kuavo-humanoid-sdk 1.2.2b3208__20250922170818-py3-none-any.whl

kuavo_humanoid_sdk/kuavo/core/ros/state.py

@@ -0,0 +1,652 @@
+import time
+from typing import Tuple
+import copy
+import rospy
+from std_msgs.msg import Float64
+from nav_msgs.msg import Odometry
+from std_srvs.srv import SetBool, SetBoolRequest
+from sensor_msgs.msg import JointState
+from kuavo_humanoid_sdk.msg.kuavo_msgs.msg import sensorsData, lejuClawState, gaitTimeName, dexhandTouchState
+from kuavo_msgs.srv import changeArmCtrlMode, changeArmCtrlModeRequest, getCurrentGaitName, getCurrentGaitNameRequest,gestureExecuteState, gestureExecuteStateRequest
+from kuavo_humanoid_sdk.msg.ocs2_msgs.msg import mpc_observation
+from kuavo_humanoid_sdk.msg.kuavo_msgs.srv import (changeArmCtrlMode, changeArmCtrlModeRequest,setMmCtrlFrame, setMmCtrlFrameRequest, changeTorsoCtrlMode, changeTorsoCtrlModeRequest)
+from collections import deque
+from typing import Tuple
+import copy
+from kuavo_humanoid_sdk.common.logger import SDKLogger
+from kuavo_humanoid_sdk.kuavo.core.ros.param import make_robot_param, EndEffectorType
+from kuavo_humanoid_sdk.interfaces.data_types import (KuavoImuData, KuavoJointData, KuavoOdometry, KuavoManipulationMpcFrame, 
+                                                    KuavoArmCtrlMode, EndEffectorState, KuavoDexHandTouchState,
+                                                    KuavoManipulationMpcCtrlMode, KuavoManipulationMpcControlFlow)
+class GaitManager:
+    def __init__(self, max_size: int = 20):
+        self._max_size = max_size
+        self._gait_time_names = deque(maxlen=max_size)
+
+    @property
+    def is_empty(self) -> bool:
+        """Check if there are any gait time names stored.
+        
+        Returns:
+            bool: True if no gait time names are stored, False otherwise
+        """
+        return len(self._gait_time_names) == 0
+    def add(self, start_time: float, name: str) -> None:
+        self._gait_time_names.append((start_time, name))
+
+    def get_gait(self, current_time: float) -> str:
+        if not self._gait_time_names:
+            return "No_Gait"
+
+        for start_time, name in reversed(self._gait_time_names):
+            if current_time >= start_time:
+                return name
+
+        return self._gait_time_names[0].name
+
+    def get_gait_name(self, current_time: float) -> str:
+        return self.get_gait(current_time)[1]
+
+    def get_last_gait_name(self) -> str:
+        if not self._gait_time_names:
+            return "No_Gait"
+        return self._gait_time_names[-1][1]
+
+
+class KuavoRobotStateCore:
+    _instance = None
+
+    def __new__(cls, *args, **kwargs):
+        if not cls._instance:
+            cls._instance = super().__new__(cls)
+        return cls._instance
+
+    def __init__(self):
+        if not hasattr(self, '_initialized'):
+            rospy.Subscriber("/sensors_data_raw", sensorsData, self._sensors_data_raw_callback)
+            rospy.Subscriber("/odom", Odometry, self._odom_callback)
+            rospy.Subscriber("/humanoid/mpc/terrainHeight", Float64, self._terrain_height_callback)
+            rospy.Subscriber("/humanoid_mpc_gait_time_name", gaitTimeName, self._humanoid_mpc_gait_changed_callback)
+            rospy.Subscriber("/humanoid_mpc_observation", mpc_observation, self._humanoid_mpc_observation_callback)
+            
+            kuavo_info = make_robot_param()
+            self._ee_type = kuavo_info['end_effector_type']
+            if self._ee_type == EndEffectorType.LEJUCLAW:
+                rospy.Subscriber("/leju_claw_state", lejuClawState, self._lejuclaw_state_callback)
+            elif self._ee_type == EndEffectorType.QIANGNAO:
+                rospy.Subscriber("/dexhand/state", JointState, self._dexterous_hand_state_callback)
+            elif self._ee_type == EndEffectorType.QIANGNAO_TOUCH:
+                rospy.Subscriber("/dexhand/state", JointState, self._dexterous_hand_state_callback)
+                rospy.Subscriber("/dexhand/touch_state", dexhandTouchState, self._dexhand_touch_state_callback)
+                # Initialize touch state for both hands with empty KuavoDexHandTouchState instances
