hip-controller 0.0.5

Lower limb exosuit hip controller.

hip-controller

Simple README.md for a Python project template.

Install

To install the library from PyPI:

uv pip install hip-controller==latest

OR

uv add git+https://github.com/TUM-Aries-Lab/hip-controller.git@<specific-tag>  # needs credentials

Development

0. Install uv from Astral.
1. git clone [e-mail]:TUM-Aries-Lab/hip-controller.git
2. make init to create the virtual environment and install dependencies
3. make format to format the code and check for errors
4. make test to run the test suite
5. make clean to delete the temporary files and directories

Publishing

It's super easy to publish your own packages on PyPI. To build and publish this package, run:

1. Update the version number in pyproject.toml and imu_module/init.py
2. Commit your changes and add a git tag <new.version.number>
3. Push the tag git push --tag

The package can then be found at: https://pypi.org/project/hip-controller

Module Usage

"""Basic docstring for my module."""

from loguru import logger

from hip_controller import definitions

def main() -> None:
    """Run a simple demonstration."""
    logger.info("Hello World!")

if __name__ == "__main__":
    main()

Program Usage

uv run python -m hip_controller

Structure

The following tree shows the important permanent files. Run make tree to update.

├── data
│   ├── logs
│   └── sensor_data
│       ├── data_input_2025_12_17.csv
│       ├── data_input_filtered_2026_01_09.csv
│       ├── data_kinematics_2026_02_16.csv
│       ├── data_raw_2025_12_17.xlsx
│       └── look_up_table_2026_02_25.csv
├── docs
│   └── paper.pdf
├── src
│   ├── data
│   │   └── logs
│   └── hip_controller
│       ├── control
│       │   ├── high_level_controller
│       │   │   ├── high_level.py
│       │   │   ├── motion_state_machine.py
│       │   │   ├── steady_state_tracker.py
│       │   │   └── stride_event_detector.py
│       │   ├── low_level_controller
│       │   │   └── low_level.py
│       │   ├── mid_level_controller
│       │   │   ├── amplitude_modulation.py
│       │   │   ├── cubic_spline_interpolation.py
│       │   │   ├── kalman.py
│       │   │   └── mid_level.py
│       │   ├── __init__.py
│       │   └── app.py
│       ├── plotter
│       │   ├── csv_player.py
│       │   ├── phase_portrait.py
│       │   ├── simulator.py
│       │   └── time_plot.py
│       ├── utils
│       │   ├── math_utils.py
│       │   ├── state_space.py
│       │   └── utils.py
│       ├── __init__.py
│       ├── __main__.py
│       └── definitions.py
├── tests
│   ├── controller_test
│   │   ├── high_level_testing
│   │   │   ├── high_level_testing_data
│   │   │   │   ├── ang_ss_2026_01_26.csv
│   │   │   │   ├── extrema_2026_01_26.csv
│   │   │   │   ├── gait_phase_left_2026_01_21.csv
│   │   │   │   ├── gait_phase_left_2026_03_03.csv
│   │   │   │   ├── stride_event_detector_2026_02_26.csv
│   │   │   │   ├── valid_trigger_left_2026_01_15.csv
│   │   │   │   ├── vel_ss_2026_01_26.csv
│   │   │   │   └── zero_crossing_left_2026_01_09.csv
│   │   │   ├── high_level_test.py
│   │   │   ├── motion_state_machine_test.py
│   │   │   └── stride_event_detector_test.py
│   │   ├── mid_level_testing
│   │   │   ├── mid_level_testing_data
│   │   │   │   ├── amplitude_modulation_2026_03_03.csv
│   │   │   │   ├── look_up_table_2026_02_25.csv
│   │   │   │   └── sinusoidal_behavior_left_2026_01_29.csv
│   │   │   ├── amplitude_test.py
│   │   │   ├── cubic_spline_interpolation_test.py
│   │   │   ├── kalman_test.py
│   │   │   └── mid_level_test.py
│   │   └── app_test.py
│   ├── utilstest
│   │   ├── csv_player_test.py
│   │   ├── math_utils_test.py
│   │   └── utils_test.py
│   ├── __init__.py
│   └── conftest.py
├── .darglint
├── .dockerignore
├── .gitignore
├── .pre-commit-config.yaml
├── .python-version
├── CONTRIBUTING.md
├── Dockerfile
├── LICENSE
├── Makefile
├── README.md
├── pyproject.toml
├── repo_tree.py
└── uv.lock