Add files using upload-large-folder tool

annotated_data/lift_lid_place_duck/lift_lid_place_duck_annotations.json

@@ -0,0 +1,1225 @@
+[
+    {
+        "video": "annotated_data/lift_lid_place_duck/videos/episode_0_cam_high.mp4",
+        "task": "Use the right arm to lift the lid off the pot, then use the left arm to place the green duck inside.",
+        "failure_detection": "no",
+        "images": [
+            "annotated_data/lift_lid_place_duck/frames/episode_0_cam_high/0.jpg",
+            "annotated_data/lift_lid_place_duck/frames/episode_0_cam_high/25.jpg",
+            "annotated_data/lift_lid_place_duck/frames/episode_0_cam_high/50.jpg",
+            "annotated_data/lift_lid_place_duck/frames/episode_0_cam_high/75.jpg",
+            "annotated_data/lift_lid_place_duck/frames/episode_0_cam_high/100.jpg",
+            "annotated_data/lift_lid_place_duck/frames/episode_0_cam_high/125.jpg",
+            "annotated_data/lift_lid_place_duck/frames/episode_0_cam_high/150.jpg",
+            "annotated_data/lift_lid_place_duck/frames/episode_0_cam_high/175.jpg",
+            "annotated_data/lift_lid_place_duck/frames/episode_0_cam_high/200.jpg",
+            "annotated_data/lift_lid_place_duck/frames/episode_0_cam_high/225.jpg",
+            "annotated_data/lift_lid_place_duck/frames/episode_0_cam_high/250.jpg",
+            "annotated_data/lift_lid_place_duck/frames/episode_0_cam_high/275.jpg",
+            "annotated_data/lift_lid_place_duck/frames/episode_0_cam_high/290.jpg"
+        ],
+        "subtasks": [
+            "1. Move the right arm to approach and align with the pot lid.",
+            "2. Grasp the pot lid with the right arm.",
+            "3. Lift the pot lid using the right arm and move it to a safe position.",
+            "4. Move the left arm to approach and align with the green duck.",
+            "5. Grasp the green duck with the left arm.",
+            "6. Move the left arm to align with the pot.",
+            "7. Release the gripper to place the green duck inside the pot."
+        ]
+    },
+    {
+        "video": "annotated_data/lift_lid_place_duck/videos/episode_1_cam_high.mp4",
+        "task": "Use the right arm to lift the lid off the pot, then use the left arm to place the green duck inside.",
+        "failure_detection": "no",
+        "images": [
+            "annotated_data/lift_lid_place_duck/frames/episode_1_cam_high/0.jpg",
+            "annotated_data/lift_lid_place_duck/frames/episode_1_cam_high/25.jpg",
+            "annotated_data/lift_lid_place_duck/frames/episode_1_cam_high/50.jpg",
+            "annotated_data/lift_lid_place_duck/frames/episode_1_cam_high/75.jpg",
+            "annotated_data/lift_lid_place_duck/frames/episode_1_cam_high/100.jpg",
+            "annotated_data/lift_lid_place_duck/frames/episode_1_cam_high/125.jpg",
+            "annotated_data/lift_lid_place_duck/frames/episode_1_cam_high/150.jpg",
+            "annotated_data/lift_lid_place_duck/frames/episode_1_cam_high/175.jpg",
+            "annotated_data/lift_lid_place_duck/frames/episode_1_cam_high/200.jpg",
+            "annotated_data/lift_lid_place_duck/frames/episode_1_cam_high/225.jpg",
+            "annotated_data/lift_lid_place_duck/frames/episode_1_cam_high/250.jpg",
+            "annotated_data/lift_lid_place_duck/frames/episode_1_cam_high/257.jpg"
+        ],
+        "subtasks": [
+            "1. Move the right arm to approach and align with the pot lid.",
+            "2. Grasp the pot lid with the right arm.",
+            "3. Lift the pot lid using the right arm and move it to a safe position.",
+            "4. Move the left arm to approach and align with the green duck.",
+            "5. Grasp the green duck with the left arm.",
+            "6. Move the left arm to align with the pot.",
+            "7. Release the gripper to place the green duck inside the pot."
