kuavo-humanoid-sdk 1.2.1b3321__20250917182547-py3-none-any.whl

kuavo_humanoid_sdk/msg/kuavo_msgs/msg/_gestureTask.py

@@ -0,0 +1,149 @@
+# This Python file uses the following encoding: utf-8
+"""autogenerated by genpy from kuavo_msgs/gestureTask.msg. Do not edit."""
+import codecs
+import sys
+python3 = True if sys.hexversion > 0x03000000 else False
+import genpy
+import struct
+
+
+class gestureTask(genpy.Message):
+  _md5sum = "be7fe1eba1df13c392c3a5d13b9f3dae"
+  _type = "kuavo_msgs/gestureTask"
+  _has_header = False  # flag to mark the presence of a Header object
+  _full_text = """# This message is used to specify a gesture to execute.
+# The gesture is triggered by providing its name and the side of the hand(s) to use.
+
+string gesture_name  # Name of the gesture to execute
+int8   hand_side    # Side of the hand to use (e.g., 0 for left, 1 for right, 2 for both)"""
+  __slots__ = ['gesture_name','hand_side']
+  _slot_types = ['string','int8']
+
+  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:
+       gesture_name,hand_side
+
+    :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(gestureTask, self).__init__(*args, **kwds)
+      # message fields cannot be None, assign default values for those that are
+      if self.gesture_name is None:
+        self.gesture_name = ''
+      if self.hand_side is None:
+        self.hand_side = 0
+    else:
+      self.gesture_name = ''
+      self.hand_side = 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.gesture_name
+      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.hand_side
+      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 += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      start = end
+      end += length
+      if python3:
+        self.gesture_name = str[start:end].decode('utf-8', 'rosmsg')
+      else:
+        self.gesture_name = str[start:end]
+      start = end
+      end += 1
+      (self.hand_side,) = _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.gesture_name
+      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.hand_side
+      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 += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      start = end
+      end += length
+      if python3:
+        self.gesture_name = str[start:end].decode('utf-8', 'rosmsg')
+      else:
+        self.gesture_name = str[start:end]
+      start = end
+      end += 1
+      (self.hand_side,) = _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/_handPose.py

@@ -0,0 +1,136 @@
+# This Python file uses the following encoding: utf-8
+"""autogenerated by genpy from kuavo_msgs/handPose.msg. Do not edit."""
+import codecs
+import sys
+python3 = True if sys.hexversion > 0x03000000 else False
+import genpy
+import struct
+
+
+class handPose(genpy.Message):
+  _md5sum = "1a83f0bdabe750ce0cfb45a14ec63457"
+  _type = "kuavo_msgs/handPose"
+  _has_header = False  # flag to mark the presence of a Header object
+  _full_text = """# pos
+float64 x
+float64 y
+float64 z
+# rpy
+float64 roll
+float64 pitch
+float64 yaw"""
+  __slots__ = ['x','y','z','roll','pitch','yaw']
+  _slot_types = ['float64','float64','float64','float64','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:
+       x,y,z,roll,pitch,yaw
+
+    :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(handPose, self).__init__(*args, **kwds)
+      # message fields cannot be None, assign default values for those that are
+      if self.x is None:
+        self.x = 0.
+      if self.y is None:
+        self.y = 0.
+      if self.z is None:
+        self.z = 0.
+      if self.roll is None:
+        self.roll = 0.
+      if self.pitch is None:
+        self.pitch = 0.
+      if self.yaw is None:
+        self.yaw = 0.
+    else:
+      self.x = 0.
+      self.y = 0.
+      self.z = 0.
+      self.roll = 0.
+      self.pitch = 0.
+      self.yaw = 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
+      buff.write(_get_struct_6d().pack(_x.x, _x.y, _x.z, _x.roll, _x.pitch, _x.yaw))
+    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 += 48
+      (_x.x, _x.y, _x.z, _x.roll, _x.pitch, _x.yaw,) = _get_struct_6d().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_6d().pack(_x.x, _x.y, _x.z, _x.roll, _x.pitch, _x.yaw))
+    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 += 48
+      (_x.x, _x.y, _x.z, _x.roll, _x.pitch, _x.yaw,) = _get_struct_6d().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_6d = None
+def _get_struct_6d():
+    global _struct_6d
+    if _struct_6d is None:
+        _struct_6d = struct.Struct("<6d")
+    return _struct_6d

