hex-zmq-servers 0.3.14__tar.gz → 0.3.16__tar.gz

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Files changed (124) hide show
  1. {hex_zmq_servers-0.3.14/hex_zmq_servers.egg-info → hex_zmq_servers-0.3.16}/PKG-INFO +1 -1
  2. {hex_zmq_servers-0.3.14 → hex_zmq_servers-0.3.16}/hex_zmq_servers/mujoco/e3_desktop/model/robot.xml +4 -2
  3. {hex_zmq_servers-0.3.14 → hex_zmq_servers-0.3.16}/hex_zmq_servers/robot/hexarm/__init__.py +2 -0
  4. {hex_zmq_servers-0.3.14 → hex_zmq_servers-0.3.16}/hex_zmq_servers/robot/hexarm/robot_hexarm.py +1 -0
  5. hex_zmq_servers-0.3.16/hex_zmq_servers/robot/hexarm/urdf/firefly_y6/empty.urdf +207 -0
  6. {hex_zmq_servers-0.3.14 → hex_zmq_servers-0.3.16/hex_zmq_servers.egg-info}/PKG-INFO +1 -1
  7. {hex_zmq_servers-0.3.14 → hex_zmq_servers-0.3.16}/hex_zmq_servers.egg-info/SOURCES.txt +2 -1
  8. {hex_zmq_servers-0.3.14 → hex_zmq_servers-0.3.16}/pyproject.toml +1 -1
  9. {hex_zmq_servers-0.3.14 → hex_zmq_servers-0.3.16}/LICENSE +0 -0
  10. {hex_zmq_servers-0.3.14 → hex_zmq_servers-0.3.16}/MANIFEST.in +0 -0
  11. {hex_zmq_servers-0.3.14 → hex_zmq_servers-0.3.16}/README.md +0 -0
  12. {hex_zmq_servers-0.3.14 → hex_zmq_servers-0.3.16}/hex_zmq_servers/__init__.py +0 -0
  13. {hex_zmq_servers-0.3.14 → hex_zmq_servers-0.3.16}/hex_zmq_servers/cam/__init__.py +0 -0
  14. {hex_zmq_servers-0.3.14 → hex_zmq_servers-0.3.16}/hex_zmq_servers/cam/berxel/__init__.py +0 -0
  15. {hex_zmq_servers-0.3.14 → hex_zmq_servers-0.3.16}/hex_zmq_servers/cam/berxel/cam_berxel.py +0 -0
  16. {hex_zmq_servers-0.3.14 → hex_zmq_servers-0.3.16}/hex_zmq_servers/cam/berxel/cam_berxel_cli.py +0 -0
  17. {hex_zmq_servers-0.3.14 → hex_zmq_servers-0.3.16}/hex_zmq_servers/cam/berxel/cam_berxel_srv.py +0 -0
  18. {hex_zmq_servers-0.3.14 → hex_zmq_servers-0.3.16}/hex_zmq_servers/cam/cam_base.py +0 -0
  19. {hex_zmq_servers-0.3.14 → hex_zmq_servers-0.3.16}/hex_zmq_servers/cam/dummy/__init__.py +0 -0
  20. {hex_zmq_servers-0.3.14 → hex_zmq_servers-0.3.16}/hex_zmq_servers/cam/dummy/cam_dummy.py +0 -0
  21. {hex_zmq_servers-0.3.14 → hex_zmq_servers-0.3.16}/hex_zmq_servers/cam/dummy/cam_dummy_cli.py +0 -0
  22. {hex_zmq_servers-0.3.14 → hex_zmq_servers-0.3.16}/hex_zmq_servers/cam/dummy/cam_dummy_srv.py +0 -0
  23. {hex_zmq_servers-0.3.14 → hex_zmq_servers-0.3.16}/hex_zmq_servers/cam/realsense/__init__.py +0 -0
  24. {hex_zmq_servers-0.3.14 → hex_zmq_servers-0.3.16}/hex_zmq_servers/cam/realsense/cam_realsense.py +0 -0
  25. {hex_zmq_servers-0.3.14 → hex_zmq_servers-0.3.16}/hex_zmq_servers/cam/realsense/cam_realsense_cli.py +0 -0
  26. {hex_zmq_servers-0.3.14 → hex_zmq_servers-0.3.16}/hex_zmq_servers/cam/realsense/cam_realsense_srv.py +0 -0
  27. {hex_zmq_servers-0.3.14 → hex_zmq_servers-0.3.16}/hex_zmq_servers/cam/rgb/__init__.py +0 -0
  28. {hex_zmq_servers-0.3.14 → hex_zmq_servers-0.3.16}/hex_zmq_servers/cam/rgb/cam_rgb.py +0 -0
  29. {hex_zmq_servers-0.3.14 → hex_zmq_servers-0.3.16}/hex_zmq_servers/cam/rgb/cam_rgb_cli.py +0 -0
  30. {hex_zmq_servers-0.3.14 → hex_zmq_servers-0.3.16}/hex_zmq_servers/cam/rgb/cam_rgb_srv.py +0 -0
