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+                        "colors": [
+                            [
+                                255,
+                                0,
+                                0
+                            ]
+                        ]
+                    }
+                ]
+            }
+        ],
+        "correction": [
+            {
+                "low_level": "Move the left gripper to the forward significantly.",
+                "correct_keyframe_annotations": "annotated_data/pull_open_drawer/frames/episode_15_cam_high/222_correct_keyframe_annotations.jpg",
+                "correct_keyframe_annotations_code": [
+                    {
+                        "type": "move_arrow",
+                        "start": [
+                            317,
+                            232
+                        ],
+                        "end": [
+                            312,
+                            140
+                        ],
+                        "colors": [
+                            [
+                                0,
+                                0,
+                                255
+                            ]
+                        ]
+                    }
+                ]
+            }
+        ],
+        "source_index": 6
+    },
+    {
+        "video": "annotated_data/pull_open_drawer/videos/episode_30_cam_high.mp4",
+        "images": [
+            "annotated_data/pull_open_drawer/frames/episode_30_cam_high/0.jpg",
+            "annotated_data/pull_open_drawer/frames/episode_30_cam_high/25.jpg",
+            "annotated_data/pull_open_drawer/frames/episode_30_cam_high/50.jpg",
+            "annotated_data/pull_open_drawer/frames/episode_30_cam_high/75.jpg",
+            "annotated_data/pull_open_drawer/frames/episode_30_cam_high/100.jpg",
+            "annotated_data/pull_open_drawer/frames/episode_30_cam_high/125.jpg",
+            "annotated_data/pull_open_drawer/frames/episode_30_cam_high/150.jpg",
+            "annotated_data/pull_open_drawer/frames/episode_30_cam_high/175.jpg",
+            "annotated_data/pull_open_drawer/frames/episode_30_cam_high/200.jpg",
+            "annotated_data/pull_open_drawer/frames/episode_30_cam_high/225.jpg",
+            "annotated_data/pull_open_drawer/frames/episode_30_cam_high/250.jpg",
+            "annotated_data/pull_open_drawer/frames/episode_30_cam_high/275.jpg",
+            "annotated_data/pull_open_drawer/frames/episode_30_cam_high/300.jpg",
+            "annotated_data/pull_open_drawer/frames/episode_30_cam_high/316.jpg"
+        ],
+        "task": "Use the left arm to pull open the top drawer.",
+        "failure_detection": "no",
+        "subtasks": [
+            "1. Move the left arm to approach and align with the top drawer handle.",
+            "2. Grasp the top drawer handle with the left arm.",
+            "3. Pull the top drawer open using the left arm."
+        ],
+        "source_index": 7
+    },
+    {
+        "video": "annotated_data/pull_open_drawer/videos/episode_25_cam_high.mp4",
+        "images": [
+            "annotated_data/pull_open_drawer/frames/episode_25_cam_high/0.jpg",
+            "annotated_data/pull_open_drawer/frames/episode_25_cam_high/25.jpg",
+            "annotated_data/pull_open_drawer/frames/episode_25_cam_high/50.jpg",
+            "annotated_data/pull_open_drawer/frames/episode_25_cam_high/75.jpg",
+            "annotated_data/pull_open_drawer/frames/episode_25_cam_high/100.jpg",
+            "annotated_data/pull_open_drawer/frames/episode_25_cam_high/125.jpg",
+            "annotated_data/pull_open_drawer/frames/episode_25_cam_high/150.jpg",
+            "annotated_data/pull_open_drawer/frames/episode_25_cam_high/155_avoid_keyframe.jpg",
+            "annotated_data/pull_open_drawer/frames/episode_25_cam_high/175.jpg",
+            "annotated_data/pull_open_drawer/frames/episode_25_cam_high/200.jpg",
+            "annotated_data/pull_open_drawer/frames/episode_25_cam_high/225.jpg",
+            "annotated_data/pull_open_drawer/frames/episode_25_cam_high/239_correct_keyframe.jpg",
+            "annotated_data/pull_open_drawer/frames/episode_25_cam_high/250.jpg",
+            "annotated_data/pull_open_drawer/frames/episode_25_cam_high/275.jpg",
+            "annotated_data/pull_open_drawer/frames/episode_25_cam_high/283.jpg"
+        ],
+        "task": "Use the left arm to pull open the top drawer.",
+        "failure_detection": "yes",
+        "subtasks": [
+            "1. Move the left arm to approach and align with the top drawer handle.",
+            "2. Grasp the top drawer handle with the left arm.",
+            "3. Pull the top drawer open using the left arm."
