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diff --git a/annotation_images/ur_std_upright_mug_100/0226_170244/rgb/camera_front_keyframe_85.json b/annotation_images/ur_std_upright_mug_100/0226_170244/rgb/camera_front_keyframe_85.json
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diff --git a/annotation_images/ur_std_upright_mug_100/0226_170244/rgb/camera_left_keyframe_167.json b/annotation_images/ur_std_upright_mug_100/0226_170244/rgb/camera_left_keyframe_167.json
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diff --git a/annotation_images/ur_std_upright_mug_100/0226_170244/rgb/camera_left_keyframe_85.json b/annotation_images/ur_std_upright_mug_100/0226_170244/rgb/camera_left_keyframe_85.json
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diff --git a/annotation_images/ur_std_upright_mug_100/0226_170244/rgb/camera_top_keyframe_167.json b/annotation_images/ur_std_upright_mug_100/0226_170244/rgb/camera_top_keyframe_167.json
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diff --git a/annotation_images/ur_std_upright_mug_100/0226_170244/rgb/camera_top_keyframe_85.json b/annotation_images/ur_std_upright_mug_100/0226_170244/rgb/camera_top_keyframe_85.json
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diff --git a/annotation_images/ur_std_upright_mug_100/0226_170307/rgb/camera_front_keyframe_0.json b/annotation_images/ur_std_upright_mug_100/0226_170307/rgb/camera_front_keyframe_0.json
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diff --git a/annotation_images/ur_std_upright_mug_100/0226_170307/rgb/camera_front_keyframe_178.json b/annotation_images/ur_std_upright_mug_100/0226_170307/rgb/camera_front_keyframe_178.json
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diff --git a/annotation_images/ur_std_upright_mug_100/0226_170307/rgb/camera_front_keyframe_67.json b/annotation_images/ur_std_upright_mug_100/0226_170307/rgb/camera_front_keyframe_67.json
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diff --git a/annotation_images/ur_std_upright_mug_100/0226_170307/rgb/camera_left_keyframe_0.json b/annotation_images/ur_std_upright_mug_100/0226_170307/rgb/camera_left_keyframe_0.json
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diff --git a/annotation_images/ur_std_upright_mug_100/0226_170307/rgb/camera_top_keyframe_178.json b/annotation_images/ur_std_upright_mug_100/0226_170307/rgb/camera_top_keyframe_178.json
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diff --git a/annotation_images/ur_std_upright_mug_100/0226_170846/rgb/camera_front_keyframe_0.json b/annotation_images/ur_std_upright_mug_100/0226_170846/rgb/camera_front_keyframe_0.json
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diff --git a/annotation_images/ur_std_upright_mug_100/0226_170846/rgb/camera_front_keyframe_137.json b/annotation_images/ur_std_upright_mug_100/0226_170846/rgb/camera_front_keyframe_137.json
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diff --git a/annotation_images/ur_std_upright_mug_100/0226_170846/rgb/camera_front_keyframe_65.json b/annotation_images/ur_std_upright_mug_100/0226_170846/rgb/camera_front_keyframe_65.json
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diff --git a/annotation_images/ur_std_upright_mug_100/0226_170846/rgb/camera_front_keyframe_70.json b/annotation_images/ur_std_upright_mug_100/0226_170846/rgb/camera_front_keyframe_70.json
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diff --git a/annotation_images/ur_std_upright_mug_100/0226_170846/rgb/camera_left_keyframe_0.json b/annotation_images/ur_std_upright_mug_100/0226_170846/rgb/camera_left_keyframe_0.json
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diff --git a/annotation_images/ur_std_upright_mug_100/0226_170846/rgb/camera_left_keyframe_137.json b/annotation_images/ur_std_upright_mug_100/0226_170846/rgb/camera_left_keyframe_137.json
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diff --git a/annotation_images/ur_std_upright_mug_100/0226_170846/rgb/camera_left_keyframe_70.json b/annotation_images/ur_std_upright_mug_100/0226_170846/rgb/camera_left_keyframe_70.json
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diff --git a/annotation_images/ur_std_upright_mug_100/0226_170846/rgb/camera_top_keyframe_137.json b/annotation_images/ur_std_upright_mug_100/0226_170846/rgb/camera_top_keyframe_137.json
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diff --git a/annotation_images/ur_std_upright_mug_100/0226_170846/rgb/camera_top_keyframe_65.json b/annotation_images/ur_std_upright_mug_100/0226_170846/rgb/camera_top_keyframe_65.json
