Retargeting sets initial robot poses from bone directions in tracked hand-object motion, and a fixed shared mesh constrains local-relation optimization. A different policy then tracks the robot reference. The mesh is an example, not measured contacts or optimizer iterations.
The author made this diagram from the source figure. Retargeting uses bone directions to set initial robot poses. Fixed shared-mesh relations constrain reference optimization. Policy tracking is a different subsequent stage. The example mesh keeps the same geometry. The diagram does not show optimization iterations, measured contacts or robot-result footage. Open full-size SVG