Inverse Kinematics on Sawyer Robot Fixed Workcell Environment (Fixed Obstacles, Random Targets)
0.8583Success Rate (Solving)IKSPARK + IPOPT
Evaluation results
| Method | Links | ||||||
|---|---|---|---|---|---|---|---|
| IKSPARK + IPOPTWarm Starting=IKSPARK (Mid-Density)2024.03 | 0.8583 | — | 0.6449 | — | 4.42 | 7.57 | |
| IKSPARKCollision Model Density=Low-Density, Variable Reduction=Enabled2024.03 | 0.8317 | 1 | 0.5066 | 3.49 | 1.75 | 4.27 | |
| IKSPARKCollision Model Density=Mid-Density, Variable Reduction=Enabled2024.03 | 0.6933 | 1 | 0.6449 | 6.74 | 2.12 | 4.75 | |
| IKSPARKCollision Model Density=High-Density, Variable Reduction=Enabled2024.03 | 0.6817 | 1 | 0.8284 | 18.06 | 1.82 | 4.61 | |
| IKSPARKVariable Reduction=Skipped2024.03 | 0.4767 | — | 0.6384 | 0.12 | 1.89 | 5.02 | |
| IPOPT2024.03 | 0.405 | — | 0.1214 | — | 1.42 | 8.97 | |
| SNOPT2024.03 | 0.2317 | — | 0.0043 | — | 6.71 | 1.02 | |
| NLOPT2024.03 | 0.145 | — | 0.0044 | — | 1.35 | 7.64 |