Question on processing data for GrabNet

[yj7082126]

Hello,
Thank you for the great work! I have been studying this dataset and the associated GrabNet for hand-object interaction, and I tried to replicate the data preparation step for Grabnet, as written in the original paper.

According to the paper, the following rules were applied:
(i) The right hand should be in contact.
(ii) The left hand should not have any contact.
(iii) The object’s vertical position should be at least 5 mm different from its initial one (i.e. it should be lifted from the resting table).
(iv) The right thumb and at least one more finger should be in contact.
(v) A finger is considered a contacting finger, when it is in contact with at least 50 object vertices

While I can check if whether the left and/or right hand is in contact with the object, according to the MANO vertices,
I wonder how I can check rule iv: if the "thumb" and "at least one more finger" should be in contact.
Is there a MANO-vertices segmentation map somewhere? If so, would you mind sharing the annotation map information?

I would also like to know how to exactly calcuate the object's vertical position.

Thanks in advance,