+                self._dexhand_touch_state = (
+                    KuavoDexHandTouchState(
+                        data=(KuavoDexHandTouchState.KuavoTouchState(0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0),
+                              KuavoDexHandTouchState.KuavoTouchState(0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0),
+                              KuavoDexHandTouchState.KuavoTouchState(0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0),
+                              KuavoDexHandTouchState.KuavoTouchState(0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0),
+                              KuavoDexHandTouchState.KuavoTouchState(0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0))
+                    ),  # Left hand touch state
+                    KuavoDexHandTouchState(
+                        data=(KuavoDexHandTouchState.KuavoTouchState(0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0),
+                              KuavoDexHandTouchState.KuavoTouchState(0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0),
+                              KuavoDexHandTouchState.KuavoTouchState(0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0),
+                              KuavoDexHandTouchState.KuavoTouchState(0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0),
+                              KuavoDexHandTouchState.KuavoTouchState(0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0))
+                    )   # Right hand touch state
+                )
+
+            """ data """
+            self._terrain_height = 0.0
+            self._imu_data = KuavoImuData(
+                gyro = (0.0, 0.0, 0.0),
+                acc = (0.0, 0.0, 0.0),
+                free_acc = (0.0, 0.0, 0.0),
+                quat = (0.0, 0.0, 0.0, 0.0)
+            )
+            self._joint_data = KuavoJointData(
+                position = [0.0] * 28,
+                velocity = [0.0] * 28,
+                torque = [0.0] * 28,
+                acceleration = [0.0] * 28
+            )
+            self._odom_data = KuavoOdometry(
+                position = (0.0, 0.0, 0.0),
+                orientation = (0.0, 0.0, 0.0, 0.0),
+                linear = (0.0, 0.0, 0.0),
+                angular = (0.0, 0.0, 0.0)
+            )
+            self._eef_state = (EndEffectorState(
+                position = [0.0] * 12 if kuavo_info['end_effector_type'] is not None and kuavo_info['end_effector_type'].startswith('qiangnao') else [0.0] * 2,
+                velocity = [0.0] * 12 if kuavo_info['end_effector_type'] is not None and kuavo_info['end_effector_type'].startswith('qiangnao') else [0.0] * 2,
+                effort = [0.0] * 12 if kuavo_info['end_effector_type'] is not None and kuavo_info['end_effector_type'].startswith('qiangnao') else [0.0] * 2,
+                state=EndEffectorState.GraspingState.UNKNOWN
+            ), EndEffectorState(
+                position = [0.0] * 12 if kuavo_info['end_effector_type'] is not None and kuavo_info['end_effector_type'].startswith('qiangnao') else [0.0] * 2,
+                velocity = [0.0] * 12 if kuavo_info['end_effector_type'] is not None and kuavo_info['end_effector_type'].startswith('qiangnao') else [0.0] * 2,
+                effort = [0.0] * 12 if kuavo_info['end_effector_type'] is not None and kuavo_info['end_effector_type'].startswith('qiangnao') else [0.0] * 2,
+                state=EndEffectorState.GraspingState.UNKNOWN
+            ))
+                            
+            # gait manager
+            self._gait_manager = GaitManager()
+            self._prev_gait_name = self.gait_name()
+
+            # Wait for first MPC observation data
+            self._mpc_observation_data = None
+            start_time = time.time()
+            while self._mpc_observation_data is None:
+                if time.time() - start_time > 1.0:  # 1.0s timeout
+                    SDKLogger.warn("Timeout waiting for MPC observation data")
+                    break
+                SDKLogger.debug("Waiting for first MPC observation data...")
