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AutoLab-SJTU
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OmniNavBench

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OmniNavBench dataset (annotations + train videos)

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  1. .gitattributes +60 -0
  2. README.md +3 -0
  3. annotations/test/concise/car/17DRP5sb8fy/final_episode_1.json +117 -0
  4. annotations/test/concise/car/17DRP5sb8fy/final_episode_3.json +119 -0
  5. annotations/test/concise/car/1LXtFkjw3qL/final_episode_1.json +117 -0
  6. annotations/test/concise/car/1pXnuDYAj8r/final_episode_1.json +104 -0
  7. annotations/test/concise/car/1pXnuDYAj8r/final_episode_2.json +1441 -0
  8. annotations/test/concise/car/1pXnuDYAj8r/final_episode_3.json +104 -0
  9. annotations/test/concise/car/29hnd4uzFmX/final_episode_1.json +117 -0
  10. annotations/test/concise/car/2azQ1b91cZZ/final_episode_1.json +119 -0
  11. annotations/test/concise/car/2n8kARJN3HM/final_episode_1.json +935 -0
  12. annotations/test/concise/car/2n8kARJN3HM/final_episode_2.json +855 -0
  13. annotations/test/concise/car/5q7pvUzZiYa/final_episode_1.json +1056 -0
  14. annotations/test/concise/car/5q7pvUzZiYa/final_episode_3.json +1782 -0
  15. annotations/test/concise/car/759xd9YjKW5/final_episode_1.json +117 -0
  16. annotations/test/concise/car/7y3sRwLe3Va/final_episode_1.json +117 -0
  17. annotations/test/concise/car/7y3sRwLe3Va/final_episode_2.json +925 -0
  18. annotations/test/concise/car/8194nk5LbLH/final_episode_1.json +119 -0
  19. annotations/test/concise/car/82sE5b5pLXE/final_episode_1.json +119 -0
  20. annotations/test/concise/car/8WUmhLawc2A/final_episode_1.json +117 -0
  21. annotations/test/concise/car/8WUmhLawc2A/final_episode_3.json +119 -0
  22. annotations/test/concise/car/B6ByNegPMKs/final_episode_1.json +123 -0
  23. annotations/test/concise/car/E9uDoFAP3SH/final_episode_1.json +121 -0
  24. annotations/test/concise/car/E9uDoFAP3SH/final_episode_3.json +121 -0
  25. annotations/test/concise/car/EDJbREhghzL/final_episode_1.json +117 -0
  26. annotations/test/concise/car/EU6Fwq7SyZv/final_episode_1.json +117 -0
  27. annotations/test/concise/car/EU6Fwq7SyZv/final_episode_3.json +119 -0
  28. annotations/test/concise/car/MV4AFHQKTKJZ2AABAAAAAEA8_usd/final_episode_1.json +99 -0
  29. annotations/test/concise/car/MV4AFHQKTKJZ2AABAAAAAEA8_usd/final_episode_2.json +99 -0
  30. annotations/test/concise/car/MV4AFHQKTKJZ2AABAAAAAEA8_usd/final_episode_3.json +99 -0
  31. annotations/test/concise/car/MV4AFHQKTKJZ2AABAAAAAEI8_usd/final_episode_1.json +110 -0
  32. annotations/test/concise/car/MV4AFHQKTKJZ2AABAAAAAEI8_usd/final_episode_2.json +110 -0
  33. annotations/test/concise/car/MV5M25QKTKJZ2AABAAAAAAI8_usd/final_episode_1.json +99 -0
  34. annotations/test/concise/car/MV5M25QKTKJZ2AABAAAAAAI8_usd/final_episode_2.json +99 -0
  35. annotations/test/concise/car/MV5M25QKTKJZ2AABAAAAAAQ8_usd/final_episode_1.json +99 -0
  36. annotations/test/concise/car/MV5M25QKTKJZ2AABAAAAAAQ8_usd/final_episode_2.json +99 -0
  37. annotations/test/concise/car/MV5M25QKTKJZ2AABAAAAAAQ8_usd/final_episode_3.json +99 -0
  38. annotations/test/concise/car/MV5M25QKTKJZ2AABAAAAAAY8_usd/final_episode_1.json +110 -0
  39. annotations/test/concise/car/MV5M25QKTKJZ2AABAAAAAAY8_usd/final_episode_2.json +110 -0
  40. annotations/test/concise/car/MV5M25QKTKJZ2AABAAAAAAY8_usd/final_episode_3.json +110 -0
  41. annotations/test/concise/car/MV7J6NIKTKJZ2AABAAAAAAA8_usd/final_episode_1.json +110 -0
  42. annotations/test/concise/car/MV7J6NIKTKJZ2AABAAAAAAA8_usd/final_episode_2.json +110 -0
  43. annotations/test/concise/car/MV7J6NIKTKJZ2AABAAAAAAA8_usd/final_episode_3.json +110 -0
  44. annotations/test/concise/car/MV7J6NIKTKJZ2AABAAAAAAI8_usd/final_episode_1.json +110 -0
  45. annotations/test/concise/car/MV7J6NIKTKJZ2AABAAAAAAI8_usd/final_episode_2.json +110 -0
  46. annotations/test/concise/car/MV7J6NIKTKJZ2AABAAAAAAI8_usd/final_episode_3.json +110 -0
  47. annotations/test/concise/car/MV7J6NIKTKJZ2AABAAAAADI8_usd/final_episode_5.json +0 -0
  48. annotations/test/concise/car/MV7J6NIKTKJZ2AABAAAAADQ8_usd/final_episode_5.json +161 -0
  49. annotations/test/concise/car/MV7J6NIKTKJZ2AABAAAAADY8_usd/final_episode_1.json +1702 -0
  50. annotations/test/concise/car/MV7J6NIKTKJZ2AABAAAAADY8_usd/final_episode_3.json +59 -0
.gitattributes ADDED
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1
+ *.7z filter=lfs diff=lfs merge=lfs -text
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+ *.arrow filter=lfs diff=lfs merge=lfs -text
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+ *.avro filter=lfs diff=lfs merge=lfs -text
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+ *.bin filter=lfs diff=lfs merge=lfs -text
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+ *.bz2 filter=lfs diff=lfs merge=lfs -text
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+ *.ckpt filter=lfs diff=lfs merge=lfs -text
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+ *.ftz filter=lfs diff=lfs merge=lfs -text
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+ *.gz filter=lfs diff=lfs merge=lfs -text
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+ *.h5 filter=lfs diff=lfs merge=lfs -text
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+ *.joblib filter=lfs diff=lfs merge=lfs -text
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+ *.lfs.* filter=lfs diff=lfs merge=lfs -text
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+ *.lz4 filter=lfs diff=lfs merge=lfs -text
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+ *.mds filter=lfs diff=lfs merge=lfs -text
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+ *.mlmodel filter=lfs diff=lfs merge=lfs -text
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+ *.model filter=lfs diff=lfs merge=lfs -text
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+ *.msgpack filter=lfs diff=lfs merge=lfs -text
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+ *.npy filter=lfs diff=lfs merge=lfs -text
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+ *.npz filter=lfs diff=lfs merge=lfs -text
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+ *.onnx filter=lfs diff=lfs merge=lfs -text
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+ *.ot filter=lfs diff=lfs merge=lfs -text
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+ *.parquet filter=lfs diff=lfs merge=lfs -text
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+ *.pb filter=lfs diff=lfs merge=lfs -text
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+ *.pickle filter=lfs diff=lfs merge=lfs -text
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+ *.pkl filter=lfs diff=lfs merge=lfs -text
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+ *.pt filter=lfs diff=lfs merge=lfs -text
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+ *.pth filter=lfs diff=lfs merge=lfs -text
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+ *.rar filter=lfs diff=lfs merge=lfs -text
28
+ *.safetensors filter=lfs diff=lfs merge=lfs -text
29
+ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
30
+ *.tar.* filter=lfs diff=lfs merge=lfs -text
31
+ *.tar filter=lfs diff=lfs merge=lfs -text
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+ *.tflite filter=lfs diff=lfs merge=lfs -text
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+ *.tgz filter=lfs diff=lfs merge=lfs -text
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+ *.wasm filter=lfs diff=lfs merge=lfs -text
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+ *.xz filter=lfs diff=lfs merge=lfs -text
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+ *.zip filter=lfs diff=lfs merge=lfs -text
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+ *.zst filter=lfs diff=lfs merge=lfs -text
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+ *tfevents* filter=lfs diff=lfs merge=lfs -text
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+ # Audio files - uncompressed
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+ *.pcm filter=lfs diff=lfs merge=lfs -text
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+ *.sam filter=lfs diff=lfs merge=lfs -text
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+ *.raw filter=lfs diff=lfs merge=lfs -text
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+ # Audio files - compressed
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+ *.aac filter=lfs diff=lfs merge=lfs -text
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+ *.flac filter=lfs diff=lfs merge=lfs -text
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+ *.mp3 filter=lfs diff=lfs merge=lfs -text
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+ *.ogg filter=lfs diff=lfs merge=lfs -text
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+ *.wav filter=lfs diff=lfs merge=lfs -text
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+ # Image files - uncompressed
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+ *.bmp filter=lfs diff=lfs merge=lfs -text
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+ *.gif filter=lfs diff=lfs merge=lfs -text
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+ *.png filter=lfs diff=lfs merge=lfs -text
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+ *.tiff filter=lfs diff=lfs merge=lfs -text
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+ # Image files - compressed
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+ *.jpg filter=lfs diff=lfs merge=lfs -text
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+ *.jpeg filter=lfs diff=lfs merge=lfs -text
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+ *.webp filter=lfs diff=lfs merge=lfs -text
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+ # Video files - compressed
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+ *.mp4 filter=lfs diff=lfs merge=lfs -text
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+ *.webm filter=lfs diff=lfs merge=lfs -text
README.md ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ ---
2
+ license: apache-2.0
3
+ ---
annotations/test/concise/car/17DRP5sb8fy/final_episode_1.json ADDED
@@ -0,0 +1,117 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
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+ "scenarios": [
3
+ {
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+ "id": "matterport_11",
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+ "scene": {
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+ "category": "MP3D",
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+ "type": "matterport",
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+ "use_matterport": true,
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+ "manage_simulation": false,
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+ "matterport": {
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+ "usd_path": "matterport_usd/17DRP5sb8fy/17DRP5sb8fy.usd",
12
+ "obj_path": "",
13
+ "root_prim_path": "/World/terrain",
14
+ "add_ground_plane": true
15
+ },
16
+ "notes": "Replace usd_path/obj_path with the desired MP3D asset; importer handles collision & ground.",
17
+ "units_in_meters": 1
18
+ },
19
+ "navmesh": {
20
+ "bake_root_prim_path": "/World/terrain",
21
+ "include_volume_parent": "/World/NavMesh",
22
+ "z_padding": 2.0,
23
+ "agent_radius": 10.0,
24
+ "min_include_volume_size": {
25
+ "xy": 8.0,
26
+ "z": 3.0
27
+ },
28
+ "spawn_min_separation_m": 1.5,
29
+ "max_step_height": 30
30
+ },
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+ "virtual_humans": {
32
+ "category": "MP3D",
33
+ "count": 1,
34
+ "name_sequence": [
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+ "Character"
36
+ ],
37
+ "assets": {
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+ "Character": "male_adult_construction_03/male_adult_construction_03.usd"
39
+ },
40
+ "asset_root": {
41
+ "fallback": "",
42
+ "path": "IsaacAssets/People/Characters"
43
+ },
44
+ "spawn_policy": {
45
+ "type": "navmesh_random",
46
+ "notes": "MP3D scenes use navmesh-based sampling; ensure navmesh baking succeeds."
47
+ },
48
+ "spawn_points": [
49
+ {
50
+ "name": "Character",
51
+ "position": [
52
+ -5.55,
53
+ 1.4,
54
+ 0.0
55
+ ],
56
+ "orientation_deg": -90.0
57
+ }
58
+ ],
59
+ "normalize_on_spawn": false,
60
+ "move_routes": [
61
+ {
62
+ "name": "Character",
63
+ "commands": [
64
+ "Character LookAround 5.0",
65
+ "Character Idle 1.0",
66
+ "Character GoTo -8.46 1.17 0.00 _",
67
+ "Character Idle 1.0",
68
+ "Character GoTo -8.79 -0.17 0.00 _"
69
+ ]
70
+ }
71
+ ]
72
+ },
73
+ "robots": {
74
+ "category": "MP3D",
75
+ "entries": [
76
+ {
77
+ "type": "carter_v1",
78
+ "label": "keyboard_carter",
79
+ "spawn_path": "/carter_v1",
80
+ "usd_path": "robots/Carter/carter_v1.usd",
81
+ "initial_pose": {
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+ "position": [
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+ -3.79,
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+ 1.3,
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+ 0.24
86
+ ],
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+ "orientation_deg": 180.0
88
+ },
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+ "control": {
90
+ "mode": "keyboard_diff_drive",
91
+ "params": {
92
+ "base_velocity": 0.6,
93
+ "base_turn_rate": 1.2
94
+ }
95
+ }
96
+ }
97
+ ]
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+ },
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+ "task": {
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+ "navigation": {
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+ "instruction": "Follow the man ahead until he stops. Find the chair ahead and stop near it."
102
+ }
103
+ }
104
+ }
105
+ ],
106
+ "preprocessing": {
107
+ "wait_interpolated": true,
108
+ "min_wait_s": 2.0,
109
+ "yaw_skip_deg": 20.0,
110
+ "wait_time_interval": 0.5,
111
+ "original_waypoints": 115,
112
+ "wait_segments": 2,
113
+ "movement_segments": 112,
114
+ "interpolated_waypoints": 46,
115
+ "processed_waypoints": 159
116
+ }
117
+ }
annotations/test/concise/car/17DRP5sb8fy/final_episode_3.json ADDED
@@ -0,0 +1,119 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "scenarios": [
3
+ {
4
+ "id": "matterport_11",
5
+ "scene": {
6
+ "category": "MP3D",
7
+ "type": "matterport",
8
+ "use_matterport": true,
9
+ "manage_simulation": false,
10
+ "matterport": {
11
+ "usd_path": "matterport_usd/17DRP5sb8fy/17DRP5sb8fy.usd",
12
+ "obj_path": "",
13
+ "root_prim_path": "/World/terrain",
14
+ "add_ground_plane": true
15
+ },
16
+ "notes": "Replace usd_path/obj_path with the desired MP3D asset; importer handles collision & ground.",
17
+ "units_in_meters": 1
18
+ },
19
+ "navmesh": {
20
+ "bake_root_prim_path": "/World/terrain",
21
+ "include_volume_parent": "/World/NavMesh",
22
+ "z_padding": 2.0,
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+ "agent_radius": 10.0,
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+ "min_include_volume_size": {
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+ "xy": 8.0,
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+ "z": 3.0
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+ },
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+ "spawn_min_separation_m": 1.5,
29
+ "max_step_height": 30
30
+ },
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+ "virtual_humans": {
32
+ "category": "MP3D",
33
+ "count": 1,
34
+ "name_sequence": [
35
+ "Character"
36
+ ],
37
+ "assets": {
38
+ "Character": "male_adult_construction_03/male_adult_construction_03.usd"
39
+ },
40
+ "asset_root": {
41
+ "fallback": "",
42
+ "path": "IsaacAssets/People/Characters"
43
+ },
44
+ "spawn_policy": {
45
+ "type": "navmesh_random",
46
+ "notes": "MP3D scenes use navmesh-based sampling; ensure navmesh baking succeeds."
47
+ },
48
+ "spawn_points": [
49
+ {
50
+ "name": "Character",
51
+ "position": [
52
+ -2.59,
53
+ 1.45,
54
+ 0.0
55
+ ],
56
+ "orientation_deg": -90.0
57
+ }
58
+ ],
59
+ "normalize_on_spawn": false,
60
+ "move_routes": [
61
+ {
62
+ "name": "Character",
63
+ "commands": [
64
+ "Character LookAround 5.0",
65
+ "Character Idle 1.0",
66
+ "Character GoTo -5.06426 1.45827 0.0 _",
67
+ "Character Idle 1.0",
68
+ "Character GoTo -8.40954 1.19822 0.0 _",
69
+ "Character Idle 1.0",
70
+ "Character GoTo -9.6175 0.01422 0.0 _"
71
+ ]
72
+ }
73
+ ]
74
+ },
75
+ "robots": {
76
+ "category": "MP3D",
77
+ "entries": [
78
+ {
79
+ "type": "carter_v1",
80
+ "label": "keyboard_carter",
81
+ "spawn_path": "/carter_v1",
82
+ "usd_path": "robots/Carter/carter_v1.usd",
83
+ "initial_pose": {
84
+ "position": [
85
+ -1.41,
86
+ 1.44,
87
+ 0.24
88
+ ],
89
+ "orientation_deg": 180.0
90
+ },
91
+ "control": {
92
+ "mode": "keyboard_diff_drive",
93
+ "params": {
94
+ "base_velocity": 0.6,
95
+ "base_turn_rate": 1.2
96
+ }
97
+ }
98
+ }
99
+ ]
100
+ },
101
+ "task": {
102
+ "navigation": {
103
+ "instruction": "Wait for the man ahead to start walking. Follow him until he stops next to the blue_chair. Turn around and walk back. Walk back about five meters. Stop next to a blue_sofa_chair."
