public void FanucWithLinear()
{
var Robot = new FanucCR7();
Robot.AddLinearJoint(new Vector(0, 0, 0), new Vector(0, 1, 0));
Matrix alpha = Matrix.Eye(7) * 0.05;
alpha.matrix[6, 6] = 1;
var result = Robot.ComputeInverseKinematics(new Vector(0, 1100, 677), new RotationMatrix(Matrix.Eye(3).matrix), alpha, 0.001, 200);
Assert.IsTrue(result.DidConverge);
Assert.IsTrue(result.q[6] > 1);
}
// Start is called before the first frame update
void Awake()
{
Robot = new FanucCR7();
//Robot.AddLinearJoint(new Vector(0, 0, 0), new Vector(0, 1, 0));
}
