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Surgical/utenn/surgical_video_datasets/README.md

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+<!--
+Open-H Embodiment Dataset README Template (v1.0)
+Please fill out this template and include it in the ./metadata directory of your LeRobot dataset.
+This file helps others understand the context and details of your contribution.
+-->
+
+# surgical_actions_v1 - README
+
+---
+
+## 📋 At a Glance
+
+*Clip-level labeled clinical endoscopic surgical video segments with RGB, monocular depth, and tool segmentation for surgical action recognition and representation learning.*
+
+---
+
+## 📖 Dataset Overview
+
+This dataset contains short clinical surgical video clips packaged in the LeRobot v2.1 format. Each episode corresponds to a short endoscopic clip annotated with a single dominant surgical action label at task level. The dataset is designed to support surgical activity recognition, embodied learning from video, and pretraining of vision-based robotic policies.
+
+Each episode provides synchronized RGB video, monocular depth predictions, and tool segmentation masks generated automatically from the original surgical video.
+
+| | |
+| :--- | :--- |
+| **Total Trajectories** | 73 |
+| **Total Hours** | TBD |
+| **Data Type** | ☑ Clinical ☐ Ex-Vivo ☐ Table-Top Phantom ☐ Digital Simulation ☐ Physical Simulation ☐ Other |
+| **License** | CC BY 4.0 |
+| **Version** | 1.0 |
+
+---
+
+## 🎯 Tasks & Domain
+
+### Domain
+
+- [x] **Surgical Robotics**
+- [ ] **Ultrasound Robotics**
+- [ ] **Other Healthcare Robotics**
+
+### Demonstrated Skills
+
+The dataset demonstrates the following clip-level surgical actions:
+
+- CONTACT
+- EXPLORATION
+- GRASPING
+- MOVE
+- PULLING
+- STATIC
+- ZOOM_IN
+
+---
+
+## 🔬 Data Collection Details
+
+### Collection Method
+
+- [x] **Human Teleoperation / Clinical Operation**
+- [ ] Programmatic/State-Machine
+- [ ] AI Policy / Autonomous
+- [ ] Other
+
+### Operator Details
+
+| | Description |
+| :--- | :--- |
+| **Operator Count** | Multiple clinical operators (exact count not recorded) |
+| **Operator Skill Level** | [x] Expert (surgeon) |
+| **Collection Period** | *N/A* |
+
+### Recovery Demonstrations
+
+- [ ] **Yes**
+- [x] **No**
+
+This dataset does not include explicit recovery demonstrations.
+
+---
+
+## 💡 Diversity Dimensions
+
+- [x] **Background / Scene**
+- [x] **Task Execution**
+- [x] **Target Object** (different anatomical structures and tissues)
+
+The dataset contains diverse surgical scenes and multiple execution styles for the same semantic action category.
+
+---
+
+## 🛠️ Equipment & Setup
+
+### Robotic Platform(s)
+
+This dataset contains clinical endoscopic video only and does not include robot state or control signals.
+
+- **Robot 1:** Clinical surgical robotic system (endoscopic video stream only)
+
+### Sensors & Cameras
+
+| Type | Model/Details |
+| :--- | :--- |
+| **Primary Camera** | Clinical endoscopic camera (RGB endoscope video) |
+| **Medical Imager** | Monocular depth generated offline using VideoDepthAnything (DepthAnything v2 backbone) |
+| **Other** | Tool segmentation generated offline using SAM3 (Segment Anything Model v3) |
+
+---
+
+## 🎯 Action & State Space Representation
+
+This dataset is intended primarily for visual surgical action understanding and representation learning. It does not include low-level robot commands.
+
+### Action Space Representation
+
+**Primary Action Representation:**
+
+- [x] **Other** – discrete semantic surgical action label
+
+**Description**
+
+`action.label`: A categorical label indicating the dominant surgical action of the clip. The same label is repeated for all frames within an episode.
+
+### State Space Representation
+
+**State Information Included:**
+
+- [x] **Other** – no robot state is provided
+
+**Additional visual state representations:**
+
+- RGB video: `observation.images.color`
+- Monocular depth: `observation.images.depth`
+- Tool segmentation masks: `observation.images.tool_segmentation`
+
+### 📋 Recommended Additional Representations
+
+Not applicable.  
+This dataset intentionally focuses on perception-only signals.
+
+---
+
+## ⏱️ Data Synchronization Approach
+
+Within each episode, RGB frames, depth predictions, and tool segmentation masks are aligned by frame index.  
+If video lengths differ across modalities, all modalities are truncated to the minimum available length to preserve temporal alignment.
+
+Each frame includes a timestamp field (`timestamp_s`) expressed in seconds.
+
+---
+
+## 👥 Attribution & Contact
+
+| | |
+| :--- | :--- |
+| **Dataset Lead** | Nan Xiao, Tom Olesch, Farong Wang, Fei Liu, DeLong Jonathan C. |
+| **Institution** | University of Tennessee, Knoxville (AURAS Lab); UT Medical Center |
+| **Contact Email** | nxiao4@vols.utk.edu |
+| **Citation (BibTeX)** | <pre><code>@misc{surgical_actions_v1_2025,<br>  author = {Nan Xiao, Tom Olesch, Farong Wang, Fei Liu, DeLong Jonathan C.},<br>  title = {surgical\_actions\_v1: Clip-level Surgical Action Dataset},<br>  year = {2025},<br>  publisher = {Open-H-Embodiment}<br>}</code></pre> |
+
+
+
+
+

Surgical/utenn/surgical_video_datasets/meta/episode_stats.jsonl

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Surgical/utenn/surgical_video_datasets/meta/episodes.jsonl

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Surgical/utenn/surgical_video_datasets/meta/info.json

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+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  },
+  "notes": {
+    "repo_id": "UTK_AURAS/surgical_actions_v1",
+    "license": "CC BY 4.0",
+    "rgb_root": "/home/nan/Desktop/openH/clips_cutting_v1/clips_by_label",
+    "depth_root": "/home/nan/Desktop/openH/clips_cutting_v1/clips_by_label_depth",
+    "seg_root": "/home/nan/Desktop/openH/clips_cutting_v1/segmented_by_label",
+    "depth_convention": "<label>/<clip_id>/<clip_id>_src.mp4",
+    "seg_convention": "<label>/<clip_id>/tool_mask.mp4",
+    "truncation_policy": "n_steps = min(rgb, depth_src, tool_mask) estimated frame counts"
+  }
+}

Surgical/utenn/surgical_video_datasets/meta/tasks.jsonl

@@ -0,0 +1,7 @@
+{"task_index": 0, "task": "CONTACT"}
+{"task_index": 1, "task": "EXPLORATION"}
+{"task_index": 2, "task": "GRASPING"}
+{"task_index": 3, "task": "MOVE"}
+{"task_index": 4, "task": "PULLING"}
+{"task_index": 5, "task": "STATIC"}
+{"task_index": 6, "task": "ZOOM_IN"}

Surgical/utenn/surgical_video_datasets_round2_with_part_seg/README.md

@@ -0,0 +1,293 @@
+<!--
+Open-H Embodiment Dataset README Template (v1.0)
+Please fill out this template and include it in the ./metadata directory of your LeRobot dataset.
+This file helps others understand the context and details of your contribution.
+-->
+
+# surgical_video_datasets_round2 - README
+
+---
+
+## 📋 At a Glance
+
+**Video-only Open-H/LeRobot export of labeled endoscopic surgical clips**, with aligned RGB, optional relative-depth visualization, tool-part segmentation (color + lossless integer IDs), and per-frame 2D tool pose state.
+
+---
+
+## 📖 Dataset Overview
+
+This dataset packages DeLong’s labeled surgical clips into a consistent **Open-H / LeRobot v2.1-style** layout for downstream learning (representation learning, imitation learning on vision + state, etc.).  
+Each **episode** corresponds to one clip and is aligned by **frame index** across all available modalities.
+
+**What it includes (per episode):**
+- **RGB endoscopic video** (MP4 copy)
+- **Relative depth visualization video** (MP4 copy, if available; *not metric depth*)
+- **Tool-part segmentation (colorized)** (MP4; derived from label IDs for quick viewing)
+- **Tool-part segmentation IDs (lossless)** (MKV+FFV1; integer labels preserved exactly, optionally packed into channels)
+- **2D tool pose state** per frame (`observation.state`), fixed-length over tool slots
+
+| | |
+| :--- | :--- |
+| **Total Trajectories** | `101` |
+| **Total Hours** | `292 seconds` |
+| **Data Type** | `[ ] Clinical` `[x] Ex-Vivo` `[ ] Table-Top Phantom` `[ ] Digital Simulation` `[ ] Physical Simulation` `[ ] Other` |
+| **License** | CC BY 4.0 *(confirm if different)* |
+| **Version** | `2.1-ish` *(export format version)* |
+
+
+---
+
+## 🎯 Tasks & Domain
+
+### Domain
+
+- [x] **Surgical Robotics**
+- [ ] **Ultrasound Robotics**
+- [ ] **Other Healthcare Robotics** (Please specify: )
+
+### Demonstrated Skills
+
+The dataset uses **clip-level action labels** as tasks (one task per episode).  
+The labels present include (non-exhaustive):
+- ENERGY_WORK: Energy-dominant actions such as electrocautery/coagulation/cutting using energy devices (e.g., “electrical-cutting” mapped here).
+- PREPARE: Non-operative preparation steps before a clear operative action, e.g., positioning instruments, approaching the target area, adjusting view for readiness.
+- PULLING: Traction/retraction action where tissue is pulled to expose or tension an area (continuous pulling/holding under tension).
+- SPLITTING: The surgeon uses a tool to push along a tissue surface to separate layers/planes, commonly pushing fatty tissue (yellow) aside to open a space.
+- STATIC: The view is essentially stable: camera stays on a site, tools are almost not moving, typically waiting/pausing (e.g., surgeon waiting, assessing, or holding position).
+- ZOOM_IN: Camera zoom-in to magnify the worksite or improve visibility.
+- ZOOM_OUT: Camera zoom-out to widen the field of view (e.g., to regain context or re-orient).
+
+**Authoritative mapping:** `metadata/tasks.jsonl` (task_index → task string).
+
+---
+
+## 🔬 Data Collection Details
+
+### Collection Method
+
+- [x] **Human Teleoperation (Real Surgery Video)** *(source videos are teleoperated surgical clips)*
+- [ ] **Programmatic/State-Machine**
+- [ ] **AI Policy / Autonomous**
+- [ ] **Other** (Please specify: )
+
+### Operator Details
+
+| | Description |
+| :--- | :--- |
+| **Operator Count** | Unknown / not provided in source package |
+| **Operator Skill Level** | `[x] Expert` <br> `[ ] Intermediate` <br> `[ ] Novice` <br> `[] N/A` |
+| **Collection Period** | Unknown / not provided in source package |
+
+### Recovery Demonstrations
+
+- [ ] **Yes**
+- [x] **No (not explicitly labeled)**
+
+*(If you later add recovery/failure subsets, encode them in `metadata/info.json` under `splits`, e.g., `recovery`, `failure`.)*
+
+---
+
+## 💡 Diversity Dimensions
+
+- [ ] **Camera Position / Angle**
+- [ ] **Lighting Conditions**
+- [ ] **Target Object**
+- [ ] **Spatial Layout**
+- [ ] **Robot Embodiment**
+- [ ] **Task Execution**
+- [ ] **Background / Scene**
+- [x] **Other** (Please specify: natural variation across clips)
+
+**Elaboration:** Clips vary naturally across action label, camera motion (zoom in/out), tool visibility/occlusion, and interaction patterns.
+
+---
+
+## 🛠️ Equipment & Setup
+
+### Robotic Platform(s)
+
+- **Robot 1:** da Vinci surgical system (endoscopic view) *(exact model not encoded in export; update if known)*
+- **Robot 2:** N/A
+
+### Sensors & Cameras
+
+| Type | Model/Details |
+| :--- | :--- |
+| **Primary Camera** | Endoscopic RGB video (resolution & fps stored per episode in `metadata/episodes.jsonl`) |
+| **Room/3rd Person Camera** | N/A |
+| **Force/Torque Sensor** | N/A |
+| **Medical Imager** | N/A |
+| **Other** | Optional relative depth *visualization* video (`*_vis.mp4` from upstream depth pipeline) |
+
+---
+
+## 🎯 Action & State Space Representation
+
+This is a **video-first** export. There is **no true robot action/command stream** included.
+
+### Action Space Representation
+
+**Primary Action Representation:**
+- [ ] **Absolute Cartesian**
+- [ ] **Relative Cartesian**
+- [ ] **Joint Space**
+- [x] **Other**: *No actions available; `action` is a placeholder vector of zeros.*
+
+**Orientation Representation:**
+- [ ] **Quaternions**
+- [ ] **Euler Angles**
+- [ ] **Axis-Angle**
+- [ ] **Rotation Matrix**
+- [x] **Other**: N/A
+
+**Reference Frame:**
+- [ ] **Robot Base Frame**
+- [ ] **Tool/End-Effector Frame**
+- [ ] **World/Global Frame**
+- [x] **Camera Frame** *(for 2D pose state)*
+- [ ] **Other**
+
+**Action Dimensions:**
+```text
+action: [a0, a1, ..., a_{D-1}]
+- All entries are 0.0 (placeholder).
+- D is set by exporter flag --action_dim (default D=1).
+```
+
+### State Space Representation
+
+**State Information Included:**
+- [ ] **Joint Positions**
+- [ ] **Joint Velocities**
+- [ ] **End-Effector Pose**
+- [ ] **Force/Torque Readings**
+- [ ] **Gripper State**
+- [x] **Other**: 2D tool pose in image space (per tool slot)
+
+**State Dimensions:**
+
+`observation.state` is a fixed-length float32 vector of size `max_tools * 4`:
+
+```text
+observation.state = [
+  tool0.tx_px, tool0.ty_px, tool0.theta_rad, tool0.visible,
+  tool1.tx_px, tool1.ty_px, tool1.theta_rad, tool1.visible,
+  tool2.tx_px, tool2.ty_px, tool2.theta_rad, tool2.visible
+]
+```
+
+**Units & conventions**
+- `tx_px`, `ty_px`: pixel coordinates in the **image coordinate system**  
+  - origin: top-left  
+  - x increases to the right, y increases downward  
+- `theta_rad`: in-plane rotation in **radians** (as provided by upstream `tool_poses.json`)  
+- `visible`: `1.0` if pose is valid/visible at that frame, else `0.0`
+- If not visible: pose values may be stored as `NaN` and `visible=0.0`.
+
+**Tool slot ordering (important):**
+- Tool slot order can differ by episode.
+- Decode slots using `metadata/tool_slot_maps.jsonl`.
+- Each parquet row stores `observation.meta.tool_slot_map_id` which equals the episode index as a string.
+
+---
+
+## ⏱️ Data Synchronization Approach
+
+All modalities are aligned by **frame index** during export.
+
+- The exporter probes the RGB video for `num_frames = N` and `fps`.
+- For each frame index `t ∈ [0, N-1]`, it writes one parquet row with:
+  - `timestamp = t / fps`
+  - video references (path + timestamp) for available modalities
+
+If a modality is missing for an episode (e.g., depth not available), the corresponding parquet field may be absent for that episode.
+
+---
+
+## 📦 Dataset Layout & Field Semantics
+
+### Directory structure
+
+```text
+surgical_video_datasets_round2_with_part_seg/
+├── data/
+│   └── chunk-000/
+│       ├── episode_000000.parquet
+│       ├── episode_000001.parquet
+│       └── ...
+├── videos/
+│   └── chunk-000/
+│       ├── observation.images.rgb/
+│       │   ├── episode_000000.mp4
+│       │   └── ...
+│       ├── observation.images.depth/                        (optional)
+│       │   ├── episode_000000.mp4
+│       │   └── ...
+│       ├── observation.images.tool_segmentation/            (colorized)
+│       │   ├── episode_000000.mp4
+│       │   └── ...
+│       └── observation.images.tool_segmentation_id/         (optional, lossless IDs)
+│           ├── episode_000000.mkv
+│           └── ...
+├── metadata/
+│   ├── README.md                                            (this file)
+│   ├── info.json
+│   ├── tasks.jsonl
+│   ├── episodes.jsonl
+│   ├── episodes_stats.jsonl
+│   ├── tool_slot_maps.jsonl
+│   └── label_id_maps/
+│       ├── episode_000000.json
+│       └── ...
+└── raw/                                                     (optional; if --write_raw)
+    └── ... (provenance / audit-only metadata; no per-frame images)
+```
+
+### Parquet schema (per timestep)
+
+Each row in `data/chunk-000/episode_XXXXXX.parquet` includes:
+
+- `index` *(int)*: global row index across dataset
+- `episode_index` *(int)*
+- `frame_index` *(int)*
+- `timestamp` *(float, seconds)*: `frame_index / fps`
+- `task_index` *(int)*: index into `metadata/tasks.jsonl`
+- `instruction.text` *(string)*: task/action label (repeated per frame)
+- `action` *(list[float])*: placeholder zeros, length = `action_dim`
+- `observation.state` *(list[float])*: tool pose vector (see “State Space”)
+- `observation.meta.tool_slot_map_id` *(string)*: key for `tool_slot_maps.jsonl`
+- `observation.images.rgb` *(dict)*: `{"path": "...", "timestamp": ...}`  
+Optional (may be missing per episode):
+- `observation.images.depth` *(dict)*: relative depth visualization video reference
+- `observation.images.tool_segmentation` *(dict)*: colorized segmentation video reference
+- `observation.images.tool_segmentation_id` *(dict)*: lossless integer ID video reference
+- `next.done` *(bool)*: True on last timestep of episode
+
+### Segmentation ID decoding (lossless)
+
+If `videos/.../observation.images.tool_segmentation_id/episode_XXXXXX.mkv` exists:
+
+- Container/codec: **MKV + FFV1** (lossless)
+- Each frame is stored as a **3-channel uint8** image that encodes integer label IDs:
+
+**Case A: max_id ≤ 255**
+- `B = G = R = id`
+
+**Case B: max_id > 255**
+- Packed uint16:
+  - `id = B + 256 * G`
+  - `R` is unused (0)
+
+Decode semantic meaning (tool/part names) using:
+- `metadata/label_id_maps/episode_XXXXXX.json`
+
+---
+
+## 👥 Attribution & Contact
+
+| | |
+| :--- | :--- |
+| **Dataset Lead** | Nan Xiao, Tom Olesch, Farong Wang, Fei Liu, DeLong Jonathan C. |
+| **Institution** | University of Tennessee, Knoxville (AURAS Lab) |
+| **Contact Email** | *nxiao4@vols.utk.edu* |
+| **Citation (BibTeX)** | <pre><code>@misc{surgical_video_datasets_round2_2026,<br>  author = {Xiao, Nan and collaborators},<br>  title = {surgical\_video\_datasets\_round2: Open-H/LeRobot Export of Labeled Endoscopic Clips},<br>  year = {2026},<br>  publisher = {Open-H-Embodiment},<br>  note = {LeRobot v2.1-style export; schema in metadata/info.json}<br>}</code></pre> |

