PyPI - hex-zmq-servers - Versions diffs - 0.3.11__tar.gz → 0.3.13__tar.gz - Mend

hex-zmq-servers 0.3.11tar.gz → 0.3.13tar.gz

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.

Files changed (125) hide show

{hex_zmq_servers-0.3.11/hex_zmq_servers.egg-info → hex_zmq_servers-0.3.13}/PKG-INFO RENAMED Viewed

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: hex_zmq_servers
-Version: 0.3.11
+Version: 0.3.13
 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-0.3.13}/hex_zmq_servers/config/mujoco_archer_y6.json RENAMED Viewed

@@ -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-0.3.13}/hex_zmq_servers/config/mujoco_e3_desktop.json RENAMED Viewed

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

hex_zmq_servers-0.3.13/hex_zmq_servers/mujoco/archer_y6/model/joint_class.xml ADDED Viewed

@@ -0,0 +1,23 @@
+<mujocoinclude>
+    <default class="j1_class">
+        <joint armature="0.01" damping="0.1" frictionloss="0.5"/>
+    </default>
+    <default class="j2_class">
+        <joint armature="0.01" damping="0.1" frictionloss="0.5"/>
+    </default>
+    <default class="j3_class">
+        <joint armature="0.01" damping="0.1" frictionloss="0.5"/>
+    </default>
+    <default class="j4_class">
+        <joint armature="0.01" damping="0.1" frictionloss="0.5"/>
+    </default>
+    <default class="j5_class">
+        <joint armature="0.01" damping="0.05" frictionloss="0.1"/>
+    </default>
+    <default class="j6_class">
+        <joint armature="0.01" damping="0.05" frictionloss="0.1"/>
+    </default>
+    <default class="jg_class">
+        <joint armature="0.01" damping="0.05" frictionloss="0.1"/>
+    </default>
+</mujocoinclude>

hex_zmq_servers-0.3.13/hex_zmq_servers/mujoco/archer_y6/model/robot.xml ADDED Viewed

