hex-zmq-servers 0.3.0__py3-none-any.whl → 0.3.2__py3-none-any.whl

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Files changed (15) hide show
  1. hex_zmq_servers/__init__.py +9 -10
  2. hex_zmq_servers/cam/berxel/cam_berxel.py +2 -2
  3. hex_zmq_servers/mujoco/archer_y6/model/robot.xml +3 -3
  4. hex_zmq_servers/mujoco/mujoco_base.py +0 -23
  5. hex_zmq_servers/robot/hexarm/urdf/archer_y6/empty.urdf +4 -4
  6. hex_zmq_servers/robot/hexarm/urdf/archer_y6/gp100.urdf +4 -4
  7. hex_zmq_servers/robot/hexarm/urdf/archer_y6/gp100_handle.urdf +4 -4
  8. hex_zmq_servers/robot/hexarm/urdf/archer_y6/gp100_p050.urdf +4 -4
  9. hex_zmq_servers/robot/hexarm/urdf/archer_y6/gp100_p050_handle.urdf +4 -4
  10. hex_zmq_servers/zmq_base.py +24 -8
  11. {hex_zmq_servers-0.3.0.dist-info → hex_zmq_servers-0.3.2.dist-info}/METADATA +4 -4
  12. {hex_zmq_servers-0.3.0.dist-info → hex_zmq_servers-0.3.2.dist-info}/RECORD +15 -15
  13. {hex_zmq_servers-0.3.0.dist-info → hex_zmq_servers-0.3.2.dist-info}/WHEEL +0 -0
  14. {hex_zmq_servers-0.3.0.dist-info → hex_zmq_servers-0.3.2.dist-info}/licenses/LICENSE +0 -0
  15. {hex_zmq_servers-0.3.0.dist-info → hex_zmq_servers-0.3.2.dist-info}/top_level.txt +0 -0
hex_zmq_servers/__init__.py CHANGED
@@ -78,8 +78,15 @@ __all__ = [
78
78
  "HexRobotHexarmServer",
79
79
  ]
80
80
 
81
+ # Check optional dependencies availability
82
+ from importlib.util import find_spec
83
+
84
+ _HAS_OPENCV = find_spec("cv2") is not None
85
+ _HAS_BERXEL = find_spec("berxel_py_wrapper") is not None
86
+ _HAS_MUJOCO = find_spec("mujoco") is not None
87
+
81
88
  # Optional: camera
82
- try:
89
+ if _HAS_OPENCV and _HAS_BERXEL:
83
90
  from .cam import HexCamBase, HexCamClientBase, HexCamServerBase
84
91
  from .cam import HexCamDummy, HexCamDummyClient, HexCamDummyServer
85
92
  from .cam import HexCamBerxel, HexCamBerxelClient, HexCamBerxelServer
@@ -107,13 +114,9 @@ try:
107
114
  "HexCamBerxelClient",
108
115
  "HexCamBerxelServer",
109
116
  ])
110
- except ImportError:
111
- # berxel_py_wrapper not installed
112
- # Install with: pip install hex_zmq_servers[berxel] or pip install hex_zmq_servers[all]
113
- pass
114
117
 
115
118
  # Optional: mujoco
116
- try:
119
+ if _HAS_OPENCV and _HAS_MUJOCO:
117
120
  from .mujoco import HexMujocoBase, HexMujocoClientBase, HexMujocoServerBase
118
121
  from .mujoco import HexMujocoArcherY6, HexMujocoArcherY6Client, HexMujocoArcherY6Server
119
122
  from .mujoco import HexMujocoE3Desktop, HexMujocoE3DesktopClient, HexMujocoE3DesktopServer
@@ -141,9 +144,5 @@ try:
141
144
  "HexMujocoE3DesktopClient",
142
145
  "HexMujocoE3DesktopServer",
143
146
  ])
144
- except ImportError:
145
- # mujoco not installed
146
