kuavo-humanoid-sdk 1.2.1b3323__20250918212129-py3-none-any.whl

kuavo_humanoid_sdk/msg/kuavo_msgs/srv/_TaskPointOperation.py

@@ -0,0 +1,536 @@
+# This Python file uses the following encoding: utf-8
+"""autogenerated by genpy from kuavo_msgs/TaskPointOperationRequest.msg. Do not edit."""
+import codecs
+import sys
+python3 = True if sys.hexversion > 0x03000000 else False
+import genpy
+import struct
+
+import geometry_msgs.msg
+import kuavo_msgs.msg
+
+class TaskPointOperationRequest(genpy.Message):
+  _md5sum = "51698df432b71dfffb475e9629b3bfd8"
+  _type = "kuavo_msgs/TaskPointOperationRequest"
+  _has_header = False  # flag to mark the presence of a Header object
+  _full_text = """int8 ADD=0
+int8 UPDATE=1
+int8 DELETE=2
+int8 GET=3
+
+int8 operation
+kuavo_msgs/TaskPoint task_point
+string name
+bool use_robot_current_pose
+
+================================================================================
+MSG: kuavo_msgs/TaskPoint
+geometry_msgs/Pose pose
+string name 
+================================================================================
+MSG: geometry_msgs/Pose
+# A representation of pose in free space, composed of position and orientation. 
+Point position
+Quaternion orientation
+
+================================================================================
+MSG: geometry_msgs/Point
+# This contains the position of a point in free space
+float64 x
+float64 y
+float64 z
+
+================================================================================
+MSG: geometry_msgs/Quaternion
+# This represents an orientation in free space in quaternion form.
+
+float64 x
+float64 y
+float64 z
+float64 w
+"""
+  # Pseudo-constants
+  ADD = 0
+  UPDATE = 1
+  DELETE = 2
+  GET = 3
+
+  __slots__ = ['operation','task_point','name','use_robot_current_pose']
+  _slot_types = ['int8','kuavo_msgs/TaskPoint','string','bool']
+
+  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:
+       operation,task_point,name,use_robot_current_pose
+
+    :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(TaskPointOperationRequest, self).__init__(*args, **kwds)
+      # message fields cannot be None, assign default values for those that are
+      if self.operation is None:
+        self.operation = 0
+      if self.task_point is None:
+        self.task_point = kuavo_msgs.msg.TaskPoint()
+      if self.name is None:
+        self.name = ''
+      if self.use_robot_current_pose is None:
+        self.use_robot_current_pose = False
+    else:
+      self.operation = 0
+      self.task_point = kuavo_msgs.msg.TaskPoint()
+      self.name = ''
+      self.use_robot_current_pose = False
+
+  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_b7d().pack(_x.operation, _x.task_point.pose.position.x, _x.task_point.pose.position.y, _x.task_point.pose.position.z, _x.task_point.pose.orientation.x, _x.task_point.pose.orientation.y, _x.task_point.pose.orientation.z, _x.task_point.pose.orientation.w))
+      _x = self.task_point.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.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.use_robot_current_pose
+      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:
+      if self.task_point is None:
+        self.task_point = kuavo_msgs.msg.TaskPoint()
+      end = 0
+      _x = self
+      start = end
+      end += 57
+      (_x.operation, _x.task_point.pose.position.x, _x.task_point.pose.position.y, _x.task_point.pose.position.z, _x.task_point.pose.orientation.x, _x.task_point.pose.orientation.y, _x.task_point.pose.orientation.z, _x.task_point.pose.orientation.w,) = _get_struct_b7d().unpack(str[start:end])
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      start = end
+      end += length
+      if python3:
+        self.task_point.name = str[start:end].decode('utf-8', 'rosmsg')
