Anatomy basis on the Left Hand

[cavalleria]

我发现右手的三个轴拇指是符合生理学的，但是左手拇指好像不太符合

[cavalleria]

我把左手的拇指三个轴改成（-1,1,1）看起来可以了

[cavalleria]

还有个问题，左手手腕的轴和其他手指也不太一样，可以把这儿的b_axis_init改成（-1，0，0）https://github.com/lixiny/manotorch/blob/5738d327a343e7533ad60da64d1629cedb5ae9e7/manotorch/axislayer.py#L37C10-L37C10

[LongIslandWithoutIceTea]

I encountered similar issues and I have applied a solution only on the left hand:

1. Set b_axis_init (at least the one that corresponds to the root joint) to (-1, 0, 0)
2. Multiply the first dimension of up_axis_base with -1 (since I have changed the up_axis_base according to my own need)

Maybe I can create a PR for this fix

[lixiny]

Thanks for your discussion.

Indeed, current anatomy basis in manotorch only works for right hand.
However, you already find a solution for the left hand. 😸

[liangzhenghao2000]

可能是原mano文件的问题？有带shape吗？vchoutas/smplx#48

[lixiny]

manotorch's anatomical system now support Left Hand