warp.spatial\_mass
==================

.. function:: warp._src.lang.spatial_mass(I_s: Array[Matrix[Float,Literal[6],Literal[6]]], joint_start: int32, joint_count: int32, M_start: int32, M: Array[Float]) -> None

   .. hlist::
      :columns: 8

      * Kernel
      * Differentiable

   Compute the composite rigid-body mass matrix for a kinematic chain.