kuavo-humanoid-sdk 1.2.1b3284__20250912191154-py3-none-any.whl

kuavo_humanoid_sdk/kuavo/core/ros/control.py

@@ -0,0 +1,1524 @@
+import os
+import numpy as np
+from typing import Tuple
+from kuavo_humanoid_sdk.common.logger import SDKLogger
+from kuavo_humanoid_sdk.interfaces.data_types import (KuavoArmCtrlMode, KuavoIKParams, KuavoPose, 
+                                                      KuavoManipulationMpcControlFlow, KuavoManipulationMpcCtrlMode
+                                                      ,KuavoManipulationMpcFrame, KuavoMotorParam)
+from kuavo_humanoid_sdk.kuavo.core.ros.sat_utils import RotatingRectangle
+from kuavo_humanoid_sdk.kuavo.core.ros.param import EndEffectorType
+
+import rospy
+from geometry_msgs.msg import Twist
+from sensor_msgs.msg import JointState, Joy
+from kuavo_humanoid_sdk.msg.kuavo_msgs.msg import (gestureTask,robotHandPosition, robotHeadMotionData, armTargetPoses, switchGaitByName,
+                                footPose, footPoseTargetTrajectories, dexhandCommand, motorParam,twoArmHandPoseCmdFree)
+from kuavo_humanoid_sdk.msg.kuavo_msgs.srv import (gestureExecute, gestureExecuteRequest,gestureList, gestureListRequest,
+                        controlLejuClaw, controlLejuClawRequest, changeArmCtrlMode, changeArmCtrlModeRequest,
+                        changeTorsoCtrlMode, changeTorsoCtrlModeRequest, setMmCtrlFrame, setMmCtrlFrameRequest,
+                        setTagId, setTagIdRequest, getMotorParam, getMotorParamRequest,
+                        changeMotorParam, changeMotorParamRequest)
+from kuavo_humanoid_sdk.msg.kuavo_msgs.msg import twoArmHandPoseCmd, ikSolveParam, armHandPose, armCollisionCheckInfo
+from kuavo_humanoid_sdk.msg.kuavo_msgs.srv import twoArmHandPoseCmdSrv, fkSrv, twoArmHandPoseCmdFreeSrv
+from std_srvs.srv import SetBool, SetBoolRequest
+from std_msgs.msg import Float64MultiArray
+
+
+
+
+class ControlEndEffector:
+    def __init__(self, eef_type: str = EndEffectorType.QIANGNAO):
+        self._eef_type = eef_type
+        self._pubs = []
+        if self._eef_type == EndEffectorType.QIANGNAO:
+            self._pub_ctrl_robot_hand = rospy.Publisher('/control_robot_hand_position', robotHandPosition, queue_size=10)                
+            # publisher, name, require
+            self._pubs.append((self._pub_ctrl_robot_hand, False))
+        elif self._eef_type == EndEffectorType.QIANGNAO_TOUCH:
+            self._pub_ctrl_robot_hand = rospy.Publisher('/control_robot_hand_position', robotHandPosition, queue_size=10)                
+            self._pub_dexhand_command = rospy.Publisher('/dexhand/command', dexhandCommand, queue_size=10)
+            self._pub_dexhand_right_command = rospy.Publisher('/dexhand/right/command', dexhandCommand, queue_size=10)
+            self._pub_dexhand_left_command = rospy.Publisher('/dexhand/left/command', dexhandCommand, queue_size=10)
+            # publisher, name, require
+            self._pubs.append((self._pub_dexhand_command, False))
+            self._pubs.append((self._pub_dexhand_right_command, False))
+            self._pubs.append((self._pub_dexhand_left_command, False))
+            
+    def connect(self, timeout:float=1.0)-> bool:
+        start_time = rospy.Time.now()
+        
+        success = True
+        for pub, require in self._pubs:
+            while pub.get_num_connections() == 0:
+                if (rospy.Time.now() - start_time).to_sec() > timeout:
+                    if require:
+                        SDKLogger.error(f"Timeout waiting for {pub.name} connection")
+                        success = False
+                    break
+                rospy.sleep(0.1)
+
+        return success
+
+    """ Control Kuavo Robot Dexhand """
+    def pub_control_robot_dexhand(self, left_position:list, right_position:list)->bool:
+        if not self._eef_type.startswith(EndEffectorType.QIANGNAO): # qiangnao, qiangnao_touch
+            SDKLogger.warning(f"{self._eef_type} not support control dexhand")
+            return False
+        try :
+            hand_pose_msg = robotHandPosition()
+            hand_pose_msg.left_hand_position = bytes(left_position)
+            hand_pose_msg.right_hand_position = bytes(right_position)
+            self._pub_ctrl_robot_hand.publish(hand_pose_msg)
+            SDKLogger.debug(f"publish robot dexhand: {left_position}, {right_position}")
+            return True
+        except Exception as e:
+            SDKLogger.error(f"publish robot dexhand: {e}")
+            return False
+    
+    def pub_dexhand_command(self, data:list, ctrl_mode, hand_side)->bool:
+        """
+            ctrl_mode: 0 --> POSITION, 1 --> VELOCITY
+            hand_side: 0 --> left, 1 --> right, 2-->dual
+        """
+        if not self._eef_type == EndEffectorType.QIANGNAO_TOUCH:
+            SDKLogger.warning(f"{self._eef_type} not support pub_left_dexhand_command")
+            return False
+        try:
+            if hand_side != 2 and len(data) != 6:
+                SDKLogger.warning("Data length should be 6")
+                return False
+            if hand_side == 2 and len(data) != 12:
+                SDKLogger.warning("Data length should be 12")
+                return False
+            if ctrl_mode not in [dexhandCommand.POSITION_CONTROL, dexhandCommand.VELOCITY_CONTROL]:
+                SDKLogger.error(f"Invalid mode for pub_left_dexhand_command: {ctrl_mode}")
+                return False
+            msg = dexhandCommand()
+            msg.data = [int(d) for d in data]  # Convert data to integers
+            msg.control_mode = ctrl_mode
+            if hand_side == 0:
+                self._pub_dexhand_left_command.publish(msg)
+            elif hand_side == 1:
+                self._pub_dexhand_right_command.publish(msg)
+            else:
+                self._pub_dexhand_command.publish(msg)
+            return True        
+        except Exception as e:
+            SDKLogger.error(f"Failed to publish left dexhand command: {e}")
+            return False
+        
+    def srv_execute_gesture(self, gestures:list)->bool:
+        if not self._eef_type.startswith(EndEffectorType.QIANGNAO): # qiangnao, qiangnao_touch
+            SDKLogger.warning(f"{self._eef_type} not support control dexhand")
+            return False
+        try:
+            service_name = 'gesture/execute'
+            rospy.wait_for_service(service=service_name, timeout=2.0)
+            # create service proxy
+            gesture_service = rospy.ServiceProxy(service_name, gestureExecute)
+            
+            # request
+            request = gestureExecuteRequest()
+            for gs in gestures:
+                gesture = gestureTask(gesture_name=gs["gesture_name"], hand_side=gs["hand_side"])
+                request.gestures.append(gesture)
+            
+            # call service
+            response = gesture_service(request)
+            if not response.success:
+                SDKLogger.error(f"Failed to execute gesture '{gestures}': {response.message}")
+            return response.success
+        except rospy.ServiceException as e:
+            SDKLogger.error(f"Service call failed: {e}")
+        except rospy.ROSException as e:
+            SDKLogger.error(f"Service call failed: {e}")
+        except Exception as e:
+            SDKLogger.error(f"Service call failed: {e}")
+        return False
+
+    def srv_get_gesture_names(self)->list:
+        if not self._eef_type.startswith(EndEffectorType.QIANGNAO): # qiangnao, qiangnao_touch
+            SDKLogger.warning(f"{self._eef_type} not support control dexhand")
+            return []
+        try:
+            service_name = 'gesture/list'
+            rospy.wait_for_service(service=service_name, timeout=2.0)
+            gesture_service = rospy.ServiceProxy(service_name, gestureList)
+            request = gestureListRequest()
+            response = gesture_service(request)
+            gestures = []
+            for gesture_info in response.gesture_infos:
+                gestures.append(gesture_info.gesture_name)
+                for alias in gesture_info.alias:
+                    gestures.append(alias)
+            return list(set(gestures))
+        except rospy.ServiceException as e:
+            SDKLogger.error(f"Service call failed: {e}")
+        except Exception as e:
+            SDKLogger.error(f"Service call failed: {e}")
+        return []
+
+    def srv_control_leju_claw(self, postions:list, velocities:list, torques:list) ->bool:
+        if self._eef_type != 'lejuclaw':
+            SDKLogger.warning(f"{self._eef_type} not support control lejuclaw.")