@@ -0,0 +1,98 @@
+<mujocoinclude>
+    <body name="base_link">
+        <inertial pos="-0.001 0 0.031" quat="0 0.707107 0 0.707107" mass="0.748" diaginertia="0.0008 0.0007 0.0006"/>
+        <geom type="mesh" rgba="1 1 1 1" mesh="arm_base_link"/>
+        # link 1
+        <body name="link_1" pos="0 0 0.06655">
+            <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"/>
+            <joint name="joint_1" class="j1_class" pos="0 0 0" axis="0 0 1" range="-2.91 2.91" limited="true"/>
+            <geom type="mesh" rgba="0.92549 0.92549 0.92549 1" mesh="arm_link_1"/>
+            # link 2
+            <body name="link_2" pos="0.02 0 0.045">
+                <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"/>
+                <joint name="joint_2" class="j2_class" pos="0 0 0" axis="0 1 0" range="-1.57 2.09" limited="true"/>
+                <geom type="mesh" rgba="1 1 1 1" mesh="arm_link_2"/>
+                # link 3
+                <body name="link_3" pos="0 0 0.264">
+                    <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"/>
+                    <joint name="joint_3" class="j3_class" pos="0 0 0" axis="0 1 0" range="0 3.14" limited="true"/>
+                    <geom type="mesh" rgba="1 1 1 1" mesh="arm_link_3"/>
+                    # link 4
+                    <body name="link_4" pos="-0.06 0 0.245">
+                        <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"/>
+                        <joint name="joint_4" class="j4_class" pos="0 0 0" axis="0 1 0" range="-1.57 1.57" limited="true"/>
+                        <geom type="mesh" rgba="0.792157 0.792157 0.792157 1" mesh="arm_link_4"/>
+                        # link 5
+                        <body name="link_5" pos="-0.0553 0 0.0702">
+                            <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"/>
+                            <joint name="joint_5" class="j5_class" pos="0 0 0" axis="-1 0 0" range="-1.57 1.57" limited="true"/>
+                            <geom type="mesh" rgba="0.898039 0.917647 0.929412 1" mesh="arm_link_5"/>
+                            # link 6
+                            <body name="link_6" pos="0.0552 0 0.02895">
+                                <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"/>
+                                <joint name="joint_6" class="j6_class" pos="0 0 0" axis="0 0 1" range="-2.96 2.96" limited="true"/>
+                                <body name="gripper_base_link" pos="0.0 0.0 0.0" quat="0.707107 0 -0.707107 0 ">
+                                    <geom type="mesh" rgba="1 1 1 1" mesh="gripper_base_link"/>
+                                    <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" />
+                                    <camera name="end_camera" pos="0.066 0 0.105" quat="0.8660254 0.0 -0.5 0.0" fovy="50"/>
+                                    # ee frame
+                                    <body name="ee_frame" pos="0.1870 0.0 0.0" quat="1 0 0 0">
+                                        <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"/>
+                                        <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"/>
+                                        <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"/>
+                                    </body>
+                                    # gripper helper
+                                    <body name="gripper_left_helper_link" pos="0.057667 0.030604 2.5e-05">
+                                        <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"/>
+                                        <joint name="gripper_left_help_joint" class="jg_class" pos="0 0 0" axis="0 0 -1" range="0 1.52" limited="true" />
+                                        <geom type="mesh" rgba="1 1 1 1" mesh="gripper_left_helper_link"/>
+                                    </body>
+                                    <body name="gripper_right_helper_link" pos="0.057667 -0.030604 2.5e-05">
+                                        <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"/>
+                                        <joint name="gripper_right_help_joint" class="jg_class" pos="0 0 0" axis="0 0 1" range="0 1.52" limited="true" />
+                                        <geom type="mesh" rgba="1 1 1 1" mesh="gripper_right_helper_link"/>
+                                    </body>
+                                    # left gripper
+                                    <body name="gripper_left_link_1" pos="0.0721 0.014 2.5e-05">
+                                        <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"/>
+                                        <joint name="gripper_left_joint_1" class="jg_class" pos="0 0 0" axis="0 0 -1" range="0 1.52" limited="true" />
+                                        <geom type="mesh" rgba="1 1 1 1" mesh="gripper_left_link_1"/>
+                                        <body name="gripper_left_link_2" pos="0.0085108 0.04927 0">
+                                            <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"/>
+                                            <joint name="gripper_left_joint_2" class="jg_class" pos="0 0 0" axis="0 0 1" range="0 1.52" limited="true" />
+                                            <geom type="mesh" rgba="1 1 1 1" mesh="gripper_left_link_2"/>
+                                        </body>
+                                    </body>
+                                    # right gripper
+                                    <body name="gripper_right_link_1" pos="0.0721 -0.014 2.5e-05">
+                                        <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"/>
+                                        <joint name="gripper_right_joint_1" class="jg_class" pos="0 0 0" axis="0 0 1" range="0 1.52" limited="true" />
+                                        <geom type="mesh" rgba="1 1 1 1" mesh="gripper_right_link_1"/>
+                                        <body name="gripper_right_link_2" pos="0.0085108 -0.04927 0">
+                                            <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"/>
+                                            <joint name="gripper_right_joint_2" class="jg_class" pos="0 0 0" axis="0 0 -1" range="0 1.52" limited="true" />
+                                            <geom type="mesh" rgba="1 1 1 1" mesh="gripper_right_link_2"/>
+                                        </body>
+                                    </body>
+                                </body>
+                            </body>
+                        </body>
+                    </body>
+                </body>
+            </body>
+        </body>
+    </body>
+</mujocoinclude>

{hex_zmq_servers-0.3.11 → hex_zmq_servers-0.3.13}/hex_zmq_servers/mujoco/archer_y6/model/scene.xml RENAMED Viewed

@@ -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>
@@ -19,6 +19,10 @@
         <include file="assets/assets.xml"/>
     </asset>
+    <default>
+        <include file="joint_class.xml"/>
+    </default>
     <worldbody>
         <light pos="0.0 0.0 1.5" directional="true"/>
         <geom name="floor" size="0.0 0.0 0.05" type="plane" material="groundplane"/>

