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+[
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+                    }
+                ]
+            }
+        ],
+        "correction": [
+            {
+                "low_level": "Move the left gripper to the left slightly, backward slightly, and downward significantly.",
+                "correct_keyframe_annotations": "annotated_data/pour_sausage_into_pot/frames/episode_6_cam_high/194_correct_keyframe_annotations.jpg",
+                "correct_keyframe_annotations_code": [
+                    {
+                        "type": "move_arrow",
+                        "start": [
+                            189,
+                            195
+                        ],
+                        "end": [
+                            162,
+                            325
+                        ],
+                        "colors": [
+                            [
+                                0,
+                                255,
+                                0
+                            ],
+                            [
+                                0,
+                                0,
+                                255
+                            ],
+                            [
+                                255,
+                                0,
+                                0
+                            ]
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+                    }
+                ]
+            }
+        ],
+        "source_index": 3
+    },
+    {
+        "video": "annotated_data/pour_sausage_into_pot/videos/episode_1_cam_high.mp4",
+        "images": [
+            "annotated_data/pour_sausage_into_pot/frames/episode_1_cam_high/0.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_1_cam_high/25.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_1_cam_high/50.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_1_cam_high/75.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_1_cam_high/100.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_1_cam_high/116_avoid_keyframe.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_1_cam_high/125.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_1_cam_high/150.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_1_cam_high/175.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_1_cam_high/180_correct_keyframe.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_1_cam_high/200.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_1_cam_high/225.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_1_cam_high/235.jpg"
+        ],
+        "task": "Use the left arm to pour the sausages from the plate into the pot, then use the right arm to place the lid on the pot.",
+        "failure_detection": "yes",
+        "subtasks": [
+            "1. Move the left arm to align with the plate holding the sausages.",
+            "2. Grasp the plate with the left arm.",
+            "3. Move the left arm to align with the pot.",
+            "4. Pour the sausages from the plate into the pot with the left arm.",
+            "5. Move the left arm to a clear spot on the table.",
+            "6. Release the plate with the left arm.",
+            "7. Move the right arm to align with the lid.",
+            "8. Grasp the lid with the right arm.",
+            "9. Move the right arm to align with the pot.",
+            "10. Place the lid on the pot with the right arm.",
+            "11. Release the lid with the right arm."
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+        "failure_subtask": "1",
+        "failure_type": "gripper 6d-pose",
+        "keyframe": [
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+                "avoid_keyframe": "annotated_data/pour_sausage_into_pot/frames/episode_1_cam_high/116_avoid_keyframe.jpg",
+                "correct_keyframe": "annotated_data/pour_sausage_into_pot/frames/episode_1_cam_high/180_correct_keyframe.jpg"
+            }
+        ],
+        "avoidance": [
+            {
+                "low_level": "Move the left gripper to the right slightly.",
+                "avoid_keyframe_annotations": "annotated_data/pour_sausage_into_pot/frames/episode_1_cam_high/116_avoid_keyframe_annotations.jpg",
+                "avoid_keyframe_annotations_code": [
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+                        "type": "move_arrow",
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+                            368
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+                        "end": [
+                            177,
+                            373
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+                        "colors": [
+                            [
+                                0,
+                                255,
+                                0
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+        ],
+        "correction": [
+            {
+                "low_level": "Move the left gripper to the right slightly, backward slightly, and downward significantly.",
+                "correct_keyframe_annotations": "annotated_data/pour_sausage_into_pot/frames/episode_1_cam_high/180_correct_keyframe_annotations.jpg",
+                "correct_keyframe_annotations_code": [
+                    {
+                        "type": "move_arrow",
+                        "start": [
+                            92,
+                            241
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+                        "end": [
+                            155,
+                            386
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+                        "colors": [
+                            [
+                                0,
+                                255,
+                                0
+                            ],
+                            [
+                                0,
+                                0,
+                                255
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+                            [
+                                255,
+                                0,
+                                0
+                            ]
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+                    }
+                ]
+            }
+        ],
+        "source_index": 4
+    },
+    {
+        "video": "annotated_data/pour_sausage_into_pot/videos/episode_12_cam_high.mp4",
+        "images": [
+            "annotated_data/pour_sausage_into_pot/frames/episode_12_cam_high/0.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_12_cam_high/25.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_12_cam_high/50.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_12_cam_high/75.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_12_cam_high/100.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_12_cam_high/125.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_12_cam_high/150.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_12_cam_high/175.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_12_cam_high/200.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_12_cam_high/225.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_12_cam_high/250.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_12_cam_high/275.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_12_cam_high/300.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_12_cam_high/325.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_12_cam_high/350.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_12_cam_high/375.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_12_cam_high/400.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_12_cam_high/425.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_12_cam_high/450.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_12_cam_high/466_avoid_keyframe.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_12_cam_high/475.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_12_cam_high/500.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_12_cam_high/525.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_12_cam_high/535_correct_keyframe.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_12_cam_high/550.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_12_cam_high/575.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_12_cam_high/579.jpg"
+        ],
+        "task": "Use the left arm to pour the sausages from the plate into the pot, then use the right arm to place the lid on the pot.",
+        "failure_detection": "yes",
+        "subtasks": [
+            "1. Move the left arm to align with the plate holding the sausages.",
+            "2. Grasp the plate with the left arm.",
+            "3. Move the left arm to align with the pot.",
+            "4. Pour the sausages from the plate into the pot with the left arm.",
+            "5. Move the left arm to a clear spot on the table.",
+            "6. Release the plate with the left arm.",
+            "7. Move the right arm to align with the lid.",
+            "8. Grasp the lid with the right arm.",
+            "9. Move the right arm to align with the pot.",
+            "10. Place the lid on the pot with the right arm.",
+            "11. Release the lid with the right arm."
+        ],
+        "failure_subtask": "7",
+        "failure_type": "gripper 6d-pose",
+        "keyframe": [
+            {
+                "avoid_keyframe": "annotated_data/pour_sausage_into_pot/frames/episode_12_cam_high/466_avoid_keyframe.jpg",
+                "correct_keyframe": "annotated_data/pour_sausage_into_pot/frames/episode_12_cam_high/535_correct_keyframe.jpg"
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+        ],
+        "avoidance": [
+            {
+                "low_level": "Move the right gripper to the downward slightly.",
+                "avoid_keyframe_annotations": "annotated_data/pour_sausage_into_pot/frames/episode_12_cam_high/466_avoid_keyframe_annotations.jpg",
+                "avoid_keyframe_annotations_code": [
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+                        "type": "move_arrow",
+                        "start": [
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+                            218
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+                        "end": [
+                            488,
+                            269
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+                        "colors": [
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+                                255,
+                                0,
+                                0
+                            ]
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+        ],
+        "correction": [
+            {
+                "low_level": "Move the right gripper to the right slightly, backward slightly, and downward significantly.",
+                "correct_keyframe_annotations": "annotated_data/pour_sausage_into_pot/frames/episode_12_cam_high/535_correct_keyframe_annotations.jpg",
+                "correct_keyframe_annotations_code": [
+                    {
+                        "type": "move_arrow",
+                        "start": [
+                            423,
+                            120
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+                        "end": [
+                            486,
+                            264
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+                        "colors": [
+                            [
+                                0,
+                                255,
+                                0
+                            ],
+                            [
+                                0,
+                                0,
+                                255
+                            ],
+                            [
+                                255,
+                                0,
+                                0
+                            ]
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+                ]
+            }
+        ],
+        "source_index": 5
+    },
+    {
+        "video": "annotated_data/pour_sausage_into_pot/videos/episode_15_cam_high.mp4",
+        "task": "Use the left arm to pour the sausages from the plate into the pot, then use the right arm to place the lid on the pot.",
+        "failure_detection": "yes",
+        "images": [
+            "annotated_data/pour_sausage_into_pot/frames/episode_15_cam_high/0.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_15_cam_high/25.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_15_cam_high/50.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_15_cam_high/75.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_15_cam_high/91_avoid_keyframe.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_15_cam_high/100.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_15_cam_high/125.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_15_cam_high/150.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_15_cam_high/175.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_15_cam_high/200.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_15_cam_high/221_correct_keyframe.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_15_cam_high/225.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_15_cam_high/250.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_15_cam_high/275.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_15_cam_high/299.jpg"
+        ],
+        "subtasks": [
+            "1. Move the left arm to align with the plate holding the sausages.",
+            "2. Grasp the plate with the left arm.",
+            "3. Move the left arm to align with the pot.",
+            "4. Pour the sausages from the plate into the pot with the left arm.",
+            "5. Move the left arm to a clear spot on the table.",
+            "6. Release the plate with the left arm.",
+            "7. Move the right arm to align with the lid.",
+            "8. Grasp the lid with the right arm.",
+            "9. Move the right arm to align with the pot.",
+            "10. Place the lid on the pot with the right arm.",
+            "11. Release the lid with the right arm."
