[README.md] add document to convert from stl to urdf, eus.

README.md

@@ -1,2 +1,75 @@
 jsk_model_tools [![Build Status](https://travis-ci.org/jsk-ros-pkg/jsk_model_tools.png?branch=master)](https://travis-ci.org/jsk-ros-pkg/jsk_model_tools)
 ===============
+
+# Model Convert
+
+## Convert from CAD manually
+(cf. PR of function to automatically convert: https://github.com/euslisp/jskeus/pull/248)
+
+- Convert1. export stl mesh with SolidEdge
+
+=> my_model.stl is generated.
+
+- Convert2. generate urdf
+generate urdf with following contents.
+（assume that my_model.stl is located at /home/leus/my_model.stl）
+```
+<robot name="my_model_name">
+  <link name="root">
+    <inertial>
+     <origin xyz="0 0 0.5" rpy="0 0 0"/>
+     <mass value="1"/>
+     <inertia ixx="100"  ixy="0"  ixz="0" iyy="100" iyz="0" izz="100" />
+    </inertial>
+    <visual>
+     <origin xyz="0 0 0" rpy="0 0 0" />
+     <geometry>
+       <mesh filename="file:///home/leus/my_model.stl" />
+     </geometry>
+    </visual>
+    <collision>
+     <origin xyz="0 0 0" rpy="0 0 0"/>
+     <geometry>
+       <mesh filename="file:///home/leus/my_model.stl" />
+     </geometry>
+    </collision>
+  </link>
+</robot>
+```
+=> save to my_model.urdf
+
+- Convert3. convert to collada
+```
+rosrun collada_urdf_jsk_patch urdf_to_collada my_model.urdf my_model.dae
+```
+=> my_model.dae is generated.
+
+- Convert4. convert to eus
+```
+rosrun euscollada collada2eus my_model.dae my_model.l
+```
+=> my_model.l is generated.
+
+- Visualize1. visualize urdf with Rviz
+```
+roslaunch urdf_tutorial display.launch model:=/home/leus/my_model.urdf
+```
+
+- Visualize2. spawn urdf to gazebo
+```
+roslaunch gazebo_ros empty_world.launch
+rosrun gazebo_ros spawn_model -file my_model.urdf -urdf -model my_model
+```
+
+- Visualize3. visualize eus with irtviewer
+```
+roseus my_model.l
+(objects (list (my_model)))
+```
+
+- Visualize4. visualize stl with irtviewer
+```
+(load "package://eus_assimp/euslisp/eus-assimp.l" )
+(setq glv (load-mesh-file "my_model.stl" :scale 1000.0))
+(objects (list glv))
+```