kuavo-humanoid-sdk 1.1.5__py3-none-any.whl → 1.1.6__py3-none-any.whl

kuavo_humanoid_sdk/kuavo/robot_info.py

@@ -2,8 +2,7 @@
 # coding: utf-8
 from typing import Tuple
 from kuavo_humanoid_sdk.interfaces.robot_info import RobotInfoBase
-from kuavo_humanoid_sdk.kuavo.core.ros.param import RosParameter, RosParamWebsocket, make_robot_param
-from kuavo_humanoid_sdk.common.global_config import GlobalConfig
+from kuavo_humanoid_sdk.kuavo.core.ros.param import RosParameter, make_robot_param
 
 class KuavoRobotInfo(RobotInfoBase):
     def __init__(self, robot_type: str = "kuavo"):
@@ -11,11 +10,7 @@ class KuavoRobotInfo(RobotInfoBase):
         
         # Load robot parameters from ROS parameter server
         kuavo_ros_param = make_robot_param()
-        if GlobalConfig.use_websocket:
-            self._ros_param = RosParamWebsocket()
-        else:
-            self._ros_param = RosParameter()
-            
+        self._ros_param = RosParameter()
         self._robot_version = kuavo_ros_param['robot_version']
         self._end_effector_type = kuavo_ros_param['end_effector_type']
         self._arm_joint_dof = kuavo_ros_param['arm_dof']

kuavo_humanoid_sdk/kuavo/robot_state.py

@@ -3,17 +3,12 @@
 import time
 from typing import Tuple
 from kuavo_humanoid_sdk.interfaces.data_types import (
-    KuavoImuData, KuavoJointData, KuavoOdometry, KuavoArmCtrlMode,EndEffectorState, 
-    KuavoManipulationMpcControlFlow, KuavoManipulationMpcCtrlMode, KuavoManipulationMpcFrame)
-from kuavo_humanoid_sdk.kuavo.core.ros.state import KuavoRobotStateCore, KuavoRobotStateCoreWebsocket
-from kuavo_humanoid_sdk.common.global_config import GlobalConfig
+    KuavoImuData, KuavoJointData, KuavoOdometry, KuavoArmCtrlMode,EndEffectorState)
+from kuavo_humanoid_sdk.kuavo.core.ros.state import KuavoRobotStateCore
 
 class KuavoRobotState:
     def __init__(self, robot_type: str = "kuavo"):
-        if GlobalConfig.use_websocket:
-            self._rs_core = KuavoRobotStateCoreWebsocket()
-        else:
-            self._rs_core = KuavoRobotStateCore()
+        self._rs_core = KuavoRobotStateCore()
 
     @property
     def imu_data(self) -> KuavoImuData:
@@ -148,31 +143,6 @@ class KuavoRobotState:
         """
         return self._rs_core.arm_control_mode
     
-    def manipulation_mpc_ctrl_mode(self) -> KuavoManipulationMpcCtrlMode:
-        """Get the current control mode of the robot manipulation MPC.
-
-        Returns:
-            KuavoManipulationMpcCtrlMode: Current manipulation MPC control mode.
-
-        """
-        return self._rs_core.manipulation_mpc_ctrl_mode
-    
-    def manipulation_mpc_control_flow(self) -> KuavoManipulationMpcControlFlow:
-        """Get the current control flow of the robot manipulation.
-
-        Returns:
-            KuavoManipulationMpcControlFlow: Current manipulation control flow.
-        """
-        return self._rs_core.manipulation_mpc_control_flow
-    
-    def manipulation_mpc_frame(self) -> KuavoManipulationMpcFrame:
-        """Get the current frame of the robot manipulation MPC.
-
-        Returns:
-            KuavoManipulationMpcFrame: Current manipulation MPC frame.
-        """
-        return self._rs_core.manipulation_mpc_frame
-    
     def head_joint_state(self) -> KuavoJointData:
         """Get the current state of the robot head joints.
 
