compare the qp ik and rm ik with joint limits

README.md

@@ -12,3 +12,21 @@ Key specifications:
 Next:\
 Comparison with Realman official IK method.
 Embedded with current demo.
+
+
+Comparison (04June2026):
+
+- 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 45% and 23%.
+
+- 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%.
+