https://www.youtube.com/watch?v=Sxd2YVUabmQ
I asked AI to write a monologue about cookies.

You used All of these modern character animation tools

yet you failed to use the edit motion layer feature of iclone to fix the hands penetrating the body.

RAG DOLL COLLISION ANIMATIONS FOR ICLONE 8 & 7
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Ghost Origins

My latest Feature length film created with Iclone.

My IMDB listing
Anabran Abdhul Quarnain - IMDb

Yeah, those hand could be SO easily fixed.

If the OP was using a PN suit (he says "Noitom+ Rokoko" so I don't know exactly what tools he's using but the advice will apply to almost any mocap) you need to be sure to keep your arms AWAY from your body when performing.  This is a very rookie mistake a lot of mocap folks make.

You can fix it in post - just take about 20 seconds to edit the motion layer at the START of the motion, select both shoulders, and rotate out slightly.  But it's VERY sloppy not to do this - takes so little time to do it right.

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Alienware Aurora R16, Win 11, i9-149000KF, 3.20GHz CPU, 64GB RAM, RTX 4090 (24GB), Samsung 870 Pro 8TB, Gen3 MVNe M-2 SSD, 4TBx2, 39" Alienware Widescreen Monitor
Mike "ex-genius" Kelley