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

kuavo_humanoid_sdk/msg/ocs2_msgs/msg/_mpc_state.py

@@ -0,0 +1,122 @@
+# This Python file uses the following encoding: utf-8
+"""autogenerated by genpy from ocs2_msgs/mpc_state.msg. Do not edit."""
+import codecs
+import sys
+python3 = True if sys.hexversion > 0x03000000 else False
+import genpy
+import struct
+
+
+class mpc_state(genpy.Message):
+  _md5sum = "1becc0cb8362a822e3753aa6cf42cf70"
+  _type = "ocs2_msgs/mpc_state"
+  _has_header = False  # flag to mark the presence of a Header object
+  _full_text = """# MPC internal model state vector
+float32[] value
+"""
+  __slots__ = ['value']
+  _slot_types = ['float32[]']
+
+  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:
+       value
+
+    :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(mpc_state, self).__init__(*args, **kwds)
+      # message fields cannot be None, assign default values for those that are
+      if self.value is None:
+        self.value = []
+    else:
+      self.value = []
+
+  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.value)
+      buff.write(_struct_I.pack(length))
+      pattern = '<%sf'%length
+      buff.write(struct.Struct(pattern).pack(*self.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:
+      end = 0
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      pattern = '<%sf'%length
+      start = end
+      s = struct.Struct(pattern)
+      end += s.size
+      self.value = 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:
+      length = len(self.value)
+      buff.write(_struct_I.pack(length))
+      pattern = '<%sf'%length
+      buff.write(self.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:
+      end = 0
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      pattern = '<%sf'%length
+      start = end
+      s = struct.Struct(pattern)
+      end += s.size
+      self.value = numpy.frombuffer(str[start:end], dtype=numpy.float32, 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

kuavo_humanoid_sdk/msg/ocs2_msgs/msg/_mpc_target_trajectories.py

@@ -0,0 +1,239 @@
+# This Python file uses the following encoding: utf-8
+"""autogenerated by genpy from ocs2_msgs/mpc_target_trajectories.msg. Do not edit."""
+import codecs
+import sys
+python3 = True if sys.hexversion > 0x03000000 else False
+import genpy
+import struct
+
+import ocs2_msgs.msg
+
+class mpc_target_trajectories(genpy.Message):
+  _md5sum = "2d8da69ddfcd018a998edad053f8c7b6"
+  _type = "ocs2_msgs/mpc_target_trajectories"
+  _has_header = False  # flag to mark the presence of a Header object
+  _full_text = """# MPC target trajectories
+
+float64[]    timeTrajectory        # MPC target time trajectory
+mpc_state[]  stateTrajectory       # MPC target state trajectory
+mpc_input[]  inputTrajectory       # MPC target input trajectory
+
+
+================================================================================
+MSG: ocs2_msgs/mpc_state
+# MPC internal model state vector
+float32[] value
+
+================================================================================
+MSG: ocs2_msgs/mpc_input
+# MPC internal model input vector 
+
+float32[] value"""
+  __slots__ = ['timeTrajectory','stateTrajectory','inputTrajectory']
+  _slot_types = ['float64[]','ocs2_msgs/mpc_state[]','ocs2_msgs/mpc_input[]']
+
+  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,stateTrajectory,inputTrajectory
+
+    :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(mpc_target_trajectories, 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.stateTrajectory is None:
+        self.stateTrajectory = []
+      if self.inputTrajectory is None:
+        self.inputTrajectory = []
+    else:
+      self.timeTrajectory = []
+      self.stateTrajectory = []
+      self.inputTrajectory = []
+
+  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.stateTrajectory)
+      buff.write(_struct_I.pack(length))
+      for val1 in self.stateTrajectory:
+        length = len(val1.value)
+        buff.write(_struct_I.pack(length))
+        pattern = '<%sf'%length
+        buff.write(struct.Struct(pattern).pack(*val1.value))
+      length = len(self.inputTrajectory)
+      buff.write(_struct_I.pack(length))
+      for val1 in self.inputTrajectory:
+        length = len(val1.value)
+        buff.write(_struct_I.pack(length))
+        pattern = '<%sf'%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.stateTrajectory is None:
+        self.stateTrajectory = None
+      if self.inputTrajectory is None:
+        self.inputTrajectory = 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])
+      self.stateTrajectory = []
+      for i in range(0, length):
+        val1 = ocs2_msgs.msg.mpc_state()
+        start = end
+        end += 4
+        (length,) = _struct_I.unpack(str[start:end])
+        pattern = '<%sf'%length
+        start = end
+        s = struct.Struct(pattern)
+        end += s.size
+        val1.value = s.unpack(str[start:end])
+        self.stateTrajectory.append(val1)
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      self.inputTrajectory = []
+      for i in range(0, length):
+        val1 = ocs2_msgs.msg.mpc_input()
+        start = end
+        end += 4
+        (length,) = _struct_I.unpack(str[start:end])
+        pattern = '<%sf'%length
+        start = end
+        s = struct.Struct(pattern)
+        end += s.size
+        val1.value = s.unpack(str[start:end])
+        self.inputTrajectory.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.stateTrajectory)
+      buff.write(_struct_I.pack(length))
+      for val1 in self.stateTrajectory:
+        length = len(val1.value)
+        buff.write(_struct_I.pack(length))
+        pattern = '<%sf'%length
+        buff.write(val1.value.tostring())
+      length = len(self.inputTrajectory)
+      buff.write(_struct_I.pack(length))
+      for val1 in self.inputTrajectory:
+        length = len(val1.value)
+        buff.write(_struct_I.pack(length))
+        pattern = '<%sf'%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.stateTrajectory is None:
+        self.stateTrajectory = None
+      if self.inputTrajectory is None:
+        self.inputTrajectory = 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])
+      self.stateTrajectory = []
+      for i in range(0, length):
+        val1 = ocs2_msgs.msg.mpc_state()
+        start = end
+        end += 4
+        (length,) = _struct_I.unpack(str[start:end])
+        pattern = '<%sf'%length
+        start = end
+        s = struct.Struct(pattern)
+        end += s.size
+        val1.value = numpy.frombuffer(str[start:end], dtype=numpy.float32, count=length)
+        self.stateTrajectory.append(val1)
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      self.inputTrajectory = []
+      for i in range(0, length):
+        val1 = ocs2_msgs.msg.mpc_input()
+        start = end
+        end += 4
+        (length,) = _struct_I.unpack(str[start:end])
+        pattern = '<%sf'%length
+        start = end
+        s = struct.Struct(pattern)
+        end += s.size
+        val1.value = numpy.frombuffer(str[start:end], dtype=numpy.float32, count=length)
+        self.inputTrajectory.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/ocs2_msgs/msg/_multiplier.py