  31. {hex_zmq_servers-0.3.14 → hex_zmq_servers-0.3.16}/hex_zmq_servers/config/cam_berxel.json +0 -0
  32. {hex_zmq_servers-0.3.14 → hex_zmq_servers-0.3.16}/hex_zmq_servers/config/cam_dummy.json +0 -0
  33. {hex_zmq_servers-0.3.14 → hex_zmq_servers-0.3.16}/hex_zmq_servers/config/cam_realsense.json +0 -0
  34. {hex_zmq_servers-0.3.14 → hex_zmq_servers-0.3.16}/hex_zmq_servers/config/cam_rgb.json +0 -0
  35. {hex_zmq_servers-0.3.14 → hex_zmq_servers-0.3.16}/hex_zmq_servers/config/mujoco_archer_y6.json +0 -0
  36. {hex_zmq_servers-0.3.14 → hex_zmq_servers-0.3.16}/hex_zmq_servers/config/mujoco_e3_desktop.json +0 -0
  37. {hex_zmq_servers-0.3.14 → hex_zmq_servers-0.3.16}/hex_zmq_servers/config/robot_dummy.json +0 -0
  38. {hex_zmq_servers-0.3.14 → hex_zmq_servers-0.3.16}/hex_zmq_servers/config/robot_gello.json +0 -0
  39. {hex_zmq_servers-0.3.14 → hex_zmq_servers-0.3.16}/hex_zmq_servers/config/robot_hexarm.json +0 -0
  40. {hex_zmq_servers-0.3.14 → hex_zmq_servers-0.3.16}/hex_zmq_servers/config/zmq_dummy.json +0 -0
  41. {hex_zmq_servers-0.3.14 → hex_zmq_servers-0.3.16}/hex_zmq_servers/device_base.py +0 -0
  42. {hex_zmq_servers-0.3.14 → hex_zmq_servers-0.3.16}/hex_zmq_servers/hex_launch.py +0 -0
  43. {hex_zmq_servers-0.3.14 → hex_zmq_servers-0.3.16}/hex_zmq_servers/mujoco/__init__.py +0 -0
  44. {hex_zmq_servers-0.3.14 → hex_zmq_servers-0.3.16}/hex_zmq_servers/mujoco/archer_y6/__init__.py +0 -0
  45. {hex_zmq_servers-0.3.14 → hex_zmq_servers-0.3.16}/hex_zmq_servers/mujoco/archer_y6/model/assets/arm_base_link.STL +0 -0
  46. {hex_zmq_servers-0.3.14 → hex_zmq_servers-0.3.16}/hex_zmq_servers/mujoco/archer_y6/model/assets/arm_link_1.STL +0 -0
  47. {hex_zmq_servers-0.3.14 → hex_zmq_servers-0.3.16}/hex_zmq_servers/mujoco/archer_y6/model/assets/arm_link_2.STL +0 -0
  48. {hex_zmq_servers-0.3.14 → hex_zmq_servers-0.3.16}/hex_zmq_servers/mujoco/archer_y6/model/assets/arm_link_3.STL +0 -0
  49. {hex_zmq_servers-0.3.14 → hex_zmq_servers-0.3.16}/hex_zmq_servers/mujoco/archer_y6/model/assets/arm_link_4.STL +0 -0
  50. {hex_zmq_servers-0.3.14 → hex_zmq_servers-0.3.16}/hex_zmq_servers/mujoco/archer_y6/model/assets/arm_link_5.STL +0 -0
  51. {hex_zmq_servers-0.3.14 → hex_zmq_servers-0.3.16}/hex_zmq_servers/mujoco/archer_y6/model/assets/assets.xml +0 -0
  52. {hex_zmq_servers-0.3.14 → hex_zmq_servers-0.3.16}/hex_zmq_servers/mujoco/archer_y6/model/assets/camera_link.STL +0 -0
  53. {hex_zmq_servers-0.3.14 → hex_zmq_servers-0.3.16}/hex_zmq_servers/mujoco/archer_y6/model/assets/gripper_base_link.STL +0 -0
  54. {hex_zmq_servers-0.3.14 → hex_zmq_servers-0.3.16}/hex_zmq_servers/mujoco/archer_y6/model/assets/gripper_left_helper_link.STL +0 -0
  55. {hex_zmq_servers-0.3.14 → hex_zmq_servers-0.3.16}/hex_zmq_servers/mujoco/archer_y6/model/assets/gripper_left_link_1.STL +0 -0
  56. {hex_zmq_servers-0.3.14 → hex_zmq_servers-0.3.16}/hex_zmq_servers/mujoco/archer_y6/model/assets/gripper_left_link_2.STL +0 -0
  57. {hex_zmq_servers-0.3.14 → hex_zmq_servers-0.3.16}/hex_zmq_servers/mujoco/archer_y6/model/assets/gripper_right_helper_link.STL +0 -0
