diff --git a/Trace/handeye_calibration.py b/Trace/handeye_calibration.py
index b2f5626..4e2d7d9 100644
--- a/Trace/handeye_calibration.py
+++ b/Trace/handeye_calibration.py
@@ -3,7 +3,7 @@ from scipy.spatial.transform import Rotation as R
 
 def vec2rpy(normal,long_edge_direction):
     # 将法向量的反方向作为机械臂末端执行器的新Z轴
-    z_axis = -normal / np.linalg.norm(normal)  # 归一化并取反向作为Z轴
+    z_axis = normal / np.linalg.norm(normal)  # 归一化并取反向作为Z轴
     x_axis = long_edge_direction/np.linalg.norm(long_edge_direction)
 
     x_axis = x_axis-np.dot(x_axis,z_axis)*z_axis