I strongly underline as well that participle does not modify anything here. The participle is just a shorthand notation for another sentence, thus it adds more information that is related to previous sentence, but it does not modify it. The function of participle does not have to be to modify anything.
In the next example
Swimming through the mud, we had to continue our journey.
The participle, swimming, could be said to have adverbial function (adverbial participle), because it says how we continued our journey: by swimming. However
I jumped into the empty pool and I hit my head very hard.
I jumped into the empty pool hitting my head very hard.
jump and hit are two separate actions certainly connected but they do not modify each other I any sense.