  58. {hex_zmq_servers-0.3.14 → hex_zmq_servers-0.3.16}/hex_zmq_servers/mujoco/archer_y6/model/assets/gripper_right_link_1.STL +0 -0
  59. {hex_zmq_servers-0.3.14 → hex_zmq_servers-0.3.16}/hex_zmq_servers/mujoco/archer_y6/model/assets/gripper_right_link_2.STL +0 -0
  60. {hex_zmq_servers-0.3.14 → hex_zmq_servers-0.3.16}/hex_zmq_servers/mujoco/archer_y6/model/assets/table_link.STL +0 -0
  61. {hex_zmq_servers-0.3.14 → hex_zmq_servers-0.3.16}/hex_zmq_servers/mujoco/archer_y6/model/joint_class.xml +0 -0
  62. {hex_zmq_servers-0.3.14 → hex_zmq_servers-0.3.16}/hex_zmq_servers/mujoco/archer_y6/model/robot.xml +0 -0
  63. {hex_zmq_servers-0.3.14 → hex_zmq_servers-0.3.16}/hex_zmq_servers/mujoco/archer_y6/model/scene.xml +0 -0
  64. {hex_zmq_servers-0.3.14 → hex_zmq_servers-0.3.16}/hex_zmq_servers/mujoco/archer_y6/model/setting.xml +0 -0
  65. {hex_zmq_servers-0.3.14 → hex_zmq_servers-0.3.16}/hex_zmq_servers/mujoco/archer_y6/mujoco_archer_y6.py +0 -0
  66. {hex_zmq_servers-0.3.14 → hex_zmq_servers-0.3.16}/hex_zmq_servers/mujoco/archer_y6/mujoco_archer_y6_cli.py +0 -0
  67. {hex_zmq_servers-0.3.14 → hex_zmq_servers-0.3.16}/hex_zmq_servers/mujoco/archer_y6/mujoco_archer_y6_srv.py +0 -0
  68. {hex_zmq_servers-0.3.14 → hex_zmq_servers-0.3.16}/hex_zmq_servers/mujoco/e3_desktop/__init__.py +0 -0
  69. {hex_zmq_servers-0.3.14 → hex_zmq_servers-0.3.16}/hex_zmq_servers/mujoco/e3_desktop/model/assets/arm_base_link.STL +0 -0
  70. {hex_zmq_servers-0.3.14 → hex_zmq_servers-0.3.16}/hex_zmq_servers/mujoco/e3_desktop/model/assets/arm_link_1.STL +0 -0
  71. {hex_zmq_servers-0.3.14 → hex_zmq_servers-0.3.16}/hex_zmq_servers/mujoco/e3_desktop/model/assets/arm_link_2.STL +0 -0
  72. {hex_zmq_servers-0.3.14 → hex_zmq_servers-0.3.16}/hex_zmq_servers/mujoco/e3_desktop/model/assets/arm_link_3.STL +0 -0
  73. {hex_zmq_servers-0.3.14 → hex_zmq_servers-0.3.16}/hex_zmq_servers/mujoco/e3_desktop/model/assets/arm_link_4.STL +0 -0
  74. {hex_zmq_servers-0.3.14 → hex_zmq_servers-0.3.16}/hex_zmq_servers/mujoco/e3_desktop/model/assets/arm_link_5.STL +0 -0
  75. {hex_zmq_servers-0.3.14 → hex_zmq_servers-0.3.16}/hex_zmq_servers/mujoco/e3_desktop/model/assets/assets.xml +0 -0
  76. {hex_zmq_servers-0.3.14 → hex_zmq_servers-0.3.16}/hex_zmq_servers/mujoco/e3_desktop/model/assets/camera_link.STL +0 -0
  77. {hex_zmq_servers-0.3.14 → hex_zmq_servers-0.3.16}/hex_zmq_servers/mujoco/e3_desktop/model/assets/e3_desktop_base_link.STL +0 -0
  78. {hex_zmq_servers-0.3.14 → hex_zmq_servers-0.3.16}/hex_zmq_servers/mujoco/e3_desktop/model/assets/gripper_base_link.STL +0 -0
  79. {hex_zmq_servers-0.3.14 → hex_zmq_servers-0.3.16}/hex_zmq_servers/mujoco/e3_desktop/model/assets/gripper_left_helper_link.STL +0 -0
  80. {hex_zmq_servers-0.3.14 → hex_zmq_servers-0.3.16}/hex_zmq_servers/mujoco/e3_desktop/model/assets/gripper_left_link_1.STL +0 -0
  81. {hex_zmq_servers-0.3.14 → hex_zmq_servers-0.3.16}/hex_zmq_servers/mujoco/e3_desktop/model/assets/gripper_left_link_2.STL +0 -0
  82. {hex_zmq_servers-0.3.14 → hex_zmq_servers-0.3.16}/hex_zmq_servers/mujoco/e3_desktop/model/assets/gripper_right_helper_link.STL +0 -0
