hex-zmq-servers 0.3.8__tar.gz

hex_zmq_servers-0.3.8/LICENSE

@@ -0,0 +1,201 @@
+                                 Apache License
+                           Version 2.0, January 2004
+                        http://www.apache.org/licenses/
+
+   TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
+
+   1. Definitions.
+
+      "License" shall mean the terms and conditions for use, reproduction,
+      and distribution as defined by Sections 1 through 9 of this document.
+
+      "Licensor" shall mean the copyright owner or entity authorized by
+      the copyright owner that is granting the License.
+
+      "Legal Entity" shall mean the union of the acting entity and all
+      other entities that control, are controlled by, or are under common
+      control with that entity. For the purposes of this definition,
+      "control" means (i) the power, direct or indirect, to cause the
+      direction or management of such entity, whether by contract or
+      otherwise, or (ii) ownership of fifty percent (50%) or more of the
+      outstanding shares, or (iii) beneficial ownership of such entity.
+
+      "You" (or "Your") shall mean an individual or Legal Entity
+      exercising permissions granted by this License.
+
+      "Source" form shall mean the preferred form for making modifications,
+      including but not limited to software source code, documentation
+      source, and configuration files.
+
+      "Object" form shall mean any form resulting from mechanical
+      transformation or translation of a Source form, including but
+      not limited to compiled object code, generated documentation,
+      and conversions to other media types.
+
+      "Work" shall mean the work of authorship, whether in Source or
+      Object form, made available under the License, as indicated by a
+      copyright notice that is included in or attached to the work
+      (an example is provided in the Appendix below).
+
+      "Derivative Works" shall mean any work, whether in Source or Object
+      form, that is based on (or derived from) the Work and for which the
+      editorial revisions, annotations, elaborations, or other modifications
+      represent, as a whole, an original work of authorship. For the purposes
+      of this License, Derivative Works shall not include works that remain
+      separable from, or merely link (or bind by name) to the interfaces of,
+      the Work and Derivative Works thereof.
+
+      "Contribution" shall mean any work of authorship, including
+      the original version of the Work and any modifications or additions
+      to that Work or Derivative Works thereof, that is intentionally
+      submitted to Licensor for inclusion in the Work by the copyright owner
+      or by an individual or Legal Entity authorized to submit on behalf of
+      the copyright owner. For the purposes of this definition, "submitted"
+      means any form of electronic, verbal, or written communication sent
+      to the Licensor or its representatives, including but not limited to
+      communication on electronic mailing lists, source code control systems,
+      and issue tracking systems that are managed by, or on behalf of, the
+      Licensor for the purpose of discussing and improving the Work, but
+      excluding communication that is conspicuously marked or otherwise
+      designated in writing by the copyright owner as "Not a Contribution."
+
+      "Contributor" shall mean Licensor and any individual or Legal Entity
+      on behalf of whom a Contribution has been received by Licensor and
+      subsequently incorporated within the Work.
+
+   2. Grant of Copyright License. Subject to the terms and conditions of
+      this License, each Contributor hereby grants to You a perpetual,
+      worldwide, non-exclusive, no-charge, royalty-free, irrevocable
+      copyright license to reproduce, prepare Derivative Works of,
+      publicly display, publicly perform, sublicense, and distribute the
+      Work and such Derivative Works in Source or Object form.
+
+   3. Grant of Patent License. Subject to the terms and conditions of
+      this License, each Contributor hereby grants to You a perpetual,
+      worldwide, non-exclusive, no-charge, royalty-free, irrevocable
+      (except as stated in this section) patent license to make, have made,
+      use, offer to sell, sell, import, and otherwise transfer the Work,
+      where such license applies only to those patent claims licensable
+      by such Contributor that are necessarily infringed by their
+      Contribution(s) alone or by combination of their Contribution(s)
+      with the Work to which such Contribution(s) was submitted. If You
+      institute patent litigation against any entity (including a
+      cross-claim or counterclaim in a lawsuit) alleging that the Work
+      or a Contribution incorporated within the Work constitutes direct
+      or contributory patent infringement, then any patent licenses
+      granted to You under this License for that Work shall terminate
+      as of the date such litigation is filed.
