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

kuavo_humanoid_sdk/msg/{kuavo_msgs/srv/_setMmCtrlFrame.py → motion_capture_ik/srv/_changeArmCtrlMode.py}

@@ -1,5 +1,5 @@
 # This Python file uses the following encoding: utf-8
-"""autogenerated by genpy from kuavo_msgs/setMmCtrlFrameRequest.msg. Do not edit."""
+"""autogenerated by genpy from motion_capture_ik/changeArmCtrlModeRequest.msg. Do not edit."""
 import codecs
 import sys
 python3 = True if sys.hexversion > 0x03000000 else False
@@ -7,13 +7,13 @@ import genpy
 import struct
 
 
-class setMmCtrlFrameRequest(genpy.Message):
-  _md5sum = "e66db7b96bf089933dd98e52e1db8b7b"
-  _type = "kuavo_msgs/setMmCtrlFrameRequest"
+class changeArmCtrlModeRequest(genpy.Message):
+  _md5sum = "1f5907fdb226711da233100c712cc0eb"
+  _type = "motion_capture_ik/changeArmCtrlModeRequest"
   _has_header = False  # flag to mark the presence of a Header object
-  _full_text = """int32 frame
+  _full_text = """int32 control_mode # 0: keep pose, 1: auto_swing_arm, 2: external_control 
 """
-  __slots__ = ['frame']
+  __slots__ = ['control_mode']
   _slot_types = ['int32']
 
   def __init__(self, *args, **kwds):
@@ -24,19 +24,19 @@ class setMmCtrlFrameRequest(genpy.Message):
     changes.  You cannot mix in-order arguments and keyword arguments.
 
     The available fields are:
-       frame
+       control_mode
 
     :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(setMmCtrlFrameRequest, self).__init__(*args, **kwds)
+      super(changeArmCtrlModeRequest, self).__init__(*args, **kwds)
       # message fields cannot be None, assign default values for those that are
-      if self.frame is None:
-        self.frame = 0
+      if self.control_mode is None:
+        self.control_mode = 0
     else:
-      self.frame = 0
+      self.control_mode = 0
 
   def _get_types(self):
     """
@@ -50,7 +50,7 @@ class setMmCtrlFrameRequest(genpy.Message):
     :param buff: buffer, ``StringIO``
     """
     try:
-      _x = self.frame
+      _x = self.control_mode
       buff.write(_get_struct_i().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)))))
@@ -66,7 +66,7 @@ class setMmCtrlFrameRequest(genpy.Message):
       end = 0
       start = end
       end += 4
-      (self.frame,) = _get_struct_i().unpack(str[start:end])
+      (self.control_mode,) = _get_struct_i().unpack(str[start:end])
       return self
     except struct.error as e:
       raise genpy.DeserializationError(e)  # most likely buffer underfill
@@ -79,7 +79,7 @@ class setMmCtrlFrameRequest(genpy.Message):
     :param numpy: numpy python module
     """
     try:
-      _x = self.frame
+      _x = self.control_mode
       buff.write(_get_struct_i().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)))))
@@ -96,7 +96,7 @@ class setMmCtrlFrameRequest(genpy.Message):
       end = 0
       start = end
       end += 4
-      (self.frame,) = _get_struct_i().unpack(str[start:end])
+      (self.control_mode,) = _get_struct_i().unpack(str[start:end])
       return self
     except struct.error as e:
       raise genpy.DeserializationError(e)  # most likely buffer underfill
@@ -112,7 +112,7 @@ def _get_struct_i():
         _struct_i = struct.Struct("<i")
     return _struct_i
 # This Python file uses the following encoding: utf-8
-"""autogenerated by genpy from kuavo_msgs/setMmCtrlFrameResponse.msg. Do not edit."""
+"""autogenerated by genpy from motion_capture_ik/changeArmCtrlModeResponse.msg. Do not edit."""
 import codecs
 import sys
 python3 = True if sys.hexversion > 0x03000000 else False
@@ -120,15 +120,17 @@ import genpy
 import struct
 
