PyPI - hex-zmq-servers - Versions diffs - 0.3.1__tar.gz → 0.3.2__tar.gz - Mend

hex-zmq-servers 0.3.1tar.gz → 0.3.2tar.gz

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.

Files changed (106) hide show

{hex_zmq_servers-0.3.1/hex_zmq_servers.egg-info → hex_zmq_servers-0.3.2}/PKG-INFO RENAMED Viewed

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: hex_zmq_servers
-Version: 0.3.1
+Version: 0.3.2
 Summary: HEXFELLOW ZMQ Servers
 Author-email: Dong Zhaorui <joray.dong@hexfellow.com>
 Maintainer-email: jecjune <zejun.chen@hexfellow.com>, Dong Zhaorui <joray.dong@hexfellow.com>
@@ -27,13 +27,13 @@ Requires-Dist: hex_device<1.4.0,>=1.3.1
 Requires-Dist: hex_robo_utils<0.3.0,>=0.2.0
 Requires-Dist: dynamixel-sdk==3.8.4
 Provides-Extra: camera
-Requires-Dist: berxel_py_wrapper>=2.0; extra == "camera"
+Requires-Dist: berxel_py_wrapper>=2.0.182; extra == "camera"
 Requires-Dist: opencv-python>=4.2; extra == "camera"
 Provides-Extra: mujoco
 Requires-Dist: mujoco>=3.3.3; extra == "mujoco"
 Requires-Dist: opencv-python>=4.2; extra == "mujoco"
 Provides-Extra: all
-Requires-Dist: berxel_py_wrapper>=2.0; extra == "all"
+Requires-Dist: berxel_py_wrapper>=2.0.182; extra == "all"
 Requires-Dist: mujoco>=3.3.3; extra == "all"
 Requires-Dist: opencv-python>=4.2; extra == "all"
 Dynamic: license-file

{hex_zmq_servers-0.3.1 → hex_zmq_servers-0.3.2}/hex_zmq_servers/cam/berxel/cam_berxel.py RENAMED Viewed

@@ -178,7 +178,7 @@ class HexCamBerxel(HexCamBase):
                     device_idx = idx
                     break
             if device_idx == -1:
-                print("can not find device with serial number")
+                print(f"can not find device with serial number: {serial_number}")
                 print("available device serial numbers:")
                 for device in device_list:
                     print(f"{device.serialNumber}")
@@ -253,7 +253,7 @@ class HexCamBerxel(HexCamBase):
         if self.__device is None:
             return
-        ret = self.__context.clsoeDevice(self.__device)
+        ret = self.__context.closeDevice(self.__device)
         if ret == 0:
             print("clsoe device succeed")
         else:

{hex_zmq_servers-0.3.1 → hex_zmq_servers-0.3.2}/hex_zmq_servers/mujoco/archer_y6/model/robot.xml RENAMED Viewed

@@ -28,14 +28,14 @@
                         <geom type="mesh" rgba="0.792157 0.792157 0.792157 1" mesh="arm_link_4"/>
                         # link 5
-                        <body name="link_5" pos="-0.0553006 0 0.07025">
+                        <body name="link_5" pos="-0.0553 0 0.070">
                             <inertial pos="0.0292 0.0001 -0.0107" quat="0.707107 0 0 0.707107" mass="0.3984" diaginertia="0.0003 0.0002 0.0002"/>
                             <joint name="joint_5" pos="0 0 0" axis="-1 0 0" range="-1.57 1.57" limited="true" armature="0.1" damping="3.0" frictionloss="1.0"/>
                             <geom type="mesh" rgba="0.898039 0.917647 0.929412 1" mesh="arm_link_5"/>
                             # gripper base link
-                            <body name="gripper_base_link" pos="0.0578 0 0.02895" quat="0.707107 0.0 -0.707107 0.0">
-                                <inertial pos="-0.0139 0.0001 0.0578" quat="0.567843 0.421372 0.421372 0.567843" mass="0.7651" diaginertia="0.0021 0.00143028 0.00106972"/>
+                            <body name="gripper_base_link" pos="0.0553 0 0.029" quat="0.707107 0.0 -0.707107 0.0">
+                                <inertial pos="-0.0139 0.0001 0.0553" quat="0.567843 0.421372 0.421372 0.567843" mass="0.7651" diaginertia="0.0021 0.00143028 0.00106972"/>
                                 <joint name="joint_6" pos="0 0 0" axis="1 0 0" range="-1.57 1.57" limited="true" armature="0.1" damping="3.0" frictionloss="1.0"/>
                                 <geom type="mesh" rgba="1 1 1 1" mesh="gripper_base_link"/>
                                 <geom pos="0.04 0 0.12" quat="0.6830127 0.6830127 0.1830127 -0.1830127" type="mesh" rgba="0.1 0.1 0.1 1" mesh="camera_link" />