+
+   4. Redistribution. You may reproduce and distribute copies of the
+      Work or Derivative Works thereof in any medium, with or without
+      modifications, and in Source or Object form, provided that You
+      meet the following conditions:
+
+      (a) You must give any other recipients of the Work or
+          Derivative Works a copy of this License; and
+
+      (b) You must cause any modified files to carry prominent notices
+          stating that You changed the files; and
+
+      (c) You must retain, in the Source form of any Derivative Works
+          that You distribute, all copyright, patent, trademark, and
+          attribution notices from the Source form of the Work,
+          excluding those notices that do not pertain to any part of
+          the Derivative Works; and
+
+      (d) If the Work includes a "NOTICE" text file as part of its
+          distribution, then any Derivative Works that You distribute must
+          include a readable copy of the attribution notices contained
+          within such NOTICE file, excluding those notices that do not
+          pertain to any part of the Derivative Works, in at least one
+          of the following places: within a NOTICE text file distributed
+          as part of the Derivative Works; within the Source form or
+          documentation, if provided along with the Derivative Works; or,
+          within a display generated by the Derivative Works, if and
+          wherever such third-party notices normally appear. The contents
+          of the NOTICE file are for informational purposes only and
+          do not modify the License. You may add Your own attribution
+          notices within Derivative Works that You distribute, alongside
+          or as an addendum to the NOTICE text from the Work, provided
+          that such additional attribution notices cannot be construed
+          as modifying the License.
+
+      You may add Your own copyright statement to Your modifications and
+      may provide additional or different license terms and conditions
+      for use, reproduction, or distribution of Your modifications, or
+      for any such Derivative Works as a whole, provided Your use,
+      reproduction, and distribution of the Work otherwise complies with
+      the conditions stated in this License.
+
+   5. Submission of Contributions. Unless You explicitly state otherwise,
+      any Contribution intentionally submitted for inclusion in the Work
+      by You to the Licensor shall be under the terms and conditions of
+      this License, without any additional terms or conditions.
+      Notwithstanding the above, nothing herein shall supersede or modify
+      the terms of any separate license agreement you may have executed
+      with Licensor regarding such Contributions.
+
+   6. Trademarks. This License does not grant permission to use the trade
+      names, trademarks, service marks, or product names of the Licensor,
+      except as required for reasonable and customary use in describing the
+      origin of the Work and reproducing the content of the NOTICE file.
+
+   7. Disclaimer of Warranty. Unless required by applicable law or
+      agreed to in writing, Licensor provides the Work (and each
+      Contributor provides its Contributions) on an "AS IS" BASIS,
+      WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or
+      implied, including, without limitation, any warranties or conditions
+      of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A
+      PARTICULAR PURPOSE. You are solely responsible for determining the
+      appropriateness of using or redistributing the Work and assume any
+      risks associated with Your exercise of permissions under this License.
+
+   8. Limitation of Liability. In no event and under no legal theory,
+      whether in tort (including negligence), contract, or otherwise,
+      unless required by applicable law (such as deliberate and grossly
+      negligent acts) or agreed to in writing, shall any Contributor be
+      liable to You for damages, including any direct, indirect, special,
+      incidental, or consequential damages of any character arising as a
+      result of this License or out of the use or inability to use the
+      Work (including but not limited to damages for loss of goodwill,
+      work stoppage, computer failure or malfunction, or any and all
+      other commercial damages or losses), even if such Contributor
+      has been advised of the possibility of such damages.
