kuavo-humanoid-sdk 1.2.1b3302__20250916170841-py3-none-any.whl

kuavo_humanoid_sdk/msg/kuavo_msgs/msg/_MmDetectionMsg.py

@@ -0,0 +1,264 @@
+# This Python file uses the following encoding: utf-8
+"""autogenerated by genpy from kuavo_msgs/MmDetectionMsg.msg. Do not edit."""
+import codecs
+import sys
+python3 = True if sys.hexversion > 0x03000000 else False
+import genpy
+import struct
+
+import std_msgs.msg
+
+class MmDetectionMsg(genpy.Message):
+  _md5sum = "ae9783b5c89ddfd7442af5018fe3e2e1"
+  _type = "kuavo_msgs/MmDetectionMsg"
+  _has_header = True  # flag to mark the presence of a Header object
+  _full_text = """# Mobile Manipulator Detection Message
+# This message provides structured anomaly detection results for mobile manipulator policy tracking
+
+# Header for timestamping
+Header header
+
+# Overall anomaly detection result
+bool hasAnomaly
+
+# First type detection: Trajectory-level position error metrics
+# Compares entire policy trajectory with target trajectory
+float64 trajectoryPositionErrorMax
+float64 trajectoryPositionErrorAvg
+bool trajectoryPositionMaxThresholdExceeded
+bool trajectoryPositionAvgThresholdExceeded
+
+# First type detection: Trajectory-level orientation error metrics
+# Compares entire policy trajectory with target trajectory
+float64 trajectoryOrientationErrorMax
+float64 trajectoryOrientationErrorAvg
+bool trajectoryOrientationMaxThresholdExceeded
+bool trajectoryOrientationAvgThresholdExceeded
+
+# Second type detection: Velocity magnitude threshold detection
+# Directly checks policy inputTrajectory velocity magnitudes
+float64 velocityMagnitudeAvg
+float64 velocityMagnitudeMax
+bool velocityAvgThresholdExceeded
+bool velocityMaxThresholdExceeded 
+================================================================================
+MSG: std_msgs/Header
+# Standard metadata for higher-level stamped data types.
+# This is generally used to communicate timestamped data 
+# in a particular coordinate frame.
+# 
+# sequence ID: consecutively increasing ID 
+uint32 seq
+#Two-integer timestamp that is expressed as:
+# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')
+# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')
+# time-handling sugar is provided by the client library
+time stamp
+#Frame this data is associated with
+string frame_id
+"""
+  __slots__ = ['header','hasAnomaly','trajectoryPositionErrorMax','trajectoryPositionErrorAvg','trajectoryPositionMaxThresholdExceeded','trajectoryPositionAvgThresholdExceeded','trajectoryOrientationErrorMax','trajectoryOrientationErrorAvg','trajectoryOrientationMaxThresholdExceeded','trajectoryOrientationAvgThresholdExceeded','velocityMagnitudeAvg','velocityMagnitudeMax','velocityAvgThresholdExceeded','velocityMaxThresholdExceeded']
+  _slot_types = ['std_msgs/Header','bool','float64','float64','bool','bool','float64','float64','bool','bool','float64','float64','bool','bool']
+
+  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:
+       header,hasAnomaly,trajectoryPositionErrorMax,trajectoryPositionErrorAvg,trajectoryPositionMaxThresholdExceeded,trajectoryPositionAvgThresholdExceeded,trajectoryOrientationErrorMax,trajectoryOrientationErrorAvg,trajectoryOrientationMaxThresholdExceeded,trajectoryOrientationAvgThresholdExceeded,velocityMagnitudeAvg,velocityMagnitudeMax,velocityAvgThresholdExceeded,velocityMaxThresholdExceeded
+
+    :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(MmDetectionMsg, self).__init__(*args, **kwds)
+      # message fields cannot be None, assign default values for those that are
+      if self.header is None:
+        self.header = std_msgs.msg.Header()
+      if self.hasAnomaly is None:
+        self.hasAnomaly = False
+      if self.trajectoryPositionErrorMax is None:
+        self.trajectoryPositionErrorMax = 0.
