Better readme

Signed-off-by: An Thai Le <an.thai.le97@gmail.com>
ASUDCT · Oct 15, 2021 · 42e3597 · 42e3597
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diff --git a/README.md b/README.md
@@ -3,6 +3,8 @@ This repos implements the method for "Learning Task-parametrized Riemannian Moti
 
 ## Installation
 
+The installation is simple, please choose your directory that you want to save `tp-rmp` repo and change to that directory. Then type:
+
 ```bash
 git clone https://github.com/humans-to-robots-motion/tp-rmp
 cd tp-rmp
@@ -11,7 +13,25 @@ pip install -r requirements.txt
 
 ## Usage
 
-To see the reproduction of picking skill under dynamic task situations, e.g. pick moving object, please run:
+We create a dataset of 2D skills consisting of `start` frame and `end` frame
+
+For 2D virtual point system setting, to see the reproduction the following 2D skill:
+
+![](figures/J_2Dskill.png)
+
+under moving `end` frame in circle, please run:
+
+```bash
+python scripts/test_tprmp_2d_moving.py
+```
+
+to see the reproduction under moving `end` frame in circle and avoiding obstacle, please run:
+
+```bash
+python scripts/test_tprmp_2d_moving_rmpflow.py
+```
+
+For 6-DoFs UR5 robot arm setting, to see the reproduction of picking skill under dynamic task situations, e.g. pick moving object, please run:
 
 ```bash
 python scripts/test_tprmp_moving.py

diff --git a/figures/J_2Dskill.png b/figures/J_2Dskill.png