Fixed:

* Focus points were not transformed to unity coordination system
robofit · Dec 7, 2021 · 2821544 · 2821544
1 parent 205f169
commit 2821544
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/arcor2_AREditor/Assets/TABLET/Scripts/GUI/ActionObjectAimingMenu.cs b/arcor2_AREditor/Assets/TABLET/Scripts/GUI/ActionObjectAimingMenu.cs
@@ -175,8 +175,8 @@ public async Task UpdateMenu() {
                 foreach (IO.Swagger.Model.Pose point in currentObject.ActionObjectMetadata.ObjectModel.Mesh.FocusPoints) {
                     AimingPointSphere sphere = Instantiate(Sphere, currentObject.transform).GetComponent<AimingPointSphere>();
                     sphere.transform.localScale = new Vector3(0.02f, 0.02f, 0.02f);
-                    sphere.transform.localPosition = DataHelper.PositionToVector3(point.Position);
-                    sphere.transform.localRotation = DataHelper.OrientationToQuaternion(point.Orientation);
+                    sphere.transform.localPosition = TransformConvertor.ROSToUnity(DataHelper.PositionToVector3(point.Position));
+                    sphere.transform.localRotation = TransformConvertor.ROSToUnity(DataHelper.OrientationToQuaternion(point.Orientation));
                     sphere.Init(idx, $"Aiming point #{idx}");
                     spheres.Add(sphere);
                     ++idx;