diff --git a/src/reach_study.cpp b/src/reach_study.cpp
index 638eeb5..bfdd13f 100644
--- a/src/reach_study.cpp
+++ b/src/reach_study.cpp
@@ -108,7 +108,7 @@ void ReachStudy::run()
 #pragma omp parallel for num_threads(params_.max_threads)
   for (std::size_t i = 0; i < target_poses_.size(); ++i)
   {
-    const Eigen::Isometry3d& tgt_frame = target_poses_[i] * Eigen::AngleAxisd(M_PI, Eigen::Vector3d::UnitX());
+    const Eigen::Isometry3d& tgt_frame = target_poses_[i];
 
     // Solve IK
     try