Hi @ 석준 ,
It should align with the sign convention chosen in the model. Here's a simple example in Simulink where a force input of +10 N moves the joint to the right, while a force input of -10 N moves the joint to the left:
% Simulink Model
model = 'PrismaticJointModel';
open_system(model);
% Positive Force Input
force_positive = 10;
sim(model);
% Negative Force Input
force_negative = -10;
sim(model);
Please let me know if you have any further questions.
