# rub

**Repository Path**: moeover/rub

## Basic Information

- **Project Name**: rub
- **Description**: No description available
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: main
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2025-07-23
- **Last Updated**: 2025-07-23

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# Python SDK

# current support python version
- python3.6
- python3.7
- python3.8
- python3.9
- python3.10
- python3.11
- python3.12

# example
直接运行 `python reborncap_ws_sdk_example.py`

# 基本使用示例
```python
import rebocap_ws_sdk

def pose_msg_callback(self: rebocap_ws_sdk.RebocapWsSdk, tran: list, pose24: list, static_index: int, ts: float):
    pass

def exception_close_callback(self: rebocap_ws_sdk.RebocapWsSdk):
    print("exception_close_callback")

# 初始化sdk  这里可以选择坐标空间 以及 坐标输出【全局 or 局部】
sdk = rebocap_ws_sdk.RebocapWsSdk(rebocap_ws_sdk.CoordinateType.UECoordinate, use_global_rotation=True)
# 设置姿态回调
sdk.set_pose_msg_callback(pose_msg_callback)
# 设置异常断开回调
sdk.set_exception_close_callback(exception_close_callback)
# 开始连接
open_ret = sdk.open(7690)
```
# 数据结构
- trans:
  - List 3个浮点数据
  - 目前是屁股[pelvis]的位置
- pose24:
24个关节的四元数，参考example中的用法，其中 Pelvis 是根节点，节点位置图，可以参考[SMPL关节点位](https://blog.csdn.net/weixin_43822395/article/details/124378186)
```python
# 关节名称
REBOCAP_JOINT_NAMES = [
    "Pelvis",
    "L_Hip",
    "R_Hip",
    "Spine1",
    "L_Knee",
    "R_Knee",
    "Spine2",
    "L_Ankle",
    "R_Ankle",
    "Spine3",
    "L_Foot",
    "R_Foot",
    "Neck",
    "L_Collar",
    "R_Collar",
    "Head",
    "L_Shoulder",
    "R_Shoulder",
    "L_Elbow",
    "R_Elbow",
    "L_Wrist",
    "R_Wrist",
    "L_Hand",
    "R_Hand"
]
```
- static_index
  - int 类型数据，-1表示没有检测到接触点，0,1,2 是左脚前掌的左中右， 3,4,5 是左脚脚后跟左中右， 6,7,8 是右脚前脚掌左中右  9,10,11 是右脚后脚本左中右
  - 对地接触点信息，目前只做了单点接触判定