- # Install with: pip install hex_zmq_servers[mujoco] or pip install hex_zmq_servers[all]
147
- pass
148
147
 
149
148
  # print("#### Thanks for using hex_zmq_servers :D ####")
hex_zmq_servers/cam/berxel/cam_berxel.py CHANGED
@@ -178,7 +178,7 @@ class HexCamBerxel(HexCamBase):
178
178
  device_idx = idx
179
179
  break
180
180
  if device_idx == -1:
181
- print("can not find device with serial number")
181
+ print(f"can not find device with serial number: {serial_number}")
182
182
  print("available device serial numbers:")
183
183
  for device in device_list:
184
184
  print(f"{device.serialNumber}")
@@ -253,7 +253,7 @@ class HexCamBerxel(HexCamBase):
253
253
  if self.__device is None:
254
254
  return
255
255
 
256
- ret = self.__context.clsoeDevice(self.__device)
256
+ ret = self.__context.closeDevice(self.__device)
257
257
  if ret == 0:
258
258
  print("clsoe device succeed")
259
259
  else:
hex_zmq_servers/mujoco/archer_y6/model/robot.xml CHANGED
@@ -28,14 +28,14 @@
28
28
  <geom type="mesh" rgba="0.792157 0.792157 0.792157 1" mesh="arm_link_4"/>
29
29
 
30
30
  # link 5
31
- <body name="link_5" pos="-0.0553006 0 0.07025">
31
+ <body name="link_5" pos="-0.0553 0 0.070">
32
32
  <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"/>
33
33
  <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"/>
34
34
  <geom type="mesh" rgba="0.898039 0.917647 0.929412 1" mesh="arm_link_5"/>
35
35
 
36
36
  # gripper base link
37
- <body name="gripper_base_link" pos="0.0578 0 0.02895" quat="0.707107 0.0 -0.707107 0.0">
38
- <inertial pos="-0.0139 0.0001 0.0578" quat="0.567843 0.421372 0.421372 0.567843" mass="0.7651" diaginertia="0.0021 0.00143028 0.00106972"/>
37
+ <body name="gripper_base_link" pos="0.0553 0 0.029" quat="0.707107 0.0 -0.707107 0.0">
38
+ <inertial pos="-0.0139 0.0001 0.0553" quat="0.567843 0.421372 0.421372 0.567843" mass="0.7651" diaginertia="0.0021 0.00143028 0.00106972"/>
39
39
  <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"/>
40
40
  <geom type="mesh" rgba="1 1 1 1" mesh="gripper_base_link"/>
41
41
  <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" />
hex_zmq_servers/mujoco/mujoco_base.py CHANGED
@@ -156,34 +156,11 @@ class HexMujocoClientBase(HexZMQClientBase):
156
156
  print(f"\033[91m{req_cmd} failed: {e}\033[0m")
157
157
  return None, None
158
158
 
159
- def get_obj_pose(self):
160
- hdr, obj_pose = self.request({
161
- "cmd":
162
- "get_obj_pose",
163
- "args": (1 + self._obj_pose_seq) % self._max_seq_num,
164
- })
165
- try:
166
- cmd = hdr["cmd"]
167
- if cmd == "get_obj_pose_ok":
168
- self._obj_pose_seq = hdr["args"]
169
- return hdr, obj_pose
170
- else:
171
- return None, None
172
- except KeyError:
173
