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:
Python 3.6 | Python 3.7 | Python 3.8 | Python 3.9 | |
---|---|---|---|---|
Linux x86_64 | ✅ | ✅ | ✅ | ✅ |
macOS Intel | ✅ | ✅ | ✅ | ✅ |
macOS Apple Silicon | ✅ | ✅ | ✅ | ✅ |
Windows 64bit | ✅ | ✅ | ✅ | ✅ |
Windows 32bit | :x: | :x: | :x: | :x: |
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-1.5.5-pp39-pypy39_pp73-win_amd64.whl
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MD5 | 66f09d2731afc456f1d1c93d88dc4377 |
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BLAKE2b-256 | 897a61b56055e99dc7c7e7468219d0357e2e65c83fb30c8a25455da4d23099be |
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SHA256 | 45828d33482cae6337d8d2bb1c0c791d699e9c1938ff0f6f837aecf3b35c2bfa |
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MD5 | 82c07197ec957646bd5656ae0dbbebf2 |
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BLAKE2b-256 | 6e748f98032d5212af370c989e7f5d7e9adaf40ee37cc268d27a428033b6e56c |
Hashes for ur_rtde-1.5.5-pp39-pypy39_pp73-macosx_10_9_x86_64.whl
Algorithm | Hash digest | |
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MD5 | 56f09ef203c80641a4285a5368b0d0d2 |
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BLAKE2b-256 | 1ec2fc0effd40142e8f0279c217da1e90e75a35c014431129f36b171e60b0fa6 |
Hashes for ur_rtde-1.5.5-pp38-pypy38_pp73-win_amd64.whl
Algorithm | Hash digest | |
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SHA256 | b860a8d0cb6d158cbbe27490bdcb5ff61dc530cc31ef65aed23d793e6bc3bdac |
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MD5 | 82655eba2cc9beec78b39e75b229267b |
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BLAKE2b-256 | 35810ec35f3b4531e7f89affdae71112e40862dee061a3cc76ed6e64ef4e8424 |
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Algorithm | Hash digest | |
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SHA256 | 94aafb42cf4f003d882ebaee4b82b62effdd8c5ac706d14f6f45035243e1a0bd |
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MD5 | aa7e7cd47726d2af270c8cc80f2166a6 |
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BLAKE2b-256 | 5b502bb6fffee357efd04a4a916ae46a56bd4632a75168a0af391ba3b00b1c15 |
Hashes for ur_rtde-1.5.5-pp38-pypy38_pp73-manylinux_2_17_i686.manylinux2014_i686.whl
Algorithm | Hash digest | |
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SHA256 | e2b58c904e6716046b0a7e904af0246012621b8fd62ff6d5c413dc3ebafb14c4 |
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MD5 | e9a9c2f4b1b0d117e2b93f2876133879 |
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Hashes for ur_rtde-1.5.5-pp38-pypy38_pp73-macosx_10_9_x86_64.whl
Algorithm | Hash digest | |
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SHA256 | 599fd92a0fd1bf11e636e567191728e8c4d25747e9128c35a4878c0e35e5cfdb |
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MD5 | c4a651bf05b1582b01441b885cd81fc7 |
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BLAKE2b-256 | 6f827309439273ae15aa55e7b215bf44ada67b2835976f4c97989b52985506f2 |
Hashes for ur_rtde-1.5.5-pp37-pypy37_pp73-win_amd64.whl
Algorithm | Hash digest | |
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SHA256 | 9989b061112455bf4a49cb143b3b99f3e24b2ee4ade02eb39a72da36ff49ca4a |
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MD5 | d376040829380d088ad281c8c8a70ead |
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BLAKE2b-256 | fa18d0a52572b3522893e7d10d6d46e005b368233736e4464893c412be1fee0f |
Hashes for ur_rtde-1.5.5-pp37-pypy37_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl
Algorithm | Hash digest | |
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SHA256 | 509135d8c46b2a3c77c91651e2f752341c186784c20967889932d6537dc01f8d |
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MD5 | 6fd5d674ec98b3e95c608bbc55c4f3a9 |
