Updated desiderata

README.md

@@ -96,14 +96,14 @@ If you wish, please cite our [IROS 2021 paper](https://arxiv.org/abs/2103.02142)
 - C. Karen Liu and Dan Negrut (2020) [*The Role of Physics-Based Simulators in Robotics*](https://www.annualreviews.org/doi/pdf/10.1146/annurev-control-072220-093055)
 - Yunlong Song, Selim Naji, Elia Kaufmann, Antonio Loquercio, and Davide Scaramuzza (2020) [*Flightmare: A Flexible Quadrotor Simulator*](https://arxiv.org/pdf/2009.00563.pdf)
 
-## TODO
+## Core Team WIP
 
-- [ ] Add `crazyflie-firmware` SITL support @spencerteetaert
+- [ ] Multi-drone `crazyflie-firmware` SITL support (@spencerteetaert, @JacopoPan)
 
-## DESIDERATA
+## Desired Contributions/PRs
 
-- [ ] Add motor delay @JacopoPan / @spencerteetaert
-- [ ] Replace `rpy` with quaternions (and `ang_vel` with body rates) in `obs` @JacopoPan
+- [ ] Add motor delay by implementing a buffer in `BaseAviary._dynamics()`
+- [ ] Replace `rpy` with quaternions (and `ang_vel` with body rates) by editing `BaseAviary._updateAndStoreKinematicInformation()`, `BaseAviary._getDroneStateVector()`, and the `.computeObs()` methods of relevant subclasses
 
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 > University of Toronto's [Dynamic Systems Lab](https://github.com/utiasDSL) / [Vector Institute](https://github.com/VectorInstitute) / University of Cambridge's [Prorok Lab](https://github.com/proroklab)