hex-driver-mujoco 0.0.1a1__tar.gz

hex_driver_mujoco-0.0.1a1/LICENSE

@@ -0,0 +1,201 @@
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hex_driver_mujoco-0.0.1a1/MANIFEST.in

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+include LICENSE
+include README.md
+include requirements.txt
+
+recursive-include package_name *
+recursive-include hex_driver_mujoco/mujoco_archer_y6/model * *
+recursive-include hex_driver_mujoco/mujoco_e3_desktop/model * *
+
+recursive-exclude * *.pyc
+recursive-exclude * .DS_Store
+recursive-exclude * __pycache__

hex_driver_mujoco-0.0.1a1/PKG-INFO

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+Metadata-Version: 2.4
+Name: hex_driver_mujoco
+Version: 0.0.1a1
+Summary: HEXFELLOW Mujoco Driver
+Author-email: Dong Zhaorui <dzr159@gmail.com>
+Maintainer-email: jecjune <zejun.chen@hexfellow.com>, Dong Zhaorui <dzr159@gmail.com>
+License-Expression: Apache-2.0
+Project-URL: Homepage, https://github.com/hexfellow/hex_driver_mujoco
+Project-URL: Repository, https://github.com/hexfellow/hex_driver_mujoco.git
+Project-URL: Bug Tracker, https://github.com/hexfellow/hex_driver_mujoco/issues
+Project-URL: Documentation, https://github.com/hexfellow/hex_driver_mujoco/wiki
+Keywords: hex,driver,mujoco
+Classifier: Development Status :: 4 - Beta
+Classifier: Intended Audience :: Developers
+Classifier: Intended Audience :: Science/Research
+Classifier: Topic :: Software Development :: Libraries :: Python Modules
+Classifier: Programming Language :: Python :: 3
+Classifier: Programming Language :: Python :: 3.10
+Classifier: Programming Language :: Python :: 3.11
+Classifier: Programming Language :: Python :: 3.12
+Classifier: Operating System :: POSIX :: Linux
+Requires-Python: >=3.10
+Description-Content-Type: text/markdown
+License-File: LICENSE
+Requires-Dist: hex_util_runtime<0.1.0,>=0.0.0
+Requires-Dist: opencv-python>=4.10.0
+Requires-Dist: mujoco>=3.3.0
+Dynamic: license-file
+
+# hex_driver_mujoco
+Hex Mujoco Driver

hex_driver_mujoco-0.0.1a1/README.md

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+# hex_driver_mujoco
+Hex Mujoco Driver

hex_driver_mujoco-0.0.1a1/hex_driver_mujoco/__init__.py

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+#!/usr/bin/env python3
+# -*- coding:utf-8 -*-
+################################################################
+# Copyright 2026 Dong Zhaorui. All rights reserved.
+# Author: Dong Zhaorui 847235539@qq.com
+# Date  : 2026-03-23
+################################################################
+
+from .mujoco_archer_y6 import HexMujocoArcherY6, HexMujocoArcherY6Params
+from .mujoco_e3_desktop import HexMujocoE3Desktop, HexMujocoE3DesktopParams
+
+__all__ = [
+    # mujoco archer y6
+    "HexMujocoArcherY6",
+    "HexMujocoArcherY6Params",
+
+    # mujoco e3 desktop
+    "HexMujocoE3Desktop",
+    "HexMujocoE3DesktopParams",
+]