+        ]
+    },
+    {
+        "video": "annotated_data/lift_lid_place_duck/videos/episode_2_cam_high.mp4",
+        "task": "Use the right arm to lift the lid off the pot, then use the left arm to place the green duck inside.",
+        "failure_detection": "no",
+        "images": [
+            "annotated_data/lift_lid_place_duck/frames/episode_2_cam_high/0.jpg",
+            "annotated_data/lift_lid_place_duck/frames/episode_2_cam_high/25.jpg",
+            "annotated_data/lift_lid_place_duck/frames/episode_2_cam_high/50.jpg",
+            "annotated_data/lift_lid_place_duck/frames/episode_2_cam_high/75.jpg",
+            "annotated_data/lift_lid_place_duck/frames/episode_2_cam_high/100.jpg",
+            "annotated_data/lift_lid_place_duck/frames/episode_2_cam_high/125.jpg",
+            "annotated_data/lift_lid_place_duck/frames/episode_2_cam_high/150.jpg",
+            "annotated_data/lift_lid_place_duck/frames/episode_2_cam_high/175.jpg",
+            "annotated_data/lift_lid_place_duck/frames/episode_2_cam_high/200.jpg",
+            "annotated_data/lift_lid_place_duck/frames/episode_2_cam_high/225.jpg",
+            "annotated_data/lift_lid_place_duck/frames/episode_2_cam_high/250.jpg",
+            "annotated_data/lift_lid_place_duck/frames/episode_2_cam_high/275.jpg",
+            "annotated_data/lift_lid_place_duck/frames/episode_2_cam_high/300.jpg",
+            "annotated_data/lift_lid_place_duck/frames/episode_2_cam_high/302.jpg"
+        ],
+        "subtasks": [
+            "1. Move the right arm to approach and align with the pot lid.",
+            "2. Grasp the pot lid with the right arm.",
+            "3. Lift the pot lid using the right arm and move it to a safe position.",
+            "4. Move the left arm to approach and align with the green duck.",
+            "5. Grasp the green duck with the left arm.",
+            "6. Move the left arm to align with the pot.",
+            "7. Release the gripper to place the green duck inside the pot."
+        ]
+    },
+    {
+        "video": "annotated_data/lift_lid_place_duck/videos/episode_3_cam_high.mp4",
+        "task": "Use the right arm to lift the lid off the pot, then use the left arm to place the green duck inside.",
+        "failure_detection": "yes",
+        "images": [
+            "annotated_data/lift_lid_place_duck/frames/episode_3_cam_high/0.jpg",
+            "annotated_data/lift_lid_place_duck/frames/episode_3_cam_high/25.jpg",
+            "annotated_data/lift_lid_place_duck/frames/episode_3_cam_high/43_avoid_keyframe.jpg",
+            "annotated_data/lift_lid_place_duck/frames/episode_3_cam_high/50.jpg",
+            "annotated_data/lift_lid_place_duck/frames/episode_3_cam_high/75.jpg",
+            "annotated_data/lift_lid_place_duck/frames/episode_3_cam_high/100.jpg",
+            "annotated_data/lift_lid_place_duck/frames/episode_3_cam_high/122_correct_keyframe.jpg",
+            "annotated_data/lift_lid_place_duck/frames/episode_3_cam_high/125.jpg",
+            "annotated_data/lift_lid_place_duck/frames/episode_3_cam_high/139.jpg"
+        ],
+        "subtasks": [
+            "1. Move the right arm to approach and align with the pot lid.",
+            "2. Grasp the pot lid with the right arm.",
+            "3. Lift the pot lid using the right arm and move it to a safe position.",
+            "4. Move the left arm to approach and align with the green duck.",
+            "5. Grasp the green duck with the left arm.",
+            "6. Move the left arm to align with the pot.",
+            "7. Release the gripper to place the green duck inside the pot."
+        ],
+        "keyframe": [
+            {
+                "avoid_keyframe": "annotated_data/lift_lid_place_duck/frames/episode_3_cam_high/43_avoid_keyframe.jpg",
+                "correct_keyframe": "annotated_data/lift_lid_place_duck/frames/episode_3_cam_high/122_correct_keyframe.jpg"
+            }
+        ],
+        "failure_subtask": "1",
+        "failure_type": "task planning",
+        "avoidance": [
+            {
+                "low_level": " ",
+                "avoid_keyframe_annotations": "annotated_data/lift_lid_place_duck/frames/episode_3_cam_high/43_avoid_keyframe_annotations.jpg",
+                "avoid_keyframe_annotations_code": [
+                    {
+                        "type": "lock",
+                        "pos": [
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+                            232
+                        ]
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+                    {
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+                            303
+                        ],
+                        "p2": [
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+                            172
+                        ]
+                    }
+                ]
+            }
+        ],
+        "correction": [
+            {
+                "low_level": " ",
+                "correct_keyframe_annotations": "annotated_data/lift_lid_place_duck/frames/episode_3_cam_high/122_correct_keyframe_annotations.jpg",
+                "correct_keyframe_annotations_code": [
+                    {
+                        "type": "rewind",
+                        "pos": [
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+                        ]
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+            }
+        ]
+    },
+    {
+        "video": "annotated_data/lift_lid_place_duck/videos/episode_4_cam_high.mp4",
+        "task": "Use the right arm to lift the lid off the pot, then use the left arm to place the green duck inside.",
+        "failure_detection": "yes",
+        "images": [
+            "annotated_data/lift_lid_place_duck/frames/episode_4_cam_high/0.jpg",
+            "annotated_data/lift_lid_place_duck/frames/episode_4_cam_high/25.jpg",
+            "annotated_data/lift_lid_place_duck/frames/episode_4_cam_high/50.jpg",
+            "annotated_data/lift_lid_place_duck/frames/episode_4_cam_high/75.jpg",
+            "annotated_data/lift_lid_place_duck/frames/episode_4_cam_high/100.jpg",
+            "annotated_data/lift_lid_place_duck/frames/episode_4_cam_high/104_avoid_keyframe.jpg",
+            "annotated_data/lift_lid_place_duck/frames/episode_4_cam_high/125.jpg",
+            "annotated_data/lift_lid_place_duck/frames/episode_4_cam_high/150.jpg",
+            "annotated_data/lift_lid_place_duck/frames/episode_4_cam_high/157_correct_keyframe.jpg",
+            "annotated_data/lift_lid_place_duck/frames/episode_4_cam_high/175.jpg",
+            "annotated_data/lift_lid_place_duck/frames/episode_4_cam_high/200.jpg",
+            "annotated_data/lift_lid_place_duck/frames/episode_4_cam_high/225.jpg"
+        ],
+        "subtasks": [
+            "1. Move the right arm to approach and align with the pot lid.",
+            "2. Grasp the pot lid with the right arm.",
+            "3. Lift the pot lid using the right arm and move it to a safe position.",
+            "4. Move the left arm to approach and align with the green duck.",
+            "5. Grasp the green duck with the left arm.",
+            "6. Move the left arm to align with the pot.",
+            "7. Release the gripper to place the green duck inside the pot."
+        ],
+        "keyframe": [
+            {
+                "avoid_keyframe": "annotated_data/lift_lid_place_duck/frames/episode_4_cam_high/104_avoid_keyframe.jpg",
+                "correct_keyframe": "annotated_data/lift_lid_place_duck/frames/episode_4_cam_high/157_correct_keyframe.jpg"
+            }
+        ],
+        "failure_subtask": "4",
+        "failure_type": "task planning",
+        "avoidance": [
+            {
+                "low_level": " ",
+                "avoid_keyframe_annotations": "annotated_data/lift_lid_place_duck/frames/episode_4_cam_high/104_avoid_keyframe_annotations.jpg",
+                "avoid_keyframe_annotations_code": [
+                    {
+                        "type": "crosshair",
+                        "pos": [
+                            221,
+                            251
+                        ]
+                    }
+                ]
+            }
+        ],
+        "correction": [
+            {
+                "low_level": " ",
+                "correct_keyframe_annotations": "annotated_data/lift_lid_place_duck/frames/episode_4_cam_high/157_correct_keyframe_annotations.jpg",
+                "correct_keyframe_annotations_code": [
