Manipulability index frame
Manipulability index is usually defined w.r.t. end-effector. The Frame Jacobian for the TCP is not the same as the joint jacobian for the last index, so the manipulability was misleading
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Manipulability index is usually defined w.r.t. end-effector. The Frame Jacobian for the TCP is not the same as the joint jacobian for the last index, so the manipulability was misleading