Inverse Kinematics on Sawyer Robot Random Environment Random Obstacles, Random Targets
483Success Rate (Solving)IKSPARK + IPOPT
Evaluation results
| Method | Links | ||||||
|---|---|---|---|---|---|---|---|
| IKSPARK + IPOPTWarm Starting=IKSPARK (Mid-Density)2024.03 | 483 | — | 0.917 | — | 1.81 | 6.77 | |
| IKSPARKCollision Model Density=Low-Density, Variable Reduction=Enabled2024.03 | 379 | 495 | 0.6512 | 3.68 | 2.25 | 5.63 | |
| IKSPARKCollision Model Density=Mid-Density, Variable Reduction=Enabled2024.03 | 338 | 490 | 0.917 | 7.88 | 2.24 | 5.65 | |
| IPOPT2024.03 | 332 | — | 0.0325 | — | 2.52 | 8.51 | |
| IKSPARKCollision Model Density=High-Density, Variable Reduction=Enabled2024.03 | 314 | 473 | 1.1229 | 17.08 | 2.23 | 5.91 | |
| SNOPT2024.03 | 298 | — | 0.0039 | — | 2.85 | 2.14 | |
| IKSPARKVariable Reduction=Skipped2024.03 | 282 | — | 0.7806 | 0.12 | 2.14 | 5.36 | |
| NLOPT2024.03 | 85 | — | 0.0035 | — | 1.23 | 7.5 |