Class Config

TextOpDeploy/src/textop_ctrl/include/textop_ctrl/config_loader.hpp:8–47

#include <vector>

struct Config
{
    // Control parameters
    double control_dt = 0.02;
    std::string msg_type = "hg";
    std::string imu_type = "pelvis";

    // Topics
    std::string lowcmd_topic = "/lowcmd";
    std::string lowstate_topic = "/lowstate";

    // Model paths
    std::string policy_path;
    std::string onnx_path;
    std::string motion_path;

    // Control gains for 29DOF
    std::vector<double> kps;  // [29]
    std::vector<double> kds;  // [29]

    // Default positions for 29DOF
    std::vector<double> default_angles;  // [29]

    // Scaling factors
    std::vector<double> action_scale;  // [29]

    // Model dimensions
    int num_actions = 29;
    int num_obs = 428;  // 290 + 15 + 30 + 3 + 3 + 29 + 29 + 29 = 428

    // Joint names for 29DOF (mujoco order)
    std::vector<std::string> joint_names;

    // Stiffness and damping parameters
    std::vector<double> stiffness_params;
    std::vector<double> damping_params;

    Config() = default;
    explicit Config(const std::string& config_path);
};