the question about the xhand_human_mapping

[TengyueJiang]

Can you detailed tell me how to get the xhand_human_mapping?Thank you
XHAND_HUMAN_MAPPING = [
(10, 8, 1),
(11, 14, 1),
(12, 17, 1),
(13, 23, 1),
(16, 26, 1),
(17, 32, 1),
(14, 35, 1),
(15, 41, 1),
(7, 43, -1),
(6, 44, 1),
(8, 46, -1),
(9, 7, 1),
]

[arnoldland]

We visualized the different degrees of freedom of the MANO model to determine which MANO parameters correspond to specific joints and to identify the orientation of each joint’s rotation axis (including positive directions). Based on this analysis, we then semantically aligned the actively actuated DoF of XHand with the corresponding joints and rotation axes.

For example:
(7, 43, −1) indicates that the rotation controlled by the 7th actuated DoF of XHand corresponds to the negative direction of the rotation axis of the 43rd dimension in our MANO action space.