Robot_Arm/tests/baselines/ik_exact.json

{
 "meta": {
  "solver": "web/arm-ik-solver.js",
  "mesh": "web/mesh_arm.json"
 },
 "exact": {
  "counts": {
   "parts": 117,
   "verts": 367118,
   "tris": 351491,
   "printed": 13,
   "env": 1,
   "joints": 6
  },
  "tcpZ": 93,
  "TCP0": [
   19.5,
   128,
   93
  ],
  "motorTravel": 360,
  "noAdjAxes": [],
  "caps": 1936,
  "lim": {
   "J1": [
    -180,
    180,
    true
   ],
   "J2": [
    -93,
    126,
    false
   ],
   "J3": [
    -180,
    180,
    true
   ],
   "J4": [
    -113,
    113,
    false
   ],
   "J5": [
    -94,
    89,
    false
   ],
   "J6": [
    -180,
    180,
    true
   ]
  },
  "fkQ0": [
   106.498451,
   235.370133,
   140.165364
  ],
  "fkChainQ0": [
   106.498451,
   235.370133,
   140.165364
  ],
  "orientQ0": [
   0.595153,
   0.645892,
   -0.478139,
   -0.757749,
   0.649173,
   -0.06626,
   0.267598,
   0.401744,
   0.875781
  ],
  "solveDyn": [
   {
    "T": [
     150,
     128,
     260
    ],
    "ok": true,
    "err": 0,
    "q": [
     0.041,
     5.809,
     0.094,
     -17.507,
     -94,
     0
    ]
   },
   {
    "T": [
     180,
     128,
     300
    ],
    "ok": true,
    "err": 0,
    "q": [
     0.049,
     -0.026,
     0.094,
     -26.821,
     -94,
     0
    ]
   },
   {
    "T": [
     120,
     -150,
     320
    ],
    "ok": true,
    "err": 0,
    "q": [
     -43.713,
     6.027,
     0.239,
     -0.279,
     -89.002,
     0
    ]
   },
   {
    "T": [
     60,
     128,
     420
    ],
    "ok": true,
    "err": 0,
    "q": [
     38.165,
     0.129,
     70.062,
     -89.578,
     -80.719,
     0
    ]
   }
  ],
  "selfTest": {
   "maxFkErr": 4.689582056016661e-13,
   "maxIkErr": 7.082653493385528e-13,
   "ikHit": 200,
   "ikTried": 200,
   "structWarn": [],
   "poseHit": 8,
   "poseTried": 8,
   "poseErr": 0.0000017075472925031877,
   "K": {
    "X0": 19.5,
    "Y0": 128,
    "Z1": 610,
    "Z2": 490,
    "Z3": 445,
    "Z4": 332,
    "Z5": 222,
    "TCP0": [
     19.5,
     128,
     93
    ],
    "ax": [
     0,
     0,
     -1
    ],
    "C0": -120,
    "A43": -113,
    "A32": -45,
    "A54": -110,
    "L5": 129
   },
   "LIM": {
    "J1": {
     "lo": -180,
     "hi": 180,
     "cont": true
    },
    "J2": {
     "lo": -93,
     "hi": 126,
     "cont": false
    },
    "J3": {
     "lo": -180,
     "hi": 180,
     "cont": true
    },
    "J4": {
     "lo": -113,
     "hi": 113,
     "cont": false
    },
    "J5": {
     "lo": -94,
     "hi": 89,
     "cont": false
    },
    "J6": {
     "lo": -180,
     "hi": 180,
     "cont": true
    }
   }
  },
  "poseSelfTest": {
   "poseHit": 8,
   "poseTried": 8,
   "poseErr": 0.0000012074182697257333
  }
 },
 "timing": {
  "solveDynMedianMs": [
   252.53,
   239.83,
   192.01,
   192.92
  ],
  "poseSelfTestAvgMs": 93.48
 }
}