kuavo-humanoid-sdk 1.1.2a922__py3-none-any.whl → 1.1.3a1226__py3-none-any.whl

kuavo_humanoid_sdk/msg/kuavo_msgs/msg/_AprilTagDetectionArray.py

@@ -0,0 +1,437 @@
+# This Python file uses the following encoding: utf-8
+"""autogenerated by genpy from kuavo_msgs/AprilTagDetectionArray.msg. Do not edit."""
+import codecs
+import sys
+python3 = True if sys.hexversion > 0x03000000 else False
+import genpy
+import struct
+
+import geometry_msgs.msg
+import kuavo_msgs.msg
+import std_msgs.msg
+
+class AprilTagDetectionArray(genpy.Message):
+  _md5sum = "2b6c03434883a5c9897c13b5594dbd91"
+  _type = "kuavo_msgs/AprilTagDetectionArray"
+  _has_header = True  # flag to mark the presence of a Header object
+  _full_text = """std_msgs/Header header
+AprilTagDetection[] detections
+
+================================================================================
+MSG: std_msgs/Header
+# Standard metadata for higher-level stamped data types.
+# This is generally used to communicate timestamped data 
+# in a particular coordinate frame.
+# 
+# sequence ID: consecutively increasing ID 
+uint32 seq
+#Two-integer timestamp that is expressed as:
+# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')
+# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')
+# time-handling sugar is provided by the client library
+time stamp
+#Frame this data is associated with
+string frame_id
+
+================================================================================
+MSG: kuavo_msgs/AprilTagDetection
+# Tag ID(s). If a standalone tag, this is a vector of size 1. If a tag bundle,
+# this is a vector containing the IDs of each tag in the bundle.
+int32[] id
+
+# Tag size(s). If a standalone tag, this is a vector of size 1. If a tag bundle,
+# this is a vector containing the sizes of each tag in the bundle, in the same
+# order as the IDs above.
+float64[] size
+
+# Pose in the camera frame, obtained from homography transform. If a standalone
+# tag, the homography is from the four tag corners. If a tag bundle, the
+# homography is from at least the four corners of one member tag and at most the
+# four corners of all member tags.
+geometry_msgs/PoseWithCovarianceStamped pose
+================================================================================
+MSG: geometry_msgs/PoseWithCovarianceStamped
+# This expresses an estimated pose with a reference coordinate frame and timestamp
+
+Header header
+PoseWithCovariance pose
+
+================================================================================
+MSG: geometry_msgs/PoseWithCovariance
+# This represents a pose in free space with uncertainty.
+
+Pose pose
+
+# Row-major representation of the 6x6 covariance matrix
+# The orientation parameters use a fixed-axis representation.
+# In order, the parameters are:
+# (x, y, z, rotation about X axis, rotation about Y axis, rotation about Z axis)
+float64[36] covariance
+
+================================================================================
+MSG: geometry_msgs/Pose
+# A representation of pose in free space, composed of position and orientation. 
+Point position
+Quaternion orientation
+
+================================================================================
+MSG: geometry_msgs/Point
+# This contains the position of a point in free space
+float64 x
+float64 y
+float64 z
+
+================================================================================
+MSG: geometry_msgs/Quaternion
+# This represents an orientation in free space in quaternion form.
+
+float64 x
+float64 y
+float64 z
+float64 w
+"""
+  __slots__ = ['header','detections']
+  _slot_types = ['std_msgs/Header','kuavo_msgs/AprilTagDetection[]']
+
+  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:
+       header,detections
+
+    :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(AprilTagDetectionArray, self).__init__(*args, **kwds)
+      # message fields cannot be None, assign default values for those that are
+      if self.header is None:
+        self.header = std_msgs.msg.Header()
+      if self.detections is None:
