hex-zmq-servers 0.3.12__tar.gz → 0.3.13__tar.gz

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Files changed (125) hide show
  1. {hex_zmq_servers-0.3.12/hex_zmq_servers.egg-info → hex_zmq_servers-0.3.13}/PKG-INFO +1 -1
  2. hex_zmq_servers-0.3.13/hex_zmq_servers/mujoco/archer_y6/model/joint_class.xml +23 -0
  3. hex_zmq_servers-0.3.13/hex_zmq_servers/mujoco/archer_y6/model/robot.xml +98 -0
  4. {hex_zmq_servers-0.3.12 → hex_zmq_servers-0.3.13}/hex_zmq_servers/mujoco/archer_y6/model/scene.xml +4 -0
  5. {hex_zmq_servers-0.3.12 → hex_zmq_servers-0.3.13}/hex_zmq_servers/mujoco/archer_y6/model/setting.xml +4 -4
  6. hex_zmq_servers-0.3.13/hex_zmq_servers/mujoco/e3_desktop/model/joint_class.xml +23 -0
  7. hex_zmq_servers-0.3.13/hex_zmq_servers/mujoco/e3_desktop/model/robot.xml +196 -0
  8. {hex_zmq_servers-0.3.12 → hex_zmq_servers-0.3.13}/hex_zmq_servers/mujoco/e3_desktop/model/scene.xml +4 -0
  9. {hex_zmq_servers-0.3.12 → hex_zmq_servers-0.3.13}/hex_zmq_servers/mujoco/e3_desktop/model/setting.xml +8 -8
  10. {hex_zmq_servers-0.3.12 → hex_zmq_servers-0.3.13}/hex_zmq_servers/robot/hexarm/__init__.py +10 -0
  11. {hex_zmq_servers-0.3.12 → hex_zmq_servers-0.3.13}/hex_zmq_servers/robot/hexarm/robot_hexarm.py +2 -1
  12. {hex_zmq_servers-0.3.12/hex_zmq_servers/robot/hexarm/urdf/archer_y6 → hex_zmq_servers-0.3.13/hex_zmq_servers/robot/hexarm/urdf/archer_d6y}/empty.urdf +15 -15
  13. {hex_zmq_servers-0.3.12/hex_zmq_servers/robot/hexarm/urdf/archer_y6 → hex_zmq_servers-0.3.13/hex_zmq_servers/robot/hexarm/urdf/archer_d6y}/gp100.urdf +15 -15
  14. {hex_zmq_servers-0.3.12/hex_zmq_servers/robot/hexarm/urdf/archer_y6 → hex_zmq_servers-0.3.13/hex_zmq_servers/robot/hexarm/urdf/archer_d6y}/gp100_handle.urdf +15 -15
  15. {hex_zmq_servers-0.3.12/hex_zmq_servers/robot/hexarm/urdf/archer_y6 → hex_zmq_servers-0.3.13/hex_zmq_servers/robot/hexarm/urdf/archer_d6y}/gp100_p050.urdf +15 -15
  16. {hex_zmq_servers-0.3.12/hex_zmq_servers/robot/hexarm/urdf/archer_y6 → hex_zmq_servers-0.3.13/hex_zmq_servers/robot/hexarm/urdf/archer_d6y}/gp100_p050_handle.urdf +15 -15
  17. hex_zmq_servers-0.3.13/hex_zmq_servers/robot/hexarm/urdf/archer_y6/empty.urdf +207 -0
  18. hex_zmq_servers-0.3.13/hex_zmq_servers/robot/hexarm/urdf/archer_y6/gp100.urdf +207 -0
  19. hex_zmq_servers-0.3.13/hex_zmq_servers/robot/hexarm/urdf/archer_y6/gp100_handle.urdf +207 -0
  20. hex_zmq_servers-0.3.13/hex_zmq_servers/robot/hexarm/urdf/archer_y6/gp100_p050.urdf +207 -0
  21. hex_zmq_servers-0.3.13/hex_zmq_servers/robot/hexarm/urdf/archer_y6/gp100_p050_handle.urdf +207 -0
  22. {hex_zmq_servers-0.3.12 → hex_zmq_servers-0.3.13/hex_zmq_servers.egg-info}/PKG-INFO +1 -1
  23. {hex_zmq_servers-0.3.12 → hex_zmq_servers-0.3.13}/hex_zmq_servers.egg-info/SOURCES.txt +7 -0
  24. {hex_zmq_servers-0.3.12 → hex_zmq_servers-0.3.13}/pyproject.toml +1 -1
  25. hex_zmq_servers-0.3.12/hex_zmq_servers/mujoco/archer_y6/model/robot.xml +0 -95
  26. hex_zmq_servers-0.3.12/hex_zmq_servers/mujoco/e3_desktop/model/robot.xml +0 -188
  27. {hex_zmq_servers-0.3.12 → hex_zmq_servers-0.3.13}/LICENSE +0 -0
  28. {hex_zmq_servers-0.3.12 → hex_zmq_servers-0.3.13}/MANIFEST.in +0 -0
  29. {hex_zmq_servers-0.3.12 → hex_zmq_servers-0.3.13}/README.md +0 -0
  30. {hex_zmq_servers-0.3.12 → hex_zmq_servers-0.3.13}/hex_zmq_servers/__init__.py +0 -0
  31. {hex_zmq_servers-0.3.12 → hex_zmq_servers-0.3.13}/hex_zmq_servers/cam/__init__.py +0 -0
  32. {hex_zmq_servers-0.3.12 → hex_zmq_servers-0.3.13}/hex_zmq_servers/cam/berxel/__init__.py +0 -0
  33. {hex_zmq_servers-0.3.12 → hex_zmq_servers-0.3.13}/hex_zmq_servers/cam/berxel/cam_berxel.py +0 -0
  34. {hex_zmq_servers-0.3.12 → hex_zmq_servers-0.3.13}/hex_zmq_servers/cam/berxel/cam_berxel_cli.py +0 -0
  35. {hex_zmq_servers-0.3.12 → hex_zmq_servers-0.3.13}/hex_zmq_servers/cam/berxel/cam_berxel_srv.py +0 -0
  36. {hex_zmq_servers-0.3.12 → hex_zmq_servers-0.3.13}/hex_zmq_servers/cam/cam_base.py +0 -0
  37. {hex_zmq_servers-0.3.12 → hex_zmq_servers-0.3.13}/hex_zmq_servers/cam/dummy/__init__.py +0 -0
  38. {hex_zmq_servers-0.3.12 → hex_zmq_servers-0.3.13}/hex_zmq_servers/cam/dummy/cam_dummy.py +0 -0
  39. {hex_zmq_servers-0.3.12 → hex_zmq_servers-0.3.13}/hex_zmq_servers/cam/dummy/cam_dummy_cli.py +0 -0
  40. {hex_zmq_servers-0.3.12 → hex_zmq_servers-0.3.13}/hex_zmq_servers/cam/dummy/cam_dummy_srv.py +0 -0
  41. {hex_zmq_servers-0.3.12 → hex_zmq_servers-0.3.13}/hex_zmq_servers/cam/realsense/__init__.py +0 -0
  42. {hex_zmq_servers-0.3.12 → hex_zmq_servers-0.3.13}/hex_zmq_servers/cam/realsense/cam_realsense.py +0 -0
  43. {hex_zmq_servers-0.3.12 → hex_zmq_servers-0.3.13}/hex_zmq_servers/cam/realsense/cam_realsense_cli.py +0 -0
  44. {hex_zmq_servers-0.3.12 → hex_zmq_servers-0.3.13}/hex_zmq_servers/cam/realsense/cam_realsense_srv.py +0 -0
  45. {hex_zmq_servers-0.3.12 → hex_zmq_servers-0.3.13}/hex_zmq_servers/cam/rgb/__init__.py +0 -0
  46. {hex_zmq_servers-0.3.12 → hex_zmq_servers-0.3.13}/hex_zmq_servers/cam/rgb/cam_rgb.py +0 -0
  47. {hex_zmq_servers-0.3.12 → hex_zmq_servers-0.3.13}/hex_zmq_servers/cam/rgb/cam_rgb_cli.py +0 -0
