kuavo-humanoid-sdk


Namekuavo-humanoid-sdk JSON
Version 1.2.0 PyPI version JSON
download
home_pagehttps://gitee.com/leju-robot/kuavo-ros-opensource/
SummaryA Python SDK for kuavo humanoid robot.
upload_time2025-07-14 02:52:28
maintainerNone
docs_urlNone
author['lejurobot']
requires_python>=3.8
licenseMIT
keywords kuavo humanoid robot robotics lejurobot ros
VCS
bugtrack_url
requirements No requirements were recorded.
Travis-CI No Travis.
coveralls test coverage No coveralls. 
            # 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
  - 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
  - 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/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/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

#### 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/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/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/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/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/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/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

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

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\u672b\u7aef\u6267\u884c\u5668\u72b6\u6001:\n    - \u5939\u6301\u5668(lejuclaw): \u4f4d\u7f6e\u3001\u901f\u5ea6\u3001\u529b\u77e9\u3001\u6293\u53d6\u72b6\u6001\n    - \u7075\u5de7\u624b(qiangnao): \u4f4d\u7f6e\u3001\u901f\u5ea6\u3001\u529b\u77e9\n    - \u89e6\u89c9\u7075\u5de7\u624b(qiangnao_touch): \u4f4d\u7f6e\u3001\u901f\u5ea6\u3001\u529b\u77e9\u3001\u89e6\u89c9\u72b6\u6001\n    - \u672b\u7aef\u6267\u884c\u5668\u4f4d\u7f6e\u548c\u59ff\u6001\n  - \u8fd0\u52a8\u72b6\u6001: \u7ad9\u7acb\u3001\u884c\u8d70\u3001\u81ea\u5b9a\u4e49\u5355\u6b65\u63a7\u5236\n\n- \u8fd0\u52a8\u63a7\u5236\n  - \u624b\u81c2\u63a7\u5236\n    - \u5173\u8282\u4f4d\u7f6e\u63a7\u5236\n    - \u901a\u8fc7\u9006\u8fd0\u52a8\u5b66(IK)\u7684\u672b\u7aef\u6267\u884c\u56686D\u63a7\u5236\n    - \u7528\u4e8e\u8ba1\u7b97\u672b\u7aef\u6267\u884c\u5668\u4f4d\u59ff\u7684\u6b63\u8fd0\u52a8\u5b66(FK)\n    - \u590d\u6742\u52a8\u4f5c\u7684\u5173\u952e\u5e27\u5e8f\u5217\u63a7\u5236\n  - \u672b\u7aef\u6267\u884c\u5668\u63a7\u5236\n    - \u5939\u6301\u5668\u63a7\u5236(\u53ef\u914d\u7f6e\u901f\u5ea6\u548c\u529b\u77e9\u7684\u4f4d\u7f6e\u63a7\u5236)\n    - \u7075\u5de7\u624b\u63a7\u5236\n      - \u4f4d\u7f6e\u63a7\u5236\n      - \u9884\u5b9a\u4e49\u624b\u52bf(OK\u3001666\u3001\u63e1\u62f3\u7b49)\u63a7\u5236\n  - \u5934\u90e8\u63a7\u5236\n    - \u4f4d\u7f6e\u63a7\u5236\n  - \u8eaf\u5e72\u63a7\u5236\n    - \u9ad8\u5ea6\u63a7\u5236(\u4e0b\u8e72)\n    - \u524d/\u540e\u503e\u63a7\u5236\n  - \u52a8\u6001\u8fd0\u52a8\u63a7\u5236\n    - \u7ad9\u7acb\n    - \u8e0f\u6b65\n    - \u884c\u8d70(xy \u548c yaw \u504f\u822a\u901f\u5ea6\u63a7\u5236)\n    - \u81ea\u5b9a\u4e49\u5355\u6b65\u63a7\u5236\n- \u673a\u5668\u4eba\u57fa\u672c\u4fe1\u606f\n  - \u673a\u5668\u4eba\u7c7b\u578b(kuavo)\n  - \u673a\u5668\u4eba\u7248\u672c\n  - \u672b\u7aef\u6267\u884c\u5668\u7c7b\u578b\n  - \u5173\u8282\u540d\u79f0\n  - \u603b\u81ea\u7531\u5ea6(28)\n  - \u624b\u81c2\u81ea\u7531\u5ea6(\u6bcf\u81c27\u4e2a)\n  - \u5934\u90e8\u81ea\u7531\u5ea6(2\u4e2a)\n  - \u817f\u90e8\u81ea\u7531\u5ea6(12\u4e2a)\n- \u97f3\u9891\u63a5\u53e3\n  - \u64ad\u653e\u6307\u5b9a\u7684\u97f3\u9891\u6587\u4ef6\n  - \u505c\u6b62\u64ad\u653e\u97f3\u9891\n  - TTS \u6587\u672c\u5408\u6210\u97f3\u9891\n- \u89c6\u89c9\u63a5\u53e3\n  - \u83b7\u53d6\u6307\u5b9a\u5750\u6807\u7cfb\u4e0b\u7684 AprilTag \u68c0\u6d4b\u6570\u636e\n- \u89c2\u6d4b\u63a5\u53e3\n   - \u83b7\u53d6\u673a\u5668\u4eba\u63a7\u5236\u6307\u4ee4\n- \u642c\u7bb1\u5b50\u7b56\u7565\u6a21\u5757\n   - \u67e5\u627e Apriltag \n   - \u5230\u8fbe\u4e16\u754c\u5750\u6807\u7cfb\u4e0b\u7684\u76ee\u6807\u70b9\u4f4d\u59ff\n   - \u642c\u7bb1\u5b50\n   - \u653e\u7f6e\u7bb1\u5b50   \n## \u5b89\u88c5\n\n**\u6ce8\u610f\uff1a\u76ee\u524dSDK\u6709\u4e24\u4e2a\u7248\u672c\uff0c\u7a33\u5b9a\u7248\u548c\u6d4b\u8bd5\u7248\u3002\u5b83\u4eec\u7684\u533a\u522b\u5982\u4e0b\uff1a**\n\n- \u7a33\u5b9a\u7248\uff1a\u5bf9\u5e94 [kuavo-ros-opensource](https://gitee.com/leju-robot/kuavo-ros-opensource/) \u4ed3\u5e93 `master` \u5206\u652f\u63d0\u4f9b\u7684\u529f\u80fd\u3002\n- \u6d4b\u8bd5\u7248\uff1a\u6bd4\u5b98\u65b9\u7248\u672c\u66f4\u6fc0\u8fdb\uff0c\u4e5f\u63d0\u4f9b\u66f4\u4e30\u5bcc\u7684\u529f\u80fd\uff0c\u5bf9\u5e94 [kuavo-ros-opensource](https://gitee.com/leju-robot/kuavo-ros-opensource/) \u4ed3\u5e93 `beta` \u5206\u652f\u63d0\u4f9b\u7684\u529f\u80fd\u3002\n\n**\u53cb\u60c5\u63d0\u9192\uff1a\u8bf7\u660e\u786e\u60a8\u9700\u8981\u5b89\u88c5\u7684\u7248\u672c\u3002\u5982\u679c\u60a8\u7684SDK\u7248\u672c\u4e0e `kuavo-ros-opensource` \u4e0d\u5339\u914d\uff0c\u67d0\u4e9b\u529f\u80fd\u53ef\u80fd\u65e0\u6cd5\u4f7f\u7528\u3002**\n\n\u4f7f\u7528 pip \u5b89\u88c5\u6700\u65b0\u7684 **\u7a33\u5b9a\u7248** Kuavo Humanoid SDK\uff1a\n```bash\npip install kuavo-humanoid-sdk  \n```\n\n\u4f7f\u7528  pip \u5b89\u88c5\u6700\u65b0\u7684 **\u6d4b\u8bd5\u7248** Kuavo Humanoid SDK\uff1a\n```bash\npip install --pre kuavo-humanoid-sdk  \n```\n\n\u5bf9\u4e8e\u672c\u5730\u5f00\u53d1\u5b89\u88c5\uff08\u53ef\u7f16\u8f91\u6a21\u5f0f\uff09\uff0c\u8bf7\u4f7f\u7528\uff1a\n```bash\ncd src/kuavo_humanoid_sdk  \nchmod +x install.sh  \n./install.sh   \n```\n\n## \u7248\u672c\u5347\u7ea7\n\u5728\u5347\u7ea7\u7248\u672c\u4e4b\u524d\uff0c\u60a8\u53ef\u4ee5\u4f7f\u7528\u4ee5\u4e0b\u547d\u4ee4\u67e5\u770b\u5f53\u524d\u5b89\u88c5\u7684\u7248\u672c\uff1a\n```bash\npip show kuavo-humanoid-sdk  \n# Output:  \nName: kuavo-humanoid-sdk  \nVersion: 1.1.6\n...  \n```\n\n**\u63d0\u793a\uff1a\u5982\u679c\u7248\u672c\u53f7\u5305\u542b\u5b57\u6bcd b\uff0c\u5219\u8868\u793a\u662f\u6d4b\u8bd5\u7248\uff0c\u4f8b\u5982\uff0cVersion: 0.1.2b113**\n\n\u4ece\u7a33\u5b9a\u7248\u672c\u66f4\u65b0\u5230\u6700\u65b0\u7684\u7a33\u5b9a\u7248\u672c\uff1a\n```bash\npip install --upgrade kuavo_humanoid_sdk  \n```\n\n\u4ece\u6d4b\u8bd5\u7248\u66f4\u65b0\u5230\u6700\u65b0\u7684\u7a33\u5b9a\u7248\u672c\uff1a\n```bash\npip install --upgrade --force-reinstall kuavo_humanoid_sdk  \n# or  \npip uninstall kuavo_humanoid_sdk && pip install kuavo_humanoid_sdk  \n```\n\n\u4ece\u6d4b\u8bd5\u7248/\u7a33\u5b9a\u7248\u66f4\u65b0\u5230\u6700\u65b0\u7684\u6d4b\u8bd5\u7248\uff1a\n```bash\npip install --upgrade --pre kuavo_humanoid_sdk  \n```\n\n## \u5b89\u88c5\u5305\u4fe1\u606f\n\n\u60a8\u53ef\u4ee5\u4f7f\u7528 pip \u6765\u67e5\u770b\u5305\u4fe1\u606f\uff1a\n```bash\npip show kuavo-humanoid-sdk\n```\n\n## \u5feb\u901f\u5f00\u59cb\n\n\u4ee5\u4e0b\u662f\u4e00\u4e2a\u7b80\u5355\u7684\u793a\u4f8b\uff0c\u7528\u4e8e\u5feb\u901f\u4f7f\u7528 Kuavo Humanoid SDK\uff1a\n\n> **\u8b66\u544a**: \n>  \u5728\u8fd0\u884c\u4efb\u4f55\u4ee3\u7801\u793a\u4f8b\u4e4b\u524d\uff0c\u8bf7\u786e\u4fdd\u5df2\u7ecf\u542f\u52a8\u673a\u5668\u4eba\uff0c \u5426\u5219 SDK \u65e0\u6cd5\u6b63\u5e38\u5de5\u4f5c\uff1a\n>   \n>   - \u5982\u679c\u662f\u547d\u4ee4\u884c\u542f\u52a8\uff0c\u5219\u8bf7\u786e\u4fdd\u7c7b\u4f3c\u4e0b\u9762\u7684\u547d\u4ee4\u5df2\u7ecf\u6267\u884c:\n>       - \u4eff\u771f\u6a21\u5f0f: ``roslaunch humanoid_controllers load_kuavo_mujoco_sim.launch`` (\u793a\u4f8b\u547d\u4ee4)\n>       - \u771f\u5b9e\u673a\u5668\u4eba: ``roslaunch humanoid_controllers load_kuavo_real.launch`` (\u793a\u4f8b\u547d\u4ee4)\n>   - \u5982\u679c\u662f h12 \u9065\u63a7\u5668\u7b49\u542f\u52a8\u65b9\u5f0f\uff0c\u4e5f\u8bf7\u786e\u4fdd\u5df2\u7ecf\u8ba9\u673a\u5668\u4eba\u542f\u52a8(\u7ad9\u7acb)\n\n```python3\n# Copyright (c) 2025 Leju Robotics. Licensed under the MIT License.\nimport time\nfrom kuavo_humanoid_sdk import KuavoSDK, KuavoRobot\n\ndef main():\n    if not KuavoSDK().Init():  # Init! !!! IMPORTANT !!!\n        print(\"Init KuavoSDK failed, exit!\")\n        exit(1)\n    robot = KuavoRobot()    \n    \n    \"\"\" arm reset \"\"\"\n    print(\"Switching to arm reset mode...\")\n    robot.arm_reset()\n    \n    \"\"\" stance \"\"\"\n    print(\"Switching to stance mode...\")\n    robot.stance()\n\n    \"\"\" trot \"\"\"\n    print(\"Switching to trot mode...