From 40bdb3671b8282e59d1d5d3dcca6a6e414e562a4 Mon Sep 17 00:00:00 2001 From: Alvaro Capellan Date: Wed, 5 Apr 2017 16:59:55 +0200 Subject: [PATCH] Invert csys when transforming TCP in real time monitor --- urx/urrtmon.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/urx/urrtmon.py b/urx/urrtmon.py index 6292a45..3ff825b 100644 --- a/urx/urrtmon.py +++ b/urx/urrtmon.py @@ -171,7 +171,7 @@ class URRTMonitor(threading.Thread): if self._csys: with self._csys_lock: # might be a godd idea to remove dependancy on m3d - tcp = self._csys * m3d.Transform(self._tcp) + tcp = self._csys.inverse * m3d.Transform(self._tcp) self._tcp = tcp.pose_vector if self._buffering: with self._buffer_lock: