kuavo-humanoid-sdk 1.2.1b3290__20250912184757-py3-none-any.whl

kuavo_humanoid_sdk/msg/ocs2_msgs/srv/_reset.py

@@ -0,0 +1,376 @@
+# This Python file uses the following encoding: utf-8
+"""autogenerated by genpy from ocs2_msgs/resetRequest.msg. Do not edit."""
+import codecs
+import sys
+python3 = True if sys.hexversion > 0x03000000 else False
+import genpy
+import struct
+
+import ocs2_msgs.msg
+
+class resetRequest(genpy.Message):
+  _md5sum = "7759e1cea687346062f2674a13fe14ee"
+  _type = "ocs2_msgs/resetRequest"
+  _has_header = False  # flag to mark the presence of a Header object
+  _full_text = """# Reset service 
+bool                      reset
+mpc_target_trajectories   targetTrajectories
+
+================================================================================
+MSG: ocs2_msgs/mpc_target_trajectories
+# MPC target trajectories
+
+float64[]    timeTrajectory        # MPC target time trajectory
+mpc_state[]  stateTrajectory       # MPC target state trajectory
+mpc_input[]  inputTrajectory       # MPC target input trajectory
+
+
+================================================================================
+MSG: ocs2_msgs/mpc_state
+# MPC internal model state vector
+float32[] value
+
+================================================================================
+MSG: ocs2_msgs/mpc_input
+# MPC internal model input vector 
+
+float32[] value"""
+  __slots__ = ['reset','targetTrajectories']
+  _slot_types = ['bool','ocs2_msgs/mpc_target_trajectories']
+
+  def __init__(self, *args, **kwds):
+    """
+    Constructor. Any message fields that are implicitly/explicitly
+    set to None will be assigned a default value. The recommend
+    use is keyword arguments as this is more robust to future message
+    changes.  You cannot mix in-order arguments and keyword arguments.
+
+    The available fields are:
+       reset,targetTrajectories
+
+    :param args: complete set of field values, in .msg order
+    :param kwds: use keyword arguments corresponding to message field names
+    to set specific fields.
+    """
+    if args or kwds:
+      super(resetRequest, self).__init__(*args, **kwds)
+      # message fields cannot be None, assign default values for those that are
+      if self.reset is None:
+        self.reset = False
+      if self.targetTrajectories is None:
+        self.targetTrajectories = ocs2_msgs.msg.mpc_target_trajectories()
+    else:
+      self.reset = False
+      self.targetTrajectories = ocs2_msgs.msg.mpc_target_trajectories()
+
+  def _get_types(self):
+    """
+    internal API method
+    """
+    return self._slot_types
+
+  def serialize(self, buff):
+    """
+    serialize message into buffer
+    :param buff: buffer, ``StringIO``
+    """
+    try:
+      _x = self.reset
+      buff.write(_get_struct_B().pack(_x))
+      length = len(self.targetTrajectories.timeTrajectory)
+      buff.write(_struct_I.pack(length))
+      pattern = '<%sd'%length
+      buff.write(struct.Struct(pattern).pack(*self.targetTrajectories.timeTrajectory))
+      length = len(self.targetTrajectories.stateTrajectory)
+      buff.write(_struct_I.pack(length))
+      for val1 in self.targetTrajectories.stateTrajectory:
+        length = len(val1.value)
+        buff.write(_struct_I.pack(length))
+        pattern = '<%sf'%length
+        buff.write(struct.Struct(pattern).pack(*val1.value))
+      length = len(self.targetTrajectories.inputTrajectory)
+      buff.write(_struct_I.pack(length))
+      for val1 in self.targetTrajectories.inputTrajectory:
+        length = len(val1.value)
+        buff.write(_struct_I.pack(length))
+        pattern = '<%sf'%length
+        buff.write(struct.Struct(pattern).pack(*val1.value))
+    except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(locals().get('_x', self)))))
+    except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(locals().get('_x', self)))))
+
+  def deserialize(self, str):
+    """
+    unpack serialized message in str into this message instance
+    :param str: byte array of serialized message, ``str``
+    """
+    if python3:
+      codecs.lookup_error("rosmsg").msg_type = self._type
+    try:
+      if self.targetTrajectories is None:
+        self.targetTrajectories = ocs2_msgs.msg.mpc_target_trajectories()
+      end = 0
+      start = end
+      end += 1
+      (self.reset,) = _get_struct_B().unpack(str[start:end])
+      self.reset = bool(self.reset)
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      pattern = '<%sd'%length
+      start = end
+      s = struct.Struct(pattern)
+      end += s.size
+      self.targetTrajectories.timeTrajectory = s.unpack(str[start:end])
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      self.targetTrajectories.stateTrajectory = []