+            return False
+        try:
+            # ros service
+            service_name = 'control_robot_leju_claw'
+            rospy.wait_for_service(service_name, timeout=2.0)
+            control_lejucalw_srv = rospy.ServiceProxy(service_name, controlLejuClaw)
+            
+            # request
+            request = controlLejuClawRequest()
+            request.data.position = postions
+            request.data.velocity = velocities
+            request.data.effort = torques
+            
+            response = control_lejucalw_srv(request)
+            if not response.success:
+                SDKLogger.error(f"Failed to control leju claw: {response.message}")
+            return response.success
+        except rospy.ServiceException as e:
+            SDKLogger.error(f"Service `control_robot_leju_claw` call failed: {e}")
+        except rospy.ROSException as e:
+            SDKLogger.error(f"Service `control_robot_leju_claw` call failed: {e}")
+        except Exception as e:
+            SDKLogger.error(f"Service `control_robot_leju_claw` call failed: {e}")
+        return False
+
+class ControlRobotArm:
+    def __init__(self):
+
+        # 带有碰撞检查的轨迹发布
+        self._pub_ctrl_arm_traj_arm_collision = rospy.Publisher('/arm_collision/kuavo_arm_traj', JointState, queue_size=10)
+        self._pub_ctrl_arm_target_poses_arm_collision = rospy.Publisher('/arm_collision/kuavo_arm_target_poses', armTargetPoses, queue_size=10)
+
+        # 判断当前是否发生碰撞
+        self._sub_arm_collision_info = rospy.Subscriber('/arm_collision/info', armCollisionCheckInfo, self.callback_arm_collision_info, queue_size=10)
+        self._is_collision = False
+        self.arm_collision_enable = False
+
+        # 正常轨迹发布
+        self._pub_ctrl_arm_traj = rospy.Publisher('/kuavo_arm_traj', JointState, queue_size=10)
+        self._pub_ctrl_arm_target_poses = rospy.Publisher('/kuavo_arm_target_poses', armTargetPoses, queue_size=10)
+        self._pub_ctrl_hand_pose_cmd = rospy.Publisher('/mm/two_arm_hand_pose_cmd', twoArmHandPoseCmd, queue_size=10)
+        self._pub_hand_wrench = rospy.Publisher('/hand_wrench_cmd', Float64MultiArray, queue_size=10)
+
+    def is_arm_collision(self)->bool:
+        return self._is_collision
+    
+    def is_arm_collision_mode(self)->bool:
+        return self.arm_collision_enable
+    
+    def callback_arm_collision_info(self, msg: armCollisionCheckInfo):
+        self._is_collision = True
+        SDKLogger.info(f"Arm collision detected")
+
+    def set_arm_collision_mode(self, enable: bool):
+        """
+            Set arm collision mode
+        """
+        self.arm_collision_enable = enable
+        srv_set_arm_collision_mode_srv = rospy.ServiceProxy('/arm_collision/set_arm_moving_enable', SetBool)
+        req = SetBoolRequest()
+        req.data = enable
+        resp = srv_set_arm_collision_mode_srv(req)
+        if not resp.success:
+            SDKLogger.error(f"Failed to wait arm collision complete: {resp.message}")
+    
+        
+
+    def release_arm_collision_mode(self):
+        self._is_collision = False
+    
+    def wait_arm_collision_complete(self):
+        if self._is_collision:
+            srv_wait_arm_collision_complete_srv = rospy.ServiceProxy('/arm_collision/wait_complete', SetBool)
+            req = SetBoolRequest()
+            req.data = True
+            resp = srv_wait_arm_collision_complete_srv(req)
+            if not resp.success:
+                SDKLogger.error(f"Failed to wait arm collision complete: {resp.message}")
+
+    def connect(self, timeout:float=1.0)-> bool:
+        start_time = rospy.Time.now()
+        publishers = [
+            (self._pub_ctrl_arm_traj, "arm trajectory publisher", False),
+            (self._pub_ctrl_arm_target_poses, "arm target poses publisher", False)
+        ]
+        
+        success = True
+        for pub, name, required in publishers:
+            while pub.get_num_connections() == 0:
+                if (rospy.Time.now() - start_time).to_sec() > timeout:
+                    SDKLogger.error(f"Timeout waiting for {name} connection, '{pub.name}'")
+                    if required:
+                        success = False
+                    break
+                rospy.sleep(0.1)
+        return success
+
+    def pub_control_robot_arm_traj(self, joint_q: list)->bool:
+        
+        try:
+            msg = JointState()
+            msg.name = ["arm_joint_" + str(i) for i in range(0, 14)]
+            msg.header.stamp = rospy.Time.now()
+            msg.position = 180.0 / np.pi * np.array(joint_q) # convert to degree
+            if self.arm_collision_enable:
+                self._pub_ctrl_arm_traj_arm_collision.publish(msg)
+            else:
+                self._pub_ctrl_arm_traj.publish(msg)
+            return True
+        except Exception as e:
+            SDKLogger.error(f"publish robot arm traj: {e}")
+        return False
+        
+    def pub_arm_target_poses(self, times:list, joint_q:list):
+        try:
+            msg = armTargetPoses()
+            msg.times = times
+            for i in range(len(joint_q)):
+                degs = [q for q in joint_q[i]]
+                msg.values.extend(degs)
+            if self.arm_collision_enable:
+                self._pub_ctrl_arm_target_poses_arm_collision.publish(msg)
+            else:
+                self._pub_ctrl_arm_target_poses.publish(msg)
+            return True
+        except Exception as e:
+            SDKLogger.error(f"publish arm target poses: {e}")
+        return False
+    def pub_end_effector_pose_cmd(self, left_pose: KuavoPose, right_pose: KuavoPose, frame: KuavoManipulationMpcFrame)->bool:
+        try:
+            msg = twoArmHandPoseCmd()
+            left_pose_msg = armHandPose()
+            left_pose_msg.pos_xyz = left_pose.position
+            left_pose_msg.quat_xyzw = left_pose.orientation
+            right_pose_msg = armHandPose()
+            right_pose_msg.pos_xyz = right_pose.position
+            right_pose_msg.quat_xyzw = right_pose.orientation
+            msg.hand_poses.left_pose = left_pose_msg
+            msg.hand_poses.right_pose = right_pose_msg
+            if frame.value not in [0, 1, 2, 3, 4]:
+                SDKLogger.error(f"Invalid frame: {frame}")
+                return False
+            msg.frame = frame.value
+            self._pub_ctrl_hand_pose_cmd.publish(msg)
+            return True
+        except Exception as e:
+            SDKLogger.error(f"publish arm target poses: {e}")
+        return False
+
+    def srv_change_manipulation_mpc_frame(self, frame: KuavoManipulationMpcFrame)->bool:
+        try:
+            service_name = '/set_mm_ctrl_frame'
+            rospy.wait_for_service(service_name, timeout=2.0)
+            set_frame_srv = rospy.ServiceProxy(service_name, setMmCtrlFrame)
+            
+            req = setMmCtrlFrameRequest()
+            req.frame = frame.value
+            
+            resp = set_frame_srv(req)
+            if not resp.result:
+                SDKLogger.error(f"Failed to change manipulation mpc frame to {frame}: {resp.message}")
+            return resp.result
+        except rospy.ServiceException as e:
+            SDKLogger.error(f"Service call to {service_name} failed: {e}")
+        except rospy.ROSException as e: # For timeout from wait_for_service
+            SDKLogger.error(f"Failed to connect to service {service_name}: {e}")
+        except Exception as e:
+            SDKLogger.error(f"Failed to change manipulation mpc frame: {e}")
+        return False
+    
+    def srv_change_manipulation_mpc_ctrl_mode(self, ctrl_mode: KuavoManipulationMpcCtrlMode)->bool:
+        try:
+            service_name = '/mobile_manipulator_mpc_control'
+            rospy.wait_for_service(service_name, timeout=2.0)
+            set_mode_srv = rospy.ServiceProxy(service_name, changeTorsoCtrlMode)
+            
+            req = changeTorsoCtrlModeRequest()
+            req.control_mode = ctrl_mode.value
+            
+            resp = set_mode_srv(req)
+            if not resp.result:
+                SDKLogger.error(f"Failed to change manipulation mpc control mode to {ctrl_mode}: {resp.message}")
+            return resp.result
+        except rospy.ServiceException as e:
