hex-zmq-servers 0.2.4__tar.gz → 0.3.0__tar.gz

{hex_zmq_servers-0.2.4 → hex_zmq_servers-0.3.0}/MANIFEST.in

@@ -3,7 +3,7 @@ include README.md
 include requirements.txt
 
 recursive-include package_name *
-recursive-include hex_zmq_servers/mujoco/archer_d6y/model * *
+recursive-include hex_zmq_servers/mujoco/archer_y6/model * *
 recursive-include hex_zmq_servers/mujoco/e3_desktop/model * *
 recursive-include hex_zmq_servers/robot/hexarm/urdf * *
 recursive-include hex_zmq_servers/config *

{hex_zmq_servers-0.2.4/hex_zmq_servers.egg-info → hex_zmq_servers-0.3.0}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: hex_zmq_servers
-Version: 0.2.4
+Version: 0.3.0
 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>
@@ -15,15 +15,16 @@ 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: >=3.8
+Requires-Python: >=3.10
 Description-Content-Type: text/markdown
 License-File: LICENSE
 Requires-Dist: pyzmq>=27.0.1
 Requires-Dist: hex_device<1.4.0,>=1.3.1
-Requires-Dist: hex_robo_utils<0.2.0,>=0.1.19
+Requires-Dist: hex_robo_utils<0.2.0,>=0.1.20
 Requires-Dist: dynamixel-sdk==3.8.4
 Provides-Extra: camera
 Requires-Dist: berxel_py_wrapper>=2.0; extra == "camera"
@@ -73,7 +74,7 @@ hex_zmq_servers/
 
 ### Mujoco
 
-- **archer_d6y**: Physical simulation of Archer D6Y robot
+- **archer_y6**: Physical simulation of Archer Y6 robot
 - **e3_desktop**: Physical simulation of E3 Desktop robot
 
 ## Installation

{hex_zmq_servers-0.2.4 → hex_zmq_servers-0.3.0}/README.md

@@ -34,7 +34,7 @@ hex_zmq_servers/
 
 ### Mujoco
 
-- **archer_d6y**: Physical simulation of Archer D6Y robot
+- **archer_y6**: Physical simulation of Archer Y6 robot
 - **e3_desktop**: Physical simulation of E3 Desktop robot
 
 ## Installation

{hex_zmq_servers-0.2.4 → hex_zmq_servers-0.3.0}/hex_zmq_servers/__init__.py

@@ -6,17 +6,13 @@
 # Date  : 2025-09-15
 ################################################################
 
-from .hex_launch import HexLaunch, HEX_LOG_LEVEL, hex_log, hex_err
+from .hex_launch import HexLaunch, HexNodeConfig, HEX_LOG_LEVEL, hex_dict_str, hex_log, hex_err
 
 from .device_base import HexDeviceBase
 from .zmq_base import HexRate, hex_zmq_ts_now, hex_zmq_ts_delta_ms
 from .zmq_base import HexSafeValue, HexZMQClientBase, HexZMQServerBase, hex_server_helper
 from .zmq_base import HexZMQDummyClient, HexZMQDummyServer
 
-from .mujoco import HexMujocoBase, HexMujocoClientBase, HexMujocoServerBase
-from .mujoco import HexMujocoArcherD6y, HexMujocoArcherD6yClient, HexMujocoArcherD6yServer
-from .mujoco import HexMujocoE3Desktop, HexMujocoE3DesktopClient, HexMujocoE3DesktopServer
-
 from .robot import HexRobotBase, HexRobotClientBase, HexRobotServerBase
 from .robot import HexRobotDummy, HexRobotDummyClient, HexRobotDummyServer
 from .robot import HexRobotGello, HexRobotGelloClient, HexRobotGelloServer
@@ -49,7 +45,9 @@ __all__ = [
 
     # launch
     "HexLaunch",
+    "HexNodeConfig",
     "HEX_LOG_LEVEL",
+    "hex_dict_str",
     "hex_log",
     "hex_err",
 
@@ -111,23 +109,23 @@ try:
     ])
 except ImportError:
     # berxel_py_wrapper not installed
-    # Install with: pip install hex_zmq_servers[berxel]
+    # Install with: pip install hex_zmq_servers[berxel] or pip install hex_zmq_servers[all]
     pass
 