{hex_zmq_servers-0.3.11 → hex_zmq_servers-0.3.13}/hex_zmq_servers/mujoco/archer_y6/model/setting.xml RENAMED Viewed

@@ -28,10 +28,10 @@
         <motor joint="joint_1" ctrlrange="-28 28" forcerange="-28 28"/>
         <motor joint="joint_2" ctrlrange="-28 28" forcerange="-28 28"/>
         <motor joint="joint_3" ctrlrange="-28 28" forcerange="-28 28"/>
-        <motor joint="joint_4" ctrlrange="-10 10" forcerange="-10 10"/>
-        <motor joint="joint_5" ctrlrange="-10 10" forcerange="-10 10"/>
-        <motor joint="joint_6" ctrlrange="-10 10" forcerange="-10 10"/>
-        <motor joint="gripper_left_joint_1" ctrlrange="-10 10" forcerange="-10 10"/>
+        <motor joint="joint_4" ctrlrange="-28 28" forcerange="-28 28"/>
+        <motor joint="joint_5" ctrlrange="-8 8" forcerange="-8 8"/>
+        <motor joint="joint_6" ctrlrange="-8 8" forcerange="-8 8"/>
+        <motor joint="gripper_left_joint_1" ctrlrange="-8 8" forcerange="-8 8"/>
     </actuator>
 </mujocoinclude>

{hex_zmq_servers-0.3.11 → hex_zmq_servers-0.3.13}/hex_zmq_servers/mujoco/archer_y6/mujoco_archer_y6.py RENAMED Viewed

@@ -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-0.3.13/hex_zmq_servers/mujoco/e3_desktop/model/joint_class.xml ADDED Viewed

@@ -0,0 +1,23 @@
+<mujocoinclude>
+    <default class="j1_class">
+        <joint armature="0.01" damping="0.1" frictionloss="0.5"/>
+    </default>
+    <default class="j2_class">
+        <joint armature="0.01" damping="0.1" frictionloss="0.5"/>
+    </default>
+    <default class="j3_class">
+        <joint armature="0.01" damping="0.1" frictionloss="0.5"/>
+    </default>
+    <default class="j4_class">
+        <joint armature="0.01" damping="0.1" frictionloss="0.5"/>
+    </default>
+    <default class="j5_class">
+        <joint armature="0.01" damping="0.05" frictionloss="0.1"/>
+    </default>
+    <default class="j6_class">
+        <joint armature="0.01" damping="0.05" frictionloss="0.1"/>
+    </default>
+    <default class="jg_class">
+        <joint armature="0.01" damping="0.05" frictionloss="0.1"/>
+    </default>
+</mujocoinclude>

hex_zmq_servers-0.3.13/hex_zmq_servers/mujoco/e3_desktop/model/robot.xml ADDED Viewed

