warp.transform\_wrench
======================

.. function:: warp._src.lang.transform_wrench(t: transformf, x: spatial_vectorf) -> spatial_vectorf

   .. hlist::
      :columns: 8

      * Kernel
      * Differentiable

   Transform a spatial wrench between coordinate frames.
   
   For transform ``t = (R, p)`` and wrench ``x = (tau, f)``, the mapped wrench is:
   
   .. math::
      f' = R f,\quad \tau' = R \tau + p \times f'
   
   :param t: Rigid transform from source frame to destination frame.
   :param x: Spatial wrench ``(torque, force)`` expressed in the source frame.
   
   :returns: Wrench expressed in the destination frame.
   :rtype: wp.spatial_vector