_GetData.py

Go to the documentation of this file.

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


class GetDataRequest(genpy.Message):
  _md5sum = "e322fea33bcf470d266fe9ce0878bcf2"
  _type = "srs_object_database_msgs/GetDataRequest"
  _has_header = False #flag to mark the presence of a Header object
  _full_text = """





int32[] model_ids
string description



bool mesh
bool pcl
bool surf
bool image
bool grasp
bool urdf



"""
  __slots__ = ['model_ids','description','mesh','pcl','surf','image','grasp','urdf']
  _slot_types = ['int32[]','string','bool','bool','bool','bool','bool','bool']

  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:
       model_ids,description,mesh,pcl,surf,image,grasp,urdf

    :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(GetDataRequest, self).__init__(*args, **kwds)
      #message fields cannot be None, assign default values for those that are
      if self.model_ids is None:
        self.model_ids = []
      if self.description is None:
        self.description = ''
      if self.mesh is None:
        self.mesh = False
      if self.pcl is None:
        self.pcl = False
      if self.surf is None:
        self.surf = False
      if self.image is None:
        self.image = False
      if self.grasp is None:
        self.grasp = False
      if self.urdf is None:
        self.urdf = False
    else:
      self.model_ids = []
      self.description = ''
      self.mesh = False
      self.pcl = False
      self.surf = False
      self.image = False
      self.grasp = False
      self.urdf = False

  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.model_ids)
      buff.write(_struct_I.pack(length))
      pattern = '<%si'%length
      buff.write(struct.pack(pattern, *self.model_ids))
      _x = self.description
      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_6B.pack(_x.mesh, _x.pcl, _x.surf, _x.image, _x.grasp, _x.urdf))
    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
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%si'%length
      start = end
      end += struct.calcsize(pattern)
      self.model_ids = struct.unpack(pattern, str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.description = str[start:end].decode('utf-8')
      else:
        self.description = str[start:end]
      _x = self
      start = end
      end += 6
      (_x.mesh, _x.pcl, _x.surf, _x.image, _x.grasp, _x.urdf,) = _struct_6B.unpack(str[start:end])
      self.mesh = bool(self.mesh)
      self.pcl = bool(self.pcl)
      self.surf = bool(self.surf)
      self.image = bool(self.image)
      self.grasp = bool(self.grasp)
      self.urdf = bool(self.urdf)
      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.model_ids)
      buff.write(_struct_I.pack(length))
      pattern = '<%si'%length
      buff.write(self.model_ids.tostring())
      _x = self.description
      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_6B.pack(_x.mesh, _x.pcl, _x.surf, _x.image, _x.grasp, _x.urdf))
    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
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%si'%length
      start = end
      end += struct.calcsize(pattern)
      self.model_ids = numpy.frombuffer(str[start:end], dtype=numpy.int32, count=length)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.description = str[start:end].decode('utf-8')
      else:
        self.description = str[start:end]
      _x = self
      start = end
      end += 6
      (_x.mesh, _x.pcl, _x.surf, _x.image, _x.grasp, _x.urdf,) = _struct_6B.unpack(str[start:end])
      self.mesh = bool(self.mesh)
      self.pcl = bool(self.pcl)
      self.surf = bool(self.surf)
      self.image = bool(self.image)
      self.grasp = bool(self.grasp)
      self.urdf = bool(self.urdf)
      return self
    except struct.error as e:
      raise genpy.DeserializationError(e) #most likely buffer underfill

_struct_I = genpy.struct_I
_struct_6B = struct.Struct("<6B")
"""autogenerated by genpy from srs_object_database_msgs/GetDataResponse.msg. Do not edit."""
import sys
python3 = True if sys.hexversion > 0x03000000 else False
import genpy
import struct

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

class GetDataResponse(genpy.Message):
  _md5sum = "8c029ab6bbdfbdc8ed9c7e395d73a54f"
  _type = "srs_object_database_msgs/GetDataResponse"
  _has_header = False #flag to mark the presence of a Header object
  _full_text = """

string return_response

srs_object_database_msgs/img[] img
srs_object_database_msgs/mesh[] mesh
srs_object_database_msgs/pcl[] pcl
srs_object_database_msgs/surf[] surf
srs_object_database_msgs/grasp[] grasp
srs_object_database_msgs/urdf[] urdf


================================================================================
MSG: srs_object_database_msgs/img
int32 objectId
string description
sensor_msgs/Image image
================================================================================
MSG: sensor_msgs/Image
# This message contains an uncompressed image
# (0, 0) is at top-left corner of image
#

Header header        # Header timestamp should be acquisition time of image
                     # Header frame_id should be optical frame of camera
                     # origin of frame should be optical center of cameara
                     # +x should point to the right in the image
                     # +y should point down in the image
                     # +z should point into to plane of the image
                     # If the frame_id here and the frame_id of the CameraInfo
                     # message associated with the image conflict
                     # the behavior is undefined

uint32 height         # image height, that is, number of rows
uint32 width          # image width, that is, number of columns

# The legal values for encoding are in file src/image_encodings.cpp
# If you want to standardize a new string format, join
# ros-users@lists.sourceforge.net and send an email proposing a new encoding.

string encoding       # Encoding of pixels -- channel meaning, ordering, size
                      # taken from the list of strings in src/image_encodings.cpp

uint8 is_bigendian    # is this data bigendian?
uint32 step           # Full row length in bytes
uint8[] data          # actual matrix data, size is (step * rows)

================================================================================
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: srs_object_database_msgs/mesh
int32 objectId
arm_navigation_msgs/Shape mesh
string type
uint8[] data
================================================================================
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/Point
# This contains the position of a point in free space
float64 x
float64 y
float64 z

================================================================================
MSG: srs_object_database_msgs/pcl
int32 objectId
sensor_msgs/PointCloud2 pcl

================================================================================
MSG: sensor_msgs/PointCloud2
# This message holds a collection of N-dimensional points, which may
# contain additional information such as normals, intensity, etc. The
# point data is stored as a binary blob, its layout described by the
# contents of the "fields" array.