+        self.detections = []
+    else:
+      self.header = std_msgs.msg.Header()
+      self.detections = []
+
+  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_3I().pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
+      _x = self.header.frame_id
+      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))
+      length = len(self.detections)
+      buff.write(_struct_I.pack(length))
+      for val1 in self.detections:
+        length = len(val1.id)
+        buff.write(_struct_I.pack(length))
+        pattern = '<%si'%length
+        buff.write(struct.Struct(pattern).pack(*val1.id))
+        length = len(val1.size)
+        buff.write(_struct_I.pack(length))
+        pattern = '<%sd'%length
+        buff.write(struct.Struct(pattern).pack(*val1.size))
+        _v1 = val1.pose
+        _v2 = _v1.header
+        _x = _v2.seq
+        buff.write(_get_struct_I().pack(_x))
+        _v3 = _v2.stamp
+        _x = _v3
+        buff.write(_get_struct_2I().pack(_x.secs, _x.nsecs))
+        _x = _v2.frame_id
+        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))
+        _v4 = _v1.pose
+        _v5 = _v4.pose
+        _v6 = _v5.position
+        _x = _v6
+        buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
+        _v7 = _v5.orientation
+        _x = _v7
+        buff.write(_get_struct_4d().pack(_x.x, _x.y, _x.z, _x.w))
+        buff.write(_get_struct_36d().pack(*_v4.covariance))
+    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.header is None:
+        self.header = std_msgs.msg.Header()
+      if self.detections is None:
+        self.detections = None
+      end = 0
+      _x = self
+      start = end
+      end += 12
+      (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _get_struct_3I().unpack(str[start:end])
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      start = end
+      end += length
+      if python3:
+        self.header.frame_id = str[start:end].decode('utf-8', 'rosmsg')
+      else:
+        self.header.frame_id = str[start:end]
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      self.detections = []
+      for i in range(0, length):
+        val1 = kuavo_msgs.msg.AprilTagDetection()
+        start = end
+        end += 4
+        (length,) = _struct_I.unpack(str[start:end])
+        pattern = '<%si'%length
+        start = end
+        s = struct.Struct(pattern)
+        end += s.size
+        val1.id = s.unpack(str[start:end])
+        start = end
+        end += 4
+        (length,) = _struct_I.unpack(str[start:end])
+        pattern = '<%sd'%length
+        start = end
+        s = struct.Struct(pattern)
+        end += s.size
+        val1.size = s.unpack(str[start:end])
+        _v8 = val1.pose
+        _v9 = _v8.header
+        start = end
+        end += 4
+        (_v9.seq,) = _get_struct_I().unpack(str[start:end])
+        _v10 = _v9.stamp
+        _x = _v10
+        start = end
+        end += 8
+        (_x.secs, _x.nsecs,) = _get_struct_2I().unpack(str[start:end])
+        start = end
+        end += 4
+        (length,) = _struct_I.unpack(str[start:end])
+        start = end
+        end += length
+        if python3:
+          _v9.frame_id = str[start:end].decode('utf-8', 'rosmsg')
+        else:
+          _v9.frame_id = str[start:end]
+        _v11 = _v8.pose
+        _v12 = _v11.pose
+        _v13 = _v12.position
+        _x = _v13
+        start = end
+        end += 24
+        (_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
+        _v14 = _v12.orientation
+        _x = _v14
+        start = end
+        end += 32
+        (_x.x, _x.y, _x.z, _x.w,) = _get_struct_4d().unpack(str[start:end])
+        start = end
+        end += 288
+        _v11.covariance = _get_struct_36d().unpack(str[start:end])
+        self.detections.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
+      buff.write(_get_struct_3I().pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
+      _x = self.header.frame_id
+      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))
+      length = len(self.detections)
