hex-zmq-servers 0.3.16__py3-none-any.whl → 1.0.1__py3-none-any.whl
This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.
- hex_zmq_servers/__init__.py +18 -6
- hex_zmq_servers/cam/berxel/cam_berxel.py +11 -3
- hex_zmq_servers/config/robot_hexarm.json +14 -3
- hex_zmq_servers/mujoco/archer_y6/mujoco_archer_y6.py +44 -20
- hex_zmq_servers/mujoco/e3_desktop/mujoco_e3_desktop.py +68 -35
- hex_zmq_servers/robot/__init__.py +14 -6
- hex_zmq_servers/robot/hexarm/__init__.py +2 -0
- hex_zmq_servers/robot/hexarm/robot_hexarm.py +54 -50
- hex_zmq_servers/robot/hexarm/robot_hexarm_srv.py +2 -3
- hex_zmq_servers/robot/hexarm/urdf/archer_d6y/gp80.urdf +208 -0
- hex_zmq_servers/robot/hexarm/urdf/firefly_y6/gp80.urdf +208 -0
- hex_zmq_servers/zmq_base.py +10 -3
- hex_zmq_servers-1.0.1.dist-info/METADATA +195 -0
- {hex_zmq_servers-0.3.16.dist-info → hex_zmq_servers-1.0.1.dist-info}/RECORD +17 -15
- {hex_zmq_servers-0.3.16.dist-info → hex_zmq_servers-1.0.1.dist-info}/WHEEL +1 -1
- hex_zmq_servers-0.3.16.dist-info/METADATA +0 -147
- {hex_zmq_servers-0.3.16.dist-info → hex_zmq_servers-1.0.1.dist-info}/licenses/LICENSE +0 -0
- {hex_zmq_servers-0.3.16.dist-info → hex_zmq_servers-1.0.1.dist-info}/top_level.txt +0 -0
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<inertia ixx="0.01969749" ixy="-0.00000048" ixz="0.00002449" iyy="0.01949532" iyz="0.00000402" izz="0.00071320" />
|
|
62
|
+
</inertial>
|
|
63
|
+
<visual>
|
|
64
|
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
|
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<geometry>
|
|
66
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<mesh filename="package://xpkg_urdf_firefly_y6/meshes/link_2.STL" />
|
|
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+
</geometry>
|
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+
<material name="">
|
|
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<color rgba="1 1 1 1" />
|
|
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</material>
|
|
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+
</visual>
|
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<collision>
|
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<origin xyz="0 0 0" rpy="0 0 0" />
|
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<geometry>
|
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<mesh filename="package://xpkg_urdf_firefly_y6/meshes/link_2.STL" />
|
|
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</geometry>
|
|
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|
+
</collision>
|
|
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+
</link>
|
|
79
|
+
<joint name="joint_2" type="revolute">
|
|
80
|
+
<origin xyz="0.02 0 0.05" rpy="0 0 0" />
|
|
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|
+
<parent link="link_1" />
|
|
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+
<child link="link_2" />
|
|
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+
<axis xyz="0 1 0" />
|
|
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|
+
<limit lower="-1.57" upper="2.09" effort="6" velocity="6" />
|
|
85
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+
</joint>
|
|
86
|
+
|
|
87
|
+
<link name="link_3">
|
|
88
|
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<inertial>
|
|
89
|
+
<origin xyz="-0.05668605 -0.00287518 0.15455959" rpy="0 0 0" />
|
|
90
|
+
<mass value="0.93588267" />
|
|
91
|
