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: | ✅ | ✅ | ✅ | ✅ | ✅ |
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: | :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-1.5.8-pp310-pypy310_pp73-win_amd64.whl
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MD5 | 0e960af919f853239d7fef9c922923f3 |
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MD5 | 720698c567aa0c8e05f86b2e3ed4135e |
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BLAKE2b-256 | 2b7b7e552a4a645225e227f95ecf22c71fd8b4a661f1c7cbcd5d6d30a5c91d77 |
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Algorithm | Hash digest | |
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MD5 | 79107c204e603b581a7d5cbf491a9908 |
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Algorithm | Hash digest | |
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MD5 | 7c1cba117bb7dda431f9c9612e715987 |
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BLAKE2b-256 | a33c044594c80165aabcb19d0386435221a1483e78dc562ed11bc32ce14e1b95 |
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Algorithm | Hash digest | |
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SHA256 | aba23a0ad60efeb813a97238eb70e33424d8b9ed9a329ed6e416d372b2f49641 |
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MD5 | 32c0584488c90f8117b8caf480179397 |
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BLAKE2b-256 | 7c43facea9b01038f5f8b2e45882ba563c6e041b2a1539865ae87825af7cfeae |
Hashes for ur_rtde-1.5.8-pp38-pypy38_pp73-win_amd64.whl
Algorithm | Hash digest | |
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SHA256 | 748f9ba42d4679c0b3d91566170f936d65fdf79f05578245be5e8fa3a2377f0e |
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MD5 | 8cf3529a29e2e6dae39974382a261541 |
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BLAKE2b-256 | d96b29a7a7cef8bd70d451bbad0d43f4271a60ab48985e7be521553a3823641e |
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Algorithm | Hash digest | |
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SHA256 | 2d9be979035c837889a9b4003f19e0c4955bf864f20304d384bf7b928319011f |
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MD5 | 363d9a17b8db4973f5f184e26e64f747 |
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BLAKE2b-256 | 09654cb5595a6c362329103de1644a6a82c8930b967c6aac9e6bc50f47418b4b |
Hashes for ur_rtde-1.5.8-pp38-pypy38_pp73-manylinux_2_17_i686.manylinux2014_i686.whl
Algorithm | Hash digest | |
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SHA256 | 457664cbc559d9157562cd7869091468d7ee75434eb742df8be05adc9102982e |
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MD5 | 324c16d646e828abd815d3c41d5330cd |
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BLAKE2b-256 | 1dee7a00607ba328056f372a238e2e351b832a23805585c7fb89a40350100e02 |
Hashes for ur_rtde-1.5.8-pp38-pypy38_pp73-macosx_10_9_x86_64.whl
Algorithm | Hash digest | |
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SHA256 | 5a469e0db71d31cacfe26a8c810010738cb862dd5099ddf82be470c88e7adae5 |
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MD5 | b90b4fc7ccd9c15b2df10ac69b83fea9 |
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BLAKE2b-256 | f77773e97a2ad90b477a698e5de14d81602af9eeedae780b2fdae0b933e79098 |
Hashes for ur_rtde-1.5.8-pp37-pypy37_pp73-win_amd64.whl
Algorithm | Hash digest | |
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SHA256 | 16894bb7fa1a025bd6e1d59e934f74d5c76de39ec6ea42f79949613a3ad335c6 |
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MD5 | 7a1736996f51b062335a6db65621b330 |
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BLAKE2b-256 | eb3797b001a1717a5b36d7aef09fa1491407774c007ddabe58064cf6aa436a43 |
Hashes for ur_rtde-1.5.8-pp37-pypy37_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl
Algorithm | Hash digest | |
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SHA256 | 3f81fd3c46a63f0e4abbe302ff1dfc031b18eaa96f10572eef4f7ba3acdd5f65 |
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MD5 | 95a60a61e2c8241073585f0ee668844c |
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BLAKE2b-256 | b914d736d1fd4592cb5fd6a427a091d28bec4db9393e72bf6b296c03f7df503d |
