_GetPlanningScene.py

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"""autogenerated by genpy from arm_navigation_msgs/GetPlanningSceneRequest.msg. Do not edit."""
import sys
python3 = True if sys.hexversion > 0x03000000 else False
import genpy
import struct

import arm_navigation_msgs.msg
import geometry_msgs.msg
import std_msgs.msg
import genpy
import sensor_msgs.msg

class GetPlanningSceneRequest(genpy.Message):
  _md5sum = "67ad55e9bed9c8f21dfb4b9b1ca8df7d"
  _type = "arm_navigation_msgs/GetPlanningSceneRequest"
  _has_header = False #flag to mark the presence of a Header object
  _full_text = """


PlanningScene planning_scene_diff


arm_navigation_msgs/OrderedCollisionOperations operations

================================================================================
MSG: arm_navigation_msgs/PlanningScene
#full robot state
arm_navigation_msgs/RobotState robot_state

#additional frames for duplicating tf
geometry_msgs/TransformStamped[] fixed_frame_transforms

#full allowed collision matrix
AllowedCollisionMatrix allowed_collision_matrix

#allowed contacts
arm_navigation_msgs/AllowedContactSpecification[] allowed_contacts

#all link paddings
arm_navigation_msgs/LinkPadding[] link_padding

#collision objects
arm_navigation_msgs/CollisionObject[] collision_objects
arm_navigation_msgs/AttachedCollisionObject[] attached_collision_objects

#the collision map
arm_navigation_msgs/CollisionMap collision_map

================================================================================
MSG: arm_navigation_msgs/RobotState
# This message contains information about the robot state, i.e. the positions of its joints and links
sensor_msgs/JointState joint_state
arm_navigation_msgs/MultiDOFJointState multi_dof_joint_state

================================================================================
MSG: sensor_msgs/JointState
# This is a message that holds data to describe the state of a set of torque controlled joints. 
#
# The state of each joint (revolute or prismatic) is defined by:
#  * the position of the joint (rad or m),
#  * the velocity of the joint (rad/s or m/s) and 
#  * the effort that is applied in the joint (Nm or N).
#
# Each joint is uniquely identified by its name
# The header specifies the time at which the joint states were recorded. All the joint states
# in one message have to be recorded at the same time.
#
# This message consists of a multiple arrays, one for each part of the joint state. 
# The goal is to make each of the fields optional. When e.g. your joints have no
# effort associated with them, you can leave the effort array empty. 
#
# All arrays in this message should have the same size, or be empty.
# This is the only way to uniquely associate the joint name with the correct
# states.


Header header

string[] name
float64[] position
float64[] velocity
float64[] effort

================================================================================
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.secs: seconds (stamp_secs) since epoch
# * stamp.nsecs: nanoseconds since stamp_secs
# time-handling sugar is provided by the client library
time stamp
#Frame this data is associated with
# 0: no frame
# 1: global frame
string frame_id

================================================================================
MSG: arm_navigation_msgs/MultiDOFJointState
#A representation of a multi-dof joint state
time stamp
string[] joint_names
string[] frame_ids
string[] child_frame_ids
geometry_msgs/Pose[] poses

================================================================================
MSG: geometry_msgs/Pose
# A representation of pose in free space, composed of postion and orientation. 
Point position
Quaternion orientation

================================================================================
MSG: geometry_msgs/Point
# This contains the position of a point in free space
float64 x
float64 y
float64 z

================================================================================
MSG: geometry_msgs/Quaternion
# This represents an orientation in free space in quaternion form.

float64 x
float64 y
float64 z
float64 w

================================================================================
MSG: geometry_msgs/TransformStamped
# This expresses a transform from coordinate frame header.frame_id
# to the coordinate frame child_frame_id
#
# This message is mostly used by the 
# <a href="http://www.ros.org/wiki/tf">tf</a> package. 
# See it's documentation for more information.

Header header
string child_frame_id # the frame id of the child frame
Transform transform

================================================================================
MSG: geometry_msgs/Transform
# This represents the transform between two coordinate frames in free space.

Vector3 translation
Quaternion rotation

================================================================================
MSG: geometry_msgs/Vector3
# This represents a vector in free space. 

float64 x
float64 y
float64 z
================================================================================
MSG: arm_navigation_msgs/AllowedCollisionMatrix
# the list of link names in the matrix
string[] link_names

# the individual entries in the allowed collision matrix
# symmetric, with same order as link_names
AllowedCollisionEntry[] entries

================================================================================
MSG: arm_navigation_msgs/AllowedCollisionEntry
# whether or not collision checking is enabled
bool[] enabled

================================================================================
MSG: arm_navigation_msgs/AllowedContactSpecification
# The names of the regions
string name

# The shape of the region in the environment
arm_navigation_msgs/Shape shape

# The pose of the space defining the region
geometry_msgs/PoseStamped pose_stamped

# The set of links that will be allowed to have penetration contact within this region
string[] link_names

# The maximum penetration depth allowed for every link
float64 penetration_depth

================================================================================
MSG: arm_navigation_msgs/Shape
byte SPHERE=0
byte BOX=1
byte CYLINDER=2
byte MESH=3

byte type


#### define sphere, box, cylinder ####
# the origin of each shape is considered at the shape's center

# for sphere
# radius := dimensions[0]

# for cylinder
# radius := dimensions[0]
# length := dimensions[1]
# the length is along the Z axis

# for box
# size_x := dimensions[0]
# size_y := dimensions[1]
# size_z := dimensions[2]
float64[] dimensions


#### define mesh ####

# list of triangles; triangle k is defined by tre vertices located
# at indices triangles[3k], triangles[3k+1], triangles[3k+2]
int32[] triangles
geometry_msgs/Point[] vertices

================================================================================
MSG: geometry_msgs/PoseStamped
# A Pose with reference coordinate frame and timestamp
Header header
Pose pose

================================================================================
MSG: arm_navigation_msgs/LinkPadding
#name for the link
string link_name

# padding to apply to the link
float64 padding

================================================================================
MSG: arm_navigation_msgs/CollisionObject
# a header, used for interpreting the poses
Header header

# the id of the object
string id

# The padding used for filtering points near the object.
# This does not affect collision checking for the object.  
# Set to negative to get zero padding.
float32 padding

#This contains what is to be done with the object
CollisionObjectOperation operation

#the shapes associated with the object
arm_navigation_msgs/Shape[] shapes

#the poses associated with the shapes - will be transformed using the header
geometry_msgs/Pose[] poses

================================================================================
MSG: arm_navigation_msgs/CollisionObjectOperation
#Puts the object into the environment
#or updates the object if already added
byte ADD=0

#Removes the object from the environment entirely
byte REMOVE=1

#Only valid within the context of a CollisionAttachedObject message
#Will be ignored if sent with an CollisionObject message
#Takes an attached object, detaches from the attached link
#But adds back in as regular object
byte DETACH_AND_ADD_AS_OBJECT=2

#Only valid within the context of a CollisionAttachedObject message
#Will be ignored if sent with an CollisionObject message
#Takes current object in the environment and removes it as
#a regular object
byte ATTACH_AND_REMOVE_AS_OBJECT=3

# Byte code for operation
byte operation

================================================================================
MSG: arm_navigation_msgs/AttachedCollisionObject
# The CollisionObject will be attached with a fixed joint to this link
# If link name is set to REMOVE_ALL_ATTACHED_OBJECTS and object.operation 
# is set to REMOVE will remove all attached bodies attached to any object
string link_name

#Reserved for indicating that all attached objects should be removed
string REMOVE_ALL_ATTACHED_OBJECTS = "all"

#This contains the actual shapes and poses for the CollisionObject
#to be attached to the link
#If action is remove and no object.id is set, all objects
#attached to the link indicated by link_name will be removed
CollisionObject object

# The set of links that the attached objects are allowed to touch
# by default - the link_name is included by default
string[] touch_links

================================================================================
MSG: arm_navigation_msgs/CollisionMap
#header for interpreting box positions
Header header

#boxes for use in collision testing
OrientedBoundingBox[] boxes

================================================================================
MSG: arm_navigation_msgs/OrientedBoundingBox
#the center of the box
geometry_msgs/Point32 center

#the extents of the box, assuming the center is at the point
geometry_msgs/Point32 extents

#the axis of the box
geometry_msgs/Point32 axis

#the angle of rotation around the axis
float32 angle

================================================================================
MSG: geometry_msgs/Point32
# This contains the position of a point in free space(with 32 bits of precision).
# It is recommeded to use Point wherever possible instead of Point32.  
# 
# This recommendation is to promote interoperability.  
#
# This message is designed to take up less space when sending
# lots of points at once, as in the case of a PointCloud.  

float32 x
float32 y
float32 z
================================================================================
MSG: arm_navigation_msgs/OrderedCollisionOperations
# A set of collision operations that will be performed in the order they are specified
CollisionOperation[] collision_operations
================================================================================
MSG: arm_navigation_msgs/CollisionOperation
# A definition of a collision operation
# E.g. ("gripper",COLLISION_SET_ALL,ENABLE) will enable collisions 
# between the gripper and all objects in the collision space

string object1
string object2
string COLLISION_SET_ALL="all"
string COLLISION_SET_OBJECTS="objects"
string COLLISION_SET_ATTACHED_OBJECTS="attached"

# The penetration distance to which collisions are allowed. This is 0.0 by default.
float64 penetration_distance

# Flag that determines whether collisions will be enabled or disabled for the pair of objects specified above
int32 operation
int32 DISABLE=0
int32 ENABLE=1

"""
  __slots__ = ['planning_scene_diff','operations']
  _slot_types = ['arm_navigation_msgs/PlanningScene','arm_navigation_msgs/OrderedCollisionOperations']

  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:
       planning_scene_diff,operations

    :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(GetPlanningSceneRequest, self).__init__(*args, **kwds)
      #message fields cannot be None, assign default values for those that are
      if self.planning_scene_diff is None:
        self.planning_scene_diff = arm_navigation_msgs.msg.PlanningScene()
      if self.operations is None:
        self.operations = arm_navigation_msgs.msg.OrderedCollisionOperations()
    else:
      self.planning_scene_diff = arm_navigation_msgs.msg.PlanningScene()
      self.operations = arm_navigation_msgs.msg.OrderedCollisionOperations()

