hex-zmq-servers 0.3.6__py3-none-any.whl → 0.3.8__py3-none-any.whl

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Files changed (9) hide show
  1. hex_zmq_servers/mujoco/archer_y6/mujoco_archer_y6.py +1 -3
  2. hex_zmq_servers/mujoco/e3_desktop/mujoco_e3_desktop.py +1 -3
  3. hex_zmq_servers/robot/hexarm/robot_hexarm.py +0 -1
  4. hex_zmq_servers/zmq_base.py +1 -1
  5. {hex_zmq_servers-0.3.6.dist-info → hex_zmq_servers-0.3.8.dist-info}/METADATA +1 -1
  6. {hex_zmq_servers-0.3.6.dist-info → hex_zmq_servers-0.3.8.dist-info}/RECORD +9 -9
  7. {hex_zmq_servers-0.3.6.dist-info → hex_zmq_servers-0.3.8.dist-info}/WHEEL +0 -0
  8. {hex_zmq_servers-0.3.6.dist-info → hex_zmq_servers-0.3.8.dist-info}/licenses/LICENSE +0 -0
  9. {hex_zmq_servers-0.3.6.dist-info → hex_zmq_servers-0.3.8.dist-info}/top_level.txt +0 -0
hex_zmq_servers/mujoco/archer_y6/mujoco_archer_y6.py CHANGED
@@ -126,9 +126,6 @@ class HexMujocoArcherY6(HexMujocoBase):
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  if not self.__headless:
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  self.__viewer = viewer.launch_passive(self.__model, self.__data)
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- # time init
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- self.__bias_ns = hex_ns_now() - self.__data.time * 1_000_000_000
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-
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  # start work loop
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  self._working.set()
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@@ -163,6 +160,7 @@ class HexMujocoArcherY6(HexMujocoBase):
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  rate = HexRate(self.__sim_rate)
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  states_trig_count = 0
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  img_trig_count = 0
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+ self.__bias_ns = hex_ns_now() - self.__data.time * 1_000_000_000
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  init_ts = self.__mujoco_ts() if self.__sens_ts else hex_zmq_ts_now()
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  rgb_queue.append((init_ts, 0,
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  np.zeros((self.__height, self.__width, 3),
hex_zmq_servers/mujoco/e3_desktop/mujoco_e3_desktop.py CHANGED
@@ -148,9 +148,6 @@ class HexMujocoE3Desktop(HexMujocoBase):
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  if not self.__headless:
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  self.__viewer = viewer.launch_passive(self.__model, self.__data)
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- # time init
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- self.__bias_ns = hex_ns_now() - self.__data.time * 1_000_000_000
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-
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  # start work loop
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  self._working.set()
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@@ -198,6 +195,7 @@ class HexMujocoE3Desktop(HexMujocoBase):
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  rate = HexRate(self.__sim_rate)
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  states_trig_count = 0
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  img_trig_count = 0
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+ self.__bias_ns = hex_ns_now() - self.__data.time * 1_000_000_000
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  init_ts = self.__mujoco_ts() if self.__sens_ts else hex_zmq_ts_now()
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  head_rgb_queue.append((init_ts, 0,
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  np.zeros((self.__height, self.__width, 3),
hex_zmq_servers/robot/hexarm/robot_hexarm.py CHANGED
@@ -89,7 +89,6 @@ class HexRobotHexarm(HexRobotBase):
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  time.sleep(1)
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  self.__arm_archer = self.__hex_api.find_device_by_robot_type(arm_type)
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  self.__arm_archer.start()
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- self.__arm_archer.command_timeout_check(False)
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  self.__arm_dofs = len(self.__arm_archer)
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  self._limits = self.__arm_archer.get_joint_limits()
