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GR00T-WholeBodyControl / external_dependencies /unitree_sdk2_python /unitree_sdk2py /idl /default.py
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Initial mirror of NVlabs/GR00T-WholeBodyControl@087f9ac
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from .builtin_interfaces.msg.dds_ import *
from .std_msgs.msg.dds_ import *
from .geometry_msgs.msg.dds_ import *
from .nav_msgs.msg.dds_ import *
from .sensor_msgs.msg.dds_ import *
from .unitree_go.msg.dds_ import *
from .unitree_api.msg.dds_ import *
# IDL for unitree_hg
from .unitree_hg.msg.dds_ import LowCmd_ as HGLowCmd_
from .unitree_hg.msg.dds_ import LowState_ as HGLowState_
from .unitree_hg.msg.dds_ import MotorCmd_ as HGMotorCmd_
from .unitree_hg.msg.dds_ import MotorState_ as HGMotorState_
from .unitree_hg.msg.dds_ import BmsState_ as HGBmsState_
from .unitree_hg.msg.dds_ import IMUState_ as HGIMUState_
from .unitree_hg.msg.dds_ import MainBoardState_ as HGMainBoardState_
from .unitree_hg.msg.dds_ import PressSensorState_ as HGPressSensorState_
from .unitree_hg.msg.dds_ import HandCmd_ as HGHandCmd_
from .unitree_hg.msg.dds_ import HandState_ as HGHandState_
from .unitree_hg.msg.dds_ import OdoState_ as HGOdoState_
"""
" builtin_interfaces_msgs.msg.dds_ dafault
"""
def builtin_interfaces_msgs_msg_dds__Time_():
return Time_(0, 0)
"""
" std_msgs.msg.dds_ dafault
"""
def std_msgs_msg_dds__Header_():
return Header_(builtin_interfaces_msgs_msg_dds__Time_(), "")
def std_msgs_msg_dds__String_():
return String_("")
"""
" geometry_msgs.msg.dds_ dafault
"""
def geometry_msgs_msg_dds__Point_():
return Point_(0.0, 0.0, 0.0)
def geometry_msgs_msg_dds__Point32_():
return Point32_(0.0, 0.0, 0.0)
def geometry_msgs_msg_dds__PointStamped_():
return PointStamped_(std_msgs_msg_dds__Header_(), geometry_msgs_msg_dds__Point_())
def geometry_msgs_msg_dds__Quaternion_():
return Quaternion_(0.0, 0.0, 0.0, 0.0)
def geometry_msgs_msg_dds__Vector3_():
return Vector3_(0.0, 0.0, 0.0)
def geometry_msgs_msg_dds__Pose_():
return Pose_(geometry_msgs_msg_dds__Point_(), geometry_msgs_msg_dds__Quaternion_())
def geometry_msgs_msg_dds__Pose2D_():
return Pose2D_(0.0, 0.0, 0.0)
def geometry_msgs_msg_dds__PoseStamped_():
return PoseStamped_(std_msgs_msg_dds__Header_(), geometry_msgs_msg_dds__Pose_())
def geometry_msgs_msg_dds__PoseWithCovariance_():
return PoseWithCovariance_(geometry_msgs_msg_dds__Pose_(), [
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0
])
def geometry_msgs_msg_dds__PoseWithCovarianceStamped_():
return PoseWithCovarianceStamped_(std_msgs_msg_dds__Header_(), geometry_msgs_msg_dds__PoseWithCovariance_())
def geometry_msgs_msg_dds__QuaternionStamped_():
return QuaternionStamped_(std_msgs_msg_dds__Header_(), geometry_msgs_msg_dds__Quaternion_())
def geometry_msgs_msg_dds__Twist_():
return Twist_(geometry_msgs_msg_dds__Vector3_(), geometry_msgs_msg_dds__Vector3_())
def geometry_msgs_msg_dds__TwistStamped_():
return TwistStamped_(std_msgs_msg_dds__Header_(), geometry_msgs_msg_dds__Twist_())
def geometry_msgs_msg_dds__TwistWithCovariance_():
return TwistWithCovariance_(geometry_msgs_msg_dds__Twist_(), [
