Passed

mitsubishi-pa10::arm_nogripper."Transform6D free:[W1(5)]" (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 [W1(5)].



Examples of No Solutions:

-0.866936715065  0.480785991054   0.131398488874  0.0104532426151  -0.475101154509 -0.876836702364 0.0737312035211  -0.941494279947 0.150663947437  0.00149271361338 0.988583909817  0.463894767087 0.8442166310310364
-0.0473229677588 -0.621535268725  -0.781955527159 -0.0664662198085 0.529383139958  -0.679457120079 0.508027079103   0.0431823017238 -0.847061997643 -0.38991272319   0.361184219539  1.29570065866  0.7465430243849753
0.760468797673   -0.0529584483946 0.647211410985  0.317597582746   0.413880182136  0.807533576344  -0.420229363457  -0.206213654097 -0.500390250305 0.587439295434   0.636022540151  1.26599059933  0.1022792933106423
-0.876963236606  0.313150215325   0.364516699595  0.1045246898     -0.440015461234 -0.218316719002 -0.871047762226  0.287621282914  -0.193188704422 -0.9242698485    0.329246672933  1.21836791333  0.3470543207645416
0.43401429124    0.841161496955   -0.322612664105 -0.97518768502   -0.891223087813 0.453238001492  -0.0172256132507 0.0242615575768 0.131730796507  0.294996016997   0.946374316646  0.455260885045 0.3521655290961265
0.397207829189   0.842090580665   -0.364841601777 0.918988463849   0.604410541017  0.0591165972139 0.794476636435   0.067530514097  0.690589486119  -0.536086450015  -0.485486848197 0.273733617903 0.2578785769462585
-0.198196414451  -0.965067523675  -0.171355933793 -0.162653023311  0.812536175296  -0.259545781786 0.521939604737   0.556419198775  -0.548181671651 -0.0357863368394 0.835593317925  1.17200896664  0.8370484010577202
0.945944800522   -0.0247682037021 -0.323380535053 -0.443912228701  -0.307100783703 -0.389037965901 -0.868526666106  0.605301704362  -0.104295460182 0.920888699666   -0.375614775817 0.800641631302 0.6310823603034019
-0.886736976381  0.460215161915   0.0435837063887 -0.0190066046466 -0.317153000491 -0.674247370162 0.666936622259   0.703966489399  0.336320545014  0.577574660605   0.743838693823  1.07273066016  0.9039073849081991
0.669500732585   0.673260728353   -0.313829190365 -0.026675481181  -0.728771767562 0.51359156008   -0.452896699282  -0.491641214987 -0.143737538149 0.531924525729   0.834503336754  1.22089362882  0.6276082832813262
<measurement><name>compile-time (s)</name><value>96.634</value></measurement>
<measurement><name>success</name><value>0.9022</value></measurement>
<measurement><name>wrong solutions</name><value>0.0000</value></measurement>
<measurement><name>no solutions</name><value>0.0978</value></measurement>
<measurement><name>missing solutions</name><value>0.2993</value></measurement>
<measurement><name>number tests</name><value>4000</value></measurement>
<measurement><name>run-time mean (s)</name><value>0.000023</value></measurement>
<measurement><name>run-time max (s)</name><value>0.003008</value></measurement>