diff --git a/source/RobotAPI/gui-plugins/RobotIKPlugin/RobotIKGuiPlugin.cpp b/source/RobotAPI/gui-plugins/RobotIKPlugin/RobotIKGuiPlugin.cpp index 99140c313d3fe984c779eb5f54d14503c3a588e2..be21f60ca772819417482a00d63d881e5b19c5c5 100644 --- a/source/RobotAPI/gui-plugins/RobotIKPlugin/RobotIKGuiPlugin.cpp +++ b/source/RobotAPI/gui-plugins/RobotIKPlugin/RobotIKGuiPlugin.cpp @@ -460,7 +460,7 @@ armarx::ExtendedIKResult armarx::RobotIKWidgetController::getIKSolution() mat (3,2) = matrix[2][3]; mat (3,3) = matrix[3][3]; - mat = robot->getRootNode()->toLocalCoordinateSystem(mat); +// mat = robot->getRootNode()->toLocalCoordinateSystem(mat); return(robotIKPrx->computeExtendedIKGlobalPose(this->ui.comboBox->currentText().toStdString(), new armarx::Pose(mat), eAll)); }