+                    {
+                        "type": "rewind",
+                        "pos": [
+                            393,
+                            192
+                        ]
+                    },
+                    {
+                        "type": "crosshair",
+                        "pos": [
+                            226,
+                            253
+                        ]
+                    }
+                ]
+            }
+        ]
+    },
+    {
+        "video": "annotated_data/lift_lid_place_duck/videos/episode_5_cam_high.mp4",
+        "task": "Use the right arm to lift the lid off the pot, then use the left arm to place the green duck inside.",
+        "failure_detection": "yes",
+        "images": [
+            "annotated_data/lift_lid_place_duck/frames/episode_5_cam_high/0.jpg",
+            "annotated_data/lift_lid_place_duck/frames/episode_5_cam_high/25.jpg",
+            "annotated_data/lift_lid_place_duck/frames/episode_5_cam_high/46_avoid_keyframe.jpg",
+            "annotated_data/lift_lid_place_duck/frames/episode_5_cam_high/50.jpg",
+            "annotated_data/lift_lid_place_duck/frames/episode_5_cam_high/74_correct_keyframe.jpg",
+            "annotated_data/lift_lid_place_duck/frames/episode_5_cam_high/75.jpg",
+            "annotated_data/lift_lid_place_duck/frames/episode_5_cam_high/100.jpg",
+            "annotated_data/lift_lid_place_duck/frames/episode_5_cam_high/125.jpg",
+            "annotated_data/lift_lid_place_duck/frames/episode_5_cam_high/150.jpg",
+            "annotated_data/lift_lid_place_duck/frames/episode_5_cam_high/175.jpg",
+            "annotated_data/lift_lid_place_duck/frames/episode_5_cam_high/200.jpg",
+            "annotated_data/lift_lid_place_duck/frames/episode_5_cam_high/203.jpg"
+        ],
+        "subtasks": [
+            "1. Move the right arm to approach and align with the pot lid.",
+            "2. Grasp the pot lid with the right arm.",
+            "3. Lift the pot lid using the right arm and move it to a safe position.",
+            "4. Move the left arm to approach and align with the green duck.",
+            "5. Grasp the green duck with the left arm.",
+            "6. Move the left arm to align with the pot.",
+            "7. Release the gripper to place the green duck inside the pot."
+        ],
+        "keyframe": [
+            {
+                "avoid_keyframe": "annotated_data/lift_lid_place_duck/frames/episode_5_cam_high/46_avoid_keyframe.jpg",
+                "correct_keyframe": "annotated_data/lift_lid_place_duck/frames/episode_5_cam_high/74_correct_keyframe.jpg"
+            }
+        ],
+        "failure_subtask": "1",
+        "failure_type": "task planning",
+        "avoidance": [
+            {
+                "low_level": " ",
+                "avoid_keyframe_annotations": "annotated_data/lift_lid_place_duck/frames/episode_5_cam_high/46_avoid_keyframe_annotations.jpg",
+                "avoid_keyframe_annotations_code": [
+                    {
+                        "type": "lock",
+                        "pos": [
+                            436,
+                            150
+                        ]
+                    },
+                    {
+                        "type": "dual_crosshair",
+                        "p1": [
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+                            383
+                        ],
+                        "p2": [
+                            468,
+                            177
+                        ]
+                    }
+                ]
+            }
+        ],
+        "correction": [
+            {
+                "low_level": " ",
+                "correct_keyframe_annotations": "annotated_data/lift_lid_place_duck/frames/episode_5_cam_high/74_correct_keyframe_annotations.jpg",
+                "correct_keyframe_annotations_code": [
+                    {
+                        "type": "rewind",
+                        "pos": [
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+                            58
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+                        "type": "dual_crosshair",
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+                        "p2": [
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+            }
+        ]
+    },
+    {
+        "video": "annotated_data/lift_lid_place_duck/videos/episode_6_cam_high.mp4",
+        "task": "Use the right arm to lift the lid off the pot, then use the left arm to place the green duck inside.",
+        "failure_detection": "yes",
+        "images": [
+            "annotated_data/lift_lid_place_duck/frames/episode_6_cam_high/0.jpg",
+            "annotated_data/lift_lid_place_duck/frames/episode_6_cam_high/25.jpg",