hex_driver_mujoco-0.0.1a1/hex_driver_mujoco/base.py

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+#!/usr/bin/env python3
+# -*- coding:utf-8 -*-
+################################################################
+# Copyright 2026 Dong Zhaorui. All rights reserved.
+# Author: Dong Zhaorui 847235539@qq.com
+# Date  : 2026-03-23
+################################################################
+
+import os
+import multiprocessing as mp
+from dataclasses import dataclass
+from abc import ABC, abstractmethod
+from multiprocessing.synchronize import Event as MpEvent
+from typing import Optional
+
+
+def _hex_mujoco_worker_main(mujoco: "HexMujocoBase") -> None:
+    try:
+        mujoco.init_mujoco()
+        mujoco.work_loop()
+    finally:
+        mujoco.deinit_mujoco()
+
+
+@dataclass
+class HexMujocoBaseParams:
+    sim_rate: float = 1000
+    state_rate: float = 1000
+    cam_rate: float = 30
+    headless: bool = False
+
+    state_buffer_size: int = 200
+    cmd_buffer_size: int = 200
+    cam_buffer_size: int = 8
+
+
+class HexMujocoBase(ABC):
+
+    def __init__(self) -> None:
+        os.environ["QT_QPA_FONTDIR"] = "/usr/share/fonts/truetype/dejavu/"
+        self._worker_process: Optional[mp.Process] = None
+        self._stop_event = mp.Event()
+        self._init_event = mp.Event()
+
+    def __del__(self):
+        self.deinit_mujoco()
+
+    def is_working(self) -> bool:
+        p = self._worker_process
+        return p is not None and p.is_alive()
+
+    @property
+    def stop_event(self) -> MpEvent:
+        """Set by `stop_background_worker`; subclasses should exit `work_loop` when this is set."""
+        return self._stop_event
+
+    def start(self, *, daemon: bool = True) -> None:
+        """Spawn a subprocess that runs `work_loop` until `stop_event` is set (or process ends)."""
+        if self._worker_process is not None and self._worker_process.is_alive(
+        ):
+            return
+        self._stop_event.clear()
+        self._worker_process = mp.Process(
+            target=_hex_mujoco_worker_main,
+            args=(self, ),
+            daemon=daemon,
+        )
+        self._worker_process.start()
+        self._init_event.wait()
+
+    def stop(self, timeout: Optional[float] = 5.0) -> None:
+        """Signal the worker to stop, then join. Uses `terminate` if join times out."""
+        self._stop_event.set()
+        proc = self._worker_process
+        if proc is None:
+            return
+        proc.join(timeout=timeout)
+        if proc.is_alive():
+            proc.terminate()
+            proc.join()
+        self._worker_process = None
+
+    @abstractmethod
+    def init_vars(self):
+        raise NotImplementedError(
+            "`init_vars` should be implemented by the child class")
+
+    @abstractmethod
+    def init_mujoco(self):
+        raise NotImplementedError(
+            "`init_mujoco` should be implemented by the child class")
+
+    @abstractmethod
+    def deinit_mujoco(self):
+        raise NotImplementedError(
+            "`deinit_mujoco` should be implemented by the child class")
+
+    @abstractmethod
+    def work_loop(self):
+        """Long-running camera read loop. Must return when `stop_event` is set (cooperative shutdown)."""
+        raise NotImplementedError(
+            "`work_loop` should be implemented by the child class")

hex_driver_mujoco-0.0.1a1/hex_driver_mujoco/mujoco_archer_y6/__init__.py

@@ -0,0 +1,14 @@
+#!/usr/bin/env python3
+# -*- coding:utf-8 -*-
+################################################################
+# Copyright 2026 Dong Zhaorui. All rights reserved.
+# Author: Dong Zhaorui 847235539@qq.com
+# Date  : 2026-03-23
+################################################################
+
+from .mujoco import HexMujocoArcherY6, HexMujocoArcherY6Params
+
+__all__ = [
+    "HexMujocoArcherY6",
+    "HexMujocoArcherY6Params",
+]

hex_driver_mujoco-0.0.1a1/hex_driver_mujoco/mujoco_archer_y6/model/assets/assets.xml

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+<mujocoinclude>
+    <mesh name="arm_base_link" file="arm_base_link.STL"/>
+    <mesh name="arm_link_1" file="arm_link_1.STL"/>
+    <mesh name="arm_link_2" file="arm_link_2.STL"/>
+    <mesh name="arm_link_3" file="arm_link_3.STL"/>
+    <mesh name="arm_link_4" file="arm_link_4.STL"/>
+    <mesh name="arm_link_5" file="arm_link_5.STL"/>
+    <mesh name="gripper_base_link" file="gripper_base_link.STL"/>
+    <mesh name="gripper_left_helper_link" file="gripper_left_helper_link.STL"/>
+    <mesh name="gripper_left_link_1" file="gripper_left_link_1.STL"/>
+    <mesh name="gripper_left_link_2" file="gripper_left_link_2.STL"/>
+    <mesh name="gripper_right_helper_link" file="gripper_right_helper_link.STL"/>
+    <mesh name="gripper_right_link_1" file="gripper_right_link_1.STL"/>
+    <mesh name="gripper_right_link_2" file="gripper_right_link_2.STL"/>
+    <mesh name="camera_link" file="camera_link.STL"/>
+    <mesh name="table_link" file="table_link.STL" scale="0.001 0.001 0.001"/>
+</mujocoinclude>

hex_driver_mujoco-0.0.1a1/hex_driver_mujoco/mujoco_archer_y6/model/joint_class.xml