  48. {hex_zmq_servers-0.3.12 → hex_zmq_servers-0.3.13}/hex_zmq_servers/cam/rgb/cam_rgb_srv.py +0 -0
  49. {hex_zmq_servers-0.3.12 → hex_zmq_servers-0.3.13}/hex_zmq_servers/config/cam_berxel.json +0 -0
  50. {hex_zmq_servers-0.3.12 → hex_zmq_servers-0.3.13}/hex_zmq_servers/config/cam_dummy.json +0 -0
  51. {hex_zmq_servers-0.3.12 → hex_zmq_servers-0.3.13}/hex_zmq_servers/config/cam_realsense.json +0 -0
  52. {hex_zmq_servers-0.3.12 → hex_zmq_servers-0.3.13}/hex_zmq_servers/config/cam_rgb.json +0 -0
  53. {hex_zmq_servers-0.3.12 → hex_zmq_servers-0.3.13}/hex_zmq_servers/config/mujoco_archer_y6.json +0 -0
  54. {hex_zmq_servers-0.3.12 → hex_zmq_servers-0.3.13}/hex_zmq_servers/config/mujoco_e3_desktop.json +0 -0
  55. {hex_zmq_servers-0.3.12 → hex_zmq_servers-0.3.13}/hex_zmq_servers/config/robot_dummy.json +0 -0
  56. {hex_zmq_servers-0.3.12 → hex_zmq_servers-0.3.13}/hex_zmq_servers/config/robot_gello.json +0 -0
  57. {hex_zmq_servers-0.3.12 → hex_zmq_servers-0.3.13}/hex_zmq_servers/config/robot_hexarm.json +0 -0
  58. {hex_zmq_servers-0.3.12 → hex_zmq_servers-0.3.13}/hex_zmq_servers/config/zmq_dummy.json +0 -0
  59. {hex_zmq_servers-0.3.12 → hex_zmq_servers-0.3.13}/hex_zmq_servers/device_base.py +0 -0
  60. {hex_zmq_servers-0.3.12 → hex_zmq_servers-0.3.13}/hex_zmq_servers/hex_launch.py +0 -0
  61. {hex_zmq_servers-0.3.12 → hex_zmq_servers-0.3.13}/hex_zmq_servers/mujoco/__init__.py +0 -0
  62. {hex_zmq_servers-0.3.12 → hex_zmq_servers-0.3.13}/hex_zmq_servers/mujoco/archer_y6/__init__.py +0 -0
  63. {hex_zmq_servers-0.3.12 → hex_zmq_servers-0.3.13}/hex_zmq_servers/mujoco/archer_y6/model/assets/arm_base_link.STL +0 -0
  64. {hex_zmq_servers-0.3.12 → hex_zmq_servers-0.3.13}/hex_zmq_servers/mujoco/archer_y6/model/assets/arm_link_1.STL +0 -0
  65. {hex_zmq_servers-0.3.12 → hex_zmq_servers-0.3.13}/hex_zmq_servers/mujoco/archer_y6/model/assets/arm_link_2.STL +0 -0
  66. {hex_zmq_servers-0.3.12 → hex_zmq_servers-0.3.13}/hex_zmq_servers/mujoco/archer_y6/model/assets/arm_link_3.STL +0 -0
  67. {hex_zmq_servers-0.3.12 → hex_zmq_servers-0.3.13}/hex_zmq_servers/mujoco/archer_y6/model/assets/arm_link_4.STL +0 -0
  68. {hex_zmq_servers-0.3.12 → hex_zmq_servers-0.3.13}/hex_zmq_servers/mujoco/archer_y6/model/assets/arm_link_5.STL +0 -0
  69. {hex_zmq_servers-0.3.12 → hex_zmq_servers-0.3.13}/hex_zmq_servers/mujoco/archer_y6/model/assets/assets.xml +0 -0
  70. {hex_zmq_servers-0.3.12 → hex_zmq_servers-0.3.13}/hex_zmq_servers/mujoco/archer_y6/model/assets/camera_link.STL +0 -0
  71. {hex_zmq_servers-0.3.12 → hex_zmq_servers-0.3.13}/hex_zmq_servers/mujoco/archer_y6/model/assets/gripper_base_link.STL +0 -0
  72. {hex_zmq_servers-0.3.12 → hex_zmq_servers-0.3.13}/hex_zmq_servers/mujoco/archer_y6/model/assets/gripper_left_helper_link.STL +0 -0
  73. {hex_zmq_servers-0.3.12 → hex_zmq_servers-0.3.13}/hex_zmq_servers/mujoco/archer_y6/model/assets/gripper_left_link_1.STL +0 -0
  74. {hex_zmq_servers-0.3.12 → hex_zmq_servers-0.3.13}/hex_zmq_servers/mujoco/archer_y6/model/assets/gripper_left_link_2.STL +0 -0
  75. {hex_zmq_servers-0.3.12 → hex_zmq_servers-0.3.13}/hex_zmq_servers/mujoco/archer_y6/model/assets/gripper_right_helper_link.STL +0 -0
  76. {hex_zmq_servers-0.3.12 → hex_zmq_servers-0.3.13}/hex_zmq_servers/mujoco/archer_y6/model/assets/gripper_right_link_1.STL +0 -0
  77. {hex_zmq_servers-0.3.12 → hex_zmq_servers-0.3.13}/hex_zmq_servers/mujoco/archer_y6/model/assets/gripper_right_link_2.STL +0 -0
  78. {hex_zmq_servers-0.3.12 → hex_zmq_servers-0.3.13}/hex_zmq_servers/mujoco/archer_y6/model/assets/table_link.STL +0 -0
  79. {hex_zmq_servers-0.3.12 → hex_zmq_servers-0.3.13}/hex_zmq_servers/mujoco/archer_y6/mujoco_archer_y6.py +0 -0
  80. {hex_zmq_servers-0.3.12 → hex_zmq_servers-0.3.13}/hex_zmq_servers/mujoco/archer_y6/mujoco_archer_y6_cli.py +0 -0
  81. {hex_zmq_servers-0.3.12 → hex_zmq_servers-0.3.13}/hex_zmq_servers/mujoco/archer_y6/mujoco_archer_y6_srv.py +0 -0
  82. {hex_zmq_servers-0.3.12 → hex_zmq_servers-0.3.13}/hex_zmq_servers/mujoco/e3_desktop/__init__.py +0 -0
  83. {hex_zmq_servers-0.3.12 → hex_zmq_servers-0.3.13}/hex_zmq_servers/mujoco/e3_desktop/model/assets/arm_base_link.STL +0 -0
  84. {hex_zmq_servers-0.3.12 → hex_zmq_servers-0.3.13}/hex_zmq_servers/mujoco/e3_desktop/model/assets/arm_link_1.STL +0 -0
  85. {hex_zmq_servers-0.3.12 → hex_zmq_servers-0.3.13}/hex_zmq_servers/mujoco/e3_desktop/model/assets/arm_link_2.STL +0 -0
  86. {hex_zmq_servers-0.3.12 → hex_zmq_servers-0.3.13}/hex_zmq_servers/mujoco/e3_desktop/model/assets/arm_link_3.STL +0 -0
  87. {hex_zmq_servers-0.3.12 → hex_zmq_servers-0.3.13}/hex_zmq_servers/mujoco/e3_desktop/model/assets/arm_link_4.STL +0 -0
  88. {hex_zmq_servers-0.3.12 → hex_zmq_servers-0.3.13}/hex_zmq_servers/mujoco/e3_desktop/model/assets/arm_link_5.STL +0 -0
  89. {hex_zmq_servers-0.3.12 → hex_zmq_servers-0.3.13}/hex_zmq_servers/mujoco/e3_desktop/model/assets/assets.xml +0 -0
  90. {hex_zmq_servers-0.3.12 → hex_zmq_servers-0.3.13}/hex_zmq_servers/mujoco/e3_desktop/model/assets/camera_link.STL +0 -0
  91. {hex_zmq_servers-0.3.12 → hex_zmq_servers-0.3.13}/hex_zmq_servers/mujoco/e3_desktop/model/assets/e3_desktop_base_link.STL +0 -0
