PyPI - hex-zmq-servers - Versions diffs - 0.3.9__py3-none-any.whl - Mend

hex-zmq-servers 0.3.9__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.

Files changed (110) hide show

hex_zmq_servers/__init__.py +173 -0
hex_zmq_servers/cam/__init__.py +52 -0
hex_zmq_servers/cam/berxel/__init__.py +17 -0
hex_zmq_servers/cam/berxel/cam_berxel.py +282 -0
hex_zmq_servers/cam/berxel/cam_berxel_cli.py +33 -0
hex_zmq_servers/cam/berxel/cam_berxel_srv.py +79 -0
hex_zmq_servers/cam/cam_base.py +189 -0
hex_zmq_servers/cam/dummy/__init__.py +17 -0
hex_zmq_servers/cam/dummy/cam_dummy.py +69 -0
hex_zmq_servers/cam/dummy/cam_dummy_cli.py +29 -0
hex_zmq_servers/cam/dummy/cam_dummy_srv.py +68 -0
hex_zmq_servers/cam/realsense/__init__.py +17 -0
hex_zmq_servers/cam/realsense/cam_realsense.py +159 -0
hex_zmq_servers/cam/realsense/cam_realsense_cli.py +33 -0
hex_zmq_servers/cam/realsense/cam_realsense_srv.py +78 -0
hex_zmq_servers/cam/rgb/__init__.py +17 -0
hex_zmq_servers/cam/rgb/cam_rgb.py +135 -0
hex_zmq_servers/cam/rgb/cam_rgb_cli.py +43 -0
hex_zmq_servers/cam/rgb/cam_rgb_srv.py +78 -0
hex_zmq_servers/config/cam_berxel.json +18 -0
hex_zmq_servers/config/cam_dummy.json +12 -0
hex_zmq_servers/config/cam_realsense.json +17 -0
hex_zmq_servers/config/cam_rgb.json +28 -0
hex_zmq_servers/config/mujoco_archer_y6.json +37 -0
hex_zmq_servers/config/mujoco_e3_desktop.json +41 -0
hex_zmq_servers/config/robot_dummy.json +153 -0
hex_zmq_servers/config/robot_gello.json +66 -0
hex_zmq_servers/config/robot_hexarm.json +37 -0
hex_zmq_servers/config/zmq_dummy.json +12 -0
hex_zmq_servers/device_base.py +44 -0
hex_zmq_servers/hex_launch.py +489 -0
hex_zmq_servers/mujoco/__init__.py +28 -0
hex_zmq_servers/mujoco/archer_y6/__init__.py +17 -0
hex_zmq_servers/mujoco/archer_y6/model/assets/arm_base_link.STL +0 -0
hex_zmq_servers/mujoco/archer_y6/model/assets/arm_link_1.STL +0 -0
hex_zmq_servers/mujoco/archer_y6/model/assets/arm_link_2.STL +0 -0
hex_zmq_servers/mujoco/archer_y6/model/assets/arm_link_3.STL +0 -0
hex_zmq_servers/mujoco/archer_y6/model/assets/arm_link_4.STL +0 -0
hex_zmq_servers/mujoco/archer_y6/model/assets/arm_link_5.STL +0 -0
hex_zmq_servers/mujoco/archer_y6/model/assets/assets.xml +17 -0
hex_zmq_servers/mujoco/archer_y6/model/assets/camera_link.STL +0 -0
hex_zmq_servers/mujoco/archer_y6/model/assets/gripper_base_link.STL +0 -0
hex_zmq_servers/mujoco/archer_y6/model/assets/gripper_left_helper_link.STL +0 -0
hex_zmq_servers/mujoco/archer_y6/model/assets/gripper_left_link_1.STL +0 -0
hex_zmq_servers/mujoco/archer_y6/model/assets/gripper_left_link_2.STL +0 -0
hex_zmq_servers/mujoco/archer_y6/model/assets/gripper_right_helper_link.STL +0 -0
hex_zmq_servers/mujoco/archer_y6/model/assets/gripper_right_link_1.STL +0 -0
hex_zmq_servers/mujoco/archer_y6/model/assets/gripper_right_link_2.STL +0 -0
hex_zmq_servers/mujoco/archer_y6/model/assets/table_link.STL +0 -0
hex_zmq_servers/mujoco/archer_y6/model/robot.xml +95 -0
hex_zmq_servers/mujoco/archer_y6/model/scene.xml +51 -0
hex_zmq_servers/mujoco/archer_y6/model/setting.xml +37 -0
hex_zmq_servers/mujoco/archer_y6/mujoco_archer_y6.py +325 -0
hex_zmq_servers/mujoco/archer_y6/mujoco_archer_y6_cli.py +71 -0
hex_zmq_servers/mujoco/archer_y6/mujoco_archer_y6_srv.py +148 -0
hex_zmq_servers/mujoco/e3_desktop/__init__.py +17 -0
hex_zmq_servers/mujoco/e3_desktop/model/assets/arm_base_link.STL +0 -0
hex_zmq_servers/mujoco/e3_desktop/model/assets/arm_link_1.STL +0 -0
hex_zmq_servers/mujoco/e3_desktop/model/assets/arm_link_2.STL +0 -0
hex_zmq_servers/mujoco/e3_desktop/model/assets/arm_link_3.STL +0 -0
hex_zmq_servers/mujoco/e3_desktop/model/assets/arm_link_4.STL +0 -0
