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

.. currentmodule:: warp._src.lang

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

   .. wp-function-tags::
      :kernel: true
      :python: false
      :differentiable: true
      :source: https://github.com/NVIDIA/warp/blob/release-1.18/warp/_src/math.py#L481-L507

   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: warp.spatial_vector