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Write timing benchmarks #33

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alberthli opened this issue Nov 16, 2023 · 0 comments
Open

Write timing benchmarks #33

alberthli opened this issue Nov 16, 2023 · 0 comments

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@alberthli
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We should get a sense of how fast mjx is in serial and batched settings vs. other options like drake and pinocchio. Quantities of interest:

  • forward/inverse kinematics/dynamics (IK depends strongly on the exact constraints + the solver, so may be harder to evaluate in a vacuum)
  • signed distance evaluations
  • Jacobians
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@alberthli