kuavo-humanoid-sdk 1.2.1b3290__20250912184757-py3-none-any.whl

kuavo_humanoid_sdk/msg/kuavo_msgs/msg/_TaskPoint.py

@@ -0,0 +1,175 @@
+# This Python file uses the following encoding: utf-8
+"""autogenerated by genpy from kuavo_msgs/TaskPoint.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 TaskPoint(genpy.Message):
+  _md5sum = "f716db42957c7b57682e1bb8a22eae4a"
+  _type = "kuavo_msgs/TaskPoint"
+  _has_header = False  # flag to mark the presence of a Header object
+  _full_text = """geometry_msgs/Pose pose
+string name 
+================================================================================
+MSG: geometry_msgs/Pose
+# A representation of pose in free space, composed of position and orientation. 
+Point position
+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__ = ['pose','name']
+  _slot_types = ['geometry_msgs/Pose','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:
+       pose,name
+
+    :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(TaskPoint, self).__init__(*args, **kwds)
+      # message fields cannot be None, assign default values for those that are
+      if self.pose is None:
+        self.pose = geometry_msgs.msg.Pose()
+      if self.name is None:
+        self.name = ''
+    else:
+      self.pose = geometry_msgs.msg.Pose()
+      self.name = ''
+
+  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.pose.position.x, _x.pose.position.y, _x.pose.position.z, _x.pose.orientation.x, _x.pose.orientation.y, _x.pose.orientation.z, _x.pose.orientation.w))
+      _x = self.name
+      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:
+      if self.pose is None:
+        self.pose = geometry_msgs.msg.Pose()
+      end = 0
+      _x = self
+      start = end
+      end += 56
+      (_x.pose.position.x, _x.pose.position.y, _x.pose.position.z, _x.pose.orientation.x, _x.pose.orientation.y, _x.pose.orientation.z, _x.pose.orientation.w,) = _get_struct_7d().unpack(str[start:end])
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      start = end
+      end += length
+      if python3:
+        self.name = str[start:end].decode('utf-8', 'rosmsg')
+      else:
+        self.name = 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.pose.position.x, _x.pose.position.y, _x.pose.position.z, _x.pose.orientation.x, _x.pose.orientation.y, _x.pose.orientation.z, _x.pose.orientation.w))
+      _x = self.name
+      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:
+      if self.pose is None:
+        self.pose = geometry_msgs.msg.Pose()
+      end = 0
+      _x = self
+      start = end
+      end += 56
+      (_x.pose.position.x, _x.pose.position.y, _x.pose.position.z, _x.pose.orientation.x, _x.pose.orientation.y, _x.pose.orientation.z, _x.pose.orientation.w,) = _get_struct_7d().unpack(str[start:end])
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      start = end
+      end += length
+      if python3:
+        self.name = str[start:end].decode('utf-8', 'rosmsg')
+      else:
+        self.name = 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/__init__.py

@@ -0,0 +1,62 @@
+from ._AprilTagDetection import *
+from ._AprilTagDetectionArray import *
+from ._AudioReceiverData import *
+from ._FTsensorData import *
+from ._JoySticks import *
+from ._Metadata import *
+from ._MmDetectionMsg import *
+from ._RobotActionState import *
+from ._TFArray import *
+from ._TaskPoint import *
+from ._armCollisionCheckInfo import *
+from ._armHandPose import *
+from ._armHandPoseFree import *
+from ._armPoseWithTimeStamp import *
+from ._armTargetPoses import *
+from ._bezierCurveCubicPoint import *
+from ._dexhandCommand import *
+from ._dexhandTouchState import *
+from ._endEffectorData import *
+from ._footPose import *
+from ._footPose6D import *
+from ._footPose6DTargetTrajectories import *
+from ._footPoseTargetTrajectories import *
+from ._footPoseWithVision import *
+from ._footPoseWithVisionArray import *
+from ._footPoses import *
+from ._footPoses6D import *
+from ._fullBodyTargetTrajectories import *
+from ._gaitTimeName import *
+from ._gestureInfo import *
+from ._gestureTask import *
+from ._handPose import *
+from ._headBodyPose import *
+from ._ikSolveError import *
+from ._ikSolveParam import *
+from ._imuData import *
+from ._jointBezierTrajectory import *
+from ._jointCmd import *
+from ._jointData import *
+from ._kuavoModeSchedule import *
+from ._lejuClawCommand import *
+from ._lejuClawState import *
+from ._motorParam import *
+from ._picoPoseInfo import *
+from ._picoPoseInfoList import *
+from ._planArmState import *
+from ._qv import *
+from ._robotArmQVVD import *
+from ._robotBodyMatrices import *
+from ._robotHandPosition import *
+from ._robotHeadMotionData import *
+from ._robotState import *
+from ._sensorsData import *
+from ._switchGaitByName import *
+from ._tagDataArray import *
+from ._touchSensorStatus import *
+from ._twoArmHandPose import *
+from ._twoArmHandPoseCmd import *
+from ._twoArmHandPoseCmdFree import *
+from ._twoArmHandPoseFree import *
+from ._yoloDetection import *
+from ._yoloOutputData import *

