Merge pull request #4 from bwingo47/main

Fixed figures

Author: jcarpent

publications/loik-solver/index.html

@@ -179,36 +179,33 @@ <h2 class="title is-3">Abstract</h2>
         </div>
       </div>
     </div>
-    <!--/ Abstract. -->
-     <!-- Benchmarks. -->
-     <div class="columns is-centered has-text-centered">
-      <div class="column is-max-desktop">
-        <h2 class="title is-3">Benchmarks</h2>
-        <div class="container is-max-desktop">
 
-          <div class="columns is-centered">
-    
-            <div class="column">
-              <div class="content">
-                <image src="" alt="[Caption]" style="width:100%"></image>
-              </div>
-            </div>
-
-            <div class="column">
-              <div class="content">
-                <image src="" alt="[Caption]" style="width:100%">
-              </div>
-            </div>
+    <div class="has-text-justified">
+      <h3 class="title is-4">Performance benchmarks</h3>
+      <p>The performance of LOIK, is evaluated against existing differential IK formulations with state-of-the-art QP solver backends, such as OSQP and ProxQP. </p>
+      <p>
+        A benchmark is designed for trajectory tracking tasks, collected over a variety of robots, ranging from fixed-base robotic arms to high-degrees-of-freedom humanoids. 
+        On average, LoIK is 2 to 3 times faster at solving differential IK problems than state-of-the-art QP solvers.
+      </p>
+      <div class="content has-text-centered">
+        <img src="./static/images/benchmark_timings.png" alt="benchmark timings"
+        style="width: 60%;">
+      </div>
+    </div>
 
-            <div class="column">
-              <div class="content">
-                <image src="" alt="[Caption]" style="width:100%">
-              </div>
-            </div>
-          </div>
-        </div>
+    <div class="has-text-justified">
+      <h3 class="title is-4">Detailed analysis</h3>
+      <p> </p>
+      <p>
+        
+      </p>
+      <div class="content has-text-centered">
+        <img src="./static/images/results_comparison.png" alt="solution details"
+        style="width: 80%;">
       </div>
     </div>
+
+
     <!--/ Benchmarks. -->
   </div>
 </section>