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
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<camera name="head_camera" pos="0.084 0 0.52075" quat="0.6532815 0.2705981 -0.2705981 -0.6532815" fovy="70"/>
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# left link 1
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<body name="left_link_1" pos="0.0185 0.3 0.
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<inertial pos="0.
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<joint name="left_joint_1" pos="0 0 0" axis="0 0 1" range="-2.
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<body name="left_link_1" pos="0.0185 0.3 0.21157">
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<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"/>
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<joint name="left_joint_1" class="j1_class" pos="0 0 0" axis="0 0 1" range="-2.91 2.91" limited="true"/>
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<geom type="mesh" rgba="0.92549 0.92549 0.92549 1" mesh="arm_link_1"/>
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# left link 2
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<body name="left_link_2" pos="0.02 0 0.045">
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<inertial pos="0.0001 -0.
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<joint name="left_joint_2" pos="0 0 0" axis="0 1 0" range="-1.57 2.09" limited="true"
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<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"/>
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<joint name="left_joint_2" class="j2_class" pos="0 0 0" axis="0 1 0" range="-1.57 2.09" limited="true"/>
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<geom type="mesh" rgba="1 1 1 1" mesh="arm_link_2"/>
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# left link 3
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<body name="left_link_3" pos="0 0 0.264">
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<inertial pos="-0.
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<joint name="left_joint_3" pos="0 0 0" axis="0 1 0" range="0 3.14" limited="true"
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<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"/>
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<joint name="left_joint_3" class="j3_class" pos="0 0 0" axis="0 1 0" range="0 3.14" limited="true"/>
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<geom type="mesh" rgba="1 1 1 1" mesh="arm_link_3"/>
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# left link 4
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<body name="left_link_4" pos="-0.06 0 0.245">
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<inertial pos="-0.
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<joint name="left_joint_4" pos="0 0 0" axis="0 1 0" range="-1.57 1.57" limited="true"
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<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"/>
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<joint name="left_joint_4" class="j4_class" pos="0 0 0" axis="0 1 0" range="-1.57 1.57" limited="true"/>
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<geom type="mesh" rgba="0.792157 0.792157 0.792157 1" mesh="arm_link_4"/>
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# left link 5
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<body name="left_link_5" pos="-0.
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<inertial pos="0.
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<joint name="left_joint_5" pos="0 0 0" axis="-1 0 0" range="-1.57 1.57" limited="true"
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<body name="left_link_5" pos="-0.0553 0 0.0702">
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<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"/>
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<joint name="left_joint_5" class="j5_class" pos="0 0 0" axis="-1 0 0" range="-1.57 1.57" limited="true"/>
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<geom type="mesh" rgba="0.898039 0.917647 0.929412 1" mesh="arm_link_5"/>
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# left
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<body name="
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<inertial pos="-0.0139 0.0001 0.0578" quat="0.567843 0.421372 0.421372 0.567843" mass="0.
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<joint name="left_joint_6" pos="0 0 0" axis="1 0 0" range="-
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<
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<
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<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"/>
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<joint name="left_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" />
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<geom type="mesh" rgba="1 1 1 1" mesh="gripper_left_helper_link"/>
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</body>
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<body name="left_gripper_right_helper_link" pos="0.057667 -0.030604 2.5e-05">
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<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"/>
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<joint name="left_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" />
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<geom type="mesh" rgba="1 1 1 1" mesh="gripper_right_helper_link"/>
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</body>
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# left gripper
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<body name="left_gripper_left_link_1" pos="0.0721 0.014 2.5e-05">
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<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"/>
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<joint name="left_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" />
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<geom type="mesh" rgba="1 1 1 1" mesh="gripper_left_link_1"/>
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# left link 6
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<body name="left_link_6" pos="0.0552 0 0.02895" quat="0.707107 0.0 -0.707107 0.0">
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<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"/>
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<joint name="left_joint_6" class="j6_class" pos="0 0 0" axis="1 0 0" range="-2.96 2.96" limited="true"/>
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# left gripper base link
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<body name="left_gripper_base_link" pos="0.0 0.0 0.0" quat="0.707107 0 -0.707107 0 ">
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<geom type="mesh" rgba="1 1 1 1" mesh="gripper_base_link"/>
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<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" />
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<camera name="left_camera" pos="0.066 0 0.105" quat="0.8660254 0.0 -0.5 0.0" fovy="50"/>