+                time.sleep(0.1)
+            # 如果 gait_manager 为空，则把当前的状态添加到其中
+            if self._mpc_observation_data is not None:
+                if self._gait_manager.is_empty:
+                    self._prev_gait_name = self.gait_name()
+                    SDKLogger.debug(f"[State] Adding initial gait state: {self._prev_gait_name} at time {self._mpc_observation_data.time}")
+                    self._gait_manager.add(self._mpc_observation_data.time, self._prev_gait_name)
+
+            # 获取当前手臂控制模式
+            self._arm_ctrl_mode = self._srv_get_arm_ctrl_mode()
+            self._initialized = True
+
+            # 获取manipulation mpc 相关参数
+            self._manipulation_mpc_frame = self._srv_get_manipulation_mpc_frame()
+            self._manipulation_mpc_ctrl_mode = self._srv_get_manipulation_mpc_ctrl_mode()
+            self._manipulation_mpc_control_flow = self._srv_get_manipulation_mpc_control_flow()
+
+    @property
+    def com_height(self)->float:
+        # odom.position.z - terrain_height = com_height
+        return self._odom_data.position[2] - self._terrain_height
+    
+    @property
+    def imu_data(self)->KuavoImuData:
+        return self._imu_data
+    
+    @property
+    def joint_data(self)->KuavoJointData:
+        return self._joint_data
+    
+    @property
+    def odom_data(self)->KuavoOdometry:
+        return self._odom_data
+
+    @property
+    def arm_control_mode(self) -> KuavoArmCtrlMode:
+        mode = self._srv_get_arm_ctrl_mode()
+        if mode is not None:
+            self._arm_ctrl_mode = mode
+        return self._arm_ctrl_mode
+    
+    @property
+    def manipulation_mpc_ctrl_mode(self)->KuavoManipulationMpcCtrlMode:
+        mode = self._srv_get_manipulation_mpc_ctrl_mode()
+        if mode is not None:
+            self._manipulation_mpc_ctrl_mode = mode
+        return self._manipulation_mpc_ctrl_mode
+    
+    @property
+    def manipulation_mpc_frame(self)->KuavoManipulationMpcFrame:
+        frame = self._srv_get_manipulation_mpc_frame()
+        if frame is not None:
+            self._manipulation_mpc_frame = frame
+        return self._manipulation_mpc_frame
+    
+    @property
+    def manipulation_mpc_control_flow(self)->KuavoManipulationMpcControlFlow:
+        flow = self._srv_get_manipulation_mpc_control_flow()
+        if flow is not None:
+            self._manipulation_mpc_control_flow = flow
+        return self._manipulation_mpc_control_flow
+    
+    @property
+    def pitch_limit_enabled(self)->bool:
+        success, status = self._srv_get_pitch_limit_status()
+        if success:
+            return not ('disabled' in status)
+        else:
+            return False
+    
+    @property
+    def eef_state(self)->Tuple[EndEffectorState, EndEffectorState]:
+        return self._eef_state
+    
+    @property
+    def dexhand_touch_state(self)-> Tuple[KuavoDexHandTouchState, KuavoDexHandTouchState]:
+        if self._ee_type != EndEffectorType.QIANGNAO_TOUCH:
+            raise Exception("This robot does not support touch state")
+        return self._dexhand_touch_state
+
+    @property
+    def current_observation_time(self) -> float:
+        """Get the current observation time from MPC.
+        
+        Returns:
+            float: Current observation time in seconds, or None if no observation data available
+        """
+        if self._mpc_observation_data is None:
+            return None
+        return self._mpc_observation_data.time
+    
+    @property
+    def current_gait_mode(self) -> int:
+        """
+        Get the current gait mode from MPC observation.
+        
+        Notes: FF=0, FH=1, FT=2, FS=3, HF=4, HH=5, HT=6, HS=7, TF=8, TH=9, TT=10, TS=11, SF=12, SH=13, ST=14, SS=15
+        
+        Returns:
+            int: Current gait mode, or None if no observation data available
+        """
+        if self._mpc_observation_data is None:
+            return None
+        return self._mpc_observation_data.mode
+
+    def gait_name(self)->str:
+        return self._srv_get_current_gait_name()
+    
+    def is_gait(self, gait_name: str) -> bool:
+        """Check if current gait matches the given gait name.
+        
+        Args:
+            gait_name (str): Name of gait to check
+            
+        Returns:
+            bool: True if current gait matches given name, False otherwise
+        """
+        return self._gait_manager.get_gait(self._mpc_observation_data.time) == gait_name
+
+    def register_gait_changed_callback(self, callback):
+        """Register a callback function that will be called when the gait changes.
