|
| 17 |
+
"MoveForward",
|
| 18 |
+
"MoveForward",
|
| 19 |
+
"MoveForward",
|
| 20 |
+
"MoveForward",
|
| 21 |
+
"MoveForward",
|
| 22 |
+
"TurnLeft",
|
| 23 |
+
"MoveForward",
|
| 24 |
+
"MidwayTarget",
|
| 25 |
+
"TurnRight",
|
| 26 |
+
"TurnRight",
|
| 27 |
+
"TurnRight",
|
| 28 |
+
"TurnRight",
|
| 29 |
+
"TurnRight",
|
| 30 |
+
"TurnRight",
|
| 31 |
+
"MoveForward",
|
| 32 |
+
"TurnRight",
|
| 33 |
+
"MoveForward",
|
| 34 |
+
"MoveForward",
|
| 35 |
+
"MoveForward",
|
| 36 |
+
"MoveForward",
|
| 37 |
+
"MoveForward",
|
| 38 |
+
"MoveForward",
|
| 39 |
+
"TurnLeft",
|
| 40 |
+
"MoveForward",
|
| 41 |
+
"Finish"
|
| 42 |
+
],
|
| 43 |
+
"Pose_Trajectory": [
|
| 44 |
+
[
|
| 45 |
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|
| 46 |
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|
| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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[
|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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|
| 58 |
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|
| 59 |
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],
|
| 60 |
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[
|
| 61 |
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|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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|
| 66 |
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|
| 67 |
+
],
|
| 68 |
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[
|
| 69 |
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|
| 70 |
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6421.454,
|
| 71 |
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|
| 72 |
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0.0,
|
| 73 |
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|
| 74 |
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|
| 75 |
+
],
|
| 76 |
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[
|
| 77 |
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|
| 78 |
+
6534.844,
|
| 79 |
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|
| 80 |
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0.0,
|
| 81 |
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|
| 82 |
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|
| 83 |
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],
|
| 84 |
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[
|
| 85 |
+
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|
| 86 |
+
6648.233,
|
| 87 |
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|
| 88 |
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0.0,
|
| 89 |
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|
| 90 |
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|
| 91 |
+
],
|
| 92 |
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[
|
| 93 |
+
1958.747,
|
| 94 |
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6761.623,
|
| 95 |
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|
| 96 |
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|
| 97 |
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|
| 98 |
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|
| 99 |
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],
|
| 100 |
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benchmark/trajectory/CourtYard/task_x001788_y006967_z000118_t1_a/infos.json
ADDED
|
@@ -0,0 +1,186 @@
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|
| 1 |
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{
|
| 2 |
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"Instruction": "Locate the brown wooden door set into the building facade and navigate to it.",
|
| 3 |
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"Type": 1,
|
| 4 |
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|
| 5 |
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| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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"MoveForward",
|
| 26 |
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"MoveForward",
|
| 27 |
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"MoveForward",
|
| 28 |
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"TurnLeft",
|
| 29 |
+
"MoveForward",
|
| 30 |
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"Finish"
|
| 31 |
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],
|
| 32 |
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"Pose_Trajectory": [
|
| 33 |
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|
| 34 |
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|
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|
| 185 |
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]
|
| 186 |
+
}
|
benchmark/trajectory/CourtYard/task_x001788_y006967_z000118_t1_b/infos.json
ADDED
|
@@ -0,0 +1,258 @@
|
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|
|
|
|
|
|
|
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|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
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|
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|
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|
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|
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|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
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|
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|
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|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
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|
|
|
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|
|
|
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|
|
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|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
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|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"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.",
|
| 3 |
+
"Type": 1,
|
| 4 |
+
"Start_Pose": [
|
| 5 |
+
1788.174,
|
| 6 |
+
6967.071,
|
| 7 |
+
118.15,
|
| 8 |
+
0.0,
|
| 9 |
+
19.2,
|
| 10 |
+
-0.0
|
| 11 |
+
],
|
| 12 |
+
"Action": [
|
| 13 |
+
"TurnLeft",
|
| 14 |
+
"TurnLeft",
|
| 15 |
+
"TurnLeft",
|
| 16 |
+
"TurnLeft",
|
| 17 |
+
"TurnLeft",
|
| 18 |
+
"MoveForward",
|
| 19 |
+
"MoveForward",
|
| 20 |
+
"MoveForward",
|
| 21 |
+
"MoveForward",
|
| 22 |
+
"MoveForward",
|
| 23 |
+
"MoveForward",
|
| 24 |
+
"MoveForward",
|
| 25 |
+
"TurnRight",
|
| 26 |
+
"MoveForward",
|
| 27 |
+
"MoveForward",
|
| 28 |
+
"MoveForward",
|
| 29 |
+
"MoveForward",
|
| 30 |
+
"MoveForward",
|
| 31 |
+
"MoveForward",
|
| 32 |
+
"MoveForward",
|
| 33 |
+
"TurnLeft",
|
| 34 |
+
"MoveForward",
|
| 35 |
+
"MoveForward",
|
| 36 |
+
"MoveForward",
|
| 37 |
+
"MoveForward",
|
| 38 |
+
"Finish"
|
| 39 |
+
],
|
| 40 |
+
"Pose_Trajectory": [
|
| 41 |
+
[
|
| 42 |
+
1788.174,
|
| 43 |
+
6967.071,
|
| 44 |
+
118.15,
|
| 45 |
+
0.0,
|
| 46 |
+
19.2,
|
| 47 |
+
-0.0
|
| 48 |
+
],
|
| 49 |
+
[
|
| 50 |
+
1788.174,
|
| 51 |
+
6967.071,
|
| 52 |
+
118.15,
|
| 53 |
+
0.0,
|
| 54 |
+
-5.8,
|
| 55 |
+
0.0
|
| 56 |
+
],
|
| 57 |
+
[
|
| 58 |
+
1788.174,
|
| 59 |
+
6967.071,
|
| 60 |
+
118.15,
|
| 61 |
+
0.0,
|
| 62 |
+
-30.8,
|
| 63 |
+
0.0
|
| 64 |
+
],
|
| 65 |
+
[
|
| 66 |
+
1788.174,
|
| 67 |
+
6967.071,
|
| 68 |
+
118.15,
|
| 69 |
+
0.0,
|
| 70 |
+
-55.8,
|
| 71 |
+
0.0
|
| 72 |
+
],
|
| 73 |
+
[
|
| 74 |
+
1788.174,
|
| 75 |
+
6967.071,
|
| 76 |
+
118.15,
|
| 77 |
+
0.0,
|
| 78 |
+
-80.8,
|
| 79 |
+
0.0
|
| 80 |
+
],
|
| 81 |
+
[
|
| 82 |
+
1788.174,
|
| 83 |
+
6967.071,
|
| 84 |
+
118.15,
|
| 85 |
+
0.0,
|
| 86 |
+
-105.8,
|
| 87 |
+
0.0
|
| 88 |
+
],
|
| 89 |
+
[
|
| 90 |
+
1753.905,
|
| 91 |
+
6845.967,
|
| 92 |
+
118.15,
|
| 93 |
+
0.0,
|
| 94 |
+
-105.8,
|
| 95 |
+
0.0
|
| 96 |
+
],
|
| 97 |
+
[
|
| 98 |
+
1719.636,
|
| 99 |
+
6724.863,
|
| 100 |
+
118.15,
|
| 101 |
+
0.0,
|
| 102 |
+
-105.8,
|
| 103 |
+
0.0
|
| 104 |
+
],
|
| 105 |
