Include inverse kinematics example

index.html

@@ -177,16 +177,16 @@ <h4>
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-							<a href="https://www.kinovarobotics.com/product/gen3-robots">Kinova-gen3</a> 
-							obstacle avoidance
+							<a href="https://www.kinovarobotics.com/product/gen3-robots">Kinova-gen3</a>
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+									Obstacle Avoidance Example: <br>
 									The robot starts from blue configuration and targets at the green configuration.
 									The obstacles are shown in red.
 									The waypoints generated by RRT are shown in black.
-									We solve an optimization problem at each iteration to generate a smooth trajectory that avoids the obstacles while getting to the next waypoint.
+									We solve an optimization problem at each iteration to generate a smooth trajectory that avoids the obstacles while getting to the next waypoint. <br>
 									The formulation of the optimization problem is a discrete version of our previous work <a href="https://roahmlab.github.io/armour/">ARMOUR</a>, where constraints are only considered on discrete time samples, rather than continuous time intervals to guarantee safety.
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+							<div class="row 50% uniform" style="width: 100%; color: black;">
+								<div class="2u" style="font-size: 1em; line-height: 1.5em; text-align: left; width: 100%">
+									Inverse Kinematics Example: <br>
+									Solving a series of inverse kinematics in seconds!
+								</div>
+								<div class="row 50% uniform" style="width: 100%;">
+									<div class="2u" style="font-size: 1em; line-height: 1.5em; text-align: center; width: 33.33%">
+										<span class="image fit">
+											<img src="https://github.com/user-attachments/assets/7587bb5f-4bca-4421-8653-ab7e6a3e9696" alt="">
+										</span>
+									</div>
+								</div>
+							</div>
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