src/conntact/assembly_tools.py
def create_adjoint_representation(T_ab=None, R_ab=None, P_ab=None):
        """Convert homogeneous transform (T_ab) or a combination rotation matrix (R_ab) and pose (P_ab) 
        into the adjoint representation. This can be used to transform wrenches (e.g., force and torque) between frames.
        If T_ab is provided, R_ab and P_ab will be ignored.
        :param T_ab: (np.Array) 4x4 homogeneous transformation matrix representing frame 'b' relative to frame 'a'
        :param R_ab: (np.Array) 3x3 rotation matrix representing frame 'b' relative to frame 'a'
        :param P_ab: (np.Array) 3x1 pose representing frame 'b' relative to frame 'a'
        :return Ad_T: (np.Array) 6x6 adjoint representation of the transformation
        """
        #Accomodation for input R_ab and P_ab
        if (type(T_ab) == type(None)):
            T_ab = RpToTrans(R_ab, P_ab)

        Ad_T = homogeneous_to_adjoint(T_ab)
        return Ad_T
Convert homogeneous transform (T_ab) or a combination rotation matrix (R_ab) and pose (P_ab) 
        into the adjoint representation. This can be used to transform wrenches (e.g., force and torque) between frames.
        If T_ab is provided, R_ab and P_ab will be ignored.
        :param T_ab: (np.Array) 4x4 homogeneous transformation matrix representing frame 'b' relative to frame 'a'
        :param R_ab: (np.Array) 3x3 rotation matrix representing frame 'b' relative to frame 'a'
        :param P_ab: (np.Array) 3x1 pose representing frame 'b' relative to frame 'a'
        :return Ad_T: (np.Array) 6x6 adjoint representation of the transformation
        
Convert homogeneous transform (T_ab) or a combination rotation matrix (R_ab) and pose (P_ab)
into the adjoint representation. This can be used to transform wrenches  between frames.
If T_ab is provided, R_ab and P_ab will be ignored.
Convert homogeneous transform ( T_ab ) or a combination rotation matrix ( R_ab ) and pose ( P_ab ) into the adjoint representation . This can be used to transform wrenches between frames . If T_ab is provided R_ab and P_ab will be ignored .
def create_adjoint_representation(T_ab=None, R_ab=None, P_ab=None):
        if (type(T_ab) == type(None)):
            T_ab = RpToTrans(R_ab, P_ab)
        Ad_T = homogeneous_to_adjoint(T_ab)
        return Ad_T
def create_adjoint_representation ( T_ab = None , R_ab = None , P_ab = None ) : if ( type ( T_ab ) == type ( None ) ) : T_ab = RpToTrans ( R_ab , P_ab ) Ad_T = homogeneous_to_adjoint ( T_ab ) return Ad_T
Convert homogeneous transform (T_ab) or a combination rotation matrix (R_ab) and pose (P_ab)
into the adjoint representation.
Convert homogeneous transform ( T_ab ) or a combination rotation matrix ( R_ab ) and pose ( P_ab ) into the adjoint representation .
"""Convert homogeneous transform (T_ab) or a combination rotation matrix (R_ab) and pose (P_ab) 
        into the adjoint representation. This can be used to transform wrenches (e.g., force and torque) between frames.
        If T_ab is provided, R_ab and P_ab will be ignored.
        :param T_ab: (np.Array) 4x4 homogeneous transformation matrix representing frame 'b' relative to frame 'a'
        :param R_ab: (np.Array) 3x3 rotation matrix representing frame 'b' relative to frame 'a'
        :param P_ab: (np.Array) 3x1 pose representing frame 'b' relative to frame 'a'
        :return Ad_T: (np.Array) 6x6 adjoint representation of the transformation
        """ #Accomodation for input R_ab and P_ab
(np.Array) 6x6 adjoint representation of the transformation
( np . Array ) 6x6 adjoint representation of the transformation
Ad_T
T_ab
(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 '
R_ab
(np.Array) 3x3 rotation matrix representing frame 'b' relative to frame 'a'
( np . Array ) 3x3 rotation matrix representing frame ' b ' relative to frame ' a '
P_ab
(np.Array) 3x1 pose representing frame 'b' relative to frame 'a'
( np . Array ) 3x1 pose representing frame ' b ' relative to frame ' a '