Merge pull request #17 from iit-DLSLab/Fixed_README

fixed readme

Author: lorenzo96-cmd

README.md

@@ -32,9 +32,13 @@ Fully differentiable solver easily integrates into learning pipelines and suppor
 
 The solver is wrapped by the `MPCControllerWrapper` class, and all the settings (such as the dynamics model and cost function to be used) can be changed in the config files. Examples for various legged robots are provided in the `examples` folder.
 > **Note:**  
-> If you want to solve multiple MPC in parallel, use `BatchedMPCControllerWrapper` look at the examples/multi_env.py
-> `MPCControllerWrapper` and `BatchedMPCControllerWrapper` are 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
+> If you want to solve multiple MPC in parallel, look at the examples/multi_env.py
+> `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%" /> |
 ## Installation
 
 ### Clone the repo