TUM-Aries-Lab / hip-controller

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• NGierden-claude-integration
• add-matlab-files
• assist-mode-ramps
• baseline
• baseline-removal
• config
• config-refactor
• docker-report-on-prs
• evaluation
• file-structure
• kalman-filtering-strategy
• main
• motor-command
• normalization-and-centering
• pid
• portrait
• prepare-main
• preprocessor-tests
• readme-update
• release-0.2.0
• scripts-readme
• setup
• simulink-data
• small-fixes
• stop-condition
• update-claude-md
• update-publishing
• walk-on-controller

Build # 34983272900

Build Type

push

github

Committed by NGierden

Commit Message

Bring CLAUDE.md back in line with the code

It had drifted a long way: version 0.0.5, a package layout with
high_level_controller / mid_level_controller / low_level_controller
directories that no longer exist, an ExoController class that was never
there, SIGMOID_POWER given as 50 when it is 30, and a "known incomplete"
list claiming pid_controller.py is empty (88 lines), that the Kalman
filter is not in the signal path (it is now a selectable filtering
strategy) and that locomotion-mode classification is not wired (both
integrations call set_locomotion_mode).

Rewritten against the current tree: the real module layout, the full
preprocessing chain including baseline removal, the AssistMode axis, the
per-mode table pattern, and the replay contract that the logged raw angle
must stay pre-baseline.

The gaps section now lists what is actually incomplete, including the two
parameter sets that are unmeasured placeholders and the xfail tests that
guard them, so a future session does not "fix" a deliberately failing test
by inventing tuning values. Also records that `ruff check .` rewrites
files because pyproject sets fix = true, and that the Windows-only
test_logger_init failure is expected.

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

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