Name: "API Tests"
Type: Project
Version: "1.51"
EngineVersion:
  Min: "2026.2"
  Behaviour: Hide
Category: Examples
Description: >
  Strict determinism test project for the External Action Gate gRPC API. Each scene pairs a
  robot with a control mode and a Python test under Assets/api-scripts/ that drives it purely
  over the gated Step() loop and checks bit-exact repeatability: the Panda and Piper arms; the
  Unitree Go2 (in-engine and external locomotion) with LiDAR-scan, RGBD-camera and reset_scene
  checks; and the Unitree G1 three- and five-finger humanoids in base, engine, external,
  IK-engine and IK-external variants. The four arm-IK scenes additionally assert that the arm
  actually tracks its commanded target, not just that the run replays identically. A
  pick-and-place scene shows engine-side C# driving a G1 through a waypoint sequence with
  draggable target empties and debug gizmos. A lidar-material scene puts glass, water, mirror
  and retroreflector panels in front of a diffuse backstop, exercising the NIR material model:
  the voxel bake that maps a collision hit back to its Hazel material, per-return intensity and
  range-calibrated reflectivity, and pass-through secondary returns off the wall behind.
  run_all_tests.py sweeps every scene and reports pass/fail, installing requirements.txt into
  its test interpreter first.
Tags:
  - tests
  - determinism
  - external-action-gate
  - api
  - grpc
  - lidar
  - lidar-material
  - multi-return
  - camera
  - reset-scene
  - g1
  - go2
  - panda
  - piper
Files:
  - 'api-tests.hproj'
  - 'PolicyRegistry.yaml'
  - 'run_all_tests.py'
  - 'requirements.txt'
  - 'Assets/Scenes/'
  - 'Assets/api-scripts/'
  - 'Assets/Scripts/Client/Source/'
  - 'Assets/ContentVault/'
  - 'Assets/Materials/'
  - 'Assets/Meshes/'
  - 'Assets/Textures/'
  - 'Assets/Audio/'