_RobotInfo.py

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

import openraveros.msg

class RobotInfo(genpy.Message):
  _md5sum = "fd0755be07c8600a7f1a81ef43e04b2c"
  _type = "openraveros/RobotInfo"
  _has_header = False #flag to mark the presence of a Header object
  _full_text = """# robot information

BodyInfo bodyinfo
Manipulator[] manips
AttachedSensor[] sensors

# total active dof
uint8 activedof

# current active manipulator
uint8 activemanip

# information about the active dofs
ActiveDOFs active

# joint limits
float32[] activelowerlimit
float32[] activeupperlimit

# upper 8 bits
uint16 Req_Manipulators=256
uint16 Req_Sensors=512
uint16 Req_ActiveDOFs=1024
uint16 Req_ActiveLimits=2048

================================================================================
MSG: openraveros/BodyInfo
# information about a body
int32 bodyid

# current transformation
AffineTransformMatrix transform

# degrees of freedom (number of joints)
uint8 dof

# enabled status
uint8 enabled


# filename used to create body geometry
string filename

# name of the body
string name

# type of body
string type

float32[] jointvalues
AffineTransformMatrix[] links
string[] linknames
string[] jointnames

# joint limits
float32[] lowerlimit
float32[] upperlimit

# request information bitmasks, also holds robot specific request information (lower 8 bits)
uint16 Req_JointValues=1
uint16 Req_Links=2
uint16 Req_LinkNames=4 # fills the linknames
uint16 Req_JointLimits=8
uint16 Req_Names=16 # if set, fills filename, name, and type
uint16 Req_JointNames=32 # fills the jointnames
================================================================================
MSG: openraveros/AffineTransformMatrix
# column ordered 3x4 affine transformation, ie: the arrangement in memory is:
# where the upper 3x3 matrix is orthonormal
# [0] [3] [6] [9]
# [1] [4] [7] [10]
# [2] [5] [8] [11]
float32[12] m

================================================================================
MSG: openraveros/Manipulator
# information specific to a manipulator for a robot

# zero-based index of base link that manipulator is attached to
int8 baselink

# zero-based index of link defining the end-effector
int8 eelink

# 3x4 matrix of the grasp frame relative to the end-effector link
AffineTransformMatrix tgrasp

# zero-based hand joint indices
uint8[] handjoints

# zero-based arm joints indices (from base to end-effector)
uint8[] armjoints

# name of ik solver using
string iksolvername

# manipulator name
string name

================================================================================
MSG: openraveros/AttachedSensor
# information specific to an attached sensor for a robot

# name of sensor
string name

# zero-based index of link sensor is attached to
int8 attachedlink

# 3x4 matrix of the relative transform of the sensor frame with respect to the link frame
AffineTransformMatrix trelative

# 3x4 matrix of the global transform of the sensor (ie, with link transform applied)
AffineTransformMatrix tglobal

# type of sensor
string type

================================================================================
MSG: openraveros/ActiveDOFs
# specifies the active degrees of freedom of the robot

# mask of active base degrees of freedom
uint32 affine

# active joints
int32[] indices

float32[3] rotationaxis

# mask for affine dofs
uint8 DOF_X = 1
uint8 DOF_Y = 2
uint8 DOF_Z = 4
uint8 DOF_RotationAxis = 8
uint8 DOF_Rotation3D = 16
uint8 DOF_RotationQuat = 32

"""
  # Pseudo-constants
  Req_Manipulators = 256
  Req_Sensors = 512
  Req_ActiveDOFs = 1024
  Req_ActiveLimits = 2048

  __slots__ = ['bodyinfo','manips','sensors','activedof','activemanip','active','activelowerlimit','activeupperlimit']
  _slot_types = ['openraveros/BodyInfo','openraveros/Manipulator[]','openraveros/AttachedSensor[]','uint8','uint8','openraveros/ActiveDOFs','float32[]','float32[]']

  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:
       bodyinfo,manips,sensors,activedof,activemanip,active,activelowerlimit,activeupperlimit