@@ -0,0 +1,196 @@
+<mujocoinclude>
+    <body name="base_link">
+        <inertial pos="0.00137614 -0.0126343 0.0980263" quat="0.535082 0.473426 -0.464716 0.523062" mass="15.615" diaginertia="0.665833 0.618181 0.259713"/>
+        <geom type="mesh" rgba="1 1 1 1" mesh="e3_desktop_base_link" contype="0" conaffinity="0" />
+        <geom pos="0.0185 0.3 0.14502" quat="1 0 0 0" type="mesh" rgba="1 1 1 1" mesh="arm_base_link"/>
+        <geom pos="0.0185 -0.3 0.14502" quat="1 0 0 0" type="mesh" rgba="1 1 1 1" mesh="arm_base_link"/>
+        <geom pos="0.074 0 0.53575" quat="0.9238795 0.0 0.3826834 0.0" type="mesh" mesh="camera_link" rgba="0.1 0.1 0.1 1" contype="0" conaffinity="0" />
+        <camera name="head_camera" pos="0.084 0 0.52075" quat="0.6532815 0.2705981 -0.2705981 -0.6532815" fovy="70"/>
+        # left link 1
+        <body name="left_link_1" pos="0.0185 0.3 0.21157">
+            <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"/>
+            <joint name="left_joint_1" class="j1_class" pos="0 0 0" axis="0 0 1" range="-2.91 2.91" limited="true"/>
+            <geom type="mesh" rgba="0.92549 0.92549 0.92549 1" mesh="arm_link_1"/>
+            # left link 2
+            <body name="left_link_2" pos="0.02 0 0.045">
+                <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"/>
+                <joint name="left_joint_2" class="j2_class" pos="0 0 0" axis="0 1 0" range="-1.57 2.09" limited="true"/>
+                <geom type="mesh" rgba="1 1 1 1" mesh="arm_link_2"/>
+                # left link 3
+                <body name="left_link_3" pos="0 0 0.264">
+                    <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"/>
+                    <joint name="left_joint_3" class="j3_class" pos="0 0 0" axis="0 1 0" range="0 3.14" limited="true"/>
+                    <geom type="mesh" rgba="1 1 1 1" mesh="arm_link_3"/>
+                    # left link 4
+                    <body name="left_link_4" pos="-0.06 0 0.245">
+                        <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"/>
+                        <joint name="left_joint_4" class="j4_class" pos="0 0 0" axis="0 1 0" range="-1.57 1.57" limited="true"/>
+                        <geom type="mesh" rgba="0.792157 0.792157 0.792157 1" mesh="arm_link_4"/>
+                        # left link 5
+                        <body name="left_link_5" pos="-0.0553 0 0.0702">
+                            <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"/>
+                            <joint name="left_joint_5" class="j5_class" pos="0 0 0" axis="-1 0 0" range="-1.57 1.57" limited="true"/>
+                            <geom type="mesh" rgba="0.898039 0.917647 0.929412 1" mesh="arm_link_5"/>
+                            # left link 6
+                            <body name="left_link_6" pos="0.0552 0 0.02895" quat="0.707107 0.0 -0.707107 0.0">
+                                <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"/>
+                                <joint name="left_joint_6" class="j6_class" pos="0 0 0" axis="1 0 0" range="-2.96 2.96" limited="true"/>
+                                # left gripper base link
+                                <body name="left_gripper_base_link" pos="0.0 0.0 0.0" quat="0.707107 0 -0.707107 0 ">
+                                    <geom type="mesh" rgba="1 1 1 1" mesh="gripper_base_link"/>
+                                    <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" />
+                                    <camera name="left_camera" pos="0.066 0 0.105" quat="0.8660254 0.0 -0.5 0.0" fovy="50"/>
+                                    # ee frame
+                                    <body name="left_ee_frame" pos="0.1870 0.0 0.0" quat="1 0 0 0">
+                                        <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"/>
+                                        <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"/>
+                                        <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"/>
+                                    </body>
+                                    # gripper helper
+                                    <body name="left_gripper_left_helper_link" pos="0.057667 0.030604 2.5e-05">
+                                        <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"/>
+                                        <joint name="left_gripper_left_help_joint" class="jg_class" pos="0 0 0" axis="0 0 -1" range="0 1.52" limited="true" />
+                                        <geom type="mesh" rgba="1 1 1 1" mesh="gripper_left_helper_link"/>
+                                    </body>
+                                    <body name="left_gripper_right_helper_link" pos="0.057667 -0.030604 2.5e-05">
