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Release the gripper to place the test tube into the right empty slot." + ], + "failure_subtask": "5", + "failure_type": "gripper 6d-pose", + "keyframe": [ + { + "avoid_keyframe": "annotated_data/pick_place_chem_ep2/frames/episode_24_cam_high/340_avoid_keyframe.jpg", + "correct_keyframe": "annotated_data/pick_place_chem_ep2/frames/episode_24_cam_high/447_correct_keyframe.jpg" + } + ], + "avoidance": [ + { + "low_level": "Rotate the right gripper clockwise.", + "avoid_keyframe_annotations": "annotated_data/pick_place_chem_ep2/frames/episode_24_cam_high/340_avoid_keyframe_annotations.jpg", + "avoid_keyframe_annotations_code": [ + { + "type": "rotate_arrow", + "start": [ + 496, + 211 + ], + "end": [ + 413, + 163 + ], + "direction": "clockwise" + } + ] + } + ], + "correction": [ + { + "low_level": "Move the right gripper to the right significantly.", + "correct_keyframe_annotations": "annotated_data/pick_place_chem_ep2/frames/episode_24_cam_high/447_correct_keyframe_annotations.jpg", + "correct_keyframe_annotations_code": [ + { + "type": "move_arrow", + "start": [ + 309, + 104 + ], + "end": [ + 467, + 100 + ], + "colors": [ + [ + 0, + 255, + 0 + ] + ] + } + ] + } + ], + "source_index": 24 + }, + { + "video": "annotated_data/pick_place_chem_ep2/videos/episode_25_cam_high.mp4", + "images": [ + "annotated_data/pick_place_chem_ep2/frames/episode_25_cam_high/0.jpg", + "annotated_data/pick_place_chem_ep2/frames/episode_25_cam_high/25.jpg", + "annotated_data/pick_place_chem_ep2/frames/episode_25_cam_high/50.jpg", + "annotated_data/pick_place_chem_ep2/frames/episode_25_cam_high/75.jpg", + "annotated_data/pick_place_chem_ep2/frames/episode_25_cam_high/100.jpg", + "annotated_data/pick_place_chem_ep2/frames/episode_25_cam_high/125.jpg", + "annotated_data/pick_place_chem_ep2/frames/episode_25_cam_high/150.jpg", + "annotated_data/pick_place_chem_ep2/frames/episode_25_cam_high/175.jpg", + "annotated_data/pick_place_chem_ep2/frames/episode_25_cam_high/200.jpg", + "annotated_data/pick_place_chem_ep2/frames/episode_25_cam_high/225.jpg", + "annotated_data/pick_place_chem_ep2/frames/episode_25_cam_high/250.jpg", + "annotated_data/pick_place_chem_ep2/frames/episode_25_cam_high/265_avoid_keyframe.jpg", + "annotated_data/pick_place_chem_ep2/frames/episode_25_cam_high/275.jpg", + "annotated_data/pick_place_chem_ep2/frames/episode_25_cam_high/300.jpg", + "annotated_data/pick_place_chem_ep2/frames/episode_25_cam_high/325.jpg", + "annotated_data/pick_place_chem_ep2/frames/episode_25_cam_high/348_correct_keyframe.jpg", + "annotated_data/pick_place_chem_ep2/frames/episode_25_cam_high/350.jpg", + "annotated_data/pick_place_chem_ep2/frames/episode_25_cam_high/356.jpg" + ], + "task": "Use the left arm to pick up the vial and place it in the left empty slot on the rack. 