Surgical/utenn/surgical_video_datasets_round2_with_part_seg/meta/episodes_stats.jsonl

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Surgical/utenn/surgical_video_datasets_round2_with_part_seg/meta/info.json

@@ -0,0 +1,139 @@
+{
+  "dataset_format_version": "2.1",
+  "dataset_name": "surgical_video_datasets_round2",
+  "robot_type": "surgical_video",
+  "total_episodes": 101,
+  "total_frames": 8760,
+  "total_tasks": 7,
+  "splits": {
+    "train": "0:101"
+  },
+  "features": {
+    "observation.images.rgb": {
+      "dtype": "video",
+      "shape": [
+        null,
+        null,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ]
+    },
+    "observation.state": {
+      "dtype": "float32",
+      "shape": [
+        12
+      ],
+      "names": [
+        "tool0.tx_px",
+        "tool0.ty_px",
+        "tool0.theta_rad",
+        "tool0.visible",
+        "tool1.tx_px",
+        "tool1.ty_px",
+        "tool1.theta_rad",
+        "tool1.visible",
+        "tool2.tx_px",
+        "tool2.ty_px",
+        "tool2.theta_rad",
+        "tool2.visible"
+      ],
+      "info": {
+        "tool_slot_encoding": "[tx_px, ty_px, theta_rad, visible] per tool slot",
+        "tool_slot_maps": "metadata/tool_slot_maps.jsonl (keyed by episode_index / observation.meta.tool_slot_map_id)",
+        "pose_source": "tool_poses.json (upstream); values are per-frame tool 2D pose"
+      }
+    },
+    "action": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": [
+        "a0"
+      ],
+      "info": {
+        "note": "dummy zeros; no robot command stream recorded (video-only dataset)"
+      }
+    },
+    "instruction.text": {
+      "dtype": "string",
+      "shape": [
+        1
+      ],
+      "description": "Task/action name repeated per timestep"
+    },
+    "observation.meta.tool_slot_map_id": {
+      "dtype": "string",
+      "shape": [
+        1
+      ],
+      "description": "Key to lookup tool slot mapping in metadata/tool_slot_maps.jsonl"
+    },
+    "observation.images.depth": {
+      "dtype": "video",
+      "shape": [
+        null,
+        null,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "info": {
+        "note": "relative depth visualization video (*_vis.mp4), not metric depth"
+      }
+    },
+    "observation.images.tool_segmentation": {
+      "dtype": "video",
+      "shape": [
+        null,
+        null,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "info": {
+        "note": "colorized segmentation derived from ID masks; background=0"
+      }
+    },
+    "observation.images.tool_segmentation_id": {
+      "dtype": "video",
+      "shape": [
+        null,
+        null,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "info": {
+        "note": "lossless packed tool-part segmentation IDs in FFV1 mkv",
+        "decode": "if packed_uint16: id = B + 256*G else id = B (B=G=R)",
+        "id_map_json": "metadata/label_id_maps/episode_XXXXXX.json"
+      }
+    }
+  },
+  "metadata": {
+    "tasks": "metadata/tasks.jsonl",
+    "episodes": "metadata/episodes.jsonl",
+    "episode_stats": "metadata/episodes_stats.jsonl",
+    "tool_slot_maps": "metadata/tool_slot_maps.jsonl",
+    "label_id_maps": "metadata/label_id_maps/episode_XXXXXX.json",
+    "raw": "raw/ (optional)"
+  },
+  "notes": {
+    "storage_policy": "videos only (no per-frame images stored in dataset output)",
+    "synchronization": "aligned by frame index; timestamp = frame_index / fps"
+  }
+}

Surgical/utenn/surgical_video_datasets_round2_with_part_seg/meta/label_id_maps/episode_000001.json

@@ -0,0 +1,47 @@
+{
+  "background_id": 0,
+  "obj_id_to_label": {
+    "1": "scissors:tool_body",
+    "2": "scissors:wrist",
+    "3": "scissors:left_gripper",
+    "4": "scissors:right_gripper"
+  },
+  "label_to_obj_id": {
+    "scissors:tool_body": 1,
+    "scissors:wrist": 2,
+    "scissors:left_gripper": 3,
+    "scissors:right_gripper": 4
+  },
+  "tool_to_obj_ids": {
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+      "wrist": 2,
+      "left_gripper": 3,
+      "right_gripper": 4
+    }
+  },
+  "obj_id_to_tool": {
+    "1": "scissors",
+    "2": "scissors",
+    "3": "scissors",
+    "4": "scissors"
+  },
+  "obj_id_to_part": {
+    "1": "tool_body",
+    "2": "wrist",
+    "3": "left_gripper",
+    "4": "right_gripper"
+  },
+  "tools": [
+    {
+      "name": "scissors",
+      "parts": [
+        "tool_body",
+        "wrist",
+        "left_gripper",
+        "right_gripper"
+      ]
+    }
+  ],
+  "saved_at_unix": 1769831116.0168126
+}

Surgical/utenn/surgical_video_datasets_round2_with_part_seg/meta/label_id_maps/episode_000003.json

@@ -0,0 +1,78 @@
+{
+  "background_id": 0,
+  "obj_id_to_label": {
+    "1": "grasper:tool_body",
+    "2": "grasper:wrist",
+    "3": "grasper:left_gripper",
+    "4": "grasper:right_gripper",
+    "5": "hook:tool_body",
+    "6": "hook:wrist",
+    "7": "hook:left_gripper",
+    "8": "hook:right_gripper"
+  },
+  "label_to_obj_id": {
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+    "grasper:wrist": 2,
+    "grasper:left_gripper": 3,
+    "grasper:right_gripper": 4,
+    "hook:tool_body": 5,
+    "hook:wrist": 6,
+    "hook:left_gripper": 7,
+    "hook:right_gripper": 8
+  },
+  "tool_to_obj_ids": {
+    "grasper": {
+      "tool_body": 1,
+      "wrist": 2,
+      "left_gripper": 3,
+      "right_gripper": 4
+    },
+    "hook": {
+      "tool_body": 5,
+      "wrist": 6,
+      "left_gripper": 7,
+      "right_gripper": 8
+    }
+  },
+  "obj_id_to_tool": {
+    "1": "grasper",
+    "2": "grasper",
+    "3": "grasper",
+    "4": "grasper",
+    "5": "hook",
+    "6": "hook",
+    "7": "hook",
+    "8": "hook"
+  },
+  "obj_id_to_part": {
+    "1": "tool_body",
+    "2": "wrist",
+    "3": "left_gripper",
+    "4": "right_gripper",
+    "5": "tool_body",
+    "6": "wrist",
+    "7": "left_gripper",
+    "8": "right_gripper"
+  },
+  "tools": [
+    {
+      "name": "grasper",
+      "parts": [
+        "tool_body",
+        "wrist",
+        "left_gripper",
+        "right_gripper"
+      ]
+    },
+    {
+      "name": "hook",
+      "parts": [
+        "tool_body",
+        "wrist",
+        "left_gripper",
+        "right_gripper"
+      ]
+    }
+  ],
+  "saved_at_unix": 1769832768.0599058
+}

Surgical/utenn/surgical_video_datasets_round2_with_part_seg/meta/label_id_maps/episode_000006.json

@@ -0,0 +1,78 @@
+{
+  "background_id": 0,
+  "obj_id_to_label": {
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+    "2": "grasper:wrist",
+    "3": "grasper:left_gripper",
+    "4": "grasper:right_gripper",
+    "5": "scissors:tool_body",
+    "6": "scissors:wrist",
+    "7": "scissors:left_gripper",
+    "8": "scissors:right_gripper"
+  },
+  "label_to_obj_id": {
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+    "grasper:wrist": 2,
+    "grasper:left_gripper": 3,
+    "grasper:right_gripper": 4,
+    "scissors:tool_body": 5,
+    "scissors:wrist": 6,
+    "scissors:left_gripper": 7,
+    "scissors:right_gripper": 8
+  },
+  "tool_to_obj_ids": {
+    "grasper": {
+      "tool_body": 1,
+      "wrist": 2,
+      "left_gripper": 3,
+      "right_gripper": 4
+    },
+    "scissors": {
+      "tool_body": 5,
+      "wrist": 6,
+      "left_gripper": 7,
+      "right_gripper": 8
+    }
+  },
+  "obj_id_to_tool": {
+    "1": "grasper",
+    "2": "grasper",
+    "3": "grasper",
+    "4": "grasper",
+    "5": "scissors",
+    "6": "scissors",
+    "7": "scissors",
+    "8": "scissors"
+  },
+  "obj_id_to_part": {
+    "1": "tool_body",
+    "2": "wrist",
+    "3": "left_gripper",
+    "4": "right_gripper",
+    "5": "tool_body",
+    "6": "wrist",
+    "7": "left_gripper",
+    "8": "right_gripper"
+  },
+  "tools": [
+    {
+      "name": "grasper",
+      "parts": [
+        "tool_body",
+        "wrist",
+        "left_gripper",
+        "right_gripper"
+      ]
+    },
+    {
+      "name": "scissors",
+      "parts": [
+        "tool_body",
+        "wrist",
+        "left_gripper",
+        "right_gripper"
+      ]
+    }
+  ],
+  "saved_at_unix": 1769831521.1455295
+}