+      if self.trajectoryPositionErrorAvg is None:
+        self.trajectoryPositionErrorAvg = 0.
+      if self.trajectoryPositionMaxThresholdExceeded is None:
+        self.trajectoryPositionMaxThresholdExceeded = False
+      if self.trajectoryPositionAvgThresholdExceeded is None:
+        self.trajectoryPositionAvgThresholdExceeded = False
+      if self.trajectoryOrientationErrorMax is None:
+        self.trajectoryOrientationErrorMax = 0.
+      if self.trajectoryOrientationErrorAvg is None:
+        self.trajectoryOrientationErrorAvg = 0.
+      if self.trajectoryOrientationMaxThresholdExceeded is None:
+        self.trajectoryOrientationMaxThresholdExceeded = False
+      if self.trajectoryOrientationAvgThresholdExceeded is None:
+        self.trajectoryOrientationAvgThresholdExceeded = False
+      if self.velocityMagnitudeAvg is None:
+        self.velocityMagnitudeAvg = 0.
+      if self.velocityMagnitudeMax is None:
+        self.velocityMagnitudeMax = 0.
+      if self.velocityAvgThresholdExceeded is None:
+        self.velocityAvgThresholdExceeded = False
+      if self.velocityMaxThresholdExceeded is None:
+        self.velocityMaxThresholdExceeded = False
+    else:
+      self.header = std_msgs.msg.Header()
+      self.hasAnomaly = False
+      self.trajectoryPositionErrorMax = 0.
+      self.trajectoryPositionErrorAvg = 0.
+      self.trajectoryPositionMaxThresholdExceeded = False
+      self.trajectoryPositionAvgThresholdExceeded = False
+      self.trajectoryOrientationErrorMax = 0.
+      self.trajectoryOrientationErrorAvg = 0.
+      self.trajectoryOrientationMaxThresholdExceeded = False
+      self.trajectoryOrientationAvgThresholdExceeded = False
+      self.velocityMagnitudeAvg = 0.
+      self.velocityMagnitudeMax = 0.
+      self.velocityAvgThresholdExceeded = False
+      self.velocityMaxThresholdExceeded = False
+
+  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_3I().pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
+      _x = self.header.frame_id
+      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
+      buff.write(_get_struct_B2d2B2d2B2d2B().pack(_x.hasAnomaly, _x.trajectoryPositionErrorMax, _x.trajectoryPositionErrorAvg, _x.trajectoryPositionMaxThresholdExceeded, _x.trajectoryPositionAvgThresholdExceeded, _x.trajectoryOrientationErrorMax, _x.trajectoryOrientationErrorAvg, _x.trajectoryOrientationMaxThresholdExceeded, _x.trajectoryOrientationAvgThresholdExceeded, _x.velocityMagnitudeAvg, _x.velocityMagnitudeMax, _x.velocityAvgThresholdExceeded, _x.velocityMaxThresholdExceeded))
+    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.header is None:
+        self.header = std_msgs.msg.Header()
+      end = 0
+      _x = self
+      start = end
+      end += 12
+      (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _get_struct_3I().unpack(str[start:end])
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      start = end
+      end += length
+      if python3:
+        self.header.frame_id = str[start:end].decode('utf-8', 'rosmsg')
+      else:
+        self.header.frame_id = str[start:end]
+      _x = self
+      start = end
+      end += 55
+      (_x.hasAnomaly, _x.trajectoryPositionErrorMax, _x.trajectoryPositionErrorAvg, _x.trajectoryPositionMaxThresholdExceeded, _x.trajectoryPositionAvgThresholdExceeded, _x.trajectoryOrientationErrorMax, _x.trajectoryOrientationErrorAvg, _x.trajectoryOrientationMaxThresholdExceeded, _x.trajectoryOrientationAvgThresholdExceeded, _x.velocityMagnitudeAvg, _x.velocityMagnitudeMax, _x.velocityAvgThresholdExceeded, _x.velocityMaxThresholdExceeded,) = _get_struct_B2d2B2d2B2d2B().unpack(str[start:end])
+      self.hasAnomaly = bool(self.hasAnomaly)