+
[
|
| 106 |
+
1685.367,
|
| 107 |
+
6603.759,
|
| 108 |
+
118.15,
|
| 109 |
+
0.0,
|
| 110 |
+
-105.8,
|
| 111 |
+
0.0
|
| 112 |
+
],
|
| 113 |
+
[
|
| 114 |
+
1651.098,
|
| 115 |
+
6482.656,
|
| 116 |
+
118.15,
|
| 117 |
+
0.0,
|
| 118 |
+
-105.8,
|
| 119 |
+
0.0
|
| 120 |
+
],
|
| 121 |
+
[
|
| 122 |
+
1616.829,
|
| 123 |
+
6361.552,
|
| 124 |
+
118.15,
|
| 125 |
+
0.0,
|
| 126 |
+
-105.8,
|
| 127 |
+
0.0
|
| 128 |
+
],
|
| 129 |
+
[
|
| 130 |
+
1582.56,
|
| 131 |
+
6240.448,
|
| 132 |
+
118.15,
|
| 133 |
+
0.0,
|
| 134 |
+
-105.8,
|
| 135 |
+
0.0
|
| 136 |
+
],
|
| 137 |
+
[
|
| 138 |
+
1558.394,
|
| 139 |
+
6119.73,
|
| 140 |
+
118.15,
|
| 141 |
+
0.0,
|
| 142 |
+
-105.8,
|
| 143 |
+
0.0
|
| 144 |
+
],
|
| 145 |
+
[
|
| 146 |
+
1558.394,
|
| 147 |
+
6119.73,
|
| 148 |
+
118.15,
|
| 149 |
+
0.0,
|
| 150 |
+
-80.8,
|
| 151 |
+
0.0
|
| 152 |
+
],
|
| 153 |
+
[
|
| 154 |
+
1578.517,
|
| 155 |
+
5995.49,
|
| 156 |
+
118.15,
|
| 157 |
+
0.0,
|
| 158 |
+
-80.8,
|
| 159 |
+
0.0
|
| 160 |
+
],
|
| 161 |
+
[
|
| 162 |
+
1598.639,
|
| 163 |
+
5871.25,
|
| 164 |
+
118.15,
|
| 165 |
+
0.0,
|
| 166 |
+
-80.8,
|
| 167 |
+
0.0
|
| 168 |
+
],
|
| 169 |
+
[
|
| 170 |
+
1618.762,
|
| 171 |
+
5747.01,
|
| 172 |
+
118.15,
|
| 173 |
+
0.0,
|
| 174 |
+
-80.8,
|
| 175 |
+
0.0
|
| 176 |
+
],
|
| 177 |
+
[
|
| 178 |
+
1638.884,
|
| 179 |
+
5622.771,
|
| 180 |
+
118.15,
|
| 181 |
+
0.0,
|
| 182 |
+
-80.8,
|
| 183 |
+
0.0
|
| 184 |
+
],
|
| 185 |
+
[
|
| 186 |
+
1659.007,
|
| 187 |
+
5498.531,
|
| 188 |
+
118.15,
|
| 189 |
+
0.0,
|
| 190 |
+
-80.8,
|
| 191 |
+
0.0
|
| 192 |
+
],
|
| 193 |
+
[
|
| 194 |
+
1679.129,
|
| 195 |
+
5374.291,
|
| 196 |
+
118.15,
|
| 197 |
+
0.0,
|
| 198 |
+
-80.8,
|
| 199 |
+
0.0
|
| 200 |
+
],
|
| 201 |
+
[
|
| 202 |
+
1699.252,
|
| 203 |
+
5250.051,
|
| 204 |
+
118.15,
|
| 205 |
+
0.0,
|
| 206 |
+
-80.8,
|
| 207 |
+
0.0
|
| 208 |
+
],
|
| 209 |
+
[
|
| 210 |
+
1699.252,
|
| 211 |
+
5250.051,
|
| 212 |
+
118.15,
|
| 213 |
+
0.0,
|
| 214 |
+
-105.8,
|
| 215 |
+
0.0
|
| 216 |
+
],
|
| 217 |
+
[
|
| 218 |
+
1664.983,
|
| 219 |
+
5128.947,
|
| 220 |
+
118.15,
|
| 221 |
+
0.0,
|
| 222 |
+
-105.8,
|
| 223 |
+
0.0
|
| 224 |
+
],
|
| 225 |
+
[
|
| 226 |
+
1630.714,
|
| 227 |
+
5007.843,
|
| 228 |
+
118.15,
|
| 229 |
+
0.0,
|
| 230 |
+
-105.8,
|
| 231 |
+
0.0
|
| 232 |
+
],
|
| 233 |
+
[
|
| 234 |
+
1596.445,
|
| 235 |
+
4886.739,
|
| 236 |
+
118.15,
|
| 237 |
+
0.0,
|
| 238 |
+
-105.8,
|
| 239 |
+
0.0
|
| 240 |
+
],
|
| 241 |
+
[
|
| 242 |
+
1562.647,
|
| 243 |
+
4791.325,
|
| 244 |
+
118.15,
|
| 245 |
+
0.0,
|
| 246 |
+
-105.8,
|
| 247 |
+
0.0
|
| 248 |
+
],
|
| 249 |
+
[
|
| 250 |
+
1562.647,
|
| 251 |
+
4791.325,
|
| 252 |
+
118.15,
|
| 253 |
+
0.0,
|
| 254 |
+
-105.8,
|
| 255 |
+
0.0
|
| 256 |
+
]
|
| 257 |
+
]
|
| 258 |
+
}
|
benchmark/trajectory/CourtYard/task_x001990_y008061_z000118_t5_a_p/infos.json
ADDED
|
@@ -0,0 +1,228 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
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|
|
|
|
|
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|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"Instruction": "Pick up the jerry can near the corner where the left wall meets the right wall.",
|
| 3 |
+
"Type": 5,
|
| 4 |
+
"Start_Pose": [
|
| 5 |
+
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|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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|
| 10 |
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|
| 11 |
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],
|
| 12 |
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"PD_ID": 13,
|
| 13 |
+
"PD_Size": 1.5,
|
| 14 |
+
"PD_Type": "p",
|
| 15 |
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|
| 16 |
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1395.914,
|
| 17 |
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8670.655,
|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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0
|
| 22 |
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],
|
| 23 |
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"Action": [
|
| 24 |
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"MoveForward",
|
| 25 |
+
"MoveForward",
|
| 26 |
+
"MoveForward",
|
| 27 |
+
"TurnLeft",
|
| 28 |
+
"MoveForward",
|
| 29 |
+
"MoveForward",
|
| 30 |
+
"TurnLeft",
|
| 31 |
+
"MoveForward",
|
| 32 |
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"Pick",
|
| 33 |
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"Finish"
|
| 34 |
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],
|
| 35 |
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"Pose_Trajectory": [
|
| 36 |
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[
|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 47 |
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|
| 48 |
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| 49 |
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|
| 50 |
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| 52 |
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[
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| 53 |
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|
| 54 |
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|
| 55 |
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|
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| 57 |
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[
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| 61 |
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|
| 62 |
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|
| 70 |
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| 76 |
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| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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| 81 |
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|
| 82 |
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| 83 |
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|
| 84 |
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[
|
| 85 |
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|
| 86 |
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|
| 87 |
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| 88 |
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| 89 |
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|
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|
| 94 |
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| 95 |
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|
| 100 |
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[
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| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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0.0,
|
| 105 |
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|
| 106 |
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| 107 |
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|
| 108 |
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[
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| 109 |
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|
| 110 |
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|
| 111 |
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118.15,
|
| 112 |
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|
| 113 |
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|
| 114 |
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| 115 |
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| 116 |
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[
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| 117 |
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| 118 |
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| 119 |
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|
| 120 |
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| 121 |
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|
| 122 |
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| 123 |
