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

kuavo_humanoid_sdk/msg/kuavo_msgs/msg/_kuavoModeSchedule.py

@@ -0,0 +1,224 @@
+# This Python file uses the following encoding: utf-8
+"""autogenerated by genpy from kuavo_msgs/kuavoModeSchedule.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 kuavoModeSchedule(genpy.Message):
+  _md5sum = "3a05d2a24adeeaae6461a9cca85c3ce9"
+  _type = "kuavo_msgs/kuavoModeSchedule"
+  _has_header = False  # flag to mark the presence of a Header object
+  _full_text = """float64        currentTime
+footPose6D[]   footPoseSequence
+float64[]      eventTimes
+float64[]      modeSequence
+================================================================================
+MSG: kuavo_msgs/footPose6D
+float64[6] footPose6D # x, y, z, yaw
+float64[6] torsoPose6D # x, y, z, yaw
+"""
+  __slots__ = ['currentTime','footPoseSequence','eventTimes','modeSequence']
+  _slot_types = ['float64','kuavo_msgs/footPose6D[]','float64[]','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:
+       currentTime,footPoseSequence,eventTimes,modeSequence
+
+    :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(kuavoModeSchedule, self).__init__(*args, **kwds)
+      # message fields cannot be None, assign default values for those that are
+      if self.currentTime is None:
+        self.currentTime = 0.
+      if self.footPoseSequence is None:
+        self.footPoseSequence = []
+      if self.eventTimes is None:
+        self.eventTimes = []
+      if self.modeSequence is None:
+        self.modeSequence = []
+    else:
+      self.currentTime = 0.
+      self.footPoseSequence = []
+      self.eventTimes = []
+      self.modeSequence = []
+
+  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.currentTime
+      buff.write(_get_struct_d().pack(_x))
+      length = len(self.footPoseSequence)
+      buff.write(_struct_I.pack(length))
+      for val1 in self.footPoseSequence:
+        buff.write(_get_struct_6d().pack(*val1.footPose6D))
+        buff.write(_get_struct_6d().pack(*val1.torsoPose6D))
+      length = len(self.eventTimes)
+      buff.write(_struct_I.pack(length))
+      pattern = '<%sd'%length
+      buff.write(struct.Struct(pattern).pack(*self.eventTimes))
+      length = len(self.modeSequence)
+      buff.write(_struct_I.pack(length))
+      pattern = '<%sd'%length
+      buff.write(struct.Struct(pattern).pack(*self.modeSequence))
+    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.footPoseSequence is None:
+        self.footPoseSequence = None
+      end = 0
+      start = end
+      end += 8
+      (self.currentTime,) = _get_struct_d().unpack(str[start:end])
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      self.footPoseSequence = []
+      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.footPoseSequence.append(val1)
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      pattern = '<%sd'%length
+      start = end
+      s = struct.Struct(pattern)
+      end += s.size
+      self.eventTimes = s.unpack(str[start:end])
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      pattern = '<%sd'%length
+      start = end
+      s = struct.Struct(pattern)
+      end += s.size
+      self.modeSequence = 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.currentTime
+      buff.write(_get_struct_d().pack(_x))
+      length = len(self.footPoseSequence)
+      buff.write(_struct_I.pack(length))
+      for val1 in self.footPoseSequence:
+        buff.write(val1.footPose6D.tostring())
+        buff.write(val1.torsoPose6D.tostring())
+      length = len(self.eventTimes)
+      buff.write(_struct_I.pack(length))
+      pattern = '<%sd'%length
+      buff.write(self.eventTimes.tostring())
+      length = len(self.modeSequence)
+      buff.write(_struct_I.pack(length))
+      pattern = '<%sd'%length
+      buff.write(self.modeSequence.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.footPoseSequence is None:
+        self.footPoseSequence = None
+      end = 0
+      start = end
+      end += 8
+      (self.currentTime,) = _get_struct_d().unpack(str[start:end])
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      self.footPoseSequence = []
+      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.footPoseSequence.append(val1)
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      pattern = '<%sd'%length
+      start = end
+      s = struct.Struct(pattern)
