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warp.spatial_mass#

warp.spatial_mass(
I_s: Array[Matrix[Float, Literal[6], Literal[6]]],
joint_start: int32,
joint_count: int32,
M_start: int32,
M: Array[Float],
) → None#

  • Kernel

  • Differentiable

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