  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(_struct_3I.pack(_x.planning_scene_diff.robot_state.joint_state.header.seq, _x.planning_scene_diff.robot_state.joint_state.header.stamp.secs, _x.planning_scene_diff.robot_state.joint_state.header.stamp.nsecs))
      _x = self.planning_scene_diff.robot_state.joint_state.header.frame_id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      length = len(self.planning_scene_diff.robot_state.joint_state.name)
      buff.write(_struct_I.pack(length))
      for val1 in self.planning_scene_diff.robot_state.joint_state.name:
        length = len(val1)
        if python3 or type(val1) == unicode:
          val1 = val1.encode('utf-8')
          length = len(val1)
        buff.write(struct.pack('<I%ss'%length, length, val1))
      length = len(self.planning_scene_diff.robot_state.joint_state.position)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(struct.pack(pattern, *self.planning_scene_diff.robot_state.joint_state.position))
      length = len(self.planning_scene_diff.robot_state.joint_state.velocity)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(struct.pack(pattern, *self.planning_scene_diff.robot_state.joint_state.velocity))
      length = len(self.planning_scene_diff.robot_state.joint_state.effort)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(struct.pack(pattern, *self.planning_scene_diff.robot_state.joint_state.effort))
      _x = self
      buff.write(_struct_2I.pack(_x.planning_scene_diff.robot_state.multi_dof_joint_state.stamp.secs, _x.planning_scene_diff.robot_state.multi_dof_joint_state.stamp.nsecs))
      length = len(self.planning_scene_diff.robot_state.multi_dof_joint_state.joint_names)
      buff.write(_struct_I.pack(length))
      for val1 in self.planning_scene_diff.robot_state.multi_dof_joint_state.joint_names:
        length = len(val1)
        if python3 or type(val1) == unicode:
          val1 = val1.encode('utf-8')
          length = len(val1)
        buff.write(struct.pack('<I%ss'%length, length, val1))
      length = len(self.planning_scene_diff.robot_state.multi_dof_joint_state.frame_ids)
      buff.write(_struct_I.pack(length))
      for val1 in self.planning_scene_diff.robot_state.multi_dof_joint_state.frame_ids:
        length = len(val1)
        if python3 or type(val1) == unicode:
          val1 = val1.encode('utf-8')
          length = len(val1)
        buff.write(struct.pack('<I%ss'%length, length, val1))
      length = len(self.planning_scene_diff.robot_state.multi_dof_joint_state.child_frame_ids)
      buff.write(_struct_I.pack(length))
      for val1 in self.planning_scene_diff.robot_state.multi_dof_joint_state.child_frame_ids:
        length = len(val1)
        if python3 or type(val1) == unicode:
          val1 = val1.encode('utf-8')
          length = len(val1)
        buff.write(struct.pack('<I%ss'%length, length, val1))
      length = len(self.planning_scene_diff.robot_state.multi_dof_joint_state.poses)
      buff.write(_struct_I.pack(length))
      for val1 in self.planning_scene_diff.robot_state.multi_dof_joint_state.poses:
        _v1 = val1.position
        _x = _v1
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v2 = val1.orientation
        _x = _v2
        buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
      length = len(self.planning_scene_diff.fixed_frame_transforms)
      buff.write(_struct_I.pack(length))
      for val1 in self.planning_scene_diff.fixed_frame_transforms:
        _v3 = val1.header
        buff.write(_struct_I.pack(_v3.seq))
        _v4 = _v3.stamp
        _x = _v4
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v3.frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _x = val1.child_frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _v5 = val1.transform
        _v6 = _v5.translation
        _x = _v6
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v7 = _v5.rotation
        _x = _v7
        buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
      length = len(self.planning_scene_diff.allowed_collision_matrix.link_names)
      buff.write(_struct_I.pack(length))
      for val1 in self.planning_scene_diff.allowed_collision_matrix.link_names:
        length = len(val1)
        if python3 or type(val1) == unicode:
          val1 = val1.encode('utf-8')
          length = len(val1)
        buff.write(struct.pack('<I%ss'%length, length, val1))
      length = len(self.planning_scene_diff.allowed_collision_matrix.entries)
      buff.write(_struct_I.pack(length))
      for val1 in self.planning_scene_diff.allowed_collision_matrix.entries:
        length = len(val1.enabled)
        buff.write(_struct_I.pack(length))
        pattern = '<%sB'%length
        buff.write(struct.pack(pattern, *val1.enabled))
      length = len(self.planning_scene_diff.allowed_contacts)
      buff.write(_struct_I.pack(length))
      for val1 in self.planning_scene_diff.allowed_contacts:
        _x = val1.name
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _v8 = val1.shape
        buff.write(_struct_b.pack(_v8.type))
        length = len(_v8.dimensions)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(struct.pack(pattern, *_v8.dimensions))
        length = len(_v8.triangles)
        buff.write(_struct_I.pack(length))
        pattern = '<%si'%length
        buff.write(struct.pack(pattern, *_v8.triangles))
        length = len(_v8.vertices)
        buff.write(_struct_I.pack(length))
        for val3 in _v8.vertices:
          _x = val3
          buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v9 = val1.pose_stamped
        _v10 = _v9.header
        buff.write(_struct_I.pack(_v10.seq))
        _v11 = _v10.stamp
        _x = _v11
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v10.frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _v12 = _v9.pose
        _v13 = _v12.position
        _x = _v13
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v14 = _v12.orientation
        _x = _v14
        buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
        length = len(val1.link_names)
        buff.write(_struct_I.pack(length))
        for val2 in val1.link_names:
          length = len(val2)
          if python3 or type(val2) == unicode:
            val2 = val2.encode('utf-8')
            length = len(val2)
          buff.write(struct.pack('<I%ss'%length, length, val2))
        buff.write(_struct_d.pack(val1.penetration_depth))
      length = len(self.planning_scene_diff.link_padding)
      buff.write(_struct_I.pack(length))
      for val1 in self.planning_scene_diff.link_padding:
        _x = val1.link_name
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        buff.write(_struct_d.pack(val1.padding))
      length = len(self.planning_scene_diff.collision_objects)
      buff.write(_struct_I.pack(length))
      for val1 in self.planning_scene_diff.collision_objects:
        _v15 = val1.header
        buff.write(_struct_I.pack(_v15.seq))
        _v16 = _v15.stamp
        _x = _v16
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v15.frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _x = val1.id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        buff.write(_struct_f.pack(val1.padding))
        _v17 = val1.operation
        buff.write(_struct_b.pack(_v17.operation))
        length = len(val1.shapes)
        buff.write(_struct_I.pack(length))
        for val2 in val1.shapes:
          buff.write(_struct_b.pack(val2.type))
          length = len(val2.dimensions)
          buff.write(_struct_I.pack(length))
          pattern = '<%sd'%length
          buff.write(struct.pack(pattern, *val2.dimensions))
          length = len(val2.triangles)
          buff.write(_struct_I.pack(length))
          pattern = '<%si'%length
          buff.write(struct.pack(pattern, *val2.triangles))
          length = len(val2.vertices)
          buff.write(_struct_I.pack(length))
          for val3 in val2.vertices:
            _x = val3
            buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        length = len(val1.poses)
        buff.write(_struct_I.pack(length))
        for val2 in val1.poses:
          _v18 = val2.position
          _x = _v18
          buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
          _v19 = val2.orientation
          _x = _v19
          buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
      length = len(self.planning_scene_diff.attached_collision_objects)
      buff.write(_struct_I.pack(length))
      for val1 in self.planning_scene_diff.attached_collision_objects:
        _x = val1.link_name
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _v20 = val1.object
        _v21 = _v20.header
        buff.write(_struct_I.pack(_v21.seq))
        _v22 = _v21.stamp
        _x = _v22
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v21.frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _x = _v20.id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        buff.write(_struct_f.pack(_v20.padding))
        _v23 = _v20.operation
        buff.write(_struct_b.pack(_v23.operation))
        length = len(_v20.shapes)
        buff.write(_struct_I.pack(length))
        for val3 in _v20.shapes:
          buff.write(_struct_b.pack(val3.type))
          length = len(val3.dimensions)
          buff.write(_struct_I.pack(length))
          pattern = '<%sd'%length
          buff.write(struct.pack(pattern, *val3.dimensions))
          length = len(val3.triangles)
          buff.write(_struct_I.pack(length))
          pattern = '<%si'%length
          buff.write(struct.pack(pattern, *val3.triangles))
          length = len(val3.vertices)
          buff.write(_struct_I.pack(length))
          for val4 in val3.vertices:
            _x = val4
            buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        length = len(_v20.poses)
        buff.write(_struct_I.pack(length))
        for val3 in _v20.poses:
          _v24 = val3.position
          _x = _v24
          buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
          _v25 = val3.orientation
          _x = _v25
          buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
        length = len(val1.touch_links)
        buff.write(_struct_I.pack(length))
        for val2 in val1.touch_links:
          length = len(val2)
          if python3 or type(val2) == unicode:
            val2 = val2.encode('utf-8')
            length = len(val2)
          buff.write(struct.pack('<I%ss'%length, length, val2))
      _x = self
      buff.write(_struct_3I.pack(_x.planning_scene_diff.collision_map.header.seq, _x.planning_scene_diff.collision_map.header.stamp.secs, _x.planning_scene_diff.collision_map.header.stamp.nsecs))
      _x = self.planning_scene_diff.collision_map.header.frame_id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      length = len(self.planning_scene_diff.collision_map.boxes)
      buff.write(_struct_I.pack(length))
      for val1 in self.planning_scene_diff.collision_map.boxes:
        _v26 = val1.center
        _x = _v26
        buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))
        _v27 = val1.extents
        _x = _v27
        buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))
        _v28 = val1.axis
        _x = _v28
        buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))
        buff.write(_struct_f.pack(val1.angle))
      length = len(self.operations.collision_operations)
      buff.write(_struct_I.pack(length))
      for val1 in self.operations.collision_operations:
        _x = val1.object1
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _x = val1.object2
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _x = val1
        buff.write(_struct_di.pack(_x.penetration_distance, _x.operation))
    except struct.error as se: self._check_types(se)
    except TypeError as te: self._check_types(te)

