Futurist 人形机器人 SDK

# 在机器人上（aarch64）—— 推荐，能力覆盖最全
pip install wheels/ff_sdk-0.1.0a0-cp310-cp310-linux_aarch64.whl

# 在 Linux 开发机上（x86_64）
pip install wheels/ff_sdk-0.1.0a0-cp310-cp310-linux_x86_64.whl

python -c "import ff_sdk; print(ff_sdk.__version__)"

import asyncio, ff_sdk

async def main():
    async with await ff_sdk.connect("A2-DEMO") as robot:
        print(robot.diagnose())                       # 先体检
        print(robot.capabilities())                   # 看支持哪些能力

        await robot.motion.stand()                    # 站立
        await robot.display.show_expression("smile")  # 微笑表情
        await robot.audio.say("你好，我是 Futurist")   # TTS 播报

        battery = await robot.state.battery()
        print(f"电量 {battery.percent:.0%}")

        frame = await robot.vision.frame()            # 头部相机取一帧
        with open("snapshot.jpg", "wb") as f:
            f.write(frame.data)

        await robot.motion.do_preset("wave")          # 招手

asyncio.run(main())

from ff_sdk import Config

cfg = Config.from_env()          # 从环境变量读取
cfg.transport_timeout = 8.0      # 也可以代码里改
robot = await ff_sdk.connect("A2-DEMO", config=cfg)

async with await ff_sdk.connect("A2-DEMO") as robot:
    await robot.motion.stand()
# 离开 with 自动 close()，异常也不会泄漏连接

import math

def q_func(t: float) -> list[float]:
    # 返回目标关节位置数组（弧度），t 为流开始后的秒数
    return [0.3 * math.sin(2 * math.pi * 0.5 * t)]

async for tick in robot.motion.joint_stream(
        q_func, rate_hz=50.0, duration_s=5.0,
        joint_names=["right_shoulder_pitch"]):
    pass   # tick 含每帧下发回执

from ff_sdk.core.exceptions import StateError

status = await robot.state.status()
battery = await robot.state.battery()

if battery.is_charging:
    print("充电中 —— 运动指令会被 StateError 拒绝，先脱离充电桩")
else:
    await robot.motion.stand()

await robot.audio.volume(0.7)
await robot.audio.say("欢迎光临，我是 Futurist")

with open("chime.wav", "rb") as f:
    await robot.audio.play_wav(f.read())

frame = await robot.vision.frame()
with open("snap.jpg", "wb") as f:
    f.write(frame.data)

# data 是标准 JPEG，可直接喂给 OpenCV / PIL / 你的检测模型
# import cv2, numpy as np
# img = cv2.imdecode(np.frombuffer(frame.data, np.uint8), cv2.IMREAD_COLOR)

names = await robot.display.list_expressions()
print(names)            # ('smile', 'blink', 'thinking', ...)

await robot.display.show_expression("smile")

from ff_sdk.capabilities.arm import ArmJointAngles

await robot.arm.pose_arm(
    ArmJointAngles(angles=(0.0, -0.4, 0.0, 1.2, 0.0, 0.0, 0.0), arm="right"),
    duration_s=2.0,
)
await robot.arm.grasp(arm="right")
await asyncio.sleep(1)
await robot.arm.release(arm="right")

frame = await robot.vision.frame()
result = await robot.checkin.recognize(frame.data)

if result.name:
    await robot.audio.say(f"你好，{result.name}")
    await robot.display.show_expression("smile")
else:
    await robot.audio.say("初次见面，请问怎么称呼？")

from ff_sdk import skills

await skills.wave(robot)                  # Futurist 上 → do_preset("wave")
await skills.bow(robot)                   # → do_preset("bow")
await skills.greet(robot, "王先生", language="zh")
# greet = 招手 + TTS 打招呼（Futurist 两者都支持，效果最完整）

report = robot.diagnose()
print(report)
# 控制 / 遥测 / 语音 / 视觉各链路是否在线，排错第一步永远先看体检