> ## Documentation Index
> Fetch the complete documentation index at: https://motorbridge.seeedstudio.com/llms.txt
> Use this file to discover all available pages before exploring further.

# MotorBridge 0.2.9 Release Test Note

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.

## 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`.

## Version Alignment

| Component             | Version  |
| --------------------- | -------- |
| Git release tag       | `v0.2.9` |
| Rust workspace crates | `0.2.9`  |
| Python package        | `0.2.9`  |

## RobStride Checks

Read runtime position:

```bash theme={null}
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:

```bash theme={null}
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:

```bash theme={null}
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.

## Release Quality Gate

```bash theme={null}
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
```

## 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.