kuavo-humanoid-sdk 1.1.2a924__py3-none-any.whl → 1.1.3a1239__py3-none-any.whl

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

@@ -1,17 +1,17 @@
 # This Python file uses the following encoding: utf-8
-"""autogenerated by genpy from motion_capture_ik/twoArmHandPoseCmd.msg. Do not edit."""
+"""autogenerated by genpy from kuavo_msgs/twoArmHandPoseCmd.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 twoArmHandPoseCmd(genpy.Message):
   _md5sum = "d4b6792a6f960bea428fd7158220110b"
-  _type = "motion_capture_ik/twoArmHandPoseCmd"
+  _type = "kuavo_msgs/twoArmHandPoseCmd"
   _has_header = False  # flag to mark the presence of a Header object
   _full_text = """twoArmHandPose  hand_poses
 # params for the IK solver
@@ -19,7 +19,7 @@ bool use_custom_ik_param
 bool joint_angles_as_q0
 ikSolveParam ik_param
 ================================================================================
-MSG: motion_capture_ik/twoArmHandPose
+MSG: kuavo_msgs/twoArmHandPose
 Header header
 armHandPose  left_pose
 armHandPose  right_pose
@@ -40,7 +40,7 @@ time stamp
 string frame_id
 
 ================================================================================
-MSG: motion_capture_ik/armHandPose
+MSG: kuavo_msgs/armHandPose
 float64[3] pos_xyz
 float64[4] quat_xyzw
 
@@ -48,7 +48,7 @@ float64[3] elbow_pos_xyz
 
 float64[7] joint_angles
 ================================================================================
-MSG: motion_capture_ik/ikSolveParam
+MSG: kuavo_msgs/ikSolveParam
 # snopt params
 float64 major_optimality_tol
 float64 major_feasibility_tol
@@ -59,7 +59,7 @@ float64 oritation_constraint_tol
 float64 pos_constraint_tol # work when pos_cost_weight > 0.0
 float64 pos_cost_weight"""
   __slots__ = ['hand_poses','use_custom_ik_param','joint_angles_as_q0','ik_param']
-  _slot_types = ['motion_capture_ik/twoArmHandPose','bool','bool','motion_capture_ik/ikSolveParam']
+  _slot_types = ['kuavo_msgs/twoArmHandPose','bool','bool','kuavo_msgs/ikSolveParam']
 
   def __init__(self, *args, **kwds):
     """
@@ -79,18 +79,18 @@ float64 pos_cost_weight"""
       super(twoArmHandPoseCmd, self).__init__(*args, **kwds)
       # message fields cannot be None, assign default values for those that are
       if self.hand_poses is None:
-        self.hand_poses = motion_capture_ik.msg.twoArmHandPose()
+        self.hand_poses = kuavo_msgs.msg.twoArmHandPose()
       if self.use_custom_ik_param is None:
         self.use_custom_ik_param = False
       if self.joint_angles_as_q0 is None:
         self.joint_angles_as_q0 = False
       if self.ik_param is None:
-        self.ik_param = motion_capture_ik.msg.ikSolveParam()
+        self.ik_param = kuavo_msgs.msg.ikSolveParam()
     else:
-      self.hand_poses = motion_capture_ik.msg.twoArmHandPose()
+      self.hand_poses = kuavo_msgs.msg.twoArmHandPose()
       self.use_custom_ik_param = False
       self.joint_angles_as_q0 = False
-      self.ik_param = motion_capture_ik.msg.ikSolveParam()
+      self.ik_param = kuavo_msgs.msg.ikSolveParam()
 
