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| "annotated_data/cut_sausage/frames/episode_9_cam_high/251.jpg" |
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| "task": "Use the right arm to pick up the knife from the knife holder, cut a small piece of sausage and put it back on the knife holder.", |
| "failure_detection": "yes", |
| "subtasks": [ |
| "1. Move the right arm to align with the knife holder.", |
| "2. Grasp the knife.", |
| "3. Move the right arm to align with the sausage.", |
| "4. Cut a small piece of sausage.", |
| "5. Move the right arm to align with the knife holder.", |
| "6. Place the knife back on the knife holder." |
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| "failure_subtask": "1", |
| "failure_type": "gripper 6d-pose", |
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| "correct_keyframe": "annotated_data/cut_sausage/frames/episode_9_cam_high/193_correct_keyframe.jpg" |
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| "avoidance": [ |
| { |
| "low_level": "Move the right gripper to the right slightly, and downward significantly.", |
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| "annotated_data/cut_sausage/frames/episode_8_cam_high/232.jpg" |
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| "task": "Use the right arm to pick up the knife from the knife holder, cut a small piece of sausage and put it back on the knife holder.", |
| "failure_detection": "yes", |
| "subtasks": [ |
| "1. Move the right arm to align with the knife holder.", |
| "2. Grasp the knife.", |
| "3. Move the right arm to align with the sausage.", |
| "4. Cut a small piece of sausage.", |
| "5. Move the right arm to align with the knife holder.", |
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| "failure_subtask": "1", |
| "failure_type": "gripper 6d-pose", |
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| "avoidance": [ |
| { |
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| "task": "Use the right arm to pick up the knife from the knife holder, cut a small piece of sausage and put it back on the knife holder.", |
| "failure_detection": "yes", |
| "images": [ |
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| "subtasks": [ |
| "1. Move the right arm to align with the knife holder.", |
| "2. Grasp the knife.", |
| "3. Move the right arm to align with the sausage.", |
| "4. Cut a small piece of sausage.", |
| "5. Move the right arm to align with the knife holder.", |
| "6. Place the knife back on the knife holder." |
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| "failure_subtask": "3", |
| "failure_type": "gripper 6d-pose", |
| "avoidance": [ |
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| "avoid_keyframe_annotations": "annotated_data/cut_sausage/frames/episode_32_cam_high/238_avoid_keyframe_annotations.jpg", |
| "avoid_keyframe_annotations_code": [ |
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| "task": "Use the right arm to pick up the knife from the knife holder, cut a small piece of sausage and put it back on the knife holder.", |
| "failure_detection": "yes", |
| "subtasks": [ |
| "1. Move the right arm to align with the knife holder.", |
| "2. Grasp the knife.", |
| "3. Move the right arm to align with the sausage.", |
| "4. Cut a small piece of sausage.", |
| "5. Move the right arm to align with the knife holder.", |
| "6. Place the knife back on the knife holder." |
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| "failure_subtask": "1", |
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| "correct_keyframe": "annotated_data/cut_sausage/frames/episode_20_cam_high/190_correct_keyframe.jpg" |
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| "avoidance": [ |
| { |
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| "avoid_keyframe_annotations_code": [ |
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| { |
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| "task": "Use the right arm to pick up the knife from the knife holder, cut a small piece of sausage and put it back on the knife holder.", |
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| "2. Grasp the knife.", |
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| "task": "Use the right arm to pick up the knife from the knife holder, cut a small piece of sausage and put it back on the knife holder.", |
| "failure_detection": "yes", |
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