Add comprehensive MotorHandPro production deployment guide #2
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| name: MotorHandPro Continuous Testing | ||
| on: | ||
| push: | ||
| branches: [ main, develop, 'claude/**' ] | ||
| pull_request: | ||
| branches: [ main, develop ] | ||
| schedule: | ||
| # Run daily at 2 AM UTC | ||
| - cron: '0 2 * * *' | ||
| workflow_dispatch: | ||
| inputs: | ||
| mode: | ||
| description: 'Test mode (quick or full)' | ||
| required: false | ||
| default: 'quick' | ||
| jobs: | ||
| motorhand-sweep: | ||
| runs-on: ubuntu-latest | ||
| timeout-minutes: 30 | ||
| steps: | ||
| - name: Checkout code | ||
| uses: actions/checkout@v4 | ||
| - name: Set up Python | ||
| uses: actions/setup-python@v5 | ||
| with: | ||
| python-version: '3.11' | ||
| - name: Install dependencies | ||
| run: | | ||
| python -m pip install --upgrade pip | ||
| pip install numpy | ||
| - name: Run quick parameter sweep | ||
| if: github.event.inputs.mode != 'full' | ||
| run: | | ||
| python sweep_motorhand_drive.py --quick | ||
| env: | ||
| PYTHONPATH: ${{ github.workspace }} | ||
| - name: Run full parameter sweep | ||
| if: github.event.inputs.mode == 'full' | ||
| run: | | ||
| python sweep_motorhand_drive.py | ||
| env: | ||
| PYTHONPATH: ${{ github.workspace }} | ||
| - name: Export best configuration | ||
| if: success() | ||
| run: | | ||
| python sweep_motorhand_drive.py --export-best | ||
| - name: Upload results artifact | ||
| if: always() | ||
| uses: actions/upload-artifact@v4 | ||
| with: | ||
| name: motorhand-results-${{ github.sha }} | ||
| path: | | ||
| ~/Multi-Heart-Model-Results/motorhand_* | ||
| motorhand_best_params.json | ||
| retention-days: 30 | ||
| - name: Upload best config | ||
| if: success() | ||
| uses: actions/upload-artifact@v4 | ||
| with: | ||
| name: motorhand-best-config | ||
| path: motorhand_best_params.json | ||
| retention-days: 90 | ||
| - name: Create results summary | ||
| if: success() | ||
| run: | | ||
| echo "## MotorHandPro Parameter Sweep Results" >> $GITHUB_STEP_SUMMARY | ||
| echo "" >> $GITHUB_STEP_SUMMARY | ||
| echo "**Mode:** ${{ github.event.inputs.mode || 'quick' }}" >> $GITHUB_STEP_SUMMARY | ||
| echo "**Commit:** ${{ github.sha }}" >> $GITHUB_STEP_SUMMARY | ||
| echo "**Branch:** ${{ github.ref_name }}" >> $GITHUB_STEP_SUMMARY | ||
| echo "" >> $GITHUB_STEP_SUMMARY | ||
| echo "### Best Configuration" >> $GITHUB_STEP_SUMMARY | ||
| echo "\`\`\`json" >> $GITHUB_STEP_SUMMARY | ||
| cat motorhand_best_params.json >> $GITHUB_STEP_SUMMARY | ||
| echo "\`\`\`" >> $GITHUB_STEP_SUMMARY | ||
| echo "" >> $GITHUB_STEP_SUMMARY | ||
| echo "✓ Results saved to artifacts" >> $GITHUB_STEP_SUMMARY | ||
| - name: Comment PR with results | ||
| if: github.event_name == 'pull_request' && success() | ||
| uses: actions/github-script@v7 | ||
| with: | ||
| script: | | ||
| const fs = require('fs'); | ||
| const bestConfig = JSON.parse(fs.readFileSync('motorhand_best_params.json', 'utf8')); | ||
| const comment = `## MotorHandPro Parameter Sweep Results ✓ | ||
| **Mode:** ${{ github.event.inputs.mode || 'quick' }} | ||
| **Commit:** ${{ github.sha }} | ||
| ### Best Configuration | ||
| | Parameter | Value | | ||
| |-----------|-------| | ||
| | K_gain | ${bestConfig.firmware_config.K_gain.toFixed(3)} | | ||
| | lambda_decay | ${bestConfig.firmware_config.lambda_decay.toFixed(3)} | | ||
| | num_IPUs | ${bestConfig.firmware_config.num_integral_units} | | ||
| ### Performance | ||
| | Metric | Value | | ||
| |--------|-------| | ||
| | Comfort Index | ${bestConfig.performance_metrics.comfort_index.toFixed(1)}/100 | | ||
| | Settling Time | ${bestConfig.performance_metrics.settling_time_s.toFixed(2)}s | | ||
| | RMS Jerk | ${bestConfig.performance_metrics.rms_jerk.toFixed(3)} | | ||
| | Smoothness | ${bestConfig.performance_metrics.smoothness.toFixed(3)} | | ||
| **Tested Configurations:** ${bestConfig.metadata.total_configurations_tested} | ||
| **Stable Configurations:** ${bestConfig.metadata.stable_configurations} | ||
| 📦 Download full results from [Actions artifacts](https://github.com/${{ github.repository }}/actions/runs/${{ github.run_id }}) | ||
| `; | ||
| github.rest.issues.createComment({ | ||
| issue_number: context.issue.number, | ||
| owner: context.repo.owner, | ||
| repo: context.repo.repo, | ||
| body: comment | ||
| }); | ||
