kuavo-humanoid-sdk 1.1.9__20250627185317-py3-none-any.whl

kuavo_humanoid_sdk/msg/kuavo_msgs/msg/_endEffectorData.py

@@ -0,0 +1,227 @@
+# This Python file uses the following encoding: utf-8
+"""autogenerated by genpy from kuavo_msgs/endEffectorData.msg. Do not edit."""
+import codecs
+import sys
+python3 = True if sys.hexversion > 0x03000000 else False
+import genpy
+import struct
+
+
+class endEffectorData(genpy.Message):
+  _md5sum = "5703dc153b077fbca188a602cb8df8ed"
+  _type = "kuavo_msgs/endEffectorData"
+  _has_header = False  # flag to mark the presence of a Header object
+  _full_text = """string[] name  
+float64[] position
+float64[] velocity  
+float64[] effort
+"""
+  __slots__ = ['name','position','velocity','effort']
+  _slot_types = ['string[]','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:
+       name,position,velocity,effort
+
+    :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(endEffectorData, self).__init__(*args, **kwds)
+      # message fields cannot be None, assign default values for those that are
+      if self.name is None:
+        self.name = []
+      if self.position is None:
+        self.position = []
+      if self.velocity is None:
+        self.velocity = []
+      if self.effort is None:
+        self.effort = []
+    else:
+      self.name = []
+      self.position = []
+      self.velocity = []
+      self.effort = []
+
+  def _get_types(self):
+    """
+    internal API method
+    """
+    return self._slot_types
+
+  def serialize(self, buff):
+    """
+    serialize message into buffer
+    :param buff: buffer, ``StringIO``
+    """
+    try:
+      length = len(self.name)
+      buff.write(_struct_I.pack(length))
+      for val1 in self.name:
+        length = len(val1)
+        if python3 or type(val1) == unicode:
+          val1 = val1.encode('utf-8')
+          length = len(val1)
+        buff.write(struct.Struct('<I%ss'%length).pack(length, val1))
+      length = len(self.position)
+      buff.write(_struct_I.pack(length))
+      pattern = '<%sd'%length
+      buff.write(struct.Struct(pattern).pack(*self.position))
+      length = len(self.velocity)
+      buff.write(_struct_I.pack(length))
+      pattern = '<%sd'%length
+      buff.write(struct.Struct(pattern).pack(*self.velocity))
+      length = len(self.effort)
+      buff.write(_struct_I.pack(length))
+      pattern = '<%sd'%length
+      buff.write(struct.Struct(pattern).pack(*self.effort))
+    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])
+      self.name = []
+      for i in range(0, length):
+        start = end
+        end += 4
+        (length,) = _struct_I.unpack(str[start:end])
+        start = end
+        end += length
+        if python3:
+          val1 = str[start:end].decode('utf-8', 'rosmsg')
+        else:
+          val1 = str[start:end]
+        self.name.append(val1)
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      pattern = '<%sd'%length
+      start = end
+      s = struct.Struct(pattern)
+      end += s.size
+      self.position = s.unpack(str[start:end])
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      pattern = '<%sd'%length
+      start = end
+      s = struct.Struct(pattern)
+      end += s.size
+      self.velocity = s.unpack(str[start:end])
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      pattern = '<%sd'%length
+      start = end
+      s = struct.Struct(pattern)
+      end += s.size
+      self.effort = s.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:
+      length = len(self.name)
+      buff.write(_struct_I.pack(length))
+      for val1 in self.name:
+        length = len(val1)
+        if python3 or type(val1) == unicode:
+          val1 = val1.encode('utf-8')
+          length = len(val1)
+        buff.write(struct.Struct('<I%ss'%length).pack(length, val1))
+      length = len(self.position)
+      buff.write(_struct_I.pack(length))
+      pattern = '<%sd'%length
+      buff.write(self.position.tostring())
+      length = len(self.velocity)
+      buff.write(_struct_I.pack(length))
+      pattern = '<%sd'%length
+      buff.write(self.velocity.tostring())
+      length = len(self.effort)
+      buff.write(_struct_I.pack(length))
+      pattern = '<%sd'%length
+      buff.write(self.effort.tostring())
+    except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(locals().get('_x', self)))))
+    except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(locals().get('_x', self)))))
+
+  def deserialize_numpy(self, str, numpy):
+    """
+    unpack serialized message in str into this message instance using numpy for array types
+    :param str: byte array of serialized message, ``str``
+    :param numpy: numpy python module
+    """
+    if python3:
+      codecs.lookup_error("rosmsg").msg_type = self._type
+    try:
+      end = 0
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      self.name = []
+      for i in range(0, length):
+        start = end
+        end += 4
+        (length,) = _struct_I.unpack(str[start:end])
+        start = end
+        end += length
+        if python3:
+          val1 = str[start:end].decode('utf-8', 'rosmsg')
+        else:
+          val1 = str[start:end]
+        self.name.append(val1)
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      pattern = '<%sd'%length
+      start = end
+      s = struct.Struct(pattern)
+      end += s.size
+      self.position = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      pattern = '<%sd'%length
+      start = end
+      s = struct.Struct(pattern)
+      end += s.size
+      self.velocity = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      pattern = '<%sd'%length
+      start = end
+      s = struct.Struct(pattern)
+      end += s.size
+      self.effort = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
+      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

kuavo_humanoid_sdk/msg/kuavo_msgs/msg/_footPose.py

@@ -0,0 +1,123 @@
+# This Python file uses the following encoding: utf-8
+"""autogenerated by genpy from kuavo_msgs/footPose.msg. Do not edit."""
