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

kuavo_humanoid_sdk/msg/kuavo_msgs/srv/_enableHandTouchSensor.py

@@ -0,0 +1,304 @@
+# This Python file uses the following encoding: utf-8
+"""autogenerated by genpy from kuavo_msgs/enableHandTouchSensorRequest.msg. Do not edit."""
+import codecs
+import sys
+python3 = True if sys.hexversion > 0x03000000 else False
+import genpy
+import struct
+
+
+class enableHandTouchSensorRequest(genpy.Message):
+  _md5sum = "0543438552cc194d7406fa44a80edec7"
+  _type = "kuavo_msgs/enableHandTouchSensorRequest"
+  _has_header = False  # flag to mark the presence of a Header object
+  _full_text = """# Bit masks for enabling individual touch sensors on the robotic hand
+# Each sensor can be enabled by setting the corresponding bit in the mask
+
+# Examples: 0b00000011 enables thumb and index sensors, 0b00000000 disables all sensors
+#  ``` 
+#    mask_value = THUMB_SENSOR | INDEX_SENSOR
+#    req = enableHandTouchSensorRequest()
+#    req.mask = mask_value
+#  ``` 
+
+# Thumb finger touch sensor (bit 0)
+uint8 THUMB_SENSOR = 1
+
+# Index finger touch sensor (bit 1)
+uint8 INDEX_SENSOR = 2
+
+# Middle finger touch sensor (bit 2)
+uint8 MIDDLE_SENSOR = 4
+
+# Ring finger touch sensor (bit 3)
+uint8 RING_SENSOR = 8
+
+# Pinky finger touch sensor (bit 4)
+uint8 PINKY_SENSOR = 16
+
+# Bitmask indicating which sensors to enable
+# Multiple sensors can be enabled by combining masks with bitwise OR
+uint8 mask
+"""
+  # Pseudo-constants
+  THUMB_SENSOR = 1
+  INDEX_SENSOR = 2
+  MIDDLE_SENSOR = 4
+  RING_SENSOR = 8
+  PINKY_SENSOR = 16
+
+  __slots__ = ['mask']
+  _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:
+       mask
+
+    :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(enableHandTouchSensorRequest, self).__init__(*args, **kwds)
+      # message fields cannot be None, assign default values for those that are
+      if self.mask is None:
+        self.mask = 0
+    else:
+      self.mask = 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.mask
+      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.mask,) = _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.mask
+      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.mask,) = _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
+# This Python file uses the following encoding: utf-8
+"""autogenerated by genpy from kuavo_msgs/enableHandTouchSensorResponse.msg. Do not edit."""
+import codecs
+import sys
+python3 = True if sys.hexversion > 0x03000000 else False
+import genpy
+import struct
+
+
+class enableHandTouchSensorResponse(genpy.Message):
+  _md5sum = "937c9679a518e3a18d831e57125ea522"
+  _type = "kuavo_msgs/enableHandTouchSensorResponse"
+  _has_header = False  # flag to mark the presence of a Header object
+  _full_text = """# Whether the operation was successful
+bool success
+
+# Additional status or error message
+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(enableHandTouchSensorResponse, 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 enableHandTouchSensor(object):
+  _type          = 'kuavo_msgs/enableHandTouchSensor'
+  _md5sum = '710f3d70d245856e41b01f7ffef21580'
+  _request_class  = enableHandTouchSensorRequest
+  _response_class = enableHandTouchSensorResponse

kuavo_humanoid_sdk/msg/kuavo_msgs/srv/_fkSrv.py

@@ -0,0 +1,395 @@
+# This Python file uses the following encoding: utf-8
+"""autogenerated by genpy from kuavo_msgs/fkSrvRequest.msg. Do not edit."""