  92. {hex_zmq_servers-0.3.12 → hex_zmq_servers-0.3.13}/hex_zmq_servers/mujoco/e3_desktop/model/assets/gripper_base_link.STL +0 -0
  93. {hex_zmq_servers-0.3.12 → hex_zmq_servers-0.3.13}/hex_zmq_servers/mujoco/e3_desktop/model/assets/gripper_left_helper_link.STL +0 -0
  94. {hex_zmq_servers-0.3.12 → hex_zmq_servers-0.3.13}/hex_zmq_servers/mujoco/e3_desktop/model/assets/gripper_left_link_1.STL +0 -0
  95. {hex_zmq_servers-0.3.12 → hex_zmq_servers-0.3.13}/hex_zmq_servers/mujoco/e3_desktop/model/assets/gripper_left_link_2.STL +0 -0
  96. {hex_zmq_servers-0.3.12 → hex_zmq_servers-0.3.13}/hex_zmq_servers/mujoco/e3_desktop/model/assets/gripper_right_helper_link.STL +0 -0
  97. {hex_zmq_servers-0.3.12 → hex_zmq_servers-0.3.13}/hex_zmq_servers/mujoco/e3_desktop/model/assets/gripper_right_link_1.STL +0 -0
  98. {hex_zmq_servers-0.3.12 → hex_zmq_servers-0.3.13}/hex_zmq_servers/mujoco/e3_desktop/model/assets/gripper_right_link_2.STL +0 -0
  99. {hex_zmq_servers-0.3.12 → hex_zmq_servers-0.3.13}/hex_zmq_servers/mujoco/e3_desktop/model/assets/table_link.STL +0 -0
  100. {hex_zmq_servers-0.3.12 → hex_zmq_servers-0.3.13}/hex_zmq_servers/mujoco/e3_desktop/mujoco_e3_desktop.py +0 -0
  101. {hex_zmq_servers-0.3.12 → hex_zmq_servers-0.3.13}/hex_zmq_servers/mujoco/e3_desktop/mujoco_e3_desktop_cli.py +0 -0
  102. {hex_zmq_servers-0.3.12 → hex_zmq_servers-0.3.13}/hex_zmq_servers/mujoco/e3_desktop/mujoco_e3_desktop_srv.py +0 -0
  103. {hex_zmq_servers-0.3.12 → hex_zmq_servers-0.3.13}/hex_zmq_servers/mujoco/mujoco_base.py +0 -0
  104. {hex_zmq_servers-0.3.12 → hex_zmq_servers-0.3.13}/hex_zmq_servers/robot/__init__.py +0 -0
  105. {hex_zmq_servers-0.3.12 → hex_zmq_servers-0.3.13}/hex_zmq_servers/robot/dummy/__init__.py +0 -0
  106. {hex_zmq_servers-0.3.12 → hex_zmq_servers-0.3.13}/hex_zmq_servers/robot/dummy/robot_dummy.py +0 -0
  107. {hex_zmq_servers-0.3.12 → hex_zmq_servers-0.3.13}/hex_zmq_servers/robot/dummy/robot_dummy_cli.py +0 -0
  108. {hex_zmq_servers-0.3.12 → hex_zmq_servers-0.3.13}/hex_zmq_servers/robot/dummy/robot_dummy_srv.py +0 -0
  109. {hex_zmq_servers-0.3.12 → hex_zmq_servers-0.3.13}/hex_zmq_servers/robot/gello/__init__.py +0 -0
  110. {hex_zmq_servers-0.3.12 → hex_zmq_servers-0.3.13}/hex_zmq_servers/robot/gello/robot_gello.py +0 -0
  111. {hex_zmq_servers-0.3.12 → hex_zmq_servers-0.3.13}/hex_zmq_servers/robot/gello/robot_gello_cli.py +0 -0
  112. {hex_zmq_servers-0.3.12 → hex_zmq_servers-0.3.13}/hex_zmq_servers/robot/gello/robot_gello_srv.py +0 -0
  113. {hex_zmq_servers-0.3.12 → hex_zmq_servers-0.3.13}/hex_zmq_servers/robot/hexarm/robot_hexarm_cli.py +0 -0
  114. {hex_zmq_servers-0.3.12 → hex_zmq_servers-0.3.13}/hex_zmq_servers/robot/hexarm/robot_hexarm_srv.py +0 -0
  115. {hex_zmq_servers-0.3.12 → hex_zmq_servers-0.3.13}/hex_zmq_servers/robot/hexarm/urdf/archer_l6y/empty.urdf +0 -0
  116. {hex_zmq_servers-0.3.12 → hex_zmq_servers-0.3.13}/hex_zmq_servers/robot/hexarm/urdf/archer_l6y/gp100.urdf +0 -0
  117. {hex_zmq_servers-0.3.12 → hex_zmq_servers-0.3.13}/hex_zmq_servers/robot/hexarm/urdf/archer_l6y/gp100_handle.urdf +0 -0
  118. {hex_zmq_servers-0.3.12 → hex_zmq_servers-0.3.13}/hex_zmq_servers/robot/hexarm/urdf/archer_l6y/gp100_p050.urdf +0 -0
  119. {hex_zmq_servers-0.3.12 → hex_zmq_servers-0.3.13}/hex_zmq_servers/robot/hexarm/urdf/archer_l6y/gp100_p050_handle.urdf +0 -0
  120. {hex_zmq_servers-0.3.12 → hex_zmq_servers-0.3.13}/hex_zmq_servers/robot/robot_base.py +0 -0
  121. {hex_zmq_servers-0.3.12 → hex_zmq_servers-0.3.13}/hex_zmq_servers/zmq_base.py +0 -0
  122. {hex_zmq_servers-0.3.12 → hex_zmq_servers-0.3.13}/hex_zmq_servers.egg-info/dependency_links.txt +0 -0
  123. {hex_zmq_servers-0.3.12 → hex_zmq_servers-0.3.13}/hex_zmq_servers.egg-info/requires.txt +0 -0
  124. {hex_zmq_servers-0.3.12 → hex_zmq_servers-0.3.13}/hex_zmq_servers.egg-info/top_level.txt +0 -0
  125. {hex_zmq_servers-0.3.12 → hex_zmq_servers-0.3.13}/setup.cfg +0 -0
{hex_zmq_servers-0.3.12/hex_zmq_servers.egg-info → hex_zmq_servers-0.3.13}/PKG-INFO RENAMED
@@ -1,6 +1,6 @@
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  Metadata-Version: 2.4
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  Name: hex_zmq_servers
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- Version: 0.3.12
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+ Version: 0.3.13
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  Summary: HEXFELLOW ZMQ Servers
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  Author-email: Dong Zhaorui <joray.dong@hexfellow.com>
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  Maintainer-email: jecjune <zejun.chen@hexfellow.com>, Dong Zhaorui <joray.dong@hexfellow.com>
hex_zmq_servers-0.3.13/hex_zmq_servers/mujoco/archer_y6/model/joint_class.xml ADDED
@@ -0,0 +1,23 @@
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+ <mujocoinclude>
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+ <default class="j1_class">
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+ <joint armature="0.01" damping="0.1" frictionloss="0.5"/>
