TUM-Aries-Lab / exosuit-python / 34972990435
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NGierden 
Migrate to the hip-controller 0.2.0 API

exosuit-python has been building `WalkOnController(reverse=...)`, which
hip-controller no longer accepts, so the package did not run against a
current hip-controller at all. Move to the constructor it has now:

    WalkOnController(left_limb=True, config=BasicConfig(...))

Per-limb wiring reversal moves onto the config, whose left_limb_reverse /
right_limb_reverse defaults are already the False / True this used to pass
positionally, so the wiring is unchanged.

`ExosuitConfig.frequency` is now passed through as `BasicConfig.frequency`.
hip-controller derives its sample-rate dependent filters from it -- the
notches and the baseline-removal window -- so leaving it at the 100 Hz
default silently mistuned them whenever the loop ran at another rate.

Mode changes go through `set_locomotion_mode(class_id)` instead of reaching
into `controller.amplitude_modulation.set_mode(...)`. The old call retuned
only the amplitude parameters; the current API also swaps the per-mode
SOGI-FLL tuning and the motion-mapping table, which stayed on the
level-ground settings whatever mode was selected. `controller_modes`
therefore becomes `LOCOMOTION_CLASS_IDS`, mapping to the integer class_id
rather than to ModeStrategy instances, which also drops a deep import of
hip-controller internals from definitions.py.

Requires hip-controller >= 0.2.0 (the first release carrying baseline
removal); uv.lock updated accordingly.

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

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Source Files on build 34972990435