hex-zmq-servers 0.3.2__py3-none-any.whl → 0.3.4__py3-none-any.whl

hex_zmq_servers/robot/gello/robot_gello.py

@@ -11,13 +11,13 @@ import subprocess
 import time
 import threading
 import numpy as np
+from collections import deque
 
 from ..robot_base import HexRobotBase
 from ...zmq_base import (
     hex_zmq_ts_now,
     hex_zmq_ts_delta_ms,
     HexRate,
-    HexSafeValue,
 )
 from ...hex_launch import hex_log, HEX_LOG_LEVEL
 from dynamixel_sdk.group_sync_read import GroupSyncRead
@@ -104,10 +104,10 @@ class HexRobotGello(HexRobotBase):
         # start work loop
         self._working.set()
 
-    def work_loop(self, hex_values: list[HexSafeValue | threading.Event]):
-        states_value = hex_values[0]
-        cmds_value = hex_values[1]
-        stop_event = hex_values[2]
+    def work_loop(self, hex_queues: list[deque | threading.Event]):
+        states_queue = hex_queues[0]
+        cmds_queue = hex_queues[1]
+        stop_event = hex_queues[2]
 
         states_count = 0
         last_cmds_seq = -1
@@ -116,11 +116,15 @@ class HexRobotGello(HexRobotBase):
             # states
             ts, states = self.__get_states()
             if states is not None:
-                states_value.set((ts, states_count, states))
+                states_queue.append((ts, states_count, states))
                 states_count = (states_count + 1) % self._max_seq_num
 
             # cmds
-            cmds_pack = cmds_value.get(timeout_s=-1.0)
+            cmds_pack = None
+            try:
+                cmds_pack = cmds_queue.popleft()
+            except IndexError:
+                pass
             if cmds_pack is not None:
                 ts, seq, cmds = cmds_pack
                 if seq != last_cmds_seq:

hex_zmq_servers/robot/gello/robot_gello_cli.py

@@ -24,3 +24,4 @@ class HexRobotGelloClient(HexRobotClientBase):
         net_config: dict = NET_CONFIG,
     ):
         HexRobotClientBase.__init__(self, net_config)
+        self._wait_for_working()

hex_zmq_servers/robot/hexarm/robot_hexarm.py

@@ -9,13 +9,13 @@
 import time
 import threading
 import numpy as np
+from collections import deque
 
 from ..robot_base import HexRobotBase
 from ...zmq_base import (
     hex_zmq_ts_now,
     hex_zmq_ts_delta_ms,
     HexRate,
-    HexSafeValue,
 )
 from ...hex_launch import hex_log, HEX_LOG_LEVEL
 from hex_device import HexDeviceApi, MotorBase
@@ -73,6 +73,10 @@ class HexRobotHexarm(HexRobotBase):
         self.__arm_archer: MotorBase | None = None
         self.__gripper: MotorBase | None = None
 
+        # buffer
+        self.__arm_state_buffer: dict | None = None
+        self.__gripper_state_buffer: dict | None = None
+
         # open device
         self.__hex_api = HexDeviceApi(
             ws_url=f"ws://{device_ip}:{device_port}",
@@ -122,26 +126,30 @@ class HexRobotHexarm(HexRobotBase):
         # start work loop
         self._working.set()
 
-    def work_loop(self, hex_values: list[HexSafeValue | threading.Event]):
-        states_value = hex_values[0]
-        cmds_value = hex_values[1]
-        stop_event = hex_values[2]
+    def work_loop(self, hex_queues: list[deque | threading.Event]):
+        states_queue = hex_queues[0]
+        cmds_queue = hex_queues[1]
+        stop_event = hex_queues[2]
 
         last_states_ts = hex_zmq_ts_now()
         states_count = 0
         last_cmds_seq = -1
-        rate = HexRate(1000)
+        rate = HexRate(2000)
         while self._working.is_set() and not stop_event.is_set():
             # states
             ts, states = self.__get_states()
             if states is not None:
-                if hex_zmq_ts_delta_ms(ts, last_states_ts) > 1.0:
+                if hex_zmq_ts_delta_ms(ts, last_states_ts) > 1e-6:
                     last_states_ts = ts
-                    states_value.set((ts, states_count, states))
+                    states_queue.append((ts, states_count, states))
                     states_count = (states_count + 1) % self._max_seq_num
 
             # cmds
-            cmds_pack = cmds_value.get(timeout_s=-1.0)
+            cmds_pack = None
+            try:
+                cmds_pack = cmds_queue.popleft()
+            except IndexError:
+                pass
             if cmds_pack is not None:
                 ts, seq, cmds = cmds_pack
                 if seq != last_cmds_seq:
@@ -160,22 +168,47 @@ class HexRobotHexarm(HexRobotBase):
             return None, None
 
         # (arm_dofs, 3) # pos vel eff
-        arm_states_dict = self.__arm_archer.get_simple_motor_status()
-        pos = arm_states_dict['pos']
-        vel = arm_states_dict['vel']
-        eff = arm_states_dict['eff']
-        ts = arm_states_dict['ts']
+        if self.__arm_state_buffer is None:
+            self.__arm_state_buffer = self.__arm_archer.get_simple_motor_status(
+            )
 