104
+ }
105
+ }
106
+ }
107
+ ],
108
+ "preprocessing": {
109
+ "wait_interpolated": true,
110
+ "min_wait_s": 2.0,
111
+ "yaw_skip_deg": 20.0,
112
+ "wait_time_interval": 0.5,
113
+ "original_waypoints": 255,
114
+ "wait_segments": 1,
115
+ "movement_segments": 253,
116
+ "interpolated_waypoints": 4,
117
+ "processed_waypoints": 258
118
+ }
119
+ }
annotations/test/concise/car/1LXtFkjw3qL/final_episode_1.json ADDED
@@ -0,0 +1,117 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "scenarios": [
3
+ {
4
+ "id": "matterport_01",
5
+ "scene": {
6
+ "category": "MP3D",
7
+ "type": "matterport",
8
+ "use_matterport": true,
9
+ "manage_simulation": false,
10
+ "matterport": {
11
+ "usd_path": "matterport_usd/1LXtFkjw3qL/1LXtFkjw3qL.usd",
12
+ "obj_path": "",
13
+ "root_prim_path": "/World/terrain",
14
+ "add_ground_plane": true
15
+ },
16
+ "notes": "Replace usd_path/obj_path with the desired MP3D asset; importer handles collision & ground.",
17
+ "units_in_meters": 1
18
+ },
19
+ "navmesh": {
20
+ "bake_root_prim_path": "/World/terrain",
21
+ "include_volume_parent": "/World/NavMesh",
22
+ "z_padding": 2.0,
23
+ "agent_radius": 10.0,
24
+ "min_include_volume_size": {
25
+ "xy": 8.0,
26
+ "z": 3.0
27
+ },
28
+ "spawn_min_separation_m": 1.5,
29
+ "max_step_height": 30
30
+ },
31
+ "virtual_humans": {
32
+ "category": "MP3D",
33
+ "count": 1,
34
+ "name_sequence": [
35
+ "Character"
36
+ ],
37
+ "assets": {
38
+ "Character": "male_adult_construction_03/male_adult_construction_03.usd"
39
+ },
40
+ "asset_root": {
41
+ "fallback": "",
42
+ "path": "IsaacAssets/People/Characters"
43
+ },
44
+ "spawn_policy": {
45
+ "type": "navmesh_random",
46
+ "notes": "MP3D scenes use navmesh-based sampling; ensure navmesh baking succeeds."
47
+ },
48
+ "spawn_points": [
49
+ {
50
+ "name": "Character",
51
+ "position": [
52
+ 3.23,
53
+ -4.32,
54
+ 0.0
55
+ ],
56
+ "orientation_deg": 0.0
57
+ }
58
+ ],
59
+ "normalize_on_spawn": false,
60
+ "move_routes": [
61
+ {
62
+ "name": "Character",
63
+ "commands": [
64
+ "Character LookAround 5.0",
65
+ "Character Idle 1.0",
66
+ "Character GoTo 2.98 -7.11 0.0 _",
67
+ "Character Idle 1.0",
68
+ "Character GoTo 1.0 -7.61 0.0 _"
69
+ ]
70
+ }
71
+ ]
72
+ },
73
+ "robots": {
74
+ "category": "MP3D",
75
+ "entries": [
76
+ {
77
+ "type": "carter_v1",
78
+ "label": "keyboard_carter",
79
+ "spawn_path": "/carter_v1",
80
+ "usd_path": "robots/Carter/carter_v1.usd",
81
+ "initial_pose": {
82
+ "position": [
83
+ 3.13,
84
+ -3.77,
85
+ 0.24
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+ ],
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+ "time_s": 8.633802816901408
855
+ },
856
+ {
857
+ "frame": 620,
858
+ "xyz": [
859
+ -8.957221984863281,
860
+ -7.638545513153076,
861
+ -0.01000024750828743
862
+ ],
863
+ "distance_xy": 0.052119865402738656,
864
+ "distance_total_xy": 4.086577736578658,
865
+ "time_s": 8.732394366197184
866
+ },
867
+ {
868
+ "frame": 632,
869
+ "xyz": [
870
+ -8.960602760314941,
871
+ -7.690287113189697,
872
+ -0.01000024750828743
873
+ ],
874
+ "distance_xy": 0.0518519316612623,
875
+ "distance_total_xy": 4.13842966823992,
876
+ "time_s": 8.901408450704226
877
+ }
878
+ ]
879
+ }
880
+ },
881
+ "robots": {
882
+ "category": "MP3D",
883
+ "entries": [
884
+ {
885
+ "type": "carter_v1",
886
+ "label": "keyboard_carter",
887
+ "spawn_path": "/carter_v1",
888
+ "usd_path": "robots/Carter/carter_v1.usd",
889
+ "initial_pose": {
890
+ "position": [
891
+ -7.54,
892
+ -10.14,
893
+ 0.21
894
+ ],
895
+ "orientation_deg": 90.0
896
+ },
897
+ "control": {
898
+ "mode": "keyboard_diff_drive",
899
+ "params": {
900
+ "base_velocity": 0.6,
901
+ "base_turn_rate": 1.2
902
+ }
903
+ }
904
+ }
905
+ ]
906
+ },
907
+ "task": {
908
+ "navigation": {
909
+ "instruction": "Go straight, detour around the person ahead. Turn left at the corner, continue straight to the refrigerator."
910
+ }
911
+ }
912
+ }
913
+ ],
914
+ "preprocessing": {
915
+ "wait_interpolated": true,
916
+ "min_wait_s": 2.0,
917
+ "yaw_skip_deg": 20.0,
918
+ "wait_time_interval": 0.5,
919
+ "original_waypoints": 262,
920
+ "wait_segments": 0,
921
+ "movement_segments": 261,
922
+ "interpolated_waypoints": 0,
923
+ "processed_waypoints": 262
924
+ }
925
+ }
annotations/test/concise/car/8194nk5LbLH/final_episode_1.json ADDED
@@ -0,0 +1,119 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "scenarios": [
3
+ {
4
+ "id": "matterport_15",
5
+ "scene": {
6
+ "category": "MP3D",
7
+ "type": "matterport",
8
+ "use_matterport": true,
9
+ "manage_simulation": false,
10
+ "matterport": {
11
+ "usd_path": "matterport_usd/8194nk5LbLH/8194nk5LbLH.usd",
12
+ "obj_path": "",
13
+ "root_prim_path": "/World/terrain",
14
+ "add_ground_plane": true
15
+ },
16
+ "notes": "Replace usd_path/obj_path with the desired MP3D asset; importer handles collision & ground.",
17
+ "units_in_meters": 1
18
+ },
19
+ "navmesh": {
20
+ "bake_root_prim_path": "/World/terrain",
21
+ "include_volume_parent": "/World/NavMesh",
22
+ "z_padding": 2.0,
23
+ "agent_radius": 10.0,
24
+ "min_include_volume_size": {
25
+ "xy": 8.0,
26
+ "z": 3.0
27
+ },
28
+ "spawn_min_separation_m": 1.5,
29
+ "max_step_height": 30
30
+ },
31
+ "virtual_humans": {
32
+ "category": "MP3D",
33
+ "count": 1,
34
+ "name_sequence": [
35
+ "Character"
36
+ ],
37
+ "assets": {
38
+ "Character": "male_adult_construction_03/male_adult_construction_03.usd"
39
+ },
40
+ "asset_root": {
41
+ "fallback": "",
42
+ "path": "IsaacAssets/People/Characters"
43
+ },
44
+ "spawn_policy": {
45
+ "type": "navmesh_random",
46
+ "notes": "MP3D scenes use navmesh-based sampling; ensure navmesh baking succeeds."
47
+ },
48
+ "spawn_points": [
49
+ {
50
+ "name": "Character",
51
+ "position": [
52
+ -2.99,
53
+ 2.67,
54
+ 0.0
55
+ ],
56
+ "orientation_deg": 90.0
57
+ }
58
+ ],
59
+ "normalize_on_spawn": false,
60
+ "move_routes": [
61
+ {
62
+ "name": "Character",
63
+ "commands": [
64
+ "Character LookAround 5.0",
65
+ "Character Idle 1.0",
66
+ "Character GoTo 2.28 1.67 0.0 _",
67
+ "Character Idle 1.0",
68
+ "Character GoTo 2.14 -1.97 0.0 _",
69
+ "Character Idle 1.0",
70
+ "Character GoTo 2.82 -1.70 0.0 _"
71
+ ]
72
+ }
73
+ ]
74
+ },
75
+ "robots": {
76
+ "category": "MP3D",
77
+ "entries": [
78
+ {
79
+ "type": "carter_v1",
80
+ "label": "keyboard_carter",
81
+ "spawn_path": "/carter_v1",
82
+ "usd_path": "robots/Carter/carter_v1.usd",
83
+ "initial_pose": {
84
+ "position": [
85
+ -5.42,
86
+ 2.92,
87
+ 0.24
88
+ ],
89
+ "orientation_deg": 0.0
90
+ },
91
+ "control": {
92
+ "mode": "keyboard_diff_drive",
93
+ "params": {
94
+ "base_velocity": 0.6,
95
+ "base_turn_rate": 1.2
96
+ }
97
+ }
98
+ }
99
+ ]
100
+ },
101
+ "task": {
102
+ "navigation": {
103
+ "instruction": "Follow the man ahead until he stops. Find a plant ahead and stop near it."
104
+ }
105
+ }
106
+ }
107
+ ],
108
+ "preprocessing": {
109
+ "wait_interpolated": true,
110
+ "min_wait_s": 2.0,
111
+ "yaw_skip_deg": 20.0,
112
+ "wait_time_interval": 0.5,
113
+ "original_waypoints": 290,
114
+ "wait_segments": 3,
115
+ "movement_segments": 286,
116
+ "interpolated_waypoints": 33,
117
+ "processed_waypoints": 320
118
+ }
119
+ }
annotations/test/concise/car/82sE5b5pLXE/final_episode_1.json ADDED
@@ -0,0 +1,119 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "scenarios": [
3
+ {
4
+ "id": "matterport_13",
5
+ "scene": {
6
+ "category": "MP3D",
7
+ "type": "matterport",
8
+ "use_matterport": true,
9
+ "manage_simulation": false,
10
+ "matterport": {
11
+ "usd_path": "matterport_usd/82sE5b5pLXE/82sE5b5pLXE.usd",
12
+ "obj_path": "",
13
+ "root_prim_path": "/World/terrain",
14
+ "add_ground_plane": true
15
+ },
16
+ "notes": "Replace usd_path/obj_path with the desired MP3D asset; importer handles collision & ground.",
17
+ "units_in_meters": 1
18
+ },
19
+ "navmesh": {
20
+ "bake_root_prim_path": "/World/terrain",
21
+ "include_volume_parent": "/World/NavMesh",
22
+ "z_padding": 2.0,
23
+ "agent_radius": 10.0,
24
+ "min_include_volume_size": {
25
+ "xy": 8.0,
26
+ "z": 3.0
27
+ },
28
+ "spawn_min_separation_m": 1.5,
29
+ "max_step_height": 30
30
+ },
31
+ "virtual_humans": {
32
+ "category": "MP3D",
33
+ "count": 1,
34
+ "name_sequence": [
35
+ "Character"
36
+ ],
37
+ "assets": {
38
+ "Character": "male_adult_construction_03/male_adult_construction_03.usd"
39
+ },
40
+ "asset_root": {
41
+ "fallback": "",
42
+ "path": "IsaacAssets/People/Characters"
43
+ },
44
+ "spawn_policy": {
45
+ "type": "navmesh_random",
46
+ "notes": "MP3D scenes use navmesh-based sampling; ensure navmesh baking succeeds."
47
+ },
48
+ "spawn_points": [
49
+ {
50
+ "name": "Character",
51
+ "position": [
52
+ -9.94,
53
+ 6.49,
54
+ -0.62
55
+ ],
56
+ "orientation_deg": 45.0
57
+ }
58
+ ],
59
+ "normalize_on_spawn": false,
60
+ "move_routes": [
61
+ {
62
+ "name": "Character",
63
+ "commands": [
64
+ "Character LookAround 5.0",
65
+ "Character Idle 1.0",
66
+ "Character GoTo -8.08 4.81 -0.62 _",
67
+ "Character Idle 1.0",
68
+ "Character GoTo -5.09 2.69 -0.62 _",
69
+ "Character Idle 1.0",
70
+ "Character GoTo 0.70 2.13 -0.62 _"
71
+ ]
72
+ }
73
+ ]
74
+ },
75
+ "robots": {
76
+ "category": "MP3D",
77
+ "entries": [
78
+ {
79
+ "type": "carter_v1",
80
+ "label": "keyboard_carter",
81
+ "spawn_path": "/carter_v1",
82
+ "usd_path": "robots/Carter/carter_v1.usd",
83
+ "initial_pose": {
84
+ "position": [
85
+ -10.91,
86
+ 7.7,
87
+ -0.34
88
+ ],
89
+ "orientation_deg": -45.0
90
+ },
91
+ "control": {
92
+ "mode": "keyboard_diff_drive",
93
+ "params": {
94
+ "base_velocity": 0.6,
95
+ "base_turn_rate": 1.2
96
+ }
97
+ }
98
+ }
99
+ ]
100
+ },
101
+ "task": {
102
+ "navigation": {
103
+ "instruction": "Follow the man ahead until he stops. Find the bed ahead and stop near it."
104
+ }
105
+ }
106
+ }
107
+ ],
108
+ "preprocessing": {
109
+ "wait_interpolated": true,
110
+ "min_wait_s": 2.0,
111
+ "yaw_skip_deg": 20.0,
112
+ "wait_time_interval": 0.5,
113
+ "original_waypoints": 230,
114
+ "wait_segments": 3,
115
+ "movement_segments": 226,
116
+ "interpolated_waypoints": 27,
117
+ "processed_waypoints": 254
118
+ }
119
+ }
annotations/test/concise/car/8WUmhLawc2A/final_episode_1.json ADDED
@@ -0,0 +1,117 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "scenarios": [
3
+ {
4
+ "id": "matterport_10",
5
+ "scene": {
6
+ "category": "MP3D",
7
+ "type": "matterport",
8
+ "use_matterport": true,
9
+ "manage_simulation": false,
10
+ "matterport": {
11
+ "usd_path": "matterport_usd/8WUmhLawc2A/8WUmhLawc2A.usd",
12
+ "obj_path": "",
13
+ "root_prim_path": "/World/terrain",
14
+ "add_ground_plane": true
15
+ },
16
+ "notes": "Replace usd_path/obj_path with the desired MP3D asset; importer handles collision & ground.",
17
+ "units_in_meters": 1
18
+ },
19
+ "navmesh": {
20
+ "bake_root_prim_path": "/World/terrain",
21
+ "include_volume_parent": "/World/NavMesh",
22
+ "z_padding": 2.0,
23
+ "agent_radius": 10.0,
24
+ "min_include_volume_size": {
25
+ "xy": 8.0,
26
+ "z": 3.0
27
+ },
28
+ "spawn_min_separation_m": 1.5,
29
+ "max_step_height": 30
30
+ },
31
+ "virtual_humans": {
32
+ "category": "MP3D",
33
+ "count": 1,
34
+ "name_sequence": [
35
+ "Character"
36
+ ],
37
+ "assets": {
38
+ "Character": "male_adult_construction_03/male_adult_construction_03.usd"
39
+ },
40
+ "asset_root": {
41
+ "fallback": "",
42
+ "path": "IsaacAssets/People/Characters"
43
+ },
44
+ "spawn_policy": {
45
+ "type": "navmesh_random",
46
+ "notes": "MP3D scenes use navmesh-based sampling; ensure navmesh baking succeeds."
47
+ },
48
+ "spawn_points": [
49
+ {
50
+ "name": "Character",
51
+ "position": [
52
+ -4.51,
53
+ 4.05,
54
+ 0.0
55
+ ],
56
+ "orientation_deg": 0.0
57
+ }
58
+ ],
59
+ "normalize_on_spawn": false,
60
+ "move_routes": [
61
+ {
62
+ "name": "Character",
63
+ "commands": [
64
+ "Character LookAround 5.0",
65
+ "Character Idle 1.0",
66
+ "Character GoTo -4.58 3.32 0.00 _",
67
+ "Character Idle 1.0",
68
+ "Character GoTo -5.75 2.35 0.00 _"
69
+ ]
70
+ }
71
+ ]
72
+ },
73
+ "robots": {
74
+ "category": "MP3D",
75
+ "entries": [
76
+ {
77
+ "type": "carter_v1",
78
+ "label": "keyboard_carter",
79
+ "spawn_path": "/carter_v1",
80
+ "usd_path": "robots/Carter/carter_v1.usd",
81
+ "initial_pose": {
82
+ "position": [
83
+ -4.49,
84
+ 6.27,
85
+ 0.24
86
+ ],
87
+ "orientation_deg": -90.0
88
+ },
89
+ "control": {
90
+ "mode": "keyboard_diff_drive",
91
+ "params": {
92
+ "base_velocity": 0.6,
93
+ "base_turn_rate": 1.2
94
+ }
95
+ }
96
+ }
97
+ ]
98
+ },
99
+ "task": {
100
+ "navigation": {
101
+ "instruction": "Follow the man ahead until he stops. Find the table ahead and stop near it."
