pose in constrained supr hand

[yao5401]

When I use constrained hand model, I found hand mesh is not anatomical. I tried change the pose param of middle finger, but it is difficult to get a reasonable pose(espically when z axis value of mcp is ). It seems axes is not correct.
pose param: [0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 1.5030, 0.0246, 1.0595, 1.6755, 1.3228, 0.0000, 0.9412, 2.0223, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000]

I also have some quesetion about torch implementation:

1. https://github.com/ahmedosman/SUPR/blob/40e81d4b76eadb4c17de3cdfa2233c5cfe1b3654/supr/pytorch/utils.py#LL61 quat_feat() compute the normalized quat, why the res is v_cos-1.
2. torch_compute_rot_hinge is similar with formula, except the sign. If change the axes orientation, maybe this could be replaced by rodrigues.
3. quat2mat is Hamilton quat representation , while quat_feat is JPL. Why use two different representation in the code.

Hope for your relpy.