{"abstract":"Roll and yaw commands are exchanged.","category":"Inverse kinematics solvers","checks":7,"contract":"Input [A,B,pose,lmin,lmax]: base anchors A and platform anchors B (platform frame), pose [x,y,z,roll,pitch,yaw] in degrees with R = Rz(yaw) Ry(pitch) Rx(roll). Leg i length is |p + R b_i - a_i|. Return lengths rounded to 4, or [\"limit\", i, length] for the first leg outside the inclusive range [lmin,lmax].","evaluation_group":"w2-inverse_kinematics_solvers-stewart-leg-lengths","failed_approach":"Swapping roll and pitch instead mixes a different pair.","family":"w2-inverse_kinematics_solvers-stewart-leg-lengths-pose-attitude-order","id":"FA-88141","implementations":{"attempt":{"sha256":"47fc5763c5773737bdebbe18a3e9c871c99d0af3efca46074dd2bfca891bc8bf","source":"\"\"\"Failure Map reference implementation. Python standard library only.\"\"\"\nimport json\nimport math\nN = 1\nobservations = []\ndef solve(x):\n    A,B,pose,lmin,lmax=x\n    px,py,pz,pi_,ro,ya=pose\n    cr,sr=math.cos(math.radians(ro)),math.sin(math.radians(ro))\n    cp,sp=math.cos(math.radians(pi_)),math.sin(math.radians(pi_))\n    cy,sy=math.cos(math.radians(ya)),math.sin(math.radians(ya))\n    Rx=[[1,0,0],[0,cr,-sr],[0,sr,cr]]\n    Ry=[[cp,0,sp],[0,1,0],[-sp,0,cp]]\n    Rz=[[cy,-sy,0],[sy,cy,0],[0,0,1]]\n    mm=lambda P,Q:[[sum(P[i][k]*Q[k][j] for k in range(3)) for j in range(3)] for i in range(3)]\n    Rm=mm(Rz,mm(Ry,Rx))\n    out=[]\n    for i,(a,b) in enumerate(zip(A,B)):\n        w=[sum(Rm[r][c]*b[c] for c in range(3)) for r in range(3)]\n        v=[px+w[0]-a[0],py+w[1]-a[1],pz+w[2]-a[2]]\n        L=math.sqrt(v[0]**2+v[1]**2+v[2]**2)\n        if L<lmin or L>lmax: return ['limit',i,round(L,4)]\n        out.append(round(L,4))\n    return out\ndef check(label, actual, expected):\n    observations.append({\"check\": label, \"actual\": actual, \"expected\": expected, \"passed\": actual == expected})\nfixtures = [[['identity pose exact 13', [[[[0, 0, 0], [3, 0, 0], [0, 3, 0]], [[3, 4, 0], [6, 4, 0], [3, 7, 0]], [0, 0, 12, 0, 0, 0], 13, 20]], [13.0, 13.0, 13.0]], ['upper bound exact', [[[[0, 0, 0], [1, 0, 0]], [[3, 4, 0], [4, 4, 0]], [0, 0, 12, 0, 0, 0], 5, 13]], [13.0, 13.0]], ['roll only', [[[[0, 0, 0], [2, 0, 0], [0, 2, 0]], [[0, 1, 0], [2, 1, 0], [0, 3, 0]], [0, 0, 10, 20, 0, 0], 1, 30]], [10.3846, 10.3846, 11.0564]], ['pitch only', [[[[0, 0, 0], [2, 0, 0], [0, 2, 0]], [[1, 0, 0], [3, 0, 0], [1, 2, 0]], [0, 0, 10, 0, 25, 0], 1, 30]], [9.6202, 8.7617, 9.6202]], ['yaw only', [[[[0, 0, 0], [2, 0, 0], [0, 2, 0]], [[1, 1, 0], [3, 1, 0], [1, 3, 0]], [0, 0, 10, 0, 0, 30], 1, 30]], [10.0995, 10.2766, 10.0801]], ['combined attitude', [[[[1, 0, 0], [-1, 1, 0], [-1, -1, 0]], [[1, 0, 1], [-1, 1, 0], [0, -1, 0]], [0.5, -0.5, 8, 10, -15, 40], 1, 30]], [9.2131, 8.0316, 8.1298]], ['roll and pitch', [[[[2, 0, 0], [-1, 2, 0], [-1, -2, 0]], [[1, 0.5, 0], [-0.5, 1, 0], [-0.5, -1, 0.2]], [0, 0, 6, 30, 20, 0], 1, 30]], [5.9887, 6.7734, 5.9691]]], [['pitch only', [[[[0, 0, 0], [2, 0, 0], [0, 2, 0]], [[1, 0, 0], [3, 0, 0], [1, 2, 0]], [0, 0, 10, 0, 25, 0], 1, 30]], [9.6202, 8.7617, 9.6202]], ['yaw only', [[[[0, 0, 0], [2, 0, 0], [0, 2, 0]], [[1, 1, 0], [3, 1, 0], [1, 3, 0]], [0, 0, 10, 0, 0, 30], 1, 30]], [10.0995, 10.2766, 10.0801]], ['combined attitude', [[[[1, 0, 0], [-1, 1, 0], [-1, -1, 0]], [[1, 0, 1], [-1, 1, 0], [0, -1, 0]], [0.5, -0.5, 8, 10, -15, 40], 1, 30]], [9.2131, 8.0316, 8.1298]], ['roll and pitch', [[[[2, 0, 0], [-1, 2, 0], [-1, -2, 0]], [[1, 0.5, 0], [-0.5, 1, 0], [-0.5, -1, 0.2]], [0, 0, 6, 30, 20, 0], 1, 30]], [5.9887, 6.7734, 5.9691]], ['several legs violate', [[[[0, 0, 0], [5, 0, 0], [0, 5, 0]], [[0, 0, 0], [1, 0, 0], [0, 1, 0]], [0, 0, 4, 0, 0, 0], 4.5, 20]], ['limit', 0, 4.0]], ['short leg first', [[[[0, 0, 0], [1, 0, 0]], [[0, 0, 0], [1, 0, 0]], [0, 0, 2, 0, 0, 0], 3, 10]], ['limit', 0, 2.0]], ['long leg second', [[[[0, 0, 0], [8, 0, 0]], [[0, 0, 0], [0, 0, 0]], [0, 0, 6, 0, 0, 0], 1, 9]], ['limit', 1, 10.0]]], [['identity pose exact 13', [[[[0, 0, 0], [3, 0, 0], [0, 3, 0]], [[3, 4, 0], [6, 4, 0], [3, 7, 0]], [0, 0, 12, 0, 0, 0], 13, 20]], [13.0, 13.0, 13.0]], ['combined attitude', [[[[1, 0, 0], [-1, 1, 0], [-1, -1, 0]], [[1, 0, 1], [-1, 1, 0], [0, -1, 0]], [0.5, -0.5, 8, 10, -15, 40], 1, 30]], [9.2131, 8.0316, 8.1298]], ['several legs violate', [[[[0, 0, 0], [5, 0, 0], [0, 5, 0]], [[0, 0, 0], [1, 0, 0], [0, 1, 0]], [0, 0, 4, 0, 0, 0], 4.5, 20]], ['limit', 0, 4.0]], ['short leg first', [[[[0, 0, 0], [1, 0, 0]], [[0, 0, 0], [1, 0, 0]], [0, 0, 2, 0, 0, 0], 3, 10]], ['limit', 0, 2.0]], ['long leg second', [[[[0, 0, 0], [8, 0, 0]], [[0, 0, 0], [0, 0, 0]], [0, 0, 6, 0, 0, 0], 1, 9]], ['limit', 1, 10.0]], ['yaw with offsets', [[[[3, 0, 0], [-3, 0, 0]], [[1, 0, 0], [-1, 0, 0]], [1, 2, 7, 5, 5, 60], 1, 30]], [7.6314, 7.9865]], ['large pitch', [[[[2, 0, 0], [0, 2, 0], [-2, 0, 0]], [[1, 0, 0], [0, 1, 0], [-1, 0, 0]], [0, 0, 5, 0, 60, 10], 1, 30]], [4.4012, 5.105, 6.0573]]], [['identity pose exact 13', [[[[0, 0, 0], [3, 0, 0], [0, 3, 0]], [[3, 4, 0], [6, 4, 0], [3, 7, 0]], [0, 0, 12, 0, 0, 0], 13, 20]], [13.0, 13.0, 13.0]], ['upper bound exact', [[[[0, 0, 0], [1, 0, 0]], [[3, 4, 0], [4, 4, 0]], [0, 0, 12, 0, 0, 0], 5, 13]], [13.0, 13.0]], ['roll only', [[[[0, 0, 0], [2, 0, 0], [0, 2, 0]], [[0, 1, 0], [2, 1, 0], [0, 3, 0]], [0, 0, 10, 20, 0, 0], 1, 30]], [10.3846, 10.3846, 11.0564]], ['pitch only', [[[[0, 0, 0], [2, 0, 0], [0, 2, 0]], [[1, 0, 0], [3, 0, 0], [1, 2, 0]], [0, 0, 10, 0, 25, 0], 1, 30]], [9.6202, 8.7617, 9.6202]], ['roll and pitch', [[[[2, 0, 0], [-1, 2, 0], [-1, -2, 0]], [[1, 0.5, 0], [-0.5, 1, 0], [-0.5, -1, 0.2]], [0, 0, 6, 30, 20, 0], 1, 30]], [5.9887, 6.7734, 5.9691]], ['yaw with offsets', [[[[3, 0, 0], [-3, 0, 0]], [[1, 0, 0], [-1, 0, 0]], [1, 2, 7, 5, 5, 60], 1, 30]], [7.6314, 7.9865]], ['large pitch', [[[[2, 0, 0], [0, 2, 0], [-2, 0, 0]], [[1, 0, 0], [0, 1, 0], [-1, 0, 0]], [0, 0, 5, 0, 60, 10], 1, 30]], [4.4012, 5.105, 6.0573]]], [['roll only', [[[[0, 0, 0], [2, 0, 0], [0, 2, 0]], [[0, 1, 0], [2, 1, 0], [0, 3, 0]], [0, 0, 10, 20, 0, 0], 1, 30]], [10.3846, 10.3846, 11.0564]], ['pitch only', [[[[0, 0, 0], [2, 0, 0], [0, 2, 0]], [[1, 0, 0], [3, 0, 0], [1, 2, 0]], [0, 0, 10, 0, 25, 0], 1, 30]], [9.6202, 8.7617, 9.6202]], ['yaw only', [[[[0, 0, 0], [2, 0, 0], [0, 2, 0]], [[1, 1, 0], [3, 1, 0], [1, 3, 0]], [0, 0, 10, 0, 0, 30], 1, 30]], [10.0995, 10.2766, 10.0801]], ['combined attitude', [[[[1, 0, 0], [-1, 1, 0], [-1, -1, 0]], [[1, 0, 1], [-1, 1, 0], [0, -1, 0]], [0.5, -0.5, 8, 10, -15, 40], 1, 30]], [9.2131, 8.0316, 8.1298]], ['roll and pitch', [[[[2, 0, 0], [-1, 2, 0], [-1, -2, 0]], [[1, 0.5, 0], [-0.5, 1, 0], [-0.5, -1, 0.2]], [0, 0, 6, 30, 20, 0], 1, 30]], [5.9887, 6.7734, 5.9691]], ['yaw with offsets', [[[[3, 0, 0], [-3, 0, 0]], [[1, 0, 0], [-1, 0, 0]], [1, 2, 7, 5, 5, 60], 1, 30]], [7.6314, 7.9865]], ['large pitch', [[[[2, 0, 0], [0, 2, 0], [-2, 0, 0]], [[1, 0, 0], [0, 1, 0], [-1, 0, 0]], [0, 0, 5, 0, 60, 10], 1, 30]], [4.4012, 5.105, 6.0573]]]]\nfor label, args, expected in fixtures[N-1]:\n    check(label, solve(*args), expected)\nprint(json.dumps({\"observations\": observations, \"passed\": all(x[\"passed\"] for x in observations)}, ensure_ascii=False))\nraise SystemExit(0 if all(x[\"passed\"] for x in observations) else 1)\n"},"broken":{"sha256":"b6e781af73d825fc27bab99a99f9b970b4f4824580a36b3a549fb6ba1293425a","source":"\"\"\"Failure Map reference implementation. Python standard library only.\"\"\"\nimport json\nimport math\nN = 1\nobservations = []\ndef solve(x):\n    A,B,pose,lmin,lmax=x\n    px,py,pz,ya,pi_,ro=pose\n    cr,sr=math.cos(math.radians(ro)),math.sin(math.radians(ro))\n    cp,sp=math.cos(math.radians(pi_)),math.sin(math.radians(pi_))\n    cy,sy=math.cos(math.radians(ya)),math.sin(math.radians(ya))\n    Rx=[[1,0,0],[0,cr,-sr],[0,sr,cr]]\n    Ry=[[cp,0,sp],[0,1,0],[-sp,0,cp]]\n    Rz=[[cy,-sy,0],[sy,cy,0],[0,0,1]]\n    mm=lambda P,Q:[[sum(P[i][k]*Q[k][j] for k in range(3)) for j in range(3)] for i in range(3)]\n    Rm=mm(Rz,mm(Ry,Rx))\n    out=[]\n    for i,(a,b) in enumerate(zip(A,B)):\n        w=[sum(Rm[r][c]*b[c] for c in range(3)) for r in range(3)]\n        v=[px+w[0]-a[0],py+w[1]-a[1],pz+w[2]-a[2]]\n        L=math.sqrt(v[0]**2+v[1]**2+v[2]**2)\n        if L<lmin or L>lmax: return ['limit',i,round(L,4)]\n        out.append(round(L,4))\n    return out\ndef check(label, actual, expected):\n    observations.append({\"check\": label, \"actual\": actual, \"expected\": expected, \"passed\": actual == expected})\nfixtures = [[['identity pose exact 13', [[[[0, 0, 0], [3, 0, 0], [0, 3, 0]], [[3, 4, 0], [6, 4, 0], [3, 7, 0]], [0, 0, 12, 0, 0, 0], 13, 20]], [13.0, 13.0, 13.0]], ['upper bound exact', [[[[0, 0, 0], [1, 0, 0]], [[3, 4, 0], [4, 4, 0]], [0, 0, 12, 0, 0, 0], 5, 13]], [13.0, 13.0]], ['roll only', [[[[0, 0, 0], [2, 0, 0], [0, 2, 0]], [[0, 1, 0], [2, 1, 0], [0, 3, 0]], [0, 0, 10, 20, 0, 0], 1, 30]], [10.3846, 10.3846, 11.0564]], ['pitch only', [[[[0, 0, 0], [2, 0, 0], [0, 2, 0]], [[1, 0, 0], [3, 0, 0], [1, 2, 0]], [0, 0, 10, 0, 25, 0], 1, 30]], [9.6202, 8.7617, 9.6202]], ['yaw only', [[[[0, 0, 0], [2, 0, 0], [0, 2, 0]], [[1, 1, 0], [3, 1, 0], [1, 3, 0]], [0, 0, 10, 0, 0, 30], 1, 30]], [10.0995, 10.2766, 10.0801]], ['combined attitude', [[[[1, 0, 0], [-1, 1, 0], [-1, -1, 0]], [[1, 0, 1], [-1, 1, 0], [0, -1, 0]], [0.5, -0.5, 8, 10, -15, 40], 1, 30]], [9.2131, 8.0316, 8.1298]], ['roll and pitch', [[[[2, 0, 0], [-1, 2, 0], [-1, -2, 0]], [[1, 0.5, 0], [-0.5, 1, 0], [-0.5, -1, 0.2]], [0, 0, 6, 30, 20, 0], 1, 30]], [5.9887, 6.7734, 5.9691]]], [['pitch only', [[[[0, 0, 0], [2, 0, 0], [0, 2, 0]], [[1, 0, 0], [3, 0, 0], [1, 2, 0]], [0, 0, 10, 0, 25, 0], 1, 30]], [9.6202, 8.7617, 9.6202]], ['yaw only', [[[[0, 0, 0], [2, 0, 0], [0, 2, 0]], [[1, 1, 0], [3, 1, 0], [1, 3, 0]], [0, 0, 10, 0, 0, 30], 1, 30]], [10.0995, 10.2766, 10.0801]], ['combined attitude', [[[[1, 0, 0], [-1, 1, 0], [-1, -1, 0]], [[1, 0, 1], [-1, 1, 0], [0, -1, 0]], [0.5, -0.5, 8, 10, -15, 40], 1, 30]], [9.2131, 8.0316, 8.1298]], ['roll and pitch', [[[[2, 0, 0], [-1, 2, 0], [-1, -2, 0]], [[1, 0.5, 0], [-0.5, 1, 0], [-0.5, -1, 0.2]], [0, 0, 6, 30, 20, 0], 1, 30]], [5.9887, 6.7734, 5.9691]], ['several legs violate', [[[[0, 0, 0], [5, 0, 0], [0, 5, 0]], [[0, 0, 0], [1, 0, 0], [0, 1, 0]], [0, 0, 4, 0, 0, 0], 4.5, 20]], ['limit', 0, 4.0]], ['short leg first', [[[[0, 0, 0], [1, 0, 0]], [[0, 0, 0], [1, 0, 0]], [0, 0, 2, 0, 0, 0], 3, 10]], ['limit', 0, 2.0]], ['long leg second', [[[[0, 0, 0], [8, 0, 0]], [[0, 0, 0], [0, 0, 0]], [0, 0, 6, 0, 0, 0], 1, 9]], ['limit', 1, 10.0]]], [['identity pose exact 13', [[[[0, 0, 0], [3, 0, 0], [0, 3, 0]], [[3, 4, 0], [6, 4, 0], [3, 7, 0]], [0, 0, 12, 0, 0, 0], 13, 20]], [13.0, 13.0, 13.0]], ['combined attitude', [[[[1, 0, 0], [-1, 1, 0], [-1, -1, 0]], [[1, 0, 1], [-1, 1, 0], [0, -1, 0]], [0.5, -0.5, 8, 10, -15, 40], 1, 30]], [9.2131, 8.0316, 8.1298]], ['several legs violate', [[[[0, 0, 0], [5, 0, 0], [0, 5, 0]], [[0, 0, 0], [1, 0, 0], [0, 1, 0]], [0, 0, 4, 0, 0, 0], 4.5, 20]], ['limit', 0, 4.0]], ['short leg first', [[[[0, 0, 0], [1, 0, 0]], [[0, 0, 0], [1, 0, 0]], [0, 0, 2, 0, 0, 0], 3, 10]], ['limit', 0, 2.0]], ['long leg second', [[[[0, 0, 0], [8, 0, 0]], [[0, 0, 0], [0, 0, 0]], [0, 0, 6, 0, 0, 0], 1, 9]], ['limit', 1, 10.0]], ['yaw with offsets', [[[[3, 0, 0], [-3, 0, 0]], [[1, 0, 0], [-1, 0, 0]], [1, 2, 7, 5, 5, 60], 1, 30]], [7.6314, 7.9865]], ['large pitch', [[[[2, 0, 0], [0, 2, 0], [-2, 0, 0]], [[1, 0, 0], [0, 1, 0], [-1, 0, 0]], [0, 0, 5, 0, 60, 10], 1, 30]], [4.4012, 5.105, 6.0573]]], [['identity pose exact 13', [[[[0, 0, 0], [3, 0, 0], [0, 3, 0]], [[3, 4, 0], [6, 4, 0], [3, 7, 0]], [0, 0, 12, 0, 0, 0], 13, 20]], [13.0, 13.0, 13.0]], ['upper bound exact', [[[[0, 0, 0], [1, 0, 0]], [[3, 4, 0], [4, 4, 0]], [0, 0, 12, 0, 0, 0], 5, 13]], [13.0, 13.0]], ['roll only', [[[[0, 0, 0], [2, 0, 0], [0, 2, 0]], [[0, 1, 0], [2, 1, 0], [0, 3, 0]], [0, 0, 10, 20, 0, 0], 1, 30]], [10.3846, 10.3846, 11.0564]], ['pitch only', [[[[0, 0, 0], [2, 0, 0], [0, 2, 0]], [[1, 0, 0], [3, 0, 0], [1, 2, 0]], [0, 0, 10, 0, 25, 0], 1, 30]], [9.6202, 8.7617, 9.6202]], ['roll and pitch', [[[[2, 0, 0], [-1, 2, 0], [-1, -2, 0]], [[1, 0.5, 0], [-0.5, 1, 0], [-0.5, -1, 0.2]], [0, 0, 6, 30, 20, 0], 1, 30]], [5.9887, 6.7734, 5.9691]], ['yaw with offsets', [[[[3, 0, 0], [-3, 0, 0]], [[1, 0, 0], [-1, 0, 0]], [1, 2, 7, 5, 5, 60], 1, 30]], [7.6314, 7.9865]], ['large pitch', [[[[2, 0, 0], [0, 2, 0], [-2, 0, 0]], [[1, 0, 0], [0, 1, 0], [-1, 0, 0]], [0, 0, 5, 0, 60, 10], 1, 30]], [4.4012, 5.105, 6.0573]]], [['roll only', [[[[0, 0, 0], [2, 0, 0], [0, 2, 0]], [[0, 1, 0], [2, 1, 0], [0, 3, 0]], [0, 0, 10, 20, 0, 0], 1, 30]], [10.3846, 10.3846, 11.0564]], ['pitch only', [[[[0, 0, 0], [2, 0, 0], [0, 2, 0]], [[1, 0, 0], [3, 0, 0], [1, 2, 0]], [0, 0, 10, 0, 25, 0], 1, 30]], [9.6202, 8.7617, 9.6202]], ['yaw only', [[[[0, 0, 0], [2, 0, 0], [0, 2, 0]], [[1, 1, 0], [3, 1, 0], [1, 3, 0]], [0, 0, 10, 0, 0, 30], 1, 30]], [10.0995, 10.2766, 10.0801]], ['combined attitude', [[[[1, 0, 0], [-1, 1, 0], [-1, -1, 0]], [[1, 0, 1], [-1, 1, 0], [0, -1, 0]], [0.5, -0.5, 8, 10, -15, 40], 1, 30]], [9.2131, 8.0316, 8.1298]], ['roll and pitch', [[[[2, 0, 0], [-1, 2, 0], [-1, -2, 0]], [[1, 0.5, 0], [-0.5, 1, 0], [-0.5, -1, 0.2]], [0, 0, 6, 30, 20, 0], 1, 30]], [5.9887, 6.7734, 5.9691]], ['yaw with offsets', [[[[3, 0, 0], [-3, 0, 0]], [[1, 0, 0], [-1, 0, 0]], [1, 2, 7, 5, 5, 60], 1, 30]], [7.6314, 7.9865]], ['large pitch', [[[[2, 0, 0], [0, 2, 0], [-2, 0, 0]], [[1, 0, 0], [0, 1, 0], [-1, 0, 0]], [0, 0, 5, 0, 60, 10], 1, 30]], [4.4012, 5.105, 6.0573]]]]\nfor label, args, expected in fixtures[N-1]:\n    check(label, solve(*args), expected)\nprint(json.dumps({\"observations\": observations, \"passed\": all(x[\"passed\"] for x in observations)}, ensure_ascii=False))\nraise SystemExit(0 if all(x[\"passed\"] for x in observations) else 1)\n"},"fixed":{"sha256":"e461c100bc9390d3874af9ab0e2ea21be2a7777115148e969f593371258dd3dc","source":"\"\"\"Failure Map reference implementation. Python standard library only.\"\"\"\nimport json\nimport math\nN = 1\nobservations = []\ndef solve(x):\n    A,B,pose,lmin,lmax=x\n    px,py,pz,ro,pi_,ya=pose\n    cr,sr=math.cos(math.radians(ro)),math.sin(math.radians(ro))\n    cp,sp=math.cos(math.radians(pi_)),math.sin(math.radians(pi_))\n    cy,sy=math.cos(math.radians(ya)),math.sin(math.radians(ya))\n    Rx=[[1,0,0],[0,cr,-sr],[0,sr,cr]]\n    Ry=[[cp,0,sp],[0,1,0],[-sp,0,cp]]\n    Rz=[[cy,-sy,0],[sy,cy,0],[0,0,1]]\n    mm=lambda P,Q:[[sum(P[i][k]*Q[k][j] for k in range(3)) for j in range(3)] for i in range(3)]\n    Rm=mm(Rz,mm(Ry,Rx))\n    out=[]\n    for i,(a,b) in enumerate(zip(A,B)):\n        w=[sum(Rm[r][c]*b[c] for c in range(3)) for r in range(3)]\n        v=[px+w[0]-a[0],py+w[1]-a[1],pz+w[2]-a[2]]\n        L=math.sqrt(v[0]**2+v[1]**2+v[2]**2)\n        if L<lmin or L>lmax: return ['limit',i,round(L,4)]\n        out.append(round(L,4))\n    return out\ndef check(label, actual, expected):\n    observations.append({\"check\": label, \"actual\": actual, \"expected\": expected, \"passed\": actual == expected})\nfixtures = [[['identity pose exact 13', [[[[0, 0, 0], [3, 0, 0], [0, 3, 0]], [[3, 4, 0], [6, 4, 0], [3, 7, 0]], [0, 0, 12, 0, 0, 0], 13, 20]], [13.0, 13.0, 13.0]], ['upper bound exact', [[[[0, 0, 0], [1, 0, 0]], [[3, 4, 0], [4, 4, 0]], [0, 0, 12, 0, 0, 0], 5, 13]], [13.0, 13.0]], ['roll only', [[[[0, 0, 0], [2, 0, 0], [0, 2, 0]], [[0, 1, 0], [2, 1, 0], [0, 3, 0]], [0, 0, 10, 20, 0, 0], 1, 30]], [10.3846, 10.3846, 11.0564]], ['pitch only', [[[[0, 0, 0], [2, 0, 0], [0, 2, 0]], [[1, 0, 0], [3, 0, 0], [1, 2, 0]], [0, 0, 10, 0, 25, 0], 1, 30]], [9.6202, 8.7617, 9.6202]], ['yaw only', [[[[0, 0, 0], [2, 0, 0], [0, 2, 0]], [[1, 1, 0], [3, 1, 0], [1, 3, 0]], [0, 0, 10, 0, 0, 30], 1, 30]], [10.0995, 10.2766, 10.0801]], ['combined attitude', [[[[1, 0, 0], [-1, 1, 0], [-1, -1, 0]], [[1, 0, 1], [-1, 1, 0], [0, -1, 0]], [0.5, -0.5, 8, 10, -15, 40], 1, 30]], [9.2131, 8.0316, 8.1298]], ['roll and pitch', [[[[2, 0, 0], [-1, 2, 0], [-1, -2, 0]], [[1, 0.5, 0], [-0.5, 1, 0], [-0.5, -1, 0.2]], [0, 0, 6, 30, 20, 0], 1, 30]], [5.9887, 6.7734, 5.9691]]], [['pitch only', [[[[0, 0, 0], [2, 0, 0], [0, 2, 0]], [[1, 0, 0], [3, 0, 0], [1, 2, 0]], [0, 0, 10, 0, 25, 0], 1, 30]], [9.6202, 8.7617, 9.6202]], ['yaw only', [[[[0, 0, 0], [2, 0, 0], [0, 2, 0]], [[1, 1, 0], [3, 1, 0], [1, 3, 0]], [0, 0, 10, 0, 0, 30], 1, 30]], [10.0995, 10.2766, 10.0801]], ['combined attitude', [[[[1, 0, 0], [-1, 1, 0], [-1, -1, 0]], [[1, 0, 1], [-1, 1, 0], [0, -1, 0]], [0.5, -0.5, 8, 10, -15, 40], 1, 30]], [9.2131, 8.0316, 8.1298]], ['roll and pitch', [[[[2, 0, 0], [-1, 2, 0], [-1, -2, 0]], [[1, 0.5, 0], [-0.5, 1, 0], [-0.5, -1, 0.2]], [0, 0, 6, 30, 20, 0], 1, 30]], [5.9887, 6.7734, 5.9691]], ['several legs violate', [[[[0, 0, 0], [5, 0, 0], [0, 5, 0]], [[0, 0, 0], [1, 0, 0], [0, 1, 0]], [0, 0, 4, 0, 0, 0], 4.5, 20]], ['limit', 0, 4.0]], ['short leg first', [[[[0, 0, 0], [1, 0, 0]], [[0, 0, 0], [1, 0, 0]], [0, 0, 2, 0, 0, 0], 3, 10]], ['limit', 0, 2.0]], ['long leg second', [[[[0, 0, 0], [8, 0, 0]], [[0, 0, 0], [0, 0, 0]], [0, 0, 6, 0, 0, 0], 1, 9]], ['limit', 1, 10.0]]], [['identity pose exact 13', [[[[0, 0, 0], [3, 0, 0], [0, 3, 0]], [[3, 4, 0], [6, 4, 0], [3, 7, 0]], [0, 0, 12, 0, 0, 0], 13, 20]], [13.0, 13.0, 13.0]], ['combined attitude', [[[[1, 0, 0], [-1, 1, 0], [-1, -1, 0]], [[1, 0, 1], [-1, 1, 0], [0, -1, 0]], [0.5, -0.5, 8, 10, -15, 40], 1, 30]], [9.2131, 8.0316, 8.1298]], ['several legs violate', [[[[0, 0, 0], [5, 0, 0], [0, 5, 0]], [[0, 0, 0], [1, 0, 0], [0, 1, 0]], [0, 0, 4, 0, 0, 0], 4.5, 20]], ['limit', 0, 4.0]], ['short leg first', [[[[0, 0, 0], [1, 0, 0]], [[0, 0, 0], [1, 0, 0]], [0, 0, 2, 0, 0, 0], 3, 10]], ['limit', 0, 2.0]], ['long leg second', [[[[0, 0, 0], [8, 0, 0]], [[0, 0, 0], [0, 0, 0]], [0, 0, 6, 0, 0, 0], 1, 9]], ['limit', 1, 10.0]], ['yaw with offsets', [[[[3, 0, 0], [-3, 0, 0]], [[1, 0, 0], [-1, 0, 0]], [1, 2, 7, 5, 5, 60], 1, 30]], [7.6314, 7.9865]], ['large pitch', [[[[2, 0, 0], [0, 2, 0], [-2, 0, 0]], [[1, 0, 0], [0, 1, 0], [-1, 0, 0]], [0, 0, 5, 0, 60, 10], 1, 30]], [4.4012, 5.105, 6.0573]]], [['identity pose exact 13', [[[[0, 0, 0], [3, 0, 0], [0, 3, 0]], [[3, 4, 0], [6, 4, 0], [3, 7, 0]], [0, 0, 12, 0, 0, 0], 13, 20]], [13.0, 13.0, 13.0]], ['upper bound exact', [[[[0, 0, 0], [1, 0, 0]], [[3, 4, 0], [4, 4, 0]], [0, 0, 12, 0, 0, 0], 5, 13]], [13.0, 13.0]], ['roll only', [[[[0, 0, 0], [2, 0, 0], [0, 2, 0]], [[0, 1, 0], [2, 1, 0], [0, 3, 0]], [0, 0, 10, 20, 0, 0], 1, 30]], [10.3846, 10.3846, 11.0564]], ['pitch only', [[[[0, 0, 0], [2, 0, 0], [0, 2, 0]], [[1, 0, 0], [3, 0, 0], [1, 2, 0]], [0, 0, 10, 0, 25, 0], 1, 30]], [9.6202, 8.7617, 9.6202]], ['roll and pitch', [[[[2, 0, 0], [-1, 2, 0], [-1, -2, 0]], [[1, 0.5, 0], [-0.5, 1, 0], [-0.5, -1, 0.2]], [0, 0, 6, 30, 20, 0], 1, 30]], [5.9887, 6.7734, 5.9691]], ['yaw with offsets', [[[[3, 0, 0], [-3, 0, 0]], [[1, 0, 0], [-1, 0, 0]], [1, 2, 7, 5, 5, 60], 1, 30]], [7.6314, 7.9865]], ['large pitch', [[[[2, 0, 0], [0, 2, 0], [-2, 0, 0]], [[1, 0, 0], [0, 1, 0], [-1, 0, 0]], [0, 0, 5, 0, 60, 10], 1, 30]], [4.4012, 5.105, 6.0573]]], [['roll only', [[[[0, 0, 0], [2, 0, 0], [0, 2, 0]], [[0, 1, 0], [2, 1, 0], [0, 3, 0]], [0, 0, 10, 20, 0, 0], 1, 30]], [10.3846, 10.3846, 11.0564]], ['pitch only', [[[[0, 0, 0], [2, 0, 0], [0, 2, 0]], [[1, 0, 0], [3, 0, 0], [1, 2, 0]], [0, 0, 10, 0, 25, 0], 1, 30]], [9.6202, 8.7617, 9.6202]], ['yaw only', [[[[0, 0, 0], [2, 0, 0], [0, 2, 0]], [[1, 1, 0], [3, 1, 0], [1, 3, 0]], [0, 0, 10, 0, 0, 30], 1, 30]], [10.0995, 10.2766, 10.0801]], ['combined attitude', [[[[1, 0, 0], [-1, 1, 0], [-1, -1, 0]], [[1, 0, 1], [-1, 1, 0], [0, -1, 0]], [0.5, -0.5, 8, 10, -15, 40], 1, 30]], [9.2131, 8.0316, 8.1298]], ['roll and pitch', [[[[2, 0, 0], [-1, 2, 0], [-1, -2, 0]], [[1, 0.5, 0], [-0.5, 1, 0], [-0.5, -1, 0.2]], [0, 0, 6, 30, 20, 0], 1, 30]], [5.9887, 6.7734, 5.9691]], ['yaw with offsets', [[[[3, 0, 0], [-3, 0, 0]], [[1, 0, 0], [-1, 0, 0]], [1, 2, 7, 5, 5, 60], 1, 30]], [7.6314, 7.9865]], ['large pitch', [[[[2, 0, 0], [0, 2, 0], [-2, 0, 0]], [[1, 0, 0], [0, 1, 0], [-1, 0, 0]], [0, 0, 5, 0, 60, 10], 1, 30]], [4.4012, 5.105, 6.0573]]]]\nfor label, args, expected in fixtures[N-1]:\n    check(label, solve(*args), expected)\nprint(json.dumps({\"observations\": observations, \"passed\": all(x[\"passed\"] for x in observations)}, ensure_ascii=False))\nraise SystemExit(0 if all(x[\"passed\"] for x in observations) else 1)\n"}},"limitations":"Deterministic planar or low-dimensional teaching model with a stipulated convention; not a general robotics library. This reproducer isolates one failure mechanism. Results cover the supplied fixtures. Variants within a family share a test contract and should remain grouped when constructing evaluation splits. Related mechanisms with a shared evaluation_group must also remain together; these controlled models are not independent production incidents.","method":"Deterministic executable model with adversarial boundary fixtures.","provenance":{"created_by":"Failure Map","dependencies":"Python standard library","family":"w2-inverse_kinematics_solvers-stewart-leg-lengths-pose-attitude-order","generated_at":"2026-09-29T14:51:05.421277+00:00","license":"CC0-1.0","python":"3.12.14","seed":1,"split":"open-access"},"relevance":"Inverse kinematics code turns task-space goals into joint commands; a wrong branch, sign, limit or update order sends a real arm to the wrong pose.","repair":"Unpack [x,y,z,roll,pitch,yaw].","root_cause":"The pose is read as [x,y,z,yaw,pitch,roll] although the contract lists roll first.","sha256":"5461671e8b52c607a4d93e687ca9ba6e07a79a9a81031474ff5dcf66b060681f","title":"Stewart pose vector is unpacked as yaw, pitch, roll · case 01","variant":1,"variant_policy":"Five numbered records share a model and may reuse boundary fixtures.","verification":{"attempt":{"elapsed_ms":45.706,"exit_code":1,"observations":[{"actual":[13.0,13.0,13.0],"check":"identity pose exact 13","expected":[13.0,13.0,13.0],"passed":true},{"actual":[13.0,13.0],"check":"upper bound exact","expected":[13.0,13.0],"passed":true},{"actual":[10.0499,9.3703,10.0499],"check":"roll only","expected":[10.3846,10.3846,11.0564],"passed":false},{"actual":[10.0499,10.0499,10.8929],"check":"pitch only","expected":[9.6202,8.7617,9.6202],"passed":false},{"actual":[10.0995,10.2766,10.0801],"check":"yaw only","expected":[10.0995,10.2766,10.0801],"passed":true},{"actual":[8.7912,8.0459,8.5342],"check":"combined attitude","expected":[9.2131,8.0316,8.1298],"passed":false},{"actual":[5.7638,6.6725,6.2158],"check":"roll and pitch","expected":[5.9887,6.7734,5.9691],"passed":false}],"passed":false,"stderr":"","stdout":"{\"observations\": [{\"check\": \"identity pose exact 13\", \"actual\": [13.0, 13.0, 13.0], \"expected\": [13.0, 13.0, 13.0], \"passed\": true}, {\"check\": \"upper bound exact\", \"actual\": [13.0, 13.0], \"expected\": [13.0, 13.0], \"passed\": true}, {\"check\": \"roll only\", \"actual\": [10.0499, 9.3703, 10.0499], \"expected\": [10.3846, 10.3846, 11.0564], \"passed\": false}, {\"check\": \"pitch only\", \"actual\": [10.0499, 10.0499, 10.8929], \"expected\": [9.6202, 8.7617, 9.6202], \"passed\": false}, {\"check\": \"yaw only\", \"actual\": [10.0995, 10.2766, 10.0801], \"expected\": [10.0995, 10.2766, 10.0801], \"passed\": true}, {\"check\": \"combined attitude\", \"actual\": [8.7912, 8.0459, 8.5342], \"expected\": [9.2131, 8.0316, 8.1298], \"passed\": false}, {\"check\": \"roll and pitch\", \"actual\": [5.7638, 6.6725, 6.2158], \"expected\": [5.9887, 6.7734, 5.9691], \"passed\": false}], \"passed\": false}\n"},"broken":{"elapsed_ms":41.993,"exit_code":1,"observations":[{"actual":[13.0,13.0,13.0],"check":"identity pose exact 