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changing direction of rotation pin joint

2ms1

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Below you can see a model for a bipedal walking thing that I need to animate by sending tables generated by Matlab to servo motors at each joint.


The problem is that the same Matlab model needs to be used for both legs, but the legs have opposite directions of rotation at the pin joint connections as you can see indictated by the yellow arrows. This undoubtedly is the result of mirroring one leg to create the other, but I can't redo the model, I just need to switch the direction of rotation on the "left leg" from counter-clockwise to clockwise.


Is this possible? Please tell me how if it is.






Edited by: 2ms1
 
I don't think so. Those joints follow the right hand rule. I suspect you may need to add something to the matlab definition to do the reversal.

Knowing noting of matlab makes that statement real easy to write.
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