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# ee frame
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<body name="left_ee_frame" pos="0.1870 0.0 0.0" quat="1 0 0 0">
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<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"/>
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<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"/>
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<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"/>
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</body>
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# gripper helper
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<body name="left_gripper_left_helper_link" pos="0.057667 0.030604 2.5e-05">
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<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"/>
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<joint name="left_gripper_left_help_joint" class="jg_class" pos="0 0 0" axis="0 0 -1" range="0 1.52" limited="true" />
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<geom type="mesh" rgba="1 1 1 1" mesh="gripper_left_helper_link"/>
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</body>
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<body name="left_gripper_right_helper_link" pos="0.057667 -0.030604 2.5e-05">
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<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"/>
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<joint name="left_gripper_right_help_joint" class="jg_class" pos="0 0 0" axis="0 0 1" range="0 1.52" limited="true" />
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<geom type="mesh" rgba="1 1 1 1" mesh="gripper_right_helper_link"/>
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</body>
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# left gripper
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<body name="left_gripper_left_link_1" pos="0.0721 0.014 2.5e-05">
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<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"/>
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<joint name="left_gripper_left_joint_1" class="jg_class" pos="0 0 0" axis="0 0 -1" range="0 1.52" limited="true" />
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<geom type="mesh" rgba="1 1 1 1" mesh="gripper_left_link_1"/>
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<body name="left_gripper_left_link_2" pos="0.0085108 0.04927 0">
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<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"/>
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<joint name="left_gripper_left_joint_2" class="jg_class" pos="0 0 0" axis="0 0 1" range="0 1.52" limited="true" />
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<geom type="mesh" rgba="1 1 1 1" mesh="gripper_left_link_2"/>
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</body>
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</body>
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# right gripper
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<body name="left_gripper_right_link_1" pos="0.0721 -0.014 2.5e-05">
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<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"/>
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<joint name="left_gripper_right_joint_1" class="jg_class" pos="0 0 0" axis="0 0 1" range="0 1.52" limited="true" />
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<geom type="mesh" rgba="1 1 1 1" mesh="gripper_right_link_1"/>
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<body name="left_gripper_right_link_2" pos="0.0085108 -0.04927 0">
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<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"/>
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<joint name="left_gripper_right_joint_2" class="jg_class" pos="0 0 0" axis="0 0 -1" range="0 1.52" limited="true" />
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<geom type="mesh" rgba="1 1 1 1" mesh="gripper_right_link_2"/>
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</body>
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</body>
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# right link 1
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<joint name="right_joint_1" pos="0 0 0" axis="0 0 1" range="-2.
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<body name="right_link_1" pos="0.0185 -0.3 0.21157">
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<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"/>
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<joint name="right_joint_1" class="j1_class" pos="0 0 0" axis="0 0 1" range="-2.91 2.91" limited="true"/>
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<geom type="mesh" rgba="0.92549 0.92549 0.92549 1" mesh="arm_link_1"/>
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# right link 2
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<body name="right_link_2" pos="0.02 0 0.045">
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<joint name="right_joint_2" pos="0 0 0" axis="0 1 0" range="-1.57 2.09" limited="true"
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<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"/>
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<joint name="right_joint_2" class="j2_class" pos="0 0 0" axis="0 1 0" range="-1.57 2.09" limited="true"/>
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<geom type="mesh" rgba="1 1 1 1" mesh="arm_link_2"/>
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# right link 3
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<body name="right_link_3" pos="0 0 0.264">
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<inertial pos="-0.
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<joint name="right_joint_3" pos="0 0 0" axis="0 1 0" range="0 3.14" limited="true"
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<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"/>
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<joint name="right_joint_3" class="j3_class" pos="0 0 0" axis="0 1 0" range="0 3.14" limited="true"/>
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<geom type="mesh" rgba="1 1 1 1" mesh="arm_link_3"/>
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# right link 4
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<body name="right_link_4" pos="-0.06 0 0.245">
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<inertial pos="-0.
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<joint name="right_joint_4" pos="0 0 0" axis="0 1 0" range="-1.57 1.57" limited="true"
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+
<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"/>
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<joint name="right_joint_4" class="j4_class" pos="0 0 0" axis="0 1 0" range="-1.57 1.57" limited="true"/>
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<geom type="mesh" rgba="0.792157 0.792157 0.792157 1" mesh="arm_link_4"/>
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# right link 5
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<body name="right_link_5" pos="-0.
