35618121623
88%

Ran 21 Sep 2026 03:27PM UTC

Jobs 1

Files 10

Run time 1min

Badge

Embed ▾

Committed 21 Sep 2026 03:19PM UTC coverage: 88.621% (+0.3%) from 88.276%

Build # 35618121623

Build Type

push

github

Committed by

NGierden

Commit Message

Add a live hip-angle readout for checking the signal's scale

A 2026-09-21 walking run produced 0.53 / 0.65 rad of hip excursion where the
LocomotionMode rig produces 1.29 / 1.21 at a comparable cadence -- 0.75 Hz
against 0.66 -- and the filtered velocity is half as well. Either the walking
is genuinely smaller or the angle reads about 2x low, and no recording can
separate those: both look the same in a CSV.

A held pose can. Standing is the zero, a thigh lifted to horizontal is 90
degrees, and the reading either says 1.57 rad or it does not.

It matters because the amplitude gate's threshold is calibrated against the
rig's scale. In that run the gate sat closed for 78-92% of the time where the
rig's sits open for 52-57%, so the assist was off for most of each stride and
engaged at the peaks. If the angle under-reads, the gate is the symptom and
tuning it would be tuning around a measurement error.

The angle is read through the same expression the control loop uses, the y
component of the xyz Euler decomposition, so this reports what the controller
sees rather than a second opinion about it. No motors, no GPIO, no controller,
matching scripts/switch_test.py.

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

Coverage Stats

771 of 870 relevant lines covered (88.62%)

0.89 hits per line

Jobs

ID	Job ID	Ran	Files	Coverage
1	35618121623.1	21 Sep 2026 03:27PM UTC	10	88.62	GitHub Action Run

TUM-Aries-Lab / exosuit-python / 35618121623
88%

README BADGES
x

Markdown

Textile

RDoc

HTML

Rst

Jobs

Source Files on build 35618121623

TUM-Aries-Lab / exosuit-python / 35618121623 88%

README BADGES x

Markdown

Textile

RDoc

HTML

Rst

Jobs

Source Files on build 35618121623

TUM-Aries-Lab / exosuit-python / 35618121623
88%

README BADGES
x