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+        "keyframe": [
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+                "avoid_keyframe": "annotated_data/pour_sausage_into_pot/frames/episode_15_cam_high/91_avoid_keyframe.jpg",
+                "correct_keyframe": "annotated_data/pour_sausage_into_pot/frames/episode_15_cam_high/221_correct_keyframe.jpg"
+            }
+        ],
+        "failure_subtask": "1",
+        "failure_type": "task planning",
+        "avoidance": [
+            {
+                "low_level": " ",
+                "avoid_keyframe_annotations": "annotated_data/pour_sausage_into_pot/frames/episode_15_cam_high/91_avoid_keyframe_annotations.jpg",
+                "avoid_keyframe_annotations_code": [
+                    {
+                        "type": "lock",
+                        "pos": [
+                            530,
+                            247
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+                    {
+                        "type": "dual_crosshair",
+                        "p1": [
+                            29,
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+                        "p2": [
+                            120,
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+        "correction": [
+            {
+                "low_level": " ",
+                "correct_keyframe_annotations": "annotated_data/pour_sausage_into_pot/frames/episode_15_cam_high/221_correct_keyframe_annotations.jpg",
+                "correct_keyframe_annotations_code": [
+                    {
+                        "type": "rewind",
+                        "pos": [
+                            297,
+                            129
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+                    },
+                    {
+                        "type": "dual_crosshair",
+                        "p1": [
+                            31,
+                            356
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+                        "p2": [
+                            109,
+                            391
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+                    }
+                ]
+            }
+        ],
+        "source_index": 6
+    },
+    {
+        "video": "annotated_data/pour_sausage_into_pot/videos/episode_30_cam_high.mp4",
+        "images": [
+            "annotated_data/pour_sausage_into_pot/frames/episode_30_cam_high/0.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_30_cam_high/25.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_30_cam_high/50.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_30_cam_high/75.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_30_cam_high/100.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_30_cam_high/106_avoid_keyframe.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_30_cam_high/125.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_30_cam_high/150.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_30_cam_high/155_correct_keyframe.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_30_cam_high/175.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_30_cam_high/184.jpg"
+        ],
+        "task": "Use the left arm to pour the sausages from the plate into the pot, then use the right arm to place the lid on the pot.",
+        "failure_detection": "yes",
+        "subtasks": [
+            "1. Move the left arm to align with the plate holding the sausages.",
+            "2. Grasp the plate with the left arm.",
+            "3. Move the left arm to align with the pot.",
+            "4. Pour the sausages from the plate into the pot with the left arm.",
+            "5. Move the left arm to a clear spot on the table.",
+            "6. Release the plate with the left arm.",
+            "7. Move the right arm to align with the lid.",
+            "8. Grasp the lid with the right arm.",
+            "9. Move the right arm to align with the pot.",
+            "10. Place the lid on the pot with the right arm.",
+            "11. Release the lid with the right arm."
+        ],
+        "failure_subtask": "1",
+        "failure_type": "gripper 6d-pose",
+        "keyframe": [
+            {
+                "avoid_keyframe": "annotated_data/pour_sausage_into_pot/frames/episode_30_cam_high/106_avoid_keyframe.jpg",
+                "correct_keyframe": "annotated_data/pour_sausage_into_pot/frames/episode_30_cam_high/155_correct_keyframe.jpg"
+            }
+        ],
+        "avoidance": [
+            {
+                "low_level": "Move the left gripper to the downward significantly.",
+                "avoid_keyframe_annotations": "annotated_data/pour_sausage_into_pot/frames/episode_30_cam_high/106_avoid_keyframe_annotations.jpg",
+                "avoid_keyframe_annotations_code": [
+                    {
+                        "type": "move_arrow",
+                        "start": [
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+                            374
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+                        "end": [
+                            127,
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+                        "colors": [
+                            [
+                                255,
+                                0,
+                                0
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+                ]
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+        ],
+        "correction": [
+            {
+                "low_level": "Move the left gripper to the backward significantly, and downward significantly.",
+                "correct_keyframe_annotations": "annotated_data/pour_sausage_into_pot/frames/episode_30_cam_high/155_correct_keyframe_annotations.jpg",
+                "correct_keyframe_annotations_code": [
+                    {
+                        "type": "move_arrow",
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+                        "end": [
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+                ]
+            }
+        ],
+        "source_index": 7
+    },
+    {
+        "video": "annotated_data/pour_sausage_into_pot/videos/episode_25_cam_high.mp4",
+        "images": [
+            "annotated_data/pour_sausage_into_pot/frames/episode_25_cam_high/0.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_25_cam_high/25.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_25_cam_high/50.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_25_cam_high/75.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_25_cam_high/100.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_25_cam_high/125.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_25_cam_high/150.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_25_cam_high/175.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_25_cam_high/200.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_25_cam_high/225.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_25_cam_high/250.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_25_cam_high/275.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_25_cam_high/300.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_25_cam_high/325.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_25_cam_high/350.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_25_cam_high/375.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_25_cam_high/400.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_25_cam_high/425.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_25_cam_high/448_avoid_keyframe.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_25_cam_high/450.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_25_cam_high/475.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_25_cam_high/494_correct_keyframe.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_25_cam_high/500.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_25_cam_high/525.jpg"
+        ],
+        "task": "Use the left arm to pour the sausages from the plate into the pot, then use the right arm to place the lid on the pot.",
+        "failure_detection": "yes",
+        "subtasks": [
+            "1. Move the left arm to align with the plate holding the sausages.",
+            "2. Grasp the plate with the left arm.",
+            "3. Move the left arm to align with the pot.",
+            "4. Pour the sausages from the plate into the pot with the left arm.",
+            "5. Move the left arm to a clear spot on the table.",
+            "6. Release the plate with the left arm.",
+            "7. Move the right arm to align with the lid.",
+            "8. Grasp the lid with the right arm.",
+            "9. Move the right arm to align with the pot.",
+            "10. Place the lid on the pot with the right arm.",
+            "11. Release the lid with the right arm."
+        ],
+        "failure_subtask": "7",
+        "failure_type": "gripper 6d-pose",
+        "keyframe": [
+            {
+                "avoid_keyframe": "annotated_data/pour_sausage_into_pot/frames/episode_25_cam_high/448_avoid_keyframe.jpg",
+                "correct_keyframe": "annotated_data/pour_sausage_into_pot/frames/episode_25_cam_high/494_correct_keyframe.jpg"
+            }
+        ],
+        "avoidance": [
+            {
+                "low_level": "Move the right gripper to the forward slightly.",
+                "avoid_keyframe_annotations": "annotated_data/pour_sausage_into_pot/frames/episode_25_cam_high/448_avoid_keyframe_annotations.jpg",
+                "avoid_keyframe_annotations_code": [
+                    {
+                        "type": "move_arrow",
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+                            [
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+                                255
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+                    }
+                ]
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+        ],
+        "correction": [
+            {
+                "low_level": "Move the right gripper to the right slightly, and downward significantly.",
+                "correct_keyframe_annotations": "annotated_data/pour_sausage_into_pot/frames/episode_25_cam_high/494_correct_keyframe_annotations.jpg",
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+                        "type": "move_arrow",
+                        "start": [
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+                            197
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+                        "end": [
+                            474,
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+                                0,
+                                0
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+                ]
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+        ],
+        "source_index": 8
+    },
+    {
+        "video": "annotated_data/pour_sausage_into_pot/videos/episode_22_cam_high.mp4",
+        "images": [
+            "annotated_data/pour_sausage_into_pot/frames/episode_22_cam_high/0.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_22_cam_high/25.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_22_cam_high/50.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_22_cam_high/75.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_22_cam_high/100.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_22_cam_high/125.jpg",
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+            "annotated_data/pour_sausage_into_pot/frames/episode_22_cam_high/473.jpg"
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+            "4. Pour the sausages from the plate into the pot with the left arm.",
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+            "6. Release the plate with the left arm.",
+            "7. Move the right arm to align with the lid.",
+            "8. Grasp the lid with the right arm.",
+            "9. Move the right arm to align with the pot.",
+            "10. Place the lid on the pot with the right arm.",
+            "11. Release the lid with the right arm."
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+        "failure_subtask": "7",
+        "failure_type": "gripper 6d-pose",
+        "keyframe": [
+            {
+                "avoid_keyframe": "annotated_data/pour_sausage_into_pot/frames/episode_22_cam_high/377_avoid_keyframe.jpg",
+                "correct_keyframe": "annotated_data/pour_sausage_into_pot/frames/episode_22_cam_high/434_correct_keyframe.jpg"
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+        "avoidance": [
+            {
+                "low_level": "Move the right gripper to the right slightly.",
+                "avoid_keyframe_annotations": "annotated_data/pour_sausage_into_pot/frames/episode_22_cam_high/377_avoid_keyframe_annotations.jpg",
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+                        "type": "move_arrow",
+                        "start": [
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+                        "end": [
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+                                0
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+        "correction": [
+            {
+                "low_level": "Move the right gripper to the right slightly, backward slightly, and downward significantly.",
+                "correct_keyframe_annotations": "annotated_data/pour_sausage_into_pot/frames/episode_22_cam_high/434_correct_keyframe_annotations.jpg",
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+                        "type": "move_arrow",
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+        "source_index": 9
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+            "annotated_data/pour_sausage_into_pot/frames/episode_0_cam_high/647.jpg"
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+        "task": "Use the left arm to pour the sausages from the plate into the pot, then use the right arm to place the lid on the pot.",
+        "failure_detection": "no",
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+            "2. Grasp the plate with the left arm.",
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+            "9. Move the right arm to align with the pot.",
+            "10. Place the lid on the pot with the right arm.",
+            "11. Release the lid with the right arm."