 # Optional: mujoco
 try:
     from .mujoco import HexMujocoBase, HexMujocoClientBase, HexMujocoServerBase
-    from .mujoco import HexMujocoArcherD6y, HexMujocoArcherD6yClient, HexMujocoArcherD6yServer
+    from .mujoco import HexMujocoArcherY6, HexMujocoArcherY6Client, HexMujocoArcherY6Server
     from .mujoco import HexMujocoE3Desktop, HexMujocoE3DesktopClient, HexMujocoE3DesktopServer
     HEX_ZMQ_SERVERS_PATH_DICT.update({
-        "mujoco_archer_d6y":
-        f"{file_dir}/mujoco/archer_d6y/mujoco_archer_d6y_srv.py",
+        "mujoco_archer_y6":
+        f"{file_dir}/mujoco/archer_y6/mujoco_archer_y6_srv.py",
         "mujoco_e3_desktop":
         f"{file_dir}/mujoco/e3_desktop/mujoco_e3_desktop_srv.py",
     })
     HEX_ZMQ_CONFIGS_PATH_DICT.update({
-        "mujoco_archer_d6y":
-        f"{file_dir}/config/mujoco_archer_d6y.json",
+        "mujoco_archer_y6":
+        f"{file_dir}/config/mujoco_archer_y6.json",
         "mujoco_e3_desktop":
         f"{file_dir}/config/mujoco_e3_desktop.json",
     })
@@ -136,16 +134,16 @@ try:
         "HexMujocoBase",
         "HexMujocoClientBase",
         "HexMujocoServerBase",
-        "HexMujocoArcherD6y",
-        "HexMujocoArcherD6yClient",
-        "HexMujocoArcherD6yServer",
+        "HexMujocoArcherY6",
+        "HexMujocoArcherY6Client",
+        "HexMujocoArcherY6Server",
         "HexMujocoE3Desktop",
         "HexMujocoE3DesktopClient",
         "HexMujocoE3DesktopServer",
     ])
 except ImportError:
     # mujoco not installed
-    # Install with: pip install hex_zmq_servers[mujoco]
+    # Install with: pip install hex_zmq_servers[mujoco] or pip install hex_zmq_servers[all]
     pass
 
 # print("#### Thanks for using hex_zmq_servers :D ####")

{hex_zmq_servers-0.2.4 → hex_zmq_servers-0.3.0}/hex_zmq_servers/config/robot_hexarm.json

@@ -10,7 +10,7 @@
         "device_ip": "172.18.8.161",
         "device_port": 8439,
         "control_hz": 500,
-        "arm_type": 16,
+        "arm_type": "archer_l6y",
         "use_gripper": true,
         "mit_kp": [
             200.0,

{hex_zmq_servers-0.2.4 → hex_zmq_servers-0.3.0}/hex_zmq_servers/hex_launch.py

@@ -6,13 +6,15 @@
 # Date  : 2025-09-25
 ################################################################
 
+from __future__ import annotations
+
 import json
 import os, sys, signal, subprocess, threading, time
 import termios
+import importlib.util
 
 from datetime import datetime
 from pathlib import Path
-from typing import Dict, List
 
 HEX_LOG_LEVEL = {
     "info": 0,
@@ -29,16 +31,187 @@ def hex_err(message):
     print(message, file=sys.stderr)
 
