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I'm working on capturing 3D motion using ARKit3 in which I get transforms of all the Joints by using jointsModelTransforms or jointsLocalTransforms in session:didUpdate: delegate method of ARSessionDelegate like below

func session(_ session: ARSession, didUpdate anchors: [ARAnchor]) {
  for anchor in anchors {
    guard let bodyAnchor = anchor as? ARBodyAnchor else { continue }
    let bodyTransforms: [simd_float4x4] = bodyAnchor.skeleton.jointModelTransforms
    // TODO
  }
}

First index of bodyTransforms array is the root joint. Would like to know the order of joints in which the array is represented?

Rugmangathan
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1 Answers1

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Here is a documentation about the ARSkeletonDefinition, the class containing the hierarchy of joints and their names.

In your case, names and order of the joints can be easily obtained via calling bodyAnchor.skeleton.definition.jointNames.

Ivan Nesterenko
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