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

kuavo_humanoid_sdk/msg/kuavo_msgs/srv/_handForceLevel.py

@@ -0,0 +1,330 @@
+# This Python file uses the following encoding: utf-8
+"""autogenerated by genpy from kuavo_msgs/handForceLevelRequest.msg. Do not edit."""
+import codecs
+import sys
+python3 = True if sys.hexversion > 0x03000000 else False
+import genpy
+import struct
+
+
+class handForceLevelRequest(genpy.Message):
+  _md5sum = "5311779bc3f9aed0d69c0597dc982fd7"
+  _type = "kuavo_msgs/handForceLevelRequest"
+  _has_header = False  # flag to mark the presence of a Header object
+  _full_text = """# This service sets the force level for the Dexhand.
+# It is used to control the force applied by the Dexhand.
+#
+# Request:
+# int8 SMALL = 0          # Small force level.
+# int8 NORMAL = 1         # Normal force level.
+# int8 FULL = 2           # Full force level.
+# int8 force_level        # The desired force level to set.
+#
+# Response:
+# bool success            # Indicates whether the request was successful.
+# string message          # A message indicating the result of the request.
+
+int8 SMALL = 0
+int8 NORMAL = 1
+int8 FULL = 2
+
+int8 LEFT_HAND=0
+int8 RIGHT_HAND=1
+int8 BOTH_HANDS=2
+
+int8 force_level
+int8 hand_side
+"""
+  # Pseudo-constants
+  SMALL = 0
+  NORMAL = 1
+  FULL = 2
+  LEFT_HAND = 0
+  RIGHT_HAND = 1
+  BOTH_HANDS = 2
+
+  __slots__ = ['force_level','hand_side']
+  _slot_types = ['int8','int8']
+
+  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:
+       force_level,hand_side
+
+    :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(handForceLevelRequest, self).__init__(*args, **kwds)
+      # message fields cannot be None, assign default values for those that are
+      if self.force_level is None:
+        self.force_level = 0
+      if self.hand_side is None:
+        self.hand_side = 0
+    else:
+      self.force_level = 0
+      self.hand_side = 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_2b().pack(_x.force_level, _x.hand_side))
+    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 += 2
+      (_x.force_level, _x.hand_side,) = _get_struct_2b().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_2b().pack(_x.force_level, _x.hand_side))
+    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 += 2
+      (_x.force_level, _x.hand_side,) = _get_struct_2b().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_2b = None
+def _get_struct_2b():
+    global _struct_2b
+    if _struct_2b is None:
+        _struct_2b = struct.Struct("<2b")
+    return _struct_2b
+# This Python file uses the following encoding: utf-8
+"""autogenerated by genpy from kuavo_msgs/handForceLevelResponse.msg. Do not edit."""
+import codecs
+import sys
+python3 = True if sys.hexversion > 0x03000000 else False
+import genpy
+import struct
+
+
+class handForceLevelResponse(genpy.Message):
+  _md5sum = "77e365aa913b429c04069f41b0a0fea7"
+  _type = "kuavo_msgs/handForceLevelResponse"
+  _has_header = False  # flag to mark the presence of a Header object
+  _full_text = """bool success
+string message
+int8[] force_level
+"""
+  __slots__ = ['success','message','force_level']
+  _slot_types = ['bool','string','int8[]']
+
+  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:
+       success,message,force_level
+
+    :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(handForceLevelResponse, self).__init__(*args, **kwds)
+      # message fields cannot be None, assign default values for those that are
+      if self.success is None:
+        self.success = False
+      if self.message is None:
+        self.message = ''
+      if self.force_level is None:
+        self.force_level = []
+    else:
+      self.success = False
+      self.message = ''
+      self.force_level = []
+
+  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.success
+      buff.write(_get_struct_B().pack(_x))
+      _x = self.message
+      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))
+      length = len(self.force_level)
+      buff.write(_struct_I.pack(length))
+      pattern = '<%sb'%length
+      buff.write(struct.Struct(pattern).pack(*self.force_level))
+    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 += 1
+      (self.success,) = _get_struct_B().unpack(str[start:end])
+      self.success = bool(self.success)
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      start = end
+      end += length
+      if python3:
+        self.message = str[start:end].decode('utf-8', 'rosmsg')
+      else:
+        self.message = str[start:end]
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      pattern = '<%sb'%length
+      start = end
+      s = struct.Struct(pattern)
+      end += s.size
+      self.force_level = 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:
+      _x = self.success
+      buff.write(_get_struct_B().pack(_x))
+      _x = self.message
+      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))
+      length = len(self.force_level)
+      buff.write(_struct_I.pack(length))
+      pattern = '<%sb'%length
+      buff.write(self.force_level.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 += 1
+      (self.success,) = _get_struct_B().unpack(str[start:end])
+      self.success = bool(self.success)
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      start = end
+      end += length
+      if python3:
+        self.message = str[start:end].decode('utf-8', 'rosmsg')
+      else:
+        self.message = str[start:end]
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      pattern = '<%sb'%length
+      start = end
+      s = struct.Struct(pattern)
+      end += s.size
+      self.force_level = numpy.frombuffer(str[start:end], dtype=numpy.int8, 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_B = None
+def _get_struct_B():
+    global _struct_B
+    if _struct_B is None:
+        _struct_B = struct.Struct("<B")
+    return _struct_B
+class handForceLevel(object):
+  _type          = 'kuavo_msgs/handForceLevel'
+  _md5sum = '0f6c4fd291557ab445334f0487fbaf78'
+  _request_class  = handForceLevelRequest
+  _response_class = handForceLevelResponse

