general:
  frequency: 300
  contact_flags: True

simulation:
  kp : [60.0, 60.0, 60.0]
  kd : [0.3, 0.3, 0.3]
  yaw_kp: 0.3
  kinematic_scheme : "m"
  robot_height: 0.215
  cog_x_offset: -0.036
  cog_y_offset: 0.0
  cog_z_offset: 0.0
  ef_init_x: 0.1655
  ef_init_y: 0.11
  stride_frequency: 3.0
  preview_horizon: 0.5

hardware:
  # [abad, hip, knee]
  kp : [26, 26.0, 12.0]
  kd : [0.4, 0.4, 0.3]
  # kp : [0.6, 0.6, 0.6]
  # kd : [0.3, 0.3, 0.3]
  
  yaw_kp: 0.3
  kinematic_scheme : "m" #"o" #"x" #"m"
  robot_height: 0.215 #0.19 #0.19 #0.23
  cog_x_offset: -0.036 #0.0 #-0.01 #-0.035
  cog_y_offset: 0.0 #0.0 #0.0 #0.0
  cog_z_offset: 0.0 #0.0 #0.0 #0.05
  ef_init_x: 0.1655 #0.1655 #0.149 #0.149 #0.1655
  ef_init_y: 0.11 #0.10 #0.10 #0.11
  stride_frequency: 3.0
  preview_horizon: 0.5
 
topics:
  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"