# The point cloud data may be organized 2d (image-like) or 1d
# (unordered). Point clouds organized as 2d images may be produced by
# camera depth sensors such as stereo or time-of-flight.

# Time of sensor data acquisition, and the coordinate frame ID (for 3d
# points).
Header header

# 2D structure of the point cloud. If the cloud is unordered, height is
# 1 and width is the length of the point cloud.
uint32 height
uint32 width

# Describes the channels and their layout in the binary data blob.
PointField[] fields

bool    is_bigendian # Is this data bigendian?
uint32  point_step   # Length of a point in bytes
uint32  row_step     # Length of a row in bytes
uint8[] data         # Actual point data, size is (row_step*height)

bool is_dense        # True if there are no invalid points

================================================================================
MSG: sensor_msgs/PointField
# This message holds the description of one point entry in the
# PointCloud2 message format.
uint8 INT8    = 1
uint8 UINT8   = 2
uint8 INT16   = 3
uint8 UINT16  = 4
uint8 INT32   = 5
uint8 UINT32  = 6
uint8 FLOAT32 = 7
uint8 FLOAT64 = 8

string name      # Name of field
uint32 offset    # Offset from start of point struct
uint8  datatype  # Datatype enumeration, see above
uint32 count     # How many elements in the field

================================================================================
MSG: srs_object_database_msgs/surf
int32 objectId
sensor_msgs/PointCloud2 surf
sensor_msgs/PointCloud2 bounding_box
geometry_msgs/Pose coord_frame

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

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

float64 x
float64 y
float64 z
float64 w

================================================================================
MSG: srs_object_database_msgs/grasp
int32 objectId
string Objecttype
string pose
string fileDescription
uint8[] bs
int32 size

================================================================================
MSG: srs_object_database_msgs/urdf
int32 objectId
visualization_msgs/Marker[] markers
================================================================================
MSG: visualization_msgs/Marker
# See http://www.ros.org/wiki/rviz/DisplayTypes/Marker and http://www.ros.org/wiki/rviz/Tutorials/Markers%3A%20Basic%20Shapes for more information on using this message with rviz

uint8 ARROW=0
uint8 CUBE=1
uint8 SPHERE=2
uint8 CYLINDER=3
uint8 LINE_STRIP=4
uint8 LINE_LIST=5
uint8 CUBE_LIST=6
uint8 SPHERE_LIST=7
uint8 POINTS=8
uint8 TEXT_VIEW_FACING=9
uint8 MESH_RESOURCE=10
uint8 TRIANGLE_LIST=11

uint8 ADD=0
uint8 MODIFY=0
uint8 DELETE=2

Header header                        # header for time/frame information
string ns                            # Namespace to place this object in... used in conjunction with id to create a unique name for the object
int32 id                                         # object ID useful in conjunction with the namespace for manipulating and deleting the object later
int32 type                                     # Type of object
int32 action                           # 0 add/modify an object, 1 (deprecated), 2 deletes an object
geometry_msgs/Pose pose                 # Pose of the object
geometry_msgs/Vector3 scale             # Scale of the object 1,1,1 means default (usually 1 meter square)
std_msgs/ColorRGBA color             # Color [0.0-1.0]
duration lifetime                    # How long the object should last before being automatically deleted.  0 means forever
bool frame_locked                    # If this marker should be frame-locked, i.e. retransformed into its frame every timestep

#Only used if the type specified has some use for them (eg. POINTS, LINE_STRIP, ...)
geometry_msgs/Point[] points
#Only used if the type specified has some use for them (eg. POINTS, LINE_STRIP, ...)
#number of colors must either be 0 or equal to the number of points
#NOTE: alpha is not yet used
std_msgs/ColorRGBA[] colors

# NOTE: only used for text markers
string text

# NOTE: only used for MESH_RESOURCE markers
string mesh_resource
bool mesh_use_embedded_materials

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

float64 x
float64 y
float64 z
================================================================================
MSG: std_msgs/ColorRGBA
float32 r
float32 g
float32 b
float32 a

"""
  __slots__ = ['return_response','img','mesh','pcl','surf','grasp','urdf']
  _slot_types = ['string','srs_object_database_msgs/img[]','srs_object_database_msgs/mesh[]','srs_object_database_msgs/pcl[]','srs_object_database_msgs/surf[]','srs_object_database_msgs/grasp[]','srs_object_database_msgs/urdf[]']

  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:
       return_response,img,mesh,pcl,surf,grasp,urdf

