ResearchBenchmarksInverse Kinematics on Bimanual Mobile Manipulator (Average optimal cost)Inverse Kinematics on Bimanual Mobile Manipulator (Average optimal cost)Follow25.5Average optimal costIPOPT24.76829.70934.6539.591Feb 4, 2026Evaluation resultsMethodMethodLinksAverage optimal costIPOPTFormulation=OldFormulation=Old2026.0225.5SNOPTFormulation=OldFormulation=Old2026.0229.8NLOPTFormulation=NewFormulation=New2026.0230.6IPOPTFormulation=NewFormulation=New2026.0235.2SNOPTFormulation=NewFormulation=New2026.0237.7Sampling2026.0243.8