hex-zmq-servers 0.3.11__py3-none-any.whl → 0.3.13__py3-none-any.whl
This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.
- hex_zmq_servers/config/mujoco_archer_y6.json +1 -0
- hex_zmq_servers/config/mujoco_e3_desktop.json +1 -0
- hex_zmq_servers/mujoco/archer_y6/model/joint_class.xml +23 -0
- hex_zmq_servers/mujoco/archer_y6/model/robot.xml +59 -56
- hex_zmq_servers/mujoco/archer_y6/model/scene.xml +5 -1
- hex_zmq_servers/mujoco/archer_y6/model/setting.xml +4 -4
- hex_zmq_servers/mujoco/archer_y6/mujoco_archer_y6.py +4 -4
- hex_zmq_servers/mujoco/e3_desktop/model/joint_class.xml +23 -0
- hex_zmq_servers/mujoco/e3_desktop/model/robot.xml +124 -116
- hex_zmq_servers/mujoco/e3_desktop/model/scene.xml +4 -0
- hex_zmq_servers/mujoco/e3_desktop/model/setting.xml +8 -8
- hex_zmq_servers/mujoco/e3_desktop/mujoco_e3_desktop.py +4 -2
- hex_zmq_servers/mujoco/mujoco_base.py +2 -2
- hex_zmq_servers/robot/hexarm/__init__.py +10 -0
- hex_zmq_servers/robot/hexarm/robot_hexarm.py +2 -1
- hex_zmq_servers/robot/hexarm/urdf/archer_d6y/empty.urdf +207 -0
- hex_zmq_servers/robot/hexarm/urdf/archer_d6y/gp100.urdf +207 -0
- hex_zmq_servers/robot/hexarm/urdf/archer_d6y/gp100_handle.urdf +207 -0
- hex_zmq_servers/robot/hexarm/urdf/archer_d6y/gp100_p050.urdf +207 -0
- hex_zmq_servers/robot/hexarm/urdf/archer_d6y/gp100_p050_handle.urdf +207 -0
- hex_zmq_servers/robot/hexarm/urdf/archer_y6/empty.urdf +22 -22
- hex_zmq_servers/robot/hexarm/urdf/archer_y6/gp100.urdf +22 -22
- hex_zmq_servers/robot/hexarm/urdf/archer_y6/gp100_handle.urdf +22 -22
- hex_zmq_servers/robot/hexarm/urdf/archer_y6/gp100_p050.urdf +22 -22
- hex_zmq_servers/robot/hexarm/urdf/archer_y6/gp100_p050_handle.urdf +22 -22
- {hex_zmq_servers-0.3.11.dist-info → hex_zmq_servers-0.3.13.dist-info}/METADATA +1 -1
- {hex_zmq_servers-0.3.11.dist-info → hex_zmq_servers-0.3.13.dist-info}/RECORD +30 -23
- {hex_zmq_servers-0.3.11.dist-info → hex_zmq_servers-0.3.13.dist-info}/WHEEL +0 -0
- {hex_zmq_servers-0.3.11.dist-info → hex_zmq_servers-0.3.13.dist-info}/licenses/LICENSE +0 -0
- {hex_zmq_servers-0.3.11.dist-info → hex_zmq_servers-0.3.13.dist-info}/top_level.txt +0 -0
|
@@ -0,0 +1,23 @@
|
|
|
1
|
+
<mujocoinclude>
|
|
2
|
+
<default class="j1_class">
|
|
3
|
+
<joint armature="0.01" damping="0.1" frictionloss="0.5"/>
|
|
4
|
+
</default>
|
|
5
|
+
<default class="j2_class">
|
|
6
|
+
<joint armature="0.01" damping="0.1" frictionloss="0.5"/>
|
|
7
|
+
</default>
|
|
8
|
+
<default class="j3_class">
|
|
9
|
+
<joint armature="0.01" damping="0.1" frictionloss="0.5"/>
|
|
10
|
+
</default>
|
|
11
|
+
<default class="j4_class">
|
|
12
|
+
<joint armature="0.01" damping="0.1" frictionloss="0.5"/>
|
|
13
|
+
</default>
|
|
14
|
+
<default class="j5_class">
|
|
15
|
+
<joint armature="0.01" damping="0.05" frictionloss="0.1"/>
|
|
16
|
+
</default>
|
|
17
|
+
<default class="j6_class">
|
|
18
|
+
<joint armature="0.01" damping="0.05" frictionloss="0.1"/>
|
|
19
|
+
</default>
|
|
20
|
+
<default class="jg_class">
|
|
21
|
+
<joint armature="0.01" damping="0.05" frictionloss="0.1"/>
|
|
22
|
+
</default>
|
|
23
|
+
</mujocoinclude>
|
|
@@ -1,88 +1,91 @@
|
|
|
1
1
|
<mujocoinclude>
|
|
2
2
|
<body name="base_link">
|
|
3
|
-
<inertial pos="-0.001 0
|
|
3
|
+
<inertial pos="-0.001 0 0.031" quat="0 0.707107 0 0.707107" mass="0.748" diaginertia="0.0008 0.0007 0.0006"/>
|
|
4
4
|
<geom type="mesh" rgba="1 1 1 1" mesh="arm_base_link"/>
|
|
5
5
|
|
|
6
6
|
# link 1
|
|
7
|
-
<body name="link_1" pos="0 0 0.
