Update

quantumbeam · Aug 25, 2024 · a8e1227 · a8e1227
1 parent afc79b1
commit a8e1227
Showing 2 changed files with 32 additions and 24 deletions.
diff --git a/README.md b/README.md
@@ -6,30 +6,29 @@ This package can operate both in simulation (Gazebo) and on the actual robot.
 
 
 #### **Table of Contents**
-- [Robotic Powder Grinding for Laboratory Automation](#robotic-powder-grinding-for-laboratory-automation)
-  - [**Table of Contents**](#table-of-contents)
-- [Overview](#overview)
 - [Supported Robots](#supported-robots)
-- [Quick Start Guide](#quick-start-guide)
-  - [Setting up Environments of Host PC, Robot, and Docker](#setting-up-environments-of-host-pc-robot-and-docker)
-  - [Running Docker Container](#running-docker-container)
-  - [Building ROS Packages in Docker Container](#building-ros-packages-in-docker-container)
-  - [Demonstration](#demonstration)
-- [Known Issues](#known-issues)
-- [Future Work](#future-work)
-- [Citation](#citation)
-- [License](#license)
+  - [Quick Start Guide](#quick-start-guide)
+    - [Setting up Environments of Host PC, Robot, and Docker](#setting-up-environments-of-host-pc-robot-and-docker)
+    - [Running Docker Container](#running-docker-container)
+    - [Building ROS Packages in Docker Container](#building-ros-packages-in-docker-container)
+    - [Demonstration](#demonstration)
+  - [Known Issues](#known-issues)
+  - [Future Work](#future-work)
+  - [Citation](#citation)
+  - [License](#license)
 
 ### Overview
 **Last Updated:** 2023/10/24  
 This repository focuses on the ROS environment for robot control.
 
-
-
-### Supported Robots
-- UR5e
-- UR3e
-- Cobotta
+## Supported Robots
+- Confirmed to work with actual machines
+   - UR5e (Universal Robot)
+   - UR3e (Universal Robot)
+   - Cobotta (DENSO WAVE)
+   - FR3 (FAIRINO)
+- Confirmed to work with simulation only
+   - Cobotta PRO 900 (DENSO WAVE)
 
 ### Quick Start Guide
 You can also view the Japanese version of the [README_jp](./README_jp.md).
@@ -54,13 +53,19 @@ You can also view the Japanese version of the [README_jp](./README_jp.md).
    roslaunch grinding_robot_bringup ur5e_bringup.launch
    roslaunch grinding_robot_bringup ur3e_bringup.launch
    roslaunch grinding_robot_bringup cobotta_bringup.launch
+   roslaunch grinding_robot_bringup cobotta_pro_900_bringup.launch
+   roslaunch grinding_robot_bringup fr3_bringup.launch
+
    ```
   - If you want to use simulation, please launch with sim:=true.
 - Launching Grinding Motion:
    ```
    roslaunch grinding_motion_routines ur3e_grinding_demo.launch
    roslaunch grinding_motion_routines ur5e_grinding_demo.launch
    roslaunch grinding_motion_routines cobotta_grinding_demo.launch
+   roslaunch grinding_motion_routines cobotta_pro_900_grinding_demo.launch
+   roslaunch grinding_motion_routines fr3_grinding_demo.launch
+
    ```
    - Use the command g to prepare for grinding (g=grinding), and then use y to execute the grinding.
    - Use the command G to prepare for powder collection with a spatula (G=grinding), and then use y to execute the powder collection.
@@ -70,6 +75,7 @@ You can also view the Japanese version of the [README_jp](./README_jp.md).
 ### Known Issues
 - Cobotta's .dea file is unreadable (use fixed .dae file from cobotta_description_converter.py in grinding_descriptions pkg).
 
+
 ### Future Work
 - Add IKFast for motion planning
  - Need to load custom URDF for grinding on IKFast
@@ -78,16 +84,17 @@ You can also view the Japanese version of the [README_jp](./README_jp.md).
 ### Citation
 - [Robotic Powder Grinding with a Soft Jig for Laboratory Automation in Material Science](https://doi.org/10.1109/IROS47612.2022.9981081) (IROS 2022)
 ```
-@InProceedings{RoboticPowderGrinding,
+@InProceedings{RoboticPowderGrindingWithSoftJig,
   Title                    = {Robotic Powder Grinding with a Soft Jig for Laboratory Automation in Material Science},
   Author                   = {Yusaku Nakajima, Masashi Hamaya, Yuta Suzuki, Takafumi Hawai, Felix Von Drigalski, Kazutoshi Tanaka, Yoshitaka Ushiku and Kanta Ono.},
   Booktitle                = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
   Year                     = {2022},
   Doi                      = {10.1109/IROS47612.2022.9981081}
 }
-- [Robotic Powder Grinding with Audio-Visual Feedback for Laboratory Automation in Materials Science](https://omron-sinicx.github.io/powder-grinding/) (IROS 2023)
 ```
-- Related article: [Robotic Powder Grinding with Audio-Visual Feedback for Laboratory Automation in Materials Science](https://omron-sinicx.github.io/powder-grinding/) (IROS 2023)
+If you are interested in the application of robotic powder grinding, please take a look at...
+- [Robotic Powder Grinding with Audio-Visual Feedback for Laboratory Automation in Materials Science](https://ieeexplore.ieee.org/document/10341526) (IROS 2023)
+   -  Github pages [here](https://omron-sinicx.github.io/powder-grinding/) 
 
 ### License
 This repository is under the MIT license. See [LICENSE](./LICENSE) for details.

diff --git a/README_jp.md b/README_jp.md
@@ -79,16 +79,17 @@ This repository focuses on the ROS environment for robot control.
 ### Citation
 - [Robotic Powder Grinding with a Soft Jig for Laboratory Automation in Material Science](https://doi.org/10.1109/IROS47612.2022.9981081) (IROS 2022)
 ```
-@InProceedings{RoboticPowderGrinding,
+@InProceedings{RoboticPowderGrindingWithSoftJig,
   Title                    = {Robotic Powder Grinding with a Soft Jig for Laboratory Automation in Material Science},
   Author                   = {Yusaku Nakajima, Masashi Hamaya, Yuta Suzuki, Takafumi Hawai, Felix Von Drigalski, Kazutoshi Tanaka, Yoshitaka Ushiku and Kanta Ono.},
   Booktitle                = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
   Year                     = {2022},
   Doi                      = {10.1109/IROS47612.2022.9981081}
 }
-- [Robotic Powder Grinding with Audio-Visual Feedback for Laboratory Automation in Materials Science](https://omron-sinicx.github.io/powder-grinding/) (IROS 2023)
 ```
-- Related article: [Robotic Powder Grinding with Audio-Visual Feedback for Laboratory Automation in Materials Science](https://omron-sinicx.github.io/powder-grinding/) (IROS 2023)
+もし興味があれば、以下の関連研究もご覧ください
+- [Robotic Powder Grinding with Audio-Visual Feedback for Laboratory Automation in Materials Science](https://ieeexplore.ieee.org/document/10341526) (IROS 2023)
+   -  Github pages [here](https://omron-sinicx.github.io/powder-grinding/) 
 
 ## License
 This repository is under the MIT license. See [LICENSE](./LICENSE) for details.