hex-zmq-servers 0.2.0__tar.gz → 0.2.2__tar.gz

{hex_zmq_servers-0.2.0 → hex_zmq_servers-0.2.2}/MANIFEST.in

@@ -5,6 +5,7 @@ include requirements.txt
 recursive-include package_name *
 recursive-include hex_zmq_servers/mujoco/archer_d6y/model * *
 recursive-include hex_zmq_servers/mujoco/e3_desktop/model * *
+recursive-include hex_zmq_servers/robot/hexarm/urdf * *
 recursive-include hex_zmq_servers/config *
 
 recursive-exclude * *.pyc

hex_zmq_servers-0.2.2/PKG-INFO

@@ -0,0 +1,117 @@
+Metadata-Version: 2.4
+Name: hex_zmq_servers
+Version: 0.2.2
+Summary: HEXFELLOW ZMQ Servers
+Author-email: Dong Zhaorui <joray.dong@hexfellow.com>
+Maintainer-email: jecjune <zejun.chen@hexfellow.com>, Dong Zhaorui <joray.dong@hexfellow.com>
+License-Expression: Apache-2.0
+Project-URL: Homepage, https://github.com/hexfellow/hex_zmq_servers
+Project-URL: Repository, https://github.com/hexfellow/hex_zmq_servers.git
+Project-URL: Bug Tracker, https://github.com/hexfellow/hex_zmq_servers/issues
+Project-URL: Documentation, https://github.com/hexfellow/hex_zmq_servers/wiki
+Keywords: hex_zmq_servers
+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 :: 3.11
+Classifier: Programming Language :: Python :: 3.12
+Classifier: Operating System :: POSIX :: Linux
+Requires-Python: >=3.8
+Description-Content-Type: text/markdown
+License-File: LICENSE
+Requires-Dist: pyzmq>=27.0.1
+Requires-Dist: opencv-python>=4.2
+Requires-Dist: mujoco>=3.3.3
+Requires-Dist: hex_device>=1.2.1
+Requires-Dist: hex_robo_utils>=0.1.17
+Requires-Dist: dynamixel-sdk==3.8.4
+Provides-Extra: berxel
+Requires-Dist: berxel_py_wrapper>=2.0; extra == "berxel"
+Provides-Extra: all
+Requires-Dist: berxel_py_wrapper>=2.0; extra == "all"
+Dynamic: license-file
+
+# 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
+
+```bash
+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_d6y**: Physical simulation of Archer D6Y robot
+- **e3_desktop**: Physical simulation of E3 Desktop robot
+
+## Installation
+
+### Install from PyPI
+
+For those who only want to use the library in their projects, it is recommended to install it from PyPI.
+
+```bash
+pip install hex_zmq_servers
+```
+
+### Install from Source Code
+
+For those who want to test the examples or contribute to the project, you can install it from source code.
+
+```bash
+git clone https://github.com/hexfellow/hex_zmq_servers.git
+cd hex_zmq_servers
+./venv.sh --all
+```
+
+## 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](examples/README.md)
+
+## Contributions
+
+Welcome to submit issues and pull requests!
+
+## License
+
+Apache License 2.0
+
+## Contact
+
+- Author: [Dong Zhaorui](https://github.com/IBNBlank)
+- Maintainer: [jecjune](https://github.com/Jecjune)
+- GitHub: [hex_zmq_servers](https://github.com/hexfellow/hex_zmq_servers)
+- Issue Tracker: [hex_zmq_servers](https://github.com/hexfellow/hex_zmq_servers/issues)

hex_zmq_servers-0.2.2/README.md

@@ -0,0 +1,82 @@
+# 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
+
+```bash
+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_d6y**: Physical simulation of Archer D6Y robot
+- **e3_desktop**: Physical simulation of E3 Desktop robot
+
+## Installation
+
+### Install from PyPI
+
+For those who only want to use the library in their projects, it is recommended to install it from PyPI.
+
+```bash
+pip install hex_zmq_servers
+```
+
+### Install from Source Code
+
+For those who want to test the examples or contribute to the project, you can install it from source code.
+
+```bash
+git clone https://github.com/hexfellow/hex_zmq_servers.git
+cd hex_zmq_servers
+./venv.sh --all
+```
+
+## 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](examples/README.md)
+
+## Contributions
+
+Welcome to submit issues and pull requests!
+
+## License
+
+Apache License 2.0
+
+## Contact
+
+- Author: [Dong Zhaorui](https://github.com/IBNBlank)
+- Maintainer: [jecjune](https://github.com/Jecjune)
+- GitHub: [hex_zmq_servers](https://github.com/hexfellow/hex_zmq_servers)
+- Issue Tracker: [hex_zmq_servers](https://github.com/hexfellow/hex_zmq_servers/issues)