+        ],
+        "failure_subtask": "1",
+        "failure_type": "gripper 6d-pose",
+        "keyframe": [
+            {
+                "avoid_keyframe": "annotated_data/pull_open_drawer/frames/episode_25_cam_high/155_avoid_keyframe.jpg",
+                "correct_keyframe": "annotated_data/pull_open_drawer/frames/episode_25_cam_high/239_correct_keyframe.jpg"
+            }
+        ],
+        "avoidance": [
+            {
+                "low_level": "Move the left gripper to the left slightly, and upward significantly.",
+                "avoid_keyframe_annotations": "annotated_data/pull_open_drawer/frames/episode_25_cam_high/155_avoid_keyframe_annotations.jpg",
+                "avoid_keyframe_annotations_code": [
+                    {
+                        "type": "move_arrow",
+                        "start": [
+                            358,
+                            179
+                        ],
+                        "end": [
+                            317,
+                            147
+                        ],
+                        "colors": [
+                            [
+                                0,
+                                255,
+                                0
+                            ],
+                            [
+                                255,
+                                0,
+                                0
+                            ]
+                        ]
+                    }
+                ]
+            }
+        ],
+        "correction": [
+            {
+                "low_level": "Move the left gripper to the left significantly, forward significantly, and upward significantly.",
+                "correct_keyframe_annotations": "annotated_data/pull_open_drawer/frames/episode_25_cam_high/239_correct_keyframe_annotations.jpg",
+                "correct_keyframe_annotations_code": [
+                    {
+                        "type": "move_arrow",
+                        "start": [
+                            407,
+                            247
+                        ],
+                        "end": [
+                            314,
+                            143
+                        ],
+                        "colors": [
+                            [
+                                0,
+                                255,
+                                0
+                            ],
+                            [
+                                0,
+                                0,
+                                255
+                            ],
+                            [
+                                255,
+                                0,
+                                0
+                            ]
+                        ]
+                    }
+                ]
+            }
+        ],
+        "source_index": 8
+    },
+    {
+        "video": "annotated_data/pull_open_drawer/videos/episode_22_cam_high.mp4",
+        "images": [
+            "annotated_data/pull_open_drawer/frames/episode_22_cam_high/0.jpg",
+            "annotated_data/pull_open_drawer/frames/episode_22_cam_high/25.jpg",
+            "annotated_data/pull_open_drawer/frames/episode_22_cam_high/50.jpg",
+            "annotated_data/pull_open_drawer/frames/episode_22_cam_high/75.jpg",
+            "annotated_data/pull_open_drawer/frames/episode_22_cam_high/100.jpg",
+            "annotated_data/pull_open_drawer/frames/episode_22_cam_high/125.jpg",
+            "annotated_data/pull_open_drawer/frames/episode_22_cam_high/150.jpg",
+            "annotated_data/pull_open_drawer/frames/episode_22_cam_high/157_avoid_keyframe.jpg",
+            "annotated_data/pull_open_drawer/frames/episode_22_cam_high/175.jpg",
+            "annotated_data/pull_open_drawer/frames/episode_22_cam_high/200.jpg",
+            "annotated_data/pull_open_drawer/frames/episode_22_cam_high/225.jpg",
+            "annotated_data/pull_open_drawer/frames/episode_22_cam_high/241_correct_keyframe.jpg",
+            "annotated_data/pull_open_drawer/frames/episode_22_cam_high/250.jpg",
+            "annotated_data/pull_open_drawer/frames/episode_22_cam_high/274.jpg"
+        ],
+        "task": "Use the left arm to pull open the top drawer.",
+        "failure_detection": "yes",
+        "subtasks": [
+            "1. Move the left arm to approach and align with the top drawer handle.",
+            "2. Grasp the top drawer handle with the left arm.",
+            "3. Pull the top drawer open using the left arm."
+        ],
+        "failure_subtask": "1",
+        "failure_type": "gripper 6d-pose",
+        "keyframe": [
+            {
+                "avoid_keyframe": "annotated_data/pull_open_drawer/frames/episode_22_cam_high/157_avoid_keyframe.jpg",
+                "correct_keyframe": "annotated_data/pull_open_drawer/frames/episode_22_cam_high/241_correct_keyframe.jpg"
+            }
+        ],
+        "avoidance": [
+            {
+                "low_level": "Move the left gripper to the upward slightly.",
+                "avoid_keyframe_annotations": "annotated_data/pull_open_drawer/frames/episode_22_cam_high/157_avoid_keyframe_annotations.jpg",
+                "avoid_keyframe_annotations_code": [
+                    {
+                        "type": "move_arrow",
+                        "start": [
+                            320,
+                            208
+                        ],
+                        "end": [
+                            318,
+                            147
+                        ],
+                        "colors": [
+                            [
+                                255,
+                                0,
+                                0
+                            ]
+                        ]
+                    }
+                ]
+            }
+        ],
+        "correction": [
+            {
+                "low_level": "Move the left gripper to the forward significantly, and upward slightly.",
+                "correct_keyframe_annotations": "annotated_data/pull_open_drawer/frames/episode_22_cam_high/241_correct_keyframe_annotations.jpg",
+                "correct_keyframe_annotations_code": [
+                    {
+                        "type": "move_arrow",
+                        "start": [
+                            310,
+                            244
+                        ],
+                        "end": [
+                            310,
+                            148
+                        ],
+                        "colors": [
+                            [
+                                0,
+                                0,
+                                255
+                            ],
+                            [
+                                255,
+                                0,
+                                0
+                            ]
+                        ]
+                    }
+                ]
+            }
+        ],
+        "source_index": 9
+    },
+    {
+        "video": "annotated_data/pull_open_drawer/videos/episode_0_cam_high.mp4",
+        "images": [
+            "annotated_data/pull_open_drawer/frames/episode_0_cam_high/0.jpg",
+            "annotated_data/pull_open_drawer/frames/episode_0_cam_high/25.jpg",
+            "annotated_data/pull_open_drawer/frames/episode_0_cam_high/50.jpg",
+            "annotated_data/pull_open_drawer/frames/episode_0_cam_high/75.jpg",
+            "annotated_data/pull_open_drawer/frames/episode_0_cam_high/100.jpg",
+            "annotated_data/pull_open_drawer/frames/episode_0_cam_high/125.jpg",
+            "annotated_data/pull_open_drawer/frames/episode_0_cam_high/149_avoid_keyframe.jpg",
+            "annotated_data/pull_open_drawer/frames/episode_0_cam_high/150.jpg",
+            "annotated_data/pull_open_drawer/frames/episode_0_cam_high/175.jpg",
+            "annotated_data/pull_open_drawer/frames/episode_0_cam_high/200.jpg",
+            "annotated_data/pull_open_drawer/frames/episode_0_cam_high/225.jpg",
+            "annotated_data/pull_open_drawer/frames/episode_0_cam_high/236_correct_keyframe.jpg",
+            "annotated_data/pull_open_drawer/frames/episode_0_cam_high/250.jpg",
+            "annotated_data/pull_open_drawer/frames/episode_0_cam_high/272.jpg"
+        ],
+        "task": "Use the left arm to pull open the top drawer.",
+        "failure_detection": "yes",
+        "subtasks": [
+            "1. Move the left arm to approach and align with the top drawer handle.",
+            "2. Grasp the top drawer handle with the left arm.",
+            "3. Pull the top drawer open using the left arm."
