_env_getrobots.py

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


class env_getrobotsRequest(genpy.Message):
  _md5sum = "9996321108452a956d6ad7dd8fe30cad"
  _type = "openraveros/env_getrobotsRequest"
  _has_header = False #flag to mark the presence of a Header object
  _full_text = """


int32 bodyid


uint16 options


"""
  __slots__ = ['bodyid','options']
  _slot_types = ['int32','uint16']

  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:
       bodyid,options

    :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(env_getrobotsRequest, self).__init__(*args, **kwds)
      #message fields cannot be None, assign default values for those that are
      if self.bodyid is None:
        self.bodyid = 0
      if self.options is None:
        self.options = 0
    else:
      self.bodyid = 0
      self.options = 0

  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_iH.pack(_x.bodyid, _x.options))
    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:
      end = 0
      _x = self
      start = end
      end += 6
      (_x.bodyid, _x.options,) = _struct_iH.unpack(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:
      _x = self
      buff.write(_struct_iH.pack(_x.bodyid, _x.options))
    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:
      end = 0
      _x = self
      start = end
      end += 6
      (_x.bodyid, _x.options,) = _struct_iH.unpack(str[start:end])
      return self
    except struct.error as e:
      raise genpy.DeserializationError(e) #most likely buffer underfill

_struct_I = genpy.struct_I
_struct_iH = struct.Struct("<iH")
"""autogenerated by genpy from openraveros/env_getrobotsResponse.msg. Do not edit."""
import sys
python3 = True if sys.hexversion > 0x03000000 else False
import genpy
import struct

import openraveros.msg

class env_getrobotsResponse(genpy.Message):
  _md5sum = "38c02fd855ba1814cb013d4ea1e800bf"
  _type = "openraveros/env_getrobotsResponse"
  _has_header = False #flag to mark the presence of a Header object
  _full_text = """RobotInfo[] robots


================================================================================
MSG: openraveros/RobotInfo
# 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

"""
  __slots__ = ['robots']
  _slot_types = ['openraveros/RobotInfo[]']

  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:
       robots

    :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(env_getrobotsResponse, self).__init__(*args, **kwds)
      #message fields cannot be None, assign default values for those that are
      if self.robots is None:
        self.robots = []
    else:
      self.robots = []

