Update README.md

README.md

@@ -13,4 +13,119 @@ Neural MP is a machine learning-based motion planning system for robotic manipul
 
 All Neural MP checkpoints, as well as our [training codebase](https://github.com/mihdalal/neuralmotionplanner) are released under an MIT License.
 
-For full details, please read [our paper](https://mihdalal.github.io/neuralmotionplanner/) and see [our project page](https://mihdalal.github.io/neuralmotionplanner/).
+For full details, please read our paper(coming soon) and see [our project page](https://mihdalal.github.io/neuralmotionplanner/).
+
+## Model Summary
+- **Developed by:** The Neural MP team consisting of researchers from Carnegie Mellon University.
+- **Language(s) (NLP):** en
+- **License:** MIT
+- **Pretraining Dataset:** Coming soon
+- **Repository:** [https://github.com/mihdalal/neuralmotionplanner](https://github.com/mihdalal/neuralmotionplanner)
+- **Paper:** Coming soon
+- **Project Page & Videos:** [https://mihdalal.github.io/neuralmotionplanner/](https://mihdalal.github.io/neuralmotionplanner/)
+
+## Installation
+
+Please check [here](https://github.com/mihdalal/neural_mp?tab=readme-ov-file#installation-instructions) for detailed instructions
+
+## Usage
+
+Neural MP model takes in 3D point cloud and start & goal angles of the Franka robot as input, and predict 7-DoF delta joint actions. We provide a wrapper class [NeuralMP](https://github.com/mihdalal/neural_mp/blob/master/neural_mp/real_utils/neural_motion_planner.py) for inference and deploy our model in the real world.
+
+Here's an deployment example with the Manimo Franka control library:
+
+Note: using Manimo is not required, you may use other Franka control libraries by creating a wrapper class which inherits from FrankaRealEnv (check [franka_real_env.py](https://github.com/mihdalal/neural_mp/blob/master/neural_mp/envs/franka_real_env.py))
+
+```python
+import argparse
+import numpy as np
+
+from neural_mp.envs.franka_real_env import FrankaRealEnvManimo
+from neural_mp.real_utils.neural_motion_planner import NeuralMP
+
+if __name__ == "__main__":
+
+    parser = argparse.ArgumentParser()
+    parser.add_argument(
+        "--mdl_url",
+        type=str,
+        default="mihdalal/NeuralMP",
+        help="hugging face url to load the neural_mp model",
+    )
+    parser.add_argument(
+        "--cache-name",
+        type=str,
+        default="scene1_single_blcok",
+        help="Specify the scene cache file with pcd and rgb data",
+    )
+    parser.add_argument(
+        "--use-cache",
+        action="store_true",
+        help=("If set, will use pre-stored point clouds"),
+    )
+    parser.add_argument(
+        "--debug-combined-pcd",
+        action="store_true",
+        help=("If set, will show visualization of the combined pcd"),
+    )
+    parser.add_argument(
+        "--denoise-pcd",
+        action="store_true",
+        help=("If set, will apply denoising to the pcds"),
+    )
+    parser.add_argument(
+        "--train-mode", action="store_true", help=("If set, will eval with policy in training mode")
+    )
+    parser.add_argument(
+        "--tto", action="store_true", help=("If set, will apply test time optimization")
+    )
+    parser.add_argument(
+        "--in-hand", action="store_true", help=("If set, will enable in hand mode for eval")
+    )
+    parser.add_argument(
+        "--in-hand-params",
+        nargs="+",
+        type=float,
+        default=[0.1, 0.1, 0.1, 0.0, 0.0, 0.1, 0.0, 0.0, 0.0, 1.0],
+        help="Specify the bounding box of the in hand object. 10 params in total [size(xyz), pos(xyz), ori(xyzw)] 3+3+4.",
+    )
+
+    args = parser.parse_args()
+    env = FrankaRealEnvManimo()
+    neural_mp = NeuralMP(
+        env=env,
+        model_url=args.mdl_url,
+        train_mode=args.train_mode,
+        in_hand=args.in_hand,
+        in_hand_params=args.in_hand_params,
+        visualize=True,
+    )
+
+    points, colors = neural_mp.get_scene_pcd(
+        use_cache=args.use_cache,
+        cache_name=args.cache_name,
+        debug_combined_pcd=args.debug_combined_pcd,
+        denoise=args.denoise_pcd,
+    )
+
+    # specify start and goal configurations
+    start_config = np.array([-0.538, 0.628, -0.061, -1.750, 0.126, 2.418, 1.610])
+    goal_config = np.array([1.067, 0.847, -0.591, -1.627, 0.623, 2.295, 2.580])
+
+    if args.tto:
+        trajectory = neural_mp.motion_plan_with_tto(
+            start_config=start_config,
+            goal_config=goal_config,
+            points=points,
+            colors=colors,
+        )
+    else:
+        trajectory = neural_mp.motion_plan(
+            start_config=start_config,
+            goal_config=goal_config,
+            points=points,
+            colors=colors,
+        )
+
+    success, joint_error = neural_mp.execute_motion_plan(trajectory, speed=0.2)
+```