kuavo-humanoid-sdk 1.1.3a1252__py3-none-any.whl → 1.1.6__py3-none-any.whl

kuavo_humanoid_sdk/interfaces/data_types.py

@@ -1,7 +1,6 @@
 from typing import Tuple
 from enum import Enum
 from dataclasses import dataclass
-import numpy as np
 
 @dataclass
 class KuavoJointData:
@@ -144,48 +143,3 @@ class KuavoDexHandTouchState:
         status: int  # 传感器状态
     # 5 fingers
     data: Tuple[KuavoTouchState, KuavoTouchState, KuavoTouchState, KuavoTouchState, KuavoTouchState]
-
-@dataclass
-class AprilTagData:
-    """Represents detected AprilTag information with pose estimation.
-    
-    Attributes:
-        id (list): List of detected AprilTag IDs (integers)
-        size (list): List of tag physical sizes in meters (floats)
-        pose (list): List of PoseQuaternion objects representing tag poses
-    """
-    id: list
-    size: list
-    pose: list
-
-@dataclass
-class HomogeneousMatrix:
-    """4x4 homogeneous transformation matrix for 3D transformations.
-    
-    Represents both rotation and translation in 3D space. Can be used for
-    coordinate frame transformations and pose composition.
-    
-    Attributes:
-        matrix (np.ndarray): 4x4 numpy array of shape (4, 4) containing::
-        
-            [[R, t],
-             [0, 1]] 
-            
-        where R is 3x3 rotation matrix and t is 3x1 translation
-    """
-    matrix: np.ndarray  # Shape (4,4) homogeneous transformation matrix
-
-@dataclass
-class PoseQuaternion:
-    """3D pose representation using position and quaternion orientation.
-    
-    Provides a singularity-free orientation representation. Commonly used
-    in robotics for smooth interpolation between orientations.
-    
-    Attributes:
-        position (Tuple[float, float, float]): XYZ coordinates in meters
-        orientation (Tuple[float, float, float, float]): Unit quaternion in
-            (x, y, z, w) format following ROS convention
-    """
-    position: Tuple[float, float, float]
-    orientation: Tuple[float, float, float, float]

kuavo_humanoid_sdk/kuavo/__init__.py

@@ -1,10 +1,7 @@
 from .robot import KuavoSDK, KuavoRobot  
 from .robot_info import KuavoRobotInfo
 from .robot_state import KuavoRobotState
-from .robot_vision import KuavoRobotVision
-from .robot_tool import KuavoRobotTools
 from .robot_arm import KuavoRobotArm
 from .robot_head import KuavoRobotHead
-from .robot_audio import KuavoRobotAudio
 from .dexterous_hand import DexterousHand, TouchDexterousHand
 from .leju_claw import LejuClaw

kuavo_humanoid_sdk/kuavo/core/core.py

@@ -19,19 +19,18 @@ Each state has an entry callback that handles initialization when entering that
 
 import time
 import math
+import rospy
 import threading
 import numpy as np
 from typing import Tuple
 from transitions import Machine, State
 
 from kuavo_humanoid_sdk.interfaces.data_types import KuavoArmCtrlMode, KuavoIKParams, KuavoPose
-from kuavo_humanoid_sdk.kuavo.core.ros.control import KuavoRobotControl, KuavoRobotControlWebsocket
-from kuavo_humanoid_sdk.kuavo.core.ros.vision import KuavoRobotVisionCore, KuavoRobotVisionCoreWebsocket
-from kuavo_humanoid_sdk.kuavo.core.ros.tools import KuavoRobotToolsCore
-from kuavo_humanoid_sdk.kuavo.core.ros.state import KuavoRobotStateCore, KuavoRobotStateCoreWebsocket
+from kuavo_humanoid_sdk.kuavo.core.ros.control import KuavoRobotControl
+from kuavo_humanoid_sdk.kuavo.core.ros.state import KuavoRobotStateCore
 from kuavo_humanoid_sdk.kuavo.core.ros.param import make_robot_param
 from kuavo_humanoid_sdk.common.logger import SDKLogger
-from kuavo_humanoid_sdk.common.global_config import GlobalConfig
+
 # Define robot states
 ROBOT_STATES = [
     State(name='stance', on_enter=['_on_enter_stance']),
@@ -66,20 +65,9 @@ class KuavoRobotCore:
                 send_event=True
             )
             # robot control
-            if GlobalConfig.use_websocket:
-                self._control = KuavoRobotControlWebsocket()
-                self._rb_state = KuavoRobotStateCoreWebsocket()
-                self._robot_vision = KuavoRobotVisionCoreWebsocket()
-            else:
-                self._control = KuavoRobotControl()
-                self._rb_state = KuavoRobotStateCore()
-                # robot vision
-                self._robot_vision = KuavoRobotVisionCore()
-                # robot ros tf
-                self._robot_tf_tool = KuavoRobotToolsCore()
-                
+            self._control = KuavoRobotControl()
+            self._rb_state = KuavoRobotStateCore()
             self._arm_ctrl_mode = KuavoArmCtrlMode.AutoSwing
-            
             # register gait changed callback
             self._rb_state.register_gait_changed_callback(self._humanoid_gait_changed)
             # initialized