Real-time interface commands

The commands that let a PC stream joint targets to the robot itself, every control cycle or at a lower rate, and the settings of that stream. RTIClient is the client class that streams them.

• The two contracts: hard real time, one target for every control cycle (4 ms) over UDP, each carrying its send time; soft real time, rti_connect(pc_ip, rate_hz=...), where the robot moves smoothly between targets sent at a lower rate.
• The order: rti_connect(), rti_claim(), stream, rti_release(), rti_disconnect().

Command	What it does	Runs
RTIClient	Real-time streaming control of one robot, beside its RobotClient.	In the client (a class)
rti_connect	Pair this PC with the robot and switch to a real-time mode.	At once
rti_claim	Claim real-time control: the robot starts applying your commands.	At once
rti_release	End the real-time stream: brake to rest and hold, still paired.	At once
rti_disconnect	Unpair the PC and switch the robot to IDLE mode.	At once
rti_set_start_pose_check	Switch the check of the first command after a claim on or off.	At once
rti_set_rate_limiter	Switch the real-time rate limiter on or off.	At once
rti_set_tcp_vel_limit	Cap the tool's straight-line speed under real-time control.	At once
rti_set_vel_scale	Scale the real-time joint speed limits down.	At once
rti_set_command_timeout	Set how long the robot waits for the next real-time command.	At once
rti_set_gravity_comp	Switch gravity compensation on or off for real-time control.	At once
rti_set_dynamics_ff	Choose the inertia and Coriolis feedforward of real-time streams.	At once
rti_set_servo_generator	Choose how the robot fills in the ticks between position targets.	At once
rti_set_min_duration	Make each planned move last at least a multiple of your interval.	At once
rti_set_pace	Cap the generator's speed at a multiple of your target's speed.	At once
rti_set_lowpass	Filter incoming real-time commands with a low-pass filter.	At once
rti_set_state_rate	Set how often the robot sends its state packet in SOFT_RTI.	At once

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