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7246710a7d
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1. add q_mid and mid weight, making the joint prefer to stay at the middle of joint range.
2. add dq_limit weight, making the last several joints move more proactively.
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2026-07-01 15:42:21 +01:00 |
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f1846ffe1e
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Example for using qp based ik with urdf, and realman official ik
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2026-06-22 16:19:24 +01:00 |
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58452bce90
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start to adjust to ready-to-use class
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2026-06-22 13:53:12 +01:00 |
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6c8a335e1d
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start to adjust to ready-to-use class
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2026-06-22 13:29:58 +01:00 |
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2ca5033b46
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add urdf files.
aligh the function parameter names of qp and rm methods
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2026-06-05 15:25:35 +01:00 |
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aefc7bacd5
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update the mjc function names
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2026-06-05 10:23:02 +01:00 |
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ddbbb1746e
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update the comparison results.
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2026-06-05 09:56:33 +01:00 |
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48453fa5c8
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compare the qp ik and rm ik with joint limits
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2026-06-04 21:55:35 +01:00 |
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cee1a191ea
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compare the qp ik and rm ik
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2026-06-04 17:11:02 +01:00 |
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f10152fc29
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correct the w_posture
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2026-06-04 14:31:29 +01:00 |
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c0458f0e12
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run correctly
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2026-06-03 21:40:01 +01:00 |
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0bed2f87f4
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wrong, not converged
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2026-06-03 21:14:34 +01:00 |
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fb64f3c73a
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refine qp based controller
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2026-06-03 20:15:48 +01:00 |
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3febe65b6a
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integrate official rm ik, and qp based ik, with mujoco
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2026-06-02 22:24:43 +01:00 |
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99ba1786b0
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description update
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2026-06-01 22:30:08 +01:00 |
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fc92989fe3
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add pin
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2026-06-01 22:08:44 +01:00 |
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31f64949e2
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test pin for ik, and mujoco
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2026-06-01 22:04:49 +01:00 |
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84c2ba321d
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try mujoco
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2026-05-29 15:35:54 +01:00 |
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a8a10728bc
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try mujoco3
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2026-05-29 15:32:12 +01:00 |
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c23b5d0d6d
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try mujoco2
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2026-05-29 14:21:03 +01:00 |
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8363b3fa6d
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try mujoco
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2026-05-29 13:34:59 +01:00 |
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d3d5040ecc
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test qp based inverse kinematics
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2026-05-26 16:20:24 +01:00 |
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