kuavo-humanoid-sdk 1.2.1b3319__20250917064014-py3-none-any.whl

kuavo_humanoid_sdk/msg/kuavo_msgs/msg/_dexhandCommand.py

@@ -0,0 +1,229 @@
+# This Python file uses the following encoding: utf-8
+"""autogenerated by genpy from kuavo_msgs/dexhandCommand.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 dexhandCommand(genpy.Message):
+  _md5sum = "ab54699609aa0f9682d32ee67eae87dc"
+  _type = "kuavo_msgs/dexhandCommand"
+  _has_header = True  # flag to mark the presence of a Header object
+  _full_text = """# Control modes
+int8 POSITION_CONTROL = 0  # Position control mode
+int8 VELOCITY_CONTROL = 1  # Velocity control mode
+
+# Message header
+std_msgs/Header header
+
+# Control mode to be used
+int8 control_mode
+
+# Data array
+# 数据数组，单手时长度必须为6，双手长度必须为12
+# - 位置控制模式下，每个元素的数据的范围为[0, 100], 0 为完全打开，100 为完全关闭
+# - 速度控制模式下，每个元素的数据的范围为[-100, 100] 负数表示打开，正数表示关闭
+int16[] data
+================================================================================
+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
+"""
+  # Pseudo-constants
+  POSITION_CONTROL = 0
+  VELOCITY_CONTROL = 1
+
+  __slots__ = ['header','control_mode','data']
+  _slot_types = ['std_msgs/Header','int8','int16[]']
+
+  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,control_mode,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(dexhandCommand, 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.control_mode is None:
+        self.control_mode = 0
+      if self.data is None:
+        self.data = []
+    else:
+      self.header = std_msgs.msg.Header()
+      self.control_mode = 0
+      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:
+      _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.control_mode
+      buff.write(_get_struct_b().pack(_x))
+      length = len(self.data)
+      buff.write(_struct_I.pack(length))
+      pattern = '<%sh'%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:
+      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]
+      start = end
+      end += 1
+      (self.control_mode,) = _get_struct_b().unpack(str[start:end])
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      pattern = '<%sh'%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:
+      _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.control_mode
+      buff.write(_get_struct_b().pack(_x))
+      length = len(self.data)
+      buff.write(_struct_I.pack(length))
+      pattern = '<%sh'%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:
+      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]
+      start = end
+      end += 1
+      (self.control_mode,) = _get_struct_b().unpack(str[start:end])
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      pattern = '<%sh'%length
+      start = end
+      s = struct.Struct(pattern)
+      end += s.size
+      self.data = numpy.frombuffer(str[start:end], dtype=numpy.int16, 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_3I = None
+def _get_struct_3I():
+    global _struct_3I
+    if _struct_3I is None:
+        _struct_3I = struct.Struct("<3I")
+    return _struct_3I
+_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/_dexhandTouchState.py

