kuavo-humanoid-sdk 1.1.3a1240__py3-none-any.whl → 1.1.5__py3-none-any.whl

kuavo_humanoid_sdk/msg/kuavo_msgs/srv/_setMmCtrlFrame.py

@@ -0,0 +1,273 @@
+# This Python file uses the following encoding: utf-8
+"""autogenerated by genpy from kuavo_msgs/setMmCtrlFrameRequest.msg. Do not edit."""
+import codecs
+import sys
+python3 = True if sys.hexversion > 0x03000000 else False
+import genpy
+import struct
+
+
+class setMmCtrlFrameRequest(genpy.Message):
+  _md5sum = "e66db7b96bf089933dd98e52e1db8b7b"
+  _type = "kuavo_msgs/setMmCtrlFrameRequest"
+  _has_header = False  # flag to mark the presence of a Header object
+  _full_text = """int32 frame
+"""
+  __slots__ = ['frame']
+  _slot_types = ['int32']
+
+  def __init__(self, *args, **kwds):
+    """
+    Constructor. Any message fields that are implicitly/explicitly
+    set to None will be assigned a default value. The recommend
+    use is keyword arguments as this is more robust to future message
+    changes.  You cannot mix in-order arguments and keyword arguments.
+
+    The available fields are:
+       frame
+
+    :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(setMmCtrlFrameRequest, self).__init__(*args, **kwds)
+      # message fields cannot be None, assign default values for those that are
+      if self.frame is None:
+        self.frame = 0
+    else:
+      self.frame = 0
+
+  def _get_types(self):
+    """
+    internal API method
+    """
+    return self._slot_types
+
+  def serialize(self, buff):
+    """
+    serialize message into buffer
+    :param buff: buffer, ``StringIO``
+    """
+    try:
+      _x = self.frame
+      buff.write(_get_struct_i().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)))))
+
+  def deserialize(self, str):
+    """
+    unpack serialized message in str into this message instance
+    :param str: byte array of serialized message, ``str``
+    """
+    if python3:
+      codecs.lookup_error("rosmsg").msg_type = self._type
+    try:
+      end = 0
+      start = end
+      end += 4
+      (self.frame,) = _get_struct_i().unpack(str[start:end])
+      return self
+    except struct.error as e:
+      raise genpy.DeserializationError(e)  # most likely buffer underfill
+
+
+  def serialize_numpy(self, buff, numpy):
+    """
+    serialize message with numpy array types into buffer
+    :param buff: buffer, ``StringIO``
+    :param numpy: numpy python module
+    """
+    try:
+      _x = self.frame
+      buff.write(_get_struct_i().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)))))
+
+  def deserialize_numpy(self, str, numpy):
+    """
+    unpack serialized message in str into this message instance using numpy for array types
+    :param str: byte array of serialized message, ``str``
+    :param numpy: numpy python module
+    """
+    if python3:
+      codecs.lookup_error("rosmsg").msg_type = self._type
+    try:
+      end = 0
+      start = end
+      end += 4
+      (self.frame,) = _get_struct_i().unpack(str[start:end])
+      return self
+    except struct.error as e:
+      raise genpy.DeserializationError(e)  # most likely buffer underfill
+
+_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
+# This Python file uses the following encoding: utf-8
+"""autogenerated by genpy from kuavo_msgs/setMmCtrlFrameResponse.msg. Do not edit."""
+import codecs
+import sys
+python3 = True if sys.hexversion > 0x03000000 else False
+import genpy
+import struct
+
+
+class setMmCtrlFrameResponse(genpy.Message):
+  _md5sum = "6f785115f88cf0e6d306b65915460524"
+  _type = "kuavo_msgs/setMmCtrlFrameResponse"
+  _has_header = False  # flag to mark the presence of a Header object
+  _full_text = """bool result
+int32 currentFrame 
+string message
+"""
+  __slots__ = ['result','currentFrame','message']
+  _slot_types = ['bool','int32','string']
+
+  def __init__(self, *args, **kwds):
+    """
+    Constructor. Any message fields that are implicitly/explicitly
+    set to None will be assigned a default value. The recommend
+    use is keyword arguments as this is more robust to future message
+    changes.  You cannot mix in-order arguments and keyword arguments.
