A Python interface for controlling and receiving data from a UR robot using the Real-Time Data Exchange (RTDE) interface of the robot.
Project description
A C++ interface for controlling and receiving data from a UR robot using the Real-Time Data Exchange (RTDE) interface of the robot. The interface can also be used with python, through the provided python bindings.
Key Features
- Fast and lightweight interface for programming UR robots.
- Uses the Real-Time Data Exchange (RTDE) of the robot.
- Execute with real-time priority on operating systems with a real-time kernel, see the Real-time Setup Guide
- Available on multiple platforms (Linux, Windows, macOS)
- Can be used from C++ and Python.
- Relies only on STL datatypes and can be used with various robot frameworks.
- Switchable register range (FieldBus / PLC [0..23] or external clients range [24..47])
- Use it with the UR's ExternalControl UR Cap, download it here see how to install it on the robot here. In order to setup ur_rtde for using it see here.
- Easy to install and setup.
Documentation
Documentation with installation and build instructions, examples and API resides at https://sdurobotics.gitlab.io/ur_rtde/
Quick Install
From PPA:
If you are on Ubuntu, you can install ur_rtde with:
sudo add-apt-repository ppa:sdurobotics/ur-rtde
sudo apt-get update
sudo apt install librtde librtde-dev
From PyPi:
If you only want to the use the Python interface, you can install ur_rtde through pip:
pip3 install ur_rtde
:warning: Notice! Make sure your pip version >=19.3, otherwise the install might fail.
Prebuilt python wheels support matrix:
macOS Intel | macOS Apple Silicon | Windows 64bit | Windows 32bit | Windows Arm64 | manylinux x86_64 | manylinux i686 | manylinux aarch64 | manylinux ppc64le | manylinux s390x | |
---|---|---|---|---|---|---|---|---|---|---|
CPython 3.6 | ✅ | :x: | :x: | :x: | :x: | ✅ | ✅ | ✅ | ✅ | ✅ |
CPython 3.7 | ✅ | :x: | ✅ | :x: | :x: | ✅ | ✅ | ✅ | ✅ | ✅ |
CPython 3.8 | ✅ | :x: | ✅ | :x: | :x: | ✅ | ✅ | ✅ | ✅ | ✅ |
CPython 3.9 | ✅ | :x: | ✅ | :x: | ✅¹ | ✅ | ✅ | ✅ | ✅ | ✅ |
CPython 3.10 | ✅ | :x: | ✅ | :x: | ✅¹ | ✅ | ✅ | ✅ | ✅ | ✅ |
CPython 3.11 | ✅ | :x: | ✅ | :x: | ✅¹ | ✅ | ✅ | ✅ | ✅ | ✅ |
CPython 3.12 | ✅ | :x: | ✅ | :x: | ✅¹ | ✅ | ✅ | ✅ | ✅ | ✅ |
PyPy 3.7 v7.3 | ✅ | :x: | ✅ | :x: | :x: | ✅ | ✅ | ✅ | :x: | :x: |
PyPy 3.8 v7.3 | ✅ | :x: | ✅ | :x: | :x: | ✅ | ✅ | ✅ | :x: | :x: |
PyPy 3.9 v7.3 | ✅ | :x: | ✅ | :x: | :x: | ✅ | ✅ | ✅ | :x: | :x: |
¹ Windows arm64 support is experimental.
Dependencies
Compatible Robots
- All CB-Series from CB3/CB3.1 software 3.3
- All e-Series
Compatible Operating Systems
Currently tested on:
- Ubuntu 16.04 (Xenial Xerus)
- Ubuntu 18.04 (Bionic Beaver)
- Ubuntu 20.04 (Focal Fossa)
- Ubuntu 22.04 (Jammy Jellyfish)
- macOS 10.14 (Mojave)
- Windows 10 Pro x64
Contact
If you have any questions or suggestions to the interface, feel free to contact Anders Prier Lindvig anpl@mmmi.sdu.dk or create an issue here.