+            SDKLogger.error(f"Service call to {service_name} failed: {e}")
+        except rospy.ROSException as e: # For timeout from wait_for_service
+            SDKLogger.error(f"Failed to connect to service {service_name}: {e}")
+        except Exception as e:
+            SDKLogger.error(f"Failed to change manipulation mpc control mode: {e}")
+        return False
+
+    def srv_change_manipulation_mpc_control_flow(self, ctrl_flow: KuavoManipulationMpcControlFlow)-> bool:
+        try:
+            service_name = '/enable_mm_wbc_arm_trajectory_control'
+            rospy.wait_for_service(service_name, timeout=2.0)
+            set_mode_srv = rospy.ServiceProxy(service_name, changeArmCtrlMode)
+
+            req = changeArmCtrlModeRequest()
+            req.control_mode = ctrl_flow.value
+
+            resp = set_mode_srv(req)
+            if not resp.result:
+                SDKLogger.error(f"Failed to change manipulation mpc wbc arm trajectory control to {ctrl_flow}: {resp.message}")
+            return resp.result
+        except rospy.ServiceException as e:
+            SDKLogger.error(f"Service call to {service_name} failed: {e}")
+        except rospy.ROSException as e:  # For timeout from wait_for_service
+            SDKLogger.error(f"Failed to connect to service {service_name}: {e}")
+        except Exception as e:
+            SDKLogger.error(f"Failed to change manipulation mpc control flow: {e}")
+        return False
+
+    def srv_get_manipulation_mpc_ctrl_mode(self, )->KuavoManipulationMpcCtrlMode:
+        try:
+            service_name = '/mobile_manipulator_get_mpc_control_mode'
+            rospy.wait_for_service(service_name, timeout=2.0)
+            get_mode_srv = rospy.ServiceProxy(service_name, changeTorsoCtrlMode)
+            
+            req = changeTorsoCtrlModeRequest()
+            
+            resp = get_mode_srv(req)
+            if not resp.result:
+                SDKLogger.error(f"Failed to get manipulation mpc control mode: {resp.message}")
+                return KuavoManipulationMpcCtrlMode.ERROR
+            return KuavoManipulationMpcCtrlMode(resp.mode)
+        except rospy.ServiceException as e:
+            SDKLogger.error(f"Service call to {service_name} failed: {e}")
+        except rospy.ROSException as e: # For timeout from wait_for_service
+            SDKLogger.error(f"Failed to connect to service {service_name}: {e}")
+        except Exception as e:
+            SDKLogger.error(f"Failed to get manipulation mpc control mode: {e}")
+        return KuavoManipulationMpcCtrlMode.ERROR
+
+    def srv_get_manipulation_mpc_frame(self, )->KuavoManipulationMpcFrame:
+        try:
+            service_name = '/get_mm_ctrl_frame'
+            rospy.wait_for_service(service_name, timeout=2.0)
+            get_frame_srv = rospy.ServiceProxy(service_name, setMmCtrlFrame)
+            
+            req = setMmCtrlFrameRequest()
+            
+            resp = get_frame_srv(req)
+            if not resp.result:
+                SDKLogger.error(f"Failed to get manipulation mpc frame: {resp.message}")
+                return KuavoManipulationMpcFrame.ERROR
+            return KuavoManipulationMpcFrame(resp.currentFrame)
+        except rospy.ServiceException as e:
+            SDKLogger.error(f"Service call to {service_name} failed: {e}")
+        except rospy.ROSException as e: # For timeout from wait_for_service
+            SDKLogger.error(f"Failed to connect to service {service_name}: {e}")
+        except Exception as e:
+            SDKLogger.error(f"Failed to get manipulation mpc frame: {e}")
+        return KuavoManipulationMpcFrame.ERROR
+
+    def srv_get_manipulation_mpc_control_flow(self, )->KuavoManipulationMpcControlFlow:
+        try:
+            service_name = '/get_mm_wbc_arm_trajectory_control'
+            rospy.wait_for_service(service_name, timeout=2.0)
+            get_mode_srv = rospy.ServiceProxy(service_name, changeArmCtrlMode)
+            
+            req = changeArmCtrlModeRequest()
+            
+            resp = get_mode_srv(req)
+            if not resp.result:
+                SDKLogger.error(f"Failed to get manipulation mpc wbc arm trajectory control mode: {resp.message}")
+                return KuavoManipulationMpcControlFlow.ERROR
+            return KuavoManipulationMpcControlFlow(resp.mode)
+        except rospy.ServiceException as e:
+            SDKLogger.error(f"Service call to {service_name} failed: {e}")
+        except rospy.ROSException as e: # For timeout from wait_for_service
+            SDKLogger.error(f"Failed to connect to service {service_name}: {e}")
+        except Exception as e:
+            SDKLogger.error(f"Failed to get manipulation mpc wbc arm trajectory control mode: {e}")
+        return KuavoManipulationMpcControlFlow.ERROR
+
+
+    def srv_change_arm_ctrl_mode(self, mode: KuavoArmCtrlMode)->bool:
+        try:
+            rospy.wait_for_service('/change_arm_ctrl_mode', timeout=2.0)
+            change_arm_ctrl_mode_srv = rospy.ServiceProxy('/change_arm_ctrl_mode', changeArmCtrlMode)
+            req = changeArmCtrlModeRequest()
+            req.control_mode = mode.value
+            resp = change_arm_ctrl_mode_srv(req)
+            return resp.result
+        except rospy.ServiceException as e:
+            SDKLogger.error(f"Service call failed: {e}")
+        except Exception as e:
+            SDKLogger.error(f"[Error] change arm ctrl mode: {e}")
+        return False
+    
+    def srv_get_arm_ctrl_mode(self)-> KuavoArmCtrlMode:
+        try:
+            rospy.wait_for_service('/humanoid_get_arm_ctrl_mode')
+            get_arm_ctrl_mode_srv = rospy.ServiceProxy('/humanoid_get_arm_ctrl_mode', changeArmCtrlMode)
+            req = changeArmCtrlModeRequest()
+            resp = get_arm_ctrl_mode_srv(req)
+            return KuavoArmCtrlMode(resp.control_mode)
+        except rospy.ServiceException as e:
+            SDKLogger.error(f"Service call failed: {e}")
+        except Exception as e:
+            SDKLogger.error(f"[Error] get arm ctrl mode: {e}")
+        return None
+    
+    def pub_hand_wrench_cmd(self, left_wrench, right_wrench):
+        """
+        发布末端力控制命令
+        参数:
+            left_wrench: 左手6维力控指令 [Fx, Fy, Fz, Tx, Ty, Tz]
+            right_wrench: 右手6维力控指令 [Fx, Fy, Fz, Tx, Ty, Tz]
+            Fx: 沿X轴的线性力
+            Fy: 沿Y轴的线性力
+            Fz: 沿Z轴的线性力
+            Tx: 绕X轴的力矩
+            Ty: 绕Y轴的力矩
+            Tz: 绕Z轴的力矩
+        """
+        if len(left_wrench) != 6 or len(right_wrench) != 6:
+            SDKLogger.error("Wrench data must be 6-dimensional")
+            return False
+            
+        try:
+            msg = Float64MultiArray()
+            msg.data = list(left_wrench) + list(right_wrench)
+            self._pub_hand_wrench.publish(msg)
+            return True
+        except Exception as e:
+            SDKLogger.error(f"Publish hand wrench failed: {e}")
+            return False
+        
+""" Control Robot Head """
+class ControlRobotHead:
+    def __init__(self):
+        self._pub_ctrl_robot_head = rospy.Publisher('/robot_head_motion_data', robotHeadMotionData, queue_size=10)
+    
+    def connect(self, timeout:float=1.0)->bool:
+        start_time = rospy.Time.now()
+        publishers = [
+            (self._pub_ctrl_robot_head, "robot head publisher", False) # not need check!
+        ]
+        for pub, name, required in publishers:
+            while pub.get_num_connections() == 0:
+                if (rospy.Time.now() - start_time).to_sec() > timeout:
+                    SDKLogger.error(f"Timeout waiting for {name} connection, '{pub.name}'")
+                    if required:
+                        return False
+                    break
+                rospy.sleep(0.1)
+        return True
+    def pub_control_robot_head(self, yaw:float, pitch:float)->bool:
+        try :
+            msg = robotHeadMotionData()
+            msg.joint_data = [yaw, pitch]
+            self._pub_ctrl_robot_head.publish(msg)
+            return True
+        except Exception as e:
+            SDKLogger.error(f"[Error] publish robot head: {e}")
+            return False
+
+    def srv_enable_head_tracking(self, target_id: int)->bool:
+        """Enable the head tracking for a specific tag ID.
