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

kuavo_humanoid_sdk/msg/kuavo_msgs/msg/_twoArmHandPoseCmd.py

@@ -0,0 +1,315 @@
+# This Python file uses the following encoding: utf-8
+"""autogenerated by genpy from kuavo_msgs/twoArmHandPoseCmd.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 twoArmHandPoseCmd(genpy.Message):
+  _md5sum = "cd5f0a3dc4154eb55aff1c874e2dc81e"
+  _type = "kuavo_msgs/twoArmHandPoseCmd"
+  _has_header = False  # flag to mark the presence of a Header object
+  _full_text = """twoArmHandPose  hand_poses
+# params for the IK solver
+bool use_custom_ik_param
+bool joint_angles_as_q0
+ikSolveParam ik_param
+int32 frame # 0 keep current frame  1 world frame (based on odom)  2  local frame   3  manipulation world frame 
+================================================================================
+MSG: kuavo_msgs/twoArmHandPose
+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
+================================================================================
+MSG: kuavo_msgs/ikSolveParam
+# snopt params
+float64 major_optimality_tol
+float64 major_feasibility_tol
+float64 minor_feasibility_tol
+float64 major_iterations_limit
+# constraint and cost params
+float64 oritation_constraint_tol
+float64 pos_constraint_tol # work when pos_cost_weight > 0.0
+float64 pos_cost_weight"""
+  __slots__ = ['hand_poses','use_custom_ik_param','joint_angles_as_q0','ik_param','frame']
+  _slot_types = ['kuavo_msgs/twoArmHandPose','bool','bool','kuavo_msgs/ikSolveParam','int32']
+
+  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:
+       hand_poses,use_custom_ik_param,joint_angles_as_q0,ik_param,frame
+
+    :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(twoArmHandPoseCmd, self).__init__(*args, **kwds)
+      # message fields cannot be None, assign default values for those that are
+      if self.hand_poses is None:
+        self.hand_poses = kuavo_msgs.msg.twoArmHandPose()
+      if self.use_custom_ik_param is None:
+        self.use_custom_ik_param = False
+      if self.joint_angles_as_q0 is None:
+        self.joint_angles_as_q0 = False
+      if self.ik_param is None:
+        self.ik_param = kuavo_msgs.msg.ikSolveParam()
+      if self.frame is None:
+        self.frame = 0
+    else:
+      self.hand_poses = kuavo_msgs.msg.twoArmHandPose()
+      self.use_custom_ik_param = False
+      self.joint_angles_as_q0 = False
+      self.ik_param = kuavo_msgs.msg.ikSolveParam()
+      self.frame = 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_3I().pack(_x.hand_poses.header.seq, _x.hand_poses.header.stamp.secs, _x.hand_poses.header.stamp.nsecs))
+      _x = self.hand_poses.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.hand_poses.left_pose.pos_xyz))
+      buff.write(_get_struct_4d().pack(*self.hand_poses.left_pose.quat_xyzw))
+      buff.write(_get_struct_3d().pack(*self.hand_poses.left_pose.elbow_pos_xyz))
+      buff.write(_get_struct_7d().pack(*self.hand_poses.left_pose.joint_angles))
+      buff.write(_get_struct_3d().pack(*self.hand_poses.right_pose.pos_xyz))
+      buff.write(_get_struct_4d().pack(*self.hand_poses.right_pose.quat_xyzw))
+      buff.write(_get_struct_3d().pack(*self.hand_poses.right_pose.elbow_pos_xyz))
+      buff.write(_get_struct_7d().pack(*self.hand_poses.right_pose.joint_angles))
+      _x = self
+      buff.write(_get_struct_2B7di().pack(_x.use_custom_ik_param, _x.joint_angles_as_q0, _x.ik_param.major_optimality_tol, _x.ik_param.major_feasibility_tol, _x.ik_param.minor_feasibility_tol, _x.ik_param.major_iterations_limit, _x.ik_param.oritation_constraint_tol, _x.ik_param.pos_constraint_tol, _x.ik_param.pos_cost_weight, _x.frame))
+    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.hand_poses is None:
+        self.hand_poses = kuavo_msgs.msg.twoArmHandPose()
