Inverse Kinematics on Grasp Selection
0.15Mean RuntimeInterior Point (IPOPT)
Evaluation results
| Method | Links | |||
|---|---|---|---|---|
| Interior Point (IPOPT)Formulation=Old2026.02 | 0.15 | 0.15 | — | |
| Sequential Quadratic Programming (SNOPT)Formulation=Old2026.02 | 0.36 | 0.26 | — | |
| Interior Point (IPOPT)Formulation=New2026.02 | 0.45 | 0.46 | — | |
| Augmented Lagrangian (NLOPT)Formulation=Old2026.02 | 0.81 | 1.13 | — | |
| Sequential Quadratic Programming (SNOPT)Formulation=New2026.02 | 1.07 | 1.47 | — | |
| Sampling2026.02 | 1.69 | — | — | |
| Augmented Lagrangian (NLOPT)Formulation=New2026.02 | 2.68 | 3.84 | — | |
| IPOPTSolver=IPOPT, d=7, d'=5, Formulation=Old2026.02 | — | — | 98.75 | |
| NLOPTSolver=NLOPT, d=7, d'=5, Formulation=Old2026.02 | — | — | 47 | |
| Optimization IK with Analytic IK Change of VariablesSolver=IPOPT, d=7, d'=5, Formulation=New2026.02 | — | — | 98.93 | |
| Optimization IK with Analytic IK Change of VariablesSolver=NLOPT, d=7, d'=5, Formulation=New2026.02 | — | — | 47 | |
| Optimization IK with Analytic IK Change of VariablesSolver=SNOPT, d=7, d'=5, Formulation=New2026.02 | — | — | 73.44 | |
| Samplingd=7, d'=52026.02 | — | — | 52.5 | |
| SNOPTSolver=SNOPT, d=7, d'=5, Formulation=Old2026.02 | — | — | 66.25 |