K-Bot Unit Tests

Getting Started

1. Set up Git LFS and pull large files

# Install Git LFS
git lfs install

# Pull large files (URDF models, neural networks, etc.)
git lfs pull

2. Clone the repository

git clone git@github.com:kscalelabs/kbot-unit-tests.git

3. Make sure you're using Python 3.11 or greater

python --version  # Should show Python 3.11 or greater

4. Install dependencies

python -m venv .venv
source .venv/bin/activate
pip install -e .

4. Start kos-sim server backend in a separate terminal:

kos-sim kbot-v1 --no-render # disable render of MuJoCo

5. Run the tests in another terminal:

Example:

python kbot_unit_tests/test_01.py

Additional Tests

Check that the URDF and MJCF models are realistic:

# To check the URDF model:
ks robots urdf pybullet kbot-v1 --fixed-base

# To check the MJCF model:
ks robots urdf mujoco kbot-v1

Roadmap

Please see issues: https://github.com/kscalelabs/kbot-unit-tests/issues

Assets

| Name | Description | Date Added | PR Link | Video Link | | recording_00 | Isaac Gym stable policy with old urdf | 2025m02d15 | | | | recording_01 | Manual velocity scale | 2025m02d16 | https://photos.app.goo.gl/ZMFP185dwuCtf3ex5 |