kuavo-humanoid-sdk 1.1.2a924__py3-none-any.whl → 1.1.3a1239__py3-none-any.whl

kuavo_humanoid_sdk/msg/{motion_capture_ik/srv/_changeArmCtrlMode.py → kuavo_msgs/srv/_playmusic.py}

@@ -1,5 +1,5 @@
 # This Python file uses the following encoding: utf-8
-"""autogenerated by genpy from motion_capture_ik/changeArmCtrlModeRequest.msg. Do not edit."""
+"""autogenerated by genpy from kuavo_msgs/playmusicRequest.msg. Do not edit."""
 import codecs
 import sys
 python3 = True if sys.hexversion > 0x03000000 else False
@@ -7,14 +7,16 @@ import genpy
 import struct
 
 
-class changeArmCtrlModeRequest(genpy.Message):
-  _md5sum = "1f5907fdb226711da233100c712cc0eb"
-  _type = "motion_capture_ik/changeArmCtrlModeRequest"
+class playmusicRequest(genpy.Message):
+  _md5sum = "24067736323ff98005697d24ca92721f"
+  _type = "kuavo_msgs/playmusicRequest"
   _has_header = False  # flag to mark the presence of a Header object
-  _full_text = """int32 control_mode # 0: keep pose, 1: auto_swing_arm, 2: external_control 
+  _full_text = """string music_number
+float32 volume
+float32 speed
 """
-  __slots__ = ['control_mode']
-  _slot_types = ['int32']
+  __slots__ = ['music_number','volume','speed']
+  _slot_types = ['string','float32','float32']
 
   def __init__(self, *args, **kwds):
     """
@@ -24,19 +26,25 @@ class changeArmCtrlModeRequest(genpy.Message):
     changes.  You cannot mix in-order arguments and keyword arguments.
 
     The available fields are:
-       control_mode
+       music_number,volume,speed
 
     :param args: complete set of field values, in .msg order
     :param kwds: use keyword arguments corresponding to message field names
     to set specific fields.
     """
     if args or kwds:
-      super(changeArmCtrlModeRequest, self).__init__(*args, **kwds)
+      super(playmusicRequest, self).__init__(*args, **kwds)
       # message fields cannot be None, assign default values for those that are
-      if self.control_mode is None:
-        self.control_mode = 0
+      if self.music_number is None:
+        self.music_number = ''
+      if self.volume is None:
+        self.volume = 0.
+      if self.speed is None:
+        self.speed = 0.
     else:
-      self.control_mode = 0
+      self.music_number = ''
+      self.volume = 0.
+      self.speed = 0.
 
   def _get_types(self):
     """
@@ -50,8 +58,14 @@ class changeArmCtrlModeRequest(genpy.Message):
     :param buff: buffer, ``StringIO``
     """
     try:
-      _x = self.control_mode
-      buff.write(_get_struct_i().pack(_x))
+      _x = self.music_number
+      length = len(_x)
+      if python3 or type(_x) == unicode:
+        _x = _x.encode('utf-8')
+        length = len(_x)
+      buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
+      _x = self
+      buff.write(_get_struct_2f().pack(_x.volume, _x.speed))
     except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(locals().get('_x', self)))))
     except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(locals().get('_x', self)))))
 
@@ -66,7 +80,17 @@ class changeArmCtrlModeRequest(genpy.Message):
       end = 0
       start = end
       end += 4
-      (self.control_mode,) = _get_struct_i().unpack(str[start:end])
+      (length,) = _struct_I.unpack(str[start:end])
+      start = end
+      end += length
+      if python3:
+        self.music_number = str[start:end].decode('utf-8', 'rosmsg')
+      else:
+        self.music_number = str[start:end]
+      _x = self
+      start = end
+      end += 8
+      (_x.volume, _x.speed,) = _get_struct_2f().unpack(str[start:end])
       return self
     except struct.error as e:
       raise genpy.DeserializationError(e)  # most likely buffer underfill
@@ -79,8 +103,14 @@ class changeArmCtrlModeRequest(genpy.Message):
     :param numpy: numpy python module
     """
     try:
-      _x = self.control_mode
-      buff.write(_get_struct_i().pack(_x))
+      _x = self.music_number
+      length = len(_x)
+      if python3 or type(_x) == unicode:
+        _x = _x.encode('utf-8')
+        length = len(_x)
+      buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
+      _x = self
+      buff.write(_get_struct_2f().pack(_x.volume, _x.speed))
     except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(locals().get('_x', self)))))
     except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(locals().get('_x', self)))))
 
@@ -96,7 +126,17 @@ class changeArmCtrlModeRequest(genpy.Message):
       end = 0
       start = end
       end += 4
-      (self.control_mode,) = _get_struct_i().unpack(str[start:end])
+      (length,) = _struct_I.unpack(str[start:end])
+      start = end
+      end += length
+      if python3:
+        self.music_number = str[start:end].decode('utf-8', 'rosmsg')
+      else:
+        self.music_number = str[start:end]
+      _x = self
+      start = end
+      end += 8
+      (_x.volume, _x.speed,) = _get_struct_2f().unpack(str[start:end])
       return self
     except struct.error as e:
       raise genpy.DeserializationError(e)  # most likely buffer underfill
@@ -105,14 +145,14 @@ _struct_I = genpy.struct_I
 def _get_struct_I():
     global _struct_I
     return _struct_I
-_struct_i = None
-def _get_struct_i():
-    global _struct_i
-    if _struct_i is None:
-        _struct_i = struct.Struct("<i")
-    return _struct_i
+_struct_2f = None
+def _get_struct_2f():
+    global _struct_2f
+    if _struct_2f is None:
+        _struct_2f = struct.Struct("<2f")
+    return _struct_2f
 # This Python file uses the following encoding: utf-8
-"""autogenerated by genpy from motion_capture_ik/changeArmCtrlModeResponse.msg. Do not edit."""
+"""autogenerated by genpy from kuavo_msgs/playmusicResponse.msg. Do not edit."""
 import codecs
 import sys
 python3 = True if sys.hexversion > 0x03000000 else False
@@ -120,18 +160,15 @@ import genpy
 import struct
 
