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Package Summary
| Tags | No category tags. |
| Version | 0.1.0 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | Benchmarking suite to evaluate 🤖 robotics computing performance. Vendor-neutral. ⚪Grey-box and ⚫Black-box approaches. |
| Checkout URI | https://github.com/robotperf/benchmarks.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2024-07-10 |
| Dev Status | UNKNOWN |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | benchmarking performance acceleration cpu fpga robotics gpu ros2 tpu |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
A computational graph that uses [moveit2](https://github.com/ros-planning/moveit2) to compute inverse kinematics with the
[KDL](https://moveit.picknik.ai/main/doc/examples/kinematics_configuration/kinematics_configuration_tutorial.html#the-kdl-kinematics-plugin) plugin for a UFACTORY xArm6 manipulator.
Additional Links
No additional links.
Maintainers
- Martiño Crespo Álvarez
Authors
- Martiño Crespo Álvarez
d4_inverse_kinematics_kdl
Inverse kinematics computation for xArm6 using the KDL plugin.
ID
d4
Description
A computational graph that uses moveit2 to compute inverse kinematics with the KDL plugin for a UFACTORY xArm6 manipulator.
Reproduction Steps
Refer to https://github.com/robotperf/benchmarks/tree/main/benchmarks/manipulation/d4_inverse_kinematics_kdl and review the launch files to reproduce this package.
Results
| Type | Hardware | Metric | Value | Category | Timestamp | Note | Data Source |
|---|---|---|---|---|---|---|---|
| :white_circle: | Intel i5-13600K | latency | 4.41 | workstation | 27-07-2023 | mean 1.68 ms, rms 2.56 ms, max 4.41 ms, min 0.15 ms, lost 0.00% | N/A |
| :white_circle: | Intel i5-13600K | power | 48.451541900634766 | workstation | 27-07-2023 | mean 1.68 ms, rms 2.56 ms, max 4.41 ms, min 0.15 ms, lost 0.00% | N/A |
| :white_circle: | Intel i7-12700H | latency | 2.8296 | workstation | 08-09-2023 | ✋mean_benchmark 1.5618, rms_benchmark 1.8012, max_benchmark 2.8296, min_benchmark 0.8779, lost messages 0.00 % | simulation |
| :white_circle: | Intel i7-12700H | power | 10.178995132446289 | workstation | 08-09-2023 | ✋ | simulation |
| :white_circle: | Intel i7-8700K | latency | 3.2425 | workstation | 08-09-2023 | ✋mean_benchmark 1.8365, rms_benchmark 2.0962, max_benchmark 3.2425, min_benchmark 0.9111, lost messages 0.00 % | simulation |
| :white_circle: | Intel i7-8700K | power | 7.025374412536621 | workstation | 08-09-2023 | ✋ | simulation |
| :white_circle: | AMD Ryzen 5 PRO 4650G | latency | 2.7627 | workstation | 2023-09-13 17:38:13 | ✋mean_benchmark 1.6002 ms, rms_benchmark 1.8380 ms, max_benchmark 2.7627 ms, min_benchmark 0.5578 ms, lost messages 0.00 % | simulation |
| :white_circle: | AMD Ryzen 5 PRO 4650G | power | 5.019174575805664 | workstation | 2023-09-13 17:38:13 | ✋mean_benchmark 1.6002 ms, rms_benchmark 1.8380 ms, max_benchmark 2.7627 ms, min_benchmark 0.5578 ms, lost messages 0.00 % | simulation |
| :white_circle: | AMD Ryzen 5 PRO 4650G | latency | 4.0136 | workstation | 2023-09-13 17:39:17 | ✋mean_benchmark 1.0600 ms, rms_benchmark 1.6990 ms, max_benchmark 4.0136 ms, min_benchmark 0.2018 ms, lost messages 0.00 % | simulation |
| :white_circle: | AMD Ryzen 5 PRO 4650G | power | 5.173617839813232 | workstation | 2023-09-13 17:39:17 | ✋mean_benchmark 1.0600 ms, rms_benchmark 1.6990 ms, max_benchmark 4.0136 ms, min_benchmark 0.2018 ms, lost messages 0.00 % | simulation |
CHANGELOG
No CHANGELOG found.
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| ament_lint_auto | |
| ament_lint_common |
System Dependencies
No direct system dependencies.
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
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