code: def vjp(func,
          wrt=(0,),
          optimized=True,
          check_dims=True,
          preserve_result=False,
          verbose=0):
    
    return autodiff(
        func,
        wrt=wrt,
        motion='joint',
        mode='reverse',
        optimized=optimized,
        preserve_result=preserve_result,
        input_derivative=INPUT_DERIVATIVE.Required,
        check_dims=check_dims,
        verbose=verbose)
docs: Convenience function to produce vector-Jacobian products.
  
    See `autodiff` for function arguments.
    Uses reverse-mode joint-motion autodiff to produce the VJP.