1 0 0 0 0 -1 0 1 0as you can see here. Note that this matrix corresponds to a -90° rotation around the x-axis (negative degrees means counter-clockwise). The next three rotations are merely the first three repeated, so we end up rotating another -90° around the x-axis, leading to a full 180° rotation around the x-axis, as desired.
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Before watching the video, I thought, "that doesn't sound hard," and kept rotated my whole arm at the shoulder windmill-style while keeping my arm straight. It worked without a problem.
posted by painquale at 3:39 AM on October 31