@@ -0,0 +1,23 @@
+<mujocoinclude>
+    <default class="j1_class">
+        <joint armature="0.01" damping="0.02" frictionloss="0.2" actuatorfrcrange="-28 28"/>
+    </default>
+    <default class="j2_class">
+        <joint armature="0.01" damping="0.02" frictionloss="0.2" actuatorfrcrange="-28 28"/>
+    </default>
+    <default class="j3_class">
+        <joint armature="0.01" damping="0.02" frictionloss="0.2" actuatorfrcrange="-28 28"/>
+    </default>
+    <default class="j4_class">
+        <joint armature="0.01" damping="0.02" frictionloss="0.2" actuatorfrcrange="-28 28"/>
+    </default>
+    <default class="j5_class">
+        <joint armature="0.01" damping="0.02" frictionloss="0.05" actuatorfrcrange="-8 8"/>
+    </default>
+    <default class="j6_class">
+        <joint armature="0.01" damping="0.02" frictionloss="0.05" actuatorfrcrange="-8 8"/>
+    </default>
+    <default class="jg_class">
+        <joint armature="0.01" damping="0.02" frictionloss="0.05" actuatorfrcrange="-8 8"/>
+    </default>
+</mujocoinclude>

hex_driver_mujoco-0.0.1a1/hex_driver_mujoco/mujoco_archer_y6/model/robot.xml

@@ -0,0 +1,100 @@
+<mujocoinclude>
+    <body name="base_link">
+        <inertial pos="-0.001 0 0.031" quat="0 0.707107 0 0.707107" mass="0.748" diaginertia="0.0008 0.0007 0.0006"/>
+        <geom type="mesh" rgba="1 1 1 1" mesh="arm_base_link"/>
+
+        # link 1
+        <body name="link_1" pos="0 0 0.06655">
+            <inertial pos="0.006 -0.0013 0.0209" quat="0.707107 0.707107 0 0" mass="0.2289" diaginertia="0.0004 0.0004 0.0002"/>
+            <joint name="joint_1" class="j1_class" pos="0 0 0" axis="0 0 1" range="-2.8623 2.8623" limited="true"/>
+            <geom type="mesh" rgba="0.92549 0.92549 0.92549 1" mesh="arm_link_1"/>
+
+            # link 2
+            <body name="link_2" pos="0.02 0 0.045">
+                <inertial pos="0.0001 -0.0013 0.1301" quat="0.999997 -0.00253798 0 0" mass="1.5141" diaginertia="0.021 0.0208005 0.00109949"/>
+                <joint name="joint_2" class="j2_class" pos="0 0 0" axis="0 1 0" range="-1.57 2.09" limited="true"/>
+                <geom type="mesh" rgba="1 1 1 1" mesh="arm_link_2"/>
+
+                # link 3
+                <body name="link_3" pos="0 0 0.264">
+                    <inertial pos="-0.054 -0.0015 0.1603" quat="0.998349 0 -0.0574445 0" mass="1.2023" diaginertia="0.011127 0.0106 0.00147299"/>
+                    <joint name="joint_3" class="j3_class" pos="0 0 0" axis="0 1 0" range="0 3.14" limited="true"/>
+                    <geom type="mesh" rgba="1 1 1 1" mesh="arm_link_3"/>
+
+                    # link 4
+                    <body name="link_4" pos="-0.06 0 0.245">
+                        <inertial pos="-0.058 -0.002 0.0558" quat="0 0.92388 0 0.382683" mass="0.6233" diaginertia="0.0015 0.0012 0.0007"/>
+                        <joint name="joint_4" class="j4_class" pos="0 0 0" axis="0 1 0" range="-1.57 1.57" limited="true"/>
+                        <geom type="mesh" rgba="0.792157 0.792157 0.792157 1" mesh="arm_link_4"/>
+
+                        # link 5
+                        <body name="link_5" pos="-0.0553 0 0.0702">
+                            <inertial pos="0.0512 0 0.0026" quat="0.5 0.5 0.5 0.5" mass="0.4173" diaginertia="0.0003 0.0003 0.0002"/>
+                            <joint name="joint_5" class="j5_class" pos="0 0 0" axis="-1 0 0" range="-1.57 1.57" limited="true"/>
+                            <geom type="mesh" rgba="0.898039 0.917647 0.929412 1" mesh="arm_link_5"/>
+
+                            # link 6
+                            <body name="link_6" pos="0.0552 0 0.02895">
+                                <inertial pos="-0.0139 0.0001 0.0578" quat="0.567843 0.421372 0.421372 0.567843" mass="0.7751" diaginertia="0.0021 0.00143028 0.00106972"/>
+                                <joint name="joint_6" class="j6_class" pos="0 0 0" axis="0 0 1" range="-2.96 2.96" limited="true"/>
+
+                                <body name="gripper_base_link" pos="0.0 0.0 0.0" quat="0.707107 0 -0.707107 0 ">
+                                    <inertial pos="0.0 0.0 0.0" quat="1.0 0.0 0.0 0.0" mass="0.0" diaginertia="0.0 0.0 0.0"/>
+                                    <geom type="mesh" rgba="1 1 1 1" mesh="gripper_base_link"/>
+                                    <geom pos="0.04 0 0.12" quat="0.6830127 0.6830127 0.1830127 -0.1830127" type="mesh" rgba="0.1 0.1 0.1 1" mesh="camera_link" />
+                                    <camera name="end_camera" pos="0.066 0 0.105" quat="0.8660254 0.0 -0.5 0.0" fovy="50"/>
+
+                                    # ee frame
+                                    <body name="ee_frame" pos="0.1870 0.0 0.0" quat="1 0 0 0">