+      if self.ik_param is None:
+        self.ik_param = kuavo_msgs.msg.ikSolveParam()
+      end = 0
+      _x = self
+      start = end
+      end += 12
+      (_x.hand_poses.header.seq, _x.hand_poses.header.stamp.secs, _x.hand_poses.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.hand_poses.header.frame_id = str[start:end].decode('utf-8', 'rosmsg')
+      else:
+        self.hand_poses.header.frame_id = str[start:end]
+      start = end
+      end += 24
+      self.hand_poses.left_pose.pos_xyz = _get_struct_3d().unpack(str[start:end])
+      start = end
+      end += 32
+      self.hand_poses.left_pose.quat_xyzw = _get_struct_4d().unpack(str[start:end])
+      start = end
+      end += 24
+      self.hand_poses.left_pose.elbow_pos_xyz = _get_struct_3d().unpack(str[start:end])
+      start = end
+      end += 56
+      self.hand_poses.left_pose.joint_angles = _get_struct_7d().unpack(str[start:end])
+      start = end
+      end += 24
+      self.hand_poses.right_pose.pos_xyz = _get_struct_3d().unpack(str[start:end])
+      start = end
+      end += 32
+      self.hand_poses.right_pose.quat_xyzw = _get_struct_4d().unpack(str[start:end])
+      start = end
+      end += 24
+      self.hand_poses.right_pose.elbow_pos_xyz = _get_struct_3d().unpack(str[start:end])
+      start = end
+      end += 56
+      self.hand_poses.right_pose.joint_angles = _get_struct_7d().unpack(str[start:end])
+      _x = self
+      start = end
+      end += 62
+      (_x.use_custom_ik_param, _x.joint_angles_as_q0, _x.ik_param.major_optimality_tol, _x.ik_param.major_feasibility_tol, _x.ik_param.minor_feasibility_tol, _x.ik_param.major_iterations_limit, _x.ik_param.oritation_constraint_tol, _x.ik_param.pos_constraint_tol, _x.ik_param.pos_cost_weight, _x.frame,) = _get_struct_2B7di().unpack(str[start:end])
+      self.use_custom_ik_param = bool(self.use_custom_ik_param)
+      self.joint_angles_as_q0 = bool(self.joint_angles_as_q0)
+      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.hand_poses.header.seq, _x.hand_poses.header.stamp.secs, _x.hand_poses.header.stamp.nsecs))
+      _x = self.hand_poses.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.hand_poses.left_pose.pos_xyz.tostring())
+      buff.write(self.hand_poses.left_pose.quat_xyzw.tostring())
+      buff.write(self.hand_poses.left_pose.elbow_pos_xyz.tostring())
+      buff.write(self.hand_poses.left_pose.joint_angles.tostring())
+      buff.write(self.hand_poses.right_pose.pos_xyz.tostring())
+      buff.write(self.hand_poses.right_pose.quat_xyzw.tostring())
+      buff.write(self.hand_poses.right_pose.elbow_pos_xyz.tostring())
+      buff.write(self.hand_poses.right_pose.joint_angles.tostring())
+      _x = self
+      buff.write(_get_struct_2B7di().pack(_x.use_custom_ik_param, _x.joint_angles_as_q0, _x.ik_param.major_optimality_tol, _x.ik_param.major_feasibility_tol, _x.ik_param.minor_feasibility_tol, _x.ik_param.major_iterations_limit, _x.ik_param.oritation_constraint_tol, _x.ik_param.pos_constraint_tol, _x.ik_param.pos_cost_weight, _x.frame))
+    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.hand_poses is None:
+        self.hand_poses = kuavo_msgs.msg.twoArmHandPose()
+      if self.ik_param is None:
+        self.ik_param = kuavo_msgs.msg.ikSolveParam()
+      end = 0
+      _x = self
+      start = end
+      end += 12
+      (_x.hand_poses.header.seq, _x.hand_poses.header.stamp.secs, _x.hand_poses.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.hand_poses.header.frame_id = str[start:end].decode('utf-8', 'rosmsg')
+      else:
+        self.hand_poses.header.frame_id = str[start:end]
+      start = end
+      end += 24
+      self.hand_poses.left_pose.pos_xyz = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=3)