 
+def dict_update(dict_raw: dict, dict_new: dict, add_new: bool = False):
+    for key, value in dict_new.items():
+        if key in dict_raw:
+            if isinstance(dict_raw[key], dict) and isinstance(value, dict):
+                dict_update(dict_raw[key], value)
+            else:
+                dict_raw[key] = value
+        elif add_new:
+            dict_raw[key] = value
+
+
+def hex_dict_str(dict_raw: dict, indent: int = 0) -> str:
+    print_str = ("\n" + "*" * 50 + "\n") if indent == 0 else ""
+    for key, value in dict_raw.items():
+        if isinstance(value, dict):
+            print_str += f"{' ' * indent * 4}{key}:\n{hex_dict_str(value, indent + 1)}"
+        else:
+            print_str += f"{' ' * indent * 4}{key}: {value}\n"
+    print_str += ("*" * 50) if indent == 0 else ""
+    return print_str
+
+
+class HexNodeConfig():
+
+    def __init__(
+        self,
+        init_params: dict[str, dict] | list[dict] | HexNodeConfig = {},
+    ):
+        len_init_params = len(init_params)
+        if isinstance(init_params, list):
+            self._cfgs_dict = {cfg["name"]: cfg for cfg in init_params}
+        elif isinstance(init_params, dict):
+            self._cfgs_dict = init_params
+            if len_init_params != len(self._cfgs_dict):
+                raise ValueError(f"Invalid init_params: {init_params}")
+        elif isinstance(init_params, HexNodeConfig):
+            self._cfgs_dict = init_params._cfgs_dict
+        else:
+            raise ValueError(f"Invalid init_params: {init_params}")
+
+        assert len(self._cfgs_dict
+                   ) == len_init_params, f"Invalid init_params: {init_params}"
+
+    def __len__(self) -> int:
+        return len(self._cfgs_dict)
+
+    def get_cfgs(self, use_list: bool = True) -> list[dict]:
+        if use_list:
+            return list(self._cfgs_dict.values())
+        else:
+            return self._cfgs_dict
+
+    def add_cfgs(
+        self,
+        node_cfgs: list[dict] | dict[str, dict] | HexNodeConfig,
+    ):
+        new_cfgs = {}
+        if isinstance(node_cfgs, list):
+            new_cfgs = {cfg["name"]: cfg for cfg in node_cfgs}
+        elif isinstance(node_cfgs, dict):
+            new_cfgs = node_cfgs
+        elif isinstance(node_cfgs, HexNodeConfig):
+            new_cfgs = node_cfgs.get_cfgs(use_list=False)
+        else:
+            raise ValueError(f"Invalid node_cfgs: {node_cfgs}")
+
+        dict_update(self._cfgs_dict, new_cfgs, add_new=True)
+
+    def __str__(self) -> str:
+        print_str = f"[HexNodeConfig] Total {len(self._cfgs_dict)} nodes:\n"
+        for name in self._cfgs_dict.keys():
+            print_str += f"  - {name}\n"
+        return print_str
+
+    @staticmethod
+    def parse_node_params_dict(
+        node_params_dict: dict,
+        node_default_params_dict: dict,
+    ) -> HexNodeConfig:
+        node_dict = {}
+        for cur_name, cur_default_params in node_default_params_dict.items():
+            if cur_name in node_params_dict.keys():
+                dict_update(cur_default_params, node_params_dict[cur_name])
+            node_dict[cur_name] = cur_default_params
+        return HexNodeConfig(node_dict)
+
+    @staticmethod
+    def get_launch_params_cfgs(
+        launch_params_dict: dict,
+        launch_default_params_dict: dict,
+        launch_path_dict: dict,
+    ) -> HexNodeConfig:
+        cfg_list = []
+        for launch_name, launch_path in launch_path_dict.items():
+            node_default_params_dict = launch_default_params_dict.get(
+                launch_name, {})
+
+            node_params_dict = {}
+            if launch_name in launch_params_dict.keys():
+                node_params_dict = launch_params_dict[launch_name]
+            else:
+                for node_name in node_default_params_dict.keys():
+                    if node_name in launch_params_dict.keys():
+                        node_params_dict[node_name] = launch_params_dict[
+                            node_name]
+
+            launch_update_cfg = HexNodeConfig.parse_node_params_dict(
+                node_params_dict,
+                node_default_params_dict,
+            )
+
+            cfg_list.append(
+                HexNodeConfig.get_node_cfgs_from_launch(
+                    launch_path,
+                    launch_update_cfg,
+                ))
+
+        final_cfg = HexNodeConfig()
+        for cfg in cfg_list:
+            # use name as key to make sure every node has a unique name
+            final_cfg.add_cfgs(cfg.get_cfgs(use_list=True))
+        print(f"final_cfg: {final_cfg}")
+        return final_cfg
+
+    @staticmethod
+    def get_node_cfgs_from_launch(
+        launch_path: str,
+        params: dict | HexNodeConfig = {},
+    ) -> HexNodeConfig:
+        # normalize the path
+        launch_path = os.path.abspath(launch_path)
+        if not os.path.exists(launch_path):
+            raise FileNotFoundError(f"Launch file not found: {launch_path}")
+
+        # load the module dynamically
+        spec = importlib.util.spec_from_file_location("launch_module",
+                                                      launch_path)
+        if spec is None or spec.loader is None:
+            raise ImportError(f"Failed to load module from: {launch_path}")
+
+        # load module
+        launch_module = importlib.util.module_from_spec(spec)
+        sys.modules["launch_module"] = launch_module
+        spec.loader.exec_module(launch_module)
+
+        # check if `get_node_cfgs` function exists
+        if not hasattr(launch_module, "get_node_cfgs"):
+            raise AttributeError(
+                f"Function 'get_node_cfgs' not found in {launch_path}")
+
+        # call `get_node_cfgs` function
+        get_node_cfgs_func = getattr(launch_module, "get_node_cfgs")
+        if isinstance(params, dict):
+            print("params is dict")
+            node_cfgs = get_node_cfgs_func(params)
+        elif isinstance(params, HexNodeConfig):
+            print("params is HexNodeConfig")
+            node_cfgs = get_node_cfgs_func(params.get_cfgs(use_list=False))
+        else:
+            raise ValueError(f"Invalid params: {params}")
+        return node_cfgs
+
+
 class HexLaunch:
 
