hex-zmq-servers 0.3.10__py3-none-any.whl → 0.3.12__py3-none-any.whl

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Files changed (12) hide show
  1. hex_zmq_servers/config/mujoco_archer_y6.json +1 -0
  2. hex_zmq_servers/config/mujoco_e3_desktop.json +1 -0
  3. hex_zmq_servers/mujoco/archer_y6/model/scene.xml +1 -1
  4. hex_zmq_servers/mujoco/archer_y6/mujoco_archer_y6.py +4 -4
  5. hex_zmq_servers/mujoco/archer_y6/mujoco_archer_y6_cli.py +2 -2
  6. hex_zmq_servers/mujoco/e3_desktop/mujoco_e3_desktop.py +4 -2
  7. hex_zmq_servers/mujoco/mujoco_base.py +2 -2
  8. {hex_zmq_servers-0.3.10.dist-info → hex_zmq_servers-0.3.12.dist-info}/METADATA +1 -1
  9. {hex_zmq_servers-0.3.10.dist-info → hex_zmq_servers-0.3.12.dist-info}/RECORD +12 -12
  10. {hex_zmq_servers-0.3.10.dist-info → hex_zmq_servers-0.3.12.dist-info}/WHEEL +0 -0
  11. {hex_zmq_servers-0.3.10.dist-info → hex_zmq_servers-0.3.12.dist-info}/licenses/LICENSE +0 -0
  12. {hex_zmq_servers-0.3.10.dist-info → hex_zmq_servers-0.3.12.dist-info}/top_level.txt +0 -0
hex_zmq_servers/config/mujoco_archer_y6.json CHANGED
@@ -9,6 +9,7 @@
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  "server_num_workers": 4
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  },
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  "params": {
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+ "control_hz": 1000,
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  "states_rate": 1000,
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  "img_rate": 30,
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  "tau_ctrl": false,
hex_zmq_servers/config/mujoco_e3_desktop.json CHANGED
@@ -9,6 +9,7 @@
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  "server_num_workers": 4
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  },
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  "params": {
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+ "control_hz": 1000,
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  "states_rate": 1000,
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  "img_rate": 30,
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  "tau_ctrl": false,
hex_zmq_servers/mujoco/archer_y6/model/scene.xml CHANGED
@@ -9,7 +9,7 @@
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  <headlight diffuse="0.6 0.6 0.6" ambient="0.1 0.1 0.1" specular="0 0 0"/>
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  <rgba haze="0.15 0.25 0.35 1"/>
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  <global azimuth="120" elevation="-20"/>
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- <map znear="0.001" zfar="50"/>
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+ <map znear="0.01" zfar="50"/>
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  </visual>
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  <asset>
hex_zmq_servers/mujoco/archer_y6/mujoco_archer_y6.py CHANGED
@@ -54,6 +54,7 @@ class HexMujocoArcherY6(HexMujocoBase):
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  HexMujocoBase.__init__(self, realtime_mode)
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  try:
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+ self.__sim_rate = int(mujoco_config["control_hz"])
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  states_rate = mujoco_config["states_rate"]
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  img_rate = mujoco_config["img_rate"]
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  self.__tau_ctrl = mujoco_config["tau_ctrl"]
@@ -71,7 +72,8 @@ class HexMujocoArcherY6(HexMujocoBase):
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  model_path = os.path.join(os.path.dirname(__file__), "model/scene.xml")
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  self.__model = mujoco.MjModel.from_xml_path(model_path)
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  self.__data = mujoco.MjData(self.__model)
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- self.__sim_rate = int(1.0 / self.__model.opt.timestep)
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+ self.__model.opt.timestep = 1.0 / self.__sim_rate
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+ mujoco.mj_resetData(self.__model, self.__data)
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  # state init
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  self.__state_robot_idx = [0, 1, 2, 3, 4, 5, 6]
@@ -106,7 +108,7 @@ class HexMujocoArcherY6(HexMujocoBase):
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  # camera init