+      for i in range(0, length):
+        val1 = ocs2_msgs.msg.mpc_state()
+        start = end
+        end += 4
+        (length,) = _struct_I.unpack(str[start:end])
+        pattern = '<%sf'%length
+        start = end
+        s = struct.Struct(pattern)
+        end += s.size
+        val1.value = s.unpack(str[start:end])
+        self.targetTrajectories.stateTrajectory.append(val1)
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      self.targetTrajectories.inputTrajectory = []
+      for i in range(0, length):
+        val1 = ocs2_msgs.msg.mpc_input()
+        start = end
+        end += 4
+        (length,) = _struct_I.unpack(str[start:end])
+        pattern = '<%sf'%length
+        start = end
+        s = struct.Struct(pattern)
+        end += s.size
+        val1.value = s.unpack(str[start:end])
+        self.targetTrajectories.inputTrajectory.append(val1)
+      return self
+    except struct.error as e:
+      raise genpy.DeserializationError(e)  # most likely buffer underfill
+
+
+  def serialize_numpy(self, buff, numpy):
+    """
+    serialize message with numpy array types into buffer
+    :param buff: buffer, ``StringIO``
+    :param numpy: numpy python module
+    """
+    try:
+      _x = self.reset
+      buff.write(_get_struct_B().pack(_x))
+      length = len(self.targetTrajectories.timeTrajectory)
+      buff.write(_struct_I.pack(length))
+      pattern = '<%sd'%length
+      buff.write(self.targetTrajectories.timeTrajectory.tostring())
+      length = len(self.targetTrajectories.stateTrajectory)
+      buff.write(_struct_I.pack(length))
+      for val1 in self.targetTrajectories.stateTrajectory:
+        length = len(val1.value)
+        buff.write(_struct_I.pack(length))
+        pattern = '<%sf'%length
+        buff.write(val1.value.tostring())
+      length = len(self.targetTrajectories.inputTrajectory)
+      buff.write(_struct_I.pack(length))
+      for val1 in self.targetTrajectories.inputTrajectory:
+        length = len(val1.value)
+        buff.write(_struct_I.pack(length))
+        pattern = '<%sf'%length
+        buff.write(val1.value.tostring())
+    except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(locals().get('_x', self)))))
+    except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(locals().get('_x', self)))))
+
+  def deserialize_numpy(self, str, numpy):
+    """
+    unpack serialized message in str into this message instance using numpy for array types
+    :param str: byte array of serialized message, ``str``
+    :param numpy: numpy python module
+    """
+    if python3:
+      codecs.lookup_error("rosmsg").msg_type = self._type
+    try:
+      if self.targetTrajectories is None:
+        self.targetTrajectories = ocs2_msgs.msg.mpc_target_trajectories()
+      end = 0
+      start = end
+      end += 1
+      (self.reset,) = _get_struct_B().unpack(str[start:end])
+      self.reset = bool(self.reset)
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      pattern = '<%sd'%length
+      start = end
+      s = struct.Struct(pattern)
+      end += s.size
+      self.targetTrajectories.timeTrajectory = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      self.targetTrajectories.stateTrajectory = []
+      for i in range(0, length):
+        val1 = ocs2_msgs.msg.mpc_state()
+        start = end
+        end += 4
+        (length,) = _struct_I.unpack(str[start:end])
+        pattern = '<%sf'%length
+        start = end
+        s = struct.Struct(pattern)
+        end += s.size
+        val1.value = numpy.frombuffer(str[start:end], dtype=numpy.float32, count=length)
+        self.targetTrajectories.stateTrajectory.append(val1)
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      self.targetTrajectories.inputTrajectory = []
+      for i in range(0, length):
+        val1 = ocs2_msgs.msg.mpc_input()
+        start = end
+        end += 4
+        (length,) = _struct_I.unpack(str[start:end])
+        pattern = '<%sf'%length
+        start = end
+        s = struct.Struct(pattern)
+        end += s.size
+        val1.value = numpy.frombuffer(str[start:end], dtype=numpy.float32, count=length)
+        self.targetTrajectories.inputTrajectory.append(val1)
+      return self
+    except struct.error as e:
+      raise genpy.DeserializationError(e)  # most likely buffer underfill
+
+_struct_I = genpy.struct_I
+def _get_struct_I():
+    global _struct_I
+    return _struct_I
+_struct_B = None
+def _get_struct_B():
+    global _struct_B
+    if _struct_B is None:
+        _struct_B = struct.Struct("<B")
+    return _struct_B
+# This Python file uses the following encoding: utf-8
+"""autogenerated by genpy from ocs2_msgs/resetResponse.msg. Do not edit."""