   def _get_types(self):
     """
@@ -134,9 +134,9 @@ float64 pos_cost_weight"""
       codecs.lookup_error("rosmsg").msg_type = self._type
     try:
       if self.hand_poses is None:
-        self.hand_poses = motion_capture_ik.msg.twoArmHandPose()
+        self.hand_poses = kuavo_msgs.msg.twoArmHandPose()
       if self.ik_param is None:
-        self.ik_param = motion_capture_ik.msg.ikSolveParam()
+        self.ik_param = kuavo_msgs.msg.ikSolveParam()
       end = 0
       _x = self
       start = end
@@ -224,9 +224,9 @@ float64 pos_cost_weight"""
       codecs.lookup_error("rosmsg").msg_type = self._type
     try:
       if self.hand_poses is None:
-        self.hand_poses = motion_capture_ik.msg.twoArmHandPose()
+        self.hand_poses = kuavo_msgs.msg.twoArmHandPose()
       if self.ik_param is None:
-        self.ik_param = motion_capture_ik.msg.ikSolveParam()
+        self.ik_param = kuavo_msgs.msg.ikSolveParam()
       end = 0
       _x = self
       start = end

kuavo_humanoid_sdk/msg/kuavo_msgs/srv/_SpeechSynthesis.py

@@ -0,0 +1,270 @@
+# This Python file uses the following encoding: utf-8
+"""autogenerated by genpy from kuavo_msgs/SpeechSynthesisRequest.msg. Do not edit."""
+import codecs
+import sys
+python3 = True if sys.hexversion > 0x03000000 else False
+import genpy
+import struct
+
+
+class SpeechSynthesisRequest(genpy.Message):
+  _md5sum = "32375f7a1df36dcb2da804a90b1edd81"
+  _type = "kuavo_msgs/SpeechSynthesisRequest"
+  _has_header = False  # flag to mark the presence of a Header object
+  _full_text = """# 请求部分
+string data
+float32 volume
+"""
+  __slots__ = ['data','volume']
+  _slot_types = ['string','float32']
+
+  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:
+       data,volume
+
+    :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(SpeechSynthesisRequest, self).__init__(*args, **kwds)
+      # message fields cannot be None, assign default values for those that are
+      if self.data is None:
+        self.data = ''
+      if self.volume is None:
+        self.volume = 0.
+    else:
+      self.data = ''
+      self.volume = 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.data
+      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))
+      _x = self.volume
+      buff.write(_get_struct_f().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 += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      start = end
+      end += length
+      if python3:
+        self.data = str[start:end].decode('utf-8', 'rosmsg')
+      else:
+        self.data = str[start:end]
+      start = end
+      end += 4
+      (self.volume,) = _get_struct_f().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.data
+      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))
+      _x = self.volume
+      buff.write(_get_struct_f().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 += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      start = end
+      end += length
+      if python3:
+        self.data = str[start:end].decode('utf-8', 'rosmsg')
+      else:
+        self.data = str[start:end]
+      start = end
+      end += 4
+      (self.volume,) = _get_struct_f().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_f = None
+def _get_struct_f():
+    global _struct_f
+    if _struct_f is None:
+        _struct_f = struct.Struct("<f")
+    return _struct_f
+# This Python file uses the following encoding: utf-8
+"""autogenerated by genpy from kuavo_msgs/SpeechSynthesisResponse.msg. Do not edit."""
+import codecs
+import sys
+python3 = True if sys.hexversion > 0x03000000 else False
+import genpy
+import struct
+
+
+class SpeechSynthesisResponse(genpy.Message):
+  _md5sum = "358e233cde0c8a8bcfea4ce193f8fc15"
+  _type = "kuavo_msgs/SpeechSynthesisResponse"
+  _has_header = False  # flag to mark the presence of a Header object
+  _full_text = """# 响应部分
+bool success   
+
+"""
+  __slots__ = ['success']
+  _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:
+       success
+
+    :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(SpeechSynthesisResponse, self).__init__(*args, **kwds)
+      # message fields cannot be None, assign default values for those that are
+      if self.success is None:
+        self.success = False
+    else:
+      self.success = 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.success
+      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.success,) = _get_struct_B().unpack(str[start:end])
+      self.success = bool(self.success)
+      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))
+    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)
+      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 SpeechSynthesis(object):
+  _type          = 'kuavo_msgs/SpeechSynthesis'
+  _md5sum = 'c2d03ac0ff2ddd1cb86a5148ad0f9d5e'
+  _request_class  = SpeechSynthesisRequest
+  _response_class = SpeechSynthesisResponse