Surgical/utenn/surgical_video_datasets_round2_with_part_seg/meta/label_id_maps/episode_000008.json

@@ -0,0 +1,78 @@
+{
+  "background_id": 0,
+  "obj_id_to_label": {
+    "1": "grasper:tool_body",
+    "2": "grasper:wrist",
+    "3": "grasper:left_gripper",
+    "4": "grasper:right_gripper",
+    "5": "scissors:tool_body",
+    "6": "scissors:wrist",
+    "7": "scissors:left_gripper",
+    "8": "scissors:right_gripper"
+  },
+  "label_to_obj_id": {
+    "grasper:tool_body": 1,
+    "grasper:wrist": 2,
+    "grasper:left_gripper": 3,
+    "grasper:right_gripper": 4,
+    "scissors:tool_body": 5,
+    "scissors:wrist": 6,
+    "scissors:left_gripper": 7,
+    "scissors:right_gripper": 8
+  },
+  "tool_to_obj_ids": {
+    "grasper": {
+      "tool_body": 1,
+      "wrist": 2,
+      "left_gripper": 3,
+      "right_gripper": 4
+    },
+    "scissors": {
+      "tool_body": 5,
+      "wrist": 6,
+      "left_gripper": 7,
+      "right_gripper": 8
+    }
+  },
+  "obj_id_to_tool": {
+    "1": "grasper",
+    "2": "grasper",
+    "3": "grasper",
+    "4": "grasper",
+    "5": "scissors",
+    "6": "scissors",
+    "7": "scissors",
+    "8": "scissors"
+  },
+  "obj_id_to_part": {
+    "1": "tool_body",
+    "2": "wrist",
+    "3": "left_gripper",
+    "4": "right_gripper",
+    "5": "tool_body",
+    "6": "wrist",
+    "7": "left_gripper",
+    "8": "right_gripper"
+  },
+  "tools": [
+    {
+      "name": "grasper",
+      "parts": [
+        "tool_body",
+        "wrist",
+        "left_gripper",
+        "right_gripper"
+      ]
+    },
+    {
+      "name": "scissors",
+      "parts": [
+        "tool_body",
+        "wrist",
+        "left_gripper",
+        "right_gripper"
+      ]
+    }
+  ],
+  "saved_at_unix": 1769832272.6868932
+}

Surgical/utenn/surgical_video_datasets_round2_with_part_seg/meta/label_id_maps/episode_000012.json

@@ -0,0 +1,78 @@
+{
+  "background_id": 0,
+  "obj_id_to_label": {
+    "1": "grasper:tool_body",
+    "2": "grasper:wrist",
+    "3": "grasper:left_gripper",
+    "4": "grasper:right_gripper",
+    "5": "scissors:tool_body",
+    "6": "scissors:wrist",
+    "7": "scissors:left_gripper",
+    "8": "scissors:right_gripper"
+  },
+  "label_to_obj_id": {
+    "grasper:tool_body": 1,
+    "grasper:wrist": 2,
+    "grasper:left_gripper": 3,
+    "grasper:right_gripper": 4,
+    "scissors:tool_body": 5,
+    "scissors:wrist": 6,
+    "scissors:left_gripper": 7,
+    "scissors:right_gripper": 8
+  },
+  "tool_to_obj_ids": {
+    "grasper": {
+      "tool_body": 1,
+      "wrist": 2,
+      "left_gripper": 3,
+      "right_gripper": 4
+    },
+    "scissors": {
+      "tool_body": 5,
+      "wrist": 6,
+      "left_gripper": 7,
+      "right_gripper": 8
+    }
+  },
+  "obj_id_to_tool": {
+    "1": "grasper",
+    "2": "grasper",
+    "3": "grasper",
+    "4": "grasper",
+    "5": "scissors",
+    "6": "scissors",
+    "7": "scissors",
+    "8": "scissors"
+  },
+  "obj_id_to_part": {
+    "1": "tool_body",
+    "2": "wrist",
+    "3": "left_gripper",
+    "4": "right_gripper",
+    "5": "tool_body",
+    "6": "wrist",
+    "7": "left_gripper",
+    "8": "right_gripper"
+  },
+  "tools": [
+    {
+      "name": "grasper",
+      "parts": [
+        "tool_body",
+        "wrist",
+        "left_gripper",
+        "right_gripper"
+      ]
+    },
+    {
+      "name": "scissors",
+      "parts": [
+        "tool_body",
+        "wrist",
+        "left_gripper",
+        "right_gripper"
+      ]
+    }
+  ],
+  "saved_at_unix": 1769833554.418102
+}

Surgical/utenn/surgical_video_datasets_round2_with_part_seg/meta/label_id_maps/episode_000014.json

@@ -0,0 +1,47 @@
+{
+  "background_id": 0,
+  "obj_id_to_label": {
+    "1": "scissors:tool_body",
+    "2": "scissors:wrist",
+    "3": "scissors:left_gripper",
+    "4": "scissors:right_gripper"
+  },
+  "label_to_obj_id": {
+    "scissors:tool_body": 1,
+    "scissors:wrist": 2,
+    "scissors:left_gripper": 3,
+    "scissors:right_gripper": 4
+  },
+  "tool_to_obj_ids": {
+    "scissors": {
+      "tool_body": 1,
+      "wrist": 2,
+      "left_gripper": 3,
+      "right_gripper": 4
+    }
+  },
+  "obj_id_to_tool": {
+    "1": "scissors",
+    "2": "scissors",
+    "3": "scissors",
+    "4": "scissors"
+  },
+  "obj_id_to_part": {
+    "1": "tool_body",
+    "2": "wrist",
+    "3": "left_gripper",
+    "4": "right_gripper"
+  },
+  "tools": [
+    {
+      "name": "scissors",
+      "parts": [
+        "tool_body",
+        "wrist",
+        "left_gripper",
+        "right_gripper"
+      ]
+    }
+  ],
+  "saved_at_unix": 1769823342.7335427
+}

Surgical/utenn/surgical_video_datasets_round2_with_part_seg/meta/label_id_maps/episode_000017.json

@@ -0,0 +1,47 @@
+{
+  "background_id": 0,
+  "obj_id_to_label": {
+    "1": "clip_applier:tool_body",
+    "2": "clip_applier:wrist",
+    "3": "clip_applier:left_gripper",
+    "4": "clip_applier:right_gripper"
+  },
+  "label_to_obj_id": {
+    "clip_applier:tool_body": 1,
+    "clip_applier:wrist": 2,
+    "clip_applier:left_gripper": 3,
+    "clip_applier:right_gripper": 4
+  },
+  "tool_to_obj_ids": {
+    "clip_applier": {
+      "tool_body": 1,
+      "wrist": 2,
+      "left_gripper": 3,
+      "right_gripper": 4
+    }
+  },
+  "obj_id_to_tool": {
+    "1": "clip_applier",
+    "2": "clip_applier",
+    "3": "clip_applier",
+    "4": "clip_applier"
+  },
+  "obj_id_to_part": {
+    "1": "tool_body",
+    "2": "wrist",
+    "3": "left_gripper",
+    "4": "right_gripper"
+  },
+  "tools": [
+    {
+      "name": "clip_applier",
+      "parts": [
+        "tool_body",
+        "wrist",
+        "left_gripper",
+        "right_gripper"
+      ]
+    }
+  ],
+  "saved_at_unix": 1769825303.102898
+}

Surgical/utenn/surgical_video_datasets_round2_with_part_seg/meta/label_id_maps/episode_000018.json

@@ -0,0 +1,78 @@
+{
+  "background_id": 0,
+  "obj_id_to_label": {
+    "1": "grasper:tool_body",
+    "2": "grasper:wrist",
+    "3": "grasper:left_gripper",
+    "4": "grasper:right_gripper",
+    "5": "hook:tool_body",
+    "6": "hook:wrist",
+    "7": "hook:left_gripper",
+    "8": "hook:right_gripper"
+  },
+  "label_to_obj_id": {
+    "grasper:tool_body": 1,
+    "grasper:wrist": 2,
+    "grasper:left_gripper": 3,
+    "grasper:right_gripper": 4,
+    "hook:tool_body": 5,
+    "hook:wrist": 6,
+    "hook:left_gripper": 7,
+    "hook:right_gripper": 8
+  },
+  "tool_to_obj_ids": {
+    "grasper": {
+      "tool_body": 1,
+      "wrist": 2,
+      "left_gripper": 3,
+      "right_gripper": 4
+    },
+    "hook": {
+      "tool_body": 5,
+      "wrist": 6,
+      "left_gripper": 7,
+      "right_gripper": 8
+    }
+  },
+  "obj_id_to_tool": {
+    "1": "grasper",
+    "2": "grasper",
+    "3": "grasper",
+    "4": "grasper",
+    "5": "hook",
+    "6": "hook",
+    "7": "hook",
+    "8": "hook"
+  },
+  "obj_id_to_part": {
+    "1": "tool_body",
+    "2": "wrist",
+    "3": "left_gripper",
+    "4": "right_gripper",
+    "5": "tool_body",
+    "6": "wrist",
+    "7": "left_gripper",
+    "8": "right_gripper"
+  },
+  "tools": [
+    {
+      "name": "grasper",
+      "parts": [
+        "tool_body",
+        "wrist",
+        "left_gripper",
+        "right_gripper"
+      ]
+    },
+    {
+      "name": "hook",
+      "parts": [
+        "tool_body",
+        "wrist",
+        "left_gripper",
+        "right_gripper"
+      ]
+    }
+  ],
+  "saved_at_unix": 1769826104.460377
+}

Surgical/utenn/surgical_video_datasets_round2_with_part_seg/meta/label_id_maps/episode_000019.json

@@ -0,0 +1,78 @@
+{
+  "background_id": 0,
+  "obj_id_to_label": {
+    "1": "grasper:tool_body",
+    "2": "grasper:wrist",
+    "3": "grasper:left_gripper",
+    "4": "grasper:right_gripper",
+    "5": "clip_applier:tool_body",
+    "6": "clip_applier:wrist",
+    "7": "clip_applier:left_gripper",
+    "8": "clip_applier:right_gripper"
+  },
+  "label_to_obj_id": {
+    "grasper:tool_body": 1,
+    "grasper:wrist": 2,
+    "grasper:left_gripper": 3,
+    "grasper:right_gripper": 4,
+    "clip_applier:tool_body": 5,
+    "clip_applier:wrist": 6,
+    "clip_applier:left_gripper": 7,
+    "clip_applier:right_gripper": 8
+  },
+  "tool_to_obj_ids": {
+    "grasper": {
+      "tool_body": 1,
+      "wrist": 2,
+      "left_gripper": 3,
+      "right_gripper": 4
+    },
+    "clip_applier": {
+      "tool_body": 5,
+      "wrist": 6,
+      "left_gripper": 7,
+      "right_gripper": 8
+    }
+  },
+  "obj_id_to_tool": {
+    "1": "grasper",
+    "2": "grasper",
+    "3": "grasper",
+    "4": "grasper",
+    "5": "clip_applier",
+    "6": "clip_applier",
+    "7": "clip_applier",
+    "8": "clip_applier"
+  },
+  "obj_id_to_part": {
+    "1": "tool_body",
+    "2": "wrist",
+    "3": "left_gripper",
+    "4": "right_gripper",
+    "5": "tool_body",
+    "6": "wrist",
+    "7": "left_gripper",
+    "8": "right_gripper"
+  },
+  "tools": [
+    {
+      "name": "clip_applier",
+      "parts": [
+        "tool_body",
+        "wrist",
+        "left_gripper",
+        "right_gripper"
+      ]
+    },
+    {
+      "name": "grasper",
+      "parts": [
+        "tool_body",
+        "wrist",
+        "left_gripper",
+        "right_gripper"
+      ]
+    }
+  ],
+  "saved_at_unix": 1769827680.3426101
+}

Surgical/utenn/surgical_video_datasets_round2_with_part_seg/meta/label_id_maps/episode_000020.json

@@ -0,0 +1,78 @@
+{
+  "background_id": 0,
+  "obj_id_to_label": {
+    "1": "grasper:tool_body",
+    "2": "grasper:wrist",
+    "3": "grasper:left_gripper",
+    "4": "grasper:right_gripper",
+    "5": "scissors:tool_body",
+    "6": "scissors:wrist",
+    "7": "scissors:left_gripper",
+    "8": "scissors:right_gripper"
+  },
+  "label_to_obj_id": {
+    "grasper:tool_body": 1,
+    "grasper:wrist": 2,
+    "grasper:left_gripper": 3,
+    "grasper:right_gripper": 4,
+    "scissors:tool_body": 5,
+    "scissors:wrist": 6,
+    "scissors:left_gripper": 7,
+    "scissors:right_gripper": 8
+  },
+  "tool_to_obj_ids": {
+    "grasper": {
+      "tool_body": 1,
+      "wrist": 2,
+      "left_gripper": 3,
+      "right_gripper": 4
+    },
+    "scissors": {
+      "tool_body": 5,
+      "wrist": 6,
+      "left_gripper": 7,
+      "right_gripper": 8
+    }
+  },
+  "obj_id_to_tool": {
+    "1": "grasper",
+    "2": "grasper",
+    "3": "grasper",
+    "4": "grasper",
+    "5": "scissors",
+    "6": "scissors",
+    "7": "scissors",
+    "8": "scissors"
+  },
+  "obj_id_to_part": {
+    "1": "tool_body",
+    "2": "wrist",
+    "3": "left_gripper",
+    "4": "right_gripper",
+    "5": "tool_body",
+    "6": "wrist",
+    "7": "left_gripper",
+    "8": "right_gripper"
+  },
+  "tools": [
+    {
+      "name": "grasper",
+      "parts": [
+        "tool_body",
+        "wrist",
+        "left_gripper",
+        "right_gripper"
+      ]
+    },
+    {
+      "name": "scissors",
+      "parts": [
+        "tool_body",
+        "wrist",
+        "left_gripper",
+        "right_gripper"
+      ]
+    }
+  ],
+  "saved_at_unix": 1769823633.3413594
+}

