v0.1.4

Highlights

• Leg overload guard. Palmimo.step() now polls leg current at up to 30 Hz and reacts before a held or blocked axis latches the servo's own Overload error and goes limp. An axis that holds |current| at or above its threshold for 3 consecutive samples trips the guard. On by default. See "Overload Guard" in doc/reference/api-reference.md. (#66)
• A gripped waving arm softens and returns. On the arm channel (the raised leg of wave / wave_both / clap, threshold 700) a trip drops the motion to IDLE, holds the three arm axes at Position_P_Gain 100 and eases them back to neutral, then restores the gain. If the gain write fails, only that arm's torque is cut. (#66)
• A strained leg motion stops. On the leg channel (every other leg axis, threshold 1200) a trip drops the motion to IDLE; gains are untouched. (#66)
• Trips are readable from the API. drain_overload_trips(), last_overload_trip and OverloadTrip report what tripped; arm_overload_current / leg_overload_current on the Palmimo constructor set the thresholds, and passing None disables a channel. (#66)

Upgrade notes

• The guard is active with the default thresholds as soon as you update: a motion that strains now ends in IDLE instead of running on. Code that assumed a motion always runs to completion should check drain_overload_trips().
• The change only adds API, so it stays in the 0.1 line; the palmimo-sdk>=0.1.3,<0.2 pin in the examples picks it up without an edit.
• A driver that has no read_telemetry(), or that does not carry every leg motor, disables the guard with one warning. The neck thermal guard now behaves the same way for a driver without the neck motors, instead of logging every 5 s.
• ServoDriver gains set_torque_enabled(), used to cut one arm's torque when the soft return cannot be started.

Known issues

• A leg strained while no leg motion is running (idle, or during a neck gesture — for example a leg snagged after a wave) is only recorded in drain_overload_trips(). Nothing is stopped or softened, and the servo's own Overload latch remains the only protection there.
• A soft-returning arm is record-only on the leg channel: strain on it is recorded, but no further reaction is taken.
• The guard does not watch wake(), sleep() or return_to_neutral(), which write the driver directly.
• wake() still steps a soft-returning arm from gain 100 to 300 before ramping.
• Trips are not yet surfaced in agent tool or MCP results (#76).
• There is still no thermal protection on the legs; the guard acts on current, not temperature.

Verified on hardware (Raspberry Pi, XC330, 60 fps) with the robot held in the air at the default thresholds: no trip across forward / backward / rotate_left / rotate_right / wave / wave_both / clap / dance (5 s each), peak arm current 374 (53% of 700), peak leg current 417 (35% of 1200). Gripping the waving arm tripped at 858 on leg_6_pitch1; the soft return started and the gain was restored 1.5 s later. The 18-axis read took 7.8 ms median and 10.8 ms max; step() p99 was 9.0 ms.

What's Changed

SDK & motions

• feat(sdk): leg overload guard with soft arm return (0.1.4) by @isaka1022 in #66

Other changes

• chore(examples): require palmimo-sdk 0.1.3 by @DoskoiYuta in #73

Full Changelog: v0.1.3...v0.1.4