kuavo_humanoid_sdk/msg/kuavo_msgs/msg/_headBodyPose.py

@@ -0,0 +1,145 @@
+# This Python file uses the following encoding: utf-8
+"""autogenerated by genpy from kuavo_msgs/headBodyPose.msg. Do not edit."""
+import codecs
+import sys
+python3 = True if sys.hexversion > 0x03000000 else False
+import genpy
+import struct
+
+
+class headBodyPose(genpy.Message):
+  _md5sum = "86a58d9f885335d8a0b389ace07ba692"
+  _type = "kuavo_msgs/headBodyPose"
+  _has_header = False  # flag to mark the presence of a Header object
+  _full_text = """# head (rad)
+float64 head_pitch
+float64 head_yaw
+# body (rad)
+float64 body_roll
+float64 body_pitch
+float64 body_yaw
+
+float64 body_x
+float64 body_y
+float64 body_height"""
+  __slots__ = ['head_pitch','head_yaw','body_roll','body_pitch','body_yaw','body_x','body_y','body_height']
+  _slot_types = ['float64','float64','float64','float64','float64','float64','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:
+       head_pitch,head_yaw,body_roll,body_pitch,body_yaw,body_x,body_y,body_height
+
+    :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(headBodyPose, self).__init__(*args, **kwds)
+      # message fields cannot be None, assign default values for those that are
+      if self.head_pitch is None:
+        self.head_pitch = 0.
+      if self.head_yaw is None:
+        self.head_yaw = 0.
+      if self.body_roll is None:
+        self.body_roll = 0.
+      if self.body_pitch is None:
+        self.body_pitch = 0.
+      if self.body_yaw is None:
+        self.body_yaw = 0.
+      if self.body_x is None:
+        self.body_x = 0.
+      if self.body_y is None:
+        self.body_y = 0.
+      if self.body_height is None:
+        self.body_height = 0.
+    else:
+      self.head_pitch = 0.
+      self.head_yaw = 0.
+      self.body_roll = 0.
+      self.body_pitch = 0.
+      self.body_yaw = 0.
+      self.body_x = 0.
+      self.body_y = 0.
+      self.body_height = 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
+      buff.write(_get_struct_8d().pack(_x.head_pitch, _x.head_yaw, _x.body_roll, _x.body_pitch, _x.body_yaw, _x.body_x, _x.body_y, _x.body_height))
+    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 += 64
+      (_x.head_pitch, _x.head_yaw, _x.body_roll, _x.body_pitch, _x.body_yaw, _x.body_x, _x.body_y, _x.body_height,) = _get_struct_8d().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_8d().pack(_x.head_pitch, _x.head_yaw, _x.body_roll, _x.body_pitch, _x.body_yaw, _x.body_x, _x.body_y, _x.body_height))
+    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 += 64
+      (_x.head_pitch, _x.head_yaw, _x.body_roll, _x.body_pitch, _x.body_yaw, _x.body_x, _x.body_y, _x.body_height,) = _get_struct_8d().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_8d = None
+def _get_struct_8d():
+    global _struct_8d
+    if _struct_8d is None:
+        _struct_8d = struct.Struct("<8d")
+    return _struct_8d

