hex-zmq-servers 0.3.12__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/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 +4 -0
- hex_zmq_servers/mujoco/archer_y6/model/setting.xml +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/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-0.3.12.dist-info → hex_zmq_servers-0.3.13.dist-info}/METADATA +1 -1
- {hex_zmq_servers-0.3.12.dist-info → hex_zmq_servers-0.3.13.dist-info}/RECORD +25 -18
- {hex_zmq_servers-0.3.12.dist-info → hex_zmq_servers-0.3.13.dist-info}/WHEEL +0 -0
- {hex_zmq_servers-0.3.12.dist-info → hex_zmq_servers-0.3.13.dist-info}/licenses/LICENSE +0 -0
- {hex_zmq_servers-0.3.12.dist-info → hex_zmq_servers-0.3.13.dist-info}/top_level.txt +0 -0
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@@ -19,6 +19,10 @@
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<include file="assets/assets.xml"/>
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</asset>
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<default>
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<include file="joint_class.xml"/>
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</default>
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<worldbody>
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<light pos="0.0 0.0 1.5" directional="true"/>
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<geom name="floor" size="0.0 0.0 0.05" type="plane" material="groundplane"/>
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@@ -54,19 +54,19 @@
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<motor joint="left_joint_1" ctrlrange="-28 28" forcerange="-28 28"/>
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<motor joint="left_joint_2" ctrlrange="-28 28" forcerange="-28 28"/>
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<motor joint="left_joint_3" ctrlrange="-28 28" forcerange="-28 28"/>
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<motor joint="left_joint_4" ctrlrange="-
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<motor joint="left_joint_5" ctrlrange="-
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-
<motor joint="left_joint_6" ctrlrange="-
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-
<motor joint="left_gripper_left_joint_1" ctrlrange="-
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<motor joint="left_joint_4" ctrlrange="-28 28" forcerange="-28 28"/>
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<motor joint="left_joint_5" ctrlrange="-8 8" forcerange="-8 8"/>
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<motor joint="left_joint_6" ctrlrange="-8 8" forcerange="-8 8"/>
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<motor joint="left_gripper_left_joint_1" ctrlrange="-8 8" forcerange="-8 8"/>
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# right arm
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<motor joint="right_joint_1" ctrlrange="-28 28" forcerange="-28 28"/>
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<motor joint="right_joint_2" ctrlrange="-28 28" forcerange="-28 28"/>
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<motor joint="right_joint_3" ctrlrange="-28 28" forcerange="-28 28"/>
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<motor joint="right_joint_4" ctrlrange="-
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<motor joint="right_joint_5" ctrlrange="-
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<motor joint="right_joint_6" ctrlrange="-
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<motor joint="right_gripper_left_joint_1" ctrlrange="-
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<motor joint="right_joint_4" ctrlrange="-28 28" forcerange="-28 28"/>
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<motor joint="right_joint_5" ctrlrange="-8 8" forcerange="-8 8"/>
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<motor joint="right_joint_6" ctrlrange="-8 8" forcerange="-8 8"/>
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<motor joint="right_gripper_left_joint_1" ctrlrange="-8 8" forcerange="-8 8"/>
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</actuator>
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</mujocoinclude>
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@@ -24,6 +24,16 @@ HEXARM_URDF_PATH_DICT = {
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f"{urdf_dir}/archer_y6/gp100_p050.urdf",
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"archer_y6_gp100_p050_handle":
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f"{urdf_dir}/archer_y6/gp100_p050_handle.urdf",
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"archer_d6y_empty":
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f"{urdf_dir}/archer_d6y/empty.urdf",
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"archer_d6y_gp100":
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f"{urdf_dir}/archer_d6y/gp100.urdf",
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"archer_d6y_gp100_handle":
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f"{urdf_dir}/archer_d6y/gp100_handle.urdf",
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"archer_d6y_gp100_p050":
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f"{urdf_dir}/archer_d6y/gp100_p050.urdf",
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"archer_d6y_gp100_p050_handle":
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f"{urdf_dir}/archer_d6y/gp100_p050_handle.urdf",
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"archer_l6y_empty":
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f"{urdf_dir}/archer_l6y/empty.urdf",
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"archer_l6y_gp100":
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@@ -0,0 +1,207 @@
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<?xml version="1.0" encoding="utf-8"?>
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<robot name="archer_d6y">
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<link name="base_link">
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<inertial>
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<origin xyz="-0.001 0 0.322" rpy="0 0 0" />
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<mass value="0.687" />
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<inertia ixx="0.0005" iyy="0.0005" izz="0.0007" ixy="0" ixz="0" iyz="0" />
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</inertial>
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="package://xpkg_urdf_archer_d6y/meshes/base_link.STL" />
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</geometry>
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<material name="">
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<color rgba="1 1 1 1" />
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</material>
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</visual>
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<collision>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="package://xpkg_urdf_archer_d6y/meshes/base_link.STL" />
