hex-zmq-servers 0.3.12__py3-none-any.whl → 0.3.14__py3-none-any.whl

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Files changed (25) hide show
  1. hex_zmq_servers/mujoco/archer_y6/model/joint_class.xml +23 -0
  2. hex_zmq_servers/mujoco/archer_y6/model/robot.xml +61 -56
  3. hex_zmq_servers/mujoco/archer_y6/model/scene.xml +4 -0
  4. hex_zmq_servers/mujoco/archer_y6/model/setting.xml +4 -4
  5. hex_zmq_servers/mujoco/e3_desktop/model/joint_class.xml +23 -0
  6. hex_zmq_servers/mujoco/e3_desktop/model/robot.xml +126 -116
  7. hex_zmq_servers/mujoco/e3_desktop/model/scene.xml +4 -0
  8. hex_zmq_servers/mujoco/e3_desktop/model/setting.xml +8 -8
  9. hex_zmq_servers/robot/hexarm/__init__.py +10 -0
  10. hex_zmq_servers/robot/hexarm/robot_hexarm.py +2 -1
  11. hex_zmq_servers/robot/hexarm/urdf/archer_d6y/empty.urdf +207 -0
  12. hex_zmq_servers/robot/hexarm/urdf/archer_d6y/gp100.urdf +207 -0
  13. hex_zmq_servers/robot/hexarm/urdf/archer_d6y/gp100_handle.urdf +207 -0
  14. hex_zmq_servers/robot/hexarm/urdf/archer_d6y/gp100_p050.urdf +207 -0
  15. hex_zmq_servers/robot/hexarm/urdf/archer_d6y/gp100_p050_handle.urdf +207 -0
  16. hex_zmq_servers/robot/hexarm/urdf/archer_y6/empty.urdf +22 -22
  17. hex_zmq_servers/robot/hexarm/urdf/archer_y6/gp100.urdf +22 -22
  18. hex_zmq_servers/robot/hexarm/urdf/archer_y6/gp100_handle.urdf +22 -22
  19. hex_zmq_servers/robot/hexarm/urdf/archer_y6/gp100_p050.urdf +22 -22
  20. hex_zmq_servers/robot/hexarm/urdf/archer_y6/gp100_p050_handle.urdf +22 -22
  21. {hex_zmq_servers-0.3.12.dist-info → hex_zmq_servers-0.3.14.dist-info}/METADATA +1 -1
  22. {hex_zmq_servers-0.3.12.dist-info → hex_zmq_servers-0.3.14.dist-info}/RECORD +25 -18
  23. {hex_zmq_servers-0.3.12.dist-info → hex_zmq_servers-0.3.14.dist-info}/WHEEL +0 -0
  24. {hex_zmq_servers-0.3.12.dist-info → hex_zmq_servers-0.3.14.dist-info}/licenses/LICENSE +0 -0
  25. {hex_zmq_servers-0.3.12.dist-info → hex_zmq_servers-0.3.14.dist-info}/top_level.txt +0 -0
hex_zmq_servers/mujoco/archer_y6/model/joint_class.xml ADDED
@@ -0,0 +1,23 @@
1
+ <mujocoinclude>
2
+ <default class="j1_class">
3
+ <joint armature="0.01" damping="0.1" frictionloss="0.5" actuatorfrcrange="-28 28"/>
4
+ </default>
5
+ <default class="j2_class">
6
+ <joint armature="0.01" damping="0.1" frictionloss="0.5" actuatorfrcrange="-28 28"/>
7
+ </default>
8
+ <default class="j3_class">
9
+ <joint armature="0.01" damping="0.1" frictionloss="0.5" actuatorfrcrange="-28 28"/>
10
+ </default>
11
+ <default class="j4_class">
12
+ <joint armature="0.01" damping="0.1" frictionloss="0.5" actuatorfrcrange="-28 28"/>
13
+ </default>
14
+ <default class="j5_class">
15
+ <joint armature="0.01" damping="0.05" frictionloss="0.1" actuatorfrcrange="-8 8"/>
16
+ </default>
17
+ <default class="j6_class">
18
+ <joint armature="0.01" damping="0.05" frictionloss="0.1" actuatorfrcrange="-8 8"/>
19
+ </default>
20
+ <default class="jg_class">
21
+ <joint armature="0.01" damping="0.05" frictionloss="0.1" actuatorfrcrange="-8 8"/>
22
+ </default>
23
+ </mujocoinclude>
hex_zmq_servers/mujoco/archer_y6/model/robot.xml CHANGED
@@ -1,88 +1,93 @@
1
1
  <mujocoinclude>
2
2
  <body name="base_link">
3
- <inertial pos="-0.001 0.0318 0" quat="0.5 0.5 0.5 0.5" mass="0.687" diaginertia="0.0007 0.0006 0.0005"/>
3
+ <inertial pos="-0.001 0 0.031" quat="0 0.707107 0 0.707107" mass="0.748" diaginertia="0.0008 0.0007 0.0006"/>
4
4
  <geom type="mesh" rgba="1 1 1 1" mesh="arm_base_link"/>
5
5
 