+
<inertia ixx="0.00983649" ixy="0.00007803" ixz="0.00124619" iyy="0.00991413" iyz="-0.00026866" izz="0.00104920" />
|
|
92
|
+
</inertial>
|
|
93
|
+
<visual>
|
|
94
|
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
|
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|
+
<geometry>
|
|
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<mesh filename="package://xpkg_urdf_firefly_y6/meshes/link_3.STL" />
|
|
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+
</geometry>
|
|
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+
<material name="">
|
|
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|
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<color rgba="1 1 1 1" />
|
|
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|
+
</material>
|
|
101
|
+
</visual>
|
|
102
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+
<collision>
|
|
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|
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
|
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|
+
<geometry>
|
|
105
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+
<mesh filename="package://xpkg_urdf_firefly_y6/meshes/link_3.STL" />
|
|
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</geometry>
|
|
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|
+
</collision>
|
|
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+
</link>
|
|
109
|
+
<joint name="joint_3" type="revolute">
|
|
110
|
+
<origin xyz="0 0 0.27" rpy="0 0 0" />
|
|
111
|
+
<parent link="link_2" />
|
|
112
|
+
<child link="link_3" />
|
|
113
|
+
<axis xyz="0 1 0" />
|
|
114
|
+
<limit lower="0" upper="3.14" effort="6" velocity="6" />
|
|
115
|
+
</joint>
|
|
116
|
+
|
|
117
|
+
<link name="link_4">
|
|
118
|
+
<inertial>
|
|
119
|
+
<origin xyz="-0.05184192 -0.00200161 0.04855136" rpy="0 0 0" />
|
|
120
|
+
<mass value="0.55059939" />
|
|
121
|
+
<inertia ixx="0.00075566" ixy="0.00005198" ixz="0.00037393" iyy="0.00098159" iyz="-0.00004878" izz="0.00079856" />
|
|
122
|
+
</inertial>
|
|
123
|
+
<visual>
|
|
124
|
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
|
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+
<geometry>
|
|
126
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+
<mesh filename="package://xpkg_urdf_firefly_y6/meshes/link_4.STL" />
|
|
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|
+
</geometry>
|
|
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|
+
<material name="">
|
|
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|
+
<color rgba="1 1 1 1" />
|
|
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|
+
</material>
|
|
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|
+
</visual>
|
|
132
|
+
<collision>
|
|
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+
<origin xyz="0 0 0" rpy="0 0 0" />
|
|
134
|
+
<geometry>
|
|
135
|
+
<mesh filename="package://xpkg_urdf_firefly_y6/meshes/link_4.STL" />
|
|
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|
+
</geometry>
|
|
137
|
+
</collision>
|
|
138
|
+
</link>
|
|
139
|
+
<joint name="joint_4" type="revolute">
|
|
140
|
+
<origin xyz="-0.065 0 0.25" rpy="0 0 0" />
|
|
141
|
+
<parent link="link_3" />
|
|
142
|
+
<child link="link_4" />
|
|
143
|
+
<axis xyz="0 1 0" />
|
|
144
|
+
<limit lower="-1.57" upper="1.57" effort="6" velocity="6" />
|
|
145
|
+
</joint>
|
|
146
|
+
|
|
147
|
+
<link name="link_5">
|
|
