Update README

README.md

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-# dual_ur3e
-ROS-Melodic, Gazebo, and MoveIt configuration for dual configuration with UR3e
+# Dual arm set up with Universal Robots (default UR3e)
+ROS-Melodic, Gazebo, and MoveIt configuration for dual configuration with UR3e (or any other UR robot)
+
+## Example
+### Launch the Gazebo environment (Environment is a custom build of my lab)
+Execute the following command
+```shell
+roslaunch ur3e_dual_gazebo dual_ur3e_hlab.launch 
+```
+
+By default the robot used are the UR3e, but other UR robots can be easily set up by changing the argument `ur_robot`, valid option (ur3, ur5, ur10, ur3e, ur5e, ur10e)
+```shell
+roslaunch ur3e_dual_gazebo dual_ur3e_hlab.launch ur_robot:=ur5e
+```
+
+### Launch MoveIt
+Execute the following command
+```shell
+roslaunch ur3e_dual_moveit_config start_sim_dual_ur3e_moveit.launch 
+```
+
+### Change the simulation environment
+Update the URDF description of the environment `ur3e_dual_gazebo/urdf/dual_ur_gripper_hande.xacro` or create your own one 
+
+
+