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|
| 124 |
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|
| 125 |
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"PD_Pose_Trajectory": [
|
| 126 |
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[
|
| 127 |
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|
| 128 |
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| 147 |
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| 148 |
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|
| 150 |
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[
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| 151 |
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| 152 |
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| 158 |
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| 159 |
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| 160 |
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|
| 166 |
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[
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| 167 |
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|
| 168 |
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|
| 169 |
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|
| 170 |
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|
| 171 |
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|
| 172 |
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| 173 |
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|
| 174 |
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[
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| 175 |
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|
| 176 |
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|
| 177 |
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|
| 178 |
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|
| 179 |
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|
| 180 |
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| 181 |
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|
| 182 |
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[
|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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|
| 187 |
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|
| 188 |
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|
| 189 |
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|
| 190 |
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[
|
| 191 |
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|
| 192 |
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|
| 193 |
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|
| 194 |
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|
| 195 |
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|
| 196 |
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|
| 197 |
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|
| 198 |
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[
|
| 199 |
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|
| 200 |
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|
| 201 |
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88.256,
|
| 202 |
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|
| 203 |
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154.225,
|
| 204 |
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1.862
|
| 205 |
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],
|
| 206 |
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[
|
| 207 |
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|
| 208 |
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|
| 209 |
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|
| 210 |
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|
| 211 |
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154.225,
|
| 212 |
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1.862
|
| 213 |
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]
|
| 214 |
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],
|
| 215 |
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"PD_Dist_2D": [
|
| 216 |
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851.3,
|
| 217 |
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734.2,
|
| 218 |
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|
| 219 |
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|
| 220 |
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|
| 221 |
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|
| 222 |
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267.2,
|
| 223 |
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|
| 224 |
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143.0,
|
| 225 |
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21.4,
|
| 226 |
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21.4
|
| 227 |
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]
|
| 228 |
+
}
|
benchmark/trajectory/CourtYard/task_x001990_y008061_z000118_t5_b_p/infos.json
ADDED
|
@@ -0,0 +1,210 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
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|
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|
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|
|
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|
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|
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|
|
|
|
|
|
|
|
|
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|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
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|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
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|
|
|
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|
|
|
|
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|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"Instruction": "Pick up the wicker basket near the concrete step in front of the red door.",
|
| 3 |
+
"Type": 5,
|
| 4 |
+
"Start_Pose": [
|
| 5 |
+
1989.881,
|
| 6 |
+
8060.777,
|
| 7 |
+
118.15,
|
| 8 |
+
0,
|
| 9 |
+
154.08,
|
| 10 |
+
0
|
| 11 |
+
],
|
| 12 |
+
"PD_ID": 7,
|
| 13 |
+
"PD_Size": 2.5,
|
| 14 |
+
"PD_Type": "p",
|
| 15 |
+
"PD_Start_Pose": [
|
| 16 |
+
1677.635,
|
| 17 |
+
8693.671,
|
| 18 |
+
82.342,
|
| 19 |
+
90,
|
| 20 |
+
114.08,
|
| 21 |
+
0
|
| 22 |
+
],
|
| 23 |
+
"Action": [
|
| 24 |
+
"TurnLeft",
|
| 25 |
+
"MoveForward",
|
| 26 |
+
"MoveForward",
|
| 27 |
+
"TurnLeft",
|
| 28 |
+
"MoveForward",
|
| 29 |
+
"MoveForward",
|
| 30 |
+
"MoveForward",
|
| 31 |
+
"Pick",
|
| 32 |
+
"Finish"
|
| 33 |
+
],
|
| 34 |
+
"Pose_Trajectory": [
|
| 35 |
+
[
|
| 36 |
+
1989.881,
|
| 37 |
+
8060.777,
|
| 38 |
+
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|
| 39 |
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0,
|
| 40 |
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|
| 41 |
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0
|
| 42 |
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],
|
| 43 |
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[
|
| 44 |
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|
| 45 |
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|
| 46 |
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|
| 47 |
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0.0,
|
| 48 |
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|
| 49 |
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|
| 50 |
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],
|
| 51 |
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[
|
| 52 |
+
1910.539,
|
| 53 |
+
8158.477,
|
| 54 |
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|
| 55 |
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0.0,
|
| 56 |
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|
| 57 |
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|
| 58 |
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],
|
| 59 |
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[