|
|
8
|
-
<inertial pos="0.
|
|
9
|
-
<joint name="joint_1" pos="0 0 0" axis="0 0 1" range="-2.
|
|
7
|
+
<body name="link_1" pos="0 0 0.06655">
|
|
8
|
+
<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"/>
|
|
9
|
+
<joint name="joint_1" class="j1_class" pos="0 0 0" axis="0 0 1" range="-2.91 2.91" limited="true"/>
|
|
10
10
|
<geom type="mesh" rgba="0.92549 0.92549 0.92549 1" mesh="arm_link_1"/>
|
|
11
11
|
|
|
12
12
|
# link 2
|
|
13
13
|
<body name="link_2" pos="0.02 0 0.045">
|
|
14
|
-
<inertial pos="0.0001 -0.
|
|
15
|
-
<joint name="joint_2" pos="0 0 0" axis="0 1 0" range="-1.57 2.09" limited="true"
|
|
14
|
+
<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"/>
|
|
15
|
+
<joint name="joint_2" class="j2_class" pos="0 0 0" axis="0 1 0" range="-1.57 2.09" limited="true"/>
|
|
16
16
|
<geom type="mesh" rgba="1 1 1 1" mesh="arm_link_2"/>
|
|
17
17
|
|
|
18
18
|
# link 3
|
|
19
19
|
<body name="link_3" pos="0 0 0.264">
|
|
20
|
-
<inertial pos="-0.
|
|
21
|
-
<joint name="joint_3" pos="0 0 0" axis="0 1 0" range="0 3.14" limited="true"
|
|
20
|
+
<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"/>
|
|
21
|
+
<joint name="joint_3" class="j3_class" pos="0 0 0" axis="0 1 0" range="0 3.14" limited="true"/>
|
|
22
22
|
<geom type="mesh" rgba="1 1 1 1" mesh="arm_link_3"/>
|
|
23
23
|
|
|
24
24
|
# link 4
|
|
25
25
|
<body name="link_4" pos="-0.06 0 0.245">
|
|
26
|
-
<inertial pos="-0.
|
|
27
|
-
<joint name="joint_4" pos="0 0 0" axis="0 1 0" range="-1.57 1.57" limited="true"
|
|
26
|
+
<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"/>
|
|
27
|
+
<joint name="joint_4" class="j4_class" pos="0 0 0" axis="0 1 0" range="-1.57 1.57" limited="true"/>
|
|
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="-0.0553 0 0.
|
|
32
|
-
<inertial pos="0.
|
|
33
|
-
<joint name="joint_5" pos="0 0 0" axis="-1 0 0" range="-1.57 1.57" limited="true"
|
|
31
|
+
<body name="link_5" pos="-0.0553 0 0.0702">
|
|
32
|
+
<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"/>
|
|
33
|
+
<joint name="joint_5" class="j5_class" pos="0 0 0" axis="-1 0 0" range="-1.57 1.57" limited="true"/>
|
|
34
34
|
<geom type="mesh" rgba="0.898039 0.917647 0.929412 1" mesh="arm_link_5"/>
|
|
35
35
|
|
|
36
|
-
#
|
|
37
|
-
<body name="
|
|
38
|
-
<inertial pos="-0.0139 0.0001 0.