    :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(GetDataResponse, self).__init__(*args, **kwds)
      #message fields cannot be None, assign default values for those that are
      if self.return_response is None:
        self.return_response = ''
      if self.img is None:
        self.img = []
      if self.mesh is None:
        self.mesh = []
      if self.pcl is None:
        self.pcl = []
      if self.surf is None:
        self.surf = []
      if self.grasp is None:
        self.grasp = []
      if self.urdf is None:
        self.urdf = []
    else:
      self.return_response = ''
      self.img = []
      self.mesh = []
      self.pcl = []
      self.surf = []
      self.grasp = []
      self.urdf = []

  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.return_response
      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.img)
      buff.write(_struct_I.pack(length))
      for val1 in self.img:
        buff.write(_struct_i.pack(val1.objectId))
        _x = val1.description
        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))
        _v1 = val1.image
        _v2 = _v1.header
        buff.write(_struct_I.pack(_v2.seq))
        _v3 = _v2.stamp
        _x = _v3
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v2.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 = _v1
        buff.write(_struct_2I.pack(_x.height, _x.width))
        _x = _v1.encoding
        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
        buff.write(_struct_BI.pack(_x.is_bigendian, _x.step))
        _x = _v1.data
        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))
      length = len(self.mesh)
      buff.write(_struct_I.pack(length))
      for val1 in self.mesh:
        buff.write(_struct_i.pack(val1.objectId))
        _v4 = val1.mesh
        buff.write(_struct_b.pack(_v4.type))
        length = len(_v4.dimensions)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(struct.pack(pattern, *_v4.dimensions))
        length = len(_v4.triangles)
        buff.write(_struct_I.pack(length))
        pattern = '<%si'%length
        buff.write(struct.pack(pattern, *_v4.triangles))
        length = len(_v4.vertices)
        buff.write(_struct_I.pack(length))
        for val3 in _v4.vertices:
          _x = val3
          buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _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 = val1.data
        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))
      length = len(self.pcl)
      buff.write(_struct_I.pack(length))
      for val1 in self.pcl:
        buff.write(_struct_i.pack(val1.objectId))
        _v5 = val1.pcl
        _v6 = _v5.header
        buff.write(_struct_I.pack(_v6.seq))
        _v7 = _v6.stamp
        _x = _v7
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v6.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 = _v5
        buff.write(_struct_2I.pack(_x.height, _x.width))
        length = len(_v5.fields)
        buff.write(_struct_I.pack(length))
        for val3 in _v5.fields:
          _x = val3.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 = val3
          buff.write(_struct_IBI.pack(_x.offset, _x.datatype, _x.count))
        _x = _v5
        buff.write(_struct_B2I.pack(_x.is_bigendian, _x.point_step, _x.row_step))
        _x = _v5.data
        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))
        buff.write(_struct_B.pack(_v5.is_dense))
      length = len(self.surf)
      buff.write(_struct_I.pack(length))
      for val1 in self.surf:
        buff.write(_struct_i.pack(val1.objectId))
        _v8 = val1.surf
        _v9 = _v8.header
        buff.write(_struct_I.pack(_v9.seq))
        _v10 = _v9.stamp
        _x = _v10
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v9.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 = _v8
        buff.write(_struct_2I.pack(_x.height, _x.width))
        length = len(_v8.fields)
        buff.write(_struct_I.pack(length))
        for val3 in _v8.fields:
          _x = val3.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 = val3
          buff.write(_struct_IBI.pack(_x.offset, _x.datatype, _x.count))
        _x = _v8
        buff.write(_struct_B2I.pack(_x.is_bigendian, _x.point_step, _x.row_step))
        _x = _v8.data
        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))
        buff.write(_struct_B.pack(_v8.is_dense))
        _v11 = val1.bounding_box
        _v12 = _v11.header
        buff.write(_struct_I.pack(_v12.seq))
        _v13 = _v12.stamp
        _x = _v13
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v12.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 = _v11
        buff.write(_struct_2I.pack(_x.height, _x.width))
        length = len(_v11.fields)
        buff.write(_struct_I.pack(length))
        for val3 in _v11.fields:
          _x = val3.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 = val3
          buff.write(_struct_IBI.pack(_x.offset, _x.datatype, _x.count))
        _x = _v11
        buff.write(_struct_B2I.pack(_x.is_bigendian, _x.point_step, _x.row_step))
        _x = _v11.data
        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))
        buff.write(_struct_B.pack(_v11.is_dense))
        _v14 = val1.coord_frame
        _v15 = _v14.position
        _x = _v15
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v16 = _v14.orientation
        _x = _v16
        buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
      length = len(self.grasp)
      buff.write(_struct_I.pack(length))
      for val1 in self.grasp:
        buff.write(_struct_i.pack(val1.objectId))
        _x = val1.Objecttype
        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.pose
        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.fileDescription
        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.bs
        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))
        buff.write(_struct_i.pack(val1.size))
      length = len(self.urdf)
      buff.write(_struct_I.pack(length))
      for val1 in self.urdf:
        buff.write(_struct_i.pack(val1.objectId))
        length = len(val1.markers)
        buff.write(_struct_I.pack(length))
        for val2 in val1.markers:
          _v17 = val2.header
          buff.write(_struct_I.pack(_v17.seq))
          _v18 = _v17.stamp
          _x = _v18
          buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
          _x = _v17.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 = val2.ns
          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
          buff.write(_struct_3i.pack(_x.id, _x.type, _x.action))
