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

{kuavo_humanoid_sdk-1.1.5.dist-info → kuavo_humanoid_sdk-1.1.6.dist-info}/RECORD

@@ -1,45 +1,32 @@
-kuavo_humanoid_sdk/__init__.py,sha256=DtPCVJH91dONgYSjFe8oFSpUSYbJOzYgpyyHvD7F8oo,214
-kuavo_humanoid_sdk/common/global_config.py,sha256=2iDGXEwjmfc9MQ4jYOYxFyTB_BnLIxf6HYent5dS4gA,315
+kuavo_humanoid_sdk/__init__.py,sha256=pdgXhpulXKUcdUPwDVFZCe47AZAkOJdh_YAM8f3g2Ek,141
 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=3yBYRD6fhp-czJabZPkqAjDHEV_KBKRiqx035vmT3WY,8266
+kuavo_humanoid_sdk/interfaces/data_types.py,sha256=TCCVE0gmbw6KzCJKCzVCiG5yUl2IY-uIjHO5RKs0y2o,5281
 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=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=EagxK9vU1nczdm8qVKc_sJzwhiLKF7xhzHRuGUnUhB4,1851
-kuavo_humanoid_sdk/kuavo/robot_info.py,sha256=etyqcUg22IAA2O59cjBhLTpacQ3DLhT8qZNj7vX8yL8,4116
-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=lyoYTKkt3ZEnehh1cJenksrkYUrlHBC559r1JmzysR4,1024
-kuavo_humanoid_sdk/kuavo/core/core.py,sha256=SgvLQMxE9NHA1glrKgh8rrjp1hgXIYMW8MeabeT-J_s,29692
+kuavo_humanoid_sdk/kuavo/__init__.py,sha256=O4gPIQALqxUyNqBPCzzme4EfvTbbbh-IWGhLnhnZW_c,291
+kuavo_humanoid_sdk/kuavo/dexterous_hand.py,sha256=S4giIerF44sfMim1Tp-ZwoSbj7aqX3l_sgxNBS-nZRI,8497
+kuavo_humanoid_sdk/kuavo/leju_claw.py,sha256=6GUtQC_APuWzRAQtJFrSMqq9bUg8mI-g2ZBKYbOT4No,10253
+kuavo_humanoid_sdk/kuavo/robot.py,sha256=AiBHuT2uj8n3tOPr0gEWgZO2hCalaeRhANyafAQuu-c,14239
+kuavo_humanoid_sdk/kuavo/robot_arm.py,sha256=qD8oWSlKdxqc739vvM_18dpJgnMzjBbX41xJiyI6VWg,6946
+kuavo_humanoid_sdk/kuavo/robot_head.py,sha256=8caHrPNwg98b4jf5cLJUbsGNovgtXetOqBvuG5vWSXA,1526
+kuavo_humanoid_sdk/kuavo/robot_info.py,sha256=SZ0TeI87hc69Oop4CT1PxU7zSauTxJTJe8fcIIr-h6Q,3912
+kuavo_humanoid_sdk/kuavo/robot_state.py,sha256=X9vPmIK1dYBgaKHanfj0kVaUAMqxopBJWmlbOouTIqQ,10873
+kuavo_humanoid_sdk/kuavo/core/core.py,sha256=PTUjGG6ZZaDv6p70OF4iZEA2-D2uIOKT87Xml59Xi5M,17915
 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=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_env.py,sha256=Fq7YfHFjVvoUn-jMsrcHB_gUQ4w1y54jUVKtxV7zNEg,9500
+kuavo_humanoid_sdk/kuavo/core/ros/control.py,sha256=8erUTrGEY-JcqT0u_DTLsK5RFzobjjdOcufIn4tPnek,35305
+kuavo_humanoid_sdk/kuavo/core/ros/param.py,sha256=8XtwH6V59n8IX6TtXB5-lTMvBuhrNJqQaoRkbCYyIJc,6760
 kuavo_humanoid_sdk/kuavo/core/ros/sat_utils.py,sha256=AhBNM-s9nVwRiLZ8gtqC2RvPImkT9uulONSLXk3KooI,3317
-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=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/kuavo/core/ros/state.py,sha256=tA5250P82MNwvYJ9QGbcNcWm_n2NWKPqD383GAARiAE,18146