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

  def serialize(self, buff):
    """
    serialize message into buffer
    :param buff: buffer, ``StringIO``
    """
    try:
      length = len(self.robots)
      buff.write(_struct_I.pack(length))
      for val1 in self.robots:
        _v1 = val1.bodyinfo
        buff.write(_struct_i.pack(_v1.bodyid))
        _v2 = _v1.transform
        buff.write(_struct_12f.pack(*_v2.m))
        _x = _v1
        buff.write(_struct_2B.pack(_x.dof, _x.enabled))
        _x = _v1.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 = _v1.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 = _v1.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(_v1.jointvalues)
        buff.write(_struct_I.pack(length))
        pattern = '<%sf'%length
        buff.write(struct.pack(pattern, *_v1.jointvalues))
        length = len(_v1.links)
        buff.write(_struct_I.pack(length))
        for val3 in _v1.links:
          buff.write(_struct_12f.pack(*val3.m))
        length = len(_v1.linknames)
        buff.write(_struct_I.pack(length))
        for val3 in _v1.linknames:
          length = len(val3)
          if python3 or type(val3) == unicode:
            val3 = val3.encode('utf-8')
            length = len(val3)
          buff.write(struct.pack('<I%ss'%length, length, val3))
        length = len(_v1.jointnames)
        buff.write(_struct_I.pack(length))
        for val3 in _v1.jointnames:
          length = len(val3)
          if python3 or type(val3) == unicode:
            val3 = val3.encode('utf-8')
            length = len(val3)
          buff.write(struct.pack('<I%ss'%length, length, val3))
        length = len(_v1.lowerlimit)
        buff.write(_struct_I.pack(length))
        pattern = '<%sf'%length
        buff.write(struct.pack(pattern, *_v1.lowerlimit))
        length = len(_v1.upperlimit)
        buff.write(_struct_I.pack(length))
        pattern = '<%sf'%length
        buff.write(struct.pack(pattern, *_v1.upperlimit))
        length = len(val1.manips)
        buff.write(_struct_I.pack(length))
        for val2 in val1.manips:
          _x = val2
          buff.write(_struct_2b.pack(_x.baselink, _x.eelink))
          _v3 = val2.tgrasp
          buff.write(_struct_12f.pack(*_v3.m))
          _x = val2.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 = val2.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 = val2.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 = val2.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(val1.sensors)
        buff.write(_struct_I.pack(length))
        for val2 in val1.sensors:
          _x = val2.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(val2.attachedlink))
          _v4 = val2.trelative
          buff.write(_struct_12f.pack(*_v4.m))
          _v5 = val2.tglobal
          buff.write(_struct_12f.pack(*_v5.m))
          _x = val2.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 = val1
        buff.write(_struct_2B.pack(_x.activedof, _x.activemanip))
        _v6 = val1.active
        buff.write(_struct_I.pack(_v6.affine))
        length = len(_v6.indices)
        buff.write(_struct_I.pack(length))
        pattern = '<%si'%length
        buff.write(struct.pack(pattern, *_v6.indices))
        buff.write(_struct_3f.pack(*_v6.rotationaxis))
        length = len(val1.activelowerlimit)
        buff.write(_struct_I.pack(length))
        pattern = '<%sf'%length
        buff.write(struct.pack(pattern, *val1.activelowerlimit))
        length = len(val1.activeupperlimit)
        buff.write(_struct_I.pack(length))
        pattern = '<%sf'%length
        buff.write(struct.pack(pattern, *val1.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.robots is None:
        self.robots = None
      end = 0
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.robots = []
      for i in range(0, length):
        val1 = openraveros.msg.RobotInfo()
        _v7 = val1.bodyinfo
        start = end
        end += 4
        (_v7.bodyid,) = _struct_i.unpack(str[start:end])
        _v8 = _v7.transform
        start = end
        end += 48
        _v8.m = _struct_12f.unpack(str[start:end])
        _x = _v7
        start = end
        end += 2
        (_x.dof, _x.enabled,) = _struct_2B.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v7.filename = str[start:end].decode('utf-8')
        else:
          _v7.filename = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v7.name = str[start:end].decode('utf-8')
        else:
          _v7.name = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v7.type = str[start:end].decode('utf-8')
        else:
          _v7.type = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%sf'%length
        start = end
        end += struct.calcsize(pattern)
        _v7.jointvalues = struct.unpack(pattern, str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v7.links = []
        for i in range(0, length):
          val3 = openraveros.msg.AffineTransformMatrix()
          start = end
          end += 48
          val3.m = _struct_12f.unpack(str[start:end])
          _v7.links.append(val3)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v7.linknames = []
        for i in range(0, length):
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          if python3:
            val3 = str[start:end].decode('utf-8')
          else:
            val3 = str[start:end]
          _v7.linknames.append(val3)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v7.jointnames = []
        for i in range(0, length):
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          if python3:
            val3 = str[start:end].decode('utf-8')
          else:
            val3 = str[start:end]
          _v7.jointnames.append(val3)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%sf'%length
        start = end
        end += struct.calcsize(pattern)
        _v7.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)
        _v7.upperlimit = struct.unpack(pattern, str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        val1.manips = []