- print(f"\033[91m{hdr['cmd']} requires `cmd`\033[0m")
174
- return None, None
175
- except Exception as e:
176
- print(f"\033[91mget_obj_pose failed: {e}\033[0m")
177
- return None, None
178
-
179
159
  def set_cmds(
180
160
  self,
181
161
  cmds: np.ndarray,
182
- robot_name: str | None = None,
183
162
  ) -> bool:
184
163
  req_cmd = "set_cmds"
185
- if robot_name is not None:
186
- req_cmd += f"_{robot_name}"
187
164
  hdr, _ = self.request(
188
165
  {
189
166
  "cmd": req_cmd,
hex_zmq_servers/robot/hexarm/urdf/archer_y6/empty.urdf CHANGED
@@ -77,7 +77,7 @@
77
77
  </collision>
78
78
  </link>
79
79
  <joint name="joint_2" type="revolute">
80
- <origin xyz="0.0199999999999999 0 0.0450000000000004" rpy="0 0 0" />
80
+ <origin xyz="0.02 0 0.045" rpy="0 0 0" />
81
81
  <parent link="link_1" />
82
82
  <child link="link_2" />
83
83
  <axis xyz="0 1 0" />
@@ -137,7 +137,7 @@
137
137
  </collision>
138
138
  </link>
139
139
  <joint name="joint_4" type="revolute">
140
- <origin xyz="-0.0599999999999998 0 0.245" rpy="0 0 0" />
140
+ <origin xyz="-0.06 0 0.245" rpy="0 0 0" />
141
141
  <parent link="link_3" />
142
142
  <child link="link_4" />
143
143
  <axis xyz="0 1 0" />
@@ -167,7 +167,7 @@
167
167
  </collision>
168
168
  </link>
169
169
  <joint name="joint_5" type="revolute">
170
- <origin xyz="-0.0553005693392305 0 0.0702500000000025" rpy="0 0 0" />
170
+ <origin xyz="-0.0553 0 0.070" rpy="0 0 0" />
171
171
  <parent link="link_4" />
172
172
  <child link="link_5" />
173
173
  <axis xyz="-1 0 0" />
@@ -197,7 +197,7 @@
197
197
  </collision>
198
198
  </link>
199
199
  <joint name="joint_6" type="revolute">
200
- <origin xyz="0.0578000000000073 0 0.0289500000000001" rpy="0 0 0" />
200
+ <origin xyz="0.0553 0 0.029" rpy="0 0 0" />
201
201
  <parent link="link_5" />
202
202
  <child link="link_6" />
203
203
  <axis xyz="0 0 1" />
hex_zmq_servers/robot/hexarm/urdf/archer_y6/gp100.urdf CHANGED
@@ -77,7 +77,7 @@
77
77
  </collision>
78
78
  </link>
79
79
  <joint name="joint_2" type="revolute">
80
- <origin xyz="0.0199999999999999 0 0.0450000000000004" rpy="0 0 0" />
80
+ <origin xyz="0.02 0 0.045" rpy="0 0 0" />
81
81
  <parent link="link_1" />
82
82
  <child link="link_2" />
83
83
  <axis xyz="0 1 0" />
@@ -137,7 +137,7 @@
137
137
  </collision>
138
138
  </link>
139
139
  <joint name="joint_4" type="revolute">
140
- <origin xyz="-0.0599999999999998 0 0.245" rpy="0 0 0" />
140
+ <origin xyz="-0.06 0 0.245" rpy="0 0 0" />
141
141
  <parent link="link_3" />
142
142
  <child link="link_4" />
143
143
  <axis xyz="0 1 0" />
@@ -167,7 +167,7 @@
167
167
  </collision>
168
168
  </link>
169
169
  <joint name="joint_5" type="revolute">
170
- <origin xyz="-0.0553005693392305 0 0.0702500000000025" rpy="0 0 0" />
