34969507621
88%

Ran 15 Sep 2026 12:34PM UTC

Jobs 1

Files 8

Run time 1min

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Committed 15 Sep 2026 12:33PM UTC coverage: 82.536% (-0.6%) from 83.09%

Build # 34969507621

Build Type

push

github

Committed by

NGierden

Commit Message

Apply the inclination mode to the right leg too

Only the left controller was retuned on a mode change, and `_prev_inclination_mode` was updated in the same block, so no later iteration caught up: selecting uphill or downhill left the right leg on its construction default (level ground) for the rest of the session.

The per-mode parameters differ enough for that to be felt. Ascending, the left leg would run an amplitude gain of -9.5 and a sigmoid power of 80 against the right leg's -6.5 and 30 -- roughly 46% more amplitude on one side, which reads as a gait asymmetry rather than as a mode change.

Fixed here against the current API rather than folded into the coming hip-controller migration, so this commit is a correct version to roll back to.

Co-Authored-By: Claude Opus 5 (1M context) <noreply@anthropic.com>

Coverage Stats

397 of 481 relevant lines covered (82.54%)

0.83 hits per line

Coverage Regressions

Lines	Coverage	∆	File
15	80.08	-1.11%	exosuit_python/exosuit.py

Jobs

ID	Job ID	Ran	Files	Coverage
1	34969507621.1	15 Sep 2026 12:34PM UTC	8	82.54	GitHub Action Run

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