+
+    The available fields are:
+       result,currentFrame,message
+
+    :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(setMmCtrlFrameResponse, 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.currentFrame is None:
+        self.currentFrame = 0
+      if self.message is None:
+        self.message = ''
+    else:
+      self.result = False
+      self.currentFrame = 0
+      self.message = ''
+
+  def _get_types(self):
+    """
+    internal API method
+    """
+    return self._slot_types
+
+  def serialize(self, buff):
+    """
+    serialize message into buffer
+    :param buff: buffer, ``StringIO``
+    """
+    try:
+      _x = self
+      buff.write(_get_struct_Bi().pack(_x.result, _x.currentFrame))
+      _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))
+    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)))))
+
+  def deserialize(self, str):
+    """
+    unpack serialized message in str into this message instance
+    :param str: byte array of serialized message, ``str``
+    """
+    if python3:
+      codecs.lookup_error("rosmsg").msg_type = self._type
+    try:
+      end = 0
+      _x = self
+      start = end
+      end += 5
+      (_x.result, _x.currentFrame,) = _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]
+      return self
+    except struct.error as e:
+      raise genpy.DeserializationError(e)  # most likely buffer underfill
+
+
+  def serialize_numpy(self, buff, numpy):
+    """
+    serialize message with numpy array types into buffer
+    :param buff: buffer, ``StringIO``
+    :param numpy: numpy python module
+    """
+    try:
+      _x = self
+      buff.write(_get_struct_Bi().pack(_x.result, _x.currentFrame))
+      _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))
+    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)))))
+
+  def deserialize_numpy(self, str, numpy):
+    """
+    unpack serialized message in str into this message instance using numpy for array types
+    :param str: byte array of serialized message, ``str``
+    :param numpy: numpy python module
+    """
+    if python3:
+      codecs.lookup_error("rosmsg").msg_type = self._type
+    try:
+      end = 0
+      _x = self
+      start = end
+      end += 5
+      (_x.result, _x.currentFrame,) = _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]
+      return self
+    except struct.error as e:
+      raise genpy.DeserializationError(e)  # most likely buffer underfill
+
+_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 setMmCtrlFrame(object):
+  _type          = 'kuavo_msgs/setMmCtrlFrame'
+  _md5sum = '696a444d2580aa682923215a4a34937c'
+  _request_class  = setMmCtrlFrameRequest
+  _response_class = setMmCtrlFrameResponse

kuavo_humanoid_sdk/msg/kuavo_msgs/srv/_twoArmHandPoseCmdSrv.py

@@ -10,7 +10,7 @@ import kuavo_msgs.msg
 import std_msgs.msg
 
 class twoArmHandPoseCmdSrvRequest(genpy.Message):
-  _md5sum = "2b372ee6cf4101587f773b62c6572c72"
