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Benchmarks
Inverse Kinematics Success Rate on Arm on a Table
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100
Success Rate
Sampling
1.096
26.773
52.45
78.127
Feb 4, 2026
Success Rate
Updated 4d ago
Evaluation Results
Method
Method
Links
Success Rate
Sampling
d=7, d'=1
2026.02
100
Global-IK
Mode=Precise, d=7, d'=1
2026.02
97
Optimization IK with Analytic IK Change of Variables
Solver=SNOPT, d=7, d'=...
2026.02
91.44
Optimization IK with Analytic IK Change of Variables
Solver=IPOPT, d=7, d'=...
2026.02
89.51
Global-IK
Mode=Fast, d=7, d'=1
2026.02
88
Optimization IK with Analytic IK Change of Variables
Solver=NLOPT, d=7, d'=...
2026.02
87.33
IPOPT
Solver=IPOPT, d=7, d'=...
2026.02
53.92
SNOPT
Solver=SNOPT, d=7, d'=...
2026.02
46.3
NLOPT
Solver=NLOPT, d=7, d'=...
2026.02
4.9
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