FA-88129 / Inverse kinematics solvers / Member archive

Stewart platform anchors are rotated by the inverse attitude · case 04

Legs are computed for the platform rotated the opposite way.

Member previewVariant 4 · 3 implementations · 7 checks per implementation

Case 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].

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
roll only	`[9.7036, 9.7036, 9.0112]`	`[10.3846, 10.3846, 11.0564]`	Failed

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