From 67cb0def0925299b067f668799d3687ecd1739fc Mon Sep 17 00:00:00 2001 From: Alvaro Capellan Date: Fri, 20 May 2016 17:24:22 +0200 Subject: [PATCH] new_csys_from_xpy: corrected calculation of vector inputs to math3d --- urx/robot.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/urx/robot.py b/urx/robot.py index 3e07d1e..dff9383 100644 --- a/urx/robot.py +++ b/urx/robot.py @@ -227,7 +227,7 @@ class Robot(URRobot): input("Move to second point and click Enter") pose = URRobot.getl(self) p2 = m3d.Vector(pose[:3]) - return m3d.Transform.new_from_xyp(p1 - p0, p2 - p0, p0) + return m3d.Transform.new_from_xyp(p0 - p1, p2 - p1, p1) @property def x(self):