Refactor PythonExamples/AHControl to add configuration and unit tests

[Juliaj]

Refactors the Python examples and the AHControl (Rust) stack to use shared, canonical hand configuration where applicable, and adds or extends unit tests. PythonExample demos read serial port, servo IDs, and finger calibration from canonical profiles and calibration files. AHControl supports both canonical calibration (config/calibration/, config/hand_geometry.toml) and legacy TOML under Demo/AHControl/config/.

Configuration

• Design proposal https://github.com/Juliaj/AmazingHand/blob/97ba0964724ca94befbf77e3639a98db6e913b4b/docs/canonical_hand_config_design.md
• Layout: config/profiles.toml (named profiles with port, right_hand_calibration, left_hand_calibration) and config/calibration/ (one TOML per physical hand with finger sections and rest_deg).
• Set AMAZINGHAND_PROFILE to select a profile; default is team_julia if unset.

Others

• Unit tests added.
• CI enabled.

[kbhakt]

Are you using Rust vs. just python? or is this for future development?

[Juliaj]

Since this is a refactoring, I wanted to make sure all demos (rust + python) still run. We can decide whether we want to use Rust for development. Rust is also new to me.

[kbhakt]

are these manually calculated?

[Juliaj]

These are the extractions from the upstream code. For example, here are the original lines of code:

AmazingHand/Demo/AHSimulation/AHSimulation/mj_mink_right.py

Lines 277 to 288 in 0827a8d

	if "r_tip1" in hand[0]:
	[x,y,z]=hand[0]['r_tip1'].values
	self.data.mocap_pos[0]=[x.as_py()*1.5-0.025,y.as_py()*1.5+0.022,z.as_py()*1.5+0.098]
	if "r_tip2" in hand[0]:
	[x,y,z]=hand[0]['r_tip2'].values
	self.data.mocap_pos[1]=[x.as_py()*1.5-0.025,y.as_py()*1.5-0.009,z.as_py()*1.5+0.092]
	if "r_tip3" in hand[0]:
	[x,y,z]=hand[0]['r_tip3'].values
	self.data.mocap_pos[2]=[x.as_py()*1.5-0.025,y.as_py()*1.5-0.040,z.as_py()*1.5+0.082]
	if "r_tip4" in hand[0]:
	[x,y,z]=hand[0]['r_tip4'].values
	self.data.mocap_pos[3]=[x.as_py()*1.5+0.024,y.as_py()*1.5+0.019,z.as_py()*1.5+0.017]

and the values are now put under

MOCAP_POS_OFFSETS = {
    "right": [
        (-0.025, 0.022, 0.098),
        (-0.025, -0.009, 0.092),
        (-0.025, -0.040, 0.082),
        (0.024, 0.019, 0.017),
    ],

[kbhakt]

This is nice addition!!

[kbhakt]

maybe I missed this, but do you have an automatic linter / check like ruff implemented in this CI pipeline?

[Juliaj]

maybe I missed this, but do you have an automatic linter / check like ruff implemented in this CI pipeline?

Yes, the specifics are in two places. This PR adds a .github/ci.yml, we have

      - name: Run pre-commit
        run: pixi run pre-commit run --all-files

The hooks defined in .pre-commit-config.yaml will perform the linting.