kuavo-humanoid-sdk 1.1.3a1252__py3-none-any.whl → 1.1.6__py3-none-any.whl

kuavo_humanoid_sdk/msg/motion_capture_ik/msg/_headBodyPose.py

@@ -0,0 +1,145 @@
+# This Python file uses the following encoding: utf-8
+"""autogenerated by genpy from motion_capture_ik/headBodyPose.msg. Do not edit."""
+import codecs
+import sys
+python3 = True if sys.hexversion > 0x03000000 else False
+import genpy
+import struct
+
+
+class headBodyPose(genpy.Message):
+  _md5sum = "86a58d9f885335d8a0b389ace07ba692"
+  _type = "motion_capture_ik/headBodyPose"
+  _has_header = False  # flag to mark the presence of a Header object
+  _full_text = """# head (rad)
+float64 head_pitch
+float64 head_yaw
+# body (rad)
+float64 body_roll
+float64 body_pitch
+float64 body_yaw
+
+float64 body_x
+float64 body_y
+float64 body_height"""
+  __slots__ = ['head_pitch','head_yaw','body_roll','body_pitch','body_yaw','body_x','body_y','body_height']
+  _slot_types = ['float64','float64','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:
+       head_pitch,head_yaw,body_roll,body_pitch,body_yaw,body_x,body_y,body_height
+
+    :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(headBodyPose, self).__init__(*args, **kwds)
+      # message fields cannot be None, assign default values for those that are
+      if self.head_pitch is None:
+        self.head_pitch = 0.
+      if self.head_yaw is None:
+        self.head_yaw = 0.
+      if self.body_roll is None:
+        self.body_roll = 0.
+      if self.body_pitch is None:
+        self.body_pitch = 0.
+      if self.body_yaw is None:
+        self.body_yaw = 0.
+      if self.body_x is None:
+        self.body_x = 0.
+      if self.body_y is None:
+        self.body_y = 0.
+      if self.body_height is None:
+        self.body_height = 0.
+    else:
+      self.head_pitch = 0.
+      self.head_yaw = 0.
+      self.body_roll = 0.
+      self.body_pitch = 0.
+      self.body_yaw = 0.
+      self.body_x = 0.
+      self.body_y = 0.
+      self.body_height = 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_8d().pack(_x.head_pitch, _x.head_yaw, _x.body_roll, _x.body_pitch, _x.body_yaw, _x.body_x, _x.body_y, _x.body_height))
+    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 += 64
+      (_x.head_pitch, _x.head_yaw, _x.body_roll, _x.body_pitch, _x.body_yaw, _x.body_x, _x.body_y, _x.body_height,) = _get_struct_8d().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_8d().pack(_x.head_pitch, _x.head_yaw, _x.body_roll, _x.body_pitch, _x.body_yaw, _x.body_x, _x.body_y, _x.body_height))
+    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 += 64
+      (_x.head_pitch, _x.head_yaw, _x.body_roll, _x.body_pitch, _x.body_yaw, _x.body_x, _x.body_y, _x.body_height,) = _get_struct_8d().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_8d = None
+def _get_struct_8d():
+    global _struct_8d
+    if _struct_8d is None:
+        _struct_8d = struct.Struct("<8d")
+    return _struct_8d

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

@@ -1,22 +1,22 @@
 # This Python file uses the following encoding: utf-8
-"""autogenerated by genpy from kuavo_msgs/ikSolveError.msg. Do not edit."""
+"""autogenerated by genpy from motion_capture_ik/ikSolveError.msg. Do not edit."""
 import codecs
 import sys
 python3 = True if sys.hexversion > 0x03000000 else False
 import genpy
 import struct
 
-import kuavo_msgs.msg
+import motion_capture_ik.msg
 
 class ikSolveError(genpy.Message):
   _md5sum = "06c12c0e6e08f286627a6f856e26223c"
-  _type = "kuavo_msgs/ikSolveError"
+  _type = "motion_capture_ik/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: kuavo_msgs/handPose
+MSG: motion_capture_ik/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','kuavo_msgs/handPose','kuavo_msgs/handPose']
+  _slot_types = ['string','motion_capture_ik/handPose','motion_capture_ik/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 = kuavo_msgs.msg.handPose()
+        self.left_pose_error = motion_capture_ik.msg.handPose()
       if self.right_pose_error is None:
-        self.right_pose_error = kuavo_msgs.msg.handPose()
+        self.right_pose_error = motion_capture_ik.msg.handPose()
     else:
       self.ik_type = ''
-      self.left_pose_error = kuavo_msgs.msg.handPose()
-      self.right_pose_error = kuavo_msgs.msg.handPose()
+      self.left_pose_error = motion_capture_ik.msg.handPose()
+      self.right_pose_error = motion_capture_ik.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 = kuavo_msgs.msg.handPose()
+        self.left_pose_error = motion_capture_ik.msg.handPose()
       if self.right_pose_error is None:
-        self.right_pose_error = kuavo_msgs.msg.handPose()
+        self.right_pose_error = motion_capture_ik.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 = kuavo_msgs.msg.handPose()
+        self.left_pose_error = motion_capture_ik.msg.handPose()
       if self.right_pose_error is None:
-        self.right_pose_error = kuavo_msgs.msg.handPose()
+        self.right_pose_error = motion_capture_ik.msg.handPose()
       end = 0
       start = end
       end += 4

