From dfaeb952824fe0c138c1c952d998c5b5cd7db397 Mon Sep 17 00:00:00 2001 From: LiuzhengSJ Date: Wed, 1 Jul 2026 15:58:39 +0100 Subject: [PATCH] update readme --- README.md | 12 ++++++++++++ img/cons.png | Bin 0 -> 25286 bytes img/optimization.png | Bin 0 -> 81545 bytes img/osqp.png | Bin 0 -> 44770 bytes 4 files changed, 12 insertions(+) create mode 100644 img/cons.png create mode 100644 img/optimization.png create mode 100644 img/osqp.png diff --git a/README.md b/README.md index f4b3ee2..2e1145d 100644 --- a/README.md +++ b/README.md @@ -34,3 +34,15 @@ lb = -ub 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%**. +### update(1st July 2026) + +In each iteration, update optimization formula: + +- new cost item for distance from middle of the joint range. +- set up different weight for different joints motion. + +Cost + +Cost + +Cost \ No newline at end of file diff --git a/img/cons.png b/img/cons.png 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