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  self.__img_trig_thresh = int(self.__sim_rate / img_rate)
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- self.__width, self.__height = 640, 400
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+ self.__width, self.__height = (224, 224)
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  fovy_rad = self.__model.cam_fovy[0] * np.pi / 180.0
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  focal = 0.5 * self.__height / np.tan(fovy_rad / 2.0)
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  self._intri = np.array(
@@ -179,13 +181,11 @@ class HexMujocoArcherY6(HexMujocoBase):
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  if states_robot is not None:
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  if hex_zmq_ts_delta_ms(ts, last_states_ts) > 1e-6:
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  last_states_ts = ts
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-
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  # states robot
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  states_robot_queue.append(
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  (ts, states_robot_count, states_robot))
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  states_robot_count = (states_robot_count +
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  1) % self._max_seq_num
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-
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  # states obj
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  states_obj_queue.append(
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  (ts, states_obj_count, states_obj))
hex_zmq_servers/mujoco/archer_y6/mujoco_archer_y6_cli.py CHANGED
@@ -55,11 +55,11 @@ class HexMujocoArcherY6Client(HexMujocoClientBase):
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  if self.__recv_config["rgb"]:
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  hdr, img = self._get_rgb_inner()
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  if hdr is not None:
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- self._rgb_queue.append((hdr, img))
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+ self._camera_queue["rgb"].append((hdr, img))
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  if self.__recv_config["depth"]:
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  hdr, img = self._get_depth_inner()
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  if hdr is not None:
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- self._depth_queue.append((hdr, img))
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+ self._camera_queue["depth"].append((hdr, img))
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  try:
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  cmds = self._cmds_queue[-1]
hex_zmq_servers/mujoco/e3_desktop/mujoco_e3_desktop.py CHANGED
@@ -55,6 +55,7 @@ class HexMujocoE3Desktop(HexMujocoBase):
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  HexMujocoBase.__init__(self, realtime_mode)
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  try:
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+ self.__sim_rate = int(mujoco_config["control_hz"])
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  states_rate = mujoco_config["states_rate"]
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  img_rate = mujoco_config["img_rate"]
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  self.__tau_ctrl = mujoco_config["tau_ctrl"]
@@ -72,7 +73,8 @@ class HexMujocoE3Desktop(HexMujocoBase):
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  model_path = os.path.join(os.path.dirname(__file__), "model/scene.xml")
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  self.__model = mujoco.MjModel.from_xml_path(model_path)
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  self.__data = mujoco.MjData(self.__model)
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- self.__sim_rate = int(1.0 / self.__model.opt.timestep)
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+ self.__model.opt.timestep = 1.0 / self.__sim_rate
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+ mujoco.mj_resetData(self.__model, self.__data)
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  # state init
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  self.__state_left_idx = [0, 1, 2, 3, 4, 5, 6]
@@ -115,7 +117,7 @@ class HexMujocoE3Desktop(HexMujocoBase):
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  # camera init
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  self.__img_trig_thresh = int(self.__sim_rate / img_rate)
