updated readme

README.md

@@ -5,7 +5,32 @@
 
 A library for automatic extraction of Denavit-Hartenberg parameters from a robot model.
 
-##### References:
+### Install
+To install AutoDH run:
+```
+$ pip install autodh
+```
+
+### OpenRAVE Script
+To generate DH parameters from OpenRAVE models use `scripts/openrave.py`.
+
+Here's an example for Puma from link `Base` to link `Puma6`:
+```
+$ python scripts/openrave.py robots/pumaarm.zae Base Puma6
+```
+Another example for PR2 from link `base_link` to link `r_gripper_palm_link`:
+```
+$ python scripts/openrave.py robots/pr2-beta-static.zae base_link r_gripper_palm_link
+```
+
+### Run Tests
+Install test suite dependencies before running unit tests:
+```
+$ pip install autodh[test]
+$ pytest autodh
+```
+
+#### References:
 
 - Chittawadigi et. al. “Automatic Extraction of DH Parameters of Serial Manipulators using Line Geometry.” _The 2nd International Conference on Multibody System Dynamics_, 2012.
 - Lipkin H. “A Note on Denavit-Hartenberg Notation in Robotics.“ _International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, Volume 7: 29th Mechanisms and Robotics Conference, Parts A and B_, 2005.