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Sim2Sim Docs #18

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18 changes: 18 additions & 0 deletions pages/software/simulation/isaac.mdx
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Expand Up @@ -73,6 +73,24 @@ python sim/play.py --task stompymini --sim_device cpu

See [this doc](https://docs.google.com/document/d/1YZzBqIXO7oq7vIKu-BZr5ssNsi3nKtxpRPnfSnTXojA/edit?usp=sharing) for more beginner tips.

### Sim2Sim Evaluation

You have to create a xml for your robot and then:

1. export paths
``` bash
export PYTHONPATH="$(dirname $(pwd)):$PYTHONPATH"
export MODEL_DIR="sim/resources"
```

2. run sim/sim2sim.py. Examples:
```bash
python sim/play.py --task mini_ppo --sim_device cpu
python sim/sim2sim.py --load_model examples/standing_pro.pt --embodiment stompypro
python sim/sim2sim.py --load_model examples/standing_micro.pt --embodiment stompymicro
````


### Adding a new robot

Creating a new embodiment is quite straightforward. The best way is to copy an existing robot and modify it.
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