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<inertial pos="0.
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-
<joint name="right_joint_5" pos="0 0 0" axis="-1 0 0" range="-1.57 1.57" limited="true"
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<body name="right_link_5" pos="-0.0553 0 0.0702">
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<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"/>
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<joint name="right_joint_5" class="j5_class" pos="0 0 0" axis="-1 0 0" range="-1.57 1.57" limited="true"/>
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<geom type="mesh" rgba="0.898039 0.917647 0.929412 1" mesh="arm_link_5"/>
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# right
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<body name="
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-
<inertial pos="-0.0139 0.0001 0.0578" quat="0.567843 0.421372 0.421372 0.567843" mass="0.
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<joint name="right_joint_6" pos="0 0 0" axis="1 0 0" range="-
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<
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<
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-
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-
<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"/>
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<joint name="right_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" />
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<geom type="mesh" rgba="1 1 1 1" mesh="gripper_left_helper_link"/>
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</body>
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<body name="right_gripper_right_helper_link" pos="0.057667 -0.030604 2.5e-05">
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<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"/>
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-
<joint name="right_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" />
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<geom type="mesh" rgba="1 1 1 1" mesh="gripper_right_helper_link"/>
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</body>
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-
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# left gripper
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<body name="right_gripper_left_link_1" pos="0.0721 0.014 2.5e-05">
|
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158
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-
<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"/>
|
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159
|
-
<joint name="right_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" />
|
|
160
|
-
<geom type="mesh" rgba="1 1 1 1" mesh="gripper_left_link_1"/>
|
|
133
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+
# right link 6
|
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+
<body name="right_link_6" pos="0.0552 0 0.02895" quat="0.707107 0.0 -0.707107 0.0">
|
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135
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+
<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"/>
|
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136
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+
<joint name="right_joint_6" class="j6_class" pos="0 0 0" axis="1 0 0" range="-2.96 2.96" limited="true"/>
|
|
137
|
+
|
|
138
|
+
# right gripper base link
|
|
139
|
+
<body name="right_gripper_base_link" pos="0.0 0.0 0.0" quat="0.707107 0 -0.707107 0 ">
|
|
140
|
+
<geom type="mesh" rgba="1 1 1 1" mesh="gripper_base_link"/>
|
|
141
|
+
<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" />
|
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142
|
+
<camera name="right_camera" pos="0.066 0 0.105" quat="0.8660254 0.0 -0.5 0.0" fovy="50"/>
|
|
143
|
+
|
|
144
|
+
# ee frame
|
|
145
|
+
<body name="right_ee_frame" pos="0.1870 0.0 0.0" quat="1 0 0 0">
|
|
146
|
+
<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"/>
|
|
147
|
+
<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"/>
|
|
148
|
+
<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"/>
|
|
149
|
+
</body>
|
|
161
150
|
|
|
162
|
-
|
|
163
|
-
|
|
164
|
-
<
|
|
165
|
-
<
|
|
151
|
+
# gripper helper
|
|
152
|
+
<body name="right_gripper_left_helper_link" pos="0.057667 0.030604 2.5e-05">
|
|
153
|
+
<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"/>
|
|
154
|
+
<joint name="right_gripper_left_help_joint" class="jg_class" pos="0 0 0" axis="0 0 -1" range="0 1.52" limited="true" />
|
|
155
|
+