 
-class changeArmCtrlModeResponse(genpy.Message):
-  _md5sum = "2f115bf9b7d68ace12ac850b142c1536"
-  _type = "motion_capture_ik/changeArmCtrlModeResponse"
+class playmusicResponse(genpy.Message):
+  _md5sum = "51d4deda6e3cbea57b8c79590b6cd9bb"
+  _type = "kuavo_msgs/playmusicResponse"
   _has_header = False  # flag to mark the presence of a Header object
-  _full_text = """bool result
-int32 mode 
-string message
-
+  _full_text = """bool success_flag
 
 """
-  __slots__ = ['result','mode','message']
-  _slot_types = ['bool','int32','string']
+  __slots__ = ['success_flag']
+  _slot_types = ['bool']
 
   def __init__(self, *args, **kwds):
     """
@@ -141,25 +178,19 @@ string message
     changes.  You cannot mix in-order arguments and keyword arguments.
 
     The available fields are:
-       result,mode,message
+       success_flag
 
     :param args: complete set of field values, in .msg order
     :param kwds: use keyword arguments corresponding to message field names
     to set specific fields.
     """
     if args or kwds:
-      super(changeArmCtrlModeResponse, self).__init__(*args, **kwds)
+      super(playmusicResponse, self).__init__(*args, **kwds)
       # message fields cannot be None, assign default values for those that are
-      if self.result is None:
-        self.result = False
-      if self.mode is None:
-        self.mode = 0
-      if self.message is None:
-        self.message = ''
+      if self.success_flag is None:
+        self.success_flag = False
     else:
-      self.result = False
-      self.mode = 0
-      self.message = ''
+      self.success_flag = False
 
   def _get_types(self):
     """
@@ -173,14 +204,8 @@ string message
     :param buff: buffer, ``StringIO``
     """
     try:
-      _x = self
-      buff.write(_get_struct_Bi().pack(_x.result, _x.mode))
-      _x = self.message
-      length = len(_x)
-      if python3 or type(_x) == unicode:
-        _x = _x.encode('utf-8')
-        length = len(_x)
-      buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
+      _x = self.success_flag
+      buff.write(_get_struct_B().pack(_x))
     except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(locals().get('_x', self)))))
     except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(locals().get('_x', self)))))
 
@@ -193,20 +218,10 @@ string message
       codecs.lookup_error("rosmsg").msg_type = self._type
     try:
       end = 0
-      _x = self
-      start = end
-      end += 5
-      (_x.result, _x.mode,) = _get_struct_Bi().unpack(str[start:end])
-      self.result = bool(self.result)
       start = end
-      end += 4
-      (length,) = _struct_I.unpack(str[start:end])
-      start = end
-      end += length
-      if python3:
-        self.message = str[start:end].decode('utf-8', 'rosmsg')
-      else:
-        self.message = str[start:end]
+      end += 1
+      (self.success_flag,) = _get_struct_B().unpack(str[start:end])
+      self.success_flag = bool(self.success_flag)
       return self
     except struct.error as e:
       raise genpy.DeserializationError(e)  # most likely buffer underfill
@@ -219,14 +234,8 @@ string message
     :param numpy: numpy python module
     """
     try:
-      _x = self
-      buff.write(_get_struct_Bi().pack(_x.result, _x.mode))
-      _x = self.message
-      length = len(_x)
-      if python3 or type(_x) == unicode:
-        _x = _x.encode('utf-8')
-        length = len(_x)
-      buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
+      _x = self.success_flag
+      buff.write(_get_struct_B().pack(_x))
     except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(locals().get('_x', self)))))
     except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(locals().get('_x', self)))))
 
@@ -240,20 +249,10 @@ string message
       codecs.lookup_error("rosmsg").msg_type = self._type
     try:
       end = 0
-      _x = self
-      start = end
-      end += 5
-      (_x.result, _x.mode,) = _get_struct_Bi().unpack(str[start:end])
-      self.result = bool(self.result)
       start = end
-      end += 4
-      (length,) = _struct_I.unpack(str[start:end])
-      start = end
-      end += length
-      if python3:
-        self.message = str[start:end].decode('utf-8', 'rosmsg')
-      else:
-        self.message = str[start:end]
+      end += 1
+      (self.success_flag,) = _get_struct_B().unpack(str[start:end])
+      self.success_flag = bool(self.success_flag)
       return self
     except struct.error as e:
       raise genpy.DeserializationError(e)  # most likely buffer underfill
@@ -262,14 +261,14 @@ _struct_I = genpy.struct_I
 def _get_struct_I():
     global _struct_I
     return _struct_I
-_struct_Bi = None
-def _get_struct_Bi():
-    global _struct_Bi
-    if _struct_Bi is None:
-        _struct_Bi = struct.Struct("<Bi")
-    return _struct_Bi
-class changeArmCtrlMode(object):
-  _type          = 'motion_capture_ik/changeArmCtrlMode'
-  _md5sum = '8a8d154c05ee16e8f5d2b72d9bb51026'
-  _request_class  = changeArmCtrlModeRequest
-  _response_class = changeArmCtrlModeResponse
+_struct_B = None
+def _get_struct_B():
+    global _struct_B
+    if _struct_B is None:
+        _struct_B = struct.Struct("<B")
+    return _struct_B
+class playmusic(object):
+  _type          = 'kuavo_msgs/playmusic'
+  _md5sum = '348f2445d1e569f5dc4e72a19fb11934'
+  _request_class  = playmusicRequest
+  _response_class = playmusicResponse

kuavo_humanoid_sdk/msg/{motion_capture_ik → kuavo_msgs}/srv/_twoArmHandPoseCmdSrv.py

@@ -1,29 +1,29 @@
 # This Python file uses the following encoding: utf-8
-"""autogenerated by genpy from motion_capture_ik/twoArmHandPoseCmdSrvRequest.msg. Do not edit."""
+"""autogenerated by genpy from kuavo_msgs/twoArmHandPoseCmdSrvRequest.msg. Do not edit."""
 import codecs
 import sys
 python3 = True if sys.hexversion > 0x03000000 else False
 import genpy
 import struct
 