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</geometry>
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</collision>
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</link>
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<link name="link_1">
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<inertial>
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<origin xyz="0.008 -0.0023 0.0213" rpy="0 0 0" />
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<mass value="0.2154" />
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<inertia ixx="0.0003" iyy="0.0002" izz="0.0003" ixy="0" ixz="0" iyz="0"/>
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</inertial>
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="package://xpkg_urdf_archer_d6y/meshes/link_1.STL" />
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</geometry>
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<material name="">
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<color rgba="1 1 1 1" />
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</material>
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</visual>
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<collision>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="package://xpkg_urdf_archer_d6y/meshes/link_1.STL" />
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</geometry>
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</collision>
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</link>
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<joint name="joint_1" type="revolute">
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<origin xyz="0 0 0.0665" rpy="0 0 0" />
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<parent link="base_link" />
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<child link="link_1" />
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<axis xyz="0 0 1" />
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<limit lower="-2.61" upper="3.14" effort="6" velocity="6" />
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</joint>
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<link name="link_2">
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<inertial>
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<origin xyz="0.0001 -0.0028 0.1317" rpy="0 0 0" />
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<mass value="1.3123" />
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<inertia ixx="0.018" iyy="0.0177" izz="0.0007" ixy="0" ixz="0" iyz="0.0007" />
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</inertial>
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="package://xpkg_urdf_archer_d6y/meshes/link_2.STL" />
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</geometry>
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<material name="">
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<color rgba="1 1 1 1" />
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</material>
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</visual>
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<collision>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="package://xpkg_urdf_archer_d6y/meshes/link_2.STL" />
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</geometry>
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</collision>
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</link>
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<joint name="joint_2" type="revolute">
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<origin xyz="0.02 0 0.045" rpy="0 0 0" />
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<parent link="link_1" />
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<child link="link_2" />
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<axis xyz="0 1 0" />
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<limit lower="-1.57" upper="2.09" effort="6" velocity="6" />
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</joint>
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<link name="link_3">
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<inertial>
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<origin xyz="-0.051 0.0008 0.1447" rpy="0 0 0" />
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<mass value="1.1083" />
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<inertia ixx="0.0114" iyy="0.0112" izz="0.0016" ixy="-0.0001" ixz="0.0014" iyz="0.0006" />
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</inertial>
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="package://xpkg_urdf_archer_d6y/meshes/link_3.STL" />
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</geometry>
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<material name="">
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<color rgba="1 1 1 1" />
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</material>
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</visual>
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<collision>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="package://xpkg_urdf_archer_d6y/meshes/link_3.STL" />
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</geometry>
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</collision>
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</link>
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<joint name="joint_3" type="revolute">
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<origin xyz="0 0 0.264" rpy="0 0 0" />
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<parent link="link_2" />
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<child link="link_3" />
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<axis xyz="0 1 0" />
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<limit lower="0" upper="3.14" effort="6" velocity="6" />
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</joint>
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<link name="link_4">
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<inertial>
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<origin xyz="-0.0597 -0.001 0.0572" rpy="0 0 0" />
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<mass value="0.5398" />
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<inertia ixx="0.0008" iyy="0.001" izz="0.0008" ixy="0" ixz="0.0003" iyz="0" />
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</inertial>
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="package://xpkg_urdf_archer_d6y/meshes/link_4.STL" />
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</geometry>
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<material name="">
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<color rgba="1 1 1 1" />
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</material>
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</visual>