+import codecs
+import sys
+python3 = True if sys.hexversion > 0x03000000 else False
+import genpy
+import struct
+
+
+class footPose(genpy.Message):
+  _md5sum = "b0acb7ad1ed1ee5a0a630b91b650f49a"
+  _type = "kuavo_msgs/footPose"
+  _has_header = False  # flag to mark the presence of a Header object
+  _full_text = """float64[4] footPose # x, y, z, yaw
+float64[4] torsoPose # x, y, z, yaw
+"""
+  __slots__ = ['footPose','torsoPose']
+  _slot_types = ['float64[4]','float64[4]']
+
+  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:
+       footPose,torsoPose
+
+    :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(footPose, self).__init__(*args, **kwds)
+      # message fields cannot be None, assign default values for those that are
+      if self.footPose is None:
+        self.footPose = [0.] * 4
+      if self.torsoPose is None:
+        self.torsoPose = [0.] * 4
+    else:
+      self.footPose = [0.] * 4
+      self.torsoPose = [0.] * 4
+
+  def _get_types(self):
+    """
+    internal API method
+    """
+    return self._slot_types
+
+  def serialize(self, buff):
+    """
+    serialize message into buffer
+    :param buff: buffer, ``StringIO``
+    """
+    try:
+      buff.write(_get_struct_4d().pack(*self.footPose))
+      buff.write(_get_struct_4d().pack(*self.torsoPose))
+    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 += 32
+      self.footPose = _get_struct_4d().unpack(str[start:end])
+      start = end
+      end += 32
+      self.torsoPose = _get_struct_4d().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:
+      buff.write(self.footPose.tostring())
+      buff.write(self.torsoPose.tostring())
+    except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(locals().get('_x', self)))))
+    except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(locals().get('_x', self)))))
+
+  def deserialize_numpy(self, str, numpy):
+    """
+    unpack serialized message in str into this message instance using numpy for array types
+    :param str: byte array of serialized message, ``str``
+    :param numpy: numpy python module
+    """
+    if python3:
+      codecs.lookup_error("rosmsg").msg_type = self._type
+    try:
+      end = 0
+      start = end
+      end += 32
+      self.footPose = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=4)
+      start = end
+      end += 32
+      self.torsoPose = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=4)
+      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_4d = None
+def _get_struct_4d():
+    global _struct_4d
+    if _struct_4d is None:
+        _struct_4d = struct.Struct("<4d")
+    return _struct_4d

kuavo_humanoid_sdk/msg/kuavo_msgs/msg/_footPoseTargetTrajectories.py

@@ -0,0 +1,301 @@
+# This Python file uses the following encoding: utf-8
+"""autogenerated by genpy from kuavo_msgs/footPoseTargetTrajectories.msg. Do not edit."""