         # (gripper_dofs, 3) # pos vel eff
-        if self.__gripper is not None:
-            gripper_states_dict = self.__gripper.get_simple_motor_status()
-            pos += gripper_states_dict['pos']
-            vel += gripper_states_dict['vel']
-            eff += gripper_states_dict['eff']
+        if self.__gripper is not None and self.__gripper_state_buffer is None:
+            self.__gripper_state_buffer = self.__gripper.get_simple_motor_status(
+            )
+
+        arm_ready = self.__arm_state_buffer is not None
+        gripper_ready = self.__gripper is None or self.__gripper_state_buffer is not None
+        if arm_ready and gripper_ready:
+            arm_ts = self.__arm_state_buffer['ts']
+            gripper_ts = self.__gripper_state_buffer[
+                'ts'] if self.__gripper is not None else arm_ts
+
+            delta_ms = hex_zmq_ts_delta_ms(arm_ts, gripper_ts)
+            if np.fabs(delta_ms) < 1e-6:
+                pos = self.__arm_state_buffer['pos']
+                vel = self.__arm_state_buffer['vel']
+                eff = self.__arm_state_buffer['eff']
+
+                if self.__gripper is not None:
+                    pos = np.concatenate(
+                        [pos, self.__gripper_state_buffer['pos']])
+                    vel = np.concatenate(
+                        [vel, self.__gripper_state_buffer['vel']])
+                    eff = np.concatenate(
+                        [eff, self.__gripper_state_buffer['eff']])
+
+                state = np.array([pos, vel, eff]).T
+                self.__arm_state_buffer, self.__gripper_state_buffer = None, None
+                return arm_ts if self.__sens_ts else hex_zmq_ts_now(), state
+            elif delta_ms > 0.0:
+                self.__gripper_state_buffer = None
+                return None, None
+            else:
+                self.__arm_state_buffer = None
+                return None, None
 
-        pos, vel, eff = np.asarray(pos), np.asarray(vel), np.asarray(eff)
-        return ts if self.__sens_ts else hex_zmq_ts_now(), np.array(
-            [pos, vel, eff]).T
+        return None, None
 
     def __set_cmds(self, cmds: np.ndarray) -> bool:
         # cmds: (n)
@@ -254,5 +287,6 @@ class HexRobotHexarm(HexRobotBase):
             return
         self._working.clear()
         self.__arm_archer.stop()
+        time.sleep(0.5)
         self.__hex_api.close()
         hex_log(HEX_LOG_LEVEL["info"], "HexRobotHexarm closed")

hex_zmq_servers/robot/hexarm/robot_hexarm_cli.py

@@ -32,3 +32,4 @@ class HexRobotHexarmClient(HexRobotClientBase):
         net_config: dict = NET_CONFIG,
     ):
         HexRobotClientBase.__init__(self, net_config)
+        self._wait_for_working()

hex_zmq_servers/robot/robot_base.py

@@ -8,12 +8,13 @@
 
 import threading
 import numpy as np
+from collections import deque
 from abc import abstractmethod
 
 from ..device_base import HexDeviceBase
 from ..zmq_base import (
     hex_zmq_ts_now,
-    HexSafeValue,
+    HexRate,
     HexZMQClientBase,
     HexZMQServerBase,
 )
@@ -82,7 +83,7 @@ class HexRobotBase(HexDeviceBase):
         return normed_rads
 
     @abstractmethod
-    def work_loop(self, hex_values: list[HexSafeValue | threading.Event]):
+    def work_loop(self, hex_queues: list[deque | threading.Event]):
         raise NotImplementedError(
             "`work_loop` should be implemented by the child class")
 
@@ -98,6 +99,8 @@ class HexRobotClientBase(HexZMQClientBase):
         HexZMQClientBase.__init__(self, net_config)
         self._states_seq = 0
         self._cmds_seq = 0
+        self._states_queue = deque(maxlen=10)
+        self._cmds_queue = deque(maxlen=10)
 
     def __del__(self):
         HexZMQClientBase.__del__(self)
@@ -114,7 +117,17 @@ class HexRobotClientBase(HexZMQClientBase):
         _, limits = self.request({"cmd": "get_limits"})
         return limits
 
-    def get_states(self):
+    def get_states(self, newest: bool = False):
+        try:
+            return self._states_queue.popleft(
+            ) if not newest else self._states_queue[-1]
+        except IndexError:
+            return None, None
+
+    def set_cmds(self, cmds: np.ndarray):
+        self._cmds_queue.append(cmds)
+
+    def _get_states_inner(self):
         hdr, states = self.request({
             "cmd":
             "get_states",
@@ -134,7 +147,7 @@ class HexRobotClientBase(HexZMQClientBase):
             print(f"\033[91mget_states failed: {e}\033[0m")
             return None, None
 
-    def set_cmds(self, cmds: np.ndarray) -> bool:
+    def _set_cmds_inner(self, cmds: np.ndarray) -> bool:
         hdr, _ = self.request(
             {
                 "cmd": "set_cmds",
@@ -158,14 +171,29 @@ class HexRobotClientBase(HexZMQClientBase):
             print(f"\033[91mset_cmds failed: {e}\033[0m")
             return False
 
