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Quickstart

This guide will help you get your K-Bot up and running quickly.

Prerequisites​

  • K-Bot robot hardware
  • Network access to the robot's WiFi

Step 1: Connect to the Robot​

  1. Connect to WiFi: Join the kd-1 or kd-7 WiFi network

    • Password: stayhuman

  2. SSH into the robot:

    ssh dpsh@192.168.1.1
    • Password: stayhuman

Step 2: Set Up CAN Interfaces​

  1. Activate the robstride environment:

    conda activate robstride

  2. Set up CAN interfaces:

    ./kscale/robstride/set_can.sh

  3. Scan for motors on all CAN interfaces:

    robstride -i can0,can1,can2,can3,can4,can5,can6 scan

    💡 Tip: Use Ctrl+R to search through command history

Step 3: Identify Motor Layout​

Look for which motors are on which CAN interfaces. You should see patterns like:

  • can1 might have 40s motors
  • can2 might have 30s motors
  • can3 might have 20s motors
  • can4 might have 10s motors

Step 4: Configure CAN Interface Order​

Set the CAN interfaces in the correct order (typically 10s, 20s, 30s, 40s):

export CAN_INTERFACES=can4,can3,can2,can1

Replace the interface names with the actual ones you found in the scan.

Step 5: Run the Standing Policy​

  1. Activate the klog environment:

    conda activate klog

  2. Navigate to the deployment directory:

    cd ~/kbot_deployment

  3. Run the standing policy:

    ./scripts/run ./policies/stand_frozen.kinfer

Step 6: Initialize the Robot​

  1. Press Enter twice - The robot should move to the home position
  2. Verify home position - Make sure the robot is properly positioned
  3. Remove from stand - Take the robot off its stand
  4. Press Enter once more - This will start the policy and the robot should begin standing

Troubleshooting​

  • If you can't find the WiFi network, check that the robot is powered on
  • If SSH connection fails, verify the IP address and network connection
  • If motors aren't detected, check CAN interface connections
  • If the robot doesn't move to home position, verify all motors are properly connected

Next Steps​

Once your K-Bot is standing successfully, you can explore more advanced policies and configurations in the other documentation sections.