Surgical/utenn/surgical_video_datasets_round2_with_part_seg/meta/label_id_maps/episode_000023.json

@@ -0,0 +1,78 @@
+{
+  "background_id": 0,
+  "obj_id_to_label": {
+    "1": "grasper:tool_body",
+    "2": "grasper:wrist",
+    "3": "grasper:left_gripper",
+    "4": "grasper:right_gripper",
+    "5": "hook:tool_body",
+    "6": "hook:wrist",
+    "7": "hook:left_gripper",
+    "8": "hook:right_gripper"
+  },
+  "label_to_obj_id": {
+    "grasper:tool_body": 1,
+    "grasper:wrist": 2,
+    "grasper:left_gripper": 3,
+    "grasper:right_gripper": 4,
+    "hook:tool_body": 5,
+    "hook:wrist": 6,
+    "hook:left_gripper": 7,
+    "hook:right_gripper": 8
+  },
+  "tool_to_obj_ids": {
+    "grasper": {
+      "tool_body": 1,
+      "wrist": 2,
+      "left_gripper": 3,
+      "right_gripper": 4
+    },
+    "hook": {
+      "tool_body": 5,
+      "wrist": 6,
+      "left_gripper": 7,
+      "right_gripper": 8
+    }
+  },
+  "obj_id_to_tool": {
+    "1": "grasper",
+    "2": "grasper",
+    "3": "grasper",
+    "4": "grasper",
+    "5": "hook",
+    "6": "hook",
+    "7": "hook",
+    "8": "hook"
+  },
+  "obj_id_to_part": {
+    "1": "tool_body",
+    "2": "wrist",
+    "3": "left_gripper",
+    "4": "right_gripper",
+    "5": "tool_body",
+    "6": "wrist",
+    "7": "left_gripper",
+    "8": "right_gripper"
+  },
+  "tools": [
+    {
+      "name": "grasper",
+      "parts": [
+        "tool_body",
+        "wrist",
+        "left_gripper",
+        "right_gripper"
+      ]
+    },
+    {
+      "name": "hook",
+      "parts": [
+        "tool_body",
+        "wrist",
+        "left_gripper",
+        "right_gripper"
+      ]
+    }
+  ],
+  "saved_at_unix": 1769825153.979493
+}

Surgical/utenn/surgical_video_datasets_round2_with_part_seg/meta/label_id_maps/episode_000025.json

@@ -0,0 +1,47 @@
+{
+  "background_id": 0,
+  "obj_id_to_label": {
+    "1": "scissors:tool_body",
+    "2": "scissors:wrist",
+    "3": "scissors:left_gripper",
+    "4": "scissors:right_gripper"
+  },
+  "label_to_obj_id": {
+    "scissors:tool_body": 1,
+    "scissors:wrist": 2,
+    "scissors:left_gripper": 3,
+    "scissors:right_gripper": 4
+  },
+  "tool_to_obj_ids": {
+    "scissors": {
+      "tool_body": 1,
+      "wrist": 2,
+      "left_gripper": 3,
+      "right_gripper": 4
+    }
+  },
+  "obj_id_to_tool": {
+    "1": "scissors",
+    "2": "scissors",
+    "3": "scissors",
+    "4": "scissors"
+  },
+  "obj_id_to_part": {
+    "1": "tool_body",
+    "2": "wrist",
+    "3": "left_gripper",
+    "4": "right_gripper"
+  },
+  "tools": [
+    {
+      "name": "scissors",
+      "parts": [
+        "tool_body",
+        "wrist",
+        "left_gripper",
+        "right_gripper"
+      ]
+    }
+  ],
+  "saved_at_unix": 1769825979.939439
+}

Surgical/utenn/surgical_video_datasets_round2_with_part_seg/meta/label_id_maps/episode_000031.json

@@ -0,0 +1,78 @@
+{
+  "background_id": 0,
+  "obj_id_to_label": {
+    "1": "grasper:tool_body",
+    "2": "grasper:wrist",
+    "3": "grasper:left_gripper",
+    "4": "grasper:right_gripper",
+    "5": "scissors:tool_body",
+    "6": "scissors:wrist",
+    "7": "scissors:left_gripper",
+    "8": "scissors:right_gripper"
+  },
+  "label_to_obj_id": {
+    "grasper:tool_body": 1,
+    "grasper:wrist": 2,
+    "grasper:left_gripper": 3,
+    "grasper:right_gripper": 4,
+    "scissors:tool_body": 5,
+    "scissors:wrist": 6,
+    "scissors:left_gripper": 7,
+    "scissors:right_gripper": 8
+  },
+  "tool_to_obj_ids": {
+    "grasper": {
+      "tool_body": 1,
+      "wrist": 2,
+      "left_gripper": 3,
+      "right_gripper": 4
+    },
+    "scissors": {
+      "tool_body": 5,
+      "wrist": 6,
+      "left_gripper": 7,
+      "right_gripper": 8
+    }
+  },
+  "obj_id_to_tool": {
+    "1": "grasper",
+    "2": "grasper",
+    "3": "grasper",
+    "4": "grasper",
+    "5": "scissors",
+    "6": "scissors",
+    "7": "scissors",
+    "8": "scissors"
+  },
+  "obj_id_to_part": {
+    "1": "tool_body",
+    "2": "wrist",
+    "3": "left_gripper",
+    "4": "right_gripper",
+    "5": "tool_body",
+    "6": "wrist",
+    "7": "left_gripper",
+    "8": "right_gripper"
+  },
+  "tools": [
+    {
+      "name": "grasper",
+      "parts": [
+        "tool_body",
+        "wrist",
+        "left_gripper",
+        "right_gripper"
+      ]
+    },
+    {
+      "name": "scissors",
+      "parts": [
+        "tool_body",
+        "wrist",
+        "left_gripper",
+        "right_gripper"
+      ]
+    }
+  ],
+  "saved_at_unix": 1769822946.1086748
+}

Surgical/utenn/surgical_video_datasets_round2_with_part_seg/meta/label_id_maps/episode_000032.json

@@ -0,0 +1,78 @@
+{
+  "background_id": 0,
+  "obj_id_to_label": {
+    "1": "grasper:tool_body",
+    "2": "grasper:wrist",
+    "3": "grasper:left_gripper",
+    "4": "grasper:right_gripper",
+    "5": "scissor:tool_body",
+    "6": "scissor:wrist",
+    "7": "scissor:left_gripper",
+    "8": "scissor:right_gripper"
+  },
+  "label_to_obj_id": {
+    "grasper:tool_body": 1,
+    "grasper:wrist": 2,
+    "grasper:left_gripper": 3,
+    "grasper:right_gripper": 4,
+    "scissor:tool_body": 5,
+    "scissor:wrist": 6,
+    "scissor:left_gripper": 7,
+    "scissor:right_gripper": 8
+  },
+  "tool_to_obj_ids": {
+    "grasper": {
+      "tool_body": 1,
+      "wrist": 2,
+      "left_gripper": 3,
+      "right_gripper": 4
+    },
+    "scissor": {
+      "tool_body": 5,
+      "wrist": 6,
+      "left_gripper": 7,
+      "right_gripper": 8
+    }
+  },
+  "obj_id_to_tool": {
+    "1": "grasper",
+    "2": "grasper",
+    "3": "grasper",
+    "4": "grasper",
+    "5": "scissor",
+    "6": "scissor",
+    "7": "scissor",
+    "8": "scissor"
+  },
+  "obj_id_to_part": {
+    "1": "tool_body",
+    "2": "wrist",
+    "3": "left_gripper",
+    "4": "right_gripper",
+    "5": "tool_body",
+    "6": "wrist",
+    "7": "left_gripper",
+    "8": "right_gripper"
+  },
+  "tools": [
+    {
+      "name": "grasper",
+      "parts": [
+        "tool_body",
+        "wrist",
+        "left_gripper",
+        "right_gripper"
+      ]
+    },
+    {
+      "name": "scissor",
+      "parts": [
+        "tool_body",
+        "wrist",
+        "left_gripper",
+        "right_gripper"
+      ]
+    }
+  ],
+  "saved_at_unix": 1769807479.8230543
+}

Surgical/utenn/surgical_video_datasets_round2_with_part_seg/meta/label_id_maps/episode_000040.json

@@ -0,0 +1,78 @@
+{
+  "background_id": 0,
+  "obj_id_to_label": {
+    "1": "grasper:tool_body",
+    "2": "grasper:wrist",
+    "3": "grasper:left_gripper",
+    "4": "grasper:right_gripper",
+    "5": "hook:tool_body",
+    "6": "hook:wrist",
+    "7": "hook:left_gripper",
+    "8": "hook:right_gripper"
+  },
+  "label_to_obj_id": {
+    "grasper:tool_body": 1,
+    "grasper:wrist": 2,
+    "grasper:left_gripper": 3,
+    "grasper:right_gripper": 4,
+    "hook:tool_body": 5,
+    "hook:wrist": 6,
+    "hook:left_gripper": 7,
+    "hook:right_gripper": 8
+  },
+  "tool_to_obj_ids": {
+    "grasper": {
+      "tool_body": 1,
+      "wrist": 2,
+      "left_gripper": 3,
+      "right_gripper": 4
+    },
+    "hook": {
+      "tool_body": 5,
+      "wrist": 6,
+      "left_gripper": 7,
+      "right_gripper": 8
+    }
+  },
+  "obj_id_to_tool": {
+    "1": "grasper",
+    "2": "grasper",
+    "3": "grasper",
+    "4": "grasper",
+    "5": "hook",
+    "6": "hook",
+    "7": "hook",
+    "8": "hook"
+  },
+  "obj_id_to_part": {
+    "1": "tool_body",
+    "2": "wrist",
+    "3": "left_gripper",
+    "4": "right_gripper",
+    "5": "tool_body",
+    "6": "wrist",
+    "7": "left_gripper",
+    "8": "right_gripper"
+  },
+  "tools": [
+    {
+      "name": "grasper",
+      "parts": [
+        "tool_body",
+        "wrist",
+        "left_gripper",
+        "right_gripper"
+      ]
+    },
+    {
+      "name": "hook",
+      "parts": [
+        "tool_body",
+        "wrist",
+        "left_gripper",
+        "right_gripper"
+      ]
+    }
+  ],
+  "saved_at_unix": 1769836035.5077906
+}

Surgical/utenn/surgical_video_datasets_round2_with_part_seg/meta/label_id_maps/episode_000042.json

@@ -0,0 +1,47 @@
+{
+  "background_id": 0,
+  "obj_id_to_label": {
+    "1": "hook:tool_body",
+    "2": "hook:wrist",
+    "3": "hook:left_gripper",
+    "4": "hook:right_gripper"
+  },
+  "label_to_obj_id": {
+    "hook:tool_body": 1,
+    "hook:wrist": 2,
+    "hook:left_gripper": 3,
+    "hook:right_gripper": 4
+  },
+  "tool_to_obj_ids": {
+    "hook": {
+      "tool_body": 1,
+      "wrist": 2,
+      "left_gripper": 3,
+      "right_gripper": 4
+    }
+  },
+  "obj_id_to_tool": {
+    "1": "hook",
+    "2": "hook",
+    "3": "hook",
+    "4": "hook"
+  },
+  "obj_id_to_part": {
+    "1": "tool_body",
+    "2": "wrist",
+    "3": "left_gripper",
+    "4": "right_gripper"
+  },
+  "tools": [
+    {
+      "name": "hook",
+      "parts": [
+        "tool_body",
+        "wrist",
+        "left_gripper",
+        "right_gripper"
+      ]
+    }
+  ],
+  "saved_at_unix": 1769836319.0024233
+}

Surgical/utenn/surgical_video_datasets_round2_with_part_seg/meta/label_id_maps/episode_000044.json

@@ -0,0 +1,78 @@
+{
+  "background_id": 0,
+  "obj_id_to_label": {
+    "1": "grasper:tool_body",
+    "2": "grasper:wrist",
+    "3": "grasper:left_gripper",
+    "4": "grasper:right_gripper",
+    "5": "hook:tool_body",
+    "6": "hook:wrist",
+    "7": "hook:left_gripper",
+    "8": "hook:right_gripper"
+  },
+  "label_to_obj_id": {
+    "grasper:tool_body": 1,
+    "grasper:wrist": 2,
+    "grasper:left_gripper": 3,
+    "grasper:right_gripper": 4,
+    "hook:tool_body": 5,
+    "hook:wrist": 6,
+    "hook:left_gripper": 7,
+    "hook:right_gripper": 8
+  },
+  "tool_to_obj_ids": {
+    "grasper": {
+      "tool_body": 1,
+      "wrist": 2,
+      "left_gripper": 3,
+      "right_gripper": 4
+    },
+    "hook": {
+      "tool_body": 5,
+      "wrist": 6,
+      "left_gripper": 7,
+      "right_gripper": 8
+    }
+  },
+  "obj_id_to_tool": {
+    "1": "grasper",
+    "2": "grasper",
+    "3": "grasper",
+    "4": "grasper",
+    "5": "hook",
+    "6": "hook",
+    "7": "hook",
+    "8": "hook"
+  },
+  "obj_id_to_part": {
+    "1": "tool_body",
+    "2": "wrist",
+    "3": "left_gripper",
+    "4": "right_gripper",
+    "5": "tool_body",
+    "6": "wrist",
+    "7": "left_gripper",
+    "8": "right_gripper"
+  },
+  "tools": [
+    {
+      "name": "grasper",
+      "parts": [
+        "tool_body",
+        "wrist",
+        "left_gripper",
+        "right_gripper"
+      ]
+    },
+    {
+      "name": "hook",
+      "parts": [
+        "tool_body",
+        "wrist",
+        "left_gripper",
+        "right_gripper"
+      ]
+    }
+  ],
+  "saved_at_unix": 1769836491.5590563
+}

