Add README file

Author: naitikpahwa18

README.md

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+# Voice-Controlled 3+1 DOF Robotic Arm using ROS 2, MoveIt 2, and Amazon Alexa
+
+## Overview
+
+This project implements a **3+1 DOF robotic arm** (3 revolute arm joints + 1 gripper actuation controlling both fingers) that can be controlled using voice commands via **Amazon Alexa Developer Test Console** as well as **ROS2 actions**.
+The system is built on **ROS2** and **MoveIt2**, and supports both **Python and C++ MoveIt APIs**, depending on the ROS2 distribution.
+
+The project is designed to be modular and extensible, making it suitable for learning, experimentation, and further research in **robot manipulation**, **motion planning**, and **voice-based human–robot interaction**.
+
+---
+
+## Key Features
+
+* 3+1 DOF robotic arm with synchronized gripper actuation
+* Motion planning and execution using **MoveIt2**
+* Voice-based control using **Amazon Alexa**
+* ROS 2 Action–based task execution via a dedicated **Task Server**
+* Supports both simulation and extension to real hardware
+
+---
+
+## Technologies Used
+
+* **ROS 2**
+
+  * Humble: C++ MoveIt APIs
+  * Iron and newer: Python MoveIt APIs
+* **MoveIt 2**
+* **Python** and **C++**
+* **URDF / SRDF** for robot modeling and semantic description
+* **Amazon Alexa Developer Console** (custom skill)
+* **ROS 2 Actions** for task execution
+
+---
+
+## Control Interfaces
+
+### 1. Voice Control (Amazon Alexa)
+
+Voice commands are processed via a custom Alexa skill.
+The skill backend communicates with ROS 2 and triggers predefined manipulation tasks.
+
+> **Note:**
+> The Alexa Skill ID is intentionally replaced with a placeholder in the code.
+> You must create your own skill using the Amazon Alexa Developer Console and insert your Skill ID manually.
+
+---
+
+### 2. ROS 2 Action Interface (Task Server)
+
+A dedicated **Task Server** exposes a ROS 2 action interface that allows commanding the arm directly using ROS tools.
+
+Example tasks are mapped using an integer-based interface:
+
+* `task_number: 0`
+* `task_number: 1`
+* `task_number: 2`
+
+Each task corresponds to a predefined arm or gripper motion.
+
+---
+
+## Setup and Build Instructions
+
+### 1️⃣ Clone the repository into your ROS 2 workspace
+
+```bash
+cd ~/<your_ws>/
+git clone https://github.com/naitikpahwa18/moveit_arm.git
+```
+
+---
+
+### 2️⃣ Add your Alexa Skill ID
+
+Create a custom skill using the **Amazon Alexa Developer Console**, then edit the following file:
+
+👉 **[`alexa_interface.py`](https://github.com/naitikpahwa18/moveit_arm/blob/main/src/manipulator_remote/manipulator_remote/alexa_interface.py#L126)**
+
+Replace:
+
+```python
+skill_id = "YOUR_ALEXA_SKILL_ID_HERE"
+```
+---
+
+### 3️⃣ Go to your workspace root and build the workspace
+
+```bash
+cd ~/<your_ws>
+colcon build
+```
+
+---
+
+### 4️⃣ Source the workspace
+
+```bash
+. install/setup.bash
+```
+
+---
+
+### 5️⃣ Launch the simulated robot
+
+```bash
+ros2 launch manipulator_bringup simulated_robot.launch.py
+```
+
+---
+
+## Controlling the Robot
+
+### Method 1: Voice Control via Amazon Alexa
+
+* Use the **Alexa Developer Console test interface**
+* Invoke your skill and issue supported voice commands
+* The commands are translated into ROS 2 tasks and executed by MoveIt
+
+---
+
+### Method 2: ROS 2 Action Command
+
+Send a task goal directly to the Task Server:
+
+```bash
+ros2 action send_goal /task_server manipulator_msgs/action/ManipulatorTask "task_number: 0"
+```
+
+Replace `0` with `1` or `2` to trigger different tasks.
+
+---
+
+## Project Structure (High-Level)
+
+```text
+manipulator_ws/
+├── manipulator_description/   # URDF, SRDF, meshes
+├── manipulator_bringup/       # Launch files
+├── manipulator_controller/    # Controllers and configs
+├── manipulator_remote/        # Alexa interface and remote control
+├── manipulator_task_server/   # ROS 2 action server
+└── manipulator_msgs/          # Custom messages and actions
+```
+---
+