kuavo_humanoid_sdk/msg/kuavo_msgs/msg/_armCollisionCheckInfo.py

@@ -0,0 +1,160 @@
+# This Python file uses the following encoding: utf-8
+"""autogenerated by genpy from kuavo_msgs/armCollisionCheckInfo.msg. Do not edit."""
+import codecs
+import sys
+python3 = True if sys.hexversion > 0x03000000 else False
+import genpy
+import struct
+
+
+class armCollisionCheckInfo(genpy.Message):
+  _md5sum = "3e16b9e5b24ce4c5edc785f54e5f8d73"
+  _type = "kuavo_msgs/armCollisionCheckInfo"
+  _has_header = False  # flag to mark the presence of a Header object
+  _full_text = """string link1_name
+string link2_name"""
+  __slots__ = ['link1_name','link2_name']
+  _slot_types = ['string','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:
+       link1_name,link2_name
+
+    :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(armCollisionCheckInfo, self).__init__(*args, **kwds)
+      # message fields cannot be None, assign default values for those that are
+      if self.link1_name is None:
+        self.link1_name = ''
+      if self.link2_name is None:
+        self.link2_name = ''
+    else:
+      self.link1_name = ''
+      self.link2_name = ''
+
+  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.link1_name
+      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))
+      _x = self.link2_name
+      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 += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      start = end
+      end += length
+      if python3:
+        self.link1_name = str[start:end].decode('utf-8', 'rosmsg')
+      else:
+        self.link1_name = str[start:end]
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      start = end
+      end += length
+      if python3:
+        self.link2_name = str[start:end].decode('utf-8', 'rosmsg')
+      else:
+        self.link2_name = 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.link1_name
+      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))
+      _x = self.link2_name
+      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 += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      start = end
+      end += length
+      if python3:
+        self.link1_name = str[start:end].decode('utf-8', 'rosmsg')
+      else:
+        self.link1_name = str[start:end]
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      start = end
+      end += length
+      if python3:
+        self.link2_name = str[start:end].decode('utf-8', 'rosmsg')
+      else:
+        self.link2_name = 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

kuavo_humanoid_sdk/msg/kuavo_msgs/msg/_armHandPose.py

@@ -0,0 +1,161 @@
+# This Python file uses the following encoding: utf-8
+"""autogenerated by genpy from kuavo_msgs/armHandPose.msg. Do not edit."""
+import codecs
+import sys
+python3 = True if sys.hexversion > 0x03000000 else False
+import genpy
+import struct
+
+
+class armHandPose(genpy.Message):
+  _md5sum = "4f28a253cb60d59c6491569369f38f4d"
+  _type = "kuavo_msgs/armHandPose"
+  _has_header = False  # flag to mark the presence of a Header object
+  _full_text = """float64[3] pos_xyz
+float64[4] quat_xyzw
+
+float64[3] elbow_pos_xyz
+
+float64[7] joint_angles
+"""
+  __slots__ = ['pos_xyz','quat_xyzw','elbow_pos_xyz','joint_angles']
+  _slot_types = ['float64[3]','float64[4]','float64[3]','float64[7]']
+
+  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:
+       pos_xyz,quat_xyzw,elbow_pos_xyz,joint_angles
+
+    :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(armHandPose, self).__init__(*args, **kwds)
+      # message fields cannot be None, assign default values for those that are
+      if self.pos_xyz is None:
+        self.pos_xyz = [0.] * 3
+      if self.quat_xyzw is None:
+        self.quat_xyzw = [0.] * 4
+      if self.elbow_pos_xyz is None:
+        self.elbow_pos_xyz = [0.] * 3
+      if self.joint_angles is None:
+        self.joint_angles = [0.] * 7
+    else:
+      self.pos_xyz = [0.] * 3
+      self.quat_xyzw = [0.] * 4
+      self.elbow_pos_xyz = [0.] * 3
+      self.joint_angles = [0.] * 7
+
+  def _get_types(self):
+    """
+    internal API method
+    """
+    return self._slot_types
+
+  def serialize(self, buff):
+    """
+    serialize message into buffer
+    :param buff: buffer, ``StringIO``
+    """
+    try:
+      buff.write(_get_struct_3d().pack(*self.pos_xyz))
+      buff.write(_get_struct_4d().pack(*self.quat_xyzw))
+      buff.write(_get_struct_3d().pack(*self.elbow_pos_xyz))
+      buff.write(_get_struct_7d().pack(*self.joint_angles))
+    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 += 24
+      self.pos_xyz = _get_struct_3d().unpack(str[start:end])
+      start = end
+      end += 32
+      self.quat_xyzw = _get_struct_4d().unpack(str[start:end])
+      start = end
+      end += 24
+      self.elbow_pos_xyz = _get_struct_3d().unpack(str[start:end])
+      start = end
+      end += 56
+      self.joint_angles = _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:
+      buff.write(self.pos_xyz.tostring())
+      buff.write(self.quat_xyzw.tostring())
+      buff.write(self.elbow_pos_xyz.tostring())
+      buff.write(self.joint_angles.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 += 24
+      self.pos_xyz = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=3)
+      start = end
+      end += 32
+      self.quat_xyzw = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=4)
+      start = end
+      end += 24
+      self.elbow_pos_xyz = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=3)
+      start = end
+      end += 56
+      self.joint_angles = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=7)
+      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_7d = None
+def _get_struct_7d():
+    global _struct_7d
+    if _struct_7d is None:
+        _struct_7d = struct.Struct("<7d")
+    return _struct_7d