kuavo-humanoid-sdk 1.1.2a921__py3-none-any.whl → 1.1.2a924__py3-none-any.whl

kuavo_humanoid_sdk/msg/kuavo_msgs/srv/_singleStepControl.py

@@ -0,0 +1,356 @@
+# This Python file uses the following encoding: utf-8
+"""autogenerated by genpy from kuavo_msgs/singleStepControlRequest.msg. Do not edit."""
+import codecs
+import sys
+python3 = True if sys.hexversion > 0x03000000 else False
+import genpy
+import struct
+
+import kuavo_msgs.msg
+
+class singleStepControlRequest(genpy.Message):
+  _md5sum = "17f130f2bf33453ad92f340f67992d0e"
+  _type = "kuavo_msgs/singleStepControlRequest"
+  _has_header = False  # flag to mark the presence of a Header object
+  _full_text = """footPoseTargetTrajectories foot_pose_target_trajectories
+
+================================================================================
+MSG: kuavo_msgs/footPoseTargetTrajectories
+float64[]    timeTrajectory
+int32[]      footIndexTrajectory
+footPose[]   footPoseTrajectory
+================================================================================
+MSG: kuavo_msgs/footPose
+float64[4] footPose # x, y, z, yaw
+float64[4] torsoPose # x, y, z, yaw"""
+  __slots__ = ['foot_pose_target_trajectories']
+  _slot_types = ['kuavo_msgs/footPoseTargetTrajectories']
+
+  def __init__(self, *args, **kwds):
+    """
+    Constructor. Any message fields that are implicitly/explicitly
+    set to None will be assigned a default value. The recommend
+    use is keyword arguments as this is more robust to future message
+    changes.  You cannot mix in-order arguments and keyword arguments.
+
+    The available fields are:
+       foot_pose_target_trajectories
+
+    :param args: complete set of field values, in .msg order
+    :param kwds: use keyword arguments corresponding to message field names
+    to set specific fields.
+    """
+    if args or kwds:
+      super(singleStepControlRequest, self).__init__(*args, **kwds)
+      # message fields cannot be None, assign default values for those that are
+      if self.foot_pose_target_trajectories is None:
+        self.foot_pose_target_trajectories = kuavo_msgs.msg.footPoseTargetTrajectories()
+    else:
+      self.foot_pose_target_trajectories = kuavo_msgs.msg.footPoseTargetTrajectories()
+
+  def _get_types(self):
+    """
+    internal API method
+    """
+    return self._slot_types
+
+  def serialize(self, buff):
+    """
+    serialize message into buffer
+    :param buff: buffer, ``StringIO``
+    """
+    try:
+      length = len(self.foot_pose_target_trajectories.timeTrajectory)
+      buff.write(_struct_I.pack(length))
+      pattern = '<%sd'%length
+      buff.write(struct.Struct(pattern).pack(*self.foot_pose_target_trajectories.timeTrajectory))
+      length = len(self.foot_pose_target_trajectories.footIndexTrajectory)
+      buff.write(_struct_I.pack(length))
+      pattern = '<%si'%length
+      buff.write(struct.Struct(pattern).pack(*self.foot_pose_target_trajectories.footIndexTrajectory))
+      length = len(self.foot_pose_target_trajectories.footPoseTrajectory)
+      buff.write(_struct_I.pack(length))
+      for val1 in self.foot_pose_target_trajectories.footPoseTrajectory:
+        buff.write(_get_struct_4d().pack(*val1.footPose))
+        buff.write(_get_struct_4d().pack(*val1.torsoPose))
+    except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(locals().get('_x', self)))))
+    except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(locals().get('_x', self)))))
+
+  def deserialize(self, str):
+    """
+    unpack serialized message in str into this message instance
+    :param str: byte array of serialized message, ``str``
+    """
+    if python3:
+      codecs.lookup_error("rosmsg").msg_type = self._type
+    try:
+      if self.foot_pose_target_trajectories is None:
+        self.foot_pose_target_trajectories = kuavo_msgs.msg.footPoseTargetTrajectories()
+      end = 0
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      pattern = '<%sd'%length
+      start = end
+      s = struct.Struct(pattern)
+      end += s.size
