update readme

Author: lorenzo96-cmd

README.md

@@ -36,11 +36,20 @@ The solver is wrapped by the `MPCControllerWrapper` class, and all the settings
 > `MPCWrapper` is designed to use the whole body model, if you want to use the srbd model, use `mpc_wrapper_srbd.py`; look at examples/srbd_quad.py
 
 ## Task examples
-| Acrobot Swing-Up | Quadruped Trot | Humanoid Jump | Quadruped Barrel roll |
-|---|---|---|---|
-| <img src="https://github.com/user-attachments/assets/af15576c-8fab-4e53-ac06-8f9e648703f6" width="100%" /> | <img src="https://github.com/user-attachments/assets/51f7eb3e-b344-4a92-9b16-837ca5dc71c6" width="100%" /> | <img src="https://github.com/user-attachments/assets/7b39eef5-a7d5-4243-a590-a6dab0b12af2" width="100%" /> | <img src="https://github.com/user-attachments/assets/7a875ce6-ea40-467a-b732-f473e5f40a02" width="100%" /> |
-> **Note:**  
-You can switch between two solvers, Primal-dual LQR of GPU-FDDP. Just change the flang in the config `solver_mode = "fddp" or "primal_dual`. 
+| Acrobot Swing-Up | Quadruped Trot | Humanoid Jump | Quadruped Barrel Roll | Obstacle Avoidance |
+|---|---|---|---|---|
+| <img src="https://github.com/user-attachments/assets/af15576c-8fab-4e53-ac06-8f9e648703f6" width="100%" /> | <img src="https://github.com/user-attachments/assets/51f7eb3e-b344-4a92-9b16-837ca5dc71c6" width="100%" /> | <img src="https://github.com/user-attachments/assets/7b39eef5-a7d5-4243-a590-a6dab0b12af2" width="100%" /> | <img src="https://github.com/user-attachments/assets/7a875ce6-ea40-467a-b732-f473e5f40a02" width="100%" /> | GIF coming soon |
+
+## Available solvers
+
+| Solver | Multiple shooting | Dynamics | Integrator | Inequality constraints |
+|---|---|---|---|---|
+| `primal-dual` | Yes | Forward | Semi-implicit | Cost barrier |
+| `fddp` | Yes (dynamics defects) | Forward | Semi-implicit | Cost barrier |
+| `eq_primal_dual` | Yes | Inverse | Implicit | Cost barrier |
+| `eq_fddp` | Yes (dynamics defects) | Inverse | Implicit | Cost barrier |
+| `ip_primal_dual` | Yes | Inverse | Implicit | Yes (interior point) |
+
 ## Installation
 
 ### Prerequisites