kuavo-humanoid-sdk 1.1.3a1226__tar.gz → 1.1.3a1240__tar.gz

{kuavo_humanoid_sdk-1.1.3a1226 → kuavo_humanoid_sdk-1.1.3a1240}/PKG-INFO

@@ -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 → kuavo_humanoid_sdk-1.1.3a1240}/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-1.1.3a1226 → kuavo_humanoid_sdk-1.1.3a1240}/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-1.1.3a1226 → kuavo_humanoid_sdk-1.1.3a1240}/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-1.1.3a1226 → kuavo_humanoid_sdk-1.1.3a1240}/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-1.1.3a1226 → kuavo_humanoid_sdk-1.1.3a1240}/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-1.1.3a1226 → kuavo_humanoid_sdk-1.1.3a1240}/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-1.1.3a1226 → kuavo_humanoid_sdk-1.1.3a1240}/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 → kuavo_humanoid_sdk-1.1.3a1240}/kuavo_humanoid_sdk.egg-info/PKG-INFO

@@ -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']