cartesian impedance: fixed to use position wrt base frame

jhu-dvrk · Apr 5, 2019 · 0b5e00d · 0b5e00d
1 parent 561761f
commit 0b5e00d
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/components/code/mtsIntuitiveResearchKitArm.cpp b/components/code/mtsIntuitiveResearchKitArm.cpp
@@ -1322,7 +1322,7 @@ void mtsIntuitiveResearchKitArm::ControlEffortCartesian(void)
     if (mWrenchType == WRENCH_BODY) {
         // either using wrench provided by user or cartesian impedance
         if (mCartesianImpedance) {
-            mCartesianImpedanceController.Update(CartesianGetLocalParam,
+            mCartesianImpedanceController.Update(CartesianGetParam,
                                                  CartesianVelocityGetParam,
                                                  mWrenchSet,
                                                  mWrenchBodyOrientationAbsolute);