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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
Checkout URI | https://github.com/robotperf/benchmarks.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2024-07-10 |
Dev Status | UNMAINTAINED |
CI status | No Continuous Integration |
Released | UNRELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
A meta computational graph that uses [moveit2](https://github.com/ros-planning/moveit2) to compute inverse kinematics with the
[LMA](https://moveit.picknik.ai/main/doc/examples/kinematics_configuration/kinematics_configuration_tutorial.html#the-lma-kinematics-plugin)
plugin for a UFACTORY xArm6 manipulator. Used to demonstrate a complex tranformation using the [geometry2](https://github.com/ros2/geometry2) package.
Additional Links
No additional links.
Maintainers
- Alejandra Martínez Fariña
Authors
- Alejandra Martínez Fariña
m6_inverse_kinematics_lma
Meta computational graph composed by inverse kinematics computation for xArm6 using the LMA plugin.
ID
m6
Description
A meta computational graph that uses moveit2 to compute inverse kinematics with the LMA plugin for a UFACTORY xArm6 manipulator. Used to demonstrate a complex tranformation using the geometry2 package.
Reproduction Steps
Refer to https://github.com/robotperf/benchmarks/tree/main/benchmarks/meta/m6_inverse_kinematics_lma and review the launch files to reproduce this package.
Results
Type | Hardware | Metric | Value | Category | Timestamp | Note | Data Source |
---|---|---|---|---|---|---|---|
:white_circle: | Intel i7-12700H (ROBOTCORE Transforms) | latency | 0.0514 | workstation | 31-08-2023 | mean 0.0086 ms, RMS 0.0097 ms, max 0.0514 ms, min 0.0024 ms | simulation |
:white_circle: | Intel i7-12700H | latency | 0.3369 | workstation | 31-08-2023 | mean 0.0218 ms, RMS 0.0327 ms, max 0.3369 ms, min 0.0027 ms | simulation |
:white_circle: | Intel i7-8700K | latency | 0.1925 | workstation | 08-09-2023 | ✋mean_benchmark 0.0172, rms_benchmark 0.0223, max_benchmark 0.1925, min_benchmark 0.0022, lost messages 0.00 % | simulation |
:white_circle: | Intel i7-8700K | power | 7.0970540046691895 | workstation | 08-09-2023 | ✋ | 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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