From 5e0f6241590a49cd0a879b8336b30584b9a2a7d0 Mon Sep 17 00:00:00 2001 From: tpower Date: Thu, 2 Nov 2023 15:14:28 -0400 Subject: [PATCH] fix additional inverse --- src/pytorch_kinematics/transforms/transform3d.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/pytorch_kinematics/transforms/transform3d.py b/src/pytorch_kinematics/transforms/transform3d.py index 017c6e4..70952ab 100644 --- 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: