FA-87973 / Inverse kinematics solvers / Member archive

FABRIK forward pass starts from a drifted base · case 03

The returned chain has its base displaced from the fixed mount.

Member previewVariant 3 · 3 implementations · 7 checks per implementation

Case contract

Input [points, target, tol, iters]: planar joint positions from base to tip. Link lengths come from the initial points. If the base-to-target distance exceeds the total length, stretch every link toward the target and return ["unreachable", points]. Otherwise run FABRIK passes (tip to target and backward, base re-anchored, forward) while the tip is farther than tol and fewer than iters passes ran; return [status, passes, points] with status "reached" when the final tip error <= tol else "max-iterations"; coordinates rounded to 4 places.

Why this case matters

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.

One recorded failure

Sample boundary fixture

This sample comes from the broken implementation of a controlled reproducer.

Boundary fixture	Actual	Expected	Outcome
pass budget exhausted	`["reached", 1, [[-0.2275, -0.1327], [0.6362, 0.3712], [0.2862, 0.7283], [-1.0, 1.5]]]`	`["max-iterations", 2, [[0.0, 0.0], [0.809, 0.5878], [0.3308, 0.7337], [-0.9691, 1.4822]]]`	Failed

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