+    def _recv_loop(self):
+        rate = HexRate(2000)
+        while self._recv_flag:
+            hdr, states = self._get_states_inner()
+            if hdr is not None:
+                self._states_queue.append((hdr, states))
+
+            try:
+                cmds = self._cmds_queue.popleft()
+                _ = self._set_cmds_inner(cmds)
+            except IndexError:
+                pass
+
+            rate.sleep()
+
 
 class HexRobotServerBase(HexZMQServerBase):
 
     def __init__(self, net_config: dict = NET_CONFIG):
         HexZMQServerBase.__init__(self, net_config)
         self._device: HexDeviceBase = None
-        self._states_value = HexSafeValue()
-        self._cmds_value = HexSafeValue()
+        self._states_queue = deque(maxlen=10)
+        self._cmds_queue = deque(maxlen=10)
         self._cmds_seq = -1
         self._seq_clear_flag = False
 
@@ -176,8 +204,8 @@ class HexRobotServerBase(HexZMQServerBase):
     def work_loop(self):
         try:
             self._device.work_loop([
-                self._states_value,
-                self._cmds_value,
+                self._states_queue,
+                self._cmds_queue,
                 self._stop_event,
             ])
         finally:
@@ -195,7 +223,9 @@ class HexRobotServerBase(HexZMQServerBase):
             return {"cmd": f"{recv_hdr['cmd']}_failed"}, None
 
         try:
-            ts, count, states = self._states_value.get()
+            ts, count, states = self._states_queue.popleft()
+        except IndexError:
+            return {"cmd": f"{recv_hdr['cmd']}_failed"}, None
         except Exception as e:
             print(f"\033[91m{recv_hdr['cmd']} failed: {e}\033[0m")
             return {"cmd": f"{recv_hdr['cmd']}_failed"}, None
@@ -221,7 +251,7 @@ class HexRobotServerBase(HexZMQServerBase):
             delta = (seq - self._cmds_seq) % self._max_seq_num
             if delta >= 0 and delta < 1e6:
                 self._cmds_seq = seq
-                self._cmds_value.set((recv_hdr["ts"], seq, recv_buf))
+                self._cmds_queue.append((recv_hdr["ts"], seq, recv_buf))
                 return self.no_ts_hdr(recv_hdr, True), None
             else:
                 return self.no_ts_hdr(recv_hdr, False), None

hex_zmq_servers/zmq_base.py

@@ -6,11 +6,10 @@
 # Date  : 2025-09-12
 ################################################################
 
-import os, signal
-import time
-import zmq
+import os, signal, json
+import time, ctypes, ctypes.util
 import threading
-import json
+import zmq
 import numpy as np
 from abc import ABC, abstractmethod
 
@@ -21,14 +20,73 @@ MAX_SEQ_NUM = int(1e12)
 ################################################################
 
 
-def hex_zmq_ts_now() -> dict:
-    t_ns = time.time_ns()
+class SingletonMeta(type):
+    _instances = {}
+
+    def __call__(cls, *args, **kwargs):
+        if cls not in cls._instances:
+            cls._instances[cls] = super().__call__(*args, **kwargs)
+        return cls._instances[cls]
+
+
+class HexTimeManager(metaclass=SingletonMeta):
+
+    class timespec(ctypes.Structure):
+        _fields_ = [("tv_sec", ctypes.c_long), ("tv_nsec", ctypes.c_long)]
+
+    def __init__(self):
+        self.__use_ptp = False
+        ptp_path = os.getenv("HEX_PTP_CLOCK", None)
+        if ptp_path is not None:
+            self.__fd = os.open(ptp_path, os.O_RDONLY | os.O_CLOEXEC)
+            self.__clock_id = ((~self.__fd) << 3) | 3
+            self.__libc = ctypes.CDLL(
+                ctypes.util.find_library("c"),
+                use_errno=True,
+            )
+            self.__use_ptp = True
+            print(f"Using PTP clock from {ptp_path}")
+        else:
+            print("Using system clock")
+
+    def __del__(self):
+        if self.__use_ptp:
+            os.close(self.__fd)
+
+    def get_now_ns(self) -> int:
+        if self.__use_ptp:
+            ts = self.timespec()
+            if self.__libc.clock_gettime(self.__clock_id,
+                                         ctypes.byref(ts)) != 0:
+                err = ctypes.get_errno()
+                raise OSError(err, os.strerror(err))
+            return ts.tv_sec * 1_000_000_000 + ts.tv_nsec
+        else:
+            return time.perf_counter_ns()
+
+
+_HEX_TIME_MANAGER = HexTimeManager()
+
+
+def hex_zmq_ts_to_ns(ts: dict) -> int:
+    return ts['s'] * 1_000_000_000 + ts['ns']
+
+
+def ns_to_hex_zmq_ts(ns: int) -> dict:
     return {
-        "s": t_ns // 1_000_000_000,
-        "ns": t_ns % 1_000_000_000,
+        "s": ns // 1_000_000_000,
+        "ns": ns % 1_000_000_000,
     }
 
 
+def hex_ns_now() -> int:
+    return _HEX_TIME_MANAGER.get_now_ns()
+
+
+def hex_zmq_ts_now() -> dict:
+    return ns_to_hex_zmq_ts(hex_ns_now())
+
+
 def hex_zmq_ts_delta_ms(curr_ts, hdr_ts) -> float:
     try:
         return (curr_ts['s'] - hdr_ts['s']) * 1_000 + (
@@ -52,7 +110,7 @@ class HexRate:
 
