kuavo-humanoid-sdk 1.1.5__py3-none-any.whl → 1.1.6__py3-none-any.whl

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

@@ -1,26 +1,25 @@
 # 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 = "cd5f0a3dc4154eb55aff1c874e2dc81e"
-  _type = "kuavo_msgs/twoArmHandPoseCmd"
+  _md5sum = "d4b6792a6f960bea428fd7158220110b"
+  _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
 bool use_custom_ik_param
 bool joint_angles_as_q0
 ikSolveParam ik_param
-int32 frame # 0 keep current frame  1 world frame (based on odom)  2  local frame   3  manipulation world frame 
 ================================================================================
-MSG: kuavo_msgs/twoArmHandPose
+MSG: motion_capture_ik/twoArmHandPose
 Header header
 armHandPose  left_pose
 armHandPose  right_pose
@@ -41,7 +40,7 @@ time stamp
 string frame_id
 
 ================================================================================
-MSG: kuavo_msgs/armHandPose
+MSG: motion_capture_ik/armHandPose
 float64[3] pos_xyz
 float64[4] quat_xyzw
 
@@ -49,7 +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
@@ -59,8 +58,8 @@ float64 major_iterations_limit
 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','frame']
-  _slot_types = ['kuavo_msgs/twoArmHandPose','bool','bool','kuavo_msgs/ikSolveParam','int32']
+  __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']
 
   def __init__(self, *args, **kwds):
     """
@@ -70,7 +69,7 @@ float64 pos_cost_weight"""
     changes.  You cannot mix in-order arguments and keyword arguments.
 
     The available fields are:
-       hand_poses,use_custom_ik_param,joint_angles_as_q0,ik_param,frame
+       hand_poses,use_custom_ik_param,joint_angles_as_q0,ik_param
 
     :param args: complete set of field values, in .msg order
     :param kwds: use keyword arguments corresponding to message field names
@@ -80,21 +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()
-      if self.frame is None:
-        self.frame = 0
+        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.frame = 0
+      self.ik_param = motion_capture_ik.msg.ikSolveParam()
 
   def _get_types(self):
     """
@@ -125,7 +121,7 @@ float64 pos_cost_weight"""
       buff.write(_get_struct_3d().pack(*self.hand_poses.right_pose.elbow_pos_xyz))
       buff.write(_get_struct_7d().pack(*self.hand_poses.right_pose.joint_angles))
       _x = self
-      buff.write(_get_struct_2B7di().pack(_x.use_custom_ik_param, _x.joint_angles_as_q0, _x.ik_param.major_optimality_tol, _x.ik_param.major_feasibility_tol, _x.ik_param.minor_feasibility_tol, _x.ik_param.major_iterations_limit, _x.ik_param.oritation_constraint_tol, _x.ik_param.pos_constraint_tol, _x.ik_param.pos_cost_weight, _x.frame))
+      buff.write(_get_struct_2B7d().pack(_x.use_custom_ik_param, _x.joint_angles_as_q0, _x.ik_param.major_optimality_tol, _x.ik_param.major_feasibility_tol, _x.ik_param.minor_feasibility_tol, _x.ik_param.major_iterations_limit, _x.ik_param.oritation_constraint_tol, _x.ik_param.pos_constraint_tol, _x.ik_param.pos_cost_weight))
     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)))))
 