Project details
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Source Distribution
Built Distributions
Hashes for ur_rtde-1.5.9-pp310-pypy310_pp73-win_amd64.whl
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MD5 | 2d9f00f24b9b3e6bb741ad24b62f78d8 |
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Algorithm | Hash digest | |
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MD5 | 7b574fcdba1473f0831030c527b57d3c |
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Algorithm | Hash digest | |
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SHA256 | b9403ccb11e5a6dd70716cfe3942d9674f11ccde7ef5ba9d56b4b6b4489b4119 |
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MD5 | 4d727000aeec9c15bded72eac7096254 |
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Algorithm | Hash digest | |
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MD5 | 0f5ac9f7d5b7b456225a7766cfadbe6b |
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BLAKE2b-256 | 824c1c097bcc8b73424dcbf4c76661f0ede2ca47954018a7b0c70801fa71fd4c |
Hashes for ur_rtde-1.5.9-pp38-pypy38_pp73-manylinux_2_17_i686.manylinux2014_i686.whl
Algorithm | Hash digest | |
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SHA256 | a7caa14b191acd9c8a12919efb3a5950f03e2db6cd1d95d7e1a8d47b41bbc577 |
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MD5 | 6777e4cdaf226d5bc2e03a5342ffccdc |
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BLAKE2b-256 | 01007e85c4b21e8de1a4f8ac44fc72a4f5cb67125273a4cfd09a1ee1b5f94226 |
Hashes for ur_rtde-1.5.9-pp38-pypy38_pp73-macosx_10_9_x86_64.whl
Algorithm | Hash digest | |
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MD5 | 059704b8e893f8116c4afbd970548aa6 |
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Hashes for ur_rtde-1.5.9-pp37-pypy37_pp73-win_amd64.whl
Algorithm | Hash digest | |
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MD5 | 8d58d13e818f732ba3c078ea68beb4b1 |
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Hashes for ur_rtde-1.5.9-pp37-pypy37_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl
Algorithm | Hash digest | |
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SHA256 | 66861f13ed289a0796c78dbf65a10c1126266c592d67dda669aa2fb80f5b7a82 |
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MD5 | d4eebe3a409243f81ba8506fc8e4045b |
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BLAKE2b-256 | 2650d8c0b885f1872d25710327e7122ab0a5fc56a59a695117608d047f4ccbd4 |
Hashes for ur_rtde-1.5.9-pp37-pypy37_pp73-manylinux_2_17_i686.manylinux2014_i686.whl
Algorithm | Hash digest | |
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SHA256 | 78470d9165b35a0e970512959494c0a271ebc78ffd1f90700544f560b584cdf4 |
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MD5 | 05e56ea5320b107640255c941234fa83 |
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BLAKE2b-256 | aed5edbe7929dcf6455c4bba7b8e2c0594005c96579d2130cf04eddc11cc33b1 |
Hashes for ur_rtde-1.5.9-pp37-pypy37_pp73-macosx_10_9_x86_64.whl
Algorithm | Hash digest | |
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SHA256 | ec1580770e6790d35f712b848d9c05c59992a7f7cb064ee92c63a760aaed71b2 |
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MD5 | 9e96f4bf834fd0ce2c38216149b78163 |
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BLAKE2b-256 | 89834653ff5bfc2ca400d16e930b49b8f30396ac037484035a25e1ce6b43f16d |
Hashes for ur_rtde-1.5.9-cp312-cp312-win_amd64.whl
Algorithm | Hash digest | |
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SHA256 | 0f0b87b092bab6d21323ae7b8b1b244fce8cf93ffadf73b901ca6e363f918b15 |
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MD5 | b3c113e0a1553abbb65ee212163b7b41 |
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BLAKE2b-256 | 21ff7db1ff6e68ca6dcb30b46ab794c8971ad24a567fc5351780add5246c91d9 |