 
-class setMmCtrlFrameResponse(genpy.Message):
-  _md5sum = "6f785115f88cf0e6d306b65915460524"
-  _type = "kuavo_msgs/setMmCtrlFrameResponse"
+class changeArmCtrlModeResponse(genpy.Message):
+  _md5sum = "2f115bf9b7d68ace12ac850b142c1536"
+  _type = "motion_capture_ik/changeArmCtrlModeResponse"
   _has_header = False  # flag to mark the presence of a Header object
   _full_text = """bool result
-int32 currentFrame 
+int32 mode 
 string message
+
+
 """
-  __slots__ = ['result','currentFrame','message']
+  __slots__ = ['result','mode','message']
   _slot_types = ['bool','int32','string']
 
   def __init__(self, *args, **kwds):
@@ -139,24 +141,24 @@ string message
     changes.  You cannot mix in-order arguments and keyword arguments.
 
     The available fields are:
-       result,currentFrame,message
+       result,mode,message
 
     :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(setMmCtrlFrameResponse, self).__init__(*args, **kwds)
+      super(changeArmCtrlModeResponse, self).__init__(*args, **kwds)
       # message fields cannot be None, assign default values for those that are
       if self.result is None:
         self.result = False
-      if self.currentFrame is None:
-        self.currentFrame = 0
+      if self.mode is None:
+        self.mode = 0
       if self.message is None:
         self.message = ''
     else:
       self.result = False
-      self.currentFrame = 0
+      self.mode = 0
       self.message = ''
 
   def _get_types(self):
@@ -172,7 +174,7 @@ string message
     """
     try:
       _x = self
-      buff.write(_get_struct_Bi().pack(_x.result, _x.currentFrame))
+      buff.write(_get_struct_Bi().pack(_x.result, _x.mode))
       _x = self.message
       length = len(_x)
       if python3 or type(_x) == unicode:
@@ -194,7 +196,7 @@ string message
       _x = self
       start = end
       end += 5
-      (_x.result, _x.currentFrame,) = _get_struct_Bi().unpack(str[start:end])
+      (_x.result, _x.mode,) = _get_struct_Bi().unpack(str[start:end])
       self.result = bool(self.result)
       start = end
       end += 4
@@ -218,7 +220,7 @@ string message
     """
     try:
       _x = self
-      buff.write(_get_struct_Bi().pack(_x.result, _x.currentFrame))
+      buff.write(_get_struct_Bi().pack(_x.result, _x.mode))
       _x = self.message
       length = len(_x)
       if python3 or type(_x) == unicode:
@@ -241,7 +243,7 @@ string message
       _x = self
       start = end
       end += 5
-      (_x.result, _x.currentFrame,) = _get_struct_Bi().unpack(str[start:end])
+      (_x.result, _x.mode,) = _get_struct_Bi().unpack(str[start:end])
       self.result = bool(self.result)
       start = end
       end += 4
@@ -266,8 +268,8 @@ def _get_struct_Bi():
     if _struct_Bi is None:
         _struct_Bi = struct.Struct("<Bi")
     return _struct_Bi
-class setMmCtrlFrame(object):
-  _type          = 'kuavo_msgs/setMmCtrlFrame'
-  _md5sum = '696a444d2580aa682923215a4a34937c'
-  _request_class  = setMmCtrlFrameRequest
-  _response_class = setMmCtrlFrameResponse
+class changeArmCtrlMode(object):
+  _type          = 'motion_capture_ik/changeArmCtrlMode'
+  _md5sum = '8a8d154c05ee16e8f5d2b72d9bb51026'
+  _request_class  = changeArmCtrlModeRequest
+  _response_class = changeArmCtrlModeResponse