@@ -296,11 +266,4 @@ class KuavoRobotState:
         while not self._rs_core.is_gait('custom_gait') and wait_time < timeout:
             time.sleep(0.1)
             wait_time += 0.1
-        return self._rs_core.is_gait('custom_gait')
-    
-# if __name__ == "__main__":
-#     state = KuavoRobotState()
-#     print(state.manipulation_mpc_frame())
-#     print(state.manipulation_mpc_control_flow())
-#     print(state.manipulation_mpc_ctrl_mode())
-#     print(state.arm_control_mode())
+        return self._rs_core.is_gait('custom_gait')

kuavo_humanoid_sdk/msg/kuavo_msgs/msg/__init__.py

@@ -1,7 +1,6 @@
 from ._AprilTagDetection import *
 from ._AprilTagDetectionArray import *
 from ._Metadata import *
-from ._armHandPose import *
 from ._armPoseWithTimeStamp import *
 from ._armTargetPoses import *
 from ._dexhandCommand import *
@@ -12,24 +11,18 @@ from ._footPoseTargetTrajectories import *
 from ._gaitTimeName import *
 from ._gestureInfo import *
 from ._gestureTask import *
-from ._handPose import *
 from ._headBodyPose import *
-from ._ikSolveError import *
-from ._ikSolveParam import *
 from ._imuData import *
 from ._jointCmd import *
 from ._jointData import *
 from ._lejuClawCommand import *
 from ._lejuClawState import *
 from ._questJoySticks import *
-from ._robotArmQVVD import *
 from ._robotHandPosition import *
 from ._robotHeadMotionData import *
 from ._robotState import *
 from ._sensorsData import *
 from ._switchGaitByName import *
 from ._touchSensorStatus import *
-from ._twoArmHandPose import *
-from ._twoArmHandPoseCmd import *
 from ._yoloDetection import *
 from ._yoloOutputData import *

kuavo_humanoid_sdk/msg/kuavo_msgs/srv/__init__.py

@@ -1,10 +1,7 @@
-from ._SpeechSynthesis import *
 from ._changeArmCtrlMode import *
-from ._changeArmCtrlModeKuavo import *
 from ._changeTorsoCtrlMode import *
 from ._controlLejuClaw import *
 from ._enableHandTouchSensor import *
-from ._fkSrv import *
 from ._footPoseTargetTrajectoriesSrv import *
 from ._gestureExecute import *
 from ._gestureExecuteState import *
@@ -14,8 +11,6 @@ from ._handForceLevel import *
 from ._jointMoveTo import *
 from ._playmusic import *
 from ._setHwIntialState import *
-from ._setMmCtrlFrame import *
 from ._setMotorEncoderRoundService import *
 from ._setTagId import *
 from ._singleStepControl import *
-from ._twoArmHandPoseCmdSrv import *

kuavo_humanoid_sdk/msg/kuavo_msgs/srv/_playmusic.py

@@ -8,15 +8,14 @@ import struct
 
 
 class playmusicRequest(genpy.Message):
-  _md5sum = "24067736323ff98005697d24ca92721f"
+  _md5sum = "b4bd61c49344d06e17224a3598f23d8e"
   _type = "kuavo_msgs/playmusicRequest"
   _has_header = False  # flag to mark the presence of a Header object
   _full_text = """string music_number
-float32 volume
-float32 speed
+int64 volume
 """
-  __slots__ = ['music_number','volume','speed']
-  _slot_types = ['string','float32','float32']
+  __slots__ = ['music_number','volume']
+  _slot_types = ['string','int64']
 
   def __init__(self, *args, **kwds):
     """
@@ -26,7 +25,7 @@ float32 speed
     changes.  You cannot mix in-order arguments and keyword arguments.
 