Hashes for ur_rtde-1.5.8-pp37-pypy37_pp73-manylinux_2_17_i686.manylinux2014_i686.whl
Algorithm | Hash digest | |
---|---|---|
SHA256 | fc70de2269c1410d5121f71fdec92feaae9d6b168f83649cf543d0cbc372c930 |
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MD5 | 9d97e3c19fcca65eb6a0e308c4b5ec18 |
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BLAKE2b-256 | 047883e4976c6a59be171c1405b4218856cde33c8d37ef5ae6f6a7229845485f |
Hashes for ur_rtde-1.5.8-pp37-pypy37_pp73-macosx_10_9_x86_64.whl
Algorithm | Hash digest | |
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SHA256 | c35dd6e93cf766da776a00687a562560b501e3e35f50aa2aaa801d3c2f159cde |
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MD5 | 5b5a806fdd1ccf6ca020bae1188725df |
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BLAKE2b-256 | 8e3b1270529ad88e36bbc46f8ba3978afdbb7307e5480400930bd5cc8158410d |
Hashes for ur_rtde-1.5.8-cp312-cp312-win_amd64.whl
Algorithm | Hash digest | |
---|---|---|
SHA256 | 0e6002642852f8f9f4d89cbc48cfcfbb51bcaa2680cceab681042c0dc4f1de98 |
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MD5 | 498c0d81c63a383796ec4e7cf3ad9f26 |
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BLAKE2b-256 | 2787515ab5e41d0b4433cbe5bb9d227820c0279f4ac2ab0cc4679eebf57bd11b |
Hashes for ur_rtde-1.5.8-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl
Algorithm | Hash digest | |
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SHA256 | 6246fd25c0f26663fb687f527bf942b56918b891ad56e409cab158f0b6a9c8f3 |
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MD5 | ad94226213f3487ef30905e3fa059c82 |
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BLAKE2b-256 | d28245f2af458c61d1dc2e80baab29d8beed9e043b27187f86b35b4074e3c790 |
Hashes for ur_rtde-1.5.8-cp312-cp312-manylinux_2_17_i686.manylinux2014_i686.whl
Algorithm | Hash digest | |
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SHA256 | 8869dd0e424dff4213fc9ab086e75707673a88391e5c8f13f33d57391e31ebb9 |
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MD5 | 697e89dc1b4a39dc6bfb849e5c2f05cc |
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BLAKE2b-256 | a0939d1910a8e2b0c35b0c86d6c284b48f9166753d4fcfa26e0c92db919e3d31 |
Hashes for ur_rtde-1.5.8-cp311-cp311-win_amd64.whl
Algorithm | Hash digest | |
---|---|---|
SHA256 | f49f525744130a93a159608462c3879e2da36da672a51816dc7110ccbef057a4 |
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MD5 | 65890db730ee14604b218b376c35c037 |
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BLAKE2b-256 | 8f2ded47d261aefe330c7b18dae5ca8e438f58dbf468962ea4f7841b2b54d387 |
Hashes for ur_rtde-1.5.8-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl
Algorithm | Hash digest | |
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SHA256 | ec144bc56ee9ae5a9a6cf1a5eaab241c265ee5953a4f2ae1191723838b1f1429 |
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MD5 | f09c3b334133ec46cac3994331332a93 |
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BLAKE2b-256 | 448b63265ff7def84605a9e4a999e2e1c389f0c5c4b72c64bd59e6b24a7b9966 |
Hashes for ur_rtde-1.5.8-cp311-cp311-manylinux_2_17_i686.manylinux2014_i686.whl
Algorithm | Hash digest | |
---|---|---|
SHA256 | 28727217cfc10239af228bb22bdc7ab1ee9fbbc1e28f8a35fa9746c7739d47c2 |
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MD5 | f871c6f81f94cef9283f3e9bc6d8003b |
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BLAKE2b-256 | 78abd25279ccd83d7ce262a24c8a6dd1e5579a0030f89f91aa0b3ed7640ccd42 |
Hashes for ur_rtde-1.5.8-cp311-cp311-macosx_10_9_x86_64.whl
Algorithm | Hash digest | |
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SHA256 | a3d295ce51fdd17552e5c1f202a9223b95f7ecc46240508fcdac4a72bc9c43a3 |
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MD5 | 4f92e82289bebaa943998b26bba71055 |
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BLAKE2b-256 | ca7137510694968bac422bc147f823f8a5f962e410a6e240d830c6362f2dbcdb |
Hashes for ur_rtde-1.5.8-cp310-cp310-win_amd64.whl
Algorithm | Hash digest | |
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SHA256 | 1a311c8eea8e2a01cea923c1c3bb9772c59232e5b6ac74f67fd11c6cfe50995c |