+
+   9. Accepting Warranty or Additional Liability. While redistributing
+      the Work or Derivative Works thereof, You may choose to offer,
+      and charge a fee for, acceptance of support, warranty, indemnity,
+      or other liability obligations and/or rights consistent with this
+      License. However, in accepting such obligations, You may act only
+      on Your own behalf and on Your sole responsibility, not on behalf
+      of any other Contributor, and only if You agree to indemnify,
+      defend, and hold each Contributor harmless for any liability
+      incurred by, or claims asserted against, such Contributor by reason
+      of your accepting any such warranty or additional liability.
+
+   END OF TERMS AND CONDITIONS
+
+   APPENDIX: How to apply the Apache License to your work.
+
+      To apply the Apache License to your work, attach the following
+      boilerplate notice, with the fields enclosed by brackets "[]"
+      replaced with your own identifying information. (Don't include
+      the brackets!)  The text should be enclosed in the appropriate
+      comment syntax for the file format. We also recommend that a
+      file or class name and description of purpose be included on the
+      same "printed page" as the copyright notice for easier
+      identification within third-party archives.
+
+   Copyright [yyyy] [name of copyright owner]
+
+   Licensed under the Apache License, Version 2.0 (the "License");
+   you may not use this file except in compliance with the License.
+   You may obtain a copy of the License at
+
+       http://www.apache.org/licenses/LICENSE-2.0
+
+   Unless required by applicable law or agreed to in writing, software
+   distributed under the License is distributed on an "AS IS" BASIS,
+   WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+   See the License for the specific language governing permissions and
+   limitations under the License.

hex_zmq_servers-0.3.8/MANIFEST.in

@@ -0,0 +1,13 @@
+include LICENSE
+include README.md
+include requirements.txt
+
+recursive-include package_name *
+recursive-include hex_zmq_servers/mujoco/archer_y6/model * *
+recursive-include hex_zmq_servers/mujoco/e3_desktop/model * *
+recursive-include hex_zmq_servers/robot/hexarm/urdf * *
+recursive-include hex_zmq_servers/config *
+
+recursive-exclude * *.pyc
+recursive-exclude * .DS_Store
+recursive-exclude * __pycache__

hex_zmq_servers-0.3.8/PKG-INFO

@@ -0,0 +1,147 @@
+Metadata-Version: 2.4
+Name: hex_zmq_servers
+Version: 0.3.8
+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>
+License-Expression: Apache-2.0
+Project-URL: Homepage, https://github.com/hexfellow/hex_zmq_servers
+Project-URL: Repository, https://github.com/hexfellow/hex_zmq_servers.git
+Project-URL: Bug Tracker, https://github.com/hexfellow/hex_zmq_servers/issues
+Project-URL: Documentation, https://github.com/hexfellow/hex_zmq_servers/wiki
+Keywords: hex_zmq_servers
+Classifier: Development Status :: 4 - Beta
+Classifier: Intended Audience :: Developers
+Classifier: Intended Audience :: Science/Research
+Classifier: Topic :: Software Development :: Libraries :: Python Modules
+Classifier: Programming Language :: Python :: 3
+Classifier: Programming Language :: Python :: 3.10
+Classifier: Programming Language :: Python :: 3.11
+Classifier: Programming Language :: Python :: 3.12
+Classifier: Operating System :: POSIX :: Linux
+Requires-Python: >=3.10
+Description-Content-Type: text/markdown
+License-File: LICENSE
+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
+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"
+Provides-Extra: all
+Requires-Dist: berxel_py_wrapper>=2.0.182; extra == "all"
+Requires-Dist: mujoco>=3.3.3; extra == "all"
+Requires-Dist: pyrealsense2>=2.56.5.9235; extra == "all"
+Dynamic: license-file
+
+# hex_zmq_servers
+
+## Introduction
+
+**`hex_zmq_servers`** is a comprehensive distributed device control framework based on ZeroMQ, providing efficient client-server communication for HEXFELLOW devices.