  83. {hex_zmq_servers-0.3.14 → hex_zmq_servers-0.3.16}/hex_zmq_servers/mujoco/e3_desktop/model/assets/gripper_right_link_1.STL +0 -0
  84. {hex_zmq_servers-0.3.14 → hex_zmq_servers-0.3.16}/hex_zmq_servers/mujoco/e3_desktop/model/assets/gripper_right_link_2.STL +0 -0
  85. {hex_zmq_servers-0.3.14 → hex_zmq_servers-0.3.16}/hex_zmq_servers/mujoco/e3_desktop/model/assets/table_link.STL +0 -0
  86. {hex_zmq_servers-0.3.14 → hex_zmq_servers-0.3.16}/hex_zmq_servers/mujoco/e3_desktop/model/joint_class.xml +0 -0
  87. {hex_zmq_servers-0.3.14 → hex_zmq_servers-0.3.16}/hex_zmq_servers/mujoco/e3_desktop/model/scene.xml +0 -0
  88. {hex_zmq_servers-0.3.14 → hex_zmq_servers-0.3.16}/hex_zmq_servers/mujoco/e3_desktop/model/setting.xml +0 -0
  89. {hex_zmq_servers-0.3.14 → hex_zmq_servers-0.3.16}/hex_zmq_servers/mujoco/e3_desktop/mujoco_e3_desktop.py +0 -0
  90. {hex_zmq_servers-0.3.14 → hex_zmq_servers-0.3.16}/hex_zmq_servers/mujoco/e3_desktop/mujoco_e3_desktop_cli.py +0 -0
  91. {hex_zmq_servers-0.3.14 → hex_zmq_servers-0.3.16}/hex_zmq_servers/mujoco/e3_desktop/mujoco_e3_desktop_srv.py +0 -0
  92. {hex_zmq_servers-0.3.14 → hex_zmq_servers-0.3.16}/hex_zmq_servers/mujoco/mujoco_base.py +0 -0
  93. {hex_zmq_servers-0.3.14 → hex_zmq_servers-0.3.16}/hex_zmq_servers/robot/__init__.py +0 -0
  94. {hex_zmq_servers-0.3.14 → hex_zmq_servers-0.3.16}/hex_zmq_servers/robot/dummy/__init__.py +0 -0
  95. {hex_zmq_servers-0.3.14 → hex_zmq_servers-0.3.16}/hex_zmq_servers/robot/dummy/robot_dummy.py +0 -0
  96. {hex_zmq_servers-0.3.14 → hex_zmq_servers-0.3.16}/hex_zmq_servers/robot/dummy/robot_dummy_cli.py +0 -0
  97. {hex_zmq_servers-0.3.14 → hex_zmq_servers-0.3.16}/hex_zmq_servers/robot/dummy/robot_dummy_srv.py +0 -0
  98. {hex_zmq_servers-0.3.14 → hex_zmq_servers-0.3.16}/hex_zmq_servers/robot/gello/__init__.py +0 -0
  99. {hex_zmq_servers-0.3.14 → hex_zmq_servers-0.3.16}/hex_zmq_servers/robot/gello/robot_gello.py +0 -0
  100. {hex_zmq_servers-0.3.14 → hex_zmq_servers-0.3.16}/hex_zmq_servers/robot/gello/robot_gello_cli.py +0 -0
  101. {hex_zmq_servers-0.3.14 → hex_zmq_servers-0.3.16}/hex_zmq_servers/robot/gello/robot_gello_srv.py +0 -0
  102. {hex_zmq_servers-0.3.14 → hex_zmq_servers-0.3.16}/hex_zmq_servers/robot/hexarm/robot_hexarm_cli.py +0 -0
  103. {hex_zmq_servers-0.3.14 → hex_zmq_servers-0.3.16}/hex_zmq_servers/robot/hexarm/robot_hexarm_srv.py +0 -0
  104. {hex_zmq_servers-0.3.14 → hex_zmq_servers-0.3.16}/hex_zmq_servers/robot/hexarm/urdf/archer_d6y/empty.urdf +0 -0
  105. {hex_zmq_servers-0.3.14 → hex_zmq_servers-0.3.16}/hex_zmq_servers/robot/hexarm/urdf/archer_d6y/gp100.urdf +0 -0
  106. {hex_zmq_servers-0.3.14 → hex_zmq_servers-0.3.16}/hex_zmq_servers/robot/hexarm/urdf/archer_d6y/gp100_handle.urdf +0 -0
  107. {hex_zmq_servers-0.3.14 → hex_zmq_servers-0.3.16}/hex_zmq_servers/robot/hexarm/urdf/archer_d6y/gp100_p050.urdf +0 -0
  108. {hex_zmq_servers-0.3.14 → hex_zmq_servers-0.3.16}/hex_zmq_servers/robot/hexarm/urdf/archer_d6y/gp100_p050_handle.urdf +0 -0
