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

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!

Answer 1

[Karsh Tharyani]

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

[Rabé Andersson]

Thank you dear Karsh!

I will try it and give you a feedback how it becomes :)

Best Regards