+
+## Project Structure
+
+```bash
+hex_zmq_servers/
+├── hex_zmq_servers/         # Core library
+│   ├── robot/               # Robot devices
+│   ├── cam/                 # Camera devices
+│   ├── mujoco/              # Mujoco simulation devices
+│   └── config/              # Default configuration files
+├── examples/                # Example code
+│   ├── basic/               # Basic examples (single device)
+│   └── adv/                 # Advanced examples (multi-device coordination)
+└── venv.sh                  # Virtual environment script
+```
+
+## Devices
+
+### Robot
+
+- **dummy**: Dummy robot, for testing and development
+- **gello**: GELLO robot, based on Dynamixel servo
+- **hexarm**: HexArm robot of HEXFELLOW
+
+### Camera
+
+- **dummy**: Dummy camera, for testing and development
+- **berxel**: Berxel depth camera, providing RGB and depth images
+
+### Mujoco
+
+- **archer_y6**: Physical simulation of Archer Y6 robot
+- **e3_desktop**: Physical simulation of E3 Desktop robot
+
+## Installation
+
+### Install from PyPI
+
+1. For those who only want to use the library in their projects, it is recommended to install it from PyPI.
+
+    ```bash
+    pip install hex_zmq_servers[all]
+    ```
+
+2. If you don't want to install the extra dependencies for extra devices, you can run:
+
+    ```bash
+    pip install hex_zmq_servers
+    ```
+
+### Install from Source Code
+
+1. For those who want to test the examples or contribute to the project, you can install it from source code.
+
+    ```bash
+    git clone https://github.com/hexfellow/hex_zmq_servers.git
+    cd hex_zmq_servers
+    ./venv.sh
+    ```
+
+2. If you don't want to install the extra dependencies for extra devices, you can run:
+
+    ```bash
+    git clone https://github.com/hexfellow/hex_zmq_servers.git
+    cd hex_zmq_servers
+    ./venv.sh --min
+    ```
+
+    (**Important**) Some examples would not work without the extra dependencies.
+
+3. If you don't want to install the examples, you can run:
+
+    ```bash
+    git clone https://github.com/hexfellow/hex_zmq_servers.git
+    cd hex_zmq_servers
+    ./venv.sh --pkg-only
+    ```
+
+## Examples
+
+There are two types of examples in the project:
+
+- **basic/**: Basic examples, showing the usage of a single device
+- **adv/**: Advanced examples, showing multi-device coordination
+
+More details please refer to [examples/README.md](examples/README.md)
+
+## Contributions
+
+Welcome to submit issues and pull requests!
+
+## License
+
+Apache License 2.0
+
+## Contact
+
+- Author: [Dong Zhaorui](https://github.com/IBNBlank)
+- Maintainer: [jecjune](https://github.com/Jecjune)
+- GitHub: [hex_zmq_servers](https://github.com/hexfellow/hex_zmq_servers)
+- Issue Tracker: [hex_zmq_servers](https://github.com/hexfellow/hex_zmq_servers/issues)

hex_zmq_servers-0.3.8/README.md

@@ -0,0 +1,106 @@
+# hex_zmq_servers
+
+## Introduction
+
+**`hex_zmq_servers`** is a comprehensive distributed device control framework based on ZeroMQ, providing efficient client-server communication for HEXFELLOW devices.
+
+## Project Structure
+
+```bash
+hex_zmq_servers/
+├── hex_zmq_servers/         # Core library
+│   ├── robot/               # Robot devices
+│   ├── cam/                 # Camera devices
+│   ├── mujoco/              # Mujoco simulation devices
+│   └── config/              # Default configuration files
+├── examples/                # Example code
+│   ├── basic/               # Basic examples (single device)
+│   └── adv/                 # Advanced examples (multi-device coordination)
+└── venv.sh                  # Virtual environment script
+```
+
+## Devices
+
+### Robot
+
+- **dummy**: Dummy robot, for testing and development
+- **gello**: GELLO robot, based on Dynamixel servo
+- **hexarm**: HexArm robot of HEXFELLOW
+
+### Camera
+
+- **dummy**: Dummy camera, for testing and development
+- **berxel**: Berxel depth camera, providing RGB and depth images
+
+### Mujoco
+
+- **archer_y6**: Physical simulation of Archer Y6 robot
+- **e3_desktop**: Physical simulation of E3 Desktop robot
+
+## Installation
+
+### Install from PyPI
+
+1. For those who only want to use the library in their projects, it is recommended to install it from PyPI.
