@@ -1,136 +1,136 @@
-[build-system]
-requires = ["setuptools>=61.0"]
-build-backend = "setuptools.build_meta"
-
-[project]
-name = "parol6"
-version = "0.2.2"
-description = "Python library for controlling PAROL6 robot arms"
-
-requires-python = ">=3.11"
-dependencies = [
-    # pinokin: Pinocchio-based FK/IK bindings
-    # https://github.com/Jepson2k/pinokin/releases/tag/v0.1.5
-
-    # macOS ARM64 (Apple Silicon)
-    "pinokin @ https://github.com/Jepson2k/pinokin/releases/download/v0.1.5/pinokin-0.1.5-cp311-cp311-macosx_15_0_arm64.whl ; python_version == '3.11' and platform_system == 'Darwin' and platform_machine == 'arm64'",
-    "pinokin @ https://github.com/Jepson2k/pinokin/releases/download/v0.1.5/pinokin-0.1.5-cp312-cp312-macosx_15_0_arm64.whl ; python_version == '3.12' and platform_system == 'Darwin' and platform_machine == 'arm64'",
-    "pinokin @ https://github.com/Jepson2k/pinokin/releases/download/v0.1.5/pinokin-0.1.5-cp313-cp313-macosx_15_0_arm64.whl ; python_version == '3.13' and platform_system == 'Darwin' and platform_machine == 'arm64'",
-    "pinokin @ https://github.com/Jepson2k/pinokin/releases/download/v0.1.5/pinokin-0.1.5-cp314-cp314-macosx_15_0_arm64.whl ; python_version == '3.14' and platform_system == 'Darwin' and platform_machine == 'arm64'",
-
-    # Windows AMD64
-    "pinokin @ https://github.com/Jepson2k/pinokin/releases/download/v0.1.5/pinokin-0.1.5-cp311-cp311-win_amd64.whl ; python_version == '3.11' and platform_system == 'Windows' and platform_machine == 'AMD64'",
-    "pinokin @ https://github.com/Jepson2k/pinokin/releases/download/v0.1.5/pinokin-0.1.5-cp312-cp312-win_amd64.whl ; python_version == '3.12' and platform_system == 'Windows' and platform_machine == 'AMD64'",
-    "pinokin @ https://github.com/Jepson2k/pinokin/releases/download/v0.1.5/pinokin-0.1.5-cp313-cp313-win_amd64.whl ; python_version == '3.13' and platform_system == 'Windows' and platform_machine == 'AMD64'",
-    "pinokin @ https://github.com/Jepson2k/pinokin/releases/download/v0.1.5/pinokin-0.1.5-cp314-cp314-win_amd64.whl ; python_version == '3.14' and platform_system == 'Windows' and platform_machine == 'AMD64'",
-
-    # Linux x86_64
-    "pinokin @ https://github.com/Jepson2k/pinokin/releases/download/v0.1.5/pinokin-0.1.5-cp311-cp311-manylinux_2_39_x86_64.whl ; python_version == '3.11' and platform_system == 'Linux' and platform_machine == 'x86_64'",
-    "pinokin @ https://github.com/Jepson2k/pinokin/releases/download/v0.1.5/pinokin-0.1.5-cp312-cp312-manylinux_2_39_x86_64.whl ; python_version == '3.12' and platform_system == 'Linux' and platform_machine == 'x86_64'",
-    "pinokin @ https://github.com/Jepson2k/pinokin/releases/download/v0.1.5/pinokin-0.1.5-cp313-cp313-manylinux_2_39_x86_64.whl ; python_version == '3.13' and platform_system == 'Linux' and platform_machine == 'x86_64'",
-    "pinokin @ https://github.com/Jepson2k/pinokin/releases/download/v0.1.5/pinokin-0.1.5-cp314-cp314-manylinux_2_39_x86_64.whl ; python_version == '3.14' and platform_system == 'Linux' and platform_machine == 'x86_64'",
-