+  _md5sum = "cc73837d27c2081b9de63a7f5c230e6e"
   _type = "kuavo_msgs/twoArmHandPoseCmdSrvRequest"
   _has_header = False  # flag to mark the presence of a Header object
   _full_text = """twoArmHandPoseCmd twoArmHandPoseCmdRequest
@@ -22,6 +22,7 @@ twoArmHandPose  hand_poses
 bool use_custom_ik_param
 bool joint_angles_as_q0
 ikSolveParam ik_param
+int32 frame # 0 keep current frame  1 world frame (based on odom)  2  local frame   3  manipulation world frame 
 ================================================================================
 MSG: kuavo_msgs/twoArmHandPose
 Header header
@@ -116,7 +117,7 @@ float64 pos_cost_weight"""
       buff.write(_get_struct_3d().pack(*self.twoArmHandPoseCmdRequest.hand_poses.right_pose.elbow_pos_xyz))
       buff.write(_get_struct_7d().pack(*self.twoArmHandPoseCmdRequest.hand_poses.right_pose.joint_angles))
       _x = self
-      buff.write(_get_struct_2B7d().pack(_x.twoArmHandPoseCmdRequest.use_custom_ik_param, _x.twoArmHandPoseCmdRequest.joint_angles_as_q0, _x.twoArmHandPoseCmdRequest.ik_param.major_optimality_tol, _x.twoArmHandPoseCmdRequest.ik_param.major_feasibility_tol, _x.twoArmHandPoseCmdRequest.ik_param.minor_feasibility_tol, _x.twoArmHandPoseCmdRequest.ik_param.major_iterations_limit, _x.twoArmHandPoseCmdRequest.ik_param.oritation_constraint_tol, _x.twoArmHandPoseCmdRequest.ik_param.pos_constraint_tol, _x.twoArmHandPoseCmdRequest.ik_param.pos_cost_weight))
+      buff.write(_get_struct_2B7di().pack(_x.twoArmHandPoseCmdRequest.use_custom_ik_param, _x.twoArmHandPoseCmdRequest.joint_angles_as_q0, _x.twoArmHandPoseCmdRequest.ik_param.major_optimality_tol, _x.twoArmHandPoseCmdRequest.ik_param.major_feasibility_tol, _x.twoArmHandPoseCmdRequest.ik_param.minor_feasibility_tol, _x.twoArmHandPoseCmdRequest.ik_param.major_iterations_limit, _x.twoArmHandPoseCmdRequest.ik_param.oritation_constraint_tol, _x.twoArmHandPoseCmdRequest.ik_param.pos_constraint_tol, _x.twoArmHandPoseCmdRequest.ik_param.pos_cost_weight, _x.twoArmHandPoseCmdRequest.frame))
     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)))))
 
@@ -170,8 +171,8 @@ float64 pos_cost_weight"""
       self.twoArmHandPoseCmdRequest.hand_poses.right_pose.joint_angles = _get_struct_7d().unpack(str[start:end])
       _x = self
       start = end
-      end += 58
-      (_x.twoArmHandPoseCmdRequest.use_custom_ik_param, _x.twoArmHandPoseCmdRequest.joint_angles_as_q0, _x.twoArmHandPoseCmdRequest.ik_param.major_optimality_tol, _x.twoArmHandPoseCmdRequest.ik_param.major_feasibility_tol, _x.twoArmHandPoseCmdRequest.ik_param.minor_feasibility_tol, _x.twoArmHandPoseCmdRequest.ik_param.major_iterations_limit, _x.twoArmHandPoseCmdRequest.ik_param.oritation_constraint_tol, _x.twoArmHandPoseCmdRequest.ik_param.pos_constraint_tol, _x.twoArmHandPoseCmdRequest.ik_param.pos_cost_weight,) = _get_struct_2B7d().unpack(str[start:end])
+      end += 62