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Release the gripper to place the test tube into the right empty slot." + ], + "failure_subtask": "5", + "failure_type": "gripper 6d-pose", + "keyframe": [ + { + "avoid_keyframe": "annotated_data/pick_place_chem_ep2/frames/episode_25_cam_high/265_avoid_keyframe.jpg", + "correct_keyframe": "annotated_data/pick_place_chem_ep2/frames/episode_25_cam_high/348_correct_keyframe.jpg" + } + ], + "avoidance": [ + { + "low_level": "Rotate the right gripper counterclockwise.", + "avoid_keyframe_annotations": "annotated_data/pick_place_chem_ep2/frames/episode_25_cam_high/265_avoid_keyframe_annotations.jpg", + "avoid_keyframe_annotations_code": [ + { + "type": "rotate_arrow", + "start": [ + 461, + 80 + ], + "end": [ + 432, + 132 + ], + "direction": "counterclockwise" + } + ] + } + ], + "correction": [ + { + "low_level": "Move the right gripper to the right significantly, and downward significantly.", + "correct_keyframe_annotations": "annotated_data/pick_place_chem_ep2/frames/episode_25_cam_high/348_correct_keyframe_annotations.jpg", + "correct_keyframe_annotations_code": [ + { + "type": "move_arrow", + "start": [ + 270, + 67 + ], + "end": [ + 464, + 126 + ], + "colors": [ + [ + 0, + 255, + 0 + ], + [ + 255, + 0, + 0 + ] + ] + } + ] + } + ], + "source_index": 25 + }, + { + "video": "annotated_data/pick_place_chem_ep2/videos/episode_26_cam_high.mp4", + "images": [ + "annotated_data/pick_place_chem_ep2/frames/episode_26_cam_high/0.jpg", + "annotated_data/pick_place_chem_ep2/frames/episode_26_cam_high/25.jpg", + "annotated_data/pick_place_chem_ep2/frames/episode_26_cam_high/50.jpg", + "annotated_data/pick_place_chem_ep2/frames/episode_26_cam_high/75.jpg", + "annotated_data/pick_place_chem_ep2/frames/episode_26_cam_high/100.jpg", + "annotated_data/pick_place_chem_ep2/frames/episode_26_cam_high/125.jpg", + "annotated_data/pick_place_chem_ep2/frames/episode_26_cam_high/150.jpg", + "annotated_data/pick_place_chem_ep2/frames/episode_26_cam_high/175.jpg", + "annotated_data/pick_place_chem_ep2/frames/episode_26_cam_high/200.jpg", + "annotated_data/pick_place_chem_ep2/frames/episode_26_cam_high/225.jpg", + "annotated_data/pick_place_chem_ep2/frames/episode_26_cam_high/250.jpg", + "annotated_data/pick_place_chem_ep2/frames/episode_26_cam_high/269_avoid_keyframe.jpg", + "annotated_data/pick_place_chem_ep2/frames/episode_26_cam_high/275.jpg", + "annotated_data/pick_place_chem_ep2/frames/episode_26_cam_high/300.jpg", + "annotated_data/pick_place_chem_ep2/frames/episode_26_cam_high/325.jpg", + "annotated_data/pick_place_chem_ep2/frames/episode_26_cam_high/343_correct_keyframe.jpg", + "annotated_data/pick_place_chem_ep2/frames/episode_26_cam_high/350.jpg", + "annotated_data/pick_place_chem_ep2/frames/episode_26_cam_high/353.jpg" + ], + "task": "Use the left arm to pick up the vial and place it in the left empty slot on the rack. 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Release the gripper to place the test tube into the right empty slot." + ], + "failure_subtask": "3", + "failure_type": "gripper state", + "keyframe": [ + { + "avoid_keyframe": "annotated_data/pick_place_chem_ep2/frames/episode_49_cam_high/69_avoid_keyframe.jpg", + "correct_keyframe": "annotated_data/pick_place_chem_ep2/frames/episode_49_cam_high/105_correct_keyframe.jpg" + } + ], + "avoidance": [ + { + "low_level": "Close the left gripper", + "avoid_keyframe_annotations": "annotated_data/pick_place_chem_ep2/frames/episode_49_cam_high/69_avoid_keyframe_annotations.jpg", + "avoid_keyframe_annotations_code": [ + { + "type": "state", + "pos": [ + 147, + 120 + ], + "text": "OFF" + } + ] + } + ], + "correction": [ + { + "low_level": "Move the left gripper to the left significantly, and downward