code: def vel_in_A_to_vel_in_B(vel_A, ang_vel_A, pose_A_in_B):
      
      pos_A_in_B = pose_A_in_B[:3, 3]
      rot_A_in_B = pose_A_in_B[:3, :3]
      skew_symm = _skew_symmetric_translation(pos_A_in_B)
      vel_B = rot_A_in_B.dot(vel_A) + skew_symm.dot(rot_A_in_B.dot(ang_vel_A))
      ang_vel_B = rot_A_in_B.dot(ang_vel_A)
      return vel_B, ang_vel_B
docs: Converts linear and angular velocity of a point in frame A to the equivalent in frame B.
  
      Args:
          vel_A: 3-dim iterable for linear velocity in A
          ang_vel_A: 3-dim iterable for angular velocity in A
          pose_A_in_B: numpy array of shape (4,4) corresponding to the pose of A in frame B
  
      Returns:
          vel_B, ang_vel_B: two numpy arrays of shape (3,) for the velocities in B