  109. {hex_zmq_servers-0.3.14 → hex_zmq_servers-0.3.16}/hex_zmq_servers/robot/hexarm/urdf/archer_l6y/empty.urdf +0 -0
  110. {hex_zmq_servers-0.3.14 → hex_zmq_servers-0.3.16}/hex_zmq_servers/robot/hexarm/urdf/archer_l6y/gp100.urdf +0 -0
  111. {hex_zmq_servers-0.3.14 → hex_zmq_servers-0.3.16}/hex_zmq_servers/robot/hexarm/urdf/archer_l6y/gp100_handle.urdf +0 -0
  112. {hex_zmq_servers-0.3.14 → hex_zmq_servers-0.3.16}/hex_zmq_servers/robot/hexarm/urdf/archer_l6y/gp100_p050.urdf +0 -0
  113. {hex_zmq_servers-0.3.14 → hex_zmq_servers-0.3.16}/hex_zmq_servers/robot/hexarm/urdf/archer_l6y/gp100_p050_handle.urdf +0 -0
  114. {hex_zmq_servers-0.3.14 → hex_zmq_servers-0.3.16}/hex_zmq_servers/robot/hexarm/urdf/archer_y6/empty.urdf +0 -0
  115. {hex_zmq_servers-0.3.14 → hex_zmq_servers-0.3.16}/hex_zmq_servers/robot/hexarm/urdf/archer_y6/gp100.urdf +0 -0
  116. {hex_zmq_servers-0.3.14 → hex_zmq_servers-0.3.16}/hex_zmq_servers/robot/hexarm/urdf/archer_y6/gp100_handle.urdf +0 -0
  117. {hex_zmq_servers-0.3.14 → hex_zmq_servers-0.3.16}/hex_zmq_servers/robot/hexarm/urdf/archer_y6/gp100_p050.urdf +0 -0
  118. {hex_zmq_servers-0.3.14 → hex_zmq_servers-0.3.16}/hex_zmq_servers/robot/hexarm/urdf/archer_y6/gp100_p050_handle.urdf +0 -0
  119. {hex_zmq_servers-0.3.14 → hex_zmq_servers-0.3.16}/hex_zmq_servers/robot/robot_base.py +0 -0
  120. {hex_zmq_servers-0.3.14 → hex_zmq_servers-0.3.16}/hex_zmq_servers/zmq_base.py +0 -0
  121. {hex_zmq_servers-0.3.14 → hex_zmq_servers-0.3.16}/hex_zmq_servers.egg-info/dependency_links.txt +0 -0
  122. {hex_zmq_servers-0.3.14 → hex_zmq_servers-0.3.16}/hex_zmq_servers.egg-info/requires.txt +0 -0
  123. {hex_zmq_servers-0.3.14 → hex_zmq_servers-0.3.16}/hex_zmq_servers.egg-info/top_level.txt +0 -0
  124. {hex_zmq_servers-0.3.14 → hex_zmq_servers-0.3.16}/setup.cfg +0 -0
{hex_zmq_servers-0.3.14/hex_zmq_servers.egg-info → hex_zmq_servers-0.3.16}/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: 0.3.14
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+ Version: 0.3.16
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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-0.3.14 → hex_zmq_servers-0.3.16}/hex_zmq_servers/mujoco/e3_desktop/model/robot.xml RENAMED
@@ -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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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
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
44
 
@@ -133,18 +133,20 @@
133
133
  <geom type="mesh" rgba="0.898039 0.917647 0.929412 1" mesh="arm_link_5"/>
134
134
 
135
135
  # right link 6
136
- <body name="right_link_6" pos="0.0552 0 0.02895" quat="0.707107 0.0 -0.707107 0.0">
136
+ <body name="right_link_6" pos="0.0552 0 0.02895">
137
137
  <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"/>
138
138
  <joint name="right_joint_6" class="j6_class" pos="0 0 0" axis="1 0 0" range="-2.96 2.96" limited="true"/>
139
139
 
140
140
  # right gripper base link
141
141
  <body name="right_gripper_base_link" pos="0.0 0.0 0.0" quat="0.707107 0 -0.707107 0 ">
142
+ <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"/>