+      (_x.twoArmHandPoseCmdRequest.use_custom_ik_param, _x.twoArmHandPoseCmdRequest.joint_angles_as_q0, _x.twoArmHandPoseCmdRequest.ik_param.major_optimality_tol, _x.twoArmHandPoseCmdRequest.ik_param.major_feasibility_tol, _x.twoArmHandPoseCmdRequest.ik_param.minor_feasibility_tol, _x.twoArmHandPoseCmdRequest.ik_param.major_iterations_limit, _x.twoArmHandPoseCmdRequest.ik_param.oritation_constraint_tol, _x.twoArmHandPoseCmdRequest.ik_param.pos_constraint_tol, _x.twoArmHandPoseCmdRequest.ik_param.pos_cost_weight, _x.twoArmHandPoseCmdRequest.frame,) = _get_struct_2B7di().unpack(str[start:end])
       self.twoArmHandPoseCmdRequest.use_custom_ik_param = bool(self.twoArmHandPoseCmdRequest.use_custom_ik_param)
       self.twoArmHandPoseCmdRequest.joint_angles_as_q0 = bool(self.twoArmHandPoseCmdRequest.joint_angles_as_q0)
       return self
@@ -203,7 +204,7 @@ float64 pos_cost_weight"""
       buff.write(self.twoArmHandPoseCmdRequest.hand_poses.right_pose.elbow_pos_xyz.tostring())
       buff.write(self.twoArmHandPoseCmdRequest.hand_poses.right_pose.joint_angles.tostring())
       _x = self
-      buff.write(_get_struct_2B7d().pack(_x.twoArmHandPoseCmdRequest.use_custom_ik_param, _x.twoArmHandPoseCmdRequest.joint_angles_as_q0, _x.twoArmHandPoseCmdRequest.ik_param.major_optimality_tol, _x.twoArmHandPoseCmdRequest.ik_param.major_feasibility_tol, _x.twoArmHandPoseCmdRequest.ik_param.minor_feasibility_tol, _x.twoArmHandPoseCmdRequest.ik_param.major_iterations_limit, _x.twoArmHandPoseCmdRequest.ik_param.oritation_constraint_tol, _x.twoArmHandPoseCmdRequest.ik_param.pos_constraint_tol, _x.twoArmHandPoseCmdRequest.ik_param.pos_cost_weight))
+      buff.write(_get_struct_2B7di().pack(_x.twoArmHandPoseCmdRequest.use_custom_ik_param, _x.twoArmHandPoseCmdRequest.joint_angles_as_q0, _x.twoArmHandPoseCmdRequest.ik_param.major_optimality_tol, _x.twoArmHandPoseCmdRequest.ik_param.major_feasibility_tol, _x.twoArmHandPoseCmdRequest.ik_param.minor_feasibility_tol, _x.twoArmHandPoseCmdRequest.ik_param.major_iterations_limit, _x.twoArmHandPoseCmdRequest.ik_param.oritation_constraint_tol, _x.twoArmHandPoseCmdRequest.ik_param.pos_constraint_tol, _x.twoArmHandPoseCmdRequest.ik_param.pos_cost_weight, _x.twoArmHandPoseCmdRequest.frame))
     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)))))
 
@@ -258,8 +259,8 @@ float64 pos_cost_weight"""
       self.twoArmHandPoseCmdRequest.hand_poses.right_pose.joint_angles = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=7)
       _x = self
       start = end
-      end += 58
-      (_x.twoArmHandPoseCmdRequest.use_custom_ik_param, _x.twoArmHandPoseCmdRequest.joint_angles_as_q0, _x.twoArmHandPoseCmdRequest.ik_param.major_optimality_tol, _x.twoArmHandPoseCmdRequest.ik_param.major_feasibility_tol, _x.twoArmHandPoseCmdRequest.ik_param.minor_feasibility_tol, _x.twoArmHandPoseCmdRequest.ik_param.major_iterations_limit, _x.twoArmHandPoseCmdRequest.ik_param.oritation_constraint_tol, _x.twoArmHandPoseCmdRequest.ik_param.pos_constraint_tol, _x.twoArmHandPoseCmdRequest.ik_param.pos_cost_weight,) = _get_struct_2B7d().unpack(str[start:end])
