kuavo-humanoid-sdk 1.2.1b3212__tar.gz → 1.2.1b3269__tar.gz

{kuavo_humanoid_sdk-1.2.1b3212 → kuavo_humanoid_sdk-1.2.1b3269}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: kuavo_humanoid_sdk
-Version: 1.2.1b3212
+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-1.2.1b3212 → kuavo_humanoid_sdk-1.2.1b3269}/kuavo_humanoid_sdk/kuavo/core/core.py

@@ -123,8 +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`")
@@ -228,6 +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:
@@ -255,17 +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:
@@ -277,8 +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

{kuavo_humanoid_sdk-1.2.1b3212 → kuavo_humanoid_sdk-1.2.1b3269}/kuavo_humanoid_sdk/kuavo/core/ros/param.py

@@ -62,6 +62,12 @@ class RosParameter:
             rospy.logerr("initial_state parameter not found")
             return None
         return rospy.get_param('/initial_state')
+    def init_stand_height(self)->float:
+        if not rospy.has_param('/com_height'):
+            rospy.logerr("com_height parameter not found")
+            # KUAVO-4PRO
+            return 0.8328437523948975
+        return rospy.get_param('/com_height')
 
 kuavo_ros_param = RosParameter()
 
@@ -179,6 +185,7 @@ def make_robot_param()->dict:
         'end_effector_type': kuavo_ros_param.end_effector_type(),
         'joint_names': joint_names(),
         'end_frames_names': end_frames_names(),
+        'init_stand_height': kuavo_ros_param.init_stand_height()
     }
 
     for key, value in kuavo_ros_info.items():

{kuavo_humanoid_sdk-1.2.1b3212 → kuavo_humanoid_sdk-1.2.1b3269}/kuavo_humanoid_sdk/kuavo/dexterous_hand.py

@@ -202,23 +202,23 @@ class TouchDexterousHand(DexterousHand):
         return self._rb_state.eef_state.state
 
     def get_dexhand_gesture_state(self)->bool:
-        """Get the current state of the robot's dexterous hand gesture.
+        """获取机器人灵巧手势的当前状态。
 
         Returns:
-            bool: True if the robot's dexterous hand gesture is executing, False otherwise.
+            bool: 如果机器人灵巧手势正在执行返回True，否则返回False。
         """
         return self._rb_state._srv_get_dexhand_gesture_state()
 
     def make_gesture_sync(self, l_gesture_name: str, r_gesture_name: str, timeout:float=5.0)->bool:
-        """Make predefined gestures for both hands.
+        """为双手做预定义的手势（同步等待完成）。
 
         Args:
-            l_gesture_name (str): Name of gesture for left hand. None to skip left hand.
-            r_gesture_name (str): Name of gesture for right hand. None to skip right hand.
-            timeout (float, optional): Timeout for the gesture. Defaults to 5.0.
+            l_gesture_name (str): 左手手势的名称。None表示跳过左手。
+            r_gesture_name (str): 右手手势的名称。None表示跳过右手。
+            timeout (float, optional): 手势超时时间。默认为5.0秒。
 
         Returns:
-            bool: True if gesture command sent successfully, False otherwise.
+            bool: 如果手势执行成功返回True，否则返回False。
         """
         gesture = []
         if l_gesture_name is not None:

{kuavo_humanoid_sdk-1.2.1b3212 → kuavo_humanoid_sdk-1.2.1b3269}/kuavo_humanoid_sdk/kuavo/robot.py

@@ -158,11 +158,15 @@ class KuavoRobot(RobotBase):
         """控制机器人的蹲姿高度和俯仰角。
 
         Args:
-                height (float): 相对于正常站立高度的高度偏移量,单位米,范围[-0.35, 0.0],负值表示下蹲。
-                pitch (float): 机器人躯干的俯仰角,单位弧度,范围[-0.4, 0.4]。
+            height (float): 相对于正常站立高度的高度偏移量,单位米,范围[-0.35, 0.0],负值表示下蹲。
+                            正常站立高度参考 :attr:`KuavoRobotInfo.init_stand_height`
+            pitch (float): 机器人躯干的俯仰角,单位弧度,范围[-0.4, 0.4]。
             
         Returns:
             bool: 如果蹲姿控制成功返回True,否则返回False。
+            
+        Note:
+            下蹲和起立不要变化过快，一次变化最大不要超过0.2米。
         """
         # Limit height range
         MAX_HEIGHT = 0.0
@@ -174,13 +178,13 @@ class KuavoRobot(RobotBase):
         
