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

kuavo_humanoid_sdk/msg/kuavo_msgs/srv/_changeTorsoCtrlMode.py

@@ -0,0 +1,274 @@
+# This Python file uses the following encoding: utf-8
+"""autogenerated by genpy from kuavo_msgs/changeTorsoCtrlModeRequest.msg. Do not edit."""
+import codecs
+import sys
+python3 = True if sys.hexversion > 0x03000000 else False
+import genpy
+import struct
+
+
+class changeTorsoCtrlModeRequest(genpy.Message):
+  _md5sum = "1f5907fdb226711da233100c712cc0eb"
+  _type = "kuavo_msgs/changeTorsoCtrlModeRequest"
+  _has_header = False  # flag to mark the presence of a Header object
+  _full_text = """int32 control_mode # 0: control 6dof, 1: control height+yaw+pitch, 2: control control height+pitch 
+"""
+  __slots__ = ['control_mode']
+  _slot_types = ['int32']
+
+  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:
+       control_mode
+
+    :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(changeTorsoCtrlModeRequest, self).__init__(*args, **kwds)
+      # message fields cannot be None, assign default values for those that are
+      if self.control_mode is None:
+        self.control_mode = 0
+    else:
+      self.control_mode = 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.control_mode
+      buff.write(_get_struct_i().pack(_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
+      (self.control_mode,) = _get_struct_i().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.control_mode
+      buff.write(_get_struct_i().pack(_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
+      (self.control_mode,) = _get_struct_i().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_i = None
+def _get_struct_i():
+    global _struct_i
+    if _struct_i is None:
+        _struct_i = struct.Struct("<i")
+    return _struct_i
+# This Python file uses the following encoding: utf-8
+"""autogenerated by genpy from kuavo_msgs/changeTorsoCtrlModeResponse.msg. Do not edit."""
+import codecs
+import sys
+python3 = True if sys.hexversion > 0x03000000 else False
+import genpy
+import struct
+
+
+class changeTorsoCtrlModeResponse(genpy.Message):
+  _md5sum = "2f115bf9b7d68ace12ac850b142c1536"
+  _type = "kuavo_msgs/changeTorsoCtrlModeResponse"
+  _has_header = False  # flag to mark the presence of a Header object
+  _full_text = """bool result
+int32 mode
+string message
+
+"""
+  __slots__ = ['result','mode','message']
+  _slot_types = ['bool','int32','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:
+       result,mode,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(changeTorsoCtrlModeResponse, self).__init__(*args, **kwds)
+      # message fields cannot be None, assign default values for those that are
+      if self.result is None:
+        self.result = False
+      if self.mode is None:
+        self.mode = 0
+      if self.message is None:
+        self.message = ''
+    else:
+      self.result = False
+      self.mode = 0
+      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
+      buff.write(_get_struct_Bi().pack(_x.result, _x.mode))
+      _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
+      _x = self
+      start = end
+      end += 5
+      (_x.result, _x.mode,) = _get_struct_Bi().unpack(str[start:end])
+      self.result = bool(self.result)
+      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
+      buff.write(_get_struct_Bi().pack(_x.result, _x.mode))
+      _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
+      _x = self
+      start = end
+      end += 5
+      (_x.result, _x.mode,) = _get_struct_Bi().unpack(str[start:end])
+      self.result = bool(self.result)
+      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_Bi = None
+def _get_struct_Bi():
+    global _struct_Bi
+    if _struct_Bi is None:
+        _struct_Bi = struct.Struct("<Bi")
+    return _struct_Bi
+class changeTorsoCtrlMode(object):
+  _type          = 'kuavo_msgs/changeTorsoCtrlMode'
+  _md5sum = '8a8d154c05ee16e8f5d2b72d9bb51026'
+  _request_class  = changeTorsoCtrlModeRequest
+  _response_class = changeTorsoCtrlModeResponse