@@ -0,0 +1,256 @@
+# This Python file uses the following encoding: utf-8
+"""autogenerated by genpy from kuavo_msgs/dexhandTouchState.msg. Do not edit."""
+import codecs
+import sys
+python3 = True if sys.hexversion > 0x03000000 else False
+import genpy
+import struct
+
+import kuavo_msgs.msg
+import std_msgs.msg
+
+class dexhandTouchState(genpy.Message):
+  _md5sum = "ce777577e1167705dca90d1f63037a05"
+  _type = "kuavo_msgs/dexhandTouchState"
+  _has_header = True  # flag to mark the presence of a Header object
+  _full_text = """std_msgs/Header header
+kuavo_msgs/touchSensorStatus[5] left_hand
+kuavo_msgs/touchSensorStatus[5] right_hand
+
+================================================================================
+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: kuavo_msgs/touchSensorStatus
+uint16 normal_force1  # 法向力1
+uint16 normal_force2  # 法向力2
+uint16 normal_force3  # 法向力3
+uint16 tangential_force1  # 切向力1
+uint16 tangential_force2  # 切向力2
+uint16 tangential_force3  # 切向力3
+uint16 tangential_direction1  # 切向力方向1
+uint16 tangential_direction2  # 切向力方向2
+uint16 tangential_direction3  # 切向力方向3
+uint32 self_proximity1  # 自电容接近传感器1
+uint32 self_proximity2  # 自电容接近传感器2
+uint32 mutual_proximity  # 互电容接近传感器
+uint16 status  # 传感器状态"""
+  __slots__ = ['header','left_hand','right_hand']
+  _slot_types = ['std_msgs/Header','kuavo_msgs/touchSensorStatus[5]','kuavo_msgs/touchSensorStatus[5]']
+
+  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,left_hand,right_hand
+
+    :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(dexhandTouchState, 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.left_hand is None:
+        self.left_hand = [kuavo_msgs.msg.touchSensorStatus() for _ in range(5)]
+      if self.right_hand is None:
+        self.right_hand = [kuavo_msgs.msg.touchSensorStatus() for _ in range(5)]
+    else:
+      self.header = std_msgs.msg.Header()
+      self.left_hand = [kuavo_msgs.msg.touchSensorStatus() for _ in range(5)]
+      self.right_hand = [kuavo_msgs.msg.touchSensorStatus() for _ in range(5)]
+
+  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))
+      if len(self.left_hand) != 5:
+        self._check_types(ValueError("Expecting %s items but found %s when writing '%s'" % (5, len(self.left_hand), 'self.left_hand')))
+      for val1 in self.left_hand:
+        _x = val1
+        buff.write(_get_struct_9H3IH().pack(_x.normal_force1, _x.normal_force2, _x.normal_force3, _x.tangential_force1, _x.tangential_force2, _x.tangential_force3, _x.tangential_direction1, _x.tangential_direction2, _x.tangential_direction3, _x.self_proximity1, _x.self_proximity2, _x.mutual_proximity, _x.status))
+      if len(self.right_hand) != 5:
+        self._check_types(ValueError("Expecting %s items but found %s when writing '%s'" % (5, len(self.right_hand), 'self.right_hand')))
+      for val1 in self.right_hand:
+        _x = val1
+        buff.write(_get_struct_9H3IH().pack(_x.normal_force1, _x.normal_force2, _x.normal_force3, _x.tangential_force1, _x.tangential_force2, _x.tangential_force3, _x.tangential_direction1, _x.tangential_direction2, _x.tangential_direction3, _x.self_proximity1, _x.self_proximity2, _x.mutual_proximity, _x.status))
+    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()
+      if self.left_hand is None:
+        self.left_hand = None
+      if self.right_hand is None:
+        self.right_hand = None
+      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]
+      self.left_hand = []
+      for i in range(0, 5):
+        val1 = kuavo_msgs.msg.touchSensorStatus()
+        _x = val1
+        start = end
+        end += 32
+        (_x.normal_force1, _x.normal_force2, _x.normal_force3, _x.tangential_force1, _x.tangential_force2, _x.tangential_force3, _x.tangential_direction1, _x.tangential_direction2, _x.tangential_direction3, _x.self_proximity1, _x.self_proximity2, _x.mutual_proximity, _x.status,) = _get_struct_9H3IH().unpack(str[start:end])
+        self.left_hand.append(val1)
+      self.right_hand = []
+      for i in range(0, 5):
+        val1 = kuavo_msgs.msg.touchSensorStatus()
+        _x = val1
+        start = end
+        end += 32
+        (_x.normal_force1, _x.normal_force2, _x.normal_force3, _x.tangential_force1, _x.tangential_force2, _x.tangential_force3, _x.tangential_direction1, _x.tangential_direction2, _x.tangential_direction3, _x.self_proximity1, _x.self_proximity2, _x.mutual_proximity, _x.status,) = _get_struct_9H3IH().unpack(str[start:end])
+        self.right_hand.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:
+      _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))
+      if len(self.left_hand) != 5:
+        self._check_types(ValueError("Expecting %s items but found %s when writing '%s'" % (5, len(self.left_hand), 'self.left_hand')))
+      for val1 in self.left_hand:
+        _x = val1
+        buff.write(_get_struct_9H3IH().pack(_x.normal_force1, _x.normal_force2, _x.normal_force3, _x.tangential_force1, _x.tangential_force2, _x.tangential_force3, _x.tangential_direction1, _x.tangential_direction2, _x.tangential_direction3, _x.self_proximity1, _x.self_proximity2, _x.mutual_proximity, _x.status))
+      if len(self.right_hand) != 5:
+        self._check_types(ValueError("Expecting %s items but found %s when writing '%s'" % (5, len(self.right_hand), 'self.right_hand')))
+      for val1 in self.right_hand:
+        _x = val1
+        buff.write(_get_struct_9H3IH().pack(_x.normal_force1, _x.normal_force2, _x.normal_force3, _x.tangential_force1, _x.tangential_force2, _x.tangential_force3, _x.tangential_direction1, _x.tangential_direction2, _x.tangential_direction3, _x.self_proximity1, _x.self_proximity2, _x.mutual_proximity, _x.status))
+    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()
+      if self.left_hand is None:
+        self.left_hand = None
+      if self.right_hand is None:
+        self.right_hand = None
+      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]
+      self.left_hand = []
+      for i in range(0, 5):
+        val1 = kuavo_msgs.msg.touchSensorStatus()
+        _x = val1
+        start = end
+        end += 32
+        (_x.normal_force1, _x.normal_force2, _x.normal_force3, _x.tangential_force1, _x.tangential_force2, _x.tangential_force3, _x.tangential_direction1, _x.tangential_direction2, _x.tangential_direction3, _x.self_proximity1, _x.self_proximity2, _x.mutual_proximity, _x.status,) = _get_struct_9H3IH().unpack(str[start:end])
+        self.left_hand.append(val1)
+      self.right_hand = []
+      for i in range(0, 5):
+        val1 = kuavo_msgs.msg.touchSensorStatus()
+        _x = val1
+        start = end
+        end += 32
+        (_x.normal_force1, _x.normal_force2, _x.normal_force3, _x.tangential_force1, _x.tangential_force2, _x.tangential_force3, _x.tangential_direction1, _x.tangential_direction2, _x.tangential_direction3, _x.self_proximity1, _x.self_proximity2, _x.mutual_proximity, _x.status,) = _get_struct_9H3IH().unpack(str[start:end])
+        self.right_hand.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_3I = None
+def _get_struct_3I():
+    global _struct_3I
+    if _struct_3I is None:
+        _struct_3I = struct.Struct("<3I")
+    return _struct_3I
+_struct_9H3IH = None
+def _get_struct_9H3IH():
+    global _struct_9H3IH
+    if _struct_9H3IH is None:
+        _struct_9H3IH = struct.Struct("<9H3IH")
+    return _struct_9H3IH