Information matrix: is it rotation first or translation first?

[dllu]

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Checklist

• [X] I have searched for similar issues.
• [X] For Python issues, I have tested with the latest development wheel.
• [X] I have checked the release documentation and the latest documentation (for master branch).

My Question

Regarding the information matrix: http://www.open3d.org/docs/release/tutorial/t_pipelines/t_icp_registration.html#Information-Matrix

The documentation only says it's a 6 x 6 matrix but doesn't say anything else. Can the Open3D documentation be updated to clearly indicate if the 6 x 1 Lie algebra parameterization is rotation first or translation first? i.e. is it [rx, ry, rz, tx, ty, tz] or [tx, ty, tz, rx, ry, rz]?