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MD5 | cf8d55b200e3bdae27e1fd0dcb6a529d |
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BLAKE2b-256 | 04f2fd066427fce627490cd9a0f0b850d0f1eaf518b5caac3bae5f5b48be364a |
Hashes for ur_rtde-1.5.8-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl
Algorithm | Hash digest | |
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SHA256 | d0877a1f4ed7033aa223a6e44501f46f98e203e1ac836320058883e81469b30d |
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MD5 | 1f503095546cb2c4dc91740cf3c21dc3 |
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BLAKE2b-256 | 8a0ffd45f35e5705d842fe148053c17b0fad8652fd094b2ce775a51f714990eb |
Hashes for ur_rtde-1.5.8-cp310-cp310-manylinux_2_17_i686.manylinux2014_i686.whl
Algorithm | Hash digest | |
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SHA256 | 66b4692f5c7b1b571cffc6b6bf35d2ed163ee8a40640ca5bf66d7f2afb439575 |
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MD5 | 885d5426abafd57a96af348372df78ab |
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BLAKE2b-256 | 757954d98599b721cb187090cdc4576260b6e917502a5e44dff51f215cb106ac |
Hashes for ur_rtde-1.5.8-cp310-cp310-macosx_10_9_x86_64.whl
Algorithm | Hash digest | |
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SHA256 | aea19432f55a648b3df85c725f6785d2a088a6e511713599ac8d9539bab0f8de |
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MD5 | 3d517647cf2a1fc819daaca60042f616 |
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BLAKE2b-256 | 47f532e227b98d9d8450d357bf6e6bf9d1c5b9707fd6ef15c45f526f3b822cc2 |
Hashes for ur_rtde-1.5.8-cp39-cp39-win_amd64.whl
Algorithm | Hash digest | |
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SHA256 | eac2be230b4b56b13d7ee42b8e7bf787242516b67c31d2c47b8c46c841e634ff |
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MD5 | b466cb334ecdd161199cbac74a3859f5 |
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BLAKE2b-256 | 4bd102dd8da83bad25ec2c4522b67da9a5e644551b5e70681d3d5d943bbe34eb |
Hashes for ur_rtde-1.5.8-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl
Algorithm | Hash digest | |
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SHA256 | 0651d6938f091279ce6b472a48d7035971e050d2a0e1318b088a1ae9b698d003 |
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MD5 | 29094dcdfd837b182fcf60facea3337c |
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BLAKE2b-256 | f315397b4c3aeba42ec085dd0f3ee98851c3be47eb14688a2d30c42f765146a6 |
Hashes for ur_rtde-1.5.8-cp39-cp39-manylinux_2_17_i686.manylinux2014_i686.whl
Algorithm | Hash digest | |
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SHA256 | 726fb3a133c70140dc1a6053fde98f49f3c1c55726cefbe9882d2c0c3f3591d8 |
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MD5 | ca01106ec01f269dc9a9e82e3c97add0 |
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BLAKE2b-256 | e991cf90a47e3811a51bd72c24735baad1ab78af008944aaee199725e2fd82ef |
Hashes for ur_rtde-1.5.8-cp39-cp39-macosx_10_9_x86_64.whl
Algorithm | Hash digest | |
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SHA256 | 5e25fd896f31db177b3942423c4ecd6526c903d2e197d6bf2123077423e0cb53 |
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MD5 | 6d334e8f4bb8fe1173b4fcb18ca758c3 |
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BLAKE2b-256 | 006952b81d12665e6afd83fa34cbefb88cc2c46dbe8cc6d11b9a8213b39e2b05 |
Hashes for ur_rtde-1.5.8-cp38-cp38-win_amd64.whl
Algorithm | Hash digest | |
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SHA256 | 623cda6d14c4109d340d15fc094c874671d44502249dc69034c1fd27b6631c9c |
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MD5 | 509c79a87c98fcb52819f155a3d9e0c7 |
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BLAKE2b-256 | 74d0651413cde25b625c951adb3ec1c47d72c1d72b1ba8452c5c482e3f0cfa6f |
Hashes for ur_rtde-1.5.8-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl
Algorithm | Hash digest | |
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SHA256 | 0ff8ea180001ee1508d641ee164714d30875452c642fb87c893a9084bd8e421c |
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MD5 | 8bf3cb324eed0cd989c591840add4c9e |