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<collision>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="package://xpkg_urdf_archer_d6y/meshes/link_4.STL" />
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</geometry>
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</collision>
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</link>
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<joint name="joint_4" type="revolute">
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<origin xyz="-0.06 0 0.245" rpy="0 0 0" />
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<parent link="link_3" />
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<child link="link_4" />
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<axis xyz="0 1 0" />
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<limit lower="-1.57" upper="1.57" effort="6" velocity="6" />
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</joint>
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<link name="link_5">
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<inertial>
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<origin xyz="0.0292 0.0001 -0.0107" rpy="0 0 0" />
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<mass value="0.3984" />
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<inertia ixx="0.0002" iyy="0.0003" izz="0.0002" ixy="0" ixz="0" iyz="0" />
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</inertial>
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="package://xpkg_urdf_archer_d6y/meshes/link_5.STL" />
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</geometry>
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<material name="">
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<color rgba="1 1 1 1" />
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</material>
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</visual>
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<collision>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="package://xpkg_urdf_archer_d6y/meshes/link_5.STL" />
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</geometry>
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</collision>
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</link>
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<joint name="joint_5" type="revolute">
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<origin xyz="-0.0553 0 0.070" rpy="0 0 0" />
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<parent link="link_4" />
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<child link="link_5" />
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<axis xyz="-1 0 0" />
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<limit lower="-1.57" upper="1.57" effort="6" velocity="6" />
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</joint>
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<link name="link_6">
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<inertial>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<mass value="0.001" />
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<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001" />
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</inertial>
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="package://xpkg_urdf_archer_d6y/meshes/link_6.STL" />
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</geometry>
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<material name="">
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<color rgba="1 1 1 1" />
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</material>
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</visual>
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<collision>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="package://xpkg_urdf_archer_d6y/meshes/link_6.STL" />
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<?xml version="1.0" encoding="utf-8"?>
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<robot name="archer_d6y">
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<link name="base_link">
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<inertial>
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<origin xyz="-0.001 0 0.322" rpy="0 0 0" />
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<mass value="0.687" />
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<inertia ixx="0.0005" iyy="0.0005" izz="0.0007" ixy="0" ixz="0" iyz="0" />
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</inertial>
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="package://xpkg_urdf_archer_d6y/meshes/base_link.STL" />
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</geometry>
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<material name="">
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</visual>
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<collision>
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<geometry>
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<mesh filename="package://xpkg_urdf_archer_d6y/meshes/base_link.STL" />
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</link>
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<link name="link_1">
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<origin xyz="0.008 -0.0023 0.0213" rpy="0 0 0" />
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<mass value="0.2154" />
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<inertia ixx="0.0003" iyy="0.0002" izz="0.0003" ixy="0" ixz="0" iyz="0"/>
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<mesh filename="package://xpkg_urdf_archer_d6y/meshes/link_1.STL" />
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<material name="">
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<color rgba="1 1 1 1" />
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<geometry>
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<mesh filename="package://xpkg_urdf_archer_d6y/meshes/link_1.STL" />
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</link>
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<joint name="joint_1" type="revolute">
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<origin xyz="0 0 0.0665" rpy="0 0 0" />
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<parent link="base_link" />
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<child link="link_1" />
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<axis xyz="0 0 1" />
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<limit lower="-2.61" upper="3.14" effort="6" velocity="6" />
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</joint>
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<link name="link_2">
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<inertial>
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<origin xyz="0.0001 -0.0028 0.1317" rpy="0 0 0" />
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<mass value="1.3123" />