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+        "failure_type": "gripper 6d-pose",
+        "keyframe": [
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+                "avoid_keyframe": "annotated_data/pour_sausage_into_pot/frames/episode_7_cam_high/142_avoid_keyframe.jpg",
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+                "low_level": "Move the left gripper to the left significantly, and forward significantly.",
+                "avoid_keyframe_annotations": "annotated_data/pour_sausage_into_pot/frames/episode_7_cam_high/142_avoid_keyframe_annotations.jpg",
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+                "low_level": "Move the left gripper to the left slightly, backward significantly, and downward significantly.",
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+            "annotated_data/pour_sausage_into_pot/frames/episode_14_cam_high/330.jpg"
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+            "annotated_data/pour_sausage_into_pot/frames/episode_13_cam_high/50.jpg",
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+            "annotated_data/pour_sausage_into_pot/frames/episode_13_cam_high/201.jpg"
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+        "task": "Use the left arm to pour the sausages from the plate into the pot, then use the right arm to place the lid on the pot.",
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+            "3. Move the left arm to align with the pot.",
+            "4. Pour the sausages from the plate into the pot with the left arm.",
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+            "9. Move the right arm to align with the pot.",
+            "10. Place the lid on the pot with the right arm.",
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+        "failure_subtask": "3",
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+        "keyframe": [
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+        ],
+        "avoidance": [
+            {
+                "low_level": "Close the left gripper",
+                "avoid_keyframe_annotations": "annotated_data/pour_sausage_into_pot/frames/episode_13_cam_high/108_avoid_keyframe_annotations.jpg",
+                "avoid_keyframe_annotations_code": [
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+                        "type": "state",
+                        "pos": [
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+                        "text": "OFF"
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+        "correction": [
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+                "low_level": "Move the left gripper to the backward significantly, and downward slightly.",
+                "correct_keyframe_annotations": "annotated_data/pour_sausage_into_pot/frames/episode_13_cam_high/132_correct_keyframe_annotations.jpg",
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+    {
+        "video": "annotated_data/pour_sausage_into_pot/videos/episode_19_cam_high.mp4",
+        "images": [
+            "annotated_data/pour_sausage_into_pot/frames/episode_19_cam_high/0.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_19_cam_high/25.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_19_cam_high/50.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_19_cam_high/75.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_19_cam_high/100.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_19_cam_high/125.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_19_cam_high/150.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_19_cam_high/175.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_19_cam_high/200.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_19_cam_high/225.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_19_cam_high/250.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_19_cam_high/275.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_19_cam_high/300.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_19_cam_high/325.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_19_cam_high/350.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_19_cam_high/375.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_19_cam_high/400.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_19_cam_high/406_avoid_keyframe.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_19_cam_high/425.jpg",
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+            "annotated_data/pour_sausage_into_pot/frames/episode_19_cam_high/490.jpg"
+        ],
+        "task": "Use the left arm to pour the sausages from the plate into the pot, then use the right arm to place the lid on the pot.",
+        "failure_detection": "yes",
+        "subtasks": [
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+            "2. Grasp the plate with the left arm.",
+            "3. Move the left arm to align with the pot.",
+            "4. Pour the sausages from the plate into the pot with the left arm.",
+            "5. Move the left arm to a clear spot on the table.",
+            "6. Release the plate with the left arm.",
+            "7. Move the right arm to align with the lid.",
+            "8. Grasp the lid with the right arm.",
+            "9. Move the right arm to align with the pot.",
+            "10. Place the lid on the pot with the right arm.",
+            "11. Release the lid with the right arm."
+        ],
+        "failure_subtask": "7",
+        "failure_type": "gripper 6d-pose",
+        "keyframe": [
+            {
+                "avoid_keyframe": "annotated_data/pour_sausage_into_pot/frames/episode_19_cam_high/406_avoid_keyframe.jpg",
+                "correct_keyframe": "annotated_data/pour_sausage_into_pot/frames/episode_19_cam_high/458_correct_keyframe.jpg"
+            }
+        ],
+        "avoidance": [
+            {
+                "low_level": "Move the right gripper to the right significantly, and backward slightly.",
+                "avoid_keyframe_annotations": "annotated_data/pour_sausage_into_pot/frames/episode_19_cam_high/406_avoid_keyframe_annotations.jpg",
+                "avoid_keyframe_annotations_code": [
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+                        "type": "move_arrow",
+                        "start": [
+                            459,
+                            315
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+                        "end": [
+                            550,
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+                ]
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+        ],
+        "correction": [
+            {
+                "low_level": "Move the right gripper to the right slightly, and downward significantly.",
+                "correct_keyframe_annotations": "annotated_data/pour_sausage_into_pot/frames/episode_19_cam_high/458_correct_keyframe_annotations.jpg",
+                "correct_keyframe_annotations_code": [
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+                                255,
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+                ]
+            }
+        ],
+        "source_index": 14
+    },
+    {
+        "video": "annotated_data/pour_sausage_into_pot/videos/episode_28_cam_high.mp4",
+        "images": [
+            "annotated_data/pour_sausage_into_pot/frames/episode_28_cam_high/0.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_28_cam_high/25.jpg",
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+            "annotated_data/pour_sausage_into_pot/frames/episode_28_cam_high/100.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_28_cam_high/125.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_28_cam_high/127_correct_keyframe.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_28_cam_high/150.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_28_cam_high/175.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_28_cam_high/176.jpg"
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+        "task": "Use the left arm to pour the sausages from the plate into the pot, then use the right arm to place the lid on the pot.",
+        "failure_detection": "yes",
+        "subtasks": [
+            "1. Move the left arm to align with the plate holding the sausages.",
+            "2. Grasp the plate with the left arm.",
+            "3. Move the left arm to align with the pot.",
+            "4. Pour the sausages from the plate into the pot with the left arm.",
+            "5. Move the left arm to a clear spot on the table.",
+            "6. Release the plate with the left arm.",
+            "7. Move the right arm to align with the lid.",
+            "8. Grasp the lid with the right arm.",
+            "9. Move the right arm to align with the pot.",
+            "10. Place the lid on the pot with the right arm.",
+            "11. Release the lid with the right arm."
+        ],
+        "failure_subtask": "1",
+        "failure_type": "gripper 6d-pose",
+        "keyframe": [
+            {
+                "avoid_keyframe": "annotated_data/pour_sausage_into_pot/frames/episode_28_cam_high/81_avoid_keyframe.jpg",
+                "correct_keyframe": "annotated_data/pour_sausage_into_pot/frames/episode_28_cam_high/127_correct_keyframe.jpg"
+            }
+        ],
+        "avoidance": [
+            {
+                "low_level": "Move the left gripper to the right slightly, and backward slightly.",
+                "avoid_keyframe_annotations": "annotated_data/pour_sausage_into_pot/frames/episode_28_cam_high/81_avoid_keyframe_annotations.jpg",
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+                        "type": "move_arrow",
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+                ]
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+        ],
+        "correction": [
+            {
+                "low_level": "Move the left gripper to the right slightly, backward significantly, and downward significantly.",
+                "correct_keyframe_annotations": "annotated_data/pour_sausage_into_pot/frames/episode_28_cam_high/127_correct_keyframe_annotations.jpg",
+                "correct_keyframe_annotations_code": [
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+        ],
+        "source_index": 15
+    },
+    {
+        "video": "annotated_data/pour_sausage_into_pot/videos/episode_18_cam_high.mp4",
+        "images": [
+            "annotated_data/pour_sausage_into_pot/frames/episode_18_cam_high/0.jpg",
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+            "annotated_data/pour_sausage_into_pot/frames/episode_18_cam_high/150.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_18_cam_high/175.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_18_cam_high/200.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_18_cam_high/225.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_18_cam_high/250.jpg",
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+            "annotated_data/pour_sausage_into_pot/frames/episode_18_cam_high/350.jpg",
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+            "annotated_data/pour_sausage_into_pot/frames/episode_18_cam_high/549.jpg"
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+        "task": "Use the left arm to pour the sausages from the plate into the pot, then use the right arm to place the lid on the pot.",
+        "failure_detection": "yes",
+        "subtasks": [
+            "1. Move the left arm to align with the plate holding the sausages.",
+            "2. Grasp the plate with the left arm.",
+            "3. Move the left arm to align with the pot.",
+            "4. Pour the sausages from the plate into the pot with the left arm.",
+            "5. Move the left arm to a clear spot on the table.",
+            "6. Release the plate with the left arm.",
+            "7. Move the right arm to align with the lid.",
+            "8. Grasp the lid with the right arm.",
+            "9. Move the right arm to align with the pot.",
+            "10. Place the lid on the pot with the right arm.",
+            "11. Release the lid with the right arm."