          _v19 = val2.pose
          _v20 = _v19.position
          _x = _v20
          buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
          _v21 = _v19.orientation
          _x = _v21
          buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
          _v22 = val2.scale
          _x = _v22
          buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
          _v23 = val2.color
          _x = _v23
          buff.write(_struct_4f.pack(_x.r, _x.g, _x.b, _x.a))
          _v24 = val2.lifetime
          _x = _v24
          buff.write(_struct_2i.pack(_x.secs, _x.nsecs))
          buff.write(_struct_B.pack(val2.frame_locked))
          length = len(val2.points)
          buff.write(_struct_I.pack(length))
          for val3 in val2.points:
            _x = val3
            buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
          length = len(val2.colors)
          buff.write(_struct_I.pack(length))
          for val3 in val2.colors:
            _x = val3
            buff.write(_struct_4f.pack(_x.r, _x.g, _x.b, _x.a))
          _x = val2.text
          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.mesh_resource
          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.mesh_use_embedded_materials))
    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.img is None:
        self.img = None
      if self.mesh is None:
        self.mesh = None
      if self.pcl is None:
        self.pcl = None
      if self.surf is None:
        self.surf = None
      if self.grasp is None:
        self.grasp = None
      if self.urdf is None:
        self.urdf = None
      end = 0
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.return_response = str[start:end].decode('utf-8')
      else:
        self.return_response = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.img = []
      for i in range(0, length):
        val1 = srs_object_database_msgs.msg.img()
        start = end
        end += 4
        (val1.objectId,) = _struct_i.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1.description = str[start:end].decode('utf-8')
        else:
          val1.description = str[start:end]
        _v25 = val1.image
        _v26 = _v25.header
        start = end
        end += 4
        (_v26.seq,) = _struct_I.unpack(str[start:end])
        _v27 = _v26.stamp
        _x = _v27
        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:
          _v26.frame_id = str[start:end].decode('utf-8')
        else:
          _v26.frame_id = str[start:end]
        _x = _v25
        start = end
        end += 8
        (_x.height, _x.width,) = _struct_2I.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v25.encoding = str[start:end].decode('utf-8')
        else:
          _v25.encoding = str[start:end]
        _x = _v25
        start = end
        end += 5
        (_x.is_bigendian, _x.step,) = _struct_BI.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v25.data = str[start:end].decode('utf-8')
        else:
          _v25.data = str[start:end]
        self.img.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.mesh = []
      for i in range(0, length):
        val1 = srs_object_database_msgs.msg.mesh()
        start = end
        end += 4
        (val1.objectId,) = _struct_i.unpack(str[start:end])
        _v28 = val1.mesh
        start = end
        end += 1
        (_v28.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)
        _v28.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)
        _v28.triangles = struct.unpack(pattern, str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v28.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])
          _v28.vertices.append(val3)
        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]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1.data = str[start:end].decode('utf-8')
        else:
          val1.data = str[start:end]
        self.mesh.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.pcl = []
      for i in range(0, length):
        val1 = srs_object_database_msgs.msg.pcl()
        start = end
        end += 4
        (val1.objectId,) = _struct_i.unpack(str[start:end])
        _v29 = val1.pcl
        _v30 = _v29.header
        start = end
        end += 4
        (_v30.seq,) = _struct_I.unpack(str[start:end])
        _v31 = _v30.stamp
        _x = _v31
        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:
          _v30.frame_id = str[start:end].decode('utf-8')
        else:
          _v30.frame_id = str[start:end]
        _x = _v29
        start = end
        end += 8
        (_x.height, _x.width,) = _struct_2I.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v29.fields = []
        for i in range(0, length):
          val3 = sensor_msgs.msg.PointField()
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          if python3:
            val3.name = str[start:end].decode('utf-8')
          else:
            val3.name = str[start:end]
          _x = val3
          start = end
          end += 9
          (_x.offset, _x.datatype, _x.count,) = _struct_IBI.unpack(str[start:end])
          _v29.fields.append(val3)
        _x = _v29
        start = end
        end += 9
        (_x.is_bigendian, _x.point_step, _x.row_step,) = _struct_B2I.unpack(str[start:end])
        _v29.is_bigendian = bool(_v29.is_bigendian)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v29.data = str[start:end].decode('utf-8')
        else:
          _v29.data = str[start:end]
        start = end
        end += 1
        (_v29.is_dense,) = _struct_B.unpack(str[start:end])
        _v29.is_dense = bool(_v29.is_dense)
        self.pcl.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.surf = []
      for i in range(0, length):
        val1 = srs_object_database_msgs.msg.surf()
        start = end
        end += 4
        (val1.objectId,) = _struct_i.unpack(str[start:end])
        _v32 = val1.surf
        _v33 = _v32.header
        start = end
        end += 4
        (_v33.seq,) = _struct_I.unpack(str[start:end])
        _v34 = _v33.stamp
        _x = _v34
        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:
          _v33.frame_id = str[start:end].decode('utf-8')
        else:
          _v33.frame_id = str[start:end]
        _x = _v32
        start = end
        end += 8
        (_x.height, _x.width,) = _struct_2I.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v32.fields = []
        for i in range(0, length):
          val3 = sensor_msgs.msg.PointField()
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          if python3:
            val3.name = str[start:end].decode('utf-8')