|
|
39
|
-
<joint name="joint_6" pos="0 0 0" axis="
|
|
40
|
-
<geom type="mesh" rgba="1 1 1 1" mesh="gripper_base_link"/>
|
|
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" />
|
|
42
|
-
<camera name="end_camera" pos="0.066 0 0.105" quat="0.8660254 0.0 -0.5 0.0" fovy="50"/>
|
|
36
|
+
# link 6
|
|
37
|
+
<body name="link_6" pos="0.0552 0 0.02895">
|
|
38
|
+
<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"/>
|
|
39
|
+
<joint name="joint_6" class="j6_class" pos="0 0 0" axis="0 0 1" range="-2.96 2.96" limited="true"/>
|
|
43
40
|
|
|
44
|
-
|
|
45
|
-
|
|
46
|
-
<geom
|
|
47
|
-
<
|
|
48
|
-
<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"/>
|
|
49
|
-
</body>
|
|
41
|
+
<body name="gripper_base_link" pos="0.0 0.0 0.0" quat="0.707107 0 -0.707107 0 ">
|
|
42
|
+
<geom type="mesh" rgba="1 1 1 1" mesh="gripper_base_link"/>
|
|
43
|
+
<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" />
|
|
44
|
+
<camera name="end_camera" pos="0.066 0 0.105" quat="0.8660254 0.0 -0.5 0.0" fovy="50"/>
|
|
50
45
|
|
|
51
|
-
|
|
52
|
-
|
|
53
|
-
|
|
54
|
-
|
|
55
|
-
|
|
56
|
-
|
|
57
|
-
<body name="gripper_right_helper_link" pos="0.057667 -0.030604 2.5e-05">
|
|
58
|
-
<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"/>
|
|
59
|
-
<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" />
|
|
60
|
-
<geom type="mesh" rgba="1 1 1 1" mesh="gripper_right_helper_link"/>
|
|
61
|
-
</body>
|
|
46
|
+
# ee frame
|
|
47
|
+
<body name="ee_frame" pos="0.1870 0.0 0.0" quat="1 0 0 0">
|
|
48
|
+
<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"/>
|
|
49
|
+
<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"/>
|
|
50
|
+
<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"/>
|
|
51
|
+
</body>
|
|
62
52
|
|
|
63
|
-
|
|
64
|
-
|
|
65
|
-
|
|
66
|
-
|
|
67
|
-
|
|
53
|
+
# gripper helper
|
|
54
|
+
<body name="gripper_left_helper_link" pos="0.057667 0.030604 2.5e-05">
|
|
55
|
+
<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"/>
|
|
56
|
+
<joint name="gripper_left_help_joint" class="jg_class" pos="0 0 0" axis="0 0 -1" range="0 1.52" limited="true" />
|
|
57
|
+
<geom type="mesh" rgba="1 1 1 1" mesh="gripper_left_helper_link"/>
|
|
58
|
+
</body>
|
|
59
|
+
<body name="gripper_right_helper_link" pos="0.057667 -0.030604 2.5e-05">
|
|
60
|
+
<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"/>
|
|
61
|
+
<joint name="gripper_right_help_joint" class="jg_class" pos="0 0 0" axis="0 0 1" range="0 1.52" limited="true" />
|
|
62
|
+
<geom type="mesh" rgba="1 1 1 1" mesh="gripper_right_helper_link"/>
|
|
63
|
+
</body>
|
|
68
64
|
|
|
69
|
-
|
|
70
|
-
|
|
71
|
-
<
|
|
72
|
-
<
|
|
65
|
+
# left gripper
|
|
66
|
+
<body name="gripper_left_link_1" pos="0.0721 0.014 2.5e-05">
|
|
67
|
+
<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"/>
|
|
68
|
+
<joint name="gripper_left_joint_1" class="jg_class" pos="0 0 0" axis="0 0 -1" range="0 1.52" limited="true" />
|
|
69
|
+
<geom type="mesh" rgba="1 1 1 1" mesh="gripper_left_link_1"/>
|
|
70
|
+
|
|
71
|
+
<body name="gripper_left_link_2" pos="0.0085108 0.04927 0">
|
|
72
|
+
<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"/>
|
|
73
|
+
<joint name="gripper_left_joint_2" class="jg_class" pos="0 0 0" axis="0 0 1" range="0 1.52" limited="true" />