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hex_zmq_servers/zmq_base.py CHANGED
@@ -99,7 +99,7 @@ def hex_zmq_ts_delta_ms(curr_ts, hdr_ts) -> float:
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  class HexRate:
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- def __init__(self, hz: float, spin_threshold_ns: int = 1_000_000):
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+ def __init__(self, hz: float, spin_threshold_ns: int = 10_000):
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  if hz <= 0:
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  raise ValueError("hz must be greater than 0")
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  if spin_threshold_ns < 0:
{hex_zmq_servers-0.3.6.dist-info → hex_zmq_servers-0.3.8.dist-info}/METADATA RENAMED
@@ -1,6 +1,6 @@
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  Metadata-Version: 2.4
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  Name: hex_zmq_servers
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- Version: 0.3.6
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+ Version: 0.3.8
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  Summary: HEXFELLOW ZMQ Servers
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  Author-email: Dong Zhaorui <joray.dong@hexfellow.com>
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  Maintainer-email: jecjune <zejun.chen@hexfellow.com>, Dong Zhaorui <joray.dong@hexfellow.com>
{hex_zmq_servers-0.3.6.dist-info → hex_zmq_servers-0.3.8.dist-info}/RECORD RENAMED
@@ -1,7 +1,7 @@
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  hex_zmq_servers/__init__.py,sha256=1dnB9YTRq5uAFHo_3dMp1t1UxS4ZrcuZ_7CzBwqAfEM,5426
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  hex_zmq_servers/device_base.py,sha256=dABpeUg84Au-vtbVzvnv1Tmn_898CNOkIvH2UDUnV3I,1191
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  hex_zmq_servers/hex_launch.py,sha256=x-xCBhpjgK6yWHGk5o5kYsb5ef2GsdeLr8rX59EJR-0,17700
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- hex_zmq_servers/zmq_base.py,sha256=RFRvl95oci6d-urP5n-qGDh5090pZ5q7Oy8_vNPqJxI,16380
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+ hex_zmq_servers/zmq_base.py,sha256=lFMcPqmUEZnFxuUHlcHlZp3NgU1AVMyNksoviQanYMo,16377
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  hex_zmq_servers/cam/__init__.py,sha256=hZ4NTEaO9uxcBua-nyJTpXxmk_GiIAcK2uWz3QQbwvE,1408
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  hex_zmq_servers/cam/cam_base.py,sha256=3INQUYzzue4B0EiLEuo8IZDfLTifjmqXpXIkPaNA7dY,5134
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  hex_zmq_servers/cam/berxel/__init__.py,sha256=3fK06RWAS_q8a_3z-RxFTv32e99og-4dMZTxH08TOcY,508
@@ -33,7 +33,7 @@ hex_zmq_servers/config/zmq_dummy.json,sha256=T6vCG9__Gos9M5seK7w43xbqttAI6P1iyjc
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  hex_zmq_servers/mujoco/__init__.py,sha256=OKG7aJ2BACpob_DuAvikLiRo4M_3DO9Ffapwen87k_0,870
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  hex_zmq_servers/mujoco/mujoco_base.py,sha256=e3QkZfxlE8MHPse1nKgTlCHvV-mNYfMMuZ7PtmyVVsA,11752
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  hex_zmq_servers/mujoco/archer_y6/__init__.py,sha256=v1vApZ-qBLEcqFjDN0eff5kvkzO3s8QHBO4AitBODfc,559
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- hex_zmq_servers/mujoco/archer_y6/mujoco_archer_y6.py,sha256=viZI_bVbnWbhow86mKQ10Sb8PAfsriw5uNFhRgGwR4U,12073
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+ hex_zmq_servers/mujoco/archer_y6/mujoco_archer_y6.py,sha256=O4s-RXDsbu0yxiuvbIVbqBZ7GsSVmj-NCkisAmVium4,12052
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  hex_zmq_servers/mujoco/archer_y6/mujoco_archer_y6_cli.py,sha256=xNn_tF1U49ECjYvhy3xq1KizXZ5qJyqCNdPtBEVJyTU,2074
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  hex_zmq_servers/mujoco/archer_y6/mujoco_archer_y6_srv.py,sha256=Pn51_bXLAa40cTMKpCvqU7aT1jpR_r9pMrW2subLHAs,4987
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  hex_zmq_servers/mujoco/archer_y6/model/robot.xml,sha256=U6Rrpfb0jhd8UMuZzY6YmmZVF6QFrU4vVJqQ7MoRsgI,8172
@@ -56,7 +56,7 @@ hex_zmq_servers/mujoco/archer_y6/model/assets/gripper_right_link_1.STL,sha256=fj
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  hex_zmq_servers/mujoco/archer_y6/model/assets/gripper_right_link_2.STL,sha256=ucyn656VxBpRx3sshxLxMPJIUZfNfEQ90P-9b8sR0xg,80284
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  hex_zmq_servers/mujoco/archer_y6/model/assets/table_link.STL,sha256=dqFXHRqjZSDyvYHCaJkbmYFsKngZRk1xjg_Zl2_jDc4,684