          else:
            val3.name = str[start:end]
          _x = val3
          start = end
          end += 9
          (_x.offset, _x.datatype, _x.count,) = _struct_IBI.unpack(str[start:end])
          _v32.fields.append(val3)
        _x = _v32
        start = end
        end += 9
        (_x.is_bigendian, _x.point_step, _x.row_step,) = _struct_B2I.unpack(str[start:end])
        _v32.is_bigendian = bool(_v32.is_bigendian)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v32.data = str[start:end].decode('utf-8')
        else:
          _v32.data = str[start:end]
        start = end
        end += 1
        (_v32.is_dense,) = _struct_B.unpack(str[start:end])
        _v32.is_dense = bool(_v32.is_dense)
        _v35 = val1.bounding_box
        _v36 = _v35.header
        start = end
        end += 4
        (_v36.seq,) = _struct_I.unpack(str[start:end])
        _v37 = _v36.stamp
        _x = _v37
        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:
          _v36.frame_id = str[start:end].decode('utf-8')
        else:
          _v36.frame_id = str[start:end]
        _x = _v35
        start = end
        end += 8
        (_x.height, _x.width,) = _struct_2I.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v35.fields = []
        for i in range(0, length):
          val3 = sensor_msgs.msg.PointField()
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          if python3:
            val3.name = str[start:end].decode('utf-8')
          else:
            val3.name = str[start:end]
          _x = val3
          start = end
          end += 9
          (_x.offset, _x.datatype, _x.count,) = _struct_IBI.unpack(str[start:end])
          _v35.fields.append(val3)
        _x = _v35
        start = end
        end += 9
        (_x.is_bigendian, _x.point_step, _x.row_step,) = _struct_B2I.unpack(str[start:end])
        _v35.is_bigendian = bool(_v35.is_bigendian)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v35.data = str[start:end].decode('utf-8')
        else:
          _v35.data = str[start:end]
        start = end
        end += 1
        (_v35.is_dense,) = _struct_B.unpack(str[start:end])
        _v35.is_dense = bool(_v35.is_dense)
        _v38 = val1.coord_frame
        _v39 = _v38.position
        _x = _v39
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v40 = _v38.orientation
        _x = _v40
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
        self.surf.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.grasp = []
      for i in range(0, length):
        val1 = srs_object_database_msgs.msg.grasp()
        start = end
        end += 4
        (val1.objectId,) = _struct_i.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1.Objecttype = str[start:end].decode('utf-8')
        else:
          val1.Objecttype = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1.pose = str[start:end].decode('utf-8')
        else:
          val1.pose = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1.fileDescription = str[start:end].decode('utf-8')
        else:
          val1.fileDescription = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1.bs = str[start:end].decode('utf-8')
        else:
          val1.bs = str[start:end]
        start = end
        end += 4
        (val1.size,) = _struct_i.unpack(str[start:end])
        self.grasp.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.urdf = []
      for i in range(0, length):
        val1 = srs_object_database_msgs.msg.urdf()
        start = end
        end += 4
        (val1.objectId,) = _struct_i.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        val1.markers = []
        for i in range(0, length):
          val2 = visualization_msgs.msg.Marker()
          _v41 = val2.header
          start = end
          end += 4
          (_v41.seq,) = _struct_I.unpack(str[start:end])
          _v42 = _v41.stamp
          _x = _v42
          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:
            _v41.frame_id = str[start:end].decode('utf-8')
          else:
            _v41.frame_id = str[start:end]
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          if python3:
            val2.ns = str[start:end].decode('utf-8')
          else:
            val2.ns = str[start:end]
          _x = val2
          start = end
          end += 12
          (_x.id, _x.type, _x.action,) = _struct_3i.unpack(str[start:end])
          _v43 = val2.pose
          _v44 = _v43.position
          _x = _v44
          start = end
          end += 24
          (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
          _v45 = _v43.orientation
          _x = _v45
          start = end
          end += 32
          (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
          _v46 = val2.scale
          _x = _v46
          start = end
          end += 24
          (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
          _v47 = val2.color
          _x = _v47
          start = end
          end += 16
          (_x.r, _x.g, _x.b, _x.a,) = _struct_4f.unpack(str[start:end])
          _v48 = val2.lifetime
          _x = _v48
          start = end
          end += 8
          (_x.secs, _x.nsecs,) = _struct_2i.unpack(str[start:end])
          start = end
          end += 1
          (val2.frame_locked,) = _struct_B.unpack(str[start:end])
          val2.frame_locked = bool(val2.frame_locked)
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          val2.points = []
          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.points.append(val3)
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          val2.colors = []
          for i in range(0, length):
            val3 = std_msgs.msg.ColorRGBA()
            _x = val3
            start = end
            end += 16
            (_x.r, _x.g, _x.b, _x.a,) = _struct_4f.unpack(str[start:end])
            val2.colors.append(val3)
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          if python3:
            val2.text = str[start:end].decode('utf-8')
          else:
            val2.text = str[start:end]
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          if python3:
            val2.mesh_resource = str[start:end].decode('utf-8')
          else:
            val2.mesh_resource = str[start:end]
          start = end
          end += 1
          (val2.mesh_use_embedded_materials,) = _struct_B.unpack(str[start:end])
          val2.mesh_use_embedded_materials = bool(val2.mesh_use_embedded_materials)
          val1.markers.append(val2)
        self.urdf.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.return_response
