kuavo-humanoid-sdk 1.1.3a1226__py3-none-any.whl → 1.1.3a1240__py3-none-any.whl

kuavo_humanoid_sdk/kuavo/core/audio.py

@@ -1,6 +1,5 @@
 import time
 import math
-import rospy
 import threading
 import numpy as np
 from typing import Tuple

kuavo_humanoid_sdk/kuavo/core/core.py

@@ -72,12 +72,13 @@ class KuavoRobotCore:
             else:
                 self._control = KuavoRobotControl()
                 self._rb_state = KuavoRobotStateCore()
+                # robot vision
+                self._robot_vision = KuavoRobotVisionCore()
+                # robot ros tf
+                self._robot_tf_tool = KuavoRobotToolsCore()
                 
             self._arm_ctrl_mode = KuavoArmCtrlMode.AutoSwing
-            # robot vision
-            self._robot_vision = KuavoRobotVisionCore()
-            # robot ros tf
-            self._robot_tf_tool = KuavoRobotToolsCore()
+            
             # register gait changed callback
             self._rb_state.register_gait_changed_callback(self._humanoid_gait_changed)
             # initialized

kuavo_humanoid_sdk/kuavo/core/ros/audio.py

@@ -1,11 +1,17 @@
 #!/usr/bin/env python3
 # coding: utf-8
-import rospy
-from std_msgs.msg import Bool
+
 from kuavo_humanoid_sdk.common.logger import SDKLogger
 from kuavo_humanoid_sdk.kuavo.core.core import KuavoRobotCore
-from kuavo_humanoid_sdk.msg.kuavo_msgs.srv import  playmusic, playmusicRequest
-from kuavo_humanoid_sdk.msg.kuavo_msgs.srv import  SpeechSynthesis, SpeechSynthesisRequest
+
+try:
+    import rospy
+    from std_msgs.msg import Bool
+    from kuavo_humanoid_sdk.msg.kuavo_msgs.srv import  playmusic, playmusicRequest
+    from kuavo_humanoid_sdk.msg.kuavo_msgs.srv import  SpeechSynthesis, SpeechSynthesisRequest
+except ImportError:
+    pass
+
 class Audio:
     """Audio system interface for controlling audio playback functionality of Kuavo humanoid robot.
     

kuavo_humanoid_sdk/kuavo/core/ros/control.py

@@ -272,9 +272,9 @@ class ControlEndEffectorWebsocket:
                 ]
             }
             response = service.call(request)
-            if not response.get('result', False):
+            if not response.get('success', False):
                 SDKLogger.error(f"Failed to execute gesture '{gestures}': {response.get('message', '')}")
-            return response.get('result', False)
+            return response.get('success', False)
         except Exception as e:
             SDKLogger.error(f"Service call failed: {e}")
             return False

kuavo_humanoid_sdk/kuavo/core/ros/tools.py

@@ -1,20 +1,28 @@
 #! /usr/bin/env python3
 # coding: utf-8
-import rospy
+
 import copy
 import time
 import numpy as np
-import tf2_ros
-import tf.transformations as tf_trans
 from typing import Tuple, Union
-from std_msgs.msg import Float64
-from nav_msgs.msg import Odometry
-from sensor_msgs.msg import JointState
-from kuavo_humanoid_sdk.msg.kuavo_msgs.msg import sensorsData, lejuClawState, gaitTimeName, dexhandTouchState
+from kuavo_humanoid_sdk.common.logger import SDKLogger
+
+try:
+    import rospy
+    import tf2_ros
+    import tf.transformations as tf_trans
+    from std_msgs.msg import Float64
+    from nav_msgs.msg import Odometry
+    from sensor_msgs.msg import JointState
+    from kuavo_humanoid_sdk.msg.kuavo_msgs.msg import sensorsData, lejuClawState, gaitTimeName, dexhandTouchState
+    from geometry_msgs.msg import TransformStamped
+except ImportError:
+    pass
+
 from kuavo_humanoid_sdk.interfaces.data_types import (PoseQuaternion, HomogeneousMatrix)
 from kuavo_humanoid_sdk.kuavo.core.ros.param import make_robot_param, EndEffectorType
-from kuavo_humanoid_sdk.common.logger import SDKLogger
-from geometry_msgs.msg import TransformStamped
+
+
 
