hex-zmq-servers 0.3.11__tar.gz → 0.3.12__tar.gz

{hex_zmq_servers-0.3.11/hex_zmq_servers.egg-info → hex_zmq_servers-0.3.12}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: hex_zmq_servers
-Version: 0.3.11
+Version: 0.3.12
 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>

{hex_zmq_servers-0.3.11 → hex_zmq_servers-0.3.12}/hex_zmq_servers/config/mujoco_archer_y6.json

@@ -9,6 +9,7 @@
         "server_num_workers": 4
     },
     "params": {
+        "control_hz": 1000,
         "states_rate": 1000,
         "img_rate": 30,
         "tau_ctrl": false,

{hex_zmq_servers-0.3.11 → hex_zmq_servers-0.3.12}/hex_zmq_servers/config/mujoco_e3_desktop.json

@@ -9,6 +9,7 @@
         "server_num_workers": 4
     },
     "params": {
+        "control_hz": 1000,
         "states_rate": 1000,
         "img_rate": 30,
         "tau_ctrl": false,

{hex_zmq_servers-0.3.11 → hex_zmq_servers-0.3.12}/hex_zmq_servers/mujoco/archer_y6/model/scene.xml

@@ -9,7 +9,7 @@
         <headlight diffuse="0.6 0.6 0.6" ambient="0.1 0.1 0.1" specular="0 0 0"/>
         <rgba haze="0.15 0.25 0.35 1"/>
         <global azimuth="120" elevation="-20"/>
-        <map znear="0.001" zfar="50"/>
+        <map znear="0.01" zfar="50"/>
     </visual>
 
     <asset>

{hex_zmq_servers-0.3.11 → hex_zmq_servers-0.3.12}/hex_zmq_servers/mujoco/archer_y6/mujoco_archer_y6.py

@@ -54,6 +54,7 @@ class HexMujocoArcherY6(HexMujocoBase):
         HexMujocoBase.__init__(self, realtime_mode)
 
         try:
+            self.__sim_rate = int(mujoco_config["control_hz"])
             states_rate = mujoco_config["states_rate"]
             img_rate = mujoco_config["img_rate"]
             self.__tau_ctrl = mujoco_config["tau_ctrl"]
@@ -71,7 +72,8 @@ class HexMujocoArcherY6(HexMujocoBase):
         model_path = os.path.join(os.path.dirname(__file__), "model/scene.xml")
         self.__model = mujoco.MjModel.from_xml_path(model_path)
         self.__data = mujoco.MjData(self.__model)
-        self.__sim_rate = int(1.0 / self.__model.opt.timestep)
+        self.__model.opt.timestep = 1.0 / self.__sim_rate
+        mujoco.mj_resetData(self.__model, self.__data)
 
         # state init
         self.__state_robot_idx = [0, 1, 2, 3, 4, 5, 6]
@@ -106,7 +108,7 @@ class HexMujocoArcherY6(HexMujocoBase):
 
         # camera init
         self.__img_trig_thresh = int(self.__sim_rate / img_rate)
-        self.__width, self.__height = 640, 400
+        self.__width, self.__height = (224, 224)
         fovy_rad = self.__model.cam_fovy[0] * np.pi / 180.0
         focal = 0.5 * self.__height / np.tan(fovy_rad / 2.0)
         self._intri = np.array(
@@ -179,13 +181,11 @@ class HexMujocoArcherY6(HexMujocoBase):
                 if states_robot is not None:
                     if hex_zmq_ts_delta_ms(ts, last_states_ts) > 1e-6:
                         last_states_ts = ts
-
                         # states robot
                         states_robot_queue.append(
                             (ts, states_robot_count, states_robot))
                         states_robot_count = (states_robot_count +
                                               1) % self._max_seq_num
-
                         # states obj
                         states_obj_queue.append(
                             (ts, states_obj_count, states_obj))

{hex_zmq_servers-0.3.11 → hex_zmq_servers-0.3.12}/hex_zmq_servers/mujoco/e3_desktop/mujoco_e3_desktop.py

@@ -55,6 +55,7 @@ class HexMujocoE3Desktop(HexMujocoBase):
         HexMujocoBase.__init__(self, realtime_mode)
 
         try:
+            self.__sim_rate = int(mujoco_config["control_hz"])
             states_rate = mujoco_config["states_rate"]
             img_rate = mujoco_config["img_rate"]
             self.__tau_ctrl = mujoco_config["tau_ctrl"]
@@ -72,7 +73,8 @@ class HexMujocoE3Desktop(HexMujocoBase):
         model_path = os.path.join(os.path.dirname(__file__), "model/scene.xml")
         self.__model = mujoco.MjModel.from_xml_path(model_path)
         self.__data = mujoco.MjData(self.__model)
-        self.__sim_rate = int(1.0 / self.__model.opt.timestep)
+        self.__model.opt.timestep = 1.0 / self.__sim_rate
+        mujoco.mj_resetData(self.__model, self.__data)
 
         # state init
         self.__state_left_idx = [0, 1, 2, 3, 4, 5, 6]
@@ -115,7 +117,7 @@ class HexMujocoE3Desktop(HexMujocoBase):
 
         # camera init
         self.__img_trig_thresh = int(self.__sim_rate / img_rate)
-        self.__width, self.__height = (640, 480)
+        self.__width, self.__height = (224, 224)
         head_fovy_rad = self.__model.cam_fovy[0] * np.pi / 180.0
         left_fovy_rad = self.__model.cam_fovy[1] * np.pi / 180.0
         right_fovy_rad = self.__model.cam_fovy[2] * np.pi / 180.0

{hex_zmq_servers-0.3.11 → hex_zmq_servers-0.3.12}/hex_zmq_servers/mujoco/mujoco_base.py

@@ -113,8 +113,8 @@ class HexMujocoClientBase(HexZMQClientBase):
             "obj": 0,
         }
         self._states_queue = {
-            "robot": deque(maxlen=self._max_seq_num),
-            "obj": deque(maxlen=self._max_seq_num),
+            "robot": deque(maxlen=self._deque_maxlen),
+            "obj": deque(maxlen=self._deque_maxlen),
         }
         self._camera_seq = {
             "rgb": 0,

{hex_zmq_servers-0.3.11 → hex_zmq_servers-0.3.12/hex_zmq_servers.egg-info}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: hex_zmq_servers
-Version: 0.3.11
+Version: 0.3.12
 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>

{hex_zmq_servers-0.3.11 → hex_zmq_servers-0.3.12}/pyproject.toml

@@ -4,7 +4,7 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name = "hex_zmq_servers"
-version = "0.3.11"
+version = "0.3.12"
 description = "HEXFELLOW ZMQ Servers"
 readme = "README.md"
 license = "Apache-2.0"