hex_zmq_servers/mujoco/e3_desktop/model/assets/arm_link_5.STL +0 -0
hex_zmq_servers/mujoco/e3_desktop/model/assets/assets.xml +18 -0
hex_zmq_servers/mujoco/e3_desktop/model/assets/camera_link.STL +0 -0
hex_zmq_servers/mujoco/e3_desktop/model/assets/e3_desktop_base_link.STL +0 -0
hex_zmq_servers/mujoco/e3_desktop/model/assets/gripper_base_link.STL +0 -0
hex_zmq_servers/mujoco/e3_desktop/model/assets/gripper_left_helper_link.STL +0 -0
hex_zmq_servers/mujoco/e3_desktop/model/assets/gripper_left_link_1.STL +0 -0
hex_zmq_servers/mujoco/e3_desktop/model/assets/gripper_left_link_2.STL +0 -0
hex_zmq_servers/mujoco/e3_desktop/model/assets/gripper_right_helper_link.STL +0 -0
hex_zmq_servers/mujoco/e3_desktop/model/assets/gripper_right_link_1.STL +0 -0
hex_zmq_servers/mujoco/e3_desktop/model/assets/gripper_right_link_2.STL +0 -0
hex_zmq_servers/mujoco/e3_desktop/model/assets/table_link.STL +0 -0
hex_zmq_servers/mujoco/e3_desktop/model/robot.xml +188 -0
hex_zmq_servers/mujoco/e3_desktop/model/scene.xml +53 -0
hex_zmq_servers/mujoco/e3_desktop/model/setting.xml +72 -0
hex_zmq_servers/mujoco/e3_desktop/mujoco_e3_desktop.py +449 -0
hex_zmq_servers/mujoco/e3_desktop/mujoco_e3_desktop_cli.py +289 -0
hex_zmq_servers/mujoco/e3_desktop/mujoco_e3_desktop_srv.py +244 -0
hex_zmq_servers/mujoco/mujoco_base.py +425 -0
hex_zmq_servers/robot/__init__.py +37 -0
hex_zmq_servers/robot/dummy/__init__.py +17 -0
hex_zmq_servers/robot/dummy/robot_dummy.py +94 -0
hex_zmq_servers/robot/dummy/robot_dummy_cli.py +29 -0
hex_zmq_servers/robot/dummy/robot_dummy_srv.py +82 -0
hex_zmq_servers/robot/gello/__init__.py +17 -0
hex_zmq_servers/robot/gello/robot_gello.py +366 -0
hex_zmq_servers/robot/gello/robot_gello_cli.py +29 -0
hex_zmq_servers/robot/gello/robot_gello_srv.py +93 -0
hex_zmq_servers/robot/hexarm/__init__.py +47 -0
hex_zmq_servers/robot/hexarm/robot_hexarm.py +292 -0
hex_zmq_servers/robot/hexarm/robot_hexarm_cli.py +37 -0
hex_zmq_servers/robot/hexarm/robot_hexarm_srv.py +87 -0
hex_zmq_servers/robot/hexarm/urdf/archer_l6y/empty.urdf +206 -0
hex_zmq_servers/robot/hexarm/urdf/archer_l6y/gp100.urdf +206 -0
hex_zmq_servers/robot/hexarm/urdf/archer_l6y/gp100_handle.urdf +206 -0
hex_zmq_servers/robot/hexarm/urdf/archer_l6y/gp100_p050.urdf +206 -0
hex_zmq_servers/robot/hexarm/urdf/archer_l6y/gp100_p050_handle.urdf +206 -0
hex_zmq_servers/robot/hexarm/urdf/archer_y6/empty.urdf +207 -0
hex_zmq_servers/robot/hexarm/urdf/archer_y6/gp100.urdf +207 -0
hex_zmq_servers/robot/hexarm/urdf/archer_y6/gp100_handle.urdf +207 -0
hex_zmq_servers/robot/hexarm/urdf/archer_y6/gp100_p050.urdf +207 -0
hex_zmq_servers/robot/hexarm/urdf/archer_y6/gp100_p050_handle.urdf +207 -0
hex_zmq_servers/robot/robot_base.py +276 -0
hex_zmq_servers/zmq_base.py +547 -0
hex_zmq_servers-0.3.9.dist-info/METADATA +147 -0
hex_zmq_servers-0.3.9.dist-info/RECORD +110 -0
hex_zmq_servers-0.3.9.dist-info/WHEEL +5 -0
hex_zmq_servers-0.3.9.dist-info/licenses/LICENSE +201 -0
hex_zmq_servers-0.3.9.dist-info/top_level.txt +1 -0

hex_zmq_servers/robot/hexarm/urdf/archer_l6y/gp100_p050_handle.urdf ADDED Viewed

@@ -0,0 +1,206 @@
+<?xml version="1.0" encoding="utf-8"?>
+<robot name="archer_l6y">
+    <link name="base_link">
+        <inertial>
+            <origin xyz="-0.00080975 0.00005863 0.05684460" rpy="0 0 0" />
+            <mass value="0.61800543" />
+            <inertia ixx="0.00055618" ixy="-0.00000009" ixz="-0.00000663" iyy="0.00058624" iyz="0.00000086" izz="0.00060508" />
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="package://xpkg_urdf_archer_l6y/meshes/base_link.STL" />
+            </geometry>