+      end += 62
+      (_x.twoArmHandPoseCmdRequest.use_custom_ik_param, _x.twoArmHandPoseCmdRequest.joint_angles_as_q0, _x.twoArmHandPoseCmdRequest.ik_param.major_optimality_tol, _x.twoArmHandPoseCmdRequest.ik_param.major_feasibility_tol, _x.twoArmHandPoseCmdRequest.ik_param.minor_feasibility_tol, _x.twoArmHandPoseCmdRequest.ik_param.major_iterations_limit, _x.twoArmHandPoseCmdRequest.ik_param.oritation_constraint_tol, _x.twoArmHandPoseCmdRequest.ik_param.pos_constraint_tol, _x.twoArmHandPoseCmdRequest.ik_param.pos_cost_weight, _x.twoArmHandPoseCmdRequest.frame,) = _get_struct_2B7di().unpack(str[start:end])
       self.twoArmHandPoseCmdRequest.use_custom_ik_param = bool(self.twoArmHandPoseCmdRequest.use_custom_ik_param)
       self.twoArmHandPoseCmdRequest.joint_angles_as_q0 = bool(self.twoArmHandPoseCmdRequest.joint_angles_as_q0)
       return self
@@ -270,12 +271,12 @@ _struct_I = genpy.struct_I
 def _get_struct_I():
     global _struct_I
     return _struct_I
-_struct_2B7d = None
-def _get_struct_2B7d():
-    global _struct_2B7d
-    if _struct_2B7d is None:
-        _struct_2B7d = struct.Struct("<2B7d")
-    return _struct_2B7d
+_struct_2B7di = None
+def _get_struct_2B7di():
+    global _struct_2B7di
+    if _struct_2B7di is None:
+        _struct_2B7di = struct.Struct("<2B7di")
+    return _struct_2B7di
 _struct_3I = None
 def _get_struct_3I():
     global _struct_3I
@@ -656,6 +657,6 @@ def _get_struct_d3I():
     return _struct_d3I
 class twoArmHandPoseCmdSrv(object):
   _type          = 'kuavo_msgs/twoArmHandPoseCmdSrv'
-  _md5sum = '4cedfbf98f38ce7e92b358cb2d3ef39d'
+  _md5sum = '5c40c421651b828448c8e8f1a4ba5e3d'
   _request_class  = twoArmHandPoseCmdSrvRequest
   _response_class = twoArmHandPoseCmdSrvResponse

{kuavo_humanoid_sdk-1.1.3a1240.dist-info → kuavo_humanoid_sdk-1.1.5.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: kuavo-humanoid-sdk
-Version: 1.1.3a1240
+Version: 1.1.5
 Summary: A Python SDK for kuavo humanoid robot.
 Home-page: https://gitee.com/leju-robot/kuavo-ros-opensource/
 Author: ['lejurobot']

{kuavo_humanoid_sdk-1.1.3a1240.dist-info → kuavo_humanoid_sdk-1.1.5.dist-info}/RECORD

@@ -1,35 +1,38 @@
-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/__init__.py,sha256=DtPCVJH91dONgYSjFe8oFSpUSYbJOzYgpyyHvD7F8oo,214
+kuavo_humanoid_sdk/common/global_config.py,sha256=2iDGXEwjmfc9MQ4jYOYxFyTB_BnLIxf6HYent5dS4gA,315
 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=TV09XgA8inII_g0xb7q19VvxbRD02MLFHlR15qTAZF0,6799
+kuavo_humanoid_sdk/interfaces/data_types.py,sha256=3yBYRD6fhp-czJabZPkqAjDHEV_KBKRiqx035vmT3WY,8266
 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=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.py,sha256=Z_zgqR--s8hvP_KlaUxNuriOvTaH6hWoRcMgrAq3Qz0,20487
+kuavo_humanoid_sdk/kuavo/robot_arm.py,sha256=HTY3J1dZDOBzCWesZaFlg6XhkqARtRxXqiZg2OAW-J8,9419
