kuavo-humanoid-sdk 1.2.2b3208__20250922170818-py3-none-any.whl

kuavo_humanoid_sdk/msg/kuavo_msgs/srv/_planArmTrajectoryCubicSpline.py

@@ -0,0 +1,490 @@
+# This Python file uses the following encoding: utf-8
+"""autogenerated by genpy from kuavo_msgs/planArmTrajectoryCubicSplineRequest.msg. Do not edit."""
+import codecs
+import sys
+python3 = True if sys.hexversion > 0x03000000 else False
+import genpy
+import struct
+
+import genpy
+import std_msgs.msg
+import trajectory_msgs.msg
+
+class planArmTrajectoryCubicSplineRequest(genpy.Message):
+  _md5sum = "00c4170f44c26e68c1de38303b04fb23"
+  _type = "kuavo_msgs/planArmTrajectoryCubicSplineRequest"
+  _has_header = False  # flag to mark the presence of a Header object
+  _full_text = """trajectory_msgs/JointTrajectory joint_trajectory
+
+================================================================================
+MSG: trajectory_msgs/JointTrajectory
+Header header
+string[] joint_names
+JointTrajectoryPoint[] points
+
+================================================================================
+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: trajectory_msgs/JointTrajectoryPoint
+# Each trajectory point specifies either positions[, velocities[, accelerations]]
+# or positions[, effort] for the trajectory to be executed.
+# All specified values are in the same order as the joint names in JointTrajectory.msg
+
+float64[] positions
+float64[] velocities
+float64[] accelerations
+float64[] effort
+duration time_from_start
+"""
+  __slots__ = ['joint_trajectory']
+  _slot_types = ['trajectory_msgs/JointTrajectory']
+
+  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:
+       joint_trajectory
+
+    :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(planArmTrajectoryCubicSplineRequest, self).__init__(*args, **kwds)
+      # message fields cannot be None, assign default values for those that are
+      if self.joint_trajectory is None:
+        self.joint_trajectory = trajectory_msgs.msg.JointTrajectory()
+    else:
+      self.joint_trajectory = trajectory_msgs.msg.JointTrajectory()
+
+  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.joint_trajectory.header.seq, _x.joint_trajectory.header.stamp.secs, _x.joint_trajectory.header.stamp.nsecs))
+      _x = self.joint_trajectory.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))
+      length = len(self.joint_trajectory.joint_names)
+      buff.write(_struct_I.pack(length))
+      for val1 in self.joint_trajectory.joint_names:
+        length = len(val1)
+        if python3 or type(val1) == unicode:
+          val1 = val1.encode('utf-8')
+          length = len(val1)
+        buff.write(struct.Struct('<I%ss'%length).pack(length, val1))
+      length = len(self.joint_trajectory.points)
+      buff.write(_struct_I.pack(length))
+      for val1 in self.joint_trajectory.points:
+        length = len(val1.positions)
+        buff.write(_struct_I.pack(length))
+        pattern = '<%sd'%length
+        buff.write(struct.Struct(pattern).pack(*val1.positions))
+        length = len(val1.velocities)
+        buff.write(_struct_I.pack(length))
+        pattern = '<%sd'%length
+        buff.write(struct.Struct(pattern).pack(*val1.velocities))
+        length = len(val1.accelerations)
+        buff.write(_struct_I.pack(length))
+        pattern = '<%sd'%length
+        buff.write(struct.Struct(pattern).pack(*val1.accelerations))
+        length = len(val1.effort)
+        buff.write(_struct_I.pack(length))
+        pattern = '<%sd'%length
+        buff.write(struct.Struct(pattern).pack(*val1.effort))
+        _v1 = val1.time_from_start
+        _x = _v1
+        buff.write(_get_struct_2i().pack(_x.secs, _x.nsecs))
+    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.joint_trajectory is None:
+        self.joint_trajectory = trajectory_msgs.msg.JointTrajectory()
+      end = 0
+      _x = self
+      start = end
+      end += 12
+      (_x.joint_trajectory.header.seq, _x.joint_trajectory.header.stamp.secs, _x.joint_trajectory.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.joint_trajectory.header.frame_id = str[start:end].decode('utf-8', 'rosmsg')
+      else:
+        self.joint_trajectory.header.frame_id = str[start:end]
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      self.joint_trajectory.joint_names = []
+      for i in range(0, length):
+        start = end
+        end += 4
+        (length,) = _struct_I.unpack(str[start:end])
+        start = end
+        end += length
+        if python3:
+          val1 = str[start:end].decode('utf-8', 'rosmsg')
+        else:
+          val1 = str[start:end]
+        self.joint_trajectory.joint_names.append(val1)
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      self.joint_trajectory.points = []
+      for i in range(0, length):
+        val1 = trajectory_msgs.msg.JointTrajectoryPoint()
+        start = end
+        end += 4
+        (length,) = _struct_I.unpack(str[start:end])
+        pattern = '<%sd'%length
+        start = end
+        s = struct.Struct(pattern)
+        end += s.size
+        val1.positions = 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
+        val1.velocities = 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
+        val1.accelerations = 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
+        val1.effort = s.unpack(str[start:end])
+        _v2 = val1.time_from_start
+        _x = _v2
+        start = end
+        end += 8
+        (_x.secs, _x.nsecs,) = _get_struct_2i().unpack(str[start:end])
+        self.joint_trajectory.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
