Release v4.0.1 of Boston Dynamics Spot SDK

Author: bd-sdk-publisher

docs/cpp_release_notes.md

@@ -8,6 +8,14 @@ Development Kit License (20191101-BDSDK-SL).
 
 # Spot C++ SDK Release Notes
 
+## Spot C++ SDK version 4.0.1 BETA
+
+Please see the Release Notes in https://dev.bostondynamics.com for a description of the API changes included in release 4.0.1.
+
+In addition to that, there are no changes in 4.0.1 except the following:
+
+- The VERSION field in the project name has been updated to 4.0.1 from 4.0.0
+
 ## Spot C++ SDK version 4.0.0 BETA
 
 ### Breaking Changes

protos/bosdyn/api/graph_nav/map.proto

@@ -294,6 +294,13 @@ message Edge {
                 DESCENT_PREFERENCE_NONE = 3;
             }
             DescentPreference descent_preference = 4;
+
+            // The Y position with respect to the staircase frame to align to when traversing this
+            // staircase. Regardless of how the recorded waypoints are distributed on the staircase,
+            // when traversing the staircase all navigation goals will have this Y position with
+            // respect to the staircase in order to guide the robot over the stairs in a straight
+            // line.
+            google.protobuf.DoubleValue traversal_y_offset = 5;
         }
         // Stairs information/parameters specific to the edge.
         StairData stairs = 2;