{
  "dataset": "REBOOT26/sample_recovery-demonstrations",
  "task_id": "16mm-cylinder-install",
  "task_description": "Pick the 16mm cylinder and install on the taskboard",
  "fps": 30,
  "num_episodes": 60,
  "phase_names": [
    "Align (pick)",
    "Engage (pick)",
    "Transport",
    "Align (place)",
    "Engage (place)"
  ],
  "episodes": [
    {
      "repo_id": "REBOOT26/sample_recovery-demonstrations",
      "task_id": "16mm-cylinder-install",
      "episode_index": "00",
      "task_description": "Pick the 16mm cylinder and install on the taskboard",
      "episode_type": "recovery",
      "duration_frames": 897,
      "fps": 30,
      "phase_boundaries": {
        "tau_0": 0,
        "tau_1": 180,
        "tau_2": 570,
        "tau_3": 660,
        "tau_4": 780,
        "tau_5": 897
      },
      "phase_names": [
        "Align (pick)",
        "Engage (pick)",
        "Transport",
        "Align (place)",
        "Engage (place)"
      ],
      "failure": {
        "originating_phase": 1,
        "failure_mode": "misalignment",
        "induced_at_frame": 180,
        "recovery_started_at_frame": 330,
        "language_description": "Gripper misaligned with cylinder and knocks it over; recover by realignment of object with left arm and complete placement task."
      },
      "operator_id": "op-00",
      "collection_session": "2026-04-15"
    },
    {
      "repo_id": "REBOOT26/sample_recovery-demonstrations",
      "task_id": "16mm-cylinder-install",
      "episode_index": "01",
      "task_description": "Pick the 16mm cylinder and install on the taskboard",
      "episode_type": "recovery",
      "duration_frames": 897,
      "fps": 30,
      "phase_boundaries": {
        "tau_0": 0,
        "tau_1": 210,
        "tau_2": 450,
        "tau_3": 510,
        "tau_4": 630,
        "tau_5": 897
      },
      "phase_names": [
        "Align (pick)",
        "Engage (pick)",
        "Transport",
        "Align (place)",
        "Engage (place)"
      ],
      "failure": {
        "originating_phase": 1,
        "failure_mode": "misalignment",
        "induced_at_frame": 180,
        "recovery_started_at_frame": 330,
        "language_description": "Misalignment with object; reoriented arm to align grippers with object center."
      },
      "operator_id": "op-01",
      "collection_session": "2026-04-15"
    },
    {
      "repo_id": "REBOOT26/sample_recovery-demonstrations",
      "task_id": "16mm-cylinder-install",
      "episode_index": "02",
      "task_description": "Pick the 16mm cylinder and install on the taskboard",
      "episode_type": "recovery",
      "duration_frames": 897,
      "fps": 30,
      "phase_boundaries": {
        "tau_0": 0,
        "tau_1": 180,
        "tau_2": 330,
        "tau_3": 450,
        "tau_4": 780,
        "tau_5": 897
      },
      "phase_names": [
        "Align (pick)",
        "Engage (pick)",
        "Transport",
        "Align (place)",
        "Engage (place)"
      ],
      "failure": {
        "originating_phase": 4,
        "failure_mode": "misalignment",
        "induced_at_frame": 360,
        "recovery_started_at_frame": 660,
        "language_description": "Misalignment with goal; picked up object, realigned grippers with object center and completed task."
      },
      "operator_id": "op-01",
      "collection_session": "2026-04-15"
    },
    {
      "repo_id": "REBOOT26/sample_recovery-demonstrations",
      "task_id": "16mm-cylinder-install",
      "episode_index": "03",
      "task_description": "Pick the 16mm cylinder and install on the taskboard",
      "episode_type": "recovery",
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      "fps": 30,
      "phase_boundaries": {
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        "tau_2": 420,
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        "tau_4": 660,
        "tau_5": 897
      },
      "phase_names": [
        "Align (pick)",
        "Engage (pick)",
        "Transport",
        "Align (place)",
        "Engage (place)"
      ],
      "failure": {
        "originating_phase": 2,
        "failure_mode": "slip",
        "induced_at_frame": 180,
        "recovery_started_at_frame": 330,
        "language_description": "Slip of grippers on object; reoriented arm to align grippers with object center."
