hex-zmq-servers 0.3.6__tar.gz → 0.3.7__tar.gz

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Files changed (116) hide show
  1. {hex_zmq_servers-0.3.6/hex_zmq_servers.egg-info → hex_zmq_servers-0.3.7}/PKG-INFO +1 -1
  2. {hex_zmq_servers-0.3.6 → hex_zmq_servers-0.3.7}/hex_zmq_servers/mujoco/archer_y6/mujoco_archer_y6.py +1 -3
  3. {hex_zmq_servers-0.3.6 → hex_zmq_servers-0.3.7}/hex_zmq_servers/mujoco/e3_desktop/mujoco_e3_desktop.py +1 -3
  4. {hex_zmq_servers-0.3.6 → hex_zmq_servers-0.3.7}/hex_zmq_servers/zmq_base.py +1 -1
  5. {hex_zmq_servers-0.3.6 → hex_zmq_servers-0.3.7/hex_zmq_servers.egg-info}/PKG-INFO +1 -1
  6. {hex_zmq_servers-0.3.6 → hex_zmq_servers-0.3.7}/pyproject.toml +1 -1
  7. {hex_zmq_servers-0.3.6 → hex_zmq_servers-0.3.7}/LICENSE +0 -0
  8. {hex_zmq_servers-0.3.6 → hex_zmq_servers-0.3.7}/MANIFEST.in +0 -0
  9. {hex_zmq_servers-0.3.6 → hex_zmq_servers-0.3.7}/README.md +0 -0
  10. {hex_zmq_servers-0.3.6 → hex_zmq_servers-0.3.7}/hex_zmq_servers/__init__.py +0 -0
  11. {hex_zmq_servers-0.3.6 → hex_zmq_servers-0.3.7}/hex_zmq_servers/cam/__init__.py +0 -0
  12. {hex_zmq_servers-0.3.6 → hex_zmq_servers-0.3.7}/hex_zmq_servers/cam/berxel/__init__.py +0 -0
  13. {hex_zmq_servers-0.3.6 → hex_zmq_servers-0.3.7}/hex_zmq_servers/cam/berxel/cam_berxel.py +0 -0
  14. {hex_zmq_servers-0.3.6 → hex_zmq_servers-0.3.7}/hex_zmq_servers/cam/berxel/cam_berxel_cli.py +0 -0
  15. {hex_zmq_servers-0.3.6 → hex_zmq_servers-0.3.7}/hex_zmq_servers/cam/berxel/cam_berxel_srv.py +0 -0
  16. {hex_zmq_servers-0.3.6 → hex_zmq_servers-0.3.7}/hex_zmq_servers/cam/cam_base.py +0 -0
  17. {hex_zmq_servers-0.3.6 → hex_zmq_servers-0.3.7}/hex_zmq_servers/cam/dummy/__init__.py +0 -0
  18. {hex_zmq_servers-0.3.6 → hex_zmq_servers-0.3.7}/hex_zmq_servers/cam/dummy/cam_dummy.py +0 -0
  19. {hex_zmq_servers-0.3.6 → hex_zmq_servers-0.3.7}/hex_zmq_servers/cam/dummy/cam_dummy_cli.py +0 -0
  20. {hex_zmq_servers-0.3.6 → hex_zmq_servers-0.3.7}/hex_zmq_servers/cam/dummy/cam_dummy_srv.py +0 -0
  21. {hex_zmq_servers-0.3.6 → hex_zmq_servers-0.3.7}/hex_zmq_servers/cam/realsense/__init__.py +0 -0
  22. {hex_zmq_servers-0.3.6 → hex_zmq_servers-0.3.7}/hex_zmq_servers/cam/realsense/cam_realsense.py +0 -0
  23. {hex_zmq_servers-0.3.6 → hex_zmq_servers-0.3.7}/hex_zmq_servers/cam/realsense/cam_realsense_cli.py +0 -0
  24. {hex_zmq_servers-0.3.6 → hex_zmq_servers-0.3.7}/hex_zmq_servers/cam/realsense/cam_realsense_srv.py +0 -0
  25. {hex_zmq_servers-0.3.6 → hex_zmq_servers-0.3.7}/hex_zmq_servers/cam/rgb/__init__.py +0 -0
  26. {hex_zmq_servers-0.3.6 → hex_zmq_servers-0.3.7}/hex_zmq_servers/cam/rgb/cam_rgb.py +0 -0
  27. {hex_zmq_servers-0.3.6 → hex_zmq_servers-0.3.7}/hex_zmq_servers/cam/rgb/cam_rgb_cli.py +0 -0
  28. {hex_zmq_servers-0.3.6 → hex_zmq_servers-0.3.7}/hex_zmq_servers/cam/rgb/cam_rgb_srv.py +0 -0
  29. {hex_zmq_servers-0.3.6 → hex_zmq_servers-0.3.7}/hex_zmq_servers/config/cam_berxel.json +0 -0
