def METHOD_NAME(self, time_delta: float, wrench) -> None:
    """
    Simulate new pose and twist given a time delta and a force/torque applied to NaviGator
    """
    sin_result = np.sin(self.pose[2])
    cos_result = np.cos(self.pose[2])
    # Rotation Matrix converts body to world by default
    rotation = np.array(
        [[cos_result, -sin_result, 0], [sin_result, cos_result, 0], [0, 0, 1]]
    )
    wrench = np.array(wrench)
    posedot, twistdot = self.state_deriv(np.float64(wrench), rotation)
    self.pose = (
        self.pose
        + posedot * time_delta
        + 0.5 * rotation.dot(twistdot) * time_delta**2
    )
    self.twist = self.twist + twistdot * time_delta