diff --git a/README.md b/README.md
index f4240f6..25195ab 100644
--- a/README.md
+++ b/README.md
@@ -14,19 +14,21 @@ Comparison with Realman official IK method.
 Embedded with current demo.
 
 
-Comparison (04June2026):
+### Comparison (05June2026):
 
 - With current dual arm joint limit, 
 ```
-ub = np.array([150.0, 110.0, 170.0,  130, 175.0, 125.0,  179.0])\
+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%.
+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%**.
 
 - 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%.
+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%**.
 
diff --git a/kine_ctrl/main.py b/kine_ctrl/main.py
index cb2cd8e..372615f 100644
--- a/kine_ctrl/main.py
+++ b/kine_ctrl/main.py
@@ -107,9 +107,9 @@ def demo_position_control():
 
         result = np.array([[0,0],[0,0]], dtype=np.int32)        #   qp_fk, qp_ik, rm_fk, rm_ik
 
+        solve_sum = 0
 
-
-        for i in range(1000):
+        for i in range(2000):
             print(f'\n-------------- in i = {i} ----------------')
             joint_rand = np.random.uniform(ub/180*pi, lb/180*pi)
             print(f'the predefined joints are {joint_rand}')
@@ -135,8 +135,8 @@ def demo_position_control():
             joint_rand_init = np.random.uniform(ub/180*pi, lb/180*pi)
             print(f'the guess is {joint_rand_init}')
             joint_solution, success, error, ite = robot_kine_qp.inverse_kinematics(
-                t_p[0:3], target_rpy=t_p[3:6], initial_guess=joint_rand_init,
-                max_iter=500, debug=False, tool=tool_name)
+                    t_p[0:3], target_rpy=t_p[3:6], initial_guess=joint_rand_init,
+                    max_iter=500, debug=False, tool=tool_name)
             print(f'joint_solution = {joint_solution}, success = {success}, error = {error}, ite = {ite}')
 
             if success:
@@ -163,7 +163,11 @@ def demo_position_control():
             else:
                 print(f'== fail in the rm ik, ret = {ret}y, q = {q}')
 
+            if success or ret == 0:
+                solve_sum += 1
+
         print(f'result is {result}')
+        print(f'solve_sum is {solve_sum}')