+      start = end
+      end += 32
+      self.hand_poses.left_pose.quat_xyzw = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=4)
+      start = end
+      end += 24
+      self.hand_poses.left_pose.elbow_pos_xyz = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=3)
+      start = end
+      end += 56
+      self.hand_poses.left_pose.joint_angles = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=7)
+      start = end
+      end += 24
+      self.hand_poses.right_pose.pos_xyz = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=3)
+      start = end
+      end += 32
+      self.hand_poses.right_pose.quat_xyzw = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=4)
+      start = end
+      end += 24
+      self.hand_poses.right_pose.elbow_pos_xyz = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=3)
+      start = end
+      end += 56
+      self.hand_poses.right_pose.joint_angles = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=7)
+      _x = self
+      start = end
+      end += 62
+      (_x.use_custom_ik_param, _x.joint_angles_as_q0, _x.ik_param.major_optimality_tol, _x.ik_param.major_feasibility_tol, _x.ik_param.minor_feasibility_tol, _x.ik_param.major_iterations_limit, _x.ik_param.oritation_constraint_tol, _x.ik_param.pos_constraint_tol, _x.ik_param.pos_cost_weight, _x.frame,) = _get_struct_2B7di().unpack(str[start:end])
+      self.use_custom_ik_param = bool(self.use_custom_ik_param)
+      self.joint_angles_as_q0 = bool(self.joint_angles_as_q0)
+      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_2B7di = None
+def _get_struct_2B7di():
+    global _struct_2B7di
+    if _struct_2B7di is None:
+        _struct_2B7di = struct.Struct("<2B7di")
+    return _struct_2B7di
+_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

kuavo_humanoid_sdk/msg/kuavo_msgs/msg/_twoArmHandPoseCmdFree.py

@@ -0,0 +1,338 @@
+# This Python file uses the following encoding: utf-8
+"""autogenerated by genpy from kuavo_msgs/twoArmHandPoseCmdFree.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 twoArmHandPoseCmdFree(genpy.Message):
+  _md5sum = "1e8530cd23f68060b2c08649baf4bbe8"
+  _type = "kuavo_msgs/twoArmHandPoseCmdFree"
+  _has_header = False  # flag to mark the presence of a Header object
+  _full_text = """twoArmHandPoseFree  hand_poses
+# params for the IK solver
+bool use_custom_ik_param
+bool joint_angles_as_q0
+ikSolveParam ik_param
+================================================================================
+MSG: kuavo_msgs/twoArmHandPoseFree
+Header header
+armHandPoseFree  left_pose
+armHandPoseFree  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/armHandPoseFree
+float64[3] pos_xyz
+float64[4] quat_xyzw
+
+float64[3] elbow_pos_xyz
+
+float64[] joint_angles
+
+================================================================================
+MSG: kuavo_msgs/ikSolveParam
+# snopt params
+float64 major_optimality_tol
+float64 major_feasibility_tol
+float64 minor_feasibility_tol
+float64 major_iterations_limit
+# constraint and cost params
+float64 oritation_constraint_tol
+float64 pos_constraint_tol # work when pos_cost_weight > 0.0
+float64 pos_cost_weight"""
+  __slots__ = ['hand_poses','use_custom_ik_param','joint_angles_as_q0','ik_param']
+  _slot_types = ['kuavo_msgs/twoArmHandPoseFree','bool','bool','kuavo_msgs/ikSolveParam']
+
+  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:
+       hand_poses,use_custom_ik_param,joint_angles_as_q0,ik_param
+
+    :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(twoArmHandPoseCmdFree, self).__init__(*args, **kwds)
+      # message fields cannot be None, assign default values for those that are
+      if self.hand_poses is None:
+        self.hand_poses = kuavo_msgs.msg.twoArmHandPoseFree()