{hex_zmq_servers-0.2.0 → hex_zmq_servers-0.2.2}/hex_zmq_servers/__init__.py

@@ -15,7 +15,6 @@ from .zmq_base import HexZMQDummyClient, HexZMQDummyServer
 
 from .cam import HexCamBase, HexCamClientBase, HexCamServerBase
 from .cam import HexCamDummy, HexCamDummyClient, HexCamDummyServer
-from .cam import HexCamBerxel, HexCamBerxelClient, HexCamBerxelServer
 
 from .mujoco import HexMujocoBase, HexMujocoClientBase, HexMujocoServerBase
 from .mujoco import HexMujocoArcherD6y, HexMujocoArcherD6yClient, HexMujocoArcherD6yServer
@@ -24,7 +23,7 @@ from .mujoco import HexMujocoE3Desktop, HexMujocoE3DesktopClient, HexMujocoE3Des
 from .robot import HexRobotBase, HexRobotClientBase, HexRobotServerBase
 from .robot import HexRobotDummy, HexRobotDummyClient, HexRobotDummyServer
 from .robot import HexRobotGello, HexRobotGelloClient, HexRobotGelloServer
-from .robot import HexRobotHexarm, HexRobotHexarmClient, HexRobotHexarmServer
+from .robot import HexRobotHexarm, HexRobotHexarmClient, HexRobotHexarmServer, HEXARM_URDF_PATH_DICT
 
 import os
 
@@ -32,7 +31,6 @@ file_dir = os.path.dirname(os.path.abspath(__file__))
 HEX_ZMQ_SERVERS_PATH_DICT = {
     "zmq_dummy": f"{file_dir}/zmq_base.py",
     "cam_dummy": f"{file_dir}/cam/dummy/cam_dummy_srv.py",
-    "cam_berxel": f"{file_dir}/cam/berxel/cam_berxel_srv.py",
     "mujoco_archer_d6y":
     f"{file_dir}/mujoco/archer_d6y/mujoco_archer_d6y_srv.py",
     "mujoco_e3_desktop":
@@ -44,7 +42,6 @@ HEX_ZMQ_SERVERS_PATH_DICT = {
 HEX_ZMQ_CONFIGS_PATH_DICT = {
     "zmq_dummy": f"{file_dir}/config/zmq_dummy.json",
     "cam_dummy": f"{file_dir}/config/cam_dummy.json",
-    "cam_berxel": f"{file_dir}/config/cam_berxel.json",
     "mujoco_archer_d6y": f"{file_dir}/config/mujoco_archer_d6y.json",
     "mujoco_e3_desktop": f"{file_dir}/config/mujoco_e3_desktop.json",
     "robot_dummy": f"{file_dir}/config/robot_dummy.json",
@@ -59,6 +56,7 @@ __all__ = [
     # path
     "HEX_ZMQ_SERVERS_PATH_DICT",
     "HEX_ZMQ_CONFIGS_PATH_DICT",
+    "HEXARM_URDF_PATH_DICT",
 
     # launch
     "HexLaunch",
@@ -85,9 +83,6 @@ __all__ = [
     "HexCamDummy",
     "HexCamDummyClient",
     "HexCamDummyServer",
-    "HexCamBerxel",
-    "HexCamBerxelClient",
-    "HexCamBerxelServer",
 
