Failure question

Using chinups as an example, would doing as much chinups as you can with perfect form, that is, if I do 12 with perfect form, but I know that I won't be able to do #13 with perfect form, so I only do 12, would that be considered as training to "failure"? Or is going to failure when you stop like at mid ROM or jerk or something like that to complete the last rep?

The latter.

Emil Brannmark said:

The latter.

So is this kind of training good, or is it still "too close" to failure to be doing it?