  def deserialize(self, str):
    """
    unpack serialized message in str into this message instance
    :param str: byte array of serialized message, ``str``
    """
    try:
      if self.planning_scene_diff is None:
        self.planning_scene_diff = arm_navigation_msgs.msg.PlanningScene()
      if self.operations is None:
        self.operations = arm_navigation_msgs.msg.OrderedCollisionOperations()
      end = 0
      _x = self
      start = end
      end += 12
      (_x.planning_scene_diff.robot_state.joint_state.header.seq, _x.planning_scene_diff.robot_state.joint_state.header.stamp.secs, _x.planning_scene_diff.robot_state.joint_state.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.planning_scene_diff.robot_state.joint_state.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.planning_scene_diff.robot_state.joint_state.header.frame_id = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.planning_scene_diff.robot_state.joint_state.name = []
      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')
        else:
          val1 = str[start:end]
        self.planning_scene_diff.robot_state.joint_state.name.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.planning_scene_diff.robot_state.joint_state.position = struct.unpack(pattern, str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.planning_scene_diff.robot_state.joint_state.velocity = struct.unpack(pattern, str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.planning_scene_diff.robot_state.joint_state.effort = struct.unpack(pattern, str[start:end])
      _x = self
      start = end
      end += 8
      (_x.planning_scene_diff.robot_state.multi_dof_joint_state.stamp.secs, _x.planning_scene_diff.robot_state.multi_dof_joint_state.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.planning_scene_diff.robot_state.multi_dof_joint_state.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')
        else:
          val1 = str[start:end]
        self.planning_scene_diff.robot_state.multi_dof_joint_state.joint_names.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.planning_scene_diff.robot_state.multi_dof_joint_state.frame_ids = []
      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')
        else:
          val1 = str[start:end]
        self.planning_scene_diff.robot_state.multi_dof_joint_state.frame_ids.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.planning_scene_diff.robot_state.multi_dof_joint_state.child_frame_ids = []
      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')
        else:
          val1 = str[start:end]
        self.planning_scene_diff.robot_state.multi_dof_joint_state.child_frame_ids.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.planning_scene_diff.robot_state.multi_dof_joint_state.poses = []
      for i in range(0, length):
        val1 = geometry_msgs.msg.Pose()
        _v29 = val1.position
        _x = _v29
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v30 = val1.orientation
        _x = _v30
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
        self.planning_scene_diff.robot_state.multi_dof_joint_state.poses.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.planning_scene_diff.fixed_frame_transforms = []
      for i in range(0, length):
        val1 = geometry_msgs.msg.TransformStamped()
        _v31 = val1.header
        start = end
        end += 4
        (_v31.seq,) = _struct_I.unpack(str[start:end])
        _v32 = _v31.stamp
        _x = _v32
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v31.frame_id = str[start:end].decode('utf-8')
        else:
          _v31.frame_id = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1.child_frame_id = str[start:end].decode('utf-8')
        else:
          val1.child_frame_id = str[start:end]
        _v33 = val1.transform
        _v34 = _v33.translation
        _x = _v34
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v35 = _v33.rotation
        _x = _v35
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
        self.planning_scene_diff.fixed_frame_transforms.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.planning_scene_diff.allowed_collision_matrix.link_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')
        else:
          val1 = str[start:end]
        self.planning_scene_diff.allowed_collision_matrix.link_names.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.planning_scene_diff.allowed_collision_matrix.entries = []
      for i in range(0, length):
        val1 = arm_navigation_msgs.msg.AllowedCollisionEntry()
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%sB'%length
        start = end
        end += struct.calcsize(pattern)
        val1.enabled = struct.unpack(pattern, str[start:end])
        val1.enabled = map(bool, val1.enabled)
        self.planning_scene_diff.allowed_collision_matrix.entries.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.planning_scene_diff.allowed_contacts = []
      for i in range(0, length):
        val1 = arm_navigation_msgs.msg.AllowedContactSpecification()
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1.name = str[start:end].decode('utf-8')
        else:
          val1.name = str[start:end]
        _v36 = val1.shape
        start = end
        end += 1
        (_v36.type,) = _struct_b.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%sd'%length
        start = end
        end += struct.calcsize(pattern)
        _v36.dimensions = struct.unpack(pattern, str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%si'%length
        start = end
        end += struct.calcsize(pattern)
        _v36.triangles = struct.unpack(pattern, str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v36.vertices = []
        for i in range(0, length):
          val3 = geometry_msgs.msg.Point()
          _x = val3
          start = end
          end += 24
          (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
          _v36.vertices.append(val3)
        _v37 = val1.pose_stamped
        _v38 = _v37.header
        start = end
        end += 4
        (_v38.seq,) = _struct_I.unpack(str[start:end])
        _v39 = _v38.stamp
        _x = _v39
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v38.frame_id = str[start:end].decode('utf-8')
        else:
          _v38.frame_id = str[start:end]
        _v40 = _v37.pose
        _v41 = _v40.position
        _x = _v41
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v42 = _v40.orientation
        _x = _v42
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        val1.link_names = []
        for i in range(0, length):
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          if python3:
            val2 = str[start:end].decode('utf-8')
          else:
            val2 = str[start:end]
          val1.link_names.append(val2)
        start = end
        end += 8
        (val1.penetration_depth,) = _struct_d.unpack(str[start:end])
        self.planning_scene_diff.allowed_contacts.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.planning_scene_diff.link_padding = []
      for i in range(0, length):
        val1 = arm_navigation_msgs.msg.LinkPadding()
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1.link_name = str[start:end].decode('utf-8')
        else:
          val1.link_name = str[start:end]
        start = end
        end += 8
        (val1.padding,) = _struct_d.unpack(str[start:end])
        self.planning_scene_diff.link_padding.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.planning_scene_diff.collision_objects = []
      for i in range(0, length):
        val1 = arm_navigation_msgs.msg.CollisionObject()
        _v43 = val1.header
        start = end
        end += 4
        (_v43.seq,) = _struct_I.unpack(str[start:end])
        _v44 = _v43.stamp
        _x = _v44
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v43.frame_id = str[start:end].decode('utf-8')
        else:
          _v43.frame_id = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1.id = str[start:end].decode('utf-8')
        else:
          val1.id = str[start:end]
        start = end
        end += 4
        (val1.padding,) = _struct_f.unpack(str[start:end])
        _v45 = val1.operation
        start = end
        end += 1
        (_v45.operation,) = _struct_b.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        val1.shapes = []
        for i in range(0, length):
          val2 = arm_navigation_msgs.msg.Shape()
          start = end
          end += 1
          (val2.type,) = _struct_b.unpack(str[start:end])
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          pattern = '<%sd'%length
          start = end
          end += struct.calcsize(pattern)
          val2.dimensions = struct.unpack(pattern, str[start:end])
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          pattern = '<%si'%length
          start = end
          end += struct.calcsize(pattern)
          val2.triangles = struct.unpack(pattern, str[start:end])
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          val2.vertices = []
          for i in range(0, length):
            val3 = geometry_msgs.msg.Point()
            _x = val3
            start = end
            end += 24
            (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
            val2.vertices.append(val3)
          val1.shapes.append(val2)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        val1.poses = []
        for i in range(0, length):
          val2 = geometry_msgs.msg.Pose()
          _v46 = val2.position
          _x = _v46
          start = end
          end += 24
          (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
          _v47 = val2.orientation
          _x = _v47
          start = end
          end += 32
          (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
          val1.poses.append(val2)
        self.planning_scene_diff.collision_objects.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.planning_scene_diff.attached_collision_objects = []
      for i in range(0, length):
        val1 = arm_navigation_msgs.msg.AttachedCollisionObject()
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1.link_name = str[start:end].decode('utf-8')
        else:
          val1.link_name = str[start:end]
        _v48 = val1.object
        _v49 = _v48.header
        start = end
        end += 4
        (_v49.seq,) = _struct_I.unpack(str[start:end])
        _v50 = _v49.stamp
        _x = _v50
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v49.frame_id = str[start:end].decode('utf-8')
        else:
          _v49.frame_id = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v48.id = str[start:end].decode('utf-8')
        else:
          _v48.id = str[start:end]
        start = end
        end += 4
        (_v48.padding,) = _struct_f.unpack(str[start:end])
        _v51 = _v48.operation
        start = end
        end += 1
        (_v51.operation,) = _struct_b.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v48.shapes = []
        for i in range(0, length):
          val3 = arm_navigation_msgs.msg.Shape()
          start = end
          end += 1
          (val3.type,) = _struct_b.unpack(str[start:end])
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          pattern = '<%sd'%length
          start = end
          end += struct.calcsize(pattern)
          val3.dimensions = struct.unpack(pattern, str[start:end])
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          pattern = '<%si'%length
          start = end
          end += struct.calcsize(pattern)
          val3.triangles = struct.unpack(pattern, str[start:end])
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          val3.vertices = []
          for i in range(0, length):
            val4 = geometry_msgs.msg.Point()
            _x = val4
            start = end
            end += 24
            (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
            val3.vertices.append(val4)
          _v48.shapes.append(val3)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v48.poses = []
        for i in range(0, length):
          val3 = geometry_msgs.msg.Pose()
          _v52 = val3.position
          _x = _v52
          start = end
          end += 24
          (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
          _v53 = val3.orientation
          _x = _v53
          start = end
          end += 32
          (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
          _v48.poses.append(val3)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        val1.touch_links = []
        for i in range(0, length):
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          if python3:
            val2 = str[start:end].decode('utf-8')
          else:
            val2 = str[start:end]
          val1.touch_links.append(val2)
        self.planning_scene_diff.attached_collision_objects.append(val1)
      _x = self
      start = end
      end += 12
      (_x.planning_scene_diff.collision_map.header.seq, _x.planning_scene_diff.collision_map.header.stamp.secs, _x.planning_scene_diff.collision_map.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.planning_scene_diff.collision_map.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.planning_scene_diff.collision_map.header.frame_id = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.planning_scene_diff.collision_map.boxes = []
      for i in range(0, length):
        val1 = arm_navigation_msgs.msg.OrientedBoundingBox()
        _v54 = val1.center
        _x = _v54
        start = end
        end += 12
        (_x.x, _x.y, _x.z,) = _struct_3f.unpack(str[start:end])
        _v55 = val1.extents
        _x = _v55
        start = end
        end += 12
        (_x.x, _x.y, _x.z,) = _struct_3f.unpack(str[start:end])
        _v56 = val1.axis
        _x = _v56
        start = end
        end += 12
        (_x.x, _x.y, _x.z,) = _struct_3f.unpack(str[start:end])
        start = end
        end += 4
        (val1.angle,) = _struct_f.unpack(str[start:end])
        self.planning_scene_diff.collision_map.boxes.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.operations.collision_operations = []
      for i in range(0, length):
        val1 = arm_navigation_msgs.msg.CollisionOperation()
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1.object1 = str[start:end].decode('utf-8')
        else:
          val1.object1 = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1.object2 = str[start:end].decode('utf-8')
        else:
          val1.object2 = str[start:end]
        _x = val1
        start = end
        end += 12
        (_x.penetration_distance, _x.operation,) = _struct_di.unpack(str[start:end])
        self.operations.collision_operations.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(_struct_3I.pack(_x.planning_scene_diff.robot_state.joint_state.header.seq, _x.planning_scene_diff.robot_state.joint_state.header.stamp.secs, _x.planning_scene_diff.robot_state.joint_state.header.stamp.nsecs))
      _x = self.planning_scene_diff.robot_state.joint_state.header.frame_id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      length = len(self.planning_scene_diff.robot_state.joint_state.name)
      buff.write(_struct_I.pack(length))
      for val1 in self.planning_scene_diff.robot_state.joint_state.name:
        length = len(val1)
        if python3 or type(val1) == unicode:
          val1 = val1.encode('utf-8')
          length = len(val1)
        buff.write(struct.pack('<I%ss'%length, length, val1))
      length = len(self.planning_scene_diff.robot_state.joint_state.position)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(self.planning_scene_diff.robot_state.joint_state.position.tostring())
      length = len(self.planning_scene_diff.robot_state.joint_state.velocity)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(self.planning_scene_diff.robot_state.joint_state.velocity.tostring())
      length = len(self.planning_scene_diff.robot_state.joint_state.effort)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(self.planning_scene_diff.robot_state.joint_state.effort.tostring())
      _x = self
      buff.write(_struct_2I.pack(_x.planning_scene_diff.robot_state.multi_dof_joint_state.stamp.secs, _x.planning_scene_diff.robot_state.multi_dof_joint_state.stamp.nsecs))
      length = len(self.planning_scene_diff.robot_state.multi_dof_joint_state.joint_names)
      buff.write(_struct_I.pack(length))
      for val1 in self.planning_scene_diff.robot_state.multi_dof_joint_state.joint_names:
        length = len(val1)
        if python3 or type(val1) == unicode:
          val1 = val1.encode('utf-8')
          length = len(val1)
        buff.write(struct.pack('<I%ss'%length, length, val1))
      length = len(self.planning_scene_diff.robot_state.multi_dof_joint_state.frame_ids)
      buff.write(_struct_I.pack(length))
      for val1 in self.planning_scene_diff.robot_state.multi_dof_joint_state.frame_ids:
        length = len(val1)
        if python3 or type(val1) == unicode:
          val1 = val1.encode('utf-8')
          length = len(val1)
        buff.write(struct.pack('<I%ss'%length, length, val1))
      length = len(self.planning_scene_diff.robot_state.multi_dof_joint_state.child_frame_ids)
      buff.write(_struct_I.pack(length))
      for val1 in self.planning_scene_diff.robot_state.multi_dof_joint_state.child_frame_ids:
        length = len(val1)
        if python3 or type(val1) == unicode:
          val1 = val1.encode('utf-8')
          length = len(val1)
        buff.write(struct.pack('<I%ss'%length, length, val1))
      length = len(self.planning_scene_diff.robot_state.multi_dof_joint_state.poses)
      buff.write(_struct_I.pack(length))
      for val1 in self.planning_scene_diff.robot_state.multi_dof_joint_state.poses:
        _v57 = val1.position
        _x = _v57
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v58 = val1.orientation
        _x = _v58
        buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
      length = len(self.planning_scene_diff.fixed_frame_transforms)
      buff.write(_struct_I.pack(length))
      for val1 in self.planning_scene_diff.fixed_frame_transforms:
        _v59 = val1.header
        buff.write(_struct_I.pack(_v59.seq))
        _v60 = _v59.stamp
        _x = _v60
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v59.frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _x = val1.child_frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _v61 = val1.transform
        _v62 = _v61.translation
        _x = _v62
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v63 = _v61.rotation
        _x = _v63
        buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
      length = len(self.planning_scene_diff.allowed_collision_matrix.link_names)
      buff.write(_struct_I.pack(length))
      for val1 in self.planning_scene_diff.allowed_collision_matrix.link_names:
        length = len(val1)
        if python3 or type(val1) == unicode:
          val1 = val1.encode('utf-8')
          length = len(val1)
        buff.write(struct.pack('<I%ss'%length, length, val1))
      length = len(self.planning_scene_diff.allowed_collision_matrix.entries)
      buff.write(_struct_I.pack(length))
      for val1 in self.planning_scene_diff.allowed_collision_matrix.entries:
        length = len(val1.enabled)
        buff.write(_struct_I.pack(length))
        pattern = '<%sB'%length
        buff.write(val1.enabled.tostring())
      length = len(self.planning_scene_diff.allowed_contacts)
      buff.write(_struct_I.pack(length))
      for val1 in self.planning_scene_diff.allowed_contacts:
        _x = val1.name
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _v64 = val1.shape
        buff.write(_struct_b.pack(_v64.type))
        length = len(_v64.dimensions)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(_v64.dimensions.tostring())
        length = len(_v64.triangles)
        buff.write(_struct_I.pack(length))
        pattern = '<%si'%length
        buff.write(_v64.triangles.tostring())
        length = len(_v64.vertices)
        buff.write(_struct_I.pack(length))
        for val3 in _v64.vertices:
          _x = val3
          buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v65 = val1.pose_stamped
        _v66 = _v65.header
        buff.write(_struct_I.pack(_v66.seq))
        _v67 = _v66.stamp
        _x = _v67
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v66.frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _v68 = _v65.pose
        _v69 = _v68.position
        _x = _v69
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v70 = _v68.orientation
        _x = _v70
        buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
        length = len(val1.link_names)
        buff.write(_struct_I.pack(length))
        for val2 in val1.link_names:
          length = len(val2)
          if python3 or type(val2) == unicode:
            val2 = val2.encode('utf-8')
            length = len(val2)
          buff.write(struct.pack('<I%ss'%length, length, val2))
        buff.write(_struct_d.pack(val1.penetration_depth))
      length = len(self.planning_scene_diff.link_padding)
      buff.write(_struct_I.pack(length))
      for val1 in self.planning_scene_diff.link_padding:
        _x = val1.link_name
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        buff.write(_struct_d.pack(val1.padding))
      length = len(self.planning_scene_diff.collision_objects)
      buff.write(_struct_I.pack(length))
      for val1 in self.planning_scene_diff.collision_objects:
        _v71 = val1.header
        buff.write(_struct_I.pack(_v71.seq))
        _v72 = _v71.stamp
        _x = _v72
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v71.frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _x = val1.id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        buff.write(_struct_f.pack(val1.padding))
        _v73 = val1.operation
        buff.write(_struct_b.pack(_v73.operation))
        length = len(val1.shapes)
        buff.write(_struct_I.pack(length))
        for val2 in val1.shapes:
          buff.write(_struct_b.pack(val2.type))
          length = len(val2.dimensions)
          buff.write(_struct_I.pack(length))
          pattern = '<%sd'%length
          buff.write(val2.dimensions.tostring())
          length = len(val2.triangles)
          buff.write(_struct_I.pack(length))
          pattern = '<%si'%length
          buff.write(val2.triangles.tostring())
          length = len(val2.vertices)
          buff.write(_struct_I.pack(length))
          for val3 in val2.vertices:
            _x = val3
            buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        length = len(val1.poses)
        buff.write(_struct_I.pack(length))
        for val2 in val1.poses:
          _v74 = val2.position
          _x = _v74
          buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
          _v75 = val2.orientation
          _x = _v75
          buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
      length = len(self.planning_scene_diff.attached_collision_objects)
      buff.write(_struct_I.pack(length))
      for val1 in self.planning_scene_diff.attached_collision_objects:
        _x = val1.link_name
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _v76 = val1.object
        _v77 = _v76.header
        buff.write(_struct_I.pack(_v77.seq))
        _v78 = _v77.stamp
        _x = _v78
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v77.frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _x = _v76.id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        buff.write(_struct_f.pack(_v76.padding))
        _v79 = _v76.operation
        buff.write(_struct_b.pack(_v79.operation))
        length = len(_v76.shapes)
        buff.write(_struct_I.pack(length))
        for val3 in _v76.shapes:
          buff.write(_struct_b.pack(val3.type))
          length = len(val3.dimensions)
          buff.write(_struct_I.pack(length))
          pattern = '<%sd'%length
          buff.write(val3.dimensions.tostring())
          length = len(val3.triangles)
          buff.write(_struct_I.pack(length))
          pattern = '<%si'%length
          buff.write(val3.triangles.tostring())
          length = len(val3.vertices)
          buff.write(_struct_I.pack(length))
          for val4 in val3.vertices:
            _x = val4
            buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        length = len(_v76.poses)
        buff.write(_struct_I.pack(length))
        for val3 in _v76.poses:
          _v80 = val3.position
          _x = _v80
          buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
          _v81 = val3.orientation
          _x = _v81
          buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
        length = len(val1.touch_links)
        buff.write(_struct_I.pack(length))
        for val2 in val1.touch_links:
          length = len(val2)
          if python3 or type(val2) == unicode:
            val2 = val2.encode('utf-8')
            length = len(val2)
          buff.write(struct.pack('<I%ss'%length, length, val2))
      _x = self
      buff.write(_struct_3I.pack(_x.planning_scene_diff.collision_map.header.seq, _x.planning_scene_diff.collision_map.header.stamp.secs, _x.planning_scene_diff.collision_map.header.stamp.nsecs))
      _x = self.planning_scene_diff.collision_map.header.frame_id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      length = len(self.planning_scene_diff.collision_map.boxes)
      buff.write(_struct_I.pack(length))
      for val1 in self.planning_scene_diff.collision_map.boxes:
        _v82 = val1.center
        _x = _v82
        buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))
        _v83 = val1.extents
        _x = _v83
        buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))
        _v84 = val1.axis
        _x = _v84
        buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))
        buff.write(_struct_f.pack(val1.angle))
      length = len(self.operations.collision_operations)
      buff.write(_struct_I.pack(length))
      for val1 in self.operations.collision_operations:
        _x = val1.object1
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _x = val1.object2
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _x = val1
        buff.write(_struct_di.pack(_x.penetration_distance, _x.operation))
    except struct.error as se: self._check_types(se)
    except TypeError as te: self._check_types(te)

