hex-zmq-servers 0.3.14__py3-none-any.whl → 0.3.16__py3-none-any.whl

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Files changed (9) hide show
  1. hex_zmq_servers/mujoco/e3_desktop/model/robot.xml +4 -2
  2. hex_zmq_servers/robot/hexarm/__init__.py +2 -0
  3. hex_zmq_servers/robot/hexarm/robot_hexarm.py +1 -0
  4. hex_zmq_servers/robot/hexarm/urdf/firefly_y6/empty.urdf +207 -0
  5. {hex_zmq_servers-0.3.14.dist-info → hex_zmq_servers-0.3.16.dist-info}/METADATA +1 -1
  6. {hex_zmq_servers-0.3.14.dist-info → hex_zmq_servers-0.3.16.dist-info}/RECORD +9 -8
  7. {hex_zmq_servers-0.3.14.dist-info → hex_zmq_servers-0.3.16.dist-info}/WHEEL +0 -0
  8. {hex_zmq_servers-0.3.14.dist-info → hex_zmq_servers-0.3.16.dist-info}/licenses/LICENSE +0 -0
  9. {hex_zmq_servers-0.3.14.dist-info → hex_zmq_servers-0.3.16.dist-info}/top_level.txt +0 -0
hex_zmq_servers/mujoco/e3_desktop/model/robot.xml CHANGED
@@ -38,7 +38,7 @@
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  <geom type="mesh" rgba="0.898039 0.917647 0.929412 1" mesh="arm_link_5"/>
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  # left link 6
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- <body name="left_link_6" pos="0.0552 0 0.02895" quat="0.707107 0.0 -0.707107 0.0">
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+ <body name="left_link_6" pos="0.0552 0 0.02895">
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  <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"/>
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  <joint name="left_joint_6" class="j6_class" pos="0 0 0" axis="1 0 0" range="-2.96 2.96" limited="true"/>
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@@ -133,18 +133,20 @@
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  <geom type="mesh" rgba="0.898039 0.917647 0.929412 1" mesh="arm_link_5"/>
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  # right link 6
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- <body name="right_link_6" pos="0.0552 0 0.02895" quat="0.707107 0.0 -0.707107 0.0">
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+ <body name="right_link_6" pos="0.0552 0 0.02895">
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  <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"/>
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  <joint name="right_joint_6" class="j6_class" pos="0 0 0" axis="1 0 0" range="-2.96 2.96" limited="true"/>
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  # right gripper base link
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  <body name="right_gripper_base_link" pos="0.0 0.0 0.0" quat="0.707107 0 -0.707107 0 ">
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+ <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"/>
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  <geom type="mesh" rgba="1 1 1 1" mesh="gripper_base_link"/>
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  <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" />
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  <camera name="right_camera" pos="0.066 0 0.105" quat="0.8660254 0.0 -0.5 0.0" fovy="50"/>
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  # ee frame
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  <body name="right_ee_frame" pos="0.1870 0.0 0.0" quat="1 0 0 0">
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+ <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"/>
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  <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"/>
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  <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"/>
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  <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"/>
hex_zmq_servers/robot/hexarm/__init__.py CHANGED
@@ -44,6 +44,8 @@ HEXARM_URDF_PATH_DICT = {
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  f"{urdf_dir}/archer_l6y/gp100_p050.urdf",
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  "archer_l6y_gp100_p050_handle":
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  f"{urdf_dir}/archer_l6y/gp100_p050_handle.urdf",
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+ "firefly_y6_empty":
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+ f"{urdf_dir}/firefly_y6/empty.urdf",
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  }
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  __all__ = [
hex_zmq_servers/robot/hexarm/robot_hexarm.py CHANGED
@@ -36,6 +36,7 @@ HEX_DEVICE_TYPE_DICT = {
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  "archer_y6": 25,
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  "archer_d6y": 16,
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  "archer_l6y": 17,
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+ "firefly_y6": 27,
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  }
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hex_zmq_servers/robot/hexarm/urdf/firefly_y6/empty.urdf ADDED
@@ -0,0 +1,207 @@
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+ <?xml version="1.0" encoding="utf-8"?>
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+ <robot name="firefly_y6">
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+
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+ <link name="base_link">
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+ <inertial>
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+ <origin xyz="-0.00015122 -0.00000305 0.04925993" rpy="0 0 0" />
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+ <mass value="0.87430597" />
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+ <inertia ixx="0.0013187" ixy="0.00000009" ixz="-0.00000212" iyy="0.00133505" iyz="0.00000013" izz="0.0010065" />