+
+    ```bash
+    pip install hex_zmq_servers[all]
+    ```
+
+2. If you don't want to install the extra dependencies for extra devices, you can run:
+
+    ```bash
+    pip install hex_zmq_servers
+    ```
+
+### Install from Source Code
+
+1. For those who want to test the examples or contribute to the project, you can install it from source code.
+
+    ```bash
+    git clone https://github.com/hexfellow/hex_zmq_servers.git
+    cd hex_zmq_servers
+    ./venv.sh
+    ```
+
+2. If you don't want to install the extra dependencies for extra devices, you can run:
+
+    ```bash
+    git clone https://github.com/hexfellow/hex_zmq_servers.git
+    cd hex_zmq_servers
+    ./venv.sh --min
+    ```
+
+    (**Important**) Some examples would not work without the extra dependencies.
+
+3. If you don't want to install the examples, you can run:
+
+    ```bash
+    git clone https://github.com/hexfellow/hex_zmq_servers.git
+    cd hex_zmq_servers
+    ./venv.sh --pkg-only
+    ```
+
+## Examples
+
+There are two types of examples in the project:
+
+- **basic/**: Basic examples, showing the usage of a single device
+- **adv/**: Advanced examples, showing multi-device coordination
+
+More details please refer to [examples/README.md](examples/README.md)
+
+## Contributions
+
+Welcome to submit issues and pull requests!
+
+## License
+
+Apache License 2.0
+
+## Contact
+
+- Author: [Dong Zhaorui](https://github.com/IBNBlank)
+- Maintainer: [jecjune](https://github.com/Jecjune)
+- GitHub: [hex_zmq_servers](https://github.com/hexfellow/hex_zmq_servers)
+- Issue Tracker: [hex_zmq_servers](https://github.com/hexfellow/hex_zmq_servers/issues)

hex_zmq_servers-0.3.8/hex_zmq_servers/__init__.py

@@ -0,0 +1,173 @@
+#!/usr/bin/env python3
+# -*- coding:utf-8 -*-
+################################################################
+# Copyright 2025 Dong Zhaorui. All rights reserved.
+# Author: Dong Zhaorui 847235539@qq.com
+# Date  : 2025-09-15
+################################################################
+
+from .hex_launch import HexLaunch, HexNodeConfig, HEX_LOG_LEVEL, hex_dict_str, hex_log, hex_err
+
+from .device_base import HexDeviceBase
+from .zmq_base import hex_zmq_ts_to_ns, ns_to_hex_zmq_ts, hex_ns_now, hex_zmq_ts_now, hex_zmq_ts_delta_ms
+from .zmq_base import HexRate, HexZMQClientBase, HexZMQServerBase, hex_server_helper
+from .zmq_base import HexZMQDummyClient, HexZMQDummyServer
+
+from .robot import HexRobotBase, HexRobotClientBase, HexRobotServerBase
+from .robot import HexRobotDummy, HexRobotDummyClient, HexRobotDummyServer
+from .robot import HexRobotGello, HexRobotGelloClient, HexRobotGelloServer
+from .robot import HexRobotHexarm, HexRobotHexarmClient, HexRobotHexarmServer, HEXARM_URDF_PATH_DICT
+
+from .cam import HexCamBase, HexCamClientBase, HexCamServerBase
+from .cam import HexCamDummy, HexCamDummyClient, HexCamDummyServer
+from .cam import HexCamRGB, HexCamRGBClient, HexCamRGBServer
+
+import os
