warp.transform_wrench

warp.transform_wrench(

t: transformf,

x: spatial_vectorf,

) → spatial_vectorf

Kernel

Differentiable

Transform a spatial wrench between coordinate frames.

For transform t = (R, p) and wrench x = (tau, f), the mapped wrench is:

\[f' = R f,\quad \tau' = R \tau + p \times f'\]

Parameters:

• t – Rigid transform from source frame to destination frame.

• x – Spatial wrench (torque, force) expressed in the source frame.

Returns:

Wrench expressed in the destination frame.

Return type:

wp.spatial_vector