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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_firefly_y6/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_firefly_y6/meshes/base_link.STL" />
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+ </geometry>
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+ </collision>
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+ </link>
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+
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+ <link name="link_1">
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+ <inertial>
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+ <origin xyz="0.00671535 -0.00275632 0.02393862" rpy="0 0 0" />
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+ <mass value="0.25449622" />
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+ <inertia ixx="0.00036700" ixy="0.00000933" ixz="-0.00004363" iyy="0.00022812" iyz="0.00001848" izz="0.00032440" />
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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_firefly_y6/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_firefly_y6/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 0.09505" 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="-2.86" upper="2.86" effort="6" velocity="6" />
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+ </joint>
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+
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+ <link name="link_2">
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+ <inertial>
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+ <origin xyz="-0.00065196 0.00050605 0.13439379" rpy="0 0 0" />
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+ <mass value="1.28270343" />
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+ <inertia ixx="0.01969749" ixy="-0.00000048" ixz="0.00002449" iyy="0.01949532" iyz="0.00000402" izz="0.00071320" />
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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_firefly_y6/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_firefly_y6/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 0.05" 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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+
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+ <link name="link_3">
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+ <inertial>
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+ <origin xyz="-0.05668605 -0.00287518 0.15455959" rpy="0 0 0" />
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+ <mass value="0.93588267" />
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+ <inertia ixx="0.00983649" ixy="0.00007803" ixz="0.00124619" iyy="0.00991413" iyz="-0.00026866" izz="0.00104920" />
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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_firefly_y6/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_firefly_y6/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 0.27" 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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+
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+ <link name="link_4">
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+ <inertial>
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+ <origin xyz="-0.05184192 -0.00200161 0.04855136" rpy="0 0 0" />
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+ <mass value="0.55059939" />
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+ <inertia ixx="0.00075566" ixy="0.00005198" ixz="0.00037393" iyy="0.00098159" iyz="-0.00004878" izz="0.00079856" />
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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_firefly_y6/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_firefly_y6/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="-0.065 0 0.25" 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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+
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+ <link name="link_5">
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+ <inertial>
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+ <origin xyz="0.04236212 -0.00000333 0.00771096" rpy="0 0 0" />
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+ <mass value="0.41052864" />
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+ <inertia ixx="0.0001862" ixy="-0.00000002" ixz="-0.00001795" iyy="0.00025554" iyz="-0.00000002" izz="0.0002374" />
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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_firefly_y6/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_firefly_y6/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="-0.047 0 0.065" 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="-1.54" upper="1.54" effort="6" velocity="6" />
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+ </joint>
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+
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+ <link name="link_6">
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+ <inertial>
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+ <origin xyz="-0.00048907 0 0.0034393" rpy="0 0 0" />
180
+ <mass value="0.0076012" />
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+ <inertia ixx="0.00000089" ixy="0" ixz="0" iyy="0.00000065" iyz="0" izz="0.00000143" />
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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_firefly_y6/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_firefly_y6/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="0.047 0 0.034" rpy="0 0 0" />
