As shown in a post from 2022, local_orientation_per_joint did not contain all the joints. For the upper body, only the bigger joints like shoulder, elbow are supported. I would like to know what is the current status of this variable? Is it able to support more joints?
Based on my own experiment, wrist may not be supported yet since the local_orientation_per_joint of 14 (right wrist) keeps giving [0, 0, 0, 1] for all timesteps.