 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
 kuavo_humanoid_sdk/msg/kuavo_msgs/msg/_AprilTagDetectionArray.py,sha256=JayCQPuoFsBQ5nyhVuArhePEPW0FjI4T7dEz88tf6Gw,14938
 kuavo_humanoid_sdk/msg/kuavo_msgs/msg/_Metadata.py,sha256=2uZlLK7eQAj72sCHw40s8PHiXpj_u0JqBgAhIGqnsO8,6857
-kuavo_humanoid_sdk/msg/kuavo_msgs/msg/__init__.py,sha256=53jGXe2jFB4UfYdwgDmpCnOhsaKGFIQ8ppyAssgX1Qg,1071
-kuavo_humanoid_sdk/msg/kuavo_msgs/msg/_armHandPose.py,sha256=JFzYudRq0CIBzrOt2XnSw_fR7FgQerC2L6ntkoHu1eM,5522
+kuavo_humanoid_sdk/msg/kuavo_msgs/msg/__init__.py,sha256=xFpeX8iIKqDgMMzM_kYBoKS5KLMhYys5tyiTQD8v8Lk,866
 kuavo_humanoid_sdk/msg/kuavo_msgs/msg/_armPoseWithTimeStamp.py,sha256=miPh7Mim4Zp1wEWw3HrvUOr8dlvJGT-DzffjGUT25xE,5806
 kuavo_humanoid_sdk/msg/kuavo_msgs/msg/_armTargetPoses.py,sha256=2egR0jL7ZD0-eUIteC5pdrnADgb29KZMNTNnNZPznOY,5032
 kuavo_humanoid_sdk/msg/kuavo_msgs/msg/_dexhandCommand.py,sha256=cxqVA14d_ylCoZwo4wE2zgv6WqlkT7nqIV_OlZqu9dA,7886
@@ -50,35 +37,26 @@ kuavo_humanoid_sdk/msg/kuavo_msgs/msg/_footPoseTargetTrajectories.py,sha256=weFk
 kuavo_humanoid_sdk/msg/kuavo_msgs/msg/_gaitTimeName.py,sha256=4DoUi8RVuUAG4Su3MoeN9iwelYFGT1U626iKjGSNvo8,4827
 kuavo_humanoid_sdk/msg/kuavo_msgs/msg/_gestureInfo.py,sha256=jxX5x4dNNcTmUJuVD49nGWQVr_q-B3X_klygNvMKFIM,7265
 kuavo_humanoid_sdk/msg/kuavo_msgs/msg/_gestureTask.py,sha256=0oPveCGud3VXHoLHlUqLrq1KOYpCinPWZIMFf-n1bGI,5090
-kuavo_humanoid_sdk/msg/kuavo_msgs/msg/_handPose.py,sha256=O8R4Efpv8xaVZW-1y-eGxDZGgdlHEzBNcHXbwNr2V54,4352
 kuavo_humanoid_sdk/msg/kuavo_msgs/msg/_headBodyPose.py,sha256=69JZkFZFNT8xpoixu8BMsZ2BU-WkFW4jSBbI9-jnirM,5119
-kuavo_humanoid_sdk/msg/kuavo_msgs/msg/_ikSolveError.py,sha256=jR4JrWr1y_VMI7o8mmoQLAJX4ogno2fSTYXswO-xWSc,6876
-kuavo_humanoid_sdk/msg/kuavo_msgs/msg/_ikSolveParam.py,sha256=0gxZMJ-izoEAbQmfiZYjLif18EhOGdVV9envbeekCdE,5797
 kuavo_humanoid_sdk/msg/kuavo_msgs/msg/_imuData.py,sha256=mYEOFd-YfsJzOskHPioyycNccC51G3-uCc7o4DwclPU,6412
 kuavo_humanoid_sdk/msg/kuavo_msgs/msg/_jointCmd.py,sha256=ryln-guf6GVWN0uFTWXzhl4mD0IOmAsvMyEIxuVdzls,13421
 kuavo_humanoid_sdk/msg/kuavo_msgs/msg/_jointData.py,sha256=c8UQLJJPXqN0d2_xJeDjKpWNP6ZGCRPUwZ2tlEp2dLU,6974
 kuavo_humanoid_sdk/msg/kuavo_msgs/msg/_lejuClawCommand.py,sha256=9ntVsgjRFVJNIOeLffFrWlwm0gWErwd5mHyB70RUSus,11018
 kuavo_humanoid_sdk/msg/kuavo_msgs/msg/_lejuClawState.py,sha256=2YZdHBEuWh0GhXViMjNROCcZZcw--Zdox69oGG96Gj4,11611
