This repo is for inverse kinematics and verification
In this branch, the qp-based inverse kinematics method is modified as a python class. The user can call it as in main.py
Inverse Kinematics (IK) is numerically obtained through quadratic programming (QP).
Verification is done with Mujoco simulation.
Key specifications:
- Time consumption.
- Success rate
- Minial joint variation.
Next:
Comparison with Realman official IK method.
Embedded with current demo.
Comparison (05June2026):
- 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 63% and 46%.
At least one solver works out the ik, rate = 74%.
- 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%.
At least one solver works out the ik, rate = 84%.