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diff --git a/annotation_images/ur_std_upright_mug_100/0226_170846/rgb/camera_top_keyframe_70.json b/annotation_images/ur_std_upright_mug_100/0226_170846/rgb/camera_top_keyframe_70.json
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diff --git a/annotation_images/ur_std_upright_mug_100/0226_171048/rgb/camera_front_keyframe_0.json b/annotation_images/ur_std_upright_mug_100/0226_171048/rgb/camera_front_keyframe_0.json
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diff --git a/annotation_images/ur_std_upright_mug_100/0226_171048/rgb/camera_front_keyframe_153.json b/annotation_images/ur_std_upright_mug_100/0226_171048/rgb/camera_front_keyframe_153.json
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diff --git a/annotation_images/ur_std_upright_mug_100/0226_171048/rgb/camera_left_keyframe_153.json b/annotation_images/ur_std_upright_mug_100/0226_171048/rgb/camera_left_keyframe_153.json
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diff --git a/annotation_images/ur_std_upright_mug_100/0226_171048/rgb/camera_left_keyframe_87.json b/annotation_images/ur_std_upright_mug_100/0226_171048/rgb/camera_left_keyframe_87.json
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diff --git a/annotation_images/ur_std_upright_mug_100/0226_171048/rgb/camera_top_keyframe_153.json b/annotation_images/ur_std_upright_mug_100/0226_171048/rgb/camera_top_keyframe_153.json
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diff --git a/annotation_images/ur_std_upright_mug_100/0226_171048/rgb/camera_top_keyframe_87.json b/annotation_images/ur_std_upright_mug_100/0226_171048/rgb/camera_top_keyframe_87.json
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diff --git a/annotation_images/ur_std_upright_mug_100/0226_171404/rgb/camera_top_keyframe_147.json b/annotation_images/ur_std_upright_mug_100/0226_171404/rgb/camera_top_keyframe_147.json
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diff --git a/annotation_images/ur_std_upright_mug_100/0226_171404/rgb/camera_top_keyframe_72.json b/annotation_images/ur_std_upright_mug_100/0226_171404/rgb/camera_top_keyframe_72.json
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diff --git a/annotation_images/ur_std_upright_mug_100/0226_171757/rgb/camera_front_keyframe_0.json b/annotation_images/ur_std_upright_mug_100/0226_171757/rgb/camera_front_keyframe_0.json
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diff --git a/annotation_images/ur_std_upright_mug_100/0226_171757/rgb/camera_front_keyframe_133.json b/annotation_images/ur_std_upright_mug_100/0226_171757/rgb/camera_front_keyframe_133.json
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diff --git a/annotation_images/ur_std_upright_mug_100/0226_171757/rgb/camera_front_keyframe_153.json b/annotation_images/ur_std_upright_mug_100/0226_171757/rgb/camera_front_keyframe_153.json
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diff --git a/annotation_images/ur_std_upright_mug_100/0226_171757/rgb/camera_front_keyframe_46.json b/annotation_images/ur_std_upright_mug_100/0226_171757/rgb/camera_front_keyframe_46.json
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diff --git a/annotation_images/ur_std_upright_mug_100/0226_171757/rgb/camera_front_keyframe_59.json b/annotation_images/ur_std_upright_mug_100/0226_171757/rgb/camera_front_keyframe_59.json
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diff --git a/annotation_images/ur_std_upright_mug_100/0226_171757/rgb/camera_left_keyframe_133.json b/annotation_images/ur_std_upright_mug_100/0226_171757/rgb/camera_left_keyframe_133.json
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diff --git a/annotation_images/ur_std_upright_mug_100/0226_171757/rgb/camera_left_keyframe_153.json b/annotation_images/ur_std_upright_mug_100/0226_171757/rgb/camera_left_keyframe_153.json
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diff --git a/annotation_images/ur_std_upright_mug_100/0226_171757/rgb/camera_left_keyframe_46.json b/annotation_images/ur_std_upright_mug_100/0226_171757/rgb/camera_left_keyframe_46.json
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diff --git a/annotation_images/ur_std_upright_mug_100/0226_171757/rgb/camera_left_keyframe_59.json b/annotation_images/ur_std_upright_mug_100/0226_171757/rgb/camera_left_keyframe_59.json