+        
+        Args:
+            target_id: The ID of the tag to track
+            
+        Returns:
+            bool: True if successful, False otherwise
+        """
+        try:
+            # 首先设置追踪目标ID
+            service_name = '/set_target_tag_id'
+            rospy.wait_for_service(service_name, timeout=2.0)
+            set_tag_id_srv = rospy.ServiceProxy(service_name, setTagId)
+            
+            req = setTagIdRequest()
+            req.tag_id = target_id
+            
+            resp = set_tag_id_srv(req)
+            if not resp.success:
+                SDKLogger.error(f"Failed to set target tag ID: {resp.message}")
+                return False
+                
+            SDKLogger.info(f"Successfully set target tag ID to {target_id}: {resp.message}")
+            
+            # 然后启动连续追踪
+            service_name = '/continuous_track'
+            rospy.wait_for_service(service_name, timeout=2.0)
+            continuous_track_srv = rospy.ServiceProxy(service_name, SetBool)
+            
+            req = SetBoolRequest()
+            req.data = True
+            
+            resp = continuous_track_srv(req)
+            if not resp.success:
+                SDKLogger.error(f"Failed to start continuous tracking: {resp.message}")
+                return False
+                
+            SDKLogger.info(f"Successfully started continuous tracking: {resp.message}")
+            return True
+            
+        except rospy.ServiceException as e:
+            SDKLogger.error(f"Service call failed: {e}")
+        except rospy.ROSException as e:
+            SDKLogger.error(f"Failed to connect to service: {e}")
+        except Exception as e:
+            SDKLogger.error(f"Failed to enable head tracking: {e}")
+            
+        return False
+        
+    def srv_disable_head_tracking(self)->bool:
+        """Disable the head tracking.
+        
+        Returns:
+            bool: True if successful, False otherwise
+        """
+        try:
+            service_name = '/continuous_track'
+            rospy.wait_for_service(service_name, timeout=2.0)
+            continuous_track_srv = rospy.ServiceProxy(service_name, SetBool)
+            
+            req = SetBoolRequest()
+            req.data = False
+            
+            resp = continuous_track_srv(req)
+            if not resp.success:
+                SDKLogger.error(f"Failed to stop continuous tracking: {resp.message}")
+                return False
+                
+            SDKLogger.info(f"Successfully stopped continuous tracking: {resp.message}")
+            return True
+            
+        except rospy.ServiceException as e:
+            SDKLogger.error(f"Service call failed: {e}")
+        except rospy.ROSException as e:
+            SDKLogger.error(f"Failed to connect to service: {e}")
+        except Exception as e:
+            SDKLogger.error(f"Failed to disable head tracking: {e}")
+            
+        return False
+
+    def srv_enable_head_tracking(self, target_id: int)->bool:
+        """Enable the head tracking for a specific tag ID.
+        
+        Args:
+            target_id: The ID of the tag to track
+            
+        Returns:
+            bool: True if successful, False otherwise
+        """
+        try:
+            # 首先设置追踪目标ID
+            service_name = '/set_target_tag_id'
+            rospy.wait_for_service(service_name, timeout=2.0)
+            set_tag_id_srv = rospy.ServiceProxy(service_name, setTagId)
+            
+            req = setTagIdRequest()
+            req.tag_id = target_id
+            
+            resp = set_tag_id_srv(req)
+            if not resp.success:
+                SDKLogger.error(f"Failed to set target tag ID: {resp.message}")
+                return False
+                
+            SDKLogger.info(f"Successfully set target tag ID to {target_id}: {resp.message}")
+            
+            # 然后启动连续追踪
+            service_name = '/continuous_track'
+            rospy.wait_for_service(service_name, timeout=2.0)
+            continuous_track_srv = rospy.ServiceProxy(service_name, SetBool)
+            
+            req = SetBoolRequest()
+            req.data = True
+            
+            resp = continuous_track_srv(req)
+            if not resp.success:
+                SDKLogger.error(f"Failed to start continuous tracking: {resp.message}")
+                return False
+                
+            SDKLogger.info(f"Successfully started continuous tracking: {resp.message}")
+            return True
+            
+        except rospy.ServiceException as e:
+            SDKLogger.error(f"Service call failed: {e}")
+        except rospy.ROSException as e:
+            SDKLogger.error(f"Failed to connect to service: {e}")
+        except Exception as e:
+            SDKLogger.error(f"Failed to enable head tracking: {e}")
+            
+        return False
+        
+    def srv_disable_head_tracking(self)->bool:
+        """Disable the head tracking.
+        
+        Returns:
+            bool: True if successful, False otherwise
+        """
+        try:
+            service_name = '/continuous_track'
+            rospy.wait_for_service(service_name, timeout=2.0)
+            continuous_track_srv = rospy.ServiceProxy(service_name, SetBool)
+            
+            req = SetBoolRequest()
+            req.data = False
+            
+            resp = continuous_track_srv(req)
+            if not resp.success:
+                SDKLogger.error(f"Failed to stop continuous tracking: {resp.message}")
+                return False
+                
+            SDKLogger.info(f"Successfully stopped continuous tracking: {resp.message}")
+            return True
+            
+        except rospy.ServiceException as e:
+            SDKLogger.error(f"Service call failed: {e}")
+        except rospy.ROSException as e:
+            SDKLogger.error(f"Failed to connect to service: {e}")
+        except Exception as e:
+            SDKLogger.error(f"Failed to disable head tracking: {e}")
+            
+        return False
+
+
+""" Control Robot Motion """
+
+# JoyButton constants
+BUTTON_A = 0
+BUTTON_B = 1
+BUTTON_X = 2
+BUTTON_Y = 3
+BUTTON_LB = 4
+BUTTON_RB = 5
+BUTTON_BACK = 6
+BUTTON_START = 7
+
+# JoyAxis constants
+AXIS_LEFT_STICK_Y = 0
+AXIS_LEFT_STICK_X = 1
+AXIS_LEFT_LT = 2  # 1 -> (-1)
+AXIS_RIGHT_STICK_YAW = 3
+AXIS_RIGHT_STICK_Z = 4
+AXIS_RIGHT_RT = 5  # 1 -> (-1)
+AXIS_LEFT_RIGHT_TRIGGER = 6
+AXIS_FORWARD_BACK_TRIGGER = 7
+
+class ControlRobotMotion:
+    def __init__(self):
+        self._pub_cmd_vel = rospy.Publisher('/cmd_vel', Twist, queue_size=10)
+        self._pub_cmd_pose = rospy.Publisher('/cmd_pose', Twist, queue_size=10)
+        self._pub_cmd_pose_world = rospy.Publisher('/cmd_pose_world', Twist, queue_size=10)
+        self._pub_joy = rospy.Publisher('/joy', Joy, queue_size=10)
+        self._pub_switch_gait = rospy.Publisher('/humanoid_switch_gait_by_name', switchGaitByName, queue_size=10)
+        self._pub_step_ctrl = rospy.Publisher('/humanoid_mpc_foot_pose_target_trajectories', footPoseTargetTrajectories, queue_size=10)
+
+    def connect(self, timeout:float=3.0)-> bool:
+        start_time = rospy.Time.now()
+        publishers = [
+            # (self._pub_joy, "joy publisher"),
+            # pub name required
+            (self._pub_cmd_vel, "cmd_vel publisher", False),
+            (self._pub_cmd_pose, "cmd_pose publisher", False),
+            (self._pub_step_ctrl, "step_ctrl publisher", False),
+            (self._pub_switch_gait, "switch_gait publisher", False),
+            (self._pub_cmd_pose_world, "cmd_pose_world publisher", False),
+        ]
+        
+        success = True
+        for pub, name, required in publishers:
+            while pub.get_num_connections() == 0:
+                if (rospy.Time.now() - start_time).to_sec() > timeout:
+                    SDKLogger.error(f"Timeout waiting for {name} connection, '{pub.name}'")
+                    if required:
+                        success = False
+                    break
+                rospy.sleep(0.1)
+        return success
+
+    def pub_cmd_vel(self, linear_x: float, linear_y: float, angular_z: float)->bool:
+        try:
+            twist = Twist()
+            twist.linear.x = linear_x
+            twist.linear.y = linear_y
+            twist.angular.z = angular_z
+            self._pub_cmd_vel.publish(twist)
+            return True
+        except Exception as e:
+            SDKLogger.error(f"[Error] publish cmd vel: {e}")
+            return False
+
+    def pub_cmd_pose(self, twist)->bool:
+        try:
+            self._pub_cmd_pose.publish(twist)
+            return True
+        except Exception as e:
+            SDKLogger.error(f"[Error] publish cmd pose: {e}")
+            return False    
+
+    def pub_cmd_pose_world(self, twist:Twist)->bool:
+        try:
+            self._pub_cmd_pose_world.publish(twist)
+            return True
+        except Exception as e:
+            SDKLogger.error(f"[Error] publish cmd pose world: {e}")