+        ],
+        "failure_subtask": "1",
+        "failure_type": "gripper 6d-pose",
+        "keyframe": [
+            {
+                "avoid_keyframe": "annotated_data/pull_open_drawer/frames/episode_0_cam_high/149_avoid_keyframe.jpg",
+                "correct_keyframe": "annotated_data/pull_open_drawer/frames/episode_0_cam_high/236_correct_keyframe.jpg"
+            }
+        ],
+        "avoidance": [
+            {
+                "low_level": "Move the left gripper to the downward slightly.",
+                "avoid_keyframe_annotations": "annotated_data/pull_open_drawer/frames/episode_0_cam_high/149_avoid_keyframe_annotations.jpg",
+                "avoid_keyframe_annotations_code": [
+                    {
+                        "type": "move_arrow",
+                        "start": [
+                            464,
+                            125
+                        ],
+                        "end": [
+                            457,
+                            195
+                        ],
+                        "colors": [
+                            [
+                                255,
+                                0,
+                                0
+                            ]
+                        ]
+                    }
+                ]
+            }
+        ],
+        "correction": [
+            {
+                "low_level": "Move the left gripper to the right significantly, and downward slightly.",
+                "correct_keyframe_annotations": "annotated_data/pull_open_drawer/frames/episode_0_cam_high/236_correct_keyframe_annotations.jpg",
+                "correct_keyframe_annotations_code": [
+                    {
+                        "type": "move_arrow",
+                        "start": [
+                            331,
+                            126
+                        ],
+                        "end": [
+                            459,
+                            184
+                        ],
+                        "colors": [
+                            [
+                                0,
+                                255,
+                                0
+                            ],
+                            [
+                                255,
+                                0,
+                                0
+                            ]
+                        ]
+                    }
+                ]
+            }
+        ],
+        "source_index": 10
+    },
+    {
+        "video": "annotated_data/pull_open_drawer/videos/episode_7_cam_high.mp4",
+        "images": [
+            "annotated_data/pull_open_drawer/frames/episode_7_cam_high/0.jpg",
+            "annotated_data/pull_open_drawer/frames/episode_7_cam_high/25.jpg",
+            "annotated_data/pull_open_drawer/frames/episode_7_cam_high/50.jpg",
+            "annotated_data/pull_open_drawer/frames/episode_7_cam_high/75.jpg",
+            "annotated_data/pull_open_drawer/frames/episode_7_cam_high/98_avoid_keyframe.jpg",
+            "annotated_data/pull_open_drawer/frames/episode_7_cam_high/100.jpg",
+            "annotated_data/pull_open_drawer/frames/episode_7_cam_high/125.jpg",
+            "annotated_data/pull_open_drawer/frames/episode_7_cam_high/150.jpg",
+            "annotated_data/pull_open_drawer/frames/episode_7_cam_high/161_correct_keyframe.jpg",
+            "annotated_data/pull_open_drawer/frames/episode_7_cam_high/175.jpg",
+            "annotated_data/pull_open_drawer/frames/episode_7_cam_high/188.jpg"
+        ],
+        "task": "Use the left arm to pull open the top drawer.",
+        "failure_detection": "yes",
+        "subtasks": [
+            "1. Move the left arm to approach and align with the top drawer handle.",
+            "2. Grasp the top drawer handle with the left arm.",
+            "3. Pull the top drawer open using the left arm."
+        ],
+        "failure_subtask": "1",
+        "failure_type": "gripper 6d-pose",
+        "keyframe": [
+            {
+                "avoid_keyframe": "annotated_data/pull_open_drawer/frames/episode_7_cam_high/98_avoid_keyframe.jpg",
+                "correct_keyframe": "annotated_data/pull_open_drawer/frames/episode_7_cam_high/161_correct_keyframe.jpg"
+            }
+        ],
+        "avoidance": [
+            {
+                "low_level": "Move the left gripper to the forward slightly.",
+                "avoid_keyframe_annotations": "annotated_data/pull_open_drawer/frames/episode_7_cam_high/98_avoid_keyframe_annotations.jpg",
+                "avoid_keyframe_annotations_code": [
+                    {
+                        "type": "move_arrow",
+                        "start": [
+                            454,
+                            226
+                        ],
+                        "end": [
+                            453,
+                            178
+                        ],
+                        "colors": [
+                            [
+                                0,
+                                0,
+                                255
+                            ]
+                        ]
+                    }
+                ]
+            }
+        ],
+        "correction": [
+            {
+                "low_level": "Move the left gripper to the right significantly, and upward slightly.",
+                "correct_keyframe_annotations": "annotated_data/pull_open_drawer/frames/episode_7_cam_high/161_correct_keyframe_annotations.jpg",
+                "correct_keyframe_annotations_code": [
+                    {
+                        "type": "move_arrow",
+                        "start": [
+                            304,
+                            218
+                        ],
+                        "end": [
+                            458,
+                            187
+                        ],
+                        "colors": [
+                            [
+                                0,
+                                255,
+                                0
+                            ],
+                            [
+                                255,
+                                0,
+                                0
+                            ]
+                        ]
+                    }
+                ]
+            }
+        ],
+        "source_index": 11
+    },
+    {
+        "video": "annotated_data/pull_open_drawer/videos/episode_14_cam_high.mp4",
+        "images": [
+            "annotated_data/pull_open_drawer/frames/episode_14_cam_high/0.jpg",
+            "annotated_data/pull_open_drawer/frames/episode_14_cam_high/25.jpg",
+            "annotated_data/pull_open_drawer/frames/episode_14_cam_high/50.jpg",
+            "annotated_data/pull_open_drawer/frames/episode_14_cam_high/75.jpg",
+            "annotated_data/pull_open_drawer/frames/episode_14_cam_high/100.jpg",
+            "annotated_data/pull_open_drawer/frames/episode_14_cam_high/125.jpg",
+            "annotated_data/pull_open_drawer/frames/episode_14_cam_high/150.jpg",
+            "annotated_data/pull_open_drawer/frames/episode_14_cam_high/162_avoid_keyframe.jpg",
+            "annotated_data/pull_open_drawer/frames/episode_14_cam_high/175.jpg",
+            "annotated_data/pull_open_drawer/frames/episode_14_cam_high/200.jpg",
+            "annotated_data/pull_open_drawer/frames/episode_14_cam_high/225.jpg",
+            "annotated_data/pull_open_drawer/frames/episode_14_cam_high/250.jpg",
+            "annotated_data/pull_open_drawer/frames/episode_14_cam_high/254_correct_keyframe.jpg",
+            "annotated_data/pull_open_drawer/frames/episode_14_cam_high/273.jpg"
+        ],
+        "task": "Use the left arm to pull open the top drawer.",
+        "failure_detection": "yes",
+        "subtasks": [
+            "1. Move the left arm to approach and align with the top drawer handle.",
+            "2. Grasp the top drawer handle with the left arm.",
+            "3. Pull the top drawer open using the left arm."