|
|
74
|
+
<geom type="mesh" rgba="1 1 1 1" mesh="gripper_left_link_2"/>
|
|
75
|
+
</body>
|
|
73
76
|
</body>
|
|
74
|
-
</body>
|
|
75
77
|
|
|
76
|
-
|
|
77
|
-
|
|
78
|
-
|
|
79
|
-
|
|
80
|
-
|
|
78
|
+
# right gripper
|
|
79
|
+
<body name="gripper_right_link_1" pos="0.0721 -0.014 2.5e-05">
|
|
80
|
+
<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"/>
|
|
81
|
+
<joint name="gripper_right_joint_1" class="jg_class" pos="0 0 0" axis="0 0 1" range="0 1.52" limited="true" />
|
|
82
|
+
<geom type="mesh" rgba="1 1 1 1" mesh="gripper_right_link_1"/>
|
|
81
83
|
|
|
82
|
-
|
|
83
|
-
|
|
84
|
-
|
|
85
|
-
|
|
84
|
+
<body name="gripper_right_link_2" pos="0.0085108 -0.04927 0">
|
|
85
|
+
<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"/>
|
|
86
|
+
<joint name="gripper_right_joint_2" class="jg_class" pos="0 0 0" axis="0 0 -1" range="0 1.52" limited="true" />
|
|
87
|
+
<geom type="mesh" rgba="1 1 1 1" mesh="gripper_right_link_2"/>
|
|
88
|
+
</body>
|
|
86
89
|
</body>
|
|
87
90
|
</body>
|
|
88
91
|
</body>
|
|
@@ -9,7 +9,7 @@
|
|
|
9
9
|
<headlight diffuse="0.6 0.6 0.6" ambient="0.1 0.1 0.1" specular="0 0 0"/>
|
|
10
10
|
<rgba haze="0.15 0.25 0.35 1"/>
|
|
11
11
|
<global azimuth="120" elevation="-20"/>
|
|
12
|
-
<map znear="0.
|
|
12
|
+
<map znear="0.01" zfar="50"/>
|
|
13
13
|
</visual>
|
|
14
14
|
|
|
15
15
|
<asset>
|
|
@@ -19,6 +19,10 @@
|
|
|
19
19
|
<include file="assets/assets.xml"/>
|
|
20
20
|
</asset>
|
|
21
21
|
|
|
22
|
+
<default>
|
|
23
|
+
<include file="joint_class.xml"/>
|
|
24
|
+
</default>
|
|
25
|
+
|
|
22
26
|
<worldbody>
|
|
23
27
|
<light pos="0.0 0.0 1.5" directional="true"/>
|
|
24
28
|
<geom name="floor" size="0.0 0.0 0.05" type="plane" material="groundplane"/>
|
|
@@ -28,10 +28,10 @@
|
|
|
28
28
|
<motor joint="joint_1" ctrlrange="-28 28" forcerange="-28 28"/>
|
|
29
29
|
<motor joint="joint_2" ctrlrange="-28 28" forcerange="-28 28"/>
|
|
30
30
|
<motor joint="joint_3" ctrlrange="-28 28" forcerange="-28 28"/>
|
|
31
|
-
<motor joint="joint_4" ctrlrange="-
|
|
32
|
-
<motor joint="joint_5" ctrlrange="-
|
|
33
|
-
<motor joint="joint_6" ctrlrange="-
|
|
34
|
-
<motor joint="gripper_left_joint_1" ctrlrange="-
|
|
31
|
+
<motor joint="joint_4" ctrlrange="-28 28" forcerange="-28 28"/>
|
|
32
|
+
<motor joint="joint_5" ctrlrange="-8 8" forcerange="-8 8"/>
|
|
33
|
+
<motor joint="joint_6" ctrlrange="-8 8" forcerange="-8 8"/>
|
|
34
|
+
<motor joint="gripper_left_joint_1" ctrlrange="-8 8" forcerange="-8 8"/>
|
|
35
35
|
</actuator>
|
|
36
36
|
|
|
37
37
|
</mujocoinclude>
|
|
@@ -54,6 +54,7 @@ class HexMujocoArcherY6(HexMujocoBase):
|
|
|
54
54
|
HexMujocoBase.__init__(self, realtime_mode)
|
|
55
55
|
|
|
56
56
|
try:
|
|
57
|
+
self.__sim_rate = int(mujoco_config["control_hz"])
|
|
57
58
|
states_rate = mujoco_config["states_rate"]
|
|
58
59
|
img_rate = mujoco_config["img_rate"]
|
|
59
60
|
self.__tau_ctrl = mujoco_config["tau_ctrl"]
|
|
@@ -71,7 +72,8 @@ class HexMujocoArcherY6(HexMujocoBase):
|
|
|
71
72
|
model_path = os.path.join(os.path.dirname(__file__), "model/scene.xml")
|
|
72
73
|
self.__model = mujoco.MjModel.from_xml_path(model_path)
|
|
73
74
|
self.__data = mujoco.MjData(self.__model)
|
|
74
|
-
self.
