kos-sim
kos-sim is a pure-simulation backend for the K-Scale Operating System (KOS), using the same gRPC interface.
Installation
pip install kos-sim
Getting Started
First, start the kos-sim backend:
kos-sim kbot-v1
Then, in a separate terminal, run the example client:
python -m examples.kbot
You should see the simulated K-Bot move in response to the client commands.
Possible Bugs
If you find that your robot is jittering on the ground, try increasing iterations and ls_iterations in your mjcf options.
<option iterations="6" ls_iterations="6">
</option>
Also, to clip actuator ctrl values, be sure to send a configure_actuator KOS command with max_torque set.
await kos.actuator.configure_actuator(
actuator_id=actuator.actuator_id,
max_torque=actuator.max_torque,
)
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