+      self.foot_pose_target_trajectories.timeTrajectory = s.unpack(str[start:end])
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      pattern = '<%si'%length
+      start = end
+      s = struct.Struct(pattern)
+      end += s.size
+      self.foot_pose_target_trajectories.footIndexTrajectory = s.unpack(str[start:end])
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      self.foot_pose_target_trajectories.footPoseTrajectory = []
+      for i in range(0, length):
+        val1 = kuavo_msgs.msg.footPose()
+        start = end
+        end += 32
+        val1.footPose = _get_struct_4d().unpack(str[start:end])
+        start = end
+        end += 32
+        val1.torsoPose = _get_struct_4d().unpack(str[start:end])
+        self.foot_pose_target_trajectories.footPoseTrajectory.append(val1)
+      return self
+    except struct.error as e:
+      raise genpy.DeserializationError(e)  # most likely buffer underfill
+
+
+  def serialize_numpy(self, buff, numpy):
+    """
+    serialize message with numpy array types into buffer
+    :param buff: buffer, ``StringIO``
+    :param numpy: numpy python module
+    """
+    try:
+      length = len(self.foot_pose_target_trajectories.timeTrajectory)
+      buff.write(_struct_I.pack(length))
+      pattern = '<%sd'%length
+      buff.write(self.foot_pose_target_trajectories.timeTrajectory.tostring())
+      length = len(self.foot_pose_target_trajectories.footIndexTrajectory)
+      buff.write(_struct_I.pack(length))
+      pattern = '<%si'%length
+      buff.write(self.foot_pose_target_trajectories.footIndexTrajectory.tostring())
+      length = len(self.foot_pose_target_trajectories.footPoseTrajectory)
+      buff.write(_struct_I.pack(length))
+      for val1 in self.foot_pose_target_trajectories.footPoseTrajectory:
+        buff.write(val1.footPose.tostring())
+        buff.write(val1.torsoPose.tostring())
+    except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(locals().get('_x', self)))))
+    except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(locals().get('_x', self)))))
+
+  def deserialize_numpy(self, str, numpy):
+    """
+    unpack serialized message in str into this message instance using numpy for array types
+    :param str: byte array of serialized message, ``str``
+    :param numpy: numpy python module
+    """
+    if python3:
+      codecs.lookup_error("rosmsg").msg_type = self._type
+    try:
+      if self.foot_pose_target_trajectories is None:
+        self.foot_pose_target_trajectories = kuavo_msgs.msg.footPoseTargetTrajectories()
+      end = 0
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      pattern = '<%sd'%length
+      start = end
+      s = struct.Struct(pattern)
+      end += s.size
+      self.foot_pose_target_trajectories.timeTrajectory = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      pattern = '<%si'%length
+      start = end
+      s = struct.Struct(pattern)
+      end += s.size
+      self.foot_pose_target_trajectories.footIndexTrajectory = numpy.frombuffer(str[start:end], dtype=numpy.int32, count=length)
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      self.foot_pose_target_trajectories.footPoseTrajectory = []
+      for i in range(0, length):
+        val1 = kuavo_msgs.msg.footPose()
+        start = end
+        end += 32
+        val1.footPose = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=4)
+        start = end
+        end += 32
+        val1.torsoPose = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=4)
+        self.foot_pose_target_trajectories.footPoseTrajectory.append(val1)
+      return self
+    except struct.error as e:
+      raise genpy.DeserializationError(e)  # most likely buffer underfill
+
+_struct_I = genpy.struct_I
+def _get_struct_I():
+    global _struct_I
+    return _struct_I
+_struct_4d = None
+def _get_struct_4d():
+    global _struct_4d
+    if _struct_4d is None:
+        _struct_4d = struct.Struct("<4d")
+    return _struct_4d
+# This Python file uses the following encoding: utf-8
+"""autogenerated by genpy from kuavo_msgs/singleStepControlResponse.msg. Do not edit."""
+import codecs
+import sys
+python3 = True if sys.hexversion > 0x03000000 else False
+import genpy
+import struct
+
+
+class singleStepControlResponse(genpy.Message):
+  _md5sum = "937c9679a518e3a18d831e57125ea522"
+  _type = "kuavo_msgs/singleStepControlResponse"
+  _has_header = False  # flag to mark the presence of a Header object
+  _full_text = """bool success
+string message
+
+"""
+  __slots__ = ['success','message']
+  _slot_types = ['bool','string']
+
+  def __init__(self, *args, **kwds):
+    """
+    Constructor. Any message fields that are implicitly/explicitly
+    set to None will be assigned a default value. The recommend
+    use is keyword arguments as this is more robust to future message
+    changes.  You cannot mix in-order arguments and keyword arguments.
+
+    The available fields are:
+       success,message
+
+    :param args: complete set of field values, in .msg order
+    :param kwds: use keyword arguments corresponding to message field names
+    to set specific fields.
+    """
+    if args or kwds:
+      super(singleStepControlResponse, self).__init__(*args, **kwds)
+      # message fields cannot be None, assign default values for those that are
+      if self.success is None:
+        self.success = False
+      if self.message is None:
+        self.message = ''
+    else:
+      self.success = False
+      self.message = ''
+
+  def _get_types(self):
+    """
+    internal API method
+    """
+    return self._slot_types
+
+  def serialize(self, buff):
+    """
+    serialize message into buffer
+    :param buff: buffer, ``StringIO``
+    """
+    try:
+      _x = self.success
+      buff.write(_get_struct_B().pack(_x))
+      _x = self.message
+      length = len(_x)
+      if python3 or type(_x) == unicode:
+        _x = _x.encode('utf-8')
+        length = len(_x)
+      buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
+    except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(locals().get('_x', self)))))
+    except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(locals().get('_x', self)))))
+
+  def deserialize(self, str):
+    """
+    unpack serialized message in str into this message instance
+    :param str: byte array of serialized message, ``str``
+    """
+    if python3:
+      codecs.lookup_error("rosmsg").msg_type = self._type
+    try:
+      end = 0
+      start = end
+      end += 1
+      (self.success,) = _get_struct_B().unpack(str[start:end])
+      self.success = bool(self.success)
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      start = end
+      end += length
+      if python3:
+        self.message = str[start:end].decode('utf-8', 'rosmsg')
+      else:
+        self.message = str[start:end]
+      return self
+    except struct.error as e:
+      raise genpy.DeserializationError(e)  # most likely buffer underfill
+
+
+  def serialize_numpy(self, buff, numpy):
+    """
+    serialize message with numpy array types into buffer
+    :param buff: buffer, ``StringIO``
+    :param numpy: numpy python module
+    """
+    try:
+      _x = self.success
+      buff.write(_get_struct_B().pack(_x))
+      _x = self.message
+      length = len(_x)
+      if python3 or type(_x) == unicode:
+        _x = _x.encode('utf-8')
+        length = len(_x)
+      buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
+    except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(locals().get('_x', self)))))
