updated README.md

README.md

-# hpp-rbprm-corba
-python bindings for the rbprm library
+#  Humanoid Path Planner - RBPRM-CORBA module
+
+Copyright 2015 LAAS-CNRS
+
+Author: Steve Tonneau
+
+##Description
+hpp-rbprm-corba implements python bindings for hpp-rbprm, and presents a few example files.
+Please refer to this [link](https://github.com/stonneau/hpp-rbprm) for information on hpp-rbprm.
+
+##Installation on ubuntu-14.04 64 bit with ros-indigo
+
+To install hpp-rbprm-corba:
+
+  1. install HPP-RBPRM
+	- see https://github.com/stonneau/hpp-rbprm
+
+  2. Use CMake to install the library. For instance:
+	- mkdir $HPP_RBPRM_CORBA_DIR/build
+	- cd $HPP_RBPRM_CORBA_DIR/build
+	- cd cmake ..
+	- make install
+
+
+##Documentation
+
+  Open $DEVEL_DIR/install/share/doc/hpp-rbprm-corba/doxygen-html/index.html in a web brower and you
+  will have access to the code documentation. If you are using ipython, the documentation of the methods implemented
+  is also directly available in a python console.
+
+##Example
+
+  To see the planner in action, two examples from our IJRR submission with HyQ are available. Examples with HRP-2 are also provided,
+  though they can only be executed if you have access to HRP-2 model.
+
+  ###Model description
+  - First of all, retrieve and build the HyQ model from its github repository:
+	https://github.com/iit-DLSLab/hyq-description
+
+
+    $ rosrun xacro xacro.py  hyq_description/robots/hyq_model.urdf.xacro -o  hyq.urdf
+
+  - Make sure to install hyq.urdf in $HPP_DEVEL_DIR/install/share/hpp-rbprm-corba/
+
+  - The planning is decomposed in two phases / scripts. First, a root path is computed (\*_path.py files). Then, the contacts are generated along the computed path (\*_interp.py files). The scripts are located in the folder /scripts/scenarios.
+
+  - To only plan and see the root path, run:
+
+
+    $ ./run.sh darpa_hyq_path.py
+
+  - To generate the complete contact sequence, run:
+
+    
+    $ ./run.sh darpa_hyq_interp.py