diff --git a/README.md b/README.md index 0bfd3e1382d64e43c3adeb1127724219ace019e5..23cff5c0b1e38c06771b987fab0618d588dc5994 100644 --- a/README.md +++ b/README.md @@ -42,12 +42,21 @@ You can see the full explanation in my [blog post](https://erdalpekel.de/?p=55).  - Integrates safetyzones via the SafetyAwarePlanner. start-command: ... roslaunch panda_simulation simulation.launch ... + Integrates safetyzones via the SafetyAwarePlanner. + start-command: + ... + roslaunch panda_simulation simulation.launch + ... + To see through the boxes one have to set the alpha of the planning an environment (see picture). #### _MoveIt!_ constraint-aware planning - An example of one can add constraints to the planning and simulate it. start-command: start-command: ... roslaunch panda_simulation simulation_constraint.launch ... + An example of one can add constraints to the planning and simulate it. start-command: + start-command: + ... + roslaunch panda_simulation simulation_constraint.launch + ... This repository was extended with a ROS node that communicates with the _MoveIt!_ Planning Scene API. It makes sure that the motion planning pipeline avoids collision objects in the environment specified by the user in a separate directory (`~/.panda_simulation`) as _json_ files.