Piper-sdk

Bug Fixes
---------

- Fixed abnormal current feedback values.(High speed piper msg)
piper_sdk/piper_msgs/msg_v1/feedback/arm_high_spd_feedback.py
piper_sdk/piper_msgs/msg_v2/feedback/arm_high_spd_feedback.py
piper_sdk/protocol/protocol_v1/piper_protocol_v1.py
piper_sdk/protocol/protocol_v2/piper_protocol_v2.py

Attention!!!
Incorrect unit for current information in high-speed feedback, which caused abnormal values and led to incorrect torque feedback.
--------
Features
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- Added `effort` feedback to high-speed information feedback, with a unit of 0.001 N/m.
- Removed elements in the `sh` script to ensure compatibility with `zsh`.
- Added `interface_v1` without affecting previous versions, reserving it for future updates.
- Added class references in `__init__.py`.
- Fixed incorrect comments in `msg_v1/__init__.py`, `msg_v2/__init__.py`, `protocol/protocol_v2/piper_protocol_v2.py`, and `arm_low_spd_feedback.py`.
- Corrected the unit description of `max_joint_acc` in the `ArmMsgFeedbackCurrentMotorMaxAccLimit` class to `0.001 rad/s^2`.
- Added firmware version descriptions in the interface documentation.

Bug Fixes
---------

- Modified `pyproject.toml` to allow proper installation using `setup.py` (the previous version was missing the `version` field in the `project` tag, causing `pip install .` to fail).
- Fixed the issue where `msg_type` in `msg_v2` was not assigned using `auto`.
- Fixed missing class references in `piper_sdk/__init__.py`, which caused errors.
- Fixed an error in `protocol` where the position information of motor 2 was incorrectly assigned to motor 3.
- Fixed an issue in `interface` where the timestamp for high-speed feedback data was mistakenly using the timestamp from low-speed feedback data.

- Changed the parameter names of `foc_status` in `piper_msgs/msg_v1(msg_v2)/feedback/arm_low_spd_feedback.py` in two files:
- Renamed `sensor_status` to `collision_status`
- Renamed `homing_status` to `stall_status`
- Added type checking (must be of Python's int type) and value range checking (within joint limit range) for the `JointCtrl` function.
- Added type checking (must be of Python's int type) for the `EndPoseCtrl` function's input values
- Modified the comments in the `SearchAllMotorMaxAngleSpd` and `SearchAllMotorMaxAccLimit` functions to include CAN ID descriptions.
- Added a demo file to set and print the robotic arm's collision level `piper_read_crash_protectation.py`.
- Modified the `arm_high_spd_feedback` to set the `motor_speed` unit to 0.001 rad/s and the `current` unit to 0.001 A.
- Modified the shell script. Since the `sh` command does not support `==` for equality comparison, but `bash` does, changed it to use `=` for equality comparison. This allows the script to be used in `zsh`.

增加新协议的兼容：
- 新增MIT控制指令
- ID 0x474 电机角度限制/最大速度设置指令，增补无效值指令
- ID 0x475 关节设置指令，增补无效值指令
- ID 0x477 机械臂参数查询与设置指令，增补查询夹爪/示教器参数索引:0x04
- ID 0x479 末端速度/加速度参数设置指令，增补无效值指令
- 新增 ID 0x47D 夹爪/示教器参数设置指令
- 新增 ID 0x47E 夹爪/示教器参数反馈指令
interface:
- 类内增加了帧率计算，可以通过 isOk 函数判断can传输是否正常，反馈值为True则表明数据正常传输，如果为False则说明数据断开
- 增加了正解，通过扩展DH参数来计算每个关节相对 base_link 的位姿，通过 GetFK 函数获取，反馈 link1~link6 的位姿，是一个6*6的列表，第-1位为link6的位姿
- 增加mit控制函数 JointMitCtrl
- 增加夹爪/示教器参数设置函数 GripperTeachingPendantParamConfig
- 增加获取can总线当前实时帧率函数 GetCanFps
- 增加获取机械臂每个关节的正解函数 GetFK

Compared to version 0.1.15, the following changes were made:

- Corrected the output unit for the gripper's printed data.
- Fixed some comments and provided clearer explanations.
- Unified the code formatting to maintain consistency.
- Added data limits for the gripper message sending: [0, 5000], corresponding to [0, 5] N/m.
- Added data limits for setting the maximum joint speed: [0, 3000], corresponding to [0, 3] rad/s.
- Added data limits for setting the maximum joint acceleration: [0, 500], corresponding to [0, 5] rad/s^2.

修复`hardware/can_encapsulation.py`文件的`C_STD_CAN`类内的`SendCanMessage`函数内调用`is_can_bus_ok`函数时,`base_state`为`None`的问题