     The available fields are:
-       music_number,volume,speed
+       music_number,volume
 
     :param args: complete set of field values, in .msg order
     :param kwds: use keyword arguments corresponding to message field names
@@ -38,13 +37,10 @@ float32 speed
       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.
+        self.volume = 0
     else:
       self.music_number = ''
-      self.volume = 0.
-      self.speed = 0.
+      self.volume = 0
 
   def _get_types(self):
     """
@@ -64,8 +60,8 @@ float32 speed
         _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))
+      _x = self.volume
+      buff.write(_get_struct_q().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)))))
 
@@ -87,10 +83,9 @@ float32 speed
         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])
+      (self.volume,) = _get_struct_q().unpack(str[start:end])
       return self
     except struct.error as e:
       raise genpy.DeserializationError(e)  # most likely buffer underfill
@@ -109,8 +104,8 @@ float32 speed
         _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))
+      _x = self.volume
+      buff.write(_get_struct_q().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)))))
 
@@ -133,10 +128,9 @@ float32 speed
         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])
+      (self.volume,) = _get_struct_q().unpack(str[start:end])
       return self
     except struct.error as e:
       raise genpy.DeserializationError(e)  # most likely buffer underfill
@@ -145,12 +139,12 @@ _struct_I = genpy.struct_I
 def _get_struct_I():
     global _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
+_struct_q = None
+def _get_struct_q():
+    global _struct_q
+    if _struct_q is None:
+        _struct_q = struct.Struct("<q")
+    return _struct_q
 # This Python file uses the following encoding: utf-8
 """autogenerated by genpy from kuavo_msgs/playmusicResponse.msg. Do not edit."""
 import codecs
@@ -269,6 +263,6 @@ def _get_struct_B():
     return _struct_B
 class playmusic(object):
   _type          = 'kuavo_msgs/playmusic'
-  _md5sum = '348f2445d1e569f5dc4e72a19fb11934'
+  _md5sum = '3d99283888736c5e18f20ac685e5f8bf'
   _request_class  = playmusicRequest
   _response_class = playmusicResponse

kuavo_humanoid_sdk/msg/motion_capture_ik/msg/__init__.py

@@ -0,0 +1,9 @@
+from ._armHandPose import *
+from ._handPose import *
+from ._headBodyPose import *
+from ._ikSolveError import *
+from ._ikSolveParam import *
+from ._robotArmQVVD import *
+from ._robotHandPosition import *
+from ._twoArmHandPose import *
+from ._twoArmHandPoseCmd import *

kuavo_humanoid_sdk/msg/{kuavo_msgs → motion_capture_ik}/msg/_armHandPose.py

@@ -1,5 +1,5 @@
 # This Python file uses the following encoding: utf-8
-"""autogenerated by genpy from kuavo_msgs/armHandPose.msg. Do not edit."""
+"""autogenerated by genpy from motion_capture_ik/armHandPose.msg. Do not edit."""
 import codecs
 import sys
 python3 = True if sys.hexversion > 0x03000000 else False
@@ -9,7 +9,7 @@ import struct
 
 class armHandPose(genpy.Message):
   _md5sum = "4f28a253cb60d59c6491569369f38f4d"
-  _type = "kuavo_msgs/armHandPose"
+  _type = "motion_capture_ik/armHandPose"
   _has_header = False  # flag to mark the presence of a Header object
   _full_text = """float64[3] pos_xyz
 float64[4] quat_xyzw

kuavo_humanoid_sdk/msg/{kuavo_msgs → motion_capture_ik}/msg/_handPose.py

@@ -1,5 +1,5 @@
 # This Python file uses the following encoding: utf-8
-"""autogenerated by genpy from kuavo_msgs/handPose.msg. Do not edit."""
+"""autogenerated by genpy from motion_capture_ik/handPose.msg. Do not edit."""
 import codecs
 import sys
 python3 = True if sys.hexversion > 0x03000000 else False
@@ -9,7 +9,7 @@ import struct
 
 class handPose(genpy.Message):
   _md5sum = "1a83f0bdabe750ce0cfb45a14ec63457"
-  _type = "kuavo_msgs/handPose"
+  _type = "motion_capture_ik/handPose"
   _has_header = False  # flag to mark the presence of a Header object
   _full_text = """# pos
 float64 x

