doctorbob

// extract a named bone transform from agents
p@orient = 0;
i@agentId = @ptnum;
s@boneName = 'None';

//get agents rig transforms and names
matrix agent_transforms[] = agentworldtransforms(0, @ptnum);
string agent_transform_names[] = agenttransformnames(0, @ptnum);

//get agent transform
matrix agent_xform = primintrinsic(0, 'packedfulltransform', @ptnum);

string bone = "r_wrist_01";
int idx = agentrigfind(0, @primnum, bone);
if (idx >= 0) {
  matrix boneMat = agentworldtransform(0, @primnum, idx);

  //get pos
  vector pos = {0,0,0} * boneMat;

  //add point at joint position + add agent xform
  int virtual_pointnum = addpoint(0 , pos *=agent_xform);

  //get orient + add agent xform
  matrix3 rotmat = polardecomp(matrix3(boneMat*agent_xform));
  vector4 qrot = quaternion(rotmat);

  int set_bonename = setpointattrib(0,'boneName', virtual_pointnum , bone);
  int set_orient = setpointattrib(0,'orient', virtual_pointnum , qrot);
  int set_charId = setpointattrib(0,'agentId', virtual_pointnum , @ptnum);


}
removepoint(0, @ptnum);