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+### This repo is for inverse kinematics and verification
+
+Inverse Kinematics (IK) is numerically obtained through quadratic programming (QP).
+
+Verification is done with Mujoco simulation.
+
+Key specifications:
+1. Time consumption.
+2. Success rate
+3. Minial joint variation.
+
+Next:\
+Comparison with Realman official IK method.
+Embedded with current demo.