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Date: 2026-05-14 Scope: v0.2.6-compatible unified interfaces, RobStride protocol section 4 runtime parameters, zeroing behavior, Rust core/CLI, websocket gateway, Python binding/CLI, and documentation alignment.

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Summary

MotorBridge 0.2.9 preserves the 0.2.8 RobStride protocol fixes and aligns the Python CLI with the Rust CLI for the RobStride and Damiao workflows used in production. RobStride parameter read/write uses the common protocol section 4 runtime list 0x7005..0x702E. The upper-level zero command is unchanged, and RobStride writes zero_sta(0x7029)=1 behind the scenes so zeroed motors use the -pi..pi startup range. New in 0.2.9:
  • Python CLI supports Rust-style RobStride run --mode read-param/write-param/save.
  • Python CLI exposes Damiao damiao-read-param and damiao-write-param.
  • Python CLI accepts Rust-style Damiao/RobStride ID update shortcuts through run --set-motor-id.
  • Legacy flat Python CLI calls such as motorbridge-cli --vendor robstride ... parse as run.

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Version Alignment

ComponentVersion
Git release tagv0.2.9
Rust workspace crates0.2.9
Python package0.2.9

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RobStride Checks

Read runtime position: 
motorbridge-cli run \
  --vendor robstride \
  --channel can0 --model rs-06 --motor-id 2 --feedback-id 0xFD \
  --mode read-param --param-id 0x7019 --param-type f32
Write one of the newly completed section 4 parameters: 
motorbridge-cli robstride-write-param \
  --channel can0 --model rs-06 --motor-id 2 --feedback-id 0xFD \
  --param-id 0x702A --type u8 --value 1 --verify 1

motorbridge-cli run \
  --vendor robstride --channel can0 --model rs-06 --motor-id 2 --feedback-id 0xFD \
  --mode save
Zero through the unchanged upper-level command: 
motorbridge-cli run \
  --vendor robstride --channel can0 --model rs-06 \
  --motor-id 2 --feedback-id 0xFD \
  --mode zero --zero-exp 1 --store 1
Expected:
  • set_zero_position sends type 6, then writes zero_sta(0x7029)=1 internally.
  • --store 1 / store_parameters sends type 22 with payload 01 02 03 04 05 06 07 08.
  • No websocket command shape changes are required.

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Release Quality Gate

cargo check -p motor_vendor_robstride -p motor_cli -p motor_abi -p ws_gateway
cargo test -p motor_vendor_robstride -p motor_cli
python3 -m compileall -q bindings/python/src/motorbridge

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Acceptance Criteria

  • Python binding package version is 0.2.9.
  • Rust workspace package version is 0.2.9.
  • GitHub release tag should be v0.2.9.
  • RobStride section 4 runtime parameter list includes 0x702A..0x702E.
  • RobStride zeroing keeps the same user-facing command and persists correctly when followed by store.