     @staticmethod
     def __now_ns() -> int:
-        return time.perf_counter_ns()
+        return hex_ns_now()
 
     def reset(self):
         self.__next_ns = self.__now_ns() + self.__period_ns
@@ -85,28 +143,6 @@ class HexRate:
 # ZMQ Related
 ################################################################
 
-
-class HexSafeValue:
-
-    def __init__(self):
-        self.__value = None
-        self.__ready = threading.Event()
-        self.__lock = threading.Lock()
-
-    def set(self, value):
-        with self.__lock:
-            self.__value = value
-            self.__ready.set()
-
-    def get(self, timeout_s=1.0):
-        if (not self.__ready.is_set()) and timeout_s > 0.0:
-            print(f"no value yet, waiting for {timeout_s}s")
-            self.__ready.wait(timeout_s)
-
-        with self.__lock:
-            return self.__value
-
-
 NET_CONFIG = {
     "ip": "127.0.0.1",
     "port": 12345,
@@ -137,6 +173,13 @@ class HexZMQClientBase(ABC):
         self._lock = threading.Lock()
         self.__make_socket()
 
+        # receive thread
+        self._recv_thread = threading.Thread(
+            target=self._recv_loop,
+            daemon=True,
+        )
+        self._recv_flag = False
+
     def __del__(self):
         self.close()
 
@@ -171,9 +214,12 @@ class HexZMQClientBase(ABC):
                 self.__make_socket()
             return resp_hdr, resp_buf
 
-    def is_working(self):
+    def is_working(self) -> bool:
         working_hdr, _ = self.request({"cmd": "is_working"})
-        return working_hdr
+        if working_hdr is None:
+            return False
+        else:
+            return working_hdr["cmd"] == "is_working_ok"
 
     def __send_req(self, req_dict: dict, req_buf: np.ndarray | None = None):
         # construct send header
@@ -220,12 +266,30 @@ class HexZMQClientBase(ABC):
             return None, None
 
     def close(self):
+        self._recv_flag = False
+        self._recv_thread.join()
         if self._socket is not None:
             try:
                 self._socket.close(0)
             except Exception:
                 pass
 
+    def _wait_for_working(self, timeout: float = 5.0):
+        for _ in range(int(timeout * 10)):
+            if self.is_working():
+                if hasattr(self, "seq_clear"):
+                    self.seq_clear()
+                break
+            else:
+                time.sleep(0.1)
+        self._recv_flag = True
+        self._recv_thread.start()
+
+    @abstractmethod
+    def _recv_loop(self):
+        raise NotImplementedError(
+            "`_receive_thread` should be implemented by the child class")
+
 
 class HexZMQServerBase(ABC):
 

{hex_zmq_servers-0.3.2.dist-info → hex_zmq_servers-0.3.4.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: hex_zmq_servers
-Version: 0.3.2
+Version: 0.3.4
 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>
@@ -26,16 +26,17 @@ Requires-Dist: pyzmq>=27.0.1
 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>=2.0.182; extra == "camera"
-Requires-Dist: opencv-python>=4.2; extra == "camera"
+Requires-Dist: opencv-python>=4.2
+Provides-Extra: berxel
+Requires-Dist: berxel_py_wrapper>=2.0.182; extra == "berxel"
+Provides-Extra: realsense
+Requires-Dist: pyrealsense2>=2.56.5.9235; extra == "realsense"
 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>=2.0.182; extra == "all"
 Requires-Dist: mujoco>=3.3.3; extra == "all"
-Requires-Dist: opencv-python>=4.2; extra == "all"
+Requires-Dist: pyrealsense2>=2.56.5.9235; extra == "all"
 Dynamic: license-file
 
