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,
)