rework and documentation

README.md

@@ -15,7 +15,13 @@
     - `source devel/setup.bash` (default)
     - `source devel/setup.sh`
     - `source devel/setup.zsh`
-- run the simulation `roslaunch panda_simulation simulation.launch`
+
+## Simulations
+
+- For planning and simulation based on rviz: `roslaunch panda_simulation simulation.launch`
+- Execution of a simple motion: `roslaunch sample_applications sample_simple_simulation.launch`
+- Execution of a simple motion costraint by a blocking object: `roslaunch sample_applications sample_constraint_simulation.launch`
+- Execution of a velocity constraint cartesian trajectory: `roslaunch sample_applications simulation.launch`
 
 
 

panda_simulation @ 15ca0343

-Subproject commit e186f737c32f92d91c3ac21883d819ab921d0e93
+Subproject commit 15ca0343beb1cfa0b6cdf50bb292521b521c0c0a

sample_applications @ d74e778e

-Subproject commit dea2694bfd1a3d5f4e1f77154a082f9bbd0fe008
+Subproject commit d74e778eec99349a97c8190025b25127bf80edea