Add files using upload-large-folder tool

annotated_data/open_lid_place_filter/open_lid_place_filter_annotations.json

@@ -0,0 +1,1238 @@
+[
+    {
+        "video": "annotated_data/open_lid_place_filter/videos/episode_3_cam_high.mp4",
+        "task": "Use the left arm to open the rice cooker lid, then use the right arm to place the filter inside.",
+        "failure_detection": "yes",
+        "images": [
+            "annotated_data/open_lid_place_filter/frames/episode_3_cam_high/0.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_3_cam_high/25.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_3_cam_high/36_avoid_keyframe.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_3_cam_high/50.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_3_cam_high/75.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_3_cam_high/82_correct_keyframe.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_3_cam_high/100.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_3_cam_high/125.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_3_cam_high/150.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_3_cam_high/175.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_3_cam_high/200.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_3_cam_high/225.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_3_cam_high/250.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_3_cam_high/275.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_3_cam_high/299.jpg"
+        ],
+        "subtasks": [
+            "1. Move the left arm to align with the rice cooker lid.",
+            "2. Open the rice cooker lid using the left arm.",
+            "3. Move the right arm to align with the filter.",
+            "4. Grasp the filter with the right arm.",
+            "5. Move the right arm to align with the open rice cooker.",
+            "6. Place the filter inside the rice cooker with the right arm.",
+            "7. Release the filter from the right arm."
+        ],
+        "keyframe": [
+            {
+                "avoid_keyframe": "annotated_data/open_lid_place_filter/frames/episode_3_cam_high/36_avoid_keyframe.jpg",
+                "correct_keyframe": "annotated_data/open_lid_place_filter/frames/episode_3_cam_high/82_correct_keyframe.jpg"
+            }
+        ],
+        "failure_subtask": "1",
+        "failure_type": "task planning",
+        "avoidance": [
+            {
+                "low_level": " ",
+                "avoid_keyframe_annotations": "annotated_data/open_lid_place_filter/frames/episode_3_cam_high/36_avoid_keyframe_annotations.jpg",
+                "avoid_keyframe_annotations_code": [
+                    {
+                        "type": "lock",
+                        "pos": [
+                            268,
+                            120
+                        ]
+                    },
+                    {
+                        "type": "dual_crosshair",
+                        "p1": [
+                            50,
+                            259
+                        ],
+                        "p2": [
+                            124,
+                            171
+                        ]
+                    }
+                ]
+            }
+        ],
+        "correction": [
+            {
+                "low_level": " ",
+                "correct_keyframe_annotations": "annotated_data/open_lid_place_filter/frames/episode_3_cam_high/82_correct_keyframe_annotations.jpg",
+                "correct_keyframe_annotations_code": [
+                    {
+                        "type": "rewind",
+                        "pos": [
+                            137,
+                            167
+                        ]
+                    },
+                    {
+                        "type": "dual_crosshair",
+                        "p1": [
+                            46,
+                            252
+                        ],
+                        "p2": [
+                            88,
+                            172
+                        ]
+                    }
+                ]
+            }
+        ]
+    },
+    {
+        "video": "annotated_data/open_lid_place_filter/videos/episode_4_cam_high.mp4",
+        "task": "Use the left arm to open the rice cooker lid, then use the right arm to place the filter inside.",
+        "failure_detection": "yes",
+        "images": [
+            "annotated_data/open_lid_place_filter/frames/episode_4_cam_high/0.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_4_cam_high/25.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_4_cam_high/50.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_4_cam_high/75.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_4_cam_high/100.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_4_cam_high/116_avoid_keyframe.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_4_cam_high/125.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_4_cam_high/150.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_4_cam_high/175.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_4_cam_high/182_correct_keyframe.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_4_cam_high/200.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_4_cam_high/225.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_4_cam_high/250.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_4_cam_high/275.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_4_cam_high/277.jpg"
+        ],
+        "subtasks": [
+            "1. Move the left arm to align with the rice cooker lid.",
+            "2. Open the rice cooker lid using the left arm.",
+            "3. Move the right arm to align with the filter.",
+            "4. Grasp the filter with the right arm.",
+            "5. Move the right arm to align with the open rice cooker.",
+            "6. Place the filter inside the rice cooker with the right arm.",
+            "7. Release the filter from the right arm."
