Add a README file to the Jaco example

drake/examples/kinova_jaco_arm/README.md

@@ -0,0 +1,52 @@
+# Jaco Arm Examples
+
+This directory contains several examples of drake simulating or
+interacting with a Kinova Jaco arm.
+
+## Simulation
+
+### Prerequisites
+
+All instructions assume that you are launching from the `drake-distro`
+directory.
+```
+cd drake-distro
+```
+
+Ensure that you have installed the drake visualizer with
+```
+bazel build //tools:drake_visualizer
+```
+
+Build the examples in this directory:
+```
+bazel build //drake/examples/kinova_jaco_arm/...
+```
+
+### Examples
+
+Before running any examples, launch the visualizer:
+```
+bazel-bin/tools/drake_visualizer
+```
+
+The following examples of a simulated jaco are present:
+
+```
+bazel-bin/drake/examples/kinova_jaco_arm/run_passive_jaco_demo
+```
+
+Simulates a Jaco arm with no control or gravity compensation.
+
+```
+bazel-bin/drake/examples/kinova_jaco_arm/run_setpose_jaco_demo
+```
+
+Simulates a Jaco arm holding a set pose.
+
+```
+bazel-bin/drake/examples/kinova_jaco_arm/run_controlled_jaco_demo
+```
+
+Demonstrates planning a trajectory for a Jaco arm using inverse
+kinematics and simulating an arm following that trajectory.