kuavo-humanoid-sdk 1.2.1b3321__tar.gz → 1.2.2__tar.gz

{kuavo_humanoid_sdk-1.2.1b3321 → kuavo_humanoid_sdk-1.2.2}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: kuavo_humanoid_sdk
-Version: 1.2.1b3321
+Version: 1.2.2
 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:
-    - 夹爪(lejuclaw): 位置、速度、力矩、抓取状态
+    - 夹持器(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
-    - 夹爪控制(可配置速度和力矩的位置控制)
+    - 夹持器控制(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/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)
+[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)
 
 ### 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)
+[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)
 
 ### 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/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)
+[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)
 
 #### 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)
+[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)
 
 ### 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)
+[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)
 
 ### 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)
+[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)
 
 ### 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)
+[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)
 
 ### 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)
+[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)
 
 
 ## 许可证

{kuavo_humanoid_sdk-1.2.1b3321 → kuavo_humanoid_sdk-1.2.2}/README.md

@@ -77,8 +77,49 @@ chmod +x ./gen_docs.sh
 ![](docs/images/image.png)
 
 ## 搬箱子案例
+**编译**：
+```
+catkin build humanoid_controllers kuavo_msgs gazebo_sim ar_control
+```
+
+**运行**：
+
+⚠️ 在运行之前, 需要确认机器人版本`ROBOT_VERSION=45`，否则会机器人末端控制会有问题
+```
+# 启动gazebo场景
+roslaunch humanoid_controllers load_kuavo_gazebo_manipulate.launch joystick_type:=bt2pro
+
+# 启动ar_tag转换码操作和virtual操作
+roslaunch ar_control robot_strategies.launch  
+
+# 运行搬箱子案例
+python3 grasp_box_example.py 
+```
+
+🚨 第一次启动gazebo场景前需要修改tag尺寸：
+
+在`/opt/ros/noetic/share/apriltag_ros/config/tags.yaml`文件中将tag的size尺寸修改为和立方体tag码的尺寸一致（只需做一次）
+```
+standalone_tags:
+    [
+        {id: 0, size: 0.088, name: 'tag_0'},
+        {id: 1, size: 0.088, name: 'tag_1'},
+        {id: 2, size: 0.088, name: 'tag_2'},
+        {id: 3, size: 0.088, name: 'tag_3'},
+        {id: 4, size: 0.088, name: 'tag_4'},
+        {id: 5, size: 0.088, name: 'tag_5'},
+        {id: 6, size: 0.088, name: 'tag_6'},
+        {id: 7, size: 0.088, name: 'tag_7'},
+        {id: 8, size: 0.088, name: 'tag_8'},
+        {id: 9, size: 0.088, name: 'tag_9'},
+    ]
+```
+🚨 每次启动gazebo场景后需要手动打光：
+
+需要在机器人腰部位置附近给个点光源，否则会找不到tag
+
+![](docs/images/gazebo.jpg)
 