    :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(RobotInfo, self).__init__(*args, **kwds)
      #message fields cannot be None, assign default values for those that are
      if self.bodyinfo is None:
        self.bodyinfo = openraveros.msg.BodyInfo()
      if self.manips is None:
        self.manips = []
      if self.sensors is None:
        self.sensors = []
      if self.activedof is None:
        self.activedof = 0
      if self.activemanip is None:
        self.activemanip = 0
      if self.active is None:
        self.active = openraveros.msg.ActiveDOFs()
      if self.activelowerlimit is None:
        self.activelowerlimit = []
      if self.activeupperlimit is None:
        self.activeupperlimit = []
    else:
      self.bodyinfo = openraveros.msg.BodyInfo()
      self.manips = []
      self.sensors = []
      self.activedof = 0
      self.activemanip = 0
      self.active = openraveros.msg.ActiveDOFs()
      self.activelowerlimit = []
      self.activeupperlimit = []

  def _get_types(self):
    """
    internal API method
    """
    return self._slot_types

  def serialize(self, buff):
    """
    serialize message into buffer
    :param buff: buffer, ``StringIO``
    """
    try:
      buff.write(_struct_i.pack(self.bodyinfo.bodyid))
      buff.write(_struct_12f.pack(*self.bodyinfo.transform.m))
      _x = self
      buff.write(_struct_2B.pack(_x.bodyinfo.dof, _x.bodyinfo.enabled))
      _x = self.bodyinfo.filename
      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 = self.bodyinfo.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))
      _x = self.bodyinfo.type
      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.bodyinfo.jointvalues)
      buff.write(_struct_I.pack(length))
      pattern = '<%sf'%length
      buff.write(struct.pack(pattern, *self.bodyinfo.jointvalues))
      length = len(self.bodyinfo.links)
      buff.write(_struct_I.pack(length))
      for val1 in self.bodyinfo.links:
        buff.write(_struct_12f.pack(*val1.m))
      length = len(self.bodyinfo.linknames)
      buff.write(_struct_I.pack(length))
      for val1 in self.bodyinfo.linknames:
        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.bodyinfo.jointnames)
      buff.write(_struct_I.pack(length))
      for val1 in self.bodyinfo.jointnames:
        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.bodyinfo.lowerlimit)
      buff.write(_struct_I.pack(length))
      pattern = '<%sf'%length
      buff.write(struct.pack(pattern, *self.bodyinfo.lowerlimit))
      length = len(self.bodyinfo.upperlimit)
      buff.write(_struct_I.pack(length))
      pattern = '<%sf'%length
      buff.write(struct.pack(pattern, *self.bodyinfo.upperlimit))
      length = len(self.manips)
      buff.write(_struct_I.pack(length))
      for val1 in self.manips:
        _x = val1
        buff.write(_struct_2b.pack(_x.baselink, _x.eelink))
        _v1 = val1.tgrasp
        buff.write(_struct_12f.pack(*_v1.m))
        _x = val1.handjoints
        length = len(_x)
        # - if encoded as a list instead, serialize as bytes instead of string
        if type(_x) in [list, tuple]:
          buff.write(struct.pack('<I%sB'%length, length, *_x))
        else:
          buff.write(struct.pack('<I%ss'%length, length, _x))
        _x = val1.armjoints
        length = len(_x)
        # - if encoded as a list instead, serialize as bytes instead of string
        if type(_x) in [list, tuple]:
          buff.write(struct.pack('<I%sB'%length, length, *_x))
        else:
          buff.write(struct.pack('<I%ss'%length, length, _x))
        _x = val1.iksolvername
        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.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))
      length = len(self.sensors)
      buff.write(_struct_I.pack(length))
      for val1 in self.sensors:
        _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))
        buff.write(_struct_b.pack(val1.attachedlink))
        _v2 = val1.trelative
        buff.write(_struct_12f.pack(*_v2.m))
        _v3 = val1.tglobal
        buff.write(_struct_12f.pack(*_v3.m))
        _x = val1.type
        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 = self
      buff.write(_struct_2BI.pack(_x.activedof, _x.activemanip, _x.active.affine))
      length = len(self.active.indices)
      buff.write(_struct_I.pack(length))
      pattern = '<%si'%length
      buff.write(struct.pack(pattern, *self.active.indices))
      buff.write(_struct_3f.pack(*self.active.rotationaxis))
      length = len(self.activelowerlimit)