+        ],
+        "keyframe": [
+            {
+                "avoid_keyframe": "annotated_data/open_lid_place_filter/frames/episode_4_cam_high/116_avoid_keyframe.jpg",
+                "correct_keyframe": "annotated_data/open_lid_place_filter/frames/episode_4_cam_high/182_correct_keyframe.jpg"
+            }
+        ],
+        "failure_subtask": "3",
+        "failure_type": "task planning",
+        "avoidance": [
+            {
+                "low_level": " ",
+                "avoid_keyframe_annotations": "annotated_data/open_lid_place_filter/frames/episode_4_cam_high/116_avoid_keyframe_annotations.jpg",
+                "avoid_keyframe_annotations_code": [
+                    {
+                        "type": "lock",
+                        "pos": [
+                            284,
+                            216
+                        ]
+                    },
+                    {
+                        "type": "dual_crosshair",
+                        "p1": [
+                            570,
+                            224
+                        ],
+                        "p2": [
+                            409,
+                            168
+                        ]
+                    }
+                ]
+            }
+        ],
+        "correction": [
+            {
+                "low_level": " ",
+                "correct_keyframe_annotations": "annotated_data/open_lid_place_filter/frames/episode_4_cam_high/182_correct_keyframe_annotations.jpg",
+                "correct_keyframe_annotations_code": [
+                    {
+                        "type": "rewind",
+                        "pos": [
+                            414,
+                            78
+                        ]
+                    },
+                    {
+                        "type": "dual_crosshair",
+                        "p1": [
+                            565,
+                            223
+                        ],
+                        "p2": [
+                            458,
+                            58
+                        ]
+                    }
+                ]
+            }
+        ]
+    },
+    {
+        "video": "annotated_data/open_lid_place_filter/videos/episode_5_cam_high.mp4",
+        "task": "Use the left arm to open the rice cooker lid, then use the right arm to place the filter inside.",
+        "failure_detection": "yes",
+        "images": [
+            "annotated_data/open_lid_place_filter/frames/episode_5_cam_high/0.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_5_cam_high/25.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_5_cam_high/28_avoid_keyframe.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_5_cam_high/50.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_5_cam_high/54_correct_keyframe.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_5_cam_high/75.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_5_cam_high/100.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_5_cam_high/125.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_5_cam_high/150.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_5_cam_high/175.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_5_cam_high/200.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_5_cam_high/225.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_5_cam_high/250.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_5_cam_high/275.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_5_cam_high/300.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_5_cam_high/306.jpg"
+        ],
+        "subtasks": [
+            "1. Move the left arm to align with the rice cooker lid.",
+            "2. Open the rice cooker lid using the left arm.",
+            "3. Move the right arm to align with the filter.",
+            "4. Grasp the filter with the right arm.",
+            "5. Move the right arm to align with the open rice cooker.",
+            "6. Place the filter inside the rice cooker with the right arm.",
+            "7. Release the filter from the right arm."
+        ],
+        "keyframe": [
+            {
+                "avoid_keyframe": "annotated_data/open_lid_place_filter/frames/episode_5_cam_high/28_avoid_keyframe.jpg",
+                "correct_keyframe": "annotated_data/open_lid_place_filter/frames/episode_5_cam_high/54_correct_keyframe.jpg"
+            }
+        ],
+        "failure_subtask": "1",
+        "failure_type": "task planning",
+        "avoidance": [
+            {
+                "low_level": " ",
+                "avoid_keyframe_annotations": "annotated_data/open_lid_place_filter/frames/episode_5_cam_high/28_avoid_keyframe_annotations.jpg",
+                "avoid_keyframe_annotations_code": [
+                    {
+                        "type": "lock",
+                        "pos": [
+                            333,
+                            172
+                        ]
+                    },
+                    {
+                        "type": "dual_crosshair",
+                        "p1": [
+                            54,
+                            261
+                        ],
+                        "p2": [
+                            156,
+                            167
+                        ]
+                    }
+                ]
+            }
+        ],
+        "correction": [
+            {
+                "low_level": " ",
+                "correct_keyframe_annotations": "annotated_data/open_lid_place_filter/frames/episode_5_cam_high/54_correct_keyframe_annotations.jpg",
+                "correct_keyframe_annotations_code": [
+                    {
+                        "type": "rewind",
+                        "pos": [
+                            198,
+                            152
+                        ]
+                    },
+                    {
+                        "type": "dual_crosshair",
+                        "p1": [
+                            57,
+                            259
+                        ],
+                        "p2": [
+                            151,
+                            166
+                        ]
+                    }
+                ]
+            }
+        ]
+    },
+    {
+        "video": "annotated_data/open_lid_place_filter/videos/episode_0_cam_high.mp4",
+        "task": "Use the left arm to open the rice cooker lid, then use the right arm to place the filter inside.",
+        "failure_detection": "no",
+        "images": [
+            "annotated_data/open_lid_place_filter/frames/episode_0_cam_high/0.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_0_cam_high/25.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_0_cam_high/50.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_0_cam_high/75.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_0_cam_high/100.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_0_cam_high/125.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_0_cam_high/150.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_0_cam_high/175.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_0_cam_high/200.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_0_cam_high/225.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_0_cam_high/250.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_0_cam_high/275.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_0_cam_high/280.jpg"
+        ],
+        "subtasks": [
+            "1. Move the left arm to align with the rice cooker lid.",
+            "2. Open the rice cooker lid using the left arm.",
+            "3. Move the right arm to align with the filter.",
+            "4. Grasp the filter with the right arm.",
+            "5. Move the right arm to align with the open rice cooker.",
+            "6. Place the filter inside the rice cooker with the right arm.",
+            "7. Release the filter from the right arm."
