Forward Kinematics Evaluation on Robot Specification Formats (URDF, USD, MJCF, URDD)
0FK Solution LinesCustom Rust (Ours)
Evaluation results
| Method | Links | |
|---|---|---|
| Custom Rust (Ours)Specification Type=URDD2025.12 | 0 | |
| Custom Python (Ours)Specification Type=URDD2025.12 | 0 | |
| KlamptSpecification Type=URDF2025.12 | 315 | |
| PyKDLSpecification Type=URDF2025.12 | 730 | |
| DrakeSpecification Type=URDF2025.12 | 880 | |
| Isaac SimSpecification Type=USD2025.12 | 1,892 | |
| MuJoCoSpecification Type=MJCF2025.12 | 3,784 |