# `BB.Error.Kinematics.Singularity`
[🔗](https://github.com/beam-bots/bb/blob/main/lib/bb/error/kinematics/singularity.ex#L5)

Robot is near or at a kinematic singularity.

Raised when the robot configuration is near a singular point where
the Jacobian becomes ill-conditioned and motion control degrades.

# `exception`

```elixir
@spec exception(opts :: Keyword.t()) :: %BB.Error.Kinematics.Singularity{
  __exception__: true,
  bread_crumbs: term(),
  class: term(),
  joint_positions: term(),
  manipulability: term(),
  path: term(),
  splode: term(),
  stacktrace: term(),
  threshold: term(),
  vars: term()
}
```

Create an `Elixir.BB.Error.Kinematics.Singularity` without raising it.

## Keys

- :joint_positions
- :manipulability
- :threshold

---

*Consult [api-reference.md](api-reference.md) for complete listing*