+        ],
+        "failure_subtask": "7",
+        "failure_type": "gripper 6d-pose",
+        "keyframe": [
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+                "avoid_keyframe": "annotated_data/pour_sausage_into_pot/frames/episode_18_cam_high/430_avoid_keyframe.jpg",
+                "correct_keyframe": "annotated_data/pour_sausage_into_pot/frames/episode_18_cam_high/516_correct_keyframe.jpg"
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+        ],
+        "avoidance": [
+            {
+                "low_level": "Move the right gripper to the backward slightly.",
+                "avoid_keyframe_annotations": "annotated_data/pour_sausage_into_pot/frames/episode_18_cam_high/430_avoid_keyframe_annotations.jpg",
+                "avoid_keyframe_annotations_code": [
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+        "correction": [
+            {
+                "low_level": "Move the right gripper to the right significantly, and downward significantly.",
+                "correct_keyframe_annotations": "annotated_data/pour_sausage_into_pot/frames/episode_18_cam_high/516_correct_keyframe_annotations.jpg",
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+                            [
+                                255,
+                                0,
+                                0
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+                ]
+            }
+        ],
+        "source_index": 16
+    },
+    {
+        "video": "annotated_data/pour_sausage_into_pot/videos/episode_29_cam_high.mp4",
+        "images": [
+            "annotated_data/pour_sausage_into_pot/frames/episode_29_cam_high/0.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_29_cam_high/25.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_29_cam_high/50.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_29_cam_high/75.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_29_cam_high/100.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_29_cam_high/125.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_29_cam_high/131_avoid_keyframe.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_29_cam_high/150.jpg",
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+            "annotated_data/pour_sausage_into_pot/frames/episode_29_cam_high/200.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_29_cam_high/225.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_29_cam_high/231.jpg"
+        ],
+        "task": "Use the left arm to pour the sausages from the plate into the pot, then use the right arm to place the lid on the pot.",
+        "failure_detection": "yes",
+        "subtasks": [
+            "1. Move the left arm to align with the plate holding the sausages.",
+            "2. Grasp the plate with the left arm.",
+            "3. Move the left arm to align with the pot.",
+            "4. Pour the sausages from the plate into the pot with the left arm.",
+            "5. Move the left arm to a clear spot on the table.",
+            "6. Release the plate with the left arm.",
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+            "8. Grasp the lid with the right arm.",
+            "9. Move the right arm to align with the pot.",
+            "10. Place the lid on the pot with the right arm.",
+            "11. Release the lid with the right arm."
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+        "failure_subtask": "2",
+        "failure_type": "gripper state",
+        "keyframe": [
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+                "avoid_keyframe": "annotated_data/pour_sausage_into_pot/frames/episode_29_cam_high/131_avoid_keyframe.jpg",
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+        ],
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+                "low_level": "Close the left gripper",
+                "avoid_keyframe_annotations": "annotated_data/pour_sausage_into_pot/frames/episode_29_cam_high/131_avoid_keyframe_annotations.jpg",
+                "avoid_keyframe_annotations_code": [
+                    {
+                        "type": "state",
+                        "pos": [
+                            105,
+                            387
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+                        "text": "OFF"
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+            }
+        ],
+        "correction": [
+            {
+                "low_level": "Move the left gripper to the backward slightly, and downward significantly.",
+                "correct_keyframe_annotations": "annotated_data/pour_sausage_into_pot/frames/episode_29_cam_high/161_correct_keyframe_annotations.jpg",
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+        ],
+        "source_index": 17
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+    {
+        "video": "annotated_data/pour_sausage_into_pot/videos/episode_9_cam_high.mp4",
+        "images": [
+            "annotated_data/pour_sausage_into_pot/frames/episode_9_cam_high/0.jpg",
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+            "annotated_data/pour_sausage_into_pot/frames/episode_9_cam_high/50.jpg",
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+            "annotated_data/pour_sausage_into_pot/frames/episode_9_cam_high/100.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_9_cam_high/125.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_9_cam_high/150.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_9_cam_high/175.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_9_cam_high/178_avoid_keyframe.jpg",
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+            "annotated_data/pour_sausage_into_pot/frames/episode_9_cam_high/262.jpg"
+        ],
+        "task": "Use the left arm to pour the sausages from the plate into the pot, then use the right arm to place the lid on the pot.",
+        "failure_detection": "yes",
+        "subtasks": [
+            "1. Move the left arm to align with the plate holding the sausages.",
+            "2. Grasp the plate with the left arm.",
+            "3. Move the left arm to align with the pot.",
+            "4. Pour the sausages from the plate into the pot with the left arm.",
+            "5. Move the left arm to a clear spot on the table.",
+            "6. Release the plate with the left arm.",
+            "7. Move the right arm to align with the lid.",
+            "8. Grasp the lid with the right arm.",
+            "9. Move the right arm to align with the pot.",
+            "10. Place the lid on the pot with the right arm.",
+            "11. Release the lid with the right arm."
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+        "failure_subtask": "2",
+        "failure_type": "gripper state",
+        "keyframe": [
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+                "avoid_keyframe": "annotated_data/pour_sausage_into_pot/frames/episode_9_cam_high/178_avoid_keyframe.jpg",
+                "correct_keyframe": "annotated_data/pour_sausage_into_pot/frames/episode_9_cam_high/234_correct_keyframe.jpg"
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+        "avoidance": [
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+                "low_level": "Close the left gripper",
+                "avoid_keyframe_annotations": "annotated_data/pour_sausage_into_pot/frames/episode_9_cam_high/178_avoid_keyframe_annotations.jpg",
+                "avoid_keyframe_annotations_code": [
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+                        "type": "state",
+                        "pos": [
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+                            332
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+                        "text": "OFF"
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+            }
+        ],
+        "correction": [
+            {
+                "low_level": "Move the left gripper to the left slightly, backward significantly, and downward significantly.",
+                "correct_keyframe_annotations": "annotated_data/pour_sausage_into_pot/frames/episode_9_cam_high/234_correct_keyframe_annotations.jpg",
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+        ],
+        "source_index": 18
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+    {
+        "video": "annotated_data/pour_sausage_into_pot/videos/episode_8_cam_high.mp4",
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+            "annotated_data/pour_sausage_into_pot/frames/episode_8_cam_high/0.jpg",
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+            "annotated_data/pour_sausage_into_pot/frames/episode_8_cam_high/50.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_8_cam_high/75.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_8_cam_high/100.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_8_cam_high/125_avoid_keyframe.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_8_cam_high/150.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_8_cam_high/175.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_8_cam_high/200.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_8_cam_high/209_correct_keyframe.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_8_cam_high/225.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_8_cam_high/236.jpg"
+        ],
+        "task": "Use the left arm to pour the sausages from the plate into the pot, then use the right arm to place the lid on the pot.",
+        "failure_detection": "yes",
+        "subtasks": [
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+            "2. Grasp the plate with the left arm.",
+            "3. Move the left arm to align with the pot.",
+            "4. Pour the sausages from the plate into the pot with the left arm.",
+            "5. Move the left arm to a clear spot on the table.",
+            "6. Release the plate with the left arm.",
+            "7. Move the right arm to align with the lid.",
+            "8. Grasp the lid with the right arm.",
+            "9. Move the right arm to align with the pot.",
+            "10. Place the lid on the pot with the right arm.",
+            "11. Release the lid with the right arm."
+        ],
+        "failure_subtask": "1",
+        "failure_type": "gripper 6d-pose",
+        "keyframe": [
+            {
+                "avoid_keyframe": "annotated_data/pour_sausage_into_pot/frames/episode_8_cam_high/125_avoid_keyframe.jpg",
+                "correct_keyframe": "annotated_data/pour_sausage_into_pot/frames/episode_8_cam_high/209_correct_keyframe.jpg"
+            }
+        ],
+        "avoidance": [
+            {
+                "low_level": "Move the left gripper to the downward slightly.",
+                "avoid_keyframe_annotations": "annotated_data/pour_sausage_into_pot/frames/episode_8_cam_high/125_avoid_keyframe_annotations.jpg",
+                "avoid_keyframe_annotations_code": [
+                    {
+                        "type": "move_arrow",
+                        "start": [
+                            178,
+                            302
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+                        "end": [
+                            179,
+                            356
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+                        "colors": [
+                            [
+                                255,
+                                0,
+                                0
+                            ]
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+                    }
+                ]
+            }
+        ],
+        "correction": [
+            {
+                "low_level": "Move the left gripper to the left slightly, backward significantly, and downward significantly.",
+                "correct_keyframe_annotations": "annotated_data/pour_sausage_into_pot/frames/episode_8_cam_high/209_correct_keyframe_annotations.jpg",
+                "correct_keyframe_annotations_code": [
+                    {
+                        "type": "move_arrow",
+                        "start": [
+                            301,
+                            105
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+                        "end": [
+                            182,
+                            350
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+                        "colors": [
+                            [
+                                0,
+                                255,
+                                0
+                            ],
+                            [
+                                0,
+                                0,
+                                255
+                            ],
+                            [
+                                255,
+                                0,
+                                0
+                            ]
+                        ]
+                    }
+                ]
+            }
+        ],
+        "source_index": 19
+    },
+    {
+        "video": "annotated_data/pour_sausage_into_pot/videos/episode_32_cam_high.mp4",
+        "images": [
+            "annotated_data/pour_sausage_into_pot/frames/episode_32_cam_high/0.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_32_cam_high/25.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_32_cam_high/50.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_32_cam_high/75.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_32_cam_high/100.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_32_cam_high/125.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_32_cam_high/150.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_32_cam_high/175.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_32_cam_high/200.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_32_cam_high/206_avoid_keyframe.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_32_cam_high/225.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_32_cam_high/250.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_32_cam_high/275.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_32_cam_high/282_correct_keyframe.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_32_cam_high/300.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_32_cam_high/325.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_32_cam_high/350.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_32_cam_high/355.jpg"
+        ],
+        "task": "Use the left arm to pour the sausages from the plate into the pot, then use the right arm to place the lid on the pot.",
+        "failure_detection": "yes",
+        "subtasks": [
+            "1. Move the left arm to align with the plate holding the sausages.",
+            "2. Grasp the plate with the left arm.",
+            "3. Move the left arm to align with the pot.",
+            "4. Pour the sausages from the plate into the pot with the left arm.",
+            "5. Move the left arm to a clear spot on the table.",
+            "6. Release the plate with the left arm.",
+            "7. Move the right arm to align with the lid.",
+            "8. Grasp the lid with the right arm.",
+            "9. Move the right arm to align with the pot.",
+            "10. Place the lid on the pot with the right arm.",
+            "11. Release the lid with the right arm."
