hex-zmq-servers 0.3.15__py3-none-any.whl → 0.3.16__py3-none-any.whl

This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.
@@ -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__ = [
@@ -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
 
@@ -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>
@@ -1,6 +1,6 @@
1
1
  Metadata-Version: 2.4
2
2
  Name: hex_zmq_servers
3
- Version: 0.3.15
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>
@@ -91,8 +91,8 @@ hex_zmq_servers/robot/gello/__init__.py,sha256=7xSTc8ZB-bQODyEo6pzPz3ILZ1eAgVSsy
91
91
  hex_zmq_servers/robot/gello/robot_gello.py,sha256=AwgMZcADtJR0NPjEYV4_p6v70RCFCwVgcT6ycE25Vts,13216
92
92
  hex_zmq_servers/robot/gello/robot_gello_cli.py,sha256=1Ik9sDT8Xh2sXtqR46wbJCt7QhnhTKzJeCEzUiiFLtA,751
93
93
  hex_zmq_servers/robot/gello/robot_gello_srv.py,sha256=5w95Rgt0p0vxaH2olX40V3h0CwVH8eEtx2U0iTO8cxM,2970
94
- 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
96
96
  hex_zmq_servers/robot/hexarm/robot_hexarm_cli.py,sha256=QbFiZFHnmyu5Wfwzj2fMRGqLdXBrS2HcpTGnG-BH_D8,904
97
97
  hex_zmq_servers/robot/hexarm/robot_hexarm_srv.py,sha256=nSB-SuVmBT6v24xajtSyQ9APU9-a0HqiYxSLel9KOs0,2889
98
98
  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
110
110
  hex_zmq_servers/robot/hexarm/urdf/archer_y6/gp100_handle.urdf,sha256=sKZRz97fnz00GMYQTyjv-LYUkfYoRKUbW6TRaTDA_Vc,7447
111
111
  hex_zmq_servers/robot/hexarm/urdf/archer_y6/gp100_p050.urdf,sha256=Ayq0xhf8euYWD83hv-Wa2-D0LyOqFrVj-N6W1X1GEHo,7448
112
112
  hex_zmq_servers/robot/hexarm/urdf/archer_y6/gp100_p050_handle.urdf,sha256=UjeDE7bZgUMPGJlHOJMJofcEjQ2BRkShCUomxhKUPk0,7445
113
- hex_zmq_servers-0.3.15.dist-info/licenses/LICENSE,sha256=QwcOLU5TJoTeUhuIXzhdCEEDDvorGiC6-3YTOl4TecE,11356
114
- hex_zmq_servers-0.3.15.dist-info/METADATA,sha256=GvLcJ0g3lFc1xaXxVaWcWW44nFLR9kE_0ZybGFzxkzA,4751
115
- hex_zmq_servers-0.3.15.dist-info/WHEEL,sha256=_zCd3N1l69ArxyTb8rzEoP9TpbYXkqRFSNOD5OuxnTs,91
116
- hex_zmq_servers-0.3.15.dist-info/top_level.txt,sha256=lPH1DfgMrQOe0Grh8zSZopf6LmnLvb_aStVmZ41PyAg,16
117
- hex_zmq_servers-0.3.15.dist-info/RECORD,,
113
+ 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
115
+ hex_zmq_servers-0.3.16.dist-info/METADATA,sha256=yDUcFn5IzzUmcoSUR-BHxRrzvQdy6gejXP4r-TacO_s,4751
116
+ 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,,