kuavo-humanoid-sdk-ws 1.3.1b4184__tar.gz

kuavo_humanoid_sdk_ws-1.3.1b4184/PKG-INFO

@@ -0,0 +1,271 @@
+Metadata-Version: 2.1
+Name: kuavo_humanoid_sdk_ws
+Version: 1.3.1b4184
+Summary: A Python SDK for kuavo humanoid robot.
+Home-page: https://gitee.com/leju-robot/kuavo-ros-opensource/
+Author: ['lejurobot']
+Author-email: edu@lejurobot.com
+License: MIT
+Project-URL: Documentation, https://gitee.com/leju-robot/kuavo-ros-opensource/
+Project-URL: Source Code, https://gitee.com/leju-robot/kuavo-ros-opensource/
+Keywords: kuavo,humanoid,robot,robotics,lejurobot,ros
+Classifier: Development Status :: 4 - Beta
+Classifier: Intended Audience :: Developers
+Classifier: License :: OSI Approved :: MIT License
+Classifier: Operating System :: POSIX :: Linux
+Classifier: Programming Language :: Python :: 3
+Classifier: Programming Language :: Python :: 3.8
+Classifier: Programming Language :: Python :: 3.9
+Classifier: Programming Language :: Python :: 3.10
+Classifier: Topic :: Software Development :: Libraries :: Python Modules
+Requires-Python: >=3.8
+Description-Content-Type: text/markdown
+
+# Kuavo Humanoid SDK
+
+A comprehensive Python SDK for controlling Kuavo humanoid robots. This SDK provides interfaces for robot state management, arm and head control, and end-effector operations. It is designed to work with ROS (Robot Operating System) environments.
+
+**Warning**: This SDK currently only supports **ROS1**. ROS2 support is not available.
+
+**Warning**: **This SDK can only be used on the onboard NUC computer located in the robot's torso.** 
+
+![Kuavo 4Pro Robot](https://kuavo.lejurobot.com/manual/assets/images/kuavo_4pro-cf84d43f1c370666c6e810d2807ae3e4.png)
+
+## Features
+
+- Robot State Management
+  - IMU data (acceleration, angular velocity, euler angles)
+  - Joint/motor states (position, velocity, torque)
+  - Torso state (position, orientation, velocity)
+  - Odometry information
+  - End-effector states:
+    - Gripper(lejuclaw): position, velocity, torque, grasp status
+    - Dexterous hand(qiangnao): position, velocity, torque
+    - Touch Dexterous hand(qiangnao_touch): position, velocity, torque, touch state
+    - End-effector position and orientation
+  - Motion states: stand, walk, step_control, trot
+
+- Motion Control
+  - Arm Control
+    - Joint position control
+    - End-effector 6D control via inverse kinematics
+    - Forward kinematics (FK) for computing end-effector pose
+    - Keyframe sequence control for complex motions
+  - End-effector Control
+    - Gripper control (position control with configurable velocity and torque)
+    - Dexterous hand control
+      - Position control
+      - Pre-defined hand gestures (OK, 666, fist, etc.)
+  - Head Control
+    - Position control
+  - Torso Control
+    - Height control (squatting)
+    - Forward/backward tilt control
+  - Dynamic Motion Control
+    - Stance
+    - Trot
+    - Walking (xy and yaw velocity control)
+    - Stepping (gait switching)
+
+- Robot Basic Information
+  - Robot type (kuavo)
+  - Robot version
+  - End-effector type
+  - Joint names
+  - Total degrees of freedom (28)
+  - Arm degrees of freedom (7 per arm)
+  - Head degrees of freedom (2)
+  - Leg degrees of freedom (12)
+
+## Installation
+
+**Note: There are currently two versions of this SDK, the stable version and the beta version. Their differences are:**
+
+- stable version: corresponding to the functionality provided by the `master` branch of [kuavo-ros-opensource](https://gitee.com/leju-robot/kuavo-ros-opensource/).
+- Beta version: This version is more aggressive than the official version and also provides richer functionality, corresponding to the functionality provided by the `beta` branch of [kuavo-ros-opensource](https://gitee.com/leju-robot/kuavo-ros-opensource/).