 kuavo_humanoid_sdk/msg/kuavo_msgs/msg/_questJoySticks.py,sha256=OKag_7VEOV5qFUmFmBd-Lr5iIJ_sMfro4Hrb-jsYrGs,9339
-kuavo_humanoid_sdk/msg/kuavo_msgs/msg/_robotArmQVVD.py,sha256=3jlIrYDHkb6eVDZlfPH8nmb0faDbt9qHwEDBtz0ffNo,5755
 kuavo_humanoid_sdk/msg/kuavo_msgs/msg/_robotHandPosition.py,sha256=BQYNPRNR3TejYhcYTsI7kKRfwKLKGcnKVEHF2yi3_Hw,8153
 kuavo_humanoid_sdk/msg/kuavo_msgs/msg/_robotHeadMotionData.py,sha256=mL470CWBjPQ8PxSM2MffeSV3Pn2GP3rFaLquT6LtaBo,4265
 kuavo_humanoid_sdk/msg/kuavo_msgs/msg/_robotState.py,sha256=LHaCkfHg7bkAy-oHkJke7-kC90utZzlloOv1rsd1sj4,7541
 kuavo_humanoid_sdk/msg/kuavo_msgs/msg/_sensorsData.py,sha256=hHAvPSEAdsQ7lvsR9SXHzFGrRp1WNOqewZe5cz2bolU,19022
 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=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=dc5_M23g4KtiOap6vSwA-2u7C_T13XfN96poQKsFSTY,698
+kuavo_humanoid_sdk/msg/kuavo_msgs/srv/__init__.py,sha256=FFX0pxPEjltERtadS5ud2-UWn8z41yz2eY8hq23Sl9w,537
 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
 kuavo_humanoid_sdk/msg/kuavo_msgs/srv/_controlLejuClaw.py,sha256=jSK0OY6JRqPxiCtEGSBnibwc-5sk-JLaP7UOMZTcdJ8,13582
 kuavo_humanoid_sdk/msg/kuavo_msgs/srv/_enableHandTouchSensor.py,sha256=yfutLxkhL5sFJToLNQSEd6dM2dSXgLEOCt4lv8Fkoj4,9881
-kuavo_humanoid_sdk/msg/kuavo_msgs/srv/_fkSrv.py,sha256=oQ8mc0mTDd-qcD5ZFpr_6BNsdj5wMAXm0vN2rzb2q68,14783
 kuavo_humanoid_sdk/msg/kuavo_msgs/srv/_footPoseTargetTrajectoriesSrv.py,sha256=WzvTdNpizYi5_1iREOiwGyOnpv6XVFo5Vt-7YvC0fEg,12371
 kuavo_humanoid_sdk/msg/kuavo_msgs/srv/_gestureExecute.py,sha256=I6-Ohq1fQg3KjI7GWm0eEB1FGaSFwR0wGUYw_i4WPqM,11602
 kuavo_humanoid_sdk/msg/kuavo_msgs/srv/_gestureExecuteState.py,sha256=ChmcjaxNf5ED9o7JE3z_UcSaaGC6tKixvitz7eQEs3I,8717
@@ -86,14 +64,27 @@ kuavo_humanoid_sdk/msg/kuavo_msgs/srv/_gestureList.py,sha256=Y51SV-xBTW9Rk6jAKam
 kuavo_humanoid_sdk/msg/kuavo_msgs/srv/_getCurrentGaitName.py,sha256=50CyEUJseck7b9lopj-3ihxUSy62Mn5PwgbLHCqjuOs,8429
 kuavo_humanoid_sdk/msg/kuavo_msgs/srv/_handForceLevel.py,sha256=YVhwt3RCVdYna6UEKV4oA81aydcPE7ilmVrHetcw-ew,10796
 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/_playmusic.py,sha256=2OhWGB_QWfzo80IwfNZrFD3W4wd6nWuawru2BO1mwIg,8913
 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=rmMc_8OtHwEBDnNhT7hckliLwFrsyVACLiQepgiW8Uc,29178
 kuavo_humanoid_sdk/msg/motion_capture_ik/__init__.py,sha256=wk-pfWFvAOl475vxWFVTwbJGejP6UKgivUApv8RvK_8,216
+kuavo_humanoid_sdk/msg/motion_capture_ik/msg/__init__.py,sha256=MFFzlDRPEqO2XS-G9QcFFAsOM3h-sschYUfef9rpszQ,268
+kuavo_humanoid_sdk/msg/motion_capture_ik/msg/_armHandPose.py,sha256=OPm4KqKpzTqtF-q-UTGsyWTNLH4PEwezSjuOqadoK54,5536