  30. {hex_zmq_servers-0.3.6 → hex_zmq_servers-0.3.7}/hex_zmq_servers/config/cam_dummy.json +0 -0
  31. {hex_zmq_servers-0.3.6 → hex_zmq_servers-0.3.7}/hex_zmq_servers/config/cam_realsense.json +0 -0
  32. {hex_zmq_servers-0.3.6 → hex_zmq_servers-0.3.7}/hex_zmq_servers/config/cam_rgb.json +0 -0
  33. {hex_zmq_servers-0.3.6 → hex_zmq_servers-0.3.7}/hex_zmq_servers/config/mujoco_archer_y6.json +0 -0
  34. {hex_zmq_servers-0.3.6 → hex_zmq_servers-0.3.7}/hex_zmq_servers/config/mujoco_e3_desktop.json +0 -0
  35. {hex_zmq_servers-0.3.6 → hex_zmq_servers-0.3.7}/hex_zmq_servers/config/robot_dummy.json +0 -0
  36. {hex_zmq_servers-0.3.6 → hex_zmq_servers-0.3.7}/hex_zmq_servers/config/robot_gello.json +0 -0
  37. {hex_zmq_servers-0.3.6 → hex_zmq_servers-0.3.7}/hex_zmq_servers/config/robot_hexarm.json +0 -0
  38. {hex_zmq_servers-0.3.6 → hex_zmq_servers-0.3.7}/hex_zmq_servers/config/zmq_dummy.json +0 -0
  39. {hex_zmq_servers-0.3.6 → hex_zmq_servers-0.3.7}/hex_zmq_servers/device_base.py +0 -0
  40. {hex_zmq_servers-0.3.6 → hex_zmq_servers-0.3.7}/hex_zmq_servers/hex_launch.py +0 -0
  41. {hex_zmq_servers-0.3.6 → hex_zmq_servers-0.3.7}/hex_zmq_servers/mujoco/__init__.py +0 -0
  42. {hex_zmq_servers-0.3.6 → hex_zmq_servers-0.3.7}/hex_zmq_servers/mujoco/archer_y6/__init__.py +0 -0
  43. {hex_zmq_servers-0.3.6 → hex_zmq_servers-0.3.7}/hex_zmq_servers/mujoco/archer_y6/model/assets/arm_base_link.STL +0 -0
  44. {hex_zmq_servers-0.3.6 → hex_zmq_servers-0.3.7}/hex_zmq_servers/mujoco/archer_y6/model/assets/arm_link_1.STL +0 -0
  45. {hex_zmq_servers-0.3.6 → hex_zmq_servers-0.3.7}/hex_zmq_servers/mujoco/archer_y6/model/assets/arm_link_2.STL +0 -0
  46. {hex_zmq_servers-0.3.6 → hex_zmq_servers-0.3.7}/hex_zmq_servers/mujoco/archer_y6/model/assets/arm_link_3.STL +0 -0
  47. {hex_zmq_servers-0.3.6 → hex_zmq_servers-0.3.7}/hex_zmq_servers/mujoco/archer_y6/model/assets/arm_link_4.STL +0 -0
  48. {hex_zmq_servers-0.3.6 → hex_zmq_servers-0.3.7}/hex_zmq_servers/mujoco/archer_y6/model/assets/arm_link_5.STL +0 -0
  49. {hex_zmq_servers-0.3.6 → hex_zmq_servers-0.3.7}/hex_zmq_servers/mujoco/archer_y6/model/assets/assets.xml +0 -0
  50. {hex_zmq_servers-0.3.6 → hex_zmq_servers-0.3.7}/hex_zmq_servers/mujoco/archer_y6/model/assets/camera_link.STL +0 -0
  51. {hex_zmq_servers-0.3.6 → hex_zmq_servers-0.3.7}/hex_zmq_servers/mujoco/archer_y6/model/assets/gripper_base_link.STL +0 -0
  52. {hex_zmq_servers-0.3.6 → hex_zmq_servers-0.3.7}/hex_zmq_servers/mujoco/archer_y6/model/assets/gripper_left_helper_link.STL +0 -0
  53. {hex_zmq_servers-0.3.6 → hex_zmq_servers-0.3.7}/hex_zmq_servers/mujoco/archer_y6/model/assets/gripper_left_link_1.STL +0 -0
  54. {hex_zmq_servers-0.3.6 → hex_zmq_servers-0.3.7}/hex_zmq_servers/mujoco/archer_y6/model/assets/gripper_left_link_2.STL +0 -0
  55. {hex_zmq_servers-0.3.6 → hex_zmq_servers-0.3.7}/hex_zmq_servers/mujoco/archer_y6/model/assets/gripper_right_helper_link.STL +0 -0