+            return False
+
+    def _create_joy_msg(self)->Joy:
+        joy_msg = Joy()
+        joy_msg.axes = [0.0] * 8  # Initialize 8 axes
+        joy_msg.buttons = [0] * 16  # Initialize 16 buttons
+        return joy_msg
+
+    def _pub_joy_command(self, button_index: int, command_name: str) -> bool:
+        try:
+            joy_msg = self._create_joy_msg()
+            joy_msg.buttons[button_index] = 1
+            self._pub_joy.publish(joy_msg)
+            SDKLogger.debug(f"Published {command_name} command")
+            return True
+        except Exception as e:
+            SDKLogger.error(f"[Error] publish {command_name}: {e}")
+            return False
+
+    def _pub_switch_gait_by_name(self, gait_name: str) -> bool:
+        try:
+            msg = switchGaitByName()
+            msg.header.stamp = rospy.Time.now()
+            msg.gait_name = gait_name
+            self._pub_switch_gait.publish(msg)
+            # print(f"Published {gait_name} gait")
+            return True
+        except Exception as e:
+            SDKLogger.error(f"[Error] publish switch gait {gait_name}: {e}")
+            return False
+
+    def pub_walk_command(self) -> bool:
+        # return self._pub_joy_command(BUTTON_Y, "walk")
+        return self._pub_switch_gait_by_name("walk")
+
+    def pub_stance_command(self) -> bool:
+        try:
+            self.pub_cmd_vel(linear_x=0.0, linear_y=0.0, angular_z=0.0)
+            # return self._pub_joy_command(BUTTON_A, "stance") 
+            return self._pub_switch_gait_by_name("stance")
+        except Exception as e:
+            SDKLogger.error(f"[Error] publish stance: {e}")
+            return False
+
+    def pub_trot_command(self) -> bool:
+        # return self._pub_joy_command(BUTTON_B, "trot")
+        return self._pub_switch_gait_by_name("walk")
+    
+    def pub_step_ctrl(self, msg)->bool:
+        try:
+            self._pub_step_ctrl.publish(msg)
+            return True
+        except Exception as e:
+            SDKLogger.error(f"[Error] publish step ctrl: {e}")
+            return False
+class KuavoRobotArmIKFK:
+    def __init__(self):
+        pass
+    def arm_ik(self, 
+               left_pose: KuavoPose, 
+               right_pose: KuavoPose, 
+               left_elbow_pos_xyz: list = [0.0, 0.0, 0.0],
+               right_elbow_pos_xyz: list = [0.0, 0.0, 0.0],
+               arm_q0: list = None,
+               params: KuavoIKParams=None) -> list:
+        eef_pose_msg = twoArmHandPoseCmd()
+        if arm_q0 is None:
+            eef_pose_msg.joint_angles_as_q0 = False
+        else:
+            eef_pose_msg.joint_angles_as_q0 = True
+            eef_pose_msg.joint_angles = arm_q0
+        
+        if params is None:
+            eef_pose_msg.use_custom_ik_param = False
+        else:
+            eef_pose_msg.use_custom_ik_param = True
+            eef_pose_msg.ik_param.major_optimality_tol = params.major_optimality_tol
+            eef_pose_msg.ik_param.major_feasibility_tol = params.major_feasibility_tol
+            eef_pose_msg.ik_param.minor_feasibility_tol = params.minor_feasibility_tol
+            eef_pose_msg.ik_param.major_iterations_limit = params.major_iterations_limit
+            eef_pose_msg.ik_param.oritation_constraint_tol= params.oritation_constraint_tol
+            eef_pose_msg.ik_param.pos_constraint_tol = params.pos_constraint_tol 
+            eef_pose_msg.ik_param.pos_cost_weight = params.pos_cost_weight
+
+        # left hand
+        eef_pose_msg.hand_poses.left_pose.pos_xyz =  left_pose.position
+        eef_pose_msg.hand_poses.left_pose.quat_xyzw = left_pose.orientation
+        eef_pose_msg.hand_poses.left_pose.elbow_pos_xyz = left_elbow_pos_xyz
+
+        # right hand
+        eef_pose_msg.hand_poses.right_pose.pos_xyz =  right_pose.position
+        eef_pose_msg.hand_poses.right_pose.quat_xyzw = right_pose.orientation
+        eef_pose_msg.hand_poses.right_pose.elbow_pos_xyz = right_elbow_pos_xyz
+
+        return self._srv_arm_ik(eef_pose_msg)
+
+    def arm_ik_free(self,
+                    left_pose: KuavoPose,
+                    right_pose: KuavoPose,
+                    left_elbow_pos_xyz: list = [0.0, 0.0, 0.0],
+                    right_elbow_pos_xyz: list = [0.0, 0.0, 0.0],
+                    arm_q0: list = None,
+                    params: KuavoIKParams = None) -> list:
+        eef_pose_msg = twoArmHandPoseCmdFree()
+        if arm_q0 is None:
+            eef_pose_msg.joint_angles_as_q0 = False
+        else:
+            eef_pose_msg.joint_angles_as_q0 = True
+            eef_pose_msg.joint_angles = arm_q0
+
+        if params is None:
+            eef_pose_msg.use_custom_ik_param = False
+        else:
+            eef_pose_msg.use_custom_ik_param = True
+            eef_pose_msg.ik_param.major_optimality_tol = params.major_optimality_tol
+            eef_pose_msg.ik_param.major_feasibility_tol = params.major_feasibility_tol
+            eef_pose_msg.ik_param.minor_feasibility_tol = params.minor_feasibility_tol
+            eef_pose_msg.ik_param.major_iterations_limit = params.major_iterations_limit
+            eef_pose_msg.ik_param.oritation_constraint_tol = params.oritation_constraint_tol
+            eef_pose_msg.ik_param.pos_constraint_tol = params.pos_constraint_tol
+            eef_pose_msg.ik_param.pos_cost_weight = params.pos_cost_weight
+
+        # left hand
+        eef_pose_msg.hand_poses.left_pose.pos_xyz = left_pose.position
+        eef_pose_msg.hand_poses.left_pose.quat_xyzw = left_pose.orientation
+        eef_pose_msg.hand_poses.left_pose.elbow_pos_xyz = left_elbow_pos_xyz
+
+        # right hand
+        eef_pose_msg.hand_poses.right_pose.pos_xyz = right_pose.position
+        eef_pose_msg.hand_poses.right_pose.quat_xyzw = right_pose.orientation
+        eef_pose_msg.hand_poses.right_pose.elbow_pos_xyz = right_elbow_pos_xyz
+
+        return self._srv_arm_ik_free(eef_pose_msg)
+
+
+
+    def arm_fk(self, q: list) -> Tuple[KuavoPose, KuavoPose]:
+        return self._srv_arm_fk(q)
+    
+    def _srv_arm_ik(self, eef_pose_msg)->list:
+        try:
+            rospy.wait_for_service('/ik/two_arm_hand_pose_cmd_srv',timeout=1.0)
+            ik_srv = rospy.ServiceProxy('/ik/two_arm_hand_pose_cmd_srv', twoArmHandPoseCmdSrv)
+            res = ik_srv(eef_pose_msg)
+            # print(eef_pose_msg)
+            if res.success:
+                return res.hand_poses.left_pose.joint_angles + res.hand_poses.right_pose.joint_angles
+            else:
+                return None
+        except rospy.ServiceException as e:
+            print("Service call failed: %s"%e)
+            return None
+        except Exception as e:
+            print(f"Failed to call ik/fk_srv: {e}")
+            return None
+    
+    def _srv_arm_ik_free(self, eef_pose_msg:twoArmHandPoseCmdFree)->list:
+        try:
+            rospy.wait_for_service('/ik/two_arm_hand_pose_cmd_free_srv',timeout=1.0)
+            ik_srv = rospy.ServiceProxy('/ik/two_arm_hand_pose_cmd_free_srv', twoArmHandPoseCmdFreeSrv)
+            res = ik_srv(eef_pose_msg)
+            return res.hand_poses.left_pose.joint_angles + res.hand_poses.right_pose.joint_angles
+        except rospy.ServiceException as e:
+            print("Service call failed: %s"%e)
+            return None
+        except Exception as e:
+            print(f"Failed to call ik/fk_srv: {e}")
+            return None
+
+    def _srv_arm_fk(self, q: list) -> Tuple[KuavoPose, KuavoPose]:
+        try:
+            rospy.wait_for_service('/ik/fk_srv',timeout=1.0)
+            ik_srv = rospy.ServiceProxy('/ik/fk_srv', fkSrv)
+            res = ik_srv(q)
+            if res.success:
+                return KuavoPose(position=res.hand_poses.left_pose.pos_xyz, orientation=res.hand_poses.left_pose.quat_xyzw), \
+                    KuavoPose(position=res.hand_poses.right_pose.pos_xyz, orientation=res.hand_poses.right_pose.quat_xyzw),
+            else:
+                return None
+        except rospy.ServiceException as e:
+            print("Service call failed: %s"%e)
+            return None
+        except Exception as e:
+            print(f"Failed to call ik/fk_srv: {e}")
+            return None
+
+
+
+"""
+    Kuavo Robot Control 
+"""
+class KuavoRobotControl:
+    _instance = None
+    
+    def __new__(cls, *args, **kwargs):
+        if not cls._instance:
+            cls._instance = super().__new__(cls)
+            if not rospy.core.is_initialized():
+                if not rospy.get_node_uri():
+                    rospy.init_node(f'kuavo_sdk_node_{os.getpid()}', anonymous=True, disable_signals=True)
+        return cls._instance
+    
+    def __init__(self):
+        if not hasattr(self, '_initialized'):
+            self._initialized = True
+            self.kuavo_eef_control = None
+            self.kuavo_head_control = ControlRobotHead()
+            self.kuavo_arm_control = ControlRobotArm()
+            self.kuavo_motion_control = ControlRobotMotion()
+            self.kuavo_arm_ik_fk = KuavoRobotArmIKFK()
+            # SDKLogger.debug("KuavoRobotControl initialized.")