148
|
+
<inertial>
|
|
149
|
+
<origin xyz="0.04236212 -0.00000333 0.00771096" rpy="0 0 0" />
|
|
150
|
+
<mass value="0.41052864" />
|
|
151
|
+
<inertia ixx="0.0001862" ixy="-0.00000002" ixz="-0.00001795" iyy="0.00025554" iyz="-0.00000002" izz="0.0002374" />
|
|
152
|
+
</inertial>
|
|
153
|
+
<visual>
|
|
154
|
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
|
155
|
+
<geometry>
|
|
156
|
+
<mesh filename="package://xpkg_urdf_firefly_y6/meshes/link_5.STL" />
|
|
157
|
+
</geometry>
|
|
158
|
+
<material name="">
|
|
159
|
+
<color rgba="1 1 1 1" />
|
|
160
|
+
</material>
|
|
161
|
+
</visual>
|
|
162
|
+
<collision>
|
|
163
|
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
|
164
|
+
<geometry>
|
|
165
|
+
<mesh filename="package://xpkg_urdf_firefly_y6/meshes/link_5.STL" />
|
|
166
|
+
</geometry>
|
|
167
|
+
</collision>
|
|
168
|
+
</link>
|
|
169
|
+
<joint name="joint_5" type="revolute">
|
|
170
|
+
<origin xyz="-0.047 0 0.065" rpy="0 0 0" />
|
|
171
|
+
<parent link="link_4" />
|
|
172
|
+
<child link="link_5" />
|
|
173
|
+
<axis xyz="-1 0 0" />
|
|
174
|
+
<limit lower="-1.54" upper="1.54" effort="6" velocity="6" />
|
|
175
|
+
</joint>
|
|
176
|
+
|
|
177
|
+
<link name="link_6">
|
|
178
|
+
<inertial>
|
|
179
|
+
<origin xyz="0.00003207 0.00004116 0.04297674" rpy="0 0 0" />
|
|
180
|
+
<mass value="0.49758791" />
|
|
181
|
+
<inertia ixx="0.00043292" ixy="0.00000309" ixz="0.00000052"
|
|
182
|
+
iyy="0.00038073" iyz="0.00000073" izz="0.00025998" />
|
|
183
|
+
</inertial>
|
|
184
|
+
<visual>
|
|
185
|
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
|
186
|
+
<geometry>
|
|
187
|
+
<mesh filename="package://xpkg_urdf_archer_d6y/meshes/gp80.STL" />
|
|
188
|
+
</geometry>
|
|
189
|
+
<material name="">
|
|
190
|
+
<color rgba="1 1 1 1" />
|
|
191
|
+
</material>
|
|
192
|
+
</visual>
|
|
193
|
+
<collision>
|
|
194
|
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
|
195
|
+
<geometry>
|
|
196
|
+
<mesh filename="package://xpkg_urdf_archer_d6y/meshes/gp80.STL" />
|
|
197
|
+
</geometry>
|
|
198
|
+
</collision>
|
|
199
|
+
</link>
|
|
200
|
+
<joint name="joint_6" type="revolute">
|
|
201
|
+
<origin xyz="0.047 0 0.034" rpy="0 0 0" />
|
|
202
|
+
<parent link="link_5" />
|
|
203
|
+
<child link="link_6" />
|
|
204
|
+
<axis xyz="0 0 1" />
|
|
205
|
+
<limit lower="-2.79" upper="2.79" effort="6" velocity="6" />
|
|
206
|
+
</joint>
|
|
207
|
+
|
|
208
|
+
</robot>
|
hex_zmq_servers/zmq_base.py
CHANGED
|
@@ -500,11 +500,16 @@ class HexZMQDummyClient(HexZMQClientBase):
|
|
|
500
500
|
net_config: dict = NET_CONFIG,
|
|
501
501
|
):
|
|
502
502
|
HexZMQClientBase.__init__(self, net_config)
|
|
503
|
-
|
|
503
|
+
self._wait_for_working()
|
|
504
|
+
|
|
504
505
|
def single_test(self):
|
|
505
506
|
resp_hdr, resp_buf = self.request({"cmd": "test"})
|
|
506
|
-
|
|
507
|
-
|
|
507
|
+
return resp_hdr, resp_buf
|
|
508
|
+
|
|
509
|
+
def _recv_loop(self):
|
|
510
|
+
rate = HexRate(500)
|
|
511
|
+
while self._recv_flag:
|
|
512
|
+
rate.sleep()
|
|
508
513
|
|
|
509
514
|
|
|
510
515
|
class HexZMQDummyServer(HexZMQServerBase):
|
|
@@ -524,6 +529,8 @@ class HexZMQDummyServer(HexZMQServerBase):
|
|
|
524
529
|
self.close()
|
|
525
530
|
|
|
526
531
|
def _process_request(self, recv_hdr: dict, recv_buf: np.ndarray):
|
|
532
|
+
if recv_hdr["cmd"] == "is_working":
|
|
533
|
+
return self.no_ts_hdr(recv_hdr, True), None
