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+        "failure_detection": "yes",
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+            "annotated_data/put_stapler_top_drawer_and_close/frames/episode_3_cam_high/100.jpg",
+            "annotated_data/put_stapler_top_drawer_and_close/frames/episode_3_cam_high/120_correct_keyframe.jpg",
+            "annotated_data/put_stapler_top_drawer_and_close/frames/episode_3_cam_high/125.jpg",
+            "annotated_data/put_stapler_top_drawer_and_close/frames/episode_3_cam_high/150.jpg",
+            "annotated_data/put_stapler_top_drawer_and_close/frames/episode_3_cam_high/175.jpg",
+            "annotated_data/put_stapler_top_drawer_and_close/frames/episode_3_cam_high/200.jpg",
+            "annotated_data/put_stapler_top_drawer_and_close/frames/episode_3_cam_high/214.jpg"
+        ],
+        "subtasks": [
+            "1. Move the left arm to approach and align with the blue stapler.",
+            "2. Grasp the blue stapler with the left arm.",
+            "3. Move the left arm to align with the top drawer.",
+            "4. Release the gripper to place the blue stapler into the top drawer.",
+            "5. Move the right arm to approach and align with the handle of the top drawer.",
+            "6. Grasp the handle of the top drawer with the right arm.",
+            "7. Pull the top drawer closed with the right arm."
+        ],
+        "keyframe": [
+            {
+                "avoid_keyframe": "annotated_data/put_stapler_top_drawer_and_close/frames/episode_3_cam_high/59_avoid_keyframe.jpg",
+                "correct_keyframe": "annotated_data/put_stapler_top_drawer_and_close/frames/episode_3_cam_high/120_correct_keyframe.jpg"
+            }
+        ],
+        "failure_subtask": "1",
+        "failure_type": "task planning",
+        "avoidance": [
+            {
+                "low_level": " ",
+                "avoid_keyframe_annotations": "annotated_data/put_stapler_top_drawer_and_close/frames/episode_3_cam_high/59_avoid_keyframe_annotations.jpg",
+                "avoid_keyframe_annotations_code": [
+                    {
+                        "type": "crosshair",
+                        "pos": [
+                            421,
+                            395
+                        ]
+                    }
+                ]
+            }
+        ],
+        "correction": [
+            {
+                "low_level": " ",
+                "correct_keyframe_annotations": "annotated_data/put_stapler_top_drawer_and_close/frames/episode_3_cam_high/120_correct_keyframe_annotations.jpg",
+                "correct_keyframe_annotations_code": [
+                    {
+                        "type": "rewind",
+                        "pos": [
+                            269,
+                            170
+                        ]
+                    },
+                    {
+                        "type": "crosshair",
+                        "pos": [
+                            407,
+                            385
+                        ]
+                    }
+                ]
+            }
+        ]
+    },
+    {
+        "video": "annotated_data/put_stapler_top_drawer_and_close/videos/episode_4_cam_high.mp4",
+        "task": "Use the left arm to put the blue stapler into the top drawer, and then use the right arm to pull close the top drawer.",
+        "failure_detection": "yes",
+        "images": [
+            "annotated_data/put_stapler_top_drawer_and_close/frames/episode_4_cam_high/0.jpg",
+            "annotated_data/put_stapler_top_drawer_and_close/frames/episode_4_cam_high/25.jpg",
+            "annotated_data/put_stapler_top_drawer_and_close/frames/episode_4_cam_high/50.jpg",
+            "annotated_data/put_stapler_top_drawer_and_close/frames/episode_4_cam_high/75.jpg",
+            "annotated_data/put_stapler_top_drawer_and_close/frames/episode_4_cam_high/100.jpg",
+            "annotated_data/put_stapler_top_drawer_and_close/frames/episode_4_cam_high/125.jpg",
+            "annotated_data/put_stapler_top_drawer_and_close/frames/episode_4_cam_high/150.jpg",
+            "annotated_data/put_stapler_top_drawer_and_close/frames/episode_4_cam_high/175.jpg",
+            "annotated_data/put_stapler_top_drawer_and_close/frames/episode_4_cam_high/200.jpg",
+            "annotated_data/put_stapler_top_drawer_and_close/frames/episode_4_cam_high/201_avoid_keyframe.jpg",
+            "annotated_data/put_stapler_top_drawer_and_close/frames/episode_4_cam_high/225.jpg",
+            "annotated_data/put_stapler_top_drawer_and_close/frames/episode_4_cam_high/250.jpg",
+            "annotated_data/put_stapler_top_drawer_and_close/frames/episode_4_cam_high/275.jpg",
+            "annotated_data/put_stapler_top_drawer_and_close/frames/episode_4_cam_high/290_correct_keyframe.jpg"
+        ],
+        "subtasks": [
+            "1. Move the left arm to approach and align with the blue stapler.",
+            "2. Grasp the blue stapler with the left arm.",
+            "3. Move the left arm to align with the top drawer.",
+            "4. Release the gripper to place the blue stapler into the top drawer.",
+            "5. Move the right arm to approach and align with the handle of the top drawer.",
+            "6. Grasp the handle of the top drawer with the right arm.",
+            "7. Pull the top drawer closed with the right arm."