+    except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(locals().get('_x', self)))))
+
+  def deserialize_numpy(self, str, numpy):
+    """
+    unpack serialized message in str into this message instance using numpy for array types
+    :param str: byte array of serialized message, ``str``
+    :param numpy: numpy python module
+    """
+    if python3:
+      codecs.lookup_error("rosmsg").msg_type = self._type
+    try:
+      end = 0
+      start = end
+      end += 1
+      (self.success,) = _get_struct_B().unpack(str[start:end])
+      self.success = bool(self.success)
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      start = end
+      end += length
+      if python3:
+        self.message = str[start:end].decode('utf-8', 'rosmsg')
+      else:
+        self.message = str[start:end]
+      return self
+    except struct.error as e:
+      raise genpy.DeserializationError(e)  # most likely buffer underfill
+
+_struct_I = genpy.struct_I
+def _get_struct_I():
+    global _struct_I
+    return _struct_I
+_struct_B = None
+def _get_struct_B():
+    global _struct_B
+    if _struct_B is None:
+        _struct_B = struct.Struct("<B")
+    return _struct_B
+class singleStepControl(object):
+  _type          = 'kuavo_msgs/singleStepControl'
+  _md5sum = '9a5a8ad57a17963a16bf197fc7a66fa4'
+  _request_class  = singleStepControlRequest
+  _response_class = singleStepControlResponse

kuavo_humanoid_sdk/msg/motion_capture_ik/__init__.py

@@ -0,0 +1,7 @@
+import os
+import sys
+
+# Add package path to sys.path if not already there
+package_path = os.path.dirname(os.path.dirname(os.path.abspath(__file__)))
+if package_path not in sys.path:
+    sys.path.append(package_path)

kuavo_humanoid_sdk/msg/motion_capture_ik/msg/__init__.py

@@ -0,0 +1,9 @@
+from ._armHandPose import *
+from ._handPose import *
+from ._headBodyPose import *
+from ._ikSolveError import *
+from ._ikSolveParam import *
+from ._robotArmQVVD import *
+from ._robotHandPosition import *
+from ._twoArmHandPose import *
+from ._twoArmHandPoseCmd import *

kuavo_humanoid_sdk/msg/motion_capture_ik/msg/_armHandPose.py

@@ -0,0 +1,160 @@
+# This Python file uses the following encoding: utf-8
+"""autogenerated by genpy from motion_capture_ik/armHandPose.msg. Do not edit."""
+import codecs
+import sys
+python3 = True if sys.hexversion > 0x03000000 else False
+import genpy
+import struct
+
+
+class armHandPose(genpy.Message):
+  _md5sum = "4f28a253cb60d59c6491569369f38f4d"
+  _type = "motion_capture_ik/armHandPose"
+  _has_header = False  # flag to mark the presence of a Header object
+  _full_text = """float64[3] pos_xyz
+float64[4] quat_xyzw
+
+float64[3] elbow_pos_xyz
+
+float64[7] joint_angles"""
+  __slots__ = ['pos_xyz','quat_xyzw','elbow_pos_xyz','joint_angles']
+  _slot_types = ['float64[3]','float64[4]','float64[3]','float64[7]']
+
+  def __init__(self, *args, **kwds):
+    """
+    Constructor. Any message fields that are implicitly/explicitly
+    set to None will be assigned a default value. The recommend
+    use is keyword arguments as this is more robust to future message
+    changes.  You cannot mix in-order arguments and keyword arguments.
+
+    The available fields are:
+       pos_xyz,quat_xyzw,elbow_pos_xyz,joint_angles
+
+    :param args: complete set of field values, in .msg order
+    :param kwds: use keyword arguments corresponding to message field names
+    to set specific fields.