  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
    """
    try:
      if self.planning_scene_diff is None:
        self.planning_scene_diff = arm_navigation_msgs.msg.PlanningScene()
      if self.operations is None:
        self.operations = arm_navigation_msgs.msg.OrderedCollisionOperations()
      end = 0
      _x = self
      start = end
      end += 12
      (_x.planning_scene_diff.robot_state.joint_state.header.seq, _x.planning_scene_diff.robot_state.joint_state.header.stamp.secs, _x.planning_scene_diff.robot_state.joint_state.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.planning_scene_diff.robot_state.joint_state.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.planning_scene_diff.robot_state.joint_state.header.frame_id = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.planning_scene_diff.robot_state.joint_state.name = []
      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')
        else:
          val1 = str[start:end]
        self.planning_scene_diff.robot_state.joint_state.name.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.planning_scene_diff.robot_state.joint_state.position = 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
      end += struct.calcsize(pattern)
      self.planning_scene_diff.robot_state.joint_state.velocity = 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
      end += struct.calcsize(pattern)
      self.planning_scene_diff.robot_state.joint_state.effort = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
      _x = self
      start = end
      end += 8
      (_x.planning_scene_diff.robot_state.multi_dof_joint_state.stamp.secs, _x.planning_scene_diff.robot_state.multi_dof_joint_state.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.planning_scene_diff.robot_state.multi_dof_joint_state.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')
        else:
          val1 = str[start:end]
        self.planning_scene_diff.robot_state.multi_dof_joint_state.joint_names.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.planning_scene_diff.robot_state.multi_dof_joint_state.frame_ids = []
      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')
        else:
          val1 = str[start:end]
        self.planning_scene_diff.robot_state.multi_dof_joint_state.frame_ids.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.planning_scene_diff.robot_state.multi_dof_joint_state.child_frame_ids = []
      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')
        else:
          val1 = str[start:end]
        self.planning_scene_diff.robot_state.multi_dof_joint_state.child_frame_ids.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.planning_scene_diff.robot_state.multi_dof_joint_state.poses = []
      for i in range(0, length):
        val1 = geometry_msgs.msg.Pose()
        _v85 = val1.position
        _x = _v85
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v86 = val1.orientation
        _x = _v86
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
        self.planning_scene_diff.robot_state.multi_dof_joint_state.poses.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.planning_scene_diff.fixed_frame_transforms = []
      for i in range(0, length):
        val1 = geometry_msgs.msg.TransformStamped()
        _v87 = val1.header
        start = end
        end += 4
        (_v87.seq,) = _struct_I.unpack(str[start:end])
        _v88 = _v87.stamp
        _x = _v88
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v87.frame_id = str[start:end].decode('utf-8')
        else:
          _v87.frame_id = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1.child_frame_id = str[start:end].decode('utf-8')
        else:
          val1.child_frame_id = str[start:end]
        _v89 = val1.transform
        _v90 = _v89.translation
        _x = _v90
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v91 = _v89.rotation
        _x = _v91
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
        self.planning_scene_diff.fixed_frame_transforms.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.planning_scene_diff.allowed_collision_matrix.link_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')
        else:
          val1 = str[start:end]
        self.planning_scene_diff.allowed_collision_matrix.link_names.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.planning_scene_diff.allowed_collision_matrix.entries = []
      for i in range(0, length):
        val1 = arm_navigation_msgs.msg.AllowedCollisionEntry()
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%sB'%length
        start = end
        end += struct.calcsize(pattern)
        val1.enabled = numpy.frombuffer(str[start:end], dtype=numpy.bool, count=length)
        val1.enabled = map(bool, val1.enabled)
        self.planning_scene_diff.allowed_collision_matrix.entries.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.planning_scene_diff.allowed_contacts = []
      for i in range(0, length):
        val1 = arm_navigation_msgs.msg.AllowedContactSpecification()
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1.name = str[start:end].decode('utf-8')
        else:
          val1.name = str[start:end]
        _v92 = val1.shape
        start = end
        end += 1
        (_v92.type,) = _struct_b.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%sd'%length
        start = end
        end += struct.calcsize(pattern)
        _v92.dimensions = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%si'%length
        start = end
        end += struct.calcsize(pattern)
        _v92.triangles = numpy.frombuffer(str[start:end], dtype=numpy.int32, count=length)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v92.vertices = []
        for i in range(0, length):
          val3 = geometry_msgs.msg.Point()
          _x = val3
          start = end
          end += 24
          (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
          _v92.vertices.append(val3)
        _v93 = val1.pose_stamped
        _v94 = _v93.header
        start = end
        end += 4
        (_v94.seq,) = _struct_I.unpack(str[start:end])
        _v95 = _v94.stamp
        _x = _v95
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v94.frame_id = str[start:end].decode('utf-8')
        else:
          _v94.frame_id = str[start:end]
        _v96 = _v93.pose
        _v97 = _v96.position
        _x = _v97
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v98 = _v96.orientation
        _x = _v98
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        val1.link_names = []
        for i in range(0, length):
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          if python3:
            val2 = str[start:end].decode('utf-8')
          else:
            val2 = str[start:end]
          val1.link_names.append(val2)
        start = end
        end += 8
        (val1.penetration_depth,) = _struct_d.unpack(str[start:end])
        self.planning_scene_diff.allowed_contacts.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.planning_scene_diff.link_padding = []
      for i in range(0, length):
        val1 = arm_navigation_msgs.msg.LinkPadding()
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1.link_name = str[start:end].decode('utf-8')
        else:
          val1.link_name = str[start:end]
        start = end
        end += 8
        (val1.padding,) = _struct_d.unpack(str[start:end])
        self.planning_scene_diff.link_padding.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.planning_scene_diff.collision_objects = []
      for i in range(0, length):
        val1 = arm_navigation_msgs.msg.CollisionObject()
        _v99 = val1.header
        start = end
        end += 4
        (_v99.seq,) = _struct_I.unpack(str[start:end])
        _v100 = _v99.stamp
        _x = _v100
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v99.frame_id = str[start:end].decode('utf-8')
        else:
          _v99.frame_id = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1.id = str[start:end].decode('utf-8')
        else:
          val1.id = str[start:end]
        start = end
        end += 4
        (val1.padding,) = _struct_f.unpack(str[start:end])
        _v101 = val1.operation
        start = end
        end += 1
        (_v101.operation,) = _struct_b.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        val1.shapes = []
        for i in range(0, length):
          val2 = arm_navigation_msgs.msg.Shape()
          start = end
          end += 1
          (val2.type,) = _struct_b.unpack(str[start:end])
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          pattern = '<%sd'%length
          start = end
          end += struct.calcsize(pattern)
          val2.dimensions = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          pattern = '<%si'%length
          start = end
          end += struct.calcsize(pattern)
          val2.triangles = numpy.frombuffer(str[start:end], dtype=numpy.int32, count=length)
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          val2.vertices = []
          for i in range(0, length):
            val3 = geometry_msgs.msg.Point()
            _x = val3
            start = end
            end += 24
            (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
            val2.vertices.append(val3)
          val1.shapes.append(val2)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        val1.poses = []
        for i in range(0, length):
          val2 = geometry_msgs.msg.Pose()
          _v102 = val2.position
          _x = _v102
          start = end
          end += 24
          (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
          _v103 = val2.orientation
          _x = _v103
          start = end
          end += 32
          (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
          val1.poses.append(val2)
        self.planning_scene_diff.collision_objects.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.planning_scene_diff.attached_collision_objects = []
      for i in range(0, length):
        val1 = arm_navigation_msgs.msg.AttachedCollisionObject()
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1.link_name = str[start:end].decode('utf-8')
        else:
          val1.link_name = str[start:end]
        _v104 = val1.object
        _v105 = _v104.header
        start = end
        end += 4
        (_v105.seq,) = _struct_I.unpack(str[start:end])
        _v106 = _v105.stamp
        _x = _v106
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v105.frame_id = str[start:end].decode('utf-8')
        else:
          _v105.frame_id = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v104.id = str[start:end].decode('utf-8')
        else:
          _v104.id = str[start:end]
        start = end
        end += 4
        (_v104.padding,) = _struct_f.unpack(str[start:end])
        _v107 = _v104.operation
        start = end
        end += 1
        (_v107.operation,) = _struct_b.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v104.shapes = []
        for i in range(0, length):
          val3 = arm_navigation_msgs.msg.Shape()
          start = end
          end += 1
          (val3.type,) = _struct_b.unpack(str[start:end])
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          pattern = '<%sd'%length
          start = end
          end += struct.calcsize(pattern)
          val3.dimensions = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          pattern = '<%si'%length
          start = end
          end += struct.calcsize(pattern)
          val3.triangles = numpy.frombuffer(str[start:end], dtype=numpy.int32, count=length)
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          val3.vertices = []
          for i in range(0, length):
            val4 = geometry_msgs.msg.Point()
            _x = val4
            start = end
            end += 24
            (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
            val3.vertices.append(val4)
          _v104.shapes.append(val3)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v104.poses = []
        for i in range(0, length):
          val3 = geometry_msgs.msg.Pose()
          _v108 = val3.position
          _x = _v108
          start = end
          end += 24
          (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
          _v109 = val3.orientation
          _x = _v109
          start = end
          end += 32
          (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
          _v104.poses.append(val3)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        val1.touch_links = []
        for i in range(0, length):
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          if python3:
            val2 = str[start:end].decode('utf-8')
          else:
            val2 = str[start:end]
          val1.touch_links.append(val2)
        self.planning_scene_diff.attached_collision_objects.append(val1)
      _x = self
      start = end
      end += 12
      (_x.planning_scene_diff.collision_map.header.seq, _x.planning_scene_diff.collision_map.header.stamp.secs, _x.planning_scene_diff.collision_map.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.planning_scene_diff.collision_map.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.planning_scene_diff.collision_map.header.frame_id = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.planning_scene_diff.collision_map.boxes = []
      for i in range(0, length):
        val1 = arm_navigation_msgs.msg.OrientedBoundingBox()
        _v110 = val1.center
        _x = _v110
        start = end
        end += 12
        (_x.x, _x.y, _x.z,) = _struct_3f.unpack(str[start:end])
        _v111 = val1.extents
        _x = _v111
        start = end
        end += 12
        (_x.x, _x.y, _x.z,) = _struct_3f.unpack(str[start:end])
        _v112 = val1.axis
        _x = _v112
        start = end
        end += 12
        (_x.x, _x.y, _x.z,) = _struct_3f.unpack(str[start:end])
        start = end
        end += 4
        (val1.angle,) = _struct_f.unpack(str[start:end])
        self.planning_scene_diff.collision_map.boxes.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.operations.collision_operations = []
      for i in range(0, length):
        val1 = arm_navigation_msgs.msg.CollisionOperation()
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1.object1 = str[start:end].decode('utf-8')
        else:
          val1.object1 = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1.object2 = str[start:end].decode('utf-8')
        else:
          val1.object2 = str[start:end]
        _x = val1
        start = end
        end += 12
        (_x.penetration_distance, _x.operation,) = _struct_di.unpack(str[start:end])
        self.operations.collision_operations.append(val1)
      return self
    except struct.error as e:
      raise genpy.DeserializationError(e) #most likely buffer underfill