|
| 60 |
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1831.197,
|
| 61 |
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8256.177,
|
| 62 |
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|
| 63 |
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0.0,
|
| 64 |
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|
| 65 |
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|
| 66 |
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],
|
| 67 |
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[
|
| 68 |
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|
| 69 |
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|
| 70 |
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|
| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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],
|
| 75 |
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[
|
| 76 |
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1800.578,
|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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|
| 82 |
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|
| 83 |
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[
|
| 84 |
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|
| 85 |
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|
| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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[
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| 92 |
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|
| 93 |
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|
| 94 |
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|
| 95 |
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|
| 96 |
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|
| 97 |
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| 98 |
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|
| 99 |
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[
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| 100 |
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|
| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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|
| 106 |
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|
| 107 |
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[
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| 108 |
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|
| 109 |
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|
| 110 |
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|
| 111 |
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|
| 112 |
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104.08,
|
| 113 |
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|
| 114 |
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]
|
| 115 |
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],
|
| 116 |
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"PD_Pose_Trajectory": [
|
| 117 |
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[
|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
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0.0
|
| 124 |
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|
| 125 |
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[
|
| 126 |
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|
| 127 |
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8693.671,
|
| 128 |
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|
| 129 |
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90.0,
|
| 130 |
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| 132 |
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|
| 133 |
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[
|
| 134 |
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|
| 135 |
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|
| 136 |
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|
| 137 |
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90.0,
|
| 138 |
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114.08,
|
| 139 |
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0.0
|
| 140 |
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|
| 141 |
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[
|
| 142 |
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|
| 143 |
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|
| 144 |
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82.342,
|
| 145 |
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90.0,
|
| 146 |
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114.08,
|
| 147 |
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0.0
|
| 148 |
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],
|
| 149 |
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[
|
| 150 |
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1677.635,
|
| 151 |
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8693.671,
|
| 152 |
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82.342,
|
| 153 |
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90.0,
|
| 154 |
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114.08,
|
| 155 |
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0.0
|
| 156 |
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],
|
| 157 |
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[
|
| 158 |
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1677.635,
|
| 159 |
+
8693.671,
|
| 160 |
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82.342,
|
| 161 |
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90.0,
|
| 162 |
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114.08,
|
| 163 |
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|
| 164 |
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],
|
| 165 |
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[
|
| 166 |
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1677.635,
|
| 167 |
+
8693.671,
|
| 168 |
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82.342,
|
| 169 |
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90.0,
|
| 170 |
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114.08,
|
| 171 |
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0.0
|
| 172 |
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],
|
| 173 |
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[
|
| 174 |
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1677.635,
|
| 175 |
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8693.671,
|
| 176 |
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|
| 177 |
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90.0,
|
| 178 |
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114.08,
|
| 179 |
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0.0
|
| 180 |
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],
|
| 181 |
+
[
|
| 182 |
+
1718.777,
|
| 183 |
+
8616.624,
|
| 184 |
+
88.256,
|
| 185 |
+
-28.202,
|
| 186 |
+
154.225,
|
| 187 |
+
1.862
|
| 188 |
+
],
|
| 189 |
+
[
|
| 190 |
+
1718.777,
|
| 191 |
+
8616.624,
|
| 192 |
+
88.256,
|
| 193 |
+
-28.202,
|
| 194 |
+
154.225,
|
| 195 |
+
1.862
|
| 196 |
+
]
|
| 197 |
+
],
|
| 198 |
+
"PD_Dist_2D": [
|
| 199 |
+
705.7,
|
| 200 |
+
705.7,
|
| 201 |
+
583.7,
|
| 202 |
+
463.7,
|
| 203 |
+
463.7,
|
| 204 |
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338.5,
|
| 205 |
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214.3,
|
| 206 |
+
94.3,
|
| 207 |
+
21.4,
|
| 208 |
+
21.4
|
| 209 |
+
]
|
| 210 |
+
}
|
benchmark/trajectory/CourtYard/task_x001990_y008061_z000118_t5_c_p/infos.json
ADDED
|
@@ -0,0 +1,192 @@
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
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|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
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|
|
|
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|
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|
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|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