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

@@ -1,5 +1,5 @@
 # This Python file uses the following encoding: utf-8
-"""autogenerated by genpy from kuavo_msgs/ikSolveParam.msg. Do not edit."""
+"""autogenerated by genpy from motion_capture_ik/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 = "kuavo_msgs/ikSolveParam"
+  _type = "motion_capture_ik/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/{kuavo_msgs → motion_capture_ik}/msg/_robotArmQVVD.py

@@ -1,5 +1,5 @@
 # This Python file uses the following encoding: utf-8
-"""autogenerated by genpy from kuavo_msgs/robotArmQVVD.msg. Do not edit."""
+"""autogenerated by genpy from motion_capture_ik/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 = "kuavo_msgs/robotArmQVVD"
+  _type = "motion_capture_ik/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/msg/_robotHandPosition.py

@@ -0,0 +1,225 @@
+# This Python file uses the following encoding: utf-8
+"""autogenerated by genpy from motion_capture_ik/robotHandPosition.msg. Do not edit."""
+import codecs
+import sys
+python3 = True if sys.hexversion > 0x03000000 else False
+import genpy
+import struct
+
+import std_msgs.msg
+
+class robotHandPosition(genpy.Message):
+  _md5sum = "ee45ac8dfb6e0c9a4c7712025fd69d4f"
+  _type = "motion_capture_ik/robotHandPosition"
+  _has_header = True  # flag to mark the presence of a Header object
+  _full_text = """Header header
+uint8[] left_hand_position
+uint8[] right_hand_position
+================================================================================
+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
+"""
+  __slots__ = ['header','left_hand_position','right_hand_position']
+  _slot_types = ['std_msgs/Header','uint8[]','uint8[]']
+
+  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,left_hand_position,right_hand_position
+
+    :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(robotHandPosition, 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.left_hand_position is None:
+        self.left_hand_position = b''
+      if self.right_hand_position is None:
+        self.right_hand_position = b''
+    else:
+      self.header = std_msgs.msg.Header()
+      self.left_hand_position = b''
+      self.right_hand_position = b''
+
+  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))
+      _x = self.left_hand_position
+      length = len(_x)
+      # - if encoded as a list instead, serialize as bytes instead of string
+      if type(_x) in [list, tuple]:
+        buff.write(struct.Struct('<I%sB'%length).pack(length, *_x))
+      else:
+        buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
+      _x = self.right_hand_position
+      length = len(_x)
+      # - if encoded as a list instead, serialize as bytes instead of string
+      if type(_x) in [list, tuple]:
+        buff.write(struct.Struct('<I%sB'%length).pack(length, *_x))
+      else:
+        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:
+      if self.header is None:
+        self.header = std_msgs.msg.Header()
+      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])
+      start = end
+      end += length
+      self.left_hand_position = str[start:end]
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      start = end
+      end += length
+      self.right_hand_position = 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_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))
+      _x = self.left_hand_position
+      length = len(_x)
+      # - if encoded as a list instead, serialize as bytes instead of string
+      if type(_x) in [list, tuple]:
+        buff.write(struct.Struct('<I%sB'%length).pack(length, *_x))
+      else:
+        buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
+      _x = self.right_hand_position
+      length = len(_x)
+      # - if encoded as a list instead, serialize as bytes instead of string
+      if type(_x) in [list, tuple]:
+        buff.write(struct.Struct('<I%sB'%length).pack(length, *_x))
+      else:
+        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:
+      if self.header is None:
+        self.header = std_msgs.msg.Header()
+      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])
+      start = end
+      end += length
+      self.left_hand_position = str[start:end]
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      start = end
+      end += length
+      self.right_hand_position = 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_3I = None
+def _get_struct_3I():
+    global _struct_3I
+    if _struct_3I is None:
+        _struct_3I = struct.Struct("<3I")
+    return _struct_3I

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

@@ -1,17 +1,17 @@
 # This Python file uses the following encoding: utf-8
-"""autogenerated by genpy from kuavo_msgs/twoArmHandPose.msg. Do not edit."""
+"""autogenerated by genpy from motion_capture_ik/twoArmHandPose.msg. Do not edit."""
 import codecs
 import sys
 python3 = True if sys.hexversion > 0x03000000 else False
 import genpy
 import struct
 
