| [ |
| { |
| "video": "annotated_data/hold_socket_plug/videos/episode_0_cam_high.mp4", |
| "task": "Use the right arm to hold the socket, left arm to insert the plug into it.", |
| "failure_detection": "no", |
| "images": [ |
| "annotated_data/hold_socket_plug/frames/episode_0_cam_high/0.jpg", |
| "annotated_data/hold_socket_plug/frames/episode_0_cam_high/25.jpg", |
| "annotated_data/hold_socket_plug/frames/episode_0_cam_high/50.jpg", |
| "annotated_data/hold_socket_plug/frames/episode_0_cam_high/75.jpg", |
| "annotated_data/hold_socket_plug/frames/episode_0_cam_high/100.jpg", |
| "annotated_data/hold_socket_plug/frames/episode_0_cam_high/125.jpg", |
| "annotated_data/hold_socket_plug/frames/episode_0_cam_high/150.jpg", |
| "annotated_data/hold_socket_plug/frames/episode_0_cam_high/175.jpg", |
| "annotated_data/hold_socket_plug/frames/episode_0_cam_high/200.jpg", |
| "annotated_data/hold_socket_plug/frames/episode_0_cam_high/225.jpg", |
| "annotated_data/hold_socket_plug/frames/episode_0_cam_high/250.jpg", |
| "annotated_data/hold_socket_plug/frames/episode_0_cam_high/275.jpg", |
| "annotated_data/hold_socket_plug/frames/episode_0_cam_high/300.jpg", |
| "annotated_data/hold_socket_plug/frames/episode_0_cam_high/325.jpg", |
| "annotated_data/hold_socket_plug/frames/episode_0_cam_high/350.jpg", |
| "annotated_data/hold_socket_plug/frames/episode_0_cam_high/375.jpg", |
| "annotated_data/hold_socket_plug/frames/episode_0_cam_high/394.jpg" |
| ], |
| "subtasks": [ |
| "1. Move the right arm to approach and align with the socket.", |
| "2. Grasp the socket with the right arm.", |
| "3. Move the left arm to approach and align with the plug.", |
| "4. Grasp the plug with the left arm.", |
| "5. Move the left arm to align the plug with the socket.", |
| "6. Insert the plug into the socket using the left arm.", |
| "7. Release the plug from the left arm." |
| ] |
| }, |
| { |
| "video": "annotated_data/hold_socket_plug/videos/episode_1_cam_high.mp4", |
| "task": "Use the right arm to hold the socket, left arm to insert the plug into it.", |
| "failure_detection": "no", |
| "images": [ |
| "annotated_data/hold_socket_plug/frames/episode_1_cam_high/0.jpg", |
| "annotated_data/hold_socket_plug/frames/episode_1_cam_high/25.jpg", |
| "annotated_data/hold_socket_plug/frames/episode_1_cam_high/50.jpg", |
| "annotated_data/hold_socket_plug/frames/episode_1_cam_high/75.jpg", |
| "annotated_data/hold_socket_plug/frames/episode_1_cam_high/100.jpg", |
| "annotated_data/hold_socket_plug/frames/episode_1_cam_high/125.jpg", |
| "annotated_data/hold_socket_plug/frames/episode_1_cam_high/150.jpg", |
| "annotated_data/hold_socket_plug/frames/episode_1_cam_high/175.jpg", |
| "annotated_data/hold_socket_plug/frames/episode_1_cam_high/200.jpg", |
| "annotated_data/hold_socket_plug/frames/episode_1_cam_high/225.jpg", |
| "annotated_data/hold_socket_plug/frames/episode_1_cam_high/250.jpg", |
| "annotated_data/hold_socket_plug/frames/episode_1_cam_high/275.jpg", |
| "annotated_data/hold_socket_plug/frames/episode_1_cam_high/300.jpg", |
| "annotated_data/hold_socket_plug/frames/episode_1_cam_high/325.jpg", |
| "annotated_data/hold_socket_plug/frames/episode_1_cam_high/350.jpg", |
| "annotated_data/hold_socket_plug/frames/episode_1_cam_high/375.jpg", |