kuavo_humanoid_sdk/msg/kuavo_msgs/srv/_jointMoveTo.py

@@ -0,0 +1,302 @@
+# This Python file uses the following encoding: utf-8
+"""autogenerated by genpy from kuavo_msgs/jointMoveToRequest.msg. Do not edit."""
+import codecs
+import sys
+python3 = True if sys.hexversion > 0x03000000 else False
+import genpy
+import struct
+
+
+class jointMoveToRequest(genpy.Message):
+  _md5sum = "45bdc9fd597f6d88b4ca552f6e6c0925"
+  _type = "kuavo_msgs/jointMoveToRequest"
+  _has_header = False  # flag to mark the presence of a Header object
+  _full_text = """float64[] goal_position
+float64 speed
+float64 dt
+"""
+  __slots__ = ['goal_position','speed','dt']
+  _slot_types = ['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:
+       goal_position,speed,dt
+
+    :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(jointMoveToRequest, self).__init__(*args, **kwds)
+      # message fields cannot be None, assign default values for those that are
+      if self.goal_position is None:
+        self.goal_position = []
+      if self.speed is None:
+        self.speed = 0.
+      if self.dt is None:
+        self.dt = 0.
+    else:
+      self.goal_position = []
+      self.speed = 0.
+      self.dt = 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:
+      length = len(self.goal_position)
+      buff.write(_struct_I.pack(length))
+      pattern = '<%sd'%length
+      buff.write(struct.Struct(pattern).pack(*self.goal_position))
+      _x = self
+      buff.write(_get_struct_2d().pack(_x.speed, _x.dt))
+    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])
+      pattern = '<%sd'%length
+      start = end
+      s = struct.Struct(pattern)
+      end += s.size
+      self.goal_position = s.unpack(str[start:end])
+      _x = self
+      start = end
+      end += 16
+      (_x.speed, _x.dt,) = _get_struct_2d().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.goal_position)
+      buff.write(_struct_I.pack(length))
+      pattern = '<%sd'%length
+      buff.write(self.goal_position.tostring())
+      _x = self
+      buff.write(_get_struct_2d().pack(_x.speed, _x.dt))
+    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])
+      pattern = '<%sd'%length
+      start = end
+      s = struct.Struct(pattern)
+      end += s.size
+      self.goal_position = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
+      _x = self
+      start = end
+      end += 16
+      (_x.speed, _x.dt,) = _get_struct_2d().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_2d = None
+def _get_struct_2d():
+    global _struct_2d
+    if _struct_2d is None:
+        _struct_2d = struct.Struct("<2d")
+    return _struct_2d
+# This Python file uses the following encoding: utf-8
+"""autogenerated by genpy from kuavo_msgs/jointMoveToResponse.msg. Do not edit."""
+import codecs
+import sys
+python3 = True if sys.hexversion > 0x03000000 else False
+import genpy
+import struct
+
+
+class jointMoveToResponse(genpy.Message):
+  _md5sum = "937c9679a518e3a18d831e57125ea522"
+  _type = "kuavo_msgs/jointMoveToResponse"
+  _has_header = False  # flag to mark the presence of a Header object
+  _full_text = """bool success
+string message
+
+"""
+  __slots__ = ['success','message']
+  _slot_types = ['bool','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:
+       success,message
+
+    :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(jointMoveToResponse, self).__init__(*args, **kwds)
+      # message fields cannot be None, assign default values for those that are
+      if self.success is None:
+        self.success = False
+      if self.message is None:
+        self.message = ''
+    else:
+      self.success = False
+      self.message = ''
+
+  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.success
+      buff.write(_get_struct_B().pack(_x))
+      _x = self.message
+      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 += 1
+      (self.success,) = _get_struct_B().unpack(str[start:end])
+      self.success = bool(self.success)
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      start = end
+      end += length
+      if python3:
+        self.message = str[start:end].decode('utf-8', 'rosmsg')
+      else:
+        self.message = 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.success
+      buff.write(_get_struct_B().pack(_x))
+      _x = self.message
+      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 += 1
+      (self.success,) = _get_struct_B().unpack(str[start:end])
+      self.success = bool(self.success)
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      start = end
+      end += length
+      if python3:
+        self.message = str[start:end].decode('utf-8', 'rosmsg')
+      else:
+        self.message = 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_B = None
+def _get_struct_B():
+    global _struct_B
+    if _struct_B is None:
+        _struct_B = struct.Struct("<B")
+    return _struct_B
+class jointMoveTo(object):
+  _type          = 'kuavo_msgs/jointMoveTo'
+  _md5sum = '61bc968af7a59106f6f5092f42d53578'
+  _request_class  = jointMoveToRequest
+  _response_class = jointMoveToResponse