MGross21/armctl

AI Summary: The task is to create a flexible and extensible "DIYRobot" class within the `armctl` library. This class should allow users to define their own custom robots by specifying a communication method (e.g., serial, socket) and other relevant parameters. The class should handle the connection and provide a `send_command()` method for sending custom commands to the robot, without imposing any predefined control commands or templates.

AI Summary: The task is to modify the `armctl` library's Universal Robotics support to use separate ports for sending and receiving data (30002 for sending and 30003 for receiving), resolving a current issue where using the same port prevents proper blocking feedback loops. This involves updating the socket connection handling within the `universal_robotics.py` file and thorough testing to ensure functionality.