 # hex_zmq_servers

{hex_zmq_servers-0.3.2.dist-info → hex_zmq_servers-0.3.4.dist-info}/RECORD

@@ -1,33 +1,43 @@
-hex_zmq_servers/__init__.py,sha256=1tHkUyB8TBlnCb54C9jroTYAaIkPmn8ZeHB_v6HQEb0,4702
-hex_zmq_servers/device_base.py,sha256=NGVQvLZFw3l2ZC55tHuKHLVXppEoYHt1eK_q-zm5eGA,1182
+hex_zmq_servers/__init__.py,sha256=1dnB9YTRq5uAFHo_3dMp1t1UxS4ZrcuZ_7CzBwqAfEM,5426
+hex_zmq_servers/device_base.py,sha256=dABpeUg84Au-vtbVzvnv1Tmn_898CNOkIvH2UDUnV3I,1191
 hex_zmq_servers/hex_launch.py,sha256=opS_WwntAzV3UjOCVBo7FaLVW_dP3jlO40q-gFSBy68,17543
-hex_zmq_servers/zmq_base.py,sha256=BO1uoldQ9g5zo7S5ZgUF2tSs8SKx1X6aWJg_moeav3k,14356
-hex_zmq_servers/cam/__init__.py,sha256=qKKr4UVy7qdCxRP_q_9ZO6MYrLn5WokofTUDMwYAitI,761
-hex_zmq_servers/cam/cam_base.py,sha256=QtiuaXRrg1bhFDgwnKAaVVWxhvRpulNc_4rB3i_696Q,4110
+hex_zmq_servers/zmq_base.py,sha256=RFRvl95oci6d-urP5n-qGDh5090pZ5q7Oy8_vNPqJxI,16380
+hex_zmq_servers/cam/__init__.py,sha256=hZ4NTEaO9uxcBua-nyJTpXxmk_GiIAcK2uWz3QQbwvE,1408
+hex_zmq_servers/cam/cam_base.py,sha256=3INQUYzzue4B0EiLEuo8IZDfLTifjmqXpXIkPaNA7dY,5134
 hex_zmq_servers/cam/berxel/__init__.py,sha256=3fK06RWAS_q8a_3z-RxFTv32e99og-4dMZTxH08TOcY,508
-hex_zmq_servers/cam/berxel/cam_berxel.py,sha256=emy6lFcJOPsKp0hW0GGuXV6wOx0GT0Ihyn3d9CQu3pw,9033
-hex_zmq_servers/cam/berxel/cam_berxel_cli.py,sha256=oWRiKJIbVBF8e3cKROlTUj4l11IPBWa4mg6oMiwE7aw,778
+hex_zmq_servers/cam/berxel/cam_berxel.py,sha256=l7SGnMUsM4D8HqHrJM9_QSyvLeNSRSDb37-_tSNHF-c,9035
+hex_zmq_servers/cam/berxel/cam_berxel_cli.py,sha256=ZbtZ4fjO0MCjqstfCxJwH1sMAtHKFKFIg9QI1zxplMQ,811
 hex_zmq_servers/cam/berxel/cam_berxel_srv.py,sha256=8QPhPpRsYnbbIFTQAT3sZA1nRTq1XpKg-GmD6ERUu9w,2311
 hex_zmq_servers/cam/dummy/__init__.py,sha256=EziQ8H8d9Vm1AYw4YryIumTXpx-lwEnlfzTl7VAnKHM,499
-hex_zmq_servers/cam/dummy/cam_dummy.py,sha256=HjQG_uiAXLxRv3FucitH23XLAv1PbPvsDNWu1QgtFoE,1887
-hex_zmq_servers/cam/dummy/cam_dummy_cli.py,sha256=PJoQQBk0I3GUrdxUe0FfFKRfQINNoE_pnNUmaWvCoVs,657
+hex_zmq_servers/cam/dummy/cam_dummy.py,sha256=pWw0ceVCcKS9BJdD3JjGAAtSc1sqmYsL2UyGhmwVI7M,1898
+hex_zmq_servers/cam/dummy/cam_dummy_cli.py,sha256=kA5eJiF4VRcOTFFB0rdtXBT0SuT2fb9GMK7J8vGkafw,690
 hex_zmq_servers/cam/dummy/cam_dummy_srv.py,sha256=rUcTA00cSi3Hju1NrT8dp-8WRp7rYcREgVRESC8na0U,1986
+hex_zmq_servers/cam/realsense/__init__.py,sha256=huwWPmO3ACxg6vMvjul6Ty0HDdwwfk886M4-DU5Z_04,535
+hex_zmq_servers/cam/realsense/cam_realsense.py,sha256=NIMjVDgLVFGGbNOcckfEukYoX1BThRxFqgg7mef38T8,5147
+hex_zmq_servers/cam/realsense/cam_realsense_cli.py,sha256=qKx0PvsWtKbxYd-SOaEWFkpIHhPP8QDRzvTuUA9QKoc,814
+hex_zmq_servers/cam/realsense/cam_realsense_srv.py,sha256=2NqXp96pu-LvBs91rNM-BJgbznD_COPcc8ZFeNxdGdw,2320
+hex_zmq_servers/cam/rgb/__init__.py,sha256=cBrms_3YOQAp2ZtfvHkuaxqameSG1bALDgUcNrDpEQA,481
+hex_zmq_servers/cam/rgb/cam_rgb.py,sha256=qYIfJS2bCckAXkn1lsw4XBvb4e2BbGtkhTVR6GvJZcA,4784
+hex_zmq_servers/cam/rgb/cam_rgb_cli.py,sha256=fWshI38ShDCML6Mu9WmLI543as_kxBmP0nj8LBhM7FI,1084
+hex_zmq_servers/cam/rgb/cam_rgb_srv.py,sha256=gsJBpcboRMGDZ1jviHDhFNhw8UWKzGsAY92dNzizW6Q,2266
