diff --git a/kos_sim/simulator.py b/kos_sim/simulator.py
index 389a689..57409ae 100644
--- a/kos_sim/simulator.py
+++ b/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())
diff --git a/kos_sim/test_simulator.py b/kos_sim/test_simulator.py
deleted file mode 100644
index 6f6a6ab..0000000
--- a/kos_sim/test_simulator.py
+++ /dev/null
@@ -1,50 +0,0 @@
-"""Test script for the simulator."""
-
-import argparse
-import asyncio
-
-from kscale import K
-
-from kos_sim.simulator import MujocoSimulator
-
-
-async def test_simulation(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(args.model_name, duration=args.duration, speed=args.speed, render=not args.no_render)
-
-
-if __name__ == "__main__":
-    # python -m kos_sim.test_simulator
-    asyncio.run(main())
diff --git a/kos_sim/test_viewer.py b/kos_sim/test_viewer.py
deleted file mode 100644
index 9af82f4..0000000
--- a/kos_sim/test_viewer.py
+++ /dev/null
@@ -1,71 +0,0 @@
-"""Test script for the viewer.
-
-This script is used to test the viewer.
-
-Usage:
-
-python -m kos_sim.test_viewer
-"""
-
-import asyncio
-import math
-
-import mujoco
-import mujoco_viewer
-from kscale import K
-
-
-async def main() -> None:
-    api = K()
-
-    # Gets the base path.
-    bot_dir = await api.download_and_extract_urdf("kbot-v1")
-    # bot_dir = await api.download_and_extract_urdf("zbot-v2")
-    bot_mjcf = next(bot_dir.glob("*.mjcf"))
-
-    model = mujoco.MjModel.from_xml_path(str(bot_mjcf))
-    data = mujoco.MjData(model)
-
-    # create the viewer object
-    viewer = mujoco_viewer.MujocoViewer(model, data)
-
-    # Get simulation timestep
-    timestep = model.opt.timestep
-    last_update = asyncio.get_event_loop().time()
-    start_time = last_update
-
-    mujoco.mj_step(model, data)
-
-    # simulate and render
-    for _ in range(100000):
-        if viewer.is_alive:
-            current_time = asyncio.get_event_loop().time()
-            sim_time = current_time - last_update
-
-            # Calculate elapsed time since start for sinusoidal motion
-            elapsed_time = current_time - start_time
-
-            # Apply sinusoidal motion to each joint
-            # Adjust amplitude and frequency as needed
-            amplitude = 3.14159  # radians
-            frequency = 0.5  # Hz
-            for i in range(model.nu):
-                data.ctrl[i] = amplitude * math.sin(2 * math.pi * frequency * elapsed_time)
-
-            # Step the simulation to match real time
-            while sim_time > 0:
-                mujoco.mj_step(model, data)
-                sim_time -= timestep
-
-            last_update = current_time
-            viewer.render()
-        else:
-            break
-
-    # close
-    viewer.close()
-
-
-if __name__ == "__main__":
-    # python -m kos_sim.test_viewer
-    asyncio.run(main())