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

kuavo_humanoid_sdk/kuavo/core/ros/observation.py

@@ -0,0 +1,125 @@
+#!/usr/bin/env python3
+# coding: utf-8
+from kuavo_humanoid_sdk.interfaces.data_types import (
+    KuavoJointCommand, KuavoTwist)
+from kuavo_humanoid_sdk.common.logger import SDKLogger
+import roslibpy
+from kuavo_humanoid_sdk.common.websocket_kuavo_sdk import WebSocketKuavoSDK
+
+class KuavoRobotObservationCoreWebsocket:
+    _instance = None
+
+    def __new__(cls, *args, **kwargs):
+        if not cls._instance:
+            cls._instance = super().__new__(cls)
+        return cls._instance
+
+    def __init__(self):
+        if not hasattr(self, '_initialized'):
+            # 初始化 WebSocket 连接
+            self.websocket = WebSocketKuavoSDK()
+            
+            # 初始化订阅者
+            self._joint_cmd_subscriber = roslibpy.Topic(
+                self.websocket.client, '/joint_cmd', 'kuavo_msgs/jointCmd')
+            self._cmd_vel_subscriber = roslibpy.Topic(
+                self.websocket.client, '/cmd_vel', 'geometry_msgs/Twist')
+            self._cmd_pose_subscriber = roslibpy.Topic(
+                self.websocket.client, '/cmd_pose', 'geometry_msgs/Twist')
+            
+            # 订阅话题
+            self._joint_cmd_subscriber.subscribe(self._joint_cmd_callback)
+            self._cmd_vel_subscriber.subscribe(self._cmd_vel_callback)
+            self._cmd_pose_subscriber.subscribe(self._cmd_pose_callback)
+            
+            """ 数据初始化 """
+            self._joint_cmd = KuavoJointCommand(
+                joint_q = [0.0] * 28,
+                joint_v = [0.0] * 28,
+                tau = [0.0] * 28,
+                tau_max = [0.0] * 28,
+                tau_ratio = [0.0] * 28,
+                joint_kp = [0.0] * 28,
+                joint_kd = [0.0] * 28,
+                control_modes = [0] * 28
+            )
+
+            self._cmd_vel = KuavoTwist(
+                linear = (0.0, 0.0, 0.0),
+                angular = (0.0, 0.0, 0.0)
+            )
+
+            self._cmd_pose = KuavoTwist(
+                linear = (0.0, 0.0, 0.0),
+                angular = (0.0, 0.0, 0.0)
+            )
+
+            self._initialized = True
+            
+    def _joint_cmd_callback(self, msg):
+        """关节命令回调函数
+        
+        Args:
+            msg: roslibpy 消息，包含关节命令数据
+        """
+        # 将 roslibpy 消息转换为我们的格式
+        self._joint_cmd.joint_q = list(msg['joint_q'])
+        self._joint_cmd.joint_v = list(msg['joint_v'])
+        self._joint_cmd.tau = list(msg['tau'])
+        self._joint_cmd.tau_max = list(msg['tau_max'])
+        self._joint_cmd.tau_ratio = list(msg['tau_ratio'])
+        self._joint_cmd.joint_kp = list(msg['joint_kp'])
+        self._joint_cmd.joint_kd = list(msg['joint_kd'])
+        self._joint_cmd.control_modes = list(msg['control_modes'])
+        
+    def _cmd_vel_callback(self, msg):
+        """速度命令回调函数
+        
+        Args:
+            msg: WebSocket 消息，包含速度命令数据
+        """
+        self._cmd_vel.linear = (msg['linear']['x'], msg['linear']['y'], msg['linear']['z'])
+        self._cmd_vel.angular = (msg['angular']['x'], msg['angular']['y'], msg['angular']['z'])
+        
+    def _cmd_pose_callback(self, msg):
+        """位姿命令回调函数
+        
+        Args:
+            msg: WebSocket 消息，包含位姿命令数据
+        """
+        self._cmd_pose.linear = (msg['linear']['x'], msg['linear']['y'], msg['linear']['z'])
+        self._cmd_pose.angular = (msg['angular']['x'], msg['angular']['y'], msg['angular']['z'])
+        
+        
+    @property
+    def joint_command(self) -> KuavoJointCommand:
+        return self._joint_cmd
+        
+    @property
+    def cmd_vel(self) -> KuavoTwist:
+        return self._cmd_vel
+        
+    @property
+    def cmd_pose(self) -> KuavoTwist:
+        return self._cmd_pose
+    
+    @property    
+    def arm_position_command(self) -> list:
+        """Return the position commands for the arm joints (indices 12-25).
+        
+        Returns:
+            list: Position commands for arm joints
+        """
+        return self._joint_cmd.joint_q[12:26]
+    
+    @property
+    def head_position_command(self) -> list:
+        """Return the position commands for the head joints (indices 26-27).
+        
+        Returns:
+            list: Position commands for head joints
+        """
+        return self._joint_cmd.joint_q[-2:]
+
+
+# TODO: 实现 Websocket 接口在这里

kuavo_humanoid_sdk/kuavo/core/ros/param.py

@@ -0,0 +1,335 @@
+import json
+import xml.etree.ElementTree as ET
+from kuavo_humanoid_sdk.common.logger import SDKLogger
+from kuavo_humanoid_sdk.common.websocket_kuavo_sdk import WebSocketKuavoSDK
+import roslibpy
+
+# End effector types
+class EndEffectorType:
+    QIANGNAO = "qiangnao"
+    QIANGNAO_TOUCH = "qiangnao_touch"
+    LEJUCLAW = "lejuclaw"
+
+
+class RosParamWebsocket:
+    def __init__(self):
+        self.websocket = WebSocketKuavoSDK()
+        if not self.websocket.client.is_connected:
+            SDKLogger.error("Failed to connect to WebSocket server")
+            raise ConnectionError("Failed to connect to WebSocket server")
+
+    def robot_version(self)->str:
+        try:
+            param_service = roslibpy.Param(self.websocket.client, 'robot_version')
+            param = param_service.get()
+            if param is None:
+                SDKLogger.error("robot_version parameter not found")
+                return None
+            return param
+        except Exception as e:
+            SDKLogger.error(f"Failed to get robot_version: {e}")
+            return None
+    def init_stand_height(self)->float:
+        try:
+            param_service = roslibpy.Param(self.websocket.client, 'com_height')
+            param = param_service.get()
+            if param is None:
+                SDKLogger.error("com_height parameter not found")
+                # KUAVO-4PRO
+                return 0.8328437523948975
+            return param
+        except Exception as e:
+            SDKLogger.error(f"Failed to get com_height: {e}")
+            return 0.8328437523948975
+    
+    def arm_dof(self)->int:
+        try:
+            param_service = roslibpy.Param(self.websocket.client, 'armRealDof')
+            param = param_service.get()
+            if param is None:
+                SDKLogger.error("armRealDof parameter not found")
+                return None
+            return param
+        except Exception as e:
+            SDKLogger.error(f"Failed to get armRealDof: {e}")
+            return None
+    
+    def head_dof(self)->int:
+        try:
+            param_service = roslibpy.Param(self.websocket.client, 'headRealDof')
+            param = param_service.get()
+            if param is None:
+                SDKLogger.error("headRealDof parameter not found")
+                return None
+            return param
+        except Exception as e:
+            SDKLogger.error(f"Failed to get headRealDof: {e}")
+            return None
+    
+    def leg_dof(self)->int:
+        try:
+            param_service = roslibpy.Param(self.websocket.client, 'legRealDof')
+            param = param_service.get()
+            if param is None:
+                SDKLogger.error("legRealDof parameter not found")
+                return None
+            return param
+        except Exception as e:
+            SDKLogger.error(f"Failed to get legRealDof: {e}")
+            return None
+    
+    def waist_dof(self)->int:
+        try:
+            param_service = roslibpy.Param(self.websocket.client, 'waistRealDof')
+            param = param_service.get()
+            if param is None:
+                # If parameter not found, default to 0 (no waist joint)
+                SDKLogger.debug("waistRealDof parameter not found, defaulting to 0")
+                return 0
+            return param
+        except Exception as e:
+            # If parameter doesn't exist or error occurs, default to 0
+            SDKLogger.debug(f"Failed to get waistRealDof: {e}, defaulting to 0")
+            return 0
+    
+    def end_effector_type(self)->str:
+        try:
+            param_service = roslibpy.Param(self.websocket.client, 'end_effector_type')
+            param = param_service.get()
+            if param is None:
+                SDKLogger.error("end_effector_type parameter not found")
+                return None
+            return param
+        except Exception as e:
+            SDKLogger.error(f"Failed to get end_effector_type: {e}")
+            return None
+    
+    def humanoid_description(self)->str:
