Add quick view cmd to Stretch Description readme

stretch_description/README.md

@@ -2,7 +2,13 @@
 
 ## Overview
 
-*stretch_description* provides materials for a [URDF](http://wiki.ros.org/urdf) kinematic model of the Stretch RE1 mobile manipulator from Hello Robot Inc.
+*stretch_description* provides materials for a [URDF](http://wiki.ros.org/urdf) kinematic model of the Stretch mobile manipulator from Hello Robot Inc.
+
+## Quick View
+
+```
+roslaunch stretch_description display.launch
+```
 
 ## Details
 
@@ -10,7 +16,7 @@ The *meshes directory* contains [STL mesh files](https://en.wikipedia.org/wiki/S
 
 The *urdf directory* contains [xacro files](http://wiki.ros.org/xacro) representing various parts of the robot that are used to generate the robot's URDF. 
 
-stretch_ros expects a URDF with the name stretch.urdf to reside within the urdf directory. The file stretch.urdf serves as the URDF for the robot and must be generated. Typically, it is a calibrated urdf file for the particular Stretch RE1 robot being used. To generate this file, please read the documentation within stretch_ros/stretch_calibration. 
+stretch_ros expects a URDF with the name stretch.urdf to reside within the urdf directory. The file stretch.urdf serves as the URDF for the robot and must be generated. Typically, it is a calibrated urdf file unique to the particular Stretch robot being used. To generate this file, please read the documentation within stretch_ros/stretch_calibration.
 
 The xacro_to_urdf.sh will usually only be indirectly run as part of various scripts and launch files within stretch_ros/stretch_calibration. 
 
@@ -20,7 +26,7 @@ Sometimes a stretch_uncalibrated.urdf file will reside with the urdf directory.
 
 Sometimes a URDF is useful outside of ROS, such as for simulations and analysis. Running the *export_urdf.sh* script in the urdf directory will export a full URDF model of the robot based on stretch.urdf. 
 
-The exported URDF will be found within an exported_urdf directory. It is also copied to a directory for your specific robot found under ~/stretch_user. The exported URDF includes meshes and controller calibration YAML files. The exported URDF can be visualized using stretch_urdf_show.py, which is part of the stretch_body Python code. 
+The exported URDF will be found within an exported_urdf directory. It is also copied to a directory for your specific robot found under ~/stretch_user. The exported URDF includes meshes and controller calibration YAML files. The exported URDF can be visualized using `stretch_robot_urdf_visualizer.py`, which is part of the stretch_body Python code.
 
 ## Changing the Tool
 
@@ -30,7 +36,7 @@ If you wish to remove the default gripper and add a different tool, you will typ
 
 As an example we provide the xacro `stretch_dry_erase_marker.xacro` and its dependent mesh files with stretch_ros. 
 
-Some of the tools found in the [Stretch Body Tool Share](https://github.com/hello-robot/stretch_tool_share/) include URDF data. To integrate these tools into the URDF for your Stretch
+Some of the tools found in the [Stretch Tool Share](https://github.com/hello-robot/stretch_tool_share/) include URDF data. To integrate these tools into the URDF for your Stretch
 
 ```bash
 >>$ cd ~/repos
@@ -54,8 +60,6 @@ Now visualize the new tool
 >>$ roslaunch stretch_calibration simple_test_head_calibration.launch
 ```
 
-
-
 ## License and Patents
 
 Patents are pending that cover aspects of the Stretch RE1 mobile manipulator.