skrobot.coordinates.math.manipulability

skrobot.coordinates.math.manipulability(J)

Compute manipulability for a single matrix or each matrix in a batch.

This function can handle both a single Jacobian matrix and a batch of Jacobian matrices. For a single matrix, it returns the manipulability as a float. For a batch, it returns an array of manipulability values.

Definition of manipulability is following.

\(w = \sqrt{\det J(\theta)J^T(\theta)}\)

Parameters:

J (numpy.ndarray) – Jacobian matrix or batch of Jacobian matrices. It should be of shape (n, m) for a single matrix or (batch_size, n, m) for a batch.

Returns:

w – Manipulability or array of manipulability values.

Return type:

float