update readme

README.md

@@ -27,9 +27,10 @@ $ pip install -e .
 $ export PYTHONPATH=$PYTHONPATH:$YourFolder$/CARLA_0.9.6/PythonAPI/carla/dist/carla-0.9.6-py3.5-linux-x86_64.egg
 ```
 
-5. Enter the CARLA root folder and launch the CARLA server by:
+## Usage
+1. Enter the CARLA root folder and launch the CARLA server by:
 ```
-$ ./CarlaUE4.sh -windowed
+$ ./CarlaUE4.sh -windowed -carla-port=2000
 ```
 You can use ```Alt+F1``` to get back your mouse control.
 
@@ -38,14 +39,18 @@ Or you can run in non-display mode by:
 $ DISPLAY= ./CarlaUE4.sh -opengl -carla-port=2000
 ```
 
-## Usage
-1. See ```test.py``` in the repo's root folder about how to use the CARLA gym wrapper.
+2. Run the test file:
+```
+$ python test.py
+```
+See details of ```test.py``` about how to use the CARLA gym wrapper.
 
-2.  We provide a dictionary observation including front view camera (obs['camera']), birdeye view lidar point cloud (obs['lidar']) and birdeye view semantic representation (obs['birdeye']).
+## Description
+1.  We provide a dictionary observation including front view camera (obs['camera']), birdeye view lidar point cloud (obs['lidar']) and birdeye view semantic representation (obs['birdeye']).
 <div align="center">
   <img src="obs.png" width=75%>
 </div>
 
-3. The termination condition is either the ego vehicle collides, runs out of lane, reaches a destination, or reaches the maximum episode timesteps. Users may modify function _terminal in carla_env.py to enable customized termination condition.
+2. The termination condition is either the ego vehicle collides, runs out of lane, reaches a destination, or reaches the maximum episode timesteps. Users may modify function _terminal in carla_env.py to enable customized termination condition.
 
-4. The reward is a weighted combination of longitudinal speed and penalties for collision, exceeding maximum speed, out of lane, large steering and large lateral accleration.  Users may modify function _get_reward in carla_env.py to enable customized termination condition.
+3. The reward is a weighted combination of longitudinal speed and penalties for collision, exceeding maximum speed, out of lane, large steering and large lateral accleration.  Users may modify function _get_reward in carla_env.py to enable customized termination condition.