170
+ <origin xyz="-0.0553 0 0.070" rpy="0 0 0" />
171
171
  <parent link="link_4" />
172
172
  <child link="link_5" />
173
173
  <axis xyz="-1 0 0" />
@@ -197,7 +197,7 @@
197
197
  </collision>
198
198
  </link>
199
199
  <joint name="joint_6" type="revolute">
200
- <origin xyz="0.0578000000000073 0 0.0289500000000001" rpy="0 0 0" />
200
+ <origin xyz="0.0553 0 0.029" rpy="0 0 0" />
201
201
  <parent link="link_5" />
202
202
  <child link="link_6" />
203
203
  <axis xyz="0 0 1" />
hex_zmq_servers/robot/hexarm/urdf/archer_y6/gp100_handle.urdf CHANGED
@@ -77,7 +77,7 @@
77
77
  </collision>
78
78
  </link>
79
79
  <joint name="joint_2" type="revolute">
80
- <origin xyz="0.0199999999999999 0 0.0450000000000004" rpy="0 0 0" />
80
+ <origin xyz="0.02 0 0.045" rpy="0 0 0" />
81
81
  <parent link="link_1" />
82
82
  <child link="link_2" />
83
83
  <axis xyz="0 1 0" />
@@ -137,7 +137,7 @@
137
137
  </collision>
138
138
  </link>
139
139
  <joint name="joint_4" type="revolute">
140
- <origin xyz="-0.0599999999999998 0 0.245" rpy="0 0 0" />
140
+ <origin xyz="-0.06 0 0.245" rpy="0 0 0" />
141
141
  <parent link="link_3" />
142
142
  <child link="link_4" />
143
143
  <axis xyz="0 1 0" />
@@ -167,7 +167,7 @@
167
167
  </collision>
168
168
  </link>
169
169
  <joint name="joint_5" type="revolute">
170
- <origin xyz="-0.0553005693392305 0 0.0702500000000025" rpy="0 0 0" />
170
+ <origin xyz="-0.0553 0 0.070" rpy="0 0 0" />
171
171
  <parent link="link_4" />
172
172
  <child link="link_5" />
173
173
  <axis xyz="-1 0 0" />
@@ -197,7 +197,7 @@
197
197
  </collision>
198
198
  </link>
199
199
  <joint name="joint_6" type="revolute">
200
- <origin xyz="0.0578000000000073 0 0.0289500000000001" rpy="0 0 0" />
200
+ <origin xyz="0.0553 0 0.029" rpy="0 0 0" />
201
201
  <parent link="link_5" />
202
202
  <child link="link_6" />
203
203
  <axis xyz="0 0 1" />
hex_zmq_servers/robot/hexarm/urdf/archer_y6/gp100_p050.urdf CHANGED
@@ -77,7 +77,7 @@
77
77
  </collision>
78
78
  </link>
79
79
  <joint name="joint_2" type="revolute">
80
- <origin xyz="0.0199999999999999 0 0.0450000000000004" rpy="0 0 0" />
80
+ <origin xyz="0.02 0 0.045" rpy="0 0 0" />
81
81
  <parent link="link_1" />
82
82
  <child link="link_2" />
83
83
  <axis xyz="0 1 0" />
@@ -137,7 +137,7 @@
137
137
  </collision>
138
138
  </link>
139
139
  <joint name="joint_4" type="revolute">
140
- <origin xyz="-0.0599999999999998 0 0.245" rpy="0 0 0" />
140
+ <origin xyz="-0.06 0 0.245" rpy="0 0 0" />
141
141
  <parent link="link_3" />
142
142
  <child link="link_4" />
143
143
  <axis xyz="0 1 0" />
@@ -167,7 +167,7 @@
167
167
  </collision>
168
168
  </link>
169
169
  <joint name="joint_5" type="revolute">