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

@@ -1,5 +1,5 @@
 # This Python file uses the following encoding: utf-8
-"""autogenerated by genpy from kuavo_msgs/changeArmCtrlModeKuavoRequest.msg. Do not edit."""
+"""autogenerated by genpy from motion_capture_ik/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 = "kuavo_msgs/changeArmCtrlModeKuavoRequest"
+  _type = "motion_capture_ik/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 kuavo_msgs/changeArmCtrlModeKuavoResponse.msg. Do not edit."""
+"""autogenerated by genpy from motion_capture_ik/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 = "kuavo_msgs/changeArmCtrlModeKuavoResponse"
+  _type = "motion_capture_ik/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          = 'kuavo_msgs/changeArmCtrlModeKuavo'
+  _type          = 'motion_capture_ik/changeArmCtrlModeKuavo'
   _md5sum = 'f89438f9d6f48f748eabe64775a22261'
   _request_class  = changeArmCtrlModeKuavoRequest
   _response_class = changeArmCtrlModeKuavoResponse

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

@@ -1,5 +1,5 @@
 # This Python file uses the following encoding: utf-8
-"""autogenerated by genpy from kuavo_msgs/fkSrvRequest.msg. Do not edit."""
+"""autogenerated by genpy from motion_capture_ik/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 = "kuavo_msgs/fkSrvRequest"
+  _type = "motion_capture_ik/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 kuavo_msgs/fkSrvResponse.msg. Do not edit."""
+"""autogenerated by genpy from motion_capture_ik/fkSrvResponse.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 fkSrvResponse(genpy.Message):
   _md5sum = "0989ef9ed6b7b2e5e8a37c79ae6916d9"
-  _type = "kuavo_msgs/fkSrvResponse"
+  _type = "motion_capture_ik/fkSrvResponse"
   _has_header = False  # flag to mark the presence of a Header object
   _full_text = """bool success
 twoArmHandPose  hand_poses
 
 ================================================================================
-MSG: kuavo_msgs/twoArmHandPose
+MSG: motion_capture_ik/twoArmHandPose
 Header header
 armHandPose  left_pose
 armHandPose  right_pose
@@ -159,7 +159,7 @@ time stamp
 string frame_id
 
 ================================================================================
-MSG: kuavo_msgs/armHandPose
+MSG: motion_capture_ik/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','kuavo_msgs/twoArmHandPose']
+  _slot_types = ['bool','motion_capture_ik/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 = kuavo_msgs.msg.twoArmHandPose()
+        self.hand_poses = motion_capture_ik.msg.twoArmHandPose()
     else:
       self.success = False
-      self.hand_poses = kuavo_msgs.msg.twoArmHandPose()
+      self.hand_poses = motion_capture_ik.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 = kuavo_msgs.msg.twoArmHandPose()
+        self.hand_poses = motion_capture_ik.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 = kuavo_msgs.msg.twoArmHandPose()
+        self.hand_poses = motion_capture_ik.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          = 'kuavo_msgs/fkSrv'
+  _type          = 'motion_capture_ik/fkSrv'
   _md5sum = 'b89cc987a02b6d1c2a1588d5659bf064'
   _request_class  = fkSrvRequest
   _response_class = fkSrvResponse

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

@@ -1,30 +1,29 @@
 # This Python file uses the following encoding: utf-8
-"""autogenerated by genpy from kuavo_msgs/twoArmHandPoseCmdSrvRequest.msg. Do not edit."""
+"""autogenerated by genpy from motion_capture_ik/twoArmHandPoseCmdSrvRequest.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 twoArmHandPoseCmdSrvRequest(genpy.Message):
-  _md5sum = "cc73837d27c2081b9de63a7f5c230e6e"
-  _type = "kuavo_msgs/twoArmHandPoseCmdSrvRequest"
+  _md5sum = "2b372ee6cf4101587f773b62c6572c72"
+  _type = "motion_capture_ik/twoArmHandPoseCmdSrvRequest"
   _has_header = False  # flag to mark the presence of a Header object
   _full_text = """twoArmHandPoseCmd twoArmHandPoseCmdRequest
 
