ResearchBenchmarksMotion Planning on Franka Research 3 Cabinet Environment Fully OpenMotion Planning on Franka Research 3 Cabinet Environment Fully OpenFollow1Success RateNFG-0.040.230.50.77May 27, 2026Evaluation resultsMethodMethodLinksSuccess RateOptimization Time (s)Average Jerk (rad/s^3)NFG2026.0514.1461.61CHOMP2026.0510.31109.21cuRobo2026.0510.02859.73BiTRRT2026.050.40.3—STOMP2026.050——