 class KuavoRobotToolsCore:
     """Provides core ROS tools for Kuavo humanoid robot transformations.
@@ -32,7 +40,7 @@ class KuavoRobotToolsCore:
             self.tf_listener = tf2_ros.TransformListener(self.tf_buffer)
 
     def _get_tf_tree_transform(self, target_frame: str, source_frame: str, 
-                     time=rospy.Time(0), timeout=1.0,
+                     time=0.0, timeout=1.0,
                      return_type: str = "pose_quaternion") -> Union[PoseQuaternion, HomogeneousMatrix, None]:
         """Gets transform between coordinate frames.
         
@@ -53,6 +61,7 @@ class KuavoRobotToolsCore:
             tf2_ros.ConnectivityException: If transform connectivity issue
             tf2_ros.ExtrapolationException: If transform time is out of range
         """
+        time = rospy.Time(time)
         try:
             transform = self.tf_buffer.lookup_transform(
                 target_frame,

kuavo_humanoid_sdk/kuavo/core/ros/vision.py

@@ -1,6 +1,6 @@
 #! /usr/bin/env python3
 # coding: utf-8
-import rospy
+
 import copy
 import time
 from collections import deque
@@ -10,13 +10,17 @@ from kuavo_humanoid_sdk.kuavo.core.ros.param import make_robot_param, EndEffecto
 from kuavo_humanoid_sdk.common.logger import SDKLogger
 from kuavo_humanoid_sdk.interfaces.data_types import (AprilTagData)
 
-from std_msgs.msg import Float64
-from nav_msgs.msg import Odometry
-from sensor_msgs.msg import JointState
-from apriltag_ros.msg import AprilTagDetectionArray
-from geometry_msgs.msg import TransformStamped, PoseStamped
-import tf2_ros
-import tf2_geometry_msgs
+try:
+    import rospy
+    from std_msgs.msg import Float64
+    from nav_msgs.msg import Odometry
+    from sensor_msgs.msg import JointState
+    from apriltag_ros.msg import AprilTagDetectionArray
+    from geometry_msgs.msg import TransformStamped, PoseStamped
+    import tf2_ros
+    import tf2_geometry_msgs
+except ImportError:
+    pass
 
 class KuavoRobotVisionCore:
     """Handles vision-related data processing for Kuavo humanoid robot.
@@ -59,7 +63,7 @@ class KuavoRobotVisionCore:
                 pose = []
             )
 
-    def _apriltag_data_callback_camera(self, data: AprilTagDetectionArray):
+    def _apriltag_data_callback_camera(self, data):
         """Callback for processing AprilTag detections from camera.
         
         Args:
@@ -87,7 +91,7 @@ class KuavoRobotVisionCore:
         # # debug
         # rospy.loginfo("Apriltag data from camera: %s", self._apriltag_data_from_camera)
 
-    def _apriltag_data_callback_base(self, data: AprilTagDetectionArray):
+    def _apriltag_data_callback_base(self, data):
         """Callback for processing AprilTag detections from base link.
         
         Args:

kuavo_humanoid_sdk/kuavo/robot_vision.py

@@ -5,7 +5,10 @@ from kuavo_humanoid_sdk.common.logger import SDKLogger
 from kuavo_humanoid_sdk.interfaces.data_types import (AprilTagData)
 from kuavo_humanoid_sdk.kuavo.core.ros.vision import KuavoRobotVisionCore
 
-from apriltag_ros.msg import AprilTagDetectionArray
+try:
+    from apriltag_ros.msg import AprilTagDetectionArray
+except ImportError:
+    pass
 
 class KuavoRobotVision:
     """Vision system interface for Kuavo humanoid robot.