kuavo_humanoid_sdk/msg/kuavo_msgs/srv/__init__.py

@@ -1,7 +1,10 @@
+from ._SpeechSynthesis import *
 from ._changeArmCtrlMode import *
+from ._changeArmCtrlModeKuavo import *
 from ._changeTorsoCtrlMode import *
 from ._controlLejuClaw import *
 from ._enableHandTouchSensor import *
+from ._fkSrv import *
 from ._footPoseTargetTrajectoriesSrv import *
 from ._gestureExecute import *
 from ._gestureExecuteState import *
@@ -9,7 +12,9 @@ from ._gestureList import *
 from ._getCurrentGaitName import *
 from ._handForceLevel import *
 from ._jointMoveTo import *
+from ._playmusic import *
 from ._setHwIntialState import *
 from ._setMotorEncoderRoundService import *
 from ._setTagId import *
 from ._singleStepControl import *
+from ._twoArmHandPoseCmdSrv import *

kuavo_humanoid_sdk/msg/{motion_capture_ik → kuavo_msgs}/srv/_changeArmCtrlModeKuavo.py

@@ -1,5 +1,5 @@
 # This Python file uses the following encoding: utf-8
-"""autogenerated by genpy from motion_capture_ik/changeArmCtrlModeKuavoRequest.msg. Do not edit."""
+"""autogenerated by genpy from kuavo_msgs/changeArmCtrlModeKuavoRequest.msg. Do not edit."""
 import codecs
 import sys
 python3 = True if sys.hexversion > 0x03000000 else False
@@ -9,7 +9,7 @@ import struct
 
 class changeArmCtrlModeKuavoRequest(genpy.Message):
   _md5sum = "14ef2aa2f48bb3f617c9e71fd0bc444e"
-  _type = "motion_capture_ik/changeArmCtrlModeKuavoRequest"
+  _type = "kuavo_msgs/changeArmCtrlModeKuavoRequest"
   _has_header = False  # flag to mark the presence of a Header object
   _full_text = """bool control_mode
 """
@@ -114,7 +114,7 @@ def _get_struct_B():
         _struct_B = struct.Struct("<B")
     return _struct_B
 # This Python file uses the following encoding: utf-8
-"""autogenerated by genpy from motion_capture_ik/changeArmCtrlModeKuavoResponse.msg. Do not edit."""
+"""autogenerated by genpy from kuavo_msgs/changeArmCtrlModeKuavoResponse.msg. Do not edit."""
 import codecs
 import sys
 python3 = True if sys.hexversion > 0x03000000 else False
@@ -124,7 +124,7 @@ import struct
 
 class changeArmCtrlModeKuavoResponse(genpy.Message):
   _md5sum = "eb13ac1f1354ccecb7941ee8fa2192e8"
-  _type = "motion_capture_ik/changeArmCtrlModeKuavoResponse"
+  _type = "kuavo_msgs/changeArmCtrlModeKuavoResponse"
   _has_header = False  # flag to mark the presence of a Header object
   _full_text = """bool result
 
@@ -230,7 +230,7 @@ def _get_struct_B():
         _struct_B = struct.Struct("<B")
     return _struct_B
 class changeArmCtrlModeKuavo(object):
-  _type          = 'motion_capture_ik/changeArmCtrlModeKuavo'
+  _type          = 'kuavo_msgs/changeArmCtrlModeKuavo'
   _md5sum = 'f89438f9d6f48f748eabe64775a22261'
   _request_class  = changeArmCtrlModeKuavoRequest
   _response_class = changeArmCtrlModeKuavoResponse

kuavo_humanoid_sdk/msg/{motion_capture_ik → kuavo_msgs}/srv/_fkSrv.py

@@ -1,5 +1,5 @@
 # This Python file uses the following encoding: utf-8
-"""autogenerated by genpy from motion_capture_ik/fkSrvRequest.msg. Do not edit."""
+"""autogenerated by genpy from kuavo_msgs/fkSrvRequest.msg. Do not edit."""
 import codecs
 import sys
 python3 = True if sys.hexversion > 0x03000000 else False
@@ -9,7 +9,7 @@ import struct
 
