    def transform_action(self, action: np.ndarray):
        """
        Transform action from body(end-effector) frame into into spatial(base) frame
        using the adjoint matrix
        """
        action = np.array(action)  # in case action is a jax read-only array
        action[:6] = self.adjoint_matrix @ action[:6]
        return action
Transform action from body(end-effector) frame into into spatial(base) frame
using the adjoint matrix
serl_robot_infra/franka_env/envs/relative_env.py