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+ </default>
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+ <default class="j2_class">
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+ <joint armature="0.01" damping="0.1" frictionloss="0.5"/>
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+ </default>
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+ <default class="j3_class">
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+ <joint armature="0.01" damping="0.1" frictionloss="0.5"/>
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+ </default>
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+ <default class="j4_class">
12
+ <joint armature="0.01" damping="0.1" frictionloss="0.5"/>
13
+ </default>
14
+ <default class="j5_class">
15
+ <joint armature="0.01" damping="0.05" frictionloss="0.1"/>
16
+ </default>
17
+ <default class="j6_class">
18
+ <joint armature="0.01" damping="0.05" frictionloss="0.1"/>
19
+ </default>
20
+ <default class="jg_class">
21
+ <joint armature="0.01" damping="0.05" frictionloss="0.1"/>
22
+ </default>
23
+ </mujocoinclude>
hex_zmq_servers-0.3.13/hex_zmq_servers/mujoco/archer_y6/model/robot.xml ADDED
@@ -0,0 +1,98 @@
1
+ <mujocoinclude>
2
+ <body name="base_link">
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
+ <geom type="mesh" rgba="1 1 1 1" mesh="arm_base_link"/>
5
+
6
+ # link 1
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
+ <geom type="mesh" rgba="0.92549 0.92549 0.92549 1" mesh="arm_link_1"/>
11
+
12
+ # link 2
13
+ <body name="link_2" pos="0.02 0 0.045">
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
+ <geom type="mesh" rgba="1 1 1 1" mesh="arm_link_2"/>
17
+
18
+ # link 3
19
+ <body name="link_3" pos="0 0 0.264">
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
+ <geom type="mesh" rgba="1 1 1 1" mesh="arm_link_3"/>
23
+
24
+ # link 4
25
+ <body name="link_4" pos="-0.06 0 0.245">
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
+ <geom type="mesh" rgba="0.792157 0.792157 0.792157 1" mesh="arm_link_4"/>
29
+
30
+ # link 5
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
+ <geom type="mesh" rgba="0.898039 0.917647 0.929412 1" mesh="arm_link_5"/>
35
+
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"/>
40
+
41
+ <body name="gripper_base_link" pos="0.0 0.0 0.0" quat="0.707107 0 -0.707107 0 ">
42
+ <geom type="mesh" rgba="1 1 1 1" mesh="gripper_base_link"/>
43
+ <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" />
44
+ <camera name="end_camera" pos="0.066 0 0.105" quat="0.8660254 0.0 -0.5 0.0" fovy="50"/>
45
+
46
+ # ee frame
47
+ <body name="ee_frame" pos="0.1870 0.0 0.0" quat="1 0 0 0">
48
+ <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"/>
49
+ <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"/>
50
+ <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"/>
51
+ </body>
52
+
53
+ # gripper helper
54
+ <body name="gripper_left_helper_link" pos="0.057667 0.030604 2.5e-05">
55
+ <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"/>
56
+ <joint name="gripper_left_help_joint" class="jg_class" pos="0 0 0" axis="0 0 -1" range="0 1.52" limited="true" />
57
+ <geom type="mesh" rgba="1 1 1 1" mesh="gripper_left_helper_link"/>
58
+ </body>
59
+ <body name="gripper_right_helper_link" pos="0.057667 -0.030604 2.5e-05">
60
+ <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"/>
61
+ <joint name="gripper_right_help_joint" class="jg_class" pos="0 0 0" axis="0 0 1" range="0 1.52" limited="true" />
62
+ <geom type="mesh" rgba="1 1 1 1" mesh="gripper_right_helper_link"/>
63
+ </body>
64
+
65
+ # left gripper
66
+ <body name="gripper_left_link_1" pos="0.0721 0.014 2.5e-05">
67
+ <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"/>
68
+ <joint name="gripper_left_joint_1" class="jg_class" pos="0 0 0" axis="0 0 -1" range="0 1.52" limited="true" />
69
+ <geom type="mesh" rgba="1 1 1 1" mesh="gripper_left_link_1"/>
70
+
71
+ <body name="gripper_left_link_2" pos="0.0085108 0.04927 0">
72
+ <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"/>
73
+ <joint name="gripper_left_joint_2" class="jg_class" pos="0 0 0" axis="0 0 1" range="0 1.52" limited="true" />
74
+ <geom type="mesh" rgba="1 1 1 1" mesh="gripper_left_link_2"/>
75
+ </body>
76
+ </body>
77
+
78
+ # right gripper
79
+ <body name="gripper_right_link_1" pos="0.0721 -0.014 2.5e-05">
80
+ <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"/>
81
+ <joint name="gripper_right_joint_1" class="jg_class" pos="0 0 0" axis="0 0 1" range="0 1.52" limited="true" />
82
+ <geom type="mesh" rgba="1 1 1 1" mesh="gripper_right_link_1"/>
83
+
84
+ <body name="gripper_right_link_2" pos="0.0085108 -0.04927 0">
85
+ <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"/>
86
+ <joint name="gripper_right_joint_2" class="jg_class" pos="0 0 0" axis="0 0 -1" range="0 1.52" limited="true" />
87
+ <geom type="mesh" rgba="1 1 1 1" mesh="gripper_right_link_2"/>
88
+ </body>
89
+ </body>
90
+ </body>
91
+ </body>
92
+ </body>
93
+ </body>
94
+ </body>
95
+ </body>
96
+ </body>
97
+ </body>
98
+ </mujocoinclude>
