控制参数类

class ChassisPosition:
    x: float    # X坐标 (米)
    y: float    # Y坐标 (米)
    yaw: float  # 偏航角 (弧度)

class ChassisVelocity:
    vel_x: float   # X方向速度 (m/s)，正值前进
    vel_y: float   # Y方向速度 (m/s)
    vel_yaw: float # 角速度 (rad/s)，正值：逆时针旋转

class ChassisControlModeParam:
    mode: ChassisControlMode

class JointPositions:
    positions: list[float]  # 6个关节角度 (弧度)

class Odometry:
    header: Header
    child_frame_id: str
    pose: PoseWithCovariance
    twist: TwistWithCovariance

class GripperPosition:
    position: float   # 电机旋转角度，弧度

class LiftPosition:
    position: float # 正数上升，负数下降（米）

class ManipulatorControlModeParam:
    mode: ManipulatorControlMode