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…e/ControlSubMode 架構, 移除舊 control_mode 依賴\n- add legacy control_mode property to SimulationState 以相容舊模組
- add CascadeControllerConfig & 移除固定 control_dt - PD 控制支援 bias 開關並更新 quaternion 計算 - main_nicegui 加入 thread-safe 參考設定
- 修正 sim_latest_quat 語法並使用 float32 - warn when ONNX input dim mismatch & skip 無 accelerometer 模型 - DebugOverlay pass state to sync page count - 補充 keyboard/gamepad 指令軸順序註解 Testing: python -m pytest -q
…錄並加入搜尋路徑設定，避免 ModuleNotFoundError.
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Summary
state.pywith clear OperatingMode and hardware data separationTesting
python -m pytest -qhttps://chatgpt.com/codex/tasks/task_e_689061f7f2008328a78c3a7e7b61828a