Surgical/utenn/surgical_video_datasets_round2_with_part_seg/meta/label_id_maps/episode_000048.json

@@ -0,0 +1,78 @@
+{
+  "background_id": 0,
+  "obj_id_to_label": {
+    "1": "grasper:tool_body",
+    "2": "grasper:wrist",
+    "3": "grasper:left_gripper",
+    "4": "grasper:right_gripper",
+    "5": "hook:tool_body",
+    "6": "hook:wrist",
+    "7": "hook:left_gripper",
+    "8": "hook:right_gripper"
+  },
+  "label_to_obj_id": {
+    "grasper:tool_body": 1,
+    "grasper:wrist": 2,
+    "grasper:left_gripper": 3,
+    "grasper:right_gripper": 4,
+    "hook:tool_body": 5,
+    "hook:wrist": 6,
+    "hook:left_gripper": 7,
+    "hook:right_gripper": 8
+  },
+  "tool_to_obj_ids": {
+    "grasper": {
+      "tool_body": 1,
+      "wrist": 2,
+      "left_gripper": 3,
+      "right_gripper": 4
+    },
+    "hook": {
+      "tool_body": 5,
+      "wrist": 6,
+      "left_gripper": 7,
+      "right_gripper": 8
+    }
+  },
+  "obj_id_to_tool": {
+    "1": "grasper",
+    "2": "grasper",
+    "3": "grasper",
+    "4": "grasper",
+    "5": "hook",
+    "6": "hook",
+    "7": "hook",
+    "8": "hook"
+  },
+  "obj_id_to_part": {
+    "1": "tool_body",
+    "2": "wrist",
+    "3": "left_gripper",
+    "4": "right_gripper",
+    "5": "tool_body",
+    "6": "wrist",
+    "7": "left_gripper",
+    "8": "right_gripper"
+  },
+  "tools": [
+    {
+      "name": "grasper",
+      "parts": [
+        "tool_body",
+        "wrist",
+        "left_gripper",
+        "right_gripper"
+      ]
+    },
+    {
+      "name": "hook",
+      "parts": [
+        "tool_body",
+        "wrist",
+        "left_gripper",
+        "right_gripper"
+      ]
+    }
+  ],
+  "saved_at_unix": 1769837403.8055491
+}

Surgical/utenn/surgical_video_datasets_round2_with_part_seg/meta/label_id_maps/episode_000050.json

@@ -0,0 +1,47 @@
+{
+  "background_id": 0,
+  "obj_id_to_label": {
+    "1": "scissors:tool_body",
+    "2": "scissors:wrist",
+    "3": "scissors:left_gripper",
+    "4": "scissors:right_gripper"
+  },
+  "label_to_obj_id": {
+    "scissors:tool_body": 1,
+    "scissors:wrist": 2,
+    "scissors:left_gripper": 3,
+    "scissors:right_gripper": 4
+  },
+  "tool_to_obj_ids": {
+    "scissors": {
+      "tool_body": 1,
+      "wrist": 2,
+      "left_gripper": 3,
+      "right_gripper": 4
+    }
+  },
+  "obj_id_to_tool": {
+    "1": "scissors",
+    "2": "scissors",
+    "3": "scissors",
+    "4": "scissors"
+  },
+  "obj_id_to_part": {
+    "1": "tool_body",
+    "2": "wrist",
+    "3": "left_gripper",
+    "4": "right_gripper"
+  },
+  "tools": [
+    {
+      "name": "scissors",
+      "parts": [
+        "tool_body",
+        "wrist",
+        "left_gripper",
+        "right_gripper"
+      ]
+    }
+  ],
+  "saved_at_unix": 1769838241.2544165
+}

Surgical/utenn/surgical_video_datasets_round2_with_part_seg/meta/label_id_maps/episode_000052.json

@@ -0,0 +1,78 @@
+{
+  "background_id": 0,
+  "obj_id_to_label": {
+    "1": "grasper:tool_body",
+    "2": "grasper:wrist",
+    "3": "grasper:left_gripper",
+    "4": "grasper:right_gripper",
+    "5": "hook:tool_body",
+    "6": "hook:wrist",
+    "7": "hook:left_gripper",
+    "8": "hook:right_gripper"
+  },
+  "label_to_obj_id": {
+    "grasper:tool_body": 1,
+    "grasper:wrist": 2,
+    "grasper:left_gripper": 3,
+    "grasper:right_gripper": 4,
+    "hook:tool_body": 5,
+    "hook:wrist": 6,
+    "hook:left_gripper": 7,
+    "hook:right_gripper": 8
+  },
+  "tool_to_obj_ids": {
+    "grasper": {
+      "tool_body": 1,
+      "wrist": 2,
+      "left_gripper": 3,
+      "right_gripper": 4
+    },
+    "hook": {
+      "tool_body": 5,
+      "wrist": 6,
+      "left_gripper": 7,
+      "right_gripper": 8
+    }
+  },
+  "obj_id_to_tool": {
+    "1": "grasper",
+    "2": "grasper",
+    "3": "grasper",
+    "4": "grasper",
+    "5": "hook",
+    "6": "hook",
+    "7": "hook",
+    "8": "hook"
+  },
+  "obj_id_to_part": {
+    "1": "tool_body",
+    "2": "wrist",
+    "3": "left_gripper",
+    "4": "right_gripper",
+    "5": "tool_body",
+    "6": "wrist",
+    "7": "left_gripper",
+    "8": "right_gripper"
+  },
+  "tools": [
+    {
+      "name": "grasper",
+      "parts": [
+        "tool_body",
+        "wrist",
+        "left_gripper",
+        "right_gripper"
+      ]
+    },
+    {
+      "name": "hook",
+      "parts": [
+        "tool_body",
+        "wrist",
+        "left_gripper",
+        "right_gripper"
+      ]
+    }
+  ],
+  "saved_at_unix": 1769838709.939175
+}

Surgical/utenn/surgical_video_datasets_round2_with_part_seg/meta/label_id_maps/episode_000053.json

@@ -0,0 +1,47 @@
+{
+  "background_id": 0,
+  "obj_id_to_label": {
+    "1": "hook:tool_body",
+    "2": "hook:wrist",
+    "3": "hook:left_gripper",
+    "4": "hook:right_gripper"
+  },
+  "label_to_obj_id": {
+    "hook:tool_body": 1,
+    "hook:wrist": 2,
+    "hook:left_gripper": 3,
+    "hook:right_gripper": 4
+  },
+  "tool_to_obj_ids": {
+    "hook": {
+      "tool_body": 1,
+      "wrist": 2,
+      "left_gripper": 3,
+      "right_gripper": 4
+    }
+  },
+  "obj_id_to_tool": {
+    "1": "hook",
+    "2": "hook",
+    "3": "hook",
+    "4": "hook"
+  },
+  "obj_id_to_part": {
+    "1": "tool_body",
+    "2": "wrist",
+    "3": "left_gripper",
+    "4": "right_gripper"
+  },
+  "tools": [
+    {
+      "name": "hook",
+      "parts": [
+        "tool_body",
+        "wrist",
+        "left_gripper",
+        "right_gripper"
+      ]
+    }
+  ],
+  "saved_at_unix": 1769836402.5347302
+}

Surgical/utenn/surgical_video_datasets_round2_with_part_seg/meta/label_id_maps/episode_000057.json

@@ -0,0 +1,78 @@
+{
+  "background_id": 0,
+  "obj_id_to_label": {
+    "1": "grasper:tool_body",
+    "2": "grasper:wrist",
+    "3": "grasper:left_gripper",
+    "4": "grasper:right_gripper",
+    "5": "scissors:tool_body",
+    "6": "scissors:wrist",
+    "7": "scissors:left_gripper",
+    "8": "scissors:right_gripper"
+  },
+  "label_to_obj_id": {
+    "grasper:tool_body": 1,
+    "grasper:wrist": 2,
+    "grasper:left_gripper": 3,
+    "grasper:right_gripper": 4,
+    "scissors:tool_body": 5,
+    "scissors:wrist": 6,
+    "scissors:left_gripper": 7,
+    "scissors:right_gripper": 8
+  },
+  "tool_to_obj_ids": {
+    "grasper": {
+      "tool_body": 1,
+      "wrist": 2,
+      "left_gripper": 3,
+      "right_gripper": 4
+    },
+    "scissors": {
+      "tool_body": 5,
+      "wrist": 6,
+      "left_gripper": 7,
+      "right_gripper": 8
+    }
+  },
+  "obj_id_to_tool": {
+    "1": "grasper",
+    "2": "grasper",
+    "3": "grasper",
+    "4": "grasper",
+    "5": "scissors",
+    "6": "scissors",
+    "7": "scissors",
+    "8": "scissors"
+  },
+  "obj_id_to_part": {
+    "1": "tool_body",
+    "2": "wrist",
+    "3": "left_gripper",
+    "4": "right_gripper",
+    "5": "tool_body",
+    "6": "wrist",
+    "7": "left_gripper",
+    "8": "right_gripper"
+  },
+  "tools": [
+    {
+      "name": "grasper",
+      "parts": [
+        "tool_body",
+        "wrist",
+        "left_gripper",
+        "right_gripper"
+      ]
+    },
+    {
+      "name": "scissors",
+      "parts": [
+        "tool_body",
+        "wrist",
+        "left_gripper",
+        "right_gripper"
+      ]
+    }
+  ],
+  "saved_at_unix": 1769837830.4400914
+}

Surgical/utenn/surgical_video_datasets_round2_with_part_seg/meta/label_id_maps/episode_000059.json

@@ -0,0 +1,78 @@
+{
+  "background_id": 0,
+  "obj_id_to_label": {
+    "1": "grasper:tool_body",
+    "2": "grasper:wrist",
+    "3": "grasper:left_gripper",
+    "4": "grasper:right_gripper",
+    "5": "hook:tool_body",
+    "6": "hook:wrist",
+    "7": "hook:left_gripper",
+    "8": "hook:right_gripper"
+  },
+  "label_to_obj_id": {
+    "grasper:tool_body": 1,
+    "grasper:wrist": 2,
+    "grasper:left_gripper": 3,
+    "grasper:right_gripper": 4,
+    "hook:tool_body": 5,
+    "hook:wrist": 6,
+    "hook:left_gripper": 7,
+    "hook:right_gripper": 8
+  },
+  "tool_to_obj_ids": {
+    "grasper": {
+      "tool_body": 1,
+      "wrist": 2,
+      "left_gripper": 3,
+      "right_gripper": 4
+    },
+    "hook": {
+      "tool_body": 5,
+      "wrist": 6,
+      "left_gripper": 7,
+      "right_gripper": 8
+    }
+  },
+  "obj_id_to_tool": {
+    "1": "grasper",
+    "2": "grasper",
+    "3": "grasper",
+    "4": "grasper",
+    "5": "hook",
+    "6": "hook",
+    "7": "hook",
+    "8": "hook"
+  },
+  "obj_id_to_part": {
+    "1": "tool_body",
+    "2": "wrist",
+    "3": "left_gripper",
+    "4": "right_gripper",
+    "5": "tool_body",
+    "6": "wrist",
+    "7": "left_gripper",
+    "8": "right_gripper"
+  },
+  "tools": [
+    {
+      "name": "grasper",
+      "parts": [
+        "tool_body",
+        "wrist",
+        "left_gripper",
+        "right_gripper"
+      ]
+    },
+    {
+      "name": "hook",
+      "parts": [
+        "tool_body",
+        "wrist",
+        "left_gripper",
+        "right_gripper"
+      ]
+    }
+  ],
+  "saved_at_unix": 1769839009.6122482
+}

Surgical/utenn/surgical_video_datasets_round2_with_part_seg/meta/label_id_maps/episode_000061.json

@@ -0,0 +1,47 @@
+{
+  "background_id": 0,
+  "obj_id_to_label": {
+    "1": "hook:tool_body",
+    "2": "hook:wrist",
+    "3": "hook:left_gripper",
+    "4": "hook:right_gripper"
+  },
+  "label_to_obj_id": {
+    "hook:tool_body": 1,
+    "hook:wrist": 2,
+    "hook:left_gripper": 3,
+    "hook:right_gripper": 4
+  },
+  "tool_to_obj_ids": {
+    "hook": {
+      "tool_body": 1,
+      "wrist": 2,
+      "left_gripper": 3,
+      "right_gripper": 4
+    }
+  },
+  "obj_id_to_tool": {
+    "1": "hook",
+    "2": "hook",
+    "3": "hook",
+    "4": "hook"
+  },
+  "obj_id_to_part": {
+    "1": "tool_body",
+    "2": "wrist",
+    "3": "left_gripper",
+    "4": "right_gripper"
+  },
+  "tools": [
+    {
+      "name": "hook",
+      "parts": [
+        "tool_body",
+        "wrist",
+        "left_gripper",
+        "right_gripper"
+      ]
+    }
+  ],
+  "saved_at_unix": 1769839248.1151645
+}