-import motion_capture_ik.msg
+import kuavo_msgs.msg
 import std_msgs.msg
 
 class twoArmHandPoseCmdSrvRequest(genpy.Message):
   _md5sum = "2b372ee6cf4101587f773b62c6572c72"
-  _type = "motion_capture_ik/twoArmHandPoseCmdSrvRequest"
+  _type = "kuavo_msgs/twoArmHandPoseCmdSrvRequest"
   _has_header = False  # flag to mark the presence of a Header object
   _full_text = """twoArmHandPoseCmd twoArmHandPoseCmdRequest
 
 ================================================================================
-MSG: motion_capture_ik/twoArmHandPoseCmd
+MSG: kuavo_msgs/twoArmHandPoseCmd
 twoArmHandPose  hand_poses
 # params for the IK solver
 bool use_custom_ik_param
 bool joint_angles_as_q0
 ikSolveParam ik_param
 ================================================================================
-MSG: motion_capture_ik/twoArmHandPose
+MSG: kuavo_msgs/twoArmHandPose
 Header header
 armHandPose  left_pose
 armHandPose  right_pose
@@ -44,7 +44,7 @@ time stamp
 string frame_id
 
 ================================================================================
-MSG: motion_capture_ik/armHandPose
+MSG: kuavo_msgs/armHandPose
 float64[3] pos_xyz
 float64[4] quat_xyzw
 
@@ -52,7 +52,7 @@ float64[3] elbow_pos_xyz
 
 float64[7] joint_angles
 ================================================================================
-MSG: motion_capture_ik/ikSolveParam
+MSG: kuavo_msgs/ikSolveParam
 # snopt params
 float64 major_optimality_tol
 float64 major_feasibility_tol
@@ -63,7 +63,7 @@ float64 oritation_constraint_tol
 float64 pos_constraint_tol # work when pos_cost_weight > 0.0
 float64 pos_cost_weight"""
   __slots__ = ['twoArmHandPoseCmdRequest']
-  _slot_types = ['motion_capture_ik/twoArmHandPoseCmd']
+  _slot_types = ['kuavo_msgs/twoArmHandPoseCmd']
 
   def __init__(self, *args, **kwds):
     """
@@ -83,9 +83,9 @@ float64 pos_cost_weight"""
       super(twoArmHandPoseCmdSrvRequest, self).__init__(*args, **kwds)
       # message fields cannot be None, assign default values for those that are
       if self.twoArmHandPoseCmdRequest is None:
-        self.twoArmHandPoseCmdRequest = motion_capture_ik.msg.twoArmHandPoseCmd()
+        self.twoArmHandPoseCmdRequest = kuavo_msgs.msg.twoArmHandPoseCmd()
     else:
-      self.twoArmHandPoseCmdRequest = motion_capture_ik.msg.twoArmHandPoseCmd()
+      self.twoArmHandPoseCmdRequest = kuavo_msgs.msg.twoArmHandPoseCmd()
 
   def _get_types(self):
     """
@@ -129,7 +129,7 @@ float64 pos_cost_weight"""
       codecs.lookup_error("rosmsg").msg_type = self._type
     try:
       if self.twoArmHandPoseCmdRequest is None:
-        self.twoArmHandPoseCmdRequest = motion_capture_ik.msg.twoArmHandPoseCmd()
+        self.twoArmHandPoseCmdRequest = kuavo_msgs.msg.twoArmHandPoseCmd()
       end = 0
       _x = self
       start = end
@@ -217,7 +217,7 @@ float64 pos_cost_weight"""
       codecs.lookup_error("rosmsg").msg_type = self._type
     try:
       if self.twoArmHandPoseCmdRequest is None:
-        self.twoArmHandPoseCmdRequest = motion_capture_ik.msg.twoArmHandPoseCmd()
+        self.twoArmHandPoseCmdRequest = kuavo_msgs.msg.twoArmHandPoseCmd()
       end = 0
       _x = self
       start = end
@@ -301,19 +301,19 @@ def _get_struct_7d():
         _struct_7d = struct.Struct("<7d")
     return _struct_7d
 # This Python file uses the following encoding: utf-8
-"""autogenerated by genpy from motion_capture_ik/twoArmHandPoseCmdSrvResponse.msg. Do not edit."""
+"""autogenerated by genpy from kuavo_msgs/twoArmHandPoseCmdSrvResponse.msg. Do not edit."""
 import codecs
 import sys
 python3 = True if sys.hexversion > 0x03000000 else False
 import genpy
 import struct
 
-import motion_capture_ik.msg
+import kuavo_msgs.msg
 import std_msgs.msg
 
 class twoArmHandPoseCmdSrvResponse(genpy.Message):
   _md5sum = "7dba8c11b6c3ac9ec243b4520ad906c7"
-  _type = "motion_capture_ik/twoArmHandPoseCmdSrvResponse"
+  _type = "kuavo_msgs/twoArmHandPoseCmdSrvResponse"
   _has_header = False  # flag to mark the presence of a Header object
   _full_text = """bool success
 bool with_torso
@@ -325,7 +325,7 @@ float64   time_cost # unit: ms
 twoArmHandPose  hand_poses
 
 ================================================================================
-MSG: motion_capture_ik/twoArmHandPose
+MSG: kuavo_msgs/twoArmHandPose
 Header header
 armHandPose  left_pose
 armHandPose  right_pose
@@ -346,7 +346,7 @@ time stamp
 string frame_id
 
 ================================================================================
-MSG: motion_capture_ik/armHandPose
+MSG: kuavo_msgs/armHandPose
 float64[3] pos_xyz
 float64[4] quat_xyzw
 