 ================================================================================
-MSG: kuavo_msgs/twoArmHandPoseCmd
+MSG: motion_capture_ik/twoArmHandPoseCmd
 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
@@ -45,7 +44,7 @@ time stamp
 string frame_id
 
 ================================================================================
-MSG: kuavo_msgs/armHandPose
+MSG: motion_capture_ik/armHandPose
 float64[3] pos_xyz
 float64[4] quat_xyzw
 
@@ -53,7 +52,7 @@ 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
@@ -64,7 +63,7 @@ float64 oritation_constraint_tol
 float64 pos_constraint_tol # work when pos_cost_weight > 0.0
 float64 pos_cost_weight"""
   __slots__ = ['twoArmHandPoseCmdRequest']
-  _slot_types = ['kuavo_msgs/twoArmHandPoseCmd']
+  _slot_types = ['motion_capture_ik/twoArmHandPoseCmd']
 
   def __init__(self, *args, **kwds):
     """
@@ -84,9 +83,9 @@ float64 pos_cost_weight"""
       super(twoArmHandPoseCmdSrvRequest, self).__init__(*args, **kwds)
       # message fields cannot be None, assign default values for those that are
       if self.twoArmHandPoseCmdRequest is None:
-        self.twoArmHandPoseCmdRequest = kuavo_msgs.msg.twoArmHandPoseCmd()
+        self.twoArmHandPoseCmdRequest = motion_capture_ik.msg.twoArmHandPoseCmd()
     else:
-      self.twoArmHandPoseCmdRequest = kuavo_msgs.msg.twoArmHandPoseCmd()
+      self.twoArmHandPoseCmdRequest = motion_capture_ik.msg.twoArmHandPoseCmd()
 
   def _get_types(self):
     """
@@ -117,7 +116,7 @@ float64 pos_cost_weight"""
       buff.write(_get_struct_3d().pack(*self.twoArmHandPoseCmdRequest.hand_poses.right_pose.elbow_pos_xyz))
       buff.write(_get_struct_7d().pack(*self.twoArmHandPoseCmdRequest.hand_poses.right_pose.joint_angles))
       _x = self
-      buff.write(_get_struct_2B7di().pack(_x.twoArmHandPoseCmdRequest.use_custom_ik_param, _x.twoArmHandPoseCmdRequest.joint_angles_as_q0, _x.twoArmHandPoseCmdRequest.ik_param.major_optimality_tol, _x.twoArmHandPoseCmdRequest.ik_param.major_feasibility_tol, _x.twoArmHandPoseCmdRequest.ik_param.minor_feasibility_tol, _x.twoArmHandPoseCmdRequest.ik_param.major_iterations_limit, _x.twoArmHandPoseCmdRequest.ik_param.oritation_constraint_tol, _x.twoArmHandPoseCmdRequest.ik_param.pos_constraint_tol, _x.twoArmHandPoseCmdRequest.ik_param.pos_cost_weight, _x.twoArmHandPoseCmdRequest.frame))
+      buff.write(_get_struct_2B7d().pack(_x.twoArmHandPoseCmdRequest.use_custom_ik_param, _x.twoArmHandPoseCmdRequest.joint_angles_as_q0, _x.twoArmHandPoseCmdRequest.ik_param.major_optimality_tol, _x.twoArmHandPoseCmdRequest.ik_param.major_feasibility_tol, _x.twoArmHandPoseCmdRequest.ik_param.minor_feasibility_tol, _x.twoArmHandPoseCmdRequest.ik_param.major_iterations_limit, _x.twoArmHandPoseCmdRequest.ik_param.oritation_constraint_tol, _x.twoArmHandPoseCmdRequest.ik_param.pos_constraint_tol, _x.twoArmHandPoseCmdRequest.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)))))
 