6
6
  # link 1
7
- <body name="link_1" pos="0 0 0.0665">
8
- <inertial pos="0.008 -0.0023 0.0213" quat="0.707107 0.707107 0 0" mass="0.2154" diaginertia="0.0003 0.0003 0.0002"/>
9
- <joint name="joint_1" pos="0 0 0" axis="0 0 1" range="-2.7 2.7" limited="true" armature="0.01" damping="0.1" frictionloss="0.5"/>
7
+ <body name="link_1" pos="0 0 0.06655">
8
+ <inertial pos="0.006 -0.0013 0.0209" quat="0.707107 0.707107 0 0" mass="0.2289" diaginertia="0.0004 0.0004 0.0002"/>
9
+ <joint name="joint_1" class="j1_class" pos="0 0 0" axis="0 0 1" range="-2.91 2.91" limited="true"/>
10
10
  <geom type="mesh" rgba="0.92549 0.92549 0.92549 1" mesh="arm_link_1"/>
11
11
 
12
12
  # link 2
13
13
  <body name="link_2" pos="0.02 0 0.045">
14
- <inertial pos="0.0001 -0.0028 0.1317" quat="0.999789 0.0205404 0 0" mass="1.3123" diaginertia="0.018 0.0177288 0.000671225"/>
15
- <joint name="joint_2" pos="0 0 0" axis="0 1 0" range="-1.57 2.09" limited="true" armature="0.01" damping="0.1" frictionloss="0.5"/>
14
+ <inertial pos="0.0001 -0.0013 0.1301" quat="0.999997 -0.00253798 0 0" mass="1.5141" diaginertia="0.021 0.0208005 0.00109949"/>
15
+ <joint name="joint_2" class="j2_class" pos="0 0 0" axis="0 1 0" range="-1.57 2.09" limited="true"/>
16
16
  <geom type="mesh" rgba="1 1 1 1" mesh="arm_link_2"/>
17
17
 
18
18
  # link 3
19
19
  <body name="link_3" pos="0 0 0.264">
20
- <inertial pos="-0.051 0.0008 0.1447" quat="0.996909 0.0323182 -0.0688403 -0.019747" mass="1.1083" diaginertia="0.0115968 0.0112369 0.00136632"/>
21
- <joint name="joint_3" pos="0 0 0" axis="0 1 0" range="0 3.14" limited="true" armature="0.01" damping="0.1" frictionloss="0.5"/>
20
+ <inertial pos="-0.054 -0.0015 0.1603" quat="0.998349 0 -0.0574445 0" mass="1.2023" diaginertia="0.011127 0.0106 0.00147299"/>
21
+ <joint name="joint_3" class="j3_class" pos="0 0 0" axis="0 1 0" range="0 3.14" limited="true"/>
22
22
  <geom type="mesh" rgba="1 1 1 1" mesh="arm_link_3"/>
23
23
 