@@ -354,7 +354,7 @@ float64[3] elbow_pos_xyz
 
 float64[7] joint_angles"""
   __slots__ = ['success','with_torso','q_arm','q_torso','time_cost','hand_poses']
-  _slot_types = ['bool','bool','float64[]','float64[]','float64','motion_capture_ik/twoArmHandPose']
+  _slot_types = ['bool','bool','float64[]','float64[]','float64','kuavo_msgs/twoArmHandPose']
 
   def __init__(self, *args, **kwds):
     """
@@ -384,14 +384,14 @@ float64[7] joint_angles"""
       if self.time_cost is None:
         self.time_cost = 0.
       if self.hand_poses is None:
-        self.hand_poses = motion_capture_ik.msg.twoArmHandPose()
+        self.hand_poses = kuavo_msgs.msg.twoArmHandPose()
     else:
       self.success = False
       self.with_torso = False
       self.q_arm = []
       self.q_torso = []
       self.time_cost = 0.
-      self.hand_poses = motion_capture_ik.msg.twoArmHandPose()
+      self.hand_poses = kuavo_msgs.msg.twoArmHandPose()
 
   def _get_types(self):
     """
@@ -443,7 +443,7 @@ float64[7] joint_angles"""
       codecs.lookup_error("rosmsg").msg_type = self._type
     try:
       if self.hand_poses is None:
-        self.hand_poses = motion_capture_ik.msg.twoArmHandPose()
+        self.hand_poses = kuavo_msgs.msg.twoArmHandPose()
       end = 0
       _x = self
       start = end
@@ -555,7 +555,7 @@ float64[7] joint_angles"""
       codecs.lookup_error("rosmsg").msg_type = self._type
     try:
       if self.hand_poses is None:
-        self.hand_poses = motion_capture_ik.msg.twoArmHandPose()
+        self.hand_poses = kuavo_msgs.msg.twoArmHandPose()
       end = 0
       _x = self
       start = end
@@ -655,7 +655,7 @@ def _get_struct_d3I():
         _struct_d3I = struct.Struct("<d3I")
     return _struct_d3I
 class twoArmHandPoseCmdSrv(object):
-  _type          = 'motion_capture_ik/twoArmHandPoseCmdSrv'
+  _type          = 'kuavo_msgs/twoArmHandPoseCmdSrv'
   _md5sum = '4cedfbf98f38ce7e92b358cb2d3ef39d'
   _request_class  = twoArmHandPoseCmdSrvRequest
   _response_class = twoArmHandPoseCmdSrvResponse

{kuavo_humanoid_sdk-1.1.2a924.dist-info → kuavo_humanoid_sdk-1.1.3a1239.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: kuavo-humanoid-sdk
-Version: 1.1.2a924
+Version: 1.1.3a1239
 Summary: A Python SDK for kuavo humanoid robot.
 Home-page: https://gitee.com/leju-robot/kuavo-ros-opensource/
 Author: ['lejurobot']
@@ -22,6 +22,7 @@ Requires-Python: >=3.8
 Description-Content-Type: text/markdown
 Requires-Dist: numpy
 Requires-Dist: transitions
+Requires-Dist: roslibpy
 
 # Kuavo Humanoid SDK
 

{kuavo_humanoid_sdk-1.1.2a924.dist-info → kuavo_humanoid_sdk-1.1.3a1239.dist-info}/RECORD