|
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|
|
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|
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|
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|
|
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|
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|
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|
|
|
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|
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|
|
|
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|
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|
|
|
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|
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|
|
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|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"Instruction": "Pick up the ceramic pot near the base of the drainpipe on the right wall.",
|
| 3 |
+
"Type": 5,
|
| 4 |
+
"Start_Pose": [
|
| 5 |
+
1989.881,
|
| 6 |
+
8060.777,
|
| 7 |
+
118.15,
|
| 8 |
+
0,
|
| 9 |
+
154.08,
|
| 10 |
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0
|
| 11 |
+
],
|
| 12 |
+
"PD_ID": 8,
|
| 13 |
+
"PD_Size": 1.5,
|
| 14 |
+
"PD_Type": "p",
|
| 15 |
+
"PD_Start_Pose": [
|
| 16 |
+
1400.861,
|
| 17 |
+
8060.248,
|
| 18 |
+
33.15,
|
| 19 |
+
0,
|
| 20 |
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0,
|
| 21 |
+
0
|
| 22 |
+
],
|
| 23 |
+
"Action": [
|
| 24 |
+
"TurnRight",
|
| 25 |
+
"MoveForward",
|
| 26 |
+
"MoveForward",
|
| 27 |
+
"MoveForward",
|
| 28 |
+
"MoveForward",
|
| 29 |
+
"LookDown",
|
| 30 |
+
"Pick",
|
| 31 |
+
"Finish"
|
| 32 |
+
],
|
| 33 |
+
"Pose_Trajectory": [
|
| 34 |
+
[
|
| 35 |
+
1989.881,
|
| 36 |
+
8060.777,
|
| 37 |
+
118.15,
|
| 38 |
+
0,
|
| 39 |
+
154.08,
|
| 40 |
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0
|
| 41 |
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],
|
| 42 |
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[
|
| 43 |
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1989.881,
|
| 44 |
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8060.777,
|
| 45 |
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118.15,
|
| 46 |
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0.0,
|
| 47 |
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179.08,
|
| 48 |
+
-0.0
|
| 49 |
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],
|
| 50 |
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[
|
| 51 |
+
1864.038,
|
| 52 |
+
8062.798,
|
| 53 |
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118.15,
|
| 54 |
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0.0,
|
| 55 |
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179.08,
|
| 56 |
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-0.0
|
| 57 |
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],
|
| 58 |
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[
|
| 59 |
+
1738.195,
|
| 60 |
+
8064.819,
|
| 61 |
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118.15,
|
| 62 |
+
0.0,
|
| 63 |
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179.08,
|
| 64 |
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-0.0
|
| 65 |
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],
|
| 66 |
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[
|
| 67 |
+
1612.353,
|
| 68 |
+
8066.839,
|
| 69 |
+
118.15,
|
| 70 |
+
0.0,
|
| 71 |
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179.08,
|
| 72 |
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-0.0
|
| 73 |
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],
|
| 74 |
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[
|
| 75 |
+
1486.51,
|
| 76 |
+
8068.86,
|
| 77 |
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118.15,
|
| 78 |
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0.0,
|
| 79 |
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179.08,
|
| 80 |
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-0.0
|
| 81 |
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],
|
| 82 |
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[
|
| 83 |
+
1486.51,
|
| 84 |
+
8068.86,
|
| 85 |
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118.15,
|
| 86 |
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0.0,
|
| 87 |
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179.08,
|
| 88 |
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-0.0
|
| 89 |
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],
|
| 90 |
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[
|
| 91 |
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1486.51,
|
| 92 |
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8068.86,
|
| 93 |
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118.15,
|
| 94 |
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0.0,
|
| 95 |
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179.08,
|
| 96 |
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-0.0
|
| 97 |
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],
|
| 98 |
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[
|
| 99 |
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1486.51,
|
| 100 |
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8068.86,
|
| 101 |
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118.15,
|
| 102 |
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0.0,
|
| 103 |
+
179.08,
|
| 104 |
+
-0.0
|
| 105 |
+
]
|
| 106 |
+
],
|
| 107 |
+
"PD_Pose_Trajectory": [
|
| 108 |
+
[
|
| 109 |
+
1400.861,
|
| 110 |
+
8060.248,
|
| 111 |
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33.15,
|
| 112 |
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0.0,
|
| 113 |
+
0.0,
|
| 114 |
+
0.0
|
| 115 |
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],
|
| 116 |
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[
|
| 117 |
+
1400.861,
|
| 118 |
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8060.248,
|
| 119 |
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33.15,
|
| 120 |
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0.0,
|
| 121 |
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0.0,
|
| 122 |
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0.0
|
| 123 |
+
],
|
| 124 |
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[
|
| 125 |
+
1400.861,
|
| 126 |
+
8060.248,
|
| 127 |
+
33.15,
|
| 128 |
+
0.0,
|
| 129 |
+
0.0,
|
| 130 |
+
0.0
|
| 131 |
+
],
|
| 132 |
+
[
|
| 133 |
+
1400.861,
|
| 134 |
+
8060.248,
|
| 135 |
+
33.15,
|
| 136 |
+
0.0,
|
| 137 |
+
0.0,
|
| 138 |
+
0.0
|
| 139 |
+
],
|
| 140 |
+
[
|
| 141 |
+
1400.861,
|
| 142 |
+
8060.248,
|
| 143 |
+
33.15,
|
| 144 |
+
0.0,
|
| 145 |
+
0.0,
|
| 146 |
+
0.0
|
| 147 |
+
],
|
| 148 |
+
[
|
| 149 |
+
1400.861,
|
| 150 |
+
8060.248,
|
| 151 |
+
33.15,
|
| 152 |
+
0.0,
|
| 153 |
+
0.0,
|
| 154 |
+
0.0
|
| 155 |
+
],
|
| 156 |
+
[
|
| 157 |
+
1400.861,
|
| 158 |
+
8060.248,
|
| 159 |
+
33.15,
|
| 160 |
+
0.0,
|
| 161 |
+
0.0,
|
| 162 |
+
0.0
|
| 163 |
+
],
|
| 164 |
+
[
|
| 165 |
+
1486.777,
|
| 166 |
+
8047.499,
|
| 167 |
+
88.256,
|
| 168 |
+
-28.202,
|
| 169 |
+
-130.775,
|
| 170 |
+
1.862
|
| 171 |
+
],
|
| 172 |
+
[
|
| 173 |
+
1486.777,
|
| 174 |
+
8047.499,
|
| 175 |
+
88.256,
|
| 176 |
+
-28.202,
|
| 177 |
+
-130.775,
|
| 178 |
+
1.862
|
| 179 |
+
]
|
| 180 |
+
],
|
| 181 |
+
"PD_Dist_2D": [
|
| 182 |
+
589.0,
|
| 183 |
+
589.0,
|
| 184 |
+
463.2,
|
| 185 |
+
337.4,
|
| 186 |
+
211.6,
|
| 187 |
+
86.1,
|
| 188 |
+
86.1,
|
| 189 |
+
21.4,
|
| 190 |
+
21.4
|
| 191 |
+
]
|
| 192 |
+
}
|
benchmark/trajectory/CourtYard/task_x002009_y007037_z000118_t3_a/infos.json
ADDED
|
@@ -0,0 +1,168 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
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|
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|
|
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|
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|
|
|
|
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|
|
|
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|