+    """
+    if args or kwds:
+      super(armHandPose, self).__init__(*args, **kwds)
+      # message fields cannot be None, assign default values for those that are
+      if self.pos_xyz is None:
+        self.pos_xyz = [0.] * 3
+      if self.quat_xyzw is None:
+        self.quat_xyzw = [0.] * 4
+      if self.elbow_pos_xyz is None:
+        self.elbow_pos_xyz = [0.] * 3
+      if self.joint_angles is None:
+        self.joint_angles = [0.] * 7
+    else:
+      self.pos_xyz = [0.] * 3
+      self.quat_xyzw = [0.] * 4
+      self.elbow_pos_xyz = [0.] * 3
+      self.joint_angles = [0.] * 7
+
+  def _get_types(self):
+    """
+    internal API method
+    """
+    return self._slot_types
+
+  def serialize(self, buff):
+    """
+    serialize message into buffer
+    :param buff: buffer, ``StringIO``
+    """
+    try:
+      buff.write(_get_struct_3d().pack(*self.pos_xyz))
+      buff.write(_get_struct_4d().pack(*self.quat_xyzw))
+      buff.write(_get_struct_3d().pack(*self.elbow_pos_xyz))
+      buff.write(_get_struct_7d().pack(*self.joint_angles))
+    except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(locals().get('_x', self)))))
+    except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(locals().get('_x', self)))))
+
+  def deserialize(self, str):
+    """
+    unpack serialized message in str into this message instance
+    :param str: byte array of serialized message, ``str``
+    """
+    if python3:
+      codecs.lookup_error("rosmsg").msg_type = self._type
+    try:
+      end = 0
+      start = end
+      end += 24
+      self.pos_xyz = _get_struct_3d().unpack(str[start:end])
+      start = end
+      end += 32
+      self.quat_xyzw = _get_struct_4d().unpack(str[start:end])
+      start = end
+      end += 24
+      self.elbow_pos_xyz = _get_struct_3d().unpack(str[start:end])
+      start = end
+      end += 56
+      self.joint_angles = _get_struct_7d().unpack(str[start:end])
+      return self
+    except struct.error as e:
+      raise genpy.DeserializationError(e)  # most likely buffer underfill
+
+
+  def serialize_numpy(self, buff, numpy):
+    """
+    serialize message with numpy array types into buffer
+    :param buff: buffer, ``StringIO``
+    :param numpy: numpy python module
+    """
+    try:
+      buff.write(self.pos_xyz.tostring())
+      buff.write(self.quat_xyzw.tostring())
+      buff.write(self.elbow_pos_xyz.tostring())
+      buff.write(self.joint_angles.tostring())
+    except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(locals().get('_x', self)))))
+    except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(locals().get('_x', self)))))
+
+  def deserialize_numpy(self, str, numpy):
+    """
+    unpack serialized message in str into this message instance using numpy for array types
+    :param str: byte array of serialized message, ``str``
+    :param numpy: numpy python module
+    """
+    if python3:
+      codecs.lookup_error("rosmsg").msg_type = self._type
+    try:
+      end = 0
+      start = end
+      end += 24
+      self.pos_xyz = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=3)
+      start = end
+      end += 32
+      self.quat_xyzw = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=4)
+      start = end
+      end += 24
+      self.elbow_pos_xyz = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=3)
+      start = end
+      end += 56
+      self.joint_angles = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=7)
+      return self
+    except struct.error as e:
+      raise genpy.DeserializationError(e)  # most likely buffer underfill
+
+_struct_I = genpy.struct_I
+def _get_struct_I():
+    global _struct_I
+    return _struct_I
+_struct_3d = None
+def _get_struct_3d():
+    global _struct_3d
+    if _struct_3d is None:
+        _struct_3d = struct.Struct("<3d")
+    return _struct_3d
+_struct_4d = None
+def _get_struct_4d():
+    global _struct_4d
+    if _struct_4d is None:
+        _struct_4d = struct.Struct("<4d")
+    return _struct_4d
+_struct_7d = None
+def _get_struct_7d():
+    global _struct_7d
+    if _struct_7d is None:
+        _struct_7d = struct.Struct("<7d")
+    return _struct_7d

kuavo_humanoid_sdk/msg/motion_capture_ik/msg/_handPose.py

@@ -0,0 +1,136 @@
+# This Python file uses the following encoding: utf-8
+"""autogenerated by genpy from motion_capture_ik/handPose.msg. Do not edit."""