      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.img)
      buff.write(_struct_I.pack(length))
      for val1 in self.img:
        buff.write(_struct_i.pack(val1.objectId))
        _x = val1.description
        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))
        _v49 = val1.image
        _v50 = _v49.header
        buff.write(_struct_I.pack(_v50.seq))
        _v51 = _v50.stamp
        _x = _v51
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v50.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 = _v49
        buff.write(_struct_2I.pack(_x.height, _x.width))
        _x = _v49.encoding
        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 = _v49
        buff.write(_struct_BI.pack(_x.is_bigendian, _x.step))
        _x = _v49.data
        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))
      length = len(self.mesh)
      buff.write(_struct_I.pack(length))
      for val1 in self.mesh:
        buff.write(_struct_i.pack(val1.objectId))
        _v52 = val1.mesh
        buff.write(_struct_b.pack(_v52.type))
        length = len(_v52.dimensions)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(_v52.dimensions.tostring())
        length = len(_v52.triangles)
        buff.write(_struct_I.pack(length))
        pattern = '<%si'%length
        buff.write(_v52.triangles.tostring())
        length = len(_v52.vertices)
        buff.write(_struct_I.pack(length))
        for val3 in _v52.vertices:
          _x = val3
          buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _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 = val1.data
        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))
      length = len(self.pcl)
      buff.write(_struct_I.pack(length))
      for val1 in self.pcl:
        buff.write(_struct_i.pack(val1.objectId))
        _v53 = val1.pcl
        _v54 = _v53.header
        buff.write(_struct_I.pack(_v54.seq))
        _v55 = _v54.stamp
        _x = _v55
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v54.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 = _v53
        buff.write(_struct_2I.pack(_x.height, _x.width))
        length = len(_v53.fields)
        buff.write(_struct_I.pack(length))
        for val3 in _v53.fields:
          _x = val3.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 = val3
          buff.write(_struct_IBI.pack(_x.offset, _x.datatype, _x.count))
        _x = _v53
        buff.write(_struct_B2I.pack(_x.is_bigendian, _x.point_step, _x.row_step))
        _x = _v53.data
        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))
        buff.write(_struct_B.pack(_v53.is_dense))
      length = len(self.surf)
      buff.write(_struct_I.pack(length))
      for val1 in self.surf:
        buff.write(_struct_i.pack(val1.objectId))
        _v56 = val1.surf
        _v57 = _v56.header
        buff.write(_struct_I.pack(_v57.seq))
        _v58 = _v57.stamp
        _x = _v58
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v57.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 = _v56
        buff.write(_struct_2I.pack(_x.height, _x.width))
        length = len(_v56.fields)
        buff.write(_struct_I.pack(length))
        for val3 in _v56.fields:
          _x = val3.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 = val3
          buff.write(_struct_IBI.pack(_x.offset, _x.datatype, _x.count))
        _x = _v56
        buff.write(_struct_B2I.pack(_x.is_bigendian, _x.point_step, _x.row_step))
        _x = _v56.data
        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))
        buff.write(_struct_B.pack(_v56.is_dense))
        _v59 = val1.bounding_box
        _v60 = _v59.header
        buff.write(_struct_I.pack(_v60.seq))
        _v61 = _v60.stamp
        _x = _v61
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v60.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 = _v59
        buff.write(_struct_2I.pack(_x.height, _x.width))
        length = len(_v59.fields)
        buff.write(_struct_I.pack(length))
        for val3 in _v59.fields:
          _x = val3.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 = val3
          buff.write(_struct_IBI.pack(_x.offset, _x.datatype, _x.count))
        _x = _v59
        buff.write(_struct_B2I.pack(_x.is_bigendian, _x.point_step, _x.row_step))
        _x = _v59.data
        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))
        buff.write(_struct_B.pack(_v59.is_dense))
        _v62 = val1.coord_frame
        _v63 = _v62.position
        _x = _v63
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v64 = _v62.orientation
        _x = _v64
        buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
      length = len(self.grasp)
      buff.write(_struct_I.pack(length))
      for val1 in self.grasp:
        buff.write(_struct_i.pack(val1.objectId))
        _x = val1.Objecttype
        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.pose
        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.fileDescription
        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.bs
        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))
        buff.write(_struct_i.pack(val1.size))
      length = len(self.urdf)
      buff.write(_struct_I.pack(length))
      for val1 in self.urdf:
        buff.write(_struct_i.pack(val1.objectId))
        length = len(val1.markers)
        buff.write(_struct_I.pack(length))
        for val2 in val1.markers:
          _v65 = val2.header
          buff.write(_struct_I.pack(_v65.seq))
          _v66 = _v65.stamp
          _x = _v66
          buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
          _x = _v65.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 = val2.ns
          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
          buff.write(_struct_3i.pack(_x.id, _x.type, _x.action))
          _v67 = val2.pose
          _v68 = _v67.position
          _x = _v68
          buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
          _v69 = _v67.orientation
          _x = _v69
          buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
          _v70 = val2.scale
          _x = _v70
          buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
          _v71 = val2.color
          _x = _v71
          buff.write(_struct_4f.pack(_x.r, _x.g, _x.b, _x.a))
          _v72 = val2.lifetime
          _x = _v72
          buff.write(_struct_2i.pack(_x.secs, _x.nsecs))
          buff.write(_struct_B.pack(val2.frame_locked))
          length = len(val2.points)
          buff.write(_struct_I.pack(length))