-import kuavo_msgs.msg
+import motion_capture_ik.msg
 import std_msgs.msg
 
 class twoArmHandPose(genpy.Message):
   _md5sum = "5bdb1e027f430369b6f88e5e2f5d31ca"
-  _type = "kuavo_msgs/twoArmHandPose"
+  _type = "motion_capture_ik/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: kuavo_msgs/armHandPose
+MSG: motion_capture_ik/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','kuavo_msgs/armHandPose','kuavo_msgs/armHandPose']
+  _slot_types = ['std_msgs/Header','motion_capture_ik/armHandPose','motion_capture_ik/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 = kuavo_msgs.msg.armHandPose()
+        self.left_pose = motion_capture_ik.msg.armHandPose()
       if self.right_pose is None:
-        self.right_pose = kuavo_msgs.msg.armHandPose()
+        self.right_pose = motion_capture_ik.msg.armHandPose()
     else:
       self.header = std_msgs.msg.Header()
-      self.left_pose = kuavo_msgs.msg.armHandPose()
-      self.right_pose = kuavo_msgs.msg.armHandPose()
+      self.left_pose = motion_capture_ik.msg.armHandPose()
+      self.right_pose = motion_capture_ik.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 = kuavo_msgs.msg.armHandPose()
+        self.left_pose = motion_capture_ik.msg.armHandPose()
       if self.right_pose is None:
-        self.right_pose = kuavo_msgs.msg.armHandPose()
+        self.right_pose = motion_capture_ik.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 = kuavo_msgs.msg.armHandPose()
+        self.left_pose = motion_capture_ik.msg.armHandPose()
       if self.right_pose is None:
-        self.right_pose = kuavo_msgs.msg.armHandPose()
+        self.right_pose = motion_capture_ik.msg.armHandPose()
       end = 0
       _x = self
       start = end

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

@@ -1,17 +1,17 @@
 # This Python file uses the following encoding: utf-8
-"""autogenerated by genpy from kuavo_msgs/twoArmHandPoseCmd.msg. Do not edit."""
+"""autogenerated by genpy from motion_capture_ik/twoArmHandPoseCmd.msg. Do not edit."""
 import codecs
 import sys
 python3 = True if sys.hexversion > 0x03000000 else False
 import genpy
 import struct
 
-import kuavo_msgs.msg
+import motion_capture_ik.msg
 import std_msgs.msg
 
 class twoArmHandPoseCmd(genpy.Message):
   _md5sum = "d4b6792a6f960bea428fd7158220110b"
-  _type = "kuavo_msgs/twoArmHandPoseCmd"
+  _type = "motion_capture_ik/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: kuavo_msgs/twoArmHandPose
+MSG: motion_capture_ik/twoArmHandPose
 Header header
 armHandPose  left_pose
 armHandPose  right_pose
@@ -40,7 +40,7 @@ time stamp
 string frame_id
 
 ================================================================================
-MSG: kuavo_msgs/armHandPose
+MSG: motion_capture_ik/armHandPose
 float64[3] pos_xyz
 float64[4] quat_xyzw
 
@@ -48,7 +48,7 @@ float64[3] elbow_pos_xyz
 
 float64[7] joint_angles
 ================================================================================
-MSG: kuavo_msgs/ikSolveParam
+MSG: motion_capture_ik/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 = ['kuavo_msgs/twoArmHandPose','bool','bool','kuavo_msgs/ikSolveParam']
+  _slot_types = ['motion_capture_ik/twoArmHandPose','bool','bool','motion_capture_ik/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 = kuavo_msgs.msg.twoArmHandPose()
+        self.hand_poses = motion_capture_ik.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 = kuavo_msgs.msg.ikSolveParam()
+        self.ik_param = motion_capture_ik.msg.ikSolveParam()
     else:
-      self.hand_poses = kuavo_msgs.msg.twoArmHandPose()
+      self.hand_poses = motion_capture_ik.msg.twoArmHandPose()
       self.use_custom_ik_param = False
       self.joint_angles_as_q0 = False
-      self.ik_param = kuavo_msgs.msg.ikSolveParam()
+      self.ik_param = motion_capture_ik.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 = kuavo_msgs.msg.twoArmHandPose()
+        self.hand_poses = motion_capture_ik.msg.twoArmHandPose()
       if self.ik_param is None:
-        self.ik_param = kuavo_msgs.msg.ikSolveParam()
+        self.ik_param = motion_capture_ik.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 = kuavo_msgs.msg.twoArmHandPose()
+        self.hand_poses = motion_capture_ik.msg.twoArmHandPose()
       if self.ik_param is None:
-        self.ik_param = kuavo_msgs.msg.ikSolveParam()
+        self.ik_param = motion_capture_ik.msg.ikSolveParam()
       end = 0
       _x = self
       start = end

kuavo_humanoid_sdk/msg/motion_capture_ik/srv/__init__.py

@@ -0,0 +1,4 @@
+from ._changeArmCtrlMode import *
+from ._changeArmCtrlModeKuavo import *
+from ._fkSrv import *
+from ._twoArmHandPoseCmdSrv import *