simtk.org

Is there any way to change the order of translation-rotation using a Custom Joint. Currently the order is translate about any specified translation degrees-of-freedom, then rotate about the specified order of rotation degrees-of-freedom. I'm guessing this order is implied with the use of quaternions, but I figured I'd ask anyway.
I am trying to copy a model structure that happens to rotate with a 3-2-1 body-fixed rotation sequence then translates (in the child frame) so I was hoping I could copy exactly in OpenSim.