+        ]
+    },
+    {
+        "video": "annotated_data/open_lid_place_filter/videos/episode_1_cam_high.mp4",
+        "task": "Use the left arm to open the rice cooker lid, then use the right arm to place the filter inside.",
+        "failure_detection": "no",
+        "images": [
+            "annotated_data/open_lid_place_filter/frames/episode_1_cam_high/0.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_1_cam_high/25.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_1_cam_high/50.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_1_cam_high/75.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_1_cam_high/100.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_1_cam_high/125.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_1_cam_high/150.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_1_cam_high/175.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_1_cam_high/200.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_1_cam_high/225.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_1_cam_high/250.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_1_cam_high/274.jpg"
+        ],
+        "subtasks": [
+            "1. Move the left arm to align with the rice cooker lid.",
+            "2. Open the rice cooker lid using the left arm.",
+            "3. Move the right arm to align with the filter.",
+            "4. Grasp the filter with the right arm.",
+            "5. Move the right arm to align with the open rice cooker.",
+            "6. Place the filter inside the rice cooker with the right arm.",
+            "7. Release the filter from the right arm."
+        ]
+    },
+    {
+        "video": "annotated_data/open_lid_place_filter/videos/episode_2_cam_high.mp4",
+        "task": "Use the left arm to open the rice cooker lid, then use the right arm to place the filter inside.",
+        "failure_detection": "no",
+        "images": [
+            "annotated_data/open_lid_place_filter/frames/episode_2_cam_high/0.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_2_cam_high/25.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_2_cam_high/50.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_2_cam_high/75.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_2_cam_high/100.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_2_cam_high/125.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_2_cam_high/150.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_2_cam_high/175.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_2_cam_high/200.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_2_cam_high/225.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_2_cam_high/250.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_2_cam_high/275.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_2_cam_high/300.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_2_cam_high/325.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_2_cam_high/340.jpg"
+        ],
+        "subtasks": [
+            "1. Move the left arm to align with the rice cooker lid.",
+            "2. Open the rice cooker lid using the left arm.",
+            "3. Move the right arm to align with the filter.",
+            "4. Grasp the filter with the right arm.",
+            "5. Move the right arm to align with the open rice cooker.",
+            "6. Place the filter inside the rice cooker with the right arm.",
+            "7. Release the filter from the right arm."
+        ]
+    },
+    {
+        "video": "annotated_data/open_lid_place_filter/videos/episode_6_cam_high.mp4",
+        "task": "Use the left arm to open the rice cooker lid, then use the right arm to place the filter inside.",
+        "failure_detection": "yes",
+        "images": [
+            "annotated_data/open_lid_place_filter/frames/episode_6_cam_high/0.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_6_cam_high/25.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_6_cam_high/50.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_6_cam_high/75.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_6_cam_high/100.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_6_cam_high/108_avoid_keyframe.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_6_cam_high/125.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_6_cam_high/142_correct_keyframe.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_6_cam_high/150.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_6_cam_high/175.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_6_cam_high/200.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_6_cam_high/225.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_6_cam_high/243.jpg"
+        ],
+        "subtasks": [
+            "1. Move the left arm to align with the rice cooker lid.",
+            "2. Open the rice cooker lid using the left arm.",
+            "3. Move the right arm to align with the filter.",
+            "4. Grasp the filter with the right arm.",
+            "5. Move the right arm to align with the open rice cooker.",
+            "6. Place the filter inside the rice cooker with the right arm.",
+            "7. Release the filter from the right arm."
