Merge pull request #157 from flferretti/fix/transform

Fix method on `jaxsim.math.Transform`
ami-iit · May 21, 2024 · 32e454a · 32e454a
2 parents e282307 + 2457e73
commit 32e454a
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/src/jaxsim/math/transform.py b/src/jaxsim/math/transform.py
@@ -69,7 +69,7 @@ def from_rotation_and_translation(
         assert A_R_B.shape == (3, 3)
 
         A_H_B = jaxlie.SE3.from_rotation_and_translation(
-            rotation=A_R_B, translation=W_p_B
+            rotation=jaxlie.SO3.from_matrix(A_R_B), translation=W_p_B
         )
 
         return A_H_B.as_matrix() if not inverse else A_H_B.inverse().as_matrix()