finetune robot data

[aiaini66]

First of all, thank you very much for making such an excellent piece of work open-source for everyone to learn from and reference. I intend to fine-tune it using real robot data, and I would like to ask: how can we obtain the 10-dimensional beta data in the MANO parameters for a robot dexterous hand? Can it be acquired directly via the MANO model itself?

[YuDeng]

While our human hand dataloader includes the beta parameter representing hand shape, we do not use this information during pretraining or finetuning. Therefore, it is not necessary to fit MANO shape parameters for the robot hand.