Addition of root_pos_offset twice in retargeting

[RaiAnant]

Hi,

I was trying to understand the logic behind the retargeting code in fit_smpl_motion.py. I was confused as to why are we adding root_pos_offset twice after the otptimisation loop when passing root_translation to fk_batch.

First we compute root_trans_offset_dump here by adding root_pos_offset to root_trans_offset.

But then later when running forward kinematics, we again add root_pos_offset to root_trans_offset_dump here

Would really love some clarification to this. Thanks!

[tesslerc]

Indeed this looks like a mistake.
If you remove the second one does it lead to any issues?

[RaiAnant]

I tried to remove it and test it on a couple of examples but it didnt make a lot of difference, probably because in those cases root_pos_offset was relatively very small compared to root_trans_offset. Still wanted to double check the logic.