{hex_zmq_servers-0.3.1 → hex_zmq_servers-0.3.2}/hex_zmq_servers/mujoco/mujoco_base.py RENAMED Viewed

@@ -156,34 +156,11 @@ class HexMujocoClientBase(HexZMQClientBase):
             print(f"\033[91m{req_cmd} failed: {e}\033[0m")
             return None, None
-    def get_obj_pose(self):
-        hdr, obj_pose = self.request({
-            "cmd":
-            "get_obj_pose",
-            "args": (1 + self._obj_pose_seq) % self._max_seq_num,
-        })
-        try:
-            cmd = hdr["cmd"]
-            if cmd == "get_obj_pose_ok":
-                self._obj_pose_seq = hdr["args"]
-                return hdr, obj_pose
-            else:
-                return None, None
-        except KeyError:
-            print(f"\033[91m{hdr['cmd']} requires `cmd`\033[0m")
-            return None, None
-        except Exception as e:
-            print(f"\033[91mget_obj_pose failed: {e}\033[0m")
-            return None, None
     def set_cmds(
         self,
         cmds: np.ndarray,
-        robot_name: str | None = None,
     ) -> bool:
         req_cmd = "set_cmds"
-        if robot_name is not None:
-            req_cmd += f"_{robot_name}"
         hdr, _ = self.request(
             {
                 "cmd": req_cmd,

{hex_zmq_servers-0.3.1 → hex_zmq_servers-0.3.2}/hex_zmq_servers/robot/hexarm/urdf/archer_y6/empty.urdf RENAMED Viewed

@@ -77,7 +77,7 @@
         </collision>
     </link>
     <joint name="joint_2" type="revolute">
-        <origin xyz="0.0199999999999999 0 0.0450000000000004" rpy="0 0 0" />
+        <origin xyz="0.02 0 0.045" rpy="0 0 0" />
         <parent link="link_1" />
         <child link="link_2" />
         <axis xyz="0 1 0" />
@@ -137,7 +137,7 @@
         </collision>
     </link>
     <joint name="joint_4" type="revolute">
-        <origin xyz="-0.0599999999999998 0 0.245" rpy="0 0 0" />
+        <origin xyz="-0.06 0 0.245" rpy="0 0 0" />
         <parent link="link_3" />
         <child link="link_4" />
         <axis xyz="0 1 0" />
@@ -167,7 +167,7 @@
         </collision>
     </link>
     <joint name="joint_5" type="revolute">
-        <origin xyz="-0.0553005693392305 0 0.0702500000000025" rpy="0 0 0" />
+        <origin xyz="-0.0553 0 0.070" rpy="0 0 0" />
         <parent link="link_4" />
         <child link="link_5" />
         <axis xyz="-1 0 0" />
@@ -197,7 +197,7 @@
         </collision>
     </link>
     <joint name="joint_6" type="revolute">
-        <origin xyz="0.0578000000000073 0 0.0289500000000001" rpy="0 0 0" />
+        <origin xyz="0.0553 0 0.029" rpy="0 0 0" />
         <parent link="link_5" />
         <child link="link_6" />
         <axis xyz="0 0 1" />

{hex_zmq_servers-0.3.1 → hex_zmq_servers-0.3.2}/hex_zmq_servers/robot/hexarm/urdf/archer_y6/gp100.urdf RENAMED Viewed

