parameters: (self,
              q: Vector,
              t: Vector,
              frame: str = 'world'
          )
docstring: Converts from a joint position / torque vector to a cartesian force.
  
          Args: 
              q (vector): the (whole) robot's joint positions.
              t (vector): the (whole) robot's joint torques.
              frame (str): either 'world', 'base', 'end effector', or 'tool'.
  
          Returns:
              (t,f): specifies end effector Cartesian torque/force relative to
              given frame.
docstring_summary: Converts from a joint position / torque vector to a cartesian force.
docstring_tokens: Converts from a joint position / torque vector to a cartesian force .
function: def cartesianForce(self,
              q: Vector,
              t: Vector,
              frame: str = 'world'
          ) -> RigidTransform:
          """Converts from a joint position / torque vector to a cartesian force.
  
          Args: 
              q (vector): the (whole) robot's joint positions.
              t (vector): the (whole) robot's joint torques.
              frame (str): either 'world', 'base', 'end effector', or 'tool'.
  
          Returns:
              (t,f): specifies end effector Cartesian torque/force relative to
              given frame.
          """
          raise NotImplementedError()
function_tokens: def cartesianForce ( self , q : Vector , t : Vector , frame : str = 'world' ) -> RigidTransform : raise NotImplementedError ( )