kuavo-humanoid-sdk 1.2.1b1708__tar.gz → 1.2.1b3269__tar.gz

{kuavo_humanoid_sdk-1.2.1b1708 → kuavo_humanoid_sdk-1.2.1b3269}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: kuavo_humanoid_sdk
-Version: 1.2.1b1708
+Version: 1.2.1b3269
 Summary: A Python SDK for kuavo humanoid robot.
 Home-page: https://gitee.com/leju-robot/kuavo-ros-opensource/
 Author: ['lejurobot']
@@ -37,7 +37,7 @@ Description-Content-Type: text/markdown
   - 躯干状态(位置、姿态、速度)
   - 里程计信息
   - 末端执行器状态:
-    - 夹持器(lejuclaw): 位置、速度、力矩、抓取状态
+    - 夹爪(lejuclaw): 位置、速度、力矩、抓取状态
     - 灵巧手(qiangnao): 位置、速度、力矩
     - 触觉灵巧手(qiangnao_touch): 位置、速度、力矩、触觉状态
     - 末端执行器位置和姿态
@@ -50,7 +50,7 @@ Description-Content-Type: text/markdown
     - 用于计算末端执行器位姿的正运动学(FK)
     - 复杂动作的关键帧序列控制
   - 末端执行器控制
-    - 夹持器控制(可配置速度和力矩的位置控制)
+    - 夹爪控制(可配置速度和力矩的位置控制)
     - 灵巧手控制
       - 位置控制
       - 预定义手势(OK、666、握拳等)控制
@@ -228,13 +228,13 @@ https://gitee.com/leju-robot/kuavo-ros-opensource/tree/master/src/kuavo_humanoid
 
 一个获取机器人基本信息的示例。
 
-[https://gitee.com/leju-robot/kuavo-ros-opensource/tree/master/src/kuavo_humanoid_sdk/examples/robot_info_example.py](https://gitee.com/leju-robot/kuavo-ros-opensource/tree/master/src/kuavo_humanoid_sdk/examples/robot_info_example.py)
+[https://gitee.com/leju-robot/kuavo-ros-opensource/tree/master/src/kuavo_humanoid_sdk/examples/atomic_skills/robot_info_example.py](https://gitee.com/leju-robot/kuavo-ros-opensource/tree/master/src/kuavo_humanoid_sdk/examples/atomic_skills/robot_info_example.py)
 
 ### 运动控制示例
 
 一个基本示例，用于初始化 SDK 并控制机器人运动。
 
-[https://gitee.com/leju-robot/kuavo-ros-opensource/tree/master/src/kuavo_humanoid_sdk/examples/motion_example.py](https://gitee.com/leju-robot/kuavo-ros-opensource/tree/master/src/kuavo_humanoid_sdk/examples/motion_example.py)
+[https://gitee.com/leju-robot/kuavo-ros-opensource/tree/master/src/kuavo_humanoid_sdk/examples/atomic_skills/motion_example.py](https://gitee.com/leju-robot/kuavo-ros-opensource/tree/master/src/kuavo_humanoid_sdk/examples/atomic_skills/motion_example.py)
 
 ### 末端执行器控制示例
 
@@ -242,37 +242,37 @@ https://gitee.com/leju-robot/kuavo-ros-opensource/tree/master/src/kuavo_humanoid
 
 展示如何控制 LejuClaw 夹爪末端执行器的示例，包括位置、速度和力矩控制。
 
-[https://gitee.com/leju-robot/kuavo-ros-opensource/tree/master/src/kuavo_humanoid_sdk/examples/lejuclaw_example.py](https://gitee.com/leju-robot/kuavo-ros-opensource/tree/master/src/kuavo_humanoid_sdk/examples/lejuclaw_example.py)
+[https://gitee.com/leju-robot/kuavo-ros-opensource/tree/master/src/kuavo_humanoid_sdk/examples/atomic_skills/lejuclaw_example.py](https://gitee.com/leju-robot/kuavo-ros-opensource/tree/master/src/kuavo_humanoid_sdk/examples/atomic_skills/lejuclaw_example.py)
 