@@ -77,7 +77,7 @@
         </collision>
     </link>
     <joint name="joint_2" type="revolute">
-        <origin xyz="0.0199999999999999 0 0.0450000000000004" rpy="0 0 0" />
+        <origin xyz="0.02 0 0.045" rpy="0 0 0" />
         <parent link="link_1" />
         <child link="link_2" />
         <axis xyz="0 1 0" />
@@ -137,7 +137,7 @@
         </collision>
     </link>
     <joint name="joint_4" type="revolute">
-        <origin xyz="-0.0599999999999998 0 0.245" rpy="0 0 0" />
+        <origin xyz="-0.06 0 0.245" rpy="0 0 0" />
         <parent link="link_3" />
         <child link="link_4" />
         <axis xyz="0 1 0" />
@@ -167,7 +167,7 @@
         </collision>
     </link>
     <joint name="joint_5" type="revolute">
-        <origin xyz="-0.0553005693392305 0 0.0702500000000025" rpy="0 0 0" />
+        <origin xyz="-0.0553 0 0.070" rpy="0 0 0" />
         <parent link="link_4" />
         <child link="link_5" />
         <axis xyz="-1 0 0" />
@@ -197,7 +197,7 @@
         </collision>
     </link>
     <joint name="joint_6" type="revolute">
-        <origin xyz="0.0578000000000073 0 0.0289500000000001" rpy="0 0 0" />
+        <origin xyz="0.0553 0 0.029" rpy="0 0 0" />
         <parent link="link_5" />
         <child link="link_6" />
         <axis xyz="0 0 1" />

{hex_zmq_servers-0.3.1 → hex_zmq_servers-0.3.2}/hex_zmq_servers/robot/hexarm/urdf/archer_y6/gp100_handle.urdf RENAMED Viewed

@@ -77,7 +77,7 @@
         </collision>
     </link>
     <joint name="joint_2" type="revolute">
-        <origin xyz="0.0199999999999999 0 0.0450000000000004" rpy="0 0 0" />
+        <origin xyz="0.02 0 0.045" rpy="0 0 0" />
         <parent link="link_1" />
         <child link="link_2" />
         <axis xyz="0 1 0" />
@@ -137,7 +137,7 @@
         </collision>
     </link>
     <joint name="joint_4" type="revolute">
-        <origin xyz="-0.0599999999999998 0 0.245" rpy="0 0 0" />
+        <origin xyz="-0.06 0 0.245" rpy="0 0 0" />
         <parent link="link_3" />
         <child link="link_4" />
         <axis xyz="0 1 0" />
@@ -167,7 +167,7 @@
         </collision>
     </link>
     <joint name="joint_5" type="revolute">
-        <origin xyz="-0.0553005693392305 0 0.0702500000000025" rpy="0 0 0" />
+        <origin xyz="-0.0553 0 0.070" rpy="0 0 0" />
         <parent link="link_4" />
         <child link="link_5" />
         <axis xyz="-1 0 0" />
@@ -197,7 +197,7 @@
         </collision>
     </link>
     <joint name="joint_6" type="revolute">
-        <origin xyz="0.0578000000000073 0 0.0289500000000001" rpy="0 0 0" />
+        <origin xyz="0.0553 0 0.029" rpy="0 0 0" />
         <parent link="link_5" />
         <child link="link_6" />
         <axis xyz="0 0 1" />

{hex_zmq_servers-0.3.1 → hex_zmq_servers-0.3.2}/hex_zmq_servers/robot/hexarm/urdf/archer_y6/gp100_p050.urdf RENAMED Viewed