+import codecs
+import sys
+python3 = True if sys.hexversion > 0x03000000 else False
+import genpy
+import struct
+
+
+class handPose(genpy.Message):
+  _md5sum = "1a83f0bdabe750ce0cfb45a14ec63457"
+  _type = "motion_capture_ik/handPose"
+  _has_header = False  # flag to mark the presence of a Header object
+  _full_text = """# pos
+float64 x
+float64 y
+float64 z
+# rpy
+float64 roll
+float64 pitch
+float64 yaw"""
+  __slots__ = ['x','y','z','roll','pitch','yaw']
+  _slot_types = ['float64','float64','float64','float64','float64','float64']
+
+  def __init__(self, *args, **kwds):
+    """
+    Constructor. Any message fields that are implicitly/explicitly
+    set to None will be assigned a default value. The recommend
+    use is keyword arguments as this is more robust to future message
+    changes.  You cannot mix in-order arguments and keyword arguments.
+
+    The available fields are:
+       x,y,z,roll,pitch,yaw
+
+    :param args: complete set of field values, in .msg order
+    :param kwds: use keyword arguments corresponding to message field names
+    to set specific fields.
+    """
+    if args or kwds:
+      super(handPose, self).__init__(*args, **kwds)
+      # message fields cannot be None, assign default values for those that are
+      if self.x is None:
+        self.x = 0.
+      if self.y is None:
+        self.y = 0.
+      if self.z is None:
+        self.z = 0.
+      if self.roll is None:
+        self.roll = 0.
+      if self.pitch is None:
+        self.pitch = 0.
+      if self.yaw is None:
+        self.yaw = 0.
+    else:
+      self.x = 0.
+      self.y = 0.
+      self.z = 0.
+      self.roll = 0.
+      self.pitch = 0.
+      self.yaw = 0.
+
+  def _get_types(self):
+    """
+    internal API method
+    """
+    return self._slot_types
+
+  def serialize(self, buff):
+    """
+    serialize message into buffer
+    :param buff: buffer, ``StringIO``
+    """
+    try:
+      _x = self
+      buff.write(_get_struct_6d().pack(_x.x, _x.y, _x.z, _x.roll, _x.pitch, _x.yaw))
+    except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(locals().get('_x', self)))))
+    except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(locals().get('_x', self)))))
+
+  def deserialize(self, str):
+    """
+    unpack serialized message in str into this message instance
+    :param str: byte array of serialized message, ``str``
+    """
+    if python3:
+      codecs.lookup_error("rosmsg").msg_type = self._type
+    try:
+      end = 0
+      _x = self
+      start = end
+      end += 48
+      (_x.x, _x.y, _x.z, _x.roll, _x.pitch, _x.yaw,) = _get_struct_6d().unpack(str[start:end])
+      return self
+    except struct.error as e:
+      raise genpy.DeserializationError(e)  # most likely buffer underfill
+
+
+  def serialize_numpy(self, buff, numpy):
+    """
+    serialize message with numpy array types into buffer
+    :param buff: buffer, ``StringIO``
+    :param numpy: numpy python module
+    """
+    try:
+      _x = self
+      buff.write(_get_struct_6d().pack(_x.x, _x.y, _x.z, _x.roll, _x.pitch, _x.yaw))
+    except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(locals().get('_x', self)))))
+    except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(locals().get('_x', self)))))
+
+  def deserialize_numpy(self, str, numpy):
+    """
+    unpack serialized message in str into this message instance using numpy for array types
+    :param str: byte array of serialized message, ``str``
+    :param numpy: numpy python module
+    """
+    if python3:
+      codecs.lookup_error("rosmsg").msg_type = self._type
+    try:
+      end = 0
+      _x = self
+      start = end
+      end += 48
+      (_x.x, _x.y, _x.z, _x.roll, _x.pitch, _x.yaw,) = _get_struct_6d().unpack(str[start:end])
+      return self
+    except struct.error as e:
+      raise genpy.DeserializationError(e)  # most likely buffer underfill
+
+_struct_I = genpy.struct_I
+def _get_struct_I():
+    global _struct_I
+    return _struct_I
+_struct_6d = None
+def _get_struct_6d():
+    global _struct_6d
+    if _struct_6d is None:
+        _struct_6d = struct.Struct("<6d")
+    return _struct_6d