Surgical/utenn/surgical_video_datasets_round2_with_part_seg/meta/label_id_maps/episode_000062.json

@@ -0,0 +1,47 @@
+{
+  "background_id": 0,
+  "obj_id_to_label": {
+    "1": "scissors:tool_body",
+    "2": "scissors:wrist",
+    "3": "scissors:left_gripper",
+    "4": "scissors:right_gripper"
+  },
+  "label_to_obj_id": {
+    "scissors:tool_body": 1,
+    "scissors:wrist": 2,
+    "scissors:left_gripper": 3,
+    "scissors:right_gripper": 4
+  },
+  "tool_to_obj_ids": {
+    "scissors": {
+      "tool_body": 1,
+      "wrist": 2,
+      "left_gripper": 3,
+      "right_gripper": 4
+    }
+  },
+  "obj_id_to_tool": {
+    "1": "scissors",
+    "2": "scissors",
+    "3": "scissors",
+    "4": "scissors"
+  },
+  "obj_id_to_part": {
+    "1": "tool_body",
+    "2": "wrist",
+    "3": "left_gripper",
+    "4": "right_gripper"
+  },
+  "tools": [
+    {
+      "name": "scissors",
+      "parts": [
+        "tool_body",
+        "wrist",
+        "left_gripper",
+        "right_gripper"
+      ]
+    }
+  ],
+  "saved_at_unix": 1769839275.7361944
+}

Surgical/utenn/surgical_video_datasets_round2_with_part_seg/meta/label_id_maps/episode_000063.json

@@ -0,0 +1,47 @@
+{
+  "background_id": 0,
+  "obj_id_to_label": {
+    "1": "hook:tool_body",
+    "2": "hook:wrist",
+    "3": "hook:left_gripper",
+    "4": "hook:right_gripper"
+  },
+  "label_to_obj_id": {
+    "hook:tool_body": 1,
+    "hook:wrist": 2,
+    "hook:left_gripper": 3,
+    "hook:right_gripper": 4
+  },
+  "tool_to_obj_ids": {
+    "hook": {
+      "tool_body": 1,
+      "wrist": 2,
+      "left_gripper": 3,
+      "right_gripper": 4
+    }
+  },
+  "obj_id_to_tool": {
+    "1": "hook",
+    "2": "hook",
+    "3": "hook",
+    "4": "hook"
+  },
+  "obj_id_to_part": {
+    "1": "tool_body",
+    "2": "wrist",
+    "3": "left_gripper",
+    "4": "right_gripper"
+  },
+  "tools": [
+    {
+      "name": "hook",
+      "parts": [
+        "tool_body",
+        "wrist",
+        "left_gripper",
+        "right_gripper"
+      ]
+    }
+  ],
+  "saved_at_unix": 1769839100.5027487
+}

Surgical/utenn/surgical_video_datasets_round2_with_part_seg/meta/label_id_maps/episode_000066.json

@@ -0,0 +1,47 @@
+{
+  "background_id": 0,
+  "obj_id_to_label": {
+    "1": "scissors:tool_body",
+    "2": "scissors:wrist",
+    "3": "scissors:left_gripper",
+    "4": "scissors:right_gripper"
+  },
+  "label_to_obj_id": {
+    "scissors:tool_body": 1,
+    "scissors:wrist": 2,
+    "scissors:left_gripper": 3,
+    "scissors:right_gripper": 4
+  },
+  "tool_to_obj_ids": {
+    "scissors": {
+      "tool_body": 1,
+      "wrist": 2,
+      "left_gripper": 3,
+      "right_gripper": 4
+    }
+  },
+  "obj_id_to_tool": {
+    "1": "scissors",
+    "2": "scissors",
+    "3": "scissors",
+    "4": "scissors"
+  },
+  "obj_id_to_part": {
+    "1": "tool_body",
+    "2": "wrist",
+    "3": "left_gripper",
+    "4": "right_gripper"
+  },
+  "tools": [
+    {
+      "name": "scissors",
+      "parts": [
+        "tool_body",
+        "wrist",
+        "left_gripper",
+        "right_gripper"
+      ]
+    }
+  ],
+  "saved_at_unix": 1769839351.6247323
+}

Surgical/utenn/surgical_video_datasets_round2_with_part_seg/meta/label_id_maps/episode_000072.json

@@ -0,0 +1,78 @@
+{
+  "background_id": 0,
+  "obj_id_to_label": {
+    "1": "grasper:tool_body",
+    "2": "grasper:wrist",
+    "3": "grasper:left_gripper",
+    "4": "grasper:right_gripper",
+    "5": "grasper2:tool_body",
+    "6": "grasper2:wrist",
+    "7": "grasper2:left_gripper",
+    "8": "grasper2:right_gripper"
+  },
+  "label_to_obj_id": {
+    "grasper:tool_body": 1,
+    "grasper:wrist": 2,
+    "grasper:left_gripper": 3,
+    "grasper:right_gripper": 4,
+    "grasper2:tool_body": 5,
+    "grasper2:wrist": 6,
+    "grasper2:left_gripper": 7,
+    "grasper2:right_gripper": 8
+  },
+  "tool_to_obj_ids": {
+    "grasper": {
+      "tool_body": 1,
+      "wrist": 2,
+      "left_gripper": 3,
+      "right_gripper": 4
+    },
+    "grasper2": {
+      "tool_body": 5,
+      "wrist": 6,
+      "left_gripper": 7,
+      "right_gripper": 8
+    }
+  },
+  "obj_id_to_tool": {
+    "1": "grasper",
+    "2": "grasper",
+    "3": "grasper",
+    "4": "grasper",
+    "5": "grasper2",
+    "6": "grasper2",
+    "7": "grasper2",
+    "8": "grasper2"
+  },
+  "obj_id_to_part": {
+    "1": "tool_body",
+    "2": "wrist",
+    "3": "left_gripper",
+    "4": "right_gripper",
+    "5": "tool_body",
+    "6": "wrist",
+    "7": "left_gripper",
+    "8": "right_gripper"
+  },
+  "tools": [
+    {
+      "name": "grasper",
+      "parts": [
+        "tool_body",
+        "wrist",
+        "left_gripper",
+        "right_gripper"
+      ]
+    },
+    {
+      "name": "grasper2",
+      "parts": [
+        "tool_body",
+        "wrist",
+        "left_gripper",
+        "right_gripper"
+      ]
+    }
+  ],
+  "saved_at_unix": 1769839509.3022008
+}

Surgical/utenn/surgical_video_datasets_round2_with_part_seg/meta/label_id_maps/episode_000077.json

@@ -0,0 +1,78 @@
+{
+  "background_id": 0,
+  "obj_id_to_label": {
+    "1": "grasper:tool_body",
+    "2": "grasper:wrist",
+    "3": "grasper:left_gripper",
+    "4": "grasper:right_gripper",
+    "5": "hook:tool_body",
+    "6": "hook:wrist",
+    "7": "hook:left_gripper",
+    "8": "hook:right_gripper"
+  },
+  "label_to_obj_id": {
+    "grasper:tool_body": 1,
+    "grasper:wrist": 2,
+    "grasper:left_gripper": 3,
+    "grasper:right_gripper": 4,
+    "hook:tool_body": 5,
+    "hook:wrist": 6,
+    "hook:left_gripper": 7,
+    "hook:right_gripper": 8
+  },
+  "tool_to_obj_ids": {
+    "grasper": {
+      "tool_body": 1,
+      "wrist": 2,
+      "left_gripper": 3,
+      "right_gripper": 4
+    },
+    "hook": {
+      "tool_body": 5,
+      "wrist": 6,
+      "left_gripper": 7,
+      "right_gripper": 8
+    }
+  },
+  "obj_id_to_tool": {
+    "1": "grasper",
+    "2": "grasper",
+    "3": "grasper",
+    "4": "grasper",
+    "5": "hook",
+    "6": "hook",
+    "7": "hook",
+    "8": "hook"
+  },
+  "obj_id_to_part": {
+    "1": "tool_body",
+    "2": "wrist",
+    "3": "left_gripper",
+    "4": "right_gripper",
+    "5": "tool_body",
+    "6": "wrist",
+    "7": "left_gripper",
+    "8": "right_gripper"
+  },
+  "tools": [
+    {
+      "name": "grasper",
+      "parts": [
+        "tool_body",
+        "wrist",
+        "left_gripper",
+        "right_gripper"
+      ]
+    },
+    {
+      "name": "hook",
+      "parts": [
+        "tool_body",
+        "wrist",
+        "left_gripper",
+        "right_gripper"
+      ]
+    }
+  ],
+  "saved_at_unix": 1769839631.717237
+}

Surgical/utenn/surgical_video_datasets_round2_with_part_seg/meta/label_id_maps/episode_000082.json

@@ -0,0 +1,109 @@
+{
+  "background_id": 0,
+  "obj_id_to_label": {
+    "1": "grasper:tool_body",
+    "2": "grasper:wrist",
+    "3": "grasper:left_gripper",
+    "4": "grasper:right_gripper",
+    "5": "grasper2:tool_body",
+    "6": "grasper2:wrist",
+    "7": "grasper2:left_gripper",
+    "8": "grasper2:right_gripper",
+    "9": "scissors:tool_body",
+    "10": "scissors:wrist",
+    "11": "scissors:left_gripper",
+    "12": "scissors:right_gripper"
+  },
+  "label_to_obj_id": {
+    "grasper:tool_body": 1,
+    "grasper:wrist": 2,
+    "grasper:left_gripper": 3,
+    "grasper:right_gripper": 4,
+    "grasper2:tool_body": 5,
+    "grasper2:wrist": 6,
+    "grasper2:left_gripper": 7,
+    "grasper2:right_gripper": 8,
+    "scissors:tool_body": 9,
+    "scissors:wrist": 10,
+    "scissors:left_gripper": 11,
+    "scissors:right_gripper": 12
+  },
+  "tool_to_obj_ids": {
+    "grasper": {
+      "tool_body": 1,
+      "wrist": 2,
+      "left_gripper": 3,
+      "right_gripper": 4
+    },
+    "grasper2": {
+      "tool_body": 5,
+      "wrist": 6,
+      "left_gripper": 7,
+      "right_gripper": 8
+    },
+    "scissors": {
+      "tool_body": 9,
+      "wrist": 10,
+      "left_gripper": 11,
+      "right_gripper": 12
+    }
+  },
+  "obj_id_to_tool": {
+    "1": "grasper",
+    "2": "grasper",
+    "3": "grasper",
+    "4": "grasper",
+    "5": "grasper2",
+    "6": "grasper2",
+    "7": "grasper2",
+    "8": "grasper2",
+    "9": "scissors",
+    "10": "scissors",
+    "11": "scissors",
+    "12": "scissors"
+  },
+  "obj_id_to_part": {
+    "1": "tool_body",
+    "2": "wrist",
+    "3": "left_gripper",
+    "4": "right_gripper",
+    "5": "tool_body",
+    "6": "wrist",
+    "7": "left_gripper",
+    "8": "right_gripper",
+    "9": "tool_body",
+    "10": "wrist",
+    "11": "left_gripper",
+    "12": "right_gripper"
+  },
+  "tools": [
+    {
+      "name": "grasper",
+      "parts": [
+        "tool_body",
+        "wrist",
+        "left_gripper",
+        "right_gripper"
+      ]
+    },
+    {
+      "name": "grasper2",
+      "parts": [
+        "tool_body",
+        "wrist",
+        "left_gripper",
+        "right_gripper"
+      ]
+    },
+    {
+      "name": "scissors",
+      "parts": [
+        "tool_body",
+        "wrist",
+        "left_gripper",
+        "right_gripper"
+      ]
+    }
+  ],
+  "saved_at_unix": 1769839588.3996065
+}

Surgical/utenn/surgical_video_datasets_round2_with_part_seg/meta/label_id_maps/episode_000083.json

@@ -0,0 +1,47 @@
+{
+  "background_id": 0,
+  "obj_id_to_label": {
+    "1": "scissors:tool_body",
+    "2": "scissors:wrist",
+    "3": "scissors:left_gripper",
+    "4": "scissors:right_gripper"
+  },
+  "label_to_obj_id": {
+    "scissors:tool_body": 1,
+    "scissors:wrist": 2,
+    "scissors:left_gripper": 3,
+    "scissors:right_gripper": 4
+  },
+  "tool_to_obj_ids": {
+    "scissors": {
+      "tool_body": 1,
+      "wrist": 2,
+      "left_gripper": 3,
+      "right_gripper": 4
+    }
+  },
+  "obj_id_to_tool": {
+    "1": "scissors",
+    "2": "scissors",
+    "3": "scissors",
+    "4": "scissors"
+  },
+  "obj_id_to_part": {
+    "1": "tool_body",
+    "2": "wrist",
+    "3": "left_gripper",
+    "4": "right_gripper"
+  },
+  "tools": [
+    {
+      "name": "scissors",
+      "parts": [
+        "tool_body",
+        "wrist",
+        "left_gripper",
+        "right_gripper"
+      ]
+    }
+  ],
+  "saved_at_unix": 1769839659.8058481
+}

Surgical/utenn/surgical_video_datasets_round2_with_part_seg/meta/label_id_maps/episode_000085.json