kuavo_humanoid_sdk/msg/kuavo_msgs/msg/_ikSolveError.py

@@ -0,0 +1,171 @@
+# This Python file uses the following encoding: utf-8
+"""autogenerated by genpy from kuavo_msgs/ikSolveError.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 ikSolveError(genpy.Message):
+  _md5sum = "06c12c0e6e08f286627a6f856e26223c"
+  _type = "kuavo_msgs/ikSolveError"
+  _has_header = False  # flag to mark the presence of a Header object
+  _full_text = """string     ik_type 
+handPose  left_pose_error
+handPose  right_pose_error
+================================================================================
+MSG: kuavo_msgs/handPose
+# pos
+float64 x
+float64 y
+float64 z
+# rpy
+float64 roll
+float64 pitch
+float64 yaw"""
+  __slots__ = ['ik_type','left_pose_error','right_pose_error']
+  _slot_types = ['string','kuavo_msgs/handPose','kuavo_msgs/handPose']
+
+  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:
+       ik_type,left_pose_error,right_pose_error
+
+    :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(ikSolveError, self).__init__(*args, **kwds)
+      # message fields cannot be None, assign default values for those that are
+      if self.ik_type is None:
+        self.ik_type = ''
+      if self.left_pose_error is None:
+        self.left_pose_error = kuavo_msgs.msg.handPose()
+      if self.right_pose_error is None:
+        self.right_pose_error = kuavo_msgs.msg.handPose()
+    else:
+      self.ik_type = ''
+      self.left_pose_error = kuavo_msgs.msg.handPose()
+      self.right_pose_error = kuavo_msgs.msg.handPose()
+
+  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.ik_type
+      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_12d().pack(_x.left_pose_error.x, _x.left_pose_error.y, _x.left_pose_error.z, _x.left_pose_error.roll, _x.left_pose_error.pitch, _x.left_pose_error.yaw, _x.right_pose_error.x, _x.right_pose_error.y, _x.right_pose_error.z, _x.right_pose_error.roll, _x.right_pose_error.pitch, _x.right_pose_error.yaw))
+    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.left_pose_error is None:
+        self.left_pose_error = kuavo_msgs.msg.handPose()
+      if self.right_pose_error is None:
+        self.right_pose_error = kuavo_msgs.msg.handPose()
+      end = 0
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      start = end
+      end += length
+      if python3:
+        self.ik_type = str[start:end].decode('utf-8', 'rosmsg')
+      else:
+        self.ik_type = str[start:end]
+      _x = self
+      start = end
+      end += 96
+      (_x.left_pose_error.x, _x.left_pose_error.y, _x.left_pose_error.z, _x.left_pose_error.roll, _x.left_pose_error.pitch, _x.left_pose_error.yaw, _x.right_pose_error.x, _x.right_pose_error.y, _x.right_pose_error.z, _x.right_pose_error.roll, _x.right_pose_error.pitch, _x.right_pose_error.yaw,) = _get_struct_12d().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.ik_type
+      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_12d().pack(_x.left_pose_error.x, _x.left_pose_error.y, _x.left_pose_error.z, _x.left_pose_error.roll, _x.left_pose_error.pitch, _x.left_pose_error.yaw, _x.right_pose_error.x, _x.right_pose_error.y, _x.right_pose_error.z, _x.right_pose_error.roll, _x.right_pose_error.pitch, _x.right_pose_error.yaw))
+    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.left_pose_error is None:
+        self.left_pose_error = kuavo_msgs.msg.handPose()
+      if self.right_pose_error is None:
+        self.right_pose_error = kuavo_msgs.msg.handPose()
+      end = 0
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      start = end
+      end += length
+      if python3:
+        self.ik_type = str[start:end].decode('utf-8', 'rosmsg')
+      else:
+        self.ik_type = str[start:end]
+      _x = self
+      start = end
+      end += 96
+      (_x.left_pose_error.x, _x.left_pose_error.y, _x.left_pose_error.z, _x.left_pose_error.roll, _x.left_pose_error.pitch, _x.left_pose_error.yaw, _x.right_pose_error.x, _x.right_pose_error.y, _x.right_pose_error.z, _x.right_pose_error.roll, _x.right_pose_error.pitch, _x.right_pose_error.yaw,) = _get_struct_12d().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_12d = None
+def _get_struct_12d():
+    global _struct_12d
+    if _struct_12d is None:
+        _struct_12d = struct.Struct("<12d")
+    return _struct_12d