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

kuavo_humanoid_sdk/msg/kuavo_msgs/msg/_touchSensorStatus.py

@@ -0,0 +1,162 @@
+# This Python file uses the following encoding: utf-8
+"""autogenerated by genpy from kuavo_msgs/touchSensorStatus.msg. Do not edit."""
+import codecs
+import sys
+python3 = True if sys.hexversion > 0x03000000 else False
+import genpy
+import struct
+
+
+class touchSensorStatus(genpy.Message):
+  _md5sum = "08cd59dc396363cba4d4f01df99ec86c"
+  _type = "kuavo_msgs/touchSensorStatus"
+  _has_header = False  # flag to mark the presence of a Header object
+  _full_text = """uint16 normal_force1  # 法向力1
+uint16 normal_force2  # 法向力2
+uint16 normal_force3  # 法向力3
+uint16 tangential_force1  # 切向力1
+uint16 tangential_force2  # 切向力2
+uint16 tangential_force3  # 切向力3
+uint16 tangential_direction1  # 切向力方向1
+uint16 tangential_direction2  # 切向力方向2
+uint16 tangential_direction3  # 切向力方向3
+uint32 self_proximity1  # 自电容接近传感器1
+uint32 self_proximity2  # 自电容接近传感器2
+uint32 mutual_proximity  # 互电容接近传感器
+uint16 status  # 传感器状态"""
+  __slots__ = ['normal_force1','normal_force2','normal_force3','tangential_force1','tangential_force2','tangential_force3','tangential_direction1','tangential_direction2','tangential_direction3','self_proximity1','self_proximity2','mutual_proximity','status']
+  _slot_types = ['uint16','uint16','uint16','uint16','uint16','uint16','uint16','uint16','uint16','uint32','uint32','uint32','uint16']
+
+  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:
+       normal_force1,normal_force2,normal_force3,tangential_force1,tangential_force2,tangential_force3,tangential_direction1,tangential_direction2,tangential_direction3,self_proximity1,self_proximity2,mutual_proximity,status
+
+    :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(touchSensorStatus, self).__init__(*args, **kwds)
+      # message fields cannot be None, assign default values for those that are
+      if self.normal_force1 is None:
+        self.normal_force1 = 0
+      if self.normal_force2 is None:
+        self.normal_force2 = 0
+      if self.normal_force3 is None:
+        self.normal_force3 = 0
+      if self.tangential_force1 is None:
+        self.tangential_force1 = 0
+      if self.tangential_force2 is None:
+        self.tangential_force2 = 0
+      if self.tangential_force3 is None:
+        self.tangential_force3 = 0
+      if self.tangential_direction1 is None:
+        self.tangential_direction1 = 0
+      if self.tangential_direction2 is None:
+        self.tangential_direction2 = 0
+      if self.tangential_direction3 is None:
+        self.tangential_direction3 = 0
+      if self.self_proximity1 is None:
+        self.self_proximity1 = 0
+      if self.self_proximity2 is None:
+        self.self_proximity2 = 0
+      if self.mutual_proximity is None:
+        self.mutual_proximity = 0
+      if self.status is None:
+        self.status = 0
+    else:
+      self.normal_force1 = 0
+      self.normal_force2 = 0
+      self.normal_force3 = 0
+      self.tangential_force1 = 0
+      self.tangential_force2 = 0
+      self.tangential_force3 = 0
+      self.tangential_direction1 = 0
+      self.tangential_direction2 = 0
+      self.tangential_direction3 = 0
+      self.self_proximity1 = 0
+      self.self_proximity2 = 0
+      self.mutual_proximity = 0
+      self.status = 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_9H3IH().pack(_x.normal_force1, _x.normal_force2, _x.normal_force3, _x.tangential_force1, _x.tangential_force2, _x.tangential_force3, _x.tangential_direction1, _x.tangential_direction2, _x.tangential_direction3, _x.self_proximity1, _x.self_proximity2, _x.mutual_proximity, _x.status))
+    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 += 32
+      (_x.normal_force1, _x.normal_force2, _x.normal_force3, _x.tangential_force1, _x.tangential_force2, _x.tangential_force3, _x.tangential_direction1, _x.tangential_direction2, _x.tangential_direction3, _x.self_proximity1, _x.self_proximity2, _x.mutual_proximity, _x.status,) = _get_struct_9H3IH().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_9H3IH().pack(_x.normal_force1, _x.normal_force2, _x.normal_force3, _x.tangential_force1, _x.tangential_force2, _x.tangential_force3, _x.tangential_direction1, _x.tangential_direction2, _x.tangential_direction3, _x.self_proximity1, _x.self_proximity2, _x.mutual_proximity, _x.status))
+    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 += 32
+      (_x.normal_force1, _x.normal_force2, _x.normal_force3, _x.tangential_force1, _x.tangential_force2, _x.tangential_force3, _x.tangential_direction1, _x.tangential_direction2, _x.tangential_direction3, _x.self_proximity1, _x.self_proximity2, _x.mutual_proximity, _x.status,) = _get_struct_9H3IH().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_9H3IH = None
+def _get_struct_9H3IH():
+    global _struct_9H3IH
+    if _struct_9H3IH is None:
+        _struct_9H3IH = struct.Struct("<9H3IH")
+    return _struct_9H3IH