+        try:
+            param_service = roslibpy.Param(self.websocket.client, 'humanoid_description')
+            param = param_service.get()
+            if param is None:
+                SDKLogger.error("humanoid_description parameter not found")
+                return None
+            return param
+        except Exception as e:
+            SDKLogger.error(f"Failed to get humanoid_description: {e}")
+            return None
+
+    def model_path(self)->str:
+        try:
+            param_service = roslibpy.Param(self.websocket.client, 'modelPath')
+            param = param_service.get()
+            if param is None:
+                SDKLogger.error("modelPath parameter not found")
+                return None
+            return param
+        except Exception as e:
+            SDKLogger.error(f"Failed to get modelPath: {e}")
+            return None
+
+    def kuavo_config(self)->str:
+        try:
+            param_service = roslibpy.Param(self.websocket.client, 'kuavo_configuration')
+            param = param_service.get()
+            if param is None:
+                SDKLogger.error("kuavo_configuration parameter not found")
+                return None
+            return param
+        except Exception as e:
+            SDKLogger.error(f"Failed to get kuavo_configuration: {e}")
+            return None
+
+    def initial_state(self)->str:
+        try:
+            param_service = roslibpy.Param(self.websocket.client, 'initial_state')
+            param = param_service.get()
+            if param is None:
+                SDKLogger.error("initial_state parameter not found")
+                return None
+            return param
+        except Exception as e:
+            SDKLogger.error(f"Failed to get initial_state: {e}")
+            return None
+
+
+def joint_names()->dict:
+    kuavo_ros_param = RosParamWebsocket()
+    
+    robot_version = kuavo_ros_param.robot_version()
+    if robot_version is None:
+        SDKLogger.error("robot_version parameter not found")
+        return None
+    
+    robot_version_major = (int(robot_version) // 10) % 10
+    
+    if robot_version_major == 1:
+        leg_link_names = [
+            'leg_l1_link', 'leg_l2_link', 'leg_l3_link', 'leg_l4_link', 'leg_l5_link', 'leg_l6_link',
+            'leg_r1_link', 'leg_r2_link', 'leg_r3_link', 'leg_r4_link', 'leg_r5_link', 'leg_r6_link'
+        ]
+        waist_link_names = [
+            'waist_yaw_link'
+        ]
+        arm_link_names = [
+            'zarm_l1_link', 'zarm_l2_link', 'zarm_l3_link', 'zarm_l4_link',
+            'zarm_r1_link', 'zarm_r2_link', 'zarm_r3_link', 'zarm_r4_link',
+        ]
+        head_link_names = [
+            'zhead_1_link', 'zhead_2_link'
+        ]
+    elif robot_version_major == 4:
+        leg_link_names = [
+            'leg_l1_link', 'leg_l2_link', 'leg_l3_link', 'leg_l4_link', 'leg_l5_link', 'leg_l6_link',
+            'leg_r1_link', 'leg_r2_link', 'leg_r3_link', 'leg_r4_link', 'leg_r5_link', 'leg_r6_link'
+        ]
+        waist_link_names = []
+        arm_link_names = [
+            'zarm_l1_link', 'zarm_l2_link', 'zarm_l3_link', 'zarm_l4_link', 'zarm_l5_link', 'zarm_l6_link', 'zarm_l7_link',
+            'zarm_r1_link', 'zarm_r2_link', 'zarm_r3_link', 'zarm_r4_link', 'zarm_r5_link', 'zarm_r6_link', 'zarm_r7_link',
+        ]
+        head_link_names = [
+            'zhead_1_link', 'zhead_2_link'
+        ]
+    elif robot_version_major == 5:
+        leg_link_names = [
+            'leg_l1_link', 'leg_l2_link', 'leg_l3_link', 'leg_l4_link', 'leg_l5_link', 'leg_l6_link',
+            'leg_r1_link', 'leg_r2_link', 'leg_r3_link', 'leg_r4_link', 'leg_r5_link', 'leg_r6_link'
+        ]
+        waist_link_names = [
+            'waist_yaw_link'
+        ]
+        arm_link_names = [
+            'zarm_l1_link', 'zarm_l2_link', 'zarm_l3_link', 'zarm_l4_link', 'zarm_l5_link', 'zarm_l6_link', 'zarm_l7_link',
+            'zarm_r1_link', 'zarm_r2_link', 'zarm_r3_link', 'zarm_r4_link', 'zarm_r5_link', 'zarm_r6_link', 'zarm_r7_link',
+        ]
+
+        head_link_names = [
+            'zhead_1_link', 'zhead_2_link'
+        ]
+        leg_link_names += waist_link_names
+    else:
+        leg_link_names = [
+            'knee_link', 'leg_link', 'waist_link', 'waist_yaw_link'
+        ]
+        arm_link_names = []
+        head_link_names = []
+
+    robot_desc = kuavo_ros_param.humanoid_description()
+    if robot_desc is None:
+        return None
+
+    """
+        <link name="leg_l1_link">
+        <inertial>
+        ....