+      buff.write(_struct_I.pack(length))
+      for val1 in self.detections:
+        length = len(val1.id)
+        buff.write(_struct_I.pack(length))
+        pattern = '<%si'%length
+        buff.write(val1.id.tostring())
+        length = len(val1.size)
+        buff.write(_struct_I.pack(length))
+        pattern = '<%sd'%length
+        buff.write(val1.size.tostring())
+        _v15 = val1.pose
+        _v16 = _v15.header
+        _x = _v16.seq
+        buff.write(_get_struct_I().pack(_x))
+        _v17 = _v16.stamp
+        _x = _v17
+        buff.write(_get_struct_2I().pack(_x.secs, _x.nsecs))
+        _x = _v16.frame_id
+        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))
+        _v18 = _v15.pose
+        _v19 = _v18.pose
+        _v20 = _v19.position
+        _x = _v20
+        buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
+        _v21 = _v19.orientation
+        _x = _v21
+        buff.write(_get_struct_4d().pack(_x.x, _x.y, _x.z, _x.w))
+        buff.write(_v18.covariance.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.header is None:
+        self.header = std_msgs.msg.Header()
+      if self.detections is None:
+        self.detections = None
+      end = 0
+      _x = self
+      start = end
+      end += 12
+      (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _get_struct_3I().unpack(str[start:end])
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      start = end
+      end += length
+      if python3:
+        self.header.frame_id = str[start:end].decode('utf-8', 'rosmsg')
+      else:
+        self.header.frame_id = str[start:end]
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      self.detections = []
+      for i in range(0, length):
+        val1 = kuavo_msgs.msg.AprilTagDetection()
+        start = end
+        end += 4
+        (length,) = _struct_I.unpack(str[start:end])
+        pattern = '<%si'%length
+        start = end
+        s = struct.Struct(pattern)
+        end += s.size
+        val1.id = numpy.frombuffer(str[start:end], dtype=numpy.int32, count=length)
+        start = end
+        end += 4
+        (length,) = _struct_I.unpack(str[start:end])
+        pattern = '<%sd'%length
+        start = end
+        s = struct.Struct(pattern)
+        end += s.size
+        val1.size = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
+        _v22 = val1.pose
+        _v23 = _v22.header
+        start = end
+        end += 4
+        (_v23.seq,) = _get_struct_I().unpack(str[start:end])
+        _v24 = _v23.stamp
+        _x = _v24
+        start = end
+        end += 8
+        (_x.secs, _x.nsecs,) = _get_struct_2I().unpack(str[start:end])
+        start = end
+        end += 4
+        (length,) = _struct_I.unpack(str[start:end])
+        start = end
+        end += length
+        if python3:
+          _v23.frame_id = str[start:end].decode('utf-8', 'rosmsg')
+        else:
+          _v23.frame_id = str[start:end]
+        _v25 = _v22.pose
+        _v26 = _v25.pose
+        _v27 = _v26.position
+        _x = _v27
+        start = end
+        end += 24
+        (_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
+        _v28 = _v26.orientation
+        _x = _v28
+        start = end
+        end += 32
+        (_x.x, _x.y, _x.z, _x.w,) = _get_struct_4d().unpack(str[start:end])
+        start = end
+        end += 288
+        _v25.covariance = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=36)
+        self.detections.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_2I = None
+def _get_struct_2I():
+    global _struct_2I
+    if _struct_2I is None:
+        _struct_2I = struct.Struct("<2I")
+    return _struct_2I
+_struct_36d = None
+def _get_struct_36d():
+    global _struct_36d
+    if _struct_36d is None:
+        _struct_36d = struct.Struct("<36d")
+    return _struct_36d
+_struct_3I = None
+def _get_struct_3I():
+    global _struct_3I
+    if _struct_3I is None:
+        _struct_3I = struct.Struct("<3I")
+    return _struct_3I
+_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