 #### QiangNao 灵巧手
 
 展示如何控制 QiangNao 灵巧手的示例，这是一个具有多个自由度的灵巧机器人手，可用于复杂的操作任务。
 
-[https://gitee.com/leju-robot/kuavo-ros-opensource/tree/master/src/kuavo_humanoid_sdk/examples/dexhand_example.py](https://gitee.com/leju-robot/kuavo-ros-opensource/tree/master/src/kuavo_humanoid_sdk/examples/dexhand_example.py)
+[https://gitee.com/leju-robot/kuavo-ros-opensource/tree/master/src/kuavo_humanoid_sdk/examples/atomic_skills/dexhand_example.py](https://gitee.com/leju-robot/kuavo-ros-opensource/tree/master/src/kuavo_humanoid_sdk/examples/atomic_skills/dexhand_example.py)
 
 ### 手臂控制示例
 
 展示手臂轨迹控制和目标姿态控制的示例。
 
-[https://gitee.com/leju-robot/kuavo-ros-opensource/tree/master/src/kuavo_humanoid_sdk/examples/ctrl_arm_example.py](https://gitee.com/leju-robot/kuavo-ros-opensource/tree/master/src/kuavo_humanoid_sdk/examples/ctrl_arm_example.py)
+[https://gitee.com/leju-robot/kuavo-ros-opensource/tree/master/src/kuavo_humanoid_sdk/examples/atomic_skills/ctrl_arm_example.py](https://gitee.com/leju-robot/kuavo-ros-opensource/tree/master/src/kuavo_humanoid_sdk/examples/atomic_skills/ctrl_arm_example.py)
 
 ### 手臂正向运动学和逆向运动学示例
 
 展示如何使用正向运动学(FK)从关节角度计算末端执行器位置，以及如何使用逆向运动学(IK)计算实现期望末端执行器姿态所需的关节角度的示例。
 
-[https://gitee.com/leju-robot/kuavo-ros-opensource/tree/master/src/kuavo_humanoid_sdk/examples/arm_ik_example.py](https://gitee.com/leju-robot/kuavo-ros-opensource/tree/master/src/kuavo_humanoid_sdk/examples/arm_ik_example.py)
+[https://gitee.com/leju-robot/kuavo-ros-opensource/tree/master/src/kuavo_humanoid_sdk/examples/atomic_skills/arm_ik_example.py](https://gitee.com/leju-robot/kuavo-ros-opensource/tree/master/src/kuavo_humanoid_sdk/examples/atomic_skills/arm_ik_example.py)
 
 ### 头部控制示例
 
 展示如何控制机器人头部运动的示例，包括点头(俯仰)和摇头(偏航)动作。
 
-[https://gitee.com/leju-robot/kuavo-ros-opensource/tree/master/src/kuavo_humanoid_sdk/examples/ctrl_head_example.py](https://gitee.com/leju-robot/kuavo-ros-opensource/tree/master/src/kuavo_humanoid_sdk/examples/ctrl_head_example.py)
+[https://gitee.com/leju-robot/kuavo-ros-opensource/tree/master/src/kuavo_humanoid_sdk/examples/atomic_skills/ctrl_head_example.py](https://gitee.com/leju-robot/kuavo-ros-opensource/tree/master/src/kuavo_humanoid_sdk/examples/atomic_skills/ctrl_head_example.py)
 
 ### 单步控制示例
 
 展示如何控制机器人按照自定义落足点轨迹运动的示例。
 
-[https://gitee.com/leju-robot/kuavo-ros-opensource/tree/master/src/kuavo_humanoid_sdk/examples/step_control_example.py](https://gitee.com/leju-robot/kuavo-ros-opensource/tree/master/src/kuavo_humanoid_sdk/examples/step_control_example.py)
+[https://gitee.com/leju-robot/kuavo-ros-opensource/tree/master/src/kuavo_humanoid_sdk/examples/atomic_skills/step_control_example.py](https://gitee.com/leju-robot/kuavo-ros-opensource/tree/master/src/kuavo_humanoid_sdk/examples/atomic_skills/step_control_example.py)
 
