Update README.md

README.md

@@ -12,13 +12,42 @@ Please refer to this [link](https://github.com/humanoid-path-planner/hpp-rbprm)
 
 1. Add robotpkg to your apt configuration: http://robotpkg.openrobots.org/debian.html
 2. `sudo apt update && sudo apt install robotpkg-hpp-rbprm-corba`
+3. Then, you will need to export some variables to allow you system to find the executables:
 
+`export PATH=${PATH:+$PATH:}/opt/openrobots/bin:/opt/openrobots/sbin`
+
+`export MANPATH=${MANPATH:+$MANPATH:}/opt/openrobots/man`
+
+`export PYTHONPATH=/opt/openrobots/lib/python2.7/site-packages:$PYTHONPATH`
+
+`export ROS_PACKAGE_PATH="$ROS_PACKAGE_PATH:/opt/openrobots/share"`
+
+`export DEVEL_HPP_DIR=/opt/openrobots/`
+
+(you may want to add these to your .bashrc file)
 
 ## Installation From source on ubuntu-16.04 64 bit with ros-kinetic
 
 1. Follow this instructions : http://humanoid-path-planner.github.io/hpp-doc/download.html (select 'Devellopement" in the list)
 2. Once this installation is complete, run `make rbprm`
 
+## Optional: installing viewer and python bindings for dependencies
+
+If you are planning to use the visualization tools used by the Gepetto team, along with python examples, you may need a few extra steps:
+
+1. Install the gepetto-viwer server
+
+`sudo apt install -qqy robotpkg-py27-qt4-gepetto-viewer-corba`
+
+`sudo apt install -qqy robotpkg-py27-qt4-hpp-gepetto-viewer`
+
+2. Install the pinocchio bindings
+
+`sudo apt install -qqy robotpkg-py27-pinocchio`
+
+3. Install the dae extension for osg
+
+`sudo apt install -qqy robotpkg-osg-dae`
 
 ## Documentation
 
@@ -28,22 +57,23 @@ Please refer to this [link](https://github.com/humanoid-path-planner/hpp-rbprm)
 
 ## 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.
-
+  To see the planner in action, one example from our IJRR submission with HyQ is available. Examples with HRP-2 are also provided, though they can only be executed if you have access to HRP-2 model.
 
-  - First of all, retrieve and build the HyQ model from its github repository:
-	https://github.com/iit-DLSLab/hyq-description
+  - If you installed the planner form binaries, you need to download the scripts as explained here. Otherwise you can find them directly in script/scenarios/demos folder. For the binary proceudre, create a folder and cd in to it, then type
 
 
-    ```$ rosrun xacro xacro.py  hyq_description/robots/hyq_model.urdf.xacro -o  hyq.urdf```
+   `wget https://raw.githubusercontent.com/humanoid-path-planner/hpp-rbprm-corba/master/script/scenarios/demos/darpa_hyq.py`
+                                                                             
+`wget https://raw.githubusercontent.com/humanoid-path-planner/hpp-rbprm-corba/master/script/scenarios/demos/darpa_hyq_path.py`
+                                                                             
+`wget https://raw.githubusercontent.com/humanoid-path-planner/hpp-rbprm-corba/devel/script/scenarios/demos/run.sh`
 
-  - Make sure to install hyq.urdf in $HPP_DEVEL_DIR/install/share/hpp-rbprm-corba/
+  -  Make the run.sh script executable:`chmod +x run.sh`
 
   - 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/demos.
 
   - To see the different steps of the process run
 
-    ```$ ./run.sh darpa_hyq_path.py```
+    ``$ ./run.sh darpa_hyq.py`
 
   The script include comments explaining the different calls to the library. You can call the different methods a() ... d() to see the different steps of the planning.