Update README.md with project outline and detailed sections; add .env.off.local to .gitignore for environment configuration

.gitignore

@@ -46,3 +46,4 @@ Thumbs.db
 # MuJoCo compiled
 *.mjb
 .env.local
+.env.off.local

README.md

@@ -5,6 +5,34 @@ A unified MuJoCo-based robot simulation platform with web interface for multiple
 ![image](screenshot_ur.png)
 ![image](screenshot.png)
 
+## Outline
+1. [Overview](#overview)
+2. [Highlights](#highlights)
+3. [Supported Robots](#supported-robots)
+4. [Project Structure](#project-structure)
+5. [Quick Start](#quick-start)
+6. [Docker Deployment](#docker-deployment)
+7. [Controls](#controls)
+8. [Architecture](#architecture)
+9. [Spot Controller Options](#spot-controller-options)
+10. [API](#api)
+11. [Wandelbots Nova API Integration](#wandelbots-nova-api-integration)
+12. [License](#license)
+
+## Overview
+
+Nova Sim combines MuJoCo physics, a Flask/WebSocket server, and a browser UI so you can explore locomotion and manipulation robots from a single web interface. The platform streams MJPEG video of the rendered scene, exposes a gym-style API, and lets you switch robots and control inputs without restarting the server.
+
+## Highlights
+
+- Real-time MuJoCo physics simulation
+- Web-based video streaming interface
+- WebSocket-based state/command communication
+- Gym-style WebSocket API for RL/IL clients
+- Interactive camera controls (rotate, zoom, pan)
+- Robot switching without restart
+- Keyboard and button controls for locomotion
+
 ## Supported Robots
 
 ### Unitree G1 (Humanoid)
@@ -29,15 +57,43 @@ A unified MuJoCo-based robot simulation platform with web interface for multiple
 - Full 6-DOF IK with orientation control (can be toggled on/off)
 - **Optional [Wandelbots Nova API](#wandelbots-nova-api-integration) integration** for real robot state streaming and cloud-based IK
 
-## Features
+## Project Structure
 
-- Real-time MuJoCo physics simulation
-- Web-based video streaming interface
-- WebSocket-based state/command communication
-- Gym-style WebSocket API for RL/IL clients
-- Interactive camera controls (rotate, zoom, pan)
-- Robot switching without restart
-- Keyboard and button controls for locomotion
+```
+nova_sim/
+├── mujoco_server.py          # Main Flask server with WebSocket
+├── Dockerfile                # Docker build configuration
+├── docker-compose.yml        # CPU/OSMesa configuration
+├── docker-compose.gpu.yml    # GPU/EGL configuration
+├── requirements.txt          # Python dependencies
+├── robots/
+│   ├── g1/                   # Unitree G1 humanoid
+│   │   ├── g1_env.py         # Gymnasium environment
+│   │   ├── scene.xml         # MuJoCo scene
+│   │   ├── g1_29dof.xml      # Robot model
+│   │   ├── meshes/           # 3D mesh files
+│   │   ├── policy/           # RL policy weights
+│   │   └── controllers/      # G1 controllers
+│   │       ├── rl_policy.py      # RL walking policy
+│   │       ├── pd_standing.py    # Standing controller
+│   │       └── keyframe.py       # Keyframe controller
+│   ├── spot/                 # Boston Dynamics Spot quadruped
+│   │   ├── spot_env.py       # Gymnasium environment
+│   │   ├── model/            # MuJoCo model files
+│   │   └── controllers/      # Spot controllers
+│   │       ├── mpc_gait.py           # MPC-inspired gait (default)
+│   │       ├── quadruped_pympc_controller.py  # PyMPC gait
+│   │       ├── trot_gait.py          # Simple trot gait
+│   │       └── pd_standing.py        # Standing controller
+│   └── ur5/                  # Universal Robots UR5e arm
+│       ├── ur5_env.py        # Gymnasium environment
+│       ├── model/            # MuJoCo model files
+│       │   ├── scene.xml     # Combined UR5e + Robotiq scene
+│       │   └── assets/       # Mesh files
+│       └── controllers/
+│           └── ik_controller.py  # Damped least-squares IK
+└── README.md
+```
 
 ## Quick Start
 
@@ -68,22 +124,9 @@ python mujoco_server.py
 If you see `ModuleNotFoundError: No module named 'cv2'`, make sure the venv is activated
 and `opencv-python` is installed in it.
 