-请参阅 html 或 markdown 文档中，**策略模块/搬箱子示例**章节内容，获取更多信息。
 
 **测试**
 ```

{kuavo_humanoid_sdk-1.2.1b3321 → kuavo_humanoid_sdk-1.2.2}/kuavo_humanoid_sdk/interfaces/data_types.py

@@ -129,18 +129,6 @@ class KuavoPose:
     position: Tuple[float, float, float] # x, y, z
     orientation: Tuple[float, float, float, float] # x, y, z, w
 
-    def __str__(self) -> str:
-        """Returns a formatted string representation of the pose.
-        
-        Returns:
-            str: Formatted pose string with position and orientation
-        """
-        return (
-            f"Position (x,y,z): ({self.position[0]:.3f}, {self.position[1]:.3f}, {self.position[2]:.3f})\n"
-            f"Orientation (x,y,z,w): ({self.orientation[0]:.3f}, {self.orientation[1]:.3f}, "
-            f"{self.orientation[2]:.3f}, {self.orientation[3]:.3f})"
-        )
-
 @dataclass
 class KuavoIKParams:
     """表示IK节点参数的数据类。"""

{kuavo_humanoid_sdk-1.2.1b3321 → kuavo_humanoid_sdk-1.2.2}/kuavo_humanoid_sdk/kuavo/__init__.py

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

{kuavo_humanoid_sdk-1.2.1b3321 → kuavo_humanoid_sdk-1.2.2}/kuavo_humanoid_sdk/kuavo/core/core.py

@@ -29,7 +29,6 @@ from kuavo_humanoid_sdk.kuavo.core.ros.control import KuavoRobotControl
 from kuavo_humanoid_sdk.kuavo.core.ros.state import KuavoRobotStateCore
 from kuavo_humanoid_sdk.kuavo.core.ros.param import make_robot_param
 from kuavo_humanoid_sdk.common.logger import SDKLogger
-from kuavo_humanoid_sdk.kuavo.logger_client import get_logger
 # Define robot states
 ROBOT_STATES = [
     State(name='stance', on_enter=['_on_enter_stance']),
@@ -60,7 +59,6 @@ class KuavoRobotCore:
     
     def __init__(self):
         if not hasattr(self, '_initialized'):
-            self.logger = get_logger()  # ✅ 初始化日志客户端（全局唯一）
             self.machine = Machine(
                 model=self,
                 states=ROBOT_STATES,
@@ -123,8 +121,8 @@ 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`")
-        self._rb_info = make_robot_param()
-        success, err_msg = self._control.initialize(eef_type=self._rb_info["end_effector_type"], debug=debug)
+        rb_info = make_robot_param()
+        success, err_msg = self._control.initialize(eef_type=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`")
@@ -228,14 +226,6 @@ 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:
@@ -263,21 +253,17 @@ 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 = 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
+        MIN_COM_HEIGHT = 0.66  # Minimum allowed COM height in meters
+        MAX_COM_HEIGHT = 0.86  # 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:
-            print(f"\033[33mWarning! Cannot squat lower: COM height {com_height:.2f}m below minimum {MIN_COM_HEIGHT}m\033[0m")
-            return False
+            SDKLogger.warn(f"[Core] Cannot squat lower: COM height {com_height:.2f}m below minimum {MIN_COM_HEIGHT}m")
+            return None
         
         if target_pose[2] > 0 and com_height > MAX_COM_HEIGHT:
-            print(f"\033[33mWarning! Cannot stand higher: COM height {com_height:.2f}m above maximum {MAX_COM_HEIGHT}m\033[0m")
-            return False
+            SDKLogger.warn(f"[Core] Cannot stand higher: COM height {com_height:.2f}m above maximum {MAX_COM_HEIGHT}m")
+            return None
 
         # Ensure target height is within allowed range if height change requested
         if target_pose[2] != 0:
@@ -289,7 +275,8 @@ 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
         
-        if com_height > (self._rb_info['init_stand_height']-0.03):
+        # TODO(kuavo): 根据实物测试来调整....
+        if com_height > 0.82:
             max_x_step = 0.20
             max_y_step = 0.20
             max_yaw_step = 90
@@ -390,18 +377,7 @@ class KuavoRobotCore:
         # e.g., limit ranges for safety
         self.to_command_pose_world()
         return self._control.control_command_pose_world(target_pose_x, target_pose_y, target_pose_z, target_pose_yaw)
-
-    def control_robot_arm_target_poses(self, times: list, joint_q: list) -> bool:
