CHANGELOG.md

CHANGELOG

Versions

1.0.2

• Fix: shutdown as damping mode

1.0.3 [IMPORTANT FIX]

• Fix control delay, send command immediately after step.
  • this bug could lead to jittering and stability issue, see HansZ8/RoboJuDo#2

1.0.4

• Add torso (secondary) IMU subscription, exposed via RobotState.torso_imu_state. see #5
  • Opt-in via enable_torso_imu / torso_imu_topic (default rt/secondary_imu).

dummy_sdk (opt-in)

• Add a bundled header-only dummy unitree_sdk2 (dummy_sdk/) so the module can build and import on machines without the real SDK (e.g. macOS). Opt-in via -DUSE_DUMMY_SDK=ON; a normal build still requires the real SDK and fails loudly if it is missing, never silently falling back. The dummy simulates inbound data (stationary robot, identity base IMU, tilted torso IMU, zero odometry) so self_check() passes and the pipeline runs. Test only — never deploy. See the TESTING guide in the README.