\")\n    robot.trot()\n    \n    \"\"\" walk forward \"\"\"\n    print(\"Starting forward walk...\")\n    duration = 4.0  # seconds\n    speed = 0.3     # m/s\n    start_time = time.time()\n    while (time.time() - start_time < duration):\n        robot.walk(linear_x=speed, linear_y=0.0, angular_z=0.0)\n        time.sleep(0.1)  # Small sleep to prevent busy loop\n    \nif __name__ == \"__main__\":\n    main()\n```\n\n## \u6587\u6863\n\u6211\u4eec\u63d0\u4f9b\u4e24\u79cd\u6587\u6863\u683c\u5f0f\uff1a\n- HTML \u683c\u5f0f: [docs/html](docs/html), **\u4f46\u662f\u9700\u8981\u60a8\u81ea\u5df1\u5728SDK\u76ee\u5f55\u4e0b\u6267\u884c`gen_docs.sh`\u811a\u672c\u751f\u6210**\n- Markdown \u683c\u5f0f: [docs/markdown](docs/markdown)\n\n\u60a8\u53ef\u4ee5\u5728 SDK \u7684\u6e90\u7801\u76ee\u5f55\u4e0b\u6267\u884c\u4ee5\u4e0b\u547d\u4ee4\u751f\u6210\u6587\u6863\uff0c \u6587\u6863\u4f1a\u8f93\u51fa\u5230 `docs/html` \u548c `docs/markdown` \u6587\u4ef6\u5939\u4e2d\uff1a\n```bash\ncd <kuavo-ros-opensource>/src/kuavo_humanoid_sdk\nchmod +x gen_docs.sh\n./gen_docs.sh\n```\n\n**\u6211\u4eec\u5f3a\u70c8\u63a8\u8350\u60a8\u9605\u8bfb `html` \u6587\u6863\uff0c \u56e0\u4e3a\u5b83\u66f4\u9002\u5408\u9605\u8bfb\u3002**\n\n\u5bf9\u4e8eMarkdown \u6587\u6863\uff0c \u8bf7\u8bbf\u95ee\uff1a\n\nhttps://gitee.com/leju-robot/kuavo-ros-opensource/tree/master/src/kuavo_humanoid_sdk/docs/markdown/index.md\n\n## \u4f7f\u7528\u793a\u4f8b\n\n> **\u8b66\u544a**: \n>  \u5728\u8fd0\u884c\u4efb\u4f55\u4ee3\u7801\u793a\u4f8b\u4e4b\u524d\uff0c\u8bf7\u786e\u4fdd\u5df2\u7ecf\u542f\u52a8\u673a\u5668\u4eba\uff0c \u5426\u5219 SDK \u65e0\u6cd5\u6b63\u5e38\u5de5\u4f5c\uff1a\n>   \n>   - \u5982\u679c\u662f\u547d\u4ee4\u884c\u542f\u52a8\uff0c\u5219\u8bf7\u786e\u4fdd\u7c7b\u4f3c\u4e0b\u9762\u7684\u547d\u4ee4\u5df2\u7ecf\u6267\u884c:\n>       - \u4eff\u771f\u6a21\u5f0f: ``roslaunch humanoid_controllers load_kuavo_mujoco_sim.launch`` (\u793a\u4f8b\u547d\u4ee4)\n>       - \u771f\u5b9e\u673a\u5668\u4eba: ``roslaunch humanoid_controllers load_kuavo_real.launch`` (\u793a\u4f8b\u547d\u4ee4)\n>   - \u5982\u679c\u662f h12 \u9065\u63a7\u5668\u7b49\u542f\u52a8\u65b9\u5f0f\uff0c\u4e5f\u8bf7\u786e\u4fdd\u5df2\u7ecf\u8ba9\u673a\u5668\u4eba\u542f\u52a8(\u7ad9\u7acb)\n\n### \u57fa\u672c\u4fe1\u606f\u793a\u4f8b\n\n\u4e00\u4e2a\u83b7\u53d6\u673a\u5668\u4eba\u57fa\u672c\u4fe1\u606f\u7684\u793a\u4f8b\u3002\n\n[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)\n\n### \u8fd0\u52a8\u63a7\u5236\u793a\u4f8b\n\n\u4e00\u4e2a\u57fa\u672c\u793a\u4f8b\uff0c\u7528\u4e8e\u521d\u59cb\u5316 SDK \u5e76\u63a7\u5236\u673a\u5668\u4eba\u8fd0\u52a8\u3002\n\n[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)\n\n### \u672b\u7aef\u6267\u884c\u5668\u63a7\u5236\u793a\u4f8b\n\n#### LejuClaw \u5939\u722a\n\n\u5c55\u793a\u5982\u4f55\u63a7\u5236 LejuClaw \u5939\u722a\u672b\u7aef\u6267\u884c\u5668\u7684\u793a\u4f8b\uff0c\u5305\u62ec\u4f4d\u7f6e\u3001\u901f\u5ea6\u548c\u529b\u77e9\u63a7\u5236\u3002\n\n[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)\n\n#### QiangNao \u7075\u5de7\u624b\n\n\u5c55\u793a\u5982\u4f55\u63a7\u5236 QiangNao \u7075\u5de7\u624b\u7684\u793a\u4f8b\uff0c\u8fd9\u662f\u4e00\u4e2a\u5177\u6709\u591a\u4e2a\u81ea\u7531\u5ea6\u7684\u7075\u5de7\u673a\u5668\u4eba\u624b\uff0c\u53ef\u7528\u4e8e\u590d\u6742\u7684\u64cd\u4f5c\u4efb\u52a1\u3002\n\n[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)\n\n### \u624b\u81c2\u63a7\u5236\u793a\u4f8b\n\n\u5c55\u793a\u624b\u81c2\u8f68\u8ff9\u63a7\u5236\u548c\u76ee\u6807\u59ff\u6001\u63a7\u5236\u7684\u793a\u4f8b\u3002\n\n[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)\n\n### \u624b\u81c2\u6b63\u5411\u8fd0\u52a8\u5b66\u548c\u9006\u5411\u8fd0\u52a8\u5b66\u793a\u4f8b\n\n\u5c55\u793a\u5982\u4f55\u4f7f\u7528\u6b63\u5411\u8fd0\u52a8\u5b66(FK)\u4ece\u5173\u8282\u89d2\u5ea6\u8ba1\u7b97\u672b\u7aef\u6267\u884c\u5668\u4f4d\u7f6e\uff0c\u4ee5\u53ca\u5982\u4f55\u4f7f\u7528\u9006\u5411\u8fd0\u52a8\u5b66(IK)\u8ba1\u7b97\u5b9e\u73b0\u671f\u671b\u672b\u7aef\u6267\u884c\u5668\u59ff\u6001\u6240\u9700\u7684\u5173\u8282\u89d2\u5ea6\u7684\u793a\u4f8b\u3002\n\n[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)\n\n### \u5934\u90e8\u63a7\u5236\u793a\u4f8b\n\n\u5c55\u793a\u5982\u4f55\u63a7\u5236\u673a\u5668\u4eba\u5934\u90e8\u8fd0\u52a8\u7684\u793a\u4f8b\uff0c\u5305\u62ec\u70b9\u5934(\u4fef\u4ef0)\u548c\u6447\u5934(\u504f\u822a)\u52a8\u4f5c\u3002\n\n[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)\n\n### \u5355\u6b65\u63a7\u5236\u793a\u4f8b\n\n\u5c55\u793a\u5982\u4f55\u63a7\u5236\u673a\u5668\u4eba\u6309\u7167\u81ea\u5b9a\u4e49\u843d\u8db3\u70b9\u8f68\u8ff9\u8fd0\u52a8\u7684\u793a\u4f8b\u3002\n\n[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)\n\n\n## \u8bb8\u53ef\u8bc1\n\n\u672c\u9879\u76ee\u4f7f\u7528 MIT \u8bb8\u53ef\u8bc1\u6388\u6743\uff0c\u8be6\u60c5\u4fe1\u606f\u8bf7\u67e5\u770b LICENSE \u6587\u4ef6\u3002\n\n## \u8054\u7cfb\u4e0e\u652f\u6301\n\n\u5982\u6709\u4efb\u4f55\u95ee\u9898\u3001\u652f\u6301\u9700\u6c42\u6216\u9519\u8bef\u62a5\u544a\uff0c\u8bf7\u901a\u8fc7\u4ee5\u4e0b\u65b9\u5f0f\u8054\u7cfb\u6211\u4eec\uff1a\n\n- \u90ae\u7bb1: edu@lejurobot.com\n- \u7f51\u7ad9: https://gitee.com/leju-robot/kuavo-ros-opensource/\n- \u6e90\u4ee3\u7801: https://gitee.com/leju-robot/kuavo-ros-opensource/\n- \u95ee\u9898\u8ffd\u8e2a: https://gitee.com/leju-robot/kuavo-ros-opensource/issues\n",
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