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diff --git a/annotation_images/ur_std_upright_mug_100/0226_171757/rgb/camera_top_keyframe_0.json b/annotation_images/ur_std_upright_mug_100/0226_171757/rgb/camera_top_keyframe_0.json
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diff --git a/annotation_images/ur_std_upright_mug_100/0226_171757/rgb/camera_top_keyframe_133.json b/annotation_images/ur_std_upright_mug_100/0226_171757/rgb/camera_top_keyframe_133.json
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diff --git a/annotation_images/ur_std_upright_mug_100/0226_171757/rgb/camera_top_keyframe_153.json b/annotation_images/ur_std_upright_mug_100/0226_171757/rgb/camera_top_keyframe_153.json
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diff --git a/annotation_images/ur_std_upright_mug_100/0226_171757/rgb/camera_top_keyframe_46.json b/annotation_images/ur_std_upright_mug_100/0226_171757/rgb/camera_top_keyframe_46.json
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diff --git a/annotation_images/ur_std_upright_mug_100/0226_171757/rgb/camera_top_keyframe_59.json b/annotation_images/ur_std_upright_mug_100/0226_171757/rgb/camera_top_keyframe_59.json
new file mode 100644
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diff --git a/annotation_images/ur_std_upright_mug_100/0226_171912/rgb/camera_front_keyframe_0.json b/annotation_images/ur_std_upright_mug_100/0226_171912/rgb/camera_front_keyframe_0.json
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diff --git a/annotation_images/ur_std_upright_mug_100/0226_171912/rgb/camera_front_keyframe_164.json b/annotation_images/ur_std_upright_mug_100/0226_171912/rgb/camera_front_keyframe_164.json
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diff --git a/annotation_images/ur_std_upright_mug_100/0226_171912/rgb/camera_front_keyframe_185.json b/annotation_images/ur_std_upright_mug_100/0226_171912/rgb/camera_front_keyframe_185.json
new file mode 100644
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diff --git a/annotation_images/ur_std_upright_mug_100/0226_171912/rgb/camera_front_keyframe_66.json b/annotation_images/ur_std_upright_mug_100/0226_171912/rgb/camera_front_keyframe_66.json
new file mode 100644
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diff --git a/annotation_images/ur_std_upright_mug_100/0226_171912/rgb/camera_left_keyframe_164.json b/annotation_images/ur_std_upright_mug_100/0226_171912/rgb/camera_left_keyframe_164.json
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diff --git a/annotation_images/ur_std_upright_mug_100/0226_171912/rgb/camera_left_keyframe_185.json b/annotation_images/ur_std_upright_mug_100/0226_171912/rgb/camera_left_keyframe_185.json
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diff --git a/annotation_images/ur_std_upright_mug_100/0226_171912/rgb/camera_left_keyframe_66.json b/annotation_images/ur_std_upright_mug_100/0226_171912/rgb/camera_left_keyframe_66.json
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diff --git a/annotation_images/ur_std_upright_mug_100/0226_171912/rgb/camera_top_keyframe_0.json b/annotation_images/ur_std_upright_mug_100/0226_171912/rgb/camera_top_keyframe_0.json
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diff --git a/annotation_images/ur_std_upright_mug_100/0226_171912/rgb/camera_top_keyframe_164.json b/annotation_images/ur_std_upright_mug_100/0226_171912/rgb/camera_top_keyframe_164.json
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diff --git a/annotation_images/ur_std_upright_mug_100/0226_171912/rgb/camera_top_keyframe_185.json b/annotation_images/ur_std_upright_mug_100/0226_171912/rgb/camera_top_keyframe_185.json
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diff --git a/annotation_images/ur_std_upright_mug_100/0226_171912/rgb/camera_top_keyframe_66.json b/annotation_images/ur_std_upright_mug_100/0226_171912/rgb/camera_top_keyframe_66.json
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diff --git a/annotation_images/ur_std_upright_mug_100/0226_172004/rgb/camera_front_keyframe_138.json b/annotation_images/ur_std_upright_mug_100/0226_172004/rgb/camera_front_keyframe_138.json
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diff --git a/annotation_images/ur_std_upright_mug_100/0226_172004/rgb/camera_front_keyframe_63.json b/annotation_images/ur_std_upright_mug_100/0226_172004/rgb/camera_front_keyframe_63.json
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diff --git a/annotation_images/ur_std_upright_mug_100/0226_172246/rgb/camera_front_keyframe_125.json b/annotation_images/ur_std_upright_mug_100/0226_172246/rgb/camera_front_keyframe_125.json