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|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
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|
|
|
|
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|
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|
|
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|
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|
|
|
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|
|
|
|
|
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"Instruction": "Walk to the dark wooden door, then approach the red door.",
|
| 3 |
+
"Type": 3,
|
| 4 |
+
"Start_Pose": [
|
| 5 |
+
2008.516,
|
| 6 |
+
7036.984,
|
| 7 |
+
118.15,
|
| 8 |
+
0.0,
|
| 9 |
+
-99.84,
|
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benchmark/trajectory/CourtYard/task_x002009_y007037_z000118_t3_b/infos.json
ADDED
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| 1 |
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benchmark/trajectory/CourtYard/task_x002009_y007037_z000118_t3_c/infos.json
ADDED
|
@@ -0,0 +1,231 @@
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| 1 |
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{
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| 2 |
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| 3 |
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|
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|
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|
| 29 |
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|
| 30 |
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|
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|
| 32 |
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|
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|
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|
benchmark/trajectory/CourtYard/task_x002009_y007037_z000118_t3_d/infos.json
ADDED
|
@@ -0,0 +1,159 @@
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|
|
|
|
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|
|
|
|
|
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"Instruction": "Navigate to the drainpipe base, then proceed to the brown wooden door.",
|
| 3 |
+
"Type": 3,
|
| 4 |
+
"Start_Pose": [
|
| 5 |
+
2008.516,
|
| 6 |
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|
| 7 |
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| 8 |
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| 10 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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"MoveForward",
|
| 16 |
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"TurnRight",
|
| 17 |
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"MoveForward",
|
| 18 |
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"MoveForward",
|
| 19 |
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"TurnLeft",
|
| 20 |
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"MoveForward",
|
| 21 |
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"MidwayTarget",
|
| 22 |
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|
| 23 |
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"TurnLeft",
|
| 24 |
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"TurnLeft",
|
| 25 |
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"MoveForward",
|
| 26 |
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"MoveForward",
|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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[
|
| 31 |
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| 32 |
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| 33 |
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| 40 |
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| 54 |
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|
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|
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|
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|
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|
| 142 |
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[
|
| 143 |
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|
| 144 |
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|
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|
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|
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|
| 150 |
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[
|
| 151 |
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|
| 152 |
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|
| 153 |
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|
| 154 |
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|
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|
| 158 |
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]
|
| 159 |
+
}
|
benchmark/trajectory/CourtYard/task_x002192_y006896_z000118_t5_a_p/infos.json
ADDED
|
@@ -0,0 +1,192 @@
|
|
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|
|
|
|
|
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|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"Instruction": "Pick up the wicker basket near the concrete step in front of the large brown wooden door.",
|
| 3 |
+
"Type": 5,
|
| 4 |
+
"Start_Pose": [
|
| 5 |
+
2192.159,
|
| 6 |
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6895.649,
|
| 7 |
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|
| 8 |
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|
| 9 |
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|
| 10 |
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0
|
| 11 |
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],
|
| 12 |
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"PD_ID": 7,
|
| 13 |
+
"PD_Size": 2.5,
|
| 14 |
+
"PD_Type": "p",
|
| 15 |
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"PD_Start_Pose": [
|
| 16 |
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1957.25,
|
| 17 |
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6413.445,
|
| 18 |
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|
| 19 |
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90,
|
| 20 |
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60,
|
| 21 |
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0
|
| 22 |
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],
|
| 23 |
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"Action": [
|
| 24 |
+
"MoveForward",
|
| 25 |
+
"TurnRight",
|
| 26 |
+
"MoveForward",
|
| 27 |
+
"MoveForward",
|
| 28 |
+
"TurnRight",
|
| 29 |
+
"MoveForward",
|
| 30 |
+
"Pick",
|
| 31 |
+
"Finish"
|
| 32 |
+
],
|
| 33 |
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"Pose_Trajectory": [
|
| 34 |
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[
|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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[
|
| 43 |
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|
| 44 |
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|
| 45 |
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|
| 46 |
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|
| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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[
|
| 51 |
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|
| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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|
| 58 |
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[
|
| 59 |
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2023.244,
|
| 60 |
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|
| 61 |
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118.15,
|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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|
| 66 |
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[
|
| 67 |
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1958.572,
|
| 68 |
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|
| 69 |
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118.15,