{kuavo_humanoid_sdk-1.1.3a1226.dist-info → kuavo_humanoid_sdk-1.1.3a1240.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: kuavo-humanoid-sdk
-Version: 1.1.3a1226
+Version: 1.1.3a1240
 Summary: A Python SDK for kuavo humanoid robot.
 Home-page: https://gitee.com/leju-robot/kuavo-ros-opensource/
 Author: ['lejurobot']

{kuavo_humanoid_sdk-1.1.3a1226.dist-info → kuavo_humanoid_sdk-1.1.3a1240.dist-info}/RECORD

@@ -17,19 +17,19 @@ kuavo_humanoid_sdk/kuavo/robot_head.py,sha256=8caHrPNwg98b4jf5cLJUbsGNovgtXetOqB
 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=W21yRw9FhvSK26iXcCr7cxyndw_l8UhD2etPTDdiyoE,3118
-kuavo_humanoid_sdk/kuavo/core/audio.py,sha256=zzXJmvWfduq_F_6VtQycTYOknyWVzb0CYUwdTzDBI48,851
-kuavo_humanoid_sdk/kuavo/core/core.py,sha256=ASfQriPxPHkg4ZVTGyb37krZgIz20qMlT46eM8qcpjA,18547
+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=lVhEVUZvdQI43mPkFqRYBld3N-L4nPigRkcSZ-ejL9I,18848
-kuavo_humanoid_sdk/kuavo/core/ros/audio.py,sha256=qr4VpgJVm5FtUzvYB_9x69jkFPk56Egpv_W6hfQuAKM,3625
-kuavo_humanoid_sdk/kuavo/core/ros/control.py,sha256=KCH5NrcTqjles98GTCtJOMfj5gx5ldeG5dKIdyl86cM,62286
+kuavo_humanoid_sdk/kuavo/core/ros/audio.py,sha256=KbsZMs8XTlGnPixUWAPgSrhrcVZx5MFQuYjVeROdeUQ,3678
+kuavo_humanoid_sdk/kuavo/core/ros/control.py,sha256=YnANyRmeXXdcV6lyeAmbpu6VQyiUp8RHgp_qbUni3F4,62288
 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=OkoGUWj0llDSYWFE-unKKHeiPKik1vSSU6mtVP4Mwwg,34658
-kuavo_humanoid_sdk/kuavo/core/ros/tools.py,sha256=Xqgsfa_96Zm5Y-FAx27ZBMq4JHt9qigmhGa9R54E8Yo,6049
-kuavo_humanoid_sdk/kuavo/core/ros/vision.py,sha256=JvbFiq6XlsKPx6JNQ6ffx-fpRB5fPjNG_XIOqLDGw7k,10791
+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
@@ -106,7 +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-1.1.3a1226.dist-info/METADATA,sha256=tXp0hZpYuprZMRY06kV6b6FqlxrDFIFjXWLu8VC_-DI,10831
-kuavo_humanoid_sdk-1.1.3a1226.dist-info/WHEEL,sha256=g4nMs7d-Xl9-xC9XovUrsDHGXt-FT0E17Yqo92DEfvY,92
-kuavo_humanoid_sdk-1.1.3a1226.dist-info/top_level.txt,sha256=9uSyZoiOEykRMOf0Gm-N9mkyQQg9yOSimfsb632G99c,19
-kuavo_humanoid_sdk-1.1.3a1226.dist-info/RECORD,,
+kuavo_humanoid_sdk-1.1.3a1240.dist-info/METADATA,sha256=EiyHX3vCzJ5QWwzMBUaF2anYHKVtg98tDEZosC0_7LY,10831
+kuavo_humanoid_sdk-1.1.3a1240.dist-info/WHEEL,sha256=g4nMs7d-Xl9-xC9XovUrsDHGXt-FT0E17Yqo92DEfvY,92
+kuavo_humanoid_sdk-1.1.3a1240.dist-info/top_level.txt,sha256=9uSyZoiOEykRMOf0Gm-N9mkyQQg9yOSimfsb632G99c,19
+kuavo_humanoid_sdk-1.1.3a1240.dist-info/RECORD,,