+import codecs
+import sys
+python3 = True if sys.hexversion > 0x03000000 else False
+import genpy
+import struct
+
+
+class resetResponse(genpy.Message):
+  _md5sum = "89bb254424e4cffedbf494e7b0ddbfea"
+  _type = "ocs2_msgs/resetResponse"
+  _has_header = False  # flag to mark the presence of a Header object
+  _full_text = """bool                      done
+"""
+  __slots__ = ['done']
+  _slot_types = ['bool']
+
+  def __init__(self, *args, **kwds):
+    """
+    Constructor. Any message fields that are implicitly/explicitly
+    set to None will be assigned a default value. The recommend
+    use is keyword arguments as this is more robust to future message
+    changes.  You cannot mix in-order arguments and keyword arguments.
+
+    The available fields are:
+       done
+
+    :param args: complete set of field values, in .msg order
+    :param kwds: use keyword arguments corresponding to message field names
+    to set specific fields.
+    """
+    if args or kwds:
+      super(resetResponse, self).__init__(*args, **kwds)
+      # message fields cannot be None, assign default values for those that are
+      if self.done is None:
+        self.done = False
+    else:
+      self.done = False
+
+  def _get_types(self):
+    """
+    internal API method
+    """
+    return self._slot_types
+
+  def serialize(self, buff):
+    """
+    serialize message into buffer
+    :param buff: buffer, ``StringIO``
+    """
+    try:
+      _x = self.done
+      buff.write(_get_struct_B().pack(_x))
+    except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(locals().get('_x', self)))))
+    except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(locals().get('_x', self)))))
+
+  def deserialize(self, str):
+    """
+    unpack serialized message in str into this message instance
+    :param str: byte array of serialized message, ``str``
+    """
+    if python3:
+      codecs.lookup_error("rosmsg").msg_type = self._type
+    try:
+      end = 0
+      start = end
+      end += 1
+      (self.done,) = _get_struct_B().unpack(str[start:end])
+      self.done = bool(self.done)
+      return self
+    except struct.error as e:
+      raise genpy.DeserializationError(e)  # most likely buffer underfill
+
+
+  def serialize_numpy(self, buff, numpy):
+    """
+    serialize message with numpy array types into buffer
+    :param buff: buffer, ``StringIO``
+    :param numpy: numpy python module
+    """
+    try:
+      _x = self.done
+      buff.write(_get_struct_B().pack(_x))
+    except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(locals().get('_x', self)))))
+    except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(locals().get('_x', self)))))
+
+  def deserialize_numpy(self, str, numpy):
+    """
+    unpack serialized message in str into this message instance using numpy for array types
+    :param str: byte array of serialized message, ``str``
+    :param numpy: numpy python module
+    """
+    if python3:
+      codecs.lookup_error("rosmsg").msg_type = self._type
+    try:
+      end = 0
+      start = end
+      end += 1
+      (self.done,) = _get_struct_B().unpack(str[start:end])
+      self.done = bool(self.done)
+      return self
+    except struct.error as e:
+      raise genpy.DeserializationError(e)  # most likely buffer underfill
+
+_struct_I = genpy.struct_I
+def _get_struct_I():
+    global _struct_I
+    return _struct_I
+_struct_B = None
+def _get_struct_B():
+    global _struct_B
+    if _struct_B is None:
+        _struct_B = struct.Struct("<B")
+    return _struct_B
+class reset(object):
+  _type          = 'ocs2_msgs/reset'
+  _md5sum = '5d381de3cef01856decae8f3f4a35b69'
+  _request_class  = resetRequest
+  _response_class = resetResponse

kuavo_humanoid_sdk-1.2.1b3290.dist-info/METADATA

@@ -0,0 +1,296 @@
+Metadata-Version: 2.1
+Name: kuavo-humanoid-sdk
+Version: 1.2.1b3290
+Summary: A Python SDK for kuavo humanoid robot.