+        ],
+        "keyframe": [
+            {
+                "avoid_keyframe": "annotated_data/put_stapler_top_drawer_and_close/frames/episode_4_cam_high/201_avoid_keyframe.jpg",
+                "correct_keyframe": "annotated_data/put_stapler_top_drawer_and_close/frames/episode_4_cam_high/290_correct_keyframe.jpg"
+            }
+        ],
+        "failure_subtask": "3",
+        "failure_type": "task planning",
+        "avoidance": [
+            {
+                "low_level": " ",
+                "avoid_keyframe_annotations": "annotated_data/put_stapler_top_drawer_and_close/frames/episode_4_cam_high/201_avoid_keyframe_annotations.jpg",
+                "avoid_keyframe_annotations_code": [
+                    {
+                        "type": "dual_crosshair",
+                        "p1": [
+                            333,
+                            231
+                        ],
+                        "p2": [
+                            264,
+                            196
+                        ]
+                    }
+                ]
+            }
+        ],
+        "correction": [
+            {
+                "low_level": " ",
+                "correct_keyframe_annotations": "annotated_data/put_stapler_top_drawer_and_close/frames/episode_4_cam_high/290_correct_keyframe_annotations.jpg",
+                "correct_keyframe_annotations_code": [
+                    {
+                        "type": "dual_crosshair",
+                        "p1": [
+                            312,
+                            271
+                        ],
+                        "p2": [
+                            67,
+                            373
+                        ]
+                    }
+                ]
+            }
+        ]
+    },
+    {
+        "video": "annotated_data/put_stapler_top_drawer_and_close/videos/episode_5_cam_high.mp4",
+        "task": "Use the left arm to put the blue stapler into the top drawer, and then use the right arm to pull close the top drawer.",
+        "failure_detection": "yes",
+        "images": [
+            "annotated_data/put_stapler_top_drawer_and_close/frames/episode_5_cam_high/0.jpg",
+            "annotated_data/put_stapler_top_drawer_and_close/frames/episode_5_cam_high/25.jpg",
+            "annotated_data/put_stapler_top_drawer_and_close/frames/episode_5_cam_high/50.jpg",
+            "annotated_data/put_stapler_top_drawer_and_close/frames/episode_5_cam_high/66_avoid_keyframe.jpg",
+            "annotated_data/put_stapler_top_drawer_and_close/frames/episode_5_cam_high/75.jpg",
+            "annotated_data/put_stapler_top_drawer_and_close/frames/episode_5_cam_high/100.jpg",
+            "annotated_data/put_stapler_top_drawer_and_close/frames/episode_5_cam_high/125.jpg",
+            "annotated_data/put_stapler_top_drawer_and_close/frames/episode_5_cam_high/143_correct_keyframe.jpg",
+            "annotated_data/put_stapler_top_drawer_and_close/frames/episode_5_cam_high/150.jpg",
+            "annotated_data/put_stapler_top_drawer_and_close/frames/episode_5_cam_high/175.jpg",
+            "annotated_data/put_stapler_top_drawer_and_close/frames/episode_5_cam_high/200.jpg",
+            "annotated_data/put_stapler_top_drawer_and_close/frames/episode_5_cam_high/218.jpg"
+        ],
+        "subtasks": [
+            "1. Move the left arm to approach and align with the blue stapler.",
+            "2. Grasp the blue stapler with the left arm.",
+            "3. Move the left arm to align with the top drawer.",
+            "4. Release the gripper to place the blue stapler into the top drawer.",
+            "5. Move the right arm to approach and align with the handle of the top drawer.",
+            "6. Grasp the handle of the top drawer with the right arm.",
+            "7. Pull the top drawer closed with the right arm."
+        ],
+        "keyframe": [
+            {
+                "avoid_keyframe": "annotated_data/put_stapler_top_drawer_and_close/frames/episode_5_cam_high/66_avoid_keyframe.jpg",
+                "correct_keyframe": "annotated_data/put_stapler_top_drawer_and_close/frames/episode_5_cam_high/143_correct_keyframe.jpg"
+            }
+        ],
+        "failure_subtask": "1",
+        "failure_type": "task planning",
+        "avoidance": [
+            {
+                "low_level": " ",
+                "avoid_keyframe_annotations": "annotated_data/put_stapler_top_drawer_and_close/frames/episode_5_cam_high/66_avoid_keyframe_annotations.jpg",
+                "avoid_keyframe_annotations_code": [
+                    {
+                        "type": "crosshair",
+                        "pos": [
+                            442,
+                            362
+                        ]
+                    }
+                ]
+            }
+        ],
+        "correction": [
+            {
+                "low_level": " ",
+                "correct_keyframe_annotations": "annotated_data/put_stapler_top_drawer_and_close/frames/episode_5_cam_high/143_correct_keyframe_annotations.jpg",
+                "correct_keyframe_annotations_code": [
+                    {
+                        "type": "rewind",
+                        "pos": [
+                            270,
+                            171
+                        ]
+                    },
+                    {
+                        "type": "crosshair",
+                        "pos": [
+                            434,
+                            354
+                        ]
+                    }
+                ]
+            }
+        ]
+    },
+    {
+        "video": "annotated_data/put_stapler_top_drawer_and_close/videos/episode_6_cam_high.mp4",
+        "task": "Use the left arm to put the blue stapler into the top drawer, and then use the right arm to pull close the top drawer.",
+        "failure_detection": "yes",
+        "images": [
+            "annotated_data/put_stapler_top_drawer_and_close/frames/episode_6_cam_high/0.jpg",
+            "annotated_data/put_stapler_top_drawer_and_close/frames/episode_6_cam_high/25.jpg",
+            "annotated_data/put_stapler_top_drawer_and_close/frames/episode_6_cam_high/50.jpg",
+            "annotated_data/put_stapler_top_drawer_and_close/frames/episode_6_cam_high/75.jpg",
+            "annotated_data/put_stapler_top_drawer_and_close/frames/episode_6_cam_high/90_avoid_keyframe.jpg",
+            "annotated_data/put_stapler_top_drawer_and_close/frames/episode_6_cam_high/100.jpg",
+            "annotated_data/put_stapler_top_drawer_and_close/frames/episode_6_cam_high/125.jpg",
+            "annotated_data/put_stapler_top_drawer_and_close/frames/episode_6_cam_high/150.jpg",
+            "annotated_data/put_stapler_top_drawer_and_close/frames/episode_6_cam_high/175.jpg",
+            "annotated_data/put_stapler_top_drawer_and_close/frames/episode_6_cam_high/200.jpg",
+            "annotated_data/put_stapler_top_drawer_and_close/frames/episode_6_cam_high/225.jpg",
+            "annotated_data/put_stapler_top_drawer_and_close/frames/episode_6_cam_high/235_correct_keyframe.jpg",
+            "annotated_data/put_stapler_top_drawer_and_close/frames/episode_6_cam_high/243.jpg"
+        ],
+        "subtasks": [
+            "1. Move the left arm to approach and align with the blue stapler.",
+            "2. Grasp the blue stapler with the left arm.",
+            "3. Move the left arm to align with the top drawer.",
+            "4. Release the gripper to place the blue stapler into the top drawer.",
+            "5. Move the right arm to approach and align with the handle of the top drawer.",
+            "6. Grasp the handle of the top drawer with the right arm.",
+            "7. Pull the top drawer closed with the right arm."
