Merge pull request #1657 from jietan/pullRequest2

Update the README.md

examples/pybullet/gym/pybullet_envs/minitaur/envs/README

@@ -1,11 +0,0 @@
-This folder contains a number of simulated Minitaur environments implemented using pybullet.
-The following two environments are used in the RSS paper "Sim-to-Real: Learning Agile Locomotion For Quadruped Robots":
-1) Galloping example: minitaur_reactive_env.py
-python minitaur_reactive_env_example.py runs a pre-trained PPO agent that performs galloping gait.
-
-2) Trotting example: minitaur_trotting_env.py
-python minitaur_trotting_env_example.py runs a pre-trained PPO agent that performs trotting gait.
-
-The rest are experimental environments.
-
-

examples/pybullet/gym/pybullet_envs/minitaur/envs/README.md

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+# Simulated Minitaur Environments
+
+This folder contains a number of simulated Minitaur environments implemented using pybullet.
+
+The following two environments are used in the RSS paper "[Sim-to-Real: Learning Agile Locomotion For Quadruped Robots](https://arxiv.org/abs/1804.10332)":
+* Galloping environment: minitaur_reactive_env.py
+* Trotting  environment:  minitaur_trotting_env.py
+
+The rest are experimental environments.
+
+## Prerequisites
+Install [TensorFlow](https://www.tensorflow.org/install/)
+
+Install OpenAI gym
+```
+pip install gym
+```
+Install ruamel.yaml
+```
+pip install ruamel.yaml
+```
+
+## Examples
+
+To run a pre-trained PPO agent that performs the galloping gait
+```
+python minitaur_reactive_env_example.py
+```
+To run a pre-trained PPO agent that performs trotting gait
+```
+python minitaur_trotting_env_example.py 
+```
+
+## Authors
+* Jie Tan
+* Tingnan Zhang
+* Erwin Coumans
+* Atil Iscen
+* Yunfei Bai
+* Danijar Hafner
+* Steven Bohez
+* Vincent Vanhoucke
+
+
+
+
+
+
+