comgimon.yaml~

XBotCore:
  config_path: "external/WholeBodyController/configs/low_level/cogimon.yaml"

XBotInterface:
  urdf_path: "configs/ADVR_shared/cogimon/urdf/cogimon.urdf"
  srdf_path: "external/WholeBodyController/configs/cogimon.srdf"
  joint_map_path: "configs/ADVR_shared/cogimon/joint_map/cogimon_joint_map.yaml"

RobotInterface:
  framework_name: "OROCOS"

ModelInterface:
  model_type: "RBDL"
  is_model_floating_base: "true"
  
MasterCommunicationInterface:
  framework_name: "ROS"

XBotRTPlugins:
  plugins: ["HomingExample", "XBotRTCommunication", "chengxu_walking"] #, "HokuyoRotation", "chengxu_walking", "IkRosSMPub", "Grasp"] # "XBotRTCommunication"]
  io_plugins: ["JointStateRemapper"] #["JointStateRemapper", "IkRosIo"]
  
NRTPlugins:
  plugins: [] 
  
TransmissionPlugins:
  plugins: ["CogimonAnkles"] #CogimonImpedanceAnkles CogimonAnkles
  
WebServer:
  enable: "true"
  address: "10.24.5.100"
  port: "8081"

SimulationOptions:
  verbose_mode: "false"