+        ],
+        "failure_subtask": "1",
+        "failure_type": "gripper 6d-pose",
+        "keyframe": [
+            {
+                "avoid_keyframe": "annotated_data/pull_open_drawer/frames/episode_14_cam_high/162_avoid_keyframe.jpg",
+                "correct_keyframe": "annotated_data/pull_open_drawer/frames/episode_14_cam_high/254_correct_keyframe.jpg"
+            }
+        ],
+        "avoidance": [
+            {
+                "low_level": "Move the left gripper to the downward slightly.",
+                "avoid_keyframe_annotations": "annotated_data/pull_open_drawer/frames/episode_14_cam_high/162_avoid_keyframe_annotations.jpg",
+                "avoid_keyframe_annotations_code": [
+                    {
+                        "type": "move_arrow",
+                        "start": [
+                            354,
+                            118
+                        ],
+                        "end": [
+                            325,
+                            151
+                        ],
+                        "colors": [
+                            [
+                                255,
+                                0,
+                                0
+                            ]
+                        ]
+                    }
+                ]
+            }
+        ],
+        "correction": [
+            {
+                "low_level": "Move the left gripper to the forward significantly, and downward slightly.",
+                "correct_keyframe_annotations": "annotated_data/pull_open_drawer/frames/episode_14_cam_high/254_correct_keyframe_annotations.jpg",
+                "correct_keyframe_annotations_code": [
+                    {
+                        "type": "move_arrow",
+                        "start": [
+                            305,
+                            203
+                        ],
+                        "end": [
+                            311,
+                            141
+                        ],
+                        "colors": [
+                            [
+                                0,
+                                0,
+                                255
+                            ],
+                            [
+                                255,
+                                0,
+                                0
+                            ]
+                        ]
+                    }
+                ]
+            }
+        ],
+        "source_index": 12
+    },
+    {
+        "video": "annotated_data/pull_open_drawer/videos/episode_13_cam_high.mp4",
+        "images": [
+            "annotated_data/pull_open_drawer/frames/episode_13_cam_high/0.jpg",
+            "annotated_data/pull_open_drawer/frames/episode_13_cam_high/25.jpg",
+            "annotated_data/pull_open_drawer/frames/episode_13_cam_high/50.jpg",
+            "annotated_data/pull_open_drawer/frames/episode_13_cam_high/75.jpg",
+            "annotated_data/pull_open_drawer/frames/episode_13_cam_high/100.jpg",
+            "annotated_data/pull_open_drawer/frames/episode_13_cam_high/125.jpg",
+            "annotated_data/pull_open_drawer/frames/episode_13_cam_high/150.jpg",
+            "annotated_data/pull_open_drawer/frames/episode_13_cam_high/171_avoid_keyframe.jpg",
+            "annotated_data/pull_open_drawer/frames/episode_13_cam_high/175.jpg",
+            "annotated_data/pull_open_drawer/frames/episode_13_cam_high/200.jpg",
+            "annotated_data/pull_open_drawer/frames/episode_13_cam_high/225.jpg",
+            "annotated_data/pull_open_drawer/frames/episode_13_cam_high/234_correct_keyframe.jpg",
+            "annotated_data/pull_open_drawer/frames/episode_13_cam_high/250.jpg",
+            "annotated_data/pull_open_drawer/frames/episode_13_cam_high/255.jpg"
+        ],
+        "task": "Use the left arm to pull open the top drawer.",
+        "failure_detection": "yes",
+        "subtasks": [
+            "1. Move the left arm to approach and align with the top drawer handle.",
+            "2. Grasp the top drawer handle with the left arm.",
+            "3. Pull the top drawer open using the left arm."
+        ],
+        "failure_subtask": "1",
+        "failure_type": "gripper 6d-pose",
+        "keyframe": [
+            {
+                "avoid_keyframe": "annotated_data/pull_open_drawer/frames/episode_13_cam_high/171_avoid_keyframe.jpg",
+                "correct_keyframe": "annotated_data/pull_open_drawer/frames/episode_13_cam_high/234_correct_keyframe.jpg"
+            }
+        ],
+        "avoidance": [
+            {
+                "low_level": "Move the left gripper to the right slightly.",
+                "avoid_keyframe_annotations": "annotated_data/pull_open_drawer/frames/episode_13_cam_high/171_avoid_keyframe_annotations.jpg",
+                "avoid_keyframe_annotations_code": [
+                    {
+                        "type": "move_arrow",
+                        "start": [
+                            267,
+                            149
+                        ],
+                        "end": [
+                            321,
+                            148
+                        ],
+                        "colors": [
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+                                255,
+                                0
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+                ]
+            }
+        ],
+        "correction": [
+            {
+                "low_level": "Move the left gripper to the right slightly, and forward significantly.",
+                "correct_keyframe_annotations": "annotated_data/pull_open_drawer/frames/episode_13_cam_high/234_correct_keyframe_annotations.jpg",
+                "correct_keyframe_annotations_code": [
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+                        "type": "move_arrow",
+                        "start": [
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+                            216
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+                        "end": [
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+                            147
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+                        "colors": [
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+                                0,
+                                255,
+                                0
+                            ],
+                            [
+                                0,
+                                0,
+                                255
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+                    }
+                ]
+            }
+        ],
+        "source_index": 13
+    },
+    {
+        "video": "annotated_data/pull_open_drawer/videos/episode_19_cam_high.mp4",
+        "images": [
+            "annotated_data/pull_open_drawer/frames/episode_19_cam_high/0.jpg",
+            "annotated_data/pull_open_drawer/frames/episode_19_cam_high/25.jpg",
+            "annotated_data/pull_open_drawer/frames/episode_19_cam_high/50.jpg",
+            "annotated_data/pull_open_drawer/frames/episode_19_cam_high/75.jpg",
+            "annotated_data/pull_open_drawer/frames/episode_19_cam_high/100.jpg",
+            "annotated_data/pull_open_drawer/frames/episode_19_cam_high/125.jpg",
+            "annotated_data/pull_open_drawer/frames/episode_19_cam_high/148_avoid_keyframe.jpg",
+            "annotated_data/pull_open_drawer/frames/episode_19_cam_high/150.jpg",
+            "annotated_data/pull_open_drawer/frames/episode_19_cam_high/175.jpg",
+            "annotated_data/pull_open_drawer/frames/episode_19_cam_high/200.jpg",
+            "annotated_data/pull_open_drawer/frames/episode_19_cam_high/225.jpg",
+            "annotated_data/pull_open_drawer/frames/episode_19_cam_high/234_correct_keyframe.jpg",
+            "annotated_data/pull_open_drawer/frames/episode_19_cam_high/250.jpg",
+            "annotated_data/pull_open_drawer/frames/episode_19_cam_high/258.jpg"
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+        "task": "Use the left arm to pull open the top drawer.",
+        "failure_detection": "yes",
+        "subtasks": [
+            "1. Move the left arm to approach and align with the top drawer handle.",
+            "2. Grasp the top drawer handle with the left arm.",
+            "3. Pull the top drawer open using the left arm."