102
+ }
103
+ }
104
+ }
105
+ ],
106
+ "preprocessing": {
107
+ "wait_interpolated": true,
108
+ "min_wait_s": 2.0,
109
+ "yaw_skip_deg": 20.0,
110
+ "wait_time_interval": 0.5,
111
+ "original_waypoints": 130,
112
+ "wait_segments": 2,
113
+ "movement_segments": 127,
114
+ "interpolated_waypoints": 23,
115
+ "processed_waypoints": 151
116
+ }
117
+ }
annotations/test/concise/car/8WUmhLawc2A/final_episode_3.json ADDED
@@ -0,0 +1,119 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "scenarios": [
3
+ {
4
+ "id": "matterport_10",
5
+ "scene": {
6
+ "category": "MP3D",
7
+ "type": "matterport",
8
+ "use_matterport": true,
9
+ "manage_simulation": false,
10
+ "matterport": {
11
+ "usd_path": "matterport_usd/8WUmhLawc2A/8WUmhLawc2A.usd",
12
+ "obj_path": "",
13
+ "root_prim_path": "/World/terrain",
14
+ "add_ground_plane": true
15
+ },
16
+ "notes": "Replace usd_path/obj_path with the desired MP3D asset; importer handles collision & ground.",
17
+ "units_in_meters": 1
18
+ },
19
+ "navmesh": {
20
+ "bake_root_prim_path": "/World/terrain",
21
+ "include_volume_parent": "/World/NavMesh",
22
+ "z_padding": 2.0,
23
+ "agent_radius": 10.0,
24
+ "min_include_volume_size": {
25
+ "xy": 8.0,
26
+ "z": 3.0
27
+ },
28
+ "spawn_min_separation_m": 1.5,
29
+ "max_step_height": 30
30
+ },
31
+ "virtual_humans": {
32
+ "category": "MP3D",
33
+ "count": 1,
34
+ "name_sequence": [
35
+ "Character"
36
+ ],
37
+ "assets": {
38
+ "Character": "male_adult_construction_03/male_adult_construction_03.usd"
39
+ },
40
+ "asset_root": {
41
+ "fallback": "",
42
+ "path": "IsaacAssets/People/Characters"
43
+ },
44
+ "spawn_policy": {
45
+ "type": "navmesh_random",
46
+ "notes": "MP3D scenes use navmesh-based sampling; ensure navmesh baking succeeds."
47
+ },
48
+ "spawn_points": [
49
+ {
50
+ "name": "Character",
51
+ "position": [
52
+ -4.43,
53
+ -0.36,
54
+ 0.0
55
+ ],
56
+ "orientation_deg": 180.0
57
+ }
58
+ ],
59
+ "normalize_on_spawn": false,
60
+ "move_routes": [
61
+ {
62
+ "name": "Character",
63
+ "commands": [
64
+ "Character LookAround 5.0",
65
+ "Character Idle 1.0",
66
+ "Character GoTo -4.43 2.84 0.0 _",
67
+ "Character Idle 1.0",
68
+ "Character GoTo -6.56 3.69 0.0 _",
69
+ "Character Idle 1.0",
70
+ "Character GoTo -6.6 5.75 0.0 _"
71
+ ]
72
+ }
73
+ ]
74
+ },
75
+ "robots": {
76
+ "category": "MP3D",
77
+ "entries": [
78
+ {
79
+ "type": "carter_v1",
80
+ "label": "keyboard_carter",
81
+ "spawn_path": "/carter_v1",
82
+ "usd_path": "robots/Carter/carter_v1.usd",
83
+ "initial_pose": {
84
+ "position": [
85
+ -4.54,
86
+ -1.3,
87
+ 0.24
88
+ ],
89
+ "orientation_deg": 90.0
90
+ },
91
+ "control": {
92
+ "mode": "keyboard_diff_drive",
93
+ "params": {
94
+ "base_velocity": 0.6,
95
+ "base_turn_rate": 1.2
96
+ }
97
+ }
98
+ }
99
+ ]
100
+ },
101
+ "task": {
102
+ "navigation": {
103
+ "instruction": "Wait for the person in front to start walking. Follow him until he stops next to the table. Turn left and walk forward. for about three meters. Turn right and walk forward until you stop next to the refrigerator."
104
+ }
105
+ }
106
+ }
107
+ ],
108
+ "preprocessing": {
109
+ "wait_interpolated": true,
110
+ "min_wait_s": 2.0,
111
+ "yaw_skip_deg": 20.0,
112
+ "wait_time_interval": 0.5,
113
+ "original_waypoints": 235,
114
+ "wait_segments": 1,
115
+ "movement_segments": 233,
116
+ "interpolated_waypoints": 13,
117
+ "processed_waypoints": 247
118
+ }
119
+ }
annotations/test/concise/car/B6ByNegPMKs/final_episode_1.json ADDED
@@ -0,0 +1,123 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "scenarios": [
3
+ {
4
+ "id": "matterport_20",
5
+ "scene": {
6
+ "category": "MP3D",
7
+ "type": "matterport",
8
+ "use_matterport": true,
9
+ "manage_simulation": false,
10
+ "matterport": {
11
+ "usd_path": "matterport_usd/B6ByNegPMKs/B6ByNegPMKs.usd",
12
+ "obj_path": "",
13
+ "root_prim_path": "/World/terrain",
14
+ "add_ground_plane": true
15
+ },
16
+ "notes": "Replace usd_path/obj_path with the desired MP3D asset; importer handles collision & ground.",
17
+ "units_in_meters": 1
18
+ },
19
+ "navmesh": {
20
+ "bake_root_prim_path": "/World/terrain",
21
+ "include_volume_parent": "/World/NavMesh",
22
+ "z_padding": 2.0,
23
+ "agent_radius": 10.0,
24
+ "min_include_volume_size": {
25
+ "xy": 8.0,
26
+ "z": 3.0
27
+ },
28
+ "spawn_min_separation_m": 1.5,
29
+ "max_step_height": 30
30
+ },
31
+ "virtual_humans": {
32
+ "category": "MP3D",
33
+ "count": 1,
34
+ "name_sequence": [
35
+ "Character"
36
+ ],
37
+ "assets": {
38
+ "Character": "male_adult_construction_03/male_adult_construction_03.usd"
39
+ },
40
+ "asset_root": {
41
+ "fallback": "",
42
+ "path": "IsaacAssets/People/Characters"
43
+ },
44
+ "spawn_policy": {
45
+ "type": "navmesh_random",
46
+ "notes": "MP3D scenes use navmesh-based sampling; ensure navmesh baking succeeds."
47
+ },
48
+ "spawn_points": [
49
+ {
50
+ "name": "Character",
51
+ "position": [
52
+ -0.38,
53
+ 2.3,
54
+ -0.03
55
+ ],
56
+ "orientation_deg": -90.0
57
+ }
58
+ ],
59
+ "normalize_on_spawn": false,
60
+ "move_routes": [
61
+ {
62
+ "name": "Character",
63
+ "commands": [
64
+ "Character LookAround 5.0",
65
+ "Character Idle 1.0",
66
+ "Character GoTo -5.07 1.98 -0.03 _",
67
+ "Character Idle 1.0",
68
+ "Character GoTo -5.40 -0.88 -0.03 _",
69
+ "Character Idle 1.0",
70
+ "Character GoTo 1.75 -0.33 -0.03 _",
71
+ "Character Idle 1.0",
72
+ "Character GoTo 2.56 1.56 -0.03 _",
73
+ "Character Idle 1.0",
74
+ "Character GoTo 7.80 0.67 -0.03 _"
75
+ ]
76
+ }
77
+ ]
78
+ },
79
+ "robots": {
80
+ "category": "MP3D",
81
+ "entries": [
82
+ {
83
+ "type": "carter_v1",
84
+ "label": "keyboard_carter",
85
+ "spawn_path": "/carter_v1",
86
+ "usd_path": "robots/Carter/carter_v1.usd",
87
+ "initial_pose": {
88
+ "position": [
89
+ 2.55,
90
+ 1.57,
91
+ 0.22
92
+ ],
93
+ "orientation_deg": 180.0
94
+ },
95
+ "control": {
96
+ "mode": "keyboard_diff_drive",
97
+ "params": {
98
+ "base_velocity": 0.6,
99
+ "base_turn_rate": 1.2
100
+ }
101
+ }
102
+ }
103
+ ]
104
+ },
105
+ "task": {
106
+ "navigation": {
107
+ "instruction": "Follow the man ahead until he stops. Find a black sofa ahead and stop near it."
108
+ }
109
+ }
110
+ }
111
+ ],
112
+ "preprocessing": {
113
+ "wait_interpolated": true,
114
+ "min_wait_s": 2.0,
115
+ "yaw_skip_deg": 20.0,
116
+ "wait_time_interval": 0.5,
117
+ "original_waypoints": 520,
118
+ "wait_segments": 1,
119
+ "movement_segments": 518,
120
+ "interpolated_waypoints": 9,
121
+ "processed_waypoints": 528
122
+ }
123
+ }
annotations/test/concise/car/E9uDoFAP3SH/final_episode_1.json ADDED
@@ -0,0 +1,121 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "scenarios": [
3
+ {
4
+ "id": "matterport_26",
5
+ "scene": {
6
+ "category": "MP3D",
7
+ "type": "matterport",
8
+ "use_matterport": true,
9
+ "manage_simulation": false,
10
+ "matterport": {
11
+ "usd_path": "matterport_usd/E9uDoFAP3SH/E9uDoFAP3SH.usd",
12
+ "obj_path": "",
13
+ "root_prim_path": "/World/terrain",
14
+ "add_ground_plane": true
15
+ },
16
+ "notes": "Replace usd_path/obj_path with the desired MP3D asset; importer handles collision & ground.",
17
+ "units_in_meters": 1
18
+ },
19
+ "navmesh": {
20
+ "bake_root_prim_path": "/World/terrain",
21
+ "include_volume_parent": "/World/NavMesh",
22
+ "z_padding": 2.0,
23
+ "agent_radius": 10.0,
24
+ "min_include_volume_size": {
25
+ "xy": 8.0,
26
+ "z": 3.0
27
+ },
28
+ "spawn_min_separation_m": 1.5,
29
+ "max_step_height": 30
30
+ },
31
+ "virtual_humans": {
32
+ "category": "MP3D",
33
+ "count": 1,
34
+ "name_sequence": [
35
+ "Character"
36
+ ],
37
+ "assets": {
38
+ "Character": "male_adult_construction_03/male_adult_construction_03.usd"
39
+ },
40
+ "asset_root": {
41
+ "fallback": "",
42
+ "path": "IsaacAssets/People/Characters"
43
+ },
44
+ "spawn_policy": {
45
+ "type": "navmesh_random",
46
+ "notes": "MP3D scenes use navmesh-based sampling; ensure navmesh baking succeeds."
47
+ },
48
+ "spawn_points": [
49
+ {
50
+ "name": "Character",
51
+ "position": [
52
+ -2.96,
53
+ -0.24,
54
+ 0.18
55
+ ],
56
+ "orientation_deg": 0.0
57
+ }
58
+ ],
59
+ "normalize_on_spawn": false,
60
+ "move_routes": [
61
+ {
62
+ "name": "Character",
63
+ "commands": [
64
+ "Character LookAround 5.0",
65
+ "Character Idle 1.0",
66
+ "Character GoTo -3.22 -4.11 0.18 _",
67
+ "Character Idle 1.0",
68
+ "Character GoTo -12.01 -4.39 0.18 _",
69
+ "Character Idle 1.0",
70
+ "Character GoTo -13.12 -4.31 0.18 _",
71
+ "Character Idle 1.0",
72
+ "Character GoTo -12.96 -9.62 0.18 _"
73
+ ]
74
+ }
75
+ ]
76
+ },
77
+ "robots": {
78
+ "category": "MP3D",
79
+ "entries": [
80
+ {
81
+ "type": "carter_v1",
82
+ "label": "keyboard_carter",
83
+ "spawn_path": "/carter_v1",
84
+ "usd_path": "robots/Carter/carter_v1.usd",
85
+ "initial_pose": {
86
+ "position": [
87
+ -2.73,
88
+ 3.29,
89
+ 0.42
90
+ ],
91
+ "orientation_deg": -90.0
92
+ },
93
+ "control": {
94
+ "mode": "keyboard_diff_drive",
95
+ "params": {
96
+ "base_velocity": 0.6,
97
+ "base_turn_rate": 1.2
98
+ }
99
+ }
100
+ }
101
+ ]
102
+ },
103
+ "task": {
104
+ "navigation": {
105
+ "instruction": "Follow the man ahead until he stops. Find a bed ahead and stop near it."
106
+ }
107
+ }
108
+ }
109
+ ],
110
+ "preprocessing": {
111
+ "wait_interpolated": true,
112
+ "min_wait_s": 2.0,
113
+ "yaw_skip_deg": 20.0,
114
+ "wait_time_interval": 0.5,
115
+ "original_waypoints": 365,
116
+ "wait_segments": 2,
117
+ "movement_segments": 362,
118
+ "interpolated_waypoints": 28,
119
+ "processed_waypoints": 391
120
+ }
121
+ }
annotations/test/concise/car/E9uDoFAP3SH/final_episode_3.json ADDED
@@ -0,0 +1,121 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "scenarios": [
3
+ {
4
+ "id": "matterport_26",
5
+ "scene": {
6
+ "category": "MP3D",
7
+ "type": "matterport",
8
+ "use_matterport": true,
9
+ "manage_simulation": false,
10
+ "matterport": {
11
+ "usd_path": "matterport_usd/E9uDoFAP3SH/E9uDoFAP3SH.usd",
12
+ "obj_path": "",
13
+ "root_prim_path": "/World/terrain",
14
+ "add_ground_plane": true
15
+ },
16
+ "notes": "Replace usd_path/obj_path with the desired MP3D asset; importer handles collision & ground.",
17
+ "units_in_meters": 1
18
+ },
19
+ "navmesh": {
20
+ "bake_root_prim_path": "/World/terrain",
21
+ "include_volume_parent": "/World/NavMesh",
22
+ "z_padding": 2.0,
23
+ "agent_radius": 10.0,
24
+ "min_include_volume_size": {
25
+ "xy": 8.0,
26
+ "z": 3.0
27
+ },
28
+ "spawn_min_separation_m": 1.5,
29
+ "max_step_height": 30
30
+ },
31
+ "virtual_humans": {
32
+ "category": "MP3D",
33
+ "count": 1,
34
+ "name_sequence": [
35
+ "Character"
36
+ ],
37
+ "assets": {
38
+ "Character": "male_adult_construction_03/male_adult_construction_03.usd"
39
+ },
40
+ "asset_root": {
41
+ "fallback": "",
42
+ "path": "IsaacAssets/People/Characters"
43
+ },
44
+ "spawn_policy": {
45
+ "type": "navmesh_random",
46
+ "notes": "MP3D scenes use navmesh-based sampling; ensure navmesh baking succeeds."
47
+ },
48
+ "spawn_points": [
49
+ {
50
+ "name": "Character",
51
+ "position": [
52
+ 8.86,
53
+ -10.5,
54
+ -6.02
55
+ ],
56
+ "orientation_deg": 180.0
57
+ }
58
+ ],
59
+ "normalize_on_spawn": false,
60
+ "move_routes": [
61
+ {
62
+ "name": "Character",
63
+ "commands": [
64
+ "Character LookAround 5.0",
65
+ "Character Idle 1.0",
66
+ "Character GoTo 8.56 -8.13 -6.02 _",
67
+ "Character Idle 1.0",
68
+ "Character GoTo 7.28 -6.79 -6.02 _",
69
+ "Character Idle 1.0",
70
+ "Character GoTo 1.67 -6.79 -6.02 _",
71
+ "Character Idle 1.0",
72
+ "Character GoTo 1.23 -3.75 -6.02 _"
73
+ ]
74
+ }
75
+ ]
76
+ },
77
+ "robots": {
78
+ "category": "MP3D",
79
+ "entries": [
80
+ {
81
+ "type": "carter_v1",
82
+ "label": "keyboard_carter",
83
+ "spawn_path": "/carter_v1",
84
+ "usd_path": "robots/Carter/carter_v1.usd",
85
+ "initial_pose": {
86
+ "position": [
87
+ 8.87,
88
+ -11.86,
89
+ -5.79
90
+ ],
91
+ "orientation_deg": 90.0
92
+ },
93
+ "control": {
94
+ "mode": "keyboard_diff_drive",
95
+ "params": {
96
+ "base_velocity": 0.6,
97
+ "base_turn_rate": 1.2
98
+ }
99
+ }
100
+ }
101
+ ]
102
+ },
103
+ "task": {
104
+ "navigation": {
105
+ "instruction": "Wait for the person ahead to start walking. Follow him to the staircase. Return to the starting point."
106
+ }
107
+ }
108
+ }
109
+ ],
110
+ "preprocessing": {
111
+ "wait_interpolated": true,
112
+ "min_wait_s": 2.0,
113
+ "yaw_skip_deg": 20.0,
114
+ "wait_time_interval": 0.5,
115
+ "original_waypoints": 485,
116
+ "wait_segments": 1,
117
+ "movement_segments": 483,
118
+ "interpolated_waypoints": 5,
119
+ "processed_waypoints": 489
120
+ }
121
+ }
annotations/test/concise/car/EDJbREhghzL/final_episode_1.json ADDED
@@ -0,0 +1,117 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "scenarios": [
3
+ {
4
+ "id": "matterport_27",
5
+ "scene": {
6
+ "category": "MP3D",
7
+ "type": "matterport",
8
+ "use_matterport": true,
9
+ "manage_simulation": false,
10
+ "matterport": {
11
+ "usd_path": "matterport_usd/EDJbREhghzL/EDJbREhghzL.usd",
12
+ "obj_path": "",
13
+ "root_prim_path": "/World/terrain",
14
+ "add_ground_plane": true
15
+ },
16
+ "notes": "Replace usd_path/obj_path with the desired MP3D asset; importer handles collision & ground.",
17
+ "units_in_meters": 1
18
+ },
19
+ "navmesh": {
20
+ "bake_root_prim_path": "/World/terrain",
21
+ "include_volume_parent": "/World/NavMesh",
22
+ "z_padding": 2.0,
23
+ "agent_radius": 10.0,
24
+ "min_include_volume_size": {
25
+ "xy": 8.0,
26
+ "z": 3.0
27
+ },
28
+ "spawn_min_separation_m": 1.5,
29
+ "max_step_height": 30
30
+ },
31
+ "virtual_humans": {
32
+ "category": "MP3D",
33
+ "count": 1,
34
+ "name_sequence": [
35
+ "Character"
36
+ ],
37
+ "assets": {
38
+ "Character": "male_adult_construction_03/male_adult_construction_03.usd"
39
+ },
40
+ "asset_root": {
41
+ "fallback": "",
42
+ "path": "IsaacAssets/People/Characters"
43
+ },
44
+ "spawn_policy": {
45
+ "type": "navmesh_random",
46
+ "notes": "MP3D scenes use navmesh-based sampling; ensure navmesh baking succeeds."