+
+**Friendly reminder: Please be clear about which version you need to install. If your SDK version does not match `kuavo-ros-opensource`, some features may not be available.**
+
+Install the latest **​stable version** of Kuavo Humanoid SDK using pip:
+```bash
+pip install kuavo-humanoid-sdk-ws
+```
+
+Install the latest **​beta version** of Kuavo Humanoid SDK using pip:
+```bash
+pip install --pre kuavo-humanoid-sdk-ws
+```
+
+For local development installation (editable mode), use:
+```bash
+cd src/kuavo_humanoid_sdk_ws  
+chmod +x install.sh  
+./install.sh   
+```
+## Upgrade Instructions
+Before upgrading, you can check the currently installed version with:
+```bash
+pip show kuavo-humanoid-sdk-ws
+# Output:  
+Name: kuavo-humanoid-sdk-ws  
+Version: 0.1.2  
+...  
+```
+
+**Note: If the version number contains the letter b, it indicates a beta version, e.g., Version: 0.1.2b113**
+
+To upgrade from a stable version to the latest stable version:
+```bash
+pip install --upgrade kuavo-humanoid-sdk-ws
+```
+
+To upgrade from a beta version to the latest stable version:
+```bash
+pip install --upgrade --force-reinstall kuavo-humanoid-sdk-ws
+# or  
+pip uninstall kuavo-humanoid-sdk-ws && pip install kuavo-humanoid-sdk-ws
+```
+
+To upgrade from a stable/beta version to the latest beta version:
+```bash
+pip install --upgrade --pre kuavo-humanoid-sdk-ws
+```
+
+## Package Information
+
+You can check the package information using pip:
+```bash
+pip show kuavo-humanoid-sdk-ws
+```
+
+## Quick Start
+
+Here's a simple example to get started with Kuavo Humanoid SDK:
+
+> **Warning**: Before running any code, make sure to start the robot first by executing either:
+> - For simulation: `roslaunch humanoid_controllers load_kuavo_mujoco_sim.launch` (Example command)
+> - For real robot: `roslaunch humanoid_controllers load_kuavo_real.launch` (Example command)
+```python3
+# Copyright (c) 2025 Leju Robotics. Licensed under the MIT License.
+import time
+from kuavo_humanoid_sdk import KuavoSDK, KuavoRobot
+
+def main():
+    if not KuavoSDK().Init():  # Init! !!! IMPORTANT !!!
+        print("Init KuavoSDK failed, exit!")
+        exit(1)
+    robot = KuavoRobot()    
+    
+    """ arm reset """
+    print("Switching to arm reset mode...")
+    robot.arm_reset()
+    
+    """ stance """
+    print("Switching to stance mode...")
+    robot.stance()
+
+    """ trot """
+    print("Switching to trot mode...")
+    robot.trot()
+    
+    """ walk forward """
+    print("Starting forward walk...")
+    duration = 4.0  # seconds
+    speed = 0.3     # m/s
+    start_time = time.time()
+    while (time.time() - start_time < duration):
+        robot.walk(linear_x=speed, linear_y=0.0, angular_z=0.0)
+        time.sleep(0.1)  # Small sleep to prevent busy loop
+    
+if __name__ == "__main__":
+    main()
+```
+
+## Docs
+The documentation is available in two formats:
+- HTML format: [docs/html](docs/html), **needs to be generated by running the script**
+- Markdown format: [docs/markdown](docs/markdown)
+
+We recommend that you generate the documentation locally by running the documentation script. The documentation will be output to the `docs/html` and `docs/markdown` folders:
+```bash
+cd <kuavo-ros-opensource>/src/kuavo_humanoid_sdk_ws
+chmod +x gen_docs.sh
+./gen_docs.sh
+```
+
+**We recommend that you view the documentation using `html` for a better experience.**
+
+For Markdown documentation at:
+
+https://gitee.com/leju-robot/kuavo-ros-opensource/tree/master/src/kuavo_humanoid_sdk/docs/markdown/index.md
+
+## Examples
+
+#### WARNING