|
|
527
534
|
if recv_hdr["cmd"] == "test":
|
|
528
535
|
print("test received")
|
|
529
536
|
print(f"recv_hdr: {recv_hdr}")
|
|
@@ -0,0 +1,195 @@
|
|
|
1
|
+
Metadata-Version: 2.4
|
|
2
|
+
Name: hex_zmq_servers
|
|
3
|
+
Version: 1.0.1
|
|
4
|
+
Summary: HEXFELLOW ZMQ Servers
|
|
5
|
+
Author-email: Dong Zhaorui <dzr159@gmail.com>
|
|
6
|
+
Maintainer-email: jecjune <zejun.chen@hexfellow.com>, Dong Zhaorui <dzr159@gmail.com>
|
|
7
|
+
License-Expression: Apache-2.0
|
|
8
|
+
Project-URL: Homepage, https://github.com/hexfellow/hex_zmq_servers
|
|
9
|
+
Project-URL: Repository, https://github.com/hexfellow/hex_zmq_servers.git
|
|
10
|
+
Project-URL: Bug Tracker, https://github.com/hexfellow/hex_zmq_servers/issues
|
|
11
|
+
Project-URL: Documentation, https://github.com/hexfellow/hex_zmq_servers/wiki
|
|
12
|
+
Keywords: hex_zmq_servers
|
|
13
|
+
Classifier: Development Status :: 4 - Beta
|
|
14
|
+
Classifier: Intended Audience :: Developers
|
|
15
|
+
Classifier: Intended Audience :: Science/Research
|
|
16
|
+
Classifier: Topic :: Software Development :: Libraries :: Python Modules
|
|
17
|
+
Classifier: Programming Language :: Python :: 3
|
|
18
|
+
Classifier: Programming Language :: Python :: 3.10
|
|
19
|
+
Classifier: Programming Language :: Python :: 3.11
|
|
20
|
+
Classifier: Programming Language :: Python :: 3.12
|
|
21
|
+
Classifier: Operating System :: POSIX :: Linux
|
|
22
|
+
Requires-Python: >=3.10
|
|
23
|
+
Description-Content-Type: text/markdown
|
|
24
|
+
License-File: LICENSE
|
|
25
|
+
Requires-Dist: pyzmq>=27.0.1
|
|
26
|
+
Requires-Dist: hex_device<1.4.0,>=1.3.14
|
|
27
|
+
Requires-Dist: hex_robo_utils<0.3.0,>=0.2.0
|
|
28
|
+
Requires-Dist: opencv-python>=4.2
|
|
29
|
+
Provides-Extra: berxel
|
|
30
|
+
Requires-Dist: berxel_py_wrapper>=2.0.182; extra == "berxel"
|
|
31
|
+
Provides-Extra: realsense
|
|
32
|
+
Requires-Dist: pyrealsense2>=2.56.5.9235; extra == "realsense"
|
|
33
|
+
Provides-Extra: dynamixel
|
|
34
|
+
Requires-Dist: dynamixel-sdk==3.8.4; extra == "dynamixel"
|
|
35
|
+
Provides-Extra: mujoco
|
|
36
|
+
Requires-Dist: mujoco>=3.3.3; extra == "mujoco"
|
|
37
|
+
Provides-Extra: all
|
|
38
|
+
Requires-Dist: berxel_py_wrapper>=2.0.182; extra == "all"
|
|
39
|
+
Requires-Dist: pyrealsense2>=2.56.5.9235; extra == "all"
|
|
40
|
+
Requires-Dist: dynamixel-sdk==3.8.4; extra == "all"
|
|
41
|
+
Requires-Dist: mujoco>=3.3.3; extra == "all"
|
|
42
|
+
Dynamic: license-file
|
|
43
|
+
|
|
44
|
+
<h1 align="center">HEXFELLOW ZMQ SERVERS</h1>
|
|
45
|
+
|
|
46
|
+
<p align="center">
|
|
47
|
+
<a href="https://github.com/hexfellow/hex_zmq_servers/stargazers">
|
|
48
|
+
<img src="https://img.shields.io/github/stars/hexfellow/hex_zmq_servers?style=flat-square&logo=github" />
|
|
49
|
+
</a>
|
|
50
|
+
<a href="https://github.com/hexfellow/hex_zmq_servers/forks">
|
|
51
|
+
<img src="https://img.shields.io/github/forks/hexfellow/hex_zmq_servers?style=flat-square&logo=github" />
|
|
52
|
+
</a>
|
|
53
|
+
<a href="https://doi.org/10.5281/zenodo.18309954">
|
|
54
|
+
<img src="https://zenodo.org/badge/1088506315.svg" alt="DOI">
|
|
55
|
+
</a>
|
|
56
|
+
|
|
57
|
+
<a href="https://github.com/hexfellow/hex_zmq_servers/issues">
|
|
58
|
+
<img src="https://img.shields.io/github/issues/hexfellow/hex_zmq_servers?style=flat-square&logo=github" />
|
|
59
|
+
</a>
|
|
60
|
+
</p>
|
|
61
|
+
|
|
62