     # mujoco
     "HexMujocoBase",
@@ -115,4 +110,21 @@ __all__ = [
     "HexRobotHexarmServer",
 ]
 
+# Optional: berxel
+try:
+    from .cam import HexCamBerxel, HexCamBerxelClient, HexCamBerxelServer
+    HEX_ZMQ_SERVERS_PATH_DICT[
+        "cam_berxel"] = f"{file_dir}/cam/berxel/cam_berxel_srv.py"
+    HEX_ZMQ_CONFIGS_PATH_DICT[
+        "cam_berxel"] = f"{file_dir}/config/cam_berxel.json"
+    __all__.extend([
+        "HexCamBerxel",
+        "HexCamBerxelClient",
+        "HexCamBerxelServer",
+    ])
+except ImportError:
+    # berxel_py_wrapper not installed
+    # Install with: pip install hex_zmq_servers[berxel]
+    pass
+
 # print("#### Thanks for using hex_zmq_servers :D ####")

{hex_zmq_servers-0.2.0 → hex_zmq_servers-0.2.2}/hex_zmq_servers/cam/__init__.py

@@ -8,7 +8,6 @@
 
 from .cam_base import HexCamBase, HexCamClientBase, HexCamServerBase
 from .dummy import HexCamDummy, HexCamDummyClient, HexCamDummyServer
-from .berxel import HexCamBerxel, HexCamBerxelClient, HexCamBerxelServer
 
 __all__ = [
     # base
@@ -20,9 +19,17 @@ __all__ = [
     "HexCamDummy",
     "HexCamDummyClient",
     "HexCamDummyServer",
-
-    # berxel
-    "HexCamBerxel",
-    "HexCamBerxelClient",
-    "HexCamBerxelServer",
 ]
+
+# Optional: berxel (requires berxel_py_wrapper)
+try:
+    from .berxel import HexCamBerxel, HexCamBerxelClient, HexCamBerxelServer
+    __all__.extend([
+        "HexCamBerxel",
+        "HexCamBerxelClient",
+        "HexCamBerxelServer",
+    ])
+except ImportError:
+    # berxel_py_wrapper not installed
+    # Install with: pip install hex_zmq_servers[berxel]
+    pass

hex_zmq_servers-0.2.2/hex_zmq_servers/config/mujoco_archer_d6y.json

@@ -0,0 +1,34 @@
+{
+    "net": {
+        "ip": "127.0.0.1",
+        "port": 12345,
+        "client_timeout_ms": 200,
+        "server_timeout_ms": 1000,
+        "server_num_workers": 4
+    },
+    "params": {
+        "states_rate": 250,
+        "img_rate": 30,
+        "tau_ctrl": false,
+        "mit_kp": [
+            200.0,
+            200.0,
+            200.0,
+            75.0,
+            15.0,
+            15.0,
+            20.0
+        ],
+        "mit_kd": [
+            12.5,
+            12.5,
+            12.5,
+            6.0,
+            0.31,
+            0.31,
+            1.0
+        ],
+        "headless": false,
+        "sens_ts": true
+    }
+}

hex_zmq_servers-0.2.2/hex_zmq_servers/config/mujoco_e3_desktop.json

@@ -0,0 +1,34 @@
+{
+    "net": {
+        "ip": "127.0.0.1",
+        "port": 12345,
+        "client_timeout_ms": 200,
+        "server_timeout_ms": 1000,
+        "server_num_workers": 4
+    },
+    "params": {
+        "states_rate": 250,
+        "img_rate": 30,
+        "tau_ctrl": false,
+        "mit_kp": [
+            200.0,
+            200.0,
+            200.0,
+            75.0,
+            15.0,
+            15.0,
+            20.0
+        ],
+        "mit_kd": [
+            12.5,
+            12.5,
+            12.5,
+            6.0,
+            0.31,
+            0.31,
+            1.0
+        ],
+        "headless": false,
+        "sens_ts": true
+    }
+}

hex_zmq_servers-0.2.2/hex_zmq_servers/mujoco/archer_d6y/model/assets/assets.xml

@@ -0,0 +1,17 @@
+<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_zmq_servers-0.2.2/hex_zmq_servers/mujoco/archer_d6y/model/robot.xml