+        ],
+        "failure_subtask": "1",
+        "failure_type": "gripper 6d-pose",
+        "keyframe": [
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+        "correction": [
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+                "low_level": "Move the left gripper to the left slightly, and forward significantly.",
+                "correct_keyframe_annotations": "annotated_data/pull_open_drawer/frames/episode_19_cam_high/234_correct_keyframe_annotations.jpg",
+                "correct_keyframe_annotations_code": [
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+                ]
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+        ],
+        "source_index": 14
+    },
+    {
+        "video": "annotated_data/pull_open_drawer/videos/episode_28_cam_high.mp4",
+        "images": [
+            "annotated_data/pull_open_drawer/frames/episode_28_cam_high/0.jpg",
+            "annotated_data/pull_open_drawer/frames/episode_28_cam_high/25.jpg",
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+            "annotated_data/pull_open_drawer/frames/episode_28_cam_high/150.jpg",
+            "annotated_data/pull_open_drawer/frames/episode_28_cam_high/175.jpg",
+            "annotated_data/pull_open_drawer/frames/episode_28_cam_high/200.jpg",
+            "annotated_data/pull_open_drawer/frames/episode_28_cam_high/225.jpg",
+            "annotated_data/pull_open_drawer/frames/episode_28_cam_high/250.jpg",
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+            "annotated_data/pull_open_drawer/frames/episode_28_cam_high/292.jpg"
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+        "task": "Use the left arm to pull open the top drawer.",
+        "failure_detection": "yes",
+        "subtasks": [
+            "1. Move the left arm to approach and align with the top drawer handle.",
+            "2. Grasp the top drawer handle with the left arm.",
+            "3. Pull the top drawer open using the left arm."
+        ],
+        "failure_subtask": "1",
+        "failure_type": "gripper 6d-pose",
+        "keyframe": [
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+                "avoid_keyframe": "annotated_data/pull_open_drawer/frames/episode_28_cam_high/149_avoid_keyframe.jpg",
+                "correct_keyframe": "annotated_data/pull_open_drawer/frames/episode_28_cam_high/288_correct_keyframe.jpg"
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+                "low_level": "Move the left gripper to the forward slightly.",
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+                                255
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+        "correction": [
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+                "low_level": "Move the left gripper to the forward significantly.",
+                "correct_keyframe_annotations": "annotated_data/pull_open_drawer/frames/episode_28_cam_high/288_correct_keyframe_annotations.jpg",
+                "correct_keyframe_annotations_code": [
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+                        "type": "move_arrow",
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+                            237
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+                        "end": [
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+                            140
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+                        "colors": [
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+                                0,
+                                0,
+                                255
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+                    }
+                ]
+            }
+        ],
+        "source_index": 15
+    },
+    {
+        "video": "annotated_data/pull_open_drawer/videos/episode_18_cam_high.mp4",
+        "images": [
+            "annotated_data/pull_open_drawer/frames/episode_18_cam_high/0.jpg",
+            "annotated_data/pull_open_drawer/frames/episode_18_cam_high/25.jpg",
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+            "annotated_data/pull_open_drawer/frames/episode_18_cam_high/239.jpg"
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+        "task": "Use the left arm to pull open the top drawer.",
+        "failure_detection": "yes",
+        "subtasks": [
+            "1. Move the left arm to approach and align with the top drawer handle.",
+            "2. Grasp the top drawer handle with the left arm.",
+            "3. Pull the top drawer open using the left arm."
+        ],
+        "failure_subtask": "1",
+        "failure_type": "gripper 6d-pose",
+        "keyframe": [
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+                "avoid_keyframe": "annotated_data/pull_open_drawer/frames/episode_18_cam_high/124_avoid_keyframe.jpg",
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+        ],
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+                "low_level": "Move the left gripper to the right slightly, and downward slightly.",
+                "avoid_keyframe_annotations": "annotated_data/pull_open_drawer/frames/episode_18_cam_high/124_avoid_keyframe_annotations.jpg",
+                "avoid_keyframe_annotations_code": [
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+                        "type": "move_arrow",
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+                        "end": [
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+                                0
+                            ],
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+                                0,
+                                0
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+                ]
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+        ],
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+            {
+                "low_level": "Move the left gripper to the right slightly, forward significantly, and downward slightly.",
+                "correct_keyframe_annotations": "annotated_data/pull_open_drawer/frames/episode_18_cam_high/213_correct_keyframe_annotations.jpg",
+                "correct_keyframe_annotations_code": [
+                    {
+                        "type": "move_arrow",
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+                                0,
+                                0
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+                    }
+                ]
+            }
+        ],
+        "source_index": 16
+    },
+    {
+        "video": "annotated_data/pull_open_drawer/videos/episode_29_cam_high.mp4",
+        "images": [
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+            "annotated_data/pull_open_drawer/frames/episode_29_cam_high/25.jpg",
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+            "annotated_data/pull_open_drawer/frames/episode_29_cam_high/270.jpg"
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+        "task": "Use the left arm to pull open the top drawer.",
+        "failure_detection": "yes",
+        "subtasks": [
+            "1. Move the left arm to approach and align with the top drawer handle.",
+            "2. Grasp the top drawer handle with the left arm.",
+            "3. Pull the top drawer open using the left arm."
