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It is very important to identify the + direction of the joints such as revolute or translational, cylindrical.
When you need to know the + direction, you need to check the Z axis of the joint (yellow axis) of the marker which is created when the joint is generated.
1. Revolute Joint, You can use the 'right-hand rule'.
- Set your thumb to the direction of +Z of the marker, then the direction of the other fingers means the + direction of the joint.
2. Translational Joint, +Z is the + direction of the joint.
You can apply the above method for the Cylindrical Joint too.