+kuavo_humanoid_sdk/msg/motion_capture_ik/msg/_handPose.py,sha256=vPMztL544qsUYHbk2KYWLYnNTlVcMY4m01MYxUortLE,4366
+kuavo_humanoid_sdk/msg/motion_capture_ik/msg/_headBodyPose.py,sha256=Sa8mOVMeH9PIM6LS3kKfP-BaFqILTTXxtAJLpY7FyEo,5133
+kuavo_humanoid_sdk/msg/motion_capture_ik/msg/_ikSolveError.py,sha256=DBqZp_nMRB0fwlP4V2-nHkJwkLwbNn-LNcZtMuN58EI,6974
+kuavo_humanoid_sdk/msg/motion_capture_ik/msg/_ikSolveParam.py,sha256=bola3i-GY-k-OhDbd8NNrs9ASaQlbdMtmU2iaD_jKP8,5811
+kuavo_humanoid_sdk/msg/motion_capture_ik/msg/_robotArmQVVD.py,sha256=4fBamid058UyM-P-czvMFA5_LFlJ0coX9UeRKk5kmeY,5769
+kuavo_humanoid_sdk/msg/motion_capture_ik/msg/_robotHandPosition.py,sha256=swzoPp-dA4VeMLvRHnX1KfPWIYzrorcpmJh3UNEANU0,8167
+kuavo_humanoid_sdk/msg/motion_capture_ik/msg/_twoArmHandPose.py,sha256=PJJDAlLrDseRfLfVB5sqVIDmtciMybBEg1hp9TEEV-E,10272
+kuavo_humanoid_sdk/msg/motion_capture_ik/msg/_twoArmHandPoseCmd.py,sha256=6tU3Bx9Bn_LMvnXci4s2kGX5E3-Nfvi_LE71bzI6XXE,13413
+kuavo_humanoid_sdk/msg/motion_capture_ik/srv/__init__.py,sha256=Agetxi8Og-gpF9PkD4uI_TweIMB_iHl_KD8fPfrcWt4,132
+kuavo_humanoid_sdk/msg/motion_capture_ik/srv/_changeArmCtrlMode.py,sha256=NwNn72dD8Eviyy-o61Os7QPnGX1GpQPG_XMkBX1pOQo,9194
+kuavo_humanoid_sdk/msg/motion_capture_ik/srv/_changeArmCtrlModeKuavo.py,sha256=JHs_gLWgYVnbSZltl5LTlxkagnqQRnS9q-MTw-xltX4,8075
+kuavo_humanoid_sdk/msg/motion_capture_ik/srv/_fkSrv.py,sha256=ZBsAFPF36XAJP0fDebc1bRMUm1GRSjSGLBDxgxL1KkE,14874
+kuavo_humanoid_sdk/msg/motion_capture_ik/srv/_twoArmHandPoseCmdSrv.py,sha256=lXLo2tJPJzJUwKhz1kzeVBJ7SPImTzET68yERLiZUwA,29075
 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
 kuavo_humanoid_sdk/msg/ocs2_msgs/msg/_constraint.py,sha256=Fl-vdxvT6FPxWoSpPIw0Jt-anEsYsY1wFiiNMgmwsRA,4621
@@ -110,7 +101,7 @@ 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-1.1.5.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,,
+kuavo_humanoid_sdk-1.1.6.dist-info/METADATA,sha256=H9zTiNKHHFCuubg6XDAQlZJtvfrWBByYD3zVsO-x8TI,10802
+kuavo_humanoid_sdk-1.1.6.dist-info/WHEEL,sha256=g4nMs7d-Xl9-xC9XovUrsDHGXt-FT0E17Yqo92DEfvY,92
+kuavo_humanoid_sdk-1.1.6.dist-info/top_level.txt,sha256=9uSyZoiOEykRMOf0Gm-N9mkyQQg9yOSimfsb632G99c,19
+kuavo_humanoid_sdk-1.1.6.dist-info/RECORD,,

kuavo_humanoid_sdk/common/global_config.py

@@ -1,16 +0,0 @@
-
-class GlobalConfig:
-
-    _instance = None
-
-    use_websocket = False
-    websocket_host = '127.0.0.1'
-    websocket_port = 9090
-    websocket_timeout = 5.0
-
-    def __new__(cls, *args, **kwargs):
-        if cls._instance is None:
-            cls._instance = super().__new__(cls)
-        return cls._instance
-    
-

kuavo_humanoid_sdk/common/websocket_kuavo_sdk.py

@@ -1,23 +0,0 @@
-import roslibpy
-from kuavo_humanoid_sdk.common.global_config import GlobalConfig
-
-class WebSocketKuavoSDK:
-
-    _instance = None
-    _initialized = False
-
-    def __new__(cls, *args, **kwargs):
-        if cls._instance is None:
-            cls._instance = super().__new__(cls)
-        return cls._instance
-
-    def __init__(self):
-        if not self._initialized:
-            self._initialized = True
-            self.client = roslibpy.Ros(host=GlobalConfig.websocket_host, port=GlobalConfig.websocket_port)
-            self.client.run(timeout=GlobalConfig.websocket_timeout)
-            
-
-    def __del__(self):
-        self.client.terminate()
-        self.instance = None

kuavo_humanoid_sdk/kuavo/core/audio.py

@@ -1,36 +0,0 @@
-import time
-import math
-import threading
-import numpy as np
-from typing import Tuple
-from transitions import Machine, State
-
-from kuavo_humanoid_sdk.common.logger import SDKLogger
-from kuavo_humanoid_sdk.common.global_config import GlobalConfig
-from kuavo_humanoid_sdk.kuavo.core.ros.audio import Audio, AudioWebsocket
-
-class KuavoRobotAudioCore:
-    def __init__(self):
-        if GlobalConfig.use_websocket:
-            self.robot_audio = AudioWebsocket()
-        else:
-            self.robot_audio = Audio()
-
-    def play_audio(self, music_number: str, volume: float = 0.5, speed: float = 1.0) -> bool:
-        """
-        play music
-        """
-        return self.robot_audio.play_audio(music_number, volume, speed)
-
-    def stop_music(self) -> bool:
-        """
-        stop music
-        """
-        return self.robot_audio.stop_audio()
-
-    def text_to_speech(self, text: str, volume: float = 0.5) -> bool:
-        """
-        text to speech
-        """
-        return self.robot_audio.text_to_speech(text, volume)
-

kuavo_humanoid_sdk/kuavo/core/ros/audio.py

@@ -1,176 +0,0 @@
-#!/usr/bin/env python3
-# coding: utf-8
-from kuavo_humanoid_sdk.common.logger import SDKLogger
-from kuavo_humanoid_sdk.kuavo.core.core import KuavoRobotCore
-from kuavo_humanoid_sdk.common.websocket_kuavo_sdk import WebSocketKuavoSDK
-import roslibpy
-
-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:
-    pass
-
-class Audio:
-    """Audio system interface for controlling audio playback functionality of Kuavo humanoid robot.