+
+    def initialize(self, eef_type:str=None, debug:bool=False, timeout:float=1.0)-> Tuple[bool, str]:
+        # init eef control
+        if eef_type is None:
+            self.kuavo_eef_control = None
+        else:
+            self.kuavo_eef_control = ControlEndEffector(eef_type=eef_type)
+        
+        connect_success = True
+        err_msg = ''
+        if not self.kuavo_arm_control.connect(timeout):
+            connect_success  = False
+            err_msg = "Failed to connect to arm control topics, \n"
+        if not self.kuavo_head_control.connect(timeout):
+            connect_success  = False
+            err_msg += "Failed to connect to head control topics, \n"
+        if not self.kuavo_motion_control.connect(timeout):
+            err_msg += "Failed to connect to motion control topics, \n"
+            connect_success  = False
+
+        if self.kuavo_eef_control is not None and not self.kuavo_eef_control.connect(timeout):
+            connect_success  = False
+            err_msg += "Failed to connect to end effector control topics."
+
+        if connect_success:
+            err_msg = 'success'
+        return connect_success, err_msg
+    
+    """ End Effector Control"""
+
+    def control_robot_arm_target_poses(self, times: list, joint_q: list) -> bool:
+        """
+            Control robot arm target poses
+            Arguments:
+                - times: list of times (seconds)
+                - joint_q: list of joint data (degrees)
+        """
+        if len(times) != len(joint_q):
+            raise ValueError("Times and joint_q must have the same length.")
+        elif len(times) == 0:
+            raise ValueError("Times and joint_q must not be empty.")
+
+        return self.kuavo_arm_control.pub_arm_target_poses(times=times, joint_q=joint_q)
+    def control_robot_dexhand(self, left_position:list, right_position:list)->bool:
+        """
+            Control robot dexhand
+            Args:
+                left_position: list of 6 floats between 0 and 100
+                right_position: list of 6 floats between 0 and 100
+        """
+        if self.kuavo_eef_control is None:
+            SDKLogger.error("End effector control is not initialized.")
+            return False
+        
+        if len(left_position) != 6 or len(right_position) != 6:
+            raise ValueError("Position lists must have a length of 6.")
+        
+        for position in left_position + right_position:
+            if position < 0.0 or position > 100.0:
+                raise ValueError("All position values must be in the range [0.0, 100.0].")    
+        
+        SDKLogger.debug(f"Control robot dexhand: {left_position}, {right_position}")
+        return self.kuavo_eef_control.pub_control_robot_dexhand(left_position, right_position)
+
+    def robot_dexhand_command(self, data, ctrl_mode, hand_side):
+        """
+            Publish dexhand command
+            Args:
+                - data: list of 6 floats between 0 and 100
+                - ctrl_mode: int between 0(position), 1(velocity)
+                - hand_side: int between 0(left), 1(right), 2(dual)
+        """
+        if self.kuavo_eef_control is None:
+            SDKLogger.error("End effector control is not initialized.")
+            return False
+        return self.kuavo_eef_control.pub_dexhand_command(data, ctrl_mode, hand_side)
+
+    def execute_gesture(self, gestures:list)->bool:
+        """
+            Execute gestures
+            Arguments:
+                - gestures: list of dicts with keys 'gesture_name' and 'hand_side'
+                 e.g. [{'gesture_name': 'fist', 'hand_side': 0},]
+        """
+        if self.kuavo_eef_control is None:
+            SDKLogger.warn("End effectors control is not initialized.")
+            return False
+        return self.kuavo_eef_control.srv_execute_gesture(gestures)
+
+    def get_gesture_names(self)->list:
+        """
+            Get the names of all gestures.
+        """
+        if self.kuavo_eef_control is None:
+            SDKLogger.warn("End effectors control is not initialized.")
+            return []
+        return self.kuavo_eef_control.srv_get_gesture_names()
+
+    def control_leju_claw(self, postions:list, velocities:list=[90, 90], torques:list=[1.0, 1.0]) ->bool:
+        """
+            Control leju claw
+            Arguments:
+                - postions: list of positions for left and right claw
+                - velocities: list of velocities for left and right claw
+                - torques: list of torques for left and right claw
+        """
+        if self.kuavo_eef_control is None:
+            SDKLogger.warn("End effectors control is not initialized.")
+            return False
+        SDKLogger.debug(f"Control leju claw: {postions}, {velocities}, {torques}")
+        if len(postions) != 2 or len(velocities) != 2 or len(torques) != 2:
+                raise ValueError("Position, velocity, and torque lists must have a length of 2.")
+        return self.kuavo_eef_control.srv_control_leju_claw(postions, velocities, torques)
+    """--------------------------------------------------------------------------------------------"""
+    def control_robot_head(self, yaw:float, pitch:float)->bool:
+        """
+            Control robot head
+            Arguments:
+                - yaw: yaw angle, radian
+                - pitch: pitch angle, radian
+        """
+        SDKLogger.debug(f"Control robot head: {yaw}, {pitch}")
+        return self.kuavo_head_control.pub_control_robot_head(yaw, pitch)
+    
+    def enable_head_tracking(self, target_id: int)->bool:
+        """Enable the head tracking for a specific tag ID.
+        
+        Args:
+            target_id: The ID of the tag to track
+            
+        Returns:
+            bool: True if successful, False otherwise
+        """
+        SDKLogger.debug(f"Enable head tracking: {target_id}")
+        return self.kuavo_head_control.srv_enable_head_tracking(target_id)
+    
+    def disable_head_tracking(self)->bool:
+        """Disable the head tracking.
+        
+        Returns:
+            bool: True if successful, False otherwise
+        """
+        SDKLogger.debug(f"Disable head tracking")
+        return self.kuavo_head_control.srv_disable_head_tracking()
+    
+    def control_robot_arm_joint_positions(self, joint_data:list)->bool:
+        """
+            Control robot arm joint positions
+            Arguments:
+                - joint_data: list of joint data (degrees)
+        """
+        # SDKLogger.debug(f"[ROS] Control robot arm trajectory: {joint_data}")
+        return self.kuavo_arm_control.pub_control_robot_arm_traj(joint_data)
+    
+    def is_arm_collision(self)->bool:
+        """
+            Check if arm collision is happening
+            Returns:
+                bool: True if collision is happening, False otherwise
+        """
+        return self.kuavo_arm_control.is_arm_collision()
+    
+    def is_arm_collision_mode(self)->bool:
+        """
+            Check if arm collision mode is enabled
+            Returns:
+                bool: True if collision mode is enabled, False otherwise
+        """
+        return self.kuavo_arm_control.is_arm_collision_mode()
+
+    def release_arm_collision_mode(self):
+        """
+            Release arm collision mode
+        """
+        return self.kuavo_arm_control.release_arm_collision_mode()
+    
+    def wait_arm_collision_complete(self):
+        """
+            Wait for arm collision to complete
+        """
+        return self.kuavo_arm_control.wait_arm_collision_complete()
+    
+    def set_arm_collision_mode(self, enable: bool):
+        """
+            Set arm collision mode
+        """
+        return self.kuavo_arm_control.set_arm_collision_mode(enable)
+    
+    def control_robot_arm_joint_trajectory(self, times:list, joint_q:list)->bool:
+        """
+            Control robot arm joint trajectory
+            Arguments:
+                - times: list of times (seconds)
+                - joint_q: list of joint data (degrees)
+        """
+        if len(times) != len(joint_q):
+            raise ValueError("Times and joint_q must have the same length.")
