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### This repo is for inverse kinematics and verification ### This repo is for inverse kinematics and verification
In this branch, the qp-based inverse kinematics method is modified as a python class. The user can call it as in `main.py`
Inverse Kinematics (IK) is numerically obtained through quadratic programming (QP). Inverse Kinematics (IK) is numerically obtained through quadratic programming (QP).
Verification is done with Mujoco simulation. Verification is done with Mujoco simulation.