{hex_zmq_servers-0.3.12 → hex_zmq_servers-0.3.13}/hex_zmq_servers/mujoco/archer_y6/model/scene.xml RENAMED
@@ -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-0.3.12 → hex_zmq_servers-0.3.13}/hex_zmq_servers/mujoco/archer_y6/model/setting.xml RENAMED
@@ -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-0.3.13/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"/>
4
+ </default>
5
+ <default class="j2_class">
6
+ <joint armature="0.01" damping="0.1" frictionloss="0.5"/>
7
+ </default>
8
+ <default class="j3_class">
9
+ <joint armature="0.01" damping="0.1" frictionloss="0.5"/>
10
+ </default>
11
+ <default class="j4_class">
12
+ <joint armature="0.01" damping="0.1" frictionloss="0.5"/>
13
+ </default>
14
+ <default class="j5_class">
15
+ <joint armature="0.01" damping="0.05" frictionloss="0.1"/>
16
+ </default>
17
+ <default class="j6_class">
18
+ <joint armature="0.01" damping="0.05" frictionloss="0.1"/>
19
+ </default>
20
+ <default class="jg_class">
21
+ <joint armature="0.01" damping="0.05" frictionloss="0.1"/>
22
+ </default>
23
+ </mujocoinclude>
hex_zmq_servers-0.3.13/hex_zmq_servers/mujoco/e3_desktop/model/robot.xml ADDED
@@ -0,0 +1,196 @@
1
+ <mujocoinclude>
2
+ <body name="base_link">
3
+ <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"/>
4
+ <geom type="mesh" rgba="1 1 1 1" mesh="e3_desktop_base_link" contype="0" conaffinity="0" />
5
+ <geom pos="0.0185 0.3 0.14502" quat="1 0 0 0" type="mesh" rgba="1 1 1 1" mesh="arm_base_link"/>
6
+ <geom pos="0.0185 -0.3 0.14502" quat="1 0 0 0" type="mesh" rgba="1 1 1 1" mesh="arm_base_link"/>
7
+ <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" />
8
+ <camera name="head_camera" pos="0.084 0 0.52075" quat="0.6532815 0.2705981 -0.2705981 -0.6532815" fovy="70"/>
9
+
10
+ # left link 1
11
+ <body name="left_link_1" pos="0.0185 0.3 0.21157">
12
+ <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"/>
13
+ <joint name="left_joint_1" class="j1_class" pos="0 0 0" axis="0 0 1" range="-2.91 2.91" limited="true"/>
14
+ <geom type="mesh" rgba="0.92549 0.92549 0.92549 1" mesh="arm_link_1"/>
15
+
16
+ # left link 2
17
+ <body name="left_link_2" pos="0.02 0 0.045">
18
+ <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"/>
19
+ <joint name="left_joint_2" class="j2_class" pos="0 0 0" axis="0 1 0" range="-1.57 2.09" limited="true"/>
20
+ <geom type="mesh" rgba="1 1 1 1" mesh="arm_link_2"/>
21
+
22
+ # left link 3
23
+ <body name="left_link_3" pos="0 0 0.264">
24
+ <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"/>
25
+ <joint name="left_joint_3" class="j3_class" pos="0 0 0" axis="0 1 0" range="0 3.14" limited="true"/>
26
+ <geom type="mesh" rgba="1 1 1 1" mesh="arm_link_3"/>
27
+
28
+ # left link 4
29
+ <body name="left_link_4" pos="-0.06 0 0.245">
30
+ <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"/>
31
+ <joint name="left_joint_4" class="j4_class" pos="0 0 0" axis="0 1 0" range="-1.57 1.57" limited="true"/>
32
+ <geom type="mesh" rgba="0.792157 0.792157 0.792157 1" mesh="arm_link_4"/>
33
+
34
+ # left link 5
35
+ <body name="left_link_5" pos="-0.0553 0 0.0702">
36
+ <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"/>
37
+ <joint name="left_joint_5" class="j5_class" pos="0 0 0" axis="-1 0 0" range="-1.57 1.57" limited="true"/>
38
+ <geom type="mesh" rgba="0.898039 0.917647 0.929412 1" mesh="arm_link_5"/>
39
+
40
+ # left link 6
41
+ <body name="left_link_6" pos="0.0552 0 0.02895" quat="0.707107 0.0 -0.707107 0.0">
42
+ <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"/>
43
+ <joint name="left_joint_6" class="j6_class" pos="0 0 0" axis="1 0 0" range="-2.96 2.96" limited="true"/>
44
+
45
+ # left gripper base link
46
+ <body name="left_gripper_base_link" pos="0.0 0.0 0.0" quat="0.707107 0 -0.707107 0 ">
47
+ <geom type="mesh" rgba="1 1 1 1" mesh="gripper_base_link"/>
48
+ <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" />
49
+ <camera name="left_camera" pos="0.066 0 0.105" quat="0.8660254 0.0 -0.5 0.0" fovy="50"/>
50
+
51
+ # ee frame
52
+ <body name="left_ee_frame" pos="0.1870 0.0 0.0" quat="1 0 0 0">
53
+ <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"/>
54
+ <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"/>
55
+ <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"/>
56
+ </body>
57
+
58
+ # gripper helper
59
+ <body name="left_gripper_left_helper_link" pos="0.057667 0.030604 2.5e-05">
60
+ <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"/>
61
+ <joint name="left_gripper_left_help_joint" class="jg_class" pos="0 0 0" axis="0 0 -1" range="0 1.52" limited="true" />
62
+ <geom type="mesh" rgba="1 1 1 1" mesh="gripper_left_helper_link"/>
63
+ </body>
64
+ <body name="left_gripper_right_helper_link" pos="0.057667 -0.030604 2.5e-05">
65
+ <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"/>
66
+ <joint name="left_gripper_right_help_joint" class="jg_class" pos="0 0 0" axis="0 0 1" range="0 1.52" limited="true" />
67
+ <geom type="mesh" rgba="1 1 1 1" mesh="gripper_right_helper_link"/>
68
+ </body>
69
+
70
+ # left gripper
71
+ <body name="left_gripper_left_link_1" pos="0.0721 0.014 2.5e-05">
