new_csys_from_xpy: corrected calculation of vector inputs to math3d

2016-05-20 17:24:22 +02:00 · 2016-05-20 17:24:22 +02:00 · 67cb0def09
commit 67cb0def09
parent 77ef7b079d
1 changed files with 1 additions and 1 deletions
--- 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):