-    # Linux aarch64 (ARM64)
-    "pinokin @ https://github.com/Jepson2k/pinokin/releases/download/v0.1.5/pinokin-0.1.5-cp311-cp311-manylinux_2_39_aarch64.whl ; python_version == '3.11' and platform_system == 'Linux' and platform_machine == 'aarch64'",
-    "pinokin @ https://github.com/Jepson2k/pinokin/releases/download/v0.1.5/pinokin-0.1.5-cp312-cp312-manylinux_2_39_aarch64.whl ; python_version == '3.12' and platform_system == 'Linux' and platform_machine == 'aarch64'",
-    "pinokin @ https://github.com/Jepson2k/pinokin/releases/download/v0.1.5/pinokin-0.1.5-cp313-cp313-manylinux_2_39_aarch64.whl ; python_version == '3.13' and platform_system == 'Linux' and platform_machine == 'aarch64'",
-    "pinokin @ https://github.com/Jepson2k/pinokin/releases/download/v0.1.5/pinokin-0.1.5-cp314-cp314-manylinux_2_39_aarch64.whl ; python_version == '3.14' and platform_system == 'Linux' and platform_machine == 'aarch64'",
-
-    "pyserial>=3.4",
-    "scipy>=1.11.4",
-    "ruckig>=0.12.2",
-    "toppra>=0.6.3",
-    "interpolatepy>=2.0.0",
-    "numpy>=2.0",
-    "numba>=0.59",
-    "psutil>=5.9",
-    "msgspec>=0.18",
-    "ormsgpack>=1.4.0",
-    "waldoctl @ git+https://github.com/Jepson2k/waldoctl.git@v0.2.0",
-]
-
-[tool.setuptools.packages.find]
-include = ["parol6*"]
-
-[project.optional-dependencies]
-dev = [
-    "ruff",
-    "ty",
-    "pytest",
-    "pytest-asyncio",
-    "pytest-timeout",
-    "pre-commit",
-    "trimesh",
-    "fast-simplification",
-    "rtree",
-    "scipy-stubs",
-    "types-pyserial",
-]
-
-[project.scripts]
-parol6-server = "parol6.cli.server:main_entry"
-
-[project.entry-points."waldoctl.robots"]
-parol6 = "parol6.robot:Robot"
-
-[tool.pytest.ini_options]
-testpaths = ["tests"]
-python_files = ["test_*.py"]
-python_classes = ["Test*"]
-python_functions = ["test_*"]
-addopts = [
-    "--strict-markers",
-    "--strict-config",
-    "-ra",
-    "--junitxml=test-results.xml",
-]
-timeout = 45
-timeout_method = "thread"
-markers = [
-    "unit: Unit tests that test individual components in isolation",
-    "integration: Integration tests that test component interactions with FAKE_SERIAL",
-    "e2e: End-to-end tests that exercise complete workflows",
-    "examples: Standalone example scripts (binds port 5001, run with `pytest -m examples`)",
-]
-log_cli = false
-log_level = "DEBUG"
-filterwarnings = [
-    "ignore::DeprecationWarning",
-    "ignore::PendingDeprecationWarning",
-]
-
-[tool.ty]
-# Dynamic Command union (built at import time from tagged structs)
-# generates invalid-type-form in all files that reference it.
-[[tool.ty.overrides]]
-include = [
-    "parol6/protocol/wire.py",
-    "parol6/commands/base.py",
-    "parol6/server/command_registry.py",
-    "parol6/server/command_executor.py",
-]
-[tool.ty.overrides.rules]
-invalid-type-form = "ignore"
-
-[tool.setuptools]
-include-package-data = true
-
-[tool.setuptools.package-data]
-parol6 = ["urdf_model/**"]
-
-# Release tooling: `tbump <new_version>` edits pyproject.toml, commits, tags
-# and pushes (main + tag) in one shot. Install with `pip install tbump`.