_struct_I = genpy.struct_I
_struct_b = struct.Struct("<b")
_struct_d = struct.Struct("<d")
_struct_f = struct.Struct("<f")
_struct_di = struct.Struct("<di")
_struct_3f = struct.Struct("<3f")
_struct_3I = struct.Struct("<3I")
_struct_4d = struct.Struct("<4d")
_struct_2I = struct.Struct("<2I")
_struct_3d = struct.Struct("<3d")
"""autogenerated by genpy from arm_navigation_msgs/GetPlanningSceneResponse.msg. Do not edit."""
import sys
python3 = True if sys.hexversion > 0x03000000 else False
import genpy
import struct

import arm_navigation_msgs.msg
import geometry_msgs.msg
import std_msgs.msg
import genpy
import sensor_msgs.msg

class GetPlanningSceneResponse(genpy.Message):
  _md5sum = "285525c9abe002fbafa99af84a14b4cb"
  _type = "arm_navigation_msgs/GetPlanningSceneResponse"
  _has_header = False #flag to mark the presence of a Header object
  _full_text = """

PlanningScene planning_scene





================================================================================
MSG: arm_navigation_msgs/PlanningScene
#full robot state
arm_navigation_msgs/RobotState robot_state

#additional frames for duplicating tf
geometry_msgs/TransformStamped[] fixed_frame_transforms

#full allowed collision matrix
AllowedCollisionMatrix allowed_collision_matrix

#allowed contacts
arm_navigation_msgs/AllowedContactSpecification[] allowed_contacts

#all link paddings
arm_navigation_msgs/LinkPadding[] link_padding

#collision objects
arm_navigation_msgs/CollisionObject[] collision_objects
arm_navigation_msgs/AttachedCollisionObject[] attached_collision_objects

#the collision map
arm_navigation_msgs/CollisionMap collision_map

================================================================================
MSG: arm_navigation_msgs/RobotState
# This message contains information about the robot state, i.e. the positions of its joints and links
sensor_msgs/JointState joint_state
arm_navigation_msgs/MultiDOFJointState multi_dof_joint_state

================================================================================
MSG: sensor_msgs/JointState
# This is a message that holds data to describe the state of a set of torque controlled joints. 
#
# The state of each joint (revolute or prismatic) is defined by:
#  * the position of the joint (rad or m),
#  * the velocity of the joint (rad/s or m/s) and 
#  * the effort that is applied in the joint (Nm or N).
#
# Each joint is uniquely identified by its name
# The header specifies the time at which the joint states were recorded. All the joint states
# in one message have to be recorded at the same time.
#
# This message consists of a multiple arrays, one for each part of the joint state. 
# The goal is to make each of the fields optional. When e.g. your joints have no
# effort associated with them, you can leave the effort array empty. 
#
# All arrays in this message should have the same size, or be empty.
# This is the only way to uniquely associate the joint name with the correct
# states.


Header header

string[] name
float64[] position
float64[] velocity
float64[] effort

================================================================================
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.secs: seconds (stamp_secs) since epoch
# * stamp.nsecs: nanoseconds since stamp_secs
# time-handling sugar is provided by the client library
time stamp
#Frame this data is associated with
# 0: no frame
# 1: global frame
string frame_id

================================================================================
MSG: arm_navigation_msgs/MultiDOFJointState
#A representation of a multi-dof joint state
time stamp
string[] joint_names
string[] frame_ids
string[] child_frame_ids
geometry_msgs/Pose[] poses

================================================================================
MSG: geometry_msgs/Pose
# A representation of pose in free space, composed of postion and orientation. 
Point position
Quaternion orientation

================================================================================
MSG: geometry_msgs/Point
# This contains the position of a point in free space
float64 x
float64 y
float64 z

================================================================================
MSG: geometry_msgs/Quaternion
# This represents an orientation in free space in quaternion form.

float64 x
float64 y
float64 z
float64 w

================================================================================
MSG: geometry_msgs/TransformStamped
# This expresses a transform from coordinate frame header.frame_id
# to the coordinate frame child_frame_id
#
# This message is mostly used by the 
# <a href="http://www.ros.org/wiki/tf">tf</a> package. 
# See it's documentation for more information.

Header header
string child_frame_id # the frame id of the child frame
Transform transform

================================================================================
MSG: geometry_msgs/Transform
# This represents the transform between two coordinate frames in free space.

Vector3 translation
Quaternion rotation

================================================================================
MSG: geometry_msgs/Vector3
# This represents a vector in free space. 

float64 x
float64 y
float64 z
================================================================================
MSG: arm_navigation_msgs/AllowedCollisionMatrix
# the list of link names in the matrix
string[] link_names

# the individual entries in the allowed collision matrix
# symmetric, with same order as link_names
AllowedCollisionEntry[] entries

================================================================================
MSG: arm_navigation_msgs/AllowedCollisionEntry
# whether or not collision checking is enabled
bool[] enabled

================================================================================
MSG: arm_navigation_msgs/AllowedContactSpecification
# The names of the regions
string name

# The shape of the region in the environment
arm_navigation_msgs/Shape shape

# The pose of the space defining the region
geometry_msgs/PoseStamped pose_stamped

# The set of links that will be allowed to have penetration contact within this region
string[] link_names

# The maximum penetration depth allowed for every link
float64 penetration_depth

================================================================================
MSG: arm_navigation_msgs/Shape
byte SPHERE=0
byte BOX=1
byte CYLINDER=2
byte MESH=3

byte type


#### define sphere, box, cylinder ####
# the origin of each shape is considered at the shape's center

# for sphere
# radius := dimensions[0]

# for cylinder
# radius := dimensions[0]
# length := dimensions[1]
# the length is along the Z axis

# for box
# size_x := dimensions[0]
# size_y := dimensions[1]
# size_z := dimensions[2]
float64[] dimensions


#### define mesh ####

# list of triangles; triangle k is defined by tre vertices located
# at indices triangles[3k], triangles[3k+1], triangles[3k+2]
int32[] triangles
geometry_msgs/Point[] vertices

================================================================================
MSG: geometry_msgs/PoseStamped
# A Pose with reference coordinate frame and timestamp
Header header
Pose pose

================================================================================
MSG: arm_navigation_msgs/LinkPadding
#name for the link
string link_name

# padding to apply to the link
float64 padding

================================================================================
MSG: arm_navigation_msgs/CollisionObject
# a header, used for interpreting the poses
Header header

# the id of the object
string id

# The padding used for filtering points near the object.
# This does not affect collision checking for the object.  
# Set to negative to get zero padding.
float32 padding

#This contains what is to be done with the object
CollisionObjectOperation operation

#the shapes associated with the object
arm_navigation_msgs/Shape[] shapes

#the poses associated with the shapes - will be transformed using the header
geometry_msgs/Pose[] poses

================================================================================
MSG: arm_navigation_msgs/CollisionObjectOperation
#Puts the object into the environment
#or updates the object if already added
byte ADD=0

#Removes the object from the environment entirely
byte REMOVE=1

#Only valid within the context of a CollisionAttachedObject message
#Will be ignored if sent with an CollisionObject message
#Takes an attached object, detaches from the attached link
#But adds back in as regular object
byte DETACH_AND_ADD_AS_OBJECT=2

#Only valid within the context of a CollisionAttachedObject message
#Will be ignored if sent with an CollisionObject message
#Takes current object in the environment and removes it as
#a regular object
byte ATTACH_AND_REMOVE_AS_OBJECT=3

# Byte code for operation
byte operation

================================================================================
MSG: arm_navigation_msgs/AttachedCollisionObject
# The CollisionObject will be attached with a fixed joint to this link
# If link name is set to REMOVE_ALL_ATTACHED_OBJECTS and object.operation 
# is set to REMOVE will remove all attached bodies attached to any object
string link_name

#Reserved for indicating that all attached objects should be removed
string REMOVE_ALL_ATTACHED_OBJECTS = "all"

#This contains the actual shapes and poses for the CollisionObject
#to be attached to the link
#If action is remove and no object.id is set, all objects
#attached to the link indicated by link_name will be removed
CollisionObject object

# The set of links that the attached objects are allowed to touch
# by default - the link_name is included by default
string[] touch_links

================================================================================
MSG: arm_navigation_msgs/CollisionMap
#header for interpreting box positions
Header header

#boxes for use in collision testing
OrientedBoundingBox[] boxes

================================================================================
MSG: arm_navigation_msgs/OrientedBoundingBox
#the center of the box
geometry_msgs/Point32 center

#the extents of the box, assuming the center is at the point
geometry_msgs/Point32 extents

#the axis of the box
geometry_msgs/Point32 axis

#the angle of rotation around the axis
float32 angle

================================================================================
MSG: geometry_msgs/Point32
# This contains the position of a point in free space(with 32 bits of precision).
# It is recommeded to use Point wherever possible instead of Point32.  
# 
# This recommendation is to promote interoperability.  
#
# This message is designed to take up less space when sending
# lots of points at once, as in the case of a PointCloud.  

float32 x
float32 y
float32 z
"""
  __slots__ = ['planning_scene']
  _slot_types = ['arm_navigation_msgs/PlanningScene']

  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:
       planning_scene

    :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(GetPlanningSceneResponse, self).__init__(*args, **kwds)
      #message fields cannot be None, assign default values for those that are
      if self.planning_scene is None:
        self.planning_scene = arm_navigation_msgs.msg.PlanningScene()
    else:
      self.planning_scene = arm_navigation_msgs.msg.PlanningScene()