      buff.write(_struct_I.pack(length))
      pattern = '<%sf'%length
      buff.write(struct.pack(pattern, *self.activelowerlimit))
      length = len(self.activeupperlimit)
      buff.write(_struct_I.pack(length))
      pattern = '<%sf'%length
      buff.write(struct.pack(pattern, *self.activeupperlimit))
    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.bodyinfo is None:
        self.bodyinfo = openraveros.msg.BodyInfo()
      if self.manips is None:
        self.manips = None
      if self.sensors is None:
        self.sensors = None
      if self.active is None:
        self.active = openraveros.msg.ActiveDOFs()
      end = 0
      start = end
      end += 4
      (self.bodyinfo.bodyid,) = _struct_i.unpack(str[start:end])
      start = end
      end += 48
      self.bodyinfo.transform.m = _struct_12f.unpack(str[start:end])
      _x = self
      start = end
      end += 2
      (_x.bodyinfo.dof, _x.bodyinfo.enabled,) = _struct_2B.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.bodyinfo.filename = str[start:end].decode('utf-8')
      else:
        self.bodyinfo.filename = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.bodyinfo.name = str[start:end].decode('utf-8')
      else:
        self.bodyinfo.name = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.bodyinfo.type = str[start:end].decode('utf-8')
      else:
        self.bodyinfo.type = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sf'%length
      start = end
      end += struct.calcsize(pattern)
      self.bodyinfo.jointvalues = struct.unpack(pattern, str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.bodyinfo.links = []
      for i in range(0, length):
        val1 = openraveros.msg.AffineTransformMatrix()
        start = end
        end += 48
        val1.m = _struct_12f.unpack(str[start:end])
        self.bodyinfo.links.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.bodyinfo.linknames = []
      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.bodyinfo.linknames.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.bodyinfo.jointnames = []
      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.bodyinfo.jointnames.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sf'%length
      start = end
      end += struct.calcsize(pattern)
      self.bodyinfo.lowerlimit = struct.unpack(pattern, str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sf'%length
      start = end
      end += struct.calcsize(pattern)
      self.bodyinfo.upperlimit = struct.unpack(pattern, str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.manips = []
      for i in range(0, length):
        val1 = openraveros.msg.Manipulator()
        _x = val1
        start = end
        end += 2
        (_x.baselink, _x.eelink,) = _struct_2b.unpack(str[start:end])
        _v4 = val1.tgrasp
        start = end
        end += 48
        _v4.m = _struct_12f.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1.handjoints = str[start:end].decode('utf-8')
        else:
          val1.handjoints = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1.armjoints = str[start:end].decode('utf-8')
        else:
          val1.armjoints = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1.iksolvername = str[start:end].decode('utf-8')
        else:
          val1.iksolvername = str[start:end]
        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]
        self.manips.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.sensors = []
      for i in range(0, length):
        val1 = openraveros.msg.AttachedSensor()
        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]
        start = end
        end += 1
        (val1.attachedlink,) = _struct_b.unpack(str[start:end])
        _v5 = val1.trelative
        start = end
        end += 48
        _v5.m = _struct_12f.unpack(str[start:end])
        _v6 = val1.tglobal
        start = end
        end += 48
        _v6.m = _struct_12f.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1.type = str[start:end].decode('utf-8')
        else:
          val1.type = str[start:end]
        self.sensors.append(val1)
      _x = self
      start = end
      end += 6
      (_x.activedof, _x.activemanip, _x.active.affine,) = _struct_2BI.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%si'%length
      start = end
      end += struct.calcsize(pattern)
      self.active.indices = struct.unpack(pattern, str[start:end])
      start = end
      end += 12
      self.active.rotationaxis = _struct_3f.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sf'%length
      start = end