     def __init__(
         self,
-        node_cfgs: List[dict],
+        node_cfgs: list[dict] | dict[str, dict] | HexNodeConfig,
         log_dir: str = "logs",
         min_level: int = HEX_LOG_LEVEL["warn"],
     ):
-        self.__node_cfgs = node_cfgs
-        self.__state: Dict[str, dict] = {}
+        if isinstance(node_cfgs, list):
+            node_cfgs = HexNodeConfig(node_cfgs)
+        elif isinstance(node_cfgs, dict):
+            node_cfgs = HexNodeConfig(node_cfgs)
+        elif isinstance(node_cfgs, HexNodeConfig):
+            node_cfgs = node_cfgs
+        else:
+            raise ValueError(f"Invalid node_cfgs: {node_cfgs}")
+        self.__node_cfgs = node_cfgs.get_cfgs(use_list=True)
+        self.__state: dict[str, dict] = {}
         self.__stop_event = threading.Event()
         self.__log_dir = Path(log_dir)
         self.__log_dir.mkdir(parents=True, exist_ok=True)
@@ -102,20 +275,12 @@ class HexLaunch:
             with open(cfg_path, "r", encoding="utf-8") as f:
                 cfg_file = json.load(f)
                 cfg_obj.update(cfg_file)
-        self.__dict_update(cfg_obj, node_cfg.get("cfg", {}))
+        dict_update(cfg_obj, node_cfg.get("cfg", {}))
         cfg_str = json.dumps(cfg_obj)
 
         # build cmd
         return [python_exe, "-u", str(node_path)] + ["--cfg", cfg_str]
 
-    def __dict_update(self, dict_raw: dict, dict_new: dict):
-        for key, value in dict_new.items():
-            if key in dict_raw:
-                if isinstance(dict_raw[key], dict) and isinstance(value, dict):
-                    self.__dict_update(dict_raw[key], value)
-                else:
-                    dict_raw[key] = value
-
     def __stream_printer(
         self,
         prefix: str,

{hex_zmq_servers-0.2.4 → hex_zmq_servers-0.3.0}/hex_zmq_servers/mujoco/__init__.py

@@ -7,7 +7,7 @@
 ################################################################
 
 from .mujoco_base import HexMujocoBase, HexMujocoClientBase, HexMujocoServerBase
-from .archer_d6y import HexMujocoArcherD6y, HexMujocoArcherD6yClient, HexMujocoArcherD6yServer
+from .archer_y6 import HexMujocoArcherY6, HexMujocoArcherY6Client, HexMujocoArcherY6Server
 from .e3_desktop import HexMujocoE3Desktop, HexMujocoE3DesktopClient, HexMujocoE3DesktopServer
 
 __all__ = [
@@ -16,10 +16,10 @@ __all__ = [
     "HexMujocoClientBase",
     "HexMujocoServerBase",
 
-    # archer_d6y
-    "HexMujocoArcherD6y",
-    "HexMujocoArcherD6yClient",
-    "HexMujocoArcherD6yServer",
+    # archer_y6
+    "HexMujocoArcherY6",
+    "HexMujocoArcherY6Client",
+    "HexMujocoArcherY6Server",
 
     # e3_desktop
     "HexMujocoE3Desktop",

{hex_zmq_servers-0.2.4/hex_zmq_servers/mujoco/archer_d6y → hex_zmq_servers-0.3.0/hex_zmq_servers/mujoco/archer_y6}/__init__.py

@@ -6,12 +6,12 @@
 # Date  : 2025-09-15
 ################################################################
 
