smpl_body_model: None # _DATA/data/mano

offsets: 
    right: [[ 0.0957,  0.0064,  0.0062],
        [ 0.0076,  0.0012,  0.0269],
        [-0.0251,  0.0052,  0.0291],
        [-0.0473,  0.0039,  0.0290],
        [ 0.0010,  0.0049,  0.0028],
        [-0.0302,  0.0068, -0.0028],
        [-0.0531,  0.0055, -0.0067],
        [ 0.0269, -0.0036, -0.0370],
        [ 0.0099, -0.0035, -0.0495],
        [-0.0060, -0.0042, -0.0599],
        [ 0.0139,  0.0024, -0.0205],
        [-0.0144,  0.0045, -0.0256],
        [-0.0379,  0.0028, -0.0332],
        [ 0.0716, -0.0091,  0.0320],
        [ 0.0519, -0.0082,  0.0557],
        [ 0.0297, -0.0137,  0.0702]]
    

    left: [
        [-0.000876,  0.909315,  0.027821],
        [ 0.071361, -0.089584, -0.008046],
        [ 0.030669, -0.364209, -0.006689],
        [-0.011554, -0.383348, -0.043502],
        [ 0.023338, -0.054645,  0.114370],
        [-0.069012, -0.088960, -0.004796],
        [-0.036152, -0.370650, -0.009185],
        [ 0.014029, -0.383638, -0.041892],
        [-0.022043, -0.046410,  0.117900],
        [-0.002508,  0.103257, -0.022185],
        [ 0.003581,  0.127658, -0.001713],
        [ 0.002027,  0.049072,  0.027867],
        [-0.001963,  0.208243, -0.049765],
        [ 0.003517,  0.062322,  0.050205],
        [ 0.075298,  0.117780, -0.036875],
        [ 0.085317,  0.031739, -0.007293],
        [ 0.251247, -0.011967, -0.027518],
        [ 0.238019,  0.009007,  0.000044],
        [ 0.079668, -0.009683, -0.013206],
        [-0.077033,  0.115606, -0.041811],
        [-0.089203,  0.032785, -0.009802],
        [-0.245990, -0.013152, -0.020162],
        [-0.245177,  0.008622, -0.003532],
        [-0.080400, -0.007248, -0.010419]
    ]

parents: [-1, 0, 1, 2, 0, 4, 5, 0, 7, 8, 0, 10, 11, 0, 13, 14]    

joint_names: ['wrist', 'index1', 'index2', 'index3', 'middle1', 'middle2', 'middle3', 'pinky1', 'pinky2', 'pinky3', 
                'ring1', 'ring2', 'ring3', 'thumb1', 'thumb2', 'thumb3']


joints_to_use: [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15]

leaf_joints: [16, 17, 18, 19, 20]

wrist_index: [0]