[README] simplification

README.md

-Example robot URDFs
-===============================================
+# Example robot URDFs
 
-## <img align="center" height="20" src="https://i.imgur.com/vAYeCzC.png"/> Introduction
+[![pipeline status](https://gitlab.laas.fr/gepetto/example-robot-data/badges/master/pipeline.svg)](https://gitlab.laas.fr/gepetto/example-robot-data/-/commits/master)
 
-This repository includes a set of robot descriptions that are aimed to be used in benchmarking. These source files do not intend to substitute original their repositories.
+This repository includes a set of robot descriptions that are aimed to be used in benchmarking, unit-tests, teachings,
+tutorials or show-cases. These source files do not intend to substitute their original repositories.
 
+### :construction_worker: Authors
 
-**Authors:**  [Carlos Mastalli](https://cmastalli.github.io/), Guilhem Saurel <br />
-**With additional support from the Gepetto team at LAAS-CNRS and The University of Edinburgh.**
+- [Carlos Mastalli](https://cmastalli.github.io/)
+- Guilhem Saurel
 
-[![pipeline status](https://gepgitlab.laas.fr/gepetto/example-robot-data/badges/master/build.svg)](https://gepgitlab.laas.fr/Gepetto/example-robot-data/commits/master)
+With additional support from the Gepetto team at LAAS-CNRS :fr: and The University of Edinburgh :uk:
 
+## :penguin: Installation
 
-## <img align="center" height="20" src="https://i.imgur.com/x1morBF.png"/> Installation
-You can install this package throught robotpkg. robotpkg is a package manager tailored for robotics softwares. It
-greatly simplifies the release of new versions along with the management of their dependencies. You just need to add
-the robotpkg apt repository to your sources.list and then use `sudo apt install robotpkg-example-robot-data` or `sudo
-apt install robotpkg-py27-example-robot-data` (or `py3X` for python 3.X, depending on your system) if you need the
-Python loaders.
+### :package: From Debian / Ubuntu packages, with [robotpkg](http://robotpkg.openrobots.org)
 
-### Add robotpkg apt repository
-If you have never added robotpkg as a softwares repository, please follow first the instructions from 1 to 3. Otherwise, go directly to instruction 4. Those instructions are similar to the installation procedures presented in [http://robotpkg.openrobots.org/debian.html](http://robotpkg.openrobots.org/debian.html).
+1. If you have never added robotpkg's software repository, [do it now](http://robotpkg.openrobots.org/debian.html):
+   ```bash
+   sudo tee /etc/apt/sources.list.d/robotpkg.list <<EOF
+   deb [arch=amd64] http://robotpkg.openrobots.org/packages/debian/pub $(lsb_release -sc) robotpkg
+   EOF
 
-1. Add robotpkg as source repository to apt:
+   curl http://robotpkg.openrobots.org/packages/debian/robotpkg.key | sudo apt-key add -
+   sudo apt update
+   ```
 
-		sudo tee /etc/apt/sources.list.d/robotpkg.list <<EOF
-		deb [arch=amd64] http://robotpkg.openrobots.org/wip/packages/debian/pub $(lsb_release -sc) robotpkg
-		deb [arch=amd64] http://robotpkg.openrobots.org/packages/debian/pub $(lsb_release -sc) robotpkg
-		EOF
+2. installation of example-robot-data and its python utils:
+   ```bash
+   sudo apt install robotpkg-py3\*-example-robot-data
+   ```
 
-2. Register the authentication certificate of robotpkg:
+## :gear: Configuration
 
-		curl http://robotpkg.openrobots.org/packages/debian/robotpkg.key | sudo apt-key add -
+Unless you got this package from catkin, you will need to set `ROS_PACKAGE_PATH` to your `$CMAKE_INSTALL_PREFIX/share`
+(eg. `/usr/local/share` by default, or `/opt/openrobots/share` with robotpkg).
 
-3. You need to run at least once apt update to fetch the package descriptions:
+## :robot: Show a robot
 
-		sudo apt-get update
+`python -m example_robot_data <robot>`
 
-4. The installation of example-robot-data:
+Where `<robot>` can be:
 
-		sudo apt install robotpkg-example-robot-data
-
-
-## Show the robot
-
-(you will need pinocchio and its Python bindings)
-
-`python -m example_robot_data [anymal,anymal_kinova,hyq,solo,solo12,talos,talos_arm,talos_legs,tiago,tiago_no_hand,icub,ur5,hector,iris]`
-
-This will work from the `python` subdirectory inside this repository, or if this package has been installed on your
-system.
+- `anymal`
+- `anymal_kinova`
+- `hector`
+- `hyq`
+- `iris`
+- `solo`
+- `solo12`
+- `talos`
+- `talos_arm`
+- `talos_legs`
+- `tiago`
+- `tiago_no_hand`
+- `icub`
+- `ur5`