+        ],
+        "keyframe": [
+            {
+                "avoid_keyframe": "annotated_data/put_stapler_top_drawer_and_close/frames/episode_6_cam_high/90_avoid_keyframe.jpg",
+                "correct_keyframe": "annotated_data/put_stapler_top_drawer_and_close/frames/episode_6_cam_high/235_correct_keyframe.jpg"
+            }
+        ],
+        "failure_subtask": "5",
+        "failure_type": "task planning",
+        "avoidance": [
+            {
+                "low_level": " ",
+                "avoid_keyframe_annotations": "annotated_data/put_stapler_top_drawer_and_close/frames/episode_6_cam_high/90_avoid_keyframe_annotations.jpg",
+                "avoid_keyframe_annotations_code": [
+                    {
+                        "type": "crosshair",
+                        "pos": [
+                            314,
+                            220
+                        ]
+                    }
+                ]
+            }
+        ],
+        "correction": [
+            {
+                "low_level": " ",
+                "correct_keyframe_annotations": "annotated_data/put_stapler_top_drawer_and_close/frames/episode_6_cam_high/235_correct_keyframe_annotations.jpg",
+                "correct_keyframe_annotations_code": [
+                    {
+                        "type": "dual_crosshair",
+                        "p1": [
+                            551,
+                            434
+                        ],
+                        "p2": [
+                            310,
+                            217
+                        ]
+                    }
+                ]
+            }
+        ]
+    },
+    {
+        "video": "annotated_data/put_stapler_top_drawer_and_close/videos/episode_7_cam_high.mp4",
+        "task": "Use the left arm to put the blue stapler into the top drawer, and then use the right arm to pull close the top drawer.",
+        "failure_detection": "yes",
+        "images": [
+            "annotated_data/put_stapler_top_drawer_and_close/frames/episode_7_cam_high/0.jpg",
+            "annotated_data/put_stapler_top_drawer_and_close/frames/episode_7_cam_high/25.jpg",
+            "annotated_data/put_stapler_top_drawer_and_close/frames/episode_7_cam_high/50.jpg",
+            "annotated_data/put_stapler_top_drawer_and_close/frames/episode_7_cam_high/75.jpg",
+            "annotated_data/put_stapler_top_drawer_and_close/frames/episode_7_cam_high/100.jpg",
+            "annotated_data/put_stapler_top_drawer_and_close/frames/episode_7_cam_high/103_avoid_keyframe.jpg",
+            "annotated_data/put_stapler_top_drawer_and_close/frames/episode_7_cam_high/125.jpg",
+            "annotated_data/put_stapler_top_drawer_and_close/frames/episode_7_cam_high/150.jpg",
+            "annotated_data/put_stapler_top_drawer_and_close/frames/episode_7_cam_high/175.jpg",
+            "annotated_data/put_stapler_top_drawer_and_close/frames/episode_7_cam_high/200.jpg",
+            "annotated_data/put_stapler_top_drawer_and_close/frames/episode_7_cam_high/225.jpg",
+            "annotated_data/put_stapler_top_drawer_and_close/frames/episode_7_cam_high/246_correct_keyframe.jpg"
+        ],
+        "subtasks": [
+            "1. Move the left arm to approach and align with the blue stapler.",
+            "2. Grasp the blue stapler with the left arm.",
+            "3. Move the left arm to align with the top drawer.",
+            "4. Release the gripper to place the blue stapler into the top drawer.",
+            "5. Move the right arm to approach and align with the handle of the top drawer.",
+            "6. Grasp the handle of the top drawer with the right arm.",
+            "7. Pull the top drawer closed with the right arm."
