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

kuavo_humanoid_sdk/msg/ocs2_msgs/srv/_reset.py

@@ -0,0 +1,376 @@
+# This Python file uses the following encoding: utf-8
+"""autogenerated by genpy from ocs2_msgs/resetRequest.msg. Do not edit."""
+import codecs
+import sys
+python3 = True if sys.hexversion > 0x03000000 else False
+import genpy
+import struct
+
+import ocs2_msgs.msg
+
+class resetRequest(genpy.Message):
+  _md5sum = "7759e1cea687346062f2674a13fe14ee"
+  _type = "ocs2_msgs/resetRequest"
+  _has_header = False  # flag to mark the presence of a Header object
+  _full_text = """# Reset service 
+bool                      reset
+mpc_target_trajectories   targetTrajectories
+
+================================================================================
+MSG: ocs2_msgs/mpc_target_trajectories
+# MPC target trajectories
+
+float64[]    timeTrajectory        # MPC target time trajectory
+mpc_state[]  stateTrajectory       # MPC target state trajectory
+mpc_input[]  inputTrajectory       # MPC target input trajectory
+
+
+================================================================================
+MSG: ocs2_msgs/mpc_state
+# MPC internal model state vector
+float32[] value
+
+================================================================================
+MSG: ocs2_msgs/mpc_input
+# MPC internal model input vector 
+
+float32[] value"""
+  __slots__ = ['reset','targetTrajectories']
+  _slot_types = ['bool','ocs2_msgs/mpc_target_trajectories']
+
+  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:
+       reset,targetTrajectories
+
+    :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(resetRequest, self).__init__(*args, **kwds)
+      # message fields cannot be None, assign default values for those that are
+      if self.reset is None:
+        self.reset = False
+      if self.targetTrajectories is None:
+        self.targetTrajectories = ocs2_msgs.msg.mpc_target_trajectories()
+    else:
+      self.reset = False
+      self.targetTrajectories = ocs2_msgs.msg.mpc_target_trajectories()
+
+  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.reset
+      buff.write(_get_struct_B().pack(_x))
+      length = len(self.targetTrajectories.timeTrajectory)
+      buff.write(_struct_I.pack(length))
+      pattern = '<%sd'%length
+      buff.write(struct.Struct(pattern).pack(*self.targetTrajectories.timeTrajectory))
+      length = len(self.targetTrajectories.stateTrajectory)
+      buff.write(_struct_I.pack(length))
+      for val1 in self.targetTrajectories.stateTrajectory:
+        length = len(val1.value)
+        buff.write(_struct_I.pack(length))
+        pattern = '<%sf'%length
+        buff.write(struct.Struct(pattern).pack(*val1.value))
+      length = len(self.targetTrajectories.inputTrajectory)
+      buff.write(_struct_I.pack(length))
+      for val1 in self.targetTrajectories.inputTrajectory:
+        length = len(val1.value)
+        buff.write(_struct_I.pack(length))
+        pattern = '<%sf'%length
+        buff.write(struct.Struct(pattern).pack(*val1.value))
+    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.targetTrajectories is None:
+        self.targetTrajectories = ocs2_msgs.msg.mpc_target_trajectories()
+      end = 0
+      start = end
+      end += 1
+      (self.reset,) = _get_struct_B().unpack(str[start:end])
+      self.reset = bool(self.reset)
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      pattern = '<%sd'%length
+      start = end
+      s = struct.Struct(pattern)
+      end += s.size
+      self.targetTrajectories.timeTrajectory = s.unpack(str[start:end])
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      self.targetTrajectories.stateTrajectory = []
+      for i in range(0, length):
+        val1 = ocs2_msgs.msg.mpc_state()
+        start = end
+        end += 4
+        (length,) = _struct_I.unpack(str[start:end])
+        pattern = '<%sf'%length
+        start = end
+        s = struct.Struct(pattern)
+        end += s.size
+        val1.value = s.unpack(str[start:end])
+        self.targetTrajectories.stateTrajectory.append(val1)
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      self.targetTrajectories.inputTrajectory = []
+      for i in range(0, length):
+        val1 = ocs2_msgs.msg.mpc_input()
+        start = end
+        end += 4
+        (length,) = _struct_I.unpack(str[start:end])
+        pattern = '<%sf'%length
+        start = end
+        s = struct.Struct(pattern)
+        end += s.size
+        val1.value = s.unpack(str[start:end])
+        self.targetTrajectories.inputTrajectory.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:
+      _x = self.reset
+      buff.write(_get_struct_B().pack(_x))
+      length = len(self.targetTrajectories.timeTrajectory)
+      buff.write(_struct_I.pack(length))
+      pattern = '<%sd'%length
+      buff.write(self.targetTrajectories.timeTrajectory.tostring())
+      length = len(self.targetTrajectories.stateTrajectory)
+      buff.write(_struct_I.pack(length))
+      for val1 in self.targetTrajectories.stateTrajectory:
+        length = len(val1.value)
+        buff.write(_struct_I.pack(length))
+        pattern = '<%sf'%length
+        buff.write(val1.value.tostring())
+      length = len(self.targetTrajectories.inputTrajectory)
+      buff.write(_struct_I.pack(length))
+      for val1 in self.targetTrajectories.inputTrajectory:
+        length = len(val1.value)
+        buff.write(_struct_I.pack(length))
+        pattern = '<%sf'%length
+        buff.write(val1.value.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.targetTrajectories is None:
+        self.targetTrajectories = ocs2_msgs.msg.mpc_target_trajectories()
+      end = 0
+      start = end
+      end += 1
+      (self.reset,) = _get_struct_B().unpack(str[start:end])
+      self.reset = bool(self.reset)
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      pattern = '<%sd'%length
+      start = end
+      s = struct.Struct(pattern)
+      end += s.size
+      self.targetTrajectories.timeTrajectory = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      self.targetTrajectories.stateTrajectory = []
+      for i in range(0, length):
+        val1 = ocs2_msgs.msg.mpc_state()
+        start = end
+        end += 4
+        (length,) = _struct_I.unpack(str[start:end])
+        pattern = '<%sf'%length
+        start = end
+        s = struct.Struct(pattern)
+        end += s.size
+        val1.value = numpy.frombuffer(str[start:end], dtype=numpy.float32, count=length)
+        self.targetTrajectories.stateTrajectory.append(val1)
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      self.targetTrajectories.inputTrajectory = []
+      for i in range(0, length):
+        val1 = ocs2_msgs.msg.mpc_input()
+        start = end
+        end += 4
+        (length,) = _struct_I.unpack(str[start:end])
+        pattern = '<%sf'%length
+        start = end
+        s = struct.Struct(pattern)
+        end += s.size
+        val1.value = numpy.frombuffer(str[start:end], dtype=numpy.float32, count=length)
+        self.targetTrajectories.inputTrajectory.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_B = None
+def _get_struct_B():
+    global _struct_B
+    if _struct_B is None:
+        _struct_B = struct.Struct("<B")
+    return _struct_B
+# This Python file uses the following encoding: utf-8
+"""autogenerated by genpy from ocs2_msgs/resetResponse.msg. Do not edit."""
+import codecs
+import sys
+python3 = True if sys.hexversion > 0x03000000 else False
+import genpy
+import struct
+
+
+class resetResponse(genpy.Message):
+  _md5sum = "89bb254424e4cffedbf494e7b0ddbfea"
+  _type = "ocs2_msgs/resetResponse"
+  _has_header = False  # flag to mark the presence of a Header object
+  _full_text = """bool                      done
+"""
+  __slots__ = ['done']
+  _slot_types = ['bool']
+
+  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:
+       done
+
+    :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(resetResponse, self).__init__(*args, **kwds)
+      # message fields cannot be None, assign default values for those that are
+      if self.done is None:
+        self.done = False
+    else:
+      self.done = False
+
+  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.done
+      buff.write(_get_struct_B().pack(_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.done,) = _get_struct_B().unpack(str[start:end])
+      self.done = bool(self.done)
+      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.done
+      buff.write(_get_struct_B().pack(_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.done,) = _get_struct_B().unpack(str[start:end])
+      self.done = bool(self.done)
+      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 reset(object):
+  _type          = 'ocs2_msgs/reset'
+  _md5sum = '5d381de3cef01856decae8f3f4a35b69'
+  _request_class  = resetRequest
+  _response_class = resetResponse

