lixiny / manotorch Goto Github PK

Hi, I just want to ask that, with AxisLayerFK.compose I can transfer anatomy aligned euler angles to original mano pose. Is there anyway back?

Hi! According to the following image, it seems you assign each vertex with a region id to define the 17 diffrent regions. However, I cannot find the vertex_to_region mapping assets. Can you kindly explain how to get region_id of each vertex? Thanks in advance!

Thanks for your great work.
As in the paper, b_axis is computed by (child_joint - current_joint),
But in axislayer.py, transf[..., :3, :3](which seems to be global rot?) mul b_axis after that. Is it for translating b_axis local to global? As axis-angle in local, why trans b_axis to global. I tried remove this operation and found the axis weired(b_axis not direct its child).
In skinlayer, output joints isn't same as mano joints. So how to use the fit result in usual MANO.
I'm confused as a new learner. Hope for your reply!

Your outstanding research work is wonderful!

I am trying to obtain the parameters of mano with optimization method(LM)

But the optimized joint_rotation and shape_parameter are very weird, unnatural. I see that you mentioned anatomical constraints.
avoid hand pose abnormality during learning or fitting by applying anatomically constraints on rotation axes and angles.

I am very interested. Could you share relevant informations or papers for anatomical constraints.

Thank you

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

Hi @lixiny , thanks for your great work! Is this method helpful for solving ik? I solve hand joints rotation according to Hybrik method, but it has abnormal pose when the axis angle is close to zero.

Hi @lixiny , thanks for your great work! I have some minor questions about AxisLayerFK.

1. Could you please explain the abbr. in axislayer.py (e.g. TMPL_R_p_a)? What is the full namep and a.

2. The thumb of the AxisAdaptiveLayer initially selected (1,1,1) as the basis of manual selection for subsequent orthogonalization. Does this choice affect the overall local basis of the final Anatomy?

3. I noticed that the plausibility of AxisLayerFK output depends on the local coordinate frames of AxisAdaptiveLayer. AxisAdaptiveLayer is constructed based on pose==0, shape==0. Does the shape affect the positional relationship of MANO's fingers in the rest pose? For example, very extreme big hands or small hands. Will the gap between the basis obtained by initializing with shape=0 and the actual anatomy basis(with shape!=0) affect the rationality of the local euler angle output by AxisLayerFK?

Thanks for your great work!
I want to apply transformation including translation and rotation to the hand model parameterized by manotorch, and keep the shape of the hand unchanged. I know that I can change the hand_tsl paramaters to apply translation, but how to apply rotation by just change the 61 paramaters, given euler angles?

where can I find the specific defination of each local frame in this MANO code？

I'm trying to convert (rotation angles,size of the rigid body) to mano-hand mesh using the mano-layer you provided.
But my definition of hand asset is in mujoco (.xml) format and definition of rotation is in (rotation angles of the joints around local x,y,z axis)
So in order to apply the model you provided to my data,I need to figure out the exact definition of shape and pose parameter of manolayer.

Could you please provide me with the exact definition or provide me with some material related to it.
Thanks a lot!

Hi lixiny
I have a question about the mano skeleton joints and the OpenXR standard. We know that mano has 21 skeleton joints (as shown in the first image), but the OpenXR standard has 26 skeleton joints (as shown in the second image). Is there a way to generate the additional 5 skeleton joints based on mano? thanks~~

when I try to run pip install.

Processing /home/preston/Git/manotorch
Preparing metadata (setup.py) ... error
error: subprocess-exited-with-error

× python setup.py egg_info did not run successfully.
│ exit code: 1
╰─> [20 lines of output]
Traceback (most recent call last):
File "", line 2, in
File "", line 34, in
File "/home/preston/Git/manotorch/setup.py", line 36, in
check_dependencies()
File "/home/preston/Git/manotorch/setup.py", line 23, in check_dependencies
import(package_name)
File "/home/preston/miniconda3/envs/manotorch/lib/python3.11/site-packages/chumpy/init.py", line 1, in
from .ch import *
File "/home/preston/miniconda3/envs/manotorch/lib/python3.11/site-packages/chumpy/ch.py", line 1319, in
from . import linalg
File "/home/preston/miniconda3/envs/manotorch/lib/python3.11/site-packages/chumpy/linalg.py", line 178, in
class SvdD(Ch):
File "/home/preston/miniconda3/envs/manotorch/lib/python3.11/site-packages/chumpy/linalg.py", line 181, in SvdD
@depends_on('x')
^^^^^^^^^^^^^^^
File "/home/preston/miniconda3/envs/manotorch/lib/python3.11/site-packages/chumpy/ch.py", line 1203, in _depends_on
want_out = 'out' in inspect.getargspec(func).args
^^^^^^^^^^^^^^^^^^
AttributeError: module 'inspect' has no attribute 'getargspec'. Did you mean: 'getargs'?
[end of output]

note: This error originates from a subprocess, and is likely not a problem with pip.
error: metadata-generation-failed

× Encountered error while generating package metadata.
╰─> See above for output.

note: This is an issue with the package mentioned above, not pip.
hint: See above for details.