+Before running any code examples, make sure to start the robot first by executing either:
+
+- For simulation: `roslaunch humanoid_controllers load_kuavo_mujoco_sim.launch` (Example command)
+- For real robot: `roslaunch humanoid_controllers load_kuavo_real.launch` (Example command)
+
+### Robot Info
+
+Examples showing how to get basic robot information.
+
+[https://gitee.com/leju-robot/kuavo-ros-opensource/tree/master/src/kuavo_humanoid_sdk/examples/robot_info_example.py](https://gitee.com/leju-robot/kuavo-ros-opensource/tree/master/src/kuavo_humanoid_sdk/examples/robot_info_example.py)
+
+### Basic Robot Control
+
+A basic example showing how to initialize the SDK and control the robot’s movement.
+
+[https://gitee.com/leju-robot/kuavo-ros-opensource/tree/master/src/kuavo_humanoid_sdk/examples/motion_example.py](https://gitee.com/leju-robot/kuavo-ros-opensource/tree/master/src/kuavo_humanoid_sdk/examples/motion_example.py)
+
+### End Effector Control
+
+#### LejuClaw Gripper
+
+Examples demonstrating how to control the LejuClaw gripper end effector, including position, velocity and torque control.
+
+[https://gitee.com/leju-robot/kuavo-ros-opensource/tree/master/src/kuavo_humanoid_sdk/examples/lejuclaw_example.py](https://gitee.com/leju-robot/kuavo-ros-opensource/tree/master/src/kuavo_humanoid_sdk/examples/lejuclaw_example.py)
+
+#### QiangNao DexHand
+
+Examples showing how to control the QiangNao DexHand, a dexterous robotic hand with multiple degrees of freedom for complex manipulation tasks.
+
+[https://gitee.com/leju-robot/kuavo-ros-opensource/tree/master/src/kuavo_humanoid_sdk/examples/dexhand_example.py](https://gitee.com/leju-robot/kuavo-ros-opensource/tree/master/src/kuavo_humanoid_sdk/examples/dexhand_example.py)
+
+### Arm Control
+
+Examples showing arm trajectory control and target pose control.
+
+[https://gitee.com/leju-robot/kuavo-ros-opensource/tree/master/src/kuavo_humanoid_sdk/examples/ctrl_arm_example.py](https://gitee.com/leju-robot/kuavo-ros-opensource/tree/master/src/kuavo_humanoid_sdk/examples/ctrl_arm_example.py)
+
+### Forward and Inverse Kinematics
+
+Examples demonstrating how to use forward kinematics (FK) to compute end-effector positions from joint angles, and inverse kinematics (IK) to calculate joint angles needed to achieve desired end-effector poses.
+
+[https://gitee.com/leju-robot/kuavo-ros-opensource/tree/master/src/kuavo_humanoid_sdk/examples/arm_ik_example.py](https://gitee.com/leju-robot/kuavo-ros-opensource/tree/master/src/kuavo_humanoid_sdk/examples/arm_ik_example.py)
+
+### Head Control
+
+Examples showing how to control the robot’s head movements, including nodding (pitch) and shaking (yaw) motions.
+
+[https://gitee.com/leju-robot/kuavo-ros-opensource/tree/master/src/kuavo_humanoid_sdk/examples/ctrl_head_example.py](https://gitee.com/leju-robot/kuavo-ros-opensource/tree/master/src/kuavo_humanoid_sdk/examples/ctrl_head_example.py)
+
+### Step-by-Step Control
+
+Examples showing how to control the robot’s movements step by step, including individual foot placement and trajectory control.
+
+[https://gitee.com/leju-robot/kuavo-ros-opensource/tree/master/src/kuavo_humanoid_sdk/examples/step_control_example.py](https://gitee.com/leju-robot/kuavo-ros-opensource/tree/master/src/kuavo_humanoid_sdk/examples/step_control_example.py)
+
+
+## License
+
+This project is licensed under the MIT License - see the LICENSE file for details.
+
+## Contact & Support
+
+For any questions, support, or bug reports, please contact:
+- Email: edu@lejurobot.com
+- Website: https://gitee.com/leju-robot/kuavo-ros-opensource/
+- Source Code: https://gitee.com/leju-robot/kuavo-ros-opensource/
+- Issue Tracker: https://gitee.com/leju-robot/kuavo-ros-opensource/issues