@@ -1,30 +1,42 @@
 kuavo_humanoid_sdk/__init__.py,sha256=pdgXhpulXKUcdUPwDVFZCe47AZAkOJdh_YAM8f3g2Ek,141
+kuavo_humanoid_sdk/common/global_config.py,sha256=Tae7-RfXsQk5G3VC-OQoMwB_eB-oud90cmAE7BywmI0,287
 kuavo_humanoid_sdk/common/logger.py,sha256=nSIbsJaW4nDcaQdhZebZkjtji6kmWVR8tYO-sUTz3Gg,1246
+kuavo_humanoid_sdk/common/websocket_kuavo_sdk.py,sha256=lfilfXYdZFTasjRudHb_Xc89ah44jWljpQTozVSABGU,675
 kuavo_humanoid_sdk/interfaces/__init__.py,sha256=_zXDinj2T3X7UH19-Xrotc7uYZWHmZqHaMCWU1FYR5I,100
-kuavo_humanoid_sdk/interfaces/data_types.py,sha256=TCCVE0gmbw6KzCJKCzVCiG5yUl2IY-uIjHO5RKs0y2o,5281
+kuavo_humanoid_sdk/interfaces/data_types.py,sha256=TV09XgA8inII_g0xb7q19VvxbRD02MLFHlR15qTAZF0,6799
 kuavo_humanoid_sdk/interfaces/end_effector.py,sha256=rlvBrYd_-b5-Px_m2UiHn47wuZJwlqVBrGPdV1lu0Qg,1876
 kuavo_humanoid_sdk/interfaces/robot.py,sha256=qqnq7gRc_mK8xEWnF5pJ7AJUPtry1bpN9eDl8nmE3EM,393
 kuavo_humanoid_sdk/interfaces/robot_info.py,sha256=-rh7VXjMJFYTsx7Ktok5VuI6JF_W2BpJBUbqtYJRkkA,1176
-kuavo_humanoid_sdk/kuavo/__init__.py,sha256=O4gPIQALqxUyNqBPCzzme4EfvTbbbh-IWGhLnhnZW_c,291
-kuavo_humanoid_sdk/kuavo/dexterous_hand.py,sha256=S4giIerF44sfMim1Tp-ZwoSbj7aqX3l_sgxNBS-nZRI,8497
-kuavo_humanoid_sdk/kuavo/leju_claw.py,sha256=6GUtQC_APuWzRAQtJFrSMqq9bUg8mI-g2ZBKYbOT4No,10253
-kuavo_humanoid_sdk/kuavo/robot.py,sha256=AiBHuT2uj8n3tOPr0gEWgZO2hCalaeRhANyafAQuu-c,14239
+kuavo_humanoid_sdk/kuavo/__init__.py,sha256=WAIykcMUtMhFTPZ_6oE_VARfNo3fJXD8DxNhwEyoZxk,415
+kuavo_humanoid_sdk/kuavo/dexterous_hand.py,sha256=q2_vTdjxIuUW-J9QzZdbDUgxQJocZ70jfxzLDle2S9M,8709
+kuavo_humanoid_sdk/kuavo/leju_claw.py,sha256=5BKBCOqIt2AEai8e9xymm5_jPPfJw3O7ZeDeXSBpDTw,10465
+kuavo_humanoid_sdk/kuavo/robot.py,sha256=9K54BELOmsXQpmvwkqqZPx4lGrjVgiy54c40Vw6Xt0s,15700
 kuavo_humanoid_sdk/kuavo/robot_arm.py,sha256=qD8oWSlKdxqc739vvM_18dpJgnMzjBbX41xJiyI6VWg,6946
+kuavo_humanoid_sdk/kuavo/robot_audio.py,sha256=Z0ZN0DldOEWL1iLo9wPgGE9m8J_jQuNKq-QkY6H_PhE,1310
 kuavo_humanoid_sdk/kuavo/robot_head.py,sha256=8caHrPNwg98b4jf5cLJUbsGNovgtXetOqBvuG5vWSXA,1526
-kuavo_humanoid_sdk/kuavo/robot_info.py,sha256=SZ0TeI87hc69Oop4CT1PxU7zSauTxJTJe8fcIIr-h6Q,3912
-kuavo_humanoid_sdk/kuavo/robot_state.py,sha256=X9vPmIK1dYBgaKHanfj0kVaUAMqxopBJWmlbOouTIqQ,10873
-kuavo_humanoid_sdk/kuavo/core/core.py,sha256=PTUjGG6ZZaDv6p70OF4iZEA2-D2uIOKT87Xml59Xi5M,17915
+kuavo_humanoid_sdk/kuavo/robot_info.py,sha256=etyqcUg22IAA2O59cjBhLTpacQ3DLhT8qZNj7vX8yL8,4116
+kuavo_humanoid_sdk/kuavo/robot_state.py,sha256=VT2kcOAoc9MtJGVJ6pOwTkFDeFX9mHtRcdpkMxVEetA,11084
+kuavo_humanoid_sdk/kuavo/robot_tool.py,sha256=moCaX46JWO6k9QXIhXPXjL_ywccz4iovkrjS2yH9Dgg,2747
+kuavo_humanoid_sdk/kuavo/robot_vision.py,sha256=AxlD3Ckl2GafsNpPNWYUM89653AN1BvWtMi9stdDALE,3156
+kuavo_humanoid_sdk/kuavo/core/audio.py,sha256=omoUCjZKFSG1yvAuM7fAJ65T9ppQk-kwjM-xllBSJ-I,838
+kuavo_humanoid_sdk/kuavo/core/core.py,sha256=u7PU4LTYOlwJwIdAc31Y9thABa-Im69cXz23BqHC8fo,18576
 kuavo_humanoid_sdk/kuavo/core/dex_hand_control.py,sha256=51iLPIKMFKeOhc5TpRCMWTm7Aw8pt6XG9XUB-_swr4Y,5158
 kuavo_humanoid_sdk/kuavo/core/leju_claw_control.py,sha256=RCrnWTMW-L0fOMa1op7t43aGWSyMVqrOjR0lVtIFzqY,3432
-kuavo_humanoid_sdk/kuavo/core/ros_env.py,sha256=Fq7YfHFjVvoUn-jMsrcHB_gUQ4w1y54jUVKtxV7zNEg,9500
-kuavo_humanoid_sdk/kuavo/core/ros/control.py,sha256=8erUTrGEY-JcqT0u_DTLsK5RFzobjjdOcufIn4tPnek,35305
-kuavo_humanoid_sdk/kuavo/core/ros/param.py,sha256=8XtwH6V59n8IX6TtXB5-lTMvBuhrNJqQaoRkbCYyIJc,6760
+kuavo_humanoid_sdk/kuavo/core/ros_env.py,sha256=lVhEVUZvdQI43mPkFqRYBld3N-L4nPigRkcSZ-ejL9I,18848