+      if self.use_custom_ik_param is None:
+        self.use_custom_ik_param = False
+      if self.joint_angles_as_q0 is None:
+        self.joint_angles_as_q0 = False
+      if self.ik_param is None:
+        self.ik_param = kuavo_msgs.msg.ikSolveParam()
+    else:
+      self.hand_poses = kuavo_msgs.msg.twoArmHandPoseFree()
+      self.use_custom_ik_param = False
+      self.joint_angles_as_q0 = False
+      self.ik_param = kuavo_msgs.msg.ikSolveParam()
+
+  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.hand_poses.header.seq, _x.hand_poses.header.stamp.secs, _x.hand_poses.header.stamp.nsecs))
+      _x = self.hand_poses.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.hand_poses.left_pose.pos_xyz))
+      buff.write(_get_struct_4d().pack(*self.hand_poses.left_pose.quat_xyzw))
+      buff.write(_get_struct_3d().pack(*self.hand_poses.left_pose.elbow_pos_xyz))
+      length = len(self.hand_poses.left_pose.joint_angles)
+      buff.write(_struct_I.pack(length))
+      pattern = '<%sd'%length
+      buff.write(struct.Struct(pattern).pack(*self.hand_poses.left_pose.joint_angles))
+      buff.write(_get_struct_3d().pack(*self.hand_poses.right_pose.pos_xyz))
+      buff.write(_get_struct_4d().pack(*self.hand_poses.right_pose.quat_xyzw))
+      buff.write(_get_struct_3d().pack(*self.hand_poses.right_pose.elbow_pos_xyz))
+      length = len(self.hand_poses.right_pose.joint_angles)
+      buff.write(_struct_I.pack(length))
+      pattern = '<%sd'%length
+      buff.write(struct.Struct(pattern).pack(*self.hand_poses.right_pose.joint_angles))
+      _x = self
+      buff.write(_get_struct_2B7d().pack(_x.use_custom_ik_param, _x.joint_angles_as_q0, _x.ik_param.major_optimality_tol, _x.ik_param.major_feasibility_tol, _x.ik_param.minor_feasibility_tol, _x.ik_param.major_iterations_limit, _x.ik_param.oritation_constraint_tol, _x.ik_param.pos_constraint_tol, _x.ik_param.pos_cost_weight))
+    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.hand_poses is None:
+        self.hand_poses = kuavo_msgs.msg.twoArmHandPoseFree()
+      if self.ik_param is None:
+        self.ik_param = kuavo_msgs.msg.ikSolveParam()
+      end = 0
+      _x = self
+      start = end
+      end += 12
+      (_x.hand_poses.header.seq, _x.hand_poses.header.stamp.secs, _x.hand_poses.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.hand_poses.header.frame_id = str[start:end].decode('utf-8', 'rosmsg')
+      else:
+        self.hand_poses.header.frame_id = str[start:end]
+      start = end
+      end += 24
+      self.hand_poses.left_pose.pos_xyz = _get_struct_3d().unpack(str[start:end])
+      start = end
+      end += 32
+      self.hand_poses.left_pose.quat_xyzw = _get_struct_4d().unpack(str[start:end])
+      start = end
+      end += 24
+      self.hand_poses.left_pose.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.hand_poses.left_pose.joint_angles = s.unpack(str[start:end])
+      start = end
+      end += 24
+      self.hand_poses.right_pose.pos_xyz = _get_struct_3d().unpack(str[start:end])
+      start = end
+      end += 32
+      self.hand_poses.right_pose.quat_xyzw = _get_struct_4d().unpack(str[start:end])
+      start = end
+      end += 24
+      self.hand_poses.right_pose.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.hand_poses.right_pose.joint_angles = s.unpack(str[start:end])
+      _x = self
+      start = end
+      end += 58
+      (_x.use_custom_ik_param, _x.joint_angles_as_q0, _x.ik_param.major_optimality_tol, _x.ik_param.major_feasibility_tol, _x.ik_param.minor_feasibility_tol, _x.ik_param.major_iterations_limit, _x.ik_param.oritation_constraint_tol, _x.ik_param.pos_constraint_tol, _x.ik_param.pos_cost_weight,) = _get_struct_2B7d().unpack(str[start:end])
+      self.use_custom_ik_param = bool(self.use_custom_ik_param)