201
+ <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="-2.79" upper="2.79" effort="6" velocity="6" />
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+ </joint>
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+
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+ </robot>
{hex_zmq_servers-0.3.14.dist-info → hex_zmq_servers-0.3.16.dist-info}/METADATA RENAMED
@@ -1,6 +1,6 @@
1
1
  Metadata-Version: 2.4
2
2
  Name: hex_zmq_servers
3
- Version: 0.3.14
3
+ Version: 0.3.16
4
4
  Summary: HEXFELLOW ZMQ Servers
5
5
  Author-email: Dong Zhaorui <joray.dong@hexfellow.com>
6
6
  Maintainer-email: jecjune <zejun.chen@hexfellow.com>, Dong Zhaorui <joray.dong@hexfellow.com>
{hex_zmq_servers-0.3.14.dist-info → hex_zmq_servers-0.3.16.dist-info}/RECORD RENAMED
@@ -61,7 +61,7 @@ hex_zmq_servers/mujoco/e3_desktop/mujoco_e3_desktop.py,sha256=8Og4sHDh1q3s-bLLfN
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  hex_zmq_servers/mujoco/e3_desktop/mujoco_e3_desktop_cli.py,sha256=_TJAtGNc7Ka6Sm3xiIJeqJ9fiHRecNpwjCxTNzRPbBI,9414
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  hex_zmq_servers/mujoco/e3_desktop/mujoco_e3_desktop_srv.py,sha256=uHd0nE8igamBZHC9ouLKKSrg4NWusvk8dQ0HkTpe_OQ,9344
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  hex_zmq_servers/mujoco/e3_desktop/model/joint_class.xml,sha256=2VPHALLFrf2PLAiF6KLohigtx8sa757RmYHLgJ-QYFc,995
64
- hex_zmq_servers/mujoco/e3_desktop/model/robot.xml,sha256=9Od4xo21pJDWfp1aCTri7dgHcfgqP-JFYQjnY1nL1B8,17106
64
+ hex_zmq_servers/mujoco/e3_desktop/model/robot.xml,sha256=kTRk63hC8JXZ2C-DPOBPJTlt54JfwQFQYMQfYcOviI0,17294
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  hex_zmq_servers/mujoco/e3_desktop/model/scene.xml,sha256=DqThNaiPsA2yMw4ab1S6LuAMRwQil655YnkugZBzbgY,2294
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  hex_zmq_servers/mujoco/e3_desktop/model/setting.xml,sha256=E5rpqtfQMXFpOZ4AybVazx20JBQQotrSlyxn1-qUqWo,4448
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  hex_zmq_servers/mujoco/e3_desktop/model/assets/arm_base_link.STL,sha256=JUr1vVN2qyB05yAJHwEKXQ1zpZ4m7_Cw-LbVaC9_gEE,413584
@@ -91,8 +91,8 @@ hex_zmq_servers/robot/gello/__init__.py,sha256=7xSTc8ZB-bQODyEo6pzPz3ILZ1eAgVSsy
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  hex_zmq_servers/robot/gello/robot_gello.py,sha256=AwgMZcADtJR0NPjEYV4_p6v70RCFCwVgcT6ycE25Vts,13216
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  hex_zmq_servers/robot/gello/robot_gello_cli.py,sha256=1Ik9sDT8Xh2sXtqR46wbJCt7QhnhTKzJeCEzUiiFLtA,751
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  hex_zmq_servers/robot/gello/robot_gello_srv.py,sha256=5w95Rgt0p0vxaH2olX40V3h0CwVH8eEtx2U0iTO8cxM,2970
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- hex_zmq_servers/robot/hexarm/__init__.py,sha256=D5YGCikuOlryoK5_bkj97_J9aTgqvQh2k7veRNTADSw,1787
95
- hex_zmq_servers/robot/hexarm/robot_hexarm.py,sha256=QoGz-Ah-Ja0rPsvxCuw4kTdQFek2vXhUDqWwkb1M7Ew,10423
94
+ hex_zmq_servers/robot/hexarm/__init__.py,sha256=-smiJ_bEpmR6kH7GfqDXQzcmaGCpgyuskdl9Hm_trlI,1852
95
+ hex_zmq_servers/robot/hexarm/robot_hexarm.py,sha256=2mMBXWzMUHrUOqq2iYGbs5xszFx5uNuHkvLAspZ5Ues,10445
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  hex_zmq_servers/robot/hexarm/robot_hexarm_cli.py,sha256=QbFiZFHnmyu5Wfwzj2fMRGqLdXBrS2HcpTGnG-BH_D8,904
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  hex_zmq_servers/robot/hexarm/robot_hexarm_srv.py,sha256=nSB-SuVmBT6v24xajtSyQ9APU9-a0HqiYxSLel9KOs0,2889
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  hex_zmq_servers/robot/hexarm/urdf/archer_d6y/empty.urdf,sha256=3qrJq2dQ77k2iz_N2hZQwudvqPsLR_-JUAeCE3M7twQ,7451
@@ -110,8 +110,9 @@ hex_zmq_servers/robot/hexarm/urdf/archer_y6/gp100.urdf,sha256=USKT9B5GwvgKcwfZEX
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  hex_zmq_servers/robot/hexarm/urdf/archer_y6/gp100_handle.urdf,sha256=sKZRz97fnz00GMYQTyjv-LYUkfYoRKUbW6TRaTDA_Vc,7447
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  hex_zmq_servers/robot/hexarm/urdf/archer_y6/gp100_p050.urdf,sha256=Ayq0xhf8euYWD83hv-Wa2-D0LyOqFrVj-N6W1X1GEHo,7448
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  hex_zmq_servers/robot/hexarm/urdf/archer_y6/gp100_p050_handle.urdf,sha256=UjeDE7bZgUMPGJlHOJMJofcEjQ2BRkShCUomxhKUPk0,7445
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- hex_zmq_servers-0.3.14.dist-info/licenses/LICENSE,sha256=QwcOLU5TJoTeUhuIXzhdCEEDDvorGiC6-3YTOl4TecE,11356
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- hex_zmq_servers-0.3.14.dist-info/METADATA,sha256=5Q3zYVjgMHb071j_0qBrOLg4VdxlcndlSBTzZNBPPr8,4751
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- hex_zmq_servers-0.3.14.dist-info/WHEEL,sha256=_zCd3N1l69ArxyTb8rzEoP9TpbYXkqRFSNOD5OuxnTs,91
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- hex_zmq_servers-0.3.14.dist-info/top_level.txt,sha256=lPH1DfgMrQOe0Grh8zSZopf6LmnLvb_aStVmZ41PyAg,16
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- hex_zmq_servers-0.3.14.dist-info/RECORD,,
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+ hex_zmq_servers/robot/hexarm/urdf/firefly_y6/empty.urdf,sha256=OWNmNHVNP0PvYY8s3jvrNBFAiMEYs3Zxr9NnV1APd8g,7601
114
+ hex_zmq_servers-0.3.16.dist-info/licenses/LICENSE,sha256=QwcOLU5TJoTeUhuIXzhdCEEDDvorGiC6-3YTOl4TecE,11356
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+ hex_zmq_servers-0.3.16.dist-info/METADATA,sha256=yDUcFn5IzzUmcoSUR-BHxRrzvQdy6gejXP4r-TacO_s,4751
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+ hex_zmq_servers-0.3.16.dist-info/WHEEL,sha256=_zCd3N1l69ArxyTb8rzEoP9TpbYXkqRFSNOD5OuxnTs,91
117
+ hex_zmq_servers-0.3.16.dist-info/top_level.txt,sha256=lPH1DfgMrQOe0Grh8zSZopf6LmnLvb_aStVmZ41PyAg,16
118
+ hex_zmq_servers-0.3.16.dist-info/RECORD,,