+        ],
+        "keyframe": [
+            {
+                "avoid_keyframe": "annotated_data/open_lid_place_filter/frames/episode_6_cam_high/108_avoid_keyframe.jpg",
+                "correct_keyframe": "annotated_data/open_lid_place_filter/frames/episode_6_cam_high/142_correct_keyframe.jpg"
+            }
+        ],
+        "failure_subtask": "3",
+        "failure_type": "task planning",
+        "avoidance": [
+            {
+                "low_level": " ",
+                "avoid_keyframe_annotations": "annotated_data/open_lid_place_filter/frames/episode_6_cam_high/108_avoid_keyframe_annotations.jpg",
+                "avoid_keyframe_annotations_code": [
+                    {
+                        "type": "crosshair",
+                        "pos": [
+                            483,
+                            217
+                        ]
+                    }
+                ]
+            }
+        ],
+        "correction": [
+            {
+                "low_level": " ",
+                "correct_keyframe_annotations": "annotated_data/open_lid_place_filter/frames/episode_6_cam_high/142_correct_keyframe_annotations.jpg",
+                "correct_keyframe_annotations_code": [
+                    {
+                        "type": "rewind",
+                        "pos": [
+                            380,
+                            71
+                        ]
+                    },
+                    {
+                        "type": "crosshair",
+                        "pos": [
+                            488,
+                            224
+                        ]
+                    }
+                ]
+            }
+        ]
+    },
+    {
+        "video": "annotated_data/open_lid_place_filter/videos/episode_7_cam_high.mp4",
+        "task": "Use the left arm to open the rice cooker lid, then use the right arm to place the filter inside.",
+        "failure_detection": "yes",
+        "images": [
+            "annotated_data/open_lid_place_filter/frames/episode_7_cam_high/0.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_7_cam_high/25.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_7_cam_high/50.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_7_cam_high/54_avoid_keyframe.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_7_cam_high/75.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_7_cam_high/83_correct_keyframe.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_7_cam_high/100.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_7_cam_high/107.jpg"
+        ],
+        "subtasks": [
+            "1. Move the left arm to align with the rice cooker lid.",
+            "2. Open the rice cooker lid using the left arm.",
+            "3. Move the right arm to align with the filter.",
+            "4. Grasp the filter with the right arm.",
+            "5. Move the right arm to align with the open rice cooker.",
+            "6. Place the filter inside the rice cooker with the right arm.",
+            "7. Release the filter from the right arm."
+        ],
+        "keyframe": [
+            {
+                "avoid_keyframe": "annotated_data/open_lid_place_filter/frames/episode_7_cam_high/54_avoid_keyframe.jpg",
+                "correct_keyframe": "annotated_data/open_lid_place_filter/frames/episode_7_cam_high/83_correct_keyframe.jpg"
+            }
+        ],
+        "failure_subtask": "1",
+        "failure_type": "gripper 6d-pose",
+        "avoidance": [
+            {
+                "low_level": "Move the left gripper to the right slightly.",
+                "avoid_keyframe_annotations": "annotated_data/open_lid_place_filter/frames/episode_7_cam_high/54_avoid_keyframe_annotations.jpg",
+                "avoid_keyframe_annotations_code": [
+                    {
+                        "type": "move_arrow",
+                        "start": [
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+                        "colors": [
+                            [
+                                0,
+                                255,
+                                0
+                            ]
+                        ]
+                    }
+                ]
+            }
+        ],
+        "correction": [
+            {
+                "low_level": "Move the left gripper to the right slightly and upward slightly.",
+                "correct_keyframe_annotations": "annotated_data/open_lid_place_filter/frames/episode_7_cam_high/83_correct_keyframe_annotations.jpg",
+                "correct_keyframe_annotations_code": [
+                    {
+                        "type": "move_arrow",
+                        "start": [
+                            20,
+                            191
+                        ],
+                        "end": [
+                            161,
+                            169
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+                        "colors": [
+                            [
+                                0,
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+                                0
+                            ],
+                            [
+                                255,
+                                0,
+                                0
+                            ]
+                        ]
+                    }
+                ]
+            }
+        ]
+    },
+    {
+        "video": "annotated_data/open_lid_place_filter/videos/episode_8_cam_high.mp4",
+        "task": "Use the left arm to open the rice cooker lid, then use the right arm to place the filter inside.",
+        "failure_detection": "yes",
+        "images": [
+            "annotated_data/open_lid_place_filter/frames/episode_8_cam_high/0.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_8_cam_high/25.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_8_cam_high/50.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_8_cam_high/75.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_8_cam_high/77_avoid_keyframe.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_8_cam_high/100.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_8_cam_high/111_correct_keyframe.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_8_cam_high/125.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_8_cam_high/145.jpg"
+        ],
+        "subtasks": [
+            "1. Move the left arm to align with the rice cooker lid.",
+            "2. Open the rice cooker lid using the left arm.",
+            "3. Move the right arm to align with the filter.",
+            "4. Grasp the filter with the right arm.",
+            "5. Move the right arm to align with the open rice cooker.",
+            "6. Place the filter inside the rice cooker with the right arm.",
+            "7. Release the filter from the right arm."