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0
])
def geometry_msgs_msg_dds__TwistWithCovarianceStamped_():
return TwistWithCovarianceStamped_(std_msgs_msg_dds__Header_(), geometry_msgs_msg_dds__TwistWithCovariance_())
"""
" nav_msgs.msg.dds_ dafault
"""
def nav_msgs_msg_dds__MapMetaData_():
return MapMetaData_(builtin_interfaces_msgs_msg_dds__Time_(), 0, 0, geometry_msgs_msg_dds__Pose_())
def nav_msgs_msg_dds__OccupancyGrid_():
return OccupancyGrid_(std_msgs_msg_dds__Header_(), nav_msgs_msg_dds__MapMetaData_(), [])
def nav_msgs_msg_dds__Odometry_():
return Odometry_(std_msgs_msg_dds__Header_(), "", geometry_msgs_msg_dds__PoseWithCovariance_(),
geometry_msgs_msg_dds__TwistWithCovariance_())
"""
" sensor_msgs.msg.dds_ dafault
"""
def sensor_msgs_msg_dds__PointField_Constants_PointField_():
return PointField_("", 0, 0, 0)
def sensor_msgs_msg_dds__PointField_Constants_PointCloud2_():
return PointCloud2_(std_msgs_msg_dds__Header_(), 0, 0, [], False, 0, 0, [], False)
"""
" unitree_go.msg.dds_ dafault
"""
def unitree_go_msg_dds__AudioData_():
return AudioData_(0, [])
def unitree_go_msg_dds__BmsCmd_():
return BmsCmd_(0, [0, 0, 0])
def unitree_go_msg_dds__BmsState_():
return BmsState_(0, 0, 0, 0, 0, 0, [0, 0], [0, 0], [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0])
def unitree_go_msg_dds__Error_():
return Error_(0, 0)
def unitree_go_msg_dds__Go2FrontVideoData_():
return Go2FrontVideoData_(0, [], [], [])
def unitree_go_msg_dds__HeightMap_():
return HeightMap_(0.0, "", 0.0, 0, 0, [0.0, 0.0], [])
def unitree_go_msg_dds__IMUState_():
return IMUState_([0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], 0)
def unitree_go_msg_dds__InterfaceConfig_():
return InterfaceConfig_(0, 0, [0, 0])
def unitree_go_msg_dds__LidarState_():
return LidarState_(0.0, "", "", "", 0.0, 0.0, 0, 0.0, 0.0, 0, 0, 0.0, 0.0, [0.0, 0.0, 0.0], 0.0, 0, 0)
def unitree_go_msg_dds__MotorCmd_():
return MotorCmd_(0, 0.0, 0.0, 0.0, 0.0, 0.0, [0, 0, 0])
def unitree_go_msg_dds__MotorState_():
return MotorState_(0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0, 0, [0, 0])
def unitree_go_msg_dds__LowCmd_():
return LowCmd_([0, 0], 0, 0, [0, 0], [0, 0], 0, [unitree_go_msg_dds__MotorCmd_() for i in range(20)],
unitree_go_msg_dds__BmsCmd_(),
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], [0, 0], 0, 0, 0)
def unitree_go_msg_dds__LowState_():
return LowState_([0, 0], 0, 0, [0, 0], [0, 0], 0, unitree_go_msg_dds__IMUState_(),
[unitree_go_msg_dds__MotorState_() for i in range(20)],
unitree_go_msg_dds__BmsState_(), [0, 0, 0, 0], [0, 0, 0, 0], 0,
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
0, 0, 0, 0, 0.0, 0.0, [0, 0, 0, 0], 0, 0)
def unitree_go_msg_dds__Req_():
return Req_("", "")
def unitree_go_msg_dds__Res_():
return Res_("", [], "")
def unitree_go_msg_dds__TimeSpec_():
return TimeSpec_(0, 0)
def unitree_go_msg_dds__PathPoint_():
return PathPoint_(0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0)
def unitree_go_msg_dds__SportModeState_():
return SportModeState_(unitree_go_msg_dds__TimeSpec_(), 0, unitree_go_msg_dds__IMUState_(),
0, 0, 0, 0.0, [0.0, 0.0, 0.0], 0.0,