47
+ },
48
+ "spawn_points": [
49
+ {
50
+ "name": "Character",
51
+ "position": [
52
+ -1.59,
53
+ -1.69,
54
+ -0.02
55
+ ],
56
+ "orientation_deg": 0.0
57
+ }
58
+ ],
59
+ "normalize_on_spawn": false,
60
+ "move_routes": [
61
+ {
62
+ "name": "Character",
63
+ "commands": [
64
+ "Character LookAround 5.0",
65
+ "Character Idle 1.0",
66
+ "Character GoTo -1.51 -2.76 -0.02 _",
67
+ "Character Idle 1.0",
68
+ "Character GoTo 7.34 -1.96 -0.02 _"
69
+ ]
70
+ }
71
+ ]
72
+ },
73
+ "robots": {
74
+ "category": "MP3D",
75
+ "entries": [
76
+ {
77
+ "type": "carter_v1",
78
+ "label": "keyboard_carter",
79
+ "spawn_path": "/carter_v1",
80
+ "usd_path": "robots/Carter/carter_v1.usd",
81
+ "initial_pose": {
82
+ "position": [
83
+ -1.59,
84
+ -0.78,
85
+ 0.22
86
+ ],
87
+ "orientation_deg": -90.0
88
+ },
89
+ "control": {
90
+ "mode": "keyboard_diff_drive",
91
+ "params": {
92
+ "base_velocity": 0.6,
93
+ "base_turn_rate": 1.2
94
+ }
95
+ }
96
+ }
97
+ ]
98
+ },
99
+ "task": {
100
+ "navigation": {
101
+ "instruction": "Follow the man ahead until he stops. Find a light ahead and stop near it."
102
+ }
103
+ }
104
+ }
105
+ ],
106
+ "preprocessing": {
107
+ "wait_interpolated": true,
108
+ "min_wait_s": 2.0,
109
+ "yaw_skip_deg": 20.0,
110
+ "wait_time_interval": 0.5,
111
+ "original_waypoints": 190,
112
+ "wait_segments": 2,
113
+ "movement_segments": 187,
114
+ "interpolated_waypoints": 17,
115
+ "processed_waypoints": 205
116
+ }
117
+ }
annotations/test/concise/car/EU6Fwq7SyZv/final_episode_1.json ADDED
@@ -0,0 +1,117 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "scenarios": [
3
+ {
4
+ "id": "matterport_28",
5
+ "scene": {
6
+ "category": "MP3D",
7
+ "type": "matterport",
8
+ "use_matterport": true,
9
+ "manage_simulation": false,
10
+ "matterport": {
11
+ "usd_path": "matterport_usd/EU6Fwq7SyZv/EU6Fwq7SyZv.usd",
12
+ "obj_path": "",
13
+ "root_prim_path": "/World/terrain",
14
+ "add_ground_plane": true
15
+ },
16
+ "notes": "Replace usd_path/obj_path with the desired MP3D asset; importer handles collision & ground.",
17
+ "units_in_meters": 1
18
+ },
19
+ "navmesh": {
20
+ "bake_root_prim_path": "/World/terrain",
21
+ "include_volume_parent": "/World/NavMesh",
22
+ "z_padding": 2.0,
23
+ "agent_radius": 10.0,
24
+ "min_include_volume_size": {
25
+ "xy": 8.0,
26
+ "z": 3.0
27
+ },
28
+ "spawn_min_separation_m": 1.5,
29
+ "max_step_height": 30
30
+ },
31
+ "virtual_humans": {
32
+ "category": "MP3D",
33
+ "count": 1,
34
+ "name_sequence": [
35
+ "Character"
36
+ ],
37
+ "assets": {
38
+ "Character": "male_adult_construction_03/male_adult_construction_03.usd"
39
+ },
40
+ "asset_root": {
41
+ "fallback": "",
42
+ "path": "IsaacAssets/People/Characters"
43
+ },
44
+ "spawn_policy": {
45
+ "type": "navmesh_random",
46
+ "notes": "MP3D scenes use navmesh-based sampling; ensure navmesh baking succeeds."
47
+ },
48
+ "spawn_points": [
49
+ {
50
+ "name": "Character",
51
+ "position": [
52
+ 7.94,
53
+ -8.53,
54
+ 0.0
55
+ ],
56
+ "orientation_deg": -90.0
57
+ }
58
+ ],
59
+ "normalize_on_spawn": false,
60
+ "move_routes": [
61
+ {
62
+ "name": "Character",
63
+ "commands": [
64
+ "Character LookAround 5.0",
65
+ "Character Idle 1.0",
66
+ "Character GoTo 1.74 -8.13 0.00 _",
67
+ "Character Idle 1.0",
68
+ "Character GoTo 1.80 -5.93 0.00 _"
69
+ ]
70
+ }
71
+ ]
72
+ },
73
+ "robots": {
74
+ "category": "MP3D",
75
+ "entries": [
76
+ {
77
+ "type": "carter_v1",
78
+ "label": "keyboard_carter",
79
+ "spawn_path": "/carter_v1",
80
+ "usd_path": "robots/Carter/carter_v1.usd",
81
+ "initial_pose": {
82
+ "position": [
83
+ 9.35,
84
+ -8.5,
85
+ 0.24
86
+ ],
87
+ "orientation_deg": 180.0
88
+ },
89
+ "control": {
90
+ "mode": "keyboard_diff_drive",
91
+ "params": {
92
+ "base_velocity": 0.6,
93
+ "base_turn_rate": 1.2
94
+ }
95
+ }
96
+ }
97
+ ]
98
+ },
99
+ "task": {
100
+ "navigation": {
101
+ "instruction": "Follow the man ahead until he stops. Find a table ahead and stop near it."
102
+ }
103
+ }
104
+ }
105
+ ],
106
+ "preprocessing": {
107
+ "wait_interpolated": true,
108
+ "min_wait_s": 2.0,
109
+ "yaw_skip_deg": 20.0,
110
+ "wait_time_interval": 0.5,
111
+ "original_waypoints": 185,
112
+ "wait_segments": 1,
113
+ "movement_segments": 183,
114
+ "interpolated_waypoints": 13,
115
+ "processed_waypoints": 197
116
+ }
117
+ }
annotations/test/concise/car/EU6Fwq7SyZv/final_episode_3.json ADDED
@@ -0,0 +1,119 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "scenarios": [
3
+ {
4
+ "id": "matterport_28",
5
+ "scene": {
6
+ "category": "MP3D",
7
+ "type": "matterport",
8
+ "use_matterport": true,
9
+ "manage_simulation": false,
10
+ "matterport": {
11
+ "usd_path": "matterport_usd/EU6Fwq7SyZv/EU6Fwq7SyZv.usd",
12
+ "obj_path": "",
13
+ "root_prim_path": "/World/terrain",
14
+ "add_ground_plane": true
15
+ },
16
+ "notes": "Replace usd_path/obj_path with the desired MP3D asset; importer handles collision & ground.",
17
+ "units_in_meters": 1
18
+ },
19
+ "navmesh": {
20
+ "bake_root_prim_path": "/World/terrain",
21
+ "include_volume_parent": "/World/NavMesh",
22
+ "z_padding": 2.0,
23
+ "agent_radius": 10.0,
24
+ "min_include_volume_size": {
25
+ "xy": 8.0,
26
+ "z": 3.0
27
+ },
28
+ "spawn_min_separation_m": 1.5,
29
+ "max_step_height": 30
30
+ },
31
+ "virtual_humans": {
32
+ "category": "MP3D",
33
+ "count": 1,
34
+ "name_sequence": [
35
+ "Character"
36
+ ],
37
+ "assets": {
38
+ "Character": "male_adult_construction_03/male_adult_construction_03.usd"
39
+ },
40
+ "asset_root": {
41
+ "fallback": "",
42
+ "path": "IsaacAssets/People/Characters"
43
+ },
44
+ "spawn_policy": {
45
+ "type": "navmesh_random",
46
+ "notes": "MP3D scenes use navmesh-based sampling; ensure navmesh baking succeeds."
47
+ },
48
+ "spawn_points": [
49
+ {
50
+ "name": "Character",
51
+ "position": [
52
+ 9.08,
53
+ -8.32,
54
+ -0.02
55
+ ],
56
+ "orientation_deg": -90.0
57
+ }
58
+ ],
59
+ "normalize_on_spawn": false,
60
+ "move_routes": [
61
+ {
62
+ "name": "Character",
63
+ "commands": [
64
+ "Character LookAround 5.0",
65
+ "Character Idle 1.0",
66
+ "Character GoTo 4.97 -8.32 -0.02 _",
67
+ "Character Idle 1.0",
68
+ "Character GoTo 2.91 -6.99 -0.02 _",
69
+ "Character Idle 1.0",
70
+ "Character GoTo 0.44 -5.83 -0.02 _"
71
+ ]
72
+ }
73
+ ]
74
+ },
75
+ "robots": {
76
+ "category": "MP3D",
77
+ "entries": [
78
+ {
79
+ "type": "carter_v1",
80
+ "label": "keyboard_carter",
81
+ "spawn_path": "/carter_v1",
82
+ "usd_path": "robots/Carter/carter_v1.usd",
83
+ "initial_pose": {
84
+ "position": [
85
+ 10.08,
86
+ -8.39,
87
+ 0.24
88
+ ],
89
+ "orientation_deg": 180.0
90
+ },
91
+ "control": {
92
+ "mode": "keyboard_diff_drive",
93
+ "params": {
94
+ "base_velocity": 0.6,
95
+ "base_turn_rate": 1.2
96
+ }
97
+ }
98
+ }
99
+ ]
100
+ },
101
+ "task": {
102
+ "navigation": {
103
+ "instruction": "Wait for the person ahead to start walking. Follow him to the table. Return to the starting point."
104
+ }
105
+ }
106
+ }
107
+ ],
108
+ "preprocessing": {
109
+ "wait_interpolated": true,
110
+ "min_wait_s": 2.0,
111
+ "yaw_skip_deg": 20.0,
112
+ "wait_time_interval": 0.5,
113
+ "original_waypoints": 345,
114
+ "wait_segments": 3,
115
+ "movement_segments": 341,
116
+ "interpolated_waypoints": 23,
117
+ "processed_waypoints": 365
118
+ }
119
+ }
annotations/test/concise/car/MV4AFHQKTKJZ2AABAAAAAEA8_usd/final_episode_1.json ADDED
@@ -0,0 +1,99 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "scenarios": [
3
+ {
4
+ "id": "grscene_commercial03",
5
+ "scene": {
6
+ "category": "GRScenes",
7
+ "type": "usd_stage",
8
+ "usd_path": "GRScenes/commercial_scenes/scenes_collected_linkified/MV4AFHQKTKJZ2AABAAAAAEA8_usd/start_result_navigation.usd",
9
+ "root_prim_path": "/World",
10
+ "navmesh_root_prim_path": "/World",
11
+ "notes": "GRScenes sample; replace usd_path with the specific scene asset.",
12
+ "units_in_meters": 0.01
13
+ },
14
+ "navmesh": {
15
+ "bake_root_prim_path": "Meshes/Base/ground",
16
+ "include_volume_parent": "/World/NavMesh",
17
+ "z_padding": 2.0,
18
+ "agent_radius": 10.0,
19
+ "min_include_volume_size": {
20
+ "xy": 10.0,
21
+ "z": 3.0
22
+ },
23
+ "spawn_min_separation_m": 2.0,
24
+ "max_step_height": 30
25
+ },
26
+ "virtual_humans": {
27
+ "category": "GRScenes",
28
+ "count": 0,
29
+ "name_sequence": [
30
+ "Character"
31
+ ],
32
+ "assets": {
33
+ "Character": "original_male_adult_medical_01/male_adult_medical_01.usd"
34
+ },
35
+ "asset_root": {
36
+ "fallback": "",
37
+ "path": "IsaacAssets/People/Characters"
38
+ },
39
+ "spawn_policy": {
40
+ "type": "navmesh_random",
41
+ "notes": "Delegates to CharacterRandomizer.get_random_position using full navmesh coverage."
42
+ },
43
+ "spawn_points": [
44
+ {
45
+ "name": "Character",
46
+ "position": [
47
+ -220.0,
48
+ -820.0,
49
+ 0.0
50
+ ],
51
+ "orientation_deg": -90.0
52
+ }
53
+ ],
54
+ "normalize_on_spawn": true,
55
+ "move_routes": [
56
+ {
57
+ "name": "Character",
58
+ "commands": [
59
+ "Character LookAround 5.0",
60
+ "Character Idle 1.0"
61
+ ]
62
+ }
63
+ ]
64
+ },
65
+ "robots": {
66
+ "category": "GRScenes",
67
+ "entries": [
68
+ {
69
+ "type": "carter_v1",
70
+ "label": "keyboard_carter",
71
+ "spawn_path": "/carter_v1",
72
+ "usd_path": "robots/Carter/carter_v1.usd",
73
+ "scale": 1,
74
+ "initial_pose": {
75
+ "position": [
76
+ -1090,
77
+ -490.0,
78
+ 24.0
79
+ ],
80
+ "orientation_deg": 180.0
81
+ },
82
+ "control": {
83
+ "mode": "keyboard_diff_drive",
84
+ "params": {
85
+ "base_velocity": 0.6,
86
+ "base_turn_rate": 1.2
87
+ }
88
+ }
89
+ }
90
+ ]
91
+ },
92
+ "task": {
93
+ "navigation": {
94
+ "instruction": "Advance 4.1 meters, turn right, continue straight until you see a pot of green plants, approach it and stop, then answer with a number: How many brown chairs did you just pass by?"
95
+ }
96
+ }
97
+ }
98
+ ]
99
+ }
annotations/test/concise/car/MV4AFHQKTKJZ2AABAAAAAEA8_usd/final_episode_2.json ADDED
@@ -0,0 +1,99 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "scenarios": [
3
+ {
4
+ "id": "grscene_commercial02",
5
+ "scene": {
6
+ "category": "GRScenes",
7
+ "type": "usd_stage",
8
+ "usd_path": "GRScenes/commercial_scenes/scenes_collected_linkified/MV4AFHQKTKJZ2AABAAAAAEA8_usd/start_result_navigation.usd",
9
+ "root_prim_path": "/World",
10
+ "navmesh_root_prim_path": "/World",
11
+ "notes": "GRScenes sample; replace usd_path with the specific scene asset.",
12
+ "units_in_meters": 0.01
13
+ },
14
+ "navmesh": {
15
+ "bake_root_prim_path": "Meshes/Base/ground",
16
+ "include_volume_parent": "/World/NavMesh",
17
+ "z_padding": 2.0,
18
+ "agent_radius": 10.0,
19
+ "min_include_volume_size": {
20
+ "xy": 10.0,
21
+ "z": 3.0
22
+ },
23
+ "spawn_min_separation_m": 2.0,
24
+ "max_step_height": 30
25
+ },
26
+ "virtual_humans": {
27
+ "category": "GRScenes",
28
+ "count": 0,
29
+ "name_sequence": [
30
+ "Character"
31
+ ],
32
+ "assets": {
33
+ "Character": "original_male_adult_medical_01/male_adult_medical_01.usd"
34
+ },
35
+ "asset_root": {
36
+ "fallback": "",
37
+ "path": "IsaacAssets/People/Characters"
38
+ },
39
+ "spawn_policy": {
40
+ "type": "navmesh_random",
41
+ "notes": "Delegates to CharacterRandomizer.get_random_position using full navmesh coverage."
42
+ },
43
+ "spawn_points": [
44
+ {
45
+ "name": "Character",
46
+ "position": [
47
+ -220.0,
48
+ -820.0,
49
+ 0.0
50
+ ],
51
+ "orientation_deg": -90.0
52
+ }
53
+ ],
54
+ "normalize_on_spawn": true,
55
+ "move_routes": [
56
+ {
57
+ "name": "Character",
58
+ "commands": [
59
+ "Character LookAround 1.0",
60
+ "Character Idle 1.0"
61
+ ]
62
+ }
63
+ ]
64
+ },
65
+ "robots": {
66
+ "category": "GRScenes",
67
+ "entries": [
68
+ {
69
+ "type": "carter_v1",
70
+ "label": "keyboard_carter",
71
+ "spawn_path": "/carter_v1",
72
+ "usd_path": "robots/Carter/carter_v1.usd",
73
+ "scale": 1,
74
+ "initial_pose": {
75
+ "position": [
76
+ -1540.0,
77
+ 230.0,
78
+ 24.0
79
+ ],
80
+ "orientation_deg": -90.0
81
+ },
82
+ "control": {
83
+ "mode": "keyboard_diff_drive",
84
+ "params": {
85
+ "base_velocity": 0.6,
86
+ "base_turn_rate": 1.2
87
+ }
88
+ }
89
+ }
90
+ ]
91
+ },
92
+ "task": {
93
+ "navigation": {
94
+ "instruction": "Go straight 6.9 meters, turn left, walk straight to the wooden table on the right side directly ahead, stop, then answer yes or no: In your memory, is Shopping cart next to plant?"