+            "annotated_data/lift_lid_place_duck/frames/episode_6_cam_high/50.jpg",
+            "annotated_data/lift_lid_place_duck/frames/episode_6_cam_high/75.jpg",
+            "annotated_data/lift_lid_place_duck/frames/episode_6_cam_high/100.jpg",
+            "annotated_data/lift_lid_place_duck/frames/episode_6_cam_high/125.jpg",
+            "annotated_data/lift_lid_place_duck/frames/episode_6_cam_high/138_avoid_keyframe.jpg",
+            "annotated_data/lift_lid_place_duck/frames/episode_6_cam_high/150.jpg",
+            "annotated_data/lift_lid_place_duck/frames/episode_6_cam_high/175.jpg",
+            "annotated_data/lift_lid_place_duck/frames/episode_6_cam_high/196_correct_keyframe.jpg",
+            "annotated_data/lift_lid_place_duck/frames/episode_6_cam_high/200.jpg",
+            "annotated_data/lift_lid_place_duck/frames/episode_6_cam_high/225.jpg",
+            "annotated_data/lift_lid_place_duck/frames/episode_6_cam_high/250.jpg",
+            "annotated_data/lift_lid_place_duck/frames/episode_6_cam_high/275.jpg",
+            "annotated_data/lift_lid_place_duck/frames/episode_6_cam_high/277.jpg"
+        ],
+        "subtasks": [
+            "1. Move the right arm to approach and align with the pot lid.",
+            "2. Grasp the pot lid with the right arm.",
+            "3. Lift the pot lid using the right arm and move it to a safe position.",
+            "4. Move the left arm to approach and align with the green duck.",
+            "5. Grasp the green duck with the left arm.",
+            "6. Move the left arm to align with the pot.",
+            "7. Release the gripper to place the green duck inside the pot."
+        ],
+        "keyframe": [
+            {
+                "avoid_keyframe": "annotated_data/lift_lid_place_duck/frames/episode_6_cam_high/138_avoid_keyframe.jpg",
+                "correct_keyframe": "annotated_data/lift_lid_place_duck/frames/episode_6_cam_high/196_correct_keyframe.jpg"
+            }
+        ],
+        "failure_subtask": "4",
+        "failure_type": "task planning",
+        "avoidance": [
+            {
+                "low_level": " ",
+                "avoid_keyframe_annotations": "annotated_data/lift_lid_place_duck/frames/episode_6_cam_high/138_avoid_keyframe_annotations.jpg",
+                "avoid_keyframe_annotations_code": [
+                    {
+                        "type": "crosshair",
+                        "pos": [
+                            141,
+                            270
+                        ]
+                    }
+                ]
+            }
+        ],
+        "correction": [
+            {
+                "low_level": " ",
+                "correct_keyframe_annotations": "annotated_data/lift_lid_place_duck/frames/episode_6_cam_high/196_correct_keyframe_annotations.jpg",
+                "correct_keyframe_annotations_code": [
+                    {
+                        "type": "rewind",
+                        "pos": [
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+                            189
+                        ]
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+                    {
+                        "type": "crosshair",
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+                        ]
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+                ]
+            }
+        ]
+    },
+    {
+        "video": "annotated_data/lift_lid_place_duck/videos/episode_7_cam_high.mp4",
+        "task": "Use the right arm to lift the lid off the pot, then use the left arm to place the green duck inside.",
+        "failure_detection": "yes",
+        "images": [
+            "annotated_data/lift_lid_place_duck/frames/episode_7_cam_high/0.jpg",
+            "annotated_data/lift_lid_place_duck/frames/episode_7_cam_high/25.jpg",
+            "annotated_data/lift_lid_place_duck/frames/episode_7_cam_high/50.jpg",
+            "annotated_data/lift_lid_place_duck/frames/episode_7_cam_high/63_avoid_keyframe.jpg",
+            "annotated_data/lift_lid_place_duck/frames/episode_7_cam_high/75.jpg",
+            "annotated_data/lift_lid_place_duck/frames/episode_7_cam_high/100.jpg",
+            "annotated_data/lift_lid_place_duck/frames/episode_7_cam_high/105_correct_keyframe.jpg",
+            "annotated_data/lift_lid_place_duck/frames/episode_7_cam_high/120.jpg"
+        ],
+        "subtasks": [
+            "1. Move the right arm to approach and align with the pot lid.",
+            "2. Grasp the pot lid with the right arm.",
+            "3. Lift the pot lid using the right arm and move it to a safe position.",
+            "4. Move the left arm to approach and align with the green duck.",
+            "5. Grasp the green duck with the left arm.",
+            "6. Move the left arm to align with the pot.",
+            "7. Release the gripper to place the green duck inside the pot."