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- self.__width, self.__height = (640, 480)
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+ self.__width, self.__height = (224, 224)
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  head_fovy_rad = self.__model.cam_fovy[0] * np.pi / 180.0
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  left_fovy_rad = self.__model.cam_fovy[1] * np.pi / 180.0
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  right_fovy_rad = self.__model.cam_fovy[2] * np.pi / 180.0
hex_zmq_servers/mujoco/mujoco_base.py CHANGED
@@ -113,8 +113,8 @@ class HexMujocoClientBase(HexZMQClientBase):
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  "obj": 0,
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  }
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  self._states_queue = {
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- "robot": deque(maxlen=self._max_seq_num),
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- "obj": deque(maxlen=self._max_seq_num),
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+ "robot": deque(maxlen=self._deque_maxlen),
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+ "obj": deque(maxlen=self._deque_maxlen),
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  }
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  self._camera_seq = {
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  "rgb": 0,
{hex_zmq_servers-0.3.10.dist-info → hex_zmq_servers-0.3.12.dist-info}/METADATA RENAMED
@@ -1,6 +1,6 @@
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  Metadata-Version: 2.4
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  Name: hex_zmq_servers
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- Version: 0.3.10
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+ Version: 0.3.12
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  Summary: HEXFELLOW ZMQ Servers
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  Author-email: Dong Zhaorui <joray.dong@hexfellow.com>
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  Maintainer-email: jecjune <zejun.chen@hexfellow.com>, Dong Zhaorui <joray.dong@hexfellow.com>
{hex_zmq_servers-0.3.10.dist-info → hex_zmq_servers-0.3.12.dist-info}/RECORD RENAMED
@@ -24,20 +24,20 @@ hex_zmq_servers/config/cam_berxel.json,sha256=QGLQ-0WIlAupbfgF2wp3PRkN-0U6ND0Isn
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  hex_zmq_servers/config/cam_dummy.json,sha256=yuWindzdHoXv2-nlMEXY1e7W-_vWLYKwe-w8m7eBxWQ,251
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  hex_zmq_servers/config/cam_realsense.json,sha256=u618ugQPKVWwj94hR4ddI378OLs4Kz71A2w7_1ox6fU,381
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  hex_zmq_servers/config/cam_rgb.json,sha256=2JzL2LVpRID0sUxbACE5Ne4YJdme0rUtpnRSuWxo1mU,551
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- hex_zmq_servers/config/mujoco_archer_y6.json,sha256=pGYpp1w__1OJh4ZSwLh0Fs1pZyxHCAQqcykjwlCchrI,729
28
- hex_zmq_servers/config/mujoco_e3_desktop.json,sha256=3Ui8owOb2c9ivF5HanZdeG91Tp_lq6bPmLZqkbKMNYQ,795
27
+ hex_zmq_servers/config/mujoco_archer_y6.json,sha256=cZFUjppqfqxWYrJPYcxqRk7i6DZDDdERqnYOKts3gP0,757
28
+ hex_zmq_servers/config/mujoco_e3_desktop.json,sha256=pSh-X4tMPrw5iNk39D9PC5l8xjCs5IB2AvRgOZszDQE,823
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  hex_zmq_servers/config/robot_dummy.json,sha256=8dQPI2A0NjC1d6oj_TMoHduoyhynA-cwZ_-7J-QWz-g,3023
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  hex_zmq_servers/config/robot_gello.json,sha256=DDICCpSvjUR1yqQFQEmFZ9mrmPt05Zre6Gu28ZMyu5Y,1217
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  hex_zmq_servers/config/robot_hexarm.json,sha256=0YD1Vgsc3C6EfYCSopAFmef2rSAwG9I196eWTOrTGxk,750
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  hex_zmq_servers/config/zmq_dummy.json,sha256=yuWindzdHoXv2-nlMEXY1e7W-_vWLYKwe-w8m7eBxWQ,251
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  hex_zmq_servers/mujoco/__init__.py,sha256=OKG7aJ2BACpob_DuAvikLiRo4M_3DO9Ffapwen87k_0,870
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- hex_zmq_servers/mujoco/mujoco_base.py,sha256=XlLLVn_B4qIDC01HwDUUncwHMNiXX2iUIZoWmdgDDS4,13630
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+ hex_zmq_servers/mujoco/mujoco_base.py,sha256=1NXyUn3gBfkww9CKEuvVuzXXJQ-dpYoN_04r4bzZHoU,13632
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  hex_zmq_servers/mujoco/archer_y6/__init__.py,sha256=v1vApZ-qBLEcqFjDN0eff5kvkzO3s8QHBO4AitBODfc,559
36
- hex_zmq_servers/mujoco/archer_y6/mujoco_archer_y6.py,sha256=c0xRMChBHOjnzHlJS1QeyKrEH_QxQvdbkMuFjCdmOmE,12215