 class fkSrvRequest(genpy.Message):
   _md5sum = "ab94b9bcaaa12f74def43e4b33992df1"
-  _type = "motion_capture_ik/fkSrvRequest"
+  _type = "kuavo_msgs/fkSrvRequest"
   _has_header = False  # flag to mark the presence of a Header object
   _full_text = """float64[] q # 广义关节角度，如果是虚拟关节ik，则前4维度为躯干虚拟关节的角度，后14维度为手臂关节的角度
 """
@@ -120,25 +120,25 @@ def _get_struct_I():
     global _struct_I
     return _struct_I
 # This Python file uses the following encoding: utf-8
-"""autogenerated by genpy from motion_capture_ik/fkSrvResponse.msg. Do not edit."""
+"""autogenerated by genpy from kuavo_msgs/fkSrvResponse.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 fkSrvResponse(genpy.Message):
   _md5sum = "0989ef9ed6b7b2e5e8a37c79ae6916d9"
-  _type = "motion_capture_ik/fkSrvResponse"
+  _type = "kuavo_msgs/fkSrvResponse"
   _has_header = False  # flag to mark the presence of a Header object
   _full_text = """bool success
 twoArmHandPose  hand_poses
 
 ================================================================================
-MSG: motion_capture_ik/twoArmHandPose
+MSG: kuavo_msgs/twoArmHandPose
 Header header
 armHandPose  left_pose
 armHandPose  right_pose
@@ -159,7 +159,7 @@ time stamp
 string frame_id
 
 ================================================================================
-MSG: motion_capture_ik/armHandPose
+MSG: kuavo_msgs/armHandPose
 float64[3] pos_xyz
 float64[4] quat_xyzw
 
@@ -167,7 +167,7 @@ float64[3] elbow_pos_xyz
 
 float64[7] joint_angles"""
   __slots__ = ['success','hand_poses']
-  _slot_types = ['bool','motion_capture_ik/twoArmHandPose']
+  _slot_types = ['bool','kuavo_msgs/twoArmHandPose']
 
   def __init__(self, *args, **kwds):
     """
@@ -189,10 +189,10 @@ float64[7] joint_angles"""
       if self.success is None:
         self.success = False
       if self.hand_poses is None:
-        self.hand_poses = motion_capture_ik.msg.twoArmHandPose()
+        self.hand_poses = kuavo_msgs.msg.twoArmHandPose()
     else:
       self.success = False
-      self.hand_poses = motion_capture_ik.msg.twoArmHandPose()
+      self.hand_poses = kuavo_msgs.msg.twoArmHandPose()
 
   def _get_types(self):
     """
@@ -234,7 +234,7 @@ float64[7] joint_angles"""
       codecs.lookup_error("rosmsg").msg_type = self._type
     try:
       if self.hand_poses is None:
-        self.hand_poses = motion_capture_ik.msg.twoArmHandPose()
+        self.hand_poses = kuavo_msgs.msg.twoArmHandPose()
       end = 0
       _x = self
       start = end
@@ -315,7 +315,7 @@ float64[7] joint_angles"""
       codecs.lookup_error("rosmsg").msg_type = self._type
     try:
       if self.hand_poses is None:
-        self.hand_poses = motion_capture_ik.msg.twoArmHandPose()
+        self.hand_poses = kuavo_msgs.msg.twoArmHandPose()
       end = 0
       _x = self
       start = end
@@ -388,7 +388,7 @@ def _get_struct_B3I():
         _struct_B3I = struct.Struct("<B3I")
     return _struct_B3I
 class fkSrv(object):
-  _type          = 'motion_capture_ik/fkSrv'
+  _type          = 'kuavo_msgs/fkSrv'
   _md5sum = 'b89cc987a02b6d1c2a1588d5659bf064'
   _request_class  = fkSrvRequest
   _response_class = fkSrvResponse