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<inertia ixx="0.018" iyy="0.0177" izz="0.0007" ixy="0" ixz="0" iyz="0.0007" />
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</inertial>
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<geometry>
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<mesh filename="package://xpkg_urdf_archer_d6y/meshes/link_2.STL" />
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<joint name="joint_2" type="revolute">
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<origin xyz="0.02 0 0.045" rpy="0 0 0" />
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<parent link="link_1" />
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<child link="link_2" />
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<axis xyz="0 1 0" />
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<limit lower="-1.57" upper="2.09" effort="6" velocity="6" />
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</joint>
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<link name="link_3">
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<origin xyz="-0.051 0.0008 0.1447" rpy="0 0 0" />
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<mass value="1.1083" />
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<inertia ixx="0.0114" iyy="0.0112" izz="0.0016" ixy="-0.0001" ixz="0.0014" iyz="0.0006" />
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</inertial>
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<visual>
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</geometry>
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<mesh filename="package://xpkg_urdf_archer_d6y/meshes/link_3.STL" />
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<origin xyz="0 0 0.264" rpy="0 0 0" />
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<parent link="link_2" />
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<child link="link_3" />
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<axis xyz="0 1 0" />
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<limit lower="0" upper="3.14" effort="6" velocity="6" />
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</joint>
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<link name="link_4">
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<origin xyz="-0.0597 -0.001 0.0572" rpy="0 0 0" />
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<mass value="0.5398" />
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<inertia ixx="0.0008" iyy="0.001" izz="0.0008" ixy="0" ixz="0.0003" iyz="0" />
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</inertial>
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<mesh filename="package://xpkg_urdf_archer_d6y/meshes/link_4.STL" />
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</link>
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<joint name="joint_4" type="revolute">
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<origin xyz="-0.06 0 0.245" rpy="0 0 0" />
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<parent link="link_3" />
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<child link="link_4" />
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<axis xyz="0 1 0" />
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<limit lower="-1.57" upper="1.57" effort="6" velocity="6" />
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</joint>
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<link name="link_5">
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<origin xyz="0.0292 0.0001 -0.0107" rpy="0 0 0" />
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<mass value="0.3984" />
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<inertia ixx="0.0002" iyy="0.0003" izz="0.0002" ixy="0" ixz="0" iyz="0" />
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</inertial>
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="package://xpkg_urdf_archer_d6y/meshes/link_5.STL" />
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</geometry>
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<material name="">
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<color rgba="1 1 1 1" />
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</material>
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</visual>
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<mesh filename="package://xpkg_urdf_archer_d6y/meshes/link_5.STL" />
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</geometry>
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</collision>
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</link>
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<joint name="joint_5" type="revolute">
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<origin xyz="-0.0553 0 0.070" rpy="0 0 0" />
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<parent link="link_4" />
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<child link="link_5" />
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<axis xyz="-1 0 0" />
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<limit lower="-1.57" upper="1.57" effort="6" velocity="6" />
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</joint>
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<link name="link_6">
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<origin xyz="-0.0009 0.0001 0.0596" rpy="0 0 0" />
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<mass value="0.6760" />
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<inertia ixx="0.0011" ixy="0" ixz="0" iyy="0.0011" iyz="0" izz="0.0004" />
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</inertial>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="package://xpkg_urdf_archer_d6y/meshes/link_6.STL" />
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</geometry>
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</material>
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</visual>
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<geometry>
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<mesh filename="package://xpkg_urdf_archer_d6y/meshes/link_6.STL" />
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</geometry>
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</collision>
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</link>
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<joint name="joint_6" type="revolute">
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<origin xyz="0.0553 0 0.029" rpy="0 0 0" />
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<parent link="link_5" />
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<child link="link_6" />
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<axis xyz="0 0 1" />
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<limit lower="-2.96" upper="2.96" effort="6" velocity="6" />
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</joint>
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</robot>
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