+        ],
+        "keyframe": [
+            {
+                "avoid_keyframe": "annotated_data/open_lid_place_filter/frames/episode_8_cam_high/77_avoid_keyframe.jpg",
+                "correct_keyframe": "annotated_data/open_lid_place_filter/frames/episode_8_cam_high/111_correct_keyframe.jpg"
+            }
+        ],
+        "failure_subtask": "1",
+        "failure_type": "gripper 6d-pose",
+        "avoidance": [
+            {
+                "low_level": "Move the left gripper to the left slightly.",
+                "avoid_keyframe_annotations": "annotated_data/open_lid_place_filter/frames/episode_8_cam_high/77_avoid_keyframe_annotations.jpg",
+                "avoid_keyframe_annotations_code": [
+                    {
+                        "type": "move_arrow",
+                        "start": [
+                            301,
+                            178
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+                        "end": [
+                            196,
+                            170
+                        ],
+                        "colors": [
+                            [
+                                0,
+                                255,
+                                0
+                            ]
+                        ]
+                    }
+                ]
+            }
+        ],
+        "correction": [
+            {
+                "low_level": "Move the left gripper to the left slightly and upward slightly.",
+                "correct_keyframe_annotations": "annotated_data/open_lid_place_filter/frames/episode_8_cam_high/111_correct_keyframe_annotations.jpg",
+                "correct_keyframe_annotations_code": [
+                    {
+                        "type": "move_arrow",
+                        "start": [
+                            315,
+                            198
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+                        "end": [
+                            198,
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+                                0,
+                                255,
+                                0
+                            ],
+                            [
+                                255,
+                                0,
+                                0
+                            ]
+                        ]
+                    }
+                ]
+            }
+        ]
+    },
+    {
+        "video": "annotated_data/open_lid_place_filter/videos/episode_9_cam_high.mp4",
+        "task": "Use the left arm to open the rice cooker lid, then use the right arm to place the filter inside.",
+        "failure_detection": "yes",
+        "images": [
+            "annotated_data/open_lid_place_filter/frames/episode_9_cam_high/0.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_9_cam_high/25.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_9_cam_high/50.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_9_cam_high/75.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_9_cam_high/100.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_9_cam_high/125.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_9_cam_high/150.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_9_cam_high/175.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_9_cam_high/200.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_9_cam_high/202_avoid_keyframe.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_9_cam_high/225.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_9_cam_high/242_correct_keyframe.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_9_cam_high/250.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_9_cam_high/270.jpg"
+        ],
+        "subtasks": [
+            "1. Move the left arm to align with the rice cooker lid.",
+            "2. Open the rice cooker lid using the left arm.",
+            "3. Move the right arm to align with the filter.",
+            "4. Grasp the filter with the right arm.",
+            "5. Move the right arm to align with the open rice cooker.",
+            "6. Place the filter inside the rice cooker with the right arm.",
+            "7. Release the filter from the right arm."