+            <material name="">
+                <color rgba="1 1 1 1" />
+            </material>
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="package://xpkg_urdf_archer_l6y/meshes/base_link.STL" />
+            </geometry>
+        </collision>
+    </link>
+    <link name="link_1">
+        <inertial>
+            <origin xyz="0.00884023 -0.00039740 0.03457242" rpy="0 0 0" />
+            <mass value="0.29593000" />
+            <inertia ixx="0.00047871" ixy="0.00000088" ixz="-0.00005799" iyy="0.00030053" iyz="0.00000258" izz="0.00041726" />
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="package://xpkg_urdf_archer_l6y/meshes/link_1.STL" />
+            </geometry>
+            <material name="">
+                <color rgba="1 1 1 1" />
+            </material>
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="package://xpkg_urdf_archer_l6y/meshes/link_1.STL" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="joint_1" type="revolute">
+        <origin xyz="0 0 0.08355" rpy="0 0 0" />
+        <parent link="base_link" />
+        <child link="link_1" />
+        <axis xyz="0 0 1" />
+        <limit lower="-2.8623" upper="2.8623" effort="1" velocity="1" />
+    </joint>
+    <link name="link_2">
+        <inertial>
+            <origin xyz="-0.00159885 0.02740310 0.13379837" rpy="0 0 0" />
+            <mass value="1.34359000" />
+            <inertia ixx="0.01905633" ixy="0.00000078" ixz="0.00001635" iyy="0.01890424" iyz="0.00000765" izz="0.00086433" />
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="package://xpkg_urdf_archer_l6y/meshes/link_2.STL" />
+            </geometry>
+            <material name="">
+                <color rgba="1 1 1 1" />
+            </material>
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="package://xpkg_urdf_archer_l6y/meshes/link_2.STL" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="joint_2" type="revolute">
+        <origin xyz="0.02 -0.0285 0.0555" rpy="0 0 0" />
+        <parent link="link_1" />
+        <child link="link_2" />
+        <axis xyz="0 1 0" />
+        <limit lower="-2.0943" upper="1.5707" effort="1" velocity="1" />
+    </joint>
+    <link name="link_3">
+        <inertial>
+            <origin xyz="-0.05454198 0.02770576 0.14631127" rpy="0 0 0" />
+            <mass value="1.08626000" />
+            <inertia ixx="0.01172853" ixy="-0.00000662" ixz="0.00163495" iyy="0.01182587" iyz="0.00007450" izz="0.00147592" />
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="package://xpkg_urdf_archer_l6y/meshes/link_3.STL" />
+            </geometry>
+            <material name="">
+                <color rgba="1 1 1 1" />
+            </material>
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="package://xpkg_urdf_archer_l6y/meshes/link_3.STL" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="joint_3" type="revolute">
+        <origin xyz="0 0 0.27" rpy="0 0 0" />
+        <parent link="link_2" />
+        <child link="link_3" />
+        <axis xyz="0 1 0" />
+        <limit lower="0" upper="3.159" effort="1" velocity="1" />
+    </joint>
+    <link name="link_4">
+        <inertial>
+            <origin xyz="-0.04639218 0.02832840 0.04493954" rpy="0 0 0" />
+            <mass value="0.53458000" />
+            <inertia ixx="0.00085129" ixy="0.00000633" ixz="0.00043133" iyy="0.00109396" iyz="-0.00000547" izz="0.00087351" />
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="package://xpkg_urdf_archer_l6y/meshes/link_4.STL" />
+            </geometry>
+            <material name="">
+                <color rgba="1 1 1 1" />
+            </material>