@@ -0,0 +1,78 @@
+{
+  "background_id": 0,
+  "obj_id_to_label": {
+    "1": "grasper:tool_body",
+    "2": "grasper:wrist",
+    "3": "grasper:left_gripper",
+    "4": "grasper:right_gripper",
+    "5": "hook:tool_body",
+    "6": "hook:wrist",
+    "7": "hook:left_gripper",
+    "8": "hook:right_gripper"
+  },
+  "label_to_obj_id": {
+    "grasper:tool_body": 1,
+    "grasper:wrist": 2,
+    "grasper:left_gripper": 3,
+    "grasper:right_gripper": 4,
+    "hook:tool_body": 5,
+    "hook:wrist": 6,
+    "hook:left_gripper": 7,
+    "hook:right_gripper": 8
+  },
+  "tool_to_obj_ids": {
+    "grasper": {
+      "tool_body": 1,
+      "wrist": 2,
+      "left_gripper": 3,
+      "right_gripper": 4
+    },
+    "hook": {
+      "tool_body": 5,
+      "wrist": 6,
+      "left_gripper": 7,
+      "right_gripper": 8
+    }
+  },
+  "obj_id_to_tool": {
+    "1": "grasper",
+    "2": "grasper",
+    "3": "grasper",
+    "4": "grasper",
+    "5": "hook",
+    "6": "hook",
+    "7": "hook",
+    "8": "hook"
+  },
+  "obj_id_to_part": {
+    "1": "tool_body",
+    "2": "wrist",
+    "3": "left_gripper",
+    "4": "right_gripper",
+    "5": "tool_body",
+    "6": "wrist",
+    "7": "left_gripper",
+    "8": "right_gripper"
+  },
+  "tools": [
+    {
+      "name": "grasper",
+      "parts": [
+        "tool_body",
+        "wrist",
+        "left_gripper",
+        "right_gripper"
+      ]
+    },
+    {
+      "name": "hook",
+      "parts": [
+        "tool_body",
+        "wrist",
+        "left_gripper",
+        "right_gripper"
+      ]
+    }
+  ],
+  "saved_at_unix": 1769839690.1458373
+}

Surgical/utenn/surgical_video_datasets_round2_with_part_seg/meta/label_id_maps/episode_000086.json

@@ -0,0 +1,78 @@
+{
+  "background_id": 0,
+  "obj_id_to_label": {
+    "1": "grasper:tool_body",
+    "2": "grasper:wrist",
+    "3": "grasper:left_gripper",
+    "4": "grasper:right_gripper",
+    "5": "hook:tool_body",
+    "6": "hook:wrist",
+    "7": "hook:left_gripper",
+    "8": "hook:right_gripper"
+  },
+  "label_to_obj_id": {
+    "grasper:tool_body": 1,
+    "grasper:wrist": 2,
+    "grasper:left_gripper": 3,
+    "grasper:right_gripper": 4,
+    "hook:tool_body": 5,
+    "hook:wrist": 6,
+    "hook:left_gripper": 7,
+    "hook:right_gripper": 8
+  },
+  "tool_to_obj_ids": {
+    "grasper": {
+      "tool_body": 1,
+      "wrist": 2,
+      "left_gripper": 3,
+      "right_gripper": 4
+    },
+    "hook": {
+      "tool_body": 5,
+      "wrist": 6,
+      "left_gripper": 7,
+      "right_gripper": 8
+    }
+  },
+  "obj_id_to_tool": {
+    "1": "grasper",
+    "2": "grasper",
+    "3": "grasper",
+    "4": "grasper",
+    "5": "hook",
+    "6": "hook",
+    "7": "hook",
+    "8": "hook"
+  },
+  "obj_id_to_part": {
+    "1": "tool_body",
+    "2": "wrist",
+    "3": "left_gripper",
+    "4": "right_gripper",
+    "5": "tool_body",
+    "6": "wrist",
+    "7": "left_gripper",
+    "8": "right_gripper"
+  },
+  "tools": [
+    {
+      "name": "grasper",
+      "parts": [
+        "tool_body",
+        "wrist",
+        "left_gripper",
+        "right_gripper"
+      ]
+    },
+    {
+      "name": "hook",
+      "parts": [
+        "tool_body",
+        "wrist",
+        "left_gripper",
+        "right_gripper"
+      ]
+    }
+  ],
+  "saved_at_unix": 1769840682.2585495
+}

Surgical/utenn/surgical_video_datasets_round2_with_part_seg/meta/label_id_maps/episode_000087.json

@@ -0,0 +1,78 @@
+{
+  "background_id": 0,
+  "obj_id_to_label": {
+    "1": "grasper:tool_body",
+    "2": "grasper:wrist",
+    "3": "grasper:left_gripper",
+    "4": "grasper:right_gripper",
+    "5": "scissors:tool_body",
+    "6": "scissors:wrist",
+    "7": "scissors:left_gripper",
+    "8": "scissors:right_gripper"
+  },
+  "label_to_obj_id": {
+    "grasper:tool_body": 1,
+    "grasper:wrist": 2,
+    "grasper:left_gripper": 3,
+    "grasper:right_gripper": 4,
+    "scissors:tool_body": 5,
+    "scissors:wrist": 6,
+    "scissors:left_gripper": 7,
+    "scissors:right_gripper": 8
+  },
+  "tool_to_obj_ids": {
+    "grasper": {
+      "tool_body": 1,
+      "wrist": 2,
+      "left_gripper": 3,
+      "right_gripper": 4
+    },
+    "scissors": {
+      "tool_body": 5,
+      "wrist": 6,
+      "left_gripper": 7,
+      "right_gripper": 8
+    }
+  },
+  "obj_id_to_tool": {
+    "1": "grasper",
+    "2": "grasper",
+    "3": "grasper",
+    "4": "grasper",
+    "5": "scissors",
+    "6": "scissors",
+    "7": "scissors",
+    "8": "scissors"
+  },
+  "obj_id_to_part": {
+    "1": "tool_body",
+    "2": "wrist",
+    "3": "left_gripper",
+    "4": "right_gripper",
+    "5": "tool_body",
+    "6": "wrist",
+    "7": "left_gripper",
+    "8": "right_gripper"
+  },
+  "tools": [
+    {
+      "name": "grasper",
+      "parts": [
+        "tool_body",
+        "wrist",
+        "left_gripper",
+        "right_gripper"
+      ]
+    },
+    {
+      "name": "scissors",
+      "parts": [
+        "tool_body",
+        "wrist",
+        "left_gripper",
+        "right_gripper"
+      ]
+    }
+  ],
+  "saved_at_unix": 1769839921.2626753
+}

Surgical/utenn/surgical_video_datasets_round2_with_part_seg/meta/label_id_maps/episode_000088.json

@@ -0,0 +1,78 @@
+{
+  "background_id": 0,
+  "obj_id_to_label": {
+    "1": "grasper:tool_body",
+    "2": "grasper:wrist",
+    "3": "grasper:left_gripper",
+    "4": "grasper:right_gripper",
+    "5": "hook:tool_body",
+    "6": "hook:wrist",
+    "7": "hook:left_gripper",
+    "8": "hook:right_gripper"
+  },
+  "label_to_obj_id": {
+    "grasper:tool_body": 1,
+    "grasper:wrist": 2,
+    "grasper:left_gripper": 3,
+    "grasper:right_gripper": 4,
+    "hook:tool_body": 5,
+    "hook:wrist": 6,
+    "hook:left_gripper": 7,
+    "hook:right_gripper": 8
+  },
+  "tool_to_obj_ids": {
+    "grasper": {
+      "tool_body": 1,
+      "wrist": 2,
+      "left_gripper": 3,
+      "right_gripper": 4
+    },
+    "hook": {
+      "tool_body": 5,
+      "wrist": 6,
+      "left_gripper": 7,
+      "right_gripper": 8
+    }
+  },
+  "obj_id_to_tool": {
+    "1": "grasper",
+    "2": "grasper",
+    "3": "grasper",
+    "4": "grasper",
+    "5": "hook",
+    "6": "hook",
+    "7": "hook",
+    "8": "hook"
+  },
+  "obj_id_to_part": {
+    "1": "tool_body",
+    "2": "wrist",
+    "3": "left_gripper",
+    "4": "right_gripper",
+    "5": "tool_body",
+    "6": "wrist",
+    "7": "left_gripper",
+    "8": "right_gripper"
+  },
+  "tools": [
+    {
+      "name": "grasper",
+      "parts": [
+        "tool_body",
+        "wrist",
+        "left_gripper",
+        "right_gripper"
+      ]
+    },
+    {
+      "name": "hook",
+      "parts": [
+        "tool_body",
+        "wrist",
+        "left_gripper",
+        "right_gripper"
+      ]
+    }
+  ],
+  "saved_at_unix": 1769839907.4305205
+}

Surgical/utenn/surgical_video_datasets_round2_with_part_seg/meta/label_id_maps/episode_000089.json

@@ -0,0 +1,78 @@
+{
+  "background_id": 0,
+  "obj_id_to_label": {
+    "1": "grasper:tool_body",
+    "2": "grasper:wrist",
+    "3": "grasper:left_gripper",
+    "4": "grasper:right_gripper",
+    "5": "scissors:tool_body",
+    "6": "scissors:wrist",
+    "7": "scissors:left_gripper",
+    "8": "scissors:right_gripper"
+  },
+  "label_to_obj_id": {
+    "grasper:tool_body": 1,
+    "grasper:wrist": 2,
+    "grasper:left_gripper": 3,
+    "grasper:right_gripper": 4,
+    "scissors:tool_body": 5,
+    "scissors:wrist": 6,
+    "scissors:left_gripper": 7,
+    "scissors:right_gripper": 8
+  },
+  "tool_to_obj_ids": {
+    "grasper": {
+      "tool_body": 1,
+      "wrist": 2,
+      "left_gripper": 3,
+      "right_gripper": 4
+    },
+    "scissors": {
+      "tool_body": 5,
+      "wrist": 6,
+      "left_gripper": 7,
+      "right_gripper": 8
+    }
+  },
+  "obj_id_to_tool": {
+    "1": "grasper",
+    "2": "grasper",
+    "3": "grasper",
+    "4": "grasper",
+    "5": "scissors",
+    "6": "scissors",
+    "7": "scissors",
+    "8": "scissors"
+  },
+  "obj_id_to_part": {
+    "1": "tool_body",
+    "2": "wrist",
+    "3": "left_gripper",
+    "4": "right_gripper",
+    "5": "tool_body",
+    "6": "wrist",
+    "7": "left_gripper",
+    "8": "right_gripper"
+  },
+  "tools": [
+    {
+      "name": "grasper",
+      "parts": [
+        "tool_body",
+        "wrist",
+        "left_gripper",
+        "right_gripper"
+      ]
+    },
+    {
+      "name": "scissors",
+      "parts": [
+        "tool_body",
+        "wrist",
+        "left_gripper",
+        "right_gripper"
+      ]
+    }
+  ],
+  "saved_at_unix": 1769839937.7800899
+}

Surgical/utenn/surgical_video_datasets_round2_with_part_seg/meta/label_id_maps/episode_000090.json

@@ -0,0 +1,78 @@
+{
+  "background_id": 0,
+  "obj_id_to_label": {
+    "1": "grasper:tool_body",
+    "2": "grasper:wrist",
+    "3": "grasper:left_gripper",
+    "4": "grasper:right_gripper",
+    "5": "scissors:tool_body",
+    "6": "scissors:wrist",
+    "7": "scissors:left_gripper",
+    "8": "scissors:right_gripper"
+  },
+  "label_to_obj_id": {
+    "grasper:tool_body": 1,
+    "grasper:wrist": 2,
+    "grasper:left_gripper": 3,
+    "grasper:right_gripper": 4,
+    "scissors:tool_body": 5,
+    "scissors:wrist": 6,
+    "scissors:left_gripper": 7,
+    "scissors:right_gripper": 8
+  },
+  "tool_to_obj_ids": {
+    "grasper": {
+      "tool_body": 1,
+      "wrist": 2,
+      "left_gripper": 3,
+      "right_gripper": 4
+    },
+    "scissors": {
+      "tool_body": 5,
+      "wrist": 6,
+      "left_gripper": 7,
+      "right_gripper": 8
+    }
+  },
+  "obj_id_to_tool": {
+    "1": "grasper",
+    "2": "grasper",
+    "3": "grasper",
+    "4": "grasper",
+    "5": "scissors",
+    "6": "scissors",
+    "7": "scissors",
+    "8": "scissors"
+  },
+  "obj_id_to_part": {
+    "1": "tool_body",
+    "2": "wrist",
+    "3": "left_gripper",
+    "4": "right_gripper",
+    "5": "tool_body",
+    "6": "wrist",
+    "7": "left_gripper",
+    "8": "right_gripper"
+  },
+  "tools": [
+    {
+      "name": "grasper",
+      "parts": [
+        "tool_body",
+        "wrist",
+        "left_gripper",
+        "right_gripper"
+      ]
+    },
+    {
+      "name": "scissors",
+      "parts": [
+        "tool_body",
+        "wrist",
+        "left_gripper",
+        "right_gripper"
+      ]
+    }
+  ],
+  "saved_at_unix": 1769839961.0450397
+}

Surgical/utenn/surgical_video_datasets_round2_with_part_seg/meta/label_id_maps/episode_000092.json

