Merge pull request #84 from TheoMF/topic/tmartinez/fix

fix readme

README.md

@@ -1,12 +1,12 @@
 # agimus_controller
 
-## Dependencies
+Whole-body model predictive controller to track a planned trajectory with ROS.
 
-In order to build this package one need various complexe codes:
+## Dependencies
 
 - Humanoid Path Planner
 - Agimus software
-- Croccodyl
+- Crocoddyl
 
 ## Installation
 
@@ -19,22 +19,20 @@ https://gitlab.laas.fr/agimus-project/agimus_dev_container
 
 ## Usage
 
-We use the Humanoid Path Planner in order to get a path and then build a whole-body model predictive controller that tracks the planned trajectory.
-
 ### Simulation
 
 #### Without ROS
 
 Different mains are available:
-    - ur3 scripts :
-        - `python3 -m agimus_controller.main.ur3.main_hpp_mpc -N=1`
-    - panda scripts :
-        -  `python3 -m agimus_controller.main.panda.main_hpp_mpc_buffer`
-        -  `python3 -m agimus_controller.main.panda.main_hpp_mpc`
-        -  `python3 -m agimus_controller.main.panda.main_reaching_goal`
-        -  `python3 -m agimus_controller.main.panda.main_meshcat_display`
-        -  `python3 -m agimus_controller.main.panda.main_optim_traj`
-        -  `python3 -m agimus_controller.main.panda.main_scenes`
+- ur3 scripts :
+    - `python3 -m agimus_controller.main.ur3.main_hpp_mpc -N=1`
+- panda scripts :
+    -  `python3 -m agimus_controller.main.panda.main_hpp_mpc_buffer`
+    -  `python3 -m agimus_controller.main.panda.main_hpp_mpc`
+    -  `python3 -m agimus_controller.main.panda.main_reaching_goal`
+    -  `python3 -m agimus_controller.main.panda.main_meshcat_display`
+    -  `python3 -m agimus_controller.main.panda.main_optim_traj`
+    -  `python3 -m agimus_controller.main.panda.main_scenes`
 
 
 #### With ROS
@@ -49,11 +47,6 @@ mpc node with hpp trajectory computed inside the node :
 roslaunch agimus_controller hpp_agimus_controller.launch
 ```
 
-
-For a more complete setup see the
-https://github.com/agimus-project/agimus_pick_and_place
-package.
-
 the simulation can be launched with the following commands :
 ```bash
 terminal 1 : roslaunch panda_torque_mpc simulation.launch arm_id:=panda simulate_camera:=false headless:=true
@@ -82,6 +75,7 @@ set ROS_IP and ROS_MASTER_URI :
 set PANDA_IP :
 `export PANDA_IP=172.17.1.3`  (laas)
 the experiment can be launched with the following commands :
+
 ```bash
 terminal 1 : roslaunch panda_torque_mpc real_controllers.launch controller:=ctrl_mpc_linearized robot:=panda robot_ip:=$PANDA_IP
 terminal 2 : roslaunch agimus_controller agimus_controller.launch
@@ -100,6 +94,5 @@ rosservice call /hpp/target/set_joint_names "names:
 - 'pandas/panda_joint7'"
 rostopic pub /hpp/target/read_path std_msgs/UInt32 0
 rostopic pub /hpp/target/publish std_msgs/Empty
-
 ```