+        ],
+        "failure_subtask": "3",
+        "failure_type": "gripper 6d-pose",
+        "keyframe": [
+            {
+                "avoid_keyframe": "annotated_data/pour_sausage_into_pot/frames/episode_32_cam_high/206_avoid_keyframe.jpg",
+                "correct_keyframe": "annotated_data/pour_sausage_into_pot/frames/episode_32_cam_high/282_correct_keyframe.jpg"
+            }
+        ],
+        "avoidance": [
+            {
+                "low_level": "Move the left gripper to the right slightly, and backward significantly.",
+                "avoid_keyframe_annotations": "annotated_data/pour_sausage_into_pot/frames/episode_32_cam_high/206_avoid_keyframe_annotations.jpg",
+                "avoid_keyframe_annotations_code": [
+                    {
+                        "type": "move_arrow",
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+                            60
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+                        "end": [
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+                                0
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+                                255
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+            }
+        ],
+        "correction": [
+            {
+                "low_level": "Move the left gripper to the right significantly, and backward significantly.",
+                "correct_keyframe_annotations": "annotated_data/pour_sausage_into_pot/frames/episode_32_cam_high/282_correct_keyframe_annotations.jpg",
+                "correct_keyframe_annotations_code": [
+                    {
+                        "type": "move_arrow",
+                        "start": [
+                            151,
+                            70
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+                        "end": [
+                            287,
+                            285
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+                                0,
+                                255,
+                                0
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+                            [
+                                0,
+                                0,
+                                255
+                            ]
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+                    }
+                ]
+            }
+        ],
+        "source_index": 20
+    },
+    {
+        "video": "annotated_data/pour_sausage_into_pot/videos/episode_20_cam_high.mp4",
+        "images": [
+            "annotated_data/pour_sausage_into_pot/frames/episode_20_cam_high/0.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_20_cam_high/25.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_20_cam_high/50.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_20_cam_high/75.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_20_cam_high/100.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_20_cam_high/125.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_20_cam_high/150.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_20_cam_high/175.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_20_cam_high/200.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_20_cam_high/225.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_20_cam_high/250.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_20_cam_high/275.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_20_cam_high/300.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_20_cam_high/325.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_20_cam_high/350.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_20_cam_high/375.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_20_cam_high/399_avoid_keyframe.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_20_cam_high/400.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_20_cam_high/425.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_20_cam_high/450.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_20_cam_high/460_correct_keyframe.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_20_cam_high/474.jpg"
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+        "task": "Use the left arm to pour the sausages from the plate into the pot, then use the right arm to place the lid on the pot.",
+        "failure_detection": "yes",
+        "subtasks": [
+            "1. Move the left arm to align with the plate holding the sausages.",
+            "2. Grasp the plate with the left arm.",
+            "3. Move the left arm to align with the pot.",
+            "4. Pour the sausages from the plate into the pot with the left arm.",
+            "5. Move the left arm to a clear spot on the table.",
+            "6. Release the plate with the left arm.",
+            "7. Move the right arm to align with the lid.",
+            "8. Grasp the lid with the right arm.",
+            "9. Move the right arm to align with the pot.",
+            "10. Place the lid on the pot with the right arm.",
+            "11. Release the lid with the right arm."
+        ],
+        "failure_subtask": "7",
+        "failure_type": "gripper 6d-pose",
+        "keyframe": [
+            {
+                "avoid_keyframe": "annotated_data/pour_sausage_into_pot/frames/episode_20_cam_high/399_avoid_keyframe.jpg",
+                "correct_keyframe": "annotated_data/pour_sausage_into_pot/frames/episode_20_cam_high/460_correct_keyframe.jpg"
+            }
+        ],
+        "avoidance": [
+            {
+                "low_level": "Move the right gripper to the backward significantly, and rotate the right gripper clockwise.",
+                "avoid_keyframe_annotations": "annotated_data/pour_sausage_into_pot/frames/episode_20_cam_high/399_avoid_keyframe_annotations.jpg",
+                "avoid_keyframe_annotations_code": [
+                    {
+                        "type": "move_arrow",
+                        "start": [
+                            539,
+                            282
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+                        "end": [
+                            543,
+                            364
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+                        "colors": [
+                            [
+                                0,
+                                0,
+                                255
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+                    },
+                    {
+                        "type": "rotate_arrow",
+                        "start": [
+                            505,
+                            290
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+                        "end": [
+                            580,
+                            316
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+                        "direction": "clockwise"
+                    }
+                ]
+            }
+        ],
+        "correction": [
+            {
+                "low_level": "Move the right gripper to the right significantly, backward significantly, and downward significantly.",
+                "correct_keyframe_annotations": "annotated_data/pour_sausage_into_pot/frames/episode_20_cam_high/460_correct_keyframe_annotations.jpg",
+                "correct_keyframe_annotations_code": [
+                    {
+                        "type": "move_arrow",
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+                        "end": [
+                            545,
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+                        "colors": [
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+                                0,
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+                                0
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+                                0,
+                                0,
+                                255
+                            ],
+                            [
+                                255,
+                                0,
+                                0
+                            ]
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+                    }
+                ]
+            }
+        ],
+        "source_index": 21
+    },
+    {
+        "video": "annotated_data/pour_sausage_into_pot/videos/episode_27_cam_high.mp4",
+        "images": [
+            "annotated_data/pour_sausage_into_pot/frames/episode_27_cam_high/0.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_27_cam_high/25.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_27_cam_high/50.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_27_cam_high/75.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_27_cam_high/100.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_27_cam_high/115_avoid_keyframe.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_27_cam_high/125.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_27_cam_high/150.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_27_cam_high/167_correct_keyframe.jpg",
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+            "annotated_data/pour_sausage_into_pot/frames/episode_27_cam_high/209.jpg"
+        ],
+        "task": "Use the left arm to pour the sausages from the plate into the pot, then use the right arm to place the lid on the pot.",
+        "failure_detection": "yes",
+        "subtasks": [
+            "1. Move the left arm to align with the plate holding the sausages.",
+            "2. Grasp the plate with the left arm.",
+            "3. Move the left arm to align with the pot.",
+            "4. Pour the sausages from the plate into the pot with the left arm.",
+            "5. Move the left arm to a clear spot on the table.",
+            "6. Release the plate with the left arm.",
+            "7. Move the right arm to align with the lid.",
+            "8. Grasp the lid with the right arm.",
+            "9. Move the right arm to align with the pot.",
+            "10. Place the lid on the pot with the right arm.",
+            "11. Release the lid with the right arm."
+        ],
+        "failure_subtask": "1",
+        "failure_type": "gripper 6d-pose",
+        "keyframe": [
+            {
+                "avoid_keyframe": "annotated_data/pour_sausage_into_pot/frames/episode_27_cam_high/115_avoid_keyframe.jpg",
+                "correct_keyframe": "annotated_data/pour_sausage_into_pot/frames/episode_27_cam_high/167_correct_keyframe.jpg"
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+        ],
+        "avoidance": [
+            {
+                "low_level": "Move the left gripper to the right slightly, and rotate the left gripper clockwise.",
+                "avoid_keyframe_annotations": "annotated_data/pour_sausage_into_pot/frames/episode_27_cam_high/115_avoid_keyframe_annotations.jpg",
+                "avoid_keyframe_annotations_code": [
+                    {
+                        "type": "move_arrow",
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+                        "end": [
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+                        "colors": [
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+                                0
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+                ]
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+        ],
+        "correction": [
+            {
+                "low_level": "Move the left gripper to the right significantly, backward slightly, and downward significantly.",
+                "correct_keyframe_annotations": "annotated_data/pour_sausage_into_pot/frames/episode_27_cam_high/167_correct_keyframe_annotations.jpg",
+                "correct_keyframe_annotations_code": [
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+                            [
+                                255,
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+                                0
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+                ]
+            }
+        ],
+        "source_index": 22
+    },
+    {
+        "video": "annotated_data/pour_sausage_into_pot/videos/episode_11_cam_high.mp4",
+        "images": [
+            "annotated_data/pour_sausage_into_pot/frames/episode_11_cam_high/0.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_11_cam_high/25.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_11_cam_high/50.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_11_cam_high/75.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_11_cam_high/100.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_11_cam_high/125.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_11_cam_high/150.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_11_cam_high/175.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_11_cam_high/200.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_11_cam_high/225.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_11_cam_high/250.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_11_cam_high/275.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_11_cam_high/300.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_11_cam_high/325.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_11_cam_high/350.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_11_cam_high/375.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_11_cam_high/400.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_11_cam_high/425.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_11_cam_high/450.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_11_cam_high/461_avoid_keyframe.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_11_cam_high/475.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_11_cam_high/500.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_11_cam_high/525.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_11_cam_high/530_correct_keyframe.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_11_cam_high/550.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_11_cam_high/556.jpg"
+        ],
+        "task": "Use the left arm to pour the sausages from the plate into the pot, then use the right arm to place the lid on the pot.",
+        "failure_detection": "yes",
+        "subtasks": [
+            "1. Move the left arm to align with the plate holding the sausages.",
+            "2. Grasp the plate with the left arm.",
+            "3. Move the left arm to align with the pot.",
+            "4. Pour the sausages from the plate into the pot with the left arm.",
+            "5. Move the left arm to a clear spot on the table.",
+            "6. Release the plate with the left arm.",
+            "7. Move the right arm to align with the lid.",
+            "8. Grasp the lid with the right arm.",
+            "9. Move the right arm to align with the pot.",
+            "10. Place the lid on the pot with the right arm.",
+            "11. Release the lid with the right arm."