significantly.", + "correct_keyframe_annotations": "annotated_data/pick_place_chem_ep2/frames/episode_49_cam_high/105_correct_keyframe_annotations.jpg", + "correct_keyframe_annotations_code": [ + { + "type": "move_arrow", + "start": [ + 267, + 84 + ], + "end": [ + 166, + 171 + ], + "colors": [ + [ + 0, + 255, + 0 + ], + [ + 255, + 0, + 0 + ] + ] + } + ] + } + ], + "source_index": 49 + }, + { + "video": "annotated_data/pick_place_chem_ep2/videos/episode_50_cam_high.mp4", + "images": [ + "annotated_data/pick_place_chem_ep2/frames/episode_50_cam_high/0.jpg", + "annotated_data/pick_place_chem_ep2/frames/episode_50_cam_high/25.jpg", + "annotated_data/pick_place_chem_ep2/frames/episode_50_cam_high/50.jpg", + "annotated_data/pick_place_chem_ep2/frames/episode_50_cam_high/75.jpg", + "annotated_data/pick_place_chem_ep2/frames/episode_50_cam_high/100.jpg", + "annotated_data/pick_place_chem_ep2/frames/episode_50_cam_high/125.jpg", + "annotated_data/pick_place_chem_ep2/frames/episode_50_cam_high/130_avoid_keyframe.jpg", + "annotated_data/pick_place_chem_ep2/frames/episode_50_cam_high/150.jpg", + "annotated_data/pick_place_chem_ep2/frames/episode_50_cam_high/169_correct_keyframe.jpg", + "annotated_data/pick_place_chem_ep2/frames/episode_50_cam_high/175.jpg", + "annotated_data/pick_place_chem_ep2/frames/episode_50_cam_high/186.jpg" + ], + "task": "Use the left arm to pick up the vial and place it in the left empty slot on the rack. 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Release the gripper to place the test tube in the right empty slot." + ], + "failure_subtask": "4", + "failure_type": "gripper state", + "keyframe": [ + { + "avoid_keyframe": "annotated_data/pick_place_chem_ep2/frames/episode_50_cam_high/130_avoid_keyframe.jpg", + "correct_keyframe": "annotated_data/pick_place_chem_ep2/frames/episode_50_cam_high/169_correct_keyframe.jpg" + } + ], + "avoidance": [ + { + "low_level": "Open the left gripper", + "avoid_keyframe_annotations": "annotated_data/pick_place_chem_ep2/frames/episode_50_cam_high/130_avoid_keyframe_annotations.jpg", + "avoid_keyframe_annotations_code": [ + { + "type": "state", + "pos": [ + 214, + 152 + ], + "text": "ON" + } + ] + } + ], + "correction": [ + { + "low_level": "Open the left gripper", + "correct_keyframe_annotations": "annotated_data/pick_place_chem_ep2/frames/episode_50_cam_high/169_correct_keyframe_annotations.jpg", + "correct_keyframe_annotations_code": [ + { + "type": "state", + "pos": [ + 214, + 155 + ], + "text": "ON" + } + ] + } + ], + "source_index": 50 + }, + { + "video": "annotated_data/pick_place_chem_ep2/videos/episode_51_cam_high.mp4", + "task": "Use the left arm to pick up the vial and place it in the left empty slot on the rack. 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Move the left arm to approach and align the vial.", + "2. Grasp the vial with the left arm.", + "3. Move the left arm to align with the left empty slot on the rack.", + "4. Release the gripper to place the vial in the left empty slot.", + "5. Move the right arm to approach and align the test tube.", + "6. Grasp the test tube with the right arm.", + "7. Move the right arm to align with the right empty slot on the rack.", + "8. 