@@ -130,7 +129,7 @@ float64 pos_cost_weight"""
       codecs.lookup_error("rosmsg").msg_type = self._type
     try:
       if self.twoArmHandPoseCmdRequest is None:
-        self.twoArmHandPoseCmdRequest = kuavo_msgs.msg.twoArmHandPoseCmd()
+        self.twoArmHandPoseCmdRequest = motion_capture_ik.msg.twoArmHandPoseCmd()
       end = 0
       _x = self
       start = end
@@ -171,8 +170,8 @@ float64 pos_cost_weight"""
       self.twoArmHandPoseCmdRequest.hand_poses.right_pose.joint_angles = _get_struct_7d().unpack(str[start:end])
       _x = self
       start = end
-      end += 62
-      (_x.twoArmHandPoseCmdRequest.use_custom_ik_param, _x.twoArmHandPoseCmdRequest.joint_angles_as_q0, _x.twoArmHandPoseCmdRequest.ik_param.major_optimality_tol, _x.twoArmHandPoseCmdRequest.ik_param.major_feasibility_tol, _x.twoArmHandPoseCmdRequest.ik_param.minor_feasibility_tol, _x.twoArmHandPoseCmdRequest.ik_param.major_iterations_limit, _x.twoArmHandPoseCmdRequest.ik_param.oritation_constraint_tol, _x.twoArmHandPoseCmdRequest.ik_param.pos_constraint_tol, _x.twoArmHandPoseCmdRequest.ik_param.pos_cost_weight, _x.twoArmHandPoseCmdRequest.frame,) = _get_struct_2B7di().unpack(str[start:end])
+      end += 58
+      (_x.twoArmHandPoseCmdRequest.use_custom_ik_param, _x.twoArmHandPoseCmdRequest.joint_angles_as_q0, _x.twoArmHandPoseCmdRequest.ik_param.major_optimality_tol, _x.twoArmHandPoseCmdRequest.ik_param.major_feasibility_tol, _x.twoArmHandPoseCmdRequest.ik_param.minor_feasibility_tol, _x.twoArmHandPoseCmdRequest.ik_param.major_iterations_limit, _x.twoArmHandPoseCmdRequest.ik_param.oritation_constraint_tol, _x.twoArmHandPoseCmdRequest.ik_param.pos_constraint_tol, _x.twoArmHandPoseCmdRequest.ik_param.pos_cost_weight,) = _get_struct_2B7d().unpack(str[start:end])
       self.twoArmHandPoseCmdRequest.use_custom_ik_param = bool(self.twoArmHandPoseCmdRequest.use_custom_ik_param)
       self.twoArmHandPoseCmdRequest.joint_angles_as_q0 = bool(self.twoArmHandPoseCmdRequest.joint_angles_as_q0)
       return self
@@ -204,7 +203,7 @@ float64 pos_cost_weight"""
       buff.write(self.twoArmHandPoseCmdRequest.hand_poses.right_pose.elbow_pos_xyz.tostring())
       buff.write(self.twoArmHandPoseCmdRequest.hand_poses.right_pose.joint_angles.tostring())
       _x = self
-      buff.write(_get_struct_2B7di().pack(_x.twoArmHandPoseCmdRequest.use_custom_ik_param, _x.twoArmHandPoseCmdRequest.joint_angles_as_q0, _x.twoArmHandPoseCmdRequest.ik_param.major_optimality_tol, _x.twoArmHandPoseCmdRequest.ik_param.major_feasibility_tol, _x.twoArmHandPoseCmdRequest.ik_param.minor_feasibility_tol, _x.twoArmHandPoseCmdRequest.ik_param.major_iterations_limit, _x.twoArmHandPoseCmdRequest.ik_param.oritation_constraint_tol, _x.twoArmHandPoseCmdRequest.ik_param.pos_constraint_tol, _x.twoArmHandPoseCmdRequest.ik_param.pos_cost_weight, _x.twoArmHandPoseCmdRequest.frame))
+      buff.write(_get_struct_2B7d().pack(_x.twoArmHandPoseCmdRequest.use_custom_ik_param, _x.twoArmHandPoseCmdRequest.joint_angles_as_q0, _x.twoArmHandPoseCmdRequest.ik_param.major_optimality_tol, _x.twoArmHandPoseCmdRequest.ik_param.major_feasibility_tol, _x.twoArmHandPoseCmdRequest.ik_param.minor_feasibility_tol, _x.twoArmHandPoseCmdRequest.ik_param.major_iterations_limit, _x.twoArmHandPoseCmdRequest.ik_param.oritation_constraint_tol, _x.twoArmHandPoseCmdRequest.ik_param.pos_constraint_tol, _x.twoArmHandPoseCmdRequest.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)))))
 