-[tool.tbump]
-github_url = "https://github.com/Jepson2k/PAROL6-python-API"
-
-[tool.tbump.version]
-current = "0.2.2"
-regex = '''(?P<major>\d+)\.(?P<minor>\d+)\.(?P<patch>\d+)'''
-
-[tool.tbump.git]
-message_template = "bump version to {new_version}"
-tag_template = "v{new_version}"
-
-[[tool.tbump.file]]
-src = "pyproject.toml"
-search = 'version = "{current_version}"'
+[build-system]
+requires = ["setuptools>=61.0"]
+build-backend = "setuptools.build_meta"
+
+[project]
+name = "parol6"
+version = "0.2.3"
+description = "Python library for controlling PAROL6 robot arms"
+
+requires-python = ">=3.11"
+dependencies = [
+    # pinokin: Pinocchio-based FK/IK bindings
+    # https://github.com/Jepson2k/pinokin/releases/tag/v0.1.5
+
+    # macOS ARM64 (Apple Silicon)
+    "pinokin @ https://github.com/Jepson2k/pinokin/releases/download/v0.1.5/pinokin-0.1.5-cp311-cp311-macosx_15_0_arm64.whl ; python_version == '3.11' and platform_system == 'Darwin' and platform_machine == 'arm64'",
+    "pinokin @ https://github.com/Jepson2k/pinokin/releases/download/v0.1.5/pinokin-0.1.5-cp312-cp312-macosx_15_0_arm64.whl ; python_version == '3.12' and platform_system == 'Darwin' and platform_machine == 'arm64'",
+    "pinokin @ https://github.com/Jepson2k/pinokin/releases/download/v0.1.5/pinokin-0.1.5-cp313-cp313-macosx_15_0_arm64.whl ; python_version == '3.13' and platform_system == 'Darwin' and platform_machine == 'arm64'",
+    "pinokin @ https://github.com/Jepson2k/pinokin/releases/download/v0.1.5/pinokin-0.1.5-cp314-cp314-macosx_15_0_arm64.whl ; python_version == '3.14' and platform_system == 'Darwin' and platform_machine == 'arm64'",
+
+    # Windows AMD64
+    "pinokin @ https://github.com/Jepson2k/pinokin/releases/download/v0.1.5/pinokin-0.1.5-cp311-cp311-win_amd64.whl ; python_version == '3.11' and platform_system == 'Windows' and platform_machine == 'AMD64'",
+    "pinokin @ https://github.com/Jepson2k/pinokin/releases/download/v0.1.5/pinokin-0.1.5-cp312-cp312-win_amd64.whl ; python_version == '3.12' and platform_system == 'Windows' and platform_machine == 'AMD64'",
+    "pinokin @ https://github.com/Jepson2k/pinokin/releases/download/v0.1.5/pinokin-0.1.5-cp313-cp313-win_amd64.whl ; python_version == '3.13' and platform_system == 'Windows' and platform_machine == 'AMD64'",
+    "pinokin @ https://github.com/Jepson2k/pinokin/releases/download/v0.1.5/pinokin-0.1.5-cp314-cp314-win_amd64.whl ; python_version == '3.14' and platform_system == 'Windows' and platform_machine == 'AMD64'",
+
+    # Linux x86_64
+    "pinokin @ https://github.com/Jepson2k/pinokin/releases/download/v0.1.5/pinokin-0.1.5-cp311-cp311-manylinux_2_39_x86_64.whl ; python_version == '3.11' and platform_system == 'Linux' and platform_machine == 'x86_64'",
+    "pinokin @ https://github.com/Jepson2k/pinokin/releases/download/v0.1.5/pinokin-0.1.5-cp312-cp312-manylinux_2_39_x86_64.whl ; python_version == '3.12' and platform_system == 'Linux' and platform_machine == 'x86_64'",
+    "pinokin @ https://github.com/Jepson2k/pinokin/releases/download/v0.1.5/pinokin-0.1.5-cp313-cp313-manylinux_2_39_x86_64.whl ; python_version == '3.13' and platform_system == 'Linux' and platform_machine == 'x86_64'",
+    "pinokin @ https://github.com/Jepson2k/pinokin/releases/download/v0.1.5/pinokin-0.1.5-cp314-cp314-manylinux_2_39_x86_64.whl ; python_version == '3.14' and platform_system == 'Linux' and platform_machine == 'x86_64'",
+
+    # Linux aarch64 (ARM64)
