From 856446b8efef165195f77d17a39ada2f72bcdfb1 Mon Sep 17 00:00:00 2001
From: 0mkt <44606733+0mkt@users.noreply.github.com>
Date: Mon, 23 Dec 2019 13:09:38 +0100
Subject: [PATCH] Fixed UndoToolTransformOnCursor method

Now the method properly updates the TCP position when DetachingTool.
---
 src/Machina/RobotCursor.cs | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/Machina/RobotCursor.cs b/src/Machina/RobotCursor.cs
index 0ce66cf..34d6075 100644
--- a/src/Machina/RobotCursor.cs
+++ b/src/Machina/RobotCursor.cs
@@ -1327,7 +1327,7 @@ internal void UndoToolTransformOnCursor(RobotCursor cursor, Tool tool, RobotLogg
         {
             // TODO: at some point in the future, check for translationFirst here
             Rotation newRot = Rotation.Combine(cursor.rotation, Rotation.Inverse(tool.TCPOrientation));  // postmultiplication by the inverse rotation
-            Vector worldVector = Vector.Rotation(tool.TCPPosition, cursor.rotation);
+            Vector worldVector = Vector.Rotation(tool.TCPPosition, newRot);
             Vector newPos = cursor.position - worldVector;
 
             cursor.prevPosition = cursor.position;