manotorch

lixiny

A differentiable MANO hand-model layer with anatomical hand utilities in PyTorch.

What you can explore

Explore human hand pose and shape representations before retargeting to a robot.

Before you use it

MANO model files must be obtained under their own agreement. A human model does not describe robot joints or actuator limits.

Original contributors

Lixin Yang and contributors

License / access: Code: Apache 2.0 · MANO models have separate, restricted terms

Original code & documentation

Editorial reference · checked 2026-09-22