+kuavo_humanoid_sdk/kuavo/core/ros/audio.py,sha256=KbsZMs8XTlGnPixUWAPgSrhrcVZx5MFQuYjVeROdeUQ,3678
+kuavo_humanoid_sdk/kuavo/core/ros/control.py,sha256=KCH5NrcTqjles98GTCtJOMfj5gx5ldeG5dKIdyl86cM,62286
+kuavo_humanoid_sdk/kuavo/core/ros/param.py,sha256=r8Xve8zsfFBBZQnEbLOCNC1YQhv_h-Xv1hHx6gHkQag,11745
 kuavo_humanoid_sdk/kuavo/core/ros/sat_utils.py,sha256=AhBNM-s9nVwRiLZ8gtqC2RvPImkT9uulONSLXk3KooI,3317
-kuavo_humanoid_sdk/kuavo/core/ros/state.py,sha256=tA5250P82MNwvYJ9QGbcNcWm_n2NWKPqD383GAARiAE,18146
+kuavo_humanoid_sdk/kuavo/core/ros/state.py,sha256=OkoGUWj0llDSYWFE-unKKHeiPKik1vSSU6mtVP4Mwwg,34658
+kuavo_humanoid_sdk/kuavo/core/ros/tools.py,sha256=RF9PVvHEfYBuNYyKRbgtLrFrR15kfPTjtcXmZG17Gk4,6142
+kuavo_humanoid_sdk/kuavo/core/ros/vision.py,sha256=v7G12z7Ncj94kEa5ff85D1cDNlbfGVSZGmCEbSGu8qk,10810
 kuavo_humanoid_sdk/msg/__init__.py,sha256=8TElMWrXsBCGxhJBe3mfgtiAlX4LzgQep66TSwMcaDQ,19
 kuavo_humanoid_sdk/msg/kuavo_msgs/__init__.py,sha256=wk-pfWFvAOl475vxWFVTwbJGejP6UKgivUApv8RvK_8,216
+kuavo_humanoid_sdk/msg/kuavo_msgs/msg/_AprilTagDetection.py,sha256=2Iz0kN1w5IqvXFmK-DN14i-9hrtZNSRSWvxr6tSPIlA,11655
+kuavo_humanoid_sdk/msg/kuavo_msgs/msg/_AprilTagDetectionArray.py,sha256=JayCQPuoFsBQ5nyhVuArhePEPW0FjI4T7dEz88tf6Gw,14938
 kuavo_humanoid_sdk/msg/kuavo_msgs/msg/_Metadata.py,sha256=2uZlLK7eQAj72sCHw40s8PHiXpj_u0JqBgAhIGqnsO8,6857
-kuavo_humanoid_sdk/msg/kuavo_msgs/msg/__init__.py,sha256=jUr7Z9QABfRsigIWx0e6e46OKlLr9-7R8ob1XSPzqHM,793
+kuavo_humanoid_sdk/msg/kuavo_msgs/msg/__init__.py,sha256=53jGXe2jFB4UfYdwgDmpCnOhsaKGFIQ8ppyAssgX1Qg,1071
+kuavo_humanoid_sdk/msg/kuavo_msgs/msg/_armHandPose.py,sha256=JFzYudRq0CIBzrOt2XnSw_fR7FgQerC2L6ntkoHu1eM,5522
 kuavo_humanoid_sdk/msg/kuavo_msgs/msg/_armPoseWithTimeStamp.py,sha256=miPh7Mim4Zp1wEWw3HrvUOr8dlvJGT-DzffjGUT25xE,5806
 kuavo_humanoid_sdk/msg/kuavo_msgs/msg/_armTargetPoses.py,sha256=2egR0jL7ZD0-eUIteC5pdrnADgb29KZMNTNnNZPznOY,5032
 kuavo_humanoid_sdk/msg/kuavo_msgs/msg/_dexhandCommand.py,sha256=cxqVA14d_ylCoZwo4wE2zgv6WqlkT7nqIV_OlZqu9dA,7886
@@ -35,26 +47,35 @@ kuavo_humanoid_sdk/msg/kuavo_msgs/msg/_footPoseTargetTrajectories.py,sha256=weFk
 kuavo_humanoid_sdk/msg/kuavo_msgs/msg/_gaitTimeName.py,sha256=4DoUi8RVuUAG4Su3MoeN9iwelYFGT1U626iKjGSNvo8,4827
 kuavo_humanoid_sdk/msg/kuavo_msgs/msg/_gestureInfo.py,sha256=jxX5x4dNNcTmUJuVD49nGWQVr_q-B3X_klygNvMKFIM,7265
 kuavo_humanoid_sdk/msg/kuavo_msgs/msg/_gestureTask.py,sha256=0oPveCGud3VXHoLHlUqLrq1KOYpCinPWZIMFf-n1bGI,5090
+kuavo_humanoid_sdk/msg/kuavo_msgs/msg/_handPose.py,sha256=O8R4Efpv8xaVZW-1y-eGxDZGgdlHEzBNcHXbwNr2V54,4352
 kuavo_humanoid_sdk/msg/kuavo_msgs/msg/_headBodyPose.py,sha256=69JZkFZFNT8xpoixu8BMsZ2BU-WkFW4jSBbI9-jnirM,5119
+kuavo_humanoid_sdk/msg/kuavo_msgs/msg/_ikSolveError.py,sha256=jR4JrWr1y_VMI7o8mmoQLAJX4ogno2fSTYXswO-xWSc,6876
+kuavo_humanoid_sdk/msg/kuavo_msgs/msg/_ikSolveParam.py,sha256=0gxZMJ-izoEAbQmfiZYjLif18EhOGdVV9envbeekCdE,5797
 kuavo_humanoid_sdk/msg/kuavo_msgs/msg/_imuData.py,sha256=mYEOFd-YfsJzOskHPioyycNccC51G3-uCc7o4DwclPU,6412
 kuavo_humanoid_sdk/msg/kuavo_msgs/msg/_jointCmd.py,sha256=ryln-guf6GVWN0uFTWXzhl4mD0IOmAsvMyEIxuVdzls,13421
 kuavo_humanoid_sdk/msg/kuavo_msgs/msg/_jointData.py,sha256=c8UQLJJPXqN0d2_xJeDjKpWNP6ZGCRPUwZ2tlEp2dLU,6974
 kuavo_humanoid_sdk/msg/kuavo_msgs/msg/_lejuClawCommand.py,sha256=9ntVsgjRFVJNIOeLffFrWlwm0gWErwd5mHyB70RUSus,11018
 kuavo_humanoid_sdk/msg/kuavo_msgs/msg/_lejuClawState.py,sha256=2YZdHBEuWh0GhXViMjNROCcZZcw--Zdox69oGG96Gj4,11611
 kuavo_humanoid_sdk/msg/kuavo_msgs/msg/_questJoySticks.py,sha256=OKag_7VEOV5qFUmFmBd-Lr5iIJ_sMfro4Hrb-jsYrGs,9339