kuavo_humanoid_sdk_ws-1.3.1b4184/README.md

@@ -0,0 +1,79 @@
+# Kuavo Humanoid SDK
+[![Version](https://img.shields.io/pypi/v/kuavo-humanoid-sdk-ws.svg)](https://pypi.org/project/kuavo-humanoid-sdk-ws/)[![License](https://img.shields.io/pypi/l/kuavo-humanoid-sdk-ws.svg)](#)[![Supported Python Versions](https://img.shields.io/pypi/pyversions/kuavo-humanoid-sdk-ws.svg)](https://pypi.python.org/pypi/kuavo-humanoid-sdk-ws)
+
+一个全面的 Python SDK，用于控制 Kuavo 人形机器人。该 SDK 提供了机器人状态管理、手臂和头部控制以及末端执行器操作的接口。它设计用于与 ROS（机器人操作系统）环境一起工作。
+
+**警告**：该 SDK 目前仅支持 **ROS1**。不支持 ROS2。
+
+PyPI 项目地址: https://pypi.org/project/kuavo-humanoid-sdk-ws/
+
+## 安装
+**提示：对于本 SDK 目前存在两个版本，正式发布版与beta内测版, 他们的区别是：**
+- 正式发布版：稳定版，对应[kuavo-ros-opensource](https://gitee.com/leju-robot/kuavo-ros-opensource/)的`master` 分支提供的功能，
+- beta内测版：该版本较正式版会激进一些，同时也会提供更丰富的功能，对应[kuavo-ros-opensource](https://gitee.com/leju-robot/kuavo-ros-opensource/)的`beta` 分支提供的功能。
+
+**温馨提示：请务必明确您需要安装的版本，如果您的SDK版本与`kuavo-ros-opensource`未匹配，可能会出现某些功能不可用的错误。**
+
+安装最新的**正式版** Kuavo Humanoid SDK，可以使用 pip：
+```bash
+pip install kuavo-humanoid-sdk-ws
+```
+
+安装最新的**beta版** Kuavo Humanoid SDK，可以使用 pip：
+```bash
+pip install --pre kuavo-humanoid-sdk-ws
+
+```
+对于本地开发安装（可编辑模式），请使用：
+```bash
+cd src/kuavo_humanoid_sdk_ws
+chmod +x install.sh
+./install.sh
+```
+
+## 升级更新
+
+在升级更新之前，您可以先执行以下命令来查看当前安装的版本：
+```bash
+pip show kuavo-humanoid-sdk-ws
+# Output:
+Name: kuavo-humanoid-sdk-ws
+Version: 0.1.2
+...
+```
+**提示：如果您的版本号中包含字母`b`，则表示该版本为测试版, 比如`Version: 0.1.2b113`**
+
+**当前为正式版**，升级到最新正式版:
+```bash
+pip install --upgrade kuavo-humanoid-sdk-ws
+```
+**当前为beta版**，升级到最新正式版:
+```bash
+pip install --upgrade --force-reinstall kuavo-humanoid-sdk-ws
+# 或者
+pip uninstall kuavo-humanoid-sdk-ws && pip install kuavo-humanoid-sdk-ws
+```
+**当前为正式版/beta版**，升级到最新beta版:
+```bash
+pip install --upgrade --pre kuavo-humanoid-sdk-ws
+```
+
+## 描述
+
+有关详细的 SDK 文档和使用示例，请参阅 [sdk_description.md](sdk_description.md)。
+
+## 文档
+文档提供两种格式：
+- HTML 格式：[docs/html](docs/html), **需要自己执行脚本生成**
+- Markdown 格式：[docs/markdown](docs/markdown)
+
+我们推荐您自己执行文档脚本生成文档到本地, 文档会输出到`docs/html`和`docs/markdown`文件夹:
+```bash
+chmod +x ./gen_docs.sh
+./gen_docs.sh
+```
+
+我们推荐您使用`html`查看文档更加方便，比如:
+![](docs/images/image.png)
+
+

kuavo_humanoid_sdk_ws-1.3.1b4184/kuavo_humanoid_sdk/__init__.py

@@ -0,0 +1,6 @@
+from .msg import *
+from .interfaces import *
+from .kuavo import *
+#from .kuavo_strategy import *   
+#from .kuavo_strategy.grasp_box import *
+from kuavo_humanoid_sdk.common.logger import SDKLogger, disable_sdk_logging