+                                        <inertial pos="0.0 0.0 0.0" quat="1.0 0.0 0.0 0.0" mass="0.0" diaginertia="0.0 0.0 0.0"/>
+                                        <geom type="cylinder" size="0.002 0.01" pos="0.01 0.00 0.00" quat="0.7071068 0.0000000 0.7071068 0.0000000" rgba="1 0 0 1" contype="0" conaffinity="0" group="4"/>
+                                        <geom type="cylinder" size="0.002 0.01" pos="0.00 0.01 0.00" quat="0.7071068 0.7071068 0.0000000 0.0000000" rgba="0 1 0 1" contype="0" conaffinity="0" group="4"/>
+                                        <geom type="cylinder" size="0.002 0.01" pos="0.00 0.00 0.01" quat="1.0000000 0.0000000 0.0000000 0.0000000" rgba="0 0 1 1" contype="0" conaffinity="0" group="4"/>
+                                    </body>
+
+                                    # gripper helper
+                                    <body name="gripper_left_helper_link" pos="0.057667 0.030604 2.5e-05">
+                                        <inertial pos="0.00299357 0.0232625 -5e-05" quat="0.996724 0 0 0.0808839" mass="1e-6" diaginertia="2.74798e-06 1.47567e-06 1.34732e-06"/>
+                                        <joint name="gripper_left_help_joint" class="jg_class" pos="0 0 0" axis="0 0 -1" range="0 1.52" limited="true" />
+                                        <geom type="mesh" rgba="1 1 1 1" mesh="gripper_left_helper_link"/>
+                                    </body>
+                                    <body name="gripper_right_helper_link" pos="0.057667 -0.030604 2.5e-05">
+                                        <inertial pos="0.00299357 -0.0232625 -5e-05" quat="0.996724 0 0 -0.0808839" mass="1e-6" diaginertia="2.74798e-06 1.47567e-06 1.34732e-06"/>
+                                        <joint name="gripper_right_help_joint" class="jg_class" pos="0 0 0" axis="0 0 1" range="0 1.52" limited="true" />
+                                        <geom type="mesh" rgba="1 1 1 1" mesh="gripper_right_helper_link"/>
+                                    </body>
+
+                                    # left gripper
+                                    <body name="gripper_left_link_1" pos="0.0721 0.014 2.5e-05">
+                                        <inertial pos="0.00299357 0.0232625 -5e-05" quat="0.996724 0 0 0.0808839" mass="1e-6" diaginertia="2.74798e-06 1.47567e-06 1.34732e-06"/>
+                                        <joint name="gripper_left_joint_1" class="jg_class" pos="0 0 0" axis="0 0 -1" range="0 1.52" limited="true" />
+                                        <geom type="mesh" rgba="1 1 1 1" mesh="gripper_left_link_1"/>
+
+                                        <body name="gripper_left_link_2" pos="0.0085108 0.04927 0">
+                                            <inertial pos="0.0255016 0.00914642 -0.00175617" quat="0.424541 0.412629 0.571518 0.568216" mass="1e-6" diaginertia="1.36949e-05 1.35554e-05 3.4264e-06"/>
+                                            <joint name="gripper_left_joint_2" class="jg_class" pos="0 0 0" axis="0 0 1" range="0 1.52" limited="true" />
+                                            <geom type="mesh" rgba="1 1 1 1" mesh="gripper_left_link_2"/>
+                                        </body>
+                                    </body>
+
+                                    # right gripper
+                                    <body name="gripper_right_link_1" pos="0.0721 -0.014 2.5e-05">
+                                        <inertial pos="0.00299357 -0.0232625 -5e-05" quat="0.996724 0 0 -0.0808839" mass="1e-6" diaginertia="2.74798e-06 1.47567e-06 1.34732e-06"/>
+                                        <joint name="gripper_right_joint_1" class="jg_class" pos="0 0 0" axis="0 0 1" range="0 1.52" limited="true" />
+                                        <geom type="mesh" rgba="1 1 1 1" mesh="gripper_right_link_1"/>
+
+                                        <body name="gripper_right_link_2" pos="0.0085108 -0.04927 0">
+                                            <inertial pos="0.0255016 -0.00914642 -0.00175616" quat="0.568212 0.571522 0.412623 0.424547" mass="1e-6" diaginertia="1.36948e-05 1.35553e-05 3.4264e-06"/>
+                                            <joint name="gripper_right_joint_2" class="jg_class" pos="0 0 0" axis="0 0 -1" range="0 1.52" limited="true" />
+                                            <geom type="mesh" rgba="1 1 1 1" mesh="gripper_right_link_2"/>
+                                        </body>
+                                    </body>
+                                </body>
+                            </body>
+                        </body>
+                    </body>
+                </body>
+            </body>
+        </body>
+    </body>
+</mujocoinclude>

