diff --git a/docs/index.md b/docs/index.md
index 0682ae5e6..d89e545d0 100644
--- a/docs/index.md
+++ b/docs/index.md
@@ -115,7 +115,7 @@ Obtain a key, which should be named `mjkey.txt`, and place the key into the `mjp
 
 **ROS Setup** (optional)
 
-1. Install [ROS](http://ros.org), including the standard [PR2 packages](http://wiki.ros.org/Robots/PR2)
+1. Install [ROS](http://ros.org), including the standard [PR2 packages](http://wiki.ros.org/Robots/PR2) and the [Universal Robot Stack](wiki.ros.org/Industrial/Install)
 
 2. Set up paths by adding the following to your `~/.bashrc` file:
 
@@ -263,6 +263,47 @@ python python/gps/gps_main.py pr2_badmm_example
 
 To learn how to make your own experiment and/or set your own initial and target positions, see [the next section](#running-a-new-experiment)
 
+#### Simulated UR example
+
+To run the code on a simulated UR be sure to first follow the instructions above for ROS setup.
+
+You must also set an environmental variable UR_PATH that makes gps aware of the location of the installed universal_robot package. You can do this be adding the following to your .bashrc.
+
+```sh
+export UR_PATH=/path/to/universal_robot
+```
+
+After adding this line run:
+```sh
+source .bashrc
+```
+
+###### 1. Start the controller
+
+Note: You may find it helpful early on to edit the default ur<5 or 10>.launch file in the ur_gazebo package by changing the -z argument in the spawn_gazebo_model node from .1 to a larger number like 5.  This will place the simulated UR, 5 meters above the ground rather than .1 removing the potential for the robot to interact with the ground.
+
+Launch gazebo and spawn a UR<5 or 10> inside of it.
+
+```sh
+roslaunch ur_gazebo ur<5 or 10>.launch
+```
+
+Now you're ready to run the examples via gps_main. This can be done on any machine as long as the variables are set appropriately.
+
+The first example starts with a default initial controller and learns to move the end effector joint to a specified location.
+
+Run the following from the gps directory:
+
+```sh
+python python/gps/gps_main.py ur_example
+```
+
+The second example trains a neural network policy to reach a goal pose from different starting positions, using guided policy search.
+
+```sh
+python python/gps/gps_main.py ur_caffe_example
+```
+
 #### Running a new experiment
 1. Set up a new experiment directory by running:
     ```sh