|
| 70 |
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|
| 71 |
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-120.92,
|
| 72 |
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|
| 73 |
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|
| 74 |
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[
|
| 75 |
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|
| 76 |
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|
| 77 |
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118.15,
|
| 78 |
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0.0,
|
| 79 |
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-95.92,
|
| 80 |
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|
| 81 |
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],
|
| 82 |
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[
|
| 83 |
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1947.509,
|
| 84 |
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6490.717,
|
| 85 |
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118.15,
|
| 86 |
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0.0,
|
| 87 |
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|
| 88 |
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|
| 89 |
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],
|
| 90 |
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[
|
| 91 |
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|
| 92 |
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|
| 93 |
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118.15,
|
| 94 |
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|
| 95 |
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|
| 96 |
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|
| 97 |
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],
|
| 98 |
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[
|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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|
| 103 |
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-95.92,
|
| 104 |
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0.0
|
| 105 |
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]
|
| 106 |
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],
|
| 107 |
+
"PD_Pose_Trajectory": [
|
| 108 |
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[
|
| 109 |
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1957.25,
|
| 110 |
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6413.445,
|
| 111 |
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66.555,
|
| 112 |
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90.0,
|
| 113 |
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60.0,
|
| 114 |
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0.0
|
| 115 |
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],
|
| 116 |
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[
|
| 117 |
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|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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[
|
| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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|
| 129 |
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|
| 130 |
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|
| 131 |
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|
| 132 |
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[
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| 133 |
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|
| 134 |
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|
| 135 |
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|
| 136 |
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|
| 137 |
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60.0,
|
| 138 |
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|
| 139 |
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|
| 140 |
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[
|
| 141 |
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1957.25,
|
| 142 |
+
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|
| 143 |
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|
| 144 |
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|
| 145 |
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60.0,
|
| 146 |
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|
| 147 |
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],
|
| 148 |
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[
|
| 149 |
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|
| 150 |
+
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|
| 151 |
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|
| 152 |
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|
| 153 |
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|
| 154 |
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|
| 155 |
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|
| 156 |
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[
|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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|
| 161 |
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|
| 162 |
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0.0
|
| 163 |
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|
| 164 |
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[
|
| 165 |
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1968.812,
|
| 166 |
+
6489.122,
|
| 167 |
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88.256,
|
| 168 |
+
-28.202,
|
| 169 |
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-45.775,
|
| 170 |
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1.862
|
| 171 |
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],
|
| 172 |
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[
|
| 173 |
+
1968.812,
|
| 174 |
+
6489.122,
|
| 175 |
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88.256,
|
| 176 |
+
-28.202,
|
| 177 |
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-45.775,
|
| 178 |
+
1.862
|
| 179 |
+
]
|
| 180 |
+
],
|
| 181 |
+
"PD_Dist_2D": [
|
| 182 |
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536.4,
|
| 183 |
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431.9,
|
| 184 |
+
431.9,
|
| 185 |
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310.8,
|
| 186 |
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195.7,
|
| 187 |
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195.7,
|
| 188 |
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77.9,
|
| 189 |
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21.4,
|
| 190 |
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21.4
|
| 191 |
+
]
|
| 192 |
+
}
|
benchmark/trajectory/CourtYard/task_x002192_y006896_z000118_t5_a_pd/infos.json
ADDED
|
@@ -0,0 +1,390 @@
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
| 1 |
+
{
|
| 2 |
+
"Instruction": "Pick up the ceramic pot from the concrete step in front of the large brown wooden door, then place it near the concrete step in front of the red door on the left.",
|
| 3 |
+
"Type": 5,
|
| 4 |
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|
| 5 |
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|
| 6 |
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| 7 |
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| 8 |
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| 9 |
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|
| 10 |
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0
|
| 11 |
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],
|
| 12 |
+
"PD_ID": 8,
|
| 13 |
+
"PD_Size": 1.5,
|
| 14 |
+
"PD_Type": "pd",
|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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|
| 22 |
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],
|
| 23 |
+
"Action": [
|
| 24 |
+
"TurnRight",
|
| 25 |
+
"MoveForward",
|
| 26 |
+
"MoveForward",
|
| 27 |
+
"MoveForward",
|
| 28 |
+
