n the default controller information from the config and set the controller based on this configuration.</p></li>
</ul>
</li>
</ol>
</section>
<section id="parseini-h">
<h2>ParseIni.h<a class="headerlink" href="#parseini-h" title="Link to this heading">¶</a></h2>
<ol class="arabic simple">
<li><p>Update <strong>exo_name</strong> in the <cite>config_defs</cite> namespace—ensure this encompasses any configuration for the new joint (e.g., bilateral, unilateral, multi-joint).</p></li>
<li><p>Update <strong>J