kuavo-humanoid-sdk 1.1.6b1142__tar.gz → 1.1.6b1155__tar.gz

{kuavo_humanoid_sdk-1.1.6b1142 → kuavo_humanoid_sdk-1.1.6b1155}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: kuavo_humanoid_sdk
-Version: 1.1.6b1142
+Version: 1.1.6b1155
 Summary: A Python SDK for kuavo humanoid robot.
 Home-page: https://gitee.com/leju-robot/kuavo-ros-opensource/
 Author: ['lejurobot']

{kuavo_humanoid_sdk-1.1.6b1142 → kuavo_humanoid_sdk-1.1.6b1155}/kuavo_humanoid_sdk/common/logger.py

@@ -8,6 +8,9 @@ def setup_logger():
     log_suffix = f'log/kuavo_humanoid_sdk'
     log_dir = f'/var/{log_suffix}'
     try:
+        # Check if we have write permission for /var directory
+        if not os.access('/var/log/', os.W_OK):
+            log_dir = f'./{log_suffix}'
         Path(log_dir).mkdir(parents=True, exist_ok=True)
     except Exception as e:
         # If creation in /var fails, create in current directory

{kuavo_humanoid_sdk-1.1.6b1142 → kuavo_humanoid_sdk-1.1.6b1155}/kuavo_humanoid_sdk/kuavo/core/core.py

@@ -26,8 +26,6 @@ from transitions import Machine, State
 
 from kuavo_humanoid_sdk.interfaces.data_types import KuavoArmCtrlMode, KuavoIKParams, KuavoPose, KuavoManipulationMpcFrame, KuavoManipulationMpcCtrlMode, KuavoManipulationMpcControlFlow
 from kuavo_humanoid_sdk.kuavo.core.ros.control import KuavoRobotControl
-from kuavo_humanoid_sdk.kuavo.core.ros.vision import KuavoRobotVisionCore
-from kuavo_humanoid_sdk.kuavo.core.ros.tools import KuavoRobotToolsCore
 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
@@ -71,11 +69,6 @@ class KuavoRobotCore:
 
             self._control = KuavoRobotControl()
             self._rb_state = KuavoRobotStateCore()
-
-            # robot vision
-            self._robot_vision = KuavoRobotVisionCore()
-            # robot ros tf
-            self._robot_tf_tool = KuavoRobotToolsCore()
     
             # manipulation mpc
             self._manipulation_mpc_frame = KuavoManipulationMpcFrame.KeepCurrentFrame

{kuavo_humanoid_sdk-1.1.6b1142 → kuavo_humanoid_sdk-1.1.6b1155}/kuavo_humanoid_sdk/kuavo/core/ros/state.py

@@ -1,4 +1,3 @@
-import roslibpy
 import time
 from typing import Tuple
 import copy
@@ -11,7 +10,7 @@ from kuavo_msgs.srv import changeArmCtrlMode, changeArmCtrlModeRequest, getCurre
 from kuavo_humanoid_sdk.msg.ocs2_msgs.msg import mpc_observation
 from kuavo_humanoid_sdk.msg.kuavo_msgs.srv import (changeArmCtrlMode, changeArmCtrlModeRequest,setMmCtrlFrame, setMmCtrlFrameRequest, changeTorsoCtrlMode, changeTorsoCtrlModeRequest)
 from collections import deque
-from typing import Tuple, Optional
+from typing import Tuple
 import copy
 from kuavo_humanoid_sdk.common.logger import SDKLogger
 from kuavo_humanoid_sdk.kuavo.core.ros.param import make_robot_param, EndEffectorType
@@ -130,7 +129,7 @@ class KuavoRobotStateCore:
                             
             # gait manager
             self._gait_manager = GaitManager()
-            self._prev_gait_name = self.gait_name
+            self._prev_gait_name = self.gait_name()
 
             # Wait for first MPC observation data
             self._mpc_observation_data = None
@@ -383,7 +382,7 @@ class KuavoRobotStateCore:
 
     def _srv_get_arm_ctrl_mode(self)-> KuavoArmCtrlMode:
         try:
-            rospy.wait_for_service('/humanoid_get_arm_ctrl_mode')
+            rospy.wait_for_service('/humanoid_get_arm_ctrl_mode', timeout=1.0)
             get_arm_ctrl_mode_srv = rospy.ServiceProxy('/humanoid_get_arm_ctrl_mode', changeArmCtrlMode)
             req = changeArmCtrlModeRequest()
             resp = get_arm_ctrl_mode_srv(req)

{kuavo_humanoid_sdk-1.1.6b1142 → kuavo_humanoid_sdk-1.1.6b1155}/kuavo_humanoid_sdk/kuavo/robot.py

@@ -58,6 +58,11 @@ class KuavoSDK:
         """
 
         SDKLogger.setLevel(log_level.upper())
+        SDKLogger.debug(f" ================= Kuavo Humanoid SDK =================")
+        kuavo_ros_env = KuavoROSEnv()
+        if not kuavo_ros_env.Init():
+            raise RuntimeError("Failed to initialize ROS environment")
+        
         # Initialize core components, connect ROS Topics...
         kuavo_core = KuavoRobotCore()
         if log_level.upper() == 'DEBUG':
@@ -87,10 +92,6 @@ class KuavoRobot(RobotBase):
     def __init__(self):
         super().__init__(robot_type="kuavo")
         
-        kuavo_ros_env = KuavoROSEnv()
-        if not kuavo_ros_env.Init():
-            raise RuntimeError("Failed to initialize ROS environment")
-
         self._robot_info = KuavoRobotInfo()
         self._robot_arm  = KuavoRobotArm()
         self._robot_head = KuavoRobotHead()

{kuavo_humanoid_sdk-1.1.6b1142 → kuavo_humanoid_sdk-1.1.6b1155}/kuavo_humanoid_sdk.egg-info/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: kuavo-humanoid-sdk
-Version: 1.1.6b1142
+Version: 1.1.6b1155
 Summary: A Python SDK for kuavo humanoid robot.
 Home-page: https://gitee.com/leju-robot/kuavo-ros-opensource/
 Author: ['lejurobot']