kuavo-humanoid-sdk 1.2.1b3279__20250911210455-py3-none-any.whl

kuavo_humanoid_sdk/msg/kuavo_msgs/msg/_ikSolveParam.py

@@ -0,0 +1,140 @@
+# This Python file uses the following encoding: utf-8
+"""autogenerated by genpy from kuavo_msgs/ikSolveParam.msg. Do not edit."""
+import codecs
+import sys
+python3 = True if sys.hexversion > 0x03000000 else False
+import genpy
+import struct
+
+
+class ikSolveParam(genpy.Message):
+  _md5sum = "be29d8b02ad14da680464b8c4f590f98"
+  _type = "kuavo_msgs/ikSolveParam"
+  _has_header = False  # flag to mark the presence of a Header object
+  _full_text = """# snopt params
+float64 major_optimality_tol
+float64 major_feasibility_tol
+float64 minor_feasibility_tol
+float64 major_iterations_limit
+# constraint and cost params
+float64 oritation_constraint_tol
+float64 pos_constraint_tol # work when pos_cost_weight > 0.0
+float64 pos_cost_weight"""
+  __slots__ = ['major_optimality_tol','major_feasibility_tol','minor_feasibility_tol','major_iterations_limit','oritation_constraint_tol','pos_constraint_tol','pos_cost_weight']
+  _slot_types = ['float64','float64','float64','float64','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:
+       major_optimality_tol,major_feasibility_tol,minor_feasibility_tol,major_iterations_limit,oritation_constraint_tol,pos_constraint_tol,pos_cost_weight
+
+    :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(ikSolveParam, self).__init__(*args, **kwds)
+      # message fields cannot be None, assign default values for those that are
+      if self.major_optimality_tol is None:
+        self.major_optimality_tol = 0.
+      if self.major_feasibility_tol is None:
+        self.major_feasibility_tol = 0.
+      if self.minor_feasibility_tol is None:
+        self.minor_feasibility_tol = 0.
+      if self.major_iterations_limit is None:
+        self.major_iterations_limit = 0.
+      if self.oritation_constraint_tol is None:
+        self.oritation_constraint_tol = 0.
+      if self.pos_constraint_tol is None:
+        self.pos_constraint_tol = 0.
+      if self.pos_cost_weight is None:
+        self.pos_cost_weight = 0.
+    else:
+      self.major_optimality_tol = 0.
+      self.major_feasibility_tol = 0.
+      self.minor_feasibility_tol = 0.
+      self.major_iterations_limit = 0.
+      self.oritation_constraint_tol = 0.
+      self.pos_constraint_tol = 0.
+      self.pos_cost_weight = 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_7d().pack(_x.major_optimality_tol, _x.major_feasibility_tol, _x.minor_feasibility_tol, _x.major_iterations_limit, _x.oritation_constraint_tol, _x.pos_constraint_tol, _x.pos_cost_weight))
+    except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(locals().get('_x', self)))))
+    except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(locals().get('_x', self)))))
+
+  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 += 56
+      (_x.major_optimality_tol, _x.major_feasibility_tol, _x.minor_feasibility_tol, _x.major_iterations_limit, _x.oritation_constraint_tol, _x.pos_constraint_tol, _x.pos_cost_weight,) = _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.major_optimality_tol, _x.major_feasibility_tol, _x.minor_feasibility_tol, _x.major_iterations_limit, _x.oritation_constraint_tol, _x.pos_constraint_tol, _x.pos_cost_weight))
+    except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(locals().get('_x', self)))))
+    except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(locals().get('_x', self)))))
+
+  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 += 56
+      (_x.major_optimality_tol, _x.major_feasibility_tol, _x.minor_feasibility_tol, _x.major_iterations_limit, _x.oritation_constraint_tol, _x.pos_constraint_tol, _x.pos_cost_weight,) = _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/_imuData.py

@@ -0,0 +1,165 @@
+# This Python file uses the following encoding: utf-8
+"""autogenerated by genpy from kuavo_msgs/imuData.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 imuData(genpy.Message):
+  _md5sum = "6406067cf839b39a677ae809cd04646a"
+  _type = "kuavo_msgs/imuData"
+  _has_header = False  # flag to mark the presence of a Header object
+  _full_text = """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
+"""
+  __slots__ = ['gyro','acc','free_acc','quat']
+  _slot_types = ['geometry_msgs/Vector3','geometry_msgs/Vector3','geometry_msgs/Vector3','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:
+       gyro,acc,free_acc,quat
+
+    :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(imuData, self).__init__(*args, **kwds)
+      # message fields cannot be None, assign default values for those that are
+      if self.gyro is None:
+        self.gyro = geometry_msgs.msg.Vector3()
+      if self.acc is None:
+        self.acc = geometry_msgs.msg.Vector3()
+      if self.free_acc is None:
+        self.free_acc = geometry_msgs.msg.Vector3()
+      if self.quat is None:
+        self.quat = geometry_msgs.msg.Quaternion()
+    else:
+      self.gyro = geometry_msgs.msg.Vector3()
+      self.acc = geometry_msgs.msg.Vector3()
+      self.free_acc = geometry_msgs.msg.Vector3()
+      self.quat = 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_13d().pack(_x.gyro.x, _x.gyro.y, _x.gyro.z, _x.acc.x, _x.acc.y, _x.acc.z, _x.free_acc.x, _x.free_acc.y, _x.free_acc.z, _x.quat.x, _x.quat.y, _x.quat.z, _x.quat.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.gyro is None:
+        self.gyro = geometry_msgs.msg.Vector3()
+      if self.acc is None:
+        self.acc = geometry_msgs.msg.Vector3()
+      if self.free_acc is None:
+        self.free_acc = geometry_msgs.msg.Vector3()
+      if self.quat is None:
+        self.quat = geometry_msgs.msg.Quaternion()
+      end = 0
+      _x = self
+      start = end
+      end += 104
+      (_x.gyro.x, _x.gyro.y, _x.gyro.z, _x.acc.x, _x.acc.y, _x.acc.z, _x.free_acc.x, _x.free_acc.y, _x.free_acc.z, _x.quat.x, _x.quat.y, _x.quat.z, _x.quat.w,) = _get_struct_13d().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_13d().pack(_x.gyro.x, _x.gyro.y, _x.gyro.z, _x.acc.x, _x.acc.y, _x.acc.z, _x.free_acc.x, _x.free_acc.y, _x.free_acc.z, _x.quat.x, _x.quat.y, _x.quat.z, _x.quat.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.gyro is None:
+        self.gyro = geometry_msgs.msg.Vector3()
+      if self.acc is None:
+        self.acc = geometry_msgs.msg.Vector3()
+      if self.free_acc is None:
+        self.free_acc = geometry_msgs.msg.Vector3()
+      if self.quat is None:
+        self.quat = geometry_msgs.msg.Quaternion()
+      end = 0
+      _x = self
+      start = end
+      end += 104
+      (_x.gyro.x, _x.gyro.y, _x.gyro.z, _x.acc.x, _x.acc.y, _x.acc.z, _x.free_acc.x, _x.free_acc.y, _x.free_acc.z, _x.quat.x, _x.quat.y, _x.quat.z, _x.quat.w,) = _get_struct_13d().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_13d = None
+def _get_struct_13d():
+    global _struct_13d
+    if _struct_13d is None:
+        _struct_13d = struct.Struct("<13d")
+    return _struct_13d

