From 1c74120c05c2bbb179cfc40584eb4cf32939dbfa Mon Sep 17 00:00:00 2001
From: SebastianEbert <sebastian.ebert@tu-dresden.de>
Date: Mon, 20 Apr 2020 15:58:56 +0200
Subject: [PATCH] rework and documentation

---
 README.md               | 8 +++++++-
 src/panda_simulation    | 2 +-
 src/sample_applications | 2 +-
 3 files changed, 9 insertions(+), 3 deletions(-)

diff --git a/README.md b/README.md
index 1d15250..ce026c6 100644
--- a/README.md
+++ b/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`
 
 
 
diff --git a/src/panda_simulation b/src/panda_simulation
index e186f73..15ca034 160000
--- a/src/panda_simulation
+++ b/src/panda_simulation
@@ -1 +1 @@
-Subproject commit e186f737c32f92d91c3ac21883d819ab921d0e93
+Subproject commit 15ca0343beb1cfa0b6cdf50bb292521b521c0c0a
diff --git a/src/sample_applications b/src/sample_applications
index dea2694..d74e778 160000
--- a/src/sample_applications
+++ b/src/sample_applications
@@ -1 +1 @@
-Subproject commit dea2694bfd1a3d5f4e1f77154a082f9bbd0fe008
+Subproject commit d74e778eec99349a97c8190025b25127bf80edea
-- 
GitLab