fix PoseVector handling to prevent crash

Update to handle non-iterable math3d.Vector.pose_vector

Add support for polyscope 3.15

Firmware 5.9 parsing is added. (#113)

Import ABC from collections.abc for Python 3.10 compatibility.

update servoj

Update urrobot.py

update min_t to t

add support to realtime interface from firmware 5.1 and methods to get joint temperature, joint voltage, joint current, main voltage, robot voltage and robot current

add support to get actual joint current

Update README.md

Solve unclosed socket connection on fail

Fix wrong function call in movejs

Conditional pose 'p' prefix in movexs.

Experimental attempt to batch-execute multiple joint moves.