<geom type="mesh" rgba="1 1 1 1" mesh="gripper_left_helper_link"/>
|
|
156
|
+
</body>
|
|
157
|
+
<body name="right_gripper_right_helper_link" pos="0.057667 -0.030604 2.5e-05">
|
|
158
|
+
<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"/>
|
|
159
|
+
<joint name="right_gripper_right_help_joint" class="jg_class" pos="0 0 0" axis="0 0 1" range="0 1.52" limited="true" />
|
|
160
|
+
<geom type="mesh" rgba="1 1 1 1" mesh="gripper_right_helper_link"/>
|
|
166
161
|
</body>
|
|
167
|
-
</body>
|
|
168
162
|
|
|
169
|
-
|
|
170
|
-
|
|
171
|
-
|
|
172
|
-
|
|
173
|
-
|
|
163
|
+
# left gripper
|
|
164
|
+
<body name="right_gripper_left_link_1" pos="0.0721 0.014 2.5e-05">
|
|
165
|
+
<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"/>
|
|
166
|
+
<joint name="right_gripper_left_joint_1" class="jg_class" pos="0 0 0" axis="0 0 -1" range="0 1.52" limited="true" />
|
|
167
|
+
<geom type="mesh" rgba="1 1 1 1" mesh="gripper_left_link_1"/>
|
|
168
|
+
|
|
169
|
+
<body name="right_gripper_left_link_2" pos="0.0085108 0.04927 0">
|
|
170
|
+
<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"/>
|
|
171
|
+
<joint name="right_gripper_left_joint_2" class="jg_class" pos="0 0 0" axis="0 0 1" range="0 1.52" limited="true" />
|
|
172
|
+
<geom type="mesh" rgba="1 1 1 1" mesh="gripper_left_link_2"/>
|
|
173
|
+
</body>
|
|
174
|
+
</body>
|
|
174
175
|
|
|
175
|
-
|
|
176
|
-
|
|
177
|
-
<
|
|
178
|
-
<
|
|
176
|
+
# right gripper
|
|
177
|
+
<body name="right_gripper_right_link_1" pos="0.0721 -0.014 2.5e-05">
|
|
178
|
+
<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"/>
|
|
179
|
+
<joint name="right_gripper_right_joint_1" class="jg_class" pos="0 0 0" axis="0 0 1" range="0 1.52" limited="true" />
|
|
180
|
+
<geom type="mesh" rgba="1 1 1 1" mesh="gripper_right_link_1"/>
|
|
181
|
+
|
|
182
|
+
<body name="right_gripper_right_link_2" pos="0.0085108 -0.04927 0">
|
|
183
|
+
<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"/>
|
|
184
|
+
<joint name="right_gripper_right_joint_2" class="jg_class" pos="0 0 0" axis="0 0 -1" range="0 1.52" limited="true" />
|
|
185
|
+
<geom type="mesh" rgba="1 1 1 1" mesh="gripper_right_link_2"/>
|
|
186
|
+
</body>
|
|
179
187
|
</body>
|
|
180
188
|
</body>
|
|
181
189
|
</body>
|
|
@@ -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"/>
|
|
@@ -54,19 +54,19 @@
|
|
|
54
54
|
<motor joint="left_joint_1" ctrlrange="-28 28" forcerange="-28 28"/>
|
|
55
55
|
<motor joint="left_joint_2" ctrlrange="-28 28" forcerange="-28 28"/>
|
|
56
56
|
<motor joint="left_joint_3" ctrlrange="-28 28" forcerange="-28 28"/>
|
|
57
|
-
<motor joint="left_joint_4" ctrlrange="-
|
|
58
|
-
<motor joint="left_joint_5" ctrlrange="-
|
|
59
|
-
<motor joint="left_joint_6" ctrlrange="-
|
|
60
|
-
<motor joint="left_gripper_left_joint_1" ctrlrange="-
|
|
57
|
+
<motor joint="left_joint_4" ctrlrange="-28 28" forcerange="-28 28"/>
|
|
58
|
+
<motor joint="left_joint_5" ctrlrange="-8 8" forcerange="-8 8"/>
|
|
59
|
+
<motor joint="left_joint_6" ctrlrange="-8 8" forcerange="-8 8"/>
|
|
60
|
+
<motor joint="left_gripper_left_joint_1" ctrlrange="-8 8" forcerange="-8 8"/>
|
|
61
61
|
|
|
62
62
|
# right arm
|
|
63
63
|
<motor joint="right_joint_1" ctrlrange="-28 28" forcerange="-28 28"/>
|
|
64
64
|
<motor joint="right_joint_2" ctrlrange="-28 28" forcerange="-28 28"/>
|
|
65
65
|
<motor joint="right_joint_3" ctrlrange="-28 28" forcerange="-28 28"/>
|
|
66
|
-
<motor joint="right_joint_4" ctrlrange="-
|
|
67
|
-
<motor joint="right_joint_5" ctrlrange="-
|
|
68
|
-
<motor joint="right_joint_6" ctrlrange="-
|
|
69
|
-
<motor joint="right_gripper_left_joint_1" ctrlrange="-
|
|
66
|
+
<motor joint="right_joint_4" ctrlrange="-28 28" forcerange="-28 28"/>
|
|
67
|
+
<motor joint="right_joint_5" ctrlrange="-8 8" forcerange="-8 8"/>
|
|
68
|
+
<motor joint="right_joint_6" ctrlrange="-8 8" forcerange="-8 8"/>
|
|
69
|
+
<motor joint="right_gripper_left_joint_1" ctrlrange="-8 8" forcerange="-8 8"/>
|
|
70
70
|
</actuator>
|
|
71
71
|
|
|
72
72
|
</mujocoinclude>
|
|
@@ -55,6 +55,7 @@ class HexMujocoE3Desktop(HexMujocoBase):
|
|
|
55
55
|
HexMujocoBase.__init__(self, realtime_mode)
|
|
56
56
|
|
|
57
57
|
try:
|
|
58
|
+
self.__sim_rate = int(mujoco_config["control_hz"])
|
|
58
59
|
states_rate = mujoco_config["states_rate"]
|
|
59
60
|
img_rate = mujoco_config["img_rate"]
|
|
60
61
|
self.__tau_ctrl = mujoco_config["tau_ctrl"]
|
|
@@ -72,7 +73,8 @@ class HexMujocoE3Desktop(HexMujocoBase):
|
|
|
72
73
|
model_path = os.path.join(os.path.dirname(__file__), "model/scene.xml")
|
|
73
74
|
self.__model = mujoco.MjModel.from_xml_path(model_path)
|
|
74
75
|
self.__data = mujoco.MjData(self.__model)
|
|
75
|
-
self.