170
- <origin xyz="-0.0553005693392305 0 0.0702500000000025" rpy="0 0 0" />
170
+ <origin xyz="-0.0553 0 0.070" rpy="0 0 0" />
171
171
  <parent link="link_4" />
172
172
  <child link="link_5" />
173
173
  <axis xyz="-1 0 0" />
@@ -197,7 +197,7 @@
197
197
  </collision>
198
198
  </link>
199
199
  <joint name="joint_6" type="revolute">
200
- <origin xyz="0.0578000000000073 0 0.0289500000000001" rpy="0 0 0" />
200
+ <origin xyz="0.0553 0 0.029" rpy="0 0 0" />
201
201
  <parent link="link_5" />
202
202
  <child link="link_6" />
203
203
  <axis xyz="0 0 1" />
hex_zmq_servers/robot/hexarm/urdf/archer_y6/gp100_p050_handle.urdf CHANGED
@@ -77,7 +77,7 @@
77
77
  </collision>
78
78
  </link>
79
79
  <joint name="joint_2" type="revolute">
80
- <origin xyz="0.0199999999999999 0 0.0450000000000004" rpy="0 0 0" />
80
+ <origin xyz="0.02 0 0.045" rpy="0 0 0" />
81
81
  <parent link="link_1" />
82
82
  <child link="link_2" />
83
83
  <axis xyz="0 1 0" />
@@ -137,7 +137,7 @@
137
137
  </collision>
138
138
  </link>
139
139
  <joint name="joint_4" type="revolute">
140
- <origin xyz="-0.0599999999999998 0 0.245" rpy="0 0 0" />
140
+ <origin xyz="-0.06 0 0.245" rpy="0 0 0" />
141
141
  <parent link="link_3" />
142
142
  <child link="link_4" />
143
143
  <axis xyz="0 1 0" />
@@ -167,7 +167,7 @@
167
167
  </collision>
168
168
  </link>
169
169
  <joint name="joint_5" type="revolute">
170
- <origin xyz="-0.0553005693392305 0 0.0702500000000025" rpy="0 0 0" />
170
+ <origin xyz="-0.0553 0 0.070" rpy="0 0 0" />
171
171
  <parent link="link_4" />
172
172
  <child link="link_5" />
173
173
  <axis xyz="-1 0 0" />
@@ -197,7 +197,7 @@
197
197
  </collision>
198
198
  </link>
199
199
  <joint name="joint_6" type="revolute">
200
- <origin xyz="0.0578000000000073 0 0.0289500000000001" rpy="0 0 0" />
200
+ <origin xyz="0.0553 0 0.029" rpy="0 0 0" />
201
201
  <parent link="link_5" />
202
202
  <child link="link_6" />
203
203
  <axis xyz="0 0 1" />
hex_zmq_servers/zmq_base.py CHANGED
@@ -41,11 +41,14 @@ def hex_zmq_ts_delta_ms(curr_ts, hdr_ts) -> float:
41
41
 
42
42
  class HexRate:
43
43
 
44
- def __init__(self, hz: float):
44
+ def __init__(self, hz: float, spin_threshold_ns: int = 1_000_000):
45
45
  if hz <= 0:
46
46
  raise ValueError("hz must be greater than 0")
47
+ if spin_threshold_ns < 0:
48
+ raise ValueError("spin_threshold_ns must be non-negative")
47
49
  self.__period_ns = int(1_000_000_000 / hz)
48
50
  self.__next_ns = self.__now_ns() + self.__period_ns
51
+ self.__spin_threshold_ns = spin_threshold_ns
49
52
 
50
53
  @staticmethod
51
54
  def __now_ns() -> int:
@@ -55,14 +58,27 @@ class HexRate:
55
58
  self.__next_ns = self.__now_ns() + self.__period_ns
56
59
 