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BLAKE2b-256 | cdc8926d6c7b130f0477c32615f6d244b3a31227631704c2b97bf3bb592bdcf6 |
Hashes for ur_rtde-1.5.8-cp38-cp38-manylinux_2_17_i686.manylinux2014_i686.whl
Algorithm | Hash digest | |
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SHA256 | ac24f536fcacfd7e3004df1051096f81ce6f6c205bf2b9a8cadb4966aa6a6815 |
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MD5 | 5d83d429e326a83c1efcde59e2f4fe1c |
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BLAKE2b-256 | 855c47c747a35336df4a07c06c33f99f0e52a2d8660bfdd1bfb310882a78ad87 |
Hashes for ur_rtde-1.5.8-cp38-cp38-macosx_10_9_x86_64.whl
Algorithm | Hash digest | |
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SHA256 | 43565bbcc8d7a2d5f836e2d17c9a3bd7ad56aaa87385dde4726323b7e7346ea8 |
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MD5 | 0068d6183e0c7821631820ab86252be3 |
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BLAKE2b-256 | e00f6b95c5a277258639a1fdcf1cd73404e8ac80bcdd06ddfb3abeef0e7abe79 |
Hashes for ur_rtde-1.5.8-cp37-cp37m-win_amd64.whl
Algorithm | Hash digest | |
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SHA256 | 7998be395d7ca76fdfd1bdd5d0f2604f04cc197d320c9359f449b7aba3807c69 |
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MD5 | bd3c238f8eb8c2a4102962d329d70f6f |
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BLAKE2b-256 | d0b65683754f036e50b4cd41fa5e02a0b4a99a92b49e2f3f8c539e9c8a6810f1 |
Hashes for ur_rtde-1.5.8-cp37-cp37m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl
Algorithm | Hash digest | |
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SHA256 | 041d776b0f5c5a89d6f8a06baf99fe298bf4986833ff11a01a75745290ed1279 |
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MD5 | ef7d2aebbecf039f3ab9b50a398e0cc3 |
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BLAKE2b-256 | 9ce928633b518a92b13a44a4963f722eb9f861f584e2ebcf9c4581b53e4bb04d |
Hashes for ur_rtde-1.5.8-cp37-cp37m-manylinux_2_17_i686.manylinux2014_i686.whl
Algorithm | Hash digest | |
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SHA256 | 32b4a900826341323971090bed173f54c75c25664f012b3d0935e5a3a3ca4d68 |
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MD5 | 5096d03f076f066a44599ce976017f6a |
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BLAKE2b-256 | 44c1c6bd37e9bc330009969f7863bfd054c598587a4da0c86aaad33c97865c79 |
Hashes for ur_rtde-1.5.8-cp37-cp37m-macosx_10_9_x86_64.whl
Algorithm | Hash digest | |
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SHA256 | 3011688154e119a9d5552e165b0b9b188f6df2a963e2905767b0f525d1296f33 |
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MD5 | 929a2264645aaf37a284a9b80202a591 |
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BLAKE2b-256 | c1555455741746c1e6154832cca2237d25723a287799c2f868630e09e39a6307 |
Hashes for ur_rtde-1.5.8-cp36-cp36m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl
Algorithm | Hash digest | |
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SHA256 | 814e62ecabd7ac8c34f50075c37816ca83e098990f0a45d206d0fda114186d3f |
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MD5 | 42dd115efd2d49faad04f3bb43270796 |
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BLAKE2b-256 | d9c56d44aa487952cc25044d8288ae872efff15b4f973fc02045ae3a058ec265 |
Hashes for ur_rtde-1.5.8-cp36-cp36m-manylinux_2_17_i686.manylinux2014_i686.whl
Algorithm | Hash digest | |
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SHA256 | b4f90201b1ef3ce58348393268d0ac00da640818965e14c7f3d8c4875579fa31 |
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MD5 | 93fe873296ec4936d0c26239916d0932 |
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BLAKE2b-256 | 660b5ea9aedbd0dc6a9957e17008762ff97cdffc1d21df21c943f991b676a1ee |
Hashes for ur_rtde-1.5.8-cp36-cp36m-macosx_10_9_x86_64.whl
Algorithm | Hash digest | |
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SHA256 | 59f1881ae54c2f844e677910fbe4dfb0dd56d6c66d3c4953f4b5547ae17605c3 |
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MD5 | e1c1f7fbc23e64826aa7cd15a457d7dc |
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BLAKE2b-256 | fb6bdcb2bda021d7f244110167d2a88b1b0c5275b76511c0bae48acbdfc53fd2 |