+        ],
+        "keyframe": [
+            {
+                "avoid_keyframe": "annotated_data/put_stapler_top_drawer_and_close/frames/episode_7_cam_high/103_avoid_keyframe.jpg",
+                "correct_keyframe": "annotated_data/put_stapler_top_drawer_and_close/frames/episode_7_cam_high/246_correct_keyframe.jpg"
+            }
+        ],
+        "failure_subtask": "1",
+        "failure_type": "gripper 6d-pose",
+        "avoidance": [
+            {
+                "low_level": "Move the left gripper to the right slightly and downward slightly.",
+                "avoid_keyframe_annotations": "annotated_data/put_stapler_top_drawer_and_close/frames/episode_7_cam_high/103_avoid_keyframe_annotations.jpg",
+                "avoid_keyframe_annotations_code": [
+                    {
+                        "type": "move_arrow",
+                        "start": [
+                            332,
+                            390
+                        ],
+                        "end": [
+                            369,
+                            423
+                        ],
+                        "colors": [
+                            [
+                                0,
+                                255,
+                                0
+                            ],
+                            [
+                                255,
+                                0,
+                                0
+                            ]
+                        ]
+                    }
+                ]
+            }
+        ],
+        "correction": [
+            {
+                "low_level": "Move the left gripper to the right slightly, backward slightly and downward slightly.",
+                "correct_keyframe_annotations": "annotated_data/put_stapler_top_drawer_and_close/frames/episode_7_cam_high/246_correct_keyframe_annotations.jpg",
+                "correct_keyframe_annotations_code": [
+                    {
+                        "type": "move_arrow",
+                        "start": [
+                            261,
+                            169
+                        ],
+                        "end": [
+                            374,
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+                        "colors": [
+                            [
+                                0,
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+                                0
+                            ],
+                            [
+                                0,
+                                0,
+                                255
+                            ],
+                            [
+                                255,
+                                0,
+                                0
+                            ]
+                        ]
+                    }
+                ]
+            }
+        ]
+    },
+    {
+        "video": "annotated_data/put_stapler_top_drawer_and_close/videos/episode_8_cam_high.mp4",
+        "task": "Use the left arm to put the blue stapler into the top drawer, and then use the right arm to pull close the top drawer.",
+        "failure_detection": "yes",
+        "images": [
+            "annotated_data/put_stapler_top_drawer_and_close/frames/episode_8_cam_high/0.jpg",
+            "annotated_data/put_stapler_top_drawer_and_close/frames/episode_8_cam_high/25.jpg",
+            "annotated_data/put_stapler_top_drawer_and_close/frames/episode_8_cam_high/50.jpg",
+            "annotated_data/put_stapler_top_drawer_and_close/frames/episode_8_cam_high/75.jpg",
+            "annotated_data/put_stapler_top_drawer_and_close/frames/episode_8_cam_high/97_avoid_keyframe.jpg",
+            "annotated_data/put_stapler_top_drawer_and_close/frames/episode_8_cam_high/100.jpg",
+            "annotated_data/put_stapler_top_drawer_and_close/frames/episode_8_cam_high/125.jpg",
+            "annotated_data/put_stapler_top_drawer_and_close/frames/episode_8_cam_high/150.jpg",
+            "annotated_data/put_stapler_top_drawer_and_close/frames/episode_8_cam_high/175.jpg",
+            "annotated_data/put_stapler_top_drawer_and_close/frames/episode_8_cam_high/200.jpg",
+            "annotated_data/put_stapler_top_drawer_and_close/frames/episode_8_cam_high/225.jpg",
+            "annotated_data/put_stapler_top_drawer_and_close/frames/episode_8_cam_high/241_correct_keyframe.jpg"
+        ],
+        "subtasks": [
+            "1. Move the left arm to approach and align with the blue stapler.",
+            "2. Grasp the blue stapler with the left arm.",
+            "3. Move the left arm to align with the top drawer.",
+            "4. Release the gripper to place the blue stapler into the top drawer.",
+            "5. Move the right arm to approach and align with the handle of the top drawer.",
+            "6. Grasp the handle of the top drawer with the right arm.",
+            "7. Pull the top drawer closed with the right arm."
+        ],
+        "keyframe": [
+            {
+                "avoid_keyframe": "annotated_data/put_stapler_top_drawer_and_close/frames/episode_8_cam_high/97_avoid_keyframe.jpg",
+                "correct_keyframe": "annotated_data/put_stapler_top_drawer_and_close/frames/episode_8_cam_high/241_correct_keyframe.jpg"
+            }
+        ],
+        "failure_subtask": "1",
+        "failure_type": "gripper 6d-pose",
+        "avoidance": [
+            {
+                "low_level": "Move the left gripper to the downward slightly, and rotate the left gripper clockwise.",
+                "avoid_keyframe_annotations": "annotated_data/put_stapler_top_drawer_and_close/frames/episode_8_cam_high/97_avoid_keyframe_annotations.jpg",
+                "avoid_keyframe_annotations_code": [
+                    {
+                        "type": "move_arrow",
+                        "start": [
+                            302,
+                            358
+                        ],
+                        "end": [
+                            301,
+                            411
+                        ],
+                        "colors": [
+                            [
+                                255,
+                                0,
+                                0
+                            ]
+                        ]
+                    },
+                    {
+                        "type": "rotate_arrow",
+                        "start": [
+                            265,
+                            373
+                        ],
+                        "end": [
+                            353,
+                            371
+                        ],
+                        "direction": "clockwise"
+                    }
+                ]
+            }
+        ],
+        "correction": [
+            {
+                "low_level": "Move the left gripper to the backward slightly and downward slightly.",
+                "correct_keyframe_annotations": "annotated_data/put_stapler_top_drawer_and_close/frames/episode_8_cam_high/241_correct_keyframe_annotations.jpg",
+                "correct_keyframe_annotations_code": [
+                    {
+                        "type": "move_arrow",
+                        "start": [
+                            312,
+                            137
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+                        "end": [
+                            298,
+                            398
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+                        "colors": [
+                            [
+                                0,
+                                0,
+                                255
+                            ],
+                            [
+                                255,
+                                0,
+                                0
+                            ]
+                        ]
+                    }
+                ]
+            }
+        ]
+    },
+    {
+        "video": "annotated_data/put_stapler_top_drawer_and_close/videos/episode_9_cam_high.mp4",
+        "task": "Use the left arm to put the blue stapler into the top drawer, and then use the right arm to pull close the top drawer.",
+        "failure_detection": "yes",
+        "images": [
+            "annotated_data/put_stapler_top_drawer_and_close/frames/episode_9_cam_high/0.jpg",
+            "annotated_data/put_stapler_top_drawer_and_close/frames/episode_9_cam_high/25.jpg",
+            "annotated_data/put_stapler_top_drawer_and_close/frames/episode_9_cam_high/50.jpg",
+            "annotated_data/put_stapler_top_drawer_and_close/frames/episode_9_cam_high/75.jpg",
+            "annotated_data/put_stapler_top_drawer_and_close/frames/episode_9_cam_high/93_avoid_keyframe.jpg",
+            "annotated_data/put_stapler_top_drawer_and_close/frames/episode_9_cam_high/100.jpg",
+            "annotated_data/put_stapler_top_drawer_and_close/frames/episode_9_cam_high/125.jpg",
+            "annotated_data/put_stapler_top_drawer_and_close/frames/episode_9_cam_high/150.jpg",
+            "annotated_data/put_stapler_top_drawer_and_close/frames/episode_9_cam_high/175.jpg",
+            "annotated_data/put_stapler_top_drawer_and_close/frames/episode_9_cam_high/200.jpg",
+            "annotated_data/put_stapler_top_drawer_and_close/frames/episode_9_cam_high/215_correct_keyframe.jpg"
+        ],
+        "subtasks": [
+            "1. Move the left arm to approach and align with the blue stapler.",
+            "2. Grasp the blue stapler with the left arm.",
+            "3. Move the left arm to align with the top drawer.",
+            "4. Release the gripper to place the blue stapler into the top drawer.",
+            "5. Move the right arm to approach and align with the handle of the top drawer.",
+            "6. Grasp the handle of the top drawer with the right arm.",
+            "7. Pull the top drawer closed with the right arm."