-    
-    Provides functionality to play music files.
-    """
-    
-    def __init__(self):
-        """Initialize the audio system."""
-        self._audio_stop_publisher = rospy.Publisher('stop_music', Bool, queue_size=10)
-        rospy.sleep(0.5)  # Wait for publisher initialization
-    def play_audio(self, file_name: str,volume: float = 0.5,speed: float = 1.0) -> bool:
-        """Play the specified audio file.
-        
-        Args:
-            file_name (str): Name of the audio file to play
-                
-        Returns:
-            bool: True if the play request was successfully sent, False otherwise
-        """
-        try:
-            # Wait for service availability
-            rospy.wait_for_service('play_music', timeout=2.0)
-            # Create service client
-            play_music_service = rospy.ServiceProxy('play_music', playmusic)
-            # Call service
-            request = playmusicRequest()
-            request.music_number = file_name
-            volume = min(max(volume , 0), 1.0)
-            request.volume = volume
-            request.speed = speed
-            response = play_music_service(request)
-            SDKLogger.info(f"[Robot Audio] Requested to play audio file: {file_name}")
-            return True
-        except rospy.ROSException as e:
-            SDKLogger.error(f"[Robot Audio] Audio playback service unavailable: {str(e)}")
-            return False
-        except Exception as e:
-            SDKLogger.error(f"[Robot Audio] Failed to play audio file: {str(e)}")
-            return False
-    
-    def stop_audio(self):
-        """Stop the currently playing audio."""
-        try:
-            msg = Bool()
-            msg.data = True
-            self._audio_stop_publisher.publish(msg)
-            SDKLogger.info("[Robot Audio] Requested to stop audio playback")
-            return True 
-        except Exception as e:
-            SDKLogger.error(f"[Robot Audio] Failed to stop audio playback: {str(e)}")
-            return False    
-    
-    def text_to_speech(self, text: str,volume: float = 0.5) -> bool:
-        """Synthesize and play the specified text.
-        
-        Args:
-            text (str): Text to be played
-                
-        Returns:
-            bool: True if the play request was successfully sent, False otherwise
-        """
-        try:
-            # Wait for service availability
-            rospy.wait_for_service('play_music', timeout=2.0)
-            # Create service client
-            play_music_service = rospy.ServiceProxy('speech_synthesis', SpeechSynthesis)
-            # Call service
-            request = SpeechSynthesisRequest()
-            request.data = text
-            request.volume = volume
-            response = play_music_service(request)
-            SDKLogger.info(f"[Robot Audio] Requested to play audio text: {text}")
-            return True
-        except rospy.ROSException as e:
-            SDKLogger.error(f"[Robot Audio] Audio playback service unavailable: {str(e)}")
-            return False
-        except Exception as e:
-            SDKLogger.error(f"[Robot Audio] Failed to play audio text: {str(e)}")
-            return False
-
-class AudioWebsocket:
-    """WebSocket-based audio system interface for controlling audio playback functionality of Kuavo humanoid robot.
-    
-    Provides functionality to play music files through WebSocket connection.
-    """
-    
-    def __init__(self):
-        """Initialize the WebSocket audio system."""
