Calculating Relative Joint Angles in Unity3D

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?

 

Hi there!

Transform.localRotation has local rotation of joint. (data type is Quaternion) : https://docs.unity3d.com/ScriptReference/Transform-localRotation.html

Transform.localRotation.eulerAngles return degrees of 3 axis : https://docs.unity3d.com/ScriptReference/Quaternion-eulerAngles.html

Euler angles have gimbal lock problem: https://en.wikipedia.org/wiki/Gimbal_lock

Cheers!

Booil.

 

thank you that was very helpful