+    "pinokin @ https://github.com/Jepson2k/pinokin/releases/download/v0.1.5/pinokin-0.1.5-cp311-cp311-manylinux_2_39_aarch64.whl ; python_version == '3.11' and platform_system == 'Linux' and platform_machine == 'aarch64'",
+    "pinokin @ https://github.com/Jepson2k/pinokin/releases/download/v0.1.5/pinokin-0.1.5-cp312-cp312-manylinux_2_39_aarch64.whl ; python_version == '3.12' and platform_system == 'Linux' and platform_machine == 'aarch64'",
+    "pinokin @ https://github.com/Jepson2k/pinokin/releases/download/v0.1.5/pinokin-0.1.5-cp313-cp313-manylinux_2_39_aarch64.whl ; python_version == '3.13' and platform_system == 'Linux' and platform_machine == 'aarch64'",
+    "pinokin @ https://github.com/Jepson2k/pinokin/releases/download/v0.1.5/pinokin-0.1.5-cp314-cp314-manylinux_2_39_aarch64.whl ; python_version == '3.14' and platform_system == 'Linux' and platform_machine == 'aarch64'",
+
+    "pyserial>=3.4",
+    "scipy>=1.11.4",
+    "ruckig>=0.12.2",
+    "toppra>=0.6.3",
+    "interpolatepy>=2.0.0",
+    "numpy>=2.0",
+    "numba>=0.59",
+    "psutil>=5.9",
+    "msgspec>=0.18",
+    "ormsgpack>=1.4.0",
+    "waldoctl @ git+https://github.com/Jepson2k/waldoctl.git@v0.2.0",
+]
+
+[tool.setuptools.packages.find]
+include = ["parol6*"]
+
+[project.optional-dependencies]
+dev = [
+    "ruff",
+    "ty",
+    "pytest",
+    "pytest-asyncio",
+    "pytest-timeout",
+    "pre-commit",
+    "trimesh",
+    "fast-simplification",
+    "rtree",
+    "scipy-stubs",
+    "types-pyserial",
+]
+
+[project.scripts]
+parol6-server = "parol6.cli.server:main_entry"
+
+[project.entry-points."waldoctl.robots"]
+parol6 = "parol6.robot:Robot"
+
+[tool.pytest.ini_options]
+testpaths = ["tests"]
+python_files = ["test_*.py"]
+python_classes = ["Test*"]
+python_functions = ["test_*"]
+addopts = [
+    "--strict-markers",
+    "--strict-config",
+    "-ra",
+    "--junitxml=test-results.xml",
+]
+timeout = 45
+timeout_method = "thread"
+markers = [
+    "unit: Unit tests that test individual components in isolation",
+    "integration: Integration tests that test component interactions with FAKE_SERIAL",
+    "e2e: End-to-end tests that exercise complete workflows",
+    "examples: Standalone example scripts (binds port 5001, run with `pytest -m examples`)",
+]
+log_cli = false
+log_level = "DEBUG"
+filterwarnings = [
+    "ignore::DeprecationWarning",
+    "ignore::PendingDeprecationWarning",
+]
+
+[tool.ty]
+# Dynamic Command union (built at import time from tagged structs)
+# generates invalid-type-form in all files that reference it.
+[[tool.ty.overrides]]
+include = [
+    "parol6/protocol/wire.py",
+    "parol6/commands/base.py",
+    "parol6/server/command_registry.py",
+    "parol6/server/command_executor.py",
+]
+[tool.ty.overrides.rules]
+invalid-type-form = "ignore"
+
+[tool.setuptools]
+include-package-data = true
+
+[tool.setuptools.package-data]
+parol6 = ["urdf_model/**"]
+
+# Release tooling: `tbump <new_version>` edits pyproject.toml, commits, tags
+# and pushes (main + tag) in one shot. Install with `pip install tbump`.
+[tool.tbump]
+github_url = "https://github.com/Jepson2k/PAROL6-python-API"
+
+[tool.tbump.version]
+current = "0.2.3"
+regex = '''(?P<major>\d+)\.(?P<minor>\d+)\.(?P<patch>\d+)'''
+
+[tool.tbump.git]
+message_template = "bump version to {new_version}"
+tag_template = "v{new_version}"
+
+[[tool.tbump.file]]
+src = "pyproject.toml"
+search = 'version = "{current_version}"'