+        ],
+        "failure_subtask": "1",
+        "failure_type": "gripper 6d-pose",
+        "keyframe": [
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+                "avoid_keyframe": "annotated_data/pull_open_drawer/frames/episode_29_cam_high/137_avoid_keyframe.jpg",
+                "correct_keyframe": "annotated_data/pull_open_drawer/frames/episode_29_cam_high/241_correct_keyframe.jpg"
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+        ],
+        "avoidance": [
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+                "low_level": "Move the left gripper to the left slightly, and upward significantly.",
+                "avoid_keyframe_annotations": "annotated_data/pull_open_drawer/frames/episode_29_cam_high/137_avoid_keyframe_annotations.jpg",
+                "avoid_keyframe_annotations_code": [
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+                        "type": "move_arrow",
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+                        "end": [
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+                        "colors": [
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+                                0
+                            ],
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+                                0
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+                ]
+            }
+        ],
+        "correction": [
+            {
+                "low_level": "Move the left gripper to the left slightly, forward significantly, and upward slightly.",
+                "correct_keyframe_annotations": "annotated_data/pull_open_drawer/frames/episode_29_cam_high/241_correct_keyframe_annotations.jpg",
+                "correct_keyframe_annotations_code": [
+                    {
+                        "type": "move_arrow",
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+                                0
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+                ]
+            }
+        ],
+        "source_index": 17
+    },
+    {
+        "video": "annotated_data/pull_open_drawer/videos/episode_9_cam_high.mp4",
+        "images": [
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+            "annotated_data/pull_open_drawer/frames/episode_9_cam_high/224.jpg"
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+        "task": "Use the left arm to pull open the top drawer.",
+        "failure_detection": "yes",
+        "subtasks": [
+            "1. Move the left arm to approach and align with the top drawer handle.",
+            "2. Grasp the top drawer handle with the left arm.",
+            "3. Pull the top drawer open using the left arm."
+        ],
+        "failure_subtask": "1",
+        "failure_type": "gripper 6d-pose",
+        "keyframe": [
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+                "avoid_keyframe": "annotated_data/pull_open_drawer/frames/episode_9_cam_high/122_avoid_keyframe.jpg",
+                "correct_keyframe": "annotated_data/pull_open_drawer/frames/episode_9_cam_high/203_correct_keyframe.jpg"
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+        ],
+        "avoidance": [
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+                "low_level": "Move the left gripper to the backward slightly, and upward significantly.",
+                "avoid_keyframe_annotations": "annotated_data/pull_open_drawer/frames/episode_9_cam_high/122_avoid_keyframe_annotations.jpg",
+                "avoid_keyframe_annotations_code": [
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+                        "type": "move_arrow",
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+                        "end": [
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+        ],
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+            {
+                "low_level": "Move the left gripper to the right significantly, backward slightly, and upward slightly.",
+                "correct_keyframe_annotations": "annotated_data/pull_open_drawer/frames/episode_9_cam_high/203_correct_keyframe_annotations.jpg",
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+                ]
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+        ],
+        "source_index": 18
+    },
+    {
+        "video": "annotated_data/pull_open_drawer/videos/episode_8_cam_high.mp4",
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+            "annotated_data/pull_open_drawer/frames/episode_8_cam_high/212.jpg"
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+        "task": "Use the left arm to pull open the top drawer.",
+        "failure_detection": "yes",
+        "subtasks": [
+            "1. Move the left arm to approach and align with the top drawer handle.",
+            "2. Grasp the top drawer handle with the left arm.",
+            "3. Pull the top drawer open using the left arm."
+        ],
+        "failure_subtask": "1",
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+        "keyframe": [
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+                "avoid_keyframe": "annotated_data/pull_open_drawer/frames/episode_8_cam_high/113_avoid_keyframe.jpg",
+                "correct_keyframe": "annotated_data/pull_open_drawer/frames/episode_8_cam_high/191_correct_keyframe.jpg"
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+        ],
+        "avoidance": [
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+                "low_level": "Move the left gripper to the backward slightly, and upward significantly.",
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+        ],
+        "correction": [
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+                "low_level": "Move the left gripper to the right significantly, backward slightly, and upward slightly.",
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+        ],
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+    {
+        "video": "annotated_data/pull_open_drawer/videos/episode_20_cam_high.mp4",
+        "images": [
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+            "annotated_data/pull_open_drawer/frames/episode_20_cam_high/25.jpg",
+            "annotated_data/pull_open_drawer/frames/episode_20_cam_high/50.jpg",
+            "annotated_data/pull_open_drawer/frames/episode_20_cam_high/75.jpg",
+            "annotated_data/pull_open_drawer/frames/episode_20_cam_high/100.jpg",
+            "annotated_data/pull_open_drawer/frames/episode_20_cam_high/125.jpg",
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+            "annotated_data/pull_open_drawer/frames/episode_20_cam_high/163_avoid_keyframe.jpg",
+            "annotated_data/pull_open_drawer/frames/episode_20_cam_high/175.jpg",
+            "annotated_data/pull_open_drawer/frames/episode_20_cam_high/200.jpg",
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+            "annotated_data/pull_open_drawer/frames/episode_20_cam_high/250.jpg",
+            "annotated_data/pull_open_drawer/frames/episode_20_cam_high/275.jpg",
+            "annotated_data/pull_open_drawer/frames/episode_20_cam_high/300.jpg",
+            "annotated_data/pull_open_drawer/frames/episode_20_cam_high/325.jpg",
+            "annotated_data/pull_open_drawer/frames/episode_20_cam_high/331_correct_keyframe.jpg",
+            "annotated_data/pull_open_drawer/frames/episode_20_cam_high/350.jpg",
+            "annotated_data/pull_open_drawer/frames/episode_20_cam_high/366.jpg"
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+        "task": "Use the left arm to pull open the top drawer.",
+        "failure_detection": "yes",
+        "subtasks": [
+            "1. Move the left arm to approach and align with the top drawer handle.",
+            "2. Grasp the top drawer handle with the left arm.",
+            "3. Pull the top drawer open using the left arm."
