### This repo is for inverse kinematics and verification

Inverse Kinematics (IK) is numerically obtained through quadratic programming (QP).

Verification is done with Mujoco simulation.

Key specifications:
1. Time consumption.
2. Success rate
3. Minial joint variation.

Next:\
Comparison with Realman official IK method.
Embedded with current demo.


Comparison (04June2026):

- With current dual arm joint limit, 
```
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%.

- 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%.