fix `rerun_visualize.py`

rerun_visualize.py

@@ -72,7 +72,7 @@ class RerunURDF():
                                   mat3x3=joint_tf.rotation,
                                   axis_length=0.01))
             
-            relative_tf = frame_tf * joint_tf.inverse()
+            relative_tf = joint_tf.inverse() * frame_tf
             mesh.apply_transform(relative_tf.homogeneous)
             rr.log(f'urdf_{self.name}/{parent_joint_name}/{frame_name}',
                    rr.Mesh3D(
@@ -83,7 +83,7 @@ class RerunURDF():
                        albedo_texture=None,
                        vertex_texcoords=None,
                    ),
-                   timeless=True)
+                   static=True)
     
     def update(self, configuration = None):
         self.robot.framesForwardKinematics(self.Tpose if configuration is None else configuration)
@@ -106,8 +106,7 @@ if __name__ == "__main__":
     args = parser.parse_args()
 
     rr.init('Reviz', spawn=True)
-    rr.log('', rr.ViewCoordinates.RIGHT_HAND_Z_UP, timeless=True)
-    rr.set_time_sequence('frame_nr', 0)
+    rr.log('', rr.ViewCoordinates.RIGHT_HAND_Z_UP, static=True)
 
     file_name = args.file_name
     robot_type = args.robot_type