kuavo-humanoid-sdk 1.2.1b3319__20250917133850-py3-none-any.whl

kuavo_humanoid_sdk/msg/kuavo_msgs/msg/_footPoseWithVision.py

@@ -0,0 +1,136 @@
+# This Python file uses the following encoding: utf-8
+"""autogenerated by genpy from kuavo_msgs/footPoseWithVision.msg. Do not edit."""
+import codecs
+import sys
+python3 = True if sys.hexversion > 0x03000000 else False
+import genpy
+import struct
+
+
+class footPoseWithVision(genpy.Message):
+  _md5sum = "3c006a960e3e97286ea009aa797bcb18"
+  _type = "kuavo_msgs/footPoseWithVision"
+  _has_header = False  # flag to mark the presence of a Header object
+  _full_text = """int32 footPoseId   # unique id for each foot pose
+int32 footIndexTrajectory # left or right foot
+float64[4] footPose # x, y, z, yaw"""
+  __slots__ = ['footPoseId','footIndexTrajectory','footPose']
+  _slot_types = ['int32','int32','float64[4]']
+
+  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:
+       footPoseId,footIndexTrajectory,footPose
+
+    :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(footPoseWithVision, self).__init__(*args, **kwds)
+      # message fields cannot be None, assign default values for those that are
+      if self.footPoseId is None:
+        self.footPoseId = 0
+      if self.footIndexTrajectory is None:
+        self.footIndexTrajectory = 0
+      if self.footPose is None:
+        self.footPose = [0.] * 4
+    else:
+      self.footPoseId = 0
+      self.footIndexTrajectory = 0
+      self.footPose = [0.] * 4
+
+  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_2i().pack(_x.footPoseId, _x.footIndexTrajectory))
+      buff.write(_get_struct_4d().pack(*self.footPose))
+    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 += 8
+      (_x.footPoseId, _x.footIndexTrajectory,) = _get_struct_2i().unpack(str[start:end])
+      start = end
+      end += 32
+      self.footPose = _get_struct_4d().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_2i().pack(_x.footPoseId, _x.footIndexTrajectory))
+      buff.write(self.footPose.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
+      _x = self
+      start = end
+      end += 8
+      (_x.footPoseId, _x.footIndexTrajectory,) = _get_struct_2i().unpack(str[start:end])
+      start = end
+      end += 32
+      self.footPose = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=4)
+      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_4d = None
+def _get_struct_4d():
+    global _struct_4d
+    if _struct_4d is None:
+        _struct_4d = struct.Struct("<4d")
+    return _struct_4d

kuavo_humanoid_sdk/msg/kuavo_msgs/msg/_footPoseWithVisionArray.py

@@ -0,0 +1,231 @@
+# This Python file uses the following encoding: utf-8
+"""autogenerated by genpy from kuavo_msgs/footPoseWithVisionArray.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 footPoseWithVisionArray(genpy.Message):
+  _md5sum = "67567289515f103e5be322896c520a64"
+  _type = "kuavo_msgs/footPoseWithVisionArray"
+  _has_header = True  # flag to mark the presence of a Header object
+  _full_text = """Header header
+footPoseWithVision[] foot_poses
+================================================================================
+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/footPoseWithVision
+int32 footPoseId   # unique id for each foot pose
+int32 footIndexTrajectory # left or right foot
+float64[4] footPose # x, y, z, yaw"""
+  __slots__ = ['header','foot_poses']
+  _slot_types = ['std_msgs/Header','kuavo_msgs/footPoseWithVision[]']
+
+  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,foot_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(footPoseWithVisionArray, 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.foot_poses is None:
+        self.foot_poses = []
+    else:
+      self.header = std_msgs.msg.Header()
+      self.foot_poses = []
+
+  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))
+      length = len(self.foot_poses)
+      buff.write(_struct_I.pack(length))
+      for val1 in self.foot_poses:
+        _x = val1
+        buff.write(_get_struct_2i().pack(_x.footPoseId, _x.footIndexTrajectory))
+        buff.write(_get_struct_4d().pack(*val1.footPose))
+    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.foot_poses is None:
+        self.foot_poses = 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]
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      self.foot_poses = []
+      for i in range(0, length):
+        val1 = kuavo_msgs.msg.footPoseWithVision()
+        _x = val1
+        start = end
+        end += 8
+        (_x.footPoseId, _x.footIndexTrajectory,) = _get_struct_2i().unpack(str[start:end])
+        start = end
+        end += 32
+        val1.footPose = _get_struct_4d().unpack(str[start:end])
+        self.foot_poses.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))
+      length = len(self.foot_poses)
+      buff.write(_struct_I.pack(length))
+      for val1 in self.foot_poses:
+        _x = val1
+        buff.write(_get_struct_2i().pack(_x.footPoseId, _x.footIndexTrajectory))
+        buff.write(val1.footPose.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()
+      if self.foot_poses is None:
+        self.foot_poses = 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]
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      self.foot_poses = []
+      for i in range(0, length):
+        val1 = kuavo_msgs.msg.footPoseWithVision()
+        _x = val1
+        start = end
+        end += 8
+        (_x.footPoseId, _x.footIndexTrajectory,) = _get_struct_2i().unpack(str[start:end])
+        start = end
+        end += 32
+        val1.footPose = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=4)
+        self.foot_poses.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_3I = None
+def _get_struct_3I():
+    global _struct_3I
+    if _struct_3I is None:
+        _struct_3I = struct.Struct("<3I")
+    return _struct_3I
+_struct_4d = None
+def _get_struct_4d():
+    global _struct_4d
+    if _struct_4d is None:
+        _struct_4d = struct.Struct("<4d")
+    return _struct_4d

