# This Python file uses the following encoding: utf-8
"""autogenerated by genpy from panda_gazebo/SetGripperWidthRequest.msg. Do not edit."""
import codecs
import sys
python3 = True if sys.hexversion > 0x03000000 else False
import genpy
import struct
import genpy
[docs]class SetGripperWidthRequest(genpy.Message):
_md5sum = "9f982499773828152675649f173b5489"
_type = "panda_gazebo/SetGripperWidthRequest"
_has_header = False # flag to mark the presence of a Header object
_full_text = """# Service that can be used to control the robot hand gripper width using the panda_control_server.
# NOTE: It serves as a small wrapper around the 'franka_gripper/move' action but automatically
# sets the speed to the maximum speed. It further clips gripper width such that it is within
# the set max/min boundaries.
float64 width # Gripper width - ignored when the gripper is grasping.
bool grasping # The gripper simply moves if this is `false` ignoring the 'max_effort'.
float64 max_effort # The max effort used by the gripper.
bool wait
duration timeout # Action server timeout. If set to 0, no timeout is used and action waits indefinitely.
"""
__slots__ = ['width','grasping','max_effort','wait','timeout']
_slot_types = ['float64','bool','float64','bool','duration']
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:
width,grasping,max_effort,wait,timeout
: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(SetGripperWidthRequest, self).__init__(*args, **kwds)
# message fields cannot be None, assign default values for those that are
if self.width is None:
self.width = 0.
if self.grasping is None:
self.grasping = False
if self.max_effort is None:
self.max_effort = 0.
if self.wait is None:
self.wait = False
if self.timeout is None:
self.timeout = genpy.Duration()
else:
self.width = 0.
self.grasping = False
self.max_effort = 0.
self.wait = False
self.timeout = genpy.Duration()
def _get_types(self):
"""
internal API method
"""
return self._slot_types
[docs] def serialize(self, buff):
"""
serialize message into buffer
:param buff: buffer, ``StringIO``
"""
try:
_x = self
buff.write(_get_struct_dBdB2i().pack(_x.width, _x.grasping, _x.max_effort, _x.wait, _x.timeout.secs, _x.timeout.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)))))
[docs] 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.timeout is None:
self.timeout = genpy.Duration()
end = 0
_x = self
start = end
end += 26
(_x.width, _x.grasping, _x.max_effort, _x.wait, _x.timeout.secs, _x.timeout.nsecs,) = _get_struct_dBdB2i().unpack(str[start:end])
self.grasping = bool(self.grasping)
self.wait = bool(self.wait)
self.timeout.canon()
return self
except struct.error as e:
raise genpy.DeserializationError(e) # most likely buffer underfill
[docs] 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_dBdB2i().pack(_x.width, _x.grasping, _x.max_effort, _x.wait, _x.timeout.secs, _x.timeout.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)))))
[docs] 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.timeout is None:
self.timeout = genpy.Duration()
end = 0
_x = self
start = end
end += 26
(_x.width, _x.grasping, _x.max_effort, _x.wait, _x.timeout.secs, _x.timeout.nsecs,) = _get_struct_dBdB2i().unpack(str[start:end])
self.grasping = bool(self.grasping)
self.wait = bool(self.wait)
self.timeout.canon()
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_dBdB2i = None
def _get_struct_dBdB2i():
global _struct_dBdB2i
if _struct_dBdB2i is None:
_struct_dBdB2i = struct.Struct("<dBdB2i")
return _struct_dBdB2i
# This Python file uses the following encoding: utf-8
"""autogenerated by genpy from panda_gazebo/SetGripperWidthResponse.msg. Do not edit."""
import codecs
import sys
[docs]python3 = True if sys.hexversion > 0x03000000 else False
import genpy
import struct
[docs]class SetGripperWidthResponse(genpy.Message):
_md5sum = "937c9679a518e3a18d831e57125ea522"
_type = "panda_gazebo/SetGripperWidthResponse"
_has_header = False # flag to mark the presence of a Header object
_full_text = """bool success
string message
"""
__slots__ = ['success','message']
_slot_types = ['bool','string']
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,message
: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(SetGripperWidthResponse, self).__init__(*args, **kwds)
# message fields cannot be None, assign default values for those that are
if self.success is None:
self.success = False
if self.message is None:
self.message = ''
else:
self.success = False
self.message = ''
def _get_types(self):
"""
internal API method
"""
return self._slot_types
[docs] def serialize(self, buff):
"""
serialize message into buffer
:param buff: buffer, ``StringIO``
"""
try:
_x = self.success
buff.write(_get_struct_B().pack(_x))
_x = self.message
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))
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)))))
[docs] 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)
start = end
end += 4
(length,) = _struct_I.unpack(str[start:end])
start = end
end += length
if python3:
self.message = str[start:end].decode('utf-8', 'rosmsg')
else:
self.message = str[start:end]
return self
except struct.error as e:
raise genpy.DeserializationError(e) # most likely buffer underfill
[docs] 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))
_x = self.message
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))
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)))))
[docs] 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)
start = end
end += 4
(length,) = _struct_I.unpack(str[start:end])
start = end
end += length
if python3:
self.message = str[start:end].decode('utf-8', 'rosmsg')
else:
self.message = 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_B = None
def _get_struct_B():
global _struct_B
if _struct_B is None:
_struct_B = struct.Struct("<B")
return _struct_B
[docs]class SetGripperWidth(object):
_type = 'panda_gazebo/SetGripperWidth'
_md5sum = 'f1391f700eac44a55b7a2011ef94058b'
_request_class = SetGripperWidthRequest
_response_class = SetGripperWidthResponse