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

kuavo_humanoid_sdk/msg/kuavo_msgs/msg/_sensorsData.py

@@ -0,0 +1,495 @@
+# This Python file uses the following encoding: utf-8
+"""autogenerated by genpy from kuavo_msgs/sensorsData.msg. Do not edit."""
+import codecs
+import sys
+python3 = True if sys.hexversion > 0x03000000 else False
+import genpy
+import struct
+
+import genpy
+import geometry_msgs.msg
+import kuavo_msgs.msg
+import std_msgs.msg
+
+class sensorsData(genpy.Message):
+  _md5sum = "35fff741b8e115992c1ac46e99c1084f"
+  _type = "kuavo_msgs/sensorsData"
+  _has_header = True  # flag to mark the presence of a Header object
+  _full_text = """std_msgs/Header header
+time sensor_time
+kuavo_msgs/jointData joint_data
+kuavo_msgs/imuData imu_data
+kuavo_msgs/endEffectorData end_effector_data
+
+================================================================================
+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
+
+================================================================================
+MSG: kuavo_msgs/jointData
+float64[] joint_q  
+float64[] joint_v  
+float64[] joint_vd    
+float64[] joint_torque  
+
+================================================================================
+MSG: kuavo_msgs/imuData
+geometry_msgs/Vector3 gyro    #陀螺仪数据
+geometry_msgs/Vector3 acc     #加速计数据
+geometry_msgs/Vector3 free_acc    #无重力加速度数据
+geometry_msgs/Quaternion quat    #四元数数据
+
+================================================================================
+MSG: geometry_msgs/Vector3
+# This represents a vector in free space. 
+# It is only meant to represent a direction. Therefore, it does not
+# make sense to apply a translation to it (e.g., when applying a 
+# generic rigid transformation to a Vector3, tf2 will only apply the
+# rotation). If you want your data to be translatable too, use the
+# geometry_msgs/Point message instead.
+
+float64 x
+float64 y
+float64 z
+================================================================================
+MSG: geometry_msgs/Quaternion
+# This represents an orientation in free space in quaternion form.
+
+float64 x
+float64 y
+float64 z
+float64 w
+
+================================================================================
+MSG: kuavo_msgs/endEffectorData
+string[] name  
+float64[] position
+float64[] velocity  
+float64[] effort
+"""
+  __slots__ = ['header','sensor_time','joint_data','imu_data','end_effector_data']
+  _slot_types = ['std_msgs/Header','time','kuavo_msgs/jointData','kuavo_msgs/imuData','kuavo_msgs/endEffectorData']
+
+  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,sensor_time,joint_data,imu_data,end_effector_data
+
+    :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(sensorsData, 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.sensor_time is None:
+        self.sensor_time = genpy.Time()
+      if self.joint_data is None:
+        self.joint_data = kuavo_msgs.msg.jointData()
+      if self.imu_data is None:
+        self.imu_data = kuavo_msgs.msg.imuData()
+      if self.end_effector_data is None:
+        self.end_effector_data = kuavo_msgs.msg.endEffectorData()
+    else:
+      self.header = std_msgs.msg.Header()
+      self.sensor_time = genpy.Time()
+      self.joint_data = kuavo_msgs.msg.jointData()
+      self.imu_data = kuavo_msgs.msg.imuData()
+      self.end_effector_data = kuavo_msgs.msg.endEffectorData()
+
+  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
+      buff.write(_get_struct_2I().pack(_x.sensor_time.secs, _x.sensor_time.nsecs))
+      length = len(self.joint_data.joint_q)
+      buff.write(_struct_I.pack(length))
+      pattern = '<%sd'%length
+      buff.write(struct.Struct(pattern).pack(*self.joint_data.joint_q))
+      length = len(self.joint_data.joint_v)
+      buff.write(_struct_I.pack(length))
+      pattern = '<%sd'%length
+      buff.write(struct.Struct(pattern).pack(*self.joint_data.joint_v))
+      length = len(self.joint_data.joint_vd)
+      buff.write(_struct_I.pack(length))
+      pattern = '<%sd'%length
+      buff.write(struct.Struct(pattern).pack(*self.joint_data.joint_vd))
+      length = len(self.joint_data.joint_torque)
+      buff.write(_struct_I.pack(length))
+      pattern = '<%sd'%length
+      buff.write(struct.Struct(pattern).pack(*self.joint_data.joint_torque))
+      _x = self
