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novaphy.ik.compute_jacobian_angular_velocity

Geometric (angular-velocity) Jacobian of an end-effector frame with respect to the joint coordinates: maps q̇ to world-frame angular velocity ω.

def compute_jacobian_angular_velocity(
    art,
    q,
    ee_link_index: int = -1,
    eps: float = 1e-6,
) -> np.ndarray

Parameters

Parameter Description
art JointBodyBundle or compatible.
q Generalized positions, length art.total_q().
ee_link_index End-effector link index (-1 = last link).
eps Finite-difference step (used where applicable).

Returns

(3, nv) Jacobian. Stacking it under compute_jacobian_position yields a 6×nv body Jacobian suitable for pose-IK least squares.

Notes

Use J_ω (this function) — not d(axis_angle_error)/dq — for orientation rows in pose IK; this keeps the linearization well-conditioned for large rotation errors (including near-180° cases).

See Also