+
+file_dir = os.path.dirname(os.path.abspath(__file__))
+HEX_ZMQ_SERVERS_PATH_DICT = {
+    "zmq_dummy": f"{file_dir}/zmq_base.py",
+    "robot_dummy": f"{file_dir}/robot/dummy/robot_dummy_srv.py",
+    "robot_gello": f"{file_dir}/robot/gello/robot_gello_srv.py",
+    "robot_hexarm": f"{file_dir}/robot/hexarm/robot_hexarm_srv.py",
+    "cam_dummy": f"{file_dir}/cam/dummy/cam_dummy_srv.py",
+    "cam_rgb": f"{file_dir}/cam/rgb/cam_rgb_srv.py",
+}
+HEX_ZMQ_CONFIGS_PATH_DICT = {
+    "zmq_dummy": f"{file_dir}/config/zmq_dummy.json",
+    "robot_dummy": f"{file_dir}/config/robot_dummy.json",
+    "robot_gello": f"{file_dir}/config/robot_gello.json",
+    "robot_hexarm": f"{file_dir}/config/robot_hexarm.json",
+    "cam_dummy": f"{file_dir}/config/cam_dummy.json",
+    "cam_rgb": f"{file_dir}/config/cam_rgb.json",
+}
+
+__all__ = [
+    # version
+    "__version__",
+
+    # path
+    "HEX_ZMQ_SERVERS_PATH_DICT",
+    "HEX_ZMQ_CONFIGS_PATH_DICT",
+    "HEXARM_URDF_PATH_DICT",
+
+    # launch
+    "HexLaunch",
+    "HexNodeConfig",
+    "HEX_LOG_LEVEL",
+    "hex_dict_str",
+    "hex_log",
+    "hex_err",
+
+    # base
+    "HexDeviceBase",
+    "HexRate",
+    "hex_zmq_ts_to_ns",
+    "ns_to_hex_zmq_ts",
+    "hex_ns_now",
+    "hex_zmq_ts_now",
+    "hex_zmq_ts_delta_ms",
+    "HexZMQClientBase",
+    "HexZMQServerBase",
+    "hex_server_helper",
+    "HexZMQDummyClient",
+    "HexZMQDummyServer",
+
+    # robot
+    "HexRobotBase",
+    "HexRobotClientBase",
+    "HexRobotServerBase",
+    "HexRobotDummy",
+    "HexRobotDummyClient",
+    "HexRobotDummyServer",
+    "HexRobotGello",
+    "HexRobotGelloClient",
+    "HexRobotGelloServer",
+    "HexRobotHexarm",
+    "HexRobotHexarmClient",
+    "HexRobotHexarmServer",
+
+    # camera
+    "HexCamBase",
+    "HexCamClientBase",
+    "HexCamServerBase",
+    "HexCamDummy",
+    "HexCamDummyClient",
+    "HexCamDummyServer",
+    "HexCamRGB",
+    "HexCamRGBClient",
+    "HexCamRGBServer",
+]
+
+# Check optional dependencies availability
+from importlib.util import find_spec
+
+_HAS_BERXEL = find_spec("berxel_py_wrapper") is not None
+_HAS_REALSENSE = find_spec("pyrealsense2") is not None
+_HAS_MUJOCO = find_spec("mujoco") is not None
+
+# Optional: berxel
+if _HAS_BERXEL:
+    from .cam import HexCamBerxel, HexCamBerxelClient, HexCamBerxelServer
+    HEX_ZMQ_SERVERS_PATH_DICT.update({
+        "cam_berxel":
+        f"{file_dir}/cam/berxel/cam_berxel_srv.py",
+    })
+    HEX_ZMQ_CONFIGS_PATH_DICT.update({
+        "cam_berxel":
+        f"{file_dir}/config/cam_berxel.json",
+    })
+    __all__.extend([
+        "HexCamBerxel",
+        "HexCamBerxelClient",
+        "HexCamBerxelServer",
+    ])
+
+# Optional: realsense
+if _HAS_REALSENSE:
+    from .cam import HexCamRealsense, HexCamRealsenseClient, HexCamRealsenseServer
+    HEX_ZMQ_SERVERS_PATH_DICT.update({
+        "cam_realsense":
+        f"{file_dir}/cam/realsense/cam_realsense_srv.py",
+    })
