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Retargeting animation pose during runtime?

Basically, I want to take an animation, like picking up an object (the hand extends outward at chest level, fingers close, hand returns to side) and at runtime, change the hand’s target location so it can pick up an object anywhere I tell it to. Assume rest of body is stationary and object is within arm’s length.

Is there a name for this? How would I go about doing this? Do I do this with a Control Rig? I watched the ‘Animating with the Control Rig Sample Project | Inside Unreal’ video and when they talk about dynamic motion (@1:15:55), it seems to allude to this.

I would appreciate any ideas on how to achieve this or to let me know of alternatives.

You can do this using IK.

More details here,