-        websocket = WebSocketKuavoSDK()
-        self._audio_stop_publisher = roslibpy.Topic(websocket.client, 'stop_music', 'std_msgs/Bool')
-        self._audio_stop_publisher.advertise()
-
-    def play_audio(self, file_name: str, volume: float = 0.5, speed: float = 1.0) -> bool:
-        """Play the specified audio file through WebSocket.
-        
-        Args:
-            file_name (str): Name of the audio file to play
-            volume (float): Volume level (0.0 to 1.0)
-            speed (float): Playback speed
-                
-        Returns:
-            bool: True if the play request was successfully sent, False otherwise
-        """
-        try:
-            websocket = WebSocketKuavoSDK()
-            service = roslibpy.Service(websocket.client, 'play_music', 'kuavo_msgs/playmusic')
-            
-            volume = min(max(volume, 0), 1.0)
-            request = {
-                "music_number": file_name,
-                "volume": volume,
-                "speed": speed
-            }
-            
-            response = service.call(request)
-            SDKLogger.info(f"[Robot Audio] Requested to play audio file: {file_name}")
-            return True
-        except Exception as e:
-            SDKLogger.error(f"[Robot Audio] Failed to play audio file: {str(e)}")
-            return False
-    
-    def stop_audio(self) -> bool:
-        """Stop the currently playing audio through WebSocket."""
-        try:
-            msg = {
-                "data": True
-            }
-            self._audio_stop_publisher.publish(roslibpy.Message(msg))
-            SDKLogger.info("[Robot Audio] Requested to stop audio playback")
-            return True
-        except Exception as e:
-            SDKLogger.error(f"[Robot Audio] Failed to stop audio playback: {str(e)}")
-            return False
-    
-    def text_to_speech(self, text: str, volume: float = 0.5) -> bool:
-        """Synthesize and play the specified text through WebSocket.
-        
-        Args:
-            text (str): Text to be played
-            volume (float): Volume level (0.0 to 1.0)
-                
-        Returns:
-            bool: True if the play request was successfully sent, False otherwise
-        """
-        try:
-            websocket = WebSocketKuavoSDK()
-            service = roslibpy.Service(websocket.client, 'speech_synthesis', 'kuavo_msgs/SpeechSynthesis')
-            
-            request = {
-                "data": text,
-                "volume": volume
-            }
-            
-            response = service.call(request)
-            SDKLogger.info(f"[Robot Audio] Requested to play audio text: {text}")
-            return True
-        except Exception as e:
-            SDKLogger.error(f"[Robot Audio] Failed to play audio text: {str(e)}")
-            return False
-
-

kuavo_humanoid_sdk/kuavo/core/ros/tools.py

@@ -1,158 +0,0 @@
-#! /usr/bin/env python3
-# coding: utf-8
-
-import copy
-import time
-import numpy as np
-from typing import Tuple, Union
-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
-
-
-
-class KuavoRobotToolsCore:
-    """Provides core ROS tools for Kuavo humanoid robot transformations.
-    
-    Attributes:
-        tf_buffer (tf2_ros.Buffer): TF2 transform buffer for storing transforms
-        tf_listener (tf2_ros.TransformListener): TF2 transform listener
-    """
-    
-    def __init__(self):
-        """Initializes TF2 buffer and listener for coordinate transformations."""
-        if not hasattr(self, '_initialized'):
-            # 初始化TF2相关组件
-            self.tf_buffer = tf2_ros.Buffer(cache_time=rospy.Duration(10))
-            self.tf_listener = tf2_ros.TransformListener(self.tf_buffer)
-
-    def _get_tf_tree_transform(self, target_frame: str, source_frame: str, 
-                     time=0.0, timeout=1.0,
-                     return_type: str = "pose_quaternion") -> Union[PoseQuaternion, HomogeneousMatrix, None]:
-        """Gets transform between coordinate frames.