+      buff.write(_get_struct_13d().pack(_x.imu_data.gyro.x, _x.imu_data.gyro.y, _x.imu_data.gyro.z, _x.imu_data.acc.x, _x.imu_data.acc.y, _x.imu_data.acc.z, _x.imu_data.free_acc.x, _x.imu_data.free_acc.y, _x.imu_data.free_acc.z, _x.imu_data.quat.x, _x.imu_data.quat.y, _x.imu_data.quat.z, _x.imu_data.quat.w))
+      length = len(self.end_effector_data.name)
+      buff.write(_struct_I.pack(length))
+      for val1 in self.end_effector_data.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.end_effector_data.position)
+      buff.write(_struct_I.pack(length))
+      pattern = '<%sd'%length
+      buff.write(struct.Struct(pattern).pack(*self.end_effector_data.position))
+      length = len(self.end_effector_data.velocity)
+      buff.write(_struct_I.pack(length))
+      pattern = '<%sd'%length
+      buff.write(struct.Struct(pattern).pack(*self.end_effector_data.velocity))
+      length = len(self.end_effector_data.effort)
+      buff.write(_struct_I.pack(length))
+      pattern = '<%sd'%length
+      buff.write(struct.Struct(pattern).pack(*self.end_effector_data.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:
+      if self.header is None:
+        self.header = std_msgs.msg.Header()
+      if self.sensor_time is None:
+        self.sensor_time = genpy.Time()
+      if self.joint_data is None:
+        self.joint_data = kuavo_msgs.msg.jointData()
+      if self.imu_data is None:
+        self.imu_data = kuavo_msgs.msg.imuData()
+      if self.end_effector_data is None:
+        self.end_effector_data = kuavo_msgs.msg.endEffectorData()
+      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]
+      _x = self
+      start = end
+      end += 8
+      (_x.sensor_time.secs, _x.sensor_time.nsecs,) = _get_struct_2I().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.joint_data.joint_q = 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.joint_data.joint_v = 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.joint_data.joint_vd = 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.joint_data.joint_torque = s.unpack(str[start:end])
+      _x = self
+      start = end
+      end += 104
+      (_x.imu_data.gyro.x, _x.imu_data.gyro.y, _x.imu_data.gyro.z, _x.imu_data.acc.x, _x.imu_data.acc.y, _x.imu_data.acc.z, _x.imu_data.free_acc.x, _x.imu_data.free_acc.y, _x.imu_data.free_acc.z, _x.imu_data.quat.x, _x.imu_data.quat.y, _x.imu_data.quat.z, _x.imu_data.quat.w,) = _get_struct_13d().unpack(str[start:end])
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      self.end_effector_data.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.end_effector_data.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.end_effector_data.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.end_effector_data.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.end_effector_data.effort = s.unpack(str[start:end])
+      self.sensor_time.canon()
+      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
+      buff.write(_get_struct_2I().pack(_x.sensor_time.secs, _x.sensor_time.nsecs))
+      length = len(self.joint_data.joint_q)
+      buff.write(_struct_I.pack(length))
+      pattern = '<%sd'%length
+      buff.write(self.joint_data.joint_q.tostring())
+      length = len(self.joint_data.joint_v)
+      buff.write(_struct_I.pack(length))
+      pattern = '<%sd'%length
+      buff.write(self.joint_data.joint_v.tostring())
+      length = len(self.joint_data.joint_vd)
+      buff.write(_struct_I.pack(length))
+      pattern = '<%sd'%length
+      buff.write(self.joint_data.joint_vd.tostring())
+      length = len(self.joint_data.joint_torque)
+      buff.write(_struct_I.pack(length))
+      pattern = '<%sd'%length
+      buff.write(self.joint_data.joint_torque.tostring())
+      _x = self
+      buff.write(_get_struct_13d().pack(_x.imu_data.gyro.x, _x.imu_data.gyro.y, _x.imu_data.gyro.z, _x.imu_data.acc.x, _x.imu_data.acc.y, _x.imu_data.acc.z, _x.imu_data.free_acc.x, _x.imu_data.free_acc.y, _x.imu_data.free_acc.z, _x.imu_data.quat.x, _x.imu_data.quat.y, _x.imu_data.quat.z, _x.imu_data.quat.w))
+      length = len(self.end_effector_data.name)
+      buff.write(_struct_I.pack(length))
+      for val1 in self.end_effector_data.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.end_effector_data.position)
+      buff.write(_struct_I.pack(length))
+      pattern = '<%sd'%length
+      buff.write(self.end_effector_data.position.tostring())
