kuavo-humanoid-sdk 1.2.1b1675__20250812203328-py3-none-any.whl

kuavo_humanoid_sdk/msg/kuavo_msgs/msg/_motorParam.py

@@ -0,0 +1,122 @@
+# This Python file uses the following encoding: utf-8
+"""autogenerated by genpy from kuavo_msgs/motorParam.msg. Do not edit."""
+import codecs
+import sys
+python3 = True if sys.hexversion > 0x03000000 else False
+import genpy
+import struct
+
+
+class motorParam(genpy.Message):
+  _md5sum = "7db1bed5b161d04864969d530bea48c5"
+  _type = "kuavo_msgs/motorParam"
+  _has_header = False  # flag to mark the presence of a Header object
+  _full_text = """float32 Kp 
+float32 Kd
+int16 id"""
+  __slots__ = ['Kp','Kd','id']
+  _slot_types = ['float32','float32','int16']
+
+  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:
+       Kp,Kd,id
+
+    :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(motorParam, self).__init__(*args, **kwds)
+      # message fields cannot be None, assign default values for those that are
+      if self.Kp is None:
+        self.Kp = 0.
+      if self.Kd is None:
+        self.Kd = 0.
+      if self.id is None:
+        self.id = 0
+    else:
+      self.Kp = 0.
+      self.Kd = 0.
+      self.id = 0
+
+  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_2fh().pack(_x.Kp, _x.Kd, _x.id))
+    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
+      _x = self
+      start = end
+      end += 10
+      (_x.Kp, _x.Kd, _x.id,) = _get_struct_2fh().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:
+      _x = self
+      buff.write(_get_struct_2fh().pack(_x.Kp, _x.Kd, _x.id))
+    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
+      _x = self
+      start = end
+      end += 10
+      (_x.Kp, _x.Kd, _x.id,) = _get_struct_2fh().unpack(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_2fh = None
+def _get_struct_2fh():
+    global _struct_2fh
+    if _struct_2fh is None:
+        _struct_2fh = struct.Struct("<2fh")
+    return _struct_2fh

kuavo_humanoid_sdk/msg/kuavo_msgs/msg/_picoPoseInfo.py

@@ -0,0 +1,143 @@
+# This Python file uses the following encoding: utf-8
+"""autogenerated by genpy from kuavo_msgs/picoPoseInfo.msg. Do not edit."""
+import codecs
+import sys
+python3 = True if sys.hexversion > 0x03000000 else False
+import genpy
+import struct
+
+import geometry_msgs.msg
+
+class picoPoseInfo(genpy.Message):
+  _md5sum = "e45d45a5a1ce597b249e23fb30fc871f"
+  _type = "kuavo_msgs/picoPoseInfo"
+  _has_header = False  # flag to mark the presence of a Header object
+  _full_text = """geometry_msgs/Point position
+geometry_msgs/Quaternion orientation 
+================================================================================
+MSG: geometry_msgs/Point
+# This contains the position of a point in free space
+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
+"""
+  __slots__ = ['position','orientation']
+  _slot_types = ['geometry_msgs/Point','geometry_msgs/Quaternion']
+
+  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:
+       position,orientation
+
+    :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(picoPoseInfo, self).__init__(*args, **kwds)
+      # message fields cannot be None, assign default values for those that are
+      if self.position is None:
+        self.position = geometry_msgs.msg.Point()
+      if self.orientation is None:
+        self.orientation = geometry_msgs.msg.Quaternion()
+    else:
+      self.position = geometry_msgs.msg.Point()
+      self.orientation = geometry_msgs.msg.Quaternion()
+
+  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_7d().pack(_x.position.x, _x.position.y, _x.position.z, _x.orientation.x, _x.orientation.y, _x.orientation.z, _x.orientation.w))
+    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.position is None:
+        self.position = geometry_msgs.msg.Point()
+      if self.orientation is None:
+        self.orientation = geometry_msgs.msg.Quaternion()
+      end = 0
+      _x = self
+      start = end
+      end += 56
+      (_x.position.x, _x.position.y, _x.position.z, _x.orientation.x, _x.orientation.y, _x.orientation.z, _x.orientation.w,) = _get_struct_7d().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:
+      _x = self
+      buff.write(_get_struct_7d().pack(_x.position.x, _x.position.y, _x.position.z, _x.orientation.x, _x.orientation.y, _x.orientation.z, _x.orientation.w))
+    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.position is None:
+        self.position = geometry_msgs.msg.Point()
+      if self.orientation is None:
+        self.orientation = geometry_msgs.msg.Quaternion()
+      end = 0
+      _x = self
+      start = end
+      end += 56
+      (_x.position.x, _x.position.y, _x.position.z, _x.orientation.x, _x.orientation.y, _x.orientation.z, _x.orientation.w,) = _get_struct_7d().unpack(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_7d = None
+def _get_struct_7d():
+    global _struct_7d
+    if _struct_7d is None:
+        _struct_7d = struct.Struct("<7d")
+    return _struct_7d

