Animating a handshake realtime

[vr_boyko]

I am trying to animate the handshake of an avatar. I am using a custom API to get data from a force-feedback joystick, but once I get the numbers (e.g. position) I have a problem with the actual translation/ rotation of the avatar's hand. Is there an easy way to do this that also would look good/natural? I have tried rotating various bones (after locking them) but that doesn't seem to work + it would be very difficult to compute the joint angles from the position of the hand. Is there something akin to handBone.translate(x,y,z) that will more the rest of the arm with the hand bone?