57
60
  def sleep(self):
58
- start_ns = self.__now_ns()
59
- remain_ns = self.__next_ns - start_ns
60
- if remain_ns > 0:
61
- time.sleep(remain_ns / 1_000_000_000.0)
62
- self.__next_ns += self.__period_ns
63
- else:
64
- needed_period = (start_ns - self.__next_ns) // self.__period_ns + 1
61
+ target_ns = self.__next_ns
62
+ now_ns = self.__now_ns()
63
+ remain_ns = target_ns - now_ns
64
+ if remain_ns <= 0:
65
+ needed_period = (now_ns - target_ns) // self.__period_ns + 1
65
66
  self.__next_ns += needed_period * self.__period_ns
67
+ return
68
+
69
+ spin_threshold = min(self.__spin_threshold_ns, self.__period_ns)
70
+ coarse_sleep_ns = remain_ns - spin_threshold
71
+ if coarse_sleep_ns > 0:
72
+ time.sleep(coarse_sleep_ns / 1_000_000_000.0)
73
+
74
+ while True:
75
+ now_ns = self.__now_ns()
76
+ if now_ns >= target_ns:
77
+ break
78
+ if target_ns - now_ns > 50_000:
79
+ time.sleep(0)
80
+
81
+ self.__next_ns += self.__period_ns
66
82
 
67
83
 
68
84
  ################################################################
{hex_zmq_servers-0.3.0.dist-info → hex_zmq_servers-0.3.2.dist-info}/METADATA RENAMED
@@ -1,6 +1,6 @@
1
1
  Metadata-Version: 2.4
2
2
  Name: hex_zmq_servers
3
- Version: 0.3.0
3
+ Version: 0.3.2
4
4
  Summary: HEXFELLOW ZMQ Servers
5
5
  Author-email: Dong Zhaorui <joray.dong@hexfellow.com>
6
6
  Maintainer-email: jecjune <zejun.chen@hexfellow.com>, Dong Zhaorui <joray.dong@hexfellow.com>
@@ -24,16 +24,16 @@ Description-Content-Type: text/markdown
24
24
  License-File: LICENSE
25
25
  Requires-Dist: pyzmq>=27.0.1
26
26
  Requires-Dist: hex_device<1.4.0,>=1.3.1
27
- Requires-Dist: hex_robo_utils<0.2.0,>=0.1.20
27
+ Requires-Dist: hex_robo_utils<0.3.0,>=0.2.0
28
28
  Requires-Dist: dynamixel-sdk==3.8.4
29
29
  Provides-Extra: camera
30
- Requires-Dist: berxel_py_wrapper>=2.0; extra == "camera"
30
+ Requires-Dist: berxel_py_wrapper>=2.0.182; extra == "camera"
31
31
  Requires-Dist: opencv-python>=4.2; extra == "camera"
32
32
  Provides-Extra: mujoco
33
33
  Requires-Dist: mujoco>=3.3.3; extra == "mujoco"
34
34
  Requires-Dist: opencv-python>=4.2; extra == "mujoco"
35
35
  Provides-Extra: all
36
- Requires-Dist: berxel_py_wrapper>=2.0; extra == "all"
36
+ Requires-Dist: berxel_py_wrapper>=2.0.182; extra == "all"
37
37
  Requires-Dist: mujoco>=3.3.3; extra == "all"
38
38
  Requires-Dist: opencv-python>=4.2; extra == "all"
39
39
  Dynamic: license-file
{hex_zmq_servers-0.3.0.dist-info → hex_zmq_servers-0.3.2.dist-info}/RECORD RENAMED
@@ -1,11 +1,11 @@
1
- hex_zmq_servers/__init__.py,sha256=gltsObhcd80K_lX7JwIdOfWcUaPP3YXd5uyOdNT9xM4,4727
1
+ hex_zmq_servers/__init__.py,sha256=1tHkUyB8TBlnCb54C9jroTYAaIkPmn8ZeHB_v6HQEb0,4702
2
2
