newton.math.transform_wrench

newton.math.transform_wrench(t, x)

Transform a spatial wrench between coordinate frames.

This applies Warp’s wrench transform while preserving Newton’s spatial layout. Newton stores wrenches as \(x = (f, \tau)\) (force, torque), while Warp expects \((\tau, f)\).

For rigid transform \(t = (R, p)\) from source to destination:

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

Parameters:

• t (transformf) – Rigid transform from source frame to destination frame.

• x (spatial_vectorf) – Spatial wrench in Newton layout (force, torque).

Returns:

Transformed wrench in Newton layout (force, torque).

Return type:

wp.spatial_vector