      },
      "operator_id": "op-01",
      "collection_session": "2026-04-15"
    },
    {
      "repo_id": "REBOOT26/sample_recovery-demonstrations",
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      "episode_index": "04",
      "task_description": "Pick the 16mm cylinder and install on the taskboard",
      "episode_type": "recovery",
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      "fps": 30,
      "phase_boundaries": {
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        "tau_2": 480,
        "tau_3": 570,
        "tau_4": 690,
        "tau_5": 897
      },
      "phase_names": [
        "Align (pick)",
        "Engage (pick)",
        "Transport",
        "Align (place)",
        "Engage (place)"
      ],
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        "originating_phase": 1,
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        "recovery_started_at_frame": 480,
        "language_description": "Misalignment with object; reoriented arm to align grippers with object center."
      },
      "operator_id": "op-01",
      "collection_session": "2026-04-15"
    },
    {
      "repo_id": "REBOOT26/sample_recovery-demonstrations",
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      "episode_index": "05",
      "task_description": "Pick the 16mm cylinder and install on the taskboard",
      "episode_type": "recovery",
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      "fps": 30,
      "phase_boundaries": {
        "tau_0": 0,
        "tau_1": 150,
        "tau_2": 570,
        "tau_3": 600,
        "tau_4": 690,
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      },
      "phase_names": [
        "Align (pick)",
        "Engage (pick)",
        "Transport",
        "Align (place)",
        "Engage (place)"
      ],
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        "failure_mode": "misalignment",
        "induced_at_frame": 180,
        "recovery_started_at_frame": 360,
        "language_description": "Gripper misaligned with cylinder; recover by realignment and picking object."
      },
      "operator_id": "op-01",
      "collection_session": "2026-04-15"
    },
    {
      "repo_id": "REBOOT26/sample_recovery-demonstrations",
      "task_id": "16mm-cylinder-install",
      "episode_index": "06",
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      "episode_type": "recovery",
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      "fps": 30,
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        "tau_3": 540,
        "tau_4": 720,
        "tau_5": 897
      },
      "phase_names": [
        "Align (pick)",
        "Engage (pick)",
        "Transport",
        "Align (place)",
        "Engage (place)"
      ],
      "failure": {
        "originating_phase": 1,
        "failure_mode": "misalignment",
        "induced_at_frame": 150,
        "recovery_started_at_frame": 390 ,
        "language_description": "Misalignment with object; reoriented arm to align grippers with object center."
      },
      "operator_id": "op-01",
      "collection_session": "2026-04-15"
    },
    {
      "repo_id": "REBOOT26/sample_recovery-demonstrations",
      "task_id": "16mm-cylinder-install",
      "episode_index": "07",
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      "episode_type": "recovery",
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      "phase_boundaries": {
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        "tau_2": 420,
        "tau_3": 540,
        "tau_4": 600,
        "tau_5": 897
      },
      "phase_names": [
        "Align (pick)",
        "Engage (pick)",
        "Transport",
        "Align (place)",
        "Engage (place)"
      ],
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        "recovery_started_at_frame": 390,
        "language_description": "Misalignment with object; reoriented arm to align grippers with object center."
      },
      "operator_id": "op-00",
      "collection_session": "initial"
    },
    {
      "repo_id": "REBOOT26/sample_recovery-demonstrations",
      "task_id": "16mm-cylinder-install",
      "episode_index": "08",
      "task_description": "Pick the 16mm cylinder and install on the taskboard",
      "episode_type": "recovery",
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      "fps": 30,
      "phase_boundaries": {
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        "tau_3": 570,
        "tau_4": 600,
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      },
      "phase_names": [
        "Align (pick)",
        "Engage (pick)",
        "Transport",
        "Align (place)",
        "Engage (place)"
      ],
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        "originating_phase": 1,
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        "recovery_started_at_frame": 390,
        "language_description": "Misalignment with object; reoriented arm to align grippers with object center."
      },
      "operator_id": "op-01",
      "collection_session": "2026-04-15"
    },
    {
      "repo_id": "REBOOT26/sample_recovery-demonstrations",
      "task_id": "16mm-cylinder-install",
      "episode_index": "09",
      "task_description": "Pick the 16mm cylinder and install on the taskboard",
      "episode_type": "recovery",
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      "fps": 30,
      "phase_boundaries": {
        "tau_0": 0,
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        "tau_2": 450,
        "tau_3": 540,
        "tau_4": 600,
        "tau_5": 897
      },
      "phase_names": [
        "Align (pick)",
        "Engage (pick)",
        "Transport",
        "Align (place)",
        "Engage (place)"
      ],
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        "failure_mode": "misalignment",
        "induced_at_frame": 120,
        "recovery_started_at_frame": 360,
        "language_description": "Misalignment with object; reoriented arm to align grippers with object center."