|
+
---
|
|
63
|
+
|
|
64
|
+
# 📖 Overview
|
|
65
|
+
|
|
66
|
+
## What is `hex_zmq_servers`
|
|
67
|
+
|
|
68
|
+
`hex_zmq_servers` provides a client–server layer on top of ZeroMQ to control and stream data from HEXFELLOW hardware (robots, RGB/RGB-D cameras) and MuJoCo-based simulators. Servers run device logic and command loops; clients send requests (e.g. `get_rgb`, `get_state`, `set_target`) and receive headers plus optional binary buffers (e.g. images, joint state).
|
|
69
|
+
|
|
70
|
+
## What problem it solves
|
|
71
|
+
|
|
72
|
+
- **Decoupled control**: Run device drivers and control loops in separate processes; clients connect over TCP.
|
|
73
|
+
- **Unified transport**: All devices use the same ZMQ request/response pattern (JSON header + NumPy buffer).
|
|
74
|
+
- **Multi-node management**: `HexLaunch` and `HexNodeConfig` start and monitor multiple server/client nodes from one process.
|
|
75
|
+
|
|
76
|
+
## Target users
|
|
77
|
+
|
|
78
|
+
- Engineers integrating HEXFELLOW robots into their systems.
|
|
79
|
+
- Researchers running experiments with HEXFELLOW robots.
|
|
80
|
+
|
|
81
|
+
---
|
|
82
|
+
|
|
83
|
+
# 📦 Installation
|
|
84
|
+
|
|
85
|
+
## Requirements
|
|
86
|
+
|
|
87
|
+
- **Python**
|
|
88
|
+
- **OS**: `Linux` / `macOS`
|
|
89
|
+
- **Core dependencies**:
|
|
90
|
+
- `pyzmq`
|
|
91
|
+
- `hex_device`
|
|
92
|
+
- `hex_robo_utils`
|
|
93
|
+
- `opencv-python`
|
|
94
|
+
|
|
95
|
+
Optional device support (install via extras):
|
|
96
|
+
|
|
97
|
+
| Extra | Purpose |
|
|
98
|
+
| ----------- | ----------------------------------------------- |
|
|
99
|
+
| `berxel` | Berxel RGB-D: `berxel_py_wrapper` |
|
|
100
|
+
| `realsense` | RealSense RGB-D: `pyrealsense2` |
|
|
101
|
+
| `dynamixel` | Dynamixel: `dynamixel-sdk` |
|
|
102
|
+
| `mujoco` | MuJoCo sims: `mujoco` |
|
|
103
|
+
| `all` | `berxel` + `dynamixel` + `realsense` + `mujoco` |
|
|
104
|
+
|
|
105
|
+
## Install from PyPI
|
|
106
|
+
|
|
107
|
+
For those who don't need examples, you can install the package from PyPI.
|
|
108
|
+
|
|
109
|
+
- **Full install**: includes all optional devices (Berxel, RealSense, Dynamixel, MuJoCo)
|
|
110
|
+
|
|
111
|
+
```bash
|
|
112
|
+
pip install hex_zmq_servers[all]
|
|
113
|
+
```
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114
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+
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115
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+
- **Core install**: only the core package (no optional devices)
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116
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+
|
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117
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+
```bash
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118
|
+
pip install hex_zmq_servers
|
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|
+
```
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|
120
|
+
|
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121
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+
## Install from Source
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122
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+
|
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123
|
+
For those who need examples, you can install the package from source code with examples.
