VEX Attributes In Use, KineFX
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Quick look into https://www.sidefx.com/docs/houdini/character/kinefx/skeletons.html
https://www.sidefx.com/docs/houdini/character/kinefx/retargeting.html
Rotating the 4@localtransform of a joint chain results in a cumulative transformation, each joint inherits the transforms of it's parents.