Add README files

moveit_py/README.md

@@ -1,4 +1,4 @@
-# MoveIt Python Library (beta-release)
+# MoveIt2 Python Library (beta-release)
 <img src="./banner.png" width="50%">
 
 `moveit_py` is a Python library for interfacing with the core functionalities of Moveit 2. 

moveit_py/moveit_py/servo_client/README.md

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+# Servo Module
+This module provides a client for interacting with MoveIt servo.
+
+# Tutorial
+Add links to official tutorials here.
+
+# Supported Devices
+* PS4 DualShock Controller
+* Oculus Quest 2 (plans to support this device)

moveit_py/src/moveit_py/README.md

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+# MoveIt2 Pybind11 Bindings
+
+This directory contains the [Pybind11](https://pybind11.readthedocs.io/en/stable/) binding code used by the moveit_py package.
+The root of this directory contains the actual module definitions (e.g. `core.cpp` defines the `moveit_py.core` module). 
+
+The structure of subfolders in this directory reflects that of the MoveIt2 C++ codebase. Within each subfolder you will find the actual binding code that each module leverages. 
+For instance if I wished to understand how the `PlanningScene` object is being binded I would view the files in `./moveit_core/planning_scene/`.