+                                        <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"/>
+                                        <joint name="left_gripper_right_help_joint" class="jg_class" pos="0 0 0" axis="0 0 1" range="0 1.52" limited="true" />
+                                        <geom type="mesh" rgba="1 1 1 1" mesh="gripper_right_helper_link"/>
+                                    </body>
+                                    # left gripper
+                                    <body name="left_gripper_left_link_1" pos="0.0721 0.014 2.5e-05">
+                                        <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"/>
+                                        <joint name="left_gripper_left_joint_1" class="jg_class" pos="0 0 0" axis="0 0 -1" range="0 1.52" limited="true" />
+                                        <geom type="mesh" rgba="1 1 1 1" mesh="gripper_left_link_1"/>
+                                        <body name="left_gripper_left_link_2" pos="0.0085108 0.04927 0">
+                                            <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"/>
+                                            <joint name="left_gripper_left_joint_2" class="jg_class" pos="0 0 0" axis="0 0 1" range="0 1.52" limited="true" />
+                                            <geom type="mesh" rgba="1 1 1 1" mesh="gripper_left_link_2"/>
+                                        </body>
+                                    </body>
+                                    # right gripper
+                                    <body name="left_gripper_right_link_1" pos="0.0721 -0.014 2.5e-05">
+                                        <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"/>
+                                        <joint name="left_gripper_right_joint_1" class="jg_class" pos="0 0 0" axis="0 0 1" range="0 1.52" limited="true" />
+                                        <geom type="mesh" rgba="1 1 1 1" mesh="gripper_right_link_1"/>
+                                        <body name="left_gripper_right_link_2" pos="0.0085108 -0.04927 0">
+                                            <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"/>
+                                            <joint name="left_gripper_right_joint_2" class="jg_class" pos="0 0 0" axis="0 0 -1" range="0 1.52" limited="true" />
+                                            <geom type="mesh" rgba="1 1 1 1" mesh="gripper_right_link_2"/>
+                                        </body>
+                                    </body>
+                                </body>
+                            </body>
+                        </body>
+                    </body>
+                </body>
+            </body>
+        </body>
+        # right link 1
+        <body name="right_link_1" pos="0.0185 -0.3 0.21157">
+            <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"/>
+            <joint name="right_joint_1" class="j1_class" pos="0 0 0" axis="0 0 1" range="-2.91 2.91" limited="true"/>
+            <geom type="mesh" rgba="0.92549 0.92549 0.92549 1" mesh="arm_link_1"/>
+            # right link 2
+            <body name="right_link_2" pos="0.02 0 0.045">
+                <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"/>
+                <joint name="right_joint_2" class="j2_class" pos="0 0 0" axis="0 1 0" range="-1.57 2.09" limited="true"/>
+                <geom type="mesh" rgba="1 1 1 1" mesh="arm_link_2"/>
+                # right link 3
+                <body name="right_link_3" pos="0 0 0.264">
+                    <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"/>
+                    <joint name="right_joint_3" class="j3_class" pos="0 0 0" axis="0 1 0" range="0 3.14" limited="true"/>
+                    <geom type="mesh" rgba="1 1 1 1" mesh="arm_link_3"/>
+                    # right link 4
+                    <body name="right_link_4" pos="-0.06 0 0.245">
+                        <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"/>
+                        <joint name="right_joint_4" class="j4_class" pos="0 0 0" axis="0 1 0" range="-1.57 1.57" limited="true"/>
+                        <geom type="mesh" rgba="0.792157 0.792157 0.792157 1" mesh="arm_link_4"/>
+                        # right link 5
+                        <body name="right_link_5" pos="-0.0553 0 0.0702">
+                            <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"/>
+                            <joint name="right_joint_5" class="j5_class" pos="0 0 0" axis="-1 0 0" range="-1.57 1.57" limited="true"/>
+                            <geom type="mesh" rgba="0.898039 0.917647 0.929412 1" mesh="arm_link_5"/>
+                            # right link 6
