View page source

warp.spatial_jacobian#

warp.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#

  • Kernel

  • Differentiable

Compute the spatial Jacobian matrix for a kinematic chain.