+Home-page: https://gitee.com/leju-robot/kuavo-ros-opensource/
+Author: ['lejurobot']
+Author-email: edu@lejurobot.com
+License: MIT
+Project-URL: Documentation, https://gitee.com/leju-robot/kuavo-ros-opensource/
+Project-URL: Source Code, https://gitee.com/leju-robot/kuavo-ros-opensource/
+Keywords: kuavo,humanoid,robot,robotics,lejurobot,ros
+Classifier: Development Status :: 4 - Beta
+Classifier: Intended Audience :: Developers
+Classifier: License :: OSI Approved :: MIT License
+Classifier: Operating System :: POSIX :: Linux
+Classifier: Programming Language :: Python :: 3
+Classifier: Programming Language :: Python :: 3.8
+Classifier: Programming Language :: Python :: 3.9
+Classifier: Programming Language :: Python :: 3.10
+Classifier: Topic :: Software Development :: Libraries :: Python Modules
+Requires-Python: >=3.8
+Description-Content-Type: text/markdown
+Requires-Dist: numpy
+Requires-Dist: transitions
+Requires-Dist: pyOpenSSL (>=22.1.0)
+Requires-Dist: scikit-learn
+Requires-Dist: funasr
+Requires-Dist: torchaudio
+Requires-Dist: websockets
+
+# Kuavo Humanoid SDK
+
+一个用于控制 Kuavo 人形机器人的 Python SDK，提供了机器人状态管理、机械臂和头部控制以及末端执行器操作的接口, 它设计用于在 ROS 环境中工作。
+
+**警告**: 该SDK目前仅支持**ROS1**。暂不支持ROS2。
+
+![Kuavo 4Pro Robot](https://kuavo.lejurobot.com/manual/assets/images/kuavo_4pro-cf84d43f1c370666c6e810d2807ae3e4.png)
+
+## 特性
+
+- 机器人状态管理
+  - IMU数据(加速度、角速度、欧拉角)
+  - 关节/电机状态(位置、速度、力矩)
+  - 躯干状态(位置、姿态、速度)
+  - 里程计信息
+  - 末端执行器状态:
+    - 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
+  - 运动状态: 站立、行走、自定义单步控制
+
+- 运动控制
+  - 手臂控制
+    - 关节位置控制
+    - 通过逆运动学(IK)的末端执行器6D控制
+    - 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
+  - 头部控制
+    - 位置控制
+  - 躯干控制
+    - 高度控制(下蹲)
+    - 前/后倾控制
+  - 动态运动控制
+    - 站立
+    - 踏步
+    - 行走(xy 和 yaw 偏航速度控制)
+    - 自定义单步控制
+- 机器人基本信息
+  - 机器人类型(kuavo)
+  - 机器人版本
+  - 末端执行器类型
+  - 关节名称
+  - 总自由度(28)
+  - 手臂自由度(每臂7个)
+  - 头部自由度(2个)
+  - 腿部自由度(12个)
+- 音频接口
+  - 播放指定的音频文件
+  - 停止播放音频
+  - TTS 文本合成音频
+- 视觉接口
+  - 获取指定坐标系下的 AprilTag 检测数据
+- 观测接口
+   - 获取机器人控制指令
+- 搬箱子策略模块
+   - 查找 Apriltag 
+   - 到达世界坐标系下的目标点位姿
+   - 搬箱子
+   - 放置箱子   
+## 安装
+
+**注意：目前SDK有两个版本，稳定版和测试版。它们的区别如下：**
+
+- 稳定版：对应 [kuavo-ros-opensource](https://gitee.com/leju-robot/kuavo-ros-opensource/) 仓库 `master` 分支提供的功能。
+- 测试版：比官方版本更激进，也提供更丰富的功能，对应 [kuavo-ros-opensource](https://gitee.com/leju-robot/kuavo-ros-opensource/) 仓库 `beta` 分支提供的功能。
+
+**友情提醒：请明确您需要安装的版本。如果您的SDK版本与 `kuavo-ros-opensource` 不匹配，某些功能可能无法使用。**
+
+使用 pip 安装最新的 **稳定版** Kuavo Humanoid SDK：
+```bash
+pip install kuavo-humanoid-sdk  
+```
+
+使用  pip 安装最新的 **测试版** Kuavo Humanoid SDK：
+```bash
+pip install --pre kuavo-humanoid-sdk  
+```
+
+对于本地开发安装（可编辑模式），请使用：
+```bash
+cd src/kuavo_humanoid_sdk  
+chmod +x install.sh  
+./install.sh   
+```
+
+## 版本升级
+在升级版本之前，您可以使用以下命令查看当前安装的版本：
+```bash
+pip show kuavo-humanoid-sdk  
+# Output:  
+Name: kuavo-humanoid-sdk  
+Version: 1.1.6
+...  