+import codecs
+import sys
+python3 = True if sys.hexversion > 0x03000000 else False
+import genpy
+import struct
+
+import kuavo_msgs.msg
+
+class footPoseTargetTrajectories(genpy.Message):
+  _md5sum = "1ead1f233650869a3c090250fbdd7b77"
+  _type = "kuavo_msgs/footPoseTargetTrajectories"
+  _has_header = False  # flag to mark the presence of a Header object
+  _full_text = """float64[]    timeTrajectory
+int32[]      footIndexTrajectory
+footPose[]   footPoseTrajectory
+footPoses[]  additionalFootPoseTrajectory  # 可选字段，用于存储额外的轨迹点规划值
+float64[]    swingHeightTrajectory # 可选字段，用于存储swing高度轨迹
+
+================================================================================
+MSG: kuavo_msgs/footPose
+float64[4] footPose # x, y, z, yaw
+float64[4] torsoPose # x, y, z, yaw
+
+================================================================================
+MSG: kuavo_msgs/footPoses
+footPose[] data
+"""
+  __slots__ = ['timeTrajectory','footIndexTrajectory','footPoseTrajectory','additionalFootPoseTrajectory','swingHeightTrajectory']
+  _slot_types = ['float64[]','int32[]','kuavo_msgs/footPose[]','kuavo_msgs/footPoses[]','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:
+       timeTrajectory,footIndexTrajectory,footPoseTrajectory,additionalFootPoseTrajectory,swingHeightTrajectory
+
+    :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(footPoseTargetTrajectories, self).__init__(*args, **kwds)
+      # message fields cannot be None, assign default values for those that are
+      if self.timeTrajectory is None:
+        self.timeTrajectory = []
+      if self.footIndexTrajectory is None:
+        self.footIndexTrajectory = []
+      if self.footPoseTrajectory is None:
+        self.footPoseTrajectory = []
+      if self.additionalFootPoseTrajectory is None:
+        self.additionalFootPoseTrajectory = []
+      if self.swingHeightTrajectory is None:
+        self.swingHeightTrajectory = []
+    else:
+      self.timeTrajectory = []
+      self.footIndexTrajectory = []
+      self.footPoseTrajectory = []
+      self.additionalFootPoseTrajectory = []
+      self.swingHeightTrajectory = []
+
+  def _get_types(self):
+    """
+    internal API method
+    """
+    return self._slot_types
+
+  def serialize(self, buff):
+    """
+    serialize message into buffer
+    :param buff: buffer, ``StringIO``
+    """
+    try:
+      length = len(self.timeTrajectory)
+      buff.write(_struct_I.pack(length))
+      pattern = '<%sd'%length
+      buff.write(struct.Struct(pattern).pack(*self.timeTrajectory))
+      length = len(self.footIndexTrajectory)
+      buff.write(_struct_I.pack(length))
+      pattern = '<%si'%length
+      buff.write(struct.Struct(pattern).pack(*self.footIndexTrajectory))
+      length = len(self.footPoseTrajectory)
+      buff.write(_struct_I.pack(length))
+      for val1 in self.footPoseTrajectory:
+        buff.write(_get_struct_4d().pack(*val1.footPose))
+        buff.write(_get_struct_4d().pack(*val1.torsoPose))
+      length = len(self.additionalFootPoseTrajectory)
+      buff.write(_struct_I.pack(length))
+      for val1 in self.additionalFootPoseTrajectory:
+        length = len(val1.data)
+        buff.write(_struct_I.pack(length))
+        for val2 in val1.data:
+          buff.write(_get_struct_4d().pack(*val2.footPose))
+          buff.write(_get_struct_4d().pack(*val2.torsoPose))
+      length = len(self.swingHeightTrajectory)
+      buff.write(_struct_I.pack(length))
+      pattern = '<%sd'%length
+      buff.write(struct.Struct(pattern).pack(*self.swingHeightTrajectory))
+    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.footPoseTrajectory is None:
+        self.footPoseTrajectory = None
+      if self.additionalFootPoseTrajectory is None:
+        self.additionalFootPoseTrajectory = None
+      end = 0
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      pattern = '<%sd'%length
+      start = end
+      s = struct.Struct(pattern)
+      end += s.size
+      self.timeTrajectory = s.unpack(str[start:end])
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      pattern = '<%si'%length
+      start = end
+      s = struct.Struct(pattern)
+      end += s.size
+      self.footIndexTrajectory = s.unpack(str[start:end])
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      self.footPoseTrajectory = []
+      for i in range(0, length):
+        val1 = kuavo_msgs.msg.footPose()
+        start = end
+        end += 32
+        val1.footPose = _get_struct_4d().unpack(str[start:end])
+        start = end
+        end += 32
+        val1.torsoPose = _get_struct_4d().unpack(str[start:end])
+        self.footPoseTrajectory.append(val1)
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      self.additionalFootPoseTrajectory = []
