44 lines
1020 B
Markdown
44 lines
1020 B
Markdown
### This repo is for inverse kinematics and verification
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Inverse Kinematics (IK) is numerically obtained through quadratic programming (QP).
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Verification is done with Mujoco simulation.
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Key specifications:
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1. Time consumption.
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2. Success rate
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3. Minial joint variation.
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Cost:
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<img src="img/cost.jpg" alt="Cost" width="400">
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### Comparison (05June2026):
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- With current dual arm joint limit,
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```
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ub = np.array([150.0, 110.0, 170.0, 130, 175.0, 125.0, 179.0])
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lb = np.array([-150.0, -30.0, -170.0, -130, -175.0, -125.0, -179.0])
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```
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the success rates for **qp-based ik** and **realman Algo ik** are **63%** and **46%**.\
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At least one solver works out the ik, rate = **74%**.
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- With realman-75 physical joint limit,
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```
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ub = np.array([179.0, 129.0, 179.0, 134, 179.0, 127.0, 359.0])
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lb = -ub
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```
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the success rates for **qp-based ik** and **realman Algo ik** are **76%** and **51%**.\
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At least one solver works out the ik, rate = **84%**.
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Visualization:
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