fix(PPOTrainer.py): cleaned up + bug fixes regarding misuse of variable/wrong returns

docs/api/simulate.md

@@ -0,0 +1,14 @@
+# Training and Simulation for Brittle Star Models
+
+## Simulating a model
+
+In order to simulate and view the behavior of a trained model, you can use the `simulate.py` script. This script allows you to specify the path to a trained model and will launch a simulation using that model. This script has the following parameters:
+
+- `--model`: The path to the trained model artifact to simulate.
+- `--model-type`: The type of model to simulate (e.g., `random`, ...)
+- `--task`: The task to simulate (e.g., `directed_locomotion`, ...)
+- `--seed`: The random seed for reproducibility.
+
+```bash
+python simulate.py --model artifacts/my_model --model-type random --task directed_locomotion --seed 0
+```