newton.utils.transform_wrench

newton.utils.transform_wrench(t, x)

Transform a spatial wrench between coordinate frames.

A spatial wrench is the dual vector to a spatial twist and consists of a force-torque pair x = (f, τ).

Given a wrench expressed in the source frame and a transform t (source → destination), this function returns the equivalent wrench in the destination frame:

\[\begin{split}x' = \begin{bmatrix} R & 0 \\ [p]_{\times} R & R \end{bmatrix} x\end{split}\]

Parameters:

• t (transform) – The transform from the source frame to the destination frame.

• x (spatial_vector) – The spatial wrench expressed in the source frame.

Returns:

The wrench expressed in the destination frame.

Return type:

spatial_vector