+        elif len(times) == 0:
+            raise ValueError("Times and joint_q must not be empty.")
+        
+        return self.kuavo_arm_control.pub_arm_target_poses(times=times, joint_q=joint_q)
+    
+    def control_robot_end_effector_pose(self, left_pose: KuavoPose, right_pose: KuavoPose, frame: KuavoManipulationMpcFrame)->bool:
+        """
+            Control robot end effector pose
+            Arguments:
+                - left_pose: left end effector pose
+                - right_pose: right end effector pose
+                - frame: frame of the end effector pose, 0: keep current frame, 1: world frame, 2: local frame, 3: VR frame, 4: manipulation world frame
+        """
+        return self.kuavo_arm_control.pub_end_effector_pose_cmd(left_pose, right_pose, frame)
+    
+    def change_manipulation_mpc_frame(self, frame: KuavoManipulationMpcFrame)->bool:
+        """
+            Change manipulation mpc frame
+            Arguments:
+                - frame: frame of the manipulation mpc
+        """
+        return self.kuavo_arm_control.srv_change_manipulation_mpc_frame(frame)
+    
+    def change_manipulation_mpc_ctrl_mode(self, ctrl_mode: KuavoManipulationMpcCtrlMode)->bool:
+        """
+            Change manipulation mpc control mode
+            Arguments:
+                - control_mode: control mode of the manipulation mpc
+        """
+        return self.kuavo_arm_control.srv_change_manipulation_mpc_ctrl_mode(ctrl_mode)
+    
+    def change_manipulation_mpc_control_flow(self, ctrl_flow: KuavoManipulationMpcControlFlow)->bool:
+        """
+            Change manipulation mpc wbc arm traj control mode, control signal will be sent to wbc directly
+            Arguments:
+                - control_mode: control mode of the manipulation mpc wbc arm traj
+        """
+        return self.kuavo_arm_control.srv_change_manipulation_mpc_control_flow(ctrl_flow)
+    
+    def get_manipulation_mpc_ctrl_mode(self)->KuavoManipulationMpcCtrlMode:
+        """
+            Get manipulation mpc control mode
+        """
+        return self.kuavo_arm_control.srv_get_manipulation_mpc_ctrl_mode()
+    
+    def get_manipulation_mpc_frame(self)-> KuavoManipulationMpcFrame:
+        """
+            Get manipulation mpc frame
+        """
+        return self.kuavo_arm_control.srv_get_manipulation_mpc_frame()  
+    
+    def get_manipulation_mpc_control_flow(self)->KuavoManipulationMpcControlFlow:
+        """
+            Get manipulation mpc wbc arm traj control mode
+        """
+        return self.kuavo_arm_control.srv_get_manipulation_mpc_control_flow()   
+    
+    def change_robot_arm_ctrl_mode(self, mode:KuavoArmCtrlMode)->bool:
+        """
+            Change robot arm control mode
+            Arguments:
+                - mode: arm control mode
+        """
+        SDKLogger.debug(f"[ROS] Change robot arm control mode: {mode}")
+        return self.kuavo_arm_control.srv_change_arm_ctrl_mode(mode)
+    
+    def get_robot_arm_ctrl_mode(self)->int:
+        """
+            Get robot arm control mode
+        """
+        return self.kuavo_arm_control.srv_get_arm_ctrl_mode()
+    
+    def arm_ik(self, left_pose: KuavoPose, right_pose: KuavoPose, 
+               left_elbow_pos_xyz: list = [0.0, 0.0, 0.0],  
+               right_elbow_pos_xyz: list = [0.0, 0.0, 0.0],
+               arm_q0: list = None, params: KuavoIKParams=None) -> list:
+        return self.kuavo_arm_ik_fk.arm_ik(left_pose, right_pose, left_elbow_pos_xyz, right_elbow_pos_xyz, arm_q0, params)
+
+    def arm_ik_free(self, left_pose: KuavoPose, right_pose: KuavoPose, 
+               left_elbow_pos_xyz: list = [0.0, 0.0, 0.0],  
+               right_elbow_pos_xyz: list = [0.0, 0.0, 0.0],
+               arm_q0: list = None, params: KuavoIKParams=None) -> list:
+        return self.kuavo_arm_ik_fk.arm_ik_free(left_pose, right_pose, left_elbow_pos_xyz, right_elbow_pos_xyz, arm_q0, params)
+
+    def arm_fk(self, q: list) -> Tuple[KuavoPose, KuavoPose]:
+        return self.kuavo_arm_ik_fk.arm_fk(q)
+    
+    """ Motion """
+    def robot_stance(self)->bool:
+        return self.kuavo_motion_control.pub_stance_command()
+
+    def robot_trot(self)->bool:
+        return self.kuavo_motion_control.pub_trot_command()
+    
+    def robot_walk(self, linear_x:float, linear_y:float, angular_z:float)->bool:
+        return self.kuavo_motion_control.pub_cmd_vel(linear_x, linear_y, angular_z)
+    
+    def control_torso_height(self, height:float, pitch:float=0.0)->bool:
+        com_msg = Twist()
+        com_msg.linear.z = height
+        com_msg.angular.y = pitch
+        return self.kuavo_motion_control.pub_cmd_pose(com_msg)
+
+    def control_command_pose_world(self, target_pose_x:float, target_pose_y:float, target_pose_z:float, target_pose_yaw:float)->bool:
+        """
+            odom下的机器人cmd_pose_world
+        """
+        com_msg = Twist()
+        com_msg.linear.x = target_pose_x
+        com_msg.linear.y = target_pose_y
+        com_msg.linear.z = target_pose_z
+        com_msg.angular.z = target_pose_yaw
+        return self.kuavo_motion_control.pub_cmd_pose_world(com_msg)
+
+    def control_command_pose(self, target_pose_x:float, target_pose_y:float, target_pose_z:float, target_pose_yaw:float)->bool:
+        """
+            base_link下的机器人cmd_pose
+        """
+        com_msg = Twist()
+        com_msg.linear.x = target_pose_x
+        com_msg.linear.y = target_pose_y
+        com_msg.linear.z = target_pose_z
+        com_msg.angular.z = target_pose_yaw
+        return self.kuavo_motion_control.pub_cmd_pose(com_msg)
+
+    def step_control(self, body_poses:list, dt:float, is_left_first_default:bool=True, collision_check:bool=True)->bool:
+        """
+            Step control
+            Arguments:
+                - body_poses: list of body poses (x, y, z, yaw), meters and degrees
+                - dt: time step (seconds)
+                - is_left_first_default: whether to start with left foot
+                - collision_check: whether to check for collisions
+        """
+        if len(body_poses) == 0:
+            raise ValueError("Body poses must not be empty.")
+        if dt <= 0.0:
+            raise ValueError("Time step must be greater than 0.0.")