         # Check if height exceeds limits
         if height > MAX_HEIGHT or height < MIN_HEIGHT:
-            SDKLogger.warn(f"[Robot] height {height} exceeds limit [{MIN_HEIGHT}, {MAX_HEIGHT}], will be limited")
+            print(f"\033[33m[Robot] height {height} exceeds limit [{MIN_HEIGHT}, {MAX_HEIGHT}], will be limited\033[0m")
         # Limit pitch range
         limited_pitch = min(MAX_PITCH, max(MIN_PITCH, pitch))
         
         # Check if pitch exceeds limits
         if abs(pitch) > MAX_PITCH:
-            SDKLogger.warn(f"[Robot] pitch {pitch} exceeds limit [{MIN_PITCH}, {MAX_PITCH}], will be limited")
+            print(f"\033[33m[Robot] pitch {pitch} exceeds limit [{MIN_PITCH}, {MAX_PITCH}], will be limited\033[0m")
         
         return self._kuavo_core.squat(limited_height, limited_pitch)
      
@@ -204,6 +208,10 @@ class KuavoRobot(RobotBase):
             你可以调用 :meth:`KuavoRobotState.wait_for_step_control` 来等待机器人进入step-control模式。
             你可以调用 :meth:`KuavoRobotState.wait_for_stance` 来等待step-control完成。
 
+        Warning:
+            如果当前机器人的躯干高度过低(相对于正常站立高度低于-0.15m)，调用该函数会返回失败。
+            正常站立高度参考 :attr:`KuavoRobotInfo.init_stand_height`
+
         tips:
             坐标系: base_link坐标系
             执行误差： 0.005~0.05m, 0.05°以下
@@ -262,7 +270,7 @@ class KuavoRobot(RobotBase):
         return self._kuavo_core.control_command_pose_world(target_pose_x, target_pose_y, target_pose_z, target_pose_yaw)
     
     def control_head(self, yaw: float, pitch: float)->bool:
-        """控制机器人的头部。
+        """控制机器人的头部关节运动。
         
         Args:
             yaw (float): 头部的偏航角,单位弧度,范围[-1.396, 1.396](-80到80度)。
@@ -355,24 +363,20 @@ class KuavoRobot(RobotBase):
         return self._robot_arm.control_arm_joint_trajectory(times, q_frames)
 
     def control_arm_target_poses(self, times: list, q_frames: list) -> bool:
-        """Control the target poses of the robot arm.
-
+        """控制机器人手臂目标姿态（已废弃）。
+        
+        .. deprecated:: 
+            请使用 :meth:`control_arm_joint_trajectory` 替代此函数。
+        
         Args:
-            times (list): List of time intervals in seconds.
-            q_frames (list): List of joint positions in radians.
-
+            times (list): 时间间隔列表，单位秒
+            q_frames (list): 关节位置列表，单位弧度
+            
         Returns:
-            bool: True if the control was successful, False otherwise.
-
-        Raises:
-            ValueError: If the times list is not of the correct length.
-            ValueError: If the joint position list is not of the correct length.
-            ValueError: If the joint position is outside the range of [-π, π].
-            RuntimeError: If the robot is not in stance state when trying to control the arm.
-
+            bool: 控制成功返回True，否则返回False
+            
         Note:
-            This is an asynchronous interface. The function returns immediately after sending the command.
-            Users need to wait for the motion to complete on their own.
+            此函数已废弃，请使用 :meth:`control_arm_joint_trajectory` 函数。
         """
         return self._robot_arm.control_arm_target_poses(times, q_frames)
     def set_fixed_arm_mode(self) -> bool:

{kuavo_humanoid_sdk-1.2.1b3212 → kuavo_humanoid_sdk-1.2.1b3269}/kuavo_humanoid_sdk/kuavo/robot_arm.py

@@ -33,18 +33,20 @@ class KuavoRobotArm:
         return self._kuavo_core.robot_manipulation_mpc_reset()
 
     def control_arm_target_poses(self, times: list, q_frames: list) -> bool:
-        """
-            Control the target poses of the robot arm.
-            Args:
-                times (list): List of time intervals in seconds
-                joint_q (list): List of joint positions in radians
-            Raises:
-                ValueError: If the times list is not of the correct length.
-                ValueError: If the joint position list is not of the correct length.
-                ValueError: If the joint position is outside the range of [-π, π].
-                RuntimeError: If the robot is not in stance state when trying to control the arm.
-            Returns:
-                bool: True if the control was successful, False otherwise.
+        """控制机器人手臂目标姿态（已废弃）。
+        
+        .. deprecated:: 
+            请使用 :meth:`control_arm_joint_trajectory` 替代此函数。
+        
+        Args:
+            times (list): 时间间隔列表，单位秒
+            q_frames (list): 关节位置列表，单位弧度
+            
+        Returns:
+            bool: 控制成功返回True，否则返回False
+            
+        Note:
+            此函数已废弃，请使用 :meth:`control_arm_joint_trajectory` 函数。
         """
         if len(times) != len(q_frames):
             raise ValueError("Invalid input. times and joint_q must have thesame length.")