kuavo_humanoid_sdk/msg/kuavo_msgs/srv/_controlLejuClaw.py

@@ -0,0 +1,408 @@
+# This Python file uses the following encoding: utf-8
+"""autogenerated by genpy from kuavo_msgs/controlLejuClawRequest.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 controlLejuClawRequest(genpy.Message):
+  _md5sum = "4255ea8183b49bda4b8fed5d1dd8d5b9"
+  _type = "kuavo_msgs/controlLejuClawRequest"
+  _has_header = False  # flag to mark the presence of a Header object
+  _full_text = """
+# kuavo_msgs/endEffectorData:
+# string[] name  
+# float64[] position
+# float64[] velocity  
+# float64[] effort
+# 
+# ** For the Service Notes **
+# 
+# name     : 'left_claw' , 'right_claw'
+# position : 0 ~ 100, the percentage of the claw's opening angle
+#            0: closed, 100: open   
+# velocity : 0 ~ 100, if size is 0, will use default `50.0`.
+# effort   : torque/current, better 1A ~ 2A, if size is 0, will use default `1.0`.
+# 
+# ** Example **
+# Request:
+# data:
+#   - name: ['left_claw', 'right_claw']
+#     position: [20.0, 20.0]
+#     velocity: [50.0, 50.0]
+#     effort: [1.0, 1.0]
+#
+# Response:
+# success: True/False, call service success or not.
+# message: 'success'
+kuavo_msgs/endEffectorData data
+
+================================================================================
+MSG: kuavo_msgs/endEffectorData
+string[] name  
+float64[] position
+float64[] velocity  
+float64[] effort
+"""
+  __slots__ = ['data']
+  _slot_types = ['kuavo_msgs/endEffectorData']
+
+  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(controlLejuClawRequest, self).__init__(*args, **kwds)
+      # message fields cannot be None, assign default values for those that are
+      if self.data is None:
+        self.data = kuavo_msgs.msg.endEffectorData()
+    else:
+      self.data = kuavo_msgs.msg.endEffectorData()
+
+  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.name)
+      buff.write(_struct_I.pack(length))
+      for val1 in self.data.name:
+        length = len(val1)
+        if python3 or type(val1) == unicode:
+          val1 = val1.encode('utf-8')
+          length = len(val1)
+        buff.write(struct.Struct('<I%ss'%length).pack(length, val1))
+      length = len(self.data.position)
+      buff.write(_struct_I.pack(length))
+      pattern = '<%sd'%length
+      buff.write(struct.Struct(pattern).pack(*self.data.position))
+      length = len(self.data.velocity)
+      buff.write(_struct_I.pack(length))
+      pattern = '<%sd'%length
+      buff.write(struct.Struct(pattern).pack(*self.data.velocity))
+      length = len(self.data.effort)
+      buff.write(_struct_I.pack(length))
+      pattern = '<%sd'%length
+      buff.write(struct.Struct(pattern).pack(*self.data.effort))
+    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.data is None:
+        self.data = kuavo_msgs.msg.endEffectorData()
+      end = 0
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      self.data.name = []
+      for i in range(0, length):
+        start = end
+        end += 4
+        (length,) = _struct_I.unpack(str[start:end])
+        start = end
+        end += length
+        if python3:
+          val1 = str[start:end].decode('utf-8', 'rosmsg')
+        else:
+          val1 = str[start:end]
+        self.data.name.append(val1)
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      pattern = '<%sd'%length
+      start = end
+      s = struct.Struct(pattern)
+      end += s.size
+      self.data.position = 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
+      self.data.velocity = 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
+      self.data.effort = 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.name)
+      buff.write(_struct_I.pack(length))
+      for val1 in self.data.name:
+        length = len(val1)
+        if python3 or type(val1) == unicode:
+          val1 = val1.encode('utf-8')
+          length = len(val1)
+        buff.write(struct.Struct('<I%ss'%length).pack(length, val1))
+      length = len(self.data.position)
+      buff.write(_struct_I.pack(length))
+      pattern = '<%sd'%length
+      buff.write(self.data.position.tostring())
+      length = len(self.data.velocity)
+      buff.write(_struct_I.pack(length))
+      pattern = '<%sd'%length
+      buff.write(self.data.velocity.tostring())
+      length = len(self.data.effort)
+      buff.write(_struct_I.pack(length))
+      pattern = '<%sd'%length
+      buff.write(self.data.effort.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.data is None:
+        self.data = kuavo_msgs.msg.endEffectorData()
+      end = 0
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      self.data.name = []
+      for i in range(0, length):
+        start = end
+        end += 4
+        (length,) = _struct_I.unpack(str[start:end])
+        start = end
+        end += length
+        if python3:
+          val1 = str[start:end].decode('utf-8', 'rosmsg')
+        else:
+          val1 = str[start:end]
+        self.data.name.append(val1)
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      pattern = '<%sd'%length
+      start = end
+      s = struct.Struct(pattern)
+      end += s.size
+      self.data.position = 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
+      self.data.velocity = 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
+      self.data.effort = numpy.frombuffer(str[start:end], dtype=numpy.float64, 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
+# This Python file uses the following encoding: utf-8
+"""autogenerated by genpy from kuavo_msgs/controlLejuClawResponse.msg. Do not edit."""
+import codecs
+import sys
+python3 = True if sys.hexversion > 0x03000000 else False
+import genpy
+import struct
+
+
+class controlLejuClawResponse(genpy.Message):
+  _md5sum = "937c9679a518e3a18d831e57125ea522"
+  _type = "kuavo_msgs/controlLejuClawResponse"
+  _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(controlLejuClawResponse, 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 controlLejuClaw(object):
+  _type          = 'kuavo_msgs/controlLejuClaw'
+  _md5sum = '674277f611b34c602b5afcc4b45849d1'
+  _request_class  = controlLejuClawRequest
+  _response_class = controlLejuClawResponse