The rotation output of the left shoulder is incorrect

[DreamerYinYu]

I am using OpenVRSDK to retrieve tracker data. Only the rotation output from the left shoulder is incorrect. Look at my screenshot, when I raise my hands, the rotation of the right shoulder joint is correct, but the rotation of the left shoulder joint is incorrect. Please confirm if it is a bug in OpenVR?

[Rectus]

Is it showing the same orientation in the SteamVR compositor with no game running?

If you are using a third-party driver to emulate trackers, it's more likely an issue with the driver than SteamVR.

[DreamerYinYu]

Hello, I have recorded a video. I am using PICO 4Ultra and two trackers, integrating OpenVR SDK into Unreal Engine to obtain whole-body joint point data.
In the video, when I raise my right hand, I can see the right shoulder joint point rotating upwards with my right hand. But when I raised my left hand, the left shoulder joint did not rotate upwards with my left hand. May I ask what could be causing this? Thank you

Video URL:https://www.bilibili.com/video/BV1Rk81zjE7p/?spm_id_from=333.1387.upload.video_card.click&vd_source=6fee67b1d02c5e853ed4cea40492570d

[Rectus]

The SteamVR tracker system works by receiving individual tracker positions from the OpenVR driver interface, and passing them on to the application interface. They work the same way as motion controllers. Every tracker acts independently from the others without any joint hierarchy. There should not be anything that would be able to cause the pose to rotate like that in the SteamVR software.

It seems like the Pico software is using inverse kinematics to emulate the poses for any untracked joints and passing them in as individual tracked devices to SteamVR. The bug is most likely with the IK calculation in the Pico software.