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Release the gripper to place the test tube into the right empty slot." + ], + "failure_subtask": "1", + "failure_type": "gripper 6d-pose", + "keyframe": [ + { + "avoid_keyframe": "annotated_data/pick_place_chem_ep2/frames/episode_207_cam_high/45_avoid_keyframe.jpg", + "correct_keyframe": "annotated_data/pick_place_chem_ep2/frames/episode_207_cam_high/103_correct_keyframe.jpg" + } + ], + "avoidance": [ + { + "low_level": "Move the left gripper to the forward slightly.", + "avoid_keyframe_annotations": "annotated_data/pick_place_chem_ep2/frames/episode_207_cam_high/45_avoid_keyframe_annotations.jpg", + "avoid_keyframe_annotations_code": [ + { + "type": "move_arrow", + "start": [ + 128, + 239 + ], + "end": [ + 128, + 195 + ], + "colors": [ + [ + 0, + 0, + 255 + ] + ] + } + ] + } + ], + "correction": [ + { + "low_level": "Move the left gripper to the left significantly, forward significantly, and downward significantly.", + "correct_keyframe_annotations": "annotated_data/pick_place_chem_ep2/frames/episode_207_cam_high/103_correct_keyframe_annotations.jpg", + "correct_keyframe_annotations_code": [ + { + "type": "move_arrow", + "start": [ + 209, + 145 + ], + "end": [ + 135, + 202 + ], + "colors": [ + [ + 0, + 255, + 0 + ], + [ + 0, + 0, + 255 + ], + [ + 255, + 0, + 0 + ] + ] + } + ] + } + ], + "source_index": 207 + }, + { + "video": "annotated_data/pick_place_chem_ep2/videos/episode_208_cam_high.mp4", + "images": [ + "annotated_data/pick_place_chem_ep2/frames/episode_208_cam_high/0.jpg", + "annotated_data/pick_place_chem_ep2/frames/episode_208_cam_high/25.jpg", + "annotated_data/pick_place_chem_ep2/frames/episode_208_cam_high/50.jpg", + "annotated_data/pick_place_chem_ep2/frames/episode_208_cam_high/61_avoid_keyframe.jpg", + "annotated_data/pick_place_chem_ep2/frames/episode_208_cam_high/75.jpg", + "annotated_data/pick_place_chem_ep2/frames/episode_208_cam_high/100.jpg", + "annotated_data/pick_place_chem_ep2/frames/episode_208_cam_high/101_correct_keyframe.jpg", + "annotated_data/pick_place_chem_ep2/frames/episode_208_cam_high/124.jpg" + ], + "task": "Use the left arm to pick up the vial and place it in the left empty slot on the rack. 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Release the gripper to place the test tube into the right empty slot." + ], + "failure_subtask": "1", + "failure_type": "gripper 6d-pose", + "keyframe": [ + { + "avoid_keyframe": "annotated_data/pick_place_chem_ep2/frames/episode_208_cam_high/61_avoid_keyframe.jpg", + "correct_keyframe": "annotated_data/pick_place_chem_ep2/frames/episode_208_cam_high/101_correct_keyframe.jpg" + } + ], + "avoidance": [ + { + "low_level": "Move the left gripper to the right slightly.", + "avoid_keyframe_annotations": "annotated_data/pick_place_chem_ep2/frames/episode_208_cam_high/61_avoid_keyframe_annotations.jpg", + "avoid_keyframe_annotations_code": [ + { + "type": "move_arrow", + "start": [ + 85, + 199 + ], + "end": [ + 137, + 199 + ], + "colors": [ + [ + 0, + 255, + 0 + ] + ] + } + ] + } + ], + "correction": [ + { + "low_level": "Move the left gripper to the left significantly, forward significantly, and downward significantly.", + "correct_keyframe_annotations": "annotated_data/pick_place_chem_ep2/frames/episode_208_cam_high/101_correct_keyframe_annotations.jpg", + "correct_keyframe_annotations_code": [ + { + "type": "move_arrow", + "start": [ + 215, + 94 + ], + "end": [ + 