kuavo-humanoid-sdk-ws 1.3.1b4453__tar.gz → 1.3.1b4459__tar.gz

kuavo_humanoid_sdk_ws-1.3.1b4459/PKG-INFO

@@ -0,0 +1,272 @@
+Metadata-Version: 2.1
+Name: kuavo_humanoid_sdk_ws
+Version: 1.3.1b4459
+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/
+Description: # 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
+        
+Keywords: kuavo,humanoid,robot,robotics,lejurobot,ros
+Platform: UNKNOWN
+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_ws-1.3.1b4459/kuavo_humanoid_sdk_ws.egg-info/PKG-INFO

@@ -0,0 +1,272 @@
+Metadata-Version: 2.1
+Name: kuavo-humanoid-sdk-ws
+Version: 1.3.1b4459
+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/
+Description: # 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
+        
+Keywords: kuavo,humanoid,robot,robotics,lejurobot,ros
+Platform: UNKNOWN
+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_ws-1.3.1b4453/PKG-INFO

@@ -1,271 +0,0 @@
-Metadata-Version: 2.1
-Name: kuavo_humanoid_sdk_ws
-Version: 1.3.1b4453
-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-1.3.1b4453/kuavo_humanoid_sdk_ws.egg-info/PKG-INFO

@@ -1,271 +0,0 @@
-Metadata-Version: 2.1
-Name: kuavo-humanoid-sdk-ws
-Version: 1.3.1b4453
-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-1.3.1b4453 → kuavo_humanoid_sdk_ws-1.3.1b4459}/kuavo_humanoid_sdk_ws.egg-info/requires.txt

@@ -1,5 +1,5 @@
+argparse
 numpy
-transitions
 roslibpy
-argparse
 transforms3d
+transitions