Passed

barrett-wam4::arm."Translation3D free:[Shoulder_Roll(2)]" (from openravepy.ikfast.* robots)

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_Roll(2)].



Examples of No Solutions:

1.0 0.0 0.0 0.22 0.0 1.0 0.0 0.14 0.0 0.0 1.0 1.246 0.4383169421792031 
1.0 0.0 0.0 0.22 0.0 1.0 0.0 0.14 0.0 0.0 1.0 1.246 0.768057845067978  
1.0 0.0 0.0 0.22 0.0 1.0 0.0 0.14 0.0 0.0 1.0 1.246 0.6637049667477607 
1.0 0.0 0.0 0.22 0.0 1.0 0.0 0.14 0.0 0.0 1.0 1.246 0.01157696827240285
1.0 0.0 0.0 0.22 0.0 1.0 0.0 0.14 0.0 0.0 1.0 1.246 0.5276570427298546 
1.0 0.0 0.0 0.22 0.0 1.0 0.0 0.14 0.0 0.0 1.0 1.246 0.1531011898577213 
1.0 0.0 0.0 0.22 0.0 1.0 0.0 0.14 0.0 0.0 1.0 1.246 0.05917061709463592
1.0 0.0 0.0 0.22 0.0 1.0 0.0 0.14 0.0 0.0 1.0 1.246 0.2997786084353924 
1.0 0.0 0.0 0.22 0.0 1.0 0.0 0.14 0.0 0.0 1.0 1.246 0.3564820982515811 
1.0 0.0 0.0 0.22 0.0 1.0 0.0 0.14 0.0 0.0 1.0 1.246 0.1446357454717159 
<measurement><name>compile-time (s)</name><value>52.774</value></measurement>
<measurement><name>success</name><value>0.9868</value></measurement>
<measurement><name>wrong solutions</name><value>0.0000</value></measurement>
<measurement><name>no solutions</name><value>0.0132</value></measurement>
<measurement><name>missing solutions</name><value>0.0073</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>0.003005</value></measurement>