@@ -77,7 +77,7 @@
         </collision>
     </link>
     <joint name="joint_2" type="revolute">
-        <origin xyz="0.0199999999999999 0 0.0450000000000004" rpy="0 0 0" />
+        <origin xyz="0.02 0 0.045" rpy="0 0 0" />
         <parent link="link_1" />
         <child link="link_2" />
         <axis xyz="0 1 0" />
@@ -137,7 +137,7 @@
         </collision>
     </link>
     <joint name="joint_4" type="revolute">
-        <origin xyz="-0.0599999999999998 0 0.245" rpy="0 0 0" />
+        <origin xyz="-0.06 0 0.245" rpy="0 0 0" />
         <parent link="link_3" />
         <child link="link_4" />
         <axis xyz="0 1 0" />
@@ -167,7 +167,7 @@
         </collision>
     </link>
     <joint name="joint_5" type="revolute">
-        <origin xyz="-0.0553005693392305 0 0.0702500000000025" rpy="0 0 0" />
+        <origin xyz="-0.0553 0 0.070" rpy="0 0 0" />
         <parent link="link_4" />
         <child link="link_5" />
         <axis xyz="-1 0 0" />
@@ -197,7 +197,7 @@
         </collision>
     </link>
     <joint name="joint_6" type="revolute">
-        <origin xyz="0.0578000000000073 0 0.0289500000000001" rpy="0 0 0" />
+        <origin xyz="0.0553 0 0.029" rpy="0 0 0" />
         <parent link="link_5" />
         <child link="link_6" />
         <axis xyz="0 0 1" />

{hex_zmq_servers-0.3.1 → hex_zmq_servers-0.3.2}/hex_zmq_servers/robot/hexarm/urdf/archer_y6/gp100_p050_handle.urdf RENAMED Viewed

@@ -77,7 +77,7 @@
         </collision>
     </link>
     <joint name="joint_2" type="revolute">
-        <origin xyz="0.0199999999999999 0 0.0450000000000004" rpy="0 0 0" />
+        <origin xyz="0.02 0 0.045" rpy="0 0 0" />
         <parent link="link_1" />
         <child link="link_2" />
         <axis xyz="0 1 0" />
@@ -137,7 +137,7 @@
         </collision>
     </link>
     <joint name="joint_4" type="revolute">
-        <origin xyz="-0.0599999999999998 0 0.245" rpy="0 0 0" />
+        <origin xyz="-0.06 0 0.245" rpy="0 0 0" />
         <parent link="link_3" />
         <child link="link_4" />
         <axis xyz="0 1 0" />
@@ -167,7 +167,7 @@
         </collision>
     </link>
     <joint name="joint_5" type="revolute">
-        <origin xyz="-0.0553005693392305 0 0.0702500000000025" rpy="0 0 0" />
+        <origin xyz="-0.0553 0 0.070" rpy="0 0 0" />
         <parent link="link_4" />
         <child link="link_5" />
         <axis xyz="-1 0 0" />
@@ -197,7 +197,7 @@
         </collision>
     </link>
     <joint name="joint_6" type="revolute">
-        <origin xyz="0.0578000000000073 0 0.0289500000000001" rpy="0 0 0" />
+        <origin xyz="0.0553 0 0.029" rpy="0 0 0" />
         <parent link="link_5" />
         <child link="link_6" />
         <axis xyz="0 0 1" />

{hex_zmq_servers-0.3.1 → hex_zmq_servers-0.3.2}/hex_zmq_servers/zmq_base.py RENAMED Viewed

@@ -41,11 +41,14 @@ def hex_zmq_ts_delta_ms(curr_ts, hdr_ts) -> float:
 class HexRate:
-    def __init__(self, hz: float):
+    def __init__(self, hz: float, spin_threshold_ns: int = 1_000_000):
         if hz <= 0:
             raise ValueError("hz must be greater than 0")
+        if spin_threshold_ns < 0:
+            raise ValueError("spin_threshold_ns must be non-negative")
         self.__period_ns = int(1_000_000_000 / hz)
         self.__next_ns = self.__now_ns() + self.__period_ns
+        self.__spin_threshold_ns = spin_threshold_ns
     @staticmethod
     def __now_ns() -> int:
@@ -55,14 +58,27 @@ class HexRate:
         self.__next_ns = self.__now_ns() + self.__period_ns
     def sleep(self):
-        start_ns = self.__now_ns()
-        remain_ns = self.__next_ns - start_ns
-        if remain_ns > 0:
-            time.sleep(remain_ns / 1_000_000_000.0)
-            self.__next_ns += self.__period_ns
-        else:
-            needed_period = (start_ns - self.__next_ns) // self.__period_ns + 1
+        target_ns = self.__next_ns
+        now_ns = self.__now_ns()
+        remain_ns = target_ns - now_ns
+        if remain_ns <= 0:
+            needed_period = (now_ns - target_ns) // self.__period_ns + 1
             self.__next_ns += needed_period * self.__period_ns
+            return
+        spin_threshold = min(self.__spin_threshold_ns, self.__period_ns)
+        coarse_sleep_ns = remain_ns - spin_threshold
+        if coarse_sleep_ns > 0:
+            time.sleep(coarse_sleep_ns / 1_000_000_000.0)
+        while True:
+            now_ns = self.__now_ns()
+            if now_ns >= target_ns:
+                break
+            if target_ns - now_ns > 50_000:
+                time.sleep(0)
+        self.__next_ns += self.__period_ns
 ################################################################