 hex_zmq_servers/config/cam_berxel.json,sha256=G-eps3r7seBEMQEzxk1p1ObsBxmvageGbPdvtZ8gRe4,340
 hex_zmq_servers/config/cam_dummy.json,sha256=T6vCG9__Gos9M5seK7w43xbqttAI6P1iyjcB_W0AOu8,191
-hex_zmq_servers/config/mujoco_archer_y6.json,sha256=dEIrwUmQ8c7mT-qObb98kfgzuuNCO3OjSHusLBPzkhs,639
-hex_zmq_servers/config/mujoco_e3_desktop.json,sha256=dEIrwUmQ8c7mT-qObb98kfgzuuNCO3OjSHusLBPzkhs,639
+hex_zmq_servers/config/cam_realsense.json,sha256=hEQw-fdzC0w49kgcaqf_VwLj_RKB27PGOupQ2f2ig_k,321
+hex_zmq_servers/config/cam_rgb.json,sha256=EDPE9xYBRVqPiw5x_0F_zR1It9Q5Uo3HSV6PW9lsu28,491
+hex_zmq_servers/config/mujoco_archer_y6.json,sha256=okinjE_oFpXeII9hDzoBJivTkwJ-8XLUq6XUms00lGc,669
+hex_zmq_servers/config/mujoco_e3_desktop.json,sha256=IVvGgGOEbrU1cQmXuCdsgpvyyzKhTFAgVccG_8Lxnoc,735
 hex_zmq_servers/config/robot_dummy.json,sha256=mBKWmLz4S7K6fP0zYDImKPfnR6lerRjEv6Ore0jYQMQ,2963
 hex_zmq_servers/config/robot_gello.json,sha256=pXPAng92M_-dhnLbh1R_LXKeskSapSnoJhNS-u2dhvo,1157
-hex_zmq_servers/config/robot_hexarm.json,sha256=4D4D3auDl3h-Mw8U1jN8U1ZbnVUt5kBXpPSbBgxDM9M,689
+hex_zmq_servers/config/robot_hexarm.json,sha256=VckqMsZ9aeYVxkNHWBPYIIMKsQHDc3gSYLptP5aFLzg,690
 hex_zmq_servers/config/zmq_dummy.json,sha256=T6vCG9__Gos9M5seK7w43xbqttAI6P1iyjcB_W0AOu8,191
 hex_zmq_servers/mujoco/__init__.py,sha256=OKG7aJ2BACpob_DuAvikLiRo4M_3DO9Ffapwen87k_0,870
-hex_zmq_servers/mujoco/mujoco_base.py,sha256=WHPbnrwfpfHMYBUiRH9sgrm21CnD2ERwerVkUwa47jQ,10283
+hex_zmq_servers/mujoco/mujoco_base.py,sha256=e3QkZfxlE8MHPse1nKgTlCHvV-mNYfMMuZ7PtmyVVsA,11752
 hex_zmq_servers/mujoco/archer_y6/__init__.py,sha256=v1vApZ-qBLEcqFjDN0eff5kvkzO3s8QHBO4AitBODfc,559
-hex_zmq_servers/mujoco/archer_y6/mujoco_archer_y6.py,sha256=bH3Znu8twvu6fHMrYEpmqiPeC5HX1yGIR7afXzjU4uU,10521
-hex_zmq_servers/mujoco/archer_y6/mujoco_archer_y6_cli.py,sha256=9FmNspbtepcJxAlQHOgJ66910EMx6wMfUTSWXn2nbT8,675
-hex_zmq_servers/mujoco/archer_y6/mujoco_archer_y6_srv.py,sha256=djEJPKdMiiRwmFcsfZNMNq0x7GJFKjWCQU2QnoZcQmg,4905
-hex_zmq_servers/mujoco/archer_y6/model/robot.xml,sha256=fYBmuOGVVXJE7CLVzOZHUz-NaocjvcZdEtIkZ7Nbbv8,8163
-hex_zmq_servers/mujoco/archer_y6/model/scene.xml,sha256=X3BQtpHmZhjus-4iclolqKAQCeJjpPuG2KGnj0uOaBg,2122
+hex_zmq_servers/mujoco/archer_y6/mujoco_archer_y6.py,sha256=viZI_bVbnWbhow86mKQ10Sb8PAfsriw5uNFhRgGwR4U,12073
+hex_zmq_servers/mujoco/archer_y6/mujoco_archer_y6_cli.py,sha256=xNn_tF1U49ECjYvhy3xq1KizXZ5qJyqCNdPtBEVJyTU,2074
+hex_zmq_servers/mujoco/archer_y6/mujoco_archer_y6_srv.py,sha256=Pn51_bXLAa40cTMKpCvqU7aT1jpR_r9pMrW2subLHAs,4987
+hex_zmq_servers/mujoco/archer_y6/model/robot.xml,sha256=U6Rrpfb0jhd8UMuZzY6YmmZVF6QFrU4vVJqQ7MoRsgI,8172
+hex_zmq_servers/mujoco/archer_y6/model/scene.xml,sha256=00mk4AMmgE0vhHdxuZ6MkKqOBu0Nf17T7GudlpJNI1I,2122
 hex_zmq_servers/mujoco/archer_y6/model/setting.xml,sha256=4jhxau8xeYtnnMmvy6B79B8-w2HbK_PTGDHyIelDEQs,1997
 hex_zmq_servers/mujoco/archer_y6/model/assets/arm_base_link.STL,sha256=JUr1vVN2qyB05yAJHwEKXQ1zpZ4m7_Cw-LbVaC9_gEE,413584
