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Changelog

v1.2.0 — Robot Bow / Choreo Action & DDS Middleware Update

  • Added choreo state support for quadruped robots.
  • Added Python RobotClient.choreo() and C++ RobotClient::choreo() / RobotClient::set_choreo() APIs.
  • Added choreo to the auto state-switching examples and state-switching tests.
  • Updated bundled DDS middleware packages from 0.22.10 to 0.23.3 for amd64 and arm64.
  • Updated C++ and Python e7_voice_pub examples for the VoiceCmd schema used by dds-middleware >= 0.23.x.
  • Regenerated English and Chinese API documentation and static site pages.

v1.1.0 — Documentation Migration & DDS Middleware Update

  • Migrated doc-related documentation to docs directory, added static webpage generation
  • dist directory package updated to v0.22.10
  • Added rear camera data acquisition topic in low_level documentation

v1.0.9 — Balance Parameter Refactor & Composite Pose & Safety Handler

  • dynamic_pose(duration, roll_deg, pitch_deg, yaw_deg, height_m) — Composite sine pose
  • static_pose(duration, roll_deg, pitch_deg, yaw_deg, height_m) — Composite hold pose
  • ready() — Slow stand down (safe stop) state
  • emergency() — Alias for passive()
  • change_mode() — Walk ⇄ Run smooth switch
  • enable_safety_ready() — Auto ready() on Ctrl+C
  • Balance action parameters: amplitude/beats → value (degrees/meters), duration (seconds), mode ("dynamic"/"static")
  • set_bpm() / bpm() — BPM no longer used, timing based on seconds
  • bpm parameter in constructor and execute()

v1.0.8 — Speed Ratio Local Tracking & Optional Override

  • speed_ratio parameter default changed from 80 to None (Python) / -1 (C++), uses current base value when omitted
  • get_speed_ratio() and get_obstacle_avoidance() now return local tracked values, no longer query server
  • Constructor gets initial speed ratio via get_state(), stores locally

v1.0.6 — Requirement Interface Specification Alignment

  • walk_left() → move_left()
  • walk_right() → move_right()
  • Walk distance limit 10m → 3m
  • circle turns limit 5 → 10
  • rotate_walk distance limit 10m → 3m
  • x_leg("std"/"x") leg configuration switch
  • Reusable parameter validation utilities (clamp_distance, clamp_angle, etc.)
  • C++ set_ prefix (set_balance_stand() → balance_stand())
  • rl gait
  • C++ constructor set_speed_ratio(0) changed to get_speed_ratio()

v1.0.0 — Initial Release

  • Python set_ prefix removal, rl gait removal
  • Parameter range validation, direction string support
  • ARM field removal
  • Complete test suite (230 tests)