kuavo_humanoid_sdk/msg/kuavo_msgs/msg/_picoPoseInfoList.py

@@ -0,0 +1,220 @@
+# This Python file uses the following encoding: utf-8
+"""autogenerated by genpy from kuavo_msgs/picoPoseInfoList.msg. Do not edit."""
+import codecs
+import sys
+python3 = True if sys.hexversion > 0x03000000 else False
+import genpy
+import struct
+
+import geometry_msgs.msg
+import kuavo_msgs.msg
+
+class picoPoseInfoList(genpy.Message):
+  _md5sum = "f56d5e4df1c0e38a423ead4bde9414b3"
+  _type = "kuavo_msgs/picoPoseInfoList"
+  _has_header = False  # flag to mark the presence of a Header object
+  _full_text = """int64 timestamp_ms
+bool is_high_confidence
+bool is_hand_tracking
+picoPoseInfo[] poses 
+================================================================================
+MSG: kuavo_msgs/picoPoseInfo
+geometry_msgs/Point position
+geometry_msgs/Quaternion orientation 
+================================================================================
+MSG: geometry_msgs/Point
+# This contains the position of a point in free space
+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
+"""
+  __slots__ = ['timestamp_ms','is_high_confidence','is_hand_tracking','poses']
+  _slot_types = ['int64','bool','bool','kuavo_msgs/picoPoseInfo[]']
+
+  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:
+       timestamp_ms,is_high_confidence,is_hand_tracking,poses
+
+    :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(picoPoseInfoList, self).__init__(*args, **kwds)
+      # message fields cannot be None, assign default values for those that are
+      if self.timestamp_ms is None:
+        self.timestamp_ms = 0
+      if self.is_high_confidence is None:
+        self.is_high_confidence = False
+      if self.is_hand_tracking is None:
+        self.is_hand_tracking = False
+      if self.poses is None:
+        self.poses = []
+    else:
+      self.timestamp_ms = 0
+      self.is_high_confidence = False
+      self.is_hand_tracking = False
+      self.poses = []
+
+  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_q2B().pack(_x.timestamp_ms, _x.is_high_confidence, _x.is_hand_tracking))
+      length = len(self.poses)
+      buff.write(_struct_I.pack(length))
+      for val1 in self.poses:
+        _v1 = val1.position
+        _x = _v1
+        buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
+        _v2 = val1.orientation
+        _x = _v2
+        buff.write(_get_struct_4d().pack(_x.x, _x.y, _x.z, _x.w))
+    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.poses is None:
+        self.poses = None
+      end = 0
+      _x = self
+      start = end
+      end += 10
+      (_x.timestamp_ms, _x.is_high_confidence, _x.is_hand_tracking,) = _get_struct_q2B().unpack(str[start:end])
+      self.is_high_confidence = bool(self.is_high_confidence)
+      self.is_hand_tracking = bool(self.is_hand_tracking)
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      self.poses = []
+      for i in range(0, length):
+        val1 = kuavo_msgs.msg.picoPoseInfo()
+        _v3 = val1.position
+        _x = _v3
+        start = end
+        end += 24
+        (_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
+        _v4 = val1.orientation
+        _x = _v4
+        start = end
+        end += 32
+        (_x.x, _x.y, _x.z, _x.w,) = _get_struct_4d().unpack(str[start:end])
+        self.poses.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:
+      _x = self
+      buff.write(_get_struct_q2B().pack(_x.timestamp_ms, _x.is_high_confidence, _x.is_hand_tracking))
+      length = len(self.poses)
+      buff.write(_struct_I.pack(length))
+      for val1 in self.poses:
+        _v5 = val1.position
+        _x = _v5
+        buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
+        _v6 = val1.orientation
+        _x = _v6
+        buff.write(_get_struct_4d().pack(_x.x, _x.y, _x.z, _x.w))
+    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.poses is None:
+        self.poses = None
+      end = 0
+      _x = self
+      start = end
+      end += 10
+      (_x.timestamp_ms, _x.is_high_confidence, _x.is_hand_tracking,) = _get_struct_q2B().unpack(str[start:end])
+      self.is_high_confidence = bool(self.is_high_confidence)
+      self.is_hand_tracking = bool(self.is_hand_tracking)
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      self.poses = []
+      for i in range(0, length):
+        val1 = kuavo_msgs.msg.picoPoseInfo()
+        _v7 = val1.position
+        _x = _v7
+        start = end
+        end += 24
+        (_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
+        _v8 = val1.orientation
+        _x = _v8
+        start = end
+        end += 32
+        (_x.x, _x.y, _x.z, _x.w,) = _get_struct_4d().unpack(str[start:end])
+        self.poses.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_3d = None
+def _get_struct_3d():
+    global _struct_3d
+    if _struct_3d is None:
+        _struct_3d = struct.Struct("<3d")
+    return _struct_3d
+_struct_4d = None
+def _get_struct_4d():
+    global _struct_4d
+    if _struct_4d is None:
+        _struct_4d = struct.Struct("<4d")
+    return _struct_4d
+_struct_q2B = None
+def _get_struct_q2B():
+    global _struct_q2B
+    if _struct_q2B is None:
+        _struct_q2B = struct.Struct("<q2B")
+    return _struct_q2B

