Merge remote-tracking branch 'origin/master'

# Conflicts:
#	README.md

README.md

@@ -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):
@@ -45,4 +45,9 @@ In each iteration, update optimization formula:
 
 <img src="img/cons.png" alt="Cost" width="400">
 
-<img src="img/osqp.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)