{hex_zmq_servers-0.3.1 → hex_zmq_servers-0.3.2/hex_zmq_servers.egg-info}/PKG-INFO RENAMED Viewed

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: hex_zmq_servers
-Version: 0.3.1
+Version: 0.3.2
 Summary: HEXFELLOW ZMQ Servers
 Author-email: Dong Zhaorui <joray.dong@hexfellow.com>
 Maintainer-email: jecjune <zejun.chen@hexfellow.com>, Dong Zhaorui <joray.dong@hexfellow.com>
@@ -27,13 +27,13 @@ Requires-Dist: hex_device<1.4.0,>=1.3.1
 Requires-Dist: hex_robo_utils<0.3.0,>=0.2.0
 Requires-Dist: dynamixel-sdk==3.8.4
 Provides-Extra: camera
-Requires-Dist: berxel_py_wrapper>=2.0; extra == "camera"
+Requires-Dist: berxel_py_wrapper>=2.0.182; extra == "camera"
 Requires-Dist: opencv-python>=4.2; extra == "camera"
 Provides-Extra: mujoco
 Requires-Dist: mujoco>=3.3.3; extra == "mujoco"
 Requires-Dist: opencv-python>=4.2; extra == "mujoco"
 Provides-Extra: all
-Requires-Dist: berxel_py_wrapper>=2.0; extra == "all"
+Requires-Dist: berxel_py_wrapper>=2.0.182; extra == "all"
 Requires-Dist: mujoco>=3.3.3; extra == "all"
 Requires-Dist: opencv-python>=4.2; extra == "all"
 Dynamic: license-file

{hex_zmq_servers-0.3.1 → hex_zmq_servers-0.3.2}/hex_zmq_servers.egg-info/requires.txt RENAMED Viewed

@@ -4,12 +4,12 @@ hex_robo_utils<0.3.0,>=0.2.0
 dynamixel-sdk==3.8.4
 [all]
-berxel_py_wrapper>=2.0
+berxel_py_wrapper>=2.0.182
 mujoco>=3.3.3
 opencv-python>=4.2
 [camera]
-berxel_py_wrapper>=2.0
+berxel_py_wrapper>=2.0.182
 opencv-python>=4.2
 [mujoco]

{hex_zmq_servers-0.3.1 → hex_zmq_servers-0.3.2}/pyproject.toml RENAMED Viewed

@@ -4,7 +4,7 @@ build-backend = "setuptools.build_meta"
 [project]
 name = "hex_zmq_servers"
-version = "0.3.1"
+version = "0.3.2"
 description = "HEXFELLOW ZMQ Servers"
 readme = "README.md"
 license = "Apache-2.0"
@@ -34,9 +34,9 @@ classifiers = [
 ]
 [project.optional-dependencies]
-camera = ["berxel_py_wrapper>=2.0", "opencv-python>=4.2"]
+camera = ["berxel_py_wrapper>=2.0.182", "opencv-python>=4.2"]
 mujoco = ["mujoco>=3.3.3", "opencv-python>=4.2"]
-all = ["berxel_py_wrapper>=2.0", "mujoco>=3.3.3", "opencv-python>=4.2"]
+all = ["berxel_py_wrapper>=2.0.182", "mujoco>=3.3.3", "opencv-python>=4.2"]
 [project.urls]
 Homepage = "https://github.com/hexfellow/hex_zmq_servers"