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add visualization
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2026-06-09 17:28:57 +08:00
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@ -24,6 +24,9 @@ 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%**.\ 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%**. At least one solver works out the ik, rate = **74%**.
- With realman-75 physical joint limit, - With realman-75 physical joint limit,
``` ```
ub = np.array([179.0, 129.0, 179.0, 134, 179.0, 127.0, 359.0]) ub = np.array([179.0, 129.0, 179.0, 134, 179.0, 127.0, 359.0])
@ -32,3 +35,9 @@ lb = -ub
the success rates for **qp-based ik** and **realman Algo ik** are **76%** and **51%**.\ 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%**. At least one solver works out the ik, rate = **84%**.
Visualization:
![demo](kine_ctrl/visual/mjc_ik_test1/mjc_ik.gif)