+        ],
+        "keyframe": [
+            {
+                "avoid_keyframe": "annotated_data/put_stapler_top_drawer_and_close/frames/episode_9_cam_high/93_avoid_keyframe.jpg",
+                "correct_keyframe": "annotated_data/put_stapler_top_drawer_and_close/frames/episode_9_cam_high/215_correct_keyframe.jpg"
+            }
+        ],
+        "failure_subtask": "1",
+        "failure_type": "gripper 6d-pose",
+        "avoidance": [
+            {
+                "low_level": "Move the left gripper to the right slightly and backward slightly, and rotate the left gripper clockwise.",
+                "avoid_keyframe_annotations": "annotated_data/put_stapler_top_drawer_and_close/frames/episode_9_cam_high/93_avoid_keyframe_annotations.jpg",
+                "avoid_keyframe_annotations_code": [
+                    {
+                        "type": "move_arrow",
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+                        "end": [
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+                                0
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+                            [
+                                0,
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+                                255
+                            ]
+                        ]
+                    }
+                ]
+            }
+        ],
+        "correction": [
+            {
+                "low_level": "Move the left gripper to the backward slightly and downward slightly.",
+                "correct_keyframe_annotations": "annotated_data/put_stapler_top_drawer_and_close/frames/episode_9_cam_high/215_correct_keyframe_annotations.jpg",
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+                                255,
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+                ]
+            }
+        ]
+    },
+    {
+        "video": "annotated_data/put_stapler_top_drawer_and_close/videos/episode_10_cam_high.mp4",
+        "task": "Use the left arm to put the blue stapler into the top drawer, and then use the right arm to pull close the top drawer.",
+        "failure_detection": "yes",
+        "images": [
+            "annotated_data/put_stapler_top_drawer_and_close/frames/episode_10_cam_high/0.jpg",
+            "annotated_data/put_stapler_top_drawer_and_close/frames/episode_10_cam_high/25.jpg",
+            "annotated_data/put_stapler_top_drawer_and_close/frames/episode_10_cam_high/50.jpg",
+            "annotated_data/put_stapler_top_drawer_and_close/frames/episode_10_cam_high/75.jpg",
+            "annotated_data/put_stapler_top_drawer_and_close/frames/episode_10_cam_high/100.jpg",
+            "annotated_data/put_stapler_top_drawer_and_close/frames/episode_10_cam_high/125.jpg",
+            "annotated_data/put_stapler_top_drawer_and_close/frames/episode_10_cam_high/150.jpg",
+            "annotated_data/put_stapler_top_drawer_and_close/frames/episode_10_cam_high/154_avoid_keyframe.jpg",
+            "annotated_data/put_stapler_top_drawer_and_close/frames/episode_10_cam_high/175.jpg",
+            "annotated_data/put_stapler_top_drawer_and_close/frames/episode_10_cam_high/200.jpg",
+            "annotated_data/put_stapler_top_drawer_and_close/frames/episode_10_cam_high/225.jpg",
+            "annotated_data/put_stapler_top_drawer_and_close/frames/episode_10_cam_high/248_correct_keyframe.jpg"
+        ],
+        "subtasks": [
+            "1. Move the left arm to approach and align with the blue stapler.",
+            "2. Grasp the blue stapler with the left arm.",
+            "3. Move the left arm to align with the top drawer.",
+            "4. Release the gripper to place the blue stapler into the top drawer.",
+            "5. Move the right arm to approach and align with the handle of the top drawer.",
+            "6. Grasp the handle of the top drawer with the right arm.",
+            "7. Pull the top drawer closed with the right arm."