{kuavo_humanoid_sdk-1.2.1b3212 → kuavo_humanoid_sdk-1.2.1b3269}/kuavo_humanoid_sdk/kuavo/robot_head.py

@@ -18,13 +18,14 @@ class KuavoRobotHead:
             
         
     def control_head(self, yaw: float, pitch: float) -> bool:
-        """
-        Control the head of the robot.
+        """控制机器人的头部关节运动。
+        
         Args:
-            yaw (float): The yaw angle of the head in radians, range [-1.396, 1.396] (-80 to 80 degrees).
-            pitch (float): The pitch angle of the head in radians, range [-0.436, 0.436] (-25 to 25 degrees).
+            yaw (float): 头部的偏航角,单位弧度,范围[-1.396, 1.396](-80到80度)。
+            pitch (float): 头部的俯仰角,单位弧度,范围[-0.436, 0.436](-25到25度)。
+            
         Returns:
-            bool: True if the head is controlled successfully, False otherwise.
+            bool: 如果头部控制成功返回True,否则返回False。
         """
         # 发送开始控制头部的日志
         self._send_log(f"开始控制头部运动: yaw={yaw:.3f}, pitch={pitch:.3f}")

{kuavo_humanoid_sdk-1.2.1b3212 → kuavo_humanoid_sdk-1.2.1b3269}/kuavo_humanoid_sdk/kuavo/robot_info.py

@@ -21,6 +21,8 @@ class KuavoRobotInfo(RobotInfoBase):
         self._head_joint_dof = kuavo_ros_param['head_dof']
         self._head_joint_names = self._joint_names[-2:]
         self._arm_joint_names = self._joint_names[12:self._arm_joint_dof + 12]
+        self._init_stand_height = kuavo_ros_param['init_stand_height']
+
     @property
     def robot_version(self) -> str:
         """返回 Kuavo 机器人的版本。
@@ -108,6 +110,25 @@ class KuavoRobotInfo(RobotInfoBase):
                 例如 ("zarm_l7_link", "zarm_r7_link") \n
         """
         return self._end_frames_names[1], self._end_frames_names[2]
+
+    @property
+    def init_stand_height(self) -> float:
+        """返回 Kuavo 机器人初始化站立时的质心高度。
+
+        Returns:
+            float: 初始化站立时的质心高度
+        """
+        return self._init_stand_height
     
     def __str__(self) -> str:
-        return f"KuavoRobotInfo(robot_type={self.robot_type}, robot_version={self.robot_version}, end_effector_type={self.end_effector_type}, joint_names={self.joint_names}, joint_dof={self.joint_dof}, arm_joint_dof={self.arm_joint_dof})"
+        return (
+            f"KuavoRobotInfo("
+            f"robot_type={self.robot_type}, "
+            f"robot_version={self.robot_version}, "
+            f"end_effector_type={self.end_effector_type}, "
+            f"joint_names={self.joint_names}, "
+            f"joint_dof={self.joint_dof}, "
+            f"arm_joint_dof={self.arm_joint_dof}, "
+            f"init_stand_height={self.init_stand_height}"
+            f")"
+        )

{kuavo_humanoid_sdk-1.2.1b3212 → kuavo_humanoid_sdk-1.2.1b3269}/kuavo_humanoid_sdk/kuavo/robot_navigation.py

@@ -7,27 +7,27 @@ import rospy
 import time
 
 class RobotNavigation:
-    """Interface class for robot navigation."""
+    """机器人导航接口类。"""
 
     def __init__(self):
-        """Initialize RobotNavigation object."""
+        """初始化 RobotNavigation 对象。"""
         self.robot_navigation = KuavoRobotNavigationCore()
 
     def navigate_to_goal(
         self, x: float, y: float, z: float, roll: float, pitch: float, yaw: float
     ) -> bool:
-        """Navigate to the specified goal.
+        """导航到指定目标位置。
 
         Args:
-            x (float): x coordinate of the goal.
-            y (float): y coordinate of the goal.
-            z (float): z coordinate of the goal.
-            roll (float): roll of the goal.
-            pitch (float): pitch of the goal.
-            yaw (float): yaw of the goal.
+            x (float): 目标点的x坐标。
+            y (float): 目标点的y坐标。
+            z (float): 目标点的z坐标。
+            roll (float): 目标点的横滚角。
+            pitch (float): 目标点的俯仰角。
+            yaw (float): 目标点的偏航角。
 