95
+ }
96
+ }
97
+ }
98
+ ]
99
+ }
annotations/test/concise/car/MV4AFHQKTKJZ2AABAAAAAEA8_usd/final_episode_3.json ADDED
@@ -0,0 +1,99 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "scenarios": [
3
+ {
4
+ "id": "grscene_commercial03",
5
+ "scene": {
6
+ "category": "GRScenes",
7
+ "type": "usd_stage",
8
+ "usd_path": "GRScenes/commercial_scenes/scenes_collected_linkified/MV4AFHQKTKJZ2AABAAAAAEA8_usd/start_result_navigation.usd",
9
+ "root_prim_path": "/World",
10
+ "navmesh_root_prim_path": "/World",
11
+ "notes": "GRScenes sample; replace usd_path with the specific scene asset.",
12
+ "units_in_meters": 0.01
13
+ },
14
+ "navmesh": {
15
+ "bake_root_prim_path": "Meshes/Base/ground",
16
+ "include_volume_parent": "/World/NavMesh",
17
+ "z_padding": 2.0,
18
+ "agent_radius": 10.0,
19
+ "min_include_volume_size": {
20
+ "xy": 10.0,
21
+ "z": 3.0
22
+ },
23
+ "spawn_min_separation_m": 2.0,
24
+ "max_step_height": 30
25
+ },
26
+ "virtual_humans": {
27
+ "category": "GRScenes",
28
+ "count": 0,
29
+ "name_sequence": [
30
+ "Character"
31
+ ],
32
+ "assets": {
33
+ "Character": "original_male_adult_medical_01/male_adult_medical_01.usd"
34
+ },
35
+ "asset_root": {
36
+ "fallback": "",
37
+ "path": "IsaacAssets/People/Characters"
38
+ },
39
+ "spawn_policy": {
40
+ "type": "navmesh_random",
41
+ "notes": "Delegates to CharacterRandomizer.get_random_position using full navmesh coverage."
42
+ },
43
+ "spawn_points": [
44
+ {
45
+ "name": "Character",
46
+ "position": [
47
+ -220.0,
48
+ -820.0,
49
+ 0.0
50
+ ],
51
+ "orientation_deg": -90.0
52
+ }
53
+ ],
54
+ "normalize_on_spawn": true,
55
+ "move_routes": [
56
+ {
57
+ "name": "Character",
58
+ "commands": [
59
+ "Character LookAround 1.0",
60
+ "Character Idle 1.0"
61
+ ]
62
+ }
63
+ ]
64
+ },
65
+ "robots": {
66
+ "category": "GRScenes",
67
+ "entries": [
68
+ {
69
+ "type": "carter_v1",
70
+ "label": "keyboard_carter",
71
+ "spawn_path": "/carter_v1",
72
+ "usd_path": "robots/Carter/carter_v1.usd",
73
+ "scale": 1,
74
+ "initial_pose": {
75
+ "position": [
76
+ -1100.0,
77
+ -460.0,
78
+ 24.0
79
+ ],
80
+ "orientation_deg": 180.0
81
+ },
82
+ "control": {
83
+ "mode": "keyboard_diff_drive",
84
+ "params": {
85
+ "base_velocity": 0.6,
86
+ "base_turn_rate": 1.2
87
+ }
88
+ }
89
+ }
90
+ ]
91
+ },
92
+ "task": {
93
+ "navigation": {
94
+ "instruction": "Go straight 4.2 meters, turn right, go straight 1.4 meters, stop, then search for and approach the green plant on the ground you saw earlier."
95
+ }
96
+ }
97
+ }
98
+ ]
99
+ }
annotations/test/concise/car/MV4AFHQKTKJZ2AABAAAAAEI8_usd/final_episode_1.json ADDED
@@ -0,0 +1,110 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "scenarios": [
3
+ {
4
+ "id": "grscene_commercial04",
5
+ "scene": {
6
+ "category": "GRScenes",
7
+ "type": "usd_stage",
8
+ "usd_path": "GRScenes/commercial_scenes/scenes/MV4AFHQKTKJZ2AABAAAAAEI8_usd/start_result_navigation.usd",
9
+ "root_prim_path": "/World",
10
+ "navmesh_root_prim_path": "/World",
11
+ "notes": "GRScenes sample; replace usd_path with the specific scene asset.",
12
+ "units_in_meters": 0.01
13
+ },
14
+ "navmesh": {
15
+ "bake_root_prim_path": "Meshes/Base/ground",
16
+ "include_volume_parent": "/World/NavMesh",
17
+ "z_padding": 2.0,
18
+ "agent_radius": 10.0,
19
+ "min_include_volume_size": {
20
+ "xy": 10.0,
21
+ "z": 3.0
22
+ },
23
+ "spawn_min_separation_m": 2.0,
24
+ "max_step_height": 30
25
+ },
26
+ "virtual_humans": {
27
+ "category": "GRScenes",
28
+ "count": 0,
29
+ "name_sequence": [
30
+ "Character"
31
+ ],
32
+ "assets": {
33
+ "Character": "original_male_adult_medical_01/male_adult_medical_01.usd"
34
+ },
35
+ "asset_root": {
36
+ "fallback": "",
37
+ "path": "IsaacAssets/People/Characters"
38
+ },
39
+ "spawn_policy": {
40
+ "type": "navmesh_random",
41
+ "notes": "Delegates to CharacterRandomizer.get_random_position using full navmesh coverage."
42
+ },
43
+ "spawn_points": [
44
+ {
45
+ "name": "Character",
46
+ "position": [
47
+ -220.0,
48
+ -820.0,
49
+ 0.0
50
+ ],
51
+ "orientation_deg": -90.0
52
+ }
53
+ ],
54
+ "normalize_on_spawn": true,
55
+ "move_routes": [
56
+ {
57
+ "name": "Character",
58
+ "commands": [
59
+ "Character LookAround 5.0",
60
+ "Character Idle 1.0"
61
+ ]
62
+ }
63
+ ]
64
+ },
65
+ "robots": {
66
+ "category": "GRScenes",
67
+ "entries": [
68
+ {
69
+ "type": "carter_v1",
70
+ "label": "keyboard_carter",
71
+ "spawn_path": "/carter_v1",
72
+ "usd_path": "robots/Carter/carter_v1.usd",
73
+ "scale": 1,
74
+ "initial_pose": {
75
+ "position": [
76
+ 600.0,
77
+ -600.0,
78
+ 24.0
79
+ ],
80
+ "orientation_deg": 180.0
81
+ },
82
+ "control": {
83
+ "mode": "keyboard_diff_drive",
84
+ "params": {
85
+ "base_velocity": 0.6,
86
+ "base_turn_rate": 1.2
87
+ }
88
+ }
89
+ }
90
+ ]
91
+ },
92
+ "task": {
93
+ "navigation": {
94
+ "instruction": "Go straight 6.7 meters. Turn right. Continue straight until you see a trash can, approach it and stop. Answer with a number: How many blue baskets did you just pass by? Bypass humans while moving."
95
+ }
96
+ }
97
+ }
98
+ ],
99
+ "preprocessing": {
100
+ "wait_interpolated": true,
101
+ "min_wait_s": 2.0,
102
+ "yaw_skip_deg": 20.0,
103
+ "wait_time_interval": 0.5,
104
+ "original_waypoints": 207,
105
+ "wait_segments": 0,
106
+ "movement_segments": 206,
107
+ "interpolated_waypoints": 0,
108
+ "processed_waypoints": 207
109
+ }
110
+ }
annotations/test/concise/car/MV4AFHQKTKJZ2AABAAAAAEI8_usd/final_episode_2.json ADDED
@@ -0,0 +1,110 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "scenarios": [
3
+ {
4
+ "id": "grscene_commercial03",
5
+ "scene": {
6
+ "category": "GRScenes",
7
+ "type": "usd_stage",
8
+ "usd_path": "GRScenes/commercial_scenes/scenes/MV4AFHQKTKJZ2AABAAAAAEI8_usd/start_result_navigation.usd",
9
+ "root_prim_path": "/World",
10
+ "navmesh_root_prim_path": "/World",
11
+ "notes": "GRScenes sample; replace usd_path with the specific scene asset.",
12
+ "units_in_meters": 0.01
13
+ },
14
+ "navmesh": {
15
+ "bake_root_prim_path": "Meshes/Base/ground",
16
+ "include_volume_parent": "/World/NavMesh",
17
+ "z_padding": 2.0,
18
+ "agent_radius": 10.0,
19
+ "min_include_volume_size": {
20
+ "xy": 10.0,
21
+ "z": 3.0
22
+ },
23
+ "spawn_min_separation_m": 2.0,
24
+ "max_step_height": 30
25
+ },
26
+ "virtual_humans": {
27
+ "category": "GRScenes",
28
+ "count": 0,
29
+ "name_sequence": [
30
+ "Character"
31
+ ],
32
+ "assets": {
33
+ "Character": "original_male_adult_medical_01/male_adult_medical_01.usd"
34
+ },
35
+ "asset_root": {
36
+ "fallback": "",
37
+ "path": "IsaacAssets/People/Characters"
38
+ },
39
+ "spawn_policy": {
40
+ "type": "navmesh_random",
41
+ "notes": "Delegates to CharacterRandomizer.get_random_position using full navmesh coverage."
42
+ },
43
+ "spawn_points": [
44
+ {
45
+ "name": "Character",
46
+ "position": [
47
+ -220.0,
48
+ -820.0,
49
+ 0.0
50
+ ],
51
+ "orientation_deg": -90.0
52
+ }
53
+ ],
54
+ "normalize_on_spawn": true,
55
+ "move_routes": [
56
+ {
57
+ "name": "Character",
58
+ "commands": [
59
+ "Character LookAround 5.0",
60
+ "Character Idle 1.0"
61
+ ]
62
+ }
63
+ ]
64
+ },
65
+ "robots": {
66
+ "category": "GRScenes",
67
+ "entries": [
68
+ {
69
+ "type": "carter_v1",
70
+ "label": "keyboard_carter",
71
+ "spawn_path": "/carter_v1",
72
+ "usd_path": "robots/Carter/carter_v1.usd",
73
+ "scale": 1,
74
+ "initial_pose": {
75
+ "position": [
76
+ -90.0,
77
+ -670.0,
78
+ 24.0
79
+ ],
80
+ "orientation_deg": 90.0
81
+ },
82
+ "control": {
83
+ "mode": "keyboard_diff_drive",
84
+ "params": {
85
+ "base_velocity": 0.6,
86
+ "base_turn_rate": 1.2
87
+ }
88
+ }
89
+ }
90
+ ]
91
+ },
92
+ "task": {
93
+ "navigation": {
94
+ "instruction": "Go straight 4.1 meters. Turn right. Continue straight until you see a trash can, approach it, and stop. Answer yes or no: In your memory, is blue basket next to trash can? Bypass humans while moving."
95
+ }
96
+ }
97
+ }
98
+ ],
99
+ "preprocessing": {
100
+ "wait_interpolated": true,
101
+ "min_wait_s": 2.0,
102
+ "yaw_skip_deg": 20.0,
103
+ "wait_time_interval": 0.5,
104
+ "original_waypoints": 155,
105
+ "wait_segments": 0,
106
+ "movement_segments": 154,
107
+ "interpolated_waypoints": 0,
108
+ "processed_waypoints": 155
109
+ }
110
+ }
annotations/test/concise/car/MV5M25QKTKJZ2AABAAAAAAI8_usd/final_episode_1.json ADDED
@@ -0,0 +1,99 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "scenarios": [
3
+ {
4
+ "id": "grscene_commercial06",
5
+ "scene": {
6
+ "category": "GRScenes",
7
+ "type": "usd_stage",
8
+ "usd_path": "GRScenes/commercial_scenes/scenes_collected_linkified/MV5M25QKTKJZ2AABAAAAAAI8_usd/start_result_navigation.usd",
9
+ "root_prim_path": "/World",
10
+ "navmesh_root_prim_path": "/World",
11
+ "notes": "GRScenes sample; replace usd_path with the specific scene asset.",
12
+ "units_in_meters": 0.01
13
+ },
14
+ "navmesh": {
15
+ "bake_root_prim_path": "Meshes/Base/ground",
16
+ "include_volume_parent": "/World/NavMesh",
17
+ "z_padding": 2.0,
18
+ "agent_radius": 10.0,
19
+ "min_include_volume_size": {
20
+ "xy": 10.0,
21
+ "z": 3.0
22
+ },
23
+ "spawn_min_separation_m": 2.0,
24
+ "max_step_height": 30
25
+ },
26
+ "virtual_humans": {
27
+ "category": "GRScenes",
28
+ "count": 0,
29
+ "name_sequence": [
30
+ "Character"
31
+ ],
32
+ "assets": {
33
+ "Character": "original_male_adult_medical_01/male_adult_medical_01.usd"
34
+ },
35
+ "asset_root": {
36
+ "fallback": "",
37
+ "path": "IsaacAssets/People/Characters"
38
+ },
39
+ "spawn_policy": {
40
+ "type": "navmesh_random",
41
+ "notes": "Delegates to CharacterRandomizer.get_random_position using full navmesh coverage."
42
+ },
43
+ "spawn_points": [
44
+ {
45
+ "name": "Character",
46
+ "position": [
47
+ -220.0,
48
+ -820.0,
49
+ 0.0
50
+ ],
51
+ "orientation_deg": -90.0
52
+ }
53
+ ],
54
+ "normalize_on_spawn": true,
55
+ "move_routes": [
56
+ {
57
+ "name": "Character",
58
+ "commands": [
59
+ "Character LookAround 1.0",
60
+ "Character Idle 1.0"
61
+ ]
62
+ }
63
+ ]
64
+ },
65
+ "robots": {
66
+ "category": "GRScenes",
67
+ "entries": [
68
+ {
69
+ "type": "carter_v1",
70
+ "label": "keyboard_carter",
71
+ "spawn_path": "/carter_v1",
72
+ "usd_path": "robots/Carter/carter_v1.usd",
73
+ "scale": 1,
74
+ "initial_pose": {
75
+ "position": [
76
+ 200.0,
77
+ -900.0,
78
+ 24.0
79
+ ],
80
+ "orientation_deg": 0.0
81
+ },
82
+ "control": {
83
+ "mode": "keyboard_diff_drive",
84
+ "params": {
85
+ "base_velocity": 0.6,
86
+ "base_turn_rate": 1.2
87
+ }
88
+ }
89
+ }
90
+ ]
91
+ },
92
+ "task": {
93
+ "navigation": {
94
+ "instruction": "Move forward 1.5 meters, turn left, walk straight until you see a round table, approach it and stop. Answer with a number: How many green chairs did you pass by? Bypass humans while moving."
95
+ }
96
+ }
97
+ }
98
+ ]
99
+ }
annotations/test/concise/car/MV5M25QKTKJZ2AABAAAAAAI8_usd/final_episode_2.json ADDED
@@ -0,0 +1,99 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "scenarios": [
3
+ {
4
+ "id": "grscene_commercial05",
5
+ "scene": {
6
+ "category": "GRScenes",
7
+ "type": "usd_stage",
8
+ "usd_path": "GRScenes/commercial_scenes/scenes_collected_linkified/MV5M25QKTKJZ2AABAAAAAAI8_usd/start_result_navigation.usd",
9
+ "root_prim_path": "/World",
10
+ "navmesh_root_prim_path": "/World",
11
+ "notes": "GRScenes sample; replace usd_path with the specific scene asset.",
12
+ "units_in_meters": 0.01
13
+ },
14
+ "navmesh": {
15
+ "bake_root_prim_path": "Meshes/Base/ground",
16
+ "include_volume_parent": "/World/NavMesh",
17
+ "z_padding": 2.0,
18
+ "agent_radius": 10.0,
19
+ "min_include_volume_size": {
20
+ "xy": 10.0,
21
+ "z": 3.0
22
+ },
23
+ "spawn_min_separation_m": 2.0,
24
+ "max_step_height": 30
25
+ },
26
+ "virtual_humans": {
27
+ "category": "GRScenes",
28
+ "count": 0,
29
+ "name_sequence": [
30
+ "Character"
31
+ ],
32
+ "assets": {
33
+ "Character": "original_male_adult_medical_01/male_adult_medical_01.usd"
34
+ },
35
+ "asset_root": {
36
+ "fallback": "",
37
+ "path": "IsaacAssets/People/Characters"
38
+ },
39
+ "spawn_policy": {
40
+ "type": "navmesh_random",
41
+ "notes": "Delegates to CharacterRandomizer.get_random_position using full navmesh coverage."