+        ],
+        "keyframe": [
+            {
+                "avoid_keyframe": "annotated_data/open_lid_place_filter/frames/episode_9_cam_high/202_avoid_keyframe.jpg",
+                "correct_keyframe": "annotated_data/open_lid_place_filter/frames/episode_9_cam_high/242_correct_keyframe.jpg"
+            }
+        ],
+        "failure_subtask": "3",
+        "failure_type": "gripper 6d-pose",
+        "avoidance": [
+            {
+                "low_level": "Move the right gripper to the downward slightly.",
+                "avoid_keyframe_annotations": "annotated_data/open_lid_place_filter/frames/episode_9_cam_high/202_avoid_keyframe_annotations.jpg",
+                "avoid_keyframe_annotations_code": [
+                    {
+                        "type": "move_arrow",
+                        "start": [
+                            508,
+                            125
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+                        "end": [
+                            503,
+                            179
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+                        "colors": [
+                            [
+                                255,
+                                0,
+                                0
+                            ]
+                        ]
+                    }
+                ]
+            }
+        ],
+        "correction": [
+            {
+                "low_level": "Move the right gripper to the right significantly and downward significantly.",
+                "correct_keyframe_annotations": "annotated_data/open_lid_place_filter/frames/episode_9_cam_high/242_correct_keyframe_annotations.jpg",
+                "correct_keyframe_annotations_code": [
+                    {
+                        "type": "move_arrow",
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+                            477,
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+                                0,
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+                                0
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+                                255,
+                                0,
+                                0
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+                        ]
+                    }
+                ]
+            }
+        ]
+    },
+    {
+        "video": "annotated_data/open_lid_place_filter/videos/episode_10_cam_high.mp4",
+        "task": "Use the left arm to open the rice cooker lid, then use the right arm to place the filter inside.",
+        "failure_detection": "yes",
+        "images": [
+            "annotated_data/open_lid_place_filter/frames/episode_10_cam_high/0.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_10_cam_high/25.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_10_cam_high/50.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_10_cam_high/75.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_10_cam_high/100.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_10_cam_high/125.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_10_cam_high/150.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_10_cam_high/175.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_10_cam_high/184_avoid_keyframe.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_10_cam_high/200.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_10_cam_high/225.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_10_cam_high/232_correct_keyframe.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_10_cam_high/250.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_10_cam_high/257.jpg"
+        ],
+        "subtasks": [
+            "1. Move the left arm to align with the rice cooker lid.",
+            "2. Open the rice cooker lid using the left arm.",
+            "3. Move the right arm to align with the filter.",
+            "4. Grasp the filter with the right arm.",
+            "5. Move the right arm to align with the open rice cooker.",
+            "6. Place the filter inside the rice cooker with the right arm.",
+            "7. Release the filter from the right arm."
+        ],
+        "keyframe": [
+            {
+                "avoid_keyframe": "annotated_data/open_lid_place_filter/frames/episode_10_cam_high/184_avoid_keyframe.jpg",
+                "correct_keyframe": "annotated_data/open_lid_place_filter/frames/episode_10_cam_high/232_correct_keyframe.jpg"
+            }
+        ],
+        "failure_subtask": "3",
+        "failure_type": "gripper 6d-pose",
+        "avoidance": [
+            {
+                "low_level": "Move the right gripper to the forward slightly.",
+                "avoid_keyframe_annotations": "annotated_data/open_lid_place_filter/frames/episode_10_cam_high/184_avoid_keyframe_annotations.jpg",
+                "avoid_keyframe_annotations_code": [
+                    {
+                        "type": "move_arrow",
+                        "start": [
+                            446,
+                            282
+                        ],
+                        "end": [
+                            450,
+                            191
+                        ],
+                        "colors": [
+                            [
+                                0,
+                                0,
+                                255
+                            ]
+                        ]
+                    }
+                ]
+            }
+        ],
+        "correction": [
+            {
+                "low_level": "Move the right gripper to the right significantly and downward significantly.",
+                "correct_keyframe_annotations": "annotated_data/open_lid_place_filter/frames/episode_10_cam_high/232_correct_keyframe_annotations.jpg",
+                "correct_keyframe_annotations_code": [
+                    {
+                        "type": "move_arrow",
+                        "start": [
+                            192,
+                            120
+                        ],
+                        "end": [
+                            434,
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+                        ],
+                        "colors": [
+                            [
+                                0,
+                                255,
+                                0
+                            ],
+                            [
+                                255,
+                                0,
+                                0
+                            ]
+                        ]
+                    }
+                ]
+            }
+        ]
+    },
+    {
+        "video": "annotated_data/open_lid_place_filter/videos/episode_11_cam_high.mp4",
+        "task": "Use the left arm to open the rice cooker lid, then use the right arm to place the filter inside.",
+        "failure_detection": "yes",
+        "images": [
+            "annotated_data/open_lid_place_filter/frames/episode_11_cam_high/0.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_11_cam_high/25.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_11_cam_high/50.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_11_cam_high/75.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_11_cam_high/100.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_11_cam_high/125.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_11_cam_high/144_avoid_keyframe.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_11_cam_high/150.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_11_cam_high/175.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_11_cam_high/200.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_11_cam_high/225_correct_keyframe.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_11_cam_high/247.jpg"
+        ],
+        "subtasks": [
+            "1. Move the left arm to align with the rice cooker lid.",
+            "2. Open the rice cooker lid using the left arm.",
+            "3. Move the right arm to align with the filter.",
+            "4. Grasp the filter with the right arm.",
+            "5. Move the right arm to align with the open rice cooker.",
+            "6. Place the filter inside the rice cooker with the right arm.",
+            "7. Release the filter from the right arm."