kuavo_humanoid_sdk/msg/kuavo_msgs/msg/__init__.py

@@ -1,4 +1,7 @@
+from ._AprilTagDetection import *
+from ._AprilTagDetectionArray import *
 from ._Metadata import *
+from ._armHandPose import *
 from ._armPoseWithTimeStamp import *
 from ._armTargetPoses import *
 from ._dexhandCommand import *
@@ -9,18 +12,24 @@ from ._footPoseTargetTrajectories import *
 from ._gaitTimeName import *
 from ._gestureInfo import *
 from ._gestureTask import *
+from ._handPose import *
 from ._headBodyPose import *
+from ._ikSolveError import *
+from ._ikSolveParam import *
 from ._imuData import *
 from ._jointCmd import *
 from ._jointData import *
 from ._lejuClawCommand import *
 from ._lejuClawState import *
 from ._questJoySticks import *
+from ._robotArmQVVD import *
 from ._robotHandPosition import *
 from ._robotHeadMotionData import *
 from ._robotState import *
 from ._sensorsData import *
 from ._switchGaitByName import *
 from ._touchSensorStatus import *
+from ._twoArmHandPose import *
+from ._twoArmHandPoseCmd import *
 from ._yoloDetection import *
 from ._yoloOutputData import *

kuavo_humanoid_sdk/msg/{motion_capture_ik → kuavo_msgs}/msg/_armHandPose.py

@@ -1,5 +1,5 @@
 # This Python file uses the following encoding: utf-8
-"""autogenerated by genpy from motion_capture_ik/armHandPose.msg. Do not edit."""
+"""autogenerated by genpy from kuavo_msgs/armHandPose.msg. Do not edit."""
 import codecs
 import sys
 python3 = True if sys.hexversion > 0x03000000 else False
@@ -9,7 +9,7 @@ import struct
 
 class armHandPose(genpy.Message):
   _md5sum = "4f28a253cb60d59c6491569369f38f4d"
-  _type = "motion_capture_ik/armHandPose"
+  _type = "kuavo_msgs/armHandPose"
   _has_header = False  # flag to mark the presence of a Header object
   _full_text = """float64[3] pos_xyz
 float64[4] quat_xyzw

kuavo_humanoid_sdk/msg/{motion_capture_ik → kuavo_msgs}/msg/_handPose.py

@@ -1,5 +1,5 @@
 # This Python file uses the following encoding: utf-8
-"""autogenerated by genpy from motion_capture_ik/handPose.msg. Do not edit."""
+"""autogenerated by genpy from kuavo_msgs/handPose.msg. Do not edit."""
 import codecs
 import sys
 python3 = True if sys.hexversion > 0x03000000 else False
@@ -9,7 +9,7 @@ import struct
 
 class handPose(genpy.Message):
   _md5sum = "1a83f0bdabe750ce0cfb45a14ec63457"
-  _type = "motion_capture_ik/handPose"
+  _type = "kuavo_msgs/handPose"
   _has_header = False  # flag to mark the presence of a Header object
   _full_text = """# pos
 float64 x

kuavo_humanoid_sdk/msg/{motion_capture_ik → kuavo_msgs}/msg/_ikSolveError.py

@@ -1,22 +1,22 @@
 # This Python file uses the following encoding: utf-8
-"""autogenerated by genpy from motion_capture_ik/ikSolveError.msg. Do not edit."""
+"""autogenerated by genpy from kuavo_msgs/ikSolveError.msg. Do not edit."""
 import codecs
 import sys
 python3 = True if sys.hexversion > 0x03000000 else False
 import genpy
 import struct
 
-import motion_capture_ik.msg
+import kuavo_msgs.msg
 
 class ikSolveError(genpy.Message):
   _md5sum = "06c12c0e6e08f286627a6f856e26223c"
-  _type = "motion_capture_ik/ikSolveError"
+  _type = "kuavo_msgs/ikSolveError"
   _has_header = False  # flag to mark the presence of a Header object
   _full_text = """string     ik_type 
 handPose  left_pose_error
 handPose  right_pose_error
 ================================================================================
-MSG: motion_capture_ik/handPose
+MSG: kuavo_msgs/handPose
 # pos
 float64 x
 float64 y
@@ -26,7 +26,7 @@ float64 roll
 float64 pitch
 float64 yaw"""
   __slots__ = ['ik_type','left_pose_error','right_pose_error']
-  _slot_types = ['string','motion_capture_ik/handPose','motion_capture_ik/handPose']
+  _slot_types = ['string','kuavo_msgs/handPose','kuavo_msgs/handPose']
 
