Hi Samarth,
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I have one more question, it would be a great help if you could clarify it as well. Thanks in Advance! 
1. I see there are only 6 mano_fits_**.json given for each sequence. How can we obtain the mano parameters of hand in each frame? More precisely, Is there a way to get mano axis angle parameters for each frame in the contactpoose dataset?
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Looking forward to hearing from you!

Hi Anil,
 
Those 6 json files represent 6 different MANO parameter sizes. The MANO model allows you to represent the hand pose with different parameter sizes through PCA.
 
They don't correspond to frame numbers.
 
Regardless of which one you choose from those 6, you can get that hand model for each frame in the sequence. Please see the [mano_meshes()](https://github.com/facebookresearch/ContactPose/blob/main/utilities/dataset.py#L300) function of the ContactPose dataset.
 
These meshes are in the object coordinate frame. Then you can use [ContactPose.object_pose()](https://github.com/facebookresearch/ContactPose/blob/main/utilities/dataset.py#L278) to transform them into the camera coordinate frame.
 
You can see a working example of all this in [this demo notebook](https://github.com/facebookresearch/ContactPose/blob/main/rendering.ipynb), where the posed MANO meshes are used to render hand masks in the image.
 
Please use GitHub issues for these questions, so the answers are publicly documented and others can see them later if they have the same questions.