142
143
  <geom type="mesh" rgba="1 1 1 1" mesh="gripper_base_link"/>
143
144
  <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" />
144
145
  <camera name="right_camera" pos="0.066 0 0.105" quat="0.8660254 0.0 -0.5 0.0" fovy="50"/>
145
146
 
146
147
  # ee frame
147
148
  <body name="right_ee_frame" pos="0.1870 0.0 0.0" quat="1 0 0 0">
149
+ <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"/>
148
150
  <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"/>
149
151
  <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"/>
150
152
  <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-0.3.14 → hex_zmq_servers-0.3.16}/hex_zmq_servers/robot/hexarm/__init__.py RENAMED
@@ -44,6 +44,8 @@ HEXARM_URDF_PATH_DICT = {
44
44
  f"{urdf_dir}/archer_l6y/gp100_p050.urdf",
45
45
  "archer_l6y_gp100_p050_handle":
46
46
  f"{urdf_dir}/archer_l6y/gp100_p050_handle.urdf",
47
+ "firefly_y6_empty":
48
+ f"{urdf_dir}/firefly_y6/empty.urdf",
47
49
  }
48
50
 
49
51
  __all__ = [
{hex_zmq_servers-0.3.14 → hex_zmq_servers-0.3.16}/hex_zmq_servers/robot/hexarm/robot_hexarm.py RENAMED
@@ -36,6 +36,7 @@ HEX_DEVICE_TYPE_DICT = {
36
36
  "archer_y6": 25,
37
37
  "archer_d6y": 16,
38
38
  "archer_l6y": 17,
39
+ "firefly_y6": 27,
39
40
  }
40
41
 
41
42
 
hex_zmq_servers-0.3.16/hex_zmq_servers/robot/hexarm/urdf/firefly_y6/empty.urdf ADDED
@@ -0,0 +1,207 @@
1
+ <?xml version="1.0" encoding="utf-8"?>
2
+ <robot name="firefly_y6">
3
+
4
+ <link name="base_link">
5
+ <inertial>
6
+ <origin xyz="-0.00015122 -0.00000305 0.04925993" rpy="0 0 0" />
7
+ <mass value="0.87430597" />
8
+ <inertia ixx="0.0013187" ixy="0.00000009" ixz="-0.00000212" iyy="0.00133505" iyz="0.00000013" izz="0.0010065" />
9
+ </inertial>
10
+ <visual>
11
+ <origin xyz="0 0 0" rpy="0 0 0" />
12
+ <geometry>
13
+ <mesh filename="package://xpkg_urdf_firefly_y6/meshes/base_link.STL" />
14
+ </geometry>
15
+ <material name="">
16
+ <color rgba="1 1 1 1" />
17
+ </material>
18
+ </visual>
19
+ <collision>
20
+ <origin xyz="0 0 0" rpy="0 0 0" />
21
+ <geometry>
22
+ <mesh filename="package://xpkg_urdf_firefly_y6/meshes/base_link.STL" />
23
+ </geometry>
24
+ </collision>
25
+ </link>
26
+
27
+ <link name="link_1">
28
+ <inertial>
29
+ <origin xyz="0.00671535 -0.00275632 0.02393862" rpy="0 0 0" />
30
+ <mass value="0.25449622" />
31
+ <inertia ixx="0.00036700" ixy="0.00000933" ixz="-0.00004363" iyy="0.00022812" iyz="0.00001848" izz="0.00032440" />
32
+ </inertial>
33
+ <visual>
34
+ <origin xyz="0 0 0" rpy="0 0 0" />
35
+ <geometry>
36
+ <mesh filename="package://xpkg_urdf_firefly_y6/meshes/link_1.STL" />
37
+ </geometry>
38
+ <material name="">
39
+ <color rgba="1 1 1 1" />
40
+ </material>
41
+ </visual>
42
+ <collision>
43
+ <origin xyz="0 0 0" rpy="0 0 0" />
44
+ <geometry>
45
+ <mesh filename="package://xpkg_urdf_firefly_y6/meshes/link_1.STL" />
46
+ </geometry>
47
+ </collision>
48
+ </link>
49
+ <joint name="joint_1" type="revolute">
50
+ <origin xyz="0 0 0.09505" rpy="0 0 0" />
51
+ <parent link="base_link" />
52
+ <child link="link_1" />
53