+        ],
+        "keyframe": [
+            {
+                "avoid_keyframe": "annotated_data/put_stapler_top_drawer_and_close/frames/episode_10_cam_high/154_avoid_keyframe.jpg",
+                "correct_keyframe": "annotated_data/put_stapler_top_drawer_and_close/frames/episode_10_cam_high/248_correct_keyframe.jpg"
+            }
+        ],
+        "failure_subtask": "3",
+        "failure_type": "gripper 6d-pose",
+        "avoidance": [
+            {
+                "low_level": "Move the left gripper to the right slightly, and rotate the left gripper clockwise.",
+                "avoid_keyframe_annotations": "annotated_data/put_stapler_top_drawer_and_close/frames/episode_10_cam_high/154_avoid_keyframe_annotations.jpg",
+                "avoid_keyframe_annotations_code": [
+                    {
+                        "type": "move_arrow",
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+                        "end": [
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+                        "colors": [
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+                                0,
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+                                0
+                            ]
+                        ]
+                    }
+                ]
+            }
+        ],
+        "correction": [
+            {
+                "low_level": "Move the left gripper to the forward slightly and downward slightly.",
+                "correct_keyframe_annotations": "annotated_data/put_stapler_top_drawer_and_close/frames/episode_10_cam_high/248_correct_keyframe_annotations.jpg",
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+                        "type": "move_arrow",
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+                                255,
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+                ]
+            }
+        ]
+    },
+    {
+        "video": "annotated_data/put_stapler_top_drawer_and_close/videos/episode_11_cam_high.mp4",
+        "task": "Use the left arm to put the blue stapler into the top drawer, and then use the right arm to pull close the top drawer.",
+        "failure_detection": "yes",
+        "images": [
+            "annotated_data/put_stapler_top_drawer_and_close/frames/episode_11_cam_high/0.jpg",
+            "annotated_data/put_stapler_top_drawer_and_close/frames/episode_11_cam_high/25.jpg",
+            "annotated_data/put_stapler_top_drawer_and_close/frames/episode_11_cam_high/50.jpg",
+            "annotated_data/put_stapler_top_drawer_and_close/frames/episode_11_cam_high/75.jpg",
+            "annotated_data/put_stapler_top_drawer_and_close/frames/episode_11_cam_high/98_avoid_keyframe.jpg",
+            "annotated_data/put_stapler_top_drawer_and_close/frames/episode_11_cam_high/100.jpg",
+            "annotated_data/put_stapler_top_drawer_and_close/frames/episode_11_cam_high/125.jpg",
+            "annotated_data/put_stapler_top_drawer_and_close/frames/episode_11_cam_high/150.jpg",
+            "annotated_data/put_stapler_top_drawer_and_close/frames/episode_11_cam_high/175.jpg",
+            "annotated_data/put_stapler_top_drawer_and_close/frames/episode_11_cam_high/200.jpg",
+            "annotated_data/put_stapler_top_drawer_and_close/frames/episode_11_cam_high/225.jpg",
+            "annotated_data/put_stapler_top_drawer_and_close/frames/episode_11_cam_high/227_correct_keyframe.jpg"
+        ],
+        "subtasks": [
+            "1. Move the left arm to approach and align with the blue stapler.",
+            "2. Grasp the blue stapler with the left arm.",
+            "3. Move the left arm to align with the top drawer.",
+            "4. Release the gripper to place the blue stapler into the top drawer.",
+            "5. Move the right arm to approach and align with the handle of the top drawer.",
+            "6. Grasp the handle of the top drawer with the right arm.",
+            "7. Pull the top drawer closed with the right arm."
+        ],
+        "keyframe": [
+            {
+                "avoid_keyframe": "annotated_data/put_stapler_top_drawer_and_close/frames/episode_11_cam_high/98_avoid_keyframe.jpg",
+                "correct_keyframe": "annotated_data/put_stapler_top_drawer_and_close/frames/episode_11_cam_high/227_correct_keyframe.jpg"
+            }
+        ],
+        "failure_subtask": "1",
+        "failure_type": "gripper 6d-pose",
+        "avoidance": [
+            {
+                "low_level": "Move the left gripper to the left slightly and backward slightly, and rotate the left gripper clockwise.",
+                "avoid_keyframe_annotations": "annotated_data/put_stapler_top_drawer_and_close/frames/episode_11_cam_high/98_avoid_keyframe_annotations.jpg",
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+                    }
+                ]
+            }
+        ],
+        "correction": [
+            {
+                "low_level": "Move the left gripper to the backward slightly and downward slightly.",
+                "correct_keyframe_annotations": "annotated_data/put_stapler_top_drawer_and_close/frames/episode_11_cam_high/227_correct_keyframe_annotations.jpg",
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+                ]
+            }
+        ]
+    },
+    {
+        "video": "annotated_data/put_stapler_top_drawer_and_close/videos/episode_12_cam_high.mp4",
+        "task": "Use the left arm to put the blue stapler into the top drawer, and then use the right arm to pull close the top drawer.",
+        "failure_detection": "yes",
+        "images": [
+            "annotated_data/put_stapler_top_drawer_and_close/frames/episode_12_cam_high/0.jpg",
+            "annotated_data/put_stapler_top_drawer_and_close/frames/episode_12_cam_high/25.jpg",
+            "annotated_data/put_stapler_top_drawer_and_close/frames/episode_12_cam_high/50.jpg",
+            "annotated_data/put_stapler_top_drawer_and_close/frames/episode_12_cam_high/75.jpg",
+            "annotated_data/put_stapler_top_drawer_and_close/frames/episode_12_cam_high/100.jpg",
+            "annotated_data/put_stapler_top_drawer_and_close/frames/episode_12_cam_high/125.jpg",
+            "annotated_data/put_stapler_top_drawer_and_close/frames/episode_12_cam_high/150.jpg",
+            "annotated_data/put_stapler_top_drawer_and_close/frames/episode_12_cam_high/164_avoid_keyframe.jpg",
+            "annotated_data/put_stapler_top_drawer_and_close/frames/episode_12_cam_high/175.jpg",
+            "annotated_data/put_stapler_top_drawer_and_close/frames/episode_12_cam_high/200.jpg",
+            "annotated_data/put_stapler_top_drawer_and_close/frames/episode_12_cam_high/225.jpg",
+            "annotated_data/put_stapler_top_drawer_and_close/frames/episode_12_cam_high/241_correct_keyframe.jpg"
+        ],
+        "subtasks": [
+            "1. Move the left arm to approach and align with the blue stapler.",
+            "2. Grasp the blue stapler with the left arm.",
+            "3. Move the left arm to align with the top drawer.",
+            "4. Release the gripper to place the blue stapler into the top drawer.",
+            "5. Move the right arm to approach and align with the handle of the top drawer.",
+            "6. Grasp the handle of the top drawer with the right arm.",
+            "7. Pull the top drawer closed with the right arm."