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BLAKE2b-256 | 5cd9e5a681209112a2b9445abfd868bcdd11c75b764b730751ec3ff4a6d62d02 |
Hashes for ur_rtde-1.5.5-pp37-pypy37_pp73-manylinux_2_17_i686.manylinux2014_i686.whl
Algorithm | Hash digest | |
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SHA256 | 559fbd3d6772ade9a78340095c2ccd3e110b886508521b89c4cd901256572cfd |
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MD5 | 162298781aab32e771e4fe0872d5015e |
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BLAKE2b-256 | bc8461a0ff02d42801e4a0a99258fa45eed3a7363ac977ad466d739579e409e5 |
Hashes for ur_rtde-1.5.5-pp37-pypy37_pp73-macosx_10_9_x86_64.whl
Algorithm | Hash digest | |
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SHA256 | 676bd219eadd1222478b26ddb428951f724958e06f5a325155df2dd0a0c97559 |
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MD5 | 08cc720d7ae7708d156897f8f0ac5a68 |
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BLAKE2b-256 | bebd746b0cbf29e0a3003ab38b5a728ac71d55d1ee6aa0641ee78bc49d119918 |
Hashes for ur_rtde-1.5.5-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl
Algorithm | Hash digest | |
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SHA256 | 67f3577ae04c2d3f47ca772a856b3bbc6d7a835c52040ebbbe54643a0863f41f |
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MD5 | 43cacba735c54f2a42a1d540d3b4e0a0 |
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BLAKE2b-256 | dfd3baabb17e495bd1d5c6dc8609f6f8ee1489dc3d2daccedff84594030f3bf4 |
Hashes for ur_rtde-1.5.5-cp311-cp311-manylinux_2_17_i686.manylinux2014_i686.whl
Algorithm | Hash digest | |
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SHA256 | e1790076356e74a81ace1651227828005a020afac5c13b49ae03b65bbba86e80 |
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MD5 | ab86c01552508dee468e49cee3fb7166 |
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BLAKE2b-256 | eba3f4a768d095c47a462596440d179c0799d400f861541ba71054fc32f85c2b |
Hashes for ur_rtde-1.5.5-cp311-cp311-macosx_10_9_x86_64.whl
Algorithm | Hash digest | |
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SHA256 | ecc48d6bc38b269f5559ed664428fba35d5a2f496c33ec9422c1fac1aef756aa |
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MD5 | 2c84801ec773d7947bb5894f95184750 |
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BLAKE2b-256 | ec158e44f851e1b18133d0f953c1a071e4e7bff5f55eb98ea316722b7cfd1806 |
Hashes for ur_rtde-1.5.5-cp310-cp310-win_amd64.whl
Algorithm | Hash digest | |
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SHA256 | c2ed4a25f769a80445e0275100d8eb3dbe2a739c141f5d1783463ce28975bf5a |
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MD5 | fd1a3423294eb6676a7fa678490437b9 |
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BLAKE2b-256 | a318da57aae4b696a99ffe51be82d7b07ca4adce99d9eeff981f1f34562b3608 |
Hashes for ur_rtde-1.5.5-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl
Algorithm | Hash digest | |
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SHA256 | c1f5b50945757d97d712ebda287006110fb133a060efef98edf6121104ab101d |
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MD5 | 9134323817261b310e76108586e6e59b |
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BLAKE2b-256 | b5d86929b68ff626a8159034adc9e080d30c628182a33cf60b683ed01c9f8d77 |
Hashes for ur_rtde-1.5.5-cp310-cp310-manylinux_2_17_i686.manylinux2014_i686.whl
Algorithm | Hash digest | |
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SHA256 | 77c2d6aed36889d970398b75baaaa237950785134d3171edf285667397c3be63 |
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MD5 | 2dec5b9a6f258d25abebfac63ea573ca |
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BLAKE2b-256 | 5bd34eed2d9d513b9cc6818ee664a93782fe4593558792c76cb695523185490b |
Hashes for ur_rtde-1.5.5-cp310-cp310-macosx_10_9_x86_64.whl
