This course will look in the fundamentals of modeling in Maya with an emphasis on creating good topology. It's aimed at people that have some modeling experience in Maya but are having trouble with
complex objects.
i think your answer lies in parenting all your objects to each other up the limb hierarchies, and then just keying a regular rotate... no real need to rig it, since you do NOT want any deformation in the mesh. for instance, take the foot, parent it to the lower leg, parent the lower leg to the knee joint, and keep on going up... basically you'll be using fk (forward kinematics) for the whole thing and it'll take a while to animate, but from what i know it's really the only way to do it without any deformations at all.
Rigid bind might do what you want. You could, for example, select all the geometry for the head, and the head bone, and do a rigid bind to the selected joints. Thats what I did for my robot model.
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