72
+ <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"/>
73
+ <joint name="left_gripper_left_joint_1" class="jg_class" pos="0 0 0" axis="0 0 -1" range="0 1.52" limited="true" />
74
+ <geom type="mesh" rgba="1 1 1 1" mesh="gripper_left_link_1"/>
75
+
76
+ <body name="left_gripper_left_link_2" pos="0.0085108 0.04927 0">
77
+ <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"/>
78
+ <joint name="left_gripper_left_joint_2" class="jg_class" pos="0 0 0" axis="0 0 1" range="0 1.52" limited="true" />
79
+ <geom type="mesh" rgba="1 1 1 1" mesh="gripper_left_link_2"/>
80
+ </body>
81
+ </body>
82
+
83
+ # right gripper
84
+ <body name="left_gripper_right_link_1" pos="0.0721 -0.014 2.5e-05">
85
+ <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"/>
86
+ <joint name="left_gripper_right_joint_1" class="jg_class" pos="0 0 0" axis="0 0 1" range="0 1.52" limited="true" />
87
+ <geom type="mesh" rgba="1 1 1 1" mesh="gripper_right_link_1"/>
88
+
89
+ <body name="left_gripper_right_link_2" pos="0.0085108 -0.04927 0">
90
+ <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"/>
91
+ <joint name="left_gripper_right_joint_2" class="jg_class" pos="0 0 0" axis="0 0 -1" range="0 1.52" limited="true" />
92
+ <geom type="mesh" rgba="1 1 1 1" mesh="gripper_right_link_2"/>
93
+ </body>
94
+ </body>
95
+ </body>
96
+ </body>
97
+ </body>
98
+ </body>
99
+ </body>
100
+ </body>
101
+ </body>
102
+
103
+ # right link 1
104
+ <body name="right_link_1" pos="0.0185 -0.3 0.21157">
105
+ <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"/>
106
+ <joint name="right_joint_1" class="j1_class" pos="0 0 0" axis="0 0 1" range="-2.91 2.91" limited="true"/>
107
+ <geom type="mesh" rgba="0.92549 0.92549 0.92549 1" mesh="arm_link_1"/>
108
+
109
+ # right link 2
110
+ <body name="right_link_2" pos="0.02 0 0.045">
111
+ <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"/>
112
+ <joint name="right_joint_2" class="j2_class" pos="0 0 0" axis="0 1 0" range="-1.57 2.09" limited="true"/>
113
+ <geom type="mesh" rgba="1 1 1 1" mesh="arm_link_2"/>
114
+
115
+ # right link 3
116
+ <body name="right_link_3" pos="0 0 0.264">
117
+ <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"/>
118
+ <joint name="right_joint_3" class="j3_class" pos="0 0 0" axis="0 1 0" range="0 3.14" limited="true"/>
119
+ <geom type="mesh" rgba="1 1 1 1" mesh="arm_link_3"/>
120
+
121
+ # right link 4
122
+ <body name="right_link_4" pos="-0.06 0 0.245">
123
+ <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"/>
124
+ <joint name="right_joint_4" class="j4_class" pos="0 0 0" axis="0 1 0" range="-1.57 1.57" limited="true"/>
125
+ <geom type="mesh" rgba="0.792157 0.792157 0.792157 1" mesh="arm_link_4"/>
126
+
127
+ # right link 5
128
+ <body name="right_link_5" pos="-0.0553 0 0.0702">
129
+ <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"/>
130
+ <joint name="right_joint_5" class="j5_class" pos="0 0 0" axis="-1 0 0" range="-1.57 1.57" limited="true"/>
131
+ <geom type="mesh" rgba="0.898039 0.917647 0.929412 1" mesh="arm_link_5"/>
132
+
133
+ # right link 6
134
+ <body name="right_link_6" pos="0.0552 0 0.02895" quat="0.707107 0.0 -0.707107 0.0">
135
+ <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"/>
136
+ <joint name="right_joint_6" class="j6_class" pos="0 0 0" axis="1 0 0" range="-2.96 2.96" limited="true"/>
137
+
138
+ # right gripper base link
139
+ <body name="right_gripper_base_link" pos="0.0 0.0 0.0" quat="0.707107 0 -0.707107 0 ">
140
+ <geom type="mesh" rgba="1 1 1 1" mesh="gripper_base_link"/>
141
+ <geom pos="0.04 0 0.12" quat="0.6830127 0.6830127 0.1830127 -0.1830127" type="mesh" rgba="0.1 0.1 0.1 1" mesh="camera_link" />
142
+ <camera name="right_camera" pos="0.066 0 0.105" quat="0.8660254 0.0 -0.5 0.0" fovy="50"/>
143
+
144
+ # ee frame
145
+ <body name="right_ee_frame" pos="0.1870 0.0 0.0" quat="1 0 0 0">
146
+ <geom type="cylinder" size="0.002 0.01" pos="0.01 0.00 0.00" quat="0.7071068 0.0000000 0.7071068 0.0000000" rgba="1 0 0 1" contype="0" conaffinity="0" group="4"/>
147
+ <geom type="cylinder" size="0.002 0.01" pos="0.00 0.01 0.00" quat="0.7071068 0.7071068 0.0000000 0.0000000" rgba="0 1 0 1" contype="0" conaffinity="0" group="4"/>
148
+ <geom type="cylinder" size="0.002 0.01" pos="0.00 0.00 0.01" quat="1.0000000 0.0000000 0.0000000 0.0000000" rgba="0 0 1 1" contype="0" conaffinity="0" group="4"/>
149
+ </body>
150
+
151
+ # gripper helper
152
+ <body name="right_gripper_left_helper_link" pos="0.057667 0.030604 2.5e-05">
153
+ <inertial pos="0.00299357 0.0232625 -5e-05" quat="0.996724 0 0 0.0808839" mass="1e-6" diaginertia="2.74798e-06 1.47567e-06 1.34732e-06"/>
154
+ <joint name="right_gripper_left_help_joint" class="jg_class" pos="0 0 0" axis="0 0 -1" range="0 1.52" limited="true" />
155
+ <geom type="mesh" rgba="1 1 1 1" mesh="gripper_left_helper_link"/>
156
+ </body>
157
+ <body name="right_gripper_right_helper_link" pos="0.057667 -0.030604 2.5e-05">
158
+ <inertial pos="0.00299357 -0.0232625 -5e-05" quat="0.996724 0 0 -0.0808839" mass="1e-6" diaginertia="2.74798e-06 1.47567e-06 1.34732e-06"/>
