update code

Author: Johannes Hechtl

…c/rcs_ur5e/ur5e_env_cartesian_control.py …mples/ur5e/ur5e_env_cartesian_control.pyextensions/rcs_ur5e/src/rcs_ur5e/ur5e_env_cartesian_control.py renamed to examples/ur5e/ur5e_env_cartesian_control.py extensions/rcs_ur5e/src/rcs_ur5e/ur5e_env_cartesian_control.py renamed to examples/ur5e/ur5e_env_cartesian_control.py

@@ -17,4 +17,46 @@ pip install -ve rcs_ur5e
 ```
 
 ## Usage
-TODO(j.hechtl)
+```python
+import numpy as np
+from rcs.envs.base import ControlMode, RelativeTo
+from rcs_ur5e.creators import RCSUR5eEnvCreator
+from rcs_ur5e.hw import UR5eConfig
+
+ROBOT_IP = "192.168.1.15"
+robot_cfg = UR5eConfig()
+robot_cfg.async_control = False
+
+env_rel = RCSUR5eEnvCreator()(
+    robot_cfg=robot_cfg,
+    control_mode=ControlMode.CARTESIAN_TRPY,
+    ip=ROBOT_IP,
+    camera_set=None,
+    max_relative_movement=0.2,
+    relative_to=RelativeTo.LAST_STEP,
+)
+
+obs, info = env_rel.reset()
+
+act = {"xyzrpy": [0.0, 0, 0.0, 0, 0, np.deg2rad(45)], "gripper": 0}
+obs, reward, terminated, truncated, info = env_rel.step(act)
+```
+
+For more examples see the [examples](../../examples/) folder.
+You can switch to hardware by setting the following flag:
+```python
+ROBOT_INSTANCE = RobotPlatform.HARDWARE
+# ROBOT_INSTANCE = RobotPlatform.SIMULATION
+```
+
+You can initially test the connection to the robot and basic movements by running the scripts in the `scripts` folder.
+
+
+
+
+TODO(j.hechtl):
+- test usage script
+- test examples 
+- add usage section to documentation page
+- make ready for tools repo merge
+- simulation gripper?