  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(_struct_3I.pack(_x.planning_scene.robot_state.joint_state.header.seq, _x.planning_scene.robot_state.joint_state.header.stamp.secs, _x.planning_scene.robot_state.joint_state.header.stamp.nsecs))
      _x = self.planning_scene.robot_state.joint_state.header.frame_id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      length = len(self.planning_scene.robot_state.joint_state.name)
      buff.write(_struct_I.pack(length))
      for val1 in self.planning_scene.robot_state.joint_state.name:
        length = len(val1)
        if python3 or type(val1) == unicode:
          val1 = val1.encode('utf-8')
          length = len(val1)
        buff.write(struct.pack('<I%ss'%length, length, val1))
      length = len(self.planning_scene.robot_state.joint_state.position)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(struct.pack(pattern, *self.planning_scene.robot_state.joint_state.position))
      length = len(self.planning_scene.robot_state.joint_state.velocity)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(struct.pack(pattern, *self.planning_scene.robot_state.joint_state.velocity))
      length = len(self.planning_scene.robot_state.joint_state.effort)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(struct.pack(pattern, *self.planning_scene.robot_state.joint_state.effort))
      _x = self
      buff.write(_struct_2I.pack(_x.planning_scene.robot_state.multi_dof_joint_state.stamp.secs, _x.planning_scene.robot_state.multi_dof_joint_state.stamp.nsecs))
      length = len(self.planning_scene.robot_state.multi_dof_joint_state.joint_names)
      buff.write(_struct_I.pack(length))
      for val1 in self.planning_scene.robot_state.multi_dof_joint_state.joint_names:
        length = len(val1)
        if python3 or type(val1) == unicode:
          val1 = val1.encode('utf-8')
          length = len(val1)
        buff.write(struct.pack('<I%ss'%length, length, val1))
      length = len(self.planning_scene.robot_state.multi_dof_joint_state.frame_ids)
      buff.write(_struct_I.pack(length))
      for val1 in self.planning_scene.robot_state.multi_dof_joint_state.frame_ids:
        length = len(val1)
        if python3 or type(val1) == unicode:
          val1 = val1.encode('utf-8')
          length = len(val1)
        buff.write(struct.pack('<I%ss'%length, length, val1))
      length = len(self.planning_scene.robot_state.multi_dof_joint_state.child_frame_ids)
      buff.write(_struct_I.pack(length))
      for val1 in self.planning_scene.robot_state.multi_dof_joint_state.child_frame_ids:
        length = len(val1)
        if python3 or type(val1) == unicode:
          val1 = val1.encode('utf-8')
          length = len(val1)
        buff.write(struct.pack('<I%ss'%length, length, val1))
      length = len(self.planning_scene.robot_state.multi_dof_joint_state.poses)
      buff.write(_struct_I.pack(length))
      for val1 in self.planning_scene.robot_state.multi_dof_joint_state.poses:
        _v113 = val1.position
        _x = _v113
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v114 = val1.orientation
        _x = _v114
        buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
      length = len(self.planning_scene.fixed_frame_transforms)
      buff.write(_struct_I.pack(length))
      for val1 in self.planning_scene.fixed_frame_transforms:
        _v115 = val1.header
        buff.write(_struct_I.pack(_v115.seq))
        _v116 = _v115.stamp
        _x = _v116
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v115.frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _x = val1.child_frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _v117 = val1.transform
        _v118 = _v117.translation
        _x = _v118
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v119 = _v117.rotation
        _x = _v119
        buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
      length = len(self.planning_scene.allowed_collision_matrix.link_names)
      buff.write(_struct_I.pack(length))
      for val1 in self.planning_scene.allowed_collision_matrix.link_names:
        length = len(val1)
        if python3 or type(val1) == unicode:
          val1 = val1.encode('utf-8')
          length = len(val1)
        buff.write(struct.pack('<I%ss'%length, length, val1))
      length = len(self.planning_scene.allowed_collision_matrix.entries)
      buff.write(_struct_I.pack(length))
      for val1 in self.planning_scene.allowed_collision_matrix.entries:
        length = len(val1.enabled)
        buff.write(_struct_I.pack(length))
        pattern = '<%sB'%length
        buff.write(struct.pack(pattern, *val1.enabled))
      length = len(self.planning_scene.allowed_contacts)
      buff.write(_struct_I.pack(length))
      for val1 in self.planning_scene.allowed_contacts:
        _x = val1.name
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _v120 = val1.shape
        buff.write(_struct_b.pack(_v120.type))
        length = len(_v120.dimensions)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(struct.pack(pattern, *_v120.dimensions))
        length = len(_v120.triangles)
        buff.write(_struct_I.pack(length))
        pattern = '<%si'%length
        buff.write(struct.pack(pattern, *_v120.triangles))
        length = len(_v120.vertices)
        buff.write(_struct_I.pack(length))
        for val3 in _v120.vertices:
          _x = val3
          buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v121 = val1.pose_stamped
        _v122 = _v121.header
        buff.write(_struct_I.pack(_v122.seq))
        _v123 = _v122.stamp
        _x = _v123
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v122.frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _v124 = _v121.pose
        _v125 = _v124.position
        _x = _v125
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v126 = _v124.orientation
        _x = _v126
        buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
        length = len(val1.link_names)
        buff.write(_struct_I.pack(length))
        for val2 in val1.link_names:
          length = len(val2)
          if python3 or type(val2) == unicode:
            val2 = val2.encode('utf-8')
            length = len(val2)
          buff.write(struct.pack('<I%ss'%length, length, val2))
        buff.write(_struct_d.pack(val1.penetration_depth))
      length = len(self.planning_scene.link_padding)
      buff.write(_struct_I.pack(length))
      for val1 in self.planning_scene.link_padding:
        _x = val1.link_name
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        buff.write(_struct_d.pack(val1.padding))
      length = len(self.planning_scene.collision_objects)
      buff.write(_struct_I.pack(length))
      for val1 in self.planning_scene.collision_objects:
        _v127 = val1.header
        buff.write(_struct_I.pack(_v127.seq))
        _v128 = _v127.stamp
        _x = _v128
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v127.frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _x = val1.id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        buff.write(_struct_f.pack(val1.padding))
        _v129 = val1.operation
        buff.write(_struct_b.pack(_v129.operation))
        length = len(val1.shapes)
        buff.write(_struct_I.pack(length))
        for val2 in val1.shapes:
          buff.write(_struct_b.pack(val2.type))
          length = len(val2.dimensions)
          buff.write(_struct_I.pack(length))
          pattern = '<%sd'%length
          buff.write(struct.pack(pattern, *val2.dimensions))
          length = len(val2.triangles)
          buff.write(_struct_I.pack(length))
          pattern = '<%si'%length
          buff.write(struct.pack(pattern, *val2.triangles))
          length = len(val2.vertices)
          buff.write(_struct_I.pack(length))
          for val3 in val2.vertices:
            _x = val3
            buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        length = len(val1.poses)
        buff.write(_struct_I.pack(length))
        for val2 in val1.poses:
          _v130 = val2.position
          _x = _v130
          buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
          _v131 = val2.orientation
          _x = _v131
          buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
      length = len(self.planning_scene.attached_collision_objects)
      buff.write(_struct_I.pack(length))
      for val1 in self.planning_scene.attached_collision_objects:
        _x = val1.link_name
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _v132 = val1.object
        _v133 = _v132.header
        buff.write(_struct_I.pack(_v133.seq))
        _v134 = _v133.stamp
        _x = _v134
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v133.frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _x = _v132.id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        buff.write(_struct_f.pack(_v132.padding))
        _v135 = _v132.operation
        buff.write(_struct_b.pack(_v135.operation))
        length = len(_v132.shapes)
        buff.write(_struct_I.pack(length))
        for val3 in _v132.shapes:
          buff.write(_struct_b.pack(val3.type))
          length = len(val3.dimensions)
          buff.write(_struct_I.pack(length))
          pattern = '<%sd'%length
          buff.write(struct.pack(pattern, *val3.dimensions))
          length = len(val3.triangles)
          buff.write(_struct_I.pack(length))
          pattern = '<%si'%length
          buff.write(struct.pack(pattern, *val3.triangles))
          length = len(val3.vertices)
          buff.write(_struct_I.pack(length))
          for val4 in val3.vertices:
            _x = val4
            buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        length = len(_v132.poses)
        buff.write(_struct_I.pack(length))
        for val3 in _v132.poses:
          _v136 = val3.position
          _x = _v136
          buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
          _v137 = val3.orientation
          _x = _v137
          buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
        length = len(val1.touch_links)
        buff.write(_struct_I.pack(length))
        for val2 in val1.touch_links:
          length = len(val2)
          if python3 or type(val2) == unicode:
            val2 = val2.encode('utf-8')
            length = len(val2)
          buff.write(struct.pack('<I%ss'%length, length, val2))
      _x = self
      buff.write(_struct_3I.pack(_x.planning_scene.collision_map.header.seq, _x.planning_scene.collision_map.header.stamp.secs, _x.planning_scene.collision_map.header.stamp.nsecs))
      _x = self.planning_scene.collision_map.header.frame_id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      length = len(self.planning_scene.collision_map.boxes)
      buff.write(_struct_I.pack(length))
      for val1 in self.planning_scene.collision_map.boxes:
        _v138 = val1.center
        _x = _v138
        buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))
        _v139 = val1.extents
        _x = _v139
        buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))
        _v140 = val1.axis
        _x = _v140
        buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))
        buff.write(_struct_f.pack(val1.angle))
    except struct.error as se: self._check_types(se)
    except TypeError as te: self._check_types(te)