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+        "failure_type": "task planning",
+        "keyframe": [
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+                "low_level": "Move the left gripper to the upward significantly.",
+                "avoid_keyframe_annotations": "annotated_data/pull_open_drawer/frames/episode_20_cam_high/163_avoid_keyframe_annotations.jpg",
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+                                0
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+            {
+                "low_level": "Move the left gripper to the right slightly, and forward significantly.",
+                "correct_keyframe_annotations": "annotated_data/pull_open_drawer/frames/episode_20_cam_high/331_correct_keyframe_annotations.jpg",
+                "correct_keyframe_annotations_code": [
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+                ]
+            }
+        ],
+        "source_index": 20
+    },
+    {
+        "video": "annotated_data/pull_open_drawer/videos/episode_27_cam_high.mp4",
+        "images": [
+            "annotated_data/pull_open_drawer/frames/episode_27_cam_high/0.jpg",
+            "annotated_data/pull_open_drawer/frames/episode_27_cam_high/25.jpg",
+            "annotated_data/pull_open_drawer/frames/episode_27_cam_high/50.jpg",
+            "annotated_data/pull_open_drawer/frames/episode_27_cam_high/75.jpg",
+            "annotated_data/pull_open_drawer/frames/episode_27_cam_high/100.jpg",
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+            "annotated_data/pull_open_drawer/frames/episode_27_cam_high/159_avoid_keyframe.jpg",
+            "annotated_data/pull_open_drawer/frames/episode_27_cam_high/175.jpg",
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+            "annotated_data/pull_open_drawer/frames/episode_27_cam_high/225.jpg",
+            "annotated_data/pull_open_drawer/frames/episode_27_cam_high/250.jpg",
+            "annotated_data/pull_open_drawer/frames/episode_27_cam_high/269_correct_keyframe.jpg"
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+        "task": "Use the left arm to pull open the top drawer.",
+        "failure_detection": "yes",
+        "subtasks": [
+            "1. Move the left arm to approach and align with the top drawer handle.",
+            "2. Grasp the top drawer handle with the left arm.",
+            "3. Pull the top drawer open using the left arm."
+        ],
+        "failure_subtask": "1",
+        "failure_type": "gripper 6d-pose",
+        "keyframe": [
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+                "avoid_keyframe": "annotated_data/pull_open_drawer/frames/episode_27_cam_high/159_avoid_keyframe.jpg",
+                "correct_keyframe": "annotated_data/pull_open_drawer/frames/episode_27_cam_high/269_correct_keyframe.jpg"
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+                "low_level": "Move the left gripper to the right significantly, and downward significantly.",
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+                "low_level": "Move the left gripper to the right significantly, and forward significantly.",
+                "correct_keyframe_annotations": "annotated_data/pull_open_drawer/frames/episode_27_cam_high/269_correct_keyframe_annotations.jpg",
+                "correct_keyframe_annotations_code": [
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+                            188
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+                                255,
+                                0
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+                                0,
+                                0,
+                                255
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+                ]
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+        ],
+        "source_index": 21
+    },
+    {
+        "video": "annotated_data/pull_open_drawer/videos/episode_11_cam_high.mp4",
+        "images": [
+            "annotated_data/pull_open_drawer/frames/episode_11_cam_high/0.jpg",
+            "annotated_data/pull_open_drawer/frames/episode_11_cam_high/25.jpg",
+            "annotated_data/pull_open_drawer/frames/episode_11_cam_high/50.jpg",
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+            "annotated_data/pull_open_drawer/frames/episode_11_cam_high/150.jpg",
+            "annotated_data/pull_open_drawer/frames/episode_11_cam_high/175.jpg",
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+            "annotated_data/pull_open_drawer/frames/episode_11_cam_high/225.jpg",
+            "annotated_data/pull_open_drawer/frames/episode_11_cam_high/233.jpg"
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+        "task": "Use the left arm to pull open the top drawer.",
+        "failure_detection": "yes",
+        "subtasks": [
+            "1. Move the left arm to approach and align with the top drawer handle.",
+            "2. Grasp the top drawer handle with the left arm.",
+            "3. Pull the top drawer open using the left arm."
+        ],
+        "failure_subtask": "1",
+        "failure_type": "gripper 6d-pose",
+        "keyframe": [
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+                "avoid_keyframe": "annotated_data/pull_open_drawer/frames/episode_11_cam_high/129_avoid_keyframe.jpg",
+                "correct_keyframe": "annotated_data/pull_open_drawer/frames/episode_11_cam_high/220_correct_keyframe.jpg"
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+        ],
+        "avoidance": [
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+                "low_level": "Move the left gripper to the backward slightly, and downward slightly.",
+                "avoid_keyframe_annotations": "annotated_data/pull_open_drawer/frames/episode_11_cam_high/129_avoid_keyframe_annotations.jpg",
+                "avoid_keyframe_annotations_code": [
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+                        "type": "move_arrow",
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+                                0
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+                ]
+            }
+        ],
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+                "low_level": "Move the left gripper to the right significantly, backward significantly, and downward slightly.",
+                "correct_keyframe_annotations": "annotated_data/pull_open_drawer/frames/episode_11_cam_high/220_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": 22
+    },
+    {
+        "video": "annotated_data/pull_open_drawer/videos/episode_16_cam_high.mp4",
+        "images": [
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+            "annotated_data/pull_open_drawer/frames/episode_16_cam_high/25.jpg",
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+            "annotated_data/pull_open_drawer/frames/episode_16_cam_high/150.jpg",
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+            "annotated_data/pull_open_drawer/frames/episode_16_cam_high/240.jpg"
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+        "task": "Use the left arm to pull open the top drawer.",
+        "failure_detection": "yes",
+        "subtasks": [
+            "1. Move the left arm to approach and align with the top drawer handle.",
+            "2. Grasp the top drawer handle with the left arm.",
+            "3. Pull the top drawer open using the left arm."