-from .mujoco_archer_d6y import HexMujocoArcherD6y
-from .mujoco_archer_d6y_cli import HexMujocoArcherD6yClient
-from .mujoco_archer_d6y_srv import HexMujocoArcherD6yServer
+from .mujoco_archer_y6 import HexMujocoArcherY6   
+from .mujoco_archer_y6_cli import HexMujocoArcherY6Client
+from .mujoco_archer_y6_srv import HexMujocoArcherY6Server
 
 __all__ = [
-    "HexMujocoArcherD6y",
-    "HexMujocoArcherD6yClient",
-    "HexMujocoArcherD6yServer",
+    "HexMujocoArcherY6",
+    "HexMujocoArcherY6Client",
+    "HexMujocoArcherY6Server",
 ]

{hex_zmq_servers-0.2.4/hex_zmq_servers/mujoco/archer_d6y → hex_zmq_servers-0.3.0/hex_zmq_servers/mujoco/archer_y6}/model/scene.xml

@@ -1,4 +1,4 @@
-<mujoco model="archer_d6y scene">
+<mujoco model="archer_y6 scene">
     <compiler angle="radian"/>
     <option integrator="implicitfast"/>
     <option timestep="2e-3"/>

hex_zmq_servers-0.2.4/hex_zmq_servers/mujoco/archer_d6y/mujoco_archer_d6y.py → hex_zmq_servers-0.3.0/hex_zmq_servers/mujoco/archer_y6/mujoco_archer_y6.py

@@ -36,7 +36,7 @@ MUJOCO_CONFIG = {
 }
 
 
-class HexMujocoArcherD6y(HexMujocoBase):
+class HexMujocoArcherY6(HexMujocoBase):
 
     def __init__(
         self,
@@ -219,8 +219,8 @@ class HexMujocoArcherD6y(HexMujocoBase):
         tau_cmds = None
         if not self.__tau_ctrl:
             cmd_pos = None
-            tar_vel = np.zeros_like(cmds)
-            cmd_tor = np.zeros_like(cmds)
+            tar_vel = np.zeros(cmds.shape[0])
+            cmd_tor = np.zeros(cmds.shape[0])
             cmd_kp = self.__mit_kp.copy()
             cmd_kd = self.__mit_kd.copy()
             if len(cmds.shape) == 1:
@@ -286,4 +286,4 @@ class HexMujocoArcherD6y(HexMujocoBase):
         self.__depth_cam.close()
         if not self.__headless:
             self.__viewer.close()
-        hex_log(HEX_LOG_LEVEL["info"], "HexMujocoArcherD6y closed")
+        hex_log(HEX_LOG_LEVEL["info"], "HexMujocoArcherY6 closed")

hex_zmq_servers-0.2.4/hex_zmq_servers/mujoco/archer_d6y/mujoco_archer_d6y_cli.py → hex_zmq_servers-0.3.0/hex_zmq_servers/mujoco/archer_y6/mujoco_archer_y6_cli.py

@@ -17,7 +17,7 @@ NET_CONFIG = {
 }
 
 
-class HexMujocoArcherD6yClient(HexMujocoClientBase):
+class HexMujocoArcherY6Client(HexMujocoClientBase):
 
     def __init__(
         self,

hex_zmq_servers-0.2.4/hex_zmq_servers/mujoco/archer_d6y/mujoco_archer_d6y_srv.py → hex_zmq_servers-0.3.0/hex_zmq_servers/mujoco/archer_y6/mujoco_archer_y6_srv.py

@@ -11,7 +11,7 @@ from hex_zmq_servers.zmq_base import HexSafeValue
 
 try:
     from ..mujoco_base import HexMujocoServerBase
-    from .mujoco_archer_d6y import HexMujocoArcherD6y
+    from .mujoco_archer_y6 import HexMujocoArcherY6
 except (ImportError, ValueError):
     import sys
     from pathlib import Path
@@ -20,7 +20,7 @@ except (ImportError, ValueError):
     if str(project_root) not in sys.path:
         sys.path.insert(0, str(project_root))
     from hex_zmq_servers.mujoco.mujoco_base import HexMujocoServerBase
-    from hex_zmq_servers.mujoco.archer_d6y.mujoco_archer_d6y import HexMujocoArcherD6y
+    from hex_zmq_servers.mujoco.archer_y6.mujoco_archer_y6 import HexMujocoArcherY6
 