"MoveForward",
|
| 29 |
+
"LookDown",
|
| 30 |
+
"Pick",
|
| 31 |
+
"TurnLeft",
|
| 32 |
+
"TurnLeft",
|
| 33 |
+
"TurnLeft",
|
| 34 |
+
"MoveForward",
|
| 35 |
+
"MoveForward",
|
| 36 |
+
"TurnLeft",
|
| 37 |
+
"MoveForward",
|
| 38 |
+
"MoveForward",
|
| 39 |
+
"MoveForward",
|
| 40 |
+
"TurnRight",
|
| 41 |
+
"Drop",
|
| 42 |
+
"Finish"
|
| 43 |
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],
|
| 44 |
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|
| 45 |
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|
| 46 |
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|
| 47 |
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| 48 |
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|
| 49 |
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| 50 |
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|
| 51 |
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| 52 |
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|
| 53 |
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| 54 |
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|
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|
| 56 |
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|
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|
| 58 |
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|
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| 60 |
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|
| 61 |
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|
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|
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|
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| 68 |
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| 69 |
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| 70 |
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|
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|
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|
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|
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| 77 |
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| 78 |
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|
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|
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|
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| 82 |
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|
| 83 |
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| 84 |
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|
| 85 |
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|
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|
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|
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| 148 |
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| 149 |
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| 150 |
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| 154 |
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| 157 |
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| 158 |
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|
| 171 |
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| 172 |
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| 174 |
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| 178 |
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| 179 |
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| 180 |
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| 181 |
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| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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| 186 |
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|
| 187 |
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| 189 |
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| 190 |
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| 191 |
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| 192 |
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| 193 |
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| 194 |
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|
| 205 |
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|
| 206 |
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|
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|
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| 214 |
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|
| 215 |
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| 216 |
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|
| 217 |
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|
| 218 |
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|
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| 220 |
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| 221 |
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|
| 222 |
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|
| 223 |
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| 224 |
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|
| 225 |
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|
| 226 |
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|
| 231 |
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| 232 |
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|
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|
| 246 |
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|
| 247 |
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|
| 248 |
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|
benchmark/trajectory/CourtYard/task_x002192_y006896_z000118_t5_b_p/infos.json
ADDED
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@@ -0,0 +1,246 @@
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|
| 1 |
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{
|
| 2 |
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|
| 3 |
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|
| 4 |
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| 5 |
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|
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|
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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|
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|
| 37 |
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|
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|
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|
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|
| 223 |
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| 224 |
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88.256,
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|
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|
| 229 |
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|
| 230 |
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|
| 231 |
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|
| 232 |
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"PD_Dist_2D": [
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| 233 |
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973.1,
|
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853.4,
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735.8,
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621.3,
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621.3,
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495.5,
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369.8,
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244.2,
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244.2,
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133.4,
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21.4,
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| 244 |
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21.4
|
| 245 |
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|
| 246 |
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}
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