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Update README to show scan and plan config #165

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Update README to show scan and plan config #165

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Update README to show scan and plan config
sea-bass Jan 5, 2024
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6 changes: 4 additions & 2 deletions README.md
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Original file line number Diff line number Diff line change
@@ -1,9 +1,9 @@
# MoveIt Studio Workspace
# MoveIt Studio Workspace for Universal Robots Arms

This is a sample user workspace for running MoveIt Studio with a generic Universal Robots (UR) arm.
For more information, refer to the [MoveIt Studio Documentation](https://docs.picknik.ai/).

Instructions for building your own MoveIt Studio configuration can be found [in the getting started guides.](https://docs.picknik.ai/en/stable/getting_started/getting_started.html)
Instructions for building your own MoveIt Studio configuration can be found [in the getting started guides](https://docs.picknik.ai/en/stable/getting_started/getting_started.html).

MoveIt Studio can be used with real robots and full simulators such as Gazebo and NVIDIA Isaac Sim.
For testing purposes, you can also use the [ROS 2 Control Mock Components](https://control.ros.org/master/doc/ros2_control/hardware_interface/doc/mock_components_userdoc.html), which is what this repo is configured to use.
Expand All @@ -21,6 +21,7 @@ Base[picknik_ur_base_config] --> Site[picknik_ur_site_config]
Base --> Mock[picknik_ur_mock_hw_config]
Site --> Gazebo[picknik_ur_gazebo_config]
Site --> Picknik[Other PickNik configs]
Gazebo --> ScanAndPlan[picknik_ur_gazebo_scan_and_plan_config]
```

Specifically:
Expand All @@ -29,4 +30,5 @@ Specifically:
* `picknik_ur_mock_hw_config` provides overrides for a machine tending application simulated using mock components (no physics).
* `picknik_ur_site_config` extends the base configuration with capabilities for robots with physics and perception.
* `picknik_ur_gazebo_config` extends the site configuration with support for the Gazebo simulator.
* `picknik_ur_gazebo_scan_and_plan_config` extends the Gazebo configuration with an alternate environment for 3D object scanning.
* Other hardware-specific configurations, such as the ones used on PickNik's UR arms, inherit from `picknik_ur_site_config`.
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