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diff --git a/annotation_images/ur_std_upright_mug_100/0226_172307/rgb/camera_top_keyframe_63.json b/annotation_images/ur_std_upright_mug_100/0226_172307/rgb/camera_top_keyframe_63.json
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diff --git a/annotation_images/ur_std_upright_mug_100/0226_172751/rgb/camera_front_keyframe_123.json b/annotation_images/ur_std_upright_mug_100/0226_172751/rgb/camera_front_keyframe_123.json
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diff --git a/annotation_images/ur_std_upright_mug_100/0226_172751/rgb/camera_front_keyframe_62.json b/annotation_images/ur_std_upright_mug_100/0226_172751/rgb/camera_front_keyframe_62.json
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diff --git a/annotation_images/ur_std_upright_mug_100/0226_172751/rgb/camera_left_keyframe_0.json b/annotation_images/ur_std_upright_mug_100/0226_172751/rgb/camera_left_keyframe_0.json
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diff --git a/annotation_images/ur_std_upright_mug_100/0226_172751/rgb/camera_left_keyframe_123.json b/annotation_images/ur_std_upright_mug_100/0226_172751/rgb/camera_left_keyframe_123.json
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diff --git a/annotation_images/ur_std_upright_mug_100/0226_172751/rgb/camera_left_keyframe_62.json b/annotation_images/ur_std_upright_mug_100/0226_172751/rgb/camera_left_keyframe_62.json
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diff --git a/annotation_images/ur_std_upright_mug_100/0226_172751/rgb/camera_top_keyframe_0.json b/annotation_images/ur_std_upright_mug_100/0226_172751/rgb/camera_top_keyframe_0.json
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diff --git a/annotation_images/ur_std_upright_mug_100/0226_172751/rgb/camera_top_keyframe_123.json b/annotation_images/ur_std_upright_mug_100/0226_172751/rgb/camera_top_keyframe_123.json
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diff --git a/annotation_images/ur_std_upright_mug_100/0226_172751/rgb/camera_top_keyframe_62.json b/annotation_images/ur_std_upright_mug_100/0226_172751/rgb/camera_top_keyframe_62.json
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diff --git a/annotation_images/ur_std_upright_mug_100/0226_173014/rgb/camera_front_keyframe_0.json b/annotation_images/ur_std_upright_mug_100/0226_173014/rgb/camera_front_keyframe_0.json
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diff --git a/annotation_images/ur_std_upright_mug_100/0226_173014/rgb/camera_front_keyframe_126.json b/annotation_images/ur_std_upright_mug_100/0226_173014/rgb/camera_front_keyframe_126.json
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diff --git a/annotation_images/ur_std_upright_mug_100/0226_173014/rgb/camera_front_keyframe_47.json b/annotation_images/ur_std_upright_mug_100/0226_173014/rgb/camera_front_keyframe_47.json
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diff --git a/annotation_images/ur_std_upright_mug_100/0226_173014/rgb/camera_left_keyframe_47.json b/annotation_images/ur_std_upright_mug_100/0226_173014/rgb/camera_left_keyframe_47.json
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diff --git a/annotation_images/ur_std_upright_mug_100/0226_173014/rgb/camera_top_keyframe_0.json b/annotation_images/ur_std_upright_mug_100/0226_173014/rgb/camera_top_keyframe_0.json
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diff --git a/annotation_images/ur_std_upright_mug_100/0226_173014/rgb/camera_top_keyframe_126.json b/annotation_images/ur_std_upright_mug_100/0226_173014/rgb/camera_top_keyframe_126.json
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diff --git a/annotation_images/ur_std_upright_mug_100/0226_173014/rgb/camera_top_keyframe_47.json b/annotation_images/ur_std_upright_mug_100/0226_173014/rgb/camera_top_keyframe_47.json
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diff --git a/annotation_images/ur_std_upright_mug_100/0226_173432/rgb/camera_front_keyframe_0.json b/annotation_images/ur_std_upright_mug_100/0226_173432/rgb/camera_front_keyframe_0.json
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diff --git a/annotation_images/ur_std_upright_mug_100/0226_173432/rgb/camera_front_keyframe_171.json b/annotation_images/ur_std_upright_mug_100/0226_173432/rgb/camera_front_keyframe_171.json
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diff --git a/annotation_images/ur_std_upright_mug_100/0226_173432/rgb/camera_left_keyframe_0.json b/annotation_images/ur_std_upright_mug_100/0226_173432/rgb/camera_left_keyframe_0.json
