kuavo-humanoid-sdk 1.2.1b3284__20250912191154-py3-none-any.whl

kuavo_humanoid_sdk/msg/ocs2_msgs/msg/_constraint.py

@@ -0,0 +1,142 @@
+# This Python file uses the following encoding: utf-8
+"""autogenerated by genpy from ocs2_msgs/constraint.msg. Do not edit."""
+import codecs
+import sys
+python3 = True if sys.hexversion > 0x03000000 else False
+import genpy
+import struct
+
+
+class constraint(genpy.Message):
+  _md5sum = "dbeb4e9009e109d77fd87752ca8b68c4"
+  _type = "ocs2_msgs/constraint"
+  _has_header = False  # flag to mark the presence of a Header object
+  _full_text = """# MPC constraint
+
+float32   time
+float32[] value"""
+  __slots__ = ['time','value']
+  _slot_types = ['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,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(constraint, 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.value is None:
+        self.value = []
+    else:
+      self.time = 0.
+      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:
+      _x = self.time
+      buff.write(_get_struct_f().pack(_x))
+      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
+      (self.time,) = _get_struct_f().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.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:
+      _x = self.time
+      buff.write(_get_struct_f().pack(_x))
+      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
+      (self.time,) = _get_struct_f().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.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
+_struct_f = None
+def _get_struct_f():
+    global _struct_f
+    if _struct_f is None:
+        _struct_f = struct.Struct("<f")
+    return _struct_f

kuavo_humanoid_sdk/msg/ocs2_msgs/msg/_controller_data.py

@@ -0,0 +1,121 @@
+# This Python file uses the following encoding: utf-8
+"""autogenerated by genpy from ocs2_msgs/controller_data.msg. Do not edit."""
+import codecs
+import sys
+python3 = True if sys.hexversion > 0x03000000 else False
+import genpy
+import struct
+
+
+class controller_data(genpy.Message):
+  _md5sum = "420cd38b6b071cd49f2970c3e2cee511"
+  _type = "ocs2_msgs/controller_data"
+  _has_header = False  # flag to mark the presence of a Header object
+  _full_text = """float32[] data
+"""
+  __slots__ = ['data']
+  _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:
+       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(controller_data, 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))
+      pattern = '<%sf'%length
+      buff.write(struct.Struct(pattern).pack(*self.data))
+    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.data = 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.data)
+      buff.write(_struct_I.pack(length))
+      pattern = '<%sf'%length
+      buff.write(self.data.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.data = 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/_lagrangian_metrics.py

@@ -0,0 +1,148 @@
+# This Python file uses the following encoding: utf-8
+"""autogenerated by genpy from ocs2_msgs/lagrangian_metrics.msg. Do not edit."""
+import codecs
+import sys
+python3 = True if sys.hexversion > 0x03000000 else False
+import genpy
+import struct
+
+
+class lagrangian_metrics(genpy.Message):
+  _md5sum = "1734f3665afb7d38e9db59de18711863"
+  _type = "ocs2_msgs/lagrangian_metrics"
+  _has_header = False  # flag to mark the presence of a Header object
+  _full_text = """# MPC Lagrangian metrics
+
+float32   time
+float32   penalty
+float32[] constraint"""
+  __slots__ = ['time','penalty','constraint']
+  _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,constraint
+
+    :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(lagrangian_metrics, 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.constraint is None:
+        self.constraint = []
+    else:
+      self.time = 0.
+      self.penalty = 0.
+      self.constraint = []
+
+  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.constraint)
+      buff.write(_struct_I.pack(length))
+      pattern = '<%sf'%length
+      buff.write(struct.Struct(pattern).pack(*self.constraint))
+    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.constraint = 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.constraint)
+      buff.write(_struct_I.pack(length))
+      pattern = '<%sf'%length
+      buff.write(self.constraint.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.constraint = 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/msg/_mode_schedule.py

@@ -0,0 +1,150 @@
+# This Python file uses the following encoding: utf-8
+"""autogenerated by genpy from ocs2_msgs/mode_schedule.msg. Do not edit."""
+import codecs
+import sys
+python3 = True if sys.hexversion > 0x03000000 else False
+import genpy
+import struct
+
+
+class mode_schedule(genpy.Message):
+  _md5sum = "9aa75d28b36c292b797e36e87614038a"
+  _type = "ocs2_msgs/mode_schedule"
+  _has_header = False  # flag to mark the presence of a Header object
+  _full_text = """# MPC mode sequence
+
+float64[] eventTimes           # event times: its size is equal to the size of phaseSequence minus one
+int8[]    modeSequence         # mode sequence: e.g., for a quadrupedal robot, it is in the set {0, 1,..., 15}"""
+  __slots__ = ['eventTimes','modeSequence']
+  _slot_types = ['float64[]','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:
+       eventTimes,modeSequence
+
+    :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(mode_schedule, self).__init__(*args, **kwds)
+      # message fields cannot be None, assign default values for those that are
+      if self.eventTimes is None:
+        self.eventTimes = []
+      if self.modeSequence is None:
+        self.modeSequence = []
+    else:
+      self.eventTimes = []
+      self.modeSequence = []
+
+  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.eventTimes)
+      buff.write(_struct_I.pack(length))
+      pattern = '<%sd'%length
+      buff.write(struct.Struct(pattern).pack(*self.eventTimes))
+      length = len(self.modeSequence)
+      buff.write(_struct_I.pack(length))
+      pattern = '<%sb'%length
+      buff.write(struct.Struct(pattern).pack(*self.modeSequence))
+    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.eventTimes = s.unpack(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.modeSequence = 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.eventTimes)
+      buff.write(_struct_I.pack(length))
+      pattern = '<%sd'%length
+      buff.write(self.eventTimes.tostring())
+      length = len(self.modeSequence)
+      buff.write(_struct_I.pack(length))
+      pattern = '<%sb'%length
+      buff.write(self.modeSequence.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 = '<%sd'%length
+      start = end
+      s = struct.Struct(pattern)
+      end += s.size
+      self.eventTimes = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      pattern = '<%sb'%length
+      start = end
+      s = struct.Struct(pattern)
+      end += s.size
+      self.modeSequence = 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