+      length = len(self.end_effector_data.velocity)
+      buff.write(_struct_I.pack(length))
+      pattern = '<%sd'%length
+      buff.write(self.end_effector_data.velocity.tostring())
+      length = len(self.end_effector_data.effort)
+      buff.write(_struct_I.pack(length))
+      pattern = '<%sd'%length
+      buff.write(self.end_effector_data.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:
+      if self.header is None:
+        self.header = std_msgs.msg.Header()
+      if self.sensor_time is None:
+        self.sensor_time = genpy.Time()
+      if self.joint_data is None:
+        self.joint_data = kuavo_msgs.msg.jointData()
+      if self.imu_data is None:
+        self.imu_data = kuavo_msgs.msg.imuData()
+      if self.end_effector_data is None:
+        self.end_effector_data = kuavo_msgs.msg.endEffectorData()
+      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]
+      _x = self
+      start = end
+      end += 8
+      (_x.sensor_time.secs, _x.sensor_time.nsecs,) = _get_struct_2I().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.joint_data.joint_q = 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.joint_data.joint_v = 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.joint_data.joint_vd = 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.joint_data.joint_torque = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
+      _x = self
+      start = end
+      end += 104
+      (_x.imu_data.gyro.x, _x.imu_data.gyro.y, _x.imu_data.gyro.z, _x.imu_data.acc.x, _x.imu_data.acc.y, _x.imu_data.acc.z, _x.imu_data.free_acc.x, _x.imu_data.free_acc.y, _x.imu_data.free_acc.z, _x.imu_data.quat.x, _x.imu_data.quat.y, _x.imu_data.quat.z, _x.imu_data.quat.w,) = _get_struct_13d().unpack(str[start:end])
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      self.end_effector_data.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.end_effector_data.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.end_effector_data.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.end_effector_data.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.end_effector_data.effort = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
+      self.sensor_time.canon()
+      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_13d = None
+def _get_struct_13d():
+    global _struct_13d
+    if _struct_13d is None:
+        _struct_13d = struct.Struct("<13d")
+    return _struct_13d
+_struct_2I = None
+def _get_struct_2I():
+    global _struct_2I
+    if _struct_2I is None:
+        _struct_2I = struct.Struct("<2I")
+    return _struct_2I
+_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/msg/_switchGaitByName.py

@@ -0,0 +1,200 @@
+# This Python file uses the following encoding: utf-8
+"""autogenerated by genpy from kuavo_msgs/switchGaitByName.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 switchGaitByName(genpy.Message):
+  _md5sum = "f98f610ddbe99ec14bb5241e5221ca96"
+  _type = "kuavo_msgs/switchGaitByName"
+  _has_header = True  # flag to mark the presence of a Header object
+  _full_text = """std_msgs/Header header
+string  gait_name
+
+================================================================================
+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','gait_name']
+  _slot_types = ['std_msgs/Header','string']
+
+  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,gait_name
+
+    :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(switchGaitByName, 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.gait_name is None:
+        self.gait_name = ''
+    else:
+      self.header = std_msgs.msg.Header()
+      self.gait_name = ''
+
+  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.gait_name
+      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))
+    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
+      if python3:
+        self.gait_name = str[start:end].decode('utf-8', 'rosmsg')
+      else:
+        self.gait_name = 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.gait_name
+      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))
+    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
+      if python3:
+        self.gait_name = str[start:end].decode('utf-8', 'rosmsg')
+      else:
+        self.gait_name = 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