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@@ -39,9 +39,17 @@ We have to work the array where the trajectory was saved as numpy array `traj_ar
 To save the trajectories we recorded we make use of the module numpy `np.savetxt('name_document', array, fmt='f')`
 .
 and recall the file using `np.loadtxt('name_document', dtype=float)`.
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+Use his arm has indication 
+==========================
+
+For reachy to understand the relative position of its arm, we set a Cartesian plane with origin in its chest. The command forard_kinematics takes an important role in this process, because it turns the position of the joints into a set of coordinates, then, with help of NumPy arrays, the coordinates XYZ can be obtained.
+
+Once we have the coordinates of the arm, we can fix some boundaries to trigger certain action according to the arm positioning.
+
+Then, it's just a comparison loop that samples the position and take the decision.
+
 
 
 Robot 2019