  def deserialize(self, str):
    """
    unpack serialized message in str into this message instance
    :param str: byte array of serialized message, ``str``
    """
    try:
      if self.planning_scene is None:
        self.planning_scene = arm_navigation_msgs.msg.PlanningScene()
      end = 0
      _x = self
      start = end
      end += 12
      (_x.planning_scene.robot_state.joint_state.header.seq, _x.planning_scene.robot_state.joint_state.header.stamp.secs, _x.planning_scene.robot_state.joint_state.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.planning_scene.robot_state.joint_state.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.planning_scene.robot_state.joint_state.header.frame_id = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.planning_scene.robot_state.joint_state.name = []
      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')
        else:
          val1 = str[start:end]
        self.planning_scene.robot_state.joint_state.name.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.planning_scene.robot_state.joint_state.position = struct.unpack(pattern, str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.planning_scene.robot_state.joint_state.velocity = struct.unpack(pattern, str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.planning_scene.robot_state.joint_state.effort = struct.unpack(pattern, str[start:end])
      _x = self
      start = end
      end += 8
      (_x.planning_scene.robot_state.multi_dof_joint_state.stamp.secs, _x.planning_scene.robot_state.multi_dof_joint_state.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.planning_scene.robot_state.multi_dof_joint_state.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')
        else:
          val1 = str[start:end]
        self.planning_scene.robot_state.multi_dof_joint_state.joint_names.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.planning_scene.robot_state.multi_dof_joint_state.frame_ids = []
      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')
        else:
          val1 = str[start:end]
        self.planning_scene.robot_state.multi_dof_joint_state.frame_ids.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.planning_scene.robot_state.multi_dof_joint_state.child_frame_ids = []
      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')
        else:
          val1 = str[start:end]
        self.planning_scene.robot_state.multi_dof_joint_state.child_frame_ids.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.planning_scene.robot_state.multi_dof_joint_state.poses = []
      for i in range(0, length):
        val1 = geometry_msgs.msg.Pose()
        _v141 = val1.position
        _x = _v141
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v142 = val1.orientation
        _x = _v142
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
        self.planning_scene.robot_state.multi_dof_joint_state.poses.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.planning_scene.fixed_frame_transforms = []
      for i in range(0, length):
        val1 = geometry_msgs.msg.TransformStamped()
        _v143 = val1.header
        start = end
        end += 4
        (_v143.seq,) = _struct_I.unpack(str[start:end])
        _v144 = _v143.stamp
        _x = _v144
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v143.frame_id = str[start:end].decode('utf-8')
        else:
          _v143.frame_id = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1.child_frame_id = str[start:end].decode('utf-8')
        else:
          val1.child_frame_id = str[start:end]
        _v145 = val1.transform
        _v146 = _v145.translation
        _x = _v146
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v147 = _v145.rotation
        _x = _v147
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
        self.planning_scene.fixed_frame_transforms.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.planning_scene.allowed_collision_matrix.link_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')
        else:
          val1 = str[start:end]
        self.planning_scene.allowed_collision_matrix.link_names.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.planning_scene.allowed_collision_matrix.entries = []
      for i in range(0, length):
        val1 = arm_navigation_msgs.msg.AllowedCollisionEntry()
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%sB'%length
        start = end
        end += struct.calcsize(pattern)
        val1.enabled = struct.unpack(pattern, str[start:end])
        val1.enabled = map(bool, val1.enabled)
        self.planning_scene.allowed_collision_matrix.entries.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.planning_scene.allowed_contacts = []
      for i in range(0, length):
        val1 = arm_navigation_msgs.msg.AllowedContactSpecification()
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1.name = str[start:end].decode('utf-8')
        else:
          val1.name = str[start:end]
        _v148 = val1.shape
        start = end
        end += 1
        (_v148.type,) = _struct_b.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%sd'%length
        start = end
        end += struct.calcsize(pattern)
        _v148.dimensions = struct.unpack(pattern, str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%si'%length
        start = end
        end += struct.calcsize(pattern)
        _v148.triangles = struct.unpack(pattern, str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v148.vertices = []
        for i in range(0, length):
          val3 = geometry_msgs.msg.Point()
          _x = val3
          start = end
          end += 24
          (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
          _v148.vertices.append(val3)
        _v149 = val1.pose_stamped
        _v150 = _v149.header
        start = end
        end += 4
        (_v150.seq,) = _struct_I.unpack(str[start:end])
        _v151 = _v150.stamp
        _x = _v151
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v150.frame_id = str[start:end].decode('utf-8')
        else:
          _v150.frame_id = str[start:end]
        _v152 = _v149.pose
        _v153 = _v152.position
        _x = _v153
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v154 = _v152.orientation
        _x = _v154
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        val1.link_names = []
        for i in range(0, length):
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          if python3:
            val2 = str[start:end].decode('utf-8')
          else:
            val2 = str[start:end]
          val1.link_names.append(val2)
        start = end
        end += 8
        (val1.penetration_depth,) = _struct_d.unpack(str[start:end])
        self.planning_scene.allowed_contacts.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.planning_scene.link_padding = []
      for i in range(0, length):
        val1 = arm_navigation_msgs.msg.LinkPadding()
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1.link_name = str[start:end].decode('utf-8')
        else:
          val1.link_name = str[start:end]
        start = end
        end += 8
        (val1.padding,) = _struct_d.unpack(str[start:end])
        self.planning_scene.link_padding.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.planning_scene.collision_objects = []
      for i in range(0, length):
        val1 = arm_navigation_msgs.msg.CollisionObject()
        _v155 = val1.header
        start = end
        end += 4
        (_v155.seq,) = _struct_I.unpack(str[start:end])
        _v156 = _v155.stamp
        _x = _v156
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v155.frame_id = str[start:end].decode('utf-8')
        else:
          _v155.frame_id = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1.id = str[start:end].decode('utf-8')
        else:
          val1.id = str[start:end]
        start = end
        end += 4
        (val1.padding,) = _struct_f.unpack(str[start:end])
        _v157 = val1.operation
        start = end
        end += 1
        (_v157.operation,) = _struct_b.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        val1.shapes = []
        for i in range(0, length):
          val2 = arm_navigation_msgs.msg.Shape()
          start = end
          end += 1
          (val2.type,) = _struct_b.unpack(str[start:end])
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          pattern = '<%sd'%length
          start = end
          end += struct.calcsize(pattern)
          val2.dimensions = struct.unpack(pattern, str[start:end])
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          pattern = '<%si'%length
          start = end
          end += struct.calcsize(pattern)
          val2.triangles = struct.unpack(pattern, str[start:end])
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          val2.vertices = []
          for i in range(0, length):
            val3 = geometry_msgs.msg.Point()
            _x = val3
            start = end
            end += 24
            (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
            val2.vertices.append(val3)
          val1.shapes.append(val2)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        val1.poses = []
        for i in range(0, length):
          val2 = geometry_msgs.msg.Pose()
          _v158 = val2.position
          _x = _v158
          start = end
          end += 24
          (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
          _v159 = val2.orientation
          _x = _v159
          start = end
          end += 32
          (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
          val1.poses.append(val2)
        self.planning_scene.collision_objects.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.planning_scene.attached_collision_objects = []
      for i in range(0, length):
        val1 = arm_navigation_msgs.msg.AttachedCollisionObject()
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1.link_name = str[start:end].decode('utf-8')
        else:
          val1.link_name = str[start:end]
        _v160 = val1.object
        _v161 = _v160.header
        start = end
        end += 4
        (_v161.seq,) = _struct_I.unpack(str[start:end])
        _v162 = _v161.stamp
        _x = _v162
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v161.frame_id = str[start:end].decode('utf-8')
        else:
          _v161.frame_id = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v160.id = str[start:end].decode('utf-8')
        else:
          _v160.id = str[start:end]
        start = end
        end += 4
        (_v160.padding,) = _struct_f.unpack(str[start:end])
        _v163 = _v160.operation
        start = end
        end += 1
        (_v163.operation,) = _struct_b.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v160.shapes = []
        for i in range(0, length):
          val3 = arm_navigation_msgs.msg.Shape()
          start = end
          end += 1
          (val3.type,) = _struct_b.unpack(str[start:end])
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          pattern = '<%sd'%length
          start = end
          end += struct.calcsize(pattern)
          val3.dimensions = struct.unpack(pattern, str[start:end])
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          pattern = '<%si'%length
          start = end
          end += struct.calcsize(pattern)
          val3.triangles = struct.unpack(pattern, str[start:end])
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          val3.vertices = []
          for i in range(0, length):
            val4 = geometry_msgs.msg.Point()
            _x = val4
            start = end
            end += 24
            (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
            val3.vertices.append(val4)
          _v160.shapes.append(val3)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v160.poses = []
        for i in range(0, length):
          val3 = geometry_msgs.msg.Pose()
          _v164 = val3.position
          _x = _v164
          start = end
          end += 24
          (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
          _v165 = val3.orientation
          _x = _v165
          start = end
          end += 32
          (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
          _v160.poses.append(val3)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        val1.touch_links = []
        for i in range(0, length):
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          if python3:
            val2 = str[start:end].decode('utf-8')
          else:
            val2 = str[start:end]
          val1.touch_links.append(val2)
        self.planning_scene.attached_collision_objects.append(val1)
      _x = self
      start = end
      end += 12
      (_x.planning_scene.collision_map.header.seq, _x.planning_scene.collision_map.header.stamp.secs, _x.planning_scene.collision_map.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.planning_scene.collision_map.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.planning_scene.collision_map.header.frame_id = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.planning_scene.collision_map.boxes = []
      for i in range(0, length):
        val1 = arm_navigation_msgs.msg.OrientedBoundingBox()
        _v166 = val1.center
        _x = _v166
        start = end
        end += 12
        (_x.x, _x.y, _x.z,) = _struct_3f.unpack(str[start:end])
        _v167 = val1.extents
        _x = _v167
        start = end
        end += 12
        (_x.x, _x.y, _x.z,) = _struct_3f.unpack(str[start:end])
        _v168 = val1.axis
        _x = _v168
        start = end
        end += 12
        (_x.x, _x.y, _x.z,) = _struct_3f.unpack(str[start:end])
        start = end
        end += 4
        (val1.angle,) = _struct_f.unpack(str[start:end])
        self.planning_scene.collision_map.boxes.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(_struct_3I.pack(_x.planning_scene.robot_state.joint_state.header.seq, _x.planning_scene.robot_state.joint_state.header.stamp.secs, _x.planning_scene.robot_state.joint_state.header.stamp.nsecs))
      _x = self.planning_scene.robot_state.joint_state.header.frame_id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      length = len(self.planning_scene.robot_state.joint_state.name)
      buff.write(_struct_I.pack(length))
      for val1 in self.planning_scene.robot_state.joint_state.name:
        length = len(val1)
        if python3 or type(val1) == unicode:
          val1 = val1.encode('utf-8')
          length = len(val1)
        buff.write(struct.pack('<I%ss'%length, length, val1))
      length = len(self.planning_scene.robot_state.joint_state.position)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(self.planning_scene.robot_state.joint_state.position.tostring())
      length = len(self.planning_scene.robot_state.joint_state.velocity)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(self.planning_scene.robot_state.joint_state.velocity.tostring())
      length = len(self.planning_scene.robot_state.joint_state.effort)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(self.planning_scene.robot_state.joint_state.effort.tostring())
      _x = self
      buff.write(_struct_2I.pack(_x.planning_scene.robot_state.multi_dof_joint_state.stamp.secs, _x.planning_scene.robot_state.multi_dof_joint_state.stamp.nsecs))
      length = len(self.planning_scene.robot_state.multi_dof_joint_state.joint_names)
      buff.write(_struct_I.pack(length))
      for val1 in self.planning_scene.robot_state.multi_dof_joint_state.joint_names:
        length = len(val1)
        if python3 or type(val1) == unicode:
          val1 = val1.encode('utf-8')
          length = len(val1)
        buff.write(struct.pack('<I%ss'%length, length, val1))
      length = len(self.planning_scene.robot_state.multi_dof_joint_state.frame_ids)
      buff.write(_struct_I.pack(length))
      for val1 in self.planning_scene.robot_state.multi_dof_joint_state.frame_ids:
        length = len(val1)
        if python3 or type(val1) == unicode:
          val1 = val1.encode('utf-8')
          length = len(val1)
        buff.write(struct.pack('<I%ss'%length, length, val1))
      length = len(self.planning_scene.robot_state.multi_dof_joint_state.child_frame_ids)
      buff.write(_struct_I.pack(length))
      for val1 in self.planning_scene.robot_state.multi_dof_joint_state.child_frame_ids:
        length = len(val1)
        if python3 or type(val1) == unicode:
          val1 = val1.encode('utf-8')
          length = len(val1)
        buff.write(struct.pack('<I%ss'%length, length, val1))
      length = len(self.planning_scene.robot_state.multi_dof_joint_state.poses)
      buff.write(_struct_I.pack(length))
      for val1 in self.planning_scene.robot_state.multi_dof_joint_state.poses:
        _v169 = val1.position
        _x = _v169
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v170 = val1.orientation
        _x = _v170
        buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
      length = len(self.planning_scene.fixed_frame_transforms)
      buff.write(_struct_I.pack(length))
      for val1 in self.planning_scene.fixed_frame_transforms:
        _v171 = val1.header
        buff.write(_struct_I.pack(_v171.seq))
        _v172 = _v171.stamp
        _x = _v172
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v171.frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _x = val1.child_frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _v173 = val1.transform
        _v174 = _v173.translation
        _x = _v174
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v175 = _v173.rotation
        _x = _v175
        buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
      length = len(self.planning_scene.allowed_collision_matrix.link_names)
      buff.write(_struct_I.pack(length))
      for val1 in self.planning_scene.allowed_collision_matrix.link_names:
        length = len(val1)
        if python3 or type(val1) == unicode:
          val1 = val1.encode('utf-8')
          length = len(val1)
        buff.write(struct.pack('<I%ss'%length, length, val1))
      length = len(self.planning_scene.allowed_collision_matrix.entries)
      buff.write(_struct_I.pack(length))
      for val1 in self.planning_scene.allowed_collision_matrix.entries:
        length = len(val1.enabled)
        buff.write(_struct_I.pack(length))
        pattern = '<%sB'%length
        buff.write(val1.enabled.tostring())
      length = len(self.planning_scene.allowed_contacts)
      buff.write(_struct_I.pack(length))
      for val1 in self.planning_scene.allowed_contacts:
        _x = val1.name
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _v176 = val1.shape
        buff.write(_struct_b.pack(_v176.type))
        length = len(_v176.dimensions)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(_v176.dimensions.tostring())
        length = len(_v176.triangles)
        buff.write(_struct_I.pack(length))
        pattern = '<%si'%length
        buff.write(_v176.triangles.tostring())
        length = len(_v176.vertices)
        buff.write(_struct_I.pack(length))
        for val3 in _v176.vertices:
          _x = val3
          buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v177 = val1.pose_stamped
        _v178 = _v177.header
        buff.write(_struct_I.pack(_v178.seq))
        _v179 = _v178.stamp
        _x = _v179
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v178.frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _v180 = _v177.pose
        _v181 = _v180.position
        _x = _v181
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v182 = _v180.orientation
        _x = _v182
        buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
        length = len(val1.link_names)
        buff.write(_struct_I.pack(length))
        for val2 in val1.link_names:
          length = len(val2)
          if python3 or type(val2) == unicode:
            val2 = val2.encode('utf-8')
            length = len(val2)
          buff.write(struct.pack('<I%ss'%length, length, val2))
        buff.write(_struct_d.pack(val1.penetration_depth))
      length = len(self.planning_scene.link_padding)
      buff.write(_struct_I.pack(length))
      for val1 in self.planning_scene.link_padding:
        _x = val1.link_name
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        buff.write(_struct_d.pack(val1.padding))
      length = len(self.planning_scene.collision_objects)
      buff.write(_struct_I.pack(length))
      for val1 in self.planning_scene.collision_objects:
        _v183 = val1.header
        buff.write(_struct_I.pack(_v183.seq))
        _v184 = _v183.stamp
        _x = _v184
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v183.frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _x = val1.id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        buff.write(_struct_f.pack(val1.padding))
        _v185 = val1.operation
        buff.write(_struct_b.pack(_v185.operation))
        length = len(val1.shapes)
        buff.write(_struct_I.pack(length))
        for val2 in val1.shapes:
          buff.write(_struct_b.pack(val2.type))
          length = len(val2.dimensions)
          buff.write(_struct_I.pack(length))
          pattern = '<%sd'%length
          buff.write(val2.dimensions.tostring())
          length = len(val2.triangles)
          buff.write(_struct_I.pack(length))
          pattern = '<%si'%length
          buff.write(val2.triangles.tostring())
          length = len(val2.vertices)
          buff.write(_struct_I.pack(length))
          for val3 in val2.vertices:
            _x = val3
            buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        length = len(val1.poses)
        buff.write(_struct_I.pack(length))
        for val2 in val1.poses:
          _v186 = val2.position
          _x = _v186
          buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
          _v187 = val2.orientation
          _x = _v187
          buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
      length = len(self.planning_scene.attached_collision_objects)
      buff.write(_struct_I.pack(length))
      for val1 in self.planning_scene.attached_collision_objects:
        _x = val1.link_name
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _v188 = val1.object
        _v189 = _v188.header
        buff.write(_struct_I.pack(_v189.seq))
        _v190 = _v189.stamp
        _x = _v190
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v189.frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _x = _v188.id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        buff.write(_struct_f.pack(_v188.padding))
        _v191 = _v188.operation
        buff.write(_struct_b.pack(_v191.operation))
        length = len(_v188.shapes)
        buff.write(_struct_I.pack(length))
        for val3 in _v188.shapes:
          buff.write(_struct_b.pack(val3.type))
          length = len(val3.dimensions)
          buff.write(_struct_I.pack(length))
          pattern = '<%sd'%length
          buff.write(val3.dimensions.tostring())
          length = len(val3.triangles)
          buff.write(_struct_I.pack(length))
          pattern = '<%si'%length
          buff.write(val3.triangles.tostring())
          length = len(val3.vertices)
          buff.write(_struct_I.pack(length))
          for val4 in val3.vertices:
            _x = val4
            buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        length = len(_v188.poses)
        buff.write(_struct_I.pack(length))
        for val3 in _v188.poses:
          _v192 = val3.position
          _x = _v192
          buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
          _v193 = val3.orientation
          _x = _v193
          buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
        length = len(val1.touch_links)
        buff.write(_struct_I.pack(length))
        for val2 in val1.touch_links:
          length = len(val2)
          if python3 or type(val2) == unicode:
            val2 = val2.encode('utf-8')
            length = len(val2)
          buff.write(struct.pack('<I%ss'%length, length, val2))
      _x = self
      buff.write(_struct_3I.pack(_x.planning_scene.collision_map.header.seq, _x.planning_scene.collision_map.header.stamp.secs, _x.planning_scene.collision_map.header.stamp.nsecs))
      _x = self.planning_scene.collision_map.header.frame_id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      length = len(self.planning_scene.collision_map.boxes)
      buff.write(_struct_I.pack(length))
      for val1 in self.planning_scene.collision_map.boxes:
        _v194 = val1.center
        _x = _v194
        buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))
        _v195 = val1.extents
        _x = _v195
        buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))
        _v196 = val1.axis
        _x = _v196
        buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))
        buff.write(_struct_f.pack(val1.angle))
    except struct.error as se: self._check_types(se)
    except TypeError as te: self._check_types(te)