+        ],
+        "keyframe": [
+            {
+                "avoid_keyframe": "annotated_data/put_stapler_top_drawer_and_close/frames/episode_12_cam_high/164_avoid_keyframe.jpg",
+                "correct_keyframe": "annotated_data/put_stapler_top_drawer_and_close/frames/episode_12_cam_high/241_correct_keyframe.jpg"
+            }
+        ],
+        "failure_subtask": "3",
+        "failure_type": "gripper 6d-pose",
+        "avoidance": [
+            {
+                "low_level": "Move the left gripper to the forward slightly, and rotate the left gripper clockwise.",
+                "avoid_keyframe_annotations": "annotated_data/put_stapler_top_drawer_and_close/frames/episode_12_cam_high/164_avoid_keyframe_annotations.jpg",
+                "avoid_keyframe_annotations_code": [
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+                        "type": "move_arrow",
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+                                0,
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+                                255
+                            ]
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+                    }
+                ]
+            }
+        ],
+        "correction": [
+            {
+                "low_level": "Move the left gripper to the right slightly, forward slightly and downward slightly.",
+                "correct_keyframe_annotations": "annotated_data/put_stapler_top_drawer_and_close/frames/episode_12_cam_high/241_correct_keyframe_annotations.jpg",
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+                        "type": "move_arrow",
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+                ]
+            }
+        ]
+    },
+    {
+        "video": "annotated_data/put_stapler_top_drawer_and_close/videos/episode_13_cam_high.mp4",
+        "task": "Use the left arm to put the blue stapler into the top drawer, and then use the right arm to pull close the top drawer.",
+        "failure_detection": "yes",
+        "images": [
+            "annotated_data/put_stapler_top_drawer_and_close/frames/episode_13_cam_high/0.jpg",
+            "annotated_data/put_stapler_top_drawer_and_close/frames/episode_13_cam_high/25.jpg",
+            "annotated_data/put_stapler_top_drawer_and_close/frames/episode_13_cam_high/50.jpg",
+            "annotated_data/put_stapler_top_drawer_and_close/frames/episode_13_cam_high/75.jpg",
+            "annotated_data/put_stapler_top_drawer_and_close/frames/episode_13_cam_high/100.jpg",
+            "annotated_data/put_stapler_top_drawer_and_close/frames/episode_13_cam_high/125.jpg",
+            "annotated_data/put_stapler_top_drawer_and_close/frames/episode_13_cam_high/150.jpg",
+            "annotated_data/put_stapler_top_drawer_and_close/frames/episode_13_cam_high/167_avoid_keyframe.jpg",
+            "annotated_data/put_stapler_top_drawer_and_close/frames/episode_13_cam_high/175.jpg",
+            "annotated_data/put_stapler_top_drawer_and_close/frames/episode_13_cam_high/200.jpg",
+            "annotated_data/put_stapler_top_drawer_and_close/frames/episode_13_cam_high/225.jpg",
+            "annotated_data/put_stapler_top_drawer_and_close/frames/episode_13_cam_high/250.jpg",
+            "annotated_data/put_stapler_top_drawer_and_close/frames/episode_13_cam_high/275.jpg",
+            "annotated_data/put_stapler_top_drawer_and_close/frames/episode_13_cam_high/280_correct_keyframe.jpg"
+        ],
+        "subtasks": [
+            "1. Move the left arm to approach and align with the blue stapler.",
+            "2. Grasp the blue stapler with the left arm.",
+            "3. Move the left arm to align with the top drawer.",
+            "4. Release the gripper to place the blue stapler into the top drawer.",
+            "5. Move the right arm to approach and align with the handle of the top drawer.",
+            "6. Grasp the handle of the top drawer with the right arm.",
+            "7. Pull the top drawer closed with the right arm."
+        ],
+        "keyframe": [
+            {
+                "avoid_keyframe": "annotated_data/put_stapler_top_drawer_and_close/frames/episode_13_cam_high/167_avoid_keyframe.jpg",
+                "correct_keyframe": "annotated_data/put_stapler_top_drawer_and_close/frames/episode_13_cam_high/280_correct_keyframe.jpg"
+            }
+        ],
+        "failure_subtask": "2",
+        "failure_type": "gripper state",
+        "avoidance": [
+            {
+                "low_level": "Close the left gripper",
+                "avoid_keyframe_annotations": "annotated_data/put_stapler_top_drawer_and_close/frames/episode_13_cam_high/167_avoid_keyframe_annotations.jpg",
+                "avoid_keyframe_annotations_code": [
+                    {
+                        "type": "state",
+                        "pos": [
+                            241,
+                            254
+                        ],
+                        "text": "OFF"
+                    }
+                ]
+            }
+        ],
+        "correction": [
+            {
+                "low_level": "Move the left gripper to the left slightly, backward slightly and downward slightly.",
+                "correct_keyframe_annotations": "annotated_data/put_stapler_top_drawer_and_close/frames/episode_13_cam_high/280_correct_keyframe_annotations.jpg",
+                "correct_keyframe_annotations_code": [
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+                        "type": "move_arrow",
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+            }
+        ]
+    },
+    {
+        "video": "annotated_data/put_stapler_top_drawer_and_close/videos/episode_14_cam_high.mp4",
+        "task": "Use the left arm to put the blue stapler into the top drawer, and then use the right arm to pull close the top drawer.",
+        "failure_detection": "yes",
+        "images": [
+            "annotated_data/put_stapler_top_drawer_and_close/frames/episode_14_cam_high/0.jpg",
+            "annotated_data/put_stapler_top_drawer_and_close/frames/episode_14_cam_high/25.jpg",
+            "annotated_data/put_stapler_top_drawer_and_close/frames/episode_14_cam_high/50.jpg",
+            "annotated_data/put_stapler_top_drawer_and_close/frames/episode_14_cam_high/75.jpg",
+            "annotated_data/put_stapler_top_drawer_and_close/frames/episode_14_cam_high/92_avoid_keyframe.jpg",
+            "annotated_data/put_stapler_top_drawer_and_close/frames/episode_14_cam_high/100.jpg",
+            "annotated_data/put_stapler_top_drawer_and_close/frames/episode_14_cam_high/125.jpg",
+            "annotated_data/put_stapler_top_drawer_and_close/frames/episode_14_cam_high/150.jpg",
+            "annotated_data/put_stapler_top_drawer_and_close/frames/episode_14_cam_high/175.jpg",
+            "annotated_data/put_stapler_top_drawer_and_close/frames/episode_14_cam_high/197_correct_keyframe.jpg"
+        ],
+        "subtasks": [
+            "1. Move the left arm to approach and align with the blue stapler.",
+            "2. Grasp the blue stapler with the left arm.",
+            "3. Move the left arm to align with the top drawer.",
+            "4. Release the gripper to place the blue stapler into the top drawer.",
+            "5. Move the right arm to approach and align with the handle of the top drawer.",
+            "6. Grasp the handle of the top drawer with the right arm.",
+            "7. Pull the top drawer closed with the right arm."