37
- hex_zmq_servers/mujoco/archer_y6/mujoco_archer_y6_cli.py,sha256=xiRk6zu5a4j5rK-9kiph-rNnFPhDFraS9pkjjFP_QEg,2120
36
+ hex_zmq_servers/mujoco/archer_y6/mujoco_archer_y6.py,sha256=DDw7hI7unCr7aMb6QOXz4Wdep8L3Ui_7e20iSUsAZMg,12328
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+ hex_zmq_servers/mujoco/archer_y6/mujoco_archer_y6_cli.py,sha256=O2BfGf80G-K0CWxjsLrzA_HxqFbe9ED8USjG6OqNNII,2140
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  hex_zmq_servers/mujoco/archer_y6/mujoco_archer_y6_srv.py,sha256=nHMaHuauakfaNBy-Y7mYmjYtpWOFCEe8LE93smMhuqk,5211
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  hex_zmq_servers/mujoco/archer_y6/model/robot.xml,sha256=U6Rrpfb0jhd8UMuZzY6YmmZVF6QFrU4vVJqQ7MoRsgI,8172
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- hex_zmq_servers/mujoco/archer_y6/model/scene.xml,sha256=00mk4AMmgE0vhHdxuZ6MkKqOBu0Nf17T7GudlpJNI1I,2122
40
+ hex_zmq_servers/mujoco/archer_y6/model/scene.xml,sha256=QcqI7HE6s1bja02-YNHJG04Cmwc8jrQ_NrWDaeFBHJc,2121
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  hex_zmq_servers/mujoco/archer_y6/model/setting.xml,sha256=4jhxau8xeYtnnMmvy6B79B8-w2HbK_PTGDHyIelDEQs,1997
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  hex_zmq_servers/mujoco/archer_y6/model/assets/arm_base_link.STL,sha256=JUr1vVN2qyB05yAJHwEKXQ1zpZ4m7_Cw-LbVaC9_gEE,413584
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  hex_zmq_servers/mujoco/archer_y6/model/assets/arm_link_1.STL,sha256=4tx8OgJT-yNsHLAUUU6G2sfnNlVy36G2OrLmy9jcJ_0,304784
@@ -56,7 +56,7 @@ hex_zmq_servers/mujoco/archer_y6/model/assets/gripper_right_link_1.STL,sha256=fj
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  hex_zmq_servers/mujoco/archer_y6/model/assets/gripper_right_link_2.STL,sha256=ucyn656VxBpRx3sshxLxMPJIUZfNfEQ90P-9b8sR0xg,80284
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  hex_zmq_servers/mujoco/archer_y6/model/assets/table_link.STL,sha256=dqFXHRqjZSDyvYHCaJkbmYFsKngZRk1xjg_Zl2_jDc4,684
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  hex_zmq_servers/mujoco/e3_desktop/__init__.py,sha256=pMLKpJGBHgc9IU142NcM7ubwdXq9E422k6Giui1A8i4,565
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- hex_zmq_servers/mujoco/e3_desktop/mujoco_e3_desktop.py,sha256=MVafSYZthhtVFjjAVmAmHBcHQGxvm2WLX5ZtbIZ9wbw,18240
59
+ hex_zmq_servers/mujoco/e3_desktop/mujoco_e3_desktop.py,sha256=8Og4sHDh1q3s-bLLfNW-Mqsxc_0zXhYrMZrmiE9PoaY,18353
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  hex_zmq_servers/mujoco/e3_desktop/mujoco_e3_desktop_cli.py,sha256=_TJAtGNc7Ka6Sm3xiIJeqJ9fiHRecNpwjCxTNzRPbBI,9414
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  hex_zmq_servers/mujoco/e3_desktop/mujoco_e3_desktop_srv.py,sha256=uHd0nE8igamBZHC9ouLKKSrg4NWusvk8dQ0HkTpe_OQ,9344
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  hex_zmq_servers/mujoco/e3_desktop/model/robot.xml,sha256=hLp385sG037rw2bAPu6tKoa5XYQLwWb4YawijYr7Ebs,17030
@@ -103,8 +103,8 @@ hex_zmq_servers/robot/hexarm/urdf/archer_y6/gp100.urdf,sha256=i8vpARxlQpYskLmTZ7
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  hex_zmq_servers/robot/hexarm/urdf/archer_y6/gp100_handle.urdf,sha256=Tpii1Wk26jRtMqLWI2knrqBTIh7hCjpgGySlrBgdvpA,7458
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  hex_zmq_servers/robot/hexarm/urdf/archer_y6/gp100_p050.urdf,sha256=6Zzc_PXDwtxw9xQEXQOH0hu_moaiQzeMC22hUqAQS9s,7459
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  hex_zmq_servers/robot/hexarm/urdf/archer_y6/gp100_p050_handle.urdf,sha256=HNa7wweNYUj8YtSUfx87ASeNEIPIjB-gZ4O7RyHng6g,7456
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- hex_zmq_servers-0.3.10.dist-info/licenses/LICENSE,sha256=QwcOLU5TJoTeUhuIXzhdCEEDDvorGiC6-3YTOl4TecE,11356
107
- hex_zmq_servers-0.3.10.dist-info/METADATA,sha256=3qBWkV5udo_vSTvoODLUMsiJfodn8vHcTJM0N7Qd9yA,4751
108
- hex_zmq_servers-0.3.10.dist-info/WHEEL,sha256=_zCd3N1l69ArxyTb8rzEoP9TpbYXkqRFSNOD5OuxnTs,91
109
- hex_zmq_servers-0.3.10.dist-info/top_level.txt,sha256=lPH1DfgMrQOe0Grh8zSZopf6LmnLvb_aStVmZ41PyAg,16
110
- hex_zmq_servers-0.3.10.dist-info/RECORD,,
106
+ hex_zmq_servers-0.3.12.dist-info/licenses/LICENSE,sha256=QwcOLU5TJoTeUhuIXzhdCEEDDvorGiC6-3YTOl4TecE,11356
107
+ hex_zmq_servers-0.3.12.dist-info/METADATA,sha256=Ue72FyW33ZDOsdiq21ABDmHs2zfWy9husOFX6BiZAT8,4751
108
+ hex_zmq_servers-0.3.12.dist-info/WHEEL,sha256=_zCd3N1l69ArxyTb8rzEoP9TpbYXkqRFSNOD5OuxnTs,91
109
+ hex_zmq_servers-0.3.12.dist-info/top_level.txt,sha256=lPH1DfgMrQOe0Grh8zSZopf6LmnLvb_aStVmZ41PyAg,16
110
+ hex_zmq_servers-0.3.12.dist-info/RECORD,,