remove test scripts

kos_sim/simulator.py

@@ -1,11 +1,14 @@
 """Wrapper around MuJoCo simulation."""
 
+import argparse
+import asyncio
 import threading
 from pathlib import Path
 
 import mujoco
 import mujoco_viewer
 import numpy as np
+from kscale import K
 
 from kos_sim import logger
 from kos_sim.config import SimulatorConfig
@@ -197,3 +200,52 @@ def close(self) -> None:
     @property
     def timestep(self) -> float:
         return self._model.opt.timestep
+
+
+async def test_simulation_adhoc(
+    model_name: str, duration: float = 5.0, speed: float = 1.0, render: bool = True
+) -> None:
+    api = K()
+    bot_dir = await api.download_and_extract_urdf(model_name)
+    bot_mjcf = next(bot_dir.glob("*.mjcf"))
+
+    simulator = MujocoSimulator(bot_mjcf, render=render)
+
+    timestep = simulator.timestep
+    initial_update = last_update = asyncio.get_event_loop().time()
+
+    while True:
+        current_time = asyncio.get_event_loop().time()
+        if current_time - initial_update > duration:
+            break
+
+        sim_time = current_time - last_update
+        last_update = current_time
+        while sim_time > 0:
+            simulator.step()
+            sim_time -= timestep
+
+        simulator.render()
+
+    simulator.close()
+
+
+async def main() -> None:
+    parser = argparse.ArgumentParser(description="Test the MuJoCo simulation.")
+    parser.add_argument("model_name", type=str, help="Name of the model to simulate")
+    parser.add_argument("--duration", type=float, default=5.0, help="Duration to run simulation (seconds)")
+    parser.add_argument("--speed", type=float, default=1.0, help="Simulation speed multiplier")
+    parser.add_argument("--no-render", action="store_true", help="Disable rendering")
+
+    args = parser.parse_args()
+    await test_simulation_adhoc(
+        args.model_name,
+        duration=args.duration,
+        speed=args.speed,
+        render=not args.no_render,
+    )
+
+
+if __name__ == "__main__":
+    # python -m kos_sim.simulator
+    asyncio.run(main())