Changing IBO for dVRK MTM devices to accommodate JHU dVRKs

TzeLun · Feb 23, 2021 · 6695155 · 6695155
1 parent 8261ba7
commit 6695155
Showing 1 changed file with 3 additions and 3 deletions.
diff --git a/external/chai3d/src/devices/CdVRKDevices.cpp b/external/chai3d/src/devices/CdVRKDevices.cpp
@@ -187,20 +187,20 @@ cDvrkDevice::cDvrkDevice(unsigned int a_deviceNumber)
             tip_trans.setOrigin(tf::Vector3(0,0,0));
 
             tip_rot.setRPY(0, M_PI/2, 0);
-            home_rot.setRPY(3.058663, -1.055021, -1.500306);
+            home_rot.setRPY(0, 0, -1.57079);
         }
         else if(std::strcmp(dev_name.c_str(), "MTML") == 0){
             home_trans.setOrigin(tf::Vector3(0.181025, -0.0163, -0.2620));
             tip_trans.setOrigin(tf::Vector3(0,0,0));
 
             tip_rot.setRPY(0, M_PI/2, 0);
-            home_rot.setRPY(3.058663, -1.055021, -1.500306);
+            home_rot.setRPY(0, 0, -1.57079);
         }
 
         home_trans.setRotation(home_rot);
         tip_trans.setRotation(tip_rot);
 
-        mtm_device->set_origin_frame(home_trans * tip_trans);
+        mtm_device->set_origin_frame(home_trans);
         mtm_device->affix_tip_frame(tip_trans);
 
     }