@@ -0,0 +1,148 @@
+# This Python file uses the following encoding: utf-8
+"""autogenerated by genpy from ocs2_msgs/multiplier.msg. Do not edit."""
+import codecs
+import sys
+python3 = True if sys.hexversion > 0x03000000 else False
+import genpy
+import struct
+
+
+class multiplier(genpy.Message):
+  _md5sum = "8284394e15f2038e54705abd91aee001"
+  _type = "ocs2_msgs/multiplier"
+  _has_header = False  # flag to mark the presence of a Header object
+  _full_text = """# MPC multiplier
+
+float32   time
+float32   penalty
+float32[] lagrangian"""
+  __slots__ = ['time','penalty','lagrangian']
+  _slot_types = ['float32','float32','float32[]']
+
+  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:
+       time,penalty,lagrangian
+
+    :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(multiplier, self).__init__(*args, **kwds)
+      # message fields cannot be None, assign default values for those that are
+      if self.time is None:
+        self.time = 0.
+      if self.penalty is None:
+        self.penalty = 0.
+      if self.lagrangian is None:
+        self.lagrangian = []
+    else:
+      self.time = 0.
+      self.penalty = 0.
+      self.lagrangian = []
+
+  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_2f().pack(_x.time, _x.penalty))
+      length = len(self.lagrangian)
+      buff.write(_struct_I.pack(length))
+      pattern = '<%sf'%length
+      buff.write(struct.Struct(pattern).pack(*self.lagrangian))
+    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 += 8
+      (_x.time, _x.penalty,) = _get_struct_2f().unpack(str[start:end])
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      pattern = '<%sf'%length
+      start = end
+      s = struct.Struct(pattern)
+      end += s.size
+      self.lagrangian = 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
+      buff.write(_get_struct_2f().pack(_x.time, _x.penalty))
+      length = len(self.lagrangian)
+      buff.write(_struct_I.pack(length))
+      pattern = '<%sf'%length
+      buff.write(self.lagrangian.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
+      _x = self
+      start = end
+      end += 8
+      (_x.time, _x.penalty,) = _get_struct_2f().unpack(str[start:end])
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      pattern = '<%sf'%length
+      start = end
+      s = struct.Struct(pattern)
+      end += s.size
+      self.lagrangian = numpy.frombuffer(str[start:end], dtype=numpy.float32, 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_2f = None
+def _get_struct_2f():
+    global _struct_2f
+    if _struct_2f is None:
+        _struct_2f = struct.Struct("<2f")
+    return _struct_2f

kuavo_humanoid_sdk/msg/ocs2_msgs/srv/__init__.py

@@ -0,0 +1 @@
+from ._reset import *