159
+ <joint name="right_gripper_right_help_joint" class="jg_class" pos="0 0 0" axis="0 0 1" range="0 1.52" limited="true" />
160
+ <geom type="mesh" rgba="1 1 1 1" mesh="gripper_right_helper_link"/>
161
+ </body>
162
+
163
+ # left gripper
164
+ <body name="right_gripper_left_link_1" pos="0.0721 0.014 2.5e-05">
165
+ <inertial pos="0.00299357 0.0232625 -5e-05" quat="0.996724 0 0 0.0808839" mass="1e-6" diaginertia="2.74798e-06 1.47567e-06 1.34732e-06"/>
166
+ <joint name="right_gripper_left_joint_1" class="jg_class" pos="0 0 0" axis="0 0 -1" range="0 1.52" limited="true" />
167
+ <geom type="mesh" rgba="1 1 1 1" mesh="gripper_left_link_1"/>
168
+
169
+ <body name="right_gripper_left_link_2" pos="0.0085108 0.04927 0">
170
+ <inertial pos="0.0255016 0.00914642 -0.00175617" quat="0.424541 0.412629 0.571518 0.568216" mass="1e-6" diaginertia="1.36949e-05 1.35554e-05 3.4264e-06"/>
171
+ <joint name="right_gripper_left_joint_2" class="jg_class" pos="0 0 0" axis="0 0 1" range="0 1.52" limited="true" />
172
+ <geom type="mesh" rgba="1 1 1 1" mesh="gripper_left_link_2"/>
173
+ </body>
174
+ </body>
175
+
176
+ # right gripper
177
+ <body name="right_gripper_right_link_1" pos="0.0721 -0.014 2.5e-05">
178
+ <inertial pos="0.00299357 -0.0232625 -5e-05" quat="0.996724 0 0 -0.0808839" mass="1e-6" diaginertia="2.74798e-06 1.47567e-06 1.34732e-06"/>
179
+ <joint name="right_gripper_right_joint_1" class="jg_class" pos="0 0 0" axis="0 0 1" range="0 1.52" limited="true" />
180
+ <geom type="mesh" rgba="1 1 1 1" mesh="gripper_right_link_1"/>
181
+
182
+ <body name="right_gripper_right_link_2" pos="0.0085108 -0.04927 0">
183
+ <inertial pos="0.0255016 -0.00914642 -0.00175616" quat="0.568212 0.571522 0.412623 0.424547" mass="1e-6" diaginertia="1.36948e-05 1.35553e-05 3.4264e-06"/>
184
+ <joint name="right_gripper_right_joint_2" class="jg_class" pos="0 0 0" axis="0 0 -1" range="0 1.52" limited="true" />
185
+ <geom type="mesh" rgba="1 1 1 1" mesh="gripper_right_link_2"/>
186
+ </body>
187
+ </body>
188
+ </body>
189
+ </body>
190
+ </body>
191
+ </body>
192
+ </body>
193
+ </body>
194
+ </body>
195
+ </body>
196
+ </mujocoinclude>
{hex_zmq_servers-0.3.12 → hex_zmq_servers-0.3.13}/hex_zmq_servers/mujoco/e3_desktop/model/scene.xml RENAMED
@@ -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-0.3.12 → hex_zmq_servers-0.3.13}/hex_zmq_servers/mujoco/e3_desktop/model/setting.xml RENAMED
@@ -54,19 +54,19 @@
54
54
  <motor joint="left_joint_1" ctrlrange="-28 28" forcerange="-28 28"/>
55
55
  <motor joint="left_joint_2" ctrlrange="-28 28" forcerange="-28 28"/>
56
56
  <motor joint="left_joint_3" ctrlrange="-28 28" forcerange="-28 28"/>
57
- <motor joint="left_joint_4" ctrlrange="-10 10" forcerange="-10 10"/>
58
- <motor joint="left_joint_5" ctrlrange="-10 10" forcerange="-10 10"/>
59
- <motor joint="left_joint_6" ctrlrange="-10 10" forcerange="-10 10"/>
60
- <motor joint="left_gripper_left_joint_1" ctrlrange="-10 10" forcerange="-10 10"/>
57
+ <motor joint="left_joint_4" ctrlrange="-28 28" forcerange="-28 28"/>
58
+ <motor joint="left_joint_5" ctrlrange="-8 8" forcerange="-8 8"/>
59
+ <motor joint="left_joint_6" ctrlrange="-8 8" forcerange="-8 8"/>
60
+ <motor joint="left_gripper_left_joint_1" ctrlrange="-8 8" forcerange="-8 8"/>
61
61
 
62
62
  # right arm
63
63
  <motor joint="right_joint_1" ctrlrange="-28 28" forcerange="-28 28"/>
64
64
  <motor joint="right_joint_2" ctrlrange="-28 28" forcerange="-28 28"/>
65
65
  <motor joint="right_joint_3" ctrlrange="-28 28" forcerange="-28 28"/>
66
- <motor joint="right_joint_4" ctrlrange="-10 10" forcerange="-10 10"/>
67
- <motor joint="right_joint_5" ctrlrange="-10 10" forcerange="-10 10"/>
68
- <motor joint="right_joint_6" ctrlrange="-10 10" forcerange="-10 10"/>
69
- <motor joint="right_gripper_left_joint_1" ctrlrange="-10 10" forcerange="-10 10"/>
66
+ <motor joint="right_joint_4" ctrlrange="-28 28" forcerange="-28 28"/>
67
+ <motor joint="right_joint_5" ctrlrange="-8 8" forcerange="-8 8"/>
68
+ <motor joint="right_joint_6" ctrlrange="-8 8" forcerange="-8 8"/>
69
+ <motor joint="right_gripper_left_joint_1" ctrlrange="-8 8" forcerange="-8 8"/>
70
70
  </actuator>
71
71
 
72
72
  </mujocoinclude>
{hex_zmq_servers-0.3.12 → hex_zmq_servers-0.3.13}/hex_zmq_servers/robot/hexarm/__init__.py RENAMED
@@ -24,6 +24,16 @@ HEXARM_URDF_PATH_DICT = {
24
24
  f"{urdf_dir}/archer_y6/gp100_p050.urdf",
25
25
  "archer_y6_gp100_p050_handle":
26
26
  f"{urdf_dir}/archer_y6/gp100_p050_handle.urdf",
27
+ "archer_d6y_empty":
28
+ f"{urdf_dir}/archer_d6y/empty.urdf",
29
+ "archer_d6y_gp100":
30
+ f"{urdf_dir}/archer_d6y/gp100.urdf",
31
+ "archer_d6y_gp100_handle":
32
+ f"{urdf_dir}/archer_d6y/gp100_handle.urdf",
33
+ "archer_d6y_gp100_p050":
34
+ f"{urdf_dir}/archer_d6y/gp100_p050.urdf",
35
+ "archer_d6y_gp100_p050_handle":
36
+ f"{urdf_dir}/archer_d6y/gp100_p050_handle.urdf",
27
37
  "archer_l6y_empty":
28
38
  f"{urdf_dir}/archer_l6y/empty.urdf",
29
39
  "archer_l6y_gp100":
{hex_zmq_servers-0.3.12 → hex_zmq_servers-0.3.13}/hex_zmq_servers/robot/hexarm/robot_hexarm.py RENAMED
