Calculating Relative Joint Angles in Unity3D

Physics
1

I have a Perception Neuron sensors set connected to a Unity moving character. The link is working perfectly but I need to replicate that movement to a robotic arm. I know how to program everything but my problem is mostly mathematical: the angles I get from the Perception Neuron software (called Axis Neuron) and from Unity are global, not relative. My biggest problem so far has been calculating the wrist rotation. How can I calcuate the relative angles between the arm and the forearm, the wrist roation and the relative angle of a finger to the hand?

2

Hi there!

Transform.localRotation has local rotation of joint. (data type is Quaternion) : Unity - Scripting API: Transform.localRotation

Transform.localRotation.eulerAngles return degrees of 3 axis : Unity - Scripting API: Quaternion.eulerAngles

Euler angles have gimbal lock problem: Gimbal lock - Wikipedia

Cheers!

Booil.

1 Like
3

thank you that was very helpful

1 Like
4

I am trying to do RULA assessment in Unity using joint angle from the MVN Motion capture system. But I have not succeeded. If any of you have any suggestions that will be helpful.