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  hex_zmq_servers/mujoco/e3_desktop/__init__.py,sha256=pMLKpJGBHgc9IU142NcM7ubwdXq9E422k6Giui1A8i4,565
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- hex_zmq_servers/mujoco/e3_desktop/mujoco_e3_desktop.py,sha256=kLHb7HIevv7j4S-gwFJJ1G0XWN6eIa6rq8tXYHI7IzE,17918
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+ hex_zmq_servers/mujoco/e3_desktop/mujoco_e3_desktop.py,sha256=0Z9DhYbFk3zaSiLHmJeuy0XEjuEHvfa0lgvLxyszGuQ,17897
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  hex_zmq_servers/mujoco/e3_desktop/mujoco_e3_desktop_cli.py,sha256=AHmsX3cZx4iZX7q8itFVqvCGeiy_JQ4AsTzdyXLCR9E,7790
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  hex_zmq_servers/mujoco/e3_desktop/mujoco_e3_desktop_srv.py,sha256=dFGGmwHihrMDzAD1uptL91O9W1l7mKZRUlEWLkAZ7xU,8953
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  hex_zmq_servers/mujoco/e3_desktop/model/robot.xml,sha256=hLp385sG037rw2bAPu6tKoa5XYQLwWb4YawijYr7Ebs,17030
@@ -90,7 +90,7 @@ hex_zmq_servers/robot/gello/robot_gello.py,sha256=DyMELg490HykRYdbs4QVluR8oC7KAY
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  hex_zmq_servers/robot/gello/robot_gello_cli.py,sha256=wnbRVrpIEE8G4ZzfjuSJA5TMPig-2I1oLJE-6b0kFSY,699
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  hex_zmq_servers/robot/gello/robot_gello_srv.py,sha256=vCWgKpsO4MhZLspdaG45uHj8EB0gnptuj2SuxCaoEVI,2841
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  hex_zmq_servers/robot/hexarm/__init__.py,sha256=07EUc2fCKqxYZbUUcDeD_AXvCAWI6r1qBjpWJ58_AcY,1414
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- hex_zmq_servers/robot/hexarm/robot_hexarm.py,sha256=-i8cB-FuW0X3k9MmGujz3MwmZ-usHjq6uiox6ox6bGk,10340
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+ hex_zmq_servers/robot/hexarm/robot_hexarm.py,sha256=R2icyKI5tm5wJsCudL1v7bAKJ_wXoyG7IxAG3lZyJhQ,10285
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  hex_zmq_servers/robot/hexarm/robot_hexarm_cli.py,sha256=KO-I_CCjWwdckRKlxX7gIxUgsUKW3rcOycBo1nAxFEY,852
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  hex_zmq_servers/robot/hexarm/robot_hexarm_srv.py,sha256=PE_WyLRXV_DbYVVQ0Wd60KlZZ37vfoEJVEhf2_4xADQ,2759
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  hex_zmq_servers/robot/hexarm/urdf/archer_l6y/empty.urdf,sha256=g7Yn_uIM_ddb_K32FnDgHWSsvxH08oaPDiMb0yUb0Lg,7808
@@ -103,8 +103,8 @@ hex_zmq_servers/robot/hexarm/urdf/archer_y6/gp100.urdf,sha256=i8vpARxlQpYskLmTZ7
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  hex_zmq_servers/robot/hexarm/urdf/archer_y6/gp100_handle.urdf,sha256=Tpii1Wk26jRtMqLWI2knrqBTIh7hCjpgGySlrBgdvpA,7458
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  hex_zmq_servers/robot/hexarm/urdf/archer_y6/gp100_p050.urdf,sha256=6Zzc_PXDwtxw9xQEXQOH0hu_moaiQzeMC22hUqAQS9s,7459
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  hex_zmq_servers/robot/hexarm/urdf/archer_y6/gp100_p050_handle.urdf,sha256=HNa7wweNYUj8YtSUfx87ASeNEIPIjB-gZ4O7RyHng6g,7456
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- hex_zmq_servers-0.3.6.dist-info/licenses/LICENSE,sha256=QwcOLU5TJoTeUhuIXzhdCEEDDvorGiC6-3YTOl4TecE,11356
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- hex_zmq_servers-0.3.6.dist-info/METADATA,sha256=tAFV1LQtSeqWfvAc2Dr-WsqR7lmHi7Yf8jWF1zreDWk,4750
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- hex_zmq_servers-0.3.6.dist-info/WHEEL,sha256=_zCd3N1l69ArxyTb8rzEoP9TpbYXkqRFSNOD5OuxnTs,91
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- hex_zmq_servers-0.3.6.dist-info/top_level.txt,sha256=lPH1DfgMrQOe0Grh8zSZopf6LmnLvb_aStVmZ41PyAg,16
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- hex_zmq_servers-0.3.6.dist-info/RECORD,,
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+ hex_zmq_servers-0.3.8.dist-info/licenses/LICENSE,sha256=QwcOLU5TJoTeUhuIXzhdCEEDDvorGiC6-3YTOl4TecE,11356
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+ hex_zmq_servers-0.3.8.dist-info/METADATA,sha256=MUBSprnp_wJJyjcP6fIfpnCM8cayu4Q9l4B7dOFuZdQ,4750
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+ hex_zmq_servers-0.3.8.dist-info/WHEEL,sha256=_zCd3N1l69ArxyTb8rzEoP9TpbYXkqRFSNOD5OuxnTs,91
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+ hex_zmq_servers-0.3.8.dist-info/top_level.txt,sha256=lPH1DfgMrQOe0Grh8zSZopf6LmnLvb_aStVmZ41PyAg,16
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+ hex_zmq_servers-0.3.8.dist-info/RECORD,,