          for val3 in val2.points:
            _x = val3
            buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
          length = len(val2.colors)
          buff.write(_struct_I.pack(length))
          for val3 in val2.colors:
            _x = val3
            buff.write(_struct_4f.pack(_x.r, _x.g, _x.b, _x.a))
          _x = val2.text
          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.mesh_resource
          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.mesh_use_embedded_materials))
    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.img is None:
        self.img = None
      if self.mesh is None:
        self.mesh = None
      if self.pcl is None:
        self.pcl = None
      if self.surf is None:
        self.surf = None
      if self.grasp is None:
        self.grasp = None
      if self.urdf is None:
        self.urdf = None
      end = 0
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.return_response = str[start:end].decode('utf-8')
      else:
        self.return_response = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.img = []
      for i in range(0, length):
        val1 = srs_object_database_msgs.msg.img()
        start = end
        end += 4
        (val1.objectId,) = _struct_i.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1.description = str[start:end].decode('utf-8')
        else:
          val1.description = str[start:end]
        _v73 = val1.image
        _v74 = _v73.header
        start = end
        end += 4
        (_v74.seq,) = _struct_I.unpack(str[start:end])
        _v75 = _v74.stamp
        _x = _v75
        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:
          _v74.frame_id = str[start:end].decode('utf-8')
        else:
          _v74.frame_id = str[start:end]
        _x = _v73
        start = end
        end += 8
        (_x.height, _x.width,) = _struct_2I.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v73.encoding = str[start:end].decode('utf-8')
        else:
          _v73.encoding = str[start:end]
        _x = _v73
        start = end
        end += 5
        (_x.is_bigendian, _x.step,) = _struct_BI.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v73.data = str[start:end].decode('utf-8')
        else:
          _v73.data = str[start:end]
        self.img.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.mesh = []
      for i in range(0, length):
        val1 = srs_object_database_msgs.msg.mesh()
        start = end
        end += 4
        (val1.objectId,) = _struct_i.unpack(str[start:end])
        _v76 = val1.mesh
        start = end
        end += 1
        (_v76.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)
        _v76.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)
        _v76.triangles = numpy.frombuffer(str[start:end], dtype=numpy.int32, count=length)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v76.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])
          _v76.vertices.append(val3)
        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]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1.data = str[start:end].decode('utf-8')
        else:
          val1.data = str[start:end]
        self.mesh.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.pcl = []
      for i in range(0, length):
        val1 = srs_object_database_msgs.msg.pcl()
        start = end
        end += 4
        (val1.objectId,) = _struct_i.unpack(str[start:end])
        _v77 = val1.pcl
        _v78 = _v77.header
        start = end
        end += 4
        (_v78.seq,) = _struct_I.unpack(str[start:end])
        _v79 = _v78.stamp
        _x = _v79
        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:
          _v78.frame_id = str[start:end].decode('utf-8')
        else:
          _v78.frame_id = str[start:end]
        _x = _v77
        start = end
        end += 8
        (_x.height, _x.width,) = _struct_2I.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v77.fields = []
        for i in range(0, length):
          val3 = sensor_msgs.msg.PointField()
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          if python3:
            val3.name = str[start:end].decode('utf-8')
          else:
            val3.name = str[start:end]
          _x = val3
          start = end
          end += 9
          (_x.offset, _x.datatype, _x.count,) = _struct_IBI.unpack(str[start:end])
          _v77.fields.append(val3)
        _x = _v77
        start = end
        end += 9
        (_x.is_bigendian, _x.point_step, _x.row_step,) = _struct_B2I.unpack(str[start:end])
        _v77.is_bigendian = bool(_v77.is_bigendian)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v77.data = str[start:end].decode('utf-8')
        else:
          _v77.data = str[start:end]
        start = end
        end += 1
        (_v77.is_dense,) = _struct_B.unpack(str[start:end])
        _v77.is_dense = bool(_v77.is_dense)
        self.pcl.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.surf = []
      for i in range(0, length):
        val1 = srs_object_database_msgs.msg.surf()
        start = end
        end += 4
        (val1.objectId,) = _struct_i.unpack(str[start:end])
        _v80 = val1.surf
        _v81 = _v80.header
        start = end
        end += 4
        (_v81.seq,) = _struct_I.unpack(str[start:end])
        _v82 = _v81.stamp
        _x = _v82
        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:
          _v81.frame_id = str[start:end].decode('utf-8')
        else:
          _v81.frame_id = str[start:end]
        _x = _v80
        start = end
        end += 8
        (_x.height, _x.width,) = _struct_2I.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v80.fields = []
        for i in range(0, length):
          val3 = sensor_msgs.msg.PointField()
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          if python3:
            val3.name = str[start:end].decode('utf-8')
          else:
            val3.name = str[start:end]
          _x = val3
          start = end
          end += 9
          (_x.offset, _x.datatype, _x.count,) = _struct_IBI.unpack(str[start:end])
          _v80.fields.append(val3)
        _x = _v80
        start = end
        end += 9
        (_x.is_bigendian, _x.point_step, _x.row_step,) = _struct_B2I.unpack(str[start:end])
        _v80.is_bigendian = bool(_v80.is_bigendian)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v80.data = str[start:end].decode('utf-8')
        else:
          _v80.data = str[start:end]
        start = end
        end += 1
        (_v80.is_dense,) = _struct_B.unpack(str[start:end])