@@ -218,7 +217,7 @@ float64 pos_cost_weight"""
       codecs.lookup_error("rosmsg").msg_type = self._type
     try:
       if self.twoArmHandPoseCmdRequest is None:
-        self.twoArmHandPoseCmdRequest = kuavo_msgs.msg.twoArmHandPoseCmd()
+        self.twoArmHandPoseCmdRequest = motion_capture_ik.msg.twoArmHandPoseCmd()
       end = 0
       _x = self
       start = end
@@ -259,8 +258,8 @@ float64 pos_cost_weight"""
       self.twoArmHandPoseCmdRequest.hand_poses.right_pose.joint_angles = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=7)
       _x = self
       start = end
-      end += 62
-      (_x.twoArmHandPoseCmdRequest.use_custom_ik_param, _x.twoArmHandPoseCmdRequest.joint_angles_as_q0, _x.twoArmHandPoseCmdRequest.ik_param.major_optimality_tol, _x.twoArmHandPoseCmdRequest.ik_param.major_feasibility_tol, _x.twoArmHandPoseCmdRequest.ik_param.minor_feasibility_tol, _x.twoArmHandPoseCmdRequest.ik_param.major_iterations_limit, _x.twoArmHandPoseCmdRequest.ik_param.oritation_constraint_tol, _x.twoArmHandPoseCmdRequest.ik_param.pos_constraint_tol, _x.twoArmHandPoseCmdRequest.ik_param.pos_cost_weight, _x.twoArmHandPoseCmdRequest.frame,) = _get_struct_2B7di().unpack(str[start:end])
+      end += 58
+      (_x.twoArmHandPoseCmdRequest.use_custom_ik_param, _x.twoArmHandPoseCmdRequest.joint_angles_as_q0, _x.twoArmHandPoseCmdRequest.ik_param.major_optimality_tol, _x.twoArmHandPoseCmdRequest.ik_param.major_feasibility_tol, _x.twoArmHandPoseCmdRequest.ik_param.minor_feasibility_tol, _x.twoArmHandPoseCmdRequest.ik_param.major_iterations_limit, _x.twoArmHandPoseCmdRequest.ik_param.oritation_constraint_tol, _x.twoArmHandPoseCmdRequest.ik_param.pos_constraint_tol, _x.twoArmHandPoseCmdRequest.ik_param.pos_cost_weight,) = _get_struct_2B7d().unpack(str[start:end])
       self.twoArmHandPoseCmdRequest.use_custom_ik_param = bool(self.twoArmHandPoseCmdRequest.use_custom_ik_param)
       self.twoArmHandPoseCmdRequest.joint_angles_as_q0 = bool(self.twoArmHandPoseCmdRequest.joint_angles_as_q0)
       return self
@@ -271,12 +270,12 @@ _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
@@ -302,19 +301,19 @@ def _get_struct_7d():
         _struct_7d = struct.Struct("<7d")
     return _struct_7d
 # This Python file uses the following encoding: utf-8
-"""autogenerated by genpy from kuavo_msgs/twoArmHandPoseCmdSrvResponse.msg. Do not edit."""
+"""autogenerated by genpy from motion_capture_ik/twoArmHandPoseCmdSrvResponse.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 twoArmHandPoseCmdSrvResponse(genpy.Message):
   _md5sum = "7dba8c11b6c3ac9ec243b4520ad906c7"
-  _type = "kuavo_msgs/twoArmHandPoseCmdSrvResponse"
+  _type = "motion_capture_ik/twoArmHandPoseCmdSrvResponse"
   _has_header = False  # flag to mark the presence of a Header object
   _full_text = """bool success
 bool with_torso
@@ -326,7 +325,7 @@ float64   time_cost # unit: ms
 twoArmHandPose  hand_poses
 