+import codecs
+import sys
+python3 = True if sys.hexversion > 0x03000000 else False
+import genpy
+import struct
+
+
+class fkSrvRequest(genpy.Message):
+  _md5sum = "ab94b9bcaaa12f74def43e4b33992df1"
+  _type = "kuavo_msgs/fkSrvRequest"
+  _has_header = False  # flag to mark the presence of a Header object
+  _full_text = """float64[] q # 广义关节角度，如果是虚拟关节ik，则前4维度为躯干虚拟关节的角度，后14维度为手臂关节的角度
+"""
+  __slots__ = ['q']
+  _slot_types = ['float64[]']
+
+  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:
+       q
+
+    :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(fkSrvRequest, self).__init__(*args, **kwds)
+      # message fields cannot be None, assign default values for those that are
+      if self.q is None:
+        self.q = []
+    else:
+      self.q = []
+
+  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.q)
+      buff.write(_struct_I.pack(length))
+      pattern = '<%sd'%length
+      buff.write(struct.Struct(pattern).pack(*self.q))
+    except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(locals().get('_x', self)))))
+    except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(locals().get('_x', self)))))
+
+  def deserialize(self, str):
+    """
+    unpack serialized message in str into this message instance
+    :param str: byte array of serialized message, ``str``
+    """
+    if python3:
+      codecs.lookup_error("rosmsg").msg_type = self._type
+    try:
+      end = 0
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      pattern = '<%sd'%length
+      start = end
+      s = struct.Struct(pattern)
+      end += s.size
+      self.q = 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.q)
+      buff.write(_struct_I.pack(length))
+      pattern = '<%sd'%length
+      buff.write(self.q.tostring())
+    except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(locals().get('_x', self)))))
+    except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(locals().get('_x', self)))))
+
+  def deserialize_numpy(self, str, numpy):
+    """
+    unpack serialized message in str into this message instance using numpy for array types
+    :param str: byte array of serialized message, ``str``
+    :param numpy: numpy python module
+    """
+    if python3:
+      codecs.lookup_error("rosmsg").msg_type = self._type
+    try:
+      end = 0
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      pattern = '<%sd'%length
+      start = end
+      s = struct.Struct(pattern)
+      end += s.size
+      self.q = 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/fkSrvResponse.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 fkSrvResponse(genpy.Message):
+  _md5sum = "0989ef9ed6b7b2e5e8a37c79ae6916d9"
+  _type = "kuavo_msgs/fkSrvResponse"
+  _has_header = False  # flag to mark the presence of a Header object
+  _full_text = """bool success
+twoArmHandPose  hand_poses
+
+================================================================================
+MSG: kuavo_msgs/twoArmHandPose
+Header header
+armHandPose  left_pose
+armHandPose  right_pose
+================================================================================
+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/armHandPose
+float64[3] pos_xyz
+float64[4] quat_xyzw
+
+float64[3] elbow_pos_xyz
+
+float64[7] joint_angles
+"""
+  __slots__ = ['success','hand_poses']
+  _slot_types = ['bool','kuavo_msgs/twoArmHandPose']
+
+  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,hand_poses
+
+    :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(fkSrvResponse, 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.hand_poses is None:
+        self.hand_poses = kuavo_msgs.msg.twoArmHandPose()
+    else:
+      self.success = False
+      self.hand_poses = kuavo_msgs.msg.twoArmHandPose()
+
+  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_B3I().pack(_x.success, _x.hand_poses.header.seq, _x.hand_poses.header.stamp.secs, _x.hand_poses.header.stamp.nsecs))
+      _x = self.hand_poses.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))
+      buff.write(_get_struct_3d().pack(*self.hand_poses.left_pose.pos_xyz))
+      buff.write(_get_struct_4d().pack(*self.hand_poses.left_pose.quat_xyzw))
+      buff.write(_get_struct_3d().pack(*self.hand_poses.left_pose.elbow_pos_xyz))
+      buff.write(_get_struct_7d().pack(*self.hand_poses.left_pose.joint_angles))
+      buff.write(_get_struct_3d().pack(*self.hand_poses.right_pose.pos_xyz))
+      buff.write(_get_struct_4d().pack(*self.hand_poses.right_pose.quat_xyzw))
