Update README

Signed-off-by: Gerardo Puga <glpuga@gmail.com>

Author: glpuga

README.md

@@ -1,22 +1,20 @@
 # AR4 ROS 2 Software
 
-The [Annin Robotics AR4](https://www.anninrobotics.com/) robot is a 6DOF desktop size industrial robot that is a free, open plan low cost robot. This repository contains the necessary ROS 2 packages to plan and execute motions in Gazebo sim.
+The [Annin Robotics AR4](https://www.anninrobotics.com/) robot is a 6DOF desktop size industrial robot that is a free, open plan low cost robot.
 
-It provides a ROS 2 set of packages to be able to control the AR4 robot both in real hardware and
-a number of different simulation environments.
+This package is a ROS 2 software stack for the AR4 robot. It contains both the necessary packages to control the robot in real hardware and in simulation environments based on [Gazebo](https://gazebosim.org/home), [Isaac Sim](https://docs.isaacsim.omniverse.nvidia.com/latest/index.html), and [MuJoCo](https://mujoco.org/).
 
-<p align="center">
-  <img src="docs/ar4.png" width=500 />
-</p>
+https://github.com/user-attachments/assets/0edf4c30-70d1-4992-a5ee-e3e813877bb5
 
-## Package Summary
+
+## Package summary
 
 These are the main packages providing launch files for the different use cases:
 
 - [`ar4_description`](./ar4_description): Contains the platform-agnostic parts of the URDF robot description.
 - [`ar4_gazebo_bringup`](./ar4_gazebo): Launch a Gazebo Sim simulation of AR4.
 - [`ar4_isaac_bringup`](./ar4_gazebo): **Not yet available.** Launch an Isaac Sim simulation of AR4.
-- [`ar4_mujoco_bringup`](./ar4_gazebo): **Not yet available.** Launch a Mujoco-based simulation of AR4.
+- [`ar4_mujoco_bringup`](./ar4_gazebo): **Not yet available.** Launch a MuJoCo-based simulation of AR4.
 - [`ar4_realbot_bringup`](./ar4_gazebo): Launch drivers and control software for the real AR4 robot.
 - [`ar4_isaac`](./ar4_isaac): Isaac simulation for the ar4 arm.
 
@@ -34,14 +32,14 @@ graph TD
       A --> F
       C --> F
 
-      H[**ar4_isaac_bringup** <br> main.launch.py <br> ...not yet available...]
-      I[**...** <br> main.launch.py]
+      H[**ar4_isaac_bringup** <br> main.launch.py]
+      I[**ar4_isaac_sim** <br> main.launch.py]
 
       B --> H
       I --> H
 
-      J[**ar4_mujoco_bringup** <br> main.launch.py <br> ...not yet available...]
-      K[**...** <br> main.launch.py]
+      J[**ar4_mujoco_bringup** <br> main.launch.py]
+      K[**ar4_mujoco_sim** <br> main.launch.py]
 
       B --> J
       K --> J
@@ -59,43 +57,62 @@ graph TD
       F --> G
 ```
 
-## Installation
+## Prerequisites
+
+You need a working ROS 2 environment to be able to build and run the packages in this repository. The exact details of the environment will depend on the specific package you are trying to run (realbot, Gazebo, Isaac Sim, or MuJoCo).
+
+To help you get started and to provide a reference environment, we provide development docker images that contain all the necessary dependencies to run the contents of this repository.
+
+To be able to use the development docker images, you need to have `docker` and `docker-compose` installed in your host machine.
 
-### Prerequisites
+You can find the Docker installation instructions for Ubuntu [here](https://docs.docker.com/engine/install/ubuntu/).
 
-It is a requirement to have `docker engine` with the `docker compose plugin` already installed in the host machine.
+## Running on simulated environments
 
-See: [Docker Installation Guide](https://docs.docker.com/engine/install/ubuntu/)
+The AR4 robot can be run using different simulators. The following sections describe how to launch the AR4 robot in Gazebo, Isaac Sim, and MuJoCo.
+
+### Gazebo
+
+To run the AR4 robot in Gazebo Sim use the `ar4_gazebo` version of the development docker image.
+
+```bash
+./docker/run.sh -s ar4_gazebo --build
+```
 
-### Running the dev container
+See further instructions in [the Gazebo bringup package README file](ar4_gazebo_bringup/README.md)
 
-Build and run the container for the use case you are interested in
+![Ar4 Gazebo](media/ar4_gazebo.png)
 
-#### Gazebo
+### Isaac sim
 
-Launch the docker container with the following command:
+To run the AR4 robot in Isaac Sim use the `ar4_isaac` version of the development docker image.
 
 ```bash
-./docker/run.sh -s ar4_gazebo
+./docker/run.sh -s ar4_isaac --build
 ```
 
-Then build and launch Gazebo bringup launch file:
+See further instructions in [the Isaac Sim bringup package README file](ar4_isaac/README.md)
+
+![Ar4 Isaac](media/ar4_isaac.png)
+
+### MuJoCo
+
+To run the AR4 robot in MuJoCo use the `ar4_mujoco` version of the development docker image.
 
 ```bash
-colcon build --symlink-install --packages-up-to ar4_gazebo_bringup \
- && source install/setup.bash \
- && ros2 launch ar4_gazebo_bringup main.launch.py
+./docker/run.sh -s ar4_mujoco --build
 ```
 
-![Ar4 Gazebo](docs/ar4.png)
+See further instructions in [the MuJoCo bringup package README file](ar4_mujoco_bringup/README.md)
 
+![Ar4 MuJoCo](media/ar4_mujoco.png)
 
-#### Hardware
 
-* [Hardware Interface Instructions](ar4_hardware_interface/README.md)
+## Using on real hardware
 
+See further instructions in [the Realbot bringup package README file](ar4_realbot_bringup/README.md)
 
-### Controlling the AR4 with MoveIt
+## Controlling the AR4 with MoveIt
 
 To plan and command the arm to execute a motion, this launch file will also start MoveIt automatically. Once launched, you should see RViz showing the robot visualization and the MotionPlanning panel on the left.
 
@@ -110,18 +127,11 @@ This will select a random position for the arm that would not cause a collision
 [Random valid position video](https://github.com/user-attachments/assets/ec926968-8952-4ccf-ba63-5423e94f61cd)
 
 
-####  2. Moving end effector to a desired position
+###  2. Moving end effector to a desired position
 This allows you to select a goal position for the end effector, which is currently the last link in the arm as no gripper is being used. This is done by dragging and dropping where the end effector should move to.
 
 [User selected position video](https://github.com/user-attachments/assets/04dbb11c-bca4-4c05-95ae-251d70f41931)
 
-
-## Isaac sim
-
-![Ar4 Isaac](docs/ar4_isaac.png)
-
-See: [Isaac Sim Instructions](ar4_isaac/README.md)
-
 ## Licenses
 
 All packages in this repository except for `ar4_description` and `ar4_hardware_interface` are distributed under a **BSD 3-Clause** License.