Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

How to Include 'jaw' Joint and Eye Joints in a Kinematic Chain? #17

Open
XGraphKhipu opened this issue Apr 20, 2024 · 0 comments
Open

Comments

@XGraphKhipu
Copy link

XGraphKhipu commented Apr 20, 2024

Hello,
I am currently working with a kinematic chain represented by lists of joint indices in Python, similar to the following example:

t2m_kinematic_chain = [
[0, 2, 5, 8, 11], # pelvis --> right_hip ---> right_knee ---> right_ankle ---> right_foot
[0, 1, 4, 7, 10], # pelvis ---> left_hip ---> left_knee ---> left_ankle ---> left_foot
[0, 3, 6, 9, 12, 15], # pelvis ---> spine1 ---> spine2 ---> spine3 ---> neck ---> head
[9, 14, 17, 19, 21], # spine3 ---> right_collar ---> right_shoulder ---> right_elbow ---> right_wrist
[9, 13, 16, 18, 20] # spine3 ---> left_collar ---> left_shoulder ---> left_elbow ---> left_wrist
]

Now, I want to include the 'jaw' joint (index 22) and the eye joints (indices 23 and 24) into this kinematic chain. I'm unsure about the connection between the 'jaw' joint and the 'head' joint (index 15). How should I modify the kinematic chain to include these joints properly? Should I connect the 'jaw' joint directly to the 'head' joint or consider another approach?

Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment
Labels
None yet
Projects
None yet
Development

No branches or pull requests

1 participant