Algorithm | Hash digest | |
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SHA256 | 852caf15a8bbbd5d9861c1a985250878ddab566a2b469f03a14181adba6767ef |
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MD5 | 38429763f5b3398b1244704a25354800 |
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BLAKE2b-256 | d6f2e7e73e4a1d98e443901191cbf3a4f1224a44f6658963481106243096f528 |
Hashes for ur_rtde-1.5.5-cp39-cp39-win_amd64.whl
Algorithm | Hash digest | |
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SHA256 | 274f2c7ff0d55cf9cf535e77f6f0680aa2eecace9f09109afcd40014685bec70 |
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MD5 | d9e9e749190994e487c9b871db5482b1 |
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BLAKE2b-256 | c86c53c42cd6e59c483f212321aafb201aa96fa730619ff66119f3643473b717 |
Hashes for ur_rtde-1.5.5-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl
Algorithm | Hash digest | |
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SHA256 | 9964afc29bc8215331bf6a44a9f9c2d06f09a6d68a93c9657e31f76a6306f7ef |
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MD5 | 7d795395334f8bc8f5890d8544b10339 |
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BLAKE2b-256 | 46d31b395bb1297c4aac5661536721cc35725f50d8b48dbf48884df7a4bb7f97 |
Hashes for ur_rtde-1.5.5-cp39-cp39-manylinux_2_17_i686.manylinux2014_i686.whl
Algorithm | Hash digest | |
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SHA256 | 6ff13f74a73c102d100bfc9cc99ffac00d4818a64369e5ad72567c036e085851 |
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MD5 | c5b50a0ae3f64e670334c2cdf34cab6f |
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BLAKE2b-256 | a711e93606aaab08c1baedd828af7f161a53ae307dcd2f8360029e3ad9648bf1 |
Hashes for ur_rtde-1.5.5-cp39-cp39-macosx_10_9_x86_64.whl
Algorithm | Hash digest | |
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SHA256 | e5df0e922bfaeeec6925ad70a24137c6004c617757a6c6d009afaea17b9a704f |
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MD5 | e3142186806205b624ba0a9ad48e0098 |
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BLAKE2b-256 | 77d000be697990dc08b3978fc056a037a358f0a1d35bae26009819e4981eae4c |
Hashes for ur_rtde-1.5.5-cp38-cp38-win_amd64.whl
Algorithm | Hash digest | |
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SHA256 | 4627d8697f2cadc565b96f86adde0a81e7e5a99be8aeafa3fa0e2c7c9e69c5ca |
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MD5 | 26050cb0fae936d7edda368d00a1bb54 |
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BLAKE2b-256 | e8b5757fc6f98b0b77b096a8b5bc6bc13b2acba2380d7ae879d6cf51b09bc030 |
Hashes for ur_rtde-1.5.5-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl
Algorithm | Hash digest | |
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SHA256 | 5029b5958645e66fcb4f0298d97391d409148904e9493866014f7bf9a3de06ff |
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MD5 | c81a38fc4e8cb4e75a6772b85b17efa0 |
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BLAKE2b-256 | fdb3f4afb9d1a21f1e4d83a84cf199d8900a4d8a566b523f09e0f85d322ffcd4 |
Hashes for ur_rtde-1.5.5-cp38-cp38-manylinux_2_17_i686.manylinux2014_i686.whl
Algorithm | Hash digest | |
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SHA256 | fffdccb3e6b29ec63baad28e7ddc281be6df4775d3888310fd6b34e8c47c87c5 |
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MD5 | 341bc976c17b3f288c9dd281f865178f |
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BLAKE2b-256 | da64e4789cf8204be0fd8759ad785747a826b1ada002ecfdd8f02bac63ffa277 |
Hashes for ur_rtde-1.5.5-cp38-cp38-macosx_10_9_x86_64.whl
Algorithm | Hash digest | |
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SHA256 | e8aab75c88949bd2b8e1d6471676295cdad2d5cb902174eabe9695cd6179f352 |