+      self.trajectoryPositionMaxThresholdExceeded = bool(self.trajectoryPositionMaxThresholdExceeded)
+      self.trajectoryPositionAvgThresholdExceeded = bool(self.trajectoryPositionAvgThresholdExceeded)
+      self.trajectoryOrientationMaxThresholdExceeded = bool(self.trajectoryOrientationMaxThresholdExceeded)
+      self.trajectoryOrientationAvgThresholdExceeded = bool(self.trajectoryOrientationAvgThresholdExceeded)
+      self.velocityAvgThresholdExceeded = bool(self.velocityAvgThresholdExceeded)
+      self.velocityMaxThresholdExceeded = bool(self.velocityMaxThresholdExceeded)
+      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_3I().pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
+      _x = self.header.frame_id
+      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
+      buff.write(_get_struct_B2d2B2d2B2d2B().pack(_x.hasAnomaly, _x.trajectoryPositionErrorMax, _x.trajectoryPositionErrorAvg, _x.trajectoryPositionMaxThresholdExceeded, _x.trajectoryPositionAvgThresholdExceeded, _x.trajectoryOrientationErrorMax, _x.trajectoryOrientationErrorAvg, _x.trajectoryOrientationMaxThresholdExceeded, _x.trajectoryOrientationAvgThresholdExceeded, _x.velocityMagnitudeAvg, _x.velocityMagnitudeMax, _x.velocityAvgThresholdExceeded, _x.velocityMaxThresholdExceeded))
+    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.header is None:
+        self.header = std_msgs.msg.Header()
+      end = 0
+      _x = self
+      start = end
+      end += 12
+      (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _get_struct_3I().unpack(str[start:end])
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      start = end
+      end += length
+      if python3:
+        self.header.frame_id = str[start:end].decode('utf-8', 'rosmsg')
+      else:
+        self.header.frame_id = str[start:end]
+      _x = self
+      start = end
+      end += 55
+      (_x.hasAnomaly, _x.trajectoryPositionErrorMax, _x.trajectoryPositionErrorAvg, _x.trajectoryPositionMaxThresholdExceeded, _x.trajectoryPositionAvgThresholdExceeded, _x.trajectoryOrientationErrorMax, _x.trajectoryOrientationErrorAvg, _x.trajectoryOrientationMaxThresholdExceeded, _x.trajectoryOrientationAvgThresholdExceeded, _x.velocityMagnitudeAvg, _x.velocityMagnitudeMax, _x.velocityAvgThresholdExceeded, _x.velocityMaxThresholdExceeded,) = _get_struct_B2d2B2d2B2d2B().unpack(str[start:end])
+      self.hasAnomaly = bool(self.hasAnomaly)
+      self.trajectoryPositionMaxThresholdExceeded = bool(self.trajectoryPositionMaxThresholdExceeded)
+      self.trajectoryPositionAvgThresholdExceeded = bool(self.trajectoryPositionAvgThresholdExceeded)
+      self.trajectoryOrientationMaxThresholdExceeded = bool(self.trajectoryOrientationMaxThresholdExceeded)
+      self.trajectoryOrientationAvgThresholdExceeded = bool(self.trajectoryOrientationAvgThresholdExceeded)
+      self.velocityAvgThresholdExceeded = bool(self.velocityAvgThresholdExceeded)
+      self.velocityMaxThresholdExceeded = bool(self.velocityMaxThresholdExceeded)
+      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_3I = None
+def _get_struct_3I():
+    global _struct_3I
+    if _struct_3I is None:
+        _struct_3I = struct.Struct("<3I")
+    return _struct_3I
+_struct_B2d2B2d2B2d2B = None
+def _get_struct_B2d2B2d2B2d2B():
+    global _struct_B2d2B2d2B2d2B
+    if _struct_B2d2B2d2B2d2B is None:
+        _struct_B2d2B2d2B2d2B = struct.Struct("<B2d2B2d2B2d2B")
+    return _struct_B2d2B2d2B2d2B

kuavo_humanoid_sdk/msg/kuavo_msgs/msg/_RobotActionState.py

@@ -0,0 +1,112 @@
+# This Python file uses the following encoding: utf-8
+"""autogenerated by genpy from kuavo_msgs/RobotActionState.msg. Do not edit."""
