[skip ci] Update README with new headless instructions

Author: stepjam

README.md

@@ -5,14 +5,14 @@ __PyRep is a toolkit for robot learning research, built on top of [CoppeliaSim](
 
 
 - [Install](#install)
+- [Running Headless](#running-headless)
 - [Getting Started](#getting-started)
 - [Usage](#usage)
 - [Supported Robots](#supported-robots)
 - [Adding Robots](#adding-robots)
-- [Planned Future Updates](#planned-future-updates)
 - [Contributing](#contributing)
 - [Projects Using PyRep](#projects-using-pyrep)
-- [What Happened to V-REP?](#what-happened-to-v-rep?)
+- [What Happened to V-REP?](#what-happened-to-v-rep)
 - [Citation](#citation)
 
 
@@ -53,17 +53,6 @@ Try running one of the examples in the *examples/* folder.
 
 _Although you can use CoppeliaSim on any platform, communication via PyRep is currently only supported on Linux._
 
-#### Running Headless
-
-If you plan to run on a headless machine, you will also need to run with a virtual framebuffer. E.g.
-
-```bash
-sudo apt-get install xvfb
-xvfb-run python3 my_pyrep_app.py
-# or if you are using jupyter
-# xvfb-run jupyter notebook
-```
-
 #### Troubleshooting
 
 Below are some problems you may encounter during installation. If none of these solve your problem, please raise an issue.
@@ -73,6 +62,32 @@ Below are some problems you may encounter during installation. If none of these
 - error: command 'x86_64-linux-gnu-gcc' failed
   - You may be missing packages needed for building python extensions. Try: `sudo apt-get install python3-dev`, and then re-run the installation.
 
+## Running Headless
+
+You can run PyRep/CoppeliaSim headlessly with VirtualGL. VirtualGL is an open source toolkit that gives any Unix or Linux remote display software the ability to run OpenGL applications **with full 3D hardware acceleration**.
+First insure that you have the nVidia proprietary driver installed. I.e. you should get an output when running `nvidia-smi`. Now run the following commands:
+```bash
+sudo apt-get install xorg libxcb-randr0-dev libxrender-dev libxkbcommon-dev libxkbcommon-x11-0 libavcodec-dev libavformat-dev libswscale-dev
+sudo nvidia-xconfig -a --use-display-device=None --virtual=1280x1024
+# Install VirtualGL
+wget https://sourceforge.net/projects/virtualgl/files/2.5.2/virtualgl_2.5.2_amd64.deb/download -O virtualgl_2.5.2_amd64.deb
+sudo dpkg -i virtualgl*.deb
+rm virtualgl*.deb
+```
+You will now need to reboot, and then start the X server:
+```bash
+sudo reboot
+nohup sudo X &
+```
+Now we are good to go! To render the application with the first GPU, you can do the following:
+```bash
+export DISPLAY=:0.0
+python my_pyrep_app.py
+```
+To render with the second GPU, you will insetad set display as: `export DISPLAY=:0.1`, and so on.
+
+**Acknowledgement**: Special thanks to Boyuan Chen (UC Berkeley) for bringing VirtualGL to my attention!
+
 ## Getting Started
 
 1. First take a look at [Usage](#usage) and the examples in the *examples/* folder to see if PyRep might be able to accelerate your research.
@@ -227,11 +242,6 @@ If the robot you want is not currently supported, then why not add it in!
 
 [Here is a tutorial for adding robots.](tutorials/adding_robots.md)
 
-## Planned Future Updates
-
-- Support for MuJoCo
-- Sim-to-Real support (e.g. domain randomization)
-
 ## Contributing
 
 We want to make PyRep the best tool for rapid robot learning research. If you would like to get involved, then please [get in contact](https://www.doc.ic.ac.uk/~slj12/)!
@@ -251,6 +261,7 @@ If you use PyRep in your work, then get in contact and we can add you to the lis
 ## Acknowledgements
 
 - Georges Nomicos (Imperial College London) for the addition of mobile platforms.
+- Boyuan Chen (UC Berkeley) for bringing VirtualGL to my attention.
 
 ## What Happened to V-REP?