-        
-        Args:
-            target_frame (str): Target coordinate frame name
-            source_frame (str): Source coordinate frame name
-            time (rospy.Time, optional): Time of transform. Defaults to latest.
-            timeout (float, optional): Wait timeout in seconds. Defaults to 1.0.
-            return_type (str, optional): Return data format. Options: 
-                "pose_quaternion", "homogeneous". Defaults to "pose_quaternion".
-        
-        Returns:
-            Union[PoseQuaternion, HomogeneousMatrix, None]: Requested transform data
-                or None if failed
-        
-        Raises:
-            tf2_ros.LookupException: If transform is not available
-            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,
-                source_frame,
-                time,
-                rospy.Duration(timeout)
-            )
-            return self._parse_transform(transform.transform, return_type)
-        except Exception as e:
-            SDKLogger.error(f"Transform error: {str(e)}")
-            return None
-
-    def _parse_transform(self, transform, return_type: str) -> Union[PoseQuaternion, HomogeneousMatrix, None]:
-        """Parses transform data to specified format.
-        
-        Args:
-            transform (geometry_msgs/Transform): Input transform data
-            return_type (str): Output format type. Valid values: 
-                "pose_quaternion", "homogeneous"
-        
-        Returns:
-            Union[PoseQuaternion, HomogeneousMatrix, None]: Parsed transform data
-                in requested format, or None if invalid input
-        
-        Note:
-            Falls back to pose_quaternion format if invalid return_type specified
-        """
-        if return_type == "pose_quaternion":
-            return PoseQuaternion(
-                position=(transform.translation.x, 
-                         transform.translation.y,
-                         transform.translation.z),
-                orientation=(transform.rotation.x,
-                            transform.rotation.y,
-                            transform.rotation.z,
-                            transform.rotation.w)
-            )
-        elif return_type == "homogeneous":
-            return HomogeneousMatrix(
-                matrix=self._transform_to_homogeneous(transform)
-            )
-        else:
-            SDKLogger.warn(f"Invalid return_type: {return_type}, using default(pose_quaternion)")
-            return self._parse_transform(transform, "pose_quaternion")
-
-    def _transform_to_homogeneous(self, transform) -> np.ndarray:
-        """Converts geometry_msgs/Transform to homogeneous matrix.
-        
-        Args:
-            transform (geometry_msgs/Transform): Input transform message
-        
-        Returns:
-            np.ndarray: 4x4 homogeneous transformation matrix (numpy.float32)
-        
-        Example:
-            >>> matrix = _transform_to_homogeneous(transform_msg)
-            >>> print(matrix.shape)
-            (4, 4)
-        """
-        # 四元数转旋转矩阵
-        rotation = [
-            transform.rotation.x,
-            transform.rotation.y,
-            transform.rotation.z,
-            transform.rotation.w
-        ]
-        rot_matrix = tf_trans.quaternion_matrix(rotation)
-
-        # 设置平移分量
-        translation = [
-            transform.translation.x,
-            transform.translation.y,
-            transform.translation.z
-        ]
-        rot_matrix[:3, 3] = translation
-        
-        return rot_matrix.astype(np.float32)  # 确保矩阵数据类型一致
-
-# if __name__ == "__main__":
-#     robot_tools = KuavoRobotToolsCore()
-#     time.sleep(0.1)
-#     # 获取位姿信息
-#     pose = robot_tools._get_tf_tree_transform("odom", "base_link", return_type="pose_quaternion")
-#     print(f"Position: {pose.position}")
-#     print(f"Orientation: {pose.orientation}")
-
-#     # 获取齐次矩阵
-#     homogeneous = robot_tools._get_tf_tree_transform("odom", "base_link", return_type="homogeneous")
-#     print(f"Transformation matrix:\n{homogeneous.matrix}")
-
-#     # 矩阵运算示例
-#     transform_matrix = homogeneous.matrix
-#     inverse_matrix = np.linalg.inv(transform_matrix)  # 求逆变换
-#     print(f"Inverse matrix:\n{inverse_matrix}")