hex-device 1.1.7

A Python library for controlling HexDevice robots and devices

Hex Device Python Library

Overview

This library provides a simple interface for communicating with and controlling Hex devices. It uses Protocol Buffers for message serialization and WebSocket for real-time communication. The supported hardware list is as follows:

• [✅] ChassisMaver
• [✅] ChassisMark2
• [✅] ArmArcher
• [✅] ArmSaber
• [✅] HandsHtGp100
• [-] hex_lift

Installation

Install from PyPI (Recommended)

pip install hex_device

Clone the Repository (Development)

git clone --recurse-submodules https://github.com/hexfellow/hex_device_python.git

Prerequisites

• Python 3.8.10 or higher
• Anaconda Distribution (recommended for beginners) - includes Python, NumPy, and commonly used scientific computing packages

Quickstart

Install protoc

We highly recommend you to use protoc-27.1 since we have fully tested it in both x86_64 and arm64 archs.

You can use the binary installation method below to install protoc-27.1.

# For Linux x86_64
wget https://github.com/protocolbuffers/protobuf/releases/download/v27.1/protoc-27.1-linux-x86_64.zip
sudo unzip protoc-27.1-linux-x86_64.zip -d /usr/local
rm protoc-27.1-linux-x86_64.zip
   
# For Linux arm64
wget https://github.com/protocolbuffers/protobuf/releases/download/v27.1/protoc-27.1-linux-aarch_64.zip
sudo unzip protoc-27.1-linux-aarch_64.zip -d /usr/local
rm protoc-27.1-linux-aarch_64.zip
   
# Verify installation
protoc --version  # Should display libprotoc 27.1

Install hex_device

Option 1: Package Installation

To install the library in your Python environment:

python3 -m pip install .

Option 2: Direct Usage (No Installation)

If you prefer to run the library without installing it in your Python environment:

1. Compile Protocol Buffer messages:

   mkdir ./hex_device/generated
   protoc --proto_path=proto-public-api --python_out=hex_device/generated proto-public-api/*.proto
   

2. Install dependencies:

   python3 -m pip install -r requirements.txt
   

3. Add the library path to your script:

   import sys
   sys.path.insert(1, '<your project path>/hex_device_python')
   sys.path.insert(1, '<your project path>/hex_device_python/hex_device/generated')
   

Usage

The complete function interfaces can be found in our wiki.

• A simple demo for all device: test/main.py

• Example of robotic arm trajectory tracking: test/archer_traj_test.py

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