Hashes for ur_rtde-1.5.9-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl
Algorithm | Hash digest | |
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SHA256 | d942cdb971e7c46a2c41e5722e02a5315cf1209a3b0900cac516a55eaed30b9c |
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MD5 | 6e42965e13f6ec23c0ded25335728cc1 |
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BLAKE2b-256 | 4a5ab9135f0a95832077e8ddf2be622f76082e4b0172d5fd5fe7a055859e728a |
Hashes for ur_rtde-1.5.9-cp312-cp312-manylinux_2_17_i686.manylinux2014_i686.whl
Algorithm | Hash digest | |
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SHA256 | 87a79f05934bb90b8521375c1bbc4fe3955d95df4900e002fb44395b14ea300a |
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MD5 | a2345b89ec152ad3d00878452f0bfa13 |
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BLAKE2b-256 | 6a1d3df0fd35a91de6c0bbdbd3ad456c9b8be22662cc9ab74c5d348d94e111dc |
Hashes for ur_rtde-1.5.9-cp311-cp311-win_amd64.whl
Algorithm | Hash digest | |
---|---|---|
SHA256 | 3fb7fb8a19ef3f2218824072eeb65b89aa4ba5f1969b0a04a55feaf631dfaca3 |
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MD5 | 970b22bb6f89903cfaf99aca00acb415 |
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BLAKE2b-256 | 2714cfe0b7dc54f79c54af5e7053c472fd033d6f87bac483e61ba0418ce2aa43 |
Hashes for ur_rtde-1.5.9-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl
Algorithm | Hash digest | |
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SHA256 | 4432b17f18f40f73c6c8355520cdb8d5d49956703e9468553d18f22086899254 |
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MD5 | 935a66962306218af5462109cd932cd5 |
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BLAKE2b-256 | 284caf888377a4cb7655083feb38148a8f3ee84677ad07c260c78e72d6d81470 |
Hashes for ur_rtde-1.5.9-cp311-cp311-manylinux_2_17_i686.manylinux2014_i686.whl
Algorithm | Hash digest | |
---|---|---|
SHA256 | 4ff8b8010efa67c6a74c95199ffb446400dfba94a20ae0af885d825cb746ab3c |
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MD5 | ac561ddfc470414b45e99c4af5c53957 |
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BLAKE2b-256 | f7c029b65d4a944e3b8908feb182aec309230f232f00db27fe65616b8a2da03e |
Hashes for ur_rtde-1.5.9-cp311-cp311-macosx_10_9_x86_64.whl
Algorithm | Hash digest | |
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SHA256 | 5ce9f04fa9e266b509bd1208981d940e038c6957b99664d458e7fc38131239ef |
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MD5 | fd9a5c8b3b1ec7958724ac7fec65529e |
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BLAKE2b-256 | 9a4d91ad92289e60b82460f3fef35c4972973c96d171f48300cebbc1355ced82 |
Hashes for ur_rtde-1.5.9-cp310-cp310-win_amd64.whl
Algorithm | Hash digest | |
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SHA256 | aed35dc9f41d0e9c998db244d469c71e542958c63c73ea1be899671902869d74 |
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MD5 | 4bc45553b356d9f72289c40a013ac81b |
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BLAKE2b-256 | dc669b016f84f0e2cc7f586c806a33d717b8fb23641cfc9cddd23dd7cfb717a4 |
Hashes for ur_rtde-1.5.9-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl
Algorithm | Hash digest | |
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SHA256 | 240e7420620eb27cbf2ab95fa28988ed43c2bd5e6bad8a59d3a4782a909aa76d |
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MD5 | 9c91beb6ebdfdf16b081f3223cf334c6 |
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BLAKE2b-256 | b3b198ec695d7e77143909c2a5d45307074227fa1afb7e772d8083b5f0b50e49 |
Hashes for ur_rtde-1.5.9-cp310-cp310-manylinux_2_17_i686.manylinux2014_i686.whl
Algorithm | Hash digest | |