+      end += s.size
+      self.eventTimes = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      pattern = '<%sd'%length
+      start = end
+      s = struct.Struct(pattern)
+      end += s.size
+      self.modeSequence = 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
+_struct_6d = None
+def _get_struct_6d():
+    global _struct_6d
+    if _struct_6d is None:
+        _struct_6d = struct.Struct("<6d")
+    return _struct_6d
+_struct_d = None
+def _get_struct_d():
+    global _struct_d
+    if _struct_d is None:
+        _struct_d = struct.Struct("<d")
+    return _struct_d

kuavo_humanoid_sdk/msg/kuavo_msgs/msg/_lejuClawCommand.py

@@ -0,0 +1,320 @@
+# This Python file uses the following encoding: utf-8
+"""autogenerated by genpy from kuavo_msgs/lejuClawCommand.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 lejuClawCommand(genpy.Message):
+  _md5sum = "57c40e80f90e7a289ae0b2488552e043"
+  _type = "kuavo_msgs/lejuClawCommand"
+  _has_header = True  # flag to mark the presence of a Header object
+  _full_text = """# kuavo_msgs/endEffectorData:
+# string[] name  
+# float64[] position
+# float64[] velocity  
+# float64[] effort
+# 
+# ** For the Topic Notes **
+# 
+# name     : 'left_claw' , 'right_claw'
+# position : 0 ~ 100, the percentage of the claw's opening angle
+#            0: closed, 100: open   
+# velocity : 0 ~ 100, if size is 0, will use default `50.0`.
+# effort   : torque/current, better 1A ~ 2A, if size is 0, will use default `1.0`.
+# 
+# ** Example **
+# data:
+#   - name: ['left_claw', 'right_claw']
+#     position: [20.0, 20.0]
+#     velocity: [50.0, 50.0]
+#     effort: [1.0, 1.0]
+
+std_msgs/Header header
+kuavo_msgs/endEffectorData 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
+
+================================================================================
+MSG: kuavo_msgs/endEffectorData
+string[] name  
+float64[] position
+float64[] velocity  
+float64[] effort
+"""
+  __slots__ = ['header','data']
+  _slot_types = ['std_msgs/Header','kuavo_msgs/endEffectorData']
+
+  def __init__(self, *args, **kwds):
+    """
+    Constructor. Any message fields that are implicitly/explicitly
+    set to None will be assigned a default value. The recommend
+    use is keyword arguments as this is more robust to future message
+    changes.  You cannot mix in-order arguments and keyword arguments.
+
+    The available fields are:
+       header,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(lejuClawCommand, 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.data is None:
+        self.data = kuavo_msgs.msg.endEffectorData()
+    else:
+      self.header = std_msgs.msg.Header()
+      self.data = kuavo_msgs.msg.endEffectorData()
+
+  def _get_types(self):
+    """
+    internal API method
+    """
+    return self._slot_types
+
+  def serialize(self, buff):
+    """
+    serialize message into buffer
+    :param buff: buffer, ``StringIO``
+    """
+    try:
+      _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.data.name)
+      buff.write(_struct_I.pack(length))
+      for val1 in self.data.name:
+        length = len(val1)
+        if python3 or type(val1) == unicode:
+          val1 = val1.encode('utf-8')
+          length = len(val1)
+        buff.write(struct.Struct('<I%ss'%length).pack(length, val1))
+      length = len(self.data.position)
+      buff.write(_struct_I.pack(length))
+      pattern = '<%sd'%length
+      buff.write(struct.Struct(pattern).pack(*self.data.position))
+      length = len(self.data.velocity)
+      buff.write(_struct_I.pack(length))
+      pattern = '<%sd'%length
+      buff.write(struct.Struct(pattern).pack(*self.data.velocity))
+      length = len(self.data.effort)
+      buff.write(_struct_I.pack(length))
+      pattern = '<%sd'%length
+      buff.write(struct.Struct(pattern).pack(*self.data.effort))
+    except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(locals().get('_x', self)))))
+    except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(locals().get('_x', self)))))
+
+  def deserialize(self, str):
+    """
+    unpack serialized message in str into this message instance
+    :param str: byte array of serialized message, ``str``
+    """
+    if python3:
+      codecs.lookup_error("rosmsg").msg_type = self._type
+    try:
+      if self.header is None:
+        self.header = std_msgs.msg.Header()