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diff --git a/annotation_images/ur_std_upright_mug_100/0226_173432/rgb/camera_left_keyframe_171.json b/annotation_images/ur_std_upright_mug_100/0226_173432/rgb/camera_left_keyframe_171.json
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diff --git a/annotation_images/ur_std_upright_mug_100/0226_173432/rgb/camera_top_keyframe_171.json b/annotation_images/ur_std_upright_mug_100/0226_173432/rgb/camera_top_keyframe_171.json
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diff --git a/annotation_images/ur_std_upright_mug_100/0226_173432/rgb/camera_top_keyframe_66.json b/annotation_images/ur_std_upright_mug_100/0226_173432/rgb/camera_top_keyframe_66.json
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diff --git a/annotation_images/ur_std_upright_mug_100/0226_173714/rgb/camera_front_keyframe_125.json b/annotation_images/ur_std_upright_mug_100/0226_173714/rgb/camera_front_keyframe_125.json
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diff --git a/annotation_images/ur_std_upright_mug_100/0226_173714/rgb/camera_left_keyframe_125.json b/annotation_images/ur_std_upright_mug_100/0226_173714/rgb/camera_left_keyframe_125.json
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diff --git a/annotation_images/ur_std_upright_mug_100/0226_173714/rgb/camera_left_keyframe_54.json b/annotation_images/ur_std_upright_mug_100/0226_173714/rgb/camera_left_keyframe_54.json
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diff --git a/annotation_images/ur_std_upright_mug_100/0226_173714/rgb/camera_top_keyframe_125.json b/annotation_images/ur_std_upright_mug_100/0226_173714/rgb/camera_top_keyframe_125.json
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diff --git a/annotation_images/ur_std_upright_mug_100/0226_173714/rgb/camera_top_keyframe_145.json b/annotation_images/ur_std_upright_mug_100/0226_173714/rgb/camera_top_keyframe_145.json
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diff --git a/annotation_images/ur_std_upright_mug_100/0226_173714/rgb/camera_top_keyframe_54.json b/annotation_images/ur_std_upright_mug_100/0226_173714/rgb/camera_top_keyframe_54.json
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diff --git a/annotation_images/ur_std_upright_mug_100/0226_173843/rgb/camera_front_keyframe_93.json b/annotation_images/ur_std_upright_mug_100/0226_173843/rgb/camera_front_keyframe_93.json
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diff --git a/annotation_images/ur_std_upright_mug_100/0226_173843/rgb/camera_left_keyframe_0.json b/annotation_images/ur_std_upright_mug_100/0226_173843/rgb/camera_left_keyframe_0.json
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diff --git a/annotation_images/ur_std_upright_mug_100/0226_173843/rgb/camera_left_keyframe_93.json b/annotation_images/ur_std_upright_mug_100/0226_173843/rgb/camera_left_keyframe_93.json
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diff --git a/annotation_images/ur_std_upright_mug_100/0226_173843/rgb/camera_top_keyframe_150.json b/annotation_images/ur_std_upright_mug_100/0226_173843/rgb/camera_top_keyframe_150.json
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diff --git a/annotation_images/ur_std_upright_mug_100/0226_173843/rgb/camera_top_keyframe_93.json b/annotation_images/ur_std_upright_mug_100/0226_173843/rgb/camera_top_keyframe_93.json
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diff --git a/annotation_images/ur_std_upright_mug_100/0226_174118/rgb/camera_front_keyframe_0.json b/annotation_images/ur_std_upright_mug_100/0226_174118/rgb/camera_front_keyframe_0.json
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diff --git a/annotation_images/ur_std_upright_mug_100/0226_174118/rgb/camera_front_keyframe_116.json b/annotation_images/ur_std_upright_mug_100/0226_174118/rgb/camera_front_keyframe_116.json
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diff --git a/annotation_images/ur_std_upright_mug_100/0226_174118/rgb/camera_front_keyframe_134.json b/annotation_images/ur_std_upright_mug_100/0226_174118/rgb/camera_front_keyframe_134.json
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diff --git a/annotation_images/ur_std_upright_mug_100/0226_174118/rgb/camera_left_keyframe_0.json b/annotation_images/ur_std_upright_mug_100/0226_174118/rgb/camera_left_keyframe_0.json
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