fix additional inverse

UM-ARM-Lab · Nov 2, 2023 · 5e0f624 · 5e0f624
1 parent 652642f
commit 5e0f624
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/src/pytorch_kinematics/transforms/transform3d.py b/src/pytorch_kinematics/transforms/transform3d.py
@@ -406,7 +406,7 @@ def transform_normals(self, normals):
             msg = "Expected normals to have dim = 2 or dim = 3: got shape %r"
             raise ValueError(msg % (normals.shape,))
         mat = self._get_matrix_inverse()[:, :3, :3]
-        normals_out = _broadcast_bmm(normals, mat.inverse())
+        normals_out = _broadcast_bmm(normals, mat)
 
         # This doesn't pass unit tests. TODO investigate further
         # if self._lu is None: