kuavo-humanoid-sdk 1.2.2__20250922181216-py3-none-any.whl

kuavo_humanoid_sdk/msg/kuavo_msgs/msg/_armHandPose.py

@@ -0,0 +1,160 @@
+# This Python file uses the following encoding: utf-8
+"""autogenerated by genpy from kuavo_msgs/armHandPose.msg. Do not edit."""
+import codecs
+import sys
+python3 = True if sys.hexversion > 0x03000000 else False
+import genpy
+import struct
+
+
+class armHandPose(genpy.Message):
+  _md5sum = "4f28a253cb60d59c6491569369f38f4d"
+  _type = "kuavo_msgs/armHandPose"
+  _has_header = False  # flag to mark the presence of a Header object
+  _full_text = """float64[3] pos_xyz
+float64[4] quat_xyzw
+
+float64[3] elbow_pos_xyz
+
+float64[7] joint_angles"""
+  __slots__ = ['pos_xyz','quat_xyzw','elbow_pos_xyz','joint_angles']
+  _slot_types = ['float64[3]','float64[4]','float64[3]','float64[7]']
+
+  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:
+       pos_xyz,quat_xyzw,elbow_pos_xyz,joint_angles
+
+    :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(armHandPose, self).__init__(*args, **kwds)
+      # message fields cannot be None, assign default values for those that are
+      if self.pos_xyz is None:
+        self.pos_xyz = [0.] * 3
+      if self.quat_xyzw is None:
+        self.quat_xyzw = [0.] * 4
+      if self.elbow_pos_xyz is None:
+        self.elbow_pos_xyz = [0.] * 3
+      if self.joint_angles is None:
+        self.joint_angles = [0.] * 7
+    else:
+      self.pos_xyz = [0.] * 3
+      self.quat_xyzw = [0.] * 4
+      self.elbow_pos_xyz = [0.] * 3
+      self.joint_angles = [0.] * 7
+
+  def _get_types(self):
+    """
+    internal API method
+    """
+    return self._slot_types
+
+  def serialize(self, buff):
+    """
+    serialize message into buffer
+    :param buff: buffer, ``StringIO``
+    """
+    try:
+      buff.write(_get_struct_3d().pack(*self.pos_xyz))
+      buff.write(_get_struct_4d().pack(*self.quat_xyzw))
+      buff.write(_get_struct_3d().pack(*self.elbow_pos_xyz))
+      buff.write(_get_struct_7d().pack(*self.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:
+      end = 0
+      start = end
+      end += 24
+      self.pos_xyz = _get_struct_3d().unpack(str[start:end])
+      start = end
+      end += 32
+      self.quat_xyzw = _get_struct_4d().unpack(str[start:end])
+      start = end
+      end += 24
+      self.elbow_pos_xyz = _get_struct_3d().unpack(str[start:end])
+      start = end
+      end += 56
+      self.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:
+      buff.write(self.pos_xyz.tostring())
+      buff.write(self.quat_xyzw.tostring())
+      buff.write(self.elbow_pos_xyz.tostring())
+      buff.write(self.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:
+      end = 0
+      start = end
+      end += 24
+      self.pos_xyz = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=3)
+      start = end
+      end += 32
+      self.quat_xyzw = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=4)
+      start = end
+      end += 24
+      self.elbow_pos_xyz = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=3)
+      start = end
+      end += 56
+      self.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

kuavo_humanoid_sdk/msg/kuavo_msgs/msg/_armHandPoseFree.py

@@ -0,0 +1,171 @@
+# This Python file uses the following encoding: utf-8
+"""autogenerated by genpy from kuavo_msgs/armHandPoseFree.msg. Do not edit."""
+import codecs
+import sys
+python3 = True if sys.hexversion > 0x03000000 else False
+import genpy
+import struct
+
+
+class armHandPoseFree(genpy.Message):
+  _md5sum = "db2a990bc43e189bf12bc1b55df612a8"
+  _type = "kuavo_msgs/armHandPoseFree"
+  _has_header = False  # flag to mark the presence of a Header object
+  _full_text = """float64[3] pos_xyz
+float64[4] quat_xyzw
+
+float64[3] elbow_pos_xyz
+
+float64[] joint_angles
+"""
+  __slots__ = ['pos_xyz','quat_xyzw','elbow_pos_xyz','joint_angles']
+  _slot_types = ['float64[3]','float64[4]','float64[3]','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:
+       pos_xyz,quat_xyzw,elbow_pos_xyz,joint_angles
+
+    :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(armHandPoseFree, self).__init__(*args, **kwds)
+      # message fields cannot be None, assign default values for those that are
+      if self.pos_xyz is None:
+        self.pos_xyz = [0.] * 3
+      if self.quat_xyzw is None:
+        self.quat_xyzw = [0.] * 4
+      if self.elbow_pos_xyz is None:
+        self.elbow_pos_xyz = [0.] * 3
+      if self.joint_angles is None:
+        self.joint_angles = []
+    else:
+      self.pos_xyz = [0.] * 3
+      self.quat_xyzw = [0.] * 4
+      self.elbow_pos_xyz = [0.] * 3
+      self.joint_angles = []
+
+  def _get_types(self):
+    """
+    internal API method
+    """
+    return self._slot_types
+
+  def serialize(self, buff):
+    """
+    serialize message into buffer
+    :param buff: buffer, ``StringIO``
+    """
+    try:
+      buff.write(_get_struct_3d().pack(*self.pos_xyz))
+      buff.write(_get_struct_4d().pack(*self.quat_xyzw))
+      buff.write(_get_struct_3d().pack(*self.elbow_pos_xyz))
+      length = len(self.joint_angles)
+      buff.write(_struct_I.pack(length))
+      pattern = '<%sd'%length
+      buff.write(struct.Struct(pattern).pack(*self.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:
+      end = 0
+      start = end
+      end += 24
+      self.pos_xyz = _get_struct_3d().unpack(str[start:end])
+      start = end
+      end += 32
+      self.quat_xyzw = _get_struct_4d().unpack(str[start:end])
+      start = end
+      end += 24
+      self.elbow_pos_xyz = _get_struct_3d().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.joint_angles = 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:
+      buff.write(self.pos_xyz.tostring())
+      buff.write(self.quat_xyzw.tostring())
+      buff.write(self.elbow_pos_xyz.tostring())
+      length = len(self.joint_angles)
+      buff.write(_struct_I.pack(length))
+      pattern = '<%sd'%length
+      buff.write(self.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:
+      end = 0
+      start = end
+      end += 24
+      self.pos_xyz = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=3)
+      start = end
+      end += 32
+      self.quat_xyzw = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=4)
+      start = end
+      end += 24
+      self.elbow_pos_xyz = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=3)
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      pattern = '<%sd'%length
+      start = end
+      s = struct.Struct(pattern)
+      end += s.size
+      self.joint_angles = 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_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

kuavo_humanoid_sdk/msg/kuavo_msgs/msg/_armPoseWithTimeStamp.py

@@ -0,0 +1,168 @@
+# This Python file uses the following encoding: utf-8
+"""autogenerated by genpy from kuavo_msgs/armPoseWithTimeStamp.msg. Do not edit."""
+import codecs
+import sys
+python3 = True if sys.hexversion > 0x03000000 else False
+import genpy
+import struct
+
+
+class armPoseWithTimeStamp(genpy.Message):
+  _md5sum = "3404338b5cb042ac3b3cf3de3f0fcb4f"
+  _type = "kuavo_msgs/armPoseWithTimeStamp"
+  _has_header = False  # flag to mark the presence of a Header object
+  _full_text = """int32 offset
+float64[] left_hand_pose
+float64[] right_hand_pose"""
+  __slots__ = ['offset','left_hand_pose','right_hand_pose']
+  _slot_types = ['int32','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:
+       offset,left_hand_pose,right_hand_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(armPoseWithTimeStamp, self).__init__(*args, **kwds)
+      # message fields cannot be None, assign default values for those that are
+      if self.offset is None:
+        self.offset = 0
+      if self.left_hand_pose is None:
+        self.left_hand_pose = []
+      if self.right_hand_pose is None:
+        self.right_hand_pose = []
+    else:
+      self.offset = 0
+      self.left_hand_pose = []
+      self.right_hand_pose = []
+
+  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.offset
+      buff.write(_get_struct_i().pack(_x))
+      length = len(self.left_hand_pose)
+      buff.write(_struct_I.pack(length))
+      pattern = '<%sd'%length
+      buff.write(struct.Struct(pattern).pack(*self.left_hand_pose))
+      length = len(self.right_hand_pose)
+      buff.write(_struct_I.pack(length))
+      pattern = '<%sd'%length
+      buff.write(struct.Struct(pattern).pack(*self.right_hand_pose))
+    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
+      (self.offset,) = _get_struct_i().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.left_hand_pose = 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.right_hand_pose = 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.offset
+      buff.write(_get_struct_i().pack(_x))
+      length = len(self.left_hand_pose)
+      buff.write(_struct_I.pack(length))
+      pattern = '<%sd'%length
+      buff.write(self.left_hand_pose.tostring())
+      length = len(self.right_hand_pose)
+      buff.write(_struct_I.pack(length))
+      pattern = '<%sd'%length
+      buff.write(self.right_hand_pose.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
+      (self.offset,) = _get_struct_i().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.left_hand_pose = 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.right_hand_pose = 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_i = None
+def _get_struct_i():
+    global _struct_i
+    if _struct_i is None:
+        _struct_i = struct.Struct("<i")
+    return _struct_i

kuavo_humanoid_sdk/msg/kuavo_msgs/msg/_armTargetPoses.py

@@ -0,0 +1,151 @@
+# This Python file uses the following encoding: utf-8
+"""autogenerated by genpy from kuavo_msgs/armTargetPoses.msg. Do not edit."""
+import codecs
+import sys
+python3 = True if sys.hexversion > 0x03000000 else False
+import genpy
+import struct
+
+
+class armTargetPoses(genpy.Message):
+  _md5sum = "267055a1a7e685e90c17a3ebf7a8a26c"
+  _type = "kuavo_msgs/armTargetPoses"
+  _has_header = False  # flag to mark the presence of a Header object
+  _full_text = """# times: times series
+# values: values matrix
+float64[] times
+float64[] values
+"""
+  __slots__ = ['times','values']
+  _slot_types = ['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:
+       times,values
+
+    :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(armTargetPoses, self).__init__(*args, **kwds)
+      # message fields cannot be None, assign default values for those that are
+      if self.times is None:
+        self.times = []
+      if self.values is None:
+        self.values = []
+    else:
+      self.times = []
+      self.values = []
+
+  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.times)
+      buff.write(_struct_I.pack(length))
+      pattern = '<%sd'%length
+      buff.write(struct.Struct(pattern).pack(*self.times))
+      length = len(self.values)
+      buff.write(_struct_I.pack(length))
+      pattern = '<%sd'%length
+      buff.write(struct.Struct(pattern).pack(*self.values))
+    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.times = 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.values = 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.times)
+      buff.write(_struct_I.pack(length))
+      pattern = '<%sd'%length
+      buff.write(self.times.tostring())
+      length = len(self.values)
+      buff.write(_struct_I.pack(length))
+      pattern = '<%sd'%length
+      buff.write(self.values.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.times = 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.values = 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