kuavo_humanoid_sdk/msg/kuavo_msgs/msg/_planArmState.py

@@ -0,0 +1,120 @@
+# This Python file uses the following encoding: utf-8
+"""autogenerated by genpy from kuavo_msgs/planArmState.msg. Do not edit."""
+import codecs
+import sys
+python3 = True if sys.hexversion > 0x03000000 else False
+import genpy
+import struct
+
+
+class planArmState(genpy.Message):
+  _md5sum = "0743feb5221b176f512f6ea58920b201"
+  _type = "kuavo_msgs/planArmState"
+  _has_header = False  # flag to mark the presence of a Header object
+  _full_text = """int32 progress
+bool is_finished"""
+  __slots__ = ['progress','is_finished']
+  _slot_types = ['int32','bool']
+
+  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:
+       progress,is_finished
+
+    :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(planArmState, self).__init__(*args, **kwds)
+      # message fields cannot be None, assign default values for those that are
+      if self.progress is None:
+        self.progress = 0
+      if self.is_finished is None:
+        self.is_finished = False
+    else:
+      self.progress = 0
+      self.is_finished = False
+
+  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_iB().pack(_x.progress, _x.is_finished))
+    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
+      _x = self
+      start = end
+      end += 5
+      (_x.progress, _x.is_finished,) = _get_struct_iB().unpack(str[start:end])
+      self.is_finished = bool(self.is_finished)
+      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_iB().pack(_x.progress, _x.is_finished))
+    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
+      _x = self
+      start = end
+      end += 5
+      (_x.progress, _x.is_finished,) = _get_struct_iB().unpack(str[start:end])
+      self.is_finished = bool(self.is_finished)
+      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_iB = None
+def _get_struct_iB():
+    global _struct_iB
+    if _struct_iB is None:
+        _struct_iB = struct.Struct("<iB")
+    return _struct_iB