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src/mtc/README.md

@@ -12,32 +12,34 @@ roslaunch mtc mtc2taskspace.launch resource='dummy.yaml'
 
 
 ### base_routine  
-Calculates the workspace from a descriptions file (/descriptions/{description}) and a precomputed reachability map (/map/{map}), combined with information of a resource file (/resources/{resource}). Creates the directory (results/{resource}/ros::time.yaml}) with the resulting files as contents. 
-> Replace already existing result folder if exists.
->> Resulting files can break the yaml schema, because each robot has an extra rpy element which is important for setting robot pose in franca_description. Also each 8th entry must be a table[0-9]+_table_top id. Cosmetic data (table_wheel...) included as placeholder
-
+Calculates the workspace from a descriptions file (/descriptions/{description}) and a precomputed reachability map (/map/{map}), combined with information of a resource file (/resources/{resource}). Creates the directory (results/{resource}/ros::time.yaml}) with the resulting files as contents. <br/> 
 mtc/src/base_routine.cpp (/map/{map}, /resources/{resource}, /descriptions/{descriptions}) -> (/results/{resource}/ros::time.yaml) <br/>
 roslaunch mtc base_routine.launch resource='dummy.yaml' map='dummy.yaml' description='dummy.yaml'
+> Replace already existing result folder if exists.
+>> Resulting files can break the yaml schema, because each robot has an extra rpy element which is important for setting robot pose in franca_description. Also each 8th entry must be a table[0-9]+_table_top id. Cosmetic data (table_wheel...) included as placeholder
 
 ### cell_routine  
-Designed to load a resource file (+ with additional rpy component in the right order) and execute a task with moveit task constructor. A task description can also be the /descriptions/{description} in the example.
-> Christoph's parser could not be integrated because there is no way to have multiple robots compute a task.
+Designed to load a resource file (+ with additional rpy component in the right order) and execute a task with moveit task constructor. A task description can also be the /descriptions/{description} in the example. <br/>
 mtc/src/cell_routine.cpp (/results/{result}, /descriptions/{task}) -> () <br/>
-roslaunch mtc base_routine.launch result='/dummy/dummy.yaml' task='dummy.yaml' (is coop)
+roslaunch mtc base_routine.launch result='/dummy/dummy.yaml' task='dummy.yaml' (is coop) <br/>
 roslaunch mtc base_routine.launch result='/dummy/dummy.yaml' task='dummy2.yaml' (is parallel) 
+> Christoph's parser could not be integrated because there is no way to have multiple robots compute a task.
+
 
 
 ## Current state
-State: in progress. Every executable is working with some explained downfalls that should be fixed in the next days. Implementing or omitting ideas because some modules do not work as expected took a lot of time. The actual results (62 files for dummy.yaml) can be loaded and run. I tested 10/62 myself, with surprisingly good results. The following list shows open and closed ToDos.
-
-:ballot_box_with_check: present a faster work-space execution 
-:ballot_box_with_check: generate more solutions for 1 dump file
-:ballot_box_with_check: present solution for general robots
-:ballot_box_with_check: elaborate the moveit task constructor 
-:ballot_box_with_check: present more general task files
-:black_square_button: include cosmetic values 
-:ballot_box_with_check: passing yaml in xacro (franca_description)
-:ballot_box_with_check: parallel tasks (Docker already downloaded, just have to try) (main focus) (with some problems of course)
-:black_square_button: include ferdinants work (main focus)
-
-Im working non stop, so don't forget to pull.
+State: in progress. Every executable is working with some explained downfalls that should be fixed in the next days. Implementing or omitting ideas because some modules do not work as expected took a lot of time. The actual results (62 files for dummy.yaml) can be loaded and run. I tested 10/62 myself, with surprisingly good results. The following list shows open and closed ToDos.<br/>
+
+:ballot_box_with_check: present a faster work-space execution <br/>
+:ballot_box_with_check: generate more solutions for 1 dump file <br/>
+:ballot_box_with_check: present solution for general robots <br/>
+:ballot_box_with_check: elaborate the moveit task constructor <br/>
+:ballot_box_with_check: present more general task files <br/>
+:black_square_button: include cosmetic values <br/>
+:ballot_box_with_check: passing yaml in xacro (franca_description) <br/>
+:ballot_box_with_check: parallel tasks (Docker already downloaded, just have to try) (main focus) <br/>
+:black_square_button: fix acm <br/>
+:black_square_button: include ferdinants work (main focus)<br/>
+
+Im working non stop, so don't forget to pull. <br/>
+[Git Docker](https://github.com/cambel/moveit_simultaneous_motions_demo.git "github link for parallel docker")