ResearchBenchmarksInverse Kinematics on Arm on a Table (Average Optimal Cost)Inverse Kinematics on Arm on a Table (Average Optimal Cost)Follow5.5Average Optimal CostGlobal-IK5.127.68510.2512.815Feb 4, 2026Evaluation resultsMethodMethodLinksAverage Optimal CostGlobal-IKMode=FastMode=Fast2026.025.5Global-IKMode=PreciseMode=Precise2026.025.8Sampling2026.026.1NLOPTFormulation=OldFormulation=Old2026.0211.3IPOPTFormulation=NewFormulation=New2026.0214.1SNOPTFormulation=NewFormulation=New2026.0214.2NLOPTFormulation=NewFormulation=New2026.0214.3IPOPTFormulation=OldFormulation=Old2026.0214.6SNOPTFormulation=OldFormulation=Old2026.0215