+        ],
+        "keyframe": [
+            {
+                "avoid_keyframe": "annotated_data/open_lid_place_filter/frames/episode_11_cam_high/144_avoid_keyframe.jpg",
+                "correct_keyframe": "annotated_data/open_lid_place_filter/frames/episode_11_cam_high/225_correct_keyframe.jpg"
+            }
+        ],
+        "failure_subtask": "3",
+        "failure_type": "gripper 6d-pose",
+        "avoidance": [
+            {
+                "low_level": "Move the right gripper to the left slightly and forward slightly.",
+                "avoid_keyframe_annotations": "annotated_data/open_lid_place_filter/frames/episode_11_cam_high/144_avoid_keyframe_annotations.jpg",
+                "avoid_keyframe_annotations_code": [
+                    {
+                        "type": "move_arrow",
+                        "start": [
+                            525,
+                            258
+                        ],
+                        "end": [
+                            461,
+                            205
+                        ],
+                        "colors": [
+                            [
+                                0,
+                                255,
+                                0
+                            ],
+                            [
+                                0,
+                                0,
+                                255
+                            ]
+                        ]
+                    }
+                ]
+            }
+        ],
+        "correction": [
+            {
+                "low_level": "Move the right gripper to the right significantly and downward significantly.",
+                "correct_keyframe_annotations": "annotated_data/open_lid_place_filter/frames/episode_11_cam_high/225_correct_keyframe_annotations.jpg",
+                "correct_keyframe_annotations_code": [
+                    {
+                        "type": "move_arrow",
+                        "start": [
+                            180,
+                            120
+                        ],
+                        "end": [
+                            402,
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+                        ],
+                        "colors": [
+                            [
+                                0,
+                                255,
+                                0
+                            ],
+                            [
+                                255,
+                                0,
+                                0
+                            ]
+                        ]
+                    }
+                ]
+            }
+        ]
+    },
+    {
+        "video": "annotated_data/open_lid_place_filter/videos/episode_12_cam_high.mp4",
+        "task": "Use the left arm to open the rice cooker lid, then use the right arm to place the filter inside.",
+        "failure_detection": "yes",
+        "images": [
+            "annotated_data/open_lid_place_filter/frames/episode_12_cam_high/0.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_12_cam_high/25.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_12_cam_high/50.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_12_cam_high/75.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_12_cam_high/100.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_12_cam_high/125.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_12_cam_high/150.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_12_cam_high/168_avoid_keyframe.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_12_cam_high/175.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_12_cam_high/200.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_12_cam_high/225.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_12_cam_high/250.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_12_cam_high/252_correct_keyframe.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_12_cam_high/275.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_12_cam_high/276.jpg"
+        ],
+        "subtasks": [
+            "1. Move the left arm to align with the rice cooker lid.",
+            "2. Open the rice cooker lid using the left arm.",
+            "3. Move the right arm to align with the filter.",
+            "4. Grasp the filter with the right arm.",
+            "5. Move the right arm to align with the open rice cooker.",
+            "6. Place the filter inside the rice cooker with the right arm.",
+            "7. Release the filter from the right arm."