   def __init__(self, *args, **kwds):
     """
@@ -48,13 +48,13 @@ float64 yaw"""
       if self.ik_type is None:
         self.ik_type = ''
       if self.left_pose_error is None:
-        self.left_pose_error = motion_capture_ik.msg.handPose()
+        self.left_pose_error = kuavo_msgs.msg.handPose()
       if self.right_pose_error is None:
-        self.right_pose_error = motion_capture_ik.msg.handPose()
+        self.right_pose_error = kuavo_msgs.msg.handPose()
     else:
       self.ik_type = ''
-      self.left_pose_error = motion_capture_ik.msg.handPose()
-      self.right_pose_error = motion_capture_ik.msg.handPose()
+      self.left_pose_error = kuavo_msgs.msg.handPose()
+      self.right_pose_error = kuavo_msgs.msg.handPose()
 
   def _get_types(self):
     """
@@ -88,9 +88,9 @@ float64 yaw"""
       codecs.lookup_error("rosmsg").msg_type = self._type
     try:
       if self.left_pose_error is None:
-        self.left_pose_error = motion_capture_ik.msg.handPose()
+        self.left_pose_error = kuavo_msgs.msg.handPose()
       if self.right_pose_error is None:
-        self.right_pose_error = motion_capture_ik.msg.handPose()
+        self.right_pose_error = kuavo_msgs.msg.handPose()
       end = 0
       start = end
       end += 4
@@ -138,9 +138,9 @@ float64 yaw"""
       codecs.lookup_error("rosmsg").msg_type = self._type
     try:
       if self.left_pose_error is None:
-        self.left_pose_error = motion_capture_ik.msg.handPose()
+        self.left_pose_error = kuavo_msgs.msg.handPose()
       if self.right_pose_error is None:
-        self.right_pose_error = motion_capture_ik.msg.handPose()
+        self.right_pose_error = kuavo_msgs.msg.handPose()
       end = 0
       start = end
       end += 4

kuavo_humanoid_sdk/msg/{motion_capture_ik → kuavo_msgs}/msg/_ikSolveParam.py

@@ -1,5 +1,5 @@
 # This Python file uses the following encoding: utf-8
-"""autogenerated by genpy from motion_capture_ik/ikSolveParam.msg. Do not edit."""
+"""autogenerated by genpy from kuavo_msgs/ikSolveParam.msg. Do not edit."""
 import codecs
 import sys
 python3 = True if sys.hexversion > 0x03000000 else False
@@ -9,7 +9,7 @@ import struct
 
 class ikSolveParam(genpy.Message):
   _md5sum = "be29d8b02ad14da680464b8c4f590f98"
-  _type = "motion_capture_ik/ikSolveParam"
+  _type = "kuavo_msgs/ikSolveParam"
   _has_header = False  # flag to mark the presence of a Header object
   _full_text = """# snopt params
 float64 major_optimality_tol

kuavo_humanoid_sdk/msg/{motion_capture_ik → kuavo_msgs}/msg/_robotArmQVVD.py

@@ -1,5 +1,5 @@
 # This Python file uses the following encoding: utf-8
-"""autogenerated by genpy from motion_capture_ik/robotArmQVVD.msg. Do not edit."""
+"""autogenerated by genpy from kuavo_msgs/robotArmQVVD.msg. Do not edit."""
 import codecs
 import sys
 python3 = True if sys.hexversion > 0x03000000 else False
@@ -9,7 +9,7 @@ import struct
 