| "annotated_data/hold_socket_plug/frames/episode_1_cam_high/398.jpg" |
| ], |
| "subtasks": [ |
| "1. Move the right arm to approach and align with the socket.", |
| "2. Grasp the socket with the right arm.", |
| "3. Move the left arm to approach and align with the plug.", |
| "4. Grasp the plug with the left arm.", |
| "5. Move the left arm to align the plug with the socket.", |
| "6. Insert the plug into the socket using the left arm.", |
| "7. Release the plug from the left arm." |
| ] |
| }, |
| { |
| "video": "annotated_data/hold_socket_plug/videos/episode_2_cam_high.mp4", |
| "task": "Use the right arm to hold the socket, left arm to insert the plug into it.", |
| "failure_detection": "no", |
| "images": [ |
| "annotated_data/hold_socket_plug/frames/episode_2_cam_high/0.jpg", |
| "annotated_data/hold_socket_plug/frames/episode_2_cam_high/25.jpg", |
| "annotated_data/hold_socket_plug/frames/episode_2_cam_high/50.jpg", |
| "annotated_data/hold_socket_plug/frames/episode_2_cam_high/75.jpg", |
| "annotated_data/hold_socket_plug/frames/episode_2_cam_high/100.jpg", |
| "annotated_data/hold_socket_plug/frames/episode_2_cam_high/125.jpg", |
| "annotated_data/hold_socket_plug/frames/episode_2_cam_high/150.jpg", |
| "annotated_data/hold_socket_plug/frames/episode_2_cam_high/175.jpg", |
| "annotated_data/hold_socket_plug/frames/episode_2_cam_high/200.jpg", |
| "annotated_data/hold_socket_plug/frames/episode_2_cam_high/225.jpg", |
| "annotated_data/hold_socket_plug/frames/episode_2_cam_high/250.jpg", |
| "annotated_data/hold_socket_plug/frames/episode_2_cam_high/275.jpg", |
| "annotated_data/hold_socket_plug/frames/episode_2_cam_high/300.jpg", |
| "annotated_data/hold_socket_plug/frames/episode_2_cam_high/325.jpg", |
| "annotated_data/hold_socket_plug/frames/episode_2_cam_high/350.jpg", |
| "annotated_data/hold_socket_plug/frames/episode_2_cam_high/375.jpg", |
| "annotated_data/hold_socket_plug/frames/episode_2_cam_high/400.jpg", |
| "annotated_data/hold_socket_plug/frames/episode_2_cam_high/421.jpg" |
| ], |
| "subtasks": [ |
| "1. Move the right arm to approach and align with the socket.", |
| "2. Grasp the socket with the right arm.", |
| "3. Move the left arm to approach and align with the plug.", |
| "4. Grasp the plug with the left arm.", |
| "5. Move the left arm to align the plug with the socket.", |
| "6. Insert the plug into the socket using the left arm.", |
| "7. Release the plug from the left arm." |
| ] |
| }, |
| { |
| "video": "annotated_data/hold_socket_plug/videos/episode_3_cam_high.mp4", |
| "task": "Use the right arm to hold the socket, left arm to insert the plug into it.", |
| "failure_detection": "yes", |
| "images": [ |
| "annotated_data/hold_socket_plug/frames/episode_3_cam_high/0.jpg", |
| "annotated_data/hold_socket_plug/frames/episode_3_cam_high/25.jpg", |
| "annotated_data/hold_socket_plug/frames/episode_3_cam_high/39_avoid_keyframe.jpg", |
| "annotated_data/hold_socket_plug/frames/episode_3_cam_high/50.jpg", |
| "annotated_data/hold_socket_plug/frames/episode_3_cam_high/75.jpg", |
| "annotated_data/hold_socket_plug/frames/episode_3_cam_high/100.jpg", |
| "annotated_data/hold_socket_plug/frames/episode_3_cam_high/115_correct_keyframe.jpg", |
