I have problem in retargeting the wrist joint

[Dsixy]

I use the global orientation to represent the rotation matrix of the wrist joint as follows:

where the $^{base}{wrist}R$ is the global orient, the $^{elbow}{wrist}R$ is calculated by the fk chain:

then we get the local rotation mat of wrist.
however, when we render the action series, we found the error:


the wrists fold in weird styles.

[Dsixy]

and I am weird about the coordinates of the global orient. what is the hand looks like when global orient is zero?

[geopavlakos]

We haven't implemented that, but it should hopefully work. It's possible that your bug is related to not considering the global orientation of the human or the hand.