hex_driver_mujoco-0.0.1a1/hex_driver_mujoco/mujoco_archer_y6/model/scene.xml

@@ -0,0 +1,55 @@
+<mujoco model="archer_y6 scene">
+    <compiler angle="radian"/>
+    <option integrator="implicitfast"/>
+    <option timestep="1e-3"/>
+
+    <statistic center="0.3 0 0.45" extent="0.8" meansize="0.05"/>
+
+    <visual>
+        <headlight diffuse="0.6 0.6 0.6" ambient="0.1 0.1 0.1" specular="0 0 0"/>
+        <rgba haze="0.15 0.25 0.35 1"/>
+        <global azimuth="120" elevation="-20"/>
+        <map znear="0.01" zfar="50"/>
+    </visual>
+
+    <asset>
+        <texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+        <texture type="2d" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
+        <material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+        <include file="assets/assets.xml"/>
+    </asset>
+
+    <default>
+        <include file="joint_class.xml"/>
+    </default>
+
+    <worldbody>
+        <light pos="0.0 0.0 1.5" directional="true"/>
+        <geom name="floor" size="0.0 0.0 0.05" type="plane" material="groundplane"/>
+
+        <body pos="0.0 0.0 0.25">
+            <include file="robot.xml"/>
+        </body>
+
+        <body name="table" pos="0.5 0.0 0.3" quat="0.707107 0 0 0.707107">
+            <geom mesh="table_link" pos="0 0 0" type="mesh" name="table" rgba="0.2 0.2 0.2 1" />
+        </body>
+        <body name="box" pos="0.5 0.0 0.5">
+            <joint name="red_box_joint" type="free" frictionloss="0.01" />
+            <inertial pos="0 0 0" mass="0.05" diaginertia="0.002 0.002 0.002" />
+            <geom condim="4" solimp="2 1 0.01" solref="0.01 1" friction="1 0.005 0.0001" pos="0 0 0" size="0.02 0.02 0.02" type="box" name="red_box" rgba="1 0 0 1" />
+        </body>
+        <geom name="tar_plane" pos="0.6 0.0 0.301" type="box" size="0.04 0.04 0.001" rgba="0 1 0 1" />
+    </worldbody>
+
+    <include file="setting.xml"/>
+
+    <keyframe>
+        # qpos: 12 + 7
+        # ctrl: 7
+        <key name="home" qpos="
+        0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
+        0.5 0.0 0.5 1.0 0.0 0.0 0.0" ctrl="
+        0.0 0.0 0.0 0.0 0.0 0.0 0.0"/>
+    </keyframe>
+</mujoco>