+ <axis xyz="0 0 1" />
54
+ <limit lower="-2.86" upper="2.86" effort="6" velocity="6" />
55
+ </joint>
56
+
57
+ <link name="link_2">
58
+ <inertial>
59
+ <origin xyz="-0.00065196 0.00050605 0.13439379" rpy="0 0 0" />
60
+ <mass value="1.28270343" />
61
+ <inertia ixx="0.01969749" ixy="-0.00000048" ixz="0.00002449" iyy="0.01949532" iyz="0.00000402" izz="0.00071320" />
62
+ </inertial>
63
+ <visual>
64
+ <origin xyz="0 0 0" rpy="0 0 0" />
65
+ <geometry>
66
+ <mesh filename="package://xpkg_urdf_firefly_y6/meshes/link_2.STL" />
67
+ </geometry>
68
+ <material name="">
69
+ <color rgba="1 1 1 1" />
70
+ </material>
71
+ </visual>
72
+ <collision>
73
+ <origin xyz="0 0 0" rpy="0 0 0" />
74
+ <geometry>
75
+ <mesh filename="package://xpkg_urdf_firefly_y6/meshes/link_2.STL" />
76
+ </geometry>
77
+ </collision>
78
+ </link>
79
+ <joint name="joint_2" type="revolute">
80
+ <origin xyz="0.02 0 0.05" rpy="0 0 0" />
81
+ <parent link="link_1" />
82
+ <child link="link_2" />
83
+ <axis xyz="0 1 0" />
84
+ <limit lower="-1.57" upper="2.09" effort="6" velocity="6" />
85
+ </joint>
86
+
87
+ <link name="link_3">
88
+ <inertial>
89
+ <origin xyz="-0.05668605 -0.00287518 0.15455959" rpy="0 0 0" />
90
+ <mass value="0.93588267" />
91
+ <inertia ixx="0.00983649" ixy="0.00007803" ixz="0.00124619" iyy="0.00991413" iyz="-0.00026866" izz="0.00104920" />
92
+ </inertial>
93
+ <visual>
94
+ <origin xyz="0 0 0" rpy="0 0 0" />
95
+ <geometry>
96
+ <mesh filename="package://xpkg_urdf_firefly_y6/meshes/link_3.STL" />
97
+ </geometry>
98
+ <material name="">
99
+ <color rgba="1 1 1 1" />
100
+ </material>
101
+ </visual>
102
+ <collision>
103
+ <origin xyz="0 0 0" rpy="0 0 0" />
104
+ <geometry>
105
+ <mesh filename="package://xpkg_urdf_firefly_y6/meshes/link_3.STL" />
106
+ </geometry>
107
+ </collision>
108
+ </link>
109
+ <joint name="joint_3" type="revolute">
110
+ <origin xyz="0 0 0.27" rpy="0 0 0" />
111
+ <parent link="link_2" />
112
+ <child link="link_3" />
113
+ <axis xyz="0 1 0" />
114
+ <limit lower="0" upper="3.14" effort="6" velocity="6" />
115
+ </joint>
116
+
117
+ <link name="link_4">
118
+ <inertial>
119
+ <origin xyz="-0.05184192 -0.00200161 0.04855136" rpy="0 0 0" />
120
+ <mass value="0.55059939" />
121
+ <inertia ixx="0.00075566" ixy="0.00005198" ixz="0.00037393" iyy="0.00098159" iyz="-0.00004878" izz="0.00079856" />
122
+ </inertial>
123
+ <visual>
124
+ <origin xyz="0 0 0" rpy="0 0 0" />
125
+ <geometry>
126
+ <mesh filename="package://xpkg_urdf_firefly_y6/meshes/link_4.STL" />
127
+ </geometry>
128
+ <material name="">
129
+ <color rgba="1 1 1 1" />
130
+ </material>
131
+ </visual>
132
+ <collision>
133
+ <origin xyz="0 0 0" rpy="0 0 0" />
134
+ <geometry>
135
+ <mesh filename="package://xpkg_urdf_firefly_y6/meshes/link_4.STL" />
136
+ </geometry>
137
+ </collision>
138
+ </link>
139
+ <joint name="joint_4" type="revolute">
140
+ <origin xyz="-0.065 0 0.25" rpy="0 0 0" />
141
+ <parent link="link_3" />
142
+ <child link="link_4" />
143
+ <axis xyz="0 1 0" />
144
+ <limit lower="-1.57" upper="1.57" effort="6" velocity="6" />