+      if self.data is None:
+        self.data = kuavo_msgs.msg.endEffectorData()
+      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.data.name = []
+      for i in range(0, length):
+        start = end
+        end += 4
+        (length,) = _struct_I.unpack(str[start:end])
+        start = end
+        end += length
+        if python3:
+          val1 = str[start:end].decode('utf-8', 'rosmsg')
+        else:
+          val1 = str[start:end]
+        self.data.name.append(val1)
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      pattern = '<%sd'%length
+      start = end
+      s = struct.Struct(pattern)
+      end += s.size
+      self.data.position = s.unpack(str[start:end])
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      pattern = '<%sd'%length
+      start = end
+      s = struct.Struct(pattern)
+      end += s.size
+      self.data.velocity = s.unpack(str[start:end])
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      pattern = '<%sd'%length
+      start = end
+      s = struct.Struct(pattern)
+      end += s.size
+      self.data.effort = s.unpack(str[start:end])
+      return self
+    except struct.error as e:
+      raise genpy.DeserializationError(e)  # most likely buffer underfill
+
+
+  def serialize_numpy(self, buff, numpy):
+    """
+    serialize message with numpy array types into buffer
+    :param buff: buffer, ``StringIO``
+    :param numpy: numpy python module
+    """
+    try:
+      _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.data.name)
+      buff.write(_struct_I.pack(length))
+      for val1 in self.data.name:
+        length = len(val1)
+        if python3 or type(val1) == unicode:
+          val1 = val1.encode('utf-8')
+          length = len(val1)
+        buff.write(struct.Struct('<I%ss'%length).pack(length, val1))
+      length = len(self.data.position)
+      buff.write(_struct_I.pack(length))
+      pattern = '<%sd'%length
+      buff.write(self.data.position.tostring())
+      length = len(self.data.velocity)
+      buff.write(_struct_I.pack(length))
+      pattern = '<%sd'%length
+      buff.write(self.data.velocity.tostring())
+      length = len(self.data.effort)
+      buff.write(_struct_I.pack(length))
+      pattern = '<%sd'%length
+      buff.write(self.data.effort.tostring())
+    except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(locals().get('_x', self)))))
+    except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(locals().get('_x', self)))))
+
+  def deserialize_numpy(self, str, numpy):
+    """
+    unpack serialized message in str into this message instance using numpy for array types
+    :param str: byte array of serialized message, ``str``
+    :param numpy: numpy python module
+    """
+    if python3:
+      codecs.lookup_error("rosmsg").msg_type = self._type
+    try:
+      if self.header is None:
+        self.header = std_msgs.msg.Header()
+      if self.data is None:
+        self.data = kuavo_msgs.msg.endEffectorData()
+      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.data.name = []
+      for i in range(0, length):
+        start = end
+        end += 4
+        (length,) = _struct_I.unpack(str[start:end])
+        start = end
+        end += length
+        if python3:
+          val1 = str[start:end].decode('utf-8', 'rosmsg')
+        else:
+          val1 = str[start:end]
+        self.data.name.append(val1)
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      pattern = '<%sd'%length
+      start = end
+      s = struct.Struct(pattern)
+      end += s.size
+      self.data.position = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      pattern = '<%sd'%length
+      start = end
+      s = struct.Struct(pattern)
+      end += s.size
+      self.data.velocity = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      pattern = '<%sd'%length
+      start = end
+      s = struct.Struct(pattern)
+      end += s.size
+      self.data.effort = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
+      return self
+    except struct.error as e:
+      raise genpy.DeserializationError(e)  # most likely buffer underfill
+
+_struct_I = genpy.struct_I
+def _get_struct_I():
+    global _struct_I
+    return _struct_I
+_struct_3I = None
+def _get_struct_3I():
+    global _struct_3I
+    if _struct_3I is None:
+        _struct_3I = struct.Struct("<3I")
+    return _struct_3I