+import codecs
+import sys
+python3 = True if sys.hexversion > 0x03000000 else False
+import genpy
+import struct
+
+
+class RobotActionState(genpy.Message):
+  _md5sum = "800f34bc468def1d86e2d42bea5648c0"
+  _type = "kuavo_msgs/RobotActionState"
+  _has_header = False  # flag to mark the presence of a Header object
+  _full_text = """uint8 state  """
+  __slots__ = ['state']
+  _slot_types = ['uint8']
+
+  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:
+       state
+
+    :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(RobotActionState, self).__init__(*args, **kwds)
+      # message fields cannot be None, assign default values for those that are
+      if self.state is None:
+        self.state = 0
+    else:
+      self.state = 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.state
+      buff.write(_get_struct_B().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 += 1
+      (self.state,) = _get_struct_B().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.state
+      buff.write(_get_struct_B().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 += 1
+      (self.state,) = _get_struct_B().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_B = None
+def _get_struct_B():
+    global _struct_B
+    if _struct_B is None:
+        _struct_B = struct.Struct("<B")
+    return _struct_B

kuavo_humanoid_sdk/msg/kuavo_msgs/msg/_TFArray.py

@@ -0,0 +1,323 @@
+# This Python file uses the following encoding: utf-8
+"""autogenerated by genpy from kuavo_msgs/TFArray.msg. Do not edit."""
+import codecs
+import sys
+python3 = True if sys.hexversion > 0x03000000 else False
+import genpy
+import struct
+
+import geometry_msgs.msg
+import std_msgs.msg
+
+class TFArray(genpy.Message):
+  _md5sum = "94810edda583a504dfda3829e70d7eec"
+  _type = "kuavo_msgs/TFArray"
+  _has_header = False  # flag to mark the presence of a Header object
+  _full_text = """geometry_msgs/TransformStamped[] transforms
+================================================================================
+MSG: geometry_msgs/TransformStamped
+# This expresses a transform from coordinate frame header.frame_id
+# to the coordinate frame child_frame_id
+#
+# This message is mostly used by the 
+# <a href="http://wiki.ros.org/tf">tf</a> package. 
+# See its documentation for more information.
+
+Header header
+string child_frame_id # the frame id of the child frame
+Transform transform
+
+================================================================================
+MSG: std_msgs/Header
+# Standard metadata for higher-level stamped data types.
+# This is generally used to communicate timestamped data 
+# in a particular coordinate frame.
+# 
+# sequence ID: consecutively increasing ID 
+uint32 seq
+#Two-integer timestamp that is expressed as:
+# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')
+# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')
+# time-handling sugar is provided by the client library
+time stamp
+#Frame this data is associated with
+string frame_id
+
+================================================================================
+MSG: geometry_msgs/Transform
+# This represents the transform between two coordinate frames in free space.
+
+Vector3 translation
+Quaternion rotation
+
+================================================================================
+MSG: geometry_msgs/Vector3
+# This represents a vector in free space. 
+# It is only meant to represent a direction. Therefore, it does not
+# make sense to apply a translation to it (e.g., when applying a 
+# generic rigid transformation to a Vector3, tf2 will only apply the
+# rotation). If you want your data to be translatable too, use the
+# geometry_msgs/Point message instead.
