ZhengLiu-cart/IK_qp
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update the comparison results.

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LiuzhengSJ
2026-06-05 09:56:33 +01:00
parent 48453fa5c8
commit ddbbb1746e
2 changed files with 14 additions and 8 deletions
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12
kine_ctrl/main.py
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@ -107,9 +107,9 @@ def demo_position_control():
result = np.array([[0,0],[0,0]], dtype=np.int32) # qp_fk, qp_ik, rm_fk, rm_ik
solve_sum = 0
for i in range(1000):
for i in range(2000):
print(f'\n-------------- in i = {i} ----------------')
joint_rand = np.random.uniform(ub/180*pi, lb/180*pi)
print(f'the predefined joints are {joint_rand}')
@ -135,8 +135,8 @@ def demo_position_control():
joint_rand_init = np.random.uniform(ub/180*pi, lb/180*pi)
print(f'the guess is {joint_rand_init}')
joint_solution, success, error, ite = robot_kine_qp.inverse_kinematics(
t_p[0:3], target_rpy=t_p[3:6], initial_guess=joint_rand_init,
max_iter=500, debug=False, tool=tool_name)
t_p[0:3], target_rpy=t_p[3:6], initial_guess=joint_rand_init,
max_iter=500, debug=False, tool=tool_name)
print(f'joint_solution = {joint_solution}, success = {success}, error = {error}, ite = {ite}')
if success:
@ -163,7 +163,11 @@ def demo_position_control():
else:
print(f'== fail in the rm ik, ret = {ret}y, q = {q}')
if success or ret == 0:
solve_sum += 1
print(f'result is {result}')
print(f'solve_sum is {solve_sum}')