+      self.joint_angles_as_q0 = bool(self.joint_angles_as_q0)
+      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.hand_poses.header.seq, _x.hand_poses.header.stamp.secs, _x.hand_poses.header.stamp.nsecs))
+      _x = self.hand_poses.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.hand_poses.left_pose.pos_xyz.tostring())
+      buff.write(self.hand_poses.left_pose.quat_xyzw.tostring())
+      buff.write(self.hand_poses.left_pose.elbow_pos_xyz.tostring())
+      length = len(self.hand_poses.left_pose.joint_angles)
+      buff.write(_struct_I.pack(length))
+      pattern = '<%sd'%length
+      buff.write(self.hand_poses.left_pose.joint_angles.tostring())
+      buff.write(self.hand_poses.right_pose.pos_xyz.tostring())
+      buff.write(self.hand_poses.right_pose.quat_xyzw.tostring())
+      buff.write(self.hand_poses.right_pose.elbow_pos_xyz.tostring())
+      length = len(self.hand_poses.right_pose.joint_angles)
+      buff.write(_struct_I.pack(length))
+      pattern = '<%sd'%length
+      buff.write(self.hand_poses.right_pose.joint_angles.tostring())
+      _x = self
+      buff.write(_get_struct_2B7d().pack(_x.use_custom_ik_param, _x.joint_angles_as_q0, _x.ik_param.major_optimality_tol, _x.ik_param.major_feasibility_tol, _x.ik_param.minor_feasibility_tol, _x.ik_param.major_iterations_limit, _x.ik_param.oritation_constraint_tol, _x.ik_param.pos_constraint_tol, _x.ik_param.pos_cost_weight))
+    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.hand_poses is None:
+        self.hand_poses = kuavo_msgs.msg.twoArmHandPoseFree()
+      if self.ik_param is None:
+        self.ik_param = kuavo_msgs.msg.ikSolveParam()
+      end = 0
+      _x = self
+      start = end
+      end += 12
+      (_x.hand_poses.header.seq, _x.hand_poses.header.stamp.secs, _x.hand_poses.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.hand_poses.header.frame_id = str[start:end].decode('utf-8', 'rosmsg')
+      else:
+        self.hand_poses.header.frame_id = str[start:end]
+      start = end
+      end += 24
+      self.hand_poses.left_pose.pos_xyz = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=3)
+      start = end
+      end += 32
+      self.hand_poses.left_pose.quat_xyzw = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=4)
+      start = end
+      end += 24
+      self.hand_poses.left_pose.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.hand_poses.left_pose.joint_angles = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
+      start = end
+      end += 24
+      self.hand_poses.right_pose.pos_xyz = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=3)
+      start = end
+      end += 32
+      self.hand_poses.right_pose.quat_xyzw = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=4)
+      start = end
+      end += 24
+      self.hand_poses.right_pose.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.hand_poses.right_pose.joint_angles = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
+      _x = self
+      start = end
+      end += 58
+      (_x.use_custom_ik_param, _x.joint_angles_as_q0, _x.ik_param.major_optimality_tol, _x.ik_param.major_feasibility_tol, _x.ik_param.minor_feasibility_tol, _x.ik_param.major_iterations_limit, _x.ik_param.oritation_constraint_tol, _x.ik_param.pos_constraint_tol, _x.ik_param.pos_cost_weight,) = _get_struct_2B7d().unpack(str[start:end])
+      self.use_custom_ik_param = bool(self.use_custom_ik_param)
+      self.joint_angles_as_q0 = bool(self.joint_angles_as_q0)
+      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_2B7d = None
+def _get_struct_2B7d():
+    global _struct_2B7d
+    if _struct_2B7d is None:
+        _struct_2B7d = struct.Struct("<2B7d")
+    return _struct_2B7d
+_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