| "annotated_data/hold_socket_plug/frames/episode_3_cam_high/125.jpg", |
| "annotated_data/hold_socket_plug/frames/episode_3_cam_high/150.jpg", |
| "annotated_data/hold_socket_plug/frames/episode_3_cam_high/175.jpg", |
| "annotated_data/hold_socket_plug/frames/episode_3_cam_high/200.jpg", |
| "annotated_data/hold_socket_plug/frames/episode_3_cam_high/225.jpg", |
| "annotated_data/hold_socket_plug/frames/episode_3_cam_high/250.jpg", |
| "annotated_data/hold_socket_plug/frames/episode_3_cam_high/266.jpg" |
| ], |
| "subtasks": [ |
| "1. Move the right arm to approach and align with the socket.", |
| "2. Grasp the socket with the right arm.", |
| "3. Move the left arm to approach and align with the plug.", |
| "4. Grasp the plug with the left arm.", |
| "5. Move the left arm to align the plug with the socket.", |
| "6. Insert the plug into the socket using the left arm.", |
| "7. Release the plug from the left arm." |
| ], |
| "keyframe": [ |
| { |
| "avoid_keyframe": "annotated_data/hold_socket_plug/frames/episode_3_cam_high/39_avoid_keyframe.jpg", |
| "correct_keyframe": "annotated_data/hold_socket_plug/frames/episode_3_cam_high/115_correct_keyframe.jpg" |
| } |
| ], |
| "failure_subtask": "1", |
| "failure_type": "task planning", |
| "avoidance": [ |
| { |
| "low_level": " ", |
| "avoid_keyframe_annotations": "annotated_data/hold_socket_plug/frames/episode_3_cam_high/39_avoid_keyframe_annotations.jpg", |
| "avoid_keyframe_annotations_code": [ |
| { |
| "type": "lock", |
| "pos": [ |
| 124, |
| 241 |
| ] |
| }, |
| { |
| "type": "dual_crosshair", |
| "p1": [ |
| 555, |
| 320 |
| ], |
| "p2": [ |
| 431, |
| 191 |
| ] |
| } |
| ] |
| } |
| ], |
| "correction": [ |
| { |
| "low_level": " ", |
| "correct_keyframe_annotations": "annotated_data/hold_socket_plug/frames/episode_3_cam_high/115_correct_keyframe_annotations.jpg", |
| "correct_keyframe_annotations_code": [ |
| { |
| "type": "rewind", |
| "pos": [ |
| 339, |
| 161 |
| ] |
| }, |
| { |
| "type": "dual_crosshair", |
| "p1": [ |
| 434, |
| 199 |
| ], |
| "p2": [ |
| 553, |
| 313 |
| ] |
| } |
| ] |
| } |
| ] |
| }, |
| { |
| "video": "annotated_data/hold_socket_plug/videos/episode_4_cam_high.mp4", |
| "task": "Use the right arm to hold the socket, left arm to insert the plug into it.", |
| "failure_detection": "yes", |
| "images": [ |
| "annotated_data/hold_socket_plug/frames/episode_4_cam_high/0.jpg", |
| "annotated_data/hold_socket_plug/frames/episode_4_cam_high/25.jpg", |
| "annotated_data/hold_socket_plug/frames/episode_4_cam_high/50.jpg", |
| "annotated_data/hold_socket_plug/frames/episode_4_cam_high/75.jpg", |
| "annotated_data/hold_socket_plug/frames/episode_4_cam_high/94_avoid_keyframe.jpg", |
| "annotated_data/hold_socket_plug/frames/episode_4_cam_high/100.jpg", |
| "annotated_data/hold_socket_plug/frames/episode_4_cam_high/125.jpg", |
| "annotated_data/hold_socket_plug/frames/episode_4_cam_high/150.jpg", |
| "annotated_data/hold_socket_plug/frames/episode_4_cam_high/175.jpg", |
| "annotated_data/hold_socket_plug/frames/episode_4_cam_high/185_correct_keyframe.jpg", |
| "annotated_data/hold_socket_plug/frames/episode_4_cam_high/200.jpg", |
| "annotated_data/hold_socket_plug/frames/episode_4_cam_high/225.jpg", |