-        if self.state != 'stance':
-            raise RuntimeError("[Core] control_robot_arm_target_poses failed: robot must be in stance state")
-
-        if self._arm_ctrl_mode != KuavoArmCtrlMode.ExternalControl:
-            SDKLogger.debug("[Core] control_robot_arm_target_poses, current arm mode != ExternalControl, change it.")
-            if not self.change_robot_arm_ctrl_mode(KuavoArmCtrlMode.ExternalControl):
-                SDKLogger.warn("[Core] control_robot_arm_target_poses failed, change robot arm ctrl mode failed!")
-                return False
-
-        return self._control.control_robot_arm_target_poses(times, joint_q)
+    
     def execute_gesture(self, gestures:list)->bool:
         return self._control.execute_gesture(gestures)
     
@@ -434,8 +410,6 @@ class KuavoRobotCore:
         if self.state != 'stance':
             raise RuntimeError(f"[Core] control_robot_arm_joint_positions failed: robot must be in stance state, current state: {self.state}")
         
-        if self._control.is_arm_collision_mode() and self._control.is_arm_collision():
-            raise RuntimeError(f"Arm collision detected, cannot publish arm trajectory")
         # change to external control mode  
         if self._arm_ctrl_mode != KuavoArmCtrlMode.ExternalControl:
             SDKLogger.debug("[Core] control_robot_arm_joint_positions, current arm mode != ExternalControl, change it.")
@@ -447,9 +421,6 @@ class KuavoRobotCore:
     def control_robot_arm_joint_trajectory(self, times:list, joint_q:list)->bool:
         if self.state != 'stance':
             raise RuntimeError("[Core] control_robot_arm_joint_trajectory failed: robot must be in stance state")
-            
-        if self._control.is_arm_collision_mode() and self._control.is_arm_collision():
-            raise RuntimeError(f"Arm collision detected, cannot publish arm trajectory")
         
         if self._arm_ctrl_mode != KuavoArmCtrlMode.ExternalControl:
             SDKLogger.debug("[Core] control_robot_arm_joint_trajectory, current arm mode != ExternalControl, change it.")
@@ -474,9 +445,6 @@ class KuavoRobotCore:
         
         return self._control.control_robot_end_effector_pose(left_pose, right_pose, frame)
 
-    def control_hand_wrench(self, left_wrench: list, right_wrench: list) -> bool:
-        return self._control.control_hand_wrench(left_wrench, right_wrench)
-    
     def change_manipulation_mpc_frame(self, frame: KuavoManipulationMpcFrame)->bool:
         timeout = 1.0
         count = 0
@@ -538,15 +506,19 @@ class KuavoRobotCore:
         return True
     
     def change_robot_arm_ctrl_mode(self, mode:KuavoArmCtrlMode)->bool:
-
-        if self._control.is_arm_collision_mode() and self.is_arm_collision():
-            SDKLogger.warn("[Core] change_robot_arm_ctrl_mode failed, arm collision detected!")
-            return False
-
+        timeout = 1.0
         count = 0
-        if self._rb_state.arm_control_mode != mode:
+        while self._rb_state.arm_control_mode != mode:
             SDKLogger.debug(f"[Core] Change robot arm control  from {self._rb_state.arm_control_mode} to {mode}, retry: {count}")
             self._control.change_robot_arm_ctrl_mode(mode)
+            if self._rb_state.arm_control_mode == mode:
+                break
+            if timeout <= 0:
+                SDKLogger.warn("[Core] Change robot arm control mode timeout!")
+                return False
+            timeout -= 0.1
+            time.sleep(0.1)
+            count += 1
         
         if not hasattr(self, '_arm_ctrl_mode_lock'):
             self._arm_ctrl_mode_lock = threading.Lock()
@@ -600,23 +572,10 @@ class KuavoRobotCore:
                params: KuavoIKParams=None) -> list:
         return self._control.arm_ik(l_eef_pose, r_eef_pose, l_elbow_pos_xyz, r_elbow_pos_xyz, arm_q0, params)
     
-    def arm_ik_free(self, 
-                    l_eef_pose: KuavoPose, 
-                    r_eef_pose: KuavoPose, 
-                    l_elbow_pos_xyz: list = [0.0, 0.0, 0.0],