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="package://xpkg_urdf_archer_l6y/meshes/link_4.STL" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="joint_4" type="revolute">
+        <origin xyz="-0.065 -5E-05 0.25" rpy="0 0 0" />
+        <parent link="link_3" />
+        <child link="link_4" />
+        <axis xyz="0 1 0" />
+        <limit lower="-1.5707" upper="1.5707" effort="1" velocity="1" />
+    </joint>
+    <link name="link_5">
+        <inertial>
+            <origin xyz="0.04082486 0.00006149 0.00717093" rpy="0 0 0" />
+            <mass value="0.38996000" />
+            <inertia ixx="0.00016500" ixy="-0.00000021" ixz="-0.00002287" iyy="0.00022995" iyz="0.00000039" izz="0.00021724" />
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="package://xpkg_urdf_archer_l6y/meshes/link_5.STL" />
+            </geometry>
+            <material name="">
+                <color rgba="1 1 1 1" />
+            </material>
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="package://xpkg_urdf_archer_l6y/meshes/link_5.STL" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="joint_5" type="revolute">
+        <origin xyz="-0.046 0.0285 0.065" rpy="0 0 0" />
+        <parent link="link_4" />
+        <child link="link_5" />
+        <axis xyz="-1 0 0" />
+        <limit lower="-1.5707" upper="1.5707" effort="1" velocity="1" />
+    </joint>
+    <link name="link_6">
+        <inertial>
+            <origin xyz="-0.009 0.0001 0.059" rpy="0 0 0" />
+            <mass value="0.8192" />
+            <inertia ixx="0.0012" ixy="0" ixz="-0.0002" iyy="0.025" iyz="0" izz="0.0018" />
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="package://xpkg_urdf_archer_l6y/meshes/link_6.STL" />
+            </geometry>
+            <material name="">
+                <color rgba="0.1098 0.1098 0.1098 1" />
+            </material>
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="package://xpkg_urdf_archer_l6y/meshes/link_6.STL" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="joint_6" type="revolute">
+        <origin xyz="0.046 0 0.034" rpy="0 0 0" />
+        <parent link="link_5" />
+        <child link="link_6" />
+        <axis xyz="0 0 1" />
+        <limit lower="-3.1415" upper="3.1415" effort="0" velocity="0" />
+    </joint>
+</robot>

hex_zmq_servers/robot/hexarm/urdf/archer_y6/empty.urdf ADDED Viewed

@@ -0,0 +1,207 @@
+<?xml version="1.0" encoding="utf-8"?>
+<robot name="archer_y6">
+    <link name="base_link">
+        <inertial>
+            <origin xyz="-0.001 0 0.322" rpy="0 0 0" />
+            <mass value="0.687" />
+            <inertia ixx="0.0005" iyy="0.0005" izz="0.0007" ixy="0" ixz="0" iyz="0" />
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="package://xpkg_urdf_archer_y6/meshes/base_link.STL" />
+            </geometry>
+            <material name="">
+                <color rgba="1 1 1 1" />
+            </material>
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="package://xpkg_urdf_archer_y6/meshes/base_link.STL" />
+            </geometry>
+        </collision>
+    </link>
+    <link name="link_1">
+        <inertial>
+            <origin xyz="0.008 -0.0023 0.0213" rpy="0 0 0" />
+            <mass value="0.2154" />
+            <inertia ixx="0.0003" iyy="0.0002" izz="0.0003" ixy="0" ixz="0" iyz="0"/>
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="package://xpkg_urdf_archer_y6/meshes/link_1.STL" />
+            </geometry>
+            <material name="">
+                <color rgba="1 1 1 1" />
+            </material>
