zbot-unit-tests

Roadmap

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/zbot-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 .

5. Run the tests

make test

Additional Tests

Check that the URDF and MJCF models are realistic:

# To check the URDF model:
ks robots urdf pybullet zbot-v2 --fixed-base

# To check the MJCF model:
ks robots urdf mujoco zbot-v2

Roadmap

Status	Replicated	Name	Description
🚧	✅	test_00	Inference speed test
✅	✅	test_01	Basic movement test
🚧	❌	test_02	Inverse kinematics test
✅	❌	test_03	Motor system identification
🚧	❌	test_04	Basic policy test
✅	❌	test_05	ZMP-based walking
🚧	❌	test_06	IMU test
✅	✅	test_07	Microphone Conversation test
🚧	❌	test_08	Voice2Action test
✅	✅	test_09	Computer Vision Test