+        ],
+        "failure_subtask": "1",
+        "failure_type": "gripper 6d-pose",
+        "keyframe": [
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+                "avoid_keyframe": "annotated_data/pull_open_drawer/frames/episode_16_cam_high/118_avoid_keyframe.jpg",
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+        ],
+        "avoidance": [
+            {
+                "low_level": "Move the left gripper to the right significantly.",
+                "avoid_keyframe_annotations": "annotated_data/pull_open_drawer/frames/episode_16_cam_high/118_avoid_keyframe_annotations.jpg",
+                "avoid_keyframe_annotations_code": [
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+                        "type": "move_arrow",
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+                            143
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+                        "end": [
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+                            144
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+                        "colors": [
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+                                255,
+                                0
+                            ]
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+                ]
+            }
+        ],
+        "correction": [
+            {
+                "low_level": "Move the left gripper to the right slightly, and forward significantly.",
+                "correct_keyframe_annotations": "annotated_data/pull_open_drawer/frames/episode_16_cam_high/208_correct_keyframe_annotations.jpg",
+                "correct_keyframe_annotations_code": [
+                    {
+                        "type": "move_arrow",
+                        "start": [
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+                            229
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+                        "end": [
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+                        "colors": [
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+                ]
+            }
+        ],
+        "source_index": 23
+    },
+    {
+        "video": "annotated_data/pull_open_drawer/videos/episode_5_cam_high.mp4",
+        "images": [
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+            "annotated_data/pull_open_drawer/frames/episode_5_cam_high/25.jpg",
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+            "annotated_data/pull_open_drawer/frames/episode_5_cam_high/316.jpg"
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+        "task": "Use the left arm to pull open the top drawer.",
+        "failure_detection": "yes",
+        "subtasks": [
+            "1. Move the left arm to approach and align with the top drawer handle.",
+            "2. Grasp the top drawer handle with the left arm.",
+            "3. Pull the top drawer open using the left arm."
+        ],
+        "failure_subtask": "1",
+        "failure_type": "task planning",
+        "keyframe": [
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+                "avoid_keyframe": "annotated_data/pull_open_drawer/frames/episode_5_cam_high/135_avoid_keyframe.jpg",
+                "correct_keyframe": "annotated_data/pull_open_drawer/frames/episode_5_cam_high/291_correct_keyframe.jpg"
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+        ],
+        "avoidance": [
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+                "low_level": "Move the left gripper to the upward significantly.",
+                "avoid_keyframe_annotations": "annotated_data/pull_open_drawer/frames/episode_5_cam_high/135_avoid_keyframe_annotations.jpg",
+                "avoid_keyframe_annotations_code": [
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+                        "type": "move_arrow",
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+                                0
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+        ],
+        "correction": [
+            {
+                "low_level": "Move the left gripper to the right significantly, forward slightly, and downward slightly.",
+                "correct_keyframe_annotations": "annotated_data/pull_open_drawer/frames/episode_5_cam_high/291_correct_keyframe_annotations.jpg",
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+                ]
+            }
+        ],
+        "source_index": 24
+    },
+    {
+        "video": "annotated_data/pull_open_drawer/videos/episode_2_cam_high.mp4",
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+            "annotated_data/pull_open_drawer/frames/episode_2_cam_high/150.jpg",
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+            "annotated_data/pull_open_drawer/frames/episode_2_cam_high/235.jpg"
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+        "task": "Use the left arm to pull open the top drawer.",
+        "failure_detection": "yes",
+        "subtasks": [
+            "1. Move the left arm to approach and align with the top drawer handle.",
+            "2. Grasp the top drawer handle with the left arm.",
+            "3. Pull the top drawer open using the left arm."
+        ],
+        "failure_subtask": "1",
+        "failure_type": "gripper 6d-pose",
+        "keyframe": [
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+                "avoid_keyframe": "annotated_data/pull_open_drawer/frames/episode_2_cam_high/124_avoid_keyframe.jpg",
+                "correct_keyframe": "annotated_data/pull_open_drawer/frames/episode_2_cam_high/203_correct_keyframe.jpg"
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+        ],
+        "avoidance": [
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+                "low_level": "Move the left gripper to the forward significantly.",
+                "avoid_keyframe_annotations": "annotated_data/pull_open_drawer/frames/episode_2_cam_high/124_avoid_keyframe_annotations.jpg",
+                "avoid_keyframe_annotations_code": [
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+                "low_level": "Move the left gripper to the right significantly, and forward slightly.",
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+        "source_index": 25
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+    {
+        "video": "annotated_data/pull_open_drawer/videos/episode_26_cam_high.mp4",
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+            "2. Grasp the top drawer handle with the left arm.",
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+                "low_level": "Move the left gripper to the forward significantly.",
+                "correct_keyframe_annotations": "annotated_data/pull_open_drawer/frames/episode_26_cam_high/284_correct_keyframe_annotations.jpg",
+                "correct_keyframe_annotations_code": [
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+    },
+    {
+        "video": "annotated_data/pull_open_drawer/videos/episode_21_cam_high.mp4",
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+            "annotated_data/pull_open_drawer/frames/episode_21_cam_high/25.jpg",
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+            "annotated_data/pull_open_drawer/frames/episode_21_cam_high/398.jpg"
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+        "failure_detection": "yes",
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+                "low_level": "Move the left gripper to the upward significantly.",
+                "avoid_keyframe_annotations": "annotated_data/pull_open_drawer/frames/episode_21_cam_high/163_avoid_keyframe_annotations.jpg",
+                "avoid_keyframe_annotations_code": [
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+                "correct_keyframe_annotations_code": [
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+                                255
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+                ]
+            }
+        ],
+        "source_index": 27
+    },
+    {
+        "video": "annotated_data/pull_open_drawer/videos/episode_17_cam_high.mp4",
+        "images": [
+            "annotated_data/pull_open_drawer/frames/episode_17_cam_high/0.jpg",
+            "annotated_data/pull_open_drawer/frames/episode_17_cam_high/25.jpg",
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+        "task": "Use the left arm to pull open the top drawer.",
+        "failure_detection": "yes",
+        "subtasks": [
+            "1. Move the left arm to approach and align with the top drawer handle.",
+            "2. Grasp the top drawer handle with the left arm.",
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+        "failure_detection": "yes",
+        "subtasks": [
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+            "2. Grasp the top drawer handle with the left arm.",
+            "3. Pull the top drawer open using the left arm."
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+    {
+        "video": "annotated_data/pull_open_drawer/videos/episode_3_cam_high.mp4",
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+            "annotated_data/pull_open_drawer/frames/episode_3_cam_high/226_correct_keyframe.jpg"
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+        "subtasks": [
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+            "2. Grasp the top drawer handle with the left arm.",
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+            "annotated_data/pull_open_drawer/frames/episode_4_cam_high/202.jpg"
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+        "task": "Use the left arm to pull open the top drawer.",
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+            "3. Pull the top drawer open using the left arm."
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