# Head, Arms, Torso, and Lower-Body Models Description

## Kinematic Model Tables

### Torso Kinematic Chain

| Segment | Parent | Origin       | Joint Type         | Proximal | Distal |
| ------- | ------ | ------------ | ------------------ | -------- | ------ |
| Thorax  | Lab    | Base of neck | Free joint (6 DOF) | -        | -      |

### Head Kinematic Chain

| Segment | Parent | Origin | Joint Type         | Proximal | Distal |
| ------- | ------ | ------ | ------------------ | -------- | ------ |
| Head    | Lab    | C1     | Free joint (6 DOF) | -        | -      |

### Right Arm Kinematic Chain

| Segment         | Parent          | Origin         | Joint Type                                                     | Proximal       | Distal                       |
| --------------- | --------------- | -------------- | -------------------------------------------------------------- | -------------- | ---------------------------- |
| Right Upper Arm | Lab             | Right shoulder | Free joint (6 DOF)                                             | Right shoulder | Right elbow                  |
| Right Lower Arm | Right Upper Arm | Right elbow    | Two rotational DOF (flexion/extension, pronation/supination)   | Right elbow    | Right wrist                  |
| Right Hand      | Right Lower Arm | Right wrist    | Two rotational DOF (flexion/extension, radial/ulnar deviation) | Right wrist    | Right mid hand (metacarpals) |

### Left Arm Kinematic Chain

| Segment        | Parent         | Origin        | Joint Type                                                     | Proximal      | Distal                      |
| -------------- | -------------- | ------------- | -------------------------------------------------------------- | ------------- | --------------------------- |
| Left Upper Arm | Lab            | Left shoulder | Free joint (6 DOF)                                             | Left shoulder | Left elbow                  |
| Left Lower Arm | Left Upper Arm | Left elbow    | Two rotational DOF (flexion/extension, pronation/supination)   | Left elbow    | Left wrist                  |
| Left Hand      | Left Lower Arm | Left wrist    | Two rotational DOF (flexion/extension, radial/ulnar deviation) | Left wrist    | Left mid hand (metacarpals) |

### Lower Body Kinematic Chain

| Segment     | Parent      | Origin             | Joint Type                                                                                | Proximal       | Distal         |
| ----------- | ----------- | ------------------ | ----------------------------------------------------------------------------------------- | -------------- | -------------- |
| Pelvis      | Lab         | Midpoint of pelvis | Free joint (6 DOF)                                                                        | -              | -              |
| Right Thigh | Pelvis      | Right hip          | Three rotational DOF                                                                      | Right hip      | Right knee     |
| Right Shank | Right Thigh | Right knee         | Two or three rotational DOF (flexion/extension, ad/abduction, internal/external rotation) | Right knee     | Right ankle    |
| Right Foot  | Right Shank | Right ankle        | Free joint (6 DOF), limited translation                                                   | Right ankle    | Right mid foot |
| Right Toes  | Right Foot  | Right mid foot     | One rotational DOF (flexion/extension)                                                    | Right mid foot | Right big toe  |
| Left Thigh  | Pelvis      | Left hip           | Three rotational DOF                                                                      | Left hip       | Left knee      |
| Left Shank  | Left Thigh  | Left knee          | Two or three rotational DOF (flexion/extension, ad/abduction, internal/external rotation) | Left knee      | Left ankle     |
| Left Foot   | Left Shank  | Left ankle         | Free joint (6 DOF), limited translation                                                   | Left ankle     | Left mid foot  |
| Left Toes   | Left Foot   | Left mid foot      | One rotational DOF (flexion/extension)                                                    | Left mid foot  | Left big toe   |


---

# Agent Instructions: Querying This Documentation

If you need additional information that is not directly available in this page, you can query the documentation dynamically by asking a question.

Perform an HTTP GET request on the current page URL with the `ask` query parameter:

```
GET https://docs.theiamarkerless.com/axiom-v2025/theia3d-documentation/theia-model-description/head-arms-torso-and-lower-body-models-description.md?ask=<question>
```

The question should be specific, self-contained, and written in natural language.
The response will contain a direct answer to the question and relevant excerpts and sources from the documentation.

Use this mechanism when the answer is not explicitly present in the current page, you need clarification or additional context, or you want to retrieve related documentation sections.