-## Gym WebSocket API (RL/IL)
+## Docker Deployment
 
-The gym-style API is exposed at `ws://localhost:3004/nova-sim/api/v1/gym/ws`.
-It supports `reset`, `step`, `configure`, and `get_spaces`.
-
-Example request payloads:
-
-```json
-{"type": "configure", "data": {"robot": "ur5_t_push"}}
-{"type": "reset"}
-{"type": "step", "data": {"action": [0,0,0,0,0,0,0], "render": false}}
-```
-
-The server responds with `gym_reset`, `gym_step`, `gym_spaces`, or `gym_configured` messages.
-
-### Docker
+### Getting Started
 
 ```bash
 # Build and run (CPU/software rendering)
@@ -93,9 +136,9 @@ docker-compose up --build
 docker run -p 3004:3004 nova-sim
 ```
 
-## Docker Configuration
+### Configuration & Tuning
 
-### Performance Optimization
+#### Performance Optimization
 
 Docker uses software rendering (OSMesa) which is slower than native GPU rendering. Configure these environment variables to optimize performance:
 
@@ -108,7 +151,7 @@ Docker uses software rendering (OSMesa) which is slower than native GPU renderin
 | `OMP_NUM_THREADS` | 4 | OpenMP thread count |
 | `MKL_NUM_THREADS` | 4 | MKL thread count |
 
-### docker-compose.yml (CPU - Default)
+#### docker-compose.yml (CPU - Default)
 
 ```yaml
 services:
@@ -124,7 +167,7 @@ services:
       - TARGET_FPS=30
 ```
 
-### docker-compose.gpu.yml (NVIDIA GPU)
+#### docker-compose.gpu.yml (NVIDIA GPU)
 
 For significantly better performance, use GPU acceleration:
 
@@ -154,7 +197,7 @@ services:
               capabilities: [gpu]
 ```
 
-### Performance Comparison
+#### Performance Comparison
 
 | Mode | Resolution | Expected FPS | Notes |
 |------|------------|--------------|-------|
@@ -163,7 +206,7 @@ services:
 | Docker + CPU (OSMesa) | 640x360 | 15-20 | Slower, but compatible |
 | Docker + CPU (OSMesa) | 320x180 | 30+ | Very low quality |
 
-### Custom Docker Run
+#### Custom Docker Run
 
 ```bash
 # Ultra-low resolution for maximum speed
@@ -302,44 +345,6 @@ docker run --gpus all -p 3004:3004 \
 
 All controllers output joint position targets; MuJoCo's built-in PD control tracks these targets.
 
-## Project Structure
-
-```
-nova_sim/
-├── mujoco_server.py          # Main Flask server with WebSocket
-├── Dockerfile                # Docker build configuration
-├── docker-compose.yml        # CPU/OSMesa configuration
-├── docker-compose.gpu.yml    # GPU/EGL configuration
-├── requirements.txt          # Python dependencies
-├── robots/
-│   ├── g1/                   # Unitree G1 humanoid
-│   │   ├── g1_env.py         # Gymnasium environment
-│   │   ├── scene.xml         # MuJoCo scene
-│   │   ├── g1_29dof.xml      # Robot model
-│   │   ├── meshes/           # 3D mesh files
-│   │   ├── policy/           # RL policy weights
-│   │   └── controllers/      # G1 controllers
-│   │       ├── rl_policy.py      # RL walking policy
-│   │       ├── pd_standing.py    # Standing controller
-│   │       └── keyframe.py       # Keyframe controller
-│   ├── spot/                 # Boston Dynamics Spot quadruped
-│   │   ├── spot_env.py       # Gymnasium environment
-│   │   ├── model/            # MuJoCo model files
-│   │   └── controllers/      # Spot controllers
-│   │       ├── mpc_gait.py           # MPC-inspired gait (default)
-│   │       ├── quadruped_pympc_controller.py  # PyMPC gait
-│   │       ├── trot_gait.py          # Simple trot gait
-│   │       └── pd_standing.py        # Standing controller
-│   └── ur5/                  # Universal Robots UR5e arm
-│       ├── ur5_env.py        # Gymnasium environment
-│       ├── model/            # MuJoCo model files
-│       │   ├── scene.xml     # Combined UR5e + Robotiq scene
-│       │   └── assets/       # Mesh files
-│       └── controllers/
-│           └── ik_controller.py  # Damped least-squares IK
-└── README.md
-```
-
 ## Spot Controller Options
 
 The Spot robot supports multiple controller types via the `controller_type` parameter:
@@ -521,6 +526,21 @@ For robot arm (UR5):
   - `state_streaming`: Whether using Nova API for robot state streaming (vs. internal)
   - `ik`: Whether using Nova API for inverse kinematics (vs. internal)
 
+### Gym WebSocket API (RL/IL)
+
+The gym-style API is exposed at `ws://localhost:3004/nova-sim/api/v1/gym/ws`.
+It supports `reset`, `step`, `configure`, and `get_spaces`.
+
+Example request payloads:
+
+```json
+{"type": "configure", "data": {"robot": "ur5_t_push"}}
+{"type": "reset"}
+{"type": "step", "data": {"action": [0,0,0,0,0,0,0], "render": false}}
+```
+
+The server responds with `gym_reset`, `gym_step`, `gym_spaces`, or `gym_configured` messages.
+
 ### HTTP Endpoints
 
 | Endpoint | Method | Description |