Update _actuator_to_joint_matrix after modification

iory · Nov 5, 2024 · 5c4fb32 · 5c4fb32
1 parent e9ec7cc
commit 5c4fb32
Showing 1 changed file with 1 addition and 0 deletions.
diff --git a/ros/kxr_controller/node_scripts/rcb4_ros_bridge.py b/ros/kxr_controller/node_scripts/rcb4_ros_bridge.py
@@ -388,6 +388,7 @@ def log_error_and_close_interface(function_name):
             )
             trim_vector_servo_ids.append(servo_id)
             trim_vector_offset.append(direction * offset)
+        self.interface._actuator_to_joint_matrix = np.linalg.inv(self.interface.joint_to_actuator_matrix)
         if self.interface.__class__.__name__ != "RCB4Interface":
             if len(trim_vector_offset) > 0:
                 ret = serial_call_with_retry(