diff --git a/README.md b/README.md
index 25195ab..af3887d 100644
--- a/README.md
+++ b/README.md
@@ -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%**.\
 At least one solver works out the ik, rate = **74%**.
 
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 - With realman-75 physical joint limit,
 ```
 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%**.\
 At least one solver works out the ik, rate = **84%**.
 
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+Visualization:
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+![demo](kine_ctrl/visual/mjc_ik_test1/mjc_ik.gif)