Structure

simulator.py: all kinds of simulations, physics simulation, learned simulation. The common function is def step(action).
policy.py: all kinds of policies, random, teleop, and/or learned. The common function is def generate_action(obs).
main.py: the interface, the wrapper, nothing you really needs to know.
example/*.py: all example goes here

Usage

python -m sim.example.___ be sure to config corresponding example, e.g., the ckpt path, quantization/no-quantization, image resolution, inference iterations, etc.