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Benchmarks
Inverse Kinematics on Sawyer Robot Random Environment Random Obstacles, Random Targets
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483
Success Rate (Solving)
IKSPARK + IPOPT
69.08
176.54
284
391.46
Mar 18, 2024
Success Rate (Solving)
Success Rate (Building)
Avg Solving Time (s)
Avg Building Time (s)
Avg Positional Error (m)
Avg Rotational Error (rad)
Updated 1mo ago
Evaluation Results
Method
Method
Links
Success Rate (Solving)
Success Rate (Building)
Avg Solving Time (s)
Avg Building Time (s)
Avg Positional Error (m)
Avg Rotational Error (rad)
IKSPARK + IPOPT
Warm Starting=IKSPARK...
2024.03
483
-
0.917
-
1.81
6.77
IKSPARK
Collision Model Densit...
2024.03
379
495
0.6512
3.68
2.25
5.63
IKSPARK
Collision Model Densit...
2024.03
338
490
0.917
7.88
2.24
5.65
IPOPT
2024.03
332
-
0.0325
-
2.52
8.51
IKSPARK
Collision Model Densit...
2024.03
314
473
1.1229
17.08
2.23
5.91
SNOPT
2024.03
298
-
0.0039
-
2.85
2.14
IKSPARK
Variable Reduction=Ski...
2024.03
282
-
0.7806
0.12
2.14
5.36
NLOPT
2024.03
85
-
0.0035
-
1.23
7.5
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