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="package://xpkg_urdf_archer_y6/meshes/link_1.STL" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="joint_1" type="revolute">
+        <origin xyz="0 0 0.0665" rpy="0 0 0" />
+        <parent link="base_link" />
+        <child link="link_1" />
+        <axis xyz="0 0 1" />
+        <limit lower="-2.61" upper="3.14" effort="6" velocity="6" />
+    </joint>
+    <link name="link_2">
+        <inertial>
+            <origin xyz="0.0001 -0.0028 0.1317" rpy="0 0 0" />
+            <mass value="1.3123" />
+            <inertia ixx="0.018" iyy="0.0177" izz="0.0007" ixy="0" ixz="0" iyz="0.0007" />
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="package://xpkg_urdf_archer_y6/meshes/link_2.STL" />
+            </geometry>
+            <material name="">
+                <color rgba="1 1 1 1" />
+            </material>
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="package://xpkg_urdf_archer_y6/meshes/link_2.STL" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="joint_2" type="revolute">
+        <origin xyz="0.02 0 0.045" rpy="0 0 0" />
+        <parent link="link_1" />
+        <child link="link_2" />
+        <axis xyz="0 1 0" />
+        <limit lower="-1.57" upper="2.09" effort="6" velocity="6" />
+    </joint>
+    <link name="link_3">
+        <inertial>
+            <origin xyz="-0.051 0.0008 0.1447" rpy="0 0 0" />
+            <mass value="1.1083" />
+            <inertia ixx="0.0114" iyy="0.0112" izz="0.0016" ixy="-0.0001" ixz="0.0014" iyz="0.0006" />
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="package://xpkg_urdf_archer_y6/meshes/link_3.STL" />
+            </geometry>
+            <material name="">
+                <color rgba="1 1 1 1" />
+            </material>
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="package://xpkg_urdf_archer_y6/meshes/link_3.STL" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="joint_3" type="revolute">
+        <origin xyz="0 0 0.264" rpy="0 0 0" />
+        <parent link="link_2" />
+        <child link="link_3" />
+        <axis xyz="0 1 0" />
+        <limit lower="0" upper="3.14" effort="6" velocity="6" />
+    </joint>
+    <link name="link_4">
+        <inertial>
+            <origin xyz="-0.0597 -0.001 0.0572" rpy="0 0 0" />
+            <mass value="0.5398" />
+            <inertia ixx="0.0008" iyy="0.001" izz="0.0008" ixy="0" ixz="0.0003" iyz="0" />
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="package://xpkg_urdf_archer_y6/meshes/link_4.STL" />
+            </geometry>
+            <material name="">
+                <color rgba="1 1 1 1" />
+            </material>
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="package://xpkg_urdf_archer_y6/meshes/link_4.STL" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="joint_4" type="revolute">
+        <origin xyz="-0.06 0 0.245" rpy="0 0 0" />
+        <parent link="link_3" />
+        <child link="link_4" />
+        <axis xyz="0 1 0" />
+        <limit lower="-1.57" upper="1.57" effort="6" velocity="6" />
+    </joint>
+    <link name="link_5">
+        <inertial>
+            <origin xyz="0.0292 0.0001 -0.0107" rpy="0 0 0" />
+            <mass value="0.3984" />
+            <inertia ixx="0.0002" iyy="0.0003" izz="0.0002" ixy="0" ixz="0" iyz="0" />
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="package://xpkg_urdf_archer_y6/meshes/link_5.STL" />
+            </geometry>
+            <material name="">
+                <color rgba="1 1 1 1" />
+            </material>
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="package://xpkg_urdf_archer_y6/meshes/link_5.STL" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="joint_5" type="revolute">
