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The ErgoWarp has finger joint lengths as parameters. But it seems to me to be numerically fragile, and even after being based on hand measurements and some kind of fancy interpolation, it still has a section for tweaks. That means the fancy math isn't quite good enough to directly generate a perfect keyboard!
I've made some initial attempts at photogrammetry, using TeleSculptor. But I haven't gotten far. There are DIY 3D scanner setups, and some kind of phone apps.
For measuring your hand, Google has a machine learning model for hand pose that gives you the joint positions. It's not a full mesh like other tools and it's only a library so you'd have to build a small app around it, yet it's surprisingly accurate. I'm planning on integrating this into the next version of my generator, but it'll likely take a few months to implement & test. If you're interested you can follow the progress.