      end += struct.calcsize(pattern)
      self.activelowerlimit = struct.unpack(pattern, str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sf'%length
      start = end
      end += struct.calcsize(pattern)
      self.activeupperlimit = struct.unpack(pattern, str[start:end])
      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:
      buff.write(_struct_i.pack(self.bodyinfo.bodyid))
      buff.write(self.bodyinfo.transform.m.tostring())
      _x = self
      buff.write(_struct_2B.pack(_x.bodyinfo.dof, _x.bodyinfo.enabled))
      _x = self.bodyinfo.filename
      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 = self.bodyinfo.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))
      _x = self.bodyinfo.type
      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.bodyinfo.jointvalues)
      buff.write(_struct_I.pack(length))
      pattern = '<%sf'%length
      buff.write(self.bodyinfo.jointvalues.tostring())
      length = len(self.bodyinfo.links)
      buff.write(_struct_I.pack(length))
      for val1 in self.bodyinfo.links:
        buff.write(val1.m.tostring())
      length = len(self.bodyinfo.linknames)
      buff.write(_struct_I.pack(length))
      for val1 in self.bodyinfo.linknames:
        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.bodyinfo.jointnames)
      buff.write(_struct_I.pack(length))
      for val1 in self.bodyinfo.jointnames:
        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.bodyinfo.lowerlimit)
      buff.write(_struct_I.pack(length))
      pattern = '<%sf'%length
      buff.write(self.bodyinfo.lowerlimit.tostring())
      length = len(self.bodyinfo.upperlimit)
      buff.write(_struct_I.pack(length))
      pattern = '<%sf'%length
      buff.write(self.bodyinfo.upperlimit.tostring())
      length = len(self.manips)
      buff.write(_struct_I.pack(length))
      for val1 in self.manips:
        _x = val1
        buff.write(_struct_2b.pack(_x.baselink, _x.eelink))
        _v7 = val1.tgrasp
        buff.write(_v7.m.tostring())
        _x = val1.handjoints
        length = len(_x)
        # - if encoded as a list instead, serialize as bytes instead of string
        if type(_x) in [list, tuple]:
          buff.write(struct.pack('<I%sB'%length, length, *_x))
        else:
          buff.write(struct.pack('<I%ss'%length, length, _x))
        _x = val1.armjoints
        length = len(_x)
        # - if encoded as a list instead, serialize as bytes instead of string
        if type(_x) in [list, tuple]:
          buff.write(struct.pack('<I%sB'%length, length, *_x))
        else:
          buff.write(struct.pack('<I%ss'%length, length, _x))
        _x = val1.iksolvername
        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.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))
      length = len(self.sensors)
      buff.write(_struct_I.pack(length))
      for val1 in self.sensors:
        _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))
        buff.write(_struct_b.pack(val1.attachedlink))
        _v8 = val1.trelative
        buff.write(_v8.m.tostring())
        _v9 = val1.tglobal
        buff.write(_v9.m.tostring())
        _x = val1.type
        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 = self
      buff.write(_struct_2BI.pack(_x.activedof, _x.activemanip, _x.active.affine))
      length = len(self.active.indices)
      buff.write(_struct_I.pack(length))
      pattern = '<%si'%length
      buff.write(self.active.indices.tostring())
      buff.write(self.active.rotationaxis.tostring())
      length = len(self.activelowerlimit)
      buff.write(_struct_I.pack(length))
      pattern = '<%sf'%length
      buff.write(self.activelowerlimit.tostring())
      length = len(self.activeupperlimit)
      buff.write(_struct_I.pack(length))
      pattern = '<%sf'%length
      buff.write(self.activeupperlimit.tostring())
    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.bodyinfo is None:
        self.bodyinfo = openraveros.msg.BodyInfo()
      if self.manips is None:
        self.manips = None
      if self.sensors is None:
        self.sensors = None
      if self.active is None:
        self.active = openraveros.msg.ActiveDOFs()
      end = 0
      start = end
      end += 4
      (self.bodyinfo.bodyid,) = _struct_i.unpack(str[start:end])
      start = end
      end += 48
      self.bodyinfo.transform.m = numpy.frombuffer(str[start:end], dtype=numpy.float32, count=12)
      _x = self
      start = end
      end += 2
      (_x.bodyinfo.dof, _x.bodyinfo.enabled,) = _struct_2B.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.bodyinfo.filename = str[start:end].decode('utf-8')