+                            <body name="right_link_6" pos="0.0552 0 0.02895" quat="0.707107 0.0 -0.707107 0.0">
+                                <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"/>
+                                <joint name="right_joint_6" class="j6_class" pos="0 0 0" axis="1 0 0" range="-2.96 2.96" limited="true"/>
+                                # right gripper base link
+                                <body name="right_gripper_base_link" pos="0.0 0.0 0.0" quat="0.707107 0 -0.707107 0 ">
+                                    <geom type="mesh" rgba="1 1 1 1" mesh="gripper_base_link"/>
+                                    <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" />
+                                    <camera name="right_camera" pos="0.066 0 0.105" quat="0.8660254 0.0 -0.5 0.0" fovy="50"/>
+                                    # ee frame
+                                    <body name="right_ee_frame" pos="0.1870 0.0 0.0" quat="1 0 0 0">
+                                        <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"/>
+                                        <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"/>
+                                        <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"/>
+                                    </body>
+                                    # gripper helper
+                                    <body name="right_gripper_left_helper_link" pos="0.057667 0.030604 2.5e-05">
+                                        <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"/>
+                                        <joint name="right_gripper_left_help_joint" class="jg_class" pos="0 0 0" axis="0 0 -1" range="0 1.52" limited="true" />
+                                        <geom type="mesh" rgba="1 1 1 1" mesh="gripper_left_helper_link"/>
+                                    </body>
+                                    <body name="right_gripper_right_helper_link" pos="0.057667 -0.030604 2.5e-05">
+                                        <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"/>
+                                        <joint name="right_gripper_right_help_joint" class="jg_class" pos="0 0 0" axis="0 0 1" range="0 1.52" limited="true" />
+                                        <geom type="mesh" rgba="1 1 1 1" mesh="gripper_right_helper_link"/>
+                                    </body>
+                                    # left gripper
+                                    <body name="right_gripper_left_link_1" pos="0.0721 0.014 2.5e-05">
+                                        <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"/>
+                                        <joint name="right_gripper_left_joint_1" class="jg_class" pos="0 0 0" axis="0 0 -1" range="0 1.52" limited="true" />
+                                        <geom type="mesh" rgba="1 1 1 1" mesh="gripper_left_link_1"/>
+                                        <body name="right_gripper_left_link_2" pos="0.0085108 0.04927 0">
+                                            <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"/>
+                                            <joint name="right_gripper_left_joint_2" class="jg_class" pos="0 0 0" axis="0 0 1" range="0 1.52" limited="true" />
+                                            <geom type="mesh" rgba="1 1 1 1" mesh="gripper_left_link_2"/>
+                                        </body>
+                                    </body>
+                                    # right gripper
+                                    <body name="right_gripper_right_link_1" pos="0.0721 -0.014 2.5e-05">
+                                        <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"/>
+                                        <joint name="right_gripper_right_joint_1" class="jg_class" pos="0 0 0" axis="0 0 1" range="0 1.52" limited="true" />
+                                        <geom type="mesh" rgba="1 1 1 1" mesh="gripper_right_link_1"/>
+                                        <body name="right_gripper_right_link_2" pos="0.0085108 -0.04927 0">
+                                            <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"/>
+                                            <joint name="right_gripper_right_joint_2" class="jg_class" pos="0 0 0" axis="0 0 -1" range="0 1.52" limited="true" />
+                                            <geom type="mesh" rgba="1 1 1 1" mesh="gripper_right_link_2"/>
+                                        </body>
+                                    </body>
+                                </body>
+                            </body>
+                        </body>
+                    </body>
+                </body>
+            </body>
+        </body>
+    </body>
+</mujocoinclude>