kuavo_humanoid_sdk_ws-1.3.1b4184/kuavo_humanoid_sdk/common/launch_robot_tool.py

@@ -0,0 +1,170 @@
+import roslibpy
+import time
+from typing import Tuple
+from kuavo_humanoid_sdk.common.logger import SDKLogger
+from kuavo_humanoid_sdk.common.websocket_kuavo_sdk import WebSocketKuavoSDK
+
+
+class LaunchRobotStatus:
+    # 与硬件节点保持一致
+    UNLAUNCH = 'unlaunch'
+    INITING = 'initing'
+    UNKNOWN = 'unknown'
+    READY_STANCE = 'ready_stance'
+    CALIBRATE = 'calibrate'
+    LAUNCHED = 'launched'
+
+class LaunchRobotTool:
+    def __init__(self):
+        self._websocket = WebSocketKuavoSDK()
+        self._stand_timeout = 10.0
+        self._srv_robot_start = roslibpy.Service(self._websocket.client, '/websocket_sdk_srv/start_robot', 'std_srvs/Trigger')
+        self._srv_robot_stand = roslibpy.Service(self._websocket.client, '/websocket_sdk_srv/stand_robot', 'std_srvs/Trigger')
+        self._srv_get_robot_launch_status = roslibpy.Service(self._websocket.client, '/websocket_sdk_srv/get_robot_launch_status', 'std_srvs/Trigger')
+        self._srv_robot_stop = roslibpy.Service(self._websocket.client, '/websocket_sdk_srv/stop_robot', 'std_srvs/Trigger')
+        
+    def is_unlaunch(self, status:str)->bool:
+        return status == LaunchRobotStatus.UNLAUNCH or status == LaunchRobotStatus.UNKNOWN
+    
+    def is_launched(self, status:str)->bool:
+        return status == LaunchRobotStatus.LAUNCHED
+
+    def is_launching(self, status:str)->bool:
+        return self.is_calibrate(status) or self.is_ready_stance(status)
+
+    def is_calibrate(self, status:str)->bool:
+        return status == LaunchRobotStatus.CALIBRATE
+    
+    def is_ready_stance(self, status:str)->bool:
+        return status == LaunchRobotStatus.READY_STANCE
+    
+    def robot_start(self) -> bool:
+        # launch robot
+        if not self.pub_start_command():
+            return False
+        try:
+            timeout = 120 # 120s 等待进入校准或准备姿态
+            start_time = time.time()
+            last_print = time.time()
+            print("\033[32m>_ 机器人启动中\033[0m", end="", flush=True)
+            while True:
+                if time.time() - start_time > timeout:
+                    SDKLogger.error("Robot launch timed out")
+                    return False
+                success, status = self.get_robot_launch_status()
+                # 如果机器人启动成功，已经进入校准或准备状态或者launched状态，则启动成功
+                if success and (self.is_launched(status) or self.is_launching(status)):
+                    print("\n")
+                    return True
+                
+                current_time = time.time()
+                if current_time - last_print >= 0.8:
+                    print("\033[32m.\033[0m", end="", flush=True)
+                    last_print = current_time
+                time.sleep(0.2)
+        except KeyboardInterrupt:
+            print("\n")
+            SDKLogger.info("Received keyboard interrupt, stopping robot launch")
+            return False
+    
+    def robot_stop(self)->bool:
+        """
+        停止机器人
+        """
+        try:
+            request = roslibpy.ServiceRequest({})
+            response = self._srv_robot_stop.call(request)
+            return response.get('success', False)
+        except Exception as e:
+            SDKLogger.error(f"[Error] calling stop robot service: {e}")
+            return False
+
+    def robot_stand(self)->bool:
+        try:
+            while True:
+                # 获取当前启动状态, 如果已启动则返回
+                success, status = self.get_robot_launch_status()
+                if not success:
+                    SDKLogger.error(f"[Error] Failed to get robot launch status: {status}")
+                    return False
+                if self.is_launched(status):
+                    return True
+                
+                # 从当前状态确认下一个状态
+                next_state = None
+                if self.is_calibrate(status):
+                    print("\033[32m>_ [校准状态]: 机器人当前处于校准状态，确认无误，请输入 y 键进入准备姿态\033[0m")
+                    next_state = LaunchRobotStatus.READY_STANCE
+                elif self.is_ready_stance(status):
+                    print("\033[32m>_ [准备姿态]: 请等待机器人缩腿到下蹲姿势，并将其下降到距离地面 2cm 处，确认无误后，请输入 y 键\033[0m")
+                    next_state = LaunchRobotStatus.LAUNCHED
+
+                if self.is_calibrate(status) or self.is_ready_stance(status):
+                    while True:
+                        try:
+                            choice = input().lower()
+                            if choice == 'y':
+                                break
+                            elif choice == 'n':
+                                return False
+                            else:
+                                SDKLogger.error("输入错误，请输入 y 键")
+                        except KeyboardInterrupt:
+                            return False
+                    
+                    # 发布站立命令
+                    if not self.pub_stand_command():
+                        return False
+
+                    # 等待进入下一个状态
+                    start_time = time.time()
+                    while True:
+                        if time.time() - start_time > self._stand_timeout: 
+                            break
+                        success, current_status = self.get_robot_launch_status()
+                        if not success:
+                            SDKLogger.error(f"[Error] Wait next state Failed to get robot launch status: {current_status}")
+                            return False
+                        if self.is_launched(current_status):
+                            return True
+                        elif current_status == next_state:
+                            # 成功进入下一个状态
+                            break
+                        time.sleep(0.2)
+                time.sleep(0.2)
+        except KeyboardInterrupt:
+            SDKLogger.info("Received keyboard interrupt, stopping robot stand")
+            return False
+
+    def pub_start_command(self) -> bool:
+        try:
+            request = roslibpy.ServiceRequest({})
+            response = self._srv_robot_start.call(request)
+            result = response.get('success', False)
+            return result
+        except Exception as e:
+            SDKLogger.error(f"[Error] calling start service: {e}")
+            return False
+
+    def pub_stand_command(self) -> bool:
+        try:
+            request = {}
+            response = self._srv_robot_stand.call(request)
+            if not response.get('success', False):
+                SDKLogger.error(f"Failed to make robot stand: {response.get('message', '')}")
+            return response.get('success', False)
+        except Exception as e:
+            SDKLogger.error(f"[Error] calling stand service: {e}")
+            return False
+        
+
+    def get_robot_launch_status(self)->Tuple[bool, str]:
+        try:
+            request = roslibpy.ServiceRequest({})
+            response = self._srv_get_robot_launch_status.call(request)
+            success = response.get('success', False)
+            status = response.get('message', 'unknown')
+            return success, status
+        except Exception as e:
+            SDKLogger.error(f"[Error] calling get robot launch status service: {e}")
+            return False, "unknown"

