Update README.md

README.md

@@ -20,90 +20,4 @@
 
 # K-Scale Sim Library
 
-A library for simulating Stompy in Isaac Gym. This library is built on top of
-the Isaac Gym library and Humanoid-gym and provides a simple interface for
-running experiments with Stompy. For a start, we have defined two tasks:
-getting up and walking.
-
-We will be adding more tasks and simulator environments in upcoming weeks.
-
-The walking task works reliably with upper body being fixed.
-The getting up task is still an open challenge!
-
-
-## Getting Started
-
-This repository requires Python 3.8 due to compatibility issues with underlying libraries. We hope to support more recent Python versions in the future.
-
-1. Clone this repository:
-```bash
-git clone https://github.com/kscalelabs/sim.git
-cd sim
-```
-
-2. Create a new conda environment and install the package:
-```bash
-conda create --name kscale-sim-library python=3.8.19
-conda activate kscale-sim-library
-make install-dev
-```
-
-3. Configure environment variables:
-```bash
-conda env config vars set MODEL_DIR=sim/resources
-```
-
-4. Install third-party dependencies:
-
-Manually download `IsaacGym_Preview_4_Package.tar.gz` from https://developer.nvidia.com/isaac-gym, and run:
-```bash
-tar -xvf IsaacGym_Preview_4_Package.tar.gz
-conda env config vars set ISAACGYM_PATH=`pwd`/isaacgym
-conda deactivate
-conda activate kscale-sim-library
-make install-third-party-external
-```
-
-### Running experiments
-1. Run walking training with the following command:
-```bash
-python sim/train.py --task=stompymini --num_envs=4096 --headless
-```
-or standing policy:
-```bash
-python sim/train.py --task=stompymini_standing --num_envs=4096 --headless
-```
-2. Run evaluation with the following command:
-```bash
-python sim/play.py --task stompymini --sim_device cpu
-```
-3. You can also run the Mujoco sim2sim example:
-```bash
-python sim/sim2sim.py --load_model examples/standing.pt --embodiment stompypro
-```
-### Contributing
-See the [contributing guide](CONTRIBUTING.md) to get started.
-
-### Errors
-After cloning Isaac Gym, sometimes the bindings mysteriously disappear.
-To fix this, update the submodule:
-```bash
-git submodule update --init --recursive
-```
-
-If you observe errors with libpython3.8.so.1.0, you can try the following:
-```bash
-export LD_LIBRARY_PATH=PATH_TO_YOUR_ENV/lib:$LD_LIBRARY_PATH
-```
-
-If you still see segmentation faults, you can try the following:
-```bash
-sudo apt-get vulkan1
-```
-
-### Appreciation
-- [Humanoid-gym](https://sites.google.com/view/humanoid-gym/)
-- KScale Labs community for bugspotting and feedback
-
-### Discord
-- [Discord](https://discord.com/invite/rhCy6UdBRD)
+This repository implements training for robotic control policies in Nvidia's Isaac simulator, using [Humanoid Gym](https://sites.google.com/view/humanoid-gym/). For more information, see the [documentation](https://docs.kscale.dev/software/simulation/isaac).