To run the benchmarks, install the dependencies below, then open the jupyter notebook benchmarks.ipynb which contains the benchmark code.
git clone https://github.com/RobotControlStack/robot-control-stack.git
cd robot-control-stack
sudo apt install $(cat debian_deps.txt)
pip install -r requirements.txt
pip install -ve . --no-build-isolationAfter rcs installation from above:
sudo apt install $(cat extensions/rcs_robotics_library/debian_deps.txt)
pip install -ve extensions/rcs_robotics_library --no-build-isolationInstall fastik_pybind following their readme instructions.
- Use python <= 3.10 or update the pybind version
- Install with
--no-build-isolation
pip install -r requirements.txt
# menagerie is required for genesis
git clone https://github.com/google-deepmind/mujoco_menagerie.gitBased on 1000 seeded random trials (except IKPy, it only has 100 trials).
===============================================================================================
Library | Init (s) | FK-Small(s) | IK-Small(s) | FK-Large(s) | IK-Large(s)
-----------------------------------------------------------------------------------------------
FrankIK | 0.00000 | 0.0000026 | 0.0000065 | 0.0000027 | 0.0000065
RoboticstoolboxPython | 0.81719 | 0.0000145 | 0.0000089 | 0.0000131 | 0.0000107
FastIK | 0.00000 | 0.0000097 | 0.0000114 | 0.0000092 | 0.0000114
PinocchioCPP | 0.00205 | 0.0000040 | 0.0001352 | 0.0000039 | 0.0001597
RoboticsLibrary | 0.00127 | 0.0000050 | 0.0001733 | 0.0000048 | 0.0001957
ManipulaPy | 0.02817 | 0.0002529 | 0.0024451 | 0.0002555 | 0.0025822
GenesisWorld | 5.12017 | 0.0017409 | 0.0043826 | 0.0017325 | 0.0019170
IKPy | 0.07299 | 0.0000734 | 0.0671459 | 0.0000723 | 0.0620768
===============================================================================================