  hex_zmq_servers/device_base.py,sha256=NGVQvLZFw3l2ZC55tHuKHLVXppEoYHt1eK_q-zm5eGA,1182
3
3
  hex_zmq_servers/hex_launch.py,sha256=opS_WwntAzV3UjOCVBo7FaLVW_dP3jlO40q-gFSBy68,17543
4
- hex_zmq_servers/zmq_base.py,sha256=Uwv0TDjGGJ3SplGV8BTtC2AQDxPpK47C8QYSlDFNua0,13785
4
+ hex_zmq_servers/zmq_base.py,sha256=BO1uoldQ9g5zo7S5ZgUF2tSs8SKx1X6aWJg_moeav3k,14356
5
5
  hex_zmq_servers/cam/__init__.py,sha256=qKKr4UVy7qdCxRP_q_9ZO6MYrLn5WokofTUDMwYAitI,761
6
6
  hex_zmq_servers/cam/cam_base.py,sha256=QtiuaXRrg1bhFDgwnKAaVVWxhvRpulNc_4rB3i_696Q,4110
7
7
  hex_zmq_servers/cam/berxel/__init__.py,sha256=3fK06RWAS_q8a_3z-RxFTv32e99og-4dMZTxH08TOcY,508
8
- hex_zmq_servers/cam/berxel/cam_berxel.py,sha256=efqSP13zkfE18UAdSRazrFFg_x9xoS54kUptnC_RvOI,9015
8
+ hex_zmq_servers/cam/berxel/cam_berxel.py,sha256=emy6lFcJOPsKp0hW0GGuXV6wOx0GT0Ihyn3d9CQu3pw,9033
9
9
  hex_zmq_servers/cam/berxel/cam_berxel_cli.py,sha256=oWRiKJIbVBF8e3cKROlTUj4l11IPBWa4mg6oMiwE7aw,778
10
10
  hex_zmq_servers/cam/berxel/cam_berxel_srv.py,sha256=8QPhPpRsYnbbIFTQAT3sZA1nRTq1XpKg-GmD6ERUu9w,2311
11
11
  hex_zmq_servers/cam/dummy/__init__.py,sha256=EziQ8H8d9Vm1AYw4YryIumTXpx-lwEnlfzTl7VAnKHM,499
@@ -21,12 +21,12 @@ hex_zmq_servers/config/robot_gello.json,sha256=pXPAng92M_-dhnLbh1R_LXKeskSapSnoJ
21
21
  hex_zmq_servers/config/robot_hexarm.json,sha256=4D4D3auDl3h-Mw8U1jN8U1ZbnVUt5kBXpPSbBgxDM9M,689
22
22
  hex_zmq_servers/config/zmq_dummy.json,sha256=T6vCG9__Gos9M5seK7w43xbqttAI6P1iyjcB_W0AOu8,191
23
23
  hex_zmq_servers/mujoco/__init__.py,sha256=OKG7aJ2BACpob_DuAvikLiRo4M_3DO9Ffapwen87k_0,870
24
- hex_zmq_servers/mujoco/mujoco_base.py,sha256=Wv54HGTCaBt71Sn-NKww25fWTaYqb4ceQiE2qNOdSiw,11053
24
+ hex_zmq_servers/mujoco/mujoco_base.py,sha256=WHPbnrwfpfHMYBUiRH9sgrm21CnD2ERwerVkUwa47jQ,10283
25
25
  hex_zmq_servers/mujoco/archer_y6/__init__.py,sha256=v1vApZ-qBLEcqFjDN0eff5kvkzO3s8QHBO4AitBODfc,559
26
26
  hex_zmq_servers/mujoco/archer_y6/mujoco_archer_y6.py,sha256=bH3Znu8twvu6fHMrYEpmqiPeC5HX1yGIR7afXzjU4uU,10521
27
27
  hex_zmq_servers/mujoco/archer_y6/mujoco_archer_y6_cli.py,sha256=9FmNspbtepcJxAlQHOgJ66910EMx6wMfUTSWXn2nbT8,675
28
28
  hex_zmq_servers/mujoco/archer_y6/mujoco_archer_y6_srv.py,sha256=djEJPKdMiiRwmFcsfZNMNq0x7GJFKjWCQU2QnoZcQmg,4905
29
- hex_zmq_servers/mujoco/archer_y6/model/robot.xml,sha256=OsJEBhZdW9TlCXGHg1jeWQWeyoDaDsfMEb5zXFgBNEA,8170
29
+ hex_zmq_servers/mujoco/archer_y6/model/robot.xml,sha256=fYBmuOGVVXJE7CLVzOZHUz-NaocjvcZdEtIkZ7Nbbv8,8163
30
30
  hex_zmq_servers/mujoco/archer_y6/model/scene.xml,sha256=X3BQtpHmZhjus-4iclolqKAQCeJjpPuG2KGnj0uOaBg,2122
31
31
  hex_zmq_servers/mujoco/archer_y6/model/setting.xml,sha256=4jhxau8xeYtnnMmvy6B79B8-w2HbK_PTGDHyIelDEQs,1997
32
32
