test push

add visualization

abc.txt

@@ -0,0 +1 @@
+hhelloworrld

README.md

@@ -9,9 +9,9 @@ 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):
@@ -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%**.
 
+
+
+
 - 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%**.
 
+
+
+Visualization:
+
+
+![demo](kine_ctrl/visual/mjc_ik_test1/mjc_ik.gif)