text: //#include "ecm_manupulation/Dynamics.h"
  //#include "ecm_manupulation/Kinematics.h"
  #include "ecm_manupulation/AMBFClient.h"
  //#include "rbdl_model/BuildRBDLModel.h"
  
  int main(int argc, char* argv[])
  {
      const string actuator_config_file = "/home/nathanielgoldfarb/catkin_ws/src/ambf_controller_testing/model/ecm/default.yaml";
      
      //Kinematics kinematics;
  //    kinematics.AMBFIK();
  
      // AMBFClient *client;
      // ClientPtr ambfClient = client->getInstance();
      // ambfClient->connect();
      // ambfClient->cleanUp();
      return 0;
  }
  