[0.0, 0.0, 0.0], 0.0, [0.0, 0.0, 0.0, 0.0], [0, 0, 0, 0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0],[unitree_go_msg_dds__PathPoint_() for i in range(10)])
def unitree_go_msg_dds__UwbState_():
return UwbState_([0, 0], 0, 0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, [0.0, 0.0], 0, 0, 0)
def unitree_go_msg_dds__UwbSwitch_():
return UwbSwitch_(0)
def unitree_go_msg_dds__WirelessController_():
return WirelessController_(0.0, 0.0, 0.0, 0.0, 0)
"""
" unitree_hg.msg.dds_ dafault
"""
def unitree_hg_msg_dds__BmsCmd_():
return HGBmsCmd_(0, [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0])
def unitree_hg_msg_dds__BmsState_():
return HGBmsState_(0, 0, 0,
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 0], 0, 0, 0, [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], 0, 0, [0, 0, 0, 0, 0], [0, 0, 0])
def unitree_hg_msg_dds__IMUState_():
return HGIMUState_([0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], 0)
def unitree_hg_msg_dds__MotorCmd_():
return HGMotorCmd_(0, 0.0, 0.0, 0.0, 0.0, 0.0, 0)
def unitree_hg_msg_dds__MotorState_():
return HGMotorState_(0, 0.0, 0.0, 0.0, 0.0, [0, 0], 0.0, [0, 0], 0, [0, 0, 0, 0])
def unitree_hg_msg_dds__MainBoardState_():
return HGMainBoardState_([0, 0, 0, 0, 0, 0], [0, 0, 0, 0, 0, 0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0, 0, 0, 0, 0, 0])
def unitree_hg_msg_dds__LowCmd_():
return HGLowCmd_(0, 0, [unitree_hg_msg_dds__MotorCmd_() for i in range(35)], [0, 0, 0, 0], 0)
def unitree_hg_msg_dds__LowState_():
return HGLowState_([0, 0], 0, 0, 0, unitree_hg_msg_dds__IMUState_(),
[unitree_hg_msg_dds__MotorState_() for i in range(35)],
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0], 0)
def unitree_hg_msg_dds__PressSensorState_():
return HGPressSensorState_([0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], 0, 0)
def unitree_hg_msg_dds__HandCmd_():
return HGHandCmd_([unitree_hg_msg_dds__MotorCmd_() for i in range(7)], [0, 0, 0, 0])
def unitree_hg_msg_dds__HandState_():
return HGHandState_([unitree_hg_msg_dds__MotorState_() for i in range(7)],
[unitree_hg_msg_dds__PressSensorState_() for i in range(7)],
unitree_hg_msg_dds__IMUState_(),
0.0, 0.0, 0.0, 0.0, [0, 0], [0, 0])
def unitree_hg_msg_dds__OdoState_():
return HGOdoState_([0, 0], 0, [0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], 0)
"""
" unitree_api.msg.dds_ dafault
"""
def unitree_api_msg_dds__RequestIdentity_():
return RequestIdentity_(0, 0)
def unitree_api_msg_dds__RequestLease_():
return RequestLease_(0, unitree_hg_msg_dds__IMUState_(), [], )
def unitree_api_msg_dds__RequestPolicy_():
return RequestPolicy_(0, False)
def unitree_api_msg_dds__RequestHeader_():
return RequestHeader_(unitree_api_msg_dds__RequestIdentity_(), unitree_api_msg_dds__RequestLease_(),
unitree_api_msg_dds__RequestPolicy_())
def unitree_api_msg_dds__Request_():
return Request_(unitree_api_msg_dds__RequestHeader_(), "", [])
def unitree_api_msg_dds__ResponseStatus_():
return ResponseStatus_(0)
def unitree_api_msg_dds__ResponseHeader_():
return ResponseHeader_(unitree_api_msg_dds__RequestIdentity_(), unitree_api_msg_dds__ResponseStatus_())
def unitree_api_msg_dds__Response_():
return Response_(unitree_api_msg_dds__ResponseHeader_(), "", [], 0, 0, [0, 0])