+      for i in range(0, length):
+        val1 = kuavo_msgs.msg.footPoses()
+        start = end
+        end += 4
+        (length,) = _struct_I.unpack(str[start:end])
+        val1.data = []
+        for i in range(0, length):
+          val2 = kuavo_msgs.msg.footPose()
+          start = end
+          end += 32
+          val2.footPose = _get_struct_4d().unpack(str[start:end])
+          start = end
+          end += 32
+          val2.torsoPose = _get_struct_4d().unpack(str[start:end])
+          val1.data.append(val2)
+        self.additionalFootPoseTrajectory.append(val1)
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      pattern = '<%sd'%length
+      start = end
+      s = struct.Struct(pattern)
+      end += s.size
+      self.swingHeightTrajectory = s.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:
+      length = len(self.timeTrajectory)
+      buff.write(_struct_I.pack(length))
+      pattern = '<%sd'%length
+      buff.write(self.timeTrajectory.tostring())
+      length = len(self.footIndexTrajectory)
+      buff.write(_struct_I.pack(length))
+      pattern = '<%si'%length
+      buff.write(self.footIndexTrajectory.tostring())
+      length = len(self.footPoseTrajectory)
+      buff.write(_struct_I.pack(length))
+      for val1 in self.footPoseTrajectory:
+        buff.write(val1.footPose.tostring())
+        buff.write(val1.torsoPose.tostring())
+      length = len(self.additionalFootPoseTrajectory)
+      buff.write(_struct_I.pack(length))
+      for val1 in self.additionalFootPoseTrajectory:
+        length = len(val1.data)
+        buff.write(_struct_I.pack(length))
+        for val2 in val1.data:
+          buff.write(val2.footPose.tostring())
+          buff.write(val2.torsoPose.tostring())
+      length = len(self.swingHeightTrajectory)
+      buff.write(_struct_I.pack(length))
+      pattern = '<%sd'%length
+      buff.write(self.swingHeightTrajectory.tostring())
+    except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(locals().get('_x', self)))))
+    except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(locals().get('_x', self)))))
+
+  def deserialize_numpy(self, str, numpy):
+    """
+    unpack serialized message in str into this message instance using numpy for array types
+    :param str: byte array of serialized message, ``str``
+    :param numpy: numpy python module
+    """
+    if python3:
+      codecs.lookup_error("rosmsg").msg_type = self._type
+    try:
+      if self.footPoseTrajectory is None:
+        self.footPoseTrajectory = None
+      if self.additionalFootPoseTrajectory is None:
+        self.additionalFootPoseTrajectory = None
+      end = 0
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      pattern = '<%sd'%length
+      start = end
+      s = struct.Struct(pattern)
+      end += s.size
+      self.timeTrajectory = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      pattern = '<%si'%length
+      start = end
+      s = struct.Struct(pattern)
+      end += s.size
+      self.footIndexTrajectory = numpy.frombuffer(str[start:end], dtype=numpy.int32, count=length)
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      self.footPoseTrajectory = []
+      for i in range(0, length):
+        val1 = kuavo_msgs.msg.footPose()
+        start = end
+        end += 32
+        val1.footPose = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=4)
+        start = end
+        end += 32
+        val1.torsoPose = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=4)
+        self.footPoseTrajectory.append(val1)
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      self.additionalFootPoseTrajectory = []
+      for i in range(0, length):
+        val1 = kuavo_msgs.msg.footPoses()
+        start = end
+        end += 4
+        (length,) = _struct_I.unpack(str[start:end])
+        val1.data = []
+        for i in range(0, length):
+          val2 = kuavo_msgs.msg.footPose()
+          start = end
+          end += 32
+          val2.footPose = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=4)
+          start = end
+          end += 32
+          val2.torsoPose = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=4)
+          val1.data.append(val2)
+        self.additionalFootPoseTrajectory.append(val1)
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      pattern = '<%sd'%length
+      start = end
+      s = struct.Struct(pattern)
+      end += s.size
+      self.swingHeightTrajectory = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
+      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_4d = None
+def _get_struct_4d():
+    global _struct_4d
+    if _struct_4d is None:
+        _struct_4d = struct.Struct("<4d")
+    return _struct_4d