+        ],
+        "keyframe": [
+            {
+                "avoid_keyframe": "annotated_data/open_lid_place_filter/frames/episode_12_cam_high/168_avoid_keyframe.jpg",
+                "correct_keyframe": "annotated_data/open_lid_place_filter/frames/episode_12_cam_high/252_correct_keyframe.jpg"
+            }
+        ],
+        "failure_subtask": "3",
+        "failure_type": "gripper 6d-pose",
+        "avoidance": [
+            {
+                "low_level": "Rotate the right gripper counterclockwise.",
+                "avoid_keyframe_annotations": "annotated_data/open_lid_place_filter/frames/episode_12_cam_high/168_avoid_keyframe_annotations.jpg",
+                "avoid_keyframe_annotations_code": [
+                    {
+                        "type": "rotate_arrow",
+                        "start": [
+                            468,
+                            152
+                        ],
+                        "end": [
+                            417,
+                            145
+                        ],
+                        "direction": "counterclockwise"
+                    }
+                ]
+            }
+        ],
+        "correction": [
+            {
+                "low_level": "Move the right gripper to the right significantly, forward significantly and downward significantly.",
+                "correct_keyframe_annotations": "annotated_data/open_lid_place_filter/frames/episode_12_cam_high/252_correct_keyframe_annotations.jpg",
+                "correct_keyframe_annotations_code": [
+                    {
+                        "type": "move_arrow",
+                        "start": [
+                            190,
+                            173
+                        ],
+                        "end": [
+                            453,
+                            161
+                        ],
+                        "colors": [
+                            [
+                                0,
+                                255,
+                                0
+                            ],
+                            [
+                                0,
+                                0,
+                                255
+                            ],
+                            [
+                                255,
+                                0,
+                                0
+                            ]
+                        ]
+                    }
+                ]
+            }
+        ]
+    },
+    {
+        "video": "annotated_data/open_lid_place_filter/videos/episode_13_cam_high.mp4",
+        "task": "Use the left arm to open the rice cooker lid, then use the right arm to place the filter inside.",
+        "failure_detection": "yes",
+        "images": [
+            "annotated_data/open_lid_place_filter/frames/episode_13_cam_high/0.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_13_cam_high/25.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_13_cam_high/50.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_13_cam_high/75.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_13_cam_high/100.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_13_cam_high/125.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_13_cam_high/150.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_13_cam_high/174_avoid_keyframe.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_13_cam_high/175.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_13_cam_high/200.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_13_cam_high/223_correct_keyframe.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_13_cam_high/225.jpg",
+            "annotated_data/open_lid_place_filter/frames/episode_13_cam_high/247.jpg"
+        ],
+        "subtasks": [
+            "1. Move the left arm to align with the rice cooker lid.",
+            "2. Open the rice cooker lid using the left arm.",
+            "3. Move the right arm to align with the filter.",
+            "4. Grasp the filter with the right arm.",
+            "5. Move the right arm to align with the open rice cooker.",
+            "6. Place the filter inside the rice cooker with the right arm.",
+            "7. Release the filter from the right arm."
+        ],
+        "keyframe": [
+            {
+                "avoid_keyframe": "annotated_data/open_lid_place_filter/frames/episode_13_cam_high/174_avoid_keyframe.jpg",
+                "correct_keyframe": "annotated_data/open_lid_place_filter/frames/episode_13_cam_high/223_correct_keyframe.jpg"
+            }
+        ],
+        "failure_subtask": "4",
+        "failure_type": "gripper state",
+        "avoidance": [
+            {
+                "low_level": "Close the right gripper",
+                "avoid_keyframe_annotations": "annotated_data/open_lid_place_filter/frames/episode_13_cam_high/174_avoid_keyframe_annotations.jpg",
+                "avoid_keyframe_annotations_code": [
+                    {
+                        "type": "state",
+                        "pos": [
+                            462,
+                            197
+                        ],
+                        "text": "OFF"
+                    }
+                ]
+            }
+        ],
+        "correction": [
+            {
+                "low_level": "Move the right gripper to the right significantly and downward significantly.",
+                "correct_keyframe_annotations": "annotated_data/open_lid_place_filter/frames/episode_13_cam_high/223_correct_keyframe_annotations.jpg",
+                "correct_keyframe_annotations_code": [
+                    {
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+    {
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+        "failure_detection": "yes",
+        "images": [
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+            "5. Move the right arm to align with the open rice cooker.",
+            "6. Place the filter inside the rice cooker with the right arm.",
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+            "2. Open the rice cooker lid using the left arm.",
+            "3. Move the right arm to align with the filter.",
+            "4. Grasp the filter with the right arm.",
+            "5. Move the right arm to align with the open rice cooker.",
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+            "7. Release the filter from the right arm."
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