diff --git a/embodichain/lab/sim/solvers/opw_solver.py b/embodichain/lab/sim/solvers/opw_solver.py
index e64cc99c..e3202597 100644
--- a/embodichain/lab/sim/solvers/opw_solver.py
+++ b/embodichain/lab/sim/solvers/opw_solver.py
@@ -127,7 +127,7 @@ def set_tcp(self, xpos: np.ndarray):
         self._tcp_warp = wp.mat44f(self.tcp_xpos)
         tcp_inv = np.eye(4, dtype=float)
         tcp_inv[:3, :3] = self.tcp_xpos[:3, :3].T
-        tcp_inv[:3, 3] = -tcp_inv[:3, :3].T @ self.tcp_xpos[:3, 3]
+        tcp_inv[:3, 3] = -tcp_inv[:3, :3] @ self.tcp_xpos[:3, 3]
         self._tcp_inv_warp = wp.mat44f(tcp_inv)
 
     def _init_warp_solver(self, cfg: OPWSolverCfg, **kwargs):
diff --git a/tests/sim/solvers/test_opw_solver.py b/tests/sim/solvers/test_opw_solver.py
index 8153489d..7dae255d 100644
--- a/tests/sim/solvers/test_opw_solver.py
+++ b/tests/sim/solvers/test_opw_solver.py
@@ -99,7 +99,12 @@ def setup_simulation(self, sim_device):
                     "class_type": "OPWSolver",
                     "end_link_name": "left_link6",
                     "root_link_name": "left_arm_base",
-                    "tcp": [[1, 0, 0, 0], [0, 1, 0, 0], [0, 0, 1, 0.143], [0, 0, 0, 1]],
+                    "tcp": [
+                        [0, 0, -1, 0],
+                        [0, 1, 0, 0],
+                        [1, 0, 0, 0.143],
+                        [0, 0, 0, 1],
+                    ],
                     "qpos_limits": [
                         [-2.618, 0.0, -2.967, -1.745, -1.22, -2.0944],
                         [2.618, 3.14159, 0.0, 1.745, 1.22, 2.0944],