+        </inertial>
+        <visual>
+        ...
+        <geometry>
+            <mesh filename="package://kuavo_assets/models/biped_s43/meshes/l_leg_roll.STL" />
+        </geometry>
+        ...
+        </visual>
+        </link>
+    """
+    root = ET.fromstring(robot_desc)
+    
+    def process_link_name(link_name):
+        """从URDF中提取与link对应的joint名称"""
+        # 查找child link等于目标link_name的joint
+        # 遍历所有joint，找到child link匹配的joint
+        for joint_elem in root.findall(".//joint"):
+            child_elem = joint_elem.find("child")
+            if child_elem is not None and child_elem.get("link") == link_name:
+                joint_name = joint_elem.get("name")
+                if joint_name:
+                    return joint_name
+        
+        # 如果找不到joint，记录警告并返回None
+        SDKLogger.warn(f"Warning: Joint for link {link_name} not found in URDF")
+        return None
+    leg_joint_names = [process_link_name(link_name) for link_name in leg_link_names if process_link_name(link_name) is not None]
+    arm_joint_names = [process_link_name(link_name) for link_name in arm_link_names if process_link_name(link_name) is not None]
+    head_joint_names = [process_link_name(link_name) for link_name in head_link_names if process_link_name(link_name) is not None]
+
+    # For robots with 4-dof arms, we allow arm_link_names to be fewer than expected
+    if robot_version_major == 1:
+        if len(leg_link_names) != len(leg_joint_names):
+            SDKLogger.warn(
+                f"leg_joint_names is not equal to leg_link_names, {len(leg_link_names)} != {len(leg_joint_names)}")
+            return None
+        if len(arm_link_names) != len(arm_joint_names):
+            SDKLogger.warn(
+                f"arm_joint_names is not equal to arm_link_names, {len(arm_link_names)}!= {len(arm_joint_names)}")
+            return None
+        if len(head_link_names) != len(head_joint_names):
+            SDKLogger.warn(
+                f"head_joint_names is not equal to head_link_names, {len(head_link_names)}!= {len(head_joint_names)}")
+            return None
+    else:
+        if len(leg_link_names) != len(leg_joint_names):
+            SDKLogger.warn(f"leg_joint_names is not equal to leg_link_names, {len(leg_link_names)} != {len(leg_joint_names)}")
+            return None
+        if len(arm_link_names)!= len(arm_joint_names):
+            SDKLogger.warn(f"arm_joint_names is not equal to arm_link_names, {len(arm_link_names)}!= {len(arm_joint_names)}")
+            return None
+        if len(head_link_names)!= len(head_joint_names):
+            SDKLogger.warn(f"head_joint_names is not equal to head_link_names, {len(head_link_names)}!= {len(head_joint_names)}")
+            return None
+    
+    return leg_joint_names + arm_joint_names + head_joint_names
+
+kuavo_ros_info = None
+
+def end_frames_names()->dict:
+    default = ["torso", "zarm_l7_link", "zarm_r7_link", "zarm_l4_link", "zarm_r4_link"]
+    kuavo_ros_param = RosParamWebsocket()
+
+    kuavo_json = kuavo_ros_param.kuavo_config()
+    if kuavo_json is None:
+        return default
+    
+    try:
+        kuavo_config = json.loads(kuavo_json)
+        # 为了兼容旧版本：优先使用 end_frames_names，如果没有则使用 end_frames_name_ik
+        if kuavo_config.get('end_frames_names') is not None:
+            return kuavo_config.get('end_frames_names')
+        elif kuavo_config.get('end_frames_name_ik') is not None:
+            return kuavo_config.get('end_frames_name_ik')
+        else:
+            return default
+    except Exception as e:
+        print(f"Failed to get end_frames_name_ik from kuavo_json: {e}")
+        return default
+
+def make_robot_param()->dict:
+    global kuavo_ros_info
+    if kuavo_ros_info is not None:
+        return kuavo_ros_info
+    
+    kuavo_ros_param = RosParamWebsocket()
+
+    kuavo_ros_info = {
+        'robot_version': kuavo_ros_param.robot_version(),
+        'arm_dof': kuavo_ros_param.arm_dof(),
+        'head_dof': kuavo_ros_param.head_dof(),
+        'leg_dof': kuavo_ros_param.leg_dof(),
+        'waist_dof': kuavo_ros_param.waist_dof(),
+        'end_effector_type': kuavo_ros_param.end_effector_type(),
+        'joint_names': joint_names(),
+        'end_frames_names': end_frames_names(),
+        'init_stand_height': kuavo_ros_param.init_stand_height()
+    }
+
+    for key, value in kuavo_ros_info.items():
+        if value is None and key != 'end_effector_type':
+            SDKLogger.debug(f"[Error]: Failed to get '{key}' from ROS.")