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124
|
+
|
|
125
|
+
**Noet**: We use [**uv**](https://github.com/astral-sh/uv) to manage the Python environment. Please install it first.
|
|
126
|
+
|
|
127
|
+
1. Clone and install in editable mode. The `venv.sh` script expects [uv](https://github.com/astral-sh/uv).
|
|
128
|
+
|
|
129
|
+
```bash
|
|
130
|
+
git clone https://github.com/hexfellow/hex_zmq_servers.git
|
|
131
|
+
cd hex_zmq_servers
|
|
132
|
+
./venv.sh
|
|
133
|
+
```
|
|
134
|
+
|
|
135
|
+
- `./venv.sh` — creates `.venv`, installs `hex_zmq_servers` with `[all]` and `examples/adv/requirements.txt` (e.g. `pygame` for some examples).
|
|
136
|
+
- `./venv.sh --min` — installs the core package only (no optional device extras). Some examples will not run.
|
|
137
|
+
- `./venv.sh --pkg-only` — installs the package only, skips example-related dependencies.
|
|
138
|
+
|
|
139
|
+
2. Activate before running examples:
|
|
140
|
+
|
|
141
|
+
```bash
|
|
142
|
+
source .venv/bin/activate
|
|
143
|
+
```
|
|
144
|
+
|
|
145
|
+
---
|
|
146
|
+
|
|
147
|
+
# 📚 Tutorial
|
|
148
|
+
|
|
149
|
+
See [**Tutorial**](docs/tutorial.md) for details of all tutorials.
|
|
150
|
+
|
|
151
|
+
# 📑 API
|
|
152
|
+
|
|
153
|
+
See [**API**](docs/api.md) for details of all APIs.
|
|
154
|
+
|
|
155
|
+
# 💡 Example
|
|
156
|
+
|
|
157
|
+
See [**Example**](docs/example.md) for details of all examples.
|
|
158
|
+
|
|
159
|
+
---
|
|
160
|
+
|
|
161
|
+
# 🏷️ Citation
|
|
162
|
+
|
|
163
|
+
If you want to cite this project in your work, you can use the following BibTeX entry:
|
|
164
|
+
|
|
165
|
+
```bibtex
|
|
166
|
+
@software{hex_zmq_servers,
|
|
167
|
+
author = {Dong, Zhaorui and Chen, Zejun},
|
|
168
|
+
title = {Hex ZMQ Servers: A ZeroMQ-Based Embodied AI Communication Framework},
|
|
169
|
+
year = {2025},
|
|
170
|
+
publisher = {Zenodo},
|
|
171
|
+
version = {v1.0.0},
|
|
172
|
+
doi = {10.5281/zenodo.18309960},
|
|
173
|
+
url = {https://doi.org/10.5281/zenodo.18309960}
|
|
174
|
+
}
|
|
175
|
+
```
|
|
176
|
+
|
|
177
|
+
---
|
|
178
|
+
|
|
179
|
+
# 📄 License
|
|
180
|
+
|
|
181
|
+
Apache License 2.0. See [LICENSE](LICENSE).
|
|
182
|
+
|
|
183
|
+
---
|
|
184
|
+
|
|
185
|
+
# 🌟 Star History
|
|
186
|
+
|
|
187
|
+
[](https://star-history.com/#hexfellow/hex_zmq_servers&Date)
|
|
188
|
+
|
|
189
|
+
---
|
|
190
|
+
|
|
191
|
+
# 👥 Contributors
|
|
192
|
+
|
|
193
|
+
<a href="https://github.com/hexfellow/hex_zmq_servers/graphs/contributors">
|
|
194
|
+
<img src="https://contrib.rocks/image?repo=hexfellow/hex_zmq_servers" />
|
|
195
|
+
</a>
|