24
24
  # link 4
25
25
  <body name="link_4" pos="-0.06 0 0.245">
26
- <inertial pos="-0.0597 -0.001 0.0572" quat="0 0.92388 0 0.382683" mass="0.5398" diaginertia="0.0011 0.001 0.0005"/>
27
- <joint name="joint_4" pos="0 0 0" axis="0 1 0" range="-1.57 1.57" limited="true" armature="0.01" damping="0.02" frictionloss="0.1"/>
26
+ <inertial pos="-0.058 -0.002 0.0558" quat="0 0.92388 0 0.382683" mass="0.6233" diaginertia="0.0015 0.0012 0.0007"/>
27
+ <joint name="joint_4" class="j4_class" pos="0 0 0" axis="0 1 0" range="-1.57 1.57" limited="true"/>
28
28
  <geom type="mesh" rgba="0.792157 0.792157 0.792157 1" mesh="arm_link_4"/>
29
29
 
30
30
  # link 5
31
- <body name="link_5" pos="-0.0553 0 0.070">
32
- <inertial pos="0.0292 0.0001 -0.0107" quat="0.707107 0 0 0.707107" mass="0.3984" diaginertia="0.0003 0.0002 0.0002"/>
33
- <joint name="joint_5" pos="0 0 0" axis="-1 0 0" range="-1.57 1.57" limited="true" armature="0.01" damping="0.02" frictionloss="0.1"/>
31
+ <body name="link_5" pos="-0.0553 0 0.0702">
32
+ <inertial pos="0.0512 0 0.0026" quat="0.5 0.5 0.5 0.5" mass="0.4173" diaginertia="0.0003 0.0003 0.0002"/>
33
+ <joint name="joint_5" class="j5_class" pos="0 0 0" axis="-1 0 0" range="-1.57 1.57" limited="true"/>
34
34
  <geom type="mesh" rgba="0.898039 0.917647 0.929412 1" mesh="arm_link_5"/>
35
35
 
36
- # gripper base link
37
- <body name="gripper_base_link" pos="0.0553 0 0.029" quat="0.707107 0.0 -0.707107 0.0">
38
- <inertial pos="-0.0139 0.0001 0.0553" quat="0.567843 0.421372 0.421372 0.567843" mass="0.7651" diaginertia="0.0021 0.00143028 0.00106972"/>
39
- <joint name="joint_6" pos="0 0 0" axis="1 0 0" range="-1.57 1.57" limited="true" armature="0.01" damping="0.02" frictionloss="0.1"/>
40
- <geom type="mesh" rgba="1 1 1 1" mesh="gripper_base_link"/>
41
- <geom pos="0.04 0 0.12" quat="0.6830127 0.6830127 0.1830127 -0.1830127" type="mesh" rgba="0.1 0.1 0.1 1" mesh="camera_link" />
42
- <camera name="end_camera" pos="0.066 0 0.105" quat="0.8660254 0.0 -0.5 0.0" fovy="50"/>
36
+ # link 6
37
+ <body name="link_6" pos="0.0552 0 0.02895">
38
+ <inertial pos="-0.0139 0.0001 0.0578" quat="0.567843 0.421372 0.421372 0.567843" mass="0.7751" diaginertia="0.0021 0.00143028 0.00106972"/>
39
+ <joint name="joint_6" class="j6_class" pos="0 0 0" axis="0 0 1" range="-2.96 2.96" limited="true"/>
43
40
 
44
- # ee frame
45
- <body name="ee_frame" pos="0.1870 0.0 0.0" quat="1 0 0 0">
46
- <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"/>
47
- <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"/>
48
- <geom type="cylinder" size="0.002 0.01" pos="0.00 0.00 0.01" quat="1.0000000 0.0000000 0.0000000 0.0000000" rgba="0 0 1 1" contype="0" conaffinity="0" group="4"/>
49
- </body>
41
+ <body name="gripper_base_link" pos="0.0 0.0 0.0" quat="0.707107 0 -0.707107 0 ">
42
+ <inertial pos="0.0 0.0 0.0" quat="1.0 0.0 0.0 0.0" mass="0.0" diaginertia="0.0 0.0 0.0"/>
43
+ <geom type="mesh" rgba="1 1 1 1" mesh="gripper_base_link"/>
44
+ <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" />
45
+ <camera name="end_camera" pos="0.066 0 0.105" quat="0.8660254 0.0 -0.5 0.0" fovy="50"/>
50
46
 
