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
2025-10-29: Due to updates GitLab may be unavailable for some minutes between 13:00 and 16:00.
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