+        
+        Args:
+            callback: A function that takes current time (float) and gait name (str) as arguments
+        Raises:
+            ValueError: If callback does not accept 2 parameters: current_time (float), gait_name (str)
+        """
+        if not hasattr(self, '_gait_changed_callbacks'):
+            self._gait_changed_callbacks = []
+        
+        # Verify callback accepts current_time (float) and gait_name (str) parameters
+        from inspect import signature
+        sig = signature(callback)
+        if len(sig.parameters) != 2:
+            raise ValueError("Callback must accept 2 parameters: current_time (float), gait_name (str)")
+        if callback not in self._gait_changed_callbacks:
+            self._gait_changed_callbacks.append(callback)
+        
+    """ ------------------------------- callback ------------------------------- """
+    def _terrain_height_callback(self, msg)->None:
+        self._terrain_height = msg.data
+
+    def _sensors_data_raw_callback(self, msg)->None:
+        # update imu data
+        self._imu_data = KuavoImuData(
+            gyro = (msg.imu_data.gyro.x, msg.imu_data.gyro.y, msg.imu_data.gyro.z),
+            acc = (msg.imu_data.acc.x, msg.imu_data.acc.y, msg.imu_data.acc.z),
+            free_acc = (msg.imu_data.free_acc.x, msg.imu_data.free_acc.y, msg.imu_data.free_acc.z),
+            quat = (msg.imu_data.quat.x, msg.imu_data.quat.y, msg.imu_data.quat.z, msg.imu_data.quat.w)
+        )
+        # update joint data
+        self._joint_data = KuavoJointData(
+            position = copy.deepcopy(msg.joint_data.joint_q),
+            velocity = copy.deepcopy(msg.joint_data.joint_v),
+            torque = copy.deepcopy(msg.joint_data.joint_vd),
+            acceleration = copy.deepcopy(msg.joint_data.joint_current if hasattr(msg.joint_data, 'joint_current') else msg.joint_data.joint_torque)
+        )
+
+    def _odom_callback(self, msg)->None:
+        # update odom data
+        self._odom_data = KuavoOdometry(
+            position = (msg.pose.pose.position.x, msg.pose.pose.position.y, msg.pose.pose.position.z),
+            orientation = (msg.pose.pose.orientation.x, msg.pose.pose.orientation.y, msg.pose.pose.orientation.z, msg.pose.pose.orientation.w),
+            linear = (msg.twist.twist.linear.x, msg.twist.twist.linear.y, msg.twist.twist.linear.z),
+            angular = (msg.twist.twist.angular.x, msg.twist.twist.angular.y, msg.twist.twist.angular.z)
+        )
+
+    def _lejuclaw_state_callback(self, msg)->None:
+        self._eef_state = (EndEffectorState(
+            # left claw
+            position = [msg.data.position[0]],
+            velocity = [msg.data.velocity[0]],
+            effort = [msg.data.effort[0]],
+            state=EndEffectorState.GraspingState(msg.state[0])
+        ), EndEffectorState(
+            # right claw
+            position = [msg.data.position[1]],
+            velocity = [msg.data.velocity[1]],
+            effort = [msg.data.effort[1]],
+            state=EndEffectorState.GraspingState(msg.state[1])
+        ))
+
+    def _dexterous_hand_state_callback(self, msg)->None:
+        self._eef_state = (EndEffectorState(
+            # left hand
+            position = list(msg.position[:len(msg.position)//2]),
+            velocity = list(msg.velocity[:len(msg.velocity)//2]),
+            effort = list(msg.effort[:len(msg.effort)//2]),
+            state=EndEffectorState.GraspingState.UNKNOWN
+        ), EndEffectorState(
+            # right hand
+            position = list(msg.position[len(msg.position)//2:]),
+            velocity = list(msg.velocity[len(msg.velocity)//2:]),
+            effort = list(msg.effort[len(msg.effort)//2:]),
+            state=EndEffectorState.GraspingState.UNKNOWN
+        ))
+
+    def _dexhand_touch_state_callback(self, msg)->None:
+        # Update touch state for both hands
+        self._dexhand_touch_state = (
+            KuavoDexHandTouchState(
+                data=tuple(KuavoDexHandTouchState.KuavoTouchState(
+                    sensor.normal_force1, sensor.normal_force2, sensor.normal_force3,
+                    sensor.tangential_force1, sensor.tangential_force2, sensor.tangential_force3,
+                    sensor.tangential_direction1, sensor.tangential_direction2, sensor.tangential_direction3,
+                    sensor.self_proximity1, sensor.self_proximity2, sensor.mutual_proximity,
+                    sensor.status
+                ) for sensor in msg.left_hand)
+            ),  # Left hand touch state
+            KuavoDexHandTouchState(
+                data=tuple(KuavoDexHandTouchState.KuavoTouchState(
+                    sensor.normal_force1, sensor.normal_force2, sensor.normal_force3,
+                    sensor.tangential_force1, sensor.tangential_force2, sensor.tangential_force3,
+                    sensor.tangential_direction1, sensor.tangential_direction2, sensor.tangential_direction3,
+                    sensor.self_proximity1, sensor.self_proximity2, sensor.mutual_proximity,
+                    sensor.status
+                ) for sensor in msg.right_hand)
+            )   # Right hand touch state
+        )
+
+    def _humanoid_mpc_gait_changed_callback(self, msg):
+        """
+        Callback function for gait change messages.