 
 ## 许可证

{kuavo_humanoid_sdk-1.2.1b1708 → kuavo_humanoid_sdk-1.2.1b3269}/kuavo_humanoid_sdk/kuavo/__init__.py

@@ -8,4 +8,9 @@ from .robot_head import KuavoRobotHead
 from .robot_audio import KuavoRobotAudio
 from .dexterous_hand import DexterousHand, TouchDexterousHand
 from .leju_claw import LejuClaw
-from .robot_observation import KuavoRobotObservation
+from .robot_observation import KuavoRobotObservation
+from .robot_blockly import RobotControlBlockly
+from .robot_microphone import RobotMicrophone
+from .robot_navigation import RobotNavigation
+from .robot_speech import RobotSpeech
+from .dexterous_hand import DexterousHand

{kuavo_humanoid_sdk-1.2.1b1708 → kuavo_humanoid_sdk-1.2.1b3269}/kuavo_humanoid_sdk/kuavo/core/core.py

@@ -29,6 +29,7 @@ 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.kuavo.logger_client import get_logger
 # Define robot states
 ROBOT_STATES = [
     State(name='stance', on_enter=['_on_enter_stance']),
@@ -59,6 +60,7 @@ class KuavoRobotCore:
     
     def __init__(self):
         if not hasattr(self, '_initialized'):
+            self.logger = get_logger()  # ✅ 初始化日志客户端（全局唯一）
             self.machine = Machine(
                 model=self,
                 states=ROBOT_STATES,
@@ -121,8 +123,8 @@ class KuavoRobotCore:
             raise RuntimeError(f"[Core] initialize failed: \n"
                              f"{e}, please check the robot is launched, "
                              f"e.g. `roslaunch humanoid_controllers load_kuavo_real.launch`")
-        rb_info = make_robot_param()
-        success, err_msg = self._control.initialize(eef_type=rb_info["end_effector_type"], debug=debug)
+        self._rb_info = make_robot_param()
+        success, err_msg = self._control.initialize(eef_type=self._rb_info["end_effector_type"], debug=debug)
         if not success:
             raise RuntimeError(f"[Core] initialize failed: \n{err_msg}, please check the robot is launched, "
                              f"e.g. `roslaunch humanoid_controllers load_kuavo_real.launch`")
@@ -226,6 +228,14 @@ class KuavoRobotCore:
         if abs(pitch) > MAX_PITCH:
             SDKLogger.warn(f"[Core] pitch {pitch} exceeds limit [{MIN_PITCH}, {MAX_PITCH}], will be limited")
 
+        # 结合当前高度做过滤
+        target_height = self._rb_info['init_stand_height'] + limited_height
+        # 躯干上升运动变化不宜过大, 目标高度减去实时躯干高度大于阈值
+        HEIGHT_CHANGE_THRESHOLD = 0.25
+        if (self._rb_state.com_height < target_height) and (target_height - self._rb_state.com_height) >= HEIGHT_CHANGE_THRESHOLD:
+            limited_height = (self._rb_state.com_height + HEIGHT_CHANGE_THRESHOLD) - self._rb_info['init_stand_height']
+            print(f"\033[33mWarning! Height change too large, limiting to safe range,reset height to {limited_height}\033[0m")
+
         return self._control.control_torso_height(limited_height, limited_pitch)
 
     def step_control(self, target_pose:list, dt:float=0.4, is_left_first_default:bool=True, collision_check:bool=True)->bool:
@@ -253,17 +263,21 @@ class KuavoRobotCore:
         com_height = self._rb_state.com_height
         # print(f"[Core] Current COM height: {com_height:.2f}m")
         # Check height limits based on current COM height
-        MIN_COM_HEIGHT = 0.66  # Minimum allowed COM height in meters
-        MAX_COM_HEIGHT = 0.86  # Maximum allowed COM height in meters
+        MIN_COM_HEIGHT = self._rb_info['init_stand_height'] - 0.15  # Minimum allowed COM height in meters
+        MAX_COM_HEIGHT = self._rb_info['init_stand_height'] + 0.02 # Maximum allowed COM height in meters
 