+        ],
+        "failure_subtask": "7",
+        "failure_type": "gripper 6d-pose",
+        "keyframe": [
+            {
+                "avoid_keyframe": "annotated_data/pour_sausage_into_pot/frames/episode_11_cam_high/461_avoid_keyframe.jpg",
+                "correct_keyframe": "annotated_data/pour_sausage_into_pot/frames/episode_11_cam_high/530_correct_keyframe.jpg"
+            }
+        ],
+        "avoidance": [
+            {
+                "low_level": "Move the right gripper to the left significantly, and rotate the right gripper clockwise.",
+                "avoid_keyframe_annotations": "annotated_data/pour_sausage_into_pot/frames/episode_11_cam_high/461_avoid_keyframe_annotations.jpg",
+                "avoid_keyframe_annotations_code": [
+                    {
+                        "type": "move_arrow",
+                        "start": [
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+                        "colors": [
+                            [
+                                0,
+                                255,
+                                0
+                            ]
+                        ]
+                    }
+                ]
+            }
+        ],
+        "correction": [
+            {
+                "low_level": "Move the right gripper to the right significantly, backward slightly, and downward significantly.",
+                "correct_keyframe_annotations": "annotated_data/pour_sausage_into_pot/frames/episode_11_cam_high/530_correct_keyframe_annotations.jpg",
+                "correct_keyframe_annotations_code": [
+                    {
+                        "type": "move_arrow",
+                        "start": [
+                            303,
+                            149
+                        ],
+                        "end": [
+                            486,
+                            266
+                        ],
+                        "colors": [
+                            [
+                                0,
+                                255,
+                                0
+                            ],
+                            [
+                                0,
+                                0,
+                                255
+                            ],
+                            [
+                                255,
+                                0,
+                                0
+                            ]
+                        ]
+                    }
+                ]
+            }
+        ],
+        "source_index": 23
+    },
+    {
+        "video": "annotated_data/pour_sausage_into_pot/videos/episode_16_cam_high.mp4",
+        "images": [
+            "annotated_data/pour_sausage_into_pot/frames/episode_16_cam_high/0.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_16_cam_high/25.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_16_cam_high/50.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_16_cam_high/75.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_16_cam_high/100.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_16_cam_high/125.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_16_cam_high/150.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_16_cam_high/175.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_16_cam_high/200.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_16_cam_high/225.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_16_cam_high/250.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_16_cam_high/275.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_16_cam_high/300.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_16_cam_high/325.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_16_cam_high/350.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_16_cam_high/375.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_16_cam_high/400.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_16_cam_high/425.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_16_cam_high/450.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_16_cam_high/475.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_16_cam_high/484_avoid_keyframe.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_16_cam_high/500.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_16_cam_high/525.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_16_cam_high/550.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_16_cam_high/572_correct_keyframe.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_16_cam_high/575.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_16_cam_high/592.jpg"
+        ],
+        "task": "Use the left arm to pour the sausages from the plate into the pot, then use the right arm to place the lid on the pot.",
+        "failure_detection": "yes",
+        "subtasks": [
+            "1. Move the left arm to align with the plate holding the sausages.",
+            "2. Grasp the plate with the left arm.",
+            "3. Move the left arm to align with the pot.",
+            "4. Pour the sausages from the plate into the pot with the left arm.",
+            "5. Move the left arm to a clear spot on the table.",
+            "6. Release the plate with the left arm.",
+            "7. Move the right arm to align with the lid.",
+            "8. Grasp the lid with the right arm.",
+            "9. Move the right arm to align with the pot.",
+            "10. Place the lid on the pot with the right arm.",
+            "11. Release the lid with the right arm."
+        ],
+        "failure_subtask": "7",
+        "failure_type": "gripper 6d-pose",
+        "keyframe": [
+            {
+                "avoid_keyframe": "annotated_data/pour_sausage_into_pot/frames/episode_16_cam_high/484_avoid_keyframe.jpg",
+                "correct_keyframe": "annotated_data/pour_sausage_into_pot/frames/episode_16_cam_high/572_correct_keyframe.jpg"
+            }
+        ],
+        "avoidance": [
+            {
+                "low_level": "Rotate the right gripper clockwise.",
+                "avoid_keyframe_annotations": "annotated_data/pour_sausage_into_pot/frames/episode_16_cam_high/484_avoid_keyframe_annotations.jpg",
+                "avoid_keyframe_annotations_code": [
+                    {
+                        "type": "rotate_arrow",
+                        "start": [
+                            505,
+                            253
+                        ],
+                        "end": [
+                            574,
+                            292
+                        ],
+                        "direction": "clockwise"
+                    }
+                ]
+            }
+        ],
+        "correction": [
+            {
+                "low_level": "Move the right gripper to the right significantly, backward slightly, and downward significantly.",
+                "correct_keyframe_annotations": "annotated_data/pour_sausage_into_pot/frames/episode_16_cam_high/572_correct_keyframe_annotations.jpg",
+                "correct_keyframe_annotations_code": [
+                    {
+                        "type": "move_arrow",
+                        "start": [
+                            348,
+                            143
+                        ],
+                        "end": [
+                            530,
+                            285
+                        ],
+                        "colors": [
+                            [
+                                0,
+                                255,
+                                0
+                            ],
+                            [
+                                0,
+                                0,
+                                255
+                            ],
+                            [
+                                255,
+                                0,
+                                0
+                            ]
+                        ]
+                    }
+                ]
+            }
+        ],
+        "source_index": 24
+    },
+    {
+        "video": "annotated_data/pour_sausage_into_pot/videos/episode_5_cam_high.mp4",
+        "images": [
+            "annotated_data/pour_sausage_into_pot/frames/episode_5_cam_high/0.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_5_cam_high/25.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_5_cam_high/50.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_5_cam_high/75.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_5_cam_high/100.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_5_cam_high/125.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_5_cam_high/150.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_5_cam_high/165_avoid_keyframe.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_5_cam_high/175.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_5_cam_high/200.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_5_cam_high/214_correct_keyframe.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_5_cam_high/225.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_5_cam_high/250.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_5_cam_high/260.jpg"
+        ],
+        "task": "Use the left arm to pour the sausages from the plate into the pot, then use the right arm to place the lid on the pot.",
+        "failure_detection": "yes",
+        "subtasks": [
+            "1. Move the left arm to align with the plate holding the sausages.",
+            "2. Grasp the plate with the left arm.",
+            "3. Move the left arm to align with the pot.",
+            "4. Pour the sausages from the plate into the pot with the left arm.",
+            "5. Move the left arm to a clear spot on the table.",
+            "6. Release the plate with the left arm.",
+            "7. Move the right arm to align with the lid.",
+            "8. Grasp the lid with the right arm.",
+            "9. Move the right arm to align with the pot.",
+            "10. Place the lid on the pot with the right arm.",
+            "11. Release the lid with the right arm."
+        ],
+        "failure_subtask": "1",
+        "failure_type": "gripper 6d-pose",
+        "keyframe": [
+            {
+                "avoid_keyframe": "annotated_data/pour_sausage_into_pot/frames/episode_5_cam_high/165_avoid_keyframe.jpg",
+                "correct_keyframe": "annotated_data/pour_sausage_into_pot/frames/episode_5_cam_high/214_correct_keyframe.jpg"
+            }
+        ],
+        "avoidance": [
+            {
+                "low_level": "Move the left gripper to the right significantly, and forward significantly.",
+                "avoid_keyframe_annotations": "annotated_data/pour_sausage_into_pot/frames/episode_5_cam_high/165_avoid_keyframe_annotations.jpg",
+                "avoid_keyframe_annotations_code": [
+                    {
+                        "type": "move_arrow",
+                        "start": [
+                            181,
+                            459
+                        ],
+                        "end": [
+                            248,
+                            386
+                        ],
+                        "colors": [
+                            [
+                                0,
+                                255,
+                                0
+                            ],
+                            [
+                                0,
+                                0,
+                                255
+                            ]
+                        ]
+                    }
+                ]
+            }
+        ],
+        "correction": [
+            {
+                "low_level": "Move the left gripper to the right significantly, backward significantly, and downward significantly.",
+                "correct_keyframe_annotations": "annotated_data/pour_sausage_into_pot/frames/episode_5_cam_high/214_correct_keyframe_annotations.jpg",
+                "correct_keyframe_annotations_code": [
+                    {
+                        "type": "move_arrow",
+                        "start": [
+                            181,
+                            256
+                        ],
+                        "end": [
+                            245,
+                            414
+                        ],
+                        "colors": [
+                            [
+                                0,
+                                255,
+                                0
+                            ],
+                            [
+                                0,
+                                0,
+                                255
+                            ],
+                            [
+                                255,
+                                0,
+                                0
+                            ]
+                        ]
+                    }
+                ]
+            }
+        ],
+        "source_index": 25
+    },
+    {
+        "video": "annotated_data/pour_sausage_into_pot/videos/episode_2_cam_high.mp4",
+        "images": [
+            "annotated_data/pour_sausage_into_pot/frames/episode_2_cam_high/0.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_2_cam_high/25.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_2_cam_high/50.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_2_cam_high/75.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_2_cam_high/100.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_2_cam_high/116_avoid_keyframe.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_2_cam_high/125.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_2_cam_high/150.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_2_cam_high/170_correct_keyframe.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_2_cam_high/175.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_2_cam_high/200.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_2_cam_high/210.jpg"
+        ],
+        "task": "Use the left arm to pour the sausages from the plate into the pot, then use the right arm to place the lid on the pot.",
+        "failure_detection": "yes",
+        "subtasks": [
+            "1. Move the left arm to align with the plate holding the sausages.",
+            "2. Grasp the plate with the left arm.",
+            "3. Move the left arm to align with the pot.",
+            "4. Pour the sausages from the plate into the pot with the left arm.",
+            "5. Move the left arm to a clear spot on the table.",
+            "6. Release the plate with the left arm.",
+            "7. Move the right arm to align with the lid.",
+            "8. Grasp the lid with the right arm.",
+            "9. Move the right arm to align with the pot.",
+            "10. Place the lid on the pot with the right arm.",
+            "11. Release the lid with the right arm."