-                    r_elbow_pos_xyz: list = [0.0, 0.0, 0.0],
-                    arm_q0: list = None,
-                    params: KuavoIKParams=None) -> list:
-        return self._control.arm_ik_free(l_eef_pose, r_eef_pose, l_elbow_pos_xyz, r_elbow_pos_xyz, arm_q0, params)
 
     def arm_fk(self, q: list) -> Tuple[KuavoPose, KuavoPose]:
         return self._control.arm_fk(q)
     
-    """ ------------------------------------------------------------------------"""
-    """ Base Pitch Limit Control """
-    def enable_base_pitch_limit(self, enable: bool) -> Tuple[bool, str]:
-        return self._control.enable_base_pitch_limit(enable)
-    """ ------------------------------------------------------------------------"""
     """ Callbacks """
     def _humanoid_gait_changed(self, current_time: float, gait_name: str):
         if self.state != gait_name:
@@ -627,19 +586,6 @@ class KuavoRobotCore:
                 # Call the transition method if it exists
                 getattr(self, to_method)()
 
-    def is_arm_collision(self)->bool:
-        return self._control.is_arm_collision()
-    
-    def release_arm_collision_mode(self):
-
-        self._control.release_arm_collision_mode()
-        
-
-    def wait_arm_collision_complete(self):
-        self._control.wait_arm_collision_complete()
-
-    def set_arm_collision_mode(self, enable: bool):
-        self._control.set_arm_collision_mode(enable)
 
 if __name__ == "__main__":
     DEBUG_MODE = 0
@@ -663,4 +609,4 @@ if __name__ == "__main__":
         print("state now is to_trot:", core.state)
         time.sleep(3.0)
         core.to_stance()
-        print("state now is to_stance:", core.state)
+        print("state now is to_stance:", core.state)

{kuavo_humanoid_sdk-1.2.1b3321 → kuavo_humanoid_sdk-1.2.2}/kuavo_humanoid_sdk/kuavo/core/ros/audio.py

@@ -1,11 +1,16 @@
 #!/usr/bin/env python3
 # coding: utf-8
-import rospy
-from std_msgs.msg import Bool, Int16MultiArray
 from kuavo_humanoid_sdk.common.logger import SDKLogger
 from kuavo_humanoid_sdk.kuavo.core.core import KuavoRobotCore
-from kuavo_humanoid_sdk.msg.kuavo_msgs.srv import  playmusic, playmusicRequest
-from kuavo_humanoid_sdk.msg.kuavo_msgs.srv import  SpeechSynthesis, SpeechSynthesisRequest
+
+try:    
+    import rospy
+    from std_msgs.msg import Bool
+    from kuavo_humanoid_sdk.msg.kuavo_msgs.srv import  playmusic, playmusicRequest
+    from kuavo_humanoid_sdk.msg.kuavo_msgs.srv import  SpeechSynthesis, SpeechSynthesisRequest
+except:
+    pass
+
 class Audio:
     """Audio system interface for controlling audio playback functionality of Kuavo humanoid robot.
     
@@ -15,7 +20,6 @@ class Audio:
     def __init__(self):
         """Initialize the audio system."""
         self._audio_stop_publisher = rospy.Publisher('stop_music', Bool, queue_size=10)
-        self.audio_data_publisher = rospy.Publisher('audio_data', Int16MultiArray, queue_size=10)
         rospy.sleep(0.5)  # Wait for publisher initialization
     def play_audio(self, file_name: str, volume: int = 100, speed: float = 1.0) -> bool:
         """Play the specified audio file.
@@ -86,25 +90,3 @@ class Audio:
             SDKLogger.error(f"[Robot Audio] Failed to play audio text: {str(e)}")
             return False
 
-    def publish_audio_chunk(self, audio_chunk, gain: int = 1):
-        """Publish a single audio chunk to the topic, for real-time audio streaming"""
-        try:
-            if not audio_chunk:
-                return False
-                
-            # 应用增益
-            amplified_chunk = [int(sample * gain) for sample in audio_chunk]
-            
-            # 创建并发布消息
-            msg = Int16MultiArray()
-            msg.data = amplified_chunk
-            
-            self.audio_data_publisher.publish(msg)
-            # SDKLogger.debug(f"[Robot Audio] 发布音频块，大小: {len(amplified_chunk)}")
-            
-            return True
-            
-        except Exception as e:
-            SDKLogger.error(f"[Robot Audio] 发布音频块时出错: {e}")
-            return False
-