Update README.md

README.md

@@ -74,12 +74,12 @@ For additional development questions that are not covered in this README, we wel
 ### Modifying the Robot Used With Demoshop
 Demoshop cannot work with any robots that are unsupported by ROS at this time, so developers that want to use it with non-ROS-based robots will need to first develop a ROS package that exposes their robot’s manipulation capabilities and provides MoveIt! integration. Furthermore, Demoshop is meant for manipulation programs developed using demonstration, limiting its use to robots with manipulation (e.g., gripping) capabilities.
 
-To modify Demoshop to work with a different robot, you will need to modify the code referring to the joint arrays used in [*RecordDemo.cs*](https://github.com/intuitivecomputing/demoshop/blob/main/demoshop-windows/Assets/RecordDemo.cs) (e.g., *jointNames*, *jointStates*, *snapJointConfig*) and the *ros_unity_joints* dictionary to reflect the number and the names of the joints of your robot, if different from the UR5’s. On the ROS backend, you will need to edit [*robot_interface.cpp*](https://github.com/intuitivecomputing/demoshop/blob/main/demoshop_ubuntu/src/robot_interface.cpp) and [*robot_interface_sim.cpp*](https://github.com/intuitivecomputing/demoshop/blob/main/demoshop_ubuntu/src/robot_interface_sim.cpp) to use the action server names used by the MoveIt! packages for your robot and gripper. The code interfacing with the gripper is meant for a two-finger gripper and will require modification for different types of end-effectors.
+To modify Demoshop to work with a different robot, you will need to replace the 3-D model of the UR5 used in the *demoshop-windows* Unity project with the 3-D model of your robot by following the process outlined [here](https://github.com/siemens/ros-sharp/wiki/User_App_ROS_TransferURDFFromROS) to transfer the URDF corresponding to your robot to ROS (**NOTE**: You should preserve the trail game object and any of the game objects used to represent objects in your simulated environment before beginning this process and then reattach them to the appropriate game object (e.g., attach trail game object as a child to the gripper base game object, attach game objects corresponding to task objects as a child to the world game object) after your robot's game objects have been added to the scene using the URDF transfer plugin). You will then need to modify any code referring to the original UR5 game objects (e.g., replace references to *fts_toolside* with the name of your robot's end-effector game object), as well as the joint arrays used in [*RecordDemo.cs*](https://github.com/intuitivecomputing/demoshop/blob/main/demoshop-windows/Assets/RecordDemo.cs) (e.g., *jointNames*, *jointStates*, *snapJointConfig*) and the *ros_unity_joints* dictionary to reflect the number and the names of the joints of your robot, if different from the UR5’s. On the ROS backend, you will need to edit [*robot_interface.cpp*](https://github.com/intuitivecomputing/demoshop/blob/main/demoshop_ubuntu/src/robot_interface.cpp) and [*robot_interface_sim.cpp*](https://github.com/intuitivecomputing/demoshop/blob/main/demoshop_ubuntu/src/robot_interface_sim.cpp) to use the action server names used by the MoveIt! packages for your robot and gripper. The code interfacing with the gripper is meant for a two-finger gripper and will require modification for different types of end-effectors.
 
 ### Using Demoshop in a Different Environment
-Our implementation currently uses AR tag tracking to display task objects (boxes) in Demoshop using the [*ar_track_alvar*](https://github.com/ros-perception/ar_track_alvar) package. We used the AR tag with ID 22 (*“ar_master_22”*) as a fixed reference point and AR tags starting with IDs 0 and IDs 24 to tag two different boxes. To modify the source code to work with your custom objects, you must: (1) add 3-D models of the objects that you would like to track in Demoshop as prefab files into the Assets directory of the Unity project, (2) furnish the objects with AR tags (instructions for how to do this using the ar_track_alvar package can be found [here](http://wiki.ros.org/ar_track_alvar)), and (3) modify the code in the *transformCallback* function in [*robot_interface.cpp*](https://github.com/intuitivecomputing/demoshop/blob/main/demoshop_ubuntu/src/robot_interface.cpp) and [*robot_interface_sim.cpp*](https://github.com/intuitivecomputing/demoshop/blob/main/demoshop_ubuntu/src/robot_interface_sim.cpp) and the code in the *Update* function in [*RecordDemo.cs*](https://github.com/intuitivecomputing/demoshop/blob/main/demoshop-windows/Assets/RecordDemo.cs) to display the 3-D models of your objects when their respective tags are detected. 
+Our implementation currently uses AR tag tracking to display task objects (boxes) in Demoshop using the [*ar_track_alvar*](https://github.com/ros-perception/ar_track_alvar) package. We used the AR tag with ID 22 (*“ar_master_22”*) as a fixed reference point and AR tags starting with IDs 0 and IDs 24 to tag two different boxes. To modify the Demoshop source code to work with your custom objects, you must: (1) add 3-D models of the objects that you would like to track in Demoshop as prefab files into the Assets directory of the Unity project, (2) furnish the physical objects with AR tags (instructions for how to do this using the ar_track_alvar package can be found [here](http://wiki.ros.org/ar_track_alvar)), and (3) modify the code in the *transformCallback* function in [*robot_interface.cpp*](https://github.com/intuitivecomputing/demoshop/blob/main/demoshop_ubuntu/src/robot_interface.cpp) and [*robot_interface_sim.cpp*](https://github.com/intuitivecomputing/demoshop/blob/main/demoshop_ubuntu/src/robot_interface_sim.cpp) and the code in the *Update* function in [*RecordDemo.cs*](https://github.com/intuitivecomputing/demoshop/blob/main/demoshop-windows/Assets/RecordDemo.cs) to display the 3-D models of your objects when their respective tags are detected. 
 
-All other objects (e.g., robot base, table, TV set) shown in the main Unity Scene (*SampleScene*) are static and were placed manually; these objects may be removed and replaced with custom 3D models to represent a new environment as desired. Collision objects should also be modified in the addCollisionObjects function in [*robot_interface.cpp*](https://github.com/intuitivecomputing/demoshop/blob/main/demoshop_ubuntu/src/robot_interface.cpp) and [*robot_interface_sim.cpp*](https://github.com/intuitivecomputing/demoshop/blob/main/demoshop_ubuntu/src/robot_interface_sim.cpp) according to the static obstacles in the environment in which Demoshop is used.
+All other objects (e.g., robot base, table, TV set) currently attached as children to the world game object and shown in the main Unity Scene (*SampleScene*) are static and were placed manually; these objects may be removed and replaced with custom 3D models to represent a new environment as desired. Collision objects should also be modified in the addCollisionObjects function in [*robot_interface.cpp*](https://github.com/intuitivecomputing/demoshop/blob/main/demoshop_ubuntu/src/robot_interface.cpp) and [*robot_interface_sim.cpp*](https://github.com/intuitivecomputing/demoshop/blob/main/demoshop_ubuntu/src/robot_interface_sim.cpp) according to the static obstacles in the environment in which Demoshop is used.
 
 ### “Snap” Feature
 Our code includes a “snap” feature that autocompletes the grasp trajectory for the robot when they rest the robot’s end effector close to a task object for a certain time threshold. This feature is still under development. Instructions on how to disable it if desired are available in the comments in the *AddWaypoint* function in [*RecordDemo.cs*](https://github.com/intuitivecomputing/demoshop/blob/main/demoshop-windows/Assets/RecordDemo.cs).