145
+ </joint>
146
+
147
+ <link name="link_5">
148
+ <inertial>
149
+ <origin xyz="0.04236212 -0.00000333 0.00771096" rpy="0 0 0" />
150
+ <mass value="0.41052864" />
151
+ <inertia ixx="0.0001862" ixy="-0.00000002" ixz="-0.00001795" iyy="0.00025554" iyz="-0.00000002" izz="0.0002374" />
152
+ </inertial>
153
+ <visual>
154
+ <origin xyz="0 0 0" rpy="0 0 0" />
155
+ <geometry>
156
+ <mesh filename="package://xpkg_urdf_firefly_y6/meshes/link_5.STL" />
157
+ </geometry>
158
+ <material name="">
159
+ <color rgba="1 1 1 1" />
160
+ </material>
161
+ </visual>
162
+ <collision>
163
+ <origin xyz="0 0 0" rpy="0 0 0" />
164
+ <geometry>
165
+ <mesh filename="package://xpkg_urdf_firefly_y6/meshes/link_5.STL" />
166
+ </geometry>
167
+ </collision>
168
+ </link>
169
+ <joint name="joint_5" type="revolute">
170
+ <origin xyz="-0.047 0 0.065" rpy="0 0 0" />
171
+ <parent link="link_4" />
172
+ <child link="link_5" />
173
+ <axis xyz="-1 0 0" />
174
+ <limit lower="-1.54" upper="1.54" effort="6" velocity="6" />
175
+ </joint>
176
+
177
+ <link name="link_6">
178
+ <inertial>
179
+ <origin xyz="-0.00048907 0 0.0034393" rpy="0 0 0" />
180
+ <mass value="0.0076012" />
181
+ <inertia ixx="0.00000089" ixy="0" ixz="0" iyy="0.00000065" iyz="0" izz="0.00000143" />
182
+ </inertial>
183
+ <visual>
184
+ <origin xyz="0 0 0" rpy="0 0 0" />
185
+ <geometry>
186
+ <mesh filename="package://xpkg_urdf_firefly_y6/meshes/link_6.STL" />
187
+ </geometry>
188
+ <material name="">
189
+ <color rgba="1 1 1 1" />
190
+ </material>
191
+ </visual>
192
+ <collision>
193
+ <origin xyz="0 0 0" rpy="0 0 0" />
194
+ <geometry>
195
+ <mesh filename="package://xpkg_urdf_firefly_y6/meshes/link_6.STL" />
196
+ </geometry>
197
+ </collision>
198
+ </link>
199
+ <joint name="joint_6" type="revolute">
200
+ <origin xyz="0.047 0 0.034" rpy="0 0 0" />
201
+ <parent link="link_5" />
202
+ <child link="link_6" />
203
+ <axis xyz="0 0 1" />
204
+ <limit lower="-2.79" upper="2.79" effort="6" velocity="6" />
205
+ </joint>
206
+
207
+ </robot>
{hex_zmq_servers-0.3.14 → hex_zmq_servers-0.3.16/hex_zmq_servers.egg-info}/PKG-INFO 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 → hex_zmq_servers-0.3.16}/hex_zmq_servers.egg-info/SOURCES.txt RENAMED
@@ -118,4 +118,5 @@ hex_zmq_servers/robot/hexarm/urdf/archer_y6/empty.urdf
118
118
  hex_zmq_servers/robot/hexarm/urdf/archer_y6/gp100.urdf
119
119
  hex_zmq_servers/robot/hexarm/urdf/archer_y6/gp100_handle.urdf
120
120
  hex_zmq_servers/robot/hexarm/urdf/archer_y6/gp100_p050.urdf
121
- hex_zmq_servers/robot/hexarm/urdf/archer_y6/gp100_p050_handle.urdf
121
+ hex_zmq_servers/robot/hexarm/urdf/archer_y6/gp100_p050_handle.urdf
122
+ hex_zmq_servers/robot/hexarm/urdf/firefly_y6/empty.urdf
{hex_zmq_servers-0.3.14 → hex_zmq_servers-0.3.16}/pyproject.toml RENAMED
@@ -4,7 +4,7 @@ build-backend = "setuptools.build_meta"
4
4
 
5
5
  [project]
6
6
  name = "hex_zmq_servers"
7
- version = "0.3.14"
7
+ version = "0.3.16"
8
8
  description = "HEXFELLOW ZMQ Servers"
9
9
  readme = "README.md"
10
10
  license = "Apache-2.0"