        for i in range(0, length):
          val2 = openraveros.msg.Manipulator()
          _x = val2
          start = end
          end += 2
          (_x.baselink, _x.eelink,) = _struct_2b.unpack(str[start:end])
          _v9 = val2.tgrasp
          start = end
          end += 48
          _v9.m = _struct_12f.unpack(str[start:end])
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          if python3:
            val2.handjoints = str[start:end].decode('utf-8')
          else:
            val2.handjoints = str[start:end]
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          if python3:
            val2.armjoints = str[start:end].decode('utf-8')
          else:
            val2.armjoints = str[start:end]
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          if python3:
            val2.iksolvername = str[start:end].decode('utf-8')
          else:
            val2.iksolvername = str[start:end]
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          if python3:
            val2.name = str[start:end].decode('utf-8')
          else:
            val2.name = str[start:end]
          val1.manips.append(val2)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        val1.sensors = []
        for i in range(0, length):
          val2 = openraveros.msg.AttachedSensor()
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          if python3:
            val2.name = str[start:end].decode('utf-8')
          else:
            val2.name = str[start:end]
          start = end
          end += 1
          (val2.attachedlink,) = _struct_b.unpack(str[start:end])
          _v10 = val2.trelative
          start = end
          end += 48
          _v10.m = _struct_12f.unpack(str[start:end])
          _v11 = val2.tglobal
          start = end
          end += 48
          _v11.m = _struct_12f.unpack(str[start:end])
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          if python3:
            val2.type = str[start:end].decode('utf-8')
          else:
            val2.type = str[start:end]
          val1.sensors.append(val2)
        _x = val1
        start = end
        end += 2
        (_x.activedof, _x.activemanip,) = _struct_2B.unpack(str[start:end])
        _v12 = val1.active
        start = end
        end += 4
        (_v12.affine,) = _struct_I.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%si'%length
        start = end
        end += struct.calcsize(pattern)
        _v12.indices = struct.unpack(pattern, str[start:end])
        start = end
        end += 12
        _v12.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)
        val1.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)
        val1.activeupperlimit = struct.unpack(pattern, str[start:end])
        self.robots.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:
      length = len(self.robots)
      buff.write(_struct_I.pack(length))
      for val1 in self.robots:
        _v13 = val1.bodyinfo
        buff.write(_struct_i.pack(_v13.bodyid))
        _v14 = _v13.transform
        buff.write(_v14.m.tostring())
        _x = _v13
        buff.write(_struct_2B.pack(_x.dof, _x.enabled))
        _x = _v13.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 = _v13.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 = _v13.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(_v13.jointvalues)
        buff.write(_struct_I.pack(length))
        pattern = '<%sf'%length
        buff.write(_v13.jointvalues.tostring())
        length = len(_v13.links)
        buff.write(_struct_I.pack(length))
        for val3 in _v13.links:
          buff.write(val3.m.tostring())
        length = len(_v13.linknames)
        buff.write(_struct_I.pack(length))
        for val3 in _v13.linknames:
          length = len(val3)
          if python3 or type(val3) == unicode:
            val3 = val3.encode('utf-8')
            length = len(val3)
          buff.write(struct.pack('<I%ss'%length, length, val3))
        length = len(_v13.jointnames)
        buff.write(_struct_I.pack(length))
        for val3 in _v13.jointnames:
          length = len(val3)
          if python3 or type(val3) == unicode:
            val3 = val3.encode('utf-8')
            length = len(val3)
          buff.write(struct.pack('<I%ss'%length, length, val3))
        length = len(_v13.lowerlimit)
        buff.write(_struct_I.pack(length))
        pattern = '<%sf'%length
        buff.write(_v13.lowerlimit.tostring())
        length = len(_v13.upperlimit)
        buff.write(_struct_I.pack(length))
        pattern = '<%sf'%length
        buff.write(_v13.upperlimit.tostring())
        length = len(val1.manips)
        buff.write(_struct_I.pack(length))
        for val2 in val1.manips:
          _x = val2
          buff.write(_struct_2b.pack(_x.baselink, _x.eelink))
          _v15 = val2.tgrasp
          buff.write(_v15.m.tostring())
          _x = val2.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 = val2.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 = val2.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 = val2.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(val1.sensors)
        buff.write(_struct_I.pack(length))
        for val2 in val1.sensors:
          _x = val2.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(val2.attachedlink))
          _v16 = val2.trelative
          buff.write(_v16.m.tostring())
          _v17 = val2.tglobal
          buff.write(_v17.m.tostring())
          _x = val2.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 = val1
        buff.write(_struct_2B.pack(_x.activedof, _x.activemanip))
        _v18 = val1.active
        buff.write(_struct_I.pack(_v18.affine))
        length = len(_v18.indices)
        buff.write(_struct_I.pack(length))
        pattern = '<%si'%length
        buff.write(_v18.indices.tostring())
        buff.write(_v18.rotationaxis.tostring())
        length = len(val1.activelowerlimit)
