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It looks like a muscular endurance routine, especially with the 20 reps. But I agree on the failure part. Training to failure is a more advanced technique and is not required for adequate training, especially for beginners.
Beginners can reasonably benefit from 1 set per exercise, 1 exercise per muscle group, on full-body routines, so long as you can be somewhat challenged on up to 12 reps.
The routine in the OP is not a typical beginner routine. Like I said, it seems more for endurance...or maybe toning.
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Knowing that death is certain and that the time of death is uncertain, what's the most important thing?
—Bhikkhuni Pema Chödrön
Humankind cannot bear very much reality.
—From "Burnt Norton," Four Quartets (1936), T. S. Eliot
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