Merge remote-tracking branch 'origin/master'

# Conflicts: # README.md
Update README.md
2026-08-05 13:17:17 +01:00 · 2026-06-14 04:17:40 +08:00 · 2026-06-14 04:13:40 +08:00 · 2026-06-09 17:28:57 +08:00 · 2026-06-09 17:23:17 +08:00
3 changed files with 9 additions and 4 deletions
@@ -11,9 +11,9 @@ Key specifications:
 2. Success rate
 3. Minial joint variation.

-Next:\
-Comparison with Realman official IK method.
-Embedded with current demo.
+Cost:
+
+<img src="img/cost.jpg" alt="Cost" width="400">


 ### Comparison (05June2026):
@@ -46,3 +46,8 @@ In each iteration, update optimization formula:
 <img src="img/cons.png" alt="Cost" width="400">

 <img src="img/osqp.png" alt="Cost" width="400">
+
+Visualization:
+
+
+![demo](kine_ctrl/visual/mjc_ik_test1/mjc_ik.gif)
Author	SHA1	Message	Date
LiuzhengSJ	149a23c12c	Merge remote-tracking branch 'origin/master' # Conflicts: # README.md	2026-08-05 13:17:17 +01:00
ZhengLiu-cart	377a676863	Update README.md	2026-06-14 04:17:40 +08:00
ZhengLiu-cart	9db480c474	Upload files to "img"	2026-06-14 04:13:40 +08:00
ZhengLiu-cart	3a8aecbf71	Update README.md add visualization	2026-06-09 17:28:57 +08:00
ZhengLiu-cart	7c8beaa3b9	Upload files to "kine_ctrl/visual/mjc_ik_test1"	2026-06-09 17:23:17 +08:00