+    HEX_ZMQ_CONFIGS_PATH_DICT.update({
+        "cam_realsense":
+        f"{file_dir}/config/cam_realsense.json",
+    })
+    __all__.extend([
+        "HexCamRealsense",
+        "HexCamRealsenseClient",
+        "HexCamRealsenseServer",
+    ])
+
+# Optional: mujoco
+if _HAS_MUJOCO:
+    from .mujoco import HexMujocoBase, HexMujocoClientBase, HexMujocoServerBase
+    from .mujoco import HexMujocoArcherY6, HexMujocoArcherY6Client, HexMujocoArcherY6Server
+    from .mujoco import HexMujocoE3Desktop, HexMujocoE3DesktopClient, HexMujocoE3DesktopServer
+    HEX_ZMQ_SERVERS_PATH_DICT.update({
+        "mujoco_archer_y6":
+        f"{file_dir}/mujoco/archer_y6/mujoco_archer_y6_srv.py",
+        "mujoco_e3_desktop":
+        f"{file_dir}/mujoco/e3_desktop/mujoco_e3_desktop_srv.py",
+    })
+    HEX_ZMQ_CONFIGS_PATH_DICT.update({
+        "mujoco_archer_y6":
+        f"{file_dir}/config/mujoco_archer_y6.json",
+        "mujoco_e3_desktop":
+        f"{file_dir}/config/mujoco_e3_desktop.json",
+    })
+    __all__.extend([
+        # mujoco
+        "HexMujocoBase",
+        "HexMujocoClientBase",
+        "HexMujocoServerBase",
+        "HexMujocoArcherY6",
+        "HexMujocoArcherY6Client",
+        "HexMujocoArcherY6Server",
+        "HexMujocoE3Desktop",
+        "HexMujocoE3DesktopClient",
+        "HexMujocoE3DesktopServer",
+    ])
+
+# print("#### Thanks for using hex_zmq_servers :D ####")

hex_zmq_servers-0.3.8/hex_zmq_servers/cam/__init__.py

@@ -0,0 +1,52 @@
+#!/usr/bin/env python3
+# -*- coding:utf-8 -*-
+################################################################
+# Copyright 2025 Dong Zhaorui. All rights reserved.
+# Author: Dong Zhaorui 847235539@qq.com
+# Date  : 2025-09-12
+################################################################
+
+from .cam_base import HexCamBase, HexCamClientBase, HexCamServerBase
+from .dummy import HexCamDummy, HexCamDummyClient, HexCamDummyServer
+from .rgb import HexCamRGB, HexCamRGBClient, HexCamRGBServer
+
+__all__ = [
+    # base
+    "HexCamBase",
+    "HexCamClientBase",
+    "HexCamServerBase",
+
+    # dummy
+    "HexCamDummy",
+    "HexCamDummyClient",
+    "HexCamDummyServer",
+
+    # rgb
+    "HexCamRGB",
+    "HexCamRGBClient",
+    "HexCamRGBServer",
+]
+
+# Check optional dependencies availability
+from importlib.util import find_spec
+
+_HAS_BERXEL = find_spec("berxel_py_wrapper") is not None
+_HAS_REALSENSE = find_spec("pyrealsense2") is not None
+
+# Optional: berxel
+if _HAS_BERXEL:
+    from .berxel import HexCamBerxel, HexCamBerxelClient, HexCamBerxelServer
+    __all__.extend([
+        "HexCamBerxel",
+        "HexCamBerxelClient",
+        "HexCamBerxelServer",
+    ])
+
+# Optional: realsense
+if _HAS_REALSENSE:
+    from .realsense import HexCamRealsense, HexCamRealsenseClient, HexCamRealsenseServer
+    __all__.extend([
+        "HexCamRealsense",
+        "HexCamRealsenseClient",
+        "HexCamRealsenseServer",
+    ])