51
- # gripper helper
52
- <body name="gripper_left_helper_link" pos="0.057667 0.030604 2.5e-05">
53
- <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"/>
54
- <joint name="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" />
55
- <geom type="mesh" rgba="1 1 1 1" mesh="gripper_left_helper_link"/>
56
- </body>
57
- <body name="gripper_right_helper_link" pos="0.057667 -0.030604 2.5e-05">
58
- <inertial pos="0.00299357 -0.0232625 -5e-05" quat="0.996724 0 0 -0.0808839" mass="0.00594562" diaginertia="2.74798e-06 1.47567e-06 1.34732e-06"/>
59
- <joint name="gripper_right_help_joint" pos="0 0 0" axis="0 0 1" range="0 1.52" limited="true" armature="0.01" damping="1.0" frictionloss="0.1" />
60
- <geom type="mesh" rgba="1 1 1 1" mesh="gripper_right_helper_link"/>
61
- </body>
47
+ # ee frame
48
+ <body name="ee_frame" pos="0.1870 0.0 0.0" quat="1 0 0 0">
49
+ <inertial pos="0.0 0.0 0.0" quat="1.0 0.0 0.0 0.0" mass="0.0" diaginertia="0.0 0.0 0.0"/>
50
+ <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"/>
51
+ <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"/>
52
+ <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"/>
53
+ </body>
62
54
 
63
- # left gripper
64
- <body name="gripper_left_link_1" pos="0.0721 0.014 2.5e-05">
65
- <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"/>
66
- <joint name="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" />
67
- <geom type="mesh" rgba="1 1 1 1" mesh="gripper_left_link_1"/>
55
+ # gripper helper
56
+ <body name="gripper_left_helper_link" pos="0.057667 0.030604 2.5e-05">
57
+ <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"/>
58
+ <joint name="gripper_left_help_joint" class="jg_class" pos="0 0 0" axis="0 0 -1" range="0 1.52" limited="true" />
59
+ <geom type="mesh" rgba="1 1 1 1" mesh="gripper_left_helper_link"/>
60
+ </body>
61
+ <body name="gripper_right_helper_link" pos="0.057667 -0.030604 2.5e-05">
62
+ <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"/>
63
+ <joint name="gripper_right_help_joint" class="jg_class" pos="0 0 0" axis="0 0 1" range="0 1.52" limited="true" />
64
+ <geom type="mesh" rgba="1 1 1 1" mesh="gripper_right_helper_link"/>
65
+ </body>
68
66
 
69
- <body name="gripper_left_link_2" pos="0.0085108 0.04927 0">
70
- <inertial pos="0.0255016 0.00914642 -0.00175617" quat="0.424541 0.412629 0.571518 0.568216" mass="0.0339319" diaginertia="1.36949e-05 1.35554e-05 3.4264e-06"/>
71
- <joint name="gripper_left_joint_2" pos="0 0 0" axis="0 0 1" range="0 1.52" limited="true" armature="0.01" damping="1.0" frictionloss="0.1" />
72
- <geom type="mesh" rgba="1 1 1 1" mesh="gripper_left_link_2"/>
67
+ # left gripper
68
+ <body name="gripper_left_link_1" pos="0.0721 0.014 2.5e-05">
69
+ <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"/>
70
+ <joint name="gripper_left_joint_1" class="jg_class" pos="0 0 0" axis="0 0 -1" range="0 1.52" limited="true" />
71
+ <geom type="mesh" rgba="1 1 1 1" mesh="gripper_left_link_1"/>
72
+
73
+ <body name="gripper_left_link_2" pos="0.0085108 0.04927 0">
74
+ <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"/>
75
+ <joint name="gripper_left_joint_2" class="jg_class" pos="0 0 0" axis="0 0 1" range="0 1.52" limited="true" />
76
+ <geom type="mesh" rgba="1 1 1 1" mesh="gripper_left_link_2"/>
77
+ </body>
73
78
  </body>
74
- </body>
75
79
 
76
- # right gripper
77
- <body name="gripper_right_link_1" pos="0.0721 -0.014 2.5e-05">
78
- <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"/>
79
- <joint name="gripper_right_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" />
80
- <geom type="mesh" rgba="1 1 1 1" mesh="gripper_right_link_1"/>
80
+ # right gripper
81
+ <body name="gripper_right_link_1" pos="0.0721 -0.014 2.5e-05">
82
+ <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"/>
83
+ <joint name="gripper_right_joint_1" class="jg_class" pos="0 0 0" axis="0 0 1" range="0 1.52" limited="true" />
84
+ <geom type="mesh" rgba="1 1 1 1" mesh="gripper_right_link_1"/>
81
85
 