42
+ },
43
+ "spawn_points": [
44
+ {
45
+ "name": "Character",
46
+ "position": [
47
+ -220.0,
48
+ -820.0,
49
+ 0.0
50
+ ],
51
+ "orientation_deg": -90.0
52
+ }
53
+ ],
54
+ "normalize_on_spawn": true,
55
+ "move_routes": [
56
+ {
57
+ "name": "Character",
58
+ "commands": [
59
+ "Character LookAround 1.0",
60
+ "Character Idle 1.0"
61
+ ]
62
+ }
63
+ ]
64
+ },
65
+ "robots": {
66
+ "category": "GRScenes",
67
+ "entries": [
68
+ {
69
+ "type": "carter_v1",
70
+ "label": "keyboard_carter",
71
+ "spawn_path": "/carter_v1",
72
+ "usd_path": "robots/Carter/carter_v1.usd",
73
+ "scale": 1,
74
+ "initial_pose": {
75
+ "position": [
76
+ 370.0,
77
+ -350.0,
78
+ 24.0
79
+ ],
80
+ "orientation_deg": -90.0
81
+ },
82
+ "control": {
83
+ "mode": "keyboard_diff_drive",
84
+ "params": {
85
+ "base_velocity": 0.6,
86
+ "base_turn_rate": 1.2
87
+ }
88
+ }
89
+ }
90
+ ]
91
+ },
92
+ "task": {
93
+ "navigation": {
94
+ "instruction": "Go straight 5.2 meters, turn right, approach a bar stool in view, stop. Answer yes or no: In your memory, is trash can next to sofa? Bypass humans while moving."
95
+ }
96
+ }
97
+ }
98
+ ]
99
+ }
annotations/test/concise/car/MV5M25QKTKJZ2AABAAAAAAQ8_usd/final_episode_1.json ADDED
@@ -0,0 +1,99 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "scenarios": [
3
+ {
4
+ "id": "grscene_commercial07",
5
+ "scene": {
6
+ "category": "GRScenes",
7
+ "type": "usd_stage",
8
+ "usd_path": "GRScenes/commercial_scenes/scenes_collected_linkified/MV5M25QKTKJZ2AABAAAAAAQ8_usd/start_result_navigation.usd",
9
+ "root_prim_path": "/World",
10
+ "navmesh_root_prim_path": "/World",
11
+ "notes": "GRScenes sample; replace usd_path with the specific scene asset.",
12
+ "units_in_meters": 0.01
13
+ },
14
+ "navmesh": {
15
+ "bake_root_prim_path": "Meshes/Base/ground",
16
+ "include_volume_parent": "/World/NavMesh",
17
+ "z_padding": 2.0,
18
+ "agent_radius": 10.0,
19
+ "min_include_volume_size": {
20
+ "xy": 10.0,
21
+ "z": 3.0
22
+ },
23
+ "spawn_min_separation_m": 2.0,
24
+ "max_step_height": 30
25
+ },
26
+ "virtual_humans": {
27
+ "category": "GRScenes",
28
+ "count": 0,
29
+ "name_sequence": [
30
+ "Character"
31
+ ],
32
+ "assets": {
33
+ "Character": "original_male_adult_medical_01/male_adult_medical_01.usd"
34
+ },
35
+ "asset_root": {
36
+ "fallback": "",
37
+ "path": "IsaacAssets/People/Characters"
38
+ },
39
+ "spawn_policy": {
40
+ "type": "navmesh_random",
41
+ "notes": "Delegates to CharacterRandomizer.get_random_position using full navmesh coverage."
42
+ },
43
+ "spawn_points": [
44
+ {
45
+ "name": "Character",
46
+ "position": [
47
+ -220.0,
48
+ -820.0,
49
+ 0.0
50
+ ],
51
+ "orientation_deg": -90.0
52
+ }
53
+ ],
54
+ "normalize_on_spawn": true,
55
+ "move_routes": [
56
+ {
57
+ "name": "Character",
58
+ "commands": [
59
+ "Character LookAround 1.0",
60
+ "Character Idle 1.0"
61
+ ]
62
+ }
63
+ ]
64
+ },
65
+ "robots": {
66
+ "category": "GRScenes",
67
+ "entries": [
68
+ {
69
+ "type": "carter_v1",
70
+ "label": "keyboard_carter",
71
+ "spawn_path": "/carter_v1",
72
+ "usd_path": "robots/Carter/carter_v1.usd",
73
+ "scale": 1,
74
+ "initial_pose": {
75
+ "position": [
76
+ 460.0,
77
+ -720.0,
78
+ 24.0
79
+ ],
80
+ "orientation_deg": 180.0
81
+ },
82
+ "control": {
83
+ "mode": "keyboard_diff_drive",
84
+ "params": {
85
+ "base_velocity": 0.6,
86
+ "base_turn_rate": 1.2
87
+ }
88
+ }
89
+ }
90
+ ]
91
+ },
92
+ "task": {
93
+ "navigation": {
94
+ "instruction": "Advance 5 meters, turn right. Walk straight to the two chairs at the end, turn right, continue straight until a pair of bar stools, approach and stop. Answer with a number: How many carpets did you pass by? Bypass humans while moving"
95
+ }
96
+ }
97
+ }
98
+ ]
99
+ }
annotations/test/concise/car/MV5M25QKTKJZ2AABAAAAAAQ8_usd/final_episode_2.json ADDED
@@ -0,0 +1,99 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "scenarios": [
3
+ {
4
+ "id": "grscene_commercial06",
5
+ "scene": {
6
+ "category": "GRScenes",
7
+ "type": "usd_stage",
8
+ "usd_path": "GRScenes/commercial_scenes/scenes_collected_linkified/MV5M25QKTKJZ2AABAAAAAAQ8_usd/start_result_navigation.usd",
9
+ "root_prim_path": "/World",
10
+ "navmesh_root_prim_path": "/World",
11
+ "notes": "GRScenes sample; replace usd_path with the specific scene asset.",
12
+ "units_in_meters": 0.01
13
+ },
14
+ "navmesh": {
15
+ "bake_root_prim_path": "Meshes/Base/ground",
16
+ "include_volume_parent": "/World/NavMesh",
17
+ "z_padding": 2.0,
18
+ "agent_radius": 10.0,
19
+ "min_include_volume_size": {
20
+ "xy": 10.0,
21
+ "z": 3.0
22
+ },
23
+ "spawn_min_separation_m": 2.0,
24
+ "max_step_height": 30
25
+ },
26
+ "virtual_humans": {
27
+ "category": "GRScenes",
28
+ "count": 0,
29
+ "name_sequence": [
30
+ "Character"
31
+ ],
32
+ "assets": {
33
+ "Character": "original_male_adult_medical_01/male_adult_medical_01.usd"
34
+ },
35
+ "asset_root": {
36
+ "fallback": "",
37
+ "path": "IsaacAssets/People/Characters"
38
+ },
39
+ "spawn_policy": {
40
+ "type": "navmesh_random",
41
+ "notes": "Delegates to CharacterRandomizer.get_random_position using full navmesh coverage."
42
+ },
43
+ "spawn_points": [
44
+ {
45
+ "name": "Character",
46
+ "position": [
47
+ -220.0,
48
+ -820.0,
49
+ 0.0
50
+ ],
51
+ "orientation_deg": -90.0
52
+ }
53
+ ],
54
+ "normalize_on_spawn": true,
55
+ "move_routes": [
56
+ {
57
+ "name": "Character",
58
+ "commands": [
59
+ "Character LookAround 1.0",
60
+ "Character Idle 1.0"
61
+ ]
62
+ }
63
+ ]
64
+ },
65
+ "robots": {
66
+ "category": "GRScenes",
67
+ "entries": [
68
+ {
69
+ "type": "carter_v1",
70
+ "label": "keyboard_carter",
71
+ "spawn_path": "/carter_v1",
72
+ "usd_path": "robots/Carter/carter_v1.usd",
73
+ "scale": 1,
74
+ "initial_pose": {
75
+ "position": [
76
+ 200.0,
77
+ 0.0,
78
+ 24.0
79
+ ],
80
+ "orientation_deg": -90.0
81
+ },
82
+ "control": {
83
+ "mode": "keyboard_diff_drive",
84
+ "params": {
85
+ "base_velocity": 0.6,
86
+ "base_turn_rate": 1.2
87
+ }
88
+ }
89
+ }
90
+ ]
91
+ },
92
+ "task": {
93
+ "navigation": {
94
+ "instruction": "Go straight 5 meters, turn left, approach a potted plant in view, stop. Answer yes or no: In your memory, is carpet next to office chair? Bypass humans while moving."
95
+ }
96
+ }
97
+ }
98
+ ]
99
+ }
annotations/test/concise/car/MV5M25QKTKJZ2AABAAAAAAQ8_usd/final_episode_3.json ADDED
@@ -0,0 +1,99 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "scenarios": [
3
+ {
4
+ "id": "grscene_commercial07",
5
+ "scene": {
6
+ "category": "GRScenes",
7
+ "type": "usd_stage",
8
+ "usd_path": "GRScenes/commercial_scenes/scenes_collected_linkified/MV5M25QKTKJZ2AABAAAAAAQ8_usd/start_result_navigation.usd",
9
+ "root_prim_path": "/World",
10
+ "navmesh_root_prim_path": "/World",
11
+ "notes": "GRScenes sample; replace usd_path with the specific scene asset.",
12
+ "units_in_meters": 0.01
13
+ },
14
+ "navmesh": {
15
+ "bake_root_prim_path": "Meshes/Base/ground",
16
+ "include_volume_parent": "/World/NavMesh",
17
+ "z_padding": 2.0,
18
+ "agent_radius": 10.0,
19
+ "min_include_volume_size": {
20
+ "xy": 10.0,
21
+ "z": 3.0
22
+ },
23
+ "spawn_min_separation_m": 2.0,
24
+ "max_step_height": 30
25
+ },
26
+ "virtual_humans": {
27
+ "category": "GRScenes",
28
+ "count": 0,
29
+ "name_sequence": [
30
+ "Character"
31
+ ],
32
+ "assets": {
33
+ "Character": "original_male_adult_medical_01/male_adult_medical_01.usd"
34
+ },
35
+ "asset_root": {
36
+ "fallback": "",
37
+ "path": "IsaacAssets/People/Characters"
38
+ },
39
+ "spawn_policy": {
40
+ "type": "navmesh_random",
41
+ "notes": "Delegates to CharacterRandomizer.get_random_position using full navmesh coverage."
42
+ },
43
+ "spawn_points": [
44
+ {
45
+ "name": "Character",
46
+ "position": [
47
+ -220.0,
48
+ -820.0,
49
+ 0.0
50
+ ],
51
+ "orientation_deg": -90.0
52
+ }
53
+ ],
54
+ "normalize_on_spawn": true,
55
+ "move_routes": [
56
+ {
57
+ "name": "Character",
58
+ "commands": [
59
+ "Character LookAround 1.0",
60
+ "Character Idle 1.0"
61
+ ]
62
+ }
63
+ ]
64
+ },
65
+ "robots": {
66
+ "category": "GRScenes",
67
+ "entries": [
68
+ {
69
+ "type": "carter_v1",
70
+ "label": "keyboard_carter",
71
+ "spawn_path": "/carter_v1",
72
+ "usd_path": "robots/Carter/carter_v1.usd",
73
+ "scale": 1,
74
+ "initial_pose": {
75
+ "position": [
76
+ 0.0,
77
+ -630.0,
78
+ 24.0
79
+ ],
80
+ "orientation_deg": 0.0
81
+ },
82
+ "control": {
83
+ "mode": "keyboard_diff_drive",
84
+ "params": {
85
+ "base_velocity": 0.6,
86
+ "base_turn_rate": 1.2
87
+ }
88
+ }
89
+ }
90
+ ]
91
+ },
92
+ "task": {
93
+ "navigation": {
94
+ "instruction": "Go straight 1.9 meters, turn left, go straight 6.3 meters, stop. Search for and approach the potted plant seen earlier. Bypass humans while moving."
95
+ }
96
+ }
97
+ }
98
+ ]
99
+ }
annotations/test/concise/car/MV5M25QKTKJZ2AABAAAAAAY8_usd/final_episode_1.json ADDED
@@ -0,0 +1,110 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "scenarios": [
3
+ {
4
+ "id": "grscene_commercial08",
5
+ "scene": {
6
+ "category": "GRScenes",
7
+ "type": "usd_stage",
8
+ "usd_path": "GRScenes/commercial_scenes/scenes/MV5M25QKTKJZ2AABAAAAAAY8_usd/start_result_navigation.usd",
9
+ "root_prim_path": "/World",
10
+ "navmesh_root_prim_path": "/World",
11
+ "notes": "GRScenes sample; replace usd_path with the specific scene asset.",
12
+ "units_in_meters": 0.01
13
+ },
14
+ "navmesh": {
15
+ "bake_root_prim_path": "Meshes/Base/ground",
16
+ "include_volume_parent": "/World/NavMesh",
17
+ "z_padding": 2.0,
18
+ "agent_radius": 10.0,
19
+ "min_include_volume_size": {
20
+ "xy": 10.0,
21
+ "z": 3.0
22
+ },
23
+ "spawn_min_separation_m": 2.0,
24
+ "max_step_height": 30
25
+ },
26
+ "virtual_humans": {
27
+ "category": "GRScenes",
28
+ "count": 0,
29
+ "name_sequence": [
30
+ "Character"
31
+ ],
32
+ "assets": {
33
+ "Character": "original_male_adult_medical_01/male_adult_medical_01.usd"
34
+ },
35
+ "asset_root": {
36
+ "fallback": "",
37
+ "path": "IsaacAssets/People/Characters"
38
+ },
39
+ "spawn_policy": {
40
+ "type": "navmesh_random",
41
+ "notes": "Delegates to CharacterRandomizer.get_random_position using full navmesh coverage."
42
+ },
43
+ "spawn_points": [
44
+ {
45
+ "name": "Character",
46
+ "position": [
47
+ -220.0,
48
+ -820.0,
49
+ 0.0
50
+ ],
51
+ "orientation_deg": -90.0
52
+ }
53
+ ],
54
+ "normalize_on_spawn": true,
55
+ "move_routes": [
56
+ {
57
+ "name": "Character",
58
+ "commands": [
59
+ "Character LookAround 5.0",
60
+ "Character Idle 1.0"
61
+ ]
62
+ }
63
+ ]
64
+ },
65
+ "robots": {
66
+ "category": "GRScenes",
67
+ "entries": [
68
+ {
69
+ "type": "carter_v1",
70
+ "label": "keyboard_carter",
71
+ "spawn_path": "/carter_v1",
72
+ "usd_path": "robots/Carter/carter_v1.usd",
73
+ "scale": 1,
74
+ "initial_pose": {
75
+ "position": [
76
+ 130.0,
77
+ -440.0,
78
+ 24.0
79
+ ],
80
+ "orientation_deg": 0.0
81
+ },
82
+ "control": {
83
+ "mode": "keyboard_diff_drive",
84
+ "params": {
85
+ "base_velocity": 0.6,
86
+ "base_turn_rate": 1.2
87
+ }
88
+ }
89
+ }
90
+ ]
91
+ },
92
+ "task": {
93
+ "navigation": {
94
+ "instruction": "Go straight 1.8 meters. Turn left. Continue straight until you see a water dispenser, approach it and stop. Answer with a number: How many trash cans did you just pass by? Bypass humans while moving."
95
+ }
96
+ }
97
+ }
98
+ ],
99
+ "preprocessing": {
100
+ "wait_interpolated": true,
101
+ "min_wait_s": 2.0,
102
+ "yaw_skip_deg": 20.0,
103
+ "wait_time_interval": 0.5,
104
+ "original_waypoints": 125,
105
+ "wait_segments": 0,
106
+ "movement_segments": 124,
107
+ "interpolated_waypoints": 0,
108
+ "processed_waypoints": 125
109
+ }
110
+ }
annotations/test/concise/car/MV5M25QKTKJZ2AABAAAAAAY8_usd/final_episode_2.json ADDED
@@ -0,0 +1,110 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "scenarios": [
3
+ {
4
+ "id": "grscene_commercial08",
5
+ "scene": {
6
+ "category": "GRScenes",
7
+ "type": "usd_stage",
8
+ "usd_path": "GRScenes/commercial_scenes/scenes/MV5M25QKTKJZ2AABAAAAAAY8_usd/start_result_navigation.usd",
9
+ "root_prim_path": "/World",
10
+ "navmesh_root_prim_path": "/World",
11
+ "notes": "GRScenes sample; replace usd_path with the specific scene asset.",
12
+ "units_in_meters": 0.01
13
+ },
14
+ "navmesh": {
15
+ "bake_root_prim_path": "Meshes/Base/ground",
16
+ "include_volume_parent": "/World/NavMesh",
17
+ "z_padding": 2.0,
18
+ "agent_radius": 10.0,
19
+ "min_include_volume_size": {
20
+ "xy": 10.0,
21
+ "z": 3.0
22
+ },
23
+ "spawn_min_separation_m": 2.0,
24
+ "max_step_height": 30
25
+ },
26
+ "virtual_humans": {
27
+ "category": "GRScenes",
28
+ "count": 0,
29
+ "name_sequence": [
30
+ "Character"
31
+ ],
32
+ "assets": {
33
+ "Character": "original_male_adult_medical_01/male_adult_medical_01.usd"
34
+ },
35
+ "asset_root": {
36
+ "fallback": "",
37
+ "path": "IsaacAssets/People/Characters"
38
+ },
39
+ "spawn_policy": {
40
+ "type": "navmesh_random",
41
+ "notes": "Delegates to CharacterRandomizer.get_random_position using full navmesh coverage."