{hex_zmq_servers-0.3.11 → hex_zmq_servers-0.3.13}/hex_zmq_servers/mujoco/e3_desktop/model/scene.xml RENAMED Viewed

@@ -19,6 +19,10 @@
         <include file="assets/assets.xml"/>
     </asset>
+    <default>
+        <include file="joint_class.xml"/>
+    </default>
     <worldbody>
         <light pos="0.0 0.0 1.5" directional="true"/>
         <geom name="floor" size="0.0 0.0 0.05" type="plane" material="groundplane"/>

{hex_zmq_servers-0.3.11 → hex_zmq_servers-0.3.13}/hex_zmq_servers/mujoco/e3_desktop/model/setting.xml RENAMED Viewed

@@ -54,19 +54,19 @@
         <motor joint="left_joint_1" ctrlrange="-28 28" forcerange="-28 28"/>
         <motor joint="left_joint_2" ctrlrange="-28 28" forcerange="-28 28"/>
         <motor joint="left_joint_3" ctrlrange="-28 28" forcerange="-28 28"/>
-        <motor joint="left_joint_4" ctrlrange="-10 10" forcerange="-10 10"/>
-        <motor joint="left_joint_5" ctrlrange="-10 10" forcerange="-10 10"/>
-        <motor joint="left_joint_6" ctrlrange="-10 10" forcerange="-10 10"/>
-        <motor joint="left_gripper_left_joint_1" ctrlrange="-10 10" forcerange="-10 10"/>
+        <motor joint="left_joint_4" ctrlrange="-28 28" forcerange="-28 28"/>
+        <motor joint="left_joint_5" ctrlrange="-8 8" forcerange="-8 8"/>
+        <motor joint="left_joint_6" ctrlrange="-8 8" forcerange="-8 8"/>
+        <motor joint="left_gripper_left_joint_1" ctrlrange="-8 8" forcerange="-8 8"/>
         # right arm
         <motor joint="right_joint_1" ctrlrange="-28 28" forcerange="-28 28"/>
         <motor joint="right_joint_2" ctrlrange="-28 28" forcerange="-28 28"/>
         <motor joint="right_joint_3" ctrlrange="-28 28" forcerange="-28 28"/>
-        <motor joint="right_joint_4" ctrlrange="-10 10" forcerange="-10 10"/>
-        <motor joint="right_joint_5" ctrlrange="-10 10" forcerange="-10 10"/>
-        <motor joint="right_joint_6" ctrlrange="-10 10" forcerange="-10 10"/>
-        <motor joint="right_gripper_left_joint_1" ctrlrange="-10 10" forcerange="-10 10"/>
+        <motor joint="right_joint_4" ctrlrange="-28 28" forcerange="-28 28"/>
+        <motor joint="right_joint_5" ctrlrange="-8 8" forcerange="-8 8"/>
+        <motor joint="right_joint_6" ctrlrange="-8 8" forcerange="-8 8"/>
+        <motor joint="right_gripper_left_joint_1" ctrlrange="-8 8" forcerange="-8 8"/>
     </actuator>
 </mujocoinclude>

{hex_zmq_servers-0.3.11 → hex_zmq_servers-0.3.13}/hex_zmq_servers/mujoco/e3_desktop/mujoco_e3_desktop.py RENAMED Viewed

@@ -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-0.3.13}/hex_zmq_servers/mujoco/mujoco_base.py RENAMED Viewed

@@ -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-0.3.13}/hex_zmq_servers/robot/hexarm/__init__.py RENAMED Viewed

@@ -24,6 +24,16 @@ HEXARM_URDF_PATH_DICT = {
     f"{urdf_dir}/archer_y6/gp100_p050.urdf",
     "archer_y6_gp100_p050_handle":
     f"{urdf_dir}/archer_y6/gp100_p050_handle.urdf",
+    "archer_d6y_empty":
+    f"{urdf_dir}/archer_d6y/empty.urdf",
+    "archer_d6y_gp100":
+    f"{urdf_dir}/archer_d6y/gp100.urdf",
+    "archer_d6y_gp100_handle":
+    f"{urdf_dir}/archer_d6y/gp100_handle.urdf",
+    "archer_d6y_gp100_p050":
+    f"{urdf_dir}/archer_d6y/gp100_p050.urdf",
+    "archer_d6y_gp100_p050_handle":
+    f"{urdf_dir}/archer_d6y/gp100_p050_handle.urdf",
     "archer_l6y_empty":
     f"{urdf_dir}/archer_l6y/empty.urdf",
     "archer_l6y_gp100":

{hex_zmq_servers-0.3.11 → hex_zmq_servers-0.3.13}/hex_zmq_servers/robot/hexarm/robot_hexarm.py RENAMED Viewed

@@ -33,7 +33,8 @@ ROBOT_CONFIG = {
 }
 HEX_DEVICE_TYPE_DICT = {
-    "archer_y6": 16,
+    "archer_y6": 25,
+    "archer_d6y": 16,
     "archer_l6y": 17,
 }

hex-zmq-servers 0.3.11__tar.gz → 0.3.13__tar.gz

hex-zmq-servers 0.3.11tar.gz → 0.3.13tar.gz