+```
+
+**提示：如果版本号包含字母 b，则表示是测试版，例如，Version: 0.1.2b113**
+
+从稳定版本更新到最新的稳定版本：
+```bash
+pip install --upgrade kuavo_humanoid_sdk  
+```
+
+从测试版更新到最新的稳定版本：
+```bash
+pip install --upgrade --force-reinstall kuavo_humanoid_sdk  
+# or  
+pip uninstall kuavo_humanoid_sdk && pip install kuavo_humanoid_sdk  
+```
+
+从测试版/稳定版更新到最新的测试版：
+```bash
+pip install --upgrade --pre kuavo_humanoid_sdk  
+```
+
+## 安装包信息
+
+您可以使用 pip 来查看包信息：
+```bash
+pip show kuavo-humanoid-sdk
+```
+
+## 快速开始
+
+以下是一个简单的示例，用于快速使用 Kuavo Humanoid SDK：
+
+> **警告**: 
+>  在运行任何代码示例之前，请确保已经启动机器人， 否则 SDK 无法正常工作：
+>   
+>   - 如果是命令行启动，则请确保类似下面的命令已经执行:
+>       - 仿真模式: ``roslaunch humanoid_controllers load_kuavo_mujoco_sim.launch`` (示例命令)
+>       - 真实机器人: ``roslaunch humanoid_controllers load_kuavo_real.launch`` (示例命令)
+>   - 如果是 h12 遥控器等启动方式，也请确保已经让机器人启动(站立)
+
+```python3
+# Copyright (c) 2025 Leju Robotics. Licensed under the MIT License.
+import time
+from kuavo_humanoid_sdk import KuavoSDK, KuavoRobot
+
+def main():
+    if not KuavoSDK().Init():  # Init! !!! IMPORTANT !!!
+        print("Init KuavoSDK failed, exit!")
+        exit(1)
+    robot = KuavoRobot()    
+    
+    """ arm reset """
+    print("Switching to arm reset mode...")
+    robot.arm_reset()
+    
+    """ stance """
+    print("Switching to stance mode...")
+    robot.stance()
+
+    """ trot """
+    print("Switching to trot mode...")
+    robot.trot()
+    
+    """ walk forward """
+    print("Starting forward walk...")
+    duration = 4.0  # seconds
+    speed = 0.3     # m/s
+    start_time = time.time()
+    while (time.time() - start_time < duration):
+        robot.walk(linear_x=speed, linear_y=0.0, angular_z=0.0)
+        time.sleep(0.1)  # Small sleep to prevent busy loop
+    
+if __name__ == "__main__":
+    main()
+```
+
+## 文档
+我们提供两种文档格式：
+- HTML 格式: [docs/html](docs/html), **但是需要您自己在SDK目录下执行`gen_docs.sh`脚本生成**
+- Markdown 格式: [docs/markdown](docs/markdown)
+
+您可以在 SDK 的源码目录下执行以下命令生成文档， 文档会输出到 `docs/html` 和 `docs/markdown` 文件夹中：
+```bash
+cd <kuavo-ros-opensource>/src/kuavo_humanoid_sdk
+chmod +x gen_docs.sh
+./gen_docs.sh
+```
+
+**我们强烈推荐您阅读 `html` 文档， 因为它更适合阅读。**
+
+对于Markdown 文档， 请访问：
+
+https://gitee.com/leju-robot/kuavo-ros-opensource/tree/master/src/kuavo_humanoid_sdk/docs/markdown/index.md
+
+## 使用示例
+
+> **警告**: 
+>  在运行任何代码示例之前，请确保已经启动机器人， 否则 SDK 无法正常工作：
+>   
+>   - 如果是命令行启动，则请确保类似下面的命令已经执行:
+>       - 仿真模式: ``roslaunch humanoid_controllers load_kuavo_mujoco_sim.launch`` (示例命令)
+>       - 真实机器人: ``roslaunch humanoid_controllers load_kuavo_real.launch`` (示例命令)
+>   - 如果是 h12 遥控器等启动方式，也请确保已经让机器人启动(站立)
+
+### 基本信息示例
+
+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/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/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
+
+#### LejuClaw 夹爪
+
+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/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/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/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/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/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/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
+
+本项目使用 MIT 许可证授权，详情信息请查看 LICENSE 文件。
+
+## 联系与支持
+
+如有任何问题、支持需求或错误报告，请通过以下方式联系我们：
+
+- 邮箱: edu@lejurobot.com
+- 网站: https://gitee.com/leju-robot/kuavo-ros-opensource/
+- 源代码: https://gitee.com/leju-robot/kuavo-ros-opensource/
+- 问题追踪: https://gitee.com/leju-robot/kuavo-ros-opensource/issues