Changing the simulation of a robot manipulator to be an Exo leg (from horizontally to vertically simulation)

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Rabé Andersson
Rabé Andersson 2021-5-26
编辑： Rabé Andersson 2021-10-14
Hi,
I am simulating a robot leg with 6DOF but it shows that it deals with it as a robot manipulator so the simulation as a robot arm simulated horizontally, but this is intend to show an exo leg and I want it to be vertically as a robot leg.
How can I change it so I can have the first frame(joint 1) which is the hip joint on top and the last frame( joint 6), which is the foot joint at the bottom of the simulation? I mean that the simulation will show as a leg in a vertical direction not as it is shown now (horizontally).
Thank you for your help and support!

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回答（1 个）

Karsh Tharyani
Karsh Tharyani 2021-10-11
Hi Rabe,
You can try setting the fixed transform of the base joint (i.e., the hip joint) - by using the "setFixedTransform" on the joint corresponding to the "hip" body.
Best,
Karsh

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