|
|
75
|
+
self.__model.opt.timestep = 1.0 / self.__sim_rate
|
|
76
|
+
mujoco.mj_resetData(self.__model, self.__data)
|
|
75
77
|
|
|
76
78
|
# state init
|
|
77
79
|
self.__state_robot_idx = [0, 1, 2, 3, 4, 5, 6]
|
|
@@ -106,7 +108,7 @@ class HexMujocoArcherY6(HexMujocoBase):
|
|
|
106
108
|
|
|
107
109
|
# camera init
|
|
108
110
|
self.__img_trig_thresh = int(self.__sim_rate / img_rate)
|
|
109
|
-
self.__width, self.__height =
|
|
111
|
+
self.__width, self.__height = (224, 224)
|
|
110
112
|
fovy_rad = self.__model.cam_fovy[0] * np.pi / 180.0
|
|
111
113
|
focal = 0.5 * self.__height / np.tan(fovy_rad / 2.0)
|
|
112
114
|
self._intri = np.array(
|
|
@@ -179,13 +181,11 @@ class HexMujocoArcherY6(HexMujocoBase):
|
|
|
179
181
|
if states_robot is not None:
|
|
180
182
|
if hex_zmq_ts_delta_ms(ts, last_states_ts) > 1e-6:
|
|
181
183
|
last_states_ts = ts
|
|
182
|
-
|
|
183
184
|
# states robot
|
|
184
185
|
states_robot_queue.append(
|
|
185
186
|
(ts, states_robot_count, states_robot))
|
|
186
187
|
states_robot_count = (states_robot_count +
|
|
187
188
|
1) % self._max_seq_num
|
|
188
|
-
|
|
189
189
|
# states obj
|
|
190
190
|
states_obj_queue.append(
|
|
191
191
|
(ts, states_obj_count, states_obj))
|
|
@@ -0,0 +1,23 @@
|
|
|
1
|
+
<mujocoinclude>
|
|
2
|
+
<default class="j1_class">
|
|
3
|
+
<joint armature="0.01" damping="0.1" frictionloss="0.5"/>
|
|
4
|
+
</default>
|
|
5
|
+
<default class="j2_class">
|
|
6
|
+
<joint armature="0.01" damping="0.1" frictionloss="0.5"/>
|
|
7
|
+
</default>
|
|
8
|
+
<default class="j3_class">
|
|
9
|
+
<joint armature="0.01" damping="0.1" frictionloss="0.5"/>
|
|
10
|
+
</default>
|
|
11
|
+
<default class="j4_class">
|
|
12
|
+
<joint armature="0.01" damping="0.1" frictionloss="0.5"/>
|
|
13
|
+
</default>
|
|
14
|
+
<default class="j5_class">
|
|
15
|
+
<joint armature="0.01" damping="0.05" frictionloss="0.1"/>
|
|
16
|
+
</default>
|
|
17
|
+
<default class="j6_class">
|
|
18
|
+
<joint armature="0.01" damping="0.05" frictionloss="0.1"/>
|
|
19
|
+
</default>
|
|
20
|
+
<default class="jg_class">
|
|
21
|
+
<joint armature="0.01" damping="0.05" frictionloss="0.1"/>
|
|
22
|
+
</default>
|
|
23
|
+
</mujocoinclude>
|