code: def force_in_A_to_force_in_B(force_A, torque_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)
      force_B = rot_A_in_B.T.dot(force_A)
      torque_B = -rot_A_in_B.T.dot(skew_symm.dot(force_A)) + rot_A_in_B.T.dot(torque_A)
      return force_B, torque_B
docs: Converts linear and rotational force at a point in frame A to the equivalent in frame B.
  
      Args:
          force_A: 3-dim iterable for linear force in A
          torque_A: 3-dim iterable for rotational force (moment) in A
          pose_A_in_B: numpy array of shape (4,4) corresponding to the pose of A in frame B
  
      Returns:
          force_B, torque_B: two numpy arrays of shape (3,) for the forces in B