Passed

barrett-wam4::arm."Translation3D free:[Shoulder_Pitch(1)]" (from openravepy.ikfast.* robots)

Measurements

Measurement Name	Value
missing solutions	0.1273
compile-time (s)	210.168
number tests	4000
run-time max (s)	0.002004
wrong solutions	0.0000
success	0.9808
no solutions	0.0192
run-time mean (s)	0.000006

Standard Output

ikfast version: 60
robot: robots/barrett-wam4.zae, manipulator: 
free joint increment: [0.10000000000000001]
manipulator arm: wam0 wam4 [Shoulder_Yaw, Shoulder_Pitch, Shoulder_Roll, Elbow]
lower limits: -2.61799387799 -1.97222205475 -2.74016692563 -0.872664625997
upper limits: 2.61799387799 1.97222205475 2.74016692563 3.14159265359


The following IK parameterizations are when link wam0 is at the origin, the last 1 values are the normalized free variables [Shoulder_Pitch(1)].



Examples of No Solutions:

1.0 0.0 0.0 0.1991351728 0.0 1.0 0.0 0.131636113182 0.0 0.0 1.0 1.24571923642 0.04926697308495642
1.0 0.0 0.0 0.22         0.0 1.0 0.0 0.14           0.0 0.0 1.0 1.246         0.2964797042250632 
1.0 0.0 0.0 0.22         0.0 1.0 0.0 0.14           0.0 0.0 1.0 1.246         0.3308528171360492 
1.0 0.0 0.0 0.22         0.0 1.0 0.0 0.14           0.0 0.0 1.0 1.246         0.02500781435519451
1.0 0.0 0.0 0.22         0.0 1.0 0.0 0.14           0.0 0.0 1.0 1.246         0.59082771371603   
1.0 0.0 0.0 0.22         0.0 1.0 0.0 0.14           0.0 0.0 1.0 1.246         0.2055105769753457 
1.0 0.0 0.0 0.22         0.0 1.0 0.0 0.14           0.0 0.0 1.0 1.246         0.4436256110012531 
1.0 0.0 0.0 0.22         0.0 1.0 0.0 0.14           0.0 0.0 1.0 1.246         0.1931650801360607 
1.0 0.0 0.0 0.22         0.0 1.0 0.0 0.14           0.0 0.0 1.0 1.246         0.8684979843258857 
1.0 0.0 0.0 0.22         0.0 1.0 0.0 0.14           0.0 0.0 1.0 1.246         0.2201501255154609 
<measurement><name>compile-time (s)</name><value>210.168</value></measurement>
<measurement><name>success</name><value>0.9808</value></measurement>
<measurement><name>wrong solutions</name><value>0.0000</value></measurement>
<measurement><name>no solutions</name><value>0.0192</value></measurement>
<measurement><name>missing solutions</name><value>0.1273</value></measurement>
<measurement><name>number tests</name><value>4000</value></measurement>
<measurement><name>run-time mean (s)</name><value>0.000006</value></measurement>
<measurement><name>run-time max (s)</name><value>0.002004</value></measurement>