general:
  frequency: 300
  contact_flags: True

simulation:
  kp : 30.0
  kd : 0.1
  yaw_kp: 0.4
  kinematic_scheme : "m"
  robot_height: 0.17
  cog_x_offset: 0 
  cog_y_offset: 0.0
  cog_z_offset: 0.04
  ef_init_x: 0.149
  ef_init_y: 0.11
  stride_frequency: 2.5
  preview_horizon: 1.6

hardware:
  # [abad, hip, knee]
  kp : [12, 11, 10]
  kd : [0.4, 0.35, 0.3]
  yaw_kp: 0.5
  kinematic_scheme : "m" #"o" #"x" #"m"
  robot_height: 0.19
  cog_x_offset: -0.02
  cog_y_offset: 0.0
  cog_z_offset: 0.0
  ef_init_x: 0.149
  ef_init_y: 0.10 
  stride_frequency: 2.5
  preview_horizon: 1.6
 
topics:
  ros_servo_cmd_ropic: "joint_cmd"
  lcm_servo_cmd_channel: "SERVO_CMD"
  lcm_servo_state_channel: "SERVO_STATE"

  ros_imu_topic: "imu/data"
  ros_cmd_vel_topic: "cmd_vel"
  ros_cmd_pose_topic: "cmd_pose"
  ros_cmd_ef_pose_topic: "ef_position/command"
  ros_cmd_joint_pos_topic: "joint_group_position_controller/command"

  ros_state_contact_flags_topic: "foot_contacts"
  ros_state_ef_pose_topic: "ef_position/states"