Rby1-sdk

✨ Features

- support wifi functions in python
- add wifi proto files
- add pos/orientation error in cartesian command feedback
- add error_scaling parameter for optimal control
- calculate manipulability
- support master arm class in python
- add wait_for_control_ready function
- add time_based_progress and position_based_progress feedback to joint position command (83)

🐛 Fixes

- parameter change
- typo
- change qp solver exception (error) mechanism
- rename cartesian command builder parameter
- change parameter for demo motion
- resolve bugs in qc_gui and demo motion
- update qc_gui to support A, T5, and M models
- modify python teleoperation example to support M and T5 models
- update python example code for multi-model support (84)
- adjust wrist yaw2 range of motion in model.urdf for A, T5, and M models (85)
- typo
- set velocity_tracking_gain as zero
- restore gripper thread and refine gripper min/max detection in teleoperation example
- add teleoperation example using master arm class
- typo
- modify optimal control formulation with null space projection
- mark limits as reuiqred argument
- apply velocity limit
- change the way to calculate error in optimal control
- remove velocity tracking gain in optimal control command
- consider current velocity in optimal controller
- master arm class initialization failed
- fix link error on windows
- notebook example
- notebook example
- include chrono header
- use CancelControl() in Command and CommandStream handler
- rename parameters
- minor typo

🐛 Fixes

- update pypi version to 0.4.1 due to versioning issue (skip 0.4.0)

♻️ Refactor

- update bind_robot and bind_state in python
- **demo_motion**: rename waist to torso in demo_motion

✨ Features

- add example for checking firmware version
- Enhance JointInfo to include firmware version and product name
- add python teleoperation example (performance improvements needed)
- add m model (urdf, mjcf) and update motor index for m model
- support mecanum mobile base in dynamics lib
- add api for battery config (42)
- add api for system time control
- add api to control the led (40)

🐛 Fixes

- **robot.h**: add missing break in switch statement
- support model m in python
- bugfix in loader mecanum mobile base
- add ready for command
- **robot_state**: add gravity term in robot_state
- change Color (proto message) component type from float to uint32

♻️ Refactor

- remove docs files in protos
- demo_motion
- **event_loop**: improve event_loop cyclic_task function
- restructure gain retrieval and return as struct in rby1-sdk
- clean up mobility_command example

✨ Features

- add CancelControl function to stop ongoing current control
- update demo motion minimum time and velocity limit scaling
- **parameter**: add support for temporary parameter setting in SetParameter
- add demo motion example for master arm operation
- **model.urdf**: update joint limit(torso_3)
- update joint limit
- update default gain values
- add grpc auto-generated code for web ui
- add motor temperature information
- expand gripper tip collision area
- update functionality for joint position target in cartesian command
- add joint position target to cartesian command (WIP)
- add overloaded constructor to PIDGain and add Python examples for gain set/get
- improve gain management and accessibility
- add head gain example and mutex lock for Dynamixel gain and motro state retrieval
- add examples for setting PID gains and factory reset
- add functionality to set and get pid gains
- add docker-compose.sim.yaml for ARM simulation setup
- add docker-compose.sim.yaml for simulation setup
- break eng/rel + home offset
- proto docs update
- add gripper test (python)
- gripper test for python
- update quick ui + qc ui
- qc gui servo on update
- qc gui update
- teleop + demo motion update + quick ui
- quick ui update(zero + ems)
- impedance update
- quick ui update
- record & replay example update

🐛 Fixes

- update gripper range detection
- update head current casting after reverting to previous implementation
- **dynamixel_bus**: improve motor state reader function
- make joint values realistic (33)
- **robot_command_builder.cpp**: update pybind defaults and include stl header
- update current reading logic for dynamixel
- **demo_motion.cpp**: correct typo in demo motion setjointpositiontarget -> addjointpositiontarget
- check done before cancel call
- correct PID gain mapping and remove redundant torque disable call
- align mobility SE2 and joint velocity direction with RPC program for simulator consistency
- update network settings in docker-compose
- **master_arm**: fix out of bound access bug
- **model.urdf**: Change velocity limits for urdf torso_0, torso_1, and left_arm_5
- **dynamixel-bus**: fix bug
- change delay for dynamixel to 100us
- get control manager state in start_state_update cb function
- typo update
- typo
- update teleoperation example

✨ Features

- support dynamics in python

🐛 Fixes

- remove unnecessary dependency
- resolve package Python requirement issue