+        ],
+        "keyframe": [
+            {
+                "avoid_keyframe": "annotated_data/lift_lid_place_duck/frames/episode_7_cam_high/63_avoid_keyframe.jpg",
+                "correct_keyframe": "annotated_data/lift_lid_place_duck/frames/episode_7_cam_high/105_correct_keyframe.jpg"
+            }
+        ],
+        "failure_subtask": "1",
+        "failure_type": "gripper 6d-pose",
+        "avoidance": [
+            {
+                "low_level": "Move the right gripper to the right significantly.",
+                "avoid_keyframe_annotations": "annotated_data/lift_lid_place_duck/frames/episode_7_cam_high/63_avoid_keyframe_annotations.jpg",
+                "avoid_keyframe_annotations_code": [
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+                        "type": "move_arrow",
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+                        "colors": [
+                            [
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+                                255,
+                                0
+                            ]
+                        ]
+                    }
+                ]
+            }
+        ],
+        "correction": [
+            {
+                "low_level": "Move the right gripper to the right slightly and downward significantly.",
+                "correct_keyframe_annotations": "annotated_data/lift_lid_place_duck/frames/episode_7_cam_high/105_correct_keyframe_annotations.jpg",
+                "correct_keyframe_annotations_code": [
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+                        "type": "move_arrow",
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+        "images": [
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+            "3. Lift the pot lid using the right arm and move it to a safe position.",
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+            "7. Release the gripper to place the green duck inside the pot."
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+                "low_level": "Move the right gripper to the left slightly and forward slightly.",
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+            "annotated_data/lift_lid_place_duck/frames/episode_9_cam_high/0.jpg",
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+                "low_level": "Rotate the right gripper counterclockwise.",
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+        "failure_detection": "yes",
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+            "annotated_data/lift_lid_place_duck/frames/episode_10_cam_high/0.jpg",
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+                "low_level": "Rotate the right gripper counterclockwise.",
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+                "low_level": "Move the right gripper to the forward slightly and downward significantly, and rotate the right gripper counterclockwise.",
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+        "failure_detection": "yes",
+        "images": [
+            "annotated_data/lift_lid_place_duck/frames/episode_11_cam_high/0.jpg",
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+            "4. Move the left arm to approach and align with the green duck.",
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+                "correct_keyframe": "annotated_data/lift_lid_place_duck/frames/episode_11_cam_high/189_correct_keyframe.jpg"
+            }
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+        "failure_subtask": "4",
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+                "low_level": "Move the left gripper to the backward slightly.",
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+                "low_level": "Move the left gripper to the left significantly, backward significantly and downward significantly.",
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+        "failure_detection": "yes",
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+            "4. Move the left arm to approach and align with the green duck.",
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+                "low_level": "Move the left gripper to the right significantly and forward significantly.",
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+                "low_level": "Move the left gripper to the left significantly and downward significantly.",
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+        ],
+        "failure_subtask": "1",
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+                "low_level": "Open the right gripper",
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+                "low_level": "Move the right gripper to the left slightly, forward slightly and downward significantly.",
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+        "failure_detection": "yes",
+        "images": [
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+            "annotated_data/lift_lid_place_duck/frames/episode_14_cam_high/86_avoid_keyframe.jpg",
+            "annotated_data/lift_lid_place_duck/frames/episode_14_cam_high/100.jpg",
+            "annotated_data/lift_lid_place_duck/frames/episode_14_cam_high/116_correct_keyframe.jpg",
+            "annotated_data/lift_lid_place_duck/frames/episode_14_cam_high/125.jpg",
+            "annotated_data/lift_lid_place_duck/frames/episode_14_cam_high/127.jpg"
+        ],
+        "subtasks": [
+            "1. Move the right arm to approach and align with the pot lid.",
+            "2. Grasp the pot lid with the right arm.",
+            "3. Lift the pot lid using the right arm and move it to a safe position.",
+            "4. Move the left arm to approach and align with the green duck.",
+            "5. Grasp the green duck with the left arm.",
+            "6. Move the left arm to align with the pot.",
+            "7. Release the gripper to place the green duck inside the pot."