@@ -0,0 +1,78 @@
+{
+  "background_id": 0,
+  "obj_id_to_label": {
+    "1": "grasper:tool_body",
+    "2": "grasper:wrist",
+    "3": "grasper:left_gripper",
+    "4": "grasper:right_gripper",
+    "5": "hook:tool_body",
+    "6": "hook:wrist",
+    "7": "hook:left_gripper",
+    "8": "hook:right_gripper"
+  },
+  "label_to_obj_id": {
+    "grasper:tool_body": 1,
+    "grasper:wrist": 2,
+    "grasper:left_gripper": 3,
+    "grasper:right_gripper": 4,
+    "hook:tool_body": 5,
+    "hook:wrist": 6,
+    "hook:left_gripper": 7,
+    "hook:right_gripper": 8
+  },
+  "tool_to_obj_ids": {
+    "grasper": {
+      "tool_body": 1,
+      "wrist": 2,
+      "left_gripper": 3,
+      "right_gripper": 4
+    },
+    "hook": {
+      "tool_body": 5,
+      "wrist": 6,
+      "left_gripper": 7,
+      "right_gripper": 8
+    }
+  },
+  "obj_id_to_tool": {
+    "1": "grasper",
+    "2": "grasper",
+    "3": "grasper",
+    "4": "grasper",
+    "5": "hook",
+    "6": "hook",
+    "7": "hook",
+    "8": "hook"
+  },
+  "obj_id_to_part": {
+    "1": "tool_body",
+    "2": "wrist",
+    "3": "left_gripper",
+    "4": "right_gripper",
+    "5": "tool_body",
+    "6": "wrist",
+    "7": "left_gripper",
+    "8": "right_gripper"
+  },
+  "tools": [
+    {
+      "name": "grasper",
+      "parts": [
+        "tool_body",
+        "wrist",
+        "left_gripper",
+        "right_gripper"
+      ]
+    },
+    {
+      "name": "hook",
+      "parts": [
+        "tool_body",
+        "wrist",
+        "left_gripper",
+        "right_gripper"
+      ]
+    }
+  ],
+  "saved_at_unix": 1769840128.3507943
+}

Surgical/utenn/surgical_video_datasets_round2_with_part_seg/meta/label_id_maps/episode_000095.json

@@ -0,0 +1,47 @@
+{
+  "background_id": 0,
+  "obj_id_to_label": {
+    "1": "scissors:tool_body",
+    "2": "scissors:wrist",
+    "3": "scissors:left_gripper",
+    "4": "scissors:right_gripper"
+  },
+  "label_to_obj_id": {
+    "scissors:tool_body": 1,
+    "scissors:wrist": 2,
+    "scissors:left_gripper": 3,
+    "scissors:right_gripper": 4
+  },
+  "tool_to_obj_ids": {
+    "scissors": {
+      "tool_body": 1,
+      "wrist": 2,
+      "left_gripper": 3,
+      "right_gripper": 4
+    }
+  },
+  "obj_id_to_tool": {
+    "1": "scissors",
+    "2": "scissors",
+    "3": "scissors",
+    "4": "scissors"
+  },
+  "obj_id_to_part": {
+    "1": "tool_body",
+    "2": "wrist",
+    "3": "left_gripper",
+    "4": "right_gripper"
+  },
+  "tools": [
+    {
+      "name": "scissors",
+      "parts": [
+        "tool_body",
+        "wrist",
+        "left_gripper",
+        "right_gripper"
+      ]
+    }
+  ],
+  "saved_at_unix": 1769840766.7221808
+}

Surgical/utenn/surgical_video_datasets_round2_with_part_seg/meta/tasks.jsonl

@@ -0,0 +1,7 @@
+{"task_index": 0, "task": "ENERGY_WORK"}
+{"task_index": 1, "task": "PREPARE"}
+{"task_index": 2, "task": "PULLING"}
+{"task_index": 3, "task": "SPLITTING"}
+{"task_index": 4, "task": "STATIC"}
+{"task_index": 5, "task": "ZOOM_IN"}
+{"task_index": 6, "task": "ZOOM_OUT"}

Surgical/utenn/surgical_video_datasets_round2_with_part_seg/meta/tool_slot_maps.jsonl

@@ -0,0 +1,101 @@
+{"episode_index": 0, "clip_id": "1_3zEyp5OT", "task": "ENERGY_WORK", "tool_order": ["grasper", "hook"], "tool_name_to_slot": {"grasper": 0, "hook": 1}}
+{"episode_index": 1, "clip_id": "1_7fJfrPJ7", "task": "ENERGY_WORK", "tool_order": ["scissors"], "tool_name_to_slot": {"scissors": 0}}
+{"episode_index": 2, "clip_id": "1_Dzr3eDeE", "task": "ENERGY_WORK", "tool_order": ["hook"], "tool_name_to_slot": {"hook": 0}}
+{"episode_index": 3, "clip_id": "1_LyrCBW26", "task": "ENERGY_WORK", "tool_order": ["grasper", "hook"], "tool_name_to_slot": {"grasper": 0, "hook": 1}}
+{"episode_index": 4, "clip_id": "1_XHjbXQTb", "task": "ENERGY_WORK", "tool_order": ["grasper", "scissors"], "tool_name_to_slot": {"grasper": 0, "scissors": 1}}
+{"episode_index": 5, "clip_id": "1_ZSjL3pNG", "task": "ENERGY_WORK", "tool_order": ["scissors"], "tool_name_to_slot": {"scissors": 0}}
+{"episode_index": 6, "clip_id": "1_eCfO9PIA", "task": "ENERGY_WORK", "tool_order": ["grasper", "scissors"], "tool_name_to_slot": {"grasper": 0, "scissors": 1}}
+{"episode_index": 7, "clip_id": "1_ihEhr17I", "task": "ENERGY_WORK", "tool_order": ["grasper", "scissors"], "tool_name_to_slot": {"grasper": 0, "scissors": 1}}
+{"episode_index": 8, "clip_id": "1_ilwQwWVG", "task": "ENERGY_WORK", "tool_order": ["grasper", "scissors"], "tool_name_to_slot": {"grasper": 0, "scissors": 1}}
+{"episode_index": 9, "clip_id": "1_kMMfZEyA", "task": "ENERGY_WORK", "tool_order": ["grasper", "scissors"], "tool_name_to_slot": {"grasper": 0, "scissors": 1}}
+{"episode_index": 10, "clip_id": "1_l8yTVDpE", "task": "ENERGY_WORK", "tool_order": ["scissors"], "tool_name_to_slot": {"scissors": 0}}
+{"episode_index": 11, "clip_id": "1_lk4MzDLS", "task": "ENERGY_WORK", "tool_order": ["scissors"], "tool_name_to_slot": {"scissors": 0}}
+{"episode_index": 12, "clip_id": "1_wbNZsjBI", "task": "ENERGY_WORK", "tool_order": ["grasper", "scissors"], "tool_name_to_slot": {"grasper": 0, "scissors": 1}}
+{"episode_index": 13, "clip_id": "1_y6nO7JJA", "task": "ENERGY_WORK", "tool_order": ["scissors"], "tool_name_to_slot": {"scissors": 0}}
+{"episode_index": 14, "clip_id": "1_1jlvzsGo", "task": "PREPARE", "tool_order": ["scissors"], "tool_name_to_slot": {"scissors": 0}}
+{"episode_index": 15, "clip_id": "1_DpVk2qHP", "task": "PREPARE", "tool_order": ["scissors"], "tool_name_to_slot": {"scissors": 0}}
+{"episode_index": 16, "clip_id": "1_IOGIBkGA", "task": "PREPARE", "tool_order": ["scissors"], "tool_name_to_slot": {"scissors": 0}}
+{"episode_index": 17, "clip_id": "1_MUq1BBM9", "task": "PREPARE", "tool_order": ["clip_applier"], "tool_name_to_slot": {"clip_applier": 0}}
+{"episode_index": 18, "clip_id": "1_Wk6hsI1U", "task": "PREPARE", "tool_order": ["grasper", "hook"], "tool_name_to_slot": {"grasper": 0, "hook": 1}}
+{"episode_index": 19, "clip_id": "1_XjxB57uX", "task": "PREPARE", "tool_order": ["clip_applier", "grasper"], "tool_name_to_slot": {"clip_applier": 0, "grasper": 1}}
+{"episode_index": 20, "clip_id": "1_c8yY53Lz", "task": "PREPARE", "tool_order": ["grasper", "scissors"], "tool_name_to_slot": {"grasper": 0, "scissors": 1}}
+{"episode_index": 21, "clip_id": "1_hxalgUX6", "task": "PREPARE", "tool_order": ["hook"], "tool_name_to_slot": {"hook": 0}}
+{"episode_index": 22, "clip_id": "1_iiM2IRO8", "task": "PREPARE", "tool_order": ["scissors"], "tool_name_to_slot": {"scissors": 0}}
+{"episode_index": 23, "clip_id": "1_kSJWUi5p", "task": "PREPARE", "tool_order": ["grasper", "hook"], "tool_name_to_slot": {"grasper": 0, "hook": 1}}
+{"episode_index": 24, "clip_id": "1_sNU0E4c1", "task": "PREPARE", "tool_order": ["scissors"], "tool_name_to_slot": {"scissors": 0}}
+{"episode_index": 25, "clip_id": "1_vthAu18D", "task": "PREPARE", "tool_order": ["scissors"], "tool_name_to_slot": {"scissors": 0}}
+{"episode_index": 26, "clip_id": "1_64qK2pjg", "task": "PULLING", "tool_order": ["grasper", "scissor"], "tool_name_to_slot": {"grasper": 0, "scissor": 1}}
+{"episode_index": 27, "clip_id": "1_AegGa2hd", "task": "PULLING", "tool_order": ["grasper", "scissor"], "tool_name_to_slot": {"grasper": 0, "scissor": 1}}
+{"episode_index": 28, "clip_id": "1_EdXOg3c8", "task": "PULLING", "tool_order": ["grasper", "hook"], "tool_name_to_slot": {"grasper": 0, "hook": 1}}
+{"episode_index": 29, "clip_id": "1_TKHjPziW", "task": "PULLING", "tool_order": ["grasper", "grasper2", "scissors"], "tool_name_to_slot": {"grasper": 0, "grasper2": 1, "scissors": 2}}
+{"episode_index": 30, "clip_id": "1_Ta8kNiA8", "task": "PULLING", "tool_order": ["grasper", "hook"], "tool_name_to_slot": {"grasper": 0, "hook": 1}}
+{"episode_index": 31, "clip_id": "1_XwXTP6St", "task": "PULLING", "tool_order": ["grasper", "scissors"], "tool_name_to_slot": {"grasper": 0, "scissors": 1}}
+{"episode_index": 32, "clip_id": "1_ctLWz0ux", "task": "PULLING", "tool_order": ["grasper", "scissor"], "tool_name_to_slot": {"grasper": 0, "scissor": 1}}
+{"episode_index": 33, "clip_id": "1_hBFvSegs", "task": "PULLING", "tool_order": ["grasper", "grasper2", "hook"], "tool_name_to_slot": {"grasper": 0, "grasper2": 1, "hook": 2}}
+{"episode_index": 34, "clip_id": "1_q1LwTyeN", "task": "PULLING", "tool_order": ["clip_applier", "grasper"], "tool_name_to_slot": {"clip_applier": 0, "grasper": 1}}
+{"episode_index": 35, "clip_id": "1_t5qGRj9I", "task": "PULLING", "tool_order": ["grasper", "hook"], "tool_name_to_slot": {"grasper": 0, "hook": 1}}
+{"episode_index": 36, "clip_id": "1_xVtDCRUX", "task": "PULLING", "tool_order": ["grasper", "hook"], "tool_name_to_slot": {"grasper": 0, "hook": 1}}
+{"episode_index": 37, "clip_id": "1_4X24PoYc", "task": "SPLITTING", "tool_order": ["grasper", "hook"], "tool_name_to_slot": {"grasper": 0, "hook": 1}}
+{"episode_index": 38, "clip_id": "1_5N7K3ylC", "task": "SPLITTING", "tool_order": ["hook"], "tool_name_to_slot": {"hook": 0}}
+{"episode_index": 39, "clip_id": "1_5hXE9zQF", "task": "SPLITTING", "tool_order": ["hook"], "tool_name_to_slot": {"hook": 0}}
+{"episode_index": 40, "clip_id": "1_5vXB30KW", "task": "SPLITTING", "tool_order": ["grasper", "hook"], "tool_name_to_slot": {"grasper": 0, "hook": 1}}
+{"episode_index": 41, "clip_id": "1_8i0HVHLr", "task": "SPLITTING", "tool_order": ["grasper", "hook"], "tool_name_to_slot": {"grasper": 0, "hook": 1}}
+{"episode_index": 42, "clip_id": "1_B48rX5Pz", "task": "SPLITTING", "tool_order": ["hook"], "tool_name_to_slot": {"hook": 0}}
+{"episode_index": 43, "clip_id": "1_DLjMek1q", "task": "SPLITTING", "tool_order": ["hook"], "tool_name_to_slot": {"hook": 0}}
+{"episode_index": 44, "clip_id": "1_F1EqytYK", "task": "SPLITTING", "tool_order": ["grasper", "hook"], "tool_name_to_slot": {"grasper": 0, "hook": 1}}
+{"episode_index": 45, "clip_id": "1_GyObjmn1", "task": "SPLITTING", "tool_order": ["hook"], "tool_name_to_slot": {"hook": 0}}
+{"episode_index": 46, "clip_id": "1_J4uX8vUX", "task": "SPLITTING", "tool_order": ["scissors"], "tool_name_to_slot": {"scissors": 0}}
+{"episode_index": 47, "clip_id": "1_LeudbXHM", "task": "SPLITTING", "tool_order": ["grasper", "hook"], "tool_name_to_slot": {"grasper": 0, "hook": 1}}
+{"episode_index": 48, "clip_id": "1_Nw2CgLLx", "task": "SPLITTING", "tool_order": ["grasper", "hook"], "tool_name_to_slot": {"grasper": 0, "hook": 1}}
+{"episode_index": 49, "clip_id": "1_QafXVIbt", "task": "SPLITTING", "tool_order": ["hook"], "tool_name_to_slot": {"hook": 0}}
+{"episode_index": 50, "clip_id": "1_XsPxBS1w", "task": "SPLITTING", "tool_order": ["scissors"], "tool_name_to_slot": {"scissors": 0}}
+{"episode_index": 51, "clip_id": "1_YBcIZ8Qi", "task": "SPLITTING", "tool_order": ["scissors"], "tool_name_to_slot": {"scissors": 0}}
+{"episode_index": 52, "clip_id": "1_ZaXGanvF", "task": "SPLITTING", "tool_order": ["grasper", "hook"], "tool_name_to_slot": {"grasper": 0, "hook": 1}}
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