  56. {hex_zmq_servers-0.3.6 → hex_zmq_servers-0.3.7}/hex_zmq_servers/mujoco/archer_y6/model/assets/gripper_right_link_1.STL +0 -0
  57. {hex_zmq_servers-0.3.6 → hex_zmq_servers-0.3.7}/hex_zmq_servers/mujoco/archer_y6/model/assets/gripper_right_link_2.STL +0 -0
  58. {hex_zmq_servers-0.3.6 → hex_zmq_servers-0.3.7}/hex_zmq_servers/mujoco/archer_y6/model/assets/table_link.STL +0 -0
  59. {hex_zmq_servers-0.3.6 → hex_zmq_servers-0.3.7}/hex_zmq_servers/mujoco/archer_y6/model/robot.xml +0 -0
  60. {hex_zmq_servers-0.3.6 → hex_zmq_servers-0.3.7}/hex_zmq_servers/mujoco/archer_y6/model/scene.xml +0 -0
  61. {hex_zmq_servers-0.3.6 → hex_zmq_servers-0.3.7}/hex_zmq_servers/mujoco/archer_y6/model/setting.xml +0 -0
  62. {hex_zmq_servers-0.3.6 → hex_zmq_servers-0.3.7}/hex_zmq_servers/mujoco/archer_y6/mujoco_archer_y6_cli.py +0 -0
  63. {hex_zmq_servers-0.3.6 → hex_zmq_servers-0.3.7}/hex_zmq_servers/mujoco/archer_y6/mujoco_archer_y6_srv.py +0 -0
  64. {hex_zmq_servers-0.3.6 → hex_zmq_servers-0.3.7}/hex_zmq_servers/mujoco/e3_desktop/__init__.py +0 -0
  65. {hex_zmq_servers-0.3.6 → hex_zmq_servers-0.3.7}/hex_zmq_servers/mujoco/e3_desktop/model/assets/arm_base_link.STL +0 -0
  66. {hex_zmq_servers-0.3.6 → hex_zmq_servers-0.3.7}/hex_zmq_servers/mujoco/e3_desktop/model/assets/arm_link_1.STL +0 -0
  67. {hex_zmq_servers-0.3.6 → hex_zmq_servers-0.3.7}/hex_zmq_servers/mujoco/e3_desktop/model/assets/arm_link_2.STL +0 -0
  68. {hex_zmq_servers-0.3.6 → hex_zmq_servers-0.3.7}/hex_zmq_servers/mujoco/e3_desktop/model/assets/arm_link_3.STL +0 -0
  69. {hex_zmq_servers-0.3.6 → hex_zmq_servers-0.3.7}/hex_zmq_servers/mujoco/e3_desktop/model/assets/arm_link_4.STL +0 -0
  70. {hex_zmq_servers-0.3.6 → hex_zmq_servers-0.3.7}/hex_zmq_servers/mujoco/e3_desktop/model/assets/arm_link_5.STL +0 -0
  71. {hex_zmq_servers-0.3.6 → hex_zmq_servers-0.3.7}/hex_zmq_servers/mujoco/e3_desktop/model/assets/assets.xml +0 -0
  72. {hex_zmq_servers-0.3.6 → hex_zmq_servers-0.3.7}/hex_zmq_servers/mujoco/e3_desktop/model/assets/camera_link.STL +0 -0
  73. {hex_zmq_servers-0.3.6 → hex_zmq_servers-0.3.7}/hex_zmq_servers/mujoco/e3_desktop/model/assets/e3_desktop_base_link.STL +0 -0
  74. {hex_zmq_servers-0.3.6 → hex_zmq_servers-0.3.7}/hex_zmq_servers/mujoco/e3_desktop/model/assets/gripper_base_link.STL +0 -0
  75. {hex_zmq_servers-0.3.6 → hex_zmq_servers-0.3.7}/hex_zmq_servers/mujoco/e3_desktop/model/assets/gripper_left_helper_link.STL +0 -0
  76. {hex_zmq_servers-0.3.6 → hex_zmq_servers-0.3.7}/hex_zmq_servers/mujoco/e3_desktop/model/assets/gripper_left_link_1.STL +0 -0
  77. {hex_zmq_servers-0.3.6 → hex_zmq_servers-0.3.7}/hex_zmq_servers/mujoco/e3_desktop/model/assets/gripper_left_link_2.STL +0 -0
  78. {hex_zmq_servers-0.3.6 → hex_zmq_servers-0.3.7}/hex_zmq_servers/mujoco/e3_desktop/model/assets/gripper_right_helper_link.STL +0 -0
  79. {hex_zmq_servers-0.3.6 → hex_zmq_servers-0.3.7}/hex_zmq_servers/mujoco/e3_desktop/model/assets/gripper_right_link_1.STL +0 -0