@@ -0,0 +1,89 @@
+<mujocoinclude>
+    <body name="base_link">
+        <inertial pos="-0.001 0.0318 0" quat="0.5 0.5 0.5 0.5" mass="0.687" diaginertia="0.0007 0.0006 0.0005"/>
+        <geom type="mesh" rgba="1 1 1 1" mesh="arm_base_link"/>
+
+        # link 1
+        <body name="link_1" pos="0 0 0.0665">
+            <inertial pos="0.008 -0.0023 0.0213" quat="0.707107 0.707107 0 0" mass="0.2154" diaginertia="0.0003 0.0003 0.0002"/>
+            <joint name="joint_1" pos="0 0 0" axis="0 0 1" range="-2.7 2.7" limited="true" armature="0.1" damping="3.0" frictionloss="1.0"/>
+            <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 -0.0028 0.1317" quat="0.999789 0.0205404 0 0" mass="1.3123" diaginertia="0.018 0.0177288 0.000671225"/>
+                <joint name="joint_2" pos="0 0 0" axis="0 1 0" range="-1.57 2.09" limited="true" armature="0.1" damping="3.0" frictionloss="1.0"/>
+                <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="-0.051 0.0008 0.1447" quat="0.996909 0.0323182 -0.0688403 -0.019747" mass="1.1083" diaginertia="0.0115968 0.0112369 0.00136632"/>
+                    <joint name="joint_3" pos="0 0 0" axis="0 1 0" range="0 3.14" limited="true" armature="0.1" damping="3.0" frictionloss="1.0"/>
+                    <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="-0.0597 -0.001 0.0572" quat="0 0.92388 0 0.382683" mass="0.5398" diaginertia="0.0011 0.001 0.0005"/>
+                        <joint name="joint_4" pos="0 0 0" axis="0 1 0" range="-1.57 1.57" limited="true" armature="0.1" damping="3.0" frictionloss="1.0"/>
+                        <geom type="mesh" rgba="0.792157 0.792157 0.792157 1" mesh="arm_link_4"/>
+
+                        # link 5
+                        <body name="link_5" pos="-0.0553006 0 0.07025">
+                            <inertial pos="0.0292 0.0001 -0.0107" quat="0.707107 0 0 0.707107" mass="0.3984" diaginertia="0.0003 0.0002 0.0002"/>
+                            <joint name="joint_5" pos="0 0 0" axis="-1 0 0" range="-1.57 1.57" limited="true" armature="0.1" damping="3.0" frictionloss="1.0"/>
+                            <geom type="mesh" rgba="0.898039 0.917647 0.929412 1" mesh="arm_link_5"/>
+
+                            # gripper base link
+                            <body name="gripper_base_link" pos="0.0547 0 0.02895" quat="0.707107 0.0 -0.707107 0.0">
+                                <inertial pos="0.0141517 0.0120671 0.037083" quat="0.332786 0.772745 0.486202 0.236063" mass="0.404149" diaginertia="0.00182378 0.00177437 0.000232349"/>
+                                <joint name="joint_6" pos="0 0 0" axis="1 0 0" range="-1.57 1.57" limited="true" armature="0.1" damping="3.0" frictionloss="1.0"/>
+                                <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"/>
+
+                                # 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="0.00594562" diaginertia="2.74798e-06 1.47567e-06 1.34732e-06"/>
+                                    <joint name="gripper_left_help_joint" pos="0 0 0" axis="0 0 -1" range="0 1.52" limited="true" armature="0.01" damping="1.0" frictionloss="0.1" />
+                                    <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="0.00594562" diaginertia="2.74798e-06 1.47567e-06 1.34732e-06"/>
+                                    <joint name="gripper_right_help_joint" pos="0 0 0" axis="0 0 1" range="0 1.52" limited="true" armature="0.01" damping="1.0" frictionloss="0.1" />
+                                    <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="0.00594562" diaginertia="2.74798e-06 1.47567e-06 1.34732e-06"/>
+                                    <joint name="gripper_left_joint_1" pos="0 0 0" axis="0 0 -1" range="0 1.52" limited="true" armature="0.01" damping="1.0" frictionloss="0.1" />
+                                    <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="0.0339319" diaginertia="1.36949e-05 1.35554e-05 3.4264e-06"/>
+                                        <joint name="gripper_left_joint_2" pos="0 0 0" axis="0 0 1" range="0 1.52" limited="true" armature="0.01" damping="1.0" frictionloss="0.1" />
+                                        <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="0.00594562" diaginertia="2.74798e-06 1.47567e-06 1.34732e-06"/>
+                                    <joint name="gripper_right_joint_1" pos="0 0 0" axis="0 0 1" range="0 1.52" limited="true" armature="0.01" damping="1.0" frictionloss="0.1" />
+                                    <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="0.0339319" diaginertia="1.36948e-05 1.35553e-05 3.4264e-06"/>
+                                        <joint name="gripper_right_joint_2" pos="0 0 0" axis="0 0 -1" range="0 1.52" limited="true" armature="0.01" damping="1.0" frictionloss="0.1" />
+                                        <geom type="mesh" rgba="1 1 1 1" mesh="gripper_right_link_2"/>
+                                    </body>
+                                </body>
+                            </body>
+                        </body>
+                    </body>
+                </body>
+            </body>
+        </body>
+    </body>
+</mujocoinclude>