42
+ },
43
+ "spawn_points": [
44
+ {
45
+ "name": "Character",
46
+ "position": [
47
+ -220.0,
48
+ -820.0,
49
+ 0.0
50
+ ],
51
+ "orientation_deg": -90.0
52
+ }
53
+ ],
54
+ "normalize_on_spawn": true,
55
+ "move_routes": [
56
+ {
57
+ "name": "Character",
58
+ "commands": [
59
+ "Character LookAround 5.0",
60
+ "Character Idle 1.0"
61
+ ]
62
+ }
63
+ ]
64
+ },
65
+ "robots": {
66
+ "category": "GRScenes",
67
+ "entries": [
68
+ {
69
+ "type": "carter_v1",
70
+ "label": "keyboard_carter",
71
+ "spawn_path": "/carter_v1",
72
+ "usd_path": "robots/Carter/carter_v1.usd",
73
+ "scale": 1,
74
+ "initial_pose": {
75
+ "position": [
76
+ 80.0,
77
+ -180.0,
78
+ 24.0
79
+ ],
80
+ "orientation_deg": -90.0
81
+ },
82
+ "control": {
83
+ "mode": "keyboard_diff_drive",
84
+ "params": {
85
+ "base_velocity": 0.6,
86
+ "base_turn_rate": 1.2
87
+ }
88
+ }
89
+ }
90
+ ]
91
+ },
92
+ "task": {
93
+ "navigation": {
94
+ "instruction": "Go straight 2.8 meters, turn left and go straight 3.1 meters. Turn right, approach a Hospital bed in view, stop. Answer yes or no: In your memory, is sofa next to wheelchair? Bypass humans while moving."
95
+ }
96
+ }
97
+ }
98
+ ],
99
+ "preprocessing": {
100
+ "wait_interpolated": true,
101
+ "min_wait_s": 2.0,
102
+ "yaw_skip_deg": 20.0,
103
+ "wait_time_interval": 0.5,
104
+ "original_waypoints": 145,
105
+ "wait_segments": 0,
106
+ "movement_segments": 144,
107
+ "interpolated_waypoints": 0,
108
+ "processed_waypoints": 145
109
+ }
110
+ }
annotations/test/concise/car/MV5M25QKTKJZ2AABAAAAAAY8_usd/final_episode_3.json ADDED
@@ -0,0 +1,110 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "scenarios": [
3
+ {
4
+ "id": "grscene_commercial08",
5
+ "scene": {
6
+ "category": "GRScenes",
7
+ "type": "usd_stage",
8
+ "usd_path": "GRScenes/commercial_scenes/scenes/MV5M25QKTKJZ2AABAAAAAAY8_usd/start_result_navigation.usd",
9
+ "root_prim_path": "/World",
10
+ "navmesh_root_prim_path": "/World",
11
+ "notes": "GRScenes sample; replace usd_path with the specific scene asset.",
12
+ "units_in_meters": 0.01
13
+ },
14
+ "navmesh": {
15
+ "bake_root_prim_path": "Meshes/Base/ground",
16
+ "include_volume_parent": "/World/NavMesh",
17
+ "z_padding": 2.0,
18
+ "agent_radius": 10.0,
19
+ "min_include_volume_size": {
20
+ "xy": 10.0,
21
+ "z": 3.0
22
+ },
23
+ "spawn_min_separation_m": 2.0,
24
+ "max_step_height": 30
25
+ },
26
+ "virtual_humans": {
27
+ "category": "GRScenes",
28
+ "count": 0,
29
+ "name_sequence": [
30
+ "Character"
31
+ ],
32
+ "assets": {
33
+ "Character": "original_male_adult_medical_01/male_adult_medical_01.usd"
34
+ },
35
+ "asset_root": {
36
+ "fallback": "",
37
+ "path": "IsaacAssets/People/Characters"
38
+ },
39
+ "spawn_policy": {
40
+ "type": "navmesh_random",
41
+ "notes": "Delegates to CharacterRandomizer.get_random_position using full navmesh coverage."
42
+ },
43
+ "spawn_points": [
44
+ {
45
+ "name": "Character",
46
+ "position": [
47
+ -220.0,
48
+ -820.0,
49
+ 0.0
50
+ ],
51
+ "orientation_deg": -90.0
52
+ }
53
+ ],
54
+ "normalize_on_spawn": true,
55
+ "move_routes": [
56
+ {
57
+ "name": "Character",
58
+ "commands": [
59
+ "Character LookAround 5.0",
60
+ "Character Idle 1.0"
61
+ ]
62
+ }
63
+ ]
64
+ },
65
+ "robots": {
66
+ "category": "GRScenes",
67
+ "entries": [
68
+ {
69
+ "type": "carter_v1",
70
+ "label": "keyboard_carter",
71
+ "spawn_path": "/carter_v1",
72
+ "usd_path": "robots/Carter/carter_v1.usd",
73
+ "scale": 1,
74
+ "initial_pose": {
75
+ "position": [
76
+ 400.0,
77
+ -610.0,
78
+ 24.0
79
+ ],
80
+ "orientation_deg": 90.0
81
+ },
82
+ "control": {
83
+ "mode": "keyboard_diff_drive",
84
+ "params": {
85
+ "base_velocity": 0.6,
86
+ "base_turn_rate": 1.2
87
+ }
88
+ }
89
+ }
90
+ ]
91
+ },
92
+ "task": {
93
+ "navigation": {
94
+ "instruction": "Go straight 1.8 meters, turn left, go straight 2.5 meters and stop. Search for and approach White trash can you saw earlier. Bypass humans while moving."
95
+ }
96
+ }
97
+ }
98
+ ],
99
+ "preprocessing": {
100
+ "wait_interpolated": true,
101
+ "min_wait_s": 2.0,
102
+ "yaw_skip_deg": 20.0,
103
+ "wait_time_interval": 0.5,
104
+ "original_waypoints": 170,
105
+ "wait_segments": 1,
106
+ "movement_segments": 168,
107
+ "interpolated_waypoints": 16,
108
+ "processed_waypoints": 185
109
+ }
110
+ }
annotations/test/concise/car/MV7J6NIKTKJZ2AABAAAAAAA8_usd/final_episode_1.json ADDED
@@ -0,0 +1,110 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "scenarios": [
3
+ {
4
+ "id": "grscene_commercial10",
5
+ "scene": {
6
+ "category": "GRScenes",
7
+ "type": "usd_stage",
8
+ "usd_path": "GRScenes/commercial_scenes/scenes/MV7J6NIKTKJZ2AABAAAAAAA8_usd/start_result_navigation.usd",
9
+ "root_prim_path": "/World",
10
+ "navmesh_root_prim_path": "/World",
11
+ "notes": "GRScenes sample; replace usd_path with the specific scene asset.",
12
+ "units_in_meters": 0.01
13
+ },
14
+ "navmesh": {
15
+ "bake_root_prim_path": "Meshes/Base/ground",
16
+ "include_volume_parent": "/World/NavMesh",
17
+ "z_padding": 2.0,
18
+ "agent_radius": 10.0,
19
+ "min_include_volume_size": {
20
+ "xy": 10.0,
21
+ "z": 3.0
22
+ },
23
+ "spawn_min_separation_m": 2.0,
24
+ "max_step_height": 30
25
+ },
26
+ "virtual_humans": {
27
+ "category": "GRScenes",
28
+ "count": 0,
29
+ "name_sequence": [
30
+ "Character"
31
+ ],
32
+ "assets": {
33
+ "Character": "original_male_adult_medical_01/male_adult_medical_01.usd"
34
+ },
35
+ "asset_root": {
36
+ "fallback": "",
37
+ "path": "IsaacAssets/People/Characters"
38
+ },
39
+ "spawn_policy": {
40
+ "type": "navmesh_random",
41
+ "notes": "Delegates to CharacterRandomizer.get_random_position using full navmesh coverage."
42
+ },
43
+ "spawn_points": [
44
+ {
45
+ "name": "Character",
46
+ "position": [
47
+ -220.0,
48
+ -820.0,
49
+ 0.0
50
+ ],
51
+ "orientation_deg": -90.0
52
+ }
53
+ ],
54
+ "normalize_on_spawn": true,
55
+ "move_routes": [
56
+ {
57
+ "name": "Character",
58
+ "commands": [
59
+ "Character LookAround 5.0",
60
+ "Character Idle 1.0"
61
+ ]
62
+ }
63
+ ]
64
+ },
65
+ "robots": {
66
+ "category": "GRScenes",
67
+ "entries": [
68
+ {
69
+ "type": "carter_v1",
70
+ "label": "keyboard_carter",
71
+ "spawn_path": "/carter_v1",
72
+ "usd_path": "robots/Carter/carter_v1.usd",
73
+ "scale": 1,
74
+ "initial_pose": {
75
+ "position": [
76
+ -280.0,
77
+ -310.0,
78
+ 24.0
79
+ ],
80
+ "orientation_deg": 0.0
81
+ },
82
+ "control": {
83
+ "mode": "keyboard_diff_drive",
84
+ "params": {
85
+ "base_velocity": 0.6,
86
+ "base_turn_rate": 1.2
87
+ }
88
+ }
89
+ }
90
+ ]
91
+ },
92
+ "task": {
93
+ "navigation": {
94
+ "instruction": "Go straight 2.7 meters. Turn right and approach a Silver trash can in your field of view. Turn around, go straight, and approach a chair within your sight. Answer with a number: How many green plants did you just pass by? Bypass humans while moving."
95
+ }
96
+ }
97
+ }
98
+ ],
99
+ "preprocessing": {
100
+ "wait_interpolated": true,
101
+ "min_wait_s": 2.0,
102
+ "yaw_skip_deg": 20.0,
103
+ "wait_time_interval": 0.5,
104
+ "original_waypoints": 125,
105
+ "wait_segments": 0,
106
+ "movement_segments": 124,
107
+ "interpolated_waypoints": 0,
108
+ "processed_waypoints": 125
109
+ }
110
+ }
annotations/test/concise/car/MV7J6NIKTKJZ2AABAAAAAAA8_usd/final_episode_2.json ADDED
@@ -0,0 +1,110 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "scenarios": [
3
+ {
4
+ "id": "grscene_commercial10",
5
+ "scene": {
6
+ "category": "GRScenes",
7
+ "type": "usd_stage",
8
+ "usd_path": "GRScenes/commercial_scenes/scenes/MV7J6NIKTKJZ2AABAAAAAAA8_usd/start_result_navigation.usd",
9
+ "root_prim_path": "/World",
10
+ "navmesh_root_prim_path": "/World",
11
+ "notes": "GRScenes sample; replace usd_path with the specific scene asset.",
12
+ "units_in_meters": 0.01
13
+ },
14
+ "navmesh": {
15
+ "bake_root_prim_path": "Meshes/Base/ground",
16
+ "include_volume_parent": "/World/NavMesh",
17
+ "z_padding": 2.0,
18
+ "agent_radius": 10.0,
19
+ "min_include_volume_size": {
20
+ "xy": 10.0,
21
+ "z": 3.0
22
+ },
23
+ "spawn_min_separation_m": 2.0,
24
+ "max_step_height": 30
25
+ },
26
+ "virtual_humans": {
27
+ "category": "GRScenes",
28
+ "count": 0,
29
+ "name_sequence": [
30
+ "Character"
31
+ ],
32
+ "assets": {
33
+ "Character": "original_male_adult_medical_01/male_adult_medical_01.usd"
34
+ },
35
+ "asset_root": {
36
+ "fallback": "",
37
+ "path": "IsaacAssets/People/Characters"
38
+ },
39
+ "spawn_policy": {
40
+ "type": "navmesh_random",
41
+ "notes": "Delegates to CharacterRandomizer.get_random_position using full navmesh coverage."
42
+ },
43
+ "spawn_points": [
44
+ {
45
+ "name": "Character",
46
+ "position": [
47
+ -220.0,
48
+ -820.0,
49
+ 0.0
50
+ ],
51
+ "orientation_deg": -90.0
52
+ }
53
+ ],
54
+ "normalize_on_spawn": true,
55
+ "move_routes": [
56
+ {
57
+ "name": "Character",
58
+ "commands": [
59
+ "Character LookAround 5.0",
60
+ "Character Idle 1.0"
61
+ ]
62
+ }
63
+ ]
64
+ },
65
+ "robots": {
66
+ "category": "GRScenes",
67
+ "entries": [
68
+ {
69
+ "type": "carter_v1",
70
+ "label": "keyboard_carter",
71
+ "spawn_path": "/carter_v1",
72
+ "usd_path": "robots/Carter/carter_v1.usd",
73
+ "scale": 1,
74
+ "initial_pose": {
75
+ "position": [
76
+ 30.0,
77
+ -180.0,
78
+ 24.0
79
+ ],
80
+ "orientation_deg": -90.0
81
+ },
82
+ "control": {
83
+ "mode": "keyboard_diff_drive",
84
+ "params": {
85
+ "base_velocity": 0.6,
86
+ "base_turn_rate": 1.2
87
+ }
88
+ }
89
+ }
90
+ ]
91
+ },
92
+ "task": {
93
+ "navigation": {
94
+ "instruction": "Go straight 1.5 meters. Turn right. Walk straight and approach a White office chair directly ahead of you, stop. Answer yes or no: In your memory, is plant next to table? Bypass humans while moving."
95
+ }
96
+ }
97
+ }
98
+ ],
99
+ "preprocessing": {
100
+ "wait_interpolated": true,
101
+ "min_wait_s": 2.0,
102
+ "yaw_skip_deg": 20.0,
103
+ "wait_time_interval": 0.5,
104
+ "original_waypoints": 90,
105
+ "wait_segments": 1,
106
+ "movement_segments": 88,
107
+ "interpolated_waypoints": 10,
108
+ "processed_waypoints": 99
109
+ }
110
+ }
annotations/test/concise/car/MV7J6NIKTKJZ2AABAAAAAAA8_usd/final_episode_3.json ADDED
@@ -0,0 +1,110 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "scenarios": [
3
+ {
4
+ "id": "grscene_commercial10",
5
+ "scene": {
6
+ "category": "GRScenes",
7
+ "type": "usd_stage",
8
+ "usd_path": "GRScenes/commercial_scenes/scenes/MV7J6NIKTKJZ2AABAAAAAAA8_usd/start_result_navigation.usd",
9
+ "root_prim_path": "/World",
10
+ "navmesh_root_prim_path": "/World",
11
+ "notes": "GRScenes sample; replace usd_path with the specific scene asset.",
12
+ "units_in_meters": 0.01
13
+ },
14
+ "navmesh": {
15
+ "bake_root_prim_path": "Meshes/Base/ground",
16
+ "include_volume_parent": "/World/NavMesh",
17
+ "z_padding": 2.0,
18
+ "agent_radius": 10.0,
19
+ "min_include_volume_size": {
20
+ "xy": 10.0,
21
+ "z": 3.0
22
+ },
23
+ "spawn_min_separation_m": 2.0,
24
+ "max_step_height": 30
25
+ },
26
+ "virtual_humans": {
27
+ "category": "GRScenes",
28
+ "count": 0,
29
+ "name_sequence": [
30
+ "Character"
31
+ ],
32
+ "assets": {
33
+ "Character": "original_male_adult_medical_01/male_adult_medical_01.usd"
34
+ },
35
+ "asset_root": {
36
+ "fallback": "",
37
+ "path": "IsaacAssets/People/Characters"
38
+ },
39
+ "spawn_policy": {
40
+ "type": "navmesh_random",
41
+ "notes": "Delegates to CharacterRandomizer.get_random_position using full navmesh coverage."
42
+ },
43
+ "spawn_points": [
44
+ {
45
+ "name": "Character",
46
+ "position": [
47
+ -220.0,
48
+ -820.0,
49
+ 0.0
50
+ ],
51
+ "orientation_deg": -90.0
52
+ }
53
+ ],
54
+ "normalize_on_spawn": true,
55
+ "move_routes": [
56
+ {
57
+ "name": "Character",
58
+ "commands": [
59
+ "Character LookAround 5.0",
60
+ "Character Idle 1.0"
61
+ ]
62
+ }
63
+ ]
64
+ },
65
+ "robots": {
66
+ "category": "GRScenes",
67
+ "entries": [
68
+ {
69
+ "type": "carter_v1",
70
+ "label": "keyboard_carter",
71
+ "spawn_path": "/carter_v1",
72
+ "usd_path": "robots/Carter/carter_v1.usd",
73
+ "scale": 1,
74
+ "initial_pose": {
75
+ "position": [
76
+ -270.0,
77
+ -290.0,
78
+ 24.0
79
+ ],
80
+ "orientation_deg": 0.0
81
+ },
82
+ "control": {
83
+ "mode": "keyboard_diff_drive",
84
+ "params": {
85
+ "base_velocity": 0.6,
86
+ "base_turn_rate": 1.2
87
+ }
88
+ }
89
+ }
90
+ ]
91
+ },
92
+ "task": {
93
+ "navigation": {
94
+ "instruction": "Go straight 2.8 meters, turn left, go straight 1.7 meters, stop. Search for and approach Plant. Bypass humans while moving."
