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Update README.md #16

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8 changes: 4 additions & 4 deletions README.md
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Expand Up @@ -120,7 +120,7 @@ Next, we'll call ``link_app.sh`` to link the Isaac Sim installation directory to

> Note: If you run into an error related to pybind11 while running this command, you may try ``../app/python.sh -m pip install wheel`` and/or ``../app/python.sh -m pip install pybind11[global]``.

### Step 4 - Launch Isaac Sim
### Step 5 - Launch Isaac Sim

1. Navigate to the repo root

Expand Down Expand Up @@ -260,7 +260,7 @@ That's it! Once you've gotten the hang of how to record data, you might try
2. Implement or customize your own [Robot](./exts/omni.ext.mobility_gen/omni/ext/mobility_gen/robots.py) class.
3. Implement or customize your own [Scenario](./exts/omni.ext.mobility_gen/omni/ext/mobility_gen/scenarios.py) class.

If you find MobilityGen helpful for your use case, run in to issues, or have any questions please [let us know!](https://github.com/NVlabs/MobilityGen/issues).
If you find MobilityGen helpful for your use case, run into issues, or have any questions please [let us know!](https://github.com/NVlabs/MobilityGen/issues).

<a id="contributing"></a>

Expand Down Expand Up @@ -308,7 +308,7 @@ After a few seconds, you should see the scene and occupancy map appear.

2. Go grab some coffee!

> The procedural generated methods automatically determine when to reset (ie: if the robot collides with
> The procedurally generated methods automatically determine when to reset (ie: if the robot collides with
> an object and needs to respawn). If you run into any issues with the procedural methods getting stuck, please let us know.

3. Click ``Stop Recording`` to stop recording data.
Expand Down Expand Up @@ -444,7 +444,7 @@ In case you're interested, each recording is represented as a directory with the
...
```

Most of the state information is captured under the ``state/common`` folder, as dictionary in a single ``.npy`` file.
Most of the state information is captured under the ``state/common`` folder, as a dictionary in a single ``.npy`` file.

However, for some data (images) this is inefficient. These instead get captured in their own folder based on the data
type and the name. (ie: rgb/robot.front_camera.left.depth_image).
Expand Down