 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_head.py,sha256=EagxK9vU1nczdm8qVKc_sJzwhiLKF7xhzHRuGUnUhB4,1851
 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_state.py,sha256=TLp7Rr0OJPRUO3tCJSIGAn20Ug47iiqUVCiog2c81mI,12355
 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/audio.py,sha256=lyoYTKkt3ZEnehh1cJenksrkYUrlHBC559r1JmzysR4,1024
+kuavo_humanoid_sdk/kuavo/core/core.py,sha256=SgvLQMxE9NHA1glrKgh8rrjp1hgXIYMW8MeabeT-J_s,29692
 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=KbsZMs8XTlGnPixUWAPgSrhrcVZx5MFQuYjVeROdeUQ,3678
-kuavo_humanoid_sdk/kuavo/core/ros/control.py,sha256=YnANyRmeXXdcV6lyeAmbpu6VQyiUp8RHgp_qbUni3F4,62288
+kuavo_humanoid_sdk/kuavo/core/ros/audio.py,sha256=aJQ9i7df8mK55XCtNM4MDLcwz8CnEk-K3P93QrtWwXQ,6850
+kuavo_humanoid_sdk/kuavo/core/ros/control.py,sha256=s-yf4jRYn58awqEIMZl0wTUMDiQXlqbnTf13lITyt94,81827
 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/state.py,sha256=YZZePu6M_aL02D_Thh97CP04sJdgtGs75LZqLoVQEDw,46302
 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/kuavo/core/ros/vision.py,sha256=gGCzJb5hZgH-TBLm9P7tlbCt73MMAm9AfmokZfdm_Oo,11121
+kuavo_humanoid_sdk/kuavo_strategy/__init__.py,sha256=JqwMTRKG-1LpDqnvFFGm6oQW31oQ7YmTLB4KZ7U7o3Y,73
+kuavo_humanoid_sdk/kuavo_strategy/kuavo_strategy.py,sha256=qjmeNYatDP-TvgDvsa7T5LFNRmzqafC4qWVMAnW3F-A,2043
+kuavo_humanoid_sdk/kuavo_strategy/grasp_box/grasp_box_strategy.py,sha256=X5Z5bVy7Zp6_Ht9Iia8Mq4Qg0_eOTtQFV-yLmiec2Ok,17762
 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
@@ -65,11 +68,11 @@ kuavo_humanoid_sdk/msg/kuavo_msgs/msg/_sensorsData.py,sha256=hHAvPSEAdsQ7lvsR9SX
 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/_twoArmHandPoseCmd.py,sha256=MCpOFt5O8Lf3Lpkzt1bt3m3u6--mkCtso5CMXl8JVJ0,13560
 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/_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/__init__.py,sha256=dc5_M23g4KtiOap6vSwA-2u7C_T13XfN96poQKsFSTY,698
 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
@@ -85,10 +88,11 @@ kuavo_humanoid_sdk/msg/kuavo_msgs/srv/_handForceLevel.py,sha256=YVhwt3RCVdYna6UE
 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/_setMmCtrlFrame.py,sha256=9WdGrggQ5kHa2Ekay7F6cUTsLYdbK1sOhU2zbAmOELY,9075
 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/kuavo_msgs/srv/_twoArmHandPoseCmdSrv.py,sha256=rmMc_8OtHwEBDnNhT7hckliLwFrsyVACLiQepgiW8Uc,29178
 kuavo_humanoid_sdk/msg/motion_capture_ik/__init__.py,sha256=wk-pfWFvAOl475vxWFVTwbJGejP6UKgivUApv8RvK_8,216
 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
@@ -106,7 +110,7 @@ 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-1.1.3a1240.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,,
+kuavo_humanoid_sdk-1.1.5.dist-info/METADATA,sha256=37EY8oyL-xI8iDsrq-sirHLuQOfGsJ4LLkOgdiLuVrs,10826
+kuavo_humanoid_sdk-1.1.5.dist-info/WHEEL,sha256=g4nMs7d-Xl9-xC9XovUrsDHGXt-FT0E17Yqo92DEfvY,92
+kuavo_humanoid_sdk-1.1.5.dist-info/top_level.txt,sha256=9uSyZoiOEykRMOf0Gm-N9mkyQQg9yOSimfsb632G99c,19
+kuavo_humanoid_sdk-1.1.5.dist-info/RECORD,,