Invert csys when transforming TCP in real time monitor

2017-04-05 16:59:55 +02:00 · 2017-04-05 16:59:55 +02:00 · 40bdb3671b
commit 40bdb3671b
parent be34be2812
1 changed files with 1 additions and 1 deletions
--- 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: