I was running code from [https://studywolf.wordpress.com/2016/04 ... ed-models/] and they mention that a negative sign is needed at the final output to the joints in order for the joints to move in the correct direction.
I have been testing this in my own code as well. Why would this be the case? It would seems logical that torque applied to joints should rotate them in the same direction as a positive angle displacement.
Report crashes, strange behaviour, or apparent bugs
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