132, + 201 + ], + "colors": [ + [ + 0, + 255, + 0 + ], + [ + 0, + 0, + 255 + ], + [ + 255, + 0, + 0 + ] + ] + } + ] + } + ], + "source_index": 208 + }, + { + "video": "annotated_data/pick_place_chem_ep2/videos/episode_209_cam_high.mp4", + "images": [ + "annotated_data/pick_place_chem_ep2/frames/episode_209_cam_high/0.jpg", + "annotated_data/pick_place_chem_ep2/frames/episode_209_cam_high/25.jpg", + "annotated_data/pick_place_chem_ep2/frames/episode_209_cam_high/50.jpg", + "annotated_data/pick_place_chem_ep2/frames/episode_209_cam_high/64_avoid_keyframe.jpg", + "annotated_data/pick_place_chem_ep2/frames/episode_209_cam_high/75.jpg", + "annotated_data/pick_place_chem_ep2/frames/episode_209_cam_high/100.jpg", + "annotated_data/pick_place_chem_ep2/frames/episode_209_cam_high/103_correct_keyframe.jpg", + "annotated_data/pick_place_chem_ep2/frames/episode_209_cam_high/120.jpg" + ], + "task": "Use the left arm to pick up the vial and place it in the left empty slot on the rack. 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Release the gripper to place the test tube into the right empty slot." + ], + "failure_subtask": "1", + "failure_type": "gripper 6d-pose", + "keyframe": [ + { + "avoid_keyframe": "annotated_data/pick_place_chem_ep2/frames/episode_239_cam_high/77_avoid_keyframe.jpg", + "correct_keyframe": "annotated_data/pick_place_chem_ep2/frames/episode_239_cam_high/127_correct_keyframe.jpg" + } + ], + "avoidance": [ + { + "low_level": "Move the left gripper to the left significantly, and forward significantly.", + "avoid_keyframe_annotations": "annotated_data/pick_place_chem_ep2/frames/episode_239_cam_high/77_avoid_keyframe_annotations.jpg", + "avoid_keyframe_annotations_code": [ + { + "type": "move_arrow", + "start": [ + 237, + 297 + ], + "end": [ + 141, + 194 + ], + "colors": [ + [ + 0, + 255, + 0 + ], + [ + 0, + 0, + 255 + ] + ] + } + ] + } + ], + "correction": [ + { + "low_level": "Move the left gripper to the left significantly, forward significantly, and downward significantly.", + "correct_keyframe_annotations": "annotated_data/pick_place_chem_ep2/frames/episode_239_cam_high/127_correct_keyframe_annotations.jpg", + "correct_keyframe_annotations_code": [ + { + "type": "move_arrow", + "start": [ + 329, + 127 + ], + "end": [ + 134, + 191 + ], + "colors": [ + [ + 0, + 255, + 0 + ], + [ + 0, + 0, + 255 + ], + [ + 255, + 0, + 0 + ] + ] + } + ] + } + ], + "source_index": 239 + }, + { + "video": "annotated_data/pick_place_chem_ep2/videos/episode_240_cam_high.mp4", + "images": [ + "annotated_data/pick_place_chem_ep2/frames/episode_240_cam_high/0.jpg", + "annotated_data/pick_place_chem_ep2/frames/episode_240_cam_high/25.jpg", + "annotated_data/pick_place_chem_ep2/frames/episode_240_cam_high/49_avoid_keyframe.jpg", + "annotated_data/pick_place_chem_ep2/frames/episode_240_cam_high/50.jpg", + "annotated_data/pick_place_chem_ep2/frames/episode_240_cam_high/75.jpg", + "annotated_data/pick_place_chem_ep2/frames/episode_240_cam_high/98_correct_keyframe.jpg", + "annotated_data/pick_place_chem_ep2/frames/episode_240_cam_high/100.jpg", + "annotated_data/pick_place_chem_ep2/frames/episode_240_cam_high/110.jpg" + ], + "task": "Use the left arm to pick up the vial and place it in the left empty slot on the rack. 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