|
|
76
|
+
self.__model.opt.timestep = 1.0 / self.__sim_rate
|
|
77
|
+
mujoco.mj_resetData(self.__model, self.__data)
|
|
76
78
|
|
|
77
79
|
# state init
|
|
78
80
|
self.__state_left_idx = [0, 1, 2, 3, 4, 5, 6]
|
|
@@ -115,7 +117,7 @@ class HexMujocoE3Desktop(HexMujocoBase):
|
|
|
115
117
|
|
|
116
118
|
# camera init
|
|
117
119
|
self.__img_trig_thresh = int(self.__sim_rate / img_rate)
|
|
118
|
-
self.__width, self.__height = (
|
|
120
|
+
self.__width, self.__height = (224, 224)
|
|
119
121
|
head_fovy_rad = self.__model.cam_fovy[0] * np.pi / 180.0
|
|
120
122
|
left_fovy_rad = self.__model.cam_fovy[1] * np.pi / 180.0
|
|
121
123
|
right_fovy_rad = self.__model.cam_fovy[2] * np.pi / 180.0
|
|
@@ -113,8 +113,8 @@ class HexMujocoClientBase(HexZMQClientBase):
|
|
|
113
113
|
"obj": 0,
|
|
114
114
|
}
|
|
115
115
|
self._states_queue = {
|
|
116
|
-
"robot": deque(maxlen=self.
|
|
117
|
-
"obj": deque(maxlen=self.
|
|
116
|
+
"robot": deque(maxlen=self._deque_maxlen),
|
|
117
|
+
"obj": deque(maxlen=self._deque_maxlen),
|
|
118
118
|
}
|
|
119
119
|
self._camera_seq = {
|
|
120
120
|
"rgb": 0,
|
|
@@ -24,6 +24,16 @@ HEXARM_URDF_PATH_DICT = {
|
|
|
24
24
|
f"{urdf_dir}/archer_y6/gp100_p050.urdf",
|
|
25
25
|
"archer_y6_gp100_p050_handle":
|
|
26
26
|
f"{urdf_dir}/archer_y6/gp100_p050_handle.urdf",
|
|
27
|
+
"archer_d6y_empty":
|
|
28
|
+
f"{urdf_dir}/archer_d6y/empty.urdf",
|
|
29
|
+
"archer_d6y_gp100":
|
|
30
|
+
f"{urdf_dir}/archer_d6y/gp100.urdf",
|
|
31
|
+
"archer_d6y_gp100_handle":
|
|
32
|
+
f"{urdf_dir}/archer_d6y/gp100_handle.urdf",
|
|
33
|
+
"archer_d6y_gp100_p050":
|
|
34
|
+
f"{urdf_dir}/archer_d6y/gp100_p050.urdf",
|
|
35
|
+
"archer_d6y_gp100_p050_handle":
|
|
36
|
+
f"{urdf_dir}/archer_d6y/gp100_p050_handle.urdf",
|
|
27
37
|
"archer_l6y_empty":
|
|
28
38
|
f"{urdf_dir}/archer_l6y/empty.urdf",
|
|
29
39
|
"archer_l6y_gp100":
|