From 0b5e00d1e1d1484066e376c02f8d765f1f64d0e5 Mon Sep 17 00:00:00 2001
From: Anton Deguet <anton.deguet@jhu.edu>
Date: Fri, 5 Apr 2019 11:22:41 -0400
Subject: [PATCH] cartesian impedance: fixed to use position wrt base frame

---
 components/code/mtsIntuitiveResearchKitArm.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/components/code/mtsIntuitiveResearchKitArm.cpp b/components/code/mtsIntuitiveResearchKitArm.cpp
index 4f25efee..259cbeee 100644
--- 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);