Passed

mitsubishi-pa10::arm_nogripper."Transform6D free:[S3(2)]" (from openravepy.ikfast.* robots)

Standard Output

ikfast version: 60
robot: robots/mitsubishi-pa10.zae, manipulator: 
free joint increment: [0.10000000000000001]
manipulator arm_nogripper: link0 link7 [S1, S2, S3, E1, E2, W1, W2]
lower limits: -3.08923277603 -1.58824961931 -3.03687289847 -2.39110107523 -4.45058959259 -2.87979326579 -10000.0
upper limits: 3.08923277603 1.58824961931 3.03687289847 2.39110107523 4.45058959259 2.87979326579 10000.0


The following IK parameterizations are when link link0 is at the origin, the last 1 values are the normalized free variables [S3(2)].



Examples of No Solutions:

1.0              0.0              0.0             0.0              0.0             1.0             0.0               0.0               0.0             0.0               1.0                1.35           0.6159869274258614 
-0.0791660060956 0.948731230607   -0.306009469705 -0.0260108049249 0.237618096907  0.316083932002  0.918492562818    0.0780718678395   0.96812725584   2.77555756156e-16 -0.250458811981    1.24371100098  0.5441983738660813 
1.0              0.0              0.0             0.0              0.0             1.0             0.0               0.0               0.0             0.0               1.0                1.35           0.6801780046224594 
1.0              0.0              0.0             0.0              0.0             1.0             0.0               0.0               0.0             0.0               1.0                1.35           0.1116973720818758 
1.0              0.0              0.0             0.0              0.0             1.0             0.0               0.0               0.0             0.0               1.0                1.35           0.9651490394234657 
0.0424540226454  -0.0615232940853 -0.997202356719 -1.0321044392    -0.566363085987 0.82075903594   -0.0747493127319  -0.0773655386775  0.823061668888  0.56795201312     -1.11022302463e-16 0.315          0.8461291999101639 
1.0              0.0              0.0             0.0              0.0             1.0             0.0               0.0               0.0             0.0               1.0                1.35           0.5915841837525367 
0.150561545786   0.0830880222673  -0.985102838026 -0.576285160245  0.483164643685  -0.875529512405 2.49800180541e-16 8.24340595784e-17 -0.862486607446 -0.475966861728   -0.171966271442    0.664399731206 0.08933306456953274
-0.120948471826  -0.988178428086  0.0942064829469 0.0975037098501  0.827681940371  -0.152784476513 -0.539999545667   -0.558899529766   0.548009190386  0.0126608847657   0.836376487743     1.18064966481  0.8941606969594956 
1.0              0.0              0.0             0.0              0.0             1.0             0.0               0.0               0.0             0.0               1.0                1.35           0.6019788829803467 
<measurement><name>compile-time (s)</name><value>48.671</value></measurement>
<measurement><name>success</name><value>0.9782</value></measurement>
<measurement><name>wrong solutions</name><value>0.0000</value></measurement>
<measurement><name>no solutions</name><value>0.0217</value></measurement>
<measurement><name>missing solutions</name><value>0.2715</value></measurement>
<measurement><name>number tests</name><value>4000</value></measurement>
<measurement><name>run-time mean (s)</name><value>0.000025</value></measurement>
<measurement><name>run-time max (s)</name><value>0.004103</value></measurement>