  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
    """
    try:
      if self.planning_scene is None:
        self.planning_scene = arm_navigation_msgs.msg.PlanningScene()
      end = 0
      _x = self
      start = end
      end += 12
      (_x.planning_scene.robot_state.joint_state.header.seq, _x.planning_scene.robot_state.joint_state.header.stamp.secs, _x.planning_scene.robot_state.joint_state.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.planning_scene.robot_state.joint_state.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.planning_scene.robot_state.joint_state.header.frame_id = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.planning_scene.robot_state.joint_state.name = []
      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')
        else:
          val1 = str[start:end]
        self.planning_scene.robot_state.joint_state.name.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.planning_scene.robot_state.joint_state.position = 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
      end += struct.calcsize(pattern)
      self.planning_scene.robot_state.joint_state.velocity = 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
      end += struct.calcsize(pattern)
      self.planning_scene.robot_state.joint_state.effort = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
      _x = self
      start = end
      end += 8
      (_x.planning_scene.robot_state.multi_dof_joint_state.stamp.secs, _x.planning_scene.robot_state.multi_dof_joint_state.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.planning_scene.robot_state.multi_dof_joint_state.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')
        else:
          val1 = str[start:end]
        self.planning_scene.robot_state.multi_dof_joint_state.joint_names.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.planning_scene.robot_state.multi_dof_joint_state.frame_ids = []
      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')
        else:
          val1 = str[start:end]
        self.planning_scene.robot_state.multi_dof_joint_state.frame_ids.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.planning_scene.robot_state.multi_dof_joint_state.child_frame_ids = []
      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')
        else:
          val1 = str[start:end]
        self.planning_scene.robot_state.multi_dof_joint_state.child_frame_ids.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.planning_scene.robot_state.multi_dof_joint_state.poses = []
      for i in range(0, length):
        val1 = geometry_msgs.msg.Pose()
        _v197 = val1.position
        _x = _v197
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v198 = val1.orientation
        _x = _v198
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
        self.planning_scene.robot_state.multi_dof_joint_state.poses.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.planning_scene.fixed_frame_transforms = []
      for i in range(0, length):
        val1 = geometry_msgs.msg.TransformStamped()
        _v199 = val1.header
        start = end
        end += 4
        (_v199.seq,) = _struct_I.unpack(str[start:end])
        _v200 = _v199.stamp
        _x = _v200
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v199.frame_id = str[start:end].decode('utf-8')
        else:
          _v199.frame_id = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1.child_frame_id = str[start:end].decode('utf-8')
        else:
          val1.child_frame_id = str[start:end]
        _v201 = val1.transform
        _v202 = _v201.translation
        _x = _v202
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v203 = _v201.rotation
        _x = _v203
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
        self.planning_scene.fixed_frame_transforms.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.planning_scene.allowed_collision_matrix.link_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')
        else:
          val1 = str[start:end]
        self.planning_scene.allowed_collision_matrix.link_names.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.planning_scene.allowed_collision_matrix.entries = []
      for i in range(0, length):
        val1 = arm_navigation_msgs.msg.AllowedCollisionEntry()
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%sB'%length
        start = end
        end += struct.calcsize(pattern)
        val1.enabled = numpy.frombuffer(str[start:end], dtype=numpy.bool, count=length)
        val1.enabled = map(bool, val1.enabled)
        self.planning_scene.allowed_collision_matrix.entries.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.planning_scene.allowed_contacts = []
      for i in range(0, length):
        val1 = arm_navigation_msgs.msg.AllowedContactSpecification()
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1.name = str[start:end].decode('utf-8')
        else:
          val1.name = str[start:end]
        _v204 = val1.shape
        start = end
        end += 1
        (_v204.type,) = _struct_b.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%sd'%length
        start = end
        end += struct.calcsize(pattern)
        _v204.dimensions = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%si'%length
        start = end
        end += struct.calcsize(pattern)
        _v204.triangles = numpy.frombuffer(str[start:end], dtype=numpy.int32, count=length)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v204.vertices = []
        for i in range(0, length):
          val3 = geometry_msgs.msg.Point()
          _x = val3
          start = end
          end += 24
          (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
          _v204.vertices.append(val3)
        _v205 = val1.pose_stamped
        _v206 = _v205.header
        start = end
        end += 4
        (_v206.seq,) = _struct_I.unpack(str[start:end])
        _v207 = _v206.stamp
        _x = _v207
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v206.frame_id = str[start:end].decode('utf-8')
        else:
          _v206.frame_id = str[start:end]
        _v208 = _v205.pose
        _v209 = _v208.position
        _x = _v209
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v210 = _v208.orientation
        _x = _v210
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        val1.link_names = []
        for i in range(0, length):
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          if python3:
            val2 = str[start:end].decode('utf-8')
          else:
            val2 = str[start:end]
          val1.link_names.append(val2)
        start = end
        end += 8
        (val1.penetration_depth,) = _struct_d.unpack(str[start:end])
        self.planning_scene.allowed_contacts.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.planning_scene.link_padding = []
      for i in range(0, length):
        val1 = arm_navigation_msgs.msg.LinkPadding()
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1.link_name = str[start:end].decode('utf-8')
        else:
          val1.link_name = str[start:end]
        start = end
        end += 8
        (val1.padding,) = _struct_d.unpack(str[start:end])
        self.planning_scene.link_padding.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.planning_scene.collision_objects = []
      for i in range(0, length):
        val1 = arm_navigation_msgs.msg.CollisionObject()
        _v211 = val1.header
        start = end
        end += 4
        (_v211.seq,) = _struct_I.unpack(str[start:end])
        _v212 = _v211.stamp
        _x = _v212
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v211.frame_id = str[start:end].decode('utf-8')
        else:
          _v211.frame_id = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1.id = str[start:end].decode('utf-8')
        else:
          val1.id = str[start:end]
        start = end
        end += 4
        (val1.padding,) = _struct_f.unpack(str[start:end])
        _v213 = val1.operation
        start = end
        end += 1
        (_v213.operation,) = _struct_b.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        val1.shapes = []
        for i in range(0, length):
          val2 = arm_navigation_msgs.msg.Shape()
          start = end
          end += 1
          (val2.type,) = _struct_b.unpack(str[start:end])
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          pattern = '<%sd'%length
          start = end
          end += struct.calcsize(pattern)
          val2.dimensions = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          pattern = '<%si'%length
          start = end
          end += struct.calcsize(pattern)
          val2.triangles = numpy.frombuffer(str[start:end], dtype=numpy.int32, count=length)
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          val2.vertices = []
          for i in range(0, length):
            val3 = geometry_msgs.msg.Point()
            _x = val3
            start = end
            end += 24
            (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
            val2.vertices.append(val3)
          val1.shapes.append(val2)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        val1.poses = []
        for i in range(0, length):
          val2 = geometry_msgs.msg.Pose()
          _v214 = val2.position
          _x = _v214
          start = end
          end += 24
          (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
          _v215 = val2.orientation
          _x = _v215
          start = end
          end += 32
          (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
          val1.poses.append(val2)
        self.planning_scene.collision_objects.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.planning_scene.attached_collision_objects = []
      for i in range(0, length):
        val1 = arm_navigation_msgs.msg.AttachedCollisionObject()
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1.link_name = str[start:end].decode('utf-8')
        else:
          val1.link_name = str[start:end]
        _v216 = val1.object
        _v217 = _v216.header
        start = end
        end += 4
        (_v217.seq,) = _struct_I.unpack(str[start:end])
        _v218 = _v217.stamp
        _x = _v218
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v217.frame_id = str[start:end].decode('utf-8')
        else:
          _v217.frame_id = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v216.id = str[start:end].decode('utf-8')
        else:
          _v216.id = str[start:end]
        start = end
        end += 4
        (_v216.padding,) = _struct_f.unpack(str[start:end])
        _v219 = _v216.operation
        start = end
        end += 1
        (_v219.operation,) = _struct_b.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v216.shapes = []
        for i in range(0, length):
          val3 = arm_navigation_msgs.msg.Shape()
          start = end
          end += 1
          (val3.type,) = _struct_b.unpack(str[start:end])
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          pattern = '<%sd'%length
          start = end
          end += struct.calcsize(pattern)
          val3.dimensions = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          pattern = '<%si'%length
          start = end
          end += struct.calcsize(pattern)
          val3.triangles = numpy.frombuffer(str[start:end], dtype=numpy.int32, count=length)
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          val3.vertices = []
          for i in range(0, length):
            val4 = geometry_msgs.msg.Point()
            _x = val4
            start = end
            end += 24
            (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
            val3.vertices.append(val4)
          _v216.shapes.append(val3)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v216.poses = []
        for i in range(0, length):
          val3 = geometry_msgs.msg.Pose()
          _v220 = val3.position
          _x = _v220
          start = end
          end += 24
          (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
          _v221 = val3.orientation
          _x = _v221
          start = end
          end += 32
          (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
          _v216.poses.append(val3)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        val1.touch_links = []
        for i in range(0, length):
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          if python3:
            val2 = str[start:end].decode('utf-8')
          else:
            val2 = str[start:end]
          val1.touch_links.append(val2)
        self.planning_scene.attached_collision_objects.append(val1)
      _x = self
      start = end
      end += 12
      (_x.planning_scene.collision_map.header.seq, _x.planning_scene.collision_map.header.stamp.secs, _x.planning_scene.collision_map.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.planning_scene.collision_map.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.planning_scene.collision_map.header.frame_id = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.planning_scene.collision_map.boxes = []
      for i in range(0, length):
        val1 = arm_navigation_msgs.msg.OrientedBoundingBox()
        _v222 = val1.center
        _x = _v222
        start = end
        end += 12
        (_x.x, _x.y, _x.z,) = _struct_3f.unpack(str[start:end])
        _v223 = val1.extents
        _x = _v223
        start = end
        end += 12
        (_x.x, _x.y, _x.z,) = _struct_3f.unpack(str[start:end])
        _v224 = val1.axis
        _x = _v224
        start = end
        end += 12
        (_x.x, _x.y, _x.z,) = _struct_3f.unpack(str[start:end])
        start = end
        end += 4
        (val1.angle,) = _struct_f.unpack(str[start:end])
        self.planning_scene.collision_map.boxes.append(val1)
      return self
    except struct.error as e:
      raise genpy.DeserializationError(e) #most likely buffer underfill

_struct_I = genpy.struct_I
_struct_b = struct.Struct("<b")
_struct_d = struct.Struct("<d")
_struct_f = struct.Struct("<f")
_struct_3f = struct.Struct("<3f")
_struct_3I = struct.Struct("<3I")
_struct_4d = struct.Struct("<4d")
_struct_2I = struct.Struct("<2I")
_struct_3d = struct.Struct("<3d")
class GetPlanningScene(object):
  _type          = 'arm_navigation_msgs/GetPlanningScene'
  _md5sum = '0a7b07718e4e5c5d35740c730509a151'
  _request_class  = GetPlanningSceneRequest
  _response_class = GetPlanningSceneResponse