Regarding specifications of shape and orientation. They should be the shape of the arm at an instance of time (drawn as a line (or even a cylinder) in a 3d plan , and its geographical location in a 3d plan.
We actually do. But we must abstract physical equipment right now, focusing in building an AI model using machine learning. That’s all. and it’s already enough! We have 3 cameras registering arm movements. I was intended to use OpenCV, but I don’t know it’s feasible. I believe OpenCV can be applied to only part of the project. I wish my assumptions are wrong.