82
- <body name="gripper_right_link_2" pos="0.0085108 -0.04927 0">
83
- <inertial pos="0.0255016 -0.00914642 -0.00175616" quat="0.568212 0.571522 0.412623 0.424547" mass="0.0339319" diaginertia="1.36948e-05 1.35553e-05 3.4264e-06"/>
84
- <joint name="gripper_right_joint_2" pos="0 0 0" axis="0 0 -1" range="0 1.52" limited="true" armature="0.01" damping="1.0" frictionloss="0.1" />
85
- <geom type="mesh" rgba="1 1 1 1" mesh="gripper_right_link_2"/>
86
+ <body name="gripper_right_link_2" pos="0.0085108 -0.04927 0">
87
+ <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"/>
88
+ <joint name="gripper_right_joint_2" class="jg_class" pos="0 0 0" axis="0 0 -1" range="0 1.52" limited="true" />
89
+ <geom type="mesh" rgba="1 1 1 1" mesh="gripper_right_link_2"/>
90
+ </body>
86
91
  </body>
87
92
  </body>
88
93
  </body>
hex_zmq_servers/mujoco/archer_y6/model/scene.xml CHANGED
@@ -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"/>
hex_zmq_servers/mujoco/archer_y6/model/setting.xml CHANGED
@@ -28,10 +28,10 @@
28
28
  <motor joint="joint_1" ctrlrange="-28 28" forcerange="-28 28"/>
29
29
  <motor joint="joint_2" ctrlrange="-28 28" forcerange="-28 28"/>
30
30
  <motor joint="joint_3" ctrlrange="-28 28" forcerange="-28 28"/>
31
- <motor joint="joint_4" ctrlrange="-10 10" forcerange="-10 10"/>
32
- <motor joint="joint_5" ctrlrange="-10 10" forcerange="-10 10"/>
33
- <motor joint="joint_6" ctrlrange="-10 10" forcerange="-10 10"/>
34
- <motor joint="gripper_left_joint_1" ctrlrange="-10 10" forcerange="-10 10"/>
31
+ <motor joint="joint_4" ctrlrange="-28 28" forcerange="-28 28"/>
32
+ <motor joint="joint_5" ctrlrange="-8 8" forcerange="-8 8"/>
33
+ <motor joint="joint_6" ctrlrange="-8 8" forcerange="-8 8"/>
34
+ <motor joint="gripper_left_joint_1" ctrlrange="-8 8" forcerange="-8 8"/>
35
35
  </actuator>
36
36
 
37
37
  </mujocoinclude>
hex_zmq_servers/mujoco/e3_desktop/model/joint_class.xml ADDED
@@ -0,0 +1,23 @@
1
+ <mujocoinclude>
2
+ <default class="j1_class">
3
+ <joint armature="0.01" damping="0.1" frictionloss="0.5" actuatorfrcrange="-28 28"/>
4
+ </default>
5
+ <default class="j2_class">
6
+ <joint armature="0.01" damping="0.1" frictionloss="0.5" actuatorfrcrange="-28 28"/>
7
+ </default>
8
+ <default class="j3_class">
9
+ <joint armature="0.01" damping="0.1" frictionloss="0.5" actuatorfrcrange="-28 28"/>
10
+ </default>
11
+ <default class="j4_class">
12
+ <joint armature="0.01" damping="0.1" frictionloss="0.5" actuatorfrcrange="-28 28"/>
13
+ </default>
14
+ <default class="j5_class">
15
+ <joint armature="0.01" damping="0.05" frictionloss="0.1" actuatorfrcrange="-8 8"/>
16
+ </default>
17
+ <default class="j6_class">
18
+ <joint armature="0.01" damping="0.05" frictionloss="0.1" actuatorfrcrange="-8 8"/>
19
+ </default>
20
+ <default class="jg_class">
21
+ <joint armature="0.01" damping="0.05" frictionloss="0.1" actuatorfrcrange="-8 8"/>
22
+ </default>
23
+ </mujocoinclude>