kuavo_humanoid_sdk/msg/motion_capture_ik/msg/_headBodyPose.py

@@ -0,0 +1,145 @@
+# This Python file uses the following encoding: utf-8
+"""autogenerated by genpy from motion_capture_ik/headBodyPose.msg. Do not edit."""
+import codecs
+import sys
+python3 = True if sys.hexversion > 0x03000000 else False
+import genpy
+import struct
+
+
+class headBodyPose(genpy.Message):
+  _md5sum = "86a58d9f885335d8a0b389ace07ba692"
+  _type = "motion_capture_ik/headBodyPose"
+  _has_header = False  # flag to mark the presence of a Header object
+  _full_text = """# head (rad)
+float64 head_pitch
+float64 head_yaw
+# body (rad)
+float64 body_roll
+float64 body_pitch
+float64 body_yaw
+
+float64 body_x
+float64 body_y
+float64 body_height"""
+  __slots__ = ['head_pitch','head_yaw','body_roll','body_pitch','body_yaw','body_x','body_y','body_height']
+  _slot_types = ['float64','float64','float64','float64','float64','float64','float64','float64']
+
+  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:
+       head_pitch,head_yaw,body_roll,body_pitch,body_yaw,body_x,body_y,body_height
+
+    :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(headBodyPose, self).__init__(*args, **kwds)
+      # message fields cannot be None, assign default values for those that are
+      if self.head_pitch is None:
+        self.head_pitch = 0.
+      if self.head_yaw is None:
+        self.head_yaw = 0.
+      if self.body_roll is None:
+        self.body_roll = 0.
+      if self.body_pitch is None:
+        self.body_pitch = 0.
+      if self.body_yaw is None:
+        self.body_yaw = 0.
+      if self.body_x is None:
+        self.body_x = 0.
+      if self.body_y is None:
+        self.body_y = 0.
+      if self.body_height is None:
+        self.body_height = 0.
+    else:
+      self.head_pitch = 0.
+      self.head_yaw = 0.
+      self.body_roll = 0.
+      self.body_pitch = 0.
+      self.body_yaw = 0.
+      self.body_x = 0.
+      self.body_y = 0.
+      self.body_height = 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
+      buff.write(_get_struct_8d().pack(_x.head_pitch, _x.head_yaw, _x.body_roll, _x.body_pitch, _x.body_yaw, _x.body_x, _x.body_y, _x.body_height))
+    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 += 64
+      (_x.head_pitch, _x.head_yaw, _x.body_roll, _x.body_pitch, _x.body_yaw, _x.body_x, _x.body_y, _x.body_height,) = _get_struct_8d().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
+      buff.write(_get_struct_8d().pack(_x.head_pitch, _x.head_yaw, _x.body_roll, _x.body_pitch, _x.body_yaw, _x.body_x, _x.body_y, _x.body_height))
+    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 += 64
+      (_x.head_pitch, _x.head_yaw, _x.body_roll, _x.body_pitch, _x.body_yaw, _x.body_x, _x.body_y, _x.body_height,) = _get_struct_8d().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_8d = None
+def _get_struct_8d():
+    global _struct_8d
+    if _struct_8d is None:
+        _struct_8d = struct.Struct("<8d")
+    return _struct_8d

kuavo_humanoid_sdk/msg/{kuavo_msgs → motion_capture_ik}/msg/_ikSolveError.py

@@ -1,22 +1,22 @@
 # This Python file uses the following encoding: utf-8
-"""autogenerated by genpy from kuavo_msgs/ikSolveError.msg. Do not edit."""
+"""autogenerated by genpy from motion_capture_ik/ikSolveError.msg. Do not edit."""
 import codecs
 import sys
 python3 = True if sys.hexversion > 0x03000000 else False
 import genpy
 import struct
 
-import kuavo_msgs.msg
+import motion_capture_ik.msg
 
 class ikSolveError(genpy.Message):
   _md5sum = "06c12c0e6e08f286627a6f856e26223c"
-  _type = "kuavo_msgs/ikSolveError"
+  _type = "motion_capture_ik/ikSolveError"
   _has_header = False  # flag to mark the presence of a Header object
   _full_text = """string     ik_type 
 handPose  left_pose_error
 handPose  right_pose_error
 ================================================================================
-MSG: kuavo_msgs/handPose
+MSG: motion_capture_ik/handPose
 # pos
 float64 x
 float64 y
@@ -26,7 +26,7 @@ float64 roll
 float64 pitch
 float64 yaw"""
   __slots__ = ['ik_type','left_pose_error','right_pose_error']
-  _slot_types = ['string','kuavo_msgs/handPose','kuavo_msgs/handPose']
+  _slot_types = ['string','motion_capture_ik/handPose','motion_capture_ik/handPose']
 