 class robotArmQVVD(genpy.Message):
   _md5sum = "f2840165d02c529a8a4e8e04370a219b"
-  _type = "motion_capture_ik/robotArmQVVD"
+  _type = "kuavo_msgs/robotArmQVVD"
   _has_header = False  # flag to mark the presence of a Header object
   _full_text = """float64[] q
 float64[] v

kuavo_humanoid_sdk/msg/{motion_capture_ik → kuavo_msgs}/msg/_twoArmHandPose.py

@@ -1,17 +1,17 @@
 # This Python file uses the following encoding: utf-8
-"""autogenerated by genpy from motion_capture_ik/twoArmHandPose.msg. Do not edit."""
+"""autogenerated by genpy from kuavo_msgs/twoArmHandPose.msg. Do not edit."""
 import codecs
 import sys
 python3 = True if sys.hexversion > 0x03000000 else False
 import genpy
 import struct
 
-import motion_capture_ik.msg
+import kuavo_msgs.msg
 import std_msgs.msg
 
 class twoArmHandPose(genpy.Message):
   _md5sum = "5bdb1e027f430369b6f88e5e2f5d31ca"
-  _type = "motion_capture_ik/twoArmHandPose"
+  _type = "kuavo_msgs/twoArmHandPose"
   _has_header = True  # flag to mark the presence of a Header object
   _full_text = """Header header
 armHandPose  left_pose
@@ -33,7 +33,7 @@ time stamp
 string frame_id
 
 ================================================================================
-MSG: motion_capture_ik/armHandPose
+MSG: kuavo_msgs/armHandPose
 float64[3] pos_xyz
 float64[4] quat_xyzw
 
@@ -41,7 +41,7 @@ float64[3] elbow_pos_xyz
 
 float64[7] joint_angles"""
   __slots__ = ['header','left_pose','right_pose']
-  _slot_types = ['std_msgs/Header','motion_capture_ik/armHandPose','motion_capture_ik/armHandPose']
+  _slot_types = ['std_msgs/Header','kuavo_msgs/armHandPose','kuavo_msgs/armHandPose']
 
   def __init__(self, *args, **kwds):
     """
@@ -63,13 +63,13 @@ float64[7] joint_angles"""
       if self.header is None:
         self.header = std_msgs.msg.Header()
       if self.left_pose is None:
-        self.left_pose = motion_capture_ik.msg.armHandPose()
+        self.left_pose = kuavo_msgs.msg.armHandPose()
       if self.right_pose is None:
-        self.right_pose = motion_capture_ik.msg.armHandPose()
+        self.right_pose = kuavo_msgs.msg.armHandPose()
     else:
       self.header = std_msgs.msg.Header()
-      self.left_pose = motion_capture_ik.msg.armHandPose()
-      self.right_pose = motion_capture_ik.msg.armHandPose()
+      self.left_pose = kuavo_msgs.msg.armHandPose()
+      self.right_pose = kuavo_msgs.msg.armHandPose()
 
   def _get_types(self):
     """
@@ -113,9 +113,9 @@ float64[7] joint_angles"""
       if self.header is None:
         self.header = std_msgs.msg.Header()
       if self.left_pose is None:
-        self.left_pose = motion_capture_ik.msg.armHandPose()
+        self.left_pose = kuavo_msgs.msg.armHandPose()
       if self.right_pose is None:
-        self.right_pose = motion_capture_ik.msg.armHandPose()
+        self.right_pose = kuavo_msgs.msg.armHandPose()
       end = 0
       _x = self
       start = end
@@ -197,9 +197,9 @@ float64[7] joint_angles"""
       if self.header is None:
         self.header = std_msgs.msg.Header()
       if self.left_pose is None:
-        self.left_pose = motion_capture_ik.msg.armHandPose()
+        self.left_pose = kuavo_msgs.msg.armHandPose()
       if self.right_pose is None:
-        self.right_pose = motion_capture_ik.msg.armHandPose()
+        self.right_pose = kuavo_msgs.msg.armHandPose()
       end = 0
       _x = self
       start = end