  80. {hex_zmq_servers-0.3.6 → hex_zmq_servers-0.3.7}/hex_zmq_servers/mujoco/e3_desktop/model/assets/gripper_right_link_2.STL +0 -0
  81. {hex_zmq_servers-0.3.6 → hex_zmq_servers-0.3.7}/hex_zmq_servers/mujoco/e3_desktop/model/assets/table_link.STL +0 -0
  82. {hex_zmq_servers-0.3.6 → hex_zmq_servers-0.3.7}/hex_zmq_servers/mujoco/e3_desktop/model/robot.xml +0 -0
  83. {hex_zmq_servers-0.3.6 → hex_zmq_servers-0.3.7}/hex_zmq_servers/mujoco/e3_desktop/model/scene.xml +0 -0
  84. {hex_zmq_servers-0.3.6 → hex_zmq_servers-0.3.7}/hex_zmq_servers/mujoco/e3_desktop/model/setting.xml +0 -0
  85. {hex_zmq_servers-0.3.6 → hex_zmq_servers-0.3.7}/hex_zmq_servers/mujoco/e3_desktop/mujoco_e3_desktop_cli.py +0 -0
  86. {hex_zmq_servers-0.3.6 → hex_zmq_servers-0.3.7}/hex_zmq_servers/mujoco/e3_desktop/mujoco_e3_desktop_srv.py +0 -0
  87. {hex_zmq_servers-0.3.6 → hex_zmq_servers-0.3.7}/hex_zmq_servers/mujoco/mujoco_base.py +0 -0
  88. {hex_zmq_servers-0.3.6 → hex_zmq_servers-0.3.7}/hex_zmq_servers/robot/__init__.py +0 -0
  89. {hex_zmq_servers-0.3.6 → hex_zmq_servers-0.3.7}/hex_zmq_servers/robot/dummy/__init__.py +0 -0
  90. {hex_zmq_servers-0.3.6 → hex_zmq_servers-0.3.7}/hex_zmq_servers/robot/dummy/robot_dummy.py +0 -0
  91. {hex_zmq_servers-0.3.6 → hex_zmq_servers-0.3.7}/hex_zmq_servers/robot/dummy/robot_dummy_cli.py +0 -0
  92. {hex_zmq_servers-0.3.6 → hex_zmq_servers-0.3.7}/hex_zmq_servers/robot/dummy/robot_dummy_srv.py +0 -0
  93. {hex_zmq_servers-0.3.6 → hex_zmq_servers-0.3.7}/hex_zmq_servers/robot/gello/__init__.py +0 -0
  94. {hex_zmq_servers-0.3.6 → hex_zmq_servers-0.3.7}/hex_zmq_servers/robot/gello/robot_gello.py +0 -0
  95. {hex_zmq_servers-0.3.6 → hex_zmq_servers-0.3.7}/hex_zmq_servers/robot/gello/robot_gello_cli.py +0 -0
  96. {hex_zmq_servers-0.3.6 → hex_zmq_servers-0.3.7}/hex_zmq_servers/robot/gello/robot_gello_srv.py +0 -0
  97. {hex_zmq_servers-0.3.6 → hex_zmq_servers-0.3.7}/hex_zmq_servers/robot/hexarm/__init__.py +0 -0
  98. {hex_zmq_servers-0.3.6 → hex_zmq_servers-0.3.7}/hex_zmq_servers/robot/hexarm/robot_hexarm.py +0 -0
  99. {hex_zmq_servers-0.3.6 → hex_zmq_servers-0.3.7}/hex_zmq_servers/robot/hexarm/robot_hexarm_cli.py +0 -0
  100. {hex_zmq_servers-0.3.6 → hex_zmq_servers-0.3.7}/hex_zmq_servers/robot/hexarm/robot_hexarm_srv.py +0 -0
  101. {hex_zmq_servers-0.3.6 → hex_zmq_servers-0.3.7}/hex_zmq_servers/robot/hexarm/urdf/archer_l6y/empty.urdf +0 -0
  102. {hex_zmq_servers-0.3.6 → hex_zmq_servers-0.3.7}/hex_zmq_servers/robot/hexarm/urdf/archer_l6y/gp100.urdf +0 -0
  103. {hex_zmq_servers-0.3.6 → hex_zmq_servers-0.3.7}/hex_zmq_servers/robot/hexarm/urdf/archer_l6y/gp100_handle.urdf +0 -0
  104. {hex_zmq_servers-0.3.6 → hex_zmq_servers-0.3.7}/hex_zmq_servers/robot/hexarm/urdf/archer_l6y/gp100_p050.urdf +0 -0
  105. {hex_zmq_servers-0.3.6 → hex_zmq_servers-0.3.7}/hex_zmq_servers/robot/hexarm/urdf/archer_l6y/gp100_p050_handle.urdf +0 -0
  106. {hex_zmq_servers-0.3.6 → hex_zmq_servers-0.3.7}/hex_zmq_servers/robot/hexarm/urdf/archer_y6/empty.urdf +0 -0
