add README files to help users create models

petercorke · petercorke · commit fe0b2d110edd · 2020-09-13T09:48:48.000+10:00
diff --git a/roboticstoolbox/models/DH/README.md b/roboticstoolbox/models/DH/README.md
@@ -1,4 +1,19 @@
-# Creating a new robot model using Denavit-Hartenberg parameters
+# Denavit-Hartenberg models
+
+## Shipped robot models
+
+| Model name | Description |
+| ---        | ---         |
+| Ball       | an n-link robot that folds into a ball shape |
+| Cobra600   | 4-axis Adept (now OMRON) SCARA robot |
+| IRB140  | 6-axis ABB robot |
+| KR5  | 6-axis Kuka robot |
+| Panda | 7-axis Franka-Emika robot |
+| Puma | 6-axis Unimation robot (with dynamics data) |
+| Stanford | 6-axis Stanford resarch robot, 1 prismatic joint (with dynamics data) |
+| Threelink | ?? |
+
+## Creating a new robot model using Denavit-Hartenberg parameters
 
 To begin, you must know:
 
@@ -7,7 +22,7 @@ To begin, you must know:
 3. The joint structure, does it have revolute, prismatic joints or both.
 
 
-## Write the definition
+### Write the definition
 
 Create a file called `MYROBOT.py` where `MYROBOT` is a descriptive name of your
 robot that is a valid filename and Python class name.
@@ -132,7 +147,7 @@ Toolbox models have a configuration called `qz` which is the set of zero
 joint angles.
 
 
-## Adding your model to the Toolbox
+### Adding your model to the Toolbox
 
 Edit the file `__init__.py` in this folder.  Add a line like:
 
@@ -142,7 +157,7 @@ from roboticstoolbox.models.DH.Stanford import MYROBOT
 
 and then add `'MYROBOT'` to the list that defines `__all__`.
 
-## Testing
+### Testing
 
 Now to test your class
 
@@ -152,11 +167,15 @@ Now to test your class
     print(myrobot.MYCONFIG)    # check that the joint configuration works
 ```
 
-## Next steps
+### Next steps
 
 You can now use the power of the Toolbox to compute forward and inverse
 kinematics, display a graphical model, and interactively teach the robot.
 If you defined dynamic parameters then you can compute forward and inverse
 rigid-body dyamics and simulate the response of the robot to applied torques.
 
-Good luck and enjoy!
+Good luck and enjoy!
+
+### Contribute your model
+
+If you think your model might be interesting to others consider submitting a pull request.
diff --git a/roboticstoolbox/models/README.md b/roboticstoolbox/models/README.md
@@ -0,0 +1,9 @@
+There are three types of model supported by the Toolbox, and all are subclasses of the abstract `Robot` superclass.
+
+* [Denavit-Hartenberg (DH) models](roboticstoolbox/models/DH). These are defined using standard or modified DH parameters, with optional 3D meshes for visualisation and optional dynamic parameters.
+* [ETS models](roboticstoolbox/models/ETS). There are defined using a sequence of elementary transformations (rotation and translations), and is a quick and intuitive way to describe a robot, see [this article](https://petercorke.com/robotics/a-simple-and-systematic-approach-to-assigning-denavit-hartenberg-parameters/).
+* [URDF models](roboticstoolbox/models/URDF). These models are defined by a Unified Robot Description Format file, an XML format file. Models exist for the classic Puma560 robot as well as the Franka-Emika Panda, the Universal robotics range and all the Interbotix hobby-class robots.
+
+In each folder you will find a README describing how to create your own model.
+
+If you think your model might be interesting to others consider submitting a pull request.
