kuavo-humanoid-sdk-ws 1.3.2__20260122221834-py3-none-any.whl

kuavo_humanoid_sdk_ws-1.3.2.dist-info/METADATA

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+Metadata-Version: 2.1
+Name: kuavo-humanoid-sdk-ws
+Version: 1.3.2
+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
+Requires-Dist: numpy
+Requires-Dist: transitions
+Requires-Dist: roslibpy
+Requires-Dist: argparse
+Requires-Dist: transforms3d
+
+# 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

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