From 694c989357f355db1730991bb4794bae027b0bbb Mon Sep 17 00:00:00 2001
From: Fabian Reister <fabian.reister@kit.edu>
Date: Thu, 2 Sep 2021 20:44:07 +0200
Subject: [PATCH] fix: global pose, not robot pose ...
---
.../armem_objects/client/articulated_object/Reader.cpp | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/source/RobotAPI/libraries/armem_objects/client/articulated_object/Reader.cpp b/source/RobotAPI/libraries/armem_objects/client/articulated_object/Reader.cpp
index cf66b17e6..202c4d6c4 100644
--- a/source/RobotAPI/libraries/armem_objects/client/articulated_object/Reader.cpp
+++ b/source/RobotAPI/libraries/armem_objects/client/articulated_object/Reader.cpp
@@ -256,7 +256,7 @@ namespace armarx::armem::articulated_object
robot::RobotState robotState
{
.timestamp = objectPose.timestamp,
- .globalPose = Eigen::Affine3f(objectPose.objectPoseRobot),
+ .globalPose = Eigen::Affine3f(objectPose.objectPoseGlobal),
.jointMap = objectPose.objectJointValues
};
--
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