+      buff.write(_get_struct_3I().pack(_x.joint_trajectory.header.seq, _x.joint_trajectory.header.stamp.secs, _x.joint_trajectory.header.stamp.nsecs))
+      _x = self.joint_trajectory.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))
+      length = len(self.joint_trajectory.joint_names)
+      buff.write(_struct_I.pack(length))
+      for val1 in self.joint_trajectory.joint_names:
+        length = len(val1)
+        if python3 or type(val1) == unicode:
+          val1 = val1.encode('utf-8')
+          length = len(val1)
+        buff.write(struct.Struct('<I%ss'%length).pack(length, val1))
+      length = len(self.joint_trajectory.points)
+      buff.write(_struct_I.pack(length))
+      for val1 in self.joint_trajectory.points:
+        length = len(val1.positions)
+        buff.write(_struct_I.pack(length))
+        pattern = '<%sd'%length
+        buff.write(val1.positions.tostring())
+        length = len(val1.velocities)
+        buff.write(_struct_I.pack(length))
+        pattern = '<%sd'%length
+        buff.write(val1.velocities.tostring())
+        length = len(val1.accelerations)
+        buff.write(_struct_I.pack(length))
+        pattern = '<%sd'%length
+        buff.write(val1.accelerations.tostring())
+        length = len(val1.effort)
+        buff.write(_struct_I.pack(length))
+        pattern = '<%sd'%length
+        buff.write(val1.effort.tostring())
+        _v3 = val1.time_from_start
+        _x = _v3
+        buff.write(_get_struct_2i().pack(_x.secs, _x.nsecs))
+    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.joint_trajectory is None:
+        self.joint_trajectory = trajectory_msgs.msg.JointTrajectory()
+      end = 0
+      _x = self
+      start = end
+      end += 12
+      (_x.joint_trajectory.header.seq, _x.joint_trajectory.header.stamp.secs, _x.joint_trajectory.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.joint_trajectory.header.frame_id = str[start:end].decode('utf-8', 'rosmsg')
+      else:
+        self.joint_trajectory.header.frame_id = str[start:end]
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      self.joint_trajectory.joint_names = []
+      for i in range(0, length):
+        start = end
+        end += 4
+        (length,) = _struct_I.unpack(str[start:end])
+        start = end
+        end += length
+        if python3:
+          val1 = str[start:end].decode('utf-8', 'rosmsg')
+        else:
+          val1 = str[start:end]
+        self.joint_trajectory.joint_names.append(val1)
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      self.joint_trajectory.points = []
+      for i in range(0, length):
+        val1 = trajectory_msgs.msg.JointTrajectoryPoint()
+        start = end
+        end += 4
+        (length,) = _struct_I.unpack(str[start:end])
+        pattern = '<%sd'%length
+        start = end
+        s = struct.Struct(pattern)
+        end += s.size
+        val1.positions = 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
+        val1.velocities = 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
+        val1.accelerations = 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
+        val1.effort = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
+        _v4 = val1.time_from_start
+        _x = _v4
+        start = end
+        end += 8
+        (_x.secs, _x.nsecs,) = _get_struct_2i().unpack(str[start:end])
+        self.joint_trajectory.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_2i = None
+def _get_struct_2i():
+    global _struct_2i
+    if _struct_2i is None:
+        _struct_2i = struct.Struct("<2i")
+    return _struct_2i
+_struct_3I = None
+def _get_struct_3I():
+    global _struct_3I
+    if _struct_3I is None:
+        _struct_3I = struct.Struct("<3I")
+    return _struct_3I
+# This Python file uses the following encoding: utf-8
+"""autogenerated by genpy from kuavo_msgs/planArmTrajectoryCubicSplineResponse.msg. Do not edit."""
+import codecs
+import sys
+python3 = True if sys.hexversion > 0x03000000 else False
+import genpy
+import struct
+
+
+class planArmTrajectoryCubicSplineResponse(genpy.Message):
+  _md5sum = "358e233cde0c8a8bcfea4ce193f8fc15"
+  _type = "kuavo_msgs/planArmTrajectoryCubicSplineResponse"
+  _has_header = False  # flag to mark the presence of a Header object
+  _full_text = """bool success
+"""
+  __slots__ = ['success']
+  _slot_types = ['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:
+       success
+
+    :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(planArmTrajectoryCubicSplineResponse, self).__init__(*args, **kwds)
+      # message fields cannot be None, assign default values for those that are
+      if self.success is None:
+        self.success = False
+    else:
+      self.success = 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.success
+      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 += 1
+      (self.success,) = _get_struct_B().unpack(str[start:end])
+      self.success = bool(self.success)
+      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))
+    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 += 1
+      (self.success,) = _get_struct_B().unpack(str[start:end])
+      self.success = bool(self.success)
+      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
+class planArmTrajectoryCubicSpline(object):
+  _type          = 'kuavo_msgs/planArmTrajectoryCubicSpline'
+  _md5sum = 'e448b11da4fff2d08fc590699b83236c'
+  _request_class  = planArmTrajectoryCubicSplineRequest
+  _response_class = planArmTrajectoryCubicSplineResponse