kuavo_humanoid_sdk_ws-1.3.1b4184/kuavo_humanoid_sdk/common/logger.py

@@ -0,0 +1,45 @@
+import logging
+import os
+from pathlib import Path
+from logging.handlers import RotatingFileHandler
+def setup_logger():
+    logger = logging.getLogger('kuavo-humanoid-sdk')
+    logger.setLevel(logging.DEBUG)
+    log_suffix = f'log/kuavo_humanoid_sdk'
+    log_dir = f'/var/{log_suffix}'
+    try:
+        # Check if we have write permission for /var directory
+        if not os.access('/var/log/', os.W_OK):
+            log_dir = f'./{log_suffix}'
+        Path(log_dir).mkdir(parents=True, exist_ok=True)
+    except Exception as e:
+        # If creation in /var fails, create in current directory
+        log_dir = f'./{log_suffix}'
+        Path(log_dir).mkdir(parents=True, exist_ok=True)        
+    log_file = f'{log_dir}/kuavo_humanoid_sdk.log'
+
+    print(f'kuavo-humanoid-sdk log_file: {log_file}')
+
+    fh = RotatingFileHandler(log_file, maxBytes=2*1024*1024, backupCount=5)  # 每个日志文件最大 2 MB，保留 5 个备份文件
+    fh.setLevel(logging.DEBUG)
+    
+    ch = logging.StreamHandler()
+    ch.setLevel(logging.DEBUG)
+    
+    formatter = logging.Formatter('%(asctime)s - %(levelname)s - %(message)s')
+    fh.setFormatter(formatter)
+    ch.setFormatter(formatter)
+    
+    logger.addHandler(fh)
+    logger.addHandler(ch)
+    return logger
+
+def disable_sdk_logging():
+    """
+        Disable SDK logging.
+    """
+    logging.disable()
+
+
+""" Logger """
+SDKLogger = setup_logger()

kuavo_humanoid_sdk_ws-1.3.1b4184/kuavo_humanoid_sdk/common/websocket_kuavo_sdk.py

@@ -0,0 +1,26 @@
+import roslibpy
+
+class WebSocketKuavoSDK:
+
+    _instance = None
+    _initialized = False
+
+    websocket_host = '127.0.0.1'
+    websocket_port = 9090
+    websocket_timeout = 5.0
+
+    def __new__(cls, *args, **kwargs):
+        if cls._instance is None:
+            cls._instance = super().__new__(cls)
+        return cls._instance
+
+    def __init__(self):
+        if not self._initialized:
+            self._initialized = True
+            self.client = roslibpy.Ros(host=WebSocketKuavoSDK.websocket_host, port=WebSocketKuavoSDK.websocket_port)
+            self.client.run(timeout=WebSocketKuavoSDK.websocket_timeout)
+            
+
+    def __del__(self):
+        self.client.terminate()
+        self.instance = None

kuavo_humanoid_sdk_ws-1.3.1b4184/kuavo_humanoid_sdk/interfaces/__init__.py

@@ -0,0 +1,4 @@
+from .data_types import *
+from .robot import *
+from .end_effector import *
+from .robot_info import *