@@ -138,9 +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
@@ -181,8 +177,8 @@ float64 pos_cost_weight"""
       self.hand_poses.right_pose.joint_angles = _get_struct_7d().unpack(str[start:end])
       _x = self
       start = end
-      end += 62
-      (_x.use_custom_ik_param, _x.joint_angles_as_q0, _x.ik_param.major_optimality_tol, _x.ik_param.major_feasibility_tol, _x.ik_param.minor_feasibility_tol, _x.ik_param.major_iterations_limit, _x.ik_param.oritation_constraint_tol, _x.ik_param.pos_constraint_tol, _x.ik_param.pos_cost_weight, _x.frame,) = _get_struct_2B7di().unpack(str[start:end])
+      end += 58
+      (_x.use_custom_ik_param, _x.joint_angles_as_q0, _x.ik_param.major_optimality_tol, _x.ik_param.major_feasibility_tol, _x.ik_param.minor_feasibility_tol, _x.ik_param.major_iterations_limit, _x.ik_param.oritation_constraint_tol, _x.ik_param.pos_constraint_tol, _x.ik_param.pos_cost_weight,) = _get_struct_2B7d().unpack(str[start:end])
       self.use_custom_ik_param = bool(self.use_custom_ik_param)
       self.joint_angles_as_q0 = bool(self.joint_angles_as_q0)
       return self
@@ -214,7 +210,7 @@ float64 pos_cost_weight"""
       buff.write(self.hand_poses.right_pose.elbow_pos_xyz.tostring())
       buff.write(self.hand_poses.right_pose.joint_angles.tostring())
       _x = self
-      buff.write(_get_struct_2B7di().pack(_x.use_custom_ik_param, _x.joint_angles_as_q0, _x.ik_param.major_optimality_tol, _x.ik_param.major_feasibility_tol, _x.ik_param.minor_feasibility_tol, _x.ik_param.major_iterations_limit, _x.ik_param.oritation_constraint_tol, _x.ik_param.pos_constraint_tol, _x.ik_param.pos_cost_weight, _x.frame))
+      buff.write(_get_struct_2B7d().pack(_x.use_custom_ik_param, _x.joint_angles_as_q0, _x.ik_param.major_optimality_tol, _x.ik_param.major_feasibility_tol, _x.ik_param.minor_feasibility_tol, _x.ik_param.major_iterations_limit, _x.ik_param.oritation_constraint_tol, _x.ik_param.pos_constraint_tol, _x.ik_param.pos_cost_weight))
     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)))))
 
@@ -228,9 +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
@@ -271,8 +267,8 @@ float64 pos_cost_weight"""
       self.hand_poses.right_pose.joint_angles = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=7)
       _x = self
       start = end
-      end += 62
-      (_x.use_custom_ik_param, _x.joint_angles_as_q0, _x.ik_param.major_optimality_tol, _x.ik_param.major_feasibility_tol, _x.ik_param.minor_feasibility_tol, _x.ik_param.major_iterations_limit, _x.ik_param.oritation_constraint_tol, _x.ik_param.pos_constraint_tol, _x.ik_param.pos_cost_weight, _x.frame,) = _get_struct_2B7di().unpack(str[start:end])
+      end += 58
+      (_x.use_custom_ik_param, _x.joint_angles_as_q0, _x.ik_param.major_optimality_tol, _x.ik_param.major_feasibility_tol, _x.ik_param.minor_feasibility_tol, _x.ik_param.major_iterations_limit, _x.ik_param.oritation_constraint_tol, _x.ik_param.pos_constraint_tol, _x.ik_param.pos_cost_weight,) = _get_struct_2B7d().unpack(str[start:end])
       self.use_custom_ik_param = bool(self.use_custom_ik_param)
       self.joint_angles_as_q0 = bool(self.joint_angles_as_q0)
       return self
@@ -283,12 +279,12 @@ _struct_I = genpy.struct_I
 def _get_struct_I():
     global _struct_I
     return _struct_I
-_struct_2B7di = None
-def _get_struct_2B7di():
-    global _struct_2B7di
-    if _struct_2B7di is None:
-        _struct_2B7di = struct.Struct("<2B7di")
-    return _struct_2B7di
+_struct_2B7d = None
+def _get_struct_2B7d():
+    global _struct_2B7d
+    if _struct_2B7d is None:
+        _struct_2B7d = struct.Struct("<2B7d")
+    return _struct_2B7d
 _struct_3I = None
 def _get_struct_3I():
     global _struct_3I

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 *