Pinker benchmark

This benchmark validates the performance of Pinker against Pink using the pink motions library of robot trajectories.

Scope

Our goal is to make sure that there was no regression from Pink to Pinker. We check two properties:

1. Same IK problems: given the same configuration and tasks, Pink and Pinker produce the same quadratic program, resulting in the same velocity.
2. Same performance: Pinker has the same (or lower) computation times than Pink on the target architecture.

The target architecture reported below is the Raspberry Pi 4 Model B.

Usage

This benchmark uses pixi to handle dependencies and run tasks. To regenerate results, call:

pixi run benchmark

This command runs all scenarios on your machine, storing measurements in the results/ sub-directory and updating the Results section below automatically.

Results

Here are the results from running the benchmark on 2026-09-27 (aarch64, commit 751da6a89) comparing pinker 1.0.0 to pink 4.4.0 (pinocchio 4.1.0). QP solver is clarabel, 10 rollouts per scenario. The conclusions are that:

1. Pinker produces the same IK problems as Pink: ✅ (numerical variations less than 1e-09)
2. Pinker has the same performance as Pink: ✅ (timings variations less than 3%)

Here are the statistics scenario by scenario:

scenario	nv	max QP distance	IK check	Pink step (ms)	Pinker step (ms)	step var. (%)	perf check
edo	6	6e-15	✅	1.99 ± 0.01	1.98 ± 0.01	-0.6	✅
fanuc	6	9e-14	✅	2.19 ± 0.01	2.18 ± 0.01	-0.4	✅
gen2	6	5e-15	✅	2.14 ± 0.01	2.13 ± 0.01	-0.4	✅
gen3	7	1e-14	✅	2.19 ± 0.01	2.17 ± 0.01	-0.6	✅
iiwa14	7	3e-15	✅	2.24 ± 0.01	2.24 ± 0.01	-0.2	✅
panda	9	1e-15	✅	2.39 ± 0.01	2.38 ± 0.01	-0.5	✅
poppy_ergo_jr	6	2e-15	✅	1.98 ± 0.01	1.97 ± 0.01	-0.5	✅
ur10	6	4e-15	✅	2.17 ± 0.01	2.16 ± 0.01	-0.3	✅
ur3	6	3e-15	✅	2.16 ± 0.01	2.15 ± 0.01	-0.5	✅
ur5	6	3e-15	✅	2.16 ± 0.01	2.15 ± 0.01	-0.3	✅
z1	6	2e-14	✅	2.16 ± 0.01	2.15 ± 0.01	-0.4	✅
atlas_drc	36	3e-13	✅	3.89 ± 0.02	3.88 ± 0.02	-0.5	✅
atlas_v4	36	3e-13	✅	3.89 ± 0.01	3.88 ± 0.01	-0.1	✅
draco3	33	5e-14	✅	3.72 ± 0.01	3.72 ± 0.01	-0.1	✅
ergocub	63	1e-14	✅	7.76 ± 0.03	7.64 ± 0.03	-1.6	✅
h1	25	1e-14	✅	3.33 ± 0.01	3.35 ± 0.01	+0.6	✅
icub	38	2e-13	✅	4.27 ± 0.01	4.20 ± 0.01	-1.7	✅
jaxon	44	1e-13	✅	4.13 ± 0.01	4.11 ± 0.01	-0.6	✅
jvrc	50	5e-13	✅	4.61 ± 0.02	4.58 ± 0.02	-0.5	✅
r2	62	2e-14	✅	5.66 ± 0.02	5.61 ± 0.02	-0.9	✅
romeo	67	5e-14	✅	5.08 ± 0.02	5.00 ± 0.02	-1.4	✅
sigmaban	26	6e-14	✅	3.03 ± 0.01	3.05 ± 0.01	+0.6	✅
talos	50	9e-12	✅	4.33 ± 0.02	4.30 ± 0.01	-0.6	✅
valkyrie	65	4e-15	✅	5.44 ± 0.03	5.39 ± 0.03	-1.0	✅
bolt	12	2e-15	✅	2.61 ± 0.01	2.65 ± 0.01	+1.8	✅
cassie	22	3e-15	✅	3.34 ± 0.01	3.36 ± 0.01	+0.7	✅
spryped	14	8e-15	✅	2.59 ± 0.01	2.63 ± 0.01	+1.7	✅

The data corresponding to this run is available in the results/ directory.