+        Updates the current gait name when a gait change occurs.
+        """
+        SDKLogger.debug(f"[State] Received gait change message: {msg.gait_name} at time {msg.start_time}")
+        self._gait_manager.add(msg.start_time, msg.gait_name)
+    
+    def _humanoid_mpc_observation_callback(self, msg) -> None:
+        """
+        Callback function for MPC observation messages.
+        Updates the current MPC state and input data.
+        """
+        try:
+            self._mpc_observation_data = msg
+            # Only update gait info after initialization
+            if hasattr(self, '_initialized'): 
+                curr_time = self._mpc_observation_data.time
+                current_gait = self._gait_manager.get_gait(curr_time)
+                if self._prev_gait_name != current_gait:
+                    SDKLogger.debug(f"[State] Gait changed to: {current_gait} at time {curr_time}")
+                    # Update previous gait name and notify callback if registered
+                    self._prev_gait_name = current_gait
+                    if hasattr(self, '_gait_changed_callbacks') and self._gait_changed_callbacks is not None:
+                        for callback in self._gait_changed_callbacks:
+                            callback(curr_time, current_gait)
+        except Exception as e:
+            SDKLogger.error(f"Error processing MPC observation: {e}")
+
+    def _srv_get_arm_ctrl_mode(self)-> KuavoArmCtrlMode:
+        try:
+            rospy.wait_for_service('/humanoid_get_arm_ctrl_mode', timeout=1.0)
+            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.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 _srv_get_current_gait_name(self)->str:
+        try:
+            rospy.wait_for_service('/humanoid_get_current_gait_name', timeout=1.0)
+            srv = rospy.ServiceProxy('/humanoid_get_current_gait_name', getCurrentGaitName)
+            request = getCurrentGaitNameRequest()
+            response = srv(request)
+            if response.success:
+                return response.gait_name
+            else:
+                return None
+        except Exception as e:
+            SDKLogger.error(f"Service call failed: {e}")
+        return None
+    def _srv_get_dexhand_gesture_state(self)->bool:
+        
+        try:
+            rospy.wait_for_service('gesture/execute_state',timeout=1.0)
+            # 创建服务代理
+            gesture_state_service = rospy.ServiceProxy('gesture/execute_state', gestureExecuteState)
+            
+            # 创建请求对象
+            request = gestureExecuteStateRequest()
+            
+            response = gesture_state_service(request)
+            
+            return response.is_executing
+        
+        except rospy.ServiceException as e:
+            print(f"Service call failed: {e}")
+        
+        return None
+
+    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_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_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_get_pitch_limit_status(self, )->Tuple[bool, str]:
+        try:
+            service_name = '/humanoid/mpc/pitch_limit_status'
+            rospy.wait_for_service(service_name, timeout=2.0)
+            get_pitch_limit_status_srv = rospy.ServiceProxy(service_name, SetBool)
+            
+            req = SetBoolRequest()
+            
+            resp = get_pitch_limit_status_srv(req)
+            if not resp.success:
+                SDKLogger.error(f"Failed to get pitch limit status: {resp.message}")
+                return False, 'unknown'
+            return resp.success, resp.message
+        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 pitch limit status: {e}")
+        return False, 'unknown'
+    
+if __name__ == "__main__":
+    state = KuavoRobotStateCore()
+    print(state.manipulation_mpc_frame)
+    print(state.manipulation_mpc_control_flow)
+    print(state.manipulation_mpc_ctrl_mode)
+    print(state.arm_control_mode)