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SHA256 | 788ba9b215d4c300aaf3bf7d0104afb7524e4e0929ec12d0dbfc8f58f2bf65a0 |
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MD5 | 80bf6fba1395351b99a255c29df983c4 |
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BLAKE2b-256 | dc0ac3635bdf5f0f185143df487d4ebbd7773ea7da9f97bb52bb653bd2f4abb7 |
Hashes for ur_rtde-1.5.9-cp310-cp310-macosx_10_9_x86_64.whl
Algorithm | Hash digest | |
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SHA256 | 715956c0d4da3d8f4f1bc4029377fdc05f3b2713100cdf72f9d8c84178570951 |
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MD5 | bcbbc58ea1fd08de417f7ca5d7c9f83c |
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BLAKE2b-256 | 9b30c73e62a21e873032b17341f2a61afa27fbbd6a8a556cc63ec25ebfffd700 |
Hashes for ur_rtde-1.5.9-cp39-cp39-win_amd64.whl
Algorithm | Hash digest | |
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SHA256 | 64024c2edb3e1a4d3a77a4cf9dcf99f310c60e977ccb399950eff0840186ac7d |
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MD5 | 4bad142ae6b13d8ded0b784cd554d650 |
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BLAKE2b-256 | 134f80b5a099252d50dbd861dea053227538da775419f996347fb4bb6cbb9006 |
Hashes for ur_rtde-1.5.9-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl
Algorithm | Hash digest | |
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SHA256 | e95b401db8b29b170b7b759c9687486a0ffe1d1dab0b77b73536606ad8a90c24 |
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MD5 | 5ac81f6dbcd65b91e84939fb53c8aa94 |
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BLAKE2b-256 | 415963055fbd69c1c537ed3635c95cc851a7cdabaee3f26bc81f799a28382412 |
Hashes for ur_rtde-1.5.9-cp39-cp39-manylinux_2_17_i686.manylinux2014_i686.whl
Algorithm | Hash digest | |
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SHA256 | f470743ac1bc11a8e08dc9b45bcb74756e14490656be279c971298666b32b295 |
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MD5 | 12a717650296ddb69ee29c9a6b427460 |
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BLAKE2b-256 | 5b46527b4ff85d8b426566a4048240a26f1d6580f304056e006d0527485eb960 |
Hashes for ur_rtde-1.5.9-cp39-cp39-macosx_10_9_x86_64.whl
Algorithm | Hash digest | |
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SHA256 | 21ad4648b5165768345e84610e080cf4f1764da58fe87aa03b26e8c2538c306f |
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MD5 | ce952f52cfcf4a0d0c1bb440aa9d3940 |
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BLAKE2b-256 | f68b81677f24f63a62e6870e7f9ad555d99e9ff19ea46569bafb1cf062088057 |
Hashes for ur_rtde-1.5.9-cp38-cp38-win_amd64.whl
Algorithm | Hash digest | |
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SHA256 | 1bf438b61609f28843506df910f702ed8503784309069ac16b04874078f50693 |
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MD5 | f3289a7d530a564124f5acfd17d8db73 |
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BLAKE2b-256 | 3eb19b99d21458e92f45422cae125158aed56552461d5fa77901a01db94018db |
Hashes for ur_rtde-1.5.9-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl
Algorithm | Hash digest | |
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SHA256 | e5105eaebbdf3fb8fcdaa66696487835080dc17249d2b40bfb4f3a65697d9b68 |
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MD5 | e582846f14c0c1c9606f85a3ddaa6024 |
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BLAKE2b-256 | 194b1807094710dfd7894d42000069823977dee9ffc1491591a5c3e7c37e48bc |
Hashes for ur_rtde-1.5.9-cp38-cp38-manylinux_2_17_i686.manylinux2014_i686.whl
Algorithm | Hash digest | |
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SHA256 | 6218ba8a1156ffa464287d2749c2ce5a012bc6abfa35b85009b4808a2ca735d0 |
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MD5 | eeab4a431c8ba437b87f7fd427ecffbf |