+        <origin xyz="-0.0553 0 0.070" rpy="0 0 0" />
+        <parent link="link_4" />
+        <child link="link_5" />
+        <axis xyz="-1 0 0" />
+        <limit lower="-1.57" upper="1.57" effort="6" velocity="6" />
+    </joint>
+    <link name="link_6">
+        <inertial>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <mass value="0.001" />
+            <inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001" />
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="package://xpkg_urdf_archer_y6/meshes/link_6.STL" />
+            </geometry>
+            <material name="">
+                <color rgba="1 1 1 1" />
+            </material>
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="package://xpkg_urdf_archer_y6/meshes/link_6.STL" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="joint_6" type="revolute">
+        <origin xyz="0.0553 0 0.029" rpy="0 0 0" />
+        <parent link="link_5" />
+        <child link="link_6" />
+        <axis xyz="0 0 1" />
+        <limit lower="-2.96" upper="2.96" effort="6" velocity="6" />
+    </joint>
+</robot>

hex_zmq_servers/robot/hexarm/urdf/archer_y6/gp100.urdf ADDED Viewed

@@ -0,0 +1,207 @@
+<?xml version="1.0" encoding="utf-8"?>
+<robot name="archer_y6">
+    <link name="base_link">
+        <inertial>
+            <origin xyz="-0.001 0 0.322" rpy="0 0 0" />
+            <mass value="0.687" />
+            <inertia ixx="0.0005" iyy="0.0005" izz="0.0007" ixy="0" ixz="0" iyz="0" />
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="package://xpkg_urdf_archer_y6/meshes/base_link.STL" />
+            </geometry>
+            <material name="">
+                <color rgba="1 1 1 1" />
+            </material>
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="package://xpkg_urdf_archer_y6/meshes/base_link.STL" />
+            </geometry>
+        </collision>
+    </link>
+    <link name="link_1">
+        <inertial>
+            <origin xyz="0.008 -0.0023 0.0213" rpy="0 0 0" />
+            <mass value="0.2154" />
+            <inertia ixx="0.0003" iyy="0.0002" izz="0.0003" ixy="0" ixz="0" iyz="0"/>
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="package://xpkg_urdf_archer_y6/meshes/link_1.STL" />
+            </geometry>
+            <material name="">
+                <color rgba="1 1 1 1" />
+            </material>
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="package://xpkg_urdf_archer_y6/meshes/link_1.STL" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="joint_1" type="revolute">
+        <origin xyz="0 0 0.0665" rpy="0 0 0" />
+        <parent link="base_link" />
+        <child link="link_1" />
+        <axis xyz="0 0 1" />
+        <limit lower="-2.61" upper="3.14" effort="6" velocity="6" />
+    </joint>
+    <link name="link_2">
+        <inertial>
+            <origin xyz="0.0001 -0.0028 0.1317" rpy="0 0 0" />
+            <mass value="1.3123" />
+            <inertia ixx="0.018" iyy="0.0177" izz="0.0007" ixy="0" ixz="0" iyz="0.0007" />
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="package://xpkg_urdf_archer_y6/meshes/link_2.STL" />
+            </geometry>
+            <material name="">
+                <color rgba="1 1 1 1" />
+            </material>
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="package://xpkg_urdf_archer_y6/meshes/link_2.STL" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="joint_2" type="revolute">
+        <origin xyz="0.02 0 0.045" rpy="0 0 0" />
+        <parent link="link_1" />
+        <child link="link_2" />
+        <axis xyz="0 1 0" />