  107. {hex_zmq_servers-0.3.6 → hex_zmq_servers-0.3.7}/hex_zmq_servers/robot/hexarm/urdf/archer_y6/gp100.urdf +0 -0
  108. {hex_zmq_servers-0.3.6 → hex_zmq_servers-0.3.7}/hex_zmq_servers/robot/hexarm/urdf/archer_y6/gp100_handle.urdf +0 -0
  109. {hex_zmq_servers-0.3.6 → hex_zmq_servers-0.3.7}/hex_zmq_servers/robot/hexarm/urdf/archer_y6/gp100_p050.urdf +0 -0
  110. {hex_zmq_servers-0.3.6 → hex_zmq_servers-0.3.7}/hex_zmq_servers/robot/hexarm/urdf/archer_y6/gp100_p050_handle.urdf +0 -0
  111. {hex_zmq_servers-0.3.6 → hex_zmq_servers-0.3.7}/hex_zmq_servers/robot/robot_base.py +0 -0
  112. {hex_zmq_servers-0.3.6 → hex_zmq_servers-0.3.7}/hex_zmq_servers.egg-info/SOURCES.txt +0 -0
  113. {hex_zmq_servers-0.3.6 → hex_zmq_servers-0.3.7}/hex_zmq_servers.egg-info/dependency_links.txt +0 -0
  114. {hex_zmq_servers-0.3.6 → hex_zmq_servers-0.3.7}/hex_zmq_servers.egg-info/requires.txt +0 -0
  115. {hex_zmq_servers-0.3.6 → hex_zmq_servers-0.3.7}/hex_zmq_servers.egg-info/top_level.txt +0 -0
  116. {hex_zmq_servers-0.3.6 → hex_zmq_servers-0.3.7}/setup.cfg +0 -0
@@ -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: 0.3.7
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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>
@@ -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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129
- # time init
130
- self.__bias_ns = hex_ns_now() - self.__data.time * 1_000_000_000
131
-
132
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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),
@@ -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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151
- # 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),
@@ -99,7 +99,7 @@ def hex_zmq_ts_delta_ms(curr_ts, hdr_ts) -> float:
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100
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  class HexRate:
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102
- 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:
@@ -1,6 +1,6 @@
1
1
  Metadata-Version: 2.4
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2
  Name: hex_zmq_servers
3
- Version: 0.3.6
3
+ Version: 0.3.7
4
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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>
@@ -4,7 +4,7 @@ build-backend = "setuptools.build_meta"
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  [project]
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  name = "hex_zmq_servers"
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- version = "0.3.6"
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+ version = "0.3.7"
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  description = "HEXFELLOW ZMQ Servers"
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  readme = "README.md"
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  license = "Apache-2.0"
File without changes