@@ -33,7 +33,8 @@ ROBOT_CONFIG = {
33
33
  }
34
34
 
35
35
  HEX_DEVICE_TYPE_DICT = {
36
- "archer_y6": 16,
36
+ "archer_y6": 25,
37
+ "archer_d6y": 16,
37
38
  "archer_l6y": 17,
38
39
  }
39
40
 
{hex_zmq_servers-0.3.12/hex_zmq_servers/robot/hexarm/urdf/archer_y6 → hex_zmq_servers-0.3.13/hex_zmq_servers/robot/hexarm/urdf/archer_d6y}/empty.urdf RENAMED
@@ -1,5 +1,5 @@
1
1
  <?xml version="1.0" encoding="utf-8"?>
2
- <robot name="archer_y6">
2
+ <robot name="archer_d6y">
3
3
 
4
4
  <link name="base_link">
5
5
  <inertial>
@@ -10,7 +10,7 @@
10
10
  <visual>
11
11
  <origin xyz="0 0 0" rpy="0 0 0" />
12
12
  <geometry>
13
- <mesh filename="package://xpkg_urdf_archer_y6/meshes/base_link.STL" />
13
+ <mesh filename="package://xpkg_urdf_archer_d6y/meshes/base_link.STL" />
14
14
  </geometry>
15
15
  <material name="">
16
16
  <color rgba="1 1 1 1" />
@@ -19,7 +19,7 @@
19
19
  <collision>
20
20
  <origin xyz="0 0 0" rpy="0 0 0" />
21
21
  <geometry>
22
- <mesh filename="package://xpkg_urdf_archer_y6/meshes/base_link.STL" />
22
+ <mesh filename="package://xpkg_urdf_archer_d6y/meshes/base_link.STL" />
23
23
  </geometry>
24
24
  </collision>
25
25
  </link>
@@ -33,7 +33,7 @@
33
33
  <visual>
34
34
  <origin xyz="0 0 0" rpy="0 0 0" />
35
35
  <geometry>
36
- <mesh filename="package://xpkg_urdf_archer_y6/meshes/link_1.STL" />
36
+ <mesh filename="package://xpkg_urdf_archer_d6y/meshes/link_1.STL" />
37
37
  </geometry>
38
38
  <material name="">
39
39
  <color rgba="1 1 1 1" />
@@ -42,7 +42,7 @@
42
42
  <collision>
43
43
  <origin xyz="0 0 0" rpy="0 0 0" />
44
44
  <geometry>
45
- <mesh filename="package://xpkg_urdf_archer_y6/meshes/link_1.STL" />
45
+ <mesh filename="package://xpkg_urdf_archer_d6y/meshes/link_1.STL" />
46
46
  </geometry>
47
47
  </collision>
48
48
  </link>
@@ -63,7 +63,7 @@
63
63
  <visual>
64
64
  <origin xyz="0 0 0" rpy="0 0 0" />
65
65
  <geometry>
66
- <mesh filename="package://xpkg_urdf_archer_y6/meshes/link_2.STL" />
66
+ <mesh filename="package://xpkg_urdf_archer_d6y/meshes/link_2.STL" />
67
67
  </geometry>
68
68
  <material name="">
69
69
  <color rgba="1 1 1 1" />
@@ -72,7 +72,7 @@
72
72
  <collision>
73
73
  <origin xyz="0 0 0" rpy="0 0 0" />
74
74
  <geometry>
75
- <mesh filename="package://xpkg_urdf_archer_y6/meshes/link_2.STL" />
75
+ <mesh filename="package://xpkg_urdf_archer_d6y/meshes/link_2.STL" />
76
76
  </geometry>
77
77
  </collision>
78
78
  </link>
@@ -93,7 +93,7 @@
93
93
  <visual>
94
94
  <origin xyz="0 0 0" rpy="0 0 0" />
95
95
  <geometry>
96
- <mesh filename="package://xpkg_urdf_archer_y6/meshes/link_3.STL" />
96
+ <mesh filename="package://xpkg_urdf_archer_d6y/meshes/link_3.STL" />
97
97
  </geometry>
98
98
  <material name="">
99
99
  <color rgba="1 1 1 1" />
@@ -102,7 +102,7 @@
102
102
  <collision>
103
103
  <origin xyz="0 0 0" rpy="0 0 0" />
104
104
  <geometry>
105
- <mesh filename="package://xpkg_urdf_archer_y6/meshes/link_3.STL" />
105
+ <mesh filename="package://xpkg_urdf_archer_d6y/meshes/link_3.STL" />
106
106
  </geometry>
107
107
  </collision>
108
108
  </link>
@@ -123,7 +123,7 @@
123
123
  <visual>
124
124
  <origin xyz="0 0 0" rpy="0 0 0" />
125
125
  <geometry>
126
- <mesh filename="package://xpkg_urdf_archer_y6/meshes/link_4.STL" />
126
+ <mesh filename="package://xpkg_urdf_archer_d6y/meshes/link_4.STL" />
127
127
  </geometry>
128
128
  <material name="">
129
129
  <color rgba="1 1 1 1" />
@@ -132,7 +132,7 @@
132
132
  <collision>
133
133
  <origin xyz="0 0 0" rpy="0 0 0" />
134
134
  <geometry>
135
- <mesh filename="package://xpkg_urdf_archer_y6/meshes/link_4.STL" />
135
+ <mesh filename="package://xpkg_urdf_archer_d6y/meshes/link_4.STL" />
136
136
  </geometry>
137
137
  </collision>
138
138
  </link>
@@ -153,7 +153,7 @@
153
153
  <visual>
154
154
  <origin xyz="0 0 0" rpy="0 0 0" />
155
155
  <geometry>
156
- <mesh filename="package://xpkg_urdf_archer_y6/meshes/link_5.STL" />
156
+ <mesh filename="package://xpkg_urdf_archer_d6y/meshes/link_5.STL" />
157
157
  </geometry>
158
158
  <material name="">
159
159
  <color rgba="1 1 1 1" />
@@ -162,7 +162,7 @@
162
162
  <collision>
163
163
  <origin xyz="0 0 0" rpy="0 0 0" />
164
164
  <geometry>
165
- <mesh filename="package://xpkg_urdf_archer_y6/meshes/link_5.STL" />
165
+ <mesh filename="package://xpkg_urdf_archer_d6y/meshes/link_5.STL" />
166
166
  </geometry>
167
167
  </collision>
168
168
  </link>
@@ -183,7 +183,7 @@
183
183
  <visual>
184
184
  <origin xyz="0 0 0" rpy="0 0 0" />
185
185
  <geometry>
186
- <mesh filename="package://xpkg_urdf_archer_y6/meshes/link_6.STL" />
186
+ <mesh filename="package://xpkg_urdf_archer_d6y/meshes/link_6.STL" />
187
187
  </geometry>
188
188
  <material name="">
189
189
  <color rgba="1 1 1 1" />
@@ -192,7 +192,7 @@
192
192
  <collision>
193
193
  <origin xyz="0 0 0" rpy="0 0 0" />
194
194
  <geometry>
195
- <mesh filename="package://xpkg_urdf_archer_y6/meshes/link_6.STL" />
195
+ <mesh filename="package://xpkg_urdf_archer_d6y/meshes/link_6.STL" />
196
196
  </geometry>
197
197
  </collision>
198
198
  </link>