+        ],
+        "failure_subtask": "1",
+        "failure_type": "gripper 6d-pose",
+        "keyframe": [
+            {
+                "avoid_keyframe": "annotated_data/pour_sausage_into_pot/frames/episode_2_cam_high/116_avoid_keyframe.jpg",
+                "correct_keyframe": "annotated_data/pour_sausage_into_pot/frames/episode_2_cam_high/170_correct_keyframe.jpg"
+            }
+        ],
+        "avoidance": [
+            {
+                "low_level": "Move the left gripper to the left significantly.",
+                "avoid_keyframe_annotations": "annotated_data/pour_sausage_into_pot/frames/episode_2_cam_high/116_avoid_keyframe_annotations.jpg",
+                "avoid_keyframe_annotations_code": [
+                    {
+                        "type": "move_arrow",
+                        "start": [
+                            321,
+                            409
+                        ],
+                        "end": [
+                            261,
+                            410
+                        ],
+                        "colors": [
+                            [
+                                0,
+                                255,
+                                0
+                            ]
+                        ]
+                    }
+                ]
+            }
+        ],
+        "correction": [
+            {
+                "low_level": "Move the left gripper to the backward significantly, and downward significantly.",
+                "correct_keyframe_annotations": "annotated_data/pour_sausage_into_pot/frames/episode_2_cam_high/170_correct_keyframe_annotations.jpg",
+                "correct_keyframe_annotations_code": [
+                    {
+                        "type": "move_arrow",
+                        "start": [
+                            271,
+                            194
+                        ],
+                        "end": [
+                            275,
+                            417
+                        ],
+                        "colors": [
+                            [
+                                0,
+                                0,
+                                255
+                            ],
+                            [
+                                255,
+                                0,
+                                0
+                            ]
+                        ]
+                    }
+                ]
+            }
+        ],
+        "source_index": 26
+    },
+    {
+        "video": "annotated_data/pour_sausage_into_pot/videos/episode_26_cam_high.mp4",
+        "images": [
+            "annotated_data/pour_sausage_into_pot/frames/episode_26_cam_high/0.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_26_cam_high/25.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_26_cam_high/50.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_26_cam_high/75.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_26_cam_high/100.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_26_cam_high/124_avoid_keyframe.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_26_cam_high/125.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_26_cam_high/150.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_26_cam_high/170_correct_keyframe.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_26_cam_high/175.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_26_cam_high/200.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_26_cam_high/213.jpg"
+        ],
+        "task": "Use the left arm to pour the sausages from the plate into the pot, then use the right arm to place the lid on the pot.",
+        "failure_detection": "yes",
+        "subtasks": [
+            "1. Move the left arm to align with the plate holding the sausages.",
+            "2. Grasp the plate with the left arm.",
+            "3. Move the left arm to align with the pot.",
+            "4. Pour the sausages from the plate into the pot with the left arm.",
+            "5. Move the left arm to a clear spot on the table.",
+            "6. Release the plate with the left arm.",
+            "7. Move the right arm to align with the lid.",
+            "8. Grasp the lid with the right arm.",
+            "9. Move the right arm to align with the pot.",
+            "10. Place the lid on the pot with the right arm.",
+            "11. Release the lid with the right arm."
+        ],
+        "failure_subtask": "1",
+        "failure_type": "gripper 6d-pose",
+        "keyframe": [
+            {
+                "avoid_keyframe": "annotated_data/pour_sausage_into_pot/frames/episode_26_cam_high/124_avoid_keyframe.jpg",
+                "correct_keyframe": "annotated_data/pour_sausage_into_pot/frames/episode_26_cam_high/170_correct_keyframe.jpg"
+            }
+        ],
+        "avoidance": [
+            {
+                "low_level": "Move the left gripper to the left significantly.",
+                "avoid_keyframe_annotations": "annotated_data/pour_sausage_into_pot/frames/episode_26_cam_high/124_avoid_keyframe_annotations.jpg",
+                "avoid_keyframe_annotations_code": [
+                    {
+                        "type": "move_arrow",
+                        "start": [
+                            304,
+                            390
+                        ],
+                        "end": [
+                            245,
+                            392
+                        ],
+                        "colors": [
+                            [
+                                0,
+                                255,
+                                0
+                            ]
+                        ]
+                    }
+                ]
+            }
+        ],
+        "correction": [
+            {
+                "low_level": "Move the left gripper to the backward significantly, and downward significantly.",
+                "correct_keyframe_annotations": "annotated_data/pour_sausage_into_pot/frames/episode_26_cam_high/170_correct_keyframe_annotations.jpg",
+                "correct_keyframe_annotations_code": [
+                    {
+                        "type": "move_arrow",
+                        "start": [
+                            269,
+                            270
+                        ],
+                        "end": [
+                            259,
+                            404
+                        ],
+                        "colors": [
+                            [
+                                0,
+                                0,
+                                255
+                            ],
+                            [
+                                255,
+                                0,
+                                0
+                            ]
+                        ]
+                    }
+                ]
+            }
+        ],
+        "source_index": 27
+    },
+    {
+        "video": "annotated_data/pour_sausage_into_pot/videos/episode_21_cam_high.mp4",
+        "images": [
+            "annotated_data/pour_sausage_into_pot/frames/episode_21_cam_high/0.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_21_cam_high/25.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_21_cam_high/50.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_21_cam_high/75.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_21_cam_high/100.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_21_cam_high/125.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_21_cam_high/150.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_21_cam_high/175.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_21_cam_high/200.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_21_cam_high/225.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_21_cam_high/250.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_21_cam_high/275.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_21_cam_high/300.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_21_cam_high/325.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_21_cam_high/350.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_21_cam_high/375.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_21_cam_high/400.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_21_cam_high/425.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_21_cam_high/445_avoid_keyframe.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_21_cam_high/450.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_21_cam_high/475.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_21_cam_high/500.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_21_cam_high/525.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_21_cam_high/546_correct_keyframe.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_21_cam_high/550.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_21_cam_high/575.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_21_cam_high/590.jpg"
+        ],
+        "task": "Use the left arm to pour the sausages from the plate into the pot, then use the right arm to place the lid on the pot.",
+        "failure_detection": "yes",
+        "subtasks": [
+            "1. Move the left arm to align with the plate holding the sausages.",
+            "2. Grasp the plate with the left arm.",
+            "3. Move the left arm to align with the pot.",
+            "4. Pour the sausages from the plate into the pot with the left arm.",
+            "5. Move the left arm to a clear spot on the table.",
+            "6. Release the plate with the left arm.",
+            "7. Move the right arm to align with the lid.",
+            "8. Grasp the lid with the right arm.",
+            "9. Move the right arm to align with the pot.",
+            "10. Place the lid on the pot with the right arm.",
+            "11. Release the lid with the right arm."