| "annotated_data/hold_socket_plug/frames/episode_4_cam_high/250.jpg", |
| "annotated_data/hold_socket_plug/frames/episode_4_cam_high/275.jpg", |
| "annotated_data/hold_socket_plug/frames/episode_4_cam_high/300.jpg", |
| "annotated_data/hold_socket_plug/frames/episode_4_cam_high/325.jpg", |
| "annotated_data/hold_socket_plug/frames/episode_4_cam_high/350.jpg", |
| "annotated_data/hold_socket_plug/frames/episode_4_cam_high/375.jpg", |
| "annotated_data/hold_socket_plug/frames/episode_4_cam_high/380.jpg" |
| ], |
| "subtasks": [ |
| "1. Move the right arm to approach and align with the socket.", |
| "2. Grasp the socket with the right arm.", |
| "3. Move the left arm to approach and align with the plug.", |
| "4. Grasp the plug with the left arm.", |
| "5. Move the left arm to align the plug with the socket.", |
| "6. Insert the plug into the socket using the left arm.", |
| "7. Release the plug from the left arm." |
| ], |
| "keyframe": [ |
| { |
| "avoid_keyframe": "annotated_data/hold_socket_plug/frames/episode_4_cam_high/94_avoid_keyframe.jpg", |
| "correct_keyframe": "annotated_data/hold_socket_plug/frames/episode_4_cam_high/185_correct_keyframe.jpg" |
| } |
| ], |
| "failure_subtask": "3", |
| "failure_type": "task planning", |
| "avoidance": [ |
| { |
| "low_level": " ", |
| "avoid_keyframe_annotations": "annotated_data/hold_socket_plug/frames/episode_4_cam_high/94_avoid_keyframe_annotations.jpg", |
| "avoid_keyframe_annotations_code": [ |
| { |
| "type": "rewind", |
| "pos": [ |
| 442, |
| 202 |
| ] |
| }, |
| { |
| "type": "dual_crosshair", |
| "p1": [ |
| 64, |
| 312 |
| ], |
| "p2": [ |
| 198, |
| 227 |
| ] |
| } |
| ] |
| } |
| ], |
| "correction": [ |
| { |
| "low_level": " ", |
| "correct_keyframe_annotations": "annotated_data/hold_socket_plug/frames/episode_4_cam_high/185_correct_keyframe_annotations.jpg", |
| "correct_keyframe_annotations_code": [ |
| { |
| "type": "rewind", |
| "pos": [ |
| 366, |
| 186 |
| ] |
| }, |
| { |
| "type": "dual_crosshair", |
| "p1": [ |
| 369, |
| 204 |
| ], |
| "p2": [ |
| 66, |
| 318 |
| ] |
| } |
| ] |
| } |
| ] |
| }, |
| { |
| "video": "annotated_data/hold_socket_plug/videos/episode_5_cam_high.mp4", |
| "task": "Use the right arm to hold the socket, left arm to insert the plug into it.", |
| "failure_detection": "yes", |
| "images": [ |
| "annotated_data/hold_socket_plug/frames/episode_5_cam_high/0.jpg", |
| "annotated_data/hold_socket_plug/frames/episode_5_cam_high/25.jpg", |
| "annotated_data/hold_socket_plug/frames/episode_5_cam_high/50.jpg", |
| "annotated_data/hold_socket_plug/frames/episode_5_cam_high/75.jpg", |
| "annotated_data/hold_socket_plug/frames/episode_5_cam_high/100.jpg", |
| "annotated_data/hold_socket_plug/frames/episode_5_cam_high/125.jpg", |
| "annotated_data/hold_socket_plug/frames/episode_5_cam_high/128_avoid_keyframe.jpg", |
| "annotated_data/hold_socket_plug/frames/episode_5_cam_high/150.jpg", |
| "annotated_data/hold_socket_plug/frames/episode_5_cam_high/175.jpg", |
| "annotated_data/hold_socket_plug/frames/episode_5_cam_high/195_correct_keyframe.jpg", |
| "annotated_data/hold_socket_plug/frames/episode_5_cam_high/200.jpg", |
| "annotated_data/hold_socket_plug/frames/episode_5_cam_high/225.jpg", |
| "annotated_data/hold_socket_plug/frames/episode_5_cam_high/250.jpg", |