   def __init__(self, *args, **kwds):
     """
@@ -48,13 +48,13 @@ float64 yaw"""
       if self.ik_type is None:
         self.ik_type = ''
       if self.left_pose_error is None:
-        self.left_pose_error = kuavo_msgs.msg.handPose()
+        self.left_pose_error = motion_capture_ik.msg.handPose()
       if self.right_pose_error is None:
-        self.right_pose_error = kuavo_msgs.msg.handPose()
+        self.right_pose_error = motion_capture_ik.msg.handPose()
     else:
       self.ik_type = ''
-      self.left_pose_error = kuavo_msgs.msg.handPose()
-      self.right_pose_error = kuavo_msgs.msg.handPose()
+      self.left_pose_error = motion_capture_ik.msg.handPose()
+      self.right_pose_error = motion_capture_ik.msg.handPose()
 
   def _get_types(self):
     """
@@ -88,9 +88,9 @@ float64 yaw"""
       codecs.lookup_error("rosmsg").msg_type = self._type
     try:
       if self.left_pose_error is None:
-        self.left_pose_error = kuavo_msgs.msg.handPose()
+        self.left_pose_error = motion_capture_ik.msg.handPose()
       if self.right_pose_error is None:
-        self.right_pose_error = kuavo_msgs.msg.handPose()
+        self.right_pose_error = motion_capture_ik.msg.handPose()
       end = 0
       start = end
       end += 4
@@ -138,9 +138,9 @@ float64 yaw"""
       codecs.lookup_error("rosmsg").msg_type = self._type
     try:
       if self.left_pose_error is None:
-        self.left_pose_error = kuavo_msgs.msg.handPose()
+        self.left_pose_error = motion_capture_ik.msg.handPose()
       if self.right_pose_error is None:
-        self.right_pose_error = kuavo_msgs.msg.handPose()
+        self.right_pose_error = motion_capture_ik.msg.handPose()
       end = 0
       start = end
       end += 4

kuavo_humanoid_sdk/msg/{kuavo_msgs → motion_capture_ik}/msg/_ikSolveParam.py

@@ -1,5 +1,5 @@
 # This Python file uses the following encoding: utf-8
-"""autogenerated by genpy from kuavo_msgs/ikSolveParam.msg. Do not edit."""
+"""autogenerated by genpy from motion_capture_ik/ikSolveParam.msg. Do not edit."""
 import codecs
 import sys
 python3 = True if sys.hexversion > 0x03000000 else False
@@ -9,7 +9,7 @@ import struct
 
 class ikSolveParam(genpy.Message):
   _md5sum = "be29d8b02ad14da680464b8c4f590f98"
-  _type = "kuavo_msgs/ikSolveParam"
+  _type = "motion_capture_ik/ikSolveParam"
   _has_header = False  # flag to mark the presence of a Header object
   _full_text = """# snopt params
 float64 major_optimality_tol

kuavo_humanoid_sdk/msg/{kuavo_msgs → motion_capture_ik}/msg/_robotArmQVVD.py

@@ -1,5 +1,5 @@
 # This Python file uses the following encoding: utf-8
-"""autogenerated by genpy from kuavo_msgs/robotArmQVVD.msg. Do not edit."""
+"""autogenerated by genpy from motion_capture_ik/robotArmQVVD.msg. Do not edit."""
 import codecs
 import sys
 python3 = True if sys.hexversion > 0x03000000 else False
@@ -9,7 +9,7 @@ import struct
 
 class robotArmQVVD(genpy.Message):
   _md5sum = "f2840165d02c529a8a4e8e04370a219b"
-  _type = "kuavo_msgs/robotArmQVVD"
+  _type = "motion_capture_ik/robotArmQVVD"
   _has_header = False  # flag to mark the presence of a Header object
   _full_text = """float64[] q
 float64[] v