+
+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__ = ['transforms']
+  _slot_types = ['geometry_msgs/TransformStamped[]']
+
+  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:
+       transforms
+
+    :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(TFArray, self).__init__(*args, **kwds)
+      # message fields cannot be None, assign default values for those that are
+      if self.transforms is None:
+        self.transforms = []
+    else:
+      self.transforms = []
+
+  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.transforms)
+      buff.write(_struct_I.pack(length))
+      for val1 in self.transforms:
+        _v1 = val1.header
+        _x = _v1.seq
+        buff.write(_get_struct_I().pack(_x))
+        _v2 = _v1.stamp
+        _x = _v2
+        buff.write(_get_struct_2I().pack(_x.secs, _x.nsecs))
+        _x = _v1.frame_id
+        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 = val1.child_frame_id
+        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))
+        _v3 = val1.transform
+        _v4 = _v3.translation
+        _x = _v4
+        buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
+        _v5 = _v3.rotation
+        _x = _v5
+        buff.write(_get_struct_4d().pack(_x.x, _x.y, _x.z, _x.w))
+    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.transforms is None:
+        self.transforms = None
+      end = 0
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      self.transforms = []
+      for i in range(0, length):
+        val1 = geometry_msgs.msg.TransformStamped()
+        _v6 = val1.header
+        start = end
+        end += 4
+        (_v6.seq,) = _get_struct_I().unpack(str[start:end])
+        _v7 = _v6.stamp
+        _x = _v7
+        start = end
+        end += 8
+        (_x.secs, _x.nsecs,) = _get_struct_2I().unpack(str[start:end])
+        start = end
+        end += 4
+        (length,) = _struct_I.unpack(str[start:end])
+        start = end
+        end += length
+        if python3:
+          _v6.frame_id = str[start:end].decode('utf-8', 'rosmsg')
+        else:
+          _v6.frame_id = str[start:end]
+        start = end
+        end += 4
+        (length,) = _struct_I.unpack(str[start:end])
+        start = end
+        end += length
+        if python3:
+          val1.child_frame_id = str[start:end].decode('utf-8', 'rosmsg')
+        else:
+          val1.child_frame_id = str[start:end]
+        _v8 = val1.transform
+        _v9 = _v8.translation
+        _x = _v9
+        start = end
+        end += 24
+        (_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
+        _v10 = _v8.rotation
+        _x = _v10
+        start = end
+        end += 32
+        (_x.x, _x.y, _x.z, _x.w,) = _get_struct_4d().unpack(str[start:end])
+        self.transforms.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.transforms)
+      buff.write(_struct_I.pack(length))
+      for val1 in self.transforms:
+        _v11 = val1.header
+        _x = _v11.seq
+        buff.write(_get_struct_I().pack(_x))
+        _v12 = _v11.stamp
+        _x = _v12
+        buff.write(_get_struct_2I().pack(_x.secs, _x.nsecs))
+        _x = _v11.frame_id
+        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 = val1.child_frame_id
+        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))
+        _v13 = val1.transform
+        _v14 = _v13.translation
+        _x = _v14
+        buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
+        _v15 = _v13.rotation
+        _x = _v15
+        buff.write(_get_struct_4d().pack(_x.x, _x.y, _x.z, _x.w))
+    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.transforms is None:
+        self.transforms = None
+      end = 0
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      self.transforms = []
+      for i in range(0, length):
+        val1 = geometry_msgs.msg.TransformStamped()
+        _v16 = val1.header
+        start = end
+        end += 4
+        (_v16.seq,) = _get_struct_I().unpack(str[start:end])
+        _v17 = _v16.stamp
+        _x = _v17
+        start = end
+        end += 8
+        (_x.secs, _x.nsecs,) = _get_struct_2I().unpack(str[start:end])
+        start = end
+        end += 4
+        (length,) = _struct_I.unpack(str[start:end])
+        start = end
+        end += length
+        if python3:
+          _v16.frame_id = str[start:end].decode('utf-8', 'rosmsg')
+        else:
+          _v16.frame_id = str[start:end]
+        start = end
+        end += 4
+        (length,) = _struct_I.unpack(str[start:end])
+        start = end
+        end += length
+        if python3:
+          val1.child_frame_id = str[start:end].decode('utf-8', 'rosmsg')
+        else:
+          val1.child_frame_id = str[start:end]
+        _v18 = val1.transform
+        _v19 = _v18.translation
+        _x = _v19
+        start = end
+        end += 24
+        (_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
+        _v20 = _v18.rotation
+        _x = _v20
+        start = end
+        end += 32
+        (_x.x, _x.y, _x.z, _x.w,) = _get_struct_4d().unpack(str[start:end])
+        self.transforms.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
+_struct_2I = None
+def _get_struct_2I():
+    global _struct_2I
+    if _struct_2I is None:
+        _struct_2I = struct.Struct("<2I")
+    return _struct_2I
+_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