+kuavo_humanoid_sdk/msg/kuavo_msgs/msg/_robotArmQVVD.py,sha256=3jlIrYDHkb6eVDZlfPH8nmb0faDbt9qHwEDBtz0ffNo,5755
 kuavo_humanoid_sdk/msg/kuavo_msgs/msg/_robotHandPosition.py,sha256=BQYNPRNR3TejYhcYTsI7kKRfwKLKGcnKVEHF2yi3_Hw,8153
 kuavo_humanoid_sdk/msg/kuavo_msgs/msg/_robotHeadMotionData.py,sha256=mL470CWBjPQ8PxSM2MffeSV3Pn2GP3rFaLquT6LtaBo,4265
 kuavo_humanoid_sdk/msg/kuavo_msgs/msg/_robotState.py,sha256=LHaCkfHg7bkAy-oHkJke7-kC90utZzlloOv1rsd1sj4,7541
 kuavo_humanoid_sdk/msg/kuavo_msgs/msg/_sensorsData.py,sha256=hHAvPSEAdsQ7lvsR9SXHzFGrRp1WNOqewZe5cz2bolU,19022
 kuavo_humanoid_sdk/msg/kuavo_msgs/msg/_switchGaitByName.py,sha256=saXfUf1k8nT0Y5OW7rBxMi9xBdyHYvsZP8EloYgaLZs,6891
 kuavo_humanoid_sdk/msg/kuavo_msgs/msg/_touchSensorStatus.py,sha256=XsZbTNfmD748TPMBlK88XwsX4Lhg7LtGd_hEQ5e_0sA,7227
+kuavo_humanoid_sdk/msg/kuavo_msgs/msg/_twoArmHandPose.py,sha256=9rMuid2MzIOdU06lqYzIQp5N8dbgynhbjqHKk9bkZ9c,10174
+kuavo_humanoid_sdk/msg/kuavo_msgs/msg/_twoArmHandPoseCmd.py,sha256=w2_0MTnPo7E8ioBcT0YUIvuJr6efxEtYA-szBdPgSlo,13301
 kuavo_humanoid_sdk/msg/kuavo_msgs/msg/_yoloDetection.py,sha256=Sb7W4mZ2WBLHpUBxPUO0MsLnV7NeSByOXBwMfV87Fhw,8701
 kuavo_humanoid_sdk/msg/kuavo_msgs/msg/_yoloOutputData.py,sha256=kXYLnrYTjKU9yopZJ8NgCEtswLy66WWdh6rj05TL2DY,5696
-kuavo_humanoid_sdk/msg/kuavo_msgs/srv/__init__.py,sha256=LMBWqf46vAcANx2ww62bM9tNyJgCskjxxVrKsxcoy50,511
+kuavo_humanoid_sdk/msg/kuavo_msgs/srv/_SpeechSynthesis.py,sha256=ERh-Y-JoghTDkUWp_yn8bFm7eQIHyLu4bTGR_ORVcQQ,8858
+kuavo_humanoid_sdk/msg/kuavo_msgs/srv/__init__.py,sha256=Bq0R5aGfs7iin3vv_hqxdnoB9_YcCZXorcwO2CY_DZY,667
 kuavo_humanoid_sdk/msg/kuavo_msgs/srv/_changeArmCtrlMode.py,sha256=OI312Z4IOywRn_9ckHmc89eFbBGRpIO9crRz_zlYKIk,9159
+kuavo_humanoid_sdk/msg/kuavo_msgs/srv/_changeArmCtrlModeKuavo.py,sha256=l1t3VqPbn2nVFuPnOHuiLjAUcz08zH1y7R0PO10Lo9E,8040
 kuavo_humanoid_sdk/msg/kuavo_msgs/srv/_changeTorsoCtrlMode.py,sha256=2_CTVtEgaFUaODV8VyTZA0Z6El3hiDcYrBPP9hstnLs,9206
 kuavo_humanoid_sdk/msg/kuavo_msgs/srv/_controlLejuClaw.py,sha256=jSK0OY6JRqPxiCtEGSBnibwc-5sk-JLaP7UOMZTcdJ8,13582
 kuavo_humanoid_sdk/msg/kuavo_msgs/srv/_enableHandTouchSensor.py,sha256=yfutLxkhL5sFJToLNQSEd6dM2dSXgLEOCt4lv8Fkoj4,9881
+kuavo_humanoid_sdk/msg/kuavo_msgs/srv/_fkSrv.py,sha256=oQ8mc0mTDd-qcD5ZFpr_6BNsdj5wMAXm0vN2rzb2q68,14783
 kuavo_humanoid_sdk/msg/kuavo_msgs/srv/_footPoseTargetTrajectoriesSrv.py,sha256=WzvTdNpizYi5_1iREOiwGyOnpv6XVFo5Vt-7YvC0fEg,12371
 kuavo_humanoid_sdk/msg/kuavo_msgs/srv/_gestureExecute.py,sha256=I6-Ohq1fQg3KjI7GWm0eEB1FGaSFwR0wGUYw_i4WPqM,11602
 kuavo_humanoid_sdk/msg/kuavo_msgs/srv/_gestureExecuteState.py,sha256=ChmcjaxNf5ED9o7JE3z_UcSaaGC6tKixvitz7eQEs3I,8717
@@ -62,26 +83,13 @@ kuavo_humanoid_sdk/msg/kuavo_msgs/srv/_gestureList.py,sha256=Y51SV-xBTW9Rk6jAKam
 kuavo_humanoid_sdk/msg/kuavo_msgs/srv/_getCurrentGaitName.py,sha256=50CyEUJseck7b9lopj-3ihxUSy62Mn5PwgbLHCqjuOs,8429
 kuavo_humanoid_sdk/msg/kuavo_msgs/srv/_handForceLevel.py,sha256=YVhwt3RCVdYna6UEKV4oA81aydcPE7ilmVrHetcw-ew,10796
 kuavo_humanoid_sdk/msg/kuavo_msgs/srv/_jointMoveTo.py,sha256=CHM0sooP3GoIvphVn3lut0fWtjuIwgz9DYd6oJ3XCz4,9984
+kuavo_humanoid_sdk/msg/kuavo_msgs/srv/_playmusic.py,sha256=QKWQDAW_NFgy5Vo6TMc_C7PyBeJwVPU32_wa-9672a8,9111
 kuavo_humanoid_sdk/msg/kuavo_msgs/srv/_setHwIntialState.py,sha256=0_GWZCBfmthlwVuYOZLzFMUgjIymL8BxtW6_3ZzSqAE,10204
 kuavo_humanoid_sdk/msg/kuavo_msgs/srv/_setMotorEncoderRoundService.py,sha256=E6A81oVoNeBTc5jDbsCMTM0TLnGvsvoo0JVtwk8cmNA,9815
 kuavo_humanoid_sdk/msg/kuavo_msgs/srv/_setTagId.py,sha256=edQqsBm-LvmT0s55UQ-qVEvqaiGFOBmwF8ox95xcyPY,8970
