kuavo-humanoid-sdk 1.2.1__20250728145438-py3-none-any.whl

kuavo_humanoid_sdk/msg/kuavo_msgs/msg/_footPoses.py

@@ -0,0 +1,149 @@
+# This Python file uses the following encoding: utf-8
+"""autogenerated by genpy from kuavo_msgs/footPoses.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 footPoses(genpy.Message):
+  _md5sum = "2fad89e6e8a2f3c5d0ec891cc7c76c35"
+  _type = "kuavo_msgs/footPoses"
+  _has_header = False  # flag to mark the presence of a Header object
+  _full_text = """footPose[] data
+
+================================================================================
+MSG: kuavo_msgs/footPose
+float64[4] footPose # x, y, z, yaw
+float64[4] torsoPose # x, y, z, yaw
+"""
+  __slots__ = ['data']
+  _slot_types = ['kuavo_msgs/footPose[]']
+
+  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:
+       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(footPoses, self).__init__(*args, **kwds)
+      # message fields cannot be None, assign default values for those that are
+      if self.data is None:
+        self.data = []
+    else:
+      self.data = []
+
+  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.data)
+      buff.write(_struct_I.pack(length))
+      for val1 in self.data:
+        buff.write(_get_struct_4d().pack(*val1.footPose))
+        buff.write(_get_struct_4d().pack(*val1.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:
+      if self.data is None:
+        self.data = None
+      end = 0
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      self.data = []
+      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.data.append(val1)
+      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.data)
+      buff.write(_struct_I.pack(length))
+      for val1 in self.data:
+        buff.write(val1.footPose.tostring())
+        buff.write(val1.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:
+      if self.data is None:
+        self.data = None
+      end = 0
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      self.data = []
+      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.data.append(val1)
+      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/_fullBodyTargetTrajectories.py