95
+ }
96
+ }
97
+ }
98
+ ],
99
+ "preprocessing": {
100
+ "wait_interpolated": true,
101
+ "min_wait_s": 2.0,
102
+ "yaw_skip_deg": 20.0,
103
+ "wait_time_interval": 0.5,
104
+ "original_waypoints": 100,
105
+ "wait_segments": 0,
106
+ "movement_segments": 99,
107
+ "interpolated_waypoints": 0,
108
+ "processed_waypoints": 100
109
+ }
110
+ }
annotations/test/concise/car/MV7J6NIKTKJZ2AABAAAAAAI8_usd/final_episode_1.json ADDED
@@ -0,0 +1,110 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "scenarios": [
3
+ {
4
+ "id": "grscene_commercial11",
5
+ "scene": {
6
+ "category": "GRScenes",
7
+ "type": "usd_stage",
8
+ "usd_path": "GRScenes/commercial_scenes/scenes/MV7J6NIKTKJZ2AABAAAAAAI8_usd/start_result_navigation.usd",
9
+ "root_prim_path": "/World",
10
+ "navmesh_root_prim_path": "/World",
11
+ "notes": "GRScenes sample; replace usd_path with the specific scene asset.",
12
+ "units_in_meters": 0.01
13
+ },
14
+ "navmesh": {
15
+ "bake_root_prim_path": "Meshes/Base/ground",
16
+ "include_volume_parent": "/World/NavMesh",
17
+ "z_padding": 2.0,
18
+ "agent_radius": 10.0,
19
+ "min_include_volume_size": {
20
+ "xy": 10.0,
21
+ "z": 3.0
22
+ },
23
+ "spawn_min_separation_m": 2.0,
24
+ "max_step_height": 30
25
+ },
26
+ "virtual_humans": {
27
+ "category": "GRScenes",
28
+ "count": 0,
29
+ "name_sequence": [
30
+ "Character"
31
+ ],
32
+ "assets": {
33
+ "Character": "original_male_adult_medical_01/male_adult_medical_01.usd"
34
+ },
35
+ "asset_root": {
36
+ "fallback": "",
37
+ "path": "IsaacAssets/People/Characters"
38
+ },
39
+ "spawn_policy": {
40
+ "type": "navmesh_random",
41
+ "notes": "Delegates to CharacterRandomizer.get_random_position using full navmesh coverage."
42
+ },
43
+ "spawn_points": [
44
+ {
45
+ "name": "Character",
46
+ "position": [
47
+ -220.0,
48
+ -820.0,
49
+ 0.0
50
+ ],
51
+ "orientation_deg": -90.0
52
+ }
53
+ ],
54
+ "normalize_on_spawn": true,
55
+ "move_routes": [
56
+ {
57
+ "name": "Character",
58
+ "commands": [
59
+ "Character LookAround 5.0",
60
+ "Character Idle 1.0"
61
+ ]
62
+ }
63
+ ]
64
+ },
65
+ "robots": {
66
+ "category": "GRScenes",
67
+ "entries": [
68
+ {
69
+ "type": "carter_v1",
70
+ "label": "keyboard_carter",
71
+ "spawn_path": "/carter_v1",
72
+ "usd_path": "robots/Carter/carter_v1.usd",
73
+ "scale": 1,
74
+ "initial_pose": {
75
+ "position": [
76
+ 340.0,
77
+ -100.0,
78
+ 24.0
79
+ ],
80
+ "orientation_deg": -90.0
81
+ },
82
+ "control": {
83
+ "mode": "keyboard_diff_drive",
84
+ "params": {
85
+ "base_velocity": 0.6,
86
+ "base_turn_rate": 1.2
87
+ }
88
+ }
89
+ }
90
+ ]
91
+ },
92
+ "task": {
93
+ "navigation": {
94
+ "instruction": "Advance 3.7 meters. Turn right and approach a blue trash can on your left within your field of view, stop. Answer with a number: How many office chairs did you just pass by? Bypass humans while moving."
95
+ }
96
+ }
97
+ }
98
+ ],
99
+ "preprocessing": {
100
+ "wait_interpolated": true,
101
+ "min_wait_s": 2.0,
102
+ "yaw_skip_deg": 20.0,
103
+ "wait_time_interval": 0.5,
104
+ "original_waypoints": 80,
105
+ "wait_segments": 0,
106
+ "movement_segments": 79,
107
+ "interpolated_waypoints": 0,
108
+ "processed_waypoints": 80
109
+ }
110
+ }
annotations/test/concise/car/MV7J6NIKTKJZ2AABAAAAAAI8_usd/final_episode_2.json ADDED
@@ -0,0 +1,110 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "scenarios": [
3
+ {
4
+ "id": "grscene_commercial11",
5
+ "scene": {
6
+ "category": "GRScenes",
7
+ "type": "usd_stage",
8
+ "usd_path": "GRScenes/commercial_scenes/scenes/MV7J6NIKTKJZ2AABAAAAAAI8_usd/start_result_navigation.usd",
9
+ "root_prim_path": "/World",
10
+ "navmesh_root_prim_path": "/World",
11
+ "notes": "GRScenes sample; replace usd_path with the specific scene asset.",
12
+ "units_in_meters": 0.01
13
+ },
14
+ "navmesh": {
15
+ "bake_root_prim_path": "Meshes/Base/ground",
16
+ "include_volume_parent": "/World/NavMesh",
17
+ "z_padding": 2.0,
18
+ "agent_radius": 10.0,
19
+ "min_include_volume_size": {
20
+ "xy": 10.0,
21
+ "z": 3.0
22
+ },
23
+ "spawn_min_separation_m": 2.0,
24
+ "max_step_height": 30
25
+ },
26
+ "virtual_humans": {
27
+ "category": "GRScenes",
28
+ "count": 0,
29
+ "name_sequence": [
30
+ "Character"
31
+ ],
32
+ "assets": {
33
+ "Character": "original_male_adult_medical_01/male_adult_medical_01.usd"
34
+ },
35
+ "asset_root": {
36
+ "fallback": "",
37
+ "path": "IsaacAssets/People/Characters"
38
+ },
39
+ "spawn_policy": {
40
+ "type": "navmesh_random",
41
+ "notes": "Delegates to CharacterRandomizer.get_random_position using full navmesh coverage."
42
+ },
43
+ "spawn_points": [
44
+ {
45
+ "name": "Character",
46
+ "position": [
47
+ -220.0,
48
+ -820.0,
49
+ 0.0
50
+ ],
51
+ "orientation_deg": -90.0
52
+ }
53
+ ],
54
+ "normalize_on_spawn": true,
55
+ "move_routes": [
56
+ {
57
+ "name": "Character",
58
+ "commands": [
59
+ "Character LookAround 5.0",
60
+ "Character Idle 1.0"
61
+ ]
62
+ }
63
+ ]
64
+ },
65
+ "robots": {
66
+ "category": "GRScenes",
67
+ "entries": [
68
+ {
69
+ "type": "carter_v1",
70
+ "label": "keyboard_carter",
71
+ "spawn_path": "/carter_v1",
72
+ "usd_path": "robots/Carter/carter_v1.usd",
73
+ "scale": 1,
74
+ "initial_pose": {
75
+ "position": [
76
+ -20.0,
77
+ -500.0,
78
+ 24.0
79
+ ],
80
+ "orientation_deg": 0.0
81
+ },
82
+ "control": {
83
+ "mode": "keyboard_diff_drive",
84
+ "params": {
85
+ "base_velocity": 0.6,
86
+ "base_turn_rate": 1.2
87
+ }
88
+ }
89
+ }
90
+ ]
91
+ },
92
+ "task": {
93
+ "navigation": {
94
+ "instruction": "Go straight 4.4 meters. Turn left and approach Printer, stop. Answer yes or no: In your memory, is blue trash can next to black office chair? Bypass humans while moving."
95
+ }
96
+ }
97
+ }
98
+ ],
99
+ "preprocessing": {
100
+ "wait_interpolated": true,
101
+ "min_wait_s": 2.0,
102
+ "yaw_skip_deg": 20.0,
103
+ "wait_time_interval": 0.5,
104
+ "original_waypoints": 115,
105
+ "wait_segments": 0,
106
+ "movement_segments": 114,
107
+ "interpolated_waypoints": 0,
108
+ "processed_waypoints": 115
109
+ }
110
+ }
annotations/test/concise/car/MV7J6NIKTKJZ2AABAAAAAAI8_usd/final_episode_3.json ADDED
@@ -0,0 +1,110 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "scenarios": [
3
+ {
4
+ "id": "grscene_commercial11",
5
+ "scene": {
6
+ "category": "GRScenes",
7
+ "type": "usd_stage",
8
+ "usd_path": "GRScenes/commercial_scenes/scenes/MV7J6NIKTKJZ2AABAAAAAAI8_usd/start_result_navigation.usd",
9
+ "root_prim_path": "/World",
10
+ "navmesh_root_prim_path": "/World",
11
+ "notes": "GRScenes sample; replace usd_path with the specific scene asset.",
12
+ "units_in_meters": 0.01
13
+ },
14
+ "navmesh": {
15
+ "bake_root_prim_path": "Meshes/Base/ground",
16
+ "include_volume_parent": "/World/NavMesh",
17
+ "z_padding": 2.0,
18
+ "agent_radius": 10.0,
19
+ "min_include_volume_size": {
20
+ "xy": 10.0,
21
+ "z": 3.0
22
+ },
23
+ "spawn_min_separation_m": 2.0,
24
+ "max_step_height": 30
25
+ },
26
+ "virtual_humans": {
27
+ "category": "GRScenes",
28
+ "count": 0,
29
+ "name_sequence": [
30
+ "Character"
31
+ ],
32
+ "assets": {
33
+ "Character": "original_male_adult_medical_01/male_adult_medical_01.usd"
34
+ },
35
+ "asset_root": {
36
+ "fallback": "",
37
+ "path": "IsaacAssets/People/Characters"
38
+ },
39
+ "spawn_policy": {
40
+ "type": "navmesh_random",
41
+ "notes": "Delegates to CharacterRandomizer.get_random_position using full navmesh coverage."
42
+ },
43
+ "spawn_points": [
44
+ {
45
+ "name": "Character",
46
+ "position": [
47
+ -220.0,
48
+ -820.0,
49
+ 0.0
50
+ ],
51
+ "orientation_deg": -90.0
52
+ }
53
+ ],
54
+ "normalize_on_spawn": true,
55
+ "move_routes": [
56
+ {
57
+ "name": "Character",
58
+ "commands": [
59
+ "Character LookAround 5.0",
60
+ "Character Idle 1.0"
61
+ ]
62
+ }
63
+ ]
64
+ },
65
+ "robots": {
66
+ "category": "GRScenes",
67
+ "entries": [
68
+ {
69
+ "type": "carter_v1",
70
+ "label": "keyboard_carter",
71
+ "spawn_path": "/carter_v1",
72
+ "usd_path": "robots/Carter/carter_v1.usd",
73
+ "scale": 1,
74
+ "initial_pose": {
75
+ "position": [
76
+ 380.0,
77
+ -100.0,
78
+ 24.0
79
+ ],
80
+ "orientation_deg": -90.0
81
+ },
82
+ "control": {
83
+ "mode": "keyboard_diff_drive",
84
+ "params": {
85
+ "base_velocity": 0.6,
86
+ "base_turn_rate": 1.2
87
+ }
88
+ }
89
+ }
90
+ ]
91
+ },
92
+ "task": {
93
+ "navigation": {
94
+ "instruction": "Advance 3.9 meters, turn right, proceed 3.6 meters, stop. Search for and approach Printer. Bypass humans while moving."
95
+ }
96
+ }
97
+ }
98
+ ],
99
+ "preprocessing": {
100
+ "wait_interpolated": true,
101
+ "min_wait_s": 2.0,
102
+ "yaw_skip_deg": 20.0,
103
+ "wait_time_interval": 0.5,
104
+ "original_waypoints": 220,
105
+ "wait_segments": 1,
106
+ "movement_segments": 218,
107
+ "interpolated_waypoints": 5,
108
+ "processed_waypoints": 224
109
+ }
110
+ }
annotations/test/concise/car/MV7J6NIKTKJZ2AABAAAAADI8_usd/final_episode_5.json ADDED
The diff for this file is too large to render. See raw diff
 
annotations/test/concise/car/MV7J6NIKTKJZ2AABAAAAADQ8_usd/final_episode_5.json ADDED
@@ -0,0 +1,161 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "scenarios": [
3
+ {
4
+ "id": "grscene_home03",
5
+ "scene": {
6
+ "category": "GRScenes",
7
+ "type": "usd_stage",
8
+ "usd_path": "GRScenes/home_scenes/scenes/MV7J6NIKTKJZ2AABAAAAADQ8_usd/start_result_navigation.usd",
9
+ "root_prim_path": "/World",
10
+ "navmesh_root_prim_path": "/World",
11
+ "notes": "GRScenes sample; replace usd_path with the specific scene asset.",
12
+ "units_in_meters": 0.01
13
+ },
14
+ "navmesh": {
15
+ "bake_root_prim_path": "Meshes/Base/ground",
16
+ "include_volume_parent": "/World/NavMesh",
17
+ "z_padding": 2.0,
18
+ "agent_radius": 10.0,
19
+ "min_include_volume_size": {
20
+ "xy": 10.0,
21
+ "z": 3.0
22
+ },
23
+ "spawn_min_separation_m": 2.0,
24
+ "max_step_height": 30
25
+ },
26
+ "virtual_humans": {
27
+ "category": "GRScenes",
28
+ "count": 1,
29
+ "name_sequence": [
30
+ "Character"
31
+ ],
32
+ "assets": {
33
+ "Character": "male_adult_construction_03/male_adult_construction_03.usd"
34
+ },
35
+ "asset_root": {
36
+ "fallback": "",
37
+ "path": "IsaacAssets/People/Characters"
38
+ },
39
+ "spawn_policy": {
40
+ "type": "navmesh_random",
41
+ "notes": "Delegates to CharacterRandomizer.get_random_position using full navmesh coverage."
42
+ },
43
+ "spawn_points": [
44
+ {
45
+ "name": "Character",
46
+ "position": [
47
+ -40.0,
48
+ 245.0,
49
+ 0.0
50
+ ],
51
+ "orientation_deg": 0.0
52
+ }
53
+ ],
54
+ "normalize_on_spawn": true,
55
+ "move_routes": [
56
+ {
57
+ "name": "Character",
58
+ "commands": [
59
+ "Character LookAround 5.0",
60
+ "Character Idle 1.0",
61
+ "Character GoTo -20.0 -85.0 0.0 _",
62
+ "Character Idle 1.0",
63
+ "Character GoTo -40.0 245.0 0.0 _",
64
+ "Character Idle 1.0",
65
+ "Character GoTo -20.0 -85.0 0.0 _",
66
+ "Character Idle 1.0",
67
+ "Character GoTo -40.0 245.0 0.0 _",
68
+ "Character Idle 1.0",
69
+ "Character GoTo -20.0 -85.0 0.0 _",
70
+ "Character Idle 1.0",
71
+ "Character GoTo -40.0 245.0 0.0 _",
72
+ "Character Idle 1.0",
73
+ "Character GoTo -20.0 -85.0 0.0 _",
74
+ "Character Idle 1.0",
75
+ "Character GoTo -40.0 245.0 0.0 _",
76
+ "Character Idle 1.0",
77
+ "Character GoTo -20.0 -85.0 0.0 _",
78
+ "Character Idle 1.0",
79
+ "Character GoTo -40.0 245.0 0.0 _",
80
+ "Character Idle 1.0",
81
+ "Character GoTo -20.0 -85.0 0.0 _",
82
+ "Character Idle 1.0",
83
+ "Character GoTo -40.0 245.0 0.0 _",
84
+ "Character Idle 1.0",
85
+ "Character GoTo -20.0 -85.0 0.0 _",
86
+ "Character Idle 1.0",
87
+ "Character GoTo -40.0 245.0 0.0 _",
88
+ "Character Idle 1.0",
89
+ "Character GoTo -20.0 -85.0 0.0 _",
90
+ "Character Idle 1.0",
91
+ "Character GoTo -40.0 245.0 0.0 _",
92
+ "Character Idle 1.0",
93
+ "Character GoTo -20.0 -85.0 0.0 _",
94
+ "Character Idle 1.0",
95
+ "Character GoTo -40.0 245.0 0.0 _",
96
+ "Character Idle 1.0",
97
+ "Character GoTo -20.0 -85.0 0.0 _",
98
+ "Character Idle 1.0",
99
+ "Character GoTo -40.0 245.0 0.0 _",
100
+ "Character Idle 1.0",
101
+ "Character GoTo -20.0 -85.0 0.0 _",
102
+ "Character Idle 1.0",
103
+ "Character GoTo -40.0 245.0 0.0 _",
104
+ "Character Idle 1.0",
105
+ "Character GoTo -20.0 -85.0 0.0 _",
106
+ "Character Idle 1.0",
107
+ "Character GoTo -40.0 245.0 0.0 _",
108
+ "Character Idle 1.0",
109
+ "Character GoTo -20.0 -85.0 0.0 _",
110
+ "Character Idle 1.0",
111
+ "Character GoTo -40.0 245.0 0.0 _",
112
+ "Character Idle 1.0"
113
+ ]
114
+ }
115
+ ]
116
+ },
117
+ "robots": {
118
+ "category": "GRScenes",
119
+ "entries": [
120
+ {
121
+ "type": "carter_v1",
122
+ "label": "keyboard_carter",
123
+ "spawn_path": "/carter_v1",
124
+ "usd_path": "robots/Carter/carter_v1.usd",
125
+ "initial_pose": {
126
+ "position": [
127
+ 230.0,
128
+ -80.0,
129
+ 24.0
130
+ ],
131
+ "orientation_deg": 180.0
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+ "task": {
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+ "navigation": {
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annotations/test/concise/car/MV7J6NIKTKJZ2AABAAAAADY8_usd/final_episode_3.json ADDED
@@ -0,0 +1,59 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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+ {
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+ "scenarios": [
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+ "id": "grscene_home04",
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+ "root_prim_path": "/World",
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+ "navmesh_root_prim_path": "/World",
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+ "notes": "GRScenes sample; replace usd_path with the specific scene asset.",
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+ }
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+ },
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+ "task": {
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+ "navigation": {
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+ "instruction": "Walk straight out of the bedroom, turn left. Continue straight past a spinning chair, turn right. Walk straight through the living room to the balcony, find the washing machine, then return to the spinning chair."
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+ }
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+ }
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+ }
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