 NET_CONFIG = {
     "ip": "127.0.0.1",
@@ -38,7 +38,7 @@ MUJOCO_CONFIG = {
 }
 
 
-class HexMujocoArcherD6yServer(HexMujocoServerBase):
+class HexMujocoArcherY6Server(HexMujocoServerBase):
 
     def __init__(
         self,
@@ -48,7 +48,7 @@ class HexMujocoArcherD6yServer(HexMujocoServerBase):
         HexMujocoServerBase.__init__(self, net_config)
 
         # mujoco
-        self._device = HexMujocoArcherD6y(params_config)
+        self._device = HexMujocoArcherY6(params_config)
 
         # values
         self._states_robot_value = HexSafeValue()
@@ -139,4 +139,4 @@ if __name__ == "__main__":
     args = parser.parse_args()
     cfg = json.loads(args.cfg)
 
-    hex_server_helper(cfg, HexMujocoArcherD6yServer)
+    hex_server_helper(cfg, HexMujocoArcherY6Server)

{hex_zmq_servers-0.2.4 → hex_zmq_servers-0.3.0}/hex_zmq_servers/mujoco/e3_desktop/mujoco_e3_desktop.py

@@ -305,8 +305,8 @@ class HexMujocoE3Desktop(HexMujocoBase):
         tau_cmds = None
         if not self.__tau_ctrl:
             cmd_pos = None
-            tar_vel = np.zeros_like(cmds)
-            cmd_tor = np.zeros_like(cmds)
+            tar_vel = np.zeros(cmds.shape[0])
+            cmd_tor = np.zeros(cmds.shape[0])
             cmd_kp = self.__mit_kp.copy()
             cmd_kd = self.__mit_kd.copy()
             if len(cmds.shape) == 1:

{hex_zmq_servers-0.2.4 → hex_zmq_servers-0.3.0}/hex_zmq_servers/robot/hexarm/__init__.py

@@ -14,16 +14,16 @@ import os
 
 urdf_dir = os.path.join(os.path.dirname(__file__), "urdf")
 HEXARM_URDF_PATH_DICT = {
-    "archer_d6y_empty":
-    f"{urdf_dir}/archer_d6y/empty.urdf",
-    "archer_d6y_gp100":
-    f"{urdf_dir}/archer_d6y/gp100.urdf",
-    "archer_d6y_gp100_handle":
-    f"{urdf_dir}/archer_d6y/gp100_handle.urdf",
-    "archer_d6y_gp100_p050":
-    f"{urdf_dir}/archer_d6y/gp100_p050.urdf",
-    "archer_d6y_gp100_p050_handle":
-    f"{urdf_dir}/archer_d6y/gp100_p050_handle.urdf",
+    "archer_y6_empty":
+    f"{urdf_dir}/archer_y6/empty.urdf",
+    "archer_y6_gp100":
+    f"{urdf_dir}/archer_y6/gp100.urdf",
+    "archer_y6_gp100_handle":
+    f"{urdf_dir}/archer_y6/gp100_handle.urdf",
+    "archer_y6_gp100_p050":
+    f"{urdf_dir}/archer_y6/gp100_p050.urdf",
+    "archer_y6_gp100_p050_handle":
+    f"{urdf_dir}/archer_y6/gp100_p050_handle.urdf",
     "archer_l6y_empty":
     f"{urdf_dir}/archer_l6y/empty.urdf",
     "archer_l6y_gp100":

{hex_zmq_servers-0.2.4 → hex_zmq_servers-0.3.0}/hex_zmq_servers/robot/hexarm/robot_hexarm.py

@@ -25,7 +25,7 @@ ROBOT_CONFIG = {
     "device_ip": "172.18.8.161",
     "device_port": 8439,
     "control_hz": 250,
-    "arm_type": "archer_d6y",
+    "arm_type": "archer_y6",
     "use_gripper": True,
     "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],
@@ -33,7 +33,7 @@ ROBOT_CONFIG = {
 }
 
 HEX_DEVICE_TYPE_DICT = {
-    "archer_d6y": 16,
+    "archer_y6": 16,
     "archer_l6y": 17,
 }
 
@@ -93,7 +93,7 @@ class HexRobotHexarm(HexRobotBase):
         self.__gripper_dofs = 0
         self.__gripper = None
         if use_gripper:
-            self.__gripper = self.__hex_api.find_optional_device('hand_status')
+            self.__gripper = self.__hex_api.find_optional_device_by_id(1)
             if self.__gripper is not None:
                 self.__gripper_dofs = len(self.__gripper)
                 self._limits += [self.__gripper.get_joint_limits()]