      },
      "operator_id": "op-01",
      "collection_session": "2026-04-15"
    },
    {
      "repo_id": "REBOOT26/sample_recovery-demonstrations",
      "task_id": "16mm-cylinder-install",
      "episode_index": "10",
      "task_description": "Pick the 16mm cylinder and install on the taskboard",
      "episode_type": "recovery",
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      "fps": 30,
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        "tau_1": 120,
        "tau_2": 300,
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        "tau_4": 600,
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      },
      "phase_names": [
        "Align (pick)",
        "Engage (pick)",
        "Transport",
        "Align (place)",
        "Engage (place)"
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        "failure_mode": "slip",
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        "recovery_started_at_frame": 270,
        "language_description": "Misalignment with object; reoriented arm to align grippers with object center."
      },
      "operator_id": "op-01",
      "collection_session": "2026-04-15"
    },
    {
      "repo_id": "REBOOT26/sample_recovery-demonstrations",
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      "episode_index": "11",
      "task_description": "Pick the 16mm cylinder and install on the taskboard",
      "episode_type": "recovery",
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      "fps": 30,
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        "tau_1": 150,
        "tau_2": 240,
        "tau_3": 450,
        "tau_4": 630,
        "tau_5": 897
      },
      "phase_names": [
        "Align (pick)",
        "Engage (pick)",
        "Transport",
        "Align (place)",
        "Engage (place)"
      ],
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        "originating_phase": 2,
        "failure_mode": "slip",
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        "language_description": "Slip of grippers on object; reoriented arm to align grippers with object center."
      },
      "operator_id": "op-01",
      "collection_session": "2026-04-15"
    },
    {
      "repo_id": "REBOOT26/sample_recovery-demonstrations",
      "task_id": "16mm-cylinder-install",
      "episode_index": "12",
      "task_description": "Pick the 16mm cylinder and install on the taskboard",
      "episode_type": "recovery",
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      "fps": 30,
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        "tau_1": 210,
        "tau_2": 480,
        "tau_3": 540,
        "tau_4": 660,
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      },
      "phase_names": [
        "Align (pick)",
        "Engage (pick)",
        "Transport",
        "Align (place)",
        "Engage (place)"
      ],
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        "failure_mode": "misalignment",
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        "language_description": "Slip of grippers on object; reoriented arm to align grippers with object center."
      },
      "operator_id": "op-01",
      "collection_session": "2026-04-15"
    },
    {
      "repo_id": "REBOOT26/sample_recovery-demonstrations",
      "task_id": "16mm-cylinder-install",
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      "task_description": "Pick the 16mm cylinder and install on the taskboard",
      "episode_type": "recovery",
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        "tau_4": 660,
        "tau_5": 897
      },
      "phase_names": [
        "Align (pick)",
        "Engage (pick)",
        "Transport",
        "Align (place)",
        "Engage (place)"
      ],
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        "recovery_started_at_frame": 420,
        "language_description": "Misalignment with object; reoriented arm to align grippers with object center."
      },
      "operator_id": "op-01",
      "collection_session": "2026-04-15"
    },
    {
      "repo_id": "REBOOT26/sample_recovery-demonstrations",
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      "task_description": "Pick the 16mm cylinder and install on the taskboard",
      "episode_type": "recovery",
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        "tau_4": 690,
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      },
      "phase_names": [
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        "Engage (pick)",
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        "Align (place)",
        "Engage (place)"
      ],
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        "failure_mode": "misalignment",
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        "recovery_started_at_frame": 330,
        "language_description": "Misalignment with object; reoriented arm to align grippers with object center."
      },
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      "collection_session": "2026-04-15"
    },
    {
      "repo_id": "REBOOT26/sample_recovery-demonstrations",
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      "episode_index": "15",
      "task_description": "Pick the 16mm cylinder and install on the taskboard",
      "episode_type": "recovery",
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        "tau_3": 600,
        "tau_4": 660,
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      },
      "phase_names": [
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        "Engage (pick)",
        "Transport",
        "Align (place)",
        "Engage (place)"
      ],
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        "recovery_started_at_frame": 360,
        "language_description": "Misalignment with object; reoriented arm to align grippers with object center."
      },
      "operator_id": "op-01",
      "collection_session": "2026-04-15"
    },
    {
      "repo_id": "REBOOT26/sample_recovery-demonstrations",
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      "task_description": "Pick the 16mm cylinder and install on the taskboard",
      "episode_type": "recovery",
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        "tau_3": 600,
        "tau_4": 660,
        "tau_5": 897
      },
      "phase_names": [
        "Align (pick)",
        "Engage (pick)",
        "Transport",
        "Align (place)",
        "Engage (place)"
      ],
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        "failure_mode": "misalignment",
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        "recovery_started_at_frame": 420,
        "language_description": "Misalignment with object; reoriented arm to align grippers with object center."