kuavo_humanoid_sdk/msg/kuavo_msgs/msg/_twoArmHandPose.py

@@ -0,0 +1,272 @@
+# This Python file uses the following encoding: utf-8
+"""autogenerated by genpy from kuavo_msgs/twoArmHandPose.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 twoArmHandPose(genpy.Message):
+  _md5sum = "5bdb1e027f430369b6f88e5e2f5d31ca"
+  _type = "kuavo_msgs/twoArmHandPose"
+  _has_header = True  # flag to mark the presence of a Header object
+  _full_text = """Header header
+armHandPose  left_pose
+armHandPose  right_pose
+================================================================================
+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/armHandPose
+float64[3] pos_xyz
+float64[4] quat_xyzw
+
+float64[3] elbow_pos_xyz
+
+float64[7] joint_angles"""
+  __slots__ = ['header','left_pose','right_pose']
+  _slot_types = ['std_msgs/Header','kuavo_msgs/armHandPose','kuavo_msgs/armHandPose']
+
+  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,left_pose,right_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(twoArmHandPose, 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.left_pose is None:
+        self.left_pose = kuavo_msgs.msg.armHandPose()
+      if self.right_pose is None:
+        self.right_pose = kuavo_msgs.msg.armHandPose()
+    else:
+      self.header = std_msgs.msg.Header()
+      self.left_pose = kuavo_msgs.msg.armHandPose()
+      self.right_pose = kuavo_msgs.msg.armHandPose()
+
+  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))
+      buff.write(_get_struct_3d().pack(*self.left_pose.pos_xyz))
+      buff.write(_get_struct_4d().pack(*self.left_pose.quat_xyzw))
+      buff.write(_get_struct_3d().pack(*self.left_pose.elbow_pos_xyz))
+      buff.write(_get_struct_7d().pack(*self.left_pose.joint_angles))
+      buff.write(_get_struct_3d().pack(*self.right_pose.pos_xyz))
+      buff.write(_get_struct_4d().pack(*self.right_pose.quat_xyzw))
+      buff.write(_get_struct_3d().pack(*self.right_pose.elbow_pos_xyz))
+      buff.write(_get_struct_7d().pack(*self.right_pose.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:
+      if self.header is None:
+        self.header = std_msgs.msg.Header()
+      if self.left_pose is None:
+        self.left_pose = kuavo_msgs.msg.armHandPose()
+      if self.right_pose is None:
+        self.right_pose = kuavo_msgs.msg.armHandPose()
+      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 += 24
+      self.left_pose.pos_xyz = _get_struct_3d().unpack(str[start:end])
+      start = end
+      end += 32
+      self.left_pose.quat_xyzw = _get_struct_4d().unpack(str[start:end])
+      start = end
+      end += 24
+      self.left_pose.elbow_pos_xyz = _get_struct_3d().unpack(str[start:end])
+      start = end
+      end += 56
+      self.left_pose.joint_angles = _get_struct_7d().unpack(str[start:end])
+      start = end
+      end += 24
+      self.right_pose.pos_xyz = _get_struct_3d().unpack(str[start:end])
+      start = end
+      end += 32
+      self.right_pose.quat_xyzw = _get_struct_4d().unpack(str[start:end])
+      start = end
+      end += 24
+      self.right_pose.elbow_pos_xyz = _get_struct_3d().unpack(str[start:end])
+      start = end
+      end += 56
+      self.right_pose.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:
+      _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))
+      buff.write(self.left_pose.pos_xyz.tostring())
+      buff.write(self.left_pose.quat_xyzw.tostring())
+      buff.write(self.left_pose.elbow_pos_xyz.tostring())
+      buff.write(self.left_pose.joint_angles.tostring())
+      buff.write(self.right_pose.pos_xyz.tostring())
+      buff.write(self.right_pose.quat_xyzw.tostring())
+      buff.write(self.right_pose.elbow_pos_xyz.tostring())
+      buff.write(self.right_pose.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:
+      if self.header is None:
+        self.header = std_msgs.msg.Header()
+      if self.left_pose is None:
+        self.left_pose = kuavo_msgs.msg.armHandPose()
+      if self.right_pose is None:
+        self.right_pose = kuavo_msgs.msg.armHandPose()
+      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 += 24
+      self.left_pose.pos_xyz = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=3)
+      start = end
+      end += 32
+      self.left_pose.quat_xyzw = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=4)
+      start = end
+      end += 24
+      self.left_pose.elbow_pos_xyz = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=3)
+      start = end
+      end += 56
+      self.left_pose.joint_angles = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=7)
+      start = end
+      end += 24
+      self.right_pose.pos_xyz = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=3)
+      start = end
+      end += 32
+      self.right_pose.quat_xyzw = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=4)
+      start = end
+      end += 24
+      self.right_pose.elbow_pos_xyz = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=3)
+      start = end
+      end += 56
+      self.right_pose.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_3I = None
+def _get_struct_3I():
+    global _struct_3I
+    if _struct_3I is None:
+        _struct_3I = struct.Struct("<3I")
+    return _struct_3I
+_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