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MD5 | 427d0b83fdee71cc9b976f5abd6afebc |
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BLAKE2b-256 | 969b91da09c387b9b472a3ddc3c8a953bd94a34bf4654afc3f061cea703765b5 |
Hashes for ur_rtde-1.5.5-cp37-cp37m-win_amd64.whl
Algorithm | Hash digest | |
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SHA256 | 4bd04510e526f842145abb2d48b61ca064ddc49cfc6b26a626c213a3d57a543a |
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MD5 | 167eb1331b70117356eb5b86c86bff19 |
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BLAKE2b-256 | 0859cf2a6da2afc061ef2101b87cb89c79d7837368951c735987bea1c2681f52 |
Hashes for ur_rtde-1.5.5-cp37-cp37m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl
Algorithm | Hash digest | |
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SHA256 | 7a2b5b0e67f83aee7d901e62c92713ca794242d6bb988d8904f57ae5e5eb3a68 |
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MD5 | cb4061e3cab35a13640f02aa05d5af35 |
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BLAKE2b-256 | 1a23ac1478fa544727c698fe9242de4869f4c41e41a1f3d8282afe63fb6cde61 |
Hashes for ur_rtde-1.5.5-cp37-cp37m-manylinux_2_17_i686.manylinux2014_i686.whl
Algorithm | Hash digest | |
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SHA256 | 2850942b96851c8d80da1f0d0ec790189e058650d99f14f2630650110108d29b |
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MD5 | 0acfd33b8690ec3b8449250ee4de34b8 |
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BLAKE2b-256 | dc5b88668f683d12b1e00b4c98f7248eb2a804a6ff5d87722c35ba5fece9e40f |
Hashes for ur_rtde-1.5.5-cp37-cp37m-macosx_10_9_x86_64.whl
Algorithm | Hash digest | |
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SHA256 | 6f93d6381a1c9115f205b027a11656db938e50da6bbc0db6c3438212298e9140 |
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MD5 | 081a86a9aeea99776215e53deadafe09 |
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BLAKE2b-256 | 7ec03f108f2a87670c8b7b00b742c838cc09ffa799be671619aa4a8613a19892 |
Hashes for ur_rtde-1.5.5-cp36-cp36m-win_amd64.whl
Algorithm | Hash digest | |
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SHA256 | 4b2c9b9148c2ce456a6a4b036d4ba211a62eea14f1ad368597d7a34e4bf9177d |
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MD5 | 177e2e10e4fdf1f92c66659128d923f6 |
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BLAKE2b-256 | 5bd408641a49829524fcec81c2a7b51370ea01c66302c3f3aa847d6a7854f841 |
Hashes for ur_rtde-1.5.5-cp36-cp36m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl
Algorithm | Hash digest | |
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SHA256 | 24f37a2806cb6fcd048559460e5a1a1eea1036f80e661f5084b5333978a05639 |
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MD5 | b297d6d23900b57708d35f25d8471128 |
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BLAKE2b-256 | b8481d6d0b69b63683791b5bc1cd4f137985bef9782da535ce0e6b4d9e2bd670 |
Hashes for ur_rtde-1.5.5-cp36-cp36m-manylinux_2_17_i686.manylinux2014_i686.whl
Algorithm | Hash digest | |
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SHA256 | 005d3ac41f7560db58ed75a6889f95c3593d458eb0a358c3c1c8c7dac07f03c2 |
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MD5 | 3fcd8258cd6ed27ec317a5f7385afadf |
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BLAKE2b-256 | ea1a05feff9bc024dfcc65d49812bb071cbc3c3137e2b42c7efc9f66c94fe5bd |
Hashes for ur_rtde-1.5.5-cp36-cp36m-macosx_10_9_x86_64.whl
Algorithm | Hash digest | |
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SHA256 | 3cf70818e01f44d53260b41516dec42da753563923938087f0a394f67a076e22 |
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MD5 | b4489a3b6eededbd48dac22d6ea77593 |
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BLAKE2b-256 | 9f9ce268cc0230e0ff94627b2b47797eae27d57f6a9aa281089d68f6d96d1c8c |