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[Fix] Correct adjoint matrix block order to match (v, ω) twist definition #37

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[Fix] Correct adjoint matrix block order to match (v, ω) twist definition #37

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13 changes: 9 additions & 4 deletions serl_robot_infra/franka_env/utils/transformations.py
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Original file line number Diff line number Diff line change
Expand Up @@ -18,8 +18,8 @@ def construct_adjoint_matrix(tcp_pose):
)
adjoint_matrix = np.zeros((6, 6))
adjoint_matrix[:3, :3] = rotation
adjoint_matrix[:3, 3:] = skew_matrix @ rotation # linear components precede angular
adjoint_matrix[3:, 3:] = rotation
adjoint_matrix[3:, :3] = skew_matrix @ rotation
return adjoint_matrix


Expand All @@ -38,8 +38,13 @@ def construct_homogeneous_matrix(tcp_pose):

def construct_adjoint_matrix_from_euler(tcp_pose):
"""
Construct the adjoint matrix for a spatial velocity vector
:args: tcp_pose: (x, y, z, qx, qy, qz, qw)
Construct the adjoint matrix for a spatial velocity vector (twist ordered as [v, ω]).

Args:
tcp_pose (array-like): (x, y, z, roll, pitch, yaw)
Pose of the TCP, where rotation is represented by Euler angles (in radians, 'xyz' order).
Returns:
np.ndarray: (6, 6) adjoint transformation matrix.
"""
rotation = R.from_euler("xyz", tcp_pose[3:]).as_matrix()
translation = np.array(tcp_pose[:3])
Expand All @@ -52,8 +57,8 @@ def construct_adjoint_matrix_from_euler(tcp_pose):
)
adjoint_matrix = np.zeros((6, 6))
adjoint_matrix[:3, :3] = rotation
adjoint_matrix[:3, 3:] = skew_matrix @ rotation # linear components precede angular
adjoint_matrix[3:, 3:] = rotation
adjoint_matrix[3:, :3] = skew_matrix @ rotation
return adjoint_matrix


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