+            kuavo_ros_info = None
+            raise Exception(f"[Error]: Failed to get '{key}' from ROS.")
+
+    return kuavo_ros_info        
+
+# if __name__ == "__main__":
+#     rospy.init_node("kuavo_ros_param_test")
+#     print(make_robot_param())

kuavo_humanoid_sdk/kuavo/core/ros/sat_utils.py

@@ -0,0 +1,103 @@
+import numpy as np
+
+class RotatingRectangle:
+    def __init__(self, center, width, height, angle):
+        self.center = center
+        self.width = width
+        self.height = height
+        self.angle = angle
+
+    def set_rotation(self, angle):
+        self.angle = angle
+    
+    def rotate_point(self, point):
+        """旋转点"""
+        px, py = point
+        cos_theta = np.cos(self.angle)
+        sin_theta = np.sin(self.angle)
+        return (cos_theta * px - sin_theta * py, sin_theta * px + cos_theta * py)
+    
+    def get_vertices(self):
+        """获取旋转长方形的顶点"""
+        cx, cy = self.center
+        half_w, half_h = self.width / 2, self.height / 2
+        vertices = [
+            (half_w, half_h),
+            (-half_w, half_h),
+            (-half_w, -half_h),
+            (half_w, -half_h)
+        ]
+        return [(cx + x, cy + y) for x, y in (self.rotate_point(v) for v in vertices)]
+
+    @staticmethod
+    def project(vertices, axis):
+        """将顶点投影到轴上"""
+        projections = [np.dot(v, axis) for v in vertices]
+        return min(projections), max(projections)
+
+    @staticmethod
+    def is_separating_axis(vertices1, vertices2, axis):
+        """检查是否为分离轴"""
+        min1, max1 = RotatingRectangle.project(vertices1, axis)
+        min2, max2 = RotatingRectangle.project(vertices2, axis)
+        return max1 < min2 or max2 < min1
+
+    def is_collision(self, other):
+        """检测两个旋转长方形是否发生碰撞"""
+        vertices1 = self.get_vertices()
+        vertices2 = other.get_vertices()
+        
+        # 获取所有可能的分离轴
+        axes = []
+        for i in range(4):
+            edge = (vertices1[i][0] - vertices1[i-1][0], vertices1[i][1] - vertices1[i-1][1])
+            axis = (-edge[1], edge[0])
+            axes.append(axis)
+        for i in range(4):
+            edge = (vertices2[i][0] - vertices2[i-1][0], vertices2[i][1] - vertices2[i-1][1])
+            axis = (-edge[1], edge[0])
+            axes.append(axis)
+        
+        # 检查所有轴上的投影是否重叠
+        for axis in axes:
+            if self.is_separating_axis(vertices1, vertices2, axis):
+                return False
+        return True
+
+    def show(self, color):
+        """绘制旋转长方形"""
+        vertices = self.get_vertices()
+        vertices.append(vertices[0])  # 闭合多边形
+        xs, ys = zip(*vertices)
+        plt.fill(xs, ys, color=color, alpha=0.5)
+
+
+# 示例
+if __name__ == "__main__":
+    rect1 = RotatingRectangle(center=(0, 0.1), width=0.2, height=0.1, angle=0)
+    rect2 = RotatingRectangle(center=(0, -0.1), width=0.2, height=0.1, angle=0)
+
+    collision = rect1.is_collision(rect2)
+    print("发生碰撞:", collision)
+
+    rect1.set_rotation(-np.pi / 4)
+    rect2.set_rotation(np.pi / 4)
+    collision = rect1.is_collision(rect2)
+    print("发生碰撞:", collision)
+
+    # visualize
+    import matplotlib.pyplot as plt
+    # 绘制长方形
+    plt.figure()
+    rect1.show(color='blue')
+    rect2.show(color='red')
+
+    # 设置显示区域
+    plt.xlim(-0.3, 0.3)
+    plt.ylim(-0.3, 0.3)
+    plt.xlabel('x')
+    plt.ylabel('y')
+    plt.gca().set_aspect('equal', adjustable='box')
+    plt.grid()
+    plt.title(f'Rotated Rectangle Collision Detection: {collision}')
+    plt.show()