 hex_zmq_servers/mujoco/archer_y6/model/assets/arm_link_1.STL,sha256=4tx8OgJT-yNsHLAUUU6G2sfnNlVy36G2OrLmy9jcJ_0,304784
@@ -46,11 +56,11 @@ hex_zmq_servers/mujoco/archer_y6/model/assets/gripper_right_link_1.STL,sha256=fj
 hex_zmq_servers/mujoco/archer_y6/model/assets/gripper_right_link_2.STL,sha256=ucyn656VxBpRx3sshxLxMPJIUZfNfEQ90P-9b8sR0xg,80284
 hex_zmq_servers/mujoco/archer_y6/model/assets/table_link.STL,sha256=dqFXHRqjZSDyvYHCaJkbmYFsKngZRk1xjg_Zl2_jDc4,684
 hex_zmq_servers/mujoco/e3_desktop/__init__.py,sha256=pMLKpJGBHgc9IU142NcM7ubwdXq9E422k6Giui1A8i4,565
-hex_zmq_servers/mujoco/e3_desktop/mujoco_e3_desktop.py,sha256=dDlDkz9juUW-5AY3oH1aV9nOUoMu1PP9iAl6wRHUJE8,14607
-hex_zmq_servers/mujoco/e3_desktop/mujoco_e3_desktop_cli.py,sha256=cyeelj4PL20cupPxvpoWne-b7hoe4-Cgmg7saFgMNdc,3385
-hex_zmq_servers/mujoco/e3_desktop/mujoco_e3_desktop_srv.py,sha256=H26KCzZCaFpQcNG6MhUZTxkq1izQSegjVQVif85Q_Nw,8761
-hex_zmq_servers/mujoco/e3_desktop/model/robot.xml,sha256=vKBOND9TxBKv4bdyJPaXKNTeqfthXgOFQZ-N8yFfb3o,17012
-hex_zmq_servers/mujoco/e3_desktop/model/scene.xml,sha256=Qzeun0ohjx-nAcQ8mHXLmZMiBN-GbWjseRydVZu4PgE,2222
+hex_zmq_servers/mujoco/e3_desktop/mujoco_e3_desktop.py,sha256=kLHb7HIevv7j4S-gwFJJ1G0XWN6eIa6rq8tXYHI7IzE,17918
+hex_zmq_servers/mujoco/e3_desktop/mujoco_e3_desktop_cli.py,sha256=AHmsX3cZx4iZX7q8itFVqvCGeiy_JQ4AsTzdyXLCR9E,7790
+hex_zmq_servers/mujoco/e3_desktop/mujoco_e3_desktop_srv.py,sha256=dFGGmwHihrMDzAD1uptL91O9W1l7mKZRUlEWLkAZ7xU,8953
+hex_zmq_servers/mujoco/e3_desktop/model/robot.xml,sha256=hLp385sG037rw2bAPu6tKoa5XYQLwWb4YawijYr7Ebs,17030
+hex_zmq_servers/mujoco/e3_desktop/model/scene.xml,sha256=8zs5vCf_RvB1wUlD9ymVMpxyU2Eq0XzqEQnXm_wHhdA,2222
 hex_zmq_servers/mujoco/e3_desktop/model/setting.xml,sha256=Y-GIwzWi46SJsBQZs0g0G7MDuzQmCGbHaVmdPZGYL14,4472
 hex_zmq_servers/mujoco/e3_desktop/model/assets/arm_base_link.STL,sha256=JUr1vVN2qyB05yAJHwEKXQ1zpZ4m7_Cw-LbVaC9_gEE,413584
 hex_zmq_servers/mujoco/e3_desktop/model/assets/arm_link_1.STL,sha256=4tx8OgJT-yNsHLAUUU6G2sfnNlVy36G2OrLmy9jcJ_0,304784
@@ -70,18 +80,18 @@ hex_zmq_servers/mujoco/e3_desktop/model/assets/gripper_right_link_1.STL,sha256=f
 hex_zmq_servers/mujoco/e3_desktop/model/assets/gripper_right_link_2.STL,sha256=ucyn656VxBpRx3sshxLxMPJIUZfNfEQ90P-9b8sR0xg,80284
 hex_zmq_servers/mujoco/e3_desktop/model/assets/table_link.STL,sha256=dqFXHRqjZSDyvYHCaJkbmYFsKngZRk1xjg_Zl2_jDc4,684
 hex_zmq_servers/robot/__init__.py,sha256=PqzGhsdbaeyYa7EZpAYMvT9myYhCO3OTbSPXVp1uiUM,1026
-hex_zmq_servers/robot/robot_base.py,sha256=od6KXOcRW7OlT0DBR7MJtBWD986giqYeeitnQz0uBG8,7119
+hex_zmq_servers/robot/robot_base.py,sha256=-or25jU3x7kJaIx2c7l83nPLqb93yL4IHIWjfDGkivo,8064
 hex_zmq_servers/robot/dummy/__init__.py,sha256=_lDtPH-JQ1ltPB8JzD7wLu77iwNOgEZ3fJkz8MNKXrw,517
-hex_zmq_servers/robot/dummy/robot_dummy.py,sha256=6bRgpKmExjTq_glDdNyELzRYcLTXgfbeRBMxCEcCpEY,2565
-hex_zmq_servers/robot/dummy/robot_dummy_cli.py,sha256=ZZ1a0ABE173oZ1elLY-gINpMUxI7vM-zfMO9g1M0nt0,667
+hex_zmq_servers/robot/dummy/robot_dummy.py,sha256=vZTrEvIFsW5ne123hEGoynLGnQH2T-jxLBVww6LEwfM,2665