+        ],
+        "keyframe": [
+            {
+                "avoid_keyframe": "annotated_data/put_stapler_top_drawer_and_close/frames/episode_14_cam_high/92_avoid_keyframe.jpg",
+                "correct_keyframe": "annotated_data/put_stapler_top_drawer_and_close/frames/episode_14_cam_high/197_correct_keyframe.jpg"
+            }
+        ],
+        "failure_subtask": "2",
+        "failure_type": "gripper state",
+        "avoidance": [
+            {
+                "low_level": "Close the left gripper",
+                "avoid_keyframe_annotations": "annotated_data/put_stapler_top_drawer_and_close/frames/episode_14_cam_high/92_avoid_keyframe_annotations.jpg",
+                "avoid_keyframe_annotations_code": [
+                    {
+                        "type": "state",
+                        "pos": [
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+                            333
+                        ],
+                        "text": "OFF"
+                    }
+                ]
+            }
+        ],
+        "correction": [
+            {
+                "low_level": "Move the left gripper to the left slightly, backward slightly and downward slightly.",
+                "correct_keyframe_annotations": "annotated_data/put_stapler_top_drawer_and_close/frames/episode_14_cam_high/197_correct_keyframe_annotations.jpg",
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+                            ],
+                            [
+                                255,
+                                0,
+                                0
+                            ]
+                        ]
+                    }
+                ]
+            }
+        ]
+    },
+    {
+        "video": "annotated_data/put_stapler_top_drawer_and_close/videos/episode_15_cam_high.mp4",
+        "task": "Use the left arm to put the blue stapler into the top drawer, and then use the right arm to pull close the top drawer.",
+        "failure_detection": "yes",
+        "images": [
+            "annotated_data/put_stapler_top_drawer_and_close/frames/episode_15_cam_high/0.jpg",
+            "annotated_data/put_stapler_top_drawer_and_close/frames/episode_15_cam_high/25.jpg",
+            "annotated_data/put_stapler_top_drawer_and_close/frames/episode_15_cam_high/50.jpg",
+            "annotated_data/put_stapler_top_drawer_and_close/frames/episode_15_cam_high/75.jpg",
+            "annotated_data/put_stapler_top_drawer_and_close/frames/episode_15_cam_high/100.jpg",
+            "annotated_data/put_stapler_top_drawer_and_close/frames/episode_15_cam_high/125.jpg",
+            "annotated_data/put_stapler_top_drawer_and_close/frames/episode_15_cam_high/139_avoid_keyframe.jpg",
+            "annotated_data/put_stapler_top_drawer_and_close/frames/episode_15_cam_high/150.jpg",
+            "annotated_data/put_stapler_top_drawer_and_close/frames/episode_15_cam_high/175.jpg",
+            "annotated_data/put_stapler_top_drawer_and_close/frames/episode_15_cam_high/200.jpg",
+            "annotated_data/put_stapler_top_drawer_and_close/frames/episode_15_cam_high/225.jpg",
+            "annotated_data/put_stapler_top_drawer_and_close/frames/episode_15_cam_high/227_correct_keyframe.jpg"
+        ],
+        "subtasks": [
+            "1. Move the left arm to approach and align with the blue stapler.",
+            "2. Grasp the blue stapler with the left arm.",
+            "3. Move the left arm to align with the top drawer.",
+            "4. Release the gripper to place the blue stapler into the top drawer.",
+            "5. Move the right arm to approach and align with the handle of the top drawer.",
+            "6. Grasp the handle of the top drawer with the right arm.",
+            "7. Pull the top drawer closed with the right arm."
+        ],
+        "keyframe": [
+            {
+                "avoid_keyframe": "annotated_data/put_stapler_top_drawer_and_close/frames/episode_15_cam_high/139_avoid_keyframe.jpg",
+                "correct_keyframe": "annotated_data/put_stapler_top_drawer_and_close/frames/episode_15_cam_high/227_correct_keyframe.jpg"
+            }
+        ],
+        "failure_subtask": "2",
+        "failure_type": "gripper state",
+        "avoidance": [
+            {
+                "low_level": "Close the left gripper",
+                "avoid_keyframe_annotations": "annotated_data/put_stapler_top_drawer_and_close/frames/episode_15_cam_high/139_avoid_keyframe_annotations.jpg",
+                "avoid_keyframe_annotations_code": [
+                    {
+                        "type": "state",
+                        "pos": [
+                            131,
+                            194
+                        ],
+                        "text": "OFF"
+                    }
+                ]
+            }
+        ],
+        "correction": [
+            {
+                "low_level": "Move the left gripper to the left slightly, backward slightly and downward slightly.",
+                "correct_keyframe_annotations": "annotated_data/put_stapler_top_drawer_and_close/frames/episode_15_cam_high/227_correct_keyframe_annotations.jpg",
+                "correct_keyframe_annotations_code": [
+                    {
+                        "type": "move_arrow",
+                        "start": [
+                            334,
+                            123
+                        ],
+                        "end": [
+                            194,
+                            299
+                        ],
+                        "colors": [
+                            [
+                                0,
+                                255,
+                                0
+                            ],
+                            [
+                                0,
+                                0,
+                                255
+                            ],
+                            [
+                                255,
+                                0,
+                                0
+                            ]
+                        ]
+                    }
+                ]
+            }
+        ]
+    }
+]
\ No newline at end of file
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