| "annotated_data/hold_socket_plug/frames/episode_5_cam_high/275.jpg", |
| "annotated_data/hold_socket_plug/frames/episode_5_cam_high/300.jpg", |
| "annotated_data/hold_socket_plug/frames/episode_5_cam_high/314.jpg" |
| ], |
| "subtasks": [ |
| "1. Move the right arm to approach and align with the socket.", |
| "2. Grasp the socket with the right arm.", |
| "3. Move the left arm to approach and align with the plug.", |
| "4. Grasp the plug with the left arm.", |
| "5. Move the left arm to align the plug with the socket.", |
| "6. Insert the plug into the socket using the left arm.", |
| "7. Release the plug from the left arm." |
| ], |
| "keyframe": [ |
| { |
| "avoid_keyframe": "annotated_data/hold_socket_plug/frames/episode_5_cam_high/128_avoid_keyframe.jpg", |
| "correct_keyframe": "annotated_data/hold_socket_plug/frames/episode_5_cam_high/195_correct_keyframe.jpg" |
| } |
| ], |
| "failure_subtask": "3", |
| "failure_type": "task planning", |
| "avoidance": [ |
| { |
| "low_level": " ", |
| "avoid_keyframe_annotations": "annotated_data/hold_socket_plug/frames/episode_5_cam_high/128_avoid_keyframe_annotations.jpg", |
| "avoid_keyframe_annotations_code": [ |
| { |
| "type": "crosshair", |
| "pos": [ |
| 209, |
| 212 |
| ] |
| } |
| ] |
| } |
| ], |
| "correction": [ |
| { |
| "low_level": " ", |
| "correct_keyframe_annotations": "annotated_data/hold_socket_plug/frames/episode_5_cam_high/195_correct_keyframe_annotations.jpg", |
| "correct_keyframe_annotations_code": [ |
| { |
| "type": "rewind", |
| "pos": [ |
| 335, |
| 189 |
| ] |
| }, |
| { |
| "type": "crosshair", |
| "pos": [ |
| 201, |
| 212 |
| ] |
| } |
| ] |
| } |
| ] |
| }, |
| { |
| "video": "annotated_data/hold_socket_plug/videos/episode_6_cam_high.mp4", |
| "task": "Use the right arm to hold the socket, left arm to insert the plug into it.", |
| "failure_detection": "yes", |
| "images": [ |
| "annotated_data/hold_socket_plug/frames/episode_6_cam_high/0.jpg", |
| "annotated_data/hold_socket_plug/frames/episode_6_cam_high/22_avoid_keyframe.jpg", |
| "annotated_data/hold_socket_plug/frames/episode_6_cam_high/25.jpg", |
| "annotated_data/hold_socket_plug/frames/episode_6_cam_high/50.jpg", |
| "annotated_data/hold_socket_plug/frames/episode_6_cam_high/75.jpg", |
| "annotated_data/hold_socket_plug/frames/episode_6_cam_high/99_correct_keyframe.jpg", |
| "annotated_data/hold_socket_plug/frames/episode_6_cam_high/100.jpg", |
| "annotated_data/hold_socket_plug/frames/episode_6_cam_high/125.jpg", |
| "annotated_data/hold_socket_plug/frames/episode_6_cam_high/150.jpg", |
| "annotated_data/hold_socket_plug/frames/episode_6_cam_high/175.jpg", |
| "annotated_data/hold_socket_plug/frames/episode_6_cam_high/200.jpg", |
| "annotated_data/hold_socket_plug/frames/episode_6_cam_high/225.jpg", |
| "annotated_data/hold_socket_plug/frames/episode_6_cam_high/250.jpg", |
| "annotated_data/hold_socket_plug/frames/episode_6_cam_high/275.jpg", |
| "annotated_data/hold_socket_plug/frames/episode_6_cam_high/300.jpg", |
| "annotated_data/hold_socket_plug/frames/episode_6_cam_high/325.jpg", |
| "annotated_data/hold_socket_plug/frames/episode_6_cam_high/350.jpg", |
| "annotated_data/hold_socket_plug/frames/episode_6_cam_high/375.jpg", |