+hex_zmq_servers/robot/dummy/robot_dummy_cli.py,sha256=kjugt5By71Nj0wFb2tnQgRdSyYYZeUomwh96UCCR-No,699
 hex_zmq_servers/robot/dummy/robot_dummy_srv.py,sha256=E0a0arRgAQiCfEXnrJ1l6TP8Cijy497WfX--padg7B8,2576
 hex_zmq_servers/robot/gello/__init__.py,sha256=7xSTc8ZB-bQODyEo6pzPz3ILZ1eAgVSsy6BmF2ECKeQ,517
-hex_zmq_servers/robot/gello/robot_gello.py,sha256=S2CZ5N9tRXP_vvlR_RPSUMLzxkhhYl1Ag9HpiltEOAc,13000
-hex_zmq_servers/robot/gello/robot_gello_cli.py,sha256=xQuSrkzwAr4tuXW1P-rRtSXH3A8RRX2eJmIvihAgEkI,667
+hex_zmq_servers/robot/gello/robot_gello.py,sha256=DyMELg490HykRYdbs4QVluR8oC7KAYWAju0OEmaowPE,13100
+hex_zmq_servers/robot/gello/robot_gello_cli.py,sha256=wnbRVrpIEE8G4ZzfjuSJA5TMPig-2I1oLJE-6b0kFSY,699
 hex_zmq_servers/robot/gello/robot_gello_srv.py,sha256=vCWgKpsO4MhZLspdaG45uHj8EB0gnptuj2SuxCaoEVI,2841
 hex_zmq_servers/robot/hexarm/__init__.py,sha256=07EUc2fCKqxYZbUUcDeD_AXvCAWI6r1qBjpWJ58_AcY,1414
-hex_zmq_servers/robot/hexarm/robot_hexarm.py,sha256=TdUxRjkNfqOpPYWbdiCARhrpPRSpBfIzXXUC5HMVsn0,8991
-hex_zmq_servers/robot/hexarm/robot_hexarm_cli.py,sha256=0L5RDIWn16qtZMKfIg2VkSYF46H3FJEyZLiUF6sm3KY,820
+hex_zmq_servers/robot/hexarm/robot_hexarm.py,sha256=dUd_6JSHvlEIxkYLF1xCBZTOOcxt_VcfS2qcb-vEkgU,10364
+hex_zmq_servers/robot/hexarm/robot_hexarm_cli.py,sha256=KO-I_CCjWwdckRKlxX7gIxUgsUKW3rcOycBo1nAxFEY,852
 hex_zmq_servers/robot/hexarm/robot_hexarm_srv.py,sha256=PE_WyLRXV_DbYVVQ0Wd60KlZZ37vfoEJVEhf2_4xADQ,2759
 hex_zmq_servers/robot/hexarm/urdf/archer_l6y/empty.urdf,sha256=g7Yn_uIM_ddb_K32FnDgHWSsvxH08oaPDiMb0yUb0Lg,7808
 hex_zmq_servers/robot/hexarm/urdf/archer_l6y/gp100.urdf,sha256=YJ_S1Hfwg_PV1nr5QZJuikuCO18GqNu6RDA3gEwG-Pk,7620
@@ -93,8 +103,8 @@ hex_zmq_servers/robot/hexarm/urdf/archer_y6/gp100.urdf,sha256=i8vpARxlQpYskLmTZ7
 hex_zmq_servers/robot/hexarm/urdf/archer_y6/gp100_handle.urdf,sha256=Tpii1Wk26jRtMqLWI2knrqBTIh7hCjpgGySlrBgdvpA,7458
 hex_zmq_servers/robot/hexarm/urdf/archer_y6/gp100_p050.urdf,sha256=6Zzc_PXDwtxw9xQEXQOH0hu_moaiQzeMC22hUqAQS9s,7459
 hex_zmq_servers/robot/hexarm/urdf/archer_y6/gp100_p050_handle.urdf,sha256=HNa7wweNYUj8YtSUfx87ASeNEIPIjB-gZ4O7RyHng6g,7456
-hex_zmq_servers-0.3.2.dist-info/licenses/LICENSE,sha256=QwcOLU5TJoTeUhuIXzhdCEEDDvorGiC6-3YTOl4TecE,11356
-hex_zmq_servers-0.3.2.dist-info/METADATA,sha256=PmrtXTqSwahoQoeRRvEZw5WXzEVE3IiFXlldoIlenPg,4726
-hex_zmq_servers-0.3.2.dist-info/WHEEL,sha256=_zCd3N1l69ArxyTb8rzEoP9TpbYXkqRFSNOD5OuxnTs,91
-hex_zmq_servers-0.3.2.dist-info/top_level.txt,sha256=lPH1DfgMrQOe0Grh8zSZopf6LmnLvb_aStVmZ41PyAg,16
-hex_zmq_servers-0.3.2.dist-info/RECORD,,
+hex_zmq_servers-0.3.4.dist-info/licenses/LICENSE,sha256=QwcOLU5TJoTeUhuIXzhdCEEDDvorGiC6-3YTOl4TecE,11356
+hex_zmq_servers-0.3.4.dist-info/METADATA,sha256=vlE6l40uTHq955ndiXzA52hwcjhW7CvLfbPxwVx7Y6c,4750
+hex_zmq_servers-0.3.4.dist-info/WHEEL,sha256=_zCd3N1l69ArxyTb8rzEoP9TpbYXkqRFSNOD5OuxnTs,91
+hex_zmq_servers-0.3.4.dist-info/top_level.txt,sha256=lPH1DfgMrQOe0Grh8zSZopf6LmnLvb_aStVmZ41PyAg,16
+hex_zmq_servers-0.3.4.dist-info/RECORD,,