         Returns:
-            bool: Whether navigation succeeded.
+            bool: 导航是否成功。
         """
         orientation = tf.transformations.quaternion_from_euler(yaw, pitch, roll)
         goal = Pose(position=Point(x=x, y=y, z=z), orientation=Quaternion(x=orientation[0], y=orientation[1], z=orientation[2], w=orientation[3]))
@@ -41,13 +41,13 @@ class RobotNavigation:
         return True
 
     def navigate_to_task_point(self, task_point_name: str) -> bool:
-        """Navigate to the specified task point.
+        """导航到指定的任务点。
 
         Args:
-            task_point_name (str): Name of the task point.
+            task_point_name (str): 任务点的名称。
 
         Returns:
-            bool: Whether navigation succeeded.
+            bool: 导航是否成功。
         """
         self.robot_navigation.navigate_to_task_point(task_point_name)
         while self.get_current_status() is not NavigationStatus.ACTIVE:
@@ -59,36 +59,36 @@ class RobotNavigation:
         return True
 
     def stop_navigation(self) -> bool:
-        """Stop navigation.
+        """停止导航。
 
         Returns:
-            bool: Whether stopping navigation succeeded.
+            bool: 停止导航是否成功。
         """
         return self.robot_navigation.stop_navigation()
 
     def get_current_status(self) -> str:
-        """Get the current navigation status.
+        """获取当前导航状态。
 
         Returns:
-            str: Current navigation status.
+            str: 当前导航状态。
         """
         return self.robot_navigation.get_current_status()
 
     def init_localization_by_pose(
         self, x: float, y: float, z: float, roll: float, pitch: float, yaw: float
     ) -> bool:
-        """Initialize localization by pose.
+        """通过位姿初始化定位。
 
         Args:
-            x (float): x coordinate of the pose.
-            y (float): y coordinate of the pose.
-            z (float): z coordinate of the pose.
-            roll (float): roll of the pose.
-            pitch (float): pitch of the pose.
-            yaw (float): yaw of the pose.
+            x (float): 位姿的x坐标。
+            y (float): 位姿的y坐标。
+            z (float): 位姿的z坐标。
+            roll (float): 位姿的横滚角。
+            pitch (float): 位姿的俯仰角。
+            yaw (float): 位姿的偏航角。
 
         Returns:
-            bool: Whether localization initialization succeeded.
+            bool: 定位初始化是否成功。
         """
         orientation = tf.transformations.quaternion_from_euler(yaw, pitch, roll)
         pose = Pose(position=Point(x=x, y=y, z=z), orientation=Quaternion(x=orientation[0], y=orientation[1], z=orientation[2], w=orientation[3]))
@@ -97,39 +97,39 @@ class RobotNavigation:
     def init_localization_by_task_point(
         self, task_point_name: str
     ) -> bool:
-        """Initialize localization by task point.
+        """通过任务点初始化定位。
 
         Args:
-            task_point_name (str): Name of the task point.
+            task_point_name (str): 任务点的名称。
 
         Returns:
-            bool: Whether localization initialization succeeded.
+            bool: 定位初始化是否成功。
         """
         return self.robot_navigation.init_localization_by_task_point(task_point_name)
 
     def load_map(self, map_name: str) -> bool:
-        """Load a map.
+        """加载地图。
 
         Args:
-            map_name (str): Name of the map.
+            map_name (str): 地图名称。
 
         Returns:
-            bool: Whether loading the map succeeded.
+            bool: 加载地图是否成功。
         """
         return self.robot_navigation.load_map(map_name)
 
     def get_all_maps(self) -> list:
-        """Get all map names.
+        """获取所有地图名称。
 
         Returns:
-            list: List of map names.
+            list: 地图名称列表。
         """
         return self.robot_navigation.get_all_maps()
 
     def get_current_map(self) -> str:
-        """Get the current map name.
+        """获取当前地图名称。
 
         Returns:
-            str: Current map name.
+            str: 当前地图名称。
         """
         return self.robot_navigation.get_current_map()

{kuavo_humanoid_sdk-1.2.1b3212 → kuavo_humanoid_sdk-1.2.1b3269}/kuavo_humanoid_sdk/kuavo/robot_state.py

@@ -50,10 +50,13 @@ class KuavoRobotState:
     
     @property
     def com_height(self)->float:
-        """获取机器人质心高度。
+        """获取机器人实时的质心高度。
 
         Returns:
             float: 机器人质心高度，单位为米。
+            
+        Note:
+            如果需要获取机器人初始化站立时的质心高度，请使用 :attr:`KuavoRobotInfo.init_stand_height` 属性。
         """
         return self._rs_core.com_height