@@ -0,0 +1,258 @@
+# This Python file uses the following encoding: utf-8
+"""autogenerated by genpy from kuavo_msgs/fullBodyTargetTrajectories.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 fullBodyTargetTrajectories(genpy.Message):
+  _md5sum = "047ea9aebee29073b8b35a2cfc80bda7"
+  _type = "kuavo_msgs/fullBodyTargetTrajectories"
+  _has_header = False  # flag to mark the presence of a Header object
+  _full_text = """float64[]    timeTrajectory #时间序列
+int32[]      footIndexTrajectory #mode
+qv[]  fullBodyQTrajectory #包含广义位置轨迹, 直接指定全身轨迹
+qv[]  fullBodyVTrajectory #全身广义速度轨迹
+
+================================================================================
+MSG: kuavo_msgs/qv
+float64[] value
+"""
+  __slots__ = ['timeTrajectory','footIndexTrajectory','fullBodyQTrajectory','fullBodyVTrajectory']
+  _slot_types = ['float64[]','int32[]','kuavo_msgs/qv[]','kuavo_msgs/qv[]']
+
+  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,fullBodyQTrajectory,fullBodyVTrajectory
+
+    :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(fullBodyTargetTrajectories, 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.fullBodyQTrajectory is None:
+        self.fullBodyQTrajectory = []
+      if self.fullBodyVTrajectory is None:
+        self.fullBodyVTrajectory = []
+    else:
+      self.timeTrajectory = []
+      self.footIndexTrajectory = []
+      self.fullBodyQTrajectory = []
+      self.fullBodyVTrajectory = []
+
+  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.fullBodyQTrajectory)
+      buff.write(_struct_I.pack(length))
+      for val1 in self.fullBodyQTrajectory:
+        length = len(val1.value)
+        buff.write(_struct_I.pack(length))
+        pattern = '<%sd'%length
+        buff.write(struct.Struct(pattern).pack(*val1.value))
+      length = len(self.fullBodyVTrajectory)
+      buff.write(_struct_I.pack(length))
+      for val1 in self.fullBodyVTrajectory:
+        length = len(val1.value)
+        buff.write(_struct_I.pack(length))
+        pattern = '<%sd'%length
+        buff.write(struct.Struct(pattern).pack(*val1.value))
+    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.fullBodyQTrajectory is None:
+        self.fullBodyQTrajectory = None
+      if self.fullBodyVTrajectory is None:
+        self.fullBodyVTrajectory = 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.fullBodyQTrajectory = []
+      for i in range(0, length):
+        val1 = kuavo_msgs.msg.qv()
+        start = end
+        end += 4
+        (length,) = _struct_I.unpack(str[start:end])
+        pattern = '<%sd'%length
+        start = end
+        s = struct.Struct(pattern)
+        end += s.size
+        val1.value = s.unpack(str[start:end])
+        self.fullBodyQTrajectory.append(val1)
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      self.fullBodyVTrajectory = []
+      for i in range(0, length):
+        val1 = kuavo_msgs.msg.qv()
+        start = end
+        end += 4
+        (length,) = _struct_I.unpack(str[start:end])
+        pattern = '<%sd'%length
+        start = end
+        s = struct.Struct(pattern)
+        end += s.size
+        val1.value = s.unpack(str[start:end])
+        self.fullBodyVTrajectory.append(val1)
+      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.fullBodyQTrajectory)
+      buff.write(_struct_I.pack(length))
+      for val1 in self.fullBodyQTrajectory:
+        length = len(val1.value)
+        buff.write(_struct_I.pack(length))
+        pattern = '<%sd'%length
+        buff.write(val1.value.tostring())
+      length = len(self.fullBodyVTrajectory)
+      buff.write(_struct_I.pack(length))
+      for val1 in self.fullBodyVTrajectory:
+        length = len(val1.value)
+        buff.write(_struct_I.pack(length))
+        pattern = '<%sd'%length
+        buff.write(val1.value.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.fullBodyQTrajectory is None:
+        self.fullBodyQTrajectory = None
+      if self.fullBodyVTrajectory is None:
+        self.fullBodyVTrajectory = 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.fullBodyQTrajectory = []
+      for i in range(0, length):
+        val1 = kuavo_msgs.msg.qv()
+        start = end
+        end += 4
+        (length,) = _struct_I.unpack(str[start:end])
+        pattern = '<%sd'%length
+        start = end
+        s = struct.Struct(pattern)
+        end += s.size
+        val1.value = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
+        self.fullBodyQTrajectory.append(val1)
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      self.fullBodyVTrajectory = []
+      for i in range(0, length):
+        val1 = kuavo_msgs.msg.qv()
+        start = end
+        end += 4
+        (length,) = _struct_I.unpack(str[start:end])
+        pattern = '<%sd'%length
+        start = end
+        s = struct.Struct(pattern)
+        end += s.size
+        val1.value = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
+        self.fullBodyVTrajectory.append(val1)
+      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/_gaitTimeName.py

@@ -0,0 +1,147 @@
+# This Python file uses the following encoding: utf-8
+"""autogenerated by genpy from kuavo_msgs/gaitTimeName.msg. Do not edit."""
+import codecs
+import sys
+python3 = True if sys.hexversion > 0x03000000 else False
+import genpy
+import struct
+
+
+class gaitTimeName(genpy.Message):
+  _md5sum = "c694c8dbb2e8c9d73614407bfe314692"
+  _type = "kuavo_msgs/gaitTimeName"
+  _has_header = False  # flag to mark the presence of a Header object
+  _full_text = """float32 start_time
+string  gait_name
+"""
+  __slots__ = ['start_time','gait_name']
+  _slot_types = ['float32','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:
+       start_time,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(gaitTimeName, self).__init__(*args, **kwds)
+      # message fields cannot be None, assign default values for those that are
+      if self.start_time is None:
+        self.start_time = 0.
+      if self.gait_name is None:
+        self.gait_name = ''
+    else:
+      self.start_time = 0.
+      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.start_time
+      buff.write(_get_struct_f().pack(_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:
+      end = 0
+      start = end
+      end += 4
+      (self.start_time,) = _get_struct_f().unpack(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.start_time
+      buff.write(_get_struct_f().pack(_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:
+      end = 0
+      start = end
+      end += 4
+      (self.start_time,) = _get_struct_f().unpack(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_f = None
+def _get_struct_f():
+    global _struct_f
+    if _struct_f is None:
+        _struct_f = struct.Struct("<f")
+    return _struct_f