{kuavo_humanoid_sdk-1.1.2a921.dist-info → kuavo_humanoid_sdk-1.1.2a924.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: kuavo-humanoid-sdk
-Version: 1.1.2a921
+Version: 1.1.2a924
 Summary: A Python SDK for kuavo humanoid robot.
 Home-page: https://gitee.com/leju-robot/kuavo-ros-opensource/
 Author: ['lejurobot']

kuavo_humanoid_sdk-1.1.2a924.dist-info/RECORD

@@ -0,0 +1,104 @@
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+kuavo_humanoid_sdk/common/logger.py,sha256=nSIbsJaW4nDcaQdhZebZkjtji6kmWVR8tYO-sUTz3Gg,1246
+kuavo_humanoid_sdk/interfaces/__init__.py,sha256=_zXDinj2T3X7UH19-Xrotc7uYZWHmZqHaMCWU1FYR5I,100
+kuavo_humanoid_sdk/interfaces/data_types.py,sha256=TCCVE0gmbw6KzCJKCzVCiG5yUl2IY-uIjHO5RKs0y2o,5281
+kuavo_humanoid_sdk/interfaces/end_effector.py,sha256=rlvBrYd_-b5-Px_m2UiHn47wuZJwlqVBrGPdV1lu0Qg,1876
+kuavo_humanoid_sdk/interfaces/robot.py,sha256=qqnq7gRc_mK8xEWnF5pJ7AJUPtry1bpN9eDl8nmE3EM,393
+kuavo_humanoid_sdk/interfaces/robot_info.py,sha256=-rh7VXjMJFYTsx7Ktok5VuI6JF_W2BpJBUbqtYJRkkA,1176
+kuavo_humanoid_sdk/kuavo/__init__.py,sha256=O4gPIQALqxUyNqBPCzzme4EfvTbbbh-IWGhLnhnZW_c,291
+kuavo_humanoid_sdk/kuavo/dexterous_hand.py,sha256=S4giIerF44sfMim1Tp-ZwoSbj7aqX3l_sgxNBS-nZRI,8497
+kuavo_humanoid_sdk/kuavo/leju_claw.py,sha256=6GUtQC_APuWzRAQtJFrSMqq9bUg8mI-g2ZBKYbOT4No,10253
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+kuavo_humanoid_sdk/kuavo/robot_head.py,sha256=8caHrPNwg98b4jf5cLJUbsGNovgtXetOqBvuG5vWSXA,1526
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+kuavo_humanoid_sdk/msg/kuavo_msgs/msg/_lejuClawCommand.py,sha256=9ntVsgjRFVJNIOeLffFrWlwm0gWErwd5mHyB70RUSus,11018
+kuavo_humanoid_sdk/msg/kuavo_msgs/msg/_lejuClawState.py,sha256=2YZdHBEuWh0GhXViMjNROCcZZcw--Zdox69oGG96Gj4,11611
+kuavo_humanoid_sdk/msg/kuavo_msgs/msg/_questJoySticks.py,sha256=OKag_7VEOV5qFUmFmBd-Lr5iIJ_sMfro4Hrb-jsYrGs,9339
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