update installation instructions

README.md

@@ -66,40 +66,87 @@ Humanoid motion-capture tracking:
 
 [![Tracking](http://img.youtube.com/vi/tEBVK-MO1Sw/hqdefault.jpg)](https://www.youtube.com/watch?v=tEBVK-MO1Sw)
 
-
 ## Graphical User Interface
 
 For a detailed dive of the graphical user interface, see the
 [MJPC GUI](docs/GUI.md) documentation.
 
 ## Installation
+MJPC is tested with [Ubuntu 20.04](https://releases.ubuntu.com/focal/) and [macOS-12](https://www.apple.com/by/macos/monterey/). In principle, other versions and Windows operating system should work with MJPC, but these are not tested.
+
+### Prerequisites
+Operating system specific dependencies:
+
+#### macOS
+Install [Xcode](https://developer.apple.com/xcode/).
+
+Install `ninja` and `zlib`:
+```sh
+brew install ninja zlib
+```
+
+#### Ubuntu 20.04
+```sh
+sudo apt-get update && sudo apt-get install cmake libgl1-mesa-dev libxinerama-dev libxcursor-dev libxrandr-dev libxi-dev ninja-build zlib1g-dev clang-12
+```
+
+### Clone MuJoCo MPC
+```sh
+git clone https://github.com/google-deepmind/mujoco_mpc
+```
+
+### Build and Run MJPC GUI application
+1. Change directory:
+```sh
+cd mujoco_mpc
+```
+
+2. Create and change to build directory:
+```sh
+mkdir build
+cd build
+```
 
-You will need [CMake](https://cmake.org/) and a working C++20 compiler to build
-MJPC. We recommend using [VSCode](https://code.visualstudio.com/) and 2 of its
+3. Configure:
+
+#### macOS-12
+```sh
+cmake .. -DCMAKE_BUILD_TYPE:STRING=Release -G Ninja -DMJPC_BUILD_GRPC_SERVICE:BOOL=ON
+```
+
+#### Ubuntu 20.04
+```sh
+cmake .. -DCMAKE_BUILD_TYPE:STRING=Release -G Ninja -DCMAKE_C_COMPILER:STRING=clang-12 -DCMAKE_CXX_COMPILER:STRING=clang++-12 -DMJPC_BUILD_GRPC_SERVICE:BOOL=ON
+```
+**Note: gRPC is a large dependency and can take 10-20 minutes to initially download.**
+
+4. Build
+```sh
+cmake --build . --config=Release
+```
+
+6. Run GUI application
+```sh
+cd bin
+./mjpc
+```
+
+### Build and Run MJPC GUI application using VSCode
+We recommend using [VSCode](https://code.visualstudio.com/) and 2 of its
 extensions ([CMake Tools](https://marketplace.visualstudio.com/items?itemName=ms-vscode.cmake-tools)
 and [C/C++](https://marketplace.visualstudio.com/items?itemName=ms-vscode.cpptools))
 to simplify the build process.
 
-1. Clone the repository: `git clone https://github.com/google-deepmind/mujoco_mpc.git`
+1. Open the cloned directory `mujoco_mpc`.
 2. Configure the project with CMake (a pop-up should appear in VSCode)
-3. Build and run the `mjpc` target in "release" mode (VSCode defaults to
+3. Set compiler to `clang-12`.
+4. Build and run the `mjpc` target in "release" mode (VSCode defaults to
    "debug"). This will open and run the graphical user interface.
 
-### macOS
-Additionally, install [Xcode](https://developer.apple.com/xcode/).
-
-### Ubuntu
-Additionally, install:
-```shell
-sudo apt-get install libgl1-mesa-dev libxinerama-dev libxcursor-dev libxrandr-dev libxi-dev ninja-build
-```
-
 ### Build Issues
 If you encounter build issues, please see the
 [Github Actions configuration](https://github.com/google-deepmind/mujoco_mpc/blob/main/.github/workflows/build.yml).
-This provides the exact setup we use for building MJPC for testing.
-
-We recommend building with `clang` and not `gcc`.
+This provides the exact setup we use for building MJPC for testing with Ubuntu 20.04 and macOS-12.
 
 # Python API