      else:
        self.bodyinfo.filename = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.bodyinfo.name = str[start:end].decode('utf-8')
      else:
        self.bodyinfo.name = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.bodyinfo.type = str[start:end].decode('utf-8')
      else:
        self.bodyinfo.type = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sf'%length
      start = end
      end += struct.calcsize(pattern)
      self.bodyinfo.jointvalues = numpy.frombuffer(str[start:end], dtype=numpy.float32, count=length)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.bodyinfo.links = []
      for i in range(0, length):
        val1 = openraveros.msg.AffineTransformMatrix()
        start = end
        end += 48
        val1.m = numpy.frombuffer(str[start:end], dtype=numpy.float32, count=12)
        self.bodyinfo.links.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.bodyinfo.linknames = []
      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.bodyinfo.linknames.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.bodyinfo.jointnames = []
      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.bodyinfo.jointnames.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sf'%length
      start = end
      end += struct.calcsize(pattern)
      self.bodyinfo.lowerlimit = numpy.frombuffer(str[start:end], dtype=numpy.float32, count=length)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sf'%length
      start = end
      end += struct.calcsize(pattern)
      self.bodyinfo.upperlimit = numpy.frombuffer(str[start:end], dtype=numpy.float32, count=length)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.manips = []
      for i in range(0, length):
        val1 = openraveros.msg.Manipulator()
        _x = val1
        start = end
        end += 2
        (_x.baselink, _x.eelink,) = _struct_2b.unpack(str[start:end])
        _v10 = val1.tgrasp
        start = end
        end += 48
        _v10.m = numpy.frombuffer(str[start:end], dtype=numpy.float32, count=12)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1.handjoints = str[start:end].decode('utf-8')
        else:
          val1.handjoints = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1.armjoints = str[start:end].decode('utf-8')
        else:
          val1.armjoints = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1.iksolvername = str[start:end].decode('utf-8')
        else:
          val1.iksolvername = str[start:end]
        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]
        self.manips.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.sensors = []
      for i in range(0, length):
        val1 = openraveros.msg.AttachedSensor()
        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]
        start = end
        end += 1
        (val1.attachedlink,) = _struct_b.unpack(str[start:end])
        _v11 = val1.trelative
        start = end
        end += 48
        _v11.m = numpy.frombuffer(str[start:end], dtype=numpy.float32, count=12)
        _v12 = val1.tglobal
        start = end
        end += 48
        _v12.m = numpy.frombuffer(str[start:end], dtype=numpy.float32, count=12)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1.type = str[start:end].decode('utf-8')
        else:
          val1.type = str[start:end]
        self.sensors.append(val1)
      _x = self
      start = end
      end += 6
      (_x.activedof, _x.activemanip, _x.active.affine,) = _struct_2BI.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%si'%length
      start = end
      end += struct.calcsize(pattern)
      self.active.indices = numpy.frombuffer(str[start:end], dtype=numpy.int32, count=length)
      start = end
      end += 12
      self.active.rotationaxis = numpy.frombuffer(str[start:end], dtype=numpy.float32, count=3)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sf'%length
      start = end
      end += struct.calcsize(pattern)
      self.activelowerlimit = numpy.frombuffer(str[start:end], dtype=numpy.float32, count=length)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sf'%length
      start = end
      end += struct.calcsize(pattern)
      self.activeupperlimit = numpy.frombuffer(str[start:end], dtype=numpy.float32, count=length)
      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_2B = struct.Struct("<2B")
_struct_12f = struct.Struct("<12f")
_struct_i = struct.Struct("<i")
_struct_2b = struct.Struct("<2b")
_struct_2BI = struct.Struct("<2BI")
_struct_3f = struct.Struct("<3f")