+      buff.write(_get_struct_3d().pack(*self.hand_poses.right_pose.elbow_pos_xyz))
+      buff.write(_get_struct_7d().pack(*self.hand_poses.right_pose.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:
+      if self.hand_poses is None:
+        self.hand_poses = kuavo_msgs.msg.twoArmHandPose()
+      end = 0
+      _x = self
+      start = end
+      end += 13
+      (_x.success, _x.hand_poses.header.seq, _x.hand_poses.header.stamp.secs, _x.hand_poses.header.stamp.nsecs,) = _get_struct_B3I().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.hand_poses.header.frame_id = str[start:end].decode('utf-8', 'rosmsg')
+      else:
+        self.hand_poses.header.frame_id = str[start:end]
+      start = end
+      end += 24
+      self.hand_poses.left_pose.pos_xyz = _get_struct_3d().unpack(str[start:end])
+      start = end
+      end += 32
+      self.hand_poses.left_pose.quat_xyzw = _get_struct_4d().unpack(str[start:end])
+      start = end
+      end += 24
+      self.hand_poses.left_pose.elbow_pos_xyz = _get_struct_3d().unpack(str[start:end])
+      start = end
+      end += 56
+      self.hand_poses.left_pose.joint_angles = _get_struct_7d().unpack(str[start:end])
+      start = end
+      end += 24
+      self.hand_poses.right_pose.pos_xyz = _get_struct_3d().unpack(str[start:end])
+      start = end
+      end += 32
+      self.hand_poses.right_pose.quat_xyzw = _get_struct_4d().unpack(str[start:end])
+      start = end
+      end += 24
+      self.hand_poses.right_pose.elbow_pos_xyz = _get_struct_3d().unpack(str[start:end])
+      start = end
+      end += 56
+      self.hand_poses.right_pose.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:
+      _x = self
+      buff.write(_get_struct_B3I().pack(_x.success, _x.hand_poses.header.seq, _x.hand_poses.header.stamp.secs, _x.hand_poses.header.stamp.nsecs))
+      _x = self.hand_poses.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))
+      buff.write(self.hand_poses.left_pose.pos_xyz.tostring())
+      buff.write(self.hand_poses.left_pose.quat_xyzw.tostring())
+      buff.write(self.hand_poses.left_pose.elbow_pos_xyz.tostring())
+      buff.write(self.hand_poses.left_pose.joint_angles.tostring())
+      buff.write(self.hand_poses.right_pose.pos_xyz.tostring())
+      buff.write(self.hand_poses.right_pose.quat_xyzw.tostring())
+      buff.write(self.hand_poses.right_pose.elbow_pos_xyz.tostring())
+      buff.write(self.hand_poses.right_pose.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:
+      if self.hand_poses is None:
+        self.hand_poses = kuavo_msgs.msg.twoArmHandPose()
+      end = 0
+      _x = self
+      start = end
+      end += 13
+      (_x.success, _x.hand_poses.header.seq, _x.hand_poses.header.stamp.secs, _x.hand_poses.header.stamp.nsecs,) = _get_struct_B3I().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.hand_poses.header.frame_id = str[start:end].decode('utf-8', 'rosmsg')
+      else:
+        self.hand_poses.header.frame_id = str[start:end]
+      start = end
+      end += 24
+      self.hand_poses.left_pose.pos_xyz = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=3)
+      start = end
+      end += 32
+      self.hand_poses.left_pose.quat_xyzw = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=4)
+      start = end
+      end += 24
+      self.hand_poses.left_pose.elbow_pos_xyz = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=3)
+      start = end
+      end += 56
+      self.hand_poses.left_pose.joint_angles = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=7)
+      start = end
+      end += 24
+      self.hand_poses.right_pose.pos_xyz = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=3)
+      start = end
+      end += 32
+      self.hand_poses.right_pose.quat_xyzw = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=4)
+      start = end
+      end += 24
+      self.hand_poses.right_pose.elbow_pos_xyz = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=3)
+      start = end
+      end += 56
+      self.hand_poses.right_pose.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
+_struct_B3I = None
+def _get_struct_B3I():
+    global _struct_B3I
+    if _struct_B3I is None:
+        _struct_B3I = struct.Struct("<B3I")
+    return _struct_B3I
+class fkSrv(object):
+  _type          = 'kuavo_msgs/fkSrv'
+  _md5sum = 'b89cc987a02b6d1c2a1588d5659bf064'
+  _request_class  = fkSrvRequest
+  _response_class = fkSrvResponse