 kuavo_humanoid_sdk/msg/kuavo_msgs/srv/_singleStepControl.py,sha256=yfCfwqP7H9KJ5GnzTiwpiB0NrczFXkON76i7SRk9eV8,13279
+kuavo_humanoid_sdk/msg/kuavo_msgs/srv/_twoArmHandPoseCmdSrv.py,sha256=U4v52v6Fegii9uvmTLDhbRjfHKh0mhkzj2p6NPb9cqM,28914
 kuavo_humanoid_sdk/msg/motion_capture_ik/__init__.py,sha256=wk-pfWFvAOl475vxWFVTwbJGejP6UKgivUApv8RvK_8,216
-kuavo_humanoid_sdk/msg/motion_capture_ik/msg/__init__.py,sha256=MFFzlDRPEqO2XS-G9QcFFAsOM3h-sschYUfef9rpszQ,268
-kuavo_humanoid_sdk/msg/motion_capture_ik/msg/_armHandPose.py,sha256=OPm4KqKpzTqtF-q-UTGsyWTNLH4PEwezSjuOqadoK54,5536
-kuavo_humanoid_sdk/msg/motion_capture_ik/msg/_handPose.py,sha256=vPMztL544qsUYHbk2KYWLYnNTlVcMY4m01MYxUortLE,4366
-kuavo_humanoid_sdk/msg/motion_capture_ik/msg/_headBodyPose.py,sha256=Sa8mOVMeH9PIM6LS3kKfP-BaFqILTTXxtAJLpY7FyEo,5133
-kuavo_humanoid_sdk/msg/motion_capture_ik/msg/_ikSolveError.py,sha256=DBqZp_nMRB0fwlP4V2-nHkJwkLwbNn-LNcZtMuN58EI,6974
-kuavo_humanoid_sdk/msg/motion_capture_ik/msg/_ikSolveParam.py,sha256=bola3i-GY-k-OhDbd8NNrs9ASaQlbdMtmU2iaD_jKP8,5811
-kuavo_humanoid_sdk/msg/motion_capture_ik/msg/_robotArmQVVD.py,sha256=4fBamid058UyM-P-czvMFA5_LFlJ0coX9UeRKk5kmeY,5769
-kuavo_humanoid_sdk/msg/motion_capture_ik/msg/_robotHandPosition.py,sha256=swzoPp-dA4VeMLvRHnX1KfPWIYzrorcpmJh3UNEANU0,8167
-kuavo_humanoid_sdk/msg/motion_capture_ik/msg/_twoArmHandPose.py,sha256=PJJDAlLrDseRfLfVB5sqVIDmtciMybBEg1hp9TEEV-E,10272
-kuavo_humanoid_sdk/msg/motion_capture_ik/msg/_twoArmHandPoseCmd.py,sha256=6tU3Bx9Bn_LMvnXci4s2kGX5E3-Nfvi_LE71bzI6XXE,13413
-kuavo_humanoid_sdk/msg/motion_capture_ik/srv/__init__.py,sha256=Agetxi8Og-gpF9PkD4uI_TweIMB_iHl_KD8fPfrcWt4,132
-kuavo_humanoid_sdk/msg/motion_capture_ik/srv/_changeArmCtrlMode.py,sha256=NwNn72dD8Eviyy-o61Os7QPnGX1GpQPG_XMkBX1pOQo,9194
-kuavo_humanoid_sdk/msg/motion_capture_ik/srv/_changeArmCtrlModeKuavo.py,sha256=JHs_gLWgYVnbSZltl5LTlxkagnqQRnS9q-MTw-xltX4,8075
-kuavo_humanoid_sdk/msg/motion_capture_ik/srv/_fkSrv.py,sha256=ZBsAFPF36XAJP0fDebc1bRMUm1GRSjSGLBDxgxL1KkE,14874
-kuavo_humanoid_sdk/msg/motion_capture_ik/srv/_twoArmHandPoseCmdSrv.py,sha256=lXLo2tJPJzJUwKhz1kzeVBJ7SPImTzET68yERLiZUwA,29075
 kuavo_humanoid_sdk/msg/ocs2_msgs/__init__.py,sha256=wk-pfWFvAOl475vxWFVTwbJGejP6UKgivUApv8RvK_8,216
 kuavo_humanoid_sdk/msg/ocs2_msgs/msg/__init__.py,sha256=dJBWOS_viXh9umNB2pGUPdSFm9h8ySMOqtIop--PGss,388
 kuavo_humanoid_sdk/msg/ocs2_msgs/msg/_constraint.py,sha256=Fl-vdxvT6FPxWoSpPIw0Jt-anEsYsY1wFiiNMgmwsRA,4621
@@ -98,7 +106,7 @@ kuavo_humanoid_sdk/msg/ocs2_msgs/msg/_mpc_target_trajectories.py,sha256=c8l2__Lu
 kuavo_humanoid_sdk/msg/ocs2_msgs/msg/_multiplier.py,sha256=UY0klrLwiuQeEOxBXGrLdivCOhI3HsHUbi5uX7nsT8g,4895
 kuavo_humanoid_sdk/msg/ocs2_msgs/srv/__init__.py,sha256=LaBHLkXuxdf1Z6BCqgWQC2F9yUNSDYC_iQp6NMYAnjQ,22
 kuavo_humanoid_sdk/msg/ocs2_msgs/srv/_reset.py,sha256=KtnylmS0VOjVfa3lldprbhZl04wU3ng5v94jghu3dYU,13379
-kuavo_humanoid_sdk-1.1.2a924.dist-info/METADATA,sha256=OnnsZ35DaTUHuyULgMK1GoDXJKiOdgnTwjCjURkR23U,10806
-kuavo_humanoid_sdk-1.1.2a924.dist-info/WHEEL,sha256=g4nMs7d-Xl9-xC9XovUrsDHGXt-FT0E17Yqo92DEfvY,92
-kuavo_humanoid_sdk-1.1.2a924.dist-info/top_level.txt,sha256=9uSyZoiOEykRMOf0Gm-N9mkyQQg9yOSimfsb632G99c,19
-kuavo_humanoid_sdk-1.1.2a924.dist-info/RECORD,,
+kuavo_humanoid_sdk-1.1.3a1239.dist-info/METADATA,sha256=U4mW2wfjkpSrWT7XJ23Y5uT8FKT4YbxSEwFTNcuxCC8,10831
+kuavo_humanoid_sdk-1.1.3a1239.dist-info/WHEEL,sha256=g4nMs7d-Xl9-xC9XovUrsDHGXt-FT0E17Yqo92DEfvY,92
+kuavo_humanoid_sdk-1.1.3a1239.dist-info/top_level.txt,sha256=9uSyZoiOEykRMOf0Gm-N9mkyQQg9yOSimfsb632G99c,19
+kuavo_humanoid_sdk-1.1.3a1239.dist-info/RECORD,,