+      else:
+        self.task_point.name = str[start:end]
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      start = end
+      end += length
+      if python3:
+        self.name = str[start:end].decode('utf-8', 'rosmsg')
+      else:
+        self.name = str[start:end]
+      start = end
+      end += 1
+      (self.use_robot_current_pose,) = _get_struct_B().unpack(str[start:end])
+      self.use_robot_current_pose = bool(self.use_robot_current_pose)
+      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_b7d().pack(_x.operation, _x.task_point.pose.position.x, _x.task_point.pose.position.y, _x.task_point.pose.position.z, _x.task_point.pose.orientation.x, _x.task_point.pose.orientation.y, _x.task_point.pose.orientation.z, _x.task_point.pose.orientation.w))
+      _x = self.task_point.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.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.use_robot_current_pose
+      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:
+      if self.task_point is None:
+        self.task_point = kuavo_msgs.msg.TaskPoint()
+      end = 0
+      _x = self
+      start = end
+      end += 57
+      (_x.operation, _x.task_point.pose.position.x, _x.task_point.pose.position.y, _x.task_point.pose.position.z, _x.task_point.pose.orientation.x, _x.task_point.pose.orientation.y, _x.task_point.pose.orientation.z, _x.task_point.pose.orientation.w,) = _get_struct_b7d().unpack(str[start:end])
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      start = end
+      end += length
+      if python3:
+        self.task_point.name = str[start:end].decode('utf-8', 'rosmsg')
+      else:
+        self.task_point.name = str[start:end]
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      start = end
+      end += length
+      if python3:
+        self.name = str[start:end].decode('utf-8', 'rosmsg')
+      else:
+        self.name = str[start:end]
+      start = end
+      end += 1
+      (self.use_robot_current_pose,) = _get_struct_B().unpack(str[start:end])
+      self.use_robot_current_pose = bool(self.use_robot_current_pose)
+      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
+_struct_b7d = None
+def _get_struct_b7d():
+    global _struct_b7d
+    if _struct_b7d is None:
+        _struct_b7d = struct.Struct("<b7d")
+    return _struct_b7d
+# This Python file uses the following encoding: utf-8
+"""autogenerated by genpy from kuavo_msgs/TaskPointOperationResponse.msg. Do not edit."""
+import codecs
+import sys
+python3 = True if sys.hexversion > 0x03000000 else False
+import genpy
+import struct
+
+import geometry_msgs.msg
+import kuavo_msgs.msg
+
+class TaskPointOperationResponse(genpy.Message):
+  _md5sum = "1cf269d2f791e1ba219ace37552bef21"
+  _type = "kuavo_msgs/TaskPointOperationResponse"
+  _has_header = False  # flag to mark the presence of a Header object
+  _full_text = """bool success
+string message
+kuavo_msgs/TaskPoint[] task_points  # 用于GET操作返回所有任务点 
+
+================================================================================
+MSG: kuavo_msgs/TaskPoint
+geometry_msgs/Pose pose
+string name 
+================================================================================
+MSG: geometry_msgs/Pose
+# A representation of pose in free space, composed of position and orientation. 
+Point position
+Quaternion orientation
+
+================================================================================
+MSG: geometry_msgs/Point
+# This contains the position of a point in free space
+float64 x
+float64 y
+float64 z
+
+================================================================================
+MSG: geometry_msgs/Quaternion
+# This represents an orientation in free space in quaternion form.