 ================================================================================
-MSG: kuavo_msgs/twoArmHandPose
+MSG: motion_capture_ik/twoArmHandPose
 Header header
 armHandPose  left_pose
 armHandPose  right_pose
@@ -347,7 +346,7 @@ time stamp
 string frame_id
 
 ================================================================================
-MSG: kuavo_msgs/armHandPose
+MSG: motion_capture_ik/armHandPose
 float64[3] pos_xyz
 float64[4] quat_xyzw
 
@@ -355,7 +354,7 @@ float64[3] elbow_pos_xyz
 
 float64[7] joint_angles"""
   __slots__ = ['success','with_torso','q_arm','q_torso','time_cost','hand_poses']
-  _slot_types = ['bool','bool','float64[]','float64[]','float64','kuavo_msgs/twoArmHandPose']
+  _slot_types = ['bool','bool','float64[]','float64[]','float64','motion_capture_ik/twoArmHandPose']
 
   def __init__(self, *args, **kwds):
     """
@@ -385,14 +384,14 @@ float64[7] joint_angles"""
       if self.time_cost is None:
         self.time_cost = 0.
       if self.hand_poses is None:
-        self.hand_poses = kuavo_msgs.msg.twoArmHandPose()
+        self.hand_poses = motion_capture_ik.msg.twoArmHandPose()
     else:
       self.success = False
       self.with_torso = False
       self.q_arm = []
       self.q_torso = []
       self.time_cost = 0.
-      self.hand_poses = kuavo_msgs.msg.twoArmHandPose()
+      self.hand_poses = motion_capture_ik.msg.twoArmHandPose()
 
   def _get_types(self):
     """
@@ -444,7 +443,7 @@ float64[7] joint_angles"""
       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()
       end = 0
       _x = self
       start = end
@@ -556,7 +555,7 @@ float64[7] joint_angles"""
       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()
       end = 0
       _x = self
       start = end
@@ -656,7 +655,7 @@ def _get_struct_d3I():
         _struct_d3I = struct.Struct("<d3I")
     return _struct_d3I
 class twoArmHandPoseCmdSrv(object):
-  _type          = 'kuavo_msgs/twoArmHandPoseCmdSrv'
-  _md5sum = '5c40c421651b828448c8e8f1a4ba5e3d'
+  _type          = 'motion_capture_ik/twoArmHandPoseCmdSrv'
+  _md5sum = '4cedfbf98f38ce7e92b358cb2d3ef39d'
   _request_class  = twoArmHandPoseCmdSrvRequest
   _response_class = twoArmHandPoseCmdSrvResponse

{kuavo_humanoid_sdk-1.1.5.dist-info → kuavo_humanoid_sdk-1.1.6.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: kuavo-humanoid-sdk
-Version: 1.1.5
+Version: 1.1.6
 Summary: A Python SDK for kuavo humanoid robot.
 Home-page: https://gitee.com/leju-robot/kuavo-ros-opensource/
 Author: ['lejurobot']
@@ -22,7 +22,6 @@ Requires-Python: >=3.8
 Description-Content-Type: text/markdown
 Requires-Dist: numpy
 Requires-Dist: transitions
-Requires-Dist: roslibpy
 
 # Kuavo Humanoid SDK