warp.spatial\_jacobian
======================

.. function:: warp._src.lang.spatial_jacobian(S: Array[Vector[Float,Literal[6]]], joint_parents: Array[int32], joint_qd_start: Array[int32], joint_start: int32, joint_count: int32, J_start: int32, J_out: Array[Float]) -> None

   .. hlist::
      :columns: 8

      * Kernel
      * Differentiable

   Compute the spatial Jacobian matrix for a kinematic chain.