update readme

README.md

@@ -71,25 +71,25 @@ This demonstrator contains two mock-up nodes that can serve as stand-ins for fut
 
 #### Configuration
 
-- configure the collision objects:
+- configure the scene (*not* required when using the dummy controller):
   ```
-  rostopic pub -1 /scene_config/collision_objects std_msgs/String -f `rospack find ccf`/config_objects.yaml
+  rostopic pub -1 /scene_config/collision_objects std_msgs/String -f `rospack find ccf`/config_full.yaml
   ```
-- configure the bin:
-  ```
-  rostopic pub -1 /scene_config/collision_bin std_msgs/String -f `rospack find ccf`/config_bin.yaml
-  ```
-- configure the table: 
-  ```
-  rostopic pub -1 /scene_config/collision_table std_msgs/String -f `rospack find ccf`/config_table.yaml
-  ```
-  A parameter <safety_mode> has to be set in the configuration file to "base" or "safe", where the safe modes a safety-space around the table
 
 #### Execution
 
 - pick an object by id: `rostopic pub -1 /robot/pick std_msgs/String "objectRed1"`
 - place a picked object into a bin by id: `rostopic pub -1 /robot/place std_msgs/String "binRed"`
 
+### Connect to the CGV framework
+
+- **CASE 1** The robot controller is *not* accepting connections, but the AR server is.
+  - ensure a SSH server is running on the AR server
+  -  On the robot controller, connect to it
+     ```
+     ssh stadmin@141.76.65.71 -R 6576:localhost:6576
+     ```
+
 ### Using the Example with Docker
 
 The following instructions can be used to run either the cgv dummy or the ros-connector dummy from within a docker container.