| "annotated_data/hold_socket_plug/frames/episode_6_cam_high/400.jpg", |
| "annotated_data/hold_socket_plug/frames/episode_6_cam_high/425.jpg", |
| "annotated_data/hold_socket_plug/frames/episode_6_cam_high/450.jpg", |
| "annotated_data/hold_socket_plug/frames/episode_6_cam_high/475.jpg", |
| "annotated_data/hold_socket_plug/frames/episode_6_cam_high/493.jpg" |
| ], |
| "subtasks": [ |
| "1. Move the right arm to approach and align with the socket.", |
| "2. Grasp the socket with the right arm.", |
| "3. Move the left arm to approach and align with the plug.", |
| "4. Grasp the plug with the left arm.", |
| "5. Move the left arm to align the plug with the socket.", |
| "6. Insert the plug into the socket using the left arm.", |
| "7. Release the plug from the left arm." |
| ], |
| "keyframe": [ |
| { |
| "avoid_keyframe": "annotated_data/hold_socket_plug/frames/episode_6_cam_high/22_avoid_keyframe.jpg", |
| "correct_keyframe": "annotated_data/hold_socket_plug/frames/episode_6_cam_high/99_correct_keyframe.jpg" |
| } |
| ], |
| "failure_subtask": "1", |
| "failure_type": "task planning", |
| "avoidance": [ |
| { |
| "low_level": " ", |
| "avoid_keyframe_annotations": "annotated_data/hold_socket_plug/frames/episode_6_cam_high/22_avoid_keyframe_annotations.jpg", |
| "avoid_keyframe_annotations_code": [ |
| { |
| "type": "lock", |
| "pos": [ |
| 84, |
| 268 |
| ] |
| }, |
| { |
| "type": "dual_crosshair", |
| "p1": [ |
| 425, |
| 235 |
| ], |
| "p2": [ |
| 547, |
| 357 |
| ] |
| } |
| ] |
| } |
| ], |
| "correction": [ |
| { |
| "low_level": " ", |
| "correct_keyframe_annotations": "annotated_data/hold_socket_plug/frames/episode_6_cam_high/99_correct_keyframe_annotations.jpg", |
| "correct_keyframe_annotations_code": [ |
| { |
| "type": "rewind", |
| "pos": [ |
| 322, |
| 219 |
| ] |
| }, |
| { |
| "type": "dual_crosshair", |
| "p1": [ |
| 435, |
| 229 |
| ], |
| "p2": [ |
| 419, |
| 307 |
| ] |
| } |
| ] |
| } |
| ] |
| }, |
| { |
| "video": "annotated_data/hold_socket_plug/videos/episode_7_cam_high.mp4", |
| "task": "Use the right arm to hold the socket, left arm to insert the plug into it.", |
| "failure_detection": "yes", |
| "images": [ |
| "annotated_data/hold_socket_plug/frames/episode_7_cam_high/0.jpg", |
| "annotated_data/hold_socket_plug/frames/episode_7_cam_high/25.jpg", |
| "annotated_data/hold_socket_plug/frames/episode_7_cam_high/50.jpg", |
| "annotated_data/hold_socket_plug/frames/episode_7_cam_high/52_avoid_keyframe.jpg", |
| "annotated_data/hold_socket_plug/frames/episode_7_cam_high/75.jpg", |
| "annotated_data/hold_socket_plug/frames/episode_7_cam_high/100.jpg", |
| "annotated_data/hold_socket_plug/frames/episode_7_cam_high/125.jpg", |
| "annotated_data/hold_socket_plug/frames/episode_7_cam_high/138_correct_keyframe.jpg" |
| ], |
| "subtasks": [ |
| "1. Move the right arm to approach and align with the socket.", |
| "2. Grasp the socket with the right arm.", |
| "3. Move the left arm to approach and align with the plug.", |
| "4. Grasp the plug with the left arm.", |
| "5. Move the left arm to align the plug with the socket.", |
| "6. Insert the plug into the socket using the left arm.", |
| "7. Release the plug from the left arm." |
| ], |
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