{hex_zmq_servers-0.2.0 → hex_zmq_servers-0.2.2}/hex_zmq_servers/mujoco/archer_d6y/model/scene.xml

@@ -9,7 +9,7 @@
         <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"/>
+        <map znear="0.001" zfar="50"/>
     </visual>
 
     <asset>
@@ -41,11 +41,11 @@
     <include file="setting.xml"/>
 
     <keyframe>
-        # qpos: 14 + 7
-        # ctrl: (6 + 2)
+        # 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 0.0 0.0 
+        0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 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 0.0"/>
+        0.0 0.0 0.0 0.0 0.0 0.0 0.0"/>
     </keyframe>
 </mujoco>

hex_zmq_servers-0.2.2/hex_zmq_servers/mujoco/archer_d6y/model/setting.xml

@@ -0,0 +1,37 @@
+<mujocoinclude>
+    <contact>
+        <exclude body1="base_link" body2="link_1" />
+        <exclude body1="link_1" body2="link_2" />
+        <exclude body1="link_2" body2="link_3" />
+        <exclude body1="link_3" body2="link_4" />
+        <exclude body1="link_4" body2="link_5" />
+        <exclude body1="link_5" body2="gripper_base_link" />
+        <exclude body1="gripper_base_link" body2="gripper_left_helper_link" />
+        <exclude body1="gripper_left_helper_link" body2="gripper_left_link_1" />
+        <exclude body1="gripper_left_helper_link" body2="gripper_left_link_2" />
+        <exclude body1="gripper_left_link_1" body2="gripper_left_link_2" />
+        <exclude body1="gripper_base_link" body2="gripper_right_helper_link" />
+        <exclude body1="gripper_right_helper_link" body2="gripper_right_link_1" />
+        <exclude body1="gripper_right_helper_link" body2="gripper_right_link_2" />
+        <exclude body1="gripper_right_link_1" body2="gripper_right_link_2" />
+    </contact>
+
+    <equality>
+        <joint joint1="gripper_left_joint_1" joint2="gripper_left_joint_2" />
+        <joint joint1="gripper_left_joint_1" joint2="gripper_left_help_joint" />
+        <joint joint1="gripper_left_joint_1" joint2="gripper_right_joint_1" />
+        <joint joint1="gripper_left_joint_1" joint2="gripper_right_joint_2" />
+        <joint joint1="gripper_left_joint_1" joint2="gripper_right_help_joint" />
+    </equality>
+
+    <actuator>
+        <motor joint="joint_1" ctrlrange="-28 28" forcerange="-28 28"/>
+        <motor joint="joint_2" ctrlrange="-28 28" forcerange="-28 28"/>
+        <motor joint="joint_3" ctrlrange="-28 28" forcerange="-28 28"/>
+        <motor joint="joint_4" ctrlrange="-10 10" forcerange="-10 10"/>
+        <motor joint="joint_5" ctrlrange="-10 10" forcerange="-10 10"/>
+        <motor joint="joint_6" ctrlrange="-10 10" forcerange="-10 10"/>
+        <motor joint="gripper_left_joint_1" ctrlrange="-10 10" forcerange="-10 10"/>
+    </actuator>
+
+</mujocoinclude>