      },
      "operator_id": "op-01",
      "collection_session": "2026-04-15"
    },
    {
      "repo_id": "REBOOT26/sample_recovery-demonstrations",
      "task_id": "16mm-cylinder-install",
      "episode_index": "17",
      "task_description": "Pick the 16mm cylinder and install on the taskboard",
      "episode_type": "recovery",
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      "fps": 30,
      "phase_boundaries": {
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        "tau_1": 180,
        "tau_2": 450,
        "tau_3": 750,
        "tau_4": 810,
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      },
      "phase_names": [
        "Align (pick)",
        "Engage (pick)",
        "Transport",
        "Align (place)",
        "Engage (place)"
      ],
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        "originating_phase": 2,
        "failure_mode": "slip",
        "induced_at_frame": 270,
        "recovery_started_at_frame": 420,
        "language_description": "Slip of grippers on object; coordinate arms to realign object."
      },
      "operator_id": "op-01",
      "collection_session": "2026-04-15"
    },
    {
      "repo_id": "REBOOT26/sample_recovery-demonstrations",
      "task_id": "16mm-cylinder-install",
      "episode_index": "18",
      "task_description": "Pick the 16mm cylinder and install on the taskboard",
      "episode_type": "recovery",
      "duration_frames": 897,
      "fps": 30,
      "phase_boundaries": {
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        "tau_2": 450,
        "tau_3": 540,
        "tau_4": 630,
        "tau_5": 897
      },
      "phase_names": [
        "Align (pick)",
        "Engage (pick)",
        "Transport",
        "Align (place)",
        "Engage (place)"
      ],
      "failure": {
        "originating_phase": 2,
        "failure_mode": "jamming",
        "induced_at_frame": 150,
        "recovery_started_at_frame": 420,
        "language_description": "Gripper jams against object; realign grippers, open before contact with object"
      },
      "operator_id": "op-01",
      "collection_session": "2026-04-15"
    },
    {
      "repo_id": "REBOOT26/sample_recovery-demonstrations",
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      "episode_index": "19",
      "task_description": "Pick the 16mm cylinder and install on the taskboard",
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        "tau_1": 240,
        "tau_2": 510,
        "tau_3": 540,
        "tau_4": 660,
        "tau_5": 897
      },
      "phase_names": [
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        "Engage (pick)",
        "Transport",
        "Align (place)",
        "Engage (place)"
      ],
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        "recovery_started_at_frame": 480,
        "language_description": "Slip of grippers on object; reoriented arm to align grippers with object center."
      },
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      "collection_session": "2026-04-15"
    },
    {
      "repo_id": "REBOOT26/sample_recovery-demonstrations",
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      "episode_index": "20",
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        "tau_1": 180,
        "tau_2": 480,
        "tau_3": 720,
        "tau_4": 840,
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      },
      "phase_names": [
        "Align (pick)",
        "Engage (pick)",
        "Transport",
        "Align (place)",
        "Engage (place)"
      ],
      "failure": {
        "originating_phase": 2,
        "failure_mode": "slip",
        "induced_at_frame": 300,
        "recovery_started_at_frame": 480,
        "language_description": "Slip"
      },
      "operator_id": "op-01",
      "collection_session": "2026-04-15"
    },
    {
      "repo_id": "REBOOT26/sample_recovery-demonstrations",
      "task_id": "16mm-cylinder-install",
      "episode_index": "21",
      "task_description": "Pick the 16mm cylinder and install on the taskboard",
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      },
      "phase_names": [
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        "Transport",
        "Align (place)",
        "Engage (place)"
      ],
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        "recovery_started_at_frame": 420,
        "language_description": "Slip of grippers on object; reoriented arm to align grippers with object center."
      },
      "operator_id": "op-01",
      "collection_session": "2026-04-15"
    },
    {
      "repo_id": "REBOOT26/sample_recovery-demonstrations",
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      "episode_index": "22",
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      },
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      },
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    },
    {
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      "episode_index": "23",
      "task_description": "Pick the 16mm cylinder and install on the taskboard",
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        "tau_5": 897
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    {
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    {
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        "tau_2": 510,
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        "tau_4": 660,
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      },
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    {
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    {
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    {
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    {
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}