13","expected":[13.0,13.0,13.0],"passed":true},{"actual":[13.0,13.0],"check":"upper bound exact","expected":[13.0,13.0],"passed":true},{"actual":[10.0499,10.1415,10.0858],"check":"roll only","expected":[10.3846,10.3846,11.0564],"passed":false},{"actual":[9.6202,8.7617,9.6202],"check":"pitch only","expected":[9.6202,8.7617,9.6202],"passed":true},{"actual":[10.583,10.583,11.5589],"check":"yaw only","expected":[10.0995,10.2766,10.0801],"passed":false},{"actual":[9.0616,8.4188,7.5981],"check":"combined attitude","expected":[9.2131,8.0316,8.1298],"passed":false},{"actual":[5.9068,6.3217,6.5296],"check":"roll and pitch","expected":[5.9887,6.7734,5.9691],"passed":false}],"passed":false,"stderr":"","stdout":"{\"observations\": [{\"check\": \"identity pose exact 13\", \"actual\": [13.0, 13.0, 13.0], \"expected\": [13.0, 13.0, 13.0], \"passed\": true}, {\"check\": \"upper bound exact\", \"actual\": [13.0, 13.0], \"expected\": [13.0, 13.0], \"passed\": true}, {\"check\": \"roll only\", \"actual\": [10.0499, 10.1415, 10.0858], \"expected\": [10.3846, 10.3846, 11.0564], \"passed\": false}, {\"check\": \"pitch only\", \"actual\": [9.6202, 8.7617, 9.6202], \"expected\": [9.6202, 8.7617, 9.6202], \"passed\": true}, {\"check\": \"yaw only\", \"actual\": [10.583, 10.583, 11.5589], \"expected\": [10.0995, 10.2766, 10.0801], \"passed\": false}, {\"check\": \"combined attitude\", \"actual\": [9.0616, 8.4188, 7.5981], \"expected\": [9.2131, 8.0316, 8.1298], \"passed\": false}, {\"check\": \"roll and pitch\", \"actual\": [5.9068, 6.3217, 6.5296], \"expected\": [5.9887, 6.7734, 5.9691], \"passed\": false}], \"passed\": false}\n"},"fixed":{"elapsed_ms":43.665,"exit_code":0,"observations":[{"actual":[13.0,13.0,13.0],"check":"identity pose exact 13","expected":[13.0,13.0,13.0],"passed":true},{"actual":[13.0,13.0],"check":"upper bound exact","expected":[13.0,13.0],"passed":true},{"actual":[10.3846,10.3846,11.0564],"check":"roll only","expected":[10.3846,10.3846,11.0564],"passed":true},{"actual":[9.6202,8.7617,9.6202],"check":"pitch only","expected":[9.6202,8.7617,9.6202],"passed":true},{"actual":[10.0995,10.2766,10.0801],"check":"yaw only","expected":[10.0995,10.2766,10.0801],"passed":true},{"actual":[9.2131,8.0316,8.1298],"check":"combined attitude","expected":[9.2131,8.0316,8.1298],"passed":true},{"actual":[5.9887,6.7734,5.9691],"check":"roll and pitch","expected":[5.9887,6.7734,5.9691],"passed":true}],"passed":true,"stderr":"","stdout":"{\"observations\": [{\"check\": \"identity pose exact 13\", \"actual\": [13.0, 13.0, 13.0], \"expected\": [13.0, 13.0, 13.0], \"passed\": true}, {\"check\": \"upper bound exact\", \"actual\": [13.0, 13.0], \"expected\": [13.0, 13.0], \"passed\": true}, {\"check\": \"roll only\", \"actual\": [10.3846, 10.3846, 11.0564], \"expected\": [10.3846, 10.3846, 11.0564], \"passed\": true}, {\"check\": \"pitch only\", \"actual\": [9.6202, 8.7617, 9.6202], \"expected\": [9.6202, 8.7617, 9.6202], \"passed\": true}, {\"check\": \"yaw only\", \"actual\": [10.0995, 10.2766, 10.0801], \"expected\": [10.0995, 10.2766, 10.0801], \"passed\": true}, {\"check\": \"combined attitude\", \"actual\": [9.2131, 8.0316, 8.1298], \"expected\": [9.2131, 8.0316, 8.1298], \"passed\": true}, {\"check\": \"roll and pitch\", \"actual\": [5.9887, 6.7734, 5.9691], \"expected\": [5.9887, 6.7734, 5.9691], \"passed\": true}], \"passed\": true}\n"}},"verified":true,"visibility":"public"}