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BLAKE2b-256 | 664e36ef598fd6b2308506a8dc61809f999fd677da55536faa83abfe056f4d02 |
Hashes for ur_rtde-1.5.9-cp38-cp38-macosx_10_9_x86_64.whl
Algorithm | Hash digest | |
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SHA256 | fd8080e720ad17f2bfa106352574c5a2a03ebc305e64f909a01e372bf8312202 |
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MD5 | c449f6bdf0d16476ce9bd91ce24af0f9 |
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BLAKE2b-256 | 01c8290e6f8ec71920b602d51f0a11e5ef3f0de893bfbd7ed19a282b63185965 |
Hashes for ur_rtde-1.5.9-cp37-cp37m-win_amd64.whl
Algorithm | Hash digest | |
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SHA256 | 54c7981b97036b0ca29268fc02d961ff3790bb6bf522b305f8223c94aa96e126 |
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MD5 | 59486b7ca7d3dedde62c5ab5268e31c9 |
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BLAKE2b-256 | 926404a70bc3a41d2011c28cad003443b00062d394e3bfd5ee40d08fb041608e |
Hashes for ur_rtde-1.5.9-cp37-cp37m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl
Algorithm | Hash digest | |
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SHA256 | f1eae4039c5079f2465afec6f3c90159c642c847ebf5ee05ef98dbdf39221d0d |
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MD5 | fe320e10728d9ee2d4e09353af15f36d |
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BLAKE2b-256 | 7f2472700ba6c581da92ff57279dee63f2421ec3dd4508f8fa29cc25fa570935 |
Hashes for ur_rtde-1.5.9-cp37-cp37m-manylinux_2_17_i686.manylinux2014_i686.whl
Algorithm | Hash digest | |
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SHA256 | 412081cf9961b280cd2272977c765379f7559529c4993b3527c7687fcd3a1bd4 |
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MD5 | 289903f4c4d427ce8e1139a9ef74c350 |
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BLAKE2b-256 | 44d1ce73a5abbb2e24b6adf1cc1827a6ce43fe8f3a68536dff9ebb8c27590c19 |
Hashes for ur_rtde-1.5.9-cp37-cp37m-macosx_10_9_x86_64.whl
Algorithm | Hash digest | |
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SHA256 | ea321d921779a3d3cb084a8e42922273de35857df495276e54d4f94c0ae67dd2 |
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MD5 | 6cd6192b40d7922522acdfca89668f10 |
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BLAKE2b-256 | 9207e632bd7a9b4a6b8f05615e47fd43b138bead050be5a598b7ae3d12db7cdb |
Hashes for ur_rtde-1.5.9-cp36-cp36m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl
Algorithm | Hash digest | |
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SHA256 | 25bca044b8c32613da68ba6562d20f00f0812763bf7d856347e53f2aa14f1b5d |
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MD5 | e0bd6fb785823aab01e4f245ad044e2f |
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BLAKE2b-256 | 6f1a7a2406f656bc2531e7dc6ab1271608ef7e052221b3522d2f93ff2d33e157 |
Hashes for ur_rtde-1.5.9-cp36-cp36m-manylinux_2_17_i686.manylinux2014_i686.whl
Algorithm | Hash digest | |
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SHA256 | dfdff747f22ac831f3252d282ecfc2e6d10b0772d3e31b141d76251fe5486936 |
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MD5 | 3447ad98eb13153ad0d46b2e1643eead |
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BLAKE2b-256 | 55827d0914a85aab37a93278dc1bf2db7463b2429252be51ef19a497e07647a5 |
Hashes for ur_rtde-1.5.9-cp36-cp36m-macosx_10_9_x86_64.whl
Algorithm | Hash digest | |
---|---|---|
SHA256 | f947f5c6ab59cddcfcec924b3eba0d7d121e6d207441b68c05045457faaa9dd8 |
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MD5 | c96801282b023dc296f809fd292d1d18 |
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BLAKE2b-256 | c18ef608a04943d73574bc774f45ce81403b587fa48a4b412f67e6d6e1bbcf29 |