+        ],
+        "keyframe": [
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+                "correct_keyframe": "annotated_data/lift_lid_place_duck/frames/episode_14_cam_high/116_correct_keyframe.jpg"
+            }
+        ],
+        "failure_subtask": "3",
+        "failure_type": "gripper state",
+        "avoidance": [
+            {
+                "low_level": "Close the right gripper",
+                "avoid_keyframe_annotations": "annotated_data/lift_lid_place_duck/frames/episode_14_cam_high/86_avoid_keyframe_annotations.jpg",
+                "avoid_keyframe_annotations_code": [
+                    {
+                        "type": "state",
+                        "pos": [
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+                            143
+                        ],
+                        "text": "OFF"
+                    }
+                ]
+            }
+        ],
+        "correction": [
+            {
+                "low_level": "Move the right gripper to the left slightly and downward significantly.",
+                "correct_keyframe_annotations": "annotated_data/lift_lid_place_duck/frames/episode_14_cam_high/116_correct_keyframe_annotations.jpg",
+                "correct_keyframe_annotations_code": [
+                    {
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+                ]
+            }
+        ]
+    },
+    {
+        "video": "annotated_data/lift_lid_place_duck/videos/episode_15_cam_high.mp4",
+        "task": "Use the right arm to lift the lid off the pot, then use the left arm to place the green duck inside.",
+        "failure_detection": "yes",
+        "images": [
+            "annotated_data/lift_lid_place_duck/frames/episode_15_cam_high/0.jpg",
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+            "annotated_data/lift_lid_place_duck/frames/episode_15_cam_high/75.jpg",
+            "annotated_data/lift_lid_place_duck/frames/episode_15_cam_high/100.jpg",
+            "annotated_data/lift_lid_place_duck/frames/episode_15_cam_high/125.jpg",
+            "annotated_data/lift_lid_place_duck/frames/episode_15_cam_high/131_avoid_keyframe.jpg",
+            "annotated_data/lift_lid_place_duck/frames/episode_15_cam_high/150.jpg",
+            "annotated_data/lift_lid_place_duck/frames/episode_15_cam_high/163_correct_keyframe.jpg",
+            "annotated_data/lift_lid_place_duck/frames/episode_15_cam_high/175.jpg",
+            "annotated_data/lift_lid_place_duck/frames/episode_15_cam_high/180.jpg"
+        ],
+        "subtasks": [
+            "1. Move the right arm to approach and align with the pot lid.",
+            "2. Grasp the pot lid with the right arm.",
+            "3. Lift the pot lid using the right arm and move it to a safe position.",
+            "4. Move the left arm to approach and align with the green duck.",
+            "5. Grasp the green duck with the left arm.",
+            "6. Move the left arm to align with the pot.",
+            "7. Release the gripper to place the green duck inside the pot."
+        ],
+        "keyframe": [
+            {
+                "avoid_keyframe": "annotated_data/lift_lid_place_duck/frames/episode_15_cam_high/131_avoid_keyframe.jpg",
+                "correct_keyframe": "annotated_data/lift_lid_place_duck/frames/episode_15_cam_high/163_correct_keyframe.jpg"
+            }
+        ],
+        "failure_subtask": "5",
+        "failure_type": "gripper state",
+        "avoidance": [
+            {
+                "low_level": "Close the left gripper",
+                "avoid_keyframe_annotations": "annotated_data/lift_lid_place_duck/frames/episode_15_cam_high/131_avoid_keyframe_annotations.jpg",
+                "avoid_keyframe_annotations_code": [
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+                        "type": "state",
+                        "pos": [
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+                            208
+                        ],
+                        "text": "OFF"
+                    }
+                ]
+            }
+        ],
+        "correction": [
+            {
+                "low_level": "Move the left gripper to the left significantly and downward significantly.",
+                "correct_keyframe_annotations": "annotated_data/lift_lid_place_duck/frames/episode_15_cam_high/163_correct_keyframe_annotations.jpg",
+                "correct_keyframe_annotations_code": [
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+]