+        if com_height < MIN_COM_HEIGHT:
+            print(f"\033[31m[Core] Torso height too low, control failed: current COM height {com_height:.2f}m is below the minimum allowed height {MIN_COM_HEIGHT}m\033[0m")
+            return  False
+            
         # Validate COM height constraints
         if target_pose[2] < 0 and com_height < MIN_COM_HEIGHT:
-            SDKLogger.warn(f"[Core] Cannot squat lower: COM height {com_height:.2f}m below minimum {MIN_COM_HEIGHT}m")
-            return None
+            print(f"\033[33mWarning! Cannot squat lower: COM height {com_height:.2f}m below minimum {MIN_COM_HEIGHT}m\033[0m")
+            return False
         
         if target_pose[2] > 0 and com_height > MAX_COM_HEIGHT:
-            SDKLogger.warn(f"[Core] Cannot stand higher: COM height {com_height:.2f}m above maximum {MAX_COM_HEIGHT}m")
-            return None
+            print(f"\033[33mWarning! Cannot stand higher: COM height {com_height:.2f}m above maximum {MAX_COM_HEIGHT}m\033[0m")
+            return False
 
         # Ensure target height is within allowed range if height change requested
         if target_pose[2] != 0:
@@ -275,8 +289,7 @@ class KuavoRobotCore:
                 SDKLogger.warn(f"[Core] Target height {target_height:.2f}m above maximum {MAX_COM_HEIGHT}m, limiting") 
                 target_pose[2] = MAX_COM_HEIGHT - com_height
         
-        # TODO(kuavo): 根据实物测试来调整....
-        if com_height > 0.82:
+        if com_height > (self._rb_info['init_stand_height']-0.03):
             max_x_step = 0.20
             max_y_step = 0.20
             max_yaw_step = 90
@@ -377,7 +390,18 @@ class KuavoRobotCore:
         # e.g., limit ranges for safety
         self.to_command_pose_world()
         return self._control.control_command_pose_world(target_pose_x, target_pose_y, target_pose_z, target_pose_yaw)
-    
+
+    def control_robot_arm_target_poses(self, times: list, joint_q: list) -> bool:
+        if self.state != 'stance':
+            raise RuntimeError("[Core] control_robot_arm_target_poses failed: robot must be in stance state")
+
+        if self._arm_ctrl_mode != KuavoArmCtrlMode.ExternalControl:
+            SDKLogger.debug("[Core] control_robot_arm_target_poses, current arm mode != ExternalControl, change it.")
+            if not self.change_robot_arm_ctrl_mode(KuavoArmCtrlMode.ExternalControl):
+                SDKLogger.warn("[Core] control_robot_arm_target_poses failed, change robot arm ctrl mode failed!")
+                return False
+
+        return self._control.control_robot_arm_target_poses(times, joint_q)
     def execute_gesture(self, gestures:list)->bool:
         return self._control.execute_gesture(gestures)
     
@@ -576,6 +600,14 @@ class KuavoRobotCore:
                params: KuavoIKParams=None) -> list:
         return self._control.arm_ik(l_eef_pose, r_eef_pose, l_elbow_pos_xyz, r_elbow_pos_xyz, arm_q0, params)
     
+    def arm_ik_free(self, 
+                    l_eef_pose: KuavoPose, 
+                    r_eef_pose: KuavoPose, 
+                    l_elbow_pos_xyz: list = [0.0, 0.0, 0.0],
+                    r_elbow_pos_xyz: list = [0.0, 0.0, 0.0],
+                    arm_q0: list = None,
+                    params: KuavoIKParams=None) -> list:
+        return self._control.arm_ik_free(l_eef_pose, r_eef_pose, l_elbow_pos_xyz, r_elbow_pos_xyz, arm_q0, params)
 
     def arm_fk(self, q: list) -> Tuple[KuavoPose, KuavoPose]:
         return self._control.arm_fk(q)
@@ -631,4 +663,4 @@ if __name__ == "__main__":
         print("state now is to_trot:", core.state)
         time.sleep(3.0)
         core.to_stance()
-        print("state now is to_stance:", core.state)
+        print("state now is to_stance:", core.state)