Question about the retarget logic

[xbkaishui]

Thanks for your great work. I have some question about the retarget implement,
where is the code for finger tip retarget logic, how to retarget wrist position between robot and real person?

Thanks

[j96w]

hi, you can find our fingertip IK script here. We separate the retargeting of the wrist and fingers. We first perform end-effector position control to let robot reach the palm pose captured from human data (wrist camera frame), and then we execute fingertip IK within the wrist frame

[xbkaishui]

thanks， how is the wrist camera frame mapping to end-effector position？ in the paper the world frame is top T265 camera, how to transform the robot frame into the world frame?