sim2real

June 2, 2026 · View on GitHub

Full documentation: https://egalahad.github.io/sim2real/

If you're looking for the HDMI deployment stack, go to hdmi tag.

Quick Start

uv sync

Run offline motion tracking (sim2sim):

uv run sim2real/sim_env/base_sim.py --robot g1
uv run sim2real/rl_policy/tracking.py --robot g1 \
  --policy_config checkpoints/lafan-aa/policy-ec592bb4_lafan_100style_student-5000.yaml

After both processes are up, press ] in the policy terminal to start, then press 9 in the MuJoCo viewer to disable the virtual gantry.

Migrating to sim2real

This repo includes a Codex skill for adapting policies trained in external codebases into sim2real:

skills/adapt-policy-to-sim2real

Converted SONIC checkpoints are available on Google Drive: SONIC checkpoints.

Install it into your local Codex skills directory:

mkdir -p ~/.codex/skills
cp -r skills/adapt-policy-to-sim2real ~/.codex/skills/

After installation, start a new Codex session and use the skill by asking for policy adaptation work, or explicitly refer to adapt-policy-to-sim2real.

Quick Start

Migrating to sim2real

Next Steps