kuavo_humanoid_sdk/msg/kuavo_msgs/msg/_footPoses.py

@@ -0,0 +1,149 @@
+# This Python file uses the following encoding: utf-8
+"""autogenerated by genpy from kuavo_msgs/footPoses.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 footPoses(genpy.Message):
+  _md5sum = "2fad89e6e8a2f3c5d0ec891cc7c76c35"
+  _type = "kuavo_msgs/footPoses"
+  _has_header = False  # flag to mark the presence of a Header object
+  _full_text = """footPose[] data
+
+================================================================================
+MSG: kuavo_msgs/footPose
+float64[4] footPose # x, y, z, yaw
+float64[4] torsoPose # x, y, z, yaw
+"""
+  __slots__ = ['data']
+  _slot_types = ['kuavo_msgs/footPose[]']
+
+  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(footPoses, self).__init__(*args, **kwds)
+      # message fields cannot be None, assign default values for those that are
+      if self.data is None:
+        self.data = []
+    else:
+      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:
+      length = len(self.data)
+      buff.write(_struct_I.pack(length))
+      for val1 in self.data:
+        buff.write(_get_struct_4d().pack(*val1.footPose))
+        buff.write(_get_struct_4d().pack(*val1.torsoPose))
+    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 = None
+      end = 0
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      self.data = []
+      for i in range(0, length):
+        val1 = kuavo_msgs.msg.footPose()
+        start = end
+        end += 32
+        val1.footPose = _get_struct_4d().unpack(str[start:end])
+        start = end
+        end += 32
+        val1.torsoPose = _get_struct_4d().unpack(str[start:end])
+        self.data.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.data)
+      buff.write(_struct_I.pack(length))
+      for val1 in self.data:
+        buff.write(val1.footPose.tostring())
+        buff.write(val1.torsoPose.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 = None
+      end = 0
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      self.data = []
+      for i in range(0, length):
+        val1 = kuavo_msgs.msg.footPose()
+        start = end
+        end += 32
+        val1.footPose = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=4)
+        start = end
+        end += 32
+        val1.torsoPose = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=4)
+        self.data.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_4d = None
+def _get_struct_4d():
+    global _struct_4d
+    if _struct_4d is None:
+        _struct_4d = struct.Struct("<4d")
+    return _struct_4d

kuavo_humanoid_sdk/msg/kuavo_msgs/msg/_footPoses6D.py

@@ -0,0 +1,149 @@
+# This Python file uses the following encoding: utf-8
+"""autogenerated by genpy from kuavo_msgs/footPoses6D.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 footPoses6D(genpy.Message):
+  _md5sum = "3e903804b9d53336feca78ed34b5b2fb"
+  _type = "kuavo_msgs/footPoses6D"
+  _has_header = False  # flag to mark the presence of a Header object
+  _full_text = """footPose6D[] data
+
+================================================================================
+MSG: kuavo_msgs/footPose6D
+float64[6] footPose6D # x, y, z, yaw
+float64[6] torsoPose6D # x, y, z, yaw
+"""
+  __slots__ = ['data']
+  _slot_types = ['kuavo_msgs/footPose6D[]']
+
+  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(footPoses6D, self).__init__(*args, **kwds)
+      # message fields cannot be None, assign default values for those that are
+      if self.data is None:
+        self.data = []
+    else:
+      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:
+      length = len(self.data)
+      buff.write(_struct_I.pack(length))
+      for val1 in self.data:
+        buff.write(_get_struct_6d().pack(*val1.footPose6D))
+        buff.write(_get_struct_6d().pack(*val1.torsoPose6D))
+    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 = None
+      end = 0
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      self.data = []
+      for i in range(0, length):
+        val1 = kuavo_msgs.msg.footPose6D()
+        start = end
+        end += 48
+        val1.footPose6D = _get_struct_6d().unpack(str[start:end])
+        start = end
+        end += 48
+        val1.torsoPose6D = _get_struct_6d().unpack(str[start:end])
+        self.data.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.data)
+      buff.write(_struct_I.pack(length))
+      for val1 in self.data:
+        buff.write(val1.footPose6D.tostring())
+        buff.write(val1.torsoPose6D.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 = None
+      end = 0
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      self.data = []
+      for i in range(0, length):
+        val1 = kuavo_msgs.msg.footPose6D()
+        start = end
+        end += 48
+        val1.footPose6D = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=6)
+        start = end
+        end += 48
+        val1.torsoPose6D = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=6)
+        self.data.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_6d = None
+def _get_struct_6d():
+    global _struct_6d
+    if _struct_6d is None:
+        _struct_6d = struct.Struct("<6d")
+    return _struct_6d