+        ],
+        "failure_subtask": "7",
+        "failure_type": "gripper 6d-pose",
+        "keyframe": [
+            {
+                "avoid_keyframe": "annotated_data/pour_sausage_into_pot/frames/episode_21_cam_high/445_avoid_keyframe.jpg",
+                "correct_keyframe": "annotated_data/pour_sausage_into_pot/frames/episode_21_cam_high/546_correct_keyframe.jpg"
+            }
+        ],
+        "avoidance": [
+            {
+                "low_level": "Move the right gripper to the backward significantly, and downward slightly.",
+                "avoid_keyframe_annotations": "annotated_data/pour_sausage_into_pot/frames/episode_21_cam_high/445_avoid_keyframe_annotations.jpg",
+                "avoid_keyframe_annotations_code": [
+                    {
+                        "type": "move_arrow",
+                        "start": [
+                            581,
+                            258
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+                        "end": [
+                            575,
+                            363
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+                                0,
+                                0,
+                                255
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+                            [
+                                255,
+                                0,
+                                0
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+                    }
+                ]
+            }
+        ],
+        "correction": [
+            {
+                "low_level": "Move the right gripper to the right slightly, backward significantly, and downward significantly.",
+                "correct_keyframe_annotations": "annotated_data/pour_sausage_into_pot/frames/episode_21_cam_high/546_correct_keyframe_annotations.jpg",
+                "correct_keyframe_annotations_code": [
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+                                0
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+        ],
+        "source_index": 28
+    },
+    {
+        "video": "annotated_data/pour_sausage_into_pot/videos/episode_33_cam_high.mp4",
+        "images": [
+            "annotated_data/pour_sausage_into_pot/frames/episode_33_cam_high/0.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_33_cam_high/25.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_33_cam_high/50.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_33_cam_high/75.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_33_cam_high/100.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_33_cam_high/104_avoid_keyframe.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_33_cam_high/125.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_33_cam_high/150.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_33_cam_high/164_correct_keyframe.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_33_cam_high/175.jpg",
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+            "annotated_data/pour_sausage_into_pot/frames/episode_33_cam_high/203.jpg"
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+        "task": "Use the left arm to pour the sausages from the plate into the pot, then use the right arm to place the lid on the pot.",
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+        "subtasks": [
+            "1. Move the left arm to align with the plate holding the sausages.",
+            "2. Grasp the plate with the left arm.",
+            "3. Move the left arm to align with the pot.",
+            "4. Pour the sausages from the plate into the pot with the left arm.",
+            "5. Move the left arm to a clear spot on the table.",
+            "6. Release the plate with the left arm.",
+            "7. Move the right arm to align with the lid.",
+            "8. Grasp the lid with the right arm.",
+            "9. Move the right arm to align with the pot.",
+            "10. Place the lid on the pot with the right arm.",
+            "11. Release the lid with the right arm."
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+        "failure_subtask": "1",
+        "failure_type": "gripper 6d-pose",
+        "keyframe": [
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+                "avoid_keyframe": "annotated_data/pour_sausage_into_pot/frames/episode_33_cam_high/104_avoid_keyframe.jpg",
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+        "avoidance": [
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+                "low_level": "Move the left gripper to the backward significantly.",
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+        "correction": [
+            {
+                "low_level": "Move the left gripper to the backward significantly, and downward significantly.",
+                "correct_keyframe_annotations": "annotated_data/pour_sausage_into_pot/frames/episode_33_cam_high/164_correct_keyframe_annotations.jpg",
+                "correct_keyframe_annotations_code": [
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+                        "type": "move_arrow",
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+                                0
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+                ]
+            }
+        ],
+        "source_index": 29
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+    {
+        "video": "annotated_data/pour_sausage_into_pot/videos/episode_17_cam_high.mp4",
+        "images": [
+            "annotated_data/pour_sausage_into_pot/frames/episode_17_cam_high/0.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_17_cam_high/25.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_17_cam_high/50.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_17_cam_high/75.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_17_cam_high/100.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_17_cam_high/125.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_17_cam_high/150.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_17_cam_high/175.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_17_cam_high/200.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_17_cam_high/225.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_17_cam_high/250.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_17_cam_high/275.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_17_cam_high/300.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_17_cam_high/325.jpg",
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+            "annotated_data/pour_sausage_into_pot/frames/episode_17_cam_high/567.jpg"
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+        "task": "Use the left arm to pour the sausages from the plate into the pot, then use the right arm to place the lid on the pot.",
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+        "subtasks": [
+            "1. Move the left arm to align with the plate holding the sausages.",
+            "2. Grasp the plate with the left arm.",
+            "3. Move the left arm to align with the pot.",
+            "4. Pour the sausages from the plate into the pot with the left arm.",
+            "5. Move the left arm to a clear spot on the table.",
+            "6. Release the plate with the left arm.",
+            "7. Move the right arm to align with the lid.",
+            "8. Grasp the lid with the right arm.",
+            "9. Move the right arm to align with the pot.",
+            "10. Place the lid on the pot with the right arm.",
+            "11. Release the lid with the right arm."
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+        "failure_subtask": "7",
+        "failure_type": "gripper 6d-pose",
+        "keyframe": [
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+                "avoid_keyframe": "annotated_data/pour_sausage_into_pot/frames/episode_17_cam_high/452_avoid_keyframe.jpg",
+                "correct_keyframe": "annotated_data/pour_sausage_into_pot/frames/episode_17_cam_high/522_correct_keyframe.jpg"
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+        "avoidance": [
+            {
+                "low_level": "Move the right gripper to the left slightly, and forward significantly.",
+                "avoid_keyframe_annotations": "annotated_data/pour_sausage_into_pot/frames/episode_17_cam_high/452_avoid_keyframe_annotations.jpg",
+                "avoid_keyframe_annotations_code": [
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+                        "end": [
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+        ],
+        "correction": [
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+                "low_level": "Move the right gripper to the downward significantly.",
+                "correct_keyframe_annotations": "annotated_data/pour_sausage_into_pot/frames/episode_17_cam_high/522_correct_keyframe_annotations.jpg",
+                "correct_keyframe_annotations_code": [
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+                        "type": "move_arrow",
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+        "source_index": 30
+    },
+    {
+        "video": "annotated_data/pour_sausage_into_pot/videos/episode_10_cam_high.mp4",
+        "images": [
+            "annotated_data/pour_sausage_into_pot/frames/episode_10_cam_high/0.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_10_cam_high/25.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_10_cam_high/50.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_10_cam_high/75.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_10_cam_high/100.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_10_cam_high/125.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_10_cam_high/150.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_10_cam_high/175.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_10_cam_high/200.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_10_cam_high/225.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_10_cam_high/250.jpg",
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+        "task": "Use the left arm to pour the sausages from the plate into the pot, then use the right arm to place the lid on the pot.",
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+        "subtasks": [
+            "1. Move the left arm to align with the plate holding the sausages.",
+            "2. Grasp the plate with the left arm.",
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+            "4. Pour the sausages from the plate into the pot with the left arm.",
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+            "7. Move the right arm to align with the lid.",
+            "8. Grasp the lid with the right arm.",
+            "9. Move the right arm to align with the pot.",
+            "10. Place the lid on the pot with the right arm.",
+            "11. Release the lid with the right arm."
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+        "failure_subtask": "7",
+        "failure_type": "gripper 6d-pose",
+        "keyframe": [
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+                "avoid_keyframe": "annotated_data/pour_sausage_into_pot/frames/episode_10_cam_high/436_avoid_keyframe.jpg",
+                "correct_keyframe": "annotated_data/pour_sausage_into_pot/frames/episode_10_cam_high/507_correct_keyframe.jpg"
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+        ],
+        "avoidance": [
+            {
+                "low_level": "Move the right gripper to the right slightly.",
+                "avoid_keyframe_annotations": "annotated_data/pour_sausage_into_pot/frames/episode_10_cam_high/436_avoid_keyframe_annotations.jpg",
+                "avoid_keyframe_annotations_code": [
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+        "correction": [
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+                "low_level": "Move the right gripper to the right significantly, and downward significantly.",
+                "correct_keyframe_annotations": "annotated_data/pour_sausage_into_pot/frames/episode_10_cam_high/507_correct_keyframe_annotations.jpg",
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+        "source_index": 31
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+    {
+        "video": "annotated_data/pour_sausage_into_pot/videos/episode_3_cam_high.mp4",
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+            "annotated_data/pour_sausage_into_pot/frames/episode_3_cam_high/0.jpg",
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+        "task": "Use the left arm to pour the sausages from the plate into the pot, then use the right arm to place the lid on the pot.",
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+        "failure_type": "gripper 6d-pose",
+        "keyframe": [
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+        ],
+        "avoidance": [
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+                "low_level": "Move the left gripper to the right significantly, and backward significantly.",
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+        "correction": [
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+                "low_level": "Move the left gripper to the left slightly, backward significantly, and downward significantly.",
+                "correct_keyframe_annotations": "annotated_data/pour_sausage_into_pot/frames/episode_3_cam_high/203_correct_keyframe_annotations.jpg",
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+        ],
+        "source_index": 32
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+    {
+        "video": "annotated_data/pour_sausage_into_pot/videos/episode_4_cam_high.mp4",
+        "images": [
+            "annotated_data/pour_sausage_into_pot/frames/episode_4_cam_high/0.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_4_cam_high/25.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_4_cam_high/50.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_4_cam_high/75.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_4_cam_high/100.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_4_cam_high/125.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_4_cam_high/131_avoid_keyframe.jpg",
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+            "annotated_data/pour_sausage_into_pot/frames/episode_4_cam_high/200_correct_keyframe.jpg",
+            "annotated_data/pour_sausage_into_pot/frames/episode_4_cam_high/219.jpg"
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+        "task": "Use the left arm to pour the sausages from the plate into the pot, then use the right arm to place the lid on the pot.",
+        "failure_detection": "yes",
+        "subtasks": [
+            "1. Move the left arm to align with the plate holding the sausages.",
+            "2. Grasp the plate with the left arm.",
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+            "4. Pour the sausages from the plate into the pot with the left arm.",
+            "5. Move the left arm to a clear spot on the table.",
+            "6. Release the plate with the left arm.",
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+            "8. Grasp the lid with the right arm.",
+            "9. Move the right arm to align with the pot.",
+            "10. Place the lid on the pot with the right arm.",
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+        "failure_subtask": "1",
+        "failure_type": "gripper 6d-pose",
+        "keyframe": [
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