updating readme

readme.md

@@ -90,7 +90,7 @@ The script provides 11 functions that help setting up the following:
 
 ### Steps
 **Steps 1 and 2** are case-specific, and in this case are provided in [UR5e/UR3e Models](#models).
-**Step 3** refers to the platform mapping interface, whose template is provided in [mapping template](templates/mapping/). Here, the user is expected create the mapping given the robotic platform and the communication interface and libraries required. For exemplification, refer to [mapping UR5e](UR5e/mapping/) to see the instantiation of the mapping template for the UR5e.
+**Step 3** refers to the platform mapping interface, whose template is provided in [mapping template](templates/mapping/). Here, the user is expected create the mapping given the robotic platform and the communication interface and libraries required. For exemplification, refer to [mapping UR5e](UR5e/mapping/) to see the instantiation of the mapping template for the UR5e with two different interfaces, the CoppeliaSim Remote API and the URInterface.
 **Step 4** is case-specific; be sure the simulation or real robotic platform is running and enabled for remote connection based on the communication interface provided in Step 3. This is further explained in [UR5e/UR3e Models](#p-model).
 **Step 5** is defined in the `co-simulation/multimodel.json` file ([co-simulation template](templates/co-simulation/)) for the co-simulation and the distinct `ModelDescription.xml` files for each FMU. Use the feature 11 of `templates/helper.py` to get the connections between FMUs. The features 2, 4, and 9 also help to set up the `ModelDescription.xml` files. For exemplification, refer to [co-simulation UR5e](UR5e/co-simulation/) to see the implementation of the co-simulation for the UR5e.
 **Steps 6 and 7** are provided in the [mapping FMU template](templates/mappingFMU/). Use the features 1 and 2 of the `templates/helper.py` to set up the platform mapping FMU. When everything is done, use the provided script `templates/mappingFMU/wrap_fmu.sh` to wrap the platform mapping FMU with extension `.fmu`, including the worked-out Step 3. For exemplification, refer to [mapping FMU UR5e](UR5e/mapping/) to see the instantiation of the mapping FMU template for the UR5e.