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update the comparison results.

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LiuzhengSJ
2026-06-05 09:56:33 +01:00
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@ -14,19 +14,21 @@ Comparison with Realman official IK method.
Embedded with current demo.
Comparison (04June2026):
### Comparison (05June2026):
- With current dual arm joint limit,
```
ub = np.array([150.0, 110.0, 170.0, 130, 175.0, 125.0, 179.0])\
ub = np.array([150.0, 110.0, 170.0, 130, 175.0, 125.0, 179.0])
lb = np.array([-150.0, -30.0, -170.0, -130, -175.0, -125.0, -179.0])
```
the success rates for qp-based ik and realman Algo ik are 45% and 23%.
the success rates for **qp-based ik** and **realman Algo ik** are **63%** and **46%**.\
At least one solver works out the ik, rate = **74%**.
- With realman-75 physical joint limit,
```
ub = np.array([179.0, 129.0, 179.0, 134, 179.0, 127.0, 359.0])
lb = -ub
```
the success rates for qp-based ik and realman Algo ik are 76% and 51%.
the success rates for **qp-based ik** and **realman Algo ik** are **76%** and **51%**.\
At least one solver works out the ik, rate = **84%**.