+        <limit lower="-1.57" upper="2.09" effort="6" velocity="6" />
+    </joint>
+    <link name="link_3">
+        <inertial>
+            <origin xyz="-0.051 0.0008 0.1447" rpy="0 0 0" />
+            <mass value="1.1083" />
+            <inertia ixx="0.0114" iyy="0.0112" izz="0.0016" ixy="-0.0001" ixz="0.0014" iyz="0.0006" />
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="package://xpkg_urdf_archer_y6/meshes/link_3.STL" />
+            </geometry>
+            <material name="">
+                <color rgba="1 1 1 1" />
+            </material>
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="package://xpkg_urdf_archer_y6/meshes/link_3.STL" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="joint_3" type="revolute">
+        <origin xyz="0 0 0.264" rpy="0 0 0" />
+        <parent link="link_2" />
+        <child link="link_3" />
+        <axis xyz="0 1 0" />
+        <limit lower="0" upper="3.14" effort="6" velocity="6" />
+    </joint>
+    <link name="link_4">
+        <inertial>
+            <origin xyz="-0.0597 -0.001 0.0572" rpy="0 0 0" />
+            <mass value="0.5398" />
+            <inertia ixx="0.0008" iyy="0.001" izz="0.0008" ixy="0" ixz="0.0003" iyz="0" />
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="package://xpkg_urdf_archer_y6/meshes/link_4.STL" />
+            </geometry>
+            <material name="">
+                <color rgba="1 1 1 1" />
+            </material>
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="package://xpkg_urdf_archer_y6/meshes/link_4.STL" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="joint_4" type="revolute">
+        <origin xyz="-0.06 0 0.245" rpy="0 0 0" />
+        <parent link="link_3" />
+        <child link="link_4" />
+        <axis xyz="0 1 0" />
+        <limit lower="-1.57" upper="1.57" effort="6" velocity="6" />
+    </joint>
+    <link name="link_5">
+        <inertial>
+            <origin xyz="0.0292 0.0001 -0.0107" rpy="0 0 0" />
+            <mass value="0.3984" />
+            <inertia ixx="0.0002" iyy="0.0003" izz="0.0002" ixy="0" ixz="0" iyz="0" />
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="package://xpkg_urdf_archer_y6/meshes/link_5.STL" />
+            </geometry>
+            <material name="">
+                <color rgba="1 1 1 1" />
+            </material>
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="package://xpkg_urdf_archer_y6/meshes/link_5.STL" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="joint_5" type="revolute">
+        <origin xyz="-0.0553 0 0.070" rpy="0 0 0" />
+        <parent link="link_4" />
+        <child link="link_5" />
+        <axis xyz="-1 0 0" />
+        <limit lower="-1.57" upper="1.57" effort="6" velocity="6" />
+    </joint>
+    <link name="link_6">
+        <inertial>
+            <origin xyz="-0.0009 0.0001 0.0596" rpy="0 0 0" />
+            <mass value="0.6760" />
+            <inertia ixx="0.0011" ixy="0" ixz="0" iyy="0.0011" iyz="0" izz="0.0004" />
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="package://xpkg_urdf_archer_y6/meshes/link_6.STL" />
+            </geometry>
+            <material name="">
+                <color rgba="1 1 1 1" />
+            </material>
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="package://xpkg_urdf_archer_y6/meshes/link_6.STL" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="joint_6" type="revolute">
+        <origin xyz="0.0553 0 0.029" rpy="0 0 0" />
+        <parent link="link_5" />
+        <child link="link_6" />
+        <axis xyz="0 0 1" />
+        <limit lower="-2.96" upper="2.96" effort="6" velocity="6" />
+    </joint>
+</robot>