+        for bp in body_poses:
+            if len(bp) != 4:
+                raise ValueError("Body pose must have 4 elements: [x, y, z, yaw]")
+        
+        msg = get_multiple_steps_msg(body_poses, dt, is_left_first_default, collision_check)
+        return self.kuavo_motion_control.pub_step_ctrl(msg)
+    
+    def change_motor_param(self, motor_param:list)->Tuple[bool, str]:
+        """
+            Change motor param
+        """
+        try:
+            service_name = '/hardware/change_motor_param'
+            rospy.wait_for_service(service=service_name, timeout=2.0)
+            change_motor_param_service = rospy.ServiceProxy(service_name, changeMotorParam)
+            
+            # request
+            request = changeMotorParamRequest()
+            for param in motor_param:
+                request.data.append(motorParam(Kp=param.Kp, Kd=param.Kd, id=param.id))
+            
+            # call service
+            response = change_motor_param_service(request)
+            if not response.success:
+                SDKLogger.error(f"Failed to change motor param: {response.message}")
+                return False, response.message
+            return True, 'success'
+        except rospy.ServiceException as e:
+            SDKLogger.error(f"Service call failed: {e}")
+        except rospy.ROSException as e:
+            SDKLogger.error(f"Service call failed: {e}")
+        except Exception as e:
+            SDKLogger.error(f"Service call failed: {e}")
+        return False, 'failed'
+    
+    def get_motor_param(self)->Tuple[bool, list, str]:
+        try:
+            service_name = '/hardware/get_motor_param'
+            rospy.wait_for_service(service=service_name, timeout=2.0)
+            motor_param_service = rospy.ServiceProxy(service_name, getMotorParam)
+            
+            # request
+            request = getMotorParamRequest()
+            response = motor_param_service(request)
+            if not response.success:
+                SDKLogger.error(f"Failed to get motor param: {response.message}")
+                return False, None, response.message
+            params = []
+            for param in response.data:
+                params.append(KuavoMotorParam(Kp=param.Kp, Kd=param.Kd, id=param.id))
+            return True, params, 'success'
+        except rospy.ServiceException as e:
+            SDKLogger.error(f"Service call failed: {e}")
+        except rospy.ROSException as e:
+            SDKLogger.error(f"Service call failed: {e}")
+        except Exception as e:
+            SDKLogger.error(f"Service call failed: {e}")
+        return False, None, 'failed'
+
+    def control_hand_wrench(self, left_wrench: list, right_wrench: list) -> bool:
+        return self.kuavo_arm_control.pub_hand_wrench_cmd(left_wrench, right_wrench)
+    
+    def enable_base_pitch_limit(self, enable: bool) -> Tuple[bool, str]:
+        res_msg = 'failed'
+        try:
+            service_name = '/humanoid/mpc/enable_base_pitch_limit'
+            rospy.wait_for_service(service=service_name, timeout=2.0)
+            pitch_limit_service = rospy.ServiceProxy(service_name, SetBool)
+            
+            # request
+            request = SetBoolRequest()
+            request.data = enable
+            response = pitch_limit_service(request)
+            if not response.success:
+                SDKLogger.error(f"Failed to enable pitch limit: {response.message}")
+                return False, response.message
+            return True, 'success'
+        except rospy.ServiceException as e:
+            SDKLogger.error(f"Service call failed: {e}")
+            res_msg = str(e)
+        except rospy.ROSException as e:
+            SDKLogger.error(f"Service call failed: {e}")
+            res_msg = str(e)
+        except Exception as e:
+            SDKLogger.error(f"Service call failed: {e}")
+            res_msg = str(e)
+        return False, res_msg
+
+def euler_to_rotation_matrix(yaw, pitch, roll):
+    # 计算各轴的旋转矩阵
+    R_yaw = np.array([[np.cos(yaw), -np.sin(yaw), 0],
+                      [np.sin(yaw), np.cos(yaw), 0],
+                      [0, 0, 1]])
+
+    R_pitch = np.array([[np.cos(pitch), 0, np.sin(pitch)],
+                        [0, 1, 0],
+                        [-np.sin(pitch), 0, np.cos(pitch)]])
+
+    R_roll = np.array([[1, 0, 0],
+                       [0, np.cos(roll), -np.sin(roll)],
+                       [0, np.sin(roll), np.cos(roll)]])
+
+    # 按照 Yaw-Pitch-Roll 的顺序组合旋转矩阵
+    R = np.dot(R_roll, np.dot(R_pitch, R_yaw))
+    return R
+
+def get_foot_pose_traj_msg(time_traj:list, foot_idx_traj:list, foot_traj:list, torso_traj:list):
+    num = len(time_traj)
+
+    msg = footPoseTargetTrajectories()
+    msg.timeTrajectory = time_traj
+    msg.footIndexTrajectory = foot_idx_traj
+    msg.footPoseTrajectory = []
+
+    for i in range(num):
+        foot_pose_msg = footPose()
+        foot_pose_msg.footPose = foot_traj[i]
+        foot_pose_msg.torsoPose = torso_traj[i]
+        msg.footPoseTrajectory.append(foot_pose_msg)
+
+    return msg
+
+def generate_steps(torso_pos, torso_yaw, foot_bias):
+    l_foot_bias = np.array([0, foot_bias, -torso_pos[2]])
+    r_foot_bias = np.array([0, -foot_bias, -torso_pos[2]])
+    R_z = np.array([
+        [np.cos(torso_yaw), -np.sin(torso_yaw), 0],
+        [np.sin(torso_yaw), np.cos(torso_yaw), 0],
+        [0, 0, 1]
+    ])
+    l_foot = torso_pos + R_z.dot(l_foot_bias)
+    r_foot = torso_pos + R_z.dot(r_foot_bias)
+    return l_foot, r_foot   
+
+def get_multiple_steps_msg(body_poses:list, dt:float, is_left_first:bool=True, collision_check:bool=True):
+    num_steps = 2*len(body_poses)
+    time_traj = []
+    foot_idx_traj = []
+    foot_traj = []
+    torso_traj = []
+    l_foot_rect_last = RotatingRectangle(center=(0, 0.1), width=0.24, height=0.1, angle=0)
+    r_foot_rect_last = RotatingRectangle(center=(0,-0.1), width=0.24, height=0.1, angle=0)
+    torso_pose_last = np.array([0, 0, 0, 0])
+    for i in range(num_steps):
+        time_traj.append(dt * (i+1))
+        body_pose = body_poses[i//2]
+        torso_pos = np.asarray(body_pose[:3])
+        torso_yaw = np.radians(body_pose[3])
+        l_foot, r_foot = generate_steps(torso_pos, torso_yaw, 0.1)
+        l_foot = [*l_foot[:3], torso_yaw]
+        r_foot = [*r_foot[:3], torso_yaw]
+
+        if(i%2 == 0):        
+            torso_pose = np.array([*body_pose[:3], torso_yaw])
+            R_wl = euler_to_rotation_matrix(torso_pose_last[3], 0, 0)
+            delta_pos = R_wl.T @ (torso_pose[:3] - torso_pose_last[:3])
+            # print("delta_pos:", delta_pos)
+            if(torso_yaw > 0.0 or delta_pos[1] > 0.0):
+                is_left_first = True
+            else:
+                is_left_first = False
+
+        if(collision_check and i%2 == 0):
+            l_foot_rect_next = RotatingRectangle(center=(l_foot[0],l_foot[1]), width=0.24, height=0.1, angle=torso_yaw)
+            r_foot_rect_next = RotatingRectangle(center=(r_foot[0],r_foot[1]), width=0.24, height=0.1, angle=torso_yaw)
+            l_collision = l_foot_rect_next.is_collision(r_foot_rect_last)
+            r_collision = r_foot_rect_next.is_collision(l_foot_rect_last)
+            if l_collision and r_collision:
+                SDKLogger.error("[Control] Detect collision, Please adjust your body_poses input!!!")
+                break
+            elif l_collision:
+                SDKLogger.warn("[Control] Left foot is in collision, switch to right foot")
+                is_left_first = False
+            elif r_collision:
+                SDKLogger.warn("[Control] Right foot is in collision, switch to left foot")
+                is_left_first = True
+            l_foot_rect_last = l_foot_rect_next
+            r_foot_rect_last = r_foot_rect_next
+        if(i%2 == 0):
+            torso_traj.append((torso_pose_last + torso_pose)/2.0)
+            if is_left_first:
+                foot_idx_traj.append(0)
+                foot_traj.append(l_foot)
+            else:
+                foot_idx_traj.append(1)
+                foot_traj.append(r_foot)
+        else:
+            torso_traj.append(torso_pose)
+            if is_left_first:
+                foot_idx_traj.append(1)
+                foot_traj.append(r_foot)
+            else:
+                foot_idx_traj.append(0)
+                foot_traj.append(l_foot)
+        torso_pose_last = torso_traj[-1]
+    # print("time_traj:", time_traj)
+    # print("foot_idx_traj:", foot_idx_traj)
+    # print("foot_traj:", foot_traj)
+    # print("torso_traj:", torso_traj)
+    return get_foot_pose_traj_msg(time_traj, foot_idx_traj, foot_traj, torso_traj)
+""" ------------------------------------------------------------------------------"""
+
+
+# if __name__ == "__main__":
+#     control = KuavoRobotControl()
+#     control.change_manipulation_mpc_frame(KuavoManipulationMpcFrame.KeepCurrentFrame)
+#     control.change_manipulation_mpc_ctrl_mode(KuavoManipulationMpcCtrlMode.ArmOnly)
+#     control.change_manipulation_mpc_control_flow(KuavoManipulationMpcControlFlow.DirectToWbc)
+#     print(control.get_manipulation_mpc_ctrl_mode())
+#     print(control.get_manipulation_mpc_frame())
+#     print(control.get_manipulation_mpc_control_flow())
+#     control.change_manipulation_mpc_frame(KuavoManipulationMpcFrame.WorldFrame)
+#     control.change_robot_arm_ctrl_mode(KuavoArmCtrlMode.ExternalControl)
+#     control.control_robot_end_effector_pose(KuavoPose(position=[0.3, 0.4, 0.9], orientation=[0.0, 0.0, 0.0, 1.0]), KuavoPose(position=[0.3, -0.5, 1.0], orientation=[0.0, 0.0, 0.0, 1.0]), KuavoManipulationMpcFrame.WorldFrame)