kuavo_humanoid_sdk/msg/kuavo_msgs/msg/_jointBezierTrajectory.py

@@ -0,0 +1,201 @@
+# This Python file uses the following encoding: utf-8
+"""autogenerated by genpy from kuavo_msgs/jointBezierTrajectory.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 jointBezierTrajectory(genpy.Message):
+  _md5sum = "734a11eb72071b59bdbb297c6a53338c"
+  _type = "kuavo_msgs/jointBezierTrajectory"
+  _has_header = False  # flag to mark the presence of a Header object
+  _full_text = """kuavo_msgs/bezierCurveCubicPoint[] bezier_curve_points
+
+================================================================================
+MSG: kuavo_msgs/bezierCurveCubicPoint
+# [x, y] x is time, y is value
+
+float64[] end_point
+float64[] left_control_point
+float64[] right_control_point"""
+  __slots__ = ['bezier_curve_points']
+  _slot_types = ['kuavo_msgs/bezierCurveCubicPoint[]']
+
+  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:
+       bezier_curve_points
+
+    :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(jointBezierTrajectory, self).__init__(*args, **kwds)
+      # message fields cannot be None, assign default values for those that are
+      if self.bezier_curve_points is None:
+        self.bezier_curve_points = []
+    else:
+      self.bezier_curve_points = []
+
+  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.bezier_curve_points)
+      buff.write(_struct_I.pack(length))
+      for val1 in self.bezier_curve_points:
+        length = len(val1.end_point)
+        buff.write(_struct_I.pack(length))
+        pattern = '<%sd'%length
+        buff.write(struct.Struct(pattern).pack(*val1.end_point))
+        length = len(val1.left_control_point)
+        buff.write(_struct_I.pack(length))
+        pattern = '<%sd'%length
+        buff.write(struct.Struct(pattern).pack(*val1.left_control_point))
+        length = len(val1.right_control_point)
+        buff.write(_struct_I.pack(length))
+        pattern = '<%sd'%length
+        buff.write(struct.Struct(pattern).pack(*val1.right_control_point))
+    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.bezier_curve_points is None:
+        self.bezier_curve_points = None
+      end = 0
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      self.bezier_curve_points = []
+      for i in range(0, length):
+        val1 = kuavo_msgs.msg.bezierCurveCubicPoint()
+        start = end
+        end += 4
+        (length,) = _struct_I.unpack(str[start:end])
+        pattern = '<%sd'%length
+        start = end
+        s = struct.Struct(pattern)
+        end += s.size
+        val1.end_point = 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
+        val1.left_control_point = 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
+        val1.right_control_point = s.unpack(str[start:end])
+        self.bezier_curve_points.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.bezier_curve_points)
+      buff.write(_struct_I.pack(length))
+      for val1 in self.bezier_curve_points:
+        length = len(val1.end_point)
+        buff.write(_struct_I.pack(length))
+        pattern = '<%sd'%length
+        buff.write(val1.end_point.tostring())
+        length = len(val1.left_control_point)
+        buff.write(_struct_I.pack(length))
+        pattern = '<%sd'%length
+        buff.write(val1.left_control_point.tostring())
+        length = len(val1.right_control_point)
+        buff.write(_struct_I.pack(length))
+        pattern = '<%sd'%length
+        buff.write(val1.right_control_point.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.bezier_curve_points is None:
+        self.bezier_curve_points = None
+      end = 0
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      self.bezier_curve_points = []
+      for i in range(0, length):
+        val1 = kuavo_msgs.msg.bezierCurveCubicPoint()
+        start = end
+        end += 4
+        (length,) = _struct_I.unpack(str[start:end])
+        pattern = '<%sd'%length
+        start = end
+        s = struct.Struct(pattern)
+        end += s.size
+        val1.end_point = 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
+        val1.left_control_point = 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
+        val1.right_control_point = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
+        self.bezier_curve_points.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