        buff.write(_struct_I.pack(length))
        pattern = '<%sf'%length
        buff.write(val1.activelowerlimit.tostring())
        length = len(val1.activeupperlimit)
        buff.write(_struct_I.pack(length))
        pattern = '<%sf'%length
        buff.write(val1.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.robots is None:
        self.robots = None
      end = 0
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.robots = []
      for i in range(0, length):
        val1 = openraveros.msg.RobotInfo()
        _v19 = val1.bodyinfo
        start = end
        end += 4
        (_v19.bodyid,) = _struct_i.unpack(str[start:end])
        _v20 = _v19.transform
        start = end
        end += 48
        _v20.m = numpy.frombuffer(str[start:end], dtype=numpy.float32, count=12)
        _x = _v19
        start = end
        end += 2
        (_x.dof, _x.enabled,) = _struct_2B.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v19.filename = str[start:end].decode('utf-8')
        else:
          _v19.filename = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v19.name = str[start:end].decode('utf-8')
        else:
          _v19.name = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v19.type = str[start:end].decode('utf-8')
        else:
          _v19.type = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%sf'%length
        start = end
        end += struct.calcsize(pattern)
        _v19.jointvalues = numpy.frombuffer(str[start:end], dtype=numpy.float32, count=length)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v19.links = []
        for i in range(0, length):
          val3 = openraveros.msg.AffineTransformMatrix()
          start = end
          end += 48
          val3.m = numpy.frombuffer(str[start:end], dtype=numpy.float32, count=12)
          _v19.links.append(val3)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v19.linknames = []
        for i in range(0, length):
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          if python3:
            val3 = str[start:end].decode('utf-8')
          else:
            val3 = str[start:end]
          _v19.linknames.append(val3)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v19.jointnames = []
        for i in range(0, length):
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          if python3:
            val3 = str[start:end].decode('utf-8')
          else:
            val3 = str[start:end]
          _v19.jointnames.append(val3)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%sf'%length
        start = end
        end += struct.calcsize(pattern)
        _v19.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)
        _v19.upperlimit = numpy.frombuffer(str[start:end], dtype=numpy.float32, count=length)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        val1.manips = []
        for i in range(0, length):
          val2 = openraveros.msg.Manipulator()
          _x = val2
          start = end
          end += 2
          (_x.baselink, _x.eelink,) = _struct_2b.unpack(str[start:end])
          _v21 = val2.tgrasp
          start = end
          end += 48
          _v21.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:
            val2.handjoints = str[start:end].decode('utf-8')
          else:
            val2.handjoints = str[start:end]
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          if python3:
            val2.armjoints = str[start:end].decode('utf-8')
          else:
            val2.armjoints = str[start:end]
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          if python3:
            val2.iksolvername = str[start:end].decode('utf-8')
          else:
            val2.iksolvername = str[start:end]
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          if python3:
            val2.name = str[start:end].decode('utf-8')
          else:
            val2.name = str[start:end]
          val1.manips.append(val2)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        val1.sensors = []
        for i in range(0, length):
          val2 = openraveros.msg.AttachedSensor()
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          if python3:
            val2.name = str[start:end].decode('utf-8')
          else:
            val2.name = str[start:end]
          start = end
          end += 1
          (val2.attachedlink,) = _struct_b.unpack(str[start:end])
          _v22 = val2.trelative
          start = end
          end += 48
          _v22.m = numpy.frombuffer(str[start:end], dtype=numpy.float32, count=12)
          _v23 = val2.tglobal
          start = end
          end += 48
          _v23.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:
            val2.type = str[start:end].decode('utf-8')
          else:
            val2.type = str[start:end]
          val1.sensors.append(val2)
        _x = val1
        start = end
        end += 2
        (_x.activedof, _x.activemanip,) = _struct_2B.unpack(str[start:end])
        _v24 = val1.active
        start = end
        end += 4
        (_v24.affine,) = _struct_I.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%si'%length
        start = end
        end += struct.calcsize(pattern)
        _v24.indices = numpy.frombuffer(str[start:end], dtype=numpy.int32, count=length)
        start = end
        end += 12
        _v24.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)
        val1.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)
        val1.activeupperlimit = numpy.frombuffer(str[start:end], dtype=numpy.float32, count=length)
        self.robots.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_2B = struct.Struct("<2B")
_struct_12f = struct.Struct("<12f")
_struct_i = struct.Struct("<i")
_struct_2b = struct.Struct("<2b")
_struct_3f = struct.Struct("<3f")
class env_getrobots(object):
  _type          = 'openraveros/env_getrobots'
  _md5sum = '67744c39b9378c6b7bc344ff1029d5bc'
  _request_class  = env_getrobotsRequest
  _response_class = env_getrobotsResponse