  hex_zmq_servers/mujoco/archer_y6/model/assets/arm_base_link.STL,sha256=JUr1vVN2qyB05yAJHwEKXQ1zpZ4m7_Cw-LbVaC9_gEE,413584
@@ -88,13 +88,13 @@ hex_zmq_servers/robot/hexarm/urdf/archer_l6y/gp100.urdf,sha256=YJ_S1Hfwg_PV1nr5Q
88
88
  hex_zmq_servers/robot/hexarm/urdf/archer_l6y/gp100_handle.urdf,sha256=64nvgSwuST2e3Aqy7mSwuvEpOKe8I7FntLZ4r-tsR_w,7845
89
89
  hex_zmq_servers/robot/hexarm/urdf/archer_l6y/gp100_p050.urdf,sha256=8oa54XGoKRCQR-pMukxepXIt5gjNUCY62qHytyrfB1s,7846
90
90
  hex_zmq_servers/robot/hexarm/urdf/archer_l6y/gp100_p050_handle.urdf,sha256=XiooWr-20y2Wgn4TvYRbgM6tHyrSipYY99WU_5LwUw4,7843
91
- hex_zmq_servers/robot/hexarm/urdf/archer_y6/empty.urdf,sha256=ycAb_vujrf6SN7kBeNq1V0vP-JYy32qPhQACmEQhizQ,7527
92
- hex_zmq_servers/robot/hexarm/urdf/archer_y6/gp100.urdf,sha256=4r5t5tPRD14S9G-6WXMh8wU-Qsmwxd6fdUiAr-Qy7iE,7544
93
- hex_zmq_servers/robot/hexarm/urdf/archer_y6/gp100_handle.urdf,sha256=LfoLHfcEEFj1h4QwrfMztVd2UeWKs8lmVp6gjinpvQU,7549
94
- hex_zmq_servers/robot/hexarm/urdf/archer_y6/gp100_p050.urdf,sha256=W2eJOrE_n2jOaSvsWCoTvd3dWzac_OzcxhkD-Ko2ENM,7550
95
- hex_zmq_servers/robot/hexarm/urdf/archer_y6/gp100_p050_handle.urdf,sha256=NYhfYF61vZl_EG4YPSgTXyDmDz6-Ne-ogjQO8m23znc,7547
96
- hex_zmq_servers-0.3.0.dist-info/licenses/LICENSE,sha256=QwcOLU5TJoTeUhuIXzhdCEEDDvorGiC6-3YTOl4TecE,11356
97
- hex_zmq_servers-0.3.0.dist-info/METADATA,sha256=kO6ZpfvfyiPjQfC57-Wb1a0cR5e6iyrrOBQqqVap2rg,4719
98
- hex_zmq_servers-0.3.0.dist-info/WHEEL,sha256=_zCd3N1l69ArxyTb8rzEoP9TpbYXkqRFSNOD5OuxnTs,91
99
- hex_zmq_servers-0.3.0.dist-info/top_level.txt,sha256=lPH1DfgMrQOe0Grh8zSZopf6LmnLvb_aStVmZ41PyAg,16
100
- hex_zmq_servers-0.3.0.dist-info/RECORD,,
91
+ hex_zmq_servers/robot/hexarm/urdf/archer_y6/empty.urdf,sha256=jenauQL6162hdPnFDZfhXqa0wQshG-vqri0uiV7pk-E,7436
92
+ hex_zmq_servers/robot/hexarm/urdf/archer_y6/gp100.urdf,sha256=i8vpARxlQpYskLmTZ7R0zfi971VwKKlDLu2LQTfchhg,7453
93
+ hex_zmq_servers/robot/hexarm/urdf/archer_y6/gp100_handle.urdf,sha256=Tpii1Wk26jRtMqLWI2knrqBTIh7hCjpgGySlrBgdvpA,7458
94
+ hex_zmq_servers/robot/hexarm/urdf/archer_y6/gp100_p050.urdf,sha256=6Zzc_PXDwtxw9xQEXQOH0hu_moaiQzeMC22hUqAQS9s,7459
95
+ hex_zmq_servers/robot/hexarm/urdf/archer_y6/gp100_p050_handle.urdf,sha256=HNa7wweNYUj8YtSUfx87ASeNEIPIjB-gZ4O7RyHng6g,7456
96
+ hex_zmq_servers-0.3.2.dist-info/licenses/LICENSE,sha256=QwcOLU5TJoTeUhuIXzhdCEEDDvorGiC6-3YTOl4TecE,11356
97
+ hex_zmq_servers-0.3.2.dist-info/METADATA,sha256=PmrtXTqSwahoQoeRRvEZw5WXzEVE3IiFXlldoIlenPg,4726
98
+ hex_zmq_servers-0.3.2.dist-info/WHEEL,sha256=_zCd3N1l69ArxyTb8rzEoP9TpbYXkqRFSNOD5OuxnTs,91
99
+ hex_zmq_servers-0.3.2.dist-info/top_level.txt,sha256=lPH1DfgMrQOe0Grh8zSZopf6LmnLvb_aStVmZ41PyAg,16
100
+ hex_zmq_servers-0.3.2.dist-info/RECORD,,