        _v80.is_dense = bool(_v80.is_dense)
        _v83 = val1.bounding_box
        _v84 = _v83.header
        start = end
        end += 4
        (_v84.seq,) = _struct_I.unpack(str[start:end])
        _v85 = _v84.stamp
        _x = _v85
        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:
          _v84.frame_id = str[start:end].decode('utf-8')
        else:
          _v84.frame_id = str[start:end]
        _x = _v83
        start = end
        end += 8
        (_x.height, _x.width,) = _struct_2I.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v83.fields = []
        for i in range(0, length):
          val3 = sensor_msgs.msg.PointField()
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          if python3:
            val3.name = str[start:end].decode('utf-8')
          else:
            val3.name = str[start:end]
          _x = val3
          start = end
          end += 9
          (_x.offset, _x.datatype, _x.count,) = _struct_IBI.unpack(str[start:end])
          _v83.fields.append(val3)
        _x = _v83
        start = end
        end += 9
        (_x.is_bigendian, _x.point_step, _x.row_step,) = _struct_B2I.unpack(str[start:end])
        _v83.is_bigendian = bool(_v83.is_bigendian)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v83.data = str[start:end].decode('utf-8')
        else:
          _v83.data = str[start:end]
        start = end
        end += 1
        (_v83.is_dense,) = _struct_B.unpack(str[start:end])
        _v83.is_dense = bool(_v83.is_dense)
        _v86 = val1.coord_frame
        _v87 = _v86.position
        _x = _v87
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v88 = _v86.orientation
        _x = _v88
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
        self.surf.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.grasp = []
      for i in range(0, length):
        val1 = srs_object_database_msgs.msg.grasp()
        start = end
        end += 4
        (val1.objectId,) = _struct_i.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1.Objecttype = str[start:end].decode('utf-8')
        else:
          val1.Objecttype = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1.pose = str[start:end].decode('utf-8')
        else:
          val1.pose = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1.fileDescription = str[start:end].decode('utf-8')
        else:
          val1.fileDescription = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1.bs = str[start:end].decode('utf-8')
        else:
          val1.bs = str[start:end]
        start = end
        end += 4
        (val1.size,) = _struct_i.unpack(str[start:end])
        self.grasp.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.urdf = []
      for i in range(0, length):
        val1 = srs_object_database_msgs.msg.urdf()
        start = end
        end += 4
        (val1.objectId,) = _struct_i.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        val1.markers = []
        for i in range(0, length):
          val2 = visualization_msgs.msg.Marker()
          _v89 = val2.header
          start = end
          end += 4
          (_v89.seq,) = _struct_I.unpack(str[start:end])
          _v90 = _v89.stamp
          _x = _v90
          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:
            _v89.frame_id = str[start:end].decode('utf-8')
          else:
            _v89.frame_id = str[start:end]
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          if python3:
            val2.ns = str[start:end].decode('utf-8')
          else:
            val2.ns = str[start:end]
          _x = val2
          start = end
          end += 12
          (_x.id, _x.type, _x.action,) = _struct_3i.unpack(str[start:end])
          _v91 = val2.pose
          _v92 = _v91.position
          _x = _v92
          start = end
          end += 24
          (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
          _v93 = _v91.orientation
          _x = _v93
          start = end
          end += 32
          (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
          _v94 = val2.scale
          _x = _v94
          start = end
          end += 24
          (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
          _v95 = val2.color
          _x = _v95
          start = end
          end += 16
          (_x.r, _x.g, _x.b, _x.a,) = _struct_4f.unpack(str[start:end])
          _v96 = val2.lifetime
          _x = _v96
          start = end
          end += 8
          (_x.secs, _x.nsecs,) = _struct_2i.unpack(str[start:end])
          start = end
          end += 1
          (val2.frame_locked,) = _struct_B.unpack(str[start:end])
          val2.frame_locked = bool(val2.frame_locked)
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          val2.points = []
          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.points.append(val3)
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          val2.colors = []
          for i in range(0, length):
            val3 = std_msgs.msg.ColorRGBA()
            _x = val3
            start = end
            end += 16
            (_x.r, _x.g, _x.b, _x.a,) = _struct_4f.unpack(str[start:end])
            val2.colors.append(val3)
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          if python3:
            val2.text = str[start:end].decode('utf-8')
          else:
            val2.text = str[start:end]
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          if python3:
            val2.mesh_resource = str[start:end].decode('utf-8')
          else:
            val2.mesh_resource = str[start:end]
          start = end
          end += 1
          (val2.mesh_use_embedded_materials,) = _struct_B.unpack(str[start:end])
          val2.mesh_use_embedded_materials = bool(val2.mesh_use_embedded_materials)
          val1.markers.append(val2)
        self.urdf.append(val1)
      return self
    except struct.error as e:
      raise genpy.DeserializationError(e) #most likely buffer underfill

_struct_I = genpy.struct_I
_struct_IBI = struct.Struct("<IBI")
_struct_b = struct.Struct("<b")
_struct_i = struct.Struct("<i")
_struct_BI = struct.Struct("<BI")
_struct_2i = struct.Struct("<2i")
_struct_3i = struct.Struct("<3i")
_struct_B = struct.Struct("<B")
_struct_B2I = struct.Struct("<B2I")
_struct_4f = struct.Struct("<4f")
_struct_4d = struct.Struct("<4d")
_struct_2I = struct.Struct("<2I")
_struct_3d = struct.Struct("<3d")
class GetData(object):
  _type          = 'srs_object_database_msgs/GetData'
  _md5sum = '0fb0cdcd6e164bc63c7643c4232719fe'
  _request_class  = GetDataRequest
  _response_class = GetDataResponse