hex-zmq-servers 0.3.2

HEXFELLOW ZMQ Servers

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

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.

   pip install hex_zmq_servers[all]
   

2. If you don't want to install the extra dependencies for extra devices, you can run:

   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.

   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:

   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:

   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

Contributions

Welcome to submit issues and pull requests!

License

Apache License 2.0

Contact

• Author: Dong Zhaorui
• Maintainer: jecjune
• GitHub: hex_zmq_servers
• Issue Tracker: hex_zmq_servers