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Fix TCP wrench transform for e-Series: apply inverse on flange_to_tcp transform #1615

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Fix TCP wrench transform for e-Series: apply inverse on flange_to_tcp transform #1615

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2 changes: 1 addition & 1 deletion ur_robot_driver/src/hardware_interface.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1110,7 +1110,7 @@ void URPositionHardwareInterface::transformForceTorque()
ft = base_to_flange.M.Inverse() * ft;

// Transform the wrench to the tcp frame
ft = flange_to_tcp * ft;
ft = flange_to_tcp.Inverse() * ft;
} else { // CB3
KDL::Vector vec = KDL::Vector(urcl_target_tcp_pose_[3], urcl_target_tcp_pose_[4], urcl_target_tcp_pose_[5]);
double angle = vec.Normalize();
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