src/conntact/assembly_tools.py
def transform_wrench_by_matrix(T_ab:np.ndarray, wrench:np.ndarray) -> np.ndarray:
        """Use the homogeneous transform (T_ab) to transform a given wrench using an adjoint transformation (see create_adjoint_representation).
        :param T_ab: (np.Array) 4x4 homogeneous transformation matrix representing frame 'b' relative to frame 'a'
        :param wrench: (np.Array) 6x1 representation of a wrench relative to frame 'a'. This should include forces and torques as np.array([torque, force])
        :return wrench_transformed: (np.Array) 6x1 representation of a wrench relative to frame 'b'. This should include forces and torques as np.array([torque, force])
        """

        Ad_T = AssemblyTools.create_adjoint_representation(T_ab)
        wrench_transformed = np.matmul(Ad_T.T, wrench)
        return AssemblyTools.arrayToWrench(wrench_transformed)
Use the homogeneous transform (T_ab) to transform a given wrench using an adjoint transformation (see create_adjoint_representation).
        :param T_ab: (np.Array) 4x4 homogeneous transformation matrix representing frame 'b' relative to frame 'a'
        :param wrench: (np.Array) 6x1 representation of a wrench relative to frame 'a'. This should include forces and torques as np.array([torque, force])
        :return wrench_transformed: (np.Array) 6x1 representation of a wrench relative to frame 'b'. This should include forces and torques as np.array([torque, force])
        
Use the homogeneous transform (T_ab) to transform a given wrench using an adjoint transformation .
Use the homogeneous transform ( T_ab ) to transform a given wrench using an adjoint transformation .
def transform_wrench_by_matrix(T_ab:np.ndarray, wrench:np.ndarray) -> np.ndarray:
        Ad_T = AssemblyTools.create_adjoint_representation(T_ab)
        wrench_transformed = np.matmul(Ad_T.T, wrench)
        return AssemblyTools.arrayToWrench(wrench_transformed)
def transform_wrench_by_matrix ( T_ab : np . ndarray , wrench : np . ndarray ) -> np . ndarray : Ad_T = AssemblyTools . create_adjoint_representation ( T_ab ) wrench_transformed = np . matmul ( Ad_T . T , wrench ) return AssemblyTools . arrayToWrench ( wrench_transformed )
Use the homogeneous transform (T_ab) to transform a given wrench using an adjoint transformation (see create_adjoint_representation).
Use the homogeneous transform ( T_ab ) to transform a given wrench using an adjoint transformation ( see create_adjoint_representation ) .
"""Use the homogeneous transform (T_ab) to transform a given wrench using an adjoint transformation (see create_adjoint_representation).
        :param T_ab: (np.Array) 4x4 homogeneous transformation matrix representing frame 'b' relative to frame 'a'
        :param wrench: (np.Array) 6x1 representation of a wrench relative to frame 'a'. This should include forces and torques as np.array([torque, force])
        :return wrench_transformed: (np.Array) 6x1 representation of a wrench relative to frame 'b'. This should include forces and torques as np.array([torque, force])
        """
(np.Array) 6x1 representation of a wrench relative to frame 'b'. This should include forces and torques as np.array([torque, force])
( np . Array ) 6x1 representation of a wrench relative to frame ' b ' . This should include forces and torques as np . array ( [ torque force ] )
wrench_transformed
T_ab
np.ndarray
(np.Array) 4x4 homogeneous transformation matrix representing frame 'b' relative to frame 'a'
( np . Array ) 4x4 homogeneous transformation matrix representing frame ' b ' relative to frame ' a '
wrench
np.ndarray
(np.Array) 6x1 representation of a wrench relative to frame 'a'. This should include forces and torques as np.array([torque, force])
( np . Array ) 6x1 representation of a wrench relative to frame ' a ' . This should include forces and torques as np . array ( [ torque force ] )