+
+float64 x
+float64 y
+float64 z
+float64 w
+"""
+  __slots__ = ['success','message','task_points']
+  _slot_types = ['bool','string','kuavo_msgs/TaskPoint[]']
+
+  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,task_points
+
+    :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(TaskPointOperationResponse, 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 = ''
+      if self.task_points is None:
+        self.task_points = []
+    else:
+      self.success = False
+      self.message = ''
+      self.task_points = []
+
+  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))
+      length = len(self.task_points)
+      buff.write(_struct_I.pack(length))
+      for val1 in self.task_points:
+        _v1 = val1.pose
+        _v2 = _v1.position
+        _x = _v2
+        buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
+        _v3 = _v1.orientation
+        _x = _v3
+        buff.write(_get_struct_4d().pack(_x.x, _x.y, _x.z, _x.w))
+        _x = val1.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))
+    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.task_points is None:
+        self.task_points = None
+      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]
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      self.task_points = []
+      for i in range(0, length):
+        val1 = kuavo_msgs.msg.TaskPoint()
+        _v4 = val1.pose
+        _v5 = _v4.position
+        _x = _v5
+        start = end
+        end += 24
+        (_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
+        _v6 = _v4.orientation
+        _x = _v6
+        start = end
+        end += 32
+        (_x.x, _x.y, _x.z, _x.w,) = _get_struct_4d().unpack(str[start:end])
+        start = end
+        end += 4
+        (length,) = _struct_I.unpack(str[start:end])
+        start = end
+        end += length
+        if python3:
+          val1.name = str[start:end].decode('utf-8', 'rosmsg')
+        else:
+          val1.name = str[start:end]
+        self.task_points.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.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))
+      length = len(self.task_points)
+      buff.write(_struct_I.pack(length))
+      for val1 in self.task_points:
+        _v7 = val1.pose
+        _v8 = _v7.position
+        _x = _v8
+        buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
+        _v9 = _v7.orientation
+        _x = _v9
+        buff.write(_get_struct_4d().pack(_x.x, _x.y, _x.z, _x.w))
+        _x = val1.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))
+    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.task_points is None:
+        self.task_points = None
+      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]
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      self.task_points = []
+      for i in range(0, length):
+        val1 = kuavo_msgs.msg.TaskPoint()
+        _v10 = val1.pose
+        _v11 = _v10.position
+        _x = _v11
+        start = end
+        end += 24
+        (_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
+        _v12 = _v10.orientation
+        _x = _v12
+        start = end
+        end += 32
+        (_x.x, _x.y, _x.z, _x.w,) = _get_struct_4d().unpack(str[start:end])
+        start = end
+        end += 4
+        (length,) = _struct_I.unpack(str[start:end])
+        start = end
+        end += length
+        if python3:
+          val1.name = str[start:end].decode('utf-8', 'rosmsg')
+        else:
+          val1.name = str[start:end]
+        self.task_points.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_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_B = None
+def _get_struct_B():
+    global _struct_B
+    if _struct_B is None:
+        _struct_B = struct.Struct("<B")
+    return _struct_B
+class TaskPointOperation(object):
+  _type          = 'kuavo_msgs/TaskPointOperation'
+  _md5sum = '56a675a43c91d3277c1a619bd82b8695'
+  _request_class  = TaskPointOperationRequest
+  _response_class = TaskPointOperationResponse

kuavo_humanoid_sdk/msg/kuavo_msgs/srv/__init__.py

@@ -0,0 +1,43 @@
+from ._CreatePath import *
+from ._ExecuteArmAction import *
+from ._GetAllMaps import *
+from ._GetCurrentMap import *
+from ._GetTargetPartPoseInCamera import *
+from ._InitialPoseWithTaskPoint import *
+from ._LoadMap import *
+from ._NavigateToTaskPoint import *
+from ._RepublishTFs import *
+from ._SetInitialPose import *
+from ._SetJoyTopic import *
+from ._SetLEDMode import *
+from ._SetLEDMode_free import *
+from ._SpeechSynthesis import *
+from ._TaskPointOperation import *
+from ._adjustZeroPoint import *
+from ._changeArmCtrlMode import *
+from ._changeArmCtrlModeKuavo import *
+from ._changeMotorParam import *
+from ._changeTorsoCtrlMode import *
+from ._controlLejuClaw import *
+from ._enableHandTouchSensor import *
+from ._fkSrv import *
+from ._footPose6DTargetTrajectoriesSrv import *
+from ._footPoseTargetTrajectoriesSrv import *
+from ._gestureExecute import *
+from ._gestureExecuteState import *
+from ._gestureList import *
+from ._getCurrentGaitName import *
+from ._getMotorParam import *
+from ._getMotorZeroPoints import *
+from ._handForceLevel import *
+from ._jointMoveTo import *
+from ._planArmTrajectoryBezierCurve import *
+from ._planArmTrajectoryCubicSpline import *
+from ._playmusic import *
+from ._setHwIntialState import *
+from ._setMmCtrlFrame import *
+from ._setMotorEncoderRoundService import *
+from ._setTagId import *
+from ._singleStepControl import *
+from ._twoArmHandPoseCmdFreeSrv import *
+from ._twoArmHandPoseCmdSrv import *