first draft

.gitignore

@@ -19,3 +19,6 @@ build/
 dist/
 *.so
 out*/
+
+# dev
+ref/

Makefile

@@ -40,7 +40,7 @@ push-to-pypi: build-for-pypi
 #       Static Checks      #
 # ------------------------ #
 
-py-files := $(shell find . -name '*.py')
+py-files := $(shell find . -name '*.py' -not -path "./ref/*")
 
 format:
 	@black $(py-files)

kos_sim/config.py

@@ -0,0 +1,49 @@
+"""Configuration for the simulator."""
+
+import logging
+from dataclasses import dataclass
+
+import yaml
+
+logger = logging.getLogger(__name__)
+
+
+@dataclass
+class SimulatorConfig:
+    joint_id_to_name: dict[int, str]
+    joint_name_to_id: dict[str, int]
+    kp: float = 32.0
+    kd: float = 10.0
+
+    @classmethod
+    def from_file(cls, config_path: str) -> "SimulatorConfig":
+        """Load config from YAML file."""
+        with open(config_path, "r") as f:
+            config_data = yaml.safe_load(f)
+
+        # Load joint mappings
+        joint_name_to_id = config_data.get("joint_mappings", {})
+        joint_id_to_name = {v: k for k, v in joint_name_to_id.items()}
+
+        # Load control parameters
+        kp = config_data.get("control", {}).get("kp", 1.0)
+        kd = config_data.get("control", {}).get("kd", 0.1)
+
+        return cls(joint_id_to_name=joint_id_to_name, joint_name_to_id=joint_name_to_id, kp=kp, kd=kd)
+
+    @classmethod
+    def default(cls) -> "SimulatorConfig":
+        """Create default config with standard joint mappings."""
+        joint_name_to_id = {
+            "L_hip_y": 1,
+            "L_hip_x": 2,
+            "L_hip_z": 3,
+            "L_knee": 4,
+            "L_ankle_y": 5,
+            "R_hip_y": 6,
+            "R_hip_x": 7,
+            "R_hip_z": 8,
+            "R_knee": 9,
+            "R_ankle_y": 10,
+        }
+        return cls(joint_id_to_name={v: k for k, v in joint_name_to_id.items()}, joint_name_to_id=joint_name_to_id)

kos_sim/models/gpr/README.md

@@ -0,0 +1,13 @@
+# URDF/XML development:
+1. kol run https://cad.onshape.com/documents/bc3a557e2f92bdcea4099f0d/w/09713ac603d461fc1dff6b5d/e/5a4acdbffe6f8ed7c4e34970 --config-path config_example.json # noqa: E501
+2. python sim/scripts/create_fixed_torso.py
+3. Rotate first link
+  <joint name="floating_base" type="fixed">
+    <origin rpy="-1.57 3.14 0" xyz="0 0 0"/>
+    <parent link="base"/>
+    <child link="body1-part"/>
+  </joint>
+
+4. Fix left leg axes to align with expected directions
+5. urf2mjcf robot.urdf -o robot.xml
+